Upload Fixed

Fixed/digit/ball_0010_10/press_depth_01/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:07a997c838e7ad69581bbbfe7d1a25a5667c530d3542d0a47be9383340b12a53
+size 624640

Fixed/digit/ball_0010_10/press_depth_01/down/franka_data.csv

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+4328,1792459600574908117,780681000000,1792459600568065295,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759503324326562,-0.003962948994189656,0.10676515782393542,0.9999999615168841,0.00010419603016160557,-0.00021936391168260157,9.711722970519257e-05,0.6761,-0.004,0.10686790469918878,1.0,0.0,0.0,0.0,0.14869687140750096,0.14538021614970315,0.044243272422069636,0.010479862515362148,-0.01034453396050598,0.0001892627600361628,0.11755160899389115,0.12606196100571765,0.024615037076098273,0.009465330997094918,-0.010318307787895418,-5.6189528301588085e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9878663159043093,-0.615022359873054,0.006433924260636771,0.7572460736801978,0.4212338473654923,-0.4368404447603076,0.5460898450768567,0.044243272422069636,0.5396559208162198,0.5396559208162198,0.6580970027563892,0,0,-6.77137106206135e-05,-9.999999025923074e-05
+4399,1792459601166898362,781273000000,1792459601164065384,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759440903423529,-0.003962922123893346,0.10671902343786109,0.9999999575171594,0.00010814465761476774,-0.00023281336346371733,0.00010252421368992074,0.6761,-0.004,0.10682502150790286,1.0,0.0,0.0,0.0,0.1488334096172914,0.1409151233745428,0.0638138055347392,0.010473100733568979,-0.010348506468155811,0.00017049266786975685,0.1176881472036816,0.12159686823055729,0.04418557018876783,0.009458569215301749,-0.01032228029554525,-7.495962046799401e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0122760981360757,-0.5676451954850328,0.019605145406063784,0.747604654471763,0.4231439571903648,-0.41100319274646113,0.5460898450768567,0.0638138055347392,0.5264846996707928,0.5264846996707928,0.7054570027563708,0,0,-7.916336417920634e-05,-9.999999025923074e-05
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+4535,1792459602299927010,782406000000,1792459602296065579,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.675956979772135,-0.00397059103356172,0.10663095460971923,0.9999999629612302,0.0001011393396559878,-0.00020548991800184335,0.00011430280108813987,0.6761,-0.004,0.10672206200058748,1.0,0.0,0.0,0.0,0.1308357039454874,0.12454833787499707,0.0939482372249327,0.009448041285945768,-0.010334633936158816,0.0001326196225195836,0.09969044153187759,0.10523008273101159,0.07432000187896133,0.008433509767678538,-0.010308407763548254,-0.00011283266581816728,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0213713580366854,-0.5047510649685285,-0.08329465029284548,0.742484813398769,0.47863404536276427,-0.3664093521778271,0.5460898450768567,0.0939482372249327,0.6293844953697021,0.6293844953697021,0.7960970027563357,0,0,-0.00010416231039786362,-9.999999025923074e-05
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+4780,1792459604341961449,784448000000,1792459604340055942,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759689698471733,-0.003978365820786554,0.10638623527889263,0.9999999666561508,9.095417964395066e-05,-0.00019493670751362583,0.0001088925113921323,0.6761,-0.004,0.10645243123103207,1.0,0.0,0.0,0.0,0.13892147671643237,0.13660530865500903,0.16497876827144006,0.009408390564937152,-0.009337913814541273,9.19441213141297e-05,0.10777621430282257,0.11728705351102353,0.1453505329254687,0.008393859046669921,-0.00931168764193071,-0.00015350816702362118,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.071966324674102,-0.4985355818882958,-0.22537908235709897,0.7254521288204773,0.583707324727367,-0.36396768175903316,0.5460898450768567,0.16497876827144006,0.7714689274339557,0.7714689274339557,0.9594570027562723,0,0,-0.0001603764637661279,9.344465065475589e-05
+4830,1792459604758985479,784865000000,1792459604756065235,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759662872537251,-0.003978905481860694,0.10631992689861045,0.9999999661958819,9.070545285049359e-05,-0.0001982709981870593,0.0001072950672920039,0.6761,-0.004,0.10638362417551145,1.0,0.0,0.0,0.0,0.13366534436871658,0.13755988591608273,0.19345658469350718,0.009401981932432035,-0.00934357338803698,6.75268702781402e-05,0.10252008195510677,0.11824163077209725,0.17382834934753583,0.008387450414164804,-0.009317347215426418,-0.00017792541805961067,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.066400447165775,-0.5394377955446913,-0.24744581151036876,0.735000483555604,0.5985718842369915,-0.3855514902675535,0.5460898450768567,0.19345658469350718,0.7935356565872254,0.7935356565872254,0.9928170027562594,0,0,-0.00017073857440788742,7.500000206850927e-05
+4884,1792459605208984882,785315000000,1792459605208056189,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759699500968712,-0.0039780049196726595,0.10624830865929259,0.9999999686049975,9.348225146173323e-05,-0.00018933314698673162,9.821861686825102e-05,0.6761,-0.004,0.10630494117899521,1.0,0.0,0.0,0.0,0.1368964034992844,0.1346769257375031,0.21353552214808025,0.009398469638038592,-0.009392296893837606,4.636620014739621e-05,0.10575114108567459,0.11535867059351759,0.1939072868021089,0.008383938119771362,-0.009366070721227044,-0.00019908608819035466,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0324564638968208,-0.41566684700580137,-0.12144677951547948,0.6861650665653991,0.5036316638866617,-0.3035776206508713,0.5460898450768567,0.21353552214808025,0.6675366245923361,0.6675366245923361,1.0288170027562855,0,0,-0.00018077380483791228,-9.999999025923074e-05
+4940,1792459605674894327,785781000000,1792459605672056549,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759667208023133,-0.0039841270332053955,0.10616086062502522,0.9999999686832968,8.930726864161053e-05,-0.00019331053611881612,9.344259326989941e-05,0.6761,-0.004,0.10621837668325944,1.0,0.0,0.0,0.0,0.13068563200064276,0.12968978648031568,0.24374461985808213,0.009393745207253909,-0.009353302511269656,2.690384717965745e-05,0.09954036958703295,0.1103715313363302,0.22411638451211077,0.008379213688986678,-0.009327076338659094,-0.00021854844115809342,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0052176984073373,-0.552707802990628,-0.2026777324570095,0.7217414370119953,0.5500053495746854,-0.3893723926864938,0.5460898450768567,0.24374461985808213,0.7487675775338661,0.7487675775338661,1.0660970027563228,0,0,-0.00019132899709980856,-9.929935626396542e-05
+4993,1792459606116958866,786223000000,1792459606112055978,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759689542963528,-0.0039875375020311556,0.10607888136218228,0.9999999692704556,9.403219105591779e-05,-0.00018512797704942565,9.8931953383262e-05,0.6761,-0.004,0.1061313097862443,1.0,0.0,0.0,0.0,0.13042080033923378,0.13071187991944638,0.2684469002121564,0.00938721297308483,-0.009360529249769762,4.2167465142762595e-06,0.09927553792562398,0.11139362477546089,0.248818664866185,0.0083726814548176,-0.0093343030771592,-0.0002412355418234746,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0560971419975234,-0.4859720147099899,-0.3381970250653081,0.692236474045245,0.6484008137731849,-0.3481976621200493,0.5460898450768567,0.2684469002121564,0.8842868701421647,0.8842868701421647,1.1014570027563582,0,0,-0.00020256935344823012,9.923915442045512e-05
+5044,1792459606541980499,786648000000,1792459606540055926,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759701104660276,-0.00398908328000027,0.1059940877466928,0.9999999686074251,9.433946668313264e-05,-0.00018556707870866955,0.00010436923657420797,0.6761,-0.004,0.10604352681745395,1.0,0.0,0.0,0.0,0.13010109440399972,0.12224798796745265,0.294549120254947,0.009381920432089639,-0.009364396467713795,-1.3818827815441977e-05,0.0989558319903899,0.10292973282346717,0.27492088490897565,0.008367388913822408,-0.009338170295103233,-0.00025927111615319285,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.016501122542328,-0.4723428372116658,-0.3365139049691952,0.6841930906980639,0.634030207174981,-0.33578711090313207,0.5460898450768567,0.294549120254947,0.8826037500460518,0.8826037500460518,1.1354570027563922,0,0,-0.00020987866786878153,7.672793636878076e-05
+5103,1792459607034014532,787140000000,1792459607028055900,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.675992977614223,-0.003987648287471062,0.10591603427651432,0.9999999738437996,9.24123855224683e-05,-0.00015422022972030877,0.00010691742739771243,0.6761,-0.004,0.10593716069798041,1.0,0.0,0.0,0.0,0.1294354403876426,0.13449860585277604,0.3148722844086013,0.010173924027293254,-0.009382862861737588,-2.2184405691447846e-05,0.09829017797403279,0.11518035070879054,0.29524404906262997,0.009159392509026023,-0.009356636689127026,-0.0002676366940291987,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.095124044473659,-0.4890150287141806,-0.356489304594189,0.6813145344744135,0.669317913840495,-0.3482595675169942,0.5460898450768567,0.3148722844086013,0.9025791496710456,0.9025791496710456,1.1748170027564315,0,0,-0.00022286723312246834,5.1282329839995745e-05
+5156,1792459607474994614,787581000000,1792459607472065123,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.676001077278759,-0.003988769008240011,0.10582190658515371,0.9999999752359262,8.849493129164745e-05,-0.00014414698202876153,0.00011118141012529191,0.6761,-0.004,0.10583669359950082,1.0,0.0,0.0,0.0,0.12861731336280105,0.13624251313818722,0.3448115795488168,0.010367428401728052,-0.00838617428015677,-3.8430867214539596e-05,0.09747205094919124,0.11692425799420172,0.32518334420284545,0.009352896883460821,-0.008359948107546209,-0.00028388315555229047,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0708369551274886,-0.401827452564438,-0.3459558854093818,0.6456747702100516,0.6525854471100283,-0.29752998169014144,0.5460898450768567,0.3448115795488168,0.8920457304862385,0.8920457304862385,1.2100970027564668,0,0,-0.00023028959067058897,-9.571246159379427e-05
+5205,1792459607883989238,787990000000,1792459607880055670,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759999426246269,-0.003986059810758225,0.10572857040200119,0.9999999766234984,7.546578854426394e-05,-0.0001462653554978329,0.00010539083301380243,0.6761,-0.004,0.10574056311029122,1.0,0.0,0.0,0.0,0.12939642231062376,0.13698765969507198,0.36519370231232084,0.01038941893729343,-0.00940029425294737,-6.265037832901458e-05,0.09825115989701394,0.1176694045510865,0.3455654669663495,0.0093748874190262,-0.009374068080336808,-0.00030810266666676545,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0726604931429873,-0.4300152846289167,-0.3943850160547779,0.6532911430790544,0.6828957462501555,-0.3154636444233413,0.5460898450768567,0.36519370231232084,0.9404748611316345,0.9404748611316345,1.2428170027564995,0,0,-0.0002403623859172657,-1.5265933157842105e-05
+5250,1792459608259031875,788365000000,1792459608252055831,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759985708794516,-0.003987542694814242,0.10563639110569435,0.9999999783251464,5.812504675073293e-05,-0.00014703004423094804,9.897583667056541e-05,0.6761,-0.004,0.10564932336268691,1.0,0.0,0.0,0.0,0.13008706372446766,0.1380841018111891,0.39529709223845316,0.010384588512556931,-0.009406015083884852,-8.368336158986832e-05,0.09894180131085784,0.1187658466672036,0.3756688568924818,0.0093700569942897,-0.00937978891127429,-0.0003291356499276192,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0283611444264236,-0.40261810168306655,-0.4079781702621516,0.6398755296466146,0.6788236557717898,-0.2938891847731636,0.5460898450768567,0.39529709223845316,0.9540680153390082,0.9540680153390082,1.2728170027565295,0,0,-0.0002466121767311354,-7.31630409297523e-05
+5295,1792459608633958950,788740000000,1792459608632056057,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759937368699183,-0.003987137517115769,0.10553837749012442,0.9999999770396041,5.367244762743281e-05,-0.00015549454454397596,0.00010151044680661122,0.6761,-0.004,0.10555662519843186,1.0,0.0,0.0,0.0,0.1388343946511009,0.13605363418673072,0.41925137117831573,0.009402185323460363,-0.009393375946476669,-0.00011321136758395947,0.10768913223749109,0.11673537904274522,0.3996231358323444,0.008387653805193133,-0.009367149773866107,-0.00035866365592171034,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0368456359644838,-0.4204699547537394,-0.47124429582518407,0.6368253599653544,0.7191404609703117,-0.309616206952982,0.5460898450768567,0.41925137117831573,1.0173341409020407,1.0173341409020407,1.3028170027565595,0,0,-0.00025079580619616495,7.500000206850927e-05
+5339,1792459608999977972,789106000000,1792459608996065294,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.675990108536314,-0.003987677860326971,0.10544522621683747,0.9999999769471707,5.0732458530576296e-05,-0.0001586113136489755,9.908174067495695e-05,0.6761,-0.004,0.10546486681445133,1.0,0.0,0.0,0.0,0.13884220161653021,0.12723623359028904,0.4461208445637605,0.00935364557274524,-0.009397694104097328,-0.00013529642500367632,0.10769693920292041,0.10791797844630355,0.42649260921778914,0.00833911405447801,-0.009371467931486766,-0.0003807487133414272,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.007210344487256,-0.4630386750970161,-0.5165178506718106,0.657739313529656,0.7350784306007173,-0.33217212062569046,0.5460898450768567,0.4461208445637605,1.0626076957486672,1.0626076957486672,1.3320970027565888,0,0,-0.0002495777869967756,9.96703234098561e-05
+5382,1792459609359006023,789465000000,1792459609356055521,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759921723249456,-0.003991840250157573,0.10535518800350059,0.9999999772040666,7.325462756974827e-05,-0.00015217442365968238,9.225743930259637e-05,0.6761,-0.004,0.10537482676271948,1.0,0.0,0.0,0.0,0.13852016986937643,0.13010762713208346,0.4665690893737681,0.010167569115050986,-0.009418965206241567,-0.00014149433549671058,0.10737490745576661,0.11078937198809796,0.44694085402779676,0.009153037596783755,-0.009392739033631005,-0.00038694662383446146,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.079839493516562,-0.4059504962141915,-0.5488669405622194,0.6378151815394766,0.7751791484109555,-0.28843966896455914,0.5460898450768567,0.4665690893737681,1.094956785639076,1.094956785639076,1.3608170027566175,0,0,-0.00025134833782772405,9.997680047580388e-05
+5427,1792459609734048527,789840000000,1792459609728055610,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.675989880221276,-0.003987663984456524,0.10526065225525884,0.9999999747842003,8.680404707220414e-05,-0.0001576989617777256,9.73167916156504e-05,0.6761,-0.004,0.1052815212040667,1.0,0.0,0.0,0.0,0.1388880558757729,0.12889247074819424,0.4947456723019318,0.00934411073083578,-0.009407941070969057,-0.00017447857861804317,0.10774279346216309,0.10957421560420876,0.4751174369559604,0.00832957921256855,-0.009381714898358495,-0.00041993086695579405,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0194071983596573,-0.47193909488423397,-0.5337160732917371,0.6543509604760923,0.7455153202135663,-0.3356117290111593,0.5460898450768567,0.4947456723019318,1.0798059183685937,1.0798059183685937,1.3908170027566475,0,0,-0.0002488577881527987,4.941479025825143e-07
+5472,1792459610108973326,790215000000,1792459610108065854,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759917094113371,-0.003992317940519711,0.10517703702488776,0.9999999749781321,8.82339501201866e-05,-0.00015175771315658137,0.00010330036845937728,0.6761,-0.004,0.10518781418142166,1.0,0.0,0.0,0.0,0.12965698692828143,0.11961499691386787,0.5145643879450522,0.009339772736029619,-0.009411573139510715,-0.0001915638479717371,0.09851172451467162,0.10029674176988239,0.4949361525990808,0.008325241217762389,-0.009385346966900153,-0.000437016136309488,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.028602609623608,-0.4019874727306445,-0.4907061425958474,0.6363045503262865,0.719117077883345,-0.28834910334521735,0.5460898450768567,0.5145643879450522,1.036795987672704,1.036795987672704,1.4208170027566775,0,0,-0.00025243285886186593,-9.999209379796809e-05
+5521,1792459610517079444,790623000000,1792459610512056348,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759910656059176,-0.003995242982789662,0.10507323558861544,0.9999999764803366,7.408777761917464e-05,-0.00015071117259020836,0.00010138705301728714,0.6761,-0.004,0.1050841967149682,1.0,0.0,0.0,0.0,0.1339488415438637,0.12792069507495912,0.5299401009354601,0.009336432828424033,-0.009416248400296609,-0.00020348505060715122,0.10280357913025388,0.10860243993097363,0.5103118655894887,0.008321901310156803,-0.009390022227686047,-0.0004489373389449021,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9933635349187895,-0.4615605549823014,-0.5579890807127186,0.6535494902932779,0.7468457016681814,-0.3324552506477195,0.5460898450768567,0.5299401009354601,1.1040789257895751,1.1040789257895751,1.4534570027567102,0,0,-0.000255447816284475,-9.687500387845489e-05
+5569,1792459610917061508,791023000000,1792459610916056490,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759917202577933,-0.003999632502006482,0.104973082012984,0.9999999779381026,5.900805670559388e-05,-0.00014891576558856737,9.95429703251405e-05,0.6761,-0.004,0.10498084414944882,1.0,0.0,0.0,0.0,0.13505686304432182,0.12105635494371456,0.5554196318783893,0.009332104465512941,-0.009420609966647014,-0.0002239470100859799,0.10391160063071202,0.10173809979972907,0.5357913965324179,0.008317572947245711,-0.009394383794036452,-0.0004693992984237308,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9908642968425037,-0.47363496409922456,-0.5664678768747036,0.6480113948656562,0.7520015053819877,-0.33831420004575935,0.5460898450768567,0.5554196318783893,1.11255772195156,1.11255772195156,1.4854570027567422,0,0,-0.0002594998275387824,-9.999999025923074e-05
+5616,1792459611309070207,791415000000,1792459611308056353,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759905230775651,-0.0039981954217763235,0.10487382835949176,0.9999999782678379,5.3949880462627456e-05,-0.0001484817711743394,9.974849537268751e-05,0.6761,-0.004,0.10487837033103387,1.0,0.0,0.0,0.0,0.12946271823388442,0.12177544424227317,0.5754136991673456,0.009328512079970602,-0.009424888770799864,-0.00024083609111841703,0.09831745582027461,0.10245718909828769,0.5557854638213743,0.008313980561703372,-0.009398662598189302,-0.0004862883794561679,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0172987357742644,-0.45223216336044236,-0.6243463237057176,0.6498238230701214,0.7944770873134249,-0.32280723354982443,0.5460898450768567,0.5754136991673456,1.1704361687825742,1.1704361687825742,1.5168170027567736,0,0,-0.00026538435786013635,-9.999999025923074e-05
+5655,1792459611633975518,791740000000,1792459611628056342,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759921437313869,-0.003998959448193349,0.10479028280107847,0.9999999799820758,4.042960127458603e-05,-0.00014456003145019814,9.45862413615431e-05,0.6761,-0.004,0.10479135994838666,1.0,0.0,0.0,0.0,0.13485352164771147,0.11432068972360539,0.5855010611721279,0.009307839564074424,-0.009417084473062658,-0.0002482444166031422,0.10370825923410167,0.0950024345796199,0.5658728258261565,0.008293308045807194,-0.009390858300452096,-0.000493696704940893,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.985235638421391,-0.4536180957438412,-0.6249325233455627,0.6535709527196962,0.785330117665171,-0.3201654528247012,0.5460898450768567,0.5855010611721279,1.1710223684224195,1.1710223684224195,1.5428170027567996,0,0,-0.00027114533724811727,-9.999999025923074e-05
+5694,1792459611959038068,792065000000,1792459611956056358,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759906406808934,-0.004002176558273386,0.10469982802867302,0.9999999795688247,3.5425172149337795e-05,-0.0001476773970643646,9.613354349949507e-05,0.6761,-0.004,0.10470246792708117,1.0,0.0,0.0,0.0,0.13189920940894295,0.12342673171542705,0.605482327752865,0.00922178005529092,-0.00878646572974621,-0.00025577796617733063,0.10075394699533313,0.10410847657144157,0.5858540924068937,0.00820724853702369,-0.008760239557135648,-0.0005012302545150815,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0033241662906587,-0.4536895496932773,-0.668704109326253,0.6509069394533391,0.8174317317208637,-0.32287490986219863,0.5460898450768567,0.605482327752865,1.2147939544031097,1.2147939544031097,1.5688170027568256,0,0,-0.00027644610793162015,-6.165134655423116e-05
+5732,1792459612275088062,792381000000,1792459612268056132,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760259685245106,-0.003996388009894541,0.10464972898615832,0.9999999844095819,4.654913246165499e-05,-0.00010489113937302745,9.723542302859136e-05,0.6761,-0.004,0.10461345700833909,1.0,0.0,0.0,0.0,0.11470039924344688,0.11507637206261,0.6055391595936735,0.009294256371229995,-0.008417220743952777,-0.00024678822731461934,0.08355513682983708,0.09575811691862451,0.5859109242477022,0.008279724852962765,-0.008390994571342215,-0.0004922405156523702,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.062637785372952,-0.40002507717155883,-0.65388743355321,0.6402039912466848,0.8209377626837266,-0.28719923623443255,0.5460898450768567,0.6055391595936735,1.1999772786300666,1.1999772786300666,1.5940970027568508,0,0,-0.00028548261521019045,-9.899453065476677e-05
+5772,1792459612609057533,792715000000,1792459612604056369,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760197236951339,-0.004006173089513352,0.10454087958321587,0.9999999832912035,4.546443613719065e-05,-0.00011419924076865803,9.875209106413353e-05,0.6761,-0.004,0.104516577280593,1.0,0.0,0.0,0.0,0.12881120602824023,0.1272210331050602,0.625572049410435,0.009292137541798084,-0.00842265237762373,-0.00026639695883755093,0.09766594361463041,0.1079027779610747,0.6059438140644636,0.008277606023530854,-0.008396426205013168,-0.0005118492471753018,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0622145269534293,-0.4561503685438748,-0.7198922502193152,0.6745275590769204,0.8640541235585408,-0.3188523458902851,0.5460898450768567,0.625572049410435,1.265982095296172,1.265982095296172,1.6208170027568776,0,0,-0.0002948389458453952,5.855884807471341e-05
+5808,1792459612909058687,793015000000,1792459612908056415,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760138049153408,-0.004001763225009101,0.10444341695281632,0.9999999817060617,5.4140153354663156e-05,-0.00012280381681951507,0.00010009399008961291,0.6761,-0.004,0.10442706314166356,1.0,0.0,0.0,0.0,0.11996655073619442,0.11503280993850862,0.6449924439118728,0.009286454770886332,-0.008425620711852363,-0.00023930078906353436,0.0888212883225846,0.09571455479452314,0.6253642085659015,0.008271923252619101,-0.008399394539241802,-0.00048475307740128524,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.0180049983704715,-0.4579381468338409,-0.6840295422003129,0.664414768008124,0.8304485307424743,-0.32010572206500154,0.5460898450768567,0.6449924439118728,1.2301193872771696,1.2301193872771696,1.6448170027569016,0,0,-0.0003037774199368944,-9.999999025923074e-05
+5848,1792459613242033465,793348000000,1792459613240056141,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760123104186936,-0.004011716057884651,0.10434197636384453,0.9999999819198016,5.0345640322414584e-05,-0.0001227705070642486,9.997989931826149e-05,0.6761,-0.004,0.10432391439478898,1.0,0.0,0.0,0.0,0.12313829864313033,0.11744703568024743,0.6500649514515711,0.008392183708399163,-0.008410974583558946,-0.00029233699497946994,0.09199303622952053,0.09812878053626195,0.6304367161055997,0.007377652190131933,-0.008384748410948384,-0.0005377892833172208,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9789045412775887,-0.4573636461570424,-0.612032089929054,0.6692250090083399,0.7751746274778275,-0.3212088455333792,0.5460898450768567,0.6500649514515711,1.1581219350059107,1.1581219350059107,1.6714570027569282,0,0,-0.0003159628086627216,-9.999999025923074e-05
+5887,1792459613567099386,793673000000,1792459613560056496,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760067375800544,-0.004018754347908775,0.10422802815699748,0.999999981446831,4.1895180095376645e-05,-0.0001292158521105582,0.00010048512098239738,0.6761,-0.004,0.10421886645634511,1.0,0.0,0.0,0.0,0.1295296205670201,0.11225301676282623,0.6651750979401992,0.008262885255678388,-0.008411562718573245,-0.0003090994290191394,0.09838435815341029,0.09293476161884075,0.6455468625942279,0.007248353737411157,-0.008385336545962683,-0.0005545517173568903,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9985825707704192,-0.4689742469562349,-0.6702063558597353,0.6673798195704698,0.8171131555306123,-0.330867889009255,0.5460898450768567,0.6651750979401992,1.216296200936592,1.216296200936592,1.6974570027569542,0,0,-0.000330858409595984,-9.999972658126239e-05
+5918,1792459613825068416,793931000000,1792459613824056035,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760044469844756,-0.004015154909229017,0.10413242507102748,0.9999999801882868,5.079617305898709e-05,-0.00013307721456097288,0.00010380989401478639,0.6761,-0.004,0.10413222272154335,1.0,0.0,0.0,0.0,0.12031555837325172,0.11227408315443833,0.6653019348497344,0.008263044938055917,-0.008411413969294772,-0.0003103319216860216,0.0891702959596419,0.09295582801045285,0.6456736995037631,0.007248513419788686,-0.00838518779668421,-0.0005557842100237725,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,2.020457617139657,-0.43379998898161076,-0.6651163911082789,0.6654325966335483,0.8211029234184435,-0.30481637807569545,0.5460898450768567,0.6653019348497344,1.2112062361851357,1.2112062361851357,1.7180970027569749,0,0,-0.00034212413560083386,-9.999999025923074e-05
+5956,1792459614142120019,794248000000,1792459614140056051,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760048363238442,-0.004017642608510053,0.10402736064547245,0.999999980856794,4.476748098031033e-05,-0.00013284677813981294,0.00010038367467011309,0.6761,-0.004,0.1040213122748719,1.0,0.0,0.0,0.0,0.12394257797477456,0.10252322201320274,0.6739753289984082,0.008259823463250032,-0.008412628196827105,-0.0003169074891380175,0.09279731556116474,0.08320496686921726,0.6543470936524368,0.007245291944982801,-0.008386402024216543,-0.0005623597774757683,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.9234271783266592,-0.5020939985711099,-0.6418439054088302,0.680727147505964,0.7787016672720485,-0.3533008867334917,0.5460898450768567,0.6739753289984082,1.1879337504856868,1.1879337504856868,1.7434570027570002,0,0,-0.0003577576494731823,-9.999999025923074e-05
+5991,1792459614434077669,794540000000,1792459614428056869,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760058115468264,-0.004024726251589581,0.10392414260787035,0.9999999818049704,3.5849971156916856e-05,-0.00012905365334507695,9.946284510825435e-05,0.6761,-0.004,0.10391472274164242,1.0,0.0,0.0,0.0,0.12076886145474161,0.11213577333797786,0.6576662421455189,0.0082639590680001,-0.008410891451995023,-0.0003088427882753763,0.0896235990411318,0.09281751819399238,0.6380380067995476,0.0072494275497328705,-0.008384665279384461,-0.0005542950766131272,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.940661316359114,-0.3690865171952705,-0.6169369971003951,0.6438280997339142,0.7658055716401988,-0.2639633940314505,0.5460898450768567,0.6576662421455189,1.1630268421772518,1.1630268421772518,1.7668170027570236,0,0,-0.0003723576466288777,-9.999999025923074e-05
+6023,1792459614700079623,794806000000,1792459614700055267,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760065129815654,-0.004023915312089736,0.10382303179507,0.9999999810180099,4.4835217975720204e-05,-0.0001267394225190124,0.00010646016296155296,0.6761,-0.004,0.10381391335798504,1.0,0.0,0.0,0.0,0.12031528990030138,0.11228152574392786,0.6657929950351648,0.00826159324451326,-0.008411511553470306,-0.0003107333482489698,0.08917002748669157,0.09296327059994237,0.6461647596891934,0.00724706172624603,-0.008385285380859744,-0.0005561856365867207,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8667447912563981,-0.4747489318738751,-0.6410441407262795,0.6809718336012852,0.7622743781701954,-0.33154270586704365,0.5460898450768567,0.6657929950351648,1.1871339858031362,1.1871339858031362,1.7880970027570449,0,0,-0.00038565764403783307,-9.999999025923074e-05
+6064,1792459615043080083,795148000000,1792459615040055842,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760081057477609,-0.00402996029004186,0.10368873386987165,0.9999999821587978,3.312197835932701e-05,-0.00012504447500236282,0.00010194156326647318,0.6761,-0.004,0.10367910289429542,1.0,0.0,0.0,0.0,0.12089964486235899,0.10306301654129693,0.6753075885992957,0.0082591271735591,-0.00841278268326806,-0.000325466276345686,0.08975438244874918,0.08374476139731145,0.6556793532533244,0.007244595655291869,-0.008386556510657499,-0.0005709185646834368,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.837236740372349,-0.5037988777198573,-0.6080027917445306,0.6941377209563035,0.7322464686059699,-0.350619760457514,0.5460898450768567,0.6753075885992957,1.1540926368213873,1.1540926368213873,1.8154570027570722,0,0,-0.00040275764070649,-9.999999025923074e-05
+6093,1792459615284130443,795390000000,1792459615280055688,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760086984417305,-0.004031918904513111,0.10359071565766828,0.9999999823758008,3.5283637778711856e-05,-0.00012127234856390938,0.00010363081071906975,0.6761,-0.004,0.10358017749553086,1.0,0.0,0.0,0.0,0.1202728993363043,0.10259445732817764,0.6753462155992597,0.008259735558831352,-0.008412765440443977,-0.00031846333109364323,0.0891276369226945,0.08327620218419216,0.6557179802532883,0.007245204040564121,-0.008386539267833415,-0.0005639156194313941,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.875078959572486,-0.5037825755201717,-0.5685184755282717,0.69358043395679,0.7179209314320184,-0.3497803846152546,0.5460898450768567,0.6753462155992597,1.1146083206051283,1.1146083206051283,1.8348170027570916,0,0,-0.0004148576383492238,-9.999999025923074e-05
+6125,1792459615550056417,795656000000,1792459615548055829,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760088298927649,-0.004033827855377668,0.10347589457846301,0.9999999814689685,3.9347521956692536e-05,-0.00012201779308642885,0.00010985607768331681,0.6761,-0.004,0.10346806311407587,1.0,0.0,0.0,0.0,0.12081104763217834,0.10019091016853335,0.6849648777057142,0.007238051697214899,-0.008396059234969219,-0.0003376792719572433,0.08966578521856852,0.08087265502454787,0.6653366423597429,0.00622352017894767,-0.008369833062358657,-0.0005831315602949942,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8441351314431769,-0.46175027453222406,-0.5592274348436426,0.6855612010184805,0.703431609969409,-0.3211513106130708,0.5460898450768567,0.6849648777057142,1.105317279920499,1.105317279920499,1.8560970027571129,0,0,-0.0004281576357581792,-9.999999025923074e-05
+6158,1792459615825083759,795931000000,1792459615820055844,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760104923281588,-0.004035934675462874,0.10335937801108731,0.9999999821151029,3.6490468564087986e-05,-0.00011806571369621773,0.00010927758932845925,0.6761,-0.004,0.10334843601461204,1.0,0.0,0.0,0.0,0.12079717914904259,0.09916654706146655,0.6936531138014145,0.007236210925164886,-0.008397865523512986,-0.00034512942692933326,0.08965191673543277,0.07984829191748107,0.6740248784554431,0.006221679406897657,-0.008371639350902424,-0.0005905817152670841,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8133151287793108,-0.44098662423810886,-0.5075885655375539,0.6785090329706551,0.6628568025348827,-0.31028128163674795,0.5460898450768567,0.6936531138014145,1.0536784106144106,1.0536784106144106,1.8780970027571349,0,0,-0.00044190763307946766,-9.999999025923074e-05
+6184,1792459616042119649,796148000000,1792459616040055841,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760050844443041,-0.0040376581576363774,0.10324829221432362,0.9999999814719985,2.564566607471533e-05,-0.0001277670031827704,0.00010731616667875808,0.6761,-0.004,0.10325137025846419,1.0,0.0,0.0,0.0,0.12080625634196396,0.10018249576687092,0.6849740504218397,0.007237607987883272,-0.008396656261633897,-0.00033767917273999203,0.08966099392835414,0.08086424062288544,0.6653458150758683,0.006223076469616042,-0.008370430089023335,-0.0005831314610777429,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8109437540620041,-0.35270797414470945,-0.5646648429993089,0.6515062195615158,0.6980516902325083,-0.2551042119751489,0.5460898450768567,0.6849740504218397,1.1107546880761654,1.1107546880761654,1.8954570027571522,0,0,-0.00045275763096572073,-9.999999025923074e-05
+6211,1792459616267120505,796373000000,1792459616264057882,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.676003227702766,-0.00403356207208438,0.10313697685347993,0.9999999804780847,2.780979990181659e-05,-0.00013383133804394646,0.0001086392321406007,0.6761,-0.004,0.10314823979174456,1.0,0.0,0.0,0.0,0.13073605515654163,0.10957493616025056,0.6812146905848724,0.007236412198232596,-0.008399147951646977,-0.0003309107105217041,0.09959079274293181,0.09025668101626508,0.661586455238901,0.006221880679965367,-0.008372921779036415,-0.000576362998859455,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7866811180786304,-0.4189718653087875,-0.5655644633826333,0.671741466066142,0.6927022465135427,-0.29374727010318624,0.5460898450768567,0.6812146905848724,1.11165430845949,1.11165430845949,1.9134570027571702,0,0,-0.00046400762877404764,-9.999999025923074e-05
+6239,1792459616500103695,796606000000,1792459616500056045,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760012257497257,-0.0040126169999573,0.10302337003203535,0.9999999787219148,4.2938567277126757e-05,-0.00013776155837932216,0.00011479140542387449,0.6761,-0.004,0.10303877461450575,1.0,0.0,0.0,0.0,0.14807584509391952,0.1253464546943246,0.665849729142862,0.009333145815152263,-0.010086198362913431,-0.0003134120437686545,0.11693058268030972,0.10602819955033911,0.6462214937968906,0.008318614296885032,-0.01005997219030287,-0.0005588643321064054,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7981307273792233,-0.37224163290532386,-0.5193353684414204,0.6493875150747956,0.669160614989106,-0.2675925873966962,0.5460898450768567,0.665849729142862,1.0654252135182771,1.0654252135182771,1.9320970027571889,0,0,-0.0004756576265044484,-9.999999025923074e-05
+6268,1792459616742144159,796848000000,1792459616740056126,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.676005716928985,-0.00401804503181653,0.10291272029541729,0.9999999797586212,4.121513707945799e-05,-0.0001272035641431116,0.00011851661221376792,0.6761,-0.004,0.10292220741917808,1.0,0.0,0.0,0.0,0.1394520287827605,0.13081476131795944,0.6457772812741643,0.009326348068271614,-0.009811712385808954,-0.00030184352541016935,0.1083067663691507,0.11149650617397394,0.626149045928193,0.008311816550004384,-0.009785486213198392,-0.0005472958137479202,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8381741381931744,-0.2856935887188763,-0.5041971527423112,0.6315891132560736,0.6658175931892512,-0.20865611573403262,0.5460898450768567,0.6457772812741643,1.050286997819168,1.050286997819168,1.9514570027572082,0,0,-0.00048775762414718225,-9.999999025923074e-05
+6292,1792459616942145807,797048000000,1792459616940056542,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759940570519926,-0.004015786752141737,0.10279196826575489,0.999999976893769,3.9261625559933155e-05,-0.00015021075818139816,0.00011640695456921817,0.6761,-0.004,0.10282366089454444,1.0,0.0,0.0,0.0,0.15384024773810412,0.12434336571908955,0.645849903011557,0.009341767234016684,-0.010453982417149052,-0.0003148952655313151,0.12269498532449431,0.10502511057510407,0.6262216676655856,0.008327235715749453,-0.01042775624453849,-0.000560347553869066,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7112579840126048,-0.41185840415697433,-0.4753346207500119,0.6789556251853945,0.6104369835102108,-0.29212905135536454,0.5460898450768567,0.645849903011557,1.0214244658268685,1.0214244658268685,1.9674570027572242,0,0,-0.0004977576221990284,-9.999999025923074e-05
+6321,1792459617184071198,797290000000,1792459617180056517,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759965330546731,-0.004018283777660613,0.10267725887434394,0.999999979107687,2.816253466196964e-05,-0.0001426448335953184,0.00010994004401561221,0.6761,-0.004,0.10270174550025868,1.0,0.0,0.0,0.0,0.15710670797475995,0.13695850037400284,0.6358134417999037,0.00933398594232243,-0.010053007546454292,-0.0002955124155410979,0.12596144556115013,0.11764024523001736,0.6161852064539324,0.0083194544240552,-0.01002678137384373,-0.0005409647038788488,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7610817891071004,-0.390259149509043,-0.48293187395811965,0.6656916759276016,0.6300605539285777,-0.2767986121570256,0.5460898450768567,0.6358134417999037,1.0290217190349762,1.0290217190349762,1.9868170027572436,0,0,-0.0005098576198417623,-9.999999025923074e-05
+6344,1792459617375148480,797481000000,1792459617372056120,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759908470601802,-0.004019651475334884,0.10256979763072369,0.9999999761766231,3.765976520444848e-05,-0.0001550031350456536,0.0001168134752136391,0.6761,-0.004,0.10260345544504751,1.0,0.0,0.0,0.0,0.15182504700118943,0.1275250021134135,0.6320227778435039,0.008360756977595796,-0.01003195019606895,-0.0003007463988180029,0.12067978458757962,0.108206746969428,0.6123945424975326,0.007346225459328567,-0.010005724023458389,-0.0005461986871557538,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7431887771180787,-0.27720842256452377,-0.45516856469265854,0.6290961136576482,0.6048988067850499,-0.2018782064507318,0.5460898450768567,0.6320227778435039,1.0012584097695152,1.0012584097695152,2.002097002757259,0,0,-0.0005194076179812754,-9.999999025923074e-05
+6374,1792459617625150923,797731000000,1792459617624055985,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759889708663591,-0.004019316241028609,0.10243676067170238,0.9999999744832747,5.1187478847554114e-05,-0.00015721919184588363,0.00012303772604673754,0.6761,-0.004,0.1024720472908578,1.0,0.0,0.0,0.0,0.14914664193129404,0.12048122883445772,0.6154470761297945,0.008300855653414521,-0.009415189597476994,-0.000282201113058899,0.11800137951768423,0.10116297369047224,0.5958188407838232,0.007286324135147292,-0.009388963424866432,-0.0005276534013966499,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.8145976460597948,-0.43388415598885366,-0.5341403063526027,0.6807090595018933,0.6727332633043649,-0.3053337598059439,0.5460898450768567,0.6154470761297945,1.0802301514294594,1.0802301514294594,2.022097002757279,0,0,-0.000531907615546083,-9.999999025923074e-05
+6399,1792459617834131001,797940000000,1792459617828055899,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6759914221799883,-0.004022799727180575,0.10232724225470825,0.9999999758838696,4.628246471773635e-05,-0.00015430676577625564,0.00011714299021729986,0.6761,-0.004,0.10235979179942244,1.0,0.0,0.0,0.0,0.15400451332961143,0.1279323891246014,0.6052724296611718,0.008307383037546247,-0.00953841424111515,-0.0002754869733695355,0.12285925091600161,0.1086141339806159,0.5856441943152004,0.007292851519279018,-0.009512188068504589,-0.0005209392617072864,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.730790284104108,-0.3759135826190355,-0.4748018479934498,0.6647356265523799,0.6088439869843004,-0.2703779948399645,0.5460898450768567,0.6052724296611718,1.0208916930703065,1.0208916930703065,2.0388170027572956,0,0,-0.0005423576135102623,-9.999999025923074e-05
+6426,1792459618059102896,798165000000,1792459618056056253,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759857718503299,-0.004023116496175917,0.10219615092181225,0.9999999747540863,4.582182588712712e-05,-0.00016296576639050634,0.00011522677830523211,0.6761,-0.004,0.10223650133663029,1.0,0.0,0.0,0.0,0.14858035693993793,0.12019377301568863,0.5952023801592762,0.008304698595305197,-0.009413900530306128,-0.00026602024173165396,0.11743509452632811,0.10087551787170315,0.5755741448133048,0.007290167077037967,-0.009387674357695566,-0.0005114725300694048,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7211440676365262,-0.3719500158061264,-0.42024729927519866,0.6674879896011208,0.5701793778272134,-0.264067849989971,0.5460898450768567,0.5952023801592762,0.9663371443520553,0.9663371443520553,2.0568170027573136,0,0,-0.0005536076113185892,-9.999999025923074e-05
+6449,1792459618250125660,798356000000,1792459618248055370,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759842547036876,-0.004022452736981296,0.1020834737350949,0.9999999752380213,5.1553492107313374e-05,-0.000164286325521477,0.0001063910795636636,0.6761,-0.004,0.10212985503304704,1.0,0.0,0.0,0.0,0.15287466891854645,0.12817115651892014,0.5848179963422729,0.008317324317912503,-0.009769183577110757,-0.0002628096671881947,0.12172940650493663,0.10885290137493465,0.5651897609963016,0.0073027927996452725,-0.009742957404500195,-0.0005082619555259456,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.699583721581883,-0.365640248395603,-0.4551352017403071,0.6591306019073019,0.5864210220087864,-0.2576036903434364,0.5460898450768567,0.5848179963422729,1.0012250468171637,1.0012250468171637,2.072097002757329,0,0,-0.0005631576094581023,-9.999999025923074e-05
+6474,1792459618459084262,798565000000,1792459618452056231,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6759819442752285,-0.004025064066399276,0.10195843125284772,0.9999999724439959,6.280118901258813e-05,-0.00017071370463236796,0.00011605047899068897,0.6761,-0.004,0.10201106829288406,1.0,0.0,0.0,0.0,0.1490198230755334,0.12278839671764959,0.5751712435543177,0.008320520173589729,-0.009775827441045217,-0.0002469076031373432,0.11787456066192359,0.1034701415736641,0.5555430082083463,0.0073059886553225,-0.009749601268434655,-0.0004923598914750941,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7107966434836968,-0.4220114356899408,-0.344890135933772,0.6809588724791361,0.5189685273537309,-0.29332106532273183,0.5460898450768567,0.5751712435543177,0.8909799810106287,0.8909799810106287,2.0888170027573456,0,0,-0.0005736076074222815,-9.999999025923074e-05
+6497,1792459618649176880,798755000000,1792459618648055993,DOWN_SETTLE,1,0.0555,0.05550146847963333,0.6759757667337135,-0.004024627047781767,0.10184090634259992,0.9999999698489227,6.422581755523177e-05,-0.0001806899238750371,0.00012235691235976115,0.6761,-0.004,0.10190285184765027,1.0,0.0,0.0,0.0,0.14855833170283378,0.1283388386692743,0.5555818584023143,0.008313402174579893,-0.009402889794312528,-0.00023395525632531692,0.11741306928922397,0.10902058352528883,0.535953623056343,0.007298870656312664,-0.009376663621701966,-0.0004794075446630678,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7298099296845528,-0.36826032162170647,-0.36183603406673426,0.6596529908347107,0.5347117889646733,-0.2609156008523184,0.5460898450768567,0.5555818584023143,0.9079258791435909,0.0,0.0,0,0,-0.0004975576055715354,0.0028500000097407704
+6544,1792459619040115730,799146000000,1792459619032056131,DOWN_SETTLE,1,0.0555,0.05550212413072586,0.6759746967517952,-0.004020127994465757,0.10176957403778426,0.9999999704213605,5.579148289339208e-05,-0.00018492515729922774,0.0001152828666276532,0.6761,-0.004,0.10185167166588957,1.0,0.0,0.0,0.0,0.1574277972110958,0.1285757807537253,0.5150992754512635,0.00834255747770594,-0.010186010893470519,-0.00021386688867131975,0.12628253479748597,0.10925752560973982,0.4954710401052922,0.00732802595943871,-0.010159784720859957,-0.0004593191770090706,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6619651554644055,-0.2693806128758519,-0.2600410153335841,0.6112915126931814,0.4703909269516059,-0.20089049893401362,0.5460898450768567,0.5150992754512635,0.8061308604104407,0.0,0.0,0,0,-1.0359197042190458e-05,0.00010463835396151976

Fixed/digit/ball_0010_10/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792459597236018535,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.363618521e-10,-2.305253037e-11,-1.178834808e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449457e-01,-1.188589691e-04,8.303259125e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1792459597792839648,2.591035524e-06,1.379431640e-06,3.745555832e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.665846550e-08,-6.951344951e-10,-2.255129417e-11,7.019582239e-01,-2.089130338e-05,8.601468328e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449617e-01,-1.188596411e-04,8.303259125e-01
+2,1.100000000e+00,DOWN_FORCE_DETACH,1792459598333417359,2.877966572e-06,5.365439978e-06,-6.268957207e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.493734996e-08,-1.070286375e-09,2.122950704e-10,7.019585108e-01,-1.690529504e-05,8.601424603e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449700e-01,-1.188600163e-04,8.303259128e-01
+3,1.616666667e+00,DOWN_FORCE_DETACH,1792459598857855899,6.448209083e-06,8.622204961e-07,-9.987099944e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.960557111e-08,-1.291202509e-09,4.306848211e-10,7.019620810e-01,-2.140851453e-05,8.601331001e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449746e-01,-1.188602372e-04,8.303259130e-01
+4,2.233333333e+00,DOWN_FORCE_DETACH,1792459599512670958,8.708010762e-06,-8.475650983e-07,-3.216205282e-05,5.680158791e-06,4.015632535e-06,-1.899455329e-05,5.919885202e-06,4.072164307e-06,-1.901031003e-05,7.019643408e-01,-2.311830012e-05,8.601109252e-01,7.019613130e-01,-1.825510249e-05,8.601240927e-01,7.027508649e-01,-1.147867817e-04,8.303069022e-01
+5,2.816666667e+00,DOWN_FORCE_DETACH,1792459600102669738,8.343309852e-06,-3.012372982e-06,-6.379299903e-05,6.756124729e-06,-6.490714964e-07,-5.801210128e-05,6.604541771e-06,-6.554157732e-07,-5.795377966e-05,7.019639761e-01,-2.528310800e-05,8.600792942e-01,7.019623889e-01,-2.291980652e-05,8.600850751e-01,7.027515496e-01,-1.195143618e-04,8.302679588e-01
+6,3.266666667e+00,DOWN_FORCE_DETACH,1792459600577821358,2.339954124e-06,-3.379647785e-06,-1.028248933e-04,2.290166759e-06,-3.323152525e-06,-1.023817304e-04,1.233812744e-06,-3.361501296e-06,-1.023445860e-04,7.019579728e-01,-2.565038281e-05,8.600402623e-01,7.019579230e-01,-2.559388755e-05,8.600407055e-01,7.027461788e-01,-1.222204473e-04,8.302235680e-01
+7,3.850000000e+00,DOWN_FORCE_DETACH,1792459601166916567,-3.902136179e-06,-3.352777488e-06,-1.489592793e-04,-1.686940128e-06,-4.970866695e-06,-1.454349422e-04,-3.598402148e-06,-5.040287556e-06,-1.453379647e-04,7.019517307e-01,-2.562351251e-05,8.599941280e-01,7.019539459e-01,-2.724160172e-05,8.599976523e-01,7.027413466e-01,-1.238992336e-04,8.301805746e-01
+8,4.416666667e+00,DOWN_FORCE_DETACH,1792459601741600892,-5.863624827e-07,-9.186868353e-06,-1.931944092e-04,-2.236476217e-06,-9.613775062e-06,-1.938327739e-04,-4.817895971e-06,-9.740897658e-06,-1.937860944e-04,7.019550465e-01,-3.145760338e-05,8.599498928e-01,7.019533963e-01,-3.188451008e-05,8.599492545e-01,7.027401271e-01,-1.285998437e-04,8.301321264e-01
+9,4.966666667e+00,DOWN_FORCE_DETACH,1792459602297557291,6.006437833e-06,-1.198591319e-05,-2.394481328e-04,6.354346014e-06,-1.662104445e-05,-2.348246953e-04,3.976898408e-06,-1.682211738e-05,-2.347817999e-04,7.019616393e-01,-3.425664821e-05,8.599036391e-01,7.019619872e-01,-3.889177948e-05,8.599082625e-01,7.027489219e-01,-1.356810634e-04,8.300911307e-01
+10,5.500000000e+00,DOWN_FORCE_DETACH,1792459602821500009,8.908974861e-06,-1.461240626e-05,-2.897396674e-04,5.630712103e-06,-1.620901892e-05,-2.782721306e-04,2.646604395e-06,-1.643507284e-05,-2.782740894e-04,7.019645418e-01,-3.688314128e-05,8.598533476e-01,7.019612635e-01,-3.847975394e-05,8.598648151e-01,7.027475916e-01,-1.352940188e-04,8.300476385e-01
+11,6.000000000e+00,DOWN_FORCE_DETACH,1792459603329486001,6.689926038e-06,-1.834787619e-05,-3.517444163e-04,4.414046636e-06,-1.781043640e-05,-3.427870455e-04,5.607280233e-07,-1.802615670e-05,-3.428089965e-04,7.019623227e-01,-4.061861121e-05,8.597913428e-01,7.019600469e-01,-4.008117142e-05,8.598003002e-01,7.027455057e-01,-1.368851027e-04,8.299831035e-01
+12,6.583333333e+00,DOWN_FORCE_DETACH,1792459603919451733,1.620651578e-05,-1.617816506e-05,-4.196264404e-04,1.101215814e-05,-1.825519275e-05,-4.068860435e-04,6.833147931e-06,-1.847465659e-05,-4.069436277e-04,7.019718393e-01,-3.844890008e-05,8.597234608e-01,7.019666450e-01,-4.052592778e-05,8.597362012e-01,7.027517782e-01,-1.373336026e-04,8.299189689e-01
+13,7.016666667e+00,DOWN_FORCE_DETACH,1792459604345183808,1.970745196e-05,-2.186694193e-05,-4.855456851e-04,1.845103667e-05,-1.966278133e-05,-4.714569909e-04,1.408160217e-05,-1.991359022e-05,-4.714695429e-04,7.019753403e-01,-4.413767695e-05,8.596575416e-01,7.019740839e-01,-4.193351635e-05,8.596716302e-01,7.027590266e-01,-1.387725362e-04,8.298544430e-01
+14,7.416666667e+00,DOWN_FORCE_DETACH,1792459604754560146,1.980762845e-05,-2.219112757e-05,-5.451015787e-04,1.563589998e-05,-1.615160005e-05,-5.392059154e-04,1.018747628e-05,-1.634875997e-05,-5.392328859e-04,7.019754404e-01,-4.446186259e-05,8.595979857e-01,7.019712687e-01,-3.842233507e-05,8.596038813e-01,7.027551325e-01,-1.352077060e-04,8.297866797e-01
+15,7.883333333e+00,DOWN_FORCE_DETACH,1792459605212668686,2.116780561e-05,-2.036862264e-05,-6.198764164e-04,2.203680530e-05,-2.275729115e-05,-6.019343067e-04,1.630220302e-05,-2.304748953e-05,-6.019825570e-04,7.019768006e-01,-4.263935766e-05,8.595232108e-01,7.019776696e-01,-4.502802618e-05,8.595411529e-01,7.027612472e-01,-1.419064355e-04,8.297239300e-01
+16,8.283333333e+00,DOWN_FORCE_DETACH,1792459605672313407,1.821644756e-05,-2.451798380e-05,-7.069337426e-04,1.689613045e-05,-2.491034447e-05,-6.988781098e-04,9.611844556e-06,-2.523041856e-05,-6.988591152e-04,7.019738493e-01,-4.678871882e-05,8.594361535e-01,7.019725289e-01,-4.718107949e-05,8.594442091e-01,7.027545569e-01,-1.440893646e-04,8.296270534e-01
+17,8.733333333e+00,DOWN_FORCE_DETACH,1792459606114487664,2.045660344e-05,-2.875411702e-05,-7.891497078e-04,2.019106150e-05,-2.866576779e-05,-7.891375302e-04,1.199914408e-05,-2.906771292e-05,-7.891557853e-04,7.019760894e-01,-5.102485204e-05,8.593539375e-01,7.019758239e-01,-5.093650282e-05,8.593539497e-01,7.027569442e-01,-1.479266589e-04,8.295367568e-01
+18,9.150000000e+00,DOWN_FORCE_DETACH,1792459606540612281,2.013496579e-05,-2.989339133e-05,-8.748374196e-04,2.021425013e-05,-3.007490987e-05,-8.742298347e-04,1.105191968e-05,-3.048381521e-05,-8.742474821e-04,7.019757678e-01,-5.216412635e-05,8.592682498e-01,7.019758471e-01,-5.234564489e-05,8.592688574e-01,7.027559969e-01,-1.493427612e-04,8.294516651e-01
+19,9.633333333e+00,DOWN_FORCE_DETACH,1792459607031629494,4.436470204e-05,-3.058467107e-05,-9.528863022e-04,4.424499153e-05,-3.019532967e-05,-9.529426817e-04,3.591795124e-05,-3.060638729e-05,-9.530129116e-04,7.019999975e-01,-5.285540609e-05,8.591902009e-01,7.019998778e-01,-5.246606470e-05,8.591901446e-01,7.027808630e-01,-1.494653333e-04,8.293728996e-01
+20,1.006666667e+01,DOWN_FORCE_DETACH,1792459607473376542,5.411980685e-05,-2.873019991e-05,-1.043006524e-03,5.194067799e-05,-2.534745328e-05,-1.027178489e-03,4.334675270e-05,-2.566909577e-05,-1.027196959e-03,7.020097526e-01,-5.100093493e-05,8.591000807e-01,7.020075735e-01,-4.761818831e-05,8.591159088e-01,7.027882918e-01,-1.445280418e-04,8.292987156e-01
+21,1.048333333e+01,DOWN_FORCE_DETACH,1792459607883620328,5.350134632e-05,-2.757633268e-05,-1.137955380e-03,5.333139948e-05,-2.731049809e-05,-1.137977577e-03,4.350468932e-05,-2.763015120e-05,-1.137997549e-03,7.020091342e-01,-4.984706770e-05,8.590051319e-01,7.020089642e-01,-4.958123311e-05,8.590051097e-01,7.027884497e-01,-1.464890972e-04,8.291879150e-01
+22,1.086666667e+01,DOWN_FORCE_DETACH,1792459608259821174,5.057840092e-05,-2.797334841e-05,-1.231591612e-03,5.007084294e-05,-2.458185278e-05,-1.222735636e-03,3.885931954e-05,-2.487124373e-05,-1.222776576e-03,7.020062112e-01,-5.024408343e-05,8.589114956e-01,7.020057037e-01,-4.685258781e-05,8.589203516e-01,7.027838043e-01,-1.437301897e-04,8.291031360e-01
+23,1.125000000e+01,DOWN_FORCE_DETACH,1792459608636601737,4.501445702e-05,-2.701990056e-05,-1.331499562e-03,4.583221777e-05,-2.802013837e-05,-1.311735220e-03,3.328808893e-05,-2.836770224e-05,-1.311832258e-03,7.020006473e-01,-4.929063558e-05,8.588115877e-01,7.020014650e-01,-5.029087339e-05,8.588313520e-01,7.027782331e-01,-1.472266482e-04,8.290140803e-01
+24,1.161666667e+01,DOWN_FORCE_DETACH,1792459608996595199,4.084213815e-05,-2.702413645e-05,-1.424478307e-03,4.073515159e-05,-2.703683644e-05,-1.424430883e-03,2.640598118e-05,-2.736549007e-05,-1.424535363e-03,7.019964750e-01,-4.929487147e-05,8.587186089e-01,7.019963680e-01,-4.930757146e-05,8.587186564e-01,7.027713510e-01,-1.462244361e-04,8.289013772e-01
+25,1.198333333e+01,DOWN_FORCE_DETACH,1792459609356886148,4.542615581e-05,-3.001953466e-05,-1.509945223e-03,4.247834423e-05,-3.020309652e-05,-1.511119580e-03,2.720570850e-05,-3.059935685e-05,-1.511277092e-03,7.020010590e-01,-5.229026969e-05,8.586331420e-01,7.019981112e-01,-5.247383154e-05,8.586319677e-01,7.027721507e-01,-1.494583029e-04,8.288146355e-01
+26,1.236666667e+01,DOWN_FORCE_DETACH,1792459609734225223,4.188774274e-05,-2.809463805e-05,-1.607330462e-03,4.220779784e-05,-3.134415027e-05,-1.596927710e-03,2.585431492e-05,-3.175153333e-05,-1.597062834e-03,7.019975206e-01,-5.036537307e-05,8.585357568e-01,7.019978406e-01,-5.361488529e-05,8.585461595e-01,7.027707993e-01,-1.506104793e-04,8.287288497e-01
+27,1.275000000e+01,DOWN_FORCE_DETACH,1792459610110817658,4.377831776e-05,-3.208507327e-05,-1.690976730e-03,4.377236853e-05,-3.191863463e-05,-1.690360806e-03,2.637199180e-05,-3.234059435e-05,-1.690548399e-03,7.019994111e-01,-5.435580830e-05,8.584521105e-01,7.019994052e-01,-5.418936965e-05,8.584527264e-01,7.027713170e-01,-1.511995404e-04,8.286353641e-01
+28,1.315000000e+01,DOWN_FORCE_DETACH,1792459610520859280,4.328382216e-05,-3.712692652e-05,-1.798513646e-03,4.386333770e-05,-3.976509736e-05,-1.779865481e-03,2.537330986e-05,-4.028070552e-05,-1.780101945e-03,7.019989166e-01,-5.939766154e-05,8.583445736e-01,7.019994962e-01,-6.203583238e-05,8.583632218e-01,7.027703183e-01,-1.591396515e-04,8.285458106e-01
+29,1.353333333e+01,DOWN_FORCE_DETACH,1792459610914387481,4.312905886e-05,-3.437574009e-05,-1.895490387e-03,4.264381671e-05,-3.553191567e-05,-1.886742872e-03,2.281155350e-05,-3.598211541e-05,-1.886967164e-03,7.019987619e-01,-5.664647512e-05,8.582475969e-01,7.019982766e-01,-5.780265070e-05,8.582563444e-01,7.027677566e-01,-1.548410614e-04,8.284389454e-01
+30,1.391666667e+01,DOWN_FORCE_DETACH,1792459611306116519,4.394257210e-05,-3.709862605e-05,-1.991777399e-03,4.121621885e-05,-4.092015684e-05,-1.973871499e-03,2.019501767e-05,-4.144796555e-05,-1.974135260e-03,7.019995754e-01,-5.936936107e-05,8.581513098e-01,7.019968490e-01,-6.319089186e-05,8.581692157e-01,7.027651400e-01,-1.603069116e-04,8.283517773e-01
+31,1.425000000e+01,DOWN_FORCE_DETACH,1792459611634434650,4.415125286e-05,-3.939010179e-05,-2.077699916e-03,4.277473645e-05,-4.446304567e-05,-2.063246409e-03,2.067332591e-05,-4.505094916e-05,-2.063533960e-03,7.019997841e-01,-6.166083681e-05,8.580653873e-01,7.019984076e-01,-6.673378070e-05,8.580798408e-01,7.027656183e-01,-1.639098952e-04,8.282623786e-01
+32,1.456666667e+01,DOWN_FORCE_DETACH,1792459611961884031,4.157857166e-05,-4.325055217e-05,-2.169922967e-03,4.077593723e-05,-4.645147313e-05,-2.159626656e-03,1.732686152e-05,-4.703079965e-05,-2.159950959e-03,7.019972114e-01,-6.552128720e-05,8.579731643e-01,7.019964088e-01,-6.872220815e-05,8.579834606e-01,7.027622719e-01,-1.658897457e-04,8.281659616e-01
+33,1.485000000e+01,DOWN_FORCE_DETACH,1792459612273668497,7.822241657e-05,-3.684071309e-05,-2.217798549e-03,7.212549177e-05,-4.301567280e-05,-2.219848433e-03,5.043670262e-05,-4.358741810e-05,-2.220159855e-03,7.020338552e-01,-5.911144811e-05,8.579252887e-01,7.020277583e-01,-6.528640782e-05,8.579232388e-01,7.027953817e-01,-1.624463641e-04,8.281057527e-01
+34,1.516666667e+01,DOWN_FORCE_DETACH,1792459612606998785,7.092046876e-05,-4.503954492e-05,-2.326985922e-03,7.263398077e-05,-4.160424528e-05,-2.308513686e-03,4.990618429e-05,-4.213377014e-05,-2.308783815e-03,7.020265533e-01,-6.731027994e-05,8.578161013e-01,7.020282668e-01,-6.387498030e-05,8.578345736e-01,7.027948512e-01,-1.609927162e-04,8.280171287e-01
+35,1.546666667e+01,DOWN_FORCE_DETACH,1792459612912345617,6.587984921e-05,-4.868175128e-05,-2.424558958e-03,6.583765303e-05,-4.880310601e-05,-2.424499847e-03,4.123559865e-05,-4.944233051e-05,-2.424811806e-03,7.020215127e-01,-7.095248630e-05,8.577185283e-01,7.020214705e-01,-7.107384104e-05,8.577185874e-01,7.027861806e-01,-1.683012765e-04,8.279011007e-01
+36,1.578333333e+01,DOWN_FORCE_DETACH,1792459613239583183,6.399636088e-05,-5.056902290e-05,-2.526272147e-03,6.258733607e-05,-4.857084085e-05,-2.517188828e-03,3.660830519e-05,-4.922969207e-05,-2.517559649e-03,7.020196292e-01,-7.283975793e-05,8.576168151e-01,7.020182202e-01,-7.084157587e-05,8.576258984e-01,7.027815533e-01,-1.680886381e-04,8.278083529e-01
+37,1.611666667e+01,DOWN_FORCE_DETACH,1792459613567137678,5.804077356e-05,-5.357026996e-05,-2.640017842e-03,5.702607006e-05,-5.377170709e-05,-2.624154618e-03,2.927049393e-05,-5.448203869e-05,-2.624606873e-03,7.020136736e-01,-7.584100498e-05,8.575030694e-01,7.020126589e-01,-7.604244212e-05,8.575189326e-01,7.027742155e-01,-1.733409847e-04,8.277013057e-01
+38,1.638333333e+01,DOWN_FORCE_DETACH,1792459613829409488,5.812349632e-05,-5.562166393e-05,-2.733771275e-03,5.541152486e-05,-5.565514646e-05,-2.724827863e-03,2.628678874e-05,-5.640983236e-05,-2.725268505e-03,7.020137563e-01,-7.789239895e-05,8.574093160e-01,7.020110443e-01,-7.792588149e-05,8.574182594e-01,7.027712318e-01,-1.752687784e-04,8.276006440e-01
+39,1.668333333e+01,DOWN_FORCE_DETACH,1792459614140186548,5.637244278e-05,-5.787488933e-05,-2.840858980e-03,5.634610850e-05,-5.797413271e-05,-2.840220574e-03,2.593097540e-05,-5.874969868e-05,-2.840660298e-03,7.020120053e-01,-8.014562435e-05,8.573022283e-01,7.020119789e-01,-8.024486774e-05,8.573028667e-01,7.027708760e-01,-1.776086447e-04,8.274852522e-01
+40,1.698333333e+01,DOWN_FORCE_DETACH,1792459614435366565,5.849416550e-05,-6.137476753e-05,-2.944749272e-03,5.582042373e-05,-6.087193633e-05,-2.933366159e-03,2.424776935e-05,-6.168004942e-05,-2.933879152e-03,7.020141270e-01,-8.364550256e-05,8.571983380e-01,7.020114532e-01,-8.314267136e-05,8.572097211e-01,7.027691928e-01,-1.805389954e-04,8.273920334e-01
+41,1.725000000e+01,DOWN_FORCE_DETACH,1792459614697388624,5.988329282e-05,-6.662419182e-05,-3.041545053e-03,5.984497080e-05,-6.682665752e-05,-3.041158609e-03,2.724260275e-05,-6.770919363e-05,-3.041584273e-03,7.020155161e-01,-8.889492684e-05,8.571015422e-01,7.020154778e-01,-8.909739254e-05,8.571019286e-01,7.027721876e-01,-1.865681396e-04,8.272843283e-01
+42,1.741666667e+01,DOWN_FORCE_DETACH,1792459615039762585,5.721120884e-05,-6.814920509e-05,-3.180105201e-03,5.688185575e-05,-6.801199742e-05,-3.179429765e-03,2.235522935e-05,-6.890609849e-05,-3.179830968e-03,7.020128440e-01,-9.041994011e-05,8.569629820e-01,7.020125147e-01,-9.028273244e-05,8.569636575e-01,7.027673002e-01,-1.877650445e-04,8.271460816e-01
+43,1.765000000e+01,DOWN_FORCE_DETACH,1792459615286634837,6.073536205e-05,-7.239503249e-05,-3.277796255e-03,5.891698418e-05,-7.201744321e-05,-3.274167565e-03,2.344297933e-05,-7.298548009e-05,-3.274659156e-03,7.020163682e-01,-9.466576752e-05,8.568652910e-01,7.020145498e-01,-9.428817823e-05,8.568689197e-01,7.027683880e-01,-1.918444261e-04,8.270512534e-01
+44,1.791666667e+01,DOWN_FORCE_DETACH,1792459615550308676,5.717427532e-05,-7.566468306e-05,-3.395810357e-03,5.709983822e-05,-7.579277259e-05,-3.395903168e-03,2.000870305e-05,-7.680077575e-05,-3.396431664e-03,7.020128071e-01,-9.793541808e-05,8.567472769e-01,7.020127327e-01,-9.806350761e-05,8.567471841e-01,7.027649537e-01,-1.956597218e-04,8.269294809e-01
+45,1.820000000e+01,DOWN_FORCE_DETACH,1792459615827826405,6.249984963e-05,-7.636532906e-05,-3.508604706e-03,6.020147903e-05,-7.301377332e-05,-3.493080276e-03,2.214230504e-05,-7.402713667e-05,-3.493610835e-03,7.020181327e-01,-9.863606408e-05,8.566344825e-01,7.020158343e-01,-9.528450834e-05,8.566500070e-01,7.027670873e-01,-1.928860827e-04,8.268323017e-01
+46,1.841666667e+01,DOWN_FORCE_DETACH,1792459616044478427,5.486522867e-05,-8.164121186e-05,-3.625778887e-03,5.470862251e-05,-8.166667806e-05,-3.625281547e-03,1.466109658e-05,-8.273849967e-05,-3.625853622e-03,7.020104980e-01,-1.039119469e-04,8.565173084e-01,7.020103414e-01,-1.039374131e-04,8.565178057e-01,7.027596061e-01,-2.015974457e-04,8.267000589e-01
+47,1.865000000e+01,DOWN_FORCE_DETACH,1792459616269770856,5.406695587e-05,-7.291696324e-05,-3.734160534e-03,5.386269940e-05,-7.557198714e-05,-3.724811759e-03,1.257344023e-05,-7.659541692e-05,-3.725436520e-03,7.020096998e-01,-9.518769826e-05,8.564089267e-01,7.020094955e-01,-9.784272216e-05,8.564182755e-01,7.027575185e-01,-1.954543629e-04,8.266004760e-01
+48,1.888333333e+01,DOWN_FORCE_DETACH,1792459616499265343,5.323327119e-05,-5.304765355e-05,-3.844612685e-03,5.331780158e-05,-5.320413485e-05,-3.844449722e-03,1.050062721e-05,-5.387918547e-05,-3.845108612e-03,7.020088661e-01,-7.531838857e-05,8.562984746e-01,7.020089506e-01,-7.547486987e-05,8.562986375e-01,7.027554456e-01,-1.727381315e-04,8.264808039e-01
+49,1.911666667e+01,DOWN_FORCE_DETACH,1792459616745143964,5.652570238e-05,-5.780749709e-05,-3.956888719e-03,5.638897763e-05,-5.754172899e-05,-3.956720205e-03,1.248840099e-05,-5.829867772e-05,-3.957410222e-03,7.020121585e-01,-8.007823211e-05,8.561861985e-01,7.020120218e-01,-7.981246401e-05,8.561863670e-01,7.027574334e-01,-1.771576237e-04,8.263685023e-01
+50,1.931666667e+01,DOWN_FORCE_DETACH,1792459616944926095,4.653017849e-05,-5.474157916e-05,-4.074367943e-03,4.613635372e-05,-5.636158335e-05,-4.069381638e-03,5.255537472e-08,-5.708166116e-05,-4.070074531e-03,7.020021630e-01,-7.701231418e-05,8.560687193e-01,7.020017692e-01,-7.863231837e-05,8.560737056e-01,7.027449976e-01,-1.759406072e-04,8.262558380e-01
+51,1.955000000e+01,DOWN_FORCE_DETACH,1792459617186717321,4.994696994e-05,-5.766639992e-05,-4.189868420e-03,4.996424701e-05,-5.757195152e-05,-4.189524490e-03,2.712302636e-06,-5.831564667e-05,-4.190202405e-03,7.020055798e-01,-7.993713495e-05,8.559532188e-01,7.020055971e-01,-7.984268654e-05,8.559535627e-01,7.027476573e-01,-1.771745927e-04,8.261357101e-01
+52,1.968333333e+01,DOWN_FORCE_DETACH,1792459617383548817,4.684772515e-05,-5.900408335e-05,-4.294175245e-03,4.542125819e-05,-6.150895154e-05,-4.283052632e-03,-3.298426998e-06,-6.232099963e-05,-4.283761403e-03,7.020024805e-01,-8.127481837e-05,8.558489120e-01,7.020010541e-01,-8.377968656e-05,8.558600346e-01,7.027416466e-01,-1.811799456e-04,8.260421511e-01
+53,1.981666667e+01,DOWN_FORCE_DETACH,1792459617629653050,4.313991599e-05,-6.385378216e-05,-4.431392948e-03,4.068009247e-05,-6.126790331e-05,-4.412738430e-03,-9.935208406e-06,-6.204665580e-05,-4.413485096e-03,7.019987727e-01,-8.612451718e-05,8.557116943e-01,7.019963129e-01,-8.353863833e-05,8.557303488e-01,7.027350098e-01,-1.809056018e-04,8.259124274e-01
+54,1.995000000e+01,DOWN_FORCE_DETACH,1792459617842004879,4.201567906e-05,-6.090699671e-05,-4.546322860e-03,3.950597733e-05,-5.986257351e-05,-4.533330270e-03,-1.265617873e-05,-6.057910829e-05,-4.534098723e-03,7.019976485e-01,-8.317773173e-05,8.555967644e-01,7.019951388e-01,-8.213330853e-05,8.556097570e-01,7.027322888e-01,-1.794380543e-04,8.257918138e-01
+55,2.011666667e+01,DOWN_FORCE_DETACH,1792459618055077083,3.858764029e-05,-6.293942482e-05,-4.669859967e-03,3.534018257e-05,-6.041640074e-05,-4.662953252e-03,-1.869429981e-05,-6.116477272e-05,-4.663745766e-03,7.019942205e-01,-8.521015984e-05,8.554732273e-01,7.019909730e-01,-8.268713576e-05,8.554801340e-01,7.027262507e-01,-1.800237187e-04,8.256621668e-01
+56,2.030000000e+01,DOWN_FORCE_DETACH,1792459618251668799,3.651367447e-05,-6.046968846e-05,-4.786558147e-03,3.612832176e-05,-6.433260347e-05,-4.773805458e-03,-1.915450455e-05,-6.513764378e-05,-4.774714522e-03,7.019921465e-01,-8.274042348e-05,8.553565291e-01,7.019917611e-01,-8.660333849e-05,8.553692818e-01,7.027257905e-01,-1.839965898e-04,8.255511980e-01
+57,2.048333333e+01,DOWN_FORCE_DETACH,1792459618457230353,3.395179670e-05,-6.549471999e-05,-4.909551464e-03,3.408530057e-05,-6.685482050e-05,-4.900548229e-03,-2.286695131e-05,-6.768269285e-05,-4.901445241e-03,7.019895846e-01,-8.776545502e-05,8.552335358e-01,7.019897181e-01,-8.912555552e-05,8.552425390e-01,7.027220781e-01,-1.865416389e-04,8.254244673e-01
+58,2.066666667e+01,DOWN_SETTLE,1792459618645282488,2.718623481e-05,-6.595165793e-05,-5.024598425e-03,2.717428058e-05,-6.588900761e-05,-5.024400301e-03,-3.182238975e-05,-6.669380902e-05,-5.025329530e-03,7.019828191e-01,-8.822239295e-05,8.551184888e-01,7.019828071e-01,-8.815974264e-05,8.551186869e-01,7.027131226e-01,-1.855527550e-04,8.253005830e-01
+59,2.106666667e+01,DOWN_SETTLE,1792459619037796908,2.690813814e-05,-5.848162251e-05,-5.097706950e-03,2.509227884e-05,-6.203487727e-05,-5.091656407e-03,-3.487553591e-05,-6.280001435e-05,-5.092878770e-03,7.019825410e-01,-8.075235753e-05,8.550453803e-01,7.019807251e-01,-8.430561229e-05,8.550514308e-01,7.027100695e-01,-1.816589604e-04,8.252330338e-01

Fixed/digit/ball_0010_10/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,8.9710e-03,2.0218e-02,2.4529e+00,-3.8166e-02,3.7417e-02,1.5390e-05,1.1098e-04,-4.0047e-07,-2.6226e-06,3.4645e-07,7.8641e-06,-1.1089e-07,1.1101e-04,7.8725e-06
+1,5.6667e-01,DOWN_FORCE_DETACH,1.2369e-04,1.1757e-02,2.0186e-02,2.4529e+00,-3.8156e-02,3.7613e-02,1.3066e-05,2.8967e-03,-3.3081e-05,-1.5497e-05,1.0822e-05,2.0465e-04,-2.4345e-06,2.8970e-03,2.0495e-04
+2,1.1000e+00,DOWN_FORCE_DETACH,2.4872e-04,1.3205e-02,2.0163e-02,2.4529e+00,-3.8150e-02,3.7715e-02,1.1822e-05,4.3448e-03,-5.5864e-05,2.0266e-05,1.6820e-05,3.0669e-04,-3.6792e-06,4.3453e-03,3.0717e-04
+3,1.6167e+00,DOWN_FORCE_DETACH,3.7238e-04,1.4017e-02,2.0149e-02,2.4530e+00,-3.8146e-02,3.7773e-02,1.0927e-05,5.1568e-03,-6.9529e-05,5.6028e-05,2.0307e-05,3.6386e-04,-4.5739e-06,5.1576e-03,3.6445e-04
+4,2.2333e+00,DOWN_FORCE_DETACH,4.9797e-04,1.3427e-02,1.7959e-02,2.4564e+00,-3.7989e-02,3.7728e-02,1.0308e-05,4.5667e-03,-2.2597e-03,3.5450e-03,1.7759e-04,3.1907e-04,-5.1930e-06,6.2071e-03,3.6520e-04
+5,2.8167e+00,DOWN_FORCE_DETACH,6.2145e-04,1.4325e-02,2.1020e-02,2.4625e+00,-3.8198e-02,3.7785e-02,1.1373e-05,5.4652e-03,8.0086e-04,9.6467e-03,-3.1792e-05,3.7678e-04,-4.1278e-06,1.1116e-02,3.7814e-04
+6,3.2667e+00,DOWN_FORCE_DETACH,7.4920e-04,1.4532e-02,2.3239e-02,2.4633e+00,-3.8351e-02,3.7799e-02,1.1109e-05,5.6719e-03,3.0204e-03,1.0429e-02,-1.8457e-04,3.9033e-04,-4.3920e-06,1.2250e-02,4.3179e-04
+7,3.8500e+00,DOWN_FORCE_DETACH,8.7278e-04,1.6587e-02,2.4594e-02,2.4726e+00,-3.8443e-02,3.7935e-02,8.8100e-06,7.7274e-03,4.3750e-03,1.9726e-02,-2.7649e-04,5.2646e-04,-6.6907e-06,2.1633e-02,5.9468e-04
+8,4.4167e+00,DOWN_FORCE_DETACH,9.9336e-04,1.5688e-02,2.7788e-02,2.4773e+00,-3.8667e-02,3.7867e-02,7.8076e-06,6.8275e-03,7.5698e-03,2.4399e-02,-5.0047e-04,4.5814e-04,-7.6931e-06,2.6443e-02,6.7855e-04
+9,4.9667e+00,DOWN_FORCE_DETACH,1.1181e-03,1.2758e-02,3.2050e-02,2.4767e+00,-3.8965e-02,3.7661e-02,8.0649e-06,3.8984e-03,1.1832e-02,2.3767e-02,-7.9865e-04,2.5193e-04,-7.4358e-06,2.6834e-02,8.3747e-04
+10,5.5000e+00,DOWN_FORCE_DETACH,1.2412e-03,1.3232e-02,3.2049e-02,2.4764e+00,-3.8965e-02,3.7695e-02,4.3862e-06,4.3715e-03,1.1830e-02,2.3507e-02,-7.9805e-04,2.8583e-04,-1.1115e-05,2.6676e-02,8.4777e-04
+11,6.0000e+00,DOWN_FORCE_DETACH,1.3689e-03,1.3281e-02,3.3472e-02,2.4796e+00,-3.9062e-02,3.7696e-02,3.6339e-07,4.4214e-03,1.3253e-02,2.6745e-02,-8.9511e-04,2.8709e-04,-1.5137e-05,3.0175e-02,9.4015e-04
+12,6.5833e+00,DOWN_FORCE_DETACH,1.4925e-03,1.1370e-02,3.3943e-02,2.4775e+00,-3.9094e-02,3.7564e-02,-3.8265e-06,2.5097e-03,1.3724e-02,2.4638e-02,-9.2714e-04,1.5546e-04,-1.9327e-05,2.8314e-02,9.4028e-04
+13,7.0167e+00,DOWN_FORCE_DETACH,1.6214e-03,1.0434e-02,3.4853e-02,2.4794e+00,-3.9160e-02,3.7498e-02,-4.3807e-06,1.5743e-03,1.4634e-02,2.6457e-02,-9.9333e-04,8.8923e-05,-1.9881e-05,3.0275e-02,9.9750e-04
+14,7.4167e+00,DOWN_FORCE_DETACH,1.7405e-03,1.2201e-02,3.2951e-02,2.4824e+00,-3.9027e-02,3.7620e-02,-4.8384e-06,3.3405e-03,1.2733e-02,2.9493e-02,-8.6085e-04,2.1134e-04,-2.0339e-05,3.2297e-02,8.8664e-04
+15,7.8833e+00,DOWN_FORCE_DETACH,1.8663e-03,1.1598e-02,3.6424e-02,2.4827e+00,-3.9276e-02,3.7577e-02,1.2614e-06,2.7377e-03,1.6205e-02,2.9842e-02,-1.1098e-03,1.6789e-04,-1.4239e-05,3.4068e-02,1.1225e-03
+16,8.2833e+00,DOWN_FORCE_DETACH,1.9894e-03,1.4206e-02,3.7253e-02,2.4933e+00,-3.9339e-02,3.7751e-02,5.8398e-06,5.3463e-03,1.7035e-02,4.0369e-02,-1.1722e-03,3.4218e-04,-9.6609e-06,4.4141e-02,1.2211e-03
+17,8.7333e+00,DOWN_FORCE_DETACH,2.1164e-03,1.3945e-02,3.8172e-02,2.4911e+00,-3.9407e-02,3.7734e-02,8.6068e-06,5.0848e-03,1.7954e-02,3.8211e-02,-1.2407e-03,3.2548e-04,-6.8939e-06,4.2524e-02,1.2827e-03
+18,9.1500e+00,DOWN_FORCE_DETACH,2.2374e-03,1.5018e-02,4.0076e-02,2.4933e+00,-3.9528e-02,3.7809e-02,7.5896e-06,6.1577e-03,1.9857e-02,4.0426e-02,-1.3618e-03,4.0052e-04,-7.9111e-06,4.5459e-02,1.4195e-03
+19,9.6333e+00,DOWN_FORCE_DETACH,2.3653e-03,1.2964e-02,3.8908e-02,2.4877e+00,-3.9421e-02,3.7671e-02,6.1904e-06,4.1036e-03,1.8690e-02,3.4847e-02,-1.2545e-03,2.6200e-04,-9.3103e-06,3.9755e-02,1.2816e-03
+20,1.0067e+01,DOWN_FORCE_DETACH,2.4902e-03,1.2050e-02,3.6746e-02,2.4913e+00,-3.9242e-02,3.7601e-02,4.9253e-06,3.1900e-03,1.6528e-02,3.8364e-02,-1.0756e-03,1.9191e-04,-1.0575e-05,4.1894e-02,1.0927e-03
+21,1.0483e+01,DOWN_FORCE_DETACH,2.6127e-03,1.3444e-02,3.9102e-02,2.4947e+00,-3.9391e-02,3.7692e-02,-5.2411e-06,4.5836e-03,1.8884e-02,4.1773e-02,-1.2243e-03,2.8343e-04,-2.0742e-05,4.6072e-02,1.2569e-03
+22,1.0867e+01,DOWN_FORCE_DETACH,2.7381e-03,1.5034e-02,3.8766e-02,2.5027e+00,-3.9358e-02,3.7794e-02,-1.8685e-05,6.1738e-03,1.8548e-02,4.9836e-02,-1.1917e-03,3.8557e-04,-3.4185e-05,5.3533e-02,1.2530e-03
+23,1.1250e+01,DOWN_FORCE_DETACH,2.8606e-03,1.6432e-02,4.1386e-02,2.5022e+00,-3.9543e-02,3.7893e-02,-2.7764e-05,7.5723e-03,2.1167e-02,4.9281e-02,-1.3769e-03,4.8444e-04,-4.3264e-05,5.4166e-02,1.4602e-03
+24,1.1617e+01,DOWN_FORCE_DETACH,2.9846e-03,1.6495e-02,4.0008e-02,2.5010e+00,-3.9461e-02,3.7900e-02,-3.1067e-05,7.6348e-03,1.9790e-02,4.8142e-02,-1.2947e-03,4.9171e-04,-4.6568e-05,5.2608e-02,1.3857e-03
+25,1.1983e+01,DOWN_FORCE_DETACH,3.1070e-03,1.7192e-02,3.9261e-02,2.5069e+00,-3.9427e-02,3.7947e-02,-2.5991e-05,8.3315e-03,1.9042e-02,5.4008e-02,-1.2606e-03,5.3793e-04,-4.1492e-05,5.7870e-02,1.3712e-03
+26,1.2367e+01,DOWN_FORCE_DETACH,3.2354e-03,1.7552e-02,3.8520e-02,2.5055e+00,-3.9392e-02,3.7975e-02,-1.6527e-05,8.6919e-03,1.8301e-02,5.2634e-02,-1.2253e-03,5.6585e-04,-3.2028e-05,5.6399e-02,1.3500e-03
+27,1.2750e+01,DOWN_FORCE_DETACH,3.3568e-03,1.8283e-02,4.0781e-02,2.5009e+00,-3.9544e-02,3.8029e-02,-1.1075e-05,9.4231e-03,2.0562e-02,4.8032e-02,-1.3778e-03,6.2033e-04,-2.6575e-05,5.3091e-02,1.5112e-03
+28,1.3150e+01,DOWN_FORCE_DETACH,3.4830e-03,1.8402e-02,4.4737e-02,2.5048e+00,-3.9798e-02,3.8033e-02,-4.9084e-06,9.5424e-03,2.4519e-02,5.1869e-02,-1.6314e-03,6.2414e-04,-2.0409e-05,5.8160e-02,1.7468e-03
+29,1.3533e+01,DOWN_FORCE_DETACH,3.6090e-03,1.8563e-02,4.4318e-02,2.5062e+00,-3.9739e-02,3.8042e-02,-4.2717e-06,9.7031e-03,2.4099e-02,5.3301e-02,-1.5728e-03,6.3379e-04,-1.9772e-05,5.9295e-02,1.6958e-03
+30,1.3917e+01,DOWN_FORCE_DETACH,3.7302e-03,1.7737e-02,4.8075e-02,2.5041e+00,-3.9993e-02,3.7985e-02,-2.9131e-06,8.8770e-03,2.7856e-02,5.1245e-02,-1.8261e-03,5.7625e-04,-1.8414e-05,5.8998e-02,1.9149e-03
+31,1.4250e+01,DOWN_FORCE_DETACH,3.8584e-03,1.5616e-02,5.0602e-02,2.5065e+00,-4.0159e-02,3.7832e-02,-1.5236e-06,6.7560e-03,3.0384e-02,5.3557e-02,-1.9928e-03,4.2378e-04,-1.7024e-05,6.1945e-02,2.0374e-03
+32,1.4567e+01,DOWN_FORCE_DETACH,3.9814e-03,1.4713e-02,5.2873e-02,2.5104e+00,-4.0300e-02,3.7765e-02,-1.0589e-06,5.8525e-03,3.2654e-02,5.7505e-02,-2.1330e-03,3.5580e-04,-1.6560e-05,6.6388e-02,2.1626e-03
+33,1.4850e+01,DOWN_FORCE_DETACH,4.0999e-03,3.7903e-03,5.1252e-02,2.5040e+00,-4.0178e-02,3.7003e-02,4.1261e-06,-5.0697e-03,3.1033e-02,5.1092e-02,-2.0118e-03,-4.0619e-04,-1.1375e-05,5.9993e-02,2.0524e-03
+34,1.5167e+01,DOWN_FORCE_DETACH,4.2266e-03,7.9278e-03,5.1045e-02,2.5071e+00,-4.0176e-02,3.7291e-02,6.0656e-06,-9.3219e-04,3.0827e-02,5.4199e-02,-2.0096e-03,-1.1739e-04,-9.4351e-06,6.2359e-02,2.0131e-03
+35,1.5467e+01,DOWN_FORCE_DETACH,4.3503e-03,1.2092e-02,5.2021e-02,2.5109e+00,-4.0254e-02,3.7583e-02,5.7393e-06,3.2318e-03,3.1802e-02,5.7966e-02,-2.0875e-03,1.7465e-04,-9.7614e-06,6.6196e-02,2.0948e-03
+36,1.5783e+01,DOWN_FORCE_DETACH,4.4776e-03,1.5068e-02,5.2771e-02,2.5175e+00,-4.0304e-02,3.7788e-02,3.8591e-06,6.2076e-03,3.2553e-02,6.4589e-02,-2.1379e-03,3.7907e-04,-1.1642e-05,7.2594e-02,2.1713e-03
+37,1.6117e+01,DOWN_FORCE_DETACH,4.6019e-03,1.7666e-02,5.5488e-02,2.5166e+00,-4.0476e-02,3.7972e-02,-9.1427e-07,8.8056e-03,3.5269e-02,6.3685e-02,-2.3094e-03,5.6319e-04,-1.6415e-05,7.3329e-02,2.3772e-03
+38,1.6383e+01,DOWN_FORCE_DETACH,4.7250e-03,1.8704e-02,5.7250e-02,2.5183e+00,-4.0573e-02,3.8044e-02,-4.2636e-06,9.8437e-03,3.7031e-02,6.5386e-02,-2.4064e-03,6.3509e-04,-1.9764e-05,7.5786e-02,2.4888e-03
+39,1.6683e+01,DOWN_FORCE_DETACH,4.8525e-03,1.7715e-02,5.9334e-02,2.5155e+00,-4.0700e-02,3.7974e-02,-9.4487e-06,8.8551e-03,3.9115e-02,6.2578e-02,-2.5334e-03,5.6519e-04,-2.4949e-05,7.4327e-02,2.5958e-03
+40,1.6983e+01,DOWN_FORCE_DETACH,4.9794e-03,1.6945e-02,6.1725e-02,2.5210e+00,-4.0849e-02,3.7911e-02,-1.5780e-05,8.0853e-03,4.1506e-02,6.8065e-02,-2.6830e-03,5.0212e-04,-3.1281e-05,8.0131e-02,2.7297e-03
+41,1.7250e+01,DOWN_FORCE_DETACH,5.0981e-03,1.4614e-02,6.4890e-02,2.5206e+00,-4.1053e-02,3.7744e-02,-1.3631e-05,5.7541e-03,4.4671e-02,6.7755e-02,-2.8862e-03,3.3510e-04,-2.9132e-05,8.1360e-02,2.9058e-03
+42,1.7417e+01,DOWN_FORCE_DETACH,5.2417e-03,1.5759e-02,6.6915e-02,2.5279e+00,-4.1181e-02,3.7817e-02,-1.0162e-05,6.8987e-03,4.6696e-02,7.4962e-02,-3.0148e-03,4.0798e-04,-2.5662e-05,8.8586e-02,3.0424e-03
+43,1.7650e+01,DOWN_FORCE_DETACH,5.3468e-03,1.5523e-02,6.9995e-02,2.5412e+00,-4.1370e-02,3.7790e-02,-1.9912e-06,6.6630e-03,4.9777e-02,8.8282e-02,-3.2037e-03,3.8081e-04,-1.7492e-05,1.0157e-01,3.2263e-03
+44,1.7917e+01,DOWN_FORCE_DETACH,5.4748e-03,1.4885e-02,6.8793e-02,2.5337e+00,-4.1292e-02,3.7752e-02,1.3962e-06,6.0247e-03,4.8575e-02,8.0757e-02,-3.1250e-03,3.4368e-04,-1.4105e-05,9.4433e-02,3.1439e-03
+45,1.8200e+01,DOWN_FORCE_DETACH,5.5987e-03,1.6860e-02,6.8427e-02,2.5334e+00,-4.1240e-02,3.7890e-02,-1.9183e-06,7.9997e-03,4.8208e-02,8.0540e-02,-3.0731e-03,4.8095e-04,-1.7419e-05,9.4206e-02,3.1105e-03
+46,1.8417e+01,DOWN_FORCE_DETACH,5.7249e-03,1.9557e-02,7.1308e-02,2.5350e+00,-4.1412e-02,3.8076e-02,-7.3118e-06,1.0697e-02,5.1089e-02,8.2081e-02,-3.2456e-03,6.6720e-04,-2.2812e-05,9.7272e-02,3.3136e-03
+47,1.8650e+01,DOWN_FORCE_DETACH,5.8457e-03,2.0616e-02,7.1321e-02,2.5401e+00,-4.1401e-02,3.8146e-02,-1.8416e-05,1.1756e-02,5.1102e-02,8.7251e-02,-3.2341e-03,7.3688e-04,-3.3917e-05,1.0180e-01,3.3171e-03
+48,1.8883e+01,DOWN_FORCE_DETACH,5.9725e-03,1.7937e-02,5.7502e-02,2.5348e+00,-4.0448e-02,3.7965e-02,-2.7229e-05,9.0770e-03,3.7284e-02,8.1949e-02,-2.2814e-03,5.5595e-04,-4.2730e-05,9.0488e-02,2.3486e-03
+49,1.9117e+01,DOWN_FORCE_DETACH,6.0900e-03,1.5981e-02,6.0003e-02,2.5362e+00,-4.0625e-02,3.7827e-02,-2.1852e-05,7.1212e-03,3.9784e-02,8.3286e-02,-2.4580e-03,4.1870e-04,-3.7352e-05,9.2575e-02,2.4937e-03
+50,1.9317e+01,DOWN_FORCE_DETACH,6.2163e-03,1.7295e-02,6.2485e-02,2.5455e+00,-4.0781e-02,3.7911e-02,-1.6092e-05,8.4349e-03,4.2266e-02,9.2629e-02,-2.6149e-03,5.0243e-04,-3.1593e-05,1.0217e-01,2.6629e-03
+51,1.9550e+01,DOWN_FORCE_DETACH,6.3454e-03,1.5045e-02,6.0108e-02,2.5402e+00,-4.0635e-02,3.7759e-02,-1.0847e-05,6.1854e-03,3.9889e-02,8.7311e-02,-2.4683e-03,3.5075e-04,-2.6348e-05,9.6191e-02,2.4932e-03
+52,1.9683e+01,DOWN_FORCE_DETACH,6.4532e-03,1.6083e-02,6.3563e-02,2.5528e+00,-4.0867e-02,3.7823e-02,-9.8465e-06,7.2233e-03,4.3344e-02,9.9951e-02,-2.7005e-03,4.1416e-04,-2.5347e-05,1.0918e-01,2.7322e-03
+53,1.9817e+01,DOWN_FORCE_DETACH,6.5935e-03,1.6505e-02,6.3698e-02,2.5597e+00,-4.0834e-02,3.7848e-02,-1.2866e-05,7.6446e-03,4.3479e-02,1.0685e-01,-2.6676e-03,4.3915e-04,-2.8366e-05,1.1561e-01,2.7036e-03
+54,1.9950e+01,DOWN_FORCE_DETACH,6.7110e-03,1.6685e-02,6.4612e-02,2.5659e+00,-4.0847e-02,3.7854e-02,-1.2312e-05,7.8248e-03,4.4394e-02,1.1297e-01,-2.6805e-03,4.4520e-04,-2.7812e-05,1.2163e-01,2.7173e-03
+55,2.0117e+01,DOWN_FORCE_DETACH,6.8398e-03,1.7387e-02,6.6379e-02,2.5644e+00,-4.0943e-02,3.7900e-02,-1.5388e-05,8.5268e-03,4.6160e-02,1.1146e-01,-2.7769e-03,4.9138e-04,-3.0889e-05,1.2094e-01,2.8203e-03
+56,2.0300e+01,DOWN_FORCE_DETACH,6.9635e-03,1.7055e-02,6.7701e-02,2.5595e+00,-4.1042e-02,3.7880e-02,-2.2538e-05,8.1951e-03,4.7483e-02,1.0665e-01,-2.8757e-03,4.7144e-04,-3.8038e-05,1.1703e-01,2.9143e-03
+57,2.0483e+01,DOWN_FORCE_DETACH,7.0953e-03,1.7758e-02,6.9303e-02,2.5601e+00,-4.1156e-02,3.7930e-02,-2.6537e-05,8.8976e-03,4.9084e-02,1.0721e-01,-2.9898e-03,5.2089e-04,-4.2038e-05,1.1825e-01,3.0352e-03
+58,2.0667e+01,DOWN_SETTLE,7.2185e-03,1.8858e-02,6.9443e-02,2.5552e+00,-4.1170e-02,3.8009e-02,-2.7429e-05,9.9978e-03,4.9224e-02,1.0232e-01,-3.0039e-03,6.0013e-04,-4.2930e-05,1.1398e-01,3.0635e-03
+59,2.1067e+01,DOWN_SETTLE,7.3397e-03,1.7085e-02,6.3629e-02,2.5242e+00,-4.0829e-02,3.7912e-02,-2.7181e-05,8.2246e-03,4.3411e-02,7.1349e-02,-2.6623e-03,5.0309e-04,-4.2682e-05,8.3921e-02,2.7098e-03

Fixed/digit/ball_0010_10/press_depth_01/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d82453694bd6c292d2be08c358fa73c04a21308634df8e14a7a7bfff9ecdf6
+size 624640

Fixed/digit/ball_0010_10/press_depth_01/up/franka_data.csv

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Fixed/digit/ball_0010_10/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_0010_10/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/ball_0010_10/press_depth_02/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:651b0ab8b482c379d79fab510aa5b552f16837ab29a62a8d3b7bfbebc64ea731
+size 624640

Fixed/digit/ball_0010_10/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
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+10667,1792459653342627425,833448000000,1792459653340055947,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6759995092843578,-0.003970427122758094,0.10610954149660372,0.9999999817448018,6.356182995997749e-05,-0.0001475698015160167,4.6220212734331434e-05,0.6761,-0.004,0.106158927392925,1.0,0.0,0.0,0.0,0.15722163842966583,0.15688444730145404,0.28471859537582933,0.011482686011533804,-0.011429432795603621,-1.0944711547953136e-05,0.126076376016056,0.13756619215746854,0.265090360029858,0.010468154493266574,-0.011403206622993059,-0.000256396999885704,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4428270218942996,-0.29914936226654926,0.13240842149830537,0.3653783189447991,0.23144600395869278,-0.2159188908887092,0.5460898450768567,0.28471859537582933,0.4136814235785513,0.4136814235785513,0.6173600000000222,0,0,-0.00014609284177821558,-9.038455680976937e-05
+10729,1792459653859559097,833965000000,1792459653856066140,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760019456438056,-0.003967539450226631,0.10603933696383319,0.9999999821017063,6.238218026436976e-05,-0.0001453374330173855,4.716933261150225e-05,0.6761,-0.004,0.10608161845614944,1.0,0.0,0.0,0.0,0.14923134847581748,0.15765109377659528,0.3055867807656243,0.011479001667506275,-0.01143382690173656,-2.8771683454134568e-05,0.11808608606220766,0.13833283863260978,0.28595854541965293,0.010464470149239045,-0.011407600729125998,-0.00027422397179188544,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4730046014514868,-0.33260433414035584,0.0571618788229967,0.3760248429266838,0.2850268499041828,-0.2392446243565511,0.5460898450768567,0.3055867807656243,0.4889279662538599,0.4889279662538599,0.6587200000000062,0,0,-0.0001534729549320949,8.848754648316798e-05
+10794,1792459654400610268,834506000000,1792459654400065405,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676007014109206,-0.0039706936566237605,0.10597012490839267,0.9999999844749217,4.9976196433575986e-05,-0.00013416396176348946,4.467026028480488e-05,0.6761,-0.004,0.10599897965941886,1.0,0.0,0.0,0.0,0.15717309453863892,0.15776775810060076,0.32596378369032186,0.011475098222622309,-0.011438415090627164,-4.42905739884548e-05,0.1260278321250291,0.13844950295661526,0.3063355483443505,0.010460566704355079,-0.011412188918016602,-0.00028974286232620567,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5044701347784213,-0.28635342426215227,0.06800138510786119,0.3656747001651796,0.2842364975619581,-0.2070763777613332,0.5460898450768567,0.32596378369032186,0.47808845996899546,0.47808845996899546,0.7019999999999894,0,0,-0.00015344560476002046,-9.430525391008188e-05
+10853,1792459654892658362,834998000000,1792459654892065397,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760064466213885,-0.003970984317256938,0.10589618524783186,0.9999999847916571,4.3458702024578785e-05,-0.00013439326245065446,4.369602107942386e-05,0.6761,-0.004,0.1059235945021942,1.0,0.0,0.0,0.0,0.15710299270170697,0.1514625775248543,0.3557404353527638,0.011468288754671903,-0.01144421514187754,-6.834571487222135e-05,0.12595773028809715,0.13214432238086882,0.3361122000067924,0.010453757236404673,-0.011417988969266978,-0.0003137980032099722,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.513431382344376,-0.28999578998476105,-0.04270556759500543,0.3717412123455774,0.3552763573138907,-0.208561791017864,0.5460898450768567,0.3557404353527638,0.5887954126718621,0.5887954126718621,0.7413599999999742,0,0,-0.0001542282804009324,9.289796295964265e-05
+10912,1792459655384678925,835490000000,1792459655384065461,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760082085008923,-0.003969492770668065,0.10582364749707335,0.9999999858874766,3.5183928947441585e-05,-0.00012886300328694624,4.271215849038487e-05,0.6761,-0.004,0.10584742597106266,1.0,0.0,0.0,0.0,0.1563170471270501,0.15039174198689215,0.3758112089955138,0.011464209284066069,-0.011448489886978594,-8.540920944321494e-05,0.1251717847134403,0.13107348684290665,0.35618297364954243,0.010449677765798839,-0.011422263714368032,-0.0003308614977809658,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5377442120654108,-0.3356990594500006,-0.07404315817347314,0.38315397125572614,0.378318870291709,-0.24088167010682468,0.5460898450768567,0.3758112089955138,0.6201330032503298,0.6201330032503298,0.7807199999999589,0,0,-0.00015739508159720727,7.949573918442638e-05
+10979,1792459655942634386,836048000000,1792459655940056425,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.676007768804338,-0.003968077661680254,0.10573634147129858,0.9999999852773049,3.512658788947193e-05,-0.00013229778764786536,4.6386124944402656e-05,0.6761,-0.004,0.10575971511664446,1.0,0.0,0.0,0.0,0.15502600303437541,0.15096347394757237,0.39721605494193085,0.011460487048036773,-0.011453156934287646,-0.00010200303751364066,0.1238807406207656,0.13164521880358687,0.3775878195959595,0.010445955529769542,-0.011426930761677084,-0.00034745532585139154,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5928146288152838,-0.29649893114346476,-0.11010815291571983,0.3740505321607903,0.41619850877192954,-0.21412865790762559,0.5460898450768567,0.39721605494193085,0.6561979979925765,0.6561979979925765,0.8253599999999416,0,0,-0.00015736015457759744,8.085116884182781e-05
+11032,1792459656384593868,836490000000,1792459656384055808,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760059378244844,-0.003966955659245034,0.10566803053037886,0.9999999848468338,3.47119567249006e-05,-0.0001347028551334866,4.8983848689044065e-05,0.6761,-0.004,0.10569070956710229,1.0,0.0,0.0,0.0,0.1569468801549058,0.1519747485843656,0.42549978467324095,0.011455170670349525,-0.011459440299775542,-0.00012471561973828035,0.12580161774129597,0.1326564934403801,0.4058715493272696,0.010440639152082294,-0.01143321412716498,-0.0003701679080760312,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5359267698195878,-0.26489127876546115,-0.05379042038678738,0.36429629221318893,0.3633097539395021,-0.19305790117236032,0.5460898450768567,0.42549978467324095,0.599880265463644,0.599880265463644,0.8607199999999279,0,0,-0.00015778606126812112,-9.999999025923074e-05
+11091,1792459656875649217,836981000000,1792459656872055749,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760028803463121,-0.003976156055630848,0.10558902974795109,0.9999999850700183,1.6735223104650583e-05,-0.00013792786708963548,4.4706412233383844e-05,0.6761,-0.004,0.10561380075331467,1.0,0.0,0.0,0.0,0.15703163260934264,0.15271211909808743,0.4460403433045169,0.01145144263858785,-0.011463852818871372,-0.0001413038176733425,0.12588637019573282,0.13339386395410194,0.42641210795854556,0.01043691112032062,-0.01143762664626081,-0.0003867561060110934,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5454596411247068,-0.25680150438243343,-0.1468209192142138,0.37765582920950186,0.4198299315702988,-0.1843536689429426,0.5460898450768567,0.4460403433045169,0.6929107642910705,0.6929107642910705,0.8999999999999126,0,0,-0.00015880521763309924,-6.935526195933845e-05
+11158,1792459657434581880,837540000000,1792459657428066198,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760021296299703,-0.003970801704701495,0.10550464384205732,0.9999999849520499,3.1089526791358114e-05,-0.00013803700442352755,3.896140300680886e-05,0.6761,-0.004,0.10552574536418267,1.0,0.0,0.0,0.0,0.15689327190510055,0.15380016856545498,0.4760887579163909,0.011445914449291557,-0.011470394781581936,-0.00016561216604905654,0.12574800949149073,0.13448191342146948,0.4564605225704195,0.010431382931024327,-0.011444168608971374,-0.0004110644543868074,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6114389166433754,-0.28972422908093076,-0.18570246619412592,0.38847375083776486,0.46358023455932296,-0.20330160062022218,0.5460898450768567,0.4760887579163909,0.7317923112709825,0.7317923112709825,0.9447199999998953,0,0,-0.0001585533080342413,-9.99191243896746e-05
+11213,1792459657892612515,837998000000,1792459657892065588,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760027204586972,-0.003975126909944758,0.10542870644249518,0.9999999836480646,5.497827414997578e-05,-0.00013728021992593232,4.7731181387536516e-05,0.6761,-0.004,0.10545332303143773,1.0,0.0,0.0,0.0,0.15733205001238235,0.14176332570433747,0.49581743581214477,0.010420903952619976,-0.011455075425292281,-0.00019299551732328957,0.12618678759877253,0.12244507056035198,0.4761892004661734,0.009406372434352746,-0.011428849252681719,-0.00043844780566104044,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6157153449457946,-0.3509321189303023,-0.23128094646977362,0.41066082259561537,0.4931333463575936,-0.23970908495114204,0.5460898450768567,0.49581743581214477,0.7773707915466302,0.7773707915466302,0.9813599999998811,0,0,-0.0001612223792990078,-1.98887622585142e-05
+11274,1792459658400644065,838506000000,1792459658400065408,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760033043450031,-0.003973388807086548,0.10534946224735617,0.999999983371626,6.250365280174747e-05,-0.0001345578079383139,5.183726413572079e-05,0.6761,-0.004,0.10537032879785907,1.0,0.0,0.0,0.0,0.14800925565947548,0.14631055852654223,0.5158519894774524,0.01039104014921609,-0.010450744140893056,-0.00019465405743607998,0.11686399324586567,0.12699230338255674,0.496223754131481,0.00937650863094886,-0.010424517968282494,-0.00044010634577383085,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5894792257271568,-0.29908028402748266,-0.20128112309523888,0.3985497521954522,0.46129551007021885,-0.20540438481136697,0.5460898450768567,0.5158519894774524,0.7473709681720955,0.7473709681720955,1.0219999999998959,0,0,-0.00016576253057262592,-9.926101193625243e-05
+11343,1792459658975702391,839081000000,1792459658972055873,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676001953515436,-0.003977591342360772,0.10525418312396669,0.9999999831201911,5.58939390758854e-05,-0.0001386319264668409,5.347465181816414e-05,0.6761,-0.004,0.10527348157790846,1.0,0.0,0.0,0.0,0.15655068137228692,0.14353779515011753,0.5459165680157486,0.010385281548710726,-0.010501494857342595,-0.0002186099019190757,0.1254054189586771,0.12421954000613203,0.5262883326697773,0.009370750030443496,-0.010475268684732033,-0.00046406219025682657,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5935759225838093,-0.33718666813821924,-0.2994465102393814,0.41324919509420444,0.5230889424598507,-0.23297548529518475,0.5460898450768567,0.5459165680157486,0.845536355316238,0.845536355316238,1.0679999999999419,0,0,-0.0001684039155999947,-5.8886169577948524e-05
+11410,1792459659534685293,839640000000,1792459659532056075,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760035442294686,-0.003978700797435776,0.10516592317568438,0.9999999846691322,4.6480122355194785e-05,-0.00013209102598544484,4.996157465738739e-05,0.6761,-0.004,0.10517737502847394,1.0,0.0,0.0,0.0,0.1570095774926751,0.13560731491710026,0.5660573543939756,0.01040238914199212,-0.011333699402182054,-0.00024767273421486284,0.1258643150790653,0.11628905977311478,0.5464291190480043,0.009387857623724889,-0.011307473229571492,-0.0004931250225526137,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6071394530501477,-0.36517283437463566,-0.33562390324223035,0.4304822214382707,0.545272559684497,-0.24870738988823105,0.5460898450768567,0.5660573543939756,0.881713748319087,0.881713748319087,1.1127199999999866,0,0,-0.00017340956528641283,-7.924349651323154e-05
+11465,1792459659992668057,840098000000,1792459659988066076,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760048855990884,-0.003983084686428997,0.10509138889703572,0.9999999854481155,3.971306204360419e-05,-0.0001275348317396663,5.200358296209649e-05,0.6761,-0.004,0.10509693004683521,1.0,0.0,0.0,0.0,0.14770615210398608,0.14600879825436533,0.5959020483737218,0.010374985316739773,-0.010463542495255962,-0.0002593602436833187,0.11656088969037627,0.12669054311037983,0.5762738130277505,0.009360453798472543,-0.0104373163226454,-0.0005048125320210696,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6628288166194118,-0.27754846127153476,-0.3836483409781864,0.3980064759955367,0.5886102195403415,-0.1965289067684497,0.5460898450768567,0.5959020483737218,0.9297381860550431,0.9297381860550431,1.1493600000000233,0,0,-0.00017811698431871725,1.915796274254973e-05
+11525,1792459660492674597,840598000000,1792459660492066123,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760010776866873,-0.003987728067192891,0.10499572860755856,0.9999999849196899,2.5837166320319113e-05,-0.00013452110871145086,5.3291617676099296e-05,0.6761,-0.004,0.10500752041225793,1.0,0.0,0.0,0.0,0.14764756295968945,0.13907273471946288,0.6161319093220764,0.010369877087466428,-0.010467408302191087,-0.0002756615746585218,0.11650230054607964,0.1197544795754774,0.596503673976105,0.009355345569199197,-0.010441182129580525,-0.0005211138629962727,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.643314380840809,-0.31293274028931833,-0.3813761669189247,0.42049803667785995,0.5780286265775663,-0.21966379961390659,0.5460898450768567,0.6161319093220764,0.9274660119957814,0.9274660119957814,1.1893600000000633,0,0,-0.00017894823974992503,-5.76099543333541e-05
+11590,1792459661034688208,841140000000,1792459661032056015,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760052400384361,-0.003988252872464578,0.1049085221255919,0.9999999861741508,1.7000907409571168e-05,-0.00012685253781693183,5.2095734479372045e-05,0.6761,-0.004,0.10490914633976665,1.0,0.0,0.0,0.0,0.14753631266154488,0.1366928588943932,0.6362066133460899,0.010367409855065629,-0.010471465513363082,-0.000289933245415434,0.11639105024793507,0.11737460375040772,0.6165783780001185,0.009352878336798398,-0.01044523934075252,-0.0005353855337531849,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.609810435106421,-0.3315909434162106,-0.43162248407120063,0.43508429925421416,0.5964343048465613,-0.2284829777016603,0.5460898450768567,0.6362066133460899,0.9777123291480573,0.9777123291480573,1.2327200000001066,0,0,-0.00018437043702443224,-9.998751412799151e-05
+11649,1792459661525735788,841631000000,1792459661524065950,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760241517249682,-0.003992136981188536,0.10483848133938707,0.9999999888399773,1.7032433805254053e-05,-0.00010179984895955887,5.57637569661402e-05,0.6761,-0.004,0.10481684188955946,1.0,0.0,0.0,0.0,0.14748158416804832,0.14375989700512176,0.656353415623489,0.010359461506411633,-0.010477270486689122,3.615430665672285e-05,0.1163363217544385,0.12444164186113627,0.6367251802775177,0.009344929988144403,-0.01045104431407856,-0.00020929798168102802,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6975967923133817,-0.29592210626467014,-0.5278711891610564,0.4322426736778192,0.680105411532276,-0.20370570275498104,0.5460898450768567,0.656353415623489,1.0739610342379131,1.0739610342379131,1.272000000000146,0,0,-0.0001921683927582921,8.681531468568977e-05
+11692,1792459661884711531,841990000000,1792459661880065236,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760306361101227,-0.003987726302369894,0.10477638807742468,0.9999999894003998,1.777406731647706e-05,-9.672906317591783e-05,5.449436273320005e-05,0.6761,-0.004,0.10474769295977447,1.0,0.0,0.0,0.0,0.14354946275600247,0.1415302394966884,0.6662851265531315,0.010359885482921192,-0.010439470319555545,-0.0003159240755128463,0.11240420034239265,0.12221198435270289,0.6466568912071602,0.009345353964653962,-0.010413244146944983,-0.0005613763638505972,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7467597247795366,-0.3380818913280645,-0.5176859231558929,0.4487790270701875,0.6814020530700972,-0.23248316879598765,0.5460898450768567,0.6662851265531315,1.0637757682327496,1.0637757682327496,1.3007200000001746,0,0,-0.00019306170500191377,3.184825600322512e-05
+11746,1792459662334745256,842440000000,1792459662328065894,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.676026656223041,-0.00398966827555896,0.1046836496729722,0.9999999885460399,2.1378494549412616e-05,-0.00010296441117269202,5.737660221908649e-05,0.6761,-0.004,0.10465914169747562,1.0,0.0,0.0,0.0,0.14714543510163478,0.14734398647440367,0.6869692776288151,0.010331870278892426,-0.009519488776793138,-0.0003177261638281949,0.11600017268802497,0.12802573133041817,0.6673410422828437,0.009317338760625196,-0.009493262604182576,-0.0005631784521659458,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.688229886154515,-0.28570855795585304,-0.5118750349316232,0.4392283832390154,0.6579089831818088,-0.19568590425368454,0.5460898450768567,0.6869692776288151,1.05796488000848,1.05796488000848,1.3367200000002106,0,0,-0.00019820017050783812,-9.994456237472633e-05
+11799,1792459662775704471,842881000000,1792459662772065758,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.676027240017437,-0.003993274112484204,0.10459674152346149,0.9999999885924631,2.6538240550897167e-05,-0.00010024332735583445,5.9202493303635164e-05,0.6761,-0.004,0.10456994917613141,1.0,0.0,0.0,0.0,0.13894803661928107,0.14075817631231965,0.7063407186814473,0.010326869371393805,-0.009520572214447683,-0.00033472661084941264,0.10780277420567125,0.12143992116833416,0.686712483335476,0.009312337853126575,-0.009494346041837121,-0.0005801788991871635,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6878142251341182,-0.2935844164569623,-0.46912247775471,0.44386603850650336,0.6299033307188106,-0.20057800510392398,0.5460898450768567,0.7063407186814473,1.0152123228315666,1.0152123228315666,1.372000000000246,0,0,-0.00020537896868874495,-9.921875407237763e-05
+11850,1792459663200685746,843306000000,1792459663196065702,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760280121224274,-0.003993311270498584,0.10451617583280505,0.9999999888381677,2.8371955427506035e-05,-9.693886486936505e-05,5.970274346827019e-05,0.6761,-0.004,0.10448202998656296,1.0,0.0,0.0,0.0,0.13793499219795008,0.14000398972963388,0.7264205910995478,0.010145257557464846,-0.009478588963618082,-0.0003527494990029778,0.10678972978434026,0.12068573458564838,0.7067923557535765,0.009130726039197616,-0.00945236279100752,-0.0005982017873407287,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7412106023113931,-0.3996475788161705,-0.6319820905771184,0.4796098033232657,0.7477213258183512,-0.2717742189122708,0.5460898450768567,0.7264205910995478,1.178071935653975,1.178071935653975,1.40600000000028,0,0,-0.00020821617459779317,9.999997638144293e-05
+11895,1792459663575720773,843681000000,1792459663572065539,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760227380946116,-0.003999943270016678,0.10443126391009772,0.9999999882588574,2.707004254954151e-05,-0.00010371053683417476,5.8621555774268146e-05,0.6761,-0.004,0.10440250663110341,1.0,0.0,0.0,0.0,0.1395826031065015,0.1298999790655714,0.737284012852779,0.009298657569078531,-0.009460560168430273,-0.00036995470446532,0.1084373406928917,0.11058172392158591,0.7176557775068076,0.0082841260508113,-0.009434333995819711,-0.0006154069928030709,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.709595690861187,-0.34019969653472876,-0.5886741465115025,0.4760379235710079,0.7076301708078808,-0.22924657828078224,0.5460898450768567,0.737284012852779,1.1347639915883592,1.1347639915883592,1.43600000000031,0,0,-0.00021631287988185666,-9.999961555895993e-05
+11950,1792459664034731628,844140000000,1792459664032056583,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760247422006165,-0.004001082968385537,0.10433094111975877,0.9999999881828481,2.9737934719974348e-05,-0.00010154994066079784,6.229312123596462e-05,0.6761,-0.004,0.10430162076229531,1.0,0.0,0.0,0.0,0.13943862145259966,0.12835098465098713,0.7558257881291163,0.009294985011075325,-0.009464539033976871,-0.00038527798671959975,0.10829335903898986,0.10903272950700164,0.7361975527831449,0.008280453492808095,-0.009438312861366309,-0.0006307302750573506,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7386856472578607,-0.45566849514706564,-0.6169135678896467,0.5132331037323621,0.7324167660315289,-0.3051324964896657,0.5460898450768567,0.7558257881291163,1.1630034129665034,1.1630034129665034,1.4727200000003466,0,0,-0.000224333819419413,-9.109368401117308e-05
+11997,1792459664425734953,844531000000,1792459664424065126,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760236241190756,-0.004002370321274362,0.10423436322985577,0.9999999870293357,3.9082952859346855e-05,-0.00010658728401109058,6.705122395975611e-05,0.6761,-0.004,0.10421263126260742,1.0,0.0,0.0,0.0,0.1382444845015975,0.12862451038207448,0.7761824304628858,0.009290093218918064,-0.009468543469838034,-0.00035183703366001404,0.10709922208798768,0.10930625523808898,0.7565541951169145,0.008275561700650833,-0.009442317297227472,-0.0005972893219977649,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6925088517415674,-0.47016053427047017,-0.7006986465571201,0.5209891108671233,0.7707562882771519,-0.31279509749827444,0.5460898450768567,0.7761824304628858,1.2467884916339766,1.2467884916339766,1.504000000000378,0,0,-0.00023066733312729492,9.696221189703919e-05
+12038,1792459664767732470,844873000000,1792459664764065694,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760228188533133,-0.0040033875447874605,0.1041545892782749,0.9999999876191483,3.0382391514638067e-05,-0.00010608601292187337,6.34605065076741e-05,0.6761,-0.004,0.10413213283013395,1.0,0.0,0.0,0.0,0.1441110856062873,0.12006216364819315,0.7828261158627254,0.009287940766982276,-0.009469849149176592,-0.0004074519500428765,0.11296582319267749,0.10074390850420767,0.7631978805167541,0.008273409248715046,-0.00944362297656603,-0.0006529042383806274,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.703279700349652,-0.3665371622530346,-0.613610112297522,0.49520025779961413,0.7156277698287813,-0.245635603471932,0.5460898450768567,0.7828261158627254,1.1596999573743787,1.1596999573743787,1.5313600000004053,0,0,-0.00024108449257351084,-9.999999025923074e-05
+12090,1792459665200758891,845306000000,1792459665200056379,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760215357669093,-0.004008169887654652,0.1040486905381493,0.9999999876213276,2.632453929217311e-05,-0.00010731658312287911,6.316944426172862e-05,0.6761,-0.004,0.10402448260141307,1.0,0.0,0.0,0.0,0.1382082406651019,0.11987307485602149,0.8062568259982164,0.00928065522604227,-0.009476806812785411,-2.0374315973405567e-05,0.10706297825149208,0.100554819712036,0.786628590652245,0.00826612370777504,-0.009450580640174849,-0.00026582660431115644,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7107380930425187,-0.3844481081217796,-0.6879641119039757,0.5144066303094851,0.7638420290949639,-0.25637129514531165,0.5460898450768567,0.8062568259982164,1.2340539569808322,1.2340539569808322,1.56600000000044,0,0,-0.000254878779605587,-9.389028029905262e-05
+12141,1792459665625786140,845731000000,1792459665624055808,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760260429954598,-0.004014928618412451,0.10394772665607677,0.9999999880665706,2.2494232992354714e-05,-9.912619210655123e-05,7.055303320678997e-05,0.6761,-0.004,0.10391305431664515,1.0,0.0,0.0,0.0,0.13816174105565968,0.12051258843431284,0.8162825184968088,0.009271425055314966,-0.009476587066284133,-0.00043427810786312833,0.10701647864204987,0.10119433329032736,0.7966542831508374,0.008256893537047736,-0.00945036089367357,-0.0006797303962008792,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.7186741701613595,-0.39532185448347246,-0.627928000124298,0.5246247221353796,0.7215756700375258,-0.26137547077546863,0.5460898450768567,0.8162825184968088,1.1740178452011545,1.1740178452011545,1.600000000000474,0,0,-0.00026868232123475187,-9.997557923047679e-05
+12184,1792459665984797330,846090000000,1792459665984056014,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760290113940793,-0.004015777328699892,0.10385007319686261,0.9999999885293077,2.2288998364830315e-05,-9.27159527818278e-05,7.274064490676522e-05,0.6761,-0.004,0.10381434148976089,1.0,0.0,0.0,0.0,0.13528753049457334,0.11261107909914454,0.8259587107880706,0.00833537462154809,-0.009460180777108952,-0.0002566157326780507,0.10414226808096352,0.09329282395515906,0.8063304754420992,0.00732084310328086,-0.00943395460449839,-0.0005020680210158016,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6972498193801147,-0.415541229113112,-0.6786357950101359,0.5343767229067012,0.7480865322198988,-0.27383183512885667,0.5460898450768567,0.8259587107880706,1.2247256400869926,1.2247256400869926,1.6287200000005027,0,0,-0.00028210988536478263,-9.999999025923074e-05
+12229,1792459666359787968,846465000000,1792459666356065537,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760281355529666,-0.004018139869360337,0.10374510637071671,0.9999999887332667,1.8549733630116998e-05,-9.367517718621943e-05,6.969361122747353e-05,0.6761,-0.004,0.10370596137570556,1.0,0.0,0.0,0.0,0.1300240051908012,0.1170212583146967,0.8363898466662736,0.008249830333189032,-0.009467535374292036,0.0005579817655655061,0.09887874277719139,0.09770300317071122,0.8167616113203022,0.007235298814921802,-0.009441309201681474,0.0003125294772277552,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6388056292482045,-0.396766240818011,-0.6374733650851018,0.5420254195248374,0.7021354272735348,-0.2609866935064313,0.5460898450768567,0.8363898466662736,1.1835632101619584,1.1835632101619584,1.6587200000005327,0,0,-0.0002966149338465548,-9.999999025923074e-05
+12270,1792459666700752110,846806000000,1792459666700055640,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676030469358297,-0.004017371183112864,0.10363794254168465,0.9999999885327355,2.467124572562341e-05,-9.062214403820807e-05,7.45409267200841e-05,0.6761,-0.004,0.10360222886966501,1.0,0.0,0.0,0.0,0.13542225200627636,0.10817166359328005,0.8463744396758819,0.008246876655130984,-0.009468822817344886,0.00047531467159960233,0.10427698959266654,0.08885340844929457,0.8267462043299105,0.007232345136863755,-0.009442596644734324,0.00022986238326185146,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6687514692449075,-0.43965908157223693,-0.6700512859785274,0.5550041231476925,0.7285063825184604,-0.2914757378006497,0.5460898450768567,0.8463744396758819,1.216141131055384,1.216141131055384,1.68600000000056,0,0,-0.0003106286943874422,-7.52023402147472e-05
+12312,1792459667050822899,847156000000,1792459667044065609,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760271359404812,-0.004024420977010359,0.10352228559982272,0.9999999873015519,2.605719160392097e-05,-9.663035176715807e-05,8.260362109938741e-05,0.6761,-0.004,0.10349119339519831,1.0,0.0,0.0,0.0,0.1378957527225795,0.117980867044915,0.8460255535367267,0.008256198288267036,-0.00946430244434404,-0.00024946462231560066,0.10675049030896969,0.09866261190092952,0.8263973181907553,0.007241666769999806,-0.009438076271733478,-0.0004949169106533515,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6468246636846537,-0.32044359665963706,-0.7007746112479468,0.5284849373113564,0.7439844693311676,-0.2112833215115019,0.5460898450768567,0.8460255535367267,1.2468644563248035,1.2468644563248035,1.714000000000588,0,0,-0.00032504500263183376,-9.999999025923074e-05
+12353,1792459667392771962,847498000000,1792459667388055995,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760304134519013,-0.004026817938333062,0.10341165840508604,0.9999999885450521,1.814399555385071e-05,-8.785184868435175e-05,7.940785955243032e-05,0.6761,-0.004,0.10337715518340944,1.0,0.0,0.0,0.0,0.13864806674114005,0.1181880113503679,0.8462736035867884,0.008247985690081214,-0.00946988200696469,0.00015094176606582745,0.10750280432753023,0.09886975620638241,0.826645368240817,0.007233454171813984,-0.009443655834354128,-9.451052227192342e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5760394547643573,-0.3692032834762695,-0.5817871109638684,0.5532864364592037,0.6432330568571373,-0.24350024091363592,0.5460898450768567,0.8462736035867884,1.127876956040725,1.127876956040725,1.7413600000006153,0,0,-0.00034191637330735345,-9.999999025923074e-05
+12388,1792459667684811536,847790000000,1792459667680065482,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760241578914291,-0.004030871925022959,0.10329748792235668,0.9999999874736339,8.888855355635672e-06,-9.98304656203427e-05,8.03147732063902e-05,0.6761,-0.004,0.10327523643003614,1.0,0.0,0.0,0.0,0.14785012333459693,0.11853458622195406,0.850391989833814,0.008246801895435201,-0.009471647142336235,0.00032594359193027734,0.11670486092098711,0.09921633107796858,0.8307637544878427,0.007232270377167971,-0.009445420969725673,8.049130359252644e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6173963955555997,-0.31663780250579887,-0.5653164020891831,0.5457694695147229,0.6492206266035367,-0.20868763349883906,0.5460898450768567,0.850391989833814,1.1114062471660398,1.1114062471660398,1.7647200000006387,0,0,-0.0003558442166859673,-9.999999025923074e-05
+12424,1792459667984784310,848090000000,1792459667980055920,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760223755585225,-0.0040298331812598995,0.10318615571878843,0.9999999869416389,8.075206320198845e-06,-0.00010297374434290875,8.301075563385077e-05,0.6761,-0.004,0.10316628620004512,1.0,0.0,0.0,0.0,0.14066915411456452,0.11871214308717072,0.8461948881333835,0.008252553329654133,-0.009467747952143524,-6.5317956564667e-05,0.1095238917009547,0.09939388794318524,0.8265666527874121,0.007238021811386904,-0.009441521779532962,-0.0003107702449024179,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6356962296670376,-0.48610086328208113,-0.6963355909669601,0.5953019038024664,0.7379088030317764,-0.321688025122311,0.5460898450768567,0.8461948881333835,1.2424254360438167,1.2424254360438167,1.7887200000006627,0,0,-0.0003705516157207197,-9.999999025923074e-05
+12461,1792459668292784429,848398000000,1792459668288066308,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760167998956722,-0.004032059034628512,0.10305837826533229,0.9999999852126521,1.3530156238130312e-05,-0.00011119815879367061,9.202969364887674e-05,0.6761,-0.004,0.10304979240286666,1.0,0.0,0.0,0.0,0.14066540109257109,0.11919108386257936,0.8560542827479568,0.008255087415372897,-0.009466777975168898,-0.00047360895215466505,0.10952013867896128,0.09987282871859388,0.8364260474019855,0.007240555897105667,-0.009440551802558336,-0.0007190612404924159,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6154045725687731,-0.36035724430135335,-0.6497332243167567,0.5666689913274303,0.7018844477022746,-0.23888626442236335,0.5460898450768567,0.8560542827479568,1.1958230693936134,1.1958230693936134,1.8133600000006873,0,0,-0.00038595161272056276,-9.999999025923074e-05
+12500,1792459668617791763,848723000000,1792459668616065528,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760193134887306,-0.004029312960758159,0.10293784078868069,0.9999999857832742,1.7308520749024334e-05,-0.00010186681354093676,9.591602287439668e-05,0.6761,-0.004,0.10292172562924849,1.0,0.0,0.0,0.0,0.14793371393861882,0.12643609203259282,0.846424116738196,0.008250850238423124,-0.009475555972016188,0.0005582060787228341,0.11678845152500901,0.10711783688860732,0.8267958813922246,0.007236318720155894,-0.009449329799405626,0.00031275379038508326,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6063094572239427,-0.3525597354512277,-0.6193283342385693,0.5670615715612992,0.6780846579808648,-0.23257295318774698,0.5460898450768567,0.846424116738196,1.165418179315426,1.165418179315426,1.8393600000007133,0,0,-0.00040220160955481275,-9.999999025923074e-05
+12527,1792459668842766334,848948000000,1792459668840056033,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760084606764226,-0.004028793228410671,0.10282296232875074,0.9999999842391712,3.485357269215566e-06,-0.0001233466194332313,8.796582007933947e-05,0.6761,-0.004,0.10282997026734632,1.0,0.0,0.0,0.0,0.15729127289642533,0.11839471039597455,0.846569290387693,0.008275811101594416,-0.01048430669873779,0.0005428514615298973,0.1261460104828155,0.09907645525198906,0.8269410550417217,0.007261279583327187,-0.010458080526127228,0.00029739917319214645,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5584215730217144,-0.422386720381576,-0.6434690189814373,0.5957514497309857,0.6834109437263937,-0.28025782582106695,0.5460898450768567,0.846569290387693,1.189558864058294,1.189558864058294,1.8573600000007313,0,0,-0.00041345160736313966,-9.999999025923074e-05
+12562,1792459669134778086,849240000000,1792459669128065903,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760082376056266,-0.004026185307309652,0.10270177439490798,0.9999999841879367,1.039941846357586e-05,-0.00012163033733765305,9.035985810936767e-05,0.6761,-0.004,0.10270711809841297,1.0,0.0,0.0,0.0,0.15686862936890897,0.12053354264330776,0.8368789962263837,0.009249379458503959,-0.010499818046480702,0.0005625623865299709,0.12572336695529915,0.10121528749932228,0.8172507608804124,0.008234847940236729,-0.01047359187387014,0.00031711009819222,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5615057660163643,-0.3891047942718991,-0.5434144846516133,0.5841133591072328,0.6216620851579884,-0.25917055373743414,0.5460898450768567,0.8368789962263837,1.0895043297284701,1.0895043297284701,1.8807200000007547,0,0,-0.00042805160451883504,-9.999999025923074e-05
+12597,1792459669425747507,849531000000,1792459669424065316,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760220900784272,-0.004027087464705705,0.10258487092134437,0.9999999841315562,2.725701376475336e-05,-0.0001086779773745452,0.00010308202699914019,0.6761,-0.004,0.10258044533191184,1.0,0.0,0.0,0.0,0.1660652373984632,0.13050438795983596,0.8172454130551003,0.009311060146563249,-0.010491675353492486,-0.00043579311292894047,0.1349199749848534,0.11118613281585046,0.797617177709129,0.008296528628296019,-0.010465449180881924,-0.0006812454012666913,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6465470037968923,-0.36621827282615516,-0.5568073696098678,0.5927843121207236,0.6524252629007347,-0.23884689369661236,0.5460898450768567,0.8172454130551003,1.1028972146867244,1.1028972146867244,1.904000000000778,0,0,-0.0004426016016842712,-9.999999025923074e-05
+12628,1792459669684746164,849790000000,1792459669680065765,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760234950448929,-0.004023593386032918,0.10246757176242761,0.9999999839572544,3.005667668615996e-05,-0.0001103872941111614,0.00010217434539057119,0.6761,-0.004,0.10246414096740358,1.0,0.0,0.0,0.0,0.1660527148224902,0.13988031695037959,0.8166009172130982,0.009309359598912251,-0.010494173987217907,-0.00012131313414573376,0.13490745240888039,0.12056206180639409,0.7969726818671269,0.00829482808064502,-0.010467947814607345,-0.00036676542248348463,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.64608900699988,-0.32260209270571166,-0.558391823031332,0.5923444551720557,0.6523984383582361,-0.21147563270790712,0.5460898450768567,0.8166009172130982,1.1044816681081886,1.1044816681081886,1.9247200000007987,0,0,-0.00045555159916141195,-9.999999025923074e-05
+12660,1792459669950835042,850056000000,1792459669944065700,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760214008798588,-0.004020229458918902,0.10234323834144698,0.9999999840588095,3.1274227897493126e-05,-0.00011127014294482886,9.98304719149725e-05,0.6761,-0.004,0.10234120199237255,1.0,0.0,0.0,0.0,0.17488351668605429,0.14989319326032458,0.8064721544666833,0.009322896861790227,-0.010573084612752094,-0.00043844887219762296,0.14373825427244447,0.13057493811633908,0.7868439191207119,0.008308365343522996,-0.010546858440141532,-0.0006839011605353738,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6058936791664056,-0.35680408521345214,-0.6113032677301612,0.5952862270423582,0.6774232652823373,-0.23581615454077154,0.5460898450768567,0.8064721544666833,1.1573931128070178,1.1573931128070178,1.94600000000082,0,0,-0.0004688515965703673,-9.999999025923074e-05
+12689,1792459670192820838,850298000000,1792459670188065437,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760139203463986,-0.0040203690250003015,0.10221889624985774,0.999999983249986,2.7044987746865545e-05,-0.00012109635971237365,9.770942916946964e-05,0.6761,-0.004,0.10222628185628893,1.0,0.0,0.0,0.0,0.17762655734838603,0.13984300586475676,0.7964881280411255,0.009343621579612429,-0.011501526147286901,-0.00044493363137070843,0.1464812949347762,0.12052475072077128,0.7768598926951541,0.008329090061345199,-0.01147529997467634,-0.0006903859197084593,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5670161868485606,-0.40415880520180486,-0.5282122707776242,0.6227980368120163,0.6127714733638198,-0.26670318646186314,0.5460898450768567,0.7964881280411255,1.074302115854481,1.074302115854481,1.9653600000008393,0,0,-0.00048095159421310117,-9.999999025923074e-05
+12719,1792459670442856285,850548000000,1792459670436055984,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760087322107865,-0.004014800995051351,0.10209106017331909,0.9999999799878561,6.635124936954909e-05,-0.00012892179341159824,0.00010219508194137246,0.6761,-0.004,0.10210448770804127,1.0,0.0,0.0,0.0,0.17572143425845121,0.1495475704155252,0.7864695722209994,0.009353659907042976,-0.011500259515431646,-0.0004369903690222234,0.1445761718448414,0.1302293152715397,0.7668413368750281,0.008339128388775745,-0.011474033342821084,-0.0006824426573599743,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5262435676538841,-0.32518074075620823,-0.48918069638641054,0.6036978555902276,0.5778654639649392,-0.20574660539968495,0.5460898450768567,0.7864695722209994,1.0352705414632672,1.0352705414632672,1.9853600000008593,0,0,-0.0004934515917779089,-9.999999025923074e-05
+12746,1792459670667808464,850773000000,1792459670660065936,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760024697364468,-0.004019422659036856,0.10197069434046425,0.9999999783499609,5.930296594159578e-05,-0.0001399579455849398,0.00010787897794376191,0.6761,-0.004,0.1019922011001389,1.0,0.0,0.0,0.0,0.17577162385127346,0.1389717456828712,0.7764030083318435,0.009348098540392012,-0.011496233828634461,-0.0004287455593349372,0.14462636143766364,0.11965349053888573,0.7567747729858721,0.008333567022124781,-0.0114700076560239,-0.0006741978476726881,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6119908219065193,-0.36380635767264585,-0.43541626623380447,0.6241577346446635,0.570189400447907,-0.23648320720633303,0.5460898450768567,0.7764030083318435,0.9815061113106611,0.9815061113106611,2.0033600000008773,0,0,-0.0005047015895862358,-9.999999025923074e-05
+12774,1792459670901783372,851007000000,1792459670900066445,DOWN_SETTLE,2,0.055,0.055001743137836456,0.6760005062824868,-0.00401909414589984,0.10184268040945486,0.999999979357426,4.2855781643813716e-05,-0.00014159938027986262,0.0001041201685085798,0.6761,-0.004,0.10187274275344348,1.0,0.0,0.0,0.0,0.18123205894815306,0.14838540978098236,0.7592836986560285,0.009352013751626842,-0.01149407925553886,-0.0004135784280828611,0.15008679653454324,0.12906715463699686,0.7396554633100572,0.008337482233359611,-0.011467853082928298,-0.000659030716420612,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6225244192639006,-0.3211851003915182,-0.5075498582689097,0.6103419011166958,0.622090026641137,-0.21283260943296428,0.5460898450768567,0.7592836986560285,1.0536397033457665,0.0,0.0,0,0,-0.0005146015873068959,0.00035000000974076933
+12825,1792459671326856345,851432000000,1792459671324065781,DOWN_SETTLE,2,0.055,0.055001743137836456,0.6759948796526927,-0.004014400942841011,0.10174961800244786,0.9999999786201872,3.0287080959293204e-05,-0.00015349147635095644,9.861819796041004e-05,0.6761,-0.004,0.10180510171995144,1.0,0.0,0.0,0.0,0.17859213480790906,0.14391831638885516,0.7176331563313926,0.00970856413352222,-0.012449198518785471,-0.0003951678002488487,0.14744687239429924,0.12460006124486968,0.6980049209854212,0.00869403261525499,-0.012422972346174909,-0.0006406200885865996,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.565349470644968,-0.3264809885179182,-0.2837376471933962,0.6032405892339038,0.480197201367421,-0.21942752176156852,0.5460898450768567,0.7176331563313926,0.8298274922702529,0.0,0.0,0,0,-1.0328967772367747e-05,0.00010433300780169441

Fixed/digit/ball_0010_10/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792459645623117995,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.660939495e-10,-3.297267754e-11,1.562949770e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449499e-01,-1.188486417e-04,8.303259116e-01
+1,7.000000000e-01,DOWN_FORCE_DETACH,1792459646327246767,3.480630725e-07,3.492013375e-06,-3.937039811e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.109496089e-08,-7.733621521e-10,6.713125611e-10,7.019559809e-01,-1.877872165e-05,8.601391502e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449704e-01,-1.188493821e-04,8.303259123e-01
+2,1.266666667e+00,DOWN_FORCE_DETACH,1792459646884853478,1.363843942e-06,2.637574803e-06,-2.249273144e-05,1.648347010e-07,1.494557748e-06,-2.010767066e-05,-3.582448282e-08,1.528819684e-06,-2.013215886e-05,7.019569967e-01,-1.963316022e-05,8.601205945e-01,7.019557977e-01,-2.077617727e-05,8.601229796e-01,7.027449135e-01,-1.173197891e-04,8.303057795e-01
+3,1.833333333e+00,DOWN_FORCE_DETACH,1792459647441055494,-1.093731829e-06,-6.728003059e-06,-6.415544886e-05,-1.808764502e-06,-7.065355524e-06,-6.219201478e-05,-2.677753847e-06,-7.134770948e-06,-6.215355708e-05,7.019545391e-01,-2.899873808e-05,8.600789318e-01,7.019538241e-01,-2.933609055e-05,8.600808952e-01,7.027422716e-01,-1.259833797e-04,8.302637581e-01
+4,2.383333333e+00,DOWN_FORCE_DETACH,1792459648014592602,-4.852994898e-06,-1.201593156e-05,-1.210598698e-04,-7.445328358e-06,-6.870271095e-06,-1.221446164e-04,-9.540233201e-06,-6.944986388e-06,-1.220850324e-04,7.019507798e-01,-3.428666659e-05,8.600220274e-01,7.019481875e-01,-2.914100612e-05,8.600209426e-01,7.027354091e-01,-1.257935951e-04,8.302038266e-01
+5,2.883333333e+00,DOWN_FORCE_DETACH,1792459648555417773,-9.691815544e-06,-1.006530598e-05,-1.881482982e-04,-1.025350486e-05,-9.311331466e-06,-1.681722836e-04,-1.308107205e-05,-9.413945963e-06,-1.681403666e-04,7.019459410e-01,-3.233604100e-05,8.599549389e-01,7.019453793e-01,-3.158206649e-05,8.599749150e-01,7.027318683e-01,-1.282625547e-04,8.301577713e-01
+6,3.366666667e+00,DOWN_FORCE_DETACH,1792459649063360072,8.605189062e-07,-1.349233789e-05,-2.365563118e-04,-2.850650958e-07,-1.184313541e-05,-2.298014706e-04,-3.153625806e-06,-1.197498321e-05,-2.297389440e-04,7.019564933e-01,-3.576307292e-05,8.599065309e-01,7.019553478e-01,-3.411387043e-05,8.599132858e-01,7.027417957e-01,-1.308235920e-04,8.300961727e-01
+7,3.900000000e+00,DOWN_FORCE_DETACH,1792459649587189259,2.041312514e-05,-1.207921418e-05,-2.776283304e-04,1.913716411e-05,-1.236997621e-05,-2.639109145e-04,1.735897642e-05,-1.254460539e-05,-2.638081169e-04,7.019760459e-01,-3.434994920e-05,8.598654589e-01,7.019747700e-01,-3.464071124e-05,8.598791763e-01,7.027623083e-01,-1.313932141e-04,8.300621035e-01
+8,4.366666667e+00,DOWN_FORCE_DETACH,1792459650111273117,1.448936621e-05,-1.530549199e-05,-3.462113708e-04,1.578318533e-05,-1.534052796e-05,-3.293370882e-04,1.294710156e-05,-1.555011051e-05,-3.293248975e-04,7.019701222e-01,-3.757622701e-05,8.597968759e-01,7.019714160e-01,-3.761126299e-05,8.598137502e-01,7.027578965e-01,-1.343987193e-04,8.299965867e-01
+9,4.900000000e+00,DOWN_FORCE_DETACH,1792459650651726878,1.383902836e-05,-1.866866074e-05,-4.165116864e-04,1.375179506e-05,-1.861833888e-05,-4.164150041e-04,9.685043789e-06,-1.886502609e-05,-4.163634744e-04,7.019694718e-01,-4.093939576e-05,8.597265756e-01,7.019693846e-01,-4.088907391e-05,8.597266722e-01,7.027546344e-01,-1.377136348e-04,8.299095482e-01
+10,5.416666667e+00,DOWN_FORCE_DETACH,1792459651175602548,1.987694730e-05,-1.689745146e-05,-4.768429537e-04,1.970061883e-05,-1.719917415e-05,-4.766991615e-04,1.533413479e-05,-1.743561932e-05,-4.766250645e-04,7.019755098e-01,-3.916818648e-05,8.596662443e-01,7.019753334e-01,-3.946990918e-05,8.596663881e-01,7.027602835e-01,-1.362842281e-04,8.298492866e-01
+11,5.900000000e+00,DOWN_FORCE_DETACH,1792459651700302273,2.010030484e-05,-2.279611071e-05,-5.385073390e-04,1.724618155e-05,-2.419884916e-05,-5.237979300e-04,1.211909478e-05,-2.451921970e-05,-5.237688731e-04,7.019757331e-01,-4.506684573e-05,8.596045799e-01,7.019728790e-01,-4.646958419e-05,8.596192893e-01,7.027570684e-01,-1.433678285e-04,8.298021428e-01
+12,6.450000000e+00,DOWN_FORCE_DETACH,1792459652322293529,2.157545677e-05,-2.666754528e-05,-6.185224231e-04,1.967984414e-05,-2.739980676e-05,-6.059489354e-04,1.373274177e-05,-2.775362715e-05,-6.059062466e-04,7.019772083e-01,-4.893828030e-05,8.595245648e-01,7.019753127e-01,-4.967054179e-05,8.595371383e-01,7.027586821e-01,-1.466022359e-04,8.297200054e-01
+13,7.000000000e+00,DOWN_FORCE_DETACH,1792459652863653927,3.564769114e-05,-2.443817430e-05,-6.789715997e-04,3.424669852e-05,-2.987602859e-05,-6.660517739e-04,2.871861703e-05,-3.027375841e-05,-6.660530856e-04,7.019912805e-01,-4.670890933e-05,8.594641156e-01,7.019898795e-01,-5.214676362e-05,8.594770355e-01,7.027736680e-01,-1.491223672e-04,8.296598585e-01
+14,7.483333333e+00,DOWN_FORCE_DETACH,1792459653338681889,3.924675131e-05,-2.780351986e-05,-7.409124663e-04,3.952383508e-05,-2.925872663e-05,-7.275362375e-04,3.365394003e-05,-2.963587230e-05,-7.275185122e-04,7.019948796e-01,-5.007425488e-05,8.594021748e-01,7.019951567e-01,-5.152946166e-05,8.594155510e-01,7.027786033e-01,-1.484844811e-04,8.295983931e-01
+15,8.016666667e+00,DOWN_FORCE_DETACH,1792459653862179840,4.405226777e-05,-3.058457197e-05,-8.100320075e-04,4.022053050e-05,-3.024622947e-05,-7.929902842e-04,3.361314958e-05,-3.065506241e-05,-7.929583177e-04,7.019996851e-01,-5.285530699e-05,8.593330552e-01,7.019958533e-01,-5.251696449e-05,8.593500970e-01,7.027785625e-01,-1.495036712e-04,8.295329533e-01
+16,8.566666667e+00,DOWN_FORCE_DETACH,1792459654402458535,4.655596484e-05,-2.845728669e-05,-8.815711222e-04,4.373675229e-05,-3.246172556e-05,-8.834871282e-04,3.630769153e-05,-3.289768370e-05,-8.835031393e-04,7.020021888e-01,-5.072802171e-05,8.592615161e-01,7.019993696e-01,-5.473246058e-05,8.592596001e-01,7.027812570e-01,-1.517462925e-04,8.294424085e-01
+17,9.066666667e+00,DOWN_FORCE_DETACH,1792459654894220516,4.866865693e-05,-3.154608840e-05,-9.531059114e-04,4.792918935e-05,-3.066676389e-05,-9.528537039e-04,3.994974861e-05,-3.106729407e-05,-9.529248866e-04,7.020043015e-01,-5.381682342e-05,8.591899813e-01,7.020035620e-01,-5.293749891e-05,8.591902335e-01,7.027848991e-01,-1.499159028e-04,8.293729867e-01
+18,9.566666667e+00,DOWN_FORCE_DETACH,1792459655385545098,4.838506668e-05,-3.228902825e-05,-1.027249298e-03,4.791491269e-05,-3.254194626e-05,-1.017956073e-03,3.911386366e-05,-3.297071649e-05,-1.018045326e-03,7.020040179e-01,-5.455976327e-05,8.591158379e-01,7.020035477e-01,-5.481268129e-05,8.591251312e-01,7.027840632e-01,-1.518193252e-04,8.293078663e-01
+19,1.010000000e+01,DOWN_FORCE_DETACH,1792459655942586305,4.517328420e-05,-2.982387836e-05,-1.115844190e-03,4.731756242e-05,-3.442851122e-05,-1.104722545e-03,3.744116541e-05,-3.487201921e-05,-1.104817532e-03,7.020008061e-01,-5.209461338e-05,8.590272430e-01,7.020029504e-01,-5.669924624e-05,8.590383647e-01,7.027823905e-01,-1.537206280e-04,8.292210941e-01
+20,1.055000000e+01,DOWN_FORCE_DETACH,1792459656384948020,4.609126257e-05,-3.635492375e-05,-1.182442247e-03,4.535537494e-05,-3.116762602e-05,-1.173776903e-03,3.448563368e-05,-3.155025794e-05,-1.173863586e-03,7.020017241e-01,-5.862565877e-05,8.589606450e-01,7.020009882e-01,-5.343836104e-05,8.589693103e-01,7.027794350e-01,-1.503988667e-04,8.291520480e-01
+21,1.105000000e+01,DOWN_FORCE_DETACH,1792459656876898036,4.340600592e-05,-3.622173931e-05,-1.264088814e-03,4.354138089e-05,-3.631431410e-05,-1.261923916e-03,3.143730771e-05,-3.677719135e-05,-1.262020504e-03,7.019990388e-01,-5.849247433e-05,8.588789984e-01,7.019991742e-01,-5.858504912e-05,8.588811633e-01,7.027763867e-01,-1.556258001e-04,8.290638911e-01
+22,1.161666667e+01,DOWN_FORCE_DETACH,1792459657433682163,4.439376196e-05,-3.109350511e-05,-1.342910165e-03,4.418500716e-05,-3.084529631e-05,-1.343131650e-03,3.108254170e-05,-3.124606915e-05,-1.343248762e-03,7.020000266e-01,-5.336424014e-05,8.588001771e-01,7.019998178e-01,-5.311603134e-05,8.587999556e-01,7.027760319e-01,-1.500946779e-04,8.289826629e-01
+23,1.205000000e+01,DOWN_FORCE_DETACH,1792459657891713269,4.267880855e-05,-3.817169892e-05,-1.421862571e-03,4.086193133e-05,-3.626892768e-05,-1.404855388e-03,2.677808483e-05,-3.670736503e-05,-1.405064027e-03,7.019983116e-01,-6.044243394e-05,8.587212247e-01,7.019964947e-01,-5.853966270e-05,8.587382319e-01,7.027717274e-01,-1.555559738e-04,8.289208476e-01
+24,1.255000000e+01,DOWN_FORCE_DETACH,1792459658399603611,4.361488493e-05,-4.089006486e-05,-1.500596864e-03,4.107221004e-05,-3.843666056e-05,-1.490839270e-03,2.598646627e-05,-3.892471788e-05,-1.491073398e-03,7.019992477e-01,-6.316079988e-05,8.586424904e-01,7.019967050e-01,-6.070739558e-05,8.586522480e-01,7.027709358e-01,-1.577733266e-04,8.288348382e-01
+25,1.313333333e+01,DOWN_FORCE_DETACH,1792459658972911476,4.156439562e-05,-4.170034951e-05,-1.598821053e-03,4.141433451e-05,-4.157482795e-05,-1.598780342e-03,2.500859867e-05,-4.209559750e-05,-1.599000060e-03,7.019971972e-01,-6.397108453e-05,8.585442662e-01,7.019970472e-01,-6.384556298e-05,8.585443069e-01,7.027699580e-01,-1.609442063e-04,8.287269116e-01
+26,1.370000000e+01,DOWN_FORCE_DETACH,1792459659530292158,4.452994852e-05,-4.512882873e-05,-1.683631434e-03,4.436392508e-05,-4.527269879e-05,-1.683073443e-03,2.714224914e-05,-4.586638514e-05,-1.683337065e-03,7.020001628e-01,-6.739956376e-05,8.584594558e-01,7.019999967e-01,-6.754343381e-05,8.584600138e-01,7.027720916e-01,-1.647149939e-04,8.286425746e-01
+27,1.416666667e+01,DOWN_FORCE_DETACH,1792459659989300217,4.476196900e-05,-4.792961293e-05,-1.759838215e-03,4.432850322e-05,-4.773426794e-05,-1.747218711e-03,2.631457460e-05,-4.838021004e-05,-1.747516588e-03,7.020003948e-01,-7.020034795e-05,8.583832490e-01,7.019999613e-01,-7.000500296e-05,8.583958685e-01,7.027712639e-01,-1.672288188e-04,8.285783950e-01
+28,1.465000000e+01,DOWN_FORCE_DETACH,1792459660496305165,4.086132786e-05,-5.121641254e-05,-1.855467742e-03,4.072947701e-05,-5.138568231e-05,-1.855367591e-03,2.108525123e-05,-5.205099780e-05,-1.855647551e-03,7.019964941e-01,-7.348714757e-05,8.582876195e-01,7.019963623e-01,-7.365641733e-05,8.582877196e-01,7.027660346e-01,-1.708996066e-04,8.284702641e-01
+29,1.518333333e+01,DOWN_FORCE_DETACH,1792459661037017949,4.308311283e-05,-4.962421027e-05,-1.943862839e-03,4.416577397e-05,-5.286299072e-05,-1.940372357e-03,2.374169141e-05,-5.354634320e-05,-1.940704378e-03,7.019987159e-01,-7.189494529e-05,8.581992244e-01,7.019997986e-01,-7.513372575e-05,8.582027149e-01,7.027686910e-01,-1.723949520e-04,8.283852072e-01
+30,1.565000000e+01,DOWN_FORCE_DETACH,1792459661528342334,6.405786817e-05,-5.427468348e-05,-2.012491769e-03,5.491130256e-05,-4.900332266e-05,-2.015718435e-03,3.440819181e-05,-4.964263930e-05,-2.016019857e-03,7.020196907e-01,-7.654541850e-05,8.581305955e-01,7.020105441e-01,-7.127405768e-05,8.581273688e-01,7.027793575e-01,-1.684912481e-04,8.283098918e-01
+31,1.601666667e+01,DOWN_FORCE_DETACH,1792459661888443172,6.986734136e-05,-5.017784172e-05,-2.076265655e-03,6.979719055e-05,-5.009384812e-05,-2.075998731e-03,4.973981213e-05,-5.073842807e-05,-2.076296985e-03,7.020255002e-01,-7.244857674e-05,8.580668216e-01,7.020254300e-01,-7.236458314e-05,8.580670885e-01,7.027946892e-01,-1.695870368e-04,8.282496146e-01
+32,1.646666667e+01,DOWN_FORCE_DETACH,1792459662330508217,6.794840760e-05,-5.058224341e-05,-2.166786435e-03,6.763823398e-05,-5.041832397e-05,-2.166771426e-03,4.627617930e-05,-5.106943491e-05,-2.167051959e-03,7.020235812e-01,-7.285297843e-05,8.579763008e-01,7.020232711e-01,-7.268905899e-05,8.579763158e-01,7.027912255e-01,-1.699180437e-04,8.281588597e-01
+33,1.691666667e+01,DOWN_FORCE_DETACH,1792459662772882347,6.969219853e-05,-5.469067924e-05,-2.248332477e-03,6.834896766e-05,-5.642372914e-05,-2.230553212e-03,4.628799695e-05,-5.712873550e-05,-2.230919650e-03,7.020253250e-01,-7.696141426e-05,8.578947548e-01,7.020239818e-01,-7.869446416e-05,8.579125340e-01,7.027912373e-01,-1.759773442e-04,8.280949920e-01
+34,1.735000000e+01,DOWN_FORCE_DETACH,1792459663198652479,6.805224425e-05,-5.742446972e-05,-2.333472864e-03,6.610945162e-05,-5.705770307e-05,-2.318521650e-03,4.280963726e-05,-5.777874417e-05,-2.318909261e-03,7.020236851e-01,-7.969520474e-05,8.578096144e-01,7.020217423e-01,-7.932843809e-05,8.578245656e-01,7.027877590e-01,-1.766273529e-04,8.280070024e-01
+35,1.773333333e+01,DOWN_FORCE_DETACH,1792459663575388132,6.311416938e-05,-6.279127842e-05,-2.419738008e-03,6.446166664e-05,-5.683416116e-05,-2.400876495e-03,4.001789303e-05,-5.755239863e-05,-2.401247589e-03,7.020187470e-01,-8.506201344e-05,8.577233492e-01,7.020200945e-01,-7.910489619e-05,8.577422107e-01,7.027849672e-01,-1.764010074e-04,8.279246640e-01
+36,1.820000000e+01,DOWN_FORCE_DETACH,1792459664034331138,6.400372083e-05,-6.116895099e-05,-2.520593564e-03,6.525630771e-05,-6.616756092e-05,-2.512035338e-03,3.956308994e-05,-6.700333605e-05,-2.512429935e-03,7.020196365e-01,-8.343968601e-05,8.576224937e-01,7.020208891e-01,-8.843829594e-05,8.576310519e-01,7.027845124e-01,-1.858519448e-04,8.278134817e-01
+37,1.856666667e+01,DOWN_FORCE_DETACH,1792459664427397337,6.379769483e-05,-6.473867528e-05,-2.616526997e-03,5.934056324e-05,-6.628780268e-05,-2.605339554e-03,3.201302392e-05,-6.716714208e-05,-2.605771530e-03,7.020194305e-01,-8.700941030e-05,8.575265602e-01,7.020149734e-01,-8.855853770e-05,8.575377477e-01,7.027769624e-01,-1.860157508e-04,8.277201401e-01
+38,1.891666667e+01,DOWN_FORCE_DETACH,1792459664771596632,6.219824285e-05,-7.218338972e-05,-2.698007479e-03,6.296454081e-05,-6.208920630e-05,-2.693446023e-03,3.490258608e-05,-6.291465856e-05,-2.693919459e-03,7.020178311e-01,-9.445412475e-05,8.574450798e-01,7.020185974e-01,-8.435994132e-05,8.574496412e-01,7.027798519e-01,-1.817632673e-04,8.276319922e-01
+39,1.933333333e+01,DOWN_FORCE_DETACH,1792459665197585490,6.169769351e-05,-7.306390097e-05,-2.802427167e-03,6.174905381e-05,-7.288894596e-05,-2.802111084e-03,3.227410576e-05,-7.384830335e-05,-2.802557616e-03,7.020173305e-01,-9.533463599e-05,8.573406601e-01,7.020173819e-01,-9.515968098e-05,8.573409762e-01,7.027772235e-01,-1.926969121e-04,8.275233540e-01
+40,1.976666667e+01,DOWN_FORCE_DETACH,1792459665623404702,6.463828625e-05,-7.458420039e-05,-2.904369238e-03,6.584500983e-05,-7.325436684e-05,-2.884842328e-03,3.566137371e-05,-7.421845171e-05,-2.885329387e-03,7.020202711e-01,-9.685493541e-05,8.572387180e-01,7.020214778e-01,-9.552510187e-05,8.572582449e-01,7.027806107e-01,-1.930670605e-04,8.274405822e-01
+41,2.013333333e+01,DOWN_FORCE_DETACH,1792459665983345165,7.022696711e-05,-7.845459235e-05,-2.996726019e-03,6.694741506e-05,-7.752681427e-05,-2.993071955e-03,3.553866882e-05,-7.854019357e-05,-2.993581166e-03,7.020258598e-01,-1.007253274e-04,8.571463612e-01,7.020225802e-01,-9.979754929e-05,8.571500153e-01,7.027804880e-01,-1.973888023e-04,8.273323305e-01
+42,2.050000000e+01,DOWN_FORCE_DETACH,1792459666360687004,6.831211875e-05,-8.093612694e-05,-3.105790424e-03,6.777451393e-05,-7.649906723e-05,-3.103154755e-03,3.511010581e-05,-7.745303931e-05,-3.103667625e-03,7.020239449e-01,-1.032068620e-04,8.570372968e-01,7.020234073e-01,-9.876980225e-05,8.570399325e-01,7.027800595e-01,-1.963016481e-04,8.272222440e-01
+43,2.085000000e+01,DOWN_FORCE_DETACH,1792459666704400663,7.097339994e-05,-8.195981610e-05,-3.211121486e-03,6.966561422e-05,-8.173545682e-05,-3.193180065e-03,3.604579319e-05,-8.278973080e-05,-3.193746143e-03,7.020266062e-01,-1.042305511e-04,8.569319658e-01,7.020252984e-01,-1.040061918e-04,8.569499072e-01,7.027809951e-01,-2.016383395e-04,8.271321655e-01
+44,2.120000000e+01,DOWN_FORCE_DETACH,1792459667048968450,6.887011625e-05,-8.708362493e-05,-3.323958667e-03,7.233614124e-05,-8.213642382e-05,-3.305576609e-03,3.759249246e-05,-8.319649331e-05,-3.306097162e-03,7.020245029e-01,-1.093543599e-04,8.568191286e-01,7.020279690e-01,-1.044071588e-04,8.568375106e-01,7.027825418e-01,-2.020451021e-04,8.270198145e-01
+45,2.155000000e+01,DOWN_FORCE_DETACH,1792459667392197632,6.979930975e-05,-8.737782598e-05,-3.438450133e-03,6.974040128e-05,-8.729676400e-05,-3.438177023e-03,3.317439895e-05,-8.843457972e-05,-3.438721236e-03,7.020254321e-01,-1.096485610e-04,8.567046371e-01,7.020253732e-01,-1.095674990e-04,8.567049102e-01,7.027781238e-01,-2.072831885e-04,8.268871904e-01
+46,2.180000000e+01,DOWN_FORCE_DETACH,1792459667687332328,6.409351164e-05,-9.359873695e-05,-3.553648176e-03,6.617839647e-05,-9.141798361e-05,-3.540113542e-03,2.815911844e-05,-9.263138617e-05,-3.540659934e-03,7.020197263e-01,-1.158694720e-04,8.565894391e-01,7.020218112e-01,-1.136887186e-04,8.566029737e-01,7.027731085e-01,-2.114799949e-04,8.267852517e-01
+47,2.210000000e+01,DOWN_FORCE_DETACH,1792459667981717061,6.134223431e-05,-9.416813646e-05,-3.664237855e-03,6.348145352e-05,-8.855692970e-05,-3.655230831e-03,2.386735042e-05,-8.970663496e-05,-3.655825757e-03,7.020169751e-01,-1.164388715e-04,8.564788494e-01,7.020191143e-01,-1.108276647e-04,8.564878564e-01,7.027688167e-01,-2.085552437e-04,8.266700859e-01
+48,2.236666667e+01,DOWN_FORCE_DETACH,1792459668293238670,5.841065468e-05,-9.341849895e-05,-3.792002996e-03,5.816961885e-05,-9.353738062e-05,-3.791905051e-03,1.646171414e-05,-9.476702011e-05,-3.792444403e-03,7.020140435e-01,-1.156892340e-04,8.563510842e-01,7.020138024e-01,-1.158081156e-04,8.563511822e-01,7.027614111e-01,-2.136156289e-04,8.265334672e-01
+49,2.266666667e+01,DOWN_FORCE_DETACH,1792459668609797446,5.927708380e-05,-8.787004088e-05,-3.904749027e-03,5.815804863e-05,-9.401907854e-05,-3.891787999e-03,1.519981217e-05,-9.526918660e-05,-3.892431363e-03,7.020149099e-01,-1.101407759e-04,8.562383382e-01,7.020137909e-01,-1.162898136e-04,8.562512992e-01,7.027601492e-01,-2.141177953e-04,8.264334803e-01
+50,2.280000000e+01,DOWN_FORCE_DETACH,1792459668845548493,4.760046850e-05,-9.408987014e-05,-4.032370749e-03,4.876026482e-05,-9.014521873e-05,-4.017450493e-03,3.607793399e-06,-9.130542054e-05,-4.018043001e-03,7.020032333e-01,-1.163606052e-04,8.561107165e-01,7.020043931e-01,-1.124159538e-04,8.561256367e-01,7.027485571e-01,-2.101540293e-04,8.263078686e-01
+51,2.305000000e+01,DOWN_FORCE_DETACH,1792459669131589837,4.964089198e-05,-8.729178025e-05,-4.144260206e-03,4.577780870e-05,-9.185230975e-05,-4.129943419e-03,-1.006955705e-06,-9.305867128e-05,-4.130626172e-03,7.020052737e-01,-1.095625153e-04,8.559988270e-01,7.020014106e-01,-1.141230448e-04,8.560131438e-01,7.027439424e-01,-2.119072800e-04,8.261952855e-01
+52,2.331666667e+01,DOWN_FORCE_DETACH,1792459669425503675,6.334678273e-05,-8.936484451e-05,-4.262060008e-03,5.692910897e-05,-9.167167073e-05,-4.253494558e-03,9.508106027e-06,-9.288145256e-05,-4.254197458e-03,7.020189796e-01,-1.116355795e-04,8.558810272e-01,7.020125619e-01,-1.139424058e-04,8.558895927e-01,7.027544575e-01,-2.117300613e-04,8.260717142e-01
+53,2.355000000e+01,DOWN_FORCE_DETACH,1792459669685499914,6.367161068e-05,-8.638964362e-05,-4.383325032e-03,6.350693592e-05,-8.634788468e-05,-4.383223152e-03,1.507310577e-05,-8.748584949e-05,-4.383920256e-03,7.020193044e-01,-1.086603786e-04,8.557597622e-01,7.020191398e-01,-1.086186197e-04,8.557598641e-01,7.027600225e-01,-2.063344582e-04,8.259419914e-01
+54,2.378333333e+01,DOWN_FORCE_DETACH,1792459669947483424,6.199994095e-05,-8.467603308e-05,-4.505376924e-03,6.207564894e-05,-8.425470935e-05,-4.489020605e-03,1.224711548e-05,-8.535552812e-05,-4.489745507e-03,7.020176328e-01,-1.069467681e-04,8.556377103e-01,7.020177085e-01,-1.065254444e-04,8.556540666e-01,7.027571965e-01,-2.042041369e-04,8.258361661e-01
+55,2.403333333e+01,DOWN_FORCE_DETACH,1792459670193639361,5.409691218e-05,-8.316528258e-05,-4.632000545e-03,5.570901805e-05,-8.055728650e-05,-4.615316560e-03,3.885168606e-06,-8.160675656e-05,-4.616086335e-03,7.020097297e-01,-1.054360176e-04,8.555110867e-01,7.020113418e-01,-1.028280215e-04,8.555277707e-01,7.027488345e-01,-2.004553653e-04,8.257098253e-01
+56,2.428333333e+01,DOWN_FORCE_DETACH,1792459670439481623,4.698158417e-05,-7.928453530e-05,-4.760638683e-03,5.142208495e-05,-7.791187964e-05,-4.746371694e-03,-2.235388276e-06,-7.891377445e-05,-4.747209506e-03,7.020026144e-01,-1.015552703e-04,8.553824486e-01,7.020070549e-01,-1.001826147e-04,8.553967155e-01,7.027427140e-01,-1.977623832e-04,8.255787021e-01
+57,2.451666667e+01,DOWN_FORCE_DETACH,1792459670668418311,4.340513013e-05,-8.346869213e-05,-4.881418433e-03,4.282589916e-05,-8.239891886e-05,-4.870296124e-03,-1.306072410e-05,-8.342790788e-05,-4.871195861e-03,7.019990379e-01,-1.057394272e-04,8.552616688e-01,7.019984587e-01,-1.046696539e-04,8.552727911e-01,7.027318886e-01,-2.022765166e-04,8.254547158e-01
+58,2.475000000e+01,DOWN_SETTLE,1792459670897564117,4.326023619e-05,-8.490141676e-05,-5.002689002e-03,4.311464786e-05,-8.013954641e-05,-4.985686026e-03,-1.410996657e-05,-8.116889974e-05,-4.986616697e-03,7.019988931e-01,-1.071721518e-04,8.551403982e-01,7.019987475e-01,-1.024102814e-04,8.551574012e-01,7.027308394e-01,-2.000175085e-04,8.253392949e-01
+59,2.518333333e+01,DOWN_SETTLE,1792459671324858334,3.434097698e-05,-7.992679344e-05,-5.101997030e-03,3.521220061e-05,-8.145608895e-05,-5.082277686e-03,-2.379497424e-05,-8.249695382e-05,-5.083367385e-03,7.019899738e-01,-1.021975285e-04,8.550410902e-01,7.019908450e-01,-1.037268240e-04,8.550608096e-01,7.027211544e-01,-2.013455626e-04,8.252425442e-01

Fixed/digit/ball_0010_10/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.0268e-02,2.2187e-02,2.4533e+00,-3.8300e-02,3.7507e-02,1.7452e-05,1.2100e-04,6.3516e-07,0.0000e+00,2.7567e-07,8.5384e-06,-1.5282e-07,1.2100e-04,8.5442e-06
+1,7.0000e-01,DOWN_FORCE_DETACH,1.3369e-04,1.3837e-02,2.2160e-02,2.4534e+00,-3.8288e-02,3.7759e-02,1.3059e-05,3.6908e-03,-2.6291e-05,1.0252e-04,1.2450e-05,2.6083e-04,-4.5453e-06,3.6923e-03,2.6117e-04
+2,1.2667e+00,DOWN_FORCE_DETACH,2.6494e-04,1.5603e-02,2.1341e-02,2.4587e+00,-3.8225e-02,3.7879e-02,1.1636e-05,5.4563e-03,-8.4464e-04,5.3804e-03,7.5717e-05,3.8070e-04,-5.9692e-06,7.7093e-03,3.8820e-04
+3,1.8333e+00,DOWN_FORCE_DETACH,4.0131e-04,1.7528e-02,2.7105e-02,2.4671e+00,-3.8622e-02,3.8007e-02,1.2843e-05,7.3812e-03,4.9189e-03,1.3770e-02,-3.2170e-04,5.0862e-04,-4.7614e-06,1.6379e-02,6.0184e-04
+4,2.3833e+00,DOWN_FORCE_DETACH,5.3368e-04,1.9678e-02,2.7567e-02,2.4761e+00,-3.8647e-02,3.8150e-02,1.0986e-05,9.5314e-03,5.3814e-03,2.2763e-02,-3.4669e-04,6.5172e-04,-6.6186e-06,2.5258e-02,7.3823e-04
+5,2.8833e+00,DOWN_FORCE_DETACH,6.6706e-04,1.9615e-02,2.9580e-02,2.4782e+00,-3.8783e-02,3.8143e-02,9.8608e-06,9.4684e-03,7.3939e-03,2.4929e-02,-4.8263e-04,6.4475e-04,-7.7439e-06,2.7672e-02,8.0541e-04
+6,3.3667e+00,DOWN_FORCE_DETACH,8.0011e-04,1.6209e-02,3.1493e-02,2.4836e+00,-3.8913e-02,3.7897e-02,1.0402e-05,6.0621e-03,9.3071e-03,3.0344e-02,-6.1256e-04,3.9904e-04,-7.2030e-06,3.2313e-02,7.3110e-04
+7,3.9000e+00,DOWN_FORCE_DETACH,9.3335e-04,1.1126e-02,3.1845e-02,2.4799e+00,-3.8936e-02,3.7542e-02,9.5165e-06,9.7989e-04,9.6589e-03,2.6655e-02,-6.3572e-04,4.3686e-05,-8.0882e-06,2.8368e-02,6.3727e-04
+8,4.3667e+00,DOWN_FORCE_DETACH,1.0698e-03,1.3770e-02,3.4252e-02,2.4855e+00,-3.9103e-02,3.7724e-02,6.1382e-06,3.6233e-03,1.2066e-02,3.2220e-02,-8.0291e-04,2.2558e-04,-1.1467e-05,3.4595e-02,8.3407e-04
+9,4.9000e+00,DOWN_FORCE_DETACH,1.2016e-03,1.4804e-02,3.5559e-02,2.4849e+00,-3.9192e-02,3.7799e-02,-1.6095e-06,4.6578e-03,1.3373e-02,3.1609e-02,-8.9181e-04,3.0036e-04,-1.9214e-05,3.4636e-02,9.4123e-04
+10,5.4167e+00,DOWN_FORCE_DETACH,1.3360e-03,1.3840e-02,3.7807e-02,2.4830e+00,-3.9350e-02,3.7734e-02,-7.2581e-06,3.6934e-03,1.5620e-02,2.9675e-02,-1.0500e-03,2.3535e-04,-2.4863e-05,3.3737e-02,1.0763e-03
+11,5.9000e+00,DOWN_FORCE_DETACH,1.4700e-03,1.4623e-02,4.0528e-02,2.4837e+00,-3.9546e-02,3.7789e-02,-7.6761e-06,4.4769e-03,1.8342e-02,3.0377e-02,-1.2458e-03,2.9085e-04,-2.5281e-05,3.5766e-02,1.2795e-03
+12,6.4500e+00,DOWN_FORCE_DETACH,1.6015e-03,1.4947e-02,4.2279e-02,2.4877e+00,-3.9677e-02,3.7808e-02,-7.2911e-07,4.8008e-03,2.0093e-02,3.4365e-02,-1.3765e-03,3.0986e-04,-1.8334e-05,4.0097e-02,1.4111e-03
+13,7.0000e+00,DOWN_FORCE_DETACH,1.7358e-03,1.2261e-02,4.2876e-02,2.4871e+00,-3.9734e-02,3.7618e-02,1.1193e-05,2.1150e-03,2.0689e-02,3.3770e-02,-1.4334e-03,1.1973e-04,-6.4121e-06,3.9660e-02,1.4384e-03
+14,7.4833e+00,DOWN_FORCE_DETACH,1.8686e-03,1.3277e-02,4.1673e-02,2.4889e+00,-3.9662e-02,3.7688e-02,1.9547e-05,3.1301e-03,1.9487e-02,3.5600e-02,-1.3620e-03,1.8937e-04,1.9420e-06,4.0705e-02,1.3751e-03
+15,8.0167e+00,DOWN_FORCE_DETACH,2.0028e-03,1.5662e-02,4.1546e-02,2.4882e+00,-3.9657e-02,3.7858e-02,2.4342e-05,5.5158e-03,1.9360e-02,3.4859e-02,-1.3566e-03,3.5946e-04,6.7368e-06,4.0253e-02,1.4034e-03
+16,8.5667e+00,DOWN_FORCE_DETACH,2.1323e-03,1.7282e-02,4.2695e-02,2.4926e+00,-3.9727e-02,3.7970e-02,2.6184e-05,7.1359e-03,2.0509e-02,3.9260e-02,-1.4267e-03,4.7173e-04,8.5789e-06,4.4865e-02,1.5027e-03
+17,9.0667e+00,DOWN_FORCE_DETACH,2.2694e-03,1.7748e-02,4.2004e-02,2.4913e+00,-3.9653e-02,3.8005e-02,2.2302e-05,7.6014e-03,1.9818e-02,3.7974e-02,-1.3531e-03,5.0636e-04,4.6976e-06,4.3503e-02,1.4448e-03
+18,9.5667e+00,DOWN_FORCE_DETACH,2.4021e-03,1.8882e-02,4.4110e-02,2.4887e+00,-3.9770e-02,3.8084e-02,1.2534e-05,8.7354e-03,2.1924e-02,3.5405e-02,-1.4701e-03,5.8540e-04,-5.0709e-06,4.2550e-02,1.5824e-03
+19,1.0100e+01,DOWN_FORCE_DETACH,2.5377e-03,1.9264e-02,4.6444e-02,2.4933e+00,-3.9913e-02,3.8102e-02,-4.6277e-06,9.1175e-03,2.4258e-02,3.9979e-02,-1.6127e-03,6.0357e-04,-2.2232e-05,4.7644e-02,1.7221e-03
+20,1.0550e+01,DOWN_FORCE_DETACH,2.6689e-03,1.9376e-02,4.5357e-02,2.4957e+00,-3.9829e-02,3.8106e-02,-2.1809e-05,9.2297e-03,2.3171e-02,4.2366e-02,-1.5283e-03,6.0735e-04,-3.9414e-05,4.9163e-02,1.6450e-03
+21,1.1050e+01,DOWN_FORCE_DETACH,2.8041e-03,1.9947e-02,4.9248e-02,2.5004e+00,-4.0098e-02,3.8141e-02,-3.3848e-05,9.8009e-03,2.7062e-02,4.7064e-02,-1.7977e-03,6.4240e-04,-5.1452e-05,5.5167e-02,1.9097e-03
+22,1.1617e+01,DOWN_FORCE_DETACH,2.9364e-03,2.0378e-02,4.8574e-02,2.4896e+00,-4.0070e-02,3.8184e-02,-4.1228e-05,1.0231e-02,2.6388e-02,3.6313e-02,-1.7697e-03,6.8534e-04,-5.8833e-05,4.6039e-02,1.8987e-03
+23,1.2050e+01,DOWN_FORCE_DETACH,3.0708e-03,2.0344e-02,4.7286e-02,2.4916e+00,-4.0001e-02,3.8183e-02,-3.8934e-05,1.0197e-02,2.5100e-02,3.8285e-02,-1.7010e-03,6.8501e-04,-5.6539e-05,4.6901e-02,1.8346e-03
+24,1.2550e+01,DOWN_FORCE_DETACH,3.2053e-03,2.0422e-02,4.6951e-02,2.4932e+00,-4.0000e-02,3.8190e-02,-2.9930e-05,1.0275e-02,2.4765e-02,3.9901e-02,-1.6998e-03,6.9202e-04,-4.7534e-05,4.8073e-02,1.8359e-03
+25,1.3133e+01,DOWN_FORCE_DETACH,3.3365e-03,2.0997e-02,4.8254e-02,2.4930e+00,-4.0103e-02,3.8230e-02,-1.6313e-05,1.0851e-02,2.6068e-02,3.9679e-02,-1.8031e-03,7.3170e-04,-3.3918e-05,4.8700e-02,1.9462e-03
+26,1.3700e+01,DOWN_FORCE_DETACH,3.4723e-03,2.1196e-02,4.8410e-02,2.4935e+00,-4.0101e-02,3.8242e-02,-8.3502e-06,1.1049e-02,2.6224e-02,4.0233e-02,-1.8003e-03,7.4351e-04,-2.5955e-05,4.9280e-02,1.9480e-03
+27,1.4167e+01,DOWN_FORCE_DETACH,3.6040e-03,2.1782e-02,5.3314e-02,2.4958e+00,-4.0419e-02,3.8280e-02,-2.1888e-06,1.1635e-02,3.1128e-02,4.2470e-02,-2.1191e-03,7.8165e-04,-1.9794e-05,5.3926e-02,2.2587e-03
+28,1.4650e+01,DOWN_FORCE_DETACH,3.7387e-03,2.2526e-02,5.4695e-02,2.4957e+00,-4.0485e-02,3.8332e-02,-1.8846e-06,1.2380e-02,3.2509e-02,4.2416e-02,-2.1851e-03,8.3340e-04,-1.9489e-05,5.4857e-02,2.3388e-03
+29,1.5183e+01,DOWN_FORCE_DETACH,3.8712e-03,2.0076e-02,5.8962e-02,2.5011e+00,-4.0770e-02,3.8153e-02,4.1904e-07,9.9293e-03,3.6776e-02,4.7822e-02,-2.4699e-03,6.5439e-04,-1.7186e-05,6.1140e-02,2.5552e-03
+30,1.5650e+01,DOWN_FORCE_DETACH,4.0093e-03,1.4906e-02,5.6582e-02,2.5004e+00,-4.0597e-02,3.7789e-02,1.7280e-06,4.7597e-03,3.4395e-02,4.7092e-02,-2.2968e-03,2.9029e-04,-1.5877e-05,5.8510e-02,2.3151e-03
+31,1.6017e+01,DOWN_FORCE_DETACH,4.1383e-03,1.1440e-02,5.4328e-02,2.4958e+00,-4.0438e-02,3.7547e-02,3.6752e-06,1.2932e-03,3.2141e-02,4.2491e-02,-2.1382e-03,4.8630e-05,-1.3930e-05,5.3294e-02,2.1388e-03
+32,1.6467e+01,DOWN_FORCE_DETACH,4.2730e-03,1.2901e-02,6.0979e-02,2.4980e+00,-4.0891e-02,3.7649e-02,4.6622e-06,2.7543e-03,3.8792e-02,4.4752e-02,-2.5912e-03,1.5013e-04,-1.2943e-05,5.9289e-02,2.5955e-03
+33,1.6917e+01,DOWN_FORCE_DETACH,4.4029e-03,1.3105e-02,6.3166e-02,2.4979e+00,-4.1042e-02,3.7664e-02,1.9319e-06,2.9583e-03,4.0980e-02,4.4639e-02,-2.7421e-03,1.6591e-04,-1.5673e-05,6.0669e-02,2.7472e-03
+34,1.7350e+01,DOWN_FORCE_DETACH,4.5391e-03,1.5035e-02,6.3062e-02,2.4992e+00,-4.1045e-02,3.7802e-02,-4.8953e-07,4.8885e-03,4.0876e-02,4.5874e-02,-2.7445e-03,3.0323e-04,-1.8094e-05,6.1637e-02,2.7612e-03
+35,1.7733e+01,DOWN_FORCE_DETACH,4.6738e-03,1.6988e-02,6.1845e-02,2.5025e+00,-4.0970e-02,3.7937e-02,-5.2969e-08,6.8417e-03,3.9659e-02,4.9239e-02,-2.6701e-03,4.3876e-04,-1.7658e-05,6.3594e-02,2.7060e-03
+36,1.8200e+01,DOWN_FORCE_DETACH,4.8102e-03,1.8718e-02,6.6891e-02,2.5088e+00,-4.1325e-02,3.8054e-02,3.2808e-06,8.5711e-03,4.4705e-02,5.5460e-02,-3.0245e-03,5.5531e-04,-1.4324e-05,7.1748e-02,3.0751e-03
+37,1.8567e+01,DOWN_FORCE_DETACH,4.9402e-03,2.1512e-02,6.6762e-02,2.5115e+00,-4.1302e-02,3.8248e-02,5.8417e-07,1.1366e-02,4.4576e-02,5.8165e-02,-3.0015e-03,7.4958e-04,-1.7021e-05,7.4157e-02,3.0937e-03
+38,1.8917e+01,DOWN_FORCE_DETACH,5.0712e-03,2.0738e-02,6.4470e-02,2.5116e+00,-4.1114e-02,3.8194e-02,-2.4515e-06,1.0592e-02,4.2284e-02,5.8336e-02,-2.8142e-03,6.9538e-04,-2.0056e-05,7.2823e-02,2.8989e-03
+39,1.9333e+01,DOWN_FORCE_DETACH,5.2104e-03,2.0527e-02,6.9578e-02,2.5073e+00,-4.1448e-02,3.8180e-02,-6.6278e-06,1.0380e-02,4.7392e-02,5.3975e-02,-3.1480e-03,6.8134e-04,-2.4233e-05,7.2574e-02,3.2210e-03
+40,1.9767e+01,DOWN_FORCE_DETACH,5.3441e-03,1.8529e-02,7.3127e-02,2.5102e+00,-4.1675e-02,3.8031e-02,-1.3492e-05,8.3826e-03,5.0941e-02,5.6870e-02,-3.3750e-03,5.3300e-04,-3.1097e-05,7.6808e-02,3.4169e-03
+41,2.0133e+01,DOWN_FORCE_DETACH,5.4711e-03,1.7612e-02,7.7443e-02,2.5173e+00,-4.1955e-02,3.7957e-02,-1.3122e-05,7.4657e-03,5.5257e-02,6.3998e-02,-3.6546e-03,4.5871e-04,-3.0726e-05,8.4881e-02,3.6834e-03
+42,2.0500e+01,DOWN_FORCE_DETACH,5.6052e-03,1.7100e-02,7.8145e-02,2.5221e+00,-4.1992e-02,3.7916e-02,-8.0647e-06,6.9536e-03,5.5959e-02,6.8814e-02,-3.6912e-03,4.1793e-04,-2.5669e-05,8.8967e-02,3.7149e-03
+43,2.0850e+01,DOWN_FORCE_DETACH,5.7399e-03,1.6931e-02,8.0497e-02,2.5187e+00,-4.2166e-02,3.7910e-02,-5.7195e-07,6.7841e-03,5.8311e-02,6.5431e-02,-3.8656e-03,4.1133e-04,-1.8177e-05,8.7906e-02,3.8875e-03
+44,2.1200e+01,DOWN_FORCE_DETACH,5.8762e-03,1.7423e-02,7.8611e-02,2.5223e+00,-4.2042e-02,3.7944e-02,1.8781e-06,7.2763e-03,5.6424e-02,6.9032e-02,-3.7417e-03,4.4566e-04,-1.5727e-05,8.9454e-02,3.7682e-03
+45,2.1550e+01,DOWN_FORCE_DETACH,6.0057e-03,2.0031e-02,8.1959e-02,2.5245e+00,-4.2261e-02,3.8125e-02,-4.5868e-08,9.8847e-03,5.9773e-02,7.1213e-02,-3.9611e-03,6.2615e-04,-1.7651e-05,9.3498e-02,4.0103e-03
+46,2.1800e+01,DOWN_FORCE_DETACH,6.1447e-03,2.3268e-02,8.4821e-02,2.5365e+00,-4.2422e-02,3.8340e-02,-5.0333e-06,1.3122e-02,6.2635e-02,8.3199e-02,-4.1222e-03,8.4139e-04,-2.2638e-05,1.0496e-01,4.2072e-03
+47,2.2100e+01,DOWN_FORCE_DETACH,6.2772e-03,2.4830e-02,8.4094e-02,2.5369e+00,-4.2333e-02,3.8448e-02,-1.6319e-05,1.4683e-02,6.1908e-02,8.3653e-02,-4.0329e-03,9.4951e-04,-3.3924e-05,1.0510e-01,4.1433e-03
+48,2.2367e+01,DOWN_FORCE_DETACH,6.4145e-03,2.5207e-02,8.4622e-02,2.5386e+00,-4.2359e-02,3.8473e-02,-2.6308e-05,1.5060e-02,6.2436e-02,8.5335e-02,-4.0587e-03,9.7437e-04,-4.3913e-05,1.0680e-01,4.1742e-03
+49,2.2667e+01,DOWN_FORCE_DETACH,6.5437e-03,2.2164e-02,8.6270e-02,2.5406e+00,-4.2446e-02,3.8257e-02,-2.9542e-05,1.2018e-02,6.4084e-02,8.7286e-02,-4.1459e-03,7.5888e-04,-4.7147e-05,1.0895e-01,4.2150e-03
+50,2.2800e+01,DOWN_FORCE_DETACH,6.6792e-03,2.3354e-02,8.6063e-02,2.5568e+00,-4.2391e-02,3.8326e-02,-3.0213e-05,1.3208e-02,6.3877e-02,1.0352e-01,-4.0910e-03,8.2776e-04,-4.7818e-05,1.2236e-01,4.1742e-03
+51,2.3050e+01,DOWN_FORCE_DETACH,6.8023e-03,2.2026e-02,8.9295e-02,2.5546e+00,-4.2591e-02,3.8233e-02,-2.2462e-05,1.1880e-02,6.7109e-02,1.0131e-01,-4.2910e-03,7.3486e-04,-4.0067e-05,1.2210e-01,4.3536e-03
+52,2.3317e+01,DOWN_FORCE_DETACH,6.9436e-03,1.6745e-02,8.7644e-02,2.5542e+00,-4.2469e-02,3.7865e-02,-1.5250e-05,6.5984e-03,6.5458e-02,1.0092e-01,-4.1688e-03,3.6638e-04,-3.2855e-05,1.2047e-01,4.1850e-03
+53,2.3550e+01,DOWN_FORCE_DETACH,7.0760e-03,1.4525e-02,8.4646e-02,2.5496e+00,-4.2253e-02,3.7716e-02,-8.6110e-06,4.3783e-03,6.2460e-02,9.6305e-02,-3.9529e-03,2.1786e-04,-2.6216e-05,1.1487e-01,3.9590e-03
+54,2.3783e+01,DOWN_FORCE_DETACH,7.2082e-03,1.6829e-02,8.3825e-02,2.5559e+00,-4.2158e-02,3.7872e-02,-6.2401e-06,6.6822e-03,6.1639e-02,1.0260e-01,-3.8580e-03,3.7408e-04,-2.3845e-05,1.1988e-01,3.8762e-03
+55,2.4033e+01,DOWN_FORCE_DETACH,7.3433e-03,1.8768e-02,8.2445e-02,2.5555e+00,-4.2058e-02,3.8005e-02,-1.0631e-05,8.6219e-03,6.0259e-02,1.0221e-01,-3.7580e-03,5.0650e-04,-2.8236e-05,1.1897e-01,3.7921e-03
+56,2.4283e+01,DOWN_FORCE_DETACH,7.4833e-03,1.9864e-02,8.0001e-02,2.5571e+00,-4.1899e-02,3.8080e-02,-2.3938e-05,9.7175e-03,5.7814e-02,1.0386e-01,-3.5984e-03,5.8164e-04,-4.1543e-05,1.1926e-01,3.6454e-03
+57,2.4517e+01,DOWN_FORCE_DETACH,7.6121e-03,2.1974e-02,8.3088e-02,2.5583e+00,-4.2112e-02,3.8227e-02,-3.1786e-05,1.1828e-02,6.0902e-02,1.0497e-01,-3.8115e-03,7.2816e-04,-4.9391e-05,1.2194e-01,3.8807e-03
+58,2.4750e+01,DOWN_SETTLE,7.7391e-03,2.1252e-02,8.1903e-02,2.5575e+00,-4.2034e-02,3.8174e-02,-2.9480e-05,1.1106e-02,5.9717e-02,1.0423e-01,-3.7342e-03,6.7610e-04,-4.7084e-05,1.2063e-01,3.7952e-03
+59,2.5183e+01,DOWN_SETTLE,7.8774e-03,2.0950e-02,8.0316e-02,2.5309e+00,-4.1970e-02,3.8177e-02,-2.3370e-05,1.0803e-02,5.8130e-02,7.7606e-02,-3.6701e-03,6.7814e-04,-4.0974e-05,9.7563e-02,3.7324e-03

Fixed/digit/ball_0010_10/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
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Fixed/digit/ball_0010_10/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_0010_10/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/ball_0010_10/press_depth_03/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a834abe30bb155e630ad50787b7239280d7564a611c90fd29c4b119212475482
+size 624640

Fixed/digit/ball_0010_10/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
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+16731,1792459703825193252,883930000000,1792459703824055715,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6759999757283428,-0.003964600845666459,0.106129214186486,0.9999999817998436,6.588821989935893e-05,-0.00014766200379080416,4.120499961716763e-05,0.6761,-0.004,0.10618025617112505,1.0,0.0,0.0,0.0,0.17495624444381008,0.17116700413016897,0.313769632834532,0.012526017749351531,-0.012469104038265982,-3.641168888524624e-05,0.14381098203020026,0.15184874898618347,0.29414139748856066,0.0115114862310843,-0.01244287786565542,-0.0002818639772229971,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.3547289666875204,-0.2569935897223256,0.15812382563718225,0.3395150456066797,0.19343308124162326,-0.1877546545297924,0.5460898450768567,0.313769632834532,0.3879660194396744,0.3879660194396744,0.5707200000000403,0,0,-0.00013891340721747104,-6.106710556530998e-05
+16808,1792459704466197771,884571000000,1792459704464056370,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760034420686905,-0.003969305200939704,0.10604870324320242,0.999999982669772,6.040261986691239e-05,-0.00014378328525999122,4.2204391914628176e-05,0.6761,-0.004,0.10609205817806741,1.0,0.0,0.0,0.0,0.17093279086528929,0.17175699134259614,0.3419734792078692,0.012520653270252672,-0.012475981029114997,-6.11876559580672e-05,0.13978752845167947,0.15243873619861065,0.32234524386189783,0.011506121751985442,-0.012449754856504435,-0.00030663994429581807,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.3612132689362175,-0.3083556256891192,0.1207128256488167,0.3537458388869161,0.21713894387347535,-0.22423998726536268,0.5460898450768567,0.3419734792078692,0.42537701942803996,0.42537701942803996,0.6220000000000204,0,0,-0.00013669013691350174,-9.999997638144293e-05
+16866,1792459704950256736,885055000000,1792459704944064954,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760081235000436,-0.0039678318868109665,0.10599239690317863,0.9999999844638993,5.115326172484519e-05,-0.0001350505891598526,4.074000391335858e-05,0.6761,-0.004,0.10602564468703213,1.0,0.0,0.0,0.0,0.16630274260859582,0.17253507953100017,0.36407259361392597,0.012516611464417807,-0.01248002189683331,-7.812932936311255e-05,0.135157480194986,0.15321682438701467,0.3444443582679546,0.011502079946150576,-0.012453795724222748,-0.0003235816177008634,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.3723091664035107,-0.3315653271855137,0.089021949033608,0.36218604521303804,0.23923659372701597,-0.23969396750455485,0.5460898450768567,0.36407259361392597,0.45706789604324866,0.45706789604324866,0.6607200000000054,0,0,-0.00013758471916899685,-8.288072591978163e-05
+16943,1792459705591208478,885696000000,1792459705588055800,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760057598290716,-0.003969462528095646,0.10590226920217503,0.9999999848619252,4.020353324487506e-05,-0.00013633357832856915,3.8933857177406476e-05,0.6761,-0.004,0.10593649129791101,1.0,0.0,0.0,0.0,0.16600309420120643,0.1725714246873784,0.38636012614997034,0.012512741137532762,-0.01248471393231397,-9.617204240926057e-05,0.1348578317875966,0.1532531695433929,0.366731890803999,0.011498209619265532,-0.012458487759703409,-0.00034162433074701144,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4194261434163356,-0.33997206982524725,0.038467606276071424,0.3731689215442629,0.2810940928279063,-0.2411604622728875,0.5460898450768567,0.38636012614997034,0.5076222388007853,0.5076222388007853,0.7119999999999855,0,0,-0.00014146744113238541,-9.999481384437842e-05
+17002,1792459706083256062,886188000000,1792459706076056299,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760104997927497,-0.003969970740219005,0.10584352420168339,0.999999986371112,3.520934773867756e-05,-0.00012657631725597593,3.7939133889663744e-05,0.6761,-0.004,0.10586632023494974,1.0,0.0,0.0,0.0,0.16525272019860052,0.17441275927073618,0.4159722821583553,0.012507294849659652,-0.012491192415248981,-0.00012011281390179738,0.1341074577849907,0.1550945041267507,0.39634404681238394,0.011492763331392422,-0.012464966242638419,-0.00036556510223954825,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4012083956506804,-0.2868891314617279,0.06342004001398684,0.36110339779629463,0.25568604357147734,-0.21055256586263918,0.5460898450768567,0.4159722821583553,0.48266980506286983,0.48266980506286983,0.7513599999999703,0,0,-0.00014409842259285733,-9.99111307838973e-05
+17055,1792459706525216592,886630000000,1792459706524056342,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760106861057427,-0.00396869555944977,0.10577799891292293,0.9999999860411428,3.572429763827582e-05,-0.0001279081289155756,4.151943750632605e-05,0.6761,-0.004,0.10580233074010065,1.0,0.0,0.0,0.0,0.16694534361653393,0.1656250621101662,0.436470631818247,0.012502230210434234,-0.012494955523928762,-0.00013655422072497085,0.1358000812029241,0.1463068069661807,0.41684239647227567,0.011487698692167004,-0.0124687293513182,-0.0003820065090627217,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.466301339856367,-0.26463541027069126,-0.06484795719728748,0.3549162584174878,0.35445465607026627,-0.19237743581281397,0.5460898450768567,0.436470631818247,0.6109378022741441,0.6109378022741441,0.7867199999999566,0,0,-0.00014335403936558647,2.7558395807439134e-05
+17114,1792459707016247208,887121000000,1792459707016056587,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760088438349917,-0.00397330940366697,0.10570691819694626,0.9999999854100305,2.9022191387181247e-05,-0.00013271414866579184,4.655609965330004e-05,0.6761,-0.004,0.1057314310189352,1.0,0.0,0.0,0.0,0.1591934533272638,0.16190577738670853,0.4561805206218037,0.01147869719712997,-0.012480096814868067,-0.0001649237341852017,0.128048190913654,0.14258752224272303,0.43655228527583234,0.01046416567886274,-0.012453870642257505,-0.0004103760225229526,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4038211678541468,-0.27014283761937863,0.023171533074956976,0.3644679096656661,0.2773775915917965,-0.19543279838089753,0.5460898450768567,0.4561805206218037,0.5229183120018996,0.5229183120018996,0.8259999999999413,0,0,-0.00014556250508698654,-9.99992131031135e-05
+17181,1792459707575268422,887680000000,1792459707568056476,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760086372777532,-0.003974876947792453,0.10563369567783598,0.9999999859730577,2.449612585953558e-05,-0.00012948373979985872,4.615896077630951e-05,0.6761,-0.004,0.10565015539790537,1.0,0.0,0.0,0.0,0.1663181284420983,0.15840206472300225,0.48619747834583893,0.011472131224029168,-0.012486433308848893,-0.00018830171564085152,0.1351728660284885,0.13908380957901675,0.4665692429998676,0.010457599705761938,-0.01246020713623833,-0.0004337540039786024,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.464959380332923,-0.263758310321374,-0.15207069340134735,0.3623055490732108,0.4039374181898187,-0.19034429035410635,0.5460898450768567,0.48619747834583893,0.698160538478204,0.698160538478204,0.870719999999924,0,0,-0.0001471607867689365,3.4286860876814276e-05
+17236,1792459708033267037,888138000000,1792459708028056286,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760056628897219,-0.003972418617150599,0.10555879606760483,0.9999999855190794,1.6723353963079498e-05,-0.00013672163988234868,3.784478885595156e-05,0.6761,-0.004,0.10558365110834576,1.0,0.0,0.0,0.0,0.17549333484941637,0.16453511098226134,0.5155968362049332,0.01146736972079317,-0.012493391565727145,-0.00021138534540177556,0.14434807243580655,0.14521685583827584,0.49596860085896183,0.01045283820252594,-0.012467165393116583,-0.00045683763373952644,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.541448978936695,-0.2769911159887632,-0.16573771779496646,0.3777449008282357,0.4346479188195956,-0.19713967935978807,0.5460898450768567,0.5155968362049332,0.7118275628718231,0.7118275628718231,0.9073599999999098,0,0,-0.00014356680793778243,-5.178604353529011e-05
+17305,1792459708608301236,888713000000,1792459708604055566,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760061501752751,-0.003973552411629744,0.10548221701429164,0.9999999853005557,4.196913009218955e-05,-0.00013237205044711606,3.9471325006954674e-05,0.6761,-0.004,0.10549986659604965,1.0,0.0,0.0,0.0,0.1661927717977781,0.15602976702319413,0.5363333990904392,0.011462296486221062,-0.012497056011349214,-0.00022886999220750055,0.1350475093841683,0.13671151187920863,0.5167051637444678,0.010447764967953832,-0.012470829838738652,-0.0004743222805452514,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4857939683201504,-0.4038234959405583,-0.1817522119966549,0.42096814047137215,0.4269775307389687,-0.27413383356444043,0.5460898450768567,0.5363333990904392,0.7278420570735116,0.7278420570735116,0.953359999999892,0,0,-0.00014715311556365152,-9.919008256276669e-05
+17373,1792459709175291949,889280000000,1792459709168056308,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676006035763878,-0.003976178066856111,0.10539341831243014,0.9999999844024199,5.495509169304235e-05,-0.00013224538035704452,4.614240619939724e-05,0.6761,-0.004,0.10541525170800983,1.0,0.0,0.0,0.0,0.15739107566766405,0.15701168618713773,0.5651654936957533,0.011435473561765587,-0.011859528690568418,-0.00023916229988273942,0.12624581325405423,0.13769343104315224,0.545537258349782,0.010420942043498357,-0.011833302517957856,-0.0004846145882204903,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.553046897236903,-0.2815932867675074,-0.2605489040339708,0.3809349401176254,0.4915702936116626,-0.19677172551696742,0.5460898450768567,0.5651654936957533,0.8066387491108274,0.8066387491108274,0.9987199999998744,0,0,-0.0001486433946582252,-9.740769260256025e-12
+17442,1792459709750314014,889855000000,1792459709744056017,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760075997340533,-0.003980574297271317,0.1053145009945634,0.9999999843968879,5.6405483482415785e-05,-0.00013010198279898695,5.04081731977613e-05,0.6761,-0.004,0.10532931660097554,1.0,0.0,0.0,0.0,0.16601699487261723,0.15192664672498957,0.5865444790507195,0.011449107093541811,-0.01228399858645435,0.00026987413139743674,0.1348717324590074,0.13260839158100407,0.5669162437047481,0.010434575575274581,-0.012257772413843787,2.4421843059685866e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5177914820524643,-0.3923202777092661,-0.3017217765518512,0.4171018921789098,0.5052789062541256,-0.2664495020820926,0.5460898450768567,0.5865444790507195,0.8478116216287078,0.8478116216287078,1.0447199999999186,0,0,-0.00015203516321783288,-5.547009574884593e-05
+17505,1792459710275294547,890380000000,1792459710272055716,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760045989530922,-0.00398099494105703,0.10523215697762488,0.9999999843314069,4.940484195184583e-05,-0.0001335655318617405,4.999460481499078e-05,0.6761,-0.004,0.10524841339214623,1.0,0.0,0.0,0.0,0.16022707374944295,0.1586418643797196,0.6110314289183245,0.01142047125041569,-0.011518030051848982,-0.000277640389596587,0.12908181133583313,0.1393236092357341,0.5914031935723532,0.01040593973214846,-0.01149180387923842,-0.0005230926779343379,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5733301137313602,-0.25593631141351925,-0.3749603171298916,0.3860826208704166,0.5653943216109439,-0.1763708472266308,0.5460898450768567,0.6110314289183245,0.9210501622067482,0.9210501622067482,1.0867199999999606,0,0,-0.00015494696193188583,9.999999025923074e-05
+17576,1792459710866297065,890971000000,1792459710860056090,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760091330781912,-0.003981679855959546,0.10515142787304332,0.999999986202777,3.983027748059934e-05,-0.00012336717789903043,4.723768454738843e-05,0.6761,-0.004,0.10515420839173713,1.0,0.0,0.0,0.0,0.16571852142552693,0.16066396596345953,0.6367207898198693,0.011416365494822528,-0.011511537306797872,-0.0002943655746212808,0.1345732590119171,0.14134571081947403,0.617092554473898,0.010401833976555298,-0.01148531113418731,-0.0005398178629590317,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5539016068588325,-0.3742975201254991,-0.38307461712046886,0.4267345809047836,0.5610710308991227,-0.25596107174205834,0.5460898450768567,0.6367207898198693,0.9291644621973255,0.9291644621973255,1.134000000000008,0,0,-0.00016428707658580765,9.740769260256025e-12
+17635,1792459711359336264,891463000000,1792459711356056145,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760113169263132,-0.003983933509809485,0.10507178372894574,0.999999986448965,3.724268127799637e-05,-0.00012008095991815447,5.233048890308854e-05,0.6761,-0.004,0.10507247461158102,1.0,0.0,0.0,0.0,0.16563477138500912,0.15044085010206815,0.6601131744334304,0.011409360576847754,-0.01150944003203561,-0.0003132066004964423,0.1344895089713993,0.13112259495808265,0.6404849390874591,0.010394829058580524,-0.011483213859425048,-0.0005586588888341932,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.572605701509651,-0.29760379551589683,-0.4182946269861454,0.41256989732428023,0.5858893355412613,-0.204864526437459,0.5460898450768567,0.6601131744334304,0.964384472063002,0.964384472063002,1.1733600000000473,0,0,-0.00016790799987117513,7.349267894332938e-06
+17694,1792459711850313942,891955000000,1792459711848056552,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760139404002737,-0.003983765909272704,0.10499576329354154,0.9999999873112313,2.6941773632097882e-05,-0.00011700878834757171,4.902536177882401e-05,0.6761,-0.004,0.10498900472688687,1.0,0.0,0.0,0.0,0.15642440283411216,0.16067067070879112,0.6868619673147645,0.011406303409610926,-0.011516075394265584,-0.00033591683552611446,0.12527914042050234,0.14135241556480563,0.6672337319687931,0.010391771891343696,-0.011489849221655022,-0.0005813691238638653,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5785951282208852,-0.3437518171835786,-0.4626208579751902,0.4289354173062403,0.611119131860892,-0.2367451073740586,0.5460898450768567,0.6868619673147645,1.0087107030520468,1.0087107030520468,1.2127200000000866,0,0,-0.0001695587737914833,6.415491144496423e-05
+17767,1792459712458282291,892563000000,1792459712456055730,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760296846275541,-0.00398635176043389,0.10491116861198774,0.9999999895788356,1.964916586751118e-05,-9.709235082810222e-05,4.9721010642006286e-05,0.6761,-0.004,0.10488577400428889,1.0,0.0,0.0,0.0,0.15647454678103478,0.1594783581477908,0.7068913843375255,0.011401833988421305,-0.011520014454668359,-0.00034687035454655454,0.12532928436742496,0.1401601030038053,0.6872631489915542,0.010387302470154075,-0.011493788282057797,-0.0005923226428843054,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.623417067952843,-0.31813443633546074,-0.4807869484319124,0.4257865439842247,0.6322568481001904,-0.2192064188395081,0.5460898450768567,0.7068913843375255,1.026876793508769,1.026876793508769,1.2613600000001353,0,0,-0.00017053723656432063,-5.000111022302463e-05
+17823,1792459712925286358,893030000000,1792459712924055816,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760314250400188,-0.003989262550462871,0.10483518220977724,0.999999989902868,1.8297976894304112e-05,-9.187210667183446e-05,5.349606245803259e-05,0.6761,-0.004,0.10480427098915543,1.0,0.0,0.0,0.0,0.15626562150810566,0.1528766599663847,0.7269959146165399,0.011397869371355309,-0.01152455739987055,-0.0003393849974279718,0.12512035909449584,0.1335584048223992,0.7073676792705685,0.010383337853088079,-0.011498331227259987,-0.0005848372857657227,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5961358776775332,-0.3174111678519098,-0.47812899717383794,0.4345329563691983,0.6151489632813697,-0.2181440561524446,0.5460898450768567,0.7269959146165399,1.0242188422506946,1.0242188422506946,1.2987200000001726,0,0,-0.00017726036092710474,-9.999510527792239e-05
+17884,1792459713433287710,893538000000,1792459713428065969,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760299481183725,-0.003985294484923764,0.10474485128506726,0.9999999896012286,2.0915145613044875e-05,-9.541727274521447e-05,5.194716524650464e-05,0.6761,-0.004,0.10471281277466671,1.0,0.0,0.0,0.0,0.15623876614578455,0.1527695829702762,0.7413730906692292,0.011386708920213874,-0.011532710087925575,0.000509721217634333,0.12509350373217473,0.1334513278262907,0.7217448553232578,0.010372177401946644,-0.011506483915315013,0.00026426892929658213,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6675456364574268,-0.36040658337085746,-0.5715098993084615,0.45406427872040683,0.6936968704296392,-0.24366252084488502,0.5460898450768567,0.7413730906692292,1.117599744385318,1.117599744385318,1.3393600000002133,0,0,-0.00018226090073705935,3.343221119245783e-05
+17951,1792459713991295325,894096000000,1792459713984056259,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760297519690064,-0.003990921866479034,0.10464354580260952,0.9999999895622846,2.3914831601256388e-05,-9.423545909144185e-05,5.353554281624225e-05,0.6761,-0.004,0.10460964487654156,1.0,0.0,0.0,0.0,0.15602881838078653,0.14988276486884697,0.7674218645099794,0.011376287588848264,-0.01092423288661539,0.00040598102858350137,0.12488355596717671,0.13056450972486147,0.747793629164008,0.010361756070581034,-0.010898006714004827,0.00016052874024575047,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5865666143710593,-0.3258899899102121,-0.518551765530318,0.44612698094502795,0.6325201689377201,-0.22409581977083357,0.5460898450768567,0.7674218645099794,1.0646416106071745,1.0646416106071745,1.384000000000258,0,0,-0.0001860480123114502,-9.998859659544052e-05
+18006,1792459714450302660,894555000000,1792459714448056682,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760321565765447,-0.0039949789204636295,0.10455917436048019,0.9999999893463071,3.0533333611052114e-05,-9.112001441759213e-05,5.928835231756389e-05,0.6761,-0.004,0.10452307387358231,1.0,0.0,0.0,0.0,0.15625332723064275,0.15201791354419922,0.7972028174129262,0.010328480012640848,-0.010510413105864674,0.0006058181146225467,0.12510806481703293,0.13269965840021372,0.7775745820669548,0.009313948494373617,-0.010484186933254112,0.00036036582628479587,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6475494794889929,-0.4038961292756791,-0.5567363906910462,0.4898257647568209,0.6724058200927467,-0.2684278884085863,0.5460898450768567,0.7972028174129262,1.1028262357679028,1.1028262357679028,1.4207200000002946,0,0,-0.00018988195063104752,-9.991511370899814e-05
+18061,1792459714908350565,895013000000,1792459714908056338,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760282904726205,-0.003998141255387477,0.1044661738130622,0.9999999890381139,2.765356420292568e-05,-9.70592469887151e-05,5.6404073080062425e-05,0.6761,-0.004,0.10443404714265717,1.0,0.0,0.0,0.0,0.1504916457574467,0.14454941692796183,0.8170653072674381,0.010331752607767078,-0.010511549774367182,0.00015341362110377044,0.11934638334383689,0.12523116178397634,0.7974370719214667,0.009317221089499847,-0.01048532360175662,-9.203866723398043e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.677516622643431,-0.3981546740765363,-0.6829913881917739,0.488157271290611,0.7574348037642713,-0.2674129186365245,0.5460898450768567,0.8170653072674381,1.2290812332686305,1.2290812332686305,1.4573600000003313,0,0,-0.00019461982735527605,8.344605148392076e-05
+18114,1792459715350330826,895455000000,1792459715348057035,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760331195536495,-0.0039989039822495446,0.10438573029983607,0.9999999895236962,3.221868630176313e-05,-8.962276793946364e-05,5.766444110387949e-05,0.6761,-0.004,0.10434754277794335,1.0,0.0,0.0,0.0,0.1523927192339194,0.14391311499170653,0.8370070225698631,0.010326186144160173,-0.010516984831551196,-0.0001507194083358712,0.12124745682030959,0.12459485984772105,0.8173787872238918,0.009311654625892942,-0.010490758658940634,-0.00039617169667362207,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5790264269134888,-0.3717495688917861,-0.6888114238443366,0.4831363501646597,0.7315998193024441,-0.2475510159552625,0.5460898450768567,0.8370070225698631,1.2349012689211931,1.2349012689211931,1.4927200000003666,0,0,-0.00019798942010021157,-8.349055316290174e-05
+18175,1792459715858383703,895963000000,1792459715852055995,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760356526541036,-0.004004889529007507,0.10429563639184634,0.9999999896122876,3.739992136899334e-05,-8.349321284335845e-05,6.203562256109337e-05,0.6761,-0.004,0.10424492091929616,1.0,0.0,0.0,0.0,0.15068414646424774,0.13447967542821662,0.8673661147418651,0.010313849611244446,-0.010526609223146946,0.000552183585661633,0.11953888405063794,0.11516142028423114,0.8477378793958937,0.009299318092977215,-0.010500383050536384,0.0003067312973238821,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6061633113410576,-0.3479996126376157,-0.7284221919358675,0.4815579798978548,0.7569892962122652,-0.23155213793552884,0.5460898450768567,0.8673661147418651,1.274512037012724,1.274512037012724,1.5333600000004073,0,0,-0.00020398630691900854,-3.123296435492937e-05
+18230,1792459716316394824,896421000000,1792459716316055491,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676032794842707,-0.004001831264286423,0.10418957049716263,0.9999999890932544,3.538104456062636e-05,-9.049020514268293e-05,6.177426552953714e-05,0.6761,-0.004,0.10415032160020095,1.0,0.0,0.0,0.0,0.14697252990235996,0.1313105288806888,0.8872865184801791,0.010246397226342126,-0.010527627616817026,0.0002393309294993961,0.11582726748875014,0.11199227373670331,0.8676582831342078,0.009231865708074896,-0.010501401444206464,-6.121358838354773e-06,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.672544365971771,-0.35547367217550896,-0.7299538027329047,0.48962765134648645,0.7749173014316009,-0.23810794938596552,0.5460898450768567,0.8872865184801791,1.2760436478097614,1.2760436478097614,1.570000000000444,0,0,-0.00021140758736245958,-9.919989415874681e-05
+18282,1792459716750394761,896855000000,1792459716748067098,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.67603429392863,-0.004008376670646701,0.1041001313258479,0.9999999896451711,2.7139630720680516e-05,-8.678220038971622e-05,6.232826350780675e-05,0.6761,-0.004,0.10405704099504505,1.0,0.0,0.0,0.0,0.146908386043688,0.13599940171990127,0.9075044750041806,0.01030607381852083,-0.010534868731466194,0.00047738801339316085,0.1157631236300782,0.11668114657591579,0.8878762396582093,0.0092915423002536,-0.010508642558855632,0.00023193572505541,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5963096613974954,-0.34611262672283605,-0.734588724443444,0.49818505718710976,0.7554195807789214,-0.23048042610160768,0.5460898450768567,0.9075044750041806,1.2806785695203007,1.2806785695203007,1.6047200000004787,0,0,-0.00022056994806593367,-9.98155822148405e-05
+18335,1792459717191372927,897296000000,1792459717188056159,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760323254369941,-0.00401241103144259,0.10400237090963019,0.9999999890317434,2.672867443928453e-05,-9.104508127558272e-05,6.614944224355212e-05,0.6761,-0.004,0.10395700309264799,1.0,0.0,0.0,0.0,0.14741118480732468,0.12392923740541857,0.9271770231961902,0.009280398735959544,-0.010519919056877824,0.0004887418779112873,0.11626592239371486,0.10461098226143309,0.9075487878502189,0.008265867217692313,-0.010493692884267262,0.0002432895895735364,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.631260038384908,-0.3747033183012638,-0.738365894552228,0.5068561204050456,0.7642743542012383,-0.24731755599667338,0.5460898450768567,0.9271770231961902,1.2844557396290845,1.2844557396290845,1.640000000000514,0,0,-0.00023218962520307607,-9.992466162700992e-05
+18384,1792459717600361129,897705000000,1792459717600056051,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760388959579857,-0.004013073461413561,0.10391235678751617,0.9999999898851442,2.7608465113744398e-05,-7.834172526289495e-05,6.908634331217083e-05,0.6761,-0.004,0.1038596784259114,1.0,0.0,0.0,0.0,0.14735162049183456,0.1246025463970946,0.9471771407145786,0.00927668012530663,-0.010523510079727447,0.00047260429097153674,0.11620635807822476,0.10528429125310912,0.9275489053686072,0.0082621486070394,-0.010497283907116885,0.00022715200263378587,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5927042922453625,-0.3991796877255223,-0.8495561293127665,0.5273634962156304,0.8206822825241878,-0.26224628581271275,0.5460898450768567,0.9471771407145786,1.3956459743896232,1.3956459743896232,1.6727200000005467,0,0,-0.00024209467310434973,9.224169625199891e-05
+18439,1792459718058384981,898163000000,1792459718056066214,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676041760751944,-0.004016279578237258,0.10380202412914384,0.9999999904392981,2.3288254598196774e-05,-7.246506330313042e-05,6.907054344624361e-05,0.6761,-0.004,0.10374550287199918,1.0,0.0,0.0,0.0,0.1386202070596384,0.1345619070849819,0.967009642696096,0.009249078706051463,-0.00959771355341438,0.00047069927482653326,0.10747494464602858,0.1152436519409964,0.9473814073501247,0.008234547187784233,-0.009571487380803817,0.0002252469864887824,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6401091861722985,-0.3721338890453392,-0.7630782258421317,0.5307643630138867,0.7780143150374303,-0.2456416093988158,0.5460898450768567,0.967009642696096,1.3091680709189883,1.3091680709189883,1.7093600000005833,0,0,-0.00025516272626344003,-9.997174896104184e-05
+18488,1792459718466398396,898571000000,1792459718464055654,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760417917177299,-0.004016206496926007,0.1036967520914874,0.9999999904471801,2.1518416403274884e-05,-7.343434678304843e-05,6.850444199112849e-05,0.6761,-0.004,0.10363883081275765,1.0,0.0,0.0,0.0,0.1381084401843933,0.11683410119489102,0.9873393206018807,0.009265886700716933,-0.01045006408866189,0.00044027023021553857,0.10696317777078349,0.09751584605090553,0.9677110852559093,0.008251355182449703,-0.010423837916051329,0.00019481794187778767,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.600245488340963,-0.4440221208026947,-0.8132355678876964,0.5538725632976217,0.7959534087920388,-0.2942171663280589,0.5460898450768567,0.9873393206018807,1.359325412964553,1.359325412964553,1.742000000000616,0,0,-0.00026802874455586343,-9.991915214525022e-05
+18535,1792459718858320730,898963000000,1792459718856055976,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760421090130692,-0.004019391684088862,0.10358625278848518,0.9999999896436139,2.6917344164770718e-05,-7.267104574918128e-05,7.842201420377921e-05,0.6761,-0.004,0.10353164631677696,1.0,0.0,0.0,0.0,0.13774715066174908,0.1267862550647454,1.0072324500981424,0.009238068663734828,-0.009523973212835971,0.0004385226081659486,0.10660188824813926,0.10746799992075991,0.9876042147521711,0.008223537145467598,-0.009497747040225409,0.0001930703198281977,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5700586944587522,-0.42551922651836904,-0.8696641471932863,0.5525871222759962,0.8188638719948946,-0.2792125206048211,0.5460898450768567,1.0072324500981424,1.415753992270143,1.415753992270143,1.7733600000006473,0,0,-0.0002784891948544942,-7.672334676676038e-05
+18584,1792459719266429130,899371000000,1792459719260065164,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760468315929139,-0.0040194533105201964,0.10347628270352956,0.9999999903795338,2.31667209775162e-05,-6.561473450587778e-05,7.643171208967705e-05,0.6761,-0.004,0.10341473827312513,1.0,0.0,0.0,0.0,0.13772849665826106,0.1266954168187413,1.0174173126956032,0.009236717509986654,-0.009526455857115337,0.0004303786201338409,0.10658323424465124,0.1073771616747558,0.9977890773496317,0.008222185991719424,-0.009500229684504775,0.00018492633179609,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.554319108425684,-0.33562500822104874,-0.8781361556243263,0.5356544834240141,0.8200475327952764,-0.2208547462194555,0.5460898450768567,1.0174173126956032,1.424226000701183,1.424226000701183,1.80600000000068,0,0,-0.00029402732982661126,-5.8870917889147736e-05
+18629,1792459719641360889,899746000000,1792459719640056106,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760458615062326,-0.004018222645591692,0.1033605839257449,0.9999999906711109,2.0732744205732976e-05,-6.534118435111758e-05,7.349371116886565e-05,0.6761,-0.004,0.10330148736144835,1.0,0.0,0.0,0.0,0.1469155624499307,0.12782404651104154,1.0361499454513037,0.009232467146587264,-0.009530563204319106,0.00041593430012477645,0.11577030003632088,0.10850579136705604,1.0165217101053323,0.008217935628320034,-0.009504337031708544,0.0001704820117870256,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.576529178226069,-0.4055630842387384,-0.844069662179783,0.5657199892554596,0.8064661398492498,-0.26611456767500447,0.5460898450768567,1.0361499454513037,1.3901595072566395,1.3901595072566395,1.83600000000071,0,0,-0.00030934329394857594,-9.999999025923074e-05
+18671,1792459719991331879,900096000000,1792459719984056415,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760410892415636,-0.004017972809615252,0.10324412110382925,0.9999999902537513,1.6183059230001912e-05,-7.067490689783261e-05,7.535600723460372e-05,0.6761,-0.004,0.10319074751290551,1.0,0.0,0.0,0.0,0.14506491209783307,0.12425171159333735,1.047550688515975,0.009241005250168717,-0.009935314527348072,0.00040025268365341966,0.11391964968422326,0.10493345644935187,1.0279224531700037,0.008226473731901487,-0.00990908835473751,0.00015480039531566879,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6199361825721936,-0.4304717324234994,-0.9891149815192726,0.5690365457255836,0.9141376235122715,-0.28639542327562295,0.5460898450768567,1.047550688515975,1.5352048265961291,1.5352048265961291,1.864000000000738,0,0,-0.0003228082757530685,9.983555235149594e-05
+18704,1792459720266432719,900371000000,1792459720264055642,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676038241092412,-0.004025168216733144,0.10314328712883342,0.9999999890255502,1.2832979073995929e-05,-7.879084678135289e-05,8.377995571538305e-05,0.6761,-0.004,0.10310080832602311,1.0,0.0,0.0,0.0,0.14599235045364634,0.11583477321222986,1.0571999207991762,0.008240292750771549,-0.010322711067286019,0.00037540136487160535,0.11484708804003652,0.09651651806824438,1.0375716854532049,0.0072257612325043186,-0.010296484894675457,0.00012994907653385448,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.610191018464009,-0.3624156336260592,-0.8951669294390048,0.5586437898449786,0.8517406062515553,-0.23993254169367023,0.5460898450768567,1.0571999207991762,1.4412567745158613,1.4412567745158613,1.88600000000076,0,0,-0.00033267439751158277,-9.129577235723047e-05
+18744,1792459720600452987,900705000000,1792459720600055895,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676032966129328,-0.004027848654796925,0.10303074672314863,0.9999999879872394,1.7923216851269506e-05,-8.470646234985416e-05,8.928582712869238e-05,0.6761,-0.004,0.10298722523207351,1.0,0.0,0.0,0.0,0.14765709661567525,0.11358247192425865,1.0572140011454276,0.008234699084467363,-0.010528493045355527,0.0003722002922138261,0.11651183420206544,0.09426421678027316,1.0375857657994563,0.007220167566200134,-0.010502266872744965,0.0001267480038760752,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5020402563355137,-0.36416446781551415,-0.7189068335367294,0.5653568237761756,0.7073807078786578,-0.2394527635128854,0.5460898450768567,1.0572140011454276,1.264996678613586,1.264996678613586,1.9127200000007867,0,0,-0.00034733160196173527,-9.999999025923074e-05
+18779,1792459720891439297,900996000000,1792459720888055451,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760262624648085,-0.004030795399756939,0.10290189596640487,0.9999999873117984,6.955224736635454e-06,-9.445340271857714e-05,8.859710488904308e-05,0.6761,-0.004,0.10288425533038072,1.0,0.0,0.0,0.0,0.14721894169357425,0.12031502944211031,1.0637023450435559,0.00922991199359276,-0.010216016805372255,0.0003761018039351464,0.11607367927996444,0.10099677429812483,1.0440741096975845,0.00821538047532553,-0.010189790632761693,0.00013064951559739552,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.528405742009464,-0.33785667419027565,-0.8582596071367614,0.5718694239885627,0.8021687033979445,-0.21671380649615216,0.5460898450768567,1.0637023450435559,1.404349452213618,1.404349452213618,1.93600000000081,0,0,-0.00036060819657709873,-9.702298272984961e-05
+18818,1792459721216346451,901321000000,1792459721216055791,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760306925044427,-0.004027913519201265,0.10279466249969493,0.9999999885511002,3.4501486325569966e-06,-8.559771436397989e-05,8.367671069464692e-05,0.6761,-0.004,0.10276454688293092,1.0,0.0,0.0,0.0,0.15588056964217156,0.1287192244816634,1.0674387827694407,0.009254443222293005,-0.010550183357112289,0.0003777659805723001,0.12473530722856176,0.1094009693376779,1.0478105474234694,0.008239911704025774,-0.010523957184501727,0.00013231369223454923,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5160026753641915,-0.4188408638868767,-0.7671407465251397,0.6011348570137681,0.7441168149980714,-0.2699754985599455,0.5460898450768567,1.0674387827694407,1.3132305916019964,1.3132305916019964,1.962000000000836,0,0,-0.0003762590807352125,-9.999999025923074e-05
+18854,1792459721516413093,901621000000,1792459721516055886,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760303748730161,-0.004031626169922093,0.10268142176645069,0.9999999876186302,1.0518277201777967e-05,-8.904286202741351e-05,9.036779603279355e-05,0.6761,-0.004,0.10264953743497987,1.0,0.0,0.0,0.0,0.15656929015630305,0.12706396151214425,1.0574342454538805,0.008775638981233742,-0.01053963008948841,0.0003791839363201725,0.12542402774269323,0.10774570636815875,1.0378060101079092,0.007761107462966513,-0.010513403916877847,0.0001337316479824216,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5505728157224543,-0.3381546799405565,-0.8435517172052187,0.5730807326302644,0.805635492493922,-0.21950393470579307,0.5460898450768567,1.0574342454538805,1.3896415622820752,1.3896415622820752,1.98600000000086,0,0,-0.0003908470497346591,-9.999999025923074e-05
+18895,1792459721858420379,901963000000,1792459721856065254,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760558238548662,-0.004026372684562267,0.10256659564018662,0.9999999889769355,2.916065809925844e-05,-5.8567051707537825e-05,9.596118826902386e-05,0.6761,-0.004,0.10251295219454194,1.0,0.0,0.0,0.0,0.15253765245516712,0.14132356509242877,1.058031944893182,0.010277821426458354,-0.010567860655222298,0.0003944728732640329,0.1213923900415573,0.12200530994844329,1.0384037095472107,0.009263289908191124,-0.010541634482611736,0.00014902058492628203,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6559507055435136,-0.39097857897967736,-0.8209198078750664,0.6012957713237811,0.8220747558882054,-0.2498237379982962,0.5460898450768567,1.058031944893182,1.3670096529519231,1.3670096529519231,2.0133600000008873,0,0,-0.000407947046403316,-9.999999025923074e-05
+18930,1792459722150424721,902255000000,1792459722144056497,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760538583032519,-0.004029915200651206,0.10244649315531379,0.9999999891910486,2.2169160809518534e-05,-6.193872625878249e-05,9.344993190945288e-05,0.6761,-0.004,0.10239170735740886,1.0,0.0,0.0,0.0,0.15294475302884508,0.14040614336386473,1.0618816325175955,0.009941705843654147,-0.010563422229092179,0.00038605581185189545,0.12179949061523526,0.12108788821987924,1.0422533971716241,0.008927174325386917,-0.010537196056481617,0.0001406035235141446,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.537481714813891,-0.31446608051271363,-0.7041738110712594,0.5785289050368976,0.7163213069989278,-0.203757341905869,0.5460898450768567,1.0618816325175955,1.2502636561481162,1.2502636561481162,2.0367200000009107,0,0,-0.0004225470435590114,-9.999999025923074e-05
+18964,1792459722433434856,902538000000,1792459722428056459,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760492534346763,-0.004029022381227706,0.10231714409081531,0.9999999889498958,1.6528131050108975e-05,-6.712332244514872e-05,9.361812352797252e-05,0.6761,-0.004,0.10227013139447311,1.0,0.0,0.0,0.0,0.16561442848242927,0.13862014316531562,1.0576851358061856,0.009257388821868034,-0.010549629720787544,0.0003855366346322744,0.13446916606881945,0.11930188802133014,1.0380569004602143,0.008242857303600803,-0.010523403548176982,0.00014008434629452353,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5944904941433704,-0.32045501223377926,-0.7563220134453679,0.5931173142216141,0.7677152103955213,-0.2007137742871016,0.5460898450768567,1.0576851358061856,1.3024118585222246,1.3024118585222246,2.0593600000009333,0,0,-0.0004366970408023737,-9.999999025923074e-05
+18993,1792459722675394024,902780000000,1792459722672055355,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760460836221704,-0.0040293044278519145,0.10220412090218692,0.9999999890739825,1.1714298712657515e-05,-6.991558861409903e-05,9.093670944555167e-05,0.6761,-0.004,0.10216299266088534,1.0,0.0,0.0,0.0,0.1653514186167594,0.13099982284501088,1.0578887469044245,0.010167714753741067,-0.011572228974847644,0.00037468974630141313,0.13420615620314957,0.1116815677010254,1.0382605115584531,0.009153183235473837,-0.011546002802237082,0.00012923745796366226,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.612169239003763,-0.3098954885876366,-0.8668203585694348,0.5982697598818648,0.848389871689816,-0.19341786149813708,0.5460898450768567,1.0578887469044245,1.4129102036462915,1.4129102036462915,2.0787200000009527,0,0,-0.0004487970384451075,-9.999999025923074e-05
+19025,1792459722941435435,903046000000,1792459722936056066,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760333627561285,-0.004033850271524502,0.10206818466454114,0.9999999845337585,5.888017357055252e-05,-9.183500536618833e-05,0.00010234649047857319,0.6761,-0.004,0.10204185039900485,1.0,0.0,0.0,0.0,0.16588096450203993,0.12835077580996831,1.0476898686110818,0.009285840904038925,-0.011559631061001323,0.00037792289616508495,0.1347357020884301,0.10903252066598282,1.0280616332651105,0.008271309385771695,-0.01153340488839076,0.00013247060782733408,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5940361072123228,-0.4330947902066165,-0.732382308332459,0.6311128326177398,0.7610641417729855,-0.2751447402260535,0.5460898450768567,1.0476898686110818,1.2784721534093157,1.2784721534093157,2.100000000000974,0,0,-0.0004620970358540629,-9.999999025923074e-05
+19054,1792459723183465124,903288000000,1792459723176066115,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760327664157583,-0.004029409379116933,0.10195077338108209,0.9999999856688565,4.3413010431164944e-05,-8.928299530777243e-05,0.00010123738650416882,0.6761,-0.004,0.10192856486661457,1.0,0.0,0.0,0.0,0.1751498576878907,0.13785000361952013,1.0301229813363273,0.009290040868871472,-0.011570921665455543,0.0003953614909413919,0.1440045952742809,0.11853174847553465,1.010494745990356,0.008275509350604242,-0.01154469549284498,0.00014990920260364102,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5460088239962908,-0.3798527656421809,-0.7014693567801864,0.6203235114684128,0.7260041315275197,-0.24612869997587505,0.5460898450768567,1.0301229813363273,1.247559201857043,1.247559201857043,2.1193600000009933,0,0,-0.00047419703349679674,-9.999999025923074e-05
+19084,1792459723431463288,903536000000,1792459723428066087,DOWN_SETTLE,3,0.0545,0.05450202152132988,0.6760279582988353,-0.004032042004126696,0.10182536829924223,0.9999999867504352,1.0888338235335337e-05,-9.732058280266397e-05,9.13900550487234e-05,0.6761,-0.004,0.10181002707760792,1.0,0.0,0.0,0.0,0.18411149752760825,0.14023535521145702,1.0180851106239477,0.010338866781704936,-0.012556698722904304,0.00040033000154130177,0.15296623511399843,0.12091710006747153,0.9984568752779762,0.009324335263437705,-0.012530472550293742,0.00015487771320355087,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6130252164297576,-0.2684447359585191,-0.6021606738739956,0.5946103940773265,0.6863043940782834,-0.1695053255335624,0.5460898450768567,1.0180851106239477,1.1482505189508523,0.0,0.0,0,0,-0.000443547031081086,0.002000000009740768
+19129,1792459723806432519,903911000000,1792459723800055679,DOWN_SETTLE,3,0.0545,0.05450202152132988,0.676018941601942,-0.004025469565319037,0.10174492959358447,0.9999999847958706,1.4152519595371758e-05,-0.00011350586888863715,9.363357790371684e-05,0.6761,-0.004,0.10176312083020202,1.0,0.0,0.0,0.0,0.1934136118605116,0.1575450888571022,0.9581331633021047,0.010353404030423393,-0.012575459320295633,0.0004489642525242584,0.16226834944690177,0.1382268337131167,0.9385049279561334,0.009338872512156163,-0.01254923314768507,0.00020351196418650754,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5808999010324096,-0.2906858680643169,-0.6026003442441737,0.5871590310285991,0.694637711550692,-0.1852345997282626,0.5460898450768567,0.9581331633021047,1.1486901893210304,0.0,0.0,0,0,-1.1242614225294948e-05,0.00011356175985146412

Fixed/digit/ball_0010_10/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792459696700483807,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.822216125e-10,-2.304103089e-11,7.779332734e-12,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450140e-01,-1.188442819e-04,8.303259113e-01
+1,5.833333333e-01,DOWN_FORCE_DETACH,1792459697286526118,-1.928718123e-06,1.188295510e-07,-5.083153348e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.006459932e-08,-6.113504434e-10,1.013040540e-09,7.019537041e-01,-2.215190547e-05,8.601380041e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450334e-01,-1.188448702e-04,8.303259123e-01
+2,1.200000000e+00,DOWN_FORCE_DETACH,1792459697892268976,1.330898986e-06,7.104895933e-07,-1.905225426e-05,-1.310803104e-06,1.810503548e-06,-2.095437373e-05,-1.671557277e-06,1.863255422e-06,-2.096754415e-05,7.019569637e-01,-2.156024543e-05,8.601240350e-01,7.019543220e-01,-2.046023147e-05,8.601221329e-01,7.027433418e-01,-1.169810035e-04,8.303049438e-01
+3,1.716666667e+00,DOWN_FORCE_DETACH,1792459698399958760,-2.136963467e-07,-2.754217650e-06,-5.209541309e-05,1.456061965e-06,-5.900801817e-06,-4.140267668e-05,1.018897293e-06,-5.980985132e-06,-4.139945890e-05,7.019554191e-01,-2.502495267e-05,8.600909918e-01,7.019570889e-01,-2.817153684e-05,8.601016846e-01,7.027460322e-01,-1.248252440e-04,8.302845118e-01
+4,2.333333333e+00,DOWN_FORCE_DETACH,1792459699006404569,-3.457161669e-06,-6.566670554e-06,-1.135924202e-04,-5.615046265e-06,-7.072214008e-06,-1.081080835e-04,-7.388360380e-06,-7.165225369e-06,-1.080666215e-04,7.019521757e-01,-2.883740558e-05,8.600294948e-01,7.019500178e-01,-2.934294903e-05,8.600349792e-01,7.027376250e-01,-1.260094842e-04,8.302178447e-01
+5,2.866666667e+00,DOWN_FORCE_DETACH,1792459699530177853,-1.007187622e-05,-1.399879146e-05,-1.826620895e-04,-9.965554294e-06,-1.626170226e-05,-1.728842969e-04,-1.292250469e-05,-1.646048983e-05,-1.728559525e-04,7.019455609e-01,-3.626952649e-05,8.599604251e-01,7.019456673e-01,-3.853243728e-05,8.599702029e-01,7.027320908e-01,-1.353047487e-04,8.301530554e-01
+6,3.433333333e+00,DOWN_FORCE_DETACH,1792459700104889402,-2.613046996e-06,-1.937366258e-05,-2.501036977e-04,-2.187528672e-06,-1.771437066e-05,-2.388862722e-04,-5.345076913e-06,-1.791319982e-05,-2.387935279e-04,7.019530198e-01,-4.164439760e-05,8.598929835e-01,7.019534453e-01,-3.998510568e-05,8.599042010e-01,7.027396683e-01,-1.367574587e-04,8.300871178e-01
+7,3.966666667e+00,DOWN_FORCE_DETACH,1792459700627973478,-7.325523600e-06,-2.247819496e-05,-3.257050175e-04,-7.355332746e-06,-2.251721192e-05,-3.253878466e-04,-1.204015852e-05,-2.280092477e-05,-3.252857332e-04,7.019483073e-01,-4.474892999e-05,8.598173822e-01,7.019482775e-01,-4.478794694e-05,8.598176994e-01,7.027329732e-01,-1.416451837e-04,8.300006256e-01
+8,4.450000000e+00,DOWN_FORCE_DETACH,1792459701103730044,2.100118229e-05,-1.639965663e-05,-3.637254511e-04,2.124415451e-05,-1.597990316e-05,-3.547182558e-04,1.847083353e-05,-1.614650063e-05,-3.546504133e-04,7.019766340e-01,-3.867039165e-05,8.597793618e-01,7.019768770e-01,-3.825063819e-05,8.597883690e-01,7.027634842e-01,-1.349907595e-04,8.299712609e-01
+9,4.983333333e+00,DOWN_FORCE_DETACH,1792459701626809381,2.960271103e-05,-2.072334940e-05,-4.272978431e-04,2.357442570e-05,-2.295781904e-05,-4.167602234e-04,2.022835951e-05,-2.323375289e-05,-4.166825276e-04,7.019852355e-01,-4.299408442e-05,8.597157894e-01,7.019792072e-01,-4.522855406e-05,8.597263270e-01,7.027652417e-01,-1.420780118e-04,8.299092288e-01
+10,5.533333333e+00,DOWN_FORCE_DETACH,1792459702200225108,2.906168037e-05,-2.583178003e-05,-5.051191206e-04,2.935332668e-05,-2.519844634e-05,-5.010365872e-04,2.536221949e-05,-2.548052360e-05,-5.009546292e-04,7.019846945e-01,-4.810251506e-05,8.596379681e-01,7.019849861e-01,-4.746918136e-05,8.596420507e-01,7.027703756e-01,-1.443247825e-04,8.298249567e-01
+11,6.100000000e+00,DOWN_FORCE_DETACH,1792459702791276523,3.984674743e-05,-3.001991093e-05,-5.745376296e-04,3.921884296e-05,-2.944706507e-05,-5.644550256e-04,3.527114627e-05,-2.980379192e-05,-5.643297615e-04,7.019954796e-01,-5.229064595e-05,8.595685496e-01,7.019948517e-01,-5.171780009e-05,8.595786322e-01,7.027802845e-01,-1.486480508e-04,8.297615815e-01
+12,6.583333333e+00,DOWN_FORCE_DETACH,1792459703264909589,3.853269058e-05,-3.305926856e-05,-6.376974893e-04,3.654953994e-05,-2.865253194e-05,-6.354846111e-04,3.155408213e-05,-2.904300560e-05,-6.354291371e-04,7.019941655e-01,-5.533000359e-05,8.595053898e-01,7.019921824e-01,-5.092326696e-05,8.595076026e-01,7.027765674e-01,-1.478872645e-04,8.296904822e-01
+13,7.133333333e+00,DOWN_FORCE_DETACH,1792459703823717463,4.156683825e-05,-3.795338595e-05,-7.123542186e-04,4.206669875e-05,-3.366464535e-05,-7.016212395e-04,3.666462144e-05,-3.410130342e-05,-7.015225960e-04,7.019971997e-01,-6.022412098e-05,8.594307330e-01,7.019976995e-01,-5.593538037e-05,8.594414660e-01,7.027816780e-01,-1.529455623e-04,8.296243887e-01
+14,7.750000000e+00,DOWN_FORCE_DETACH,1792459704463028480,4.682275810e-05,-3.347915457e-05,-7.904797391e-04,4.258518620e-05,-3.616985961e-05,-7.742968558e-04,3.628070723e-05,-3.662629653e-05,-7.742702096e-04,7.020024556e-01,-5.574988959e-05,8.593526075e-01,7.019982180e-01,-5.844059463e-05,8.593687904e-01,7.027812940e-01,-1.554705554e-04,8.295516411e-01
+15,8.250000000e+00,DOWN_FORCE_DETACH,1792459704954096928,4.890364728e-05,-3.381145928e-05,-8.521694092e-04,4.550328088e-05,-3.536597145e-05,-8.408704799e-04,3.865146055e-05,-3.583503398e-05,-8.408589894e-04,7.020045365e-01,-5.608219431e-05,8.592909178e-01,7.020011361e-01,-5.763670647e-05,8.593022168e-01,7.027836648e-01,-1.546792929e-04,8.294850523e-01
+16,8.833333333e+00,DOWN_FORCE_DETACH,1792459705591015372,5.117514011e-05,-3.837433029e-05,-9.327674144e-04,5.026457118e-05,-3.741316759e-05,-9.273598937e-04,4.270722153e-05,-3.787610662e-05,-9.273574745e-04,7.020068080e-01,-6.064506531e-05,8.592103198e-01,7.020058974e-01,-5.968390261e-05,8.592157273e-01,7.027877206e-01,-1.567203655e-04,8.293985538e-01
+17,9.316666667e+00,DOWN_FORCE_DETACH,1792459706083365590,5.401764517e-05,-3.681758232e-05,-9.991051676e-04,5.112189356e-05,-3.912691253e-05,-9.941255833e-04,4.282893697e-05,-3.963670740e-05,-9.941679719e-04,7.020096505e-01,-5.908831734e-05,8.591439821e-01,7.020067547e-01,-6.139764755e-05,8.591489617e-01,7.027878423e-01,-1.584809663e-04,8.293317433e-01
+18,9.766666667e+00,DOWN_FORCE_DETACH,1792459706524910181,5.265420315e-05,-3.714923700e-05,-1.063616187e-03,5.236719617e-05,-3.842493688e-05,-1.058203573e-03,4.340059358e-05,-3.894972573e-05,-1.058246726e-03,7.020082870e-01,-5.941997202e-05,8.590794711e-01,7.020080000e-01,-6.069567190e-05,8.590848837e-01,7.027884139e-01,-1.577939846e-04,8.292676646e-01
+19,1.026666667e+01,DOWN_FORCE_DETACH,1792459707016159101,5.064888404e-05,-4.122064598e-05,-1.134581883e-03,5.038377841e-05,-4.227321571e-05,-1.120992191e-03,4.046598463e-05,-4.280026890e-05,-1.121040926e-03,7.020062817e-01,-6.349138100e-05,8.590085054e-01,7.020060166e-01,-6.454395073e-05,8.590220950e-01,7.027854793e-01,-1.616445278e-04,8.292048704e-01
+20,1.081666667e+01,DOWN_FORCE_DETACH,1792459707573605569,5.060537516e-05,-4.333062534e-05,-1.207919422e-03,4.944748657e-05,-4.024112412e-05,-1.209133696e-03,3.834964165e-05,-4.074518451e-05,-1.209120860e-03,7.020062382e-01,-6.560136036e-05,8.589351678e-01,7.020050803e-01,-6.251185914e-05,8.589339535e-01,7.027833630e-01,-1.595894434e-04,8.291167904e-01
+21,1.128333333e+01,DOWN_FORCE_DETACH,1792459708031981509,4.763098713e-05,-4.087229470e-05,-1.282819032e-03,4.562747676e-05,-4.125320108e-05,-1.277544884e-03,3.340855009e-05,-4.178614599e-05,-1.277649728e-03,7.020032638e-01,-6.314302972e-05,8.588602682e-01,7.020012603e-01,-6.352393610e-05,8.588655424e-01,7.027784219e-01,-1.606304049e-04,8.290482616e-01
+22,1.186666667e+01,DOWN_FORCE_DETACH,1792459708605353416,4.792740088e-05,-4.102231067e-05,-1.362526204e-03,4.786945811e-05,-3.752352010e-05,-1.343166560e-03,3.498864403e-05,-3.800591073e-05,-1.343267423e-03,7.020035602e-01,-6.329304569e-05,8.587805610e-01,7.020035023e-01,-5.979425512e-05,8.587999207e-01,7.027800020e-01,-1.568501696e-04,8.289826439e-01
+23,1.240000000e+01,DOWN_FORCE_DETACH,1792459709178798028,4.791390971e-05,-4.539195700e-05,-1.448229821e-03,4.703794110e-05,-4.290756187e-05,-1.431543203e-03,3.307263035e-05,-4.345031569e-05,-1.431727710e-03,7.020035467e-01,-6.766269202e-05,8.586948574e-01,7.020026708e-01,-6.517829689e-05,8.587115440e-01,7.027780860e-01,-1.622945746e-04,8.288941836e-01
+24,1.296666667e+01,DOWN_FORCE_DETACH,1792459709751821503,4.956783146e-05,-4.902797482e-05,-1.527114105e-03,4.859184137e-05,-4.640395929e-05,-1.514058320e-03,3.371802855e-05,-4.702603477e-05,-1.514246638e-03,7.020052006e-01,-7.129870984e-05,8.586159731e-01,7.020042247e-01,-6.867469431e-05,8.586290289e-01,7.027787314e-01,-1.658702937e-04,8.288116647e-01
+25,1.350000000e+01,DOWN_FORCE_DETACH,1792459710276127336,4.798583272e-05,-4.789151514e-05,-1.606194431e-03,4.605642544e-05,-5.099202468e-05,-1.599045882e-03,3.001331624e-05,-5.166254816e-05,-1.599187304e-03,7.020036186e-01,-7.016225016e-05,8.585368928e-01,7.020016892e-01,-7.326275970e-05,8.585440414e-01,7.027750266e-01,-1.705068070e-04,8.287267240e-01
+26,1.410000000e+01,DOWN_FORCE_DETACH,1792459710865505985,5.099685984e-05,-5.037593391e-05,-1.690091506e-03,5.065987975e-05,-5.079212404e-05,-1.682969515e-03,3.387403069e-05,-5.147822259e-05,-1.683181248e-03,7.020066297e-01,-7.264666893e-05,8.584529957e-01,7.020062927e-01,-7.306285906e-05,8.584601177e-01,7.027788874e-01,-1.703224815e-04,8.286427301e-01
+27,1.460000000e+01,DOWN_FORCE_DETACH,1792459711357066961,5.436054615e-05,-5.125381557e-05,-1.766746673e-03,5.380622752e-05,-4.848831154e-05,-1.747390757e-03,3.649222930e-05,-4.912332648e-05,-1.747608315e-03,7.020099934e-01,-7.352455059e-05,8.583763406e-01,7.020094390e-01,-7.075904656e-05,8.583956965e-01,7.027815056e-01,-1.679675854e-04,8.285783030e-01
+28,1.508333333e+01,DOWN_FORCE_DETACH,1792459711848060469,5.379493220e-05,-5.124501911e-05,-1.849931600e-03,5.367350494e-05,-5.110699021e-05,-1.849905907e-03,3.507995900e-05,-5.180253623e-05,-1.850105564e-03,7.020094277e-01,-7.351575413e-05,8.582931556e-01,7.020093063e-01,-7.337772523e-05,8.582931813e-01,7.027800933e-01,-1.706467951e-04,8.284758057e-01
+29,1.570000000e+01,DOWN_FORCE_DETACH,1792459712454348812,7.230042400e-05,-5.263783062e-05,-1.927446461e-03,6.987217718e-05,-5.367308857e-05,-1.913458140e-03,5.177168934e-05,-5.435307232e-05,-1.913718874e-03,7.020279332e-01,-7.490856565e-05,8.582156408e-01,7.020255050e-01,-7.594382359e-05,8.582296291e-01,7.027967850e-01,-1.731973312e-04,8.284121924e-01
+30,1.616666667e+01,DOWN_FORCE_DETACH,1792459712929231099,7.501164199e-05,-5.578555117e-05,-2.005228565e-03,7.284828020e-05,-5.559553462e-05,-2.000018494e-03,5.392721311e-05,-5.631347726e-05,-2.000308566e-03,7.020306445e-01,-7.805628619e-05,8.581378587e-01,7.020284811e-01,-7.786626964e-05,8.581430687e-01,7.027989405e-01,-1.751577361e-04,8.283256027e-01
+31,1.663333333e+01,DOWN_FORCE_DETACH,1792459713436736249,7.168668999e-05,-5.670069095e-05,-2.097997703e-03,6.975231505e-05,-5.589065259e-05,-2.089604962e-03,4.949594356e-05,-5.661704531e-05,-2.089835983e-03,7.020273195e-01,-7.897142597e-05,8.580450895e-01,7.020253851e-01,-7.816138761e-05,8.580534823e-01,7.027945093e-01,-1.754613042e-04,8.282360753e-01
+32,1.718333333e+01,DOWN_FORCE_DETACH,1792459713993912057,7.172006641e-05,-5.937554402e-05,-2.198069297e-03,7.324620943e-05,-5.748423835e-05,-2.180397533e-03,5.209941537e-05,-5.821292484e-05,-2.180717143e-03,7.020273529e-01,-8.164627905e-05,8.579450179e-01,7.020288790e-01,-7.975497338e-05,8.579626897e-01,7.027971127e-01,-1.770571837e-04,8.281451942e-01
+33,1.763333333e+01,DOWN_FORCE_DETACH,1792459714452633049,7.421792996e-05,-6.330637906e-05,-2.282032588e-03,7.322823693e-05,-6.740698633e-05,-2.270916233e-03,5.097203016e-05,-6.829163904e-05,-2.271202026e-03,7.020298507e-01,-8.557711408e-05,8.578610547e-01,7.020288611e-01,-8.967772135e-05,8.578721710e-01,7.027959854e-01,-1.871358979e-04,8.280547093e-01
+34,1.810000000e+01,DOWN_FORCE_DETACH,1792459714911716859,7.311538226e-05,-6.737741761e-05,-2.374416994e-03,7.177847992e-05,-6.104874858e-05,-2.361028668e-03,4.832092260e-05,-6.184068959e-05,-2.361333935e-03,7.020287482e-01,-8.964815263e-05,8.577686702e-01,7.020274113e-01,-8.331948360e-05,8.577820586e-01,7.027933343e-01,-1.806849485e-04,8.279645774e-01
+35,1.853333333e+01,DOWN_FORCE_DETACH,1792459715353513852,7.508765106e-05,-6.735765980e-05,-2.455884800e-03,7.451395549e-05,-6.541821735e-05,-2.450093430e-03,5.025683480e-05,-6.628424088e-05,-2.450443452e-03,7.020307205e-01,-8.962839482e-05,8.576872024e-01,7.020301468e-01,-8.768895237e-05,8.576929938e-01,7.027952702e-01,-1.851284998e-04,8.278754679e-01
+36,1.903333333e+01,DOWN_FORCE_DETACH,1792459715861618507,7.722698392e-05,-7.332562839e-05,-2.549117677e-03,7.567767273e-05,-6.963142303e-05,-2.537203964e-03,5.044534206e-05,-7.049795111e-05,-2.537596250e-03,7.020328598e-01,-9.559636342e-05,8.575939696e-01,7.020313105e-01,-9.190215805e-05,8.576058833e-01,7.027954587e-01,-1.893422100e-04,8.277883151e-01
+37,1.950000000e+01,DOWN_FORCE_DETACH,1792459716320606590,7.476294011e-05,-7.028494183e-05,-2.652044602e-03,7.441123423e-05,-7.008217932e-05,-2.652374040e-03,4.764234056e-05,-7.100150263e-05,-2.652760803e-03,7.020303958e-01,-9.255567685e-05,8.574910426e-01,7.020300441e-01,-9.235291435e-05,8.574907132e-01,7.027926557e-01,-1.898457615e-04,8.276731505e-01
+38,1.993333333e+01,DOWN_FORCE_DETACH,1792459716746309535,7.690906098e-05,-7.357575727e-05,-2.739829646e-03,7.689996691e-05,-7.379711905e-05,-2.739592474e-03,4.928439971e-05,-7.477116126e-05,-2.739971256e-03,7.020325419e-01,-9.584649229e-05,8.574032576e-01,7.020325328e-01,-9.606785407e-05,8.574034948e-01,7.027942977e-01,-1.936154201e-04,8.275859400e-01
+39,2.038333333e+01,DOWN_FORCE_DETACH,1792459717187964785,7.458154874e-05,-7.808532341e-05,-2.837878829e-03,7.338462190e-05,-8.005336023e-05,-2.825121367e-03,4.449789984e-05,-8.109779681e-05,-2.825572359e-03,7.020302144e-01,-1.003560584e-04,8.573052084e-01,7.020290174e-01,-1.023240953e-04,8.573179659e-01,7.027895112e-01,-1.999420557e-04,8.275003389e-01
+40,2.080000000e+01,DOWN_FORCE_DETACH,1792459717597598991,8.264837417e-05,-8.006854923e-05,-2.927394238e-03,8.015642622e-05,-8.184295703e-05,-2.920782465e-03,5.059113600e-05,-8.287478733e-05,-2.921216893e-03,7.020382812e-01,-1.023392843e-04,8.572156930e-01,7.020357892e-01,-1.041136921e-04,8.572223048e-01,7.027956045e-01,-2.017190462e-04,8.274046944e-01
+41,2.126666667e+01,DOWN_FORCE_DETACH,1792459718056508803,8.448833101e-05,-8.290366841e-05,-3.036603081e-03,8.275701522e-05,-8.287685207e-05,-3.027690132e-03,5.212240160e-05,-8.393071833e-05,-3.028141181e-03,7.020401211e-01,-1.051744034e-04,8.571064842e-01,7.020383898e-01,-1.051475871e-04,8.571153971e-01,7.027971357e-01,-2.027749772e-04,8.272977701e-01
+42,2.168333333e+01,DOWN_FORCE_DETACH,1792459718465994851,8.375359749e-05,-8.485987473e-05,-3.144845747e-03,8.474754040e-05,-8.477460051e-05,-3.140569040e-03,5.283044215e-05,-8.589131897e-05,-3.141024153e-03,7.020393864e-01,-1.071306098e-04,8.569982415e-01,7.020403804e-01,-1.070453355e-04,8.570025182e-01,7.027978438e-01,-2.047355779e-04,8.271848872e-01
+43,2.208333333e+01,DOWN_FORCE_DETACH,1792459718859356383,8.407711048e-05,-8.784536163e-05,-3.255362311e-03,8.393292165e-05,-8.780536492e-05,-3.255316767e-03,5.064736468e-05,-8.896460019e-05,-3.255796554e-03,7.020397099e-01,-1.101160967e-04,8.568877249e-01,7.020395657e-01,-1.100760999e-04,8.568877705e-01,7.027956607e-01,-2.078088591e-04,8.270701147e-01
+44,2.250000000e+01,DOWN_FORCE_DETACH,1792459719268708642,8.625009668e-05,-8.770552817e-05,-3.370990912e-03,8.601172231e-05,-8.742833219e-05,-3.370878352e-03,5.149045078e-05,-8.856196700e-05,-3.371402076e-03,7.020418829e-01,-1.099762632e-04,8.567720963e-01,7.020416445e-01,-1.096990672e-04,8.567722089e-01,7.027965038e-01,-2.074062259e-04,8.269545092e-01
+45,2.285000000e+01,DOWN_FORCE_DETACH,1792459719645461174,8.733280575e-05,-8.722702342e-05,-3.482269168e-03,8.925931074e-05,-8.908926236e-05,-3.462565315e-03,5.386160482e-05,-9.024257674e-05,-3.463112226e-03,7.020429656e-01,-1.094977584e-04,8.566608181e-01,7.020448921e-01,-1.113599974e-04,8.566805219e-01,7.027988749e-01,-2.090868356e-04,8.268627991e-01
+46,2.318333333e+01,DOWN_FORCE_DETACH,1792459719989697600,8.518320999e-05,-9.405297306e-05,-3.593511499e-03,8.505042318e-05,-9.410058946e-05,-3.593087017e-03,4.777236834e-05,-9.534669990e-05,-3.593628740e-03,7.020408160e-01,-1.163237081e-04,8.565495757e-01,7.020406832e-01,-1.163713245e-04,8.565500002e-01,7.027927857e-01,-2.141909588e-04,8.267322826e-01
+47,2.346666667e+01,DOWN_FORCE_DETACH,1792459720268738010,7.876239228e-05,-9.596931920e-05,-3.701436195e-03,7.716432504e-05,-9.209419573e-05,-3.689266742e-03,3.816068970e-05,-9.330884476e-05,-3.689795990e-03,7.020343952e-01,-1.182400542e-04,8.564416510e-01,7.020327971e-01,-1.143649308e-04,8.564538205e-01,7.027831740e-01,-2.121531036e-04,8.266361153e-01
+48,2.378333333e+01,DOWN_FORCE_DETACH,1792459720597906458,7.313080194e-05,-9.635938502e-05,-3.811729369e-03,7.304368502e-05,-9.614736372e-05,-3.811792422e-03,3.222404833e-05,-9.744880614e-05,-3.812324330e-03,7.020287636e-01,-1.186301200e-04,8.563313579e-01,7.020286765e-01,-1.184180987e-04,8.563312948e-01,7.027772374e-01,-2.162930650e-04,8.265135870e-01
+49,2.408333333e+01,DOWN_FORCE_DETACH,1792459720890133090,7.246994884e-05,-9.772642931e-05,-3.933608335e-03,7.222102447e-05,-9.783006671e-05,-3.933697386e-03,2.980714097e-05,-9.913927558e-05,-3.934212469e-03,7.020281028e-01,-1.199971643e-04,8.562094789e-01,7.020278538e-01,-1.201008017e-04,8.562093899e-01,7.027748205e-01,-2.179835345e-04,8.263916988e-01
+50,2.440000000e+01,DOWN_FORCE_DETACH,1792459721220004918,7.266060185e-05,-9.636719675e-05,-4.046952600e-03,7.249381926e-05,-9.615097105e-05,-4.047240537e-03,2.874412792e-05,-9.745583096e-05,-4.047853481e-03,7.020282934e-01,-1.186379318e-04,8.560961346e-01,7.020281266e-01,-1.184217061e-04,8.560958467e-01,7.027737575e-01,-2.163000898e-04,8.262780578e-01
+51,2.470000000e+01,DOWN_FORCE_DETACH,1792459721512601816,7.236062840e-05,-9.884570422e-05,-4.161129936e-03,6.958475842e-05,-1.025327776e-04,-4.150186128e-03,2.435249569e-05,-1.039177145e-04,-4.150863146e-03,7.020279934e-01,-1.211164392e-04,8.559819573e-01,7.020252176e-01,-1.248035127e-04,8.559929011e-01,7.027693658e-01,-2.227619734e-04,8.261750482e-01
+52,2.503333333e+01,DOWN_FORCE_DETACH,1792459721857023280,9.473496437e-05,-9.779236698e-05,-4.277640242e-03,9.774244996e-05,-9.650115797e-05,-4.259061102e-03,5.343490320e-05,-9.781512262e-05,-4.259714985e-03,7.020503678e-01,-1.200631020e-04,8.558654470e-01,7.020533753e-01,-1.187718930e-04,8.558840261e-01,7.027984482e-01,-2.166593815e-04,8.260661963e-01
+53,2.533333333e+01,DOWN_FORCE_DETACH,1792459722151701632,9.570772314e-05,-9.838775205e-05,-4.395206821e-03,9.341652165e-05,-9.743467941e-05,-4.382958854e-03,4.733462729e-05,-9.875751041e-05,-4.383643935e-03,7.020513405e-01,-1.206584871e-04,8.557478804e-01,7.020490493e-01,-1.197054144e-04,8.557601284e-01,7.027923480e-01,-2.176017693e-04,8.259422674e-01
+54,2.561666667e+01,DOWN_FORCE_DETACH,1792459722430008239,9.070683686e-05,-9.718114125e-05,-4.522479046e-03,9.173290178e-05,-9.912564077e-05,-4.506359580e-03,4.403515628e-05,-1.004379440e-04,-4.507030394e-03,7.020463397e-01,-1.194518763e-04,8.556206082e-01,7.020473657e-01,-1.213963758e-04,8.556367277e-01,7.027890485e-01,-2.192822029e-04,8.258188809e-01
+55,2.586666667e+01,DOWN_FORCE_DETACH,1792459722675330153,8.664476943e-05,-9.968669801e-05,-4.637958485e-03,8.416192099e-05,-9.340971468e-05,-4.633916925e-03,3.430749774e-05,-9.465704354e-05,-4.634652773e-03,7.020422776e-01,-1.219574330e-04,8.555051288e-01,7.020397947e-01,-1.156804497e-04,8.555091703e-01,7.027793208e-01,-2.135013024e-04,8.256912585e-01
+56,2.613333333e+01,DOWN_FORCE_DETACH,1792459722937603539,7.642974248e-05,-9.590674924e-05,-4.768364105e-03,7.565417569e-05,-9.736192298e-05,-4.755156491e-03,2.376701926e-05,-9.868110256e-05,-4.755897296e-03,7.020320626e-01,-1.181774843e-04,8.553747231e-01,7.020312870e-01,-1.196326580e-04,8.553879307e-01,7.027687804e-01,-2.175253614e-04,8.255700140e-01
+57,2.638333333e+01,DOWN_FORCE_DETACH,1792459723183347861,7.333878054e-05,-1.005658003e-04,-4.892163844e-03,7.492595310e-05,-9.594884427e-05,-4.873777495e-03,2.150168900e-05,-9.724179357e-05,-4.874594110e-03,7.020289716e-01,-1.228365354e-04,8.552509234e-01,7.020305588e-01,-1.182195793e-04,8.552693097e-01,7.027665150e-01,-2.160860525e-04,8.254513172e-01
+58,2.663333333e+01,DOWN_SETTLE,1792459723428938401,6.712054732e-05,-9.247036966e-05,-5.019802610e-03,6.708258297e-05,-9.233844551e-05,-5.019712992e-03,1.132005102e-05,-9.356150696e-05,-5.020530869e-03,7.020227534e-01,-1.147411047e-04,8.551232846e-01,7.020227154e-01,-1.146091805e-04,8.551233742e-01,7.027563334e-01,-2.124057658e-04,8.253053804e-01
+59,2.701666667e+01,DOWN_SETTLE,1792459723805633184,6.084932760e-05,-9.391150036e-05,-5.096697740e-03,6.265774782e-05,-9.343748196e-05,-5.085314044e-03,5.786668047e-06,-9.469752245e-05,-5.086320494e-03,7.020164821e-01,-1.161822354e-04,8.550463895e-01,7.020182906e-01,-1.157082170e-04,8.550577732e-01,7.027508000e-01,-2.135417813e-04,8.252395908e-01

Fixed/digit/ball_0010_10/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.1633e-02,2.3738e-02,2.4538e+00,-3.8407e-02,3.7602e-02,1.9880e-05,1.1861e-04,3.8184e-07,7.1526e-07,3.1665e-07,8.4266e-06,-2.1613e-07,1.1861e-04,8.4353e-06
+1,5.8333e-01,DOWN_FORCE_DETACH,1.3273e-04,1.5006e-02,2.3732e-02,2.4540e+00,-3.8397e-02,3.7841e-02,1.4850e-05,3.4923e-03,-5.6177e-06,1.6117e-04,9.9950e-06,2.4710e-04,-5.2458e-06,3.4961e-03,2.4736e-04
+2,1.2000e+00,DOWN_FORCE_DETACH,2.7174e-04,1.7926e-02,2.2592e-02,2.4607e+00,-3.8311e-02,3.8041e-02,1.2024e-05,6.4123e-03,-1.1463e-03,6.8271e-03,9.6381e-05,4.4748e-04,-8.0716e-06,9.4361e-03,4.5781e-04
+3,1.7167e+00,DOWN_FORCE_DETACH,4.0846e-04,1.8400e-02,2.7889e-02,2.4633e+00,-3.8676e-02,3.8072e-02,1.2827e-05,6.8864e-03,4.1513e-03,9.4578e-03,-2.6850e-04,4.7804e-04,-7.2686e-06,1.2414e-02,5.4834e-04
+4,2.3333e+00,DOWN_FORCE_DETACH,5.4344e-04,2.1699e-02,2.9138e-02,2.4748e+00,-3.8755e-02,3.8294e-02,1.1417e-05,1.0185e-02,5.3995e-03,2.0960e-02,-3.4771e-04,6.9992e-04,-8.6788e-06,2.3921e-02,7.8158e-04
+5,2.8667e+00,DOWN_FORCE_DETACH,6.8366e-04,2.2741e-02,3.5941e-02,2.4832e+00,-3.9225e-02,3.8359e-02,1.1145e-05,1.1227e-02,1.2203e-02,2.9355e-02,-8.1757e-04,7.6502e-04,-8.9515e-06,3.3714e-02,1.1197e-03
+6,3.4333e+00,DOWN_FORCE_DETACH,8.1771e-04,2.0141e-02,3.7193e-02,2.4884e+00,-3.9307e-02,3.8170e-02,1.1003e-05,8.6268e-03,1.3455e-02,3.4588e-02,-8.9950e-04,5.7615e-04,-9.0933e-06,3.8102e-02,1.0682e-03
+7,3.9667e+00,DOWN_FORCE_DETACH,9.5419e-04,2.0653e-02,3.9242e-02,2.4919e+00,-3.9444e-02,3.8203e-02,9.0042e-06,9.1387e-03,1.5504e-02,3.8028e-02,-1.0365e-03,6.0916e-04,-1.1092e-05,4.2072e-02,1.2023e-03
+8,4.4500e+00,DOWN_FORCE_DETACH,1.0890e-03,1.2971e-02,3.6532e-02,2.4914e+00,-3.9248e-02,3.7662e-02,5.6998e-06,1.4573e-03,1.2794e-02,3.7514e-02,-8.4077e-04,6.8478e-05,-1.4396e-05,3.9662e-02,8.4368e-04
+9,4.9833e+00,DOWN_FORCE_DETACH,1.2234e-03,1.4301e-02,4.1958e-02,2.4905e+00,-3.9626e-02,3.7758e-02,1.0285e-06,2.7872e-03,1.8220e-02,3.6659e-02,-1.2185e-03,1.6430e-04,-1.9068e-05,4.1032e-02,1.2296e-03
+10,5.5333e+00,DOWN_FORCE_DETACH,1.3604e-03,1.4432e-02,4.3965e-02,2.4940e+00,-3.9767e-02,3.7766e-02,-5.4883e-06,2.9184e-03,2.0227e-02,4.0210e-02,-1.3598e-03,1.7208e-04,-2.5584e-05,4.5105e-02,1.3709e-03
+11,6.1000e+00,DOWN_FORCE_DETACH,1.4963e-03,1.3334e-02,4.6625e-02,2.4910e+00,-3.9962e-02,3.7692e-02,-4.3482e-06,1.8199e-03,2.2887e-02,3.7164e-02,-1.5549e-03,9.8381e-05,-2.4444e-05,4.3684e-02,1.5582e-03
+12,6.5833e+00,DOWN_FORCE_DETACH,1.6283e-03,1.6065e-02,4.5938e-02,2.4950e+00,-3.9924e-02,3.7880e-02,2.2466e-06,4.5512e-03,2.2200e-02,4.1141e-02,-1.5166e-03,2.8643e-04,-1.7849e-05,4.6970e-02,1.5435e-03
+13,7.1333e+00,DOWN_FORCE_DETACH,1.7686e-03,1.5999e-02,4.8555e-02,2.4956e+00,-4.0123e-02,3.7873e-02,1.6039e-05,4.4852e-03,2.4817e-02,4.1756e-02,-1.7159e-03,2.7948e-04,-4.0566e-06,4.8781e-02,1.7385e-03
+14,7.7500e+00,DOWN_FORCE_DETACH,1.9040e-03,1.8257e-02,4.9166e-02,2.4947e+00,-4.0179e-02,3.8034e-02,2.8664e-05,6.7431e-03,2.5428e-02,4.0850e-02,-1.7719e-03,4.3996e-04,8.5684e-06,4.8588e-02,1.8257e-03
+15,8.2500e+00,DOWN_FORCE_DETACH,2.0391e-03,1.9468e-02,4.8025e-02,2.4949e+00,-4.0101e-02,3.8121e-02,3.4268e-05,7.9539e-03,2.4287e-02,4.1016e-02,-1.6938e-03,5.2686e-04,1.4172e-05,4.8327e-02,1.7739e-03
+16,8.8333e+00,DOWN_FORCE_DETACH,2.1716e-03,2.0394e-02,4.9376e-02,2.4957e+00,-4.0181e-02,3.8189e-02,3.4311e-05,8.8798e-03,2.5638e-02,4.1908e-02,-1.7735e-03,5.9481e-04,1.4215e-05,4.9924e-02,1.8706e-03
+17,9.3167e+00,DOWN_FORCE_DETACH,2.3134e-03,2.1480e-02,5.1123e-02,2.4949e+00,-4.0278e-02,3.8265e-02,2.7785e-05,9.9659e-03,2.7385e-02,4.1075e-02,-1.8705e-03,6.7171e-04,7.6885e-06,5.0363e-02,1.9875e-03
+18,9.7667e+00,DOWN_FORCE_DETACH,2.4463e-03,2.2056e-02,5.1296e-02,2.4974e+00,-4.0268e-02,3.8300e-02,1.5885e-05,1.0542e-02,2.7558e-02,4.3570e-02,-1.8603e-03,7.0637e-04,-4.2111e-06,5.2620e-02,1.9899e-03
+19,1.0267e+01,DOWN_FORCE_DETACH,2.5858e-03,2.2831e-02,5.4766e-02,2.4970e+00,-4.0493e-02,3.8350e-02,-2.0247e-06,1.1317e-02,3.1028e-02,4.3114e-02,-2.0863e-03,7.5581e-04,-2.2121e-05,5.4310e-02,2.2191e-03
+20,1.0817e+01,DOWN_FORCE_DETACH,2.7199e-03,2.2906e-02,5.4269e-02,2.5038e+00,-4.0445e-02,3.8346e-02,-2.4595e-05,1.1392e-02,3.0531e-02,4.9934e-02,-2.0383e-03,7.5233e-04,-4.4691e-05,5.9626e-02,2.1732e-03
+21,1.1283e+01,DOWN_FORCE_DETACH,2.8547e-03,2.4173e-02,5.5758e-02,2.5035e+00,-4.0548e-02,3.8436e-02,-3.8392e-05,1.2659e-02,3.2020e-02,4.9655e-02,-2.1411e-03,8.4192e-04,-5.8488e-05,6.0425e-02,2.3014e-03
+22,1.1867e+01,DOWN_FORCE_DETACH,2.9908e-03,2.3318e-02,5.2743e-02,2.4959e+00,-4.0354e-02,3.8386e-02,-4.7881e-05,1.1804e-02,2.9005e-02,4.2107e-02,-1.9467e-03,7.9201e-04,-6.7977e-05,5.2475e-02,2.1028e-03
+23,1.2400e+01,DOWN_FORCE_DETACH,3.1297e-03,2.4162e-02,5.5102e-02,2.4973e+00,-4.0544e-02,3.8449e-02,-4.5187e-05,1.2648e-02,3.1364e-02,4.3489e-02,-2.1363e-03,8.5553e-04,-6.5283e-05,5.5090e-02,2.3022e-03
+24,1.2967e+01,DOWN_FORCE_DETACH,3.2602e-03,2.4350e-02,5.6085e-02,2.4976e+00,-4.0637e-02,3.8465e-02,-3.3919e-05,1.2836e-02,3.2347e-02,4.3799e-02,-2.2300e-03,8.7155e-04,-5.4015e-05,5.5941e-02,2.3948e-03
+25,1.3500e+01,DOWN_FORCE_DETACH,3.3991e-03,2.5494e-02,5.9052e-02,2.5007e+00,-4.0853e-02,3.8541e-02,-1.9997e-05,1.3980e-02,3.5314e-02,4.6892e-02,-2.4454e-03,9.4763e-04,-4.0094e-05,6.0344e-02,2.6229e-03
+26,1.4100e+01,DOWN_FORCE_DETACH,3.5343e-03,2.4509e-02,5.8942e-02,2.5012e+00,-4.0835e-02,3.8469e-02,-6.4632e-06,1.2995e-02,3.5204e-02,4.7372e-02,-2.4274e-03,8.7532e-04,-2.6559e-05,6.0434e-02,2.5805e-03
+27,1.4600e+01,DOWN_FORCE_DETACH,3.6708e-03,2.4057e-02,5.7790e-02,2.4977e+00,-4.0731e-02,3.8439e-02,2.8807e-07,1.2543e-02,3.4052e-02,4.3882e-02,-2.3238e-03,8.4553e-04,-1.9808e-05,5.6943e-02,2.4729e-03
+28,1.5083e+01,DOWN_FORCE_DETACH,3.8063e-03,2.3763e-02,6.2823e-02,2.4990e+00,-4.1055e-02,3.8416e-02,4.2481e-06,1.2249e-02,3.9085e-02,4.5113e-02,-2.6479e-03,8.2252e-04,-1.5848e-05,6.0933e-02,2.7728e-03
+29,1.5700e+01,DOWN_FORCE_DETACH,3.9430e-03,1.9705e-02,6.2575e-02,2.4971e+00,-4.1027e-02,3.8130e-02,6.8495e-06,8.1909e-03,3.8837e-02,4.3303e-02,-2.6194e-03,5.3592e-04,-1.3247e-05,5.8741e-02,2.6737e-03
+30,1.6167e+01,DOWN_FORCE_DETACH,4.0795e-03,1.9211e-02,6.4230e-02,2.5045e+00,-4.1139e-02,3.8087e-02,6.5675e-06,7.6967e-03,4.0492e-02,5.0684e-02,-2.7323e-03,4.9302e-04,-1.3529e-05,6.5327e-02,2.7765e-03
+31,1.6633e+01,DOWN_FORCE_DETACH,4.2154e-03,1.9603e-02,6.5216e-02,2.5093e+00,-4.1197e-02,3.8110e-02,2.0325e-06,8.0889e-03,4.1478e-02,5.5444e-02,-2.7894e-03,5.1582e-04,-1.8064e-05,6.9714e-02,2.8368e-03
+32,1.7183e+01,DOWN_FORCE_DETACH,4.3502e-03,1.7003e-02,6.7558e-02,2.5061e+00,-4.1339e-02,3.7930e-02,-5.0011e-06,5.4893e-03,4.3820e-02,5.2219e-02,-2.9317e-03,3.3635e-04,-2.5097e-05,6.8390e-02,2.9511e-03
+33,1.7633e+01,DOWN_FORCE_DETACH,4.4864e-03,1.7709e-02,7.5059e-02,2.5073e+00,-4.1858e-02,3.7980e-02,-8.1982e-06,6.1945e-03,5.1321e-02,5.3493e-02,-3.4510e-03,3.8658e-04,-2.8294e-05,7.4389e-02,3.4727e-03
+34,1.8100e+01,DOWN_FORCE_DETACH,4.6244e-03,1.9401e-02,7.0114e-02,2.5088e+00,-4.1525e-02,3.8100e-02,-1.0848e-05,7.8870e-03,4.6376e-02,5.4940e-02,-3.1173e-03,5.0659e-04,-3.0944e-05,7.2328e-02,3.1584e-03
+35,1.8533e+01,DOWN_FORCE_DETACH,4.7579e-03,2.0266e-02,7.2125e-02,2.5132e+00,-4.1680e-02,3.8158e-02,-5.5054e-06,8.7522e-03,4.8387e-02,5.9373e-02,-3.2725e-03,5.6466e-04,-2.5601e-05,7.7091e-02,3.3209e-03
+36,1.9033e+01,DOWN_FORCE_DETACH,4.8943e-03,2.1879e-02,7.3939e-02,2.5121e+00,-4.1812e-02,3.8274e-02,1.8624e-06,1.0365e-02,5.0201e-02,5.8294e-02,-3.4053e-03,6.8006e-04,-1.8234e-05,7.7625e-02,3.4726e-03
+37,1.9500e+01,DOWN_FORCE_DETACH,5.0327e-03,2.4104e-02,7.6954e-02,2.5099e+00,-4.2006e-02,3.8433e-02,3.7830e-06,1.2590e-02,5.3216e-02,5.6059e-02,-3.5984e-03,8.3943e-04,-1.6313e-05,7.8314e-02,3.6951e-03
+38,1.9933e+01,DOWN_FORCE_DETACH,5.1673e-03,2.3783e-02,7.3841e-02,2.5077e+00,-4.1766e-02,3.8412e-02,1.5700e-06,1.2269e-02,5.0103e-02,5.3898e-02,-3.3586e-03,8.1843e-04,-1.8526e-05,7.4604e-02,3.4569e-03
+39,2.0383e+01,DOWN_FORCE_DETACH,5.3026e-03,2.3552e-02,8.1599e-02,2.5119e+00,-4.2285e-02,3.8387e-02,-3.4147e-06,1.2038e-02,5.7861e-02,5.8081e-02,-3.8776e-03,7.9328e-04,-2.3511e-05,8.2863e-02,3.9579e-03
+40,2.0800e+01,DOWN_FORCE_DETACH,5.4395e-03,2.0503e-02,8.3747e-02,2.5176e+00,-4.2415e-02,3.8162e-02,-1.0601e-05,8.9888e-03,6.0009e-02,6.3807e-02,-4.0078e-03,5.6818e-04,-3.0697e-05,8.8053e-02,4.0480e-03
+41,2.1267e+01,DOWN_FORCE_DETACH,5.5761e-03,1.9528e-02,8.6603e-02,2.5208e+00,-4.2592e-02,3.8088e-02,-1.3183e-05,8.0145e-03,6.2865e-02,6.6976e-02,-4.1848e-03,4.9393e-04,-3.3279e-05,9.2206e-02,4.2140e-03
+42,2.1683e+01,DOWN_FORCE_DETACH,5.7103e-03,1.9411e-02,8.8931e-02,2.5259e+00,-4.2747e-02,3.8076e-02,-9.3844e-06,7.8970e-03,6.5193e-02,7.2098e-02,-4.3397e-03,4.8242e-04,-2.9480e-05,9.7522e-02,4.3665e-03
+43,2.2083e+01,DOWN_FORCE_DETACH,5.8490e-03,2.0656e-02,8.9776e-02,2.5231e+00,-4.2823e-02,3.8170e-02,-4.0180e-06,9.1418e-03,6.6038e-02,6.9290e-02,-4.4155e-03,5.7648e-04,-2.4114e-05,9.6155e-02,4.4531e-03
+44,2.2500e+01,DOWN_FORCE_DETACH,5.9866e-03,2.3372e-02,8.9554e-02,2.5257e+00,-4.2817e-02,3.8362e-02,-3.2755e-06,1.1858e-02,6.5816e-02,7.1851e-02,-4.4099e-03,7.6794e-04,-2.3372e-05,9.8158e-02,4.4764e-03
+45,2.2850e+01,DOWN_FORCE_DETACH,6.1218e-03,2.3984e-02,8.8359e-02,2.5318e+00,-4.2714e-02,3.8397e-02,-4.4801e-06,1.2470e-02,6.4621e-02,7.7991e-02,-4.3070e-03,8.0348e-04,-2.4576e-05,1.0205e-01,4.3814e-03
+46,2.3183e+01,DOWN_FORCE_DETACH,6.2571e-03,2.6774e-02,9.1705e-02,2.5334e+00,-4.2911e-02,3.8590e-02,-9.8892e-06,1.5260e-02,6.7967e-02,7.9549e-02,-4.5037e-03,9.9651e-04,-2.9985e-05,1.0574e-01,4.6127e-03
+47,2.3467e+01,DOWN_FORCE_DETACH,6.3875e-03,2.9708e-02,9.1419e-02,2.5409e+00,-4.2862e-02,3.8789e-02,-1.9159e-05,1.8194e-02,6.7681e-02,8.7077e-02,-4.4545e-03,1.1957e-03,-3.9255e-05,1.1178e-01,4.6124e-03
+48,2.3783e+01,DOWN_FORCE_DETACH,6.5236e-03,2.8582e-02,9.2746e-02,2.5394e+00,-4.2948e-02,3.8712e-02,-2.6534e-05,1.7068e-02,6.9008e-02,8.5606e-02,-4.5412e-03,1.1180e-03,-4.6630e-05,1.1127e-01,4.6770e-03
+49,2.4083e+01,DOWN_FORCE_DETACH,6.6641e-03,2.4448e-02,9.2603e-02,2.5460e+00,-4.2913e-02,3.8415e-02,-2.8693e-05,1.2934e-02,6.8864e-02,9.2203e-02,-4.5056e-03,8.2102e-04,-4.8789e-05,1.1581e-01,4.5801e-03
+50,2.4400e+01,DOWN_FORCE_DETACH,6.7974e-03,2.3352e-02,9.4833e-02,2.5458e+00,-4.3025e-02,3.8336e-02,-2.5961e-05,1.1838e-02,7.1095e-02,9.1919e-02,-4.6183e-03,7.4221e-04,-4.6057e-05,1.1681e-01,4.6777e-03
+51,2.4700e+01,DOWN_FORCE_DETACH,6.9342e-03,2.2940e-02,1.0170e-01,2.5525e+00,-4.3494e-02,3.8301e-02,-1.5275e-05,1.1426e-02,7.7960e-02,9.8643e-02,-5.0868e-03,7.0702e-04,-3.5371e-05,1.2625e-01,5.1358e-03
+52,2.5033e+01,DOWN_FORCE_DETACH,7.0682e-03,1.5021e-02,9.4943e-02,2.5499e+00,-4.3028e-02,3.7749e-02,-9.2061e-07,3.5071e-03,7.1205e-02,9.6094e-02,-4.6207e-03,1.5518e-04,-2.1017e-05,1.1965e-01,4.6233e-03
+53,2.5333e+01,DOWN_FORCE_DETACH,7.2010e-03,1.8371e-02,9.5152e-02,2.5527e+00,-4.3022e-02,3.7986e-02,3.8536e-06,6.8566e-03,7.1414e-02,9.8862e-02,-4.6146e-03,3.9217e-04,-1.6242e-05,1.2215e-01,4.6313e-03
+54,2.5617e+01,DOWN_FORCE_DETACH,7.3429e-03,1.9939e-02,9.7865e-02,2.5538e+00,-4.3176e-02,3.8094e-02,5.1430e-06,8.4245e-03,7.4127e-02,9.9973e-02,-4.7686e-03,5.0064e-04,-1.4953e-05,1.2474e-01,4.7948e-03
+55,2.5867e+01,DOWN_FORCE_DETACH,7.4746e-03,2.2782e-02,9.4481e-02,2.5602e+00,-4.2927e-02,3.8285e-02,-7.9151e-06,1.1268e-02,7.0743e-02,1.0634e-01,-4.5194e-03,6.9160e-04,-2.8011e-05,1.2821e-01,4.5721e-03
+56,2.6133e+01,DOWN_FORCE_DETACH,7.6165e-03,2.4399e-02,9.6483e-02,2.5607e+00,-4.3059e-02,3.8397e-02,-2.7063e-05,1.2885e-02,7.2745e-02,1.0690e-01,-4.6520e-03,8.0338e-04,-4.7159e-05,1.2995e-01,4.7211e-03
+57,2.6383e+01,DOWN_FORCE_DETACH,7.7507e-03,2.3476e-02,9.6303e-02,2.5625e+00,-4.3029e-02,3.8328e-02,-3.6402e-05,1.1962e-02,7.2565e-02,1.0871e-01,-4.6217e-03,7.3409e-04,-5.6498e-05,1.3125e-01,4.6800e-03
+58,2.6633e+01,DOWN_SETTLE,7.8891e-03,2.4335e-02,9.5109e-02,2.5644e+00,-4.2940e-02,3.8384e-02,-3.0968e-05,1.2821e-02,7.1370e-02,1.1054e-01,-4.5329e-03,7.9028e-04,-5.1064e-05,1.3220e-01,4.6015e-03
+59,2.7017e+01,DOWN_SETTLE,8.0218e-03,2.4646e-02,9.3912e-02,2.5450e+00,-4.2890e-02,3.8423e-02,-1.8569e-05,1.3132e-02,7.0174e-02,9.1114e-02,-4.4833e-03,8.2906e-04,-3.8665e-05,1.1575e-01,4.5595e-03

Fixed/digit/ball_0010_10/press_depth_03/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dfb76a03c3c0542d7939b29f5567e34269e4ebef5a1920edb1bb0dd16495927
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Fixed/digit/ball_0010_10/press_depth_03/up/franka_data.csv

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Fixed/digit/ball_0010_10/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_0010_10/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/ball_0010_10/press_depth_04/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d0f57bb63ef5f26323f48281f58019d41516b8c770df7dce0481c90913f4bf7
+size 624640

Fixed/digit/ball_0010_10/press_depth_04/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+22519,1792459751995720883,932100000000,1792459751992056458,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6759441620219131,-0.003958966091008908,0.10644950726787926,0.9999999686928872,5.464823235319354e-05,-0.00022450833015627558,2.5819940964459706e-05,0.6761,-0.004,0.10657523419753002,1.0,0.0,0.0,0.0,0.20412101924151238,0.17614560299804016,0.2066741456914011,0.012629471721517871,-0.015487089877136009,3.0093319515782564e-06,0.17297575682790256,0.15682734785405467,0.18704591034542975,0.011614940203250641,-0.015460863704525447,-0.00024244295638617262,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.0987048283507261,-0.3191697561094847,0.33925760193486165,0.34449575687072614,0.02641525968394924,-0.23228164435033108,0.5460898450768567,0.2066741456914011,0.206832243141995,0.206832243141995,0.3453600000000204,0,0,-0.00014914399303481295,9.968118971770962e-05
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+22896,1792459755137800252,935242000000,1792459755136066677,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6759986937424223,-0.003970451176763322,0.10608494064596752,0.9999999819238871,6.100298392941017e-05,-0.00014864214310844723,4.218103085801542e-05,0.6761,-0.004,0.10613709559179574,1.0,0.0,0.0,0.0,0.18145793738946928,0.18145442222304303,0.3563217879498721,0.012683553416779311,-0.013495066949145318,-8.392608588454081e-05,0.15031267497585946,0.16213616707905754,0.33669355260390077,0.01166902189851208,-0.013468840776534756,-0.0003293783742222917,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.2814660441078134,-0.2338610953577274,0.10224239335952175,0.33323860205216504,0.20824778591975285,-0.17142303711865456,0.5460898450768567,0.3563217879498721,0.4438474517173349,0.4438474517173349,0.5967200000000302,0,0,-0.00013029774991262766,8.080516450981228e-05
+22961,1792459755678823752,935783000000,1792459755676065134,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760023098954011,-0.003971217862414826,0.10602251475019435,0.9999999831524881,5.278279484183034e-05,-0.00014357423804754976,4.1692957859534704e-05,0.6761,-0.004,0.10606602678825075,1.0,0.0,0.0,0.0,0.18467817137809953,0.17345360936776774,0.3764855964523496,0.012675962932859313,-0.013498851275129104,-0.00010568240547768952,0.1535329089644897,0.15413535422378224,0.3568573611063782,0.011661431414592083,-0.013472625102518542,-0.0003511346938154404,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.392190262105216,-0.28955084026180167,0.04457113413795451,0.3511987391589707,0.2750609583764437,-0.2087052523639576,0.5460898450768567,0.3764855964523496,0.5015187109389021,0.5015187109389021,0.6400000000000134,0,0,-0.00013211740341048805,9.910012674219643e-05
+23032,1792459756270831406,936375000000,1792459756268065524,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760096284423488,-0.003971487855488063,0.10595864533984417,0.9999999853628911,4.574086102989657e-05,-0.00013075107703645683,3.9102574219694505e-05,0.6761,-0.004,0.10598768976088986,1.0,0.0,0.0,0.0,0.18413321717129183,0.17896374730373987,0.403241426364038,0.013556987735961545,-0.013521395278744295,-0.00011297281373478325,0.152987954757682,0.15964549215975438,0.3836131910180666,0.012542456217694314,-0.013495169106133733,-0.0003584251020725341,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4150716177382587,-0.27855991970416183,-0.04157729640188219,0.3485272803607191,0.3336984293139582,-0.20392012550495625,0.5460898450768567,0.403241426364038,0.5876671414787389,0.5876671414787389,0.6873599999999951,0,0,-0.00013247117381234996,9.999999025923074e-05
+23105,1792459756878792233,936983000000,1792459756872065674,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760094013450907,-0.003974795146613612,0.10587721306262614,0.9999999858470542,3.5392323027461844e-05,-0.00013016538288946095,3.940954784512879e-05,0.6761,-0.004,0.10590648489987983,1.0,0.0,0.0,0.0,0.18218593172578387,0.17787429191954357,0.4347821753551879,0.013547046110487343,-0.013527743392563138,-0.00013814894720903326,0.15104066931217405,0.15855603677555807,0.41515394000921657,0.012532514592220113,-0.013501517219952576,-0.00038360123554678413,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.416280837222031,-0.2657752530197776,0.008637354937497023,0.3442539845052756,0.29828017376147187,-0.19775710645108674,0.5460898450768567,0.4347821753551879,0.5374524901393596,0.5374524901393596,0.7359999999999762,0,0,-0.00013382607899212052,-5e-05
+23170,1792459757420812975,937525000000,1792459757416065848,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760122056118065,-0.003976870459670318,0.10581015793610742,0.9999999868451104,2.7632295188719245e-05,-0.00012387304218145956,4.05532870897453e-05,0.6761,-0.004,0.10583182616973738,1.0,0.0,0.0,0.0,0.18369920450483018,0.17807960151981486,0.4569944703940454,0.01333261753503802,-0.013528858461936882,-0.0001577150128992902,0.15255394209122036,0.15876134637582937,0.43736623504807404,0.01231808601677079,-0.01350263228932632,-0.0004031673012370411,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4599716681042831,-0.1991883967127879,-0.14036325750304768,0.3304263383349054,0.40225178194420924,-0.15020594762956385,0.5460898450768567,0.4569944703940454,0.6864531025799043,0.6864531025799043,0.7793599999999594,0,0,-0.0001386367783254031,9.999999025923074e-05
+23233,1792459757945748491,938050000000,1792459757944056685,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760100176607738,-0.003977368534312631,0.10573908681602337,0.9999999861384533,2.9874117974256712e-05,-0.00012738770268694093,4.52312720140162e-05,0.6761,-0.004,0.10575918762836772,1.0,0.0,0.0,0.0,0.18322287561802025,0.17692653478685766,0.4867584678491536,0.012521812730647461,-0.013520279257405624,-0.00019104519363159772,0.15207761320441043,0.15760827964287216,0.46713023250318225,0.011507281212380231,-0.013494053084795062,-0.0004364974819693486,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4121753840862592,-0.22338337622012946,-0.05072895767710735,0.3443452758228231,0.33140647644738763,-0.16293838593416476,0.5460898450768567,0.4867584678491536,0.596818802753964,0.596818802753964,0.8213599999999431,0,0,-0.0001388843315172902,-9.996354718844742e-05
+23297,1792459758478818196,938583000000,1792459758472065618,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760113261235338,-0.003978163792947336,0.10566991705677702,0.9999999862914887,2.416193304341804e-05,-0.00012630412337468136,4.82012073235913e-05,0.6761,-0.004,0.10568587172358346,1.0,0.0,0.0,0.0,0.17520827057365454,0.1767892510714293,0.5151467094074105,0.012516124355316531,-0.013526738540358605,-0.00021464095845431585,0.14406300816004472,0.1574709959274438,0.4955184740614391,0.011501592837049301,-0.013500512367748043,-0.0004600932467920667,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4516661306017955,-0.22736959436454665,-0.1602985368104744,0.3472059014574463,0.4092541858962748,-0.16784645596850542,0.5460898450768567,0.5151467094074105,0.7063883818873311,0.7063883818873311,0.8639999999999266,0,0,-0.00013703676797896668,9.879219250852884e-05
+23358,1792459758987843466,939092000000,1792459758984055868,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760089404568776,-0.003981589918734477,0.10559823204503274,0.9999999865267905,1.1199048891013582e-05,-0.00012865817771683276,4.136348441355692e-05,0.6761,-0.004,0.10561582170772367,1.0,0.0,0.0,0.0,0.18260663096522717,0.17496102929641935,0.5456381349851838,0.012510509718545832,-0.013531190485225972,-0.00023907778088907045,0.15146136855161735,0.15564277415243385,0.5260098996392124,0.011495978200278601,-0.01350496431261541,-0.0004845300692268213,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4378498034405671,-0.25373185427378303,-0.1482300644541375,0.36900873039448945,0.39512377683217986,-0.179860743498434,0.5460898450768567,0.5456381349851838,0.6943199095309942,0.6943199095309942,0.9047199999999108,0,0,-0.00013764826396342323,-9.879671666735419e-05
+23425,1792459759545836882,939650000000,1792459759540066215,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760109670794407,-0.003978581968141472,0.10552466657386993,0.9999999866183883,2.6745710127138776e-05,-0.00012710572623637667,3.6536134467625596e-05,0.6761,-0.004,0.10553903577123065,1.0,0.0,0.0,0.0,0.18432308389980698,0.1716290501864418,0.5670107455823699,0.012505547445472633,-0.013537112144469078,-0.0002549262827303637,0.15317782148619716,0.15231079504245632,0.5473825102363985,0.011491015927205403,-0.013510885971858516,-0.0005003785710681146,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4617132407067743,-0.19872610723042972,-0.21054003417741946,0.3557968009344232,0.438793970382667,-0.13965154103087135,0.5460898450768567,0.5670107455823699,0.756629879254276,0.756629879254276,0.9493599999998935,0,0,-0.00013799374476017168,-9.997686986474292e-05
+23484,1792459760037847432,940142000000,1792459760036057751,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760072428563733,-0.003983390658836396,0.1054516726277037,0.9999999851402203,4.374370760072703e-05,-0.00013206488106457846,4.251798502181384e-05,0.6761,-0.004,0.1054714335800095,1.0,0.0,0.0,0.0,0.18483049923669556,0.1610635526331838,0.5870862703342956,0.012500221719533874,-0.013540606362312763,-0.00027184146142383706,0.15368523682308574,0.1417452974891983,0.5674580349883243,0.011485690201266644,-0.013514380189702201,-0.0005172937497615879,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5023225791475014,-0.32297642000710375,-0.24691398069648435,0.39512752210698315,0.4721337696040058,-0.21978007595110446,0.5460898450768567,0.5870862703342956,0.7930038257733409,0.7930038257733409,0.9887199999998783,0,0,-0.00013649379810717755,-8.798154846190726e-05
+23551,1792459760595850796,940700000000,1792459760592065703,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760121998572112,-0.003980876961608768,0.10538283571046404,0.9999999854955687,5.661786262887171e-05,-0.00012201968998645444,4.8552444925401994e-05,0.6761,-0.004,0.10539481525513619,1.0,0.0,0.0,0.0,0.17616757690267726,0.16456764422392925,0.6071402785682097,0.012486947193527928,-0.013217354969302327,-0.000288459768018269,0.14502231448906744,0.14524938907994375,0.5875120432222384,0.011472415675260698,-0.013191128796691765,-0.0005339120563560199,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4692166996910812,-0.22835803965654597,-0.21820856856424192,0.3724307694789957,0.441168644630836,-0.15625070667048063,0.5460898450768567,0.6071402785682097,0.7642984136410986,0.7642984136410986,1.0333599999999072,0,0,-0.0001389010116884234,-9.99944252663198e-05
+23616,1792459761137875843,941242000000,1792459761136057437,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760110972516647,-0.003980426621217199,0.10530942707305428,0.9999999855472811,5.190559042322827e-05,-0.00012384357759368653,4.813397935069823e-05,0.6761,-0.004,0.10531648151704408,1.0,0.0,0.0,0.0,0.18315315995456838,0.1723870937077039,0.6372059910289221,0.012464965425055853,-0.012549145066100111,-0.00029776839437475324,0.15200789754095856,0.1530688385637184,0.6175777556829507,0.011450433906788623,-0.012522918893489549,-0.0005432206827125041,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.4998380835286111,-0.20997246833892436,-0.29891282378579537,0.37323989879296066,0.5011366432206132,-0.14464609709702603,0.5460898450768567,0.6372059910289221,0.845002668862652,0.845002668862652,1.0767199999999506,0,0,-0.00014682653555061898,-9.95745944295578e-05
+23681,1792459761678787602,941783000000,1792459761672065662,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760113434021094,-0.003979546017662041,0.10523050803440925,0.9999999860259948,4.452024933912386e-05,-0.0001234188238257593,4.665421772864082e-05,0.6761,-0.004,0.10523589430743545,1.0,0.0,0.0,0.0,0.17990120529021972,0.1701120756878859,0.6659796155564096,0.012468312264198011,-0.012888893767294251,-0.0003226073167545058,0.1487559428766099,0.1507938205439004,0.6463513802104383,0.011453780745930781,-0.012862667594683689,-0.0005680596050922567,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.528087353316365,-0.2708965516605814,-0.3994648832673863,0.39661577714482044,0.5680277257536088,-0.18287485165846934,0.5460898450768567,0.6659796155564096,0.9455547283442429,0.9455547283442429,1.119999999999994,0,0,-0.00015305104867216623,9.974448630790107e-05
+23748,1792459762237906727,942342000000,1792459762232065306,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760161663508115,-0.003984787057828153,0.10515445486717957,0.999999987460448,3.633048975020174e-05,-0.00011374642439180159,4.757956177602995e-05,0.6761,-0.004,0.10514909269088563,1.0,0.0,0.0,0.0,0.17454964468054177,0.1741697655700533,0.691342810861626,0.012450791727169556,-0.01255341428517129,-0.000341075110048324,0.14340438226693195,0.1548515104260678,0.6717145755156546,0.011436260208902326,-0.012527188112560728,-0.0005865273983860749,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.487525235991326,-0.23946082705819938,-0.3697311514669987,0.38967965325970194,0.5330694980508981,-0.16623882560597303,0.5460898450768567,0.691342810861626,0.9158209965438553,0.9158209965438553,1.1647200000000386,0,0,-0.00015732633907725025,-9.993512547901701e-05
+23808,1792459762737856519,942842000000,1792459762732065273,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760191650754026,-0.003985891522620819,0.1050803538893702,0.9999999881381126,3.257802592744207e-05,-0.00010833207991481915,4.867721874053196e-05,0.6761,-0.004,0.10506984656937443,1.0,0.0,0.0,0.0,0.17545450624292494,0.16560546560091055,0.7087593368070616,0.012451750284487539,-0.012553581971944386,-0.0003558071774002709,0.14430924382931512,0.14628721045692505,0.6891311014610902,0.011437218766220308,-0.012527355799333824,-0.0006012594657380218,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5348367969193226,-0.26291320646143346,-0.39955667289464347,0.4087157270755077,0.5649032440247486,-0.17975121564862548,0.5460898450768567,0.7087593368070616,0.9456465179715001,0.9456465179715001,1.2047200000000786,0,0,-0.00016032850198441218,-9.999931024762815e-05
+23877,1792459763312853075,943417000000,1792459763308065642,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760284013241327,-0.003981303829199857,0.10499939594323367,0.9999999896193758,2.494976470062546e-05,-9.704777548746432e-05,4.651184122312124e-05,0.6761,-0.004,0.10497717356965393,1.0,0.0,0.0,0.0,0.1742092765374481,0.17566140208303238,0.7378207907722053,0.012440268042434699,-0.012564454013139189,0.000301778866217661,0.1430640141238383,0.15634314693904688,0.718192555426234,0.011425736524167469,-0.012538227840528627,5.6326577879910146e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5575109218675027,-0.38471950030566987,-0.5429967835146816,0.4406939755891055,0.6559152748216833,-0.2629224886515165,0.5460898450768567,0.7378207907722053,1.0890866285915384,1.0890866285915384,1.2507200000001246,0,0,-0.00016299119945798057,9.717505552864764e-05
+23930,1792459763754899332,943858000000,1792459763752065321,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760340729025677,-0.003987384600769195,0.10493734367924354,0.9999999904022568,1.9672324207814343e-05,-8.92279171091905e-05,4.785111527477929e-05,0.6761,-0.004,0.10490495818844706,1.0,0.0,0.0,0.0,0.1833554033396564,0.16675759747637012,0.7554241719299287,0.012439764875606638,-0.01256440582287219,-0.00021716541417405547,0.15221014092604657,0.14743934233238462,0.7357959365839574,0.011425233357339408,-0.012538179650261628,-0.00046261770251180634,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.576904984753242,-0.29948425315262966,-0.5924109016977176,0.42038492336552163,0.6908576810361992,-0.2068535960620435,0.5460898450768567,0.7554241719299287,1.1385007467745742,1.1385007467745742,1.28600000000016,0,0,-0.00016490290396101314,9.927649954744595e-05
+23997,1792459764312880108,944417000000,1792459764312065645,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760338182133115,-0.003988035985922084,0.10484871047920014,0.9999999904297949,1.722472045315545e-05,-8.791772485793587e-05,5.056735366004648e-05,0.6761,-0.004,0.10481257132928656,1.0,0.0,0.0,0.0,0.1743263968358124,0.16751790101632896,0.777575277774247,0.012437472590766241,-0.012568768437169517,-0.00040849385564989773,0.1431811344222026,0.14819964587234347,0.7579470424282756,0.011422941072499011,-0.012542542264558955,-0.0006539461439876486,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6264111100288778,-0.30431337423511423,-0.5799051679682755,0.4288860611755376,0.6915954883236861,-0.2089991609200208,0.5460898450768567,0.777575277774247,1.1259950130451322,1.1259950130451322,1.3307200000002046,0,0,-0.0001665670328065337,2.8151951944199326e-05
+24064,1792459764870818930,944975000000,1792459764868055663,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760338078184964,-0.003991325373093742,0.10475735493396633,0.9999999902321172,1.8257965926330886e-05,-8.89378319988931e-05,5.230046710412474e-05,0.6761,-0.004,0.10471820674366604,1.0,0.0,0.0,0.0,0.17382186406567995,0.16859611032119437,0.8077670557682575,0.012431828741867575,-0.01257534233915029,-0.0004172373828243213,0.14267660165207013,0.14927785517720887,0.7881388204222861,0.011417297223600345,-0.012549116166539727,-0.0006626896711620722,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6044228156035258,-0.26173387966105877,-0.6868749994068755,0.42402945542715603,0.7501997625065676,-0.1799645015958488,0.5460898450768567,0.8077670557682575,1.2329648444837322,1.2329648444837322,1.3753600000002493,0,0,-0.00016987835227824798,9.968481182032746e-05
+24135,1792459765462889123,945567000000,1792459765456065271,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760379548446661,-0.003994564565999248,0.10466126039274033,0.9999999907791454,2.026710498358349e-05,-8.171142038640068e-05,5.28872579163817e-05,0.6761,-0.004,0.10461627257296381,1.0,0.0,0.0,0.0,0.16679632120912674,0.15887967614942877,0.8302147200029291,0.012395315879693466,-0.011769966083546829,0.0005635699826864151,0.13565105879551692,0.13956142100544328,0.8105864846569577,0.011380784361426236,-0.011743739910936267,0.0003181176943486642,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6642611133681673,-0.3149006979541407,-0.7526385092545371,0.45057380341472036,0.805452618203221,-0.21363142844718383,0.5460898450768567,0.8302147200029291,1.2987283543313937,1.2987283543313937,1.4227200000002966,0,0,-0.00017442291930650088,9.996593416795036e-05
+24188,1792459765903929016,946008000000,1792459765900056157,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760385901171977,-0.00399858874547223,0.10458614346000318,0.9999999904153596,2.7464062349560173e-05,-8.072307166188382e-05,5.780706131745091e-05,0.6761,-0.004,0.10453829479847053,1.0,0.0,0.0,0.0,0.16523076507521758,0.15698314801458524,0.8578763447939823,0.01136559174548855,-0.011558555315415045,0.0005541197341815444,0.13408550266160776,0.13766489287059974,0.838248109448011,0.01035106022722132,-0.011532329142804483,0.0003086674458437935,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.62499638645833,-0.3434511902179139,-0.7627849706715639,0.46425000206168365,0.7978128926340181,-0.23157928990816123,0.5460898450768567,0.8578763447939823,1.3088748157484207,1.3088748157484207,1.458000000000332,0,0,-0.00017916501033191234,9.910206963248953e-05
+24241,1792459766345939253,946450000000,1792459766340066302,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676039055342799,-0.003997212598339166,0.1045076934303672,0.9999999903679717,2.937901519371486e-05,-8.0537036842022e-05,5.794462997154893e-05,0.6761,-0.004,0.10445866450830099,1.0,0.0,0.0,0.0,0.165163500077941,0.15814574924492872,0.8879570811582134,0.011359256731521175,-0.011565022279597971,0.0004913015887884984,0.13401823766433119,0.13882749410094322,0.868328845812242,0.010344725213253945,-0.011538796106987409,0.0002458493004507476,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5732961659946332,-0.33342509277926075,-0.6678198542258263,0.47033066509809657,0.7186164748627296,-0.22399738386785717,0.5460898450768567,0.8879570811582134,1.213909699302683,1.213909699302683,1.4933600000003673,0,0,-0.00018215908797611225,-9.75654932108327e-05
+24298,1792459766820938540,946925000000,1792459766820065156,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760379842928098,-0.003995665849105691,0.10441830477718092,0.9999999903018529,3.192272114143358e-05,-8.172018615808241e-05,5.605273973985877e-05,0.6761,-0.004,0.1043717156658688,1.0,0.0,0.0,0.0,0.1570966748996959,0.15707238398568102,0.9118798870592797,0.01135378845550683,-0.011571300458889202,0.00021596536103595196,0.12595141248608607,0.13775412884169552,0.8922516517133083,0.0103392569372396,-0.01154507428627864,-2.9486927301798914e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5452988399023488,-0.27917281890078594,-0.7110239829394367,0.47008477226185225,0.7322994876306537,-0.18384517311802592,0.5460898450768567,0.9118798870592797,1.2571138280162932,1.2571138280162932,1.5313600000004053,0,0,-0.0001844393564362764,-9.768188621717683e-05
+24363,1792459767362913470,947467000000,1792459767356065362,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760400414549741,-0.004000360944027741,0.10432346214426305,0.9999999902335782,3.823296493115153e-05,-7.768815788506153e-05,5.89787979478974e-05,0.6761,-0.004,0.10426963569219262,1.0,0.0,0.0,0.0,0.15616130966382616,0.14989593308356597,0.9381099686552538,0.011348572750593028,-0.011575108159511977,0.0004885312062363669,0.12501604725021634,0.13057767793958047,0.9184817333092824,0.010334041232325798,-0.011548881986901415,0.00024307891789861606,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5983098304166938,-0.2580885041963463,-0.8315651750200338,0.459608940338599,0.8228061941896003,-0.1707445280597824,0.5460898450768567,0.9381099686552538,1.3776550200968904,1.3776550200968904,1.5747200000004486,0,0,-0.00019055905574741493,9.999425873286611e-05
+24420,1792459767837928740,947942000000,1792459767832065198,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760351240662943,-0.004008204211986348,0.10421585691580826,0.9999999889170943,3.65889584250825e-05,-8.927436482823473e-05,6.557447291387011e-05,0.6761,-0.004,0.10417677033543375,1.0,0.0,0.0,0.0,0.15364244769337573,0.14760872963525037,0.9742020092382186,0.0103214589091717,-0.011564168237280804,0.0004464863240720839,0.12249718527976591,0.12829047449126488,0.9545737738922473,0.00930692739090447,-0.011537942064670242,0.00020103403573433303,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5642534146095262,-0.31787643387108866,-0.7897852314075822,0.4824941266808632,0.7834455347992133,-0.2120730199202817,0.5460898450768567,0.9742020092382186,1.335875076484439,1.335875076484439,1.6127200000004867,0,0,-0.00019825670577042066,-9.999851921372311e-05
+24483,1792459768362886198,948467000000,1792459768356065091,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760440565902299,-0.00400822683262823,0.1041305678101075,0.9999999908233476,2.9801452523391614e-05,-7.103692522183239e-05,6.214336607398438e-05,0.6761,-0.004,0.10407119141650921,1.0,0.0,0.0,0.0,0.1559398691995395,0.14528778501711995,0.9881982281453235,0.011337866216305089,-0.011585306580911739,0.00044530141499097696,0.12479460678592968,0.12596952987313445,0.9685699927993522,0.010323334698037858,-0.011559080408301177,0.00019984912665322606,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5324250199822893,-0.2618491928085976,-0.832326854699893,0.4752068896809052,0.7970214081999207,-0.17560492140666062,0.5460898450768567,0.9881982281453235,1.3784166997767495,1.3784166997767495,1.6547200000005287,0,0,-0.00020518812937217324,-8.40316386182593e-05
+24538,1792459768820925385,948925000000,1792459768816056057,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760449877459604,-0.004007117011841567,0.10404026183104637,0.999999990762989,3.0162800024661525e-05,-7.110006604637674e-05,6.286392100499898e-05,0.6761,-0.004,0.10397603047525131,1.0,0.0,0.0,0.0,0.15659269961588515,0.13392864112319994,1.018134986360651,0.010312185873669076,-0.011572687618449946,0.0004121530265258018,0.12544743720227533,0.11461038597921445,0.9985067510146796,0.009297654355401846,-0.011546461445839384,0.00016670073818805093,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5785343263236928,-0.2951706023774479,-0.8145343597490128,0.488460375364475,0.7989739992620833,-0.19714241721857845,0.5460898450768567,1.018134986360651,1.3606242048258694,1.3606242048258694,1.6913600000005653,0,0,-0.0002106947888061691,-9.999999025923074e-05
+24601,1792459769345904655,949450000000,1792459769340065399,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760465518383014,-0.004012316539054704,0.10392672018360626,0.999999990717944,2.836526159099983e-05,-6.608276868749489e-05,6.953744236613262e-05,0.6761,-0.004,0.1038625011626535,1.0,0.0,0.0,0.0,0.15596175168690427,0.14070698960734515,1.0383156232712274,0.01029202315004218,-0.01096506562840347,0.000401666021324662,0.12481648927329445,0.12138873446335967,1.018687387925256,0.009277491631774949,-0.010938839455792907,0.00015621373298691112,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5796148003471147,-0.3829667214818521,-0.945968189991464,0.5255047812182885,0.8781552358473005,-0.2522496432484891,0.5460898450768567,1.0383156232712274,1.4920580350683208,1.4920580350683208,1.7333600000006073,0,0,-0.0002205900899207317,9.696519562141787e-05
+24660,1792459769837881885,949942000000,1792459769832065643,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760508667093041,-0.0040130485664956975,0.10382264228127573,0.9999999913873663,2.5124497615178283e-05,-5.916507401489005e-05,6.735269470246109e-05,0.6761,-0.004,0.10375149177661329,1.0,0.0,0.0,0.0,0.15591586261887036,0.13650955758043237,1.0681150984380154,0.010289030110602466,-0.011117502046709858,0.00037554122586279967,0.12477060020526055,0.11719130243644688,1.048486863092044,0.009274498592335235,-0.011091275874099296,0.0001300889375250488,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5586010613189707,-0.3090845896758217,-0.9216775814457812,0.5098966515894103,0.8535131314937132,-0.20432412515012727,0.5460898450768567,1.0681150984380154,1.467767426522638,1.467767426522638,1.7727200000006467,0,0,-0.00023180433047639693,-9.938796593911831e-05
+24711,1792459770262976593,950367000000,1792459770260056609,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760511994848866,-0.004017958252726826,0.10372441941623706,0.9999999913724309,2.1828492218300656e-05,-5.7103607103482793e-05,7.043221994699223e-05,0.6761,-0.004,0.10365065677406529,1.0,0.0,0.0,0.0,0.15571000921169162,0.13998631752333116,1.096837980250393,0.010270062568584912,-0.01057691026445728,0.00036363219929431533,0.1245647467980818,0.12066806237934566,1.0772097449044216,0.009255531050317681,-0.010550684091846719,0.00011817991095656445,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5517555435216204,-0.4165985293231773,-0.9223913728624771,0.554363450282703,0.8474137195197878,-0.2700696232261427,0.5460898450768567,1.096837980250393,1.4684812179393338,1.4684812179393338,1.8067200000006807,0,0,-0.0002420161447039534,-9.988914836800972e-05
+24760,1792459770670887460,950775000000,1792459770664065141,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760531297989266,-0.004018763417857437,0.10362471463988542,0.999999991002475,2.6177698195518192e-05,-5.5574403072842065e-05,7.526040279836394e-05,0.6761,-0.004,0.10354978662964755,1.0,0.0,0.0,0.0,0.15563555431651244,0.13674409315020605,1.1182323291474792,0.01026530278378642,-0.01058092263429922,0.00034691840488072464,0.12449029190290263,0.11742583800622056,1.0986040938015078,0.00925077126551919,-0.010554696461688658,0.00010146611654297377,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6295004036789282,-0.3256870423041772,-1.0037316675296792,0.530193024627778,0.9219076398626828,-0.21270792519319096,0.5460898450768567,1.1182323291474792,1.549821512606536,1.549821512606536,1.8393600000007133,0,0,-0.0002498464328107034,9.886080429145067e-05
+24817,1792459771145993485,951250000000,1792459771140056734,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760557638520037,-0.004019023994960008,0.10351005622154781,0.9999999913794883,2.378136310992247e-05,-4.98635563979855e-05,7.504638831525721e-05,0.6761,-0.004,0.10342829590222143,1.0,0.0,0.0,0.0,0.14948484329410852,0.1346696267007098,1.1483121902023767,0.010259463010170972,-0.01058705918632198,0.0003218648003680089,0.11833958088049872,0.11535137155672431,1.1286839548564054,0.009244931491903741,-0.010560833013711418,7.641251203025801e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5336612916914178,-0.3715199533091797,-0.9649448199103974,0.5550464902973321,0.8678957764530617,-0.24238403225205704,0.5460898450768567,1.1483121902023767,1.5110346649872541,1.5110346649872541,1.8773600000007513,0,0,-0.0002617709181321467,-9.969194500326068e-05
+24868,1792459771570958296,951675000000,1792459771568055525,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760588894736947,-0.004024629661901546,0.1034011304664896,0.9999999920767407,1.5759755099941277e-05,-4.092212306012885e-05,7.325566840389795e-05,0.6761,-0.004,0.10331504691754417,1.0,0.0,0.0,0.0,0.15351102421461352,0.13530434030009136,1.1683912956949787,0.01025560992316291,-0.010591570944229226,0.00030613759716654587,0.12236576180100371,0.11598608515610587,1.1487630603490073,0.00924107840489568,-0.010565344771618664,6.068530882879498e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5534109183580063,-0.34085975703716953,-1.0095249903543104,0.5533432111917653,0.9020271747552672,-0.2229049701672642,0.5460898450768567,1.1683912956949787,1.5556148354311672,1.5556148354311672,1.9113600000007853,0,0,-0.0002718909907453978,-9.213307480682715e-05
+24915,1792459771962983670,952067000000,1792459771960065561,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760589998335839,-0.004026927734569621,0.10328844439695621,0.9999999918425427,9.565127053654617e-06,-4.217053526994859e-05,7.673286987261241e-05,0.6761,-0.004,0.10320697767595187,1.0,0.0,0.0,0.0,0.1462543074005462,0.13036726154400358,1.1984641445154873,0.010185441854863527,-0.010597721723559621,0.0002819397479212202,0.1151090449869364,0.11104900640001808,1.178835909169516,0.009170910336596297,-0.01057149555094906,3.648745958346935e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5189082176423405,-0.34332859924471587,-1.0191911159198563,0.5560777082478874,0.8983842113727095,-0.22220868571933847,0.5460898450768567,1.1984641445154873,1.5652809609967129,1.5652809609967129,1.9427200000008167,0,0,-0.0002801361317042713,-9.971299760736513e-05
+24958,1792459772320991199,952425000000,1792459772320055596,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760553104513299,-0.004027283236227737,0.10317856135716126,0.9999999909117786,1.340447799464215e-05,-4.933609281416291e-05,8.369932559753881e-05,0.6761,-0.004,0.10310487240369232,1.0,0.0,0.0,0.0,0.14937434514596454,0.12447556186252104,1.2237345719363535,0.009225119031649982,-0.010583094953090311,0.00025236182514515565,0.11822908273235473,0.10515730671853556,1.2041063365903821,0.008210587513382751,-0.010556868780479749,6.909536807404786e-06,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5477733371029327,-0.3869235931754077,-1.062388663461305,0.5735219655503431,0.9387649605882286,-0.250203397702588,0.5460898450768567,1.2237345719363535,1.6084785085381617,1.6084785085381617,1.9713600000008453,0,0,-0.0002904998892904682,1.966627477992364e-06
+25003,1792459772696004165,952800000000,1792459772692055753,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760508825114828,-0.00402727554758653,0.10306540984804542,0.9999999901070022,2.020349293129463e-05,-5.5432634685075255e-05,8.802216619360934e-05,0.6761,-0.004,0.10299358859847545,1.0,0.0,0.0,0.0,0.14677577696379004,0.1241542563702772,1.2289864667419688,0.00922247332618558,-0.010585784976830229,0.00024510641520654296,0.11563051455018024,0.10483600122629172,1.2093582313959974,0.00820794180791835,-0.010559558804219667,-3.458731312079177e-07,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.48240327096683,-0.4113014194210872,-0.978680899125776,0.5847398162147048,0.865254683971941,-0.26570854709277486,0.5460898450768567,1.2289864667419688,1.5247707442026326,1.5247707442026326,2.0013600000008753,0,0,-0.0003025972806034157,-9.999740899069848e-05
+25047,1792459773062969438,953167000000,1792459773060055607,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676055965881967,-0.004027086946505467,0.10294607019179337,0.9999999910417531,1.0063773712657761e-05,-4.625864918456597e-05,8.436952127704221e-05,0.6761,-0.004,0.10288031353080124,1.0,0.0,0.0,0.0,0.14662411391175414,0.12550367996105294,1.2482474199905784,0.009235525377970226,-0.010589261448196007,0.0002293050184980732,0.11547885149814432,0.10618542481706744,1.228619184644607,0.008220993859702996,-0.010563035275585445,-1.6147269839677668e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5335962707445585,-0.41878072869764815,-1.0236114222754122,0.5983821137012726,0.9094927945357554,-0.2725431086331848,0.5460898450768567,1.2482474199905784,1.569701267352269,1.569701267352269,2.0307200000009047,0,0,-0.0003143719461376745,-9.999999025923074e-05
+25088,1792459773404028349,953508000000,1792459773396065269,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760545346297794,-0.004026135463397284,0.10284027569319344,0.9999999912913266,6.251860431269536e-06,-4.720988904944007e-05,8.119329933210086e-05,0.6761,-0.004,0.10277126022481749,1.0,0.0,0.0,0.0,0.14663210175576183,0.12575151506740692,1.2683024170221053,0.009215313258301182,-0.010593247354348658,0.0002130643828750629,0.11548683934215202,0.10643325992342142,1.248674181676134,0.008200781740033952,-0.010567021181738096,-3.238790546268797e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5166954906698549,-0.36193997821553364,-1.024399685965057,0.5900920860913131,0.908227239555934,-0.23101771550558764,0.5460898450768567,1.2683024170221053,1.5704895310419138,1.5704895310419138,2.058000000000932,0,0,-0.00032675371455378875,-9.999999025923074e-05
+25131,1792459773762983186,953867000000,1792459773760055929,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760532228918169,-0.004030250019888711,0.10272216982640515,0.9999999904697695,1.225539310449734e-05,-5.223525478327738e-05,8.731900537636223e-05,0.6761,-0.004,0.10265184435544841,1.0,0.0,0.0,0.0,0.14659768463128153,0.11655476616277803,1.2783227080824682,0.009212651209207307,-0.0105949715465094,0.00020495831619232166,0.11545242221767173,0.09723651101879255,1.2586944727364968,0.008198119690940076,-0.010568745373898838,-4.049397214542922e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5633200146660045,-0.43314165889928236,-1.0716083439131712,0.6079291068712271,0.9572541188359482,-0.2760772852915923,0.5460898450768567,1.2783227080824682,1.617698188990028,1.617698188990028,2.0867200000009607,0,0,-0.0003398690160652792,-9.978327472482391e-05
+25176,1792459774138015960,954242000000,1792459774136056077,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760707742624628,-0.004031703712031364,0.10260405952730474,0.9999999905622788,2.0805530054998606e-05,-3.153428299969291e-05,9.429223529515064e-05,0.6761,-0.004,0.10252117726272668,1.0,0.0,0.0,0.0,0.14624317666809034,0.1269638480519636,1.2883161677344024,0.009184661498263061,-0.009584600568966173,0.0002125639252379831,0.11509791425448053,0.10764559290797811,1.268687932388431,0.008170129979995831,-0.009558374396355611,-3.2888363099767756e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6113134447545165,-0.4247845852751298,-1.0255162845096706,0.6186547941885349,0.9408262628431139,-0.26923656929102796,0.5460898450768567,1.2883161677344024,1.5716061295865273,1.5716061295865273,2.1167200000009907,0,0,-0.0003570324088417439,-9.999999025923074e-05
+25218,1792459774487950616,954592000000,1792459774484065424,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760766822842976,-0.004027467247681693,0.10248749518391238,0.9999999913272476,1.8732610315690316e-05,-2.4403255138387614e-05,8.855472736573935e-05,0.6761,-0.004,0.10239335512068458,1.0,0.0,0.0,0.0,0.1373297377200175,0.12346397877329136,1.2984113394859527,0.009290200879326665,-0.0105214958234493,0.0001898047441194309,0.10618447530640768,0.10414572362930588,1.2787831041399813,0.008275669361059435,-0.010495269650838739,-5.564754421831996e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6096755819318358,-0.375321725022759,-1.0395174373755782,0.6084882609680957,0.9539497422389631,-0.23580366242384437,0.5460898450768567,1.2984113394859527,1.5856072824524348,1.5856072824524348,2.1447200000010187,0,0,-0.00037360210320832996,-9.999999025923074e-05
+25256,1792459774804020093,954908000000,1792459774796056341,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676075709746069,-0.004032055405591624,0.10236571196621722,0.9999999915314692,7.372748612122407e-06,-2.4073750028516773e-05,8.801149445064775e-05,0.6761,-0.004,0.10227301462376667,1.0,0.0,0.0,0.0,0.14653739637578017,0.11765322529372842,1.3084302628222744,0.009207682889300595,-0.010598086825360165,0.00018066857965572428,0.11539213396217037,0.09833497014974293,1.288802027476303,0.008193151371033365,-0.010571860652749603,-6.478370868202659e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.6267906013186515,-0.47579324769141296,-1.1004180935355803,0.6403567538587581,0.9968040331331672,-0.30357118857054166,0.5460898450768567,1.3084302628222744,1.6465079386124368,1.6465079386124368,2.170000000001044,0,0,-0.0003877041307956671,-8.097073986157994e-05
+25295,1792459775128955079,955233000000,1792459775128064983,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760709675021588,-0.004031526236687746,0.10222997853557869,0.9999999912609787,8.499014084699918e-06,-2.9831647416252366e-05,8.921180692536368e-05,0.6761,-0.004,0.10214473506143103,1.0,0.0,0.0,0.0,0.155503488255319,0.12763427590389478,1.3084686199233715,0.009207645386744704,-0.010603357789248839,0.00017805921947661765,0.1243582258417092,0.1083160207599093,1.2888403845774001,0.008193113868477474,-0.010577131616638277,-6.739306886113324e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5645455560137411,-0.39871093592735746,-0.9747576161208017,0.6241750689797062,0.9050326946602855,-0.24870185049389118,0.5460898450768567,1.3084686199233715,1.5208474611976583,1.5208474611976583,2.19600000000107,0,0,-0.0004014685785439217,-9.999994862586731e-05
+25330,1792459775420960065,955525000000,1792459775420055551,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760627812897816,-0.004031654445255752,0.10210188839256036,0.9999999875786925,6.642290129779387e-05,-4.2998920527596596e-05,0.00010012277610121181,0.6761,-0.004,0.1020255613458292,1.0,0.0,0.0,0.0,0.14859002673183105,0.12135157834276737,1.3092554283577615,0.009206279795231448,-0.010602145419780164,0.00017701690465085732,0.11744476431822125,0.10203332319878189,1.2896271930117902,0.008191748276964218,-0.010575919247169602,-6.843538368689354e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5632784530630544,-0.42369310927893006,-0.9936959378859033,0.6293258266490295,0.9191742330330638,-0.27039603179191735,0.5460898450768567,1.3092554283577615,1.53978578296276,1.53978578296276,2.2193600000010933,0,0,-0.00041541569891920114,-9.999999025923074e-05
+25365,1792459775713003033,955817000000,1792459775712065557,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760622906950766,-0.004033703691620074,0.10197223970535296,0.9999999881669991,4.728341675051211e-05,-4.194020792846198e-05,0.00010542373375554692,0.6761,-0.004,0.10190215614480157,1.0,0.0,0.0,0.0,0.1556099542715176,0.1273498531734561,1.3123330951340526,0.009207577050941931,-0.010603477559246326,0.00017860406016849658,0.1244646918579078,0.1080315980294706,1.2927048597880813,0.0081930455326747,-0.010577251386635764,-6.684822816925429e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5754915174082373,-0.3907689485713724,-1.0169180771835862,0.6276247292702296,0.9391411499587642,-0.24834633987864915,0.5460898450768567,1.3123330951340526,1.563007922260443,1.563007922260443,2.2427200000011167,0,0,-0.0004299390825676915,-9.999999025923074e-05
+25397,1792459775979035608,956083000000,1792459775972056011,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760584271911695,-0.0040340155498088245,0.10185179290688767,0.999999991103289,3.4252370551662286e-06,-4.752673701046591e-05,8.346115051998925e-05,0.6761,-0.004,0.10178603009918447,1.0,0.0,0.0,0.0,0.16315882907900192,0.13670735930666778,1.301135470180662,0.010258781580840247,-0.011633620437263249,0.00018432954207963292,0.1320135666653921,0.11738910416268228,1.2815072348346905,0.009244250062573017,-0.011607394264652687,-6.112274625811797e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.631469007032831,-0.436894514868532,-0.9853423040639503,0.6386195594074597,0.9444477119968422,-0.2769191161371235,0.5460898450768567,1.301135470180662,1.531432149140807,1.531432149140807,2.264000000001138,0,0,-0.0004432390799766469,-9.999999025923074e-05
+25450,1792459776419965558,956524000000,1792459776416055649,DOWN_SETTLE,4,0.054,0.054002296179533005,0.6760529841451033,-0.004029492565047208,0.10175237708743276,0.999999989973077,7.728287418210118e-06,-5.861773902441547e-05,8.944799864384631e-05,0.6761,-0.004,0.10171537271806397,1.0,0.0,0.0,0.0,0.1742712600469267,0.13494379324619576,1.2401078592162005,0.010280643570274892,-0.012021178125462639,0.000228806545490351,0.14312599763331688,0.11562553810221028,1.2204796238702291,0.009266112052007662,-0.011994951952852077,-1.66457428473999e-05,-0.031145262413609813,-0.019318255143985486,-0.019628235345971363,-0.0010145315182672296,2.6226172610561497e-05,-0.00024545228833775087,1,1.5627714596942306,-0.3494208411384838,-0.8929379885754869,0.6016309712874967,0.8829200644108814,-0.2199783868241594,0.5460898450768567,1.2401078592162005,1.4390278336523434,0.0,0.0,0,0,-1.000806597636589e-05,0.00010109157551884737

Fixed/digit/ball_0010_10/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792459747688146153,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.808776876e-10,1.871523856e-11,3.738198640e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027449893e-01,-1.188374029e-04,8.303259110e-01
+1,6.833333333e-01,DOWN_FORCE_DETACH,1792459748376289699,2.421891786e-06,-3.913016638e-06,2.034951932e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.403442245e-08,-5.943158509e-10,1.068140798e-09,7.019580547e-01,-2.618375166e-05,8.601451222e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450127e-01,-1.188380159e-04,8.303259120e-01
+2,1.366666667e+00,DOWN_FORCE_DETACH,1792459749080813849,2.799236907e-06,-4.431716772e-06,-2.599261911e-05,2.556681137e-06,-3.037132799e-08,-2.086651964e-05,2.491043170e-06,-3.323627271e-08,-2.082964147e-05,7.019584321e-01,-2.670245180e-05,8.601170946e-01,7.019581895e-01,-2.230110635e-05,8.601222207e-01,7.027474797e-01,-1.188706578e-04,8.303050813e-01
+3,1.966666667e+00,DOWN_FORCE_DETACH,1792459749686584362,-4.617903848e-08,-7.342611620e-06,-7.932485744e-05,8.420024816e-07,-7.116073214e-06,-6.259115961e-05,1.450696909e-07,-7.222351427e-06,-6.252444588e-05,7.019555866e-01,-2.961334664e-05,8.600637624e-01,7.019564748e-01,-2.938680824e-05,8.600804961e-01,7.027451337e-01,-1.260597730e-04,8.302633865e-01
+4,2.550000000e+00,DOWN_FORCE_DETACH,1792459750260165371,-6.118769189e-06,-1.333871590e-05,-1.426523794e-04,-6.898796850e-06,-1.184328243e-05,-1.303163852e-04,-9.031980099e-06,-1.198845206e-05,-1.302701895e-04,7.019495140e-01,-3.560945092e-05,8.600004349e-01,7.019487340e-01,-3.411401746e-05,8.600127709e-01,7.027359567e-01,-1.308258736e-04,8.301956408e-01
+5,3.116666667e+00,DOWN_FORCE_DETACH,1792459750816644839,-7.939075457e-07,-1.926446527e-05,-2.130412165e-04,-4.330128825e-06,-1.994231391e-05,-1.977275133e-04,-7.113353821e-06,-2.019527790e-05,-1.976223788e-04,7.019548389e-01,-4.153520029e-05,8.599300460e-01,7.019513027e-01,-4.221304893e-05,8.599453597e-01,7.027378753e-01,-1.390326995e-04,8.301282886e-01
+6,3.666666667e+00,DOWN_FORCE_DETACH,1792459751406565638,-3.372893149e-06,-2.877425716e-05,-2.943669950e-04,-2.901301452e-06,-2.786866834e-05,-2.806611092e-04,-6.633573733e-06,-2.819558523e-05,-2.805973242e-04,7.019522599e-01,-5.104499218e-05,8.598487202e-01,7.019527315e-01,-5.013940336e-05,8.598624261e-01,7.027383551e-01,-1.470330068e-04,8.300453136e-01
+7,4.216666667e+00,DOWN_FORCE_DETACH,1792459751996201304,-1.090748777e-05,-2.421114540e-05,-3.844084545e-04,-1.050439178e-05,-3.029740053e-05,-3.656895256e-04,-1.582908186e-05,-3.068522481e-05,-3.656410718e-04,7.019447253e-01,-4.648188042e-05,8.597586788e-01,7.019451284e-01,-5.256813556e-05,8.597773977e-01,7.027291596e-01,-1.495226464e-04,8.299602699e-01
+8,4.733333333e+00,DOWN_FORCE_DETACH,1792459752552900296,7.645097077e-06,-3.116721084e-05,-4.478848708e-04,-6.693774397e-06,-3.020403258e-05,-4.484270657e-04,-1.279546277e-05,-3.056439006e-05,-4.483141129e-04,7.019632779e-01,-5.343794586e-05,8.596952024e-01,7.019489390e-01,-5.247476760e-05,8.596946602e-01,7.027321932e-01,-1.494018116e-04,8.298775968e-01
+9,5.116666667e+00,DOWN_FORCE_DETACH,1792459752946335596,3.690759438e-05,-2.173019629e-05,-4.738574053e-04,3.785127328e-05,-2.490397106e-05,-4.603365098e-04,3.507598927e-05,-2.522806021e-05,-4.602200817e-04,7.019925404e-01,-4.400093132e-05,8.596692298e-01,7.019934841e-01,-4.717470608e-05,8.596827507e-01,7.027800646e-01,-1.440654818e-04,8.298656909e-01
+10,5.700000000e+00,DOWN_FORCE_DETACH,1792459753536113491,3.928125538e-05,-3.276929163e-05,-5.439870484e-04,3.891183062e-05,-3.105588289e-05,-5.437504369e-04,3.521668589e-05,-3.143031975e-05,-5.435906816e-04,7.019949141e-01,-5.504002665e-05,8.595991002e-01,7.019945446e-01,-5.332661791e-05,8.595993368e-01,7.027802053e-01,-1.502677413e-04,8.297823203e-01
+11,6.183333333e+00,DOWN_FORCE_DETACH,1792459754010811339,3.859989428e-05,-3.074435428e-05,-6.068494329e-04,3.783418580e-05,-3.518832375e-05,-5.873779787e-04,3.349981980e-05,-3.561240984e-05,-5.872906802e-04,7.019942327e-01,-5.301508931e-05,8.595362378e-01,7.019934670e-01,-5.745905878e-05,8.595557093e-01,7.027784885e-01,-1.544498314e-04,8.297386203e-01
+12,6.716666667e+00,DOWN_FORCE_DETACH,1792459754534915818,4.257943888e-05,-3.466172204e-05,-6.724859873e-04,4.243583659e-05,-3.458615934e-05,-6.721982180e-04,3.743491339e-05,-3.504647097e-05,-6.720735802e-04,7.019982123e-01,-5.693245706e-05,8.594706013e-01,7.019980687e-01,-5.685689436e-05,8.594708890e-01,7.027824236e-01,-1.538838925e-04,8.296538374e-01
+13,7.300000000e+00,DOWN_FORCE_DETACH,1792459755141300898,4.109052827e-05,-3.666982728e-05,-7.540474902e-04,4.336687894e-05,-3.946066100e-05,-7.366971638e-04,3.768395373e-05,-3.994126113e-05,-7.366222491e-04,7.019967233e-01,-5.894056231e-05,8.593890397e-01,7.019989997e-01,-6.173139602e-05,8.594063901e-01,7.027826726e-01,-1.587786827e-04,8.295892887e-01
+14,7.850000000e+00,DOWN_FORCE_DETACH,1792459755681752633,4.697878979e-05,-4.291165418e-05,-8.140290518e-04,4.383921632e-05,-3.496124908e-05,-7.983943253e-04,3.739468205e-05,-3.538869721e-05,-7.983710084e-04,7.020026116e-01,-6.518238921e-05,8.593290582e-01,7.019994720e-01,-5.723198410e-05,8.593446929e-01,7.027823833e-01,-1.542261188e-04,8.295275399e-01
+15,8.450000000e+00,DOWN_FORCE_DETACH,1792459756271212318,5.334465081e-05,-3.943822581e-05,-8.777175378e-04,4.977159725e-05,-4.131675259e-05,-8.610064013e-04,4.302477544e-05,-4.185616000e-05,-8.609948404e-04,7.020089775e-01,-6.170896084e-05,8.592653697e-01,7.020054044e-01,-6.358748761e-05,8.592820808e-01,7.027880134e-01,-1.606935816e-04,8.294649161e-01
+16,9.033333333e+00,DOWN_FORCE_DETACH,1792459756877534860,5.216896999e-05,-4.359320688e-05,-9.591216974e-04,5.210444000e-05,-3.877867989e-05,-9.457245823e-04,4.453123190e-05,-3.926962999e-05,-9.457410399e-04,7.020078018e-01,-6.586394190e-05,8.591839655e-01,7.020077373e-01,-6.104941492e-05,8.591973627e-01,7.027895199e-01,-1.581070516e-04,8.293801699e-01
+17,9.550000000e+00,DOWN_FORCE_DETACH,1792459757418156109,5.573678502e-05,-4.275532542e-05,-1.024956753e-03,5.444508426e-05,-3.999645258e-05,-1.010211433e-03,4.632511920e-05,-4.046729006e-05,-1.010248933e-03,7.020113696e-01,-6.502606044e-05,8.591181305e-01,7.020100779e-01,-6.226718760e-05,8.591328758e-01,7.027913138e-01,-1.593047116e-04,8.293156620e-01
+18,1.008333333e+01,DOWN_FORCE_DETACH,1792459757943033485,5.494503495e-05,-4.339937353e-05,-1.094970847e-03,5.250342172e-05,-4.588128519e-05,-1.077654360e-03,4.340001014e-05,-4.645403031e-05,-1.077660956e-03,7.020105779e-01,-6.567010855e-05,8.590481164e-01,7.020081362e-01,-6.815202021e-05,8.590654329e-01,7.027883887e-01,-1.652914519e-04,8.292482500e-01
+19,1.063333333e+01,DOWN_FORCE_DETACH,1792459758482621105,5.504233199e-05,-4.611416327e-05,-1.166445821e-03,5.394422329e-05,-4.211987063e-05,-1.163870156e-03,4.378976429e-05,-4.263023854e-05,-1.163870969e-03,7.020106751e-01,-6.838489830e-05,8.589766414e-01,7.020095770e-01,-6.439060565e-05,8.589792171e-01,7.027887784e-01,-1.614676601e-04,8.291620400e-01
+20,1.113333333e+01,DOWN_FORCE_DETACH,1792459758990418136,5.347220674e-05,-4.766684586e-05,-1.239900030e-03,5.295346512e-05,-4.416617819e-05,-1.226114998e-03,4.201460901e-05,-4.468109448e-05,-1.226152524e-03,7.020091050e-01,-6.993758088e-05,8.589031872e-01,7.020085863e-01,-6.643691321e-05,8.589169722e-01,7.027870033e-01,-1.635185161e-04,8.290997584e-01
+21,1.170000000e+01,DOWN_FORCE_DETACH,1792459759547687089,5.509750049e-05,-4.618469415e-05,-1.311497415e-03,5.119282464e-05,-4.588641626e-05,-1.297911900e-03,3.923731418e-05,-4.647544452e-05,-1.297965095e-03,7.020107303e-01,-6.845542918e-05,8.588315898e-01,7.020068256e-01,-6.815715128e-05,8.588451753e-01,7.027842260e-01,-1.653128661e-04,8.290279459e-01
+22,1.220000000e+01,DOWN_FORCE_DETACH,1792459760039223701,5.102478229e-05,-4.774645526e-05,-1.383598303e-03,5.109045386e-05,-4.767397863e-05,-1.383361536e-03,3.804346027e-05,-4.824998424e-05,-1.383449379e-03,7.020066576e-01,-7.001719028e-05,8.587594889e-01,7.020067233e-01,-6.994471365e-05,8.587597257e-01,7.027830321e-01,-1.670874058e-04,8.289424616e-01
+23,1.276666667e+01,DOWN_FORCE_DETACH,1792459760595839525,5.640229907e-05,-5.000557005e-05,-1.453132485e-03,5.271594446e-05,-5.146945981e-05,-1.446064461e-03,3.897440427e-05,-5.210767071e-05,-1.446204319e-03,7.020120351e-01,-7.227630507e-05,8.586899548e-01,7.020083488e-01,-7.374019484e-05,8.586970228e-01,7.027839631e-01,-1.709450923e-04,8.288797066e-01
+24,1.330000000e+01,DOWN_FORCE_DETACH,1792459761136138380,5.376688427e-05,-5.157876585e-05,-1.528805865e-03,5.250395391e-05,-4.929964955e-05,-1.512418546e-03,3.803338493e-05,-4.992910945e-05,-1.512545110e-03,7.020093997e-01,-7.384950087e-05,8.586142814e-01,7.020081368e-01,-7.157038457e-05,8.586306687e-01,7.027830220e-01,-1.687665310e-04,8.288133658e-01
+25,1.383333333e+01,DOWN_FORCE_DETACH,1792459761677287198,5.599261716e-05,-5.028866417e-05,-1.601225524e-03,5.440578080e-05,-5.275528871e-05,-1.597376113e-03,3.900196456e-05,-5.341488357e-05,-1.597511124e-03,7.020116254e-01,-7.255939919e-05,8.585418617e-01,7.020100386e-01,-7.502602373e-05,8.585457111e-01,7.027839906e-01,-1.722523051e-04,8.287283998e-01
+26,1.440000000e+01,DOWN_FORCE_DETACH,1792459762233908448,5.953393621e-05,-5.347699175e-05,-1.682429614e-03,5.755175464e-05,-5.390012635e-05,-1.665020674e-03,4.160671191e-05,-5.459034692e-05,-1.665183393e-03,7.020151668e-01,-7.574772677e-05,8.584606576e-01,7.020131846e-01,-7.617086138e-05,8.584780666e-01,7.027865954e-01,-1.734277685e-04,8.286607276e-01
+27,1.491666667e+01,DOWN_FORCE_DETACH,1792459762741324933,6.288128386e-05,-5.384189295e-05,-1.756008988e-03,6.254763621e-05,-5.456468276e-05,-1.748999895e-03,4.594380639e-05,-5.523876633e-05,-1.749156756e-03,7.020185141e-01,-7.611262797e-05,8.583870783e-01,7.020181805e-01,-7.683541778e-05,8.583940873e-01,7.027909325e-01,-1.740761879e-04,8.285767542e-01
+28,1.548333333e+01,DOWN_FORCE_DETACH,1792459763314778465,7.313151179e-05,-5.272160513e-05,-1.836540812e-03,7.187561509e-05,-4.959555256e-05,-1.834680456e-03,5.490794081e-05,-5.020840627e-05,-1.834853834e-03,7.020287643e-01,-7.499234015e-05,8.583065464e-01,7.020275084e-01,-7.186628759e-05,8.583084068e-01,7.027998966e-01,-1.690458278e-04,8.284910571e-01
+29,1.593333333e+01,DOWN_FORCE_DETACH,1792459763757643072,7.520815428e-05,-5.294507582e-05,-1.902423866e-03,7.210965978e-05,-5.774881498e-05,-1.895124696e-03,5.446675989e-05,-5.847372778e-05,-1.895351974e-03,7.020308410e-01,-7.521581084e-05,8.582406634e-01,7.020277425e-01,-8.001955001e-05,8.582479625e-01,7.027994554e-01,-1.773111493e-04,8.284305590e-01
+30,1.648333333e+01,DOWN_FORCE_DETACH,1792459764314860541,7.485931235e-05,-5.553660741e-05,-1.990008289e-03,7.514105624e-05,-5.864355868e-05,-1.985145383e-03,5.662174300e-05,-5.938771450e-05,-1.985322926e-03,7.020304921e-01,-7.780734243e-05,8.581530790e-01,7.020307739e-01,-8.091429370e-05,8.581579419e-01,7.028016104e-01,-1.782251361e-04,8.283405880e-01
+31,1.700000000e+01,DOWN_FORCE_DETACH,1792459764872695166,7.720581977e-05,-6.108097449e-05,-2.078435244e-03,7.516423042e-05,-5.802670574e-05,-2.072799472e-03,5.553365009e-05,-5.877028488e-05,-2.072982870e-03,7.020328386e-01,-8.335170952e-05,8.580646520e-01,7.020307970e-01,-8.029744076e-05,8.580702878e-01,7.028005223e-01,-1.776077065e-04,8.282529281e-01
+32,1.756666667e+01,DOWN_FORCE_DETACH,1792459765461132303,8.273866426e-05,-6.352075765e-05,-2.172297872e-03,8.262431790e-05,-6.250440802e-05,-2.160939394e-03,6.250085722e-05,-6.327341532e-05,-2.161181401e-03,7.020383715e-01,-8.579149267e-05,8.579707894e-01,7.020382571e-01,-8.477514304e-05,8.579821478e-01,7.028074895e-01,-1.821108369e-04,8.281647295e-01
+33,1.801666667e+01,DOWN_FORCE_DETACH,1792459765903118510,8.258715175e-05,-6.246046412e-05,-2.249551369e-03,8.234343685e-05,-6.358572792e-05,-2.245195938e-03,6.120957922e-05,-6.437505136e-05,-2.245435928e-03,7.020382200e-01,-8.473119914e-05,8.578935359e-01,7.020379763e-01,-8.585646294e-05,8.578978913e-01,7.028061982e-01,-1.832124729e-04,8.280804750e-01
+34,1.846666667e+01,DOWN_FORCE_DETACH,1792459766345204490,8.423898977e-05,-6.636175527e-05,-2.328174582e-03,8.284054821e-05,-6.910539323e-05,-2.312438798e-03,6.092604309e-05,-6.993791092e-05,-2.312684728e-03,7.020398718e-01,-8.863249030e-05,8.578149127e-01,7.020384734e-01,-9.137612825e-05,8.578306484e-01,7.028059147e-01,-1.887753325e-04,8.280132262e-01
+35,1.895000000e+01,DOWN_FORCE_DETACH,1792459766820316301,8.152817934e-05,-6.317053055e-05,-2.418162190e-03,8.116647710e-05,-6.643150291e-05,-2.403984399e-03,5.795986621e-05,-6.720121669e-05,-2.404272638e-03,7.020371610e-01,-8.544126557e-05,8.577249250e-01,7.020367993e-01,-8.870223793e-05,8.577391028e-01,7.028029485e-01,-1.860386383e-04,8.279216383e-01
+36,1.950000000e+01,DOWN_FORCE_DETACH,1792459767360605175,8.500204859e-05,-7.016023214e-05,-2.508213093e-03,8.170135787e-05,-7.046456865e-05,-2.491097422e-03,5.751143752e-05,-7.130869652e-05,-2.491421398e-03,7.020406349e-01,-9.243096717e-05,8.576348741e-01,7.020373342e-01,-9.273530367e-05,8.576519898e-01,7.028025001e-01,-1.901461181e-04,8.278344896e-01
+37,1.996666667e+01,DOWN_FORCE_DETACH,1792459767837457056,8.017896223e-05,-7.880054193e-05,-2.616357025e-03,7.968666973e-05,-7.308667082e-05,-2.604183837e-03,5.396522751e-05,-7.399245076e-05,-2.604483672e-03,7.020358118e-01,-1.010712770e-04,8.575267302e-01,7.020353195e-01,-9.535740584e-05,8.575389034e-01,7.027989539e-01,-1.928298723e-04,8.277214273e-01
+38,2.050000000e+01,DOWN_FORCE_DETACH,1792459768360730842,8.535567915e-05,-8.022780408e-05,-2.710378997e-03,8.544976765e-05,-8.022599545e-05,-2.710295544e-03,5.889854268e-05,-8.123072103e-05,-2.710630602e-03,7.020409885e-01,-1.024985391e-04,8.574327082e-01,7.020410826e-01,-1.024967305e-04,8.574327917e-01,7.028038872e-01,-2.000681426e-04,8.276152803e-01
+39,2.093333333e+01,DOWN_FORCE_DETACH,1792459768818904144,8.801577527e-05,-7.774665931e-05,-2.797905497e-03,8.664022269e-05,-7.767360637e-05,-2.798238239e-03,5.910265140e-05,-7.860023646e-05,-2.798586535e-03,7.020436486e-01,-1.000173943e-04,8.573451817e-01,7.020422730e-01,-9.994434139e-05,8.573448490e-01,7.028040913e-01,-1.974376580e-04,8.275273244e-01
+40,2.145000000e+01,DOWN_FORCE_DETACH,1792459769342484182,8.975593599e-05,-8.075330498e-05,-2.910169233e-03,9.025392329e-05,-8.046462924e-05,-2.905976016e-03,6.170489387e-05,-8.143536855e-05,-2.906361086e-03,7.020453888e-01,-1.030240400e-04,8.572329180e-01,7.020458867e-01,-1.027353643e-04,8.572371112e-01,7.028066935e-01,-2.002727901e-04,8.274195499e-01
+41,2.193333333e+01,DOWN_FORCE_DETACH,1792459769834392231,9.295891618e-05,-8.502501913e-05,-3.014806392e-03,9.363305465e-05,-8.169702167e-05,-3.011505199e-03,6.403990061e-05,-8.266156545e-05,-3.011871361e-03,7.020485917e-01,-1.072957541e-04,8.571282808e-01,7.020492659e-01,-1.039677567e-04,8.571315820e-01,7.028090285e-01,-2.014989870e-04,8.273140396e-01
+42,2.235000000e+01,DOWN_FORCE_DETACH,1792459770260293628,9.559029935e-05,-8.429568450e-05,-3.111388902e-03,9.647367268e-05,-8.704983414e-05,-3.105880592e-03,6.596780635e-05,-8.810734869e-05,-3.106243992e-03,7.020512231e-01,-1.065664195e-04,8.570316983e-01,7.020521065e-01,-1.093205692e-04,8.570372066e-01,7.028109565e-01,-2.069447703e-04,8.272196670e-01
+43,2.276666667e+01,DOWN_FORCE_DETACH,1792459770669367960,9.687405820e-05,-8.702563582e-05,-3.208303399e-03,9.848805483e-05,-8.903982365e-05,-3.201395798e-03,6.700581973e-05,-9.009922171e-05,-3.201825899e-03,7.020525069e-01,-1.092963708e-04,8.569347838e-01,7.020541209e-01,-1.113105587e-04,8.569416914e-01,7.028119945e-01,-2.089366433e-04,8.271240851e-01
+44,2.321666667e+01,DOWN_FORCE_DETACH,1792459771144896526,1.011511413e-04,-8.663828100e-05,-3.324419931e-03,9.763897628e-05,-8.950055515e-05,-3.316381422e-03,6.470174434e-05,-9.058402400e-05,-3.316799120e-03,7.020567840e-01,-1.089090160e-04,8.568186673e-01,7.020532718e-01,-1.117712902e-04,8.568267058e-01,7.028096904e-01,-2.094214456e-04,8.270091118e-01
+45,2.365000000e+01,DOWN_FORCE_DETACH,1792459771571011026,1.034185211e-04,-9.269119477e-05,-3.435454545e-03,1.021114867e-04,-9.003762242e-05,-3.415814833e-03,6.835490668e-05,-9.112949310e-05,-3.416280653e-03,7.020590513e-01,-1.149619298e-04,8.567076327e-01,7.020577443e-01,-1.123083574e-04,8.567272724e-01,7.028133436e-01,-2.099669147e-04,8.269096303e-01
+46,2.403333333e+01,DOWN_FORCE_DETACH,1792459771963961634,1.010868027e-04,-9.077234672e-05,-3.549305704e-03,1.008801202e-04,-9.066210685e-05,-3.549360326e-03,6.544409756e-05,-9.178683068e-05,-3.549807750e-03,7.020567196e-01,-1.130430817e-04,8.565937815e-01,7.020565129e-01,-1.129328419e-04,8.565937269e-01,7.028104327e-01,-2.106242523e-04,8.267761032e-01
+47,2.440000000e+01,DOWN_FORCE_DETACH,1792459772324551586,9.912809478e-05,-9.504250870e-05,-3.657842161e-03,9.536944397e-05,-9.659317624e-05,-3.641883536e-03,5.843096443e-05,-9.774462126e-05,-3.642411130e-03,7.020547609e-01,-1.173132437e-04,8.564852451e-01,7.020510023e-01,-1.188639113e-04,8.565012037e-01,7.028034196e-01,-2.165820428e-04,8.266834998e-01
+48,2.476666667e+01,DOWN_FORCE_DETACH,1792459772694540681,9.459871994e-05,-9.522591791e-05,-3.770953030e-03,9.641295433e-05,-9.438119225e-05,-3.765746756e-03,5.801924227e-05,-9.554393841e-05,-3.766259546e-03,7.020502315e-01,-1.174966529e-04,8.563721342e-01,7.020520458e-01,-1.166519273e-04,8.563773405e-01,7.028030079e-01,-2.143813600e-04,8.265596514e-01
+49,2.513333333e+01,DOWN_FORCE_DETACH,1792459773061361541,1.000575666e-04,-9.555257965e-05,-3.886507555e-03,1.000269304e-04,-9.554623534e-05,-3.886247648e-03,6.044919480e-05,-9.669708845e-05,-3.886748250e-03,7.020556904e-01,-1.178233147e-04,8.562565797e-01,7.020556597e-01,-1.178169704e-04,8.562568396e-01,7.028054378e-01,-2.155345100e-04,8.264391627e-01
+50,2.548333333e+01,DOWN_FORCE_DETACH,1792459773405552317,9.769009029e-05,-1.004275459e-04,-3.998914063e-03,9.952235946e-05,-9.580936786e-05,-3.990132309e-03,5.866063126e-05,-9.691985167e-05,-3.990686675e-03,7.020533229e-01,-1.226982809e-04,8.561441732e-01,7.020551552e-01,-1.180801029e-04,8.561529549e-01,7.028036493e-01,-2.157572732e-04,8.263352243e-01
+51,2.585000000e+01,DOWN_FORCE_DETACH,1792459773765744389,9.867667122e-05,-9.736685306e-05,-4.112022954e-03,9.961210449e-05,-9.812960911e-05,-4.105049613e-03,5.734226968e-05,-9.927960997e-05,-4.105622945e-03,7.020543095e-01,-1.196375881e-04,8.560310643e-01,7.020552449e-01,-1.204003441e-04,8.560380376e-01,7.028023309e-01,-2.181170315e-04,8.262202880e-01
+52,2.623333333e+01,DOWN_FORCE_DETACH,1792459774141832473,1.141323154e-04,-9.792387874e-05,-4.232448561e-03,1.122017807e-04,-9.754157509e-05,-4.214331485e-03,6.963784112e-05,-9.870901946e-05,-4.214937199e-03,7.020697651e-01,-1.201946138e-04,8.559106387e-01,7.020678346e-01,-1.198123101e-04,8.559287558e-01,7.028146265e-01,-2.175464410e-04,8.261109738e-01
+53,2.655000000e+01,DOWN_FORCE_DETACH,1792459774486533340,1.193848069e-04,-9.656702908e-05,-4.348709737e-03,1.199362631e-04,-9.499133990e-05,-4.337251639e-03,7.644335757e-05,-9.610783001e-05,-4.337829663e-03,7.020750176e-01,-1.188377641e-04,8.557943775e-01,7.020755691e-01,-1.172620749e-04,8.558058356e-01,7.028214320e-01,-2.149452516e-04,8.259880813e-01
+54,2.685000000e+01,DOWN_FORCE_DETACH,1792459774801913040,1.194793250e-04,-9.551271873e-05,-4.468422428e-03,1.193967913e-04,-9.889458401e-05,-4.451515168e-03,7.454170357e-05,-1.000703050e-04,-4.452106227e-03,7.020751121e-01,-1.177834537e-04,8.556746648e-01,7.020750296e-01,-1.211653190e-04,8.556915721e-01,7.028195304e-01,-2.189077266e-04,8.258738047e-01
+55,2.715000000e+01,DOWN_FORCE_DETACH,1792459775125647511,1.124390246e-04,-9.743467980e-05,-4.605769787e-03,1.143685988e-04,-9.544918465e-05,-4.597433396e-03,6.740331251e-05,-9.656332961e-05,-4.598052116e-03,7.020680718e-01,-1.197054148e-04,8.555373175e-01,7.020700014e-01,-1.177199197e-04,8.555456538e-01,7.028123920e-01,-2.154007512e-04,8.257278588e-01
+56,2.745000000e+01,DOWN_FORCE_DETACH,1792459775419950441,1.075935656e-04,-9.967497778e-05,-4.731522534e-03,1.076253975e-04,-1.021820447e-04,-4.712098441e-03,5.874909956e-05,-1.033790384e-04,-4.712799479e-03,7.020632264e-01,-1.219457128e-04,8.554115647e-01,7.020632582e-01,-1.244527797e-04,8.554309888e-01,7.028037377e-01,-2.222164600e-04,8.256131115e-01
+57,2.773333333e+01,DOWN_FORCE_DETACH,1792459775714739183,1.068610711e-04,-1.028090164e-04,-4.862993888e-03,1.047727880e-04,-1.019747624e-04,-4.845530912e-03,5.408736424e-05,-1.031741048e-04,-4.846221025e-03,7.020624939e-01,-1.250797514e-04,8.552800934e-01,7.020604056e-01,-1.242454975e-04,8.552975563e-01,7.027990760e-01,-2.220115264e-04,8.254796899e-01
+58,2.800000000e+01,DOWN_FORCE_DETACH,1792459775976608287,1.037675434e-04,-1.003314728e-04,-4.981548484e-03,1.041415902e-04,-1.009867568e-04,-4.969579643e-03,5.199675510e-05,-1.022015907e-04,-4.970301994e-03,7.020594004e-01,-1.226022078e-04,8.551615388e-01,7.020597744e-01,-1.232574919e-04,8.551735076e-01,7.027969854e-01,-2.210390123e-04,8.253556090e-01
+59,2.843333333e+01,DOWN_SETTLE,1792459776418772577,9.457287869e-05,-9.617570554e-05,-5.086689628e-03,9.899894942e-05,-9.800168343e-05,-5.067406051e-03,4.519450949e-05,-9.916874770e-05,-5.068263788e-03,7.020502057e-01,-1.184464406e-04,8.550563976e-01,7.020546318e-01,-1.202724185e-04,8.550756812e-01,7.027901832e-01,-2.180061693e-04,8.252576472e-01

Fixed/digit/ball_0010_10/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.3190e-02,2.5053e-02,2.4544e+00,-3.8499e-02,3.7711e-02,2.2636e-05,1.1780e-04,6.7465e-06,6.6757e-06,-1.8254e-07,8.3745e-06,-2.6121e-07,1.1818e-04,8.3805e-06
+1,6.8333e-01,DOWN_FORCE_DETACH,1.4073e-04,1.7249e-02,2.5076e-02,2.4546e+00,-3.8489e-02,3.7998e-02,1.5778e-05,4.1768e-03,2.9067e-05,1.7405e-04,9.2722e-06,2.9590e-04,-7.1192e-06,4.1805e-03,2.9613e-04
+2,1.3667e+00,DOWN_FORCE_DETACH,2.7922e-04,1.9275e-02,2.5172e-02,2.4609e+00,-3.8489e-02,3.8136e-02,1.2308e-05,6.2035e-03,1.2544e-04,6.4321e-03,9.4399e-06,4.3348e-04,-1.0590e-05,8.9370e-03,4.3371e-04
+3,1.9667e+00,DOWN_FORCE_DETACH,4.1673e-04,2.1944e-02,3.0450e-02,2.4685e+00,-3.8852e-02,3.8317e-02,1.2738e-05,8.8725e-03,5.4029e-03,1.4124e-02,-3.5329e-04,6.1442e-04,-1.0159e-05,1.7533e-02,7.0882e-04
+4,2.5500e+00,DOWN_FORCE_DETACH,5.5774e-04,2.5172e-02,3.4311e-02,2.4796e+00,-3.9114e-02,3.8534e-02,1.1462e-05,1.2100e-02,9.2643e-03,2.5153e-02,-6.1551e-04,8.3168e-04,-1.1436e-05,2.9409e-02,1.0347e-03
+5,3.1167e+00,DOWN_FORCE_DETACH,6.9650e-04,2.4344e-02,4.0394e-02,2.4872e+00,-3.9532e-02,3.8468e-02,1.1358e-05,1.1272e-02,1.5348e-02,3.2810e-02,-1.0337e-03,7.6555e-04,-1.1540e-05,3.7936e-02,1.2864e-03
+6,3.6667e+00,DOWN_FORCE_DETACH,8.3739e-04,2.4308e-02,4.6583e-02,2.4973e+00,-3.9958e-02,3.8456e-02,1.1518e-05,1.1236e-02,2.1536e-02,4.2905e-02,-1.4595e-03,7.5324e-04,-1.1379e-05,4.9304e-02,1.6425e-03
+7,4.2167e+00,DOWN_FORCE_DETACH,9.7770e-04,2.5691e-02,4.9173e-02,2.5032e+00,-4.0126e-02,3.8549e-02,7.2562e-06,1.2619e-02,2.4127e-02,4.8775e-02,-1.6279e-03,8.4634e-04,-1.5641e-05,5.5860e-02,1.8348e-03
+8,4.7333e+00,DOWN_FORCE_DETACH,1.1080e-03,2.3101e-02,5.0103e-02,2.5062e+00,-4.0178e-02,3.8365e-02,1.8323e-06,1.0029e-02,2.5056e-02,5.1757e-02,-1.6792e-03,6.6230e-04,-2.1065e-05,5.8371e-02,1.8052e-03
+9,5.1167e+00,DOWN_FORCE_DETACH,1.2565e-03,1.1702e-02,4.5681e-02,2.4953e+00,-3.9867e-02,3.7571e-02,3.8650e-07,-1.3695e-03,2.0634e-02,4.0855e-02,-1.3690e-03,-1.3107e-04,-2.2511e-05,4.5791e-02,1.3754e-03
+10,5.7000e+00,DOWN_FORCE_DETACH,1.3925e-03,1.5029e-02,5.0839e-02,2.4993e+00,-4.0236e-02,3.7805e-02,-3.4353e-06,1.9571e-03,2.5792e-02,4.4890e-02,-1.7374e-03,1.0233e-04,-2.6333e-05,5.1809e-02,1.7406e-03
+11,6.1833e+00,DOWN_FORCE_DETACH,1.5334e-03,1.7373e-02,5.3478e-02,2.4936e+00,-4.0432e-02,3.7976e-02,-7.0682e-07,4.3009e-03,2.8432e-02,3.9189e-02,-1.9335e-03,2.7335e-04,-2.3604e-05,4.8607e-02,1.9529e-03
+12,6.7167e+00,DOWN_FORCE_DETACH,1.6743e-03,1.8473e-02,5.5632e-02,2.4951e+00,-4.0598e-02,3.8050e-02,9.0011e-06,5.4008e-03,3.0585e-02,4.0684e-02,-2.0999e-03,3.4802e-04,-1.3896e-05,5.1184e-02,2.1286e-03
+13,7.3000e+00,DOWN_FORCE_DETACH,1.8135e-03,1.9464e-02,5.5655e-02,2.5009e+00,-4.0618e-02,3.8113e-02,2.3021e-05,6.3924e-03,3.0609e-02,4.6521e-02,-2.1194e-03,4.1109e-04,1.2305e-07,5.6053e-02,2.1589e-03
+14,7.8500e+00,DOWN_FORCE_DETACH,1.9486e-03,2.1139e-02,5.1554e-02,2.4994e+00,-4.0343e-02,3.8233e-02,3.3198e-05,8.0669e-03,2.6507e-02,4.4948e-02,-1.8449e-03,5.3100e-04,1.0301e-05,5.2802e-02,1.9199e-03
+15,8.4500e+00,DOWN_FORCE_DETACH,2.0906e-03,2.1947e-02,5.5082e-02,2.4958e+00,-4.0593e-02,3.8295e-02,4.1527e-05,8.8748e-03,3.0036e-02,4.1391e-02,-2.0950e-03,5.9302e-04,1.8630e-05,5.1905e-02,2.1774e-03
+16,9.0333e+00,DOWN_FORCE_DETACH,2.2301e-03,2.3712e-02,5.3308e-02,2.4977e+00,-4.0454e-02,3.8421e-02,3.9657e-05,1.0640e-02,2.8262e-02,4.3239e-02,-1.9560e-03,7.1903e-04,1.6760e-05,5.2740e-02,2.0840e-03
+17,9.5500e+00,DOWN_FORCE_DETACH,2.3691e-03,2.4479e-02,5.4543e-02,2.4964e+00,-4.0516e-02,3.8475e-02,3.1377e-05,1.1407e-02,2.9496e-02,4.1949e-02,-2.0171e-03,7.7304e-04,8.4796e-06,5.2535e-02,2.1602e-03
+18,1.0083e+01,DOWN_FORCE_DETACH,2.5099e-03,2.5966e-02,5.9418e-02,2.4974e+00,-4.0833e-02,3.8574e-02,1.5487e-05,1.2894e-02,3.4372e-02,4.3021e-02,-2.3347e-03,8.7157e-04,-7.4105e-06,5.6555e-02,2.4921e-03
+19,1.0633e+01,DOWN_FORCE_DETACH,2.6484e-03,2.5509e-02,5.7522e-02,2.5052e+00,-4.0683e-02,3.8530e-02,-7.5087e-06,1.2437e-02,3.2476e-02,5.0738e-02,-2.1842e-03,8.2745e-04,-3.0406e-05,6.1512e-02,2.3359e-03
+20,1.1133e+01,DOWN_FORCE_DETACH,2.7861e-03,2.6219e-02,5.9728e-02,2.5052e+00,-4.0828e-02,3.8578e-02,-2.6594e-05,1.3147e-02,3.4682e-02,5.0810e-02,-2.3294e-03,8.7593e-04,-4.9491e-05,6.2907e-02,2.4891e-03
+21,1.1700e+01,DOWN_FORCE_DETACH,2.9269e-03,2.6761e-02,6.1733e-02,2.5033e+00,-4.0967e-02,3.8619e-02,-4.4300e-05,1.3689e-02,3.6687e-02,4.8845e-02,-2.4686e-03,9.1707e-04,-6.7198e-05,6.2603e-02,2.6343e-03
+22,1.2200e+01,DOWN_FORCE_DETACH,3.0655e-03,2.7059e-02,6.1941e-02,2.5009e+00,-4.0994e-02,3.8647e-02,-5.2238e-05,1.3987e-02,3.6895e-02,4.6509e-02,-2.4957e-03,9.4421e-04,-7.5136e-05,6.0991e-02,2.6694e-03
+23,1.2767e+01,DOWN_FORCE_DETACH,3.2085e-03,2.7563e-02,6.4757e-02,2.5014e+00,-4.1216e-02,3.8688e-02,-4.9492e-05,1.4492e-02,3.9711e-02,4.6982e-02,-2.7172e-03,9.8609e-04,-7.2390e-05,6.3200e-02,2.8915e-03
+24,1.3300e+01,DOWN_FORCE_DETACH,3.3456e-03,2.8219e-02,6.2255e-02,2.5001e+00,-4.1064e-02,3.8738e-02,-4.1335e-05,1.5147e-02,3.7208e-02,4.5645e-02,-2.5654e-03,1.0360e-03,-6.4233e-05,6.0806e-02,2.7674e-03
+25,1.3833e+01,DOWN_FORCE_DETACH,3.4837e-03,2.8219e-02,6.4509e-02,2.5055e+00,-4.1233e-02,3.8731e-02,-2.5722e-05,1.5147e-02,3.9462e-02,5.1039e-02,-2.7341e-03,1.0289e-03,-4.8619e-05,6.6269e-02,2.9217e-03
+26,1.4400e+01,DOWN_FORCE_DETACH,3.6266e-03,2.7718e-02,6.5065e-02,2.5030e+00,-4.1268e-02,3.8695e-02,-1.0189e-05,1.4646e-02,4.0018e-02,4.8584e-02,-2.7690e-03,9.9301e-04,-3.3086e-05,6.4625e-02,2.9419e-03
+27,1.4917e+01,DOWN_FORCE_DETACH,3.7649e-03,2.7107e-02,6.5738e-02,2.5069e+00,-4.1293e-02,3.8647e-02,2.1062e-06,1.4035e-02,4.0691e-02,5.2456e-02,-2.7947e-03,9.4464e-04,-2.0791e-05,6.7856e-02,2.9501e-03
+28,1.5483e+01,DOWN_FORCE_DETACH,3.9036e-03,2.4645e-02,6.2421e-02,2.5083e+00,-4.1032e-02,3.8471e-02,8.2254e-06,1.1574e-02,3.7374e-02,5.3835e-02,-2.5331e-03,7.6882e-04,-1.4672e-05,6.6551e-02,2.6472e-03
+29,1.5933e+01,DOWN_FORCE_DETACH,4.0438e-03,2.5405e-02,6.8826e-02,2.5056e+00,-4.1465e-02,3.8525e-02,1.0547e-05,1.2333e-02,4.3779e-02,5.1132e-02,-2.9667e-03,8.2259e-04,-1.2350e-05,6.8434e-02,3.0787e-03
+30,1.6483e+01,DOWN_FORCE_DETACH,4.1814e-03,2.4352e-02,6.9739e-02,2.5107e+00,-4.1524e-02,3.8444e-02,8.1443e-06,1.1280e-02,4.4692e-02,5.6266e-02,-3.0253e-03,7.4132e-04,-1.4753e-05,7.2736e-02,3.1149e-03
+31,1.7000e+01,DOWN_FORCE_DETACH,4.3227e-03,2.3999e-02,6.9732e-02,2.5159e+00,-4.1517e-02,3.8413e-02,2.1107e-06,1.0927e-02,4.4685e-02,6.1509e-02,-3.0189e-03,7.1040e-04,-2.0787e-05,7.6809e-02,3.1015e-03
+32,1.7567e+01,DOWN_FORCE_DETACH,4.4626e-03,2.0323e-02,7.3992e-02,2.5137e+00,-4.1794e-02,3.8157e-02,-5.5303e-06,7.2514e-03,4.8945e-02,5.9314e-02,-3.2958e-03,4.5439e-04,-2.8428e-05,7.7242e-02,3.3271e-03
+33,1.8017e+01,DOWN_FORCE_DETACH,4.5976e-03,2.0387e-02,7.6219e-02,2.5150e+00,-4.1934e-02,3.8161e-02,-1.3352e-05,7.3148e-03,5.1173e-02,6.0600e-02,-3.4360e-03,4.5894e-04,-3.6250e-05,7.9653e-02,3.4667e-03
+34,1.8467e+01,DOWN_FORCE_DETACH,4.7402e-03,2.0722e-02,8.0585e-02,2.5103e+00,-4.2244e-02,3.8192e-02,-1.6281e-05,7.6503e-03,5.5538e-02,5.5834e-02,-3.7458e-03,4.8928e-04,-3.9179e-05,7.9123e-02,3.7778e-03
+35,1.8950e+01,DOWN_FORCE_DETACH,4.8776e-03,2.2887e-02,7.7937e-02,2.5134e+00,-4.2075e-02,3.8343e-02,-1.5750e-05,9.8147e-03,5.2891e-02,5.8953e-02,-3.5765e-03,6.4056e-04,-3.8648e-05,7.9807e-02,3.6336e-03
+36,1.9500e+01,DOWN_FORCE_DETACH,5.0164e-03,2.4809e-02,7.9926e-02,2.5133e+00,-4.2231e-02,3.8480e-02,-5.4227e-06,1.1738e-02,5.4879e-02,5.8840e-02,-3.7323e-03,7.7723e-04,-2.8320e-05,8.1312e-02,3.8125e-03
+37,1.9967e+01,DOWN_FORCE_DETACH,5.1567e-03,2.7286e-02,8.1271e-02,2.5217e+00,-4.2321e-02,3.8647e-02,3.8450e-06,1.4214e-02,5.6224e-02,6.7324e-02,-3.8227e-03,9.4492e-04,-1.9053e-05,8.8858e-02,3.9378e-03
+38,2.0500e+01,DOWN_FORCE_DETACH,5.2975e-03,2.6025e-02,8.2431e-02,2.5139e+00,-4.2385e-02,3.8566e-02,9.5239e-06,1.2953e-02,5.7384e-02,5.9439e-02,-3.8863e-03,8.6389e-04,-1.3374e-05,8.3629e-02,3.9812e-03
+39,2.0933e+01,DOWN_FORCE_DETACH,5.4363e-03,2.6059e-02,8.4414e-02,2.5215e+00,-4.2497e-02,3.8559e-02,6.7946e-06,1.2987e-02,5.9368e-02,6.7101e-02,-3.9987e-03,8.5695e-04,-1.6103e-05,9.0531e-02,4.0895e-03
+40,2.1450e+01,DOWN_FORCE_DETACH,5.5772e-03,2.4603e-02,8.7058e-02,2.5262e+00,-4.2658e-02,3.8445e-02,-2.5351e-06,1.1531e-02,6.2012e-02,7.1811e-02,-4.1597e-03,7.4251e-04,-2.5433e-05,9.5579e-02,4.2255e-03
+41,2.1933e+01,DOWN_FORCE_DETACH,5.7179e-03,2.2914e-02,8.9633e-02,2.5307e+00,-4.2809e-02,3.8318e-02,-1.2394e-05,9.8425e-03,6.4587e-02,7.6315e-02,-4.3103e-03,6.1596e-04,-3.5292e-05,1.0046e-01,4.3542e-03
+42,2.2350e+01,DOWN_FORCE_DETACH,5.8543e-03,2.1983e-02,9.5457e-02,2.5326e+00,-4.3198e-02,3.8251e-02,-1.4227e-05,8.9113e-03,7.0410e-02,7.8183e-02,-4.6994e-03,5.4832e-04,-3.7125e-05,1.0559e-01,4.7314e-03
+43,2.2767e+01,DOWN_FORCE_DETACH,5.9931e-03,2.2499e-02,9.7154e-02,2.5323e+00,-4.3319e-02,3.8291e-02,-1.1052e-05,9.4268e-03,7.2107e-02,7.7870e-02,-4.8210e-03,5.8826e-04,-3.3950e-05,1.0655e-01,4.8569e-03
+44,2.3217e+01,DOWN_FORCE_DETACH,6.1343e-03,2.5501e-02,9.6200e-02,2.5335e+00,-4.3275e-02,3.8505e-02,-8.6754e-06,1.2429e-02,7.1154e-02,7.9128e-02,-4.7763e-03,8.0313e-04,-3.1573e-05,1.0714e-01,4.8435e-03
+45,2.3650e+01,DOWN_FORCE_DETACH,6.2739e-03,2.7017e-02,9.5183e-02,2.5322e+00,-4.3208e-02,3.8613e-02,-7.9017e-06,1.3945e-02,7.0137e-02,7.7789e-02,-4.7096e-03,9.1106e-04,-3.0799e-05,1.0566e-01,4.7970e-03
+46,2.4033e+01,DOWN_FORCE_DETACH,6.4151e-03,2.9615e-02,9.4357e-02,2.5363e+00,-4.3125e-02,3.8790e-02,-1.0249e-05,1.6543e-02,6.9311e-02,8.1930e-02,-4.6268e-03,1.0878e-03,-3.3147e-05,1.0858e-01,4.7530e-03
+47,2.4400e+01,DOWN_FORCE_DETACH,6.5521e-03,3.2159e-02,9.9578e-02,2.5393e+00,-4.3456e-02,3.8965e-02,-1.5323e-05,1.9087e-02,7.4532e-02,8.4912e-02,-4.9570e-03,1.2629e-03,-3.8221e-05,1.1458e-01,5.1155e-03
+48,2.4767e+01,DOWN_FORCE_DETACH,6.6897e-03,3.0884e-02,9.7154e-02,2.5471e+00,-4.3275e-02,3.8869e-02,-2.2493e-05,1.7812e-02,7.2107e-02,9.2673e-02,-4.7762e-03,1.1672e-03,-4.5391e-05,1.1876e-01,4.9170e-03
+49,2.5133e+01,DOWN_FORCE_DETACH,6.8329e-03,2.5511e-02,9.6163e-02,2.5433e+00,-4.3197e-02,3.8494e-02,-2.5494e-05,1.2439e-02,7.1117e-02,8.8884e-02,-4.6987e-03,7.9207e-04,-4.8392e-05,1.1451e-01,4.7652e-03
+50,2.5483e+01,DOWN_FORCE_DETACH,6.9712e-03,2.4147e-02,1.0013e-01,2.5508e+00,-4.3428e-02,3.8391e-02,-2.5618e-05,1.1075e-02,7.5079e-02,9.6356e-02,-4.9291e-03,6.8857e-04,-4.8516e-05,1.2265e-01,4.9772e-03
+51,2.5850e+01,DOWN_FORCE_DETACH,7.1131e-03,2.2530e-02,1.0379e-01,2.5520e+00,-4.3660e-02,3.8274e-02,-1.7912e-05,9.4583e-03,7.8742e-02,9.7543e-02,-5.1618e-03,5.7156e-04,-4.0810e-05,1.2572e-01,5.1935e-03
+52,2.6233e+01,DOWN_FORCE_DETACH,7.2503e-03,1.9432e-02,1.0213e-01,2.5498e+00,-4.3557e-02,3.8059e-02,-4.2105e-06,6.3599e-03,7.7080e-02,9.5368e-02,-5.0581e-03,3.5659e-04,-2.7108e-05,1.2279e-01,5.0707e-03
+53,2.6550e+01,DOWN_FORCE_DETACH,7.3884e-03,1.9659e-02,9.8838e-02,2.5569e+00,-4.3323e-02,3.8073e-02,4.5276e-06,6.5872e-03,7.3791e-02,1.0249e-01,-4.8245e-03,3.7090e-04,-1.8370e-05,1.2646e-01,4.8387e-03
+54,2.6850e+01,DOWN_FORCE_DETACH,7.5202e-03,2.2039e-02,1.0176e-01,2.5593e+00,-4.3502e-02,3.8242e-02,9.8634e-06,8.9676e-03,7.6713e-02,1.0490e-01,-5.0031e-03,5.3939e-04,-1.3034e-05,1.3027e-01,5.0321e-03
+55,2.7150e+01,DOWN_FORCE_DETACH,7.6669e-03,2.4921e-02,1.0015e-01,2.5666e+00,-4.3357e-02,3.8435e-02,2.6660e-06,1.1850e-02,7.5108e-02,1.1216e-01,-4.8584e-03,7.3267e-04,-2.0232e-05,1.3551e-01,4.9134e-03
+56,2.7450e+01,DOWN_FORCE_DETACH,7.8033e-03,2.6691e-02,1.0431e-01,2.5649e+00,-4.3637e-02,3.8557e-02,-1.6802e-05,1.3619e-02,7.9262e-02,1.1044e-01,-5.1383e-03,8.5459e-04,-3.9700e-05,1.3662e-01,5.2090e-03
+57,2.7733e+01,DOWN_FORCE_DETACH,7.9517e-03,2.6226e-02,1.0483e-01,2.5705e+00,-4.3642e-02,3.8517e-02,-3.4564e-05,1.3154e-02,7.9786e-02,1.1607e-01,-5.1438e-03,8.1453e-04,-5.7462e-05,1.4146e-01,5.2082e-03
+58,2.8000e+01,DOWN_FORCE_DETACH,8.0873e-03,2.5711e-02,1.0615e-01,2.5746e+00,-4.3711e-02,3.8473e-02,-3.2313e-05,1.2639e-02,8.1100e-02,1.2023e-01,-5.2126e-03,7.7046e-04,-5.5211e-05,1.4557e-01,5.2695e-03
+59,2.8433e+01,DOWN_SETTLE,8.2256e-03,2.5819e-02,1.0286e-01,2.5532e+00,-4.3508e-02,3.8498e-02,-1.2862e-05,1.2747e-02,7.7810e-02,9.8747e-02,-5.0095e-03,7.9550e-04,-3.5760e-05,1.2636e-01,5.0724e-03

Fixed/digit/ball_0010_10/press_depth_04/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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Fixed/digit/ball_0010_10/press_depth_04/up/franka_data.csv

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Fixed/digit/ball_0010_10/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_0010_10/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/ball_0010_10/press_depth_05/down/camera_frames_60hz.tar

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