Upload Fixed (part 33)

Fixed/digit/cylinder_0050_12.5/press_depth_08/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_0050_12.5/press_depth_08/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,1792823132244214139,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.788400317e-09,-6.522179845e-11,-1.020178275e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451378e-01,-1.186516360e-04,8.303259742e-01
+1,1.333333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1792823132393375448,-2.309410769e-07,-7.440098617e-07,-5.678994908e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.564036545e-08,-4.345531018e-10,-8.896779868e-09,7.019554019e-01,-2.301474488e-05,8.601425193e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451517e-01,-1.186520053e-04,8.303259663e-01
+2,2.833333333e-01,WAIT_W2,1792823132721556357,-3.013563877e-06,-4.855982532e-06,-3.825598482e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.024846185e-08,-8.284708961e-10,-1.704882790e-08,7.019526193e-01,-2.712671755e-05,8.601392616e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451663e-01,-1.186523992e-04,8.303259582e-01
+3,4.333333333e-01,WAIT_W2,1792823132866714829,-4.342434223e-07,-5.945904448e-06,1.882985139e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.389672759e-08,-1.194222915e-09,-2.455189918e-08,7.019551986e-01,-2.821663947e-05,8.601449702e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451799e-01,-1.186527650e-04,8.303259507e-01
+4,4.500000000e-01,WAIT_W2,1792823132883035695,-7.658918819e-07,-3.320321462e-05,-9.503557302e-07,-7.178370571e-07,-3.298440124e-05,-8.997870793e-07,-7.736079998e-07,-3.311037408e-05,-9.466229509e-07,7.019548669e-01,-5.547394964e-05,8.601421369e-01,7.019549150e-01,-5.525513626e-05,8.601421875e-01,7.027443624e-01,-1.517619448e-04,8.303250286e-01
+5,4.666666667e-01,WAIT_W2,1792823132899471460,7.412891673e-07,-9.134060455e-05,5.929383277e-06,6.926510392e-07,-9.130071678e-05,6.034045745e-06,8.408105696e-07,-9.173605436e-05,5.937290003e-06,7.019563741e-01,-1.136113396e-04,8.601490166e-01,7.019563255e-01,-1.135714518e-04,8.601491213e-01,7.027459768e-01,-2.103876251e-04,8.303319125e-01
+6,4.666666667e-01,WAIT_W2,1792823132899471460,7.412891673e-07,-9.134060455e-05,5.929383277e-06,6.926510392e-07,-9.130071678e-05,6.034045745e-06,8.408105696e-07,-9.173605436e-05,5.937290003e-06,7.019563741e-01,-1.136113396e-04,8.601490166e-01,7.019563255e-01,-1.135714518e-04,8.601491213e-01,7.027459768e-01,-2.103876251e-04,8.303319125e-01
+7,4.666666667e-01,WAIT_W2,1792823132899471460,7.412891673e-07,-9.134060455e-05,5.929383277e-06,6.926510392e-07,-9.130071678e-05,6.034045745e-06,8.408105696e-07,-9.173605436e-05,5.937290003e-06,7.019563741e-01,-1.136113396e-04,8.601490166e-01,7.019563255e-01,-1.135714518e-04,8.601491213e-01,7.027459768e-01,-2.103876251e-04,8.303319125e-01
+8,4.833333333e-01,WAIT_W2,1792823132917026732,4.633447062e-07,-2.188100635e-04,1.041481803e-05,4.677323415e-07,-2.187143854e-04,1.033228514e-05,7.086468026e-07,-2.197958376e-04,1.024863204e-05,7.019560962e-01,-2.410807985e-04,8.601535021e-01,7.019561005e-01,-2.409851204e-04,8.601534195e-01,7.027458447e-01,-3.384474084e-04,8.303362238e-01
+9,4.833333333e-01,WAIT_W2,1792823132917026732,4.633447062e-07,-2.188100635e-04,1.041481803e-05,4.677323415e-07,-2.187143854e-04,1.033228514e-05,7.086468026e-07,-2.197958376e-04,1.024863204e-05,7.019560962e-01,-2.410807985e-04,8.601535021e-01,7.019561005e-01,-2.409851204e-04,8.601534195e-01,7.027458447e-01,-3.384474084e-04,8.303362238e-01
+10,4.833333333e-01,WAIT_W2,1792823132917026732,4.633447062e-07,-2.188100635e-04,1.041481803e-05,4.677323415e-07,-2.187143854e-04,1.033228514e-05,7.086468026e-07,-2.197958376e-04,1.024863204e-05,7.019560962e-01,-2.410807985e-04,8.601535021e-01,7.019561005e-01,-2.409851204e-04,8.601534195e-01,7.027458447e-01,-3.384474084e-04,8.303362238e-01
+11,5.000000000e-01,WAIT_W2,1792823132933848190,1.441307045e-06,-3.137619439e-04,1.587844777e-05,1.362635191e-06,-3.140211745e-04,1.547367058e-05,1.748883244e-06,-3.156504082e-04,1.539849063e-05,7.019570741e-01,-3.360326789e-04,8.601589657e-01,7.019569955e-01,-3.362919096e-04,8.601585609e-01,7.027468849e-01,-4.343019789e-04,8.303413737e-01
+12,5.000000000e-01,WAIT_W2,1792823132933848190,1.441307045e-06,-3.137619439e-04,1.587844777e-05,1.362635191e-06,-3.140211745e-04,1.547367058e-05,1.748883244e-06,-3.156504082e-04,1.539849063e-05,7.019570741e-01,-3.360326789e-04,8.601589657e-01,7.019569955e-01,-3.362919096e-04,8.601585609e-01,7.027468849e-01,-4.343019789e-04,8.303413737e-01
+13,5.000000000e-01,WAIT_W2,1792823132933848190,1.441307045e-06,-3.137619439e-04,1.587844777e-05,1.362635191e-06,-3.140211745e-04,1.547367058e-05,1.748883244e-06,-3.156504082e-04,1.539849063e-05,7.019570741e-01,-3.360326789e-04,8.601589657e-01,7.019569955e-01,-3.362919096e-04,8.601585609e-01,7.027468849e-01,-4.343019789e-04,8.303413737e-01
+14,5.166666667e-01,WAIT_W2,1792823132949648447,3.131247488e-07,-3.627334515e-04,1.682739260e-05,4.199018586e-07,-3.624653638e-04,1.737807803e-05,7.808978818e-07,-3.643669090e-04,1.732483272e-05,7.019559459e-01,-3.850041865e-04,8.601599146e-01,7.019560527e-01,-3.847360988e-04,8.601604653e-01,7.027459169e-01,-4.830184798e-04,8.303433000e-01
+15,5.333333333e-01,WAIT_W2,1792823132966380655,6.866650921e-07,-4.082412295e-04,2.040123885e-05,7.285089587e-07,-4.081046402e-04,2.012640007e-05,1.102295434e-06,-4.102637345e-04,2.011052091e-05,7.019563195e-01,-4.305119645e-04,8.601634885e-01,7.019563613e-01,-4.303753753e-04,8.601632136e-01,7.027462383e-01,-5.289153052e-04,8.303460857e-01
+16,5.500000000e-01,WAIT_W2,1792823132989107646,4.468432309e-07,-4.020272635e-04,2.024784944e-05,7.285089587e-07,-4.081046402e-04,2.012640007e-05,1.104353896e-06,-4.102980944e-04,2.012641005e-05,7.019560797e-01,-4.242979985e-04,8.601633351e-01,7.019563613e-01,-4.303753753e-04,8.601632136e-01,7.027462404e-01,-5.289496651e-04,8.303461016e-01
+17,5.833333333e-01,WAIT_W2,1792823133030561435,2.090761459e-06,-3.613706567e-04,2.101980450e-05,3.458939947e-07,-3.649636468e-04,1.666095567e-05,6.700800725e-07,-3.669348022e-04,1.670613691e-05,7.019577236e-01,-3.836413917e-04,8.601641070e-01,7.019559787e-01,-3.872343818e-04,8.601597482e-01,7.027458061e-01,-4.855863730e-04,8.303426814e-01
+18,6.500000000e-01,WAIT_W2,1792823133095888893,-2.412118437e-06,-3.995268204e-04,1.597757551e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.331660878e-06,-3.957647093e-04,1.945844768e-05,7.019532207e-01,-4.217975554e-04,8.601590648e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027464677e-01,-5.144162800e-04,8.303454337e-01
+19,7.166666667e-01,WAIT_W2,1792823133161030849,1.153643608e-06,-3.921725732e-04,2.116884613e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.339093940e-06,-3.957864989e-04,1.947141759e-05,7.019567865e-01,-4.144433083e-04,8.601642561e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027464751e-01,-5.144380697e-04,8.303454466e-01
+20,8.500000000e-01,WAIT_W2,1792823133293065668,-2.887616216e-06,-4.033431475e-04,1.506875147e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.355383117e-06,-3.958238807e-04,1.949063715e-05,7.019527452e-01,-4.256138826e-04,8.601581560e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027464914e-01,-5.144754514e-04,8.303454659e-01
+21,9.500000000e-01,WAIT_W2,1792823133390766158,-7.839729802e-07,-3.972538175e-04,1.740114962e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.366071022e-06,-3.958462030e-04,1.950214935e-05,7.019548488e-01,-4.195245525e-04,8.601604884e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465021e-01,-5.144977737e-04,8.303454774e-01
+22,1.033333333e+00,WAIT_W2,1792823133473025202,-6.994700563e-07,-4.018720454e-04,1.831509497e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.374396564e-06,-3.958622893e-04,1.951050410e-05,7.019549333e-01,-4.241427805e-04,8.601614023e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465104e-01,-5.145138600e-04,8.303454857e-01
+23,1.166666667e+00,UP_FORCE_RAMP,1792823133603515366,-1.281203112e-06,-4.007571334e-04,1.667512954e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.386565729e-06,-3.958846978e-04,1.952155558e-05,7.019543516e-01,-4.230278685e-04,8.601597624e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465226e-01,-5.145362685e-04,8.303454968e-01
+24,1.350000000e+00,UP_FORCE_RAMP,1792823133784176895,6.384270720e-07,-3.935285276e-04,1.925513571e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.401248960e-06,-3.959105838e-04,1.953305463e-05,7.019562712e-01,-4.157992626e-04,8.601623424e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465373e-01,-5.145621545e-04,8.303455083e-01
+25,1.466666667e+00,UP_FORCE_RAMP,1792823133915817725,1.408122206e-06,-4.040050120e-04,2.300970794e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.409569137e-06,-3.959247981e-04,1.953847257e-05,7.019570409e-01,-4.262757470e-04,8.601660969e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465456e-01,-5.145763689e-04,8.303455137e-01
+26,1.550000000e+00,UP_FORCE_RAMP,1792823134079336113,-3.433679355e-06,-3.973242370e-04,1.460511762e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.415106009e-06,-3.959341107e-04,1.954152981e-05,7.019521991e-01,-4.195949720e-04,8.601576924e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465511e-01,-5.145856815e-04,8.303455167e-01
+27,1.700000000e+00,UP_FORCE_RAMP,1792823134226296815,8.934533898e-07,-3.965714381e-04,2.150213023e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.424260954e-06,-3.959493188e-04,1.954567143e-05,7.019565263e-01,-4.188421731e-04,8.601645894e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465603e-01,-5.146008895e-04,8.303455209e-01
+28,1.866666667e+00,UP_FORCE_RAMP,1792823134393534681,-3.127629580e-06,-3.964942247e-04,1.985795713e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.433389315e-06,-3.959642798e-04,1.954843472e-05,7.019525052e-01,-4.187649597e-04,8.601629452e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465694e-01,-5.146158505e-04,8.303455237e-01
+29,2.050000000e+00,UP_FORCE_RAMP,1792823134570217536,-1.852972659e-06,-3.960767577e-04,2.800878898e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.442360328e-06,-3.959788275e-04,1.954963724e-05,7.019537798e-01,-4.183474927e-04,8.601710960e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465784e-01,-5.146303982e-04,8.303455249e-01
+30,2.183333333e+00,UP_FORCE_RAMP,1792823134701082279,-1.340493185e-06,-3.959146371e-04,3.272293445e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.448261243e-06,-3.959883261e-04,1.954954361e-05,7.019542923e-01,-4.181853721e-04,8.601758102e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465843e-01,-5.146398968e-04,8.303455248e-01
+31,2.333333333e+00,UP_FORCE_RAMP,1792823134849175954,-5.182841583e-06,-3.947624773e-04,3.426390686e-05,9.630103427e-07,-3.935895956e-04,1.941213496e-05,1.454357196e-06,-3.959980904e-04,1.954863574e-05,7.019504500e-01,-4.170332123e-04,8.601773511e-01,7.019565958e-01,-4.158603306e-04,8.601624994e-01,7.027465904e-01,-5.146496611e-04,8.303455239e-01
+32,2.466666667e+00,UP_FORCE_RAMP,1792823134996331206,-3.571002423e-06,-3.971568047e-04,4.272038141e-05,-3.971307353e-06,-4.000950367e-04,3.876998620e-05,-3.512988850e-06,-4.025319795e-04,3.874671719e-05,7.019520618e-01,-4.194275397e-04,8.601858076e-01,7.019516615e-01,-4.223657717e-04,8.601818572e-01,7.027416230e-01,-5.211835502e-04,8.303647219e-01
+33,2.600000000e+00,UP_FORCE_RAMP,1792823135126861972,-3.607820357e-06,-3.935610498e-04,5.007655090e-05,-3.971307353e-06,-4.000950367e-04,3.876998620e-05,-3.510741994e-06,-4.025410669e-04,3.875696305e-05,7.019520250e-01,-4.158317848e-04,8.601931638e-01,7.019516615e-01,-4.223657717e-04,8.601818572e-01,7.027416253e-01,-5.211926377e-04,8.303647322e-01
+34,2.733333333e+00,UP_FORCE_RAMP,1792823135307429296,-3.241324202e-06,-3.937115240e-04,6.346820802e-05,-2.627925026e-06,-3.938912651e-04,5.757609605e-05,-1.873097631e-06,-3.963417553e-04,5.751309246e-05,7.019523915e-01,-4.159822590e-04,8.602065554e-01,7.019530049e-01,-4.161620001e-04,8.602006633e-01,7.027432629e-01,-5.149933260e-04,8.303834883e-01
+35,2.883333333e+00,UP_FORCE_RAMP,1792823135454548988,-6.563874407e-06,-3.961075907e-04,6.965158444e-05,-2.627925026e-06,-3.938912651e-04,5.757609605e-05,-1.869171367e-06,-3.963500824e-04,5.753128214e-05,7.019490689e-01,-4.183783258e-04,8.602127388e-01,7.019530049e-01,-4.161620001e-04,8.602006633e-01,7.027432669e-01,-5.150016531e-04,8.303835065e-01
+36,3.033333333e+00,UP_FORCE_RAMP,1792823135601925157,-4.041740143e-06,-3.939255968e-04,8.430572885e-05,-6.082467311e-06,-3.929166146e-04,7.712328996e-05,-5.299775115e-06,-3.953610388e-04,7.698066696e-05,7.019515911e-01,-4.161963318e-04,8.602273930e-01,7.019495503e-01,-4.151873496e-04,8.602202105e-01,7.027398362e-01,-5.140126095e-04,8.304029559e-01
+37,3.216666667e+00,UP_FORCE_RAMP,1792823135783663005,-3.691539117e-06,-3.941929661e-04,1.011717344e-04,-5.300680567e-06,-3.953296168e-04,9.795558465e-05,-4.273936601e-06,-3.978196074e-04,9.767858333e-05,7.019519413e-01,-4.164637011e-04,8.602442590e-01,7.019503321e-01,-4.176003518e-04,8.602410428e-01,7.027408621e-01,-5.164711781e-04,8.304236538e-01
+38,3.366666667e+00,UP_FORCE_RAMP,1792823135945899585,-4.757274602e-06,-3.914698467e-04,1.136283162e-04,-5.300680567e-06,-3.953296168e-04,9.795558465e-05,-4.270704336e-06,-3.978282240e-04,9.771477801e-05,7.019508755e-01,-4.137405817e-04,8.602567156e-01,7.019503321e-01,-4.176003518e-04,8.602410428e-01,7.027408653e-01,-5.164797947e-04,8.304236900e-01
+39,3.516666667e+00,UP_FORCE_RAMP,1792823136093502012,-3.829523291e-06,-3.901215336e-04,1.286298650e-04,-2.543392111e-06,-3.923839229e-04,1.202938572e-04,-9.992210077e-07,-3.948672245e-04,1.200013900e-04,7.019518033e-01,-4.123922686e-04,8.602717171e-01,7.019530894e-01,-4.146546579e-04,8.602633811e-01,7.027441368e-01,-5.135187952e-04,8.304459766e-01
+40,3.650000000e+00,UP_FORCE_RAMP,1792823136225482622,-3.773941329e-06,-3.884260658e-04,1.463001153e-04,-2.665293444e-06,-3.892769946e-04,1.404025535e-04,-9.059239627e-07,-3.917277547e-04,1.399909152e-04,7.019518589e-01,-4.106968008e-04,8.602893874e-01,7.019529675e-01,-4.115477296e-04,8.602834898e-01,7.027442301e-01,-5.103793255e-04,8.304659661e-01
+41,3.800000000e+00,UP_FORCE_RAMP,1792823136372506168,-5.158970633e-06,-3.897567045e-04,1.619315233e-04,-4.938602221e-06,-3.896123557e-04,1.619871445e-04,-3.066424955e-06,-3.920981811e-04,1.615350405e-04,7.019504738e-01,-4.120274395e-04,8.603050188e-01,7.019506942e-01,-4.118830907e-04,8.603050744e-01,7.027420696e-01,-5.107497519e-04,8.304875103e-01
+42,3.966666667e+00,UP_FORCE_RAMP,1792823136535499222,-7.132230760e-06,-3.843272107e-04,1.764168092e-04,-4.938602221e-06,-3.896123557e-04,1.619871445e-04,-3.063697882e-06,-3.921088032e-04,1.616031016e-04,7.019485006e-01,-4.065979457e-04,8.603195040e-01,7.019506942e-01,-4.118830907e-04,8.603050744e-01,7.027420723e-01,-5.107603740e-04,8.304875783e-01
+43,4.100000000e+00,UP_FORCE_RAMP,1792823136667661627,-9.615627693e-06,-3.841779418e-04,1.849130760e-04,-9.554598238e-06,-3.839920209e-04,1.850469192e-04,-7.757678276e-06,-3.864693123e-04,1.845204884e-04,7.019460172e-01,-4.064486769e-04,8.603280003e-01,7.019460782e-01,-4.062627559e-04,8.603281342e-01,7.027373783e-01,-5.051208830e-04,8.305104957e-01
+44,4.216666667e+00,UP_FORCE_RAMP,1792823136781439425,-1.148503253e-05,-3.872232770e-04,1.892209611e-04,-9.554598238e-06,-3.839920209e-04,1.850469192e-04,-7.760295803e-06,-3.864747714e-04,1.845726066e-04,7.019441478e-01,-4.094940120e-04,8.603323082e-01,7.019460782e-01,-4.062627559e-04,8.603281342e-01,7.027373757e-01,-5.051263421e-04,8.305105478e-01
+45,4.366666667e+00,UP_FORCE_RAMP,1792823136928582980,-1.332200704e-05,-3.819019799e-04,1.985074521e-04,-9.554598238e-06,-3.839920209e-04,1.850469192e-04,-7.759771719e-06,-3.864810394e-04,1.846170291e-04,7.019423108e-01,-4.041727150e-04,8.603415947e-01,7.019460782e-01,-4.062627559e-04,8.603281342e-01,7.027373762e-01,-5.051326101e-04,8.305105922e-01
+46,4.533333333e+00,UP_FORCE_RAMP,1792823137092972246,-1.384238988e-05,-3.795985580e-04,2.092135674e-04,-1.284304555e-05,-3.849602243e-04,2.074596166e-04,-1.104507165e-05,-3.874717673e-04,2.069408761e-04,7.019417904e-01,-4.018692931e-04,8.603523008e-01,7.019427898e-01,-4.072309593e-04,8.603505469e-01,7.027340910e-01,-5.061233380e-04,8.305329161e-01
+47,4.666666667e+00,UP_FORCE_RAMP,1792823137242419867,-1.705001044e-05,-3.820690533e-04,2.145474150e-04,-1.284304555e-05,-3.849602243e-04,2.074596166e-04,-1.104581962e-05,-3.874775622e-04,2.069852867e-04,7.019385828e-01,-4.043397883e-04,8.603576347e-01,7.019427898e-01,-4.072309593e-04,8.603505469e-01,7.027340902e-01,-5.061291329e-04,8.305329605e-01
+48,4.833333333e+00,UP_FORCE_RAMP,1792823137403870157,-1.568742390e-05,-3.814441951e-04,2.303272166e-04,-1.551710890e-05,-3.813875594e-04,2.299965899e-04,-1.357072975e-05,-3.838847033e-04,2.294164244e-04,7.019399454e-01,-4.037149301e-04,8.603734145e-01,7.019401157e-01,-4.036582944e-04,8.603730838e-01,7.027315653e-01,-5.025362740e-04,8.305553916e-01
+49,4.933333333e+00,UP_FORCE_RAMP,1792823137502356594,-1.651470623e-05,-3.821159662e-04,2.336882915e-04,-1.551710890e-05,-3.813875594e-04,2.299965899e-04,-1.357269198e-05,-3.838881921e-04,2.294642782e-04,7.019391181e-01,-4.043867012e-04,8.603767755e-01,7.019401157e-01,-4.036582944e-04,8.603730838e-01,7.027315633e-01,-5.025397628e-04,8.305554395e-01
+50,5.033333333e+00,UP_FORCE_RAMP,1792823137616669176,-1.517934678e-05,-3.833100489e-04,2.432049999e-04,-1.551710890e-05,-3.813875594e-04,2.299965899e-04,-1.357333023e-05,-3.838915035e-04,2.294959811e-04,7.019404535e-01,-4.055807839e-04,8.603862922e-01,7.019401157e-01,-4.036582944e-04,8.603730838e-01,7.027315627e-01,-5.025430742e-04,8.305554712e-01
+51,5.166666667e+00,UP_FORCE_RAMP,1792823137747728513,-1.688203526e-05,-3.774414236e-04,2.468692254e-04,-1.490756648e-05,-3.815258970e-04,2.519019137e-04,-1.263567463e-05,-3.840518829e-04,2.513265909e-04,7.019387508e-01,-3.997121586e-04,8.603899565e-01,7.019407253e-01,-4.037966320e-04,8.603949892e-01,7.027325003e-01,-5.027034537e-04,8.305773018e-01
+52,5.283333333e+00,UP_FORCE_RAMP,1792823137863944593,-1.765916645e-05,-3.827848655e-04,2.525047983e-04,-1.490756648e-05,-3.815258970e-04,2.519019137e-04,-1.263517761e-05,-3.840556158e-04,2.513709087e-04,7.019379737e-01,-4.050556005e-04,8.603955920e-01,7.019407253e-01,-4.037966320e-04,8.603949892e-01,7.027325008e-01,-5.027071865e-04,8.305773461e-01
+53,5.450000000e+00,UP_FORCE_RAMP,1792823138026556600,-1.789521890e-05,-3.816750832e-04,2.623088554e-04,-1.490756648e-05,-3.815258970e-04,2.519019137e-04,-1.263456752e-05,-3.840607039e-04,2.514211418e-04,7.019377376e-01,-4.039458182e-04,8.604053961e-01,7.019407253e-01,-4.037966320e-04,8.603949892e-01,7.027325015e-01,-5.027122747e-04,8.305773964e-01
+54,5.583333333e+00,UP_FORCE_HOLD,1792823138157554328,-1.851652944e-05,-3.789171258e-04,2.667184417e-04,-1.490756648e-05,-3.815258970e-04,2.519019137e-04,-1.263412483e-05,-3.840640665e-04,2.514554907e-04,7.019371163e-01,-4.011878608e-04,8.604098057e-01,7.019407253e-01,-4.037966320e-04,8.603949892e-01,7.027325019e-01,-5.027156373e-04,8.305774307e-01
+55,5.733333333e+00,UP_FORCE_HOLD,1792823138320970391,-2.143827332e-05,-3.814219402e-04,2.705827380e-04,-1.832956153e-05,-3.785321319e-04,2.728223996e-04,-1.599956549e-05,-3.810535562e-04,2.722617105e-04,7.019341945e-01,-4.036926752e-04,8.604136700e-01,7.019373033e-01,-4.008028669e-04,8.604159096e-01,7.027291365e-01,-4.997051270e-04,8.305982369e-01
+56,5.900000000e+00,UP_SETTLE,1792823138484837761,-2.134152529e-05,-3.793618608e-04,2.754494476e-04,-1.832956153e-05,-3.785321319e-04,2.728223996e-04,-1.600101341e-05,-3.810569861e-04,2.723120092e-04,7.019342913e-01,-4.016325958e-04,8.604185367e-01,7.019373033e-01,-4.008028669e-04,8.604159096e-01,7.027291350e-01,-4.997085568e-04,8.305982872e-01
+57,6.033333333e+00,UP_SETTLE,1792823138616237002,-1.952622244e-05,-3.748963138e-04,2.826556264e-04,-1.832956153e-05,-3.785321319e-04,2.728223996e-04,-1.600178121e-05,-3.810593427e-04,2.723456375e-04,7.019361066e-01,-3.971670489e-04,8.604257429e-01,7.019373033e-01,-4.008028669e-04,8.604159096e-01,7.027291342e-01,-4.997109134e-04,8.305983209e-01
+58,6.200000000e+00,UP_SETTLE,1792823138780254919,-2.013418693e-05,-3.773489701e-04,2.877960249e-04,-1.832956153e-05,-3.785321319e-04,2.728223996e-04,-1.600254506e-05,-3.810617281e-04,2.723826761e-04,7.019354986e-01,-3.996197052e-04,8.604308833e-01,7.019373033e-01,-4.008028669e-04,8.604159096e-01,7.027291335e-01,-4.997132989e-04,8.305983579e-01
+59,6.400000000e+00,UP_SETTLE,1792823138993347974,-1.919394915e-05,-3.787730824e-04,2.945268191e-04,-1.895506504e-05,-3.788700498e-04,2.941806535e-04,-1.647817042e-05,-3.814114530e-04,2.936642278e-04,7.019364389e-01,-4.010438175e-04,8.604376141e-01,7.019366778e-01,-4.011407849e-04,8.604372679e-01,7.027286579e-01,-5.000630237e-04,8.306196394e-01

Fixed/digit/cylinder_0050_12.5/press_depth_08/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.4826e-02,6.3868e-02,2.4836e+00,-4.1228e-02,4.0667e-02,1.4133e-04,3.1518e-04,-7.8976e-07,-1.9693e-04,2.1607e-07,2.2970e-05,9.7614e-08,3.7165e-04,2.2971e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.0510e-05,5.7261e-02,6.3856e-02,2.4821e+00,-4.1226e-02,4.0845e-02,1.4212e-04,2.7506e-03,-1.2144e-05,-1.6966e-03,2.2240e-06,2.0038e-04,8.9154e-07,3.2317e-03,2.0039e-04
+2,2.8333e-01,WAIT_W2,6.5427e-05,5.9832e-02,6.3841e-02,2.4805e+00,-4.1224e-02,4.1032e-02,1.4302e-04,5.3214e-03,-2.7716e-05,-3.2415e-03,4.5374e-06,3.8766e-04,1.7914e-06,6.2310e-03,3.8769e-04
+3,4.3333e-01,WAIT_W2,9.3782e-05,6.2235e-02,6.3823e-02,2.4791e+00,-4.1221e-02,4.1207e-02,1.4392e-04,7.7240e-03,-4.4882e-05,-4.6558e-03,6.8434e-06,5.6272e-04,2.6858e-06,9.0188e-03,5.6277e-04
+4,4.5000e-01,WAIT_W2,1.2119e-04,6.2491e-02,6.3822e-02,2.4789e+00,-4.1221e-02,4.1226e-02,1.4402e-04,7.9809e-03,-4.6812e-05,-4.8056e-03,7.0930e-06,5.8145e-04,2.7846e-06,9.3162e-03,5.8150e-04
+5,4.6667e-01,WAIT_W2,1.7975e-04,6.4784e-02,1.3139e-01,2.4802e+00,-4.5866e-02,4.1383e-02,1.5620e-04,1.0274e-02,6.7520e-02,-3.5582e-03,-4.6374e-03,7.3849e-04,1.4967e-05,6.8390e-02,4.6959e-03
+6,4.6667e-01,WAIT_W2,1.7975e-04,6.4784e-02,1.3139e-01,2.4802e+00,-4.5866e-02,4.1383e-02,1.5620e-04,1.0274e-02,6.7520e-02,-3.5582e-03,-4.6374e-03,7.3849e-04,1.4967e-05,6.8390e-02,4.6959e-03
+7,4.6667e-01,WAIT_W2,1.7975e-04,6.4784e-02,1.3139e-01,2.4802e+00,-4.5866e-02,4.1383e-02,1.5620e-04,1.0274e-02,6.7520e-02,-3.5582e-03,-4.6374e-03,7.3849e-04,1.4967e-05,6.8390e-02,4.6959e-03
+8,4.8333e-01,WAIT_W2,3.0730e-04,6.5624e-02,2.5102e-01,2.4730e+00,-5.4102e-02,4.1439e-02,1.7861e-04,1.1113e-02,1.8715e-01,-1.0752e-02,-1.2874e-02,7.9536e-04,3.7383e-05,1.8779e-01,1.2898e-02
+9,4.8333e-01,WAIT_W2,3.0730e-04,6.5624e-02,2.5102e-01,2.4730e+00,-5.4102e-02,4.1439e-02,1.7861e-04,1.1113e-02,1.8715e-01,-1.0752e-02,-1.2874e-02,7.9536e-04,3.7383e-05,1.8779e-01,1.2898e-02
+10,4.8333e-01,WAIT_W2,3.0730e-04,6.5624e-02,2.5102e-01,2.4730e+00,-5.4102e-02,4.1439e-02,1.7861e-04,1.1113e-02,1.8715e-01,-1.0752e-02,-1.2874e-02,7.9536e-04,3.7383e-05,1.8779e-01,1.2898e-02
+11,5.0000e-01,WAIT_W2,4.0241e-04,7.1736e-02,5.1260e-01,2.4721e+00,-7.2108e-02,4.1854e-02,2.2548e-04,1.7226e-02,4.4873e-01,-1.1671e-02,-3.0880e-02,1.2094e-03,8.4252e-05,4.4921e-01,3.0904e-02
+12,5.0000e-01,WAIT_W2,4.0241e-04,7.1736e-02,5.1260e-01,2.4721e+00,-7.2108e-02,4.1854e-02,2.2548e-04,1.7226e-02,4.4873e-01,-1.1671e-02,-3.0880e-02,1.2094e-03,8.4252e-05,4.4921e-01,3.0904e-02
+13,5.0000e-01,WAIT_W2,4.0241e-04,7.1736e-02,5.1260e-01,2.4721e+00,-7.2108e-02,4.1854e-02,2.2548e-04,1.7226e-02,4.4873e-01,-1.1671e-02,-3.0880e-02,1.2094e-03,8.4252e-05,4.4921e-01,3.0904e-02
+14,5.1667e-01,WAIT_W2,4.5141e-04,7.6372e-02,7.0621e-01,2.4734e+00,-8.5473e-02,4.2169e-02,2.6414e-04,2.1862e-02,6.4234e-01,-1.0321e-02,-4.4245e-02,1.5246e-03,1.2291e-04,6.4279e-01,4.4271e-02
+15,5.3333e-01,WAIT_W2,4.9706e-04,8.0809e-02,8.0214e-01,2.4777e+00,-9.2104e-02,4.2473e-02,2.8465e-04,2.6298e-02,7.3827e-01,-6.0778e-03,-5.0876e-02,1.8294e-03,1.4341e-04,7.3877e-01,5.0909e-02
+16,5.5000e-01,WAIT_W2,5.0328e-04,8.3955e-02,8.9183e-01,2.4805e+00,-9.8299e-02,4.2687e-02,3.0412e-04,2.9445e-02,8.2796e-01,-3.2248e-03,-5.7070e-02,2.0427e-03,1.6289e-04,8.2849e-01,5.7107e-02
+17,5.8333e-01,WAIT_W2,5.4657e-04,8.3516e-02,7.9981e-01,2.4850e+00,-9.2008e-02,4.2656e-02,2.9388e-04,2.9005e-02,7.3594e-01,1.2517e-03,-5.0780e-02,2.0121e-03,1.5264e-04,7.3651e-01,5.0820e-02
+18,6.5000e-01,WAIT_W2,5.9064e-04,8.5945e-02,8.5432e-01,2.4849e+00,-9.5783e-02,4.2827e-02,3.0701e-04,3.1435e-02,7.9045e-01,1.1163e-03,-5.4555e-02,2.1827e-03,1.6578e-04,7.9107e-01,5.4599e-02
+19,7.1667e-01,WAIT_W2,6.1686e-04,8.7604e-02,8.5005e-01,2.4877e+00,-9.5535e-02,4.2944e-02,3.1103e-04,3.3094e-02,7.8618e-01,3.9415e-03,-5.4307e-02,2.3001e-03,1.6979e-04,7.8689e-01,5.4356e-02
+20,8.5000e-01,WAIT_W2,6.5170e-04,9.0437e-02,8.4435e-01,2.4912e+00,-9.5206e-02,4.3149e-02,3.1641e-04,3.5927e-02,7.8048e-01,7.4694e-03,-5.3978e-02,2.5049e-03,1.7518e-04,7.8134e-01,5.4036e-02
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Fixed/digit/cylinder_0050_12.5/press_depth_09/down/camera_frames_60hz.tar

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Fixed/digit/cylinder_0050_12.5/press_depth_09/down/franka_data.csv

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+30247,1792823201797728551,1881130000000,1792823201796301903,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6759560242163274,-0.004767285410407003,0.09953010588839709,0.9999999645788075,-8.84269539577479e-06,-0.00021647816110042983,0.0001238719531922923,0.6761,-0.0045,0.09967896321169999,1.0,0.0,0.0,0.0,-0.10258367348179953,-0.036385794769970836,0.5380184646268958,-0.0020185649198857097,0.00688466128543945,-0.0003489328227634005,1.0031748570713095,0.9212089456727277,0.6227341863524798,0.07646209316302408,-0.06380096113086368,0.003618698277161823,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,0.7522514091521029,1.0040477800339418,0.7238546418720428,0.18626378916192324,-0.3711798421058286,0.6236150199385484,-1.1420436867328927,-0.5380184646268958,-1.8658983286049355,-1.8658983286049355,0.5375999999999762,0,0,-0.00017919996533474614,-9.999999025923074e-05
+30321,1792823202414797918,1881747000000,1792823202408301732,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6759616277633235,-0.004776944308072596,0.09943915388932444,0.9999999649093845,-6.198624127547211e-06,-0.00020094376867986908,0.00014562717141396915,0.6761,-0.0045,0.09955889503494555,1.0,0.0,0.0,0.0,-0.15793502696234996,-0.021015628955311283,0.7125211375067764,-0.0004861072463081817,0.010227420362410297,0.0005933520220287756,0.9478235035907591,0.9365791114873873,0.7972368592323603,0.0779945508366016,-0.06045820205389284,0.004560983121953999,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,0.8679860199760172,1.0612153125533181,0.4702459242087325,0.22632373995901237,-0.19877693671997348,0.6465012630432484,-1.1420436867328927,-0.7125211375067764,-1.6122896109416252,-1.6122896109416252,0.630149999999966,0,0,-0.0002100499593246915,-9.999999025923074e-05
+30400,1792823203072813294,1882405000000,1792823203068301727,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6759715772060881,-0.004792165215068443,0.09932606693746161,0.9999999655703999,-1.542908431787273e-05,-0.000177860667045408,0.00016861076482183932,0.6761,-0.0045,0.09940987451382181,1.0,0.0,0.0,0.0,-0.1831508241080192,-0.031127771941547033,0.965062932789477,-0.0005950188813461377,0.012030280935069033,0.0004155844565234667,0.9226077064450898,0.9264669685011515,1.049778654515061,0.07788563920156365,-0.0586553414812341,0.00438321555644869,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,0.9678204964513459,0.999485185027926,0.16490470005834298,0.24835773733398694,0.021013082737643057,0.603472501081419,-1.1420436867328927,-0.965062932789477,-1.3069483867912357,-1.3069483867912357,0.7288499999999551,0,0,-0.00024294995291526534,-9.999999025923074e-05
+30469,1792823203647818134,1882980000000,1792823203644302108,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6760032278315126,-0.0047874357179816356,0.09923098669884979,0.9999999708352112,-2.3457335205154723e-05,-0.00013480950810744043,0.0001762061039794796,0.6761,-0.0045,0.09926192704250861,1.0,0.0,0.0,0.0,-0.22576902641371455,0.04297552318554687,1.1609598163543562,0.004117175794402711,0.015340461827977,0.0003382624442535955,0.8799895041393945,1.0005702636282454,1.2456755380799402,0.0825978338773125,-0.055345160588326135,0.004305893544178819,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,0.9110080865789489,1.077032579526146,-0.07418474605741772,0.22518279309646402,0.14630974660331028,0.6585590562786939,-1.1420436867328927,-1.1609598163543562,-1.067858940675475,-1.067858940675475,0.8150999999999456,0,0,-0.000271699947314323,-9.999999025923074e-05
+30506,1792823203955828762,1883288000000,1792823203948302038,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6760145540365763,-0.00478478469041774,0.09916975667273116,0.9999999768108506,-0.00011917241299752103,-0.0001077737106629515,0.00010956242964280907,0.6761,-0.0045,0.09917587955919932,1.0,0.0,0.0,0.0,-0.15980963712842855,0.12201782010839834,1.277736945562995,0.009375598597178514,0.011082705884262044,0.0002616780515632402,0.9459488934246805,1.079612560551097,1.362452667288579,0.0878562566800883,-0.05960291653204109,0.004229309151488464,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.094227057303883,1.015276233564797,-0.22473676461114592,0.16169439979543243,0.31013221211493064,0.6410755627704331,-1.1420436867328927,-1.277736945562995,-0.9173069221217468,-0.9173069221217468,0.8612999999999406,0,0,-0.00028709994431416606,-9.999999025923074e-05
+30551,1792823204330809316,1883663000000,1792823204324301377,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6760302282212344,-0.004764074563437892,0.09909556140479074,0.9999999802582236,-9.514833451438858e-05,-8.25859957244952e-05,0.000122689709000422,0.6761,-0.0045,0.09906471083076823,1.0,0.0,0.0,0.0,-0.3056574256362862,-0.021714545846436062,1.472323448830981,0.00016243409516623897,0.02011350873232034,0.0010326591159692897,0.8001011049168228,0.9358801945962625,1.5570391705565652,0.07864309217807602,-0.050572113683982796,0.005000290215894513,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.3305833538141536,0.9225383459793832,-0.5720170668323595,0.2689211757326109,0.579417054930104,0.558504245465207,-1.1420436867328927,-1.472323448830981,-0.5700266199005332,-0.5700266199005332,0.9175499999999344,0,0,-0.0003058499406613776,-9.999999025923074e-05
+30589,1792823204647831226,1883980000000,1792823204640301546,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.676052367042456,-0.004778274454154086,0.09902958107073077,0.9999999796341912,-0.0001057325727196153,-5.281800450425861e-05,0.00013492725176975664,0.6761,-0.0045,0.09896525210006954,1.0,0.0,0.0,0.0,-0.2617951998463318,0.07833426890050554,1.5946986421092846,0.006230572110778293,0.01826945305997433,0.0011014246030216892,0.8439633307067772,1.035929009343204,1.6794143638348686,0.08471123019368808,-0.052416169356328805,0.005069055702946913,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.3696731962002788,0.9901390757023356,-0.6506913599216414,0.26822355981118773,0.6288399080154173,0.5968157246396805,-1.1420436867328927,-1.5946986421092846,-0.4913523268112513,-0.4913523268112513,0.9650999999999291,0,0,-0.00032169993757355373,-9.999999025923074e-05
+30640,1792823205072835101,1884405000000,1792823205068301492,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6760667412185454,-0.004789579828342677,0.09892522449645477,0.9999999771178867,-0.00013190600936733562,-2.33033742846876e-05,0.00013879786675026343,0.6761,-0.0045,0.09882402462748256,1.0,0.0,0.0,0.0,-0.2749050433236,0.0795932371770216,1.8391895963729632,0.006760681564856111,0.018607921946568802,0.0009133766307089335,0.830853487229509,1.0371879776197201,1.923905318098547,0.0852413396477659,-0.05207770046973433,0.004881007730634157,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.393931209527773,1.0169049937155412,-0.9505022333342804,0.27489341605060363,0.8257264154555394,0.6127622432469839,-1.1420436867328927,-1.8391895963729632,-0.19154145339861228,-0.19154145339861228,1.0288499999999434,0,0,-0.0003429499334337268,-9.999999025923074e-05
+30685,1792823205447804478,1884780000000,1792823205440301580,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6760801966023954,-0.004787745783883966,0.09882531327522087,0.999999975635189,-0.0001422617182957134,1.565302448232202e-06,0.00014117945677523803,0.6761,-0.0045,0.09869191215313164,1.0,0.0,0.0,0.0,-0.3574833376814647,0.02797436954426291,2.0440009613459136,0.004253170130785688,0.023766112452001692,0.0007929345763983764,0.7482751928716443,0.9855691099869615,2.1287166830714974,0.08273382821369547,-0.04691950996430144,0.0047605656763236,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.5077394443459022,0.968795738546663,-1.2232975029944309,0.3030969722468831,1.0270892174141744,0.5872677484009128,-1.1420436867328927,-2.0440009613459136,0.08125381626153816,0.08125381626153816,1.0850999999999789,0,0,-0.0003616999297809383,-9.999999025923074e-05
+30742,1792823205922779501,1885255000000,1792823205916302030,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.676100829274349,-0.00479968703400194,0.09868876670610717,0.9999999700900393,-0.0001720957832373982,3.7402174815596954e-05,0.00014229161410299102,0.6761,-0.0045,0.09851447593758689,1.0,0.0,0.0,0.0,-0.32474924612074785,0.11302329534383215,2.3128355884328227,0.009023630298162402,0.02198847702058781,0.0007438601358484304,0.7810092844323612,1.0706180357865307,2.3975513101584065,0.08750428838107219,-0.048697145395715326,0.004711491235773654,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.6330045227097976,0.9323993687897953,-1.5220732877390342,0.31158552174711585,1.2488022290678433,0.5536920070299641,-1.1420436867328927,-2.3128355884328227,0.38002960100614147,0.38002960100614147,1.1563500000000237,0,0,-0.00038544992515407293,-9.999999025923074e-05
+30807,1792823206464856748,1885797000000,1792823206464301796,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6761356173207781,-0.004806391409791403,0.09853208052103397,0.9999999611864523,-0.00020084543548742475,9.242579689776256e-05,0.0001420863859382023,0.6761,-0.0045,0.09829823152958676,1.0,0.0,0.0,0.0,-0.3732185016102195,0.12843279132261487,2.651405470897093,0.010570408281869476,0.0257793985733693,0.0014410047611809812,0.7325400289428895,1.0860275317653134,2.7361211926226767,0.08905106636477926,-0.044906223842933836,0.005408635861106205,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.8002137458343757,0.9888692784667527,-1.9761093943018864,0.29433104303704233,1.5757818589056838,0.5885504274736773,-1.1420436867328927,-2.651405470897093,0.8340657075689937,0.8340657075689937,1.237650000000075,0,0,-0.000412549919874576,-9.999999025923074e-05
+30868,1792823206972862391,1886305000000,1792823206972291999,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6761663037020563,-0.004814120090599343,0.09837494845949424,0.9999999743153672,-5.635791374819088e-05,0.00014210225745446274,0.00013943766774127003,0.6761,-0.0045,0.09808594961705826,1.0,0.0,0.0,0.0,-0.3943250404149131,0.1813539713949679,2.9388109320246194,0.014515687274687189,0.02689029680969779,0.0012712813581081022,0.7114334901381959,1.1389487118376664,3.0235266537502032,0.09299634535759697,-0.043795325606605345,0.005238912458033326,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,1.938020529671302,1.1994239408962595,-2.171857593700679,0.17183347599640955,1.7502325445030202,0.6220894371102277,-1.1420436867328927,-2.9388109320246194,1.0298139069677863,1.0298139069677863,1.313850000000123,0,0,-0.0004139346006973036,9.999999025923074e-05
+30927,1792823207464856997,1886797000000,1792823207464292336,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6761867799203427,-0.0048184320967756275,0.0982228059938979,0.9999999647798374,-9.725014137370046e-05,0.00017896772794175907,0.00014281509158143842,0.6761,-0.0045,0.09788833309233384,1.0,0.0,0.0,0.0,-0.41226052654853507,0.21230869511517403,3.226659246381262,0.016462833785640632,0.02871110757014121,0.002101526145773895,0.693498004004574,1.1699034355578726,3.3113749681068456,0.09494349186855042,-0.04197451484616192,0.0060691572456991185,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.0396916733290826,1.1927891931009855,-2.581221168955579,0.22010689459472052,2.0313906225345337,0.6742263990842543,-1.1420436867328927,-3.226659246381262,1.4391774822226864,1.4391774822226864,1.3876500000001695,0,0,-0.0003893346054897621,9.999999025923074e-05
+30988,1792823207972880867,1887305000000,1792823207972291891,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6762135895875888,-0.00482666450292035,0.09808161866595233,0.9999999509911629,-0.00013576472414610825,0.00022455035884674072,0.0001435465500151826,0.6761,-0.0045,0.0976969900114857,1.0,0.0,0.0,0.0,-0.42101434886668476,0.2459438679068222,3.4923297440948726,0.018694932707048237,0.029739372799569598,0.0019363579253857226,0.6847441816864243,1.2035386083495208,3.5770454658204565,0.09717559078995802,-0.040946249616733536,0.005903989025310946,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.134037478862028,0.967757759023265,-2.893745660058749,0.3481167710277353,2.250027833475765,0.5881143401363842,-1.1420436867328927,-3.4923297440948726,1.7517019733258563,1.7517019733258563,1.4638500000002175,0,0,-0.00036393461043807287,9.999999025923074e-05
+31052,1792823208505841864,1887838000000,1792823208500301243,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6762364759327979,-0.004837859468872435,0.09793315984093309,0.9999999374689917,-0.00015940149685037938,0.0002617698587365356,0.00015024174152528254,0.6761,-0.0045,0.09751010176273599,1.0,0.0,0.0,0.0,-0.4653191853817289,0.2602608636648658,3.7672889022603155,0.020386564550387495,0.03203590984625601,0.0017678798889931933,0.6404393451713801,1.2178556041075643,3.8520046239858994,0.09886722263329728,-0.03864971257004712,0.005735510988918417,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.2039655876612367,0.9669915679499275,-3.12646732051104,0.35614350665301164,2.420443093776367,0.5901618433120406,-1.1420436867328927,-3.7672889022603155,1.9844236337781471,1.9844236337781471,1.5438000000002678,0,0,-0.0003372846156299029,9.999999025923074e-05
+31115,1792823209030831491,1888363000000,1792823209028292250,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6762586274413684,-0.0048433141256022045,0.09780830551484178,0.9999999258814273,-0.00016537903635590259,0.0002988972285100483,0.00015162527916086628,0.6761,-0.0045,0.09733990483818533,1.0,0.0,0.0,0.0,-0.4953489345076171,0.29105327291941285,3.9754443517424085,0.022635512840265118,0.03338953724388433,0.0016512146788627445,0.6104095960454919,1.2486480133621114,4.060160073467992,0.1011161709231749,-0.0372960851724188,0.005618845778787968,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.2334432226915077,0.9497225610622307,-3.3786232527728006,0.3763132426351741,2.5898625763889247,0.5848642706087823,-1.1420436867328927,-3.9754443517424085,2.236579566039908,2.236579566039908,1.6225500000003175,0,0,-0.00031103462074380674,9.999999025923074e-05
+31200,1792823209739869282,1889072000000,1792823209732292844,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6762854111933838,-0.004851971742942988,0.09764600958367081,0.9999999140178344,-0.0001452225934128189,0.00034426184087294636,0.00015427693119396662,0.6761,-0.0045,0.09713193058962627,1.0,0.0,0.0,0.0,-0.5249962140809362,0.31422374779787177,4.255329905075615,0.02360217014314331,0.036315234875755664,0.0018818588945270472,0.5807623164721728,1.2718184882405703,4.340045626801199,0.1020828282260531,-0.03437038754054747,0.005849489994452271,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.3941110893375694,0.9452937021993822,-3.601007713032985,0.38777381630879865,2.774684361125442,0.585615180156646,-1.1420436867328927,-4.255329905075615,2.4589640263000927,2.4589640263000927,1.7289000000003845,0,0,-0.00027558462765001215,9.999999025923074e-05
+31279,1792823210397844685,1889730000000,1792823210396291778,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.676302020136501,-0.004853119035289098,0.09750942259542729,0.9999999037564483,-0.00015543963342375263,0.0003693495271349996,0.00015280512283029365,0.6761,-0.0045,0.09696140355252066,1.0,0.0,0.0,0.0,-0.5388898869375228,0.32846524947809685,4.479432644807884,0.024547284405920175,0.03725726573917424,0.0023456264566811364,0.5668686436155862,1.2860599899207954,4.564148366533468,0.10302794248882996,-0.033428356677128894,0.00631325755660636,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.442614751389406,1.0452621435718303,-3.8405237267598156,0.3778439912814801,2.9489312943611257,0.6541856133523336,-1.1420436867328927,-4.479432644807884,2.698480040026923,2.698480040026923,1.8276000000004466,0,0,-0.0002426846340594383,9.999999025923074e-05
+31359,1792823211064843883,1890397000000,1792823211064301495,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763206861525033,-0.004860613740439487,0.09739076376132322,0.999999890133515,-0.0001649834414869352,0.00039992892322457754,0.00015496174565713267,0.6761,-0.0045,0.09681063844943298,1.0,0.0,0.0,0.0,-0.5735425521236647,0.34604942660974114,4.669187359310635,0.026156615375350675,0.03921252104477506,0.0022448234936771018,0.5322159784294443,1.3036441670524397,4.75390308103622,0.10463727345826046,-0.031473101371528076,0.006212454593602325,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.51120838744008,0.964264765530263,-4.017772697829231,0.40943163776524116,3.08288712050873,0.6021336540138303,-1.1420436867328927,-4.669187359310635,2.875729011096338,2.875729011096338,1.9276500000005097,0,0,-0.00020933464055653139,9.999999025923074e-05
+31446,1792823211789930466,1891122000000,1792823211788292728,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763359405751826,-0.004857937840370801,0.09727779934603596,0.9999998803863908,-0.00016548646347263091,0.00042353548100587354,0.00015460270142180613,0.6761,-0.0045,0.09667199333246597,1.0,0.0,0.0,0.0,-0.5933722832671807,0.3558421991328071,4.820125208960301,0.0274629019973322,0.04016733975036718,0.002151584239694637,0.5123862472859283,1.3134369395755057,4.904840930685885,0.10594356008024199,-0.03051828266593595,0.006119215339619861,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5177623896431456,0.9248526557452541,-4.07986485515796,0.4390930161999458,3.1216006842504416,0.5803744926646786,-1.1420436867328927,-4.820125208960301,2.9378211684250672,2.9378211684250672,2.036400000000578,0,0,-0.0001730846476185891,9.999999025923074e-05
+31538,1792823212555940256,1891888000000,1792823212548292483,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.676348872098054,-0.00486353772087915,0.09718343250175206,0.9999998710630732,-0.00015785915507905997,0.0004472746155283559,0.00015602117319703977,0.6761,-0.0045,0.09655406023952867,1.0,0.0,0.0,0.0,-0.604365658660739,0.3699240200122518,4.950224571422876,0.027412353271846268,0.04115142992200774,0.0020608806941445736,0.50139287189237,1.3275187604549503,5.03494029314846,0.10589301135475605,-0.029534192494295397,0.006028511794069797,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.557456900282443,0.960037532357942,-4.3192085834302745,0.43079302408182835,3.2867146898398887,0.6064175598515661,-1.1420436867328927,-4.950224571422876,3.1771648966973816,3.1771648966973816,2.1513000000006506,0,0,-0.00013478465508001835,9.999999025923074e-05
+31632,1792823213339918565,1892672000000,1792823213332291882,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763545486396731,-0.004860049363020413,0.0971020300233389,0.9999998664717735,-0.00015455732792729265,0.00045828465950633945,0.00015680083759222427,0.6761,-0.0045,0.09646373586694851,1.0,0.0,0.0,0.0,-0.6213200666390426,0.3697248818630241,5.050760196008611,0.027367753227331412,0.04214424532074863,0.001993311884492954,0.48443846391406636,1.3273196223057226,5.135475917734195,0.1058484113102412,-0.0285413770955545,0.0059609429844181775,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5949429309196628,1.034300667698302,-4.426197892238994,0.4137743514014666,3.3659820711618287,0.6554956772463816,-1.1420436867328927,-5.050760196008611,3.284154205506101,3.284154205506101,2.2689000000007247,0,0,-9.558466271678145e-05,9.999999025923074e-05
+31733,1792823214180981242,1893513000000,1792823214180291895,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763588872265607,-0.004863003341976462,0.09704771392414199,0.9999998617863689,-0.00015938791475866452,0.0004667975544610789,0.00015673430736239322,0.6761,-0.0045,0.09640101016215487,1.0,0.0,0.0,0.0,-0.6219713328865398,0.37652913872861604,5.101060383249212,0.027731360449346737,0.04212605160135713,0.001954202031464551,0.4837871976665692,1.3341238791713146,5.185776104974797,0.10621201853225652,-0.02855957081494601,0.0059218331313897745,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.603499865899765,0.9099606420973744,-4.520784114165147,0.4558626906582856,3.431455379350166,0.5738500986089358,-1.1420436867328927,-5.101060383249212,3.3787404274322537,3.3787404274322537,2.395050000000804,0,0,-5.3534670908768394e-05,9.999999025923074e-05
+31849,1792823215147981563,1894480000000,1792823215144292419,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763611874019042,-0.004860447646115685,0.09702000151701709,0.9999998600578692,-0.0001581612637000143,0.00047096558439839166,0.00015653606360429501,0.6761,-0.0045,0.0963725629580979,1.0,0.0,0.0,0.0,-0.6073816893480428,0.3789587220235209,5.0913735299156535,0.028402332023881163,0.04132682163682623,0.0019616426925485805,0.49837684120506615,1.3365534624662194,5.176089251641238,0.10688299010679095,-0.029358800779476904,0.005929273792473804,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5666733129913117,0.915198865802548,-4.485639942172558,0.4541136503451984,3.4014341962419636,0.5754773105911734,-1.1420436867328927,-5.0913735299156535,3.3435962554396648,3.3435962554396648,2.5401000000008955,0,0,-6.170763622581621e-06,6.233094568264264e-05
+31953,1792823216014979598,1895347000000,1792823216008292209,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.676360413428487,-0.004858637500842899,0.09701121688909216,0.9999998617304463,-0.0001573981860650356,0.00046794076224411594,0.00015568945572106465,0.6761,-0.0045,0.09637134478603562,1.0,0.0,0.0,0.0,-0.5943335147772674,0.37692176199522165,5.063414554554606,0.0284407410173214,0.04009541091505542,0.0019664092155450737,0.5114250157758417,1.3345165024379202,5.14813027628019,0.10692139910023118,-0.030590211501247716,0.005934040315470297,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.4852075271880287,1.0909172248523211,-4.405904680151852,0.4016472210024976,3.33352999367858,0.6883454268338323,-1.1420436867328927,-5.063414554554606,3.263860993418959,3.263860993418959,2.6701500000009775,0,0,-7.995805642591058e-08,8.076571356152584e-07
+32065,1792823216947920058,1896280000000,1792823216944292441,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6763598946333257,-0.004856775183951653,0.09700675853661289,0.9999998628019993,-0.00015241100965219105,0.0004667385061259268,0.00015736866892926012,0.6761,-0.0045,0.09637132894392673,1.0,0.0,0.0,0.0,-0.5849759461785027,0.3857869825119302,5.03177685238019,0.028447953915489946,0.04010120971163429,0.0019934590780914547,0.5207825843746063,1.3433817229546288,5.1164925741057745,0.10692861199839973,-0.030584412704668846,0.005961090178016678,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5596637313277144,0.9891671552048289,-4.4107812003528535,0.43400470489903953,3.3607110539132474,0.6254326002288857,-1.1420436867328927,-5.03177685238019,3.2687375136199606,3.2687375136199606,2.8101000000010656,0,0,-7.441459948243079e-10,7.516626210346544e-09
+32173,1792823217849012322,1897180000000,1792823217848293288,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763560610569216,-0.004853754848984465,0.09700069530800734,0.999999865377571,-0.00015369321315526093,0.0004606912081471758,0.0001575744617750434,0.6761,-0.0045,0.09637132879674239,1.0,0.0,0.0,0.0,-0.5774840133194289,0.3828264676000743,5.01133139597157,0.0284800313772907,0.03909171480313604,0.0019948877847122846,0.5282745172336801,1.3404212080427729,5.096047117697155,0.10696068946020049,-0.03159390761316709,0.005962518884637508,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.4721738179628283,0.9153398380951866,-4.2652878044820834,0.46540517611189147,3.242885871367834,0.5741573777590155,-1.1420436867328927,-5.01133139597157,3.1232441177491905,3.1232441177491905,2.9451000000011507,0,0,-8.243405957841787e-12,8.326672684688674e-11
+32277,1792823218715026415,1898047000000,1792823218712292184,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6763563159865484,-0.004853652515854409,0.0969984170091698,0.9999998653839759,-0.00015461672600577622,0.000460787787982232,0.0001563431383747657,0.6761,-0.0045,0.09637127052636016,1.0,0.0,0.0,0.0,-0.5590885886184251,0.39431470119728274,4.991299397463382,0.028483964371053994,0.03909545462854709,0.002013465635734139,0.5466699419346839,1.3519094416399813,5.076015119188966,0.10696462245396378,-0.03159016778775604,0.005981096735659362,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5094541565765915,0.928135283610155,-4.399913420466862,0.4550412762076666,3.3424629053990667,0.5839029346848602,-1.1420436867328927,-4.991299397463382,3.257869733733969,3.257869733733969,3.0751500000012326,0,0,-1.7017400114061054e-07,1.7189293044506115e-06
+32395,1792823219697945009,1899030000000,1792823219696292262,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6763562862542162,-0.004852712980937656,0.09699470141649154,0.9999998657383518,-0.000155331881789655,0.000460078853153984,0.00015545288099630948,0.6761,-0.0045,0.09636498358226102,1.0,0.0,0.0,0.0,-0.5660339761061899,0.38354681924790324,4.97124034723793,0.028497698668217594,0.0386996752867748,0.002022448328306143,0.5397245544469191,1.3411415596906018,5.055956068963514,0.10697835675112738,-0.03198594712952833,0.005990079428231367,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.523914798675843,0.9339023923466522,-4.2843436552297085,0.4556137843708926,3.270217454742202,0.5882181111032437,-1.1420436867328927,-4.97124034723793,3.1422999684968156,3.1422999684968156,3.2226000000013255,0,0,-1.8790109672399364e-05,-9.962155686349945e-05
+32495,1792823220531008362,1899863000000,1792823220528292056,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6763561385537296,-0.004855705127695416,0.096975329123042,0.9999998646392292,-0.0001515692013043989,0.00046183064496193953,0.00016094601620614239,0.6761,-0.0045,0.0963335150367723,1.0,0.0,0.0,0.0,-0.5663145100860396,0.38463367906262125,5.001297502786394,0.028480841256439515,0.03909415514009526,0.002004345718343678,0.5394440204670694,1.3422284195053198,5.086013224511978,0.1069614993393493,-0.031591467276207874,0.005971976818268902,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.515764873584455,1.0333259087077207,-4.334049252086986,0.43182369189645053,3.2911789426224494,0.6566719710426467,-1.1420436867328927,-5.001297502786394,3.1920055653540933,3.1920055653540933,3.3475500000014042,0,0,-5.7073622393459484e-05,-9.999999025923074e-05
+32603,1792823221431092309,1900763000000,1792823221424292758,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.676363908258185,-0.004857069988782253,0.09693061195920837,0.9999998580189344,-0.00015772520432665341,0.0004741455902656977,0.00016035490179924436,0.6761,-0.0045,0.09626340172535422,1.0,0.0,0.0,0.0,-0.5759921756260111,0.38837015711128386,5.091515281605237,0.028446337240164973,0.03971806037431208,0.00194251970253587,0.5297663549270979,1.3459648975539824,5.176231003330821,0.10692699532307476,-0.030967562041991054,0.0059101508024610935,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.5653950575020317,0.9259369015458518,-4.463483814659394,0.47427987360956214,3.3797892678655175,0.5874537596554518,-1.1420436867328927,-5.091515281605237,3.3214401279265013,3.3214401279265013,3.4825500000014893,0,0,-9.95758873370819e-05,-9.999790859105957e-05
+32702,1792823222256080198,1901588000000,1792823222252292146,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6763776223745894,-0.004858708123842733,0.09685996517356217,0.9999998454840334,-0.0001603828372981666,0.0004988059818735557,0.0001610736213037383,0.6761,-0.0045,0.0961712794940814,1.0,0.0,0.0,0.0,-0.6012706654009167,0.40444981733400587,5.221998848756272,0.03002157977105245,0.04104238903668507,0.001869037654494244,0.5044878651521923,1.3620445577767044,5.306714570481856,0.10850223785396224,-0.029643233379618064,0.005836668754419468,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.693536564308879,1.0316652879706003,-4.64626587311549,0.45649830108950357,3.5226438268015325,0.6619543863470032,-1.1420436867328927,-5.221998848756272,3.504222186382597,3.504222186382597,3.6063000000015673,0,0,-0.00011897718625209526,-3.5517071622921236e-05
+32798,1792823223056047361,1902388000000,1792823223056291707,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763867788599843,-0.004861095443405554,0.09678370135771013,0.9999998361857598,-0.0001564027728262018,0.0005162676703477656,0.00016756247513891569,0.6761,-0.0045,0.09607694625017714,1.0,0.0,0.0,0.0,-0.6151684316193597,0.4130394631437977,5.352985359738378,0.03037495322363959,0.04202092939699693,0.00178450291056856,0.49059009893374933,1.3706342035864962,5.437701081463962,0.10885561130654937,-0.028664693019306207,0.005752134010493784,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.7370747419883954,0.9681795097944413,-4.788492114360057,0.47154352405148775,3.6236103767260137,0.6207970724422456,-1.1420436867328927,-5.352985359738378,3.6464484276271643,3.6464484276271643,3.726300000001643,0,0,-0.00011380906792393818,9.999391178817092e-05
+32904,1792823223940036612,1903272000000,1792823223936292454,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6763937457188025,-0.00486161633075635,0.09670074955294151,0.9999998303664078,-0.00015695676732587686,0.0005281816833612992,0.00016461683488478684,0.6761,-0.0045,0.09597970111113466,1.0,0.0,0.0,0.0,-0.6258581008086058,0.4261232249842253,5.493912683390751,0.030717729860429033,0.042989184869059824,0.0026336181251046644,0.4799004297445032,1.3837179654269238,5.578628405116335,0.10919838794333882,-0.027696437547243314,0.006601249225029888,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.6715849934788882,1.0223922915954933,-4.875120555716177,0.46077724125210856,3.659771343138021,0.6571771392729395,-1.1420436867328927,-5.493912683390751,3.733076868983284,3.733076868983284,3.8589000000017264,0,0,-0.00010327936092044266,-9.99951191557102e-05
+33010,1792823224823115724,1904155000000,1792823224816292478,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6764015420714039,-0.0048574633956153445,0.09662771379771791,0.9999998237344688,-0.0001550061543813962,0.0005413858331062577,0.00016385471386652994,0.6761,-0.0045,0.09589019253641441,1.0,0.0,0.0,0.0,-0.636354663256447,0.4347673860097312,5.601988058284336,0.03129332724965339,0.04397076360090675,0.00185136016460847,0.46940386729666206,1.3923621264524297,5.68670378000992,0.10977398533256318,-0.026714858815396383,0.0058189912645336935,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.7737005270204174,0.978375704383843,-5.090123100195034,0.4820217498836198,3.822478576945672,0.6313995125329419,-1.1420436867328927,-5.601988058284336,3.948079413462141,3.948079413462141,3.99135000000181,0,0,-0.0001000571906897577,9.95740531958333e-05
+33093,1792823225515913385,1904847000000,1792823225508292204,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764072605904987,-0.004862357184566542,0.09656591537584902,0.9999998188669746,-0.00015529718600216272,0.0005510217925238809,0.0001611417087302369,0.6761,-0.0045,0.0958180792038891,1.0,0.0,0.0,0.0,-0.6446282048452194,0.42756621877355805,5.693995786701587,0.03126795628666751,0.043947914976613094,0.0025753492483488963,0.46113032570788953,1.3851609592162566,5.778711508427171,0.1097486143695773,-0.02673770743969004,0.00654298034827412,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.773140767271312,0.9469905145309251,-5.143310382314593,0.4965615298451766,3.8545913249041885,0.6125412951628055,-1.1420436867328927,-5.693995786701587,4.0012666955817,4.0012666955817,4.095150000001594,0,0,-0.00010834402788001316,-4.3595327513729683e-05
+33183,1792823226265114125,1905597000000,1792823226264291986,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764200285279569,-0.004865220707378135,0.09650454420590823,0.9999998076031817,-0.00016621070388641202,0.0005687602041616741,0.00015850014444848275,0.6761,-0.0045,0.09573602150263606,1.0,0.0,0.0,0.0,-0.6548515487239243,0.43757114680390385,5.77538866916442,0.03224525765176332,0.04492365546851958,0.002535843305272974,0.45090698182918476,1.3951658872466024,5.860104390890005,0.11072591573467311,-0.025761966947783554,0.0065034744051981975,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.830210625317561,0.9086118061184185,-5.228727197223431,0.5104193111462003,3.9170544207545768,0.5868945926996865,-1.1420436867328927,-5.77538866916442,4.086683510490538,4.086683510490538,4.2076500000013315,0,0,-0.0001128195583996724,-7.592800973921782e-05
+33278,1792823227056141229,1906388000000,1792823227052292482,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764329943277776,-0.004864904749276372,0.09642852759585402,0.9999997969213383,-0.00016316235570502173,0.000586486771719334,0.00016435163110923662,0.6761,-0.0045,0.09564427148424112,1.0,0.0,0.0,0.0,-0.6818030100048327,0.45614031130821475,5.87597341544159,0.033196506257438835,0.04682755327389641,0.0024924755387950876,0.4239555205482763,1.4137350517509133,5.960689137167174,0.11167716434034862,-0.023858069142406717,0.006460106638720311,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.8315105792609425,0.9681192833064972,-5.303894258309291,0.5020516057321528,3.960323811355994,0.6303017126659722,-1.1420436867328927,-5.87597341544159,4.161850571576398,4.161850571576398,4.326300000001055,0,0,-0.00011696358378640437,-9.9998671869389e-05
+33384,1792823227940066742,1907272000000,1792823227936293208,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.676446718461586,-0.004863591361770208,0.09634069927454343,0.99999978649944,-0.000150913427918564,0.0006056300190060561,0.00016994515622947327,0.6761,-0.0045,0.09553654404282369,1.0,0.0,0.0,0.0,-0.6934198524843427,0.4550922685596055,6.006168345066193,0.03315465565689879,0.047399967240555445,0.002403122796058389,0.41233867806876634,1.412687009002304,6.090884066791777,0.11163531373980858,-0.02328565517574769,0.006370753895983613,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.8891775008679255,0.9454492869774379,-5.496055710392883,0.5069285390274318,4.094760423884043,0.6169928973397347,-1.1420436867328927,-6.006168345066193,4.35401202365999,4.35401202365999,4.458900000000746,0,0,-0.00012377710423760267,-2.109563001317119e-05
+33490,1792823228823163782,1908155000000,1792823228820291860,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6764516166572211,-0.004868165823598162,0.09624759501261286,0.9999997801834213,-0.0001481068931540082,0.0006146259843776852,0.00017713051924742986,0.6761,-0.0045,0.09542768348818183,1.0,0.0,0.0,0.0,-0.7062456110382984,0.4488716573278728,6.12656842183021,0.03311434188699472,0.04797566528712132,0.0023067350632724228,0.39951291951481066,1.4064663977705714,6.211284143555794,0.1115949999699045,-0.022709957129181814,0.006274366163197646,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.916164500192389,0.8408310379313881,-5.715825171251838,0.5394920628468588,4.240314545223133,0.5513921138337777,-1.1420436867328927,-6.12656842183021,4.573781484518945,4.573781484518945,4.591350000000437,0,0,-0.0001239904982616461,9.882808046779985e-05
+33590,1792823229656115735,1908988000000,1792823229652293518,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6764604060023446,-0.004872496508712705,0.09616513186991142,0.9999997738262683,-0.00011276978738229068,0.0006307709319994887,0.00018221219231191215,0.6761,-0.0045,0.09532563465810859,1.0,0.0,0.0,0.0,-0.7135999843745402,0.4425068174778588,6.227708405061908,0.033070604015847965,0.04886223960783032,0.0022376565553715094,0.39215854617856877,1.4001015579205573,6.3124241267874925,0.11155126209875775,-0.021823382808472812,0.006205287655296733,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.877282627976772,0.8831822720939341,-5.711509119336569,0.5394581471858341,4.22208659748377,0.594085434545071,-1.1420436867328927,-6.227708405061908,4.569465432603676,4.569465432603676,4.716300000000146,0,0,-0.00012172122216688586,-9.826659905088348e-05
+33667,1792823230298128211,1909630000000,1792823230296292097,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764708091302175,-0.0048617606463632465,0.0960995838086282,0.9999997632805812,-0.0001685772866613584,0.0006483401905983773,0.00012695803097567137,0.6761,-0.0045,0.09524669770489246,1.0,0.0,0.0,0.0,-0.6917328118342081,0.4918384837854397,6.29844038773255,0.03555045504462434,0.047777436285499665,0.0021849621193008577,0.414025718718901,1.4494332242281383,6.383156109458135,0.11403111312753413,-0.02290818613080347,0.006152593219226081,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.878402430022141,0.8795866221730174,-5.770271570841648,0.5475636518839654,4.255466400966837,0.5884591313781622,-1.1420436867328927,-6.29844038773255,4.628227884108755,4.628227884108755,4.812599999999922,0,0,-0.00012462418033240408,-9.999999025923074e-05
+33765,1792823231115133326,1910447000000,1792823231108292137,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764796834308127,-0.004861531131010126,0.09601203463041007,0.9999997533820126,-0.00016057484091534978,0.0006631079097386007,0.0001385005365921598,0.6761,-0.0045,0.09514299291964648,1.0,0.0,0.0,0.0,-0.7140901292963293,0.4768864219223805,6.408350769603613,0.03508029865427262,0.048783257530455704,0.0021147238590789917,0.39166840125677976,1.434481162365079,6.4930664913291976,0.1135609567371824,-0.021902364885847427,0.006082354959004215,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,2.977871022542181,0.8381595572643652,-5.926417238169243,0.5568455906208641,4.380551668053402,0.5625770650004723,-1.1420436867328927,-6.408350769603613,4.78437355143635,4.78437355143635,4.935149999999636,0,0,-0.00013002755607924155,-9.96298280250329e-05
+33861,1792823231915111558,1911247000000,1792823231908292110,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.676486194906177,-0.004869759733458365,0.09591981188052481,0.9999997460080948,-0.00015103194311375673,0.0006725860632373665,0.00015570468761903067,0.6761,-0.0045,0.09503679339238316,1.0,0.0,0.0,0.0,-0.7327443913261917,0.4656803113064709,6.514549970699134,0.034011674687098994,0.04979353247997749,0.0020308543727947095,0.37301413922691723,1.4232750517491695,6.599265692424718,0.11249233277000878,-0.02089208993632564,0.005998485472719933,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.012495063513506,0.9213914166956387,-6.1149896165600595,0.5261591267025708,4.506132576447918,0.6172754500477239,-1.1420436867328927,-6.514549970699134,4.9729459298271665,4.9729459298271665,5.055149999999356,0,0,-0.00013472075108681014,9.998780556153548e-05
+33956,1792823232706137770,1912038000000,1792823232700292392,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6764967375654579,-0.004871931995335442,0.09583047174426713,0.9999997334566192,-0.00014446720108269648,0.0006895956494461508,0.0001676801213086055,0.6761,-0.0045,0.0949305689607182,1.0,0.0,0.0,0.0,-0.7445243521167957,0.4595540904864692,6.617639507396717,0.033963834377983865,0.05078550455482454,0.0019627092974431933,0.36123417843631334,1.4171488309291678,6.702355229122301,0.11244449246089365,-0.019900117861478592,0.005930340397368417,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.0189418896320697,0.8845081421878147,-6.148723612472751,0.5441440044426572,4.527891968298892,0.5940963074176182,-1.1420436867328927,-6.617639507396717,5.006679925739858,5.006679925739858,5.17379999999908,0,0,-0.0001347982844193948,-9.999750613521314e-05
+34052,1792823233506236524,1912838000000,1792823233504292244,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6765032617766282,-0.004873711444640404,0.09573313301867876,0.9999997266099742,-0.00014587071426870474,0.0006972876293274026,0.00017531268621632246,0.6761,-0.0045,0.09482042006224814,1.0,0.0,0.0,0.0,-0.7521782996201714,0.46353759992971844,6.728720111029694,0.03391467753769699,0.051775077702900456,0.001886874297200052,0.35358023093293767,1.421132340372417,6.813435832755278,0.11239533562060677,-0.01891054471340268,0.005854505397125276,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.0804652502747145,0.8506934356728209,-6.291804337433915,0.5490998464141884,4.637216727625875,0.5689381942950951,-1.1420436867328927,-6.728720111029694,5.1497606507010225,5.1497606507010225,5.2937999999988,0,0,-0.0001384952447683593,-9.921875407237763e-05
+34148,1792823234306170737,1913638000000,1792823234304293064,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765146190237089,-0.004875047764776447,0.09563488073274493,0.9999997058943978,-0.0001807572564872207,0.0007224649238279146,0.00015819364753868182,0.6761,-0.0045,0.09470622585327776,1.0,0.0,0.0,0.0,-0.7529715128900614,0.4799993414421144,6.828779652233088,0.03491850775726807,0.0517329388702933,0.0018172325095941804,0.3527870176630477,1.437594081884813,6.913495373958672,0.11339916584017785,-0.018952683546009836,0.005784863609519404,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.108056897426169,0.9144539826999354,-6.510023060312154,0.550450532830097,4.779097420925364,0.6106735482732388,-1.1420436867328927,-6.828779652233088,5.367979373579261,5.367979373579261,5.4137999999985205,0,0,-0.00014280819326109728,9.999017866325061e-05
+34239,1792823235065245242,1914397000000,1792823235060292599,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6765254840431818,-0.004874651900157655,0.09554555192116537,0.9999996948660248,-0.00019776434568103126,0.0007345089007661943,0.00015197585244394095,0.6761,-0.0045,0.09459768357385616,1.0,0.0,0.0,0.0,-0.7460079162951048,0.48356524412331003,6.92936483537408,0.0348998109141898,0.051710856944458344,0.001737083916454417,0.3597506142580042,1.4411599845660086,7.014080557099664,0.11338046899709958,-0.018974765471844793,0.005704715016379641,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.1938323072521957,0.8657971947036949,-6.50724156588241,0.5664576267055177,4.804524995981678,0.5812646565119769,-1.1420436867328927,-6.92936483537408,5.365197879149517,5.365197879149517,5.527649999998255,0,0,-0.00014432600522615158,-9.99928154429341e-05
+34333,1792823235848230203,1915180000000,1792823235848293195,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.676536625556334,-0.004874869268787828,0.09544122903752636,0.9999996807328372,-0.000199199851984769,0.0007518601388783748,0.0001581228581494113,0.6761,-0.0045,0.0944801164088093,1.0,0.0,0.0,0.0,-0.7629128689113117,0.4872722741366933,7.026568789844368,0.03485377099590868,0.052702722048901716,0.0016701874662300442,0.3428456616417973,1.4448670145793918,7.111284511569952,0.11333442907881847,-0.017982900367401418,0.005637818566155268,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.17891642592555,0.8048614644222256,-6.661966622767972,0.5897413743500922,4.896777911148047,0.5494818931132966,-1.1420436867328927,-7.026568789844368,5.519922936035079,5.519922936035079,5.645099999997981,0,0,-0.00015357110049802868,3.3925492348947444e-05
+34431,1792823236665252861,1915997000000,1792823236664292720,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765447485107476,-0.004874003915724057,0.0953232947547048,0.9999996694974087,-0.0001998183202493393,0.0007652475525644408,0.000164063279144676,0.6761,-0.0045,0.09435422397332525,1.0,0.0,0.0,0.0,-0.7725155390560434,0.48249211440875617,7.136906269245527,0.03505881040744967,0.052675531403642006,0.001583328168424927,0.33324299149706554,1.4400868548514547,7.221621990971111,0.11353946849035945,-0.018010091012661125,0.0055509592683501505,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.2662507392486915,0.8784202192376707,-6.768689515962348,0.5737428190769209,4.991676762859678,0.5990078723182921,-1.1420436867328927,-7.136906269245527,5.626645829229455,5.626645829229455,5.767649999997696,0,0,-0.00015493332609503441,-9.999888003620611e-05
+34528,1792823237473183336,1916805000000,1792823237472291966,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765513229166515,-0.0048722076759067316,0.09520801371452638,0.9999996675247128,-0.00017323692225436224,0.0007730130126632285,0.0001698033540811923,0.6761,-0.0045,0.09422736334002381,1.0,0.0,0.0,0.0,-0.7638679049401564,0.4920601932752011,7.2309853827155095,0.03529695568181998,0.05264908841443961,0.0015086745478904784,0.3418906256129526,1.4496549337178997,7.315701104441094,0.11377761376472977,-0.018036534001863523,0.005476305647815702,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.281337546565355,0.8019604892449174,-6.877340585029001,0.6015855256630517,5.066726009064462,0.55877845913633,-1.1420436867328927,-7.2309853827155095,5.735296898296108,5.735296898296108,5.888849999997413,0,0,-0.00015957907134186845,-8.18442494595672e-05
+34622,1792823238256261260,1917588000000,1792823238256292302,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765587412797942,-0.00486392856841142,0.09509140567287104,0.9999996690774934,-6.198359639608111e-05,0.0007850073313390212,0.00018223416680897506,0.6761,-0.0045,0.09409659548163382,1.0,0.0,0.0,0.0,-0.7459323878404645,0.5042054513115748,7.320612000765507,0.03686711570869318,0.0515874628776161,0.0014436343160794144,0.3598261427126446,1.4618001917542733,7.405327722491092,0.11534777379160296,-0.019098159538687036,0.005411265416004638,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.3200885727164358,1.0345094059826518,-7.0147587262195605,0.5018171610662552,5.17516797706668,0.6585711385844132,-1.1420436867328927,-7.320612000765507,5.872715039486668,5.872715039486668,6.00629999999714,0,0,-0.0001784300802290265,9.652149498962643e-05
+34705,1792823238948266529,1918280000000,1792823238948292250,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765694319149063,-0.004861902723918879,0.09497856912610252,0.9999996567126155,-6.894002780539263e-05,0.0007962167353204956,0.00019825160449973283,0.6761,-0.0045,0.0939670160794264,1.0,0.0,0.0,0.0,-0.752051711619637,0.5292149878701533,7.402367782853556,0.03787513163551086,0.051549370826859016,0.0013887240798556187,0.35370681893347206,1.4868097283128519,7.48708350457914,0.11635578971842064,-0.01913625158944412,0.005356355179780842,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.426942980997705,0.8354166167588,-7.0003997430978275,0.5925692737028533,5.197944946805798,0.5624882814465474,-1.1420436867328927,-7.402367782853556,5.858356056364935,5.858356056364935,6.110099999996898,0,0,-0.00019622761344570273,-9.999999025923074e-05
+34783,1792823239598286403,1918930000000,1792823239592294427,DOWN_FORCE_DETACH,9,0.057,0.05700194835662842,0.6765847354369308,-0.004857192508267932,0.09486171938916839,0.9999996252708212,-0.00017176436454267353,0.0008330243317075489,0.0001321686319646532,0.6761,-0.0045,0.09383492898684223,1.0,0.0,0.0,0.0,-0.7100429373713006,0.5805226793692433,7.492184965427441,0.04094825404936624,0.04945289615681332,0.00132385830773588,0.39571559318180843,1.5381174198119418,7.576900687153025,0.11942891213227602,-0.021232726259489812,0.005291489407661104,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.4157517481473807,0.8527104073007934,-7.091859784511588,0.5434005319721988,5.266277360346174,0.6152813121653807,-1.1420436867328927,-7.492184965427441,5.949816097778695,5.949816097778695,6.2075999999966704,0,0,-0.00021421682026431655,-9.999999025923074e-05
+34864,1792823240273320322,1919605000000,1792823240272292352,DOWN_FORCE_DETACH,9,0.057,0.057002607733011246,0.6765909182145536,-0.004862746450870891,0.09472605232186684,0.9999996209079178,-0.00015949367858744993,0.0008361164199146573,0.00015842343198635872,0.6761,-0.0045,0.09368540930144367,1.0,0.0,0.0,0.0,-0.7450181669725868,0.5361599712751812,7.593209267595643,0.03783908959960648,0.05150758996790409,0.001232301998466182,0.36074036358052225,1.4937547117178798,7.677924989321228,0.11631974768251627,-0.019178032448399045,0.005199933098391406,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.4422825089062723,0.8634849346511775,-7.341711460872467,0.5956650743497143,5.428232251286488,0.6061636282589108,-1.1420436867328927,-7.593209267595643,6.1996677741395745,6.1996677741395745,6.3088499999964345,0,0,-0.00022546762637879058,9.997723068722592e-05
+34963,1792823241089230914,1920421000000,1792823241084302017,DOWN_PEAK_HOLD,9,0.057,0.05700194835662842,0.6765863501383258,-0.004862673985526589,0.09466914878662812,0.9999996297101261,-0.0001567674080729932,0.0008250065138968195,0.00016373975242389252,0.6761,-0.0045,0.09365772369717097,1.0,0.0,0.0,0.0,-0.7269671066124095,0.5069276505175053,7.492270675504188,0.035843096265207014,0.050555349453210024,0.0012804758093411042,0.3787914239406995,1.4645223909602039,7.576986397229772,0.1143237543481168,-0.020130272963093106,0.005248106909266328,1.105758530553109,0.9575947404426985,0.08471572172558395,0.07848065808290978,-0.07068562241630313,0.003967631099925224,1,3.292467354871558,0.9402039357892876,-7.103408826334752,0.5729003350107296,5.261490839565881,0.6545145663098253,-1.1420436867328927,-7.492270675504188,5.961365139601859,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_0050_12.5/press_depth_09/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792823198011577604,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.826546470e-09,-6.973373094e-11,-1.099393132e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451247e-01,-1.186401483e-04,8.303260160e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792823198862509411,3.695128543e-06,4.738594472e-07,2.730779010e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.115111116e-08,-2.486338637e-09,-4.694535005e-08,7.019593279e-01,-2.179687558e-05,8.601458180e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452041e-01,-1.186425649e-04,8.303259701e-01
+2,1.900000000e+00,DOWN_FORCE_DETACH,1792823199878224673,1.451818188e-07,-3.252920551e-06,-3.931996186e-05,1.170067298e-06,-2.586912907e-06,-4.056795981e-05,8.992059829e-07,-2.594402163e-06,-4.047480846e-05,7.019557780e-01,-2.552365557e-05,8.601037673e-01,7.019568029e-01,-2.485764793e-05,8.601025193e-01,7.027460221e-01,-1.212344807e-04,8.302855423e-01
+3,2.833333333e+00,DOWN_FORCE_DETACH,1792823200910179176,1.123010604e-05,-9.764984403e-06,-1.175621304e-04,6.956585107e-06,-1.023867174e-05,-1.035997626e-04,6.359383857e-06,-1.027723454e-05,-1.033443285e-04,7.019668629e-01,-3.203571943e-05,8.600255251e-01,7.019625894e-01,-3.250940676e-05,8.600394875e-01,7.027514823e-01,-1.289173131e-04,8.302226727e-01
+4,3.716666667e+00,DOWN_FORCE_DETACH,1792823201795186402,5.456840697e-05,-1.499045959e-05,-1.901979878e-04,4.498373179e-05,-1.810018397e-05,-1.987385846e-04,4.606006104e-05,-1.818540072e-05,-1.981683701e-04,7.020102012e-01,-3.726119461e-05,8.599528893e-01,7.020006165e-01,-4.037091899e-05,8.599443487e-01,7.027911830e-01,-1.368254793e-04,8.301278487e-01
+5,4.350000000e+00,DOWN_FORCE_DETACH,1792823202417002736,5.968313937e-05,-2.252550663e-05,-2.826079610e-04,6.060911409e-05,-2.319153940e-05,-2.627721441e-04,6.215072387e-05,-2.330065881e-05,-2.620638757e-04,7.020153160e-01,-4.479624165e-05,8.598604793e-01,7.020162419e-01,-4.546227443e-05,8.598803151e-01,7.028072736e-01,-1.419407374e-04,8.300639532e-01
+6,5.016666667e+00,DOWN_FORCE_DETACH,1792823203072471736,7.337176018e-05,-2.982029483e-05,-3.931774713e-04,7.031831288e-05,-3.288505964e-05,-3.883125855e-04,7.114357665e-05,-3.305393608e-05,-3.872628541e-04,7.020290046e-01,-5.209102985e-05,8.597499098e-01,7.020259511e-01,-5.515579466e-05,8.597547747e-01,7.028162665e-01,-1.516940147e-04,8.299387542e-01
+7,5.600000000e+00,DOWN_FORCE_DETACH,1792823203645684722,1.018878421e-04,-3.044592084e-05,-4.902420915e-04,1.040922474e-04,-2.051124542e-05,-4.893893555e-04,1.062122385e-04,-2.063134545e-05,-4.880999277e-04,7.020575207e-01,-5.271665586e-05,8.596528451e-01,7.020597251e-01,-4.278198044e-05,8.596536979e-01,7.028513351e-01,-1.392714240e-04,8.298379171e-01
+8,5.900000000e+00,DOWN_FORCE_DETACH,1792823203957690168,1.154960283e-04,-3.401236429e-05,-5.468432119e-04,1.155400094e-04,-3.413866908e-05,-5.467112294e-04,1.178138476e-04,-3.432366642e-05,-5.452873060e-04,7.020711288e-01,-5.628309932e-05,8.595962440e-01,7.020711728e-01,-5.640940410e-05,8.595963760e-01,7.028629367e-01,-1.529637450e-04,8.297807298e-01
+9,6.283333333e+00,DOWN_FORCE_DETACH,1792823204334147938,1.273753904e-04,-9.836685770e-06,-6.290741351e-04,1.271345778e-04,-9.643297916e-06,-6.291536279e-04,1.293377093e-04,-9.725491564e-06,-6.275682900e-04,7.020830082e-01,-3.210742079e-05,8.595140131e-01,7.020827674e-01,-3.191403294e-05,8.595139336e-01,7.028744606e-01,-1.283655701e-04,8.296984488e-01
+10,6.583333333e+00,DOWN_FORCE_DETACH,1792823204644603766,1.537282273e-04,-2.342164087e-05,-6.870802512e-04,1.499168237e-04,-2.012996031e-05,-6.856149425e-04,1.531640757e-04,-2.027242049e-05,-6.839741122e-04,7.021093610e-01,-4.569237589e-05,8.594560070e-01,7.021055496e-01,-4.240069534e-05,8.594574723e-01,7.028982870e-01,-1.389124991e-04,8.296420430e-01
+11,6.983333333e+00,DOWN_FORCE_DETACH,1792823205070642556,1.640837340e-04,-3.715887524e-05,-7.976779654e-04,1.610575644e-04,-3.110915408e-05,-7.905570601e-04,1.639655941e-04,-3.128696513e-05,-7.887434899e-04,7.021197166e-01,-5.942961026e-05,8.593454093e-01,7.021166904e-01,-5.337988910e-05,8.593525302e-01,7.029090885e-01,-1.499270437e-04,8.295372736e-01
+12,7.366666667e+00,DOWN_FORCE_DETACH,1792823205447498908,1.809380304e-04,-3.589006063e-05,-8.919587811e-04,1.774279113e-04,-5.104171028e-05,-8.851370926e-04,1.804742808e-04,-5.130027581e-05,-8.831037950e-04,7.021365708e-01,-5.816079565e-05,8.592511285e-01,7.021330607e-01,-7.331244531e-05,8.592579501e-01,7.029255972e-01,-1.699403544e-04,8.294429133e-01
+13,7.850000000e+00,DOWN_FORCE_DETACH,1792823205922436369,2.011941008e-04,-4.547040287e-05,-1.028858486e-03,1.999474434e-04,-4.371892907e-05,-1.012492080e-03,2.031785442e-04,-4.392726103e-05,-1.010295314e-03,7.021568269e-01,-6.774113789e-05,8.591142288e-01,7.021555803e-01,-6.598966409e-05,8.591305952e-01,7.029483014e-01,-1.625673396e-04,8.293157218e-01
+14,8.366666667e+00,DOWN_FORCE_DETACH,1792823206462862671,2.320613275e-04,-5.471907666e-05,-1.189734434e-03,2.318043242e-04,-5.471927714e-05,-1.189544803e-03,2.354027869e-04,-5.500719065e-05,-1.187011579e-03,7.021876941e-01,-7.698981169e-05,8.589533528e-01,7.021874371e-01,-7.699001216e-05,8.589535424e-01,7.029805257e-01,-1.736472692e-04,8.291390055e-01
+15,8.866666667e+00,DOWN_FORCE_DETACH,1792823206970572191,2.642052889e-04,-6.094068726e-05,-1.346557488e-03,2.594784816e-04,-5.847120208e-05,-1.339178238e-03,2.633738258e-04,-5.873572053e-05,-1.336424441e-03,7.022198381e-01,-8.321142228e-05,8.587965298e-01,7.022151113e-01,-8.074193710e-05,8.588039090e-01,7.030084967e-01,-1.773757991e-04,8.289895926e-01
+16,9.366666667e+00,DOWN_FORCE_DETACH,1792823207462392847,2.875665644e-04,-6.305489793e-05,-1.492926076e-03,2.837227099e-04,-6.140010420e-05,-1.493491841e-03,2.877104991e-04,-6.166577951e-05,-1.490674661e-03,7.022431994e-01,-8.532563295e-05,8.586501612e-01,7.022393555e-01,-8.367083922e-05,8.586495954e-01,7.030328334e-01,-1.803058581e-04,8.288353424e-01
+17,9.850000000e+00,DOWN_FORCE_DETACH,1792823207969705206,3.113200162e-04,-7.338925441e-05,-1.640808430e-03,3.112510735e-04,-7.363801691e-05,-1.640619171e-03,3.155151952e-04,-7.398497984e-05,-1.637721602e-03,7.022669528e-01,-9.565998943e-05,8.585022788e-01,7.022668839e-01,-9.590875193e-05,8.585024681e-01,7.030606381e-01,-1.926250584e-04,8.286882955e-01
+18,1.040000000e+01,DOWN_FORCE_DETACH,1792823208510231542,3.346825273e-04,-8.495862626e-05,-1.788816941e-03,3.315142836e-04,-8.619894035e-05,-1.770494296e-03,3.358858459e-04,-8.657777476e-05,-1.767676291e-03,7.022903153e-01,-1.072293613e-04,8.583542703e-01,7.022871471e-01,-1.084696754e-04,8.583725929e-01,7.030810087e-01,-2.052178533e-04,8.285583408e-01
+19,1.093333333e+01,DOWN_FORCE_DETACH,1792823209035301100,3.563413179e-04,-9.036968657e-05,-1.914312557e-03,3.555441078e-04,-8.770868017e-05,-1.901299237e-03,3.602316321e-04,-8.807574032e-05,-1.898565663e-03,7.023119741e-01,-1.126404216e-04,8.582287747e-01,7.023111769e-01,-1.099794152e-04,8.582417880e-01,7.031053545e-01,-2.067158189e-04,8.284274514e-01
+20,1.155000000e+01,DOWN_FORCE_DETACH,1792823209738753943,3.847874487e-04,-9.601550125e-05,-2.072221459e-03,3.803086555e-04,-9.880635207e-05,-2.056083531e-03,3.850873549e-04,-9.921198933e-05,-2.053452706e-03,7.023404203e-01,-1.182862363e-04,8.580708658e-01,7.023359415e-01,-1.210770871e-04,8.580870037e-01,7.031302103e-01,-2.178520679e-04,8.282725644e-01
+21,1.216666667e+01,DOWN_FORCE_DETACH,1792823210394065217,4.023868671e-04,-1.045621428e-04,-2.210335871e-03,3.990068467e-04,-9.832289909e-05,-2.207930385e-03,4.034780222e-04,-9.871154942e-05,-2.205290499e-03,7.023580197e-01,-1.268328778e-04,8.579327514e-01,7.023546397e-01,-1.205936341e-04,8.579351569e-01,7.031486009e-01,-2.173516280e-04,8.281207266e-01
+22,1.285000000e+01,DOWN_FORCE_DETACH,1792823211065840796,4.202432946e-04,-1.073233210e-04,-2.328619790e-03,4.175332325e-04,-9.945373067e-05,-2.315203106e-03,4.222081649e-04,-9.987100338e-05,-2.312918022e-03,7.023758761e-01,-1.295940561e-04,8.578144674e-01,7.023731660e-01,-1.217244657e-04,8.578278841e-01,7.031673311e-01,-2.185110819e-04,8.280130991e-01
+23,1.358333333e+01,DOWN_FORCE_DETACH,1792823211786975574,4.354884634e-04,-1.079857400e-04,-2.441398000e-03,4.321758661e-04,-1.060869468e-04,-2.426858863e-03,4.367355791e-04,-1.065309145e-04,-2.424768995e-03,7.023911213e-01,-1.302564750e-04,8.577016892e-01,7.023878087e-01,-1.283576818e-04,8.577162284e-01,7.031818585e-01,-2.251709931e-04,8.279012481e-01
+24,1.431666667e+01,DOWN_FORCE_DETACH,1792823212556344764,4.449577680e-04,-1.043899861e-04,-2.540270013e-03,4.475108653e-04,-1.076991917e-04,-2.532007341e-03,4.520758988e-04,-1.081196871e-04,-2.530121181e-03,7.024005906e-01,-1.266607211e-04,8.576028172e-01,7.024031437e-01,-1.299699268e-04,8.576110799e-01,7.031971988e-01,-2.267597657e-04,8.277958959e-01
+25,1.510000000e+01,DOWN_FORCE_DETACH,1792823213342979709,4.511772503e-04,-1.144427343e-04,-2.622381282e-03,4.530182162e-04,-1.106701659e-04,-2.615983899e-03,4.570791642e-04,-1.111420926e-04,-2.614325002e-03,7.024068101e-01,-1.367134693e-04,8.575207060e-01,7.024086510e-01,-1.329409009e-04,8.575271033e-01,7.032022021e-01,-2.297821712e-04,8.277116921e-01
+26,1.588333333e+01,DOWN_FORCE_DETACH,1792823214178349344,4.616577116e-04,-1.137255064e-04,-2.667113996e-03,4.559624799e-04,-1.095719637e-04,-2.661670574e-03,4.597323567e-04,-1.100859258e-04,-2.660406336e-03,7.024172905e-01,-1.359962414e-04,8.574759732e-01,7.024115953e-01,-1.318426987e-04,8.574814167e-01,7.032048553e-01,-2.287260044e-04,8.276656107e-01
+27,1.685000000e+01,DOWN_FORCE_DETACH,1792823215144803688,4.609977738e-04,-1.067730613e-04,-2.701088899e-03,4.594337535e-04,-1.070545833e-04,-2.683066743e-03,4.632853820e-04,-1.075177535e-04,-2.682269570e-03,7.024166306e-01,-1.290437963e-04,8.574419983e-01,7.024150666e-01,-1.293253183e-04,8.574600205e-01,7.032084083e-01,-2.261578321e-04,8.276437475e-01
+28,1.773333333e+01,DOWN_FORCE_DETACH,1792823216012972776,4.584520000e-04,-1.031400161e-04,-2.709679163e-03,4.592247490e-04,-1.086021564e-04,-2.703535674e-03,4.628402278e-04,-1.090605322e-04,-2.702966522e-03,7.024140848e-01,-1.254107512e-04,8.574334081e-01,7.024148576e-01,-1.308728914e-04,8.574395516e-01,7.032079631e-01,-2.277006107e-04,8.276230506e-01
+29,1.858333333e+01,DOWN_FORCE_DETACH,1792823216947045748,4.595835067e-04,-1.081790423e-04,-2.710437847e-03,4.592247490e-04,-1.086021564e-04,-2.703535674e-03,4.628620299e-04,-1.090703567e-04,-2.703185885e-03,7.024152163e-01,-1.304497773e-04,8.574326494e-01,7.024148576e-01,-1.308728914e-04,8.574395516e-01,7.032079849e-01,-2.277104353e-04,8.276228312e-01
+30,1.948333333e+01,DOWN_FORCE_DETACH,1792823217847129916,4.583000480e-04,-1.002366272e-04,-2.716120426e-03,4.592247490e-04,-1.086021564e-04,-2.703535674e-03,4.628757149e-04,-1.090793496e-04,-2.703339399e-03,7.024139329e-01,-1.225073622e-04,8.574269668e-01,7.024148576e-01,-1.308728914e-04,8.574395516e-01,7.032079986e-01,-2.277194282e-04,8.276226777e-01
+31,2.033333333e+01,DOWN_FORCE_DETACH,1792823218716464496,4.570668429e-04,-9.842633776e-05,-2.719127640e-03,4.564553313e-04,-9.591565560e-05,-2.719487581e-03,4.597696834e-04,-9.639587138e-05,-2.719373181e-03,7.024126997e-01,-1.206970728e-04,8.574239596e-01,7.024120881e-01,-1.181863906e-04,8.574235997e-01,7.032048926e-01,-2.150359500e-04,8.276066439e-01
+32,2.133333333e+01,DOWN_FORCE_DETACH,1792823219698373062,4.558433963e-04,-9.942256154e-05,-2.724682135e-03,4.564553313e-04,-9.591565560e-05,-2.719487581e-03,4.597700878e-04,-9.640062380e-05,-2.719474931e-03,7.024114762e-01,-1.216932966e-04,8.574184051e-01,7.024120881e-01,-1.181863906e-04,8.574235997e-01,7.032048930e-01,-2.150407024e-04,8.276065421e-01
+33,2.216666667e+01,DOWN_FORCE_DETACH,1792823220533708981,4.549077129e-04,-9.879359066e-05,-2.746911025e-03,4.555459939e-04,-1.011344562e-04,-2.741871265e-03,4.584547244e-04,-1.016372560e-04,-2.741749820e-03,7.024105405e-01,-1.210643257e-04,8.573961762e-01,7.024111788e-01,-1.234051912e-04,8.574012160e-01,7.032035776e-01,-2.202773345e-04,8.275842673e-01
+34,2.305000000e+01,DOWN_FORCE_DETACH,1792823221434736199,4.606987042e-04,-1.026330012e-04,-2.793914955e-03,4.600761606e-04,-9.777501275e-05,-2.783966474e-03,4.628479916e-04,-9.824691188e-05,-2.783781685e-03,7.024163315e-01,-1.249037362e-04,8.573491723e-01,7.024157090e-01,-1.200457478e-04,8.573591208e-01,7.032079709e-01,-2.168869904e-04,8.275422354e-01
+35,2.388333333e+01,DOWN_FORCE_DETACH,1792823222253936917,4.755956823e-04,-1.047191406e-04,-2.863971289e-03,4.728244963e-04,-1.018925292e-04,-2.846646922e-03,4.757713918e-04,-1.023983653e-04,-2.846217949e-03,7.024312285e-01,-1.269898756e-04,8.572791160e-01,7.024284573e-01,-1.241632642e-04,8.572964403e-01,7.032208943e-01,-2.210384438e-04,8.274797991e-01
+36,2.468333333e+01,DOWN_FORCE_DETACH,1792823223056631871,4.862719932e-04,-1.072208127e-04,-2.934918763e-03,4.848258349e-04,-1.026541259e-04,-2.928784700e-03,4.877519249e-04,-1.031525438e-04,-2.928177423e-03,7.024419048e-01,-1.294915477e-04,8.572081685e-01,7.024404587e-01,-1.249248609e-04,8.572143025e-01,7.032328748e-01,-2.217926224e-04,8.273978397e-01
+37,2.556666667e+01,DOWN_FORCE_DETACH,1792823223941378560,4.963209864e-04,-1.063372216e-04,-3.015139798e-03,4.912870112e-04,-1.061784926e-04,-3.014306099e-03,4.936984320e-04,-1.067210727e-04,-3.013555745e-03,7.024519538e-01,-1.286079567e-04,8.571279474e-01,7.024469198e-01,-1.284492276e-04,8.571287811e-01,7.032388213e-01,-2.253611513e-04,8.273124613e-01
+38,2.643333333e+01,DOWN_FORCE_DETACH,1792823224825352421,5.047071545e-04,-1.069203619e-04,-3.087139235e-03,4.987524680e-04,-1.107706891e-04,-3.078278776e-03,5.010262792e-04,-1.112994885e-04,-3.077578508e-03,7.024603400e-01,-1.291910969e-04,8.570559480e-01,7.024543853e-01,-1.330414241e-04,8.570648085e-01,7.032461492e-01,-2.299395671e-04,8.272484386e-01
+39,2.713333333e+01,DOWN_FORCE_DETACH,1792823225513144196,5.072770085e-04,-1.035907815e-04,-3.154062838e-03,5.042328653e-04,-1.043754929e-04,-3.144173777e-03,5.061391244e-04,-1.048673967e-04,-3.143410507e-03,7.024629098e-01,-1.258615166e-04,8.569890244e-01,7.024598657e-01,-1.266462279e-04,8.569989135e-01,7.032512620e-01,-2.235074753e-04,8.271826066e-01
+40,2.790000000e+01,DOWN_FORCE_DETACH,1792823226266891420,5.195856701e-04,-1.119302880e-04,-3.214839346e-03,5.166404409e-04,-1.056686550e-04,-3.208827146e-03,5.187250681e-04,-1.062046418e-04,-3.208056982e-03,7.024752185e-01,-1.342010230e-04,8.569282479e-01,7.024722733e-01,-1.279393900e-04,8.569342601e-01,7.032638480e-01,-2.248447204e-04,8.271179601e-01
+41,2.866666667e+01,DOWN_FORCE_DETACH,1792823227053101396,5.339477187e-04,-1.082962849e-04,-3.291033072e-03,5.337189892e-04,-1.081563225e-04,-3.290867044e-03,5.361512200e-04,-1.086539462e-04,-3.289991773e-03,7.024895805e-01,-1.305670199e-04,8.568520542e-01,7.024893518e-01,-1.304270575e-04,8.568522202e-01,7.032812741e-01,-2.272940248e-04,8.270360253e-01
+42,2.953333333e+01,DOWN_FORCE_DETACH,1792823227937434373,5.449573091e-04,-1.109878251e-04,-3.378921663e-03,5.446679897e-04,-1.128840508e-04,-3.376295116e-03,5.469117306e-04,-1.134267493e-04,-3.375342874e-03,7.025005901e-01,-1.332585601e-04,8.567641656e-01,7.025003008e-01,-1.351547858e-04,8.567667921e-01,7.032920346e-01,-2.320668279e-04,8.269506742e-01
+43,3.040000000e+01,DOWN_FORCE_DETACH,1792823228822646149,5.531790449e-04,-1.154218234e-04,-3.469926312e-03,5.494136136e-04,-1.153378520e-04,-3.459799101e-03,5.511014919e-04,-1.158749501e-04,-3.458885944e-03,7.025088119e-01,-1.376925584e-04,8.566731609e-01,7.025050464e-01,-1.376085870e-04,8.566832881e-01,7.032962244e-01,-2.345150287e-04,8.268671311e-01
+44,3.121666667e+01,DOWN_FORCE_DETACH,1792823229657356651,5.599631445e-04,-1.192060893e-04,-3.554251682e-03,5.597500347e-04,-1.153498153e-04,-3.541053790e-03,5.612627326e-04,-1.158787047e-04,-3.540136995e-03,7.025155960e-01,-1.414768243e-04,8.565888356e-01,7.025153829e-01,-1.376205503e-04,8.566020334e-01,7.033063856e-01,-2.345187833e-04,8.267858801e-01
+45,3.186666667e+01,DOWN_FORCE_DETACH,1792823230296505760,5.696924994e-04,-1.070925138e-04,-3.620549762e-03,5.679203524e-04,-1.061887682e-04,-3.604841925e-03,5.692657493e-04,-1.066457517e-04,-3.603961584e-03,7.025253253e-01,-1.293632488e-04,8.565225375e-01,7.025235532e-01,-1.284595032e-04,8.565382453e-01,7.033143886e-01,-2.252858303e-04,8.267220555e-01
+46,3.270000000e+01,DOWN_FORCE_DETACH,1792823231115832123,5.792405729e-04,-1.082407116e-04,-3.707348921e-03,5.791477759e-04,-1.082016638e-04,-3.707214059e-03,5.801739613e-04,-1.086826424e-04,-3.706207856e-03,7.025348734e-01,-1.305114466e-04,8.564357383e-01,7.025347806e-01,-1.304723988e-04,8.564358732e-01,7.033252969e-01,-2.273227210e-04,8.266198092e-01
+47,3.348333333e+01,DOWN_FORCE_DETACH,1792823231918214941,5.872460262e-04,-1.199606067e-04,-3.798621154e-03,5.848890957e-04,-1.171680819e-04,-3.792559695e-03,5.854150808e-04,-1.177008871e-04,-3.791541041e-03,7.025428788e-01,-1.422313418e-04,8.563444661e-01,7.025405219e-01,-1.394388169e-04,8.563505275e-01,7.033305380e-01,-2.363409657e-04,8.265344760e-01
+48,3.420000000e+01,DOWN_FORCE_DETACH,1792823232704716651,5.984106712e-04,-1.179517679e-04,-3.886635408e-03,5.944718452e-04,-1.209123518e-04,-3.875132919e-03,5.947113058e-04,-1.214523072e-04,-3.874147242e-03,7.025540435e-01,-1.402225029e-04,8.562564518e-01,7.025501047e-01,-1.431830869e-04,8.562679543e-01,7.033398342e-01,-2.400923858e-04,8.264518698e-01
+49,3.500000000e+01,DOWN_FORCE_DETACH,1792823233507116665,6.028189187e-04,-1.204210252e-04,-3.986250533e-03,6.009254485e-04,-1.190352395e-04,-3.985594454e-03,6.004620937e-04,-1.195583109e-04,-3.984528886e-03,7.025584517e-01,-1.426917603e-04,8.561568367e-01,7.025565583e-01,-1.413059745e-04,8.561574928e-01,7.033455850e-01,-2.381983895e-04,8.263414882e-01
+50,3.578333333e+01,DOWN_FORCE_DETACH,1792823234309915067,6.156263072e-04,-1.175926373e-04,-4.083405840e-03,6.117125481e-04,-1.187154014e-04,-4.075677604e-03,6.109707110e-04,-1.192112172e-04,-4.074622013e-03,7.025712591e-01,-1.398633723e-04,8.560596814e-01,7.025673454e-01,-1.409861365e-04,8.560674096e-01,7.033560936e-01,-2.378512958e-04,8.262513951e-01
+51,3.655000000e+01,DOWN_FORCE_DETACH,1792823235063133712,6.241977487e-04,-1.201493940e-04,-4.175452336e-03,6.218623140e-04,-1.186200296e-04,-4.157172433e-03,6.209490907e-04,-1.191278880e-04,-4.156203027e-03,7.025798306e-01,-1.424201290e-04,8.559676349e-01,7.025774951e-01,-1.408907646e-04,8.559859148e-01,7.033660720e-01,-2.377679665e-04,8.261698140e-01
+52,3.735000000e+01,DOWN_FORCE_DETACH,1792823235849497810,6.309682515e-04,-1.217200039e-04,-4.284764179e-03,6.325001831e-04,-1.188288591e-04,-4.282401285e-03,6.309192765e-04,-1.193219606e-04,-4.281241734e-03,7.025866011e-01,-1.439907389e-04,8.558583231e-01,7.025881330e-01,-1.410995942e-04,8.558606860e-01,7.033760422e-01,-2.379620392e-04,8.260447753e-01
+53,3.808333333e+01,DOWN_FORCE_DETACH,1792823236668214736,6.410579884e-04,-1.226379051e-04,-4.402447429e-03,6.407868165e-04,-1.207271509e-04,-4.389269350e-03,6.386302853e-04,-1.212383518e-04,-4.388079029e-03,7.025966908e-01,-1.449086402e-04,8.557406398e-01,7.025964196e-01,-1.429978859e-04,8.557538179e-01,7.033837532e-01,-2.398784304e-04,8.259379380e-01
+54,3.886666667e+01,DOWN_FORCE_DETACH,1792823237470979712,6.494081615e-04,-1.223151848e-04,-4.514258825e-03,6.480787858e-04,-1.228822640e-04,-4.497994055e-03,6.451879599e-04,-1.234262572e-04,-4.496851074e-03,7.026050410e-01,-1.445859198e-04,8.556288284e-01,7.026037116e-01,-1.451529990e-04,8.556450932e-01,7.033903109e-01,-2.420663358e-04,8.258291660e-01
+55,3.965000000e+01,DOWN_FORCE_DETACH,1792823238256927105,6.601491471e-04,-1.133456244e-04,-4.625594940e-03,6.579587402e-04,-1.158185567e-04,-4.619230543e-03,6.543941964e-04,-1.163485393e-04,-4.617988469e-03,7.026157820e-01,-1.356163594e-04,8.555174923e-01,7.026135916e-01,-1.380892917e-04,8.555238567e-01,7.033995171e-01,-2.349886179e-04,8.257080286e-01
+56,4.035000000e+01,DOWN_FORCE_DETACH,1792823238944982914,6.687804244e-04,-1.110681373e-04,-4.739905713e-03,6.685589770e-04,-1.090397087e-04,-4.723873201e-03,6.645820774e-04,-1.095282018e-04,-4.722663660e-03,7.026244132e-01,-1.333388723e-04,8.554031815e-01,7.026241918e-01,-1.313104437e-04,8.554192140e-01,7.034097050e-01,-2.281682803e-04,8.256033534e-01
+57,4.101666667e+01,DOWN_FORCE_DETACH,1792823239600394506,6.837459873e-04,-1.041419079e-04,-4.856575885e-03,6.802599274e-04,-9.887271969e-05,-4.851957054e-03,6.757098157e-04,-9.931943513e-05,-4.850620758e-03,7.026393788e-01,-1.264126430e-04,8.552865114e-01,7.026358927e-01,-1.211434547e-04,8.552911302e-01,7.034208327e-01,-2.179595137e-04,8.254753963e-01
+58,4.168333333e+01,DOWN_FORCE_DETACH,1792823240271961512,6.890165098e-04,-1.105672167e-04,-4.994470018e-03,6.893790159e-04,-1.093510073e-04,-4.988294513e-03,6.839347566e-04,-1.098648405e-04,-4.986830957e-03,7.026446493e-01,-1.328379517e-04,8.551486172e-01,7.026450118e-01,-1.316217423e-04,8.551547927e-01,7.034290577e-01,-2.285049191e-04,8.253391861e-01
+59,4.251666667e+01,DOWN_PEAK_HOLD,1792823241091761519,6.836687140e-04,-1.154531667e-04,-5.054699757e-03,6.858773988e-04,-1.077795859e-04,-5.050913371e-03,6.794429301e-04,-1.082438528e-04,-5.049823059e-03,7.026393015e-01,-1.377239018e-04,8.550883875e-01,7.026415102e-01,-1.300503210e-04,8.550921739e-01,7.034245658e-01,-2.268839314e-04,8.252761940e-01

Fixed/digit/cylinder_0050_12.5/press_depth_09/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.9843e-02,6.6468e-02,2.4880e+00,-4.1403e-02,4.1021e-02,1.5227e-04,3.1968e-04,-1.8701e-06,-2.1267e-04,2.8312e-07,2.3361e-05,9.7963e-08,3.8396e-04,2.3363e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,2.0224e-04,7.3808e-02,6.6326e-02,2.4793e+00,-4.1387e-02,4.2041e-02,1.5722e-04,1.4284e-02,-1.4382e-04,-8.8639e-03,1.6615e-05,1.0439e-03,5.0478e-06,1.6812e-02,1.0440e-03
+2,1.9000e+00,DOWN_FORCE_DETACH,4.0239e-04,8.5459e-02,7.2014e-02,2.5137e+00,-4.1768e-02,4.2859e-02,1.6219e-04,2.5936e-02,5.5443e-03,2.5519e-02,-3.6416e-04,1.8615e-03,1.0019e-05,3.6805e-02,1.8968e-03
+3,2.8333e+00,DOWN_FORCE_DETACH,6.0368e-04,8.9512e-02,8.7135e-02,2.5461e+00,-4.2809e-02,4.3119e-02,1.6539e-04,2.9988e-02,2.0665e-02,5.7883e-02,-1.4052e-03,2.1222e-03,1.3220e-05,6.8387e-02,2.5452e-03
+4,3.7167e+00,DOWN_FORCE_DETACH,8.1155e-04,5.9014e-02,1.0107e-01,2.5949e+00,-4.3773e-02,4.0906e-02,1.6803e-04,-5.0969e-04,3.4597e-02,1.0667e-01,-2.3693e-03,-9.1620e-05,1.5858e-05,1.1214e-01,2.3712e-03
+5,4.3500e+00,DOWN_FORCE_DETACH,1.0063e-03,6.0557e-02,1.1067e-01,2.6162e+00,-4.4436e-02,4.0973e-02,1.6833e-04,1.0337e-03,4.4198e-02,1.2798e-01,-3.0324e-03,-2.4185e-05,1.6158e-05,1.3540e-01,3.0325e-03
+6,5.0167e+00,DOWN_FORCE_DETACH,1.2086e-03,6.8169e-02,1.3101e-01,2.6851e+00,-4.5821e-02,4.1448e-02,1.6706e-04,8.6451e-03,6.4537e-02,1.9690e-01,-4.4176e-03,4.5114e-04,1.4888e-05,2.0739e-01,4.4406e-03
+7,5.6000e+00,DOWN_FORCE_DETACH,1.4035e-03,4.5911e-02,1.0205e-01,2.7182e+00,-4.3830e-02,3.9837e-02,1.5563e-04,-1.3612e-02,3.5582e-02,2.3003e-01,-2.4264e-03,-1.1598e-03,3.4626e-06,2.3316e-01,2.6894e-03
+8,5.9000e+00,DOWN_FORCE_DETACH,1.6101e-03,4.2223e-02,7.4460e-02,2.7188e+00,-4.1938e-02,3.9561e-02,1.4531e-04,-1.7301e-02,7.9905e-03,2.3057e-01,-5.3477e-04,-1.4362e-03,-6.8588e-06,2.3136e-01,1.5325e-03
+9,6.2833e+00,DOWN_FORCE_DETACH,1.8083e-03,5.1959e-02,1.4099e-01,2.7492e+00,-4.6484e-02,4.0211e-02,1.5223e-04,-7.5646e-03,7.4515e-02,2.6099e-01,-5.0811e-03,-7.8624e-04,5.9808e-08,2.7153e-01,5.1416e-03
+10,6.5833e+00,DOWN_FORCE_DETACH,2.0121e-03,3.5576e-02,9.8772e-02,2.7757e+00,-4.3583e-02,3.9021e-02,1.4196e-04,-2.3948e-02,3.2302e-02,2.8747e-01,-2.1793e-03,-1.9766e-03,-1.0207e-05,2.9026e-01,2.9422e-03
+11,6.9833e+00,DOWN_FORCE_DETACH,2.2163e-03,4.2045e-02,1.2361e-01,2.8165e+00,-4.5256e-02,3.9424e-02,1.4179e-04,-1.7479e-02,5.7141e-02,3.2829e-01,-3.8525e-03,-1.5735e-03,-1.0379e-05,3.3368e-01,4.1614e-03
+12,7.3667e+00,DOWN_FORCE_DETACH,2.4108e-03,4.1313e-02,1.6742e-01,2.8401e+00,-4.8227e-02,3.9330e-02,1.4771e-04,-1.8211e-02,1.0095e-01,3.5187e-01,-6.8235e-03,-1.6672e-03,-4.4566e-06,3.6652e-01,7.0242e-03
+13,7.8500e+00,DOWN_FORCE_DETACH,2.6151e-03,3.8228e-02,1.5201e-01,2.8701e+00,-4.7138e-02,3.9063e-02,1.4271e-04,-2.1296e-02,8.5540e-02,3.8190e-01,-5.7347e-03,-1.9348e-03,-9.4602e-06,3.9194e-01,6.0523e-03
+14,8.3667e+00,DOWN_FORCE_DETACH,2.8150e-03,2.9804e-02,1.7609e-01,2.9090e+00,-4.8728e-02,3.8410e-02,1.4659e-04,-2.9720e-02,1.0962e-01,4.2084e-01,-7.3247e-03,-2.5868e-03,-5.5796e-06,4.3590e-01,7.7681e-03
+15,8.8667e+00,DOWN_FORCE_DETACH,3.0206e-03,2.9051e-02,1.8549e-01,2.9628e+00,-4.9304e-02,3.8295e-02,1.4839e-04,-3.0472e-02,1.1902e-01,4.7462e-01,-7.9009e-03,-2.7024e-03,-3.7786e-06,4.9027e-01,8.3503e-03
+16,9.3667e+00,DOWN_FORCE_DETACH,3.2152e-03,3.0376e-02,1.9354e-01,2.9843e+00,-4.9775e-02,3.8352e-02,1.4989e-04,-2.9148e-02,1.2707e-01,4.9611e-01,-8.3718e-03,-2.6450e-03,-2.2787e-06,5.1295e-01,8.7797e-03
+17,9.8500e+00,DOWN_FORCE_DETACH,3.4197e-03,3.2534e-02,2.3010e-01,2.9757e+00,-5.2201e-02,3.8480e-02,1.6036e-04,-2.6990e-02,1.6363e-01,4.8748e-01,-1.0798e-02,-2.5170e-03,8.1893e-06,5.1492e-01,1.1087e-02
+18,1.0400e+01,DOWN_FORCE_DETACH,3.6255e-03,3.3568e-02,2.5227e-01,2.9753e+00,-5.3639e-02,3.8531e-02,1.7436e-04,-2.5955e-02,1.8580e-01,4.8709e-01,-1.2235e-02,-2.4664e-03,2.2188e-05,5.2197e-01,1.2481e-02
+19,1.0933e+01,DOWN_FORCE_DETACH,3.8245e-03,3.4928e-02,2.5784e-01,2.9616e+00,-5.3941e-02,3.8620e-02,1.8539e-04,-2.4596e-02,1.9137e-01,4.7340e-01,-1.2537e-02,-2.3774e-03,3.3222e-05,5.1121e-01,1.2761e-02
+20,1.1550e+01,DOWN_FORCE_DETACH,4.0268e-03,4.0610e-02,2.8429e-01,2.9485e+00,-5.5654e-02,3.9008e-02,1.9539e-04,-1.8913e-02,2.1782e-01,4.6028e-01,-1.4250e-02,-1.9896e-03,4.3224e-05,5.0957e-01,1.4389e-02
+21,1.2167e+01,DOWN_FORCE_DETACH,4.2269e-03,5.0177e-02,2.8429e-01,2.9434e+00,-5.5588e-02,3.9691e-02,2.0491e-04,-9.3463e-03,2.1782e-01,4.5517e-01,-1.4185e-02,-1.3062e-03,5.2740e-05,5.0469e-01,1.4245e-02
+22,1.2850e+01,DOWN_FORCE_DETACH,4.4261e-03,5.8071e-02,2.8747e-01,2.8852e+00,-5.5779e-02,4.0285e-02,2.1349e-04,-1.4527e-03,2.2100e-01,3.9701e-01,-1.4376e-02,-7.1183e-04,6.1319e-05,4.5437e-01,1.4393e-02
+23,1.3583e+01,DOWN_FORCE_DETACH,4.6317e-03,7.0793e-02,3.0249e-01,2.8439e+00,-5.6778e-02,4.1211e-02,2.2073e-04,1.1270e-02,2.3602e-01,3.5569e-01,-1.5374e-02,2.1382e-04,6.8558e-05,4.2702e-01,1.5376e-02
+24,1.4317e+01,DOWN_FORCE_DETACH,4.8294e-03,7.6687e-02,3.0567e-01,2.8132e+00,-5.6995e-02,4.1661e-02,2.2911e-04,1.7163e-02,2.3920e-01,3.2503e-01,-1.5592e-02,6.6319e-04,7.6937e-05,4.0392e-01,1.5606e-02
+25,1.5100e+01,DOWN_FORCE_DETACH,5.0270e-03,8.9402e-02,3.0972e-01,2.7697e+00,-5.7316e-02,4.2592e-02,2.3566e-04,2.9878e-02,2.4325e-01,2.8150e-01,-1.5912e-02,1.5946e-03,8.3490e-05,3.7324e-01,1.5992e-02
+26,1.5883e+01,DOWN_FORCE_DETACH,5.2300e-03,9.8844e-02,3.0268e-01,2.7017e+00,-5.6910e-02,4.3331e-02,2.2933e-04,3.9321e-02,2.3621e-01,2.1351e-01,-1.5506e-02,2.3333e-03,7.7159e-05,3.2082e-01,1.5681e-02
+27,1.6850e+01,DOWN_FORCE_DETACH,5.4350e-03,1.0722e-01,2.9196e-01,2.6236e+00,-5.6283e-02,4.4012e-02,2.1549e-04,4.7697e-02,2.2549e-01,1.3540e-01,-1.4880e-02,3.0146e-03,6.3321e-05,2.6730e-01,1.5182e-02
+28,1.7733e+01,DOWN_FORCE_DETACH,5.6335e-03,1.1482e-01,2.9313e-01,2.5816e+00,-5.6440e-02,4.4592e-02,2.0413e-04,5.5301e-02,2.2666e-01,9.3401e-02,-1.5037e-02,3.5950e-03,5.1957e-05,2.5131e-01,1.5460e-02
+29,1.8583e+01,DOWN_FORCE_DETACH,5.8356e-03,1.1874e-01,2.9097e-01,2.5424e+00,-5.6375e-02,4.4913e-02,1.9562e-04,5.9216e-02,2.2450e-01,5.4246e-02,-1.4971e-02,3.9152e-03,4.3453e-05,2.3843e-01,1.5475e-02
+30,1.9483e+01,DOWN_FORCE_DETACH,6.0368e-03,1.2119e-01,2.8899e-01,2.5150e+00,-5.6315e-02,4.5118e-02,1.8898e-04,6.1670e-02,2.2252e-01,2.6792e-02,-1.4911e-02,4.1205e-03,3.6810e-05,2.3245e-01,1.5470e-02
+31,2.0333e+01,DOWN_FORCE_DETACH,6.2397e-03,1.2435e-01,2.5987e-01,2.5090e+00,-5.4390e-02,4.5348e-02,1.7733e-04,6.4823e-02,1.9340e-01,2.0831e-02,-1.2986e-02,4.3505e-03,2.5161e-05,2.0504e-01,1.3696e-02
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+34,2.3050e+01,DOWN_FORCE_DETACH,6.8452e-03,1.2265e-01,2.6236e-01,2.5249e+00,-5.4615e-02,4.5215e-02,1.6468e-04,6.3123e-02,1.9589e-01,3.6708e-02,-1.3212e-02,4.2174e-03,1.2509e-05,2.0906e-01,1.3869e-02
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+38,2.6433e+01,DOWN_FORCE_DETACH,7.6478e-03,1.1594e-01,2.9434e-01,2.6091e+00,-5.6627e-02,4.4609e-02,1.4493e-04,5.6411e-02,2.2787e-01,1.2095e-01,-1.5223e-02,3.6121e-03,-7.2418e-06,2.6407e-01,1.5646e-02
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Fixed/digit/cylinder_0050_12.5/press_depth_09/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_0050_12.5/press_depth_09/up/franka_data.csv

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Fixed/digit/cylinder_0050_12.5/press_depth_09/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+15,6.500000000e-01,WAIT_W2,1792823187826193869,-1.284678694e-06,-4.029547858e-04,1.573424770e-05,-1.058767523e-06,-4.026274132e-04,1.533891728e-05,-8.402562222e-07,-4.045175818e-04,1.521207279e-05,7.019543481e-01,-4.252255208e-04,8.601588215e-01,7.019545740e-01,-4.248981483e-04,8.601584262e-01,7.027442827e-01,-5.231576382e-04,8.303412292e-01
+16,6.666666667e-01,WAIT_W2,1792823187841589394,4.897725446e-07,-4.199948869e-04,2.201860880e-05,-1.058767523e-06,-4.026274132e-04,1.533891728e-05,-8.533705448e-07,-4.046193176e-04,1.525466192e-05,7.019561226e-01,-4.422656219e-04,8.601651058e-01,7.019545740e-01,-4.248981483e-04,8.601584262e-01,7.027442696e-01,-5.232593739e-04,8.303412718e-01
+17,7.000000000e-01,WAIT_W2,1792823187888083034,8.317367154e-07,-3.707651105e-04,1.822429798e-05,1.465466001e-06,-3.767408225e-04,2.102633156e-05,1.974619749e-06,-3.786159343e-04,2.099164349e-05,7.019564646e-01,-3.930358455e-04,8.601613115e-01,7.019570983e-01,-3.990115575e-04,8.601641136e-01,7.027470976e-01,-4.972559906e-04,8.303470088e-01
+18,7.333333333e-01,WAIT_W2,1792823187938093724,-4.509933888e-06,-3.980269714e-04,1.442128145e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.423645229e-06,-4.000305868e-04,1.469550001e-05,7.019511229e-01,-4.202977065e-04,8.601575085e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027406993e-01,-5.186706432e-04,8.303407126e-01
+19,8.333333333e-01,WAIT_W2,1792823188036236986,-4.327019616e-06,-3.948669087e-04,1.469287300e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.419200714e-06,-4.000857503e-04,1.470838194e-05,7.019513058e-01,-4.171376437e-04,8.601577801e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407038e-01,-5.187258066e-04,8.303407255e-01
+20,9.166666667e-01,WAIT_W2,1792823188167045397,-5.701740027e-06,-4.019950140e-04,1.337179578e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.410507887e-06,-4.001123351e-04,1.471753465e-05,7.019499311e-01,-4.242657490e-04,8.601564590e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407125e-01,-5.187523914e-04,8.303407346e-01
+21,1.033333333e+00,WAIT_W2,1792823188281166249,-3.640942387e-06,-4.105336157e-04,1.828133265e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.399253746e-06,-4.001422855e-04,1.472872047e-05,7.019519919e-01,-4.328043507e-04,8.601613686e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407237e-01,-5.187823418e-04,8.303407458e-01
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+23,1.250000000e+00,UP_FORCE_RAMP,1792823188493933859,-3.382854892e-06,-4.021029978e-04,1.749447385e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.380839200e-06,-4.001854099e-04,1.474487793e-05,7.019522500e-01,-4.243737328e-04,8.601605817e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407421e-01,-5.188254662e-04,8.303407620e-01
+24,1.383333333e+00,UP_FORCE_RAMP,1792823188626908425,-3.351737013e-06,-3.965113304e-04,1.842885770e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.370743307e-06,-4.002068601e-04,1.475247615e-05,7.019522811e-01,-4.187820655e-04,8.601615161e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407522e-01,-5.188469164e-04,8.303407696e-01
+25,1.533333333e+00,UP_FORCE_RAMP,1792823188805924702,-3.263194396e-06,-4.014100070e-04,1.675128022e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.360444248e-06,-4.002278388e-04,1.475905923e-05,7.019523696e-01,-4.236807420e-04,8.601598385e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407625e-01,-5.188678951e-04,8.303407762e-01
+26,1.683333333e+00,UP_FORCE_RAMP,1792823188969396319,-3.771215501e-06,-4.029703853e-04,1.416570640e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.351124319e-06,-4.002462392e-04,1.476390053e-05,7.019518616e-01,-4.252411204e-04,8.601572529e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407718e-01,-5.188862956e-04,8.303407810e-01
+27,1.866666667e+00,UP_FORCE_RAMP,1792823189149420598,-2.906284748e-06,-4.016484337e-04,1.911406401e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.340879641e-06,-4.002659718e-04,1.476779917e-05,7.019527265e-01,-4.239191687e-04,8.601622013e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407821e-01,-5.189060282e-04,8.303407849e-01
+28,2.000000000e+00,UP_FORCE_RAMP,1792823189280575296,-4.888956392e-06,-3.997533367e-04,1.766114808e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.334106144e-06,-4.002787647e-04,1.476943604e-05,7.019507439e-01,-4.220240717e-04,8.601607484e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407889e-01,-5.189188210e-04,8.303407865e-01
+29,2.166666667e+00,UP_FORCE_RAMP,1792823189444022846,-5.204257387e-06,-3.989637423e-04,2.059850184e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.326342000e-06,-4.002932096e-04,1.477030515e-05,7.019504286e-01,-4.212344773e-04,8.601636857e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027407966e-01,-5.189332659e-04,8.303407874e-01
+30,2.316666667e+00,UP_FORCE_RAMP,1792823189591990581,-6.849089059e-06,-4.011403717e-04,2.603997723e-05,-4.385637055e-06,-3.980213664e-04,1.471778372e-05,-4.319944789e-06,-4.003049477e-04,1.477016492e-05,7.019487837e-01,-4.234111067e-04,8.601691272e-01,7.019512472e-01,-4.202921014e-04,8.601578050e-01,7.027408030e-01,-5.189450040e-04,8.303407873e-01
+31,2.500000000e+00,UP_FORCE_RAMP,1792823189821582096,-5.875756636e-06,-3.992013372e-04,3.502031896e-05,-5.901104003e-06,-3.993033626e-04,3.487770814e-05,-5.666138192e-06,-4.015737368e-04,3.479010841e-05,7.019497571e-01,-4.214720722e-04,8.601781076e-01,7.019497317e-01,-4.215740977e-04,8.601779649e-01,7.027394568e-01,-5.202137931e-04,8.303608072e-01
+32,2.650000000e+00,UP_FORCE_RAMP,1792823189984804267,-9.567698392e-06,-3.961075284e-04,3.955376637e-05,-5.901104003e-06,-3.993033626e-04,3.487770814e-05,-5.661511520e-06,-4.015862573e-04,3.481475670e-05,7.019460651e-01,-4.183782634e-04,8.601826410e-01,7.019497317e-01,-4.215740977e-04,8.601779649e-01,7.027394615e-01,-5.202263136e-04,8.303608319e-01
+33,2.766666667e+00,UP_FORCE_RAMP,1792823190099757277,-6.754380579e-06,-3.967662167e-04,5.116673130e-05,-5.901104003e-06,-3.993033626e-04,3.487770814e-05,-5.657985692e-06,-4.015940056e-04,3.482250118e-05,7.019488784e-01,-4.190369517e-04,8.601942540e-01,7.019497317e-01,-4.215740977e-04,8.601779649e-01,7.027394650e-01,-5.202340619e-04,8.303608396e-01
+34,2.933333333e+00,UP_FORCE_RAMP,1792823190262663677,-9.968496330e-06,-3.980625658e-04,5.816073887e-05,-9.012587768e-06,-3.963823329e-04,5.490444969e-05,-8.715806816e-06,-3.987150831e-04,5.473640745e-05,7.019456643e-01,-4.203333008e-04,8.602012480e-01,7.019466202e-01,-4.186530680e-04,8.601979917e-01,7.027364072e-01,-5.173551394e-04,8.303807535e-01
+35,3.100000000e+00,UP_FORCE_RAMP,1792823190426758965,-7.907190000e-06,-3.957270633e-04,7.131704271e-05,-9.012587768e-06,-3.963823329e-04,5.490444969e-05,-8.713158738e-06,-3.987247507e-04,5.475853961e-05,7.019477256e-01,-4.179977983e-04,8.602144043e-01,7.019466202e-01,-4.186530680e-04,8.601979917e-01,7.027364098e-01,-5.173648070e-04,8.303807756e-01
+36,3.283333333e+00,UP_FORCE_RAMP,1792823190606734278,-9.524273848e-06,-3.934400903e-04,8.727687947e-05,-9.097378311e-06,-3.939081678e-04,7.590819908e-05,-8.562209799e-06,-3.962316501e-04,7.565277111e-05,7.019461085e-01,-4.157108253e-04,8.602303641e-01,7.019465354e-01,-4.161789028e-04,8.602189954e-01,7.027365608e-01,-5.148717065e-04,8.304016699e-01
+37,3.383333333e+00,UP_FORCE_RAMP,1792823190705327731,-7.596190063e-06,-3.931513473e-04,9.631872801e-05,-7.534293002e-06,-3.932070993e-04,9.650685899e-05,-6.637826809e-06,-3.955052183e-04,9.617816356e-05,7.019480366e-01,-4.154220823e-04,8.602394060e-01,7.019480985e-01,-4.154778343e-04,8.602395941e-01,7.027384851e-01,-5.141452747e-04,8.304221953e-01
+38,3.600000000e+00,UP_FORCE_RAMP,1792823190918520072,-8.979013712e-06,-3.939431118e-04,1.121205562e-04,-7.534293002e-06,-3.932070993e-04,9.650685899e-05,-6.630348461e-06,-3.955174759e-04,9.623691830e-05,7.019466538e-01,-4.162138468e-04,8.602552078e-01,7.019480985e-01,-4.154778343e-04,8.602395941e-01,7.027384926e-01,-5.141575322e-04,8.304222540e-01
+39,3.733333333e+00,UP_FORCE_RAMP,1792823191049579356,-7.480638914e-06,-3.885583175e-04,1.263182465e-04,-9.246560934e-06,-3.947835323e-04,1.183352811e-04,-8.218982636e-06,-3.971360874e-04,1.178993523e-04,7.019481522e-01,-4.108290525e-04,8.602694055e-01,7.019463863e-01,-4.170542673e-04,8.602614225e-01,7.027369040e-01,-5.157761438e-04,8.304439165e-01
+40,3.866666667e+00,UP_FORCE_RAMP,1792823191180259398,-9.697365031e-06,-3.920747315e-04,1.342333458e-04,-6.654163998e-06,-3.892840888e-04,1.392401625e-04,-5.184041596e-06,-3.916112148e-04,1.387518283e-04,7.019459355e-01,-4.143454665e-04,8.602773206e-01,7.019489787e-01,-4.115548238e-04,8.602823274e-01,7.027399389e-01,-5.102512712e-04,8.304647689e-01
+41,4.000000000e+00,UP_FORCE_RAMP,1792823191311373144,-8.433457778e-06,-3.879307681e-04,1.467024846e-04,-6.654163998e-06,-3.892840888e-04,1.392401625e-04,-5.178977548e-06,-3.916179767e-04,1.387944938e-04,7.019471994e-01,-4.102015032e-04,8.602897897e-01,7.019489787e-01,-4.115548238e-04,8.602823274e-01,7.027399440e-01,-5.102580330e-04,8.304648116e-01
+42,4.183333333e+00,UP_FORCE_RAMP,1792823191491290254,-1.105153428e-05,-3.921392175e-04,1.520237077e-04,-6.654163998e-06,-3.892840888e-04,1.392401625e-04,-5.173672098e-06,-3.916264923e-04,1.388380729e-04,7.019445813e-01,-4.144099525e-04,8.602951109e-01,7.019489787e-01,-4.115548238e-04,8.602823274e-01,7.027399493e-01,-5.102665487e-04,8.304648552e-01
+43,4.316666667e+00,UP_FORCE_RAMP,1792823191639444529,-1.156435942e-05,-3.895881385e-04,1.604675888e-04,-9.668768898e-06,-3.866820216e-04,1.589698630e-04,-8.143694764e-06,-3.890302559e-04,1.584799650e-04,7.019440685e-01,-4.118588735e-04,8.603035548e-01,7.019459640e-01,-4.089527566e-04,8.603020571e-01,7.027369793e-01,-5.076703122e-04,8.304844971e-01
+44,4.466666667e+00,UP_FORCE_RAMP,1792823191786410366,-1.221230741e-05,-3.894315855e-04,1.679985870e-04,-9.668768898e-06,-3.866820216e-04,1.589698630e-04,-8.141474269e-06,-3.890364929e-04,1.585187833e-04,7.019434205e-01,-4.117023205e-04,8.603110858e-01,7.019459640e-01,-4.089527566e-04,8.603020571e-01,7.027369815e-01,-5.076765492e-04,8.304845359e-01
+45,4.683333333e+00,UP_FORCE_RAMP,1792823191999452949,-1.357757123e-05,-3.890927609e-04,1.773164995e-04,-9.668768898e-06,-3.866820216e-04,1.589698630e-04,-8.138015646e-06,-3.890446352e-04,1.585632560e-04,7.019420552e-01,-4.113634959e-04,8.603204037e-01,7.019459640e-01,-4.089527566e-04,8.603020571e-01,7.027369850e-01,-5.076846915e-04,8.304845804e-01
+46,4.816666667e+00,UP_FORCE_RAMP,1792823192130542197,-1.569037420e-05,-3.822999988e-04,1.815718586e-04,-1.420081886e-05,-3.890646909e-04,1.785687619e-04,-1.270816226e-05,-3.914314355e-04,1.780490533e-04,7.019399424e-01,-4.045707338e-04,8.603246591e-01,7.019414320e-01,-4.113354259e-04,8.603216560e-01,7.027324148e-01,-5.100714918e-04,8.305040662e-01
+47,4.983333333e+00,UP_FORCE_RAMP,1792823192294579160,-1.888374761e-05,-3.880360214e-04,1.871061986e-04,-1.420081886e-05,-3.890646909e-04,1.785687619e-04,-1.270798128e-05,-3.914378170e-04,1.780885545e-04,7.019367491e-01,-4.103067565e-04,8.603301934e-01,7.019414320e-01,-4.113354259e-04,8.603216560e-01,7.027324150e-01,-5.100778734e-04,8.305041057e-01
+48,5.133333333e+00,UP_FORCE_RAMP,1792823192441737501,-1.888606881e-05,-3.878120797e-04,1.977736528e-04,-1.420081886e-05,-3.890646909e-04,1.785687619e-04,-1.270733508e-05,-3.914429027e-04,1.781180086e-04,7.019367467e-01,-4.100828147e-04,8.603408609e-01,7.019414320e-01,-4.113354259e-04,8.603216560e-01,7.027324156e-01,-5.100829590e-04,8.305041351e-01
+49,5.233333333e+00,UP_FORCE_RAMP,1792823192539479955,-1.998561942e-05,-3.834299998e-04,2.005921587e-04,-1.876700964e-05,-3.830629849e-04,1.986448789e-04,-1.741590354e-05,-3.854338991e-04,1.981561407e-04,7.019356472e-01,-4.057007348e-04,8.603436794e-01,7.019368658e-01,-4.053337199e-04,8.603417321e-01,7.027277071e-01,-5.040739554e-04,8.305241732e-01
+50,5.383333333e+00,UP_FORCE_RAMP,1792823192687653746,-2.188692361e-05,-3.839074831e-04,2.071108427e-04,-1.876700964e-05,-3.830629849e-04,1.986448789e-04,-1.741744964e-05,-3.854377864e-04,1.981935059e-04,7.019337459e-01,-4.061782182e-04,8.603501981e-01,7.019368658e-01,-4.053337199e-04,8.603417321e-01,7.027277055e-01,-5.040778428e-04,8.305242106e-01
+51,5.500000000e+00,UP_FORCE_RAMP,1792823192801775052,-2.484559402e-05,-3.905517617e-04,2.105924979e-04,-1.876700964e-05,-3.830629849e-04,1.986448789e-04,-1.741806059e-05,-3.854408459e-04,1.982178917e-04,7.019307872e-01,-4.128224967e-04,8.603536797e-01,7.019368658e-01,-4.053337199e-04,8.603417321e-01,7.027277049e-01,-5.040809023e-04,8.305242350e-01
+52,5.683333333e+00,UP_FORCE_RAMP,1792823192982225262,-2.378881198e-05,-3.886369047e-04,2.194707882e-04,-2.242559229e-05,-3.846125010e-04,2.192047733e-04,-2.110657910e-05,-3.869919191e-04,2.186612952e-04,7.019318440e-01,-4.109076397e-04,8.603625580e-01,7.019332072e-01,-4.068832360e-04,8.603622920e-01,7.027240164e-01,-5.056319754e-04,8.305446784e-01
+53,5.800000000e+00,UP_FORCE_HOLD,1792823193096556256,-2.463891258e-05,-3.832392435e-04,2.265840814e-04,-2.242559229e-05,-3.846125010e-04,2.192047733e-04,-2.110853995e-05,-3.869951452e-04,2.186938204e-04,7.019309939e-01,-4.055099785e-04,8.603696713e-01,7.019332072e-01,-4.068832360e-04,8.603622920e-01,7.027240144e-01,-5.056352015e-04,8.305447109e-01
+54,5.933333333e+00,UP_FORCE_HOLD,1792823193227978895,-2.523215627e-05,-3.824529555e-04,2.316277309e-04,-2.242559229e-05,-3.846125010e-04,2.192047733e-04,-2.110996360e-05,-3.869985192e-04,2.187240454e-04,7.019304007e-01,-4.047236905e-04,8.603747150e-01,7.019332072e-01,-4.068832360e-04,8.603622920e-01,7.027240130e-01,-5.056385755e-04,8.305447412e-01
+55,6.083333333e+00,UP_SETTLE,1792823193375038927,-2.799664861e-05,-3.800061668e-04,2.333796962e-04,-2.242559229e-05,-3.846125010e-04,2.192047733e-04,-2.111111989e-05,-3.870018461e-04,2.187536720e-04,7.019276362e-01,-4.022769018e-04,8.603764669e-01,7.019332072e-01,-4.068832360e-04,8.603622920e-01,7.027240119e-01,-5.056419024e-04,8.305447708e-01
+56,6.266666667e+00,UP_SETTLE,1792823193570977154,-3.126903390e-05,-3.848645814e-04,2.378842749e-04,-2.675179082e-05,-3.851103074e-04,2.386867126e-04,-2.550151677e-05,-3.875337071e-04,2.381585717e-04,7.019243638e-01,-4.071353164e-04,8.603809715e-01,7.019288810e-01,-4.073810424e-04,8.603817740e-01,7.027196215e-01,-5.061737634e-04,8.305641757e-01
+57,6.350000000e+00,UP_SETTLE,1792823193675752597,-3.375116609e-05,-3.857415008e-04,2.384472793e-04,-2.675179082e-05,-3.851103074e-04,2.386867126e-04,-2.550326071e-05,-3.875354344e-04,2.381794069e-04,7.019218817e-01,-4.080122358e-04,8.603815345e-01,7.019288810e-01,-4.073810424e-04,8.603817740e-01,7.027196197e-01,-5.061754908e-04,8.305641965e-01
+58,6.416666667e+00,UP_SETTLE,1792823193768446510,-5.602155118e-05,-3.888741124e-04,2.280892266e-04,-6.421834815e-05,-3.876988428e-04,2.168707064e-04,-6.603522974e-05,-3.900985682e-04,2.163875534e-04,7.018996113e-01,-4.111448474e-04,8.603711765e-01,7.018914145e-01,-4.099695778e-04,8.603599579e-01,7.026790877e-01,-5.087386246e-04,8.305424047e-01
+59,6.550000000e+00,UP_SETTLE,1792823193915869281,-6.010235594e-05,-3.889555396e-04,2.286781740e-04,-6.421834815e-05,-3.876988428e-04,2.168707064e-04,-6.606041925e-05,-3.900994581e-04,2.163990090e-04,7.018955305e-01,-4.112262746e-04,8.603717654e-01,7.018914145e-01,-4.099695778e-04,8.603599579e-01,7.026790626e-01,-5.087395145e-04,8.305424161e-01

Fixed/digit/cylinder_0050_12.5/press_depth_09/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.9856e-02,6.6472e-02,2.4880e+00,-4.1403e-02,4.1022e-02,1.5225e-04,3.1963e-04,-1.8775e-06,-2.1243e-04,2.9057e-07,2.3354e-05,9.7585e-08,3.8379e-04,2.3356e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.5912e-05,6.2939e-02,6.6449e-02,2.4860e+00,-4.1400e-02,4.1247e-02,1.5324e-04,3.4030e-03,-2.5123e-05,-2.2120e-03,3.4310e-06,2.4861e-04,1.0877e-06,4.0589e-03,2.4864e-04
+2,3.1667e-01,WAIT_W2,7.2568e-05,6.5539e-02,6.6424e-02,2.4843e+00,-4.1397e-02,4.1437e-02,1.5414e-04,6.0034e-03,-4.9435e-05,-3.8533e-03,6.3553e-06,4.3856e-04,1.9814e-06,7.1338e-03,4.3861e-04
+3,4.6667e-01,WAIT_W2,1.0702e-04,6.7984e-02,6.6399e-02,2.4828e+00,-4.1394e-02,4.1615e-02,1.5501e-04,8.4481e-03,-7.4618e-05,-5.3654e-03,9.2313e-06,6.1717e-04,2.8547e-06,1.0008e-02,6.1724e-04
+4,5.8333e-01,WAIT_W2,1.3076e-04,6.9785e-02,6.6379e-02,2.4817e+00,-4.1392e-02,4.1747e-02,1.5567e-04,1.0249e-02,-9.4578e-05,-6.4616e-03,1.1422e-05,7.4876e-04,3.5185e-06,1.2116e-02,7.4886e-04
+5,6.0000e-01,WAIT_W2,1.7204e-04,7.0035e-02,6.6376e-02,2.4816e+00,-4.1392e-02,4.1765e-02,1.5577e-04,1.0499e-02,-9.7454e-05,-6.6130e-03,1.1738e-05,7.6706e-04,3.6120e-06,1.2408e-02,7.6716e-04
+6,6.1667e-01,WAIT_W2,2.1514e-04,7.2633e-02,1.6338e-01,2.4814e+00,-4.8057e-02,4.1943e-02,1.7242e-04,1.3097e-02,9.6910e-02,-6.8002e-03,-6.6531e-03,9.4510e-04,2.0260e-05,9.8027e-02,6.7199e-03
+7,6.1667e-01,WAIT_W2,2.1514e-04,7.2633e-02,1.6338e-01,2.4814e+00,-4.8057e-02,4.1943e-02,1.7242e-04,1.3097e-02,9.6910e-02,-6.8002e-03,-6.6531e-03,9.4510e-04,2.0260e-05,9.8027e-02,6.7199e-03
+8,6.3333e-01,WAIT_W2,2.9398e-04,7.3757e-02,2.5456e-01,2.4772e+00,-5.4336e-02,4.2020e-02,1.8946e-04,1.4221e-02,1.8809e-01,-1.1036e-02,-1.2933e-02,1.0216e-03,3.7300e-05,1.8895e-01,1.2973e-02
+9,6.3333e-01,WAIT_W2,2.9398e-04,7.3757e-02,2.5456e-01,2.4772e+00,-5.4336e-02,4.2020e-02,1.8946e-04,1.4221e-02,1.8809e-01,-1.1036e-02,-1.2933e-02,1.0216e-03,3.7300e-05,1.8895e-01,1.2973e-02
+10,6.3333e-01,WAIT_W2,2.9398e-04,7.3757e-02,2.5456e-01,2.4772e+00,-5.4336e-02,4.2020e-02,1.8946e-04,1.4221e-02,1.8809e-01,-1.1036e-02,-1.2933e-02,1.0216e-03,3.7300e-05,1.8895e-01,1.2973e-02
+11,6.3333e-01,WAIT_W2,2.9398e-04,7.3757e-02,2.5456e-01,2.4772e+00,-5.4336e-02,4.2020e-02,1.8946e-04,1.4221e-02,1.8809e-01,-1.1036e-02,-1.2933e-02,1.0216e-03,3.7300e-05,1.8895e-01,1.2973e-02
+12,6.5000e-01,WAIT_W2,5.2949e-04,7.7082e-02,4.2030e-01,2.4755e+00,-6.5736e-02,4.2245e-02,2.1860e-04,1.7546e-02,3.5383e-01,-1.2738e-02,-2.4332e-02,1.2465e-03,6.6448e-05,3.5449e-01,2.4364e-02
+13,6.5000e-01,WAIT_W2,5.2949e-04,7.7082e-02,4.2030e-01,2.4755e+00,-6.5736e-02,4.2245e-02,2.1860e-04,1.7546e-02,3.5383e-01,-1.2738e-02,-2.4332e-02,1.2465e-03,6.6448e-05,3.5449e-01,2.4364e-02
+14,6.5000e-01,WAIT_W2,5.2949e-04,7.7082e-02,4.2030e-01,2.4755e+00,-6.5736e-02,4.2245e-02,2.1860e-04,1.7546e-02,3.5383e-01,-1.2738e-02,-2.4332e-02,1.2465e-03,6.6448e-05,3.5449e-01,2.4364e-02
+15,6.5000e-01,WAIT_W2,5.2949e-04,7.7082e-02,4.2030e-01,2.4755e+00,-6.5736e-02,4.2245e-02,2.1860e-04,1.7546e-02,3.5383e-01,-1.2738e-02,-2.4332e-02,1.2465e-03,6.6448e-05,3.5449e-01,2.4364e-02
+16,6.6667e-01,WAIT_W2,5.4774e-04,9.2089e-02,9.1443e-01,2.4795e+00,-9.9726e-02,4.3262e-02,3.0622e-04,3.2553e-02,8.4796e-01,-8.7240e-03,-5.8322e-02,2.2638e-03,1.5407e-04,8.4863e-01,5.8366e-02
+17,7.0000e-01,WAIT_W2,5.9763e-04,8.9286e-02,8.5332e-01,2.4804e+00,-9.5607e-02,4.3075e-02,3.0416e-04,2.9750e-02,7.8685e-01,-7.7882e-03,-5.4203e-02,2.0764e-03,1.5200e-04,7.8745e-01,5.4243e-02
+18,7.3333e-01,WAIT_W2,6.3113e-04,9.0245e-02,8.5001e-01,2.4820e+00,-9.5397e-02,4.3140e-02,3.0638e-04,3.0709e-02,7.8353e-01,-6.2332e-03,-5.3993e-02,2.1414e-03,1.5423e-04,7.8416e-01,5.4036e-02
+19,8.3333e-01,WAIT_W2,6.6568e-04,1.0018e-01,8.8912e-01,2.4937e+00,-9.8131e-02,4.3836e-02,3.1464e-04,4.0642e-02,8.2265e-01,5.5199e-03,-5.6728e-02,2.8382e-03,1.6248e-04,8.2367e-01,5.6799e-02
+20,9.1667e-01,WAIT_W2,7.0066e-04,1.0166e-01,8.8518e-01,2.4954e+00,-9.7898e-02,4.3944e-02,3.1745e-04,4.2127e-02,8.1871e-01,7.1945e-03,-5.6495e-02,2.9461e-03,1.6530e-04,8.1982e-01,5.6572e-02
+21,1.0333e+00,WAIT_W2,7.3697e-04,1.0362e-01,8.8061e-01,2.4974e+00,-9.7632e-02,4.4087e-02,3.2075e-04,4.4081e-02,8.1414e-01,9.2278e-03,-5.6229e-02,3.0888e-03,1.6859e-04,8.1538e-01,5.6314e-02
+22,1.1333e+00,WAIT_W2,7.6907e-04,1.0517e-01,8.7733e-01,2.4989e+00,-9.7444e-02,4.4201e-02,3.2314e-04,4.5638e-02,8.1086e-01,1.0711e-02,-5.6040e-02,3.2026e-03,1.7099e-04,8.1221e-01,5.6132e-02
+23,1.2500e+00,UP_FORCE_RAMP,8.0727e-04,1.0687e-01,8.7385e-01,2.5004e+00,-9.7245e-02,4.4325e-02,3.2547e-04,4.7332e-02,8.0738e-01,1.2181e-02,-5.5841e-02,3.3263e-03,1.7331e-04,8.0886e-01,5.5941e-02
+24,1.3833e+00,UP_FORCE_RAMP,8.4198e-04,1.0864e-01,8.7033e-01,2.5018e+00,-9.7045e-02,4.4454e-02,3.2762e-04,4.9107e-02,8.0386e-01,1.3553e-02,-5.5642e-02,3.4561e-03,1.7546e-04,8.0547e-01,5.5749e-02
+25,1.5333e+00,UP_FORCE_RAMP,8.7602e-04,1.1046e-01,8.6683e-01,2.5030e+00,-9.6848e-02,4.4587e-02,3.2942e-04,5.0922e-02,8.0035e-01,1.4749e-02,-5.5445e-02,3.5888e-03,1.7726e-04,8.0211e-01,5.5561e-02
+26,1.6833e+00,UP_FORCE_RAMP,9.1162e-04,1.1211e-01,8.6370e-01,2.5038e+00,-9.6674e-02,4.4708e-02,3.3070e-04,5.2570e-02,7.9723e-01,1.5625e-02,-5.5270e-02,3.7095e-03,1.7854e-04,7.9911e-01,5.5394e-02
+27,1.8667e+00,UP_FORCE_RAMP,9.4277e-04,1.1392e-01,8.6031e-01,2.5045e+00,-9.6485e-02,4.4841e-02,3.3162e-04,5.4384e-02,7.9383e-01,1.6333e-02,-5.5081e-02,3.8425e-03,1.7947e-04,7.9586e-01,5.5215e-02
+28,2.0000e+00,UP_FORCE_RAMP,9.8385e-04,1.1512e-01,8.5808e-01,2.5048e+00,-9.6362e-02,4.4929e-02,3.3192e-04,5.5583e-02,7.9161e-01,1.6634e-02,-5.4958e-02,3.9305e-03,1.7976e-04,7.9373e-01,5.5099e-02
+29,2.1667e+00,UP_FORCE_RAMP,1.0168e-03,1.1650e-01,8.5554e-01,2.5050e+00,-9.6222e-02,4.5030e-02,3.3187e-04,5.6959e-02,7.8907e-01,1.6799e-02,-5.4819e-02,4.0317e-03,1.7972e-04,7.9130e-01,5.4967e-02
+30,2.3167e+00,UP_FORCE_RAMP,1.0503e-03,1.1763e-01,8.5347e-01,2.5050e+00,-9.6109e-02,4.5113e-02,3.3150e-04,5.8091e-02,7.8700e-01,1.6780e-02,-5.4705e-02,4.1151e-03,1.7934e-04,7.8932e-01,5.4860e-02
+31,2.5000e+00,UP_FORCE_RAMP,1.0872e-03,1.1889e-01,8.5117e-01,2.5048e+00,-9.5984e-02,4.5207e-02,3.3067e-04,5.9354e-02,7.8470e-01,1.6577e-02,-5.4580e-02,4.2083e-03,1.7851e-04,7.8711e-01,5.4742e-02
+32,2.6500e+00,UP_FORCE_RAMP,1.1210e-03,1.2066e-01,8.5053e-01,2.4850e+00,-9.6000e-02,4.5352e-02,3.2887e-04,6.1120e-02,7.8406e-01,-3.1977e-03,-5.4596e-02,4.3542e-03,1.7671e-04,7.8644e-01,5.4770e-02
+33,2.7667e+00,UP_FORCE_RAMP,1.1593e-03,1.2128e-01,8.4916e-01,2.4864e+00,-9.5926e-02,4.5398e-02,3.2784e-04,6.1742e-02,7.8268e-01,-1.7946e-03,-5.4522e-02,4.3999e-03,1.7568e-04,7.8512e-01,5.4699e-02
+34,2.9333e+00,UP_FORCE_RAMP,1.1923e-03,1.2442e-01,8.4019e-01,2.4659e+00,-9.5367e-02,4.5644e-02,3.2290e-04,6.4880e-02,7.7372e-01,-2.2314e-02,-5.3963e-02,4.6454e-03,1.7074e-04,7.7676e-01,5.4163e-02
+35,3.1000e+00,UP_FORCE_RAMP,1.2269e-03,1.2488e-01,8.3844e-01,2.4700e+00,-9.5273e-02,4.5677e-02,3.2046e-04,6.5341e-02,7.7196e-01,-1.8169e-02,-5.3870e-02,4.6792e-03,1.6830e-04,7.7494e-01,5.4073e-02
+36,3.2833e+00,UP_FORCE_RAMP,1.2620e-03,1.2469e-01,8.2998e-01,2.4516e+00,-9.4753e-02,4.5685e-02,3.1666e-04,6.5153e-02,7.6351e-01,-3.6636e-02,-5.3349e-02,4.6863e-03,1.6451e-04,7.6716e-01,5.3555e-02
+37,3.3833e+00,UP_FORCE_RAMP,1.2964e-03,1.2504e-01,8.2902e-01,2.4545e+00,-9.4701e-02,4.5709e-02,3.1522e-04,6.5501e-02,7.6255e-01,-3.3747e-02,-5.3298e-02,4.7113e-03,1.6307e-04,7.6610e-01,5.3506e-02
+38,3.6000e+00,UP_FORCE_RAMP,1.3313e-03,1.2367e-01,8.2389e-01,2.4400e+00,-9.4413e-02,4.5629e-02,3.1349e-04,6.4131e-02,7.5741e-01,-4.8191e-02,-5.3009e-02,4.6313e-03,1.6133e-04,7.6165e-01,5.3211e-02
+39,3.7333e+00,UP_FORCE_RAMP,1.3667e-03,1.2532e-01,8.2458e-01,2.4215e+00,-9.4514e-02,4.5766e-02,3.1070e-04,6.5783e-02,7.5811e-01,-6.6653e-02,-5.3111e-02,4.7679e-03,1.5855e-04,7.6387e-01,5.3324e-02
+40,3.8667e+00,UP_FORCE_RAMP,1.4035e-03,1.2182e-01,8.1026e-01,2.4030e+00,-9.3579e-02,4.5538e-02,3.0862e-04,6.2287e-02,7.4378e-01,-8.5190e-02,-5.2175e-02,4.5395e-03,1.5646e-04,7.5123e-01,5.2372e-02
+41,4.0000e+00,UP_FORCE_RAMP,1.4336e-03,1.2276e-01,8.0914e-01,2.4113e+00,-9.3521e-02,4.5601e-02,3.0695e-04,6.3223e-02,7.4267e-01,-7.6948e-02,-5.2117e-02,4.6025e-03,1.5479e-04,7.4932e-01,5.2320e-02
+42,4.1833e+00,UP_FORCE_RAMP,1.4727e-03,1.2370e-01,8.0766e-01,2.4191e+00,-9.3440e-02,4.5666e-02,3.0476e-04,6.4168e-02,7.4119e-01,-6.9078e-02,-5.2036e-02,4.6679e-03,1.5261e-04,7.4716e-01,5.2245e-02
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Fixed/digit/cylinder_0050_12.5/press_depth_10/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e284b52dd85975eeb2e7a6164ca621d5dfa369c00cdfa5c7791f9019aeec0aaa
+size 624640

Fixed/digit/cylinder_0050_12.5/press_depth_10/down/franka_data.csv

@@ -0,0 +1,61 @@
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+37590,1792823262940627609,1942272000000,1792823262936301919,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6760172076697397,-0.004776544552038085,0.09912313768741826,0.9999999498979906,-0.00027358113221771617,-9.70663615360705e-05,8.589741385490905e-05,0.6761,-0.0045,0.09911240708050346,1.0,0.0,0.0,0.0,-0.22824209917242022,0.04887186759727047,1.43242573710052,0.004696882937595112,0.015299706618569588,0.0011148657059564162,0.8721371385752964,1.0302927423543458,1.5008937087128962,0.08453447628168591,-0.05474017015988416,0.005121414011794634,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.1864783304592776,1.0396263139989845,-0.2966378407389373,0.06629413691640519,0.39623924286219975,0.6707094694283493,-1.1420436867328927,-1.43242573710052,-0.8454058459939554,-0.8454058459939554,0.893849999999937,0,0,-0.00029794994068774026,-9.999999025923074e-05
+37665,1792823263565591809,1942897000000,1792823263560301487,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6760545677459531,-0.004796628549811788,0.0989945753871524,0.9999999522647072,-0.0002590196383122544,-4.337612356504604e-05,0.0001339432200421797,0.6761,-0.0045,0.09891643836947916,1.0,0.0,0.0,0.0,-0.2685101754978042,0.07129443052111328,1.7157871416137176,0.005883177947709886,0.01832502749037774,0.0010031031167524228,0.8318690622499124,1.0527153052781886,1.7842551132260938,0.08572077129180068,-0.05171484928807601,0.005009651422590641,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.4236413233715801,1.055054385924038,-0.7962961338516195,0.2246129995483492,0.7384237039122771,0.6480794659795103,-1.1420436867328927,-1.7157871416137176,-0.34574755288127323,-0.34574755288127323,0.9875999999999266,0,0,-0.00032919993459975947,-9.999999025923074e-05
+37730,1792823264107603171,1943439000000,1792823264104292528,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6760754907319093,-0.004797064692293074,0.0988532476309973,0.9999999490832144,-0.00027043867950555487,-8.107659188240958e-06,0.00014168139873221887,0.6761,-0.0045,0.09873068145635948,1.0,0.0,0.0,0.0,-0.3074550972469259,0.06874056322662903,2.0090457255561676,0.006764030832262902,0.02127107105475893,0.0008147855126797044,0.7929241405007907,1.0501614379837043,2.0775136971685435,0.0866016241763537,-0.04876880572369482,0.004821333818517922,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.4815703594373197,0.9519046890476701,-1.1421238083762588,0.288737186186174,0.9625257103674799,0.5733847344110676,-1.1420436867328927,-2.0090457255561676,8.01216433661267e-05,8.01216433661267e-05,1.0688999999999687,0,0,-0.00035629992932026253,-9.999999025923074e-05
+37793,1792823264632651604,1943964000000,1792823264632301602,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6761004544537604,-0.004804392144894586,0.09870711332129183,0.9999999851763153,-1.3085362977231077e-05,3.396918419539226e-05,0.00014058841207507624,0.6761,-0.0045,0.0985367464948113,1.0,0.0,0.0,0.0,-0.34080167647778115,0.10175714736511832,2.319961301007014,0.00869330908005192,0.02320305492704538,0.000619679304150726,0.7595775612699355,1.0831780221221936,2.38842927261939,0.08853090242414272,-0.04683682185140837,0.004626227609988944,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.640461312897856,1.0642365884860905,-1.4089820104534805,0.2023066608584865,1.1814179477435784,0.5463004462832379,-1.1420436867328927,-2.319961301007014,0.2669383237205878,0.2669383237205878,1.1476500000000183,0,0,-0.0003825499242063587,-9.999999025923074e-05
+37859,1792823265182668218,1944514000000,1792823265180292179,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6761350090434769,-0.004812995080589124,0.09854865755541575,0.9999999797258159,-5.947966285330634e-05,8.94585166351975e-05,0.00014300550960829583,0.6761,-0.0045,0.09831879528797377,1.0,0.0,0.0,0.0,-0.3845057801975791,0.14902711908092725,2.660502836671385,0.011604486099391784,0.02605708698450005,0.0014456890591290662,0.7158734575501375,1.1304479938380025,2.728970808283761,0.09144207944348258,-0.043982789793953696,0.005452237364967284,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.7544282577970045,1.0662306080857415,-1.8782592314412943,0.23666358937001145,1.5005265293494952,0.5897162264560021,-1.1420436867328927,-2.660502836671385,0.7362155447084016,0.7362155447084016,1.2301500000000702,0,0,-0.0004100499188489356,-9.999999025923074e-05
+37924,1792823265723659312,1945055000000,1792823265716302176,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6761631565691566,-0.004817530697719511,0.09837805982771569,0.9999999704760567,-0.00010902013383359949,0.0001369851005990093,0.00014085610580394194,0.6761,-0.0045,0.0980926542853111,1.0,0.0,0.0,0.0,-0.40447867372942325,0.18229077227259316,3.0013599229259986,0.014464746064578052,0.027995504232554605,0.0012358619078450218,0.6959005640182934,1.1637116470296685,3.0698278945383746,0.09430233940866885,-0.04204437254589914,0.00524241021368324,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.917954950463606,0.9857396185083278,-2.335902221209509,0.3210709442101343,1.8309967369530897,0.6045795956699536,-1.1420436867328927,-3.0013599229259986,1.1938585344766162,1.1938585344766162,1.3113000000001214,0,0,-0.00041390558192380835,9.999999025923074e-05
+37985,1792823266232714090,1945564000000,1792823266232302100,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6761891809161237,-0.004827924721018095,0.09822500748230428,0.9999999584270184,-0.00014518663817012238,0.0001820018007922116,0.00014277608538147574,0.6761,-0.0045,0.09788844064284757,1.0,0.0,0.0,0.0,-0.41983597375659243,0.22554786207285404,3.29179900080913,0.017519376222475236,0.02888752485902274,0.0020769269878969793,0.6805432639911242,1.2069687368299293,3.3602669724215057,0.09735696956656603,-0.04115235191943101,0.006083475293735197,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,1.988486372272699,1.028593222662633,-2.51205438244249,0.3352931627258257,1.9569166352854543,0.6561501268002919,-1.1420436867328927,-3.29179900080913,1.3700106957095974,1.3700106957095974,1.3876500000001695,0,0,-0.0003884555868818599,9.999999025923074e-05
+38050,1792823266773611369,1946105000000,1792823266768301681,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6762131150364921,-0.004837653125063505,0.09807094188445202,0.9999999478047631,-0.00015646032052201098,0.00022295524744607602,0.00014712056674567303,0.6761,-0.0045,0.09768558966891638,1.0,0.0,0.0,0.0,-0.44054005152198594,0.267193455369538,3.5889450409269132,0.019502723196737723,0.030779097375652514,0.0018885104829858375,0.6598391862257307,1.2486143301266133,3.657413012539289,0.09934031654082852,-0.03926077940280123,0.0058950587888240554,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.0450040528419193,1.0043047707377333,-2.8551141983617314,0.364682905374599,2.190444474724104,0.6431036955325483,-1.1420436867328927,-3.5889450409269132,1.7130705116288387,1.7130705116288387,1.4688000000002206,0,0,-0.00036140559215161607,9.999999025923074e-05
+38121,1792823267365625433,1946697000000,1792823267364301953,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6762455484750817,-0.004844494153338093,0.09792247003796906,0.9999999300670508,-0.00017757584203787196,0.00027834171244514084,0.0001493367637678113,0.6761,-0.0045,0.09748038435665285,1.0,0.0,0.0,0.0,-0.48027386934577687,0.2962232480272341,3.880949848592367,0.022406557100645555,0.0327159223530159,0.0017142449484985499,0.6201053684019397,1.2776441227843094,3.9494178202047427,0.10224415044473635,-0.037323954425437844,0.005720793254336768,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.235399842941609,0.9169017151872112,-3.227934207356322,0.4005542232526911,2.4813534595562157,0.5854752593240431,-1.1420436867328927,-3.880949848592367,2.0858905206234297,2.0858905206234297,1.5576000000002765,0,0,-0.00033180559791815147,9.999999025923074e-05
+38198,1792823268007598053,1947339000000,1792823268000301783,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6762677744358676,-0.004853250439671704,0.09776085759891706,0.999999918908058,-0.00017823490675509108,0.0003139373616590814,0.0001526512120794275,0.6761,-0.0045,0.09727765321077887,1.0,0.0,0.0,0.0,-0.5100206471920816,0.3318285365084529,4.163065233031788,0.02434232940452985,0.03464208843025781,0.0016020412673661945,0.590358590555635,1.3132494112655282,4.2315332046441645,0.10417992274862065,-0.03539778834819594,0.0056085895732044125,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.3384325257667324,0.9364261805667949,-3.4557291929913885,0.4103898580474768,2.659482853932691,0.5994360469140574,-1.1420436867328927,-4.163065233031788,2.313685506258496,2.313685506258496,1.6539000000003372,0,0,-0.00029970560417172534,9.999999025923074e-05
+38282,1792823268707702431,1948039000000,1792823268700302174,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6762955379462764,-0.004858061300365829,0.09761496636621614,0.9999999063297953,-0.00015806343844333468,0.00036003133813457245,0.0001554884230188084,0.6761,-0.0045,0.09708009178546877,1.0,0.0,0.0,0.0,-0.540307771324421,0.337662043086599,4.442532892894921,0.026264401688864264,0.03656792055383171,0.0023858126536183168,0.5600714664232956,1.3190829178436743,4.511000864507297,0.10610199503295506,-0.03347195622462203,0.006392360959456535,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.4138891281939108,1.0058573320985122,-3.81632727677362,0.39967816889010827,2.91472393213109,0.6428270091547056,-1.1420436867328927,-4.442532892894921,2.6742835900407274,2.6742835900407274,1.7589000000004034,0,0,-0.0002647056109902638,9.999999025923074e-05
+38371,1792823269448617845,1948780000000,1792823269448292219,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763148934928469,-0.004863447487763636,0.09746840300806646,0.9999998922714745,-0.00017202519712691594,0.00039126901733556703,0.00015561423906851213,0.6761,-0.0045,0.09689765342504714,1.0,0.0,0.0,0.0,-0.5694183899612082,0.3588296580847624,4.686381524208931,0.027186677379693797,0.03852011322419995,0.0022319139698949537,0.5309608477865084,1.3402505328418377,4.754849495821308,0.10702427072378459,-0.031519763554253795,0.006238462275733172,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.4205328986688612,0.9962998447404172,-4.0056515458332544,0.41151286320418934,3.040680795679853,0.6369238747902567,-1.1420436867328927,-4.686381524208931,2.8636078591003615,2.8636078591003615,1.8700500000004734,0,0,-0.0002276556182081738,9.999999025923074e-05
+38463,1792823270215728175,1949547000000,1792823270208301758,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.67633818354717,-0.00486666540544471,0.09734480011677675,0.9999998767708153,-0.0001729062671972265,0.0004271781711736813,0.00015976060680364894,0.6761,-0.0045,0.09673772961301254,1.0,0.0,0.0,0.0,-0.5986138900772752,0.38234064710517435,4.8860320726349595,0.02811623821623234,0.0404836701088964,0.0021093889093095506,0.5017653476704415,1.3637615218622496,4.954500044247336,0.10795383156032314,-0.02955620666955735,0.006115937215147769,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.552843463545332,0.8764466666029465,-4.236444890603931,0.46371927975664406,3.225818440403578,0.5629542281761316,-1.1420436867328927,-4.8860320726349595,3.094401203871038,3.094401203871038,1.9851000000005459,0,0,-0.00018930562567934383,9.999999025923074e-05
+38542,1792823270873695368,1950205000000,1792823270868301910,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6763481545397753,-0.00486625707256431,0.09725249369013306,0.9999998693337044,-0.00017207178048250305,0.00044561367316091425,0.00015682855291020682,0.6761,-0.0045,0.09662397415920362,1.0,0.0,0.0,0.0,-0.6122811182509162,0.39086329937260766,5.017800839041857,0.029085360386337508,0.041449297991767095,0.002029156535719512,0.4880981194968003,1.372284174129683,5.086268810654233,0.1089229537304283,-0.028590578786686652,0.00603570484155773,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.5682666519281723,0.9109474145100118,-4.3552596031316035,0.4568992455697835,3.3072311820338878,0.5862122034607614,-1.1420436867328927,-5.017800839041857,3.2132159163987106,3.2132159163987106,2.083800000000608,0,0,-0.00015640563208877,9.999999025923074e-05
+38646,1792823271740761450,1951072000000,1792823271740301379,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763603894331263,-0.004872589740260213,0.09716540163933832,0.999999858369335,-0.00016828823352930258,0.00047115134171426425,0.00015620389826229627,0.6761,-0.0045,0.09650714102251742,1.0,0.0,0.0,0.0,-0.6285118973370508,0.40331793970933816,5.1282848800933385,0.03005793772948126,0.04241956407941554,0.0019651854449045485,0.4718673404106658,1.3847388144664134,5.196752851705715,0.10989553107357206,-0.027620312699038203,0.0059717337507427665,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.639062995053822,0.8959416364470814,-4.447272437389057,0.4665499155837115,3.3862212335929067,0.5732461681779496,-1.1420436867328927,-5.1282848800933385,3.3052287506561644,3.3052287506561644,2.21385000000069,0,0,-0.00011305564053401695,9.999999025923074e-05
+38740,1792823272523755884,1951855000000,1792823272520293853,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763638250267939,-0.004870826028330515,0.09709068819234035,0.9999998562202449,-0.00016901645160036187,0.00047505202447653213,0.00015735744960877792,0.6761,-0.0045,0.0964339261029895,1.0,0.0,0.0,0.0,-0.6296385282235889,0.4073256208597139,5.239068879108199,0.03000987994382795,0.04340872554612124,0.001891278398377193,0.4707407095241277,1.3887464956167892,5.307536850720576,0.10984747328791875,-0.026631151232332506,0.005897826704215411,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.644248275197185,0.9252850344262303,-4.626870255923935,0.46554283069672675,3.506435508978009,0.600235827659255,-1.1420436867328927,-5.239068879108199,3.484826569191042,3.484826569191042,2.331300000000764,0,0,-7.390564816103928e-05,9.999999025923074e-05
+38860,1792823273523771071,1952855000000,1792823273516301663,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763681482116578,-0.004869709354473223,0.09704813950701664,0.9999998537135322,-0.00017021993456410584,0.00048000641553428157,0.00015695474926175407,0.6761,-0.0045,0.0963849954499532,1.0,0.0,0.0,0.0,-0.6374071077839472,0.41644455767275634,5.249137834820127,0.03001833956814108,0.043270352651925845,0.0018801662065818367,0.4629721299637695,1.3978654324298316,5.317605806432503,0.10985593291223188,-0.0267695241265279,0.005886714512420055,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.6360923382094916,0.9420172530924381,-4.604188489459192,0.4658888456732574,3.48925024239641,0.6105790001697606,-1.1420436867328927,-5.249137834820127,3.462144802726299,3.462144802726299,2.4813000000008585,0,0,-2.3905657901808535e-05,9.999999025923074e-05
+38976,1792823274490682289,1953822000000,1792823274488301382,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6763696139544969,-0.004867432444354986,0.09703473667493626,0.9999998530552073,-0.0001685806377931406,0.00048226013046476457,0.00015600693273708634,0.6761,-0.0045,0.09637833698536603,1.0,0.0,0.0,0.0,-0.6285127472678466,0.41358749036958653,5.229146468284748,0.030040678625042005,0.04239680533479047,0.0018837223986315462,0.47186649047987006,1.3950083651266618,5.297614439897124,0.1098782719691328,-0.02764307144366328,0.005890270704469764,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.558839178289004,0.9282033048229273,-4.503515420184056,0.4658553462995797,3.4106724746582486,0.5986336388381065,-1.1420436867328927,-5.229146468284748,3.361471733451163,3.361471733451163,2.62635000000095,0,0,-3.164745490669141e-07,3.196712616837516e-06
+39096,1792823275490845985,1954822000000,1792823275484301924,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763677938166833,-0.0048656847138899405,0.09702978717662766,0.9999998551277334,-0.00016562572951773122,0.00047913508927489867,0.00015551546696361684,0.6761,-0.0045,0.09637827411003823,1.0,0.0,0.0,0.0,-0.6131887135460741,0.40811125108898116,5.1990978587689245,0.030066514727429258,0.04161434744198491,0.0018977674598841913,0.48719052420164255,1.3895321258460565,5.267565830381301,0.10990410807152005,-0.028425529336468837,0.005904315765722409,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.563077605298052,0.9283267134512727,-4.470245507193744,0.4618243417128482,3.393577502776052,0.5949926934164117,-1.1420436867328927,-5.1990978587689245,3.3282018204608512,3.3282018204608512,2.7763500000010444,0,0,-2.105805529950544e-09,2.1270762928793374e-08
+39218,1792823276507806707,1955839000000,1792823276500302133,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763674512448701,-0.004860049628770131,0.0970277858713489,0.9999998557388285,-0.00016466518518207511,0.0004784961312724227,0.00015457042251822443,0.6761,-0.0045,0.09637827369142583,1.0,0.0,0.0,0.0,-0.6005718738517594,0.40556828213500207,5.169074206589775,0.030078711024854432,0.04139631221181175,0.0019199494312457308,0.4998073638959572,1.3869891568920774,5.237542178202151,0.10991630436894523,-0.028643564566641997,0.005926497737083949,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.549156849402824,1.0589349054007287,-4.522928398706664,0.4197092754277727,3.42144774997866,0.6754626725414494,-1.1420436867328927,-5.169074206589775,3.3808847119737715,3.3808847119737715,2.9289000000011405,0,0,-1.2900930324022397e-11,1.3031242751537775e-10
+39316,1792823277323741382,1956655000000,1792823277320301244,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.676366491327687,-0.004862216386478157,0.09702563782944101,0.9999998561688399,-0.00016331535977486247,0.00047751254547756853,0.00015625308336777739,0.6761,-0.0045,0.09637827368859121,1.0,0.0,0.0,0.0,-0.592105874737543,0.4142124516761899,5.1527295465908445,0.03011009742122117,0.04038671217482438,0.0019203189772493152,0.5082733630101737,1.3956333264332652,5.221197518203221,0.10994769076531197,-0.02965316460362936,0.005926867283087533,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.530206124495691,0.9774289627207557,-4.432472010152165,0.4479239118662111,3.362792894623408,0.6275847016144123,-1.1420436867328927,-5.1527295465908445,3.290428323419272,3.290428323419272,3.0513000000012176,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+39428,1792823278257823844,1957589000000,1792823278256301477,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.676364601701174,-0.004861949416689126,0.09702180306688797,0.9999998577572041,-0.0001622600348381076,0.00047418212839187197,0.0001573258594924681,0.6761,-0.0045,0.09637826377715511,1.0,0.0,0.0,0.0,-0.5859718424232955,0.4265220286836712,5.139411687112542,0.031069220223643126,0.040370717381367396,0.0019413431674504935,0.5144073953244211,1.4079429034407465,5.207879658724918,0.11090681356773392,-0.029669159397086354,0.0059478914732887115,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.457384236626048,1.1152695327736581,-4.384379988785423,0.4162465499546264,3.307876566839898,0.7220285660650656,-1.1420436867328927,-5.139411687112542,3.2423363020525304,3.2423363020525304,3.191400000001306,0,0,-1.912946651083658e-07,1.9322693445289474e-06
+39540,1792823279190824443,1958522000000,1792823279184301712,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6763633860141349,-0.0048586632146982184,0.09701651009079466,0.9999998595025871,-0.00015809286715407286,0.00047163881188789396,0.0001581175099563942,0.6761,-0.0045,0.09637197765391377,1.0,0.0,0.0,0.0,-0.5779362784706997,0.42611153528301793,5.127261256855478,0.0311631102768712,0.03935823395032555,0.0019428597676821096,0.5224429592770169,1.4075324100400932,5.1957292284678545,0.111000703620962,-0.0306816428281282,0.005949408073520328,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.5004080489582017,1.0199000975353258,-4.355541327224382,0.44735949266517283,3.3036819128533383,0.6570778515356714,-1.1420436867328927,-5.127261256855478,3.2134976404914894,3.2134976404914894,3.331350000001394,0,0,-2.125142807149339e-05,-9.999999025923074e-05
+39656,1792823280157818597,1959489000000,1792823280156301368,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.676365924937819,-0.004860689790657064,0.09699281447630394,0.9999998554195602,-0.00016159738144342755,0.00047798881278241303,0.00016129694412740604,0.6761,-0.0045,0.09633012241786564,1.0,0.0,0.0,0.0,-0.5821611298580661,0.420881000961857,5.159574845315607,0.031154851648475798,0.03935637552844261,0.0019100234702892705,0.5182181078896505,1.4023018757189323,5.228042816927983,0.1109924449925666,-0.030683501250011142,0.0059165717761274885,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.6220935198410644,1.0474589895249387,-4.483089651923159,0.44558738153080135,3.409594091779826,0.6765537574015336,-1.1420436867328927,-5.159574845315607,3.3410459651902658,3.3410459651902658,3.4764000000014854,0,0,-6.587044857761371e-05,-9.999999025923074e-05
+39760,1792823281023829892,1960355000000,1792823281020291718,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6763741564526667,-0.004857247486268187,0.09694269279446666,0.9999998504460219,-0.0001617066958879585,0.0004884708591598718,0.00016061744070031836,0.6761,-0.0045,0.09625758772400994,1.0,0.0,0.0,0.0,-0.5987541647405625,0.43134382067268395,5.267550504283883,0.031116191617527184,0.04034120475327633,0.0018355096982524324,0.5016250730071541,1.4127646954297592,5.336018475896259,0.11095378496161798,-0.029698672025177418,0.00584205800409065,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.6463285435581168,1.0013420026724649,-4.604123220843265,0.4765370734350928,3.488080865046742,0.6502352855750145,-1.1420436867328927,-5.267550504283883,3.462079534110372,3.462079534110372,3.6063000000015673,0,0,-0.00010005558176015417,-9.999990699250389e-05
+39866,1792823281907890402,1961239000000,1792823281904301582,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6763893912458669,-0.004866360230675859,0.09686980192092963,0.999999832732807,-0.00016623720136743105,0.0005207854754556828,0.00016469639856637954,0.6761,-0.0045,0.09616254745821604,1.0,0.0,0.0,0.0,-0.621433153757855,0.4516057394908183,5.400109417027613,0.033071665915213586,0.04230106728341787,0.0017809298402512476,0.4789460839898616,1.4330266142478936,5.468577388639989,0.11290925925930438,-0.02773880949503588,0.005787478146089466,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.6934526915394,1.011100711300466,-4.730271173448145,0.45908211861969755,3.572398309856671,0.6534826106210195,-1.1420436867328927,-5.400109417027613,3.588227486715252,3.588227486715252,3.738900000001651,0,0,-0.00011305683679105195,-9.960518107388622e-05
+39959,1792823282682808740,1962014000000,1792823282680301513,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6763983928782403,-0.004862882241309815,0.09680344682614214,0.9999998258782673,-0.00016072199348555476,0.000534801319867584,0.00016686008634033913,0.6761,-0.0045,0.09607513406701448,1.0,0.0,0.0,0.0,-0.6348256880553883,0.4512688269976589,5.522773150764621,0.03302177440942039,0.04328808785868976,0.0019875728344152807,0.4655535496923283,1.4326897017547342,5.5912411223769976,0.11285936775351119,-0.026751788919763982,0.005994121140253499,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.7722084218585046,0.9805887630158869,-4.914969343778939,0.4801359011944759,3.7099434422903235,0.6362206876160285,-1.1420436867328927,-5.522773150764621,3.772925657046046,3.772925657046046,3.855150000001724,0,0,-0.00011172144344787226,9.999999025923074e-05
+40058,1792823283507887745,1962839000000,1792823283504301710,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6764042950902829,-0.004866313901097003,0.0967265967383143,0.9999998193067671,-0.00016574733614039126,0.0005450410121013002,0.00016818862323791575,0.6761,-0.0045,0.09598754693723446,1.0,0.0,0.0,0.0,-0.6413277381679217,0.4665602899736988,5.662035663574705,0.03399399607397592,0.04360377874157614,0.0026181691253901644,0.4590514995797949,1.447981164730774,5.730503635187081,0.11383158941806672,-0.02643609803687761,0.0066247174312283824,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.726943158049593,1.0485307157054486,-5.011834818484035,0.4664129335556228,3.7613295121022037,0.6802028971340007,-1.1420436867328927,-5.662035663574705,3.8697911317511418,3.8697911317511418,3.978900000001802,0,0,-0.00010003284666856705,-7.5852320284514e-05
+40165,1792823284398929572,1963730000000,1792823284392302294,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6764124833264574,-0.004861278388357832,0.09665873622788157,0.9999998129491641,-0.00015899909907830434,0.0005592573186333254,0.0001658162810642493,0.6761,-0.0045,0.09590247614784513,1.0,0.0,0.0,0.0,-0.6602208340190987,0.4674045806444961,5.762779369560556,0.03395975778599508,0.044356581896467594,0.0025534809864388207,0.4401584037286179,1.4488254554015714,5.831247341172932,0.11379735113008588,-0.025683294881986153,0.006560029292277039,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.7821448338952086,0.9420335085994342,-5.136908536725852,0.5149510668854702,3.851763360612401,0.6171632319113426,-1.1420436867328927,-5.762779369560556,3.9948648499929593,3.9948648499929593,4.112550000001553,0,0,-9.417268421604697e-05,-9.998955416279926e-05
+40258,1792823285173832831,1964505000000,1792823285172301566,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6764212953344344,-0.004865551752311319,0.09659998591139134,0.9999998048261547,-0.00016757378755315395,0.0005719834095434418,0.0001629248956191133,0.6761,-0.0045,0.09582814294975256,1.0,0.0,0.0,0.0,-0.6612528773551358,0.4831933677784265,5.862263583997149,0.03493604069221061,0.045196657810853025,0.002500345943250084,0.43912636039258085,1.4646142425355018,5.930731555609525,0.1147736340363014,-0.02484321896760072,0.006506894249088302,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.8633136808806685,1.0207865171926187,-5.405441189370593,0.4862034080178379,4.042279476565606,0.6643723318552754,-1.1420436867328927,-5.862263583997149,4.2633975026377,4.2633975026377,4.228800000001282,0,0,-9.699417693046086e-05,9.999999025923074e-05
+40350,1792823285940841535,1965272000000,1792823285940293076,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6764312136328923,-0.00486367573989244,0.09653723732959278,0.9999997958868104,-0.00017106945015800791,0.0005873474447410148,0.00015945978757396292,0.6761,-0.0045,0.09574986353888415,1.0,0.0,0.0,0.0,-0.6726485303635333,0.48920704268475046,5.953845591865125,0.03577606145260133,0.046173836457212805,0.0024518063524272765,0.4277307073841833,1.4706279174418257,6.022313563477502,0.11561365479669213,-0.023866040321240945,0.0064583546582654945,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.900885107598857,0.9298205237545828,-5.413038612627028,0.5160315778400978,4.052251499398876,0.6034489298277022,-1.1420436867328927,-5.953845591865125,4.270994925894135,4.270994925894135,4.343850000001014,0,0,-0.00010556543906106863,9.375140527645982e-05
+40472,1792823286957952228,1966289000000,1792823286956291878,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6764457937732324,-0.004871926095089456,0.09644515337450212,0.9999997834458731,-0.00017032499883170007,0.0006067313461081788,0.00016558242497620757,0.6761,-0.0045,0.09563737800957166,1.0,0.0,0.0,0.0,-0.7004616239447377,0.507166061322822,6.093940009406718,0.03663097014462732,0.04813155121817915,0.002377531884059366,0.3999176138029789,1.4885869360798973,6.162407981019094,0.11646856348871812,-0.021908325560274597,0.006384080189897584,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.953635231106851,0.9411928217056234,-5.651694924216102,0.5216579157680217,4.211752453103751,0.619859633357797,-1.1420436867328927,-6.093940009406718,4.509651237483209,4.509651237483209,4.4964000000006585,0,0,-0.00011323943506916378,9.999695102370083e-05
+40570,1792823287773958928,1967105000000,1792823287772292578,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6764592071801077,-0.004869701779986985,0.09637591127155055,0.9999997714097009,-0.00016040431261548385,0.0006276885188058466,0.00017000291196275864,0.6761,-0.0045,0.09554401298554165,1.0,0.0,0.0,0.0,-0.7195077624295343,0.5101810571179551,6.205061907341594,0.03680448453013116,0.04913743249330543,0.0023021539999407443,0.3808714753181824,1.4916019318750304,6.27352987895397,0.11664207787422196,-0.020902444285148317,0.006308702305778962,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.949497872529743,0.8615670625131682,-5.64705024346398,0.5446450134321238,4.205142158547201,0.5661756926929354,-1.1420436867328927,-6.205061907341594,4.505006556731087,4.505006556731087,4.618800000000373,0,0,-0.00011488689819902221,-9.999389791038311e-05
+40655,1792823288482871044,1967814000000,1792823288480292401,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6764654933994052,-0.00487246396659573,0.09630671120250282,0.9999997661577648,-0.00015234243746841758,0.0006367321426021206,0.00017461741097107,0.6761,-0.0045,0.09546211533945456,1.0,0.0,0.0,0.0,-0.7289832523438171,0.5050355663554792,6.305250610113989,0.036784751171667004,0.04911679324668875,0.0022200622255266296,0.37139598540389956,1.4864564411125545,6.373718581726365,0.1166223445157578,-0.020923083531764995,0.0062266105313648476,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,2.9864043345030598,0.8696315443047684,-5.7202417070621845,0.5490178388594557,4.260986216424976,0.5711798606631557,-1.1420436867328927,-6.305250610113989,4.578198020329292,4.578198020329292,4.725150000000125,0,0,-0.00011525086035110566,-9.999961555895993e-05
+40763,1792823289382910911,1968714000000,1792823289380292433,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6764700966808055,-0.004874792800614699,0.09621770568718593,0.9999997601390549,-0.00014051623374450106,0.0006464061039168883,0.00018324582880373112,0.6761,-0.0045,0.09536083265255547,1.0,0.0,0.0,0.0,-0.7388945523231584,0.49934243281249746,6.4251671537903725,0.036728342130919966,0.05010491561279997,0.0021373741083389047,0.36148468542455825,1.4807633075695728,6.493635125402749,0.11656593547501076,-0.019934961165653776,0.006143922414177123,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.000148768782799,0.846023812078447,-5.8617986138923905,0.5618063258487817,4.349934645290895,0.5679515961076572,-1.1420436867328927,-6.4251671537903725,4.719754927159498,4.719754927159498,4.860149999999811,0,0,-0.00011054398239426633,-9.999980984798924e-05
+40877,1792823290332999877,1969664000000,1792823290332291895,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6764874740386058,-0.004868199699929823,0.09614055332851147,0.9999997421581103,-0.00017212296890635313,0.0006790488315679755,0.00012803493756359806,0.6761,-0.0045,0.09525580763943547,1.0,0.0,0.0,0.0,-0.7129206066077358,0.5501085825543129,6.527243474931917,0.039778710011069834,0.04900914447112915,0.0020773172840795008,0.3874586311399808,1.5315294573113882,6.595711446544294,0.11961630335516063,-0.0210307323073246,0.006083865589917719,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.0103719025791262,0.8746297526533042,-6.05114798250294,0.5720307279430082,4.465377255320555,0.5893559651734617,-1.1420436867328927,-6.527243474931917,4.909104295770047,4.909104295770047,5.002649999999479,0,0,-0.0001108955896027591,-1.3729853258173024e-05
+40963,1792823291049007873,1970380000000,1792823291048291906,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6764952910777727,-0.004871701210857537,0.09607285536031679,0.9999997337976333,-0.00016936641335354936,0.0006900569888520699,0.00013778206371407533,0.6761,-0.0045,0.09517362841534509,1.0,0.0,0.0,0.0,-0.7405156324629285,0.5406514144178928,6.616855243992436,0.038741427260018654,0.05005295701500528,0.0020061681109403992,0.35986360528478806,1.522072289174968,6.685323215604813,0.11857902060410945,-0.01998691976344847,0.006012716416778617,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.013847057249365,1.0514314693799287,-6.164413562402588,0.509183000832717,4.53256273333985,0.7088268459032339,-1.1420436867328927,-6.616855243992436,5.022369875669695,5.022369875669695,5.110049999999228,0,0,-0.00011864981160483878,5.749252049292437e-05
+41075,1792823291982974225,1971314000000,1792823291980291906,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765029327602639,-0.004878237717709181,0.095969635752817,0.9999997253108581,-0.00016412065932029936,0.0007000335323517251,0.00015439732962583666,0.6761,-0.0045,0.0950571366812294,1.0,0.0,0.0,0.0,-0.7757030448498935,0.5230977208226156,6.746949953283249,0.037721872062327175,0.05204124038535621,0.0019170663372317575,0.3246761928978231,1.504518595579691,6.815417924895625,0.11755946540641797,-0.017998636393097543,0.0059236146430699755,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.093613761623386,0.8704144054555689,-6.381308039417224,0.5609859616307534,4.692101542249233,0.5878263456331682,-1.1420436867328927,-6.746949953283249,5.239264352684331,5.239264352684331,5.250149999998902,0,0,-0.00012702344600182413,9.999997638144293e-05
+41173,1792823292799023490,1972130000000,1792823292796292398,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6765139025931232,-0.004878713537029417,0.09588605579311636,0.9999997123989052,-0.00015460524769403226,0.0007178507140989766,0.00016562771757207907,0.6761,-0.0045,0.09495379832301308,1.0,0.0,0.0,0.0,-0.787232353262999,0.5091958826904913,6.857147317319227,0.03759087931272839,0.05325488035598658,0.0018449214360264409,0.31314688448471756,1.4906167574475666,6.925615288931604,0.11742847265681919,-0.016784996422467165,0.005851469741864659,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.105184825418528,0.7682000650392179,-6.404714997163126,0.5883448917776507,4.709832511041197,0.5199589024889558,-1.1420436867328927,-6.857147317319227,5.262671310430233,5.262671310430233,5.372549999998617,0,0,-0.00012458214014163105,-6.787089920490814e-05
+41280,1792823293691029041,1973022000000,1792823293684292255,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6765210198181564,-0.004881987007007067,0.09578978605275386,0.9999997034332957,-0.0001555974620178561,0.0007281376846972028,0.00017372716229050134,0.6761,-0.0045,0.09484062691404456,1.0,0.0,0.0,0.0,-0.8062090755422548,0.5122409364843846,6.97753078395909,0.03754057035129879,0.05402058342625782,0.0017576508522195115,0.2941701622054617,1.49366181124146,7.045998755571467,0.11737816369538959,-0.016019293352195926,0.0057641991580577295,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.1070343593147434,0.8508346946061904,-6.497247954672151,0.5661688118378481,4.766614673020427,0.5699394486160394,-1.1420436867328927,-6.97753078395909,5.355204267939258,5.355204267939258,5.506349999998305,0,0,-0.00012910322879785963,-9.999999025923074e-05
+41386,1792823294574046452,1973905000000,1792823294572293537,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6765356269486569,-0.004877490071571334,0.09569727497696663,0.9999996821742021,-0.0001725291619087807,0.0007548729793694348,0.0001658156577631291,0.6761,-0.0045,0.09472807699720447,1.0,0.0,0.0,0.0,-0.8075955179288548,0.5288687847947885,7.082927472310441,0.03851525316460408,0.054991239005325654,0.0017019286070208773,0.2927837198188618,1.5102896595518638,7.151395443922818,0.11835284650869488,-0.015048637773128096,0.005708476912859095,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.189482873578826,0.9023147538121876,-6.643812622169685,0.5758997658259845,4.873662112170864,0.6134878673179849,-1.1420436867328927,-7.082927472310441,5.501768935436792,5.501768935436792,5.638799999997996,0,0,-0.000126745892513351,-9.642701501023083e-05
+41478,1792823295341059040,1974672000000,1792823295336292715,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765430552449473,-0.004881158104035651,0.09561181572964998,0.9999996723254422,-0.0002002174081793869,0.0007638987803633587,0.00015219564744505684,0.6761,-0.0045,0.09462970118165576,1.0,0.0,0.0,0.0,-0.8077314717830726,0.5337078565928909,7.181873885133711,0.038496539947791036,0.05496126123409079,0.001620780205795873,0.29264776596464404,1.5151287313499662,7.250341856746087,0.11833413329188183,-0.015078615544362952,0.005627328511634091,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.2247408967591524,0.8640410373267581,-6.756368153702142,0.5833610498807842,4.958696502177763,0.5882732694077067,-1.1420436867328927,-7.181873885133711,5.614324466969249,5.614324466969249,5.753849999997728,0,0,-0.0001288447296174652,-9.980468815141136e-05
+41571,1792823296116071288,1975447000000,1792823296116291668,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765507951265713,-0.004876598247902387,0.09552158205746117,0.999999662149593,-0.00020300107355244583,0.0007763135872296867,0.00015254947454638307,0.6761,-0.0045,0.09452783967884483,1.0,0.0,0.0,0.0,-0.8138285104558431,0.5377424697204406,7.278299424389738,0.03912200308460763,0.05594586006358645,0.001553865271548033,0.2865507272918735,1.5191633444775159,7.3467673960021145,0.11895959642869842,-0.014094016714867298,0.005560413577386251,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.212131182717223,0.9022384256405372,-6.882286687384016,0.5737631013887758,5.032800528606081,0.6138028274988637,-1.1420436867328927,-7.278299424389738,5.740243000651123,5.740243000651123,5.870099999997457,0,0,-0.000134197354849401,-9.999917146975008e-05
+41667,1792823296916057223,1976247000000,1792823296916292122,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765656504334131,-0.004879905362702742,0.09542700599260193,0.9999996376985172,-0.00020717152468729358,0.0008044609667707391,0.00016114655030961537,0.6761,-0.0045,0.09441906465419846,1.0,0.0,0.0,0.0,-0.8364234014680989,0.5466640391937884,7.383179597018139,0.03945116727595695,0.05592098113405118,0.0014807555594653372,0.2639558362796177,1.5280849139508637,7.4516475686305155,0.11928876062004774,-0.014118895644402564,0.005487303865303555,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.270998288547494,0.8423079581142033,-7.029807265230002,0.5933508066223586,5.141567200842557,0.5786316114617516,-1.1420436867328927,-7.383179597018139,5.887763578497109,5.887763578497109,5.990099999997177,0,0,-0.00013456890717436642,9.999999025923074e-05
+41765,1792823297733061194,1977064000000,1792823297732292087,DOWN_FORCE_DETACH,10,0.0565,0.05650157108902931,0.6765690454593122,-0.004877694023565695,0.09532649203788966,0.999999643654499,-0.00017842333351968394,0.0008031842887468876,0.0001649055835184206,0.6761,-0.0045,0.09430668583709355,1.0,0.0,0.0,0.0,-0.8275607147966885,0.5364105915531031,7.489849622334699,0.039419718914688345,0.056297239217498865,0.001398210486780114,0.27281852295102815,1.5178314663101784,7.558317593947075,0.11925731225877914,-0.013742637560954885,0.005404758792618332,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.3636820375741396,0.9145480437564988,-7.181270023088282,0.5809896069184308,5.268324894257317,0.6358212422978404,-1.1420436867328927,-7.489849622334699,6.039226336355389,6.039226336355389,6.112649999996892,0,0,-0.00013906193873228367,9.749128867942431e-05
+41848,1792823298424094080,1977755000000,1792823298420292417,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765772457262983,-0.004881981654505511,0.09523556110822967,0.9999996348999213,-0.00016328090836309795,0.0008155142701984065,0.00017297025299871008,0.6761,-0.0045,0.0942081592119243,1.0,0.0,0.0,0.0,-0.8280102692116025,0.5501031628655592,7.590153538994287,0.03938600441737092,0.05688844657710129,0.0013302835657142738,0.27236896853611414,1.5315240376226344,7.658621510606664,0.11922359776146171,-0.01315143020135245,0.005336831871552492,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.380870530845957,0.7899817475594134,-7.247506091119243,0.6192285988228637,5.316494669292059,0.5522078939516979,-1.1420436867328927,-7.590153538994287,6.10546240438635,6.10546240438635,6.21629999999665,0,0,-0.0001429468904537171,5.4174854906224825e-05
+41926,1792823299074101689,1978405000000,1792823299068292415,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.676580797097291,-0.004876970521902182,0.09515169794560793,0.9999996391534126,-6.324031107507359e-05,0.0008222723179433772,0.00018167225259571503,0.6761,-0.0045,0.09411324096433041,1.0,0.0,0.0,0.0,-0.8190860235401768,0.555054088190252,7.651617190216677,0.040422194129927216,0.05584295318885929,0.0012779541396853366,0.28129321420753983,1.5364749629473273,7.720085161829053,0.12025978747401801,-0.014196923589594455,0.005284502445523555,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.398812367129347,0.9101475458392292,-7.317120116951653,0.5518948839970371,5.373668290075475,0.5903467239607144,-1.1420436867328927,-7.651617190216677,6.17507643021876,6.17507643021876,6.313799999996423,0,0,-0.0001532923026806562,-7.990872827179913e-05
+42013,1792823299799015938,1979130000000,1792823299796291829,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6765920809921568,-0.004874619952924374,0.09505272322534938,0.9999996246760475,-7.025641265396475e-05,0.0008364475410797948,0.0001936754402096035,0.6761,-0.0045,0.09399721554512933,1.0,0.0,0.0,0.0,-0.8019215695420552,0.5843159165968982,7.752025493270503,0.04246242715890726,0.05477193541010632,0.0012058487287545643,0.2984576682056615,1.5657367913539735,7.82049346488288,0.12230002050299806,-0.015267941368347426,0.005212397034592782,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.4193324228983486,0.8620337862807234,-7.36466402865813,0.5989718938149368,5.408740155278193,0.5844106201046806,-1.1420436867328927,-7.752025493270503,6.2226203419252375,6.2226203419252375,6.4225499999961695,0,0,-0.00016349799182166359,-9.971348332993841e-05
+42097,1792823300499128783,1979830000000,1792823300492293140,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6766055735975385,-0.004860350606108211,0.09495586576690097,0.9999996002545141,-0.0001651186321216153,0.00086440502263839,0.00012834901847346805,0.6761,-0.0045,0.0938800563862238,1.0,0.0,0.0,0.0,-0.7668608274624502,0.6579041654973362,7.834128030813079,0.04654755531242061,0.052672941548902355,0.0011583734025188263,0.33351841028526635,1.6393250402544115,7.902596002425455,0.1263851486565114,-0.017366935229551392,0.005164921708357044,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.5653310179136173,0.8195394795274378,-7.530813840905913,0.6239832271926947,5.556417052258573,0.5767906403260169,-1.1420436867328927,-7.834128030813079,6.38877015417302,6.38877015417302,6.527549999995925,0,0,-0.00017116465993585882,1.4560543075364765e-05
+42172,1792823301124138917,1980455000000,1792823301124292251,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6766113330743425,-0.0048614064495259525,0.09485683334756778,0.9999995924082301,-0.00016020804924151685,0.0008721422180223728,0.00014257478895686947,0.6761,-0.0045,0.09376973639373397,1.0,0.0,0.0,0.0,-0.7945999190145151,0.626248979049517,7.923576964552521,0.04450357548456789,0.0540475122526664,0.0010809860565260086,0.3057793187332015,1.6076698538065923,7.9920449361648975,0.12434116882865869,-0.015992364525787346,0.005087534362364227,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.5657143637421522,0.8429472898566864,-7.54588656014979,0.6190945273250634,5.569460440170764,0.5915110962123112,-1.1420436867328927,-7.923576964552521,6.403842873416897,6.403842873416897,6.621299999995706,0,0,-0.00018146303956276111,-8.750018351400541e-05
+42264,1792823301891098368,1981222000000,1792823301884292742,DOWN_FORCE_DETACH,10,0.0565,0.05650222674012184,0.6766248288922887,-0.004870163953502435,0.09473237670813113,0.9999995738669093,-0.00016263122118833696,0.000889449162657566,0.0001616791174782387,0.6761,-0.0045,0.09362980003906375,1.0,0.0,0.0,0.0,-0.8123029727423344,0.6137597422909319,8.033398052984452,0.04341643219387904,0.055699650608640655,0.0010045385084032884,0.2880762650053822,1.5951806170480072,8.101866024596829,0.12325402553796984,-0.014340226169813095,0.005011086814241506,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.579148882425833,0.9401510628055235,-7.696585325093469,0.5929975461050349,5.674949275908921,0.6542307253387789,-1.1420436867328927,-8.033398052984452,6.554541638360576,6.554541638360576,6.736349999995438,0,0,-0.0001847284489639708,-9.999985148135266e-05
+42366,1792823302731151884,1982062000000,1792823302728301877,DOWN_PEAK_HOLD,10,0.0565,0.05650222674012184,0.6766223476763231,-0.004868353317206152,0.09467864682243389,0.9999995798696435,-0.00015598356921698418,0.0008831987633837045,0.00016532535044824873,0.6761,-0.0045,0.09360049472904113,1.0,0.0,0.0,0.0,-0.801514556300856,0.5808095535028294,7.963008196914531,0.04163963746581545,0.05473677027435189,0.00102483011042116,0.2988646814468606,1.5622304282599047,8.031476168526908,0.12147723080990624,-0.015303106504101854,0.005031378416259378,1.1003792377477166,0.9814208747570753,0.06846797161237615,0.0798375933440908,-0.07003987677845375,0.004006548305838218,1,3.4626651615447535,0.8658375928528405,-7.512288539637814,0.6107301358822326,5.546790182176713,0.6065542783585676,-1.1420436867328927,-7.963008196914531,6.370244852904921,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_0050_12.5/press_depth_10/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792823256783144811,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.846306885e-09,-8.336644916e-11,-1.168174668e-09,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451439e-01,-1.186270476e-04,8.303259988e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792823257635028685,2.360857882e-06,-6.848520225e-08,-2.351028687e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.339381452e-08,-3.351285652e-09,-5.039807704e-08,7.019579937e-01,-2.233922022e-05,8.601428521e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452254e-01,-1.186303155e-04,8.303259496e-01
+2,2.000000000e+00,DOWN_FORCE_DETACH,1792823258748897322,3.164336480e-06,-5.041078958e-06,-4.785740616e-05,6.770422197e-07,-5.419511616e-06,-3.949860585e-05,3.635095924e-07,-5.450781760e-06,-3.941364153e-05,7.019587972e-01,-2.731181398e-05,8.600952298e-01,7.019563099e-01,-2.769024664e-05,8.601035886e-01,7.027455055e-01,-1.240777460e-04,8.302865863e-01
+3,2.866666667e+00,DOWN_FORCE_DETACH,1792823259616779210,9.874713414e-06,-1.232775278e-05,-1.145375068e-04,6.712480145e-06,-1.354985473e-05,-1.181622608e-04,5.971794905e-06,-1.365401892e-05,-1.177429578e-04,7.019655075e-01,-3.459848780e-05,8.600285497e-01,7.019623453e-01,-3.582058975e-05,8.600249250e-01,7.027511138e-01,-1.322809831e-04,8.302082570e-01
+4,3.683333333e+00,DOWN_FORCE_DETACH,1792823260419950267,1.726950260e-05,-1.852940182e-05,-2.016873899e-04,1.411635748e-05,-1.878287842e-05,-1.822557169e-04,1.315242652e-05,-1.889818737e-05,-1.817977230e-04,7.019729023e-01,-4.080013684e-05,8.599413998e-01,7.019697492e-01,-4.105361344e-05,8.599608315e-01,7.027582945e-01,-1.375251516e-04,8.301442023e-01
+5,4.300000000e+00,DOWN_FORCE_DETACH,1792823261026515025,5.524735525e-05,-2.253523853e-05,-2.700773404e-04,5.512081126e-05,-2.228996077e-05,-2.701510527e-04,5.610598129e-05,-2.241159041e-05,-2.693454856e-04,7.020108802e-01,-4.480597355e-05,8.598730099e-01,7.020107536e-01,-4.456069580e-05,8.598729362e-01,7.028012480e-01,-1.410385546e-04,8.300566545e-01
+6,4.916666667e+00,DOWN_FORCE_DETACH,1792823261665435697,6.851811971e-05,-2.963040446e-05,-3.655819947e-04,6.900843648e-05,-3.033596098e-05,-3.580677325e-04,7.009307860e-05,-3.051111048e-05,-3.570348101e-04,7.020241509e-01,-5.190113948e-05,8.597775052e-01,7.020246413e-01,-5.260669600e-05,8.597850195e-01,7.028152351e-01,-1.491380747e-04,8.299689652e-01
+7,5.683333333e+00,DOWN_FORCE_DETACH,1792823262436526044,1.042553745e-04,-3.553092215e-05,-4.877084829e-04,9.657949915e-05,-3.974055691e-05,-4.863401322e-04,9.818800413e-05,-3.994539822e-05,-4.850052706e-04,7.020598882e-01,-5.780165718e-05,8.596553788e-01,7.020522123e-01,-6.201129193e-05,8.596567471e-01,7.028433300e-01,-1.585723624e-04,8.298409947e-01
+8,6.183333333e+00,DOWN_FORCE_DETACH,1792823262942279926,1.186914614e-04,-1.726026636e-05,-5.959041718e-04,1.241535877e-04,-1.122889168e-05,-5.861501269e-04,1.266477278e-04,-1.134534439e-05,-5.845799496e-04,7.020743243e-01,-3.953100138e-05,8.595471831e-01,7.020797864e-01,-3.349962670e-05,8.595569371e-01,7.028717898e-01,-1.299723086e-04,8.297414200e-01
+9,6.800000000e+00,DOWN_FORCE_DETACH,1792823263564551073,1.550049550e-04,-3.754422770e-05,-7.263987709e-04,1.480396377e-04,-3.284666925e-05,-7.124206741e-04,1.508330735e-04,-3.305089004e-05,-7.106631821e-04,7.021106378e-01,-5.981496272e-05,8.594166885e-01,7.021036725e-01,-5.511740428e-05,8.594306666e-01,7.028959751e-01,-1.516778542e-04,8.296153368e-01
+10,7.350000000e+00,DOWN_FORCE_DETACH,1792823264105226299,1.778946777e-04,-3.745820008e-05,-8.651636016e-04,1.738327041e-04,-4.142743475e-05,-8.467929584e-04,1.770352861e-04,-4.168668177e-05,-8.447349402e-04,7.021335275e-01,-5.972893510e-05,8.592779236e-01,7.021294655e-01,-6.369816977e-05,8.592962943e-01,7.029221773e-01,-1.603136460e-04,8.294812650e-01
+11,7.883333333e+00,DOWN_FORCE_DETACH,1792823264629816271,2.042154878e-04,-4.415093154e-05,-1.008862309e-03,2.041309201e-04,-4.054570195e-05,-9.937236162e-04,2.078558447e-04,-4.080996411e-05,-9.914039942e-04,7.021598483e-01,-6.642166657e-05,8.591342249e-01,7.021597637e-01,-6.281643697e-05,8.591493636e-01,7.029529979e-01,-1.594369283e-04,8.293345960e-01
+12,8.450000000e+00,DOWN_FORCE_DETACH,1792823265186455909,2.349562686e-04,-5.169630924e-05,-1.174742366e-03,2.349580806e-04,-4.867240655e-05,-1.168276591e-03,2.390183165e-04,-4.898238861e-05,-1.165602838e-03,7.021905891e-01,-7.396704426e-05,8.589683449e-01,7.021905909e-01,-7.094314158e-05,8.589748106e-01,7.029841603e-01,-1.676093528e-04,8.291603971e-01
+13,8.966666667e+00,DOWN_FORCE_DETACH,1792823265726482041,2.659382350e-04,-6.275016395e-05,-1.339243853e-03,2.634564764e-04,-5.700682261e-05,-1.325959959e-03,2.677845308e-04,-5.730994809e-05,-1.323091381e-03,7.022215711e-01,-8.502089897e-05,8.588038434e-01,7.022190893e-01,-7.927755763e-05,8.588171273e-01,7.030129266e-01,-1.759369123e-04,8.290029086e-01
+14,9.466666667e+00,DOWN_FORCE_DETACH,1792823266234779792,2.915778802e-04,-6.418315071e-05,-1.492157800e-03,2.877914146e-04,-6.134862159e-05,-1.479974673e-03,2.921835636e-04,-6.167333930e-05,-1.476961347e-03,7.022472107e-01,-8.645388574e-05,8.586509294e-01,7.022434242e-01,-8.361935662e-05,8.586631126e-01,7.030373256e-01,-1.803003035e-04,8.288490386e-01
+15,1.000000000e+01,DOWN_FORCE_DETACH,1792823266775371681,3.198507826e-04,-7.746844374e-05,-1.642432043e-03,3.194848852e-04,-7.728400026e-05,-1.642763851e-03,3.243665059e-04,-7.765245248e-05,-1.639634353e-03,7.022754836e-01,-9.973917876e-05,8.585006552e-01,7.022751177e-01,-9.955473529e-05,8.585003234e-01,7.030695085e-01,-1.962794167e-04,8.286863656e-01
+16,1.058333333e+01,DOWN_FORCE_DETACH,1792823267365688653,3.455851930e-04,-8.331195160e-05,-1.798073052e-03,3.454679159e-04,-8.321531561e-05,-1.797422021e-03,3.505671736e-04,-8.360289142e-05,-1.794249992e-03,7.023012180e-01,-1.055826866e-04,8.583450142e-01,7.023011007e-01,-1.054860506e-04,8.583456652e-01,7.030957092e-01,-2.022298556e-04,8.285317500e-01
+17,1.121666667e+01,DOWN_FORCE_DETACH,1792823268004127284,3.718740440e-04,-9.354533982e-05,-1.951007379e-03,3.680558390e-04,-8.861150484e-05,-1.941960023e-03,3.732045854e-04,-8.903285579e-05,-1.938913504e-03,7.023275069e-01,-1.158160748e-04,8.581920799e-01,7.023236887e-01,-1.108822399e-04,8.582011272e-01,7.031183466e-01,-2.076598200e-04,8.283870865e-01
+18,1.183333333e+01,DOWN_FORCE_DETACH,1792823268709172181,3.954658190e-04,-9.849681994e-05,-2.106439159e-03,3.938458376e-04,-9.789438936e-05,-2.105749101e-03,3.990618090e-04,-9.834019195e-05,-2.102687068e-03,7.023510986e-01,-1.207675550e-04,8.580366481e-01,7.023494787e-01,-1.201651244e-04,8.580373381e-01,7.031442038e-01,-2.169671562e-04,8.282233129e-01
+19,1.253333333e+01,DOWN_FORCE_DETACH,1792823269445679547,4.173390739e-04,-1.016168675e-04,-2.249976421e-03,4.153259192e-04,-1.026795093e-04,-2.243491522e-03,4.207091896e-04,-1.031415166e-04,-2.240682701e-03,7.023729719e-01,-1.238876025e-04,8.578931108e-01,7.023709587e-01,-1.249502443e-04,8.578995957e-01,7.031658512e-01,-2.217684808e-04,8.280853173e-01
+20,1.328333333e+01,DOWN_FORCE_DETACH,1792823270215038726,4.385318783e-04,-1.073433525e-04,-2.374907453e-03,4.353114926e-04,-1.098492722e-04,-2.373667421e-03,4.407279044e-04,-1.103252019e-04,-2.371053013e-03,7.023941647e-01,-1.296140875e-04,8.577681798e-01,7.023909443e-01,-1.321200073e-04,8.577694198e-01,7.031858699e-01,-2.289521661e-04,8.279549470e-01
+21,1.395000000e+01,DOWN_FORCE_DETACH,1792823270870264704,4.509713537e-04,-1.050714344e-04,-2.462856631e-03,4.476934700e-04,-1.077174748e-04,-2.462546365e-03,4.531034734e-04,-1.081876435e-04,-2.460190629e-03,7.024066042e-01,-1.273421694e-04,8.576802306e-01,7.024033263e-01,-1.299882098e-04,8.576805409e-01,7.031982455e-01,-2.268146077e-04,8.278658094e-01
+22,1.483333333e+01,DOWN_FORCE_DETACH,1792823271738326577,4.615542029e-04,-1.059889240e-04,-2.553569453e-03,4.608289377e-04,-1.100892039e-04,-2.544796937e-03,4.663267729e-04,-1.105779723e-04,-2.542928251e-03,7.024171870e-01,-1.282596590e-04,8.575895178e-01,7.024164618e-01,-1.323599390e-04,8.575982903e-01,7.032114688e-01,-2.292049366e-04,8.277830717e-01
+23,1.561666667e+01,DOWN_FORCE_DETACH,1792823272525577121,4.647429194e-04,-1.095095910e-04,-2.628471501e-03,4.607547976e-04,-1.107413853e-04,-2.611271487e-03,4.655187145e-04,-1.112558458e-04,-2.609714956e-03,7.024203757e-01,-1.317803260e-04,8.575146157e-01,7.024163876e-01,-1.330121203e-04,8.575318158e-01,7.032106607e-01,-2.298828100e-04,8.277162850e-01
+24,1.661666667e+01,DOWN_FORCE_DETACH,1792823273523668516,4.691186381e-04,-1.045275031e-04,-2.672725068e-03,4.688328215e-04,-1.043699714e-04,-2.672792337e-03,4.735159626e-04,-1.049098337e-04,-2.671576035e-03,7.024247515e-01,-1.267982381e-04,8.574703622e-01,7.024244656e-01,-1.266407064e-04,8.574702949e-01,7.032186580e-01,-2.235367979e-04,8.276544239e-01
+25,1.760000000e+01,DOWN_FORCE_DETACH,1792823274490094824,4.702082424e-04,-1.068111314e-04,-2.682851594e-03,4.688328215e-04,-1.043699714e-04,-2.672792337e-03,4.735796509e-04,-1.049237208e-04,-2.672066770e-03,7.024258411e-01,-1.290818664e-04,8.574602356e-01,7.024244656e-01,-1.266407064e-04,8.574702949e-01,7.032187217e-01,-2.235506850e-04,8.276539332e-01
+26,1.856666667e+01,DOWN_FORCE_DETACH,1792823275490230597,4.690455829e-04,-1.064515835e-04,-2.689857300e-03,4.688328215e-04,-1.043699714e-04,-2.672792337e-03,4.736151731e-04,-1.049360482e-04,-2.672346659e-03,7.024246784e-01,-1.287223185e-04,8.574532299e-01,7.024244656e-01,-1.266407064e-04,8.574702949e-01,7.032187572e-01,-2.235630124e-04,8.276536533e-01
+27,1.958333333e+01,DOWN_FORCE_DETACH,1792823276505252719,4.688792906e-04,-1.065993321e-04,-2.690730379e-03,4.662830373e-04,-1.083406904e-04,-2.693934766e-03,4.706731974e-04,-1.089174099e-04,-2.693601824e-03,7.024245121e-01,-1.288700671e-04,8.574523569e-01,7.024219159e-01,-1.306114254e-04,8.574491525e-01,7.032158152e-01,-2.275443741e-04,8.276323982e-01
+28,2.041666667e+01,DOWN_FORCE_DETACH,1792823277323865237,4.687766406e-04,-1.025541245e-04,-2.691616038e-03,4.662830373e-04,-1.083406904e-04,-2.693934766e-03,4.706793201e-04,-1.089242514e-04,-2.693735218e-03,7.024244095e-01,-1.248248596e-04,8.574514712e-01,7.024219159e-01,-1.306114254e-04,8.574491525e-01,7.032158213e-01,-2.275512156e-04,8.276322648e-01
+29,2.135000000e+01,DOWN_FORCE_DETACH,1792823278259125365,4.671342773e-04,-1.018252186e-04,-2.696368418e-03,4.662830373e-04,-1.083406904e-04,-2.693934766e-03,4.706838079e-04,-1.089310173e-04,-2.693836447e-03,7.024227671e-01,-1.240959536e-04,8.574467188e-01,7.024219159e-01,-1.306114254e-04,8.574491525e-01,7.032158258e-01,-2.275579815e-04,8.276321635e-01
+30,2.228333333e+01,DOWN_FORCE_DETACH,1792823279192667632,4.661271084e-04,-9.827378859e-05,-2.700854876e-03,4.662830373e-04,-1.083406904e-04,-2.693934766e-03,4.706866900e-04,-1.089371951e-04,-2.693904869e-03,7.024217599e-01,-1.205445236e-04,8.574422324e-01,7.024219159e-01,-1.306114254e-04,8.574491525e-01,7.032158287e-01,-2.275641593e-04,8.276320951e-01
+31,2.325000000e+01,DOWN_FORCE_DETACH,1792823280157875595,4.689979955e-04,-1.017807404e-04,-2.725321757e-03,4.660289744e-04,-9.832375921e-05,-2.712435050e-03,4.701972635e-04,-9.891186449e-05,-2.712327544e-03,7.024246308e-01,-1.240514754e-04,8.574177655e-01,7.024216618e-01,-1.205944942e-04,8.574306522e-01,7.032153393e-01,-2.175388287e-04,8.276136724e-01
+32,2.413333333e+01,DOWN_FORCE_DETACH,1792823281025623477,4.746279930e-04,-9.804969418e-05,-2.778188465e-03,4.716736283e-04,-1.046938073e-04,-2.775287202e-03,4.754653527e-04,-1.052883098e-04,-2.774891518e-03,7.024302608e-01,-1.203204292e-04,8.573648988e-01,7.024273064e-01,-1.269645423e-04,8.573678000e-01,7.032206074e-01,-2.239152740e-04,8.275511085e-01
+33,2.501666667e+01,DOWN_FORCE_DETACH,1792823281910439612,4.907782378e-04,-1.084288254e-04,-2.850295185e-03,4.887293005e-04,-1.022000826e-04,-2.833460528e-03,4.931505497e-04,-1.027718887e-04,-2.832993458e-03,7.024464111e-01,-1.306995605e-04,8.572927921e-01,7.024443621e-01,-1.244708176e-04,8.573096267e-01,7.032382926e-01,-2.213988529e-04,8.274930065e-01
+34,2.578333333e+01,DOWN_FORCE_DETACH,1792823282680291521,4.966431182e-04,-1.052408047e-04,-2.918902939e-03,4.964604917e-04,-1.054345300e-04,-2.918733629e-03,5.004568504e-04,-1.059900866e-04,-2.917956604e-03,7.024522759e-01,-1.275115398e-04,8.572241843e-01,7.024520933e-01,-1.277052650e-04,8.572243536e-01,7.032455989e-01,-2.246170508e-04,8.274080434e-01
+35,2.660000000e+01,DOWN_FORCE_DETACH,1792823283504475407,5.075187329e-04,-1.101752619e-04,-2.987782056e-03,5.031552443e-04,-1.028682110e-04,-2.979966158e-03,5.069427492e-04,-1.034243734e-04,-2.979200706e-03,7.024631515e-01,-1.324459969e-04,8.571553052e-01,7.024587881e-01,-1.251389460e-04,8.571631211e-01,7.032520848e-01,-2.220513376e-04,8.273467993e-01
+36,2.748333333e+01,DOWN_FORCE_DETACH,1792823284401096396,5.125995329e-04,-1.070515594e-04,-3.062986117e-03,5.107934866e-04,-1.089577118e-04,-3.062673868e-03,5.142278412e-04,-1.095473444e-04,-3.061842842e-03,7.024682323e-01,-1.293222945e-04,8.570801011e-01,7.024664263e-01,-1.312284469e-04,8.570804134e-01,7.032593699e-01,-2.281743086e-04,8.272641571e-01
+37,2.825000000e+01,DOWN_FORCE_DETACH,1792823285170282721,5.227841905e-04,-1.039014220e-04,-3.117413097e-03,5.165673507e-04,-1.066211693e-04,-3.103683707e-03,5.199966777e-04,-1.071985357e-04,-3.102936137e-03,7.024784170e-01,-1.261721570e-04,8.570256741e-01,7.024722002e-01,-1.288919044e-04,8.570394035e-01,7.032651387e-01,-2.258254999e-04,8.272230638e-01
+38,2.903333333e+01,DOWN_FORCE_DETACH,1792823285940259009,5.306769352e-04,-1.037664473e-04,-3.183988878e-03,5.303970458e-04,-1.037216122e-04,-3.184138899e-03,5.339277258e-04,-1.043334695e-04,-3.183244713e-03,7.024863098e-01,-1.260371823e-04,8.569590984e-01,7.024860299e-01,-1.259923472e-04,8.569589483e-01,7.032790698e-01,-2.229604337e-04,8.271427553e-01
+39,2.986666667e+01,DOWN_FORCE_DETACH,1792823286955674654,5.495465328e-04,-1.077388878e-04,-3.270221970e-03,5.462762822e-04,-1.079362806e-04,-3.266905245e-03,5.500557126e-04,-1.085203916e-04,-3.265955708e-03,7.025051793e-01,-1.300096228e-04,8.568728653e-01,7.025019091e-01,-1.302070156e-04,8.568761820e-01,7.032951977e-01,-2.271473558e-04,8.270600443e-01
+40,3.068333333e+01,DOWN_FORCE_DETACH,1792823287774498302,5.606909718e-04,-1.104174943e-04,-3.343130588e-03,5.602747226e-04,-1.075798491e-04,-3.348074349e-03,5.641233566e-04,-1.081723482e-04,-3.347023117e-03,7.025163238e-01,-1.326882293e-04,8.567999567e-01,7.025159075e-01,-1.298505842e-04,8.567950129e-01,7.033092654e-01,-2.267993124e-04,8.269789769e-01
+41,3.140000000e+01,DOWN_FORCE_DETACH,1792823288479336845,5.635836711e-04,-1.111591181e-04,-3.415464049e-03,5.625861262e-04,-1.154471219e-04,-3.408443529e-03,5.659242268e-04,-1.160528936e-04,-3.407433591e-03,7.025192165e-01,-1.334298532e-04,8.567276232e-01,7.025182189e-01,-1.377178569e-04,8.567346437e-01,7.033110663e-01,-2.346798578e-04,8.269185664e-01
+42,3.228333333e+01,DOWN_FORCE_DETACH,1792823289380009494,5.732883800e-04,-1.151413467e-04,-3.498638383e-03,5.748093471e-04,-1.183035392e-04,-3.495353263e-03,5.781074472e-04,-1.188944624e-04,-3.494284566e-03,7.025289212e-01,-1.374120817e-04,8.566444489e-01,7.025304422e-01,-1.405742743e-04,8.566477340e-01,7.033232495e-01,-2.375214267e-04,8.268317154e-01
+43,3.323333333e+01,DOWN_FORCE_DETACH,1792823290329999261,5.862867655e-04,-1.064502266e-04,-3.583019430e-03,5.850350704e-04,-1.076721681e-04,-3.577505238e-03,5.881366944e-04,-1.082431959e-04,-3.576462622e-03,7.025419196e-01,-1.287209616e-04,8.565600678e-01,7.025406679e-01,-1.299429031e-04,8.565655820e-01,7.033332787e-01,-2.268701601e-04,8.267495374e-01
+44,3.396666667e+01,DOWN_FORCE_DETACH,1792823291050806988,5.957627962e-04,-1.145917517e-04,-3.647555674e-03,5.952418545e-04,-1.128632415e-04,-3.639368019e-03,5.983856244e-04,-1.134678208e-04,-3.638363725e-03,7.025513956e-01,-1.368624868e-04,8.564955316e-01,7.025508747e-01,-1.351339765e-04,8.565037192e-01,7.033435277e-01,-2.320947850e-04,8.266876363e-01
+45,3.485000000e+01,DOWN_FORCE_DETACH,1792823291984733715,6.054491824e-04,-1.171264663e-04,-3.747357573e-03,6.023872046e-04,-1.139208113e-04,-3.731864063e-03,6.050849726e-04,-1.145370431e-04,-3.730900040e-03,7.025610820e-01,-1.393972013e-04,8.563957297e-01,7.025580200e-01,-1.361915463e-04,8.564112232e-01,7.033502270e-01,-2.331640073e-04,8.265950999e-01
+46,3.566666667e+01,DOWN_FORCE_DETACH,1792823292803326668,6.138223573e-04,-1.186373039e-04,-3.838161653e-03,6.128538036e-04,-1.211825935e-04,-3.823023759e-03,6.153006268e-04,-1.218055522e-04,-3.822005036e-03,7.025694552e-01,-1.409080390e-04,8.563049256e-01,7.025684866e-01,-1.434533286e-04,8.563200635e-01,7.033604427e-01,-2.404325164e-04,8.265039949e-01
+47,3.650000000e+01,DOWN_FORCE_DETACH,1792823293688005592,6.225669554e-04,-1.200766339e-04,-3.928313589e-03,6.225355661e-04,-1.201646339e-04,-3.924930127e-03,6.245061039e-04,-1.207963164e-04,-3.923790945e-03,7.025781998e-01,-1.423473690e-04,8.562147736e-01,7.025781684e-01,-1.424353689e-04,8.562181571e-01,7.033696481e-01,-2.394232806e-04,8.264022090e-01
+48,3.738333333e+01,DOWN_FORCE_DETACH,1792823294572054961,6.352259776e-04,-1.232776685e-04,-4.022509922e-03,6.323667411e-04,-1.238447723e-04,-4.010902164e-03,6.340801754e-04,-1.244523039e-04,-4.009834995e-03,7.025908588e-01,-1.455484035e-04,8.561205773e-01,7.025879996e-01,-1.461155073e-04,8.561321851e-01,7.033792222e-01,-2.430792681e-04,8.263161650e-01
+49,3.811666667e+01,DOWN_FORCE_DETACH,1792823295342287702,6.445390366e-04,-1.218738184e-04,-4.107226130e-03,6.417438218e-04,-1.149362775e-04,-4.095444946e-03,6.432187201e-04,-1.155399058e-04,-4.094368355e-03,7.026001719e-01,-1.441445534e-04,8.560358611e-01,7.025973766e-01,-1.372070125e-04,8.560476423e-01,7.033883607e-01,-2.341668700e-04,8.262316316e-01
+50,3.890000000e+01,DOWN_FORCE_DETACH,1792823296112724485,6.521112927e-04,-1.197031563e-04,-4.195440532e-03,6.489016944e-04,-1.218963348e-04,-4.178096189e-03,6.498983949e-04,-1.225036717e-04,-4.176972202e-03,7.026077441e-01,-1.419738913e-04,8.559476467e-01,7.026045345e-01,-1.441670698e-04,8.559649910e-01,7.033950404e-01,-2.411306359e-04,8.261490278e-01
+51,3.971666667e+01,DOWN_FORCE_DETACH,1792823296914668587,6.672678987e-04,-1.181933399e-04,-4.294523482e-03,6.647688256e-04,-1.232236782e-04,-4.288249951e-03,6.657278197e-04,-1.238435633e-04,-4.287067825e-03,7.026229007e-01,-1.404640749e-04,8.558485638e-01,7.026204016e-01,-1.454944132e-04,8.558548373e-01,7.034108698e-01,-2.424705276e-04,8.260389322e-01
+52,4.053333333e+01,DOWN_FORCE_DETACH,1792823297734231986,6.712990246e-04,-1.177901157e-04,-4.392977904e-03,6.712904282e-04,-1.178364821e-04,-4.392506202e-03,6.715217466e-04,-1.184533972e-04,-4.391269016e-03,7.026269318e-01,-1.400608508e-04,8.557501093e-01,7.026269232e-01,-1.401072171e-04,8.557505810e-01,7.034166638e-01,-2.370803614e-04,8.259347310e-01
+53,4.121666667e+01,DOWN_FORCE_DETACH,1792823298421590749,6.768323089e-04,-1.183337998e-04,-4.486075245e-03,6.772623862e-04,-1.236174805e-04,-4.481906753e-03,6.769262295e-04,-1.242563386e-04,-4.480578884e-03,7.026324651e-01,-1.406045348e-04,8.556570120e-01,7.026328952e-01,-1.458882155e-04,8.556611805e-01,7.034220683e-01,-2.428833028e-04,8.258454211e-01
+54,4.186666667e+01,DOWN_FORCE_DETACH,1792823299076936109,6.820363247e-04,-1.195358429e-04,-4.566449069e-03,6.821619262e-04,-1.143394000e-04,-4.563797401e-03,6.812911760e-04,-1.149263672e-04,-4.562492127e-03,7.026376691e-01,-1.418065780e-04,8.555766382e-01,7.026377947e-01,-1.366101350e-04,8.555792898e-01,7.034264332e-01,-2.335533314e-04,8.257635079e-01
+55,4.258333333e+01,DOWN_FORCE_DETACH,1792823299798904566,6.946157028e-04,-1.127097744e-04,-4.662687155e-03,6.922358010e-04,-1.124334211e-04,-4.644635491e-03,6.911269435e-04,-1.130086528e-04,-4.643447689e-03,7.026502485e-01,-1.349805095e-04,8.554804001e-01,7.026478686e-01,-1.347041561e-04,8.554984517e-01,7.034362690e-01,-2.316356170e-04,8.256825523e-01
+56,4.330000000e+01,DOWN_FORCE_DETACH,1792823300501990174,7.052005717e-04,-1.032934726e-04,-4.767930978e-03,7.050066583e-04,-1.034838641e-04,-4.768117441e-03,7.034547286e-04,-1.040341466e-04,-4.766726802e-03,7.026608334e-01,-1.255642076e-04,8.553751563e-01,7.026606395e-01,-1.257545991e-04,8.553749698e-01,7.034485968e-01,-2.226611108e-04,8.255592732e-01
+57,4.390000000e+01,DOWN_FORCE_DETACH,1792823301124385325,7.119899279e-04,-1.056328548e-04,-4.862080318e-03,7.124684552e-04,-1.073712322e-04,-4.853510246e-03,7.104949250e-04,-1.079690862e-04,-4.852138206e-03,7.026676227e-01,-1.279035898e-04,8.552810069e-01,7.026681013e-01,-1.296419672e-04,8.552895770e-01,7.034556370e-01,-2.265960504e-04,8.254738618e-01
+58,4.463333333e+01,DOWN_FORCE_DETACH,1792823301894946913,7.265927936e-04,-1.112174216e-04,-4.986792967e-03,7.242158318e-04,-1.086369936e-04,-4.981236702e-03,7.216617475e-04,-1.092424512e-04,-4.979739051e-03,7.026822256e-01,-1.334881566e-04,8.551562943e-01,7.026798486e-01,-1.309077286e-04,8.551618505e-01,7.034668038e-01,-2.278694154e-04,8.253462609e-01
+59,4.546666667e+01,DOWN_PEAK_HOLD,1792823302729812081,7.214820668e-04,-1.096939572e-04,-5.044083368e-03,7.237922052e-04,-1.090591566e-04,-5.028377949e-03,7.207305025e-04,-1.096357421e-04,-5.027316484e-03,7.026771149e-01,-1.319646922e-04,8.550990039e-01,7.026794250e-01,-1.313298917e-04,8.551147093e-01,7.034658725e-01,-2.282627063e-04,8.252986835e-01

Fixed/digit/cylinder_0050_12.5/press_depth_10/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.5397e-02,6.9333e-02,2.4926e+00,-4.1598e-02,4.1413e-02,1.6238e-04,3.2434e-04,-5.1335e-06,-2.2459e-04,5.0664e-07,2.3771e-05,9.1939e-08,3.9454e-04,2.3777e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,2.0002e-04,7.9759e-02,6.9067e-02,2.4833e+00,-4.1574e-02,4.2465e-02,1.6689e-04,1.4687e-02,-2.7111e-04,-9.5377e-03,2.4665e-05,1.0762e-03,4.5992e-06,1.7514e-02,1.0765e-03
+2,2.0000e+00,DOWN_FORCE_DETACH,3.9862e-04,9.3390e-02,8.0691e-02,2.5108e+00,-4.2365e-02,4.3431e-02,1.7185e-04,2.8318e-02,1.1353e-02,1.8029e-02,-7.6604e-04,2.0424e-03,9.5635e-06,3.5438e-02,2.1814e-03
+3,2.8667e+00,DOWN_FORCE_DETACH,6.0093e-04,9.7387e-02,9.8176e-02,2.5688e+00,-4.3561e-02,4.3671e-02,1.7403e-04,3.2314e-02,2.8838e-02,7.5966e-02,-1.9620e-03,2.2823e-03,1.1737e-05,8.7445e-02,3.0097e-03
+4,3.6833e+00,DOWN_FORCE_DETACH,7.9752e-04,9.8134e-02,1.0771e-01,2.5905e+00,-4.4225e-02,4.3698e-02,1.7317e-04,3.3062e-02,3.8372e-02,9.7645e-02,-2.6262e-03,2.3094e-03,1.0875e-05,1.1000e-01,3.4972e-03
+5,4.3000e+00,DOWN_FORCE_DETACH,1.0074e-03,4.8466e-02,1.1356e-01,2.6119e+00,-4.4635e-02,4.0139e-02,1.7438e-04,-1.6607e-02,4.4221e-02,1.1906e-01,-3.0356e-03,-1.2498e-03,1.2088e-05,1.2809e-01,3.2828e-03
+6,4.9167e+00,DOWN_FORCE_DETACH,1.1988e-03,6.6809e-02,1.3018e-01,2.6823e+00,-4.5762e-02,4.1368e-02,1.7481e-04,1.7366e-03,6.0846e-02,1.8947e-01,-4.1635e-03,-2.1148e-05,1.2525e-05,1.9901e-01,4.1636e-03
+7,5.6833e+00,DOWN_FORCE_DETACH,1.3979e-03,5.7285e-02,1.4868e-01,2.7282e+00,-4.7019e-02,4.0637e-02,1.7038e-04,-7.7882e-03,7.9346e-02,2.3542e-01,-5.4203e-03,-7.5167e-04,8.0898e-06,2.4855e-01,5.4722e-03
+8,6.1833e+00,DOWN_FORCE_DETACH,1.5956e-03,4.4773e-02,8.3170e-02,2.7633e+00,-4.2525e-02,3.9704e-02,1.5157e-04,-2.0300e-02,1.3832e-02,2.7052e-01,-9.2569e-04,-1.6846e-03,-1.0720e-05,2.7163e-01,1.9222e-03
+9,6.8000e+00,DOWN_FORCE_DETACH,1.7963e-03,4.4280e-02,1.3063e-01,2.7986e+00,-4.5754e-02,3.9611e-02,1.5219e-04,-2.0793e-02,6.1295e-02,3.0579e-01,-4.1554e-03,-1.7779e-03,-1.0104e-05,3.1257e-01,4.5198e-03
+10,7.3500e+00,DOWN_FORCE_DETACH,1.9986e-03,4.0845e-02,1.5003e-01,2.8436e+00,-4.7045e-02,3.9301e-02,1.5356e-04,-2.4227e-02,8.0689e-02,3.5078e-01,-5.4465e-03,-2.0880e-03,-8.7322e-06,3.6076e-01,5.8330e-03
+11,7.8833e+00,DOWN_FORCE_DETACH,2.1931e-03,3.3120e-02,1.4841e-01,2.8938e+00,-4.6897e-02,3.8687e-02,1.5255e-04,-3.1953e-02,7.9074e-02,4.0102e-01,-5.2977e-03,-2.7020e-03,-9.7448e-06,4.0998e-01,5.9470e-03
+12,8.4500e+00,DOWN_FORCE_DETACH,2.3956e-03,2.9345e-02,1.6633e-01,2.9527e+00,-4.8065e-02,3.8349e-02,1.5457e-04,-3.5728e-02,9.6988e-02,4.5984e-01,-6.4658e-03,-3.0402e-03,-7.7180e-06,4.7131e-01,7.1449e-03
+13,8.9667e+00,DOWN_FORCE_DETACH,2.5940e-03,2.7882e-02,1.8560e-01,2.9897e+00,-4.9320e-02,3.8186e-02,1.5805e-04,-3.7191e-02,1.1626e-01,4.9690e-01,-7.7207e-03,-3.2028e-03,-4.2446e-06,5.1168e-01,8.3586e-03
+14,9.4667e+00,DOWN_FORCE_DETACH,2.7944e-03,3.0397e-02,1.9707e-01,3.0151e+00,-5.0037e-02,3.8314e-02,1.6110e-04,-3.4676e-02,1.2773e-01,5.2228e-01,-8.4377e-03,-3.0748e-03,-1.1918e-06,5.3879e-01,8.9805e-03
+15,1.0000e+01,DOWN_FORCE_DETACH,2.9933e-03,3.2881e-02,2.2735e-01,3.0140e+00,-5.2025e-02,3.8463e-02,1.7125e-04,-3.2192e-02,1.5801e-01,5.2120e-01,-1.0426e-02,-2.9256e-03,8.9555e-06,5.4557e-01,1.0829e-02
+16,1.0583e+01,DOWN_FORCE_DETACH,3.1948e-03,3.2074e-02,2.5031e-01,3.0108e+00,-5.3507e-02,3.8383e-02,1.8731e-04,-3.2999e-02,1.8097e-01,5.1803e-01,-1.1909e-02,-3.0057e-03,2.5017e-05,5.4973e-01,1.2282e-02
+17,1.1217e+01,DOWN_FORCE_DETACH,3.3943e-03,3.8246e-02,2.6683e-01,3.0078e+00,-5.4534e-02,3.8796e-02,2.0312e-04,-2.6826e-02,1.9750e-01,5.1498e-01,-1.2935e-02,-2.5924e-03,4.0831e-05,5.5220e-01,1.3192e-02
+18,1.1833e+01,DOWN_FORCE_DETACH,3.5885e-03,4.2490e-02,2.9018e-01,3.0164e+00,-5.6032e-02,3.9078e-02,2.1247e-04,-2.2583e-02,2.2084e-01,5.2362e-01,-1.4433e-02,-2.3112e-03,5.0176e-05,5.6873e-01,1.4617e-02
+19,1.2533e+01,DOWN_FORCE_DETACH,3.7903e-03,5.2069e-02,3.0242e-01,2.9714e+00,-5.6805e-02,3.9784e-02,2.2510e-04,-1.3004e-02,2.3309e-01,4.7858e-01,-1.5206e-02,-1.6052e-03,6.2808e-05,5.3248e-01,1.5291e-02
+20,1.3283e+01,DOWN_FORCE_DETACH,3.9925e-03,6.3869e-02,3.1911e-01,2.9308e+00,-5.7896e-02,4.0638e-02,2.3895e-04,-1.2043e-03,2.4977e-01,4.3799e-01,-1.6297e-02,-7.5055e-04,7.6657e-05,5.0420e-01,1.6314e-02
+21,1.3950e+01,DOWN_FORCE_DETACH,4.1908e-03,7.4635e-02,3.1383e-01,2.8838e+00,-5.7525e-02,4.1438e-02,2.3907e-04,9.5621e-03,2.4449e-01,3.9098e-01,-1.5926e-02,4.9040e-05,7.6778e-05,4.6123e-01,1.5926e-02
+22,1.4833e+01,DOWN_FORCE_DETACH,4.3910e-03,8.6110e-02,3.1790e-01,2.8068e+00,-5.7825e-02,4.2312e-02,2.4507e-04,2.1037e-02,2.4857e-01,3.1400e-01,-1.6226e-02,9.2274e-04,8.2777e-05,4.0103e-01,1.6252e-02
+23,1.5617e+01,DOWN_FORCE_DETACH,4.5894e-03,1.0302e-01,3.1640e-01,2.7521e+00,-5.7776e-02,4.3548e-02,2.4538e-04,3.7948e-02,2.4706e-01,2.5933e-01,-1.6177e-02,2.1592e-03,8.3092e-05,3.6018e-01,1.6321e-02
+24,1.6617e+01,DOWN_FORCE_DETACH,4.7875e-03,1.1298e-01,3.1203e-01,2.6713e+00,-5.7578e-02,4.4349e-02,2.3613e-04,4.7907e-02,2.4270e-01,1.7852e-01,-1.5979e-02,2.9603e-03,7.3837e-05,3.0506e-01,1.6251e-02
+25,1.7600e+01,DOWN_FORCE_DETACH,4.9900e-03,1.2040e-01,2.9173e-01,2.6082e+00,-5.6297e-02,4.4948e-02,2.1918e-04,5.5325e-02,2.2239e-01,1.1542e-01,-1.4699e-02,3.5593e-03,5.6887e-05,2.5659e-01,1.5123e-02
+26,1.8567e+01,DOWN_FORCE_DETACH,5.1877e-03,1.2667e-01,2.8911e-01,2.5582e+00,-5.6208e-02,4.5447e-02,2.0822e-04,6.1602e-02,2.1977e-01,6.5356e-02,-1.4609e-02,4.0581e-03,4.5932e-05,2.3742e-01,1.5162e-02
+27,1.9583e+01,DOWN_FORCE_DETACH,5.3898e-03,1.3330e-01,2.9667e-01,2.5414e+00,-5.6787e-02,4.5929e-02,2.0094e-04,6.8229e-02,2.2733e-01,4.8574e-02,-1.5188e-02,4.5402e-03,3.8649e-05,2.4227e-01,1.5852e-02
+28,2.0417e+01,DOWN_FORCE_DETACH,5.5887e-03,1.3442e-01,2.9520e-01,2.5176e+00,-5.6741e-02,4.6035e-02,1.9638e-04,6.9343e-02,2.2586e-01,2.4741e-02,-1.5142e-02,4.6460e-03,3.4088e-05,2.3756e-01,1.5839e-02
+29,2.1350e+01,DOWN_FORCE_DETACH,5.7892e-03,1.3521e-01,2.9372e-01,2.4995e+00,-5.6693e-02,4.6112e-02,1.9276e-04,7.0138e-02,2.2438e-01,6.6755e-03,-1.5094e-02,4.7237e-03,3.0473e-05,2.3518e-01,1.5816e-02
+30,2.2283e+01,DOWN_FORCE_DETACH,5.9877e-03,1.3572e-01,2.9243e-01,2.4873e+00,-5.6647e-02,4.6164e-02,1.8956e-04,7.0650e-02,2.2309e-01,-5.5294e-03,-1.5048e-02,4.7752e-03,2.7266e-05,2.3408e-01,1.5787e-02
+31,2.3250e+01,DOWN_FORCE_DETACH,6.1882e-03,1.3622e-01,2.6869e-01,2.4948e+00,-5.5064e-02,4.6193e-02,1.8182e-04,7.1147e-02,1.9935e-01,1.9562e-03,-1.3465e-02,4.8044e-03,1.9532e-05,2.1167e-01,1.4296e-02
+32,2.4133e+01,DOWN_FORCE_DETACH,6.3868e-03,1.3271e-01,2.8411e-01,2.5399e+00,-5.6089e-02,4.5898e-02,1.8303e-04,6.7642e-02,2.1477e-01,4.7067e-02,-1.4490e-02,4.5093e-03,2.0738e-05,2.3004e-01,1.5176e-02
+33,2.5017e+01,DOWN_FORCE_DETACH,6.5867e-03,1.1875e-01,2.7824e-01,2.5606e+00,-5.5666e-02,4.4902e-02,1.8259e-04,5.3674e-02,2.0890e-01,6.7763e-02,-1.4067e-02,3.5130e-03,2.0298e-05,2.2608e-01,1.4499e-02
+34,2.5783e+01,DOWN_FORCE_DETACH,6.7856e-03,1.2050e-01,2.9007e-01,2.5827e+00,-5.6427e-02,4.4988e-02,1.8245e-04,5.5424e-02,2.2073e-01,8.9911e-02,-1.4828e-02,3.5992e-03,2.0161e-05,2.4470e-01,1.5258e-02
+35,2.6600e+01,DOWN_FORCE_DETACH,6.9825e-03,1.2162e-01,2.8143e-01,2.6110e+00,-5.5802e-02,4.5025e-02,1.7344e-04,5.6552e-02,2.1210e-01,1.1817e-01,-1.4203e-02,3.6366e-03,1.1148e-05,2.4930e-01,1.4661e-02
+36,2.7483e+01,DOWN_FORCE_DETACH,7.1856e-03,1.2498e-01,2.9700e-01,2.6320e+00,-5.6814e-02,4.5223e-02,1.6264e-04,5.9904e-02,2.2766e-01,1.3919e-01,-1.5215e-02,3.8343e-03,3.5376e-07,2.7348e-01,1.5690e-02
+37,2.8250e+01,DOWN_FORCE_DETACH,7.3858e-03,1.2724e-01,2.9126e-01,2.6109e+00,-5.6415e-02,4.5383e-02,1.4451e-04,6.2165e-02,2.2192e-01,1.1806e-01,-1.4816e-02,3.9947e-03,-1.7780e-05,2.5894e-01,1.5345e-02
+38,2.9033e+01,DOWN_FORCE_DETACH,7.5827e-03,1.2481e-01,2.8787e-01,2.6125e+00,-5.6171e-02,4.5198e-02,1.2679e-04,5.9735e-02,2.1854e-01,1.1965e-01,-1.4572e-02,3.8096e-03,-3.5498e-05,2.5621e-01,1.5062e-02
+39,2.9867e+01,DOWN_FORCE_DETACH,7.7856e-03,1.1731e-01,2.9409e-01,2.6487e+00,-5.6548e-02,4.4628e-02,1.1593e-04,5.2235e-02,2.2475e-01,1.5592e-01,-1.4949e-02,3.2389e-03,-4.6360e-05,2.7848e-01,1.5296e-02
+40,3.0683e+01,DOWN_FORCE_DETACH,7.9843e-03,1.1556e-01,2.9346e-01,2.6625e+00,-5.6466e-02,4.4486e-02,1.1104e-04,5.0490e-02,2.2412e-01,1.6968e-01,-1.4867e-02,3.0970e-03,-5.1255e-05,2.8560e-01,1.5186e-02
+41,3.1400e+01,DOWN_FORCE_DETACH,8.1843e-03,1.2330e-01,3.1338e-01,2.6574e+00,-5.7765e-02,4.5008e-02,1.0904e-04,5.8232e-02,2.4404e-01,1.6455e-01,-1.6166e-02,3.6190e-03,-5.3248e-05,3.0004e-01,1.6566e-02
+42,3.2283e+01,DOWN_FORCE_DETACH,8.3842e-03,1.2087e-01,3.2106e-01,2.6680e+00,-5.8229e-02,4.4819e-02,1.0678e-04,5.5800e-02,2.5173e-01,1.7514e-01,-1.6630e-02,3.4302e-03,-5.5515e-05,3.1170e-01,1.6980e-02
+43,3.3233e+01,DOWN_FORCE_DETACH,8.5831e-03,1.1947e-01,2.9616e-01,2.6620e+00,-5.6519e-02,4.4708e-02,9.6369e-05,5.4399e-02,2.2683e-01,1.6921e-01,-1.4920e-02,3.3191e-03,-6.5921e-05,2.8817e-01,1.5285e-02
+44,3.3967e+01,DOWN_FORCE_DETACH,8.7835e-03,1.1777e-01,3.0837e-01,2.6554e+00,-5.7326e-02,4.4577e-02,9.5759e-05,5.2696e-02,2.3903e-01,1.6261e-01,-1.5727e-02,3.1885e-03,-6.6532e-05,2.9386e-01,1.6047e-02
+45,3.4850e+01,DOWN_FORCE_DETACH,8.9803e-03,1.2256e-01,3.1072e-01,2.6620e+00,-5.7474e-02,4.4875e-02,8.9269e-05,5.7487e-02,2.4139e-01,1.6916e-01,-1.5875e-02,3.4865e-03,-7.3021e-05,3.0031e-01,1.6253e-02
+46,3.5667e+01,DOWN_FORCE_DETACH,9.1793e-03,1.2278e-01,3.2878e-01,2.6705e+00,-5.8671e-02,4.4871e-02,8.1887e-05,5.7708e-02,2.5945e-01,1.7768e-01,-1.7072e-02,3.4823e-03,-8.0404e-05,3.1971e-01,1.7424e-02
+47,3.6500e+01,DOWN_FORCE_DETACH,9.3802e-03,1.2414e-01,3.2782e-01,2.6904e+00,-5.8575e-02,4.4945e-02,7.1601e-05,5.9067e-02,2.5849e-01,1.9759e-01,-1.6976e-02,3.5566e-03,-9.0690e-05,3.3067e-01,1.7345e-02
+48,3.7383e+01,DOWN_FORCE_DETACH,9.5788e-03,1.2362e-01,3.3771e-01,2.6813e+00,-5.9201e-02,4.4920e-02,6.5200e-05,5.8547e-02,2.6837e-01,1.8851e-01,-1.7603e-02,3.5314e-03,-9.7090e-05,3.3314e-01,1.7954e-02
+49,3.8117e+01,DOWN_FORCE_DETACH,9.7789e-03,1.2256e-01,3.1736e-01,2.6871e+00,-5.7805e-02,4.4842e-02,5.8651e-05,5.7487e-02,2.4803e-01,1.9428e-01,-1.6206e-02,3.4535e-03,-1.0364e-04,3.2026e-01,1.6570e-02
+50,3.8900e+01,DOWN_FORCE_DETACH,9.9791e-03,1.2434e-01,3.3415e-01,2.6828e+00,-5.8889e-02,4.4960e-02,5.8962e-05,5.9266e-02,2.6481e-01,1.8996e-01,-1.7290e-02,3.5708e-03,-1.0333e-04,3.3124e-01,1.7655e-02
+51,3.9717e+01,DOWN_FORCE_DETACH,1.0177e-02,1.1896e-01,3.3688e-01,2.7032e+00,-5.9027e-02,4.4560e-02,6.0456e-05,5.3884e-02,2.6754e-01,2.1043e-01,-1.7428e-02,3.1707e-03,-1.0183e-04,3.4462e-01,1.7715e-02
+52,4.0533e+01,DOWN_FORCE_DETACH,1.0380e-02,1.2732e-01,3.3118e-01,2.6896e+00,-5.8621e-02,4.5123e-02,5.9666e-05,6.2252e-02,2.6184e-01,1.9681e-01,-1.7022e-02,3.7343e-03,-1.0262e-04,3.3342e-01,1.7428e-02
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Fixed/digit/cylinder_0050_12.5/press_depth_10/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_0050_12.5/press_depth_10/up/franka_data.csv

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Fixed/digit/cylinder_0050_12.5/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+29,2.666666667e+00,UP_FORCE_RAMP,1792823247986802320,-1.499396913e-05,-4.261490454e-04,3.323677983e-05,-1.508302756e-05,-4.259033484e-04,3.319981429e-05,-1.553058455e-05,-4.281688352e-04,3.316102403e-05,7.019406388e-01,-4.484197804e-04,8.601763240e-01,7.019405498e-01,-4.481740834e-04,8.601762871e-01,7.027296114e-01,-5.467957662e-04,8.303591610e-01
+30,2.783333333e+00,UP_FORCE_RAMP,1792823248101683656,-1.618326516e-05,-4.155033138e-04,4.172627676e-05,-1.508302756e-05,-4.259033484e-04,3.319981429e-05,-1.553534036e-05,-4.281880680e-04,3.317666793e-05,7.019394496e-01,-4.377740489e-04,8.601848135e-01,7.019405498e-01,-4.481740834e-04,8.601762871e-01,7.027296067e-01,-5.468149990e-04,8.303591767e-01
+31,2.933333333e+00,UP_FORCE_RAMP,1792823248249277786,-1.984695857e-05,-4.159568055e-04,4.507097162e-05,-1.508302756e-05,-4.259033484e-04,3.319981429e-05,-1.553429701e-05,-4.282005418e-04,3.318731755e-05,7.019357859e-01,-4.382275406e-04,8.601881582e-01,7.019405498e-01,-4.481740834e-04,8.601762871e-01,7.027296077e-01,-5.468274728e-04,8.303591873e-01
+32,3.050000000e+00,UP_FORCE_RAMP,1792823248364061586,-1.980062627e-05,-4.214590757e-04,5.358522908e-05,-1.770534895e-05,-4.149188114e-04,5.018674506e-05,-1.811742386e-05,-4.171736482e-04,4.998757445e-05,7.019358322e-01,-4.437298107e-04,8.601966725e-01,7.019379275e-01,-4.371895465e-04,8.601932740e-01,7.027270246e-01,-5.358005792e-04,8.303759876e-01
+33,3.216666667e+00,UP_FORCE_RAMP,1792823248560799599,-1.878442192e-05,-4.216404379e-04,6.953117228e-05,-1.867009829e-05,-4.219656900e-04,6.927596219e-05,-1.893726132e-05,-4.242581140e-04,6.899025420e-05,7.019368484e-01,-4.439111729e-04,8.602126184e-01,7.019369627e-01,-4.442364250e-04,8.602123632e-01,7.027262048e-01,-5.428850451e-04,8.303949903e-01
+34,3.383333333e+00,UP_FORCE_RAMP,1792823248724335509,-1.739063978e-05,-4.171393941e-04,8.290431054e-05,-1.867009829e-05,-4.219656900e-04,6.927596219e-05,-1.893717661e-05,-4.242733121e-04,6.902908866e-05,7.019382422e-01,-4.394101292e-04,8.602259915e-01,7.019369627e-01,-4.442364250e-04,8.602123632e-01,7.027262049e-01,-5.429002431e-04,8.303950291e-01
+35,3.533333333e+00,UP_FORCE_RAMP,1792823248871901285,-1.846075980e-05,-4.177658577e-04,9.187966758e-05,-1.679862169e-05,-4.203336890e-04,9.112967056e-05,-1.668259908e-05,-4.226664384e-04,9.081839159e-05,7.019371721e-01,-4.400365927e-04,8.602349669e-01,7.019388342e-01,-4.426044240e-04,8.602342169e-01,7.027284594e-01,-5.412933694e-04,8.304168184e-01
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+39,4.283333333e+00,UP_FORCE_RAMP,1792823249642188028,-1.656468019e-05,-4.126605003e-04,1.401771855e-04,-1.601661530e-05,-4.093823824e-04,1.335620574e-04,-1.526938834e-05,-4.117486040e-04,1.331295637e-04,7.019390681e-01,-4.349312353e-04,8.602832644e-01,7.019396162e-01,-4.316531174e-04,8.602766493e-01,7.027298726e-01,-5.303755350e-04,8.304591296e-01
+40,4.483333333e+00,UP_FORCE_RAMP,1792823249837857922,-1.658535427e-05,-4.085464403e-04,1.485902584e-04,-1.601661530e-05,-4.093823824e-04,1.335620574e-04,-1.526574666e-05,-4.117571507e-04,1.331685087e-04,7.019390475e-01,-4.308171754e-04,8.602916775e-01,7.019396162e-01,-4.316531174e-04,8.602766493e-01,7.027298763e-01,-5.303840817e-04,8.304591685e-01
+41,4.650000000e+00,UP_FORCE_RAMP,1792823250001843824,-2.050388866e-05,-4.088146969e-04,1.490667858e-04,-1.601661530e-05,-4.093823824e-04,1.335620574e-04,-1.526283349e-05,-4.117635624e-04,1.331953093e-04,7.019351289e-01,-4.310854320e-04,8.602921540e-01,7.019396162e-01,-4.316531174e-04,8.602766493e-01,7.027298792e-01,-5.303904934e-04,8.304591953e-01
+42,4.783333333e+00,UP_FORCE_RAMP,1792823250149562947,-1.865948971e-05,-4.087459616e-04,1.618837580e-04,-1.727513028e-05,-4.095934602e-04,1.574226743e-04,-1.632891149e-05,-4.119429514e-04,1.569610039e-04,7.019369733e-01,-4.310166966e-04,8.603049710e-01,7.019383577e-01,-4.318641952e-04,8.603005099e-01,7.027288131e-01,-5.305698824e-04,8.304829610e-01
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+46,5.383333333e+00,UP_FORCE_RAMP,1792823250771667827,-2.961049313e-05,-4.071823317e-04,1.828701252e-04,-2.644489263e-05,-4.080483501e-04,1.759141449e-04,-2.591527668e-05,-4.104173616e-04,1.754398295e-04,7.019260223e-01,-4.294530667e-04,8.603259574e-01,7.019291879e-01,-4.303190851e-04,8.603190014e-01,7.027192268e-01,-5.290442927e-04,8.305014398e-01
+47,5.500000000e+00,UP_FORCE_RAMP,1792823250886924101,-3.040611214e-05,-4.063991179e-04,1.889923955e-04,-2.644489263e-05,-4.080483501e-04,1.759141449e-04,-2.591695292e-05,-4.104208381e-04,1.754625508e-04,7.019252267e-01,-4.286698529e-04,8.603320796e-01,7.019291879e-01,-4.303190851e-04,8.603190014e-01,7.027192251e-01,-5.290477691e-04,8.305014626e-01
+48,5.683333333e+00,UP_FORCE_RAMP,1792823251067339536,-3.405587610e-05,-4.072453371e-04,1.967886088e-04,-3.391463143e-05,-4.074282646e-04,1.963280297e-04,-3.368309015e-05,-4.098216399e-04,1.957754240e-04,7.019215769e-01,-4.295160721e-04,8.603398758e-01,7.019217182e-01,-4.296989997e-04,8.603394153e-01,7.027114589e-01,-5.284485709e-04,8.305217754e-01
+49,5.766666667e+00,UP_FORCE_RAMP,1792823251148817182,-4.385488741e-05,-4.030945107e-04,1.887879345e-04,-3.391463143e-05,-4.074282646e-04,1.963280297e-04,-3.368915104e-05,-4.098264185e-04,1.958071157e-04,7.019117779e-01,-4.253652457e-04,8.603318752e-01,7.019217182e-01,-4.296989997e-04,8.603394153e-01,7.027114529e-01,-5.284533496e-04,8.305218071e-01
+50,5.816666667e+00,UP_FORCE_RAMP,1792823251197611410,-6.696527842e-05,-4.052492466e-04,1.724814092e-04,-7.128271531e-05,-4.081432913e-04,1.718280246e-04,-7.412038599e-05,-4.105201251e-04,1.713831985e-04,7.018886675e-01,-4.275199816e-04,8.603155686e-01,7.018843501e-01,-4.304140264e-04,8.603149153e-01,7.026710216e-01,-5.291470561e-04,8.304973832e-01
+51,5.883333333e+00,UP_FORCE_RAMP,1792823251263139552,-6.554808156e-05,-4.100162070e-04,1.844830400e-04,-7.128271531e-05,-4.081432913e-04,1.718280246e-04,-7.413647744e-05,-4.105202747e-04,1.713865014e-04,7.018900847e-01,-4.322869420e-04,8.603275703e-01,7.018843501e-01,-4.304140264e-04,8.603149153e-01,7.026710055e-01,-5.291472057e-04,8.304973865e-01
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+54,6.383333333e+00,UP_FORCE_HOLD,1792823251754534238,-6.689403499e-05,-4.109608158e-04,2.084674267e-04,-6.289544385e-05,-4.062858061e-04,2.122867621e-04,-6.468597848e-05,-4.086892605e-04,2.117162415e-04,7.018887388e-01,-4.332315508e-04,8.603515547e-01,7.018927374e-01,-4.285565411e-04,8.603553740e-01,7.026804560e-01,-5.273161915e-04,8.305377163e-01
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+59,7.283333333e+00,UP_SETTLE,1792823252655271054,-7.022950761e-05,-4.086416917e-04,2.360867700e-04,-6.716254277e-05,-4.030370916e-04,2.315897522e-04,-6.906785388e-05,-4.054273268e-04,2.310807491e-04,7.018854033e-01,-4.309124268e-04,8.603791740e-01,7.018884703e-01,-4.253078266e-04,8.603746770e-01,7.026760742e-01,-5.240542578e-04,8.305570808e-01

Fixed/digit/cylinder_0050_12.5/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.9214e-05,6.8529e-02,6.9287e-02,2.4905e+00,-4.1594e-02,4.1642e-02,1.6320e-04,3.4581e-03,-5.5648e-05,-2.3580e-03,5.3421e-06,2.5338e-04,1.0133e-06,4.1859e-03,2.5343e-04
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Fixed/digit/cylinder_0050_15/press_depth_01/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_0050_15/press_depth_01/down/franka_data.csv

@@ -0,0 +1,61 @@
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+2523,1792823451742949018,2131072000000,1792823451737514831,XJC_ZERO_HOLD_BEFORE_DOWN,1,0.066,0.06600288301706314,0.6759067220479744,-0.0047196715762011475,0.0997368571975227,0.9999999520702159,1.2444141678216632e-05,-0.0002891718016675337,5.939059620377184e-05,0.6761,-0.0045,0.1,1.0,0.0,0.0,0.0,-0.007121579947886092,-0.00502536623675387,-0.0013645605883941814,-0.0006458034967918164,0.00016603965318717773,-5.562514474592457e-06,1.0971249518998811,0.84174442871501,0.2500469741708054,0.0733772671572475,-0.07341130780615697,0.003730948038714454,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.3384113017815422,1.0525707456738194,1.403179692052748,0.02803555561999977,-0.8545428508101826,0.625518566888939,1.4270196627436291,0.0013645605883941814,0.023839970690881174,0.0,0.0,0,0,0.0,0.0
+2597,1792823452351936157,2131681000000,1792823452345505661,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759063805291247,-0.004723164320111568,0.09973558810237465,0.9999999516876747,1.3091913064470818e-05,-0.0002899134140861386,6.201876059051151e-05,0.6761,-0.0045,0.09999575459137264,1.0,0.0,0.0,0.0,-0.007128058843571372,-0.014924886524592007,0.0054669964188329145,-0.0006753899669249691,0.000167872073910863,-1.0705258753877008e-05,1.0971184730041958,0.8318449084271718,0.2568785311780325,0.07334768068711435,-0.07340947538543328,0.0037258052944351694,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.3218740798003247,1.2083288682414897,1.3822727047338712,-0.023504490931671854,-0.8460658907033507,0.725722830768301,1.4270196627436291,-0.0054669964188329145,0.04474695800975792,0.04474695800975792,0.15052558185259574,0,0,-2.029797755850738e-05,-9.999999025923074e-05
+2675,1792823453001999763,2132331000000,1792823453001515074,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759088873057808,-0.004718789692512734,0.0997270399688774,0.9999999529436195,1.6481281395852963e-05,-0.00028538692444391676,6.195396633351235e-05,0.6761,-0.0045,0.09997236545701421,1.0,0.0,0.0,0.0,-0.01662033438926991,-0.023149764559103003,0.01568531619259461,-0.000705785912866172,0.0011667652967334158,-4.6099742099505944e-06,1.0876261974584973,0.8236200303926609,0.2670968509517942,0.07331728474117315,-0.07241058216261073,0.003731900578979096,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.3711284279182865,1.1555511037602137,1.3574991709519566,0.007061355664176591,-0.8242351947378018,0.6932235125834888,1.4270196627436291,-0.01568531619259461,0.06952049179167252,0.06952049179167252,0.24802558185260304,0,0,-5.2086549416656365e-05,-9.999999025923074e-05
+2752,1792823453643982056,2132973000000,1792823453637515391,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759084819405854,-0.004725675716551965,0.09968865207574998,0.9999999525216318,1.636162151053004e-05,-0.0002839895880648063,7.403924561018817e-05,0.6761,-0.0045,0.09992889859140247,1.0,0.0,0.0,0.0,-0.02568936809683331,-0.015419812125347043,0.07501110229015745,-0.0017616809437456943,0.0021659173973334334,-4.979661178411291e-05,1.078557163750934,0.8313499828264168,0.32642263704935703,0.07226138971029362,-0.07141143006201071,0.0036867139414049335,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.4041372016924975,1.1163569289991937,1.3213800794011705,0.047553777213034595,-0.8005843314959379,0.6694677315047228,1.4270196627436291,-0.07501110229015745,0.1056395833424586,0.1056395833424586,0.3443255818525928,0,0,-8.203909275114463e-05,-9.999999025923074e-05
+2835,1792823454334915161,2133664000000,1792823454333505748,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759090807921861,-0.0047320701727861965,0.09963436342610597,0.9999999524365754,1.7555792336255587e-05,-0.0002794565315059079,9.036344781140214e-05,0.6761,-0.0045,0.09986354678820751,1.0,0.0,0.0,0.0,-0.03474764753296444,-0.04493319772527549,0.15532732053720988,-0.0025767451096870286,0.0021958430251283884,-0.00012425352316291398,1.0694988843148028,0.8018365972264884,0.40673885529640946,0.07144632554435229,-0.07138150443421576,0.0036122570300261324,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.5409412175517909,1.0194920560476801,1.0713630959893914,0.1351300257516177,-0.6157152253894451,0.6077535031809305,1.4270196627436291,-0.15532732053720988,0.35565656675423774,0.35565656675423774,0.4479755818525814,0,0,-0.00010226706084334592,-8.048121477444709e-05
+2909,1792823454952024834,2134281000000,1792823454945505809,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759128536445559,-0.004734945750160162,0.0995909643427397,0.9999999539514973,1.9244071056420744e-05,-0.00026951962280058467,0.0001026094844107248,0.6761,-0.0045,0.0998022160291031,1.0,0.0,0.0,0.0,-0.052764914662122075,-0.05223366154822073,0.23305497042182038,-0.002844915758224556,0.0031967831312245676,-0.00017719427361449335,1.0514816171856451,0.7945361334035431,0.48446650518101997,0.07117815489581476,-0.07038056432811958,0.003559316279574553,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.5708670332165061,1.0518043733266955,0.953953305111661,0.17112426236925757,-0.5468389057321685,0.6324993026590248,1.4270196627436291,-0.23305497042182038,0.47306635763196814,0.47306635763196814,0.5405255818525713,0,0,-9.56814693350586e-05,9.999999025923074e-05
+2980,1792823455543931320,2134873000000,1792823455541506340,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759143859417843,-0.004738851665811689,0.09954800292361174,0.9999999542717238,2.0333739969445425e-05,-0.0002635300405624304,0.00011418349959823793,0.6761,-0.0045,0.09974735085191405,1.0,0.0,0.0,0.0,-0.05480255239505727,-0.04305891628552283,0.2854551743513036,-0.0030888563430841176,0.004202441566965712,-0.0002043056172747284,1.04944397945271,0.803710878666241,0.5368667091105032,0.0709342143109552,-0.06937490589237844,0.003532204935914318,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.6375141677776209,0.9854028270733797,0.8521272103939431,0.22204629416679555,-0.4680992786929912,0.5899336904488264,1.4270196627436291,-0.2854551743513036,0.574892452349686,0.574892452349686,0.6293255818525615,0,0,-8.856236340529377e-05,8.609207377408552e-05
+3057,1792823456185037268,2135514000000,1792823456181515459,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.675912507777557,-0.004744277284116841,0.09948970894959981,0.9999999512518771,1.8973256900171e-05,-0.0002697922686644373,0.0001256632610032522,0.6761,-0.0045,0.09969389877942608,1.0,0.0,0.0,0.0,-0.06589562834273943,-0.07032374954002707,0.3650327879221696,-0.0039198233314209074,0.0042025975335121535,-0.00028010878266849105,1.0383509035050278,0.7764460454117368,0.6164443226813692,0.07010324732261841,-0.069374749925832,0.0034564017705205554,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.6017091528158873,0.971731167440112,0.7664800668261141,0.25487108446942325,-0.42808864602392543,0.5861742775611075,1.4270196627436291,-0.3650327879221696,0.660539595917515,0.660539595917515,0.7254755818525509,0,0,-7.848282051214229e-05,5.652902930295019e-06
+3131,1792823456802054075,2136130999999,1792823456801515674,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.675914553684552,-0.004750071131832686,0.09945762898450841,0.9999999520627574,1.8483243627667776e-05,-0.0002624975030861778,0.00013442759430977078,0.6761,-0.0045,0.09964759235951222,1.0,0.0,0.0,0.0,-0.07236489845171823,-0.06879757736866632,0.40539163637017056,-0.003954855221775341,0.005207175119024229,-0.0002977863970035025,1.031881633396049,0.7779722175830975,0.6568031711293701,0.07006821543226398,-0.06837017234031992,0.003438724156185544,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.6677782139506294,0.9374291958962104,0.6506486344977817,0.26900078842398656,-0.3378675251027551,0.5640343189594016,1.4270196627436291,-0.40539163637017056,0.7763710282458475,0.7763710282458475,0.8180255818525407,0,0,-7.712549548036384e-05,9.884313786757132e-05
+3204,1792823457410018328,2136739000000,1792823457409505536,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759204037849602,-0.004749753343839529,0.09942233433846885,0.9999999528603596,2.336930285293422e-05,-0.0002542076233797596,0.00014336841646534626,0.6761,-0.0045,0.09959938305294667,1.0,0.0,0.0,0.0,-0.0860516810103229,-0.06714727874699056,0.46507386427694714,-0.004875044552375793,0.006214343200433209,-0.00033438590779395544,1.0181948508374443,0.7796225162047733,0.7164853990361467,0.06914802610166353,-0.06736300425891094,0.003402124645395091,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.6396563102978473,0.932945535842989,0.7039782111084698,0.2754529279434331,-0.3842915669561714,0.5593195888091589,1.4270196627436291,-0.46507386427694714,0.7230414516351593,0.7230414516351593,0.9092255818525307,0,0,-8.418039397081601e-05,-9.999999025923074e-05
+3236,1792823457676962536,2137005999999,1792823457673515428,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.675958506227285,-0.00474433816331598,0.09943377749348421,0.9999999619776017,2.568576119760127e-05,-0.00021378456164886886,0.00014534119322697094,0.6761,-0.0045,0.09957608011241165,1.0,0.0,0.0,0.0,-0.11969616202102906,-0.03165733652437441,0.4417639813003004,-0.001292374044876643,0.00819987612881258,-0.0002589128740662621,0.9845503698267382,0.8151124584273894,0.6931755160595,0.07273069660916268,-0.06537747133053157,0.0034775976791227843,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.6989578488075496,0.8705979625461182,0.6234728729069219,0.300514665790264,-0.3277928242375147,0.5233925043697633,1.4270196627436291,-0.4417639813003004,0.8035467898367072,0.8035467898367072,0.9492755818525263,0,0,-9.28099520389455e-05,-9.999999025923074e-05
+3304,1792823458244064885,2137572999999,1792823458241515861,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759600055738424,-0.004749203695538132,0.09938843014813876,0.9999999614174528,2.6740739430232167e-05,-0.00020895726638407423,0.0001556590858071019,0.6761,-0.0045,0.09951563267523014,1.0,0.0,0.0,0.0,-0.12057156588185935,-0.03018016591556416,0.5020389086209951,-0.0020107154743244787,0.008186697879363866,-0.0003115185738068525,0.9836749659659079,0.8165896290361997,0.7534504433801946,0.07201235517971484,-0.06539064957998028,0.003424991979382194,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.7853871746396968,0.8876102225923548,0.5394298228781461,0.28485627508889355,-0.2524038194065539,0.5279211329253566,1.4270196627436291,-0.5020389086209951,0.887589839865483,0.887589839865483,1.0343255818525423,0,0,-0.00011972296346948597,-9.999999025923074e-05
+3367,1792823458769080789,2138098000000,1792823458765505108,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759598627963597,-0.004761965142467881,0.0993314882861474,0.9999999595534343,2.398165900762026e-05,-0.00020649991654694074,0.00017064190188100333,0.6761,-0.0045,0.09944894549487765,1.0,0.0,0.0,0.0,-0.130243798867007,-0.03698267846838543,0.5762533128670908,-0.002053423235358287,0.0091847125171262,-0.00035692020317642506,0.9740027329807602,0.8097871164833784,0.8276648476262904,0.07196964741868103,-0.06439263494221795,0.0033795903500126213,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.8246092259672024,0.9351327179832974,0.4685651958881385,0.28018107615100435,-0.19746697306653352,0.564986562467756,1.4270196627436291,-0.5762533128670908,0.9584544668554906,0.9584544668554906,1.113075581852592,0,0,-0.00013318399134518012,-9.843768441897822e-05
+3438,1792823459360076840,2138688999999,1792823459357505824,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759641734434931,-0.00476246240021619,0.0992642975735579,0.9999999598311574,2.5700402223244977e-05,-0.00019510490317488659,0.00018180790474176927,0.6761,-0.0045,0.09936943834127242,1.0,0.0,0.0,0.0,-0.14062410750817977,-0.04701800766915909,0.666375766359457,-0.003122037758766044,0.010196367301287576,-6.948187024697185e-05,0.9636224243395874,0.7997517872826048,0.9177873011186566,0.07090103289527327,-0.06338098015805657,0.0036670286829420745,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.868451983890778,0.9837690631667187,0.40416745529813974,0.2610037301073032,-0.14805040094636795,0.5926406235368873,1.4270196627436291,-0.666375766359457,1.0228522074454893,1.0228522074454893,1.2017255818526478,0,0,-0.00013522561552045532,-9.999879676947927e-05
+3507,1792823459935086740,2139264000000,1792823459929506076,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759725408569673,-0.004765683273528169,0.09920718415954771,0.9999999606981849,2.1183542407400143e-05,-0.0001813324628122531,0.00019161494915385802,0.6761,-0.0045,0.0992932730932502,1.0,0.0,0.0,0.0,-0.15733294502828388,-0.05428979439485471,0.7367374764715051,-0.003169886589826365,0.011191277612743758,0.0004196925925100295,0.9469135868194833,0.7924800005569091,0.9881490112307048,0.07085318406421295,-0.06238606984660039,0.004156203145699076,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.881762847417805,0.9781889412875221,0.33222835952961904,0.25826065805792947,-0.09681736131814442,0.5901907771229483,1.4270196627436291,-0.7367374764715051,1.0947913032140102,1.0947913032140102,1.2879755818527021,0,0,-0.000131910296279096,-9.997557923047679e-05
+3582,1792823460560092047,2139889000000,1792823460553515464,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759871037630335,-0.004768012702468149,0.09915076124614637,0.9999999624239723,1.6707769782028855e-05,-0.00016291003563949073,0.000199439438036342,0.6761,-0.0045,0.09921240759259822,1.0,0.0,0.0,0.0,-0.17766571419432553,-0.04019737782346655,0.7972517372710992,-0.0021861792589669415,0.012173114745880786,0.0005330394641518614,0.9265808176534417,0.8065724171282973,1.0486632720302989,0.07183689139507238,-0.06140423271346336,0.004269550017340908,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.9472240180229072,0.9428466770332146,0.19138729118404993,0.2602388619468932,0.006995980107926981,0.566362965777037,1.4270196627436291,-0.7972517372710992,1.2356323715595792,1.2356323715595792,1.3817255818527612,0,0,-0.00013117020003092084,-9.998995661864569e-05
+3654,1792823461160007938,2140489000000,1792823461153515495,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759920399625514,-0.004771473305156028,0.09908700624603527,0.9999999621220333,1.57037398263825e-05,-0.00015300774177341497,0.00020866437169987493,0.6761,-0.0045,0.09913267676596736,1.0,0.0,0.0,0.0,-0.18733786130714536,-0.04168565435966709,0.8814153470309627,-0.00223169363858651,0.013167661244990587,0.00047304285892972456,0.9169086705406219,0.8050841405920968,1.1328268817901623,0.07179137701545281,-0.06040968621435356,0.004209553412118771,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.9918186501498655,0.9777026594950367,0.052953108634765135,0.2495998140057746,0.10393171285016073,0.5885659306993767,1.4270196627436291,-0.8814153470309627,1.374066554108864,1.374066554108864,1.4717255818528179,0,0,-0.0001307518822421264,9.999980984798924e-05
+3723,1792823461735096938,2141063999999,1792823461729515162,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6759936514997688,-0.004777376984267883,0.09902005715683956,0.9999999616205056,7.130027347997575e-06,-0.00014897156127482834,0.0002143793097069867,0.6761,-0.0045,0.09905640059105128,1.0,0.0,0.0,0.0,-0.19057422778905675,-0.04726943380207105,0.9372346925886246,-0.0032904537787462884,0.014188515475825933,0.0004332345243442319,0.9136723040587105,0.7995003611496928,1.1886462273478242,0.07073261687529303,-0.059388831983518214,0.004169745077533278,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.0429920464086682,0.8918604052391539,0.010664251190530008,0.27290816086513886,0.14581343830703625,0.5311799189927315,1.4270196627436291,-0.9372346925886246,1.4163554115530992,1.4163554115530992,1.5579755818528722,0,0,-0.0001310134621304845,-9.173847378829975e-05
+3753,1792823461985008122,2141313999999,1792823461977505653,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6759985569305308,-0.004747179921570787,0.09898912624465257,0.9999999746457781,-0.00013539174879695194,-0.0001318521486167231,8.022090092655765e-05,0.6761,-0.0045,0.09902378680149321,1.0,0.0,0.0,0.0,-0.1357603720839602,0.020318053063989372,0.9695270395016846,0.0015382213855473226,0.01064852456261886,0.0004196253122088641,0.968486159763807,0.8670878480157532,1.2209385742608843,0.07556129203958664,-0.06292882289672529,0.0041561358653979105,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,0.9957768672474177,1.0962492931840593,0.041440666794328944,0.02088763717146516,0.1549810689221309,0.7011282090481913,1.4270196627436291,-0.9695270395016846,1.3855789959493001,1.3855789959493001,1.5954755818528958,0,0,-0.0001339721295804105,-9.999999025923074e-05
+3825,1792823462585119575,2141914000000,1792823462581515069,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760130840877079,-0.004752986057128948,0.09892818737373625,0.9999999758551644,-0.00013140783365246398,-0.0001116580949783839,9.99849293221643e-05,0.6761,-0.0045,0.09893603442454767,1.0,0.0,0.0,0.0,-0.1621169916696128,0.01596474021504668,1.0271026351221766,0.0008114857376269602,0.012939809058648374,0.00039722566551940843,0.9421295401781544,0.8627345351668105,1.2785141698813762,0.07483455639166628,-0.06063753840069577,0.004133736218708455,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.108021806310153,0.9487944804419544,-0.1251164726882355,0.12208848745408608,0.2686837847296786,0.6032455703639343,1.4270196627436291,-1.0271026351221766,1.5521361354318646,1.5521361354318646,1.6854755818529525,0,0,-0.0001595011893794828,-5.112589149724924e-06
+3897,1792823463185071394,2142514000000,1792823463181505241,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6760192779478448,-0.00476276997763851,0.09884707963446408,0.9999999754141076,-0.00012239451729744108,-0.00010135025119778241,0.00012394497717890855,0.6761,-0.0045,0.09883918009802817,1.0,0.0,0.0,0.0,-0.18748900782352573,0.009667626441346333,1.1093452701477948,0.000766435512966554,0.013990208978635413,0.00034431079711489234,0.9167575240242415,0.8564374213931102,1.3607568049069945,0.07478950616700587,-0.059587138480708735,0.004080821350303939,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.223691497589451,0.9069240539858768,-0.360254481873285,0.24963180705805468,0.43020229596639575,0.552021318717942,1.4270196627436291,-1.1093452701477948,1.787274144616914,1.787274144616914,1.7754755818530092,0,0,-0.0001589687583555558,9.999020641882623e-05
+3965,1792823463752124724,2143081000000,1792823463749506278,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760215383254842,-0.0047686774898573064,0.09876959161562986,0.9999999741008682,-0.00012230719112513505,-9.7506315403626e-05,0.00013702042439562478,0.6761,-0.0045,0.098754930890531,1.0,0.0,0.0,0.0,-0.18862650012992077,-0.0005371151203986679,1.1692539496384828,-0.0002694948936094732,0.01407818516189667,0.00028575955754847745,0.9156200317178464,0.8462326798313652,1.4206654843976825,0.07375357576042985,-0.05949916229744748,0.004022270110737524,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.2287304864653867,0.8172425337707159,-0.4172151596262154,0.3322440499880338,0.4579487289759902,0.48066182814502323,1.4270196627436291,-1.1692539496384828,1.8442348223698446,1.8442348223698446,1.8605255818530628,0,0,-0.00013759666836890704,9.999999025923074e-05
+4036,1792823464344135035,2143672999999,1792823464341515397,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760251865007567,-0.0047735442212381435,0.09870277494190008,0.9999999732774626,-0.00012826958571258995,-9.172544785308329e-05,0.00014149662172064948,0.6761,-0.0045,0.0986780522640572,1.0,0.0,0.0,0.0,-0.18973090108487733,-0.00832645467930393,1.2291698925092553,-0.00030828038014291126,0.015079884564562787,0.0002531860482386729,0.9145156307628899,0.8384433402724599,1.480581427268455,0.07371479027389641,-0.05849746289478136,0.003989696601427719,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.1904981930904583,0.9245522535926723,-0.3991273512863254,0.30494528737728,0.4296651515779333,0.5503746947175175,1.4270196627436291,-1.2291698925092553,1.8261470140299545,1.8261470140299545,1.9493255818531188,0,0,-0.0001245194549235037,-5.000001387778781e-05
+4106,1792823464927098485,2144255999999,1792823464925515022,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6760282426619747,-0.004775125287709166,0.09863657473281986,0.9999999747269411,-0.00011547313755265404,-8.66887834785814e-05,0.000145395979071236,0.6761,-0.0045,0.09860707097638953,1.0,0.0,0.0,0.0,-0.1956136930447886,0.002818300287369957,1.259482907845517,-0.00031230254311398475,0.015072518761016868,0.00022747272897110206,0.9086328388029786,0.8495880952391338,1.5108944426047166,0.07371076811092533,-0.05850482869832728,0.0039639832821601485,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.2589946260195808,0.9101691493392581,-0.44261774241476975,0.3098482318023962,0.4759555824255328,0.5418001154086198,1.4270196627436291,-1.259482907845517,1.8696374051583988,1.8696374051583988,2.0367755818531736,0,0,-0.00012432935480729957,-9.999999025923074e-05
+4175,1792823465502104229,2144831000000,1792823465497515446,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.676033553001333,-0.0047811407714738515,0.09857411802182009,0.9999999746187254,-0.00012026641813855773,-7.864891887803278e-05,0.0001468187633045529,0.6761,-0.0045,0.098533648928417,1.0,0.0,0.0,0.0,-0.19870172320752622,0.002409569351925489,1.2992938923161712,-0.0009918121642776834,0.016007179400162296,0.00020356945642233506,0.905544808640241,0.8491793643036893,1.5507054270753708,0.07303125848976164,-0.05757016805918185,0.0039400800096113815,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.317294109669769,0.9481744425141804,-0.596820817115065,0.30961543945139036,0.5885351386344411,0.5671678403040803,1.4270196627436291,-1.2992938923161712,2.023840479858694,2.023840479858694,2.123025581853228,0,0,-0.00013397077132795842,4.299840625077707e-05
+4238,1792823466027154267,2145356000000,1792823466025515369,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760392943078143,-0.004778363936412607,0.09850948992455351,0.9999999757992921,-0.00012158778539473094,-6.914084464890908e-05,0.00014240868462965834,0.6761,-0.0045,0.09845945906380084,1.0,0.0,0.0,0.0,-0.19896188648446111,0.00504483114449461,1.3332837475110144,-0.0003538240861352959,0.01607768924907313,0.00018166903254550034,0.9052846453633061,0.8518146260962585,1.584695282270214,0.07366924656790402,-0.05749965821027102,0.003918179585734547,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.2986534483257957,0.8822868568335958,-0.6614427890719086,0.3330297083476756,0.6200013476940137,0.5261433535002048,1.4270196627436291,-1.3332837475110144,2.0884624518155377,2.0884624518155377,2.2017755818532776,0,0,-0.00014914617585817946,9.687500387845489e-05
+4297,1792823466519129542,2145848000000,1792823466517515351,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6760398037351859,-0.0047816745318120316,0.0984361467235604,0.9999999760103275,-0.00011603804427996444,-6.887446828403012e-05,0.00014564919726974264,0.6761,-0.0045,0.09838206830791185,1.0,0.0,0.0,0.0,-0.19067454025383368,0.00562795249326431,1.3859615449737692,-0.0010168944042736328,0.01607007011563765,0.00013449622686568553,0.9135719915939335,0.8523977474450282,1.6373730797329689,0.07300617624976569,-0.057507277343706496,0.003871006780054732,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.3421447852047477,0.901684705469873,-0.6778829357690473,0.3294897396916684,0.6424480979375597,0.5403679555633124,1.4270196627436291,-1.3859615449737692,2.1049025985126764,2.1049025985126764,2.275575581853324,0,0,-0.00016511125938287042,-9.999999025923074e-05
+4360,1792823467044177482,2146373000000,1792823467037515227,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.676047748280025,-0.00478169771298992,0.09835692200390501,0.999999977673459,-0.0001049323563553062,-5.685529344459626e-05,0.00014782632321507926,0.6761,-0.0045,0.09829136678847923,1.0,0.0,0.0,0.0,-0.18982501378258976,0.006193738125749526,1.4282901187429486,-0.0013912588223223277,0.016068444604026302,9.627491028504258e-05,0.9144215180651775,0.8529635330775134,1.6797016535021483,0.07263181183171699,-0.057508902855317845,0.003832785463474089,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.3474245506954798,0.9206195427676377,-0.788631745784711,0.33853917149964846,0.7101055619282566,0.5603980894154007,1.4270196627436291,-1.4282901187429486,2.2156514085283403,2.2156514085283403,2.3543255818533737,0,0,-0.0001790322617697696,9.999932412541596e-05
+4425,1792823467585181750,2146914000000,1792823467581505508,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.676050507619574,-0.004791249680452661,0.09826308264487071,0.9999999776635632,-0.000103759152302185,-5.087223601003937e-05,0.00015087011476805703,0.6761,-0.0045,0.09818960812669911,1.0,0.0,0.0,0.0,-0.19349244940138133,0.0075699562615738625,1.4596828666866402,-0.0014259441948039075,0.01706740994942227,8.105515756722144e-05,0.9107540824463859,0.8543397512133377,1.7110944014458398,0.07259712645923541,-0.05650993750992188,0.003817565710756268,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.3739887701833413,0.920441495412951,-0.6912073341613456,0.3455023416396268,0.654852653638599,0.561415228046206,1.4270196627436291,-1.4596828666866402,2.1182269969049745,2.1182269969049745,2.435475581853425,0,0,-0.00019580771495472516,-9.999740899069848e-05
+4474,1792823467994174129,2147322999999,1792823467989506036,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.676053756382618,-0.004793530280260798,0.09818716766477727,0.9999999787038722,-9.181432458708148e-05,-4.422401259332223e-05,0.00015378389361739588,0.6761,-0.0045,0.09810628437281337,1.0,0.0,0.0,0.0,-0.19018601650729805,0.007688220550438052,1.4997241237041823,-0.0016578962680170034,0.017069454551520293,5.3253788057324326e-05,0.9140605153404692,0.8544580155022019,1.751135658463382,0.07236517438602232,-0.056507892907823855,0.0037897643412463707,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.4027303302580278,0.8792721913105075,-0.817872682471675,0.36075113609591314,0.7408827372653348,0.5363614661757163,1.4270196627436291,-1.4997241237041823,2.244892345215304,2.244892345215304,2.4968255818534635,0,0,-0.0002120102118960673,-9.999999025923074e-05
+4533,1792823468485183946,2147813999999,1792823468481505780,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760565040376854,-0.004798326544577258,0.098088906782018,0.9999999775496579,-0.0001098976294260969,-3.963050183216007e-05,0.0001506501993564558,0.6761,-0.0045,0.0979988417955748,1.0,0.0,0.0,0.0,-0.199044061923628,0.0014020791585208636,1.5390218662428026,-0.0024709507048272794,0.01747645421987304,1.6037777409944574e-05,0.9052024699241392,0.8481718741102847,1.7904334010020022,0.07155211994921204,-0.05610089323947111,0.003752548330598991,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.426078902380636,0.9218550579378978,-0.8046135750839266,0.35172893554878454,0.7412464036696459,0.5639785159359658,1.4270196627436291,-1.5390218662428026,2.231633237827556,2.231633237827556,2.57047558185351,0,0,-0.00022617262408350237,-9.998779168374767e-05
+4586,1792823468927186186,2148255999999,1792823468925505750,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760661122338271,-0.004799558532901578,0.09800501080397304,0.9999999771689676,-0.00011670695960996025,-2.3790841174249664e-05,0.00015138827589237432,0.6761,-0.0045,0.09789579328702909,1.0,0.0,0.0,0.0,-0.19010608934390705,0.01770996916361267,1.5796611993530165,-0.0024931676600754293,0.018079098645167616,-6.123056983288553e-06,0.9141404425038602,0.8644797641153765,1.8310727341122162,0.07152990299396389,-0.05549824881417653,0.003730387496205758,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.4929255032021003,0.9195300482444234,-0.9807158872166473,0.36007794891749356,0.865589704470193,0.5619326132399073,1.4270196627436291,-1.5796611993530165,2.407735549960276,2.407735549960276,2.6367755818535517,0,0,-0.00023933285421137563,-6.133200477898554e-05
+4647,1792823469435138903,2148764000000,1792823469429505308,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6760699377166637,-0.0048027566084609405,0.0978846770544873,0.999999976394747,-0.00012183669941091324,-1.670319440960779e-05,0.0001533955399069871,0.6761,-0.0045,0.0977703233473387,1.0,0.0,0.0,0.0,-0.19938861301981226,0.003200440341562305,1.6384639433978452,-0.002506444114268397,0.01806791492279635,-5.4774920203450386e-05,0.904857918827955,0.8499702352933262,1.8898754781570448,0.07151662653977092,-0.0555094325365478,0.003681735632985596,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.5034872083784765,0.8732148224970531,-0.9658494198420877,0.3860702666612405,0.8601124637892753,0.536726704622655,1.4270196627436291,-1.6384639433978452,2.392869082585717,2.392869082585717,2.7129755818535997,0,0,-0.0002555418865915745,-9.999999025923074e-05
+4702,1792823469894194352,2149223000000,1792823469893516206,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.676077578980256,-0.004811410165817089,0.09777890209434369,0.9999999745521599,-0.00013163713614590885,-5.8310633160013445e-06,0.00015803862458631465,0.6761,-0.0045,0.09765095105788194,1.0,0.0,0.0,0.0,-0.18995905004655012,0.009985087011122773,1.6858825212897475,-0.003561547391665462,0.019082170215022655,-8.778322764185168e-05,0.9142874818012171,0.8567548819628866,1.937294056048947,0.07046152326237386,-0.05449517724432149,0.0036487273255471947,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.5555114329477073,0.9419984985904923,-1.106482565928716,0.37337893321705323,0.9656576626998852,0.5814089492427233,1.4270196627436291,-1.6858825212897475,2.5335022286723454,2.5335022286723454,2.781825581853643,0,0,-0.0002648280686926282,-9.495641359181235e-05
+4753,1792823470319173582,2149648000000,1792823470317505499,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760827077322331,-0.004818201923607819,0.09767372472514291,0.9999999719521546,-0.0001471200840301245,5.774418082173947e-06,0.00016081321807070523,0.6761,-0.0045,0.09753635104826966,1.0,0.0,0.0,0.0,-0.19542372351814352,0.0012494719175366598,1.7196416986983385,-0.0035692998655233593,0.01908230630446897,-0.00011613767885364787,0.9088228083296237,0.8480192668693005,1.9710532334575381,0.07045377078851596,-0.054495041154875176,0.0036203728743353985,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.549873654866863,0.9924163598485817,-1.2050019209778422,0.36338543212329416,1.0273136659603412,0.6148836036269744,1.4270196627436291,-1.7196416986983385,2.632021583721471,2.632021583721471,2.845575581853683,0,0,-0.00027385435211605005,7.207464766534883e-05
+4802,1792823470727102975,2150056000000,1792823470725506287,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6760877871577867,-0.00481569474635846,0.09757176682926229,0.9999999712334897,-0.00015031105295449645,1.3424743190648519e-05,0.00016187108310473976,0.6761,-0.0045,0.0974221839185159,1.0,0.0,0.0,0.0,-0.19893388473171758,-0.007413943894647446,1.7692425537306975,-0.004607248508426753,0.019431223120413864,-0.00016220000416643015,0.9053126471160496,0.8393558510571164,2.020654088489897,0.06941582214561257,-0.054146124338930283,0.0035743105490226162,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.5831742727264109,0.8512826413182553,-1.2797597757675165,0.4200169820710072,1.084971130408696,0.523993130167697,1.4270196627436291,-1.7692425537306975,2.7067794385111457,2.7067794385111457,2.9067755818537218,0,0,-0.00028468225513470093,9.572527079194088e-05
+4855,1792823471169151896,2150498000000,1792823471161514882,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760917922557679,-0.004824238800818731,0.09745568340172686,0.9999999715734378,-0.00014581344425057432,2.2524267399339548e-05,0.00016287137472840028,0.6761,-0.0045,0.09729342009859526,1.0,0.0,0.0,0.0,-0.1992438295495449,0.0015659756379021728,1.8041974659182838,-0.004632640352713158,0.020095758517654425,-0.00018092804975630965,0.9050027022982223,0.848335770589666,2.0556090006774834,0.06939043030132616,-0.05348158894168972,0.0035555825034327367,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.6000811550930967,0.8808040091576403,-1.2843341297969086,0.4191091818411315,1.0945253065055989,0.546416751940184,1.4270196627436291,-1.8041974659182838,2.711353792540538,2.711353792540538,2.9730755818537635,0,0,-0.00029822797006503885,-9.999999025923074e-05
+4905,1792823471585229449,2150914000000,1792823471581505888,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760926076968223,-0.004824737298449343,0.09733329689705356,0.9999999743390763,-0.00012147895608830582,2.408385029921475e-05,0.0001656126282601505,0.6761,-0.0045,0.09716651518721661,1.0,0.0,0.0,0.0,-0.19580908801341734,-0.008861621816303678,1.857929918844929,-0.005663844710661434,0.020103678107100495,-0.0002357603170394804,0.9084374438343499,0.8379081731354602,2.1093414536041286,0.06835922594337789,-0.05347366935224365,0.003500750236149566,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.6259355804031854,0.824476342753349,-1.3348632087567185,0.4501795806803857,1.135649179859923,0.5160395307772945,1.4270196627436291,-1.857929918844929,2.7618828715003474,2.7618828715003474,3.035475581853803,0,0,-0.00031298245132679723,-9.999999025923074e-05
+4957,1792823472019218943,2151348000000,1792823472017515402,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760966096389098,-0.00482834457347514,0.0972000188379033,0.9999999727245995,-0.00013053446687636425,2.98948139996527e-05,0.00016751333606097066,0.6761,-0.0045,0.09702831248570501,1.0,0.0,0.0,0.0,-0.19850276988953564,-0.010898285642452987,1.8892411383967511,-0.006716598251638062,0.021128773023178615,-0.00025616980806061635,0.9057437619582316,0.8358715093093109,2.1406526731559508,0.06730647240240126,-0.05244857443616553,0.00348034074512843,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.6842914384857492,0.8627252696574066,-1.3609938014550464,0.45079068531914307,1.17259507678031,0.5401040024155913,1.4270196627436291,-1.8892411383967511,2.7880134641986754,2.7880134641986754,3.100575581853844,0,0,-0.00032711625145706433,-9.999999025923074e-05
+4997,1792823472352215398,2151681000000,1792823472345505763,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760982714329181,-0.004830086313766658,0.09709166968205155,0.999999970937935,-0.0001412293961036215,3.1092536594528766e-05,0.00016927641648984874,0.6761,-0.0045,0.09691764999644979,1.0,0.0,0.0,0.0,-0.19203634722369056,-0.009768925376478887,1.9190796986941572,-0.0067232117845515416,0.021122213209053685,-0.00028032502760953976,0.9122101846240767,0.837000869575285,2.170491233453357,0.06729985886948778,-0.05245513425029046,0.0034561855255795066,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.666801883445597,0.8000603507174121,-1.4059939594067778,0.47846920678615734,1.1964179370502606,0.5010163444631309,1.4270196627436291,-1.9190796986941572,2.833013622150407,2.833013622150407,3.1505255818538753,0,0,-0.00033890798460253633,-9.999987923692828e-05
+5050,1792823472794235979,2152123000000,1792823472789505638,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761057005207655,-0.004834296056990459,0.09695774348367611,0.9999999687618942,-0.00015074279311028666,4.484938299963688e-05,0.0001708338898992301,0.6761,-0.0045,0.09676347578908547,1.0,0.0,0.0,0.0,-0.1927220086271899,-0.01771346864668699,1.944739404328148,-0.007759095119439827,0.021537240101011997,-0.0002997963772288009,0.9115245232205773,0.8290563263050769,2.1961509390873477,0.06626397553459949,-0.05204010735833215,0.0034367141759602455,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.6643631972740218,0.9310857281977891,-1.433110254613363,0.4517948166764598,1.2157919763384077,0.58820772205804,1.4270196627436291,-1.944739404328148,2.860129917356992,2.860129917356992,3.216825581853917,0,0,-0.0003589613077295813,-9.999999025923074e-05
+5087,1792823473102184379,2152431000000,1792823473097505636,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6761090695744258,-0.004835628448229068,0.09684897411233856,0.99999996742771,-0.00015464521727559283,5.033226728300522e-05,0.0001736057682713861,0.6761,-0.0045,0.09665081445744661,1.0,0.0,0.0,0.0,-0.19855907038312148,-0.02292050827837544,1.9687273693503782,-0.007781089711048295,0.022140975172552632,-0.00031631750953925756,0.9056874614646457,0.8238492866733884,2.220138904109578,0.06624198094299102,-0.051436372286791515,0.003420193043649789,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.6733933540868013,0.7597360649872545,-1.5078952806551136,0.5108262024962386,1.2671541151965724,0.478423546287986,1.4270196627436291,-1.9687273693503782,2.9349149433987427,2.9349149433987427,3.263025581853946,0,0,-0.00037268278390708973,-9.999999025923074e-05
+5130,1792823473460141489,2152789000000,1792823473457514948,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761154766736229,-0.004834000994895835,0.09672514379560357,0.9999999682351983,-0.00014426631734520246,6.398094124497562e-05,0.00017339589193828816,0.6761,-0.0045,0.09651458590723384,1.0,0.0,0.0,0.0,-0.1984854192106702,-0.02044403007295703,1.9787670538860658,-0.007782712152097596,0.022142517950751756,-0.0003243094893119738,0.905761112637097,0.8263257648788068,2.2301785886452654,0.06624035850194172,-0.05143482950859239,0.0034122010638770726,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7468735233342374,0.8203895855633014,-1.535324749076897,0.5010152843919536,1.3024506815473726,0.5226547450998934,1.4270196627436291,-1.9787670538860658,2.962344411820526,2.962344411820526,3.31672558185398,0,0,-0.0003893316433093138,-9.999999025923074e-05
+5166,1792823473760161101,2153089000000,1792823473757515213,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761139030012837,-0.004829864249836444,0.09660138098669017,0.9999999682837113,-0.00013776661420569417,6.051608422258205e-05,0.0001795371939707442,0.6761,-0.0045,0.09639554391468085,1.0,0.0,0.0,0.0,-0.18926343643063148,-0.011354832775610446,1.9888667078510789,-0.007783472529643426,0.022136912788877874,-0.00033133347761483316,0.9149830954171357,0.8354149621761534,2.2402782426102785,0.0662395981243959,-0.05144043467046627,0.0034051770755742132,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7538829869118866,0.8649327064222433,-1.4449965049241393,0.49996651443647494,1.2504531926518905,0.5533969548309652,1.4270196627436291,-1.9888667078510789,2.8720161676677685,2.8720161676677685,3.3617255818540084,0,0,-0.000404331640387083,-9.999999025923074e-05
+5201,1792823474052198082,2153380999999,1792823474049505315,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6761127626212268,-0.0048306924086636855,0.09648431035305768,0.9999999682051289,-0.00013815486333604779,5.9580357596845854e-05,0.00017998894464980983,0.6761,-0.0045,0.09627535477610451,1.0,0.0,0.0,0.0,-0.1827707348508999,-0.023844027991997474,1.9984904020934406,-0.008803099619286534,0.022021136591407232,-0.00035162630992596105,0.9214757969968673,0.8229257669597664,2.2499019368526403,0.06521997103475279,-0.051556210867936915,0.0033848842432630854,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.756986633298329,0.8592858799802656,-1.4813571466323947,0.5155971277380019,1.2719019741661997,0.5521100468440541,1.4270196627436291,-1.9984904020934406,2.9083768093760236,2.9083768093760236,3.405525581854036,0,0,-0.0004189316375427784,-9.999999025923074e-05
+5239,1792823474369245744,2153697999999,1792823474361506217,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761189794007253,-0.004827764050558547,0.09635381396871809,0.9999999672234007,-0.0001395823457107507,7.005705244901387e-05,0.00018056810386848143,0.6761,-0.0045,0.09614004914749441,1.0,0.0,0.0,0.0,-0.18851709826698138,-0.029009320105342296,1.9883521858247657,-0.009179234468892697,0.02216394187163663,-0.0003449128103279208,0.9157294335807858,0.8177604748464216,2.2397637205839653,0.06484383618514662,-0.05141340558770752,0.0033915977428611256,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.724676499823008,0.788269312204527,-1.5041473323974213,0.5481231902660239,1.276553371627917,0.5081004180690026,1.4270196627436291,-1.9883521858247657,2.9311669951410506,2.9311669951410506,3.453075581854066,0,0,-0.0004347816344549545,-9.999999025923074e-05
+5272,1792823474644251615,2153973000000,1792823474637506042,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761176963335688,-0.00483386126831993,0.09623048317236596,0.9999999671977938,-0.00013562926922423637,6.474448945928121e-05,0.00018563439358327313,0.6761,-0.0045,0.09601860044838896,1.0,0.0,0.0,0.0,-0.18764583100458587,-0.04807333335037722,1.997662385195635,-0.010848176868048051,0.02219630810929705,-0.0003696126647495866,0.9166007008431813,0.7986964616013866,2.2490739199548346,0.06317489378599127,-0.0513810393500471,0.00336689788843946,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7623652918288117,0.7004457858253441,-1.4707170444006346,0.5832153235340681,1.2670898994732296,0.4571481831305871,1.4270196627436291,-1.997662385195635,2.8977367071442637,2.8977367071442637,3.494325581854092,0,0,-0.000448531631776243,-9.999999025923074e-05
+5303,1792823474902156843,2154231000000,1792823474897515120,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.676113557882788,-0.0048348044490249984,0.09610175910159717,0.9999999680242697,-0.00012701798735335068,5.75884964739262e-05,0.0001895898727710778,0.6761,-0.0045,0.09590122163771614,1.0,0.0,0.0,0.0,-0.19632583917572777,-0.07105983701376528,1.9932440710323664,-0.01185501414983197,0.022218595216291173,-0.000381649724611468,0.9079206926720395,0.7757099579379986,2.244655605791566,0.06216805650420735,-0.051358752243052974,0.0033548608285775784,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7224343522700216,0.7600141662146052,-1.4159836111520638,0.5712606080306614,1.217871238108461,0.4999461120956583,1.4270196627436291,-1.9932440710323664,2.843003273895693,2.843003273895693,3.5330255818541163,0,0,-0.0004614316292631245,-9.999999025923074e-05
+5335,1792823475169236019,2154498000000,1792823475165505264,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.6761109572958995,-0.0048393650952154345,0.09597278888771667,0.9999999676738092,-0.0001342986460608378,5.277807205623468e-05,0.00018781265590995069,0.6761,-0.0045,0.09577624384305139,1.0,0.0,0.0,0.0,-0.1962786478637235,-0.0791655502830153,1.9871552780796953,-0.011870859535849689,0.02221994084164492,-0.0003769237063346153,0.9079678839840437,0.7676042446687485,2.238566812838895,0.06215221111818963,-0.051357406617699226,0.003359586846854431,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7409890922853515,0.7988151683692163,-1.4641499680351096,0.5730092995163422,1.2541112740697744,0.5280320987344644,1.4270196627436291,-1.9871552780796953,2.8911696307787387,2.8911696307787387,3.5730755818541415,0,0,-0.0004747816266623391,-9.999999025923074e-05
+5366,1792823475427261884,2154755999999,1792823475425505944,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.676106779948119,-0.004839068294860289,0.09584514437485145,0.9999999672575483,-0.00013759309632100107,4.8054137049018324e-05,0.0001889092547383409,0.6761,-0.0045,0.09565209253369795,1.0,0.0,0.0,0.0,-0.1958792329479181,-0.09270461446329736,1.9668597821947928,-0.012888494278911616,0.0222440432662602,-0.00037194719408331677,0.9083672988998491,0.7540651804884665,2.2182713169539925,0.0611345763751277,-0.05133330419308395,0.0033645633591057296,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.785763577217332,0.725072382022661,-1.4890534666210486,0.5928257150001057,1.2803262253686627,0.4802468237369837,1.4270196627436291,-1.9668597821947928,2.916073129364678,2.916073129364678,3.611775581854166,0,0,-0.00048768162414922065,-9.999999025923074e-05
+5400,1792823475710214142,2155039000000,1792823475705506023,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761041903533779,-0.004843165832921791,0.09570167114253235,0.9999999657271212,-0.0001370378064823245,4.471519885185873e-05,0.00019801467408547512,0.6761,-0.0045,0.09551208348445517,1.0,0.0,0.0,0.0,-0.2061739452335798,-0.09792082898705501,1.956179037788726,-0.013933984027810424,0.0232773891671861,-0.000367359797457206,0.8980725866141874,0.7488489659647088,2.2075905725479257,0.060089086626228895,-0.05029995829215805,0.0033691507557318404,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7091785482407713,0.7409531769202532,-1.3098339879011112,0.5994832990779807,1.140182743829784,0.4954898486630765,1.4270196627436291,-1.956179037788726,2.7368536506447403,2.7368536506447403,3.6542255818541927,0,0,-0.000501831621392583,-9.999999025923074e-05
+5429,1792823475952224734,2155281000000,1792823475945515401,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760996746151948,-0.004850237206625658,0.09557231566062731,0.9999999639754681,-0.00013351466832000976,3.49747561715974e-05,0.00021081396209287522,0.6761,-0.0045,0.09538918218236457,1.0,0.0,0.0,0.0,-0.21284920604634883,-0.12350002368278679,1.9453468239086082,-0.015925594317259185,0.02331826406183738,-0.00037988423293043756,0.8913973258014184,0.7232697712689771,2.196758358667808,0.058097476336780134,-0.05025908339750677,0.003356626320258609,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.8317154023834796,0.658416164039726,-1.5512809831570877,0.6226998688782419,1.329293759752642,0.4440900998031744,1.4270196627436291,-1.9453468239086082,2.978300645900717,2.978300645900717,3.6905255818542155,0,0,-0.0005139316190353168,-9.999999025923074e-05
+5461,1792823476219232913,2155547999999,1792823476217505447,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760990153233126,-0.004852410796645192,0.09543374229315799,0.9999999692772065,-7.088482567790235e-05,3.351459766822742e-05,0.00021619566088214206,0.6761,-0.0045,0.09525018689043065,1.0,0.0,0.0,0.0,-0.21640723555476193,-0.1466178720383976,1.9441004248348692,-0.016998158871486868,0.023371072228066156,-0.0003864355640654546,0.8878392962930053,0.7001519229133663,2.195511959594069,0.05702491178255245,-0.05020627523127799,0.003350074989123592,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7757701470112874,0.6868218907595866,-1.5007017979941744,0.6360189265647559,1.2769083656755476,0.47922743627975356,1.4270196627436291,-1.9441004248348692,2.9277214607378035,2.9277214607378035,3.7305755818542408,0,0,-0.0005272816164345315,-9.999999025923074e-05
+5488,1792823476444268821,2155773000000,1792823476441506042,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6761002044995097,-0.004845064208310016,0.09531329376068404,0.9999999701574337,-0.00014165948180467093,3.9949587149889526e-05,0.0001716526073370264,0.6761,-0.0045,0.09513028852698054,1.0,0.0,0.0,0.0,-0.20002776126941402,-0.1264090745463995,1.9286992278269794,-0.015972679229412874,0.023317967526370185,-0.0003686905374700963,0.9042187705783532,0.7203607204053644,2.180110762586179,0.058050391424626445,-0.05025937993297396,0.00336782001571895,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.8690008483608012,0.6513097715418854,-1.50168812085425,0.6414112113145595,1.3057404287117267,0.4493157317396334,1.4270196627436291,-1.9286992278269794,2.928707783597879,2.928707783597879,3.764325581854262,0,0,-0.0005385316142428584,-9.999999025923074e-05
+5518,1792823476694202588,2156023000000,1792823476693505616,DOWN_FORCE_DETACH,1,0.066,0.06600221991539001,0.676098695699188,-0.004851202527465581,0.09517139920414648,0.9999999675390313,-0.00013880392986539457,3.28379724582938e-05,0.0001897891912294898,0.6761,-0.0045,0.09499409937372544,1.0,0.0,0.0,0.0,-0.22114447766788214,-0.15687347855481748,1.914209530988328,-0.017903752988234614,0.024378126836197972,-0.0003580835732990826,0.8831020541798851,0.6898963163969464,2.1656210657475277,0.056119317665804705,-0.049199220623146175,0.003378426979889964,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.8617014129545968,0.6733928635506158,-1.427293532256906,0.6419280144524359,1.2536007852015203,0.4658958243306117,1.4270196627436291,-1.914209530988328,2.854313195000535,2.854313195000535,3.8018255818542857,0,0,-0.0005510316118076661,-9.999999025923074e-05
+5545,1792823476919277660,2156248000000,1792823476913515453,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760976610881178,-0.004853243968685361,0.09504338895431437,0.9999999645435799,-0.00014176822376456633,3.0839257146315086e-05,0.00020323979534924233,0.6761,-0.0045,0.09486885726131637,1.0,0.0,0.0,0.0,-0.23045608056002675,-0.17349440183125975,1.9038966862150777,-0.01906477333870265,0.024620672826675474,-0.00035985268444696256,0.8737904512877405,0.6732753931205041,2.1553082209742773,0.05495829731533667,-0.04895667463266867,0.003376657868742084,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.9363371360753463,0.5440566188299112,-1.5588559552151058,0.6719232998546582,1.360715012434986,0.3768440933286712,1.4270196627436291,-1.9038966862150777,2.985875617958735,2.985875617958735,3.835575581854307,0,0,-0.000562281609615993,-9.999999025923074e-05
+5571,1792823477135277801,2156464000000,1792823477133505270,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760918964169524,-0.004855363156798509,0.0949062407323917,0.9999999622423502,-0.00014563855800017072,1.957038119084544e-05,0.00021298960768976582,0.6761,-0.0045,0.0947462434338676,1.0,0.0,0.0,0.0,-0.2398792459569694,-0.18715540170034117,1.8933668396277699,-0.020107498528010997,0.025438983506002523,-0.0003515214973569417,0.8643672858907978,0.6596143932514227,2.1447783743869695,0.05391557212602832,-0.048138363953341624,0.0033849890558321047,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.930941092841684,0.6046503293430933,-1.4563465087305598,0.6656966659308097,1.2926158442604683,0.42167664669434296,1.4270196627436291,-1.8933668396277699,2.883366171474189,2.883366171474189,3.8679755818543273,0,0,-0.0005730816075119868,-9.999999025923074e-05
+5596,1792823477344176944,2156672999999,1792823477337505913,DOWN_FORCE_DETACH,1,0.066,0.06600156426429749,0.6760857863683652,-0.00485119826035076,0.09477181786031755,0.9999999611296815,-0.00017919621420847643,1.0897314766160438e-05,0.0001922328407120971,0.6761,-0.0045,0.09462538257811136,1.0,0.0,0.0,0.0,-0.23828351133013792,-0.19026241544342437,1.8751226943939057,-0.020988008719462013,0.025459744957557845,-0.0003460231026755933,0.8659630205176293,0.6565073795083395,2.1265342291531053,0.053035061934577306,-0.0481176025017863,0.003390487450513453,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.8604082542727418,0.665968607301931,-1.4099700488300824,0.6545857958995253,1.2408555690828533,0.46278561979304567,1.4270196627436291,-1.8751226943939057,2.8369897115737115,2.8369897115737115,3.899325581854347,0,0,-0.000583531605476166,-9.999999025923074e-05
+5635,1792823477668280961,2156996999999,1792823477661515441,DOWN_SETTLE,1,0.066,0.06600221991539001,0.6760814071294666,-0.004855681627164367,0.09464433832833531,0.9999999603501377,-0.00018478093601701978,3.290228989775115e-06,0.00019127929114971223,0.6761,-0.0045,0.09451262268548691,1.0,0.0,0.0,0.0,-0.23795931102672885,-0.20566903815602866,1.8127855716250019,-0.022133324514965087,0.025492420762251104,-0.00030631992495722127,0.8662872208210384,0.6411007567957352,2.0641971063842015,0.05188974613907423,-0.04808492669709304,0.003430190628231825,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.8253553995275105,0.5762206016216166,-1.468915587392325,0.6780013148192924,1.280284559503873,0.4133248501607292,1.4270196627436291,-1.8127855716250019,2.8959352501359543,0.0,0.0,0,0,-6.616698353675967e-05,0.0006683533690581784
+5716,1792823478342199072,2157670999999,1792823478337514748,DOWN_PEAK_HOLD,1,0.066,0.06600221991539001,0.6760704204454547,-0.004850057017507363,0.09460561981160985,0.9999999615204883,-0.0001799111471626899,-1.682127100274237e-05,0.00018907911061274692,0.6761,-0.0045,0.0945070144001931,1.0,0.0,0.0,0.0,-0.23690517498666008,-0.22207870149652076,1.6417186606537406,-0.022075154388434888,0.02452011940956595,-0.00018663447642597916,0.8673413568611071,0.6246910934552431,1.8931301954129403,0.05194791626560443,-0.0490572280497782,0.0035498760767630672,1.1042465318477672,0.8467697949517639,0.2514115347591996,0.07402307065403932,-0.07357734745934415,0.0037365105531890464,1,1.7353472657728253,0.6312399966660904,-1.1668279105774213,0.6355966514589829,1.0744806890593848,0.44049330923314184,1.4270196627436291,-1.6417186606537406,2.5938475733210504,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_0050_15/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,1792823451744357730,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.262498550e-09,-1.694053058e-10,-5.512120760e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450337e-01,-1.186814931e-04,8.303259161e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1792823452349940612,1.603503432e-06,-8.197329414e-07,2.380903878e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.386117520e-08,-4.640146047e-09,-1.484458445e-08,7.019572363e-01,-2.309046796e-05,8.601454681e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450663e-01,-1.186859638e-04,8.303259018e-01
+2,1.216666667e+00,DOWN_FORCE_DETACH,1792823453005649616,2.420131978e-06,1.316095321e-07,-8.902901868e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.480688459e-08,-7.727235867e-09,-2.408001665e-08,7.019580529e-01,-2.213912549e-05,8.601341843e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450873e-01,-1.186890509e-04,8.303258926e-01
+3,1.850000000e+00,DOWN_FORCE_DETACH,1792823453644999637,1.472519276e-06,-4.032103248e-06,-4.882409424e-05,-1.101019416e-07,-1.553098341e-06,-4.332316337e-05,-5.862413044e-07,-1.567837706e-06,-4.319208561e-05,7.019571053e-01,-2.630283827e-05,8.600942631e-01,7.019555227e-01,-2.382383336e-05,8.600997641e-01,7.027444462e-01,-1.202491614e-04,8.302827246e-01
+4,2.516666667e+00,DOWN_FORCE_DETACH,1792823454333440083,3.145519337e-06,-1.293580208e-05,-1.024475735e-04,1.633798348e-06,-8.737174965e-06,-8.710868377e-05,7.828676210e-07,-8.819991217e-06,-8.699369879e-05,7.019587783e-01,-3.520653710e-05,8.600406397e-01,7.019572666e-01,-3.100790999e-05,8.600559786e-01,7.027458153e-01,-1.275013149e-04,8.302389230e-01
+5,3.133333333e+00,DOWN_FORCE_DETACH,1792823454955329311,4.408317919e-06,-1.689485694e-05,-1.505068437e-04,5.191002015e-06,-1.228943692e-05,-1.477115502e-04,3.783955805e-06,-1.235377491e-05,-1.475334000e-04,7.019600411e-01,-3.916559196e-05,8.599925804e-01,7.019608238e-01,-3.456017194e-05,8.599953757e-01,7.027488164e-01,-1.310350986e-04,8.301783833e-01
+6,3.683333333e+00,DOWN_FORCE_DETACH,1792823455544773126,8.587474984e-06,-2.059425670e-05,-1.883221410e-04,5.720345917e-06,-1.854474034e-05,-1.890020916e-04,3.840765563e-06,-1.869047822e-05,-1.887666233e-04,7.019642203e-01,-4.286499172e-05,8.599547651e-01,7.019613532e-01,-4.081547537e-05,8.599540851e-01,7.027488732e-01,-1.373718019e-04,8.301371501e-01
+7,4.316666667e+00,DOWN_FORCE_DETACH,1792823456182969677,4.821933912e-06,-2.655228038e-05,-2.463070523e-04,7.100292967e-06,-2.568615355e-05,-2.288537914e-04,4.847949506e-06,-2.588811919e-05,-2.286373091e-04,7.019604548e-01,-4.882301540e-05,8.598967802e-01,7.019627331e-01,-4.795688857e-05,8.599142334e-01,7.027498804e-01,-1.445694429e-04,8.300972794e-01
+8,4.916666667e+00,DOWN_FORCE_DETACH,1792823456805698016,9.563321811e-06,-3.131107252e-05,-2.787636850e-04,3.063752781e-06,-2.564792689e-05,-2.729797966e-04,-2.042246261e-08,-2.587407770e-05,-2.728763286e-04,7.019651961e-01,-5.358180755e-05,8.598643236e-01,7.019586966e-01,-4.791866192e-05,8.598701074e-01,7.027450120e-01,-1.445554014e-04,8.300530403e-01
+9,5.533333333e+00,DOWN_FORCE_DETACH,1792823457411929332,1.576743761e-05,-2.725307688e-05,-3.122955848e-04,1.155765733e-05,-3.282030546e-05,-3.097956889e-04,8.659968499e-06,-3.311036939e-05,-3.096710630e-04,7.019714003e-01,-4.952381191e-05,8.598307917e-01,7.019671905e-01,-5.509104048e-05,8.598332916e-01,7.027536924e-01,-1.517916931e-04,8.300162456e-01
+10,5.800000000e+00,DOWN_FORCE_DETACH,1792823457673929794,5.347270324e-05,-1.960194506e-05,-3.001469952e-04,5.100980986e-05,-2.648534457e-05,-2.956636961e-04,5.129841707e-05,-2.673015437e-05,-2.955983818e-04,7.020091055e-01,-4.187268008e-05,8.598429402e-01,7.020066426e-01,-4.875607959e-05,8.598474235e-01,7.027963309e-01,-1.454114781e-04,8.300303183e-01
+11,6.383333333e+00,DOWN_FORCE_DETACH,1792823458246811525,5.192414224e-05,-2.973432787e-05,-3.500567614e-04,5.294275675e-05,-2.729067040e-05,-3.372405811e-04,5.287629702e-05,-2.753589133e-05,-3.371201155e-04,7.020075570e-01,-5.200506289e-05,8.597930305e-01,7.020085756e-01,-4.956140543e-05,8.598058467e-01,7.027979088e-01,-1.462172150e-04,8.299887966e-01
+12,6.916666667e+00,DOWN_FORCE_DETACH,1792823458772021136,5.325493989e-05,-4.011851317e-05,-4.053875643e-04,5.305577812e-05,-3.565755719e-05,-4.004940515e-04,5.224746162e-05,-3.598740599e-05,-4.002634237e-04,7.020088878e-01,-6.238924819e-05,8.597376997e-01,7.020086886e-01,-5.792829221e-05,8.597425932e-01,7.027972799e-01,-1.546687297e-04,8.299256533e-01
+13,7.516666667e+00,DOWN_FORCE_DETACH,1792823459360870626,5.724459354e-05,-4.123832326e-05,-4.730684181e-04,5.765026836e-05,-3.800842767e-05,-4.653235117e-04,5.643023993e-05,-3.832456311e-05,-4.650357872e-04,7.020128774e-01,-6.350905828e-05,8.596700188e-01,7.020132831e-01,-6.027916270e-05,8.596777637e-01,7.028014627e-01,-1.570058868e-04,8.298608809e-01
+14,8.033333333e+00,DOWN_FORCE_DETACH,1792823459933950415,6.193981292e-05,-4.320890681e-05,-5.349668842e-04,6.186310685e-05,-4.338829714e-05,-5.351101430e-04,6.015014265e-05,-4.378052850e-05,-5.347167596e-04,7.020175726e-01,-6.547964183e-05,8.596081204e-01,7.020174959e-01,-6.565903216e-05,8.596079771e-01,7.028051826e-01,-1.624618522e-04,8.297911999e-01
+15,8.650000000e+00,DOWN_FORCE_DETACH,1792823460556462253,8.138348223e-05,-4.746034466e-05,-5.848795215e-04,7.677231340e-05,-4.407999565e-05,-5.696113121e-04,7.579781194e-05,-4.448716187e-05,-5.693363884e-04,7.020370163e-01,-6.973107968e-05,8.595582077e-01,7.020324051e-01,-6.635073068e-05,8.595734759e-01,7.028208303e-01,-1.631684856e-04,8.297565803e-01
+16,9.200000000e+00,DOWN_FORCE_DETACH,1792823461163085725,8.511111260e-05,-5.024922820e-05,-6.503597456e-04,8.131395857e-05,-5.078538092e-05,-6.365313651e-04,7.989555592e-05,-5.122664569e-05,-6.361945946e-04,7.020407439e-01,-7.251996322e-05,8.594927275e-01,7.020369468e-01,-7.305611594e-05,8.595065559e-01,7.028249280e-01,-1.699079694e-04,8.296897221e-01
+17,9.783333333e+00,DOWN_FORCE_DETACH,1792823461736778878,8.707447192e-05,-5.844433516e-05,-7.189268371e-04,8.513988207e-05,-5.458666074e-05,-7.050059204e-04,8.320099721e-05,-5.506810146e-05,-7.046928649e-04,7.020427073e-01,-8.071507018e-05,8.594241604e-01,7.020407727e-01,-7.685739576e-05,8.594380813e-01,7.028282335e-01,-1.737494252e-04,8.296212238e-01
+18,1.003333333e+01,DOWN_FORCE_DETACH,1792823461981947738,9.400050606e-05,-3.047740662e-05,-7.450508558e-04,8.952893024e-05,-3.329833095e-05,-7.407180131e-04,8.742817755e-05,-3.356321740e-05,-7.403735356e-04,7.020496333e-01,-5.274814164e-05,8.593980364e-01,7.020451617e-01,-5.556906597e-05,8.594023692e-01,7.028324606e-01,-1.522445411e-04,8.295855431e-01
+19,1.058333333e+01,DOWN_FORCE_DETACH,1792823462588412320,1.061552378e-04,-3.176198017e-05,-8.091786179e-04,1.045544882e-04,-3.326509306e-05,-8.078592586e-04,1.028853081e-04,-3.357609213e-05,-8.074543252e-04,7.020617881e-01,-5.403271519e-05,8.593339086e-01,7.020601873e-01,-5.553582808e-05,8.593352280e-01,7.028479178e-01,-1.522574158e-04,8.295184624e-01
+20,1.110000000e+01,DOWN_FORCE_DETACH,1792823463181755124,1.133625624e-04,-3.947981891e-05,-8.858307002e-04,1.085017300e-04,-4.192775846e-05,-8.749015518e-04,1.062966824e-04,-4.230344854e-05,-8.745158113e-04,7.020689954e-01,-6.175055393e-05,8.592572565e-01,7.020641345e-01,-6.419849348e-05,8.592681857e-01,7.028513291e-01,-1.609847722e-04,8.294514009e-01
+21,1.165000000e+01,DOWN_FORCE_DETACH,1792823463751485442,1.146094755e-04,-4.745341290e-05,-9.677743760e-04,1.165368975e-04,-4.978997688e-05,-9.594588130e-04,1.138655013e-04,-5.019383552e-05,-9.590726891e-04,7.020702423e-01,-6.972414792e-05,8.591753129e-01,7.020721697e-01,-7.206071190e-05,8.591836284e-01,7.028588980e-01,-1.688751592e-04,8.293668440e-01
+22,1.223333333e+01,DOWN_FORCE_DETACH,1792823464341036147,1.187205884e-04,-4.777146860e-05,-1.032102034e-03,1.161052429e-04,-5.165208129e-05,-1.022177500e-03,1.126910525e-04,-5.210772502e-05,-1.021859431e-03,7.020743534e-01,-7.004220362e-05,8.591109852e-01,7.020717381e-01,-7.392281631e-05,8.591209097e-01,7.028577235e-01,-1.707890487e-04,8.293040572e-01
+23,1.280000000e+01,DOWN_FORCE_DETACH,1792823464931001888,1.236416734e-04,-5.367619438e-05,-1.098710201e-03,1.194175759e-04,-5.316855262e-05,-1.083972508e-03,1.154882881e-04,-5.359856543e-05,-1.083673596e-03,7.020792745e-01,-7.594692941e-05,8.590443770e-01,7.020750504e-01,-7.543928765e-05,8.590591147e-01,7.028605207e-01,-1.722798891e-04,8.292422431e-01
+24,1.338333333e+01,DOWN_FORCE_DETACH,1792823465503720534,1.282749381e-04,-5.714021026e-05,-1.162103764e-03,1.264243649e-04,-5.811768345e-05,-1.147234038e-03,1.222627550e-04,-5.861513247e-05,-1.146947351e-03,7.020839078e-01,-7.941094528e-05,8.589809835e-01,7.020820572e-01,-8.038841848e-05,8.589958532e-01,7.028672952e-01,-1.772964562e-04,8.291789693e-01
+25,1.391666667e+01,DOWN_FORCE_DETACH,1792823466027900012,1.323654579e-04,-5.713985946e-05,-1.227876067e-03,1.315807516e-04,-5.955847961e-05,-1.214983310e-03,1.269883423e-04,-6.006762282e-05,-1.214681992e-03,7.020879983e-01,-7.941059448e-05,8.589152112e-01,7.020872136e-01,-8.182921463e-05,8.589281039e-01,7.028720208e-01,-1.787489465e-04,8.291112347e-01
+26,1.441666667e+01,DOWN_FORCE_DETACH,1792823466518797583,1.332923031e-04,-6.044233296e-05,-1.300924657e-03,1.341148403e-04,-6.196075428e-05,-1.298446169e-03,1.287617248e-04,-6.247925573e-05,-1.298092836e-03,7.020889251e-01,-8.271306798e-05,8.588421626e-01,7.020897477e-01,-8.423148931e-05,8.588446411e-01,7.028737942e-01,-1.811605794e-04,8.290278238e-01
+27,1.493333333e+01,DOWN_FORCE_DETACH,1792823467042177810,1.400000026e-04,-6.521267673e-05,-1.380344084e-03,1.399594855e-04,-6.514606199e-05,-1.380154501e-03,1.340491913e-04,-6.569242693e-05,-1.379763239e-03,7.020956328e-01,-8.748341175e-05,8.587627432e-01,7.020955923e-01,-8.741679701e-05,8.587629327e-01,7.028790816e-01,-1.843737506e-04,8.289461534e-01
+28,1.546666667e+01,DOWN_FORCE_DETACH,1792823467583996031,1.440526073e-04,-7.153146329e-05,-1.474574069e-03,1.420888212e-04,-6.654509189e-05,-1.467793933e-03,1.352447076e-04,-6.711810549e-05,-1.467366270e-03,7.020996854e-01,-9.380219832e-05,8.586685132e-01,7.020977216e-01,-8.881582691e-05,8.586752933e-01,7.028802772e-01,-1.857994292e-04,8.288585504e-01
+29,1.588333333e+01,DOWN_FORCE_DETACH,1792823467993522313,1.467669544e-04,-7.226933420e-05,-1.549905759e-03,1.442921302e-04,-7.533059028e-05,-1.551795292e-03,1.366440289e-04,-7.596606742e-05,-1.551362391e-03,7.021023998e-01,-9.454006922e-05,8.585931815e-01,7.020999249e-01,-9.760132530e-05,8.585912919e-01,7.028816765e-01,-1.946473911e-04,8.287745543e-01
+30,1.636666667e+01,DOWN_FORCE_DETACH,1792823468484746276,1.503606155e-04,-7.960716385e-05,-1.646367153e-03,1.504824744e-04,-7.409523069e-05,-1.644242070e-03,1.421091124e-04,-7.473097999e-05,-1.643818613e-03,7.021059934e-01,-1.018778989e-04,8.584967201e-01,7.021061153e-01,-9.636596571e-05,8.584988452e-01,7.028871416e-01,-1.934123037e-04,8.286820981e-01
+31,1.678333333e+01,DOWN_FORCE_DETACH,1792823468926859607,1.593313679e-04,-7.989312959e-05,-1.732959645e-03,1.592615396e-04,-7.975820154e-05,-1.732609923e-03,1.505714763e-04,-8.039193984e-05,-1.732152068e-03,7.021149642e-01,-1.021638646e-04,8.584101276e-01,7.021148944e-01,-1.020289366e-04,8.584104773e-01,7.028956039e-01,-1.990732635e-04,8.285937646e-01
+32,1.721666667e+01,DOWN_FORCE_DETACH,1792823469434763791,1.642751109e-04,-8.341704913e-05,-1.849889781e-03,1.639133700e-04,-8.215629263e-05,-1.846905858e-03,1.541595025e-04,-8.281843283e-05,-1.846321534e-03,7.021199079e-01,-1.056877842e-04,8.582931975e-01,7.021195462e-01,-1.044270277e-04,8.582961814e-01,7.028991920e-01,-2.014997565e-04,8.284795951e-01
+33,1.768333333e+01,DOWN_FORCE_DETACH,1792823469893599273,1.706501303e-04,-9.018608886e-05,-1.958463897e-03,1.703730954e-04,-9.029384512e-05,-1.958622437e-03,1.597301089e-04,-9.102691026e-05,-1.958046336e-03,7.021262829e-01,-1.124568239e-04,8.581846233e-01,7.021260059e-01,-1.125645801e-04,8.581844648e-01,7.029047626e-01,-2.097082340e-04,8.283678703e-01
+34,1.811666667e+01,DOWN_FORCE_DETACH,1792823470319779882,1.754142014e-04,-8.901682306e-05,-2.062139443e-03,1.754884948e-04,-9.190558031e-05,-2.046480993e-03,1.642058027e-04,-9.264336858e-05,-2.045995592e-03,7.021310470e-01,-1.112875581e-04,8.580809478e-01,7.021311213e-01,-1.141763153e-04,8.580966062e-01,7.029092383e-01,-2.113246923e-04,8.282799211e-01
+35,1.851666667e+01,DOWN_FORCE_DETACH,1792823470726270877,1.796583771e-04,-9.291003833e-05,-2.166853731e-03,1.779557447e-04,-9.510748421e-05,-2.162104431e-03,1.654691967e-04,-9.587805638e-05,-2.161589264e-03,7.021352912e-01,-1.151807734e-04,8.579762335e-01,7.021335886e-01,-1.173782192e-04,8.579809828e-01,7.029105017e-01,-2.145593801e-04,8.281643274e-01
+36,1.881666667e+01,DOWN_FORCE_DETACH,1792823471170965606,1.867463295e-04,-9.859951787e-05,-2.280475026e-03,1.864725661e-04,-9.972064212e-05,-2.265154066e-03,1.733630961e-04,-1.004933165e-04,-2.264563457e-03,7.021423791e-01,-1.208702529e-04,8.578626122e-01,7.021421054e-01,-1.219913771e-04,8.578779332e-01,7.029183956e-01,-2.191746402e-04,8.280613532e-01
+37,1.921666667e+01,DOWN_FORCE_DETACH,1792823471581207932,1.861547449e-04,-1.021401963e-04,-2.404250955e-03,1.849369222e-04,-1.022626913e-04,-2.387608067e-03,1.702703587e-04,-1.030784331e-04,-2.387070807e-03,7.021417876e-01,-1.244109313e-04,8.577388363e-01,7.021405697e-01,-1.245334263e-04,8.577554792e-01,7.029153028e-01,-2.217597568e-04,8.279388459e-01
+38,1.946666667e+01,DOWN_FORCE_DETACH,1792823472023100384,1.900347627e-04,-1.048232275e-04,-2.536668123e-03,1.870799464e-04,-1.059399737e-04,-2.521252393e-03,1.709459082e-04,-1.067634035e-04,-2.520530473e-03,7.021456676e-01,-1.270939625e-04,8.576064191e-01,7.021427128e-01,-1.282107087e-04,8.576218348e-01,7.029159784e-01,-2.254447272e-04,8.278053862e-01
+39,1.978333333e+01,DOWN_FORCE_DETACH,1792823472367822577,1.884046339e-04,-1.105193725e-04,-2.651224938e-03,1.880661320e-04,-1.107174161e-04,-2.650908195e-03,1.704913425e-04,-1.115484926e-04,-2.650164889e-03,7.021440375e-01,-1.327901075e-04,8.574918623e-01,7.021436989e-01,-1.329881511e-04,8.574921790e-01,7.029155238e-01,-2.302298163e-04,8.276757518e-01
+40,2.003333333e+01,DOWN_FORCE_DETACH,1792823472792946874,1.973242033e-04,-1.127273656e-04,-2.778772411e-03,1.974608392e-04,-1.152621250e-04,-2.771553606e-03,1.790709624e-04,-1.161356156e-04,-2.770714729e-03,7.021529570e-01,-1.349981007e-04,8.573643148e-01,7.021530937e-01,-1.375328600e-04,8.573715336e-01,7.029241034e-01,-2.348169393e-04,8.275552019e-01
+41,2.035000000e+01,DOWN_FORCE_DETACH,1792823473104406373,2.021407245e-04,-1.144043713e-04,-2.888391879e-03,1.981029585e-04,-1.183022282e-04,-2.881757559e-03,1.784158689e-04,-1.192227890e-04,-2.881054355e-03,7.021577735e-01,-1.366751063e-04,8.572546954e-01,7.021537358e-01,-1.405729632e-04,8.572613297e-01,7.029234483e-01,-2.379041127e-04,8.274448623e-01
+42,2.071666667e+01,DOWN_FORCE_DETACH,1792823473464136135,2.067213402e-04,-1.127323525e-04,-3.017514518e-03,2.066725052e-04,-1.125993533e-04,-3.017325502e-03,1.860800251e-04,-1.134765527e-04,-3.016580343e-03,7.021623542e-01,-1.350030875e-04,8.571255727e-01,7.021623053e-01,-1.348700884e-04,8.571257617e-01,7.029311125e-01,-2.321578764e-04,8.273093363e-01
+43,2.101666667e+01,DOWN_FORCE_DETACH,1792823473759027841,2.066088387e-04,-1.085771718e-04,-3.134639768e-03,2.063492159e-04,-1.083148099e-04,-3.134517189e-03,1.843189016e-04,-1.091323129e-04,-3.133762134e-03,7.021622417e-01,-1.308479068e-04,8.570084475e-01,7.021619820e-01,-1.305855449e-04,8.570085701e-01,7.029293514e-01,-2.278136366e-04,8.271921545e-01
+44,2.130000000e+01,DOWN_FORCE_DETACH,1792823474055026546,2.078754479e-04,-1.105738966e-04,-3.252035001e-03,2.079123600e-04,-1.108183805e-04,-3.251756344e-03,1.845791592e-04,-1.116688387e-04,-3.251034370e-03,7.021635083e-01,-1.328446316e-04,8.568910522e-01,7.021635452e-01,-1.330891155e-04,8.568913309e-01,7.029296116e-01,-2.303501624e-04,8.270748823e-01
+45,2.161666667e+01,DOWN_FORCE_DETACH,1792823474365717543,2.128429000e-04,-1.144771885e-04,-3.380175167e-03,2.119290420e-04,-1.095920941e-04,-3.366112742e-03,1.875076977e-04,-1.104298723e-04,-3.365445426e-03,7.021684757e-01,-1.367479235e-04,8.567629121e-01,7.021675619e-01,-1.318628291e-04,8.567769745e-01,7.029325402e-01,-2.291111960e-04,8.269604713e-01
+46,2.190000000e+01,DOWN_FORCE_DETACH,1792823474643810598,2.082699405e-04,-1.157030842e-04,-3.510418558e-03,2.080637971e-04,-1.156093159e-04,-3.510297339e-03,1.816526327e-04,-1.164844088e-04,-3.509574504e-03,7.021639028e-01,-1.379738193e-04,8.566326687e-01,7.021636966e-01,-1.378800509e-04,8.566327899e-01,7.029266851e-01,-2.351657325e-04,8.268163422e-01
+47,2.216666667e+01,DOWN_FORCE_DETACH,1792823474905702427,2.066290328e-04,-1.135803721e-04,-3.635606890e-03,2.064647427e-04,-1.132903401e-04,-3.635434287e-03,1.784545976e-04,-1.141430591e-04,-3.634717830e-03,7.021622618e-01,-1.358511071e-04,8.565074803e-01,7.021620976e-01,-1.355610751e-04,8.565076530e-01,7.029234871e-01,-2.328243828e-04,8.266911988e-01
+48,2.241666667e+01,DOWN_FORCE_DETACH,1792823475168070999,2.055210610e-04,-1.163670713e-04,-3.759370827e-03,2.054163248e-04,-1.163856504e-04,-3.758955052e-03,1.758183111e-04,-1.172496858e-04,-3.758209814e-03,7.021611539e-01,-1.386378064e-04,8.563837164e-01,7.021610491e-01,-1.386563854e-04,8.563841322e-01,7.029208508e-01,-2.359310095e-04,8.265677069e-01
+49,2.268333333e+01,DOWN_FORCE_DETACH,1792823475430166723,2.011641029e-04,-1.188761835e-04,-3.891123213e-03,1.996477576e-04,-1.191299164e-04,-3.881017497e-03,1.681781073e-04,-1.200147751e-04,-3.880326766e-03,7.021567969e-01,-1.411469185e-04,8.562519640e-01,7.021552806e-01,-1.414006515e-04,8.562620697e-01,7.029132106e-01,-2.386960987e-04,8.264455899e-01
+50,2.295000000e+01,DOWN_FORCE_DETACH,1792823475708529126,1.985638563e-04,-1.217578035e-04,-4.029564262e-03,2.006360776e-04,-1.214745056e-04,-4.020930144e-03,1.675340434e-04,-1.223663334e-04,-4.020264439e-03,7.021541967e-01,-1.440285385e-04,8.561135230e-01,7.021562689e-01,-1.437452407e-04,8.561221571e-01,7.029125665e-01,-2.410476571e-04,8.263056522e-01
+51,2.320000000e+01,DOWN_FORCE_DETACH,1792823475955077044,1.916562064e-04,-1.294594036e-04,-4.170017360e-03,1.938398650e-04,-1.253456914e-04,-4.156422759e-03,1.585844048e-04,-1.262736188e-04,-4.155774253e-03,7.021472890e-01,-1.517301386e-04,8.559730699e-01,7.021494727e-01,-1.476164264e-04,8.559866645e-01,7.029036169e-01,-2.449549425e-04,8.261701424e-01
+52,2.346666667e+01,DOWN_FORCE_DETACH,1792823476216254124,1.919848717e-04,-1.321569541e-04,-4.301800613e-03,1.913474695e-04,-1.304355866e-04,-4.295106116e-03,1.542432929e-04,-1.313707631e-04,-4.294511486e-03,7.021476177e-01,-1.544276891e-04,8.558412866e-01,7.021469803e-01,-1.527063216e-04,8.558479811e-01,7.028992757e-01,-2.500520868e-04,8.260314052e-01
+53,2.370000000e+01,DOWN_FORCE_DETACH,1792823476445981299,1.932450665e-04,-1.215899121e-04,-4.425939696e-03,1.921935485e-04,-1.199747339e-04,-4.410735517e-03,1.537772794e-04,-1.208356400e-04,-4.410122077e-03,7.021488779e-01,-1.438606471e-04,8.557171475e-01,7.021478264e-01,-1.422454689e-04,8.557323517e-01,7.028988097e-01,-2.395169637e-04,8.259157946e-01
+54,2.395000000e+01,DOWN_FORCE_DETACH,1792823476691920790,1.897305153e-04,-1.279104496e-04,-4.566474377e-03,1.902021007e-04,-1.278906863e-04,-4.555799677e-03,1.498619011e-04,-1.288288172e-04,-4.555154913e-03,7.021453633e-01,-1.501811847e-04,8.555766129e-01,7.021458349e-01,-1.501614213e-04,8.555872876e-01,7.028948944e-01,-2.475101408e-04,8.257707618e-01
+55,2.418333333e+01,DOWN_FORCE_DETACH,1792823476920495069,1.882158055e-04,-1.339320055e-04,-4.697439889e-03,1.897394190e-04,-1.281813309e-04,-4.684741019e-03,1.478836730e-04,-1.291270473e-04,-4.684100301e-03,7.021438486e-01,-1.562027405e-04,8.554456473e-01,7.021453722e-01,-1.504520659e-04,8.554583462e-01,7.028929161e-01,-2.478083710e-04,8.256418164e-01
+56,2.440000000e+01,DOWN_FORCE_DETACH,1792823477133536779,1.836799467e-04,-1.320813417e-04,-4.830931152e-03,1.834657230e-04,-1.320007181e-04,-4.830608964e-03,1.393714918e-04,-1.329509461e-04,-4.829937795e-03,7.021393128e-01,-1.543520767e-04,8.553121561e-01,7.021390985e-01,-1.542714531e-04,8.553124783e-01,7.028844039e-01,-2.516322698e-04,8.254959789e-01
+57,2.458333333e+01,DOWN_FORCE_DETACH,1792823477347868626,1.788575184e-04,-1.299741834e-04,-4.965548131e-03,1.799101296e-04,-1.283705884e-04,-4.951397065e-03,1.340883241e-04,-1.293169149e-04,-4.950677853e-03,7.021344903e-01,-1.522449184e-04,8.551775391e-01,7.021355429e-01,-1.506413234e-04,8.551916902e-01,7.028791208e-01,-2.479982386e-04,8.253752388e-01
+58,2.486666667e+01,DOWN_SETTLE,1792823477672070458,1.732887431e-04,-1.316433913e-04,-5.094255517e-03,1.760198386e-04,-1.325498194e-04,-5.087164134e-03,1.282600386e-04,-1.335137098e-04,-5.086669570e-03,7.021289216e-01,-1.539141263e-04,8.550488317e-01,7.021316527e-01,-1.548205544e-04,8.550559231e-01,7.028732925e-01,-2.521950335e-04,8.252392471e-01
+59,2.553333333e+01,DOWN_PEAK_HOLD,1792823478345933885,1.629773393e-04,-1.260911986e-04,-5.135633337e-03,1.644706097e-04,-1.277824064e-04,-5.128889344e-03,1.153081798e-04,-1.287540863e-04,-5.129227032e-03,7.021186102e-01,-1.483619336e-04,8.550074539e-01,7.021201034e-01,-1.500531414e-04,8.550141979e-01,7.028603406e-01,-2.474354100e-04,8.251966896e-01

Fixed/digit/cylinder_0050_15/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.3497e-02,5.7242e-02,2.4594e+00,-4.0852e-02,3.8462e-02,7.0236e-05,2.2304e-04,-2.8618e-05,-1.0157e-04,1.4007e-06,1.6183e-05,8.9640e-09,2.4674e-04,1.6243e-05
+1,5.6667e-01,DOWN_FORCE_DETACH,1.4197e-04,2.9252e-02,5.6466e-02,2.4568e+00,-4.0815e-02,3.8880e-02,6.9894e-05,5.9789e-03,-8.0435e-04,-2.7199e-03,3.8095e-05,4.3449e-04,-3.3271e-07,6.6176e-03,4.3616e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,2.8562e-04,3.2953e-02,5.5911e-02,2.4551e+00,-4.0790e-02,3.9150e-02,6.8444e-05,9.6796e-03,-1.3596e-03,-4.3967e-03,6.3289e-05,7.0396e-04,-1.7826e-06,1.0718e-02,7.0680e-04
+3,1.8500e+00,DOWN_FORCE_DETACH,4.2844e-04,3.5931e-02,5.8153e-02,2.4810e+00,-4.0943e-02,3.9336e-02,6.6113e-05,1.2657e-02,8.8218e-04,2.1510e-02,-8.9496e-05,8.9030e-04,-4.1135e-06,2.4973e-02,8.9479e-04
+4,2.5167e+00,DOWN_FORCE_DETACH,5.7122e-04,3.6600e-02,6.8543e-02,2.4926e+00,-4.1653e-02,3.9370e-02,6.5492e-05,1.3326e-02,1.1272e-02,3.3098e-02,-7.9964e-04,9.2388e-04,-4.7348e-06,3.7418e-02,1.2219e-03
+5,3.1333e+00,DOWN_FORCE_DETACH,7.1612e-04,3.4201e-02,7.3862e-02,2.5075e+00,-4.2007e-02,3.9181e-02,6.2967e-05,1.0928e-02,1.6591e-02,4.8018e-02,-1.1538e-03,7.3520e-04,-7.2600e-06,5.1965e-02,1.3682e-03
+6,3.6833e+00,DOWN_FORCE_DETACH,8.5469e-04,3.6473e-02,8.2645e-02,2.5102e+00,-4.2609e-02,3.9340e-02,6.3086e-05,1.3199e-02,2.5374e-02,5.0682e-02,-1.7553e-03,8.9359e-04,-7.1405e-06,5.8196e-02,1.9697e-03
+7,4.3167e+00,DOWN_FORCE_DETACH,9.9927e-04,3.7389e-02,9.2474e-02,2.5049e+00,-4.3284e-02,3.9407e-02,6.1999e-05,1.4115e-02,3.5203e-02,4.5377e-02,-2.4310e-03,9.6133e-04,-8.2278e-06,5.9141e-02,2.6142e-03
+8,4.9167e+00,DOWN_FORCE_DETACH,1.1426e-03,4.0208e-02,9.2859e-02,2.5020e+00,-4.3303e-02,3.9611e-02,5.6299e-05,1.6935e-02,3.5588e-02,4.2536e-02,-2.4495e-03,1.1652e-03,-1.3928e-05,5.7988e-02,2.7125e-03
+9,5.5333e+00,DOWN_FORCE_DETACH,1.2843e-03,3.5432e-02,1.0284e-01,2.5014e+00,-4.3992e-02,3.9268e-02,5.7206e-05,1.2159e-02,4.5568e-02,4.1903e-02,-3.1393e-03,8.2235e-04,-1.3021e-05,6.3088e-02,3.2453e-03
+10,5.8000e+00,DOWN_FORCE_DETACH,1.4316e-03,6.1866e-03,9.2331e-02,2.4783e+00,-4.3287e-02,3.7200e-02,6.3707e-05,-1.7087e-02,3.5061e-02,1.8848e-02,-2.4333e-03,-1.2462e-03,-6.5195e-06,4.3318e-02,2.7339e-03
+11,6.3833e+00,DOWN_FORCE_DETACH,1.5697e-03,2.1107e-02,9.2915e-02,2.4924e+00,-4.3329e-02,3.8251e-02,7.0548e-05,-2.1662e-03,3.5645e-02,3.2892e-02,-2.4757e-03,-1.9518e-04,3.2148e-07,4.8550e-02,2.4834e-03
+12,6.9167e+00,DOWN_FORCE_DETACH,1.7138e-03,2.9671e-02,1.0500e-01,2.5144e+00,-4.4146e-02,3.8841e-02,7.2476e-05,6.3970e-03,4.7725e-02,5.4902e-02,-3.2931e-03,3.9512e-04,2.2490e-06,7.3026e-02,3.3167e-03
+13,7.5167e+00,DOWN_FORCE_DETACH,1.8568e-03,3.1395e-02,1.0861e-01,2.5227e+00,-4.4376e-02,3.8953e-02,7.0317e-05,8.1215e-03,5.1341e-02,6.3252e-02,-3.5231e-03,5.0731e-04,8.9814e-08,8.1870e-02,3.5594e-03
+14,8.0333e+00,DOWN_FORCE_DETACH,1.9995e-03,3.2888e-02,1.1515e-01,2.5194e+00,-4.4812e-02,3.9059e-02,6.9181e-05,9.6149e-03,5.7884e-02,5.9898e-02,-3.9584e-03,6.1321e-04,-1.0457e-06,8.3849e-02,4.0057e-03
+15,8.6500e+00,DOWN_FORCE_DETACH,2.1419e-03,2.8180e-02,1.1748e-01,2.5157e+00,-4.4961e-02,3.8723e-02,7.0405e-05,4.9060e-03,6.0214e-02,5.6196e-02,-4.1083e-03,2.7676e-04,1.7806e-07,8.2509e-02,4.1176e-03
+16,9.2000e+00,DOWN_FORCE_DETACH,2.2846e-03,3.2157e-02,1.2743e-01,2.5248e+00,-4.5628e-02,3.8995e-02,6.9864e-05,8.8831e-03,7.0161e-02,6.5340e-02,-4.7745e-03,5.4928e-04,-3.6258e-07,9.6285e-02,4.8060e-03
+17,9.7833e+00,DOWN_FORCE_DETACH,2.4306e-03,3.4600e-02,1.3361e-01,2.5289e+00,-4.6029e-02,3.9163e-02,6.5123e-05,1.1326e-02,7.6336e-02,6.9393e-02,-5.1762e-03,7.1749e-04,-5.1042e-06,1.0378e-01,5.2257e-03
+18,1.0033e+01,DOWN_FORCE_DETACH,2.5693e-03,3.3001e-02,1.0317e-01,2.5344e+00,-4.3932e-02,3.9046e-02,5.6352e-05,9.7277e-03,4.5903e-02,7.4886e-02,-3.0785e-03,5.9958e-04,-1.3875e-05,8.8372e-02,3.1363e-03
+19,1.0583e+01,DOWN_FORCE_DETACH,2.7160e-03,2.6983e-02,1.0400e-01,2.5419e+00,-4.3968e-02,3.8608e-02,5.3728e-05,3.7099e-03,4.6727e-02,8.2429e-02,-3.1146e-03,1.6214e-04,-1.6498e-05,9.4824e-02,3.1189e-03
+20,1.1100e+01,DOWN_FORCE_DETACH,2.8562e-03,3.1279e-02,1.1752e-01,2.5409e+00,-4.4870e-02,3.8905e-02,4.9861e-05,8.0057e-03,6.0245e-02,8.1464e-02,-4.0164e-03,4.5908e-04,-2.0366e-05,1.0164e-01,4.0426e-03
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+42,2.0717e+01,DOWN_FORCE_DETACH,5.9994e-03,3.6616e-02,2.5083e-01,2.6751e+00,-5.2608e-02,3.9020e-02,-3.1698e-06,1.3343e-02,1.9356e-01,2.1567e-01,-1.1755e-02,5.7402e-04,-7.3397e-05,2.9009e-01,1.1770e-02
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Fixed/digit/cylinder_0050_15/press_depth_01/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_0050_15/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_0050_15/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,6.333333333e-01,WAIT_W2,1792823440736486406,-1.661615038e-06,-9.824308819e-05,2.138445811e-06,-1.598609809e-06,-9.837781469e-05,2.198313516e-06,-1.682506238e-06,-9.924132074e-05,2.154376903e-06,7.019539712e-01,-1.205138232e-04,8.601452257e-01,7.019540342e-01,-1.206485497e-04,8.601452856e-01,7.027433499e-01,-2.179226470e-04,8.303280710e-01
+7,6.500000000e-01,WAIT_W2,1792823440753005299,3.024848542e-06,-1.405952114e-04,9.751720865e-06,3.067243581e-06,-1.406039751e-04,9.692954791e-06,3.438132528e-06,-1.418789907e-04,9.632462307e-06,7.019586577e-01,-1.628659464e-04,8.601528390e-01,7.019587001e-01,-1.628747101e-04,8.601527802e-01,7.027484706e-01,-2.605603170e-04,8.303355491e-01
+8,6.500000000e-01,WAIT_W2,1792823440753005299,3.024848542e-06,-1.405952114e-04,9.751720865e-06,3.067243581e-06,-1.406039751e-04,9.692954791e-06,3.438132528e-06,-1.418789907e-04,9.632462307e-06,7.019586577e-01,-1.628659464e-04,8.601528390e-01,7.019587001e-01,-1.628747101e-04,8.601527802e-01,7.027484706e-01,-2.605603170e-04,8.303355491e-01
+9,6.666666667e-01,WAIT_W2,1792823440769351104,-1.352007575e-06,-2.023648402e-04,5.458147064e-06,-1.329807021e-06,-2.022845521e-04,5.784295967e-06,-1.285431260e-06,-2.041177440e-04,5.742172019e-06,7.019542808e-01,-2.246355753e-04,8.601485454e-01,7.019543030e-01,-2.245552871e-04,8.601488715e-01,7.027437470e-01,-3.227990702e-04,8.303316588e-01
+10,6.833333333e-01,WAIT_W2,1792823440785747224,-5.919948747e-07,-2.552249723e-04,1.128649720e-05,-5.605474548e-07,-2.550587222e-04,1.128026072e-05,-4.522519643e-07,-2.573572952e-04,1.125717609e-05,7.019550408e-01,-2.774957073e-04,8.601543737e-01,7.019550723e-01,-2.773294573e-04,8.601543675e-01,7.027445802e-01,-3.760386215e-04,8.303371738e-01
+11,6.833333333e-01,WAIT_W2,1792823440785747224,-5.919948747e-07,-2.552249723e-04,1.128649720e-05,-5.605474548e-07,-2.550587222e-04,1.128026072e-05,-4.522519643e-07,-2.573572952e-04,1.125717609e-05,7.019550408e-01,-2.774957073e-04,8.601543737e-01,7.019550723e-01,-2.773294573e-04,8.601543675e-01,7.027445802e-01,-3.760386215e-04,8.303371738e-01
+12,7.000000000e-01,WAIT_W2,1792823440802094080,5.309743162e-07,-3.114242555e-04,1.416494333e-05,7.836361918e-07,-3.114668636e-04,1.451406243e-05,1.057030388e-06,-3.143278425e-04,1.454334028e-05,7.019561638e-01,-3.336949905e-04,8.601572522e-01,7.019564165e-01,-3.337375986e-04,8.601576013e-01,7.027460895e-01,-4.330091688e-04,8.303404600e-01
+13,7.166666667e-01,WAIT_W2,1792823440818510479,2.656561897e-06,-3.380570705e-04,1.799060072e-05,2.652799062e-06,-3.381302219e-04,1.781105598e-05,3.149900974e-06,-3.412133216e-04,1.783018674e-05,7.019582894e-01,-3.603278056e-04,8.601610778e-01,7.019582856e-01,-3.604009570e-04,8.601608983e-01,7.027481823e-01,-4.598946479e-04,8.303437468e-01
+14,8.166666667e-01,WAIT_W2,1792823440916837975,-1.259261039e-06,-3.505528945e-04,1.392220162e-05,2.652799062e-06,-3.381302219e-04,1.781105598e-05,3.156605816e-06,-3.412530137e-04,1.792066592e-05,7.019543736e-01,-3.728236296e-04,8.601570094e-01,7.019582856e-01,-3.604009570e-04,8.601608983e-01,7.027481890e-01,-4.599343400e-04,8.303438373e-01
+15,9.500000000e-01,WAIT_W2,1792823441047937613,5.901177169e-07,-3.622403299e-04,1.802883299e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.696986614e-07,-3.621120632e-04,1.662777511e-05,7.019562229e-01,-3.845110649e-04,8.601611161e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456021e-01,-4.807933894e-04,8.303425444e-01
+16,1.133333333e+00,WAIT_W2,1792823441233311566,-1.251599287e-06,-3.668011672e-04,1.651635206e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.733769746e-07,-3.621310573e-04,1.663553153e-05,7.019543812e-01,-3.890719023e-04,8.601596036e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456058e-01,-4.808123836e-04,8.303425522e-01
+17,1.316666667e+00,UP_FORCE_RAMP,1792823441425130865,-1.062143812e-07,-3.648930559e-04,1.582271218e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.760414334e-07,-3.621424861e-04,1.662623274e-05,7.019555266e-01,-3.871637909e-04,8.601589100e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456085e-01,-4.808238123e-04,8.303425429e-01
+18,1.466666667e+00,UP_FORCE_RAMP,1792823441572153885,-1.398309744e-06,-3.691056217e-04,1.481366061e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.778916619e-07,-3.621495383e-04,1.661534411e-05,7.019542345e-01,-3.913763567e-04,8.601579009e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456103e-01,-4.808308645e-04,8.303425320e-01
+19,1.633333333e+00,UP_FORCE_RAMP,1792823441735841384,6.315626491e-07,-3.663562870e-04,1.709891817e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.797543641e-07,-3.621561307e-04,1.660260386e-05,7.019562644e-01,-3.886270220e-04,8.601601862e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456122e-01,-4.808374570e-04,8.303425193e-01
+20,1.800000000e+00,UP_FORCE_RAMP,1792823441965883343,-2.039122069e-06,-3.674970273e-04,1.459481054e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.815205322e-07,-3.621618849e-04,1.659013601e-05,7.019535937e-01,-3.897677623e-04,8.601576820e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456140e-01,-4.808432112e-04,8.303425068e-01
+21,1.900000000e+00,UP_FORCE_RAMP,1792823442064008143,1.655362661e-06,-3.637461785e-04,1.965846755e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.825311202e-07,-3.621650255e-04,1.658293225e-05,7.019572882e-01,-3.860169135e-04,8.601627457e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456150e-01,-4.808463518e-04,8.303424996e-01
+22,2.050000000e+00,UP_FORCE_RAMP,1792823442212029416,-1.452959394e-06,-3.664059794e-04,1.590372907e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.839856472e-07,-3.621694004e-04,1.657260538e-05,7.019541799e-01,-3.886767144e-04,8.601589910e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456164e-01,-4.808507267e-04,8.303424893e-01
+23,2.183333333e+00,UP_FORCE_RAMP,1792823442358159711,-7.561499582e-07,-3.689631870e-04,1.648936016e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.852483022e-07,-3.621729873e-04,1.656390564e-05,7.019548767e-01,-3.912339220e-04,8.601595766e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456177e-01,-4.808543136e-04,8.303424806e-01
+24,2.333333333e+00,UP_FORCE_RAMP,1792823442505557170,-4.558086599e-07,-3.690854147e-04,1.854573193e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.866296950e-07,-3.621767268e-04,1.655463968e-05,7.019551770e-01,-3.913561498e-04,8.601616330e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456191e-01,-4.808580530e-04,8.303424713e-01
+25,2.466666667e+00,UP_FORCE_RAMP,1792823442636604838,-4.718777900e-07,-3.680801936e-04,2.290594800e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.878214666e-07,-3.621798119e-04,1.654684715e-05,7.019551609e-01,-3.903509287e-04,8.601659932e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456203e-01,-4.808611381e-04,8.303424635e-01
+26,2.650000000e+00,UP_FORCE_RAMP,1792823442816754600,-4.805139115e-07,-3.602017904e-04,2.958057601e-05,3.214799186e-07,-3.587506162e-04,1.642168167e-05,5.894114428e-07,-3.621837294e-04,1.653677395e-05,7.019551523e-01,-3.824725254e-04,8.601726678e-01,7.019559543e-01,-3.810213512e-04,8.601595089e-01,7.027456219e-01,-4.808650556e-04,8.303424534e-01
+27,2.800000000e+00,UP_FORCE_RAMP,1792823442964242982,-3.474031629e-06,-3.670023203e-04,3.458389321e-05,-1.257344723e-06,-3.625528328e-04,3.610160268e-05,-8.211654807e-07,-3.660221422e-04,3.613607087e-05,7.019521588e-01,-3.892730553e-04,8.601776711e-01,7.019543755e-01,-3.848235678e-04,8.601791888e-01,7.027442113e-01,-4.847034685e-04,8.303620527e-01
+28,2.883333333e+00,UP_FORCE_RAMP,1792823443046197631,-6.888877879e-07,-3.660538913e-04,4.557277723e-05,-1.257344723e-06,-3.625528328e-04,3.610160268e-05,-8.211690361e-07,-3.660261437e-04,3.614661944e-05,7.019549439e-01,-3.883246263e-04,8.601886600e-01,7.019543755e-01,-3.848235678e-04,8.601791888e-01,7.027442113e-01,-4.847074700e-04,8.303620633e-01
+29,3.050000000e+00,UP_FORCE_RAMP,1792823443211208898,-2.244774411e-06,-3.654268923e-04,5.462923291e-05,-1.257344723e-06,-3.625528328e-04,3.610160268e-05,-8.206843483e-07,-3.660311182e-04,3.615354349e-05,7.019533880e-01,-3.876976273e-04,8.601977165e-01,7.019543755e-01,-3.848235678e-04,8.601791888e-01,7.027442118e-01,-4.847124445e-04,8.303620702e-01
+30,3.183333333e+00,UP_FORCE_RAMP,1792823443341248702,-2.183119383e-06,-3.653466316e-04,6.548949282e-05,-3.613072377e-06,-3.631364009e-04,5.715071410e-05,-3.146733466e-06,-3.666497464e-04,5.709961527e-05,7.019534497e-01,-3.876173666e-04,8.602085767e-01,7.019520197e-01,-3.854071359e-04,8.602002380e-01,7.027418857e-01,-4.853310727e-04,8.303830163e-01
+31,3.366666667e+00,UP_FORCE_RAMP,1792823443540145071,-2.782955983e-06,-3.627406925e-04,7.710822185e-05,-1.028305475e-06,-3.560125002e-04,7.733846961e-05,-1.171253028e-07,-3.594645180e-04,7.730193355e-05,7.019528499e-01,-3.850114275e-04,8.602201955e-01,7.019546045e-01,-3.782832352e-04,8.602204257e-01,7.027449153e-01,-4.781458443e-04,8.304032186e-01
+32,3.466666667e+00,UP_FORCE_RAMP,1792823443636185206,-2.282611995e-06,-3.616263208e-04,8.381770424e-05,-1.028305475e-06,-3.560125002e-04,7.733846961e-05,-1.137262806e-07,-3.594681478e-04,7.732315238e-05,7.019533502e-01,-3.838970558e-04,8.602269049e-01,7.019546045e-01,-3.782832352e-04,8.602204257e-01,7.027449187e-01,-4.781494741e-04,8.304032398e-01
+33,3.583333333e+00,UP_FORCE_RAMP,1792823443767935946,-6.850797810e-07,-3.810978203e-04,9.281580460e-05,-5.015902866e-07,-3.810356262e-04,9.279874173e-05,6.645008622e-07,-3.847315193e-04,9.263824136e-05,7.019549477e-01,-4.033685553e-04,8.602359030e-01,7.019551312e-01,-4.033063612e-04,8.602358860e-01,7.027456969e-01,-5.034128455e-04,8.304185549e-01
+34,3.666666667e+00,UP_FORCE_RAMP,1792823443848827198,-7.078319051e-06,-3.863346098e-04,1.000294739e-04,-5.015902866e-07,-3.810356262e-04,9.279874173e-05,6.644446420e-07,-3.847458275e-04,9.267270701e-05,7.019485545e-01,-4.086053448e-04,8.602431167e-01,7.019551312e-01,-4.033063612e-04,8.602358860e-01,7.027456969e-01,-5.034271537e-04,8.304185894e-01
+35,3.800000000e+00,UP_FORCE_RAMP,1792823443979613799,-4.466623210e-06,-3.835038250e-04,1.151995375e-04,-1.447817489e-06,-3.783605446e-04,1.165420457e-04,-1.426708662e-08,-3.820454236e-04,1.164259745e-04,7.019511662e-01,-4.057745600e-04,8.602582868e-01,7.019541850e-01,-4.006312797e-04,8.602596293e-01,7.027450182e-01,-5.007267499e-04,8.304423426e-01
+36,3.933333333e+00,UP_FORCE_RAMP,1792823444110668908,-2.653226125e-06,-3.810294768e-04,1.281320623e-04,-1.447817489e-06,-3.783605446e-04,1.165420457e-04,-1.234325775e-08,-3.820513428e-04,1.164640598e-04,7.019529796e-01,-4.033002118e-04,8.602712193e-01,7.019541850e-01,-4.006312797e-04,8.602596293e-01,7.027450201e-01,-5.007326691e-04,8.304423807e-01
+37,4.116666667e+00,UP_FORCE_RAMP,1792823444292293876,-9.537747933e-07,-3.793642778e-04,1.392273378e-04,-3.065671018e-06,-3.837302772e-04,1.378334763e-04,-1.487866214e-06,-3.874681126e-04,1.376922418e-04,7.019546790e-01,-4.016350128e-04,8.602823146e-01,7.019525671e-01,-4.060010122e-04,8.602809207e-01,7.027435446e-01,-5.061494389e-04,8.304636089e-01
+38,4.283333333e+00,UP_FORCE_RAMP,1792823444455144143,-1.354486195e-06,-3.797891761e-04,1.494258168e-04,-3.065671018e-06,-3.837302772e-04,1.378334763e-04,-1.487961764e-06,-3.874724651e-04,1.377335881e-04,7.019542783e-01,-4.020599111e-04,8.602925131e-01,7.019525671e-01,-4.060010122e-04,8.602809207e-01,7.027435445e-01,-5.061537914e-04,8.304636502e-01
+39,4.466666667e+00,UP_FORCE_RAMP,1792823444634829662,-2.759864238e-06,-3.727240095e-04,1.577723908e-04,-8.075817225e-07,-3.775073731e-04,1.562888945e-04,1.145174878e-06,-3.812185608e-04,1.561037131e-04,7.019528730e-01,-3.949947445e-04,8.603008596e-01,7.019548252e-01,-3.997781081e-04,8.602993761e-01,7.027461776e-01,-4.998998871e-04,8.304820204e-01
+40,4.650000000e+00,UP_FORCE_RAMP,1792823444831563527,-3.937311982e-06,-3.762110775e-04,1.708147187e-04,-8.075817225e-07,-3.775073731e-04,1.562888945e-04,1.149321400e-06,-3.812191404e-04,1.561333234e-04,7.019516955e-01,-3.984818126e-04,8.603139020e-01,7.019548252e-01,-3.997781081e-04,8.602993761e-01,7.027461818e-01,-4.999004667e-04,8.304820500e-01
+41,4.800000000e+00,UP_FORCE_RAMP,1792823444995501167,-4.270987806e-06,-3.746693637e-04,1.808794289e-04,-2.969966590e-06,-3.765719218e-04,1.797241259e-04,-8.519336069e-07,-3.802719530e-04,1.795237994e-04,7.019513618e-01,-3.969400987e-04,8.603239667e-01,7.019526629e-01,-3.988426568e-04,8.603228114e-01,7.027441805e-01,-4.989532793e-04,8.305054405e-01
+42,4.933333333e+00,UP_FORCE_RAMP,1792823445126611159,-6.147211420e-06,-3.747977601e-04,1.871328865e-04,-2.969966590e-06,-3.765719218e-04,1.797241259e-04,-8.520891958e-07,-3.802733784e-04,1.795566048e-04,7.019494856e-01,-3.970684951e-04,8.603302201e-01,7.019526629e-01,-3.988426568e-04,8.603228114e-01,7.027441804e-01,-4.989547047e-04,8.305054733e-01
+43,5.083333333e+00,UP_FORCE_RAMP,1792823445273960252,-9.160954136e-06,-3.695699958e-04,1.965360904e-04,-2.969966590e-06,-3.765719218e-04,1.797241259e-04,-8.517268918e-07,-3.802724237e-04,1.795782029e-04,7.019464719e-01,-3.918407309e-04,8.603396233e-01,7.019526629e-01,-3.988426568e-04,8.603228114e-01,7.027441807e-01,-4.989537499e-04,8.305054949e-01
+44,5.216666667e+00,UP_FORCE_RAMP,1792823445405189521,-9.096708134e-06,-3.696719954e-04,2.073724115e-04,-7.205827985e-06,-3.705089971e-04,1.998622955e-04,-5.170799741e-06,-3.741905226e-04,1.996964365e-04,7.019465361e-01,-3.919427304e-04,8.603504597e-01,7.019484270e-01,-3.927797321e-04,8.603429495e-01,7.027398616e-01,-4.928718488e-04,8.305256131e-01
+45,5.350000000e+00,UP_FORCE_RAMP,1792823445536167002,-1.221097863e-05,-3.697007506e-04,2.138215872e-04,-7.205827985e-06,-3.705089971e-04,1.998622955e-04,-5.173148937e-06,-3.741895634e-04,1.997207571e-04,7.019434218e-01,-3.919714857e-04,8.603569088e-01,7.019484270e-01,-3.927797321e-04,8.603429495e-01,7.027398593e-01,-4.928708897e-04,8.305256374e-01
+46,5.450000000e+00,UP_FORCE_RAMP,1792823445634527687,-1.382908124e-05,-3.755312358e-04,2.193523711e-04,-1.042036265e-05,-3.718181439e-04,2.221577588e-04,-8.353562924e-06,-3.755159491e-04,2.219420254e-04,7.019418037e-01,-3.978019709e-04,8.603624396e-01,7.019452125e-01,-3.940888789e-04,8.603652450e-01,7.027366789e-01,-4.941972753e-04,8.305478587e-01
+47,5.633333333e+00,UP_FORCE_RAMP,1792823445830617209,-1.214356066e-05,-3.723737235e-04,2.395496597e-04,-1.042036265e-05,-3.718181439e-04,2.221577588e-04,-8.357806117e-06,-3.755170604e-04,2.219914793e-04,7.019434893e-01,-3.946444586e-04,8.603826369e-01,7.019452125e-01,-3.940888789e-04,8.603652450e-01,7.027366746e-01,-4.941983866e-04,8.305479081e-01
+48,5.766666667e+00,UP_FORCE_RAMP,1792823445961710168,-9.925337555e-06,-3.673927582e-04,2.534461787e-04,-1.028543445e-05,-3.661663299e-04,2.458479449e-04,-7.941091140e-06,-3.697868557e-04,2.456081439e-04,7.019457075e-01,-3.896634932e-04,8.603965334e-01,7.019453474e-01,-3.884370649e-04,8.603889352e-01,7.027370914e-01,-4.884681819e-04,8.305715248e-01
+49,5.900000000e+00,UP_FORCE_RAMP,1792823446093824555,-1.238961962e-05,-3.651893761e-04,2.609382790e-04,-1.028543445e-05,-3.661663299e-04,2.458479449e-04,-7.940637832e-06,-3.697869789e-04,2.456443121e-04,7.019432432e-01,-3.874601111e-04,8.604040255e-01,7.019453474e-01,-3.884370649e-04,8.603889352e-01,7.027370918e-01,-4.884683051e-04,8.305715610e-01
+50,6.083333333e+00,UP_FORCE_RAMP,1792823446289947949,-1.142036998e-05,-3.619047680e-04,2.796130610e-04,-1.064965297e-05,-3.646826106e-04,2.685212068e-04,-8.050796091e-06,-3.683143805e-04,2.682757912e-04,7.019442124e-01,-3.841755030e-04,8.604227003e-01,7.019449832e-01,-3.869533456e-04,8.604116084e-01,7.027369816e-01,-4.869957068e-04,8.305941924e-01
+51,6.216666667e+00,UP_FORCE_RAMP,1792823446420526372,-1.292040074e-05,-3.662397694e-04,2.862608165e-04,-1.064965297e-05,-3.646826106e-04,2.685212068e-04,-8.050056825e-06,-3.683128205e-04,2.683063126e-04,7.019427124e-01,-3.885105044e-04,8.604293481e-01,7.019449832e-01,-3.869533456e-04,8.604116084e-01,7.027369824e-01,-4.869941468e-04,8.305942230e-01
+52,6.383333333e+00,UP_FORCE_RAMP,1792823446584851924,-1.236912361e-05,-3.638335098e-04,2.950984750e-04,-1.021908081e-05,-3.648654423e-04,2.920954793e-04,-7.286352550e-06,-3.685105912e-04,2.918301556e-04,7.019432637e-01,-3.861042449e-04,8.604381857e-01,7.019454137e-01,-3.871361774e-04,8.604351827e-01,7.027377461e-01,-4.871919175e-04,8.306177468e-01
+53,6.566666667e+00,UP_FORCE_HOLD,1792823446798190341,-1.260589769e-05,-3.615160236e-04,3.090726153e-04,-1.021908081e-05,-3.648654423e-04,2.920954793e-04,-7.284450335e-06,-3.685080335e-04,2.918709215e-04,7.019430269e-01,-3.837867586e-04,8.604521599e-01,7.019454137e-01,-3.871361774e-04,8.604351827e-01,7.027377480e-01,-4.871893598e-04,8.306177876e-01
+54,6.700000000e+00,UP_FORCE_HOLD,1792823446928994522,-1.557225954e-05,-3.664213926e-04,3.111799022e-04,-1.262607367e-05,-3.649107421e-04,3.122475689e-04,-9.625058784e-06,-3.685657456e-04,3.119669160e-04,7.019400606e-01,-3.886921276e-04,8.604542671e-01,7.019430067e-01,-3.871814771e-04,8.604553348e-01,7.027354074e-01,-4.872470719e-04,8.306378836e-01
+55,6.850000000e+00,UP_SETTLE,1792823447092405359,-1.512873901e-05,-3.587194537e-04,3.189431577e-04,-1.262607367e-05,-3.649107421e-04,3.122475689e-04,-9.625878056e-06,-3.685648494e-04,3.120076514e-04,7.019405041e-01,-3.809901887e-04,8.604620304e-01,7.019430067e-01,-3.871814771e-04,8.604553348e-01,7.027354066e-01,-4.872461756e-04,8.306379243e-01
+56,7.000000000e+00,UP_SETTLE,1792823447257125378,-1.296371118e-05,-3.597363120e-04,3.278945531e-04,-1.262607367e-05,-3.649107421e-04,3.122475689e-04,-9.626035833e-06,-3.685616135e-04,3.120346572e-04,7.019426691e-01,-3.820070470e-04,8.604709818e-01,7.019430067e-01,-3.871814771e-04,8.604553348e-01,7.027354064e-01,-4.872429398e-04,8.306379513e-01
+57,7.150000000e+00,UP_SETTLE,1792823447403325549,-1.319123318e-05,-3.608777531e-04,3.300096701e-04,-1.262607367e-05,-3.649107421e-04,3.122475689e-04,-9.625810149e-06,-3.685577575e-04,3.120554689e-04,7.019424416e-01,-3.831484881e-04,8.604730969e-01,7.019430067e-01,-3.871814771e-04,8.604553348e-01,7.027354066e-01,-4.872390837e-04,8.306379721e-01
+58,7.300000000e+00,UP_SETTLE,1792823447551027149,-1.314901723e-05,-3.571082857e-04,3.371015226e-04,-1.256672181e-05,-3.630303402e-04,3.324772547e-04,-9.306101270e-06,-3.666641645e-04,3.322912190e-04,7.019424838e-01,-3.793790207e-04,8.604801888e-01,7.019430661e-01,-3.853010753e-04,8.604755645e-01,7.027357263e-01,-4.853454908e-04,8.306582079e-01
+59,7.466666667e+00,UP_SETTLE,1792823447714617696,-1.167770310e-05,-3.590129732e-04,3.397625123e-04,-1.256672181e-05,-3.630303402e-04,3.324772547e-04,-9.304729699e-06,-3.666614284e-04,3.323228701e-04,7.019439551e-01,-3.812837082e-04,8.604828498e-01,7.019430661e-01,-3.853010753e-04,8.604755645e-01,7.027357277e-01,-4.853427547e-04,8.306582395e-01

Fixed/digit/cylinder_0050_15/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.3494e-02,5.7241e-02,2.4594e+00,-4.0852e-02,3.8462e-02,7.0257e-05,2.2308e-04,-2.8610e-05,-1.0157e-04,1.3970e-06,1.6186e-05,8.7894e-09,2.4678e-04,1.6247e-05
+1,1.6667e-01,WAIT_W2,3.7496e-05,2.5531e-02,5.6975e-02,2.4584e+00,-4.0839e-02,3.8610e-02,7.0277e-05,2.2595e-03,-2.9449e-04,-1.0281e-03,1.4227e-05,1.6407e-04,2.8755e-08,2.4998e-03,1.6469e-04
+2,3.3333e-01,WAIT_W2,7.3674e-05,2.7258e-02,5.6743e-02,2.4577e+00,-4.0828e-02,3.8735e-02,7.0188e-05,3.9865e-03,-5.2666e-04,-1.8132e-03,2.5194e-05,2.8959e-04,-6.0245e-08,4.4110e-03,2.9068e-04
+3,4.6667e-01,WAIT_W2,1.0710e-04,2.8451e-02,5.6578e-02,2.4571e+00,-4.0820e-02,3.8822e-02,7.0051e-05,5.1799e-03,-6.9136e-04,-2.3553e-03,3.2876e-05,3.7637e-04,-1.9668e-07,5.7321e-03,3.7780e-04
+4,6.0000e-01,WAIT_W2,1.5311e-04,2.9501e-02,5.6430e-02,2.4566e+00,-4.0813e-02,3.8899e-02,6.9863e-05,6.2297e-03,-8.3972e-04,-2.8317e-03,3.9723e-05,4.5275e-04,-3.8551e-07,6.8944e-03,4.5449e-04
+5,6.1667e-01,WAIT_W2,1.8559e-04,3.0741e-02,8.8979e-02,2.4562e+00,-4.3057e-02,3.8985e-02,7.6372e-05,7.4703e-03,3.1709e-02,-3.2780e-03,-2.2041e-03,5.3953e-04,6.1237e-06,3.2742e-02,2.2691e-03
+6,6.3333e-01,WAIT_W2,2.2816e-04,3.0588e-02,1.3468e-01,2.4541e+00,-4.6214e-02,3.8974e-02,8.6237e-05,7.3168e-03,7.7414e-02,-5.3265e-03,-5.3612e-03,5.2866e-04,1.5989e-05,7.7941e-02,5.3872e-03
+7,6.5000e-01,WAIT_W2,2.7145e-04,3.3268e-02,1.9429e-01,2.4563e+00,-5.0332e-02,3.9158e-02,9.8737e-05,9.9974e-03,1.3702e-01,-3.1312e-03,-9.4792e-03,7.1232e-04,2.8489e-05,1.3742e-01,9.5060e-03
+8,6.5000e-01,WAIT_W2,2.7145e-04,3.3268e-02,1.9429e-01,2.4563e+00,-5.0332e-02,3.9158e-02,9.8737e-05,9.9974e-03,1.3702e-01,-3.1312e-03,-9.4792e-03,7.1232e-04,2.8489e-05,1.3742e-01,9.5060e-03
+9,6.6667e-01,WAIT_W2,3.3352e-04,3.0268e-02,2.5227e-01,2.4519e+00,-5.4349e-02,3.8946e-02,1.1329e-04,6.9970e-03,1.9500e-01,-7.6029e-03,-1.3496e-02,5.0002e-04,4.3044e-05,1.9527e-01,1.3505e-02
+10,6.8333e-01,WAIT_W2,3.8671e-04,3.6184e-02,3.3812e-01,2.4583e+00,-6.0265e-02,3.9351e-02,1.2969e-04,1.2913e-02,2.8085e-01,-1.1294e-03,-1.9412e-02,9.0488e-04,5.9446e-05,2.8115e-01,1.9433e-02
+11,6.8333e-01,WAIT_W2,3.8671e-04,3.6184e-02,3.3812e-01,2.4583e+00,-6.0265e-02,3.9351e-02,1.2969e-04,1.2913e-02,2.8085e-01,-1.1294e-03,-1.9412e-02,9.0488e-04,5.9446e-05,2.8115e-01,1.9433e-02
+12,7.0000e-01,WAIT_W2,4.4299e-04,3.8292e-02,4.0945e-01,2.4591e+00,-6.5226e-02,3.9497e-02,1.4722e-04,1.5021e-02,3.5218e-01,-3.7837e-04,-2.4373e-02,1.0510e-03,7.6975e-05,3.5250e-01,2.4395e-02
+13,7.1667e-01,WAIT_W2,4.6998e-04,3.9952e-02,4.8414e-01,2.4629e+00,-7.0419e-02,3.9607e-02,1.6722e-04,1.6681e-02,4.2687e-01,3.4006e-03,-2.9566e-02,1.1608e-03,9.6973e-05,4.2721e-01,2.9589e-02
+14,8.1667e-01,WAIT_W2,5.0819e-04,4.2475e-02,5.1193e-01,2.4821e+00,-7.2562e-02,3.9777e-02,1.8352e-04,1.9204e-02,4.5466e-01,2.2646e-02,-3.1709e-02,1.3312e-03,1.1327e-04,4.5563e-01,3.1737e-02
+15,9.5000e-01,WAIT_W2,5.4377e-04,4.6380e-02,5.3482e-01,2.4941e+00,-7.4284e-02,4.0047e-02,1.8448e-04,2.3109e-02,4.7755e-01,3.4612e-02,-3.3430e-02,1.6010e-03,1.1423e-04,4.7936e-01,3.3469e-02
+16,1.1333e+00,WAIT_W2,5.8035e-04,4.7017e-02,5.3140e-01,2.4960e+00,-7.4142e-02,4.0092e-02,1.7833e-04,2.3746e-02,4.7413e-01,3.6500e-02,-3.3289e-02,1.6459e-03,1.0808e-04,4.7612e-01,3.3329e-02
+17,1.3167e+00,UP_FORCE_RAMP,6.1908e-04,4.7476e-02,5.2938e-01,2.4944e+00,-7.4057e-02,4.0126e-02,1.7188e-04,2.4205e-02,4.7211e-01,3.4932e-02,-3.3204e-02,1.6806e-03,1.0163e-04,4.7402e-01,3.3246e-02
+18,1.4667e+00,UP_FORCE_RAMP,6.5286e-04,4.7794e-02,5.2814e-01,2.4925e+00,-7.4004e-02,4.0151e-02,1.6668e-04,2.4523e-02,4.7087e-01,3.2984e-02,-3.3151e-02,1.7055e-03,9.6429e-05,4.7266e-01,3.3195e-02
+19,1.6333e+00,UP_FORCE_RAMP,6.8959e-04,4.8116e-02,5.2697e-01,2.4902e+00,-7.3955e-02,4.0177e-02,1.6105e-04,2.4845e-02,4.6970e-01,3.0680e-02,-3.3102e-02,1.7311e-03,9.0802e-05,4.7135e-01,3.3147e-02
+20,1.8000e+00,UP_FORCE_RAMP,7.2749e-04,4.8416e-02,5.2594e-01,2.4879e+00,-7.3912e-02,4.0201e-02,1.5563e-04,2.5145e-02,4.6867e-01,2.8417e-02,-3.3059e-02,1.7551e-03,8.5382e-05,4.7020e-01,3.3106e-02
+21,1.9000e+00,UP_FORCE_RAMP,7.6184e-04,4.8589e-02,5.2537e-01,2.4866e+00,-7.3889e-02,4.0215e-02,1.5248e-04,2.5318e-02,4.6810e-01,2.7111e-02,-3.3036e-02,1.7690e-03,8.2230e-05,4.6956e-01,3.3083e-02
+22,2.0500e+00,UP_FORCE_RAMP,7.9966e-04,4.8841e-02,5.2457e-01,2.4847e+00,-7.3857e-02,4.0235e-02,1.4789e-04,2.5570e-02,4.6730e-01,2.5239e-02,-3.3004e-02,1.7894e-03,7.7644e-05,4.6868e-01,3.3052e-02
+23,2.1833e+00,UP_FORCE_RAMP,8.3644e-04,4.9058e-02,5.2391e-01,2.4831e+00,-7.3830e-02,4.0253e-02,1.4394e-04,2.5787e-02,4.6664e-01,2.3662e-02,-3.2977e-02,1.8068e-03,7.3695e-05,4.6795e-01,3.3027e-02
+24,2.3333e+00,UP_FORCE_RAMP,8.7140e-04,4.9294e-02,5.2322e-01,2.4815e+00,-7.3803e-02,4.0272e-02,1.3965e-04,2.6023e-02,4.6595e-01,2.1985e-02,-3.2949e-02,1.8258e-03,6.9398e-05,4.6720e-01,3.3000e-02
+25,2.4667e+00,UP_FORCE_RAMP,9.0667e-04,4.9498e-02,5.2265e-01,2.4800e+00,-7.3780e-02,4.0288e-02,1.3595e-04,2.6227e-02,4.6538e-01,2.0576e-02,-3.2927e-02,1.8422e-03,6.5699e-05,4.6657e-01,3.2978e-02
+26,2.6500e+00,UP_FORCE_RAMP,9.4354e-04,4.9770e-02,5.2192e-01,2.4782e+00,-7.3751e-02,4.0310e-02,1.3104e-04,2.6499e-02,4.6465e-01,1.8758e-02,-3.2898e-02,1.8639e-03,6.0789e-05,4.6578e-01,3.2951e-02
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Fixed/digit/cylinder_0050_15/press_depth_02/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_0050_15/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
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+8274,1792823499591499519,2178920000000,1792823499589505558,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6759118953460858,-0.004756808718696402,0.09955070720095452,0.9999999379458108,-0.00013070147705452427,-0.0002723061078805884,0.00015594148419467593,0.6761,-0.0045,0.09975188004229453,1.0,0.0,0.0,0.0,-0.047881289957209194,-0.04929418248092188,0.31763983239891813,-0.002628633698226357,0.003091321581877804,-0.00024204829189077145,1.0592818429221544,0.8095005145884351,0.5474378823663639,0.07218743388058768,-0.07041349746975287,0.0035220377347340063,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.6244836385127502,0.8987085944141496,0.7217004809245047,0.3288243472695139,-0.40263740497199546,0.5403077513076491,1.4270196627436291,-0.31763983239891813,0.7053191818191245,0.7053191818191245,0.7123320506412596,0,0,-8.028754106406832e-05,9.843750400773672e-05
+8351,1792823500233505088,2179562000000,1792823500233505549,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6759132957918409,-0.0047607651335170595,0.09950770013520427,0.9999999383759636,-0.000153759092857255,-0.00026596806575612613,0.00014251337759776665,0.6761,-0.0045,0.09969908632979352,1.0,0.0,0.0,0.0,-0.04797394913884623,-0.04306429069979234,0.3778431531551488,-0.002639228587097614,0.0030777557043222825,-0.00029069099648205586,1.0591891837405174,0.8157304063695646,0.6076412031225946,0.07217683899171642,-0.07042706334730839,0.003473395030142722,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.6208869295152329,0.9580373236172358,0.7817955274011431,0.3003797405502665,-0.4435736431388827,0.5847548721822845,1.4270196627436291,-0.3778431531551488,0.645224135342486,0.645224135342486,0.808632050641249,0,0,-8.710611807824365e-05,-9.999990699250389e-05
+8431,1792823500899507359,2180228000000,1792823500893515376,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6759137439968959,-0.0047649553367620405,0.09945653290030411,0.9999999382655521,-0.0001548700306333221,-0.00026145293694093024,0.0001502311276383973,0.6761,-0.0045,0.09963691028614488,1.0,0.0,0.0,0.0,-0.05255541604556235,-0.04414006493678657,0.45800197765380013,-0.0026827483703854987,0.004074267617167296,-0.00034029745227085774,1.0546077168338013,0.8146546321325704,0.6878000276212459,0.07213331920842854,-0.06943055143446338,0.00342378857435392,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.6591009071387686,0.9685790190305099,0.5916945569161456,0.30200603556762967,-0.31350163261606157,0.5922426196992019,1.4270196627436291,-0.45800197765380013,0.8353251058274835,0.8353251058274835,0.908532050641238,0,0,-0.0001001365152921999,7.941111243437433e-05
+8500,1792823501474530072,2180803000000,1792823501473515308,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6759176115800433,-0.004762799367525138,0.09940859541734236,0.9999999407096235,-0.00014501661467143176,-0.0002545115539192122,0.000155620256516927,0.6761,-0.0045,0.09957918737164449,1.0,0.0,0.0,0.0,-0.06620483553292833,-0.05704872873086231,0.5321950152374049,-0.002697998738357743,0.004059350867492123,-0.0004037998283466606,1.0409582973464353,0.8017459683384947,0.7619930652048507,0.0721180688404563,-0.06944546818413855,0.003360286198278117,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.7215125453852913,0.9313317920714043,0.46183830329753633,0.3070527433589184,-0.2149999407868131,0.568839843099755,1.4270196627436291,-0.5321950152374049,0.9651813594460927,0.9651813594460927,0.9947820506412285,0,0,-0.00010203744907758138,9.887776294815182e-05
+8577,1792823502116561431,2181445000000,1792823502113506047,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.675922079390413,-0.004767005022163154,0.09935698676926391,0.9999999422143973,-0.00013971695292700249,-0.00024523096679471545,0.00016539350793083176,0.6761,-0.0045,0.0995134028740658,1.0,0.0,0.0,0.0,-0.07618430500023154,-0.051503408026053465,0.6080195583314063,-0.0037584268077548166,0.00507460446197143,-0.0004601780013684469,1.030978827879132,0.8072912890433035,0.8378176082988521,0.07105764077105922,-0.06843021458965924,0.003303908025256331,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.7166476457550482,0.9595924084367763,0.3748440925940308,0.2876310464077735,-0.15906467605277552,0.5842903531192516,1.4270196627436291,-0.6080195583314063,1.0521755701495983,1.0521755701495983,1.0910820506412853,0,0,-0.00010403633017988666,7.50011261693217e-05
+8610,1792823502391569515,2181719999999,1792823502389505872,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6759592805130012,-0.004768891568677503,0.09935711858419614,0.999999949422216,-0.0001357245353240651,-0.00021122619217651647,0.00017193247439271727,0.6761,-0.0045,0.09948379071627746,1.0,0.0,0.0,0.0,-0.09981607607685006,0.0001021069008335651,0.587472889160328,0.0006077154998433282,0.007246376640940189,-0.0003694045125683999,1.0073470568025136,0.8588968039701905,0.8172709391277738,0.07542378307865737,-0.06625844241069048,0.003394681514056378,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.7776273154754688,0.9093741602872834,0.48199671779465736,0.3085440726849193,-0.22357740780273455,0.555660250404279,1.4270196627436291,-0.587472889160328,0.9450229449489718,0.9450229449489718,1.1323320506413113,0,0,-0.00011381656260109197,-9.999999025923074e-05
+8693,1792823503083467821,2182411999999,1792823503077515304,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6759661992499658,-0.004767805311144535,0.09929382705054939,0.9999999518494227,-0.00013248540747923704,-0.00019379976875898028,0.00018064684646361298,0.6761,-0.0045,0.0993978259974323,1.0,0.0,0.0,0.0,-0.12519813703153493,-0.011037064305276845,0.6833962054290442,-0.0007726192247687058,0.009051812426361258,0.0005949142640193569,0.9819649958478287,0.8477576327640801,0.91319425539649,0.07404344835404533,-0.06445300662526941,0.004359000290644135,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.9294908806731508,0.9151332326652705,0.30724522175886476,0.30951472062675095,-0.07425659173771534,0.5592409425735999,1.4270196627436291,-0.6833962054290442,1.1197744409847643,1.1197744409847643,1.2361320506413767,0,0,-0.000130862574305145,-8.855108366454342e-05
+8761,1792823503649551173,2182978000000,1792823503649505567,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6759716590079667,-0.004777482012769053,0.09923765033872316,0.9999999514445517,-0.00013273135280523997,-0.00018237109313507896,0.00019410546355620107,0.6761,-0.0045,0.09932315136032442,1.0,0.0,0.0,0.0,-0.13525687314933021,-0.017227796153402086,0.7694075342979175,-0.0008642318641268049,0.010047999536210633,-0.00034713858117655684,0.9719062597300334,0.8415669009159549,0.9992055842653633,0.07395183571468723,-0.06345681951542004,0.003416947445448221,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,0.907577161689613,0.8883693784610428,0.20009705028157782,0.30311833797447585,-0.011033564265772348,0.5367437190534886,1.4270196627436291,-0.7694075342979175,1.2269226124620514,1.2269226124620514,1.3210320506414301,0,0,-0.0001319307747673929,5.6243949801643114e-05
+8844,1792823504341626278,2183670000000,1792823504341506160,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6759785405944025,-0.004778199163026887,0.09916591129130997,0.9999999515477161,-0.00013231077339199816,-0.00017123879387431038,0.00020376104725853078,0.6761,-0.0045,0.09923273313975041,1.0,0.0,0.0,0.0,-0.15368762850083795,-0.014635240694576557,0.8600101514596471,-0.0009170247570327167,0.011033353573546782,0.0004821205588292571,0.9534755043785257,0.8441594563747804,1.089808201427093,0.07389904282178132,-0.06247146547808389,0.004246206585454035,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.0219887600444761,0.9491675232966063,0.12352055974328287,0.2917028464868256,0.06896766831125187,0.5776605467815932,1.4270196627436291,-0.8600101514596471,1.3034991030003462,1.3034991030003462,1.4248320506414955,0,0,-0.00012883916470782098,-4.789378202219581e-05
+8925,1792823505016525219,2184344999999,1792823505009505979,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6759949014820672,-0.004786012888937321,0.09911007686794664,0.999999952643574,-0.00013967274752458992,-0.00014883915923760466,0.00021093634654750125,0.6761,-0.0045,0.09914784180711123,1.0,0.0,0.0,0.0,-0.1820182169850051,-0.00881012453976171,0.9405219939898256,6.169017442569924e-05,0.012014586456281576,0.0004416547269350214,0.9251449158943585,0.8499845725295953,1.1703200439572714,0.07487775775323974,-0.061490232595349095,0.004205740753559799,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.0708936742705841,0.903759807789373,-0.004657664971912,0.2927773302385134,0.15909445778105302,0.5472192140600975,1.4270196627436291,-0.9405219939898256,1.431677327715541,1.431677327715541,1.5260820506415593,0,0,-0.0001230412454880384,1.1905833290032322e-05
+9003,1792823505666602056,2184995000000,1792823505665505276,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6760013331145542,-0.004786191359308727,0.09904653788623805,0.9999999521662623,-0.00014140856214480937,-0.0001379466248853318,0.00021928220351825198,0.6761,-0.0045,0.09906938396249661,1.0,0.0,0.0,0.0,-0.1862629849759705,-0.00621667760801381,1.010725026288515,1.9916842432077253e-05,0.013011776253251728,0.0003950189536363769,0.9209001479033931,0.8525780194613432,1.240523076255961,0.07483598442124612,-0.06049304279837894,0.004159104980261155,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.0599973259331215,1.0407557616227938,-0.11693118079560064,0.24336708624981374,0.22471621575592474,0.6317361079858417,1.4270196627436291,-1.010725026288515,1.5439508435392297,1.5439508435392297,1.6235820506416208,0,0,-0.00012054366939765059,7.503462714908977e-05
+9062,1792823506158607577,2185487000000,1792823506153505633,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760137247145824,-0.004760950237141229,0.0989940264284237,0.9999999427059735,-0.0002956405276820223,-0.0001068905209286636,8.486464705310278e-05,0.6761,-0.0045,0.0990113127535191,1.0,0.0,0.0,0.0,-0.14729006979179415,0.05741790857581763,1.0729313573783137,0.004175265017255583,0.010471302180208572,0.0003684220257478901,0.9598730630875695,0.9162126056451746,1.3027294073457596,0.07899133259606962,-0.0630335168714221,0.004132508052372668,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.0699947174797435,0.9532549796570123,-0.02231583909435136,0.09995506990746955,0.2050370110663306,0.6045625817451155,1.4270196627436291,-1.0729313573783137,1.4493355018379805,1.4493355018379805,1.6973820506416673,0,0,-0.00012142090273089957,-9.999999025923074e-05
+9145,1792823506849545131,2186178000000,1792823506849515485,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760176901697582,-0.0047714828451781086,0.09892345727657348,0.9999999422439944,-0.00029155861445109333,-0.00010228621959284365,0.00010717264284159392,0.6761,-0.0045,0.09891646600373087,1.0,0.0,0.0,0.0,-0.1589716856419533,0.05714070169397689,1.1625154890197682,0.004106784127875893,0.011886229696865834,0.0003112509084346833,0.9481914472374103,0.9159353987633339,1.392313538987214,0.07892285170668993,-0.06161858935476484,0.004075336935059461,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.1905649031752508,0.9884678623484019,-0.20379988661797338,0.15524961494207554,0.33710319222440815,0.638393347748865,1.4270196627436291,-1.1625154890197682,1.6308195493616024,1.6308195493616024,1.8010320506417326,0,0,-0.0001502876215656298,-9.99926350316926e-05
+9208,1792823507374624784,2186703000000,1792823507373505481,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760240058703257,-0.004777181634476511,0.09885623247183085,0.9999999432982053,-0.00028324914741796495,-9.392964262441819e-05,0.00012567256198170988,0.6761,-0.0045,0.09883741026696441,1.0,0.0,0.0,0.0,-0.17549068192003814,0.04181135217233567,1.2427465085659017,0.003042290945534279,0.012902589603059636,0.00024861069947517203,0.9316724509593255,0.9006060492416926,1.4725445585333476,0.07785835852434832,-0.060602229448571035,0.00401269672609995,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.21078596686108,0.9114701395802726,-0.3026236034403001,0.25199697768121504,0.3905548635683013,0.5676740147402815,1.4270196627436291,-1.2427465085659017,1.7296432661839292,1.7296432661839292,1.8797820506417822,0,0,-0.00014633145461603737,-9.024604260965958e-05
+9274,1792823507924607958,2187253000000,1792823507921506317,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760309772557263,-0.004780984321057496,0.09879792329700932,0.9999999441813764,-0.0002763682732656763,-8.179840902752281e-05,0.00014145566677085895,0.6761,-0.0045,0.0987628813150685,1.0,0.0,0.0,0.0,-0.18985265703374055,0.03443244448028737,1.312798229635756,0.0030012456107640223,0.01390109489876682,0.000205959407150718,0.9173104758456231,0.8932271415496443,1.542596279603202,0.07781731318957806,-0.05960372415286385,0.003970045433775496,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.2595237727017312,0.9521723808938746,-0.5449975331446902,0.297948376765581,0.5439546975965964,0.573393654028958,1.4270196627436291,-1.312798229635756,1.9720171958883195,1.9720171958883195,1.9622820506418341,0,0,-0.00012300761129538517,9.999999025923074e-05
+9347,1792823508533605625,2187862000000,1792823508529515129,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6760313765011902,-0.00478575420692172,0.0987349234939809,0.999999942489269,-0.0002790120252296957,-8.136778994663342e-05,0.00014831013162133218,0.6761,-0.0045,0.09869499609080425,1.0,0.0,0.0,0.0,-0.2040206489943096,0.04566532312602922,1.381718013626446,0.0029614312304575424,0.014897831543806674,0.00016428126442018156,0.903142483885054,0.9044600201953862,1.6115160635938919,0.07777749880927158,-0.058606987507824,0.003928367291044959,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.2856156165986192,0.9397398788170839,-0.608829156604418,0.30931635409304487,0.5906033249918083,0.5632456736619345,1.4270196627436291,-1.381718013626446,2.0358488193480473,2.0358488193480473,2.0536320506418915,0,0,-0.00010289820276812722,9.999999025923074e-05
+9432,1792823509241636040,2188570000000,1792823509237505968,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760414560710741,-0.004786493010496633,0.09868434517786767,0.9999999414026276,-0.00028577308894696667,-6.598753892485464e-05,0.00015038946613203855,0.6761,-0.0045,0.09862802259823915,1.0,0.0,0.0,0.0,-0.1985750617081412,0.037487221860276754,1.4331873081992053,0.0029496691907041073,0.014889500916906516,0.0001233567874082313,0.9085880711712224,0.8962819189296337,1.6629853581666512,0.07776573676951815,-0.058615318134724155,0.003887442814033009,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.3212532233313279,0.9380424979488547,-0.6017254314337342,0.31607415387069665,0.5913684329826736,0.5632756081388884,1.4270196627436291,-1.4331873081992053,2.0287450941773635,2.0287450941773635,2.1598320506419584,0,0,-9.065067485133772e-05,-9.992097013545304e-05
+9516,1792823509941656792,2189270000000,1792823509941505816,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760483656550493,-0.004791351047373697,0.09862879558433041,0.9999999387553556,-0.0002965564821395647,-5.426265492864181e-05,0.00015179580374009816,0.6761,-0.0045,0.09856138797398704,1.0,0.0,0.0,0.0,-0.21404410794807893,0.03973019780080633,1.49198548094419,0.002912171765661456,0.015889499295007922,8.929040739527778e-05,0.8931190249312847,0.8985248948701633,1.7217835309116358,0.0777282393444755,-0.05761531975662275,0.0038533764340200555,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.366059274098479,0.9835105306957062,-0.6274447794651963,0.30241939304094495,0.6173939002147059,0.590029832662696,1.4270196627436291,-1.49198548094419,2.0544644422088254,2.0544644422088254,2.2648320506420245,0,0,-0.00010286314484494875,-9.999999025923074e-05
+9599,1792823510633631854,2189962000000,1792823510629515569,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760556290787668,-0.0047905193196002395,0.09856631786157544,0.9999999836209278,1.3985683296488727e-05,-4.091104731670718e-05,0.00014943793170958287,0.6761,-0.0045,0.09848538795907563,1.0,0.0,0.0,0.0,-0.2241284112671459,0.05389823985585074,1.5538614890970877,0.0039003887346255595,0.01664961462224178,6.230990000521703e-05,0.8830347216122177,0.9126929369252077,1.7836595390645336,0.0787164563134396,-0.05685520442938889,0.0038263959266299948,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.4066585755314323,1.2022911357077255,-0.8014976440480959,0.18607314395980967,0.7462471368847039,0.6421039919583338,1.4270196627436291,-1.5538614890970877,2.228517306791725,2.228517306791725,2.36863205064209,0,0,-0.00012040342417116013,-9.999999025923074e-05
+9675,1792823511266670626,2190594999999,1792823511261507366,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760599152203124,-0.004791433939435984,0.09849204070229486,0.9999999839281525,-3.1115051190082334e-06,-3.4939139244088494e-05,0.00014951967894910798,0.6761,-0.0045,0.09840271324466693,1.0,0.0,0.0,0.0,-0.2243718991710788,0.050165691423371905,1.6245047549665306,0.003877124629753037,0.01685128574563076,0.0006265271988117197,0.8827912337082848,0.9089603884927289,1.8543028049339765,0.07869319220856708,-0.05665353330599991,0.004390613225436497,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.468346768228479,1.0210226070214552,-0.9807835207677896,0.2525689207364085,0.872928539572484,0.5385619387690674,1.4270196627436291,-1.6245047549665306,2.407803183511419,2.407803183511419,2.4635820506421497,0,0,-0.00013747675558087457,7.875620574993575e-05
+9752,1792823511908675508,2191237000000,1792823511901515441,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.676069884093779,-0.004793555487910269,0.09841700754524033,0.9999999839687167,-2.1752444775659182e-05,-1.9624785560472975e-05,0.0001504896328997542,0.6761,-0.0045,0.09831081804497076,1.0,0.0,0.0,0.0,-0.2359817037527322,0.05013363025734874,1.7042648873280803,0.0038379384371404063,0.017851344929518932,-3.461929411132953e-05,0.8711814291266314,0.9089283273267057,1.9340629372955263,0.07865400601595444,-0.05565347412211174,0.003729466732513448,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.4914401927808263,1.015324823787736,-1.0395632753919737,0.2636902914689775,0.9136505610930901,0.5528161029471942,1.4270196627436291,-1.7042648873280803,2.466582938135603,2.466582938135603,2.5598820506422104,0,0,-0.0001478502610105251,6.562763807250178e-05
+9817,1792823512449672352,2191777999999,1792823512445505762,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6760732067525954,-0.004795600650248309,0.09834761475493727,0.9999999833445673,-3.812366591211998e-05,-1.3129450042653969e-05,0.00015207870728354306,0.6761,-0.0045,0.09823130691700784,1.0,0.0,0.0,0.0,-0.23534071868399176,0.05205327063646126,1.7648665771925882,0.00381764356884913,0.01783274081673554,0.0008681969982904155,0.8718224141953719,0.9108479677058182,1.9946646271600341,0.07863371114766317,-0.05567207823489513,0.004632283024915193,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.4759151382650109,0.9087882326925324,-1.0438695266890061,0.32200651240071315,0.9045600593239386,0.5137333699649249,1.4270196627436291,-1.7648665771925882,2.4708891894326355,2.4708891894326355,2.6410320506422615,0,0,-0.000146775708208284,-9.912646678345566e-05
+9894,1792823513091683170,2192420000000,1792823513085505696,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760807551750552,-0.004801474393376349,0.09826726149521463,0.9999999823345411,-6.321446312069511e-05,-3.119784636149578e-07,0.00015092255072952348,0.6761,-0.0045,0.09813753179474792,1.0,0.0,0.0,0.0,-0.25302780647904954,0.055006276818852395,1.835047692106638,0.0037774809742390503,0.018830977744560447,0.0008937277929237592,0.8541353264003141,0.9138009738882094,2.064845742074084,0.07859354855305309,-0.054673841307070224,0.004657813819548537,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.5253565075062416,0.9417495975739231,-1.1953629745942254,0.3389535412454749,1.0074960763767151,0.5672546143875876,1.4270196627436291,-1.835047692106638,2.6223826373378545,2.6223826373378545,2.737332050642322,0,0,-0.00014617266071573353,7.291722367431248e-05
+9968,1792823513709201470,2193036999999,1792823513701515235,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760852102860017,-0.004802236911446937,0.09818799868008606,0.9999999814146078,-8.125007260875189e-05,7.07922488723975e-06,0.00014819567788765245,0.6761,-0.0045,0.09804646980044533,1.0,0.0,0.0,0.0,-0.2446496172899748,0.05604571201704833,1.8852310631300293,0.0037679299256170723,0.018819905930404487,0.0008542406930340547,0.8625135155893888,0.9148404090864053,2.115029113097475,0.07858399750443111,-0.054684913121226184,0.004618326719658832,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.5409365633596925,0.9426926967202249,-1.3341052924775811,0.3624231481267082,1.096317265361739,0.5963789774135883,1.4270196627436291,-1.8852310631300293,2.7611249552212103,2.7611249552212103,2.8298820506423805,0,0,-0.00015021823144137502,9.687500387845489e-05
+10039,1792823514299702106,2193628000000,1792823514297505582,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760943566102765,-0.004801598222836271,0.09811365959160266,0.9999999800947107,-9.520119441767488e-05,2.2435934900377398e-05,0.0001472644022800082,0.6761,-0.0045,0.09795424303771866,1.0,0.0,0.0,0.0,-0.259781379145938,0.05837902230663583,1.9353112881427514,0.0037313022097413134,0.019822525804176185,0.0008274468336073194,0.8473817537334256,0.9171737193759928,2.1651093381101973,0.07854736978855535,-0.053682293247454486,0.004591532860232097,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.601348305560827,0.8298636902882548,-1.29291640679536,0.40453526379964994,1.0828560344634226,0.5250922392807716,1.4270196627436291,-1.9353112881427514,2.7199360695389894,2.7199360695389894,2.9185320506424364,0,0,-0.00016205134070332162,-9.990291513351508e-05
+10109,1792823514883700042,2194212000000,1792823514881514918,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6760974458886214,-0.004811417727689962,0.09802306534735858,0.9999999771996926,-0.00011188938325236454,2.9574197572681653e-05,0.00015378430225525272,0.6761,-0.0045,0.0978554375403558,1.0,0.0,0.0,0.0,-0.2549539943247682,0.06396488687330082,1.9954276913329108,0.003720876701067563,0.01980892406885406,0.0007796488999946838,0.8522091385545955,0.9227595839426578,2.2252257413003567,0.0785369442798816,-0.05369589498277661,0.0045437349266194615,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.6452297011243513,0.7795330831299632,-1.4481469297425884,0.4315070148079398,1.1926914010537535,0.496650181498735,1.4270196627436291,-1.9954276913329108,2.8751665924862175,2.8751665924862175,3.0061320506424916,0,0,-0.00017568231669842926,5.0004371503159464e-05
+10165,1792823515349653638,2194678000000,1792823515345515372,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761008161984177,-0.004813134499161746,0.0979481905240859,0.9999999755715849,-0.000122449837647846,3.6302755536938296e-05,0.00015488008636497933,0.6761,-0.0045,0.0977712235072458,1.0,0.0,0.0,0.0,-0.2541440103806716,0.062030808164104,2.044821177594291,0.0036832599480159933,0.020811741150371342,0.000755551216819703,0.853019122498692,0.920825505233461,2.274619227561737,0.07849932752683003,-0.05269307790125933,0.004519637243444481,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.6176033530462288,0.9172482528356383,-1.4618120617926977,0.3892980557196877,1.1943131653849541,0.5887171764417041,1.4270196627436291,-2.044821177594291,2.8888317245363266,2.8888317245363266,3.0760320506425356,0,0,-0.00018572008766567916,-9.999999025923074e-05
+10230,1792823515891616883,2195219999999,1792823515889505590,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761056370404429,-0.004814849247665117,0.09785350260813493,0.9999999737631718,-0.0001348418844991933,4.283376775237515e-05,0.0001545944835233455,0.6761,-0.0045,0.09766731297406374,1.0,0.0,0.0,0.0,-0.2595048700118612,0.06031499839387178,2.094928310464879,0.002654105237681323,0.02081966233016859,0.0007029233504623261,0.8476582628675025,0.9191096954632287,2.324726360432325,0.07747017281649536,-0.05268515672146208,0.004467009377087104,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.632791705233207,0.8797514148326843,-1.5150172010702763,0.40885451118344657,1.2322832042281064,0.5616911499529162,1.4270196627436291,-2.094928310464879,2.9420368638139056,2.9420368638139056,3.157332050642587,0,0,-0.00019777517038940674,-9.99933427988708e-05
+10295,1792823516433642673,2195762000000,1792823516433515352,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.676108918354259,-0.004818485137100174,0.0977484899072033,0.9999999705839531,-0.0001504584557976585,5.169833646496179e-05,0.00015800155796370232,0.6761,-0.0045,0.09755664101552669,1.0,0.0,0.0,0.0,-0.26174879689049024,0.05322210194536281,2.145557240069489,0.002642669676835671,0.020839026783241357,0.0006621890658896987,0.8454143359888734,0.9120167990147198,2.375355290036935,0.07745873725564971,-0.052665792268389314,0.0044262750925144765,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.6766304138774648,0.7976117661265136,-1.578659415011819,0.4466035504751695,1.2847132788415163,0.5095011728590603,1.4270196627436291,-2.145557240069489,3.005679077755448,3.005679077755448,3.238632050642638,0,0,-0.00021080635689427053,-9.992241342538505e-05
+10360,1792823516974723620,2196303000000,1792823516973515069,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761203652001464,-0.004824205137535799,0.09765301495479736,0.9999999672063152,-0.00016316726040947453,6.881137846528536e-05,0.00016022381844452607,0.6761,-0.0045,0.09743874696501749,1.0,0.0,0.0,0.0,-0.2626768138622607,0.06147924966177243,2.1852804393399223,0.0015899675482307363,0.02183214824965085,0.0006337413132824462,0.8444863190171029,0.9202739467311294,2.4150784893073682,0.07640603512704477,-0.05167267080197982,0.004397827339907224,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.7149066244361473,0.8066925811982794,-1.6423675101047248,0.44448516984744396,1.336835003685652,0.5119793823623808,1.4270196627436291,-2.1852804393399223,3.069387172848354,3.069387172848354,3.319782050642689,0,0,-0.0002258675772346105,-9.99979779799986e-05
+10425,1792823517516634628,2196844999999,1792823517513505465,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761237731411792,-0.004830262721410464,0.09753772949086988,0.9999999649531671,-0.00017415384992699277,7.569730809866952e-05,0.00015961479498441015,0.6761,-0.0045,0.09731215471644354,1.0,0.0,0.0,0.0,-0.26060211841058156,0.06366385470592162,2.2454771349657308,0.0015788143395952248,0.02181895125785508,0.0005853667365895432,0.8465610144687821,0.9224585517752786,2.4752751849331767,0.07639488191840926,-0.05168586779377559,0.004349452763214321,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.736467334910428,0.9112105822553705,-1.6934068183810207,0.4333385632080727,1.3724847428319202,0.5846747466443908,1.4270196627436291,-2.2454771349657308,3.1204264811246496,3.1204264811246496,3.4010820506427404,0,0,-0.00024315798123206023,-9.999999025923074e-05
+10480,1792823517974736849,2197303000000,1792823517969515199,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761291679807904,-0.004828121387397845,0.0974294752279761,0.9999999711932681,-0.0001254289302340717,8.297712856276414e-05,0.00016259983658064255,0.6761,-0.0045,0.09719799211332224,1.0,0.0,0.0,0.0,-0.25328618869756825,0.0456219180695413,2.2953426944505346,0.000772467311528538,0.021823410375905954,0.0005369946792479372,0.8538769441817954,0.9044166151388983,2.5251407444179805,0.07558853489034258,-0.05168140867572472,0.004301080705872715,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.7810356018996483,0.7635124020865156,-1.8178914961694224,0.48677396433563885,1.4691604793971558,0.4962512736835602,1.4270196627436291,-2.2953426944505346,3.2449111589130517,3.2449111589130517,3.4697820506427837,0,0,-0.00025718862886189706,-9.999999025923074e-05
+10542,1792823518491739172,2197820000000,1792823518485515742,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761346223450346,-0.00483553968300049,0.09730372001432953,0.9999999679336512,-0.0001369394334598197,9.323261037350359e-05,0.0001677224870947382,0.6761,-0.0045,0.097060712950116,1.0,0.0,0.0,0.0,-0.25350808337427044,0.05449656870774566,2.3471028340288207,0.0005111702011037084,0.02282991031068838,0.0005083180617938754,0.8536550495050932,0.9132912657771026,2.5769008839962666,0.07532723777991775,-0.05067490874094229,0.004272404088418653,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.8294627146624565,0.881723366897093,-1.8648062713648361,0.4613510641016359,1.5137078879839403,0.5682801406283289,1.4270196627436291,-2.3471028340288207,3.2918259341084655,3.2918259341084655,3.5473320506428325,0,0,-0.00027271308559592553,-8.396419256951333e-05
+10591,1792823518899728417,2198228000000,1792823518893506119,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761390063018347,-0.00483765168416469,0.09719755784973613,0.9999999657305313,-0.00015115205431677733,9.784976040999256e-05,0.00016601289532182956,0.6761,-0.0045,0.09694642238314376,1.0,0.0,0.0,0.0,-0.25329889813188244,0.051706435699404585,2.3952881740187215,-9.723596219410324e-05,0.022830558280560166,0.00046252463162334105,0.8538642347474812,0.9105011327687615,2.6250862239861674,0.07471883161661994,-0.050674260771070505,0.004226610658248119,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.8394946483296737,0.8733448138915989,-1.8851082085750004,0.4743317078053031,1.5322816255406702,0.5631947610723991,1.4270196627436291,-2.3952881740187215,3.3121278713186295,3.3121278713186295,3.608532050642871,0,0,-0.0002883330989758833,-9.999999025923074e-05
+10640,1792823519308752814,2198637000000,1792823519305515175,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761407187292725,-0.004842413590686426,0.09708281226167435,0.9999999632759083,-0.00016000256464735932,0.00010206928313091948,0.00016991788338677332,0.6761,-0.0045,0.09682636371876686,1.0,0.0,0.0,0.0,-0.24392652919337654,0.047129307362345885,2.435283580674985,-0.0005266602775529788,0.02282954979948134,0.00042672644324879584,0.8632366036859871,0.9059240044317028,2.665081630642431,0.07428940730126106,-0.05067526925214933,0.0041908124698735736,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9005690417144503,0.7650105793274278,-1.96198138411643,0.5121944417796084,1.5982458146554905,0.489905847497257,1.4270196627436291,-2.435283580674985,3.3890010468600593,3.3890010468600593,3.6698820506429097,0,0,-0.00029846800310015374,-9.464990877028896e-05
+10694,1792823519758728559,2199087000000,1792823519753515194,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761469175091427,-0.004851159824989697,0.09695587150879015,0.9999999600813885,-0.00016924614858732423,0.00011241698694860505,0.00017320002295427147,0.6761,-0.0045,0.09668818628516235,1.0,0.0,0.0,0.0,-0.24402321625821866,0.04640713910832417,2.47538874977066,-0.0005344061312591852,0.022821810171689397,0.00039432297388871263,0.863139916621145,0.9052018361776811,2.705186799738106,0.07428166144755485,-0.050683008879941274,0.00415840900051349,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.8480807279052436,0.8696582721377552,-1.9985762738436095,0.49787943546778446,1.6095932795539185,0.5644690027096416,1.4270196627436291,-2.47538874977066,3.4255959365872384,3.4255959365872384,3.7373820506429523,0,0,-0.0003175730459118161,-9.999999025923074e-05
+10743,1792823520166731035,2199495000000,1792823520165505382,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.676153771653359,-0.004850328111348132,0.09683746876922182,0.999999959497005,-0.00016312859650499247,0.00012563240120403184,0.0001733620875447535,0.6761,-0.0045,0.09655552687451387,1.0,0.0,0.0,0.0,-0.24606171143323985,0.055394788356912916,2.5052334767815045,-0.0009714170008816025,0.023839385123388172,0.00037648685887749743,0.8611014214461238,0.9141894854262699,2.7350315267489504,0.07384465057793244,-0.0496654339282425,0.004140572885502275,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9087352240737687,0.8127719491725963,-1.9777329250458997,0.5267142740164343,1.6112097546408692,0.5306936274479988,1.4270196627436291,-2.5052334767815045,3.404752587789529,3.404752587789529,3.798582050642991,0,0,-0.0003342551467791762,-9.999999025923074e-05
+10794,1792823520591772689,2199920000000,1792823520589505530,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761551629957328,-0.0048502675450698704,0.0966975104146931,0.9999999603767602,-0.0001489159193726064,0.0001302187406978593,0.00017764141144340463,0.6761,-0.0045,0.09640984684285682,1.0,0.0,0.0,0.0,-0.2343583665661645,0.05256401011278289,2.5453098404918713,-0.001566111128879527,0.022823612312371774,0.0003275066446259802,0.8728047663131991,0.9113587071821398,2.775107890459317,0.07324995644993451,-0.0506812067392589,0.004091592671250758,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9140419322739926,0.8881643100176702,-2.052612719571949,0.5132712274798854,1.6634254924372425,0.5752947695837096,1.4270196627436291,-2.5453098404918713,3.479632382315578,3.479632382315578,3.862332050643031,0,0,-0.00035184115338845876,-9.999999025923074e-05
+10839,1792823520966758729,2200295000000,1792823520961515428,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761589396515056,-0.0048487708211726365,0.09657260055446266,0.9999999584122181,-0.0001534360471476562,0.0001368987225788657,0.00017981809013636012,0.6761,-0.0045,0.09627551474830251,1.0,0.0,0.0,0.0,-0.22518491681106834,0.05709891480954199,2.559381507590315,-0.0014884985691830666,0.02281872771207595,0.0003181566544197111,0.8819782160682953,0.915893611878899,2.7891795575577607,0.07332756900963097,-0.05068609133955472,0.004082242681044489,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.929672983056457,0.8943259389160458,-2.0817076686442966,0.5211765341306603,1.6868205052068286,0.585920727626139,1.4270196627436291,-2.559381507590315,3.5087273313879255,3.5087273313879255,3.9185820506430664,0,0,-0.00036661384677646867,-9.999999025923074e-05
+10884,1792823521341748765,2200670000000,1792823521341515162,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761641509605258,-0.004850656570881422,0.09643619866085712,0.9999999557285295,-0.0001589336942912174,0.00014705329307591205,0.00018193738806500983,0.6761,-0.0045,0.09613458380504324,1.0,0.0,0.0,0.0,-0.2219767486075397,0.05728221529559374,2.575456030169889,-0.0015718382651388058,0.02281675428080552,0.0003046548086136601,0.885186384271824,0.9160769123649507,2.805254080137335,0.07324422931367523,-0.05068806477082515,0.004068740835238438,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9479631760646312,0.9297743632135927,-2.1364453215638863,0.5253166845399471,1.7296819460925856,0.6081908329907049,1.4270196627436291,-2.575456030169889,3.5634649843075152,3.5634649843075152,3.974832050643102,0,0,-0.00038462588620588454,-9.999999025923074e-05
+10924,1792823521674775391,2201003000000,1792823521673515182,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761655839259518,-0.004851108355146511,0.09630765636883473,0.9999999559592591,-0.00015305419572884772,0.0001473015417337844,0.0001854751014256445,0.6761,-0.0045,0.09600386394895594,1.0,0.0,0.0,0.0,-0.213531665255971,0.04557100718908391,2.604687419035117,-0.002598684842195595,0.022829760168887242,0.00027038752969166333,0.8936314676233926,0.9043657042584409,2.834485469002563,0.07221738273661844,-0.05067505888274343,0.004034473556316441,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9110610580171599,0.8496388441571535,-2.151724603858291,0.5614557079359939,1.7297103285565216,0.5596184643290392,1.4270196627436291,-2.604687419035117,3.5787442666019205,3.5787442666019205,4.02478205064306,0,0,-0.0004004175113523064,-9.369619943656033e-05
+10963,1792823521999716336,2201328000000,1792823521993515459,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761646623428788,-0.004852594075953182,0.09616705618023087,0.9999999589882587,-0.0001281395093481162,0.00014408260754003786,0.000190490980342702,0.6761,-0.0045,0.09587109575507813,1.0,0.0,0.0,0.0,-0.2150283313961291,0.033508089312128675,2.624828795528264,-0.0036236929326178002,0.022845053500374995,0.00024256056418519786,0.8921348014832345,0.8923027863814856,2.85462684549571,0.07119237464619624,-0.050659765551255675,0.004006646590809976,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.948678809313467,0.832426937443714,-2.161209407864392,0.573688670334919,1.747351937674221,0.5529753863349104,1.4270196627436291,-2.624828795528264,3.588229070608021,3.588229070608021,4.073532050642946,0,0,-0.00041666750835308983,-9.999999025923074e-05
+11000,1792823522308744316,2201637000000,1792823522305505174,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761653480014638,-0.004852710619270049,0.09603705904248301,0.9999999578929436,-0.00014053710426071132,0.00014539166795141258,0.00018646061395252115,0.6761,-0.0045,0.09573996619546356,1.0,0.0,0.0,0.0,-0.21442644928008292,0.02081269878104397,2.6244837878826344,-0.004645006930569268,0.022864697923392414,0.00023142827019374725,0.8927366835992807,0.8796073958504009,2.8542818378500803,0.07017106064824477,-0.05064012112823826,0.003995514296818525,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.0051800777557407,0.8140224983281762,-2.1602709132159497,0.5887549630463211,1.764780126612832,0.5395720395100072,1.4270196627436291,-2.6244837878826344,3.587290575959579,3.587290575959579,4.119882050642838,0,0,-0.00043211750534319213,-9.999999025923074e-05
+11038,1792823522624788699,2201953000000,1792823522621515012,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761628723302583,-0.004857836390566676,0.09589537469673375,0.9999999565189446,-0.0001486699213187436,0.00014145610353042583,0.00019050563900949632,0.6761,-0.0045,0.09560092856426299,1.0,0.0,0.0,0.0,-0.21390206763744302,0.007879016486490587,2.624018700097032,-0.005666271856714825,0.022884527868394865,0.00022031218527845606,0.8932610652419206,0.8666737135558475,2.8538167500644778,0.06914979572209921,-0.050620291183235806,0.003984398211903234,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9778121241378093,0.7516084481247567,-2.1622611802516483,0.6134072050881018,1.7597902104616185,0.5011724371662852,1.4270196627436291,-2.624018700097032,3.5892808429952776,3.5892808429952776,4.1672820506427275,0,0,-0.00044791750226510905,-9.999999025923074e-05
+11073,1792823522916792078,2202245000000,1792823522909514899,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761617369723479,-0.004866011147312676,0.09576389821297521,0.9999999536737808,-0.0001557042961371243,0.00013953186219105786,0.00020095355686987234,0.6761,-0.0045,0.09546801235401826,1.0,0.0,0.0,0.0,-0.21461405842717007,-0.014963252699640939,2.6235790090793603,-0.006689809076559347,0.02293516755961105,0.00020950867466045138,0.8925490744521936,0.843831444369716,2.853377059046806,0.06812625850225469,-0.05056965149201962,0.003973594701285229,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9713350470042073,0.8298946517474249,-2.1450891040269715,0.5928720806064844,1.7496847128935287,0.5554838758744545,1.4270196627436291,-2.6235790090793603,3.572108766770601,3.572108766770601,4.211082050642625,0,0,-0.0004625174994208044,-9.999999025923074e-05
+11106,1792823523191723925,2202520000000,1792823523189515237,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761541660037949,-0.0048672042854721615,0.09562375060279237,0.9999999535652154,-0.00014726052680017767,0.0001284994752519827,0.0002147432263134965,0.6761,-0.0045,0.0953389362920472,1.0,0.0,0.0,0.0,-0.22177021154081822,-0.040509876455448124,2.622690934055345,-0.00875906458000053,0.02395804661986295,0.00020155415814338516,0.8853929213385454,0.8182848206139088,2.852488984022791,0.06605700299881351,-0.04954677243176772,0.003965640184768163,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.9676289770351008,0.6677853845640966,-2.1390343268722827,0.6432964880155981,1.7473641291829451,0.44924811068365766,1.4270196627436291,-2.622690934055345,3.566053989615912,3.566053989615912,4.252332050642529,0,0,-0.0004762674967420929,-9.999999025923074e-05
+11140,1792823523474772592,2202803000000,1792823523473505720,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.6761560287014072,-0.004856230310508204,0.09548435107045926,0.9999999544479773,-0.00019805236358842696,0.00013582258187596602,0.00015771618586298352,0.6761,-0.0045,0.09520215744086064,1.0,0.0,0.0,0.0,-0.21035487181354307,-0.029787106206229264,2.6201299713777457,-0.009348780226816233,0.022960739387840025,0.0001884122827237305,0.8968082610658206,0.8290075908631277,2.8499280213451916,0.0654672873519978,-0.050544079663790646,0.003952498309348508,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.0092259300047024,0.6841628391206793,-2.209522824350189,0.6701920140520627,1.801335669582926,0.46718410512555975,1.4270196627436291,-2.6201299713777457,3.636542487093818,3.636542487093818,4.29478205064243,0,0,-0.0004904174939854552,-9.999999025923074e-05
+11175,1792823523766768834,2203095000000,1792823523765515178,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761670474529549,-0.00486359011245878,0.09534800582464432,0.9999999581788755,-0.0001481078909773769,0.00014306222521014476,0.0001807826424829161,0.6761,-0.0045,0.09505683123303357,1.0,0.0,0.0,0.0,-0.21447872689091585,-0.03196209247922943,2.5825947841911594,-0.008740458911001434,0.023942185103521467,0.000234780298133919,0.8926844059884478,0.8268326045901275,2.8123928341586053,0.0660756086678126,-0.049562633948109204,0.003998866324758697,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.021675972423571,0.6918245750601835,-2.0715631702825004,0.6478044951061224,1.7184392546088474,0.4730771470942171,1.4270196627436291,-2.5825947841911594,3.4985828330261297,3.4985828330261297,4.338582050642328,0,0,-0.0005050174911411506,-9.999999025923074e-05
+11209,1792823524049802302,2203378000000,1792823524045515054,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761633548413399,-0.004871005013670913,0.09520117737724107,0.9999999551362774,-0.00014936440345612935,0.00014054088826508104,0.00019775955355161952,0.6761,-0.0045,0.09491191613343207,1.0,0.0,0.0,0.0,-0.22938664501187256,-0.06791955921695358,2.5719906567526003,-0.010792247141009362,0.02400862665169934,0.00021859834552983518,0.8777764878674911,0.7908751378524034,2.801788706720046,0.06402382043780468,-0.04949619239993133,0.003982684372154613,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.0198328839553072,0.6781422978691669,-2.1175652764873103,0.6486140271753809,1.750095235989182,0.46573607726728905,1.4270196627436291,-2.5719906567526003,3.5445849392309396,3.5445849392309396,4.381032050642229,0,0,-0.0005191674883845129,-9.999999025923074e-05
+11238,1792823524291810269,2203620000000,1792823524285505655,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761495954575253,-0.004875976297404897,0.09505273193099806,0.9999999549014821,-0.00014855740048421722,0.00011758566630976228,0.00021387895637465124,0.6761,-0.0045,0.09478481955152943,1.0,0.0,0.0,0.0,-0.22318345003621143,-0.09334978692265739,2.572935884478183,-0.012834661203550528,0.024047904814246866,0.00019478331177914723,0.8839796828431522,0.7654449101466996,2.802733934445629,0.06198140637526351,-0.049456914237383805,0.003958869338403925,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.001487850082759,0.6793040830514796,-2.116293122931289,0.6543353694083983,1.7489896241309062,0.46953281152860954,1.4270196627436291,-2.572935884478183,3.5433127856749183,3.5433127856749183,4.417332050642145,0,0,-0.0005312674860272467,-9.999999025923074e-05
+11268,1792823524541808596,2203870000000,1792823524541505622,DOWN_FORCE_DETACH,2,0.0655,0.06550250202417374,0.6761507728150067,-0.004877302473973337,0.09491475196871295,0.9999999540281119,-0.00014967171527584345,0.0001142924206340914,0.00021891153148369773,0.6761,-0.0045,0.09465044643032823,1.0,0.0,0.0,0.0,-0.2283498369657483,-0.1070685829605994,2.560447830120084,-0.013852962147630037,0.02407109986398994,0.00019617630000135378,0.8788132959136153,0.7517261141087576,2.79024588008753,0.060963105431184,-0.04943371918764073,0.0039602623266261315,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.0723326665464032,0.6046897466610132,-2.1730634512617595,0.6880040300864693,1.8037090906381237,0.422898697538118,1.4270196627436291,-2.560447830120084,3.600083114005389,3.600083114005389,4.454832050642057,0,0,-0.0005437674835920544,-9.999999025923074e-05
+11297,1792823524783770686,2204112000000,1792823524777516157,DOWN_FORCE_DETACH,2,0.0655,0.06550184637308121,0.676152248777726,-0.004872723344179681,0.09477295457326003,0.999999951164527,-0.00020471025269678479,0.00011670226720751388,0.0001832705674349137,0.6761,-0.0045,0.09451739664958536,1.0,0.0,0.0,0.0,-0.22734760240860896,-0.09506476444675138,2.530787288954851,-0.012820971035023734,0.024056840164294623,0.00022891031005163945,0.8798155304707547,0.7637299326226056,2.7605853389222967,0.061995096543790304,-0.04944797888733605,0.003992996336676417,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.058348190633102,0.5779266077662778,-2.123697196500319,0.6881050370554136,1.7715090117125276,0.4081001291959668,1.4270196627436291,-2.530787288954851,3.5507168592439484,3.5507168592439484,4.491132050641973,0,0,-0.0005558674812347883,-9.999999025923074e-05
+11347,1792823525195819880,2204524000000,1792823525189515246,DOWN_SETTLE,2,0.0655,0.06550250202417374,0.6761486287547244,-0.004874840748115796,0.09463613893342511,0.9999999520265023,-0.0001901814084159864,0.00011229529168322103,0.00019649594603408696,0.6761,-0.0045,0.09440451484292767,1.0,0.0,0.0,0.0,-0.23633073807708194,-0.12472877919948233,2.4209234947177,-0.01484976862526683,0.024124444600886343,0.0002936709952121039,0.8708323948022817,0.7340659178698746,2.6507215446851458,0.05996629895354721,-0.04938037445074433,0.004057757021836882,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,2.0177114026264213,0.6883277025295297,-1.821336436323896,0.6559985983283356,1.5777922725141404,0.48785162710297547,1.4270196627436291,-2.4209234947177,3.248356099067525,0.0,0.0,0,0,-2.685602795994678e-05,0.0002712730096964321
+11417,1792823525779820272,2205108000000,1792823525773515448,DOWN_PEAK_HOLD,2,0.0655,0.06550250202417374,0.676138370729026,-0.004871447196231197,0.09460045678638032,0.999999955722527,-0.0001818913314292683,9.179337338545921e-05,0.00019618187608567265,0.6761,-0.0045,0.09440282077053748,1.0,0.0,0.0,0.0,-0.22603264615975416,-0.1431605145499616,2.2482048220460698,-0.015802535607322095,0.02316971932697888,-0.0006200646070013407,0.8811304867196095,0.7156341825193954,2.4780028720135157,0.05901353197149194,-0.05033509972465179,0.003144021419623437,1.1071631328793636,0.858794697069357,0.22979804996744582,0.07481606757881404,-0.07350481905163067,0.0037640860266247777,1,1.8877129033208808,0.6867666697584615,-1.673638442875725,0.6406065522811433,1.455933749829435,0.4802501311139599,1.4270196627436291,-2.2482048220460698,3.1006581056193543,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_0050_15/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,1792823495070151802,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.379620862e-09,-1.836004525e-10,-6.073250791e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450438e-01,-1.186654948e-04,8.303259188e-01
+1,8.000000000e-01,DOWN_FORCE_DETACH,1792823495938021247,1.273881577e-06,-3.892346596e-06,1.096615050e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.920462382e-08,-6.639671774e-09,-2.152827283e-08,7.019569067e-01,-2.616308162e-05,8.601441839e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450916e-01,-1.186719508e-04,8.303258978e-01
+2,1.533333333e+00,DOWN_FORCE_DETACH,1792823496675398159,4.130934619e-06,1.914401939e-06,-4.918260651e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.267506930e-08,-9.989169115e-09,-3.166215246e-08,7.019597638e-01,-2.035633308e-05,8.601381690e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451151e-01,-1.186753003e-04,8.303258877e-01
+3,2.283333333e+00,DOWN_FORCE_DETACH,1792823497461312229,2.144437535e-06,-2.011903915e-06,-5.226531060e-05,4.180226382e-07,-2.052864294e-06,-4.033525280e-05,5.691778693e-08,-2.098352643e-06,-4.022937616e-05,7.019577773e-01,-2.428263894e-05,8.600908219e-01,7.019560508e-01,-2.432359932e-05,8.601027520e-01,7.027450993e-01,-1.207636638e-04,8.302856900e-01
+4,2.916666667e+00,DOWN_FORCE_DETACH,1792823498083778176,2.731490506e-06,-1.173086873e-05,-9.259736722e-05,9.087307273e-07,-7.317654503e-06,-8.771288834e-05,-6.964511179e-08,-7.415253131e-06,-8.755004950e-05,7.019583643e-01,-3.400160376e-05,8.600504899e-01,7.019565415e-01,-2.958838953e-05,8.600553744e-01,7.027449728e-01,-1.260805643e-04,8.302383693e-01
+5,3.633333333e+00,DOWN_FORCE_DETACH,1792823498788062252,3.582097876e-06,-1.425037490e-05,-1.410297686e-04,3.852575667e-06,-1.324685939e-05,-1.285069335e-04,2.594752203e-06,-1.337768618e-05,-1.283535641e-04,7.019592149e-01,-3.652110992e-05,8.600020575e-01,7.019594854e-01,-3.551759442e-05,8.600145803e-01,7.027476372e-01,-1.320429974e-04,8.301975658e-01
+6,4.383333333e+00,DOWN_FORCE_DETACH,1792823499591069363,8.040868714e-06,-1.088264812e-05,-1.854259326e-04,4.164182307e-06,-1.559950413e-05,-1.713498978e-04,2.386533064e-06,-1.575326589e-05,-1.711871285e-04,7.019636737e-01,-3.315338314e-05,8.599576613e-01,7.019597970e-01,-3.787023915e-05,8.599717373e-01,7.027474290e-01,-1.344185771e-04,8.301547322e-01
+7,5.016666667e+00,DOWN_FORCE_DETACH,1792823500237382250,6.069863533e-06,-1.444039317e-05,-2.332481323e-04,5.947457312e-06,-1.460658847e-05,-2.330378914e-04,3.580804163e-06,-1.473520095e-05,-2.328388854e-04,7.019617027e-01,-3.671112819e-05,8.599098391e-01,7.019615803e-01,-3.687732349e-05,8.599100493e-01,7.027486232e-01,-1.334005121e-04,8.300930805e-01
+8,5.666666667e+00,DOWN_FORCE_DETACH,1792823500901442328,9.831543845e-06,-1.328489372e-05,-2.822890420e-04,9.292414184e-06,-1.617386938e-05,-2.793788082e-04,6.611517076e-06,-1.628075639e-05,-2.791995540e-04,7.019654644e-01,-3.555562874e-05,8.598607982e-01,7.019649252e-01,-3.844460440e-05,8.598637084e-01,7.027516539e-01,-1.349460676e-04,8.300467198e-01
+9,6.250000000e+00,DOWN_FORCE_DETACH,1792823501474191470,1.322368871e-05,-1.641157696e-05,-3.286579649e-04,1.026984026e-05,-1.752055110e-05,-3.228143392e-04,7.127463109e-06,-1.766434430e-05,-3.226175552e-04,7.019688565e-01,-3.868231198e-05,8.598144293e-01,7.019659027e-01,-3.979128612e-05,8.598202729e-01,7.027521699e-01,-1.363296555e-04,8.300033018e-01
+10,6.850000000e+00,DOWN_FORCE_DETACH,1792823502116954025,1.447832753e-05,-2.540729580e-05,-3.822345954e-04,1.517213934e-05,-2.468369023e-05,-3.650860548e-04,1.187355093e-05,-2.488916788e-05,-3.649031338e-04,7.019701111e-01,-4.767803082e-05,8.597608526e-01,7.019708050e-01,-4.695442525e-05,8.597780012e-01,7.027569160e-01,-1.435544790e-04,8.299610162e-01
+11,7.066666667e+00,DOWN_FORCE_DETACH,1792823502392466546,5.487776972e-05,-2.253944434e-05,-3.802562992e-04,4.895097464e-05,-1.718244276e-05,-3.745050112e-04,4.816395025e-05,-1.735394399e-05,-3.742666216e-04,7.020105106e-01,-4.481017936e-05,8.597628309e-01,7.020045838e-01,-3.945317778e-05,8.597685822e-01,7.027932064e-01,-1.360192552e-04,8.299516527e-01
+12,7.700000000e+00,DOWN_FORCE_DETACH,1792823503079864078,6.340878516e-05,-2.649511413e-05,-4.397260323e-04,6.200180645e-05,-2.520734110e-05,-4.374253553e-04,6.143085802e-05,-2.540662811e-05,-4.371087973e-04,7.020190416e-01,-4.876584915e-05,8.597033612e-01,7.020176346e-01,-4.747807612e-05,8.597056619e-01,7.028064733e-01,-1.440719393e-04,8.298888106e-01
+13,8.266666667e+00,DOWN_FORCE_DETACH,1792823503653167751,6.482093781e-05,-3.251096263e-05,-5.035345130e-04,6.351146815e-05,-2.944120127e-05,-4.850318156e-04,6.253260429e-05,-2.970383376e-05,-4.847445382e-04,7.020204538e-01,-5.478169765e-05,8.596395527e-01,7.020191443e-01,-5.171193629e-05,8.596580554e-01,7.028075750e-01,-1.483691449e-04,8.298411748e-01
+14,8.950000000e+00,DOWN_FORCE_DETACH,1792823504341360554,7.599736465e-05,-3.297448214e-05,-5.700607762e-04,7.157566616e-05,-3.294223768e-05,-5.696496508e-04,7.017936456e-05,-3.323312445e-05,-5.692273377e-04,7.020316302e-01,-5.524521716e-05,8.595730265e-01,7.020272085e-01,-5.521297270e-05,8.595734376e-01,7.028152218e-01,-1.518984356e-04,8.297566920e-01
+15,9.550000000e+00,DOWN_FORCE_DETACH,1792823505012673986,8.786244269e-05,-3.522195923e-05,-6.319087645e-04,8.776433710e-05,-3.532778942e-05,-6.317690367e-04,8.688430523e-05,-3.560709148e-05,-6.313569595e-04,7.020434953e-01,-5.749269425e-05,8.595111785e-01,7.020433972e-01,-5.759852445e-05,8.595113182e-01,7.028319267e-01,-1.542724026e-04,8.296945624e-01
+16,1.020000000e+01,DOWN_FORCE_DETACH,1792823505667860763,9.693037127e-05,-3.983923497e-05,-6.908369971e-04,9.267264794e-05,-4.026882639e-05,-6.773832698e-04,9.167102494e-05,-4.062447102e-05,-6.770934180e-04,7.020525632e-01,-6.210996999e-05,8.594522502e-01,7.020483055e-01,-6.253956141e-05,8.594657040e-01,7.028367134e-01,-1.592897822e-04,8.296488259e-01
+17,1.065000000e+01,DOWN_FORCE_DETACH,1792823506159276495,1.086729816e-04,-1.344925936e-05,-7.414023046e-04,1.036954527e-04,-7.699363806e-06,-7.352443953e-04,1.028059223e-04,-7.797918583e-06,-7.348437290e-04,7.020643058e-01,-3.571999439e-05,8.594016849e-01,7.020593283e-01,-2.997009883e-05,8.594078428e-01,7.028478483e-01,-1.264632298e-04,8.295910756e-01
+18,1.131666667e+01,DOWN_FORCE_DETACH,1792823506847421715,1.165540699e-04,-2.459068386e-05,-8.096554109e-04,1.106695157e-04,-2.134630144e-05,-7.961193534e-04,1.095835258e-04,-2.155632703e-05,-7.957770904e-04,7.020721869e-01,-4.686141888e-05,8.593334318e-01,7.020663023e-01,-4.361703647e-05,8.593469679e-01,7.028546259e-01,-1.402216382e-04,8.295301423e-01
+19,1.183333333e+01,DOWN_FORCE_DETACH,1792823507371426098,1.165269954e-04,-3.531576414e-05,-8.844798968e-04,1.164156221e-04,-3.525108011e-05,-8.846299892e-04,1.147205143e-04,-3.555941327e-05,-8.841096012e-04,7.020721598e-01,-5.758649916e-05,8.592586073e-01,7.020720484e-01,-5.752181513e-05,8.592584573e-01,7.028597629e-01,-1.542247244e-04,8.294418098e-01
+20,1.236666667e+01,DOWN_FORCE_DETACH,1792823507928264502,1.270554821e-04,-3.689148914e-05,-9.380160967e-04,1.232884105e-04,-3.934473945e-05,-9.239637745e-04,1.216815488e-04,-3.967098328e-05,-9.235953102e-04,7.020826883e-01,-5.916222416e-05,8.592050711e-01,7.020789212e-01,-6.161547447e-05,8.592191235e-01,7.028667240e-01,-1.583362945e-04,8.294023241e-01
+21,1.295000000e+01,DOWN_FORCE_DETACH,1792823508534641700,1.267933161e-04,-3.918706606e-05,-1.002929003e-03,1.247413441e-04,-3.951195285e-05,-9.897120064e-04,1.224573477e-04,-3.990010552e-05,-9.893523901e-04,7.020824261e-01,-6.145780109e-05,8.591401582e-01,7.020803742e-01,-6.178268787e-05,8.591533752e-01,7.028674998e-01,-1.585654167e-04,8.293365670e-01
+22,1.365000000e+01,DOWN_FORCE_DETACH,1792823509239287286,1.361017386e-04,-3.952590140e-05,-1.053313995e-03,1.352703577e-04,-4.247488282e-05,-1.050620588e-03,1.330035476e-04,-4.282866784e-05,-1.050299167e-03,7.020917346e-01,-6.179663643e-05,8.590897732e-01,7.020909032e-01,-6.474561784e-05,8.590924667e-01,7.028780460e-01,-1.614939790e-04,8.292756202e-01
+23,1.433333333e+01,DOWN_FORCE_DETACH,1792823509943394728,1.415867629e-04,-4.314016483e-05,-1.112279960e-03,1.390592317e-04,-4.194586768e-05,-1.093974292e-03,1.365885448e-04,-4.229176869e-05,-1.093754279e-03,7.020972196e-01,-6.541089985e-05,8.590308073e-01,7.020946920e-01,-6.421660270e-05,8.590491129e-01,7.028816310e-01,-1.609570799e-04,8.292321651e-01
+24,1.500000000e+01,DOWN_FORCE_DETACH,1792823510631983358,1.515472685e-04,-4.827461869e-05,-1.168848143e-03,1.489019705e-04,-4.333023084e-05,-1.156557367e-03,1.464027442e-04,-4.370155116e-05,-1.156286398e-03,7.021071801e-01,-7.054535371e-05,8.589742391e-01,7.021045348e-01,-6.560096587e-05,8.589865299e-01,7.028914452e-01,-1.623668623e-04,8.291696330e-01
+25,1.563333333e+01,DOWN_FORCE_DETACH,1792823511270462847,1.573136438e-04,-4.544565646e-05,-1.243118739e-03,1.554495923e-04,-4.516246177e-05,-1.238619138e-03,1.524817022e-04,-4.554371720e-05,-1.238233385e-03,7.021129465e-01,-6.771639148e-05,8.588999685e-01,7.021110824e-01,-6.743319679e-05,8.589044681e-01,7.028975241e-01,-1.642090284e-04,8.290876860e-01
+26,1.626666667e+01,DOWN_FORCE_DETACH,1792823511911687870,1.632945106e-04,-5.111451971e-05,-1.322034868e-03,1.626132400e-04,-4.724806770e-05,-1.319720398e-03,1.592894735e-04,-4.765375165e-05,-1.319292153e-03,7.021189273e-01,-7.338525473e-05,8.588210524e-01,7.021182461e-01,-6.951880272e-05,8.588233668e-01,7.029043319e-01,-1.663190628e-04,8.290066272e-01
+27,1.680000000e+01,DOWN_FORCE_DETACH,1792823512449112972,1.684984411e-04,-4.927178768e-05,-1.390123451e-03,1.666282901e-04,-5.321038222e-05,-1.385568750e-03,1.627305645e-04,-5.366904373e-05,-1.385184131e-03,7.021241313e-01,-7.154252270e-05,8.587529638e-01,7.021222611e-01,-7.548111724e-05,8.587575185e-01,7.029077730e-01,-1.723343549e-04,8.289407352e-01
+28,1.743333333e+01,DOWN_FORCE_DETACH,1792823513090807980,1.743453887e-04,-5.525745823e-05,-1.473577775e-03,1.752883922e-04,-5.489934060e-05,-1.468031295e-03,1.710320225e-04,-5.538726395e-05,-1.467674324e-03,7.021299782e-01,-7.752819326e-05,8.586695095e-01,7.021309212e-01,-7.717007562e-05,8.586750559e-01,7.029160744e-01,-1.740525751e-04,8.288582450e-01
+29,1.805000000e+01,DOWN_FORCE_DETACH,1792823513710445238,1.803533477e-04,-5.564525419e-05,-1.549717367e-03,1.802534332e-04,-4.854043493e-05,-1.534648583e-03,1.756335536e-04,-4.895269632e-05,-1.534333010e-03,7.021359862e-01,-7.791598921e-05,8.585933699e-01,7.021358863e-01,-7.081116995e-05,8.586084387e-01,7.029206760e-01,-1.676180075e-04,8.287915864e-01
+30,1.863333333e+01,DOWN_FORCE_DETACH,1792823514300443422,1.899538670e-04,-5.524609850e-05,-1.623715292e-03,1.887753473e-04,-6.096430790e-05,-1.616038492e-03,1.838032831e-04,-6.147904633e-05,-1.615640790e-03,7.021455867e-01,-7.751683352e-05,8.585193719e-01,7.021444082e-01,-8.323504292e-05,8.585270487e-01,7.029288457e-01,-1.801443575e-04,8.287102786e-01
+31,1.920000000e+01,DOWN_FORCE_DETACH,1792823514879957665,1.929040399e-04,-6.418049749e-05,-1.713416497e-03,1.932782594e-04,-6.161899657e-05,-1.699664448e-03,1.876992150e-04,-6.214707345e-05,-1.699240784e-03,7.021485369e-01,-8.645123251e-05,8.584296707e-01,7.021489111e-01,-8.388973159e-05,8.584434228e-01,7.029327416e-01,-1.808123846e-04,8.286266786e-01
+32,1.963333333e+01,DOWN_FORCE_DETACH,1792823515349270883,1.996161637e-04,-6.974923451e-05,-1.785424661e-03,1.953271434e-04,-6.652179963e-05,-1.773940430e-03,1.889298039e-04,-6.709294322e-05,-1.773517150e-03,7.021552490e-01,-9.201996953e-05,8.583576626e-01,7.021509600e-01,-8.879253466e-05,8.583691468e-01,7.029339722e-01,-1.857582544e-04,8.285524022e-01
+33,2.018333333e+01,DOWN_FORCE_DETACH,1792823515889273209,2.028279527e-04,-7.287283522e-05,-1.881512675e-03,1.970951820e-04,-6.848555269e-05,-1.864567935e-03,1.898218192e-04,-6.907229310e-05,-1.864131709e-03,7.021584608e-01,-9.514357024e-05,8.582615746e-01,7.021527280e-01,-9.075628771e-05,8.582785193e-01,7.029348642e-01,-1.877376043e-04,8.284617877e-01
+34,2.073333333e+01,DOWN_FORCE_DETACH,1792823516429967093,2.091574668e-04,-7.570992046e-05,-1.983119202e-03,2.092019489e-04,-7.396853688e-05,-1.975946614e-03,2.013952650e-04,-7.456136794e-05,-1.975463933e-03,7.021647903e-01,-9.798065548e-05,8.581599680e-01,7.021648348e-01,-9.623927190e-05,8.581671406e-01,7.029464377e-01,-1.932266791e-04,8.283504554e-01
+35,2.125000000e+01,DOWN_FORCE_DETACH,1792823516972040553,2.127352077e-04,-7.853557080e-05,-2.085995086e-03,2.125917213e-04,-7.847784109e-05,-2.085716062e-03,2.037593045e-04,-7.912440292e-05,-2.085139669e-03,7.021683680e-01,-1.008063058e-04,8.580570922e-01,7.021682245e-01,-1.007485761e-04,8.580573712e-01,7.029488017e-01,-1.977897141e-04,8.282407797e-01
+36,2.175000000e+01,DOWN_FORCE_DETACH,1792823517513432035,2.165121795e-04,-8.028355909e-05,-2.202687318e-03,2.183034314e-04,-8.355048431e-05,-2.195766304e-03,2.085572145e-04,-8.421311356e-05,-2.195189950e-03,7.021721450e-01,-1.025542941e-04,8.579403999e-01,7.021739362e-01,-1.058212193e-04,8.579473209e-01,7.029535996e-01,-2.028784247e-04,8.281307294e-01
+37,2.218333333e+01,DOWN_FORCE_DETACH,1792823517970805284,2.220331569e-04,-8.333748174e-05,-2.311356911e-03,2.220387611e-04,-8.310450684e-05,-2.311262629e-03,2.111987487e-04,-8.376400183e-05,-2.310623844e-03,7.021776660e-01,-1.056082168e-04,8.578317303e-01,7.021776716e-01,-1.053752419e-04,8.578318246e-01,7.029562412e-01,-2.024293130e-04,8.280152955e-01
+38,2.256666667e+01,DOWN_FORCE_DETACH,1792823518488066107,2.288075342e-04,-9.617495474e-05,-2.432794440e-03,2.300971913e-04,-8.880012724e-05,-2.420698955e-03,2.185908750e-04,-8.947809315e-05,-2.419958625e-03,7.021844404e-01,-1.184456898e-04,8.577102928e-01,7.021857300e-01,-1.110708623e-04,8.577223883e-01,7.029636333e-01,-2.081434043e-04,8.279059607e-01
+39,2.298333333e+01,DOWN_FORCE_DETACH,1792823518902954705,2.365762294e-04,-9.060515919e-05,-2.535600368e-03,2.310825244e-04,-9.792426117e-05,-2.529351370e-03,2.183435694e-04,-9.867516619e-05,-2.528677466e-03,7.021922090e-01,-1.128758942e-04,8.576074869e-01,7.021867153e-01,-1.201949962e-04,8.576137359e-01,7.029633860e-01,-2.173404774e-04,8.277972419e-01
+40,2.340000000e+01,DOWN_FORCE_DETACH,1792823519312719064,2.352307933e-04,-1.000475767e-04,-2.655948237e-03,2.374090932e-04,-1.013931880e-04,-2.646677173e-03,2.237883075e-04,-1.021706303e-04,-2.645994016e-03,7.021908636e-01,-1.223183117e-04,8.574871390e-01,7.021930419e-01,-1.236639231e-04,8.574964101e-01,7.029688307e-01,-2.208359415e-04,8.276799254e-01
+41,2.385000000e+01,DOWN_FORCE_DETACH,1792823519756441853,2.426631360e-04,-1.046478701e-04,-2.779623940e-03,2.389872525e-04,-1.026871255e-04,-2.775075692e-03,2.239263934e-04,-1.034632013e-04,-2.774373143e-03,7.021982960e-01,-1.269186051e-04,8.573634633e-01,7.021946201e-01,-1.249578605e-04,8.573680115e-01,7.029689688e-01,-2.221285125e-04,8.275515462e-01
+42,2.423333333e+01,DOWN_FORCE_DETACH,1792823520172298071,2.493689101e-04,-1.039759870e-04,-2.899906114e-03,2.465116916e-04,-1.011909181e-04,-2.883620770e-03,2.307064953e-04,-1.019499464e-04,-2.882925056e-03,7.022050017e-01,-1.262467220e-04,8.572431811e-01,7.022021445e-01,-1.234616531e-04,8.572594665e-01,7.029757489e-01,-2.206152576e-04,8.274429943e-01
+43,2.458333333e+01,DOWN_FORCE_DETACH,1792823520590128922,2.512010496e-04,-1.053401987e-04,-3.036802693e-03,2.522472205e-04,-1.021565436e-04,-3.029232709e-03,2.350910957e-04,-1.029131340e-04,-3.028383131e-03,7.022068339e-01,-1.276109338e-04,8.571062845e-01,7.022078800e-01,-1.244272787e-04,8.571138545e-01,7.029801335e-01,-2.215784452e-04,8.272975362e-01
+44,2.496666667e+01,DOWN_FORCE_DETACH,1792823520967084958,2.545369082e-04,-1.024186968e-04,-3.164774329e-03,2.543450175e-04,-1.022116558e-04,-3.164846359e-03,2.357914232e-04,-1.029567581e-04,-3.164010809e-03,7.022101697e-01,-1.246894319e-04,8.569783129e-01,7.022099778e-01,-1.244823908e-04,8.569782409e-01,7.029808338e-01,-2.216220693e-04,8.271619086e-01
+45,2.535000000e+01,DOWN_FORCE_DETACH,1792823521344063654,2.611850683e-04,-9.916345641e-05,-3.299727413e-03,2.588862760e-04,-1.028147151e-04,-3.295370308e-03,2.391109863e-04,-1.035633848e-04,-3.294533424e-03,7.022168179e-01,-1.214341914e-04,8.568433598e-01,7.022145191e-01,-1.250854501e-04,8.568477169e-01,7.029841534e-01,-2.222286959e-04,8.270313859e-01
+46,2.568333333e+01,DOWN_FORCE_DETACH,1792823521671385073,2.588846282e-04,-1.047998386e-04,-3.432760586e-03,2.581401196e-04,-1.055003290e-04,-3.425693516e-03,2.367154776e-04,-1.062844237e-04,-3.424858480e-03,7.022145174e-01,-1.270705736e-04,8.567103267e-01,7.022137729e-01,-1.277710640e-04,8.567173937e-01,7.029817579e-01,-2.249497349e-04,8.269010609e-01
+47,2.598333333e+01,DOWN_FORCE_DETACH,1792823521999428360,2.581982750e-04,-1.056838412e-04,-3.573008110e-03,2.596380415e-04,-1.039294972e-04,-3.562263302e-03,2.367430092e-04,-1.047045921e-04,-3.561345271e-03,7.022138311e-01,-1.279545762e-04,8.565700791e-01,7.022152709e-01,-1.262002322e-04,8.565808239e-01,7.029817854e-01,-2.233699033e-04,8.267645741e-01
+48,2.630000000e+01,DOWN_FORCE_DETACH,1792823522310464848,2.608450061e-04,-1.068983363e-04,-3.701042675e-03,2.615384823e-04,-1.062790563e-04,-3.684630380e-03,2.372859670e-04,-1.070537506e-04,-3.683784746e-03,7.022164778e-01,-1.291690713e-04,8.564420446e-01,7.022171713e-01,-1.285497913e-04,8.564584569e-01,7.029823284e-01,-2.257190617e-04,8.266421346e-01
+49,2.660000000e+01,DOWN_FORCE_DETACH,1792823522621677440,2.581684830e-04,-1.093271304e-04,-3.839169515e-03,2.581625946e-04,-1.091217946e-04,-3.838897113e-03,2.318261502e-04,-1.099106562e-04,-3.837943462e-03,7.022138013e-01,-1.315978654e-04,8.563039177e-01,7.022137954e-01,-1.313925296e-04,8.563041901e-01,7.029768686e-01,-2.285759674e-04,8.264879759e-01
+50,2.690000000e+01,DOWN_FORCE_DETACH,1792823522916649667,2.538996809e-04,-1.216033570e-04,-3.978617574e-03,2.535921097e-04,-1.215237211e-04,-3.978313983e-03,2.252478639e-04,-1.224045370e-04,-3.977354866e-03,7.022095325e-01,-1.438740920e-04,8.561644697e-01,7.022092249e-01,-1.437944561e-04,8.561647733e-01,7.029702903e-01,-2.410698481e-04,8.263485645e-01
+51,2.718333333e+01,DOWN_FORCE_DETACH,1792823523194395450,2.502309092e-04,-1.231497860e-04,-4.113622219e-03,2.499423942e-04,-1.229484345e-04,-4.113487411e-03,2.196463878e-04,-1.238366868e-04,-4.112557013e-03,7.022058637e-01,-1.454205210e-04,8.560294650e-01,7.022055752e-01,-1.452191695e-04,8.560295998e-01,7.029646888e-01,-2.425019979e-04,8.262133624e-01
+52,2.745000000e+01,DOWN_FORCE_DETACH,1792823523474070771,2.506927111e-04,-1.137057262e-04,-4.250676641e-03,2.477353169e-04,-1.180449595e-04,-4.236120575e-03,2.158034793e-04,-1.188937359e-04,-4.235277455e-03,7.022063255e-01,-1.359764613e-04,8.558924106e-01,7.022033681e-01,-1.403156945e-04,8.559069667e-01,7.029608459e-01,-2.375590471e-04,8.260906419e-01
+53,2.770000000e+01,DOWN_FORCE_DETACH,1792823523768457246,2.626182803e-04,-1.172953025e-04,-4.387868630e-03,2.633298224e-04,-1.198338026e-04,-4.370679049e-03,2.310094997e-04,-1.206953205e-04,-4.369774568e-03,7.022182511e-01,-1.395660376e-04,8.557552186e-01,7.022189626e-01,-1.421045376e-04,8.557724082e-01,7.029760519e-01,-2.393606317e-04,8.259561448e-01
+54,2.798333333e+01,DOWN_FORCE_DETACH,1792823524047030236,2.581340827e-04,-1.242987344e-04,-4.536571803e-03,2.558684730e-04,-1.216912288e-04,-4.521750079e-03,2.211401092e-04,-1.225330318e-04,-4.520835128e-03,7.022137669e-01,-1.465694694e-04,8.556065154e-01,7.022115013e-01,-1.439619638e-04,8.556213372e-01,7.029661825e-01,-2.411983430e-04,8.258050842e-01
+55,2.821666667e+01,DOWN_FORCE_DETACH,1792823524292195539,2.462619564e-04,-1.280625164e-04,-4.681124201e-03,2.460878246e-04,-1.279708005e-04,-4.681308119e-03,2.087042315e-04,-1.288728420e-04,-4.680259944e-03,7.022018948e-01,-1.503332514e-04,8.554619630e-01,7.022017206e-01,-1.502415356e-04,8.554617791e-01,7.029537466e-01,-2.475381532e-04,8.256456594e-01
+56,2.845000000e+01,DOWN_FORCE_DETACH,1792823524542560703,2.460726599e-04,-1.297523154e-04,-4.820996734e-03,2.459868993e-04,-1.295509511e-04,-4.821048798e-03,2.069404318e-04,-1.304547559e-04,-4.819998445e-03,7.022017055e-01,-1.520230505e-04,8.553220905e-01,7.022016197e-01,-1.518216861e-04,8.553220384e-01,7.029519828e-01,-2.491200670e-04,8.255059209e-01
+57,2.863333333e+01,DOWN_FORCE_DETACH,1792823524783217267,2.503427138e-04,-1.261597577e-04,-4.960141683e-03,2.501007655e-04,-1.261679331e-04,-4.959803115e-03,2.097711763e-04,-1.270469391e-04,-4.958653296e-03,7.022059755e-01,-1.484304928e-04,8.551829456e-01,7.022057336e-01,-1.484386681e-04,8.551832841e-01,7.029548136e-01,-2.457122502e-04,8.253672661e-01
+58,2.895000000e+01,DOWN_SETTLE,1792823525193083642,2.438976032e-04,-1.250680775e-04,-5.101605261e-03,2.460361149e-04,-1.255820084e-04,-5.096526530e-03,2.037079512e-04,-1.264651056e-04,-5.095711434e-03,7.021995304e-01,-1.473388125e-04,8.550414820e-01,7.022016689e-01,-1.478527434e-04,8.550465607e-01,7.029487504e-01,-2.451304168e-04,8.252302079e-01
+59,2.953333333e+01,DOWN_PEAK_HOLD,1792823525783252370,2.326421707e-04,-1.246773842e-04,-5.138003799e-03,2.331816456e-04,-1.186265781e-04,-5.136711762e-03,1.894211313e-04,-1.194906259e-04,-5.136657561e-03,7.021882750e-01,-1.469481192e-04,8.550050834e-01,7.021888145e-01,-1.408973132e-04,8.550063755e-01,7.029344635e-01,-2.381559370e-04,8.251892618e-01

Fixed/digit/cylinder_0050_15/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+00,2.6559e-02,5.9627e-02,2.4614e+00,-4.1019e-02,3.8679e-02,7.3414e-05,2.4328e-04,-3.0380e-05,-1.1253e-04,1.5683e-06,1.7650e-05,-4.3423e-08,2.6976e-04,1.7720e-05
+1,8.0000e-01,DOWN_FORCE_DETACH,1.5555e-04,3.4987e-02,5.8520e-02,2.4576e+00,-4.0964e-02,3.9292e-02,7.0822e-05,8.6714e-03,-1.1370e-03,-3.9485e-03,5.6628e-05,6.3060e-04,-2.6354e-06,9.5957e-03,6.3315e-04
+2,1.5333e+00,DOWN_FORCE_DETACH,3.0746e-04,3.9124e-02,5.7925e-02,2.4557e+00,-4.0936e-02,3.9594e-02,6.7716e-05,1.2809e-02,-1.7324e-03,-5.7893e-03,8.4892e-05,9.3219e-04,-5.7408e-06,1.4163e-02,9.3607e-04
+3,2.2833e+00,DOWN_FORCE_DETACH,4.5753e-04,4.2099e-02,6.0995e-02,2.4788e+00,-4.1146e-02,3.9783e-02,6.4344e-05,1.5784e-02,1.3381e-03,1.7267e-02,-1.2540e-04,1.1220e-03,-9.1136e-06,2.3432e-02,1.1290e-03
+4,2.9167e+00,DOWN_FORCE_DETACH,6.0864e-04,4.3754e-02,6.9094e-02,2.4973e+00,-4.1697e-02,3.9881e-02,6.2491e-05,1.7439e-02,9.4362e-03,3.5793e-02,-6.7651e-04,1.2198e-03,-1.0966e-05,4.0918e-02,1.3949e-03
+5,3.6333e+00,DOWN_FORCE_DETACH,7.6288e-04,4.2786e-02,7.7867e-02,2.4997e+00,-4.2299e-02,3.9807e-02,6.0379e-05,1.6471e-02,1.8209e-02,3.8136e-02,-1.2779e-03,1.1459e-03,-1.3078e-05,4.5357e-02,1.7165e-03
+6,4.3833e+00,DOWN_FORCE_DETACH,9.1198e-04,4.4173e-02,8.1206e-02,2.4991e+00,-4.2528e-02,3.9906e-02,5.6540e-05,1.7858e-02,2.1549e-02,3.7610e-02,-1.5073e-03,1.2444e-03,-1.6917e-05,4.6880e-02,1.9547e-03
+7,5.0167e+00,DOWN_FORCE_DETACH,1.0687e-03,4.3001e-02,7.1248e-02,2.5003e+00,-4.1840e-02,3.9819e-02,5.1895e-05,1.6685e-02,1.1591e-02,3.8800e-02,-8.1860e-04,1.1573e-03,-2.1562e-05,4.3797e-02,1.4177e-03
+8,5.6667e+00,DOWN_FORCE_DETACH,1.2224e-03,4.3439e-02,8.2505e-02,2.5197e+00,-4.2600e-02,3.9827e-02,5.1035e-05,1.7124e-02,2.2847e-02,5.8221e-02,-1.5792e-03,1.1659e-03,-2.2422e-05,6.4845e-02,1.9631e-03
+9,6.2500e+00,DOWN_FORCE_DETACH,1.3703e-03,4.4359e-02,8.4905e-02,2.5206e+00,-4.2756e-02,3.9890e-02,4.9445e-05,1.8044e-02,2.5247e-02,5.9089e-02,-1.7351e-03,1.2287e-03,-2.4012e-05,6.6742e-02,2.1262e-03
+10,6.8500e+00,DOWN_FORCE_DETACH,1.5268e-03,4.2260e-02,9.5681e-02,2.5175e+00,-4.3492e-02,3.9741e-02,4.9448e-05,1.5945e-02,3.6024e-02,5.5962e-02,-2.4711e-03,1.0795e-03,-2.4009e-05,6.8437e-02,2.6967e-03
+11,7.0667e+00,DOWN_FORCE_DETACH,1.6759e-03,1.8062e-02,8.3423e-02,2.5121e+00,-4.2654e-02,3.8015e-02,5.3862e-05,-8.2535e-03,2.3765e-02,5.0583e-02,-1.6328e-03,-6.4625e-04,-1.9595e-05,5.6494e-02,1.7562e-03
+12,7.7000e+00,DOWN_FORCE_DETACH,1.8310e-03,2.3423e-02,9.4782e-02,2.5282e+00,-4.3430e-02,3.8378e-02,6.2757e-05,-2.8923e-03,3.5125e-02,6.6710e-02,-2.4086e-03,-2.8348e-04,-1.0700e-05,7.5448e-02,2.4252e-03
+13,8.2667e+00,DOWN_FORCE_DETACH,1.9828e-03,3.2184e-02,1.0094e-01,2.5253e+00,-4.3843e-02,3.9002e-02,6.4649e-05,5.8690e-03,4.1281e-02,6.3815e-02,-2.8222e-03,3.4112e-04,-8.8087e-06,7.6229e-02,2.8427e-03
+14,8.9500e+00,DOWN_FORCE_DETACH,2.1370e-03,3.4370e-02,1.0640e-01,2.5432e+00,-4.4197e-02,3.9144e-02,6.3600e-05,8.0545e-03,4.6741e-02,8.1682e-02,-3.1759e-03,4.8247e-04,-9.8569e-06,9.4454e-02,3.2124e-03
+15,9.5500e+00,DOWN_FORCE_DETACH,2.2862e-03,3.0751e-02,1.1072e-01,2.5248e+00,-4.4490e-02,3.8895e-02,6.4446e-05,4.4352e-03,5.1058e-02,6.3272e-02,-3.4691e-03,2.3336e-04,-9.0112e-06,8.1424e-02,3.4770e-03
+16,1.0200e+01,DOWN_FORCE_DETACH,2.4393e-03,3.5035e-02,1.1747e-01,2.5308e+00,-4.4939e-02,3.9192e-02,6.2006e-05,8.7199e-03,5.7814e-02,6.9313e-02,-3.9182e-03,5.3088e-04,-1.1451e-05,9.0679e-02,3.9540e-03
+17,1.0650e+01,DOWN_FORCE_DETACH,2.5914e-03,3.1195e-02,6.7818e-02,2.5409e+00,-4.1527e-02,3.8911e-02,5.0217e-05,4.8792e-03,8.1607e-03,7.9350e-02,-5.0596e-04,2.4943e-04,-2.3240e-05,7.9918e-02,5.6458e-04
+18,1.1317e+01,DOWN_FORCE_DETACH,2.7457e-03,3.4613e-02,8.9562e-02,2.5347e+00,-4.2995e-02,3.9156e-02,4.8087e-05,8.2976e-03,2.9905e-02,7.3164e-02,-1.9745e-03,4.9495e-04,-2.5371e-05,7.9474e-02,2.0357e-03
+19,1.1833e+01,DOWN_FORCE_DETACH,2.8983e-03,3.8043e-02,1.0063e-01,2.5406e+00,-4.3737e-02,3.9390e-02,4.2768e-05,1.1727e-02,4.0973e-02,7.9044e-02,-2.7163e-03,7.2837e-04,-3.0689e-05,8.9801e-02,2.8124e-03
+20,1.2367e+01,DOWN_FORCE_DETACH,3.0503e-03,3.6313e-02,1.1786e-01,2.5422e+00,-4.4905e-02,3.9259e-02,3.7272e-05,9.9980e-03,5.8200e-02,8.0628e-02,-3.8842e-03,5.9800e-04,-3.6186e-05,9.9940e-02,3.9301e-03
+21,1.2950e+01,DOWN_FORCE_DETACH,3.2063e-03,4.0728e-02,1.1901e-01,2.5428e+00,-4.4971e-02,3.9570e-02,2.5611e-05,1.4413e-02,5.9350e-02,8.1227e-02,-3.9505e-03,9.0857e-04,-4.7847e-05,1.0163e-01,4.0539e-03
+22,1.3650e+01,DOWN_FORCE_DETACH,3.3548e-03,3.7261e-02,1.2358e-01,2.5363e+00,-4.5282e-02,3.9328e-02,1.6324e-05,1.0946e-02,6.3922e-02,7.4733e-02,-4.2608e-03,6.6696e-04,-5.7133e-05,9.8949e-02,4.3131e-03
+23,1.4333e+01,DOWN_FORCE_DETACH,3.5085e-03,3.9541e-02,1.2241e-01,2.5219e+00,-4.5213e-02,3.9502e-02,6.6527e-06,1.3226e-02,6.2756e-02,6.0332e-02,-4.1922e-03,8.4108e-04,-6.6805e-05,8.8052e-02,4.2763e-03
+24,1.5000e+01,DOWN_FORCE_DETACH,3.6612e-03,3.7920e-02,1.2470e-01,2.5261e+00,-4.5372e-02,3.9379e-02,-1.6440e-06,1.1605e-02,6.5040e-02,6.4535e-02,-4.3506e-03,7.1725e-04,-7.5101e-05,9.2356e-02,4.4100e-03
+25,1.5633e+01,DOWN_FORCE_DETACH,3.8129e-03,3.9447e-02,1.2795e-01,2.5452e+00,-4.5584e-02,3.9465e-02,-1.0219e-05,1.3132e-02,6.8293e-02,8.3671e-02,-4.5632e-03,8.0321e-04,-8.3676e-05,1.0880e-01,4.6341e-03
+26,1.6267e+01,DOWN_FORCE_DETACH,3.9671e-03,4.0129e-02,1.3083e-01,2.5563e+00,-4.5771e-02,3.9498e-02,-1.6825e-05,1.3813e-02,7.1169e-02,9.4722e-02,-4.7497e-03,8.3619e-04,-9.0282e-05,1.1928e-01,4.8236e-03
+27,1.6800e+01,DOWN_FORCE_DETACH,4.1153e-03,4.1610e-02,1.3991e-01,2.5567e+00,-4.6371e-02,3.9592e-02,-1.9420e-05,1.5294e-02,8.0256e-02,9.5151e-02,-5.3498e-03,9.3089e-04,-9.2878e-05,1.2541e-01,5.4309e-03
+28,1.7433e+01,DOWN_FORCE_DETACH,4.2695e-03,3.8963e-02,1.4276e-01,2.5613e+00,-4.6535e-02,3.9402e-02,-2.0200e-05,1.2647e-02,8.3098e-02,9.9726e-02,-5.5137e-03,7.4014e-04,-9.3657e-05,1.3042e-01,5.5640e-03
+29,1.8050e+01,DOWN_FORCE_DETACH,4.4242e-03,3.9513e-02,1.3295e-01,2.5513e+00,-4.5851e-02,3.9446e-02,-2.3004e-05,1.3198e-02,7.3297e-02,8.9728e-02,-4.8297e-03,7.8465e-04,-9.6461e-05,1.1661e-01,4.8939e-03
+30,1.8633e+01,DOWN_FORCE_DETACH,4.5740e-03,3.8188e-02,1.5191e-01,2.5596e+00,-4.7121e-02,3.9346e-02,-1.8441e-05,1.1873e-02,9.2254e-02,9.8108e-02,-6.1000e-03,6.8505e-04,-9.1898e-05,1.3519e-01,6.1390e-03
+31,1.9200e+01,DOWN_FORCE_DETACH,4.7300e-03,3.9317e-02,1.5321e-01,2.5665e+00,-4.7180e-02,3.9418e-02,-1.8419e-05,1.3001e-02,9.3553e-02,1.0495e-01,-6.1585e-03,7.5648e-04,-9.1877e-05,1.4120e-01,6.2055e-03
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+41,2.3850e+01,DOWN_FORCE_DETACH,6.2521e-03,4.4729e-02,2.3420e-01,2.6670e+00,-5.2007e-02,3.9609e-02,-8.2348e-06,1.8414e-02,1.7455e-01,2.0548e-01,-1.0986e-02,9.4756e-04,-8.1692e-05,2.7023e-01,1.1027e-02
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Fixed/digit/cylinder_0050_15/press_depth_02/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_0050_15/press_depth_02/up/franka_data.csv

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