Upload Fixed (part 21)

Fixed/digit/ball_PLA_15/press_depth_10/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+63389,1792844582829913287,23262285000000,1792844582829387152,XJC_ZERO_HOLD_BEFORE_UP,10,0.0712,0.07119777053594589,0.6759834784597706,-0.004499860455454783,0.10664415159874595,0.9999999638689302,-1.156596811963403e-05,-0.00021205527929478798,-0.00013639570971009975,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011030683122262713,-0.0020572428242251195,0.0007209367584344595,-1.5964927689684008e-06,-1.0221340489018459e-07,-0.0005685901849108133,-0.06456864570066749,-0.08259285604627138,0.13985539512893105,-0.0010650309940894408,-7.767193022175146e-06,9.380228612430343e-05,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0308024160179217,0.31400945781648765,2.564818861438896,-0.44940812760278526,-1.868501098257707,0.08563921889414489,1.6625214820367051,-0.0007209367584344595,-0.9022973794021909,0.0,0.0,0,0,0.0,0.0
+63421,1792844583097956158,23262553000000,1792844583093387056,WAIT_W2,10,0.0644,0.07119777053594589,0.6759805468621022,-0.004501994176746911,0.10663867893040115,0.9999999628324572,-1.0520312127886552e-05,-0.0002182539978812512,-0.0001342850109628148,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0010852761760850316,0.0019259133662941352,0.0010540274679014805,-1.6356267440601271e-06,-1.4567072006258555e-06,-0.0001879992507640185,-0.06455085356452625,-0.07860969985575213,0.14018848583839807,-0.0010650701280645325,-9.121686817910817e-06,0.0004743932202710983,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0289155874722702,0.32600177091098137,2.5666560874042936,-0.4509099867641124,-1.8713883028794258,0.09314389839241058,1.6625214820367051,-0.0010540274679014805,-0.9041346053675885,0.0,0.0,0,0,0.0,0.0
+63450,1792844583339882266,23262795000000,1792844583337387059,WAIT_W2,10,0.0644,0.07119777053594589,0.6759844863760691,-0.004501317670057958,0.10664420479277764,0.9999999640506514,-1.04800309374503e-05,-0.00021193216099484063,-0.00013533842207990687,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.001085047552374624,0.00190177221819042,0.0010614498474574574,-1.7920929859659585e-06,-1.5427868481948307e-06,0.00023217393539487334,-0.06455062494081584,-0.07863384100385584,0.14019590821795405,-0.0010652265943064383,-9.207766465479792e-06,0.0008945664064299901,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0422027317601013,0.36404546921887815,2.556689409023295,-0.46655057613710904,-1.867966879768487,0.11618284956857836,1.6625214820367051,-0.0010614498474574574,-0.8941679269865896,0.0,0.0,0,0,0.0,0.0
+63472,1792844583522887802,23262978000000,1792844583521387261,WAIT_W2,10,0.0644,0.07119777053594589,0.6759830845981875,-0.004511602114109486,0.10664260082337958,0.9999999647294532,-1.3028297863822965e-05,-0.00021333694076412524,-0.000127677602007256,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0010854124181114422,0.0019176815266145342,0.0011648537204068943,-1.8205070412744516e-06,-1.5613938652573499e-06,0.00023209491288121394,-0.06455098980655266,-0.07861793169543173,0.1402993120909035,-0.0010652550083617468,-9.226373482542312e-06,0.0008944873839163307,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0226170735772073,0.3816123826638488,2.5731657680885087,-0.46091377676937545,-1.8722596275548318,0.12941772996553944,1.6625214820367051,-0.0011648537204068943,-0.9106442860518036,0.0,0.0,0,0,0.0,0.0
+63474,1792844583539904500,23262995000000,1792844583537386990,WAIT_W2,10,0.0644,0.07119777053594589,0.6759866054636182,-0.004572895019612643,0.10664873239655484,0.9999999678133417,-4.624438407418002e-05,-0.00020629082412227555,-0.00010545962708129406,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.2026525112780539,0.14297238745474916,0.002504954076439636,0.009809018475551344,-0.01438102808966954,0.000160214747323731,0.13918693388961267,0.0624367742327029,0.14163941244693623,0.008745583974230873,-0.014388693069286824,0.0008226072183588478,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0175184573994984,0.574006742903398,2.465122688044157,-0.44697298778438305,-1.798074436272895,0.26501902660401067,1.6625214820367051,-0.002504954076439636,-0.8026012060074517,0.0,0.0,0,0,0.0,0.0
+63476,1792844583556984140,23263012000000,1792844583553387480,WAIT_W2,10,0.0644,0.07119777053594589,0.6759897427891101,-0.004683259750597771,0.10666084807869292,0.9999999675983692,-0.000111408242388313,-0.00019744845356777763,-6.963071652962076e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7055100293663481,0.6643855656071914,0.07826908169509464,0.04752738422862806,-0.050673670237037824,4.266231191961899e-06,0.6420444519779069,0.5838499523851451,0.21740354006559123,0.04646394972730759,-0.05068133521665511,0.0006666587022270787,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0189160869268326,1.1930053650097001,2.4597566075575057,-0.5274019625588402,-1.7950268250970345,0.6814665090242679,1.6625214820367051,-0.07826908169509464,-0.7972351255208006,0.0,0.0,0,0,0.0,0.0
+63476,1792844583556984140,23263012000000,1792844583553387480,WAIT_W2,10,0.0644,0.07119777053594589,0.6759897427891101,-0.004683259750597771,0.10666084807869292,0.9999999675983692,-0.000111408242388313,-0.00019744845356777763,-6.963071652962076e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7055100293663481,0.6643855656071914,0.07826908169509464,0.04752738422862806,-0.050673670237037824,4.266231191961899e-06,0.6420444519779069,0.5838499523851451,0.21740354006559123,0.04646394972730759,-0.05068133521665511,0.0006666587022270787,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0189160869268326,1.1930053650097001,2.4597566075575057,-0.5274019625588402,-1.7950268250970345,0.6814665090242679,1.6625214820367051,-0.07826908169509464,-0.7972351255208006,0.0,0.0,0,0,0.0,0.0
+63478,1792844583572977787,23263028000000,1792844583565386943,WAIT_W2,10,0.0644,0.07119777053594589,0.6759918767104455,-0.004807493709492312,0.10667166927584674,0.9999999578991311,-0.00019406673596938644,-0.00019118280424782402,-3.783963085891167e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0512213795448415,1.012112307586246,0.13725298598770036,0.07353812787857666,-0.07695976731012273,0.0003516149042900985,0.9877558021564002,0.9315766943641997,0.27638744435819695,0.07247469337725619,-0.07696743228974001,0.0010140073753252153,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0328430495903542,1.5561949876610266,2.405984180743459,-0.5417666565469533,-1.7625625171313133,0.928665003104093,1.6625214820367051,-0.13725298598770036,-0.7434626987067539,0.0,0.0,0,0,0.0,0.0
+63478,1792844583572977787,23263028000000,1792844583565386943,WAIT_W2,10,0.0644,0.07119777053594589,0.6759918767104455,-0.004807493709492312,0.10667166927584674,0.9999999578991311,-0.00019406673596938644,-0.00019118280424782402,-3.783963085891167e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0512213795448415,1.012112307586246,0.13725298598770036,0.07353812787857666,-0.07695976731012273,0.0003516149042900985,0.9877558021564002,0.9315766943641997,0.27638744435819695,0.07247469337725619,-0.07696743228974001,0.0010140073753252153,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0328430495903542,1.5561949876610266,2.405984180743459,-0.5417666565469533,-1.7625625171313133,0.928665003104093,1.6625214820367051,-0.13725298598770036,-0.7434626987067539,0.0,0.0,0,0,0.0,0.0
+63478,1792844583572977787,23263028000000,1792844583565386943,WAIT_W2,10,0.0644,0.07119777053594589,0.6759918767104455,-0.004807493709492312,0.10667166927584674,0.9999999578991311,-0.00019406673596938644,-0.00019118280424782402,-3.783963085891167e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0512213795448415,1.012112307586246,0.13725298598770036,0.07353812787857666,-0.07695976731012273,0.0003516149042900985,0.9877558021564002,0.9315766943641997,0.27638744435819695,0.07247469337725619,-0.07696743228974001,0.0010140073753252153,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0328430495903542,1.5561949876610266,2.405984180743459,-0.5417666565469533,-1.7625625171313133,0.928665003104093,1.6625214820367051,-0.13725298598770036,-0.7434626987067539,0.0,0.0,0,0,0.0,0.0
+63480,1792844583589941682,23263045000000,1792844583589387313,WAIT_W2,10,0.0644,0.07119777053594589,0.675992982442525,-0.004932822385710008,0.10667871375224798,0.9999999394038992,-0.00027962680638193946,-0.00018507375084112713,-1.3842600367791589e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.437389256247387,1.4448841703146689,0.19012686815829583,0.10639705231898082,-0.10866510364805644,0.0015856732364011319,1.3739236788589457,1.3643485570926226,0.3292613265287924,0.10533361781766035,-0.10867276862767372,0.0022480657074362485,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.055804337222339,1.9409755565172646,2.3830407529772892,-0.5753735816813256,-1.755567573816115,1.1900215410795687,1.6625214820367051,-0.19012686815829583,-0.7205192709405841,0.0,0.0,0,0,0.0,0.0
+63480,1792844583589941682,23263045000000,1792844583589387313,WAIT_W2,10,0.0644,0.07119777053594589,0.675992982442525,-0.004932822385710008,0.10667871375224798,0.9999999394038992,-0.00027962680638193946,-0.00018507375084112713,-1.3842600367791589e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.437389256247387,1.4448841703146689,0.19012686815829583,0.10639705231898082,-0.10866510364805644,0.0015856732364011319,1.3739236788589457,1.3643485570926226,0.3292613265287924,0.10533361781766035,-0.10867276862767372,0.0022480657074362485,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.055804337222339,1.9409755565172646,2.3830407529772892,-0.5753735816813256,-1.755567573816115,1.1900215410795687,1.6625214820367051,-0.19012686815829583,-0.7205192709405841,0.0,0.0,0,0,0.0,0.0
+63482,1792844583606920717,23263062000000,1792844583601387147,WAIT_W2,10,0.0644,0.06802409887313843,0.675989681822165,-0.005016449137319559,0.10667682266118743,0.9999999215977176,-0.00033551745672951035,-0.0001887936345863826,5.694031961427343e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.4710808056311453,1.4938981973668601,0.2023666694991927,0.11071011861805347,-0.11253863623269128,0.0017546821058033843,1.4076152282427041,1.4133625841448139,0.3415011278696893,0.10964668411673299,-0.11254630121230856,0.002417074576838501,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0164379324453074,1.9835428899825318,2.3815351376758453,-0.5543225423869259,-1.7471071292329885,1.2174179861409176,1.6625214820367051,-0.2023666694991927,-0.7190136556391402,0.0,0.0,0,0,0.0,0.0
+63486,1792844583639981941,23263095000000,1792844583633387096,WAIT_W2,10,0.0644,0.06802409887313843,0.6760001743525268,-0.004987352672652843,0.10669366603351804,0.9999999320130164,-0.0003126413373177203,-0.00017225586611039674,3.700604028987044e-07,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1528107522387718,1.1494839115733735,0.30351236908773876,0.08642447833664771,-0.08866018873952017,0.0010069595657691398,1.0893451748503307,1.0689482983513272,0.44264682745823536,0.08536104383532724,-0.08866785371913745,0.0016693520368042567,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.9614629370401462,1.9399740126871716,2.1887118752755685,-0.5528075681709694,-1.6081723108923587,1.177608057278,1.6625214820367051,-0.30351236908773876,-0.5261903932388634,0.0,0.0,0,0,0.0,0.0
+63490,1792844583673007185,23263128000000,1792844583665387635,WAIT_W2,10,0.0644,0.06802409887313843,0.6760081632427444,-0.004948862222566866,0.10670760568852572,0.999999941970026,-0.00028640463071662257,-0.00015944218201171444,-7.3066162830839074e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2240205598457345,1.3169055487875891,0.47614892088987343,0.09814132514517096,-0.0920104078805273,-0.00032248304507863997,1.1605549824572934,1.2363699355655429,0.61528337926037,0.09707789064385049,-0.09201807286014459,0.0003399094259564768,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.9568228097287972,2.0811342590545965,2.0832034419883922,-0.5730432275012093,-1.5412004910784367,1.27478034170504,1.6625214820367051,-0.47614892088987343,-0.4206819599516871,0.0,0.0,0,0,0.0,0.0
+63494,1792844583706894116,23263162000000,1792844583701387058,WAIT_W2,10,0.0644,0.06802409887313843,0.6760164296183888,-0.0049859419632080175,0.10672794811527668,0.9999999368563667,-0.00031197649886595814,-0.00014281301057069906,-2.287899161614718e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.4196011769126546,1.5869329305418018,0.6980822257607948,0.1176802458239012,-0.10776079080549257,-0.0008672828627671275,1.3561355995242135,1.5063973173197556,0.8372166841312915,0.11661681132258073,-0.10776845578510985,-0.00020489039173201081,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.9734176439584481,2.187140171146937,2.001831101005954,-0.5725376634518952,-1.4965253375978382,1.3487582938431695,1.6625214820367051,-0.6980822257607948,-0.3393096189692488,0.0,0.0,0,0,0.0,0.0
+63501,1792844583764953080,23263220000000,1792844583761387360,WAIT_W2,10,0.0644,0.06802409887313843,0.6760259672854844,-0.004957676860827587,0.10675557781011262,0.9999999433252189,-0.0002992285493625682,-0.00012274350205331385,-1.3737925554415628e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1211595531615106,1.4012192897616875,0.9454588386348275,0.10584006561575487,-0.08658128780525781,-0.0036117347305750073,1.0576939757730695,1.3206836765396412,1.084593297005324,0.1047766311144344,-0.08658895278487509,-0.0029493422595398906,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.8965878812896242,2.1464926318097977,1.75727561613968,-0.5883251726078228,-1.3261685600966306,1.3121793254835472,1.6625214820367051,-0.9454588386348275,-0.09475413410297495,0.0,0.0,0,0,0.0,0.0
+63517,1792844583897960119,23263353000000,1792844583893387630,WAIT_W2,10,0.0644,0.06515052914619446,0.6760416958430604,-0.004944800028429584,0.10679513535256263,0.9999999496786486,-0.0002884565427054379,-9.140065589742498e-05,-2.2897755312657347e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.000656594972211,1.3992535435583182,1.2712470425790359,0.10718120480019916,-0.07835122833827836,-0.005794948869841515,0.9371910175837698,1.318717930336272,1.4103815009495324,0.10611777029887869,-0.07835889331789564,-0.005132556398806398,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.742698236370651,2.0342222323610244,1.2661863445779384,-0.5802636046975977,-0.9782040732838603,1.2355112370659154,1.6625214820367051,-1.2712470425790359,0.3963351374587667,0.0,0.0,0,0,0.0,0.0
+63529,1792844583997965851,23263453000000,1792844583997387064,WAIT_W2,10,0.0644,0.06515052914619446,0.6760454496143373,-0.004936178840434431,0.10680441157384407,0.9999999514795269,-0.0002842799039972211,-8.416704819660587e-05,-2.4179575689241097e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9749216315338542,1.4296983489707946,1.335727442270826,0.10939213134512878,-0.07749490248133863,-0.006842178370610205,0.9114560541454131,1.3491627357487483,1.4748619006413226,0.1083286968438083,-0.0775025674609559,-0.006179785899575088,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.7172174504619152,1.9425876717743324,1.2313733945434537,-0.5585717493163727,-0.9531314127430273,1.174695198337293,1.6625214820367051,-1.335727442270826,0.4311480874932514,0.0,0.0,0,0,0.0,0.0
+63545,1792844584132024054,23263587000000,1792844584125387057,WAIT_W2,10,0.0644,0.06455164402723312,0.67604592238281,-0.004953270764309904,0.10681038842882054,0.9999999483174714,-0.000296229123955208,-8.105872517833142e-05,-2.203877159824811e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0184628484998652,1.4516580891354127,1.3057654491458266,0.11115703822602627,-0.08046966604765973,-0.00683674961038637,0.9549972711114241,1.3711224759133664,1.4448999075163231,0.1100936037247058,-0.08047733102727701,-0.006174357139351254,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.6848388732261304,1.9199080123143493,1.2645155711050138,-0.5564325178313384,-0.9633906375974952,1.160853678707839,1.6625214820367051,-1.3057654491458266,0.39800591093169135,0.0,0.0,0,0,0.0,0.0
+63570,1792844584338992909,23263794000000,1792844584333386939,UP_FORCE_RAMP,10,0.0644,0.06447744369506836,0.6760469106044313,-0.0049459617745004954,0.1068120324991472,0.9999999499468678,-0.0002909886062482244,-7.954086435831507e-05,-2.3409562642047254e-05,0.6761,-0.0046,0.10700006379999699,1.0,0.0,0.0,0.0,0.986086099674305,1.4118121909474242,1.2380992831877988,0.10895759083645964,-0.07918237209354453,-0.006790210266677781,0.9226205222858639,1.3312765777253779,1.3772337415582954,0.10789415633513917,-0.07919003707316181,-0.006127817795642664,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.6659485648644705,1.9490525270444754,1.2635167758661594,-0.5670137663260989,-0.9599500785658809,1.182808907811123,1.6625214820367051,-1.2380992831877988,0.39900470617054573,-1.2380992831877988,0.0051,0,0,2.5499997488839298e-06,9.999999025923074e-05
+63588,1792844584489038435,23263944000000,1792844584481378968,UP_FORCE_RAMP,10,0.0644,0.06447481364011765,0.6760456705868071,-0.004944581685174581,0.10681014065222297,0.9999999499200574,-0.000290474915443837,-8.13117229936231e-05,-2.4808746465786634e-05,0.6761,-0.0046,0.10700100504984901,1.0,0.0,0.0,0.0,0.9326963625174256,1.3419057018941323,1.2194276682389091,0.10409522189381575,-0.07559371585247666,-0.006776938236865004,0.8692307851289843,1.261370088672086,1.3585621266094057,0.10303178739249527,-0.07560138083209395,-0.006114545765829887,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.6712257318228143,2.025533146192552,1.358052348487256,-0.5976425692678844,-1.0214837022543524,1.2293534031583577,1.6625214820367051,-1.2194276682389091,0.30446913354944916,-1.2194276682389091,0.020099999999999934,0,0,1.004999828776854e-05,9.999999025923074e-05
+63617,1792844584730057465,23264185000000,1792844584729387772,UP_FORCE_RAMP,10,0.0644,0.06447284668684006,0.6760456066165038,-0.004940145306593215,0.10681190948116866,0.9999999506231639,-0.00028812355071037687,-8.06009357063705e-05,-2.6169489490146054e-05,0.6761,-0.0046,0.10700487309915231,1.0,0.0,0.0,0.0,0.9442435981478381,1.3732698001483392,1.1898233619432654,0.10532484109525009,-0.07654045080545586,-0.006753059543213709,0.8807780207593969,1.292734186926293,1.328957820313762,0.10426140659392961,-0.07654811578507315,-0.006090667072178592,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.6892574634170776,1.9952001934487307,1.3489647789674704,-0.6064030132250654,-1.0168941759271823,1.2033536905514624,1.6625214820367051,-1.1898233619432654,0.3135567030692348,-1.1898233619432654,0.04420000000000024,0,0,2.209999594024315e-05,9.999999025923074e-05
+63645,1792844584963965567,23264419000000,1792844584961378051,UP_FORCE_RAMP,10,0.0644,0.06446890532970428,0.6760464679510323,-0.004944943474025275,0.10681390689814718,0.9999999496106229,-0.0002920085226888834,-7.964161952826374e-05,-2.4695152710104233e-05,0.6761,-0.0046,0.1070114075479345,1.0,0.0,0.0,0.0,0.9572692818491337,1.3638028017971293,1.159979221230754,0.10601444046804614,-0.07720683518232054,-0.006746183582346881,0.8938037044606926,1.283267188575083,1.2991136796012506,0.10495100596672567,-0.07721450016193782,-0.006083791111311764,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.649758809952604,1.933728049214583,1.4047636562287535,-0.584260535389621,-1.0452265833289194,1.1669921547412963,1.6625214820367051,-1.159979221230754,0.2577578258079516,-1.159979221230754,0.06760000000000091,0,0,3.3799993660903145e-05,9.999999025923074e-05
+63676,1792844585222085027,23264677000000,1792844585217387145,UP_FORCE_RAMP,10,0.0644,0.06446496397256851,0.6760459004303446,-0.004938331169737679,0.10681539811312976,0.9999999513801611,-0.00028549287173787317,-8.018726009699687e-05,-2.731963893743066e-05,0.6761,-0.0046,0.10702178559597357,1.0,0.0,0.0,0.0,0.9263238239223952,1.3451953919376103,1.1213682195372634,0.10397396142990266,-0.07524294487629092,-0.00671220214659904,0.862858246533954,1.264659778715564,1.26050267790776,0.10291052692858219,-0.0752506098559082,-0.006049809675563923,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.7393880428899475,1.9356316519275085,1.453930069215781,-0.592804845396489,-1.0945535978429948,1.1676885960772025,1.6625214820367051,-1.1213682195372634,0.20859141282092408,-1.1213682195372634,0.09340000000000165,0,0,4.6699991147784676e-05,9.999999025923074e-05
+63706,1792844585472107417,23264927000000,1792844585465378242,UP_FORCE_RAMP,10,0.0644,0.0644623413681984,0.6760436981884717,-0.004939020382934494,0.1068192303203246,0.9999999497174732,-0.0002903771599572021,-8.22883227607728e-05,-3.02927657462394e-05,0.6761,-0.0046,0.1070350168434549,1.0,0.0,0.0,0.0,0.9392040018485237,1.3561270260594125,1.0509906666382858,0.10500420887445665,-0.07617363311130353,-0.006651736784480618,0.8757384244600825,1.2755914128373662,1.1901251250087823,0.10394077437313617,-0.07618129809092081,-0.005989344313445501,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.7062446541250633,1.9387086392306963,1.4838307814324274,-0.5961601300573447,-1.1036685642364634,1.1701369403181554,1.6625214820367051,-1.0509906666382858,0.17869070060427772,-1.0509906666382858,0.11840000000000236,0,0,5.919998871259236e-05,9.999999025923074e-05
+63734,1792844585705113002,23265160000000,1792844585697378159,UP_FORCE_RAMP,10,0.0644,0.06446036696434021,0.6760446207399805,-0.004939990264510522,0.1068287855735778,0.9999999500138136,-0.0002904293524699638,-7.880190242875608e-05,-2.9262356693974926e-05,0.6761,-0.0046,0.10705016184055939,1.0,0.0,0.0,0.0,0.9397196986672467,1.3533005853772555,0.9700390413583329,0.1050387339335592,-0.0762198614379245,-0.006583787186997096,0.8762541212788054,1.2727649721552092,1.1091734997288294,0.10397529943223872,-0.07622752641754178,-0.00592139471596198,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.7700260432568342,1.9907189637873577,1.633788600765148,-0.6227878317792905,-1.216363328688769,1.2007668268900262,1.6625214820367051,-0.9700390413583329,0.028732881271557043,-0.9700390413583329,0.14170000000000071,0,0,7.084998644299312e-05,9.999999025923074e-05
+63759,1792844585914033466,23265369000000,1792844585909387204,UP_FORCE_RAMP,10,0.0644,0.06445774435997009,0.676044603901686,-0.0049374590160468305,0.10683822269082352,0.9999999497288508,-0.00029085364863421653,-7.926679175866674e-05,-3.3257937387266045e-05,0.6761,-0.0046,0.10706605628751222,1.0,0.0,0.0,0.0,0.9499339235912723,1.3487184089298865,0.9191155805711473,0.1040557424600577,-0.07713925939023734,-0.0065673024101402366,0.8864683462028311,1.2681827957078402,1.0582500389416438,0.10299230795873723,-0.07714692436985462,-0.00590490993910512,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.7698263542543414,1.9911341076950129,1.685601117559922,-0.6237496081828025,-1.2469998591434472,1.203082444648906,1.6625214820367051,-0.9191155805711473,-0.02307963552321679,-0.9191155805711473,0.1625999999999984,0,0,8.129998440717235e-05,9.999999025923074e-05
+63779,1792844586080086393,23265535000000,1792844586077378002,UP_FORCE_RAMP,10,0.0644,0.06445643305778503,0.6760040872064805,-0.004932883978467614,0.10683574454161757,0.9999999373243349,-0.0002890131232508687,-0.00017679769345702067,-4.481272535698389e-05,0.6761,-0.0046,0.10708023683478879,1.0,0.0,0.0,0.0,0.9713522358036442,1.3453423778164677,0.8488863833646079,0.10409486365951306,-0.07874945681374236,-0.0065553374344318105,0.9078866584152029,1.2648067645944214,0.9880208417351045,0.10303142915819259,-0.07875712179335964,-0.005892944963396694,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.8150521908857935,1.988674012316592,1.7776858195409841,-0.6120376835948371,-1.2981275526217593,1.2027586518556124,1.6625214820367051,-0.8488863833646079,-0.11516433750427901,-0.8488863833646079,0.17919999999999658,0,0,8.959998279020465e-05,9.999999025923074e-05
+63794,1792844586205076506,23265660000000,1792844586201377888,UP_FORCE_RAMP,10,0.0644,0.06445511430501938,0.6760116796932695,-0.00493335903932107,0.10684846401394679,0.9999999396670387,-0.0002887034178713791,-0.00016319686320125456,-4.6107516951500694e-05,0.6761,-0.0046,0.10709182433256086,1.0,0.0,0.0,0.0,1.0961905197895367,1.2443321177353592,0.8284771416618444,0.09661814659884228,-0.0884859795187576,-0.007764984171360396,1.0327249424010956,1.163796504513313,0.9676116000323409,0.09555471209752181,-0.08849364449837488,-0.00710259170032528,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.8939304306434968,1.9813047293294435,1.7121316843974241,-0.5807696180773636,-1.2757395736284276,1.192661646881101,1.6625214820367051,-0.8284771416618444,-0.049610202360719,-0.8284771416618444,0.1916999999999952,0,0,9.58499815726085e-05,9.999999025923074e-05
+63828,1792844586489063396,23265944000000,1792844586481378882,UP_FORCE_RAMP,10,0.0644,0.06445051729679108,0.6760093715837909,-0.004933346004099825,0.10685390018869581,0.9999999388695682,-0.0002912520029055898,-0.0001630826280729372,-4.7749878673505124e-05,0.6761,-0.0046,0.10712105502693327,1.0,0.0,0.0,0.0,1.0953867545939728,1.25196456924621,0.7359895406921775,0.097249578401066,-0.08810413112688524,-0.007682677532799034,1.0319211772055317,1.1714289560241637,0.875123999062674,0.09618614389974553,-0.08811179610650252,-0.007020285061763917,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0042864810061156,1.9629215187897482,1.8587379141897815,-0.6012476387551214,-1.399098207263536,1.1785411210088466,1.6625214820367051,-0.7359895406921775,-0.19621643215307638,-0.7359895406921775,0.22009999999999208,0,0,0.00011004997880623003,9.999999025923074e-05
+63853,1792844586697143387,23266152000000,1792844586689378256,UP_FORCE_RAMP,10,0.0644,0.06444592028856277,0.6760113220176014,-0.004934294377690434,0.10686689139003033,0.9999999396999592,-0.0002909994200341681,-0.000157770234208502,-4.970747174088605e-05,0.6761,-0.0046,0.10714502182231324,1.0,0.0,0.0,0.0,1.08613656342799,1.269750396521473,0.6669005188463129,0.09723804970041149,-0.0870783610363039,-0.007611313893098352,1.0226709860395489,1.1892147832994266,0.8060349772168095,0.09617461519909101,-0.08708602601592118,-0.006948921422063235,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.022557218057917,2.0761328982053717,1.940768086598875,-0.6286412871413267,-1.4570949075549542,1.2600134522891542,1.6625214820367051,-0.6669005188463129,-0.2782466045621699,-0.6669005188463129,0.2408999999999898,0,0,0.00012044997678015002,9.999999025923074e-05
+63877,1792844586897148253,23266352000000,1792844586893378087,UP_FORCE_RAMP,10,0.0644,0.06443935632705688,0.6760111291385964,-0.004927347767923167,0.10687465528142731,0.9999999402603107,-0.00028842017339325327,-0.0001576903093854347,-5.3570596055803494e-05,0.6761,-0.0046,0.10717010681747348,1.0,0.0,0.0,0.0,1.0895647040397962,1.2676316598681026,0.5852896089259827,0.097280129796791,-0.08804394561906813,-0.007559436673609201,1.026099126651355,1.1870960466460563,0.7244240672964792,0.09621669529547053,-0.08805161059868541,-0.006897044202574084,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-0.9795808100163222,1.9185600927869972,2.131079471812579,-0.5932014618016145,-1.5624448080445381,1.1541602128485597,1.6625214820367051,-0.5852896089259827,-0.4685579897758738,-0.5852896089259827,0.2608999999999876,0,0,0.00013044997483199617,9.999999025923074e-05
+63914,1792844587205107064,23266660000000,1792844587201377937,UP_FORCE_RAMP,10,0.0644,0.06441769003868103,0.6760095245235289,-0.004930290976726633,0.10689868093923806,0.9999999381988658,-0.00029482526652031794,-0.0001579351420836207,-5.638866374731535e-05,0.6761,-0.0046,0.10721264930925821,1.0,0.0,0.0,0.0,1.0922436749434736,1.2744290528204003,0.40863555137908464,0.09832360486567661,-0.08804462697708688,-0.008206927846729349,1.0287780975550325,1.193893439598354,0.5477700097495812,0.09726017036435614,-0.08805229195670417,-0.0075445353756942325,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0979202576848364,1.9678234528189276,2.270105151723411,-0.6063817845223892,-1.6911903555661985,1.1866932578113758,1.6625214820367051,-0.40863555137908464,-0.6075836696867061,-0.40863555137908464,0.2916999999999842,0,0,0.00014584997183183924,9.999999025923074e-05
+63936,1792844587389232694,23266844000000,1792844587389377646,UP_FORCE_RAMP,10,0.0644,0.0643191859126091,0.6760069052232269,-0.0049234646858764075,0.10692249837411602,0.9999999378085082,-0.00029067662428651904,-0.0001649029444816811,-6.434254040083326e-05,0.6761,-0.0046,0.10724032750390948,1.0,0.0,0.0,0.0,1.0958794390056492,1.275409456922698,0.3948342706591939,0.09836972599317788,-0.08892555864204843,-0.008437888674153564,1.032413861617208,1.1948738437006516,0.5339687290296905,0.0973062914918574,-0.08893322362166571,-0.007775496203118446,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0777816453372642,2.0354151410286754,2.2646487497512133,-0.6290896014351106,-1.6778329289109597,1.2314063234353847,1.6625214820367051,-0.3948342706591939,-0.6021272677145082,-0.3948342706591939,0.31009999999998217,0,0,0.0001550499700395377,9.999999025923074e-05
+63950,1792844587505164540,23266960000000,1792844587501377952,UP_FORCE_RAMP,10,0.0644,0.0643191859126091,0.6760154464892187,-0.004923585088673391,0.10696472799512513,0.9999999379212904,-0.0002964419327837009,-0.00015057123225656127,-7.106872617846051e-05,0.6761,-0.0046,0.10725864680036797,1.0,0.0,0.0,0.0,1.0793799056394537,1.2869447863753747,0.6091935400411228,0.09964374568806662,-0.08757462404944474,-0.009584954656017634,1.0159143282510126,1.2064091731533284,0.7483279984116195,0.09858031118674615,-0.08758228902906202,-0.008922562184982517,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.0349304035702955,1.9135072364443388,2.1466994974715172,-0.5927058626351531,-1.5870982944427359,1.1504308458272527,1.6625214820367051,-0.6091935400411228,-0.4841780154348121,-0.6091935400411228,0.3216999999999809,0,0,0.00016084996890960846,9.999999025923074e-05
+63975,1792844587714241031,23267169000000,1792844587713377902,UP_FORCE_RAMP,10,0.0644,0.06400661170482635,0.6760071486435937,-0.004917147629246015,0.1069875634464062,0.9999999359869264,-0.00029129977703950437,-0.00016838786030960135,-7.911368544657465e-05,0.6761,-0.0046,0.10729335124365631,1.0,0.0,0.0,0.0,1.0794640433002776,1.2615702287052086,0.4809604170443296,0.09836277793639522,-0.08862791734301681,-0.010553567355368833,1.0159984659118364,1.1810346154831624,0.6200948754148262,0.09729934343507475,-0.08863558232263409,-0.009891174884333716,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.1116307817534943,2.019043152984293,2.2712263573264337,-0.6245894993048479,-1.6879081352890415,1.224122150790753,1.6625214820367051,-0.4809604170443296,-0.6087048752897286,-0.4809604170443296,0.3425999999999786,0,0,0.00017129996687378769,9.999999025923074e-05
+63987,1792844587814227780,23267269000000,1792844587809378855,UP_FORCE_RAMP,10,0.0644,0.06400661170482635,0.6759825490510617,-0.0049206232171640435,0.1069713932269831,0.9999999283686101,-0.0002981450097919862,-0.0001981851309872604,-8.085694418327544e-05,0.6761,-0.0046,0.1073107287402945,1.0,0.0,0.0,0.0,1.1153390522424407,1.2278572962707182,0.2007015235895256,0.09508654087440663,-0.09033084293887061,-0.01040720751164745,1.0518734748539995,1.1473216830486719,0.3398359819600222,0.09402310637308615,-0.0903385079184879,-0.009744815040612333,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.1308379991809778,2.053058387684038,2.4022201452157304,-0.6453270275058538,-1.7778199746160912,1.2431251742254814,1.6625214820367051,-0.2007015235895256,-0.7396986631790252,-0.2007015235895256,0.3525999999999775,0,0,0.00017629996589971076,9.999999025923074e-05
+63995,1792844587880174432,23267335000000,1792844587877378251,UP_FORCE_RAMP,10,0.0644,0.06400661170482635,0.67596664062595,-0.0049198643679042855,0.1069617633407833,0.9999999236063222,-0.0003000204820859683,-0.00021769015361969662,-8.263728502212923e-05,0.6761,-0.0046,0.10732247178802234,1.0,0.0,0.0,0.0,1.2076560226180657,1.0591839558376699,0.3165220732205662,0.08281170079290089,-0.09819044460643513,-0.010734468079444188,1.1441904452296245,0.9786483426156236,0.4556565315910628,0.08174826629158041,-0.0981981095860524,-0.010072075608409071,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.1192490263685417,1.9115454672206587,2.227637071102257,-0.5988519331286819,-1.6331410686746348,1.1461413194212797,1.6625214820367051,-0.3165220732205662,-0.5651155890655519,-0.3165220732205662,0.35919999999997676,0,0,0.00017959996525682,9.999999025923074e-05
+64013,1792844588031265590,23267485000000,1792844588029377827,UP_FORCE_RAMP,10,0.0644,0.0643395408987999,0.6759553190268408,-0.004921089048440412,0.10696092512044345,0.9999999189499699,-0.0002993212905415016,-0.00023809436994363955,-8.521005518839977e-05,0.6761,-0.0046,0.10734997053270055,1.0,0.0,0.0,0.0,1.2221331869246765,1.0819831130702353,0.010645519686180882,0.08447032010041435,-0.09917203601328242,-0.01044398137680579,1.1586676095362354,1.001447499848189,0.14977997805667748,0.08340688559909387,-0.0991797009928997,-0.009781588905770673,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.2084032708504664,2.025945644173719,2.6016360887052548,-0.641344344352397,-1.8937408564531495,1.2233538812144609,1.6625214820367051,-0.010645519686180882,-0.9391146066685496,-0.010645519686180882,0.3741999999999751,0,0,0.0001870999637957046,9.999999025923074e-05
+64034,1792844588205244492,23267660000000,1792844588205377731,UP_FORCE_RAMP,10,0.0644,0.06438879668712616,0.6759435286020263,-0.004920774264410056,0.10696376174545845,0.9999999123474116,-0.00030175357008917214,-0.0002610898117640592,-8.674633032819637e-05,0.6761,-0.0046,0.10738346802222194,1.0,0.0,0.0,0.0,1.236453927377091,1.0733783795124665,-0.12057583374829908,0.08347482269113506,-0.09979298548824378,-0.010401443153922444,1.1729883499886498,0.9928427662904202,0.018558624622197505,0.08241138818981458,-0.09980065046786106,-0.009739050682887327,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.3708697620315522,1.8938429130869792,2.8518469640393285,-0.5953575966877431,-2.0994547733426137,1.1378897740948835,1.6625214820367051,0.12057583374829908,-1.1893254820026233,0.12057583374829908,0.3916999999999732,0,0,0.00019492982939863573,-5.1948616388523675e-05
+64062,1792844588439251413,23267894000000,1792844588437387125,UP_FORCE_RAMP,10,0.0644,0.06440061330795288,0.6759346930617111,-0.0049210868055378325,0.10698464101928203,0.9999999064678793,-0.00030359419784551766,-0.0002784725919192377,-9.375859986647654e-05,0.6761,-0.0046,0.10742783410677498,1.0,0.0,0.0,0.0,1.2564530300016432,1.0790011670327302,-0.2828321530876339,0.08355304013448298,-0.10164816350460136,-0.010302565097738097,1.192987452613202,0.998465553810684,-0.1436976947171373,0.0824896056331625,-0.10165582848421864,-0.00964017262670298,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.4156233538398577,2.0586788882179365,2.959961869595825,-0.6318046481243629,-2.1837133344887154,1.2479208508483748,1.6625214820367051,0.2828321530876339,-1.2974403875591198,0.2828321530876339,0.4150999999999706,0,0,0.0001837652577510188,-9.999999025923074e-05
+64095,1792844588714233362,23268169000000,1792844588709377914,UP_FORCE_RAMP,10,0.0644,0.06440258026123047,0.6759229326129539,-0.004915892678529753,0.10700198213368309,0.9999998991147127,-0.0003017738046191416,-0.00030357086220686143,-9.995364366750512e-05,0.6761,-0.0046,0.10747648580302617,1.0,0.0,0.0,0.0,1.2749682944612193,1.0699693800639363,-0.46290994499422544,0.08259666784533097,-0.10269017857716264,-0.01018093768336314,1.2115027170727781,0.98943376684189,-0.32377548662372885,0.0815332333440105,-0.10269784355677992,-0.009518545212328023,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.448528670074216,1.8921582814896722,3.3085760416871053,-0.5814160234994948,-2.4168022523940063,1.1417499207225894,1.6625214820367051,0.46290994499422544,-1.6460545596504002,0.46290994499422544,0.4425999999999676,0,0,0.00017001526042973036,-9.999999025923074e-05
+64115,1792844588876291308,23268331000000,1792844588873378180,UP_FORCE_HOLD,10,0.0644,0.06440258026123047,0.6759169526868664,-0.004916771124744913,0.10701674663520944,0.9999998949747905,-0.000299533099209114,-0.0003180770007112112,-0.000102957349803128,0.6761,-0.0046,0.1075033762253444,1.0,0.0,0.0,0.0,1.2772135470583206,1.0651979894313954,-0.5836304146600633,0.0819839497080451,-0.10371013826485813,-0.010092988247485215,1.2137479696698794,0.9846623762093492,-0.44449595628956673,0.08092051520672462,-0.10371780324447541,-0.009430595776450099,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.5135043306650025,1.9470015181559104,3.425562945534458,-0.5993990860551731,-2.5104075796018575,1.1756089510176975,1.6625214820367051,0.5836304146600633,-1.763041463497753,0.5836304146600633,0.4718,0,0,0.00016191526200773498,-9.999999025923074e-05
+64135,1792844589044279829,23268499000000,1792844589041377622,UP_SETTLE,10,0.0644,0.0644032433629036,0.6759092414630231,-0.00491385936007136,0.10702947165083374,0.9999998920319348,-0.0002939978974964678,-0.00033248162555165044,-0.00010198130979876977,0.6761,-0.0046,0.10752987658949997,1.0,0.0,0.0,0.0,1.2868445864217386,1.058153819201453,-0.6950724965679331,0.0816393135798554,-0.10368297610598447,-0.010023654865270636,1.2233790090332974,0.9776182059794069,-0.5559380381974366,0.08057587907853493,-0.10369064108560175,-0.00936126239423552,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.5100315460730007,2.0165656542911465,3.4131491287890934,-0.6277336754055239,-2.4976436758499045,1.226274016191291,1.6625214820367051,0.6950724965679331,-1.7506276467523882,0.6950724965679331,0.4718,0,0,0.0001535152636441842,-9.999999025923074e-05
+64137,1792844589060276794,23268515000000,1792844589053377681,UP_SETTLE,10,0.0644,0.0644032433629036,0.6759005061546803,-0.004982445006365448,0.10703559599851453,0.9999999215432382,-7.416801666286323e-05,-0.0003554043249124176,0.0001286205771606042,0.6761,-0.0046,0.1075323268337196,1.0,0.0,0.0,0.0,1.2869649891139703,1.057975312764059,-0.7031647757801733,0.08164822631850392,-0.10367941738528415,-0.010010438343303804,1.2234994117255291,0.9774396995420127,-0.5640303174096767,0.08058479181718345,-0.10368708236490143,-0.009348045872268687,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.4820497224603024,2.133350349553522,3.449302638540729,-0.6678002825670446,-2.523303771405102,1.306255715107269,1.6625214820367051,0.7031647757801733,-1.786781156504024,0.7031647757801733,0.4718,0,0,0.00015271526380003652,-9.999999025923074e-05
+64141,1792844589094257079,23268549000000,1792844589089377725,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758968167512587,-0.0049259611490883965,0.10704005616399784,0.9999999144212458,-5.459074778723174e-06,-0.00037951865527125937,0.00013614754617083424,0.6761,-0.0046,0.1075374911026946,1.0,0.0,0.0,0.0,1.0431537650695377,0.7520677432924828,-0.7362264535540872,0.06084460411938823,-0.0891125021790596,-0.011706084175136917,0.9796881876810964,0.6715321300704366,-0.5970919951835906,0.05978116961806776,-0.08912016715867688,-0.0110436917041018,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.2605790268805523,1.7329426005547397,3.3117380923730892,-0.5306883452627403,-2.3758605308304057,1.032563039151867,1.6625214820367051,0.7362264535540872,-1.6492166103363841,0.7362264535540872,0.4718,0,0,0.00015101526413122268,-9.999999025923074e-05
+64151,1792844589178271133,23268632000000,1792844589173378142,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758959110698698,-0.0049268776553622025,0.1070458136686139,0.9999999159069003,-7.777490968711548e-06,-0.0003770840167347905,0.00013181885964022922,0.6761,-0.0046,0.10754985521965145,1.0,0.0,0.0,0.0,1.1000291076060082,0.8172851470296014,-0.733171714562723,0.0650576695170378,-0.09083004198904776,-0.011974870959004463,1.036563530217567,0.7367495338075551,-0.5940372561922265,0.06399423501571733,-0.09083770696866504,-0.011312478487969346,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.3791274452614541,1.738515868016854,3.3608175027432936,-0.3714235019488831,-2.4765935451135612,1.0056546151960541,1.6625214820367051,0.733171714562723,-1.6982960207065885,0.733171714562723,0.4718,0,0,0.00014686526493970652,-9.999999025923074e-05
+64168,1792844589319343904,23268774000000,1792844589317377809,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758934332626981,-0.004926821747121346,0.10705306023589273,0.9999999158248103,-1.1180818616394008e-05,-0.0003779266126674604,0.00012976787570728474,0.6761,-0.0046,0.10757020953737179,1.0,0.0,0.0,0.0,1.1491922715029783,0.8639123717456197,-0.8157603248866707,0.06887390907595413,-0.09436307089375931,-0.01199136937049578,1.0857266941145371,0.7833767585235735,-0.6766258665161742,0.06781047457463366,-0.09437073587337659,-0.011328976899460663,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.5446258487077498,1.7578489932752508,3.5307479919576275,-0.36137973170403176,-2.6307488347267256,1.0068617087832838,1.6625214820367051,0.8157603248866707,-1.8682265099209223,0.8157603248866707,0.4718,0,0,0.00013976526632289576,-9.999999025923074e-05
+64180,1792844589419341236,23268874000000,1792844589417377505,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758650116204892,-0.004925275529859392,0.10703997913887811,0.9999999050019506,-1.2477303918404985e-05,-0.0004070199710175293,0.00012497205368369632,0.6761,-0.0046,0.10758393856405327,1.0,0.0,0.0,0.0,1.175263173676773,0.7448575461076257,-0.6950485650200078,0.05981666471795648,-0.09797183500681945,-0.01225163794876125,1.1117975962883317,0.6643219328855794,-0.5559141066495111,0.058753230216636004,-0.09797949998643674,-0.011589245477726133,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.6603363511491505,1.8217218603446452,3.3740643473452443,-0.40781429424972426,-2.540709041790379,1.0426476163621141,1.6625214820367051,0.6950485650200078,-1.7115428653085392,0.6950485650200078,0.4718,0,0,0.00013476526729697268,-9.999999025923074e-05
+64192,1792844589519360210,23268974000000,1792844589517377583,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758695271908117,-0.004924792692195093,0.1070602996575545,0.9999999092460897,-1.5426291350281206e-05,-0.00039770637372828693,0.00012059165189599533,0.6761,-0.0046,0.10759716759083215,1.0,0.0,0.0,0.0,1.207127616199129,0.7781551682859161,-0.7372225688397549,0.061178636410279444,-0.09853704808438896,-0.012186534793912317,1.1436620388106877,0.6976195550638699,-0.5980881104692584,0.06011520190895897,-0.09854471306400624,-0.0115241423228772,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.5566535195398508,1.78726551355054,3.3888637270902566,-0.40668101070400253,-2.515403269987618,1.0215402475258342,1.6625214820367051,0.7372225688397549,-1.7263422450535515,0.7372225688397549,0.4718,0,0,0.0001297652682710496,-9.999999025923074e-05
+64210,1792844589669293752,23269124000000,1792844589665378254,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758622116352772,-0.004924710458791485,0.1070642085702027,0.9999999047027903,-1.9686511459144664e-05,-0.0004097105193495766,0.00011741808368515155,0.6761,-0.0046,0.10761607363118313,1.0,0.0,0.0,0.0,1.2324146697852725,0.7906203175810995,-0.8569128078874961,0.0633057891065255,-0.1004092426184069,-0.012107034410506536,1.1689490923968313,0.7100847043590532,-0.7177783495169996,0.062242354605205025,-0.10041690759802419,-0.01144464193947142,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.6515031900496369,1.7678481178885854,3.521318971069193,-0.40882541967282454,-2.623280255997576,1.0112789898467385,1.6625214820367051,0.8569128078874961,-1.8587974890324879,0.8569128078874961,0.4718,0,0,0.000122265269732165,-9.999999025923074e-05
+64245,1792844589960279976,23269415000000,1792844589957378370,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758563436544208,-0.004922310604657192,0.10707867970742935,0.9999999008257477,-1.8936844193373138e-05,-0.00042103673804941115,0.00011027610950685333,0.6761,-0.0046,0.10764954307508903,1.0,0.0,0.0,0.0,1.2455277022971833,0.8168453627110515,-0.9940438990149798,0.06368370939908675,-0.10118436746239115,-0.012010257520446356,1.1820621249087422,0.7363097494890052,-0.8549094406444832,0.06262027489776628,-0.10119203244200843,-0.01134786504941124,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.7232884847429781,1.804741490382817,3.6589712787396675,-0.4294930975466045,-2.7336202746512726,1.0429939235243262,1.6625214820367051,0.9940438990149798,-1.9964497967029624,0.9940438990149798,0.4718,0,0,0.00010771527256672885,-9.999999025923074e-05
+64267,1792844590144283083,23269599000000,1792844590141377911,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758530049032252,-0.004918601870116621,0.10708691554063682,0.9999998983219901,-2.023803997571594e-05,-0.00042767324144454263,0.00010716759851230894,0.6761,-0.0046,0.1076685208854071,1.0,0.0,0.0,0.0,1.2418577861758715,0.7962300561305865,-1.0590541628922272,0.0633043870069459,-0.10123869385258963,-0.011959723763694877,1.1783922087874303,0.7156944429085402,-0.9199197045217307,0.06224095250562544,-0.10124635883220691,-0.01129733129265976,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.7409462937412221,1.813575077867466,3.777837960763459,-0.4451674631080526,-2.811540591335794,1.0485266859183124,1.6625214820367051,1.0590541628922272,-2.1153164787267538,1.0590541628922272,0.4718,0,0,9.85152743590304e-05,-9.999999025923074e-05
+64300,1792844590419401870,23269874000000,1792844590413377780,UP_SETTLE,10,0.0644,0.0644032433629036,0.6758436173529724,-0.0049212947214204855,0.10709636712921734,0.9999998921211295,-2.661111400225177e-05,-0.00044289339247517457,0.00010167539186379935,0.6761,-0.0046,0.1076937288362255,1.0,0.0,0.0,0.0,1.2682507407760346,0.8025879635993685,-1.1489193580057946,0.06334882178265701,-0.10260443886961992,-0.011908129682494642,1.2047851633875934,0.7220523503773222,-1.009784899635298,0.06228538728133654,-0.1026121038492372,-0.011245737211459526,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.754295147669074,1.8471005029513397,3.9214663449093248,-0.47633350547682546,-2.906484898677804,1.0768102851880257,1.6625214820367051,1.1489193580057946,-2.2589448628726196,1.1489193580057946,0.4718,0,0,8.476527703774194e-05,-9.999999025923074e-05
+64331,1792844590677384347,23270132000000,1792844590677377985,UP_SETTLE,10,0.0644,0.06440258026123047,0.6758321332839214,-0.004923392284218457,0.10710515410387048,0.9999998847639439,-3.28663305270558e-05,-0.00045995055778094815,9.633406607184205e-05,0.6761,-0.0046,0.10771394062802668,1.0,0.0,0.0,0.0,1.279888032952428,0.7881447108827544,-1.229777303456694,0.06237815185676039,-0.103823387013571,-0.011871199336369211,1.2164224555639869,0.7076090976607081,-1.0906428450861974,0.06131471735543992,-0.10383105199318828,-0.011208806865334094,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.7908055661401991,1.9148818607254872,3.9684712148559185,-0.5019204863797506,-2.942812765613808,1.125440066094628,1.6625214820367051,1.229777303456694,-2.3059497328192133,1.229777303456694,0.4718,0,0,7.186527955086041e-05,-9.999999025923074e-05
+64369,1792844590994438463,23270449000000,1792844590993378491,UP_SETTLE,10,0.0644,0.06440258026123047,0.6758139136153523,-0.0049192698454501175,0.10710933042123544,0.9999998749659392,-3.520164792452726e-05,-0.000481851303879183,8.995073839705654e-05,0.6761,-0.0046,0.10773421762213527,1.0,0.0,0.0,0.0,1.2912000666092283,0.7612060863677839,-1.231134610665606,0.05936504821045164,-0.10514765226791457,-0.012943609772681993,1.227734489220787,0.6806704731457376,-1.0920001522951095,0.058301613709131166,-0.10515531724753185,-0.012281217301646876,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.839731960116341,1.8297966384112783,3.9646251930825382,-0.4983330961210448,-2.9412825309526283,1.0709392450531978,1.6625214820367051,1.231134610665606,-2.302103711045833,1.231134610665606,0.4718,0,0,5.6015282638684265e-05,-9.999999025923074e-05
+64400,1792844591252401490,23270707000000,1792844591249377768,UP_SETTLE,10,0.0644,0.06440258026123047,0.6758113754492617,-0.004919712246520139,0.1071183966107166,0.9999998730604417,-3.8229089465989795e-05,-0.0004860405380531298,8.732180227770526e-05,0.6761,-0.0046,0.1077470119153815,1.0,0.0,0.0,0.0,1.3013020812478096,0.7594942273344024,-1.287254847186128,0.06041746883409581,-0.10615931475899278,-0.012891593892632357,1.2378365038593684,0.6789586141123561,-1.1481203888156315,0.059354034332775335,-0.10616697973861006,-0.01222920142159724,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.8140640327085307,1.825003913533266,4.013623337785053,-0.504735910193189,-2.96613773556241,1.0730275886495164,1.6625214820367051,1.287254847186128,-2.351101855748348,1.287254847186128,0.4718,0,0,4.3115285151802734e-05,-9.999999025923074e-05
+64436,1792844591552439935,23271007000000,1792844591549377707,UP_SETTLE,10,0.0644,0.06440258026123047,0.6758091871875251,-0.004916855014902874,0.1071261919212624,0.9999998705532614,-4.0389240474538024e-05,-0.0004916100236138945,8.381299889606888e-05,0.6761,-0.0046,0.10775770400136683,1.0,0.0,0.0,0.0,1.3104754655432134,0.7685719385418458,-1.3249621369346993,0.060424367106566415,-0.10615622090274172,-0.012850758676309904,1.2470098881547722,0.6880363253197995,-1.1858276785642028,0.05936093260524594,-0.106163885882359,-0.012188366205274788,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.864309033519966,1.7824471408355207,4.126286187023743,-0.5064270107833269,-3.0522577990835345,1.0425742723152072,1.6625214820367051,1.3249621369346993,-2.4637647049870375,1.3249621369346993,0.4718,0,0,2.811528807403351e-05,-9.999999025923074e-05
+64479,1792844591910417089,23271365000000,1792844591909377897,UP_SETTLE,10,0.0644,0.06440258026123047,0.6758093026415716,-0.0049148894835329545,0.10713282100441454,0.9999998704473025,-4.239746964171703e-05,-0.0004921863498518451,8.064300400624989e-05,0.6761,-0.0046,0.10776457412512329,1.0,0.0,0.0,0.0,1.3093334690772294,0.7673341606268853,-1.3571207046459817,0.060425197749599195,-0.10614948484351854,-0.01285408472951315,1.2458678916887882,0.686798547404839,-1.2179862462754851,0.05936176324827872,-0.10615714982313582,-0.012191692258478033,-0.06346557738844122,-0.08053561322204626,0.1391344583704966,-0.0010634345013204724,-7.664979617284962e-06,0.0006623924710351168,1,-1.788833889949929,1.8359808601559415,4.006509159843375,-0.5289985215810548,-2.9544235941186816,1.0788582947331187,1.6625214820367051,1.3571207046459817,-2.34398767780667,1.3571207046459817,0.4718,0,0,1.0215291561228907e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_15/press_depth_10/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,1792844582833943451,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.046039766e-08,-1.466245828e-09,2.960862666e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457013e-01,-1.166574728e-04,8.303256056e-01
+1,2.666666667e-01,WAIT_W2,1792844583096832341,-3.363713555e-06,5.953995232e-07,-4.015538490e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.549852180e-07,-2.924461250e-08,1.794856486e-09,7.019522691e-01,-2.167533550e-05,8.601390717e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458458e-01,-1.166852512e-04,8.303256071e-01
+2,5.166666667e-01,WAIT_W2,1792844583342345530,-1.888056277e-06,7.435877989e-08,-1.874089295e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.660617348e-07,-4.709334072e-08,4.572216938e-09,7.019537448e-01,-2.219637624e-05,8.601428998e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459569e-01,-1.167030999e-04,8.303256099e-01
+3,7.000000000e-01,WAIT_W2,1792844583522637324,-9.231560983e-07,-9.307353835e-06,-5.086147474e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.375320752e-07,-5.740309151e-08,7.397116808e-09,7.019547097e-01,-3.157808886e-05,8.601425786e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460283e-01,-1.167134097e-04,8.303256127e-01
+4,7.166666667e-01,WAIT_W2,1792844583539346724,1.050965767e-06,-6.471391331e-05,4.414530179e-06,1.034239195e-06,-6.440497099e-05,4.484875255e-06,1.495660183e-06,-6.166946154e-05,4.274036344e-06,7.019566838e-01,-8.698464833e-05,8.601475018e-01,7.019566671e-01,-8.667570601e-05,8.601475721e-01,7.027471865e-01,-1.783254681e-04,8.303298794e-01
+5,7.333333333e-01,WAIT_W2,1792844583555226299,5.109848237e-06,-1.528350227e-04,1.517529006e-05,5.035285248e-06,-1.526552855e-04,1.513781182e-05,5.859581950e-06,-1.463205391e-04,1.464717330e-05,7.019607427e-01,-1.751057577e-04,8.601582625e-01,7.019606681e-01,-1.749260205e-04,8.601582251e-01,7.027515504e-01,-2.629765457e-04,8.303402525e-01
+6,7.333333333e-01,WAIT_W2,1792844583555226299,5.109848237e-06,-1.528350227e-04,1.517529006e-05,5.035285248e-06,-1.526552855e-04,1.513781182e-05,5.859581950e-06,-1.463205391e-04,1.464717330e-05,7.019607427e-01,-1.751057577e-04,8.601582625e-01,7.019606681e-01,-1.749260205e-04,8.601582251e-01,7.027515504e-01,-2.629765457e-04,8.303402525e-01
+7,7.500000000e-01,WAIT_W2,1792844583571627519,5.688075214e-06,-2.921205109e-04,2.364434956e-05,5.951760298e-06,-2.922745104e-04,2.374107137e-05,6.920788567e-06,-2.800878820e-04,2.303565697e-05,7.019613209e-01,-3.143912459e-04,8.601667316e-01,7.019615846e-01,-3.145452454e-04,8.601668283e-01,7.027526116e-01,-3.967438886e-04,8.303486410e-01
+8,7.500000000e-01,WAIT_W2,1792844583571627519,5.688075214e-06,-2.921205109e-04,2.364434956e-05,5.951760298e-06,-2.922745104e-04,2.374107137e-05,6.920788567e-06,-2.800878820e-04,2.303565697e-05,7.019613209e-01,-3.143912459e-04,8.601667316e-01,7.019615846e-01,-3.145452454e-04,8.601668283e-01,7.027526116e-01,-3.967438886e-04,8.303486410e-01
+9,7.500000000e-01,WAIT_W2,1792844583571627519,5.688075214e-06,-2.921205109e-04,2.364434956e-05,5.951760298e-06,-2.922745104e-04,2.374107137e-05,6.920788567e-06,-2.800878820e-04,2.303565697e-05,7.019613209e-01,-3.143912459e-04,8.601667316e-01,7.019615846e-01,-3.145452454e-04,8.601668283e-01,7.027526116e-01,-3.967438886e-04,8.303486410e-01
+10,7.666666667e-01,WAIT_W2,1792844583587895370,9.401650630e-06,-4.136300508e-04,3.408294736e-05,9.228842741e-06,-4.135817094e-04,3.373518297e-05,1.059130304e-05,-3.964722492e-04,3.278910882e-05,7.019650345e-01,-4.359007858e-04,8.601771702e-01,7.019648617e-01,-4.358524444e-04,8.601768224e-01,7.027562821e-01,-5.131282558e-04,8.303583944e-01
+11,7.666666667e-01,WAIT_W2,1792844583587895370,9.401650630e-06,-4.136300508e-04,3.408294736e-05,9.228842741e-06,-4.135817094e-04,3.373518297e-05,1.059130304e-05,-3.964722492e-04,3.278910882e-05,7.019650345e-01,-4.359007858e-04,8.601771702e-01,7.019648617e-01,-4.358524444e-04,8.601768224e-01,7.027562821e-01,-5.131282558e-04,8.303583944e-01
+12,7.833333333e-01,WAIT_W2,1792844583603902964,8.647739348e-06,-5.020072116e-04,3.774209542e-05,8.713217702e-06,-5.017561060e-04,3.785152621e-05,1.016662345e-05,-4.811124906e-04,3.686527700e-05,7.019642806e-01,-5.242779466e-04,8.601808293e-01,7.019643460e-01,-5.240268410e-04,8.601809388e-01,7.027558574e-01,-5.977684972e-04,8.303624706e-01
+13,8.166666667e-01,WAIT_W2,1792844583637195438,1.472287495e-05,-4.930696588e-04,4.957217644e-05,1.480091903e-05,-4.929950875e-04,4.935242916e-05,1.657207443e-05,-4.730621453e-04,4.819654109e-05,7.019703557e-01,-5.153403938e-04,8.601926594e-01,7.019704337e-01,-5.152658225e-04,8.601924397e-01,7.027622629e-01,-5.897181519e-04,8.303738019e-01
+14,8.500000000e-01,WAIT_W2,1792844583669850181,2.174311062e-05,-4.412218940e-04,6.157141410e-05,1.850631116e-05,-4.565126617e-04,5.468941624e-05,2.052094787e-05,-4.381132482e-04,5.341880410e-05,7.019773759e-01,-4.634926290e-04,8.602046587e-01,7.019741391e-01,-4.787833967e-04,8.601977767e-01,7.027662118e-01,-5.547692548e-04,8.303790241e-01
+15,8.833333333e-01,WAIT_W2,1792844583702663863,2.844386485e-05,-4.847889663e-04,7.782743390e-05,2.837544754e-05,-4.846918005e-04,7.773727405e-05,3.118670935e-05,-4.650372637e-04,7.569657424e-05,7.019840767e-01,-5.070597013e-04,8.602209147e-01,7.019840083e-01,-5.069625355e-04,8.602208245e-01,7.027768775e-01,-5.816932703e-04,8.304013019e-01
+16,9.500000000e-01,WAIT_W2,1792844583767995111,4.022402245e-05,-4.538844526e-04,1.103909483e-04,3.815589765e-05,-4.666531024e-04,1.008424435e-04,4.184120249e-05,-4.478879931e-04,9.846901426e-05,7.019958568e-01,-4.761551876e-04,8.602534782e-01,7.019937887e-01,-4.889238374e-04,8.602439297e-01,7.027875320e-01,-5.645439997e-04,8.304240743e-01
+17,1.083333333e+00,WAIT_W2,1792844583899722880,5.774851849e-05,-4.431697939e-04,1.521660398e-04,5.399855824e-05,-4.583093440e-04,1.423726272e-04,5.914364396e-05,-4.399907947e-04,1.393095815e-04,7.020133813e-01,-4.654405289e-04,8.602952533e-01,7.020096314e-01,-4.805800791e-04,8.602854599e-01,7.028048345e-01,-5.566468013e-04,8.304649149e-01
+18,1.183333333e+00,WAIT_W2,1792844583997384399,6.103255880e-05,-4.350748376e-04,1.631186934e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.682752150e-05,-4.317468472e-04,1.608092666e-04,7.020166654e-01,-4.573455726e-04,8.603062059e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028125183e-01,-5.484028538e-04,8.304864146e-01
+19,1.316666667e+00,WAIT_W2,1792844584128360624,6.176549220e-05,-4.472192347e-04,1.655358799e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.710001260e-05,-4.318149644e-04,1.613552104e-04,7.020173983e-01,-4.694899697e-04,8.603086231e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028127908e-01,-5.484709710e-04,8.304869605e-01
+20,1.533333333e+00,UP_FORCE_RAMP,1792844584341561067,6.165672590e-05,-4.502849607e-04,1.669014264e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.742426973e-05,-4.319026511e-04,1.619293915e-04,7.020172895e-01,-4.725556958e-04,8.603099887e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028131151e-01,-5.485586577e-04,8.304875347e-01
+21,1.683333333e+00,UP_FORCE_RAMP,1792844584489175000,6.196689841e-05,-4.398014719e-04,1.673978913e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.759910914e-05,-4.319546982e-04,1.622211550e-04,7.020175997e-01,-4.620722069e-04,8.603104851e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028132899e-01,-5.486107048e-04,8.304878265e-01
+22,1.916666667e+00,UP_FORCE_RAMP,1792844584734383003,6.114093357e-05,-4.378829668e-04,1.677950715e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.782591933e-05,-4.320243183e-04,1.625779105e-04,7.020167738e-01,-4.601537018e-04,8.603108823e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028135167e-01,-5.486803249e-04,8.304881832e-01
+23,2.150000000e+00,UP_FORCE_RAMP,1792844584963682867,6.025974298e-05,-4.431495782e-04,1.666112733e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.800713640e-05,-4.320790567e-04,1.628518372e-04,7.020158926e-01,-4.654203132e-04,8.603096985e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028136980e-01,-5.487350633e-04,8.304884572e-01
+24,2.400000000e+00,UP_FORCE_RAMP,1792844585225906574,6.072347056e-05,-4.394352555e-04,1.713367843e-04,6.085517740e-05,-4.496439489e-04,1.641432001e-04,6.816515051e-05,-4.321286300e-04,1.630808393e-04,7.020163563e-01,-4.617059906e-04,8.603144240e-01,7.020164880e-01,-4.719146839e-04,8.603072304e-01,7.028138560e-01,-5.487846366e-04,8.304886862e-01
+25,2.633333333e+00,UP_FORCE_RAMP,1792844585471863062,5.978516625e-05,-4.370690523e-04,1.763419231e-04,6.345089360e-05,-4.364845377e-04,1.786029801e-04,7.120050010e-05,-4.195054706e-04,1.773566945e-04,7.020154180e-01,-4.593397873e-04,8.603194292e-01,7.020190837e-01,-4.587552727e-04,8.603216902e-01,7.028168913e-01,-5.361614772e-04,8.305029620e-01
+26,2.866666667e+00,UP_FORCE_RAMP,1792844585702002689,6.211061358e-05,-4.351003328e-04,1.866904610e-04,6.345089360e-05,-4.364845377e-04,1.786029801e-04,7.132832041e-05,-4.195317051e-04,1.775906230e-04,7.020177434e-01,-4.573710678e-04,8.603297777e-01,7.020190837e-01,-4.587552727e-04,8.603216902e-01,7.028170191e-01,-5.361877117e-04,8.305031959e-01
+27,3.083333333e+00,UP_FORCE_RAMP,1792844585913996585,6.051796869e-05,-4.358696436e-04,1.939476112e-04,6.345089360e-05,-4.364845377e-04,1.786029801e-04,7.142582950e-05,-4.195526481e-04,1.777488141e-04,7.020161508e-01,-4.581403787e-04,8.603370349e-01,7.020190837e-01,-4.587552727e-04,8.603216902e-01,7.028171166e-01,-5.362086547e-04,8.305033541e-01
+28,3.250000000e+00,UP_FORCE_RAMP,1792844586077722743,2.221289904e-05,-4.346713699e-04,1.922520032e-04,2.265606882e-05,-4.345417454e-04,1.922668568e-04,2.909447736e-05,-4.177219530e-04,1.910495926e-04,7.019778457e-01,-4.569421049e-04,8.603353392e-01,7.019782889e-01,-4.568124804e-04,8.603353541e-01,7.027747853e-01,-5.343779595e-04,8.305166549e-01
+29,3.383333333e+00,UP_FORCE_RAMP,1792844586208628948,2.906897516e-05,-4.306029607e-04,2.065778673e-04,2.265606882e-05,-4.345417454e-04,1.922668568e-04,2.877291612e-05,-4.177256756e-04,1.911570762e-04,7.019847018e-01,-4.528736958e-04,8.603496651e-01,7.019782889e-01,-4.568124804e-04,8.603353541e-01,7.027744637e-01,-5.343816822e-04,8.305167624e-01
+30,3.666666667e+00,UP_FORCE_RAMP,1792844586487787674,2.844074304e-05,-4.280465201e-04,2.152486082e-04,2.847419334e-05,-4.332677885e-04,2.127176293e-04,3.491697101e-05,-4.165054490e-04,2.111681198e-04,7.019840736e-01,-4.503172551e-04,8.603583358e-01,7.019841070e-01,-4.555385236e-04,8.603558049e-01,7.027806078e-01,-5.331614556e-04,8.305367734e-01
+31,3.866666667e+00,UP_FORCE_RAMP,1792844586699973424,2.733090918e-05,-4.320231525e-04,2.238114546e-04,2.847419334e-05,-4.332677885e-04,2.127176293e-04,3.489378887e-05,-4.165129951e-04,2.114330907e-04,7.019829637e-01,-4.542938875e-04,8.603668987e-01,7.019841070e-01,-4.555385236e-04,8.603558049e-01,7.027805846e-01,-5.331690017e-04,8.305370384e-01
+32,4.066666667e+00,UP_FORCE_RAMP,1792844586896742945,2.610761426e-05,-4.273975990e-04,2.301159019e-04,2.760655529e-05,-4.265563597e-04,2.318074784e-04,3.423466910e-05,-4.100690432e-04,2.300287744e-04,7.019817404e-01,-4.496683340e-04,8.603732031e-01,7.019832394e-01,-4.488270947e-04,8.603748947e-01,7.027799255e-01,-5.267250498e-04,8.305556341e-01
+33,4.316666667e+00,UP_FORCE_RAMP,1792844587208356948,2.690640217e-05,-4.246768151e-04,2.550031515e-04,2.888464009e-05,-4.312697148e-04,2.538954009e-04,3.581012361e-05,-4.145756765e-04,2.518107414e-04,7.019825392e-01,-4.469475501e-04,8.603980904e-01,7.019845175e-01,-4.535404499e-04,8.603969826e-01,7.027815009e-01,-5.312316830e-04,8.305774161e-01
+34,4.500000000e+00,UP_FORCE_RAMP,1792844587389161426,2.273340362e-05,-4.261681880e-04,2.805492655e-04,2.585035127e-05,-4.237509369e-04,2.751757552e-04,3.287564354e-05,-4.073835877e-04,2.727726757e-04,7.019783662e-01,-4.484389230e-04,8.604236365e-01,7.019814832e-01,-4.460216719e-04,8.604182630e-01,7.027785665e-01,-5.240395943e-04,8.305983780e-01
+35,4.616666667e+00,UP_FORCE_RAMP,1792844587502683372,3.223932361e-05,-4.215247867e-04,3.236526464e-04,3.198507247e-05,-4.227420222e-04,3.199776480e-04,3.977829852e-05,-4.063487577e-04,3.163677155e-04,7.019878721e-01,-4.437955217e-04,8.604667399e-01,7.019876179e-01,-4.450127572e-04,8.604630649e-01,7.027854691e-01,-5.230047643e-04,8.306419730e-01
+36,4.833333333e+00,UP_FORCE_RAMP,1792844587716030413,2.131318140e-05,-4.148543684e-04,3.414912607e-04,2.659348752e-05,-4.171894448e-04,3.420161294e-04,3.450203145e-05,-4.010074970e-04,3.385019753e-04,7.019769460e-01,-4.371251035e-04,8.604845785e-01,7.019822263e-01,-4.394601798e-04,8.604851034e-01,7.027801928e-01,-5.176635035e-04,8.306641073e-01
+37,4.933333333e+00,UP_FORCE_RAMP,1792844587815053477,-2.366649125e-06,-4.198371860e-04,3.252022458e-04,5.340793522e-06,-4.196644562e-04,3.292687506e-04,1.219249160e-05,-4.033680098e-04,3.263908653e-04,7.019532662e-01,-4.421079210e-04,8.604682895e-01,7.019609736e-01,-4.419351912e-04,8.604723560e-01,7.027578833e-01,-5.200240164e-04,8.306519962e-01
+38,5.000000000e+00,UP_FORCE_RAMP,1792844587880170585,-1.523053213e-05,-4.212837198e-04,3.235271644e-04,-1.510577316e-05,-4.213935859e-04,3.236282020e-04,-9.456998245e-06,-4.050198528e-04,3.208557099e-04,7.019404023e-01,-4.435544549e-04,8.604666144e-01,7.019405270e-01,-4.436643209e-04,8.604667154e-01,7.027362338e-01,-5.216758593e-04,8.306464610e-01
+39,5.150000000e+00,UP_FORCE_RAMP,1792844588027361965,-2.945292939e-05,-4.148387566e-04,3.137166524e-04,-3.149606557e-05,-4.171050307e-04,3.122895361e-04,-2.697468103e-05,-4.009179787e-04,3.101044014e-04,7.019261799e-01,-4.371094916e-04,8.604568039e-01,7.019241368e-01,-4.393757657e-04,8.604553768e-01,7.027187161e-01,-5.175739853e-04,8.306357097e-01
+40,5.333333333e+00,UP_FORCE_RAMP,1792844588207188033,-4.018974328e-05,-4.153676955e-04,3.191524293e-04,-3.149606557e-05,-4.171050307e-04,3.122895361e-04,-2.726736916e-05,-4.008993833e-04,3.102467798e-04,7.019154431e-01,-4.376384305e-04,8.604622397e-01,7.019241368e-01,-4.393757657e-04,8.604553768e-01,7.027184234e-01,-5.175553898e-04,8.306358521e-01
+41,5.566666667e+00,UP_FORCE_RAMP,1792844588436512774,-4.827411831e-05,-4.157764031e-04,3.423748699e-04,-4.092886710e-05,-4.190234094e-04,3.319129186e-04,-3.721908312e-05,-4.026783354e-04,3.295033083e-04,7.019073587e-01,-4.380471381e-04,8.604854621e-01,7.019147039e-01,-4.412941445e-04,8.604750002e-01,7.027084717e-01,-5.193343420e-04,8.306551086e-01
+42,5.850000000e+00,UP_FORCE_RAMP,1792844588715410162,-5.926894196e-05,-4.134628331e-04,3.632703219e-04,-5.340699614e-05,-4.163518064e-04,3.508567047e-04,-5.032442370e-05,-4.000782005e-04,3.482645674e-04,7.018963639e-01,-4.357335681e-04,8.605063576e-01,7.019022258e-01,-4.386225414e-04,8.604939439e-01,7.026953664e-01,-5.167342071e-04,8.306738699e-01
+43,6.016666667e+00,UP_FORCE_HOLD,1792844588878501989,-6.715781058e-05,-4.094406649e-04,3.756446919e-04,-6.376378711e-05,-4.085222835e-04,3.674297503e-04,-6.112744800e-05,-3.925645491e-04,3.645534737e-04,7.018884750e-01,-4.317113999e-04,8.605187319e-01,7.018918690e-01,-4.307930185e-04,8.605105170e-01,7.026845634e-01,-5.092205557e-04,8.306901588e-01
+44,6.183333333e+00,UP_SETTLE,1792844589043035388,-7.501724174e-05,-4.077233325e-04,3.859907168e-04,-7.489390326e-05,-4.077622078e-04,3.859072890e-04,-7.261398635e-05,-3.918202214e-04,3.826263087e-04,7.018806156e-01,-4.299940675e-04,8.605290780e-01,7.018807389e-01,-4.300329428e-04,8.605289945e-01,7.026730768e-01,-5.084762280e-04,8.307082316e-01
+45,6.200000000e+00,UP_SETTLE,1792844589059643322,-8.592299929e-05,-4.806193891e-04,3.945997895e-04,-8.561572871e-05,-4.806320626e-04,3.943045509e-04,-8.371315256e-05,-4.614347366e-04,3.907639828e-04,7.018697098e-01,-5.028901241e-04,8.605376870e-01,7.018700171e-01,-5.029027976e-04,8.605373918e-01,7.026619777e-01,-5.780907432e-04,8.307163693e-01
+46,6.233333333e+00,UP_SETTLE,1792844589092015828,-8.825509525e-05,-4.215552668e-04,3.962817273e-04,-8.824978950e-05,-4.214594463e-04,3.967898402e-04,-8.657049951e-05,-4.050485474e-04,3.933177938e-04,7.018673777e-01,-4.438260019e-04,8.605393690e-01,7.018673830e-01,-4.437301813e-04,8.605398771e-01,7.026591203e-01,-5.217045540e-04,8.307189231e-01
+47,6.316666667e+00,UP_SETTLE,1792844589173845061,-8.696058053e-05,-4.265794710e-04,4.017977488e-04,-8.824978950e-05,-4.214594463e-04,3.967898402e-04,-8.672993259e-05,-4.049262115e-04,3.935416043e-04,7.018686722e-01,-4.488502060e-04,8.605448850e-01,7.018673830e-01,-4.437301813e-04,8.605398771e-01,7.026589609e-01,-5.215822180e-04,8.307191469e-01
+48,6.466666667e+00,UP_SETTLE,1792844589320970178,-9.055784573e-05,-4.245505219e-04,4.099803004e-04,-8.824978950e-05,-4.214594463e-04,3.967898402e-04,-8.693219022e-05,-4.049054776e-04,3.938193568e-04,7.018650750e-01,-4.468212569e-04,8.605530675e-01,7.018673830e-01,-4.437301813e-04,8.605398771e-01,7.026587586e-01,-5.215614842e-04,8.307194247e-01
+49,6.566666667e+00,UP_SETTLE,1792844589419094045,-1.158604580e-04,-4.252076352e-04,3.996230373e-04,-1.183093015e-04,-4.269151538e-04,3.978243728e-04,-1.184090841e-04,-4.100524841e-04,3.948783405e-04,7.018397724e-01,-4.474783702e-04,8.605427103e-01,7.018373235e-01,-4.491858889e-04,8.605409116e-01,7.026272817e-01,-5.267084907e-04,8.307204837e-01
+50,6.666666667e+00,UP_SETTLE,1792844589517936340,-1.162500931e-04,-4.217050665e-04,4.155709099e-04,-1.097897545e-04,-4.228825918e-04,4.165039899e-04,-1.095462711e-04,-4.062000859e-04,4.131518194e-04,7.018393827e-01,-4.439758015e-04,8.605586581e-01,7.018458431e-01,-4.451533268e-04,8.605595912e-01,7.026361445e-01,-5.228560925e-04,8.307387571e-01
+51,6.816666667e+00,UP_SETTLE,1792844589665240947,-1.220899818e-04,-4.262369118e-04,4.197286535e-04,-1.097897545e-04,-4.228825918e-04,4.165039899e-04,-1.097402172e-04,-4.061843447e-04,4.134283673e-04,7.018335428e-01,-4.485076468e-04,8.605628159e-01,7.018458431e-01,-4.451533268e-04,8.605595912e-01,7.026359506e-01,-5.228403512e-04,8.307390337e-01
+52,7.116666667e+00,UP_SETTLE,1792844589960019329,-1.298037238e-04,-4.257452872e-04,4.333651467e-04,-1.249763561e-04,-4.225002167e-04,4.292831812e-04,-1.258112919e-04,-4.057567776e-04,4.261692295e-04,7.018258291e-01,-4.480160222e-04,8.605764524e-01,7.018306565e-01,-4.447709518e-04,8.605723704e-01,7.026198795e-01,-5.224127842e-04,8.307517745e-01
+53,7.300000000e+00,UP_SETTLE,1792844590140377013,-1.327877605e-04,-4.201860127e-04,4.418165936e-04,-1.249763561e-04,-4.225002167e-04,4.292831812e-04,-1.260156420e-04,-4.057406433e-04,4.264121172e-04,7.018228451e-01,-4.424567478e-04,8.605849038e-01,7.018306565e-01,-4.447709518e-04,8.605723704e-01,7.026196752e-01,-5.223966499e-04,8.307520174e-01
+54,7.566666667e+00,UP_SETTLE,1792844590418321117,-1.393010933e-04,-4.177753431e-04,4.532531936e-04,-1.320272296e-04,-4.188642087e-04,4.492815184e-04,-1.333967537e-04,-4.022006197e-04,4.461757584e-04,7.018163317e-01,-4.400460781e-04,8.605963404e-01,7.018236056e-01,-4.411349437e-04,8.605923688e-01,7.026122941e-01,-5.188566262e-04,8.307717811e-01
+55,7.833333333e+00,UP_SETTLE,1792844590680768231,-1.515228860e-04,-4.167348534e-04,4.620401775e-04,-1.476161638e-04,-4.161048554e-04,4.628925105e-04,-1.497958983e-04,-3.995256173e-04,4.596469008e-04,7.018041099e-01,-4.390055884e-04,8.606051274e-01,7.018080167e-01,-4.383755904e-04,8.606059797e-01,7.025958949e-01,-5.161816239e-04,8.307852522e-01
+56,8.150000000e+00,UP_SETTLE,1792844590992621869,-1.671162366e-04,-4.153214213e-04,4.715472900e-04,-1.667683875e-04,-4.200734264e-04,4.697360479e-04,-1.700062515e-04,-4.033214570e-04,4.666796845e-04,7.017885166e-01,-4.375921564e-04,8.606146345e-01,7.017888644e-01,-4.423441615e-04,8.606128233e-01,7.025756846e-01,-5.199774636e-04,8.307922850e-01
+57,8.383333333e+00,UP_SETTLE,1792844591254048575,-1.718984092e-04,-4.206193204e-04,4.781063381e-04,-1.667683875e-04,-4.200734264e-04,4.697360479e-04,-1.703348096e-04,-4.033047453e-04,4.669642685e-04,7.017837344e-01,-4.428900554e-04,8.606211936e-01,7.017888644e-01,-4.423441615e-04,8.606128233e-01,7.025753560e-01,-5.199607519e-04,8.307925696e-01
+58,8.616666667e+00,UP_SETTLE,1792844591548775055,-1.732322699e-04,-4.188168114e-04,4.855398708e-04,-1.667683875e-04,-4.200734264e-04,4.697360479e-04,-1.705488504e-04,-4.032870089e-04,4.671843511e-04,7.017824005e-01,-4.410875464e-04,8.606286271e-01,7.017888644e-01,-4.423441615e-04,8.606128233e-01,7.025751420e-01,-5.199430155e-04,8.307927897e-01
+59,8.916666667e+00,UP_SETTLE,1792844591909034489,-1.750398454e-04,-4.157537039e-04,4.904951906e-04,-1.744601843e-04,-4.140960736e-04,4.866871432e-04,-1.787080752e-04,-3.974559884e-04,4.839377115e-04,7.017805930e-01,-4.380244390e-04,8.606335824e-01,7.017811726e-01,-4.363668087e-04,8.606297744e-01,7.025669827e-01,-5.141119949e-04,8.308095430e-01

Fixed/digit/ball_PLA_15/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.9954e-01,4.1978e-01,2.4726e+00,-6.5405e-02,5.0838e-02,9.8277e-04,1.6910e-04,1.5229e-05,-3.7193e-05,-9.8348e-07,1.1235e-05,-4.3213e-07,1.7381e-04,1.1287e-05
+1,2.6667e-01,WAIT_W2,5.0336e-05,2.2621e-01,4.1562e-01,2.4717e+00,-6.4980e-02,5.2706e-02,6.4274e-04,2.6833e-02,-4.1381e-03,-9.5558e-04,4.2382e-04,1.8793e-03,-3.4046e-04,2.7167e-02,1.9564e-03
+2,5.1667e-01,WAIT_W2,1.0862e-04,2.4617e-01,4.1255e-01,2.4726e+00,-6.4630e-02,5.4130e-02,5.0679e-04,4.6796e-02,-7.2091e-03,-3.4809e-05,7.7363e-04,3.3036e-03,-4.7641e-04,4.7348e-02,3.4263e-03
+3,7.0000e-01,WAIT_W2,1.6094e-04,2.5576e-01,4.1184e-01,2.4731e+00,-6.4531e-02,5.4803e-02,4.4255e-04,5.6386e-02,-7.9185e-03,4.0531e-04,8.7328e-04,3.9764e-03,-5.4066e-04,5.6941e-02,4.1069e-03
+4,7.1667e-01,WAIT_W2,2.1660e-04,2.6274e-01,4.1034e-01,2.4734e+00,-6.4369e-02,5.5307e-02,3.7960e-04,6.3362e-02,-9.4191e-03,7.3338e-04,1.0351e-03,4.4807e-03,-6.0360e-04,6.4063e-02,4.6382e-03
+5,7.3333e-01,WAIT_W2,3.0546e-04,2.6691e-01,1.0963e+00,2.4446e+00,-1.1283e-01,5.5614e-02,6.7265e-04,6.7531e-02,6.7658e-01,-2.8023e-02,-4.7428e-02,4.7877e-03,-3.1056e-04,6.8052e-01,4.7670e-02
+6,7.3333e-01,WAIT_W2,3.0546e-04,2.6691e-01,1.0963e+00,2.4446e+00,-1.1283e-01,5.5614e-02,6.7265e-04,6.7531e-02,6.7658e-01,-2.8023e-02,-4.7428e-02,4.7877e-03,-3.1056e-04,6.8052e-01,4.7670e-02
+7,7.5000e-01,WAIT_W2,4.4501e-04,2.5567e-01,2.0578e+00,2.3749e+00,-1.8036e-01,5.4887e-02,1.1580e-03,5.6299e-02,1.6380e+00,-9.7796e-02,-1.1495e-01,4.0601e-03,1.7482e-04,1.6419e+00,1.1503e-01
+8,7.5000e-01,WAIT_W2,4.4501e-04,2.5567e-01,2.0578e+00,2.3749e+00,-1.8036e-01,5.4887e-02,1.1580e-03,5.6299e-02,1.6380e+00,-9.7796e-02,-1.1495e-01,4.0601e-03,1.7482e-04,1.6419e+00,1.1503e-01
+9,7.5000e-01,WAIT_W2,4.4501e-04,2.5567e-01,2.0578e+00,2.3749e+00,-1.8036e-01,5.4887e-02,1.1580e-03,5.6299e-02,1.6380e+00,-9.7796e-02,-1.1495e-01,4.0601e-03,1.7482e-04,1.6419e+00,1.1503e-01
+10,7.6667e-01,WAIT_W2,5.6702e-04,2.6980e-01,3.1763e+00,2.3566e+00,-2.5605e-01,5.5875e-02,1.3651e-03,7.0421e-02,2.7565e+00,-1.1606e-01,-1.9064e-01,5.0486e-03,3.8194e-04,2.7599e+00,1.9071e-01
+11,7.6667e-01,WAIT_W2,5.6702e-04,2.6980e-01,3.1763e+00,2.3566e+00,-2.5605e-01,5.5875e-02,1.3651e-03,7.0421e-02,2.7565e+00,-1.1606e-01,-1.9064e-01,5.0486e-03,3.8194e-04,2.7599e+00,1.9071e-01
+12,7.8333e-01,WAIT_W2,6.5548e-04,2.8640e-01,4.7233e+00,2.3049e+00,-3.6951e-01,5.7210e-02,2.6194e-03,8.7024e-02,4.3035e+00,-1.6773e-01,-3.0411e-01,6.3830e-03,1.6362e-03,4.3077e+00,3.0418e-01
+13,8.1667e-01,WAIT_W2,7.0705e-04,3.1471e-01,5.7716e+00,2.3203e+00,-4.4233e-01,5.9174e-02,3.4684e-03,1.1533e-01,5.3518e+00,-1.5241e-01,-3.7692e-01,8.3471e-03,2.4852e-03,5.3552e+00,3.7703e-01
+14,8.5000e-01,WAIT_W2,7.6127e-04,2.3197e-01,5.0045e+00,2.2463e+00,-3.9048e-01,5.3430e-02,4.6379e-03,3.2597e-02,4.5847e+00,-2.2637e-01,-3.2507e-01,2.6033e-03,3.6547e-03,4.5904e+00,3.2511e-01
+15,8.8333e-01,WAIT_W2,8.0866e-04,2.3251e-01,5.0057e+00,2.2471e+00,-3.9056e-01,5.3467e-02,4.6369e-03,3.3132e-02,4.5860e+00,-2.2557e-01,-3.2516e-01,2.6398e-03,3.6537e-03,4.5916e+00,3.2519e-01
+16,9.5000e-01,WAIT_W2,8.5888e-04,1.2922e-01,5.1030e+00,2.0048e+00,-3.9909e-01,4.6367e-02,5.0878e-03,-7.0154e-02,4.6833e+00,-4.6791e-01,-3.3369e-01,-4.4596e-03,4.1046e-03,4.7071e+00,3.3375e-01
+17,1.0833e+00,WAIT_W2,9.1729e-04,8.8563e-02,4.9987e+00,1.9037e+00,-3.9302e-01,4.3739e-02,5.2366e-03,-1.1081e-01,4.5789e+00,-5.6894e-01,-3.2762e-01,-7.0881e-03,4.2534e-03,4.6154e+00,3.2772e-01
+18,1.1833e+00,WAIT_W2,9.6843e-04,7.9296e-02,4.8752e+00,1.8430e+00,-3.8558e-01,4.3186e-02,5.4762e-03,-1.2008e-01,4.4554e+00,-6.2966e-01,-3.2017e-01,-7.6407e-03,4.4930e-03,4.5013e+00,3.2030e-01
+19,1.3167e+00,WAIT_W2,1.0242e-03,9.6425e-02,4.8745e+00,1.8766e+00,-3.8552e-01,4.4324e-02,5.4715e-03,-1.0295e-01,4.4547e+00,-5.9607e-01,-3.2012e-01,-6.5028e-03,4.4883e-03,4.4956e+00,3.2021e-01
+20,1.5333e+00,UP_FORCE_RAMP,1.0823e-03,2.0095e-01,4.8569e+00,2.0882e+00,-3.8410e-01,5.1358e-02,5.3704e-03,1.5783e-03,4.4372e+00,-3.8450e-01,-3.1870e-01,5.3107e-04,4.3872e-03,4.4538e+00,3.1873e-01
+21,1.6833e+00,UP_FORCE_RAMP,1.1336e-03,2.1951e-01,4.8269e+00,2.1130e+00,-3.8135e-01,5.2969e-02,4.9046e-03,2.0135e-02,4.4071e+00,-3.5969e-01,-3.1595e-01,2.1418e-03,3.9214e-03,4.4218e+00,3.1598e-01
+22,1.9167e+00,UP_FORCE_RAMP,1.1858e-03,2.6120e-01,4.8313e+00,2.1753e+00,-3.8165e-01,5.5664e-02,4.8300e-03,6.1821e-02,4.4115e+00,-2.9736e-01,-3.1624e-01,4.8377e-03,3.8468e-03,4.4219e+00,3.1630e-01
+23,2.1500e+00,UP_FORCE_RAMP,1.2389e-03,2.9855e-01,4.8197e+00,2.2360e+00,-3.8041e-01,5.8206e-02,4.3244e-03,9.9173e-02,4.3999e+00,-2.3668e-01,-3.1501e-01,7.3793e-03,3.3412e-03,4.4074e+00,3.1511e-01
+24,2.4000e+00,UP_FORCE_RAMP,1.2927e-03,3.1090e-01,4.8058e+00,2.2599e+00,-3.7909e-01,5.9130e-02,3.9868e-03,1.1152e-01,4.3861e+00,-2.1278e-01,-3.1368e-01,8.3035e-03,3.0036e-03,4.3926e+00,3.1381e-01
+25,2.6333e+00,UP_FORCE_RAMP,1.3468e-03,3.2562e-01,4.6624e+00,2.2289e+00,-3.6911e-01,6.0149e-02,3.6193e-03,1.2625e-01,4.2427e+00,-2.4380e-01,-3.0371e-01,9.3220e-03,2.6361e-03,4.2515e+00,3.0386e-01
+26,2.8667e+00,UP_FORCE_RAMP,1.4003e-03,3.4966e-01,4.6606e+00,2.2764e+00,-3.6874e-01,6.1812e-02,3.3750e-03,1.5028e-01,4.2408e+00,-1.9623e-01,-3.0334e-01,1.0985e-02,2.3918e-03,4.2480e+00,3.0355e-01
+27,3.0833e+00,UP_FORCE_RAMP,1.4562e-03,3.6570e-01,4.6565e+00,2.3074e+00,-3.6819e-01,6.2919e-02,3.0842e-03,1.6632e-01,4.2368e+00,-1.6526e-01,-3.0279e-01,1.2093e-02,2.1010e-03,4.2433e+00,3.0304e-01
+28,3.2500e+00,UP_FORCE_RAMP,1.5221e-03,4.0622e-01,4.6553e+00,2.2017e+00,-3.6882e-01,6.5932e-02,2.8905e-03,2.0684e-01,4.2356e+00,-2.7099e-01,-3.0341e-01,1.5105e-02,1.9073e-03,4.2493e+00,3.0379e-01
+29,3.3833e+00,UP_FORCE_RAMP,1.5636e-03,5.7597e-01,4.6542e+00,2.2936e+00,-3.6829e-01,7.7872e-02,1.4421e-03,3.7659e-01,4.2344e+00,-1.7904e-01,-3.0289e-01,2.7045e-02,4.5886e-04,4.2549e+00,3.0410e-01
+30,3.6667e+00,UP_FORCE_RAMP,1.6191e-03,5.1706e-01,4.6354e+00,2.1793e+00,-3.6747e-01,7.3724e-02,1.2259e-03,3.1769e-01,4.2156e+00,-2.9339e-01,-3.0206e-01,2.2897e-02,2.4265e-04,4.2377e+00,3.0293e-01
+31,3.8667e+00,UP_FORCE_RAMP,1.6709e-03,5.1427e-01,4.6368e+00,2.2467e+00,-3.6748e-01,7.3482e-02,1.2093e-03,3.1489e-01,4.2171e+00,-2.2596e-01,-3.0208e-01,2.2655e-02,2.2609e-04,4.2348e+00,3.0293e-01
+32,4.0667e+00,UP_FORCE_RAMP,1.7266e-03,5.0715e-01,4.5855e+00,2.2170e+00,-3.6394e-01,7.2943e-02,1.1206e-03,3.0778e-01,4.1658e+00,-2.5564e-01,-2.9853e-01,2.2116e-02,1.3736e-04,4.1850e+00,2.9935e-01
+33,4.3167e+00,UP_FORCE_RAMP,1.7810e-03,4.9962e-01,4.6140e+00,2.0778e+00,-3.6695e-01,7.2615e-02,1.0353e-03,3.0024e-01,4.1942e+00,-3.9491e-01,-3.0154e-01,2.1788e-02,5.2078e-05,4.2234e+00,3.0233e-01
+34,4.5000e+00,UP_FORCE_RAMP,1.8321e-03,5.1552e-01,4.5296e+00,2.0133e+00,-3.6164e-01,7.3823e-02,8.0081e-04,3.1615e-01,4.1098e+00,-4.5937e-01,-2.9624e-01,2.2996e-02,-1.8239e-04,4.1475e+00,2.9713e-01
+35,4.6167e+00,UP_FORCE_RAMP,1.8872e-03,4.6364e-01,4.5171e+00,1.8089e+00,-3.6221e-01,7.0405e-02,9.7366e-04,2.6427e-01,4.0973e+00,-6.6375e-01,-2.9680e-01,1.9578e-02,-9.5461e-06,4.1591e+00,2.9745e-01
+36,4.8333e+00,UP_FORCE_RAMP,1.9433e-03,5.0751e-01,4.4625e+00,1.7906e+00,-3.5900e-01,7.3541e-02,7.6058e-04,3.0814e-01,4.0427e+00,-6.8207e-01,-2.9360e-01,2.2714e-02,-2.2263e-04,4.1114e+00,2.9448e-01
+37,4.9333e+00,UP_FORCE_RAMP,1.9794e-03,6.4936e-01,4.5044e+00,1.9668e+00,-3.6137e-01,8.3345e-02,9.9920e-05,4.4999e-01,4.0846e+00,-5.0582e-01,-2.9596e-01,3.2519e-02,-8.8328e-04,4.1403e+00,2.9774e-01
+38,5.0000e+00,UP_FORCE_RAMP,2.0506e-03,8.5343e-01,4.5209e+00,2.1214e+00,-3.6147e-01,9.7631e-02,-9.8585e-04,6.5405e-01,4.1012e+00,-3.5128e-01,-2.9607e-01,4.6805e-02,-1.9691e-03,4.1678e+00,2.9975e-01
+39,5.1500e+00,UP_FORCE_RAMP,2.1022e-03,8.0890e-01,4.4893e+00,2.0989e+00,-3.5942e-01,9.4468e-02,-1.2655e-03,6.0952e-01,4.0696e+00,-3.7377e-01,-2.9401e-01,4.3641e-02,-2.2487e-03,4.1319e+00,2.9724e-01
+40,5.3333e+00,UP_FORCE_RAMP,2.1581e-03,7.6243e-01,4.4985e+00,2.1205e+00,-3.5999e-01,9.1296e-02,-1.2834e-03,5.6305e-01,4.0787e+00,-3.5213e-01,-2.9458e-01,4.0469e-02,-2.2666e-03,4.1324e+00,2.9736e-01
+41,5.5667e+00,UP_FORCE_RAMP,2.2113e-03,7.7059e-01,4.5257e+00,2.0286e+00,-3.6230e-01,9.1860e-02,-1.4929e-03,5.7122e-01,4.1059e+00,-4.4408e-01,-2.9690e-01,4.1033e-02,-2.4761e-03,4.1692e+00,2.9973e-01
+42,5.8500e+00,UP_FORCE_RAMP,2.2675e-03,7.6487e-01,4.5042e+00,2.0436e+00,-3.6095e-01,9.1482e-02,-1.9479e-03,5.6550e-01,4.0845e+00,-4.2910e-01,-2.9555e-01,4.0655e-02,-2.9311e-03,4.1457e+00,2.9835e-01
+43,6.0167e+00,UP_FORCE_HOLD,2.3197e-03,7.8970e-01,4.4394e+00,1.9831e+00,-3.5667e-01,9.3154e-02,-1.9947e-03,5.9033e-01,4.0196e+00,-4.8955e-01,-2.9127e-01,4.2328e-02,-2.9779e-03,4.0921e+00,2.9434e-01
+44,6.1833e+00,UP_SETTLE,2.3481e-03,7.6735e-01,4.4261e+00,2.0187e+00,-3.5545e-01,9.1494e-02,-2.2379e-03,5.6797e-01,4.0064e+00,-4.5397e-01,-2.9005e-01,4.0667e-02,-3.2211e-03,4.0718e+00,2.9290e-01
+45,6.2000e+00,UP_SETTLE,2.4223e-03,7.9188e-01,4.4165e+00,1.9674e+00,-3.5493e-01,9.3186e-02,-2.2564e-03,5.9250e-01,3.9968e+00,-5.0529e-01,-2.8952e-01,4.2360e-02,-3.2396e-03,4.0719e+00,2.9262e-01
+46,6.2333e+00,UP_SETTLE,2.4817e-03,9.1614e-01,4.8693e+00,1.8927e+00,-3.8760e-01,1.0222e-01,-2.7829e-03,7.1677e-01,4.4495e+00,-5.7992e-01,-3.2220e-01,5.1397e-02,-3.7661e-03,4.5440e+00,3.2629e-01
+47,6.3167e+00,UP_SETTLE,2.5336e-03,8.8267e-01,4.5535e+00,1.8908e+00,-3.6536e-01,9.9881e-02,-2.9190e-03,6.8329e-01,4.1337e+00,-5.8185e-01,-2.9996e-01,4.9054e-02,-3.9022e-03,4.2300e+00,3.0397e-01
+48,6.4667e+00,UP_SETTLE,2.5902e-03,8.5109e-01,4.5753e+00,1.9408e+00,-3.6677e-01,9.7709e-02,-2.9249e-03,6.5172e-01,4.1555e+00,-5.3190e-01,-3.0136e-01,4.6883e-02,-3.9081e-03,4.2398e+00,3.0501e-01
+49,6.5667e+00,UP_SETTLE,2.6438e-03,1.0159e+00,4.6445e+00,1.9905e+00,-3.7142e-01,1.0917e-01,-3.7617e-03,8.1657e-01,4.2247e+00,-4.8218e-01,-3.0602e-01,5.8345e-02,-4.7449e-03,4.3298e+00,3.1157e-01
+50,6.6667e+00,UP_SETTLE,2.6993e-03,9.0418e-01,4.5868e+00,1.8875e+00,-3.6779e-01,1.0160e-01,-3.7201e-03,7.0480e-01,4.1671e+00,-5.8520e-01,-3.0238e-01,5.0771e-02,-4.7033e-03,4.2666e+00,3.0665e-01
+51,6.8167e+00,UP_SETTLE,2.7486e-03,8.8716e-01,4.6057e+00,1.9474e+00,-3.6902e-01,1.0027e-01,-3.6722e-03,6.8778e-01,4.1859e+00,-5.2523e-01,-3.0361e-01,4.9443e-02,-4.6554e-03,4.2745e+00,3.0765e-01
+52,7.1167e+00,UP_SETTLE,2.8057e-03,8.9936e-01,4.5992e+00,1.9438e+00,-3.6839e-01,1.0078e-01,-3.5126e-03,6.9998e-01,4.1794e+00,-5.2889e-01,-3.0298e-01,4.9948e-02,-4.4958e-03,4.2705e+00,3.0711e-01
+53,7.3000e+00,UP_SETTLE,2.8581e-03,8.5759e-01,4.6164e+00,2.0080e+00,-3.6940e-01,9.8016e-02,-3.5216e-03,6.5822e-01,4.1966e+00,-4.6462e-01,-3.0400e-01,4.7189e-02,-4.5048e-03,4.2733e+00,3.0767e-01
+54,7.5667e+00,UP_SETTLE,2.9123e-03,8.6967e-01,4.5761e+00,1.9355e+00,-3.6679e-01,9.8859e-02,-3.5336e-03,6.7030e-01,4.1563e+00,-5.3720e-01,-3.0139e-01,4.8032e-02,-4.5168e-03,4.2441e+00,3.0522e-01
+55,7.8333e+00,UP_SETTLE,2.9652e-03,8.8490e-01,4.5629e+00,1.9605e+00,-3.6576e-01,9.9824e-02,-3.5328e-03,6.8552e-01,4.1431e+00,-5.1212e-01,-3.0036e-01,4.8998e-02,-4.5160e-03,4.2305e+00,3.0436e-01
+56,8.1500e+00,UP_SETTLE,3.0196e-03,9.7910e-01,4.6114e+00,1.9800e+00,-3.6896e-01,1.0659e-01,-4.1394e-03,7.7973e-01,4.1916e+00,-4.9265e-01,-3.0356e-01,5.5758e-02,-5.1226e-03,4.2919e+00,3.0868e-01
+57,8.3833e+00,UP_SETTLE,3.0740e-03,9.0999e-01,4.6191e+00,2.0350e+00,-3.6928e-01,1.0184e-01,-4.1259e-03,7.1061e-01,4.1993e+00,-4.3765e-01,-3.0388e-01,5.1014e-02,-5.1091e-03,4.2815e+00,3.0817e-01
+58,8.6167e+00,UP_SETTLE,3.1301e-03,8.7863e-01,4.5995e+00,2.0582e+00,-3.6735e-01,9.9282e-02,-3.9660e-03,6.7925e-01,4.1797e+00,-4.1442e-01,-3.0194e-01,4.8455e-02,-4.9492e-03,4.2548e+00,3.0585e-01
+59,8.9167e+00,UP_SETTLE,3.1817e-03,8.7597e-01,4.5594e+00,2.0207e+00,-3.6473e-01,9.9204e-02,-3.9478e-03,6.7660e-01,4.1396e+00,-4.5199e-01,-2.9933e-01,4.8377e-02,-4.9310e-03,4.2188e+00,3.0325e-01

Fixed/digit/ball_PLA_17.5/press_depth_01/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e18e5e10e42231e263efac2ab0e6b2cf7ed32a2bb1c7776a03369f7c6c5d21
+size 624640

Fixed/digit/ball_PLA_17.5/press_depth_01/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+2564,1792844814310262635,23493753000000,1792844814308365349,XJC_ZERO_HOLD_BEFORE_DOWN,1,0.0712,0.07120105624198914,0.6759471634592237,-0.004938041199926796,0.10678747630350743,0.9999999483446296,5.612658389042876e-07,-0.0002577428458658225,0.0001682911548877237,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0062688204039358375,-0.02049291071297188,-0.014810396493197597,-0.0014446081669734906,0.000815946094838732,1.5165187985106575e-05,1.237888831154149,1.25058473181848,0.6783570399119205,0.09537536665662477,-0.09663027729217157,0.0012457672668950118,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,-0.48572180745212196,1.8213909768139471,1.5833468313561974,-0.17134356669447598,-1.1715127456084702,1.1075773018320476,1.6312548422581434,0.014810396493197597,0.047908010901946074,0.0,0.0,0,0,0.0,0.0
+2655,1792844815069221183,23494512000000,1792844815068374978,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759486111735656,-0.004940984300933488,0.10678723396901059,0.9999999485144957,3.893588472954455e-07,-0.00025557014110853924,0.0001705802507929553,0.6761,-0.0046,0.1069920340537765,1.0,0.0,0.0,0.0,-0.01490220569152445,-0.018305799694527947,-0.028549118639016657,-0.0014554644715906173,0.001238309870566598,2.617733991851375e-05,1.2292554458665603,1.2527718428369239,0.6646183177661015,0.09536451035200764,-0.0962079135164437,0.001256779418828419,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,-0.45347051598236127,1.952385309260295,1.6282688902253695,-0.20951691056453617,-1.195395913254291,1.1951854194727025,1.6312548422581434,0.028549118639016657,0.002985952032773964,0.002985952032773964,0.22108569943820097,0,0,-2.824882791160744e-05,-9.999999025923074e-05
+2749,1792844815853342143,23495296000000,1792844815852365416,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6759504996629214,-0.0049385137702498685,0.10678976019832653,0.9999999501651825,7.776270522153031e-07,-0.0002499678797554809,0.00016919796528883747,0.6761,-0.0046,0.10696084561632381,1.0,0.0,0.0,0.0,-0.033548713884459014,-0.016287578459624807,-0.0354167623016175,-0.001481049416802327,0.002245444526542892,4.275267795035304e-05,1.2106089376736258,1.254790064071827,0.6577506741035006,0.09533892540679594,-0.0952007788604674,0.0012733547568602583,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,-0.020888375616194485,1.8947695666708537,1.253128130422127,-0.17474039111706066,-0.8397669736163345,1.1583232770740615,1.6312548422581434,0.0354167623016175,0.37812671183601654,0.37812671183601654,0.3386856994381934,0,0,-3.563024758981991e-05,9.999999025923074e-05
+2844,1792844816644374608,23496087000000,1792844816640364969,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759529395645316,-0.004934094715052233,0.10678212362953429,0.9999999507941266,4.602097082576876e-06,-0.0002468872412393604,0.00016994151795852945,0.6761,-0.0046,0.10694720967503014,1.0,0.0,0.0,0.0,-0.033780533899195,-0.031946274518571904,0.025158748027203526,-0.0014950746707604184,0.002240268142351426,-6.0416445697895026e-06,1.2103771176588898,1.23913136801288,0.7183261844323217,0.09532490015283784,-0.09520595524465887,0.0012245604343401157,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.171178259916704,1.9183449910297121,1.1549863731273537,-0.16798081767490697,-0.7230384060725833,1.1682928784282278,1.6312548422581434,-0.025158748027203526,0.4762684691307897,0.4762684691307897,0.4573356994381803,0,0,-3.247576058074131e-06,3.280379856640536e-05
+2934,1792844817394423531,23496837000000,1792844817392365965,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6759503693581209,-0.004940813724477247,0.10677311520624197,0.9999999487478833,3.1708132811217855e-06,-0.00025167434426331573,0.0001749201689929251,0.6761,-0.0046,0.10694531771475685,1.0,0.0,0.0,0.0,-0.03667413732266844,-0.04388988990239562,0.054808232461649786,-0.0025218946434533984,0.0022535268805060488,-4.189398162822715e-05,1.2074835142354163,1.2271877526290562,0.7479756688667679,0.09429808018014486,-0.09519269650650425,0.001188708097281678,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.14681009436184328,1.7892363664002038,1.0995156438744988,-0.134457676257957,-0.6901023101140867,1.0821022973430152,1.6312548422581434,-0.054808232461649786,0.5317391983836446,0.5317391983836446,0.5698356994381679,0,0,-6.016060076523228e-06,-9.999883840284269e-05
+3016,1792844818078438700,23497521000000,1792844818076365404,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6759504649023863,-0.0049401100395816645,0.10676759451717886,0.9999999485371003,3.949792460502903e-06,-0.000252162893649336,0.0001754050609507825,0.6761,-0.0046,0.10693488108662169,1.0,0.0,0.0,0.0,-0.04213749323798077,-0.04323614978015322,0.074898717248858,-0.0025254964069605507,0.002249250738456124,-5.8759551364723e-05,1.202020158320104,1.2278414927512986,0.7680661536539761,0.09429447841663771,-0.09519697264855417,0.0011718425275451822,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.15437540336729227,1.850620687669988,1.0816534007980694,-0.14675137458955378,-0.6783572480701031,1.122785455856453,1.6312548422581434,-0.074898717248858,0.5496014414600741,0.5496014414600741,0.6724356994381566,0,0,-2.770768843115968e-05,-9.96500757174445e-05
+3105,1792844818819442084,23498262000000,1792844818812365439,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759588449748185,-0.004946505861065316,0.1067549261128526,0.999999952255919,-6.694815080536965e-08,-0.00023034807187382743,0.00018404017392117432,0.6761,-0.0046,0.10690530527083329,1.0,0.0,0.0,0.0,-0.06105810557884772,-0.04959232484635878,0.16144445745495906,-0.002570704334012436,0.0032449766875131264,-0.000115558118358865,1.183099545979237,1.221485317685093,0.8546118938600772,0.09424927048958583,-0.09420124669949717,0.0011150439605510402,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.16769164043136117,1.7932088383397928,0.9205490986903392,-0.1103709888747148,-0.5833874855614347,1.0858262422075524,1.6312548422581434,-0.16144445745495906,0.7107057435678042,0.7107057435678042,0.7835856994381444,0,0,-4.6894879766916315e-05,-7.53905785285724e-05
+3183,1792844819469504353,23498912000000,1792844819468365933,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759852699267798,-0.004946409824514306,0.10673754614511817,0.9999999629046625,2.408911836005212e-06,-0.00016589138032326508,0.0001952121544717024,0.6761,-0.0046,0.10686677864069817,1.0,0.0,0.0,0.0,-0.15931083379598743,0.026009610608272338,0.23706905096632214,0.003323322264891765,0.011218901013551663,6.526855465404215e-06,1.0848468177620973,1.2970872531397242,0.9302364873714403,0.10014329708849003,-0.08622732237345863,0.0012371289343753094,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.3545349680701757,1.8296967478352206,0.7402649789358112,-0.10054021867787527,-0.4465129070091315,1.1147695341473378,1.6312548422581434,-0.23706905096632214,0.8909898633223322,0.8909898633223322,0.8810856994381336,0,0,-6.37600368932637e-05,9.999961555895993e-05
+3260,1792844820111475145,23499554000000,1792844820104365106,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759848442685654,-0.004948045802598237,0.10671999844002633,0.9999999607840142,8.10892597901237e-06,-0.00017041368171937218,0.00020191150795206757,0.6761,-0.0046,0.10683179915765184,1.0,0.0,0.0,0.0,-0.15827302096019213,0.011359468991924748,0.3657533520810645,0.002277408607007772,0.011210599965473828,-0.0001092580012994936,1.0858846305978926,1.2824371115233766,1.0589207884861827,0.09909738343060603,-0.08623562342153647,0.0011213440776104116,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.4188482592967902,1.6927550623934065,0.6855264637442173,-0.01642143791333829,-0.3938107648603116,1.0276595740803631,1.6312548422581434,-0.3657533520810645,0.9457283785139261,0.9457283785139261,0.977385699438123,0,0,-4.4170147099593986e-05,8.502946907642704e-09
+3354,1792844820894532119,23500337000000,1792844820892364801,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759848983382404,-0.004947688679757552,0.10670554989407657,0.9999999596853366,8.487176088673675e-06,-0.0001738640709042372,0.00020438063103649041,0.6761,-0.0046,0.10680893822106023,1.0,0.0,0.0,0.0,-0.14073763895852065,-0.00894010582415028,0.4369756116271497,0.001268945402799232,0.010202095693078214,-0.00019149374345182662,1.1034200125995641,1.2621375367073016,1.1301430480322678,0.0980889202263975,-0.08724412769393208,0.0010391083354580786,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.39192073983165027,1.7047347047248196,0.5275880513022163,-0.020677913500786654,-0.29669393515945297,1.0237268300677496,1.6312548422581434,-0.4369756116271497,1.103666790955927,1.103666790955927,1.0948356994381803,0,0,-1.9381173461925687e-05,9.999999025923074e-05
+3448,1792844821678562250,23501121000000,1792844821676365205,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759827236059898,-0.004945307337564229,0.106690580218869,0.9999999581889025,1.1883758557338809e-05,-0.00017961040653130663,0.00020655250149201955,0.6761,-0.0046,0.10679732470554627,1.0,0.0,0.0,0.0,-0.14881481896867355,-0.029558028051989815,0.49657710148041767,0.0002353061930835676,0.010209718563992401,-0.00025214171591286046,1.0953428325894112,1.241519614479462,1.1897445378855358,0.09705528101668183,-0.0872365048230179,0.0009784603629970448,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.36940126616983465,1.7873036058168446,0.4199553477104583,-0.0315274846233447,-0.2336082926831307,1.0773688070272531,1.6312548422581434,-0.49657710148041767,1.2112994945476852,1.2112994945476852,1.2124356994382544,0,0,-1.7157824692944128e-05,8.30403066017837e-05
+3547,1792844822503552057,23501946000000,1792844822500365680,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759816699025785,-0.004952452023773113,0.10667842332568209,0.9999999567999304,1.100475735872121e-05,-0.00018235263560108825,0.00021087772174337532,0.6761,-0.0046,0.10677459175745718,1.0,0.0,0.0,0.0,-0.1524820616973941,-0.04012355920163513,0.5464262021678725,-0.0007958933025456333,0.010217693774828812,-0.0003075559935994209,1.0916755898606907,1.2309540833298167,1.2395936385729907,0.09602408152105263,-0.08722852961218149,0.0009230460853104843,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.3946301416332918,1.665779079827877,0.39980138370464635,0.0033764371969634962,-0.21276300969774467,0.9960454839979127,1.6312548422581434,-0.5464262021678725,1.231453458553497,1.231453458553497,1.3361856994383323,0,0,-4.119541764244084e-05,-9.998275404677343e-05
+3625,1792844823153679691,23502596000000,1792844823148365613,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6759869530468883,-0.004950905005983389,0.10666517257514221,0.9999999583843163,1.2128751427639733e-05,-0.00017035871582821776,0.00021331908315572155,0.6761,-0.0046,0.10674039974590366,1.0,0.0,0.0,0.0,-0.16717333948411683,-0.0342893974441989,0.5969430823069282,-0.0007845035276784623,0.011209524521622272,0.00016307428125144382,1.076984312073968,1.236788245087253,1.2901105187120463,0.0960354712959198,-0.08623669886538803,0.001393676360161349,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.44269098874791346,1.6541875639379664,0.2759330826854095,0.018725972237441442,-0.12467515898517793,0.993801363810565,1.6312548422581434,-0.5969430823069282,1.355321759572734,1.355321759572734,1.4336856994383937,0,0,-6.526779191692723e-05,-9.999999025923074e-05
+3708,1792844823844707237,23503287000000,1792844823840365468,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760053735056505,-0.004950222566666551,0.10664389084189768,0.9999999628972472,1.3239471489334572e-05,-0.00012722171861875,0.00022200837705818897,0.6761,-0.0046,0.10668593926156895,1.0,0.0,0.0,0.0,-0.22544772273759262,-0.007673518793061884,0.6880202773601312,0.0020838038783889123,0.015592436671773305,0.0007189865339998912,1.0187099288204922,1.26340412373839,1.3811877137652493,0.09890377870198717,-0.08185378671523699,0.0019495886129097964,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.5869953057488396,1.6545018552282782,0.11846894436310804,0.02515936221431024,-0.00017114497838539088,0.9938932961813789,1.6312548422581434,-0.6880202773601312,1.5127858978950355,1.5127858978950355,1.537335699438459,0,0,-8.997578625627588e-05,9.68750316340305e-05
+3787,1792844824503707020,23503946000000,1792844824496365415,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.67601433813948,-0.004954435044123546,0.10659844072362239,0.9999999624385855,1.1971868023206716e-05,-0.00010999202826255156,0.00023307535314522678,0.6761,-0.0046,0.10663218246105372,1.0,0.0,0.0,0.0,-0.25342755238454473,-0.01002004028788872,0.9050197798621125,0.001997632041458239,0.01717259961058268,0.000565119703826123,0.99073009917354,1.2610576022435631,1.5981872162672306,0.0988176068650565,-0.08027362377642762,0.0017957217827360282,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.636222786854346,1.7274851912857538,-0.06359067001173457,-0.0010324071818599433,0.13283574909374543,1.0424449926636434,1.6312548422581434,-0.9050197798621125,1.694845512269878,1.694845512269878,1.6361856994385213,0,0,-6.802028211930355e-05,9.999999025923074e-05
+3869,1792844825186770097,23504629000000,1792844825180366824,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760214641269949,-0.004945749171810279,0.10656898703573908,0.9999999771113258,-0.00011450786393803397,-8.948813432541712e-05,0.00012688591399043957,0.6761,-0.0046,0.10659620748168122,1.0,0.0,0.0,0.0,-0.11130492658120672,0.11337939494704452,0.9275380182888113,0.00919953813567119,0.009670614503707972,0.0005310314634331963,1.132852724976878,1.3844570374784964,1.6207054546939295,0.10601951295926945,-0.08777560888330233,0.0017616335423431015,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.3949315240918706,1.7856409450747792,0.11369063885813474,-0.22087368096987173,-0.004046967983851193,1.115306944951201,1.6312548422581434,-0.9275380182888113,1.5175642034000087,1.5175642034000087,1.7386356994385859,0,0,-4.73396129755096e-05,-9.999999025923074e-05
+3997,1792844826253796378,23505696000000,1792844826248365444,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760241224713746,-0.004951244252214529,0.10651733847121773,0.9999999758646646,-0.00011328454436931903,-8.491163115118431e-05,0.0001402503530591061,0.6761,-0.0046,0.1065174340897863,1.0,0.0,0.0,0.0,-0.12704106041088625,0.0607772359644021,0.9908724044220658,0.005132654764810882,0.011018126451583163,0.00045109736782921145,1.1171165911471985,1.331854878495854,1.684039840827184,0.10195262958840914,-0.08642809693542713,0.0016816994467391167,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6078144275365781,1.8086713334998932,-0.05587438658155947,-0.1696398139911943,0.15670373494497494,1.1419363905634214,1.6312548422581434,-0.9908724044220658,1.6871292288397028,1.6871292288397028,1.8986856994386867,0,0,-9.986763476885064e-05,-9.999999025923074e-05
+4064,1792844826811821089,23506254000000,1792844826808365413,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.676051150037347,-0.00494864787002009,0.10648783525349825,0.9999999764339123,-0.00010199206081439467,-6.163176301356912e-05,0.00015612233834333433,0.6761,-0.0046,0.10645535462950946,1.0,0.0,0.0,0.0,-0.1957659402039178,0.12054501149486874,0.9948324347711954,0.009160496878209273,0.01663884919578154,0.0005779045445974613,1.048391711354167,1.3916226540263206,1.6879998711763136,0.10598047170180754,-0.08080737419122876,0.0018085066235073665,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7257226494108714,1.814861162397341,-0.047034263093260094,-0.13292220762500254,0.15905841697290385,1.1354129768031356,1.6312548422581434,-0.9948324347711954,1.6782891053514035,1.6782891053514035,1.9823856994387394,0,0,-0.00012394823678127243,-9.999999025923074e-05
+4134,1792844827394878274,23506837000000,1792844827388375841,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760627112229053,-0.004954768519699589,0.10643491136537639,0.9999999758282676,-9.242291386256717e-05,-3.508345564241756e-05,0.0001732440031450351,0.6761,-0.0046,0.10638062876313106,1.0,0.0,0.0,0.0,-0.21279545267328137,0.10482762739762297,1.1615617634491215,0.008046926464178983,0.0180030545018164,0.001096552530589387,1.0313621988848034,1.3759052699290748,1.8547291998542397,0.10486690128777724,-0.0794431688851939,0.0023271546094992923,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8518521860480016,1.6892271503262253,-0.3336731871528709,-0.051549536188063086,0.36823970992712757,1.0395438219922049,1.6312548422581434,-1.1615617634491215,1.9649280294110143,1.9649280294110143,2.0698356994387943,0,0,-0.00012404281482111668,-1.450613266956682e-06
+4229,1792844828186915652,23507629000000,1792844828184365194,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760704291749204,-0.004963670750968514,0.10636761276582274,0.9999999726866636,-8.891668255882175e-05,-2.1141966765228798e-05,0.00019420704715903994,0.6761,-0.0046,0.10629323587730859,1.0,0.0,0.0,0.0,-0.20084165944968735,0.06952902695376384,1.2786149841445433,0.003949560280537209,0.01806031111116234,0.0003088415021954786,1.0433159921083974,1.3406066694852157,1.9717824205496615,0.10076953510413547,-0.07938591227584796,0.0015394435811053838,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8281933210637954,1.7907539746328742,-0.45560827233580314,-0.03604196927043754,0.4363691548176803,1.092232816536341,1.6312548422581434,-1.2786149841445433,2.0868631145939465,2.0868631145939465,2.188635699438869,0,0,-9.618757161186509e-05,-9.999788083548395e-05
+4304,1792844828811877544,23508254000000,1792844828808365608,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760718447685555,-0.004963632202248077,0.1063121591610618,0.9999999707013765,-8.276310237968064e-05,-1.7489758546902433e-05,0.0002070857012139255,0.6761,-0.0046,0.1062369246964937,1.0,0.0,0.0,0.0,-0.18046261315934942,0.030479841577361055,1.2619107394215243,0.0009159908481127937,0.017109479354862317,0.0002745239698082173,1.0636950383987354,1.301557484108813,1.9550781758266425,0.09773596567171106,-0.08033674403214798,0.0015051260487181225,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8062496709453999,1.8211526896308583,-0.532721370357835,-0.017865555449913455,0.47954861355029715,1.106509697170937,1.6312548422581434,-1.2619107394215243,2.1639762126159785,2.1639762126159785,2.282385699438928,0,0,-9.059857011414619e-05,-9.997557923047679e-05
+4376,1792844829411968839,23508854000000,1792844829408374414,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760765385319359,-0.004974911730499686,0.10626689929387177,0.999999968009608,-8.288712390718419e-05,-9.661249976792966e-06,0.0002201363946578304,0.6761,-0.0046,0.10617845958997534,1.0,0.0,0.0,0.0,-0.1716519286591327,-0.006029830294913996,1.3087204116851279,-0.0021567078416589863,0.01715753719382257,0.0002032128486299102,1.072505722898952,1.2650478122365378,2.001887848090246,0.09466326698193928,-0.08028868619318773,0.0014338149275398154,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8537451069740168,1.7043800562318188,-0.680328988149523,0.02533916247704529,0.5917837845995036,1.0322354646986875,1.6312548422581434,-1.3087204116851279,2.3115838304076664,2.3115838304076664,2.372385699438985,0,0,-0.00010457665044064234,9.999596570076647e-05
+4455,1792844830070004697,23509512000000,1792844830068374548,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6760819292359924,-0.004973750853261177,0.10620075198374429,0.9999999651978028,-7.99127466766691e-05,-2.652064816355408e-06,0.0002337823286648435,0.6761,-0.0046,0.1061047249123388,1.0,0.0,0.0,0.0,-0.17789967356169845,-0.036802126833159976,1.3877859202823815,-0.004215411697893537,0.017180649269279064,0.00011532398876407221,1.0662579779963863,1.2342755156982919,2.0809533566874996,0.09260456312570473,-0.08026557411773123,0.0013459260676739774,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.858457013356163,1.6533245674477746,-0.7085578546428998,0.042144567114047314,0.6124932358158756,0.9990227945717498,1.6312548422581434,-1.3877859202823815,2.3398126969010433,2.3398126969010433,2.471085699439047,0,0,-0.00011881242056452213,-9.999999025923074e-05
+4531,1792844830704006362,23510146000000,1792844830700364996,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6760894893121061,-0.0049770137610490066,0.1061339512160369,0.9999999622701526,-7.366795928924062e-05,8.762018363214307e-06,0.00024778784562384,0.6761,-0.0046,0.10602464929967569,1.0,0.0,0.0,0.0,-0.16725402070329443,-0.06670013408564723,1.4049966841317372,-0.007280755252365975,0.01723506093960267,6.844344448400977e-05,1.0769036308547904,1.2043775084458046,2.0981641205368553,0.08953921957123229,-0.08021116244740763,0.001299045523393915,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8185018263081176,1.7593179860020665,-0.8002499663516388,0.003323360444968805,0.6633826892180147,1.063878884988846,1.6312548422581434,-1.4049966841317372,2.431504808609782,2.431504808609782,2.566185699439107,0,0,-0.00013629948606849596,-9.999999025923074e-05
+4603,1792844831304019529,23510746000000,1792844831296375381,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6760966483881599,-0.004984318121205628,0.106056640290592,0.9999999581317441,-6.790773474130978e-05,2.078176048582142e-05,0.0002648320832810517,0.6761,-0.0046,0.10593713840675598,1.0,0.0,0.0,0.0,-0.1756038215815927,-0.09930943749354748,1.4861768059986926,-0.009317123926051413,0.017257196706961395,-2.1034737323971696e-05,1.068553829976492,1.1717682050379044,2.1793442424038107,0.08750285089754685,-0.0801890266800489,0.0012095673415859335,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.841079119217552,1.7611033541560377,-0.8373814084424096,0.006509672347123144,0.6939580325519532,1.0664150394223562,1.6312548422581434,-1.4861768059986926,2.468636250700553,2.468636250700553,2.6561856994391637,0,0,-0.0001525294593782408,-9.999994862586731e-05
+4681,1792844831954084926,23511396000000,1792844831948365617,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761047606612562,-0.004985904599431756,0.1059702066830439,0.9999999548754213,-5.713567026593355e-05,3.407675558428283e-05,0.000277968181570448,0.6761,-0.0046,0.10583287219425919,1.0,0.0,0.0,0.0,-0.16508365701044658,-0.1348245322455901,1.567684659249549,-0.012419959455443455,0.017298579150814744,-0.00012042689456775806,1.0790739945476382,1.1362531102858617,2.260852095654667,0.08440001536815481,-0.08014764423619555,0.0011101751843421472,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8475168600201654,1.6439835419887427,-0.9101586591351293,0.04728164526896226,0.7456463866086156,0.9910831961473067,1.6312548422581434,-1.567684659249549,2.5414135013932726,2.5414135013932726,2.753685699439225,0,0,-0.00016530158844094,-9.999983760356485e-05
+4726,1792844832329104137,23511771000000,1792844832328375359,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761126748007117,-0.004973712760919946,0.10590452943311891,0.9999999544336705,-0.0002602908211613284,6.12282073669459e-05,0.00010523932669844603,0.6761,-0.0046,0.1057698798644786,1.0,0.0,0.0,0.0,-0.06564808515600151,-0.011401925810618163,1.591480846096958,-0.0048865168631134215,0.010870378481366419,0.000856614893388353,1.1785095664020833,1.2596757167208337,2.284648282502076,0.09193345796048484,-0.08657584490564388,0.002087216972298258,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7557954031322597,1.8233502962291195,-0.9073293902917509,-0.08352305806754319,0.7398037804163162,1.13142983714428,1.6312548422581434,-1.591480846096958,2.538584232549894,2.538584232549894,2.8099356994392606,0,0,-0.0001720692351339911,-9.999999025923074e-05
+4785,1792844832820059239,23512262000000,1792844832816365583,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761165987410375,-0.004973577019665139,0.10583107390371216,0.999999973885108,-0.0001538818279066014,6.711211601762834e-05,0.00012445478905081543,0.6761,-0.0046,0.10567999721523846,1.0,0.0,0.0,0.0,-0.027900619635168322,-0.0227664794551512,1.6396697469762893,-0.005100875452417761,0.008072748972613356,0.0008069998727588533,1.2162570319229165,1.2483111630763006,2.3328371833814074,0.0917190993711805,-0.08937347441439694,0.0020376019516687586,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8322530959794648,1.886144066153048,-1.002450126583484,-0.12080410323152509,0.8251789905433435,1.1752301098261868,1.6312548422581434,-1.6396697469762893,2.633704968841627,2.633704968841627,2.883585699439307,0,0,-0.0001939723415597935,-9.999999025923074e-05
+4850,1792844833362063974,23512804000000,1792844833356375755,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.676124886400452,-0.004980954534713865,0.10573965856042912,0.9999999706448321,-0.0001458099351633092,7.844987156849777e-05,0.00015079217388929786,0.6761,-0.0046,0.10556935251244347,1.0,0.0,0.0,0.0,-0.04479787188140949,-0.07872352908015534,1.698330232574997,-0.009178901012156793,0.009467319666864815,0.0007305120225201921,1.1993597796766753,1.1923541134512965,2.391497668980115,0.08764107381144147,-0.08797890372014548,0.0019611141014300973,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8901196451589676,1.7552454506822135,-1.1402690397457276,0.012481570188354415,0.9112807838721777,1.0891170652738913,1.6312548422581434,-1.698330232574997,2.771523882003871,2.771523882003871,2.964885699439358,0,0,-0.0002101199088430913,-9.947164899959943e-05
+4911,1792844833870092524,23513312000000,1792844833868375077,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761345201245925,-0.004983230226840688,0.10564640122419476,0.9999999672487814,-0.0001413859018711696,9.074143337639497e-05,0.00016947365426765867,0.6761,-0.0046,0.10546356252644726,1.0,0.0,0.0,0.0,-0.05263449061573611,-0.12450192073955724,1.740551175722223,-0.012754176577063847,0.01017359722601481,0.0006619298521673756,1.1915231609423487,1.1465757217918946,2.433718612127341,0.08406579824653442,-0.08727262616099549,0.0018925319310772808,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8468968148459445,1.721165942376962,-1.259510277941117,0.09812198370744414,0.9639170379217296,1.056713042807906,1.6312548422581434,-1.740551175722223,2.8907651201992604,2.8907651201992604,3.041085699439406,0,0,-0.0002040436826486206,9.168054790198994e-05
+4978,1792844834429175243,23513871000000,1792844834428375137,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761418679380906,-0.00498804111723751,0.10554626191022358,0.9999999631616712,-0.00014124035176127202,0.00010209040734850418,0.00018640877746195326,0.6761,-0.0046,0.1053488378541358,1.0,0.0,0.0,0.0,-0.05104468566682474,-0.1603650998072017,1.744835119540587,-0.016153610378580083,0.011218583067122201,0.0006288434101179453,1.19311296589126,1.1107125427242501,2.438002555945705,0.08066636444501818,-0.0862276403198881,0.0018594454890278505,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8467238221990601,1.6472373570338126,-1.2664577237028394,0.11301980242543397,0.9701811867559866,1.006105817981193,1.6312548422581434,-1.744835119540587,2.897712565960983,2.897712565960983,3.124935699439459,0,0,-0.0002119723543872728,-9.991519697572499e-05
+5043,1792844834970225429,23514412000000,1792844834968365176,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761492370928388,-0.004992705971287055,0.10543935799183231,0.999999959060033,-0.0001423342612865992,0.00011263516974494096,0.00020094047138125929,0.6761,-0.0046,0.10522943352330504,1.0,0.0,0.0,0.0,-0.055379364540931286,-0.2044140847085807,1.7785603028195967,-0.01840306008699602,0.0102698430242468,0.000571667204021179,1.1887782870171535,1.0666635578228711,2.471727739224715,0.07841691473660224,-0.0871763803627635,0.0018022692829310842,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8786032203198503,1.6750327452120932,-1.3718924991527095,0.0969074568321377,1.0479450056113826,1.0237611062779035,1.6312548422581434,-1.7785603028195967,3.0031473414108527,3.0031473414108527,3.20608569943951,0,0,-0.00023001102565231436,-9.978169265701382e-05
+5102,1792844835462207677,23514904000000,1792844835460365108,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761558663886573,-0.004994420093117933,0.10533145667458817,0.9999999553869412,-0.000168933113394275,0.0001260754881791668,0.00019035638738199953,0.6761,-0.0046,0.10511110474739291,1.0,0.0,0.0,0.0,-0.030394977814379498,-0.20592230609298556,1.821865057262924,-0.019405132628343688,0.00926641453161077,0.0005121852694409984,1.2137626737437053,1.0651553364384663,2.515032493668042,0.07741484219525457,-0.08817980885539953,0.0017427873483509037,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8898405365454719,1.6621246410451833,-1.347874662588528,0.11735859395827856,1.0410256185127147,1.0174345849421829,1.6312548422581434,-1.821865057262924,2.9791295048466715,2.9791295048466715,3.2798856994395567,0,0,-0.0002500094024124585,-9.999999025923074e-05
+5164,1792844835979276056,23515421000000,1792844835976365103,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761632583950825,-0.004996972406755492,0.10521281567367166,0.9999999520637536,-0.00019655956950146274,0.0001371322005953784,0.00017284226910179796,0.6761,-0.0046,0.10497874254677077,1.0,0.0,0.0,0.0,-0.0012776686361788414,-0.2282193041984033,1.8746324801868286,-0.02141160910337986,0.007257229510000102,0.0013889596893875715,1.242879982921906,1.0428583383330485,2.5677999165919467,0.0754083657202184,-0.0901889938770102,0.0026195617682974767,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8668689379702169,1.5388214237700661,-1.4240545319800848,0.17166175064814304,1.0844110112398897,0.9378361672999028,1.6312548422581434,-1.8746324801868286,3.0553093742382282,3.0553093742382282,3.3574356994396055,0,0,-0.00026114003684049445,-9.999999025923074e-05
+5224,1792844836479296566,23515921000000,1792844836476365454,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.676167695755113,-0.0049964861106650245,0.1050856917166506,0.999999958311602,-0.00016502247029462114,0.00014519890090035288,0.00016280209413594045,0.6761,-0.0046,0.10484420929827516,1.0,0.0,0.0,0.0,0.02722966455699516,-0.24137071035145863,1.9185671687656805,-0.02238301429438605,0.006230623588670298,0.0013826583333691443,1.27138731611508,1.0297069321799932,2.6117346051707986,0.07443696052921221,-0.09121559979834,0.0026132604122790495,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8359756778448768,1.6049019402564169,-1.5226081581403494,0.17077564186538038,1.1416118355613547,0.9995058261440738,1.6312548422581434,-1.9185671687656805,3.153863000398493,3.153863000398493,3.4324356994396528,0,0,-0.0002745092653425304,-8.605739318235379e-05
+5278,1792844836929234053,23516371000000,1792844836924365358,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761748342838437,-0.004997284500140393,0.10497074677922949,0.9999999551816797,-0.00016112092165783507,0.0001568813950829874,0.00017466476241162184,0.6761,-0.0046,0.10471823770431427,1.0,0.0,0.0,0.0,0.01951022803913549,-0.2782372724190887,1.9633448135289724,-0.02545574760501723,0.006299817026921312,0.0013141025627691845,1.2636678795972203,0.9928403701123631,2.6565122499340905,0.07136422721858103,-0.09114640636008899,0.0025447046416790897,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8445120950604511,1.5822893506967575,-1.53861373058347,0.17895583937841103,1.1575554576521476,0.9824966695873095,1.6312548422581434,-1.9633448135289724,3.1698685728416134,3.1698685728416134,3.4999356994396953,0,0,-0.0002873642219694813,-9.999999025923074e-05
+5332,1792844837379343500,23516821000000,1792844837376365367,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761817476317667,-0.00500342525439199,0.10484667773135459,0.9999999525756949,-0.0001477615149979387,0.00016862662395038326,0.00018979744145312355,0.6761,-0.0046,0.10458487235705091,1.0,0.0,0.0,0.0,0.030471976494891972,-0.31218875713645045,1.9872164824363656,-0.02853133001056747,0.005706403553219483,0.001250275761458792,1.2746296280529767,0.9588888853950014,2.6803839188414837,0.06828864481303079,-0.09173981983379081,0.002480877840368697,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8144015806339683,1.6026989064378763,-1.5972454911217864,0.16916895810768184,1.1948472551355234,0.9945694724257235,1.6312548422581434,-1.9872164824363656,3.22850033337993,3.22850033337993,3.567435699439738,0,0,-0.00030550903699497054,-9.999999025923074e-05
+5387,1792844837837269475,23517279000000,1792844837832365572,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761881781977962,-0.005005153235933899,0.10471283587570432,0.9999999483767472,-0.00015266856960103855,0.00017801203824747953,0.0001992319986556708,0.6761,-0.0046,0.1044400851635718,1.0,0.0,0.0,0.0,0.029456321458146917,-0.35960508590046925,2.0169240406361277,-0.030579422025324973,0.00546240982024547,0.001203311573624327,1.2736139730162317,0.9114725566309826,2.710091477041246,0.06624055279827329,-0.09198381356676483,0.002433913652534232,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7789245243542604,1.6010525111575835,-1.6585346104337058,0.17608916381184708,1.226649425969749,0.993189840453369,1.6312548422581434,-2.0169240406361277,3.289789452691849,3.289789452691849,3.636135699439781,0,0,-0.00032715270350677637,-9.999999025923074e-05
+5434,1792844838229287572,23517671000000,1792844838228365691,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761920394172978,-0.005010198639172332,0.10458907436224721,0.9999999434952537,-0.00018421718899133666,0.00018936054725926226,0.00018616918154229048,0.6761,-0.0046,0.10430806066050906,1.0,0.0,0.0,0.0,0.04259058440669339,-0.35888771557420296,2.0350494999834283,-0.03158873461326142,0.004918962966480395,0.0011762747595527548,1.2867482359647782,0.9121899269572489,2.7282169363885465,0.06523124021033684,-0.0925272604205299,0.00240687683846266,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8211587724299305,1.4361407607340928,-1.6706491037171873,0.24189618038903024,1.247778711254948,0.8875630965130297,1.6312548422581434,-2.0350494999834283,3.3019039459753308,3.3019039459753308,3.694935699439818,0,0,-0.0003464161231578596,-9.999999025923074e-05
+5483,1792844838637398040,23518079000000,1792844838636365906,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761967668699049,-0.005015550785349723,0.10445346207159867,0.9999999386665175,-0.00019675774153650927,0.0001964426507769387,0.00019185020632357783,0.6761,-0.0046,0.10416257389938445,1.0,0.0,0.0,0.0,0.05169513641057755,-0.3873105744363907,2.0507099859332723,-0.03362180992387519,0.004447996313453578,0.0011301186477129346,1.2958527879686623,0.8837670680950611,2.7438774223383904,0.06319816489972307,-0.09299822707355672,0.0023607207266228398,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8542520773928265,1.50199971108464,-1.6900644050879592,0.22288820086039857,1.2726687764904192,0.9289442709689534,1.6312548422581434,-2.0507099859332723,3.3213192473461026,3.3213192473461026,3.7561356994398567,0,0,-0.0003667980870245265,-9.999999025923074e-05
+5530,1792844839029414368,23518471000000,1792844839024365675,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6762036733074819,-0.0050145212149917805,0.1043139639975602,0.9999999366502182,-0.00020314886064721476,0.00020635469176886082,0.00018517749686689913,0.6761,-0.0046,0.10401498023413938,1.0,0.0,0.0,0.0,0.06177606070782127,-0.4030101426517013,2.0700588433029803,-0.03558272024627045,0.004451240116144242,0.0010866011963529866,1.305933712265906,0.8680674998797505,2.7632262797080984,0.061237254577327815,-0.09299498327086606,0.002317203275262892,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8552223021360972,1.5229080354284892,-1.7307692299477628,0.24111796361496415,1.3014571993271313,0.9487599509862352,1.6312548422581434,-2.0700588433029803,3.362024072205906,3.362024072205906,3.8149356994398937,0,0,-0.0003863245699412251,-9.999999025923074e-05
+5573,1792844839387405145,23518829000000,1792844839380365577,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6762059565746993,-0.005020052184126485,0.10417554449779455,0.9999999482536078,-0.0001274822611668603,0.00021147808369198712,0.00018428494057354253,0.6761,-0.0046,0.10387348088872637,1.0,0.0,0.0,0.0,0.056771355063151896,-0.4258378760944376,2.090518170941696,-0.03668784206525176,0.004333235794953955,0.0010562184118849086,1.3009290066212367,0.8452397664370143,2.783685607346814,0.0601321327583465,-0.09311298759205634,0.002286820490794814,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8260095469034225,1.532693041429068,-1.7612983826041644,0.21521230426703017,1.3188743388125477,0.903514998744211,1.6312548422581434,-2.090518170941696,3.392553224862308,3.392553224862308,3.8686356994399276,0,0,-0.0004042245664540297,-9.999999025923074e-05
+5617,1792844839754448279,23519196000000,1792844839752365195,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6762088816630992,-0.005023451332270966,0.10402338630711762,0.9999999417322548,-0.00014679159422853623,0.0002165799336301295,0.00019880571290467196,0.6761,-0.0046,0.10372177242349552,1.0,0.0,0.0,0.0,0.054871507137478126,-0.47125254569557806,2.138531103084449,-0.03976497279224688,0.004517985467944435,0.0009846595002171602,1.299029158695563,0.7998250968358738,2.831698539489567,0.05705500203135138,-0.09292823791906586,0.0022152615791270654,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.8224247656590027,1.4923502534341972,-1.7650252471985615,0.2594044507510115,1.3243972756129692,0.9174146311359561,1.6312548422581434,-2.138531103084449,3.396280089456705,3.396280089456705,3.9236856994399623,0,0,-0.00042257456287916737,-9.999999025923074e-05
+5656,1792844840079364433,23519521000000,1792844840076365591,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6762109912246101,-0.005020411793906625,0.10388820323369688,0.9999999376954514,-0.0001683901147806906,0.00021979321333891292,0.00019846327203901264,0.6761,-0.0046,0.10358180319107581,1.0,0.0,0.0,0.0,0.06588199854878951,-0.5041296851204115,2.1053190930721706,-0.04177457506643785,0.0035566869042347043,0.0009812356794522607,1.3100396501068743,0.7669479574110404,2.7984865294772887,0.05504539975716041,-0.09388953648277559,0.002211837758362166,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7839914955539686,1.3711250127213188,-1.7333968706708742,0.30639297472056043,1.2928555430751578,0.8460545067877474,1.6312548422581434,-2.1053190930721706,3.3646517129290174,3.3646517129290174,3.972435699439993,0,0,-0.00043882455971341736,-9.999999025923074e-05
+5693,1792844840387378109,23519829000000,1792844840384365590,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.676208069086349,-0.00502382916168492,0.1037398590366851,0.9999999348242268,-0.00019877476830506684,0.00021198831075267783,0.00019324583827070509,0.6761,-0.0046,0.1034442813271476,1.0,0.0,0.0,0.0,0.09509773332225446,-0.5355459503064169,2.126795967116529,-0.04477721220363954,0.0016070957729363428,0.0009007489712579565,1.3392553848803392,0.7355316922250349,2.819963403521647,0.05204276261995872,-0.09583912761407395,0.0021313510501678617,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7548522442341764,1.4106894611195149,-1.7764516058445343,0.3107482518782008,1.321178051944974,0.872566283940583,1.6312548422581434,-2.126795967116529,3.4077064481026778,3.4077064481026778,4.018635699439967,0,0,-0.00045422455671326043,-9.999999025923074e-05
+5731,1792844840704456775,23520146000000,1792844840704365910,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6762053683004412,-0.005025702667307243,0.10359248364410609,0.9999999319596997,-0.0002118614527484247,0.00020871085585498592,0.00019768146992369545,0.6761,-0.0046,0.10329778784316046,1.0,0.0,0.0,0.0,0.08715306656789479,-0.5816462731644225,2.0971929357071257,-0.04682436671462212,0.0016251446155168964,0.0010169497329668863,1.3313107181259796,0.6894313693670293,2.790360372112244,0.049995608108976144,-0.0958210787714934,0.0022475518118767915,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.69648520624337,1.4318009352798333,-1.6934492467371607,0.3092299790806339,1.251650066700352,0.888095306931852,1.6312548422581434,-2.0971929357071257,3.324704088995304,3.324704088995304,4.066185699439856,0,0,-0.0004700745536254366,-9.999999025923074e-05
+5768,1792844841012477855,23520454000000,1792844841008365772,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6762067160686583,-0.0050272876884387705,0.10344709180383435,0.9999999313853024,-0.00020816045376623188,0.00020905797571270056,0.00020404960879310768,0.6761,-0.0046,0.10315064098110735,1.0,0.0,0.0,0.0,0.08819734063866957,-0.5968549581422188,2.0649546850625558,-0.048838797511982564,0.0018948976670855322,0.0009006544188933394,1.3323549921967544,0.674222684389233,2.758122121467674,0.0479811773116157,-0.09555132571992477,0.0021312564978032446,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6527028722060563,1.4630480369413519,-1.6420429253207585,0.3069503703718596,1.204673376669025,0.9103621312827129,1.6312548422581434,-2.0649546850625558,3.273297767578902,3.273297767578902,4.1123856994397485,0,0,-0.00048547455062527965,-9.999999025923074e-05
+5803,1792844841304416369,23520746000000,1792844841304365130,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6762038491125486,-0.0050291843615258925,0.10329702216927558,0.9999999449993044,-0.00014442984729658078,0.00020338380306550772,0.00019803863319426418,0.6761,-0.0046,0.10300675811274146,1.0,0.0,0.0,0.0,0.09787160311372833,-0.6246949422229792,2.0514883427009805,-0.0507671753861873,0.0017434371965079493,0.0008826219648265376,1.342029254671813,0.6463827003084727,2.7446557791060986,0.04605279943741096,-0.09570278619050235,0.0021132240437364428,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.7236464332210019,1.3953149508419909,-1.6605137486457813,0.3323819462726515,1.237327008098527,0.8520163348323607,1.6312548422581434,-2.0514883427009805,3.2917685909039247,3.2917685909039247,4.156185699439646,0,0,-0.0005000745477809751,-9.999999025923074e-05
+5837,1792844841587529345,23521029000000,1792844841580375447,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6762027177276977,-0.005031068902190599,0.10315192986953363,0.999999940155365,-0.0001654214429045639,0.00020317903112619909,0.00020612170755583486,0.6761,-0.0046,0.10286324186611089,1.0,0.0,0.0,0.0,0.10386276506703185,-0.6393840578652484,2.013645937260355,-0.051890763373659984,0.0007389328901468012,0.000929360158075063,1.3480204166251166,0.6316935846662034,2.706813373665473,0.04492921144993828,-0.0967072904968635,0.002159962236984968,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6669526206158665,1.2568214380868004,-1.6649589601945112,0.379314352171737,1.2252865045084114,0.7767813519140844,1.6312548422581434,-2.013645937260355,3.2962138024526544,3.2962138024526544,4.1986356994395475,0,0,-0.0005142245450243374,-9.999999025923074e-05
+5870,1792844841862547816,23521304000000,1792844841860365450,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761958618166766,-0.005028131279879846,0.1029987260143697,0.9999999401835246,-0.0001705765857728045,0.00019204562074322913,0.00021236270733612257,0.6761,-0.0046,0.10271994636659885,1.0,0.0,0.0,0.0,0.1087604357909413,-0.6701351156285831,1.9828120573769903,-0.05391666815290908,0.00037385323365549117,0.000886577431131654,1.352918087349026,0.6009425269028688,2.6759794937821084,0.04290330667068918,-0.0970723701533548,0.002117179510041559,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6465358750799745,1.3361860669444852,-1.6236194487471722,0.36286457210240025,1.193508746596267,0.8313161619133285,1.6312548422581434,-1.9828120573769903,3.254874291005316,3.254874291005316,4.239885699439451,0,0,-0.0005279745423456258,-9.999999025923074e-05
+5902,1792844842129519749,23521571000000,1792844842128366351,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761930509918986,-0.005030060726979865,0.10284885639979954,0.9999999359851787,-0.00020488193533842137,0.0001876081108594742,0.0002056674309196195,0.6761,-0.0046,0.10257720161414108,1.0,0.0,0.0,0.0,0.10397337697230391,-0.6831502863137892,1.932376922198979,-0.05534814938172376,0.0007349428459743068,0.0017088125197455,1.3481310285303887,0.5879273562176627,2.625544358604097,0.0414718254418745,-0.09671128054103599,0.002939414598655405,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6556207328972463,1.336733875479405,-1.5209717086004853,0.37190142843889223,1.1288942941471534,0.8287849814433169,1.6312548422581434,-1.932376922198979,3.1522265508586287,3.1522265508586287,4.279935699439358,0,0,-0.0005413245397448404,-9.999999025923074e-05
+5933,1792844842387557330,23521829000000,1792844842380365808,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761874937062219,-0.005031156422788825,0.1026928171587772,0.9999999351329516,-0.00020947417422467095,0.00017627506602533447,0.00021499913552042052,0.6761,-0.0046,0.10243588223321236,1.0,0.0,0.0,0.0,0.11152955589447955,-0.7074703728549375,1.911230234662217,-0.05697865103879373,0.0008378495546998155,0.000917065014888633,1.3556872074525643,0.5636072696765143,2.604397671067335,0.03984132378480453,-0.09660837383231048,0.002147667093798538,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6430494497435438,1.398124349768833,-1.629776562012226,0.34875361182704495,1.2002621936005533,0.8726152314819873,1.6312548422581434,-1.911230234662217,3.261031404270369,3.261031404270369,4.318635699439268,0,0,-0.000554224537231722,-9.999999025923074e-05
+5963,1792844842637550201,23522079000000,1792844842636365843,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761801120247063,-0.005034245563059125,0.10254178985229404,0.9999999516690933,-0.0001133002449159653,0.00016261297351146685,0.0002209632339494158,0.6761,-0.0046,0.10229576984921004,1.0,0.0,0.0,0.0,0.10337504758797378,-0.7433297283031886,1.8605539303851195,-0.05863948145429717,0.0008929139998078012,0.0009371542925865901,1.3475326991460586,0.5277479142282633,2.5537213667902376,0.03818049336930109,-0.0965533093872025,0.0021677563714964953,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.5993968725503345,1.1831931327707972,-1.3938578033255982,0.4242137528425767,1.0340857553060516,0.7421853738771352,1.6312548422581434,-1.8605539303851195,3.0251126455837416,3.0251126455837416,4.35613569943918,0,0,-0.0005667245347965297,-9.999999025923074e-05
+5992,1792844842879577476,23522321000000,1792844842876365602,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761774843801414,-0.00503212673949504,0.10239050891445631,0.9999999499341482,-0.0001484039208334796,0.0001564345509658917,0.0002123183292756443,0.6761,-0.0046,0.10215716446207569,1.0,0.0,0.0,0.0,0.08524713994175714,-0.723964039273024,1.8027054750101854,-0.05800642253344714,0.0018950302720666251,0.0010055805179424442,1.329404791499842,0.5471136032584278,2.4958729114153035,0.03881355229015112,-0.09555119311494367,0.0022361825968523494,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6124726298189648,1.330113752632942,-1.3977034109202726,0.36971531116951434,1.0379261254581624,0.8192294143536281,1.6312548422581434,-1.8027054750101854,3.0289582531784163,3.0289582531784163,4.392435699439096,0,0,-0.0005788245324392635,-9.999999025923074e-05
+6023,1792844843137525640,23522579000000,1792844843136366100,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761775220262887,-0.00503237819971825,0.10223904010593031,0.9999999462258611,-0.00016351151505112005,0.00015654928797628753,0.00021851188515301583,0.6761,-0.0046,0.10200617008303181,1.0,0.0,0.0,0.0,0.0850959976659229,-0.7466143792243994,1.7638558860295346,-0.059028065458150085,0.0019305830501368526,0.0020021361394824116,1.3292536492240077,0.5244632633070524,2.4570233224346527,0.03779190936544818,-0.09551564033687344,0.0032327382183923166,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6673552508213813,1.2942219490119709,-1.415399278477635,0.38162776838706436,1.0611560564780436,0.8057031238232785,1.6312548422581434,-1.7638558860295346,3.0466541207357785,3.0466541207357785,4.431135699439006,0,0,-0.000591724529926145,-9.999999025923074e-05
+6051,1792844843370538976,23522812000000,1792844843368365988,DOWN_FORCE_DETACH,1,0.0712,0.0712023675441742,0.6761680100860032,-0.005037591562361552,0.10208688687159267,0.9999999441791789,-0.00016944947373989663,0.00014350356424183537,0.00023190106948697462,0.6761,-0.0046,0.10186694686782456,1.0,0.0,0.0,0.0,0.07628491601167142,-0.7645116723178031,1.7350683406749061,-0.061004092017974826,0.002984793944272937,0.0010976125760810919,1.3204425675697562,0.5065659702136487,2.4282357770800242,0.035815882805623436,-0.09446142944273736,0.002328214654990997,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6293983364769572,1.2174505218176785,-1.282894036446195,0.4041408947216258,0.9664850639119951,0.7573022217842535,1.6312548422581434,-1.7350683406749061,2.9141488787043386,2.9141488787043386,4.466085699438924,0,0,-0.0006033745276565458,-9.999999025923074e-05
+6080,1792844843612600920,23523054000000,1792844843612365104,DOWN_FORCE_DETACH,1,0.0712,0.07120171189308167,0.6761576354007517,-0.005037308947730669,0.10192739063218868,0.9999999442768266,-0.00016906113561528693,0.0001261083165562405,0.00024166967737940175,0.6761,-0.0046,0.10171947218241809,1.0,0.0,0.0,0.0,0.06813142080169388,-0.7889233950261572,1.698550839246416,-0.06210188018981328,0.0030215180629841187,0.001056264214528161,1.3122890723597787,0.4821542475052947,2.391718275651534,0.03471809463378498,-0.09442470532402618,0.002286866293438066,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.667867343916606,1.2540671422724405,-1.361885187907096,0.397642283785009,1.0297074689007626,0.7866930530662606,1.6312548422581434,-1.698550839246416,2.9931400301652396,2.9931400301652396,4.50238569943884,0,0,-0.0006154745252992796,-9.999999025923074e-05
+6104,1792844843810642524,23523252000000,1792844843804365750,DOWN_SETTLE,1,0.0712,0.0712023675441742,0.676145092841911,-0.005033034160936022,0.10178599448799884,0.9999999448652417,-0.00021663406462576635,0.00010909211890342852,0.00020707720588476262,0.6761,-0.0046,0.10159663307660073,1.0,0.0,0.0,0.0,0.08703674608559653,-0.7671733744789423,1.6396078217950731,-0.06094432687049185,0.0018341725691173871,0.001184790417134832,1.3311943976436813,0.5039042680525095,2.3327752582001913,0.03587564795310641,-0.09561205081789291,0.002415392496044737,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6326868518174786,1.268127775791966,-1.2824015501964277,0.39800153100789326,0.9707524503190964,0.8030589961452883,1.6312548422581434,-1.6396078217950731,2.913656392454571,0.0,0.0,0,0,-0.0006253745233706073,-9.999999025923074e-05
+6143,1792844844136609835,23523578000000,1792844844136365914,DOWN_SETTLE,1,0.0712,0.07120171189308167,0.6761324401698726,-0.005033392037245377,0.10164718679615317,0.9999999467567947,-0.00020610424007021013,8.362234384626362e-05,0.00022013091028191999,0.6761,-0.0046,0.10150735651163076,1.0,0.0,0.0,0.0,0.06919847652098521,-0.7915328184105088,1.329603044283275,-0.06200082569411939,0.0020889365454242192,0.0013392968744528409,1.31335612807907,0.47954482412094307,2.022770480688393,0.03481914912947887,-0.09535728684158608,0.002569898953362746,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.6241384974878679,1.2652785137557954,-0.9910339744647993,0.3751321119869701,0.7822613582439597,0.7969271678934683,1.6312548422581434,-1.329603044283275,2.622288816722943,0.0,0.0,0,0,-4.009178452718269e-05,0.00040496752047659287
+6218,1792844844760671274,23524202000000,1792844844756374916,DOWN_PEAK_HOLD,1,0.0712,0.07120171189308167,0.6761003372929993,-0.0050226951579099895,0.10156717353039572,0.9999999516913624,-0.00019545951292571618,2.2051186635701088e-05,0.00022219239608971473,0.6761,-0.0046,0.10150434417920762,1.0,0.0,0.0,0.0,0.07072927724511491,-0.8358468703455786,0.8365156398959219,-0.06389167148899616,0.0002142701257753371,0.000656241120670681,1.3148869288031997,0.4352307721858733,1.52968307630104,0.032928303334602095,-0.09723195326123496,0.0018868431995805862,1.2441576515580848,1.2710776425314518,0.6931674364051181,0.09681997482359826,-0.0974462233870103,0.0012306020789099052,1,0.45143145107317206,1.2496750132901078,-0.3818590267682805,0.3641142088817188,0.3427450874768967,0.7877457517710402,1.6312548422581434,-0.8365156398959219,2.013113869026424,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_17.5/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844814312745023,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.217665633e-09,-3.694014643e-10,-9.682243896e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451902e-01,-1.169048006e-04,8.303260563e-01
+1,7.666666667e-01,DOWN_FORCE_DETACH,1792844815069894825,-9.329730011e-07,1.717534234e-06,-3.934846443e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.467045377e-07,-1.512840161e-08,-7.263492030e-10,7.019546649e-01,-2.026752035e-05,8.601394511e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453317e-01,-1.169195596e-04,8.303260557e-01
+2,1.483333333e+00,DOWN_FORCE_DETACH,1792844815851357037,3.962591502e-06,5.893990445e-06,5.234031963e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.896873618e-07,-2.066035685e-08,1.122768545e-12,7.019595605e-01,-1.609106414e-05,8.601434383e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453746e-01,-1.169250916e-04,8.303260564e-01
+3,2.250000000e+00,DOWN_FORCE_DETACH,1792844816647181963,2.025082298e-06,-7.043474610e-07,-9.943706907e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.053732037e-07,-2.285619471e-08,1.266813321e-10,7.019576229e-01,-2.268940204e-05,8.601334422e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453903e-01,-1.169272874e-04,8.303260565e-01
+4,3.000000000e+00,DOWN_FORCE_DETACH,1792844817390894501,2.817026525e-06,1.651619145e-06,-1.348803011e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.107510051e-07,-2.362917807e-08,1.136966077e-10,7.019584149e-01,-2.033343544e-05,8.601298979e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453957e-01,-1.169280604e-04,8.303260565e-01
+5,3.683333333e+00,DOWN_FORCE_DETACH,1792844818078470742,4.023195837e-06,3.998127385e-06,-1.768808917e-05,7.358062909e-07,8.089037099e-06,-1.926928268e-05,7.536607745e-07,7.946409688e-06,-1.904378403e-05,7.019596211e-01,-1.798692719e-05,8.601256978e-01,7.019563337e-01,-1.389601748e-05,8.601241166e-01,7.027459386e-01,-1.089580215e-04,8.303070126e-01
+6,4.433333333e+00,DOWN_FORCE_DETACH,1792844818815689412,9.604802922e-06,-2.749852288e-06,-3.412123564e-05,9.568536522e-06,-3.021532612e-06,-3.418218160e-05,9.860938636e-06,-2.949194316e-06,-3.369398873e-05,7.019652027e-01,-2.473490687e-05,8.601092647e-01,7.019651664e-01,-2.500658719e-05,8.601092037e-01,7.027550459e-01,-1.198536256e-04,8.302923624e-01
+7,5.000000000e+00,DOWN_FORCE_DETACH,1792844819471307988,3.975437614e-05,-4.538751469e-06,-4.762126261e-05,3.851871476e-05,-5.962951903e-06,-4.918735765e-05,4.108571140e-05,-5.902495181e-06,-4.858914521e-05,7.019953522e-01,-2.652380605e-05,8.600957647e-01,7.019941166e-01,-2.794800648e-05,8.600941986e-01,7.027862707e-01,-1.228069264e-04,8.302774673e-01
+8,5.633333333e+00,DOWN_FORCE_DETACH,1792844820109850336,3.591119440e-05,-8.275313672e-06,-6.885722532e-05,3.851871476e-05,-5.962951903e-06,-4.918735765e-05,4.119385877e-05,-5.905589982e-06,-4.890086937e-05,7.019915091e-01,-3.026036825e-05,8.600745287e-01,7.019941166e-01,-2.794800648e-05,8.600941986e-01,7.027863788e-01,-1.228100212e-04,8.302771555e-01
+9,6.400000000e+00,DOWN_FORCE_DETACH,1792844820896571560,3.847447031e-05,-9.519231714e-06,-8.190220850e-05,3.545750788e-05,-6.797465065e-06,-7.021464672e-05,3.766603396e-05,-6.705145218e-06,-6.991262327e-05,7.019940723e-01,-3.150428629e-05,8.600614837e-01,7.019910554e-01,-2.878251965e-05,8.600731713e-01,7.027828510e-01,-1.236095765e-04,8.302561438e-01
+10,7.150000000e+00,DOWN_FORCE_DETACH,1792844821682062634,3.602546602e-05,-1.398474942e-06,-9.639696368e-05,3.616899168e-05,-2.203748276e-06,-8.990174989e-05,3.812963228e-05,-2.202100528e-06,-8.957858545e-05,7.019916233e-01,-2.338352952e-05,8.600469890e-01,7.019917669e-01,-2.418880286e-05,8.600534842e-01,7.027833146e-01,-1.191065318e-04,8.302364778e-01
+11,7.966666667e+00,DOWN_FORCE_DETACH,1792844822501825059,3.367047621e-05,-6.453395400e-06,-1.120090603e-04,3.272967347e-05,-4.038126336e-06,-1.104542402e-04,3.419172678e-05,-3.966150134e-06,-1.099783705e-04,7.019892683e-01,-2.843844998e-05,8.600313769e-01,7.019883275e-01,-2.602318092e-05,8.600329317e-01,7.027793767e-01,-1.208705814e-04,8.302160780e-01
+12,8.633333333e+00,DOWN_FORCE_DETACH,1792844823156487486,3.912023358e-05,-1.087973459e-05,-1.223080632e-04,3.272967347e-05,-4.038126336e-06,-1.104542402e-04,3.414800848e-05,-3.956140893e-06,-1.101507924e-04,7.019947181e-01,-3.286478917e-05,8.600210779e-01,7.019883275e-01,-2.602318092e-05,8.600329317e-01,7.027793330e-01,-1.208605721e-04,8.302159056e-01
+13,9.333333333e+00,DOWN_FORCE_DETACH,1792844823844702218,5.757685141e-05,-9.729772511e-06,-1.454676314e-04,5.260996325e-05,-1.388433071e-05,-1.429493958e-04,5.494600225e-05,-1.365063817e-05,-1.422461091e-04,7.020131747e-01,-3.171482709e-05,8.599979183e-01,7.020082078e-01,-3.586938529e-05,8.600004365e-01,7.028001310e-01,-1.305550694e-04,8.301838103e-01
+14,9.983333333e+00,DOWN_FORCE_DETACH,1792844824500576010,6.758120537e-05,-1.747864091e-05,-1.879560788e-04,6.424834480e-05,-1.643298542e-05,-1.812931839e-04,6.708465969e-05,-1.616060807e-05,-1.804414292e-04,7.020231791e-01,-3.946369549e-05,8.599554298e-01,7.020198462e-01,-3.841804000e-05,8.599620927e-01,7.028122696e-01,-1.330650393e-04,8.301456150e-01
+15,1.065000000e+01,DOWN_FORCE_DETACH,1792844825190168373,7.227597120e-05,-5.530527107e-06,-2.247333479e-04,6.857316708e-05,-3.115400378e-06,-2.226755999e-04,7.130018341e-05,-3.054147551e-06,-2.217073758e-04,7.020278738e-01,-2.751558169e-05,8.599186526e-01,7.020241710e-01,-2.510045496e-05,8.599207103e-01,7.028164851e-01,-1.199585788e-04,8.301043490e-01
+16,1.141666667e+01,DOWN_FORCE_DETACH,1792844826252564949,7.610865074e-05,-7.757433525e-06,-2.726936426e-04,7.530013309e-05,-6.337043728e-06,-2.629653269e-04,7.805767148e-05,-6.234577116e-06,-2.619829945e-04,7.020317065e-01,-2.974248810e-05,8.598706923e-01,7.020308980e-01,-2.832209831e-05,8.598804206e-01,7.028232426e-01,-1.231390084e-04,8.300640734e-01
+17,1.198333333e+01,DOWN_FORCE_DETACH,1792844826809884247,1.057990116e-04,-4.965686854e-06,-2.971822939e-04,9.844963399e-05,-6.882892473e-06,-2.860663226e-04,1.024726927e-04,-6.789195226e-06,-2.854034238e-04,7.020613969e-01,-2.695074143e-05,8.598462036e-01,7.020540475e-01,-2.886794705e-05,8.598573196e-01,7.028476576e-01,-1.236936265e-04,8.300406530e-01
+18,1.258333333e+01,DOWN_FORCE_DETACH,1792844827399223620,1.137166446e-04,-1.277342136e-05,-3.555177675e-04,1.133370165e-04,-1.994388064e-05,-3.443169236e-04,1.179095827e-04,-1.968271120e-05,-3.433186344e-04,7.020693145e-01,-3.475847594e-05,8.597878681e-01,7.020689349e-01,-4.192893522e-05,8.597990690e-01,7.028630945e-01,-1.365871424e-04,8.299827378e-01
+19,1.338333333e+01,DOWN_FORCE_DETACH,1792844828185415142,1.226345653e-04,-2.326814939e-05,-4.216110454e-04,1.212033278e-04,-1.942372139e-05,-4.086462578e-04,1.257242235e-04,-1.921171909e-05,-4.077721361e-04,7.020782324e-01,-4.525320397e-05,8.597217749e-01,7.020768012e-01,-4.140877597e-05,8.597347397e-01,7.028709092e-01,-1.361161503e-04,8.299182843e-01
+20,1.401666667e+01,DOWN_FORCE_DETACH,1792844828808481632,1.274744369e-04,-2.795658675e-05,-4.715457010e-04,1.252698587e-04,-2.356057299e-05,-4.716311377e-04,1.293536644e-04,-2.328985354e-05,-4.705589691e-04,7.020830723e-01,-4.994164133e-05,8.596718402e-01,7.020808677e-01,-4.554562756e-05,8.596717548e-01,7.028745386e-01,-1.401942848e-04,8.298554974e-01
+21,1.463333333e+01,DOWN_FORCE_DETACH,1792844829414054118,1.303727198e-04,-3.117726177e-05,-5.211177792e-04,1.279877656e-04,-2.953801377e-05,-5.135622500e-04,1.318019171e-04,-2.920146683e-05,-5.126929413e-04,7.020859706e-01,-5.316231635e-05,8.596222681e-01,7.020835856e-01,-5.152306835e-05,8.596298237e-01,7.028769869e-01,-1.461058981e-04,8.298133635e-01
+22,1.528333333e+01,DOWN_FORCE_DETACH,1792844830069444746,1.341346264e-04,-3.334825168e-05,-5.884718274e-04,1.317500503e-04,-3.685075286e-05,-5.766664157e-04,1.351318499e-04,-3.643935736e-05,-5.756508488e-04,7.020897325e-01,-5.533330626e-05,8.595549141e-01,7.020873479e-01,-5.883580744e-05,8.595667195e-01,7.028803168e-01,-1.533437886e-04,8.297504056e-01
+23,1.593333333e+01,DOWN_FORCE_DETACH,1792844830707969989,1.428709832e-04,-3.775012835e-05,-6.540686322e-04,1.395011273e-04,-3.713821780e-05,-6.413548197e-04,1.427068994e-04,-3.673838970e-05,-6.403776397e-04,7.020984689e-01,-5.973518293e-05,8.594893173e-01,7.020950990e-01,-5.912327238e-05,8.595020311e-01,7.028878919e-01,-1.536428209e-04,8.296856788e-01
+24,1.648333333e+01,DOWN_FORCE_DETACH,1792844831303107076,1.494155871e-04,-4.166730044e-05,-7.314157077e-04,1.495788482e-04,-4.544536715e-05,-7.285218480e-04,1.524426491e-04,-4.497539037e-05,-7.269446064e-04,7.021050135e-01,-6.365235502e-05,8.594119702e-01,7.021051767e-01,-6.743042173e-05,8.594148641e-01,7.028976276e-01,-1.618798216e-04,8.295991118e-01
+25,1.705000000e+01,DOWN_FORCE_DETACH,1792844831953191440,1.559480179e-04,-4.838333374e-05,-8.210083417e-04,1.554855819e-04,-5.111254189e-05,-8.201972074e-04,1.577909609e-04,-5.057015059e-05,-8.183540503e-04,7.021115459e-01,-7.036838832e-05,8.593223776e-01,7.021110834e-01,-7.309759647e-05,8.593231887e-01,7.029029759e-01,-1.674745818e-04,8.295077024e-01
+26,1.741666667e+01,DOWN_FORCE_DETACH,1792844832330325567,1.634696179e-04,-3.531525078e-05,-8.844471750e-04,1.667525769e-04,-3.674387555e-05,-8.709553108e-04,1.691302302e-04,-3.638934146e-05,-8.692928501e-04,7.021190675e-01,-5.730030535e-05,8.592589387e-01,7.021223504e-01,-5.872893013e-05,8.592724306e-01,7.029143152e-01,-1.532937727e-04,8.294567636e-01
+27,1.791666667e+01,DOWN_FORCE_DETACH,1792844832821536333,1.688510532e-04,-3.382035805e-05,-9.580517837e-04,1.694798010e-04,-2.961955224e-05,-9.421242940e-04,1.713570441e-04,-2.938331186e-05,-9.405756377e-04,7.021244489e-01,-5.580541263e-05,8.591853341e-01,7.021250777e-01,-5.160460682e-05,8.592012616e-01,7.029165420e-01,-1.462877431e-04,8.293854808e-01
+28,1.846666667e+01,DOWN_FORCE_DETACH,1792844833361585380,1.793907815e-04,-3.596764664e-05,-1.047723717e-03,1.766767502e-04,-3.185703637e-05,-1.029252873e-03,1.780225761e-04,-3.159240247e-05,-1.027585407e-03,7.021349886e-01,-5.795270122e-05,8.590956622e-01,7.021322746e-01,-5.384209095e-05,8.591141330e-01,7.029232075e-01,-1.484968337e-04,8.292984710e-01
+29,1.898333333e+01,DOWN_FORCE_DETACH,1792844833869580655,1.889668248e-04,-4.218742316e-05,-1.138216078e-03,1.871415097e-04,-4.262390044e-05,-1.137062756e-03,1.878749469e-04,-4.220500811e-05,-1.134863729e-03,7.021445647e-01,-6.417247774e-05,8.590051698e-01,7.021427394e-01,-6.460895502e-05,8.590063232e-01,7.029330599e-01,-1.591094393e-04,8.291911927e-01
+30,1.955000000e+01,DOWN_FORCE_DETACH,1792844834427171361,1.923776361e-04,-4.691524912e-05,-1.245043080e-03,1.922469068e-04,-4.708158663e-05,-1.244554423e-03,1.921829161e-04,-4.661858122e-05,-1.242261320e-03,7.021479755e-01,-6.890030370e-05,8.588983428e-01,7.021478448e-01,-6.906664121e-05,8.588988315e-01,7.029373679e-01,-1.635230125e-04,8.290837951e-01
+31,2.006666667e+01,DOWN_FORCE_DETACH,1792844834967136281,2.001603848e-04,-5.569263281e-05,-1.350064174e-03,2.004512476e-04,-5.214399232e-05,-1.346057162e-03,1.997279090e-04,-5.158563151e-05,-1.343936922e-03,7.021557583e-01,-7.767768738e-05,8.587933217e-01,7.021560491e-01,-7.412904690e-05,8.587973288e-01,7.029449129e-01,-1.684900627e-04,8.289821195e-01
+32,2.056666667e+01,DOWN_FORCE_DETACH,1792844835458922761,2.078700187e-04,-5.376756468e-05,-1.456737720e-03,2.077592302e-04,-5.537844065e-05,-1.437419282e-03,2.065021361e-04,-5.477385687e-05,-1.435645784e-03,7.021634679e-01,-7.575261926e-05,8.586866482e-01,7.021633571e-01,-7.736349523e-05,8.587059666e-01,7.029516871e-01,-1.716782881e-04,8.288904106e-01
+33,2.108333333e+01,DOWN_FORCE_DETACH,1792844835982667027,2.154637855e-04,-5.656980517e-05,-1.576408138e-03,2.156707565e-04,-5.431495125e-05,-1.568639678e-03,2.133741443e-04,-5.373111300e-05,-1.566456639e-03,7.021710617e-01,-7.855485975e-05,8.585669778e-01,7.021712686e-01,-7.630000583e-05,8.585747462e-01,7.029585591e-01,-1.706355442e-04,8.287595998e-01
+34,2.158333333e+01,DOWN_FORCE_DETACH,1792844836476607311,2.246851529e-04,-5.279922666e-05,-1.693337845e-03,2.215079475e-04,-5.426340094e-05,-1.678034893e-03,2.184318837e-04,-5.362660657e-05,-1.676008464e-03,7.021802830e-01,-7.478428123e-05,8.584500481e-01,7.021771058e-01,-7.624845552e-05,8.584653510e-01,7.029636168e-01,-1.705310378e-04,8.286500480e-01
+35,2.205000000e+01,DOWN_FORCE_DETACH,1792844836933158355,2.270396742e-04,-5.688189856e-05,-1.818477032e-03,2.286713238e-04,-5.949481383e-05,-1.806515557e-03,2.245403618e-04,-5.877053023e-05,-1.804298195e-03,7.021826375e-01,-7.886695314e-05,8.583249089e-01,7.021842692e-01,-8.147986841e-05,8.583368704e-01,7.029697253e-01,-1.756749615e-04,8.285217582e-01
+36,2.250000000e+01,DOWN_FORCE_DETACH,1792844837375544982,2.315072297e-04,-6.191311945e-05,-1.943214959e-03,2.295896176e-04,-6.567237104e-05,-1.937188514e-03,2.240777571e-04,-6.491347618e-05,-1.934638499e-03,7.021871051e-01,-8.389817403e-05,8.582001710e-01,7.021851875e-01,-8.765742562e-05,8.582061974e-01,7.029692627e-01,-1.818179074e-04,8.283914179e-01
+37,2.290000000e+01,DOWN_FORCE_DETACH,1792844837833819981,2.401551688e-04,-6.785089793e-05,-2.075258097e-03,2.362355802e-04,-6.650814802e-05,-2.075815333e-03,2.295855072e-04,-6.584649782e-05,-2.072893444e-03,7.021957530e-01,-8.983595251e-05,8.580681278e-01,7.021918334e-01,-8.849320260e-05,8.580675706e-01,7.029747705e-01,-1.827509291e-04,8.282531630e-01
+38,2.330000000e+01,DOWN_FORCE_DETACH,1792844838227218956,2.430547428e-04,-6.538315456e-05,-2.200740292e-03,2.427468643e-04,-6.741037153e-05,-2.189322302e-03,2.352663459e-04,-6.670674511e-05,-2.186632076e-03,7.021986526e-01,-8.736820914e-05,8.579426456e-01,7.021983447e-01,-8.939542611e-05,8.579540636e-01,7.029804513e-01,-1.836111763e-04,8.281394243e-01
+39,2.371666667e+01,DOWN_FORCE_DETACH,1792844838636466470,2.523597237e-04,-7.350495950e-05,-2.333995466e-03,2.493904485e-04,-7.036176207e-05,-2.329440558e-03,2.407050269e-04,-6.957542434e-05,-2.326670528e-03,7.022079576e-01,-9.549001408e-05,8.578093904e-01,7.022049883e-01,-9.234681665e-05,8.578139454e-01,7.029858900e-01,-1.864798556e-04,8.279993859e-01
+40,2.411666667e+01,DOWN_FORCE_DETACH,1792844839029523999,2.556913224e-04,-7.368224780e-05,-2.477263711e-03,2.547966448e-04,-7.353517476e-05,-2.467956730e-03,2.448749906e-04,-7.269696715e-05,-2.465054218e-03,7.022112892e-01,-9.566730238e-05,8.576661222e-01,7.022103945e-01,-9.552022934e-05,8.576754292e-01,7.029900599e-01,-1.896013984e-04,8.278610022e-01
+41,2.448333333e+01,DOWN_FORCE_DETACH,1792844839390472370,2.588800853e-04,-7.579730066e-05,-2.614244266e-03,2.610544228e-04,-7.789616187e-05,-2.604378293e-03,2.498312836e-04,-7.697096781e-05,-2.601365196e-03,7.022144780e-01,-9.778235524e-05,8.575291417e-01,7.022166523e-01,-9.988121645e-05,8.575390076e-01,7.029950162e-01,-1.938753990e-04,8.277246912e-01
+42,2.485000000e+01,DOWN_FORCE_DETACH,1792844839750396302,2.614924488e-04,-8.371427173e-05,-2.762328521e-03,2.619833920e-04,-8.025697035e-05,-2.749131984e-03,2.490362706e-04,-7.930057190e-05,-2.746011604e-03,7.022170903e-01,-1.056993263e-04,8.573810574e-01,7.022175813e-01,-1.022420249e-04,8.573942539e-01,7.029942212e-01,-1.962050031e-04,8.275800448e-01
+43,2.518333333e+01,DOWN_FORCE_DETACH,1792844840077839868,2.628357880e-04,-8.119465556e-05,-2.899105552e-03,2.627501996e-04,-8.120070447e-05,-2.899017142e-03,2.480819995e-04,-8.028610506e-05,-2.895448220e-03,7.022184337e-01,-1.031797101e-04,8.572442804e-01,7.022183481e-01,-1.031857590e-04,8.572443688e-01,7.029932670e-01,-1.971905363e-04,8.274306082e-01
+44,2.550000000e+01,DOWN_FORCE_DETACH,1792844840389797062,2.595311800e-04,-8.599735640e-05,-3.052780388e-03,2.593928440e-04,-8.573288268e-05,-3.052570481e-03,2.427062953e-04,-8.473626365e-05,-3.048830776e-03,7.022151290e-01,-1.079824110e-04,8.570906055e-01,7.022149907e-01,-1.077179373e-04,8.570908154e-01,7.029878912e-01,-2.016406949e-04,8.272772256e-01
+45,2.580000000e+01,DOWN_FORCE_DETACH,1792844840700388266,2.588599987e-04,-9.064722178e-05,-3.189754799e-03,2.594277288e-04,-8.762378896e-05,-3.183723970e-03,2.411819438e-04,-8.661144974e-05,-3.180360659e-03,7.022144579e-01,-1.126322764e-04,8.569536311e-01,7.022150256e-01,-1.096088435e-04,8.569596619e-01,7.029863669e-01,-2.035158810e-04,8.271456958e-01
+46,2.611666667e+01,DOWN_FORCE_DETACH,1792844841011575903,2.576722317e-04,-9.064284257e-05,-3.343464965e-03,2.603155059e-04,-9.230138271e-05,-3.325610102e-03,2.403571035e-04,-9.120172201e-05,-3.322420782e-03,7.022132701e-01,-1.126278972e-04,8.567999210e-01,7.022159134e-01,-1.142864373e-04,8.568177758e-01,7.029855421e-01,-2.081061532e-04,8.270036356e-01
+47,2.641666667e+01,DOWN_FORCE_DETACH,1792844841306434357,2.543079847e-04,-8.732652887e-05,-3.493086720e-03,2.553576516e-04,-9.167180805e-05,-3.478041803e-03,2.332792140e-04,-9.055591004e-05,-3.474749386e-03,7.022099059e-01,-1.093115835e-04,8.566502992e-01,7.022109555e-01,-1.136568626e-04,8.566653441e-01,7.029784642e-01,-2.074603413e-04,8.268513070e-01
+48,2.670000000e+01,DOWN_FORCE_DETACH,1792844841585105113,2.541915299e-04,-9.431680585e-05,-3.636412562e-03,2.524666918e-04,-9.107987228e-05,-3.633618666e-03,2.283740773e-04,-9.004992127e-05,-3.629973786e-03,7.022097894e-01,-1.163018604e-04,8.565069734e-01,7.022080646e-01,-1.130649269e-04,8.565097672e-01,7.029735590e-01,-2.069543525e-04,8.266960826e-01
+49,2.698333333e+01,DOWN_FORCE_DETACH,1792844841863828099,2.484183480e-04,-8.791689589e-05,-3.790355916e-03,2.479376325e-04,-8.848457563e-05,-3.773454078e-03,2.218617146e-04,-8.757071584e-05,-3.769999307e-03,7.022040162e-01,-1.099019505e-04,8.563530300e-01,7.022035355e-01,-1.104696302e-04,8.563699318e-01,7.029670467e-01,-2.044751471e-04,8.265560571e-01
+50,2.725000000e+01,DOWN_FORCE_DETACH,1792844842126090735,2.416824906e-04,-9.048674332e-05,-3.943132143e-03,2.449547733e-04,-8.466682678e-05,-3.927299248e-03,2.167262383e-04,-8.375355431e-05,-3.923785000e-03,7.021972804e-01,-1.124717979e-04,8.562002538e-01,7.022005526e-01,-1.066518814e-04,8.562160867e-01,7.029619112e-01,-2.006579855e-04,8.264022714e-01
+51,2.751666667e+01,DOWN_FORCE_DETACH,1792844842388086752,2.387697155e-04,-9.213914927e-05,-4.095556479e-03,2.386178086e-04,-9.228370814e-05,-4.095846244e-03,2.079701112e-04,-9.118861247e-05,-4.092012869e-03,7.021943676e-01,-1.141242038e-04,8.560478294e-01,7.021942157e-01,-1.142687627e-04,8.560475397e-01,7.029531551e-01,-2.080930437e-04,8.262340435e-01
+52,2.776666667e+01,DOWN_FORCE_DETACH,1792844842634101700,2.324241490e-04,-9.578667421e-05,-4.241857175e-03,2.319451805e-04,-9.451977568e-05,-4.225430911e-03,1.993069054e-04,-9.346332660e-05,-4.222124237e-03,7.021880220e-01,-1.177717288e-04,8.559015287e-01,7.021875430e-01,-1.165048303e-04,8.559179550e-01,7.029444919e-01,-2.103677578e-04,8.261039322e-01
+53,2.800000000e+01,DOWN_FORCE_DETACH,1792844842879251015,2.307700854e-04,-9.151732701e-05,-4.395563523e-03,2.305138335e-04,-9.136858254e-05,-4.395911617e-03,1.956738569e-04,-9.026972002e-05,-4.391990762e-03,7.021863680e-01,-1.135023816e-04,8.557478224e-01,7.021861117e-01,-1.133536371e-04,8.557474743e-01,7.029408588e-01,-2.071741513e-04,8.259340657e-01
+54,2.826666667e+01,DOWN_FORCE_DETACH,1792844843141376127,2.313004859e-04,-9.141615718e-05,-4.548472963e-03,2.310339601e-04,-9.163422292e-05,-4.548416529e-03,1.942316088e-04,-9.066172878e-05,-4.544721305e-03,7.021868984e-01,-1.134012118e-04,8.555949130e-01,7.021866318e-01,-1.136192775e-04,8.555949694e-01,7.029394166e-01,-2.075661600e-04,8.257813351e-01
+55,2.850000000e+01,DOWN_FORCE_DETACH,1792844843371267453,2.202154764e-04,-9.718896078e-05,-4.702336940e-03,2.199890585e-04,-9.328858140e-05,-4.691275988e-03,1.806278838e-04,-9.235429255e-05,-4.687779755e-03,7.021758133e-01,-1.191740154e-04,8.554410490e-01,7.021755869e-01,-1.152736360e-04,8.554521099e-01,7.029258128e-01,-2.092587238e-04,8.256382767e-01
+56,2.873333333e+01,DOWN_FORCE_DETACH,1792844843616267983,2.093454289e-04,-9.962648536e-05,-4.863966845e-03,2.091849336e-04,-1.000035023e-04,-4.864383903e-03,1.668918636e-04,-9.897535032e-05,-4.860699715e-03,7.021649433e-01,-1.216115399e-04,8.552794191e-01,7.021647828e-01,-1.219885569e-04,8.552790020e-01,7.029120768e-01,-2.158797816e-04,8.254653567e-01
+57,2.893333333e+01,DOWN_SETTLE,1792844843813059162,1.970762593e-04,-9.233571055e-05,-5.003492444e-03,1.969189631e-04,-9.245111754e-05,-5.003609718e-03,1.520998903e-04,-9.159980577e-05,-5.000078915e-03,7.021526741e-01,-1.143207651e-04,8.551398935e-01,7.021525168e-01,-1.144361721e-04,8.551397762e-01,7.028972848e-01,-2.085042370e-04,8.253259775e-01
+58,2.923333333e+01,DOWN_SETTLE,1792844844139068173,1.859582191e-04,-9.157014269e-05,-5.140270672e-03,1.880824562e-04,-9.459376272e-05,-5.132310699e-03,1.411588905e-04,-9.370888995e-05,-5.129800110e-03,7.021415561e-01,-1.135551973e-04,8.550031152e-01,7.021436803e-01,-1.165788173e-04,8.550110752e-01,7.028863438e-01,-2.106133212e-04,8.251962563e-01
+59,2.986666667e+01,DOWN_PEAK_HOLD,1792844844763057734,1.525426834e-04,-8.229255633e-05,-5.222050281e-03,1.551319272e-04,-8.497554880e-05,-5.213264869e-03,1.045884389e-04,-8.418071120e-05,-5.212884360e-03,7.021081406e-01,-1.042776109e-04,8.549213356e-01,7.021107298e-01,-1.069606034e-04,8.549301210e-01,7.028497734e-01,-2.010851424e-04,8.251131721e-01

Fixed/digit/ball_PLA_17.5/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.8420e-02,2.5183e-01,2.4567e+00,-5.3905e-02,4.1598e-02,2.5511e-04,-1.1541e-03,-2.5904e-04,1.6994e-03,-2.9530e-05,-1.4797e-04,-4.1691e-05,2.0706e-03,1.5654e-04
+1,7.6667e-01,DOWN_FORCE_DETACH,1.5985e-04,9.3893e-02,2.5074e-01,2.4550e+00,-5.3697e-02,4.3436e-02,3.5328e-05,2.4319e-02,-1.3519e-03,5.6744e-05,1.7824e-04,1.6899e-03,-2.6147e-04,2.4357e-02,1.7193e-03
+2,1.4833e+00,DOWN_FORCE_DETACH,3.2102e-04,1.0077e-01,2.5001e-01,2.4551e+00,-5.3622e-02,4.3919e-02,-5.1635e-05,3.1196e-02,-2.0798e-03,1.5354e-04,2.5339e-04,2.1730e-03,-3.4844e-04,3.1266e-02,2.2153e-03
+3,2.2500e+00,DOWN_FORCE_DETACH,4.8214e-04,1.0390e-01,2.4992e-01,2.4552e+00,-5.3611e-02,4.4142e-02,-8.6481e-05,3.4322e-02,-2.1718e-03,1.7571e-04,2.6427e-04,2.3964e-03,-3.8328e-04,3.4392e-02,2.4412e-03
+4,3.0000e+00,DOWN_FORCE_DETACH,6.4351e-04,1.0476e-01,2.4966e-01,2.4552e+00,-5.3586e-02,4.4203e-02,-9.6484e-05,3.5183e-02,-2.4324e-03,1.7262e-04,2.8872e-04,2.4567e-03,-3.9329e-04,3.5268e-02,2.5047e-03
+5,3.6833e+00,DOWN_FORCE_DETACH,8.0338e-04,1.0280e-01,2.0668e-01,2.4916e+00,-5.0467e-02,4.4004e-02,-1.2861e-04,3.3229e-02,-4.5405e-02,3.6609e-02,3.4084e-03,2.2577e-03,-4.2541e-04,6.7126e-02,4.1104e-03
+6,4.4333e+00,DOWN_FORCE_DETACH,9.5266e-04,1.0325e-01,2.0917e-01,2.4640e+00,-5.0659e-02,4.4076e-02,-9.3927e-05,3.3674e-02,-4.2922e-02,9.0590e-03,3.2163e-03,2.3303e-03,-3.9073e-04,5.5302e-02,3.9910e-03
+7,5.0000e+00,DOWN_FORCE_DETACH,1.1259e-03,8.2828e-02,2.8324e-01,2.5567e+00,-5.5732e-02,4.2511e-02,1.7252e-04,1.3254e-02,3.1153e-02,1.0168e-01,-1.8571e-03,7.6480e-04,-1.2428e-04,1.0717e-01,2.0122e-03
+8,5.6333e+00,DOWN_FORCE_DETACH,1.2863e-03,1.0125e-01,2.8361e-01,2.4870e+00,-5.5851e-02,4.3888e-02,2.1401e-05,3.1678e-02,3.1522e-02,3.2041e-02,-1.9765e-03,2.1425e-03,-2.7540e-04,5.4988e-02,2.9279e-03
+9,6.4000e+00,DOWN_FORCE_DETACH,1.4458e-03,1.1246e-01,2.9061e-01,2.4911e+00,-5.6343e-02,4.4662e-02,-1.2724e-04,4.2888e-02,3.8525e-02,3.6158e-02,-2.4680e-03,2.9164e-03,-4.2404e-04,6.8051e-02,3.8440e-03
+10,7.1500e+00,DOWN_FORCE_DETACH,1.6087e-03,1.1003e-01,2.6776e-01,2.5022e+00,-5.4736e-02,4.4465e-02,-2.1090e-04,4.0455e-02,1.5670e-02,4.7184e-02,-8.6144e-04,2.7196e-03,-5.0770e-04,6.4097e-02,2.8976e-03
+11,7.9667e+00,DOWN_FORCE_DETACH,1.7701e-03,1.1766e-01,2.8161e-01,2.5260e+00,-5.5696e-02,4.4967e-02,-2.4786e-04,4.8087e-02,2.9525e-02,7.0992e-02,-1.8213e-03,3.2208e-03,-5.4466e-04,9.0686e-02,3.7399e-03
+12,8.6333e+00,DOWN_FORCE_DETACH,1.9329e-03,1.0977e-01,2.8308e-01,2.4933e+00,-5.5902e-02,4.4443e-02,-2.8687e-04,4.0195e-02,3.0996e-02,3.8302e-02,-2.0265e-03,2.6969e-03,-5.8368e-04,6.3588e-02,3.4235e-03
+13,9.3333e+00,DOWN_FORCE_DETACH,2.0947e-03,6.5723e-02,3.3861e-01,2.5704e+00,-5.9692e-02,4.1264e-02,-2.0048e-04,-3.8508e-03,8.6518e-02,1.1540e-01,-5.8167e-03,-4.8168e-04,-4.9728e-04,1.4428e-01,5.8577e-03
+14,9.9833e+00,DOWN_FORCE_DETACH,2.2521e-03,6.8864e-02,3.5220e-01,2.6082e+00,-6.0564e-02,4.1379e-02,-1.9678e-04,-7.0992e-04,1.0011e-01,1.5325e-01,-6.6887e-03,-3.6658e-04,-4.9358e-04,1.8305e-01,6.7169e-03
+15,1.0650e+01,DOWN_FORCE_DETACH,2.4141e-03,8.0044e-02,2.7191e-01,2.6182e+00,-5.4975e-02,4.2109e-02,-4.4703e-04,1.0470e-02,1.9824e-02,1.6321e-01,-1.1005e-03,3.6338e-04,-7.4383e-04,1.6475e-01,1.3771e-03
+16,1.1417e+01,DOWN_FORCE_DETACH,2.5755e-03,8.0027e-02,2.9269e-01,2.6158e+00,-5.6666e-02,4.2141e-02,-5.8210e-04,1.0453e-02,4.0600e-02,1.6084e-01,-2.7914e-03,3.9561e-04,-8.7890e-04,1.6621e-01,2.9531e-03
+17,1.1983e+01,DOWN_FORCE_DETACH,2.7364e-03,2.4693e-02,2.8884e-01,2.5576e+00,-5.6510e-02,3.8153e-02,-5.9402e-04,-4.4881e-02,3.6756e-02,1.0266e-01,-2.6355e-03,-3.5931e-03,-8.9082e-04,1.1792e-01,4.5442e-03
+18,1.2583e+01,DOWN_FORCE_DETACH,2.8965e-03,3.5714e-02,3.4382e-01,2.6268e+00,-6.0208e-02,3.9003e-02,-5.9147e-04,-3.3860e-02,9.1731e-02,1.7184e-01,-6.3331e-03,-2.7425e-03,-8.8828e-04,1.9771e-01,6.9584e-03
+19,1.3383e+01,DOWN_FORCE_DETACH,3.0581e-03,5.7727e-02,3.4656e-01,2.6215e+00,-6.0342e-02,4.0533e-02,-6.3132e-04,-1.1847e-02,9.4467e-02,1.6656e-01,-6.4669e-03,-1.2127e-03,-9.2812e-04,1.9185e-01,6.6447e-03
+20,1.4017e+01,DOWN_FORCE_DETACH,3.2202e-03,7.1794e-02,3.6758e-01,2.5824e+00,-6.1861e-02,4.1615e-02,-6.2625e-04,2.2200e-03,1.1549e-01,1.2743e-01,-7.9858e-03,-1.3066e-04,-9.2305e-04,1.7199e-01,8.0400e-03
+21,1.4633e+01,DOWN_FORCE_DETACH,3.3794e-03,7.9416e-02,4.0589e-01,2.5932e+00,-6.4746e-02,4.2201e-02,-3.8654e-04,9.8416e-03,1.5380e-01,1.3822e-01,-1.0872e-02,4.5544e-04,-6.8335e-04,2.0701e-01,1.0902e-02
+22,1.5283e+01,DOWN_FORCE_DETACH,3.5393e-03,8.2695e-02,4.2525e-01,2.6373e+00,-6.5842e-02,4.2291e-02,-1.5359e-04,1.3121e-02,1.7316e-01,1.8231e-01,-1.1967e-02,5.4533e-04,-4.5039e-04,2.5178e-01,1.1988e-02
+23,1.5933e+01,DOWN_FORCE_DETACH,3.6987e-03,8.4194e-02,4.3160e-01,2.6598e+00,-6.6359e-02,4.2398e-02,1.9062e-04,1.4620e-02,1.7951e-01,2.0480e-01,-1.2484e-02,6.5235e-04,-1.0618e-04,2.7273e-01,1.2502e-02
+24,1.6483e+01,DOWN_FORCE_DETACH,3.8626e-03,8.5718e-02,4.5316e-01,2.6956e+00,-6.7666e-02,4.2437e-02,4.3867e-04,1.6144e-02,2.0107e-01,2.4065e-01,-1.3791e-02,6.9108e-04,1.4186e-04,3.1401e-01,1.3809e-02
+25,1.7050e+01,DOWN_FORCE_DETACH,4.0233e-03,9.0460e-02,4.9827e-01,2.7382e+00,-7.0347e-02,4.2697e-02,6.8488e-04,2.0886e-02,2.4618e-01,2.8325e-01,-1.6472e-02,9.5130e-04,3.8808e-04,3.7587e-01,1.6504e-02
+26,1.7417e+01,DOWN_FORCE_DETACH,4.1822e-03,5.8613e-02,4.2922e-01,2.7485e+00,-6.5240e-02,4.0496e-02,6.4194e-04,-1.0961e-02,1.7713e-01,2.9351e-01,-1.1365e-02,-1.2500e-03,3.4514e-04,3.4299e-01,1.1439e-02
+27,1.7917e+01,DOWN_FORCE_DETACH,4.3447e-03,8.6212e-02,3.8034e-01,2.7323e+00,-6.1895e-02,4.2483e-02,6.3108e-04,1.6638e-02,1.2825e-01,2.7728e-01,-8.0196e-03,7.3711e-04,3.3428e-04,3.0595e-01,8.0604e-03
+28,1.8467e+01,DOWN_FORCE_DETACH,4.5053e-03,8.3421e-02,4.2323e-01,2.7690e+00,-6.4973e-02,4.2273e-02,6.0928e-04,1.3847e-02,1.7114e-01,3.1401e-01,-1.1098e-02,5.2718e-04,3.1248e-04,3.5789e-01,1.1115e-02
+29,1.8983e+01,DOWN_FORCE_DETACH,4.6647e-03,6.7472e-02,4.5944e-01,2.8561e+00,-6.6997e-02,4.0944e-02,3.2470e-04,-2.1024e-03,2.0736e-01,4.0112e-01,-1.3122e-02,-8.0141e-04,2.7899e-05,4.5155e-01,1.3146e-02
+30,1.9550e+01,DOWN_FORCE_DETACH,4.8292e-03,6.8164e-02,4.8962e-01,2.8420e+00,-6.8734e-02,4.1001e-02,1.3140e-04,-1.4100e-03,2.3753e-01,3.8701e-01,-1.4859e-02,-7.4455e-04,-1.6540e-04,4.5409e-01,1.4879e-02
+31,2.0067e+01,DOWN_FORCE_DETACH,4.9906e-03,7.4389e-02,5.1956e-01,2.8360e+00,-7.0619e-02,4.1539e-02,2.8923e-05,4.8155e-03,2.6747e-01,3.8101e-01,-1.6744e-02,-2.0653e-04,-2.6788e-04,4.6554e-01,1.6748e-02
+32,2.0567e+01,DOWN_FORCE_DETACH,5.1473e-03,6.8248e-02,5.4029e-01,2.8455e+00,-7.1897e-02,4.1073e-02,5.3664e-05,-1.3260e-03,2.8820e-01,3.9048e-01,-1.8022e-02,-6.7315e-04,-2.4314e-04,4.8532e-01,1.8036e-02
+33,2.1083e+01,DOWN_FORCE_DETACH,5.3100e-03,6.5722e-02,5.3052e-01,2.8933e+00,-7.1107e-02,4.0688e-02,4.9470e-04,-3.8519e-03,2.7843e-01,4.3827e-01,-1.7232e-02,-1.0574e-03,1.9790e-04,5.1925e-01,1.7266e-02
+34,2.1583e+01,DOWN_FORCE_DETACH,5.4722e-03,7.0032e-02,5.3479e-01,2.9065e+00,-7.1331e-02,4.1039e-02,5.2953e-04,4.5843e-04,2.8271e-01,4.5152e-01,-1.7456e-02,-7.0678e-04,2.3273e-04,5.3272e-01,1.7472e-02
+35,2.2050e+01,DOWN_FORCE_DETACH,5.6289e-03,7.4097e-02,5.7142e-01,2.9299e+00,-7.3520e-02,4.1319e-02,6.3687e-04,4.5234e-03,3.1933e-01,4.7488e-01,-1.9645e-02,-4.2653e-04,3.4007e-04,5.7227e-01,1.9652e-02
+36,2.2500e+01,DOWN_FORCE_DETACH,5.7916e-03,9.1378e-02,5.9231e-01,2.9721e+00,-7.5030e-02,4.2426e-02,3.8021e-04,2.1804e-02,3.4022e-01,5.1711e-01,-2.1155e-02,6.8000e-04,8.3412e-05,6.1938e-01,2.1167e-02
+37,2.2900e+01,DOWN_FORCE_DETACH,5.9514e-03,9.8943e-02,5.9306e-01,3.0303e+00,-7.4408e-02,4.2855e-02,-5.9924e-05,2.9369e-02,3.4097e-01,5.7531e-01,-2.0533e-02,1.1089e-03,-3.5673e-04,6.6941e-01,2.0566e-02
+38,2.3300e+01,DOWN_FORCE_DETACH,6.1137e-03,1.0097e-01,5.9397e-01,3.0116e+00,-7.3893e-02,4.2944e-02,-1.9073e-04,3.1397e-02,3.4188e-01,5.5659e-01,-2.0018e-02,1.1978e-03,-4.8753e-04,6.5395e-01,2.0060e-02
+39,2.3717e+01,DOWN_FORCE_DETACH,6.2768e-03,1.0738e-01,6.2453e-01,3.0100e+00,-7.5794e-02,4.3439e-02,-2.3168e-04,3.7810e-02,3.7244e-01,5.5506e-01,-2.1919e-02,1.6930e-03,-5.2848e-04,6.6950e-01,2.1990e-02
+40,2.4117e+01,DOWN_FORCE_DETACH,6.4407e-03,1.0652e-01,6.4194e-01,3.0416e+00,-7.6935e-02,4.3383e-02,-2.2244e-04,3.6943e-02,3.8985e-01,5.8662e-01,-2.3060e-02,1.6372e-03,-5.1924e-04,7.0531e-01,2.3123e-02
+41,2.4483e+01,DOWN_FORCE_DETACH,6.5962e-03,8.9100e-02,6.6848e-01,3.0681e+00,-7.8471e-02,4.2162e-02,-1.4390e-04,1.9526e-02,4.1639e-01,6.1312e-01,-2.4596e-02,4.1652e-04,-4.4070e-04,7.4141e-01,2.4604e-02
+42,2.4850e+01,DOWN_FORCE_DETACH,6.7601e-03,8.3286e-02,6.7837e-01,3.1193e+00,-7.8493e-02,4.1598e-02,1.8040e-04,1.3712e-02,4.2628e-01,6.6433e-01,-2.4618e-02,-1.4772e-04,-1.1640e-04,7.8946e-01,2.4618e-02
+43,2.5183e+01,DOWN_FORCE_DETACH,6.9171e-03,8.8426e-02,6.8884e-01,3.1501e+00,-7.9155e-02,4.1979e-02,2.0423e-04,1.8852e-02,4.3675e-01,6.9508e-01,-2.5280e-02,2.3295e-04,-9.2574e-05,8.2112e-01,2.5281e-02
+44,2.5500e+01,DOWN_FORCE_DETACH,7.0829e-03,1.0194e-01,7.0051e-01,3.1810e+00,-7.9503e-02,4.2838e-02,2.1406e-04,3.2370e-02,4.4842e-01,7.2598e-01,-2.5628e-02,1.0922e-03,-8.2741e-05,8.5392e-01,2.5651e-02
+45,2.5800e+01,DOWN_FORCE_DETACH,7.2375e-03,1.0841e-01,7.2457e-01,3.1859e+00,-8.0593e-02,4.3282e-02,2.1017e-04,3.8836e-02,4.7248e-01,7.3091e-01,-2.6718e-02,1.5363e-03,-8.6628e-05,8.7119e-01,2.6762e-02
+46,2.6117e+01,DOWN_FORCE_DETACH,7.4020e-03,1.0643e-01,7.2846e-01,3.1805e+00,-8.0817e-02,4.3185e-02,2.1285e-04,3.6854e-02,4.7637e-01,7.2555e-01,-2.6942e-02,1.4391e-03,-8.3957e-05,8.6874e-01,2.6980e-02
+47,2.6417e+01,DOWN_FORCE_DETACH,7.5635e-03,1.2047e-01,7.4995e-01,3.2116e+00,-8.2052e-02,4.4097e-02,2.1057e-04,5.0894e-02,4.9786e-01,7.5661e-01,-2.8177e-02,2.3511e-03,-8.6236e-05,9.0715e-01,2.8275e-02
+48,2.6700e+01,DOWN_FORCE_DETACH,7.7177e-03,1.2717e-01,7.3546e-01,3.2423e+00,-8.0816e-02,4.4519e-02,1.8500e-04,5.7596e-02,4.8337e-01,7.8733e-01,-2.6941e-02,2.7731e-03,-1.1181e-04,9.2566e-01,2.7083e-02
+49,2.6983e+01,DOWN_FORCE_DETACH,7.8869e-03,1.3792e-01,7.1649e-01,3.2582e+00,-7.9408e-02,4.5234e-02,1.0991e-04,6.8346e-02,4.6440e-01,8.0321e-01,-2.5533e-02,3.4880e-03,-1.8690e-04,9.3032e-01,2.5770e-02
+50,2.7250e+01,DOWN_FORCE_DETACH,8.0499e-03,1.4087e-01,7.1185e-01,3.2614e+00,-7.8732e-02,4.5413e-02,-7.5623e-06,7.1292e-02,4.5976e-01,8.0639e-01,-2.4858e-02,3.6675e-03,-3.0436e-04,9.3099e-01,2.5128e-02
+51,2.7517e+01,DOWN_FORCE_DETACH,8.2094e-03,1.5484e-01,7.4185e-01,3.2728e+00,-8.0396e-02,4.6340e-02,-1.1483e-04,8.5263e-02,4.8976e-01,8.1782e-01,-2.6521e-02,4.5943e-03,-4.1163e-04,9.5706e-01,2.6919e-02
+52,2.7767e+01,DOWN_FORCE_DETACH,8.3661e-03,1.6050e-01,7.4588e-01,3.2811e+00,-8.0572e-02,4.6742e-02,-1.9298e-04,9.0926e-02,4.9379e-01,8.2612e-01,-2.6697e-02,4.9960e-03,-4.8978e-04,9.6673e-01,2.7165e-02
+53,2.8000e+01,DOWN_FORCE_DETACH,8.5261e-03,1.5280e-01,7.5820e-01,3.3038e+00,-8.1095e-02,4.6239e-02,-2.4842e-04,8.3222e-02,5.0611e-01,8.4885e-01,-2.7220e-02,4.4933e-03,-5.4522e-04,9.9178e-01,2.7593e-02
+54,2.8267e+01,DOWN_FORCE_DETACH,8.6861e-03,1.4804e-01,7.5395e-01,3.3089e+00,-8.0609e-02,4.5909e-02,-2.7875e-04,7.8465e-02,5.0186e-01,8.5395e-01,-2.6734e-02,4.1632e-03,-5.7556e-04,9.9361e-01,2.7063e-02
+55,2.8500e+01,DOWN_FORCE_DETACH,8.8460e-03,1.3914e-01,7.3834e-01,3.2985e+00,-7.9489e-02,4.5309e-02,-3.0971e-04,6.9566e-02,4.8625e-01,8.4347e-01,-2.5614e-02,3.5627e-03,-6.0651e-04,9.7607e-01,2.5868e-02
+56,2.8733e+01,DOWN_FORCE_DETACH,9.0171e-03,1.3775e-01,7.5802e-01,3.2991e+00,-8.0524e-02,4.5176e-02,-3.2363e-04,6.8172e-02,5.0593e-01,8.4412e-01,-2.6649e-02,3.4298e-03,-6.2044e-04,9.8649e-01,2.6876e-02
+57,2.8933e+01,DOWN_SETTLE,9.1695e-03,1.3759e-01,7.0984e-01,3.2951e+00,-7.7315e-02,4.5151e-02,-3.1613e-04,6.8018e-02,4.5775e-01,8.4010e-01,-2.3440e-02,3.4055e-03,-6.1293e-04,9.5913e-01,2.3694e-02
+58,2.9233e+01,DOWN_SETTLE,9.3314e-03,1.5236e-01,6.9940e-01,3.2091e+00,-7.6872e-02,4.6194e-02,-2.7817e-04,8.2781e-02,4.4731e-01,7.5410e-01,-2.2997e-02,4.4480e-03,-5.7497e-04,8.8068e-01,2.3430e-02
+59,2.9867e+01,DOWN_PEAK_HOLD,9.4935e-03,1.4683e-01,5.8666e-01,2.6283e+00,-7.2879e-02,4.6664e-02,-3.8902e-04,7.7252e-02,3.3457e-01,1.7329e-01,-1.9004e-02,4.9177e-03,-6.8582e-04,3.8462e-01,1.9642e-02

Fixed/digit/ball_PLA_17.5/press_depth_01/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c80bfb7356617baf231d4cc7dac4d59fe308c5e4c5b94b1ac4c0993ecc289cb
+size 583680

Fixed/digit/ball_PLA_17.5/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+1097,1792844802109690872,23481553000000,1792844802104365648,XJC_ZERO_HOLD_BEFORE_UP,1,0.0762,0.07620222866535187,0.6759370804888336,-0.004479357087360336,0.10660451840742877,0.99999994818973,2.2998286553569412e-05,-0.0002648253663220871,-0.00015621141424408176,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0005971901103746845,0.0032407619267391975,-0.0005020118962062448,-2.2018844456788735e-07,-7.587522219961807e-07,1.0705651278576059e-05,0.0007459415342447354,-0.014384414184130605,0.23036007414371762,-0.001065997962960517,-3.045991497493256e-05,-0.00019752958868184128,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8749909627886527,0.28203785620435473,2.492572022491769,-0.42169315265947743,-1.7867177554042877,0.06130874024390501,1.6312548422581434,0.0005020118962062448,-0.8613171802336255,0.0,0.0,0,0,0.0,0.0
+1117,1792844802276690267,23481720000000,1792844802272365587,XJC_ZERO_HOLD_BEFORE_UP,1,0.0762,0.07620157301425934,0.6759399129725129,-0.004484347822354152,0.10660837570567198,0.9999999494949515,2.254234207368534e-05,-0.00026044202479134367,-0.00015528925771147935,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011750866916869242,0.0031929854895163153,0.00019681298849597018,2.948937719324078e-07,-3.12103398580723e-07,1.005920080258656e-05,0.00016804495293249567,-0.014432190621353487,0.23105889902841983,-0.0010654828807440168,-3.00132661515171e-05,-0.00019817603915783078,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8975192312782486,0.304318414373491,2.45658369174578,-0.4368753769650611,-1.7696635919503503,0.07255611900162454,1.6312548422581434,-0.00019681298849597018,-0.8253288494876365,0.0,0.0,0,0,0.0,0.0
+1136,1792844802435657014,23481879000000,1792844802432365241,WAIT_W2,1,0.0712,0.07620222866535187,0.6759397156831087,-0.004480198065405735,0.10660923734410147,0.9999999493526521,2.320709753378262e-05,-0.0002601501543895134,-0.0001565914599031358,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0013229019103592704,0.001885445339050846,-0.0005110970977628693,2.4857085012888747e-07,-4.054023984040474e-08,1.0619291660980782e-05,2.0229734260149494e-05,-0.015739730771818956,0.230350988942161,-0.0010655292036658203,-2.9741702992776783e-05,-0.00019761594829943656,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9840414289765292,0.23982769086687417,2.535652572498647,-0.41426262425215754,-1.8447655488592263,0.03311492193883314,1.6312548422581434,0.0005110970977628693,-0.9043977302405035,0.0,0.0,0,0,0.0,0.0
+1156,1792844802602706846,23482046000000,1792844802600365650,WAIT_W2,1,0.0712,0.07620222866535187,0.6759369789915248,-0.004484231018375664,0.10660435452326383,0.9999999482085477,2.097591776958122e-05,-0.00026529861292456946,-0.0001555712801098502,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0001305522067600398,0.0030069176134840617,-0.0005170713628293577,3.870701563296608e-07,-1.557889338032361e-07,1.077307759433642e-05,0.0012125794378593801,-0.01461825849738574,0.2303450146770945,-0.0010653907043596195,-2.9856951686739614e-05,-0.00019746216236608092,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.941259381453227,0.3221772477217673,2.504192029652261,-0.4427612607597632,-1.8117805312264383,0.08252797826686437,1.6312548422581434,0.0005170713628293577,-0.8729371873941174,0.0,0.0,0,0,0.0,0.0
+1173,1792844802743625586,23482187000000,1792844802740365284,WAIT_W2,1,0.0712,0.07620222866535187,0.6759388596361855,-0.0044810566493541605,0.10660714146409368,0.9999999487896488,2.4374040052004218e-05,-0.00026204040204745826,-0.00015685757217100032,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0013506881405253878,-0.006590861199884109,-0.000548959817234157,-9.744533260378895e-07,6.733421898490053e-07,1.0635318358561622e-05,-7.5564959059679455e-06,-0.02421603731075391,0.2303131262226897,-0.001066752227841987,-2.9027820563087373e-05,-0.00019759992160185572,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9535092244803602,0.2866257987274322,2.5164842679463453,-0.42371978717846764,-1.825369288541345,0.06343102764328429,1.6312548422581434,0.000548959817234157,-0.8852294256882018,0.0,0.0,0,0,0.0,0.0
+1185,1792844802843624887,23482287000000,1792844802836374933,WAIT_W2,1,0.0712,0.07620222866535187,0.6759384954869395,-0.004507033092893465,0.10660700901370002,0.9999999509299318,8.633909731872608e-06,-0.0002615388954535757,-0.0001452785606184296,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.027627638441260576,0.0031658426406885667,0.00013714467947470443,1.0911821206995367e-06,-1.4780429437209755e-07,2.447932072737011e-06,0.028970770085879997,-0.014459333470181236,0.23099923071939857,-0.0010646865923952496,-2.9848967047308475e-05,-0.00020578730788768033,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9586582750184826,0.4045777719779311,2.5382844160433495,-0.4201424083356409,-1.8420442794671321,0.14961290235176855,1.6312548422581434,-0.00013714467947470443,-0.9070295737852061,0.0,0.0,0,0,0.0,0.0
+1187,1792844802860716416,23482304000000,1792844802856366006,WAIT_W2,1,0.0712,0.07620222866535187,0.6759397951697841,-0.004551546273337923,0.10661432567667095,0.9999999532851938,-1.7169659195234176e-05,-0.00025887221553383264,-0.00013252491627081518,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.3069586389935125,0.2994512055004298,0.03698780697706194,0.02090354930099962,-0.021317409050457557,-7.778349761465266e-05,0.3083017706381319,0.28182602938956003,0.2678498930169858,0.019837771526483673,-0.021347110213210493,-0.00028601873757507,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9933711516433015,0.6958765898837332,2.4222036370388835,-0.45475199800648913,-1.7810655959691293,0.3474338788073098,1.6312548422581434,-0.03698780697706194,-0.7909487947807401,0.0,0.0,0,0,0.0,0.0
+1189,1792844802877725725,23482321000000,1792844802876365326,WAIT_W2,1,0.0712,0.07620222866535187,0.6759380604244096,-0.004615419820014862,0.10661317097659763,0.9999999540931997,-5.699391572684797e-05,-0.00025888754299365196,-0.00011395348429106168,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5385610087400523,0.6512668060575243,0.09183788955999878,0.046110562122136795,-0.038946962415582986,-0.0004917032852546506,0.5399041403846717,0.6336416299466545,0.32269997559992264,0.045044784347620846,-0.03897666357833592,-0.000699938525215068,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9568322638780083,0.8922725427599922,2.492548490784202,-0.45309443864183985,-1.8234684324882366,0.4834845656834135,1.6312548422581434,-0.09183788955999878,-0.8612936485260585,0.0,0.0,0,0,0.0,0.0
+1189,1792844802877725725,23482321000000,1792844802876365326,WAIT_W2,1,0.0712,0.07620222866535187,0.6759380604244096,-0.004615419820014862,0.10661317097659763,0.9999999540931997,-5.699391572684797e-05,-0.00025888754299365196,-0.00011395348429106168,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5385610087400523,0.6512668060575243,0.09183788955999878,0.046110562122136795,-0.038946962415582986,-0.0004917032852546506,0.5399041403846717,0.6336416299466545,0.32269997559992264,0.045044784347620846,-0.03897666357833592,-0.000699938525215068,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9568322638780083,0.8922725427599922,2.492548490784202,-0.45309443864183985,-1.8234684324882366,0.4834845656834135,1.6312548422581434,-0.09183788955999878,-0.8612936485260585,0.0,0.0,0,0,0.0,0.0
+1191,1792844802893725463,23482337000000,1792844802892365595,WAIT_W2,1,0.0712,0.07620222866535187,0.6759351746000746,-0.0046804957439619856,0.10661444629429588,0.9999999515166107,-9.953619968304944e-05,-0.00026154045193686385,-0.00010049267323702638,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.6890204728218395,0.8926556743045858,0.1281132575293198,0.06388964161005516,-0.05054165375456954,-0.0010126486596477187,0.690363604466459,0.875030498193716,0.35897534356924365,0.0628238638355392,-0.050571354917322474,-0.0012208838996081361,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8383557385051497,1.1001779187263538,2.3790759401901016,-0.45830927603896354,-1.7230837841565052,0.6252743660986543,1.6312548422581434,-0.1281132575293198,-0.7478210979319582,0.0,0.0,0,0,0.0,0.0
+1191,1792844802893725463,23482337000000,1792844802892365595,WAIT_W2,1,0.0712,0.07620222866535187,0.6759351746000746,-0.0046804957439619856,0.10661444629429588,0.9999999515166107,-9.953619968304944e-05,-0.00026154045193686385,-0.00010049267323702638,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.6890204728218395,0.8926556743045858,0.1281132575293198,0.06388964161005516,-0.05054165375456954,-0.0010126486596477187,0.690363604466459,0.875030498193716,0.35897534356924365,0.0628238638355392,-0.050571354917322474,-0.0012208838996081361,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8383557385051497,1.1001779187263538,2.3790759401901016,-0.45830927603896354,-1.7230837841565052,0.6252743660986543,1.6312548422581434,-0.1281132575293198,-0.7478210979319582,0.0,0.0,0,0,0.0,0.0
+1195,1792844802927722781,23482371000000,1792844802924365391,WAIT_W2,1,0.0712,0.07369966804981232,0.6759414056381166,-0.004827140044639519,0.10662929670591642,0.9999999443623158,-0.00019257207516189405,-0.000247501874341341,-6.615925867396714e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9116104763712387,1.193554971555137,0.1821568967516347,0.0873084450803102,-0.06883877152974453,-0.0011305768726749632,0.9129536080158581,1.1759297954442671,0.4130189827915586,0.08624266730579425,-0.06886847269249748,-0.0013388121126353806,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.714795091715269,1.5355860943612536,2.2133847170685454,-0.4860265705370875,-1.5924473946300242,0.9237735651882436,1.6312548422581434,-0.1821568967516347,-0.582129874810402,0.0,0.0,0,0,0.0,0.0
+1195,1792844802927722781,23482371000000,1792844802924365391,WAIT_W2,1,0.0712,0.07369966804981232,0.6759414056381166,-0.004827140044639519,0.10662929670591642,0.9999999443623158,-0.00019257207516189405,-0.000247501874341341,-6.615925867396714e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9116104763712387,1.193554971555137,0.1821568967516347,0.0873084450803102,-0.06883877152974453,-0.0011305768726749632,0.9129536080158581,1.1759297954442671,0.4130189827915586,0.08624266730579425,-0.06886847269249748,-0.0013388121126353806,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.714795091715269,1.5355860943612536,2.2133847170685454,-0.4860265705370875,-1.5924473946300242,0.9237735651882436,1.6312548422581434,-0.1821568967516347,-0.582129874810402,0.0,0.0,0,0,0.0,0.0
+1197,1792844802943648466,23482387000000,1792844802936365518,WAIT_W2,1,0.0712,0.07369966804981232,0.675939334110575,-0.004880164283357816,0.10662846852044641,0.9999999375570534,-0.00022711517668094937,-0.0002494890046022747,-5.00268542997247e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9669443351449304,1.2609194878717458,0.1897557366380232,0.0922925119505265,-0.07358288137564775,-0.0011364110007841804,0.9682874667895498,1.243294311760876,0.42061782267794706,0.09122673417601054,-0.0736125825384007,-0.0013446462407445978,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7552306326005729,1.5722629293767032,2.293704111658133,-0.46211551113222443,-1.6569408371165617,0.9496585434624883,1.6312548422581434,-0.1897557366380232,-0.6624492693999895,0.0,0.0,0,0,0.0,0.0
+1197,1792844802943648466,23482387000000,1792844802936365518,WAIT_W2,1,0.0712,0.07369966804981232,0.675939334110575,-0.004880164283357816,0.10662846852044641,0.9999999375570534,-0.00022711517668094937,-0.0002494890046022747,-5.00268542997247e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9669443351449304,1.2609194878717458,0.1897557366380232,0.0922925119505265,-0.07358288137564775,-0.0011364110007841804,0.9682874667895498,1.243294311760876,0.42061782267794706,0.09122673417601054,-0.0736125825384007,-0.0013446462407445978,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7552306326005729,1.5722629293767032,2.293704111658133,-0.46211551113222443,-1.6569408371165617,0.9496585434624883,1.6312548422581434,-0.1897557366380232,-0.6624492693999895,0.0,0.0,0,0,0.0,0.0
+1209,1792844803043731888,23482487000000,1792844803040365672,WAIT_W2,1,0.0712,0.07369966804981232,0.6759451070579064,-0.004918324812182942,0.10663778147217169,0.9999999349970017,-0.0002498487224423576,-0.00023992345017356286,-3.822577944179138e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2950824428260403,1.625876095108704,0.30300352254878626,0.12132566208291513,-0.10095990063955501,0.0007543426023417761,1.2964255744706599,1.608250918997834,0.5338656085887101,0.12025988430839918,-0.10098960180230795,0.0005461073623813589,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7027749581877999,2.205459369859822,2.0900136684131603,-0.5389982252070998,-1.5147300908613763,1.3738562563584789,1.6312548422581434,-0.30300352254878626,-0.45875882615501684,0.0,0.0,0,0,0.0,0.0
+1224,1792844803168719689,23482612000000,1792844803168365644,WAIT_W2,1,0.0712,0.07171587646007538,0.6759465379300771,-0.0049328299447094085,0.1066431764809343,0.9999999331918432,-0.0002605055926557805,-0.0002364504702788378,-3.587734893665793e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2867540498121528,1.6397350531088593,0.410382153786055,0.12297076782579952,-0.1003038970263369,-0.000333163528441274,1.2880971814567723,1.6221098769979894,0.6412442398259789,0.12190499005128357,-0.10033359818908984,-0.0005413987684016914,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8257557737982566,2.3630114032596907,2.0958709901716515,-0.5774392721094673,-1.5544415083699847,1.4734243079180585,1.6312548422581434,-0.410382153786055,-0.464616147913508,0.0,0.0,0,0,0.0,0.0
+1240,1792844803302673320,23482746000000,1792844803300365088,WAIT_W2,1,0.0712,0.07129889726638794,0.675948854671143,-0.004937437745963835,0.10665030141941276,0.9999999334592623,-0.00026383514145025296,-0.00023144272520127116,-3.673714510100915e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2230989563346537,1.5981626746791913,0.45565850619446546,0.11972848383470787,-0.09690239313410744,-0.00034328113955487625,1.2244420879792732,1.5805374985683214,0.6865205922343893,0.11866270606019191,-0.09693209429686038,-0.0005515163795152936,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7334877554756861,2.353630936398699,2.074540622659594,-0.5782255070838483,-1.513834125835197,1.4631943353601633,1.6312548422581434,-0.45565850619446546,-0.4432857804014505,0.0,0.0,0,0,0.0,0.0
+1258,1792844803452704208,23482896000000,1792844803448365371,WAIT_W2,1,0.0712,0.07129889726638794,0.6759502252519104,-0.004926567560124238,0.10665185724430547,0.999999935807537,-0.00025565124844175954,-0.0002300903179189956,-3.90982152546789e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2072978255867641,1.5838681837717334,0.44648065067107556,0.11768370363980092,-0.09498725877316869,-0.0003250343385438953,1.2086409572313837,1.5662430076608636,0.6773427367109994,0.11661792586528497,-0.09501695993592163,-0.0005332695785043127,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7880343228338959,2.312045446359654,2.0823974793541074,-0.5749056553730436,-1.535474382556843,1.4319294666262263,1.6312548422581434,-0.44648065067107556,-0.4511426370959639,0.0,0.0,0,0,0.0,0.0
+1273,1792844803578712661,23483022000000,1792844803576365264,UP_FORCE_RAMP,1,0.0712,0.07121812552213669,0.6759506053110772,-0.004935634152102284,0.10665376652601921,0.9999999343998884,-0.00026343810655580076,-0.0002275824148772527,-3.807480883884884e-05,0.6761,-0.0046,0.10700014254998755,1.0,0.0,0.0,0.0,1.2279880673334118,1.6092252753134564,0.4363433396692956,0.12064201848714828,-0.09634970236853342,-0.00042448753739305175,1.2293311989780313,1.5916000992025865,0.6672054257092195,0.11957624071263233,-0.09637940353128636,-0.0006327227773534691,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7750196959998676,2.3126558944688256,2.0380003641097013,-0.5784813594355264,-1.5031224854424008,1.4343945272459562,1.6312548422581434,-0.4363433396692956,-0.4067455218515579,-0.4363433396692956,0.007600000000000007,0,0,3.7999995053646983e-06,9.999999025923074e-05
+1293,1792844803744763837,23483188000000,1792844803744365967,UP_FORCE_RAMP,1,0.0712,0.07120433449745178,0.6759504327697279,-0.0049250807640045646,0.1066554588656464,0.9999999364018579,-0.0002551541885721587,-0.0002279263064412004,-3.981309968705266e-05,0.6761,-0.0046,0.10700145809977042,1.0,0.0,0.0,0.0,1.1804907563711162,1.544047091395405,0.41502435669920346,0.1158286407278922,-0.09352820386247555,-0.0011149661435726948,1.1818338880157357,1.526421915284535,0.6458864427391273,0.11476286295337625,-0.0935579050252285,-0.0013232013835331121,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.7139581899319475,2.256632157723146,2.106514136762538,-0.5618941400530238,-1.53048913805871,1.3992608796578285,1.6312548422581434,-0.41502435669920346,-0.4752592945043945,-0.41502435669920346,0.02419999999999991,0,0,1.2099997888397001e-05,9.999999025923074e-05
+1327,1792844804028779665,23483472000000,1792844804024374821,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759495317421879,-0.004932733865406799,0.10665498949299798,0.9999999348988912,-0.0002602919096433283,-0.00022881632360425278,-3.9195523582182235e-05,0.6761,-0.0046,0.10700690379877652,1.0,0.0,0.0,0.0,1.1914650328967133,1.5461447540035937,0.39442901488575444,0.11724275452019733,-0.09466722861695569,-0.0002942962258936879,1.1928081645413329,1.5285195778927239,0.6252911009256783,0.11617697674568138,-0.09469692977970863,-0.0005025314658541053,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8227709309049674,2.2748356834802093,2.170478970540229,-0.5699826926521497,-1.6019218915189788,1.4076820323507229,1.6312548422581434,-0.39442901488575444,-0.5392241282820858,-0.39442901488575444,0.05260000000000048,0,0,2.6299995122018534e-05,9.999999025923074e-05
+1342,1792844804153787981,23483597000000,1792844804148365599,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759507230504501,-0.004930372795430755,0.10665774908487183,0.9999999348759999,-0.00026205784998380594,-0.00022661808056955268,-4.0752774752388883e-05,0.6761,-0.0046,0.10701057879809006,1.0,0.0,0.0,0.0,1.1749808390205814,1.5196253232403214,0.3799121213369091,0.11595436909950409,-0.09363864198774288,-0.00028466656464488856,1.176323970665201,1.5020001471294515,0.610774207376833,0.11488859132498813,-0.09366834315049583,-0.0004929018046053059,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.869814094740294,2.2272500454945052,2.237772367919586,-0.5585438619726805,-1.6587242259752464,1.3774382010493134,1.6312548422581434,-0.3799121213369091,-0.6065175256614426,-0.3799121213369091,0.06510000000000084,0,0,3.2549993904422376e-05,9.999999025923074e-05
+1366,1792844804353726773,23483797000000,1792844804348365349,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759508389993139,-0.004926777888917421,0.10666158818019142,0.9999999365661497,-0.0002571248483420963,-0.0002245221285300111,-4.227512827529897e-05,0.6761,-0.0046,0.10701808379667516,1.0,0.0,0.0,0.0,1.1643747682028893,1.5272521219148631,0.35357235860606573,0.1159443373093989,-0.09324801856080493,-0.0002652305281779366,1.1657178998475088,1.5096269458039933,0.5844344446459896,0.11487855953488295,-0.09327771972355788,-0.00047346576813835393,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.818550711925378,2.3040801954222463,2.1708576495422007,-0.5832143479132872,-1.5993283866556223,1.4292768542926972,1.6312548422581434,-0.35357235860606573,-0.5396028072840573,-0.35357235860606573,0.08510000000000141,0,0,4.2549991956268525e-05,9.999999025923074e-05
+1393,1792844804578810038,23484022000000,1792844804576366024,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759512237251196,-0.004928674856884346,0.10666446441929069,0.999999935676963,-0.0002605746611157587,-0.00022452959956179678,-4.2145448441331856e-05,0.6761,-0.0046,0.10702891754461766,1.0,0.0,0.0,0.0,1.1714472793102066,1.5244135678367665,0.3238506536586472,0.11499840583709395,-0.09259349904033261,-0.00023512849859208507,1.1727904109548262,1.5067883917258966,0.554712739698571,0.11393262806257799,-0.09262320020308555,-0.0004433637385525024,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8260435849387493,2.199243669087255,2.21044263361056,-0.5624104756556273,-1.6249247996354916,1.3580067271328653,1.6312548422581434,-0.3238506536586472,-0.5791877913524166,-0.3238506536586472,0.10760000000000206,0,0,5.379998976459544e-05,9.999999025923074e-05
+1411,1792844804728783550,23484172000000,1792844804728366153,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759530778505287,-0.004933386287439641,0.10667080948876875,0.9999999361494462,-0.000261597324794425,-0.00022123369041801805,-4.202929223687482e-05,0.6761,-0.0046,0.10703754629297203,1.0,0.0,0.0,0.0,1.194041608128688,1.5545936919058192,0.294587987886582,0.11780694950275235,-0.09449133221112423,-0.0002147220865679842,1.1953847397733075,1.5369685157949493,0.5254500739265059,0.11674117172823639,-0.09452103337387717,-0.00042295732652840155,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8750203956024344,2.318445104086036,2.353385048629307,-0.594551165815979,-1.7279421474837462,1.4357735031060705,1.6312548422581434,-0.294587987886582,-0.7221302063711637,-0.294587987886582,0.12260000000000248,0,0,6.129998830348005e-05,9.999999025923074e-05
+1429,1792844804878778323,23484322000000,1792844804876365980,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.675951766514595,-0.004928191690915946,0.10667471818428129,0.9999999353534715,-0.00026235159187416055,-0.00022343472206760433,-4.454754511651815e-05,0.6761,-0.0046,0.10704730004110724,1.0,0.0,0.0,0.0,1.1687149683026037,1.5324892139577766,0.2636641134173089,0.11500982339747767,-0.09253106206616918,-0.000186641303337259,1.1700580999472232,1.5148640378469067,0.49452619945723275,0.11394404562296172,-0.09256076322892212,-0.00039487654329767633,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8041539169830868,2.2051439629464755,2.319914812828926,-0.5579372184294537,-1.6873647371447307,1.3623079710459962,1.6312548422581434,-0.2636641134173089,-0.6886599705707828,-0.2636641134173089,0.13760000000000117,0,0,6.879998684236466e-05,9.999999025923074e-05
+1450,1792844805053782265,23484497000000,1792844805048365715,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759504581171041,-0.004927823437621946,0.10667861704734774,0.9999999358029588,-0.00025902013879703094,-0.00022526176165675116,-4.475096333271753e-05,0.6761,-0.0046,0.10706010128865465,1.0,0.0,0.0,0.0,1.1859677540594915,1.5543170127104708,0.22389774669214413,0.11685222702038109,-0.09448050478582311,-0.00016547319684871568,1.187310885704111,1.536691836599601,0.454759832732068,0.11578644924586513,-0.09451020594857605,-0.000373708436809133,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9053557262994021,2.209700911127293,2.297050037763452,-0.569282835638544,-1.702362868933418,1.362279889465124,1.6312548422581434,-0.22389774669214413,-0.6657951955053085,-0.22389774669214413,0.15509999999999924,0,0,7.754998513773004e-05,9.999999025923074e-05
+1476,1792844805269731306,23484713000000,1792844805264375063,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759465806259748,-0.004928516708379599,0.10668369877475521,0.9999999333570053,-0.0002616874701317254,-0.00023266963987894295,-4.59712463339338e-05,0.6761,-0.0046,0.10707801308521611,1.0,0.0,0.0,0.0,1.1873545521104716,1.5330782975287462,0.16536891117027103,0.11646418190139428,-0.09445732368690948,-0.00012585268679247432,1.188697683755091,1.5154531214178764,0.3962309972101949,0.11539840412687832,-0.09448702484966243,-0.00033408792675289166,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9160903166585165,2.207113337442243,2.422765342278433,-0.5564658718977602,-1.782914993643032,1.3662797011516732,1.6312548422581434,-0.16536891117027103,-0.7915105000202898,-0.16536891117027103,0.17669999999999686,0,0,8.834998303372388e-05,9.999999025923074e-05
+1484,1792844805336819181,23484780000000,1792844805336364673,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759077968839594,-0.004923715658264637,0.10667830328985638,0.9999999084676892,-0.000256526053969957,-0.0003250343444499847,-5.526785465372628e-05,0.6761,-0.0046,0.10708404308405718,1.0,0.0,0.0,0.0,1.2106111914491398,1.5366206890998357,0.1534105483393522,0.11585495059746867,-0.09523472443950375,-0.00014414074644759022,1.2119543230937593,1.5189955129889658,0.38427263437927606,0.11478917282295271,-0.09526442560225669,-0.00035237598640800756,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9901701423266811,2.200754859618191,2.418131012377098,-0.5585709000303516,-1.7866119327939474,1.3585279544016844,1.6312548422581434,-0.1534105483393522,-0.7868761701189544,-0.1534105483393522,0.18339999999999612,0,0,9.169998238109234e-05,9.999999025923074e-05
+1496,1792844805436804084,23484880000000,1792844805436365165,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759139435895437,-0.004922217038135978,0.1066903214582648,0.9999999106113117,-0.0002594972081849284,-0.00031531178189309175,-5.8821013270515754e-05,0.6761,-0.0046,0.1070934605822461,1.0,0.0,0.0,0.0,1.2934922827786624,1.4622722270956157,0.13148434529332043,0.11069509420575649,-0.10205853657973585,-0.0013183961575538735,1.2948354144232819,1.4446470509847458,0.3623464313332443,0.10962931643124053,-0.10208823774248879,-0.0015266313975142909,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.9546729098472552,2.1956936102010243,2.361881836848391,-0.5185212659342162,-1.7399034138971696,1.346968420508414,1.6312548422581434,-0.13148434529332043,-0.7306269945902475,-0.13148434529332043,0.19339999999999502,0,0,9.669998140701542e-05,9.999999025923074e-05
+1511,1792844805561820921,23485005000000,1792844805556375034,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759163151315939,-0.004922810005698148,0.10670170932714344,0.9999999124341823,-0.0002590987252284531,-0.0003094090933009952,-6.089626519322427e-05,0.6761,-0.0046,0.10710593557984527,1.0,0.0,0.0,0.0,1.2871171656861522,1.472141329507913,0.09162534694510255,0.11050818345635867,-0.10141995437591766,-0.0012539040977625545,1.2884602973307717,1.4545161533970432,0.3224874329850264,0.10944240568184271,-0.10144965553867061,-0.0014621393377229719,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0310832344165592,2.2506851973014976,2.4524291825216267,-0.5353087782618471,-1.8239383375248062,1.389447852584554,1.6312548422581434,-0.09162534694510255,-0.8211743402634832,-0.09162534694510255,0.20589999999999364,0,0,0.00010294998018941926,9.999999025923074e-05
+1533,1792844805744844339,23485188000000,1792844805740374770,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6759176535815454,-0.004921116738512943,0.10671251240655252,0.9999999130133322,-0.00026266196530640623,-0.00030409877411590163,-6.283963176093474e-05,0.6761,-0.0046,0.10712560807605594,1.0,0.0,0.0,0.0,1.2740315632339048,1.4684500996658736,-0.015517702179125459,0.11081855597642527,-0.10039506074899343,-0.0011520727223326155,1.2753746948785243,1.4508249235550037,0.2153443838607984,0.10975277820190932,-0.10042476191174637,-0.0013603079622930329,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0871137201262049,2.2270048136834486,2.64797543404715,-0.551627084034435,-1.959944087826376,1.373801646620834,1.6312548422581434,0.015517702179125459,-1.0167205917890065,0.015517702179125459,0.22419999999999163,0,0,0.00011209997840685849,9.999999025923074e-05
+1557,1792844805944774317,23485388000000,1792844805944374945,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759206781164543,-0.004917321009016202,0.1067300755808817,0.9999999148568397,-0.00026303308684899,-0.0002965475064944538,-6.784061225349679e-05,0.6761,-0.0046,0.1071485845784692,1.0,0.0,0.0,0.0,1.2670883224582852,1.4782694007326047,-0.1169321022297466,0.11161914508124571,-0.10031228024678877,-0.0010577351514407113,1.2684314541029047,1.4606442246217348,0.11392998381017726,0.11055336730672975,-0.10034198140954172,-0.0012659703914011287,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1220868896065626,2.2835044880784388,2.807588393405196,-0.5731236727328096,-2.0765349930955974,1.4137823832485774,1.6312548422581434,0.1169321022297466,-1.1763335511470525,0.1169321022297466,0.24419999999998943,0,0,0.00011292182028746633,-9.999999025923074e-05
+1576,1792844806103856035,23485547000000,1792844806100366079,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6759211045882378,-0.004920177059951903,0.10673964004917984,0.9999999161700771,-0.0002620552091085627,-0.0002929535828140657,-6.78820183293225e-05,0.6761,-0.0046,0.1071659110980188,1.0,0.0,0.0,0.0,1.2683802745215458,1.4765711039820484,-0.17753080817578318,0.11160298815344288,-0.10036526299450764,-0.0010167039799332358,1.2697234061661653,1.4589459278711785,0.053331277864140686,0.11053721037892693,-0.10039496415726058,-0.0012249392198936532,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1036618005943315,2.2903594433978864,2.7615212892179937,-0.575113568798002,-2.041594819029759,1.416925284745834,1.6312548422581434,0.17753080817578318,-1.1302664469598502,0.17753080817578318,0.2600999999999877,0,0,0.00010497182183624864,-9.999999025923074e-05
+1598,1792844806286820633,23485730000000,1792844806280365927,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6759221200246145,-0.004918354632002352,0.10674942052850482,0.9999999162222019,-0.0002624730085594167,-0.0002916536322256303,-7.102486761243166e-05,0.6761,-0.0046,0.10718428829157883,1.0,0.0,0.0,0.0,1.2678178379235854,1.4940475849319605,-0.23568855370552302,0.11198924767491712,-0.10036179765579709,-0.0009594770921752839,1.269160969568205,1.4764224088210907,-0.004826467665599154,0.11092346990040117,-0.10039149881855003,-0.0011677123321357013,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0166012428747813,2.2628602163863003,2.815355852288827,-0.5658005602428049,-2.05138966230688,1.3997562673487862,1.6312548422581434,0.23568855370552302,-1.1841010100306835,0.23568855370552302,0.27839999999998566,0,0,9.582182361880941e-05,-9.999999025923074e-05
+1614,1792844806419893436,23485863000000,1792844806416366058,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6759228734034295,-0.00491719688249066,0.1067551803180003,0.9999999171612217,-0.00026181171484508404,-0.0002893026524084994,-6.984994625283209e-05,0.6761,-0.0046,0.10719659369420693,1.0,0.0,0.0,0.0,1.260092186627963,1.4736825998713097,-0.269579041080096,0.11122883759278356,-0.10034662275472239,-0.0009475433573346377,1.2614353182725826,1.4560574237604398,-0.03871695504017216,0.1101630598182676,-0.10037632391747534,-0.001155778597295055,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1141396290365395,2.2044032659937525,2.953472101112023,-0.5557676672606653,-2.167145973045096,1.3616760110179498,1.6312548422581434,0.269579041080096,-1.3222172588538794,0.269579041080096,0.2916999999999842,0,0,8.917182491433173e-05,-9.999999025923074e-05
+1635,1792844806594924801,23486038000000,1792844806592365273,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759176972097918,-0.004920169610841454,0.10676010679860101,0.9999999141518886,-0.0002642231115451751,-0.00029697985174402373,-7.161141205422535e-05,0.6761,-0.0046,0.10721143751371695,1.0,0.0,0.0,0.0,1.2682004896468009,1.4816526818360731,-0.2996073816034807,0.11200594043775047,-0.10123250643815958,-0.0009269252814340916,1.2695436212914204,1.4640275057252032,-0.06874529556355684,0.11094016266323452,-0.10126220760091252,-0.001135160521394509,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0442774451180215,2.17869418834982,2.957160551558346,-0.5508589340691297,-2.1458927086029167,1.3418026734509738,1.6312548422581434,0.2996073816034807,-1.3259057093002027,0.2996073816034807,0.30919999999998227,0,0,8.042182661896635e-05,-9.999999025923074e-05
+1657,1792844806778909260,23486222000000,1792844806776375242,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759140341673229,-0.004916703973570865,0.106767160587007,0.9999999127160342,-0.00026180788953102856,-0.0003034182474023444,-7.3517237527786e-05,0.6761,-0.0046,0.10722539332998063,1.0,0.0,0.0,0.0,1.2695552035576192,1.4716610884211467,-0.3398346804496411,0.1110107590444845,-0.10120788067687884,-0.0009058824332026671,1.2708983352022387,1.4540359123102768,-0.10897259440971724,0.10994498126996854,-0.10123758183963179,-0.0011141176731630845,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1036975177840829,2.193840960094579,2.990585537822637,-0.5480377602658209,-2.182541911249729,1.3555329673399565,1.6312548422581434,0.3398346804496411,-1.3593306955644935,0.3398346804496411,0.32759999999998024,0,0,7.122182841126789e-05,-9.999999025923074e-05
+1676,1792844806936847175,23486380000000,1792844806932374921,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759097943076444,-0.004916059140922878,0.10676875208401133,0.9999999084503284,-0.0002658324315004877,-0.0003131159398478678,-7.637882759333538e-05,0.6761,-0.0046,0.10723602622899196,1.0,0.0,0.0,0.0,1.2795482552937305,1.464015157429019,-0.3672681839441291,0.11005402475762521,-0.1022988074948636,-0.0009045184328500358,1.28089138693835,1.446389981318149,-0.13640609790420521,0.10898824698310926,-0.10232850865761654,-0.0011127536728104531,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1236185363233708,2.2476085811500974,3.0461391238517943,-0.560931519098419,-2.220839473144009,1.3941565674206977,1.6312548422581434,0.3672681839441291,-1.4148842815936509,0.3672681839441291,0.3433999999999785,0,0,6.332182995030943e-05,-9.999999025923074e-05
+1702,1792844807153928581,23486597000000,1792844807148374897,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6759075855491965,-0.004915430747605086,0.10678046701738682,0.9999999064876177,-0.00026346009844827316,-0.00032053160482852633,-7.947255195558971e-05,0.6761,-0.0046,0.10724859526632158,1.0,0.0,0.0,0.0,1.2897949204918542,1.4395795584903264,-0.41989201783188235,0.10907334328255225,-0.10231406076556072,-0.0008770132554458609,1.2911380521364737,1.4219543823794565,-0.18902993179195846,0.1080075655080363,-0.10234376192831367,-0.0010852484954062783,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1595810644226336,2.3713738136756315,3.124057370883838,-0.6015233888042981,-2.280763813317377,1.4728011722318453,1.6312548422581434,0.41989201783188235,-1.4928025286256945,0.41989201783188235,0.3650999999999761,0,0,5.247183206405636e-05,-9.999999025923074e-05
+1729,1792844807378945112,23486822000000,1792844807372375364,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.675904850458027,-0.004912919852477806,0.10678818751322312,0.9999999038801016,-0.0002652617604729607,-0.00032627654203312673,-8.284001395516215e-05,0.6761,-0.0046,0.10725914142878365,1.0,0.0,0.0,0.0,1.2898302605452565,1.4365672512804566,-0.44050259064284203,0.10907425308340234,-0.103305930028682,-0.0008768043025847139,1.291173392189876,1.4189420751695867,-0.20964050460291817,0.10800847530888638,-0.10333563119143495,-0.0010850395425451313,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.134421935419172,2.2153163611073747,3.1302758224956384,-0.559014793046296,-2.2741966611922164,1.3706317498990555,1.6312548422581434,0.44050259064284203,-1.499020980237495,0.44050259064284203,0.38759999999997363,0,0,4.1221834255729444e-05,-9.999999025923074e-05
+1751,1792844807561870607,23487005000000,1792844807560375047,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6759028759957748,-0.004912997045229308,0.10679522864946778,0.9999999029695665,-0.0002637116034363341,-0.00033043503230807946,-8.229581420999543e-05,0.6761,-0.0046,0.10726585237461644,1.0,0.0,0.0,0.0,1.299636699277506,1.4256478041574234,-0.46192672123966283,0.1080690674683736,-0.10328238935999348,-0.0014837442669493467,1.3009798309221254,1.4080226280465535,-0.23106463519973897,0.10700328969385764,-0.10331209052274642,-0.001691979506909764,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1432077911197418,2.2925954392402828,3.1436117310575757,-0.5826811064020417,-2.282693009296364,1.4208431370300736,1.6312548422581434,0.46192672123966283,-1.5123568887994323,0.46192672123966283,0.4058999999999716,0,0,3.207183603829022e-05,-9.999999025923074e-05
+1765,1792844807678948961,23487122000000,1792844807676365708,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758991501353045,-0.004916533779129427,0.10679408129897938,0.9999999009636497,-0.00026439258769100097,-0.000336378713465781,-8.03833040128077e-05,0.6761,-0.0046,0.10726926547950016,1.0,0.0,0.0,0.0,1.299258194926882,1.4384415208113976,-0.47172726384808694,0.10806062316749984,-0.10328100010627368,-0.0008628261374201065,1.3006013265715015,1.4208163447005278,-0.24086517780816305,0.10699484539298389,-0.10331070126902663,-0.0010710613773805239,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1718405279804145,2.2791032026751346,3.0814365428070882,-0.5804158734329377,-2.2522233838444734,1.4123069335372394,1.6312548422581434,0.47172726384808694,-1.4501817005489448,0.47172726384808694,0.41759999999997033,0,0,2.622183717796022e-05,-9.999999025923074e-05
+1784,1792844807836958729,23487280000000,1792844807836374991,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.675900184817077,-0.004915733887950175,0.10679812524960139,0.9999999006769192,-0.00026544992158380147,-0.0003357042224572547,-8.323478667684852e-05,0.6761,-0.0046,0.10727278837989664,1.0,0.0,0.0,0.0,1.2997197270237688,1.4340518884825153,-0.48164993730051847,0.1080618874658357,-0.10327899838764466,-0.0009748944582092429,1.3010628586683883,1.4164267123716454,-0.2507878512605946,0.10699610969131974,-0.1033086995503976,-0.0011831296981696603,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.111857497123587,2.213850324604579,3.14291156416563,-0.5549660296884159,-2.2753080778837216,1.3720132412327593,1.6312548422581434,0.48164993730051847,-1.5116567219074866,0.48164993730051847,0.4333999999999686,0,0,1.8321838717001764e-05,-9.999999025923074e-05
+1812,1792844808069899413,23487513000000,1792844808068374847,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758990630168232,-0.0049105887397216125,0.10680240261442536,0.9999999034477769,-0.0002533445667760793,-0.00033782507241811663,-7.898133758371495e-05,0.6761,-0.0046,0.10727571683298072,1.0,0.0,0.0,0.0,1.3002420903330272,1.4217459429666814,-0.501306144035858,0.10713515917590415,-0.10325008800969519,-0.0017383450225438406,1.3015852219776467,1.4041207668558116,-0.2704440579959342,0.10606938140138819,-0.10327978917244814,-0.001946580262504258,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1280609076934183,2.2162887757195686,3.071410023787858,-0.5675888376306597,-2.2342484266369924,1.374951275971239,1.6312548422581434,0.501306144035858,-1.4401551815297147,0.501306144035858,0.456699999999966,0,0,7.162880034106145e-06,-7.235232357682975e-05
+1814,1792844808086937294,23487530000000,1792844808084374511,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.675900698762224,-0.004927376233966767,0.10680638330692593,0.9999999207819132,-0.0001717466982424451,-0.0003469550558251137,2.071777543858914e-06,0.6761,-0.0046,0.10727583385380328,1.0,0.0,0.0,0.0,1.3002795836561865,1.4215764390235999,-0.4985470770497181,0.10706399116248738,-0.10325024316178354,-0.0018623192683432965,1.301622715300806,1.40395126291273,-0.26768499100979426,0.10599821338797143,-0.10327994432453648,-0.002070554508303714,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1302726961334268,2.1847925614450983,3.1804887937031214,-0.5602105918644525,-2.305363916647884,1.3563062394723016,1.6312548422581434,0.4985470770497181,-1.549233951444978,0.4985470770497181,0.45839999999996583,0,0,6.577790694628494e-06,-6.644233024877266e-05
+1820,1792844808136935020,23487580000000,1792844808136365269,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6758899469060295,-0.004927183984669827,0.10680981259703472,0.9999999146678074,2.854842423460178e-06,-0.0003761450678075761,0.0001435756953174427,0.6761,-0.0046,0.10727612550388757,1.0,0.0,0.0,0.0,1.077992719741986,1.1596143045441092,-0.48609976677359135,0.09050341745038751,-0.08952914940980299,-0.0027782208217095074,1.0793358513866056,1.1419891284332393,-0.2552376807336675,0.08943763967587155,-0.08955885057255593,-0.0029864560616699246,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.8817579024942904,2.0796332088622793,2.964358025648297,-0.4957517569157123,-2.113945468028005,1.2872757625877198,1.6312548422581434,0.48609976677359135,-1.3331031833901537,0.48609976677359135,0.4633999999999653,0,0,5.119577079770732e-06,-5.171289979566396e-05
+1828,1792844808203979444,23487647000000,1792844808200364958,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6758935912301856,-0.004941532237381392,0.10681176028737228,0.9999999180837933,-6.3111991960021395e-06,-0.00036544218085013283,0.00014726660340875372,0.6761,-0.0046,0.1072764175962008,1.0,0.0,0.0,0.0,1.0897874735597335,1.1696197572835856,-0.4980621420884713,0.0913082734799461,-0.08940772608586599,-0.002901547564658544,1.091130605204353,1.1519945811727157,-0.26720005604854746,0.09024249570543015,-0.08943742724861893,-0.003109782804618961,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-0.93158875107832,1.9125751938413975,2.881283941778646,-0.35545582922402513,-2.097501763101642,1.1666490698706526,1.6312548422581434,0.4980621420884713,-1.2500290995205026,0.4980621420884713,0.47009999999996455,0,0,3.659152336132898e-06,-3.696113470841311e-05
+1847,1792844808361884713,23487805000000,1792844808356374804,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758876186741292,-0.0049448860394183365,0.10680663017675111,0.9999999147506055,-7.921040819715208e-06,-0.0003745973573371586,0.0001468186748062501,0.6761,-0.0046,0.10727681795684278,1.0,0.0,0.0,0.0,1.1066208540662497,1.2043231609545584,-0.4901266752738319,0.09366451232929367,-0.09203719402468337,-0.00290570397585184,1.1079639857108692,1.1866979848436885,-0.25926458923390805,0.09259873455477771,-0.09206689518743631,-0.003113939215812257,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0664176838883466,1.947255006373946,3.001210941660874,-0.3603035057076569,-2.211609599717082,1.1770144238286282,1.6312548422581434,0.4901266752738319,-1.3699560994027307,0.4901266752738319,0.4858999999999628,0,0,1.6573996512725397e-06,-1.6741410618914543e-05
+1863,1792844808494960082,23487938000000,1792844808488374704,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.675888057929401,-0.00494122780336264,0.10680658670748933,0.9999999149068718,-6.024801402308834e-06,-0.00037497191902267023,0.00014487537882302241,0.6761,-0.0046,0.1072770066260028,1.0,0.0,0.0,0.0,1.135773735573824,1.23783488378118,-0.4890892700851312,0.09501880266023839,-0.0923872259972103,-0.002905715444618948,1.1371168672184435,1.22020970767031,-0.25822718404520734,0.09395302488572244,-0.09241692715996325,-0.0031139506845793653,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0523829471508162,2.0028037592798436,2.974132664739484,-0.38569131582759364,-2.1903853861847753,1.2112886570171235,1.6312548422581434,0.4890892700851312,-1.3428778224813405,0.4890892700851312,0.49919999999996134,0,0,1.990631355883312e-06,5.13826220656342e-05
+1881,1792844808644979981,23488088000000,1792844808644375452,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758885510964315,-0.00493890501824708,0.10680723708551162,0.9999999152354808,-6.505992264581703e-06,-0.00037433821025959787,0.00014422368755377416,0.6761,-0.0046,0.10727774009041134,1.0,0.0,0.0,0.0,1.111232962819315,1.1964217895650051,-0.4899175279571716,0.09267367055246296,-0.09084105617305491,-0.0029085383100250785,1.1125760944639345,1.1787966134541352,-0.2590554419172477,0.09160789277794701,-0.09087075733580785,-0.0031167735499854957,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.0868308515453307,1.8968879759192645,2.9829737561015928,-0.35334909983859325,-2.202897458790928,1.1382398211398062,1.6312548422581434,0.4899175279571716,-1.3517189138434493,0.4899175279571716,0.5141999999999597,0,0,8.253751505578e-06,8.832301943811793e-05
+1902,1792844808820004048,23488263000000,1792844808812374942,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6758892572174694,-0.004940708451017126,0.10680904739185282,0.9999999155032335,-6.172468427668987e-06,-0.00037360645627937606,0.00014427926673304844,0.6761,-0.0046,0.10727993487081938,1.0,0.0,0.0,0.0,1.119606787434704,1.2149446713834084,-0.4795327510319623,0.09411922775681161,-0.09177263520529368,-0.0029064001693945686,1.1209499190793235,1.1973194952725386,-0.24867066499203844,0.09305344998229566,-0.09180233636804662,-0.003114635409354986,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1003048200155883,2.0105328187687315,3.0444310051416306,-0.3905041196859714,-2.2472913381641155,1.2106658418912055,1.6312548422581434,0.4795327510319623,-1.4131761628834871,0.4795327510319623,0.5316999999999578,0,0,1.6938902235057125e-05,9.999999025923074e-05
+1924,1792844809004025204,23488447000000,1792844809000365251,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6758900897140782,-0.004943224430912647,0.10681161194463387,0.9999999159044136,-8.05686211754161e-06,-0.0003727703563808891,0.00014356663443335682,0.6761,-0.0046,0.10728389342866484,1.0,0.0,0.0,0.0,1.1260326387629598,1.225056270492072,-0.4860716732181102,0.09425099345403413,-0.09172006267323066,-0.0029009545701661854,1.1273757704075793,1.207431094381202,-0.2552095871781863,0.09318521567951818,-0.0917497638359836,-0.0031091898101266026,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1437176045497677,1.9296261509355306,3.0169535812418236,-0.36945330914539243,-2.2410320453311887,1.1568169929383154,1.6312548422581434,0.4860716732181102,-1.3856987389836801,0.4860716732181102,0.5500999999999557,0,0,2.613890044275558e-05,9.999999025923074e-05
+1954,1792844809254004586,23488697000000,1792844809252374435,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758904664191645,-0.004943220003891426,0.1068159498827743,0.9999999165499102,-6.024611999101334e-06,-0.00037079463734192736,0.00014428471226841493,0.6761,-0.0046,0.1072919758850415,1.0,0.0,0.0,0.0,1.1282856249001214,1.2191812509520605,-0.4908431669949551,0.09449081055330816,-0.09185668731456766,-0.002898844468909294,1.129628756544741,1.2015560748411906,-0.25998108095503125,0.0934250327787922,-0.0918863884773206,-0.003107079708869711,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1880482353791886,1.9351830712925204,3.095124909361595,-0.3760152634710785,-2.2992861602151766,1.1601652525533517,1.6312548422581434,0.4908431669949551,-1.4638700671034517,0.4908431669949551,0.558,0,0,3.827186106568144e-05,8.826183876616176e-05
+1975,1792844809428932451,23488872000000,1792844809428374933,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.675887724743211,-0.0049396619209425415,0.10681419538901961,0.9999999149983808,-5.107702930450578e-06,-0.0003757155847681151,0.00014232992024535885,0.6761,-0.0046,0.10729886439800151,1.0,0.0,0.0,0.0,1.1283312982919016,1.2258198740264523,-0.5090883810046911,0.09444990281961252,-0.09184857532427577,-0.0028844974481040436,1.1296744299365211,1.2081946979155824,-0.2782262949647672,0.09338412504509656,-0.09187827648702872,-0.003092732688064461,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1465788707383764,2.0240407213441483,3.045930929433068,-0.4069837505264087,-2.2526962009870526,1.2194340072390448,1.6312548422581434,0.5090883810046911,-1.4146760871749247,0.5090883810046911,0.558,0,0,3.862196620237224e-05,-4.42811404611716e-05
+1995,1792844809595070787,23489038000000,1792844809588375677,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.6758906337613735,-0.004942309591826554,0.10682141479499711,0.9999999167776755,-7.182328173385558e-06,-0.0003710552849377766,0.00014196441916609944,0.6761,-0.0046,0.10730478899519603,1.0,0.0,0.0,0.0,1.1270832232967471,1.2062648326849414,-0.5232222128923718,0.09351046420652379,-0.09182991225702192,-0.002880900104854272,1.1284263549413667,1.1886396565740716,-0.29236012685244794,0.09244468643200783,-0.09185961341977486,-0.003089135344814689,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1840990755975904,1.9989043243153513,3.0764042740712063,-0.4076124587501963,-2.2820376800407876,1.1991203967107842,1.6312548422581434,0.5232222128923718,-1.4451494318130629,0.5232222128923718,0.558,0,0,3.2102599602576065e-05,-7.836513764885145e-05
+2016,1792844809770017128,23489213000000,1792844809768375916,UP_FORCE_RAMP,1,0.0712,0.0712023675441742,0.6758890797886336,-0.004942515052614741,0.10682202219197687,0.9999999154286184,-7.064507810616616e-06,-0.00037473755433928936,0.00014180084092400532,0.6761,-0.0046,0.10730970653790375,1.0,0.0,0.0,0.0,1.1284721097083166,1.2270771697826082,-0.5392425866165151,0.09450329100707511,-0.09184676939664332,-0.0028596748672501363,1.129815241352936,1.2094519936717383,-0.3083805005765913,0.09343751323255915,-0.09187647055939627,-0.0030679101072105535,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1594218995682082,1.9832203681724416,3.1004393152158367,-0.4041025275685101,-2.288962318062023,1.1906875938463632,1.6312548422581434,0.5392425866165151,-1.4691844729576933,0.5392425866165151,0.558,0,0,2.4071668731891254e-05,-9.999999025923074e-05
+2038,1792844809954057665,23489397000000,1792844809952374692,UP_FORCE_RAMP,1,0.0712,0.07120171189308167,0.675887467718679,-0.004944311187892496,0.10682174490292919,0.9999999145235292,-9.363583836469951e-06,-0.0003771245395873543,0.00014172227669172053,0.6761,-0.0046,0.10731329421437294,1.0,0.0,0.0,0.0,1.1253329576856466,1.2261667731341344,-0.5493226345118947,0.09413528086202425,-0.09184242289467917,-0.002852930286702453,1.126676089330266,1.2085415970232645,-0.31846054847197075,0.09306950308750829,-0.09187212405743211,-0.0030611655266628702,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1731201434643825,1.9638313531012592,3.1325214846522624,-0.4029904905482982,-2.314410434773121,1.176421996589152,1.6312548422581434,0.5493226345118947,-1.501266642394119,0.5493226345118947,0.558,0,0,1.4923835637664978e-05,-8.939070501001223e-05
+2070,1792844810218996311,23489662000000,1792844810216375476,UP_FORCE_HOLD,1,0.0712,0.0712023675441742,0.6758857700742507,-0.004939932194086624,0.10682314670303009,0.9999999147879192,-8.106614624026799e-06,-0.00037777722200103505,0.00013815090347644115,0.6761,-0.0046,0.10731567657327279,1.0,0.0,0.0,0.0,1.1291653059223745,1.2172000229539002,-0.5598199103938395,0.09348904510670816,-0.09182527484884362,-0.0028544971467506625,1.130508437566994,1.1995748468430303,-0.3289578243539156,0.09242326733219221,-0.09185497601159656,-0.0030627323867110797,0.00134313164461942,-0.017625176110869802,0.23086208603992386,-0.0010657777745159492,-2.9701162752936378e-05,-0.00020823523996041734,1,-1.1682976108656131,2.032890491306289,3.090348042968908,-0.4214977324249968,-2.286153117722894,1.2245163544157953,1.6312548422581434,0.5598199103938395,-1.4590932007107646,0.5598199103938395,0.558,0,0,4.384175566335413e-06,-4.428460168015569e-05

Fixed/digit/ball_PLA_17.5/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792844802107764839,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.192374086e-09,-3.743543964e-10,-1.721967013e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027451902e-01,-1.169047487e-04,8.303260564e-01
+1,1.666666667e-01,XJC_ZERO_HOLD_BEFORE_UP,1792844802272861315,-1.245412841e-06,-3.994311120e-06,-3.545785708e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.144890658e-08,-4.650091616e-09,-1.167031916e-09,7.019543525e-01,-2.597936570e-05,8.601398401e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452364e-01,-1.169090244e-04,8.303260554e-01
+2,3.166666667e-01,WAIT_W2,1792844802434921522,3.200388779e-06,-4.688188019e-07,3.443894396e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.405805307e-08,-7.977857605e-09,-1.420807139e-09,7.019587983e-01,-2.245387338e-05,8.601468298e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452690e-01,-1.169123522e-04,8.303260551e-01
+3,4.833333333e-01,WAIT_W2,1792844802599283689,1.060780919e-08,-7.577893576e-06,2.802854537e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.123353114e-07,-1.109755054e-08,-1.311661224e-09,7.019556085e-01,-2.956294816e-05,8.601461888e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452973e-01,-1.169154719e-04,8.303260552e-01
+4,6.333333333e-01,WAIT_W2,1792844802746857273,1.529470840e-06,-1.595213254e-06,2.268203128e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.323204935e-07,-1.342142649e-08,-1.086127410e-09,7.019571273e-01,-2.358026783e-05,8.601456541e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453173e-01,-1.169177957e-04,8.303260555e-01
+5,7.333333333e-01,WAIT_W2,1792844802845368708,2.448783862e-06,-2.668283239e-05,4.201338488e-06,2.321447900e-06,-2.657515249e-05,4.433290737e-06,2.624170144e-06,-2.612052041e-05,4.344879881e-06,7.019580467e-01,-4.866788697e-05,8.601475873e-01,7.019579193e-01,-4.856020707e-05,8.601478192e-01,7.027478092e-01,-1.430248947e-04,8.303304014e-01
+6,7.500000000e-01,WAIT_W2,1792844802861423893,3.648868756e-06,-6.653293300e-05,1.065394148e-05,3.851461698e-06,-6.646258491e-05,1.071105373e-05,4.324398770e-06,-6.537664057e-05,1.050842142e-05,7.019592467e-01,-8.851798758e-05,8.601540399e-01,7.019594493e-01,-8.844763949e-05,8.601540970e-01,7.027495094e-01,-1.822810149e-04,8.303365650e-01
+7,7.666666667e-01,WAIT_W2,1792844802877634800,2.378094995e-06,-1.427955582e-04,1.188615208e-05,2.389065528e-06,-1.424062593e-04,1.147737387e-05,2.802573442e-06,-1.400932808e-04,1.130412859e-05,7.019579760e-01,-1.647806128e-04,8.601552721e-01,7.019579869e-01,-1.643913138e-04,8.601548633e-01,7.027479876e-01,-2.569976551e-04,8.303373607e-01
+8,7.666666667e-01,WAIT_W2,1792844802877634800,2.378094995e-06,-1.427955582e-04,1.188615208e-05,2.389065528e-06,-1.424062593e-04,1.147737387e-05,2.802573442e-06,-1.400932808e-04,1.130412859e-05,7.019579760e-01,-1.647806128e-04,8.601552721e-01,7.019579869e-01,-1.643913138e-04,8.601548633e-01,7.027479876e-01,-2.569976551e-04,8.303373607e-01
+9,7.833333333e-01,WAIT_W2,1792844802898202447,-1.938487127e-06,-2.032697041e-04,1.031344132e-05,-1.841649490e-06,-2.033367184e-04,1.049372816e-05,-1.596958057e-06,-2.000797962e-04,1.037298790e-05,7.019536594e-01,-2.252547587e-04,8.601536994e-01,7.019537562e-01,-2.253217730e-04,8.601538796e-01,7.027435880e-01,-3.169841706e-04,8.303364295e-01
+10,7.833333333e-01,WAIT_W2,1792844802898202447,-1.938487127e-06,-2.032697041e-04,1.031344132e-05,-1.841649490e-06,-2.033367184e-04,1.049372816e-05,-1.596958057e-06,-2.000797962e-04,1.037298790e-05,7.019536594e-01,-2.252547587e-04,8.601536994e-01,7.019537562e-01,-2.253217730e-04,8.601538796e-01,7.027435880e-01,-3.169841706e-04,8.303364295e-01
+11,8.000000000e-01,WAIT_W2,1792844802926381699,3.758722294e-06,-3.397869634e-04,2.221695189e-05,3.909787995e-06,-3.395953607e-04,2.253422182e-05,4.563627527e-06,-3.342799427e-04,2.224330393e-05,7.019593566e-01,-3.617720180e-04,8.601656029e-01,7.019595077e-01,-3.615804153e-04,8.601659201e-01,7.027497486e-01,-4.511843170e-04,8.303482999e-01
+12,8.000000000e-01,WAIT_W2,1792844802926381699,3.758722294e-06,-3.397869634e-04,2.221695189e-05,3.909787995e-06,-3.395953607e-04,2.253422182e-05,4.563627527e-06,-3.342799427e-04,2.224330393e-05,7.019593566e-01,-3.617720180e-04,8.601656029e-01,7.019595077e-01,-3.615804153e-04,8.601659201e-01,7.027497486e-01,-4.511843170e-04,8.303482999e-01
+13,8.166666667e-01,WAIT_W2,1792844802946109363,4.054208202e-06,-3.944768437e-04,2.568369818e-05,4.068263548e-06,-3.944458653e-04,2.563960402e-05,4.718842016e-06,-3.883154380e-04,2.553183225e-05,7.019596521e-01,-4.164618983e-04,8.601690696e-01,7.019596661e-01,-4.164309199e-04,8.601690255e-01,7.027499038e-01,-5.052198123e-04,8.303515884e-01
+14,8.166666667e-01,WAIT_W2,1792844802946109363,4.054208202e-06,-3.944768437e-04,2.568369818e-05,4.068263548e-06,-3.944458653e-04,2.563960402e-05,4.718842016e-06,-3.883154380e-04,2.553183225e-05,7.019596521e-01,-4.164618983e-04,8.601690696e-01,7.019596661e-01,-4.164309199e-04,8.601690255e-01,7.027499038e-01,-5.052198123e-04,8.303515884e-01
+15,8.833333333e-01,WAIT_W2,1792844803040732210,7.938645427e-06,-4.397019422e-04,3.401519732e-05,4.398483043e-06,-4.323161926e-04,2.809025600e-05,5.140332251e-06,-4.256923515e-04,2.799907737e-05,7.019635365e-01,-4.616869967e-04,8.601774011e-01,7.019599964e-01,-4.543012472e-04,8.601714762e-01,7.027503253e-01,-5.425967258e-04,8.303540556e-01
+16,1.016666667e+00,WAIT_W2,1792844803172939385,1.048509380e-05,-4.570242951e-04,4.115944429e-05,7.194106276e-06,-4.557083636e-04,3.258652432e-05,8.213631689e-06,-4.487274584e-04,3.246004097e-05,7.019660830e-01,-4.790093496e-04,8.601845454e-01,7.019627920e-01,-4.776934182e-04,8.601759724e-01,7.027533986e-01,-5.656318327e-04,8.303585166e-01
+17,1.150000000e+00,WAIT_W2,1792844803303801701,1.234975284e-05,-4.608263773e-04,4.862283233e-05,7.194106276e-06,-4.557083636e-04,3.258652432e-05,8.280088028e-06,-4.487652843e-04,3.253838923e-05,7.019679476e-01,-4.828114319e-04,8.601920087e-01,7.019627920e-01,-4.776934182e-04,8.601759724e-01,7.027534651e-01,-5.656696586e-04,8.303585949e-01
+18,1.300000000e+00,WAIT_W2,1792844803450663894,1.397087944e-05,-4.467242492e-04,4.854086524e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.723688749e-05,-4.411046673e-04,5.121512613e-05,7.019695687e-01,-4.687093038e-04,8.601919268e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027624219e-01,-5.580090416e-04,8.303772717e-01
+19,1.433333333e+00,UP_FORCE_RAMP,1792844803581412811,1.330965794e-05,-4.565776591e-04,4.904218331e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.731650565e-05,-4.411268463e-04,5.135051371e-05,7.019689075e-01,-4.785627136e-04,8.601924281e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027625015e-01,-5.580312207e-04,8.303774071e-01
+20,1.583333333e+00,UP_FORCE_RAMP,1792844803745786022,1.313711659e-05,-4.460242710e-04,5.073452293e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.738177722e-05,-4.411498691e-04,5.145007758e-05,7.019687350e-01,-4.680093255e-04,8.601941204e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027625668e-01,-5.580542434e-04,8.303775066e-01
+21,1.766666667e+00,UP_FORCE_RAMP,1792844804024765626,1.383620223e-05,-4.528554207e-04,5.329491185e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.744694987e-05,-4.411729208e-04,5.154575845e-05,7.019694341e-01,-4.748404753e-04,8.601966808e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027626319e-01,-5.580772951e-04,8.303776023e-01
+22,1.900000000e+00,UP_FORCE_RAMP,1792844804155814027,1.580987154e-05,-4.458337339e-04,5.673443784e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.748814787e-05,-4.411865661e-04,5.160360701e-05,7.019714077e-01,-4.678187885e-04,8.602001204e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027626731e-01,-5.580909404e-04,8.303776602e-01
+23,2.100000000e+00,UP_FORCE_RAMP,1792844804351868080,1.492717625e-05,-4.511529000e-04,5.647933417e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.754019095e-05,-4.411990528e-04,5.167882825e-05,7.019705250e-01,-4.731379546e-04,8.601998653e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027627252e-01,-5.581034271e-04,8.303777354e-01
+24,2.300000000e+00,UP_FORCE_RAMP,1792844804580546785,1.380972972e-05,-4.495537942e-04,5.933493363e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.758770681e-05,-4.412137077e-04,5.174042019e-05,7.019694076e-01,-4.715388488e-04,8.602027208e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027627727e-01,-5.581180821e-04,8.303777970e-01
+25,2.450000000e+00,UP_FORCE_RAMP,1792844804728631135,1.560894002e-05,-4.577318724e-04,6.671712014e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.761978761e-05,-4.412238099e-04,5.178016729e-05,7.019712068e-01,-4.797169270e-04,8.602101030e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027628048e-01,-5.581281843e-04,8.303778367e-01
+26,2.600000000e+00,UP_FORCE_RAMP,1792844804875510326,1.414827090e-05,-4.455720677e-04,6.792780725e-05,1.539156355e-05,-4.478453225e-04,5.150276528e-05,1.764882107e-05,-4.412319925e-04,5.181478582e-05,7.019697461e-01,-4.675571223e-04,8.602113137e-01,7.019709894e-01,-4.698303770e-04,8.601948887e-01,7.027628338e-01,-5.581363668e-04,8.303778713e-01
+27,2.783333333e+00,UP_FORCE_RAMP,1792844805055808211,1.518417523e-05,-4.498207308e-04,7.742113156e-05,1.515677200e-05,-4.490333251e-04,7.190982052e-05,1.766387610e-05,-4.423795423e-04,7.193298886e-05,7.019707820e-01,-4.718057854e-04,8.602208070e-01,7.019707546e-01,-4.710183797e-04,8.602152957e-01,7.027628489e-01,-5.592839166e-04,8.303979895e-01
+28,3.000000000e+00,UP_FORCE_RAMP,1792844805269343597,9.953722634e-06,-4.516093031e-04,7.978426982e-05,1.515677200e-05,-4.490333251e-04,7.190982052e-05,1.769590982e-05,-4.423959963e-04,7.202984768e-05,7.019655516e-01,-4.735943577e-04,8.602231702e-01,7.019707546e-01,-4.710183797e-04,8.602152957e-01,7.027628809e-01,-5.593003706e-04,8.303980864e-01
+29,3.066666667e+00,UP_FORCE_RAMP,1792844805334199207,-2.703868365e-05,-4.394899835e-04,7.600376363e-05,-2.655368663e-05,-4.395714558e-04,7.613984321e-05,-2.629164124e-05,-4.331051066e-04,7.610096240e-05,7.019285592e-01,-4.614750381e-04,8.602193897e-01,7.019290442e-01,-4.615565104e-04,8.602195258e-01,7.027188933e-01,-5.500094810e-04,8.304021575e-01
+30,3.166666667e+00,UP_FORCE_RAMP,1792844805433038365,-2.319144284e-05,-4.449744668e-04,8.625260356e-05,-2.655368663e-05,-4.395714558e-04,7.613984321e-05,-2.646626716e-05,-4.330705008e-04,7.615273172e-05,7.019324064e-01,-4.669595214e-04,8.602296385e-01,7.019290442e-01,-4.615565104e-04,8.602195258e-01,7.027187187e-01,-5.499748751e-04,8.304022093e-01
+31,3.300000000e+00,UP_FORCE_RAMP,1792844805563828812,-2.219761518e-05,-4.382977726e-04,9.474520064e-05,-2.655368663e-05,-4.395714558e-04,7.613984321e-05,-2.655251075e-05,-4.330637768e-04,7.620111163e-05,7.019334003e-01,-4.602828272e-04,8.602381311e-01,7.019290442e-01,-4.615565104e-04,8.602195258e-01,7.027186325e-01,-5.499681511e-04,8.304022577e-01
+32,3.483333333e+00,UP_FORCE_RAMP,1792844805744657328,-2.001037879e-05,-4.416583912e-04,1.064573197e-04,-2.144372484e-05,-4.420161234e-04,9.574971314e-05,-2.101117315e-05,-4.354575378e-04,9.556325790e-05,7.019355875e-01,-4.636434458e-04,8.602498432e-01,7.019341541e-01,-4.640011780e-04,8.602391356e-01,7.027241738e-01,-5.523619121e-04,8.304216198e-01
+33,3.666666667e+00,UP_FORCE_RAMP,1792844805941522762,-1.958695744e-05,-4.412382331e-04,1.195979481e-04,-1.685984825e-05,-4.397073842e-04,1.169078755e-04,-1.594152489e-05,-4.332042315e-04,1.164624277e-04,7.019360109e-01,-4.632232877e-04,8.602629839e-01,7.019387380e-01,-4.616924388e-04,8.602602938e-01,7.027292435e-01,-5.501086058e-04,8.304425190e-01
+34,3.833333333e+00,UP_FORCE_RAMP,1792844806104443801,-1.682030288e-05,-4.428642482e-04,1.349928662e-04,-1.685984825e-05,-4.397073842e-04,1.169078755e-04,-1.595920564e-05,-4.332245253e-04,1.165938283e-04,7.019387776e-01,-4.648493028e-04,8.602783788e-01,7.019387380e-01,-4.616924388e-04,8.602602938e-01,7.027292258e-01,-5.501288996e-04,8.304426504e-01
+35,4.016666667e+00,UP_FORCE_RAMP,1792844806286744345,-1.798572384e-05,-4.422040314e-04,1.421650650e-04,-1.619910129e-05,-4.380092956e-04,1.372615582e-04,-1.495541486e-05,-4.315860351e-04,1.367493687e-04,7.019376121e-01,-4.641890860e-04,8.602855510e-01,7.019393988e-01,-4.599943502e-04,8.602806475e-01,7.027302296e-01,-5.484904094e-04,8.304628059e-01
+36,4.150000000e+00,UP_FORCE_RAMP,1792844806416066169,-1.769383947e-05,-4.405409534e-04,1.477494976e-04,-1.619910129e-05,-4.380092956e-04,1.372615582e-04,-1.496772069e-05,-4.316002462e-04,1.368581361e-04,7.019379040e-01,-4.625260079e-04,8.602911354e-01,7.019393988e-01,-4.599943502e-04,8.602806475e-01,7.027302173e-01,-5.485046205e-04,8.304629147e-01
+37,4.333333333e+00,UP_FORCE_RAMP,1792844806596177171,-1.959844335e-05,-4.411131178e-04,1.553824559e-04,-1.657444298e-05,-4.378043214e-04,1.586812544e-04,-1.516521279e-05,-4.314059095e-04,1.580426846e-04,7.019359994e-01,-4.630981724e-04,8.602987684e-01,7.019390234e-01,-4.597893759e-04,8.603020672e-01,7.027300198e-01,-5.483102838e-04,8.304840992e-01
+38,4.516666667e+00,UP_FORCE_RAMP,1792844806775681191,-2.166929083e-05,-4.410350201e-04,1.651852491e-04,-1.657444298e-05,-4.378043214e-04,1.586812544e-04,-1.517974838e-05,-4.314268720e-04,1.582274597e-04,7.019339286e-01,-4.630200747e-04,8.603085712e-01,7.019390234e-01,-4.597893759e-04,8.603020672e-01,7.027300052e-01,-5.483312464e-04,8.304842840e-01
+39,4.683333333e+00,UP_FORCE_RAMP,1792844806939739776,-2.750134550e-05,-4.370026479e-04,1.640277413e-04,-1.657444298e-05,-4.378043214e-04,1.586812544e-04,-1.519326240e-05,-4.314404860e-04,1.583429585e-04,7.019280965e-01,-4.589877025e-04,8.603074137e-01,7.019390234e-01,-4.597893759e-04,8.603020672e-01,7.027299917e-01,-5.483448603e-04,8.304843995e-01
+40,4.800000000e+00,UP_FORCE_RAMP,1792844807153108375,-2.971010395e-05,-4.363742546e-04,1.757426747e-04,-2.932848981e-05,-4.338431993e-04,1.752962679e-04,-2.847991526e-05,-4.275317359e-04,1.747030929e-04,7.019258878e-01,-4.583593091e-04,8.603191286e-01,7.019262694e-01,-4.558282539e-04,8.603186822e-01,7.027167051e-01,-5.444361102e-04,8.305007596e-01
+41,5.000000000e+00,UP_FORCE_RAMP,1792844807381634530,-3.244519512e-05,-4.338633594e-04,1.834631705e-04,-2.932848981e-05,-4.338431993e-04,1.752962679e-04,-2.855196507e-05,-4.275409993e-04,1.748733390e-04,7.019231527e-01,-4.558484140e-04,8.603268491e-01,7.019262694e-01,-4.558282539e-04,8.603186822e-01,7.027166330e-01,-5.444453736e-04,8.305009299e-01
+42,5.183333333e+00,UP_FORCE_RAMP,1792844807562344183,-3.619490263e-05,-4.316085754e-04,1.867051606e-04,-2.932848981e-05,-4.338431993e-04,1.752962679e-04,-2.859146941e-05,-4.275490961e-04,1.749824048e-04,7.019194030e-01,-4.535936299e-04,8.603300911e-01,7.019262694e-01,-4.558282539e-04,8.603186822e-01,7.027165935e-01,-5.444534705e-04,8.305010390e-01
+43,5.300000000e+00,UP_FORCE_RAMP,1792844807676697059,-3.561894575e-05,-4.352134908e-04,1.937600850e-04,-2.932848981e-05,-4.338431993e-04,1.752962679e-04,-2.861234148e-05,-4.275535406e-04,1.750404407e-04,7.019199789e-01,-4.571985454e-04,8.603371460e-01,7.019262694e-01,-4.558282539e-04,8.603186822e-01,7.027165726e-01,-5.444579149e-04,8.305010970e-01
+44,5.450000000e+00,UP_FORCE_RAMP,1792844807840679661,-3.752527382e-05,-4.360833455e-04,1.940019308e-04,-3.485921293e-05,-4.371020497e-04,1.950069587e-04,-3.425806557e-05,-4.307647822e-04,1.944421435e-04,7.019180726e-01,-4.580684001e-04,8.603373878e-01,7.019207387e-01,-4.590871043e-04,8.603383929e-01,7.027109269e-01,-5.476691565e-04,8.305204987e-01
+45,5.683333333e+00,UP_FORCE_RAMP,1792844808070725520,-3.835086220e-05,-4.313731502e-04,1.973319667e-04,-3.485921293e-05,-4.371020497e-04,1.950069587e-04,-3.430987061e-05,-4.307785381e-04,1.946075579e-04,7.019172470e-01,-4.533582047e-04,8.603407179e-01,7.019207387e-01,-4.590871043e-04,8.603383929e-01,7.027108751e-01,-5.476829124e-04,8.305206641e-01
+46,5.700000000e+00,UP_FORCE_RAMP,1792844808087289896,-4.124137867e-05,-4.867333504e-04,2.112068124e-04,-4.112905634e-05,-4.866638817e-04,2.111344156e-04,-4.077764348e-05,-4.793447444e-04,2.103813707e-04,7.019143565e-01,-5.087184050e-04,8.603545927e-01,7.019144688e-01,-5.086489363e-04,8.603545203e-01,7.027044073e-01,-5.962491187e-04,8.305364379e-01
+47,5.750000000e+00,UP_FORCE_RAMP,1792844808135285882,-4.450789142e-05,-4.506817837e-04,2.050969530e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.951391483e-05,-4.563412622e-04,2.061956077e-04,7.019110900e-01,-4.726668383e-04,8.603484829e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026956711e-01,-5.732456365e-04,8.305322522e-01
+48,5.816666667e+00,UP_FORCE_RAMP,1792844808201340854,-4.577214754e-05,-4.685677174e-04,2.059106871e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.955397659e-05,-4.563396085e-04,2.062457187e-04,7.019098257e-01,-4.905527720e-04,8.603492966e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026956310e-01,-5.732439828e-04,8.305323023e-01
+49,5.983333333e+00,UP_FORCE_RAMP,1792844808365792005,-4.744526411e-05,-4.593683961e-04,2.032780280e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.961579158e-05,-4.563456486e-04,2.063467064e-04,7.019081526e-01,-4.813534507e-04,8.603466639e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026955692e-01,-5.732500229e-04,8.305324033e-01
+50,6.116666667e+00,UP_FORCE_RAMP,1792844808496305613,-4.923772374e-05,-4.621713103e-04,2.018623648e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.965212446e-05,-4.563488843e-04,2.064131120e-04,7.019063601e-01,-4.841563649e-04,8.603452483e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026955329e-01,-5.732532586e-04,8.305324697e-01
+51,6.266666667e+00,UP_FORCE_RAMP,1792844808643208477,-4.650680801e-05,-4.606968324e-04,2.056263374e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.968690518e-05,-4.563514009e-04,2.064772357e-04,7.019090911e-01,-4.826818870e-04,8.603490123e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026954981e-01,-5.732557753e-04,8.305325338e-01
+52,6.450000000e+00,UP_FORCE_RAMP,1792844808824042353,-4.803843567e-05,-4.616519580e-04,2.043230491e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.972241190e-05,-4.563539712e-04,2.065445991e-04,7.019075594e-01,-4.836370125e-04,8.603477090e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026954626e-01,-5.732583456e-04,8.305326012e-01
+53,6.633333333e+00,UP_FORCE_RAMP,1792844809004055413,-4.720835471e-05,-4.651636196e-04,2.059561283e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.975278297e-05,-4.563558516e-04,2.066022880e-04,7.019083895e-01,-4.871486742e-04,8.603493420e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026954322e-01,-5.732602259e-04,8.305326588e-01
+54,6.866666667e+00,UP_FORCE_RAMP,1792844809250021608,-4.922065002e-05,-4.659421776e-04,2.068921536e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.978483343e-05,-4.563577873e-04,2.066651154e-04,7.019063772e-01,-4.879272321e-04,8.603502781e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026954002e-01,-5.732621617e-04,8.305327217e-01
+55,7.050000000e+00,UP_FORCE_RAMP,1792844809430299333,-4.957090993e-05,-4.606054279e-04,2.094710463e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.980654670e-05,-4.563586650e-04,2.067076134e-04,7.019060270e-01,-4.825904825e-04,8.603528570e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026953784e-01,-5.732630393e-04,8.305327642e-01
+56,7.216666667e+00,UP_FORCE_RAMP,1792844809593905505,-4.932671925e-05,-4.632669932e-04,2.133642044e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.982357325e-05,-4.563595997e-04,2.067416819e-04,7.019062711e-01,-4.852520478e-04,8.603567501e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026953614e-01,-5.732639740e-04,8.305327982e-01
+57,7.400000000e+00,UP_FORCE_RAMP,1792844809773664217,-4.838941916e-05,-4.637108214e-04,2.180291746e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.983999469e-05,-4.563601764e-04,2.067750234e-04,7.019072084e-01,-4.856958760e-04,8.603614151e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026953450e-01,-5.732645507e-04,8.305328316e-01
+58,7.583333333e+00,UP_FORCE_RAMP,1792844809953938885,-4.979019901e-05,-4.610895801e-04,2.183624403e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.985440901e-05,-4.563607537e-04,2.068044834e-04,7.019058077e-01,-4.830746347e-04,8.603617484e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026953306e-01,-5.732651280e-04,8.305328610e-01
+59,7.816666667e+00,UP_FORCE_HOLD,1792844810215754456,-4.901552592e-05,-4.635216543e-04,2.231489922e-04,-4.935599530e-05,-4.631427187e-04,2.068370158e-04,-4.987020743e-05,-4.563614917e-04,2.068371306e-04,7.019065823e-01,-4.855067089e-04,8.603665349e-01,7.019062419e-01,-4.851277733e-04,8.603502229e-01,7.026953148e-01,-5.732658660e-04,8.305328937e-01

Fixed/digit/ball_PLA_17.5/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,6.9804e-02,2.5323e-01,2.4553e+00,-5.3991e-02,4.1769e-02,2.4344e-04,6.1465e-03,2.1698e-03,4.3869e-05,-1.7726e-04,4.5574e-04,-6.0952e-05,6.5184e-03,4.9279e-04
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,4.5070e-05,7.6285e-02,2.5235e-01,2.4550e+00,-5.3887e-02,4.2221e-02,1.9600e-04,1.2628e-02,1.2918e-03,-1.6952e-04,-7.3258e-05,9.0725e-04,-1.0839e-04,1.2695e-02,9.1663e-04
+2,3.1667e-01,WAIT_W2,8.6085e-05,8.1311e-02,2.5202e-01,2.4550e+00,-5.3841e-02,4.2569e-02,1.5192e-04,1.7653e-02,9.6065e-04,-2.2388e-04,-2.7549e-05,1.2555e-03,-1.5246e-04,1.7681e-02,1.2650e-03
+3,4.8333e-01,WAIT_W2,1.3387e-04,8.7460e-02,2.5182e-01,2.4550e+00,-5.3807e-02,4.2987e-02,8.5820e-05,2.3803e-02,7.6026e-04,-2.2840e-04,6.9477e-06,1.6735e-03,-2.1857e-04,2.3816e-02,1.6877e-03
+4,6.3333e-01,WAIT_W2,1.7354e-04,9.0684e-02,2.5119e-01,2.4550e+00,-5.3743e-02,4.3204e-02,5.0381e-05,2.7027e-02,1.3742e-04,-2.3437e-04,7.0602e-05,1.8905e-03,-2.5401e-04,2.7028e-02,1.9088e-03
+5,7.3333e-01,WAIT_W2,2.1852e-04,9.3391e-02,2.5073e-01,2.4550e+00,-5.3696e-02,4.3404e-02,3.5448e-05,2.9734e-02,-3.3063e-04,-1.7643e-04,1.1726e-04,2.0908e-03,-2.6894e-04,2.9736e-02,2.1112e-03
+6,7.5000e-01,WAIT_W2,2.5891e-04,8.4526e-02,4.1025e-01,2.4323e+00,-6.5007e-02,4.2793e-02,1.1777e-04,2.0868e-02,1.5919e-01,-2.2897e-02,-1.1194e-02,1.4790e-03,-1.8662e-04,1.6218e-01,1.1293e-02
+7,7.6667e-01,WAIT_W2,3.3519e-04,8.2269e-02,6.4399e-01,2.4082e+00,-8.1599e-02,4.2657e-02,2.7956e-04,1.8612e-02,3.9294e-01,-4.7058e-02,-2.7785e-02,1.3431e-03,-2.4827e-05,3.9618e-01,2.7818e-02
+8,7.6667e-01,WAIT_W2,3.3519e-04,8.2269e-02,6.4399e-01,2.4082e+00,-8.1599e-02,4.2657e-02,2.7956e-04,1.8612e-02,3.9294e-01,-4.7058e-02,-2.7785e-02,1.3431e-03,-2.4827e-05,3.9618e-01,2.7818e-02
+9,7.8333e-01,WAIT_W2,3.9584e-04,9.8838e-02,1.0871e+00,2.4217e+00,-1.1296e-01,4.3823e-02,5.7483e-04,3.5181e-02,8.3600e-01,-3.3515e-02,-5.9146e-02,2.5097e-03,2.7044e-04,8.3741e-01,5.9200e-02
+10,7.8333e-01,WAIT_W2,3.9584e-04,9.8838e-02,1.0871e+00,2.4217e+00,-1.1296e-01,4.3823e-02,5.7483e-04,3.5181e-02,8.3600e-01,-3.3515e-02,-5.9146e-02,2.5097e-03,2.7044e-04,8.3741e-01,5.9200e-02
+11,8.0000e-01,WAIT_W2,5.3300e-04,1.1285e-01,1.2798e+00,2.4301e+00,-1.2569e-01,4.4747e-02,6.1916e-04,4.9193e-02,1.0288e+00,-2.5112e-02,-7.1877e-02,3.4330e-03,3.1477e-04,1.0303e+00,7.1959e-02
+12,8.0000e-01,WAIT_W2,5.3300e-04,1.1285e-01,1.2798e+00,2.4301e+00,-1.2569e-01,4.4747e-02,6.1916e-04,4.9193e-02,1.0288e+00,-2.5112e-02,-7.1877e-02,3.4330e-03,3.1477e-04,1.0303e+00,7.1959e-02
+13,8.1667e-01,WAIT_W2,5.8780e-04,1.1087e-01,1.8404e+00,2.4172e+00,-1.6313e-01,4.4644e-02,7.4434e-04,4.7215e-02,1.5894e+00,-3.7976e-02,-1.0931e-01,3.3301e-03,4.3995e-04,1.5905e+00,1.0937e-01
+14,8.1667e-01,WAIT_W2,5.8780e-04,1.1087e-01,1.8404e+00,2.4172e+00,-1.6313e-01,4.4644e-02,7.4434e-04,4.7215e-02,1.5894e+00,-3.7976e-02,-1.0931e-01,3.3301e-03,4.3995e-04,1.5905e+00,1.0937e-01
+15,8.8333e-01,WAIT_W2,6.4661e-04,1.0864e-01,2.7425e+00,2.4377e+00,-2.3169e-01,4.4564e-02,2.2199e-03,4.4982e-02,2.4915e+00,-1.7543e-02,-1.7788e-01,3.2503e-03,1.9155e-03,2.4919e+00,1.7792e-01
+16,1.0167e+00,WAIT_W2,6.9534e-04,1.0907e-01,2.8485e+00,2.4354e+00,-2.3843e-01,4.4603e-02,2.8548e-03,4.5418e-02,2.5974e+00,-1.9823e-02,-1.8461e-01,3.2890e-03,2.5504e-03,2.5979e+00,1.8466e-01
+17,1.1500e+00,WAIT_W2,7.3625e-04,1.3334e-01,2.8132e+00,2.4499e+00,-2.3545e-01,4.6306e-02,2.6043e-03,6.9683e-02,2.5621e+00,-5.3353e-03,-1.8164e-01,4.9924e-03,2.2999e-03,2.5630e+00,1.8172e-01
+18,1.3000e+00,WAIT_W2,7.8074e-04,1.2217e-01,2.7757e+00,2.4424e+00,-2.3306e-01,4.5606e-02,2.3896e-03,5.8510e-02,2.5246e+00,-1.2834e-02,-1.7924e-01,4.2920e-03,2.0852e-03,2.5253e+00,1.7931e-01
+19,1.4333e+00,UP_FORCE_RAMP,8.2389e-04,1.2446e-01,2.7773e+00,2.4223e+00,-2.3351e-01,4.5708e-02,2.5465e-03,6.0807e-02,2.5262e+00,-3.2884e-02,-1.7970e-01,4.3939e-03,2.2421e-03,2.5272e+00,1.7977e-01
+20,1.5833e+00,UP_FORCE_RAMP,8.6715e-04,1.3441e-01,2.7739e+00,2.4390e+00,-2.3286e-01,4.6413e-02,2.4358e-03,7.0750e-02,2.5228e+00,-1.6169e-02,-1.7904e-01,5.0991e-03,2.1314e-03,2.5239e+00,1.7913e-01
+21,1.7667e+00,UP_FORCE_RAMP,9.1056e-04,1.4172e-01,2.7528e+00,2.4623e+00,-2.3116e-01,4.6940e-02,2.1971e-03,7.8061e-02,2.5017e+00,7.0477e-03,-1.7734e-01,5.6266e-03,1.8927e-03,2.5029e+00,1.7744e-01
+22,1.9000e+00,UP_FORCE_RAMP,9.5306e-04,1.4916e-01,2.7486e+00,2.4782e+00,-2.3066e-01,4.7456e-02,2.0363e-03,8.5499e-02,2.4975e+00,2.2995e-02,-1.7684e-01,6.1424e-03,1.7319e-03,2.4991e+00,1.7696e-01
+23,2.1000e+00,UP_FORCE_RAMP,9.9629e-04,1.5781e-01,2.7448e+00,2.4894e+00,-2.3015e-01,4.8059e-02,1.9294e-03,9.4157e-02,2.4937e+00,3.4181e-02,-1.7633e-01,6.7455e-03,1.6250e-03,2.4957e+00,1.7647e-01
+24,2.3000e+00,UP_FORCE_RAMP,1.0411e-03,1.6755e-01,2.7458e+00,2.4990e+00,-2.3004e-01,4.8717e-02,1.7176e-03,1.0389e-01,2.4947e+00,4.3813e-02,-1.7623e-01,7.4030e-03,1.4132e-03,2.4973e+00,1.7639e-01
+25,2.4500e+00,UP_FORCE_RAMP,1.0844e-03,1.7419e-01,2.7475e+00,2.5027e+00,-2.3008e-01,4.9156e-02,1.6467e-03,1.1053e-01,2.4965e+00,4.7500e-02,-1.7626e-01,7.8421e-03,1.3423e-03,2.4994e+00,1.7644e-01
+26,2.6000e+00,UP_FORCE_RAMP,1.1253e-03,1.7916e-01,2.7451e+00,2.5139e+00,-2.2977e-01,4.9505e-02,1.5313e-03,1.1551e-01,2.4940e+00,5.8655e-02,-1.7596e-01,8.1917e-03,1.2269e-03,2.4974e+00,1.7615e-01
+27,2.7833e+00,UP_FORCE_RAMP,1.1699e-03,1.8669e-01,2.7527e+00,2.4661e+00,-2.3123e-01,5.0096e-02,1.4920e-03,1.2303e-01,2.5017e+00,1.0920e-02,-1.7742e-01,8.7820e-03,1.1877e-03,2.5047e+00,1.7764e-01
+28,3.0000e+00,UP_FORCE_RAMP,1.2127e-03,1.8737e-01,2.7490e+00,2.4664e+00,-2.3066e-01,5.0148e-02,1.4180e-03,1.2371e-01,2.4979e+00,1.1186e-02,-1.7685e-01,8.8341e-03,1.1136e-03,2.5010e+00,1.7707e-01
+29,3.0667e+00,UP_FORCE_RAMP,1.2595e-03,1.9478e-01,2.7452e+00,2.4826e+00,-2.3029e-01,5.0626e-02,1.3429e-03,1.3112e-01,2.4942e+00,2.7431e-02,-1.7647e-01,9.3122e-03,1.0385e-03,2.4978e+00,1.7672e-01
+30,3.1667e+00,UP_FORCE_RAMP,1.3050e-03,3.3130e-01,2.7022e+00,2.4748e+00,-2.2742e-01,6.0389e-02,-1.1217e-03,2.6765e-01,2.4511e+00,1.9596e-02,-1.7361e-01,1.9075e-02,-1.4261e-03,2.4658e+00,1.7466e-01
+31,3.3000e+00,UP_FORCE_RAMP,1.3423e-03,3.0844e-01,2.7014e+00,2.4861e+00,-2.2716e-01,5.8673e-02,-7.8017e-04,2.4479e-01,2.4504e+00,3.0848e-02,-1.7334e-01,1.7359e-02,-1.0846e-03,2.4628e+00,1.7421e-01
+32,3.4833e+00,UP_FORCE_RAMP,1.3825e-03,2.8137e-01,2.7224e+00,2.4358e+00,-2.2963e-01,5.6848e-02,-3.0829e-04,2.1771e-01,2.4713e+00,-1.9370e-02,-1.7582e-01,1.5535e-02,-6.1268e-04,2.4810e+00,1.7650e-01
+33,3.6667e+00,UP_FORCE_RAMP,1.4305e-03,2.6095e-01,2.7146e+00,2.3729e+00,-2.3008e-01,5.5433e-02,-1.2178e-04,1.9729e-01,2.4635e+00,-8.2290e-02,-1.7626e-01,1.4119e-02,-4.2617e-04,2.4728e+00,1.7683e-01
+34,3.8333e+00,UP_FORCE_RAMP,1.4746e-03,2.5314e-01,2.6971e+00,2.4186e+00,-2.2807e-01,5.4871e-02,7.2934e-05,1.8949e-01,2.4460e+00,-3.6598e-02,-1.7426e-01,1.3557e-02,-2.3146e-04,2.4536e+00,1.7478e-01
+35,4.0167e+00,UP_FORCE_RAMP,1.5156e-03,2.4757e-01,2.6778e+00,2.3659e+00,-2.2738e-01,5.4521e-02,1.8865e-04,1.8391e-01,2.4268e+00,-8.9267e-02,-1.7357e-01,1.3207e-02,-1.1574e-04,2.4354e+00,1.7407e-01
+36,4.1500e+00,UP_FORCE_RAMP,1.5591e-03,2.4487e-01,2.6822e+00,2.4020e+00,-2.2738e-01,5.4308e-02,2.1566e-04,1.8121e-01,2.4311e+00,-5.3215e-02,-1.7357e-01,1.2994e-02,-8.8732e-05,2.4385e+00,1.7405e-01
+37,4.3333e+00,UP_FORCE_RAMP,1.6027e-03,2.4226e-01,2.6721e+00,2.3368e+00,-2.2766e-01,5.4219e-02,2.8414e-04,1.7860e-01,2.4210e+00,-1.1845e-01,-1.7384e-01,1.2905e-02,-2.0246e-05,2.4305e+00,1.7432e-01
+38,4.5167e+00,UP_FORCE_RAMP,1.6473e-03,2.3880e-01,2.6740e+00,2.3901e+00,-2.2707e-01,5.3903e-02,3.1938e-04,1.7515e-01,2.4229e+00,-6.5069e-02,-1.7326e-01,1.2589e-02,1.4991e-05,2.4301e+00,1.7372e-01
+39,4.6833e+00,UP_FORCE_RAMP,1.6881e-03,2.3652e-01,2.6723e+00,2.4092e+00,-2.2662e-01,5.3709e-02,3.5109e-04,1.7286e-01,2.4213e+00,-4.6052e-02,-1.7280e-01,1.2395e-02,4.6697e-05,2.4279e+00,1.7325e-01
+40,4.8000e+00,UP_FORCE_RAMP,1.7340e-03,2.7895e-01,2.6432e+00,2.3541e+00,-2.2534e-01,5.6776e-02,-3.6294e-04,2.1529e-01,2.3921e+00,-1.0110e-01,-1.7152e-01,1.5462e-02,-6.6733e-04,2.4039e+00,1.7222e-01
+41,5.0000e+00,UP_FORCE_RAMP,1.7768e-03,2.6790e-01,2.6366e+00,2.3833e+00,-2.2437e-01,5.5923e-02,-2.2554e-04,2.0424e-01,2.3855e+00,-7.1900e-02,-1.7055e-01,1.4609e-02,-5.2993e-04,2.3953e+00,1.7118e-01
+42,5.1833e+00,UP_FORCE_RAMP,1.8205e-03,2.6014e-01,2.6373e+00,2.3948e+00,-2.2408e-01,5.5346e-02,-1.2152e-04,1.9648e-01,2.3863e+00,-6.0394e-02,-1.7027e-01,1.4032e-02,-4.2591e-04,2.3951e+00,1.7085e-01
+43,5.3000e+00,UP_FORCE_RAMP,1.8605e-03,2.5620e-01,2.6338e+00,2.4070e+00,-2.2360e-01,5.5032e-02,-1.4026e-05,1.9254e-01,2.3827e+00,-4.8187e-02,-1.6978e-01,1.3718e-02,-3.1841e-04,2.3910e+00,1.7034e-01
+44,5.4500e+00,UP_FORCE_RAMP,1.9051e-03,2.6997e-01,2.6668e+00,2.3567e+00,-2.2695e-01,5.6144e-02,-6.4477e-05,2.0631e-01,2.4158e+00,-9.8555e-02,-1.7314e-01,1.4830e-02,-3.6887e-04,2.4265e+00,1.7377e-01
+45,5.6833e+00,UP_FORCE_RAMP,1.9408e-03,2.5721e-01,2.6688e+00,2.3928e+00,-2.2644e-01,5.5181e-02,-7.0028e-05,1.9355e-01,2.4178e+00,-6.2435e-02,-1.7262e-01,1.3867e-02,-3.7442e-04,2.4263e+00,1.7318e-01
+46,5.7000e+00,UP_FORCE_RAMP,1.9980e-03,2.5778e-01,2.6669e+00,2.3935e+00,-2.2631e-01,5.5216e-02,-6.9175e-05,1.9412e-01,2.4158e+00,-6.1664e-02,-1.7250e-01,1.3903e-02,-3.7356e-04,2.4244e+00,1.7306e-01
+47,5.7500e+00,UP_FORCE_RAMP,2.0427e-03,3.1628e-01,2.8136e+00,2.3655e+00,-2.3721e-01,5.9384e-02,-7.3693e-04,2.5262e-01,2.5626e+00,-8.9697e-02,-1.8339e-01,1.8070e-02,-1.0413e-03,2.5766e+00,1.8429e-01
+48,5.8167e+00,UP_FORCE_RAMP,2.0773e-03,3.0783e-01,2.8120e+00,2.3805e+00,-2.3690e-01,5.8711e-02,-6.4776e-04,2.4417e-01,2.5609e+00,-7.4714e-02,-1.8309e-01,1.7397e-02,-9.5215e-04,2.5736e+00,1.8391e-01
+49,5.9833e+00,UP_FORCE_RAMP,2.1250e-03,3.0154e-01,2.8116e+00,2.3920e+00,-2.3663e-01,5.8290e-02,-5.1316e-04,2.3788e-01,2.5605e+00,-6.3201e-02,-1.8281e-01,1.6976e-02,-8.1755e-04,2.5723e+00,1.8360e-01
+50,6.1167e+00,UP_FORCE_RAMP,2.1620e-03,2.9337e-01,2.8151e+00,2.4003e+00,-2.3676e-01,5.7658e-02,-3.8834e-04,2.2971e-01,2.5640e+00,-5.4887e-02,-1.8294e-01,1.6344e-02,-6.9273e-04,2.5749e+00,1.8367e-01
+51,6.2667e+00,UP_FORCE_RAMP,2.2105e-03,2.8494e-01,2.8123e+00,2.4173e+00,-2.3627e-01,5.7031e-02,-2.4091e-04,2.2128e-01,2.5613e+00,-3.7883e-02,-1.8245e-01,1.5717e-02,-5.4530e-04,2.5711e+00,1.8313e-01
+52,6.4500e+00,UP_FORCE_RAMP,2.2508e-03,2.8246e-01,2.8135e+00,2.4253e+00,-2.3619e-01,5.6899e-02,-1.7249e-04,2.1880e-01,2.5624e+00,-2.9878e-02,-1.8237e-01,1.5586e-02,-4.7688e-04,2.5719e+00,1.8304e-01
+53,6.6333e+00,UP_FORCE_RAMP,2.2969e-03,2.7577e-01,2.8129e+00,2.4387e+00,-2.3592e-01,5.6404e-02,-4.7423e-05,2.1211e-01,2.5618e+00,-1.6527e-02,-1.8211e-01,1.5090e-02,-3.5181e-04,2.5706e+00,1.8273e-01
+54,6.8667e+00,UP_FORCE_RAMP,2.3378e-03,2.7018e-01,2.8143e+00,2.4483e+00,-2.3586e-01,5.5993e-02,3.9026e-05,2.0653e-01,2.5633e+00,-6.9060e-03,-1.8204e-01,1.4679e-02,-2.6536e-04,2.5716e+00,1.8263e-01
+55,7.0500e+00,UP_FORCE_RAMP,2.3812e-03,2.6591e-01,2.8143e+00,2.4572e+00,-2.3571e-01,5.5675e-02,1.1772e-04,2.0225e-01,2.5633e+00,1.9960e-03,-1.8190e-01,1.4362e-02,-1.8667e-04,2.5712e+00,1.8246e-01
+56,7.2167e+00,UP_FORCE_RAMP,2.4278e-03,2.6225e-01,2.8142e+00,2.4645e+00,-2.3558e-01,5.5401e-02,1.8127e-04,1.9859e-01,2.5631e+00,9.2976e-03,-1.8177e-01,1.4087e-02,-1.2312e-04,2.5708e+00,1.8231e-01
+57,7.4000e+00,UP_FORCE_RAMP,2.4703e-03,2.5896e-01,2.8145e+00,2.4710e+00,-2.3549e-01,5.5157e-02,2.3747e-04,1.9531e-01,2.5634e+00,1.5765e-02,-1.8168e-01,1.3843e-02,-6.6916e-05,2.5709e+00,1.8220e-01
+58,7.5833e+00,UP_FORCE_RAMP,2.5118e-03,2.5616e-01,2.8145e+00,2.4764e+00,-2.3539e-01,5.4948e-02,2.8664e-04,1.9250e-01,2.5634e+00,2.1187e-02,-1.8158e-01,1.3634e-02,-1.7750e-05,2.5707e+00,1.8209e-01
+59,7.8167e+00,UP_FORCE_HOLD,2.5561e-03,2.5361e-01,2.8148e+00,2.4813e+00,-2.3533e-01,5.4757e-02,3.2806e-04,1.8996e-01,2.5638e+00,2.6089e-02,-1.8152e-01,1.3443e-02,2.3675e-05,2.5709e+00,1.8202e-01

Fixed/digit/ball_PLA_17.5/press_depth_02/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb3b6970123e81706b0a33f9a0f90bbfd0a2eb1ad0730cba997096449fd377f
+size 624640

Fixed/digit/ball_PLA_17.5/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+7961,1792844859258345220,23538699000000,1792844859256365196,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.071,0.07100142538547516,0.6759520942247975,-0.004938760411459279,0.10679408136202403,0.9999999564551839,-0.00010381775456238485,-0.00024204076091416046,9.576345126766283e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.007545930757759223,-0.02082136554112446,-0.0185065448492715,-0.001027525041217503,-7.94532936410075e-05,-0.0001415684263211137,1.2379913765544412,1.2635073379789237,0.728473768571485,0.09640765874224855,-0.09716847556928151,0.0001733421761384217,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,-0.4690830332076219,2.0142812412366733,1.501531193388924,-0.240475807642079,-1.1147942914968798,1.244137931171413,1.6312548422581434,0.0185065448492715,0.1297236488692195,0.0,0.0,0,0,0.0,0.0
+8063,1792844860109321505,23539550000000,1792844860108365259,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759522995379847,-0.004943962079749827,0.1067914687557941,0.9999999559014039,-0.00010696556680471382,-0.0002420483056987702,9.803591148981716e-05,0.6761,-0.0046,0.10699773642187276,1.0,0.0,0.0,0.0,-0.01490741072253643,-0.022302164176042805,-0.038585601841958694,-0.0010493305536767583,0.0008564594421686667,-0.00011128092440099827,1.230629896589664,1.2620265393440053,0.7083947115787979,0.09638585322978929,-0.09623256283347184,0.00020362967805853712,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,-0.439286394705824,1.9621963723269467,1.5203627046326218,-0.23517312238651894,-1.1169868517347608,1.2032704470506044,1.6312548422581434,0.038585601841958694,0.11089213762552164,0.11089213762552164,0.1739186488850515,0,0,-8.99547001750734e-06,-9.999999025923074e-05
+8164,1792844860951347424,23540392000000,1792844860944365512,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759530417720323,-0.004938305741627965,0.10679261897288944,0.9999999572443169,-0.0001017696719299063,-0.00023925950663504904,9.67060037052669e-05,0.6761,-0.0046,0.10697677162756006,1.0,0.0,0.0,0.0,-0.022793498304317206,-0.02778293976901325,-0.048642822698876986,-0.0010486202412136325,0.0008591503913521065,-0.00010400117891914862,1.2227438090078833,1.2565457637510349,0.6983374907218796,0.09638656354225242,-0.0962298718842884,0.00021090942354038677,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,-0.23248338659656917,1.900396921250498,1.3970346454062925,-0.21047479663610746,-0.9854270395129234,1.16486881791364,1.6312548422581434,0.048642822698876986,0.23422019685185091,0.23422019685185091,0.3002186488850517,0,0,-3.632238594205995e-05,-9.999980984798924e-05
+8266,1792844861801450536,23541242000000,1792844861800365100,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759542787848779,-0.004940188551168419,0.10679229699248821,0.9999999577630969,-0.00010490862727543123,-0.0002344102095000705,9.981333739917432e-05,0.6761,-0.0046,0.10695534701855716,1.0,0.0,0.0,0.0,-0.026463432758301764,-0.03229802447839969,-0.03874032674047845,-0.0010782054819213904,0.0018708321204250755,-9.688854215086847e-05,1.2190738745538987,1.2520306790416484,0.7082399866802781,0.09635697830154466,-0.09521819015521543,0.00021802206030866692,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.16276440538091852,1.9047423251447873,1.1603492157086455,-0.19048908635224457,-0.7283654849911746,1.168512748966764,1.6312548422581434,0.03874032674047845,0.47090562654949797,0.47090562654949797,0.42771864888503763,0,0,-7.437231218376805e-06,7.512354766037177e-05
+8370,1792844862667461846,23542108000000,1792844862660365844,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759563140586186,-0.004938083956117938,0.10679158318873926,0.999999958667784,-0.00010240027259616668,-0.0002318365561582865,9.936442967828992e-05,0.6761,-0.0046,0.10695197646363815,1.0,0.0,0.0,0.0,-0.031343098062803554,-0.022069447338469717,-0.02864081178368283,-0.0010849759547681276,0.0018679335106723538,-0.00010523033736755481,1.214194209249397,1.2622592561815784,0.7183395016370737,0.09635020782869792,-0.09522108876496815,0.00020968026509198058,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.16541715789056777,1.855728489276227,1.082302267005863,-0.1729284282984739,-0.67802043731723,1.135680823053379,1.6312548422581434,0.02864081178368283,0.5489525752522804,0.5489525752522804,0.5576186488850233,0,0,-7.046926151898666e-06,-3.3862244519120116e-05
+8466,1792844863467496896,23542908000000,1792844863460365536,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759573437349672,-0.004941764374557252,0.1067859981723728,0.9999999588033358,-0.00010463566949433214,-0.00022987366278691328,0.00010022807448798357,0.6761,-0.0046,0.10693519101459835,1.0,0.0,0.0,0.0,-0.03605464102871503,-0.04228828751688862,0.001214588160780461,-0.0011702204169855845,0.0018720680525126931,-0.00013144515609747788,1.2094826662834854,1.2420404160031595,0.748194901581537,0.09626496336648047,-0.09521695422312781,0.0001834654463620575,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.20251502111660014,1.8765039585606427,1.019532637943474,-0.1780947245619008,-0.6297452056982477,1.1473557999660948,1.6312548422581434,-0.001214588160780461,0.6117222043146695,0.6117222043146695,0.6776186488850101,0,0,-3.72943722806981e-05,-9.999999025923074e-05
+8551,1792844864176534649,23543617000000,1792844864176365983,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759876724514393,-0.004949460540433249,0.10677278714997238,0.9999999721072386,-0.0001046626566086469,-0.00015050721911669774,0.00011671200291607453,0.6761,-0.0046,0.10690379075377245,1.0,0.0,0.0,0.0,-0.06410970844493957,-0.037141506667090374,0.132023958786175,-0.0013098263257929482,0.003847236619622482,0.0007354860745873108,1.181427598867261,1.2471871968529578,0.8790042722069316,0.0961253574576731,-0.09324178565601803,0.0010503966770468462,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.23775277967490618,1.897064709163549,0.7011575683465144,-0.1617253821244836,-0.4277029835211756,1.1641736539689973,1.6312548422581434,-0.132023958786175,0.930097273911629,0.930097273911629,0.7839686488849984,0,0,-4.352904462293227e-05,9.999964331453554e-05
+8635,1792844864876536547,23544317000000,1792844864872365784,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759931558768245,-0.004945607599583513,0.10675162401608866,0.9999999728184927,-9.884545283732429e-05,-0.0001448292154055076,0.00012271900052228794,0.6761,-0.0046,0.10687322632780692,1.0,0.0,0.0,0.0,-0.16324474355703344,0.02100172541046197,0.23245939213337463,0.0037193141873230473,0.010842411249078407,0.0008934988705328779,1.082292563755167,1.30533042893051,0.9794397055541312,0.1011544979707891,-0.0862466110265621,0.0012084094729924134,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.3983044464438686,1.8603548925335622,0.7422551066660861,-0.13189990485190087,-0.4323999061773331,1.1393032745769645,1.6312548422581434,-0.23245939213337463,0.8889997355920574,0.8889997355920574,0.8889686488849868,0,0,-3.46221772265246e-05,9.999999025923074e-05
+8736,1792844865717572191,23545158000000,1792844865712365708,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759886711133704,-0.0049478438321548706,0.10673340733221455,0.9999999706998721,-0.00010175039689753028,-0.000154040180755018,0.0001263392208293038,0.6761,-0.0046,0.10685245506365434,1.0,0.0,0.0,0.0,-0.15895961316761054,0.010910279329419348,0.3057095493451073,0.002683870682741646,0.010833904894186647,0.0008193699108159519,1.08657769414459,1.2952389828494675,1.0526898627658638,0.1001190544662077,-0.08625511738145386,0.0011342805132754873,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.4155893099085611,1.7993886176916232,0.6435223450842932,-0.08874569575799227,-0.36483500108365524,1.0940239350750534,1.6312548422581434,-0.3057095493451073,0.9877324971738503,0.9877324971738503,1.0151186488849842,0,0,-1.88800354614368e-05,-8.456994852973312e-06
+8840,1792844866584640852,23546025000000,1792844866580366088,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759922702369596,-0.00495014399864231,0.10673014116332827,0.9999999712754662,-9.880107970084607e-05,-0.0001505862183776071,0.00012827341296588456,0.6761,-0.0046,0.10683099600692561,1.0,0.0,0.0,0.0,-0.16048608820550658,-0.0019084782222318353,0.3446341093610644,0.0016558868773464963,0.010845869188674709,0.0007754799746775918,1.0850512191066939,1.2824202252978163,1.091614422781821,0.09909107066081255,-0.0862431530869658,0.0010903905771371273,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.42798222649298556,1.8179123805628103,0.5080900125510645,-0.08249644256318955,-0.2734751124070969,1.106937189784704,1.6312548422581434,-0.3446341093610644,1.123164829707079,1.123164829707079,1.145168648885066,0,0,-3.456647776755218e-05,8.244338135320997e-05
+8956,1792844867551725016,23546992000000,1792844867548365549,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6759902927112519,-0.0049514511277105756,0.10670567125897408,0.9999999697798414,-9.619224062368877e-05,-0.00015657973013506824,0.00013458462580853359,0.6761,-0.0046,0.10678655449825482,1.0,0.0,0.0,0.0,-0.15990203138223302,-0.027431817157703486,0.5135088884608346,0.0006010933922250133,0.010822237779370955,0.0006325426855331856,1.0856352759299674,1.2568968863623446,1.2604892018815912,0.09803627717569106,-0.08626678449626955,0.000947453287992721,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.4484762391928652,1.8319878562575584,0.40412725638519387,-0.05544239665083043,-0.20247664053742018,1.1114751138473857,1.6312548422581434,-0.5135088884608346,1.2271275858729496,1.2271275858729496,1.2902186488851575,0,0,-4.3229471775900426e-05,-9.957798060978291e-05
+9048,1792844868317756726,23547758000000,1792844868316365630,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759894024344009,-0.004946789577680228,0.10668299145785688,0.9999999688322005,-9.322778787700257e-05,-0.0001620156916011804,0.0001372514396358198,0.6761,-0.0046,0.10676160605639694,1.0,0.0,0.0,0.0,-0.16599202985765782,-0.03602114791132527,0.6235024699283577,-0.0003589366125275467,0.010823682157937498,0.0005322453853226967,1.0795452774545427,1.2483075556087229,1.3704827833491142,0.0970762471709385,-0.08626534011770301,0.0008471559877822321,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.4197937115476718,1.760765647808731,0.26293067060455266,-0.027439521667434387,-0.11704974108381962,1.062377004602622,1.6312548422581434,-0.6235024699283577,1.3683241716535908,1.3683241716535908,1.4051186488852299,0,0,-2.370416794380959e-05,-9.376675410977526e-05
+9150,1792844869167768729,23548608000000,1792844869164365919,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6759926882258432,-0.004954745118462372,0.10667091062036135,0.9999999692065759,-9.606286201753315e-05,-0.0001540652988917102,0.00014165282205233555,0.6761,-0.0046,0.10673747343419802,1.0,0.0,0.0,0.0,-0.1703131767643229,-0.0437082861780036,0.6644309660963953,-0.0004598145304111345,0.011179930649135125,0.0005026716033422931,1.0752241305478776,1.2406204173420445,1.4114112795171518,0.09697536925305492,-0.08590909162650538,0.0008175822058018285,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.4569639460483539,1.8340747527147359,0.18927058326819884,-0.0486099931463466,-0.06390836125440365,1.1080507224638372,1.6312548422581434,-0.6644309660963953,1.4419842589899445,1.4419842589899445,1.5326186488853102,0,0,-3.828167692151852e-05,-7.969410828335128e-05
+9241,1792844869926832580,23549367000000,1792844869924365377,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760092756404301,-0.00495499174476499,0.10665682464980548,0.9999999736437065,-9.453820162583533e-05,-0.00011479492507791972,0.00014845909988218793,0.6761,-0.0046,0.10669793140641744,1.0,0.0,0.0,0.0,-0.22753976082920513,-0.013545337127450763,0.7448398734030893,0.0024848069001403295,0.014795104261084102,0.0008987996667862888,1.0179975464829953,1.2707833663925974,1.4918201868238459,0.09991999068360638,-0.0822939180145564,0.0012137102692458242,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.5613940416343269,1.7425306052822507,0.044172562557314825,-0.022414352353598645,0.045053103811359435,1.0520864146880258,1.6312548422581434,-0.7448398734030893,1.5870822797008286,1.5870822797008286,1.646468648885382,0,0,-6.51616469973116e-05,-6.163632347628661e-05
+9325,1792844870626832001,23550067000000,1792844870624365446,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760142579522033,-0.004960638815540774,0.10662451048356138,0.9999999738002281,-9.832781769972755e-05,-0.00010240033145734673,0.0001539097784686635,0.6761,-0.0046,0.10665366809671092,1.0,0.0,0.0,0.0,-0.23753917081070686,-0.02708870821805842,0.8994067204272443,0.002419706968843166,0.015771962034185752,0.001436230956567807,1.0079981365014936,1.2572399953019897,1.646387033848001,0.09985489075230922,-0.08131706024145476,0.0017511415590273425,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.5847368169090574,1.7037494505555795,-0.1026066765135914,-0.011221226132449818,0.14999181236389444,1.023325055180092,1.6312548422581434,-0.8994067204272443,1.7338615187717348,1.7338615187717348,1.751468648885448,0,0,-5.657070336198699e-05,9.995892588510741e-05
+9421,1792844871426840489,23550867000000,1792844871424374932,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760227172581238,-0.004952694502870746,0.10660533769342262,0.9999999753061514,-9.652992610999713e-05,-8.65610741917265e-05,0.0001549829504908528,0.6761,-0.0046,0.10661274713316746,1.0,0.0,0.0,0.0,-0.2559280455379327,-0.027224501445930915,0.9854645796815923,0.001730178749487818,0.01677981826951791,0.0013813033749997758,0.9896092617742678,1.2571042020741172,1.7324448931023488,0.09916536253295387,-0.0803092040061226,0.0016962139774593112,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.632980976850051,1.698548662280923,-0.20029901237902104,-0.008692866400372744,0.223620624827793,1.0197583934496621,1.6312548422581434,-0.9854645796815923,1.8315538546371646,1.8315538546371646,1.8714686488855237,0,0,-4.930467595158178e-05,1.4211341955059365e-05
+9516,1792844872217817017,23551658000000,1792844872216365465,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760292812647184,-0.004958557422096747,0.1065835391465944,0.9999999753416241,-0.00010322842245836599,-7.300255325723221e-05,0.00015739801677968005,0.6761,-0.0046,0.10657058008758086,1.0,0.0,0.0,0.0,-0.25595438085273703,-0.03277775307453723,1.0755539918116739,0.0013374607751967665,0.016839025424971316,0.0013009230476462843,0.9895829264594634,1.251550950445511,1.8225343052324303,0.09877264455866282,-0.08024999685066919,0.0016158336501058198,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6453417289490277,1.687452405073436,-0.35172637048560274,-0.00889847928911422,0.328726970312483,1.0140520680950846,1.6312548422581434,-1.0755539918116739,1.9829812127437463,1.9829812127437463,1.9901186488855984,0,0,-5.497327664330675e-05,9.99999208702917e-05
+9602,1792844872934860533,23552375000000,1792844872932365430,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6760344540057545,-0.004960821848484832,0.10655494154425862,0.9999999750249101,-0.00010545125416870373,-6.468127397484028e-05,0.00016152216325567085,0.6761,-0.0046,0.10652735497612645,1.0,0.0,0.0,0.0,-0.2565031729485263,-0.022199104122268443,1.1521506540221949,0.0012983219324797235,0.01776402960702156,0.0012528028086699677,0.9890341343636742,1.2621295993977797,1.8991309674429515,0.09873350571594577,-0.07932499266861895,0.0015677134111295031,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6384379788748119,1.7650194962437493,-0.3991636562816211,-0.024983379604134628,0.3549595150653625,1.0657509270742096,1.6312548422581434,-1.1521506540221949,2.0304184985397646,2.0304184985397646,2.097668648885666,0,0,-6.46430055137578e-05,-9.919087359667173e-05
+9661,1792844873426902977,23552867000000,1792844873420374479,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760600840047253,-0.0049578364828169715,0.10653837692977647,0.9999999758666896,-0.00010178759296306559,-4.432821698135054e-05,0.00016548045044078699,0.6761,-0.0046,0.10649359373582264,1.0,0.0,0.0,0.0,-0.33470445729298703,0.08912369581483959,0.9807021713602498,0.01015933506379428,0.023312881846138583,0.0015574750551361983,0.9108328500192134,1.3734523993348877,1.7276824847810064,0.10759451884726033,-0.07377614042950192,0.0018723856575957338,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7517105512674616,1.7394644231271947,-0.16217838945233568,-0.012932596642403297,0.21689643737075756,1.0490231956309457,1.6312548422581434,-0.9807021713602498,1.793433231710479,1.793433231710479,2.1714686488857127,0,0,-7.442549479072381e-05,-9.999999025923074e-05
+9719,1792844873909818913,23553350000000,1792844873908364936,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.676068781415025,-0.004961171757491113,0.1065206246824654,0.9999999754078904,-0.00010097388927277911,-2.898019800046147e-05,0.00017202181446639714,0.6761,-0.0046,0.10645188599542355,1.0,0.0,0.0,0.0,-0.30982995633049903,0.05230350347061696,1.1610036847196539,0.006284516573573429,0.022119200346277026,0.001368409081268352,0.9357073509817014,1.336632206990665,1.9079839981404103,0.10371970035703948,-0.07496982192936348,0.0016833196837278874,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.8276458066022327,1.7127001479225512,-0.414839443566504,-0.0029022226302007656,0.39849215051884296,1.0363497739781546,1.6312548422581434,-1.1610036847196539,2.0460942858246476,2.0460942858246476,2.2439186488857583,0,0,-9.828748407800093e-05,-9.999999025923074e-05
+9803,1792844874609908131,23554050000000,1792844874608365466,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6760797212794183,-0.0049656688314364695,0.10646158934176149,0.9999999732893354,-9.60883029305464e-05,-5.325173550058624e-06,0.00018868723684383195,0.6761,-0.0046,0.10637610783427975,1.0,0.0,0.0,0.0,-0.3245750504843856,0.044819382967197896,1.3074462045645574,0.00518069936158376,0.02413168259378859,0.0012663299620215608,0.9209622568278149,1.329148086487246,2.054426517985314,0.10261588314504981,-0.07295733968185192,0.0015812405644810962,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9355532775588787,1.6814632917108445,-0.6014235729413522,0.002402253091321841,0.5479062138797749,1.0141893031854248,1.6312548422581434,-1.3074462045645574,2.2326784151994956,2.2326784151994956,2.3489186488858245,0,0,-0.00011084203660058212,-8.750000310276391e-05
+9889,1792844875326890479,23554767000000,1792844875320375096,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.676087768420278,-0.004975016759523319,0.10640483890239279,0.9999999706617853,-9.854360526479253e-05,7.694277849118157e-06,0.0002008712246371619,0.6761,-0.0046,0.10629886932926676,1.0,0.0,0.0,0.0,-0.31515767879442846,0.024393973086008325,1.4549944735016047,0.0031216644334882554,0.023737829941686328,0.0011179459029290924,0.930379628517772,1.3087226766060565,2.2019747869223614,0.1005568482169543,-0.07335119233395418,0.0014328565053886278,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9229990325921458,1.588812165952993,-0.8486752260055993,0.024878425826488755,0.7110297274178283,0.9516353603747444,1.6312548422581434,-1.4549944735016047,2.4799300682637426,2.4799300682637426,2.4564686488858922,0,0,-9.885648713928307e-05,9.99999208702917e-05
+9982,1792844876101903866,23555542000000,1792844876096375065,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6760925013712444,-0.004977127924850113,0.10634740120594063,0.9999999683727694,-9.130607240152729e-05,1.610932488088421e-05,0.00021471147042332987,0.6761,-0.0046,0.10622761313700464,1.0,0.0,0.0,0.0,-0.29466120135950014,-0.014243372658237163,1.51577940103446,-0.0009610221840341132,0.023802846380220774,0.0008491804820792014,0.9508761059527003,1.270085330861811,2.2627597144552167,0.09647416159943194,-0.07328617589541973,0.0011640910845387368,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.8645576859538017,1.677860361378365,-0.8478956424456187,0.002633667030939851,0.699251066465828,1.0094610443394938,1.6312548422581434,-1.51577940103446,2.479150484703762,2.479150484703762,2.5727186488859655,0,0,-9.199931384348681e-05,-9.999999025923074e-05
+10064,1792844876784893626,23556225000000,1792844876780375212,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6760983015950851,-0.004985264923753583,0.10629453896161145,0.9999999648182316,-9.463954443851556e-05,2.724839298232897e-05,0.0002282701940255382,0.6761,-0.0046,0.10616155506119537,1.0,0.0,0.0,0.0,-0.2858453065942609,-0.03728506730248671,1.5549090126188507,-0.0029357140943745003,0.023827409847212933,0.0007409569193184593,0.9596920007179396,1.2470436362175614,2.3018893260396074,0.09449946968909155,-0.07326161242842757,0.0010558675217779948,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.8980038615434888,1.6704822301481503,-0.8817414227845801,0.0031017377350534246,0.7307393326987329,1.007489492963854,1.6312548422581434,-1.5549090126188507,2.5129962650427236,2.5129962650427236,2.67516864888603,0,0,-0.00010448709885787911,-9.999999025923074e-05
+10153,1792844877526921087,23556967000000,1792844877520374524,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761069003181477,-0.004983044237591489,0.10622347601124695,0.9999999621179627,-8.104800802441208e-05,3.871007518358322e-05,0.00024318652934629553,0.6761,-0.0046,0.1060779143114437,1.0,0.0,0.0,0.0,-0.3014077859705623,-0.06051561950212547,1.6446130350814183,-0.005026808389310425,0.02484780960384518,0.0008419217194601005,0.9441295213416382,1.2238130840179227,2.391593348502175,0.09240837539415563,-0.07224121267179533,0.001156832321919636,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9129471867271213,1.6381527514347536,-0.993349236818042,0.010012758524514564,0.8075786608570815,0.9843032220160903,1.6312548422581434,-1.6446130350814183,2.6246040790761853,2.6246040790761853,2.7864686488861,0,0,-0.00012081008712447184,-9.999999025923074e-05
+10235,1792844878209973686,23557650000000,1792844878208365536,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761146839468205,-0.004991564653931278,0.10615348583326126,0.9999999569797537,-8.327233156851593e-05,5.122972282020108e-05,0.00026062346291494236,0.6761,-0.0046,0.10599266735428703,1.0,0.0,0.0,0.0,-0.29249738806404413,-0.0853109941365735,1.7227792384802476,-0.007140127056264697,0.024884656273652717,0.0008008068286654534,0.9530399192481563,1.1990177093834746,2.4697595519010043,0.09029505672720135,-0.07220436600198779,0.0011157174311249888,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9199438033477055,1.6009313415698094,-1.068633108378744,0.015870729111298536,0.8609494668454002,0.9601015087094934,1.6312548422581434,-1.7227792384802476,2.6998879506368874,2.6998879506368874,2.8889186488861647,0,0,-0.0001294195050946786,-9.999999025923074e-05
+10316,1792844878884974984,23558325000000,1792844878884375238,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6761246679265658,-0.004995390527399381,0.10607727937444526,0.9999999514416944,-7.950157963240174e-05,7.070391497634708e-05,0.00027792072335171796,0.6761,-0.0046,0.1059034630402034,1.0,0.0,0.0,0.0,-0.2909013449018696,-0.12988630732658502,1.7766977035265445,-0.010130146420767525,0.0255759902303226,0.0007457568196803141,0.9546359624103309,1.1544423961934631,2.523678016947301,0.08730503736269853,-0.0715130320453179,0.0010606674221398495,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9664924120722236,1.548018108487516,-1.1626611944826424,0.02833331307538904,0.9338484365587694,0.924510239990673,1.6312548422581434,-1.7766977035265445,2.793916036740786,2.793916036740786,2.9901686488862285,0,0,-0.00013586315704003227,-9.99876806614452e-05
+10396,1792844879551952617,23558992000000,1792844879548365029,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6761309221646058,-0.004998730639912281,0.10599549091956445,0.9999999471958823,-7.741196946555895e-05,7.509477748020978e-05,0.0002922657325597615,0.6761,-0.0046,0.10580580172580152,1.0,0.0,0.0,0.0,-0.28006490909327475,-0.15524237219505976,1.861286752605547,-0.013239579459841527,0.02497440886396833,0.0006273720993704671,0.9654723982189257,1.1290863313249884,2.6082670660263036,0.08419560432362452,-0.07211461341167218,0.0009422827018300025,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9364701711220189,1.609711556748379,-1.340769366932224,0.007027671249069441,1.0480152923776431,0.9653500724688681,1.6312548422581434,-1.861286752605547,2.9720242091903675,2.9720242091903675,3.0902186488862915,0,0,-0.0001548428014877271,8.406924742321848e-05
+10465,1792844880126961777,23559567000000,1792844880124375219,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761391565793116,-0.004994363300175476,0.10591193116334187,0.9999999519144257,-0.00016471204704856862,0.00010135747254605942,0.00022407725210239003,0.6761,-0.0046,0.10571336169264446,1.0,0.0,0.0,0.0,-0.2888092350737763,-0.17482130571836874,1.9017927734254152,-0.01435754957043378,0.025209037338603357,0.0005845858703846104,0.9567280722384242,1.1095073978016794,2.648773086846172,0.08307763421303227,-0.07187998493703715,0.0008994964728441458,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9586071976084053,1.5928392617110436,-1.351890355360023,0.02720607966046186,1.0582160559650002,0.9551488580237009,1.6312548422581434,-1.9017927734254152,2.9831451976181667,2.9831451976181667,3.176468648886346,0,0,-0.0001660182473675872,-9.990234614421496e-05
+10505,1792844880459999875,23559900000000,1792844880456374836,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761502545159477,-0.004976643717594191,0.1058656251282364,0.9999999354946858,-0.0003073028225721663,0.00012288346081132522,0.00010448979935106564,0.6761,-0.0046,0.10565533299857345,1.0,0.0,0.0,0.0,-0.17000197077013746,-0.04193137945422176,1.9466307703644516,-0.005899384350156633,0.017648046483094468,0.0015681694504782616,1.075535336542063,1.2423973240658264,2.6936110837852083,0.09153579943330942,-0.07944097579254604,0.001883080052937797,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,1.0072979318103292,1.726393153653966,-1.3247817971145552,-0.12421398353425328,1.0852034065303406,1.0864075345149655,1.6312548422581434,-1.9466307703644516,2.956036639372699,2.956036639372699,3.2264186488863773,0,0,-0.00018226199044043957,-9.999999025923074e-05
+10579,1792844881077000012,23560517000000,1792844881076374737,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6761598674148414,-0.004990031769720987,0.10576854041845045,0.9999999353661995,-0.0002911828768154596,0.00013451388295381472,0.00013352530864057136,0.6761,-0.0046,0.10553472695924339,1.0,0.0,0.0,0.0,-0.142692232563165,-0.0632474399496814,2.035070342906436,-0.007060330004990595,0.01591274039445513,0.0014576910449075361,1.1028450747490355,1.2210812635703667,2.7820506563271925,0.09037485377847546,-0.08117628188118538,0.0017726016473670716,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.967168282405324,1.7277526868014073,-1.4881759209415855,-0.058925911219283485,1.1667322242323777,1.076140343490143,1.6312548422581434,-2.035070342906436,3.1194307631997287,3.1194307631997287,3.3189686488864356,0,0,-0.00020320683037230858,-9.999389791038311e-05
+10654,1792844881701985269,23561142000000,1792844881696374822,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6761733744919612,-0.004994066581805111,0.10566037661528356,0.9999999681760648,-6.36054093593205e-05,0.0001549667597260272,0.00016440921147689355,0.6761,-0.0046,0.1054074387336163,1.0,0.0,0.0,0.0,-0.15914625494293833,-0.12417733285230637,2.094706150016684,-0.012119267160869071,0.017801948955254124,0.00049140295713805,1.0863910523692621,1.1601513706677418,2.8416864634374406,0.08531591662259698,-0.07928707332038638,0.0008063135595975854,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9814404690322899,1.78052644516203,-1.638044031517788,-0.00619203748427555,1.2549830570796294,1.049414164143787,1.6312548422581434,-2.094706150016684,3.2692988737759316,3.2692988737759316,3.4127186488864947,0,0,-0.00019769103320047143,8.934778891601098e-05
+10735,1792844882377020136,23561817000000,1792844882376364964,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6761822815424593,-0.005003203470427741,0.10554248825624855,0.9999999610917945,-7.438645880803219e-05,0.00016848807962258042,0.00018798323259156305,0.6761,-0.0046,0.10527374312858805,1.0,0.0,0.0,0.0,-0.15476225844510827,-0.174744183790442,2.1308932710552186,-0.016223927797728507,0.016860766527745985,0.0012908903262075925,1.0907750488670922,1.1095845197296061,2.8778735844759753,0.08121125598573754,-0.08022825574789452,0.001605800928667128,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9778477429197147,1.83743673040051,-1.7131709373767763,-0.0005671996170861794,1.301367701965585,1.078814287620672,1.6312548422581434,-2.1308932710552186,3.3444257796349195,3.3444257796349195,3.5139686488865585,0,0,-0.00020232994265709093,-6.249913113381924e-06
+10807,1792844882976922147,23562417000000,1792844882968375276,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761875321938823,-0.00500534461732137,0.10542606239858718,0.9999999573694521,-0.00010396130416039127,0.00017913340448847553,0.00018386742205802502,0.6761,-0.0046,0.10514912187033862,1.0,0.0,0.0,0.0,-0.123973492325403,-0.21287824324481863,2.1521925768516064,-0.0192654451829561,0.0159003128619931,0.0012257779779634478,1.1215638149867975,1.0714504602752295,2.899172890272363,0.07816973860050995,-0.0811887094136474,0.0015406885804229832,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9708238432642095,1.7030686079308788,-1.753599089602962,0.07052260771791583,1.3268399193428082,1.0244972536597596,1.6312548422581434,-2.1521925768516064,3.3848539318611053,3.3848539318611053,3.603968648886615,0,0,-0.00021575170456730598,-9.99967151013081e-05
+10878,1792844883567955228,23563008000000,1792844883560375332,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6761942906224341,-0.0050026813200758635,0.10531031729940953,0.9999999530709089,-0.00013737191200472593,0.00019081827973609972,0.00017325814902492405,0.6761,-0.0046,0.10501818306293882,1.0,0.0,0.0,0.0,-0.09234963954223185,-0.23480082620637166,2.181880285708187,-0.020439786975661803,0.01301273960105695,0.001149108501663188,1.1531876677699686,1.0495278773136765,2.9288605991289436,0.07699539680780425,-0.08407628267458356,0.0014640191041227235,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9461725752989097,1.5478940891313933,-1.737622395241603,0.14557469806552817,1.3122871029466703,0.9530866480155051,1.6312548422581434,-2.181880285708187,3.3688772374997464,3.3688772374997464,3.692618648886671,0,0,-0.0002311784940381686,-9.999999025923074e-05
+10947,1792844884142949801,23563583000000,1792844884136365274,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.676204135302626,-0.00500335294646176,0.10518517174493697,0.9999999451824723,-0.00018750693677219144,0.00020767887411233952,0.0001509587707442035,0.6761,-0.0046,0.10487972751104649,1.0,0.0,0.0,0.0,-0.0581936955260598,-0.24765269536570833,2.2613729941856833,-0.022215299076775108,0.011659394212404806,0.0010568544744566563,1.1873436117861407,1.0366760081543398,3.00835330760644,0.07521988470669094,-0.0854296280632357,0.0013717650769161918,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9629130780069706,1.62865017722059,-1.8086550442748157,0.13385504272516793,1.3668490891198763,1.0072840802081815,1.6312548422581434,-2.2613729941856833,3.439909886532959,3.439909886532959,3.7788686488867254,0,0,-0.0002492528365747023,-9.997928459982148e-05
+11014,1792844884702060641,23564142000000,1792844884700375144,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762087741452552,-0.005009860239826333,0.10505035034952458,0.9999999399024226,-0.000191719010086281,0.000216785962385062,0.00016699006849189908,0.6761,-0.0046,0.10473648482215805,1.0,0.0,0.0,0.0,-0.05359817480749163,-0.3040971862064171,2.2997425715836486,-0.025293025373570435,0.010915263731271413,0.001992916009335872,1.1919391325047088,0.980231517313631,3.0467228850044052,0.07214215840989562,-0.0861737585443691,0.002307826611795407,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9954907900889118,1.572501687008414,-1.9500057380360978,0.14883221880752134,1.469675120337459,0.9693877195242362,1.6312548422581434,-2.2997425715836486,3.5812605802942414,3.5812605802942414,3.862718648886778,0,0,-0.000265055247759853,-9.999999025923074e-05
+11075,1792844885209990333,23564650000000,1792844885208375249,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762180687773717,-0.005015211759190459,0.10492413946487682,0.9999999345813942,-0.000189584148697937,0.00023015685768461606,0.00018266292170549813,0.6761,-0.0046,0.10459800677890925,1.0,0.0,0.0,0.0,-0.04685789971959209,-0.34347897183683584,2.3494671329872445,-0.029338715197487847,0.010980913100276782,0.0019111103850274257,1.1986794075926084,0.9408497316832123,3.096447446408001,0.0680964685859782,-0.08610810917536373,0.002226020987486961,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9576772325902817,1.5465317334100857,-2.012121800497327,0.16466468755295113,1.507701758352939,0.9572996128622557,1.6312548422581434,-2.3494671329872445,3.6433766427554706,3.6433766427554706,3.938918648886826,0,0,-0.0002789160327518455,-9.99995600478087e-05
+11141,1792844885760071956,23565200000000,1792844885752374776,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762268930490922,-0.005020050585240944,0.10477841222941235,0.9999999308786897,-0.00018630328986153147,0.0002446061240307093,0.00018746841931748952,0.6761,-0.0046,0.10443850145151629,1.0,0.0,0.0,0.0,-0.036788383494124055,-0.37940045268214384,2.3595121078551027,-0.03144426512859136,0.010008610551654418,0.0018709749267657092,1.2087489238180764,0.9049282508379043,3.1064924212758593,0.06599091865487469,-0.08708041172398609,0.0021858855292252446,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9371844781530024,1.5212653726519982,-2.056228177598168,0.18071687566423647,1.5305397681624444,0.9394554606503819,1.6312548422581434,-2.3595121078551027,3.6874830198563116,3.6874830198563116,4.021418648886815,0,0,-0.00030059150484959405,-9.999999025923074e-05
+11198,1792844886234974474,23565675000000,1792844886232374931,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762356222911273,-0.005019108949987175,0.10464632085232282,0.9999999241033735,-0.00020857377379415753,0.00026100221888591014,0.00017779464040361894,0.6761,-0.0046,0.1042907823722396,1.0,0.0,0.0,0.0,-0.016881098955515705,-0.3931746841450632,2.398311516878044,-0.03320213047957471,0.009018969583377293,0.0017997931720045094,1.2286562083566848,0.891154019374985,3.1452918302988007,0.06423305330389134,-0.08807005269226321,0.002114703774464045,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9369195157833536,1.5148308388054204,-2.1553008656585857,0.19662130520702967,1.5974421671442052,0.9382927829665593,1.6312548422581434,-2.398311516878044,3.786555707916729,3.786555707916729,4.092668648886649,0,0,-0.0003209490322078886,-9.999999025923074e-05
+11255,1792844886710083605,23566150000000,1792844886704374719,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762412864706918,-0.005023713322529608,0.10449890472613295,0.999999920384782,-0.0002073581326025301,0.00027101406513242986,0.00018500614906789001,0.6761,-0.0046,0.10413275504864247,1.0,0.0,0.0,0.0,-0.008154826142374283,-0.4378380764733991,2.440542122344149,-0.03547366331443381,0.008660810072902786,0.0017165528711625192,1.2373824811698262,0.846490627046649,3.1875224357649055,0.06196152046903224,-0.08842821220273772,0.0020314634736220546,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.9017328085336797,1.5151691962113638,-2.103131997204026,0.2054658882691955,1.5602534654969415,0.9388239767817367,1.6312548422581434,-2.440542122344149,3.7343868394621693,3.7343868394621693,4.163918648886483,0,0,-0.00034436633950948723,-9.999999025923074e-05
+11310,1792844887168081889,23566608000000,1792844887164365306,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762501250525866,-0.005025610063123181,0.10434744065451695,0.9999999303477877,-0.00012802904708829406,0.0002880498743614288,0.00017715280687911268,0.6761,-0.0046,0.10396982680858297,1.0,0.0,0.0,0.0,0.021392519832818202,-0.4559775460118929,2.4821976128987724,-0.038494911723822293,0.007074055754228037,0.0016312431704780044,1.2669298271450187,0.8283511575081552,3.229177926319529,0.05894027205964376,-0.09001496652141247,0.0019461537729375399,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.8765628516789482,1.5061287911006143,-2.2023915180681337,0.19390194254446078,1.6293549512883256,0.8865665493504731,1.6312548422581434,-2.4821976128987724,3.833646360326277,3.833646360326277,4.232618648886323,0,0,-0.00036713529194129366,-9.999999025923074e-05
+11364,1792844887618056644,23567058000000,1792844887616375245,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762525954297998,-0.005025216774239853,0.1041835533052126,0.9999999237073639,-0.0001550507604895771,0.0002947336568413902,0.0001819875370809467,0.6761,-0.0046,0.1037998029313307,1.0,0.0,0.0,0.0,0.034234343151640756,-0.5120951273937684,2.495395881047603,-0.04153806474305061,0.006089552408024029,0.0015741165502925628,1.2797716504638412,0.7722335761262797,3.24237619446836,0.055897119040415444,-0.09099946986761648,0.0018890271527520982,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.850445123789867,1.4228838294025001,-2.2104433335588105,0.25277193876060616,1.6266208938836202,0.8745303860060846,1.6312548422581434,-2.495395881047603,3.841698175816954,3.841698175816954,4.300118648886166,0,0,-0.0003889242821506197,-9.999994862586731e-05
+11411,1792844888010059514,23567450000000,1792844888004375365,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762531330886978,-0.005028821681851439,0.10402797536609754,0.9999999197467759,-0.00016893619595815252,0.00029395245633067604,0.00019235857397967946,0.6761,-0.0046,0.10364352403257984,1.0,0.0,0.0,0.0,0.055086632722032736,-0.5588577198965491,2.5340892551400143,-0.045583575809350844,0.004503846397013372,0.001484722877162049,1.3006239400342332,0.725470983623499,3.281069568560771,0.051851607974115206,-0.09258517587862714,0.0017996334796215843,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7979694662020969,1.4500922273319856,-2.223422592841964,0.25106009918514705,1.6260292675817103,0.9011305911345797,1.6312548422581434,-2.5340892551400143,3.8546774351001076,3.8546774351001076,4.3589186488860285,0,0,-0.00040839514763998795,-9.999999025923074e-05
+11456,1792844888385023603,23567825000000,1792844888380375481,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762617159086344,-0.005025481168914235,0.10387108334533336,0.9999999142081986,-0.00020268433403864666,0.0002981571664306122,0.00018179060623828267,0.6761,-0.0046,0.10348686960290157,1.0,0.0,0.0,0.0,0.05484983401286758,-0.5625177680249341,2.538137091827008,-0.04558272679765108,0.00416946864377285,0.0018888704443341465,1.300387141325068,0.721810935495114,3.2851174052477647,0.05185245698581497,-0.09291955363186766,0.002203781046793682,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.8203652489805208,1.398440688971723,-2.220525903879817,0.2929851120072507,1.6280504269613931,0.8674140147546997,1.6312548422581434,-2.538137091827008,3.8517807461379605,3.8517807461379605,4.415168648885897,0,0,-0.0004271451439871995,-9.999999025923074e-05
+11499,1792844888743073982,23568183000000,1792844888740375561,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.676262400913133,-0.005034578647892827,0.10371561260492806,0.9999999080558494,-0.0002207307886630541,0.0003002363551908981,0.00019096388879126036,0.6761,-0.0046,0.1033307564919801,1.0,0.0,0.0,0.0,0.07570375337831625,-0.6137408354030566,2.5334268959023003,-0.049505729000192414,0.0032315728786935505,0.0024490884292959463,1.3212410606905167,0.6705878681169916,3.280407209323057,0.04792945478327364,-0.09385744939694696,0.0027639990317554815,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7386446201269408,1.3717206234826491,-2.219083277750447,0.3028194698188813,1.6125367171226372,0.8471417608905087,1.6312548422581434,-2.5334268959023003,3.8503381200085904,3.8503381200085904,4.468868648885772,0,0,-0.0004450451405000041,-9.999999025923074e-05
+11544,1792844889118088552,23568558000000,1792844889116365502,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762539532947496,-0.0050332398684245746,0.10354065145916652,0.9999999096628833,-0.00022058858447215806,0.0002904372182190266,0.00019774728303451744,0.6761,-0.0046,0.10316035831497933,1.0,0.0,0.0,0.0,0.10602635017592799,-0.6538936217105765,2.5016779095760064,-0.05261686300738357,0.0003892786024613376,0.0013887340435676122,1.3515636574881285,0.6304350818094716,3.248658222996763,0.04481832077608248,-0.09669974367317917,0.0017036446460271476,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6590139172415459,1.2634263099765262,-2.1625162185754387,0.3441926926356078,1.5643376652223995,0.7812529447936781,1.6312548422581434,-2.5016779095760064,3.793771060833582,3.793771060833582,4.525118648885641,0,0,-0.0004637951368472156,-9.999999025923074e-05
+11584,1792844889452079428,23568892000000,1792844889444365285,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762482365457992,-0.0050294704153681195,0.10337521322876674,0.9999999264753331,-0.0001466501209173978,0.00028309980878679603,0.00019193861830804667,0.6761,-0.0046,0.1030026701898173,1.0,0.0,0.0,0.0,0.16260249343541266,-0.666784339765003,2.4836614436597655,-0.05354520130306852,-0.002759453749615462,0.0014113230022481322,1.4081398007476131,0.6175443637550452,3.230641757080522,0.04388998248039753,-0.09984847602525597,0.0017262336047076676,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6583719850271195,1.4637376368176123,-2.1538554756271213,0.28816628627158913,1.563987451539523,0.8901006622886536,1.6312548422581434,-2.4836614436597655,3.7851103178852648,3.7851103178852648,4.575218648885524,0,0,-0.0004804951335937987,-9.999999025923074e-05
+11623,1792844889777102339,23569217000000,1792844889772365428,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.676249706795892,-0.0050294223522356395,0.10321493369457539,0.9999999208735467,-0.0001649306528247298,0.0002851436930544167,0.00020294511280336949,0.6761,-0.0046,0.10284387677191534,1.0,0.0,0.0,0.0,0.15472658984638787,-0.7071977874137505,2.4404766339229886,-0.056605590447726464,-0.002700227893164181,0.002339761545876608,1.4002638971585883,0.5771309161062976,3.1874569473437453,0.040829593335739586,-0.09978925016880469,0.002654672148336143,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7043763564802539,1.4387271794129708,-2.2021849787241297,0.30172699417307947,1.6099696208917884,0.892877510222882,1.6312548422581434,-2.4404766339229886,3.833439820982273,3.833439820982273,4.623968648885411,0,0,-0.0004967451304280487,-9.999999025923074e-05
+11661,1792844890093078037,23569533000000,1792844890088365753,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.6762545552318368,-0.0050329458895367225,0.10305681221998915,0.9999999149108022,-0.00018672648510194802,0.00028916508511397595,0.00020769695639571636,0.6761,-0.0046,0.10268441681118795,1.0,0.0,0.0,0.0,0.13725165619418456,-0.7309836558351245,2.409771218366592,-0.05765415799626514,-0.0016593568047401641,0.0023843298226892285,1.382788963506385,0.5533450476849237,3.1567515317873487,0.03978102578720091,-0.09874837908038067,0.0026992404251487637,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6427451727422875,1.3580613374371282,-2.110158020673546,0.34406800498742157,1.5312588032860108,0.8444298917500382,1.6312548422581434,-2.409771218366592,3.7414128629316896,3.7414128629316896,4.6713686488853,0,0,-0.0005125451273499656,-9.999999025923074e-05
+11698,1792844890402050069,23569842000000,1792844890396365438,DOWN_FORCE_DETACH,2,0.071,0.07100142538547516,0.676252783986984,-0.005033822329538268,0.102890196314266,0.9999999121024573,-0.000213380775718665,0.0002842080771819187,0.00020231746139434797,0.6761,-0.0046,0.10252366106730335,1.0,0.0,0.0,0.0,0.1479891000161515,-0.7483197762317191,2.363189977841884,-0.059610601860256206,-0.0026243941729734294,0.0023950453419008537,1.393526407328352,0.536008927288329,3.1101702912626408,0.037824581923209845,-0.09971341644861394,0.002709955944360389,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6981709390922541,1.381601397060979,-2.027634401378711,0.3420087378334972,1.4991268475968174,0.859580995730289,1.6312548422581434,-2.363189977841884,3.6588892436368545,3.6588892436368545,4.717718648885192,0,0,-0.0005279951243400679,-9.999999025923074e-05
+11733,1792844890693130262,23570133000000,1792844890692375280,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762500713988743,-0.005038737939876613,0.10272778200282559,0.9999999108280145,-0.0002136237921346134,0.0002799280511088918,0.00021399062749294294,0.6761,-0.0046,0.10236790473653423,1.0,0.0,0.0,0.0,0.15659571835906516,-0.781264637508468,2.371800876565774,-0.06150637451950612,-0.0015747703243264993,0.002373549575988328,1.4021330256712656,0.5030640660115802,3.1187811899865308,0.03592880926395993,-0.098663792599967,0.0026884601784478634,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6662977867935624,1.332660678844629,-2.0212013137225586,0.3624196403978517,1.4869843151880393,0.8334389066423212,1.6312548422581434,-2.371800876565774,3.652456155980702,3.652456155980702,4.761368648885091,0,0,-0.0005425451215055041,-9.999999025923074e-05
+11767,1792844890977105776,23570417000000,1792844890976375411,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762409538114845,-0.005038209474562037,0.10255158806037383,0.9999999280430356,-0.00014753269732413173,0.00026523977189961455,0.0002079393047024365,0.6761,-0.0046,0.10221181262242088,1.0,0.0,0.0,0.0,0.1581157767308512,-0.807017992612576,2.347787544520239,-0.0637417457252947,-0.002541525053286975,0.0022334781836151284,1.4036530840430517,0.4773107109074721,3.0947678579409956,0.03369343805817135,-0.09963054732892748,0.0025483887860746636,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6563070586387669,1.2334839602866183,-2.079761724399553,0.397889906546155,1.5291913610600785,0.756457460110534,1.6312548422581434,-2.347787544520239,3.7110165666576966,3.7110165666576966,4.803968648884991,0,0,-0.0005567451187391256,-9.999999025923074e-05
+11802,1792844891268138519,23570708000000,1792844891260375763,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762341694819733,-0.005043214648879533,0.10238167259627068,0.999999925026907,-0.00017246916616814453,0.0002584436701673754,0.0002117788954109881,0.6761,-0.0046,0.10204769004328164,1.0,0.0,0.0,0.0,0.1524259550157765,-0.8401422847192987,2.278559005536912,-0.06664629620197718,-0.0025572576339610437,0.001964570097620435,1.397963262327977,0.44418641880074944,3.0255393189576685,0.03078888758148887,-0.09964627990960155,0.00227948070007997,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6128646310816946,1.245948256084625,-1.9720258938377289,0.39820622864319893,1.449695362072633,0.7756215728144203,1.6312548422581434,-2.278559005536912,3.603280736095872,3.603280736095872,4.84761864888489,0,0,-0.0005712951159045618,-9.999999025923074e-05
+11837,1792844891560105839,23571000000000,1792844891552375855,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.676247365464749,-0.005043996842776439,0.10221467795884172,0.9999999186038501,-0.0001733723327579826,0.00026683920453836465,0.00023016087949255558,0.6761,-0.0046,0.1018787475698542,1.0,0.0,0.0,0.0,0.11339818215952491,-0.8273556153110481,2.2093771216998577,-0.06476764260754851,0.0005488378349627759,0.0024943557017937062,1.3589354894717254,0.45697308820900007,2.9563574351206143,0.03266754117591754,-0.09654018444067773,0.0028092663042532415,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7468123707116042,1.2524006956174982,-1.8218806240957548,0.3894798757183632,1.3792614938227865,0.7840558450111248,1.6312548422581434,-2.2093771216998577,3.4531354663538982,3.4531354663538982,4.8914186488847875,0,0,-0.0005858951130602571,-9.999999025923074e-05
+11869,1792844891827111897,23571267000000,1792844891824365945,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762368741571215,-0.005048529525917918,0.10204560948833466,0.9999999219421005,-0.0001576138298933619,0.00025015476190773123,0.0002452328139729546,0.6761,-0.0046,0.10172053802501561,1.0,0.0,0.0,0.0,0.1096301283290062,-0.8678444362076773,2.1750265868542864,-0.06785367495977311,-0.0003155875831462873,0.00247303834924801,1.3551674356412067,0.41648426731237087,2.922006900275043,0.029581508823692943,-0.0974046098587868,0.0027879489517075454,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6631627501614683,1.2558886418762256,-1.8265590027000598,0.38828231620281367,1.3651991887373063,0.791054109685511,1.6312548422581434,-2.1750265868542864,3.457813844958203,3.457813844958203,4.931468648884694,0,0,-0.0005992451104594717,-9.999999025923074e-05
+11898,1792844892068078639,23571508000000,1792844892064365712,DOWN_FORCE_DETACH,2,0.071,0.07100208103656769,0.6762382438120845,-0.0050382037717049835,0.1018890129582253,0.9999999155935622,-0.00022385430062560053,0.0002667068744591897,0.00019751563953927597,0.6761,-0.0046,0.10157467395367893,1.0,0.0,0.0,0.0,0.09612674615131311,-0.8243542897923873,2.107531989814145,-0.0656159245724417,0.0015911548005551474,0.002589885452130527,1.3416640534635136,0.4599744137276608,2.854512303234902,0.03181925921102435,-0.09549786747508536,0.0029047960545900624,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.6930112335935802,1.1321895490242908,-1.68598664388181,0.4211104751535363,1.2771115386633256,0.7158897741241739,1.6312548422581434,-2.107531989814145,3.3172414861399533,3.3172414861399533,4.96761864888461,0,0,-0.0006112951081119464,-9.999999025923074e-05
+11928,1792844892318146028,23571758000000,1792844892316366001,DOWN_SETTLE,2,0.071,0.07100208103656769,0.6762158846792128,-0.005047516280822897,0.10172349656488106,0.9999999242301554,-0.0002204010137436242,0.00021641111247013454,0.00021811045617400854,0.6761,-0.0046,0.10142871748329174,1.0,0.0,0.0,0.0,0.15039735066474735,-0.9018628355564116,2.0682629388027722,-0.06981672863425263,-0.0023392168637379335,0.0019663381917420448,1.3959346579769478,0.3824658679636365,2.815243252223529,0.02761845514921342,-0.09942823913937844,0.00228124879420158,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.7249056304893736,1.167973354370781,-1.7408843362390853,0.41115386137319426,1.3356664949055392,0.7371491887760002,1.6312548422581434,-2.0682629388027722,3.3721391784972288,0.0,0.0,0,0,-0.00037886540691938316,0.0038269233022159913
+11975,1792844892707165217,23572147000000,1792844892700365649,DOWN_PEAK_HOLD,2,0.071,0.07100208103656769,0.6761838472906228,-0.005047240236946007,0.10160120761213533,0.9999999372851425,-0.00020111332078114798,0.00015994060552082718,0.0002254883812875854,0.6761,-0.0046,0.1013920018603167,1.0,0.0,0.0,0.0,0.23024273181516475,-0.8877908996161828,1.53889526120338,-0.06912334943590545,-0.00792861807437438,0.0010330853811086522,1.4757800391273652,0.3965378039038653,2.2858755746241366,0.0283118343475606,-0.10501764035001489,0.0013479959835681877,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.5420539491877234,1.2176671303547422,-1.2657271805742896,0.40132774078878564,0.9826773075309793,0.7788369900956155,1.6312548422581434,-1.53889526120338,2.8969820228324332,0.0,0.0,0,0,0.0,0.0
+12030,1792844893165120397,23572605000000,1792844893164365176,DOWN_PEAK_HOLD,2,0.071,0.07100208103656769,0.6761566854612342,-0.005045825927317832,0.10153644616478394,0.999999946381027,-0.0001882499994602785,0.00010816479921359525,0.00022703110229953136,0.6761,-0.0046,0.1013920018603167,1.0,0.0,0.0,0.0,0.1515405978101716,-0.9971013730129231,1.1889645414585241,-0.07509491797196537,-0.004672798726167021,0.001067318708943771,1.397077905122372,0.287227330507125,1.9359448548792808,0.022340265811500684,-0.10176182100180753,0.0013822293114033064,1.2455373073122005,1.2843287035200481,0.7469803134207565,0.09743518378346605,-0.09708902227564051,0.0003149106024595354,1,0.35414036688628514,1.098679376842597,-0.7887610130947823,0.41677226501660153,0.6224691766053733,0.6980369095422706,1.6312548422581434,-1.1889645414585241,2.4200158553529256,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_17.5/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844859262074832,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.167862887e-09,-5.421804498e-10,-4.088596128e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452326e-01,-1.167083415e-04,8.303260415e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792844860111534639,-4.949128647e-06,4.132265088e-06,-6.270132982e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.907805135e-07,-1.813023019e-08,3.609356480e-09,7.019506487e-01,-1.785278949e-05,8.601371158e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454172e-01,-1.167259295e-04,8.303260452e-01
+2,1.716666667e+00,DOWN_FORCE_DETACH,1792844860948011713,-7.373591829e-07,-7.694477609e-07,7.584324613e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.496668325e-07,-2.480568564e-08,6.007495723e-09,7.019548605e-01,-2.275450234e-05,8.601434618e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454761e-01,-1.167326050e-04,8.303260476e-01
+3,2.566666667e+00,DOWN_FORCE_DETACH,1792844861798756063,-1.600885904e-07,2.168652376e-06,-3.739062299e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.696273046e-07,-2.721886990e-08,6.760626725e-09,7.019554378e-01,-1.981640220e-05,8.601396469e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454961e-01,-1.167350182e-04,8.303260483e-01
+4,3.416666667e+00,DOWN_FORCE_DETACH,1792844862666867028,3.452348006e-06,4.219467192e-07,-1.870532438e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.766753613e-07,-2.810396089e-08,6.981063838e-09,7.019590502e-01,-2.156310786e-05,8.601415154e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455031e-01,-1.167359032e-04,8.303260486e-01
+5,4.183333333e+00,DOWN_FORCE_DETACH,1792844863469739697,3.710121971e-06,5.140297854e-07,-8.075671439e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.789759199e-07,-2.841031066e-08,7.040005690e-09,7.019593080e-01,-2.147102479e-05,8.601353102e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455054e-01,-1.167362096e-04,8.303260486e-01
+6,4.900000000e+00,DOWN_FORCE_DETACH,1792844864174228646,1.811412087e-05,-3.038521523e-06,-2.427243945e-05,3.814218192e-06,1.402305455e-06,-2.032049648e-05,4.083447783e-06,1.381363941e-06,-2.007091272e-05,7.019737120e-01,-2.502357610e-05,8.601191135e-01,7.019594121e-01,-2.058274913e-05,8.601230654e-01,7.027493099e-01,-1.153264353e-04,8.303059707e-01
+7,5.616666667e+00,DOWN_FORCE_DETACH,1792844864878537821,3.952226383e-05,-3.329195241e-06,-4.244982772e-05,3.715596796e-05,-5.646351604e-06,-3.869515596e-05,3.970671380e-05,-5.562392809e-06,-3.826089130e-05,7.019951201e-01,-2.531424982e-05,8.601009361e-01,7.019927538e-01,-2.763140618e-05,8.601046908e-01,7.027849332e-01,-1.222701921e-04,8.302877807e-01
+8,6.416666667e+00,DOWN_FORCE_DETACH,1792844865714188848,3.854575160e-05,-7.192291608e-06,-5.285609967e-05,3.715596796e-05,-5.646351604e-06,-3.869515596e-05,3.983797847e-05,-5.565015225e-06,-3.847630559e-05,7.019941436e-01,-2.917734619e-05,8.600905298e-01,7.019927538e-01,-2.763140618e-05,8.601046908e-01,7.027850644e-01,-1.222728145e-04,8.302875653e-01
+9,7.266666667e+00,DOWN_FORCE_DETACH,1792844866582481533,3.691245051e-05,-7.335569306e-06,-6.459647498e-05,3.525777637e-05,-3.400417680e-06,-5.905653980e-05,3.762600668e-05,-3.338013915e-06,-5.874015080e-05,7.019925103e-01,-2.932062389e-05,8.600787894e-01,7.019908556e-01,-2.538547226e-05,8.600843294e-01,7.027828525e-01,-1.200458132e-04,8.302673014e-01
+10,8.150000000e+00,DOWN_FORCE_DETACH,1792844867548810869,3.429840994e-05,-7.853056250e-06,-9.260553230e-05,3.503624396e-05,-9.983520287e-06,-7.863159040e-05,3.713526184e-05,-9.801103970e-06,-7.819949354e-05,7.019898963e-01,-2.983811083e-05,8.600507804e-01,7.019906341e-01,-3.196857487e-05,8.600647543e-01,7.027823617e-01,-1.265089033e-04,8.302478421e-01
+11,8.900000000e+00,DOWN_FORCE_DETACH,1792844868318975640,3.661842731e-05,-5.786490003e-06,-1.083639020e-04,3.343637981e-05,-9.073669048e-06,-1.001850047e-04,3.513834429e-05,-8.900188038e-06,-9.973440121e-05,7.019922163e-01,-2.777154458e-05,8.600350220e-01,7.019890342e-01,-3.105872363e-05,8.600432009e-01,7.027803648e-01,-1.256079873e-04,8.302263072e-01
+12,9.733333333e+00,DOWN_FORCE_DETACH,1792844869170248868,4.187783777e-05,-1.265997919e-05,-1.189357981e-04,3.761052055e-05,-1.149383722e-05,-1.208017855e-04,3.930515287e-05,-1.123369218e-05,-1.201956103e-04,7.019974757e-01,-3.464503377e-05,8.600244501e-01,7.019932084e-01,-3.347889180e-05,8.600225841e-01,7.027845316e-01,-1.279414915e-04,8.302058460e-01
+13,1.046666667e+01,DOWN_FORCE_DETACH,1792844869923986225,5.543504965e-05,-1.263951117e-05,-1.377286524e-04,5.042538576e-05,-1.414728471e-05,-1.391468163e-04,5.267955476e-05,-1.386113023e-05,-1.383965717e-04,7.020110329e-01,-3.462456575e-05,8.600056573e-01,7.020060233e-01,-3.613233929e-05,8.600042391e-01,7.027979060e-01,-1.305689295e-04,8.301876450e-01
+14,1.118333333e+01,DOWN_FORCE_DETACH,1792844870628235827,6.062433921e-05,-1.836041120e-05,-1.695633603e-04,6.030617761e-05,-1.154388145e-05,-1.569763915e-04,6.317185074e-05,-1.131872336e-05,-1.562700687e-04,7.020162222e-01,-4.034546578e-05,8.599738226e-01,7.020159040e-01,-3.352893603e-05,8.599864095e-01,7.028083983e-01,-1.280265226e-04,8.301697715e-01
+15,1.193333333e+01,DOWN_FORCE_DETACH,1792844871430538787,6.926321171e-05,-1.078938206e-05,-1.888269062e-04,6.285483291e-05,-1.356315413e-05,-1.784407392e-04,6.579103123e-05,-1.330401212e-05,-1.778042729e-04,7.020248611e-01,-3.277443664e-05,8.599545590e-01,7.020184527e-01,-3.554820871e-05,8.599649452e-01,7.028110175e-01,-1.300118114e-04,8.301482373e-01
+16,1.270000000e+01,DOWN_FORCE_DETACH,1792844872218827094,7.628828881e-05,-1.426071388e-05,-2.111480984e-04,7.133835649e-05,-1.355143211e-05,-1.974145129e-04,7.469646177e-05,-1.330780111e-05,-1.967888688e-04,7.020318862e-01,-3.624576846e-05,8.599322378e-01,7.020269362e-01,-3.553648669e-05,8.599459714e-01,7.028199229e-01,-1.300156004e-04,8.301292527e-01
+17,1.343333333e+01,DOWN_FORCE_DETACH,1792844872938331119,8.102300518e-05,-1.865316695e-05,-2.380947427e-04,7.852134344e-05,-1.863045937e-05,-2.387148445e-04,8.186977087e-05,-1.830866615e-05,-2.376371705e-04,7.020366209e-01,-4.063822153e-05,8.599052912e-01,7.020341192e-01,-4.061551395e-05,8.599046711e-01,7.028270962e-01,-1.350164654e-04,8.300884044e-01
+18,1.391666667e+01,DOWN_FORCE_DETACH,1792844873429186621,1.040774522e-04,-1.387520312e-05,-2.591642772e-04,1.040256388e-04,-1.358390448e-05,-2.591137934e-04,1.087532818e-04,-1.336282050e-05,-2.579123300e-04,7.020596753e-01,-3.586025770e-05,8.598842216e-01,7.020596235e-01,-3.556895906e-05,8.598842721e-01,7.028539797e-01,-1.300706198e-04,8.300681292e-01
+19,1.440000000e+01,DOWN_FORCE_DETACH,1792844873906130493,1.144375109e-04,-1.916981156e-05,-2.763300228e-04,1.149457293e-04,-2.191081120e-05,-2.738316962e-04,1.203396892e-04,-2.157181027e-05,-2.727098134e-04,7.020700354e-01,-4.115486614e-05,8.598670559e-01,7.020705436e-01,-4.389586578e-05,8.598695542e-01,7.028655661e-01,-1.382796096e-04,8.300533318e-01
+20,1.511666667e+01,DOWN_FORCE_DETACH,1792844874608834203,1.275786050e-04,-2.524256945e-05,-3.273529859e-04,1.245393623e-04,-2.647084556e-05,-3.161883309e-04,1.304384619e-04,-2.610087325e-05,-3.151446019e-04,7.020831765e-01,-4.722762403e-05,8.598160329e-01,7.020801372e-01,-4.845590014e-05,8.598271976e-01,7.028756649e-01,-1.428086725e-04,8.300108970e-01
+21,1.585000000e+01,DOWN_FORCE_DETACH,1792844875329217466,1.345328061e-04,-3.104466344e-05,-3.873513620e-04,1.332341089e-04,-2.980759743e-05,-3.860013793e-04,1.389736234e-04,-2.942263968e-05,-3.845887995e-04,7.020901307e-01,-5.302971802e-05,8.597560346e-01,7.020888320e-01,-5.179265201e-05,8.597573845e-01,7.028842001e-01,-1.461304390e-04,8.299414528e-01
+22,1.663333333e+01,DOWN_FORCE_DETACH,1792844876100547582,1.383427582e-04,-3.017636891e-05,-4.466049755e-04,1.349447520e-04,-3.389235872e-05,-4.303857622e-04,1.404862490e-04,-3.345232431e-05,-4.294767231e-04,7.020939406e-01,-5.216142348e-05,8.596967809e-01,7.020905426e-01,-5.587741330e-05,8.597130002e-01,7.028857127e-01,-1.501601236e-04,8.298965648e-01
+23,1.733333333e+01,DOWN_FORCE_DETACH,1792844876787217046,1.430076182e-04,-4.192994439e-05,-5.010918833e-04,1.428419291e-04,-4.036817193e-05,-4.939988854e-04,1.481331237e-04,-3.982046671e-05,-4.929353062e-04,7.020986055e-01,-6.391499897e-05,8.596422940e-01,7.020984398e-01,-6.235322651e-05,8.596493870e-01,7.028933596e-01,-1.565282660e-04,8.298331063e-01
+24,1.808333333e+01,DOWN_FORCE_DETACH,1792844877524385174,1.541166938e-04,-4.203628431e-05,-5.675294796e-04,1.501550908e-04,-4.459981478e-05,-5.580933197e-04,1.552989421e-04,-4.402513406e-05,-5.569269033e-04,7.021097146e-01,-6.402133889e-05,8.595758564e-01,7.021057530e-01,-6.658486936e-05,8.595852926e-01,7.029005254e-01,-1.607329333e-04,8.297691147e-01
+25,1.878333333e+01,DOWN_FORCE_DETACH,1792844878212106965,1.605070679e-04,-4.596737850e-05,-6.417628962e-04,1.604776500e-04,-4.604623776e-05,-6.418581521e-04,1.654008728e-04,-4.549864673e-05,-6.401246707e-04,7.021161049e-01,-6.795243308e-05,8.595016230e-01,7.021160755e-01,-6.803129234e-05,8.595015278e-01,7.029106273e-01,-1.622064460e-04,8.296859169e-01
+26,1.943333333e+01,DOWN_FORCE_DETACH,1792844878883825552,1.714782295e-04,-5.290822254e-05,-7.162159841e-04,1.683497108e-04,-5.143344466e-05,-7.027849779e-04,1.731496798e-04,-5.080088222e-05,-7.013870066e-04,7.021270761e-01,-7.489327712e-05,8.594271699e-01,7.021239476e-01,-7.341849924e-05,8.594406009e-01,7.029183761e-01,-1.675086815e-04,8.296246546e-01
+27,2.010000000e+01,DOWN_FORCE_DETACH,1792844879555130238,1.775802534e-04,-6.049701593e-05,-7.986512041e-04,1.756679911e-04,-5.661240097e-05,-7.882430814e-04,1.799900400e-04,-5.589540730e-05,-7.866226134e-04,7.021331781e-01,-8.248207051e-05,8.593447347e-01,7.021312659e-01,-7.859745554e-05,8.593551428e-01,7.029252165e-01,-1.726032066e-04,8.295394190e-01
+28,2.068333333e+01,DOWN_FORCE_DETACH,1792844880128936545,1.856892793e-04,-4.822496531e-05,-8.820905739e-04,1.863870647e-04,-6.304743932e-05,-8.728396316e-04,1.904980897e-04,-6.219816843e-05,-8.709134495e-04,7.021412871e-01,-7.021001989e-05,8.592612953e-01,7.021419849e-01,-8.503249390e-05,8.592705463e-01,7.029357245e-01,-1.789059677e-04,8.294551281e-01
+29,2.101666667e+01,DOWN_FORCE_DETACH,1792844880456342312,1.951295009e-04,-3.205213838e-05,-9.298437030e-04,1.968272678e-04,-4.915401840e-05,-9.208588375e-04,2.010641717e-04,-4.851484987e-05,-9.189718858e-04,7.021507274e-01,-5.403719296e-05,8.592135422e-01,7.021524251e-01,-7.113907298e-05,8.592225271e-01,7.029462906e-01,-1.652226492e-04,8.294070697e-01
+30,2.161666667e+01,DOWN_FORCE_DETACH,1792844881080617598,2.058091318e-04,-4.534008445e-05,-1.026998063e-03,2.055442077e-04,-4.498270887e-05,-1.026773457e-03,2.092024758e-04,-4.444731378e-05,-1.024281827e-03,7.021614070e-01,-6.732513903e-05,8.591163879e-01,7.021611421e-01,-6.696776345e-05,8.591166125e-01,7.029544289e-01,-1.611551131e-04,8.293017597e-01
+31,2.225000000e+01,DOWN_FORCE_DETACH,1792844881701734553,2.169240594e-04,-5.639049491e-05,-1.139522983e-03,2.181992213e-04,-5.331337274e-05,-1.133135993e-03,2.214918937e-04,-5.262343972e-05,-1.130524017e-03,7.021725219e-01,-7.837554949e-05,8.590038629e-01,7.021737971e-01,-7.529842732e-05,8.590102499e-01,7.029667184e-01,-1.693312390e-04,8.291955176e-01
+32,2.293333333e+01,DOWN_FORCE_DETACH,1792844882372579967,2.257934997e-04,-5.998962356e-05,-1.253589498e-03,2.269934362e-04,-5.901040241e-05,-1.247463636e-03,2.296339783e-04,-5.822387906e-05,-1.244895942e-03,7.021813914e-01,-8.197467814e-05,8.588897964e-01,7.021825913e-01,-8.099545699e-05,8.588959223e-01,7.029748604e-01,-1.749316783e-04,8.290811456e-01
+33,2.351666667e+01,DOWN_FORCE_DETACH,1792844882979730318,2.337118535e-04,-6.164457261e-05,-1.368081019e-03,2.342753833e-04,-6.421844147e-05,-1.355476883e-03,2.361645057e-04,-6.333092209e-05,-1.353106745e-03,7.021893097e-01,-8.362962719e-05,8.587753049e-01,7.021898733e-01,-8.620349605e-05,8.587879090e-01,7.029813910e-01,-1.800387214e-04,8.289729348e-01
+34,2.406666667e+01,DOWN_FORCE_DETACH,1792844883569160356,2.404189382e-04,-6.429895296e-05,-1.486708568e-03,2.403659644e-04,-6.440889114e-05,-1.486709528e-03,2.411252703e-04,-6.351154897e-05,-1.483809557e-03,7.021960168e-01,-8.628400754e-05,8.586566773e-01,7.021959638e-01,-8.639394572e-05,8.586566764e-01,7.029863517e-01,-1.802193483e-04,8.288422320e-01
+35,2.456666667e+01,DOWN_FORCE_DETACH,1792844884142187815,2.488383491e-04,-6.642499502e-05,-1.609744724e-03,2.500238956e-04,-6.206155910e-05,-1.599061504e-03,2.500916170e-04,-6.119929979e-05,-1.596254737e-03,7.022044362e-01,-8.841004960e-05,8.585336412e-01,7.022056218e-01,-8.404661368e-05,8.585443244e-01,7.029953181e-01,-1.779070991e-04,8.287297868e-01
+36,2.508333333e+01,DOWN_FORCE_DETACH,1792844884698808728,2.554783227e-04,-6.408847083e-05,-1.742783121e-03,2.539159624e-04,-6.771617266e-05,-1.740752809e-03,2.526505896e-04,-6.667094385e-05,-1.737552882e-03,7.022110762e-01,-8.607352541e-05,8.584006028e-01,7.022095138e-01,-8.970122724e-05,8.584026331e-01,7.029978770e-01,-1.833787431e-04,8.285884887e-01
+37,2.558333333e+01,DOWN_FORCE_DETACH,1792844885206318612,2.656516872e-04,-6.890697232e-05,-1.865308698e-03,2.637276005e-04,-7.447158707e-05,-1.855429662e-03,2.617632822e-04,-7.331589389e-05,-1.852549378e-03,7.022212496e-01,-9.089202690e-05,8.582780772e-01,7.022193255e-01,-9.645664165e-05,8.582879563e-01,7.030069897e-01,-1.900236932e-04,8.284734922e-01
+38,2.611666667e+01,DOWN_FORCE_DETACH,1792844885763855038,2.751720179e-04,-7.179144421e-05,-2.011163684e-03,2.711604143e-04,-7.485865775e-05,-1.998229032e-03,2.681667261e-04,-7.384717066e-05,-1.995271229e-03,7.022307699e-01,-9.377649879e-05,8.581322222e-01,7.022267583e-01,-9.684371233e-05,8.581451569e-01,7.030133932e-01,-1.905549699e-04,8.283307703e-01
+39,2.660000000e+01,DOWN_FORCE_DETACH,1792844886238727980,2.816223446e-04,-7.805427618e-05,-2.148296262e-03,2.807831221e-04,-7.812887774e-05,-2.128420590e-03,2.771125885e-04,-7.712940847e-05,-2.125445062e-03,7.022372202e-01,-1.000393308e-04,8.579950897e-01,7.022363810e-01,-1.001139323e-04,8.580149653e-01,7.030223390e-01,-1.938372078e-04,8.282005965e-01
+40,2.705000000e+01,DOWN_FORCE_DETACH,1792844886713708245,2.918077001e-04,-7.973962162e-05,-2.292693085e-03,2.916222014e-04,-7.972348205e-05,-2.292794726e-03,2.867212741e-04,-7.869812595e-05,-2.289175565e-03,7.022474056e-01,-1.017246762e-04,8.578506928e-01,7.022472201e-01,-1.017085366e-04,8.578505912e-01,7.030319477e-01,-1.954059252e-04,8.280368660e-01
+41,2.745000000e+01,DOWN_FORCE_DETACH,1792844887172551094,2.956692289e-04,-8.489841803e-05,-2.448039111e-03,2.920478649e-04,-8.278917759e-05,-2.448354410e-03,2.854030543e-04,-8.170578762e-05,-2.444464242e-03,7.022512671e-01,-1.068834726e-04,8.576953468e-01,7.022476457e-01,-1.047742322e-04,8.576950315e-01,7.030306295e-01,-1.984135869e-04,8.278815773e-01
+42,2.788333333e+01,DOWN_FORCE_DETACH,1792844887614932894,2.977065491e-04,-8.264050861e-05,-2.610366951e-03,2.975969303e-04,-8.281181247e-05,-2.610200703e-03,2.892295430e-04,-8.160905601e-05,-2.606134873e-03,7.022533044e-01,-1.046255632e-04,8.575330190e-01,7.022531948e-01,-1.047968671e-04,8.575331852e-01,7.030344560e-01,-1.983168553e-04,8.277199067e-01
+43,2.825000000e+01,DOWN_FORCE_DETACH,1792844888007899844,2.961438541e-04,-8.994445978e-05,-2.771013149e-03,2.982096508e-04,-8.943266588e-05,-2.752928791e-03,2.881148692e-04,-8.809299289e-05,-2.748886542e-03,7.022517417e-01,-1.119295144e-04,8.573723728e-01,7.022538075e-01,-1.114177205e-04,8.573904571e-01,7.030333413e-01,-2.048007922e-04,8.275771550e-01
+44,2.863333333e+01,DOWN_FORCE_DETACH,1792844888384425888,3.082229905e-04,-9.081569728e-05,-2.922670745e-03,3.084067222e-04,-9.211792664e-05,-2.915933912e-03,2.971483901e-04,-9.077088875e-05,-2.911609374e-03,7.022638209e-01,-1.128007519e-04,8.572207152e-01,7.022640046e-01,-1.141029812e-04,8.572274520e-01,7.030423749e-01,-2.074786880e-04,8.274144322e-01
+45,2.898333333e+01,DOWN_FORCE_DETACH,1792844888745031879,3.047016210e-04,-9.381151758e-05,-3.083014167e-03,3.063897723e-04,-9.048132927e-05,-3.075564033e-03,2.933049225e-04,-8.917666089e-05,-3.071196270e-03,7.022602995e-01,-1.157965722e-04,8.570603717e-01,7.022619876e-01,-1.124663839e-04,8.570678219e-01,7.030385314e-01,-2.058844602e-04,8.272548453e-01
+46,2.936666667e+01,DOWN_FORCE_DETACH,1792844889121783506,3.003196818e-04,-9.096146408e-05,-3.253422385e-03,3.002612979e-04,-9.086928062e-05,-3.253126006e-03,2.846425401e-04,-8.957637076e-05,-3.248635286e-03,7.022559175e-01,-1.129465187e-04,8.568899635e-01,7.022558592e-01,-1.128543352e-04,8.568902599e-01,7.030298690e-01,-2.062841700e-04,8.270774063e-01
+47,2.968333333e+01,DOWN_FORCE_DETACH,1792844889449808447,2.965935056e-04,-8.836169324e-05,-3.414716576e-03,2.974257720e-04,-8.451999180e-05,-3.399455148e-03,2.797279056e-04,-8.334660929e-05,-3.395154068e-03,7.022521914e-01,-1.103467478e-04,8.567286693e-01,7.022530236e-01,-1.065050464e-04,8.567439308e-01,7.030249544e-01,-2.000544086e-04,8.269308875e-01
+48,2.998333333e+01,DOWN_FORCE_DETACH,1792844889776642416,2.947828878e-04,-8.848805500e-05,-3.577382085e-03,2.945229265e-04,-8.857634103e-05,-3.571442975e-03,2.745210138e-04,-8.729572190e-05,-3.566794442e-03,7.022503808e-01,-1.104731096e-04,8.565660038e-01,7.022501208e-01,-1.105613956e-04,8.565719429e-01,7.030197475e-01,-2.040035212e-04,8.267592471e-01
+49,3.028333333e+01,DOWN_FORCE_DETACH,1792844890089619902,2.996447652e-04,-8.883905402e-05,-3.739938678e-03,2.997211009e-04,-8.861016251e-05,-3.739554398e-03,2.779970955e-04,-8.742285975e-05,-3.734596727e-03,7.022552426e-01,-1.108241086e-04,8.564034472e-01,7.022553190e-01,-1.105952171e-04,8.564038315e-01,7.030232236e-01,-2.041306590e-04,8.265914448e-01
+50,3.060000000e+01,DOWN_FORCE_DETACH,1792844890399996881,2.986600321e-04,-9.103670302e-05,-3.900352219e-03,2.957821628e-04,-9.176641182e-05,-3.894121923e-03,2.720700941e-04,-9.061645929e-05,-3.889588648e-03,7.022542579e-01,-1.130217576e-04,8.562430337e-01,7.022513800e-01,-1.137514664e-04,8.562492640e-01,7.030172966e-01,-2.073242586e-04,8.264364529e-01
+51,3.088333333e+01,DOWN_FORCE_DETACH,1792844890694351179,2.960544714e-04,-9.580513069e-05,-4.069928798e-03,2.959680692e-04,-9.578330145e-05,-4.069486046e-03,2.702400004e-04,-9.447998109e-05,-4.064614290e-03,7.022516523e-01,-1.177901853e-04,8.560734571e-01,7.022515659e-01,-1.177683560e-04,8.560738999e-01,7.030154665e-01,-2.111877804e-04,8.262614273e-01
+52,3.116666667e+01,DOWN_FORCE_DETACH,1792844890972996754,2.901958840e-04,-9.632943674e-05,-4.235760062e-03,2.898389254e-04,-9.402575364e-05,-4.224068984e-03,2.618408456e-04,-9.279959934e-05,-4.219516738e-03,7.022457938e-01,-1.183144913e-04,8.559076259e-01,7.022454368e-01,-1.160108082e-04,8.559193169e-01,7.030070673e-01,-2.095073986e-04,8.261065248e-01
+53,3.146666667e+01,DOWN_FORCE_DETACH,1792844891267663958,2.806404596e-04,-9.678623207e-05,-4.410646539e-03,2.803032898e-04,-9.680707205e-05,-4.410418645e-03,2.493284053e-04,-9.545784371e-05,-4.405635278e-03,7.022362383e-01,-1.187712867e-04,8.557327394e-01,7.022359012e-01,-1.187921266e-04,8.557329673e-01,7.029945549e-01,-2.121656430e-04,8.259204063e-01
+54,3.170000000e+01,DOWN_FORCE_DETACH,1792844891562595866,2.931136734e-04,-9.960461539e-05,-4.577732726e-03,2.937406092e-04,-1.019947875e-04,-4.568681217e-03,2.615606294e-04,-1.006504325e-04,-4.563798255e-03,7.022487115e-01,-1.215896700e-04,8.555656532e-01,7.022493385e-01,-1.239798421e-04,8.555747047e-01,7.030067871e-01,-2.173582318e-04,8.257622433e-01
+55,3.196666667e+01,DOWN_FORCE_DETACH,1792844891824124815,2.848847512e-04,-1.095685620e-04,-4.745546514e-03,2.847000100e-04,-1.095939706e-04,-4.745240260e-03,2.499044928e-04,-1.081921169e-04,-4.740322664e-03,7.022404826e-01,-1.315536166e-04,8.553978394e-01,7.022402979e-01,-1.315790252e-04,8.553981457e-01,7.029951310e-01,-2.248999162e-04,8.255857189e-01
+56,3.221666667e+01,DOWN_FORCE_DETACH,1792844892070479287,2.821834967e-04,-9.506122775e-05,-4.911049728e-03,2.822742105e-04,-9.525337629e-05,-4.911011498e-03,2.452434289e-04,-9.409473264e-05,-4.906251784e-03,7.022377814e-01,-1.170462823e-04,8.552323362e-01,7.022378721e-01,-1.172384309e-04,8.552323744e-01,7.029904699e-01,-2.108025319e-04,8.254197898e-01
+57,3.246666667e+01,DOWN_SETTLE,1792844892315978483,2.631136924e-04,-1.055650498e-04,-5.069171479e-03,2.628680140e-04,-1.055783969e-04,-5.069022949e-03,2.225881678e-04,-1.043035111e-04,-5.064574966e-03,7.022187116e-01,-1.275501044e-04,8.550742144e-01,7.022184659e-01,-1.275634515e-04,8.550743630e-01,7.029678146e-01,-2.210113104e-04,8.252614666e-01
+58,3.285000000e+01,DOWN_PEAK_HOLD,1792844892708783039,2.304294467e-04,-1.050530937e-04,-5.192502100e-03,2.326350215e-04,-9.704000904e-05,-5.185343926e-03,1.888271713e-04,-9.592033026e-05,-5.182645562e-03,7.021860273e-01,-1.270381483e-04,8.549508838e-01,7.021882329e-01,-1.190250636e-04,8.549580420e-01,7.029340536e-01,-2.126281295e-04,8.251433960e-01
+59,3.331666667e+01,DOWN_PEAK_HOLD,1792844893167543288,2.042303286e-04,-1.036539320e-04,-5.254479792e-03,2.055423250e-04,-1.023325235e-04,-5.253728233e-03,1.588248607e-04,-1.011545428e-04,-5.252401771e-03,7.021598282e-01,-1.256389865e-04,8.548889061e-01,7.021611402e-01,-1.243175781e-04,8.548896577e-01,7.029040513e-01,-2.178623421e-04,8.250736398e-01

Fixed/digit/ball_PLA_17.5/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,7.7711e-02,2.9042e-01,2.4576e+00,-5.6525e-02,4.2261e-02,4.2831e-04,9.2834e-06,-3.0756e-05,-1.9073e-06,2.2613e-06,8.3074e-07,-9.6392e-08,3.2183e-05,2.4109e-06
+1,8.6667e-01,DOWN_FORCE_DETACH,1.7749e-04,1.1397e-01,2.8557e-01,2.4582e+00,-5.6009e-02,4.4848e-02,9.5223e-05,3.6273e-02,-4.8828e-03,5.4145e-04,5.1877e-04,2.5880e-03,-3.3319e-04,3.6604e-02,2.6604e-03
+2,1.7167e+00,DOWN_FORCE_DETACH,3.5914e-04,1.2294e-01,2.8482e-01,2.4585e+00,-5.5930e-02,4.5490e-02,-1.5470e-05,4.5242e-02,-5.6308e-03,9.2173e-04,5.9782e-04,3.2307e-03,-4.4388e-04,4.5601e-02,3.3154e-03
+3,2.5667e+00,DOWN_FORCE_DETACH,5.3776e-04,1.2635e-01,2.8442e-01,2.4587e+00,-5.5892e-02,4.5729e-02,-5.5989e-05,4.8648e-02,-6.0289e-03,1.0457e-03,6.3541e-04,3.4689e-03,-4.8440e-04,4.9032e-02,3.5597e-03
+4,3.4167e+00,DOWN_FORCE_DETACH,7.1977e-04,1.2750e-01,2.8437e-01,2.4587e+00,-5.5887e-02,4.5806e-02,-7.3048e-05,4.9795e-02,-6.0826e-03,1.0729e-03,6.4013e-04,3.5462e-03,-5.0146e-04,5.0176e-02,3.6383e-03
+5,4.1833e+00,DOWN_FORCE_DETACH,9.0033e-04,1.2791e-01,2.8433e-01,2.4587e+00,-5.5884e-02,4.5835e-02,-7.8483e-05,5.0206e-02,-6.1229e-03,1.0834e-03,6.4360e-04,3.5754e-03,-5.0689e-04,5.0590e-02,3.6681e-03
+6,4.9000e+00,DOWN_FORCE_DETACH,1.0664e-03,1.1909e-01,2.7799e-01,2.5050e+00,-5.5342e-02,4.5137e-02,-7.7311e-05,4.1385e-02,-1.2461e-02,4.7359e-02,1.1858e-03,2.8771e-03,-5.0572e-04,6.4116e-02,3.1527e-03
+7,5.6167e+00,DOWN_FORCE_DETACH,1.2589e-03,1.0125e-01,3.1980e-01,2.5230e+00,-5.8221e-02,4.3810e-02,1.7213e-04,2.3547e-02,2.9349e-02,6.5351e-02,-1.6932e-03,1.5502e-03,-2.5628e-04,7.5410e-02,2.3099e-03
+8,6.4167e+00,DOWN_FORCE_DETACH,1.4379e-03,1.2722e-01,3.1990e-01,2.4818e+00,-5.8317e-02,4.5733e-02,5.6697e-05,4.9515e-02,2.9441e-02,2.4176e-02,-1.7899e-03,3.4732e-03,-3.7171e-04,6.2474e-02,3.9249e-03
+9,7.2667e+00,DOWN_FORCE_DETACH,1.6171e-03,1.3731e-01,3.0898e-01,2.4985e+00,-5.7528e-02,4.6411e-02,-7.9386e-05,5.9604e-02,1.8527e-02,4.0909e-02,-1.0002e-03,4.1509e-03,-5.0780e-04,7.4628e-02,4.2998e-03
+10,8.1500e+00,DOWN_FORCE_DETACH,1.7993e-03,1.3821e-01,3.5105e-01,2.5213e+00,-6.0423e-02,4.6432e-02,-1.2714e-04,6.0511e-02,6.0594e-02,6.3697e-02,-3.8958e-03,4.1725e-03,-5.5555e-04,1.0673e-01,5.7355e-03
+11,8.9000e+00,DOWN_FORCE_DETACH,1.9782e-03,1.3924e-01,3.4999e-01,2.5292e+00,-6.0344e-02,4.6487e-02,-2.2821e-04,6.1542e-02,5.9536e-02,7.1574e-02,-3.8163e-03,4.2273e-03,-6.5662e-04,1.1160e-01,5.7328e-03
+12,9.7333e+00,DOWN_FORCE_DETACH,2.1561e-03,1.2328e-01,3.6610e-01,2.5576e+00,-6.1454e-02,4.5311e-02,-2.8624e-04,4.5581e-02,7.5649e-02,9.9966e-02,-4.9263e-03,3.0516e-03,-7.1465e-04,1.3339e-01,5.8388e-03
+13,1.0467e+01,DOWN_FORCE_DETACH,2.3360e-03,7.6565e-02,3.8335e-01,2.5815e+00,-6.2679e-02,4.1931e-02,-2.9514e-04,-1.1365e-03,9.2892e-02,1.2387e-01,-6.1514e-03,-3.2909e-04,-7.2355e-04,1.5483e-01,6.2025e-03
+14,1.1183e+01,DOWN_FORCE_DETACH,2.5141e-03,8.7193e-02,3.6496e-01,2.5659e+00,-6.1468e-02,4.2689e-02,-2.9610e-04,9.4915e-03,7.4509e-02,1.0826e-01,-4.9403e-03,4.2934e-04,-7.2451e-04,1.3176e-01,5.0116e-03
+15,1.1933e+01,DOWN_FORCE_DETACH,2.6929e-03,1.1277e-01,3.7876e-01,2.5530e+00,-6.2610e-02,4.4531e-02,-5.1547e-04,3.5064e-02,8.8310e-02,9.5375e-02,-6.0827e-03,2.2710e-03,-9.4388e-04,1.3463e-01,6.5610e-03
+16,1.2700e+01,DOWN_FORCE_DETACH,2.8781e-03,1.0853e-01,3.7334e-01,2.5437e+00,-6.2364e-02,4.4207e-02,-6.0206e-04,3.0833e-02,8.2884e-02,8.6064e-02,-5.8367e-03,1.9470e-03,-1.0305e-03,1.2340e-01,6.2386e-03
+17,1.3433e+01,DOWN_FORCE_DETACH,3.0559e-03,1.0398e-01,4.0617e-01,2.6360e+00,-6.4564e-02,4.3854e-02,-7.3247e-04,2.6279e-02,1.1572e-01,1.7835e-01,-8.0365e-03,1.5940e-03,-1.1609e-03,2.1422e-01,8.2749e-03
+18,1.3917e+01,DOWN_FORCE_DETACH,3.2337e-03,-7.9527e-02,3.9653e-01,2.5227e+00,-6.4141e-02,3.0845e-02,-7.1603e-04,-1.5723e-01,1.0607e-01,6.5081e-02,-7.6133e-03,-1.1415e-02,-1.1444e-03,2.0052e-01,1.3769e-02
+19,1.4400e+01,DOWN_FORCE_DETACH,3.4153e-03,6.1862e-02,3.8281e-01,2.5767e+00,-6.3108e-02,4.0937e-02,-7.6584e-04,-1.5839e-02,9.2355e-02,1.1903e-01,-6.5803e-03,-1.3228e-03,-1.1943e-03,1.5149e-01,6.8173e-03
+20,1.5117e+01,DOWN_FORCE_DETACH,3.5934e-03,6.6022e-02,4.3369e-01,2.6385e+00,-6.6580e-02,4.1150e-02,-8.4108e-04,-1.1680e-02,1.4324e-01,1.8093e-01,-1.0052e-02,-1.1101e-03,-1.2695e-03,2.3106e-01,1.0193e-02
+21,1.5850e+01,DOWN_FORCE_DETACH,3.7743e-03,7.8620e-02,4.5168e-01,2.7049e+00,-6.7578e-02,4.1959e-02,-9.0420e-04,9.1789e-04,1.6123e-01,2.4731e-01,-1.1050e-02,-3.0071e-04,-1.3326e-03,2.9522e-01,1.1134e-02
+22,1.6633e+01,DOWN_FORCE_DETACH,3.9506e-03,1.0346e-01,4.6813e-01,2.6010e+00,-6.8688e-02,4.3770e-02,-9.2108e-04,2.5757e-02,1.7767e-01,1.4335e-01,-1.2161e-02,1.5101e-03,-1.3495e-03,2.2974e-01,1.2328e-02
+23,1.7333e+01,DOWN_FORCE_DETACH,4.1346e-03,9.5541e-02,5.0888e-01,2.6621e+00,-7.1416e-02,4.3269e-02,-8.1922e-04,1.7839e-02,2.1843e-01,2.0451e-01,-1.4889e-02,1.0095e-03,-1.2476e-03,2.9975e-01,1.4975e-02
+24,1.8083e+01,DOWN_FORCE_DETACH,4.3141e-03,1.0318e-01,5.2638e-01,2.6504e+00,-7.2789e-02,4.3769e-02,-5.2726e-04,2.5482e-02,2.3593e-01,1.9282e-01,-1.6261e-02,1.5088e-03,-9.5567e-04,3.0576e-01,1.6359e-02
+25,1.8783e+01,DOWN_FORCE_DETACH,4.4964e-03,1.0745e-01,5.2970e-01,2.6389e+00,-7.3023e-02,4.3981e-02,8.3641e-05,2.9745e-02,2.3925e-01,1.8126e-01,-1.6496e-02,1.7214e-03,-3.4477e-04,3.0163e-01,1.6589e-02
+26,1.9433e+01,DOWN_FORCE_DETACH,4.6729e-03,1.0778e-01,5.6002e-01,2.7110e+00,-7.5022e-02,4.4002e-02,2.2123e-04,3.0075e-02,2.6956e-01,2.5334e-01,-1.8495e-02,1.7420e-03,-2.0718e-04,3.7115e-01,1.8578e-02
+27,2.0100e+01,DOWN_FORCE_DETACH,4.8532e-03,1.1536e-01,5.7766e-01,2.7538e+00,-7.5899e-02,4.4459e-02,6.1291e-04,3.7653e-02,2.8721e-01,2.9620e-01,-1.9371e-02,2.1992e-03,1.8450e-04,4.1430e-01,1.9497e-02
+28,2.0683e+01,DOWN_FORCE_DETACH,5.0265e-03,1.0316e-01,6.4139e-01,2.8102e+00,-7.9951e-02,4.3546e-02,8.1442e-04,2.5458e-02,3.5094e-01,3.5261e-01,-2.3423e-02,1.2866e-03,3.8601e-04,4.9814e-01,2.3462e-02
+29,2.1017e+01,DOWN_FORCE_DETACH,5.2148e-03,8.6630e-02,5.5812e-01,2.8002e+00,-7.4245e-02,4.2434e-02,7.8121e-04,8.9282e-03,2.6767e-01,3.4255e-01,-1.7717e-02,1.7377e-04,3.5280e-04,4.3482e-01,1.7721e-02
+30,2.1617e+01,DOWN_FORCE_DETACH,5.3915e-03,8.8655e-02,5.1248e-01,2.8109e+00,-7.0870e-02,4.2572e-02,7.0710e-04,1.0953e-02,2.2203e-01,3.5331e-01,-1.4343e-02,3.1220e-04,2.7868e-04,4.1742e-01,1.4349e-02
+31,2.2250e+01,DOWN_FORCE_DETACH,5.5730e-03,8.3290e-02,5.7518e-01,2.9290e+00,-7.4925e-02,4.2008e-02,5.3537e-04,5.5877e-03,2.8473e-01,4.7140e-01,-1.8398e-02,-2.5217e-04,1.0696e-04,5.5074e-01,1.8400e-02
+32,2.2933e+01,DOWN_FORCE_DETACH,5.7498e-03,9.4479e-02,6.1206e-01,2.9393e+00,-7.7021e-02,4.2760e-02,3.6410e-04,1.6777e-02,3.2161e-01,4.8172e-01,-2.0494e-02,5.0055e-04,-6.4307e-05,5.7946e-01,2.0500e-02
+33,2.3517e+01,DOWN_FORCE_DETACH,5.9321e-03,9.6128e-02,6.4707e-01,2.9246e+00,-7.8867e-02,4.2953e-02,2.8170e-04,1.8426e-02,3.5661e-01,4.6697e-01,-2.2340e-02,6.9308e-04,-1.4671e-04,5.8786e-01,2.2351e-02
+34,2.4067e+01,DOWN_FORCE_DETACH,6.1141e-03,1.0195e-01,6.5383e-01,2.9362e+00,-7.9217e-02,4.3296e-02,2.9579e-04,2.4252e-02,3.6338e-01,4.7857e-01,-2.2689e-02,1.0360e-03,-1.3262e-04,6.0138e-01,2.2713e-02
+35,2.4567e+01,DOWN_FORCE_DETACH,6.2907e-03,7.3818e-02,6.2245e-01,3.0087e+00,-7.6925e-02,4.1223e-02,3.9096e-04,-3.8844e-03,3.3200e-01,5.5111e-01,-2.0397e-02,-1.0364e-03,-3.7450e-05,6.4340e-01,2.0424e-02
+36,2.5083e+01,DOWN_FORCE_DETACH,6.4681e-03,8.2140e-02,6.9085e-01,3.0508e+00,-8.1354e-02,4.1667e-02,5.9104e-04,4.4383e-03,4.0040e-01,5.9319e-01,-2.4826e-02,-5.9263e-04,1.6263e-04,7.1569e-01,2.4834e-02
+37,2.5583e+01,DOWN_FORCE_DETACH,6.6458e-03,7.5453e-02,7.2371e-01,3.0449e+00,-8.3448e-02,4.1253e-02,5.8738e-04,-2.2488e-03,4.3326e-01,5.8729e-01,-2.6920e-02,-1.0066e-03,1.5897e-04,7.2981e-01,2.6940e-02
+38,2.6117e+01,DOWN_FORCE_DETACH,6.8312e-03,9.9888e-02,7.0677e-01,3.0848e+00,-8.2184e-02,4.2958e-02,3.7227e-04,2.2186e-02,4.1631e-01,6.2718e-01,-2.5656e-02,6.9868e-04,-5.6138e-05,7.5311e-01,2.5666e-02
+39,2.6600e+01,DOWN_FORCE_DETACH,7.0143e-03,1.2508e-01,7.1573e-01,3.0693e+00,-8.2355e-02,4.4586e-02,7.4022e-05,4.7382e-02,4.2528e-01,6.1169e-01,-2.5828e-02,2.3262e-03,-3.5439e-04,7.4650e-01,2.5934e-02
+40,2.7050e+01,DOWN_FORCE_DETACH,7.1906e-03,1.2735e-01,7.3701e-01,3.1182e+00,-8.3091e-02,4.4758e-02,-8.7451e-06,4.9650e-02,4.4656e-01,6.6060e-01,-2.6564e-02,2.4983e-03,-4.3716e-04,7.9892e-01,2.6685e-02
+41,2.7450e+01,DOWN_FORCE_DETACH,7.3673e-03,1.3567e-01,7.5298e-01,3.1988e+00,-8.3767e-02,4.5216e-02,-6.6085e-05,5.7969e-02,4.6252e-01,7.4118e-01,-2.7239e-02,2.9561e-03,-4.9450e-04,8.7558e-01,2.7404e-02
+42,2.7883e+01,DOWN_FORCE_DETACH,7.5518e-03,1.2607e-01,7.8249e-01,3.2161e+00,-8.5468e-02,4.4503e-02,-1.0060e-04,4.8368e-02,4.9204e-01,7.5848e-01,-2.8940e-02,2.2433e-03,-5.2901e-04,9.0539e-01,2.9032e-02
+43,2.8250e+01,DOWN_FORCE_DETACH,7.7304e-03,1.1151e-01,8.1389e-01,3.2726e+00,-8.7169e-02,4.3452e-02,-6.6891e-05,3.3809e-02,5.2343e-01,8.1496e-01,-3.0642e-02,1.1918e-03,-4.9530e-04,9.6917e-01,3.0669e-02
+44,2.8633e+01,DOWN_FORCE_DETACH,7.9092e-03,9.3991e-02,8.0684e-01,3.3079e+00,-8.6445e-02,4.2181e-02,2.9104e-05,1.6289e-02,5.1639e-01,8.5032e-01,-2.9918e-02,-7.8592e-05,-3.9931e-04,9.9497e-01,2.9921e-02
+45,2.8983e+01,DOWN_FORCE_DETACH,8.0855e-03,1.2847e-01,8.2298e-01,3.3343e+00,-8.6932e-02,4.4422e-02,1.3186e-04,5.0773e-02,5.3252e-01,8.7663e-01,-3.0404e-02,2.1624e-03,-2.9655e-04,1.0270e+00,3.0483e-02
+46,2.9367e+01,DOWN_FORCE_DETACH,8.2715e-03,1.4224e-01,8.2193e-01,3.3197e+00,-8.6468e-02,4.5409e-02,1.9415e-04,6.4540e-02,5.3147e-01,8.6210e-01,-2.9940e-02,3.1495e-03,-2.3426e-04,1.0148e+00,3.0107e-02
+47,2.9683e+01,DOWN_FORCE_DETACH,8.4485e-03,1.4627e-01,7.7362e-01,3.3651e+00,-8.3179e-02,4.5708e-02,1.6187e-04,6.8569e-02,4.8316e-01,9.0750e-01,-2.6652e-02,3.4478e-03,-2.6654e-04,1.0304e+00,2.6875e-02
+48,2.9983e+01,DOWN_FORCE_DETACH,8.6287e-03,1.3996e-01,8.0866e-01,3.4151e+00,-8.5257e-02,4.5234e-02,1.1696e-04,6.2261e-02,5.1821e-01,9.5747e-01,-2.8729e-02,2.9739e-03,-3.1145e-04,1.0905e+00,2.8885e-02
+49,3.0283e+01,DOWN_FORCE_DETACH,8.8049e-03,1.2203e-01,8.0625e-01,3.4250e+00,-8.4952e-02,4.3994e-02,1.0315e-04,4.4331e-02,5.1579e-01,9.6739e-01,-2.8425e-02,1.7345e-03,-3.2526e-04,1.0972e+00,2.8479e-02
+50,3.0600e+01,DOWN_FORCE_DETACH,8.9855e-03,1.5197e-01,8.0062e-01,3.4211e+00,-8.4325e-02,4.5929e-02,7.5091e-05,7.4266e-02,5.1016e-01,9.6348e-01,-2.7798e-02,3.6692e-03,-3.5332e-04,1.0927e+00,2.8041e-02
+51,3.0883e+01,DOWN_FORCE_DETACH,9.1665e-03,1.6101e-01,8.2934e-01,3.4307e+00,-8.5764e-02,4.6531e-02,1.4154e-05,8.3304e-02,5.3888e-01,9.7306e-01,-2.9236e-02,4.2715e-03,-4.1426e-04,1.1154e+00,2.9549e-02
+52,3.1167e+01,DOWN_FORCE_DETACH,9.3420e-03,1.7939e-01,8.2317e-01,3.4478e+00,-8.5076e-02,4.7794e-02,-1.0125e-04,1.0169e-01,5.3272e-01,9.9020e-01,-2.8549e-02,5.5345e-03,-5.2966e-04,1.1290e+00,2.9085e-02
+53,3.1467e+01,DOWN_FORCE_DETACH,9.5305e-03,1.8510e-01,8.4304e-01,3.4540e+00,-8.6156e-02,4.8214e-02,-2.0558e-04,1.0740e-01,5.5259e-01,9.9633e-01,-2.9629e-02,5.9542e-03,-6.3399e-04,1.1444e+00,3.0228e-02
+54,3.1700e+01,DOWN_FORCE_DETACH,9.7076e-03,1.3865e-01,8.7333e-01,3.5327e+00,-8.7657e-02,4.5067e-02,-2.6480e-04,6.0945e-02,5.8288e-01,1.0751e+00,-3.1130e-02,2.8076e-03,-6.9321e-04,1.2244e+00,3.1264e-02
+55,3.1967e+01,DOWN_FORCE_DETACH,9.8800e-03,1.5106e-01,8.6648e-01,3.5077e+00,-8.6941e-02,4.5814e-02,-2.5875e-04,7.3357e-02,5.7603e-01,1.0501e+00,-3.0414e-02,3.5542e-03,-6.8716e-04,1.2000e+00,3.0629e-02
+56,3.2217e+01,DOWN_FORCE_DETACH,1.0074e-02,1.4215e-01,8.5311e-01,3.4796e+00,-8.5690e-02,4.5239e-02,-2.4351e-04,6.4445e-02,5.6265e-01,1.0219e+00,-2.9162e-02,2.9792e-03,-6.7192e-04,1.1684e+00,2.9322e-02
+57,3.2467e+01,DOWN_SETTLE,1.0245e-02,1.6119e-01,8.3229e-01,3.4572e+00,-8.4430e-02,4.6504e-02,-2.1447e-04,8.3489e-02,5.4184e-01,9.9961e-01,-2.7903e-02,4.2441e-03,-6.4289e-04,1.1401e+00,2.8231e-02
+58,3.2850e+01,DOWN_PEAK_HOLD,1.0430e-02,2.2355e-01,8.0286e-01,3.1957e+00,-8.4165e-02,5.1275e-02,-3.3228e-04,1.4585e-01,5.1241e-01,7.3808e-01,-2.7637e-02,9.0149e-03,-7.6069e-04,9.1027e-01,2.9080e-02
+59,3.3317e+01,DOWN_PEAK_HOLD,1.0605e-02,2.3382e-01,8.4084e-01,2.9233e+00,-8.9702e-02,5.2456e-02,-1.0802e-03,1.5612e-01,5.5038e-01,4.6564e-01,-3.3175e-02,1.0197e-02,-1.5086e-03,7.3764e-01,3.4739e-02

Fixed/digit/ball_PLA_17.5/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e640aa14092efe683c19868fab12bbba595e9271f532800516eeea295ad0382e
+size 563200

Fixed/digit/ball_PLA_17.5/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+6667,1792844848497851872,23527939000000,1792844848492375315,XJC_ZERO_HOLD_BEFORE_UP,2,0.0762,0.07619763165712357,0.6759850902945584,-0.004433940502849436,0.10664280869765058,0.9999999608175296,5.744511398166371e-05,-0.00021039117788757098,-0.00014914226370109788,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.004730900390399792,-0.00467508319323115,0.0002674335583984777,-4.274235926221559e-06,-2.9119601994211367e-06,0.0005257829475620104,-0.04965805562672198,-0.07092529895463723,0.2312518370128582,-0.0010805558594443748,-3.0039133384199636e-05,0.000811280251338244,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0435037536285376,0.3202808352089779,2.530509489387723,-0.4249540881618039,-1.8580263193973414,0.07327885405309481,1.6312548422581434,-0.0002674335583984777,-0.8992546471295797,0.0,0.0,0,0,0.0,0.0
+6693,1792844848715806205,23528157000000,1792844848708365665,WAIT_W2,2,0.071,0.07619763165712357,0.6759823088856297,-0.004428677582868566,0.10663982264446958,0.9999999593356551,5.7994304063744446e-05,-0.0002159237457871214,-0.00015094750514040725,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011256131265998115,-0.0030374999483501752,-0.00046504742623329487,-5.437567579778379e-06,-3.5346845608665775e-06,0.0005048950462848045,-0.05551456914372158,-0.06928771570975625,0.23051935602822643,-0.0010817191910979316,-3.0661857745645076e-05,0.0007903923500610382,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.024893022233653,0.3373786578072427,2.5850426621666385,-0.42533441820640583,-1.8876088607291042,0.08772798923055675,1.6312548422581434,0.00046504742623329487,-0.953787819908495,0.0,0.0,0,0,0.0,0.0
+6712,1792844848873869974,23528315000000,1792844848868375462,WAIT_W2,2,0.071,0.07619763165712357,0.6759816057082121,-0.004431558939253138,0.10663908261940769,0.9999999595167773,5.5850706744290046e-05,-0.00021540933252224543,-0.00015129053616599474,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.002539908210494976,0.0011941232666196067,-0.0008446285307150969,-1.0591668735348246e-06,-9.332321668032818e-07,-0.0004883879189434789,-0.051849047806626795,-0.06505609249478647,0.23013977492374463,-0.001077340790391688,-2.806040535158178e-05,-0.00020289061516724533,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0217903312133856,0.2257074141387992,2.525068162575591,-0.3941662406533031,-1.8482199656560596,0.012988182875059762,1.6312548422581434,0.0008446285307150969,-0.8938133203174474,0.0,0.0,0,0,0.0,0.0
+6732,1792844849040846165,23528482000000,1792844849040375476,WAIT_W2,2,0.071,0.07619763165712357,0.6759811069896424,-0.0044351001044830975,0.10663878371302336,0.9999999596435903,5.433759912587496e-05,-0.00021677854874134885,-0.0001490307632307988,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011053394484764612,0.000950963887946854,-0.0004270986141029498,-4.601862342325062e-06,-3.127568590268424e-06,0.0005367572221631606,-0.05549429546559823,-0.06529925187345922,0.23055730484035677,-0.0010808834858604783,-3.0254741775046923e-05,0.0008222545259393942,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0465561900995644,0.3475624324891215,2.6067829920633505,-0.43292172449734345,-1.9075847307362737,0.09241888303354856,1.6312548422581434,0.0004270986141029498,-0.9755281498052071,0.0,0.0,0,0,0.0,0.0
+6747,1792844849165893421,23528607000000,1792844849160375063,WAIT_W2,2,0.071,0.07619763165712357,0.6759850220436525,-0.004433830788986872,0.10664418522829183,0.9999999607198905,5.5906442509430245e-05,-0.00021082409950844293,-0.00014976899096650866,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.007370844161706004,0.0015993264062634793,-0.0008513486576689766,4.60371345857016e-06,2.4242482135716167e-06,-0.00048463822505340605,-0.04701811185541577,-0.0646508893551426,0.23013305479679075,-0.001071677910059583,-2.4702924971206882e-05,-0.00019914092127717244,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0946537661303481,0.42918303680402076,2.536579781409791,-0.4573963855592401,-1.8765968595773759,0.14626396958600457,1.6312548422581434,0.0008513486576689766,-0.9053249391516474,0.0,0.0,0,0,0.0,0.0
+6752,1792844849206861958,23528648000000,1792844849204365506,WAIT_W2,2,0.071,0.07619763165712357,0.6759848825212836,-0.004490498125673592,0.1066462463027177,0.9999999650854674,2.3234459390155976e-05,-0.00020945779031748737,-0.00012984422397923425,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.24195962896081855,0.2140344296198993,0.01636686346253155,0.014590604052328876,-0.01672233094562559,0.00036603142434028297,0.18757067294369678,0.14778421385849322,0.24735126691699127,0.013514322428810722,-0.016749458118810366,0.0006515287281165166,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0331107820797247,0.6171364057571201,2.4919079583109767,-0.43765542178313244,-1.828590436825437,0.28193265865304573,1.6312548422581434,-0.01636686346253155,-0.8606531160528332,0.0,0.0,0,0,0.0,0.0
+6752,1792844849206861958,23528648000000,1792844849204365506,WAIT_W2,2,0.071,0.07619763165712357,0.6759848825212836,-0.004490498125673592,0.1066462463027177,0.9999999650854674,2.3234459390155976e-05,-0.00020945779031748737,-0.00012984422397923425,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.24195962896081855,0.2140344296198993,0.01636686346253155,0.014590604052328876,-0.01672233094562559,0.00036603142434028297,0.18757067294369678,0.14778421385849322,0.24735126691699127,0.013514322428810722,-0.016749458118810366,0.0006515287281165166,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0331107820797247,0.6171364057571201,2.4919079583109767,-0.43765542178313244,-1.828590436825437,0.28193265865304573,1.6312548422581434,-0.01636686346253155,-0.8606531160528332,0.0,0.0,0,0,0.0,0.0
+6753,1792844849215897489,23528657000000,1792844849212375256,WAIT_W2,2,0.071,0.07619763165712357,0.6759875555141653,-0.004531040934965972,0.10665135722782476,0.999999968166025,-6.425839318148525e-07,-0.00020291030782025032,-0.00011805849191204499,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.41206866435175726,0.3844892690056795,0.04514504311831516,0.025829913678325725,-0.02820025736789172,0.0003706452161156264,0.35767970833463547,0.3182390532442734,0.2761294465727749,0.024753632054807573,-0.028227384541076497,0.00065614251989186,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0352282658940613,0.7793175551242495,2.5181715360624577,-0.4485379207442043,-1.8454066443144053,0.39226467608188664,1.6312548422581434,-0.04514504311831516,-0.8869166938043143,0.0,0.0,0,0,0.0,0.0
+6753,1792844849215897489,23528657000000,1792844849212375256,WAIT_W2,2,0.071,0.07619763165712357,0.6759875555141653,-0.004531040934965972,0.10665135722782476,0.999999968166025,-6.425839318148525e-07,-0.00020291030782025032,-0.00011805849191204499,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.41206866435175726,0.3844892690056795,0.04514504311831516,0.025829913678325725,-0.02820025736789172,0.0003706452161156264,0.35767970833463547,0.3182390532442734,0.2761294465727749,0.024753632054807573,-0.028227384541076497,0.00065614251989186,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0352282658940613,0.7793175551242495,2.5181715360624577,-0.4485379207442043,-1.8454066443144053,0.39226467608188664,1.6312548422581434,-0.04514504311831516,-0.8869166938043143,0.0,0.0,0,0,0.0,0.0
+6755,1792844849231845891,23528673000000,1792844849228365149,WAIT_W2,2,0.071,0.07619763165712357,0.6759865572530199,-0.004620977673566561,0.10665466221217973,0.9999999680283768,-6.411633429150158e-05,-0.00020338136378329747,-9.955514240731408e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7454875504415736,0.7071710755903347,0.0981582515217869,0.04926396144701224,-0.05221513962309367,0.000289538800460478,0.6910985944244518,0.6409208598289285,0.3291426549762466,0.04818767982349409,-0.05224226679627845,0.0005750361042367116,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0577684093221833,1.1500855476170362,2.5163136138811475,-0.48930595172761654,-1.8490393243402068,0.6435982454145942,1.6312548422581434,-0.0981582515217869,-0.8850587716230041,0.0,0.0,0,0,0.0,0.0
+6755,1792844849231845891,23528673000000,1792844849228365149,WAIT_W2,2,0.071,0.07619763165712357,0.6759865572530199,-0.004620977673566561,0.10665466221217973,0.9999999680283768,-6.411633429150158e-05,-0.00020338136378329747,-9.955514240731408e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7454875504415736,0.7071710755903347,0.0981582515217869,0.04926396144701224,-0.05221513962309367,0.000289538800460478,0.6910985944244518,0.6409208598289285,0.3291426549762466,0.04818767982349409,-0.05224226679627845,0.0005750361042367116,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0577684093221833,1.1500855476170362,2.5163136138811475,-0.48930595172761654,-1.8490393243402068,0.6435982454145942,1.6312548422581434,-0.0981582515217869,-0.8850587716230041,0.0,0.0,0,0,0.0,0.0
+6755,1792844849231845891,23528673000000,1792844849228365149,WAIT_W2,2,0.071,0.07619763165712357,0.6759865572530199,-0.004620977673566561,0.10665466221217973,0.9999999680283768,-6.411633429150158e-05,-0.00020338136378329747,-9.955514240731408e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7454875504415736,0.7071710755903347,0.0981582515217869,0.04926396144701224,-0.05221513962309367,0.000289538800460478,0.6910985944244518,0.6409208598289285,0.3291426549762466,0.04818767982349409,-0.05224226679627845,0.0005750361042367116,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0577684093221833,1.1500855476170362,2.5163136138811475,-0.48930595172761654,-1.8490393243402068,0.6435982454145942,1.6312548422581434,-0.0981582515217869,-0.8850587716230041,0.0,0.0,0,0,0.0,0.0
+6757,1792844849248803303,23528690000000,1792844849248375086,WAIT_W2,2,0.071,0.07619697600603104,0.6759912459177292,-0.004730023551320555,0.10666490353731069,0.9999999653720498,-0.000132485837199916,-0.00019304109830292697,-7.669029169744516e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0262387894529512,1.001297690563821,0.15122374879597475,0.07041009161971994,-0.07335911604099878,0.0006392685777503579,0.9718498334358294,0.9350474748024149,0.3822081522504345,0.06933380999620178,-0.07338624321418355,0.0009247658815265914,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0289285454395072,1.4032914596862185,2.420453932242871,-0.49665668655072254,-1.780238211529221,0.8187550745015267,1.6312548422581434,-0.15122374879597475,-0.7891990899847277,0.0,0.0,0,0,0.0,0.0
+6757,1792844849248803303,23528690000000,1792844849248375086,WAIT_W2,2,0.071,0.07619697600603104,0.6759912459177292,-0.004730023551320555,0.10666490353731069,0.9999999653720498,-0.000132485837199916,-0.00019304109830292697,-7.669029169744516e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0262387894529512,1.001297690563821,0.15122374879597475,0.07041009161971994,-0.07335911604099878,0.0006392685777503579,0.9718498334358294,0.9350474748024149,0.3822081522504345,0.06933380999620178,-0.07338624321418355,0.0009247658815265914,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0289285454395072,1.4032914596862185,2.420453932242871,-0.49665668655072254,-1.780238211529221,0.8187550745015267,1.6312548422581434,-0.15122374879597475,-0.7891990899847277,0.0,0.0,0,0,0.0,0.0
+6759,1792844849265861028,23528707000000,1792844849264375189,WAIT_W2,2,0.071,0.07619697600603104,0.6759875416910439,-0.004845063599586027,0.10666721056890746,0.9999999535351946,-0.00021005290242460899,-0.0001936739103213197,-5.235138448062965e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.125864488911309,1.116051824776157,0.16308624409307018,0.07941480369160157,-0.08173039843348484,0.0011185940542824569,1.0714755328941872,1.049801609014751,0.3940706475475299,0.07833852206808342,-0.08175752560666961,0.0014040913580586904,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0526209604407455,1.4666590881224806,2.4404484992644027,-0.4669560100526288,-1.7987940962761564,0.8640111228743088,1.6312548422581434,-0.16308624409307018,-0.8091936570062592,0.0,0.0,0,0,0.0,0.0
+6759,1792844849265861028,23528707000000,1792844849264375189,WAIT_W2,2,0.071,0.07619697600603104,0.6759875416910439,-0.004845063599586027,0.10666721056890746,0.9999999535351946,-0.00021005290242460899,-0.0001936739103213197,-5.235138448062965e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.125864488911309,1.116051824776157,0.16308624409307018,0.07941480369160157,-0.08173039843348484,0.0011185940542824569,1.0714755328941872,1.049801609014751,0.3940706475475299,0.07833852206808342,-0.08175752560666961,0.0014040913580586904,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0526209604407455,1.4666590881224806,2.4404484992644027,-0.4669560100526288,-1.7987940962761564,0.8640111228743088,1.6312548422581434,-0.16308624409307018,-0.8091936570062592,0.0,0.0,0,0,0.0,0.0
+6761,1792844849281900657,23528723000000,1792844849276375105,WAIT_W2,2,0.071,0.07619697600603104,0.675986901534177,-0.00490979987853961,0.10666713440684641,0.9999999446108409,-0.0002510960302947156,-0.000194435829244866,-3.696851513034452e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1451792178256603,1.1374512093491318,0.1608583789516421,0.08132574565823948,-0.08363568705866493,0.0015816501432531025,1.0907902618085386,1.0712009935877258,0.3918427824061018,0.08024946403472133,-0.08366281423184971,0.001867147447029336,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9942226711036576,1.6461903315043334,2.3922692623619204,-0.4893044580871638,-1.75067668109215,0.9849697503689738,1.6312548422581434,-0.1608583789516421,-0.761014420103777,0.0,0.0,0,0,0.0,0.0
+6763,1792844849298887095,23528740000000,1792844849292374937,WAIT_W2,2,0.071,0.07619697600603104,0.6759890680561246,-0.004942671230694654,0.10667387589714776,0.9999999409830883,-0.00027036162973855486,-0.00018904963320851608,-2.5328028823219397e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1499300758783095,1.1346262491497578,0.15387289589836303,0.08114910099664475,-0.08366062305182982,0.001489388938982388,1.0955411198611877,1.0683760333883519,0.38485729935282276,0.0800728193731266,-0.0836877502250146,0.0017748862427586216,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.947818527238089,1.7701349315299915,2.4664632455795363,-0.5047944574394536,-1.7856506316069258,1.0665901966546354,1.6312548422581434,-0.15387289589836303,-0.8352084033213929,0.0,0.0,0,0,0.0,0.0
+6767,1792844849331847684,23528773000000,1792844849328374797,WAIT_W2,2,0.071,0.07619697600603104,0.675989638829442,-0.004914110886194839,0.10667184417154943,0.999999946306954,-0.00024940859929399324,-0.00018937638665272494,-2.75841964942369e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2313952247733901,1.203779057971402,0.1606544883733562,0.08718021628825927,-0.08867804905523406,0.00217132174379634,1.1770062687562683,1.137528842209996,0.3916388918278159,0.08610393466474112,-0.08870517622841884,0.0024568190475725738,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9399444846639209,1.8940450409373961,2.337599075923895,-0.5165746770696888,-1.702957333621614,1.1487978846766402,1.6312548422581434,-0.1606544883733562,-0.7063442336657517,0.0,0.0,0,0,0.0,0.0
+6775,1792844849398892485,23528840000000,1792844849396374742,WAIT_W2,2,0.071,0.07216832041740417,0.6759949432149508,-0.004945381089664472,0.10668294550134692,0.9999999432222885,-0.00026852913041944135,-0.00017996207885295111,-2.245083295077994e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.4483021370210536,1.4686924028720822,0.29656534324283057,0.10600572196857483,-0.1078878808382879,0.0021201033943472982,1.3939131810039318,1.4024421871106763,0.5275497466972903,0.10492944034505668,-0.10791500801147268,0.002405600698123532,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9971410760344227,2.211218393779076,2.294766824523769,-0.529604205453407,-1.6916323801597932,1.3570680304077989,1.6312548422581434,-0.29656534324283057,-0.6635119822656255,0.0,0.0,0,0,0.0,0.0
+6787,1792844849498869039,23528940000000,1792844849496374922,WAIT_W2,2,0.071,0.07216832041740417,0.6759997254841206,-0.0049384129835267155,0.10669329753652959,0.9999999453167518,-0.0002660805140311052,-0.00017147320820779075,-2.4646623811869877e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.4141772189917317,1.4660943172692522,0.42641004727933474,0.10650231628330327,-0.1058307921855614,0.001332400492268658,1.3597882629746099,1.3998441015078462,0.6573944507337944,0.10542603465978512,-0.10585791935874618,0.0016178977960448915,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9929974669102998,2.2609397118613543,2.100381838854391,-0.5402391828730086,-1.5660838484131079,1.3909050612538245,1.6312548422581434,-0.42641004727933474,-0.46912699659624746,0.0,0.0,0,0,0.0,0.0
+6804,1792844849640863998,23529082000000,1792844849636375128,WAIT_W2,2,0.071,0.07123322784900665,0.6760035758078745,-0.004938112435933279,0.10670285678258432,0.9999999467918326,-0.0002653314596232741,-0.00016376521651315936,-2.5285694118189693e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3748229696222638,1.4426886022130523,0.4771429668313186,0.1052562038345555,-0.10366855188455101,-7.890425143861697e-05,1.320434013605142,1.3764383864516463,0.7081273702857783,0.10417992221103735,-0.10369567905773579,0.00020659305233761664,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.973464461326029,2.2155580311786207,2.1487822837884663,-0.5294008127830082,-1.5918227208634375,1.3623666828582113,1.6312548422581434,-0.4771429668313186,-0.5175274415303228,0.0,0.0,0,0,0.0,0.0
+6818,1792844849756910038,23529198000000,1792844849752365561,WAIT_W2,2,0.071,0.07104214280843735,0.6760038517053372,-0.004931786644303723,0.10670591169214365,0.9999999476148778,-0.00026280716202657997,-0.000162483327663129,-2.7288632581680787e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.339132746419383,1.4152101034535414,0.4739716088268894,0.10338494957646477,-0.10105848667222457,-6.315800171210047e-05,1.2847437904022612,1.3489598876921354,0.7049560122813491,0.10230866795294662,-0.10108561384540934,0.00022233930206413315,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9497279961139641,2.2763369295695366,2.0616248709982186,-0.5539882274993726,-1.529380745270073,1.401787290516869,1.6312548422581434,-0.4739716088268894,-0.43037002874007513,0.0,0.0,0,0,0.0,0.0
+6836,1792844849906915519,23529348000000,1792844849900374646,UP_FORCE_RAMP,2,0.071,0.07104214280843735,0.6760038057933166,-0.004934575039794822,0.1067075025352179,0.9999999479546289,-0.00026220047841402186,-0.00016168292029245096,-2.5360323253186877e-05,0.6761,-0.0046,0.1070000430999989,1.0,0.0,0.0,0.0,1.3797822997082385,1.4582034606798753,0.4612788380891081,0.10567297509248531,-0.10317953004230378,-7.438590648083611e-05,1.3253933436911167,1.3919532449184693,0.6922632415435678,0.10459669346896716,-0.10320665721548855,0.0002111113972953975,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9349907867797181,2.3049726846346204,2.0832759646195904,-0.5653721436415243,-1.5402605446150324,1.419139846870231,1.6312548422581434,-0.4612788380891081,-0.452021122361447,-0.4612788380891081,0.004199999999999998,0,0,2.099999836550853e-06,9.999999025923074e-05
+6860,1792844850106892780,23529548000000,1792844850104374477,UP_FORCE_RAMP,2,0.071,0.07100865244865417,0.6760053460352669,-0.0049311572843706965,0.10671021148360875,0.999999948616874,-0.00026098029169391475,-0.00015924472997594423,-2.719405445012532e-05,0.6761,-0.0046,0.10700145809977042,1.0,0.0,0.0,0.0,1.3602369539675017,1.4355469297678534,0.436689734852023,0.10469444036089746,-0.10204490014892256,-4.3071616391510744e-05,1.3058479979503799,1.3692967140064474,0.6676741383064827,0.10361815873737931,-0.10207202732210734,0.00024242568738472287,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9624437152520484,2.2095412405130177,2.0732224746094605,-0.5423371288251237,-1.5424805936196135,1.356302544563504,1.6312548422581434,-0.436689734852023,-0.4419676323513171,-0.436689734852023,0.02419999999999991,0,0,1.2099997888397001e-05,9.999999025923074e-05
+6877,1792844850249905069,23529690000000,1792844850244365561,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6760043388737275,-0.004930196482093009,0.10671055118777462,0.999999948358965,-0.00026144576910885014,-0.0001596762741482353,-2.9572428033175212e-05,0.6761,-0.0046,0.10700367684937168,1.0,0.0,0.0,0.0,1.355908306065124,1.4282727133181274,0.4306250104273358,0.10478518096556978,-0.10241230387808727,-4.903908059350912e-05,1.3015193500480022,1.3620224975567214,0.6616094138817955,0.10370889934205163,-0.10243943105127204,0.0002364582231827245,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9709397281510267,2.235212001208874,2.136041565585586,-0.5573789785583316,-1.5833616587914425,1.3723722084857344,1.6312548422581434,-0.4306250104273358,-0.5047867233274426,-0.4306250104273358,0.03840000000000007,0,0,1.9199996505207768e-05,9.999999025923074e-05
+6897,1792844850415943520,23529857000000,1792844850412375600,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6760039342142181,-0.004926495225676039,0.10671089059900384,0.9999999492414181,-0.0002574849105077505,-0.00016065826967536433,-2.9162755465993406e-05,0.6761,-0.0046,0.1070075762986514,1.0,0.0,0.0,0.0,1.3455921937410218,1.424810327110035,0.4026279194755428,0.10439097688492471,-0.10139111706079572,-1.436861724576216e-05,1.2912032377239,1.358560111348629,0.6336123229300025,0.10331469526140656,-0.10141824423398049,0.00027112868653047145,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9919402596009878,2.314991586649052,2.192286283391142,-0.5796167597886608,-1.6255360348106747,1.4264490017699036,1.6312548422581434,-0.4026279194755428,-0.5610314411329984,-0.4026279194755428,0.05510000000000055,0,0,2.7549994878499302e-05,9.999999025923074e-05
+6915,1792844850565950148,23530007000000,1792844850564374865,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6760045803255623,-0.0049313909863837845,0.10671298124090697,0.9999999487988404,-0.0002601252872646933,-0.00015929556138982642,-2.83714565690871e-05,0.6761,-0.0046,0.10701226754777286,1.0,0.0,0.0,0.0,1.3380526019358254,1.4142426399051173,0.3964083726163169,0.10377031879665356,-0.10137342241141561,-2.1238557674662175e-05,1.2836636459187036,1.3479924241437113,0.6273927760707766,0.10269403717313541,-0.10140054958460039,0.00026425874610157144,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0019224365841455,2.1741697143225207,2.2281904155113526,-0.5373088852659951,-1.6498095041720007,1.3336755956752169,1.6312548422581434,-0.3964083726163169,-0.5969355732532091,-0.3964083726163169,0.07010000000000098,0,0,3.5049993417383913e-05,9.999999025923074e-05
+6930,1792844850690924809,23530132000000,1792844850688365557,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6760058350396444,-0.004925797873115412,0.1067160248469764,0.9999999505610918,-0.0002554929167698426,-0.0001555629768394688,-2.9055247924914382e-05,0.6761,-0.0046,0.10701703629687333,1.0,0.0,0.0,0.0,1.3368253853617877,1.4116056864003044,0.3799492343267158,0.10374842175352225,-0.1013703451443073,-6.238563118504345e-06,1.282436429344666,1.3453554706388984,0.6109336377811755,0.1026721401300041,-0.10139747231749208,0.00027925874065772927,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0436555118977067,2.190661436371852,2.247023722669975,-0.5440084953883288,-1.6767380285651188,1.3476704731573876,1.6312548422581434,-0.3799492343267158,-0.6157688804118315,-0.3799492343267158,0.08260000000000134,0,0,4.1299992199787756e-05,9.999999025923074e-05
+6958,1792844850923961949,23530365000000,1792844850920374551,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6760059848586477,-0.004925893296630636,0.10672080625892452,0.9999999494232512,-0.000259973377334689,-0.00015513032757110188,-3.0737329868892266e-05,0.6761,-0.0046,0.10702801059479033,1.0,0.0,0.0,0.0,1.3367485034122824,1.4102733197870077,0.34982370385203376,0.10363243202955376,-0.10099689712476559,2.3897766512635148e-05,1.2823595473951606,1.3440231040256017,0.5808081073064935,0.1025561504060356,-0.10102402429795036,0.00030939507028886876,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.986837742329678,2.2143839322105667,2.189725548632552,-0.5547729028121057,-1.6191180430053747,1.359454282131652,1.6312548422581434,-0.34982370385203376,-0.5584707063744085,-0.34982370385203376,0.105900000000002,0,0,5.294998993018852e-05,9.999999025923074e-05
+6985,1792844851148934008,23530590000000,1792844851148365590,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.6760052903565817,-0.004929346586810948,0.10672485280793603,0.9999999491225501,-0.0002605711553433454,-0.0001558133688227398,-3.197855805054058e-05,0.6761,-0.0046,0.10704118434227697,1.0,0.0,0.0,0.0,1.3366736541221982,1.4063844750012628,0.2997188406788407,0.10376176137928499,-0.10135258182730944,5.855301896887609e-05,1.2822846981050764,1.3401342592398569,0.5307032441333004,0.10268547975576683,-0.10137970900049421,0.0003440503227451097,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-0.9989544693519403,2.300616463691496,2.23230922240619,-0.5886474719470646,-1.6467555656935742,1.4148697697114512,1.6312548422581434,-0.2997188406788407,-0.6010543801480464,-0.2997188406788407,0.12840000000000218,0,0,6.419998773851544e-05,9.999999025923074e-05
+7007,1792844851331979690,23530773000000,1792844851328374617,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.6760058726251715,-0.004926572089061224,0.10672999597280862,0.9999999491503089,-0.0002610413883761323,-0.00015480039409710165,-3.219433397728319e-05,0.6761,-0.0046,0.10705376558986912,1.0,0.0,0.0,0.0,1.3351694409787258,1.4085371906824988,0.26168308388307215,0.10317707134250742,-0.10116631330670889,8.935722720409346e-05,1.280780484961604,1.3422869749210928,0.4926674873375319,0.10210078971898927,-0.10119344047989366,0.0003748545309803271,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0409694516545005,2.1930150233795205,2.3656889614858336,-0.5544661062902421,-1.7453691045422335,1.3420223329118208,1.6312548422581434,-0.26168308388307215,-0.7344341192276902,-0.26168308388307215,0.14670000000000016,0,0,7.334998595595466e-05,9.999999025923074e-05
+7031,1792844851531938778,23530973000000,1792844851528365426,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.6760032683573354,-0.004924758491291258,0.10673873122068431,0.9999999491800573,-0.0002586090926513501,-0.0001581096639256287,-3.471913230658693e-05,0.6761,-0.0046,0.10706943058686452,1.0,0.0,0.0,0.0,1.3395989097961998,1.40297279730782,0.22124730709032311,0.10275768459797417,-0.10131667378435817,0.00011140938041674908,1.285209953779078,1.336722581546414,0.45223171054478284,0.10168140297445602,-0.10134380095754295,0.0003969066841929827,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.033564164924324,2.2061226084414867,2.427927951943595,-0.5587315994372186,-1.7805110928875068,1.349895521770522,1.6312548422581434,-0.22124730709032311,-0.7966731096854516,-0.22124730709032311,0.16669999999999796,0,0,8.334998400780081e-05,9.999999025923074e-05
+7052,1792844851706926217,23531148000000,1792844851700375295,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.675993602879211,-0.004924043651083745,0.10674099909593446,0.9999999446960495,-0.00026035796150410964,-0.00018103726302598114,-3.8600559791815925e-05,0.6761,-0.0046,0.10708477808391588,1.0,0.0,0.0,0.0,1.3491667441466846,1.4018838242103397,0.16977730087489382,0.10279293316937696,-0.10231485450944593,0.00013704833565653324,1.2947777881295628,1.3356336084489338,0.40076170432935354,0.10171665154585881,-0.1023419816826307,0.00042254563943276685,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0963120464056662,2.2251303032152987,2.436381000575308,-0.5635492095149088,-1.7958554151772246,1.3649637089813909,1.6312548422581434,-0.16977730087489382,-0.8051261583171647,-0.16977730087489382,0.18419999999999603,0,0,9.209998230316619e-05,9.999999025923074e-05
+7058,1792844851756996499,23531198000000,1792844851752374853,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759695535703716,-0.0049212111799090815,0.10674589375687736,0.9999999314893371,-0.0002575572799588464,-0.0002450558587414959,-4.556378513607321e-05,0.6761,-0.0046,0.10708944433301862,1.0,0.0,0.0,0.0,1.4746515992574696,1.3086990674213816,0.22417788649437506,0.09614089888692649,-0.11087734915018638,-0.0007248888340610677,1.4202626432403478,1.2424488516599757,0.4551622899488348,0.09506461726340834,-0.11090447632337115,-0.00043939153028483413,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.0929049937080995,2.317005394762595,2.3011212296658763,-0.5573279799202554,-1.6917388260372799,1.4222578594920865,1.6312548422581434,-0.22417788649437506,-0.6698663874077329,-0.22417788649437506,0.18919999999999548,0,0,9.459998181612773e-05,9.999999025923074e-05
+7070,1792844851857001923,23531298000000,1792844851852374726,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759699354455408,-0.004920872789521397,0.10675265122830047,0.9999999314956886,-0.0002605064229435122,-0.00024154974007872232,-4.734563166282578e-05,0.6761,-0.0046,0.10709915183115104,1.0,0.0,0.0,0.0,1.459955003802143,1.3116996318457133,0.15255822450774667,0.09591487009313059,-0.11029042441481669,-0.001060530981411992,1.4055660477850211,1.2454494160843073,0.3835426279622064,0.09483858846961243,-0.11031755158800147,-0.0007750336776357585,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.158315443418737,2.2225606286130772,2.3820240922614233,-0.5099967708996455,-1.7705407736201504,1.352906977301999,1.6312548422581434,-0.15255822450774667,-0.7507692500032799,-0.15255822450774667,0.19919999999999438,0,0,9.95999808420508e-05,9.999999025923074e-05
+7091,1792844852032014539,23531473000000,1792844852028365212,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759690957368801,-0.00492353341191891,0.10675910279635675,0.9999999303772267,-0.00026531456001218127,-0.00024031048107094893,-5.0472394960241535e-05,0.6761,-0.0046,0.10711734307764839,1.0,0.0,0.0,0.0,1.4529020594612478,1.3244651074692713,0.056832038173457194,0.09688272587536491,-0.10932011605048696,-0.0009648014516514042,1.398513103444126,1.2582148917078653,0.2878164416279169,0.09580644425184676,-0.10934724322367173,-0.0006793041478751706,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.2863858766200569,2.2817818733300625,2.523289804944073,-0.54845339233298,-1.897750413224725,1.3983911846224522,1.6312548422581434,-0.056832038173457194,-0.8920349626859294,-0.056832038173457194,0.21669999999999245,0,0,0.00010834997913741618,9.999999025923074e-05
+7109,1792844852181967093,23531623000000,1792844852180375379,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759591365911618,-0.004924307793627536,0.10676342871590508,0.9999999288257243,-0.00026659454965007533,-0.00024506780450342185,-5.158030179769604e-05,0.6761,-0.0046,0.10713415432440869,1.0,0.0,0.0,0.0,1.4627128748016145,1.3284639597350363,-0.003308968770660725,0.09692638585392181,-0.11018373981357274,-0.0009268380730973454,1.4083239187844927,1.2622137439736303,0.227675434683799,0.09585010423040366,-0.11021086698675751,-0.0006413407693211118,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.301232985562698,2.2303348625504213,2.7178166136815114,-0.5410409786100063,-2.025695030695238,1.3652900614861891,1.6312548422581434,0.003308968770660725,-1.086561771423368,0.003308968770660725,0.2316999999999908,0,0,0.00011584997767630079,9.999999025923074e-05
+7115,1792844852232024790,23531673000000,1792844852228374400,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759376977956472,-0.004925767640954118,0.10675181178807748,0.9999999227013241,-0.0002706225300144159,-0.00026423011245230827,-5.4645252221157564e-05,0.6761,-0.0046,0.10714000807328009,1.0,0.0,0.0,0.0,1.5208764013357523,1.20344433989521,0.1376055658803292,0.0887350018149928,-0.11563148217523879,-0.001220793775758006,1.4664874453186305,1.137194124133804,0.36858996933478894,0.08765872019147465,-0.11565860934842356,-0.0009352964719817723,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.398540993198214,2.155554530862301,2.5185599060694117,-0.5245616082097557,-1.9041069377392001,1.315029214241168,1.6312548422581434,-0.1376055658803292,-0.8873050638112683,-0.1376055658803292,0.23669999999999025,0,0,0.00011834997718926233,9.999999025923074e-05
+7129,1792844852348998932,23531790000000,1792844852348365208,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.675940038648542,-0.004919207600718488,0.10677047667705332,0.999999925075779,-0.0002692031577674464,-0.000255925950963582,-5.7644321189555535e-05,0.6761,-0.0046,0.10715419432054399,1.0,0.0,0.0,0.0,1.4986856514581268,1.2172070671497093,-0.017705821923740594,0.08900592387247958,-0.11425357034192121,-0.0010621029221376652,1.444296695441005,1.1509568513883033,0.21327858153071913,0.08792964224896142,-0.11428069751510599,-0.0007766056183614315,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.3501270311302431,2.232861595845881,2.6041300643941994,-0.5546421820485755,-1.9404255710958758,1.3667177557886296,1.6312548422581434,0.017705821923740594,-0.9728752221360559,0.017705821923740594,0.24839999999998896,0,0,0.00012419997604959233,9.999999025923074e-05
+7148,1792844852506943290,23531948000000,1792844852500375136,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759429085580972,-0.0049211758354717515,0.1067793851514607,0.9999999251607093,-0.0002721133019785726,-0.00025222018801119477,-5.8828286532108356e-05,0.6761,-0.0046,0.10717443806663747,1.0,0.0,0.0,0.0,1.5022952179785933,1.2276057325014118,-0.057608413144308174,0.0899479739388656,-0.11430300401794789,-0.001024893962038183,1.4479062619614715,1.1613555167400058,0.17337599031015155,0.08887169231534744,-0.11433013119113267,-0.0007393966582619494,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.3681540322628583,2.251154779425226,2.7141904953686127,-0.564242314139278,-2.01497041910982,1.381963726796148,1.6312548422581434,0.057608413144308174,-1.0829356531104692,0.057608413144308174,0.2641999999999872,0,0,0.00013209997451055078,9.999999025923074e-05
+7170,1792844852691001923,23532132000000,1792844852684374804,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759421584832177,-0.004919164010085658,0.10678802517595827,0.9999999259782579,-0.00026852301843893436,-0.000252393929065278,-6.065505429781609e-05,0.6761,-0.0046,0.10719907483932246,1.0,0.0,0.0,0.0,1.509059793359082,1.2369693744447188,-0.11598802477914458,0.08992764171268695,-0.11417191878043759,-0.0017796322900173144,1.4546708373419601,1.1707191586833128,0.11499637867531515,0.0888513600891688,-0.11419904595362236,-0.0014941349862410808,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4200288084236585,2.2215207299145483,2.799419965352998,-0.5648289822849678,-2.0815181771110893,1.3597069122434262,1.6312548422581434,0.11598802477914458,-1.1681651230948544,0.11598802477914458,0.2825999999999852,0,0,0.0001321605690759745,-9.998963742952611e-05
+7186,1792844852824027386,23532265000000,1792844852820374701,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759429010414769,-0.004918918306992524,0.10679938721050122,0.9999999269539078,-0.00026706106617456173,-0.0002498164605411837,-6.168602566541266e-05,0.6761,-0.0046,0.10721621329508055,1.0,0.0,0.0,0.0,1.5055548140918908,1.230824370372748,-0.16995213968276973,0.09094270047932515,-0.11416248432198042,-0.0010054196819508008,1.451165858074769,1.164574154611342,0.061032263771689986,0.089866418855807,-0.1141896114951652,-0.0007199223781745672,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4274881031678701,2.184617750567755,2.7646416018258906,-0.546661570256886,-2.0648182690251615,1.3374965458964752,1.6312548422581434,0.16995213968276973,-1.1333867595677471,0.16995213968276973,0.29589999999998373,0,0,0.0001255105702882301,-9.999999025923074e-05
+7207,1792844852998991454,23532440000000,1792844852996375151,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.6759378437089713,-0.004920882006420436,0.10680658852231793,0.999999923831012,-0.00027139234332113814,-0.000257135951660935,-6.330981298981809e-05,0.6761,-0.0046,0.107237416395031,1.0,0.0,0.0,0.0,1.5058708839336643,1.2404313260793227,-0.23665990713172355,0.08995984125077651,-0.11412994368736626,-0.001896608784293484,1.4514819279165425,1.1741811103179167,-0.005675503677263821,0.08888355962725836,-0.11415707086055103,-0.0016111114805172505,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4077500519053787,2.2259635643808116,2.9194950091437266,-0.5676328434452079,-2.156847711492255,1.3644613085788062,1.6312548422581434,0.23665990713172355,-1.2882401668855832,0.23665990713172355,0.3133999999999818,0,0,0.00011676057199286471,-9.999999025923074e-05
+7235,1792844853232043390,23532673000000,1792844853228374996,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759349596009896,-0.004921153742307716,0.10682399748392256,0.9999999236991055,-0.00026205371033638134,-0.0002681728841409006,-5.878608951043615e-05,0.6761,-0.0046,0.10726327020857088,1.0,0.0,0.0,0.0,1.5155445586607488,1.2279431930669913,-0.32358444269125597,0.0899841212851305,-0.11512123444941506,-0.0018506025440126453,1.461155602643627,1.1616929773055853,-0.09260003923679623,0.08890783966161235,-0.11514836162259984,-0.0015651052402364117,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4751998296513447,2.2665173792973485,3.005706902035162,-0.5827257555861236,-2.2278822925424433,1.3976524880219248,1.6312548422581434,0.32358444269125597,-1.3744520597770187,0.32358444269125597,0.33669999999997924,0,0,0.00010511057426246394,-9.999999025923074e-05
+7237,1792844853249076355,23532690000000,1792844853248375392,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759205209740212,-0.00495973822395222,0.10683804147197579,0.9999999381405678,-0.00011212807615493786,-0.0003076578609348408,8.90823223688637e-05,0.6761,-0.0046,0.10726505028833483,1.0,0.0,0.0,0.0,1.5158994646167268,1.2257028307635356,-0.3277255711067641,0.08933561265435518,-0.11510537879064052,-0.0018574203821050822,1.461510508599605,1.1594526150021296,-0.09674116765230437,0.08825933103083702,-0.1151325059638253,-0.0015719230783288486,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.430773679953974,2.1392001180666385,2.94122766124925,-0.5424980399568209,-2.1710368968104676,1.314265967346232,1.6312548422581434,0.3277255711067641,-1.3099728189911066,0.3277255711067641,0.33839999999997905,0,0,0.00010426057442805702,-9.999999025923074e-05
+7241,1792844853282046750,23532723000000,1792844853280375032,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759162311523461,-0.004925902351663709,0.10683030637717428,0.9999999371726833,-8.989562106803868e-05,-0.0003199645746264604,8.147970298251577e-05,0.6761,-0.0046,0.10726846448729642,1.0,0.0,0.0,0.0,1.3644647861630657,1.0335870723907634,-0.319601421995728,0.07713326067240577,-0.10524510006517844,-0.0026676053263843596,1.3100758301459439,0.9673368566293573,-0.08861701854126826,0.07605697904888761,-0.10527222723836321,-0.002382108022608126,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.2874313169809954,2.0190463357211956,2.868188949784201,-0.42779265869427946,-2.102799586667335,1.229526853553517,1.6312548422581434,0.319601421995728,-1.2369341075260576,0.319601421995728,0.3416999999999787,0,0,0.00010261057474950241,-9.999999025923074e-05
+7249,1792844853349028891,23532790000000,1792844853344375043,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759131172201819,-0.004935764579075181,0.10683506841142802,0.9999999342007413,-9.766914875461826e-05,-0.00032701008476948015,8.10340631541487e-05,0.6761,-0.0046,0.10727522884582683,1.0,0.0,0.0,0.0,1.3888395747596922,1.0297934529654293,-0.3567798994385145,0.07703550574275174,-0.10739968363127789,-0.002893359549279317,1.3344506187425704,0.9635432372040234,-0.12579549598405476,0.07595922411923359,-0.10742681080446266,-0.0026078622455030834,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.345060646170358,2.0294191388563716,2.862452321877544,-0.35295164277009633,-2.1345720523147085,1.2227418276814304,1.6312548422581434,0.3567798994385145,-1.2311974796194005,0.3567798994385145,0.34839999999997795,0,0,9.926057540213395e-05,-9.999999025923074e-05
+7262,1792844853457098402,23532898000000,1792844853456365597,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759144736585013,-0.0049377536349394,0.10684019184437289,0.9999999351594219,-0.00010094771323637069,-0.00032380045516005766,7.801820799009268e-05,0.6761,-0.0046,0.10728566008802759,1.0,0.0,0.0,0.0,1.4039814769156795,1.0665499525573796,-0.3999791081093431,0.07823611682106368,-0.10783782349566279,-0.0028509095831446853,1.3495925208985577,1.0002997367959736,-0.16899470465488342,0.07715983519754553,-0.10786495066884756,-0.0025654122793684515,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4702434208187305,2.068549368687536,2.923543488934892,-0.37303470733016586,-2.212885437567709,1.2345862303336894,1.6312548422581434,0.3999791081093431,-1.2922886466767487,0.3999791081093431,0.35919999999997676,0,0,9.386057645413703e-05,-9.999999025923074e-05
+7280,1792844853607078123,23533048000000,1792844853604375023,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759132271835491,-0.00493070266074024,0.10684715972309825,0.9999999357949022,-9.658187684858738e-05,-0.0003244184819055526,7.264740563213336e-05,0.6761,-0.0046,0.10729918042460602,1.0,0.0,0.0,0.0,1.4012921862928371,1.0556267319973753,-0.44410763516363727,0.07865064669865884,-0.10787524286622241,-0.0028071713266085265,1.3469032302757153,0.9893765162359692,-0.21312323170917755,0.07757436507514069,-0.10790237003940718,-0.0025216740228322927,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4926472087713047,2.045892751280741,3.0012556486243414,-0.37314513649723957,-2.26602271566632,1.2176616575634802,1.6312548422581434,0.44410763516363727,-1.370000806366198,0.44410763516363727,0.3741999999999751,0,0,8.636057791525242e-05,-9.999999025923074e-05
+7296,1792844853741098333,23533182000000,1792844853740375587,UP_FORCE_RAMP,2,0.071,0.07100208103656769,0.6759116514120623,-0.004939059488549593,0.10685206581235325,0.9999999342618981,-0.00010379049210859967,-0.00032606817803762663,7.632916081197183e-05,0.6761,-0.0046,0.10731030719213477,1.0,0.0,0.0,0.0,1.4254070529701923,1.0992235589913038,-0.49165766420436385,0.08130076709200917,-0.10969526123106828,-0.0027742959925524634,1.3710180969530705,1.0329733432298978,-0.2606732607499041,0.08022448546849102,-0.10972238840425305,-0.0024887986887762296,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.5024482821748926,1.9990455580179645,3.0605841912518916,-0.3756545911316394,-2.303694704519886,1.1879388311049315,1.6312548422581434,0.49165766420436385,-1.4293293489937482,0.49165766420436385,0.38759999999997363,0,0,7.96605792205155e-05,-9.999999025923074e-05
+7312,1792844853874097059,23533315000000,1792844853872375024,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.675910846603565,-0.00493793178214759,0.10685819427840107,0.999999934112389,-0.00010255189723434757,-0.00032740872783038494,7.419376950399197e-05,0.6761,-0.0046,0.1073204631492579,1.0,0.0,0.0,0.0,1.4202479162510353,1.0836123909429547,-0.5198957734637245,0.07970066679469104,-0.10882334653110118,-0.002752030317698961,1.3658589602339135,1.0173621751815487,-0.28891137000926476,0.07862438517117289,-0.10885047370428595,-0.002466533013922727,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.5167768775467225,2.079128110665432,3.120119835988644,-0.4101012451935456,-2.3442534422761354,1.23731547847005,1.6312548422581434,0.5198957734637245,-1.4888649937305005,0.5198957734637245,0.40089999999997217,0,0,7.301058051603781e-05,-9.999999025923074e-05
+7325,1792844853982088240,23533423000000,1792844853976365257,UP_FORCE_RAMP,2,0.071,0.07100142538547516,0.6759123976150997,-0.00493848776431866,0.10686402690285121,0.9999999347444912,-0.00010572824158301096,-0.00032496682609244043,7.191647018317144e-05,0.6761,-0.0046,0.10732805939201097,1.0,0.0,0.0,0.0,1.4343758099710369,1.085380317449942,-0.5423554166645769,0.08067031749665562,-0.10973915428170523,-0.0027367901667128274,1.379986853953915,1.019130101688536,-0.3113710132101172,0.07959403587313747,-0.10976628145489001,-0.0024512928629365936,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4618683166005815,2.072674565665852,3.1080630075642195,-0.42010455222502563,-2.319010126014857,1.232311115126582,1.6312548422581434,0.5423554166645769,-1.476808165306076,0.5423554166645769,0.411699999999971,0,0,6.761058156804089e-05,-9.999999025923074e-05
+7342,1792844854120066880,23533561000000,1792844854112375075,UP_FORCE_HOLD,2,0.071,0.07100142538547516,0.6759094802064648,-0.004931254431492318,0.10686842104608352,0.9999999339434024,-9.96683169961096e-05,-0.0003301527349593179,6.798127227838952e-05,0.6761,-0.0046,0.10733691700236078,1.0,0.0,0.0,0.0,1.4196022921200684,1.0746600600016725,-0.5549324858733442,0.0796855476194837,-0.10883617173158053,-0.0027259519803166077,1.3652133361029466,1.0084098442402665,-0.3239480824188845,0.07860926599596554,-0.1088632989047653,-0.002440454676540374,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.562536697197491,1.9887312875079453,3.2937597757011168,-0.39831200814080786,-2.4666987613403517,1.1796264091177773,1.6312548422581434,0.5549324858733442,-1.6625049334429733,0.5549324858733442,0.558,0,0,6.0710582912267046e-05,-9.999999025923074e-05
+7367,1792844854328053692,23533769000000,1792844854320375003,UP_FORCE_HOLD,2,0.071,0.07100208103656769,0.675908114918916,-0.004932803381013286,0.10687384310009819,0.9999999323002298,-0.00010257651567100218,-0.00033427466134752765,6.768241640944654e-05,0.6761,-0.0046,0.10734846840381826,1.0,0.0,0.0,0.0,1.4370967095318945,1.0808647937722482,-0.5935559130997281,0.07969063033732883,-0.10979185104254212,-0.002707380893059622,1.3827077535147727,1.0146145780108422,-0.36257150964526835,0.07861434871381068,-0.10981897821572689,-0.0024218835892833883,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.450342331793809,2.0747199938071037,3.215110134441615,-0.43227722354312237,-2.381680035368428,1.2385202045321932,1.6312548422581434,0.5935559130997281,-1.5838552921834714,0.5935559130997281,0.558,0,0,5.031058493834705e-05,-9.999999025923074e-05
+7386,1792844854480123225,23533921000000,1792844854476366260,UP_SETTLE,2,0.071,0.07100208103656769,0.67590737406574,-0.004930996960482602,0.1068781933744021,0.9999999322312287,-0.00010047676357496398,-0.00033547769139565247,6.587519163830457e-05,0.6761,-0.0046,0.10735554181284215,1.0,0.0,0.0,0.0,1.4453281157026023,1.0901347748556278,-0.6129854079508447,0.08051497520855684,-0.1107366987044919,-0.0026947287153258974,1.3909391596854805,1.0238845590942218,-0.38200100449638497,0.07943869358503869,-0.11076382587767668,-0.0024092314115496637,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4700293210601991,2.13607841298581,3.171412679726152,-0.4550979255547908,-2.3576329758569194,1.2817529789191142,1.6312548422581434,0.6129854079508447,-1.5401578374680085,0.6129854079508447,0.558,0,0,4.271058641894398e-05,-9.999999025923074e-05
+7407,1792844854655143141,23534096000000,1792844854648375451,UP_SETTLE,2,0.071,0.07100208103656769,0.6759053817425695,-0.004928943546727562,0.1068804571949189,0.9999999313873701,-9.876853018265577e-05,-0.00033888287483320234,6.380669291681772e-05,0.6761,-0.0046,0.10736225491561548,1.0,0.0,0.0,0.0,1.4373593927093777,1.0873100623736949,-0.6323982025999095,0.0796998084976817,-0.10979145813771153,-0.002681771168540797,1.382970436692256,1.0210598466122889,-0.40141379914544983,0.07862352687416355,-0.1098185853108963,-0.0023962738647645633,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.5227857423186026,2.0812815466665047,3.209779303675187,-0.45946205079420205,-2.3963874402007637,1.2480992047532329,1.6312548422581434,0.6323982025999095,-1.5785244614170435,0.6323982025999095,0.558,0,0,3.39605881235786e-05,-9.999999025923074e-05
+7425,1792844854805116545,23534246000000,1792844854804374953,UP_SETTLE,2,0.071,0.07100142538547516,0.6759046325448977,-0.00493104597927137,0.10688491811553295,0.9999999307582483,-0.00010227450156693724,-0.00033973428211148945,6.361530308378079e-05,0.6761,-0.0046,0.10736679025394433,1.0,0.0,0.0,0.0,1.4465240206348313,1.0792863557152659,-0.6533240625585901,0.08001975350588747,-0.11079834394132841,-0.0026697273723110208,1.3921350646177095,1.0130361399538599,-0.4223396591041304,0.07894347188236932,-0.11082547111451319,-0.002384230068534787,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.5194789545549148,2.0601154212331823,3.2737966118894626,-0.45442284813289446,-2.434733888644735,1.2348731825962118,1.6312548422581434,0.6533240625585901,-1.6425417696313191,0.6533240625585901,0.558,0,0,2.6460589584693988e-05,-9.999999025923074e-05
+7448,1792844854997146752,23534438000000,1792844854992375207,UP_SETTLE,2,0.071,0.07100142538547516,0.6759059568417433,-0.004933417462198855,0.10689216971035756,0.99999993130809,-0.00010780755921151227,-0.0003366989646623059,6.195173304195461e-05,0.6761,-0.0046,0.10737095388732507,1.0,0.0,0.0,0.0,1.4461739466769228,1.088817922800227,-0.6636448552887165,0.08052654175599866,-0.11079351564190114,-0.0026630548854972977,1.391784990659801,1.022567707038821,-0.43266045183425683,0.07945026013248051,-0.11082064281508591,-0.002377557581721064,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4732956096418244,2.0670017094631765,3.237997964973407,-0.45553636386095486,-2.399193332448456,1.2445477145040245,1.6312548422581434,0.6636448552887165,-1.6067431227152635,0.6636448552887165,0.558,0,0,1.6860591454921685e-05,-9.999999025923074e-05
+7464,1792844855130112206,23534571000000,1792844855128365974,UP_SETTLE,2,0.071,0.07100208103656769,0.6759036392263327,-0.004933181656002824,0.1068900853880151,0.9999999296359943,-0.00010581948146023125,-0.0003420852109514206,6.285552215815215e-05,0.6761,-0.0046,0.10737275744607537,1.0,0.0,0.0,0.0,1.446165374512442,1.0882838761222875,-0.6657928718403897,0.07973265274638582,-0.11079070888596168,-0.0026648476983397182,1.3917764184953203,1.0220336603608815,-0.43480846838593,0.07865637112286766,-0.11081783605914645,-0.0023793503945634844,-0.05438895601712177,-0.06625021576140608,0.23098440345445972,-0.0010762816235181532,-2.71271731847785e-05,0.0002854973037762336,1,-1.4914378052136326,1.9915972651641292,3.33401015108057,-0.44482627256745644,-2.4662428166103694,1.192162839432415,1.6312548422581434,0.6657928718403897,-1.7027553088224265,0.6657928718403897,0.558,0,0,1.0210592750443998e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_17.5/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792844848500999592,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.102598649e-09,-9.520350289e-10,9.710399151e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452325e-01,-1.167085580e-04,8.303260416e-01
+1,2.000000000e-01,WAIT_W2,1792844848713422922,-9.151908483e-07,2.108373850e-06,-2.101140455e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.983791934e-08,-6.452918961e-09,3.440924212e-10,7.019546827e-01,-1.987668073e-05,8.601412848e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452962e-01,-1.167140589e-04,8.303260418e-01
+2,3.500000000e-01,WAIT_W2,1792844848875484112,-2.774750496e-06,1.007538989e-06,-5.098949021e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.070923978e-07,-9.619582264e-09,1.026097762e-09,7.019528231e-01,-2.097751559e-05,8.601382870e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453335e-01,-1.167172256e-04,8.303260425e-01
+3,5.166666667e-01,WAIT_W2,1792844849038803530,-2.076036735e-06,-3.263956434e-06,-5.535438211e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.403958066e-07,-1.299221588e-08,1.894709944e-09,7.019535218e-01,-2.524901101e-05,8.601378505e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453668e-01,-1.167205982e-04,8.303260434e-01
+4,6.500000000e-01,WAIT_W2,1792844849169039247,-1.285890225e-06,4.998107103e-06,-2.950384699e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.624431596e-07,-1.518549933e-08,2.634609753e-09,7.019543120e-01,-1.698694748e-05,8.601404355e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453888e-01,-1.167227915e-04,8.303260441e-01
+5,6.833333333e-01,WAIT_W2,1792844849203574689,-6.987961980e-07,-5.251872576e-05,-2.318723001e-07,-7.717058766e-07,-5.239158374e-05,-5.132048897e-09,-7.054750875e-07,-5.131839475e-05,3.690353589e-08,7.019548991e-01,-7.450378034e-05,8.601431540e-01,7.019548262e-01,-7.437663832e-05,8.601433808e-01,7.027445209e-01,-1.680260007e-04,8.303260784e-01
+6,6.833333333e-01,WAIT_W2,1792844849203574689,-6.987961980e-07,-5.251872576e-05,-2.318723001e-07,-7.717058766e-07,-5.239158374e-05,-5.132048897e-09,-7.054750875e-07,-5.131839475e-05,3.690353589e-08,7.019548991e-01,-7.450378034e-05,8.601431540e-01,7.019548262e-01,-7.437663832e-05,8.601433808e-01,7.027445209e-01,-1.680260007e-04,8.303260784e-01
+7,7.000000000e-01,WAIT_W2,1792844849218914265,3.958504966e-06,-1.256294855e-04,9.613696965e-06,4.191378276e-06,-1.256371281e-04,9.581032847e-06,4.659427252e-06,-1.231448557e-04,9.397468819e-06,7.019595564e-01,-1.476145401e-04,8.601529996e-01,7.019597892e-01,-1.476221827e-04,8.601529669e-01,7.027498858e-01,-2.398524617e-04,8.303354390e-01
+8,7.000000000e-01,WAIT_W2,1792844849218914265,3.958504966e-06,-1.256294855e-04,9.613696965e-06,4.191378276e-06,-1.256371281e-04,9.581032847e-06,4.659427252e-06,-1.231448557e-04,9.397468819e-06,7.019595564e-01,-1.476145401e-04,8.601529996e-01,7.019597892e-01,-1.476221827e-04,8.601529669e-01,7.027498858e-01,-2.398524617e-04,8.303354390e-01
+9,7.166666667e-01,WAIT_W2,1792844849235209558,4.133429258e-06,-2.156415800e-04,1.341738405e-05,4.217937374e-06,-2.154469566e-04,1.340186857e-05,4.781909420e-06,-2.112346584e-04,1.318479205e-05,7.019597313e-01,-2.376266346e-04,8.601568033e-01,7.019598158e-01,-2.374320112e-04,8.601567878e-01,7.027500083e-01,-3.279422644e-04,8.303392263e-01
+10,7.166666667e-01,WAIT_W2,1792844849235209558,4.133429258e-06,-2.156415800e-04,1.341738405e-05,4.217937374e-06,-2.154469566e-04,1.340186857e-05,4.781909420e-06,-2.112346584e-04,1.318479205e-05,7.019597313e-01,-2.376266346e-04,8.601568033e-01,7.019598158e-01,-2.374320112e-04,8.601567878e-01,7.027500083e-01,-3.279422644e-04,8.303392263e-01
+11,7.166666667e-01,WAIT_W2,1792844849235209558,4.133429258e-06,-2.156415800e-04,1.341738405e-05,4.217937374e-06,-2.154469566e-04,1.340186857e-05,4.781909420e-06,-2.112346584e-04,1.318479205e-05,7.019597313e-01,-2.376266346e-04,8.601568033e-01,7.019598158e-01,-2.374320112e-04,8.601567878e-01,7.027500083e-01,-3.279422644e-04,8.303392263e-01
+12,7.333333333e-01,WAIT_W2,1792844849251335433,6.269719035e-06,-3.274419472e-04,2.011611274e-05,6.384635748e-06,-3.274185746e-04,1.992625652e-05,7.215264595e-06,-3.210983782e-04,1.970502964e-05,7.019618676e-01,-3.494270017e-04,8.601635020e-01,7.019619825e-01,-3.494036292e-04,8.601633122e-01,7.027524416e-01,-4.378059842e-04,8.303457465e-01
+13,7.333333333e-01,WAIT_W2,1792844849251335433,6.269719035e-06,-3.274419472e-04,2.011611274e-05,6.384635748e-06,-3.274185746e-04,1.992625652e-05,7.215264595e-06,-3.210983782e-04,1.970502964e-05,7.019618676e-01,-3.494270017e-04,8.601635020e-01,7.019619825e-01,-3.494036292e-04,8.601633122e-01,7.027524416e-01,-4.378059842e-04,8.303457465e-01
+14,7.500000000e-01,WAIT_W2,1792844849267514181,2.477097962e-06,-4.253944106e-04,2.152462750e-05,2.359622105e-06,-4.251325661e-04,2.174948773e-05,2.946832876e-06,-4.170011279e-04,2.159199675e-05,7.019580750e-01,-4.473794652e-04,8.601649105e-01,7.019579575e-01,-4.471176207e-04,8.601651354e-01,7.027481732e-01,-5.337087339e-04,8.303476335e-01
+15,7.500000000e-01,WAIT_W2,1792844849267514181,2.477097962e-06,-4.253944106e-04,2.152462750e-05,2.359622105e-06,-4.251325661e-04,2.174948773e-05,2.946832876e-06,-4.170011279e-04,2.159199675e-05,7.019580750e-01,-4.473794652e-04,8.601649105e-01,7.019579575e-01,-4.471176207e-04,8.601651354e-01,7.027481732e-01,-5.337087339e-04,8.303476335e-01
+16,7.666666667e-01,WAIT_W2,1792844849284244945,5.439943196e-06,-4.889908690e-04,2.592262748e-05,5.486890111e-06,-4.889124227e-04,2.589200980e-05,6.210496829e-06,-4.795308926e-04,2.581060328e-05,7.019610378e-01,-5.109759236e-04,8.601693085e-01,7.019610848e-01,-5.108974773e-04,8.601692779e-01,7.027514369e-01,-5.962384986e-04,8.303518521e-01
+17,7.833333333e-01,WAIT_W2,1792844849300319962,4.466064908e-06,-5.105321458e-04,2.896641422e-05,4.585060382e-06,-5.106793826e-04,2.875045524e-05,5.302673596e-06,-5.008759555e-04,2.859022230e-05,7.019600639e-01,-5.325172004e-04,8.601723523e-01,7.019601829e-01,-5.326644372e-04,8.601721364e-01,7.027505291e-01,-6.175835615e-04,8.303546317e-01
+18,8.166666667e-01,WAIT_W2,1792844849333271214,8.488304864e-06,-4.803263378e-04,3.379674283e-05,8.302361152e-06,-4.804729960e-04,3.402831438e-05,9.365345858e-06,-4.714691339e-04,3.376256728e-05,7.019640862e-01,-5.023113924e-04,8.601771827e-01,7.019639002e-01,-5.024580506e-04,8.601774142e-01,7.027545917e-01,-5.881767399e-04,8.303598041e-01
+19,8.833333333e-01,WAIT_W2,1792844849398472083,1.058661764e-05,-5.118765928e-04,3.727576008e-05,6.992200660e-06,-5.065756184e-04,3.187088362e-05,7.990149660e-06,-4.969613069e-04,3.172357775e-05,7.019661845e-01,-5.338616474e-04,8.601806617e-01,7.019625901e-01,-5.285606730e-04,8.601752568e-01,7.027532165e-01,-6.136689129e-04,8.303577651e-01
+20,9.833333333e-01,WAIT_W2,1792844849497003185,1.540843592e-05,-5.035925135e-04,4.914067553e-05,6.992200660e-06,-5.065756184e-04,3.187088362e-05,8.054232146e-06,-4.970264144e-04,3.178822178e-05,7.019710063e-01,-5.255775681e-04,8.601925266e-01,7.019625901e-01,-5.285606730e-04,8.601752568e-01,7.027532806e-01,-6.137340204e-04,8.303578297e-01
+21,1.133333333e+00,WAIT_W2,1792844849644292830,1.886929265e-05,-5.013015581e-04,5.789506148e-05,1.677957921e-05,-4.993555948e-04,4.924797555e-05,1.877953573e-05,-4.900186426e-04,4.896930850e-05,7.019744672e-01,-5.232866126e-04,8.602012810e-01,7.019723774e-01,-5.213406494e-04,8.601926339e-01,7.027640059e-01,-6.067262486e-04,8.303750108e-01
+22,1.250000000e+00,WAIT_W2,1792844849758864934,2.034279257e-05,-4.978639986e-04,6.200875034e-05,1.677957921e-05,-4.993555948e-04,4.924797555e-05,1.885038204e-05,-4.900476161e-04,4.906605369e-05,7.019759407e-01,-5.198490531e-04,8.602053947e-01,7.019723774e-01,-5.213406494e-04,8.601926339e-01,7.027640768e-01,-6.067552221e-04,8.303751076e-01
+23,1.400000000e+00,UP_FORCE_RAMP,1792844849906310249,2.046130354e-05,-5.006753517e-04,6.370283862e-05,1.677957921e-05,-4.993555948e-04,4.924797555e-05,1.892486337e-05,-4.900777674e-04,4.916682716e-05,7.019760592e-01,-5.226604063e-04,8.602070888e-01,7.019723774e-01,-5.213406494e-04,8.601926339e-01,7.027641512e-01,-6.067853734e-04,8.303752083e-01
+24,1.600000000e+00,UP_FORCE_RAMP,1792844850102952641,2.236295776e-05,-4.937225432e-04,6.805800264e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.524481349e-05,-4.846824684e-04,6.760405539e-05,7.019779608e-01,-5.157075978e-04,8.602114439e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027704712e-01,-6.013900744e-04,8.303936456e-01
+25,1.733333333e+00,UP_FORCE_RAMP,1792844850251441727,2.099905643e-05,-4.974319521e-04,6.612381263e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.532338916e-05,-4.846923561e-04,6.776873653e-05,7.019765969e-01,-5.194170067e-04,8.602095097e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027705498e-01,-6.013999621e-04,8.303938102e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1792844850414416020,2.042530145e-05,-4.925725799e-04,6.698765720e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.539269172e-05,-4.847178370e-04,6.788873191e-05,7.019760232e-01,-5.145576345e-04,8.602103736e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027706191e-01,-6.014254430e-04,8.303939302e-01
+27,2.050000000e+00,UP_FORCE_RAMP,1792844850562368610,2.086495737e-05,-4.959818821e-04,6.735112870e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.544578391e-05,-4.847371674e-04,6.797504752e-05,7.019764628e-01,-5.179669366e-04,8.602107370e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027706722e-01,-6.014447733e-04,8.303940165e-01
+28,2.183333333e+00,UP_FORCE_RAMP,1792844850694005850,2.232612687e-05,-4.918752274e-04,7.212190517e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.548663968e-05,-4.847526079e-04,6.804080886e-05,7.019779240e-01,-5.138602819e-04,8.602155078e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027707130e-01,-6.014602139e-04,8.303940823e-01
+29,2.400000000e+00,UP_FORCE_RAMP,1792844850922406204,2.173352841e-05,-4.938248554e-04,7.644396501e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.554633964e-05,-4.847729678e-04,6.813198946e-05,7.019773314e-01,-5.158099100e-04,8.602198299e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027707727e-01,-6.014805738e-04,8.303941735e-01
+30,2.633333333e+00,UP_FORCE_RAMP,1792844851151714868,2.098915437e-05,-4.944607356e-04,7.933447855e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.560152500e-05,-4.847925372e-04,6.821408894e-05,7.019765870e-01,-5.164457902e-04,8.602227204e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027708279e-01,-6.015001432e-04,8.303942556e-01
+31,2.816666667e+00,UP_FORCE_RAMP,1792844851331593143,2.104071299e-05,-4.936174107e-04,8.622112496e-05,2.252091335e-05,-4.937673654e-04,6.796783889e-05,2.564101634e-05,-4.848057288e-04,6.826999765e-05,7.019766386e-01,-5.156024653e-04,8.602296070e-01,7.019781188e-01,-5.157524200e-04,8.602113538e-01,7.027708674e-01,-6.015133348e-04,8.303943115e-01
+32,3.016666667e+00,UP_FORCE_RAMP,1792844851528070627,1.860446008e-05,-4.920583485e-04,9.223707434e-05,2.312433031e-05,-4.931950000e-04,9.046904408e-05,2.657557683e-05,-4.842704912e-04,9.040210878e-05,7.019742023e-01,-5.140434031e-04,8.602356230e-01,7.019787222e-01,-5.151800546e-04,8.602338550e-01,7.027718020e-01,-6.009780971e-04,8.304164436e-01
+33,3.200000000e+00,UP_FORCE_RAMP,1792844851708209054,1.080330593e-05,-4.902230512e-04,9.777600416e-05,2.312433031e-05,-4.931950000e-04,9.046904408e-05,2.660977716e-05,-4.842873155e-04,9.050141026e-05,7.019664012e-01,-5.122081058e-04,8.602411619e-01,7.019787222e-01,-5.151800546e-04,8.602338550e-01,7.027718362e-01,-6.009949215e-04,8.304165429e-01
+34,3.250000000e+00,UP_FORCE_RAMP,1792844851758021809,-1.572050509e-05,-4.889266765e-04,9.964864267e-05,-1.951099949e-05,-4.845880779e-04,9.284073947e-05,-1.844905817e-05,-4.758167787e-04,9.281669256e-05,7.019398774e-01,-5.109117311e-04,8.602430346e-01,7.019360869e-01,-5.065731325e-04,8.602362267e-01,7.027267773e-01,-5.925243847e-04,8.304188582e-01
+35,3.350000000e+00,UP_FORCE_RAMP,1792844851855465956,-1.306888651e-05,-4.891149036e-04,1.089479883e-04,-1.951099949e-05,-4.845880779e-04,9.284073947e-05,-1.855684277e-05,-4.757990439e-04,9.286502263e-05,7.019425290e-01,-5.110999582e-04,8.602523339e-01,7.019360869e-01,-5.065731325e-04,8.602362267e-01,7.027266695e-01,-5.925066499e-04,8.304189065e-01
+36,3.516666667e+00,UP_FORCE_RAMP,1792844852035966432,-1.454482540e-05,-4.891804510e-04,1.147476832e-04,-1.410925531e-05,-4.887578386e-04,1.136473989e-04,-1.268957759e-05,-4.798801885e-04,1.133466162e-04,7.019410530e-01,-5.111655055e-04,8.602581336e-01,7.019414886e-01,-5.107428932e-04,8.602570333e-01,7.027325368e-01,-5.965877945e-04,8.304393881e-01
+37,3.666666667e+00,UP_FORCE_RAMP,1792844852183480245,-2.437232161e-05,-4.903851479e-04,1.195257741e-04,-1.410925531e-05,-4.887578386e-04,1.136473989e-04,-1.272384084e-05,-4.798899055e-04,1.134635524e-04,7.019312255e-01,-5.123702025e-04,8.602629117e-01,7.019414886e-01,-5.107428932e-04,8.602570333e-01,7.027325025e-01,-5.965975115e-04,8.304395050e-01
+38,3.716666667e+00,UP_FORCE_RAMP,1792844852233150103,-4.558924377e-05,-4.913302176e-04,1.085410230e-04,-4.673280607e-05,-4.873337613e-04,1.057700813e-04,-4.732927178e-05,-4.784743667e-04,1.057021486e-04,7.019100086e-01,-5.133152722e-04,8.602519269e-01,7.019088651e-01,-5.093188159e-04,8.602491560e-01,7.026978971e-01,-5.951819727e-04,8.304317436e-01
+39,3.800000000e+00,UP_FORCE_RAMP,1792844852346195598,-3.583608299e-05,-4.894933796e-04,1.352352266e-04,-3.808248067e-05,-4.895089918e-04,1.266008977e-04,-3.803806842e-05,-4.805926653e-04,1.261623687e-04,7.019197618e-01,-5.114784342e-04,8.602786211e-01,7.019175154e-01,-5.114940464e-04,8.602699868e-01,7.027071883e-01,-5.973002713e-04,8.304522039e-01
+40,3.933333333e+00,UP_FORCE_RAMP,1792844852511111440,-4.054769969e-05,-4.830987775e-04,1.357890415e-04,-3.808248067e-05,-4.895089918e-04,1.266008977e-04,-3.811208659e-05,-4.805968659e-04,1.262702201e-04,7.019150502e-01,-5.050838321e-04,8.602791750e-01,7.019175154e-01,-5.114940464e-04,8.602699868e-01,7.027071143e-01,-5.973044719e-04,8.304523117e-01
+41,4.116666667e+00,UP_FORCE_RAMP,1792844852691341649,-4.028340093e-05,-4.868644497e-04,1.470025926e-04,-3.996431181e-05,-4.868288567e-04,1.467557132e-04,-3.991406724e-05,-4.779926209e-04,1.461041631e-04,7.019153145e-01,-5.088495042e-04,8.602903885e-01,7.019156336e-01,-5.088139113e-04,8.602901416e-01,7.027053123e-01,-5.947002268e-04,8.304721457e-01
+42,4.250000000e+00,UP_FORCE_RAMP,1792844852822366648,-3.899098716e-05,-4.832274284e-04,1.584393986e-04,-3.996431181e-05,-4.868288567e-04,1.467557132e-04,-3.997222238e-05,-4.779968978e-04,1.462822709e-04,7.019166069e-01,-5.052124830e-04,8.603018253e-01,7.019156336e-01,-5.088139113e-04,8.602901416e-01,7.027052542e-01,-5.947045038e-04,8.304723238e-01
+43,4.433333333e+00,UP_FORCE_RAMP,1792844853002306025,-4.099695573e-05,-4.842085966e-04,1.668827621e-04,-4.098180798e-05,-4.842327330e-04,1.669772351e-04,-4.084211901e-05,-4.754238932e-04,1.661679853e-04,7.019146009e-01,-5.061936512e-04,8.603102687e-01,7.019146161e-01,-5.062177876e-04,8.603103632e-01,7.027043843e-01,-5.921314992e-04,8.304922095e-01
+44,4.650000000e+00,UP_FORCE_RAMP,1792844853232298323,-5.060744617e-05,-4.860558927e-04,1.784270404e-04,-4.098180798e-05,-4.842327330e-04,1.669772351e-04,-4.091002390e-05,-4.754365132e-04,1.664294925e-04,7.019049904e-01,-5.080409473e-04,8.603218130e-01,7.019146161e-01,-5.062177876e-04,8.603103632e-01,7.027043164e-01,-5.921441192e-04,8.304924710e-01
+45,4.666666667e+00,UP_FORCE_RAMP,1792844853248301208,-6.298793875e-05,-5.258155782e-04,1.941385302e-04,-6.253262518e-05,-5.258552317e-04,1.937932693e-04,-6.339074666e-05,-5.160770918e-04,1.926255824e-04,7.018926099e-01,-5.478006328e-04,8.603375244e-01,7.018930652e-01,-5.478402863e-04,8.603371792e-01,7.026818356e-01,-6.327846978e-04,8.305186671e-01
+46,4.700000000e+00,UP_FORCE_RAMP,1792844853281594156,-6.746682637e-05,-4.912515234e-04,1.858738803e-04,-6.704078468e-05,-5.026797318e-04,1.855235245e-04,-6.822199684e-05,-4.935031104e-04,1.845393521e-04,7.018881310e-01,-5.132365779e-04,8.603292598e-01,7.018885571e-01,-5.246647864e-04,8.603289094e-01,7.026770044e-01,-6.102107164e-04,8.305105808e-01
+47,4.766666667e+00,UP_FORCE_RAMP,1792844853346877245,-6.985897058e-05,-5.057324036e-04,1.922030565e-04,-6.704078468e-05,-5.026797318e-04,1.855235245e-04,-6.829050725e-05,-4.935014440e-04,1.846176917e-04,7.018857389e-01,-5.277174582e-04,8.603355890e-01,7.018885571e-01,-5.246647864e-04,8.603289094e-01,7.026769359e-01,-6.102090500e-04,8.305106592e-01
+48,4.883333333e+00,UP_FORCE_RAMP,1792844853461062357,-7.154103894e-05,-5.015744157e-04,1.940309451e-04,-6.704078468e-05,-5.026797318e-04,1.855235245e-04,-6.837253751e-05,-4.935075574e-04,1.847270266e-04,7.018840568e-01,-5.235594703e-04,8.603374169e-01,7.018885571e-01,-5.246647864e-04,8.603289094e-01,7.026768538e-01,-6.102151634e-04,8.305107685e-01
+49,5.033333333e+00,UP_FORCE_RAMP,1792844853608791613,-7.028172922e-05,-4.967800150e-04,2.032567813e-04,-6.704078468e-05,-5.026797318e-04,1.855235245e-04,-6.845217844e-05,-4.935130866e-04,1.848424229e-04,7.018853161e-01,-5.187650696e-04,8.603466427e-01,7.018885571e-01,-5.246647864e-04,8.603289094e-01,7.026767742e-01,-6.102206926e-04,8.305108839e-01
+50,5.166666667e+00,UP_FORCE_RAMP,1792844853740337453,-7.194214821e-05,-5.024211003e-04,2.090972717e-04,-6.948580003e-05,-5.022958432e-04,2.061529627e-04,-7.095085878e-05,-4.931451088e-04,2.051794458e-04,7.018836557e-01,-5.244061549e-04,8.603524832e-01,7.018861121e-01,-5.242808977e-04,8.603495389e-01,7.026742755e-01,-6.098527148e-04,8.305312209e-01
+51,5.300000000e+00,UP_FORCE_RAMP,1792844853870644061,-7.005724682e-05,-5.021143693e-04,2.185285536e-04,-6.948580003e-05,-5.022958432e-04,2.061529627e-04,-7.100765993e-05,-4.931514245e-04,2.053002177e-04,7.018855406e-01,-5.240994239e-04,8.603619145e-01,7.018861121e-01,-5.242808977e-04,8.603495389e-01,7.026742187e-01,-6.098590305e-04,8.305313417e-01
+52,5.416666667e+00,UP_FORCE_RAMP,1792844853985163389,-7.249514508e-05,-5.010010602e-04,2.183463172e-04,-6.948580003e-05,-5.022958432e-04,2.061529627e-04,-7.105092617e-05,-4.931562642e-04,2.053873265e-04,7.018831027e-01,-5.229861147e-04,8.603617322e-01,7.018861121e-01,-5.242808977e-04,8.603495389e-01,7.026741755e-01,-6.098638702e-04,8.305314288e-01
+53,5.550000000e+00,UP_FORCE_HOLD,1792844854116299043,-7.215739975e-05,-5.019763534e-04,2.269912063e-04,-7.221527642e-05,-5.019835201e-04,2.268408168e-04,-7.366795193e-05,-4.927767756e-04,2.256780927e-04,7.018834405e-01,-5.239614080e-04,8.603703771e-01,7.018833826e-01,-5.239685747e-04,8.603702267e-01,7.026715584e-01,-6.094843816e-04,8.305517196e-01
+54,5.766666667e+00,UP_FORCE_HOLD,1792844854329095665,-7.664306346e-05,-4.975990462e-04,2.300180287e-04,-7.221527642e-05,-5.019835201e-04,2.268408168e-04,-7.374658642e-05,-4.927887890e-04,2.259331000e-04,7.018789548e-01,-5.195841008e-04,8.603734039e-01,7.018833826e-01,-5.239685747e-04,8.603702267e-01,7.026714798e-01,-6.094963950e-04,8.305519746e-01
+55,5.916666667e+00,UP_SETTLE,1792844854477923457,-7.597542186e-05,-4.996649257e-04,2.331558531e-04,-7.221527642e-05,-5.019835201e-04,2.268408168e-04,-7.378857163e-05,-4.927935876e-04,2.260403969e-04,7.018796224e-01,-5.216499803e-04,8.603765418e-01,7.018833826e-01,-5.239685747e-04,8.603702267e-01,7.026714378e-01,-6.095011936e-04,8.305520819e-01
+56,6.100000000e+00,UP_SETTLE,1792844854657145347,-7.812717020e-05,-4.950209010e-04,2.365542531e-04,-7.221527642e-05,-5.019835201e-04,2.268408168e-04,-7.383458258e-05,-4.927980148e-04,2.261487912e-04,7.018774707e-01,-5.170059556e-04,8.603799402e-01,7.018833826e-01,-5.239685747e-04,8.603702267e-01,7.026713918e-01,-6.095056208e-04,8.305521903e-01
+57,6.250000000e+00,UP_SETTLE,1792844854804003646,-7.962665626e-05,-4.975684987e-04,2.406142608e-04,-7.221527642e-05,-5.019835201e-04,2.268408168e-04,-7.386791073e-05,-4.928009538e-04,2.262246488e-04,7.018759712e-01,-5.195535533e-04,8.603840002e-01,7.018833826e-01,-5.239685747e-04,8.603702267e-01,7.026713585e-01,-6.095085598e-04,8.305522661e-01
+58,6.450000000e+00,UP_SETTLE,1792844855001088123,-7.942800027e-05,-5.009891492e-04,2.441887940e-04,-7.680634120e-05,-4.983841665e-04,2.471548088e-04,-7.859203764e-05,-4.892914034e-04,2.462917003e-04,7.018761699e-01,-5.229742038e-04,8.603875747e-01,7.018787915e-01,-5.203692211e-04,8.603905407e-01,7.026666343e-01,-6.059990094e-04,8.305723332e-01
+59,6.583333333e+00,UP_SETTLE,1792844855132505227,-8.031665496e-05,-4.984876934e-04,2.462439111e-04,-7.680634120e-05,-4.983841665e-04,2.471548088e-04,-7.862890433e-05,-4.892948386e-04,2.463974606e-04,7.018752812e-01,-5.204727480e-04,8.603896298e-01,7.018787915e-01,-5.203692211e-04,8.603905407e-01,7.026665975e-01,-6.060024446e-04,8.305724390e-01

Fixed/digit/ball_PLA_17.5/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,7.7516e-02,2.8624e-01,2.4576e+00,-5.6184e-02,4.2301e-02,4.0512e-04,4.3333e-05,1.8030e-05,-9.5367e-07,-1.2219e-06,2.8834e-06,-6.6124e-08,4.6944e-05,3.1323e-06
+1,2.0000e-01,WAIT_W2,3.8042e-05,8.8457e-02,2.8673e-01,2.4583e+00,-5.6187e-02,4.3055e-02,2.9596e-04,1.0984e-02,4.9916e-04,6.5374e-04,-4.2841e-06,7.5615e-04,-1.0923e-04,1.1015e-02,7.6401e-04
+2,3.5000e-01,WAIT_W2,7.9071e-05,9.8111e-02,2.8674e-01,2.4576e+00,-5.6150e-02,4.3726e-02,2.3860e-04,2.0638e-02,5.1299e-04,4.7684e-06,3.3069e-05,1.4274e-03,-1.6658e-04,2.0645e-02,1.4375e-03
+3,5.1667e-01,WAIT_W2,1.1750e-04,1.0536e-01,2.8634e-01,2.4590e+00,-5.6087e-02,4.4245e-02,1.8052e-04,2.7889e-02,1.0899e-04,1.3175e-03,9.5636e-05,1.9465e-03,-2.2466e-04,2.7921e-02,1.9617e-03
+4,6.5000e-01,WAIT_W2,1.5611e-04,1.0809e-01,2.8578e-01,2.4580e+00,-5.6041e-02,4.4437e-02,1.4999e-04,3.0613e-02,-4.4876e-04,3.2377e-04,1.4242e-04,2.1386e-03,-2.5519e-04,3.0618e-02,2.1584e-03
+5,6.8333e-01,WAIT_W2,2.1486e-04,1.1049e-01,2.8610e-01,2.4581e+00,-5.6050e-02,4.4610e-02,1.2966e-04,3.3019e-02,-1.2821e-04,4.1628e-04,1.3308e-04,2.3117e-03,-2.7553e-04,3.3021e-02,2.3318e-03
+6,6.8333e-01,WAIT_W2,2.1486e-04,1.1049e-01,2.8610e-01,2.4581e+00,-5.6050e-02,4.4610e-02,1.2966e-04,3.3019e-02,-1.2821e-04,4.1628e-04,1.3308e-04,2.3117e-03,-2.7553e-04,3.3021e-02,2.3318e-03
+7,7.0000e-01,WAIT_W2,2.8877e-04,1.1811e-01,6.3453e-01,2.4603e+00,-8.0666e-02,4.5146e-02,2.8626e-04,4.0634e-02,3.4830e-01,2.6546e-03,-2.4482e-02,2.8478e-03,-1.1893e-04,3.5067e-01,2.4648e-02
+8,7.0000e-01,WAIT_W2,2.8877e-04,1.1811e-01,6.3453e-01,2.4603e+00,-8.0666e-02,4.5146e-02,2.8626e-04,4.0634e-02,3.4830e-01,2.6546e-03,-2.4482e-02,2.8478e-03,-1.1893e-04,3.5067e-01,2.4648e-02
+9,7.1667e-01,WAIT_W2,3.7887e-04,9.8795e-02,1.1060e+00,2.4105e+00,-1.1406e-01,4.3824e-02,5.9102e-04,2.1322e-02,8.1976e-01,-4.7159e-02,-5.7881e-02,1.5256e-03,1.8583e-04,8.2139e-01,5.7901e-02
+10,7.1667e-01,WAIT_W2,3.7887e-04,9.8795e-02,1.1060e+00,2.4105e+00,-1.1406e-01,4.3824e-02,5.9102e-04,2.1322e-02,8.1976e-01,-4.7159e-02,-5.7881e-02,1.5256e-03,1.8583e-04,8.2139e-01,5.7901e-02
+11,7.1667e-01,WAIT_W2,3.7887e-04,9.8795e-02,1.1060e+00,2.4105e+00,-1.1406e-01,4.3824e-02,5.9102e-04,2.1322e-02,8.1976e-01,-4.7159e-02,-5.7881e-02,1.5256e-03,1.8583e-04,8.2139e-01,5.7901e-02
+12,7.3333e-01,WAIT_W2,4.9089e-04,1.1364e-01,1.6812e+00,2.4188e+00,-1.5494e-01,4.4869e-02,1.0456e-03,3.6164e-02,1.3950e+00,-3.8805e-02,-9.8761e-02,2.5702e-03,6.4038e-04,1.3960e+00,9.8796e-02
+13,7.3333e-01,WAIT_W2,4.9089e-04,1.1364e-01,1.6812e+00,2.4188e+00,-1.5494e-01,4.4869e-02,1.0456e-03,3.6164e-02,1.3950e+00,-3.8805e-02,-9.8761e-02,2.5702e-03,6.4038e-04,1.3960e+00,9.8796e-02
+14,7.5000e-01,WAIT_W2,5.8892e-04,1.1650e-01,1.9565e+00,2.4175e+00,-1.7311e-01,4.5058e-02,1.1048e-03,3.9024e-02,1.6703e+00,-4.0100e-02,-1.1693e-01,2.7597e-03,6.9959e-04,1.6712e+00,1.1696e-01
+15,7.5000e-01,WAIT_W2,5.8892e-04,1.1650e-01,1.9565e+00,2.4175e+00,-1.7311e-01,4.5058e-02,1.1048e-03,3.9024e-02,1.6703e+00,-4.0100e-02,-1.1693e-01,2.7597e-03,6.9959e-04,1.6712e+00,1.1696e-01
+16,7.6667e-01,WAIT_W2,6.5274e-04,1.4644e-01,3.0049e+00,2.4409e+00,-2.4912e-01,4.7202e-02,1.8568e-03,6.8971e-02,2.7187e+00,-1.6768e-02,-1.9294e-01,4.9039e-03,1.4516e-03,2.7196e+00,1.9301e-01
+17,7.8333e-01,WAIT_W2,6.7452e-04,1.2832e-01,3.4192e+00,2.4521e+00,-2.7938e-01,4.5906e-02,2.6030e-03,5.0842e-02,3.1330e+00,-5.5070e-03,-2.2319e-01,3.6075e-03,2.1979e-03,3.1334e+00,2.2323e-01
+18,8.1667e-01,WAIT_W2,7.0603e-04,1.4607e-01,3.5514e+00,2.4357e+00,-2.8822e-01,4.7353e-02,3.4741e-03,6.8599e-02,3.2652e+00,-2.1936e-02,-2.3203e-01,5.0544e-03,3.0689e-03,3.2660e+00,2.3211e-01
+19,8.8333e-01,WAIT_W2,7.4600e-04,1.3972e-01,3.4919e+00,2.4485e+00,-2.8378e-01,4.6773e-02,3.4356e-03,6.2251e-02,3.2057e+00,-9.1114e-03,-2.2760e-01,4.4749e-03,3.0304e-03,3.2063e+00,2.2766e-01
+20,9.8333e-01,WAIT_W2,7.8553e-04,1.4025e-01,3.4910e+00,2.4488e+00,-2.8371e-01,4.6809e-02,3.4344e-03,6.2781e-02,3.2048e+00,-8.8143e-03,-2.2753e-01,4.5107e-03,3.0292e-03,3.2054e+00,2.2760e-01
+21,1.1333e+00,WAIT_W2,8.2258e-04,1.3417e-01,3.4123e+00,2.4369e+00,-2.7877e-01,4.6373e-02,3.4656e-03,5.6702e-02,3.1260e+00,-2.0776e-02,-2.2259e-01,4.0741e-03,3.0604e-03,3.1266e+00,2.2265e-01
+22,1.2500e+00,WAIT_W2,8.6137e-04,1.4225e-01,3.4091e+00,2.4204e+00,-2.7810e-01,4.6982e-02,3.4178e-03,6.4775e-02,3.1229e+00,-3.7191e-02,-2.2192e-01,4.6831e-03,3.0127e-03,3.1238e+00,2.2198e-01
+23,1.4000e+00,UP_FORCE_RAMP,9.0317e-04,1.4540e-01,3.3930e+00,2.4411e+00,-2.7665e-01,4.7265e-02,3.2424e-03,6.7932e-02,3.1068e+00,-1.6519e-02,-2.2047e-01,4.9669e-03,2.8372e-03,3.1076e+00,2.2054e-01
+24,1.6000e+00,UP_FORCE_RAMP,9.3939e-04,1.6717e-01,3.3859e+00,2.4694e+00,-2.7582e-01,4.8731e-02,2.8928e-03,8.9699e-02,3.0996e+00,1.1716e-02,-2.1963e-01,6.4321e-03,2.4876e-03,3.1009e+00,2.1974e-01
+25,1.7333e+00,UP_FORCE_RAMP,9.8048e-04,1.5413e-01,3.3523e+00,2.4266e+00,-2.7447e-01,4.7858e-02,2.9843e-03,7.6655e-02,3.0660e+00,-3.1079e-02,-2.1828e-01,5.5591e-03,2.5791e-03,3.0671e+00,2.1837e-01
+26,1.9000e+00,UP_FORCE_RAMP,1.0181e-03,1.7275e-01,3.3529e+00,2.4281e+00,-2.7388e-01,4.9128e-02,2.8724e-03,9.5280e-02,3.0667e+00,-2.9541e-02,-2.1769e-01,6.8292e-03,2.4672e-03,3.0683e+00,2.1781e-01
+27,2.0500e+00,UP_FORCE_RAMP,1.0576e-03,1.7569e-01,3.3407e+00,2.4563e+00,-2.7290e-01,4.9341e-02,2.7113e-03,9.8218e-02,3.0545e+00,-1.3328e-03,-2.1671e-01,7.0426e-03,2.3061e-03,3.0561e+00,2.1684e-01
+28,2.1833e+00,UP_FORCE_RAMP,1.0957e-03,1.9087e-01,3.3443e+00,2.4762e+00,-2.7288e-01,5.0347e-02,2.5789e-03,1.1339e-01,3.0581e+00,1.8603e-02,-2.1669e-01,8.0485e-03,2.1738e-03,3.0602e+00,2.1685e-01
+29,2.4000e+00,UP_FORCE_RAMP,1.1353e-03,1.8931e-01,3.3278e+00,2.4842e+00,-2.7144e-01,5.0304e-02,2.3780e-03,1.1183e-01,3.0415e+00,2.6525e-02,-2.1526e-01,8.0057e-03,1.9728e-03,3.0437e+00,2.1542e-01
+30,2.6333e+00,UP_FORCE_RAMP,1.1756e-03,2.0039e-01,3.3338e+00,2.5006e+00,-2.7175e-01,5.1025e-02,2.1715e-03,1.2292e-01,3.0476e+00,4.2945e-02,-2.1556e-01,8.7263e-03,1.7663e-03,3.0504e+00,2.1575e-01
+31,2.8167e+00,UP_FORCE_RAMP,1.2139e-03,2.0416e-01,3.3234e+00,2.5142e+00,-2.7079e-01,5.1313e-02,2.1130e-03,1.2668e-01,3.0372e+00,5.6585e-02,-2.1461e-01,9.0148e-03,1.7078e-03,3.0403e+00,2.1480e-01
+32,3.0167e+00,UP_FORCE_RAMP,1.2525e-03,2.1304e-01,3.3282e+00,2.4494e+00,-2.7219e-01,5.1996e-02,2.0520e-03,1.3557e-01,3.0420e+00,-8.1899e-03,-2.1601e-01,9.6972e-03,1.6469e-03,3.0450e+00,2.1623e-01
+33,3.2000e+00,UP_FORCE_RAMP,1.2916e-03,2.1464e-01,3.3113e+00,2.4662e+00,-2.7068e-01,5.2110e-02,1.9359e-03,1.3716e-01,3.0251e+00,8.5154e-03,-2.1450e-01,9.8116e-03,1.5308e-03,3.0282e+00,2.1473e-01
+34,3.2500e+00,UP_FORCE_RAMP,1.3327e-03,3.9294e-01,3.2677e+00,2.4755e+00,-2.6767e-01,6.4712e-02,-1.2048e-03,3.1547e-01,2.9814e+00,1.7869e-02,-2.1149e-01,2.2414e-02,-1.6100e-03,2.9981e+00,2.1268e-01
+35,3.3500e+00,UP_FORCE_RAMP,1.3733e-03,3.6440e-01,3.2689e+00,2.4630e+00,-2.6758e-01,6.2454e-02,-8.8689e-04,2.8692e-01,2.9827e+00,5.3992e-03,-2.1140e-01,2.0156e-02,-1.2921e-03,2.9965e+00,2.1236e-01
+36,3.5167e+00,UP_FORCE_RAMP,1.4119e-03,3.2471e-01,3.3017e+00,2.4059e+00,-2.7105e-01,5.9966e-02,-2.4013e-05,2.4723e-01,3.0155e+00,-5.1714e-02,-2.1487e-01,1.7667e-02,-4.2920e-04,3.0260e+00,2.1559e-01
+37,3.6667e+00,UP_FORCE_RAMP,1.4490e-03,3.1685e-01,3.3118e+00,2.4420e+00,-2.7126e-01,5.9378e-02,1.1727e-05,2.3937e-01,3.0256e+00,-1.5669e-02,-2.1508e-01,1.7079e-02,-3.9346e-04,3.0351e+00,2.1576e-01
+38,3.7167e+00,UP_FORCE_RAMP,1.4811e-03,4.5107e-01,3.2983e+00,2.4684e+00,-2.6971e-01,6.8791e-02,-2.1862e-03,3.7359e-01,3.0121e+00,1.0791e-02,-2.1352e-01,2.6492e-02,-2.5914e-03,3.0352e+00,2.1518e-01
+39,3.8000e+00,UP_FORCE_RAMP,1.5294e-03,3.9677e-01,3.3125e+00,2.3888e+00,-2.7210e-01,6.5082e-02,-1.2500e-03,3.1930e-01,3.0263e+00,-6.8871e-02,-2.1592e-01,2.2783e-02,-1.6552e-03,3.0439e+00,2.1712e-01
+40,3.9333e+00,UP_FORCE_RAMP,1.5662e-03,3.8083e-01,3.3182e+00,2.4188e+00,-2.7205e-01,6.3934e-02,-1.1661e-03,3.0336e-01,3.0320e+00,-3.8881e-02,-2.1587e-01,2.1635e-02,-1.5713e-03,3.0474e+00,2.1695e-01
+41,4.1167e+00,UP_FORCE_RAMP,1.6054e-03,3.6698e-01,3.3047e+00,2.4392e+00,-2.7064e-01,6.2847e-02,-8.1459e-04,2.8950e-01,3.0185e+00,-1.8466e-02,-2.1446e-01,2.0549e-02,-1.2198e-03,3.0324e+00,2.1544e-01
+42,4.2500e+00,UP_FORCE_RAMP,1.6411e-03,3.6329e-01,3.2891e+00,2.3775e+00,-2.7043e-01,6.2679e-02,-7.6008e-04,2.8582e-01,3.0029e+00,-8.0134e-02,-2.1424e-01,2.0381e-02,-1.1653e-03,3.0175e+00,2.1521e-01
+43,4.4333e+00,UP_FORCE_RAMP,1.6861e-03,3.4975e-01,3.2932e+00,2.4133e+00,-2.7030e-01,6.1708e-02,-6.3349e-04,2.7227e-01,3.0070e+00,-4.4346e-02,-2.1412e-01,1.9409e-02,-1.0387e-03,3.0196e+00,2.1500e-01
+44,4.6500e+00,UP_FORCE_RAMP,1.7227e-03,3.4187e-01,3.2754e+00,2.3714e+00,-2.6974e-01,6.1211e-02,-5.2930e-04,2.6440e-01,2.9892e+00,-8.6246e-02,-2.1356e-01,1.8912e-02,-9.3449e-04,3.0021e+00,2.1440e-01
+45,4.6667e+00,UP_FORCE_RAMP,1.7672e-03,3.4184e-01,3.2753e+00,2.3716e+00,-2.6974e-01,6.1208e-02,-5.2909e-04,2.6437e-01,2.9891e+00,-8.6050e-02,-2.1356e-01,1.8910e-02,-9.3427e-04,3.0020e+00,2.1439e-01
+46,4.7000e+00,UP_FORCE_RAMP,1.8038e-03,4.4432e-01,3.3937e+00,2.3189e+00,-2.7904e-01,6.8544e-02,-1.9562e-03,3.6684e-01,3.1075e+00,-1.3874e-01,-2.2286e-01,2.6245e-02,-2.3614e-03,3.1322e+00,2.2441e-01
+47,4.7667e+00,UP_FORCE_RAMP,1.8414e-03,4.4353e-01,3.3951e+00,2.3201e+00,-2.7912e-01,6.8489e-02,-1.9549e-03,3.6606e-01,3.1088e+00,-1.3755e-01,-2.2294e-01,2.6191e-02,-2.3601e-03,3.1333e+00,2.2448e-01
+48,4.8833e+00,UP_FORCE_RAMP,1.8801e-03,4.1759e-01,3.3847e+00,2.3646e+00,-2.7770e-01,6.6544e-02,-1.5225e-03,3.4012e-01,3.0985e+00,-9.3026e-02,-2.2152e-01,2.4246e-02,-1.9277e-03,3.1185e+00,2.2285e-01
+49,5.0333e+00,UP_FORCE_RAMP,1.9184e-03,4.0183e-01,3.3888e+00,2.3746e+00,-2.7776e-01,6.5345e-02,-1.3318e-03,3.2435e-01,3.1026e+00,-8.3033e-02,-2.2158e-01,2.3047e-02,-1.7370e-03,3.1206e+00,2.2278e-01
+50,5.1667e+00,UP_FORCE_RAMP,1.9581e-03,3.9945e-01,3.4015e+00,2.3246e+00,-2.7970e-01,6.5393e-02,-1.3107e-03,3.2198e-01,3.1152e+00,-1.3302e-01,-2.2352e-01,2.3095e-02,-1.7158e-03,3.1347e+00,2.2472e-01
+51,5.3000e+00,UP_FORCE_RAMP,2.0005e-03,3.9289e-01,3.3860e+00,2.3344e+00,-2.7820e-01,6.4836e-02,-1.2304e-03,3.1542e-01,3.0998e+00,-1.2322e-01,-2.2202e-01,2.2537e-02,-1.6356e-03,3.1183e+00,2.2316e-01
+52,5.4167e+00,UP_FORCE_RAMP,2.0350e-03,3.8503e-01,3.3829e+00,2.3539e+00,-2.7767e-01,6.4238e-02,-1.0609e-03,3.0756e-01,3.0967e+00,-1.0372e-01,-2.2149e-01,2.1939e-02,-1.4661e-03,3.1137e+00,2.2258e-01
+53,5.5500e+00,UP_FORCE_HOLD,2.0756e-03,3.7813e-01,3.3809e+00,2.3729e+00,-2.7727e-01,6.3718e-02,-9.1625e-04,3.0066e-01,3.0946e+00,-8.4774e-02,-2.2109e-01,2.1419e-02,-1.3214e-03,3.1104e+00,2.2213e-01
+54,5.7667e+00,UP_FORCE_HOLD,2.1154e-03,3.7113e-01,3.3806e+00,2.3299e+00,-2.7793e-01,6.3305e-02,-8.4504e-04,2.9365e-01,3.0944e+00,-1.2773e-01,-2.2175e-01,2.1006e-02,-1.2502e-03,3.1109e+00,2.2274e-01
+55,5.9167e+00,UP_SETTLE,2.1554e-03,3.6538e-01,3.3772e+00,2.3485e+00,-2.7740e-01,6.2860e-02,-7.4171e-04,2.8790e-01,3.0910e+00,-1.0914e-01,-2.2122e-01,2.0562e-02,-1.1469e-03,3.1063e+00,2.2218e-01
+56,6.1000e+00,UP_SETTLE,2.1947e-03,3.5503e-01,3.3772e+00,2.3727e+00,-2.7696e-01,6.2084e-02,-5.0606e-04,2.7756e-01,3.0910e+00,-8.4893e-02,-2.2078e-01,1.9786e-02,-9.1124e-04,3.1046e+00,2.2166e-01
+57,6.2500e+00,UP_SETTLE,2.2344e-03,3.4883e-01,3.3903e+00,2.3854e+00,-2.7775e-01,6.1675e-02,-4.9286e-04,2.7136e-01,3.1040e+00,-7.2250e-02,-2.2157e-01,1.9376e-02,-8.9804e-04,3.1167e+00,2.2241e-01
+58,6.4500e+00,UP_SETTLE,2.2719e-03,3.5863e-01,3.3673e+00,2.3175e+00,-2.7711e-01,6.2457e-02,-4.5688e-04,2.8116e-01,3.0811e+00,-1.4011e-01,-2.2093e-01,2.0158e-02,-8.6207e-04,3.0971e+00,2.2185e-01
+59,6.5833e+00,UP_SETTLE,2.3114e-03,3.5107e-01,3.3700e+00,2.3441e+00,-2.7694e-01,6.1890e-02,-4.7429e-04,2.7360e-01,3.0837e+00,-1.1355e-01,-2.2076e-01,1.9592e-02,-8.7948e-04,3.0979e+00,2.2163e-01

Fixed/digit/ball_PLA_17.5/press_depth_03/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0570dff2f9313f57cb6ecae84f1358a50f17e268c034aca0e1824cab0ee56e5c
+size 624640

Fixed/digit/ball_PLA_17.5/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+13763,1792844907562354829,23587002000000,1792844907560365713,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0708,0.07080114632844925,0.6759471665813296,-0.004965870838520104,0.10678988420753424,0.9999999463131753,-3.87785160606054e-05,-0.000253725836861676,0.00018148260928830358,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.01747106819892852,-0.01797249970888526,-0.029824773332965848,-0.0009334133977158959,0.0007315910512588619,-0.00013167531252346733,1.137566415787267,1.1786686371616846,0.8052386620851334,0.09005751605245445,-0.0891168381103416,-0.0008735867444076852,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,-0.5308902080374359,1.846645981746122,1.3636161790206185,-0.18902959976020614,-1.0463828890293545,1.1267135455691795,1.6312548422581434,0.029824773332965848,0.26763866323752494,0.0,0.0,0,0,0.0,0.0
+13862,1792844908388349164,23587828000000,1792844908384365370,DOWN_FORCE_DETACH,3,0.0708,0.07080114632844925,0.6759470695678399,-0.004965710930252338,0.10679215694548368,0.9999999462459845,-4.1225572577095965e-05,-0.0002548543649688951,0.00017972366935611596,0.6761,-0.0046,0.10699720556994749,1.0,0.0,0.0,0.0,-0.011990708305835485,-0.018311701913893863,-0.03987585726318532,-0.000934451631711325,0.0008160649100695527,-0.00012163366623257487,1.14304677568036,1.178329434956676,0.7951875781549139,0.09005647781845902,-0.08903236425153091,-0.0008635450981167928,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,-0.5032123463363237,1.822156829485424,1.467022147038237,-0.18559718574656958,-1.1062952205869652,1.1116660705744663,1.6312548422581434,0.03987585726318532,0.16423269521990647,0.16423269521990647,0.2239917253965163,0,0,-1.0653993405577938e-05,-9.999999025923074e-05
+13942,1792844909055283205,23588495000000,1792844909052365616,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6759492140126364,-0.004964797616696902,0.10679005563075031,0.9999999470020466,-3.9274879538018145e-05,-0.0002512933997378577,0.00018096375129684315,0.6761,-0.0046,0.1069824998396392,1.0,0.0,0.0,0.0,-0.017545073452309046,-0.021615238048852348,-0.051955960703207515,-0.0009317539810343445,0.000818639061408763,-0.00011249076965016297,1.1374924105338864,1.1750258988217175,0.7831074747148917,0.090059175469136,-0.0890297901001917,-0.0008544022015343809,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,-0.45391000911623525,1.832815261486009,1.463565416432911,-0.17808392712209822,-1.0958711458670787,1.1203085195500144,1.6312548422581434,0.051955960703207515,0.16768942582523239,0.16768942582523239,0.3240417253965101,0,0,-3.535343760382859e-05,-9.999999025923074e-05
+14038,1792844909855357522,23589295000000,1792844909852365561,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759528153660265,-0.004963803478171016,0.10679307947528141,0.9999999493905143,-3.603885797983413e-05,-0.00024173928870246768,0.00018145288738312187,0.6761,-0.0046,0.10695386304226191,1.0,0.0,0.0,0.0,-0.03436787267338026,-0.022176650260430808,-0.05003454196328305,-0.0009606971172854972,0.0018293923503045206,7.264397407973598e-06,1.1206696113128152,1.174464486610139,0.7850288934548162,0.09003023233288485,-0.08801903681129594,-0.0007346470344762443,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.038472260547758395,1.7436242012451455,1.1248106160655387,-0.138945597985222,-0.747686670177105,1.0668615603601728,1.6312548422581434,0.05003454196328305,0.5064442261926048,0.5064442261926048,0.4440417253964969,0,0,-2.2401473916107466e-05,9.999999025923074e-05
+14151,1792844910796301403,23590236000000,1792844910792365289,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759541424088078,-0.004962727564833513,0.10679114109535784,0.9999999497218699,-3.727810529517197e-05,-0.00023939480109780352,0.0001824817645160644,0.6761,-0.0046,0.1069474459411604,1.0,0.0,0.0,0.0,-0.03687220602875696,-0.0267236375201656,-0.05002924020526911,-0.0009605654123347462,0.0018324491092914924,-0.00010017592404490297,1.1181652779574385,1.1699174993504042,0.7850341952128301,0.0900303640378356,-0.08801598005230897,-0.0008420873559291209,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.13065830897606445,1.7744813875034877,1.0676942153855347,-0.1446131067264117,-0.6867281644937572,1.0821476607502738,1.6312548422581434,0.05002924020526911,0.5635606268726088,0.5635606268726088,0.5851917253964813,0,0,-3.129713040143872e-06,-9.732832181719715e-05
+14253,1792844911646340002,23591086000000,1792844911644365323,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6759528826235333,-0.004963629494757086,0.10678617046382176,0.9999999494023577,-3.821752405080934e-05,-0.00024077590126574136,0.00018222110947560414,0.6761,-0.0046,0.10693881324274392,1.0,0.0,0.0,0.0,-0.0370608879051757,-0.03378351740867647,-0.033589488190913674,-0.0009652147147423823,0.001828983286347008,-9.981508597611127e-05,1.1179765960810197,1.1628576194618934,0.8014739472271856,0.09002571473542796,-0.08801944587525345,-0.0008417265178603292,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.1364082867549371,1.7819394510395308,0.9567791026652687,-0.1412166815663976,-0.6169243924384894,1.0900015116831208,1.6312548422581434,0.033589488190913674,0.6744757395928748,0.6744757395928748,0.7126917253964673,0,0,-2.3769841715785784e-05,-6.752759049011842e-05
+14361,1792844912546395625,23591986000000,1792844912544365311,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759619555450389,-0.00496700929599428,0.10677322030337494,0.9999999525839149,-3.6896341992822076e-05,-0.00022019764983295876,0.00019085776673811672,0.6761,-0.0046,0.10690516880622511,1.0,0.0,0.0,0.0,-0.06476793150486393,-0.031063740617859992,0.08021505658987305,-0.0010406512047056032,0.003830576137283506,-0.00017675402293665648,1.0902695524813315,1.1655773962527098,0.9152784920079723,0.08995027824546474,-0.08601785302431696,-0.0009186654548208744,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.2674828842406712,1.7286798429607686,0.8821821374040216,-0.09734817340702613,-0.543674859290756,1.0514624282710328,1.6312548422581434,-0.08021505658987305,0.7490727048541218,0.7490727048541218,0.8476917253964524,0,0,-4.266503112890086e-05,-9.999943514771843e-05
+14451,1792844913296438649,23592736000000,1792844913296365753,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.675991225846698,-0.004968666189046374,0.10675995897520676,0.9999999625537249,-3.2483188917728704e-05,-0.00015104713041277888,0.00020607042512635522,0.6761,-0.0046,0.10687405839828229,1.0,0.0,0.0,0.0,-0.17136266088681362,0.03305006928380494,0.20076544250555983,0.0038163250795245074,0.011811819373455393,0.0009215081355666515,0.9836748230993818,1.2296912061543748,1.035828877923659,0.09480725452969485,-0.07803660978814507,0.00017959670368243355,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.43553481003837147,1.6213776778549478,0.6310376138894189,-0.04590322195418055,-0.3631737922037615,0.9747917478552661,1.6312548422581434,-0.20076544250555983,1.0002172283687245,1.0002172283687245,0.96019172539644,0,0,-3.412582344900083e-05,9.999999025923074e-05
+14540,1792844914038389713,23593478000000,1792844914032365712,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759884736155504,-0.004971080382211149,0.10674509324629182,0.9999999614920556,-3.25509354479337e-05,-0.0001571205910736544,0.00020666956260172433,0.6761,-0.0046,0.10685475004351377,1.0,0.0,0.0,0.0,-0.17073031941881267,0.010841155983210449,0.26088102224844545,0.0028085746534984857,0.01080419141115406,0.0008465455632125818,0.9843071645673828,1.2074822928537803,1.0959444576665447,0.09379950410366883,-0.0790442377504464,0.00010463413132836393,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.4320868802968895,1.6635972443706037,0.6302400039975405,-0.037394442382370954,-0.3634067177656815,0.9998411654106846,1.6312548422581434,-0.26088102224844545,1.0010148382606028,1.0010148382606028,1.0714917253964806,0,0,-1.951852516698794e-05,-9.999997638144293e-05
+14646,1792844914921464138,23594361000000,1792844914916365996,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.675989008818532,-0.004968820975785805,0.1067353743601166,0.999999960688175,-2.9476936526090175e-05,-0.00015978559678541011,0.0002089645573736255,0.6761,-0.0046,0.10683545120120878,1.0,0.0,0.0,0.0,-0.17559684139929677,0.004659759105061889,0.3221985613711884,0.00279545877494021,0.010792363791422552,0.000796198643757665,0.9794406425868987,1.2013008959756317,1.1572619967892877,0.09378638822511055,-0.07905606537017791,5.4287211873447156e-05,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.44082861423427644,1.6614096447608577,0.4415205855529273,-0.01789821301239604,-0.2370938979637263,0.9908978653589771,1.6312548422581434,-0.3221985613711884,1.1897342567052163,1.1897342567052163,1.203941725396564,0,0,-2.6881514005013034e-05,1.798000223563463e-05
+14752,1792844915805473922,23595245000000,1792844915804365148,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759879683109189,-0.004969959814063944,0.10671942859609156,0.9999999594695788,-2.809674196855054e-05,-0.00016379194964418302,0.00021186428568744316,0.6761,-0.0046,0.10680337695294394,1.0,0.0,0.0,0.0,-0.17084080398221502,-0.022361800349197436,0.4322482608028104,0.0017513045942633004,0.010789002544399934,0.000696534905831129,0.9841966800039804,1.1742793365213724,1.2673116962209097,0.09274223404443364,-0.07905942661720053,-4.537652605308884e-05,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.47052137866746585,1.7093963011159692,0.3203793931650671,-0.028252167169327106,-0.1488693715515978,1.0239915441077612,1.6312548422581434,-0.4322482608028104,1.3108754490930763,1.3108754490930763,1.3365417253966476,0,0,-4.298843539887886e-05,7.638272933452867e-05
+14866,1792844916755487272,23596195000000,1792844916752365253,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6759897912793965,-0.004957138225027205,0.10668712695953586,0.9999999673111335,-0.00012176688078150676,-0.00015816935545842528,0.0001302915119191522,0.6761,-0.0046,0.1067644111195797,1.0,0.0,0.0,0.0,-0.07028485999778478,0.09427084271077635,0.6089569188412924,0.008648754780711018,0.004935813847846762,0.001587168493546724,1.0847526239884107,1.2909119795813462,1.4440203542593917,0.09963968423088136,-0.0849126153137537,0.0008452570616625061,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.4418427686283989,1.8202418889389669,0.1867662128766289,-0.17074616493152855,-0.041264540104923614,1.1253860434635103,1.6312548422581434,-0.6089569188412924,1.4444886293815145,1.4444886293815145,1.4790417253967374,0,0,-3.711428393872482e-05,-4.39336492883102e-05
+14966,1792844917588490265,23597028000000,1792844917588365500,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6759975720016036,-0.004957948440217583,0.1066740143140066,0.9999999691815152,-0.00012207996878358805,-0.00014289989005088032,0.00013325140019682956,0.6761,-0.0046,0.1067261912660811,1.0,0.0,0.0,0.0,-0.1301430834816404,0.05371099418753933,0.6959480945341807,0.006883128261884308,0.0075867674014116065,0.0015263438895852927,1.024894400504555,1.2503521310581092,1.53101152995228,0.09787405771205465,-0.08226166176018886,0.0007844324577010748,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.4670776295461615,1.7847127961502391,0.04262233738930573,-0.14658281722596556,0.04587157598131901,1.0990544693746347,1.6312548422581434,-0.6959480945341807,1.5886325048688377,1.5886325048688377,1.6039917253968161,0,0,-5.4531415873111715e-05,9.990585722453033e-05
+15073,1792844918480513117,23597920000000,1792844918480365218,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6760137155803496,-0.004962424875042318,0.10664830450947425,0.9999999726107365,-0.00011932513977820114,-0.0001025206865251167,0.00014653467369529858,0.6761,-0.0046,0.10667833269000272,1.0,0.0,0.0,0.0,-0.185115985941682,0.07037755350335995,0.8366920512132405,0.00840517763435883,0.011948972506340902,0.0014932242786092093,0.9699214980445134,1.2670186903739298,1.6717554866313398,0.09939610708452917,-0.07789945665525956,0.0007513128467249914,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6452819694029869,1.7106481781348861,-0.1407524361396597,-0.07911398168658422,0.19475290130628495,1.0369103982448669,1.6312548422581434,-0.8366920512132405,1.7720072783978031,1.7720072783978031,1.7377917253969004,0,0,-4.6530918330874076e-05,9.999999025923074e-05
+15175,1792844919330449906,23598770000000,1792844919328365989,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.676019807581432,-0.0049686984493402956,0.10663155813791247,0.9999999726077696,-0.00011755778150676203,-9.150390416865681e-05,0.0001550307320742229,0.6761,-0.0046,0.10664794436145136,1.0,0.0,0.0,0.0,-0.19398039327245575,0.051551731615215646,0.9366697044009735,0.007719316024860895,0.012584701635156459,0.0014149681303428268,0.9610570907137397,1.2481928684857855,1.7717331398190728,0.09871024547503124,-0.077263727526444,0.0006730566984586088,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6194754821038626,1.6427938792040462,-0.13488872999212692,-0.02143876716362474,0.17958659313024158,0.9850125590162496,1.6312548422581434,-0.9366697044009735,1.7661435722502703,1.7661435722502703,1.8652917253969807,0,0,-3.0072371672044913e-05,-9.982093904093432e-05
+15279,1792844920196536436,23599636000000,1792844920192365474,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6760239810474034,-0.004966719233724694,0.10661612249420611,0.9999999732199379,-0.00011387828281613918,-8.309592290892341e-05,0.0001585237905514184,0.6761,-0.0046,0.10661592330789836,1.0,0.0,0.0,0.0,-0.212374159789663,0.05367749973758684,0.9960077834878276,0.007679779983680232,0.013584296202451551,0.0017370259549445066,0.9426633241965324,1.2503186366081567,1.8310712189059268,0.09867070943385058,-0.07626413295914891,0.0009951145230602887,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.5820495385315391,1.634968388542512,-0.3601201543820533,-0.012706283609014282,0.3068610937086093,0.9772301760726951,1.6312548422581434,-0.9960077834878276,1.9913749966401968,1.9913749966401968,1.9951917253970626,0,0,-4.803720435733882e-05,9.87786339098406e-05
+15387,1792844921096550732,23600536000000,1792844921092365613,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6760306149957866,-0.00496749025337687,0.10658717504052104,0.9999999737412771,-0.00011167743176149741,-6.960389959785456e-05,0.0001632291570440653,0.6761,-0.0046,0.10655988815648948,1.0,0.0,0.0,0.0,-0.2301034629215225,0.0581059067473817,1.1113977004422246,0.007595152943635677,0.015580445100714865,0.002340944998298265,0.9249340210646729,1.2547470436179515,1.9464611358603239,0.09858608239380602,-0.0742679840608856,0.001599033566414047,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6776815469068249,1.6170654949959522,-0.4895107223869015,0.004777591127757721,0.41446521011626025,0.9677852782649816,1.6312548422581434,-1.1113977004422246,2.120765564645045,2.120765564645045,2.1301917253971476,0,0,-7.065265314879087e-05,9.999999025923074e-05
+15471,1792844921796558059,23601236000000,1792844921796366317,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6760450167490909,-0.004971431025373226,0.10656437195147107,0.9999999737452927,-0.00011517867949320393,-5.025225081978659e-05,0.00016781198194265715,0.6761,-0.0046,0.10651114258817283,1.0,0.0,0.0,0.0,-0.261251534791735,0.07343011022550372,1.2284389129261144,0.009565901254970685,0.017176130097282055,0.002293246179835968,0.8937859491944604,1.2700712470960736,2.0635023483442136,0.10055683070514103,-0.07267229906431841,0.0015513347479517501,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7350943218562612,1.6283976482759648,-0.5331210144409698,0.00733181892714576,0.4532241369751506,0.9738223536981581,1.6312548422581434,-1.2284389129261144,2.164375856699113,2.164375856699113,2.235191725397214,0,0,-6.435888470354557e-05,-7.565364587425733e-05
+15521,1792844922213568233,23601653000000,1792844922212365159,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6760736382153808,-0.004971746159142543,0.10655633617629134,0.9999999742359289,-0.00011213205499847641,-2.3254961115511045e-05,0.00017279066775213283,0.6761,-0.0046,0.10648064617366666,1.0,0.0,0.0,0.0,-0.30966301354091774,0.1558446149875452,1.2298801990892207,0.015169180693551207,0.021490659110592558,0.002414387228035619,0.8453744704452777,1.352485751858115,2.06494363450732,0.10616011014372155,-0.0683577700510079,0.0016724757961514012,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8621857112657715,1.7467456150015395,-0.610782381262525,-0.015670062331700926,0.5199522836290488,1.0553612459987727,1.6312548422581434,-1.2298801990892207,2.2420372235206685,2.2420372235206685,2.297741725397253,0,0,-7.968679280737222e-05,8.6736516606517e-05
+15629,1792844923113579237,23602553000000,1792844923112365823,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6760853495092846,-0.0049735741867439716,0.106508802957458,0.9999999725673488,-0.00011209471669837551,3.674029229703929e-06,0.00018365577081135294,0.6761,-0.0046,0.10640822684023181,1.0,0.0,0.0,0.0,-0.3362366386753227,0.15210669120591946,1.389805722373311,0.015070818532006217,0.024131118099133195,0.002326213465203857,0.8188008453108727,1.3487478280764893,2.22486915779141,0.10606174798217656,-0.06571731106246727,0.0015843020333196393,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0114198123696612,1.6007712195821815,-0.8149560201980789,0.018906081215131466,0.6891030610078408,0.9536771287234944,1.6312548422581434,-1.389805722373311,2.446210862456222,2.446210862456222,2.4327417253973382,0,0,-7.01711553904597e-05,9.999986535914047e-05
+15723,1792844923896531609,23603336000000,1792844923892365897,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6760929807136711,-0.00497677367724146,0.1064704122058152,0.9999999709735989,-0.00010909364296833975,1.767437514279486e-05,0.00019308510890291467,0.6761,-0.0046,0.10635591119976343,1.0,0.0,0.0,0.0,-0.31208805516377647,0.1336545588312137,1.4499793187508327,0.012428687297179858,0.023516536933473886,0.0022427779727525136,0.842949428822419,1.3302956957017835,2.285042754168932,0.1034196167473502,-0.06633189222812658,0.0015008665408682957,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.946664404850231,1.5943130109869401,-0.8008396300923747,0.02181612355518704,0.6654605254888826,0.9503538254000012,1.6312548422581434,-1.4499793187508327,2.432094472350518,2.432094472350518,2.5501917253974122,0,0,-6.699533839779471e-05,-9.944078479951485e-05
+15821,1792844924713603795,23604153000000,1792844924712365064,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6760948506797022,-0.004979552911303332,0.10642196080012235,0.9999999692996403,-0.00010675933688198373,2.2175149622298326e-05,0.00020237166220758325,0.6761,-0.0046,0.10629420031361402,1.0,0.0,0.0,0.0,-0.3012017949161142,0.11138112167392888,1.5447759192076367,0.010386204080830047,0.02252571024240077,0.002137731457841128,0.8538356890700812,1.3080222585444987,2.379839354625736,0.10137713353100039,-0.06732271891919969,0.0013958200259569103,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9428577710050792,1.683473903437039,-0.8900566993054114,-0.004744706612030708,0.7279817716956979,1.0051162906105335,1.6312548422581434,-1.5447759192076367,2.5213115415635547,2.5213115415635547,2.6727417253974894,0,0,-8.238283829706117e-05,-9.388026053625537e-05
+15921,1792844925546608279,23604986000000,1792844925540365960,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761017261927099,-0.004984001208650881,0.10636494102937646,0.9999999661137089,-0.00010555019634970649,3.273664616088284e-05,0.00021680155311704522,0.6761,-0.0046,0.10622043492119021,1.0,0.0,0.0,0.0,-0.30041913130985565,0.09535888797196734,1.6430020063691901,0.008298337539844353,0.02355209433914393,0.002041948471498957,0.8546183526763398,1.2920000248425372,2.4780654417872894,0.0992892669900147,-0.06629633482245653,0.001300037039614739,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9563496101692383,1.5368156158681827,-1.0985735693062018,0.04087450922475589,0.870817458718799,0.9121324545141343,1.6312548422581434,-1.6430020063691901,2.729828411564345,2.729828411564345,2.797691725397568,0,0,-9.254205593914466e-05,9.498897088200948e-05
+16012,1792844926305629066,23605745000000,1792844926304365357,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6761127986208775,-0.004984523459073301,0.10631069472147325,0.9999999631642652,-0.00010163293424583402,5.201713757205734e-05,0.00022820888797764197,0.6761,-0.0046,0.10614787622032242,1.0,0.0,0.0,0.0,-0.31081005409510365,0.08875596091372873,1.7346758545268282,0.0072304522702243,0.024935891325359213,0.0017801813816826103,0.8442274298910918,1.2853970977842986,2.5697392899449274,0.09822138172039464,-0.06491253783624125,0.0010382699497983924,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0346104868372208,1.5661408467118838,-1.131940267793529,0.035430992385607096,0.9133507500367851,0.9327084551553022,1.6312548422581434,-1.7346758545268282,2.7631951100516723,2.7631951100516723,2.91154172539764,0,0,-9.841277643782143e-05,-9.998629288266442e-05
+16079,1792844926863621758,23606303000000,1792844926860365143,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761182429109401,-0.004991987914819923,0.10626272456612165,0.9999999598205435,-9.999956657293421e-05,5.9681252197615534e-05,0.00024132967218696232,0.6761,-0.0046,0.10609293814607351,1.0,0.0,0.0,0.0,-0.3166131235747026,0.07167865873844992,1.7963844742943529,0.006172463244757662,0.025585398225289546,0.0019245956370662035,0.8384243604114928,1.2683197956090198,2.631447909712452,0.097163392694928,-0.06426303093631092,0.0011826842051819856,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0179730421759046,1.6414558008754874,-1.291777686089536,0.006217608306461001,1.0132849577795935,0.9814505232451867,1.6312548422581434,-1.7963844742943529,2.9230325283476795,2.9230325283476795,2.9952417253976926,0,0,-0.00010070447340329724,9.472036629898923e-05
+16177,1792844927680560407,23607120000000,1792844927680365429,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6761277845068134,-0.004998220327900399,0.1061956538779033,0.9999999548922558,-9.555722710666237e-05,7.479454318451293e-05,0.00025871401851422645,0.6761,-0.0046,0.10600528254808558,1.0,0.0,0.0,0.0,-0.30076956213645845,0.044053144165054015,1.8779845851700494,0.0030943892631859204,0.02562549675421133,0.0018261227663531334,0.854267921849737,1.2406942810356238,2.7130480205881486,0.09408531871335626,-0.06422293240738913,0.0010842113344689155,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0405234294711232,1.5089672940019319,-1.3206845859201348,0.048026015703959195,1.0401727015120303,0.8917472232122889,1.6312548422581434,-1.8779845851700494,2.951939428178278,2.951939428178278,3.11779172539777,0,0,-0.00011512658059795034,-9.999961555895993e-05
+16275,1792844928496661450,23607936000000,1792844928496365390,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761399058945756,-0.005001648976581086,0.10611412999483183,0.9999999486704684,-9.204434926738986e-05,9.343611271918405e-05,0.00027730751113110724,0.6761,-0.0046,0.1059085109318008,1.0,0.0,0.0,0.0,-0.30440200188569766,0.027510667779022224,1.9676449084720766,0.0010081402663370265,0.026655749906074333,0.0017459494529026827,0.8506354821004978,1.224151804649592,2.802708343890176,0.09199906971650737,-0.06319267925552613,0.0010040380210184648,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0523635643683962,1.5156921398976642,-1.5205380608741015,0.04521079309333112,1.1745793788373002,0.8988076670772801,1.6312548422581434,-1.9676449084720766,3.151792903132245,3.151792903132245,3.240191725397847,0,0,-0.00012216124248701365,8.016606409111943e-05
+16370,1792844929288606729,23608728000000,1792844929288365552,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761494097753886,-0.005000407114279963,0.10603152087666116,0.9999999436897956,-8.779369442039539e-05,0.00010596124440517802,0.00029176660523725777,0.6761,-0.0046,0.1058047173041292,1.0,0.0,0.0,0.0,-0.2901826538964314,-0.02606126455528779,2.0617955051170163,-0.0030673139676261896,0.025703365019896188,0.0016116378418771764,0.864854830089764,1.170579872315282,2.8968589405351155,0.08792361548254415,-0.06414506414170427,0.0008697264099929587,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0700563292791425,1.606774354510525,-1.6095769410239442,0.01523567831469787,1.2412771252058818,0.9586683788127515,1.6312548422581434,-2.0617955051170163,3.2408317832820877,3.2408317832820877,3.358991725397922,0,0,-0.00013808712678450708,-9.740769260256025e-12
+16437,1792844929846580953,23609286000000,1792844929840365755,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761716769663477,-0.0049666288979352885,0.1059592901253494,0.9999999275632014,-0.0003186919259562827,0.00016502707636810196,8.670626105344143e-05,0.6761,-0.0046,0.10572642016979955,1.0,0.0,0.0,0.0,-0.295025652658654,-0.038165012571159895,2.0855924273083324,-0.0040935452143448375,0.025717617241489896,0.001578363577278581,0.8600118313275414,1.15847612429941,2.9206558627264316,0.0868973842358255,-0.06413081192011057,0.000836452145394363,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.029356207767547,1.5864054292124807,-1.5192268445875015,0.032864887212577805,1.1697434187209752,0.9392911361129296,1.6312548422581434,-2.0855924273083324,3.150481686845645,3.150481686845645,3.4426917253979745,0,0,-0.00014600887408430652,-8.486153032916661e-05
+16476,1792844930171685512,23609611000000,1792844930164366637,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6761729155496445,-0.004979696986354011,0.1059277017129072,0.999999924854422,-0.00032516777320138694,0.0001616871757043199,9.928338405531337e-05,0.6761,-0.0046,0.1056764298786034,1.0,0.0,0.0,0.0,-0.15495109387926642,0.1182555785014976,2.1482048661187703,0.006270471479786974,0.017372504659633012,0.0025752755442193685,1.000086390106929,1.3148967153720674,2.9832683015368695,0.09726140092995732,-0.07247592450196745,0.0018333641123351504,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0781832655548422,1.670651822512092,-1.6613719476541287,-0.10159945174761913,1.300546620436009,1.0403689974388826,1.6312548422581434,-2.1482048661187703,3.292626789912272,3.292626789912272,3.4914417253980052,0,0,-0.0001619588711296568,-9.999999025923074e-05
+16552,1792844930805699660,23610245000000,1792844930804365517,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6761779797235246,-0.004992615886776493,0.10583800023783416,0.999999923879289,-0.0003171864243478931,0.00016602015380584202,0.00012455665626834206,0.6761,-0.0046,0.10556568467060314,1.0,0.0,0.0,0.0,-0.14972897886406034,0.08610764397485693,2.2305264944385517,0.004290353861988491,0.016399589822702232,0.0024569242686511015,1.005308505122135,1.2827487808454268,3.065589929856651,0.09528128331215883,-0.07344883933889823,0.0017150128367668838,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.169614168786733,1.7420832493704719,-1.8648774486197288,-0.07262362152042567,1.4509115778515012,1.075405602801962,1.6312548422581434,-2.2305264944385517,3.4961322908778723,3.4961322908778723,3.586541725398065,0,0,-0.00018239647183307538,9.999999025923074e-05
+16635,1792844931496707317,23610936000000,1792844931496365199,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6761898357829006,-0.00500149441856259,0.10573188637334939,0.999999921113475,-0.00030175303679477565,0.0001843572413363128,0.0001554780364694394,0.6761,-0.0046,0.10543992383571375,1.0,0.0,0.0,0.0,-0.16615036906967817,0.019923348967301857,2.300030118495382,-0.0008073620712094748,0.017496065123807095,0.0023581598772485007,0.9888871149165173,1.2165644858378717,3.135093553913481,0.09018356737896087,-0.07235236403779337,0.001616248445364283,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.127911116339945,1.637068703240164,-2.0087564851585116,0.04701726603344826,1.5178905832313938,0.9842612402159737,1.6312548422581434,-2.300030118495382,3.640011327416655,3.640011327416655,3.6901917253981305,0,0,-0.0001801998138803177,9.921921203937529e-05
+16714,1792844932155719067,23611595000000,1792844932152365847,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762013059209625,-0.005006402476074992,0.10563320947218761,0.9999999163906377,-0.0002929227847808638,0.00020273036978209975,0.00017820836329568294,0.6761,-0.0046,0.10532574133300883,1.0,0.0,0.0,0.0,-0.15095408513031927,-0.03199966005775301,2.347260929932319,-0.004924711567804191,0.016569752661661732,0.0022589841178443865,1.0040833988558762,1.1646414768128168,3.1823243653504183,0.08606621788236615,-0.07327867649993873,0.0015170726859601684,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.1354197643409198,1.5922939262211426,-2.0613977720277514,0.09527256793547219,1.5548553706275483,0.9493582089929398,1.6312548422581434,-2.347260929932319,3.692652614285895,3.692652614285895,3.7890417253981927,0,0,-0.00017217678481976228,7.661874887177617e-05
+16794,1792844932821686125,23612261000000,1792844932820366219,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762082516324236,-0.005006644206801139,0.10552798555151965,0.9999999146730473,-0.0002852432573428641,0.0002106419134307593,0.00019069092895537275,0.6761,-0.0046,0.10520677729947298,1.0,0.0,0.0,0.0,-0.13381397147802487,-0.0922127040665468,2.3759113397330167,-0.008987610180849773,0.015611191139326575,0.0021759366849721335,1.0212235125081706,1.104428432804023,3.210974775151116,0.08200331926932057,-0.07423723802227389,0.0014340252530879159,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0951112684574256,1.5283454998412433,-2.024680450413542,0.11093134212081873,1.5264052716221317,0.9064058964669242,1.6312548422581434,-2.3759113397330167,3.6559352926716855,3.6559352926716855,3.8889417253982557,0,0,-0.00018753614943886466,-9.999418934392707e-05
+16875,1792844933496693371,23612936000000,1792844933492365478,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762201098191591,-0.005010660810880321,0.10541225181707174,0.9999999513592625,-5.3200143163609466e-05,0.00023380305567103978,0.00017672072078572554,0.6761,-0.0046,0.10507217474521177,1.0,0.0,0.0,0.0,-0.09248461381717354,-0.09295613441049788,2.4359314851702907,-0.009965659896089718,0.013589502788121585,0.0020824285158026375,1.062552870169022,1.103685002460072,3.27099492058839,0.08102526955408063,-0.07625892637347888,0.0013405170839184194,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0695608281246392,1.6663918153245163,-2.2251141358529116,0.060286957730466315,1.656693339187009,0.9570091149876953,1.6312548422581434,-2.4359314851702907,3.856368978111055,3.856368978111055,3.9901917253983195,0,0,-0.00021015517118608417,9.999997638144293e-05
+16948,1792844934105667764,23613545000000,1792844934104365401,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.676229569304169,-0.005007424442879267,0.10529340701129428,0.9999999466136278,-0.00011234616274763031,0.00025213727332552496,0.0001483938714185208,0.6761,-0.0046,0.10493735640471978,1.0,0.0,0.0,0.0,-0.05783978040364768,-0.09457068558086834,2.505528623429904,-0.010917143271685747,0.010557151862334677,0.001979198226114631,1.0971977035825478,1.1020704512897015,3.3405920588480034,0.0800737861784846,-0.07929127729926579,0.001237286794230413,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.1027558421891044,1.6060045388227437,-2.1897692365755965,0.11028201441010729,1.6440499877443961,0.9451368540000135,1.6312548422581434,-2.505528623429904,3.82102407883374,3.82102407883374,4.081541725398136,0,0,-0.0002312155043080174,-9.999997638144293e-05
+17028,1792844934771726168,23614211000000,1792844934764365812,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762427744125589,-0.005011840998926371,0.10515532020296917,0.999999936535042,-0.0001347347978969271,0.00027376336647711303,0.00015897461925201613,0.6761,-0.0046,0.10478001071058139,1.0,0.0,0.0,0.0,-0.03713830583819311,-0.1618157746560973,2.576029958194038,-0.014989848533700487,0.009603991623337957,0.0018789806113158369,1.1178991781480023,1.0348253622144725,3.4110933936121373,0.07600108091646986,-0.0802444375382625,0.001137069179431619,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0087474495699622,1.615983100160718,-2.31558375073178,0.1316351215023322,1.698782313466794,0.9878476273970525,1.6312548422581434,-2.576029958194038,3.9468385929899235,3.9468385929899235,4.181441725397903,0,0,-0.00023856875777247678,-5.801944621819928e-05
+17097,1792844935346661197,23614786000000,1792844935340374923,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762486244480242,-0.0050181744990765295,0.10502193368082355,0.9999999308052123,-0.0001453983409282568,0.00027951714486160715,0.00017481968710147583,0.6761,-0.0046,0.1046400509489111,1.0,0.0,0.0,0.0,-0.01602709453116513,-0.21220950911997427,2.6334111338601596,-0.019713379584568966,0.008617546754126598,0.002766635559400734,1.1390103894550303,0.9844316277505956,3.468474569278259,0.07127754986560138,-0.08123088240747386,0.0020247241275165163,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,1.0093534037801595,1.5093268584163904,-2.3659071397767493,0.16783600410911742,1.7417754761952609,0.9251786117544243,1.6312548422581434,-2.6334111338601596,3.9971619820348927,3.9971619820348927,4.267691725397702,0,0,-0.00025105135281341804,-9.999996250365512e-05
+17162,1792844935888739094,23615328000000,1792844935884365815,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762575418647117,-0.005019568432529201,0.10489496950472707,0.9999999233532338,-0.0001563793642620124,0.00029220561447901067,0.0001868094327734577,0.6761,-0.0046,0.10449863052015237,1.0,0.0,0.0,0.0,0.002552496196763565,-0.2499017735014737,2.644841652926088,-0.022177569330467453,0.007695433576604488,0.0027271713304020838,1.157589980182959,0.9467393633690961,3.479905088344187,0.06881336011970289,-0.08215299558499597,0.001985259898517866,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9926793544327097,1.51992634442,-2.5597182934374385,0.17311245250937768,1.867243191619425,0.9366792167966541,1.6312548422581434,-2.644841652926088,4.190973135695582,4.190973135695582,4.3489917253975126,0,0,-0.0002723902146797589,9.95460061866737e-05
+17229,1792844936446681638,23615886000000,1792844936444365618,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762713724000776,-0.005019231595979197,0.10475735430165814,0.9999999116553828,-0.00019175196288843854,0.00031839172269391546,0.00017317617156639288,0.6761,-0.0046,0.1043407606321341,1.0,0.0,0.0,0.0,0.032853675098884816,-0.2827887892597897,2.7125291554700848,-0.024081046626813055,0.004728357467042851,0.002606109980203097,1.1878911590850803,0.9138523476107802,3.547592590888184,0.06690988282335729,-0.08512007169455761,0.0018641985483188795,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9889729863902058,1.4471547584688602,-2.5454926235721747,0.2140368893345136,1.8621685596483324,0.8868619083312173,1.6312548422581434,-2.7125291554700848,4.176747465830318,4.176747465830318,4.4326917253973175,0,0,-0.0002940114082292374,-9.174664780531856e-05
+17292,1792844936971791318,23616411000000,1792844936964375507,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762774202642448,-0.005020093377974627,0.10460965636292426,0.9999999033406801,-0.00020732628305212338,0.0003306910264959972,0.00018005763418010525,0.6761,-0.0046,0.10418115947381873,1.0,0.0,0.0,0.0,0.04556824766080925,-0.3234453337941411,2.754629657083552,-0.027125516136225908,0.003715779243025505,0.002518273305885591,1.2006057316470047,0.8731958030764287,3.5896930925016513,0.06386541331394444,-0.08613264991857496,0.0017763618740013727,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9949682522179808,1.4522674501382802,-2.606346926310753,0.21573137321006777,1.9129026290704318,0.8880194810852946,1.6312548422581434,-2.754629657083552,4.237601768568896,4.237601768568896,4.511441725397134,0,0,-0.000316266279619419,-9.999999025923074e-05
+17345,1792844937413792222,23616853000000,1792844937412365623,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762813070565427,-0.005025830406565766,0.10447639066872956,0.9999998959958267,-0.00023163465608904424,0.00033768338746630896,0.00017823163459093662,0.6761,-0.0046,0.10403724871565066,1.0,0.0,0.0,0.0,0.09201945444450454,-0.35225957017597853,2.7862948865071027,-0.03014003237610466,0.0017572955454078637,0.0024373307400053622,1.2470569384307,0.8443815666945913,3.621358321925202,0.060850897074065685,-0.0880911336161926,0.0016954193081211444,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9160471402223438,1.5018666298938177,-2.567914589984198,0.21375072791044006,1.8716848233944556,0.9215845417744197,1.6312548422581434,-2.7862948865071027,4.199169432242341,4.199169432242341,4.577741725396979,0,0,-0.00033545427689382477,-9.949377019336509e-05
+17402,1792844937888763717,23617328000000,1792844937884365149,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762904041277124,-0.005026815086965938,0.10432454255267157,0.9999999092357654,-0.0001286433837848932,0.0003547150647536677,0.00017492692141885238,0.6761,-0.0046,0.10387268996995881,1.0,0.0,0.0,0.0,0.10358323841399542,-0.39308004680954367,2.8147029975203948,-0.03316388222758684,0.00077036434413498,0.002366530033815366,1.2586207224001909,0.8035610900610262,3.649766432938494,0.05782704722258351,-0.08907806481746548,0.0016246186019311477,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8807329287095091,1.5302894392554038,-2.58812537166677,0.17583522413825156,1.8834559027775535,0.8701869566024535,1.6312548422581434,-2.8147029975203948,4.2193802139249135,4.2193802139249135,4.648991725396813,0,0,-0.00035784033616401,-9.999999025923074e-05
+17455,1792844938330787007,23617770000000,1792844938328365717,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762949026907308,-0.005032052441004247,0.10416592091258119,0.9999999006250628,-0.00015594793972822035,0.00036131299293332305,0.0001879518290979131,0.6761,-0.0046,0.10370965149232797,1.0,0.0,0.0,0.0,0.10871029827427603,-0.43195879090680833,2.858135597254553,-0.036226733092027306,-0.00018080373777186465,0.0022805803477552286,1.2637477822604715,0.7646823459637615,3.693199032672652,0.05476419635814304,-0.09002923289937233,0.0015386689158710107,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.9021343191878428,1.455178792196318,-2.7457078197409235,0.22399157586364307,1.9969406404961465,0.859487838509981,1.6312548422581434,-2.858135597254553,4.376962661999067,4.376962661999067,4.715291725396659,0,0,-0.00037994033185859,-9.999999025923074e-05
+17506,1792844938755815222,23618195000000,1792844938748365505,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762939437557378,-0.005030198820073769,0.10399471774241312,0.9999998965139013,-0.00018486748594264297,0.00035985369875794103,0.00018639844177411737,0.6761,-0.0046,0.10354367363429492,1.0,0.0,0.0,0.0,0.13833614451900567,-0.4807624201035855,2.864432044481323,-0.0392492064539885,-0.002018702326888569,0.003238500947851588,1.293373628505201,0.7158787167669843,3.699495479899422,0.05174172299618184,-0.09186713148848903,0.00249658951596737,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8738465707107113,1.4584827779481337,-2.726601802630883,0.2646223996013392,1.979755031755986,0.8947305108215315,1.6312548422581434,-2.864432044481323,4.357856644889027,4.357856644889027,4.77904172539651,0,0,-0.00040117952696957913,-9.999999025923074e-05
+17557,1792844939180777418,23618620000000,1792844939180365628,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762991829407025,-0.0050312135148541095,0.103823647773224,0.9999998874819201,-0.0002160280957428614,0.0003684909055812746,0.00018445954999303057,0.6761,-0.0046,0.10336905132625451,1.0,0.0,0.0,0.0,0.17456370365868956,-0.529422283218282,2.9104215713193495,-0.043284558419171025,-0.004117339294134589,0.003130022634866384,1.329601187644885,0.6672188536522878,3.7454850067374488,0.04770637103099932,-0.09396576845573505,0.002388111202982166,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8616869281354362,1.3663029215595897,-2.739212407297036,0.3017913431193754,1.994625929096509,0.8337872477304433,1.6312548422581434,-2.9104215713193495,4.37046724955518,4.37046724955518,4.842791725396362,0,0,-0.00042137785946225046,-9.999999025923074e-05
+17604,1792844939571830568,23619011000000,1792844939564375291,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763086143233064,-0.005037177040472955,0.1036655642878054,0.9999998814660499,-0.0002205770411434402,0.0003770307407418511,0.00019417605303251293,0.6761,-0.0046,0.10320048033395127,1.0,0.0,0.0,0.0,0.16601979137472145,-0.5370650296608825,2.8361944688812777,-0.04438174995471214,-0.003439206860348029,0.0031781682780792518,1.3210572753609169,0.6595761072096873,3.671257904299377,0.0466091794954582,-0.09328763602194849,0.002436256846195034,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8250259559764678,1.392335848865362,-2.6648379740388,0.3087367261789032,1.935983195661448,0.8565456636730683,1.6312548422581434,-2.8361944688812777,4.296092816296944,4.296092816296944,4.901441725396225,0,0,-0.0004409278556536097,-9.999999025923074e-05
+17649,1792844939946767658,23619386000000,1792844939944365676,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763145407153921,-0.005035869936771907,0.10350298556931606,0.9999998913345217,-0.00014980180345852725,0.0003866523316615423,0.00019191978336682502,0.6761,-0.0046,0.10303162613876789,1.0,0.0,0.0,0.0,0.19533575464012443,-0.5760574477715552,2.854512724733963,-0.04628678363852973,-0.0060623768563349695,0.003111938072181274,1.3503732386263199,0.6205836890990146,3.689576160152062,0.044704145811640617,-0.09591080601793543,0.0023700266402970557,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8361274780607395,1.4203301375777655,-2.6686647587190535,0.3026386362522975,1.9460300594155076,0.8594792173755612,1.6312548422581434,-2.854512724733963,4.299919600977197,4.299919600977197,4.957691725396094,0,0,-0.0004596778520008212,-9.999999025923074e-05
+17689,1792844940280821960,23619720000000,1792844940280364903,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763102279894951,-0.0050279475209596665,0.10334186241670644,0.9999998899286436,-0.00016635205208392198,0.00038159352734995516,0.00019570114844578176,0.6761,-0.0046,0.10287531318674456,1.0,0.0,0.0,0.0,0.2506045294106525,-0.5957419515516681,2.854911957717949,-0.04824622411839117,-0.009075037412001954,0.0030479151835246894,1.405642013396848,0.6008991853189017,3.689975393136048,0.042744705331779174,-0.09892346657360242,0.0023060037516404717,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7559755663715242,1.3751780628044878,-2.531926299149477,0.3351617786134131,1.846396705963398,0.8455521227479339,1.6312548422581434,-2.854911957717949,4.1631811414076205,4.1631811414076205,5.007791725395977,0,0,-0.0004763778487474043,-9.999999025923074e-05
+17732,1792844940638846911,23620078000000,1792844940636365267,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763109268426579,-0.0050322587841412185,0.10317254335405115,0.9999998832981747,-0.00018159580963501926,0.00038645873671268506,0.00020620161988409058,0.6761,-0.0046,0.10270157476751894,1.0,0.0,0.0,0.0,0.27379432690866756,-0.6537747990334053,2.8355178395502465,-0.052274598493329064,-0.01101966923156468,0.002989603318902751,1.428831810894863,0.5428663378371645,3.6705812749683457,0.03871633095684128,-0.10086809839316514,0.0022476918870185333,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7666054100457109,1.3944027154382193,-2.677471780041262,0.3320430280574977,1.9507029891600782,0.856158916692503,1.6312548422581434,-2.8355178395502465,4.308726622299405,4.308726622299405,5.061491725395852,0,0,-0.0004942778452602089,-9.999999025923074e-05
+17771,1792844940963823301,23620403000000,1792844940960365481,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6763050768708595,-0.005032859104750398,0.1030022778238572,0.9999998823122712,-0.00021160662709734286,0.0003775013050923692,0.00019883085235467595,0.6761,-0.0046,0.10253830196832539,1.0,0.0,0.0,0.0,0.30492113234362517,-0.6854405693525605,2.846619650799141,-0.055228523471292944,-0.013350853655704764,0.0029149369407493802,1.4599586163298206,0.5112005675180094,3.68168308621724,0.0357624059788774,-0.10319928281730523,0.002173025508865162,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.694980721117504,1.424763113871216,-2.6632111815282347,0.3371790958834618,1.9318253821991198,0.8789082418803351,1.6312548422581434,-2.846619650799141,4.294466023786378,4.294466023786378,5.110241725395738,0,0,-0.0005105278420944589,-9.999999025923074e-05
+17808,1792844941271826993,23620711000000,1792844941268374593,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763000730125867,-0.005036576094851943,0.10283249617269088,0.9999998818886722,-0.0002109110943935422,0.0003720585474473228,0.00021155248347575327,0.6761,-0.0046,0.10237869549342382,1.0,0.0,0.0,0.0,0.3152128202580431,-0.7457753759268476,2.8306852468224015,-0.059204214891882066,-0.013921076046899988,0.002870573166154848,1.4702503042442385,0.4508657609437222,3.6657486822405008,0.03178671455828828,-0.10376950520850045,0.00212866173427063,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6215824504892613,1.3829908735052363,-2.6109773093007655,0.3444568215045795,1.8838103894618834,0.8544397056630991,1.6312548422581434,-2.8306852468224015,4.242232151558909,4.242232151558909,5.156441725395631,0,0,-0.000525927839094302,-9.999999025923074e-05
+17846,1792844941588854207,23621028000000,1792844941584365477,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6763160312835378,-0.005032120534195044,0.10266521854955649,0.9999998917466729,-0.0001415892690247091,0.00038199800358680055,0.00020488902089259428,0.6761,-0.0046,0.10220947206892189,1.0,0.0,0.0,0.0,0.2878943966835441,-0.7060288887897459,2.7254220787771612,-0.057108882074261916,-0.012067450137071334,0.0030217919396539087,1.4429318806697395,0.490612248080824,3.5604855141952605,0.03388204737590843,-0.1019158792986718,0.002279880507769691,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.8037193164495174,1.3823913621378294,-2.5113351183893844,0.3565349002131299,1.8693664820675853,0.8430666146885111,1.6312548422581434,-2.7254220787771612,4.142589960647528,4.142589960647528,5.20399172539552,0,0,-0.0005417778360064781,-9.999999025923074e-05
+17881,1792844941880770674,23621320000000,1792844941880374944,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6763120594800619,-0.00503998224163208,0.10249805802812588,0.9999998875746526,-0.00017274405024393413,0.00037745804020134004,0.00020971043686654017,0.6761,-0.0046,0.10204914864122469,1.0,0.0,0.0,0.0,0.2879926692395858,-0.7407693383066076,2.7493946988387306,-0.05914752437857453,-0.012100302782954056,0.0029635932714230633,1.4430301532257812,0.45587179856396226,3.58445813425683,0.03184340507159581,-0.10194873194455452,0.0022216818395388452,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7277797456224566,1.3259405880423452,-2.521556814900807,0.372191269626363,1.857778504838322,0.8176288501050349,1.6312548422581434,-2.7493946988387306,4.152811657158951,4.152811657158951,5.247791725395418,0,0,-0.0005563778331621735,-9.999999025923074e-05
+17917,1792844942180863148,23621620000000,1792844942180365154,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6763059512524087,-0.00504299714130076,0.10232083745860808,0.9999998854338605,-0.00018394555985023882,0.00037000353641111674,0.00022324100003664674,0.6761,-0.0046,0.10187999279171583,1.0,0.0,0.0,0.0,0.2960390422241215,-0.8124659591652241,2.718497618792398,-0.0634032511265586,-0.012803714208235367,0.0029282093969708817,1.451076526210317,0.38417517770534576,3.553561054210497,0.027587678323611736,-0.10265214336983583,0.002186297965086664,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6815749458421154,1.2202789947107147,-2.38824284369752,0.39677456737424815,1.7668581573992181,0.7495739233754857,1.6312548422581434,-2.718497618792398,4.019497685955663,4.019497685955663,5.292791725395313,0,0,-0.0005713778302399427,-9.999999025923074e-05
+17951,1792844942463872578,23621903000000,1792844942460375002,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762977138842331,-0.005046890352248632,0.10214855024465848,0.9999998875253227,-0.00018026083924905855,0.0003558800277630371,0.00023926479438305501,0.6761,-0.0046,0.10171629771614937,1.0,0.0,0.0,0.0,0.2922264637177263,-0.8524255044990905,2.648435072989382,-0.06648361791688784,-0.01272841454963329,0.002950138315563137,1.4472639477039217,0.34421563237147934,3.4834985084074814,0.024507311533282512,-0.10257684371123375,0.002208226883678919,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7329101303021834,1.2758390853862687,-2.5045660652708244,0.38512032881238784,1.8639476094811847,0.7970856089818473,1.6312548422581434,-2.648435072989382,4.135820907528968,4.135820907528968,5.335241725395214,0,0,-0.000585527827483305,-9.999999025923074e-05
+17983,1792844942730851699,23622170000000,1792844942728375995,DOWN_FORCE_DETACH,3,0.0708,0.07080180197954178,0.6762942895399887,-0.0050422265347105115,0.10197482324990974,0.9999998957374601,-0.00018696143456713187,0.0003561807392195613,0.00019531675809747004,0.6761,-0.0046,0.10155818623655984,1.0,0.0,0.0,0.0,0.3196634974114403,-0.8310353902317515,2.617373894164346,-0.06533952384461479,-0.01377975225312185,0.002974243991743333,1.4747009813976357,0.3656057466388183,3.452437329582445,0.02565140560555555,-0.10362818141472231,0.002232332559859115,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.7550683243737711,1.2758914108313058,-2.408150328339203,0.3922162278001899,1.8080286510887729,0.7937573065022829,1.6312548422581434,-2.617373894164346,4.039405170597346,4.039405170597346,5.375291725395121,0,0,-0.0005988778248825196,-9.999999025923074e-05
+18015,1792844942996839756,23622436000000,1792844942992375142,DOWN_FORCE_DETACH,3,0.0708,0.07080245763063431,0.6762819011306803,-0.005043618137047377,0.10179684379760862,0.9999999000808611,-0.0001920794680904843,0.0003308875420773065,0.0002118963055292625,0.6761,-0.0046,0.10139712248548699,1.0,0.0,0.0,0.0,0.33087416522661206,-0.8839075608894595,2.5455224034502923,-0.06877193649018436,-0.015478970597434166,0.0029738624444045217,1.4859116492128075,0.31273357598111035,3.3805858388683916,0.022218992959985983,-0.10532739975903463,0.0022319510125203036,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.6911713169999828,1.2554050844313152,-2.1863078737441852,0.38604565789204276,1.6571490409382845,0.777404423855435,1.6312548422581434,-2.5455224034502923,3.8175627160023287,3.8175627160023287,5.415191725395028,0,0,-0.000612177822291475,-9.999999025923074e-05
+18056,1792844943339864468,23622779000000,1792844943332365396,DOWN_SETTLE,3,0.0708,0.07080180197954178,0.6762592950622065,-0.005049876506815887,0.10164368031443563,0.9999999083812673,-0.0002020279265604206,0.00028968736671866537,0.00022348661614617237,0.6761,-0.0046,0.1013043123437376,1.0,0.0,0.0,0.0,0.3487132050773183,-0.934908497930073,2.1475485733872453,-0.07240193008528692,-0.016523963535124128,0.00226244762676074,1.5037506890635137,0.26173263894049675,2.9826120088053445,0.01858899936488342,-0.10637239269672459,0.001520536194876522,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.5489931040870315,1.2332241898261362,-1.8043586050831337,0.38313660898396396,1.380180354202594,0.7645992156332565,1.6312548422581434,-2.1475485733872453,3.435613447341277,0.0,0.0,0,0,-3.5916053975100546e-05,0.0003627884239909146
+18131,1792844943960845436,23623400000000,1792844943956374730,DOWN_PEAK_HOLD,3,0.0708,0.07080245763063431,0.6762114331118945,-0.005040466720031301,0.10153322228224568,0.9999999307748911,-0.00019507013623220934,0.00020135692910712292,0.00022648643691260335,0.6761,-0.0046,0.10130171605015251,1.0,0.0,0.0,0.0,0.34713225498474,-0.9940131743241254,1.4861394722784045,-0.07629637689373761,-0.018348917611924268,0.0016311013700774778,1.5021697389709354,0.2026279625464445,2.3212029076965037,0.014694552556432733,-0.10819734677352473,0.0008891899381932599,1.1550374839861954,1.1966411368705698,0.8350634354180992,0.09099092945017034,-0.08984842916160046,-0.0007419114318842179,1,0.3393216519485646,1.1772739910894863,-1.1012069026221727,0.37668309737420896,0.8658620912479087,0.7230175294293553,1.6312548422581434,-1.4861394722784045,2.7324617448803163,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_17.5/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844907565418527,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.752744586e-09,-9.615702817e-10,1.440132458e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452685e-01,-1.165167934e-04,8.303260181e-01
+1,8.333333333e-01,DOWN_FORCE_DETACH,1792844908385095114,1.028393846e-06,4.238405593e-07,8.298409223e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.194666959e-07,-2.120329498e-08,3.868981358e-09,7.019566263e-01,-2.156121402e-05,8.601442158e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454812e-01,-1.165370351e-04,8.303260218e-01
+2,1.516666667e+00,DOWN_FORCE_DETACH,1792844909056042878,3.139208232e-06,2.251664706e-06,2.777366979e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.923342219e-07,-3.001956327e-08,3.605557630e-09,7.019587371e-01,-1.973338987e-05,8.601461633e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455541e-01,-1.165458514e-04,8.303260216e-01
+3,2.316666667e+00,DOWN_FORCE_DETACH,1792844909858848362,8.627948778e-06,-2.088587674e-06,6.919146601e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.305785159e-07,-3.416287833e-08,3.326212417e-09,7.019642258e-01,-2.407364225e-05,8.601503051e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455923e-01,-1.165499947e-04,8.303260213e-01
+4,3.233333333e+00,DOWN_FORCE_DETACH,1792844910792533436,7.042197027e-06,-2.163757854e-06,1.425667458e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.476331248e-07,-3.607397955e-08,3.285944850e-09,7.019626401e-01,-2.414881243e-05,8.601448116e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456094e-01,-1.165519058e-04,8.303260213e-01
+5,4.100000000e+00,DOWN_FORCE_DETACH,1792844911644491631,6.150752868e-06,3.585364488e-06,-4.252417092e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.536593766e-07,-3.677775073e-08,3.225178791e-09,7.019617486e-01,-1.839969009e-05,8.601391335e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456154e-01,-1.165526096e-04,8.303260212e-01
+6,4.983333333e+00,DOWN_FORCE_DETACH,1792844912545772441,1.426338153e-05,-3.428214339e-06,-1.786790378e-05,1.293992989e-05,-1.413786457e-06,-1.518125890e-05,1.375739581e-05,-1.411454268e-06,-1.473536349e-05,7.019698612e-01,-2.541326892e-05,8.601255180e-01,7.019685378e-01,-2.339884104e-05,8.601282047e-01,7.027590192e-01,-1.179272861e-04,8.303112826e-01
+7,5.650000000e+00,DOWN_FORCE_DETACH,1792844913299980337,4.480090022e-05,-4.625613870e-06,-2.902443814e-05,4.275120064e-05,-3.639112007e-06,-2.898722313e-05,4.568706686e-05,-3.564101031e-06,-2.839351335e-05,7.020003988e-01,-2.661066845e-05,8.601143615e-01,7.019983491e-01,-2.562416659e-05,8.601143987e-01,7.027909488e-01,-1.200799328e-04,8.302976245e-01
+8,6.383333333e+00,DOWN_FORCE_DETACH,1792844914036175316,4.148417375e-05,-9.337445998e-06,-4.396765335e-05,4.275120064e-05,-3.639112007e-06,-2.898722313e-05,4.598561521e-05,-3.566542701e-06,-2.867620716e-05,7.019970820e-01,-3.132250058e-05,8.600994183e-01,7.019983491e-01,-2.562416659e-05,8.601143987e-01,7.027912474e-01,-1.200823745e-04,8.302973418e-01
+9,7.266666667e+00,DOWN_FORCE_DETACH,1792844914921524653,4.209607748e-05,-7.866837068e-06,-5.477654887e-05,4.107703411e-05,-7.995329240e-06,-5.125779859e-05,4.402763400e-05,-7.832368549e-06,-5.078097603e-05,7.019976939e-01,-2.985189165e-05,8.600886094e-01,7.019966749e-01,-2.998038382e-05,8.600921281e-01,7.027892894e-01,-1.243482004e-04,8.302752370e-01
+10,8.100000000e+00,DOWN_FORCE_DETACH,1792844915805593760,4.502635391e-05,-8.181028259e-06,-6.706871155e-05,4.107703411e-05,-7.995329240e-06,-5.125779859e-05,4.404196355e-05,-7.828500051e-06,-5.096868597e-05,7.020006242e-01,-3.016608284e-05,8.600763172e-01,7.019966749e-01,-2.998038382e-05,8.600921281e-01,7.027893037e-01,-1.243443319e-04,8.302750493e-01
+11,8.883333333e+00,DOWN_FORCE_DETACH,1792844916754750482,4.494129893e-05,6.840623660e-06,-9.585871073e-05,4.048830506e-05,-5.838175879e-06,-9.279469421e-05,4.297007312e-05,-5.711188193e-06,-9.212157577e-05,7.020005392e-01,-1.514443092e-05,8.600475272e-01,7.019960862e-01,-2.782323046e-05,8.600505912e-01,7.027882318e-01,-1.222270200e-04,8.302338964e-01
+12,9.733333333e+00,DOWN_FORCE_DETACH,1792844917590897297,5.102275069e-05,1.532775007e-06,-1.159442505e-04,4.707944328e-05,7.103644091e-06,-1.070675057e-04,4.977406104e-05,6.957196789e-06,-1.064914505e-04,7.020066206e-01,-2.045227957e-05,8.600274417e-01,7.020026773e-01,-1.488141049e-05,8.600363184e-01,7.027950358e-01,-1.095586350e-04,8.302195265e-01
+13,1.051666667e+01,DOWN_FORCE_DETACH,1792844918476966339,7.135728192e-05,2.421384300e-06,-1.338985942e-04,5.747767572e-05,8.088895593e-06,-1.253696299e-04,6.066737162e-05,7.945371375e-06,-1.247778927e-04,7.020269551e-01,-1.956367028e-05,8.600094873e-01,7.020130755e-01,-1.389615899e-05,8.600180163e-01,7.028059291e-01,-1.085704604e-04,8.302012401e-01
+14,1.136666667e+01,DOWN_FORCE_DETACH,1792844919327445208,7.270938093e-05,-2.187526008e-07,-1.554573722e-04,7.177260321e-05,-2.173285042e-07,-1.590409967e-04,7.565072597e-05,-2.148336236e-07,-1.580031776e-04,7.020283072e-01,-2.220380718e-05,8.599879285e-01,7.020273705e-01,-2.220238308e-05,8.599843449e-01,7.028209125e-01,-1.167306654e-04,8.301680148e-01
+15,1.225000000e+01,DOWN_FORCE_DETACH,1792844920195099917,7.787282586e-05,7.890757748e-07,-1.736645231e-04,7.177260321e-05,-2.173285042e-07,-1.590409967e-04,7.578745785e-05,-2.201087783e-07,-1.584804855e-04,7.020334707e-01,-2.119597880e-05,8.599697214e-01,7.020273705e-01,-2.220238308e-05,8.599843449e-01,7.028210492e-01,-1.167359406e-04,8.301675375e-01
+16,1.315000000e+01,DOWN_FORCE_DETACH,1792844921095852285,8.419004930e-05,-3.449678200e-06,-2.018083728e-04,8.294232449e-05,-2.744274684e-06,-1.979240823e-04,8.720289962e-05,-2.718349861e-06,-1.968754350e-04,7.020397879e-01,-2.543473278e-05,8.599415775e-01,7.020385402e-01,-2.472932926e-05,8.599454618e-01,7.028324647e-01,-1.192341817e-04,8.301291425e-01
+17,1.383333333e+01,DOWN_FORCE_DETACH,1792844921800378647,9.995434343e-05,-6.230356917e-06,-2.217078119e-04,9.011291147e-05,7.032328510e-08,-2.179818675e-04,9.475607150e-05,4.301719766e-08,-2.170582180e-04,7.020555522e-01,-2.821541150e-05,8.599216781e-01,7.020457108e-01,-2.191473129e-05,8.599254040e-01,7.028400178e-01,-1.164728146e-04,8.301089598e-01
+18,1.423333333e+01,DOWN_FORCE_DETACH,1792844922210618769,1.269404561e-04,-4.238290480e-06,-2.337973439e-04,1.146816017e-04,-3.199552728e-06,-2.283615462e-04,1.208779692e-04,-3.203638457e-06,-2.274342423e-04,7.020825383e-01,-2.622334506e-05,8.599095886e-01,7.020702795e-01,-2.518460731e-05,8.599150244e-01,7.028661397e-01,-1.197194703e-04,8.300985837e-01
+19,1.513333333e+01,DOWN_FORCE_DETACH,1792844923110586451,1.401694193e-04,-1.074836742e-05,-2.803812925e-04,1.400200713e-04,-1.078753489e-05,-2.800899181e-04,1.475042804e-04,-1.070654790e-05,-2.785919320e-04,7.020957673e-01,-3.273342199e-05,8.598630046e-01,7.020956179e-01,-3.277258946e-05,8.598632960e-01,7.028927661e-01,-1.272223797e-04,8.300474260e-01
+20,1.593333333e+01,DOWN_FORCE_DETACH,1792844923897241398,1.465557672e-04,-1.273310206e-05,-3.185712075e-04,1.432490660e-04,-8.973442209e-06,-3.007144858e-04,1.510341789e-04,-8.970503956e-06,-2.997260850e-04,7.021021536e-01,-3.471815664e-05,8.598248147e-01,7.020988469e-01,-3.095849679e-05,8.598426714e-01,7.028962960e-01,-1.254863358e-04,8.300262919e-01
+21,1.676666667e+01,DOWN_FORCE_DETACH,1792844924715812843,1.478017190e-04,-1.726065599e-05,-3.688154210e-04,1.493624214e-04,-1.757898263e-05,-3.624908886e-04,1.568558230e-04,-1.743046218e-05,-3.611086300e-04,7.021033996e-01,-3.924571057e-05,8.597745705e-01,7.021049603e-01,-3.956403721e-05,8.597808950e-01,7.029021176e-01,-1.339462940e-04,8.299649093e-01
+22,1.761666667e+01,DOWN_FORCE_DETACH,1792844925550892969,1.563618875e-04,-2.244477533e-05,-4.208218141e-04,1.510716093e-04,-1.782628902e-05,-4.040708728e-04,1.582445416e-04,-1.767524941e-05,-4.030726974e-04,7.021119598e-01,-4.442982991e-05,8.597225641e-01,7.021066695e-01,-3.981134360e-05,8.597393150e-01,7.029035063e-01,-1.341910812e-04,8.299229453e-01
+23,1.836666667e+01,DOWN_FORCE_DETACH,1792844926304611853,1.654131067e-04,-1.786200948e-05,-4.822774703e-04,1.620813823e-04,-2.691376289e-05,-4.694510652e-04,1.693189953e-04,-2.660731348e-05,-4.682093322e-04,7.021210110e-01,-3.984706406e-05,8.596611084e-01,7.021176792e-01,-4.889881747e-05,8.596739349e-01,7.029145808e-01,-1.431231453e-04,8.298578086e-01
+24,1.893333333e+01,DOWN_FORCE_DETACH,1792844926861344792,1.737858412e-04,-2.541951468e-05,-5.228607446e-04,1.676412243e-04,-2.973310833e-05,-5.103457149e-04,1.748013945e-04,-2.939236626e-05,-5.092096315e-04,7.021293837e-01,-4.740456926e-05,8.596205252e-01,7.021232391e-01,-5.171816291e-05,8.596330402e-01,7.029200632e-01,-1.459081981e-04,8.298168083e-01
+25,1.975000000e+01,DOWN_FORCE_DETACH,1792844927680930541,1.813595603e-04,-3.417975272e-05,-5.933295354e-04,1.796486843e-04,-3.301989911e-05,-5.939781922e-04,1.867210412e-04,-3.265491285e-05,-5.922335147e-04,7.021369574e-01,-5.616480730e-05,8.595500564e-01,7.021352466e-01,-5.500495369e-05,8.595494077e-01,7.029319828e-01,-1.491707447e-04,8.297337845e-01
+26,2.058333333e+01,DOWN_FORCE_DETACH,1792844928499596597,1.935012790e-04,-3.984354352e-05,-6.762385577e-04,1.931004398e-04,-3.967905771e-05,-6.764666090e-04,2.001810195e-04,-3.920816090e-05,-6.744578256e-04,7.021490991e-01,-6.182859810e-05,8.594671474e-01,7.021486983e-01,-6.166411229e-05,8.594669193e-01,7.029454428e-01,-1.557239927e-04,8.296515601e-01
+27,2.135000000e+01,DOWN_FORCE_DETACH,1792844929285839991,2.029830877e-04,-3.694894448e-05,-7.574548314e-04,2.025373080e-04,-3.686512259e-05,-7.573735253e-04,2.093424830e-04,-3.647516894e-05,-7.551870523e-04,7.021585810e-01,-5.893399906e-05,8.593859311e-01,7.021581352e-01,-5.885017717e-05,8.593860124e-01,7.029546043e-01,-1.529910007e-04,8.295708309e-01
+28,2.190000000e+01,DOWN_FORCE_DETACH,1792844929842657919,2.120935143e-04,4.228244934e-06,-8.211180869e-04,2.121546466e-04,4.334308964e-06,-8.212135657e-04,2.189032651e-04,3.811502554e-06,-8.190010031e-04,7.021676914e-01,-1.775680965e-05,8.593222678e-01,7.021677525e-01,-1.765074562e-05,8.593221724e-01,7.029641650e-01,-1.127043292e-04,8.295070170e-01
+29,2.223333333e+01,DOWN_FORCE_DETACH,1792844930170659002,2.231475846e-04,-1.607887443e-05,-8.643912369e-04,2.197177882e-04,-2.449577240e-05,-8.533209479e-04,2.267129927e-04,-2.431826142e-05,-8.514148410e-04,7.021787455e-01,-3.806392901e-05,8.592789947e-01,7.021753157e-01,-4.648082698e-05,8.592900650e-01,7.029719748e-01,-1.408340932e-04,8.294746031e-01
+30,2.288333333e+01,DOWN_FORCE_DETACH,1792844930809265095,2.307680433e-04,-2.467528807e-05,-9.510689262e-04,2.305782515e-04,-2.872477600e-05,-9.373177986e-04,2.373191741e-04,-2.841427713e-05,-9.352659916e-04,7.021863659e-01,-4.666034265e-05,8.591923170e-01,7.021861761e-01,-5.070983058e-05,8.592060681e-01,7.029825809e-01,-1.449301089e-04,8.293907520e-01
+31,2.356666667e+01,DOWN_FORCE_DETACH,1792844931498045319,2.457515765e-04,-3.528028324e-05,-1.055781934e-03,2.421815687e-04,-3.543056163e-05,-1.042614975e-03,2.486009244e-04,-3.500978606e-05,-1.040256782e-03,7.022013494e-01,-5.726533782e-05,8.590876040e-01,7.021977794e-01,-5.741561621e-05,8.591007709e-01,7.029938627e-01,-1.515256179e-04,8.292857612e-01
+32,2.421666667e+01,DOWN_FORCE_DETACH,1792844932152643553,2.564093624e-04,-4.436567916e-05,-1.154565274e-03,2.539432114e-04,-4.240117400e-05,-1.151848176e-03,2.599297684e-04,-4.182183608e-05,-1.149042392e-03,7.022120072e-01,-6.635073374e-05,8.589888206e-01,7.022095411e-01,-6.438622858e-05,8.589915377e-01,7.030051915e-01,-1.583376679e-04,8.291769756e-01
+33,2.485000000e+01,DOWN_FORCE_DETACH,1792844932824786466,2.618266859e-04,-4.260363162e-05,-1.260997862e-03,2.588983401e-04,-4.285476659e-05,-1.246869649e-03,2.642712239e-04,-4.227239675e-05,-1.244207526e-03,7.022174246e-01,-6.458868620e-05,8.588823881e-01,7.022144962e-01,-6.483982116e-05,8.588965163e-01,7.030095330e-01,-1.587882286e-04,8.290818104e-01
+34,2.551666667e+01,DOWN_FORCE_DETACH,1792844933495945339,2.758889134e-04,-4.834520524e-05,-1.376617923e-03,2.757198975e-04,-4.852832777e-05,-1.376652307e-03,2.807040386e-04,-4.779231734e-05,-1.373625451e-03,7.022314868e-01,-7.033025981e-05,8.587667680e-01,7.022313178e-01,-7.051338235e-05,8.587667336e-01,7.030259658e-01,-1.643081491e-04,8.289523925e-01
+35,2.613333333e+01,DOWN_FORCE_DETACH,1792844934101741703,2.822843588e-04,-4.673617921e-05,-1.495881669e-03,2.853937012e-04,-4.374125859e-05,-1.482320558e-03,2.897558894e-04,-4.316028104e-05,-1.479516450e-03,7.022378822e-01,-6.872123379e-05,8.586475042e-01,7.022409916e-01,-6.572631317e-05,8.586610654e-01,7.030350177e-01,-1.596761128e-04,8.288465015e-01
+36,2.681666667e+01,DOWN_FORCE_DETACH,1792844934773132691,2.932181845e-04,-5.077331346e-05,-1.638354797e-03,2.931268143e-04,-5.076445759e-05,-1.638425057e-03,2.961324025e-04,-5.008351967e-05,-1.634964191e-03,7.022488161e-01,-7.275836804e-05,8.585050311e-01,7.022487247e-01,-7.274951217e-05,8.585049609e-01,7.030413942e-01,-1.665993515e-04,8.286910538e-01
+37,2.740000000e+01,DOWN_FORCE_DETACH,1792844935346496594,3.009156369e-04,-5.288558616e-05,-1.768548150e-03,2.998788155e-04,-5.605127808e-05,-1.751335239e-03,3.019618349e-04,-5.521191961e-05,-1.748209568e-03,7.022565135e-01,-7.487064074e-05,8.583748378e-01,7.022554767e-01,-7.803633266e-05,8.583920507e-01,7.030472236e-01,-1.717277514e-04,8.285778084e-01
+38,2.793333333e+01,DOWN_FORCE_DETACH,1792844935888131900,3.118395937e-04,-5.512228977e-05,-1.888963951e-03,3.099459307e-04,-5.748433326e-05,-1.881882670e-03,3.112779941e-04,-5.662791376e-05,-1.878554714e-03,7.022674375e-01,-7.710734435e-05,8.582544220e-01,7.022655438e-01,-7.946938784e-05,8.582615032e-01,7.030565398e-01,-1.731437456e-04,8.284474633e-01
+39,2.848333333e+01,DOWN_FORCE_DETACH,1792844936444412896,3.202825102e-04,-4.917901824e-05,-2.037009322e-03,3.223471348e-04,-5.838276401e-05,-2.020528138e-03,3.231064611e-04,-5.765063737e-05,-2.017117129e-03,7.022758804e-01,-7.116407282e-05,8.581063766e-01,7.022779450e-01,-8.036781859e-05,8.581228578e-01,7.030683682e-01,-1.741664692e-04,8.283089008e-01
+40,2.901666667e+01,DOWN_FORCE_DETACH,1792844936968684695,3.298631179e-04,-5.410431060e-05,-2.181700463e-03,3.292624992e-04,-5.930681522e-05,-2.163808894e-03,3.290906411e-04,-5.858742312e-05,-2.160252680e-03,7.022854610e-01,-7.608936518e-05,8.579616855e-01,7.022848604e-01,-8.129186980e-05,8.579795770e-01,7.030743524e-01,-1.751032549e-04,8.281657653e-01
+41,2.946666667e+01,DOWN_FORCE_DETACH,1792844937410918861,3.354852773e-04,-5.676100592e-05,-2.312595229e-03,3.351272074e-04,-6.374747475e-05,-2.302441257e-03,3.338129272e-04,-6.291718090e-05,-2.298649014e-03,7.022910831e-01,-7.874606050e-05,8.578307907e-01,7.022907251e-01,-8.573252933e-05,8.578409447e-01,7.030790747e-01,-1.794330127e-04,8.280273690e-01
+42,2.995000000e+01,DOWN_FORCE_DETACH,1792844937885641984,3.431968088e-04,-6.222811793e-05,-2.465818945e-03,3.417961710e-04,-6.175522196e-05,-2.461537632e-03,3.389670463e-04,-6.097603740e-05,-2.457239327e-03,7.022987947e-01,-8.421317251e-05,8.576775670e-01,7.022973940e-01,-8.374027654e-05,8.576818483e-01,7.030842288e-01,-1.774918692e-04,8.278687786e-01
+43,3.036666667e+01,DOWN_FORCE_DETACH,1792844938329765285,3.470100955e-04,-6.466559218e-05,-2.626759644e-03,3.468956630e-04,-6.455211642e-05,-2.626908350e-03,3.423335751e-04,-6.361839217e-05,-2.621965383e-03,7.023026080e-01,-8.665064676e-05,8.575166263e-01,7.023024935e-01,-8.653717100e-05,8.575164776e-01,7.030875953e-01,-1.801342240e-04,8.277040526e-01
+44,3.078333333e+01,DOWN_FORCE_DETACH,1792844938754156590,3.479847404e-04,-6.996500096e-05,-2.793168454e-03,3.508042575e-04,-6.723601683e-05,-2.779338261e-03,3.447059186e-04,-6.622963917e-05,-2.774549556e-03,7.023035826e-01,-9.195005554e-05,8.573502175e-01,7.023064021e-01,-8.922107141e-05,8.573640477e-01,7.030899677e-01,-1.827454710e-04,8.275514684e-01
+45,3.121666667e+01,DOWN_FORCE_DETACH,1792844939179408176,3.515875588e-04,-7.030600990e-05,-2.964561812e-03,3.513545827e-04,-7.024436109e-05,-2.964073861e-03,3.431642243e-04,-6.916945686e-05,-2.958841415e-03,7.023071854e-01,-9.229106448e-05,8.571788241e-01,7.023069524e-01,-9.222941567e-05,8.571793121e-01,7.030884260e-01,-1.856852887e-04,8.273671766e-01
+46,3.161666667e+01,DOWN_FORCE_DETACH,1792844939573314458,3.621893768e-04,-7.313646530e-05,-3.123419126e-03,3.622197781e-04,-7.294531060e-05,-3.123195247e-03,3.529661358e-04,-7.179890884e-05,-3.118032478e-03,7.023177872e-01,-9.512151988e-05,8.570199668e-01,7.023178176e-01,-9.493036518e-05,8.570201907e-01,7.030982279e-01,-1.883147406e-04,8.272079855e-01
+47,3.200000000e+01,DOWN_FORCE_DETACH,1792844939949269293,3.658514394e-04,-6.916175965e-05,-3.287609833e-03,3.658777147e-04,-6.888356715e-05,-3.272043827e-03,3.551085959e-04,-6.794838953e-05,-3.267219801e-03,7.023214493e-01,-9.114681423e-05,8.568557761e-01,7.023214756e-01,-9.086862173e-05,8.568713421e-01,7.031003704e-01,-1.844642213e-04,8.270587982e-01
+48,3.233333333e+01,DOWN_FORCE_DETACH,1792844940276936294,3.647132393e-04,-6.562197671e-05,-3.444196855e-03,3.647796480e-04,-6.581357686e-05,-3.443961281e-03,3.517731284e-04,-6.493402193e-05,-3.438519077e-03,7.023203111e-01,-8.760703129e-05,8.566991891e-01,7.023203775e-01,-8.779863144e-05,8.566994246e-01,7.030970349e-01,-1.814498537e-04,8.268874989e-01
+49,3.270000000e+01,DOWN_FORCE_DETACH,1792844940637721202,3.653933158e-04,-6.809757043e-05,-3.616010064e-03,3.652471957e-04,-6.802586768e-05,-3.616103708e-03,3.501008505e-04,-6.701933717e-05,-3.610696709e-03,7.023209912e-01,-9.008262501e-05,8.565273759e-01,7.023208451e-01,-9.001092225e-05,8.565272822e-01,7.030953626e-01,-1.835351690e-04,8.267153213e-01
+50,3.303333333e+01,DOWN_FORCE_DETACH,1792844940965146346,3.585437863e-04,-6.772238536e-05,-3.786144996e-03,3.587728106e-04,-6.631867556e-05,-3.776122582e-03,3.414671683e-04,-6.543512025e-05,-3.770878643e-03,7.023141417e-01,-8.970743994e-05,8.563572409e-01,7.023143707e-01,-8.830373014e-05,8.563672633e-01,7.030867289e-01,-1.819509521e-04,8.265551393e-01
+51,3.335000000e+01,DOWN_FORCE_DETACH,1792844941276063335,3.526534263e-04,-7.303920360e-05,-3.960008104e-03,3.541009511e-04,-7.006136121e-05,-3.949912010e-03,3.345986444e-04,-6.913852951e-05,-3.944595941e-03,7.023082513e-01,-9.502425818e-05,8.561833778e-01,7.023096988e-01,-9.204641579e-05,8.561934739e-01,7.030798604e-01,-1.856543613e-04,8.263814220e-01
+52,3.365000000e+01,DOWN_FORCE_DETACH,1792844941585166558,3.726035981e-04,-6.716280854e-05,-4.113507845e-03,3.681571945e-04,-7.143283500e-05,-4.109185414e-03,3.474998829e-04,-7.046544977e-05,-4.103928073e-03,7.023282015e-01,-8.914786312e-05,8.560298781e-01,7.023237551e-01,-9.341788958e-05,8.560342005e-01,7.030927617e-01,-1.869812816e-04,8.262220899e-01
+53,3.395000000e+01,DOWN_FORCE_DETACH,1792844941883021312,3.655146353e-04,-7.341399423e-05,-4.294474048e-03,3.648842150e-04,-7.564959088e-05,-4.276459442e-03,3.421347376e-04,-7.459324097e-05,-4.271290343e-03,7.023211125e-01,-9.539904881e-05,8.558489119e-01,7.023204821e-01,-9.763464546e-05,8.558669265e-01,7.030873965e-01,-1.911090728e-04,8.260547276e-01
+54,3.425000000e+01,DOWN_FORCE_DETACH,1792844942177299225,3.574000104e-04,-7.573344661e-05,-4.469202168e-03,3.570375462e-04,-8.023301988e-05,-4.451163125e-03,3.316003587e-04,-7.899732581e-05,-4.445921866e-03,7.023129979e-01,-9.771850119e-05,8.556741837e-01,7.023126354e-01,-1.022180745e-04,8.556922228e-01,7.030768621e-01,-1.955131576e-04,8.258800961e-01
+55,3.448333333e+01,DOWN_FORCE_DETACH,1792844942460491071,3.497864545e-04,-8.416408223e-05,-4.638972660e-03,3.504319564e-04,-8.228738471e-05,-4.628363593e-03,3.224457971e-04,-8.107010803e-05,-4.622386421e-03,7.023053843e-01,-1.061491368e-04,8.555044133e-01,7.023060298e-01,-1.042724393e-04,8.555150223e-01,7.030677076e-01,-1.975859398e-04,8.257036316e-01
+56,3.475000000e+01,DOWN_FORCE_DETACH,1792844942734124639,3.479469048e-04,-7.787280070e-05,-4.815488074e-03,3.479530299e-04,-7.811014779e-05,-4.806487929e-03,3.177001353e-04,-7.699585152e-05,-4.800785172e-03,7.023035448e-01,-9.985785528e-05,8.553278978e-01,7.023035509e-01,-1.000952024e-04,8.553368980e-01,7.030629619e-01,-1.935116833e-04,8.255252328e-01
+57,3.501666667e+01,DOWN_FORCE_DETACH,1792844942997050316,3.343157697e-04,-8.207401664e-05,-4.992079054e-03,3.342351478e-04,-8.352628484e-05,-4.981886364e-03,3.008896595e-04,-8.238195089e-05,-4.976393710e-03,7.022899136e-01,-1.040590712e-04,8.551513069e-01,7.022898330e-01,-1.055113394e-04,8.551614996e-01,7.030461514e-01,-1.988977827e-04,8.253496243e-01
+58,3.536666667e+01,DOWN_SETTLE,1792844943340165129,3.129389766e-04,-8.619997877e-05,-5.144995645e-03,3.148226656e-04,-8.476465452e-05,-5.139005454e-03,2.780798883e-04,-8.370171481e-05,-5.134806898e-03,7.022685368e-01,-1.081850333e-04,8.549983903e-01,7.022704205e-01,-1.067497091e-04,8.550043805e-01,7.030233417e-01,-2.002175466e-04,8.251912111e-01
+59,3.591666667e+01,DOWN_PEAK_HOLD,1792844943962419207,2.652434752e-04,-8.084703660e-05,-5.256097786e-03,2.652529059e-04,-8.082430402e-05,-5.255818996e-03,2.236126088e-04,-7.976371694e-05,-5.253288820e-03,7.022208413e-01,-1.028320912e-04,8.548872881e-01,7.022208508e-01,-1.028093586e-04,8.548875669e-01,7.029688744e-01,-1.962795487e-04,8.250727292e-01

Fixed/digit/ball_PLA_17.5/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,9.0139e-02,3.2070e-01,2.4584e+00,-5.8496e-02,4.3202e-02,5.1572e-04,1.8604e-05,7.9870e-06,9.0599e-06,-5.9232e-07,1.2703e-06,-3.4925e-08,2.2181e-05,1.4021e-06
+1,8.3333e-01,DOWN_FORCE_DETACH,1.8460e-04,1.2790e-01,3.1934e-01,2.4594e+00,-5.8224e-02,4.5852e-02,2.2359e-04,3.7783e-02,-1.3515e-03,1.0171e-03,2.7152e-04,2.6514e-03,-2.9217e-04,3.7821e-02,2.6812e-03
+2,1.5167e+00,DOWN_FORCE_DETACH,3.7236e-04,1.4095e-01,3.1834e-01,2.4594e+00,-5.8117e-02,4.6766e-02,1.0646e-04,5.0827e-02,-2.3499e-03,9.6059e-04,3.7837e-04,3.5652e-03,-4.0930e-04,5.0890e-02,3.6085e-03
+3,2.3167e+00,DOWN_FORCE_DETACH,5.5616e-04,1.4767e-01,3.1803e-01,2.4593e+00,-5.8085e-02,4.7233e-02,3.2509e-05,5.7546e-02,-2.6651e-03,9.1219e-04,4.1068e-04,4.0326e-03,-4.8325e-04,5.7615e-02,4.0822e-03
+4,3.2333e+00,DOWN_FORCE_DETACH,7.4564e-04,1.5059e-01,3.1778e-01,2.4593e+00,-5.8062e-02,4.7438e-02,-1.9418e-06,6.0474e-02,-2.9131e-03,9.0075e-04,4.3325e-04,4.2373e-03,-5.1770e-04,6.0551e-02,4.2908e-03
+5,4.1000e+00,DOWN_FORCE_DETACH,9.3213e-04,1.5168e-01,3.1759e-01,2.4593e+00,-5.8045e-02,4.7515e-02,-1.4841e-05,6.1558e-02,-3.1034e-03,8.8501e-04,4.4985e-04,4.3141e-03,-5.3060e-04,6.1642e-02,4.3699e-03
+6,4.9833e+00,DOWN_FORCE_DETACH,1.1143e-03,1.2936e-01,3.2254e-01,2.4878e+00,-5.8359e-02,4.6025e-02,-2.0015e-05,3.9242e-02,1.8487e-03,2.9353e-02,1.3611e-04,2.8247e-03,-5.3577e-04,4.9040e-02,2.8783e-03
+7,5.6500e+00,DOWN_FORCE_DETACH,1.3035e-03,6.8850e-02,3.4365e-01,2.5692e+00,-5.9853e-02,4.1599e-02,2.0280e-04,-2.1271e-02,2.2960e-02,1.1075e-01,-1.3579e-03,-1.6016e-03,-3.1296e-04,1.1508e-01,2.1230e-03
+8,6.3833e+00,DOWN_FORCE_DETACH,1.4896e-03,1.3029e-01,3.4153e-01,2.4914e+00,-5.9690e-02,4.5960e-02,1.8756e-04,4.0174e-02,2.0839e-02,3.2973e-02,-1.1948e-03,2.7596e-03,-3.2820e-04,5.5995e-02,3.0250e-03
+9,7.2667e+00,DOWN_FORCE_DETACH,1.6785e-03,1.5824e-01,3.7450e-01,2.5249e+00,-6.1992e-02,4.7874e-02,8.5151e-05,6.8115e-02,5.3804e-02,6.6471e-02,-3.4969e-03,4.6728e-03,-4.3061e-04,1.0933e-01,5.8523e-03
+10,8.1000e+00,DOWN_FORCE_DETACH,1.8614e-03,1.6052e-01,3.7520e-01,2.4908e+00,-6.2117e-02,4.8067e-02,-4.3692e-05,7.0396e-02,5.4510e-02,3.2376e-02,-3.6213e-03,4.8665e-03,-5.5945e-04,9.4737e-02,6.0918e-03
+11,8.8833e+00,DOWN_FORCE_DETACH,2.0517e-03,1.6520e-01,3.6577e-01,2.5825e+00,-6.1308e-02,4.8264e-02,-1.1692e-04,7.5080e-02,4.5077e-02,1.2406e-01,-2.8126e-03,5.0632e-03,-6.3268e-04,1.5186e-01,5.8264e-03
+12,9.7333e+00,DOWN_FORCE_DETACH,2.2366e-03,1.3955e-01,2.7939e-01,2.5522e+00,-5.5304e-02,4.6475e-02,-3.0379e-04,4.9432e-02,-4.1298e-02,9.3742e-02,3.1912e-03,3.2744e-03,-8.1955e-04,1.1374e-01,4.6451e-03
+13,1.0517e+01,DOWN_FORCE_DETACH,2.4235e-03,1.2329e-01,2.7159e-01,2.5499e+00,-5.4821e-02,4.5270e-02,-3.4580e-04,3.3169e-02,-4.9105e-02,9.1452e-02,3.6742e-03,2.0688e-03,-8.6156e-04,1.0897e-01,4.3037e-03
+14,1.1367e+01,DOWN_FORCE_DETACH,2.6115e-03,1.2011e-01,3.3036e-01,2.6331e+00,-5.9089e-02,4.5033e-02,-4.4382e-04,2.9989e-02,9.6670e-03,1.7469e-01,-5.9332e-04,1.8322e-03,-9.5958e-04,1.7751e-01,2.1517e-03
+15,1.2250e+01,DOWN_FORCE_DETACH,2.7968e-03,1.4303e-01,3.2489e-01,2.5315e+00,-5.8912e-02,4.6673e-02,-6.9102e-04,5.2914e-02,4.2012e-03,7.3067e-02,-4.1703e-04,3.4721e-03,-1.2068e-03,9.0312e-02,3.6994e-03
+16,1.3150e+01,DOWN_FORCE_DETACH,2.9824e-03,1.2258e-01,3.4401e-01,2.6359e+00,-6.0256e-02,4.5206e-02,-8.3319e-04,3.2455e-02,2.3319e-02,1.7746e-01,-1.7607e-03,2.0054e-03,-1.3489e-03,1.8191e-01,2.9902e-03
+17,1.3833e+01,DOWN_FORCE_DETACH,3.1675e-03,1.1811e-01,3.1782e-01,2.6034e+00,-5.8505e-02,4.4776e-02,-8.7962e-04,2.7993e-02,-2.8742e-03,1.4493e-01,-9.5256e-06,1.5751e-03,-1.3954e-03,1.4764e-01,2.1043e-03
+18,1.4233e+01,DOWN_FORCE_DETACH,3.3549e-03,7.1089e-02,3.3367e-01,2.5891e+00,-5.9710e-02,4.1529e-02,-8.7815e-04,-1.9031e-02,1.2973e-02,1.3069e-01,-1.2147e-03,-1.6716e-03,-1.3939e-03,1.3270e-01,2.4925e-03
+19,1.5133e+01,DOWN_FORCE_DETACH,3.5420e-03,9.7631e-02,3.2872e-01,2.5909e+00,-5.9489e-02,4.3394e-02,-1.0669e-03,7.5110e-03,8.0226e-03,1.3251e-01,-9.9369e-04,1.9286e-04,-1.5826e-03,1.3297e-01,1.8786e-03
+20,1.5933e+01,DOWN_FORCE_DETACH,3.7271e-03,1.0901e-01,3.5217e-01,2.6004e+00,-6.1094e-02,4.4130e-02,-1.1469e-03,1.8886e-02,3.1476e-02,1.4199e-01,-2.5987e-03,9.2911e-04,-1.6626e-03,1.4665e-01,3.2219e-03
+21,1.6767e+01,DOWN_FORCE_DETACH,3.9142e-03,1.1612e-01,3.9842e-01,2.6568e+00,-6.4099e-02,4.4670e-02,-1.2581e-03,2.6001e-02,7.7732e-02,1.9837e-01,-5.6041e-03,1.4690e-03,-1.7739e-03,2.1464e-01,6.0590e-03
+22,1.7617e+01,DOWN_FORCE_DETACH,4.1009e-03,1.2747e-01,4.0376e-01,2.6165e+00,-6.4411e-02,4.5474e-02,-1.2692e-03,3.7345e-02,8.3072e-02,1.5808e-01,-5.9161e-03,2.2737e-03,-1.7849e-03,1.8244e-01,6.5845e-03
+23,1.8367e+01,DOWN_FORCE_DETACH,4.2837e-03,1.1710e-01,4.6215e-01,2.6604e+00,-6.8364e-02,4.4654e-02,-1.0054e-03,2.6979e-02,1.4146e-01,2.0197e-01,-9.8684e-03,1.4529e-03,-1.5211e-03,2.4805e-01,1.0090e-02
+24,1.8933e+01,DOWN_FORCE_DETACH,4.4709e-03,1.2631e-01,4.7653e-01,2.6263e+00,-6.9260e-02,4.5348e-02,-8.7427e-04,3.6185e-02,1.5584e-01,1.6785e-01,-1.0765e-02,2.1475e-03,-1.3900e-03,2.3188e-01,1.1065e-02
+25,1.9750e+01,DOWN_FORCE_DETACH,4.6601e-03,1.2497e-01,4.9085e-01,2.7425e+00,-7.0217e-02,4.5179e-02,-2.1432e-04,3.4849e-02,1.7016e-01,2.8403e-01,-1.1722e-02,1.9786e-03,-7.3008e-04,3.3293e-01,1.1910e-02
+26,2.0583e+01,DOWN_FORCE_DETACH,4.8459e-03,1.3531e-01,5.0316e-01,2.6430e+00,-7.1243e-02,4.5913e-02,-5.1770e-05,4.5189e-02,1.8247e-01,1.8454e-01,-1.2748e-02,2.7118e-03,-5.6753e-04,2.6342e-01,1.3045e-02
+27,2.1350e+01,DOWN_FORCE_DETACH,5.0356e-03,1.2726e-01,5.5535e-01,2.7307e+00,-7.4648e-02,4.5218e-02,5.2293e-04,3.7141e-02,2.3466e-01,2.7232e-01,-1.6153e-02,2.0170e-03,7.1665e-06,3.6139e-01,1.6278e-02
+28,2.1900e+01,DOWN_FORCE_DETACH,5.2060e-03,1.1509e-01,5.5746e-01,2.7817e+00,-7.4684e-02,4.4431e-02,5.4927e-04,2.4973e-02,2.3677e-01,3.2332e-01,-1.6189e-02,1.2300e-03,3.3513e-05,4.0152e-01,1.6235e-02
+29,2.2233e+01,DOWN_FORCE_DETACH,5.4057e-03,8.4054e-02,4.0976e-01,2.8020e+00,-6.4016e-02,4.2064e-02,7.3256e-04,-6.0666e-03,8.9072e-02,3.4357e-01,-5.5203e-03,-1.1367e-03,2.1680e-04,3.5498e-01,5.6403e-03
+30,2.2883e+01,DOWN_FORCE_DETACH,5.5921e-03,9.9871e-02,4.6328e-01,2.8006e+00,-6.7834e-02,4.3365e-02,7.4030e-04,9.7502e-03,1.4259e-01,3.4219e-01,-9.3389e-03,1.6397e-04,2.2454e-04,3.7083e-01,9.3430e-03
+31,2.3567e+01,DOWN_FORCE_DETACH,5.7787e-03,1.0277e-01,5.1277e-01,2.9240e+00,-7.1102e-02,4.3446e-02,7.4724e-04,1.2646e-02,1.9207e-01,4.6553e-01,-1.2606e-02,2.4530e-04,2.3148e-04,5.0376e-01,1.2611e-02
+32,2.4217e+01,DOWN_FORCE_DETACH,5.9660e-03,1.0654e-01,5.6080e-01,2.9647e+00,-7.4246e-02,4.3649e-02,7.0564e-04,1.6419e-02,2.4011e-01,5.0623e-01,-1.5751e-02,4.4840e-04,1.8988e-04,5.6053e-01,1.5759e-02
+33,2.4850e+01,DOWN_FORCE_DETACH,6.1476e-03,1.3772e-01,5.6356e-01,2.9911e+00,-7.3999e-02,4.5723e-02,6.2521e-04,4.7597e-02,2.4287e-01,5.3270e-01,-1.5503e-02,2.5220e-03,1.0945e-04,5.8739e-01,1.5708e-02
+34,2.5517e+01,DOWN_FORCE_DETACH,6.3368e-03,1.2347e-01,5.7858e-01,2.9400e+00,-7.4680e-02,4.4843e-02,6.3008e-04,3.3349e-02,2.5789e-01,4.8152e-01,-1.6185e-02,1.6419e-03,1.1432e-04,5.4725e-01,1.6268e-02
+35,2.6133e+01,DOWN_FORCE_DETACH,6.5241e-03,1.0353e-01,5.7734e-01,2.9831e+00,-7.4473e-02,4.3414e-02,6.8995e-04,1.3409e-02,2.5665e-01,5.2464e-01,-1.5978e-02,2.1281e-04,1.7419e-04,5.8421e-01,1.5980e-02
+36,2.6817e+01,DOWN_FORCE_DETACH,6.7114e-03,7.0184e-02,6.0112e-01,3.0420e+00,-7.6152e-02,4.0830e-02,5.2303e-04,-1.9937e-02,2.8043e-01,5.8362e-01,-1.7657e-02,-2.3707e-03,7.2690e-06,6.4780e-01,1.7815e-02
+37,2.7400e+01,DOWN_FORCE_DETACH,6.8964e-03,7.1881e-02,6.6093e-01,3.0762e+00,-7.9946e-02,4.0886e-02,3.4319e-04,-1.8240e-02,3.4024e-01,6.1774e-01,-2.1450e-02,-2.3149e-03,-1.7257e-04,7.0548e-01,2.1576e-02
+38,2.7933e+01,DOWN_FORCE_DETACH,7.0812e-03,7.9032e-02,6.6433e-01,3.0754e+00,-8.0104e-02,4.1423e-02,3.0518e-04,-1.1088e-02,3.4363e-01,6.1701e-01,-2.1609e-02,-1.7775e-03,-2.1058e-04,7.0633e-01,2.1683e-02
+39,2.8483e+01,DOWN_FORCE_DETACH,7.2725e-03,9.3583e-02,6.3603e-01,3.1203e+00,-7.8190e-02,4.2398e-02,2.5769e-04,3.4628e-03,3.1534e-01,6.6185e-01,-1.9694e-02,-8.0321e-04,-2.5807e-04,7.3315e-01,1.9712e-02
+40,2.9017e+01,DOWN_FORCE_DETACH,7.4595e-03,1.4048e-01,6.5459e-01,3.1610e+00,-7.8941e-02,4.5597e-02,2.5007e-04,5.0355e-02,3.3390e-01,7.0258e-01,-2.0446e-02,2.3959e-03,-2.6569e-04,7.7952e-01,2.0587e-02
+41,2.9467e+01,DOWN_FORCE_DETACH,7.6403e-03,1.5790e-01,6.7519e-01,3.1913e+00,-7.9596e-02,4.6800e-02,2.7796e-04,6.7778e-02,3.5450e-01,7.3287e-01,-2.1101e-02,3.5993e-03,-2.3780e-04,8.1692e-01,2.1407e-02
+42,2.9950e+01,DOWN_FORCE_DETACH,7.8291e-03,1.4644e-01,6.6219e-01,3.2435e+00,-7.8464e-02,4.5913e-02,2.1360e-04,5.6316e-02,3.4150e-01,7.8503e-01,-1.9969e-02,2.7128e-03,-3.0216e-04,8.5794e-01,2.0154e-02
+43,3.0367e+01,DOWN_FORCE_DETACH,8.0144e-03,1.2700e-01,7.1104e-01,3.3043e+00,-8.1432e-02,4.4501e-02,1.4737e-04,3.6885e-02,3.9035e-01,8.4592e-01,-2.2937e-02,1.3006e-03,-3.6839e-04,9.3237e-01,2.2977e-02
+44,3.0783e+01,DOWN_FORCE_DETACH,8.1989e-03,1.1547e-01,7.4018e-01,3.3580e+00,-8.2828e-02,4.3586e-02,8.9598e-05,2.5349e-02,4.1949e-01,8.9958e-01,-2.4333e-02,3.8490e-04,-4.2616e-04,9.9290e-01,2.4340e-02
+45,3.1217e+01,DOWN_FORCE_DETACH,8.3900e-03,1.2850e-01,7.1330e-01,3.4051e+00,-8.0815e-02,4.4414e-02,9.6647e-05,3.8376e-02,3.9260e-01,9.4672e-01,-2.2320e-02,1.2130e-03,-4.1911e-04,1.0256e+00,2.2357e-02
+46,3.1617e+01,DOWN_FORCE_DETACH,8.5703e-03,1.2598e-01,7.7144e-01,3.4051e+00,-8.4226e-02,4.4264e-02,1.8826e-04,3.5855e-02,4.5075e-01,9.4672e-01,-2.5730e-02,1.0631e-03,-3.2750e-04,1.0492e+00,2.5754e-02
+47,3.2000e+01,DOWN_FORCE_DETACH,8.7639e-03,1.3835e-01,7.3273e-01,3.4427e+00,-8.1427e-02,4.5055e-02,2.8205e-04,4.8228e-02,4.1204e-01,9.8429e-01,-2.2932e-02,1.8543e-03,-2.3371e-04,1.0681e+00,2.3008e-02
+48,3.2333e+01,DOWN_FORCE_DETACH,8.9496e-03,1.3283e-01,6.9270e-01,3.4764e+00,-7.8747e-02,4.4650e-02,2.7623e-04,4.2711e-02,3.7201e-01,1.0180e+00,-2.0251e-02,1.4492e-03,-2.3953e-04,1.0847e+00,2.0305e-02
+49,3.2700e+01,DOWN_FORCE_DETACH,9.1322e-03,1.2833e-01,7.1834e-01,3.5003e+00,-8.0144e-02,4.4288e-02,1.9758e-04,3.8210e-02,3.9765e-01,1.0418e+00,-2.1649e-02,1.0873e-03,-3.1818e-04,1.1158e+00,2.1678e-02
+50,3.3033e+01,DOWN_FORCE_DETACH,9.3242e-03,1.4485e-01,6.9955e-01,3.5147e+00,-7.8768e-02,4.5369e-02,1.4049e-04,5.4725e-02,3.7886e-01,1.0562e+00,-2.0273e-02,2.1678e-03,-3.7527e-04,1.1235e+00,2.0392e-02
+51,3.3350e+01,DOWN_FORCE_DETACH,9.5098e-03,1.8558e-01,7.3105e-01,3.5422e+00,-8.0577e-02,4.8096e-02,1.2234e-04,9.5458e-02,4.1036e-01,1.0838e+00,-2.2082e-02,4.8952e-03,-3.9342e-04,1.1628e+00,2.2622e-02
+52,3.3650e+01,DOWN_FORCE_DETACH,9.6875e-03,1.6574e-01,7.4364e-01,3.5450e+00,-8.0884e-02,4.6875e-02,6.3029e-05,7.5622e-02,4.2295e-01,1.0866e+00,-2.2389e-02,3.6742e-03,-4.5273e-04,1.1684e+00,2.2693e-02
+53,3.3950e+01,DOWN_FORCE_DETACH,9.8807e-03,1.6253e-01,7.5179e-01,3.5727e+00,-8.1163e-02,4.6532e-02,-7.4655e-06,7.2406e-02,4.3110e-01,1.1143e+00,-2.2668e-02,3.3316e-03,-5.2323e-04,1.1969e+00,2.2918e-02
+54,3.4250e+01,DOWN_FORCE_DETACH,1.0067e-02,1.6839e-01,8.0068e-01,3.5928e+00,-8.3920e-02,4.6873e-02,-9.9622e-05,7.8274e-02,4.7999e-01,1.1344e+00,-2.5424e-02,3.6718e-03,-6.1538e-04,1.2343e+00,2.5696e-02
+55,3.4483e+01,DOWN_FORCE_DETACH,1.0243e-02,1.8070e-01,8.3044e-01,3.6724e+00,-8.5438e-02,4.7637e-02,-1.5006e-04,9.0581e-02,5.0974e-01,1.2140e+00,-2.6943e-02,4.4365e-03,-6.6582e-04,1.3198e+00,2.7314e-02
+56,3.4750e+01,DOWN_FORCE_DETACH,1.0437e-02,1.7868e-01,7.8322e-01,3.6856e+00,-8.1831e-02,4.7487e-02,-1.5646e-04,8.8558e-02,4.6253e-01,1.2272e+00,-2.3336e-02,4.2860e-03,-6.7222e-04,1.3144e+00,2.3736e-02
+57,3.5017e+01,DOWN_FORCE_DETACH,1.0625e-02,2.0529e-01,8.0598e-01,3.6510e+00,-8.3086e-02,4.9299e-02,-1.3248e-04,1.1517e-01,4.8529e-01,1.1926e+00,-2.4591e-02,6.0985e-03,-6.4824e-04,1.2927e+00,2.5344e-02
+58,3.5367e+01,DOWN_SETTLE,1.0809e-02,2.1016e-01,7.7719e-01,3.5125e+00,-8.1504e-02,4.9780e-02,-1.6894e-04,1.2003e-01,4.5650e-01,1.0541e+00,-2.3009e-02,6.5791e-03,-6.8470e-04,1.1549e+00,2.3941e-02
+59,3.5917e+01,DOWN_PEAK_HOLD,1.0997e-02,2.6115e-01,7.4307e-01,3.2201e+00,-8.1068e-02,5.3919e-02,-4.8941e-04,1.7103e-01,4.2238e-01,7.6169e-01,-2.2573e-02,1.0718e-02,-1.0052e-03,8.8759e-01,2.5009e-02

Fixed/digit/ball_PLA_17.5/press_depth_03/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e18ce6cbe78d5e3dd0f0c66daefac69e923a97f6c9fd2a4a982fc6a1101f41
+size 563200

Fixed/digit/ball_PLA_17.5/press_depth_03/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+12472,1792844896833214710,23576273000000,1792844896832365550,XJC_ZERO_HOLD_BEFORE_UP,3,0.0762,0.07619763165712357,0.6759837285971467,-0.004416640934017709,0.10664041280041676,0.9999999607293898,5.4305329555960235e-05,-0.00021383327824445623,-0.000145980627705454,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.004230666951869716,-0.0041723773710740375,0.008897275248450937,-7.838937850223075e-06,-4.754970271669069e-06,0.0006071043995985768,-0.05861115590435821,-0.07368400143794399,0.23917072148806603,-0.001083464617559673,-3.102068112840688e-05,0.0008053448205998936,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.108747141827227,0.41104692070301374,2.5848503075480056,-0.4492680333165646,-1.9123158890331495,0.1615197474723375,1.6312548422581434,-0.008897275248450937,-0.9535954652898622,0.0,0.0,0,0,0.0,0.0
+12505,1792844897102156505,23576542000000,1792844897100365216,WAIT_W2,3,0.0708,0.07619697600603104,0.6759821698179922,-0.004417597137612942,0.10663914891849252,0.9999999604159849,5.2127887788590016e-05,-0.00021533522689605664,-0.00014671167760886973,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.001132203226895237,-0.004488146287175462,0.0001774074061703934,-6.233519561215685e-06,-2.7837745667664426e-06,0.0004459855033544471,-0.05551269217938373,-0.07399977035404541,0.2304508536457855,-0.0010818591992706656,-2.9049485423504255e-05,0.0006442259243557639,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0374657818120847,0.3163172767831804,2.536389528166339,-0.4187092306383066,-1.862224674087648,0.09754386505855002,1.6312548422581434,-0.0001774074061703934,-0.9051346859081955,0.0,0.0,0,0,0.0,0.0
+12532,1792844897327154835,23576767000000,1792844897324365240,WAIT_W2,3,0.0708,0.07619763165712357,0.6759821992289677,-0.0044151146236995455,0.10663979899576796,0.9999999602090034,5.284205327893467e-05,-0.00021546454368190983,-0.00014767397879021638,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011304457317501473,-0.0051108138342289,-0.0007068186519534059,3.0926412630523197e-06,2.6212744568808883e-06,-0.00040191502548226656,-0.05551093468423864,-0.07462243790109885,0.2295666275876617,-0.0010725330384463976,-2.3644436399856924e-05,-0.0002036746044809497,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0367167280318854,0.25940303449471586,2.492049598758438,-0.40301518467012976,-1.8329681916269422,0.06100000572822992,1.6312548422581434,0.0007068186519534059,-0.8607947565002947,0.0,0.0,0,0,0.0,0.0
+12558,1792844897544241541,23576984000000,1792844897540374891,WAIT_W2,3,0.0708,0.07619763165712357,0.675984324059017,-0.004414804536599943,0.10664135041073095,0.9999999607227371,5.6404529582700274e-05,-0.00021231793431909478,-0.00014743477364904213,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.001123586931235529,0.004766670261903347,-0.0001237932482644477,3.322191151667892e-06,1.3357149539718019e-06,-0.00032585188008773093,-0.055504075883724024,-0.0647449538049666,0.23014965299135065,-0.001072303488557782,-2.492999590276601e-05,-0.0001276114590864141,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0477593124974096,0.2664538177701058,2.5008983719796927,-0.40427818234489615,-1.8449609616533333,0.0651144284444376,1.6312548422581434,0.0001237932482644477,-0.8696435297215492,0.0,0.0,0,0,0.0,0.0
+12563,1792844897586156802,23577026000000,1792844897584365743,WAIT_W2,3,0.0708,0.07619763165712357,0.675987168552396,-0.00446044506329651,0.10664823984615933,0.9999999656926636,3.0493770141440042e-05,-0.00020554026692098302,-0.00012992638272149278,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.15392258094290062,0.12628174770130374,0.016928688473945158,0.008099725412660113,-0.009631015994848795,0.0005728672149566157,0.09954209199041214,0.0567701236344338,0.24720213471356026,0.007024099732950663,-0.009657281705705532,0.0007711076359579325,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0772157730798655,0.6124631758898235,2.505473881566182,-0.4571577450248006,-1.8524714459008187,0.2981619077510836,1.6312548422581434,-0.016928688473945158,-0.8742190393080387,0.0,0.0,0,0,0.0,0.0
+12563,1792844897586156802,23577026000000,1792844897584365743,WAIT_W2,3,0.0708,0.07619763165712357,0.675987168552396,-0.00446044506329651,0.10664823984615933,0.9999999656926636,3.0493770141440042e-05,-0.00020554026692098302,-0.00012992638272149278,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.15392258094290062,0.12628174770130374,0.016928688473945158,0.008099725412660113,-0.009631015994848795,0.0005728672149566157,0.09954209199041214,0.0567701236344338,0.24720213471356026,0.007024099732950663,-0.009657281705705532,0.0007711076359579325,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0772157730798655,0.6124631758898235,2.505473881566182,-0.4571577450248006,-1.8524714459008187,0.2981619077510836,1.6312548422581434,-0.016928688473945158,-0.8742190393080387,0.0,0.0,0,0,0.0,0.0
+12565,1792844897602215585,23577042000000,1792844897600375313,WAIT_W2,3,0.0708,0.07619763165712357,0.6759900820382623,-0.004528321002243621,0.10665482853279712,0.9999999695850714,-1.0587212524202032e-05,-0.0002004058206237676,-0.00010953601547052006,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.49959482929787546,0.4685377593315483,0.06713282927009617,0.03192909475641814,-0.034506409091012595,0.0004542985419023918,0.445214340345387,0.39902613526467834,0.29740627550971127,0.030853469076708693,-0.034532674801869334,0.0006525389629037086,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0952713904296845,0.8516995931664987,2.5239273605890835,-0.4555913379423123,-1.8682838255609062,0.4638163694312313,1.6312548422581434,-0.06713282927009617,-0.8926725183309401,0.0,0.0,0,0,0.0,0.0
+12565,1792844897602215585,23577042000000,1792844897600375313,WAIT_W2,3,0.0708,0.07619763165712357,0.6759900820382623,-0.004528321002243621,0.10665482853279712,0.9999999695850714,-1.0587212524202032e-05,-0.0002004058206237676,-0.00010953601547052006,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.49959482929787546,0.4685377593315483,0.06713282927009617,0.03192909475641814,-0.034506409091012595,0.0004542985419023918,0.445214340345387,0.39902613526467834,0.29740627550971127,0.030853469076708693,-0.034532674801869334,0.0006525389629037086,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0952713904296845,0.8516995931664987,2.5239273605890835,-0.4555913379423123,-1.8682838255609062,0.4638163694312313,1.6312548422581434,-0.06713282927009617,-0.8926725183309401,0.0,0.0,0,0,0.0,0.0
+12567,1792844897619222138,23577059000000,1792844897612375800,WAIT_W2,3,0.0708,0.07619763165712357,0.6759906014257284,-0.004629628570903979,0.1066599122890545,0.999999969751127,-7.707298666158301e-05,-0.00019716922066371996,-8.440771658130549e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7688333390896354,0.735115574679611,0.11691256569856734,0.050769846801016365,-0.05380722497845487,0.0003615673393324244,0.7144528501371469,0.665603950612741,0.34718601193818244,0.04969422112130691,-0.05383349068931161,0.0005598077603337412,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0699587849633074,1.1888306544262264,2.4142649185507334,-0.47871320722363236,-1.7900142984138985,0.6960705896613998,1.6312548422581434,-0.11691256569856734,-0.78301007629259,0.0,0.0,0,0,0.0,0.0
+12567,1792844897619222138,23577059000000,1792844897612375800,WAIT_W2,3,0.0708,0.07619763165712357,0.6759906014257284,-0.004629628570903979,0.1066599122890545,0.999999969751127,-7.707298666158301e-05,-0.00019716922066371996,-8.440771658130549e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7688333390896354,0.735115574679611,0.11691256569856734,0.050769846801016365,-0.05380722497845487,0.0003615673393324244,0.7144528501371469,0.665603950612741,0.34718601193818244,0.04969422112130691,-0.05383349068931161,0.0005598077603337412,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0699587849633074,1.1888306544262264,2.4142649185507334,-0.47871320722363236,-1.7900142984138985,0.6960705896613998,1.6312548422581434,-0.11691256569856734,-0.78301007629259,0.0,0.0,0,0,0.0,0.0
+12569,1792844897636177604,23577076000000,1792844897632375497,WAIT_W2,3,0.0708,0.07619763165712357,0.6759927403302821,-0.004754287605427855,0.10666771669309748,0.999999962222499,-0.0001622797606579934,-0.0001907376989649452,-6.543908866230299e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0695696575559652,1.0492711502217889,0.16232402540276836,0.0740858097951729,-0.07699458419282885,0.0009425990932729607,1.0151891686034766,0.9797595261549188,0.39259747164238346,0.07301018411546345,-0.07702084990368559,0.0011408395142742775,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0447370876278255,1.4045444998447552,2.438124593391117,-0.4655680724349893,-1.7975181702762095,0.8472498003617801,1.6312548422581434,-0.16232402540276836,-0.8068697511329734,0.0,0.0,0,0,0.0,0.0
+12569,1792844897636177604,23577076000000,1792844897632375497,WAIT_W2,3,0.0708,0.07619763165712357,0.6759927403302821,-0.004754287605427855,0.10666771669309748,0.999999962222499,-0.0001622797606579934,-0.0001907376989649452,-6.543908866230299e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0695696575559652,1.0492711502217889,0.16232402540276836,0.0740858097951729,-0.07699458419282885,0.0009425990932729607,1.0151891686034766,0.9797595261549188,0.39259747164238346,0.07301018411546345,-0.07702084990368559,0.0011408395142742775,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0447370876278255,1.4045444998447552,2.438124593391117,-0.4655680724349893,-1.7975181702762095,0.8472498003617801,1.6312548422581434,-0.16232402540276836,-0.8068697511329734,0.0,0.0,0,0,0.0,0.0
+12569,1792844897636177604,23577076000000,1792844897632375497,WAIT_W2,3,0.0708,0.07619763165712357,0.6759927403302821,-0.004754287605427855,0.10666771669309748,0.999999962222499,-0.0001622797606579934,-0.0001907376989649452,-6.543908866230299e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0695696575559652,1.0492711502217889,0.16232402540276836,0.0740858097951729,-0.07699458419282885,0.0009425990932729607,1.0151891686034766,0.9797595261549188,0.39259747164238346,0.07301018411546345,-0.07702084990368559,0.0011408395142742775,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0447370876278255,1.4045444998447552,2.438124593391117,-0.4655680724349893,-1.7975181702762095,0.8472498003617801,1.6312548422581434,-0.16232402540276836,-0.8068697511329734,0.0,0.0,0,0,0.0,0.0
+12571,1792844897652214997,23577092000000,1792844897648374627,WAIT_W2,3,0.0708,0.07619763165712357,0.6759894330226981,-0.0048645431850942965,0.10666957699794175,0.999999948675176,-0.00023578596412115248,-0.0001918212048451757,-4.125668191681734e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1765981782295336,1.1707434181553844,0.1710154747884552,0.08338733426170403,-0.0857985226403233,0.0016415135217017708,1.122217689277045,1.1012317940885143,0.4012889210280703,0.08231170858199457,-0.08582478835118003,0.0018397539427030876,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0512952710325387,1.6096049948240003,2.389655090981631,-0.486363941195915,-1.769507973348678,0.9835679958321843,1.6312548422581434,-0.1710154747884552,-0.7584002487234875,0.0,0.0,0,0,0.0,0.0
+12571,1792844897652214997,23577092000000,1792844897648374627,WAIT_W2,3,0.0708,0.07619763165712357,0.6759894330226981,-0.0048645431850942965,0.10666957699794175,0.999999948675176,-0.00023578596412115248,-0.0001918212048451757,-4.125668191681734e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1765981782295336,1.1707434181553844,0.1710154747884552,0.08338733426170403,-0.0857985226403233,0.0016415135217017708,1.122217689277045,1.1012317940885143,0.4012889210280703,0.08231170858199457,-0.08582478835118003,0.0018397539427030876,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0512952710325387,1.6096049948240003,2.389655090981631,-0.486363941195915,-1.769507973348678,0.9835679958321843,1.6312548422581434,-0.1710154747884552,-0.7584002487234875,0.0,0.0,0,0,0.0,0.0
+12573,1792844897669127792,23577109000000,1792844897668375135,WAIT_W2,3,0.0708,0.07619763165712357,0.6759895918786426,-0.004934584713906047,0.10667202644780613,0.9999999365477442,-0.0002854251070176991,-0.00019014650030521713,-2.6910742248477865e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.212189304238628,1.2031705021270844,0.17280563023633927,0.08609645788904544,-0.08859819814103347,0.0022382408169865416,1.1578088152861394,1.1336588780602146,0.40307907647595437,0.08502083220933598,-0.0886244638518902,0.0024364812379878585,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9719220173908809,1.7674994422561159,2.3322840781075707,-0.4985493983604626,-1.7105409665997282,1.0919683320383842,1.6312548422581434,-0.17280563023633927,-0.7010292358494272,0.0,0.0,0,0,0.0,0.0
+12577,1792844897702171938,23577142000000,1792844897696367348,WAIT_W2,3,0.0708,0.07619763165712357,0.6759958252088956,-0.004948378692429699,0.10668057231210071,0.9999999372700983,-0.00028960066916190795,-0.00018048006112223732,-2.1472381453296874e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2071949455418454,1.1654102000615922,0.16255079990580384,0.0852834123108581,-0.08881533074907935,0.0022771530767212644,1.1528144565893568,1.0958985759947222,0.39282424614541894,0.08420778663114865,-0.08884159645993608,0.0024753934977225812,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9241018963932861,1.7253338142103183,2.231825054423125,-0.46551077577297506,-1.6330117811132476,1.0642954774855191,1.6312548422581434,-0.16255079990580384,-0.6005702121649814,0.0,0.0,0,0,0.0,0.0
+12582,1792844897744127005,23577184000000,1792844897740365214,WAIT_W2,3,0.0708,0.0719686970114708,0.6759946088113766,-0.004927921092111858,0.10667861860511925,0.9999999410304306,-0.00027451820350477284,-0.00018283926986503756,-2.432193438641333e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3828535431601612,1.4079240975543263,0.2200090824597845,0.1012749027510259,-0.10211987984360946,0.0022358604488787724,1.3284730542076726,1.3384124734874565,0.4502825286993996,0.10019927707131644,-0.10214614555446619,0.002434100869880089,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9347945227179476,2.0349622038877277,2.222744904379354,-0.506423184306343,-1.630107845908505,1.266628360538191,1.6312548422581434,-0.2200090824597845,-0.5914900621212107,0.0,0.0,0,0,0.0,0.0
+12589,1792844897802234302,23577242000000,1792844897800364914,WAIT_W2,3,0.0708,0.0719686970114708,0.6759990754363079,-0.004950798057503049,0.10668898311631936,0.9999999384323683,-0.00028986661669179074,-0.00017363622418601086,-2.0147689719903778e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3265089254626599,1.3575600732403466,0.3796830629652551,0.09859057241120975,-0.09917102184595318,0.0014641852750253348,1.2721284365101713,1.2880484491734765,0.6099565092048702,0.0975149467315003,-0.09919728755680991,0.0016624256960266516,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0081041100772736,2.162206799481748,2.1902198219728604,-0.5076638339040587,-1.6308172141898563,1.3469029004239705,1.6312548422581434,-0.3796830629652551,-0.5589649797147169,0.0,0.0,0,0,0.0,0.0
+12601,1792844897902229839,23577342000000,1792844897900365481,WAIT_W2,3,0.0708,0.0719686970114708,0.6760036126845828,-0.004943437908093788,0.10670111801865344,0.9999999418371923,-0.0002825933247325297,-0.00016560202554038626,-2.2033106975731798e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3423146698490516,1.4039090320307928,0.5081716244423533,0.10297168324708826,-0.10155139059468202,0.0005903113936104615,1.287934180896563,1.334397407963923,0.7384450706819684,0.10189605756737881,-0.10157765630553875,0.0007885518146117784,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0841765299320285,2.2358626202107996,2.106458241555122,-0.528348878688724,-1.6006844888004144,1.3981350518095892,1.6312548422581434,-0.5081716244423533,-0.47520339929697863,0.0,0.0,0,0,0.0,0.0
+12617,1792844898036126681,23577476000000,1792844898032365512,WAIT_W2,3,0.0708,0.07102900743484497,0.6760066397692979,-0.004943999219341564,0.10670855085721508,0.9999999427751005,-0.0002833003363856932,-0.00015840482077902074,-2.326997507337193e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3138357148041806,1.3954368909363692,0.550098256745903,0.1018991013404718,-0.0988365915358128,-3.4069370075552114e-05,1.259455225851692,1.3259252668694992,0.7803717029855181,0.10082347566076234,-0.09886285724666953,0.00016417105092576476,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9825215279043809,2.1557499180927597,1.9717124948112068,-0.5102389437952293,-1.4836853437526125,1.3460059627334096,1.6312548422581434,-0.550098256745903,-0.3404576525530634,0.0,0.0,0,0,0.0,0.0
+12633,1792844898163230358,23577603000000,1792844898160365440,UP_FORCE_RAMP,3,0.0708,0.0708477646112442,0.676008706723338,-0.004936951094169322,0.10671521051051927,0.999999943726944,-0.00028174947480873506,-0.0001546237746872546,-2.6413905107826574e-05,0.6761,-0.0046,0.10700000684999986,1.0,0.0,0.0,0.0,1.3283043681641717,1.414158529062779,0.540319757503921,0.10137787632282992,-0.09813687124245801,-0.0010269454330343345,1.2739238792116832,1.3446469049959089,0.7705932037435361,0.10030225064312047,-0.09816313695331474,-0.0008287050120330176,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.95212807007142,2.1404261905799022,2.012606046857862,-0.5143099155096038,-1.502345854277641,1.3357807237841106,1.6312548422581434,-0.540319757503921,-0.3813512045997185,-0.540319757503921,0.0017000000000000006,0,0,8.500000245589333e-07,9.999924085868912e-05
+12655,1792844898347197934,23577787000000,1792844898344365177,UP_FORCE_RAMP,3,0.0708,0.0708477646112442,0.676008605429065,-0.0049415618762042235,0.10671748832171293,0.9999999426346843,-0.00028653432694613056,-0.00015290820069734415,-2.628029130729074e-05,0.6761,-0.0046,0.10700100504984901,1.0,0.0,0.0,0.0,1.3067879124992625,1.3948979784079958,0.5296416488626275,0.10169921653140582,-0.0980207357528894,-0.0010283902801753691,1.252407423546774,1.3253863543411257,0.7599150951022426,0.10062359085169637,-0.09804700146374613,-0.0008301498591740522,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0004432742637577,2.177212979631229,2.086590792117174,-0.5326697239576895,-1.5646766538564818,1.3562708179139842,1.6312548422581434,-0.5296416488626275,-0.45533594985903036,-0.5296416488626275,0.020099999999999934,0,0,1.004999828776854e-05,9.999999025923074e-05
+12676,1792844898522211708,23577962000000,1792844898516375096,UP_FORCE_RAMP,3,0.0708,0.07081099599599838,0.6760124232435121,-0.004945482202748026,0.10672289215978842,0.9999999435310362,-0.0002863311941679421,-0.00014765386991812932,-2.4363294385672937e-05,0.6761,-0.0046,0.10700352504939936,1.0,0.0,0.0,0.0,1.32660151034362,1.4188000495702031,0.5108229630617369,0.10363529473746601,-0.09935224790081218,-2.9502986634482843e-05,1.2722210213911314,1.3492884255033333,0.741096409301352,0.10255966905775656,-0.09937851361166891,0.00016873743436683403,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9492608844874139,2.1409489742078813,1.9771249711275012,-0.5202499734459849,-1.4787347022945834,1.332957666828449,1.6312548422581434,-0.5108229630617369,-0.34587012886935775,-0.5108229630617369,0.03760000000000005,0,0,1.8799996583133922e-05,9.999999025923074e-05
+12694,1792844898672234545,23578112000000,1792844898664374753,UP_FORCE_RAMP,3,0.0708,0.07080311328172684,0.6760106720601419,-0.004936280353437455,0.10672190966925209,0.99999994523073,-0.0002789041778174101,-0.00014990227030292204,-2.68918146154449e-05,0.6761,-0.0046,0.10700690379877652,1.0,0.0,0.0,0.0,1.292637476399118,1.3844775157700235,0.4994083280266155,0.1016176634803656,-0.09744452234377526,-0.0010077503598566744,1.2382569874466294,1.3149658917031535,0.7296817742662306,0.10054203780065615,-0.097470788054632,-0.0008095099388553575,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9386037315049646,2.1326116459859183,1.9998046530184919,-0.5263829266931995,-1.487292068587816,1.3272295007074493,1.6312548422581434,-0.4994083280266155,-0.36854981076034843,-0.4994083280266155,0.05260000000000048,0,0,2.6299995122018534e-05,9.999999025923074e-05
+12716,1792844898855236237,23578295000000,1792844898848375101,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.676010043038354,-0.00493912065005922,0.10672143263357342,0.9999999443353887,-0.0002816615216335956,-0.00015076424253592335,-2.6627309281639342e-05,0.6761,-0.0046,0.10701254934771985,1.0,0.0,0.0,0.0,1.3021161860591899,1.39420073124457,0.4784077823457482,0.10198826245542524,-0.09842686674735826,-0.0009613286813407004,1.2477356971067013,1.3246891071777,0.7086812285853633,0.10091263677571578,-0.09845313245821499,-0.0007630882603393836,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0394658868866957,2.162800464687863,2.123262359938419,-0.5339774150357338,-1.5978178036374195,1.3459357974441866,1.6312548422581434,-0.4784077823457482,-0.4920075176802756,-0.4784077823457482,0.070900000000001,0,0,3.544999333945776e-05,9.999999025923074e-05
+12743,1792844899080225843,23578520000000,1792844899076365144,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6760124897832956,-0.004939346185857201,0.10672792677591875,0.9999999447353026,-0.0002828177189031271,-0.0001458697848392751,-2.6615769729094633e-05,0.6761,-0.0046,0.10702178559597357,1.0,0.0,0.0,0.0,1.2912181095772084,1.3826190785732635,0.4393100073101789,0.10162177123113701,-0.0973671439556943,-0.0009538878189983667,1.2368376206247198,1.3131074545063934,0.669583453549794,0.10054614555142756,-0.09739340966655104,-0.0007556473979970498,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9983627052487367,2.1284449852867713,2.193764566975277,-0.5245309153493521,-1.6320095583185819,1.3242433441195118,1.6312548422581434,-0.4393100073101789,-0.5625097247171338,-0.4393100073101789,0.09340000000000165,0,0,4.6699991147784676e-05,9.999999025923074e-05
+12767,1792844899280253804,23578720000000,1792844899276374850,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6760106754737886,-0.00494064834251514,0.10672941971995935,0.9999999438214819,-0.00028479112496055916,-0.00014821790074057755,-2.693261461069658e-05,0.6761,-0.0046,0.10703212059400734,1.0,0.0,0.0,0.0,1.2940396301213897,1.3810916741109796,0.4092009776748744,0.10165694988232073,-0.09764874451888153,-0.0009370164099228196,1.239659141168901,1.3115800500441097,0.6394744239144895,0.10058132420261127,-0.09767501022973826,-0.0007387759889215027,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0292631527334493,2.1629556131622327,2.1896999834576505,-0.5396744773923919,-1.6360293921054663,1.3434634807488706,1.6312548422581434,-0.4092009776748744,-0.5584451411995071,-0.4092009776748744,0.11340000000000222,0,0,5.6699989199630825e-05,9.999999025923074e-05
+12790,1792844899472198876,23578912000000,1792844899468365399,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6760091565165994,-0.004935565128284797,0.10673521729565942,0.9999999450259183,-0.00027968610511066563,-0.00014922716126424101,-2.9965997578749436e-05,0.6761,-0.0046,0.10704392379175319,1.0,0.0,0.0,0.0,1.2997837174663682,1.3901010570210546,0.35993231799686665,0.10185973019658494,-0.09828278974292003,-0.0009089759937506127,1.2454032285138796,1.3205894329541845,0.5902057642364817,0.10078410451687549,-0.09830905545377676,-0.0007107355727492959,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-0.9575434126360856,2.1378312848648173,2.1085828572970886,-0.5328058741731859,-1.5577064387311592,1.3219929100836734,1.6312548422581434,-0.35993231799686665,-0.4773280150389452,-0.35993231799686665,0.13260000000000172,0,0,6.629998732940313e-05,9.999999025923074e-05
+12820,1792844899722223327,23579162000000,1792844899716365887,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6760105060797305,-0.004933798467101122,0.1067473719640247,0.999999944783226,-0.0002809260982875089,-0.00014792537897600347,-3.278747224872117e-05,0.6761,-0.0046,0.10706205503827992,1.0,0.0,0.0,0.0,1.2968596230619593,1.386299755732745,0.29323554495211324,0.1014130707230854,-0.09730269212320655,-0.0008500150653834028,1.2424791341094708,1.3167881316658752,0.5235089911917283,0.10033744504337595,-0.09732895783406328,-0.0006517746443820859,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0292089946335372,2.082576113937606,2.3314839144738144,-0.5230258314673022,-1.720746867438698,1.2771117877658842,1.6312548422581434,-0.29323554495211324,-0.700229072215671,-0.29323554495211324,0.15759999999999896,0,0,7.879998489421081e-05,9.999999025923074e-05
+12842,1792844899905226399,23579345000000,1792844899900365762,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6760061747984,-0.004933829237033551,0.1067499856429274,0.9999999434485509,-0.00028092226599306906,-0.00015643637094218905,-3.400148561087979e-05,0.6761,-0.0046,0.10707730808535157,1.0,0.0,0.0,0.0,1.3043553278580986,1.3785636092140066,0.23978805366376982,0.10077920919548401,-0.09828601612301675,-0.0008232546275569543,1.24997483890561,1.3090519851471365,0.4700614999033849,0.09970358351577456,-0.09831228183387349,-0.0006250142065556374,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0984586935108773,2.2365295684538418,2.3889992305690817,-0.5740549599451179,-1.7742730968838663,1.376711604218037,1.6312548422581434,-0.23978805366376982,-0.7577443883109383,-0.23978805366376982,0.17589999999999695,0,0,8.794998311165004e-05,9.999999025923074e-05
+12850,1792844899972255283,23579412000000,1792844899964365653,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6759702432546034,-0.00493264316402482,0.10674789210532955,0.9999999259800358,-0.00028161823676495695,-0.00024134603309036896,-4.388675784577505e-05,0.6761,-0.0046,0.10708331128419786,1.0,0.0,0.0,0.0,1.3192237535263511,1.384432509858795,0.23237749354233644,0.10170280269835812,-0.10018965519752947,-0.0008544294978599519,1.2648432645738625,1.3149208857919252,0.46265093978195154,0.10062717701864866,-0.1002159209083862,-0.0006561890768586351,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.0650663689137903,2.1201544174453546,2.405110714976762,-0.5322838506520841,-1.7535702324410838,1.2985994413936344,1.6312548422581434,-0.23237749354233644,-0.7738558727186184,-0.23237749354233644,0.1825999999999962,0,0,9.12999824590185e-05,9.999999025923074e-05
+12863,1792844900080244221,23579520000000,1792844900076365377,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.675972495575628,-0.004931227561816744,0.10675617542262691,0.9999999278123249,-0.0002789403582810316,-0.00023650104162045604,-4.558226339869629e-05,0.6761,-0.0046,0.1070934605822461,1.0,0.0,0.0,0.0,1.4205052611732847,1.3053604701050179,0.21564629594726437,0.0951039520335214,-0.10804099386242817,-0.001002925437734542,1.366124772220796,1.235848846038148,0.44591974218687946,0.09402832635381195,-0.1080672595732849,-0.000804685016733225,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.1709710841936456,2.0875209958874317,2.3548629897655284,-0.48934532237833267,-1.7556460372802627,1.2736456996245418,1.6312548422581434,-0.21564629594726437,-0.723608147507385,-0.21564629594726437,0.19339999999999502,0,0,9.669998140701542e-05,9.999999025923074e-05
+12889,1792844900297263266,23579737000000,1792844900292375126,UP_FORCE_RAMP,3,0.0708,0.0707998275756836,0.6759772083960267,-0.004929921552754391,0.1067714489783266,0.9999999289285526,-0.00028311725799785474,-0.00022592771283358134,-4.885734671322335e-05,0.6761,-0.0046,0.10711561627798102,1.0,0.0,0.0,0.0,1.4169027706105695,1.299399059387253,0.12631891904644804,0.09538676475606736,-0.10682052682809097,-0.0015637255777128988,1.3625222816580809,1.229887435320383,0.35659236528606314,0.09431113907635791,-0.1068467925389477,-0.001365485156711582,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2238660276135378,2.1887261228402357,2.5197856091898454,-0.5310115535744145,-1.8788236155319495,1.3423762632951128,1.6312548422581434,-0.12631891904644804,-0.888530766931702,-0.12631891904644804,0.21509999999999263,0,0,0.00010754997929326849,9.999999025923074e-05
+12908,1792844900455219222,23579895000000,1792844900448365900,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759780012823362,-0.004930968810464197,0.10678051046608336,0.9999999294189712,-0.0002835421074962812,-0.00022286009761341436,-5.0419901621771905e-05,0.6761,-0.0046,0.107133229324587,1.0,0.0,0.0,0.0,1.4057015569518871,1.3320296554262643,0.014594482317419749,0.09640174301905502,-0.10653897265871794,-0.0008553774378745978,1.3513210679993986,1.2625180313593942,0.24486792855703485,0.09532611733934557,-0.10656523836957467,-0.000657137016873281,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2496465226917477,2.2271633316893795,2.6449027082230705,-0.5628128986613612,-1.9650085183324177,1.3624863581739879,1.6312548422581434,-0.014594482317419749,-1.013647865964927,-0.014594482317419749,0.2308999999999909,0,0,0.00011544997775422695,9.999999025923074e-05
+12932,1792844900655260026,23580095000000,1792844900648365916,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759777342260849,-0.004928022958872337,0.10679625691305304,0.9999999303427485,-0.00028252440819912455,-0.00021880188380842596,-5.534488597334318e-05,0.6761,-0.0046,0.10715723313380418,1.0,0.0,0.0,0.0,1.3970243369650064,1.3363964193032114,-0.09348812489533731,0.09661446342405851,-0.10596807195329144,-0.0017419823379652287,1.3426438480125178,1.2668847952363413,0.1367853213442778,0.09553883774434906,-0.10599433766414817,-0.0015437419169639119,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.1977516781118795,2.150024871450296,2.7186108995861913,-0.5515730782778565,-1.9978509229141244,1.311265954789805,1.6312548422581434,0.09348812489533731,-1.0873560573280479,0.09348812489533731,0.2508999999999887,0,0,0.00012164106637649474,-9.999997638144293e-05
+12952,1792844900822184352,23580262000000,1792844900820365711,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759762371941391,-0.004927374668637825,0.10680425626998437,0.9999999302099293,-0.0002837654216555522,-0.00021753696238360038,-5.637247492342096e-05,0.6761,-0.0046,0.10717685867082159,1.0,0.0,0.0,0.0,1.4022337627430226,1.3173131523383157,-0.1425879399026176,0.09588720209985785,-0.1061763498449034,-0.0017135966907402308,1.347853273790534,1.2478015282714456,0.0876855063369975,0.0948115764201484,-0.10620261555576013,-0.001515356269738914,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.251175881105325,2.2696732223208196,2.7967397888063372,-0.5775999960380206,-2.0657554269242375,1.394359439038039,1.6312548422581434,0.1425879399026176,-1.1654849465481938,0.1425879399026176,0.26759999999998685,0,0,0.00011332232770636252,-9.999999025923074e-05
+12957,1792844900863267729,23580303000000,1792844900860365600,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759359246822327,-0.004932222761833136,0.10677836063076608,0.9999999187181348,-0.0002897715312095956,-0.0002584374501276116,-5.700115444650746e-05,0.6761,-0.0046,0.10718146388626594,1.0,0.0,0.0,0.0,1.4225997847271417,1.314575673775837,-0.13095802923080277,0.09585759376037724,-0.10708924001841982,-0.0017498020071620788,1.368219295774653,1.245064049708967,0.09931541700881233,0.09478196808066779,-0.10711550572927656,-0.001551561586160762,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.3500810979320885,2.1852393619872044,2.8200775672755447,-0.5529703208911079,-2.0973557528387583,1.3359239302487667,1.6312548422581434,0.13095802923080277,-1.1888227250174013,0.13095802923080277,0.2716999999999864,0,0,0.00011127232810573406,-9.999999025923074e-05
+12963,1792844900913261877,23580353000000,1792844900912365276,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759583755324957,-0.004934056705599151,0.10680918465383114,0.9999999254820315,-0.0002929340365881211,-0.00022605923286432269,-5.971321886126951e-05,0.6761,-0.0046,0.10718707971094628,1.0,0.0,0.0,0.0,1.4779671101572944,1.1639552890689266,0.08654272028702792,0.08544764267234903,-0.11224544567706325,-0.00211674446042677,1.4235866212048058,1.0944436650020566,0.316816166526643,0.08437201699263958,-0.11227171138791998,-0.0019185040394254528,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2414237257108056,2.24052851658233,2.444476574515933,-0.5710777117060748,-1.8113835561548686,1.373071477715482,1.6312548422581434,-0.08654272028702792,-0.8132217322577895,-0.08654272028702792,0.27669999999998585,0,0,0.00011357982978718451,9.999999025923074e-05
+12971,1792844900980267149,23580420000000,1792844900976367295,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759513570066806,-0.004931643324247694,0.10680656942059254,0.9999999234963921,-0.0002943032991136708,-0.0002330400552266362,-5.939675603160807e-05,0.6761,-0.0046,0.10719480010951983,1.0,0.0,0.0,0.0,1.485709414434396,1.2030757540290504,0.0048710710897644505,0.08786506222563581,-0.11399540319908344,-0.0020210317598755288,1.4313289254819075,1.1335641299621806,0.23514451732937955,0.08678943654592636,-0.11402166890994017,-0.0018227913388742117,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.1882198342882662,2.149640722960267,2.5339210051792938,-0.5414980534971219,-1.8514572600105321,1.31328705910893,1.6312548422581434,-0.0048710710897644505,-0.9026661629211503,-0.0048710710897644505,0.2833999999999851,0,0,0.00011692982913455297,9.999999025923074e-05
+12987,1792844901113169823,23580553000000,1792844901112365618,UP_FORCE_RAMP,3,0.0708,0.07080048322677612,0.6759463172306813,-0.004930444576261194,0.10680652614957874,0.9999999224970599,-0.0002919796169095543,-0.00023981549676520923,-6.070559059828983e-05,0.6761,-0.0046,0.10721070684153439,1.0,0.0,0.0,0.0,1.4744528211320418,1.2051574879634996,-0.09164915631421386,0.08814938024296666,-0.11268009738675568,-0.001938791258732925,1.4200723321795532,1.1356458638966296,0.13862428992540124,0.08707375456325721,-0.11270636309761241,-0.0017405508377316083,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2995946359449062,2.1931042951012327,2.666062686925426,-0.5625872717888601,-1.9633755352297586,1.3402924967093273,1.6312548422581434,0.09164915631421386,-1.0348078446672826,0.09164915631421386,0.29669999999998364,0,0,0.00012099696433262442,7.526655273893396e-05
+13006,1792844901272259077,23580712000000,1792844901268365876,UP_FORCE_RAMP,3,0.0708,0.07080114632844925,0.6759466933749704,-0.004932087798390626,0.10681579369048998,0.9999999213335196,-0.00029463204598907466,-0.00024104197180154697,-6.21815381590198e-05,0.6761,-0.0046,0.10723015229276926,1.0,0.0,0.0,0.0,1.493989690543967,1.2127770214753424,-0.14931199826765484,0.08864113651314556,-0.11288480158186673,-0.0018884830160222315,1.4396092015914783,1.1432653974084726,0.08096144797196025,0.08756551083343611,-0.11291106729272346,-0.0016902425950209147,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.4268713626403111,2.1914679011419436,2.8037092936006442,-0.5641130775201886,-2.087679455497998,1.341429773946472,1.6312548422581434,0.14931199826765484,-1.1724544513425008,0.14931199826765484,0.3125999999999819,0,0,0.00012085431328094153,-6.618901079103636e-05
+13022,1792844901405230974,23580845000000,1792844901404365633,UP_FORCE_RAMP,3,0.0708,0.07080114632844925,0.6759408291580065,-0.004928831843439749,0.1068205153191787,0.9999999192064273,-0.0002926161312739567,-0.00025147431100278885,-6.454822456334857e-05,0.6761,-0.0046,0.10724584011036636,1.0,0.0,0.0,0.0,1.4791109639181885,1.2097882220278766,-0.22015559276684846,0.08797831913115907,-0.11220289242379404,-0.0018272902757415633,1.4247304749657,1.1402765979610068,0.010117853472766636,0.08690269345144962,-0.11222915813465077,-0.0016290498547402465,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.4413458776878216,2.060016333835559,2.821980864222909,-0.5186961187710496,-2.104126648856456,1.258963441621919,1.6312548422581434,0.22015559276684846,-1.1907260219647657,0.22015559276684846,0.3258999999999804,0,0,0.00011463408860071388,-9.999999025923074e-05
+13042,1792844901572277971,23581012000000,1792844901568364922,UP_FORCE_RAMP,3,0.0708,0.07080114632844925,0.6759335215062929,-0.00493055527095642,0.10682952743162015,0.9999999129092596,-0.0002962123322742964,-0.00027021915329255805,-6.974382073432462e-05,0.6761,-0.0046,0.10726429095329933,1.0,0.0,0.0,0.0,1.5094755452677595,1.1992489861502187,-0.2869737808158877,0.08752710717635107,-0.11466990821118869,-0.0028409404379659887,1.455095056315271,1.1297373620833489,-0.056700334576272604,0.08645148149664161,-0.11469617392204542,-0.002642700016964672,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.4634596966518036,2.262640310875615,2.951373940483507,-0.5773101538048331,-2.1853083767317094,1.3913422858570066,1.6312548422581434,0.2869737808158877,-1.3201190982253634,0.2869737808158877,0.3425999999999786,0,0,0.00010628409022742235,-9.999999025923074e-05
+13066,1792844901772212401,23581212000000,1792844901768365568,UP_FORCE_RAMP,3,0.0708,0.07080180197954178,0.6759223871911257,-0.00492623570663139,0.10684146250093556,0.9999999056871527,-0.00029289665133268316,-0.0002974705004501777,-7.610126478345781e-05,0.6761,-0.0046,0.1072845527715406,1.0,0.0,0.0,0.0,1.5458022218036975,1.1803542679009333,-0.3187987538192822,0.08595669130897875,-0.11706493384199891,-0.0028690141856365504,1.491421732851209,1.1108426438340633,-0.08852530757966709,0.0848810656292693,-0.11709119955285564,-0.0026707737646352336,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5320897294975595,2.160269961211302,3.0068734679222593,-0.5453234558041223,-2.235158041220008,1.3245706600857754,1.6312548422581434,0.3187987538192822,-1.3756186256641159,0.3187987538192822,0.3625999999999764,0,0,9.62840921755762e-05,-9.999999025923074e-05
+13079,1792844901880282398,23581320000000,1792844901872366127,UP_FORCE_RAMP,3,0.0708,0.07080180197954178,0.6759194860316483,-0.004927471981261067,0.106843396440966,0.9999999033570086,-0.0002951572141818146,-0.0003028286879286887,-7.684947581515161e-05,0.6761,-0.0046,0.1072946625535529,1.0,0.0,0.0,0.0,1.5480909413349004,1.1793910380235633,-0.35864324847196305,0.08598053307888333,-0.11764433019500142,-0.002849317245511276,1.4937104523824118,1.1098794139566932,-0.12836980223234792,0.08490490739917388,-0.11767059590585816,-0.002651076824509959,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5456871581623934,2.217730397938678,3.035250542487314,-0.5593322935613038,-2.256240058732521,1.3647631514004295,1.6312548422581434,0.35864324847196305,-1.4039957002291708,0.35864324847196305,0.3733999999999752,0,0,9.088409322757928e-05,-9.999999025923074e-05
+13097,1792844902030299375,23581470000000,1792844902024374836,UP_FORCE_RAMP,3,0.0708,0.07080245763063431,0.6759184038049275,-0.004924626922349186,0.10684970170680433,0.9999999027168717,-0.0002943207022021671,-0.00030521821882609885,-7.890674312601424e-05,0.6761,-0.0046,0.10730773641764735,1.0,0.0,0.0,0.0,1.523432823328971,1.1446423302708872,-0.389852201153029,0.08428871662719022,-0.11623649736952409,-0.0028226504111867386,1.4690523343764823,1.0751307062040172,-0.15957875491341392,0.08321309094748076,-0.11626276308038082,-0.002624409990185422,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.559134154989093,2.1215187580000006,3.128922814600239,-0.5277219753205491,-2.323294591838569,1.3013285268588366,1.6312548422581434,0.389852201153029,-1.4976679723420956,0.389852201153029,0.38839999999997354,0,0,8.338409468869467e-05,-9.999999025923074e-05
+13113,1792844902163242824,23581603000000,1792844902160365241,UP_FORCE_RAMP,3,0.0708,0.07080245763063431,0.67591591062829,-0.00491866780383747,0.10685475732956136,0.9999999034766313,-0.00028742186411267383,-0.000308911274830264,-8.032489292228677e-05,0.6761,-0.0046,0.10731838760232774,1.0,0.0,0.0,0.0,1.5442116505977106,1.180009167201129,-0.4257267142066974,0.0855681048710789,-0.11723248105258635,-0.0027895134587412234,1.489831161645222,1.1104975431342592,-0.19545326796708232,0.08449247919136944,-0.11725874676344308,-0.0025912730377399065,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5199275399121726,2.2281334981683796,3.0946364933737764,-0.5751450445534936,-2.2879536585446005,1.3695497524664833,1.6312548422581434,0.4257267142066974,-1.463381651115633,0.4257267142066974,0.4016999999999721,0,0,7.673409598421698e-05,-9.999999025923074e-05
+13128,1792844902288243368,23581728000000,1792844902280365500,UP_FORCE_RAMP,3,0.0708,0.07080245763063431,0.6759149243236171,-0.004925310390678538,0.10685994357105673,0.9999999002345699,-0.0002969019821903847,-0.00031034122893975426,-8.069230776022318e-05,0.6761,-0.0046,0.10732759186440248,1.0,0.0,0.0,0.0,1.5711317775612055,1.1959904997215274,-0.45659405807368175,0.08694516749727346,-0.11897675592095824,-0.0027676764734284576,1.5167512886087169,1.1264788756546573,-0.22632061183406665,0.08586954181756401,-0.11900302163181498,-0.0025694360524271408,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5075107571142339,2.2390425654542767,3.133937234178576,-0.5755222241629752,-2.3118860303728783,1.374275887142064,1.6312548422581434,0.45659405807368175,-1.5026823919204326,0.45659405807368175,0.4141999999999707,0,0,7.048409720181314e-05,-9.999999025923074e-05
+13142,1792844902405288104,23581845000000,1792844902404365083,UP_FORCE_RAMP,3,0.0708,0.07080245763063431,0.6759159967205205,-0.004927513689012534,0.10686792198345689,0.999999901099657,-0.000294595037472737,-0.0003097763121434091,-8.059739668374621e-05,0.6761,-0.0046,0.10733549920384233,1.0,0.0,0.0,0.0,1.5495935776802245,1.1788565360021699,-0.5081923674874482,0.08601553214345665,-0.11802505591934112,-0.0027334894412557767,1.495213088727736,1.1093449119353,-0.27791892124783313,0.0849399064637472,-0.11805132163019785,-0.00253524902025446,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5220092184158045,2.2285536769808014,3.2535403906328435,-0.5707090613757243,-2.3961020208390105,1.3685966021644669,1.6312548422581434,0.5081923674874482,-1.6222855483747,0.5081923674874482,0.4258999999999694,0,0,6.463409834148314e-05,-9.999999025923074e-05
+13162,1792844902572292116,23582012000000,1792844902564365875,UP_FORCE_RAMP,3,0.0708,0.07080180197954178,0.6759123977818191,-0.0049254171517722975,0.10687175711705271,0.9999999001545458,-0.00029288109554429127,-0.00031376175353088354,-8.311430837395336e-05,0.6761,-0.0046,0.107345600048402,1.0,0.0,0.0,0.0,1.5204202810999412,1.1586449846695523,-0.5405161371696321,0.08398811294932132,-0.11600035047335326,-0.002700514343907624,1.4660397921474526,1.0891333606026823,-0.31024269093001694,0.08291248726961187,-0.11602661618421,-0.002502273922906307,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.6002416295583923,2.210669228650972,3.2580110357858016,-0.5613167609752131,-2.422416223818599,1.3580435438878153,1.6312548422581434,0.5405161371696321,-1.6267561935276582,0.5405161371696321,0.4425999999999676,0,0,5.628409996819161e-05,-9.999999025923074e-05
+13184,1792844902748220896,23582188000000,1792844902744365586,UP_FORCE_HOLD,3,0.0708,0.07080180197954178,0.6759137670550549,-0.004923893986368549,0.10688484603246388,0.9999999020953928,-0.0002907870763657071,-0.0003096175082246598,-8.265557130475746e-05,0.6761,-0.0046,0.10735473605014813,1.0,0.0,0.0,0.0,1.523498518899078,1.1471342519461127,-0.5906534051162531,0.08411261768190575,-0.11621082687500044,-0.0026603684227131017,1.4691180299465894,1.077622627879243,-0.36037995887663793,0.0830369920021963,-0.11623709258585717,-0.002462128001711785,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5342787908035134,2.1946327092568305,3.248039455849368,-0.5600951211400036,-2.3983841305797204,1.3489904631957932,1.6312548422581434,0.5906534051162531,-1.6167846135912245,0.5906534051162531,0.558,0,0,4.7484101682567e-05,-9.999999025923074e-05
+13210,1792844902966267581,23582406000000,1792844902960365374,UP_SETTLE,3,0.0708,0.07080245763063431,0.6759101605353468,-0.004925908842146973,0.1068868679079679,0.9999999002372091,-0.0002906403983225357,-0.00031566158850119847,-8.279103773017355e-05,0.6761,-0.0046,0.10736390493454745,1.0,0.0,0.0,0.0,1.5228581629757338,1.1577914118557548,-0.6404644927740748,0.08498848394116855,-0.11618768483103514,-0.002614126176776957,1.4684776740232452,1.0882797877888848,-0.41019104653445976,0.0839128582614591,-0.11621395054189188,-0.00241588575577564,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5497017452206183,2.2314481340851415,3.3402653367940354,-0.5692184328520131,-2.4672853892344135,1.374658990317723,1.6312548422581434,0.6404644927740748,-1.709010494535892,0.6404644927740748,0.558,0,0,3.6584103806054695e-05,-9.999999025923074e-05
+13235,1792844903174296689,23582614000000,1792844903172365404,UP_SETTLE,3,0.0708,0.07080180197954178,0.6759113327528746,-0.0049223998123774535,0.10689677594654745,0.9999999037247824,-0.00028179389978627404,-0.0003132960414687093,-8.019400388048525e-05,0.6761,-0.0046,0.10737043802835083,1.0,0.0,0.0,0.0,1.5199813899217638,1.1552484668338652,-0.6709441818351971,0.08401580560262134,-0.11598819981498845,-0.002595023175958112,1.4656009009692752,1.0857368427669953,-0.44067073559558206,0.08294017992291189,-0.11601446552584518,-0.002396782754956795,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.5479372780676262,2.193541530473289,3.302456857242897,-0.5708197062367585,-2.441054366602799,1.3525617738258615,1.6312548422581434,0.6709441818351971,-1.6712020149847535,0.6709441818351971,0.558,0,0,2.61841058321347e-05,-9.999999025923074e-05
+13237,1792844903191289160,23582631000000,1792844903188365520,UP_SETTLE,3,0.0708,0.07080180197954178,0.6759084883994967,-0.004977673141957023,0.10690172559160703,0.9999999256808173,-3.641779940847854e-05,-0.0003349171933127536,0.00016305042742514894,0.6761,-0.0046,0.10737087635815147,1.0,0.0,0.0,0.0,1.5197638058566478,1.1614091288367772,-0.6707866459765237,0.08484913269968951,-0.11596030209166387,-0.002588212924127593,1.4653833169041592,1.0918975047699073,-0.44051319973690867,0.08377350701998006,-0.1159865678025206,-0.002389972503126276,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.579861175966988,2.156551013493049,3.422948421738173,-0.5617349972354218,-2.533388201995867,1.3330786931920855,1.6312548422581434,0.6707866459765237,-1.7916935794800297,0.6707866459765237,0.558,0,0,2.5334105997727778e-05,-9.999999025923074e-05
+13239,1792844903207225955,23582647000000,1792844903200365589,UP_SETTLE,3,0.0708,0.07080180197954178,0.6758984612011589,-0.004955504008372199,0.10690180177344033,0.9999999212093129,-3.1032836913162914e-05,-0.00035507930190316637,0.00014825614677489406,0.6761,-0.0046,0.10737127570384876,1.0,0.0,0.0,0.0,1.5265685128405564,1.1641690182543645,-0.6783913537399668,0.08497313405165205,-0.11659740467572981,-0.0025873812131938195,1.4721880238880678,1.0946573941874946,-0.44811790750035174,0.0838975083719426,-0.11662367038658654,-0.0023891407921925027,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.3855211968138952,1.9950013179819401,3.2773299389382684,-0.5009079034382072,-2.383008310956432,1.2191064082416005,1.6312548422581434,0.6783913537399668,-1.646075096680125,0.6783913537399668,0.558,0,0,2.4534106153580086e-05,-9.999999025923074e-05
+13245,1792844903257287407,23582697000000,1792844903256365489,UP_SETTLE,3,0.0708,0.07080180197954178,0.6759010080164708,-0.004958268984912222,0.10690339177412128,0.999999922685299,-3.297639794433682e-05,-0.0003504426940608494,0.00014891183927952202,0.6761,-0.0046,0.10737244115916886,1.0,0.0,0.0,0.0,1.4407727638952361,1.0584443600797504,-0.7074439370891035,0.07821804454533007,-0.11107312268299595,-0.0038230409280664876,1.3863922749427475,0.9889327360128805,-0.4771704908494883,0.07714241886562062,-0.11109938839385268,-0.0036248005070651707,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2796172807271002,1.9198589459976116,3.1177635318932513,-0.3269924348250442,-2.284857252980151,1.1457774733150523,1.6312548422581434,0.7074439370891035,-1.4865086896351078,0.7074439370891035,0.558,0,0,2.203410664061855e-05,-9.999999025923074e-05
+13253,1792844903324294952,23582764000000,1792844903320375260,UP_SETTLE,3,0.0708,0.07080180197954178,0.6759043467884366,-0.004939093803616072,0.10690625558067506,0.9999999257000179,-1.8562790070937756e-05,-0.0003433873824350304,0.00014759184081612964,0.6761,-0.0046,0.10737380689433597,1.0,0.0,0.0,0.0,1.333943966141778,0.9255610165852984,-0.6950298058516848,0.06858422362669878,-0.10370349722697772,-0.004625880932297266,1.2795634771892894,0.8560493925184285,-0.4647563596120698,0.06750859794698932,-0.10372976293783445,-0.004427640511295949,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.2734799991382395,1.9062778389200692,3.163570243356429,-0.2836270562243548,-2.3258730126436404,1.1165706443054275,1.6312548422581434,0.6950298058516848,-1.5323154010982853,0.6950298058516848,0.558,0,0,1.868410729325009e-05,-9.999999025923074e-05
+13261,1792844903391271027,23582831000000,1792844903388374809,UP_SETTLE,3,0.0708,0.07080245763063431,0.6758998322705034,-0.004947173391174374,0.10690305340347264,0.9999999233275639,-2.5653526094146552e-05,-0.0003503563590891847,0.00014621918197287807,0.6761,-0.0046,0.1073749481795468,1.0,0.0,0.0,0.0,1.3219529082967518,0.8930702077863953,-0.6802635534642398,0.06759650722245487,-0.1026913374860798,-0.00463212177804803,1.2675724193442632,0.8235585837195254,-0.44999010722462474,0.06652088154274542,-0.10271760319693653,-0.004433881357046713,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.4006252204780896,1.804867917633718,3.195074902801205,-0.24425735359804687,-2.3833841657823176,1.045135351893707,1.6312548422581434,0.6802635534642398,-1.5638200605430614,0.6802635534642398,0.558,0,0,1.533410794588163e-05,-9.999999025923074e-05
+13273,1792844903491256851,23582931000000,1792844903488375050,UP_SETTLE,3,0.0708,0.07080245763063431,0.6759007236684073,-0.004947872269619537,0.10690328369170854,0.999999923447581,-2.6556690101147777e-05,-0.00034983139896922944,0.00014649379220351333,0.6761,-0.0046,0.10737623409039058,1.0,0.0,0.0,0.0,1.3486458986596337,0.9477793656877032,-0.6818607288562273,0.06913494086309885,-0.10445342323275177,-0.004640637638544484,1.294265409707145,0.8782677416208332,-0.45158728261661213,0.0680593151833894,-0.1044796889436085,-0.004442397217543167,-0.054380488952488495,-0.06951162406686995,0.2302734462396151,-0.00107562567970945,-2.6265710856737813e-05,0.00019824042100131687,1,-1.4153440420466774,1.847122556712909,3.1533678794313573,-0.26203924160115105,-2.358839642749725,1.0708110828283337,1.6312548422581434,0.6818607288562273,-1.522113037173214,0.6818607288562273,0.558,0,0,1.0334108919958557e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_17.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792844896836833973,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.761193605e-09,-5.954407731e-10,2.524425113e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027452685e-01,-1.165164764e-04,8.303260180e-01
+1,2.666666667e-01,WAIT_W2,1792844897099398007,-2.893067400e-07,-7.711286266e-07,-1.776105292e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.854782390e-08,-9.467371165e-09,9.398993805e-10,7.019553086e-01,-2.275618321e-05,8.601432083e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453603e-01,-1.165253483e-04,8.303260189e-01
+2,4.833333333e-01,WAIT_W2,1792844897328470082,8.431247831e-07,3.473766482e-06,7.978066079e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.542944736e-07,-1.444916416e-08,2.132161780e-09,7.019564410e-01,-1.851128810e-05,8.601441837e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454161e-01,-1.165303301e-04,8.303260201e-01
+3,6.833333333e-01,WAIT_W2,1792844897541305876,3.089623239e-06,4.533534408e-06,3.960860528e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.946367965e-07,-1.855424333e-08,3.187379249e-09,7.019586875e-01,-1.745152017e-05,8.601473468e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027454564e-01,-1.165344352e-04,8.303260212e-01
+4,7.333333333e-01,WAIT_W2,1792844897589940286,4.381398091e-06,-4.934605961e-05,7.746953820e-06,4.190866288e-06,-4.918217820e-05,7.789560956e-06,4.689696796e-06,-4.799650920e-05,7.623934957e-06,7.019599793e-01,-7.133111419e-05,8.601511329e-01,7.019597887e-01,-7.116723278e-05,8.601511755e-01,7.027499515e-01,-1.645123901e-04,8.303336419e-01
+5,7.333333333e-01,WAIT_W2,1792844897589940286,4.381398091e-06,-4.934605961e-05,7.746953820e-06,4.190866288e-06,-4.918217820e-05,7.789560956e-06,4.689696796e-06,-4.799650920e-05,7.623934957e-06,7.019599793e-01,-7.133111419e-05,8.601511329e-01,7.019597887e-01,-7.116723278e-05,8.601511755e-01,7.027499515e-01,-1.645123901e-04,8.303336419e-01
+6,7.500000000e-01,WAIT_W2,1792844897606357280,6.089545258e-06,-1.412330880e-04,1.463895357e-05,6.628043213e-06,-1.412547977e-04,1.496933458e-05,7.339231374e-06,-1.379681820e-04,1.467411812e-05,7.019616874e-01,-1.632181425e-04,8.601580249e-01,7.019622259e-01,-1.632398523e-04,8.601583553e-01,7.027526010e-01,-2.544840629e-04,8.303406921e-01
+7,7.500000000e-01,WAIT_W2,1792844897606357280,6.089545258e-06,-1.412330880e-04,1.463895357e-05,6.628043213e-06,-1.412547977e-04,1.496933458e-05,7.339231374e-06,-1.379681820e-04,1.467411812e-05,7.019616874e-01,-1.632181425e-04,8.601580249e-01,7.019622259e-01,-1.632398523e-04,8.601583553e-01,7.027526010e-01,-2.544840629e-04,8.303406921e-01
+8,7.666666667e-01,WAIT_W2,1792844897622901365,7.988040941e-06,-2.293960468e-04,2.191245914e-05,7.797209253e-06,-2.288906665e-04,2.172369257e-05,8.733931846e-06,-2.236141080e-04,2.131803130e-05,7.019635859e-01,-2.513811014e-04,8.601652984e-01,7.019633951e-01,-2.508757210e-04,8.601651096e-01,7.027539957e-01,-3.401299889e-04,8.303473360e-01
+9,7.666666667e-01,WAIT_W2,1792844897622901365,7.988040941e-06,-2.293960468e-04,2.191245914e-05,7.797209253e-06,-2.288906665e-04,2.172369257e-05,8.733931846e-06,-2.236141080e-04,2.131803130e-05,7.019635859e-01,-2.513811014e-04,8.601652984e-01,7.019633951e-01,-2.508757210e-04,8.601651096e-01,7.027539957e-01,-3.401299889e-04,8.303473360e-01
+10,7.833333333e-01,WAIT_W2,1792844897639480606,9.914008563e-06,-3.369316472e-04,2.838909553e-05,9.829935282e-06,-3.369193967e-04,2.842484529e-05,1.097812728e-05,-3.291961105e-04,2.798843945e-05,7.019655119e-01,-3.589167017e-04,8.601717750e-01,7.019654278e-01,-3.589044513e-04,8.601718108e-01,7.027562399e-01,-4.457119914e-04,8.303540064e-01
+11,7.833333333e-01,WAIT_W2,1792844897639480606,9.914008563e-06,-3.369316472e-04,2.838909553e-05,9.829935282e-06,-3.369193967e-04,2.842484529e-05,1.097812728e-05,-3.291961105e-04,2.798843945e-05,7.019655119e-01,-3.589167017e-04,8.601717750e-01,7.019654278e-01,-3.589044513e-04,8.601718108e-01,7.027562399e-01,-4.457119914e-04,8.303540064e-01
+12,7.833333333e-01,WAIT_W2,1792844897639480606,9.914008563e-06,-3.369316472e-04,2.838909553e-05,9.829935282e-06,-3.369193967e-04,2.842484529e-05,1.097812728e-05,-3.291961105e-04,2.798843945e-05,7.019655119e-01,-3.589167017e-04,8.601717750e-01,7.019654278e-01,-3.589044513e-04,8.601718108e-01,7.027562399e-01,-4.457119914e-04,8.303540064e-01
+13,8.000000000e-01,WAIT_W2,1792844897655429962,6.606700979e-06,-4.471872268e-04,3.024940037e-05,6.736114988e-06,-4.471124791e-04,3.049582384e-05,7.750799310e-06,-4.369523139e-04,3.011325583e-05,7.019622046e-01,-4.691722814e-04,8.601736353e-01,7.019623340e-01,-4.690975337e-04,8.601738817e-01,7.027530126e-01,-5.534681948e-04,8.303561313e-01
+14,8.000000000e-01,WAIT_W2,1792844897655429962,6.606700979e-06,-4.471872268e-04,3.024940037e-05,6.736114988e-06,-4.471124791e-04,3.049582384e-05,7.750799310e-06,-4.369523139e-04,3.011325583e-05,7.019622046e-01,-4.691722814e-04,8.601736353e-01,7.019623340e-01,-4.690975337e-04,8.601738817e-01,7.027530126e-01,-5.534681948e-04,8.303561313e-01
+15,8.166666667e-01,WAIT_W2,1792844897672359438,7.902449632e-06,-5.341045534e-04,3.437339571e-05,7.931156340e-06,-5.339707609e-04,3.426675196e-05,9.019070831e-06,-5.218225127e-04,3.405841148e-05,7.019635003e-01,-5.560896080e-04,8.601777593e-01,7.019635290e-01,-5.559558155e-04,8.601776527e-01,7.027542808e-01,-6.383383937e-04,8.303600764e-01
+16,8.500000000e-01,WAIT_W2,1792844897704543070,1.284314345e-05,-5.313248584e-04,4.080660408e-05,7.931156340e-06,-5.339707609e-04,3.426675196e-05,9.043354014e-06,-5.219669949e-04,3.409645169e-05,7.019684410e-01,-5.533099130e-04,8.601841925e-01,7.019635290e-01,-5.559558155e-04,8.601776527e-01,7.027543051e-01,-6.384828758e-04,8.303601145e-01
+17,8.833333333e-01,WAIT_W2,1792844897742595757,1.211663828e-05,-5.005018459e-04,3.906773282e-05,1.114109243e-05,-5.060330135e-04,3.888348564e-05,1.250272091e-05,-4.947591803e-04,3.862468901e-05,7.019677145e-01,-5.224869004e-04,8.601824536e-01,7.019667390e-01,-5.280180681e-04,8.601822694e-01,7.027577645e-01,-6.112750613e-04,8.303646427e-01
+18,9.333333333e-01,WAIT_W2,1792844897803339981,1.624911459e-05,-5.334420992e-04,4.965551875e-05,1.371741011e-05,-5.326414381e-04,4.707912244e-05,1.536437294e-05,-5.207653301e-04,4.670341499e-05,7.019718470e-01,-5.554271538e-04,8.601930414e-01,7.019693153e-01,-5.546264927e-04,8.601904650e-01,7.027606261e-01,-6.372812110e-04,8.303727214e-01
+19,1.033333333e+00,WAIT_W2,1792844897901455819,2.078636286e-05,-5.260819498e-04,6.179042108e-05,1.371741011e-05,-5.326414381e-04,4.707912244e-05,1.544389696e-05,-5.208326565e-04,4.679644770e-05,7.019763842e-01,-5.480670044e-04,8.602051763e-01,7.019693153e-01,-5.546264927e-04,8.601904650e-01,7.027607057e-01,-6.373485374e-04,8.303728144e-01
+20,1.166666667e+00,WAIT_W2,1792844898032414282,2.533640117e-05,-5.263731115e-04,7.259528669e-05,2.286653232e-05,-5.296257985e-04,6.659951449e-05,2.551035061e-05,-5.179207717e-04,6.607807659e-05,7.019809343e-01,-5.483581660e-04,8.602159812e-01,7.019784644e-01,-5.516108530e-04,8.602099854e-01,7.027707721e-01,-6.344366527e-04,8.303920961e-01
+21,1.300000000e+00,UP_FORCE_RAMP,1792844898163299440,2.588040162e-05,-5.195951359e-04,7.588291295e-05,2.286653232e-05,-5.296257985e-04,6.659951449e-05,2.560121555e-05,-5.179666828e-04,6.621426046e-05,7.019814783e-01,-5.415801905e-04,8.602192688e-01,7.019784644e-01,-5.516108530e-04,8.602099854e-01,7.027708630e-01,-6.344825638e-04,8.303922323e-01
+22,1.466666667e+00,UP_FORCE_RAMP,1792844898343224709,2.859130719e-05,-5.245226899e-04,8.130772153e-05,2.286653232e-05,-5.296257985e-04,6.659951449e-05,2.569474506e-05,-5.180105886e-04,6.635439871e-05,7.019841892e-01,-5.465077444e-04,8.602246936e-01,7.019784644e-01,-5.516108530e-04,8.602099854e-01,7.027709565e-01,-6.345264695e-04,8.303923724e-01
+23,1.650000000e+00,UP_FORCE_RAMP,1792844898523720613,2.695731364e-05,-5.271579344e-04,8.030891210e-05,2.286653232e-05,-5.296257985e-04,6.659951449e-05,2.578120020e-05,-5.180490320e-04,6.648304648e-05,7.019825552e-01,-5.491429889e-04,8.602236948e-01,7.019784644e-01,-5.516108530e-04,8.602099854e-01,7.027710430e-01,-6.345649130e-04,8.303925010e-01
+24,1.800000000e+00,UP_FORCE_RAMP,1792844898671185814,2.604957495e-05,-5.196196082e-04,7.986697634e-05,2.286653232e-05,-5.296257985e-04,6.659951449e-05,2.584229347e-05,-5.180750606e-04,6.657369694e-05,7.019816474e-01,-5.416046628e-04,8.602232529e-01,7.019784644e-01,-5.516108530e-04,8.602099854e-01,7.027711041e-01,-6.345909416e-04,8.303925917e-01
+25,1.983333333e+00,UP_FORCE_RAMP,1792844898851344417,2.786750805e-05,-5.218110911e-04,8.468327394e-05,2.864278124e-05,-5.216959133e-04,8.496105677e-05,3.214754464e-05,-5.103501367e-04,8.465485293e-05,7.019834654e-01,-5.437961457e-04,8.602280692e-01,7.019842406e-01,-5.436809679e-04,8.602283470e-01,7.027774093e-01,-6.268660176e-04,8.304106729e-01
+26,2.216666667e+00,UP_FORCE_RAMP,1792844899080733847,2.742673821e-05,-5.193140176e-04,8.618011362e-05,2.864278124e-05,-5.216959133e-04,8.496105677e-05,3.224142926e-05,-5.103853636e-04,8.482794435e-05,7.019830246e-01,-5.412990722e-04,8.602295660e-01,7.019842406e-01,-5.436809679e-04,8.602283470e-01,7.027775032e-01,-6.269012445e-04,8.304108459e-01
+27,2.416666667e+00,UP_FORCE_RAMP,1792844899277409703,2.799084738e-05,-5.175787057e-04,9.274122391e-05,2.864278124e-05,-5.216959133e-04,8.496105677e-05,3.230652862e-05,-5.104157771e-04,8.494176385e-05,7.019835887e-01,-5.395637603e-04,8.602361271e-01,7.019842406e-01,-5.436809679e-04,8.602283470e-01,7.027775683e-01,-6.269316580e-04,8.304109598e-01
+28,2.616666667e+00,UP_FORCE_RAMP,1792844899475141153,2.790456310e-05,-5.205354284e-04,9.839444419e-05,2.864278124e-05,-5.216959133e-04,8.496105677e-05,3.236442145e-05,-5.104392039e-04,8.503704702e-05,7.019835024e-01,-5.425204830e-04,8.602417804e-01,7.019842406e-01,-5.436809679e-04,8.602283470e-01,7.027776262e-01,-6.269550848e-04,8.304110550e-01
+29,2.850000000e+00,UP_FORCE_RAMP,1792844899719169027,2.667090661e-05,-5.176465026e-04,1.047129350e-04,3.009996121e-05,-5.199269732e-04,1.050817297e-04,3.425855007e-05,-5.087242106e-04,1.048384833e-04,7.019822688e-01,-5.396315572e-04,8.602480989e-01,7.019856978e-01,-5.419120278e-04,8.602484676e-01,7.027795203e-01,-6.252400915e-04,8.304308565e-01
+30,3.016666667e+00,UP_FORCE_RAMP,1792844899903171878,2.334847668e-05,-5.164732788e-04,1.106580454e-04,3.009996121e-05,-5.199269732e-04,1.050817297e-04,3.430127657e-05,-5.087416085e-04,1.049565310e-04,7.019789463e-01,-5.384583333e-04,8.602540440e-01,7.019856978e-01,-5.419120278e-04,8.602484676e-01,7.027795630e-01,-6.252574894e-04,8.304309745e-01
+31,3.083333333e+00,UP_FORCE_RAMP,1792844899968714940,-1.466154526e-05,-5.134309690e-04,1.087404461e-04,-4.871853357e-07,-5.156637119e-04,1.072439178e-04,2.026815310e-06,-5.045715663e-04,1.070837997e-04,7.019409363e-01,-5.354160236e-04,8.602521264e-01,7.019551107e-01,-5.376487665e-04,8.602506298e-01,7.027472886e-01,-6.210874472e-04,8.304331018e-01
+32,3.183333333e+00,UP_FORCE_RAMP,1792844900080527810,-6.989253361e-06,-5.126361647e-04,1.189260865e-04,-4.871853357e-07,-5.156637119e-04,1.072439178e-04,1.953175595e-06,-5.045557483e-04,1.071419086e-04,7.019486086e-01,-5.346212193e-04,8.602623120e-01,7.019551107e-01,-5.376487665e-04,8.602506298e-01,7.027472149e-01,-6.210716292e-04,8.304331599e-01
+33,3.383333333e+00,UP_FORCE_RAMP,1792844900293357339,-6.459331118e-06,-5.164549070e-04,1.308666635e-04,-5.274991251e-06,-5.197777143e-04,1.305410682e-04,-2.912199445e-06,-5.085491234e-04,1.299866926e-04,7.019491385e-01,-5.384399616e-04,8.602742526e-01,7.019503229e-01,-5.417627689e-04,8.602739270e-01,7.027423496e-01,-6.250650043e-04,8.304560047e-01
+34,3.550000000e+00,UP_FORCE_RAMP,1792844900457277019,-5.806834403e-06,-5.094003290e-04,1.415002556e-04,-5.274991251e-06,-5.197777143e-04,1.305410682e-04,-2.959231215e-06,-5.085616067e-04,1.301579361e-04,7.019497910e-01,-5.313853835e-04,8.602848862e-01,7.019503229e-01,-5.417627689e-04,8.602739270e-01,7.027423025e-01,-6.250774876e-04,8.304561759e-01
+35,3.750000000e+00,UP_FORCE_RAMP,1792844900653965197,-3.085426649e-06,-5.104913592e-04,1.583409619e-04,-4.061830277e-06,-5.097644270e-04,1.482127064e-04,-1.473754247e-06,-4.988062500e-04,1.476010217e-04,7.019525124e-01,-5.324764138e-04,8.603017269e-01,7.019515360e-01,-5.317494816e-04,8.602915986e-01,7.027437880e-01,-6.153221309e-04,8.304736190e-01
+36,3.900000000e+00,UP_FORCE_RAMP,1792844900817894786,-8.134302528e-06,-5.121893314e-04,1.629953012e-04,-4.061830277e-06,-5.097644270e-04,1.482127064e-04,-1.493668732e-06,-4.988158305e-04,1.477218547e-04,7.019474636e-01,-5.341743860e-04,8.603063812e-01,7.019515360e-01,-5.317494816e-04,8.602915986e-01,7.027437681e-01,-6.153317114e-04,8.304737399e-01
+37,3.950000000e+00,UP_FORCE_RAMP,1792844900866667405,-4.629105356e-05,-5.174042673e-04,1.386918088e-04,-3.924805819e-05,-5.121581749e-04,1.429435398e-04,-3.871358423e-05,-5.011426008e-04,1.425893834e-04,7.019093068e-01,-5.393893219e-04,8.602820777e-01,7.019163498e-01,-5.341432294e-04,8.602863295e-01,7.027065482e-01,-6.176584817e-04,8.304686074e-01
+38,4.000000000e+00,UP_FORCE_RAMP,1792844900915259139,-2.434594628e-05,-5.164623035e-04,1.698631839e-04,-2.440530717e-05,-5.160640411e-04,1.698449355e-04,-2.278902843e-05,-5.049142782e-04,1.689452386e-04,7.019312519e-01,-5.384473581e-04,8.603132491e-01,7.019311926e-01,-5.380490957e-04,8.603132309e-01,7.027224727e-01,-6.214301591e-04,8.304949632e-01
+39,4.066666667e+00,UP_FORCE_RAMP,1792844900981077167,-2.859248767e-05,-5.153019701e-04,1.711633270e-04,-2.440530717e-05,-5.160640411e-04,1.698449355e-04,-2.280235266e-05,-5.049312712e-04,1.690739544e-04,7.019270054e-01,-5.372870247e-04,8.603145492e-01,7.019311926e-01,-5.380490957e-04,8.603132309e-01,7.027224594e-01,-6.214471521e-04,8.304950920e-01
+40,4.183333333e+00,UP_FORCE_RAMP,1792844901111876227,-3.684034647e-05,-5.131708918e-04,1.667847809e-04,-2.440530717e-05,-5.160640411e-04,1.698449355e-04,-2.284469030e-05,-5.049398037e-04,1.691970457e-04,7.019187575e-01,-5.351559464e-04,8.603101707e-01,7.019311926e-01,-5.380490957e-04,8.603132309e-01,7.027224171e-01,-6.214556846e-04,8.304952150e-01
+41,4.350000000e+00,UP_FORCE_RAMP,1792844901275270967,-3.539353482e-05,-5.125709856e-04,1.792792116e-04,-2.440530717e-05,-5.160640411e-04,1.698449355e-04,-2.289557179e-05,-5.049499207e-04,1.693299715e-04,7.019202043e-01,-5.345560402e-04,8.603226651e-01,7.019311926e-01,-5.380490957e-04,8.603132309e-01,7.027223662e-01,-6.214658016e-04,8.304953480e-01
+42,4.483333333e+00,UP_FORCE_RAMP,1792844901408590514,-3.930940357e-05,-5.072858398e-04,1.838875344e-04,-4.188277585e-05,-5.101433700e-04,1.781915488e-04,-4.125152546e-05,-4.991654481e-04,1.775220987e-04,7.019162885e-01,-5.292708943e-04,8.603272735e-01,7.019137151e-01,-5.321284245e-04,8.603215775e-01,7.027040102e-01,-6.156813290e-04,8.305035401e-01
+43,4.650000000e+00,UP_FORCE_RAMP,1792844901572244577,-4.993155472e-05,-5.156805083e-04,1.879865790e-04,-4.188277585e-05,-5.101433700e-04,1.781915488e-04,-4.137089702e-05,-4.991549648e-04,1.776568745e-04,7.019056663e-01,-5.376655629e-04,8.603313725e-01,7.019137151e-01,-5.321284245e-04,8.603215775e-01,7.027038909e-01,-6.156708457e-04,8.305036749e-01
+44,4.833333333e+00,UP_FORCE_RAMP,1792844901767922564,-6.355326399e-05,-5.087338096e-04,1.968447006e-04,-5.596729470e-05,-5.116656546e-04,1.925884415e-04,-5.624818485e-05,-5.006261119e-04,1.918260577e-04,7.018920446e-01,-5.307188641e-04,8.603402306e-01,7.018996306e-01,-5.336507092e-04,8.603359744e-01,7.026890136e-01,-6.171419928e-04,8.305178441e-01
+45,4.950000000e+00,UP_FORCE_RAMP,1792844901882247390,-6.373890124e-05,-5.143373027e-04,2.044502929e-04,-5.596729470e-05,-5.116656546e-04,1.925884415e-04,-5.632116882e-05,-5.006275047e-04,1.919176801e-04,7.018918590e-01,-5.363223573e-04,8.603478362e-01,7.018996306e-01,-5.336507092e-04,8.603359744e-01,7.026889406e-01,-6.171433856e-04,8.305179357e-01
+46,5.100000000e+00,UP_FORCE_RAMP,1792844902028931738,-6.674200926e-05,-5.078069403e-04,2.069643150e-04,-5.596729470e-05,-5.116656546e-04,1.925884415e-04,-5.639560768e-05,-5.006296083e-04,1.920140601e-04,7.018888559e-01,-5.297919949e-04,8.603503502e-01,7.018996306e-01,-5.336507092e-04,8.603359744e-01,7.026888662e-01,-6.171454892e-04,8.305180321e-01
+47,5.216666667e+00,UP_FORCE_RAMP,1792844902160023560,-6.537573444e-05,-4.998790937e-04,2.168367045e-04,-6.530429435e-05,-5.032240903e-04,2.104809189e-04,-6.611224375e-05,-4.923653978e-04,2.096084883e-04,7.018902221e-01,-5.218641483e-04,8.603602226e-01,7.018902936e-01,-5.252091449e-04,8.603538668e-01,7.026791495e-01,-6.088812787e-04,8.305356265e-01
+48,5.350000000e+00,UP_FORCE_RAMP,1792844902290869485,-6.790199810e-05,-5.079544324e-04,2.206159735e-04,-6.530429435e-05,-5.032240903e-04,2.104809189e-04,-6.618732779e-05,-4.923646025e-04,2.097155978e-04,7.018876959e-01,-5.299394870e-04,8.603640019e-01,7.018902936e-01,-5.252091449e-04,8.603538668e-01,7.026790744e-01,-6.088804834e-04,8.305357336e-01
+49,5.466666667e+00,UP_FORCE_RAMP,1792844902406423741,-6.752944654e-05,-5.134019737e-04,2.266334351e-04,-6.530429435e-05,-5.032240903e-04,2.104809189e-04,-6.624372924e-05,-4.923651832e-04,2.097929242e-04,7.018880684e-01,-5.353870283e-04,8.603700194e-01,7.018902936e-01,-5.252091449e-04,8.603538668e-01,7.026790180e-01,-6.088810641e-04,8.305358109e-01
+50,5.633333333e+00,UP_FORCE_RAMP,1792844902569843355,-6.926538351e-05,-5.062665279e-04,2.331800273e-04,-6.806697393e-05,-5.080356682e-04,2.299743996e-04,-6.902107112e-05,-4.970325693e-04,2.290356897e-04,7.018863325e-01,-5.282515825e-04,8.603765659e-01,7.018875309e-01,-5.300207228e-04,8.603733603e-01,7.026762407e-01,-6.135484502e-04,8.305550537e-01
+51,5.816666667e+00,UP_FORCE_HOLD,1792844902749565650,-6.905926666e-05,-5.065380281e-04,2.455184349e-04,-6.806697393e-05,-5.080356682e-04,2.299743996e-04,-6.909080941e-05,-4.970384214e-04,2.291775105e-04,7.018865386e-01,-5.285230827e-04,8.603889044e-01,7.018875309e-01,-5.300207228e-04,8.603733603e-01,7.026761710e-01,-6.135543023e-04,8.305551955e-01
+52,6.016666667e+00,UP_SETTLE,1792844902962593544,-7.284667725e-05,-5.063465250e-04,2.474739866e-04,-6.806697393e-05,-5.080356682e-04,2.299743996e-04,-6.915562729e-05,-4.970430318e-04,2.292978264e-04,7.018827512e-01,-5.283315796e-04,8.603908599e-01,7.018875309e-01,-5.300207228e-04,8.603733603e-01,7.026761061e-01,-6.135589128e-04,8.305553158e-01
+53,6.233333333e+00,UP_SETTLE,1792844903175948306,-7.215700769e-05,-5.037396785e-04,2.549066352e-04,-7.044762714e-05,-5.015998553e-04,2.497081125e-04,-7.149025844e-05,-4.907725549e-04,2.487920370e-04,7.018834409e-01,-5.257247331e-04,8.603982926e-01,7.018851502e-01,-5.235849099e-04,8.603930940e-01,7.026737715e-01,-6.072884359e-04,8.305748100e-01
+54,6.250000000e+00,UP_SETTLE,1792844903192281795,-7.114509118e-05,-5.599707289e-04,2.607801250e-04,-7.114338307e-05,-5.597679348e-04,2.608051097e-04,-7.209849012e-05,-5.473828294e-04,2.596020262e-04,7.018844528e-01,-5.819557834e-04,8.604041660e-01,7.018844545e-01,-5.817529894e-04,8.604041910e-01,7.026731633e-01,-6.638987103e-04,8.305856200e-01
+55,6.266666667e+00,UP_SETTLE,1792844903208596839,-8.436512056e-05,-5.381480501e-04,2.624741759e-04,-8.401527684e-05,-5.383933027e-04,2.621421810e-04,-8.561573101e-05,-5.266844647e-04,2.609245647e-04,7.018712327e-01,-5.601331047e-04,8.604058601e-01,7.018715826e-01,-5.603783572e-04,8.604055281e-01,7.026596460e-01,-6.432003457e-04,8.305869426e-01
+56,6.316666667e+00,UP_SETTLE,1792844903257770705,-8.222788470e-05,-5.442509088e-04,2.646626831e-04,-8.216013162e-05,-5.442261309e-04,2.644828672e-04,-8.367975054e-05,-5.322662724e-04,2.633330690e-04,7.018733700e-01,-5.662359634e-04,8.604080486e-01,7.018734377e-01,-5.662111855e-04,8.604078688e-01,7.026615820e-01,-6.487821533e-04,8.305893511e-01
+57,6.366666667e+00,UP_SETTLE,1792844903322023128,-8.170981828e-05,-5.236884251e-04,2.663863234e-04,-8.183063021e-05,-5.235812987e-04,2.664545964e-04,-8.333242804e-05,-5.122681403e-04,2.652706045e-04,7.018738880e-01,-5.456734797e-04,8.604097722e-01,7.018737672e-01,-5.455663532e-04,8.604098405e-01,7.026619293e-01,-6.287840212e-04,8.305912886e-01
+58,6.433333333e+00,UP_SETTLE,1792844903389794984,-8.407800781e-05,-5.302899705e-04,2.601219829e-04,-8.076305544e-05,-5.471207361e-04,2.655079330e-04,-8.228227813e-05,-5.351952175e-04,2.644051319e-04,7.018715199e-01,-5.522750251e-04,8.604035079e-01,7.018748348e-01,-5.691057907e-04,8.604088938e-01,7.026629795e-01,-6.517110984e-04,8.305904231e-01
+59,6.533333333e+00,UP_SETTLE,1792844903486873466,-7.883923564e-05,-5.239995928e-04,2.663138402e-04,-7.875523975e-05,-5.239087083e-04,2.664163739e-04,-8.010827060e-05,-5.126235736e-04,2.653605991e-04,7.018767586e-01,-5.459846474e-04,8.604096998e-01,7.018768426e-01,-5.458937629e-04,8.604098023e-01,7.026651535e-01,-6.291394545e-04,8.305913786e-01

Fixed/digit/ball_PLA_17.5/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,9.1399e-02,3.2128e-01,2.4588e+00,-5.8539e-02,4.3290e-02,5.0391e-04,3.7558e-05,-1.1146e-05,1.0014e-05,7.4133e-07,2.6859e-06,-2.7474e-08,4.0437e-05,2.7865e-06
+1,2.6667e-01,WAIT_W2,4.2871e-05,1.0869e-01,3.2088e-01,2.4589e+00,-5.8428e-02,4.4476e-02,4.1558e-04,1.7332e-02,-4.0454e-04,1.1587e-04,1.1240e-04,1.1884e-03,-8.8360e-05,1.7337e-02,1.1970e-03
+2,4.8333e-01,WAIT_W2,8.7935e-05,1.1558e-01,3.1942e-01,2.4591e+00,-5.8272e-02,4.4993e-02,3.3019e-04,2.4218e-02,-1.8640e-03,3.5238e-04,2.6847e-04,1.7058e-03,-1.7375e-04,2.4293e-02,1.7355e-03
+3,6.8333e-01,WAIT_W2,1.2786e-04,1.2300e-01,3.1981e-01,2.4593e+00,-5.8279e-02,4.5502e-02,2.6472e-04,3.1642e-02,-1.4800e-03,5.1188e-04,2.6103e-04,2.2150e-03,-2.3922e-04,3.1681e-02,2.2431e-03
+4,7.3333e-01,WAIT_W2,1.9078e-04,1.2599e-01,3.1911e-01,2.4594e+00,-5.8208e-02,4.5719e-02,2.4461e-04,3.4625e-02,-2.1722e-03,6.1750e-04,3.3166e-04,2.4311e-03,-2.5933e-04,3.4699e-02,2.4672e-03
+5,7.3333e-01,WAIT_W2,1.9078e-04,1.2599e-01,3.1911e-01,2.4594e+00,-5.8208e-02,4.5719e-02,2.4461e-04,3.4625e-02,-2.1722e-03,6.1750e-04,3.3166e-04,2.4311e-03,-2.5933e-04,3.4699e-02,2.4672e-03
+6,7.5000e-01,WAIT_W2,2.8294e-04,1.0794e-01,6.7827e-01,2.4138e+00,-8.3638e-02,4.4474e-02,4.0923e-04,1.6579e-02,3.5698e-01,-4.4961e-02,-2.5098e-02,1.1865e-03,-9.4710e-05,3.6018e-01,2.5126e-02
+7,7.5000e-01,WAIT_W2,2.8294e-04,1.0794e-01,6.7827e-01,2.4138e+00,-8.3638e-02,4.4474e-02,4.0923e-04,1.6579e-02,3.5698e-01,-4.4961e-02,-2.5098e-02,1.1865e-03,-9.4710e-05,3.6018e-01,2.5126e-02
+8,7.6667e-01,WAIT_W2,3.7142e-04,1.0613e-01,1.3333e+00,2.3922e+00,-1.2992e-01,4.4386e-02,7.8448e-04,1.4767e-02,1.0120e+00,-6.6599e-02,-7.1381e-02,1.0990e-03,2.8054e-04,1.0143e+00,7.1390e-02
+9,7.6667e-01,WAIT_W2,3.7142e-04,1.0613e-01,1.3333e+00,2.3922e+00,-1.2992e-01,4.4386e-02,7.8448e-04,1.4767e-02,1.0120e+00,-6.6599e-02,-7.1381e-02,1.0990e-03,2.8054e-04,1.0143e+00,7.1390e-02
+10,7.8333e-01,WAIT_W2,4.7917e-04,1.1555e-01,1.9454e+00,2.3788e+00,-1.7357e-01,4.5049e-02,1.2969e-03,2.4187e-02,1.6241e+00,-8.0005e-02,-1.1503e-01,1.7618e-03,7.9300e-04,1.6262e+00,1.1504e-01
+11,7.8333e-01,WAIT_W2,4.7917e-04,1.1555e-01,1.9454e+00,2.3788e+00,-1.7357e-01,4.5049e-02,1.2969e-03,2.4187e-02,1.6241e+00,-8.0005e-02,-1.1503e-01,1.7618e-03,7.9300e-04,1.6262e+00,1.1504e-01
+12,7.8333e-01,WAIT_W2,4.7917e-04,1.1555e-01,1.9454e+00,2.3788e+00,-1.7357e-01,4.5049e-02,1.2969e-03,2.4187e-02,1.6241e+00,-8.0005e-02,-1.1503e-01,1.7618e-03,7.9300e-04,1.6262e+00,1.1504e-01
+13,8.0000e-01,WAIT_W2,5.8949e-04,1.2105e-01,2.4043e+00,2.3790e+00,-2.0398e-01,4.5421e-02,1.4125e-03,2.9686e-02,2.0830e+00,-7.9823e-02,-1.4544e-01,2.1336e-03,9.0857e-04,2.0848e+00,1.4546e-01
+14,8.0000e-01,WAIT_W2,5.8949e-04,1.2105e-01,2.4043e+00,2.3790e+00,-2.0398e-01,4.5421e-02,1.4125e-03,2.9686e-02,2.0830e+00,-7.9823e-02,-1.4544e-01,2.1336e-03,9.0857e-04,2.0848e+00,1.4546e-01
+15,8.1667e-01,WAIT_W2,6.7652e-04,1.6850e-01,3.8139e+00,2.4183e+00,-3.0116e-01,4.8662e-02,1.9925e-03,7.7136e-02,3.4926e+00,-4.0520e-02,-2.4262e-01,5.3750e-03,1.4886e-03,3.4937e+00,2.4269e-01
+16,8.5000e-01,WAIT_W2,7.0506e-04,1.3959e-01,4.0886e+00,2.4412e+00,-3.2663e-01,4.6871e-02,2.7758e-03,4.8227e-02,3.7673e+00,-1.7581e-02,-2.6809e-01,3.5832e-03,2.2719e-03,3.7676e+00,2.6812e-01
+17,8.8333e-01,WAIT_W2,7.3616e-04,1.3934e-01,3.8142e+00,2.4220e+00,-3.0697e-01,4.6786e-02,3.9318e-03,4.7979e-02,3.4929e+00,-3.6762e-02,-2.4843e-01,3.4986e-03,3.4279e-03,3.4935e+00,2.4848e-01
+18,9.3333e-01,WAIT_W2,7.8290e-04,1.3884e-01,4.0191e+00,2.3961e+00,-3.2190e-01,4.6779e-02,4.2905e-03,4.7477e-02,3.6978e+00,-6.2650e-02,-2.6336e-01,3.4917e-03,3.7865e-03,3.6986e+00,2.6341e-01
+19,1.0333e+00,WAIT_W2,8.2785e-04,1.4003e-01,4.0180e+00,2.3978e+00,-3.2182e-01,4.6858e-02,4.2886e-03,4.8664e-02,3.6967e+00,-6.1003e-02,-2.6328e-01,3.5710e-03,3.7846e-03,3.6975e+00,2.6333e-01
+20,1.1667e+00,WAIT_W2,8.7705e-04,1.2527e-01,3.9548e+00,2.3352e+00,-3.1822e-01,4.5908e-02,4.2624e-03,3.3909e-02,3.6335e+00,-1.2357e-01,-2.5968e-01,2.6202e-03,3.7584e-03,3.6358e+00,2.5972e-01
+21,1.3000e+00,UP_FORCE_RAMP,9.2084e-04,1.6023e-01,3.9435e+00,2.4089e+00,-3.1662e-01,4.8271e-02,4.1814e-03,6.8867e-02,3.6222e+00,-4.9875e-02,-2.5808e-01,4.9837e-03,3.6775e-03,3.6232e+00,2.5815e-01
+22,1.4667e+00,UP_FORCE_RAMP,9.6024e-04,1.6541e-01,3.9442e+00,2.4182e+00,-3.1639e-01,4.8647e-02,3.7786e-03,7.4047e-02,3.6229e+00,-4.0583e-02,-2.5785e-01,5.3590e-03,3.2746e-03,3.6239e+00,2.5793e-01
+23,1.6500e+00,UP_FORCE_RAMP,1.0049e-03,1.9130e-01,3.9329e+00,2.4473e+00,-3.1508e-01,5.0404e-02,3.6368e-03,9.9937e-02,3.6116e+00,-1.1504e-02,-2.5654e-01,7.1165e-03,3.1329e-03,3.6130e+00,2.5665e-01
+24,1.8000e+00,UP_FORCE_RAMP,1.0486e-03,1.9245e-01,3.9313e+00,2.4788e+00,-3.1462e-01,5.0536e-02,3.3980e-03,1.0109e-01,3.6100e+00,2.0003e-02,-2.5608e-01,7.2484e-03,2.8941e-03,3.6114e+00,2.5620e-01
+25,1.9833e+00,UP_FORCE_RAMP,1.0920e-03,1.8369e-01,3.8643e+00,2.4233e+00,-3.1081e-01,4.9965e-02,3.3353e-03,9.2333e-02,3.5430e+00,-3.5446e-02,-2.5227e-01,6.6780e-03,2.8314e-03,3.5444e+00,2.5238e-01
+26,2.2167e+00,UP_FORCE_RAMP,1.1389e-03,1.9371e-01,3.8558e+00,2.4192e+00,-3.0962e-01,5.0677e-02,3.2378e-03,1.0234e-01,3.5345e+00,-3.9569e-02,-2.5108e-01,7.3895e-03,2.7338e-03,3.5362e+00,2.5121e-01
+27,2.4167e+00,UP_FORCE_RAMP,1.1801e-03,2.0340e-01,3.8329e+00,2.4521e+00,-3.0758e-01,5.1370e-02,3.0451e-03,1.1204e-01,3.5116e+00,-6.7315e-03,-2.4904e-01,8.0826e-03,2.5412e-03,3.5134e+00,2.4919e-01
+28,2.6167e+00,UP_FORCE_RAMP,1.2246e-03,2.2357e-01,3.8517e+00,2.4837e+00,-3.0869e-01,5.2669e-02,2.8178e-03,1.3220e-01,3.5304e+00,2.4896e-02,-2.5015e-01,9.3818e-03,2.3139e-03,3.5330e+00,2.5034e-01
+29,2.8500e+00,UP_FORCE_RAMP,1.2665e-03,2.2304e-01,3.8311e+00,2.4320e+00,-3.0825e-01,5.2751e-02,2.7306e-03,1.3168e-01,3.5098e+00,-2.6790e-02,-2.4971e-01,9.4638e-03,2.2266e-03,3.5124e+00,2.4989e-01
+30,3.0167e+00,UP_FORCE_RAMP,1.3143e-03,2.2901e-01,3.8279e+00,2.4439e+00,-3.0761e-01,5.3142e-02,2.6322e-03,1.3765e-01,3.5066e+00,-1.4917e-02,-2.4907e-01,9.8544e-03,2.1283e-03,3.5093e+00,2.4927e-01
+31,3.0833e+00,UP_FORCE_RAMP,1.3558e-03,3.6167e-01,3.8020e+00,2.4410e+00,-3.0582e-01,6.2535e-02,2.2475e-04,2.7031e-01,3.4808e+00,-1.7772e-02,-2.4728e-01,1.9247e-02,-2.7918e-04,3.4913e+00,2.4803e-01
+32,3.1833e+00,UP_FORCE_RAMP,1.4001e-03,3.6058e-01,3.8029e+00,2.4418e+00,-3.0587e-01,6.2461e-02,2.2634e-04,2.6922e-01,3.4816e+00,-1.6976e-02,-2.4733e-01,1.9174e-02,-2.7760e-04,3.4920e+00,2.4808e-01
+33,3.3833e+00,UP_FORCE_RAMP,1.4428e-03,3.5186e-01,3.8360e+00,2.3725e+00,-3.0940e-01,6.1932e-02,4.2605e-04,2.6049e-01,3.5147e+00,-8.6277e-02,-2.5086e-01,1.8644e-02,-7.7892e-05,3.5254e+00,2.5155e-01
+34,3.5500e+00,UP_FORCE_RAMP,1.4854e-03,3.4308e-01,3.8427e+00,2.4102e+00,-3.0933e-01,6.1275e-02,4.6904e-04,2.5172e-01,3.5214e+00,-4.8565e-02,-2.5079e-01,1.7988e-02,-3.4894e-05,3.5307e+00,2.5144e-01
+35,3.7500e+00,UP_FORCE_RAMP,1.5306e-03,3.2943e-01,3.7671e+00,2.3777e+00,-3.0473e-01,6.0368e-02,5.7349e-04,2.3807e-01,3.4458e+00,-8.1050e-02,-2.4619e-01,1.7080e-02,6.9548e-05,3.4549e+00,2.4679e-01
+36,3.9000e+00,UP_FORCE_RAMP,1.5729e-03,3.2540e-01,3.7671e+00,2.3890e+00,-3.0408e-01,5.9999e-02,6.7008e-04,2.3404e-01,3.4458e+00,-6.9762e-02,-2.4554e-01,1.6712e-02,1.6614e-04,3.4544e+00,2.4611e-01
+37,3.9500e+00,UP_FORCE_RAMP,1.6203e-03,4.7563e-01,3.7878e+00,2.4230e+00,-3.0516e-01,7.0591e-02,-1.7678e-03,3.8427e-01,3.4665e+00,-3.5774e-02,-2.4662e-01,2.7304e-02,-2.2718e-03,3.4880e+00,2.4814e-01
+38,4.0000e+00,UP_FORCE_RAMP,1.6642e-03,4.7395e-01,3.7879e+00,2.4233e+00,-3.0516e-01,7.0479e-02,-1.7659e-03,3.8259e-01,3.4666e+00,-3.5526e-02,-2.4662e-01,2.7192e-02,-2.2698e-03,3.4878e+00,2.4813e-01
+39,4.0667e+00,UP_FORCE_RAMP,1.7078e-03,3.9081e-01,3.8112e+00,2.3165e+00,-3.0864e-01,6.4763e-02,-2.9775e-04,2.9945e-01,3.4899e+00,-1.4230e-01,-2.5010e-01,2.1476e-02,-8.0169e-04,3.5056e+00,2.5102e-01
+40,4.1833e+00,UP_FORCE_RAMP,1.7481e-03,3.7723e-01,3.8077e+00,2.3580e+00,-3.0774e-01,6.3760e-02,-2.6236e-04,2.8587e-01,3.4864e+00,-1.0079e-01,-2.4920e-01,2.0473e-02,-7.6630e-04,3.4995e+00,2.5004e-01
+41,4.3500e+00,UP_FORCE_RAMP,1.7900e-03,3.7271e-01,3.8038e+00,2.3777e+00,-3.0692e-01,6.3331e-02,-5.8912e-05,2.8135e-01,3.4825e+00,-8.1085e-02,-2.4838e-01,2.0043e-02,-5.6285e-04,3.4948e+00,2.4919e-01
+42,4.4833e+00,UP_FORCE_RAMP,1.8354e-03,4.3964e-01,3.7638e+00,2.3597e+00,-3.0454e-01,6.8127e-02,-1.2241e-03,3.4828e-01,3.4425e+00,-9.9094e-02,-2.4600e-01,2.4839e-02,-1.7280e-03,3.4615e+00,2.4726e-01
+43,4.6500e+00,UP_FORCE_RAMP,1.8808e-03,4.2010e-01,3.7659e+00,2.3854e+00,-3.0431e-01,6.6722e-02,-8.8055e-04,3.2874e-01,3.4447e+00,-7.3346e-02,-2.4577e-01,2.3434e-02,-1.3845e-03,3.4611e+00,2.4689e-01
+44,4.8333e+00,UP_FORCE_RAMP,1.9207e-03,4.5878e-01,3.7898e+00,2.3468e+00,-3.0674e-01,6.9562e-02,-1.5736e-03,3.6741e-01,3.4685e+00,-1.1199e-01,-2.4819e-01,2.6274e-02,-2.0775e-03,3.4897e+00,2.4959e-01
+45,4.9500e+00,UP_FORCE_RAMP,1.9642e-03,4.3970e-01,3.7858e+00,2.3565e+00,-3.0587e-01,6.8094e-02,-1.3745e-03,3.4834e-01,3.4645e+00,-1.0225e-01,-2.4733e-01,2.4807e-02,-1.8784e-03,3.4835e+00,2.4858e-01
+46,5.1000e+00,UP_FORCE_RAMP,2.0086e-03,4.2730e-01,3.7730e+00,2.3823e+00,-3.0471e-01,6.7162e-02,-1.0831e-03,3.3594e-01,3.4517e+00,-7.6523e-02,-2.4617e-01,2.3874e-02,-1.5870e-03,3.4688e+00,2.4733e-01
+47,5.2167e+00,UP_FORCE_RAMP,2.0583e-03,4.5088e-01,3.7218e+00,2.3344e+00,-3.0202e-01,6.8932e-02,-1.4313e-03,3.5952e-01,3.4005e+00,-1.2444e-01,-2.4348e-01,2.5644e-02,-1.9352e-03,3.4217e+00,2.4484e-01
+48,5.3500e+00,UP_FORCE_RAMP,2.0970e-03,4.4125e-01,3.7176e+00,2.3485e+00,-3.0145e-01,6.8203e-02,-1.3824e-03,3.4989e-01,3.3963e+00,-1.1030e-01,-2.4291e-01,2.4915e-02,-1.8863e-03,3.4161e+00,2.4419e-01
+49,5.4667e+00,UP_FORCE_RAMP,2.1412e-03,4.3033e-01,3.7150e+00,2.3717e+00,-3.0097e-01,6.7390e-02,-1.2082e-03,3.3896e-01,3.3937e+00,-8.7098e-02,-2.4243e-01,2.4103e-02,-1.7121e-03,3.4117e+00,2.4363e-01
+50,5.6333e+00,UP_FORCE_RAMP,2.1856e-03,4.2292e-01,3.7661e+00,2.3230e+00,-3.0551e-01,6.7029e-02,-1.0620e-03,3.3156e-01,3.4448e+00,-1.3582e-01,-2.4697e-01,2.3742e-02,-1.5659e-03,3.4634e+00,2.4811e-01
+51,5.8167e+00,UP_FORCE_HOLD,2.2333e-03,4.1134e-01,3.7454e+00,2.3473e+00,-3.0342e-01,6.6078e-02,-8.8412e-04,3.1998e-01,3.4241e+00,-1.1153e-01,-2.4488e-01,2.2791e-02,-1.3881e-03,3.4409e+00,2.4594e-01
+52,6.0167e+00,UP_SETTLE,2.2727e-03,4.0347e-01,3.7491e+00,2.3664e+00,-3.0347e-01,6.5514e-02,-7.2522e-04,3.1211e-01,3.4278e+00,-9.2428e-02,-2.4493e-01,2.2227e-02,-1.2292e-03,3.4432e+00,2.4594e-01
+53,6.2333e+00,UP_SETTLE,2.3187e-03,3.9228e-01,3.7103e+00,2.3292e+00,-3.0137e-01,6.4814e-02,-6.7674e-04,3.0092e-01,3.3890e+00,-1.2956e-01,-2.4283e-01,2.1527e-02,-1.1807e-03,3.4048e+00,2.4378e-01
+54,6.2500e+00,UP_SETTLE,2.3752e-03,3.9223e-01,3.7104e+00,2.3292e+00,-3.0137e-01,6.4811e-02,-6.7630e-04,3.0087e-01,3.3891e+00,-1.2958e-01,-2.4283e-01,2.1523e-02,-1.1802e-03,3.4049e+00,2.4379e-01
+55,6.2667e+00,UP_SETTLE,2.4008e-03,4.0608e-01,4.1586e+00,2.2847e+00,-3.3379e-01,6.5854e-02,-4.3586e-04,3.1472e-01,3.8373e+00,-1.7411e-01,-2.7525e-01,2.2567e-02,-9.3980e-04,3.8541e+00,2.7618e-01
+56,6.3167e+00,UP_SETTLE,2.4550e-03,4.1680e-01,3.7991e+00,2.2688e+00,-3.0863e-01,6.6650e-02,-8.7350e-04,3.2543e-01,3.4778e+00,-1.9000e-01,-2.5009e-01,2.3362e-02,-1.3774e-03,3.4982e+00,2.5118e-01
+57,6.3667e+00,UP_SETTLE,2.4903e-03,4.4410e-01,4.0324e+00,2.2923e+00,-3.2480e-01,6.8540e-02,-8.8277e-04,3.5274e-01,3.7111e+00,-1.6647e-01,-2.6626e-01,2.5253e-02,-1.3867e-03,3.7315e+00,2.6746e-01
+58,6.4333e+00,UP_SETTLE,2.5329e-03,4.3080e-01,4.0516e+00,2.3017e+00,-3.2604e-01,6.7580e-02,-8.5040e-04,3.3944e-01,3.7303e+00,-1.5712e-01,-2.6750e-01,2.4292e-02,-1.3543e-03,3.7490e+00,2.6860e-01
+59,6.5333e+00,UP_SETTLE,2.5784e-03,4.2298e-01,4.0367e+00,2.3234e+00,-3.2474e-01,6.7035e-02,-7.9330e-04,3.3162e-01,3.7154e+00,-1.3536e-01,-2.6620e-01,2.3747e-02,-1.2972e-03,3.7326e+00,2.6726e-01

Fixed/digit/ball_PLA_17.5/press_depth_04/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f14e8509a642409b0bfdc9bea20f59c9ae872eee87a3aeec65d8e7d68c5f6a
+size 624640

Fixed/digit/ball_PLA_17.5/press_depth_04/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+19913,1792844958769067161,23638208000000,1792844958768365599,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0706,0.07059954851865768,0.6759522405282145,-0.004950249271635487,0.10679648593061494,0.9999999240130596,-0.0003003658815033144,-0.00022792782161266877,-3.52984994747847e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.012631897906589584,-0.012175427731295096,-0.030551325881847835,-0.0008740233730632763,0.0008765597130621638,2.6521784982517084e-05,1.2169367536164835,1.299436327723882,0.9398802918019076,0.09938737369465173,-0.0953223998412184,-0.0009619947740343579,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,-0.5096884492491385,2.0290880687130124,1.290633109562272,-0.28732085980061023,-0.9841544633534819,1.2801945256300038,1.6312548422581434,0.030551325881847835,0.34062173269587137,0.0,0.0,0,0,0.0,0.0
+20023,1792844959687053501,23639126000000,1792844959684374930,DOWN_FORCE_DETACH,4,0.0706,0.07060020416975021,0.6759524211203564,-0.004940267901870727,0.1067932066896036,0.9999999259988719,-0.0002934359314211725,-0.0002279376656369567,-3.7214097786842026e-05,0.6761,-0.0046,0.10699526634014962,1.0,0.0,0.0,0.0,-0.012740448629930734,-0.01343913510775896,-0.050648156731062044,-0.0008814353406887548,0.0008811755494510659,4.2767031426683175e-05,1.2168282028931423,1.2981726203474182,0.9197834609526934,0.09937996172702625,-0.0953177840048295,-0.0009457495275901918,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,-0.46754354027895834,1.9438243411232072,1.387476233767651,-0.2579408000100592,-1.0350753285273055,1.2251038189105201,1.6312548422581434,0.050648156731062044,0.2437786084904925,0.2437786084904925,0.3439576529706438,0,0,-1.7156193531124526e-05,-9.999999025923074e-05
+20102,1792844960346082381,23639785000000,1792844960340366315,DOWN_FORCE_DETACH,4,0.0706,0.07060020416975021,0.6759555467607966,-0.004945504494814866,0.10679795058402135,0.9999999269868595,-0.0002953845596511246,-0.00022118232103483283,-3.599280794785393e-05,0.6761,-0.0046,0.10697506509097858,1.0,0.0,0.0,0.0,-0.029769686383164906,-0.0352667659366801,-0.06113511994606424,-0.001879727063855141,0.0009038439100187007,3.7732732705707804e-05,1.1997989651399081,1.276344989518497,0.9092964977376912,0.09838167000385986,-0.09529511564426187,-0.0009507838263111671,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,-0.3310213342151254,1.9617821417746195,1.281493189247536,-0.26206452647138456,-0.9349850419438553,1.2372259697141268,1.6312548422581434,0.06113511994606424,0.34976165301060735,0.34976165301060735,0.4428076529706329,0,0,-4.435504473018626e-05,-9.999951841444527e-05
+20218,1792844961312176376,23640751000000,1792844961308375280,DOWN_FORCE_DETACH,4,0.0706,0.07060085982084274,0.6759580385776992,-0.004947265764191344,0.10679421922762439,0.9999999282054153,-0.0002967290573346298,-0.0002142657865578139,-3.277296631130246e-05,0.6761,-0.0046,0.10693664685730526,1.0,0.0,0.0,0.0,-0.03206186785138687,-0.0235812806255844,-0.06069583119638877,-0.0008979995651939021,0.0018967808996086105,6.426221781284745e-05,1.1975067836716862,1.2880304748295928,0.9097357864873666,0.0993633975025211,-0.09430217865467196,-0.0009242543412040275,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.1950592012528465,1.9416842138431256,0.9688133960524811,-0.25923031405355107,-0.5937979278732697,1.2189362898144644,1.6312548422581434,0.06069583119638877,0.6624414462056624,0.6624414462056624,0.587707652970617,0,0,-1.867529406532486e-05,9.999999025923074e-05
+20316,1792844962129107773,23641568000000,1792844962128374921,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6759579766378885,-0.0049422413272620855,0.1067886487475265,0.9999999301993253,-0.0002892081070645641,-0.0002154042398607145,-3.168426459262133e-05,0.6761,-0.0046,0.10693206035985592,1.0,0.0,0.0,0.0,-0.04673966959124054,-0.02185577405124306,-0.020762966248873416,-0.0009318215724460066,0.002896418600682571,4.545846564104185e-05,1.1828289819318325,1.289755981403934,0.949668651434882,0.099329575495269,-0.093302540953598,-0.0009430580933758331,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.2102377677363916,2.000984343341309,0.8586923361605653,-0.2768414285481139,-0.5151789239840899,1.2548203601282761,1.6312548422581434,0.020762966248873416,0.7725625060975781,0.7725625060975781,0.7102576529706035,0,0,-1.658648472319113e-06,1.6754024972920334e-05
+20434,1792844963112204271,23642551000000,1792844963108374772,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6759594563278457,-0.004943856059615954,0.10678757280854057,0.9999999294739377,-0.0002942685305203021,-0.0002117460545704475,-3.2628573954904654e-05,0.6761,-0.0046,0.10692295250824564,1.0,0.0,0.0,0.0,-0.05505146258491567,-0.037822475917068,-0.0013967262919710732,-0.0019070813391369318,0.002918833390952058,2.1526346815238214e-05,1.1745171889381574,1.2737892795381092,0.9690348913917843,0.09835431572857807,-0.09328012616332851,-0.0009669902122016367,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.21584709465088595,1.9375057344025153,0.8724361425283953,-0.2555505502619441,-0.5260936298540071,1.213728810820291,1.6312548422581434,0.0013967262919710732,0.7588186997297481,0.7588186997297481,0.8577076529705873,0,0,-2.1633950252090923e-05,-9.995630298321174e-05
+20527,1792844963887112017,23643326000000,1792844963884365757,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6760079602879051,-0.004953864349296022,0.10678458108302455,0.9999999484484046,-0.00029071330138828776,-9.943271580692906e-05,-1.2040064679347151e-05,0.6761,-0.0046,0.10689540741366366,1.0,0.0,0.0,0.0,-0.06969295987530288,-0.026080119401918456,0.07976855690620221,-4.210590261571889e-05,0.003877805580244406,-1.1832953524310973e-05,1.1598756916477702,1.2855316360532587,1.0502001745899576,0.10021929116509928,-0.09232115397403616,-0.001000349512541186,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.38639928812216295,1.8596684010645526,0.7143355680970122,-0.2177103943188162,-0.39163480855136756,1.1629089722205603,1.6312548422581434,-0.07976855690620221,0.9169192741611313,0.9169192741611313,0.9739576529705745,0,0,-4.7470154081212475e-05,-9.97459573534087e-05
+20617,1792844964637227405,23644076000000,1792844964632365662,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6759986148046421,-0.00494772706318927,0.1067571647608991,0.999999947721856,-0.00028558476960417013,-0.00011969154895465611,-1.069680049612485e-05,0.6761,-0.0046,0.10685330188647534,1.0,0.0,0.0,0.0,-0.16596401261885307,0.01744375184739755,0.19105969314327964,0.002856299882128946,0.011895511407366846,0.0010749980580338529,1.06360463890422,1.3290555073025747,1.161491310827035,0.10311769694984395,-0.08430344814691372,8.648149901697787e-05,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.49715376392588756,1.8873845132030787,0.5674164529527459,-0.2181688357976444,-0.28204155012847226,1.1772154282687608,1.6312548422581434,-0.19105969314327964,1.0638383893053975,1.0638383893053975,1.086457652970626,0,0,-5.2789165751161764e-05,8.878232457399377e-05
+20733,1792844965604243597,23645043000000,1792844965600365335,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6760004558267839,-0.004948280732514041,0.10673804129363788,0.9999999494815289,-0.0002785391956101665,-0.00012200338159215564,-3.3007571976932582e-06,0.6761,-0.0046,0.10681725091267102,1.0,0.0,0.0,0.0,-0.17495495650519866,-0.0008026965902068195,0.3504671341089126,0.0018031395324789867,0.011879856303972258,0.0009330611338848461,1.0546136950178744,1.3108090588649703,1.320898751792668,0.10206453660019399,-0.08431910325030831,-5.545542513202884e-05,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.43457347531294455,1.8536271330509793,0.382970950413024,-0.183287760419217,-0.1795271271546835,1.1498513582964902,1.6312548422581434,-0.3504671341089126,1.2482838918451193,1.2482838918451193,1.2315076529707174,0,0,-2.1464218920271054e-05,9.999999025923074e-05
+20851,1792844966587263277,23646026000000,1792844966584366701,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6759993550196668,-0.004948994268625145,0.10672803515619199,0.9999999485639602,-0.0002797828963780942,-0.00012663103270813483,-1.0262441641195065e-06,0.6761,-0.0046,0.106803384810177,1.0,0.0,0.0,0.0,-0.17486256404961664,-0.009086995508789109,0.4113955109119253,0.001588799291132495,0.011227666021127541,0.0008639690634173912,1.0547060874734564,1.302524759946388,1.3818271285956807,0.1018501963588475,-0.08497129353315303,-0.0001245474955994838,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.44971215408397597,1.8071019440577099,0.2796972887573939,-0.17270557296666117,-0.10803713703503903,1.1144357386449129,1.6312548422581434,-0.4113955109119253,1.3515575535007496,1.3515575535007496,1.3789576529708103,0,0,-1.7349284019167695e-05,-9.375001749767903e-05
+20955,1792844967454238119,23646893000000,1792844967452365400,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6759979441194862,-0.004950469885941068,0.10671202124354744,0.9999999484274092,-0.000278820996118044,-0.0001297914829850387,1.0323143356831607e-06,0.6761,-0.0046,0.10677589258524342,1.0,0.0,0.0,0.0,-0.18280182971541414,-0.017867362816141208,0.5013002917997581,0.0008341645198480102,0.011819496467284557,0.0007989351819977952,1.046766821807659,1.293744392639036,1.4717319094835135,0.10109556158756301,-0.08437946308699601,-0.00018958137701907975,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.510137527657996,1.7855620606137799,0.1971109381360144,-0.15488678195320413,-0.036061911648253876,1.1023697345513157,1.6312548422581434,-0.5013002917997581,1.434143904122129,1.434143904122129,1.5090076529708922,0,0,-4.650535388314581e-05,-9.999999025923074e-05
+21061,1792844968337278810,23647776000000,1792844968336365184,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6760037845758788,-0.004951184827187801,0.10669219777634405,0.9999999503470891,-0.0002755699216365365,-0.00012146512431176081,7.491668841399579e-06,0.6761,-0.0046,0.10673902964994413,1.0,0.0,0.0,0.0,-0.19594882192824548,-0.025963952754072706,0.6617119083993209,0.0006939299528745946,0.012848571545836032,0.0006840082875180938,1.0336198295948276,1.2856478027011045,1.6321435260830763,0.1009553270205896,-0.08335038800844453,-0.0003045082714987811,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.48288884140980776,1.7719190581734816,-0.005812397217610953,-0.13768153064111616,0.0810852344385021,1.086240208860673,1.6312548422581434,-0.6617119083993209,1.6370672394757544,1.6370672394757544,1.6414576529709757,0,0,-3.1600528087290296e-05,9.875863601760954e-05
+21165,1792844969204295556,23648643000000,1792844969200365665,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6760114325783322,-0.004953903724062945,0.10667466857272533,0.9999999524118928,-0.0002754504036509524,-0.00010253021554096302,1.528745471932239e-05,0.6761,-0.0046,0.10670885405531826,1.0,0.0,0.0,0.0,-0.2502262756568072,-0.026251072747329962,0.7321025956759616,0.0016578354669017914,0.01585300373826698,0.0006838747704123905,0.9793423758662658,1.2853606827078472,1.702534213359717,0.1019192325346168,-0.08034595581601359,-0.00030464178860448453,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.5772976564651042,1.7737043777960209,0.006833617128536141,-0.11652784568292313,0.08988573430939882,1.087832839640536,1.6312548422581434,-0.7321025956759616,1.6244212251296073,1.6244212251296073,1.7715076529710576,0,0,-4.117594874372544e-05,-9.999999025923074e-05
+21270,1792844970079235788,23649518000000,1792844970076365912,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6760253493973387,-0.004956070138325367,0.10666028368648917,0.9999999560138179,-0.0002714630073876934,-7.169940897431644e-05,2.4129994444527957e-05,0.6761,-0.0046,0.10666813012329807,1.0,0.0,0.0,0.0,-0.2805557644019314,-0.007573538565737392,0.8526541601033363,0.003545873129900387,0.018787468239808647,0.0016744354086871002,0.9490128871211416,1.3040382168894398,1.8230857777870917,0.10380727019761539,-0.07741149131447192,0.0006859188496702252,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.683201659532688,1.7206182249499788,-0.27764749733083793,-0.09693478366599989,0.29268039007115304,1.0468327671800564,1.6312548422581434,-0.8526541601033363,1.9089023395889813,1.9089023395889813,1.9027576529711403,0,0,-5.228135789983745e-05,7.500030737984104e-05
+21389,1792844971071334365,23650510000000,1792844971064365914,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.676033474225066,-0.004955420084654286,0.10663781345226092,0.9999999580282722,-0.00026664346391376016,-5.730016215468966e-05,3.169025392907434e-05,0.6761,-0.0046,0.10662396692840291,1.0,0.0,0.0,0.0,-0.30001169417603846,-0.012901370988446015,0.9938041025561563,0.0034900531710564814,0.01980983258022255,0.0015746066816655175,0.9295569573470346,1.2987103844667311,1.9642357202399117,0.10375145023877148,-0.07638912697405802,0.0005860901226486425,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.6371725386982604,1.7298894168137517,-0.3990512635480899,-0.08202981629874219,0.35620552779481224,1.0491092687350088,1.6312548422581434,-0.9938041025561563,2.0303061058062335,2.0303061058062335,2.051557652971234,0,0,-3.866095317908857e-05,9.990538537974487e-05
+21497,1792844971971342781,23651410000000,1792844971964365975,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6760353340255205,-0.004957263949600808,0.10661686212041611,0.9999999587528441,-0.00026391431940452683,-5.233253224040033e-05,3.934097225808548e-05,0.6761,-0.0046,0.10658919654142927,1.0,0.0,0.0,0.0,-0.32187232937367427,-0.010430785740791038,1.0638993985327359,0.0034393075516703786,0.02114956791885425,0.0015344806015919294,0.9076963221493988,1.3011809697143861,2.034331016216491,0.10370070461938538,-0.07504939163542632,0.0005459640425750546,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7093920822714489,1.7351374787775407,-0.6125061326232313,-0.07487957980479655,0.5083492972382999,1.0511510663727,1.6312548422581434,-1.0638993985327359,2.2437609748813747,2.2437609748813747,2.186557652971319,0,0,-4.452979665972722e-05,9.999389791038311e-05
+21598,1792844972812324433,23652251000000,1792844972808365325,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6760467946080576,-0.004957901958612,0.10660012996498273,0.9999999612443701,-0.0002565558581064733,-3.1855976975217386e-05,4.602619574056813e-05,0.6761,-0.0046,0.10654428161527355,1.0,0.0,0.0,0.0,-0.3475100234485522,-0.0032027446019686767,1.1745367706246084,0.004392450004636658,0.022792308369352823,0.0014814600785475352,0.8820586280745208,1.3084090108532085,2.1449683883083637,0.10465384707235166,-0.07340665118492774,0.0004929435195306602,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7958567423214314,1.6688360449456652,-0.6534780500711405,-0.04123535428434853,0.5536971259412693,1.0041706855985697,1.6312548422581434,-1.1745367706246084,2.284732892329284,2.284732892329284,2.3127076529713984,0,0,-5.7152485456708806e-05,9.375000361989123e-05
+21658,1792844973312359853,23652751000000,1792844973308365228,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.676080302699635,-0.0049523782431484566,0.10659414740033564,0.9999999631251159,-0.00024965848632864965,-3.0800514436432035e-06,5.342082198085732e-05,0.6761,-0.0046,0.1065129610539562,1.0,0.0,0.0,0.0,-0.43707063255082845,0.1009479679205596,1.1506110756251866,0.012005894131113207,0.02948168756085709,0.0027198789575727344,0.7924980189722446,1.4125597233757368,2.121042693308942,0.11226729119882821,-0.06671727199342348,0.0017313623985558595,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.8818030764661327,1.6634534932507021,-0.5762511660004149,-0.025243754641519844,0.49930806454068094,1.0060703783309917,1.6312548422581434,-1.1506110756251866,2.2075060082585582,2.2075060082585582,2.3877076529714456,0,0,-7.09255791972715e-05,-9.999999025923074e-05
+21761,1792844974171312120,23653610000000,1792844974168365427,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6760901021618002,-0.00495698664857268,0.10655241013860306,0.9999999637892859,-0.00024297752211980804,1.8171634742152366e-05,6.705226536858e-05,0.6761,-0.0046,0.1064417619547734,1.0,0.0,0.0,0.0,-0.47284152132094637,0.09249734983334901,1.3764118187527639,0.011483007449565985,0.03209406986570343,0.002567455891639459,0.7567271302021267,1.4041091052885262,2.346843436436519,0.11174440451728099,-0.06410488968857714,0.0015789393326225843,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.0556519022546351,1.6766140089704615,-0.8828311199447664,-0.0228380185141231,0.7422341809280133,1.0109072061402098,1.6312548422581434,-1.3764118187527639,2.51408596220291,2.51408596220291,2.516557652971527,0,0,-8.07305048547161e-05,9.863391633858071e-05
+21843,1792844974854391683,23654293000000,1792844974852365471,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6760995905283289,-0.004963842493741734,0.10652213437115636,0.9999999631009463,-0.0002406921690842066,3.710328668605211e-05,7.701685580201662e-05,0.6761,-0.0046,0.1063968496386547,1.0,0.0,0.0,0.0,-0.4480022771998561,0.1126424967440609,1.4881021318518646,0.013212475856446124,0.03172094175994952,0.0024878495242901238,0.781566374323217,1.424254252199238,2.45853374953562,0.11347387292416113,-0.06447801779433104,0.0014993329652732486,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.10515974688045,1.5909589747080108,-1.0091007024915941,0.012460111900794804,0.8373311059636698,0.9573413431872054,1.6312548422581434,-1.4881021318518646,2.6403555447497373,2.6403555447497373,2.6190076529715913,0,0,-5.363352513912544e-05,9.999999025923074e-05
+21924,1792844975529299985,23654968000000,1792844975524365972,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6761036281305371,-0.0049605277105899525,0.10650031658169633,0.9999999640187093,-0.00023369077519981533,4.504665763904475e-05,8.224879553036206e-05,0.6761,-0.0046,0.10636516487044059,1.0,0.0,0.0,0.0,-0.4418524205802279,0.10485579851671778,1.518053927470644,0.011435795249702133,0.031193509431926003,0.0024296514995335566,0.7877162309428452,1.416467553971895,2.4884855451543992,0.11169719231741713,-0.06500545012235456,0.0014411349405166816,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.0560249153436172,1.6538293475357169,-1.0573399620400563,-0.010783067775696488,0.8574107994016653,0.9969023590789272,1.6312548422581434,-1.518053927470644,2.6885948042981997,2.6885948042981997,2.720257652971655,0,0,-4.4805473224636454e-05,3.248438604075972e-05
+22020,1792844976329427239,23655768000000,1792844976328365221,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6761052819793584,-0.004965328636873863,0.10646778994438873,0.9999999628762734,-0.0002349240576464651,4.82736579560522e-05,9.039168641956901e-05,0.6761,-0.0046,0.10632236131305227,1.0,0.0,0.0,0.0,-0.4449040088366115,0.06111173784535806,1.5570187536922364,0.00813243338847025,0.032753246078168735,0.002257529085586263,0.7846646426864615,1.3727234933005352,2.5274503713759917,0.10839383045618525,-0.06344571347611183,0.0012690125265693885,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.9891002592111213,1.6436611837282826,-1.095419029702041,0.003504155455328829,0.8643296101648854,0.9904864132101512,1.6312548422581434,-1.5570187536922364,2.7266738719601844,2.7266738719601844,2.8402576529717307,0,0,-6.592672096713959e-05,-9.999999025923074e-05
+22126,1792844977212330073,23656651000000,1792844977208365445,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.676114920977606,-0.004970172666873907,0.10642117361089949,0.9999999614601246,-0.00023188173608431633,6.432476655460011e-05,0.00010303299595053789,0.6761,-0.0046,0.10625090519634357,1.0,0.0,0.0,0.0,-0.4391924871958838,0.0531051998105756,1.6952941778286954,0.007093491096098525,0.032749982664238966,0.001241529967013901,0.7903761643271893,1.3647169552657528,2.6657257955124507,0.10735488816381353,-0.0634489768900416,0.00025301340799702593,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.119624582524425,1.6493468150197972,-1.3041689822157547,0.002239221734805464,1.0375398828416813,0.9909283382633596,1.6312548422581434,-1.6952941778286954,2.935423824473898,2.935423824473898,2.972707652971814,0,0,-9.170423650031877e-05,9.997306735088358e-05
+22217,1792844977971339851,23657410000000,1792844977968365205,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6761291494789482,-0.004978313463344009,0.10636938919223185,0.9999999574129553,-0.00023536824304250568,8.769859021941398e-05,0.00011630863738817413,0.6761,-0.0046,0.10618067713998154,1.0,0.0,0.0,0.0,-0.45938217791635383,0.07098771745584664,1.807332074312101,0.007949994675765085,0.0347383069433514,0.0011909635685198496,0.7701864736067192,1.3825994729110238,2.7777636919958564,0.10821139174348009,-0.061460652610929166,0.00020244700950297468,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.086454135932655,1.632026471583047,-1.338807979313726,0.002380701046816907,1.0468342654886333,0.9779535726911516,1.6312548422581434,-1.807332074312101,2.9700628215718696,2.9700628215718696,3.086557652971886,0,0,-9.157178770399644e-05,-9.84667722622234e-05
+22319,1792844978821359125,23658260000000,1792844978820365537,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6761369399333035,-0.004979751418865694,0.1063074016306352,0.9999999550681326,-0.00023554842470505043,0.0001006593707260809,0.000125264630866238,0.6761,-0.0046,0.10610375408454666,1.0,0.0,0.0,0.0,-0.4609662420880045,0.051969858631129684,1.9168537302707902,0.005960335791315441,0.035683869370355045,0.001095255254105526,0.7686024094350685,1.3635816140863068,2.8872853479545455,0.10622173285903044,-0.06051509018392552,0.000106738695088651,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1566731350656334,1.6071069767544715,-1.478369994540134,0.012019536545967359,1.1580421201097237,0.9628236986138363,1.6312548422581434,-1.9168537302707902,3.1096248367982775,3.1096248367982775,3.214057652971966,0,0,-8.876978661451063e-05,-9.86511109176746e-05
+22411,1792844979587465727,23659026000000,1792844979584365613,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6761473534720098,-0.004985473297800371,0.10625672664313633,0.9999999510244411,-0.00024240719260542825,0.00011571185585557432,0.00013131450378012091,0.6761,-0.0046,0.10603448676720231,1.0,0.0,0.0,0.0,-0.44459415789352574,0.03654339216877189,1.9862463222731863,0.003915868676850523,0.03477476436909665,0.0010024804631298659,0.7849744936295473,1.348155147623949,2.9566779399569416,0.10417726574456553,-0.06142419518518392,1.3963904112990957e-05,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1826849571199216,1.629896575343645,-1.56994827468018,0.005848980470119792,1.2258877965732864,0.9812281898621065,1.6312548422581434,-1.9862463222731863,3.2012031169383235,3.2012031169383235,3.3289576529720386,0,0,-9.577996237383613e-05,-9.999989311471608e-05
+22507,1792844980387446140,23659826000000,1792844980384365192,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.676152871221489,-0.00498913603513745,0.10618788945922479,0.9999999463872363,-0.0002539618924576228,0.0001274891505500732,0.0001338591125170735,0.6761,-0.0046,0.10595315887768893,1.0,0.0,0.0,0.0,-0.4262690733684923,0.03603722857046088,2.0649977151435976,0.0028776186538143206,0.03477556189155341,0.0009254028575779022,0.8032995781545808,1.347648984025638,3.035429332827353,0.10313901572152932,-0.061423397662727156,-6.31137014389727e-05,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1677487484659113,1.6648630264987183,-1.6939670850010256,0.0002114848872261362,1.3026355151928226,1.0023050888510023,1.6312548422581434,-2.0649977151435976,3.325221927259169,3.325221927259169,3.448957652972114,0,0,-0.0001067208673891359,-9.999695102370083e-05
+22596,1792844981129500231,23660568000000,1792844981128365695,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6761680655423299,-0.004991447136022025,0.10612612885581295,0.9999999411061651,-0.0002572239056565152,0.000152407813200493,0.00014084832619310522,0.6761,-0.0046,0.10587102167490159,1.0,0.0,0.0,0.0,-0.4336565743075663,0.013770704804920264,2.156180954380492,0.0008354804913733305,0.03566816351372156,0.001867872089722469,0.7959120772155067,1.3253824602600974,3.1266125720642473,0.10109687755908833,-0.060530796040559005,0.0008793555307055942,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1966610183393191,1.6315744471599787,-1.8070400347043236,0.007348777848582396,1.3854637446071572,0.9800926216544676,1.6312548422581434,-2.156180954380492,3.438294876962467,3.438294876962467,3.5602576529721843,0,0,-0.00011425297588160544,-7.330097226277416e-05
+22696,1792844981962480848,23661401000000,1792844981960365667,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6761776138010542,-0.0049945964635142275,0.10604237451254216,0.9999999361859115,-0.00026358411081629915,0.00016515872590891305,0.00014938891726023123,0.6761,-0.0046,0.1057683470671296,1.0,0.0,0.0,0.0,-0.4121149728348935,-0.007955159989990745,2.2657475464450036,-0.0018133426401865521,0.03480816121356583,0.001739452781847103,0.8174536786881795,1.3036565954651864,3.236179164128759,0.09844805442752845,-0.06139079834071474,0.000750936222830228,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.2192722164840621,1.4866704851485173,-1.9106898424935712,0.05721433833434994,1.464557807889095,0.885671422478383,1.6312548422581434,-2.2657475464450036,3.541944684751715,3.541944684751715,3.685207652972263,0,0,-0.0001231902940587989,-7.500125106941197e-05
+22785,1792844982704521050,23662143000000,1792844982700365738,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6761896897403447,-0.004995743453278265,0.1059666670308597,0.999999930468491,-0.000267879776913364,0.0001867998848292537,0.00015444126744969762,0.6761,-0.0046,0.10567212499571847,1.0,0.0,0.0,0.0,-0.4044546112474311,-0.035833896550708344,2.2991506203081418,-0.003300822088060859,0.03483776378951653,0.0017012326150473893,0.825114040275642,1.2757778589044688,3.269582237991897,0.09696057497965414,-0.06136119576476404,0.0007127160560305144,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1657490188074167,1.714547047445949,-1.960322304785231,-0.014820294120711225,1.4793612527297544,1.0329531095033926,1.6312548422581434,-2.2991506203081418,3.5915771470433744,3.5915771470433744,3.796507652972333,0,0,-0.00013788664117028582,-9.999863023602557e-05
+22873,1792844983437446581,23662876000000,1792844983432365478,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6762013207113344,-0.0049974398777744115,0.10588254220686484,0.9999999207509925,-0.00029607739664474836,0.00020540721666596393,0.00014172834207490205,0.6761,-0.0046,0.1055634115318726,1.0,0.0,0.0,0.0,-0.36684970143070406,-0.04139179627960332,2.4016436377208676,-0.00428616079388508,0.03280709913062907,0.0015800354742254857,0.862718950092369,1.2702199591755738,3.372075255404623,0.09597523627382992,-0.0633918604236515,0.0005915189152086107,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1605007827126117,1.61506298422823,-2.1203274442769104,0.03604424252029427,1.5827967479178775,0.9710710927838957,1.6312548422581434,-2.4016436377208676,3.751582286535054,3.751582286535054,3.9064576529724024,0,0,-0.0001575633532910611,-9.999999025923074e-05
+22966,1792844984212452366,23663651000000,1792844984208365053,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762149476818471,-0.005003736779637707,0.10577718526854811,0.9999999139147172,-0.0002988276680818055,0.00022633654439118968,0.00015194477746532201,0.6761,-0.0046,0.10543983364795174,1.0,0.0,0.0,0.0,-0.3585456156284823,-0.07690813990363954,2.483707514561182,-0.007337567734389316,0.03183498397664572,0.0014644779912442512,0.8710230358945907,1.2347036155515376,3.4541391322449373,0.09292382933332569,-0.06436397557763485,0.0004759614322273764,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.2176962194135803,1.559575717934599,-2.1573934266762578,0.048107169344530264,1.6298392132029387,0.9326619886261259,1.6312548422581434,-2.483707514561182,3.788648268934401,3.788648268934401,4.022707652972408,0,0,-0.0001600677871319275,-9.995502622673342e-05
+23048,1792844984896562305,23664335000000,1792844984892365183,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762245863323573,-0.005009470437157807,0.10568075392404931,0.9999999095716983,-0.0002938616414186458,0.00024075766207935323,0.00016727385617915718,0.6761,-0.0046,0.10532817031162954,1.0,0.0,0.0,0.0,-0.34502860227462584,-0.12421482904903969,2.5730105754145507,-0.010392250789062571,0.030865000709310836,0.0013437263764857995,0.8845400492484472,1.1873969264061375,3.543442193098306,0.08986914627865243,-0.06533395884496973,0.00035520981746892447,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1943172863499587,1.5270614952429207,-2.344682560628821,0.06228451913341859,1.7491223525879092,0.9146405549870065,1.6312548422581434,-2.5730105754145507,3.9759374028869643,3.9759374028869643,4.125307652972169,0,0,-0.00016657753151435995,-1.7231836817127546e-05
+23133,1792844985605575187,23665043000000,1792844985604365648,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762361460630527,-0.005006525209386268,0.10558101619393197,0.9999999459241062,-4.3912177216404985e-05,0.00026110228867126943,0.0001717322467752118,0.6761,-0.0046,0.10520783742501885,1.0,0.0,0.0,0.0,-0.3241799848565935,-0.1717283688683251,2.6121713398021678,-0.014446388943128288,0.029918105465976882,0.0012527803774907526,0.9053886666664795,1.139883386586852,3.582602957485923,0.08581500812458671,-0.06628085408830368,0.00026426381847387764,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.2413671694664852,1.7243044148180542,-2.4410320169884914,-0.027545855769598827,1.8357389777057977,0.9895794880222201,1.6312548422581434,-2.6121713398021678,4.072286859246635,4.072286859246635,4.2315076529719216,0,0,-0.00017904831089573937,-8.173940277267917e-05
+23219,1792844986321584714,23665760000000,1792844986320365085,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762469009287716,-0.005009569153289861,0.10546434681710419,0.9999999393332709,-8.985926018916823e-05,0.0002807561063550122,0.00016086528797680473,0.6761,-0.0046,0.10507076753537557,1.0,0.0,0.0,0.0,-0.2769935088582147,-0.18219950865559764,2.7022735214302402,-0.01541359727355969,0.02688845402308264,0.0011272166783836408,0.9525751426648583,1.1294122467995795,3.6727051391139955,0.08484779979415531,-0.06931050553119793,0.00013870011936676583,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1217727176498358,1.5742537676042578,-2.4031456684411263,0.058119248381034494,1.7774350737935507,0.9197139981552853,1.6312548422581434,-2.7022735214302402,4.034400510699269,4.034400510699269,4.339057652971671,0,0,-0.00019911044665396472,-9.995284741404759e-05
+23298,1792844986979560667,23666418000000,1792844986976365851,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762607467003366,-0.005009078470784533,0.10534943619408439,0.9999999295315499,-0.00014489430743087097,0.00030422589936996124,0.00013722973995783044,0.6761,-0.0046,0.1049371899446642,1.0,0.0,0.0,0.0,-0.23324133479749865,-0.2009630597344385,2.75652265359629,-0.016796687698044196,0.02464518066159757,0.002057056982308485,0.9963273167255744,1.1106486957207387,3.726954271280045,0.0834647093696708,-0.071553778892683,0.0010685404232916099,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.176814545281001,1.5646656000095585,-2.594879640802509,0.09980997610562212,1.91530290940895,0.9486664185141225,1.6312548422581434,-2.75652265359629,4.226134483060653,4.226134483060653,4.437757652971441,0,0,-0.00020918422218993283,-9.999999025923074e-05
+23377,1792844987637508038,23667076000000,1792844987632365817,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762728558017901,-0.005008891969140745,0.10522442686028588,0.9999999211812992,-0.0001554012383781937,0.00032053719860460794,0.00014895173386997814,0.6761,-0.0046,0.10479700558839261,1.0,0.0,0.0,0.0,-0.23154489032429315,-0.2536298543569675,2.8114627708626667,-0.02148331752582941,0.02438392037361685,0.001967924581747286,0.9980237611987799,1.0579819010982097,3.781894388546422,0.07877807954188559,-0.07181503918066372,0.0009794080227304108,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.2110594757386948,1.525546115561909,-2.7607327776188337,0.12722650326551754,2.0376536502143727,0.9399307431963402,1.6312548422581434,-2.8114627708626667,4.391987619876977,4.391987619876977,4.536457652971211,0,0,-0.00021576690462513237,9.998779168374767e-05
+23449,1792844988237619975,23667676000000,1792844988232365942,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6762847871965482,-0.005019757642653155,0.10510872438846952,0.9999999115790372,-0.00016507567397968455,0.0003372242036915026,0.00016527141402987919,0.6761,-0.0046,0.10466219743708925,1.0,0.0,0.0,0.0,-0.20596846216431297,-0.31084050686028264,2.8863978008193154,-0.024794600282482468,0.022149633760964613,0.001831631530835303,1.02360018935876,1.0007712485948945,3.8568294185030707,0.07546679678523253,-0.07404932579331595,0.0008431149718184282,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1213029055121966,1.4643995943241195,-2.859013136173555,0.1583338050369597,2.082563282199208,0.9019816145448661,1.6312548422581434,-2.8863978008193154,4.490267978431699,4.490267978431699,4.626457652971001,0,0,-0.0002312919379118553,9.999999025923074e-05
+23516,1792844988797564301,23668235000000,1792844988796365503,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6762918502639054,-0.005018172947408693,0.10498649938101327,0.9999999049790462,-0.00016603744120958022,0.00035067693031580574,0.00017590344348235903,0.6761,-0.0046,0.10452832420103245,1.0,0.0,0.0,0.0,-0.10231830054385305,-0.27902928506701086,2.926822278550873,-0.024703543332934647,0.016444516168650045,0.0017245726872912575,1.12725035097922,1.0325824703881663,3.8972538962346284,0.07555785373478036,-0.07975444338563052,0.0007360561282743827,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.1405993122064613,1.4583900343047778,-2.9139456973609734,0.17483139555557295,2.133574969531303,0.903446169867154,1.6312548422581434,-2.926822278550873,4.545200539619117,4.545200539619117,4.710307652970806,0,0,-0.00024787013474106425,9.973572942379433e-05
+23571,1792844989254610345,23668693000000,1792844989252365957,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763002498007966,-0.005018654263670085,0.10488443386388732,0.9999998949919107,-0.00019238905161965167,0.00036877277772744946,0.00016867757107159003,0.6761,-0.0046,0.10441162009762016,1.0,0.0,0.0,0.0,-0.16277954313719567,-0.3869834571619626,2.9761244887099987,-0.031878508786807785,0.019368961962171194,0.002649709308790256,1.0667891083858774,0.9246282982932146,3.946556106393754,0.06838288828090722,-0.07682999759210937,0.001661192749773381,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.100760387190584,1.4353162918709954,-2.9801001134314875,0.19746246175611706,2.1677116121252893,0.8850886270058795,1.6312548422581434,-2.9761244887099987,4.611354955689631,4.611354955689631,4.779007652970646,0,0,-0.00026142250788144396,9.148892340793963e-05
+23636,1792844989796599673,23669235000000,1792844989796365029,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763081384131713,-0.005012580336517882,0.10474975329706473,0.9999998876282324,-0.00020857709518177546,0.00038225333862169203,0.0001629857879033966,0.6761,-0.0046,0.10426518406656679,1.0,0.0,0.0,0.0,-0.11756654076215889,-0.4241276223601923,3.0252823273064453,-0.034564558095236605,0.016937637109242232,0.002562286173131159,1.1120021107609142,0.8874841330949849,3.9957139449902006,0.0656968389724784,-0.07926132244503833,0.001573769614114284,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.0888970329945098,1.485190687331856,-3.012205531486629,0.18971124469409154,2.1959213255937358,0.9181931637282303,1.6312548422581434,-3.0252823273064453,4.643460373744773,4.643460373744773,4.860307652970456,0,0,-0.00027923316742587003,9.269785913724177e-05
+23699,1792844990321653845,23669760000000,1792844990316365717,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763200104081082,-0.005019902961818502,0.10461941255865112,0.9999998755751323,-0.00022335896813302703,0.00040320213219389235,0.00016682744388841477,0.6761,-0.0046,0.10411237006825756,1.0,0.0,0.0,0.0,-0.09688571922093003,-0.45060006162118016,3.0620687350713256,-0.03658687556289289,0.01503594014898793,0.002483233137097942,1.132682932302143,0.861011693833997,4.032500352755081,0.06367452150482211,-0.08116301940529264,0.0014947165780810673,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.0120964786758988,1.490067564744556,-2.9182804306344283,0.20005344288152918,2.120374631520751,0.9132045129980148,1.6312548422581434,-3.0620687350713256,4.549535272892571,4.549535272892571,4.9390576529702725,0,0,-0.0003025931620506946,-9.999999025923074e-05
+23764,1792844990862568448,23670301000000,1792844990860366381,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763287316387493,-0.005024094427994284,0.10446410223909107,0.999999884848158,-0.0001338372066122373,0.00042055031050097335,0.0001642302448753821,0.6761,-0.0046,0.103943097834371,1.0,0.0,0.0,0.0,-0.04237644269566698,-0.48251171976511165,3.095069795151491,-0.039612029501190846,0.012274217810538945,0.002386908792408813,1.187192208827406,0.8291000356900655,4.065501412835246,0.06064936756652416,-0.08392474174374162,0.0013983922333919384,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,1.0441884783476785,1.564671714164213,-3.029359986702629,0.158874836325391,2.2095063025986788,0.919357717549533,1.6312548422581434,-3.095069795151491,4.660614828960773,4.660614828960773,5.020207652970083,0,0,-0.0003241539577828175,-9.999999025923074e-05
+23826,1792844991379673668,23670818000000,1792844991376365867,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763354952291687,-0.005028746193788513,0.10429864040207375,0.9999998729530531,-0.00016313948429198255,0.00043393158709022456,0.00017500179511554671,0.6761,-0.0046,0.1037695041856646,1.0,0.0,0.0,0.0,-0.037164040625402794,-0.5452682645030442,3.146687070823188,-0.043675073747828,0.011104306488971372,0.0023020067233291423,1.1924046108976702,0.7663434909521329,4.1171186885069435,0.056586323319887,-0.0850946530653092,0.0013134901643122674,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.9693307062653141,1.3816702150663709,-3.0918490214481325,0.24465529761225738,2.2360228697562583,0.8429358545346212,1.6312548422581434,-3.146687070823188,4.723103863706276,4.723103863706276,5.097757652969903,0,0,-0.0003480783390783212,-9.999999025923074e-05
+23890,1792844991912581537,23671351000000,1792844991908365428,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.676341364862221,-0.005030888392706655,0.10412289984071398,0.9999998635378475,-0.00019037979300436228,0.0004440189794924161,0.00017598247280372297,0.6761,-0.0046,0.10357873583264038,1.0,0.0,0.0,0.0,0.01116292123929119,-0.6085689463131373,3.184382801764621,-0.048715643983476414,0.008158713265386808,0.002810887315960665,1.2407315727623642,0.7030428091420399,4.1548144194483765,0.05154575308423859,-0.08804024628889376,0.00182237075694379,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.9100890438961476,1.3691817920552252,-3.1717028584464333,0.2715205609507298,2.281707949636542,0.8414696276183289,1.6312548422581434,-3.184382801764621,4.802957700704576,4.802957700704576,5.177707652969716,0,0,-0.0003695481633578509,-9.999999025923074e-05
+23944,1792844992362688912,23671801000000,1792844992360365433,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763567346862345,-0.005031754771481914,0.1039551726119723,0.9999998516615657,-0.00021774500171460424,0.00045851389403788227,0.00017456183368278898,0.6761,-0.0046,0.10340802796013672,1.0,0.0,0.0,0.0,0.013462754639878893,-0.6118629245547423,3.2515498506110587,-0.04872957914794448,0.0081351591844879,0.003120789035888291,1.243031406162952,0.6997488309004348,4.221981468294814,0.051531817919770524,-0.08806380036979267,0.002132272476871416,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.9657705036530096,1.4207379709301244,-3.26585441148686,0.2711264009934641,2.361019910881033,0.8738970929613952,1.6312548422581434,-3.2515498506110587,4.897109253745004,4.897109253745004,5.245207652969559,0,0,-0.00038923954536892867,-9.999999025923074e-05
+23999,1792844992821598427,23672260000000,1792844992820365503,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763612318836657,-0.005034381823838344,0.10377796954059867,0.9999998435682945,-0.00022826880327235548,0.0004669062940870624,0.00018492732768477375,0.6761,-0.0046,0.10322458892498308,1.0,0.0,0.0,0.0,0.052244698983163085,-0.6692857643496588,3.2707588982867852,-0.053734158446742064,0.0062000917029863545,0.0030178540162249558,1.2818133505062361,0.6423259911055184,4.2411905159705405,0.04652723862097294,-0.08999886785129421,0.002029337457208081,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.9173418143634863,1.4041947100501757,-3.2177390331668976,0.29262868841999384,2.3285381906222162,0.8656254250875907,1.6312548422581434,-3.2707588982867852,4.848993875425041,4.848993875425041,5.314057652969399,0,0,-0.0004110929722703479,-9.999999025923074e-05
+24051,1792844993254666115,23672693000000,1792844993248365420,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763666456210038,-0.005028510983291761,0.10360710659147233,0.9999998550857404,-0.00014315637999109496,0.00047719052482739113,0.00018184283374473697,0.6761,-0.0046,0.10304190926890527,1.0,0.0,0.0,0.0,0.11876657617397957,-0.6831138370198648,3.252051832296104,-0.054654945207926346,0.0007873281489681055,0.002948858010735276,1.3483352276970526,0.6284979184353123,4.222483449979859,0.045606451859788656,-0.09541163140531246,0.001960341451718401,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.8731452956604816,1.5567558925835385,-3.225331375993815,0.23954027686356752,2.3338172546792446,0.9392305388465072,1.6312548422581434,-3.252051832296104,4.856586218251959,4.856586218251959,5.379007652969247,0,0,-0.0004327429680525948,-9.999999025923074e-05
+24098,1792844993646659424,23673085000000,1792844993644367145,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763667087678592,-0.005023008651216639,0.10343581172097797,0.9999998505044367,-0.00015932226175525567,0.0004783553537702292,0.00019033271106366913,0.6761,-0.0046,0.10286844562102815,1.0,0.0,0.0,0.0,0.1867156886867487,-0.7317590056947875,3.295339702492625,-0.05848232243742802,-0.003836332526618705,0.0028064747811653162,1.4162843402098217,0.5798527497603897,4.2657713201763805,0.04177907463028698,-0.10003529208089927,0.0018179582221484415,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.8150236391460034,1.4406768415269247,-3.216806246902069,0.3069889151094135,2.3261447949428966,0.8875871262571472,1.6312548422581434,-3.295339702492625,4.848061089160213,4.848061089160213,5.43780765296911,0,0,-0.00045222994658341973,-9.999999025923074e-05
+24143,1792844994021686354,23673460000000,1792844994016365372,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763664837301849,-0.005025550088651489,0.10326386289888044,0.9999998437119686,-0.0001791452101340087,0.00048296429365988797,0.0001966504187240301,0.6761,-0.0046,0.10269535314174609,1.0,0.0,0.0,0.0,0.21809083214106684,-0.7818741028738648,3.3058499205310614,-0.06163939969350231,-0.005803340716888233,0.0027265854580515335,1.4476594836641399,0.5297376525813123,4.276281538214817,0.038621997374212694,-0.1020023002711688,0.0017380688990346585,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7321585713506374,1.4887472563738686,-3.145155014773328,0.30503970567759914,2.265606505914025,0.9229356544432643,1.6312548422581434,-3.3058499205310614,4.776409857031471,4.776409857031471,5.494057652968979,0,0,-0.00047097994293063126,-9.999999025923074e-05
+24188,1792844994396657691,23673835000000,1792844994396365316,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763703627823662,-0.005024105092205218,0.10308452812136494,0.999999838368034,-0.00020795155149840502,0.0004836854179971014,0.00019367844160062835,0.6761,-0.0046,0.10251522941383383,1.0,0.0,0.0,0.0,0.23684586694092036,-0.8096365443588329,3.2864288131988895,-0.06463538178426897,-0.006762932091689544,0.002700619716946547,1.4664145184639934,0.5019752110963442,4.256860430882645,0.03562601528344602,-0.10296189164597011,0.0017121031579296721,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7926137442755236,1.4164076973085629,-3.216377686335413,0.33816661610469584,2.3359619929519098,0.8740445182127394,1.6312548422581434,-3.2864288131988895,4.847632528593556,4.847632528593556,5.550307652968848,0,0,-0.0004897299392778428,-9.999999025923074e-05
+24231,1792844994754699007,23674193000000,1792844994752364958,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.676373473240411,-0.005028905630373445,0.10290722488176435,0.9999998491312412,-0.0001201274821389745,0.0004866255771445703,0.00020480550498664545,0.6761,-0.0046,0.10233671094619831,1.0,0.0,0.0,0.0,0.23867006174232075,-0.8499465276141803,3.2680385887074355,-0.06772076844149269,-0.006803763241129371,0.002689382599569555,1.4682387132653938,0.46166522784099684,4.238470206391191,0.032540628626222305,-0.10300272279540994,0.00170086604055268,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7390103293983007,1.375544540469718,-3.2608043813016576,0.3525482402031179,2.3583500962761343,0.8493863729621633,1.6312548422581434,-3.2680385887074355,4.8920592235598015,4.8920592235598015,5.604007652968723,0,0,-0.0005076299357906474,-9.999999025923074e-05
+24271,1792844995087676489,23674526000000,1792844995084366994,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763749550291476,-0.005033675000754304,0.1027275417099317,0.9999998432811326,-0.0001637457699036712,0.0004885359481849138,0.00019849565386803676,0.6761,-0.0046,0.10216490627812172,1.0,0.0,0.0,0.0,0.2677377526213849,-0.874499901154404,3.2792066908695103,-0.06971577648938605,-0.008688564706573379,0.0026254467909976415,1.497306404144458,0.43711185430077315,4.249638308553266,0.03054562057832895,-0.10488752426085395,0.0016369302319807664,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7689630215891982,1.3505088830364296,-3.2909967387202452,0.372770319364625,2.39258562564418,0.8321710090462221,1.6312548422581434,-3.2792066908695103,4.922251580978388,4.922251580978388,5.653957652968606,0,0,-0.0005242799325469713,-9.999999025923074e-05
+24310,1792844995412647908,23674851000000,1792844995412365703,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763750227615103,-0.005033237832836049,0.10255002813486795,0.9999998408367796,-0.00017875522970827172,0.0004845966437069291,0.00020732086344740734,0.6761,-0.0046,0.10199188280055997,1.0,0.0,0.0,0.0,0.2700974571103878,-0.9225057011887634,3.2277996136282088,-0.07273697616051367,-0.00962670222579129,0.003096367539255523,1.4996661086334608,0.3891060542664137,4.198231231311964,0.027524420907201343,-0.10582566178007186,0.002107850980238648,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7518131391890285,1.306671191026652,-3.12394147798857,0.3771839845416502,2.2909284023404983,0.803501834146087,1.6312548422581434,-3.2277996136282088,4.755196320246713,4.755196320246713,5.702707652968493,0,0,-0.0005405299293812213,-9.999999025923074e-05
+24349,1792844995737738022,23675176000000,1792844995732365623,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763730526861458,-0.005037106129607609,0.10236716958353916,0.9999998371127403,-0.00018799864735545235,0.000480349005424784,0.00022613867157674172,0.6761,-0.0046,0.10181357807402709,1.0,0.0,0.0,0.0,0.2716172602842595,-0.9673201154579012,3.1544395083807055,-0.07579827710010031,-0.009557046299066854,0.002637511433423896,1.5011859118073325,0.344291639997276,4.124871126064461,0.024463119967614685,-0.10575600585334742,0.001648994874407021,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7676323952663859,1.2534127467455356,-3.103991609247733,0.3969630304646847,2.287690906025392,0.7719803170923715,1.6312548422581434,-3.1544395083807055,4.735246451505876,4.735246451505876,5.751457652968379,0,0,-0.0005567799262154713,-9.999999025923074e-05
+24385,1792844996037689499,23675476000000,1792844996032365711,DOWN_FORCE_DETACH,4,0.0706,0.07060151547193527,0.6763704501604433,-0.005037010254178324,0.1021919480457662,0.9999998284944299,-0.00026165741068859575,0.00048052318640047254,0.00018731481917253913,0.6761,-0.0046,0.10164430159660225,1.0,0.0,0.0,0.0,0.3423897106773488,-0.9697162316141907,3.1148630253287717,-0.07629091563173601,-0.014139753355920104,0.002598895112568566,1.5719583622004218,0.3418955238409864,4.085294643012527,0.023970481435978987,-0.11033871291020067,0.0016103785535516908,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.7032470028191025,1.2795970878796559,-3.0019352877466496,0.41990930071811366,2.20862248387931,0.789768827472788,1.6312548422581434,-3.1148630253287717,4.6331901300047935,4.6331901300047935,5.796457652968274,0,0,-0.0005717799232932405,-9.999999025923074e-05
+24418,1792844996312735077,23675751000000,1792844996312365305,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763567260927102,-0.005038023199351534,0.10201499722936512,0.9999998630755531,-0.00013148539471515803,0.00045435153026588304,0.00020388236143360536,0.6761,-0.0046,0.10148517836806627,1.0,0.0,0.0,0.0,0.32022639111834295,-1.0559431137670363,3.0517809064012287,-0.08176168540199502,-0.01346996132662484,0.0025942910687789832,1.549795042641416,0.25566864168814074,4.022212524084984,0.018499711665719985,-0.10966892088090541,0.0016057745097621083,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.6989840070901442,1.2717614749623984,-2.933461638244552,0.38347245166773936,2.180608705574574,0.7634195999476813,1.6312548422581434,-3.0517809064012287,4.564716480502696,4.564716480502696,5.837707652968178,0,0,-0.0005855299206145289,-9.999999025923074e-05
+24452,1792844996596779286,23676035000000,1792844996592365781,DOWN_FORCE_DETACH,4,0.0706,0.0706021711230278,0.6763518749564061,-0.005040611740895512,0.10182960874152583,0.999999859504416,-0.00016021156225563281,0.0004493023519829391,0.00021188125067326004,0.6761,-0.0046,0.10131687857100595,1.0,0.0,0.0,0.0,0.3271612139893827,-1.07966388740505,2.972361707741744,-0.08381455427991538,-0.013411968303767438,0.0026414373138030018,1.5567298655124557,0.23194786805012724,3.9427933254254994,0.01644684278779962,-0.109610927858048,0.0016529207547861266,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.6867617782037373,1.2680123830475998,-2.9063387963583325,0.39213612504025025,2.161458064160377,0.784347927932368,1.6312548422581434,-2.972361707741744,4.537593638616476,4.537593638616476,5.880307652968079,0,0,-0.0005997299178481505,-9.999999025923074e-05
+24493,1792844996932675603,23676371000000,1792844996932365424,DOWN_SETTLE,4,0.0706,0.07060151547193527,0.6763256068796634,-0.005039727401003176,0.10165751589100984,0.9999998767951188,-0.00016277502337372078,0.0003995505287042298,0.0002274121333385086,0.6761,-0.0046,0.10120687943832991,1.0,0.0,0.0,0.0,0.3549920571568379,-1.1631016947399477,2.629633824401527,-0.08977876716042786,-0.01625993396644032,0.0017640602035292998,1.584560708679911,0.14851006071522949,3.6000654420852825,0.010482629907287136,-0.11245889352072089,0.0007755436445124247,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.5021027109430299,1.2035222829901844,-2.443809322676117,0.4028369459564625,1.8261911652748055,0.7432281479420153,1.6312548422581434,-2.629633824401527,4.07506416493426,0.0,0.0,0,0,-5.341741971549988e-05,0.0005395698961161604
+24573,1792844997592761783,23677031000000,1792844997592365100,DOWN_PEAK_HOLD,4,0.0706,0.0706021711230278,0.6762751328500589,-0.005039460027650647,0.10153343740220708,0.9999999081993378,-0.00016483511092827585,0.0003052676475719479,0.00023384873270433795,0.6761,-0.0046,0.10120254664747247,1.0,0.0,0.0,0.0,0.3915079052540982,-1.2336220568298828,1.8552719566177598,-0.0944064683079324,-0.02026228669406621,0.0012618388292526285,1.6210765567771712,0.07798969862529442,2.825703574301515,0.005854928759782603,-0.11646124624834678,0.00027332227023575364,1.229568651523073,1.3116117554551772,0.9704316176837554,0.100261397067715,-0.09619895955428057,-0.000988516559016875,1,0.2663565724851115,1.1379269499462097,-1.6584165049475208,0.4065775592694108,1.2545760921717093,0.6991647790437304,1.6312548422581434,-1.8552719566177598,3.2896713472056645,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_17.5/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844958770376400,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.106883970e-09,-5.097267244e-10,-4.180522595e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027453009e-01,-1.163356553e-04,8.303259881e-01
+1,9.166666667e-01,DOWN_FORCE_DETACH,1792844959687336309,7.116955786e-07,8.058277653e-06,-7.342525080e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.649371493e-07,-2.283688643e-08,-3.052192055e-09,7.019563096e-01,-1.392677693e-05,8.601426517e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027455587e-01,-1.163579825e-04,8.303259851e-01
+2,1.583333333e+00,DOWN_FORCE_DETACH,1792844960344965848,8.702663208e-07,4.282905038e-06,-1.861841244e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.494851114e-07,-3.042321664e-08,-3.564275763e-09,7.019564681e-01,-1.770214954e-05,8.601415241e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456433e-01,-1.163655688e-04,8.303259846e-01
+3,2.550000000e+00,DOWN_FORCE_DETACH,1792844961309017850,6.012272142e-06,7.372672427e-06,-1.592092847e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.046926749e-07,-3.558951603e-08,-3.411638638e-09,7.019616101e-01,-1.461238215e-05,8.601417938e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456985e-01,-1.163707351e-04,8.303259847e-01
+4,3.350000000e+00,DOWN_FORCE_DETACH,1792844962128123110,8.787999192e-06,7.319051297e-06,-1.173943425e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.233357641e-07,-3.740148682e-08,-3.325847375e-09,7.019643859e-01,-1.466600328e-05,8.601422120e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457171e-01,-1.163725471e-04,8.303259848e-01
+5,4.350000000e+00,DOWN_FORCE_DETACH,1792844963111342733,7.287557420e-06,6.290355194e-06,-8.853192419e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.332249237e-07,-3.839292569e-08,-3.328433085e-09,7.019628854e-01,-1.569469939e-05,8.601345327e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457270e-01,-1.163735385e-04,8.303259848e-01
+6,5.133333333e+00,DOWN_FORCE_DETACH,1792844963884345507,5.316794346e-05,6.342471312e-08,-1.648689420e-05,5.273542974e-05,1.432820451e-07,-1.662075953e-05,5.551546881e-05,1.314449577e-07,-1.618606737e-05,7.020087658e-01,-2.192162987e-05,8.601268990e-01,7.020083333e-01,-2.184177253e-05,8.601267652e-01,7.028008093e-01,-1.162037006e-04,8.303098021e-01
+7,5.883333333e+00,DOWN_FORCE_DETACH,1792844964634420828,4.710405399e-05,-2.725245238e-06,-3.808074152e-05,4.742024721e-05,9.975330834e-07,-3.665042608e-05,5.083283865e-05,9.252289942e-07,-3.603192688e-05,7.020027019e-01,-2.471029982e-05,8.601053052e-01,7.020030181e-01,-2.098752150e-05,8.601067355e-01,7.027961266e-01,-1.154099166e-04,8.302899562e-01
+8,6.850000000e+00,DOWN_FORCE_DETACH,1792844965601550036,4.711452267e-05,4.419628179e-06,-5.960193404e-05,4.561274521e-05,-1.262088307e-06,-5.635527625e-05,4.892508976e-05,-1.278665392e-06,-5.560813713e-05,7.020027124e-01,-1.756542640e-05,8.600837840e-01,7.020012106e-01,-2.324714289e-05,8.600870306e-01,7.027942189e-01,-1.176138110e-04,8.302703800e-01
+9,7.800000000e+00,DOWN_FORCE_DETACH,1792844966584447913,4.689718716e-05,2.043760956e-06,-7.090476743e-05,4.561274521e-05,-1.262088307e-06,-5.635527625e-05,4.897588726e-05,-1.269972843e-06,-5.594259902e-05,7.020024951e-01,-1.994129362e-05,8.600724811e-01,7.020012106e-01,-2.324714289e-05,8.600870306e-01,7.027942697e-01,-1.176051184e-04,8.302700455e-01
+10,8.683333333e+00,DOWN_FORCE_DETACH,1792844967452071308,4.626694404e-05,-2.813844878e-06,-8.695711154e-05,4.470484044e-05,-1.291272405e-06,-7.677051285e-05,4.776471890e-05,-1.254906182e-06,-7.622235406e-05,7.020018648e-01,-2.479889946e-05,8.600564288e-01,7.020003027e-01,-2.327632698e-05,8.600666154e-01,7.027930585e-01,-1.175900517e-04,8.302497658e-01
+11,9.550000000e+00,DOWN_FORCE_DETACH,1792844968336483838,5.139181247e-05,-1.809012984e-06,-1.045196988e-04,4.660012865e-05,-6.332672379e-06,-9.698620309e-05,4.952459389e-05,-6.147984893e-06,-9.636396484e-05,7.020069897e-01,-2.379406756e-05,8.600388662e-01,7.020021980e-01,-2.831772696e-05,8.600463997e-01,7.027948184e-01,-1.224831305e-04,8.302296242e-01
+12,1.040000000e+01,DOWN_FORCE_DETACH,1792844969204875730,6.074835800e-05,3.639223762e-07,-1.192983867e-04,5.637391157e-05,8.125127567e-07,-1.142790859e-04,5.972379083e-05,7.946545224e-07,-1.136036597e-04,7.020163462e-01,-2.162113220e-05,8.600240875e-01,7.020119718e-01,-2.117254182e-05,8.600291068e-01,7.028050176e-01,-1.155404910e-04,8.302123845e-01
+13,1.123333333e+01,DOWN_FORCE_DETACH,1792844970076690848,7.445462761e-05,-3.424022831e-06,-1.344540795e-04,6.880247473e-05,-4.355203200e-06,-1.287488172e-04,7.285209060e-05,-4.210013980e-06,-1.280270551e-04,7.020300525e-01,-2.540907741e-05,8.600089318e-01,7.020244003e-01,-2.634025778e-05,8.600146371e-01,7.028181459e-01,-1.205451595e-04,8.301979611e-01
+14,1.220000000e+01,DOWN_FORCE_DETACH,1792844971072320660,7.938473720e-05,-3.806421767e-06,-1.623470231e-04,7.507680439e-05,-4.715920506e-06,-1.495281864e-04,7.949207643e-05,-4.611879494e-06,-1.487789995e-04,7.020349826e-01,-2.579147635e-05,8.599810389e-01,7.020306747e-01,-2.670097509e-05,8.599938577e-01,7.028247859e-01,-1.209470251e-04,8.301772091e-01
+15,1.310000000e+01,DOWN_FORCE_DETACH,1792844971973414431,8.316525509e-05,-7.117534791e-06,-1.795638805e-04,8.047536986e-05,-5.000676602e-06,-1.690005438e-04,8.509656674e-05,-4.895156315e-06,-1.682413941e-04,7.020387631e-01,-2.910258937e-05,8.599638220e-01,7.020360732e-01,-2.698573118e-05,8.599743854e-01,7.028303904e-01,-1.212303019e-04,8.301577468e-01
+16,1.391666667e+01,DOWN_FORCE_DETACH,1792844972809308136,9.545871762e-05,-5.292380008e-06,-1.949748016e-04,9.057801308e-05,-9.017661128e-06,-1.868883100e-04,9.575159397e-05,-8.841504684e-06,-1.860506608e-04,7.020510566e-01,-2.727743459e-05,8.599484111e-01,7.020461759e-01,-3.100271571e-05,8.599564976e-01,7.028410454e-01,-1.251766502e-04,8.301399375e-01
+17,1.443333333e+01,DOWN_FORCE_DETACH,1792844973316548730,1.286456760e-04,-7.068968015e-06,-2.030236196e-04,1.231015507e-04,-5.236043296e-06,-2.018655204e-04,1.301112408e-04,-5.206411019e-06,-2.009597246e-04,7.020842435e-01,-2.905402259e-05,8.599403623e-01,7.020786994e-01,-2.722109788e-05,8.599415204e-01,7.028754050e-01,-1.215415566e-04,8.301250284e-01
+18,1.528333333e+01,DOWN_FORCE_DETACH,1792844974169777711,1.388875541e-04,-7.411076571e-06,-2.431892095e-04,1.400725460e-04,-9.204471214e-06,-2.380806815e-04,1.480583431e-04,-9.124283397e-06,-2.366963167e-04,7.020944854e-01,-2.939613115e-05,8.599001967e-01,7.020956704e-01,-3.118952579e-05,8.599053052e-01,7.028933521e-01,-1.254594290e-04,8.300892918e-01
+19,1.598333333e+01,DOWN_FORCE_DETACH,1792844974856041040,1.474217579e-04,-1.369607893e-05,-2.742916298e-04,1.435622657e-04,-8.006576692e-06,-2.582246061e-04,1.519282897e-04,-8.016957571e-06,-2.570705527e-04,7.021030196e-01,-3.568113351e-05,8.598690943e-01,7.020991601e-01,-2.999163127e-05,8.598851613e-01,7.028972221e-01,-1.243521031e-04,8.300689176e-01
+20,1.656666667e+01,DOWN_FORCE_DETACH,1792844975528614451,1.507497779e-04,-1.188086077e-05,-2.968234935e-04,1.490006123e-04,-8.161554986e-06,-2.951822793e-04,1.573670349e-04,-8.172610135e-06,-2.937309808e-04,7.021063476e-01,-3.386591535e-05,8.598465624e-01,7.021045985e-01,-3.014660957e-05,8.598482036e-01,7.029026608e-01,-1.245077557e-04,8.300322572e-01
+21,1.733333333e+01,DOWN_FORCE_DETACH,1792844976330647059,1.530370156e-04,-1.541989707e-05,-3.284274620e-04,1.484013138e-04,-1.506110854e-05,-3.152364726e-04,1.566100457e-04,-1.494340805e-05,-3.141339140e-04,7.021086349e-01,-3.740495165e-05,8.598149585e-01,7.021039992e-01,-3.704616312e-05,8.598281494e-01,7.029019039e-01,-1.312785536e-04,8.300118542e-01
+22,1.821666667e+01,DOWN_FORCE_DETACH,1792844977214922404,1.627013454e-04,-1.856776247e-05,-3.756988295e-04,1.625633718e-04,-1.864730121e-05,-3.753430775e-04,1.709546841e-04,-1.846247829e-05,-3.737210668e-04,7.021182992e-01,-4.055281705e-05,8.597676871e-01,7.021181612e-01,-4.063235579e-05,8.597680428e-01,7.029162485e-01,-1.347976239e-04,8.299522671e-01
+23,1.898333333e+01,DOWN_FORCE_DETACH,1792844977968411531,1.757408274e-04,-2.804509459e-05,-4.280533257e-04,1.712839062e-04,-2.347723445e-05,-4.190779556e-04,1.798636834e-04,-2.318691665e-05,-4.176172214e-04,7.021313387e-01,-5.003014917e-05,8.597153326e-01,7.021268818e-01,-4.546228902e-05,8.597243080e-01,7.029251575e-01,-1.395220622e-04,8.299083709e-01
+24,1.983333333e+01,DOWN_FORCE_DETACH,1792844978820705542,1.847211335e-04,-2.692406054e-05,-4.901610604e-04,1.836376722e-04,-2.915869900e-05,-4.789577438e-04,1.925303999e-04,-2.880903825e-05,-4.775372471e-04,7.021403190e-01,-4.890911512e-05,8.596532249e-01,7.021392355e-01,-5.114375358e-05,8.596644282e-01,7.029378242e-01,-1.451441838e-04,8.298484509e-01
+25,2.061666667e+01,DOWN_FORCE_DETACH,1792844979589660211,1.929914629e-04,-3.558260695e-05,-5.419807434e-04,1.933161876e-04,-3.421369583e-05,-5.405302424e-04,2.021338390e-04,-3.375536146e-05,-5.388272022e-04,7.021485893e-01,-5.756766153e-05,8.596014052e-01,7.021489141e-01,-5.619875041e-05,8.596028557e-01,7.029474276e-01,-1.500905070e-04,8.297871609e-01
+26,2.131666667e+01,DOWN_FORCE_DETACH,1792844980389168166,2.007024511e-04,-3.898962033e-05,-6.085365417e-04,2.009009342e-04,-3.629961382e-05,-6.058144114e-04,2.095862995e-04,-3.584038972e-05,-6.038357341e-04,7.021563003e-01,-6.097467491e-05,8.595348494e-01,7.021564988e-01,-5.828466839e-05,8.595375715e-01,7.029548801e-01,-1.521755353e-04,8.297221524e-01
+27,2.206666667e+01,DOWN_FORCE_DETACH,1792844981129224337,2.142739456e-04,-4.157289233e-05,-6.724500875e-04,2.146274758e-04,-3.894801164e-05,-6.644909615e-04,2.236992171e-04,-3.841684059e-05,-6.626409419e-04,7.021698718e-01,-6.355794691e-05,8.594709358e-01,7.021702253e-01,-6.093306622e-05,8.594788950e-01,7.029689930e-01,-1.547519862e-04,8.296633472e-01
+28,2.290000000e+01,DOWN_FORCE_DETACH,1792844981965238724,2.273974208e-04,-3.911111007e-05,-7.522308548e-04,2.246290594e-04,-4.964668474e-05,-7.486171441e-04,2.333964654e-04,-4.881382786e-05,-7.464816407e-04,7.021829953e-01,-6.109616465e-05,8.593911551e-01,7.021802269e-01,-7.163173932e-05,8.593947688e-01,7.029786903e-01,-1.651489734e-04,8.295795065e-01
+29,2.361666667e+01,DOWN_FORCE_DETACH,1792844982702297330,2.359685961e-04,-5.085809301e-05,-8.317595268e-04,2.359832634e-04,-4.788211536e-05,-8.308223678e-04,2.445662048e-04,-4.705432853e-05,-8.283543455e-04,7.021915665e-01,-7.284314759e-05,8.593116264e-01,7.021915811e-01,-6.986716994e-05,8.593125635e-01,7.029898600e-01,-1.633894741e-04,8.294976338e-01
+30,2.431666667e+01,DOWN_FORCE_DETACH,1792844983438960331,2.486489053e-04,-5.285326916e-05,-9.159042836e-04,2.460445911e-04,-5.011923258e-05,-9.169752577e-04,2.543675868e-04,-4.921961422e-05,-9.142920148e-04,7.022042468e-01,-7.483832374e-05,8.592274816e-01,7.022016425e-01,-7.210428716e-05,8.592264107e-01,7.029996614e-01,-1.655547598e-04,8.294116961e-01
+31,2.506666667e+01,DOWN_FORCE_DETACH,1792844984208874871,2.618234953e-04,-5.131786202e-05,-1.017373716e-03,2.596507747e-04,-4.966766639e-05,-9.976119530e-04,2.680239402e-04,-4.877279572e-05,-9.952129264e-04,7.022174214e-01,-7.330291660e-05,8.591260122e-01,7.022152486e-01,-7.165272097e-05,8.591457740e-01,7.030133177e-01,-1.651079413e-04,8.293307752e-01
+32,2.576666667e+01,DOWN_FORCE_DETACH,1792844984897436528,2.724175619e-04,-5.932402235e-05,-1.115672077e-03,2.713423256e-04,-5.641046565e-05,-1.109352099e-03,2.793119881e-04,-5.537010465e-05,-1.106244295e-03,7.022280154e-01,-8.130907693e-05,8.590277138e-01,7.022269402e-01,-7.839552023e-05,8.590340338e-01,7.030246058e-01,-1.717052502e-04,8.292197439e-01
+33,2.646666667e+01,DOWN_FORCE_DETACH,1792844985601199303,2.852410639e-04,-5.937787466e-05,-1.212364296e-03,2.802369043e-04,-5.467335739e-05,-1.195573550e-03,2.879692724e-04,-5.364817828e-05,-1.192675028e-03,7.022408389e-01,-8.136292924e-05,8.589310216e-01,7.022358348e-01,-7.665841197e-05,8.589478124e-01,7.030332631e-01,-1.699833238e-04,8.291333131e-01
+34,2.718333333e+01,DOWN_FORCE_DETACH,1792844986322913201,2.960607383e-04,-5.740280319e-05,-1.331351053e-03,2.945552539e-04,-5.842602738e-05,-1.322152011e-03,3.019157918e-04,-5.730331444e-05,-1.318944926e-03,7.022516586e-01,-7.938785777e-05,8.588120349e-01,7.022501531e-01,-8.041108196e-05,8.588212339e-01,7.030472096e-01,-1.736384600e-04,8.290070432e-01
+35,2.781666667e+01,DOWN_FORCE_DETACH,1792844986977227839,3.099615185e-04,-5.734695370e-05,-1.441833877e-03,3.071143232e-04,-5.886353241e-05,-1.432156459e-03,3.139934707e-04,-5.772918644e-05,-1.428908931e-03,7.022655594e-01,-7.933200828e-05,8.587015520e-01,7.022627122e-01,-8.084858699e-05,8.587112295e-01,7.030592873e-01,-1.740643320e-04,8.288970792e-01
+36,2.848333333e+01,DOWN_FORCE_DETACH,1792844987640250755,3.206769313e-04,-5.599517776e-05,-1.571734667e-03,3.202289153e-04,-6.278247389e-05,-1.563041014e-03,3.263962797e-04,-6.164568127e-05,-1.559420161e-03,7.022762748e-01,-7.798023234e-05,8.585716512e-01,7.022758268e-01,-8.476752847e-05,8.585803449e-01,7.030716901e-01,-1.779808268e-04,8.287665680e-01
+37,2.908333333e+01,DOWN_FORCE_DETACH,1792844988240125672,3.328423225e-04,-6.394339436e-05,-1.689086553e-03,3.326236281e-04,-6.422051678e-05,-1.689096153e-03,3.380247604e-04,-6.304145812e-05,-1.685075454e-03,7.022884402e-01,-8.592844894e-05,8.584542994e-01,7.022882215e-01,-8.620557136e-05,8.584542898e-01,7.030833186e-01,-1.793766037e-04,8.286409127e-01
+38,2.965000000e+01,DOWN_FORCE_DETACH,1792844988795552705,3.402021121e-04,-6.439713879e-05,-1.808689523e-03,3.396756792e-04,-6.765059826e-05,-1.798662365e-03,3.443827287e-04,-6.637287875e-05,-1.794971667e-03,7.022958000e-01,-8.638219337e-05,8.583346964e-01,7.022952735e-01,-8.963565284e-05,8.583447236e-01,7.030896765e-01,-1.827080243e-04,8.285310165e-01
+39,3.011666667e+01,DOWN_FORCE_DETACH,1792844989254545542,3.471225787e-04,-6.986248835e-05,-1.913170113e-03,3.447915014e-04,-6.471258100e-05,-1.903767008e-03,3.487442357e-04,-6.353476922e-05,-1.900074574e-03,7.023027204e-01,-9.184754292e-05,8.582302158e-01,7.023003894e-01,-8.669763558e-05,8.582396189e-01,7.030940380e-01,-1.798699148e-04,8.284259136e-01
+40,3.066666667e+01,DOWN_FORCE_DETACH,1792844989794815218,3.578446663e-04,-6.851236909e-05,-2.042785875e-03,3.572259070e-04,-7.132175302e-05,-2.035610398e-03,3.606105207e-04,-7.005533576e-05,-2.031634097e-03,7.023134425e-01,-9.049742367e-05,8.581006000e-01,7.023128238e-01,-9.330680760e-05,8.581077755e-01,7.031059043e-01,-1.863904813e-04,8.282943540e-01
+41,3.120000000e+01,DOWN_FORCE_DETACH,1792844990319043219,3.677601999e-04,-6.924947911e-05,-2.177047308e-03,3.681246524e-04,-7.409893538e-05,-2.163765884e-03,3.709577880e-04,-7.281051886e-05,-2.159771915e-03,7.023233581e-01,-9.123453369e-05,8.579663386e-01,7.023237225e-01,-9.608398996e-05,8.579796200e-01,7.031162516e-01,-1.891456644e-04,8.281662162e-01
+42,3.171666667e+01,DOWN_FORCE_DETACH,1792844990859532502,3.753458572e-04,-7.672329399e-05,-2.330648117e-03,3.765155335e-04,-7.064801154e-05,-2.319089135e-03,3.782054253e-04,-6.944329377e-05,-2.314662668e-03,7.023309437e-01,-9.870834857e-05,8.578127378e-01,7.023321134e-01,-9.263306612e-05,8.578242968e-01,7.031234992e-01,-1.857784393e-04,8.280113255e-01
+43,3.223333333e+01,DOWN_FORCE_DETACH,1792844991383649863,3.845268469e-04,-7.956348951e-05,-2.496936486e-03,3.835733598e-04,-7.296936334e-05,-2.481642155e-03,3.837488963e-04,-7.170652855e-05,-2.476858472e-03,7.023401247e-01,-1.015485441e-04,8.576464494e-01,7.023391712e-01,-9.495441792e-05,8.576617438e-01,7.031290427e-01,-1.880416741e-04,8.278491297e-01
+44,3.273333333e+01,DOWN_FORCE_DETACH,1792844991908679704,3.869868863e-04,-7.537634758e-05,-2.674142349e-03,3.877811549e-04,-8.255785647e-05,-2.665696252e-03,3.859561017e-04,-8.099008538e-05,-2.660372751e-03,7.023425848e-01,-9.736140216e-05,8.574692436e-01,7.023433790e-01,-1.045429110e-04,8.574776897e-01,7.031312499e-01,-1.973252309e-04,8.276656154e-01
+45,3.313333333e+01,DOWN_FORCE_DETACH,1792844992366959306,4.052903444e-04,-7.678458062e-05,-2.843310537e-03,4.051051748e-04,-7.656533056e-05,-2.843209185e-03,4.023440969e-04,-7.508662330e-05,-2.837180082e-03,7.023608882e-01,-9.876963520e-05,8.573000754e-01,7.023607030e-01,-9.855038513e-05,8.573001767e-01,7.031476379e-01,-1.914217689e-04,8.274888081e-01
+46,3.360000000e+01,DOWN_FORCE_DETACH,1792844992825008444,4.100196993e-04,-8.325297713e-05,-3.019786075e-03,4.090165130e-04,-8.224478861e-05,-3.002620912e-03,4.049567086e-04,-8.063213090e-05,-2.997059270e-03,7.023656176e-01,-1.052380317e-04,8.571235998e-01,7.023646144e-01,-1.042298432e-04,8.571407650e-01,7.031502505e-01,-1.969672765e-04,8.273289289e-01
+47,3.401666667e+01,DOWN_FORCE_DETACH,1792844993250757679,4.145399945e-04,-7.749405965e-05,-3.185891556e-03,4.138754274e-04,-7.487829975e-05,-3.168648897e-03,4.082008580e-04,-7.340879090e-05,-3.162962179e-03,7.023701379e-01,-9.947911423e-05,8.569574944e-01,7.023694733e-01,-9.686335433e-05,8.569747370e-01,7.031534947e-01,-1.897439365e-04,8.271630260e-01
+48,3.431666667e+01,DOWN_FORCE_DETACH,1792844993644698373,4.114150692e-04,-6.949546899e-05,-3.362758375e-03,4.127201593e-04,-6.859967082e-05,-3.348443264e-03,4.048899033e-04,-6.740987548e-05,-3.341873659e-03,7.023670129e-01,-9.148052357e-05,8.567806275e-01,7.023683180e-01,-9.058472540e-05,8.567949427e-01,7.031501837e-01,-1.837450210e-04,8.269841145e-01
+49,3.463333333e+01,DOWN_FORCE_DETACH,1792844994020602392,4.138361509e-04,-8.153565705e-05,-3.533782249e-03,4.117841473e-04,-7.405165627e-05,-3.522327063e-03,4.016599597e-04,-7.276059485e-05,-3.515434743e-03,7.023694340e-01,-1.035207116e-04,8.566096037e-01,7.023673820e-01,-9.603671085e-05,8.566210589e-01,7.031469538e-01,-1.890957404e-04,8.268105534e-01
+50,3.501666667e+01,DOWN_FORCE_DETACH,1792844994397585346,4.181940119e-04,-7.395867740e-05,-3.711897880e-03,4.178434694e-04,-7.437285235e-05,-3.711735644e-03,4.057831379e-04,-7.294973544e-05,-3.705035163e-03,7.023737919e-01,-9.594373198e-05,8.564314880e-01,7.023734413e-01,-9.635790693e-05,8.564316503e-01,7.031510769e-01,-1.892848810e-04,8.266209530e-01
+51,3.538333333e+01,DOWN_FORCE_DETACH,1792844994758201140,4.188404631e-04,-8.001317065e-05,-3.895502459e-03,4.187466893e-04,-7.992939794e-05,-3.895152302e-03,4.048093604e-04,-7.853412030e-05,-3.888563143e-03,7.023744383e-01,-1.019982252e-04,8.562478835e-01,7.023743446e-01,-1.019144525e-04,8.562482336e-01,7.031501032e-01,-1.948692659e-04,8.264374250e-01
+52,3.566666667e+01,DOWN_FORCE_DETACH,1792844995085470532,4.239507301e-04,-8.214299719e-05,-4.064408851e-03,4.185645815e-04,-8.200103623e-05,-4.047010191e-03,4.029648626e-04,-8.055213581e-05,-4.040582686e-03,7.023795486e-01,-1.041280518e-04,8.560789771e-01,7.023741624e-01,-1.039860908e-04,8.560963757e-01,7.031482587e-01,-1.968872814e-04,8.262854055e-01
+53,3.598333333e+01,DOWN_FORCE_DETACH,1792844995413850927,4.222234938e-04,-8.584770101e-05,-4.247581159e-03,4.194147125e-04,-8.345080040e-05,-4.234900784e-03,4.016560274e-04,-8.205149215e-05,-4.228210811e-03,7.023778214e-01,-1.078327556e-04,8.558958048e-01,7.023750126e-01,-1.054358550e-04,8.559084851e-01,7.031469498e-01,-1.983866377e-04,8.260977773e-01
+54,3.631666667e+01,DOWN_FORCE_DETACH,1792844995740864010,4.240686099e-04,-8.360356899e-05,-4.424649292e-03,4.238774532e-04,-8.373764568e-05,-4.424435787e-03,4.040737233e-04,-8.220435861e-05,-4.417637060e-03,7.023796665e-01,-1.055886236e-04,8.557187366e-01,7.023794753e-01,-1.057227003e-04,8.557189501e-01,7.031493675e-01,-1.985395042e-04,8.259083511e-01
+55,3.656666667e+01,DOWN_FORCE_DETACH,1792844996038856529,4.171336894e-04,-8.953167412e-05,-4.610020592e-03,4.170377490e-04,-8.952444285e-05,-4.609933548e-03,3.945395392e-04,-8.780853812e-05,-4.602584105e-03,7.023727316e-01,-1.115167287e-04,8.555333653e-01,7.023726356e-01,-1.115094974e-04,8.555334524e-01,7.031398333e-01,-2.041436837e-04,8.257234040e-01
+56,3.681666667e+01,DOWN_FORCE_DETACH,1792844996314387541,4.045573223e-04,-8.787678454e-05,-4.781428772e-03,4.055945945e-04,-8.617308311e-05,-4.771774079e-03,3.805373745e-04,-8.455611035e-05,-4.764668000e-03,7.023601552e-01,-1.098618391e-04,8.553619571e-01,7.023611925e-01,-1.081581377e-04,8.553716118e-01,7.031258312e-01,-2.008912559e-04,8.255613201e-01
+57,3.710000000e+01,DOWN_FORCE_DETACH,1792844996593004785,4.014276709e-04,-9.095533047e-05,-4.960534213e-03,4.018226127e-04,-8.747107082e-05,-4.942328738e-03,3.744458276e-04,-8.588761823e-05,-4.935647323e-03,7.023570255e-01,-1.129403851e-04,8.551828517e-01,7.023574205e-01,-1.094561254e-04,8.552010572e-01,7.031197396e-01,-2.022227638e-04,8.253903408e-01
+58,3.745000000e+01,DOWN_SETTLE,1792844996936326439,3.736056156e-04,-9.332025636e-05,-5.137849503e-03,3.800884383e-04,-9.544627948e-05,-5.119695257e-03,3.489644382e-04,-9.382948779e-05,-5.114033411e-03,7.023292035e-01,-1.153053109e-04,8.550055364e-01,7.023356863e-01,-1.174313341e-04,8.550236907e-01,7.030942582e-01,-2.101646334e-04,8.252119547e-01
+59,3.811666667e+01,DOWN_PEAK_HOLD,1792844997591547933,3.223098326e-04,-8.580532200e-05,-5.261792383e-03,3.280881244e-04,-8.776906503e-05,-5.250788990e-03,2.914042774e-04,-8.627414666e-05,-5.247894650e-03,7.022779077e-01,-1.077903766e-04,8.548815935e-01,7.022836860e-01,-1.097541196e-04,8.548925969e-01,7.030366981e-01,-2.026092922e-04,8.250780935e-01

Fixed/digit/ball_PLA_17.5/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.0595e-01,3.5508e-01,2.4597e+00,-6.0783e-02,4.4300e-02,6.6586e-04,-7.7769e-05,-1.5050e-05,1.0014e-05,8.1584e-07,-5.1633e-06,-3.5390e-08,7.9842e-05,5.2274e-06
+1,9.1667e-01,DOWN_FORCE_DETACH,1.9580e-04,1.4697e-01,3.5275e-01,2.4589e+00,-6.0377e-02,4.7198e-02,3.4576e-04,4.0940e-02,-2.3447e-03,-7.6056e-04,4.0751e-04,2.8929e-03,-3.2014e-04,4.1014e-02,2.9389e-03
+2,1.5833e+00,DOWN_FORCE_DETACH,3.8752e-04,1.6150e-01,3.5216e-01,2.4588e+00,-6.0270e-02,4.8219e-02,2.3084e-04,5.5471e-02,-2.9381e-03,-8.6021e-04,5.1419e-04,3.9132e-03,-4.3505e-04,5.5556e-02,3.9708e-03
+3,2.5500e+00,DOWN_FORCE_DETACH,5.8269e-04,1.7131e-01,3.5179e-01,2.4588e+00,-6.0212e-02,4.8907e-02,1.4343e-04,6.5281e-02,-3.3059e-03,-8.3065e-04,5.7196e-04,4.6020e-03,-5.2247e-04,6.5370e-02,4.6667e-03
+4,3.3500e+00,DOWN_FORCE_DETACH,7.7748e-04,1.7458e-01,3.5160e-01,2.4588e+00,-6.0191e-02,4.9138e-02,1.0954e-04,6.8555e-02,-3.4988e-03,-8.3017e-04,5.9379e-04,4.8320e-03,-5.5635e-04,6.8649e-02,4.9000e-03
+5,4.3500e+00,DOWN_FORCE_DETACH,9.6713e-04,1.7625e-01,3.5150e-01,2.4588e+00,-6.0181e-02,4.9253e-02,9.0362e-05,7.0219e-02,-3.5961e-03,-8.5402e-04,6.0330e-04,4.9478e-03,-5.7553e-04,7.0316e-02,5.0175e-03
+6,5.1333e+00,DOWN_FORCE_DETACH,1.1626e-03,1.4244e-01,2.8096e-01,2.5075e+00,-5.5146e-02,4.6775e-02,6.4607e-05,3.6411e-02,-7.4131e-02,4.7870e-02,5.6380e-03,2.4693e-03,-6.0129e-04,9.5460e-02,6.1844e-03
+7,5.8833e+00,DOWN_FORCE_DETACH,1.3562e-03,1.0926e-01,3.4298e-01,2.5570e+00,-5.9504e-02,4.4330e-02,2.7361e-04,3.2288e-03,-1.2112e-02,9.7387e-02,1.2805e-03,2.4319e-05,-3.9229e-04,9.8190e-02,1.3395e-03
+8,6.8500e+00,DOWN_FORCE_DETACH,1.5487e-03,1.6881e-01,3.6133e-01,2.5663e+00,-6.0821e-02,4.8557e-02,1.8525e-04,6.2777e-02,6.2317e-03,1.0667e-01,-3.6817e-05,4.2517e-03,-4.8065e-04,1.2393e-01,4.2790e-03
+9,7.8000e+00,DOWN_FORCE_DETACH,1.7432e-03,1.7819e-01,3.6387e-01,2.5053e+00,-6.1165e-02,4.9296e-02,-1.6164e-05,7.2161e-02,8.7776e-03,4.5653e-02,-3.8058e-04,4.9905e-03,-6.8206e-04,8.5840e-02,5.0512e-03
+10,8.6833e+00,DOWN_FORCE_DETACH,1.9376e-03,1.8457e-01,3.6548e-01,2.5383e+00,-6.1250e-02,4.9685e-02,-8.5384e-05,7.8542e-02,1.0389e-02,7.8645e-02,-4.6580e-04,5.3790e-03,-7.5128e-04,1.1163e-01,5.4512e-03
+11,9.5500e+00,DOWN_FORCE_DETACH,2.1306e-03,1.8022e-01,4.0813e-01,2.5523e+00,-6.4262e-02,4.9349e-02,-2.1491e-04,7.4192e-02,5.3040e-02,9.2673e-02,-3.4776e-03,5.0434e-03,-8.8080e-04,1.3002e-01,6.1891e-03
+12,1.0400e+01,DOWN_FORCE_DETACH,2.3257e-03,1.4891e-01,3.5447e-01,2.5640e+00,-6.0493e-02,4.7072e-02,-3.4398e-04,4.2884e-02,-6.2639e-04,1.0431e-01,2.9175e-04,2.7665e-03,-1.0099e-03,1.1278e-01,2.9595e-03
+13,1.1233e+01,DOWN_FORCE_DETACH,2.5177e-03,1.3038e-01,3.9194e-01,2.5637e+00,-6.3233e-02,4.5749e-02,-4.0741e-04,2.4347e-02,3.6842e-02,1.0406e-01,-2.4491e-03,1.4434e-03,-1.0733e-03,1.1304e-01,3.0386e-03
+14,1.2200e+01,DOWN_FORCE_DETACH,2.7134e-03,1.5207e-01,3.9367e-01,2.5674e+00,-6.3514e-02,4.7295e-02,-6.1678e-04,4.6038e-02,3.8574e-02,1.0770e-01,-2.7301e-03,2.9892e-03,-1.2827e-03,1.2331e-01,4.2466e-03
+15,1.3100e+01,DOWN_FORCE_DETACH,2.9029e-03,1.5904e-01,3.9528e-01,2.5702e+00,-6.3808e-02,4.7783e-02,-8.4351e-04,5.3011e-02,4.0190e-02,1.1058e-01,-3.0236e-03,3.4776e-03,-1.5094e-03,1.2905e-01,4.8491e-03
+16,1.3917e+01,DOWN_FORCE_DETACH,3.1009e-03,1.4465e-01,4.2091e-01,2.5794e+00,-6.5729e-02,4.6749e-02,-9.5182e-04,3.8617e-02,6.5821e-02,1.1978e-01,-4.9447e-03,2.4430e-03,-1.6177e-03,1.4202e-01,5.7477e-03
+17,1.4433e+01,DOWN_FORCE_DETACH,3.2942e-03,3.7553e-02,3.8361e-01,2.5997e+00,-6.3156e-02,3.9068e-02,-9.3692e-04,-6.8476e-02,2.8520e-02,1.4008e-01,-2.3717e-03,-5.2375e-03,-1.6028e-03,1.5851e-01,5.9687e-03
+18,1.5283e+01,DOWN_FORCE_DETACH,3.4870e-03,6.8341e-02,4.0400e-01,2.6752e+00,-6.4616e-02,4.1401e-02,-1.1076e-03,-3.7688e-02,4.8910e-02,2.1555e-01,-3.8315e-03,-2.9040e-03,-1.7735e-03,2.2422e-01,5.1244e-03
+19,1.5983e+01,DOWN_FORCE_DETACH,3.6833e-03,1.2412e-01,3.8653e-01,2.6271e+00,-6.3548e-02,4.5288e-02,-1.2259e-03,1.8091e-02,3.1433e-02,1.6748e-01,-2.7635e-03,9.8234e-04,-1.8918e-03,1.7136e-01,3.4901e-03
+20,1.6567e+01,DOWN_FORCE_DETACH,3.8743e-03,1.3952e-01,3.7782e-01,2.6850e+00,-6.2816e-02,4.6201e-02,-1.3199e-03,3.3495e-02,2.2725e-02,2.2533e-01,-2.0315e-03,1.8958e-03,-1.9858e-03,2.2893e-01,3.4153e-03
+21,1.7333e+01,DOWN_FORCE_DETACH,4.0702e-03,1.6227e-01,4.2648e-01,2.6162e+00,-6.6300e-02,4.7884e-02,-1.4234e-03,5.6244e-02,7.1383e-02,1.5653e-01,-5.5152e-03,3.5783e-03,-2.0893e-03,1.8100e-01,6.8983e-03
+22,1.8217e+01,DOWN_FORCE_DETACH,4.2630e-03,1.5120e-01,4.3625e-01,2.6155e+00,-6.6924e-02,4.7108e-02,-1.4931e-03,4.5171e-02,8.1158e-02,1.5580e-01,-6.1395e-03,2.8028e-03,-2.1590e-03,1.8139e-01,7.0860e-03
+23,1.8983e+01,DOWN_FORCE_DETACH,4.4571e-03,1.3035e-01,4.7195e-01,2.6859e+00,-6.9104e-02,4.5608e-02,-1.4298e-03,2.4325e-02,1.1685e-01,2.2620e-01,-8.3198e-03,1.3026e-03,-2.0957e-03,2.5576e-01,8.6780e-03
+24,1.9833e+01,DOWN_FORCE_DETACH,4.6482e-03,1.3515e-01,5.1468e-01,2.6856e+00,-7.1974e-02,4.5939e-02,-1.1875e-03,2.9124e-02,1.5958e-01,2.2596e-01,-1.1189e-02,1.6336e-03,-1.8534e-03,2.7816e-01,1.1459e-02
+25,2.0617e+01,DOWN_FORCE_DETACH,4.8437e-03,1.5091e-01,5.3787e-01,2.6723e+00,-7.3505e-02,4.7066e-02,-6.9888e-04,4.4879e-02,1.8277e-01,2.1266e-01,-1.2721e-02,2.7607e-03,-1.3648e-03,2.8398e-01,1.3088e-02
+26,2.1317e+01,DOWN_FORCE_DETACH,5.0401e-03,1.5481e-01,5.6457e-01,2.7466e+00,-7.5382e-02,4.7296e-02,-3.5453e-04,4.8784e-02,2.0947e-01,2.8696e-01,-1.4598e-02,2.9908e-03,-1.0204e-03,3.5861e-01,1.4936e-02
+27,2.2067e+01,DOWN_FORCE_DETACH,5.2307e-03,1.4187e-01,5.7118e-01,2.7425e+00,-7.5749e-02,4.6395e-02,1.2951e-04,3.5844e-02,2.1609e-01,2.8287e-01,-1.4965e-02,2.0895e-03,-5.3638e-04,3.5776e-01,1.5119e-02
+28,2.2900e+01,DOWN_FORCE_DETACH,5.4259e-03,1.4213e-01,6.2679e-01,2.8025e+00,-7.9456e-02,4.6202e-02,4.1458e-04,3.6103e-02,2.7170e-01,3.4285e-01,-1.8672e-02,1.8964e-03,-2.5132e-04,4.3895e-01,1.8770e-02
+29,2.3617e+01,DOWN_FORCE_DETACH,5.6212e-03,1.3292e-01,6.4775e-01,2.8337e+00,-8.0756e-02,4.5613e-02,4.5329e-04,2.6894e-02,2.9266e-01,3.7409e-01,-1.9972e-02,1.3072e-03,-2.1260e-04,4.7573e-01,2.0016e-02
+30,2.4317e+01,DOWN_FORCE_DETACH,5.8145e-03,1.1580e-01,6.7449e-01,2.8921e+00,-8.2255e-02,4.4263e-02,6.9507e-04,9.7709e-03,3.1940e-01,4.3249e-01,-2.1471e-02,-4.2472e-05,2.9177e-05,5.3773e-01,2.1471e-02
+31,2.5067e+01,DOWN_FORCE_DETACH,6.0070e-03,1.0979e-01,6.7225e-01,2.8915e+00,-8.2045e-02,4.3933e-02,7.0620e-04,3.7620e-03,3.1715e-01,4.3185e-01,-2.1261e-02,-3.7220e-04,4.0310e-05,5.3581e-01,2.1264e-02
+32,2.5767e+01,DOWN_FORCE_DETACH,6.2045e-03,1.2870e-01,7.1767e-01,2.9980e+00,-8.4945e-02,4.5149e-02,8.1838e-04,2.2667e-02,3.6258e-01,5.3837e-01,-2.4161e-02,8.4373e-04,1.5249e-04,6.4947e-01,2.4176e-02
+33,2.6467e+01,DOWN_FORCE_DETACH,6.3935e-03,1.4464e-01,7.0779e-01,3.0372e+00,-8.4054e-02,4.6185e-02,8.2169e-04,3.8614e-02,3.5270e-01,5.7752e-01,-2.3270e-02,1.8790e-03,1.5580e-04,6.7780e-01,2.3346e-02
+34,2.7183e+01,DOWN_FORCE_DETACH,6.5882e-03,1.4834e-01,7.2877e-01,3.0520e+00,-8.4761e-02,4.6467e-02,1.0732e-03,4.2308e-02,3.7368e-01,5.9233e-01,-2.3977e-02,2.1616e-03,4.0727e-04,7.0162e-01,2.4077e-02
+35,2.7817e+01,DOWN_FORCE_DETACH,6.7805e-03,1.3792e-01,7.3551e-01,3.0650e+00,-8.4949e-02,4.5671e-02,1.1006e-03,3.1888e-02,3.8042e-01,6.0532e-01,-2.4165e-02,1.3652e-03,4.3473e-04,7.1565e-01,2.4207e-02
+36,2.8483e+01,DOWN_FORCE_DETACH,6.9780e-03,1.0799e-01,7.5338e-01,3.1135e+00,-8.6311e-02,4.3453e-02,7.6161e-04,1.9569e-03,3.9829e-01,6.5385e-01,-2.5526e-02,-8.5281e-04,9.5711e-05,7.6561e-01,2.5541e-02
+37,2.9083e+01,DOWN_FORCE_DETACH,7.1711e-03,1.0442e-01,7.5805e-01,3.1266e+00,-8.6539e-02,4.3178e-02,7.1350e-04,-1.6125e-03,4.0296e-01,6.6693e-01,-2.5755e-02,-1.1275e-03,4.7610e-05,7.7921e-01,2.5779e-02
+38,2.9650e+01,DOWN_FORCE_DETACH,7.3615e-03,9.2082e-02,7.8262e-01,3.1553e+00,-8.7611e-02,4.2287e-02,9.7213e-05,-1.3947e-02,4.2752e-01,6.9562e-01,-2.6826e-02,-2.0185e-03,-5.6868e-04,8.1662e-01,2.6908e-02
+39,3.0117e+01,DOWN_FORCE_DETACH,7.5558e-03,9.6093e-02,7.6395e-01,3.1462e+00,-8.6302e-02,4.2497e-02,-2.0029e-05,-9.9366e-03,4.0886e-01,6.8656e-01,-2.5518e-02,-1.8089e-03,-6.8592e-04,7.9914e-01,2.5591e-02
+40,3.0667e+01,DOWN_FORCE_DETACH,7.7517e-03,1.2325e-01,7.7219e-01,3.1890e+00,-8.7186e-02,4.4396e-02,2.7567e-05,1.7216e-02,4.1710e-01,7.2933e-01,-2.6402e-02,9.0156e-05,-6.3833e-04,8.4035e-01,2.6410e-02
+41,3.1200e+01,DOWN_FORCE_DETACH,7.9473e-03,1.4196e-01,8.1532e-01,3.2182e+00,-8.9527e-02,4.5603e-02,5.7556e-04,3.5935e-02,4.6022e-01,7.5857e-01,-2.8742e-02,1.2980e-03,-9.0334e-05,8.8799e-01,2.8772e-02
+42,3.1717e+01,DOWN_FORCE_DETACH,8.1402e-03,1.6427e-01,7.9542e-01,3.3457e+00,-8.7478e-02,4.7058e-02,6.1839e-04,5.8244e-02,4.4032e-01,8.8607e-01,-2.6694e-02,2.7525e-03,-4.7510e-05,9.9116e-01,2.6836e-02
+43,3.2233e+01,DOWN_FORCE_DETACH,8.3318e-03,1.3999e-01,7.9656e-01,3.3891e+00,-8.6814e-02,4.5080e-02,3.7833e-04,3.3961e-02,4.4147e-01,9.2944e-01,-2.6030e-02,7.7496e-04,-2.8757e-04,1.0295e+00,2.6043e-02
+44,3.2733e+01,DOWN_FORCE_DETACH,8.5312e-03,1.3983e-01,8.8734e-01,3.4479e+00,-9.2558e-02,4.5110e-02,2.8027e-04,3.3804e-02,5.3225e-01,9.8824e-01,-3.1773e-02,8.0432e-04,-3.8562e-04,1.1230e+00,3.1786e-02
+45,3.3133e+01,DOWN_FORCE_DETACH,8.7215e-03,1.0496e-01,8.6902e-01,3.5408e+00,-9.0736e-02,4.2624e-02,2.1095e-04,-1.0657e-03,5.1393e-01,1.0812e+00,-2.9952e-02,-1.6818e-03,-4.5494e-04,1.1971e+00,3.0003e-02
+46,3.3600e+01,DOWN_FORCE_DETACH,8.9157e-03,1.3935e-01,9.0241e-01,3.5570e+00,-9.2571e-02,4.4869e-02,2.6426e-04,3.3324e-02,5.4732e-01,1.0973e+00,-3.1787e-02,5.6346e-04,-4.0163e-04,1.2267e+00,3.1794e-02
+47,3.4017e+01,DOWN_FORCE_DETACH,9.1055e-03,1.6116e-01,8.6841e-01,3.5974e+00,-8.9840e-02,4.6360e-02,3.4557e-04,5.5127e-02,5.1331e-01,1.1377e+00,-2.9056e-02,2.0540e-03,-3.2032e-04,1.2494e+00,2.9130e-02
+48,3.4317e+01,DOWN_FORCE_DETACH,9.3042e-03,1.7506e-01,8.0686e-01,3.7551e+00,-8.5444e-02,4.7177e-02,3.8332e-04,6.9032e-02,4.5177e-01,1.2955e+00,-2.4660e-02,2.8719e-03,-2.8257e-04,1.3737e+00,2.4828e-02
+49,3.4633e+01,DOWN_FORCE_DETACH,9.4911e-03,1.7032e-01,8.2396e-01,3.8042e+00,-8.6374e-02,4.6832e-02,3.5330e-04,6.4294e-02,4.6887e-01,1.3445e+00,-2.5590e-02,2.5262e-03,-3.1260e-04,1.4254e+00,2.5716e-02
+50,3.5017e+01,DOWN_FORCE_DETACH,9.6871e-03,1.4550e-01,8.4513e-01,3.7458e+00,-8.7350e-02,4.5162e-02,2.8481e-04,3.9472e-02,4.9004e-01,1.2861e+00,-2.6566e-02,8.5680e-04,-3.8108e-04,1.3769e+00,2.6582e-02
+51,3.5383e+01,DOWN_FORCE_DETACH,9.8851e-03,1.5156e-01,8.4772e-01,3.6984e+00,-8.7503e-02,4.5547e-02,2.7706e-04,4.5531e-02,4.9263e-01,1.2387e+00,-2.6718e-02,1.2414e-03,-3.8883e-04,1.3339e+00,2.6750e-02
+52,3.5667e+01,DOWN_FORCE_DETACH,1.0072e-02,1.8629e-01,8.6285e-01,3.7807e+00,-8.8248e-02,4.7825e-02,2.8607e-04,8.0257e-02,5.0776e-01,1.3210e+00,-2.7463e-02,3.5200e-03,-3.7982e-04,1.4175e+00,2.7690e-02
+53,3.5983e+01,DOWN_FORCE_DETACH,1.0274e-02,1.9700e-01,8.6306e-01,3.8130e+00,-8.7833e-02,4.8502e-02,2.5458e-04,9.0969e-02,5.0797e-01,1.3533e+00,-2.7049e-02,4.1966e-03,-4.1131e-04,1.4484e+00,2.7375e-02
+54,3.6317e+01,DOWN_FORCE_DETACH,1.0467e-02,1.8464e-01,9.1343e-01,3.7945e+00,-9.0648e-02,4.7697e-02,1.6977e-04,7.8607e-02,5.5834e-01,1.3348e+00,-2.9864e-02,3.3910e-03,-4.9612e-04,1.4490e+00,3.0060e-02
+55,3.6567e+01,DOWN_FORCE_DETACH,1.0663e-02,1.9850e-01,9.4538e-01,3.8626e+00,-9.1980e-02,4.8520e-02,8.2910e-05,9.2474e-02,5.9029e-01,1.4029e+00,-3.1196e-02,4.2145e-03,-5.8298e-04,1.5249e+00,3.1484e-02
+56,3.6817e+01,DOWN_FORCE_DETACH,1.0849e-02,2.2279e-01,9.2742e-01,3.9037e+00,-9.0348e-02,5.0090e-02,3.9699e-05,1.1676e-01,5.7232e-01,1.4440e+00,-2.9564e-02,5.7844e-03,-6.2620e-04,1.5577e+00,3.0131e-02
+57,3.7100e+01,DOWN_FORCE_DETACH,1.1046e-02,2.2357e-01,9.0790e-01,3.8887e+00,-8.8774e-02,5.0206e-02,2.7904e-05,1.1755e-01,5.5281e-01,1.4291e+00,-2.7990e-02,5.9004e-03,-6.3799e-04,1.5368e+00,2.8612e-02
+58,3.7450e+01,DOWN_SETTLE,1.1240e-02,2.5316e-01,9.0871e-01,3.7991e+00,-8.8998e-02,5.2333e-02,-2.7716e-05,1.4713e-01,5.5361e-01,1.3395e+00,-2.8214e-02,8.0275e-03,-6.9361e-04,1.4568e+00,2.9342e-02
+59,3.8117e+01,DOWN_PEAK_HOLD,1.1433e-02,3.1168e-01,8.8796e-01,3.3318e+00,-9.0358e-02,5.7534e-02,-7.3394e-04,2.0565e-01,5.3287e-01,8.7213e-01,-2.9574e-02,1.3228e-02,-1.3998e-03,1.0425e+00,3.2428e-02

Fixed/digit/ball_PLA_17.5/press_depth_04/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b650cb2f98425fb5aff7dc5e56385a52e6d794a8ab08648d7f95c75465c2f2
+size 552960

Fixed/digit/ball_PLA_17.5/press_depth_04/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+18590,1792844947780905622,23627220000000,1792844947780375106,XJC_ZERO_HOLD_BEFORE_UP,4,0.0762,0.07619763165712357,0.6759867267985266,-0.004401424755281968,0.10664312511151729,0.9999999615979034,6.235795814050503e-05,-0.00020760874171770673,-0.00014579832480394,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0006486981125210026,-0.0004391875741768386,0.0004898669323034344,3.023831529201399e-06,1.8659158097415827e-06,-0.00037174272516113914,-0.054302031196969955,-0.07441789181293744,0.22979426923689783,-0.0010728824997929642,-2.3662772832719835e-05,-0.00020342511029460442,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.1376909231932506,0.3879077356722229,2.614168611937989,-0.4532940687490114,-1.9379322083660415,0.12195127401153749,1.6312548422581434,-0.0004898669323034344,-0.9829137696798456,0.0,0.0,0,0,0.0,0.0
+18616,1792844947991913050,23627431000000,1792844947984375374,WAIT_W2,4,0.0706,0.07619763165712357,0.6759879150595617,-0.0044040329603156556,0.10664277470697885,0.9999999621001509,6.146676395647765e-05,-0.00020662258757535255,-0.00014412322654990374,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.010334143506660766,0.007132653410241885,0.0007983536245867728,4.47866551642152e-06,1.2386803221979542e-06,-0.00037323298230103634,-0.06398747659110972,-0.06684605082851872,0.23010275592918117,-0.001071427665805744,-2.4290008320263464e-05,-0.0002049153674345016,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0189128805632348,0.38649790264292744,2.500378050179309,-0.45466286465354905,-1.8327482224074874,0.12017799580752689,1.6312548422581434,-0.0007983536245867728,-0.8691232079211657,0.0,0.0,0,0,0.0,0.0
+18640,1792844948191925655,23627631000000,1792844948184375034,WAIT_W2,4,0.0706,0.07619763165712357,0.6759875489123598,-0.004406698457712839,0.10664364104311236,0.9999999619804584,6.185177343684281e-05,-0.00020763108733682866,-0.00014333748945377926,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0011770136678585993,-0.0011398517549617015,0.0010659648931202192,-3.0063002809258346e-06,-1.7190913065121777e-06,0.0002965219428491396,-0.05483034675230755,-0.0751185559937223,0.23037036719771462,-0.0010789126316030915,-2.7247779948973596e-05,0.0004648395577156743,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.023153714215242,0.3296667198444136,2.5288973214811743,-0.43393823381840274,-1.8520066253577805,0.08296380919248952,1.6312548422581434,-0.0010659648931202192,-0.8976424792230309,0.0,0.0,0,0,0.0,0.0
+18657,1792844948333934791,23627773000000,1792844948332374978,WAIT_W2,4,0.0706,0.07619763165712357,0.6759872290033505,-0.004407879486892851,0.1066449192445283,0.9999999618100359,6.319552052765485e-05,-0.00020756919199408914,-0.00014402828798817002,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0017126812343598447,-0.0011004771432331917,0.0007598800821239649,-2.2630717161629173e-06,-1.2430933837432073e-06,0.0002012251530364294,-0.0553660143188088,-0.07507918138199379,0.23006428238671836,-0.0010781694030383285,-2.6771782026204625e-05,0.00036954276790296414,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0780287907261854,0.38935260524232274,2.5396866858734453,-0.45956618696365176,-1.8765896135923539,0.1189429356675438,1.6312548422581434,-0.0007598800821239649,-0.9084318436153018,0.0,0.0,0,0,0.0,0.0
+18681,1792844948533964860,23627973000000,1792844948528374936,WAIT_W2,4,0.0706,0.07619763165712357,0.6759887575288338,-0.004410490179761082,0.10664510881814275,0.9999999630311303,5.7661274626116345e-05,-0.00020469265221785776,-0.00014197428648952398,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.001816877156834762,0.0032002350273138136,0.01034012022962752,-1.2403010794346126e-06,-1.9892627690031515e-06,3.585495660114832e-05,-0.055470210241283714,-0.07077846921144679,0.23964452253422192,-0.0010771466324016002,-2.751795141146457e-05,0.00020417257146768307,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0196966766537192,0.3405139867489357,2.554838170858464,-0.44321644903346513,-1.8630831524178268,0.08863879483012616,1.6312548422581434,-0.01034012022962752,-0.9235833286003206,0.0,0.0,0,0,0.0,0.0
+18683,1792844948549940047,23627989000000,1792844948548365376,WAIT_W2,4,0.0706,0.07619763165712357,0.6759890117353067,-0.0044466903501587905,0.10664607236302412,0.9999999660598035,3.789410675352879e-05,-0.00020380701904469214,-0.00012786708753623115,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.09025733622493978,0.08694135269087014,0.003349193437362341,0.007422160371653245,-0.008575615296375566,0.0005678423612404561,0.03660400314049084,0.012962648452109538,0.23265359574195674,0.00634625404033108,-0.008601143985018028,0.0007361599761069908,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0532348104629694,0.6039160467960644,2.5786306940514456,-0.4747421114494356,-1.887220578716337,0.2677894818826065,1.6312548422581434,-0.003349193437362341,-0.9473758517933022,0.0,0.0,0,0,0.0,0.0
+18685,1792844948566964218,23628006000000,1792844948564375249,WAIT_W2,4,0.0706,0.07619763165712357,0.6759917615569021,-0.004522867741119051,0.10665450402850678,0.9999999706379216,-6.894912569360495e-06,-0.00019782821622051032,-0.00010480208758617025,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.4840449059542613,0.45778557329433667,0.06366000708802175,0.0315991899560153,-0.03428302860367323,0.00047926075840605217,0.43039157286981233,0.3838068690555761,0.29296440939261614,0.030523283624693136,-0.03430855729231569,0.0006475783732725869,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0477975680624416,0.8205245292248883,2.584001906567905,-0.46222866864080925,-1.8859218947610308,0.4179791710849585,1.6312548422581434,-0.06366000708802175,-0.9527470643097615,0.0,0.0,0,0,0.0,0.0
+18685,1792844948566964218,23628006000000,1792844948564375249,WAIT_W2,4,0.0706,0.07619763165712357,0.6759917615569021,-0.004522867741119051,0.10665450402850678,0.9999999706379216,-6.894912569360495e-06,-0.00019782821622051032,-0.00010480208758617025,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.4840449059542613,0.45778557329433667,0.06366000708802175,0.0315991899560153,-0.03428302860367323,0.00047926075840605217,0.43039157286981233,0.3838068690555761,0.29296440939261614,0.030523283624693136,-0.03430855729231569,0.0006475783732725869,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0477975680624416,0.8205245292248883,2.584001906567905,-0.46222866864080925,-1.8859218947610308,0.4179791710849585,1.6312548422581434,-0.06366000708802175,-0.9527470643097615,0.0,0.0,0,0,0.0,0.0
+18687,1792844948583871217,23628023000000,1792844948576375150,WAIT_W2,4,0.0706,0.07619763165712357,0.6759957081430891,-0.004638082848264143,0.10666543671580232,0.9999999709506995,-8.302083786147916e-05,-0.00018871848925700624,-8.387095390310701e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7825138395687291,0.7455553792056974,0.1176355371630323,0.051923481281672484,-0.05497290408892159,0.0004209499279999387,0.7288605064842801,0.6715766749669367,0.3469399394676267,0.05084757495035032,-0.05499843277756405,0.0005892675428664734,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0435926313451034,1.3529336220265311,2.463414159678573,-0.5355917690169294,-1.8087201585675763,0.7789521633922638,1.6312548422581434,-0.1176355371630323,-0.8321593174204294,0.0,0.0,0,0,0.0,0.0
+18687,1792844948583871217,23628023000000,1792844948576375150,WAIT_W2,4,0.0706,0.07619763165712357,0.6759957081430891,-0.004638082848264143,0.10666543671580232,0.9999999709506995,-8.302083786147916e-05,-0.00018871848925700624,-8.387095390310701e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7825138395687291,0.7455553792056974,0.1176355371630323,0.051923481281672484,-0.05497290408892159,0.0004209499279999387,0.7288605064842801,0.6715766749669367,0.3469399394676267,0.05084757495035032,-0.05499843277756405,0.0005892675428664734,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0435926313451034,1.3529336220265311,2.463414159678573,-0.5355917690169294,-1.8087201585675763,0.7789521633922638,1.6312548422581434,-0.1176355371630323,-0.8321593174204294,0.0,0.0,0,0,0.0,0.0
+18687,1792844948583871217,23628023000000,1792844948576375150,WAIT_W2,4,0.0706,0.07619763165712357,0.6759957081430891,-0.004638082848264143,0.10666543671580232,0.9999999709506995,-8.302083786147916e-05,-0.00018871848925700624,-8.387095390310701e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7825138395687291,0.7455553792056974,0.1176355371630323,0.051923481281672484,-0.05497290408892159,0.0004209499279999387,0.7288605064842801,0.6715766749669367,0.3469399394676267,0.05084757495035032,-0.05499843277756405,0.0005892675428664734,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0435926313451034,1.3529336220265311,2.463414159678573,-0.5355917690169294,-1.8087201585675763,0.7789521633922638,1.6312548422581434,-0.1176355371630323,-0.8321593174204294,0.0,0.0,0,0,0.0,0.0
+18689,1792844948600035845,23628039000000,1792844948596375068,WAIT_W2,4,0.0706,0.07619697600603104,0.6759955687499948,-0.004767193128051384,0.10666998445409803,0.9999999621401428,-0.0001716877308349604,-0.00018495184084778738,-5.898064911904031e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1133931988044494,1.0959364599765582,0.16976499452939056,0.07731071922954849,-0.07994684819282898,0.0011219482065164196,1.0597398657200006,1.0219577557377977,0.39906939683398496,0.07623481289822633,-0.07997237688147144,0.0012902658213829543,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9959676761874612,1.5695673863084136,2.3544925555435197,-0.5272500862441645,-1.7250104740729735,0.930091826300415,1.6312548422581434,-0.16976499452939056,-0.7232377132853762,0.0,0.0,0,0,0.0,0.0
+18689,1792844948600035845,23628039000000,1792844948596375068,WAIT_W2,4,0.0706,0.07619697600603104,0.6759955687499948,-0.004767193128051384,0.10666998445409803,0.9999999621401428,-0.0001716877308349604,-0.00018495184084778738,-5.898064911904031e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1133931988044494,1.0959364599765582,0.16976499452939056,0.07731071922954849,-0.07994684819282898,0.0011219482065164196,1.0597398657200006,1.0219577557377977,0.39906939683398496,0.07623481289822633,-0.07997237688147144,0.0012902658213829543,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9959676761874612,1.5695673863084136,2.3544925555435197,-0.5272500862441645,-1.7250104740729735,0.930091826300415,1.6312548422581434,-0.16976499452939056,-0.7232377132853762,0.0,0.0,0,0,0.0,0.0
+18689,1792844948600035845,23628039000000,1792844948596375068,WAIT_W2,4,0.0706,0.07619697600603104,0.6759955687499948,-0.004767193128051384,0.10666998445409803,0.9999999621401428,-0.0001716877308349604,-0.00018495184084778738,-5.898064911904031e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1133931988044494,1.0959364599765582,0.16976499452939056,0.07731071922954849,-0.07994684819282898,0.0011219482065164196,1.0597398657200006,1.0219577557377977,0.39906939683398496,0.07623481289822633,-0.07997237688147144,0.0012902658213829543,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9959676761874612,1.5695673863084136,2.3544925555435197,-0.5272500862441645,-1.7250104740729735,0.930091826300415,1.6312548422581434,-0.16976499452939056,-0.7232377132853762,0.0,0.0,0,0,0.0,0.0
+18691,1792844948616865516,23628056000000,1792844948616374805,WAIT_W2,4,0.0706,0.07619697600603104,0.6759908653766882,-0.004891831130669738,0.10667005811812376,0.9999999452762683,-0.00025439042696432805,-0.00018760515197071762,-3.130721807699689e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.229380476282564,1.2213097563635529,0.1839205215489715,0.0877518900419295,-0.09042438846879136,0.0020626786628749724,1.175727143198115,1.1473310521247924,0.4132249238535659,0.08667598371060733,-0.09044991715743382,0.002230996277741507,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9942644562859109,1.7098005090743695,2.3764672222394325,-0.5167474370475237,-1.7409943673439598,1.0275471472815367,1.6312548422581434,-0.1839205215489715,-0.7452123799812891,0.0,0.0,0,0,0.0,0.0
+18691,1792844948616865516,23628056000000,1792844948616374805,WAIT_W2,4,0.0706,0.07619697600603104,0.6759908653766882,-0.004891831130669738,0.10667005811812376,0.9999999452762683,-0.00025439042696432805,-0.00018760515197071762,-3.130721807699689e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.229380476282564,1.2213097563635529,0.1839205215489715,0.0877518900419295,-0.09042438846879136,0.0020626786628749724,1.175727143198115,1.1473310521247924,0.4132249238535659,0.08667598371060733,-0.09044991715743382,0.002230996277741507,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9942644562859109,1.7098005090743695,2.3764672222394325,-0.5167474370475237,-1.7409943673439598,1.0275471472815367,1.6312548422581434,-0.1839205215489715,-0.7452123799812891,0.0,0.0,0,0,0.0,0.0
+18691,1792844948616865516,23628056000000,1792844948616374805,WAIT_W2,4,0.0706,0.07619697600603104,0.6759908653766882,-0.004891831130669738,0.10667005811812376,0.9999999452762683,-0.00025439042696432805,-0.00018760515197071762,-3.130721807699689e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.229380476282564,1.2213097563635529,0.1839205215489715,0.0877518900419295,-0.09042438846879136,0.0020626786628749724,1.175727143198115,1.1473310521247924,0.4132249238535659,0.08667598371060733,-0.09044991715743382,0.002230996277741507,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9942644562859109,1.7098005090743695,2.3764672222394325,-0.5167474370475237,-1.7409943673439598,1.0275471472815367,1.6312548422581434,-0.1839205215489715,-0.7452123799812891,0.0,0.0,0,0,0.0,0.0
+18693,1792844948633903003,23628073000000,1792844948632374549,WAIT_W2,4,0.0706,0.07619697600603104,0.6759957554919711,-0.004963509026421449,0.10667910083610614,0.9999999344087886,-0.00029994325501008314,-0.0001800130252301626,-1.5957336111127496e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2387954496716413,1.2233703640519955,0.18521302344403853,0.08902212102458659,-0.09173999472196842,0.002264524300747836,1.1851421165871925,1.149391659813235,0.41451742574863293,0.08794621469326443,-0.09176552341061088,0.0024328419156143706,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.949720335238898,1.8067380844322172,2.30078780867887,-0.5132283211247183,-1.679959628850479,1.0937817817879871,1.6312548422581434,-0.18521302344403853,-0.6695329664207263,0.0,0.0,0,0,0.0,0.0
+18697,1792844948666975260,23628106000000,1792844948664374849,WAIT_W2,4,0.0706,0.07619697600603104,0.6759979622034229,-0.004961197223075302,0.10668366101885826,0.9999999354610646,-0.0002989299509838344,-0.00017587725041791994,-1.5126385474909881e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1592089726194692,1.126368642423402,0.16369847800692347,0.08208646366231775,-0.08602565864386537,0.0018960814967143086,1.1055556395350203,1.0523899381846415,0.39300288031151787,0.08101055733099559,-0.08605118733250783,0.0020643991115808433,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9626043799273242,1.7971992202748928,2.3408321914055863,-0.48859350010601144,-1.7082788376844273,1.0871287715684972,1.6312548422581434,-0.16369847800692347,-0.7095773491474429,0.0,0.0,0,0,0.0,0.0
+18701,1792844948699960372,23628139000000,1792844948692375085,WAIT_W2,4,0.0706,0.07192207127809525,0.6759956792494067,-0.004923759804140415,0.10667884472215503,0.9999999424223083,-0.00027110691300185014,-0.000180632975337819,-2.1702857435481835e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2955900172328116,1.2957099413539632,0.22500917299278475,0.09389124613302079,-0.09598789422794281,0.001909151760624631,1.2419366841483628,1.2217312371152027,0.45431357529737915,0.09281533980169862,-0.09601342291658527,0.0020774693754911657,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9497442201172902,2.094792271005909,2.2600306604455986,-0.54224780024549,-1.6557031601123713,1.2830366248387102,1.6312548422581434,-0.22500917299278475,-0.6287758181874552,0.0,0.0,0,0,0.0,0.0
+18704,1792844948724970744,23628164000000,1792844948724364754,WAIT_W2,4,0.0706,0.07192207127809525,0.6759986498912645,-0.004950300864790192,0.10668554898741273,0.9999999385191151,-0.0002884143324667629,-0.000175840418501268,-1.737670609090171e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.4778444655344394,1.517867538065232,0.34236023928971815,0.10888529581341537,-0.10880525703396954,0.002150310787055315,1.4241911324499905,1.4438888338264715,0.5716646415943125,0.1078093894820932,-0.108830785722612,0.0023186284019218496,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9448972433224601,2.1835297998386123,2.1481438143640137,-0.5432806423513258,-1.5805153905402545,1.3389673819077057,1.6312548422581434,-0.34236023928971815,-0.5168889721058703,0.0,0.0,0,0,0.0,0.0
+18712,1792844948791909198,23628231000000,1792844948788374681,WAIT_W2,4,0.0706,0.07192207127809525,0.6760076435002009,-0.004942959652686013,0.10670132252166499,0.9999999419307147,-0.0002860292634266582,-0.00015918496026253858,-2.070844784133201e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.2963270299108816,1.3121904876675454,0.5029905801720245,0.09547733422116834,-0.09599813656650794,0.00015985274164132183,1.2426736968264327,1.238211783428785,0.7322949824766188,0.09440142788984618,-0.0960236652551504,0.00032817035650785657,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0502070191753738,2.1700181043757705,2.095678520143285,-0.5340984576188914,-1.5777767720125666,1.3255183956898597,1.6312548422581434,-0.5029905801720245,-0.4644236778851414,0.0,0.0,0,0,0.0,0.0
+18726,1792844948908950753,23628348000000,1792844948908374570,WAIT_W2,4,0.0706,0.07086024433374405,0.676011534962832,-0.004949204841485877,0.10671439387181307,0.9999999422959923,-0.00028945645079463654,-0.00015070263081892008,-1.8829655118500306e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3173215030059893,1.4009882005678123,0.6008206796755561,0.10157643313631072,-0.0978705606422821,-0.0009756007399606585,1.2636681699215404,1.3270094963290517,0.8301250819801504,0.10050052680498855,-0.09789608933092456,-0.0008072831250941238,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9809874992223606,2.19030892395866,2.0250895475473385,-0.5400385864973883,-1.5132029100634783,1.342619945594933,1.6312548422581434,-0.6008206796755561,-0.39383470528919506,0.0,0.0,0,0,0.0,0.0
+18744,1792844949058943378,23628498000000,1792844949052365145,WAIT_W2,4,0.0706,0.07086024433374405,0.676017348704607,-0.004957067237827019,0.10672786875144585,0.9999999417325504,-0.0002976056273807874,-0.00013785740585641027,-2.0099399125585787e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3403847731976284,1.4665962520984552,0.653123184078778,0.10634105871596208,-0.10022455136937708,-0.0010858483415759235,1.2867314401131795,1.3926175478596947,0.8824275863833724,0.10526515238463992,-0.10025008005801954,-0.0009175307267093888,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9456144468991166,2.1994056670485893,1.9108137104486451,-0.5503920505188415,-1.4291865432743343,1.3474843765819435,1.6312548422581434,-0.653123184078778,-0.2795588681905017,0.0,0.0,0,0,0.0,0.0
+18754,1792844949141979475,23628581000000,1792844949140375187,WAIT_W2,4,0.0706,0.07064814120531082,0.6760166489124922,-0.004945298287964105,0.10672779657201494,0.9999999440072316,-0.00028886544885007627,-0.0001395408799506021,-2.26603772419474e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3218071387262949,1.4471016154039698,0.6544239536793529,0.10493802678803982,-0.09881931094494903,-0.0010802628952195751,1.268153805641846,1.3731229111652092,0.8837283559839473,0.10386212045671765,-0.09884483963359149,-0.0009119452803530404,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9737748141483095,2.170632997690454,1.9479558448644896,-0.5442583875785667,-1.4627665403037102,1.3278180943637454,1.6312548422581434,-0.6544239536793529,-0.31670100260634615,0.0,0.0,0,0,0.0,0.0
+18768,1792844949252980922,23628692000000,1792844949252374682,UP_FORCE_RAMP,4,0.0706,0.07064814120531082,0.6760160677953387,-0.0049426226227278205,0.10672876008030045,0.9999999449057396,-0.0002854816077412575,-0.00013984221755175826,-2.399557068448635e-05,0.6761,-0.0046,0.10700002809999994,1.0,0.0,0.0,0.0,1.3285204827902877,1.4408223137465515,0.6446221513186889,0.10452406786949443,-0.09826746177005073,-0.0010603516991272437,1.2748671497058388,1.366843609507791,0.8739265536232833,0.10344816153817227,-0.09829299045869319,-0.000892034084260709,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9486057204316224,2.166535243438889,1.8523502811514505,-0.5494014119759428,-1.3951118028852767,1.32475438834958,1.6312548422581434,-0.6446221513186889,-0.22109543889330707,-0.6446221513186889,0.003399999999999998,0,0,1.6999999144770072e-06,9.999999025923074e-05
+18786,1792844949402982116,23628842000000,1792844949400365695,UP_FORCE_RAMP,4,0.0706,0.07060939818620682,0.6760181396412576,-0.0049473652405086855,0.10673168515019969,0.9999999443644739,-0.0002887589238260934,-0.0001372689182835914,-2.2123310191609e-05,0.6761,-0.0046,0.1070008418498768,1.0,0.0,0.0,0.0,1.2584589391733518,1.3844120533320465,0.6303743002921076,0.10161330249705151,-0.09559246460129857,-0.0010592567578490174,1.204805606088903,1.310433349093286,0.859678702596702,0.10053739616572935,-0.09561799328994103,-0.0008909391429824826,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9345169374816688,2.108685716415476,1.947773889578041,-0.5281831872885098,-1.4571435900619372,1.290911276810425,1.6312548422581434,-0.6303743002921076,-0.31651904731989755,-0.6303743002921076,0.018399999999999944,0,0,9.199998453361618e-06,9.999999025923074e-05
+18803,1792844949544986359,23628984000000,1792844949544374768,UP_FORCE_RAMP,4,0.0706,0.07060085982084274,0.6760178831542929,-0.00494062103384358,0.10673376608026566,0.99999994589379,-0.0002837217349950362,-0.00013633355808408322,-2.3883440845118716e-05,0.6761,-0.0046,0.10700264879955827,1.0,0.0,0.0,0.0,1.2723597049548137,1.3858545230349166,0.6205594174791815,0.1011252489973178,-0.09516064365580873,-0.0010453762249601367,1.2187063718703648,1.3118758187961561,0.8498638197837759,0.10004934266599563,-0.09518617234445119,-0.0008770586100936018,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9672896580556887,2.132625298011047,1.8859702992133371,-0.5471942776293366,-1.422453364717111,1.3026740700375186,1.6312548422581434,-0.6205594174791815,-0.2547154569551937,-0.6205594174791815,0.03259999999999991,0,0,1.6299997070172385e-05,9.999999025923074e-05
+18827,1792844949744958815,23629184000000,1792844949744374727,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.676019358808576,-0.004940966528469859,0.10673787518978417,0.9999999456662166,-0.00028576300015934413,-0.00013352018942066116,-2.4945829912036892e-05,0.6761,-0.0046,0.10700690379877652,1.0,0.0,0.0,0.0,1.255696275309978,1.3742984961555949,0.5916000201367063,0.10046751698298155,-0.0942904804571906,-0.0010242835843918023,1.2020429422255292,1.3003197919168343,0.8209044224413007,0.09939161065165938,-0.09431600914583306,-0.0008559659695252676,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9351845967084302,2.1549616430932774,1.9105007507088045,-0.5526972695659046,-1.4291079723266675,1.3186762896695714,1.6312548422581434,-0.5916000201367063,-0.2792459084506611,-0.5916000201367063,0.05260000000000048,0,0,2.6299995122018534e-05,9.999999025923074e-05
+18843,1792844949878001402,23629317000000,1792844949872366452,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.6760204626546413,-0.004942863499369546,0.10673994566097354,0.9999999448101308,-0.00028960894964852487,-0.0001312813527719991,-2.6729419966013626e-05,0.6761,-0.0046,0.10701084059804095,1.0,0.0,0.0,0.0,1.269535003603507,1.3979043146225532,0.574081238885192,0.10189334036559337,-0.09605924680051332,-0.0019881112015524734,1.215881670519058,1.3239256103837926,0.8033856411897864,0.10081743403427121,-0.09608477548915578,-0.0018197935866859387,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9319821343934339,2.114758811015172,1.9565069791399585,-0.5437983638328729,-1.4582912102116983,1.2918200018948396,1.6312548422581434,-0.574081238885192,-0.3252521368818151,-0.574081238885192,0.06590000000000086,0,0,3.294999382649622e-05,9.999999025923074e-05
+18866,1792844950069999082,23629509000000,1792844950068374926,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.6760204280880991,-0.004941706196457372,0.10674266536192593,0.9999999457612202,-0.0002868289579912059,-0.0001302158956933768,-2.6332294288792494e-05,0.6761,-0.0046,0.10701808379667516,1.0,0.0,0.0,0.0,1.2604173779222854,1.3772772053129525,0.5507679837649553,0.10089111702781595,-0.09490703923968465,-0.0011984500964780727,1.2067640448378365,1.303298501074192,0.7800723860695497,0.09981521069649378,-0.0949325679283271,-0.001030132481611538,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9440155236236054,2.179833740235933,2.020026154704973,-0.5681712607210038,-1.5015353580131736,1.3353293892138276,1.6312548422581434,-0.5507679837649553,-0.3887713124468295,-0.5507679837649553,0.08510000000000141,0,0,4.2549991956268525e-05,9.999999025923074e-05
+18880,1792844950185989878,23629625000000,1792844950180375077,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.6760188189104962,-0.004946722563312507,0.10674285441593641,0.9999999448657604,-0.0002896611002754984,-0.00013112789611180122,-2.476412292914809e-05,0.6761,-0.0046,0.10702335309567598,1.0,0.0,0.0,0.0,1.266954828285513,1.3782559628478304,0.5303926944987185,0.10129095466140871,-0.09513892468282771,-0.0010207154972779282,1.2133014952010641,1.3042772586090698,0.7596970968033129,0.10021504833008654,-0.09516445337147017,-0.0008523978824113934,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9680803191159608,2.1768614169609735,2.033279915186097,-0.5665489681676464,-1.5178142538282369,1.333466057350646,1.6312548422581434,-0.5303926944987185,-0.40202507292795353,-0.5303926944987185,0.09670000000000174,0,0,4.834999082633929e-05,9.999999025923074e-05
+18898,1792844950335954849,23629775000000,1792844950332375237,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.676019150222259,-0.004939913011827622,0.10674615403265092,0.9999999462762417,-0.0002847950838324604,-0.00013063700495969914,-2.6760245649375215e-05,0.6761,-0.0046,0.10703116434418962,1.0,0.0,0.0,0.0,1.2556272069822194,1.3767589928750152,0.4918644983987076,0.10086639689083034,-0.09525221544747792,-0.0013542933501739026,1.2019738738977706,1.3027802886362547,0.721168900703302,0.09979049055950817,-0.09527774413612038,-0.0011859757353073679,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9822830490787444,2.124790327309122,2.13926326652966,-0.5500148961305333,-1.5848691502150725,1.3000136610817745,1.6312548422581434,-0.4918644983987076,-0.5080084242715164,-0.4918644983987076,0.11170000000000217,0,0,5.58499893652239e-05,9.999999025923074e-05
+18917,1792844950494994912,23629934000000,1792844950488375090,UP_FORCE_RAMP,4,0.0706,0.07059954851865768,0.6760192591959645,-0.0049378781842940485,0.10674908778880463,0.999999946073806,-0.00028522947597218123,-0.00013075699924260952,-2.9017270769600497e-05,0.6761,-0.0046,0.10704067254237479,1.0,0.0,0.0,0.0,1.2553237494038718,1.3837803283825842,0.4622267362949031,0.10115702701828506,-0.09512487077851776,-0.0009335748238736919,1.201670416319423,1.3098016241438237,0.6915311385994974,0.1000811206869629,-0.09515039946716022,-0.0007652572090071572,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9914007703608528,2.1320406546876463,2.1395890742581853,-0.5688749139136365,-1.5851879679369738,1.2983453700399648,1.6312548422581434,-0.4622267362949031,-0.5083342320000419,-0.4622267362949031,0.12760000000000227,0,0,6.379998781644159e-05,9.999999025923074e-05
+18945,1792844950727995472,23630167000000,1792844950724365644,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6760192111005906,-0.004941845327505046,0.10675851592720474,0.9999999452556986,-0.00028857704702481534,-0.0001297656621836165,-2.855914166755122e-05,0.6761,-0.0046,0.10705688933927048,1.0,0.0,0.0,0.0,1.2607812654470762,1.3850507037554913,0.3999136578255269,0.10154081130390306,-0.09524503360975861,-0.0014850462766027779,1.2071279323626274,1.3110719995167308,0.6292180601301213,0.1004649049725809,-0.09527056229840107,-0.0013167286617362431,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-0.9794059995375954,2.1909636866486584,2.137414969214544,-0.5785602856675147,-1.583819658242939,1.3397982842677159,1.6312548422581434,-0.3999136578255269,-0.5061601269564004,-0.3999136578255269,0.1508999999999997,0,0,7.544998554684235e-05,9.999999025923074e-05
+18969,1792844950928009315,23630367000000,1792844950924365450,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6760182048516667,-0.004939291250622443,0.10676540797715157,0.9999999450455722,-0.0002879170205826864,-0.0001320630580867494,-3.185677750975264e-05,0.6761,-0.0046,0.10707297433618405,1.0,0.0,0.0,0.0,1.261550266687449,1.3834461994991663,0.34166420224105176,0.10154534580621466,-0.09523086637102564,-0.001848600567756863,1.207896933603,1.3094674952604057,0.5709686045456461,0.1004694394748925,-0.0952563950596681,-0.0016802829528903282,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.018566246916469,2.1891279353612605,2.1723292972764217,-0.578884720185597,-1.616709147168043,1.339832110176994,1.6312548422581434,-0.34166420224105176,-0.5410744550182782,-0.34166420224105176,0.1708999999999975,0,0,8.54499835986885e-05,9.999999025923074e-05
+18992,1792844951120008186,23630559000000,1792844951116375142,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6760061249683408,-0.004941277587953109,0.10677065488554725,0.9999999397031065,-0.0002914336591462766,-0.00016052647003572557,-3.652837082050022e-05,0.6761,-0.0046,0.10709029753285453,1.0,0.0,0.0,0.0,1.2718168456050314,1.3706618835635935,0.27886701418419924,0.10059279432091686,-0.09661206344970806,-0.0018300996301398263,1.2181635125205825,1.296683179324833,0.5081714164887936,0.0995168879895947,-0.09663759213835052,-0.0016617820152732916,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.001254832652807,2.1539588904080778,2.3814235202282625,-0.5638854301777495,-1.73804795108898,1.3160173168870815,1.6312548422581434,-0.27886701418419924,-0.7501686779701191,-0.27886701418419924,0.19009999999999538,0,0,9.50499817284608e-05,9.999999025923074e-05
+18994,1792844951135973998,23630575000000,1792844951128375405,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6759728165001078,-0.00494109351330308,0.10676379367824572,0.9999999255362693,-0.00028783840445278914,-0.00023627149789649918,-4.117222319725909e-05,0.6761,-0.0046,0.10709182433256086,1.0,0.0,0.0,0.0,1.279193708384154,1.3689148637701474,0.27883115432183414,0.10060521585526254,-0.09708911528666016,-0.0018369394869771393,1.2255403752997052,1.2949361595313869,0.5081355566264285,0.09952930952394037,-0.09711464397530262,-0.0016686218721106046,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.0586924283148587,2.203240838708768,2.2798965882770794,-0.5765953682972488,-1.6838386377300871,1.3470540293822828,1.6312548422581434,-0.27883115432183414,-0.648641746018936,-0.27883115432183414,0.1916999999999952,0,0,9.58499815726085e-05,9.999999025923074e-05
+19014,1792844951302952838,23630742000000,1792844951300374739,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6759820821120128,-0.004938455135245439,0.10678183956684549,0.9999999281714104,-0.0002901703990203592,-0.00022091556848934758,-4.5798350698508256e-05,0.6761,-0.0046,0.10710852432934684,1.0,0.0,0.0,0.0,1.3798645704602934,1.2790062053460203,0.2266551390517246,0.09336075540722841,-0.10512297967039112,-0.0019919604666390573,1.3262112373758446,1.2050275011072598,0.455959541356319,0.09228484907590624,-0.10514850835903358,-0.0018236428517725226,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.158644938405823,2.1866607778712126,2.3393112377633662,-0.5035220396658434,-1.7503921407890632,1.3338229921294167,1.6312548422581434,-0.2266551390517246,-0.7080563955052228,-0.2266551390517246,0.20839999999999337,0,0,0.00010419997994590003,9.999999025923074e-05
+19041,1792844951528012301,23630967000000,1792844951524375429,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6759817438856672,-0.00493572657804575,0.1067935162651255,0.9999999292389367,-0.00028894526765806014,-0.00021683454808640705,-4.958221835842641e-05,0.6761,-0.0046,0.107133229324587,1.0,0.0,0.0,0.0,1.3783447643698297,1.2913527890976964,0.09810806430755828,0.09470753661753857,-0.1041599725457186,-0.0018592195150249958,1.3246914312853808,1.2173740848589358,0.3274124666121527,0.0936316302862164,-0.10418550123436106,-0.001690901900158461,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.1538153828156827,2.193009835283873,2.453447064035303,-0.5328157174673501,-1.8219711671471595,1.3362645553382761,1.6312548422581434,-0.09810806430755828,-0.8221922217771596,-0.09810806430755828,0.2308999999999909,0,0,0.00011544997775422695,9.999999025923074e-05
+19057,1792844951660984815,23631100000000,1792844951656375414,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6759835256886391,-0.004934243575264726,0.10680351295834559,0.999999929664253,-0.00029078890208900776,-0.00021221764360078527,-5.019799790451745e-05,0.6761,-0.0046,0.10714902307154152,1.0,0.0,0.0,0.0,1.3872733484195767,1.3060306075475479,0.026441314128504395,0.0957448695621857,-0.10495039829992947,-0.00282657594579157,1.3336200153351279,1.2320519033087873,0.2557457164330988,0.09466896323086353,-0.10497592698857193,-0.0026582583309250354,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.1600312525015488,2.111025233291932,2.55591625626351,-0.5092924948311515,-1.886353017808633,1.2844272424085372,1.6312548422581434,-0.026441314128504395,-0.9246614140053664,-0.026441314128504395,0.24419999999998943,0,0,0.00012209997645870464,9.999999025923074e-05
+19081,1792844951861020717,23631300000000,1792844951860374571,UP_FORCE_RAMP,4,0.0706,0.07060020416975021,0.6759824593054263,-0.004934195066021859,0.10681178788610461,0.9999999288376262,-0.0002932177053168679,-0.00021234073480113692,-5.1984574231649666e-05,0.6761,-0.0046,0.10717443806663747,1.0,0.0,0.0,0.0,1.3789628598677632,1.3121946896305126,-0.05321286529129657,0.09576093608992299,-0.10449695234061811,-0.0018632861685382227,1.3253095267833144,1.238215985391752,0.17609153701329783,0.09468502975860082,-0.10452248102926057,-0.001694968553671688,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.1907980750021747,2.1895067092193585,2.760138642261817,-0.5381764960369626,-2.025317317648704,1.34036946644481,1.6312548422581434,0.05321286529129657,-1.1288838000036736,0.05321286529129657,0.2641999999999872,0,0,0.00013209997451055078,9.999999025923074e-05
+19102,1792844952036028091,23631475000000,1792844952032365380,UP_FORCE_RAMP,4,0.0706,0.07060085982084274,0.6759818345508785,-0.004931679908474654,0.10682219753601277,0.9999999295387944,-0.00029007544221756713,-0.00021235146169222728,-5.5931785170276795e-05,0.6761,-0.0046,0.10719786895039855,1.0,0.0,0.0,0.0,1.3791626329909334,1.3064321888343486,-0.1180942714048778,0.09572578515453531,-0.10452954759187456,-0.0027095749091888676,1.3255092999064846,1.2324534845955881,0.1112101308997166,0.09464987882321314,-0.10455507628051702,-0.002541257294322333,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.2563234892531936,2.1758117540109274,2.8129614072680296,-0.5535232805910678,-2.0768647875908055,1.330827991772678,1.6312548422581434,0.1180942714048778,-1.1817065650098861,0.1180942714048778,0.2816999999999853,0,0,0.0001316171280893189,-9.999999025923074e-05
+19126,1792844952236036960,23631675000000,1792844952232365242,UP_FORCE_RAMP,4,0.0706,0.07060085982084274,0.6759791650120712,-0.0049279886868006575,0.10683343224436832,0.9999999282990827,-0.00029281777944841007,-0.0002134604369322694,-5.947338160532308e-05,0.6761,-0.0046,0.1072231973762122,1.0,0.0,0.0,0.0,1.3795153292683122,1.314689072026037,-0.22404972085912778,0.09582791800055718,-0.10512166904723211,-0.0026310807175014875,1.3258619961838634,1.2407103677872764,0.00525468144546661,0.09475201166923501,-0.10514719773587457,-0.002462763102634953,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.2658525765771873,2.135408770388667,2.9746612315797507,-0.5359567123290152,-2.1859951816092615,1.306665099056461,1.6312548422581434,0.22404972085912778,-1.3434063893216073,0.22404972085912778,0.3016999999999831,0,0,0.00012161713003747276,-9.999999025923074e-05
+19140,1792844952353002428,23631792000000,1792844952352374897,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759530930386214,-0.0049320704720742636,0.10682778449205296,0.9999999215138257,-0.000297091506926367,-0.00023708859162211303,-6.277612870204346e-05,0.6761,-0.0046,0.10723708728049383,1.0,0.0,0.0,0.0,1.3895591793523197,1.312723046628674,-0.2613672868879858,0.09483294973330718,-0.10573725817845728,-0.0026219900669021217,1.3359058462678708,1.2387443423899134,-0.032062884583391384,0.09375704340198501,-0.10576278686709974,-0.002453672452035587,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.3765388745048008,2.2094812593644946,2.890805010875259,-0.5659227892017595,-2.159428044929023,1.3542469848426304,1.6312548422581434,0.2613672868879858,-1.2595501686171158,0.2613672868879858,0.3133999999999818,0,0,0.00011576713117714276,-9.999999025923074e-05
+19144,1792844952386038231,23631825000000,1792844952384365273,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759445375481943,-0.004933324454285411,0.10682179989428443,0.9999999190442033,-0.0002989953086204469,-0.00024533157948626437,-6.138951158929476e-05,0.6761,-0.0046,0.10724088137082811,1.0,0.0,0.0,0.0,1.4586112168042167,1.1979322347034456,-0.12329733312690692,0.08743470611727093,-0.11065454202325845,-0.002894951451761885,1.4049578837197678,1.123953530464685,0.10600706917768747,0.08635879978594876,-0.1106800707119009,-0.0027266338368953503,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.3002305771303795,2.1455079542105273,2.6440011918950495,-0.5495221828825841,-1.9592712715561678,1.309113113884546,1.6312548422581434,0.12329733312690692,-1.012746349636906,0.12329733312690692,0.31669999999998144,0,0,0.00011431713147910661,5e-05
+19149,1792844952427993681,23631867000000,1792844952420365111,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759505337588533,-0.004935183671023347,0.10684222866561044,0.9999999218456547,-0.0002996638101146883,-0.0002322095300614709,-6.349711209576184e-05,0.6761,-0.0046,0.10724572576534896,1.0,0.0,0.0,0.0,1.4718846764482674,1.1375641002095473,-0.03262383598252094,0.08365467679503757,-0.11217375749286179,-0.003033638428835797,1.4182313433638185,1.0635853959707868,0.19668056632207345,0.08257877046371541,-0.11219928618150425,-0.0028653208139692624,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.3892586348207576,2.1462401420019037,2.683067679806814,-0.5489220588248528,-2.004480646389619,1.3074707767211153,1.6312548422581434,0.03262383598252094,-1.0518128375486704,0.03262383598252094,0.320899999999981,0,0,0.0001164171313059167,9.999999025923074e-05
+19159,1792844952511040268,23631950000000,1792844952504374908,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759407519184086,-0.004931938106063531,0.106840018101659,0.9999999178497071,-0.00030076990757026476,-0.0002464937626498663,-6.724381273598515e-05,0.6761,-0.0046,0.1072553673280507,1.0,0.0,0.0,0.0,1.46255588543253,1.1615382570989505,-0.1940025542210876,0.08437296621636185,-0.11204839127701098,-0.003573450693980448,1.4089025523480811,1.08755955286019,0.03530184808350681,0.08329705988503969,-0.11207391996565344,-0.003405133079113913,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.3413466318542855,2.0942368123794832,2.8001381269947974,-0.5265594504469994,-2.0596785439731633,1.274962745042515,1.6312548422581434,0.1940025542210876,-1.168883284736654,0.1940025542210876,0.32919999999998006,0,0,0.00011630141707044827,-9.974813616609452e-05
+19175,1792844952645033948,23632084000000,1792844952640374963,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759369279785319,-0.004933903566136593,0.10684803544279166,0.9999999131770723,-0.0003033935751431605,-0.0002612975049488085,-6.902654653488335e-05,0.6761,-0.0046,0.10727063824624507,1.0,0.0,0.0,0.0,1.4987272617969616,1.1548012682315532,-0.19367819387284693,0.08445822708776171,-0.11459662291854159,-0.0031071391693712038,1.4450739287125127,1.0808225639927926,0.03562620843174746,0.08338232075643955,-0.11462215160718404,-0.002938821554504669,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.372512585532529,2.0991139376433012,2.861033745885837,-0.5336379109027176,-2.095250002578356,1.2775378558269508,1.6312548422581434,0.19367819387284693,-1.2297789036276936,0.19367819387284693,0.3425999999999786,0,0,0.00011141980494351787,-7.247010762147189e-05
+19193,1792844952795031712,23632234000000,1792844952792374843,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759273864593957,-0.004933070054337293,0.10685129234108817,0.9999999067291921,-0.0003044397489363329,-0.0002829491486686718,-7.239260371757743e-05,0.6761,-0.0046,0.10728680173320465,1.0,0.0,0.0,0.0,1.5301737854720385,1.1433698483912322,-0.23955860649421687,0.08342987014962329,-0.11599284151974681,-0.003946097142936454,1.4765204523875897,1.0693911441524717,-0.010254204189622468,0.08235396381830112,-0.11601837020838927,-0.0037777795280699196,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.4126804035023857,2.192575733163462,2.922139893479371,-0.5630067049590362,-2.137202468137267,1.3413787199034395,1.6312548422581434,0.23955860649421687,-1.2908850512212275,0.23955860649421687,0.35759999999997694,0,0,0.00010398300494676859,-9.999999025923074e-05
+19212,1792844952953007884,23632392000000,1792844952952365175,UP_FORCE_RAMP,4,0.0706,0.07060151547193527,0.6759220172267463,-0.004930309334581365,0.10685437673778875,0.9999999033035674,-0.0003031181909760642,-0.00029562933200870514,-7.455454356175953e-05,0.6761,-0.0046,0.1073026108981086,1.0,0.0,0.0,0.0,1.5374224095632056,1.137497586094485,-0.28936265605893463,0.08281858067822769,-0.11700551720383405,-0.003920576251687515,1.4837690764787568,1.0635188818557244,-0.06005825375434026,0.08174267434690552,-0.11703104589247651,-0.0037522586368209797,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.4825591114793064,2.172478948861862,2.9405437821864773,-0.5559437572880305,-2.169809967534289,1.3279832778645608,1.6312548422581434,0.28936265605893463,-1.3092889399283338,0.28936265605893463,0.3733999999999752,0,0,9.608300648581013e-05,-9.999999025923074e-05
+19248,1792844953253012501,23632692000000,1792844953248375056,UP_FORCE_RAMP,4,0.0706,0.0706021711230278,0.6759179734305522,-0.004926337265316389,0.10687009969608027,0.9999999013845067,-0.000302611242107204,-0.00030109156902376254,-8.027542517075308e-05,0.6761,-0.0046,0.10732919330049413,1.0,0.0,0.0,0.0,1.5361662391696373,1.1346583295622996,-0.3885350124858644,0.0828550998942844,-0.11698390620117256,-0.0038450282930939106,1.4825129060851885,1.060679625323539,-0.15923061018127002,0.08177919356296223,-0.11700943488981502,-0.003676710678227376,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.5618715026611203,2.1644618606543697,3.1285431257789122,-0.5468757269578381,-2.320807348835454,1.3252840945939994,1.6312548422581434,0.3885350124858644,-1.4972882835207688,0.3885350124858644,0.4033999999999719,0,0,8.108300940804091e-05,-9.999999025923074e-05
+19265,1792844953394942093,23632834000000,1792844953392365346,UP_FORCE_RAMP,4,0.0706,0.0706021711230278,0.6759165715124889,-0.004927947804233068,0.10687625278291427,0.9999999003395267,-0.00030327653417888586,-0.00030361691358659823,-8.126446941728931e-05,0.6761,-0.0046,0.10734020653792897,1.0,0.0,0.0,0.0,1.5377988834903737,1.1420318000168364,-0.44913998151739576,0.08293035287010872,-0.11697399485466813,-0.003796192569036152,1.4841455504059249,1.0680530957780758,-0.21983557921280136,0.08185444653878655,-0.11699952354331059,-0.003627874954169617,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.5686727989881124,2.231353847980172,3.109085086554173,-0.5737631278106748,-2.3105925537467384,1.36839065334285,1.6312548422581434,0.44913998151739576,-1.4778302442960296,0.44913998151739576,0.41759999999997033,0,0,7.398301079123015e-05,-9.999999025923074e-05
+19285,1792844953561042295,23633000000000,1792844953556375405,UP_FORCE_RAMP,4,0.0706,0.0706021711230278,0.6759145277654196,-0.004927386641649502,0.10688435636869731,0.9999998997679864,-0.0003029647871631212,-0.0003057445763405134,-8.148295798738208e-05,0.6761,-0.0046,0.10735180296785533,1.0,0.0,0.0,0.0,1.5367771454177899,1.1310713219687882,-0.507991312464748,0.08294025165071885,-0.11696004552971964,-0.003747647565582019,1.483123812333341,1.0570926177300277,-0.2786869101601536,0.08186434531939668,-0.1169855742183621,-0.0035793299507154842,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.578165907832345,2.1502019900323295,3.260195211680716,-0.5426621998818385,-2.410122952175255,1.3191812877845435,1.6312548422581434,0.507991312464748,-1.6289403694225726,0.507991312464748,0.4341999999999685,0,0,6.568301240819784e-05,-9.999999025923074e-05
+19315,1792844953809002342,23633248000000,1792844953804374786,UP_FORCE_HOLD,4,0.0706,0.0706021711230278,0.6759131446411927,-0.004928938481593053,0.1068961242726614,0.999999897601788,-0.0003082307226524388,-0.0003064496557183262,-8.556697663402403e-05,0.6761,-0.0046,0.10736656095523332,1.0,0.0,0.0,0.0,1.538114070432156,1.1381196242871465,-0.5898926238164066,0.08295653515730224,-0.11694325578901095,-0.0036817099608273405,1.4844607373477072,1.064140920048386,-0.36058822151181225,0.08188062882598007,-0.11696878447765341,-0.0035133923459608057,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.5800763691312991,2.178099262829204,3.277604174291762,-0.553120074028163,-2.4250566111519785,1.336266664732991,1.6312548422581434,0.5898926238164066,-1.6463493320336187,0.5898926238164066,0.558,0,0,5.328301482390862e-05,-9.999999025923074e-05
+19338,1792844954002049343,23633441000000,1792844954000375533,UP_SETTLE,4,0.0706,0.0706021711230278,0.6759043254199477,-0.004926190518596696,0.10689974825202779,0.9999998966709778,-0.00030273311965675685,-0.0003143366309344408,-8.744162795958469e-05,0.6761,-0.0046,0.1073759181772767,1.0,0.0,0.0,0.0,1.5523830112591173,1.112316290743387,-0.5713056242330631,0.08095305284172641,-0.11840237220362945,-0.003740559790058476,1.4987296781746684,1.0383375865046265,-0.3420012219284687,0.07987714651040424,-0.11842790089227191,-0.0035722421751919415,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.6421177490750523,2.1343451273889715,3.2805459290131096,-0.5373395774340232,-2.4434278759575787,1.3080448137572522,1.6312548422581434,0.5713056242330631,-1.6492910867549662,0.5713056242330631,0.558,0,0,4.3633016703877085e-05,-9.999999025923074e-05
+19352,1792844954119061879,23633558000000,1792844954112365070,UP_SETTLE,4,0.0706,0.0706021711230278,0.6759041039663929,-0.004928846346907049,0.10690293808712366,0.9999998956043908,-0.0003064623492061981,-0.0003140544065218006,-8.766258825863271e-05,0.6761,-0.0046,0.10738068394029829,1.0,0.0,0.0,0.0,1.560701643401096,1.102343871166233,-0.5814358804478428,0.0809662962918002,-0.11892986052663802,-0.0037360581176253274,1.5070483103166472,1.0283651669274725,-0.3521314781432484,0.07989038996047804,-0.11895538921528048,-0.0035677405027587927,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.6529194903832418,2.1867721512106653,3.3023536470501207,-0.5616459853829705,-2.458609312327319,1.3404689280167763,1.6312548422581434,0.5814358804478428,-1.6710988047919773,0.5814358804478428,0.558,0,0,3.778301784354709e-05,-9.999999025923074e-05
+19374,1792844954301962488,23633741000000,1792844954300365304,UP_SETTLE,4,0.0706,0.0706021711230278,0.6759027322587183,-0.004928171240094261,0.10690661035883742,0.9999998960867561,-0.00030358032068045226,-0.000315605370499416,-8.661165996276304e-05,0.6761,-0.0046,0.10738676558272765,1.0,0.0,0.0,0.0,1.5508474141725275,1.0986377097963806,-0.6079545001795533,0.07995320790534143,-0.11890787889978195,-0.003728388184902185,1.4971940810880786,1.0246590055576201,-0.3786500978749589,0.07887730157401926,-0.11893340758842441,-0.0035600705700356504,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.631522186970513,2.214911567271964,3.2812918052521733,-0.5674167080049642,-2.436844395820717,1.3594959124371837,1.6312548422581434,0.6079545001795533,-1.65003696299403,0.6079545001795533,0.558,0,0,2.8633019626107863e-05,-9.999999025923074e-05
+19397,1792844954494056054,23633933000000,1792844954492365602,UP_SETTLE,4,0.0706,0.0706021711230278,0.6758992417414134,-0.004927777415013287,0.1069067062155159,0.9999998933529198,-0.00030499195536661585,-0.0003224460603703575,-8.800828350385433e-05,0.6761,-0.0046,0.10739134632267634,1.0,0.0,0.0,0.0,1.55659999847578,1.1058899215278963,-0.6118810584322719,0.08035011663873569,-0.11869758408292717,-0.003709371452413857,1.502946665391331,1.0319112172891358,-0.3825766561276775,0.07927421030741352,-0.11872311277156963,-0.0035410538375473225,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.6441731058810338,2.1459774619780427,3.2986354476291684,-0.5470077006845203,-2.4526947310125746,1.3183130872176372,1.6312548422581434,0.6118810584322719,-1.667380605371025,0.6118810584322719,0.558,0,0,1.903302149633556e-05,-9.999999025923074e-05
+19417,1792844954660063527,23634099000000,1792844954652375282,UP_SETTLE,4,0.0706,0.07060151547193527,0.675899072971617,-0.004930547356860453,0.1069084691886095,0.9999998915668029,-0.00031103723791633026,-0.00032231379381102805,-8.762933880747811e-05,0.6761,-0.0046,0.10739382105437975,1.0,0.0,0.0,0.0,1.5420425215370712,1.0858119176531822,-0.6221409995893012,0.07906545060469486,-0.11796395281234127,-0.004118105725515671,1.4883891884526224,1.0118332134144217,-0.3928365972847068,0.0779895442733727,-0.11798948150098373,-0.003949788110649137,-0.05365333308444895,-0.0739787042387606,0.2293044023045944,-0.0010759063313221656,-2.5528688642461418e-05,0.00016831761486653474,1,-1.62033774695607,2.1358449000727084,3.308032077189561,-0.5507688997911023,-2.4535727736480295,1.3088577302459405,1.6312548422581434,0.6221409995893012,-1.6767772349314174,0.6221409995893012,0.558,0,0,1.0733023113303259e-05,-9.999999025923074e-05