Upload Fixed (part 43)

Fixed/digit/cylinder_PLA_17.5/press_depth_03/up/franka_data.csv

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Fixed/digit/cylinder_PLA_17.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1793078932683474655,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.129035354e-08,-9.118398658e-10,-9.507394871e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456529e-01,-1.148436600e-04,8.303257259e-01
+1,2.000000000e-01,WAIT_W2,1793078932880048987,-1.382111107e-06,-1.137251351e-06,4.316847386e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.298419789e-07,-1.130878741e-08,-1.147851059e-08,7.019542158e-01,-2.312230593e-05,8.601438176e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457714e-01,-1.148540570e-04,8.303257154e-01
+2,3.666666667e-01,WAIT_W2,1793078933043804982,-3.411296261e-06,-2.025809411e-06,-1.477014348e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.096240769e-07,-1.788949865e-08,-1.980386877e-08,7.019521866e-01,-2.401086399e-05,8.601419089e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027458512e-01,-1.148606377e-04,8.303257071e-01
+3,5.333333333e-01,WAIT_W2,1793078933208713538,-3.570326180e-06,-3.256115158e-06,-2.643866033e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.754701836e-07,-2.329592456e-08,-2.731113280e-08,7.019520275e-01,-2.524116974e-05,8.601407420e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459171e-01,-1.148660441e-04,8.303256996e-01
+4,7.000000000e-01,WAIT_W2,1793078933371324927,-2.420090390e-06,-2.644046788e-06,2.198212393e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.300406204e-07,-2.774671447e-08,-3.399382109e-08,7.019531778e-01,-2.462910137e-05,8.601455841e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459716e-01,-1.148704949e-04,8.303256929e-01
+5,8.333333333e-01,WAIT_W2,1793078933502614091,-1.378254198e-06,-1.837294887e-05,6.564063203e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.669454450e-07,-3.075405104e-08,-3.872369647e-08,7.019542196e-01,-4.035800345e-05,8.601440423e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027460085e-01,-1.148735023e-04,8.303256882e-01
+6,8.500000000e-01,WAIT_W2,1793078933519018872,6.334948894e-07,-4.699794291e-05,6.396898124e-06,5.744752513e-07,-4.694205762e-05,6.688742032e-06,1.011827966e-06,-4.388743714e-05,6.394553479e-06,7.019562314e-01,-6.898299749e-05,8.601497828e-01,7.019561723e-01,-6.892711220e-05,8.601500747e-01,7.027466534e-01,-1.587301853e-04,8.303321214e-01
+7,8.666666667e-01,WAIT_W2,1793078933535531012,-1.589051086e-06,-7.996925773e-05,3.629997514e-06,-1.524208964e-06,-7.996792870e-05,3.451543889e-06,-1.131905548e-06,-7.478805592e-05,3.297311088e-06,7.019540088e-01,-1.019543123e-04,8.601470159e-01,7.019540737e-01,-1.019529833e-04,8.601468375e-01,7.027445097e-01,-1.896308041e-04,8.303290242e-01
+8,8.833333333e-01,WAIT_W2,1793078933552055536,1.331474626e-07,-1.199218076e-04,6.768888982e-06,1.393427177e-07,-1.202231772e-04,6.865587594e-06,5.872635092e-07,-1.124651580e-04,6.544407798e-06,7.019557310e-01,-1.419068622e-04,8.601501548e-01,7.019557372e-01,-1.422082317e-04,8.601502515e-01,7.027462289e-01,-2.273079062e-04,8.303322713e-01
+9,9.000000000e-01,WAIT_W2,1793078933569131126,1.540267392e-06,-1.926909581e-04,1.112970012e-05,1.432561441e-06,-1.923999119e-04,1.123382174e-05,2.056439118e-06,-1.799424883e-04,1.070615471e-05,7.019571381e-01,-2.146760127e-04,8.601545156e-01,7.019570304e-01,-2.143849665e-04,8.601546197e-01,7.027476980e-01,-2.947852365e-04,8.303364330e-01
+10,9.166666667e-01,WAIT_W2,1793078933584379289,2.200061959e-06,-2.292039117e-04,1.392087450e-05,2.355832225e-06,-2.292233841e-04,1.416569711e-05,3.025292773e-06,-2.145134076e-04,1.358693747e-05,7.019577979e-01,-2.511889663e-04,8.601573068e-01,7.019579537e-01,-2.512084386e-04,8.601575516e-01,7.027486669e-01,-3.293561558e-04,8.303393138e-01
+11,9.166666667e-01,WAIT_W2,1793078933584379289,2.200061959e-06,-2.292039117e-04,1.392087450e-05,2.355832225e-06,-2.292233841e-04,1.416569711e-05,3.025292773e-06,-2.145134076e-04,1.358693747e-05,7.019577979e-01,-2.511889663e-04,8.601573068e-01,7.019579537e-01,-2.512084386e-04,8.601575516e-01,7.027486669e-01,-3.293561558e-04,8.303393138e-01
+12,9.333333333e-01,WAIT_W2,1793078933603926413,-2.355706164e-06,-3.134734472e-04,9.521252016e-06,-2.387145909e-06,-3.133728926e-04,9.478598445e-06,-1.782594531e-06,-2.932605397e-04,9.085132824e-06,7.019532422e-01,-3.354585017e-04,8.601529072e-01,7.019532107e-01,-3.353579472e-04,8.601528645e-01,7.027438590e-01,-4.081032879e-04,8.303348120e-01
+13,9.500000000e-01,WAIT_W2,1793078933617666468,-9.611971163e-08,-3.790783061e-04,1.655387217e-05,4.550727939e-08,-3.789116945e-04,1.671934776e-05,7.455631228e-07,-3.547219280e-04,1.599162706e-05,7.019555017e-01,-4.010633607e-04,8.601599398e-01,7.019556434e-01,-4.008967491e-04,8.601601053e-01,7.027463872e-01,-4.695646762e-04,8.303417185e-01
+14,9.666666667e-01,WAIT_W2,1793078933634312296,1.441487878e-06,-3.989617197e-04,1.737956546e-05,1.333072399e-06,-3.989640682e-04,1.774368474e-05,2.040213276e-06,-3.736175676e-04,1.707597721e-05,7.019570394e-01,-4.209467743e-04,8.601607655e-01,7.019569309e-01,-4.209491228e-04,8.601611296e-01,7.027476818e-01,-4.884603158e-04,8.303428029e-01
+15,9.833333333e-01,WAIT_W2,1793078933650144630,-3.414066553e-07,-4.333383936e-04,1.678167863e-05,-2.586866507e-07,-4.335514211e-04,1.683706073e-05,3.312362451e-07,-4.061385164e-04,1.622364871e-05,7.019552565e-01,-4.553234482e-04,8.601601676e-01,7.019553392e-01,-4.555364757e-04,8.601602230e-01,7.027459728e-01,-5.209812646e-04,8.303419505e-01
+16,1.016666667e+00,WAIT_W2,1793078933683303791,1.598114486e-06,-4.799719795e-04,2.355105406e-05,1.492752900e-06,-4.802945878e-04,2.359671100e-05,2.135090735e-06,-4.501444982e-04,2.287147473e-05,7.019571960e-01,-5.019570341e-04,8.601669370e-01,7.019570906e-01,-5.022796424e-04,8.601669826e-01,7.027477767e-01,-5.649872464e-04,8.303485984e-01
+17,1.166666667e+00,WAIT_W2,1793078933830132141,1.002171584e-05,-4.808313950e-04,3.689167517e-05,1.492752900e-06,-4.802945878e-04,2.359671100e-05,2.320237965e-06,-4.502826747e-04,2.291880926e-05,7.019656196e-01,-5.028164496e-04,8.601802776e-01,7.019570906e-01,-5.022796424e-04,8.601669826e-01,7.027479618e-01,-5.651254229e-04,8.303486457e-01
+18,1.316666667e+00,WAIT_W2,1793078933977699903,1.384991213e-05,-4.805227250e-04,4.622130921e-05,1.242848479e-05,-4.794372086e-04,4.181674869e-05,1.409339140e-05,-4.494973046e-04,4.063856216e-05,7.019694478e-01,-5.025077796e-04,8.601896072e-01,7.019680264e-01,-5.014222632e-04,8.601852027e-01,7.027597350e-01,-5.643400528e-04,8.303663654e-01
+19,1.516666667e+00,WAIT_W2,1793078934174388394,1.403529043e-05,-4.804289967e-04,5.084509660e-05,1.242848479e-05,-4.794372086e-04,4.181674869e-05,1.431403138e-05,-4.495475092e-04,4.073641537e-05,7.019696332e-01,-5.024140513e-04,8.601942310e-01,7.019680264e-01,-5.014222632e-04,8.601852027e-01,7.027599556e-01,-5.643902574e-04,8.303664633e-01
+20,1.766666667e+00,UP_FORCE_RAMP,1793078934419911901,1.503668457e-05,-4.767914957e-04,5.238644847e-05,1.242848479e-05,-4.794372086e-04,4.181674869e-05,1.453703103e-05,-4.495931747e-04,4.082137216e-05,7.019706346e-01,-4.987765503e-04,8.601957724e-01,7.019680264e-01,-5.014222632e-04,8.601852027e-01,7.027601786e-01,-5.644359229e-04,8.303665483e-01
+21,1.916666667e+00,UP_FORCE_RAMP,1793078934567458288,1.640443357e-05,-4.757840804e-04,5.457097341e-05,1.242848479e-05,-4.794372086e-04,4.181674869e-05,1.465198928e-05,-4.496160226e-04,4.086298929e-05,7.019720023e-01,-4.977691349e-04,8.601979569e-01,7.019680264e-01,-5.014222632e-04,8.601852027e-01,7.027602936e-01,-5.644587708e-04,8.303665899e-01
+22,2.116666667e+00,UP_FORCE_RAMP,1793078934763725783,1.535794115e-05,-4.774430115e-04,5.546063563e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.252761386e-05,-4.505288853e-04,5.940919762e-05,7.019709558e-01,-4.994280660e-04,8.601988466e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027681692e-01,-5.653716335e-04,8.303851361e-01
+23,2.333333333e+00,UP_FORCE_RAMP,1793078934977477166,1.639189340e-05,-4.805008270e-04,6.022174470e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.270874755e-05,-4.505635030e-04,5.954192669e-05,7.019719898e-01,-5.024858816e-04,8.602036077e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027683503e-01,-5.654062512e-04,8.303852688e-01
+24,2.500000000e+00,UP_FORCE_RAMP,1793078935141042846,1.652095957e-05,-4.795999575e-04,6.132987425e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.282272688e-05,-4.505857314e-04,5.961688299e-05,7.019721188e-01,-5.015850121e-04,8.602047158e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027684643e-01,-5.654284796e-04,8.303853438e-01
+25,2.733333333e+00,UP_FORCE_RAMP,1793078935405116743,1.538347170e-05,-4.797736400e-04,6.752761477e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.296503806e-05,-4.506117827e-04,5.970379010e-05,7.019709813e-01,-5.017586946e-04,8.602109135e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027686066e-01,-5.654545309e-04,8.303854307e-01
+26,2.900000000e+00,UP_FORCE_RAMP,1793078935582683538,1.115937415e-05,-4.780298042e-04,6.644274778e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.305552980e-05,-4.506281896e-04,5.975744726e-05,7.019667572e-01,-5.000148588e-04,8.602098287e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027686971e-01,-5.654709378e-04,8.303854843e-01
+27,3.100000000e+00,UP_FORCE_RAMP,1793078935781533223,9.934650901e-06,-4.752694122e-04,7.612506328e-05,1.958322676e-05,-4.803627134e-04,6.090506661e-05,2.315405152e-05,-4.506460281e-04,5.981514132e-05,7.019655325e-01,-4.972544668e-04,8.602195110e-01,7.019751811e-01,-5.023477680e-04,8.602042910e-01,7.027687957e-01,-5.654887763e-04,8.303855420e-01
+28,3.283333333e+00,UP_FORCE_RAMP,1793078935975995296,1.144330475e-05,-4.775999051e-04,8.688619918e-05,1.042187658e-05,-4.767238891e-04,7.826091219e-05,1.381710688e-05,-4.472006698e-04,7.677449394e-05,7.019670412e-01,-4.995849597e-04,8.602302721e-01,7.019660197e-01,-4.987089437e-04,8.602216468e-01,7.027594587e-01,-5.620434180e-04,8.304025014e-01
+29,3.383333333e+00,UP_FORCE_RAMP,1793078936074156648,6.275347940e-06,-4.898492404e-04,9.086778306e-05,1.042187658e-05,-4.767238891e-04,7.826091219e-05,1.383634078e-05,-4.472042024e-04,7.683401820e-05,7.019618732e-01,-5.118342950e-04,8.602342537e-01,7.019660197e-01,-4.987089437e-04,8.602216468e-01,7.027594779e-01,-5.620469506e-04,8.304025609e-01
+30,3.516666667e+00,UP_FORCE_RAMP,1793078936205642819,5.622476275e-06,-4.900275672e-04,9.699346480e-05,7.329321943e-06,-4.886553117e-04,9.608174482e-05,1.087666626e-05,-4.584240254e-04,9.415003942e-05,7.019612203e-01,-5.120126218e-04,8.602403794e-01,7.019629272e-01,-5.106403663e-04,8.602394677e-01,7.027565183e-01,-5.732667736e-04,8.304198769e-01
+31,3.750000000e+00,UP_FORCE_RAMP,1793078936450860141,-1.152438961e-06,-4.850457658e-04,1.037427309e-04,7.329321943e-06,-4.886553117e-04,9.608174482e-05,1.092291546e-05,-4.584370487e-04,9.432828295e-05,7.019544454e-01,-5.070308204e-04,8.602471286e-01,7.019629272e-01,-5.106403663e-04,8.602394677e-01,7.027565645e-01,-5.732797969e-04,8.304200552e-01
+32,3.900000000e+00,UP_FORCE_RAMP,1793078936630571741,-4.973034712e-06,-4.846046092e-04,1.134455804e-04,-2.175980460e-06,-4.787977328e-04,1.131381697e-04,1.247957000e-06,-4.491619118e-04,1.109420890e-04,7.019506248e-01,-5.065896638e-04,8.602568315e-01,7.019534219e-01,-5.007827874e-04,8.602565241e-01,7.027468896e-01,-5.640046600e-04,8.304366690e-01
+33,4.066666667e+00,UP_FORCE_RAMP,1793078936960596619,-1.266163287e-05,-4.806728276e-04,1.322801375e-04,-1.156079809e-05,-4.855519921e-04,1.310909476e-04,-8.294962451e-06,-4.554823926e-04,1.284680156e-04,7.019429362e-01,-5.026578822e-04,8.602756661e-01,7.019440371e-01,-5.075370466e-04,8.602744769e-01,7.027373466e-01,-5.703251408e-04,8.304541949e-01
+34,4.300000000e+00,UP_FORCE_RAMP,1793078937207892055,-2.362535417e-05,-4.782767325e-04,1.395959003e-04,-1.156079809e-05,-4.855519921e-04,1.310909476e-04,-8.351217017e-06,-4.554781163e-04,1.287300879e-04,7.019319725e-01,-5.002617871e-04,8.602829818e-01,7.019440371e-01,-5.075370466e-04,8.602744769e-01,7.027372904e-01,-5.703208645e-04,8.304544570e-01
+35,4.500000000e+00,UP_FORCE_RAMP,1793078937418084827,-3.719631647e-05,-4.823307611e-04,1.415509281e-04,-2.679894433e-05,-4.780563239e-04,1.421990281e-04,-2.418777222e-05,-4.484012882e-04,1.396411457e-04,7.019184016e-01,-5.043158157e-04,8.602849368e-01,7.019287989e-01,-5.000413785e-04,8.602855849e-01,7.027214538e-01,-5.632440364e-04,8.304653680e-01
+36,4.733333333e+00,UP_FORCE_RAMP,1793078937665147719,-4.247755576e-05,-4.772953692e-04,1.495185437e-04,-2.679894433e-05,-4.780563239e-04,1.421990281e-04,-2.428380976e-05,-4.483861344e-04,1.398528538e-04,7.019131203e-01,-4.992804237e-04,8.602929045e-01,7.019287989e-01,-5.000413785e-04,8.602855849e-01,7.027213578e-01,-5.632288826e-04,8.304655797e-01
+37,4.900000000e+00,UP_FORCE_RAMP,1793078937843640876,-4.189140034e-05,-4.745613367e-04,1.606959879e-04,-4.172190570e-05,-4.757171384e-04,1.555148586e-04,-3.974726411e-05,-4.461334070e-04,1.529600452e-04,7.019137065e-01,-4.965463913e-04,8.603040819e-01,7.019138760e-01,-4.977021930e-04,8.602989008e-01,7.027058943e-01,-5.609761552e-04,8.304786869e-01
+38,5.100000000e+00,UP_FORCE_RAMP,1793078938058039111,-4.783904313e-05,-4.775991111e-04,1.625135325e-04,-4.172190570e-05,-4.757171384e-04,1.555148586e-04,-3.987060313e-05,-4.461137372e-04,1.531511857e-04,7.019077588e-01,-4.995841657e-04,8.603058994e-01,7.019138760e-01,-4.977021930e-04,8.602989008e-01,7.027057710e-01,-5.609564854e-04,8.304788781e-01
+39,5.333333333e+00,UP_FORCE_RAMP,1793078938302144019,-4.557812695e-05,-4.781396818e-04,1.733260828e-04,-4.172190570e-05,-4.757171384e-04,1.555148586e-04,-3.997066060e-05,-4.460987806e-04,1.533337472e-04,7.019100197e-01,-5.001247364e-04,8.603167120e-01,7.019138760e-01,-4.977021930e-04,8.602989008e-01,7.027056709e-01,-5.609415288e-04,8.304790606e-01
+40,5.483333333e+00,UP_FORCE_RAMP,1793078938449334627,-4.723058599e-05,-4.742149631e-04,1.775269203e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.087789315e-05,-4.455070487e-04,1.754777153e-04,7.019083673e-01,-4.962000177e-04,8.603209128e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027047637e-01,-5.603497969e-04,8.305012046e-01
+41,5.600000000e+00,UP_FORCE_RAMP,1793078938565142657,-4.929361829e-05,-4.763646077e-04,1.752505418e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.091412679e-05,-4.455025561e-04,1.756088673e-04,7.019063042e-01,-4.983496623e-04,8.603186365e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027047275e-01,-5.603453043e-04,8.305013358e-01
+42,5.750000000e+00,UP_FORCE_RAMP,1793078938712180300,-4.659676507e-05,-4.741579042e-04,1.843711665e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.095775782e-05,-4.454973004e-04,1.757523255e-04,7.019090011e-01,-4.961429588e-04,8.603277571e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027046838e-01,-5.603400486e-04,8.305014792e-01
+43,5.983333333e+00,UP_FORCE_RAMP,1793078938973648407,-4.663741322e-05,-4.756561407e-04,1.867289144e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.101577162e-05,-4.454906656e-04,1.759431446e-04,7.019089605e-01,-4.976411953e-04,8.603301148e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027046258e-01,-5.603334138e-04,8.305016700e-01
+44,6.133333333e+00,UP_FORCE_RAMP,1793078939122094384,-4.755896895e-05,-4.754148479e-04,1.892673765e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.104935950e-05,-4.454865622e-04,1.760517725e-04,7.019080389e-01,-4.973999025e-04,8.603326533e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027045922e-01,-5.603293104e-04,8.305017787e-01
+45,6.300000000e+00,UP_FORCE_RAMP,1793078939351213703,-4.963465989e-05,-4.725861960e-04,1.862542568e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.108263490e-05,-4.454824486e-04,1.761617872e-04,7.019059632e-01,-4.945712506e-04,8.603296402e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027045590e-01,-5.603251968e-04,8.305018887e-01
+46,6.466666667e+00,UP_FORCE_RAMP,1793078939515496703,-4.707331060e-05,-4.733033660e-04,1.922467904e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.111288667e-05,-4.454786160e-04,1.762633884e-04,7.019085246e-01,-4.952884205e-04,8.603356327e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027045287e-01,-5.603213642e-04,8.305019903e-01
+47,6.683333333e+00,UP_FORCE_RAMP,1793078939727210142,-4.751667628e-05,-4.779635474e-04,1.924430425e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.114843204e-05,-4.454742529e-04,1.763838293e-04,7.019080812e-01,-4.999486020e-04,8.603358290e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027044932e-01,-5.603170011e-04,8.305021107e-01
+48,6.933333333e+00,UP_FORCE_RAMP,1793078939972720368,-4.730161172e-05,-4.751018256e-04,1.927427133e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.118481358e-05,-4.454701420e-04,1.765096510e-04,7.019082963e-01,-4.970868802e-04,8.603361286e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027044568e-01,-5.603128903e-04,8.305022365e-01
+49,7.100000000e+00,UP_FORCE_RAMP,1793078940136600026,-4.661528253e-05,-4.694465888e-04,1.959461102e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.120678447e-05,-4.454674567e-04,1.765867081e-04,7.019089826e-01,-4.914316434e-04,8.603393320e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027044348e-01,-5.603102049e-04,8.305023136e-01
+50,7.233333333e+00,UP_FORCE_RAMP,1793078940267484979,-4.575593927e-05,-4.713779630e-04,1.972124365e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.122296142e-05,-4.454653611e-04,1.766446036e-04,7.019098419e-01,-4.933630176e-04,8.603405984e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027044186e-01,-5.603081093e-04,8.305023715e-01
+51,7.416666667e+00,UP_FORCE_RAMP,1793078940447670204,-4.820451015e-05,-4.750971305e-04,1.935297698e-04,-4.282004863e-05,-4.751242524e-04,1.782424340e-04,-4.124374360e-05,-4.454630462e-04,1.767197752e-04,7.019073934e-01,-4.970821851e-04,8.603369157e-01,7.019127778e-01,-4.971093069e-04,8.603216283e-01,7.027043979e-01,-5.603057944e-04,8.305024467e-01
+52,7.616666667e+00,UP_FORCE_RAMP,1793078940644553219,-4.711485053e-05,-4.747753640e-04,1.944607034e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.403890029e-05,-4.480038288e-04,1.965308550e-04,7.019084830e-01,-4.967604185e-04,8.603378466e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027016027e-01,-5.628465770e-04,8.305222577e-01
+53,7.800000000e+00,UP_FORCE_RAMP,1793078940824689660,-4.762523550e-05,-4.745131075e-04,1.957340177e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.406435375e-05,-4.480012634e-04,1.966597024e-04,7.019079726e-01,-4.964981621e-04,8.603391199e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027015772e-01,-5.628440116e-04,8.305223866e-01
+54,7.950000000e+00,UP_FORCE_RAMP,1793078940972365292,-4.763244303e-05,-4.703632560e-04,1.960559819e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.408288386e-05,-4.479997629e-04,1.967489691e-04,7.019079654e-01,-4.923483106e-04,8.603394419e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027015587e-01,-5.628425111e-04,8.305224759e-01
+55,8.216666667e+00,UP_FORCE_RAMP,1793078941233915604,-4.954850139e-05,-4.762406427e-04,1.970936251e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.411221285e-05,-4.479969610e-04,1.968867504e-04,7.019060494e-01,-4.982256973e-04,8.603404795e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027015294e-01,-5.628397092e-04,8.305226136e-01
+56,8.366666667e+00,UP_FORCE_RAMP,1793078941381604609,-5.227174285e-05,-4.746742790e-04,1.969221294e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.412682281e-05,-4.479954672e-04,1.969560036e-04,7.019033261e-01,-4.966593336e-04,8.603403080e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027015148e-01,-5.628382154e-04,8.305226829e-01
+57,8.533333333e+00,UP_FORCE_RAMP,1793078941545734364,-4.724291435e-05,-4.752558454e-04,2.053823753e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.414237929e-05,-4.479940368e-04,1.970269907e-04,7.019083550e-01,-4.972409000e-04,8.603487683e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027014992e-01,-5.628367850e-04,8.305227539e-01
+58,8.716666667e+00,UP_FORCE_HOLD,1793078941725808019,-4.927382573e-05,-4.704080564e-04,2.052178911e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.415779646e-05,-4.479916180e-04,1.970989440e-04,7.019063240e-01,-4.923931110e-04,8.603486038e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027014838e-01,-5.628343662e-04,8.305228258e-01
+59,8.916666667e+00,UP_FORCE_HOLD,1793078941938774426,-4.921469908e-05,-4.720642563e-04,2.077515659e-04,-4.574312735e-05,-4.778491898e-04,1.985111924e-04,-4.417393022e-05,-4.479909494e-04,1.971728490e-04,7.019063832e-01,-4.940493108e-04,8.603511375e-01,7.019098547e-01,-4.998342444e-04,8.603418971e-01,7.027014677e-01,-5.628336976e-04,8.305228997e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.7455e-01,7.0842e-01,2.4465e+00,-8.8647e-02,4.9434e-02,1.4594e-03,8.7366e-05,-1.2219e-05,-8.3447e-06,8.6427e-07,5.6587e-06,-4.3772e-08,8.8610e-05,5.7245e-06
+1,2.0000e-01,WAIT_W2,4.3561e-05,2.0206e-01,7.0410e-01,2.4436e+00,-8.8297e-02,5.1449e-02,1.3082e-03,2.7605e-02,-4.3317e-03,-2.9049e-03,3.5090e-04,2.0205e-03,-1.5120e-04,2.8093e-02,2.0563e-03
+2,3.6667e-01,WAIT_W2,8.4391e-05,2.1479e-01,7.0261e-01,2.4424e+00,-8.8184e-02,5.2337e-02,1.2068e-03,4.0328e-02,-5.8255e-03,-4.0162e-03,4.6321e-04,2.9092e-03,-2.5261e-04,4.0944e-02,2.9567e-03
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+5,8.3333e-01,WAIT_W2,2.1647e-04,2.4487e-01,7.0289e-01,2.4394e+00,-8.8289e-02,5.4519e-02,9.8533e-04,7.0415e-02,-5.5446e-03,-7.1056e-03,3.5890e-04,5.0907e-03,-4.7409e-04,7.0989e-02,5.1253e-03
+6,8.5000e-01,WAIT_W2,2.4574e-04,2.4489e-01,7.0289e-01,2.4393e+00,-8.8288e-02,5.4520e-02,9.8531e-04,7.0436e-02,-5.5484e-03,-7.1089e-03,3.5923e-04,5.0921e-03,-4.7411e-04,7.1011e-02,5.1267e-03
+7,8.6667e-01,WAIT_W2,2.7890e-04,2.4891e-01,1.4014e+00,2.3675e+00,-1.3890e-01,5.4866e-02,1.1592e-03,7.4451e-02,6.9299e-01,-7.8972e-02,-5.0249e-02,5.4380e-03,-3.0023e-04,7.0143e-01,5.0543e-02
+8,8.8333e-01,WAIT_W2,3.1901e-04,2.8051e-01,1.8827e+00,2.4165e+00,-1.7350e-01,5.7083e-02,2.1315e-03,1.0605e-01,1.1743e+00,-2.9957e-02,-8.4851e-02,7.6544e-03,6.7206e-04,1.1794e+00,8.5198e-02
+9,9.0000e-01,WAIT_W2,3.9193e-04,2.6891e-01,2.4805e+00,2.3926e+00,-2.1684e-01,5.6311e-02,2.3306e-03,9.4448e-02,1.7720e+00,-5.3883e-02,-1.2820e-01,6.8825e-03,8.7120e-04,1.7754e+00,1.2838e-01
+10,9.1667e-01,WAIT_W2,4.2855e-04,2.7329e-01,3.5360e+00,2.3475e+00,-2.9344e-01,5.6705e-02,2.7519e-03,9.8833e-02,2.8276e+00,-9.8974e-02,-2.0479e-01,7.2767e-03,1.2925e-03,2.8311e+00,2.0492e-01
+11,9.1667e-01,WAIT_W2,4.2855e-04,2.7329e-01,3.5360e+00,2.3475e+00,-2.9344e-01,5.6705e-02,2.7519e-03,9.8833e-02,2.8276e+00,-9.8974e-02,-2.0479e-01,7.2767e-03,1.2925e-03,2.8311e+00,2.0492e-01
+12,9.3333e-01,WAIT_W2,5.1306e-04,2.8796e-01,4.0582e+00,2.3757e+00,-3.3098e-01,5.7658e-02,4.3532e-03,1.1351e-01,3.3498e+00,-7.0768e-02,-2.4233e-01,8.2302e-03,2.8938e-03,3.3524e+00,2.4249e-01
+13,9.5000e-01,WAIT_W2,5.7908e-04,3.5650e-01,5.2848e+00,2.3911e+00,-4.1948e-01,6.2619e-02,4.5681e-03,1.8204e-01,4.5763e+00,-5.5347e-02,-3.3083e-01,1.3191e-02,3.1087e-03,4.5803e+00,3.3111e-01
+14,9.6667e-01,WAIT_W2,5.9904e-04,3.4276e-01,6.2236e+00,2.3240e+00,-4.8807e-01,6.1748e-02,5.0345e-03,1.6830e-01,5.5152e+00,-1.2243e-01,-3.9942e-01,1.2320e-02,3.5751e-03,5.5191e+00,3.9963e-01
+15,9.8333e-01,WAIT_W2,6.3347e-04,3.1894e-01,6.4830e+00,2.3479e+00,-5.0670e-01,6.0056e-02,6.1982e-03,1.4448e-01,5.7745e+00,-9.8583e-02,-4.1806e-01,1.0628e-02,4.7387e-03,5.7772e+00,4.1822e-01
+16,1.0167e+00,WAIT_W2,6.8064e-04,3.2068e-01,7.3044e+00,2.3595e+00,-5.6675e-01,6.0192e-02,6.2434e-03,1.4622e-01,6.5960e+00,-8.6927e-02,-4.7811e-01,1.0764e-02,4.7839e-03,6.5982e+00,4.7825e-01
+17,1.1667e+00,WAIT_W2,7.1803e-04,3.3058e-01,7.5994e+00,2.3490e+00,-5.8858e-01,6.0934e-02,6.3556e-03,1.5613e-01,6.8910e+00,-9.7474e-02,-4.9993e-01,1.1505e-02,4.8962e-03,6.8935e+00,5.0009e-01
+18,1.3167e+00,WAIT_W2,7.6249e-04,2.9030e-01,7.5157e+00,2.2891e+00,-5.8454e-01,5.8142e-02,6.8617e-03,1.1584e-01,6.8072e+00,-1.5738e-01,-4.9589e-01,8.7136e-03,5.4022e-03,6.8100e+00,4.9600e-01
+19,1.5167e+00,WAIT_W2,8.0505e-04,3.5251e-01,7.5112e+00,2.2890e+00,-5.8330e-01,6.2705e-02,6.1767e-03,1.7805e-01,6.8027e+00,-1.5747e-01,-4.9465e-01,1.3277e-02,4.7172e-03,6.8069e+00,4.9485e-01
+20,1.7667e+00,UP_FORCE_RAMP,8.4865e-04,3.8652e-01,7.4917e+00,2.3043e+00,-5.8142e-01,6.5202e-02,5.6156e-03,2.1206e-01,6.7833e+00,-1.4216e-01,-4.9278e-01,1.5774e-02,4.1562e-03,6.7881e+00,4.9305e-01
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Fixed/digit/cylinder_PLA_17.5/press_depth_04/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_17.5/press_depth_04/down/franka_data.csv

@@ -0,0 +1,61 @@
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+24778,1793079011736238912,15562836000000,1793079011732737438,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759402344257219,-0.004947146465515703,0.09974426906498883,0.999999962301378,-3.736054517062929e-05,-0.00023573887575205614,9.935531782775874e-05,0.6761,-0.0046,0.09995552897763381,1.0,0.0,0.0,0.0,-0.05511101114087391,0.00912541132666278,-0.04950465899552148,0.0005819891208477396,0.0034772638296556163,9.588125871676321e-05,1.0281135888723496,1.1534241267991114,0.6312251059995475,0.07831672509469136,-0.06852549579459312,-0.0005562886820850384,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.38942091534678325,1.593787456317053,1.0338456609544093,-0.16129694387889867,-0.5604478560075532,0.9511955406912652,1.6826685290495669,0.04950465899552148,0.6488228680951575,0.6488228680951575,0.5571912131889678,0,0,-4.2420143897548e-07,4.284863019954344e-06
+24910,1793079012836380865,15563936000000,1793079012828737440,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759401432516164,-0.004945017746677728,0.09974177511133045,0.999999962354296,-3.531996095358654e-05,-0.00023558473101896547,9.993300712609779e-05,0.6761,-0.0046,0.09995162927236281,1.0,0.0,0.0,0.0,-0.05517473436048426,-0.0004370016345582872,-0.04135622113867288,0.000580255770227911,0.003477896480944098,8.814280792855092e-05,1.0280498656527393,1.1438617138378904,0.6393735438563961,0.07831499174407153,-0.06852486314330464,-0.0005640271328732506,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.37949324824725944,1.6824412468961565,1.0235449374699528,-0.18540568559619858,-0.5565294636374255,1.011184434615822,1.6826685290495669,0.04135622113867288,0.6591235915796141,0.6591235915796141,0.6671912131889557,0,0,-7.85993177339809e-06,-1.839610260415991e-05
+25006,1793079013636375983,15564736000000,1793079013628737778,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759394410759056,-0.004939060379555666,0.09973393168520693,0.9999999626181766,-2.8817641013985e-05,-0.00023532642234016892,9.998764082590883e-05,0.6761,-0.0046,0.09993781882974574,1.0,0.0,0.0,0.0,-0.0644502464779877,-0.0037551874211421143,-0.01274860827320301,0.0005745351650565528,0.003472105438311654,6.389795075100748e-05,1.0187743535352358,1.1405435280513065,0.667981156721866,0.07830927113890017,-0.06853065418593708,-0.0005882719900507941,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.4534316462294264,1.7007774091819536,0.8659373547838037,-0.19811390918163485,-0.4430437040158313,1.0161713146469544,1.6826685290495669,0.01274860827320301,0.8167311742657631,0.8167311742657631,0.7471912131889469,0,0,-2.6308796922920645e-05,9.872824366231043e-05
+25122,1793079014603460694,15565703000000,1793079014600737582,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6759486182706894,-0.00494341263837898,0.09972946229732992,0.9999999658972575,-3.1912177525166824e-05,-0.0002184726505868995,0.00010440144827287041,0.6761,-0.0046,0.09990887263425578,1.0,0.0,0.0,0.0,-0.10285159953163947,0.015087082253713247,0.0811164030650251,0.0015004424256808285,0.006336778566176482,4.067924854673545e-05,0.980373000481584,1.159385797726162,0.7618461680600941,0.07923517839952444,-0.06566598105807225,-0.0006114906922550661,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.5480822711341657,1.6176104866777306,0.7552248915454709,-0.15303770065033878,-0.3521806381756439,0.9600200745723301,1.6826685290495669,-0.0811164030650251,0.927443637504096,0.927443637504096,0.8438912131889362,0,0,-2.5160367335382066e-05,9.999999025923074e-05
+25240,1793079015586499181,15566686000000,1793079015580738459,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759504691777304,-0.004943355334753135,0.09971809486726699,0.9999999663225411,-3.363121543680557e-05,-0.00021510831368913854,0.00010674800126104475,0.6761,-0.0046,0.09989076961416782,1.0,0.0,0.0,0.0,-0.13210339326520004,0.023885351210328754,0.1514836765762667,0.0034868078753445136,0.007427619888060441,0.0010476467474871934,0.9511212067480235,1.1681840666827774,0.8322134415713357,0.08122154384918813,-0.0645751397361883,0.00039547680668539195,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.5595062754445451,1.636778250276205,0.7449105125321301,-0.13957387099649698,-0.3522093269370553,0.9752395695606264,1.6826685290495669,-0.1514836765762667,0.9377580165174367,0.9377580165174367,0.9421912131889254,0,0,-1.409625268945132e-05,8.865067357237287e-05
+25360,1793079016586543069,15567686000000,1793079016584728049,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6759561472095694,-0.004944284518090931,0.09971002575409967,0.9999999678730571,-2.8297683713635902e-05,-0.00020611109193580704,0.00011141906485124201,0.6761,-0.0046,0.09986994273575203,1.0,0.0,0.0,0.0,-0.1517742884833052,0.03920147396681073,0.22037334161741928,0.004457596135405639,0.008777550020695218,0.001022585073674673,0.9314503115299183,1.1835001894392594,0.9011031066124883,0.08219233210924926,-0.06322520960355352,0.0003704151328728716,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.6659218582203084,1.5892497287109828,0.6492416429445401,-0.12382690560410056,-0.2656574748822493,0.9413385109568958,1.6826685290495669,-0.22037334161741928,1.0334268861050266,1.0334268861050266,1.0421912131889144,0,0,-2.7286654620513377e-05,9.899786132384065e-05
+25478,1793079017569605590,15568669000000,1793079017564738482,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6759692213951095,-0.004947246495828428,0.09969982670483936,0.9999999702053435,-2.9180755701034242e-05,-0.0001920600202411118,0.00011529791269084925,0.6761,-0.0046,0.09983905675940227,1.0,0.0,0.0,0.0,-0.22027414030820225,0.10600867098624689,0.2825440252179279,0.009426866851203433,0.013362475817067551,0.001094476370712454,0.8629504597050213,1.2503073864586955,0.9632737902129969,0.08716160282504705,-0.058640283807181184,0.0004423064299106525,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.7356271339837517,1.5800975657719718,0.5962332684427154,-0.08940243234250553,-0.23969679122649662,0.9370912154827933,1.6826685290495669,-0.2825440252179279,1.0864352606068515,1.0864352606068515,1.1404912131889036,0,0,-3.478446265334079e-05,-9.727258862136096e-05
+25604,1793079018619633030,15569719000000,1793079018616728869,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759798593316382,-0.004944458435526526,0.09968873413094802,0.9999999725550857,-2.54797924116341e-05,-0.00017565824730570663,0.00012176885015169479,0.6761,-0.0046,0.09980770972440596,1.0,0.0,0.0,0.0,-0.2595274129798494,0.13842490520853,0.4131787364898374,0.011355607509163049,0.0163308339246378,0.00208395335142272,0.8236971870333741,1.2827236206809787,1.0939085014849064,0.08909034348300666,-0.055671925699610936,0.0014317834106209184,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.7523700113647706,1.5711685151606594,0.3985048281745843,-0.07944634605464883,-0.11990285083695956,0.9288252619395355,1.6826685290495669,-0.4131787364898374,1.2841637008749824,1.2841637008749824,1.245491213188892,0,0,-2.1564047218676545e-05,9.999706204600329e-05
+25724,1793079019619644774,15570719000000,1793079019616727759,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.675982514880785,-0.004948772696068199,0.09967715319618568,0.9999999730701159,-2.9449259786184605e-05,-0.0001709093579267365,0.00012339110386132992,0.6761,-0.0046,0.09979109204366785,1.0,0.0,0.0,0.0,-0.28614807238392304,0.14978627447730886,0.46445340488527687,0.012338589387471316,0.01731266260571416,0.002064191689462032,0.7970765276293005,1.2940849899497575,1.1451831698803459,0.09007332536131493,-0.05469009701853458,0.0014120217486602307,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.8112624714209056,1.7307513687280367,0.3274481642025085,-0.11206985277553003,-0.06365385689447642,1.0332300045556289,1.6826685290495669,-0.46445340488527687,1.3552203648470584,1.3552203648470584,1.345491213188881,0,0,-2.002316816932114e-05,9.425158850462906e-05
+25861,1793079020761684195,15571861000000,1793079020760728582,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6759904733565071,-0.0049517394066814074,0.09966645858054721,0.9999999744659022,-2.9869695399739865e-05,-0.00015741410377882473,0.00012976771834908747,0.6761,-0.0046,0.09975936264930584,1.0,0.0,0.0,0.0,-0.31935681238265856,0.15875031701641396,0.5593166195097043,0.01417536453297659,0.01928287590538621,0.0020335212197226207,0.763867787630565,1.3030490324888626,1.2400463845047733,0.0919101005068202,-0.05271988371886253,0.001381351278920819,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.8961428692038083,1.5378999826203439,0.17817776625131673,-0.04760400421387097,0.047523945724352534,0.9105441178145237,1.6826685290495669,-0.5593166195097043,1.5044907627982502,1.5044907627982502,1.4596912131888684,0,0,-3.497793301246587e-05,9.921875407237763e-05
+25981,1793079021761724488,15572861000000,1793079021760727306,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6759941094917363,-0.004951970485345735,0.0996472674317653,0.9999999752685707,-2.8888662318331512e-05,-0.0001503708135484536,0.0001321354842521055,0.6761,-0.0046,0.09972896021589887,1.0,0.0,0.0,0.0,-0.35447404611950484,0.16730145772165295,0.6663378165204994,0.015241855295946946,0.02126023858485078,0.003017426370261847,0.7287505538937187,1.3116001731941016,1.3470675815155684,0.09297659126979056,-0.050742521039397956,0.0023652564294600453,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.9653783549754749,1.68115791181471,0.11666415637088695,-0.08374869552639623,0.09600738050857043,1.0072501666305012,1.6826685290495669,-0.6663378165204994,1.5660043726786799,1.5660043726786799,1.5596912131888574,0,0,-2.3859888263728972e-05,9.835459810337283e-05
+26107,1793079022811814379,15573911000000,1793079022804727814,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6759978368747613,-0.0049501469453779425,0.09963725719997457,0.9999999759164349,-2.558794797064586e-05,-0.00014345248026490347,0.00013556045526276272,0.6761,-0.0046,0.0997083965851899,1.0,0.0,0.0,0.0,-0.37441095481476716,0.1757175500928252,0.7465301284868575,0.015201471943531553,0.02225660753376612,0.002965936957535082,0.7088136451984564,1.3200162655652738,1.4272598934819265,0.09293620791737517,-0.049746152090482616,0.00231376701673328,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.9299244945265971,1.587736046820756,0.11941839636497147,-0.059609192210508075,0.08489061581418769,0.9515618846210692,1.6826685290495669,-0.7465301284868575,1.5632501326845953,1.5632501326845953,1.6646912131888458,0,0,-2.1332806642042297e-05,-9.999999025923074e-05
+26239,1793079023911830198,15575011000000,1793079023908728498,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6760055763013384,-0.004952137652839081,0.09962199808914139,0.999999977480938,-2.771879712245357e-05,-0.00012962516951941534,0.00013751353225984882,0.6761,-0.0046,0.09967547239340001,1.0,0.0,0.0,0.0,-0.40015698725982274,0.18782560287692784,0.8510647035509966,0.016147865724364815,0.024241872320840012,0.0029193789054227236,0.6830676127534008,1.3321243183493765,1.5317944685460656,0.09388260169820843,-0.047760887303408724,0.002267208964620922,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.0240167571540346,1.5137199460247288,-0.1216987098601939,-0.03491601814033721,0.2596722495370917,0.9050306157206635,1.6826685290495669,-0.8510647035509966,1.8043672389097607,1.8043672389097607,1.7746912131888337,0,0,-3.332531512270786e-05,9.945034659531444e-05
+26355,1793079024878873514,15575978000000,1793079024876728669,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760122344556018,-0.0049485111021451205,0.09960976108346795,0.9999999780076883,-2.329426420274623e-05,-0.00011952392902149611,0.0001435231519196343,0.6761,-0.0046,0.09965070849423653,1.0,0.0,0.0,0.0,-0.4174154418389402,0.1991534519220306,0.937667517487335,0.017097969170651553,0.0262299712010629,0.0028924755483667125,0.6658091581742833,1.3434521673944793,1.618397282482404,0.09483270514449517,-0.045772788423185835,0.002240305607564911,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.0349810714371768,1.5577605586038485,-0.1525524356931289,-0.05241628648507356,0.27848223803084043,0.9381310937176771,1.6826685290495669,-0.937667517487335,1.8352209647426958,1.8352209647426958,1.871391213188823,0,0,-2.3742646067274837e-05,-9.999999025923074e-05
+26498,1793079026069861603,15577169000000,1793079026068727678,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760168072447799,-0.004952916455501374,0.09958911010637526,0.9999999782195041,-2.6273487723118115e-05,-0.00011292349409334336,0.0001468395175012191,0.6761,-0.0046,0.09961820858381779,1.0,0.0,0.0,0.0,-0.45218698196039886,0.21357534487647634,1.0220423864019297,0.018055899818812657,0.028218244000927484,0.0028615762108638084,0.6310376180528247,1.357874060348925,1.7027721513969987,0.09579063579265627,-0.04378451562332125,0.0022094062700620067,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.056144068528869,1.4652185675684912,-0.22209590603956045,-0.02011870257310257,0.323599149075788,0.8819022943735172,1.6826685290495669,-1.0220423864019297,1.9047644350891273,1.9047644350891273,1.99049121318881,0,0,-3.379073066775285e-05,-9.999999025923074e-05
+26638,1793079027236958409,15578336000000,1793079027236727645,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6760288222606184,-0.004955348628028795,0.09956838392140001,0.9999999789386348,-2.7529860458025103e-05,-9.56245342417443e-05,0.00015382993715095574,0.6761,-0.0046,0.09957477195926502,1.0,0.0,0.0,0.0,-0.4918089550553898,0.24921808139550894,1.149439028232548,0.020986654319000306,0.031173469723307264,0.0032427277163504633,0.5914156449578337,1.3935167968679576,1.830168793227617,0.09872139029284392,-0.04082928990094147,0.0025905577755486616,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1340707919529163,1.4847689494102392,-0.41599940760806053,-0.02723141407870875,0.45530346717603803,0.8985234535452657,1.6826685290495669,-1.149439028232548,2.0986679366576273,2.0986679366576273,2.107191213189035,0,0,-3.5465773752492484e-05,9.980478529592602e-05
+26759,1793079028245013088,15579344000000,1793079028244728079,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6760363135293446,-0.004959678841121859,0.09954952351807658,0.9999999788114531,-2.9927972036185294e-05,-8.44996039787977e-05,0.00016057425443221458,0.6761,-0.0046,0.09954298434236944,1.0,0.0,0.0,0.0,-0.5102233772334105,0.23924982335710343,1.2293037628579409,0.019991790164066756,0.03218887002275224,0.0027744914471713473,0.573001222779813,1.383548538829552,1.9100335278530098,0.09772652613791037,-0.0398138896014965,0.0021223215063695456,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.152587892846389,1.5265535613129433,-0.5052217769241504,-0.04143614054085172,0.5164248168541792,0.9309639485196899,1.6826685290495669,-1.2293037628579409,2.1878903059737174,2.1878903059737174,2.207991213189248,0,0,-3.0521277324574005e-05,6.464837036300431e-05
+26889,1793079029328988257,15580428000000,1793079029328727645,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760436167226662,-0.004964617848475142,0.0995251723449828,0.9999999786629027,-2.7575567280258452e-05,-7.246765775672965e-05,0.0001676457134884379,0.6761,-0.0046,0.09950091256026886,1.0,0.0,0.0,0.0,-0.5294504268274703,0.2426806547057201,1.3289998428678258,0.020006536443446035,0.03412230044713965,0.002722672514290906,0.5537741731857532,1.3869793701781687,2.009729607862895,0.09774127241728965,-0.03788045917710908,0.0020705025734891044,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1519756759920994,1.5186418587740582,-0.6189209965440698,-0.043610067191888306,0.585653210645993,0.9262117543598013,1.6826685290495669,-1.3289998428678258,2.301589525593637,2.301589525593637,2.3163912131894766,0,0,-4.213854365856117e-05,9.986790147487596e-05
+27021,1793079030429141652,15581528000000,1793079030428727775,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6760495309755972,-0.004961652507193125,0.0994926747696971,0.9999999786494297,-2.8635873820174377e-05,-6.278701628626655e-05,0.00017141114881080656,0.6761,-0.0046,0.09945932522667231,1.0,0.0,0.0,0.0,-0.547446867524018,0.23181031296584376,1.419432291357905,0.019419324489325346,0.035197238701932865,0.002656311669214225,0.5357777324892055,1.3761090284382924,2.100162056352974,0.09715406046316896,-0.03680552092231587,0.0020041417284124233,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1999439358012443,1.426850024960202,-0.6942956529626786,-0.011467607501966029,0.6487683052660568,0.8735585285229086,1.6826685290495669,-1.419432291357905,2.3769641820122454,2.3769641820122454,2.4263912131897087,0,0,-3.963485539357071e-05,-9.991966562339911e-05
+27137,1793079031395179770,15582494000000,1793079031388727902,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.676055689764956,-0.004961757996759398,0.09946713843767936,0.9999999780322799,-2.4209316405620086e-05,-5.287020093991707e-05,0.0001788769268201289,0.6761,-0.0046,0.09941954538614337,1.0,0.0,0.0,0.0,-0.5476471901864802,0.21377593407299966,1.4990177076491995,0.017744015927183013,0.036000434481562475,0.0025894224358005377,0.5355774098267433,1.3580746495454483,2.1797474726442685,0.09547875190102663,-0.03600232514268626,0.0019372524949987362,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2121536610780344,1.4638137071056452,-0.7879670415205278,-0.028663374577754436,0.713231405588998,0.8939920963382516,1.6826685290495669,-1.4990177076491995,2.470635570570095,2.470635570570095,2.5229912131899126,0,0,-4.649491218008806e-05,-2.1893704930892002e-05
+27251,1793079032345228006,15583444000000,1793079032344737912,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760662243124563,-0.004966284705941493,0.09943992392982179,0.9999999774125683,-2.5215442233738512e-05,-3.7735687990678666e-05,0.00018589762471230662,0.6761,-0.0046,0.09937291939116422,1.0,0.0,0.0,0.0,-0.5469714835520212,0.20851189825857275,1.5661537459230472,0.015670417189808966,0.03713067553237213,0.0014952904131023703,0.5362531164612023,1.3528106137310214,2.2468835109181162,0.09340515316365258,-0.03487208409187661,0.0008431204723005688,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2069536984208586,1.4979421226255842,-0.8386726551869637,-0.043897591421679205,0.7447765436907469,0.9163940612117325,1.6826685290495669,-1.5661537459230472,2.5213411842365305,2.5213411842365305,2.617991213190113,0,0,-5.207630580514178e-05,-9.990236002200276e-05
+27381,1793079033429223147,15584528000000,1793079033428728214,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760738301051484,-0.004966283920899988,0.09939165638847883,0.9999999761390918,-1.8142164807984168e-05,-2.419292861514007e-05,0.00019557669667562817,0.6761,-0.0046,0.0993103492883679,1.0,0.0,0.0,0.0,-0.5588184408370876,0.17949955761350056,1.6574229551052704,0.013578781990912211,0.03829999886556417,0.0014202719758590523,0.5244061591761359,1.3237982730859492,2.3381527201003394,0.09131351796475583,-0.033702760758684565,0.0007681020350572508,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1941414788868332,1.3689670148132014,-0.9470017608585355,-0.013533821991540346,0.8112950046079562,0.8293301444709749,1.6826685290495669,-1.6574229551052704,2.6296702899081024,2.6296702899081024,2.726391213190342,0,0,-6.256482800867514e-05,-9.999962943674773e-05
+27504,1793079034454242562,15585553000000,1793079034452737392,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6760841000694358,-0.004972783247920221,0.09934478825934907,0.9999999743740569,-1.9964194093207697e-05,-7.298750432845141e-06,0.00020553079873058267,0.6761,-0.0046,0.09924307155094564,1.0,0.0,0.0,0.0,-0.5740300932172548,0.1702556804145472,1.7572735056618156,0.012512128445923462,0.039312676380171024,0.001338778854762246,0.5091945067959687,1.3145543958869959,2.4380032706568846,0.09024686441976708,-0.03269008324407771,0.0006866089139604443,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.232611631839745,1.5602472687836308,-1.1889284353592593,-0.08052132517594152,0.9755774982507892,0.9524702327730309,1.6826685290495669,-1.7572735056618156,2.871596964408826,2.871596964408826,2.828891213190558,0,0,-6.39977016561336e-05,9.999994862586731e-05
+27618,1793079035404351599,15586503000000,1793079035400727936,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6760925673189463,-0.004974445484598349,0.09930186595442898,0.9999999725546206,-2.17503870502346e-05,6.953335434093092e-06,0.00021403783441137329,0.6761,-0.0046,0.09918097521746308,1.0,0.0,0.0,0.0,-0.5736886888013757,0.13832196650109818,1.8538805928653956,0.010431430109242468,0.040349736980841384,0.00022929944668555706,0.5095359112118478,1.2826206819735468,2.5346103578604646,0.08816616608308608,-0.03165302264340735,-0.0004228704941162445,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1991685523757003,1.5559744185747573,-1.0966180674762431,-0.08798588785359855,0.9082033398039575,0.9508871435822981,1.6826685290495669,-1.8538805928653956,2.77928659652581,2.77928659652581,2.9238912131907586,0,0,-6.440634505863597e-05,-9.965458599848204e-05
+27730,1793079036337393897,15587436000000,1793079036336737413,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6761010561329032,-0.004981415780943496,0.09925847240610176,0.9999999705569041,-2.587631692050006e-05,2.0396886982604327e-05,0.00022190862621424654,0.6761,-0.0046,0.09912112135151513,1.0,0.0,0.0,0.0,-0.5745090668603001,0.11489909870566972,1.911953520158598,0.008333913234994939,0.04037662659002574,0.0001576304959582343,0.5087155331529234,1.2591978141781184,2.592683285153667,0.08606864920883855,-0.03162613303422299,-0.0004945394448435673,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.201397764848413,1.5047084399842134,-1.226914183410294,-0.08237329954534583,0.9952502614027386,0.9144543489614038,1.6826685290495669,-1.911953520158598,2.9095827124598608,2.9095827124598608,3.0171912131909555,0,0,-6.688846305588492e-05,-9.999999025923074e-05
+27843,1793079037279333031,15588378000000,1793079037276737480,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.676107406320439,-0.004985228988957861,0.09920297549847645,0.9999999682798226,-2.641922264898067e-05,3.035195548265138e-05,0.00023078995121086427,0.6761,-0.0046,0.09905046715816221,1.0,0.0,0.0,0.0,-0.5617999761889684,0.07325922506372673,1.9540957157213237,0.005304553166187234,0.040425728144472206,9.225591259687347e-05,0.5214246238242551,1.2175579405361754,2.6348254807163927,0.08303928914003085,-0.03157703147977653,-0.0005599140282049281,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1902497518158783,1.4932696095534002,-1.347378725939517,-0.07779352385473938,1.071630418112001,0.9074459013046522,1.6826685290495669,-1.9540957157213237,3.030047254989084,3.030047254989084,3.1113912131911543,0,0,-8.551109760143583e-05,-7.500037676878008e-05
+27923,1793079037945416220,15589044000000,1793079037944737623,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6761181987415121,-0.004968895348541715,0.09915439959696912,0.999999972028716,-0.0001854999921597113,5.7037426020106226e-05,9.859977802442946e-05,0.6761,-0.0046,0.09898848042725915,1.0,0.0,0.0,0.0,-0.4464713028353431,0.22654899629770497,2.0379012828954064,0.011748778383491365,0.035962003834411164,0.001060549951915816,0.6367532971778804,1.3708477117701536,2.7186310478904754,0.08948351435733498,-0.03604075578983757,0.00040838001111401446,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.286894846321056,1.5144083995737987,-1.4756217769907267,-0.1049010673177805,1.1928216603778596,0.9560283573078996,1.6826685290495669,-2.0379012828954064,3.1582903060402936,3.1582903060402936,3.177991213191295,0,0,-0.00010153355741307634,9.944449016885954e-05
+28065,1793079039129571110,15590228000000,1793079039128737735,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6761300308987771,-0.004977624320567372,0.09906524105953167,0.9999999692610833,-0.00017935593375830505,7.61493045954452e-05,0.00012228421459529012,0.6761,-0.0046,0.09887492128121038,1.0,0.0,0.0,0.0,-0.4434539634560136,0.19090518241982912,2.139137766860806,0.011583034402952358,0.033167303039012254,0.0009440428569143147,0.6397706365572099,1.3352038978922778,2.819867531855875,0.08931777037679597,-0.03883545658523648,0.00029187291611251315,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2545962365144032,1.5947659869890314,-1.6160891708045182,-0.08479064664223569,1.2657933684986025,0.9971979558374344,1.6826685290495669,-2.139137766860806,3.298757699854085,3.298757699854085,3.2963912131915447,0,0,-8.810747999657564e-05,9.999999025923074e-05
+28208,1793079040320549710,15591419000000,1793079040316737003,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6761406008418509,-0.004980574605969823,0.09897620788786801,0.9999999671066366,-0.00016908783896128497,9.010200043206825e-05,0.00014324985933723724,0.6761,-0.0046,0.0987722189516942,1.0,0.0,0.0,0.0,-0.4382777972412666,0.10674917155287167,2.1761415795511763,0.005458649285532274,0.033279183834990615,4.533407693761075e-05,0.6449468027719569,1.2510478870253203,2.8568713445462453,0.08319338525937589,-0.03872357578925812,-0.0006068358638641908,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1617740337892404,1.6050877787138664,-1.6197641872645698,-0.026430198796014458,1.2367615585654008,0.9797881137256018,1.6826685290495669,-2.1761415795511763,3.3024327163141365,3.3024327163141365,3.415491213191796,0,0,-8.845930437736816e-05,-9.999999025923074e-05
+28328,1793079041320536887,15592419000000,1793079041316737226,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6761492407810774,-0.004976459783559726,0.09889280200817417,0.9999999644323533,-0.00016906108097697136,0.00010456678822373571,0.0001518627476979606,0.6761,-0.0046,0.09866855372074673,1.0,0.0,0.0,0.0,-0.42957300046392466,0.06252980156022936,2.215919153924199,0.0023777003409914815,0.033324874074693825,0.0007796796612342955,0.6536515995492989,1.206828517032678,2.896648918919268,0.0801124363148351,-0.03867788554955491,0.00012750972043249398,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1397416166811647,1.6042160816711064,-1.7304894596828413,-0.03830694064083723,1.3061519144706293,0.9713229825187188,1.6826685290495669,-2.215919153924199,3.413157988732408,3.413157988732408,3.515491213192007,0,0,-0.00011823266149044021,-3.2331633230359105e-05
+28448,1793079042320647994,15593419000000,1793079042316729003,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6761622306243732,-0.00498856986512754,0.09879578433645143,0.9999999564748233,-0.00020037445126662863,0.00012487588469970028,0.00015082873817399064,0.6761,-0.0046,0.09855098253033934,1.0,0.0,0.0,0.0,-0.4199658893101642,0.043428622426128216,2.3171274380782947,0.0013630769813190446,0.03232094797076573,0.0006714429640009653,0.6632587107030593,1.1877273378985769,2.9978572030733637,0.07909781295516266,-0.03968181165348301,1.9273023199163754e-05,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1529903003968964,1.600189818243351,-1.7693662679364826,-0.024006377704580834,1.3317929232634136,0.9658830280679842,1.6826685290495669,-2.3171274380782947,3.4520347969860494,3.4520347969860494,3.615491213192218,0,0,-0.00011802449613049071,-9.985824253456172e-05
+28552,1793079043187582651,15594286000000,1793079043184727941,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6761711245641501,-0.004986360574399306,0.09870456978641882,0.9999999522604217,-0.00021167805696955166,0.00014017373236414876,0.00014988576770357632,0.6761,-0.0046,0.09844236286118899,1.0,0.0,0.0,0.0,-0.4125506590082143,0.012108853020133203,2.3542598373125148,-0.0016942012255701105,0.03234901294613553,0.0006186726809599933,0.6706739410050092,1.1564075684925819,3.0349896023075837,0.0760405347482735,-0.03965374667811321,-3.3497259841808295e-05,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1287755896540337,1.5718713503188713,-1.9314887980645157,-0.026081001494989004,1.431737258975513,0.9393084039625765,1.6826685290495669,-2.3542598373125148,3.6141573271140826,3.6141573271140826,3.702191213192401,0,0,-0.0001317133606529034,9.996940361490231e-05
+28657,1793079044062620740,15595161000000,1793079044060728004,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6761848737173873,-0.00499536116515797,0.09860762770378666,0.9999999438299982,-0.00023107933793546482,0.00016253015378748432,0.00015481974331307577,0.6761,-0.0046,0.09832380156807623,1.0,0.0,0.0,0.0,-0.4174666239664394,-0.01805225306491498,2.4335311987919703,-0.0031484925352141258,0.032371620261500256,0.0005317244801481444,0.6657579760467841,1.1262464624075337,3.1142609637870393,0.07458624343862949,-0.03963113936274848,-0.00012044546065365719,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1785241565003397,1.5778258903499118,-1.9953963708444298,-0.02837032643592563,1.487089822046453,0.9419170865110562,1.6826685290495669,-2.4335311987919703,3.6780648998939967,3.6780648998939967,3.7896912131925857,0,0,-0.0001351764433825598,1.2372398224776745e-05
+28760,1793079044920674476,15596019000000,1793079044916727492,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6761891624690453,-0.0049945778948363145,0.09849759044005398,0.9999999393144938,-0.00024232715749678962,0.0001694374046302682,0.00015931850874125605,0.6761,-0.0046,0.0982052047351327,1.0,0.0,0.0,0.0,-0.38801217497765683,-0.0578792625343143,2.4619972066128706,-0.0067645569644265435,0.0314210526954684,0.0004508160085453925,0.6952124250355667,1.0864194529381344,3.1427269716079396,0.07097017900941707,-0.04058170692878033,-0.00020135393225640907,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1059477420858674,1.5181522895512078,-2.011314767747889,-0.01799526450894113,1.4829733590869498,0.899813438839054,1.6826685290495669,-2.4619972066128706,3.6939832967974557,3.6939832967974557,3.875491213192767,0,0,-0.0001463586522074386,-9.755700000469431e-05
+28869,1793079045829752996,15596928000000,1793079045828727401,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6761997238959163,-0.004997183297783082,0.0983778441735674,0.9999999315687871,-0.00025840740160515326,0.00018783652917549345,0.00016201338887238942,0.6761,-0.0046,0.09806351288117172,1.0,0.0,0.0,0.0,-0.39595060443376795,-0.09132295208988217,2.5232946318788563,-0.008863095759545192,0.03144896084486612,0.0003772058994697115,0.6872739955794556,1.0529757633825665,3.2040243968739253,0.06887164021429842,-0.040553798779382616,-0.00027496404133209003,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1762359308287578,1.499157810952991,-2.100614991797006,-0.026416131312166514,1.562773680983205,0.8781047482134701,1.6826685290495669,-2.5232946318788563,3.783283520846573,3.783283520846573,3.9663912131929586,0,0,-0.00016015907137598007,-9.999999025923074e-05
+28975,1793079046712789492,15597811000000,1793079046708727967,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762077840736597,-0.005006894928799131,0.09824503644737233,0.999999921919693,-0.00028224957154114404,0.0002022526672897827,0.0001644156610985161,0.6761,-0.0046,0.09791607553888282,1.0,0.0,0.0,0.0,-0.3859770794248839,-0.11703365941685462,2.581533286801127,-0.010917069469948165,0.031475457070253975,0.0003082244027055094,0.6972475205883396,1.027265056055594,3.262263051796196,0.06681766650389545,-0.04052730255399476,-0.00034394553809629215,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1121611479527116,1.6120418810163035,-2.1992451594078215,-0.05331577173177642,1.609496719029888,0.9519110034124041,1.6826685290495669,-2.581533286801127,3.8819136884573884,3.8819136884573884,4.0546912131929025,0,0,-0.00017653988634433316,-5.0622071838485285e-05
+29079,1793079047579794146,15598678000000,1793079047572729385,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.676218737736287,-0.0050081926862510905,0.0981107233524936,0.9999999142113659,-0.00029716312753345924,0.00022271649794725862,0.0001584662796366232,0.6761,-0.0046,0.097759898166295,1.0,0.0,0.0,0.0,-0.387464877666301,-0.13711096725936223,2.6315421401858745,-0.012164422002365713,0.031482862342759356,0.0012532867877487752,0.6957597223469225,1.0071877482130864,3.3122719051809435,0.0655703139714779,-0.04051989728148938,0.0006011168469469737,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1260190470109948,1.532288108692917,-2.388408414690789,-0.03559333489461747,1.7322905260667847,0.8992913294348572,1.6826685290495669,-2.6315421401858745,4.071076943740356,4.071076943740356,4.1413912131927,0,0,-0.00018421096853874085,9.998225444641235e-05
+29179,1793079048412834972,15599511000000,1793079048412727706,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6762287386275808,-0.005012445267524974,0.09796733231573293,0.9999999486703622,-0.00010174961195806981,0.000239631023631945,0.00016225327845219254,0.6761,-0.0046,0.09759697992011648,1.0,0.0,0.0,0.0,-0.39383877909651066,-0.16947545431473587,2.6803134505513913,-0.014000890994668141,0.031513977083301156,0.00019286624892259557,0.6893858209167129,0.9748232611577128,3.3610432155464602,0.06373384497917547,-0.04048878254094758,-0.000459303691879206,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.0885808278341311,1.7760725980320966,-2.3149221638158544,-0.14872314294348019,1.6802257636354263,0.9792281334948938,1.6826685290495669,-2.6803134505513913,3.9975906928654212,3.9975906928654212,4.224691213192506,0,0,-0.00020575844953826661,-9.999982372577704e-05
+29273,1793079049195913727,15600294000000,1793079049192728481,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762368215220861,-0.005018918885668701,0.09781307749638887,0.9999999409911334,-0.00012998548253097367,0.0002530021004658231,0.0001689801923379684,0.6761,-0.0046,0.09743230782434807,1.0,0.0,0.0,0.0,-0.3897416323820283,-0.19984502747753763,2.7673963373163666,-0.017109657451045743,0.03256745705475783,0.00010397916723631033,0.6934829676311952,0.944453687994911,3.4481261023114356,0.06062507852279787,-0.039435302569490904,-0.0005481907735654912,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1510905413357053,1.7393984268591007,-2.4267725579103305,-0.12396146238321287,1.7707528510773103,0.986756353391605,1.6826685290495669,-2.7673963373163666,4.109441086959897,4.109441086959897,4.302991213192324,0,0,-0.0002115385541137923,-8.509879886731681e-05
+29368,1793079049987937895,15601086000000,1793079049980727906,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762429566108628,-0.005022774077086316,0.09765849348804427,0.9999999330754789,-0.00016855103934569488,0.00026441188474748143,0.00016422181457579642,0.6761,-0.0046,0.09726405325998795,1.0,0.0,0.0,0.0,-0.3735649393046666,-0.21798503818452764,2.7930316334965406,-0.018245009410678276,0.03157001692301739,0.0001358177450550218,0.7096596607085569,0.926313677287921,3.4737613984916096,0.05948972656316534,-0.040432742701231345,-0.0005163521957467798,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.0998025064493477,1.6265102148915203,-2.4471725278530676,-0.04559063872074106,1.7695781191436388,0.9558082959863041,1.6826685290495669,-2.7930316334965406,4.1298410569026345,4.1298410569026345,4.382191213192139,0,0,-0.00021506806340973317,-9.999126113069962e-05
+29460,1793079050754939644,15601853000000,1793079050752727744,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762500251132331,-0.005023489175845117,0.09749827500180192,0.999999924831761,-0.00020216745929431965,0.0002757293981056985,0.00015773697735428985,0.6761,-0.0046,0.09709276273752798,1.0,0.0,0.0,0.0,-0.37233693133084234,-0.2422640459214339,2.829140046275401,-0.020148180718724047,0.03154419706516507,0.0010332615644384675,0.7108876686823812,0.9020346695510147,3.50986981127047,0.05758655525511957,-0.040458562559083665,0.00038109162363666587,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.0876524797576472,1.5984894002291445,-2.50588530885364,-0.0151906488697749,1.8056237158765913,0.9580962321202937,1.6826685290495669,-2.829140046275401,4.188553837903207,4.188553837903207,4.4588912131919605,0,0,-0.0002328271626564612,-9.999999025923074e-05
+29549,1793079051496031473,15602594000000,1793079051492728631,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762567988575827,-0.0050278432221541455,0.09733311962419557,0.9999999167234077,-0.00022159978377543955,0.0002853191993219237,0.0001657785630968434,0.6761,-0.0046,0.09691561978133093,1.0,0.0,0.0,0.0,-0.37919888441130334,-0.2853013180527394,2.888947143237881,-0.02222343370649158,0.031622229614564616,0.0009611160605726521,0.7040257156019202,0.8589973974197093,3.56967690823295,0.055511302267352035,-0.04038053000968412,0.00030894611977085057,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1420737145025828,1.4920127331391757,-2.6157578423958388,0.01261487011675883,1.8972640312420532,0.8866978016413833,1.6826685290495669,-2.888947143237881,4.298426371445405,4.298426371445405,4.532991213191788,0,0,-0.00024655031689443794,-9.999389791038311e-05
+29635,1793079052213055745,15603311000000,1793079052212727253,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.676261869019078,-0.005028036540250766,0.09716212652274087,0.9999999084537522,-0.00023921064948446332,0.00029628634101329154,0.0001718371921123065,0.6761,-0.0046,0.0967358356413782,1.0,0.0,0.0,0.0,-0.3701205895306202,-0.3196357494670835,2.925710157810901,-0.024251216350871324,0.030640813170858525,0.0008923608899359232,0.7131040104826033,0.8246629660053652,3.60643992280597,0.05348351962297229,-0.04136194645339021,0.00024019094913412166,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1335118338713772,1.5188818827346648,-2.6766226587299338,0.013544949937064945,1.936921841660348,0.8993281223597382,1.6826685290495669,-2.925710157810901,4.359291187779501,4.359291187779501,4.604691213191621,0,0,-0.00025802066163790736,-9.688718857615015e-05
+29718,1793079052905083700,15604003000000,1793079052904727275,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762711101186782,-0.005031369166741792,0.09699842279174642,0.9999998962730522,-0.00027050425775673514,0.00031412060481779874,0.00016447626265877232,0.6761,-0.0046,0.09654941371243418,1.0,0.0,0.0,0.0,-0.38229712025197715,-0.3106258773322027,2.896969162873173,-0.02426806868398146,0.03166002417937933,0.00093114917941764,0.7009274797612464,0.833672838140246,3.577698927868242,0.05346666728986216,-0.0403427354448694,0.0002789792386158384,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1522615597135186,1.5596894204540768,-2.6104704805011982,0.02300504113742457,1.8953771914290798,0.9274645836106659,1.6826685290495669,-2.896969162873173,4.2931390095507656,4.2931390095507656,4.673891213191459,0,0,-0.00028125065639902767,-9.999999025923074e-05
+29790,1793079053505104761,15604603000000,1793079053504727526,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762744150760962,-0.005035783419449876,0.09683359778038522,0.999999921097029,-0.00013985374275716502,0.000318506710229522,0.00016805715214058027,0.6761,-0.0046,0.09637750664096227,1.0,0.0,0.0,0.0,-0.35034928779933616,-0.36607740541872735,2.9958650757787955,-0.02728926291408857,0.02969494074272997,-0.00023839290580062724,0.7328753122138874,0.7782213100537213,3.6765948407738644,0.050445473059755046,-0.042307818881518765,-0.0008905628466024288,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2261950464174018,1.6618471376522779,-2.799328021038908,-0.051992769149664574,2.0545589985835755,0.9266892122309188,1.6826685290495669,-2.9958650757787955,4.481996550088475,4.481996550088475,4.73389121319132,0,0,-0.00029106679691057034,-5.233840724561674e-05
+29865,1793079054130143279,15605228000000,1793079054124727908,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762836815734958,-0.00504040016723423,0.09665793244607798,0.9999999092526268,-0.00016557918097796017,0.0003362093689374079,0.00018023428512892008,0.6761,-0.0046,0.09618913732357239,1.0,0.0,0.0,0.0,-0.3685966561050792,-0.3823176694318121,3.026033299295102,-0.02828878764188856,0.030698921816169927,0.0007665353791947472,0.7146279439081443,0.7619810460406365,3.706763064290171,0.04944594833195506,-0.04130383780807881,0.00011436543839294561,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2166878921503752,1.5343638402758737,-2.8993628096480464,0.003362923133951006,2.1081962299681116,0.8691547569580774,1.6826685290495669,-3.026033299295102,4.582031338697613,4.582031338697613,4.796391213191174,0,0,-0.00030924823334469034,9.430569799929173e-05
+29940,1793079054755165270,15605853000000,1793079054752728578,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6762853191950089,-0.005036822946148535,0.09646288265739841,0.9999999013434083,-0.00021104481816028946,0.0003400284133054688,0.0001691058856715235,0.6761,-0.0046,0.09598806868321497,1.0,0.0,0.0,0.0,-0.3321330380807881,-0.34178186921065523,3.074257102155254,-0.02626269302473442,0.02860884698893533,0.0007311441541522242,0.7510915619324354,0.8025168462617934,3.754986867150323,0.0514720429491092,-0.043393912635313406,7.897421335042261e-05,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2242924286131538,1.5479895859515482,-2.875530450352397,0.05787585383752608,2.0908194583365285,0.9203582459392968,1.6826685290495669,-3.074257102155254,4.558198979401964,4.558198979401964,4.858891213191028,0,0,-0.00033291731919435206,-9.921900387255817e-05
+30013,1793079055363158676,15606461000000,1793079055360737393,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6762968258677308,-0.005033507790892273,0.09626816986433462,0.9999998906052914,-0.00022736730971975214,0.00035619977187165386,0.00017792722751940328,0.6761,-0.0046,0.09578047611399751,1.0,0.0,0.0,0.0,-0.3226137122289393,-0.3231962805086456,3.118347643108001,-0.024211545314750012,0.027552536773523296,0.0017239309178605096,0.7606108877842842,0.8211024349638031,3.79907740810307,0.053523190659093604,-0.04445022285072544,0.0010717609770587082,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2502487423550264,1.582233999322071,-2.919728888141018,0.04842263268603495,2.1282840340870215,0.9464636155883792,1.6826685290495669,-3.118347643108001,4.602397417190585,4.602397417190585,4.9196912131908865,0,0,-0.0003491347702708466,-9.93655671895965e-05
+30083,1793079055946213148,15607044000000,1793079055944737056,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6762961133109966,-0.005035328653604053,0.09606420527044217,0.9999998875129054,-0.00021878849351407355,0.0003596679584131094,0.00019795857045989198,0.6761,-0.0046,0.09557324794024796,1.0,0.0,0.0,0.0,-0.28557587998905476,-0.3735120973143051,3.166629030734479,-0.02824185168239282,0.0256002489613254,0.000584778861507447,0.7976487200241688,0.7707866181581435,3.847358795729548,0.049492884291450795,-0.046402510662923335,-6.739107929435456e-05,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.2007736568998135,1.4677596500800902,-3.048221773415075,0.08711896872092756,2.2136388194478216,0.8741043385301963,1.6826685290495669,-3.166629030734479,4.730890302464642,4.730890302464642,4.977991213190751,0,0,-0.0003618005790281557,9.843750400773672e-05
+30148,1793079056488164466,15607586000000,1793079056480737652,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6762951607444091,-0.00503325433591913,0.09586783322359428,0.9999998822576986,-0.00025394007901776236,0.0003662756804099504,0.00016817852108828147,0.6761,-0.0046,0.09537262132938722,1.0,0.0,0.0,0.0,-0.23942625732617784,-0.38470362217624743,3.1776336863457955,-0.028392423280227556,0.022695719804491046,0.0005349432407871172,0.8437983426870457,0.7595950932962012,3.8583634513408644,0.04934231269361606,-0.04930703981975769,-0.00011722670001468435,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.1806394518618837,1.4621132488100994,-2.9009494118299997,0.1469673557684183,2.1197221495554546,0.8703846182618091,1.6826685290495669,-3.1776336863457955,4.5836179408795665,4.5836179408795665,5.032191213190624,0,0,-0.0003798910931621365,-9.99935232101123e-05
+30209,1793079056996260541,15608094000000,1793079056992727808,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6763130766680879,-0.005032317649532369,0.09568692227686368,0.9999998734206869,-0.00025588214370539695,0.0003828671065633115,0.00018038453804247544,0.6761,-0.0046,0.0951736623840224,1.0,0.0,0.0,0.0,-0.30580617659534504,-0.308288137492408,3.1576887310915174,-0.023170804433860992,0.026559976284548877,0.0016908347990469332,0.7774184234178785,0.8360105779800406,3.8384184960865864,0.054563931539982624,-0.04544278333969986,0.0010386648582451318,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.3155738885781512,1.591779935679699,-2.958235123219837,0.08873924970285153,2.176451772712166,0.960661531456332,1.6826685290495669,-3.1576887310915174,4.6409036522694045,4.6409036522694045,5.082991213190506,0,0,-0.00040408993817328396,-9.999999025923074e-05
+30268,1793079057488277564,15608586000000,1793079057480737292,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.676310772956559,-0.005039021900619218,0.09548996949716071,0.9999998945637739,-0.0001119433488731897,0.0003852905176922123,0.00020331062176160694,0.6761,-0.0046,0.09496893488872496,1.0,0.0,0.0,0.0,-0.29317075188140307,-0.4031513530865495,3.2134668764724816,-0.029276858585825877,0.025610529998458302,0.0015583739945974006,0.7900538481318204,0.7411473623858992,3.8941966414675506,0.04845787738801774,-0.04639222962579043,0.0009062040537955991,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.3096056772391935,1.4837825223374708,-2.962134036389643,0.1293609407889559,2.1958809026669046,0.9045622855155725,1.6826685290495669,-3.2134668764724816,4.64480256543921,4.64480256543921,5.132191213190391,0,0,-0.00042745879988012456,-9.999878289169146e-05
+30325,1793079057963248154,15609061000000,1793079057956737986,DOWN_FORCE_DETACH,4,0.0714,0.07140199095010757,0.6763154998414214,-0.005044435372107378,0.09529098524040526,0.9999998854283652,-0.0001416454398110478,0.00039182335472016244,0.00021678825806203047,0.6761,-0.0046,0.09476057542420005,1.0,0.0,0.0,0.0,-0.3012457525431277,-0.4460127136197174,3.2363532851124726,-0.031323433945087555,0.02564035115779257,0.0004917687331618833,0.7819788474700958,0.6982860018527313,3.9170830501075415,0.04641130202875606,-0.046362408466456166,-0.00016040120763991835,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.3170668258798914,1.5085213748181812,-2.9784909266989925,0.10598178425891422,2.222705259905448,0.8817054174877232,1.6826685290495669,-3.2363532851124726,4.661159455748559,4.661159455748559,5.179691213190281,0,0,-0.00045006685582135573,-9.999999025923074e-05
+30378,1793079058405266790,15609503000000,1793079058404737341,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6763152896398609,-0.00504129941230833,0.09508465891680372,0.9999998783006675,-0.00022534990160418905,0.00039288951488148115,0.00017232749390907779,0.6761,-0.0046,0.09455748321365012,1.0,0.0,0.0,0.0,-0.21529120328313167,-0.36684565055390983,3.281880262062669,-0.026505791291239984,0.02087104630640471,0.0014694190680383792,0.8679333967300918,0.7774530649185388,3.962610027057738,0.05122894468260363,-0.051131713317844024,0.0008172491272365778,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.3822513648784445,1.569864401733821,-3.191447523066778,0.12956838660475983,2.37905449174607,0.9541219437637641,1.6826685290495669,-3.281880262062669,4.874116052116345,4.874116052116345,5.223891213190178,0,0,-0.0004672121385787279,9.381961460353522e-05
+30429,1793079058830327122,15609928000000,1793079058828737802,DOWN_FORCE_DETACH,4,0.0714,0.07140133529901505,0.6763259537980918,-0.005048207474790403,0.09489000700501202,0.9999998705096815,-0.00021945930984085715,0.0004018380532510058,0.00020195859614369414,0.6761,-0.0046,0.09435600520175537,1.0,0.0,0.0,0.0,-0.2940175996001836,-0.4119427477492612,3.270131491358445,-0.029292105021686374,0.025594002121784823,0.001515804113409927,0.7892070004130399,0.7323559677231875,3.950861256353514,0.04844263095215724,-0.04640875750246391,0.0008636341726081254,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.4464789080458027,1.5177144557497475,-3.005483898778182,0.1271497333957363,2.2775664324306666,0.9189938280574428,1.6826685290495669,-3.270131491358445,4.688152427827749,4.688152427827749,5.2663912131900785,0,0,-0.0004841529218605186,-9.999999025923074e-05
+30480,1793079059254304682,15610352000000,1793079059252737695,DOWN_SETTLE,4,0.0714,0.07140133529901505,0.676325612773164,-0.0050429719764736565,0.09468675748339091,0.999999864000383,-0.00025726510993698216,0.000406525848269239,0.0001788672065069125,0.6761,-0.0046,0.09415844001335594,1.0,0.0,0.0,0.0,-0.24156508530020515,-0.4222730432179247,3.2896940230613168,-0.029724970144385666,0.02137829458797092,0.0014549796117474503,0.8416595147130184,0.722025672254524,3.9704237880563857,0.04800976582945795,-0.050624465036277815,0.0008028096709456488,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,1.4453023519966002,1.4995128266455995,-3.140569042430407,0.18317890131049336,2.37333175715585,0.9134408556728693,1.6826685290495669,-3.2896940230613168,4.823237571479973,0.0,0.0,0,0,-0.00023882840640948897,0.002412408145550394
+30577,1793079060063300904,15611161000000,1793079060060737739,DOWN_PEAK_HOLD,4,0.0714,0.07140133529901505,0.6762893871343137,-0.005038516309319969,0.09456389342733221,0.9999998888846802,-0.00025708099788576824,0.0003394322048228473,0.0001799128400425649,0.6761,-0.0046,0.09413565893578606,1.0,0.0,0.0,0.0,-0.03973540863110325,-0.615459710677141,2.482143233369288,-0.04188707485820251,0.007819211974156387,-0.0003030746404124846,1.0434891913821203,0.5288390047953077,3.162872998364357,0.035847661115641104,-0.06418354765009235,-0.0009552445812142862,1.0832246000132235,1.1442987154724487,0.680729764995069,0.07773473597384362,-0.07200275962424874,-0.0006521699408018016,1,0.97388639319565,1.5082658960251427,-2.1996266396100292,0.1376587149017405,1.6956860340993998,0.9182591432723913,1.6826685290495669,-2.482143233369288,3.882295168659596,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_17.5/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793079008624774534,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.237156000e-08,-1.321260717e-09,-8.222231784e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027456966e-01,-1.145390968e-04,8.303256604e-01
+1,9.666666667e-01,DOWN_FORCE_DETACH,1793079009591389107,3.804355616e-06,-2.485807844e-06,3.366380309e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.622129168e-07,-3.927042916e-08,-4.391812136e-08,7.019594022e-01,-2.447086242e-05,8.601467523e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461465e-01,-1.145770459e-04,8.303256173e-01
+2,2.016666667e+00,DOWN_FORCE_DETACH,1793079010640106376,8.107387659e-06,-3.235274053e-06,2.954258630e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.442709243e-07,-5.476192695e-08,-6.875757896e-08,7.019637053e-01,-2.522032863e-05,8.601463402e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027463285e-01,-1.145925374e-04,8.303255924e-01
+3,3.133333333e+00,DOWN_FORCE_DETACH,1793079011736981034,1.063761256e-05,-7.065039166e-06,4.432708622e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.144378376e-07,-6.127915507e-08,-7.922957712e-08,7.019662355e-01,-2.905009375e-05,8.601478186e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027463987e-01,-1.145990547e-04,8.303255820e-01
+4,4.216666667e+00,DOWN_FORCE_DETACH,1793079012835283438,1.095700258e-05,-4.986289877e-06,2.472735195e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.394059720e-07,-6.385444695e-08,-8.297039489e-08,7.019665549e-01,-2.697134446e-05,8.601458587e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027464237e-01,-1.146016300e-04,8.303255782e-01
+5,5.033333333e+00,DOWN_FORCE_DETACH,1793079013637302831,9.844262739e-06,1.021046794e-06,-5.904671159e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.474350244e-07,-6.475184095e-08,-8.413247310e-08,7.019654421e-01,-2.096400779e-05,8.601374812e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027464317e-01,-1.146025274e-04,8.303255771e-01
+6,6.016666667e+00,DOWN_FORCE_DETACH,1793079014604285395,1.902145752e-05,-3.331212029e-06,-1.037405904e-05,1.556617452e-05,-3.997093856e-06,-1.194035059e-05,1.679821480e-05,-3.792203248e-06,-1.158512211e-05,7.019746193e-01,-2.531626661e-05,8.601330119e-01,7.019711640e-01,-2.598214844e-05,8.601314456e-01,7.027624825e-01,-1.183299788e-04,8.303140761e-01
+7,7.000000000e+00,DOWN_FORCE_DETACH,1793079015586782047,2.062507063e-05,-1.768118031e-06,-2.396290071e-05,1.556617452e-05,-3.997093856e-06,-1.194035059e-05,1.717381760e-05,-3.809047135e-06,-1.179485996e-05,7.019762229e-01,-2.375317261e-05,8.601194230e-01,7.019711640e-01,-2.598214844e-05,8.601314456e-01,7.027628581e-01,-1.183468227e-04,8.303138663e-01
+8,7.983333333e+00,DOWN_FORCE_DETACH,1793079016586318686,2.432279865e-05,-4.334587285e-06,-3.174887543e-05,2.254717712e-05,1.713787886e-06,-3.050688757e-05,2.437444944e-05,1.469777454e-06,-2.986933253e-05,7.019799207e-01,-2.631964186e-05,8.601116370e-01,7.019781450e-01,-2.027126669e-05,8.601128790e-01,7.027700587e-01,-1.130679981e-04,8.302957919e-01
+9,8.983333333e+00,DOWN_FORCE_DETACH,1793079017568593317,4.085097353e-05,-6.347519342e-06,-3.807639461e-05,3.694610055e-05,-1.272949339e-05,-3.380351942e-05,3.957227384e-05,-1.197616371e-05,-3.343081545e-05,7.019964488e-01,-2.833257392e-05,8.601053095e-01,7.019925440e-01,-3.471454797e-05,8.601095824e-01,7.027852566e-01,-1.265139392e-04,8.302922304e-01
+10,1.005000000e+01,DOWN_FORCE_DETACH,1793079018617411786,4.877381452e-05,-3.798580864e-06,-5.349750752e-05,4.658409229e-05,-1.363580627e-06,-4.966481914e-05,4.983574099e-05,-1.434310409e-06,-4.904079706e-05,7.020043717e-01,-2.578363544e-05,8.600898884e-01,7.020021820e-01,-2.334863521e-05,8.600937211e-01,7.027955200e-01,-1.159720859e-04,8.302766204e-01
+11,1.106666667e+01,DOWN_FORCE_DETACH,1793079019616293120,5.389632933e-05,-7.401221764e-06,-6.156397743e-05,4.658409229e-05,-1.363580627e-06,-4.966481914e-05,5.017467556e-05,-1.448748372e-06,-4.938402206e-05,7.020094942e-01,-2.938627634e-05,8.600818219e-01,7.020021820e-01,-2.334863521e-05,8.600937211e-01,7.027958590e-01,-1.159865239e-04,8.302762772e-01
+12,1.223333333e+01,DOWN_FORCE_DETACH,1793079020762783084,5.970118161e-05,-1.034930057e-05,-7.444455741e-05,5.565092299e-05,-1.055511434e-05,-6.493372464e-05,5.980767666e-05,-1.004447223e-05,-6.450801274e-05,7.020152990e-01,-3.233435515e-05,8.600689414e-01,7.020112488e-01,-3.254016892e-05,8.600784522e-01,7.028054920e-01,-1.245822478e-04,8.302611532e-01
+13,1.325000000e+01,DOWN_FORCE_DETACH,1793079021762519351,6.451267857e-05,-1.188905900e-05,-9.256892460e-05,6.184114688e-05,-1.132550822e-05,-8.422366011e-05,6.618025134e-05,-1.076512515e-05,-8.355310930e-05,7.020201105e-01,-3.387411358e-05,8.600508170e-01,7.020174390e-01,-3.331056280e-05,8.600591623e-01,7.028118645e-01,-1.253029007e-04,8.302421081e-01
+14,1.426666667e+01,DOWN_FORCE_DETACH,1793079022810633772,7.049044435e-05,-1.227105289e-05,-1.018759001e-04,6.772051365e-05,-1.372138148e-05,-1.038119140e-04,7.215238871e-05,-1.300581100e-05,-1.027397810e-04,7.020260883e-01,-3.425610747e-05,8.600415100e-01,7.020233184e-01,-3.570643606e-05,8.600395740e-01,7.028178367e-01,-1.275435865e-04,8.302229214e-01
+15,1.526666667e+01,DOWN_FORCE_DETACH,1793079023910726820,7.468786040e-05,-1.133081831e-05,-1.192202948e-04,6.772051365e-05,-1.372138148e-05,-1.038119140e-04,7.239396503e-05,-1.302295223e-05,-1.033728429e-04,7.020302857e-01,-3.331587289e-05,8.600241656e-01,7.020233184e-01,-3.570643606e-05,8.600395740e-01,7.028180782e-01,-1.275607277e-04,8.302222883e-01
+16,1.623333333e+01,DOWN_FORCE_DETACH,1793079024874996908,8.196744816e-05,-1.586539049e-05,-1.320979821e-04,7.367636073e-05,-1.220336151e-05,-1.237589968e-04,7.850556919e-05,-1.164163395e-05,-1.231697151e-04,7.020375653e-01,-3.785044507e-05,8.600112879e-01,7.020292742e-01,-3.418841609e-05,8.600196269e-01,7.028241898e-01,-1.261794095e-04,8.302024915e-01
+17,1.741666667e+01,DOWN_FORCE_DETACH,1793079026070076557,8.721043161e-05,-1.283502915e-05,-1.507262500e-04,8.488835416e-05,-1.734916947e-05,-1.394308613e-04,9.026857550e-05,-1.645760393e-05,-1.387919022e-04,7.020428083e-01,-3.482008373e-05,8.599926597e-01,7.020404862e-01,-3.933422405e-05,8.600039551e-01,7.028359529e-01,-1.309953794e-04,8.301868693e-01
+18,1.860000000e+01,DOWN_FORCE_DETACH,1793079027233066785,1.002898109e-04,-1.746870703e-05,-1.705971596e-04,9.197236788e-05,-1.485144955e-05,-1.579364370e-04,9.776216806e-05,-1.416120825e-05,-1.572695189e-04,7.020558877e-01,-3.945376161e-05,8.599727888e-01,7.020475702e-01,-3.683650413e-05,8.599854495e-01,7.028434464e-01,-1.286989838e-04,8.301683917e-01
+19,1.963333333e+01,DOWN_FORCE_DETACH,1793079028248716598,1.083821648e-04,-1.771187105e-05,-1.890153209e-04,1.011190478e-04,-1.446455248e-05,-1.757710415e-04,1.074148509e-04,-1.382764851e-05,-1.750579976e-04,7.020639800e-01,-3.969692563e-05,8.599543706e-01,7.020567169e-01,-3.644960706e-05,8.599676149e-01,7.028530991e-01,-1.283654240e-04,8.301506032e-01
+20,2.071666667e+01,DOWN_FORCE_DETACH,1793079029329998695,1.140199095e-04,-2.453642213e-05,-2.146640114e-04,1.130758849e-04,-2.120390373e-05,-2.147680583e-04,1.195718968e-04,-2.011593942e-05,-2.133974564e-04,7.020696178e-01,-4.652147670e-05,8.599287219e-01,7.020686738e-01,-4.318895831e-05,8.599286179e-01,7.028652562e-01,-1.346537149e-04,8.301122637e-01
+21,2.181666667e+01,DOWN_FORCE_DETACH,1793079030429026119,1.229680266e-04,-1.859156004e-05,-2.395227390e-04,1.157913582e-04,-2.284231091e-05,-2.375440738e-04,1.224366864e-04,-2.166627125e-05,-2.363777395e-04,7.020785659e-01,-4.057661462e-05,8.599038632e-01,7.020713892e-01,-4.482736549e-05,8.599058418e-01,7.028681210e-01,-1.362040468e-04,8.300892835e-01
+22,2.278333333e+01,DOWN_FORCE_DETACH,1793079031393797134,1.260929518e-04,-2.167657041e-05,-2.726979187e-04,1.221743731e-04,-2.467499458e-05,-2.571299711e-04,1.291059358e-04,-2.339786312e-05,-2.561182813e-04,7.020816908e-01,-4.366162499e-05,8.598706880e-01,7.020777722e-01,-4.666004916e-05,8.598862559e-01,7.028747902e-01,-1.379356386e-04,8.300695429e-01
+23,2.371666667e+01,DOWN_FORCE_DETACH,1793079032346620911,1.369147904e-04,-2.748467332e-05,-2.981727109e-04,1.323083638e-04,-2.514809028e-05,-2.962003195e-04,1.394052854e-04,-2.391187982e-05,-2.946960486e-04,7.020925127e-01,-4.946972790e-05,8.598452132e-01,7.020879062e-01,-4.713314486e-05,8.598471856e-01,7.028850896e-01,-1.384496553e-04,8.300309651e-01
+24,2.475000000e+01,DOWN_FORCE_DETACH,1793079033426868087,1.450376512e-04,-2.589781218e-05,-3.469508439e-04,1.395061417e-04,-2.952128723e-05,-3.356509413e-04,1.467521671e-04,-2.796545578e-05,-3.340083737e-04,7.021006355e-01,-4.788286676e-05,8.597964351e-01,7.020951040e-01,-5.150634181e-05,8.598077350e-01,7.028924364e-01,-1.425032313e-04,8.299916528e-01
+25,2.576666667e+01,DOWN_FORCE_DETACH,1793079034457171929,1.542653290e-04,-3.241051662e-05,-3.958917581e-04,1.496955147e-04,-3.250276809e-05,-3.772875479e-04,1.571838558e-04,-3.080518230e-05,-3.757226060e-04,7.021098632e-01,-5.439557120e-05,8.597474942e-01,7.021052934e-01,-5.448782267e-05,8.597660984e-01,7.029028681e-01,-1.453429578e-04,8.299499386e-01
+26,2.673333333e+01,DOWN_FORCE_DETACH,1793079035407660788,1.629673318e-04,-3.438961288e-05,-4.379707500e-04,1.617413134e-04,-3.316560499e-05,-4.377669835e-04,1.693543285e-04,-3.145178740e-05,-4.354063730e-04,7.021185652e-01,-5.637466746e-05,8.597054152e-01,7.021173392e-01,-5.515065957e-05,8.597056189e-01,7.029150386e-01,-1.459895629e-04,8.298902548e-01
+27,2.765000000e+01,DOWN_FORCE_DETACH,1793079036341009025,1.735441070e-04,-4.169546067e-05,-4.772898665e-04,1.719351705e-04,-3.653994680e-05,-4.770160828e-04,1.797847540e-04,-3.460076266e-05,-4.747920309e-04,7.021291420e-01,-6.368051525e-05,8.596660960e-01,7.021275330e-01,-5.852500138e-05,8.596663698e-01,7.029254690e-01,-1.491385382e-04,8.298508692e-01
+28,2.858333333e+01,DOWN_FORCE_DETACH,1793079037275461870,1.793041260e-04,-4.364271883e-05,-5.355312168e-04,1.740427710e-04,-3.848729743e-05,-5.172804524e-04,1.818576878e-04,-3.647104102e-05,-5.153364175e-04,7.021349020e-01,-6.562777341e-05,8.596078547e-01,7.021296406e-01,-6.047235201e-05,8.596261055e-01,7.029275420e-01,-1.510088165e-04,8.298103248e-01
+29,2.926666667e+01,DOWN_FORCE_DETACH,1793079037946370900,1.886019283e-04,-2.881392219e-05,-5.854367594e-04,1.856339996e-04,-1.901396960e-05,-5.724517057e-04,1.935053074e-04,-1.835331499e-05,-5.699420090e-04,7.021441998e-01,-5.079897677e-05,8.595579492e-01,7.021412319e-01,-4.099902418e-05,8.595709342e-01,7.029391896e-01,-1.328910905e-04,8.297557192e-01
+30,3.016666667e+01,DOWN_FORCE_DETACH,1793079039126092766,2.021792794e-04,-3.350080395e-05,-6.719918249e-04,1.990060778e-04,-3.128480583e-05,-6.559554220e-04,2.068548625e-04,-2.983139094e-05,-6.528031812e-04,7.021577771e-01,-5.548585853e-05,8.594713941e-01,7.021546039e-01,-5.326986041e-05,8.594874305e-01,7.029525391e-01,-1.443691665e-04,8.296728580e-01
+31,3.111666667e+01,DOWN_FORCE_DETACH,1793079040322258172,2.101129997e-04,-4.219564622e-05,-7.657096107e-04,2.101013984e-04,-3.915285176e-05,-7.635232171e-04,2.175717947e-04,-3.716894877e-05,-7.593257254e-04,7.021657109e-01,-6.418070080e-05,8.593776763e-01,7.021656993e-01,-6.113790634e-05,8.593798627e-01,7.029632561e-01,-1.517067243e-04,8.295663355e-01
+32,3.211666667e+01,DOWN_FORCE_DETACH,1793079041320680695,2.196439679e-04,-3.637835721e-05,-8.470343482e-04,2.176471751e-04,-4.243791590e-05,-8.302404591e-04,2.250451753e-04,-4.028806244e-05,-8.268822634e-04,7.021752418e-01,-5.836341179e-05,8.592963516e-01,7.021732450e-01,-6.442297048e-05,8.593131455e-01,7.029707295e-01,-1.548258380e-04,8.294987789e-01
+33,3.308333333e+01,DOWN_FORCE_DETACH,1793079042321068805,2.336076231e-04,-4.586039485e-05,-9.429997575e-04,2.312090198e-04,-4.347565718e-05,-9.374922437e-04,2.384070182e-04,-4.131138594e-05,-9.333442440e-04,7.021892055e-01,-6.784544943e-05,8.592003862e-01,7.021868069e-01,-6.546071175e-05,8.592058937e-01,7.029840913e-01,-1.558491615e-04,8.293923169e-01
+34,3.395000000e+01,DOWN_FORCE_DETACH,1793079043188687069,2.414043012e-04,-4.586875815e-05,-1.034052671e-03,2.401093998e-04,-4.480303244e-05,-1.023653814e-03,2.469248059e-04,-4.267682924e-05,-1.019555716e-03,7.021970022e-01,-6.785381273e-05,8.591093332e-01,7.021957073e-01,-6.678808702e-05,8.591197321e-01,7.029926091e-01,-1.572146048e-04,8.293061055e-01
+35,3.481666667e+01,DOWN_FORCE_DETACH,1793079044059611913,2.527733617e-04,-5.647686369e-05,-1.135012392e-03,2.516528135e-04,-4.913597258e-05,-1.126323649e-03,2.582182083e-04,-4.674452366e-05,-1.121732345e-03,7.022083712e-01,-7.846191827e-05,8.590083735e-01,7.022072507e-01,-7.112102716e-05,8.590170623e-01,7.030039025e-01,-1.612822992e-04,8.292039288e-01
+36,3.566666667e+01,DOWN_FORCE_DETACH,1793079044924752965,2.607147904e-04,-5.980500575e-05,-1.239683192e-03,2.610059542e-04,-5.495914273e-05,-1.232353162e-03,2.670694182e-04,-5.221564713e-05,-1.227453932e-03,7.022163127e-01,-8.179006033e-05,8.589037027e-01,7.022166038e-01,-7.694419731e-05,8.589110328e-01,7.030127537e-01,-1.667534226e-04,8.290982073e-01
+37,3.658333333e+01,DOWN_FORCE_DETACH,1793079045825668205,2.702424949e-04,-5.903683000e-05,-1.362311979e-03,2.702776856e-04,-5.899603357e-05,-1.362371309e-03,2.756077518e-04,-5.598665977e-05,-1.356574699e-03,7.022258404e-01,-8.102188458e-05,8.587810739e-01,7.022258756e-01,-8.098108815e-05,8.587810146e-01,7.030212920e-01,-1.705244353e-04,8.289690865e-01
+38,3.748333333e+01,DOWN_FORCE_DETACH,1793079046709779061,2.784481877e-04,-6.494917190e-05,-1.493280818e-03,2.760390408e-04,-6.476289015e-05,-1.474631731e-03,2.806017323e-04,-6.132547500e-05,-1.469316001e-03,7.022340461e-01,-8.693422648e-05,8.586501051e-01,7.022316369e-01,-8.674794473e-05,8.586687542e-01,7.030262860e-01,-1.758632505e-04,8.288563452e-01
+39,3.833333333e+01,DOWN_FORCE_DETACH,1793079047580246938,2.897520840e-04,-6.792778243e-05,-1.630208421e-03,2.877134478e-04,-6.843056639e-05,-1.617221020e-03,2.913973735e-04,-6.473895934e-05,-1.611135329e-03,7.022453500e-01,-8.991283700e-05,8.585131775e-01,7.022433113e-01,-9.041562097e-05,8.585261649e-01,7.030370817e-01,-1.792767349e-04,8.287145259e-01
+40,3.916666667e+01,DOWN_FORCE_DETACH,1793079048413484343,2.991418144e-04,-7.236384117e-05,-1.772504041e-03,2.988943198e-04,-7.378847359e-05,-1.763156431e-03,3.016001902e-04,-6.972199417e-05,-1.756596797e-03,7.022547397e-01,-9.434889575e-05,8.583708819e-01,7.022544922e-01,-9.577352817e-05,8.583802295e-01,7.030472845e-01,-1.842597697e-04,8.285690644e-01
+41,3.996666667e+01,DOWN_FORCE_DETACH,1793079049199848908,3.079117742e-04,-7.756902829e-05,-1.926423136e-03,3.050291076e-04,-7.685582222e-05,-1.922494819e-03,3.063274771e-04,-7.258366756e-05,-1.915244258e-03,7.022635096e-01,-9.955408287e-05,8.582169628e-01,7.022606270e-01,-9.884087680e-05,8.582208911e-01,7.030520118e-01,-1.871214431e-04,8.284104169e-01
+42,4.076666667e+01,DOWN_FORCE_DETACH,1793079049986279951,3.131064132e-04,-8.263449957e-05,-2.081626772e-03,3.154603901e-04,-8.224544264e-05,-2.075357663e-03,3.154391416e-04,-7.764267763e-05,-2.067937918e-03,7.022687043e-01,-1.046195542e-04,8.580617591e-01,7.022710583e-01,-1.042304972e-04,8.580680283e-01,7.030611234e-01,-1.921804531e-04,8.282577233e-01
+43,4.155000000e+01,DOWN_FORCE_DETACH,1793079050756618148,3.206560161e-04,-8.337816841e-05,-2.241482890e-03,3.207813786e-04,-8.283068654e-05,-2.231718046e-03,3.193600655e-04,-7.822019207e-05,-2.224126900e-03,7.022762539e-01,-1.053632230e-04,8.579019030e-01,7.022763792e-01,-1.048157411e-04,8.579116679e-01,7.030650443e-01,-1.927579676e-04,8.281015343e-01
+44,4.230000000e+01,DOWN_FORCE_DETACH,1793079051493321823,3.263916373e-04,-8.897828741e-05,-2.408791635e-03,3.262689781e-04,-8.498631943e-05,-2.403112973e-03,3.231749399e-04,-8.027845550e-05,-2.395021067e-03,7.022819895e-01,-1.109633420e-04,8.577345943e-01,7.022818668e-01,-1.069713740e-04,8.577402729e-01,7.030688592e-01,-1.948162310e-04,8.279306401e-01
+45,4.298333333e+01,DOWN_FORCE_DETACH,1793079052215846691,3.318979939e-04,-8.775008392e-05,-2.578119996e-03,3.316869880e-04,-8.763726652e-05,-2.577967998e-03,3.269507520e-04,-8.282623903e-05,-2.569036700e-03,7.022874959e-01,-1.097351385e-04,8.575652659e-01,7.022872849e-01,-1.096223211e-04,8.575654179e-01,7.030726350e-01,-1.973640145e-04,8.277566245e-01
+46,4.366666667e+01,DOWN_FORCE_DETACH,1793079052901866062,3.414552318e-04,-9.156292966e-05,-2.740201789e-03,3.413932158e-04,-9.159365350e-05,-2.739962406e-03,3.352714437e-04,-8.658354317e-05,-2.731031139e-03,7.022970531e-01,-1.135479842e-04,8.574031841e-01,7.022969911e-01,-1.135787081e-04,8.574034235e-01,7.030809557e-01,-2.011213187e-04,8.275946301e-01
+47,4.428333333e+01,DOWN_FORCE_DETACH,1793079053507898533,3.457513151e-04,-9.424214563e-05,-2.907449016e-03,3.456171059e-04,-9.432969767e-05,-2.907606341e-03,3.381484186e-04,-8.916565181e-05,-2.898036356e-03,7.023013492e-01,-1.162272002e-04,8.572359369e-01,7.023012150e-01,-1.163147522e-04,8.572357796e-01,7.030838327e-01,-2.037034273e-04,8.274276248e-01
+48,4.490000000e+01,DOWN_FORCE_DETACH,1793079054131559807,3.544556488e-04,-1.029310156e-04,-3.079677228e-03,3.522696232e-04,-9.850463661e-05,-3.068130856e-03,3.434022691e-04,-9.303885500e-05,-3.058607844e-03,7.023100535e-01,-1.249160702e-04,8.570637087e-01,7.023078675e-01,-1.204896912e-04,8.570752551e-01,7.030890865e-01,-2.075766305e-04,8.272670533e-01
+49,4.553333333e+01,DOWN_FORCE_DETACH,1793079054753657125,3.576128288e-04,-9.850050829e-05,-3.272285679e-03,3.590650071e-04,-9.938052807e-05,-3.264933091e-03,3.484447027e-04,-9.381311901e-05,-3.254513402e-03,7.023132107e-01,-1.204855629e-04,8.568711002e-01,7.023146629e-01,-1.213655827e-04,8.568784528e-01,7.030941290e-01,-2.083508945e-04,8.270711478e-01
+50,4.608333333e+01,DOWN_FORCE_DETACH,1793079055359977228,3.671048051e-04,-9.677786619e-05,-3.472204940e-03,3.675127241e-04,-9.815842069e-05,-3.463810710e-03,3.551430856e-04,-9.261048294e-05,-3.452479330e-03,7.023227027e-01,-1.187629208e-04,8.566711810e-01,7.023231106e-01,-1.201434753e-04,8.566795752e-01,7.031008274e-01,-2.071482585e-04,8.268731819e-01
+51,4.666666667e+01,DOWN_FORCE_DETACH,1793079055949168631,3.661295485e-04,-9.706810574e-05,-3.675993324e-03,3.647446719e-04,-9.443493936e-05,-3.666884575e-03,3.499975144e-04,-8.918713773e-05,-3.655335837e-03,7.023217274e-01,-1.190531603e-04,8.564673926e-01,7.023203425e-01,-1.164199939e-04,8.564765013e-01,7.030956818e-01,-2.037249132e-04,8.266703254e-01
+52,4.721666667e+01,DOWN_FORCE_DETACH,1793079056489601564,3.672573937e-04,-9.815103658e-05,-3.869841352e-03,3.670892101e-04,-9.806764529e-05,-3.869384361e-03,3.499846563e-04,-9.263132038e-05,-3.857283116e-03,7.023228553e-01,-1.201360912e-04,8.562735446e-01,7.023226871e-01,-1.200526999e-04,8.562740016e-01,7.030956689e-01,-2.071690959e-04,8.264683781e-01
+53,4.773333333e+01,DOWN_FORCE_DETACH,1793079056997052958,3.834798549e-04,-9.223622318e-05,-4.052914080e-03,3.835527278e-04,-9.222725547e-05,-4.052569744e-03,3.649921328e-04,-8.719724274e-05,-4.040265727e-03,7.023390777e-01,-1.142212778e-04,8.560904718e-01,7.023391506e-01,-1.142123100e-04,8.560908162e-01,7.031106764e-01,-2.017350183e-04,8.262853955e-01
+54,4.823333333e+01,DOWN_FORCE_DETACH,1793079057488490394,3.811761434e-04,-9.894047427e-05,-4.249866859e-03,3.834262436e-04,-1.001994360e-04,-4.233723191e-03,3.629308289e-04,-9.470822179e-05,-4.221758608e-03,7.023367740e-01,-1.209255288e-04,8.558935191e-01,7.023390241e-01,-1.221844906e-04,8.559096627e-01,7.031086151e-01,-2.092459973e-04,8.261039026e-01
+55,4.871666667e+01,DOWN_FORCE_DETACH,1793079057963511781,3.859030283e-04,-1.043539458e-04,-4.448851116e-03,3.823065203e-04,-1.008999946e-04,-4.445971053e-03,3.593838467e-04,-9.545701234e-05,-4.432977032e-03,7.023415009e-01,-1.263390003e-04,8.556945348e-01,7.023379044e-01,-1.228850491e-04,8.556974149e-01,7.031050681e-01,-2.099947879e-04,8.258926842e-01
+56,4.913333333e+01,DOWN_FORCE_DETACH,1793079058402705527,3.857409884e-04,-1.043403340e-04,-4.651545401e-03,3.854669904e-04,-1.042912465e-04,-4.651683338e-03,3.605735544e-04,-9.865106748e-05,-4.637285371e-03,7.023413389e-01,-1.263253886e-04,8.554918405e-01,7.023410649e-01,-1.262763011e-04,8.554917026e-01,7.031062578e-01,-2.131888430e-04,8.256883758e-01
+57,4.956666667e+01,DOWN_FORCE_DETACH,1793079058831980206,3.963069790e-04,-1.089309678e-04,-4.849952445e-03,3.953956550e-04,-1.010178794e-04,-4.843324878e-03,3.688760771e-04,-9.550337068e-05,-4.829027349e-03,7.023519048e-01,-1.309160224e-04,8.552934335e-01,7.023509935e-01,-1.230029340e-04,8.553000610e-01,7.031145604e-01,-2.100411462e-04,8.254966338e-01
+58,4.998333333e+01,DOWN_SETTLE,1793079059257802589,3.976045247e-04,-1.016510602e-04,-5.053348804e-03,3.971747455e-04,-1.027095996e-04,-5.034427320e-03,3.687342525e-04,-9.699943908e-05,-5.020294456e-03,7.023532024e-01,-1.236361148e-04,8.550900371e-01,7.023527726e-01,-1.246946542e-04,8.551089586e-01,7.031144185e-01,-2.115372146e-04,8.253053667e-01
+59,5.078333333e+01,DOWN_PEAK_HOLD,1793079060061370486,3.584450857e-04,-1.063817556e-04,-5.177749965e-03,3.649692153e-04,-1.033929017e-04,-5.160550984e-03,3.334588341e-04,-9.768351406e-05,-5.152063875e-03,7.023140430e-01,-1.283668102e-04,8.549656360e-01,7.023205671e-01,-1.253779563e-04,8.549828349e-01,7.030791431e-01,-2.122212896e-04,8.251735973e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.0657e-01,7.6211e-01,2.4464e+00,-9.2512e-02,5.1805e-02,1.6523e-03,4.9412e-05,-3.5167e-06,-1.7166e-05,1.0431e-07,3.3751e-06,-3.7253e-09,5.2427e-05,3.3767e-06
+1,9.6667e-01,DOWN_FORCE_DETACH,2.3005e-04,2.8397e-01,7.5825e-01,2.4393e+00,-9.2353e-02,5.7364e-02,1.1153e-03,7.7443e-02,-3.8569e-03,-7.0376e-03,1.5882e-04,5.5623e-03,-5.3699e-04,7.7858e-02,5.5904e-03
+2,2.0167e+00,DOWN_FORCE_DETACH,4.5691e-04,3.1800e-01,7.5468e-01,2.4349e+00,-9.2086e-02,5.9815e-02,8.3095e-04,1.1148e-01,-7.4293e-03,-1.1481e-02,4.2588e-04,8.0132e-03,-8.2134e-04,1.1232e-01,8.0665e-03
+3,3.1333e+00,DOWN_FORCE_DETACH,6.8405e-04,3.3090e-01,7.5405e-01,2.4329e+00,-9.2059e-02,6.0754e-02,7.0915e-04,1.2438e-01,-8.0635e-03,-1.3514e-02,4.5308e-04,8.9526e-03,-9.4314e-04,1.2537e-01,9.0135e-03
+4,4.2167e+00,DOWN_FORCE_DETACH,9.1531e-04,3.3528e-01,7.5374e-01,2.4322e+00,-9.2042e-02,6.1068e-02,6.5884e-04,1.2875e-01,-8.3694e-03,-1.4148e-02,4.7021e-04,9.2662e-03,-9.9345e-04,1.2980e-01,9.3312e-03
+5,5.0333e+00,DOWN_FORCE_DETACH,1.1423e-03,3.3661e-01,7.5361e-01,2.4320e+00,-9.2033e-02,6.1163e-02,6.4237e-04,1.3008e-01,-8.4957e-03,-1.4331e-02,4.7856e-04,9.3618e-03,-1.0099e-03,1.3115e-01,9.4282e-03
+6,6.0167e+00,DOWN_FORCE_DETACH,1.3672e-03,2.3630e-01,8.1146e-01,2.4951e+00,-9.6123e-02,5.3740e-02,7.4479e-04,2.9773e-02,4.9350e-02,4.8723e-02,-3.6108e-03,1.9383e-03,-9.0750e-04,7.5470e-02,4.1975e-03
+7,7.0000e+00,DOWN_FORCE_DETACH,1.5931e-03,3.0221e-01,8.0893e-01,2.4574e+00,-9.5951e-02,5.8658e-02,7.6821e-04,9.5691e-02,4.6821e-02,1.1046e-02,-3.4389e-03,6.8563e-03,-8.8408e-04,1.0710e-01,7.7212e-03
+8,7.9833e+00,DOWN_FORCE_DETACH,1.8216e-03,2.7643e-01,7.1731e-01,2.5440e+00,-8.9246e-02,5.6587e-02,6.9073e-04,6.9906e-02,-4.4797e-02,9.7587e-02,3.2656e-03,4.7854e-03,-9.6156e-04,1.2813e-01,5.8727e-03
+9,8.9833e+00,DOWN_FORCE_DETACH,2.0506e-03,2.2252e-01,9.3593e-01,2.4940e+00,-1.0500e-01,5.2706e-02,9.3799e-04,1.5999e-02,1.7382e-01,4.7598e-02,-1.2491e-02,9.0479e-04,-7.1430e-04,1.8093e-01,1.2544e-02
+10,1.0050e+01,DOWN_FORCE_DETACH,2.2794e-03,2.4271e-01,7.5549e-01,2.5370e+00,-9.1918e-02,5.4140e-02,8.2619e-04,3.6192e-02,-6.6146e-03,9.0610e-02,5.9426e-04,2.3384e-03,-8.2610e-04,9.7795e-02,2.5502e-03
+11,1.1067e+01,DOWN_FORCE_DETACH,2.5079e-03,3.0268e-01,7.5232e-01,2.4753e+00,-9.1776e-02,5.8657e-02,7.5209e-04,9.6160e-02,-9.7864e-03,2.8888e-02,7.3604e-04,6.8554e-03,-9.0020e-04,1.0088e-01,6.9533e-03
+12,1.2233e+01,DOWN_FORCE_DETACH,2.7362e-03,2.9218e-01,8.8954e-01,2.5006e+00,-1.0162e-01,5.7832e-02,8.4072e-04,8.5662e-02,1.2743e-01,5.4183e-02,-9.1085e-03,6.0309e-03,-8.1157e-04,1.6283e-01,1.0954e-02
+13,1.3250e+01,DOWN_FORCE_DETACH,2.9622e-03,2.9029e-01,8.9665e-01,2.5419e+00,-1.0204e-01,5.7578e-02,8.0347e-04,8.3764e-02,1.3454e-01,9.5516e-02,-9.5255e-03,5.7760e-03,-8.4882e-04,1.8504e-01,1.1172e-02
+14,1.4267e+01,DOWN_FORCE_DETACH,3.1898e-03,2.7643e-01,9.2378e-01,2.6362e+00,-1.0400e-01,5.6477e-02,7.5060e-04,6.9903e-02,1.6168e-01,1.8978e-01,-1.1491e-02,4.6755e-03,-9.0169e-04,2.5892e-01,1.2438e-02
+15,1.5267e+01,DOWN_FORCE_DETACH,3.4189e-03,3.1454e-01,9.2892e-01,2.5016e+00,-1.0442e-01,5.9474e-02,7.3448e-04,1.0802e-01,1.6681e-01,5.5192e-02,-1.1911e-02,7.6728e-03,-9.1781e-04,2.0625e-01,1.4198e-02
+16,1.6233e+01,DOWN_FORCE_DETACH,3.6438e-03,3.0122e-01,9.0144e-01,2.5341e+00,-1.0235e-01,5.8404e-02,7.2444e-04,9.4696e-02,1.3933e-01,8.7691e-02,-9.8351e-03,6.6024e-03,-9.2785e-04,1.8992e-01,1.1882e-02
+17,1.7417e+01,DOWN_FORCE_DETACH,3.8726e-03,2.7240e-01,9.7630e-01,2.5291e+00,-1.0774e-01,5.6350e-02,8.0405e-04,6.5873e-02,2.1419e-01,8.2742e-02,-1.5230e-02,4.5483e-03,-8.4824e-04,2.3888e-01,1.5918e-02
+18,1.8600e+01,DOWN_FORCE_DETACH,4.1008e-03,2.8938e-01,9.3343e-01,2.5278e+00,-1.0459e-01,5.7542e-02,7.8737e-04,8.2859e-02,1.7132e-01,8.1450e-02,-1.2073e-02,5.7409e-03,-8.6492e-04,2.0700e-01,1.3397e-02
+19,1.9633e+01,DOWN_FORCE_DETACH,4.3291e-03,2.8283e-01,9.2251e-01,2.5278e+00,-1.0373e-01,5.7111e-02,7.8874e-04,7.6309e-02,1.6040e-01,8.1416e-02,-1.1216e-02,5.3094e-03,-8.6355e-04,1.9539e-01,1.2439e-02
+20,2.0717e+01,DOWN_FORCE_DETACH,4.5594e-03,2.2704e-01,1.0218e+00,2.6730e+00,-1.1062e-01,5.2918e-02,7.8729e-04,2.0518e-02,2.5973e-01,2.2666e-01,-1.8111e-02,1.1165e-03,-8.6500e-04,3.4533e-01,1.8166e-02
+21,2.1817e+01,DOWN_FORCE_DETACH,4.7868e-03,2.8357e-01,1.0426e+00,2.6171e+00,-1.1203e-01,5.6967e-02,7.9518e-04,7.7052e-02,2.8054e-01,1.7068e-01,-1.9517e-02,5.1657e-03,-8.5711e-04,3.3730e-01,2.0207e-02
+22,2.2783e+01,DOWN_FORCE_DETACH,5.0125e-03,2.7632e-01,1.0671e+00,2.6023e+00,-1.1374e-01,5.6494e-02,7.7710e-04,6.9799e-02,3.0503e-01,1.5590e-01,-2.1227e-02,4.6927e-03,-8.7519e-04,3.4960e-01,2.1757e-02
+23,2.3717e+01,DOWN_FORCE_DETACH,5.2433e-03,2.5067e-01,1.0747e+00,2.6824e+00,-1.1420e-01,5.4623e-02,7.9012e-04,4.4145e-02,3.1260e-01,2.3605e-01,-2.1693e-02,2.8214e-03,-8.6217e-04,3.9420e-01,2.1893e-02
+24,2.4750e+01,DOWN_FORCE_DETACH,5.4689e-03,2.6405e-01,1.1305e+00,2.7163e+00,-1.1784e-01,5.5459e-02,8.1441e-04,5.7528e-02,3.6843e-01,2.6992e-01,-2.5329e-02,3.6572e-03,-8.3788e-04,4.6033e-01,2.5605e-02
+25,2.5767e+01,DOWN_FORCE_DETACH,5.6989e-03,2.5383e-01,1.1738e+00,2.7142e+00,-1.2089e-01,5.4682e-02,8.5966e-04,4.7308e-02,4.1173e-01,2.6782e-01,-2.8380e-02,2.8803e-03,-7.9263e-04,4.9344e-01,2.8536e-02
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Fixed/digit/cylinder_PLA_17.5/press_depth_04/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_17.5/press_depth_04/up/franka_data.csv

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Fixed/digit/cylinder_PLA_17.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+6,8.833333333e-01,WAIT_W2,1793078998321244696,1.944149477e-06,-1.576046818e-06,2.184516659e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.380451930e-07,-3.714645801e-08,-4.098222250e-08,7.019575420e-01,-2.356110140e-05,8.601455704e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461225e-01,-1.145750899e-04,8.303256202e-01
+7,9.833333333e-01,WAIT_W2,1793078998420039977,9.391497999e-07,-1.166623552e-05,2.552726685e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.666070730e-07,-3.948574585e-08,-4.452248969e-08,7.019565370e-01,-3.365129010e-05,8.601459386e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027461510e-01,-1.145774292e-04,8.303256167e-01
+8,1.000000000e+00,WAIT_W2,1793078998436026776,1.156071392e-06,-3.969492656e-05,3.827232139e-06,1.082053457e-06,-3.938175952e-05,4.185989631e-06,1.632787955e-06,-3.654497647e-05,3.989229372e-06,7.019567539e-01,-6.167998114e-05,8.601472131e-01,7.019566799e-01,-6.136681410e-05,8.601475719e-01,7.027473172e-01,-1.510829199e-04,8.303296504e-01
+9,1.016666667e+00,WAIT_W2,1793078998452461830,9.742200114e-07,-7.636041226e-05,4.314848801e-06,9.129933861e-07,-7.645703313e-05,4.245084949e-06,1.469276794e-06,-7.099967010e-05,4.051933150e-06,7.019565721e-01,-9.834546684e-05,8.601477008e-01,7.019565109e-01,-9.844208771e-05,8.601476310e-01,7.027471537e-01,-1.855376135e-04,8.303297131e-01
+10,1.033333333e+00,WAIT_W2,1793078998469150023,3.064636224e-06,-1.137316403e-04,1.009009263e-05,3.139377813e-06,-1.136425663e-04,9.990649296e-06,3.819426334e-06,-1.055290732e-04,9.515855296e-06,7.019586625e-01,-1.357166949e-04,8.601534760e-01,7.019587372e-01,-1.356276208e-04,8.601533766e-01,7.027495039e-01,-2.200670167e-04,8.303351770e-01
+11,1.050000000e+00,WAIT_W2,1793078998486057840,2.686173986e-06,-1.747677184e-04,1.068835008e-05,2.809246886e-06,-1.748092623e-04,1.100458023e-05,3.557055179e-06,-1.623040688e-04,1.049094250e-05,7.019582840e-01,-1.967527729e-04,8.601540743e-01,7.019584071e-01,-1.967943169e-04,8.601543905e-01,7.027492415e-01,-2.768420122e-04,8.303361521e-01
+12,1.050000000e+00,WAIT_W2,1793078998486057840,2.686173986e-06,-1.747677184e-04,1.068835008e-05,2.809246886e-06,-1.748092623e-04,1.100458023e-05,3.557055179e-06,-1.623040688e-04,1.049094250e-05,7.019582840e-01,-1.967527729e-04,8.601540743e-01,7.019584071e-01,-1.967943169e-04,8.601543905e-01,7.027492415e-01,-2.768420122e-04,8.303361521e-01
+13,1.066666667e+00,WAIT_W2,1793078998501663423,3.440699498e-07,-2.306012148e-04,8.623866968e-06,4.595836914e-07,-2.302731332e-04,8.721485516e-06,1.192131709e-06,-2.138160138e-04,8.327179427e-06,7.019559419e-01,-2.525862694e-04,8.601520098e-01,7.019560575e-01,-2.522581877e-04,8.601521074e-01,7.027468766e-01,-3.283539572e-04,8.303339884e-01
+14,1.066666667e+00,WAIT_W2,1793078998501663423,3.440699498e-07,-2.306012148e-04,8.623866968e-06,4.595836914e-07,-2.302731332e-04,8.721485516e-06,1.192131709e-06,-2.138160138e-04,8.327179427e-06,7.019559419e-01,-2.525862694e-04,8.601520098e-01,7.019560575e-01,-2.522581877e-04,8.601521074e-01,7.027468766e-01,-3.283539572e-04,8.303339884e-01
+15,1.083333333e+00,WAIT_W2,1793078998518229850,1.900816420e-06,-3.092541949e-04,1.357496665e-05,1.792498912e-06,-3.092647965e-04,1.344729596e-05,2.686553799e-06,-2.872451533e-04,1.287169501e-05,7.019574987e-01,-3.312392495e-04,8.601569609e-01,7.019573904e-01,-3.312498510e-04,8.601568332e-01,7.027483710e-01,-4.017830968e-04,8.303385329e-01
+16,1.083333333e+00,WAIT_W2,1793078998518229850,1.900816420e-06,-3.092541949e-04,1.357496665e-05,1.792498912e-06,-3.092647965e-04,1.344729596e-05,2.686553799e-06,-2.872451533e-04,1.287169501e-05,7.019574987e-01,-3.312392495e-04,8.601569609e-01,7.019573904e-01,-3.312498510e-04,8.601568332e-01,7.027483710e-01,-4.017830968e-04,8.303385329e-01
+17,1.100000000e+00,WAIT_W2,1793078998534954062,2.036004447e-06,-3.594762485e-04,1.679319820e-05,2.065982087e-06,-3.594075723e-04,1.691157816e-05,3.032141149e-06,-3.339401569e-04,1.613916118e-05,7.019576339e-01,-3.814613030e-04,8.601601791e-01,7.019576638e-01,-3.813926269e-04,8.601602975e-01,7.027487166e-01,-4.484781003e-04,8.303418004e-01
+18,1.116666667e+00,WAIT_W2,1793078998550739643,1.744392116e-06,-3.992539627e-04,1.573019389e-05,1.906633649e-06,-3.991893463e-04,1.607575869e-05,2.853029334e-06,-3.709858016e-04,1.536208893e-05,7.019573423e-01,-4.212390173e-04,8.601591161e-01,7.019575045e-01,-4.211744009e-04,8.601594617e-01,7.027485375e-01,-4.855237450e-04,8.303410233e-01
+19,1.133333333e+00,WAIT_W2,1793078998567272195,3.557355433e-06,-4.292441603e-04,2.024374808e-05,3.534746688e-06,-4.292095176e-04,2.008656493e-05,4.530688284e-06,-3.989758321e-04,1.924829878e-05,7.019591552e-01,-4.512292149e-04,8.601636297e-01,7.019591326e-01,-4.511945722e-04,8.601634725e-01,7.027502151e-01,-5.135137755e-04,8.303449095e-01
+20,1.150000000e+00,WAIT_W2,1793078998583608929,3.380631077e-06,-4.673093913e-04,2.121855968e-05,3.259736310e-06,-4.674012618e-04,2.092295848e-05,4.281389108e-06,-4.346075959e-04,2.006497027e-05,7.019589785e-01,-4.892944459e-04,8.601646045e-01,7.019588576e-01,-4.893863164e-04,8.601643089e-01,7.027499658e-01,-5.491455393e-04,8.303457262e-01
+21,1.166666667e+00,WAIT_W2,1793078998600061477,6.955701584e-06,-4.936949291e-04,2.778149974e-05,7.030093434e-06,-4.934195921e-04,2.799237860e-05,8.171659367e-06,-4.589099073e-04,2.697747664e-05,7.019625536e-01,-5.156799836e-04,8.601711674e-01,7.019626280e-01,-5.154046466e-04,8.601713783e-01,7.027538561e-01,-5.734478508e-04,8.303526387e-01
+22,1.266666667e+00,WAIT_W2,1793078998698380529,1.156358416e-05,-4.958475864e-04,3.834529225e-05,7.030093434e-06,-4.934195921e-04,2.799237860e-05,8.277288337e-06,-4.590551833e-04,2.710161751e-05,7.019671615e-01,-5.178326410e-04,8.601817312e-01,7.019626280e-01,-5.154046466e-04,8.601713783e-01,7.027539617e-01,-5.735931267e-04,8.303527628e-01
+23,1.400000000e+00,WAIT_W2,1793078998829244742,1.953657835e-05,-4.970093773e-04,5.628807748e-05,1.651449561e-05,-4.999299564e-04,4.859006648e-05,1.853478024e-05,-4.651865336e-04,4.712265250e-05,7.019751344e-01,-5.189944319e-04,8.601996740e-01,7.019721124e-01,-5.219150110e-04,8.601919760e-01,7.027642192e-01,-5.797244770e-04,8.303727838e-01
+24,1.583333333e+00,WAIT_W2,1793078999009255079,2.243802298e-05,-4.956028433e-04,6.267468511e-05,1.651449561e-05,-4.999299564e-04,4.859006648e-05,1.876955898e-05,-4.652452219e-04,4.724003475e-05,7.019780359e-01,-5.175878978e-04,8.602060606e-01,7.019721124e-01,-5.219150110e-04,8.601919760e-01,7.027644540e-01,-5.797831653e-04,8.303729012e-01
+25,1.733333333e+00,WAIT_W2,1793078999157762577,2.218264688e-05,-4.979988092e-04,6.424981988e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.857729218e-05,-4.590271186e-04,6.453747721e-05,7.019777805e-01,-5.199838637e-04,8.602076357e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027742617e-01,-5.735650620e-04,8.303901987e-01
+26,1.950000000e+00,UP_FORCE_RAMP,1793078999369976650,2.088956393e-05,-4.910967054e-04,6.418577020e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.884200705e-05,-4.590797546e-04,6.471163609e-05,7.019764874e-01,-5.130817600e-04,8.602075717e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027745264e-01,-5.736176981e-04,8.303903728e-01
+27,2.133333333e+00,UP_FORCE_RAMP,1793078999549604286,2.348252669e-05,-4.947041034e-04,6.742740750e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.901882485e-05,-4.591139007e-04,6.481690887e-05,7.019790804e-01,-5.166891580e-04,8.602108133e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027747033e-01,-5.736518441e-04,8.303904781e-01
+28,2.233333333e+00,UP_FORCE_RAMP,1793078999648047700,2.504183127e-05,-4.930607589e-04,7.004880368e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.910765637e-05,-4.591312711e-04,6.486632340e-05,7.019806397e-01,-5.150458135e-04,8.602134347e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027747921e-01,-5.736692145e-04,8.303905275e-01
+29,2.333333333e+00,UP_FORCE_RAMP,1793078999746345784,2.193944150e-05,-4.946327261e-04,6.713183790e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.919098046e-05,-4.591479151e-04,6.491182963e-05,7.019775373e-01,-5.166177807e-04,8.602105178e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027748754e-01,-5.736858586e-04,8.303905730e-01
+30,2.483333333e+00,UP_FORCE_RAMP,1793078999893631634,2.471878878e-05,-4.925948336e-04,7.160223042e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.930588432e-05,-4.591686890e-04,6.497361723e-05,7.019803167e-01,-5.145798881e-04,8.602149881e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027749903e-01,-5.737066325e-04,8.303906348e-01
+31,2.683333333e+00,UP_FORCE_RAMP,1793079000090503307,2.222823134e-05,-4.935670657e-04,6.835204216e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.944576996e-05,-4.591944168e-04,6.504724451e-05,7.019778261e-01,-5.155521202e-04,8.602117380e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027751302e-01,-5.737323602e-04,8.303907084e-01
+32,2.833333333e+00,UP_FORCE_RAMP,1793079000270779210,2.286532898e-05,-4.940015465e-04,7.301712690e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.954149872e-05,-4.592119057e-04,6.509722556e-05,7.019784632e-01,-5.159866011e-04,8.602164030e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027752259e-01,-5.737498491e-04,8.303907584e-01
+33,2.950000000e+00,UP_FORCE_RAMP,1793079000385445519,2.018377312e-05,-4.927710796e-04,7.168126105e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.961115756e-05,-4.592248075e-04,6.513330964e-05,7.019757816e-01,-5.147561342e-04,8.602150672e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027752956e-01,-5.737627509e-04,8.303907945e-01
+34,3.050000000e+00,UP_FORCE_RAMP,1793079000484251506,2.080005995e-05,-4.906911390e-04,7.658053967e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.966835438e-05,-4.592352042e-04,6.516291386e-05,7.019763979e-01,-5.126761936e-04,8.602199665e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027753528e-01,-5.737731476e-04,8.303908241e-01
+35,3.166666667e+00,UP_FORCE_RAMP,1793079000598929879,2.107539015e-05,-4.907373218e-04,7.970135788e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.973132465e-05,-4.592457735e-04,6.519559693e-05,7.019766733e-01,-5.127223764e-04,8.602230873e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027754158e-01,-5.737837170e-04,8.303908568e-01
+36,3.300000000e+00,UP_FORCE_RAMP,1793079000742799604,1.745601991e-05,-4.916866351e-04,8.026580049e-05,2.559417178e-05,-4.932195692e-04,6.631878712e-05,2.979966981e-05,-4.592578610e-04,6.523101526e-05,7.019730539e-01,-5.136716897e-04,8.602236517e-01,7.019811920e-01,-5.152046238e-04,8.602097047e-01,7.027754841e-01,-5.737958044e-04,8.303908922e-01
+37,3.550000000e+00,UP_FORCE_RAMP,1793079000991534761,1.515357279e-05,-4.880082869e-04,8.887543211e-05,1.935163533e-05,-4.918882007e-04,8.536890570e-05,2.361587696e-05,-4.580206858e-04,8.377565709e-05,7.019707514e-01,-5.099933415e-04,8.602322613e-01,7.019749495e-01,-5.138732553e-04,8.602287548e-01,7.027693003e-01,-5.725586292e-04,8.304094369e-01
+38,3.716666667e+00,UP_FORCE_RAMP,1793079001155486214,1.409713271e-05,-4.899916809e-04,9.627056630e-05,1.935163533e-05,-4.918882007e-04,8.536890570e-05,2.366691728e-05,-4.580300522e-04,8.386710932e-05,7.019696950e-01,-5.119767355e-04,8.602396565e-01,7.019749495e-01,-5.138732553e-04,8.602287548e-01,7.027693514e-01,-5.725679956e-04,8.304095283e-01
+39,3.850000000e+00,UP_FORCE_RAMP,1793079001286738075,9.584905066e-06,-4.924645209e-04,9.924581019e-05,1.935163533e-05,-4.918882007e-04,8.536890570e-05,2.370833763e-05,-4.580375230e-04,8.392859333e-05,7.019651828e-01,-5.144495754e-04,8.602426317e-01,7.019749495e-01,-5.138732553e-04,8.602287548e-01,7.027693928e-01,-5.725754664e-04,8.304095898e-01
+40,4.016666667e+00,UP_FORCE_RAMP,1793079001450673988,4.494839027e-06,-4.895086008e-04,1.030017149e-04,8.285375180e-06,-4.893000908e-04,1.025929676e-04,1.244700275e-05,-4.555809641e-04,1.006914733e-04,7.019600927e-01,-5.114936554e-04,8.602463876e-01,7.019638832e-01,-5.112851454e-04,8.602459789e-01,7.027581314e-01,-5.701189075e-04,8.304263527e-01
+41,4.166666667e+00,UP_FORCE_RAMP,1793079001597846337,4.882314290e-06,-4.911201409e-04,1.167983993e-04,8.285375180e-06,-4.893000908e-04,1.025929676e-04,1.244399542e-05,-4.555853154e-04,1.008003928e-04,7.019604802e-01,-5.131051955e-04,8.602601843e-01,7.019638832e-01,-5.112851454e-04,8.602459789e-01,7.027581284e-01,-5.701232588e-04,8.304264616e-01
+42,4.300000000e+00,UP_FORCE_RAMP,1793079001728706652,2.269868452e-06,-4.903473256e-04,1.247588883e-04,3.453772307e-06,-4.919244302e-04,1.227862730e-04,7.697365813e-06,-4.579946411e-04,1.203858723e-04,7.019578677e-01,-5.123323802e-04,8.602681448e-01,7.019590516e-01,-5.139094848e-04,8.602661722e-01,7.027533818e-01,-5.725325845e-04,8.304460471e-01
+43,4.450000000e+00,UP_FORCE_RAMP,1793079001875800719,6.552049443e-07,-4.881306049e-04,1.361831041e-04,3.453772307e-06,-4.919244302e-04,1.227862730e-04,7.691611801e-06,-4.579972464e-04,1.205506703e-04,7.019562531e-01,-5.101156595e-04,8.602795690e-01,7.019590516e-01,-5.139094848e-04,8.602661722e-01,7.027533760e-01,-5.725351898e-04,8.304462119e-01
+44,4.483333333e+00,UP_FORCE_RAMP,1793079001908759892,-6.366170413e-06,-4.979506209e-04,1.358410512e-04,-3.025138933e-06,-5.130748845e-04,1.390311277e-04,1.168114125e-06,-4.777408452e-04,1.362968271e-04,7.019492317e-01,-5.199356754e-04,8.602792270e-01,7.019525727e-01,-5.350599391e-04,8.602824170e-01,7.027468525e-01,-5.922787886e-04,8.304619580e-01
+45,4.583333333e+00,UP_FORCE_RAMP,1793079002007197229,-5.112144945e-06,-5.010803016e-04,1.441010694e-04,-3.025138933e-06,-5.130748845e-04,1.390311277e-04,1.154347757e-06,-4.777558567e-04,1.364287665e-04,7.019504857e-01,-5.230653562e-04,8.602874870e-01,7.019525727e-01,-5.350599391e-04,8.602824170e-01,7.027468388e-01,-5.922938001e-04,8.304620900e-01
+46,4.666666667e+00,UP_FORCE_RAMP,1793079002089053389,-1.031097366e-05,-5.046320261e-04,1.447892718e-04,-3.025138933e-06,-5.130748845e-04,1.390311277e-04,1.149856587e-06,-4.777583779e-04,1.365141987e-04,7.019452869e-01,-5.266170806e-04,8.602881752e-01,7.019525727e-01,-5.350599391e-04,8.602824170e-01,7.027468343e-01,-5.922963214e-04,8.304621754e-01
+47,4.850000000e+00,UP_FORCE_RAMP,1793079002268835151,-1.794643025e-05,-4.991958893e-04,1.506938737e-04,-9.897103153e-06,-4.983296078e-04,1.512723201e-04,-5.926462904e-06,-4.639314502e-04,1.485172547e-04,7.019376514e-01,-5.211809439e-04,8.602940798e-01,7.019457008e-01,-5.203146623e-04,8.602946582e-01,7.027397580e-01,-5.784693937e-04,8.304741784e-01
+48,5.000000000e+00,UP_FORCE_RAMP,1793079002416768056,-2.354831662e-05,-4.964031195e-04,1.596621487e-04,-9.897103153e-06,-4.983296078e-04,1.512723201e-04,-5.955408480e-06,-4.639264960e-04,1.486698986e-04,7.019320496e-01,-5.183881740e-04,8.603030481e-01,7.019457008e-01,-5.203146623e-04,8.602946582e-01,7.027397290e-01,-5.784644394e-04,8.304743311e-01
+49,5.150000000e+00,UP_FORCE_RAMP,1793079002563857212,-3.327901173e-05,-5.005589654e-04,1.626939081e-04,-2.949430070e-05,-4.998257144e-04,1.557845661e-04,-2.634264573e-05,-4.653008641e-04,1.531880854e-04,7.019223189e-01,-5.225440200e-04,8.603060798e-01,7.019261036e-01,-5.218107689e-04,8.602991705e-01,7.027193418e-01,-5.798388076e-04,8.304788493e-01
+50,5.266666667e+00,UP_FORCE_RAMP,1793079002678932293,-3.741983641e-05,-4.905901041e-04,1.641543650e-04,-2.949430070e-05,-4.998257144e-04,1.557845661e-04,-2.641351800e-05,-4.652899306e-04,1.532885447e-04,7.019181780e-01,-5.125751587e-04,8.603075403e-01,7.019261036e-01,-5.218107689e-04,8.602991705e-01,7.027192709e-01,-5.798278740e-04,8.304789497e-01
+51,5.433333333e+00,UP_FORCE_RAMP,1793079002842454926,-4.011384590e-05,-4.947194099e-04,1.780954777e-04,-3.820967556e-05,-4.942085979e-04,1.734424328e-04,-3.534478888e-05,-4.599812121e-04,1.704823089e-04,7.019154840e-01,-5.167044645e-04,8.603214814e-01,7.019173882e-01,-5.161936525e-04,8.603168283e-01,7.027103396e-01,-5.745191555e-04,8.304961435e-01
+52,5.533333333e+00,UP_FORCE_RAMP,1793079002940723461,-4.016027604e-05,-4.949687221e-04,1.843851982e-04,-3.820967556e-05,-4.942085979e-04,1.734424328e-04,-3.541003960e-05,-4.599708515e-04,1.705996306e-04,7.019154376e-01,-5.169537767e-04,8.603277711e-01,7.019173882e-01,-5.161936525e-04,8.603168283e-01,7.027102744e-01,-5.745087949e-04,8.304962608e-01
+53,5.683333333e+00,UP_FORCE_RAMP,1793079003088280814,-4.079507623e-05,-4.939278919e-04,1.930501708e-04,-3.820967556e-05,-4.942085979e-04,1.734424328e-04,-3.548639027e-05,-4.599599403e-04,1.707463356e-04,7.019148028e-01,-5.159129465e-04,8.603364361e-01,7.019173882e-01,-5.161936525e-04,8.603168283e-01,7.027101980e-01,-5.744978837e-04,8.304964075e-01
+54,5.866666667e+00,UP_FORCE_RAMP,1793079003268121176,-4.498387763e-05,-4.968022488e-04,1.981597144e-04,-4.233639499e-05,-4.943102454e-04,1.934629331e-04,-3.960172343e-05,-4.600466824e-04,1.903188472e-04,7.019106140e-01,-5.187873034e-04,8.603415456e-01,7.019132615e-01,-5.162953000e-04,8.603368488e-01,7.027060827e-01,-5.745846258e-04,8.305159800e-01
+55,5.966666667e+00,UP_FORCE_RAMP,1793079003366717346,-4.318664082e-05,-4.918172376e-04,2.061972730e-04,-4.233639499e-05,-4.943102454e-04,1.934629331e-04,-3.964551171e-05,-4.600408048e-04,1.904325009e-04,7.019124112e-01,-5.138022922e-04,8.603495832e-01,7.019132615e-01,-5.162953000e-04,8.603368488e-01,7.027060389e-01,-5.745787482e-04,8.305160937e-01
+56,6.133333333e+00,UP_FORCE_HOLD,1793079003530548111,-4.570890403e-05,-4.963575653e-04,2.082436052e-04,-4.233639499e-05,-4.943102454e-04,1.934629331e-04,-3.970838679e-05,-4.600326857e-04,1.905988738e-04,7.019098890e-01,-5.183426199e-04,8.603516295e-01,7.019132615e-01,-5.162953000e-04,8.603368488e-01,7.027059760e-01,-5.745706291e-04,8.305162601e-01
+57,6.300000000e+00,UP_FORCE_HOLD,1793079003694489570,-4.574162991e-05,-4.936947981e-04,2.131105886e-04,-4.233639499e-05,-4.943102454e-04,1.934629331e-04,-3.976205734e-05,-4.600255860e-04,1.907459955e-04,7.019098562e-01,-5.156798527e-04,8.603564965e-01,7.019132615e-01,-5.162953000e-04,8.603368488e-01,7.027059224e-01,-5.745635295e-04,8.305164072e-01
+58,6.533333333e+00,UP_SETTLE,1793079003923694129,-4.761174208e-05,-4.906005179e-04,2.155967595e-04,-4.769176962e-05,-4.924573839e-04,2.126980664e-04,-4.519182118e-05,-4.582567498e-04,2.096016275e-04,7.019079861e-01,-5.125855725e-04,8.603589827e-01,7.019079061e-01,-5.144424385e-04,8.603560840e-01,7.027004926e-01,-5.727946932e-04,8.305352628e-01
+59,6.716666667e+00,UP_SETTLE,1793079004103948240,-4.569846020e-05,-4.922925971e-04,2.207132826e-04,-4.769176962e-05,-4.924573839e-04,2.126980664e-04,-4.525628400e-05,-4.582486995e-04,2.097868333e-04,7.019098994e-01,-5.142776516e-04,8.603640992e-01,7.019079061e-01,-5.144424385e-04,8.603560840e-01,7.027004281e-01,-5.727866429e-04,8.305354480e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.0906e-01,7.6267e-01,2.4466e+00,-9.2603e-02,5.1808e-02,1.6950e-03,-1.0052e-04,1.4365e-05,-6.4373e-06,-9.2387e-07,-6.2697e-06,-5.4017e-08,1.0175e-04,6.3376e-06
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,3.2065e-05,2.1748e-01,7.6303e-01,2.4450e+00,-9.2617e-02,5.2590e-02,1.6491e-03,8.3234e-03,3.7193e-04,-1.6158e-03,-1.5669e-05,7.7544e-04,-4.6016e-05,8.4869e-03,7.7696e-04
+2,2.6667e-01,WAIT_W2,6.8125e-05,2.3818e-01,7.6063e-01,2.4454e+00,-9.2468e-02,5.4067e-02,1.4277e-03,2.9020e-02,-2.0252e-03,-1.1804e-03,1.3374e-04,2.2525e-03,-2.6736e-04,2.9114e-02,2.2722e-03
+3,4.3333e-01,WAIT_W2,1.0508e-04,2.4908e-01,7.5976e-01,2.4431e+00,-9.2407e-02,5.4923e-02,1.3596e-03,3.9923e-02,-2.8936e-03,-3.4873e-03,1.9488e-04,3.1081e-03,-3.3545e-04,4.0180e-02,3.1322e-03
+4,5.6667e-01,WAIT_W2,1.3750e-04,2.5948e-01,7.5899e-01,2.4414e+00,-9.2364e-02,5.5591e-02,1.2771e-03,5.0321e-02,-3.6721e-03,-5.2400e-03,2.3759e-04,3.7762e-03,-4.1803e-04,5.0726e-02,3.8067e-03
+5,7.1667e-01,WAIT_W2,1.7315e-04,2.6951e-01,7.5816e-01,2.4411e+00,-9.2305e-02,5.6334e-02,1.2326e-03,6.0354e-02,-4.4966e-03,-5.4834e-03,2.9629e-04,4.5190e-03,-4.6251e-04,6.0769e-02,4.5523e-03
+6,8.8333e-01,WAIT_W2,2.1024e-04,2.8180e-01,7.5723e-01,2.4398e+00,-9.2244e-02,5.7222e-02,1.1346e-03,7.2641e-02,-5.4291e-03,-6.8247e-03,3.5713e-04,5.4074e-03,-5.6048e-04,7.3162e-02,5.4481e-03
+7,9.8333e-01,WAIT_W2,2.3780e-04,2.8597e-01,7.5741e-01,2.4386e+00,-9.2274e-02,5.7507e-02,1.0859e-03,7.6814e-02,-5.2513e-03,-8.0168e-03,3.2766e-04,5.6923e-03,-6.0918e-04,7.7409e-02,5.7342e-03
+8,1.0000e+00,WAIT_W2,2.6586e-04,2.8599e-01,7.5740e-01,2.4386e+00,-9.2274e-02,5.7508e-02,1.0859e-03,7.6836e-02,-5.2544e-03,-8.0116e-03,3.2790e-04,5.6937e-03,-6.0919e-04,7.7431e-02,5.7356e-03
+9,1.0167e+00,WAIT_W2,3.0253e-04,2.8323e-01,1.3968e+00,2.4075e+00,-1.3859e-01,5.7347e-02,1.2821e-03,7.4073e-02,6.3417e-01,-3.9135e-02,-4.5989e-02,5.5325e-03,-4.1302e-04,6.3968e-01,4.6323e-02
+10,1.0333e+00,WAIT_W2,3.4040e-04,3.0490e-01,1.9786e+00,2.4077e+00,-1.8051e-01,5.8820e-02,2.2591e-03,9.5748e-02,1.2160e+00,-3.8864e-02,-8.7910e-02,7.0054e-03,5.6403e-04,1.2204e+00,8.8191e-02
+11,1.0500e+00,WAIT_W2,4.0144e-04,2.8004e-01,2.5769e+00,2.3643e+00,-2.2393e-01,5.7174e-02,2.4563e-03,7.0887e-02,1.8143e+00,-8.2296e-02,-1.3133e-01,5.3594e-03,7.6119e-04,1.8175e+00,1.3144e-01
+12,1.0500e+00,WAIT_W2,4.0144e-04,2.8004e-01,2.5769e+00,2.3643e+00,-2.2393e-01,5.7174e-02,2.4563e-03,7.0887e-02,1.8143e+00,-8.2296e-02,-1.3133e-01,5.3594e-03,7.6119e-04,1.8175e+00,1.3144e-01
+13,1.0667e+00,WAIT_W2,4.5736e-04,3.0349e-01,3.5572e+00,2.3503e+00,-2.9501e-01,5.8876e-02,2.8277e-03,9.4337e-02,2.7946e+00,-9.6264e-02,-2.0241e-01,7.0617e-03,1.1326e-03,2.7978e+00,2.0253e-01
+14,1.0667e+00,WAIT_W2,4.5736e-04,3.0349e-01,3.5572e+00,2.3503e+00,-2.9501e-01,5.8876e-02,2.8277e-03,9.4337e-02,2.7946e+00,-9.6264e-02,-2.0241e-01,7.0617e-03,1.1326e-03,2.7978e+00,2.0253e-01
+15,1.0833e+00,WAIT_W2,5.3619e-04,3.4864e-01,4.4446e+00,2.3904e+00,-3.5930e-01,6.2133e-02,3.3544e-03,1.3948e-01,3.6819e+00,-5.6190e-02,-2.6669e-01,1.0319e-02,1.6593e-03,3.6850e+00,2.6690e-01
+16,1.0833e+00,WAIT_W2,5.3619e-04,3.4864e-01,4.4446e+00,2.3904e+00,-3.5930e-01,6.2133e-02,3.3544e-03,1.3948e-01,3.6819e+00,-5.6190e-02,-2.6669e-01,1.0319e-02,1.6593e-03,3.6850e+00,2.6690e-01
+17,1.1000e+00,WAIT_W2,5.8651e-04,3.6174e-01,5.6920e+00,2.3316e+00,-4.4986e-01,6.3122e-02,4.0901e-03,1.5259e-01,4.9294e+00,-1.1502e-01,-3.5726e-01,1.1308e-02,2.3950e-03,4.9331e+00,3.5745e-01
+18,1.1167e+00,WAIT_W2,6.2630e-04,4.1720e-01,6.4494e+00,2.3533e+00,-5.0407e-01,6.6774e-02,6.4507e-03,2.0804e-01,5.6868e+00,-9.3296e-02,-4.1146e-01,1.4960e-02,4.7556e-03,5.6913e+00,4.1176e-01
+19,1.1333e+00,WAIT_W2,6.5669e-04,3.8774e-01,7.0612e+00,2.3444e+00,-5.4834e-01,6.4995e-02,6.5444e-03,1.7859e-01,6.2985e+00,-1.0224e-01,-4.5574e-01,1.3181e-02,4.8493e-03,6.3019e+00,4.5595e-01
+20,1.1500e+00,WAIT_W2,6.9476e-04,3.7690e-01,7.5180e+00,2.3196e+00,-5.8190e-01,6.4264e-02,6.7434e-03,1.6774e-01,6.7553e+00,-1.2699e-01,-4.8930e-01,1.2449e-02,5.0483e-03,6.7586e+00,4.8949e-01
+21,1.1667e+00,WAIT_W2,7.2219e-04,3.8576e-01,8.1030e+00,2.3395e+00,-6.2448e-01,6.4946e-02,6.9657e-03,1.7660e-01,7.3403e+00,-1.0708e-01,-5.3188e-01,1.3131e-02,5.2706e-03,7.3432e+00,5.3207e-01
+22,1.2667e+00,WAIT_W2,7.6263e-04,3.5571e-01,8.4824e+00,2.3115e+00,-6.5279e-01,6.2800e-02,7.9869e-03,1.4655e-01,7.7198e+00,-1.3515e-01,-5.6019e-01,1.0985e-02,6.2919e-03,7.7223e+00,5.6034e-01
+23,1.4000e+00,WAIT_W2,7.9409e-04,3.0918e-01,8.5277e+00,2.2044e+00,-6.5830e-01,5.9664e-02,8.5265e-03,1.0002e-01,7.7651e+00,-2.4222e-01,-5.6570e-01,7.8492e-03,6.8314e-03,7.7695e+00,5.6579e-01
+24,1.5833e+00,WAIT_W2,8.3131e-04,3.6667e-01,8.5033e+00,2.2456e+00,-6.5615e-01,6.3776e-02,7.5168e-03,1.5752e-01,7.7406e+00,-2.0101e-01,-5.6355e-01,1.1962e-02,5.8217e-03,7.7448e+00,5.6371e-01
+25,1.7333e+00,WAIT_W2,8.6335e-04,3.2784e-01,8.4111e+00,2.1135e+00,-6.5098e-01,6.0906e-02,7.6371e-03,1.1868e-01,7.6484e+00,-3.3313e-01,-5.5838e-01,9.0918e-03,5.9421e-03,7.6566e+00,5.5849e-01
+26,1.9500e+00,UP_FORCE_RAMP,8.9759e-04,3.7400e-01,8.3686e+00,2.1868e+00,-6.4711e-01,6.4474e-02,7.4996e-03,1.6484e-01,7.6059e+00,-2.5979e-01,-5.5451e-01,1.2659e-02,5.8045e-03,7.6121e+00,5.5468e-01
+27,2.1333e+00,UP_FORCE_RAMP,9.3367e-04,4.0634e-01,8.3566e+00,2.2030e+00,-6.4605e-01,6.6673e-02,6.6227e-03,1.9718e-01,7.5939e+00,-2.4361e-01,-5.5345e-01,1.4858e-02,4.9276e-03,7.6004e+00,5.5367e-01
+28,2.2333e+00,UP_FORCE_RAMP,9.6897e-04,4.0876e-01,8.3568e+00,2.2043e+00,-6.4606e-01,6.6838e-02,6.6201e-03,1.9960e-01,7.5942e+00,-2.4228e-01,-5.5346e-01,1.5023e-02,4.9250e-03,7.6007e+00,5.5369e-01
+29,2.3333e+00,UP_FORCE_RAMP,1.0031e-03,4.2796e-01,8.3542e+00,2.2189e+00,-6.4572e-01,6.8131e-02,6.2007e-03,2.1880e-01,7.5915e+00,-2.2767e-01,-5.5312e-01,1.6317e-02,4.5056e-03,7.5981e+00,5.5338e-01
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+31,2.6833e+00,UP_FORCE_RAMP,1.0722e-03,4.8271e-01,8.3394e+00,2.2436e+00,-6.4409e-01,7.2326e-02,5.4336e-03,2.7355e-01,7.5767e+00,-2.0299e-01,-5.5149e-01,2.0511e-02,3.7385e-03,7.5844e+00,5.5188e-01
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Fixed/digit/cylinder_PLA_17.5/press_depth_05/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_17.5/press_depth_05/down/franka_data.csv

@@ -0,0 +1,61 @@
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+33297,1793079082651282044,15633748000000,1793079082648728201,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6759507703440177,-0.0049519575377052075,0.09974155919221873,0.9999999426492359,-0.00018956703367891927,-0.00021592835527272202,0.00015356976991349452,0.6761,-0.0046,0.09989738833955977,1.0,0.0,0.0,0.0,-0.1197828198935813,0.02689663310035839,0.09991517687523765,0.002361610885043941,0.006906880302674369,0.0004920384446315867,0.8515271501123681,1.076864199387221,0.9534283023729425,0.07285922409629342,-0.0563426158119479,-0.0006974042555224899,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.5086341863868854,1.445331120698336,0.6985515255327602,-0.06348334949694558,-0.3493866029295213,0.9136860315915671,1.6826685290495669,-0.09991517687523765,0.9841170035168066,0.9841170035168066,1.090386816075817,0,0,-1.427955904495371e-05,-9.999403668826119e-05
+33431,1793079083768289507,15634865000000,1793079083760738237,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6759581283925148,-0.004942642484596243,0.0997361157648632,0.9999999473044028,-0.0001784774376118859,-0.000203032208320262,0.0001541355972305585,0.6761,-0.0046,0.09987854321882109,1.0,0.0,0.0,0.0,-0.14330470607377588,0.03677578310541163,0.17436420997746738,0.004296115856740501,0.008755378295869504,0.00047063891834218865,0.8280052639321736,1.0867433493922742,1.0278773354751722,0.07479372906798998,-0.05449411781875277,-0.000718803781811888,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.592649544144215,1.3735033896641116,0.45532426485644273,-0.0370322558079351,-0.1788915077508184,0.8600609439555585,1.6826685290495669,-0.17436420997746738,1.2273442641931243,1.2273442641931243,1.2020868160758047,0,0,-2.1643056503901963e-05,9.932369790378032e-05
+33576,1793079084976330842,15636073000000,1793079084972727670,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6759779193885072,-0.004944167701376551,0.09972548296730267,0.9999999506471114,-0.00017606926577504729,-0.00018250175996215956,0.00016075248086838174,0.6761,-0.0046,0.09984484415211672,1.0,0.0,0.0,0.0,-0.25647393324838164,0.15200997833786745,0.23126624565581477,0.011372271836705333,0.01573003569898558,0.0016365954152511026,0.7148360367575678,1.20197754462473,1.0847793711535196,0.08186988504795481,-0.04751946041563669,0.000447152715097026,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.7914800064317568,1.4062313768184642,0.4287413339834854,-0.02725954482302475,-0.14003444871269016,0.8804673253881365,1.6826685290495669,-0.23126624565581477,1.2539271950660815,1.2539271950660815,1.3228868160757914,0,0,-4.208742605402017e-05,-9.999790859105957e-05
+33725,1793079086218430618,15637315000000,1793079086216737241,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6759867541011684,-0.004947886552805405,0.09970450338168395,0.9999999531639298,-0.00017230745422360644,-0.0001637957433577372,0.00016910380926207452,0.6761,-0.0046,0.09980357785051895,1.0,0.0,0.0,0.0,-0.32270576964152364,0.1685184664369177,0.41827331556109404,0.014143060456056428,0.019699912664665364,0.0025952544175489338,0.6486042003644258,1.2184860327237803,1.271786441058799,0.0846406736673059,-0.04354958344995691,0.0014058117173948571,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.8906964470585123,1.384612154625841,0.17373029940281656,-0.001477652675455106,0.035138498844809234,0.8583263202235119,1.6826685290495669,-0.41827331556109404,1.5089382296467504,1.5089382296467504,1.4470868160757777,0,0,-1.3318166865146414e-05,9.996573987892105e-05
+33851,1793079087268463659,15638365000000,1793079087260737394,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6759908661969044,-0.0049490118122034275,0.09969871101672077,0.9999999530800687,-0.0001766958694267388,-0.0001590832956005164,0.00016956945281396563,0.6761,-0.0046,0.09979243120600552,1.0,0.0,0.0,0.0,-0.3162828867373366,0.17906411740489636,0.45827836606303607,0.015125658236780776,0.01975203140848842,0.002575421248632706,0.6550270832686128,1.229031683691759,1.311791491560741,0.08562327144803025,-0.04349746470613385,0.0013859785484786297,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.8536296445395481,1.3448430929959152,0.2700254061171769,0.01504217136313671,-0.039895908755233585,0.8266941029178797,1.6826685290495669,-0.45827836606303607,1.41264312293239,1.41264312293239,1.5520868160757662,0,0,-1.4948768246895954e-05,-9.999999025923074e-05
+33973,1793079088285467190,15639382000000,1793079088280737131,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6759939867188303,-0.004953155065148354,0.09968681759680234,0.9999999532300758,-0.00017787015294029902,-0.00015270016956028072,0.00017328467121634932,0.6761,-0.0046,0.09976433017767863,1.0,0.0,0.0,0.0,-0.35702714171968164,0.1936436553358718,0.5399249582949097,0.01610608794804186,0.021741964343919666,0.00254846968984955,0.6142828282862678,1.2436112216227344,1.3934380837926146,0.08660370115929134,-0.041507531770702606,0.0013590269896954733,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.8992862000904581,1.4481492289892917,0.1335771275371456,-0.010434258134278403,0.05380724229723098,0.8932705229155136,1.6826685290495669,-0.5399249582949097,1.5490914015124213,1.5490914015124213,1.653786816075755,0,0,-3.772953522804124e-05,-9.999999025923074e-05
+34105,1793079089385544825,15640482000000,1793079089384737133,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760047558172695,-0.004951445863602602,0.0996758473588339,0.9999999554118225,-0.00017945692591442533,-0.00013590841446230133,0.00017304141644010446,0.6761,-0.0046,0.09973039186347293,1.0,0.0,0.0,0.0,-0.3927371977287747,0.21972652321194164,0.6611138814155681,0.01806004354070434,0.02410468257999339,0.0025346165972108202,0.5785727722771747,1.2696940894988042,1.514627006913273,0.08855765675195382,-0.03914481353462888,0.0013451738970567436,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.0053719009021087,1.4480542721793894,-0.13087904694274635,-0.018176148222448014,0.24228087250133712,0.8914049190538246,1.6826685290495669,-0.6611138814155681,1.8135475759923132,1.8135475759923132,1.7637868160757428,0,0,-2.2260747596621104e-05,9.921912877264844e-05
+34236,1793079090476514182,15641573000000,1793079090472737477,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760100868584542,-0.00495503581013764,0.09966370059266555,0.9999999555811319,-0.0001842995668229446,-0.0001273566430979369,0.00017347781876988865,0.6761,-0.0046,0.09970760706139825,1.0,0.0,0.0,0.0,-0.4125616810481919,0.23316491802490535,0.7502579350608851,0.020051737713703013,0.02467248338577379,0.0034909395163371963,0.5587482889577575,1.283132484311768,1.60377106055859,0.09054935092495249,-0.03857701272884848,0.0023014968161831195,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.0576107816173557,1.3377242188660992,-0.21994597523047854,0.020264261987729328,0.3116491190680869,0.815509935881873,1.6826685290495669,-0.7502579350608851,1.9026145042800455,1.9026145042800455,1.8728868160757308,0,0,-2.2393108399494703e-05,9.69988076234884e-05
+34364,1793079091543629903,15642640000000,1793079091540737199,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760152488530369,-0.004948567740243907,0.09964722539263908,0.9999999538731642,-0.00022858639023048806,-0.00011552482633236435,0.0001345318184325727,0.6761,-0.0046,0.09968105365784513,1.0,0.0,0.0,0.0,-0.3874454341382959,0.3202675238984145,0.8450165826887215,0.02512840118273099,0.023569160809542203,0.003460703335832824,0.5838645358676535,1.3702350901852771,1.6985297081864263,0.09562601439398047,-0.03968033530508007,0.0022712606356787473,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.1361296335083846,1.4345240175309126,-0.33022144747474425,0.035247806857771825,0.3945858268477307,0.8909904447468768,1.6826685290495669,-0.8450165826887215,2.012889976524311,2.012889976524311,1.979586816075719,0,0,-2.423347296856703e-05,9.745387416349444e-05
+34504,1793079092710572814,15643807000000,1793079092708737004,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760250195998334,-0.004949393279599563,0.099635385771262,0.9999999548427775,-0.0002276280356805716,-0.00010113449768399448,0.00014040868128624916,0.6761,-0.0046,0.09965085377203943,1.0,0.0,0.0,0.0,-0.4259991216102704,0.339074854666394,0.9363122242685604,0.027111125216035592,0.0264968300158807,0.004479026087057971,0.545310848395679,1.3890424209532566,1.7898253497662653,0.09760873842728507,-0.036752666098741574,0.003289583386903894,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.164515574050508,1.3259899918174534,-0.41645925349582513,0.0589512922601332,0.4500263365826869,0.8120106251810424,1.6826685290495669,-0.9363122242685604,2.0991277825453922,2.0991277825453922,2.09628681607592,0,0,-2.7202800377519647e-05,9.998125524569019e-05
+34641,1793079093851678709,15644948000000,1793079093844728109,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760301765014423,-0.004949558656793987,0.09961446109338427,0.9999999557323008,-0.00022487069435784982,-9.309762977149212e-05,0.00014402868636346068,0.6761,-0.0046,0.09961729973624298,1.0,0.0,0.0,0.0,-0.4561786991549124,0.36355386985017146,1.046917699276188,0.028057911448829076,0.02847997578871978,0.004429492652116161,0.515131270851037,1.413521436137034,1.9004308247738928,0.09855552466007855,-0.03476952032590249,0.003240049951962084,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2088150072261308,1.4817177390573548,-0.48372312388895017,0.004594082567644038,0.4986230759991768,0.9133598870508742,1.6826685290495669,-1.046917699276188,2.166391652938517,2.166391652938517,2.2103868160761606,0,0,-3.0935445853612305e-05,-7.76944578381233e-05
+34767,1793079094901772079,15645998000000,1793079094900727461,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6760400712101524,-0.004949718330855595,0.09960185946177352,0.9999999568800113,-0.00022398370426765288,-7.803613331002832e-05,0.0001463711098642597,0.6761,-0.0046,0.09958311022274305,1.0,0.0,0.0,0.0,-0.49368128551810225,0.36264828375351255,1.1595205747390696,0.02900200462003387,0.030464015377962138,0.004377071371381219,0.4776286844878472,1.4126158500403752,2.0130337002367744,0.09949961783128335,-0.032785480736660134,0.0031876286712271425,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.238273914204051,1.4090409878491135,-0.5803837662321827,0.02377671591489866,0.5654355223502007,0.8665257238861948,1.6826685290495669,-1.1595205747390696,2.2630522952817493,2.2630522952817493,2.315386816076382,0,0,-3.282000441836986e-05,-9.999980984798924e-05
+34907,1793079096068744469,15647165000000,1793079096064728115,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6760483584859631,-0.004952542409792441,0.09958395565085269,0.9999999581187383,-0.0002175413637738602,-6.437082623620254e-05,0.00015406991104575815,0.6761,-0.0046,0.09955045419693022,1.0,0.0,0.0,0.0,-0.5226336507928282,0.3685199242608319,1.2779839993592,0.02994620663548357,0.0324475643031808,0.004323136828666872,0.44867631921312123,1.4184874905476945,2.131497124856905,0.10044381984673305,-0.03080193181144147,0.0031336941285127957,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2630957249462185,1.4111066543283506,-0.7704765388839976,0.011080387714717733,0.6881702753819869,0.8641595158841405,1.6826685290495669,-1.2779839993592,2.4531450679335647,2.4531450679335647,2.4320868160766285,0,0,-2.3265988570415945e-05,8.750008636949075e-05
+35054,1793079097293804888,15648390000000,1793079097292727898,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760533454923874,-0.0049512869066026585,0.0995645967883908,0.9999999583783161,-0.00021592571428364376,-5.640352935452953e-05,0.00015773698961283881,0.6761,-0.0046,0.09951803033234531,1.0,0.0,0.0,0.0,-0.5418185742224193,0.3783863968453596,1.3481885642244966,0.029893797123226526,0.03443921224089949,0.004292931187266356,0.4294913957835301,1.4283539631322222,2.2017016897222015,0.100391410334476,-0.02881028387372278,0.0031034884871122795,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3338658032201978,1.2994887837761009,-0.8075193141444272,0.04482722937278394,0.7298343335155617,0.791243008724078,1.6826685290495669,-1.3481885642244966,2.4901878431939943,2.4901878431939943,2.554586816076887,0,0,-3.459973919458926e-05,-8.83080372978739e-05
+35190,1793079098426855738,15649523000000,1793079098420727983,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.676062711757059,-0.004953089331603686,0.09953960361063487,0.9999999585234832,-0.0002144105796943667,-4.177845516567455e-05,0.00016333572756978897,0.6761,-0.0046,0.09947382075703659,1.0,0.0,0.0,0.0,-0.5801456510719932,0.39014720713938944,1.4866443837674475,0.030818052035036195,0.03643532284348931,0.004219462280290395,0.3911643189339562,1.440114773426252,2.3401575092651523,0.10131566524628567,-0.026814173271132963,0.003030019580136319,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.34880503866944,1.4319050177713548,-0.8760853004285271,0.008983317587174487,0.7719083050495689,0.8814464439911751,1.6826685290495669,-1.4866443837674475,2.558753829478094,2.558753829478094,2.667886816077126,0,0,-3.746599453876976e-05,-9.921875407237763e-05
+35321,1793079099518899249,15650615000000,1793079099512728061,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760650928801051,-0.004960868711109999,0.09950995857424973,0.9999999580991464,-0.00021138561868818195,-3.7216103037757286e-05,0.00017080881486591159,0.6761,-0.0046,0.09943762703392939,1.0,0.0,0.0,0.0,-0.5933019352301552,0.38644545491397664,1.5786420495786893,0.02976181457206213,0.03823643197491278,0.004160750108828002,0.3780080347757942,1.4364130212008392,2.432155175076394,0.10025942778331161,-0.025013064139709492,0.0029713074086739253,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.293899357082872,1.456374642125485,-1.0356236789704836,-0.011344919308748752,0.8569670566048602,0.8957395784630472,1.6826685290495669,-1.5786420495786893,2.7182922080200504,2.7182922080200504,2.7770868160773565,0,0,-2.783605069642115e-05,-7.312679214799828e-05
+35455,1793079100635995739,15651732000000,1793079100628727722,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6760757897040829,-0.004957345658165458,0.0994914698635107,0.9999999592607764,-0.00020522907233396496,-1.9176759490742555e-05,0.00017445512139163826,0.6761,-0.0046,0.09939734686544248,1.0,0.0,0.0,0.0,-0.6081020954466024,0.363662169730228,1.6685806317983267,0.029530126795969197,0.03844780414435404,0.004086453304709441,0.363207874559347,1.4136297360170906,2.5220937572960316,0.10002774000721867,-0.024801691970268235,0.0028970106045553643,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3522056559478373,1.3926689985070286,-1.1716423889316283,0.004265974789413898,0.9640794494713765,0.8510432469013501,1.6826685290495669,-1.6685806317983267,2.854310917981195,2.854310917981195,2.8887868160775922,0,0,-4.5397150667787816e-05,6.249996380108771e-06
+35592,1793079101776991976,15652873000000,1793079101772728798,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6760844537773725,-0.004964645624750518,0.09945639019991502,0.9999999586829088,-0.0001993072364228012,-5.951553945309422e-06,0.00018525185387616367,0.6761,-0.0046,0.09934480946000192,1.0,0.0,0.0,0.0,-0.6089099458867164,0.3639375093671151,1.7481060688817942,0.028245617735330283,0.0395534890735539,0.0030022603701962804,0.362400024119233,1.4139050756539777,2.601619194379499,0.09874323094657976,-0.02369600704106837,0.0018128176700422036,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3699163860859769,1.4512360699272215,-1.2201105295321981,-0.013694838467319469,0.9981517146595671,0.8917210950680086,1.6826685290495669,-1.7481060688817942,2.902779058581765,2.902779058581765,3.002886816077833,0,0,-5.141702040109409e-05,-9.999976821462581e-05
+35728,1793079102911062614,15654007000000,1793079102904727753,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6760949535458939,-0.004965392696429944,0.09941263776034634,0.9999999575940072,-0.0001950438899893174,1.1091246203853565e-05,0.00019516586080052945,0.6761,-0.0046,0.09928381838978544,1.0,0.0,0.0,0.0,-0.6070319805749009,0.33597855727839954,1.866082850440174,0.025546091968894846,0.040515078709916115,0.0019396517127009886,0.36427798943104855,1.3859461235652621,2.719595975937879,0.09604370518014432,-0.022734417404706157,0.000750209012546912,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3496264561087936,1.464352154481002,-1.3492907840183495,-0.01891383438190565,1.076956354335216,0.8971586405061881,1.6826685290495669,-1.866082850440174,3.031959313067916,3.031959313067916,3.1162868160780723,0,0,-5.1250452377830886e-05,-7.507044571942174e-05
+35844,1793079103877101309,15654973000000,1793079103876727912,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6761013580491387,-0.004967382979279708,0.09937308893985536,0.9999999565128757,-0.00019102724581688673,2.2397711654039537e-05,0.00020352897748605875,0.6761,-0.0046,0.09923003819138113,1.0,0.0,0.0,0.0,-0.6113234535930019,0.30890626566131174,1.9272225197543988,0.022517764731584372,0.04157235746371359,0.0017913944728348652,0.35998651641294754,1.3588738319481743,2.7807356452521037,0.09301537794283385,-0.02167713865090868,0.0006019517726807886,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3671537159478317,1.4271963746911533,-1.5001055854223733,-0.010520210287761726,1.1826609352807678,0.8729394991706257,1.6826685290495669,-1.9272225197543988,3.18277411447194,3.18277411447194,3.212886816078276,0,0,-6.132940128381203e-05,9.687500387845489e-05
+35962,1793079104861059185,15655957000000,1793079104856736985,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6761089414045617,-0.004966266270250851,0.09933209506354268,0.9999999555936652,-0.00018736834384645553,3.488589183038105e-05,0.000209598688458357,0.6761,-0.0046,0.09917038484432769,1.0,0.0,0.0,0.0,-0.6240570427280647,0.28719571731717863,2.024898574512508,0.021377923724043665,0.04258662878188864,0.001715378492121645,0.34725292727788465,1.3371632836040412,2.878411700010213,0.09187553693529314,-0.02066286733273363,0.0005259357919675683,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3626519611597354,1.4135169246356092,-1.5730990102839222,-0.021608074801833545,1.228820615041668,0.8603421041849711,1.6826685290495669,-2.024898574512508,3.255767539333489,3.255767539333489,3.311286816078484,0,0,-6.399842184159402e-05,-2.6512224771714363e-05
+36062,1793079105694141267,15656790000000,1793079105688728119,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6761187375570733,-0.004969404480338292,0.09929788775225284,0.999999952695376,-0.00018783541172388236,5.18290670786721e-05,0.00021927999416664962,0.6761,-0.0046,0.09911600840979871,1.0,0.0,0.0,0.0,-0.6366508845847278,0.28379758560520996,2.10535156279745,0.02031147892781289,0.0436785500860951,0.0016485518345986192,0.3346590854212216,1.3337651518920726,2.9588646882951553,0.09080909213906237,-0.019570946028527176,0.0004591091344445427,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3459176054122735,1.3859756695209178,-1.6704065505556314,-0.029516814384103206,1.2862681518215309,0.8360916315928347,1.6826685290495669,-2.10535156279745,3.3530750796051985,3.3530750796051985,3.3945868160786596,0,0,-6.53837564964802e-05,9.740769260256025e-12
+36198,1793079106827181509,15657923000000,1793079106824728844,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6761323602217109,-0.0049778439131718255,0.09924844665576454,0.9999999483846893,-0.00019131626157578308,7.092437447713878e-05,0.00023030697770902973,0.6761,-0.0046,0.09904477962499611,1.0,0.0,0.0,0.0,-0.6423894136171022,0.2573496813745242,2.1931939163474166,0.018228551905550755,0.04463535886535751,0.0015726876498314936,0.3289205563888472,1.3073172476613868,3.0467070418451216,0.08872616511680023,-0.018614137249264768,0.0003832449496774171,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3616370797180934,1.4600391313599481,-1.8325473881743213,-0.058287276227279076,1.3973576034285093,0.8801717012341588,1.6826685290495669,-2.1931939163474166,3.5152159172238884,3.5152159172238884,3.5078868160788987,0,0,-6.556353946277215e-05,9.997677272022826e-05
+36320,1793079107844249851,15658940000000,1793079107840737218,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6761387559056838,-0.004976465785272498,0.09918506804013559,0.999999945414317,-0.0002076714493088301,8.29651176238901e-05,0.0002249524075052147,0.6761,-0.0046,0.09896860792590932,1.0,0.0,0.0,0.0,-0.639300385226176,0.22596137384101112,2.2472395461053196,0.015533184433263472,0.04468693071850284,0.00047199880475567513,0.3320095847797734,1.2759289401278737,3.1007526716030247,0.08603079764451295,-0.018562565396119435,-0.0007174438953984015,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3638036585214686,1.4068405290136163,-1.8305058816790445,-0.03719579818335892,1.3950145598830102,0.8408510285906095,1.6826685290495669,-2.2472395461053196,3.5131744107286114,3.5131744107286114,3.6095868160791134,0,0,-8.756811711449342e-05,-9.997362246239589e-05
+36394,1793079108461243426,15659557000000,1793079108460728297,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6761496667434591,-0.004963650746990104,0.0991414622508877,0.9999999190091141,-0.00036148929352087443,0.00011044623080881356,0.0001027217074210628,0.6761,-0.0046,0.09890803956233263,1.0,0.0,0.0,0.0,-0.5087639432836681,0.38681065452958086,2.3384192243889146,0.024561801324278473,0.03757075072233133,0.0019779692703269396,0.46254602672228123,1.4367782208164435,3.1919323498866197,0.09505941453552795,-0.025678745392290946,0.0007885265701728631,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.4743119442655366,1.4105362344040304,-1.903867533209282,-0.04781235300605435,1.4877958424114823,0.8896237779398426,1.6826685290495669,-2.3384192243889146,3.586536062258849,3.586536062258849,3.6712868160792436,0,0,-0.00010210475820849303,4.079329535549984e-06
+36512,1793079109444289692,15660540000000,1793079109436737533,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6761636131703663,-0.004967045970673497,0.09907358570980986,0.9999999179945014,-0.0003525843852015412,0.00012910054446192045,0.00012029611192533355,0.6761,-0.0046,0.09881645662070063,1.0,0.0,0.0,0.0,-0.5081499509917933,0.3683558053379328,2.4546025813230505,0.023482414496999143,0.03738318585624146,0.0013330904109644837,0.4631600190141561,1.4183233716247954,3.308115706820755,0.09398002770824862,-0.025866310258380813,0.00014364771081040706,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.4660240058175662,1.5277166626936438,-2.0583197995384,-0.053721190508562215,1.5779476919462478,0.951143695086283,1.6826685290495669,-2.4546025813230505,3.740988328587967,3.740988328587967,3.769586816079451,0,0,-8.143501817739628e-05,9.999999025923074e-05
+36662,1793079110694357643,15661790000000,1793079110688737519,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6761732544568926,-0.0049770434679450165,0.09899147979727145,0.9999999141408036,-0.0003508899058874577,0.0001427995959890846,0.00014016346964672294,0.6761,-0.0046,0.09872191009020287,1.0,0.0,0.0,0.0,-0.4856301476773116,0.278921079736143,2.446078879341375,0.016979578968241926,0.0364959223690116,0.0012444236635384277,0.4856798223286378,1.3288886460230056,3.29959200483908,0.0874771921794914,-0.02675357374561067,5.4980963384351045e-05,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3854876953384934,1.5210349442092355,-2.061878624677427,-0.009581407484320301,1.559427219460756,0.9274353718882444,1.6826685290495669,-2.446078879341375,3.744547153726994,3.744547153726994,3.894586816079715,0,0,-8.453488508783214e-05,-9.999924085868912e-05
+36799,1793079111836299653,15662932000000,1793079111832727576,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6761865237804666,-0.0049791729415651605,0.09889474036288062,0.9999999095899147,-0.00034751937588714565,0.00016490170723959522,0.0001558869342361478,0.6761,-0.0046,0.09860169089208735,1.0,0.0,0.0,0.0,-0.5109961441347687,0.23628655284475153,2.576912511383438,0.014238236417615638,0.03854510101575617,0.0011411212246532085,0.46031382587118075,1.2862541191316141,3.4304256368811425,0.08473584962886511,-0.024704395098866096,-4.832147550086802e-05,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.408971580465631,1.4873636808947364,-2.197089222090695,-0.004030833780896894,1.6496751262456417,0.8920959580032476,1.6826685290495669,-2.576912511383438,3.8797577511402617,3.8797577511402617,4.008786816079917,0,0,-0.00011179779877831664,-9.83440648624267e-05
+36919,1793079112836399231,15663932000000,1793079112832737322,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6761960695131578,-0.004981003677281377,0.09880589294874034,0.9999998979566006,-0.00037448313745315763,0.00018179498952362576,0.00014913957638908423,0.6761,-0.0046,0.09849155779392786,1.0,0.0,0.0,0.0,-0.4898537830189429,0.21132945069403375,2.630834541713969,0.012240388159812321,0.036547784637963515,0.0010446700078540652,0.48145618698700654,1.2612970169808964,3.484347667211674,0.0827380013710618,-0.026701711476658754,-0.00014477269230001133,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3214747784411105,1.5659605162320074,-2.285100586574795,-0.01697011762083153,1.6843124689601408,0.9408045630508891,1.6826685290495669,-2.630834541713969,3.9677691156243617,3.9677691156243617,4.108786816079684,0,0,-0.00011079085833062686,-9.999989311471608e-05
+37035,1793079113802418353,15664898000000,1793079113800736982,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6762084930071641,-0.0049849902003271775,0.09871893510896426,0.999999885573643,-0.00039740778271290535,0.00020224085673979135,0.000146496600995167,0.6761,-0.0046,0.0983849696641073,1.0,0.0,0.0,0.0,-0.4507393282440737,0.1673404280215447,2.664671450451886,0.009218196093526587,0.03476622396738578,0.0009562809252374046,0.5205706417618757,1.2173079943084073,3.518184575949591,0.07971580930477606,-0.028483272147236494,-0.00023316177491667202,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3361108727337225,1.5759323466618835,-2.4265121033213903,-0.019092368091428138,1.7829101095442472,0.9474487266463216,1.6826685290495669,-2.664671450451886,4.109180632370958,4.109180632370958,4.205386816079459,0,0,-0.00011635561116434359,9.173643577192124e-06
+37191,1793079115102522842,15666198000000,1793079115100727412,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6762223641824624,-0.004990368917802025,0.09858062628936068,0.9999998691255647,-0.00042371183215757403,0.00022499420916144308,0.00015178143987106018,0.6761,-0.0046,0.09822207922176104,1.0,0.0,0.0,0.0,-0.4359496827457847,0.10882183983679061,2.7926955487022234,0.005144163225434387,0.03361044757828736,0.0007922716161278404,0.5353602872601647,1.1587894061236532,3.6462086741999284,0.07564177643668386,-0.029639048536334915,-0.00039717108402623626,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3455960814317616,1.5598423079009969,-2.51326369644678,-0.030570482038409542,1.84887611605563,0.927058819627874,1.6826685290495669,-2.7926955487022234,4.195932225496347,4.195932225496347,4.335386816079156,0,0,-0.00012897753309401428,-9.960250266083932e-05
+37320,1793079116177564531,15667273000000,1793079116176727453,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6762357842705957,-0.004994277852767646,0.09845486086033577,0.9999998556028543,-0.00044078608066949596,0.0002477659177387907,0.0001567061399966066,0.6761,-0.0046,0.09807574096402387,1.0,0.0,0.0,0.0,-0.4288542888883653,0.06335914921005292,2.860930634410126,0.0020617858755870855,0.03365494318603211,0.0007029975300617925,0.5424556811175841,1.1133267154969155,3.7144437599078306,0.07255939908683656,-0.029594552928590163,-0.0004864451700922841,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2656217098331346,1.5933636345776245,-2.5886236365036357,-0.05449574506286304,1.883331555041034,0.9444423166529647,1.6826685290495669,-2.860930634410126,4.271292165553202,4.271292165553202,4.4428868160789055,0,0,-0.00013953138630204277,-9.92190593837094e-05
+37440,1793079117177602989,15668273000000,1793079117176727809,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6762437611283759,-0.004997189380416917,0.09832171018427484,0.9999998425585712,-0.00046099018848981267,0.0002619423588215574,0.0001587448967647535,0.6761,-0.0046,0.09792588621185574,1.0,0.0,0.0,0.0,-0.4177092142139298,0.01971169196818412,2.910864680344451,-0.0009845394568150923,0.03269022516468045,0.000614138368478827,0.5536007557920196,1.0696792582550467,3.7643778058421558,0.06951307375443438,-0.03055927094994182,-0.0005753043316752497,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2631107165347695,1.4680787283967105,-2.736456417573017,-0.017194573617505753,1.9787896398950937,0.8592285495732563,1.6826685290495669,-2.910864680344451,4.419124946622584,4.419124946622584,4.542886816078672,0,0,-0.00015362437826543372,5.161752442553089e-05
+37556,1793079118144632019,15669240000000,1793079118136737546,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6762550815739228,-0.005000592902116857,0.09818796557949726,0.999999824560201,-0.0004881497643589716,0.0002817384493480977,0.0001570212832628378,0.6761,-0.0046,0.09776930389772316,1.0,0.0,0.0,0.0,-0.41722371949168224,-0.0028674625354885297,2.9647610659483394,-0.002026918200201816,0.03269327291089631,0.001211257368324237,0.5540862505142672,1.047100103751374,3.818274191446044,0.06847069501104766,-0.030556223203725964,2.1814668170160522e-05,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.350598339294227,1.5902433205555209,-2.892597800299741,-0.05718798825344277,2.102155919322887,0.9338728071750907,1.6826685290495669,-2.9647610659483394,4.575266329349308,4.575266329349308,4.639586816078447,0,0,-0.00017049462141119497,9.843751788552452e-05
+37655,1793079118969594376,15670065000000,1793079118964728294,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6762696172795243,-0.005009179422492397,0.09806691366298066,0.9999999341726945,-5.8121472423218575e-05,0.0003085827099374048,0.00015651222541513654,0.6761,-0.0046,0.09762296190633765,1.0,0.0,0.0,0.0,-0.39195793719137895,-0.03933907033140649,3.002800512515088,-0.00500526943338174,0.03179992411249429,-0.0024934189711788273,0.5793520328145705,1.0106284959554561,3.8563136380127925,0.06549234377786774,-0.03144957200212798,-0.0036828616713329037,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.282504168006985,1.655035767421831,-2.7217872365329283,-0.11540217240581889,1.9881145750574363,0.9188195622505828,1.6826685290495669,-3.002800512515088,4.404455765582496,4.404455765582496,4.722086816078255,0,0,-0.00018239450073484343,-9.999126113069962e-05
+37763,1793079119869660972,15670965000000,1793079119868727790,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.676276766853207,-0.00501206896400372,0.09790811492340935,0.9999999280526161,-8.45425357710393e-05,0.0003190619383405701,0.00016244896552849848,0.6761,-0.0046,0.09745097730703964,1.0,0.0,0.0,0.0,-0.40665210073265223,-0.07275444782808782,3.108515051435554,-0.007143580588134649,0.03277207997476739,-0.0006406162185347041,0.5646578692732972,0.9772131184587748,3.962028176933259,0.06335403262311483,-0.03047741613985488,-0.0018300589186887807,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2755833967843078,1.6579377754423248,-3.021163718882892,-0.1290890325176873,2.180089102285869,0.8976790596291089,1.6826685290495669,-3.108515051435554,4.703832247932459,4.703832247932459,4.812086816078045,0,0,-0.00019697990809722376,9.279444854038416e-05
+37857,1793079120652730108,15671748000000,1793079120648727857,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6762875976175935,-0.005016381718669047,0.09777084195789038,0.999999918930282,-0.00011884165269933295,0.00033750779351234656,0.00015983568010785463,0.6761,-0.0046,0.09729379155285077,1.0,0.0,0.0,0.0,-0.40781818929415414,-0.09439792912613365,3.1587788379961754,-0.008158578741378764,0.03177311592040035,0.00031557665851586513,0.5634917807117953,0.955569637160729,4.0122919634938805,0.06233903446987071,-0.03147638019422192,-0.0008738660416382115,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.293860068081717,1.5931122456328768,-3.0612855737149327,-0.07112563991270915,2.211298067284418,0.894146149677369,1.6826685290495669,-3.1587788379961754,4.7439541027645,4.7439541027645,4.8903868160778625,0,0,-0.00020287093724783022,5.104048714089089e-05
+37957,1793079121486721782,15672582000000,1793079121484727591,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6762942982058275,-0.0050151974626703195,0.09760974994025615,0.9999999108571974,-0.00015794481816188216,0.0003486258161466817,0.0001524530630323274,0.6761,-0.0046,0.09712112845018865,1.0,0.0,0.0,0.0,-0.37758083061905356,-0.10893506791071383,3.202119055741128,-0.010206069292548699,0.03176275058202535,0.0002656571964967479,0.5937291393868959,0.9410324983761488,4.055632181238833,0.06029154391870078,-0.03148674553259692,-0.0009237855036573287,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2752572627782286,1.5681915334670116,-3.0612547489755446,-0.03072929044791754,2.206477006948733,0.9192656733949169,1.6826685290495669,-3.202119055741128,4.743923278025111,4.743923278025111,4.973786816077668,0,0,-0.00021152935200249712,-9.999924085868912e-05
+38063,1793079122369716635,15673465000000,1793079122368727786,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6763039319761421,-0.005018439885979792,0.09743366479639547,0.9999999012871673,-0.00017883598744318534,0.00036323382179597147,0.0001579474598767783,0.6761,-0.0046,0.09693195515087082,1.0,0.0,0.0,0.0,-0.369247880428914,-0.1629192414488594,3.267614077968412,-0.013267811983546644,0.030819291146318893,0.0011888142059736445,0.6020620895770354,0.8870483248380032,4.121127203466117,0.05722980122770283,-0.03243020496830338,-6.284941804321939e-07,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2812613869961105,1.5471293183333492,-3.207871391268346,-0.023692246086749812,2.3097725991942792,0.9042016285564732,1.6826685290495669,-3.267614077968412,4.890539920317913,4.890539920317913,5.062086816077462,0,0,-0.00021928818084018952,7.802666432266676e-05
+38160,1793079123177829311,15674273000000,1793079123172727848,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763118149009529,-0.005022170801185079,0.09726230935271095,0.9999998916143392,-0.00020116819941266346,0.00037562653427634663,0.00016324900076028238,0.6761,-0.0046,0.09674801536145251,1.0,0.0,0.0,0.0,-0.3734775947968457,-0.18946771413719687,3.3069442169124352,-0.015317896262430512,0.03084977652028273,0.001133914834075845,0.5978323752091037,0.8604998521496657,4.16045734241014,0.055179716948818965,-0.03239971959433954,-5.552786607823148e-05,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3063524621437137,1.5082789916537933,-3.174063873517469,0.006055073330245424,2.299415704140726,0.8816525959414043,1.6826685290495669,-3.3069442169124352,4.856732402567036,4.856732402567036,5.142886816077274,0,0,-0.00023464367613776205,-9.999990699250389e-05
+38252,1793079123944854676,15675040000000,1793079123940727766,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763226993730892,-0.005025730304405746,0.09709553462362991,0.9999998762125405,-0.000231816276684962,0.0003986840268038371,0.00016226530196157034,0.6761,-0.0046,0.09655706405846809,1.0,0.0,0.0,0.0,-0.3693693456720767,-0.21305531527459765,3.312724337503055,-0.01633813514978178,0.030732782262539213,0.0011158575868012298,0.6019406243338727,0.836912251012265,4.16623746300076,0.054159478061467696,-0.03251671385208306,-7.35851133528468e-05,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2668235374606807,1.5176278518268216,-3.2794938544586176,0.01621947617999884,2.3542960877958476,0.8840833023422883,1.6826685290495669,-3.312724337503055,4.9621623835081845,4.9621623835081845,5.219586816077095,0,0,-0.00026487987984521864,-9.999999025923074e-05
+38344,1793079124711879376,15675807000000,1793079124708727220,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.676329154920496,-0.005025606755214602,0.09690452020693349,0.9999998666216101,-0.0002547250411426628,0.00040803524205964165,0.00016377429756553086,0.6761,-0.0046,0.09635211461553642,1.0,0.0,0.0,0.0,-0.3344216406535976,-0.26646837312062277,3.4253076515930454,-0.019347202613210095,0.027864402994758515,0.0009496828315893221,0.6368883293523518,0.7834991931662398,4.2788207770907505,0.05115041059803938,-0.03538509311986376,-0.0002397598685647545,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2836930777101738,1.532246897879744,-3.4050384839380508,0.016391251593926882,2.4515638399299142,0.8957304909523303,1.6826685290495669,-3.4253076515930454,5.087707012987618,5.087707012987618,5.2962868160769165,0,0,-0.00027097258239042334,9.794738217572813e-05
+38423,1793079125369874421,15676465000000,1793079125368727909,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6763380775918878,-0.005025908414268396,0.09673175308650257,0.9999998574387808,-0.00025517009721906584,0.0004252456162609647,0.00017498476870315383,0.6761,-0.0046,0.09617123008430414,1.0,0.0,0.0,0.0,-0.31510217146056296,-0.26700643406351376,3.429503122825116,-0.02031245590740558,0.02686795116546549,0.0009216189837891202,0.6562077985453865,0.7829611322233488,4.283016248322821,0.050185157303843896,-0.03638154494915678,-0.0002678237163649564,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.2546739626285095,1.44508534831594,-3.4396849119068276,0.045436213667155834,2.469240748208487,0.8382330772609291,1.6826685290495669,-3.429503122825116,5.122353440956394,5.122353440956394,5.362086816076763,0,0,-0.00027980122753043366,-1.5624959922632821e-06
+38506,1793079126061853252,15677157000000,1793079126060728131,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6763453451316381,-0.005022599924587034,0.09654105394524774,0.9999998766843909,-0.00014613682632751734,0.00043635734447896224,0.00016220469517764293,0.6761,-0.0046,0.09596796842721436,1.0,0.0,0.0,0.0,-0.27051034434032684,-0.20107697038785688,3.457470233792586,-0.01621292610443066,0.02470566149716768,0.0009189290251886398,0.7007996256656226,0.8488905958990057,4.310983359290291,0.054284687106818816,-0.03854383461745459,-0.0002705136749654369,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3640427724473427,1.5716081498318075,-3.34727392934765,0.013431144233214279,2.443851864846581,0.8615408306884218,1.6826685290495669,-3.457470233792586,5.029942458397217,5.029942458397217,5.431286816076602,0,0,-0.00030930793036151725,-9.999999025923074e-05
+38580,1793079126677857498,15677773000000,1793079126672727591,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763517938465469,-0.0050271321357044756,0.0963560917723731,0.9999998639707846,-0.0001753062580642238,0.0004502563517423285,0.00017331534932159352,0.6761,-0.0046,0.09577119779948912,1.0,0.0,0.0,0.0,-0.2524636070110763,-0.23731354810522187,3.5379825272457897,-0.017197587787771,0.022775347773599235,0.0016312819259983124,0.7188463629948731,0.8126540181816407,4.391495652743495,0.053300025423478475,-0.04047414834102304,0.00044183922584423586,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.380231930346011,1.50930771505157,-3.5515880321079805,0.054598312451943576,2.585444497538087,0.8728697686864642,1.6826685290495669,-3.5379825272457897,5.234256561157547,5.234256561157547,5.492886816076458,0,0,-0.00032792235274828476,5.874124383987152e-05
+38651,1793079127269872248,15678365000000,1793079127268727670,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763514453401165,-0.005023817076845502,0.09616245540889656,0.9999998593701077,-0.00017966044418522056,0.00045078829237899036,0.0001929110392980529,0.6761,-0.0046,0.09557642687670015,1.0,0.0,0.0,0.0,-0.2492107879592511,-0.28397236020396555,3.5870992238631665,-0.02024312833580625,0.021763743586974527,0.001613300549728915,0.7220991820466983,0.7659952060828971,4.440612349360872,0.05025448487544323,-0.041485752527647746,0.0004238578495748384,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.3223638397520128,1.568389402700006,-3.54348494371297,0.058147995612125726,2.572295284231182,0.9340587217188847,1.6826685290495669,-3.5870992238631665,5.226153472762537,5.226153472762537,5.55208681607632,0,0,-0.00033076970834130934,-9.999999025923074e-05
+38730,1793079127927902905,15679023000000,1793079127924727384,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.676363694441892,-0.005022830438218057,0.09595491009648993,0.9999998428746122,-0.0002471433337084127,0.0004679994521611878,0.0001599696853327198,0.6761,-0.0046,0.0953520689374087,1.0,0.0,0.0,0.0,-0.20283782874722045,-0.21378320369995762,3.5624174399581694,-0.01610831445037792,0.01966043618476123,0.0017922588310373255,0.768472141258729,0.836184362586905,4.4159305654558745,0.054389298760871556,-0.04358905992986104,0.0006028161308832487,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.4200329525209918,1.619127963065065,-3.5938176167465556,0.09868436528778325,2.6234868602257153,0.969301800239415,1.6826685290495669,-3.5624174399581694,5.276486145796122,5.276486145796122,5.617886816076167,0,0,-0.0003529069203631315,-9.558403654542075e-05
+38800,1793079128511951057,15679607000000,1793079128504728149,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.67637441296978,-0.005029321229115626,0.09575860945354157,0.9999998310659668,-0.0002490894262060728,0.00048537051279688454,0.00017799108063945563,0.6761,-0.0046,0.09513806327240353,1.0,0.0,0.0,0.0,-0.24144654256475928,-0.25341515346069354,3.62795635631292,-0.018181321871063916,0.02171391639018974,0.0017421631778806782,0.7298634274411901,0.7965524128261691,4.481469481810625,0.05231629134018556,-0.04153557972443253,0.0005527204777266016,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.4307150105756696,1.5148675111878074,-3.5129545955708443,0.10756713466751414,2.584730914984213,0.9078512620816388,1.6826685290495669,-3.62795635631292,5.195623124620411,5.195623124620411,5.676286816076031,0,0,-0.00037875815165763625,-9.999999025923074e-05
+38865,1793079129053008223,15680148000000,1793079129052728046,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763757022529547,-0.0050300264537083625,0.09555978395303072,0.9999998293727377,-0.00022504335926996704,0.000491984963785718,0.00020000910286118467,0.6761,-0.0046,0.09492810775366887,1.0,0.0,0.0,0.0,-0.23835010750468966,-0.34384625346003883,3.6724713832663776,-0.02330090455945976,0.02079180617511804,0.0016328960716348218,0.7329598625012598,0.7061213128268238,4.525984508764083,0.047196708651789716,-0.04245768993950423,0.00044345337148074526,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.417415788728209,1.3838796159156757,-3.7309123647103726,0.14314061758806512,2.7385344737814283,0.8253922158759988,1.6826685290495669,-3.6724713832663776,5.4135808937599394,5.4135808937599394,5.730386816075905,0,0,-0.00039603148827419145,8.876600429553178e-05
+38928,1793079129578053512,15680673000000,1793079129576727476,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6763749908875796,-0.005033204227758332,0.09534809111498088,0.999999846632549,-0.00010334449593112007,0.0004922229773285569,0.00021263630550310758,0.6761,-0.0046,0.094714970883054,1.0,0.0,0.0,0.0,-0.2181570953939057,-0.3989402272091923,3.7150782151992727,-0.026319698889474837,0.018821974233747783,0.0015209747997044366,0.7531528746120437,0.6510273390776703,4.568591340696978,0.04417791432177464,-0.04442752188087449,0.00033153209955036003,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.4419807900194608,1.3767285545254393,-3.682468533396607,0.1595412342525587,2.7270304014072564,0.8260664859446601,1.6826685290495669,-3.7150782151992727,5.365137062446173,5.365137062446173,5.7828868160757825,0,0,-0.0004152575151059309,-9.999876901390365e-05
+38989,1793079130087028458,15681182000000,1793079130084729182,DOWN_FORCE_DETACH,5,0.0712,0.07120171189308167,0.6763883500694168,-0.0050359356746678624,0.09514101846151983,0.9999998334137528,-0.00017920913443713265,0.0005098078935387384,0.00018054176512808623,0.6761,-0.0046,0.0944979495492113,1.0,0.0,0.0,0.0,-0.21105907672239033,-0.3348765090517535,3.736540294052465,-0.022169680761387332,0.018669787284173955,0.0015635052422039732,0.7602508932835591,0.7150910572351091,4.59005341955017,0.048327932449862145,-0.04457970883044832,0.0003740625420498966,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.5118379334974892,1.4492736695191892,-3.681123034324527,0.13640086179660146,2.7427669518329623,0.86297702995607,1.6826685290495669,-3.736540294052465,5.363791563374094,5.363791563374094,5.833786816075664,0,0,-0.0004381000981532309,-9.999999025923074e-05
+39046,1793079130562083525,15681657000000,1793079130560727641,DOWN_FORCE_DETACH,5,0.0712,0.0712023675441742,0.6763910756872911,-0.005032830286612521,0.09492887807408786,0.999999830707383,-0.00017292034470100983,0.0005066339649126194,0.00020844339663977685,0.6761,-0.0046,0.09428451413048738,1.0,0.0,0.0,0.0,-0.21922320531030315,-0.3689110821034599,3.7460750503565894,-0.024149445314114858,0.01876758461809025,0.0015333694668938096,0.7520867646956463,0.6810564841834027,4.5995881758542945,0.04634816789713462,-0.04448191149653202,0.00034392676673973294,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.5238103737542241,1.4246203873488013,-3.6969458977208745,0.13236247781247956,2.7626326447084084,0.847157994183852,1.6826685290495669,-3.7460750503565894,5.379614426770441,5.379614426770441,5.881286816075553,0,0,-0.00046023728093455416,-9.999999025923074e-05
+39101,1793079131019035616,15682114000000,1793079131016727733,DOWN_SETTLE,5,0.0712,0.0712023675441742,0.6763939446925589,-0.005022868357852644,0.0947195539236623,0.9999998148288004,-0.0002564482133820022,0.0005203463347764697,0.00015893154031172777,0.6761,-0.0046,0.09407291949771639,1.0,0.0,0.0,0.0,-0.1528653613988974,-0.3554791536058943,3.7651185485448027,-0.02380168507489898,0.01580516619487888,0.0024553252352155336,0.818444608607052,0.6944884126809683,4.618631674042508,0.0466959281363505,-0.04744432991974339,0.001265882535061457,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,1.506734696028291,1.4221480581859067,-3.6866235277802493,0.16789924996659134,2.7689381809537186,0.866796051085907,1.6826685290495669,-3.7651185485448027,5.369292056829816,0.0,0.0,0,0,-0.0003402635736181418,0.0034370057941226443
+39202,1793079131855065643,15682950000000,1793079131852727832,DOWN_PEAK_HOLD,5,0.0712,0.0712023675441742,0.6763508953124291,-0.005028962271211705,0.0945668397127226,0.9999998505947743,-0.00025371352634428036,0.00043983900007145773,0.00018006774705109398,0.6761,-0.0046,0.09404004779779725,1.0,0.0,0.0,0.0,0.0841944026438618,-0.5670379052210035,2.930898008477751,-0.03765893382608803,-0.0003489475878151044,-0.0002865179716040635,1.0555043726498112,0.4829296610658591,3.784411133975456,0.03283867938516145,-0.06359844370243738,-0.0014759606717581401,0.9713099700059494,1.0499675662868626,0.8535131254977049,0.07049761321124948,-0.06324949611462227,-0.0011894427001540766,1,0.9745277168108515,1.4962913675072687,-2.758308189413969,0.12478268050531502,2.0854203824259594,0.9028520279511794,1.6826685290495669,-2.930898008477751,4.440976718463536,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_17.5/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793079075932953648,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.322912957e-08,-1.516005078e-09,-7.543623504e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027457933e-01,-1.142226722e-04,8.303255900e-01
+1,1.116666667e+00,DOWN_FORCE_DETACH,1793079077079913195,3.226656308e-06,2.489190916e-06,3.367518518e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.614623758e-07,-4.939571271e-08,-4.876096527e-08,7.019588245e-01,-1.949586366e-05,8.601467534e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027463415e-01,-1.142705519e-04,8.303255420e-01
+2,2.133333333e+00,DOWN_FORCE_DETACH,1793079078163746837,7.811893883e-06,-3.420238585e-07,4.572793223e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.566441985e-07,-6.662181936e-08,-7.408862901e-08,7.019634098e-01,-2.232707844e-05,8.601479587e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027465367e-01,-1.142877780e-04,8.303255167e-01
+3,3.166666667e+00,DOWN_FORCE_DETACH,1793079079193092869,1.146137076e-05,3.796001904e-06,4.954056114e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.410235258e-07,-7.459703929e-08,-8.597365886e-08,7.019670592e-01,-1.818905268e-05,8.601483400e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027466211e-01,-1.142957532e-04,8.303255048e-01
+4,4.400000000e+00,DOWN_FORCE_DETACH,1793079080421896581,1.098303925e-05,1.470855670e-07,4.991136580e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.820335885e-07,-7.882829720e-08,-9.167502535e-08,7.019665809e-01,-2.183796901e-05,8.601483771e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027466621e-01,-1.142999845e-04,8.303254991e-01
+5,5.533333333e+00,DOWN_FORCE_DETACH,1793079081585271464,1.213661500e-05,2.116362265e-06,-6.174907199e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.967134919e-07,-8.045774610e-08,-9.359364372e-08,7.019677345e-01,-1.986869232e-05,8.601372110e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027466767e-01,-1.143016139e-04,8.303254972e-01
+6,6.483333333e+00,DOWN_FORCE_DETACH,1793079082650247534,1.610036958e-05,1.704458422e-07,-1.766311775e-05,1.421000688e-05,4.721800275e-06,-1.344288811e-05,1.556557940e-05,4.270261957e-06,-1.315651076e-05,7.019716982e-01,-2.181460874e-05,8.601257228e-01,7.019698079e-01,-1.726325431e-05,8.601299430e-01,7.027613456e-01,-1.099508942e-04,8.303124342e-01
+7,7.550000000e+00,DOWN_FORCE_DETACH,1793079083765071785,2.503795308e-05,1.303121178e-06,-1.791402969e-05,1.421000688e-05,4.721800275e-06,-1.344288811e-05,1.584053859e-05,4.258940691e-06,-1.335208458e-05,7.019806358e-01,-2.068193340e-05,8.601254719e-01,7.019698079e-01,-1.726325431e-05,8.601299430e-01,7.027616206e-01,-1.099622155e-04,8.303122387e-01
+8,8.750000000e+00,DOWN_FORCE_DETACH,1793079084976552699,4.408269064e-05,1.717771249e-06,-3.075828950e-05,2.797401491e-05,-2.499081778e-06,-2.557330029e-05,3.033246610e-05,-2.479442636e-06,-2.527802774e-05,7.019996806e-01,-2.026728333e-05,8.601126276e-01,7.019835719e-01,-2.448413636e-05,8.601178126e-01,7.027761125e-01,-1.167005988e-04,8.303003127e-01
+9,1.000000000e+01,DOWN_FORCE_DETACH,1793079086220655329,5.549814117e-05,-2.221748588e-06,-5.004951628e-05,5.322152513e-05,-2.732470825e-06,-4.693132317e-05,5.711090996e-05,-2.744900521e-06,-4.616848711e-05,7.020110960e-01,-2.420680317e-05,8.600933364e-01,7.020088194e-01,-2.471752540e-05,8.600964546e-01,7.028028909e-01,-1.169660567e-04,8.302794223e-01
+10,1.106666667e+01,DOWN_FORCE_DETACH,1793079087268544424,5.720722728e-05,-1.667343813e-06,-5.761688342e-05,5.322152513e-05,-2.732470825e-06,-4.693132317e-05,5.753116664e-05,-2.768345654e-06,-4.657265204e-05,7.020128051e-01,-2.365239839e-05,8.600857690e-01,7.020088194e-01,-2.471752540e-05,8.600964546e-01,7.028033112e-01,-1.169895018e-04,8.302790181e-01
+11,1.210000000e+01,DOWN_FORCE_DETACH,1793079088285019308,6.442019019e-05,-4.882454713e-06,-6.564366463e-05,5.982849497e-05,-2.570926359e-06,-6.639534778e-05,6.427305179e-05,-2.627070669e-06,-6.556459824e-05,7.020200181e-01,-2.686750929e-05,8.600777423e-01,7.020154264e-01,-2.455598094e-05,8.600769906e-01,7.028100531e-01,-1.168482268e-04,8.302600262e-01
+12,1.316666667e+01,DOWN_FORCE_DETACH,1793079089382731753,7.308929683e-05,-2.313684580e-06,-7.919628522e-05,6.843737284e-05,-5.279482443e-06,-8.530923331e-05,7.303856829e-05,-5.137500835e-06,-8.405047005e-05,7.020286872e-01,-2.429873916e-05,8.600641896e-01,7.020240352e-01,-2.726453702e-05,8.600580767e-01,7.028188186e-01,-1.193586570e-04,8.302415403e-01
+13,1.428333333e+01,DOWN_FORCE_DETACH,1793079090479862454,7.609545301e-05,-7.374108414e-06,-9.166767686e-05,6.843737284e-05,-5.279482443e-06,-8.530923331e-05,7.346052277e-05,-5.161603755e-06,-8.482061893e-05,7.020316933e-01,-2.935916299e-05,8.600517182e-01,7.020240352e-01,-2.726453702e-05,8.600580767e-01,7.028192406e-01,-1.193827599e-04,8.302407701e-01
+14,1.535000000e+01,DOWN_FORCE_DETACH,1793079091544670414,8.450905264e-05,-9.315948707e-07,-1.063565122e-04,7.944162391e-05,8.080261900e-06,-9.698237853e-05,8.501596219e-05,7.184134289e-06,-9.642336421e-05,7.020401069e-01,-2.291664945e-05,8.600370294e-01,7.020350395e-01,-1.390479268e-05,8.600464035e-01,7.028307960e-01,-1.070370219e-04,8.302291674e-01
+15,1.648333333e+01,DOWN_FORCE_DETACH,1793079092706945566,9.204118127e-05,1.531977532e-06,-1.202496413e-04,8.678024209e-05,-1.164337564e-06,-1.132191218e-04,9.280345550e-05,-1.419237067e-06,-1.124936089e-04,7.020476390e-01,-2.045307705e-05,8.600231363e-01,7.020423781e-01,-2.314939214e-05,8.600301668e-01,7.028385835e-01,-1.156403932e-04,8.302130971e-01
+16,1.763333333e+01,DOWN_FORCE_DETACH,1793079093853404468,9.606618513e-05,-2.151658923e-06,-1.422144137e-04,9.341453715e-05,-2.233672036e-07,-1.337584161e-04,9.969281631e-05,-5.676734134e-07,-1.328857239e-04,7.020516641e-01,-2.413671350e-05,8.600011715e-01,7.020490124e-01,-2.220842178e-05,8.600096275e-01,7.028454728e-01,-1.147888296e-04,8.301927050e-01
+17,1.868333333e+01,DOWN_FORCE_DETACH,1793079094901909152,1.067629884e-04,-7.302821191e-07,-1.562722913e-04,1.035127619e-04,3.281930662e-06,-1.512275386e-04,1.101626943e-04,2.673560834e-06,-1.501900730e-04,7.020623609e-01,-2.271533670e-05,8.599871136e-01,7.020591106e-01,-1.870312392e-05,8.599921584e-01,7.028559427e-01,-1.115475953e-04,8.301754007e-01
+18,1.983333333e+01,DOWN_FORCE_DETACH,1793079096065568500,1.143651184e-04,-3.299890485e-06,-1.740798159e-04,1.107297088e-04,-4.202960343e-06,-1.684195901e-04,1.178426527e-04,-4.309471413e-06,-1.674160034e-04,7.020699630e-01,-2.528494506e-05,8.599693061e-01,7.020663276e-01,-2.618801492e-05,8.599749663e-01,7.028636227e-01,-1.185306276e-04,8.301581748e-01
+19,2.106666667e+01,DOWN_FORCE_DETACH,1793079097293509991,1.182318750e-04,-6.467189135e-06,-1.935275474e-04,1.158616817e-04,-6.049324330e-06,-1.885514372e-04,1.232292628e-04,-6.019006576e-06,-1.874970777e-04,7.020738297e-01,-2.845224371e-05,8.599498584e-01,7.020714595e-01,-2.803437891e-05,8.599548345e-01,7.028690093e-01,-1.202401628e-04,8.301380937e-01
+20,2.218333333e+01,DOWN_FORCE_DETACH,1793079098423589265,1.279525458e-04,-1.001896548e-05,-2.173926740e-04,1.226929370e-04,-5.451735289e-06,-2.075953026e-04,1.303691483e-04,-5.511872181e-06,-2.065808231e-04,7.020835504e-01,-3.200402006e-05,8.599259932e-01,7.020782908e-01,-2.743678987e-05,8.599357906e-01,7.028761492e-01,-1.197330284e-04,8.301190099e-01
+21,2.323333333e+01,DOWN_FORCE_DETACH,1793079099521379910,1.325952423e-04,-1.262947230e-05,-2.438331870e-04,1.282624037e-04,-1.241724692e-05,-2.277249125e-04,1.362162292e-04,-1.198403163e-05,-2.267946968e-04,7.020881931e-01,-3.461452688e-05,8.598995527e-01,7.020838603e-01,-3.440230150e-05,8.599156610e-01,7.028819963e-01,-1.262051878e-04,8.300987961e-01
+22,2.431666667e+01,DOWN_FORCE_DETACH,1793079100635335269,1.426469116e-04,-1.013456640e-05,-2.632938027e-04,1.372127746e-04,-1.206406627e-05,-2.660877528e-04,1.453010403e-04,-1.167147147e-05,-2.645112652e-04,7.020982448e-01,-3.211962098e-05,8.598800921e-01,7.020928106e-01,-3.404912085e-05,8.598772982e-01,7.028910811e-01,-1.258926276e-04,8.300610795e-01
+23,2.538333333e+01,DOWN_FORCE_DETACH,1793079101780183383,1.503232067e-04,-1.266869006e-05,-2.991016911e-04,1.471474748e-04,-1.064040400e-05,-3.046834269e-04,1.553869305e-04,-1.039494568e-05,-3.025491405e-04,7.021059211e-01,-3.465374464e-05,8.598442842e-01,7.021027453e-01,-3.262545858e-05,8.598387025e-01,7.029011670e-01,-1.246161019e-04,8.300230416e-01
+24,2.653333333e+01,DOWN_FORCE_DETACH,1793079102912388244,1.591126752e-04,-1.679874136e-05,-3.467223370e-04,1.587012041e-04,-1.930956881e-05,-3.441003424e-04,1.672657416e-04,-1.846593121e-05,-3.419205644e-04,7.021147105e-01,-3.878379594e-05,8.597966636e-01,7.021142991e-01,-4.129462339e-05,8.597992856e-01,7.029130458e-01,-1.326870874e-04,8.299836702e-01
+25,2.751666667e+01,DOWN_FORCE_DETACH,1793079103878593879,1.679913113e-04,-2.004295271e-05,-3.827340435e-04,1.600332673e-04,-2.257770013e-05,-3.659325612e-04,1.687340822e-04,-2.147951015e-05,-3.643997956e-04,7.021235892e-01,-4.202800729e-05,8.597606519e-01,7.021156311e-01,-4.456275471e-05,8.597774534e-01,7.029145141e-01,-1.357006663e-04,8.299611910e-01
+26,2.848333333e+01,DOWN_FORCE_DETACH,1793079104861823565,1.752824349e-04,-1.892180186e-05,-4.242328366e-04,1.711417550e-04,-1.995725743e-05,-4.057708610e-04,1.801142718e-04,-1.907654099e-05,-4.041115099e-04,7.021308803e-01,-4.090685644e-05,8.597191531e-01,7.021267396e-01,-4.194231201e-05,8.597376151e-01,7.029258943e-01,-1.332976972e-04,8.299214792e-01
+27,2.933333333e+01,DOWN_FORCE_DETACH,1793079105697189729,1.870653257e-04,-2.498616420e-05,-4.550568486e-04,1.833900838e-04,-2.896512606e-05,-4.461983667e-04,1.926292877e-04,-2.744225910e-05,-4.442920820e-04,7.021426632e-01,-4.697121878e-05,8.596883291e-01,7.021389880e-01,-5.095018064e-05,8.596971875e-01,7.029384093e-01,-1.416634153e-04,8.298812987e-01
+28,3.045000000e+01,DOWN_FORCE_DETACH,1793079106828302815,1.992478875e-04,-3.035905286e-05,-5.071725148e-04,1.947864196e-04,-2.768746401e-05,-5.069208424e-04,2.042047552e-04,-2.630860644e-05,-5.044840711e-04,7.021548458e-01,-5.234410744e-05,8.596362134e-01,7.021503843e-01,-4.967251859e-05,8.596364651e-01,7.029499848e-01,-1.405297626e-04,8.298211067e-01
+29,3.146666667e+01,DOWN_FORCE_DETACH,1793079107842946054,2.078614027e-04,-2.942524294e-05,-5.676267026e-04,2.009198211e-04,-3.057289619e-05,-5.508543665e-04,2.104762753e-04,-2.899780051e-05,-5.486457759e-04,7.021634593e-01,-5.141029752e-05,8.595757592e-01,7.021565177e-01,-5.255795077e-05,8.595925315e-01,7.029562563e-01,-1.432189567e-04,8.297769450e-01
+30,3.208333333e+01,DOWN_FORCE_DETACH,1793079108465215012,2.166013386e-04,-1.486546595e-05,-6.156244806e-04,2.109822876e-04,-9.814180837e-06,-5.971471412e-04,2.207059830e-04,-9.803441182e-06,-5.945132605e-04,7.021721992e-01,-3.685052053e-05,8.595277614e-01,7.021665802e-01,-3.179923542e-05,8.595462388e-01,7.029664860e-01,-1.240245974e-04,8.297310775e-01
+31,3.308333333e+01,DOWN_FORCE_DETACH,1793079109447952965,2.301036443e-04,-2.332545354e-05,-6.842385018e-04,2.284434842e-04,-2.246066905e-05,-6.805615238e-04,2.382957108e-04,-2.153696912e-05,-6.770067251e-04,7.021857015e-01,-4.531050812e-05,8.594591474e-01,7.021840414e-01,-4.444572363e-05,8.594628244e-01,7.029840757e-01,-1.357581253e-04,8.296485840e-01
+32,3.425000000e+01,DOWN_FORCE_DETACH,1793079110692927884,2.395954873e-04,-2.969899955e-05,-7.648481029e-04,2.372265742e-04,-2.923806161e-05,-7.603389786e-04,2.470488423e-04,-2.787276854e-05,-7.566948467e-04,7.021951934e-01,-5.168405413e-05,8.593785378e-01,7.021928244e-01,-5.122311619e-05,8.593830469e-01,7.029928289e-01,-1.420939247e-04,8.295688959e-01
+33,3.536666667e+01,DOWN_FORCE_DETACH,1793079111839370747,2.545109412e-04,-3.565585944e-05,-8.595519431e-04,2.539581576e-04,-3.076945608e-05,-8.468001972e-04,2.637626394e-04,-2.933903911e-05,-8.429264616e-04,7.022101088e-01,-5.764091402e-05,8.592838340e-01,7.022095560e-01,-5.275451066e-05,8.592965857e-01,7.030095427e-01,-1.435601953e-04,8.294826643e-01
+34,3.631666667e+01,DOWN_FORCE_DETACH,1793079112838549625,2.663579497e-04,-3.452494546e-05,-9.431488637e-04,2.610155529e-04,-3.622604771e-05,-9.310059018e-04,2.706628233e-04,-3.444348844e-05,-9.270622972e-04,7.022219558e-01,-5.651000004e-05,8.592002371e-01,7.022166134e-01,-5.821110229e-05,8.592123800e-01,7.030164429e-01,-1.486646446e-04,8.293985285e-01
+35,3.728333333e+01,DOWN_FORCE_DETACH,1793079113805228375,2.728419451e-04,-3.960283890e-05,-1.039944134e-03,2.713813740e-04,-3.901466123e-05,-1.035476409e-03,2.806451027e-04,-3.710840425e-05,-1.030817534e-03,7.022284398e-01,-6.158789348e-05,8.591034418e-01,7.022269792e-01,-6.099971581e-05,8.591079095e-01,7.030264251e-01,-1.513295604e-04,8.292947732e-01
+36,3.828333333e+01,DOWN_FORCE_DETACH,1793079115099924818,2.884509998e-04,-4.335133079e-05,-1.176052218e-03,2.850915157e-04,-4.450380003e-05,-1.161523553e-03,2.939506962e-04,-4.225085165e-05,-1.155980266e-03,7.022440489e-01,-6.533638537e-05,8.589673337e-01,7.022406894e-01,-6.648885461e-05,8.589818624e-01,7.030397307e-01,-1.564720078e-04,8.291696105e-01
+37,3.928333333e+01,DOWN_FORCE_DETACH,1793079116180884814,3.022560056e-04,-4.693627135e-05,-1.301460749e-03,2.998461210e-04,-4.531420590e-05,-1.297588275e-03,3.081814589e-04,-4.304631293e-05,-1.291519995e-03,7.022578539e-01,-6.892132593e-05,8.588419252e-01,7.022554440e-01,-6.729926048e-05,8.588457976e-01,7.030539615e-01,-1.572674691e-04,8.290340708e-01
+38,4.030000000e+01,DOWN_FORCE_DETACH,1793079117179502150,3.100748253e-04,-5.002543225e-05,-1.434735051e-03,3.105812831e-04,-5.413269951e-05,-1.430519927e-03,3.182887949e-04,-5.120875262e-05,-1.424108565e-03,7.022656727e-01,-7.201048683e-05,8.587086509e-01,7.022661792e-01,-7.611775409e-05,8.587128660e-01,7.030640688e-01,-1.654299088e-04,8.289014822e-01
+39,4.128333333e+01,DOWN_FORCE_DETACH,1793079118146355081,3.221131179e-04,-5.426289379e-05,-1.567823373e-03,3.209581522e-04,-5.246991247e-05,-1.554084259e-03,3.280426103e-04,-4.966573091e-05,-1.547843022e-03,7.022777110e-01,-7.624794837e-05,8.585755625e-01,7.022765560e-01,-7.445496705e-05,8.585893017e-01,7.030738226e-01,-1.638868871e-04,8.287777477e-01
+40,4.211666667e+01,DOWN_FORCE_DETACH,1793079118966014485,3.351395687e-04,-5.485683482e-05,-1.691496049e-03,3.322871378e-04,-5.358482170e-05,-1.689635416e-03,3.385607128e-04,-5.069455581e-05,-1.682523947e-03,7.022907374e-01,-7.684188940e-05,8.584518899e-01,7.022878850e-01,-7.556987628e-05,8.584537505e-01,7.030843407e-01,-1.649157120e-04,8.286430668e-01
+41,4.301666667e+01,DOWN_FORCE_DETACH,1793079119866305523,3.452630739e-04,-6.500413511e-05,-1.844089048e-03,3.425599056e-04,-6.331609459e-05,-1.843693487e-03,3.478162398e-04,-5.972803541e-05,-1.835923459e-03,7.023008609e-01,-8.698918969e-05,8.582992969e-01,7.022981578e-01,-8.530114917e-05,8.582996924e-01,7.030935963e-01,-1.739491916e-04,8.284896673e-01
+42,4.380000000e+01,DOWN_FORCE_DETACH,1793079120652249094,3.519244609e-04,-6.423189914e-05,-1.989980327e-03,3.511039857e-04,-6.046371898e-05,-1.971029803e-03,3.555552300e-04,-5.713099408e-05,-1.963639872e-03,7.023075223e-01,-8.621695372e-05,8.581534056e-01,7.023067019e-01,-8.244877356e-05,8.581723561e-01,7.031013353e-01,-1.713521503e-04,8.283619509e-01
+43,4.461666667e+01,DOWN_FORCE_DETACH,1793079121488171759,3.606392362e-04,-6.785299428e-05,-2.146577960e-03,3.602988970e-04,-6.705241497e-05,-2.144308987e-03,3.632974244e-04,-6.327669655e-05,-2.135678441e-03,7.023162371e-01,-8.983804886e-05,8.579968080e-01,7.023158968e-01,-8.903746955e-05,8.579990769e-01,7.031090775e-01,-1.774978527e-04,8.281899123e-01
+44,4.550000000e+01,DOWN_FORCE_DETACH,1793079122373138752,3.700483346e-04,-7.302992390e-05,-2.323764272e-03,3.709940426e-04,-7.522618603e-05,-2.316382913e-03,3.726281014e-04,-7.089401083e-05,-2.307631129e-03,7.023256462e-01,-9.501497848e-05,8.578196216e-01,7.023265919e-01,-9.721124061e-05,8.578270030e-01,7.031184081e-01,-1.851151670e-04,8.280179596e-01
+45,4.631666667e+01,DOWN_FORCE_DETACH,1793079123175564659,3.794861510e-04,-7.150812439e-05,-2.492313516e-03,3.791548264e-04,-7.254022218e-05,-2.472900937e-03,3.794711719e-04,-6.847638237e-05,-2.464574837e-03,7.023350840e-01,-9.349317897e-05,8.576510724e-01,7.023347527e-01,-9.452527676e-05,8.576704850e-01,7.031252512e-01,-1.826975385e-04,8.278610159e-01
+46,4.706666667e+01,DOWN_FORCE_DETACH,1793079123944899211,3.890404035e-04,-7.838583602e-05,-2.660793277e-03,3.871574897e-04,-7.566469258e-05,-2.644157753e-03,3.859691390e-04,-7.136863621e-05,-2.635303513e-03,7.023446383e-01,-1.003708906e-04,8.574825926e-01,7.023427554e-01,-9.764974716e-05,8.574992282e-01,7.031317492e-01,-1.855897924e-04,8.276902872e-01
+47,4.781666667e+01,DOWN_FORCE_DETACH,1793079124714830538,3.981052683e-04,-8.131784880e-05,-2.849068566e-03,3.945737560e-04,-7.608240663e-05,-2.844358551e-03,3.917189677e-04,-7.175941952e-05,-2.834252363e-03,7.023537031e-01,-1.033029034e-04,8.572943174e-01,7.023501716e-01,-9.806746121e-05,8.572990274e-01,7.031374990e-01,-1.859805757e-04,8.274913384e-01
+48,4.848333333e+01,DOWN_FORCE_DETACH,1793079125370369763,4.046790494e-04,-7.485253122e-05,-3.024680336e-03,4.010340257e-04,-7.743266842e-05,-3.018430173e-03,3.967714867e-04,-7.309182988e-05,-3.007870066e-03,7.023602769e-01,-9.683758580e-05,8.571187056e-01,7.023566319e-01,-9.941772300e-05,8.571249557e-01,7.031425515e-01,-1.873129861e-04,8.273177207e-01
+49,4.916666667e+01,DOWN_FORCE_DETACH,1793079126057780155,4.135662346e-04,-7.179443017e-05,-3.211614978e-03,4.115418104e-04,-7.756296635e-05,-3.197304631e-03,4.058541621e-04,-7.318736220e-05,-3.186441517e-03,7.023691641e-01,-9.377948475e-05,8.569317709e-01,7.023671397e-01,-9.954802093e-05,8.569460813e-01,7.031516342e-01,-1.874085184e-04,8.271391492e-01
+50,4.980000000e+01,DOWN_FORCE_DETACH,1793079126680526386,4.194235581e-04,-7.960698028e-05,-3.398304407e-03,4.172438091e-04,-7.953743066e-05,-3.393220258e-03,4.098617987e-04,-7.496246917e-05,-3.381338006e-03,7.023750214e-01,-1.015920349e-04,8.567450815e-01,7.023728417e-01,-1.015224852e-04,8.567501657e-01,7.031556418e-01,-1.891836254e-04,8.269442527e-01
+51,5.038333333e+01,DOWN_FORCE_DETACH,1793079127270561502,4.203684704e-04,-7.973093472e-05,-3.590244914e-03,4.189161316e-04,-8.026710611e-05,-3.576275855e-03,4.096941080e-04,-7.561059690e-05,-3.564147543e-03,7.023759663e-01,-1.017159893e-04,8.565531410e-01,7.023745140e-01,-1.022521607e-04,8.565671101e-01,7.031554741e-01,-1.898317531e-04,8.267614432e-01
+52,5.101666667e+01,DOWN_FORCE_DETACH,1793079127926381011,4.307260330e-04,-7.939367960e-05,-3.799769554e-03,4.298504989e-04,-7.407406997e-05,-3.783130412e-03,4.186506313e-04,-6.990330579e-05,-3.770723016e-03,7.023863239e-01,-1.013787342e-04,8.563436164e-01,7.023854484e-01,-9.605912455e-05,8.563602555e-01,7.031644307e-01,-1.841244620e-04,8.265548677e-01
+53,5.161666667e+01,DOWN_FORCE_DETACH,1793079128515017560,4.417213265e-04,-7.900955711e-05,-3.995083486e-03,4.408335539e-04,-8.374764392e-05,-3.980556210e-03,4.279466460e-04,-7.890395287e-05,-3.968011001e-03,7.023973192e-01,-1.009946117e-04,8.561483024e-01,7.023964314e-01,-1.057326985e-04,8.561628297e-01,7.031737267e-01,-1.931251091e-04,8.263575798e-01
+54,5.213333333e+01,DOWN_FORCE_DETACH,1793079129057149650,4.420150438e-04,-8.316502452e-05,-4.196585612e-03,4.412817554e-04,-8.486956361e-05,-4.185634838e-03,4.261950809e-04,-7.990319587e-05,-4.172028657e-03,7.023976129e-01,-1.051500791e-04,8.559468003e-01,7.023968796e-01,-1.068546182e-04,8.559577511e-01,7.031719751e-01,-1.941243521e-04,8.261535621e-01
+55,5.265000000e+01,DOWN_FORCE_DETACH,1793079129580037154,4.412953587e-04,-8.513460803e-05,-4.408549246e-03,4.395414211e-04,-8.229826734e-05,-4.403497096e-03,4.219164996e-04,-7.764590015e-05,-4.388946108e-03,7.023968932e-01,-1.071196626e-04,8.557348367e-01,7.023951393e-01,-1.042833219e-04,8.557398888e-01,7.031676965e-01,-1.918670563e-04,8.259366446e-01
+56,5.313333333e+01,DOWN_FORCE_DETACH,1793079130082592766,4.549104107e-04,-8.514507156e-05,-4.614366886e-03,4.542074203e-04,-7.711222362e-05,-4.605190845e-03,4.349780496e-04,-7.295353925e-05,-4.589940656e-03,7.024105083e-01,-1.071301261e-04,8.555290190e-01,7.024098053e-01,-9.909727820e-05,8.555381951e-01,7.031807581e-01,-1.871746954e-04,8.257356501e-01
+57,5.360000000e+01,DOWN_FORCE_DETACH,1793079130563681565,4.550682147e-04,-8.413598658e-05,-4.831087163e-03,4.601417323e-04,-8.938075897e-05,-4.814702468e-03,4.390625979e-04,-8.422920296e-05,-4.798929994e-03,7.024106661e-01,-1.061210412e-04,8.553122988e-01,7.024157396e-01,-1.113658135e-04,8.553286834e-01,7.031848426e-01,-1.984503591e-04,8.255266608e-01
+58,5.406666667e+01,DOWN_SETTLE,1793079131021291661,4.578721309e-04,-7.726904111e-05,-5.042442514e-03,4.586007376e-04,-8.119088797e-05,-5.033097345e-03,4.352354668e-04,-7.659568261e-05,-5.016763669e-03,7.024134700e-01,-9.925409569e-05,8.551009434e-01,7.024141986e-01,-1.031759426e-04,8.551102886e-01,7.031810155e-01,-1.908168388e-04,8.253088271e-01
+59,5.491666667e+01,DOWN_PEAK_HOLD,1793079131857691949,4.172363428e-04,-8.161780282e-05,-5.189488187e-03,4.216101088e-04,-8.249165589e-05,-5.173459812e-03,3.948727659e-04,-7.782871813e-05,-5.163338209e-03,7.023728342e-01,-1.036028574e-04,8.549538977e-01,7.023772080e-01,-1.044767105e-04,8.549699261e-01,7.031406528e-01,-1.920498743e-04,8.251622525e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.3230e-01,8.2713e-01,2.4486e+00,-9.7431e-02,5.3637e-02,1.8857e-03,6.4135e-05,-1.9073e-05,-1.2875e-05,1.5944e-06,4.7013e-06,-4.7497e-08,6.8138e-05,4.9646e-06
+1,1.1167e+00,DOWN_FORCE_DETACH,2.4393e-04,3.2978e-01,8.1595e-01,2.4398e+00,-9.6615e-02,6.0695e-02,1.1892e-03,9.7547e-02,-1.1191e-02,-8.8439e-03,8.1690e-04,7.0627e-03,-6.9660e-04,9.8584e-02,7.1438e-03
+2,2.1333e+00,DOWN_FORCE_DETACH,4.9046e-04,3.6604e-01,8.1260e-01,2.4350e+00,-9.6381e-02,6.3317e-02,8.9503e-04,1.3381e-01,-1.4542e-02,-1.3624e-02,1.0509e-03,9.6851e-03,-9.9073e-04,1.3529e-01,9.7922e-03
+3,3.1667e+00,DOWN_FORCE_DETACH,7.3494e-04,3.8119e-01,8.1097e-01,2.4330e+00,-9.6262e-02,6.4399e-02,7.4982e-04,1.4896e-01,-1.6179e-02,-1.5626e-02,1.1704e-03,1.0767e-02,-1.1359e-03,1.5065e-01,1.0890e-02
+4,4.4000e+00,DOWN_FORCE_DETACH,9.7687e-04,3.8860e-01,8.1035e-01,2.4319e+00,-9.6221e-02,6.4940e-02,6.7422e-04,1.5637e-01,-1.6798e-02,-1.6748e-02,1.2115e-03,1.1308e-02,-1.2115e-03,1.5816e-01,1.1437e-02
+5,5.5333e+00,DOWN_FORCE_DETACH,1.2254e-03,3.9109e-01,8.1017e-01,2.4315e+00,-9.6210e-02,6.5120e-02,6.4554e-04,1.5885e-01,-1.6973e-02,-1.7069e-02,1.2219e-03,1.1488e-02,-1.2402e-03,1.6067e-01,1.1619e-02
+6,6.4833e+00,DOWN_FORCE_DETACH,1.4699e-03,3.0982e-01,7.2587e-01,2.4958e+00,-9.0041e-02,5.9143e-02,6.6743e-04,7.7584e-02,-1.0128e-01,4.7174e-02,7.3915e-03,5.5113e-03,-1.2183e-03,1.3602e-01,9.3002e-03
+7,7.5500e+00,DOWN_FORCE_DETACH,1.7140e-03,3.6154e-01,7.2419e-01,2.4582e+00,-8.9931e-02,6.2921e-02,6.9157e-04,1.2931e-01,-1.0296e-01,9.6350e-03,7.5012e-03,9.2890e-03,-1.1942e-03,1.6557e-01,1.1999e-02
+8,8.7500e+00,DOWN_FORCE_DETACH,1.9601e-03,3.1765e-01,8.3955e-01,2.4891e+00,-9.8183e-02,5.9679e-02,8.4686e-04,8.5414e-02,1.2403e-02,4.0455e-02,-7.5056e-04,6.0469e-03,-1.0389e-03,9.5321e-02,6.1812e-03
+9,1.0000e+01,DOWN_FORCE_DETACH,2.2062e-03,2.6980e-01,8.3158e-01,2.5590e+00,-9.7499e-02,5.6196e-02,9.3277e-04,3.7566e-02,4.4393e-03,1.1041e-01,-6.6228e-05,2.5640e-03,-9.5299e-04,1.1671e-01,2.7362e-03
+10,1.1067e+01,DOWN_FORCE_DETACH,2.4513e-03,3.4847e-01,8.2785e-01,2.4866e+00,-9.7285e-02,6.1928e-02,8.4906e-04,1.1624e-01,7.0757e-04,3.7987e-02,1.4788e-04,8.2964e-03,-1.0367e-03,1.2229e-01,8.3622e-03
+11,1.2100e+01,DOWN_FORCE_DETACH,2.7005e-03,3.2053e-01,8.2142e-01,2.5877e+00,-9.6725e-02,5.9717e-02,7.5253e-04,8.8299e-02,-5.7205e-03,1.3912e-01,7.0738e-04,6.0853e-03,-1.1332e-03,1.6488e-01,6.2302e-03
+12,1.3167e+01,DOWN_FORCE_DETACH,2.9436e-03,3.4771e-01,8.3173e-01,2.5345e+00,-9.7440e-02,6.1985e-02,7.2636e-04,1.1548e-01,4.5806e-03,8.5909e-02,-7.9200e-06,8.3531e-03,-1.1594e-03,1.4400e-01,8.4332e-03
+13,1.4283e+01,DOWN_FORCE_DETACH,3.1841e-03,3.5292e-01,8.5959e-01,2.5163e+00,-9.9470e-02,6.2174e-02,7.6847e-04,1.2069e-01,3.2444e-02,6.7667e-02,-2.0372e-03,8.5421e-03,-1.1173e-03,1.4212e-01,8.8524e-03
+14,1.5350e+01,DOWN_FORCE_DETACH,3.4315e-03,3.1762e-01,6.3234e-01,2.5171e+00,-8.3127e-02,5.9622e-02,6.4475e-04,8.5386e-02,-1.9481e-01,6.8470e-02,1.4305e-02,5.9896e-03,-1.2410e-03,2.2345e-01,1.5558e-02
+15,1.6483e+01,DOWN_FORCE_DETACH,3.6754e-03,3.2175e-01,7.8268e-01,2.5434e+00,-9.3945e-02,5.9867e-02,7.6996e-04,8.9517e-02,-4.4460e-02,9.4813e-02,3.4874e-03,6.2349e-03,-1.1158e-03,1.3777e-01,7.2305e-03
+16,1.7633e+01,DOWN_FORCE_DETACH,3.9196e-03,3.2952e-01,7.6254e-01,2.5652e+00,-9.2427e-02,6.0406e-02,7.4947e-04,9.7285e-02,-6.4605e-02,1.1654e-01,5.0051e-03,6.7737e-03,-1.1363e-03,1.6499e-01,8.4985e-03
+17,1.8683e+01,DOWN_FORCE_DETACH,4.1669e-03,2.9052e-01,6.9939e-01,2.5953e+00,-8.7840e-02,5.7633e-02,7.0569e-04,5.8292e-02,-1.2775e-01,1.4666e-01,9.5919e-03,4.0014e-03,-1.1801e-03,2.0305e-01,1.0460e-02
+18,1.9833e+01,DOWN_FORCE_DETACH,4.4106e-03,3.0870e-01,8.1938e-01,2.5840e+00,-9.6400e-02,5.8891e-02,7.8062e-04,7.6471e-02,-7.7696e-03,1.3538e-01,1.0321e-03,5.2590e-03,-1.1051e-03,1.5568e-01,5.4721e-03
+19,2.1067e+01,DOWN_FORCE_DETACH,4.6541e-03,3.2236e-01,8.4558e-01,2.6027e+00,-9.8195e-02,5.9845e-02,7.5033e-04,9.0127e-02,1.8439e-02,1.5406e-01,-7.6239e-04,6.2133e-03,-1.1354e-03,1.7944e-01,6.3620e-03
+20,2.2183e+01,DOWN_FORCE_DETACH,4.9019e-03,3.2377e-01,8.3241e-01,2.5887e+00,-9.7180e-02,5.9972e-02,7.2460e-04,9.1535e-02,5.2669e-03,1.4014e-01,2.5274e-04,6.3400e-03,-1.1612e-03,1.6747e-01,6.4504e-03
+21,2.3233e+01,DOWN_FORCE_DETACH,5.1466e-03,3.3317e-01,9.4375e-01,2.5792e+00,-1.0510e-01,6.0670e-02,7.6874e-04,1.0094e-01,1.1661e-01,1.3063e-01,-7.6725e-03,7.0379e-03,-1.1170e-03,2.0211e-01,1.0471e-02
+22,2.4317e+01,DOWN_FORCE_DETACH,5.3894e-03,3.1158e-01,9.3411e-01,2.7101e+00,-1.0423e-01,5.8991e-02,7.2387e-04,7.9346e-02,1.0697e-01,2.6153e-01,-6.8016e-03,5.3586e-03,-1.1619e-03,2.9349e-01,8.7365e-03
+23,2.5383e+01,DOWN_FORCE_DETACH,5.6368e-03,3.0040e-01,9.2431e-01,2.6795e+00,-1.0356e-01,5.8215e-02,7.5769e-04,6.8167e-02,9.7165e-02,2.3093e-01,-6.1236e-03,4.5830e-03,-1.1281e-03,2.5964e-01,7.7314e-03
+24,2.6533e+01,DOWN_FORCE_DETACH,5.8801e-03,2.7013e-01,1.0458e+00,2.8144e+00,-1.1178e-01,5.6176e-02,8.1064e-04,3.7904e-02,2.1862e-01,3.6582e-01,-1.4350e-02,2.5439e-03,-1.0751e-03,4.2784e-01,1.4613e-02
+25,2.7517e+01,DOWN_FORCE_DETACH,6.1248e-03,3.2586e-01,1.0947e+00,2.6866e+00,-1.1547e-01,5.9867e-02,8.6258e-04,9.3633e-02,2.6758e-01,2.3798e-01,-1.8035e-02,6.2346e-03,-1.0232e-03,3.7013e-01,1.9109e-02
+26,2.8483e+01,DOWN_FORCE_DETACH,6.3686e-03,3.0356e-01,1.0479e+00,2.7119e+00,-1.1208e-01,5.8243e-02,8.5012e-04,7.1325e-02,2.2080e-01,2.6324e-01,-1.4652e-02,4.6108e-03,-1.0356e-03,3.5091e-01,1.5395e-02
+27,2.9333e+01,DOWN_FORCE_DETACH,6.6175e-03,2.7129e-01,1.1875e+00,2.7460e+00,-1.2174e-01,5.5874e-02,8.7877e-04,3.9059e-02,3.6036e-01,2.9740e-01,-2.4312e-02,2.2420e-03,-1.0070e-03,4.6886e-01,2.4435e-02
+28,3.0450e+01,DOWN_FORCE_DETACH,6.8604e-03,2.7200e-01,1.1643e+00,2.8774e+00,-1.1995e-01,5.6036e-02,8.7809e-04,3.9773e-02,3.3718e-01,4.2879e-01,-2.2514e-02,2.4043e-03,-1.0077e-03,5.4693e-01,2.2664e-02
+29,3.1467e+01,DOWN_FORCE_DETACH,7.0970e-03,3.0870e-01,1.2082e+00,2.8338e+00,-1.2292e-01,5.8303e-02,9.2099e-04,7.6469e-02,3.8106e-01,3.8523e-01,-2.5484e-02,4.6712e-03,-9.6477e-04,5.4723e-01,2.5927e-02
+30,3.2083e+01,DOWN_FORCE_DETACH,7.3502e-03,2.8310e-01,8.5681e-01,2.8922e+00,-9.7350e-02,5.6265e-02,6.9152e-04,5.0869e-02,2.9668e-02,4.4357e-01,8.2456e-05,2.6330e-03,-1.1942e-03,4.4746e-01,2.8924e-03
+31,3.3083e+01,DOWN_FORCE_DETACH,7.5964e-03,2.5596e-01,1.0682e+00,3.0375e+00,-1.1225e-01,5.4282e-02,1.0769e-03,2.3725e-02,2.4105e-01,5.8890e-01,-1.4819e-02,6.4994e-04,-8.0890e-04,6.3677e-01,1.4855e-02
+32,3.4250e+01,DOWN_FORCE_DETACH,7.8407e-03,2.9841e-01,1.1651e+00,3.0108e+00,-1.1874e-01,5.7143e-02,1.0819e-03,6.6175e-02,3.3792e-01,5.6223e-01,-2.1307e-02,3.5114e-03,-8.0385e-04,6.5929e-01,2.1609e-02
+33,3.5367e+01,DOWN_FORCE_DETACH,8.0852e-03,2.7572e-01,1.2068e+00,3.1065e+00,-1.2154e-01,5.5403e-02,1.0532e-03,4.3486e-02,3.7963e-01,6.5792e-01,-2.4103e-02,1.7714e-03,-8.3257e-04,7.6083e-01,2.4183e-02
+34,3.6317e+01,DOWN_FORCE_DETACH,8.3306e-03,2.9055e-01,1.2441e+00,3.1649e+00,-1.2363e-01,5.6180e-02,1.0078e-03,5.8319e-02,4.1691e-01,7.1632e-01,-2.6198e-02,2.5478e-03,-8.7798e-04,8.3086e-01,2.6336e-02
+35,3.7283e+01,DOWN_FORCE_DETACH,8.5758e-03,3.1490e-01,1.2951e+00,3.2916e+00,-1.2685e-01,5.7900e-02,6.0435e-04,8.2672e-02,4.6799e-01,8.4303e-01,-2.9415e-02,4.2681e-03,-1.2814e-03,9.6776e-01,2.9750e-02
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Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+20,1.150000000e+00,WAIT_W2,1793079065334608719,3.738621519e-06,-5.171369458e-04,2.445384614e-05,3.541913499e-06,-5.170745879e-04,2.403009353e-05,4.638425733e-06,-4.772659416e-04,2.302474928e-05,7.019593365e-01,-5.391220003e-04,8.601678398e-01,7.019591398e-01,-5.390596425e-04,8.601674160e-01,7.027504185e-01,-5.914873325e-04,8.303486154e-01
+21,1.233333333e+00,WAIT_W2,1793079065416543464,1.273711990e-05,-5.163384929e-04,3.936331833e-05,3.541913499e-06,-5.170745879e-04,2.403009353e-05,4.605304293e-06,-4.774288262e-04,2.321543201e-05,7.019683350e-01,-5.383235475e-04,8.601827492e-01,7.019591398e-01,-5.390596425e-04,8.601674160e-01,7.027503854e-01,-5.916502171e-04,8.303488061e-01
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+24,1.600000000e+00,UP_FORCE_RAMP,1793079065793485225,2.861132758e-05,-5.134471236e-04,7.740580488e-05,2.298533594e-05,-5.154698207e-04,6.307912760e-05,2.582909560e-05,-4.760890286e-04,6.125274348e-05,7.019842092e-01,-5.354321781e-04,8.602207917e-01,7.019785832e-01,-5.374548753e-04,8.602064650e-01,7.027716092e-01,-5.903104194e-04,8.303868434e-01
+25,1.733333333e+00,UP_FORCE_RAMP,1793079065925775610,3.038742259e-05,-5.095354194e-04,8.138124918e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.501581678e-05,-4.694675685e-04,8.016988418e-05,7.019859853e-01,-5.315204740e-04,8.602247672e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027807959e-01,-5.836889594e-04,8.304057606e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1793079066088417871,3.224761942e-05,-5.045958862e-04,8.661055035e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.524353001e-05,-4.695151695e-04,8.033793258e-05,7.019878455e-01,-5.265809407e-04,8.602299965e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027810236e-01,-5.837365603e-04,8.304059286e-01
+27,2.033333333e+00,UP_FORCE_RAMP,1793079066219382595,3.004243601e-05,-5.087742770e-04,8.314763027e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.539534854e-05,-4.695453397e-04,8.044182253e-05,7.019856403e-01,-5.307593316e-04,8.602265335e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027811754e-01,-5.837667306e-04,8.304060325e-01
+28,2.233333333e+00,UP_FORCE_RAMP,1793079066418182160,3.354299446e-05,-5.061963382e-04,8.958710724e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.559699338e-05,-4.695842913e-04,8.057290288e-05,7.019891409e-01,-5.281813928e-04,8.602329730e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027813771e-01,-5.838056821e-04,8.304061636e-01
+29,2.416666667e+00,UP_FORCE_RAMP,1793079066596197566,3.360680120e-05,-5.093642260e-04,9.252249408e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.576343169e-05,-4.696167215e-04,8.067574227e-05,7.019892047e-01,-5.313492806e-04,8.602359084e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027815435e-01,-5.838381124e-04,8.304062664e-01
+30,2.533333333e+00,UP_FORCE_RAMP,1793079066710845683,3.230028956e-05,-5.090642397e-04,9.139355559e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.585861628e-05,-4.696343236e-04,8.073490753e-05,7.019878982e-01,-5.310492943e-04,8.602347795e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027816387e-01,-5.838557145e-04,8.304063256e-01
+31,2.700000000e+00,UP_FORCE_RAMP,1793079066874480431,3.238462592e-05,-5.059336741e-04,9.587996002e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.598583023e-05,-4.696584458e-04,8.081195181e-05,7.019879825e-01,-5.279187287e-04,8.602392659e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027817659e-01,-5.838798366e-04,8.304064026e-01
+32,2.833333333e+00,UP_FORCE_RAMP,1793079067005742977,3.200683097e-05,-5.067963966e-04,9.963422816e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.608104793e-05,-4.696750086e-04,8.086856998e-05,7.019876047e-01,-5.287814512e-04,8.602430201e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027818611e-01,-5.838963994e-04,8.304064593e-01
+33,3.000000000e+00,UP_FORCE_RAMP,1793079067169509017,2.794261180e-05,-5.028603939e-04,9.949426582e-05,3.149746604e-05,-5.082781303e-04,8.241639942e-05,3.619224069e-05,-4.696960887e-04,8.093471986e-05,7.019835405e-01,-5.248454485e-04,8.602428802e-01,7.019870953e-01,-5.302631848e-04,8.602258023e-01,7.027819723e-01,-5.839174796e-04,8.304065254e-01
+34,3.200000000e+00,UP_FORCE_RAMP,1793079067366291465,2.811139102e-05,-5.080417713e-04,1.074525791e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.350882103e-05,-4.694938721e-04,1.005673959e-04,7.019837093e-01,-5.300268259e-04,8.602508385e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027792889e-01,-5.837152630e-04,8.304261581e-01
+35,3.366666667e+00,UP_FORCE_RAMP,1793079067529829345,2.539155927e-05,-5.044903650e-04,1.122973537e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.359473186e-05,-4.695109870e-04,1.006866155e-04,7.019809894e-01,-5.264754196e-04,8.602556833e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027793748e-01,-5.837323779e-04,8.304262773e-01
+36,3.500000000e+00,UP_FORCE_RAMP,1793079067661504648,2.401495347e-05,-5.040147868e-04,1.200528279e-04,2.855129072e-05,-5.081021575e-04,1.026232562e-04,3.365793342e-05,-4.695257316e-04,1.007646490e-04,7.019796128e-01,-5.259998413e-04,8.602634387e-01,7.019841492e-01,-5.300872120e-04,8.602460092e-01,7.027794380e-01,-5.837471225e-04,8.304263553e-01
+37,3.616666667e+00,UP_FORCE_RAMP,1793079067775807332,2.078240845e-05,-5.063946992e-04,1.229193793e-04,2.440110961e-05,-5.026735652e-04,1.214492304e-04,2.956526410e-05,-4.645376482e-04,1.190366128e-04,7.019763803e-01,-5.283797538e-04,8.602663053e-01,7.019799990e-01,-5.246586198e-04,8.602648351e-01,7.027753453e-01,-5.787590391e-04,8.304446273e-01
+38,3.766666667e+00,UP_FORCE_RAMP,1793079067923119943,2.017880028e-05,-5.042783838e-04,1.308060713e-04,2.440110961e-05,-5.026735652e-04,1.214492304e-04,2.961208680e-05,-4.645469286e-04,1.191931099e-04,7.019757767e-01,-5.262634384e-04,8.602741920e-01,7.019799990e-01,-5.246586198e-04,8.602648351e-01,7.027753921e-01,-5.787683195e-04,8.304447838e-01
+39,3.950000000e+00,UP_FORCE_RAMP,1793079068103539820,1.348832010e-05,-5.063647604e-04,1.359432425e-04,1.796858077e-05,-4.998891844e-04,1.410338345e-04,2.329998598e-05,-4.619443266e-04,1.381785151e-04,7.019690862e-01,-5.283498149e-04,8.602793292e-01,7.019735664e-01,-5.218742389e-04,8.602844198e-01,7.027690800e-01,-5.761657175e-04,8.304637692e-01
+40,4.116666667e+00,UP_FORCE_RAMP,1793079068267390803,1.034849702e-05,-5.064129709e-04,1.463304502e-04,1.796858077e-05,-4.998891844e-04,1.410338345e-04,2.329775918e-05,-4.619507883e-04,1.384537052e-04,7.019659464e-01,-5.283980255e-04,8.602897164e-01,7.019735664e-01,-5.218742389e-04,8.602844198e-01,7.027690778e-01,-5.761721792e-04,8.304640444e-01
+41,4.316666667e+00,UP_FORCE_RAMP,1793079068463578102,5.070531344e-06,-5.053420294e-04,1.561639438e-04,5.252338597e-06,-5.052435328e-04,1.558006214e-04,1.045455414e-05,-4.668646647e-04,1.527368333e-04,7.019606684e-01,-5.273270840e-04,8.602995499e-01,7.019608502e-01,-5.272285873e-04,8.602991865e-01,7.027562346e-01,-5.810860556e-04,8.304783275e-01
+42,4.483333333e+00,UP_FORCE_RAMP,1793079068627500080,-1.048372394e-06,-4.982322702e-04,1.676423165e-04,5.252338597e-06,-5.052435328e-04,1.558006214e-04,1.029968489e-05,-4.668873412e-04,1.530428800e-04,7.019545495e-01,-5.202173247e-04,8.603110282e-01,7.019608502e-01,-5.272285873e-04,8.602991865e-01,7.027560797e-01,-5.811087321e-04,8.304786336e-01
+43,4.683333333e+00,UP_FORCE_RAMP,1793079068823721305,-1.615870670e-05,-4.981380029e-04,1.727462993e-04,-7.825629430e-06,-4.984382221e-04,1.717558838e-04,-3.145243944e-06,-4.605485514e-04,1.686436386e-04,7.019394392e-01,-5.201230575e-04,8.603161322e-01,7.019477722e-01,-5.204232767e-04,8.603151418e-01,7.027426348e-01,-5.747699423e-04,8.304942343e-01
+44,4.833333333e+00,UP_FORCE_RAMP,1793079068971584075,-2.592992286e-05,-5.010967023e-04,1.802494356e-04,-2.383176217e-05,-5.025029043e-04,1.830965851e-04,-1.958288775e-05,-4.642763335e-04,1.796966271e-04,7.019296679e-01,-5.230817569e-04,8.603236354e-01,7.019317661e-01,-5.244879589e-04,8.603264825e-01,7.027261972e-01,-5.784977243e-04,8.305052873e-01
+45,4.966666667e+00,UP_FORCE_RAMP,1793079069102557932,-3.120355140e-05,-4.979016823e-04,1.895134675e-04,-2.383176217e-05,-5.025029043e-04,1.830965851e-04,-1.975865624e-05,-4.642688273e-04,1.799124009e-04,7.019243943e-01,-5.198867369e-04,8.603328994e-01,7.019317661e-01,-5.244879589e-04,8.603264825e-01,7.027260214e-01,-5.784902182e-04,8.305055031e-01
+46,5.133333333e+00,UP_FORCE_RAMP,1793079069266645980,-3.405346950e-05,-4.989199223e-04,2.048613749e-04,-3.240230700e-05,-4.957076765e-04,2.027847676e-04,-2.855987191e-05,-4.579553386e-04,1.990525973e-04,7.019215444e-01,-5.209049769e-04,8.603482473e-01,7.019231956e-01,-5.176927311e-04,8.603461707e-01,7.027172202e-01,-5.721767295e-04,8.305246433e-01
+47,5.300000000e+00,UP_FORCE_RAMP,1793079069430354817,-3.773978150e-05,-4.988554054e-04,2.153625857e-04,-3.240230700e-05,-4.957076765e-04,2.027847676e-04,-2.868225241e-05,-4.579407257e-04,1.993233314e-04,7.019178581e-01,-5.208404600e-04,8.603587485e-01,7.019231956e-01,-5.176927311e-04,8.603461707e-01,7.027170978e-01,-5.721621166e-04,8.305249140e-01
+48,5.433333333e+00,UP_FORCE_RAMP,1793079069561779571,-3.926790831e-05,-4.921579720e-04,2.205617460e-04,-3.739649762e-05,-4.968116483e-04,2.222020418e-04,-3.363232643e-05,-4.589127162e-04,2.182203757e-04,7.019163300e-01,-5.141430266e-04,8.603639477e-01,7.019182014e-01,-5.187967029e-04,8.603655880e-01,7.027121477e-01,-5.731341070e-04,8.305438111e-01
+49,5.566666667e+00,UP_FORCE_RAMP,1793079069705893133,-3.824656561e-05,-4.952924978e-04,2.335312957e-04,-3.739649762e-05,-4.968116483e-04,2.222020418e-04,-3.371434693e-05,-4.589059861e-04,2.184635836e-04,7.019173513e-01,-5.172775524e-04,8.603769172e-01,7.019182014e-01,-5.187967029e-04,8.603655880e-01,7.027120657e-01,-5.731273769e-04,8.305440543e-01
+50,5.683333333e+00,UP_FORCE_HOLD,1793079069822990683,-4.683365937e-05,-5.153156322e-04,2.362920900e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.302283277e-05,-4.760840430e-04,2.319206409e-04,7.019087642e-01,-5.373006868e-04,8.603796780e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027027572e-01,-5.903054339e-04,8.305575113e-01
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+52,5.883333333e+00,UP_FORCE_HOLD,1793079070019864179,-4.755033584e-05,-5.151067761e-04,2.437239560e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.323820776e-05,-4.761340094e-04,2.323152703e-04,7.019080475e-01,-5.370918306e-04,8.603871099e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027025419e-01,-5.903554003e-04,8.305579060e-01
+53,6.000000000e+00,UP_SETTLE,1793079070134730977,-4.983667506e-05,-5.096123109e-04,2.451183716e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.329207701e-05,-4.761294473e-04,2.324546163e-04,7.019057612e-01,-5.315973655e-04,8.603885043e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027024880e-01,-5.903508382e-04,8.305580453e-01
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+55,6.300000000e+00,UP_SETTLE,1793079070429284161,-4.976460333e-05,-5.105007931e-04,2.550789426e-04,-4.656871389e-05,-5.154660384e-04,2.360983825e-04,-4.340252478e-05,-4.761167324e-04,2.327634078e-04,7.019058333e-01,-5.324858476e-04,8.603984649e-01,7.019090292e-01,-5.374510930e-04,8.603794843e-01,7.027023775e-01,-5.903381233e-04,8.305583541e-01
+56,6.450000000e+00,UP_SETTLE,1793079070576570171,-5.341433569e-05,-5.162951729e-04,2.552331993e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.696455494e-05,-4.679133972e-04,2.545828582e-04,7.019021835e-01,-5.382802275e-04,8.603986191e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026988155e-01,-5.821347880e-04,8.305801736e-01
+57,6.600000000e+00,UP_SETTLE,1793079070724358949,-5.351301215e-05,-5.107984501e-04,2.598155392e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.703251542e-05,-4.679034990e-04,2.548462700e-04,7.019020849e-01,-5.327835047e-04,8.604032015e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026987475e-01,-5.821248899e-04,8.305804370e-01
+58,6.783333333e+00,UP_SETTLE,1793079070904333981,-5.339870095e-05,-5.089374169e-04,2.643798220e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.709555713e-05,-4.678957514e-04,2.550607466e-04,7.019021992e-01,-5.309224715e-04,8.604077657e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026986845e-01,-5.821171423e-04,8.305806514e-01
+59,6.983333333e+00,UP_SETTLE,1793079071100785857,-5.334182963e-05,-5.105097568e-04,2.687852077e-04,-5.021325101e-05,-5.066381508e-04,2.585687677e-04,-4.715456984e-05,-4.678903066e-04,2.552640885e-04,7.019022560e-01,-5.324948114e-04,8.604121711e-01,7.019053846e-01,-5.286232054e-04,8.604019547e-01,7.026986255e-01,-5.821116975e-04,8.305808548e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_05/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.3227e-01,8.2690e-01,2.4481e+00,-9.7402e-02,5.3682e-02,1.8998e-03,2.2803e-04,-5.4538e-05,-1.9550e-05,4.4480e-06,1.5084e-05,-1.5553e-07,2.3528e-04,1.5727e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.6992e-05,2.5809e-01,8.1778e-01,2.4458e+00,-9.6593e-02,5.5496e-02,1.6980e-03,2.6048e-02,-9.1761e-03,-2.2781e-03,8.1328e-04,1.8288e-03,-2.0195e-04,2.7711e-02,2.0116e-03
+2,3.5000e-01,WAIT_W2,7.2291e-05,2.7405e-01,8.1721e-01,2.4448e+00,-9.6579e-02,5.6674e-02,1.5911e-03,4.2006e-02,-9.7467e-03,-3.3557e-03,8.2799e-04,3.0067e-03,-3.0887e-04,4.3253e-02,3.1339e-03
+3,5.0000e-01,WAIT_W2,1.0948e-04,2.8699e-01,8.1657e-01,2.4437e+00,-9.6555e-02,5.7613e-02,1.5061e-03,5.4949e-02,-1.0381e-02,-4.3726e-03,8.5146e-04,3.9461e-03,-3.9385e-04,5.6091e-02,4.0560e-03
+4,6.5000e-01,WAIT_W2,1.4881e-04,3.0321e-01,8.1843e-01,2.4426e+00,-9.6789e-02,5.8778e-02,1.3843e-03,7.1171e-02,-8.5282e-03,-5.4641e-03,6.1791e-04,5.1111e-03,-5.1567e-04,7.1888e-02,5.1740e-03
+5,8.0000e-01,WAIT_W2,1.8334e-04,3.1281e-01,8.1749e-01,2.4416e+00,-9.6722e-02,5.9473e-02,1.3159e-03,8.0768e-02,-9.4649e-03,-6.4993e-03,6.8491e-04,5.8058e-03,-5.8407e-04,8.1580e-02,5.8751e-03
+6,9.3333e-01,WAIT_W2,2.2104e-04,3.2124e-01,8.1671e-01,2.4407e+00,-9.6667e-02,6.0080e-02,1.2534e-03,8.9201e-02,-1.0248e-02,-7.4244e-03,7.3966e-04,6.4132e-03,-6.4658e-04,9.0095e-02,6.4880e-03
+7,9.8333e-01,WAIT_W2,2.4577e-04,3.2510e-01,8.1405e-01,2.4400e+00,-9.6413e-02,6.0358e-02,1.2234e-03,9.3062e-02,-1.2903e-02,-8.0695e-03,9.9406e-04,6.6911e-03,-6.7652e-04,9.4298e-02,6.7983e-03
+8,1.0000e+00,WAIT_W2,2.8510e-04,3.3371e-01,1.2865e+00,2.4187e+00,-1.3056e-01,6.1022e-02,1.6366e-03,1.0167e-01,4.5954e-01,-2.9424e-02,-3.3158e-02,7.3555e-03,-2.6332e-04,4.7157e-01,3.3965e-02
+9,1.0167e+00,WAIT_W2,3.0985e-04,3.4890e-01,1.9696e+00,2.4347e+00,-1.7999e-01,6.2079e-02,1.8340e-03,1.1686e-01,1.1426e+00,-1.3398e-02,-8.2581e-02,8.4119e-03,-6.5936e-05,1.1486e+00,8.3008e-02
+10,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+11,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+12,1.0333e+00,WAIT_W2,4.2118e-04,3.4857e-01,2.3761e+00,2.4064e+00,-2.0931e-01,6.2111e-02,2.6426e-03,1.1653e-01,1.5491e+00,-4.1679e-02,-1.1191e-01,8.4443e-03,7.4263e-04,1.5540e+00,1.1223e-01
+13,1.0500e+00,WAIT_W2,4.9508e-04,3.7683e-01,4.3190e+00,2.3421e+00,-3.5005e-01,6.4134e-02,3.1005e-03,1.4479e-01,3.4921e+00,-1.0602e-01,-2.5265e-01,1.0467e-02,1.2005e-03,3.4967e+00,2.5287e-01
+14,1.0500e+00,WAIT_W2,4.9508e-04,3.7683e-01,4.3190e+00,2.3421e+00,-3.5005e-01,6.4134e-02,3.1005e-03,1.4479e-01,3.4921e+00,-1.0602e-01,-2.5265e-01,1.0467e-02,1.2005e-03,3.4967e+00,2.5287e-01
+15,1.0667e+00,WAIT_W2,5.6578e-04,4.1623e-01,5.5809e+00,2.4113e+00,-4.4164e-01,6.7086e-02,3.8521e-03,1.8419e-01,4.7540e+00,-3.6824e-02,-3.4424e-01,1.3420e-02,1.9522e-03,4.7577e+00,3.4450e-01
+16,1.0833e+00,WAIT_W2,6.0138e-04,4.4185e-01,6.7563e+00,2.3664e+00,-5.2604e-01,6.8973e-02,6.6925e-03,2.0981e-01,5.9294e+00,-8.1698e-02,-4.2863e-01,1.5306e-02,4.7926e-03,5.9336e+00,4.2893e-01
+17,1.1000e+00,WAIT_W2,6.3182e-04,4.3613e-01,7.3416e+00,2.3358e+00,-5.6868e-01,6.8532e-02,6.8171e-03,2.0409e-01,6.5147e+00,-1.1229e-01,-4.7127e-01,1.4865e-02,4.9171e-03,6.5188e+00,4.7153e-01
+18,1.1167e+00,WAIT_W2,6.7140e-04,4.6998e-01,7.8392e+00,2.3875e+00,-6.0454e-01,7.0943e-02,6.9572e-03,2.3794e-01,7.0122e+00,-6.0570e-02,-5.0714e-01,1.7276e-02,5.0573e-03,7.0165e+00,5.0746e-01
+19,1.1333e+00,WAIT_W2,7.0682e-04,4.5148e-01,8.4812e+00,2.3197e+00,-6.5149e-01,6.9674e-02,8.1149e-03,2.1944e-01,7.6543e+00,-1.2844e-01,-5.5408e-01,1.6007e-02,6.2149e-03,7.6585e+00,5.5435e-01
+20,1.1500e+00,WAIT_W2,7.3793e-04,4.5019e-01,9.0723e+00,2.3151e+00,-6.9457e-01,6.9646e-02,8.1958e-03,2.1816e-01,8.2453e+00,-1.3297e-01,-5.9717e-01,1.5980e-02,6.2958e-03,8.2493e+00,5.9741e-01
+21,1.2333e+00,WAIT_W2,7.7033e-04,4.4724e-01,9.5763e+00,2.3072e+00,-7.3161e-01,6.9504e-02,8.3162e-03,2.1520e-01,8.7494e+00,-1.4088e-01,-6.3421e-01,1.5837e-02,6.4162e-03,8.7531e+00,6.3444e-01
+22,1.3167e+00,WAIT_W2,8.0434e-04,3.7107e-01,9.5415e+00,2.1914e+00,-7.3150e-01,6.3962e-02,8.5947e-03,1.3903e-01,8.7145e+00,-2.5674e-01,-6.3410e-01,1.0295e-02,6.6948e-03,8.7194e+00,6.3422e-01
+23,1.4167e+00,WAIT_W2,8.4267e-04,3.0625e-01,9.3829e+00,2.0802e+00,-7.2191e-01,5.9865e-02,8.7257e-03,7.4208e-02,8.5559e+00,-3.6793e-01,-6.2450e-01,6.1980e-03,6.8258e-03,8.5642e+00,6.2457e-01
+24,1.6000e+00,UP_FORCE_RAMP,8.7728e-04,3.6012e-01,9.4788e+00,2.1462e+00,-7.2810e-01,6.3308e-02,8.7990e-03,1.2808e-01,8.6518e+00,-3.0195e-01,-6.3070e-01,9.6413e-03,6.8991e-03,8.6580e+00,6.3081e-01
+25,1.7333e+00,UP_FORCE_RAMP,9.1366e-04,3.2322e-01,9.2848e+00,2.0402e+00,-7.1590e-01,6.1037e-02,8.8608e-03,9.1183e-02,8.4579e+00,-4.0795e-01,-6.1850e-01,7.3706e-03,6.9608e-03,8.4682e+00,6.1858e-01
+26,1.9000e+00,UP_FORCE_RAMP,9.5193e-04,4.1196e-01,9.3124e+00,2.1202e+00,-7.1736e-01,6.6889e-02,8.8206e-03,1.7992e-01,8.4854e+00,-3.2795e-01,-6.1995e-01,1.3222e-02,6.9206e-03,8.4937e+00,6.2013e-01
+27,2.0333e+00,UP_FORCE_RAMP,9.8655e-04,4.0616e-01,9.3016e+00,2.1101e+00,-7.1632e-01,6.6716e-02,8.1895e-03,1.7412e-01,8.4747e+00,-3.3800e-01,-6.1892e-01,1.3049e-02,6.2896e-03,8.4832e+00,6.1908e-01
+28,2.2333e+00,UP_FORCE_RAMP,1.0228e-03,4.4745e-01,9.2680e+00,2.1136e+00,-7.1336e-01,6.9934e-02,7.7838e-03,2.1541e-01,8.4410e+00,-3.3451e-01,-6.1595e-01,1.6267e-02,5.8839e-03,8.4504e+00,6.1619e-01
+29,2.4167e+00,UP_FORCE_RAMP,1.0633e-03,4.7314e-01,9.2652e+00,2.1527e+00,-7.1275e-01,7.1850e-02,7.2496e-03,2.4111e-01,8.4382e+00,-2.9539e-01,-6.1534e-01,1.8183e-02,5.3496e-03,8.4468e+00,6.1563e-01
+30,2.5333e+00,UP_FORCE_RAMP,1.0977e-03,4.8118e-01,9.2728e+00,2.1700e+00,-7.1341e-01,7.2251e-02,6.8514e-03,2.4914e-01,8.4458e+00,-2.7812e-01,-6.1601e-01,1.8584e-02,4.9515e-03,8.4540e+00,6.1631e-01
+31,2.7000e+00,UP_FORCE_RAMP,1.1337e-03,5.0702e-01,9.2641e+00,2.1900e+00,-7.1243e-01,7.4189e-02,6.3742e-03,2.7498e-01,8.4371e+00,-2.5815e-01,-6.1502e-01,2.0522e-02,4.4742e-03,8.4456e+00,6.1538e-01
+32,2.8333e+00,UP_FORCE_RAMP,1.1694e-03,5.3159e-01,9.2541e+00,2.1858e+00,-7.1135e-01,7.6033e-02,6.1904e-03,2.9955e-01,8.4272e+00,-2.6235e-01,-6.1394e-01,2.2367e-02,4.2904e-03,8.4366e+00,6.1436e-01
+33,3.0000e+00,UP_FORCE_RAMP,1.2041e-03,5.4524e-01,9.2582e+00,2.2006e+00,-7.1166e-01,7.6885e-02,5.8674e-03,3.1320e-01,8.4312e+00,-2.4750e-01,-6.1425e-01,2.3218e-02,3.9675e-03,8.4407e+00,6.1471e-01
+34,3.2000e+00,UP_FORCE_RAMP,1.2427e-03,5.8144e-01,9.2565e+00,2.1053e+00,-7.1301e-01,7.9699e-02,5.2023e-03,3.4940e-01,8.4295e+00,-3.4277e-01,-6.1561e-01,2.6032e-02,3.3023e-03,8.4437e+00,6.1616e-01
+35,3.3667e+00,UP_FORCE_RAMP,1.2808e-03,5.9964e-01,9.2469e+00,2.1237e+00,-7.1219e-01,8.1039e-02,4.9251e-03,3.6760e-01,8.4200e+00,-3.2443e-01,-6.1478e-01,2.7372e-02,3.0251e-03,8.4342e+00,6.1540e-01
+36,3.5000e+00,UP_FORCE_RAMP,1.3168e-03,6.0931e-01,9.2342e+00,2.1489e+00,-7.1082e-01,8.1778e-02,4.6904e-03,3.7727e-01,8.4073e+00,-2.9925e-01,-6.1341e-01,2.8112e-02,2.7905e-03,8.4211e+00,6.1406e-01
+37,3.6167e+00,UP_FORCE_RAMP,1.3531e-03,6.5147e-01,9.1582e+00,2.0234e+00,-7.0724e-01,8.4860e-02,3.9392e-03,4.1943e-01,8.3312e+00,-4.2468e-01,-6.0983e-01,3.1193e-02,2.0392e-03,8.3526e+00,6.1063e-01
+38,3.7667e+00,UP_FORCE_RAMP,1.3903e-03,6.5252e-01,9.1496e+00,2.0464e+00,-7.0633e-01,8.4933e-02,3.8745e-03,4.2048e-01,8.3227e+00,-4.0174e-01,-6.0893e-01,3.1266e-02,1.9745e-03,8.3430e+00,6.0973e-01
+39,3.9500e+00,UP_FORCE_RAMP,1.4271e-03,6.7708e-01,9.1264e+00,2.0481e+00,-7.0445e-01,8.6610e-02,3.7165e-03,4.4505e-01,8.2995e+00,-3.9997e-01,-6.0704e-01,3.2943e-02,1.8165e-03,8.3210e+00,6.0794e-01
+40,4.1167e+00,UP_FORCE_RAMP,1.4630e-03,7.1732e-01,9.1200e+00,2.0025e+00,-7.0543e-01,8.9716e-02,2.7956e-03,4.8528e-01,8.2931e+00,-4.4557e-01,-6.0803e-01,3.6049e-02,8.9566e-04,8.3192e+00,6.0910e-01
+41,4.3167e+00,UP_FORCE_RAMP,1.5003e-03,7.2267e-01,9.1182e+00,2.0297e+00,-7.0477e-01,9.0025e-02,2.7286e-03,4.9063e-01,8.2912e+00,-4.1845e-01,-6.0736e-01,3.6358e-02,8.2860e-04,8.3162e+00,6.0845e-01
+42,4.4833e+00,UP_FORCE_RAMP,1.5386e-03,8.1516e-01,9.2167e+00,1.9815e+00,-7.1295e-01,9.6928e-02,1.1924e-03,5.8312e-01,8.3898e+00,-4.6660e-01,-6.1555e-01,4.3261e-02,-7.0757e-04,8.4230e+00,6.1707e-01
+43,4.6833e+00,UP_FORCE_RAMP,1.5736e-03,9.0944e-01,9.1059e+00,1.9025e+00,-7.0592e-01,1.0378e-01,-4.1635e-04,6.7740e-01,8.2790e+00,-5.4559e-01,-6.0851e-01,5.0114e-02,-2.3163e-03,8.3245e+00,6.1057e-01
+44,4.8333e+00,UP_FORCE_RAMP,1.6084e-03,1.0296e+00,9.1929e+00,1.8743e+00,-7.1266e-01,1.1251e-01,-1.9704e-03,7.9754e-01,8.3660e+00,-5.7379e-01,-6.1525e-01,5.8846e-02,-3.8704e-03,8.4235e+00,6.1807e-01
+45,4.9667e+00,UP_FORCE_RAMP,1.6454e-03,9.9726e-01,9.1921e+00,1.9088e+00,-7.1255e-01,1.1037e-01,-1.9763e-03,7.6522e-01,8.3651e+00,-5.3932e-01,-6.1514e-01,5.6705e-02,-3.8763e-03,8.4173e+00,6.1776e-01
+46,5.1333e+00,UP_FORCE_RAMP,1.6838e-03,1.0408e+00,9.0391e+00,1.7947e+00,-7.0278e-01,1.1308e-01,-2.0304e-03,8.0876e-01,8.2122e+00,-6.5338e-01,-6.0537e-01,5.9414e-02,-3.9304e-03,8.2777e+00,6.0829e-01
+47,5.3000e+00,UP_FORCE_RAMP,1.7172e-03,1.0234e+00,9.0925e+00,1.8780e+00,-7.0641e-01,1.1238e-01,-2.6587e-03,7.9135e-01,8.2655e+00,-5.7007e-01,-6.0900e-01,5.8713e-02,-4.5587e-03,8.3229e+00,6.1184e-01
+48,5.4333e+00,UP_FORCE_RAMP,1.7528e-03,1.0240e+00,9.1104e+00,1.7985e+00,-7.0809e-01,1.1232e-01,-2.6637e-03,7.9197e-01,8.2835e+00,-6.4957e-01,-6.1068e-01,5.8655e-02,-4.5636e-03,8.3466e+00,6.1351e-01
+49,5.5667e+00,UP_FORCE_RAMP,1.7929e-03,1.0249e+00,9.1086e+00,1.8007e+00,-7.0799e-01,1.1238e-01,-2.6644e-03,7.9284e-01,8.2817e+00,-6.4738e-01,-6.1058e-01,5.8709e-02,-4.5643e-03,8.3447e+00,6.1342e-01
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Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bb19ec4363678645b15c44dad4d30d06081ce3ffceda0bb1620695b75d22bacc
+size 624640

Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/franka_data.csv

@@ -0,0 +1,61 @@
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+42671,1793079160683160033,15711777000000,1793079160680736762,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760277894304852,-0.004934876434321752,0.09969668546391006,0.9999999776670538,-1.6157042969378816e-06,-9.98708934689464e-05,0.00016165379794574484,0.6761,-0.0046,0.09971913215336696,1.0,0.0,0.0,0.0,-0.2597749267410361,0.2457356116427576,0.5644762166469233,0.01933796867654112,0.015097754689031656,0.003060237221027718,0.5443371902821087,1.193718344055122,1.6416507337938258,0.08128700591157711,-0.03538282479159801,0.001186566598956227,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.0266792626348322,1.4367243036047903,-0.2693480462962632,-0.038327756480556294,0.34597895078959107,0.8398848460636644,1.6826685290495669,-0.5644762166469233,1.95201657534583,1.95201657534583,1.9048897006688565,0,0,-2.5340978847239508e-05,9.004854781136657e-05
+42803,1793079161783097325,15712877000000,1793079161780737346,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760355164653755,-0.004931286813361989,0.09968414667123537,0.999999978761728,-8.206018114857939e-07,-8.793088110430121e-05,0.0001618236531476202,0.6761,-0.0046,0.09969132914627164,1.0,0.0,0.0,0.0,-0.26057860055329185,0.24811181812849004,0.6551508706543867,0.0203405694544223,0.015059397514178091,0.002998304433051087,0.5435335164698529,1.1960945505408545,1.7323253878012892,0.0822896066894583,-0.035421181966451575,0.0011246338109795959,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,0.9837652304786386,1.3846492205013778,-0.23835698779771963,-0.014545381990002396,0.31023595311371144,0.8106305053108737,1.6826685290495669,-0.6551508706543867,1.9210255168472865,1.9210255168472865,2.0148897006688773,0,0,-2.8377500872782353e-05,-9.999682612361056e-05
+42947,1793079162983193276,15714077000000,1793079162980727855,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760460707401046,-0.004933772265996782,0.09967065106166786,0.9999999801493157,-6.5373015427209664e-06,-7.114371616423143e-05,0.00016136935303930297,0.6761,-0.0046,0.09965876201100163,1.0,0.0,0.0,0.0,-0.2713311893639029,0.27762056272079283,0.7665114249864067,0.02219861913227584,0.016011779014960814,0.002944358139463317,0.5327809276592419,1.2256032951331572,1.8436859421333092,0.08414765636731183,-0.03446880046566885,0.0010706875173918259,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.053071745169149,1.4024351673907223,-0.47942945931660685,-0.013670383393295793,0.4824121072107161,0.8266083890481399,1.6826685290495669,-0.7665114249864067,2.162097988366174,2.162097988366174,2.1348897006691305,0,0,-2.7374088194782924e-05,9.648088858250076e-05
+43090,1793079164174283514,15715268000000,1793079164172727589,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676051898230111,-0.004931060942210361,0.09965340516365676,0.9999999814583866,-1.3137417099940302e-05,-6.044559422817105e-05,0.00015716179267264953,0.6761,-0.0046,0.09962871687508147,1.0,0.0,0.0,0.0,-0.2809197759054681,0.2935396461501465,0.8767678993398855,0.02311020053073467,0.015975167452960987,0.002857245475423052,0.5231923411176767,1.241522378562511,1.953942416486788,0.08505923776577066,-0.03450541202766868,0.000983574853351561,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.0777391242526857,1.379604933811933,-0.6321608434891414,0.0009645336446259945,0.5860099165295757,0.8151242287489954,1.6826685290495669,-0.8767678993398855,2.3148293725387084,2.3148293725387084,2.253989700669382,0,0,-2.2787819468879416e-05,9.999960168117212e-05
+43252,1793079165524263697,15716618000000,1793079165516737482,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760583815661649,-0.004929038692513641,0.09963730463416784,0.9999999820338734,-1.805822452588677e-05,-4.868461980282102e-05,0.00015709495775516498,0.6761,-0.0046,0.09959503566523494,1.0,0.0,0.0,0.0,-0.3093330332320898,0.27924734137149776,0.987966137230281,0.023276804957243123,0.01695154171086055,0.0038168358248995126,0.49477908379105495,1.2272300737838622,2.0651406543771835,0.08522584219227912,-0.033529037769769114,0.0019431652028280217,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1009344796968006,1.4161297222828921,-0.6422983945799539,-0.013278555776366417,0.5954822076802937,0.8384762702604722,1.6826685290495669,-0.987966137230281,2.3249669236295207,2.3249669236295207,2.3889897006696668,0,0,-2.7766190037496703e-05,-9.998779168374767e-05
+43387,1793079166649322643,15717743000000,1793079166648727934,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760673576927888,-0.004933679633924114,0.09962615898411549,0.9999999820022198,-2.0520998585171834e-05,-3.446226261227491e-05,0.00016071610296306666,0.6761,-0.0046,0.09956583143635614,1.0,0.0,0.0,0.0,-0.3129026474476184,0.2950474603832609,1.0986561335833165,0.024343803162657017,0.018591125902066664,0.003769503922344546,0.49120946957552636,1.2430301927956253,2.175830650730219,0.08629284039769301,-0.031889453578563,0.0018958333002730549,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1447831767637786,1.370465153959371,-0.7392276143026298,-0.000994015041161755,0.6668928904827945,0.8103928714597568,1.6826685290495669,-1.0986561335833165,2.4218961433521966,2.4218961433521966,2.501489700669904,0,0,-2.747576761527449e-05,-9.961858701690857e-05
+43529,1793079167833405499,15718927000000,1793079167828737822,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760725802259285,-0.004934933520365807,0.09960540582404694,0.9999999818130507,-2.1714127483939603e-05,-2.460483268444149e-05,0.00016352327620471364,0.6761,-0.0046,0.09953068575822693,1.0,0.0,0.0,0.0,-0.34091205990008705,0.31483712990887813,1.229490205850273,0.02615461841861324,0.02090238252491346,0.0037100891185087885,0.46320005712305773,1.2628198623212425,2.3066647229971755,0.08810365565364923,-0.029578196955716205,0.0018364184964372976,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1626791570005623,1.3661682230992178,-0.9304960186017207,-0.007290862632768041,0.7882279574775201,0.8066834066421531,1.6826685290495669,-1.229490205850273,2.6131645476512877,2.6131645476512877,2.619889700670154,0,0,-2.719723090208325e-05,9.99999208702917e-05
+43645,1793079168799437358,15719893000000,1793079168796727809,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6760774613787668,-0.004934516672592423,0.09959278511201622,0.9999999815299826,-2.290848688840691e-05,-1.735177687507789e-05,0.00016600306002071612,0.6761,-0.0046,0.09950874455633736,1.0,0.0,0.0,0.0,-0.3685989226266202,0.32181319675288855,1.3020148344841393,0.026145619607195338,0.021891893542522432,0.003670550437639486,0.4355131943965246,1.269795929165253,2.379189351631042,0.08809465684223133,-0.028588685938107233,0.001796879815567995,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.1993393062932014,1.4790984647437702,-0.9894729750423391,-0.0485171348233407,0.8343850130901296,0.8797045772018759,1.6826685290495669,-1.3020148344841393,2.672141504091906,2.672141504091906,2.716489700670358,0,0,-2.2442528470360774e-05,-9.99755931082646e-05
+43794,1793079170041417883,15721135000000,1793079170036737131,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760865741756079,-0.004937536171506073,0.09957524182464188,0.9999999813443934,-2.4733705900003844e-05,-2.6429144432250678e-06,0.0001677359120536414,0.6761,-0.0046,0.09947212039767081,1.0,0.0,0.0,0.0,-0.41045861153359436,0.3355485167404677,1.4204516971030055,0.027438672668274454,0.024657859866819586,0.003802362577646497,0.3936535054895504,1.2835312491528321,2.497626214249908,0.08938770990331045,-0.02582271961381008,0.001928691955575006,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.2511896488731034,1.5386885638254522,-1.1295832774029073,-0.06353162216241597,0.9335075028216571,0.9188606851184107,1.6826685290495669,-1.4204516971030055,2.8122518064524744,2.8122518064524744,2.84068970067062,0,0,-3.265824996131895e-05,-2.413861041105771e-07
+43947,1793079171316494181,15722410000000,1793079171312737924,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6760941534485762,-0.004940015204130609,0.09955259332978535,0.9999999800928743,-2.4456911172080635e-05,8.073679544265389e-06,0.00017491080769335736,0.6761,-0.0046,0.09943409861912265,1.0,0.0,0.0,0.0,-0.43706600162548576,0.3572133410758005,1.5500553542485136,0.030043333098819465,0.025821571104514645,0.0045951097574587,0.367046115397659,1.305196073488165,2.627229871395416,0.09199237033385546,-0.02465900837611502,0.0027214391353872084,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.2939118971510806,1.3673760617940394,-1.2049809114464631,-0.01298760281652683,0.9878086888851692,0.8049792191556169,1.6826685290495669,-1.5500553542485136,2.88764944049603,2.88764944049603,2.968189700670889,0,0,-2.9579110240344992e-05,-9.999976821462581e-05
+44100,1793079172591577910,15723685000000,1793079172584737725,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761002346043836,-0.004944396445887326,0.09953102957394858,0.9999999790791431,-2.894496750765654e-05,1.935839919622623e-05,0.00017908662448698465,0.6761,-0.0046,0.09939711814748756,1.0,0.0,0.0,0.0,-0.4745841625573962,0.3610407608480044,1.652664708765819,0.029982514201400322,0.028162681189743098,0.00455409359919374,0.32952795446574856,1.3090234932603688,2.7298392259127215,0.09193155143643632,-0.022317898290886568,0.0026804229771222486,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3097116203696337,1.3983145495556748,-1.3663908735697936,-0.03137402925791978,1.0919513261413107,0.8237939416575509,1.6826685290495669,-1.652664708765819,3.0490594026193607,3.0490594026193607,3.095689700671158,0,0,-2.9426359803046094e-05,-4.437311215544355e-05
+44252,1793079173858567762,15724952000000,1793079173856736880,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761088037099876,-0.004941367826983735,0.0995062500886491,0.9999999779456653,-2.3985980971157012e-05,3.260737376300994e-05,0.00018415473193681274,0.6761,-0.0046,0.09935650858826679,1.0,0.0,0.0,0.0,-0.5066419587259869,0.3513037579092675,1.7748951025194222,0.03055929570136335,0.03042573105956212,0.00448399677504476,0.2974701582971579,1.299286490321632,2.8520696196663247,0.09250833293639935,-0.020054848421067546,0.002610326152973269,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3517782275036156,1.4387776262032557,-1.4822827315914462,-0.044255218534490985,1.17146973560026,0.852035221088149,1.6826685290495669,-1.7748951025194222,3.164951260641013,3.164951260641013,3.2223897006714255,0,0,-3.22832399244063e-05,-9.990234614421496e-05
+44407,1793079175149654174,15726243000000,1793079175148727177,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761194028655084,-0.004946270432956044,0.09948040279653497,0.9999999759243523,-2.4006386576292916e-05,4.873621957505544e-05,0.00019142265699161908,0.6761,-0.0046,0.09931098585100208,1.0,0.0,0.0,0.0,-0.5229178530393298,0.37451334378783696,1.8941051604314154,0.030734877093790476,0.032016559008307736,0.004414303428090747,0.281194263983815,1.3224960762002014,2.971279677578318,0.09268391432882647,-0.01846402047232193,0.0025406328060192562,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.395606968493703,1.3733899798763343,-1.6998778516977204,-0.02780609129219835,1.3224357920752583,0.8094818935324014,1.6826685290495669,-1.8941051604314154,3.3825463807472875,3.3825463807472875,3.351489700671698,0,0,-3.632612500106968e-05,9.757400029475888e-05
+44543,1793079176284683984,15727377000000,1793079176280737523,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761269507505561,-0.004942042152241415,0.09945189655436626,0.9999999744743583,-1.9970155132545858e-05,6.243326451354516e-05,0.00019544162231303772,0.6761,-0.0046,0.09926460855908255,1.0,0.0,0.0,0.0,-0.5322781911490668,0.37350268096885486,1.9826523833431344,0.029908022037564368,0.033811546661798586,0.0033342741467863625,0.271833925874078,1.3214854133812193,3.059826900490037,0.09185705927260036,-0.016669032818831083,0.0014606035247148714,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4053567616820168,1.2522559081753795,-1.6601179274619582,0.0044041490810182125,1.3002788205181255,0.7299113667918796,1.6826685290495669,-1.9826523833431344,3.342786456511525,3.342786456511525,3.4648897006719372,0,0,-4.686581804166779e-05,-8.759764721777969e-05
+44680,1793079177424639227,15728518000000,1793079177416727758,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761379520196114,-0.004947606019849059,0.0994144039813256,0.9999999712092613,-1.8532818517811094e-05,7.990053296880307e-05,0.0002056618106529574,0.6761,-0.0046,0.09920710002820818,1.0,0.0,0.0,0.0,-0.5183175532587119,0.3987755841190195,2.0831808254215987,0.030487980255791504,0.0338981723698063,0.0032644566077638733,0.28579456376443296,1.346758316531384,3.160355342568501,0.0924370174908275,-0.016582407110823368,0.0013907859856923822,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.39987118523815,1.3625515834965412,-1.801652323135902,-0.03666569183755442,1.3893580466039805,0.8014013347504984,1.6826685290495669,-2.0831808254215987,3.484320852185469,3.484320852185469,3.578989700672178,0,0,-5.112148647043314e-05,-9.963378319455813e-05
+44818,1793079178574684973,15729668000000,1793079178568727814,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761443391790315,-0.004951991003682383,0.09936509755326604,0.999999968259958,-2.1693255337766397e-05,9.260531611088509e-05,0.00021418824803574388,0.6761,-0.0046,0.09914024912251947,1.0,0.0,0.0,0.0,-0.5356612511861262,0.3643641227561687,2.178271490390097,0.02763718695193417,0.03588752033233537,0.00222472927349784,0.2684508658370186,1.312346855168533,3.2554460075369995,0.08958622418697017,-0.0145930591482943,0.0003510586514263492,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4684154571356962,1.4120829752561095,-2.016952132757756,-0.04785200695287397,1.5430000184509947,0.8364210796462406,1.6826685290495669,-2.178271490390097,3.699620661807323,3.699620661807323,3.6939897006724207,0,0,-6.544084768936453e-05,9.958004840016627e-05
+44963,1793079179783776169,15730877000000,1793079179780727962,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676158583880029,-0.004951786375945597,0.099313958955735,0.9999999644349685,-1.5247030989485222e-05,0.00011126676998379858,0.00022351769561031442,0.6761,-0.0046,0.0990659303895185,1.0,0.0,0.0,0.0,-0.5789605489607454,0.34250246660875105,2.3317758072983925,0.02651361720718972,0.03888349594091662,0.0020688037823509294,0.2251515680623994,1.2904851990211155,3.408950324445295,0.08846265444222572,-0.011597083539713046,0.00019513316027943838,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4164797060481753,1.3652180257797903,-2.150045201912846,-0.04220246988904501,1.6130731957913458,0.8034200719081613,1.6826685290495669,-2.3317758072983925,3.832713730962413,3.832713730962413,3.814889700672676,0,0,-5.386197092918798e-05,9.999980984798924e-05
+45095,1793079180883814226,15731977000000,1793079180880727715,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6761688281501194,-0.004957256603623774,0.09927814707625345,0.9999999606905478,-1.6066669364927464e-05,0.00013013485222473442,0.00022993161976862596,0.6761,-0.0046,0.09900803949832923,1.0,0.0,0.0,0.0,-0.5775927867716487,0.32533641561147686,2.391153830180252,0.024460772300925533,0.03891150437469963,0.001992143851782064,0.2265193302514961,1.2733191480238413,3.4683283473271547,0.08640980953596153,-0.011569075105930037,0.0001184732297105729,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4647937548307037,1.329585237852842,-2.1934904680554452,-0.04040627064532351,1.6557760057229571,0.7803009831614829,1.6826685290495669,-2.391153830180252,3.876158997105012,3.876158997105012,3.924889700672908,0,0,-5.43382549331436e-05,-2.382842484396528e-09
+45235,1793079182049812617,15733143000000,1793079182048727156,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676180213063933,-0.0049603569600314285,0.09922116172195562,0.9999999565555456,-2.1959482090941638e-05,0.00014738437298617837,0.0002369122177788987,0.6761,-0.0046,0.09893112382537803,1.0,0.0,0.0,0.0,-0.5780589859583991,0.3159101498096619,2.500329142718797,0.023352532454117163,0.039920514503612316,0.0019073343982656215,0.22605313106474562,1.2638928822220263,3.5775036598656995,0.08530156968915316,-0.01056006497701735,3.366377619413032e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4727040941211271,1.3538450647483284,-2.262563053617852,-0.04636373352106525,1.7047768649756712,0.791994592453501,1.6826685290495669,-2.500329142718797,3.945231582667419,3.945231582667419,4.04148970067297,0,0,-7.283358915563388e-05,-9.972659783941679e-05
+45311,1793079182683900815,15733777000000,1793079182676728266,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6761876328296064,-0.0049540387305839215,0.0991801634993304,0.9999999550341978,-0.0002081088558278825,0.00017237257577744014,9.139401277515333e-05,0.6761,-0.0046,0.0988807207747624,1.0,0.0,0.0,0.0,-0.4088667230545283,0.5241323419992683,2.5562769149321554,0.03418119098419358,0.031221709931242507,0.002901935378736567,0.39524539396861647,1.4721150744116327,3.633451432079058,0.09613022821922958,-0.01925886954938716,0.0010282647566650755,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5573886470220566,1.4972493297518452,-2.3479953695320863,-0.11327273022284537,1.7957969246939238,0.9348999275348474,1.6826685290495669,-2.5562769149321554,4.030663898581653,4.030663898581653,4.104889700672822,0,0,-8.534646673693936e-05,-1.800846557842846e-05
+45435,1793079183716915469,15734810000000,1793079183716727841,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762018897558446,-0.004951380793892827,0.09911759641731334,0.9999999521876143,-0.00019564395869731778,0.00019239404954939947,0.00010851545790807473,0.6761,-0.0046,0.09879349311873296,1.0,0.0,0.0,0.0,-0.4589894229636313,0.45250920440736153,2.6456495746180595,0.030746607740033856,0.03365957530309334,0.002819731089411158,0.34512269405951346,1.400491936819726,3.722824091764962,0.09269564497506985,-0.01682100417753633,0.0009460604673396668,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5106822996473284,1.3991620277305843,-2.41309928302918,-0.04404401341036921,1.8164366715901092,0.8592187750381162,1.6826685290495669,-2.6456495746180595,4.095767812078747,4.095767812078747,4.208189700672581,0,0,-8.100258156870511e-05,-8.944153337265277e-05
+45561,1793079184766979906,15735860000000,1793079184760728124,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6762119175100489,-0.004962520785413132,0.09905872707969723,0.9999999476636517,-0.00019448595857777447,0.00020707629544013912,0.00012413773754232392,0.6761,-0.0046,0.09871715155343669,1.0,0.0,0.0,0.0,-0.4749117422335036,0.3994361195456524,2.7183062311572965,0.027165791469894736,0.03472863428197413,0.002734991863884646,0.3292003747896412,1.3474188519580168,3.795480748304199,0.08911482870493073,-0.015751945198655536,0.0008613212418131552,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5611409816397197,1.3654974993856595,-2.6241675327930807,-0.00476048195340781,1.9661321987690477,0.8242544482664398,1.6826685290495669,-2.7183062311572965,4.306836061842647,4.306836061842647,4.3131897006723365,0,0,-6.73062289554841e-05,9.980468815141136e-05
+45693,1793079185866950312,15736960000000,1793079185864727810,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762191609804943,-0.0049650172665048255,0.09899255167772204,0.9999999440031986,-0.00018946355694513615,0.00021951595615877096,0.00013911423180059545,0.6761,-0.0046,0.09863642809402283,1.0,0.0,0.0,0.0,-0.46704746445423956,0.34555792195668156,2.746956815424845,0.023485939028283033,0.0347953355533329,0.001643852990842984,0.3370646525689052,1.293540654369046,3.8241313325717474,0.08543497626331903,-0.01568524392729677,-0.00022981763122850707,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.49528898080033,1.4148403600757602,-2.589158763613821,0.007092847073805568,1.918918784196895,0.8387215626729747,1.6826685290495669,-2.746956815424845,4.271827292663388,4.271827292663388,4.42318970067208,0,0,-8.052958902079877e-05,-9.999775593539368e-05
+45814,1793079186875014009,15737968000000,1793079186868728283,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762306277740974,-0.0049690792791863,0.0989169443728194,0.9999999380388798,-0.0001905973062537729,0.00023702555480211614,0.00015118417267910477,0.6761,-0.0046,0.0985409482384916,1.0,0.0,0.0,0.0,-0.4703517783575503,0.2985454598153341,2.8547311130515958,0.01942943684908654,0.03484961619714577,0.0015088870589534589,0.33376033866559446,1.2465281922276985,3.9319056301984983,0.08137847408412253,-0.01563096328348389,-0.00036478356311803233,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4174169187954797,1.3263004161875984,-2.677776225752295,0.023982482916410103,1.9595923880487658,0.7719957851168853,1.6826685290495669,-2.8547311130515958,4.360444754801861,4.360444754801861,4.523989700671845,0,0,-0.00010194957434791897,-9.999999025923074e-05
+45962,1793079188109052828,15739202000000,1793079188108728047,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762429395136238,-0.004972683532661338,0.09881697559915763,0.9999999268053902,-0.00022533344404250316,0.0002608457249403963,0.0001379000550430197,0.6761,-0.0046,0.09841545494146724,1.0,0.0,0.0,0.0,-0.4505249222152583,0.3134327015024321,2.9522575497226358,0.020186972530801685,0.03380034381554105,0.00142637739254421,0.3535871948078865,1.2614154339147965,4.029432066869538,0.08213600976583768,-0.016680235665088614,-0.00044729322952728116,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.490053321219975,1.5107890763866774,-2.8631404486024334,-0.012059046137335386,2.096140548008637,0.8951939570813064,1.6826685290495669,-2.9522575497226358,4.545808977652,4.545808977652,4.647389700671558,0,0,-9.772954939343682e-05,-7.500209761446825e-05
+46088,1793079189159119485,15740252000000,1793079189152728066,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762537439476975,-0.004973725083999802,0.09872561121769453,0.9999999192924984,-0.00023605207253421092,0.00027836913135725324,0.0001401709897587002,0.6761,-0.0046,0.09831021640228761,1.0,0.0,0.0,0.0,-0.4252940166859034,0.2532660360838648,3.005516344507061,0.015547489683783784,0.032866472203538735,0.0013179488323421837,0.3788181003372414,1.2012487684962292,4.082690861653964,0.07749652691881978,-0.017614107277090934,-0.0005557217897293076,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4289213400687208,1.4530424154469774,-2.9969720445510917,-0.0032901888509393874,2.1725064687240248,0.8563836850611631,1.6826685290495669,-3.005516344507061,4.6796405736006585,4.6796405736006585,4.752389700671313,0,0,-0.00010737231480731501,5.4775874140605654e-05
+46229,1793079190334057872,15741427000000,1793079190332727622,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762691566997883,-0.00498022508343008,0.09861415211584085,0.999999907249663,-0.0002533659698425109,0.00030254228875314205,0.00014566186253222894,0.6761,-0.0046,0.09817329796114876,1.0,0.0,0.0,0.0,-0.42377116521463176,0.21311503837527224,3.1099242000844205,0.013484441592648826,0.032516223510773046,0.0012078161783074999,0.380340951808513,1.1610977707876367,4.187098717231323,0.07543347882768482,-0.017964355969856623,-0.0006658544437639912,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4146794547137969,1.4332529830759482,-3.0627479575243086,-0.0065667901238230224,2.2142042859575914,0.8368660470324052,1.6826685290495669,-3.1099242000844205,4.745416486573875,4.745416486573875,4.869889700671039,0,0,-0.00011847435777842386,-9.980468815141136e-05
+46349,1793079191334199227,15742427000000,1793079191332736754,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6762783439931634,-0.004984225333200799,0.09851127442298736,0.999999899074722,-0.0002648416558193745,0.0003173091082805532,0.00014989074963503088,0.6761,-0.0046,0.09805158531068678,1.0,0.0,0.0,0.0,-0.3948543488688102,0.16148836062220262,3.168054022865806,0.009233311426662068,0.030925819078264062,0.0010880450905551668,0.40925776815433457,1.109471093034567,4.245228540012708,0.07118234866169806,-0.019554760402365604,-0.0007856255315163243,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.444706402113248,1.4472341530509107,-3.160574806677534,-0.018634201272084146,2.294279087824501,0.845259786293447,1.6826685290495669,-3.168054022865806,4.8432433357271005,4.8432433357271005,4.969889700670806,0,0,-0.00012817985877852512,-9.999999025923074e-05
+46475,1793079192384224829,15743477000000,1793079192380737231,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6762887324014195,-0.004982424432288688,0.09838646926592624,0.9999998951221424,-0.0002567586859195472,0.0003344787425924251,0.00015296246594819423,0.6761,-0.0046,0.09790992348351582,1.0,0.0,0.0,0.0,-0.4087367308554763,0.14040759593584395,3.2391079762355126,0.008151570829584238,0.03194454577759538,0.0010335556837057435,0.3953753861676685,1.0883903283482084,4.316282493382415,0.07010060806462023,-0.018536033703034284,-0.0008401149383657476,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4705357344569325,1.3716415004097051,-3.281482028714177,0.0011789033395144097,2.3765641849612917,0.7992655895105674,1.6826685290495669,-3.2391079762355126,4.964150557763744,4.964150557763744,5.074889700670561,0,0,-0.00014063348792814692,7.824764080773504e-05
+46597,1793079193400158406,15744493000000,1793079193396738028,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763030960458486,-0.00498757766829085,0.09826082352422255,0.999999914709816,-9.399179540107007e-05,0.00036197538854804834,0.00014887103718871496,0.6761,-0.0046,0.09775704306078045,1.0,0.0,0.0,0.0,-0.4023088296515322,0.11781762362378423,3.304061285587893,0.006096779183271124,0.03196930387377735,0.0009592649337708645,0.4018032873716126,1.0658003560361486,4.381235802734795,0.06804581641830712,-0.01851127560685232,-0.0009144056883006266,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4707814649728694,1.6646008517226036,-3.310961737727018,-0.1352913551695835,2.402009685233149,0.9146922413110483,1.6826685290495669,-3.304061285587893,4.993630266776584,4.993630266776584,5.1764897006703245,0,0,-0.00016161492822771984,-9.999999025923074e-05
+46723,1793079194450231186,15745543000000,1793079194448727814,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763173589105334,-0.004988547076119691,0.09811355431600367,0.9999999028961197,-0.00012489515607390917,0.00038439465770957683,0.00014930694137459894,0.6761,-0.0046,0.09758502345108327,1.0,0.0,0.0,0.0,-0.4113072280795455,0.08912709860458534,3.413988377908969,0.005052253421564935,0.031966687130300486,0.0008571152759227353,0.3928048889435993,1.0371098310169498,4.491162895055871,0.06700129065660093,-0.018513892350329176,-0.0010165553461487559,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4801114579629249,1.5675523383034404,-3.5673554326569583,-0.09154345475164001,2.566094544399408,0.8833278310512254,1.6826685290495669,-3.413988377908969,5.250023961706525,5.250023961706525,5.28148970067008,0,0,-0.00015699496438007087,9.960937216580418e-05
+46842,1793079195442286450,15746535000000,1793079195440737250,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6763264026415137,-0.004999826745055518,0.09796826135877568,0.9999998908831387,-0.00015743004715892955,0.0004010847211225766,0.00015499484392512313,0.6761,-0.0046,0.09742350525915505,1.0,0.0,0.0,0.0,-0.3869861333705263,0.0290402492235462,3.4549944396922116,0.001005773340523021,0.030017453356904606,0.0014350050705512546,0.4171259836526185,0.9770229816359106,4.532168956839114,0.06295481057555902,-0.02046312612372506,-0.0004386655515202367,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3841148867020634,1.5069672778638474,-3.5005417741745486,-0.03877690761189095,2.5018592304599165,0.8880017611069106,1.6826685290495669,-3.4549944396922116,5.183210303224115,5.183210303224115,5.380689700669849,0,0,-0.00016952732799088566,-9.999999025923074e-05
+46951,1793079196350311940,15747443000000,1793079196348728295,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763336376706721,-0.004995807021621808,0.09782246049618654,0.9999998826818387,-0.00018146115902847518,0.00041365494863818836,0.000148460783748156,0.6761,-0.0046,0.09726421263607513,1.0,0.0,0.0,0.0,-0.3521354354852784,0.0005566232115704617,3.489671734387704,-0.001634362730612078,0.029027825400037472,0.0017102959173676355,0.45197668153786635,0.9485393556239349,4.566846251534606,0.06031467450442392,-0.021452754080592194,-0.00016337470470385567,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4209125340360498,1.458074932371227,-3.6640370312683905,-0.007821280796527002,2.6258953045916313,0.8611273369500687,1.6826685290495669,-3.489671734387704,5.346705560317957,5.346705560317957,5.471489700669637,0,0,-0.00018301505293608222,9.998738922790124e-05
+47067,1793079197317281138,15748410000000,1793079197312737807,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763494992019884,-0.0049997257270340476,0.09766492430293067,0.9999998670111251,-0.00020662537743248617,0.00043905293287158716,0.000148185936441443,0.6761,-0.0046,0.09707997256542708,1.0,0.0,0.0,0.0,-0.34985966882988306,-0.027912311026673797,3.5856449831689474,-0.003052319246045175,0.028029309542146746,0.001598094406435573,0.4542524481932617,0.9200704213856906,4.66281950031585,0.05889671798899082,-0.02245126993848292,-0.0002755762156359183,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4065405534032127,1.5552790774614478,-3.6572356051414685,-0.029874252681068875,2.6177177462746557,0.9229346924496575,1.6826685290495669,-3.5856449831689474,5.339904134191036,5.339904134191036,5.568189700669412,0,0,-0.0001948186562031592,-9.975229950243687e-05
+47177,1793079198234389790,15749327000000,1793079198232727825,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6763597679573814,-0.005004563635085319,0.09749710593972519,0.9999998552769295,-0.00022796279376830413,0.00045424152684938565,0.00015028833650997748,0.6761,-0.0046,0.09689750335723292,1.0,0.0,0.0,0.0,-0.34963548354095564,-0.0709249553836232,3.6536869839036292,-0.005110732557437485,0.028054684974729467,0.001519386631468565,0.45447663348218914,0.8770577770287412,4.730861501050532,0.05683830467759851,-0.0224258945059002,-0.00035428399060292624,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4350167625686938,1.423555884162371,-3.7796362827726115,0.01879793095519922,2.7100432848779508,0.8363777765044595,1.6826685290495669,-3.6536869839036292,5.462304811822179,5.462304811822179,5.659889700669198,0,0,-0.00020226921112617558,-9.999999025923074e-05
+47297,1793079199234436576,15750327000000,1793079199228737158,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676370603580363,-0.005010715766740963,0.09730661749255373,0.9999998438923394,-0.00023282694295706944,0.00047407363412573975,0.00015717494964380096,0.6761,-0.0046,0.09668961339799212,1.0,0.0,0.0,0.0,-0.3200600430518946,-0.11983057263933738,3.6831003496336443,-0.008663226545649223,0.026091079056913664,0.0014246683879387666,0.48405207397125016,0.828152159773027,4.760274866780547,0.05328581068938677,-0.024389500423716,-0.0004490022341327244,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4084206054065975,1.3830582563143112,-3.8094425189724768,0.034010056049636785,2.735683862073323,0.8108860215896615,1.6826685290495669,-3.6831003496336443,5.492111048022044,5.492111048022044,5.759889700668965,0,0,-0.00021649130976383735,-9.999999025923074e-05
+47405,1793079200134433484,15751227000000,1793079200132737153,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763823093238235,-0.0050087427837078626,0.09712199426986638,0.9999998278604145,-0.00026033574916008655,0.0004958335836284913,0.00014864844513243436,0.6761,-0.0046,0.0964824772971561,1.0,0.0,0.0,0.0,-0.2824232370460653,-0.14160059688134763,3.753156018161209,-0.010127730753170888,0.024077806865146992,0.0013274055356712398,0.5216888799770795,0.8063821355310168,4.830330535308112,0.05182130648186511,-0.026402772615482673,-0.0005462650864002512,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.414020739604594,1.4146110128931741,-3.9336461919592263,0.043374770434044405,2.8231775748266035,0.8272048422562882,1.6826685290495669,-3.753156018161209,5.616314721008793,5.616314721008793,5.849889700668755,0,0,-0.00024319964830463026,-9.999999025923074e-05
+47505,1793079200967434864,15752060000000,1793079200964737493,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6763896400252516,-0.005008352783840377,0.09692882941031235,0.9999998188304715,-0.0002631160826957722,0.0005086725830391173,0.00016063629228035205,0.6761,-0.0046,0.09627353076987033,1.0,0.0,0.0,0.0,-0.24928894962546455,-0.17413860874570886,3.8232873796165814,-0.01202369763841353,0.021062270864227663,0.0012054328497944824,0.5548231673976802,0.7738441236666556,4.900461896763484,0.049925339596622466,-0.029418308616402003,-0.0006682377722770087,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.3949021619958994,1.393906543090976,-4.031787786112795,0.0475711999940122,2.892385636899915,0.8127296268988391,1.6826685290495669,-3.8232873796165814,5.714456315162362,5.714456315162362,5.933189700668561,0,0,-0.00025787128848811747,-4.655327393253623e-05
+47601,1793079201767537087,15752860000000,1793079201760737310,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.6764011530017027,-0.0050032082244676835,0.09673364214341382,0.9999998394904392,-9.172242113106794e-05,0.0005249814955940692,0.00016865167347331926,0.6761,-0.0046,0.09606060248381346,1.0,0.0,0.0,0.0,-0.18832628039103938,-0.13503264704415585,3.8352731074387707,-0.009962084127352895,0.017977975381430436,0.001178319161394791,0.6157858366321054,0.8129500853682086,4.912447624585673,0.0519869531076831,-0.03250260409919923,-0.0006953514606767001,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4311589623862633,1.602290159452705,-3.9723001993368134,-0.04533468852274249,2.8787072239115674,0.8521252330994662,1.6826685290495669,-3.8352731074387707,5.654968728386381,5.654968728386381,6.0131897006683745,0,0,-0.0002793449123225918,-9.999999025923074e-05
+47692,1793079202525457135,15753618000000,1793079202524737046,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764120145948215,-0.005002608792599589,0.09652910602589346,0.9999998225824227,-0.00015174491610132993,0.0005471170257892019,0.00015464290418563,0.6761,-0.0046,0.09583971702537519,1.0,0.0,0.0,0.0,-0.17036084260787154,-0.1277851162816972,3.943594729082606,-0.008865154226473576,0.016383586963897155,0.0020722824365646455,0.6337512744152732,0.8201976161306672,5.020769246229508,0.05308388300856242,-0.03409699251673251,0.00019861181449315433,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.496424053889685,1.5924996484919427,-4.157635490204806,0.002287008862913416,3.0129498993491137,0.8927754892668927,1.6826685290495669,-3.943594729082606,5.840304019254372,5.840304019254372,6.088989700668198,0,0,-0.0002996715189769788,1.2613144246341294e-05
+47782,1793079203275588903,15754368000000,1793079203272737137,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764163748375535,-0.005011994758103986,0.09631191885023153,0.9999998093400188,-0.00016994534283948387,0.0005582597833970505,0.0001795198732804281,0.6761,-0.0046,0.0956128177424009,1.0,0.0,0.0,0.0,-0.15810002584248206,-0.21349371633610814,4.003599264372742,-0.01394133485075133,0.01497691630932984,0.0016152080690466609,0.6460120911806627,0.7344890160762563,5.080773781519644,0.048007702384284666,-0.035503663171299826,-0.0002584625530248302,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4207880252860123,1.4144542563137754,-4.212551987434516,0.09494271908984697,3.0380269911902427,0.832118189610737,1.6826685290495669,-4.003599264372742,5.895220516484082,5.895220516484082,6.163989700668023,0,0,-0.0003037728794439128,-9.998176872383908e-05
+47874,1793079204042606884,15755135000000,1793079204040737080,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764341777304079,-0.005006456431161196,0.09608907833723344,0.9999997922571133,-0.00021195818760209927,0.0005776922177143373,0.00016814881097930605,0.6761,-0.0046,0.09537463889964377,1.0,0.0,0.0,0.0,-0.16950339797264224,-0.1547580478846734,3.9654119483813135,-0.009941674806779273,0.015283461501898271,0.002059825568435666,0.6346087190505025,0.793224684527691,5.042586465528216,0.05200736242825672,-0.035197117978731395,0.00018615494636417518,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5956348510874754,1.4934824530353663,-4.26731901536911,0.10995739838622173,3.111031168820626,0.8816949464451107,1.6826685290495669,-3.9654119483813135,5.949987544418677,5.949987544418677,6.240689700667844,0,0,-0.00032366684694504064,-8.790923130964074e-05
+47957,1793079204734571290,15755827000000,1793079204728737516,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764387889264164,-0.005009332718417228,0.09587008754376451,0.9999997775092129,-0.00023901670199872902,0.00059231127281426,0.0001687091016179975,0.6761,-0.0046,0.09513977708347024,1.0,0.0,0.0,0.0,-0.14975910740624698,-0.1953554702442326,4.045040626500211,-0.011962856183199706,0.01391590405536966,0.0019547650187267803,0.6543530096168978,0.7526272621681318,5.1222151436471135,0.04998618105183629,-0.036564675425260006,8.109439665528924e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5745690392959664,1.4700514646172127,-4.278451137630523,0.10860348626656516,3.1258439303573406,0.8734529937940868,1.6826685290495669,-4.045040626500211,5.961119666680091,5.961119666680091,6.309889700667683,0,0,-0.0003546446457989002,-9.597396074945692e-05
+48034,1793079205375648177,15756468000000,1793079205372727588,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676443530399981,-0.005010527554693725,0.09565005908667103,0.999999770439019,-0.00022930883457729042,0.0006012803937464241,0.0001909034306128288,0.6761,-0.0046,0.09490501544358912,1.0,0.0,0.0,0.0,-0.13780715525412568,-0.28907666310427016,4.1133033720229255,-0.017059467071078437,0.012988451597980719,0.0018277049154948267,0.6663049617690191,0.6589060693080943,5.190477889169828,0.04488957016395756,-0.03749212788264895,-4.59657065766644e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.4865362347559639,1.3059795165958692,-4.346463347210942,0.15595414561347837,3.1648668212074273,0.7677282781009714,1.6826685290495669,-4.1133033720229255,6.029131876260509,6.029131876260509,6.373989700667534,0,0,-0.0003757322748585131,-9.997560698605241e-05
+48104,1793079205959572919,15757052000000,1793079205956728146,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.6764445689311424,-0.005005944459885211,0.09543324204678579,0.9999997859027459,-0.00016441559707827916,0.0006095556082987139,0.00014507514792490818,0.6761,-0.0046,0.09467995870342202,1.0,0.0,0.0,0.0,-0.05171311515277777,-0.30410151127989593,4.172982417357988,-0.01900713014232737,0.009010774818854643,0.0017071825465656695,0.752399001870367,0.6438812211324685,5.250156934504891,0.04294190709270863,-0.04146980466177502,-0.00016648807550582168,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.496868082391467,1.392650578696935,-4.37860731698047,0.18872623333016908,3.2002486915693287,0.8349604831367498,1.6826685290495669,-4.172982417357988,6.061275846030037,6.061275846030037,6.432389700667398,0,0,-0.00039550542465657666,-9.999912983638665e-05
+48171,1793079206517624758,15757610000000,1793079206512737249,DOWN_FORCE_DETACH,6,0.071,0.07100142538547516,0.676459973856166,-0.005011601306594258,0.09521341212233467,0.9999997739961142,-0.00014271519058660584,0.0006253271481050175,0.00017902211345931015,0.6761,-0.0046,0.09445389033470783,1.0,0.0,0.0,0.0,-0.11142844485393233,-0.26382845605861205,4.162776329283917,-0.014365617022323869,0.010899862871490099,0.0017890537461608567,0.6926836721692124,0.6841542763537524,5.239950846430819,0.04758342021271213,-0.03958071660913957,-8.461687591063434e-05,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.6152351962812814,1.4565585348344998,-4.458746453783113,0.10146494104544558,3.2860219371829347,0.8327694059297253,1.6826685290495669,-4.162776329283917,6.14141498283268,6.14141498283268,6.4881897006672675,0,0,-0.0004173621779197126,1.2449661800080329e-05
+48240,1793079207092724446,15758185000000,1793079207088737133,DOWN_FORCE_DETACH,6,0.071,0.07100208103656769,0.676461079262159,-0.005017945277196048,0.09496900971144388,0.9999997677697838,-0.00014612241081621584,0.0006230990094658499,0.00021517227574401418,0.6761,-0.0046,0.09420704979784401,1.0,0.0,0.0,0.0,-0.10269680581113005,-0.3337534284215259,4.20733394514946,-0.01904175911295198,0.009968696221312502,0.0016852271181367578,0.7014153112120147,0.6142293039908385,5.284508462296363,0.04290727812208402,-0.040511883259317163,-0.00018844350393473324,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.5473919248084136,1.2930615612687772,-4.424209548392842,0.16108186207236225,3.261885059976834,0.7612898346630116,1.6826685290495669,-4.20733394514946,6.106878077442408,6.106878077442408,6.5456897006671335,0,0,-0.0004424927127447394,-9.999999025923074e-05
+48302,1793079207602704270,15758695000000,1793079207600727552,DOWN_SETTLE,6,0.071,0.07100142538547516,0.6764653159977965,-0.005009201121332991,0.09474424033119799,0.9999997516965121,-0.00023689203007779257,0.0006363157334801421,0.00016442089765118133,0.6761,-0.0046,0.09397813124788884,1.0,0.0,0.0,0.0,-0.04683225210520081,-0.3320155712745866,4.230494965714049,-0.018954950120752045,0.005941364813292577,0.0026386393069635517,0.757279864917944,0.6159671611377778,5.307669482860952,0.04299408711428395,-0.04453921466733709,0.0007649686848920608,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.6021561612586412,1.3559139336802566,-4.3580180706585265,0.16580952574113902,3.252258659325793,0.8321335133404544,1.6826685290495669,-4.230494965714049,6.040686599708094,0.0,0.0,0,0,-0.00035467390331346495,0.0032500000097407714
+48402,1793079208434717537,15759527000000,1793079208428727474,DOWN_PEAK_HOLD,6,0.071,0.07100142538547516,0.676425356033241,-0.005009874547045999,0.09459417602872078,0.9999997955389841,-0.00023168049510275573,0.0005608540365506017,0.0001792533174056901,0.6761,-0.0046,0.09394376942160175,1.0,0.0,0.0,0.0,0.18405208435528164,-0.562502472520914,3.3585558942753195,-0.03458645953379046,-0.00978845694457161,-0.00012633537998417736,0.9881642013784264,0.3854802598914504,4.435730411422222,0.027362577701245533,-0.060269036425201275,-0.0020000060020556685,0.8041121170231448,0.9479827324123644,1.0771745171469025,0.061949037235035996,-0.050480579480629666,-0.0018736706220714911,1,1.009812742994171,1.4315223210819383,-3.4330926266090067,0.13351608272572912,2.5544872713902333,0.8609168607063262,1.6826685290495669,-3.3585558942753195,5.115761155658573,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793079148107467403,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.389579907e-08,-1.075028327e-09,-5.637854628e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027458827e-01,-1.138800240e-04,8.303255138e-01
+1,1.083333333e+00,DOWN_FORCE_DETACH,1793079149184815486,-7.653206291e-09,1.406582345e-06,7.968845077e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.152165196e-07,-5.446711989e-08,-4.810990339e-08,7.019555902e-01,-2.057847223e-05,8.601441828e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027464840e-01,-1.139334161e-04,8.303254662e-01
+2,2.333333333e+00,DOWN_FORCE_DETACH,1793079150448482449,4.992495533e-06,-5.234896428e-07,2.922895278e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.961174216e-07,-7.928569006e-08,-8.199259072e-08,7.019605904e-01,-2.250854422e-05,8.601463088e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027467649e-01,-1.139582347e-04,8.303254323e-01
+3,3.616666667e+00,DOWN_FORCE_DETACH,1793079151754497504,1.176941866e-05,-1.138869991e-06,1.689652010e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.008335014e-06,-8.996316806e-08,-9.676236090e-08,7.019673673e-01,-2.312392457e-05,8.601450756e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027468772e-01,-1.139689121e-04,8.303254176e-01
+4,4.566666667e+00,DOWN_FORCE_DETACH,1793079152693201629,1.261891514e-05,2.149118161e-06,-3.301974820e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.044780268e-06,-9.366158137e-08,-1.014253459e-07,7.019682168e-01,-1.983593642e-05,8.601430557e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027469136e-01,-1.139726105e-04,8.303254129e-01
+5,5.766666667e+00,DOWN_FORCE_DETACH,1793079153908190743,1.811031051e-05,1.896940803e-06,-9.745879529e-06,1.665114240e-05,2.848966679e-06,-1.032134672e-05,1.784096829e-05,2.516543692e-06,-9.805092814e-06,7.019737082e-01,-2.008811378e-05,8.601336400e-01,7.019722490e-01,-1.913608790e-05,8.601330646e-01,7.027637098e-01,-1.113624053e-04,8.303157092e-01
+6,6.916666667e+00,DOWN_FORCE_DETACH,1793079155084522237,4.177954663e-05,1.456705767e-06,-1.289779362e-05,3.810861413e-05,4.043162585e-06,-8.433086745e-06,4.088432028e-05,3.551770162e-06,-8.314335651e-06,7.019973774e-01,-2.052834881e-05,8.601304881e-01,7.019937065e-01,-1.794189199e-05,8.601349528e-01,7.027867531e-01,-1.103271788e-04,8.303172000e-01
+7,8.016666667e+00,DOWN_FORCE_DETACH,1793079156179901958,5.385495473e-05,5.025847417e-06,-3.092607342e-05,4.815734297e-05,2.187997942e-07,-2.536710713e-05,5.190023648e-05,-2.004452458e-09,-2.477012843e-05,7.020094528e-01,-1.695920716e-05,8.601124598e-01,7.020037552e-01,-2.176625479e-05,8.601180188e-01,7.027977691e-01,-1.138809534e-04,8.303007442e-01
+8,9.066666667e+00,DOWN_FORCE_DETACH,1793079157231558018,5.938212226e-05,2.423163574e-06,-4.391354630e-05,5.751416368e-05,3.151262919e-06,-4.451234568e-05,6.172413984e-05,2.639404744e-06,-4.344135881e-05,7.020149800e-01,-1.956189101e-05,8.600994724e-01,7.020131120e-01,-1.883379166e-05,8.600988736e-01,7.028075930e-01,-1.112395442e-04,8.302820730e-01
+9,1.025000000e+01,DOWN_FORCE_DETACH,1793079158409673447,6.594533695e-05,5.086772683e-06,-4.862341975e-05,5.751416368e-05,3.151262919e-06,-4.451234568e-05,6.224821299e-05,2.614634865e-06,-4.405087657e-05,7.020215432e-01,-1.689828190e-05,8.600947625e-01,7.020131120e-01,-1.883379166e-05,8.600988736e-01,7.028081170e-01,-1.112643141e-04,8.302814635e-01
+10,1.141666667e+01,DOWN_FORCE_DETACH,1793079159556085457,7.521144163e-05,1.363671078e-06,-6.382514869e-05,6.941893807e-05,-1.642018230e-06,-6.035730876e-05,7.472549310e-05,-1.816862299e-06,-5.962498301e-05,7.020308093e-01,-2.062138350e-05,8.600795608e-01,7.020250168e-01,-2.362707281e-05,8.600830286e-01,7.028205943e-01,-1.156958113e-04,8.302658894e-01
+11,1.256666667e+01,DOWN_FORCE_DETACH,1793079160687040993,8.799043849e-05,5.289260976e-06,-7.586177678e-05,8.229966370e-05,5.079916126e-06,-7.476339074e-05,8.829624763e-05,4.299838967e-06,-7.387382786e-05,7.020435883e-01,-1.669579360e-05,8.600675241e-01,7.020378975e-01,-1.690513845e-05,8.600686225e-01,7.028341651e-01,-1.095791100e-04,8.302516405e-01
+12,1.366666667e+01,DOWN_FORCE_DETACH,1793079161784776628,9.620940112e-05,-8.950884496e-07,-9.001754706e-05,9.571233717e-05,-3.546234089e-06,-8.719588251e-05,1.023806096e-04,-3.623579117e-06,-8.624307809e-05,7.020518073e-01,-2.288014303e-05,8.600533684e-01,7.020513102e-01,-2.553128867e-05,8.600561900e-01,7.028482494e-01,-1.175025281e-04,8.302392713e-01
+13,1.486666667e+01,DOWN_FORCE_DETACH,1793079162979793069,1.066206481e-04,-2.044218869e-06,-1.011104874e-04,1.032996377e-04,-3.816914961e-06,-1.057586461e-04,1.104437318e-04,-3.919756612e-06,-1.043281470e-04,7.020622185e-01,-2.402927345e-05,8.600422754e-01,7.020588975e-01,-2.580196954e-05,8.600376273e-01,7.028563126e-01,-1.177987056e-04,8.302211862e-01
+14,1.606666667e+01,DOWN_FORCE_DETACH,1793079164176343538,1.133939602e-04,-1.646112679e-06,-1.174352452e-04,1.032996377e-04,-3.816914961e-06,-1.057586461e-04,1.109445553e-04,-3.944066607e-06,-1.050978526e-04,7.020689918e-01,-2.363116726e-05,8.600259507e-01,7.020588975e-01,-2.580196954e-05,8.600376273e-01,7.028568134e-01,-1.178230156e-04,8.302204165e-01
+15,1.741666667e+01,DOWN_FORCE_DETACH,1793079165525572829,1.183934976e-04,-4.372863686e-06,-1.352385676e-04,1.127115845e-04,-4.767893908e-07,-1.234716807e-04,1.208290334e-04,-8.859909205e-07,-1.227302850e-04,7.020739914e-01,-2.635791827e-05,8.600081473e-01,7.020683095e-01,-2.246184397e-05,8.600199142e-01,7.028666979e-01,-1.147649399e-04,8.302027840e-01
+16,1.855000000e+01,DOWN_FORCE_DETACH,1793079166649560710,1.282141426e-04,-3.955787173e-06,-1.452063987e-04,1.219308138e-04,-4.446380864e-06,-1.414845254e-04,1.304187878e-04,-4.600948444e-06,-1.405151507e-04,7.020838120e-01,-2.594084175e-05,8.599981795e-01,7.020775287e-01,-2.643143544e-05,8.600019014e-01,7.028762876e-01,-1.184798974e-04,8.301849992e-01
+17,1.973333333e+01,DOWN_FORCE_DETACH,1793079167829376596,1.335591218e-04,-4.707449557e-06,-1.646463033e-04,1.274651211e-04,-6.283855595e-07,-1.616732815e-04,1.362366161e-04,-1.090766923e-06,-1.605372806e-04,7.020891570e-01,-2.669250414e-05,8.599787396e-01,7.020830630e-01,-2.261344014e-05,8.599817126e-01,7.028821054e-01,-1.149697159e-04,8.301649771e-01
+18,2.066666667e+01,DOWN_FORCE_DETACH,1793079168795963520,1.372095914e-04,-9.849329464e-06,-1.793375585e-04,1.369756642e-04,-7.384354375e-06,-1.775952805e-04,1.459483997e-04,-7.293265887e-06,-1.761459025e-04,7.020928075e-01,-3.183438404e-05,8.599640484e-01,7.020925735e-01,-2.936940896e-05,8.599657906e-01,7.028918172e-01,-1.211722149e-04,8.301493684e-01
+19,2.186666667e+01,DOWN_FORCE_DETACH,1793079170039836338,1.451934064e-04,-7.160953270e-06,-1.997902433e-04,1.420893702e-04,-6.017739373e-06,-1.986813199e-04,1.514831016e-04,-6.083678789e-06,-1.971141764e-04,7.021007913e-01,-2.914600785e-05,8.599435957e-01,7.020976872e-01,-2.800279395e-05,8.599447046e-01,7.028973519e-01,-1.199626278e-04,8.301284002e-01
+20,2.313333333e+01,DOWN_FORCE_DETACH,1793079171319025850,1.552694567e-04,-1.049817093e-05,-2.203687617e-04,1.536115551e-04,-8.552857491e-06,-2.168559468e-04,1.633864425e-04,-8.428530311e-06,-2.153949735e-04,7.021108673e-01,-3.248322551e-05,8.599230172e-01,7.021092094e-01,-3.053791207e-05,8.599265300e-01,7.029092553e-01,-1.223074793e-04,8.301101194e-01
+21,2.438333333e+01,DOWN_FORCE_DETACH,1793079172595511008,1.631040667e-04,-1.486544781e-05,-2.384340725e-04,1.602536580e-04,-8.516367888e-06,-2.365588349e-04,1.704873817e-04,-8.404090970e-06,-2.351170830e-04,7.021187019e-01,-3.685050239e-05,8.599049518e-01,7.021158515e-01,-3.050142247e-05,8.599068271e-01,7.029163562e-01,-1.222830399e-04,8.300903973e-01
+22,2.566666667e+01,DOWN_FORCE_DETACH,1793079173856651435,1.721654832e-04,-1.032652861e-05,-2.609886622e-04,1.678140851e-04,-1.343108893e-05,-2.561369609e-04,1.785092797e-04,-1.297198290e-05,-2.548597888e-04,7.021277634e-01,-3.231158319e-05,8.598823973e-01,7.021234120e-01,-3.541614351e-05,8.598872490e-01,7.029243781e-01,-1.268509319e-04,8.300706545e-01
+23,2.693333333e+01,DOWN_FORCE_DETACH,1793079175151517921,1.804924547e-04,-1.623344887e-05,-2.908219711e-04,1.752515064e-04,-1.491003842e-05,-2.761904895e-04,1.863531146e-04,-1.433863673e-05,-2.750380959e-04,7.021360903e-01,-3.821850345e-05,8.598525639e-01,7.021308494e-01,-3.689509300e-05,8.598671954e-01,7.029322219e-01,-1.282175857e-04,8.300504762e-01
+24,2.806666667e+01,DOWN_FORCE_DETACH,1793079176281887689,1.888315045e-04,-1.114634616e-05,-3.180664057e-04,1.849580399e-04,-1.893762250e-05,-3.152045046e-04,1.962117402e-04,-1.810196091e-05,-3.134963779e-04,7.021444294e-01,-3.313140074e-05,8.598253195e-01,7.021405559e-01,-4.092267708e-05,8.598281814e-01,7.029420806e-01,-1.319809099e-04,8.300120180e-01
+25,2.920000000e+01,DOWN_FORCE_DETACH,1793079177428254695,1.956598986e-04,-2.034040748e-05,-3.601749744e-04,1.930764586e-04,-1.595353466e-05,-3.542309033e-04,2.045625825e-04,-1.534021412e-05,-3.522227560e-04,7.021512578e-01,-4.232546206e-05,8.597832109e-01,7.021486743e-01,-3.793858924e-05,8.597891550e-01,7.029504314e-01,-1.292191631e-04,8.299732916e-01
+26,3.036666667e+01,DOWN_FORCE_DETACH,1793079178574387602,2.084195752e-04,-2.336502741e-05,-4.035115953e-04,2.063170883e-04,-2.564240645e-05,-3.945316079e-04,2.182449418e-04,-2.430334432e-05,-3.923920897e-04,7.021640174e-01,-4.535008199e-05,8.597398743e-01,7.021619150e-01,-4.762746103e-05,8.597488543e-01,7.029641138e-01,-1.381822933e-04,8.299331222e-01
+27,3.158333333e+01,DOWN_FORCE_DETACH,1793079179787154901,2.191547264e-04,-2.529630893e-05,-4.571751417e-04,2.188417423e-04,-2.533369390e-05,-4.570358762e-04,2.308822089e-04,-2.407294164e-05,-4.540120661e-04,7.021747526e-01,-4.728136351e-05,8.596862108e-01,7.021744396e-01,-4.731874848e-05,8.596863500e-01,7.029767510e-01,-1.379518906e-04,8.298715023e-01
+28,3.268333333e+01,DOWN_FORCE_DETACH,1793079180884485463,2.310920681e-04,-2.946883432e-05,-4.926096128e-04,2.240126883e-04,-2.580963059e-05,-4.780042840e-04,2.364433543e-04,-2.455076650e-05,-4.761077123e-04,7.021866899e-01,-5.145388890e-05,8.596507763e-01,7.021796106e-01,-4.779468517e-05,8.596653816e-01,7.029823122e-01,-1.384297155e-04,8.298494066e-01
+29,3.381666667e+01,DOWN_FORCE_DETACH,1793079182048409184,2.375950324e-04,-3.372892710e-05,-5.517526454e-04,2.343158731e-04,-3.359462437e-05,-5.429701987e-04,2.468342909e-04,-3.174860313e-05,-5.402713246e-04,7.021931929e-01,-5.571398168e-05,8.595916333e-01,7.021899137e-01,-5.557967895e-05,8.596004157e-01,7.029927031e-01,-1.456275521e-04,8.297852430e-01
+30,3.445000000e+01,DOWN_FORCE_DETACH,1793079182685552795,2.503452599e-04,-2.436999174e-05,-5.876972766e-04,2.473601679e-04,-1.976795332e-05,-5.861972450e-04,2.601278481e-04,-1.905953498e-05,-5.829478281e-04,7.022059431e-01,-4.635504632e-05,8.595556886e-01,7.022029580e-01,-4.175300790e-05,8.595571887e-01,7.030059967e-01,-1.329384839e-04,8.297425665e-01
+31,3.548333333e+01,DOWN_FORCE_DETACH,1793079183718818590,2.625730763e-04,-2.726238899e-05,-6.553724796e-04,2.604992406e-04,-2.708644045e-05,-6.484576135e-04,2.734020800e-04,-2.578424808e-05,-6.448907837e-04,7.022181709e-01,-4.924744357e-05,8.594880134e-01,7.022160971e-01,-4.907149503e-05,8.594949283e-01,7.030192709e-01,-1.396631970e-04,8.296806235e-01
+32,3.653333333e+01,DOWN_FORCE_DETACH,1793079184765841642,2.727829673e-04,-3.270677033e-05,-7.127544048e-04,2.708330877e-04,-3.160238145e-05,-7.109193900e-04,2.838680595e-04,-2.997740584e-05,-7.071979402e-04,7.022283808e-01,-5.469182491e-05,8.594306315e-01,7.022264310e-01,-5.358743603e-05,8.594324665e-01,7.030297369e-01,-1.438563548e-04,8.296183164e-01
+33,3.761666667e+01,DOWN_FORCE_DETACH,1793079185863540902,2.788031127e-04,-3.780445807e-05,-7.801522404e-04,2.784153204e-04,-3.483475523e-05,-7.731010529e-04,2.914113342e-04,-3.294918190e-05,-7.694094073e-04,7.022344010e-01,-5.978951265e-05,8.593632337e-01,7.022340132e-01,-5.681980981e-05,8.593702849e-01,7.030372802e-01,-1.468281309e-04,8.295561049e-01
+34,3.861666667e+01,DOWN_FORCE_DETACH,1793079186878917738,2.899107255e-04,-3.732129810e-05,-8.556489674e-04,2.881147010e-04,-3.580440082e-05,-8.384313667e-04,3.010200163e-04,-3.388514112e-05,-8.347341050e-04,7.022455086e-01,-5.930635268e-05,8.592877369e-01,7.022437126e-01,-5.778945540e-05,8.593049545e-01,7.030468888e-01,-1.477640901e-04,8.294907802e-01
+35,3.983333333e+01,DOWN_FORCE_DETACH,1793079188107921197,3.025141995e-04,-4.162102045e-05,-9.562533630e-04,3.031353553e-04,-3.969994476e-05,-9.434046709e-04,3.159417669e-04,-3.756128191e-05,-9.391694166e-04,7.022581121e-01,-6.360607503e-05,8.591871326e-01,7.022587332e-01,-6.168499934e-05,8.591999812e-01,7.030618106e-01,-1.514402309e-04,8.293863449e-01
+36,4.090000000e+01,DOWN_FORCE_DETACH,1793079189156000452,3.168728511e-04,-4.439365176e-05,-1.042346217e-03,3.132070084e-04,-4.089786555e-05,-1.026216373e-03,3.259125450e-04,-3.873725569e-05,-1.022080999e-03,7.022724707e-01,-6.637870634e-05,8.591010397e-01,7.022688049e-01,-6.288292013e-05,8.591171695e-01,7.030717814e-01,-1.526162047e-04,8.293034333e-01
+37,4.200000000e+01,DOWN_FORCE_DETACH,1793079190335819060,3.301854403e-04,-4.597854213e-05,-1.157185888e-03,3.283964520e-04,-4.680282355e-05,-1.149029305e-03,3.408431798e-04,-4.421178051e-05,-1.143714504e-03,7.022857833e-01,-6.796359671e-05,8.589862000e-01,7.022839943e-01,-6.878787813e-05,8.589943566e-01,7.030867120e-01,-1.580907295e-04,8.291817998e-01
+38,4.301666667e+01,DOWN_FORCE_DETACH,1793079191334995244,3.392004429e-04,-5.450148645e-05,-1.260090960e-03,3.373570827e-04,-4.851713652e-05,-1.261505523e-03,3.493414316e-04,-4.581730806e-05,-1.255425200e-03,7.022947983e-01,-7.648654103e-05,8.588832950e-01,7.022929549e-01,-7.050219110e-05,8.588818804e-01,7.030952103e-01,-1.596962570e-04,8.290700891e-01
+39,4.405000000e+01,DOWN_FORCE_DETACH,1793079192384255738,3.515803234e-04,-5.304063455e-05,-1.381216624e-03,3.491542246e-04,-5.251348853e-05,-1.379332328e-03,3.606588374e-04,-4.949084540e-05,-1.372819439e-03,7.023071782e-01,-7.502568913e-05,8.587621693e-01,7.023047521e-01,-7.449854311e-05,8.587640536e-01,7.031065277e-01,-1.633697944e-04,8.289526949e-01
+40,4.505000000e+01,DOWN_FORCE_DETACH,1793079193398815501,3.651981813e-04,-6.089416802e-05,-1.508944841e-03,3.622358319e-04,-5.782313316e-05,-1.508128639e-03,3.732845997e-04,-5.444358527e-05,-1.500850309e-03,7.023207960e-01,-8.287922260e-05,8.586344411e-01,7.023178337e-01,-7.980818774e-05,8.586352573e-01,7.031191534e-01,-1.683225342e-04,8.288246640e-01
+41,4.611666667e+01,DOWN_FORCE_DETACH,1793079194447125880,3.764299818e-04,-6.657646209e-05,-1.659686274e-03,3.774755222e-04,-6.414585313e-05,-1.655227981e-03,3.879175020e-04,-6.027245303e-05,-1.647431200e-03,7.023320278e-01,-8.856151667e-05,8.584836996e-01,7.023330734e-01,-8.613090771e-05,8.584881579e-01,7.031337863e-01,-1.741514020e-04,8.286780831e-01
+42,4.710000000e+01,DOWN_FORCE_DETACH,1793079195446098381,3.856772949e-04,-6.674232000e-05,-1.806742024e-03,3.855743209e-04,-6.681099811e-05,-1.806558402e-03,3.949189192e-04,-6.275243007e-05,-1.798119586e-03,7.023412752e-01,-8.872737458e-05,8.583366439e-01,7.023411722e-01,-8.879605269e-05,8.583368275e-01,7.031407877e-01,-1.766313790e-04,8.285273947e-01
+43,4.801666667e+01,DOWN_FORCE_DETACH,1793079196347063751,3.965027333e-04,-6.961009628e-05,-1.943522600e-03,3.934219479e-04,-6.617285500e-05,-1.937122751e-03,4.019434388e-04,-6.218836187e-05,-1.929056650e-03,7.023521006e-01,-9.159515086e-05,8.581998633e-01,7.023490198e-01,-8.815790958e-05,8.582062632e-01,7.031478123e-01,-1.760673108e-04,8.283964577e-01
+44,4.896666667e+01,DOWN_FORCE_DETACH,1793079197314475928,4.074282481e-04,-7.482647733e-05,-2.108416252e-03,4.073186214e-04,-7.496431742e-05,-2.107980346e-03,4.146762370e-04,-7.032494845e-05,-2.098852779e-03,7.023630261e-01,-9.681153191e-05,8.580349697e-01,7.023629165e-01,-9.694937200e-05,8.580354056e-01,7.031605451e-01,-1.842038974e-04,8.282266616e-01
+45,4.990000000e+01,DOWN_FORCE_DETACH,1793079198231000080,4.208290494e-04,-7.238434281e-05,-2.274289915e-03,4.187339495e-04,-7.808168162e-05,-2.263103350e-03,4.251088277e-04,-7.328461553e-05,-2.254191962e-03,7.023764269e-01,-9.436939739e-05,8.578690960e-01,7.023743318e-01,-1.000667362e-04,8.578802826e-01,7.031709776e-01,-1.871635645e-04,8.280713224e-01
+46,5.065000000e+01,DOWN_FORCE_DETACH,1793079199230090872,4.320285659e-04,-7.634844609e-05,-2.462172291e-03,4.313900171e-04,-7.819031885e-05,-2.453719898e-03,4.362234481e-04,-7.338403153e-05,-2.442265682e-03,7.023876264e-01,-9.833350067e-05,8.576812136e-01,7.023869879e-01,-1.001753734e-04,8.576896660e-01,7.031820923e-01,-1.872629805e-04,8.278832487e-01
+47,5.151666667e+01,DOWN_FORCE_DETACH,1793079200131078411,4.403594908e-04,-7.477170222e-05,-2.653925723e-03,4.380763923e-04,-8.047058078e-05,-2.641039765e-03,4.413148725e-04,-7.543629424e-05,-2.630128519e-03,7.023959574e-01,-9.675675680e-05,8.574894602e-01,7.023936743e-01,-1.024556354e-04,8.575023462e-01,7.031871837e-01,-1.893152432e-04,8.276953858e-01
+48,5.236666667e+01,DOWN_FORCE_DETACH,1793079200966456848,4.504037285e-04,-8.131043755e-05,-2.842320668e-03,4.508516839e-04,-7.907520697e-05,-2.837203857e-03,4.526187525e-04,-7.415941275e-05,-2.825812763e-03,7.024060016e-01,-1.032954921e-04,8.573010652e-01,7.024064496e-01,-1.010602616e-04,8.573061821e-01,7.031984876e-01,-1.880383617e-04,8.274997016e-01
+49,5.318333333e+01,DOWN_FORCE_DETACH,1793079201769451768,4.620960172e-04,-7.265801648e-05,-3.037429318e-03,4.619544443e-04,-7.241590385e-05,-3.037319214e-03,4.622869508e-04,-6.815073059e-05,-3.025294348e-03,7.024176939e-01,-9.464307106e-05,8.571059566e-01,7.024175523e-01,-9.440095843e-05,8.571060667e-01,7.032081558e-01,-1.820296796e-04,8.273002200e-01
+50,5.393333333e+01,DOWN_FORCE_DETACH,1793079202522578676,4.724328961e-04,-7.548156373e-05,-3.242653732e-03,4.722926667e-04,-7.556726918e-05,-3.242630400e-03,4.710339368e-04,-7.108805867e-05,-3.229567026e-03,7.024280308e-01,-9.746661831e-05,8.569007322e-01,7.024278905e-01,-9.755232376e-05,8.569007555e-01,7.032169028e-01,-1.849670076e-04,8.270959473e-01
+51,5.470000000e+01,DOWN_FORCE_DETACH,1793079203276387324,4.772312873e-04,-8.227091135e-05,-3.459446533e-03,4.769086937e-04,-8.258281216e-05,-3.459438655e-03,4.737909531e-04,-7.750986630e-05,-3.445853546e-03,7.024328292e-01,-1.042559659e-04,8.566839394e-01,7.024325066e-01,-1.045678667e-04,8.566839473e-01,7.032196598e-01,-1.913888153e-04,8.268796608e-01
+52,5.548333333e+01,DOWN_FORCE_DETACH,1793079204046240260,4.921662640e-04,-7.413552642e-05,-3.687238032e-03,4.921566712e-04,-7.406906748e-05,-3.687087991e-03,4.871314117e-04,-6.973241990e-05,-3.673136083e-03,7.024477641e-01,-9.612058100e-05,8.564561479e-01,7.024477545e-01,-9.605412206e-05,8.564562979e-01,7.032330002e-01,-1.836113689e-04,8.266523783e-01
+53,5.613333333e+01,DOWN_FORCE_DETACH,1793079204734269622,5.007294127e-04,-7.804416223e-05,-3.899311579e-03,5.006398965e-04,-7.786946899e-05,-3.899451992e-03,4.937801591e-04,-7.328395845e-05,-3.884732845e-03,7.024563273e-01,-1.000292168e-04,8.562440743e-01,7.024562378e-01,-9.985452357e-05,8.562439339e-01,7.032396490e-01,-1.871629074e-04,8.264407815e-01
+54,5.676666667e+01,DOWN_FORCE_DETACH,1793079205372932069,5.025759663e-04,-8.195063013e-05,-4.123182303e-03,5.026333237e-04,-8.181842588e-05,-4.122779104e-03,4.936011903e-04,-7.685506110e-05,-4.107126682e-03,7.024581738e-01,-1.039356847e-04,8.560202036e-01,7.024582312e-01,-1.038034805e-04,8.560206068e-01,7.032394700e-01,-1.907340101e-04,8.262183877e-01
+55,5.733333333e+01,DOWN_FORCE_DETACH,1793079205962304386,5.028052568e-04,-7.670602772e-05,-4.342885000e-03,5.064189635e-04,-7.224789353e-05,-4.332370209e-03,4.950826644e-04,-6.801298499e-05,-4.316229459e-03,7.024584031e-01,-9.869108230e-05,8.558005009e-01,7.024620168e-01,-9.423294811e-05,8.558110157e-01,7.032409515e-01,-1.818919340e-04,8.260092849e-01
+56,5.790000000e+01,DOWN_FORCE_DETACH,1793079206519257519,5.205604529e-04,-8.556689896e-05,-4.557224186e-03,5.187960571e-04,-8.167205350e-05,-4.546371611e-03,5.055871817e-04,-7.683161024e-05,-4.530031441e-03,7.024761583e-01,-1.075519535e-04,8.555861617e-01,7.024743939e-01,-1.036571081e-04,8.555970143e-01,7.032514560e-01,-1.907105592e-04,8.257954829e-01
+57,5.848333333e+01,DOWN_FORCE_DETACH,1793079207093164490,5.258271692e-04,-8.614164919e-05,-4.797814410e-03,5.255434753e-04,-8.603504280e-05,-4.797827571e-03,5.099566917e-04,-8.089623345e-05,-4.780201871e-03,7.024814250e-01,-1.081267038e-04,8.553455715e-01,7.024811413e-01,-1.080200974e-04,8.553455583e-01,7.032558255e-01,-1.947751824e-04,8.255453125e-01
+58,5.900000000e+01,DOWN_SETTLE,1793079207600500815,5.284234841e-04,-7.701391564e-05,-5.024442389e-03,5.245144551e-04,-7.987407540e-05,-5.019979818e-03,5.067438780e-04,-7.525289455e-05,-5.001971097e-03,7.024840214e-01,-9.899897022e-05,8.551189435e-01,7.024801123e-01,-1.018591300e-04,8.551234061e-01,7.032526127e-01,-1.891318435e-04,8.253235432e-01
+59,5.983333333e+01,DOWN_PEAK_HOLD,1793079208436278149,4.856519942e-04,-8.353585407e-05,-5.176760341e-03,4.877745262e-04,-7.870615894e-05,-5.171440582e-03,4.667544234e-04,-7.418394778e-05,-5.159083280e-03,7.024412499e-01,-1.055209086e-04,8.549666256e-01,7.024433724e-01,-1.006912135e-04,8.549719453e-01,7.032126232e-01,-1.880628967e-04,8.251664311e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_06/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,2.5784e-01,8.8830e-01,2.4490e+00,-1.0184e-01,5.5520e-02,2.1348e-03,3.4678e-04,-4.4107e-05,-1.9073e-05,2.8461e-06,2.3272e-05,-2.6450e-07,3.5009e-04,2.3447e-05
+1,1.0833e+00,DOWN_FORCE_DETACH,2.6124e-04,3.6888e-01,8.7649e-01,2.4404e+00,-1.0103e-01,6.3545e-02,1.3172e-03,1.1139e-01,-1.1853e-02,-8.5597e-03,8.0729e-04,8.0483e-03,-8.1793e-04,1.1234e-01,8.1300e-03
+2,2.3333e+00,DOWN_FORCE_DETACH,5.2477e-04,4.1917e-01,8.7442e-01,2.4347e+00,-1.0097e-01,6.7176e-02,9.1424e-04,1.6168e-01,-1.3923e-02,-1.4332e-02,8.7405e-04,1.1679e-02,-1.2209e-03,1.6291e-01,1.1775e-02
+3,3.6167e+00,DOWN_FORCE_DETACH,7.8384e-04,4.3861e-01,8.7228e-01,2.4321e+00,-1.0080e-01,6.8579e-02,7.3521e-04,1.8112e-01,-1.6059e-02,-1.6889e-02,1.0352e-03,1.3082e-02,-1.3999e-03,1.8261e-01,1.3197e-02
+4,4.5667e+00,DOWN_FORCE_DETACH,1.0472e-03,4.4535e-01,8.7178e-01,2.4313e+00,-1.0077e-01,6.9068e-02,6.6894e-04,1.8786e-01,-1.6558e-02,-1.7740e-02,1.0677e-03,1.3571e-02,-1.4662e-03,1.8942e-01,1.3692e-02
+5,5.7667e+00,DOWN_FORCE_DETACH,1.3070e-03,2.3260e-01,8.0771e-01,2.5499e+00,-9.6508e-02,5.4987e-02,6.3311e-04,-2.4892e-02,-8.0630e-02,1.0085e-01,5.3309e-03,-5.1023e-04,-1.5020e-03,1.3150e-01,5.5619e-03
+6,6.9167e+00,DOWN_FORCE_DETACH,1.5675e-03,2.3817e-01,7.8281e-01,2.4477e+00,-9.4304e-02,5.3997e-02,8.0281e-04,-1.9320e-02,-1.0553e-01,-1.3263e-03,7.5357e-03,-1.5002e-03,-1.3323e-03,1.0729e-01,7.7982e-03
+7,8.0167e+00,DOWN_FORCE_DETACH,1.8322e-03,2.9930e-01,8.4658e-01,2.5287e+00,-9.8734e-02,5.8292e-02,9.0518e-04,4.1807e-02,-4.1760e-02,7.9679e-02,3.1054e-03,2.7949e-03,-1.2299e-03,9.9199e-02,4.3552e-03
+8,9.0667e+00,DOWN_FORCE_DETACH,2.0940e-03,2.9458e-01,7.8539e-01,2.6365e+00,-9.4224e-02,5.7849e-02,8.5363e-04,3.7089e-02,-1.0295e-01,1.8749e-01,7.6155e-03,2.3522e-03,-1.2815e-03,2.1709e-01,8.0728e-03
+9,1.0250e+01,DOWN_FORCE_DETACH,2.3538e-03,3.9607e-01,7.8169e-01,2.5104e+00,-9.3995e-02,6.5383e-02,7.7491e-04,1.3857e-01,-1.0665e-01,6.1374e-02,7.8442e-03,9.8862e-03,-1.3602e-03,1.8532e-01,1.2693e-02
+10,1.1417e+01,DOWN_FORCE_DETACH,2.6153e-03,3.5495e-01,8.6208e-01,2.5516e+00,-9.9734e-02,6.2255e-02,8.0230e-04,9.7463e-02,-2.6267e-02,1.0261e-01,2.1051e-03,6.7585e-03,-1.3328e-03,1.4393e-01,7.2031e-03
+11,1.2567e+01,DOWN_FORCE_DETACH,2.8787e-03,3.2285e-01,7.3527e-01,2.5710e+00,-9.0556e-02,5.9876e-02,7.6586e-04,6.5358e-02,-1.5307e-01,1.2201e-01,1.1284e-02,4.3787e-03,-1.3692e-03,2.0637e-01,1.2181e-02
+12,1.3667e+01,DOWN_FORCE_DETACH,3.1366e-03,2.8848e-01,8.8261e-01,2.5835e+00,-1.0116e-01,5.7445e-02,8.8314e-04,3.0988e-02,-5.7354e-03,1.3446e-01,6.7711e-04,1.9481e-03,-1.2520e-03,1.3811e-01,2.4126e-03
+13,1.4867e+01,DOWN_FORCE_DETACH,3.4009e-03,3.7381e-01,8.8036e-01,2.5404e+00,-1.0106e-01,6.3861e-02,8.4359e-04,1.1632e-01,-7.9800e-03,9.1440e-02,7.8122e-04,8.3642e-03,-1.2915e-03,1.4817e-01,8.4993e-03
+14,1.6067e+01,DOWN_FORCE_DETACH,3.6590e-03,4.0177e-01,8.7852e-01,2.5219e+00,-1.0089e-01,6.5761e-02,7.7126e-04,1.4428e-01,-9.8246e-03,7.2878e-02,9.5078e-04,1.0264e-02,-1.3638e-03,1.6194e-01,1.0398e-02
+15,1.7417e+01,DOWN_FORCE_DETACH,3.9224e-03,3.9065e-01,8.1352e-01,2.5393e+00,-9.6160e-02,6.4899e-02,6.9615e-04,1.3316e-01,-7.4818e-02,9.0316e-02,5.6796e-03,9.4016e-03,-1.4390e-03,1.7744e-01,1.1078e-02
+16,1.8550e+01,DOWN_FORCE_DETACH,4.1833e-03,3.7007e-01,8.8070e-01,2.5738e+00,-1.0094e-01,6.3369e-02,7.2105e-04,1.1258e-01,-7.6475e-03,1.2484e-01,9.0321e-04,7.8723e-03,-1.4141e-03,1.6828e-01,8.0492e-03
+17,1.9733e+01,DOWN_FORCE_DETACH,4.4430e-03,3.8201e-01,8.0846e-01,2.6016e+00,-9.5633e-02,6.4197e-02,6.6601e-04,1.2451e-01,-7.9880e-02,1.5261e-01,6.2065e-03,8.6998e-03,-1.4691e-03,2.1254e-01,1.0787e-02
+18,2.0667e+01,DOWN_FORCE_DETACH,4.7034e-03,3.2153e-01,9.1903e-01,2.6802e+00,-1.0361e-01,5.9757e-02,6.8790e-04,6.4042e-02,3.0686e-02,2.3123e-01,-1.7751e-03,4.2601e-03,-1.4472e-03,2.4189e-01,4.8367e-03
+19,2.1867e+01,DOWN_FORCE_DETACH,4.9683e-03,3.5587e-01,8.9772e-01,2.6792e+00,-1.0189e-01,6.2200e-02,7.4739e-04,9.8382e-02,9.3799e-03,2.3019e-01,-5.1506e-05,6.7031e-03,-1.3877e-03,2.5051e-01,6.8455e-03
+20,2.3133e+01,DOWN_FORCE_DETACH,5.2285e-03,3.1105e-01,9.3849e-01,2.6621e+00,-1.0477e-01,5.8958e-02,7.5877e-04,5.3562e-02,5.0150e-02,2.1310e-01,-2.9332e-03,3.4611e-03,-1.3763e-03,2.2538e-01,4.7410e-03
+21,2.4383e+01,DOWN_FORCE_DETACH,5.4906e-03,3.4766e-01,9.3523e-01,2.6556e+00,-1.0451e-01,6.1708e-02,7.9704e-04,9.0167e-02,4.6891e-02,2.0658e-01,-2.6703e-03,6.2114e-03,-1.3381e-03,2.3022e-01,6.8922e-03
+22,2.5667e+01,DOWN_FORCE_DETACH,5.7510e-03,3.5764e-01,1.0184e+00,2.6257e+00,-1.1041e-01,6.2368e-02,8.5421e-04,1.0015e-01,1.3002e-01,1.7671e-01,-8.5749e-03,6.8713e-03,-1.2809e-03,2.4116e-01,1.1063e-02
+23,2.6933e+01,DOWN_FORCE_DETACH,6.0120e-03,3.7298e-01,1.0395e+00,2.5933e+00,-1.1190e-01,6.3500e-02,8.7991e-04,1.1549e-01,1.5116e-01,1.4430e-01,-1.0065e-02,8.0031e-03,-1.2552e-03,2.3877e-01,1.2920e-02
+24,2.8067e+01,DOWN_FORCE_DETACH,6.2726e-03,3.4938e-01,1.1076e+00,2.6920e+00,-1.1666e-01,6.1624e-02,8.7145e-04,9.1894e-02,2.1930e-01,2.4296e-01,-1.4822e-02,6.1268e-03,-1.2637e-03,3.3995e-01,1.6088e-02
+25,2.9200e+01,DOWN_FORCE_DETACH,6.5343e-03,3.6198e-01,1.0514e+00,2.7479e+00,-1.1252e-01,6.2538e-02,8.6061e-04,1.0449e-01,1.6303e-01,2.9885e-01,-1.0678e-02,7.0406e-03,-1.2745e-03,3.5611e-01,1.2854e-02
+26,3.0367e+01,DOWN_FORCE_DETACH,6.7973e-03,3.3248e-01,1.1997e+00,2.7931e+00,-1.2286e-01,6.0365e-02,8.8920e-04,7.4985e-02,3.1132e-01,3.4411e-01,-2.1022e-02,4.8681e-03,-1.2459e-03,4.7006e-01,2.1614e-02
+27,3.1583e+01,DOWN_FORCE_DETACH,7.0592e-03,3.5736e-01,1.1878e+00,2.7369e+00,-1.2205e-01,6.2042e-02,9.1368e-04,9.9870e-02,2.9944e-01,2.8789e-01,-2.0213e-02,6.5450e-03,-1.2214e-03,4.2722e-01,2.1282e-02
+28,3.2683e+01,DOWN_FORCE_DETACH,7.3191e-03,3.6717e-01,1.2042e+00,2.7347e+00,-1.2304e-01,6.2659e-02,9.2399e-04,1.0967e-01,3.1585e-01,2.8572e-01,-2.1202e-02,7.1620e-03,-1.2111e-03,4.3980e-01,2.2412e-02
+29,3.3817e+01,DOWN_FORCE_DETACH,7.5825e-03,3.5780e-01,1.3365e+00,2.9070e+00,-1.3201e-01,6.1698e-02,1.0144e-03,1.0031e-01,4.4817e-01,4.5802e-01,-3.0168e-02,6.2011e-03,-1.1207e-03,6.4861e-01,3.0820e-02
+30,3.4450e+01,DOWN_FORCE_DETACH,7.8390e-03,3.1472e-01,1.0916e+00,3.0140e+00,-1.1476e-01,5.8482e-02,9.7060e-04,5.7230e-02,2.0324e-01,5.6498e-01,-1.2925e-02,2.9847e-03,-1.1645e-03,6.0315e-01,1.3316e-02
+31,3.5483e+01,DOWN_FORCE_DETACH,8.1050e-03,3.0255e-01,1.2134e+00,3.0611e+00,-1.2241e-01,5.7721e-02,1.0440e-03,4.5055e-02,3.2504e-01,6.1211e-01,-2.0569e-02,2.2237e-03,-1.0911e-03,6.9452e-01,2.0718e-02
+32,3.6533e+01,DOWN_FORCE_DETACH,8.3643e-03,3.2068e-01,1.2878e+00,3.0671e+00,-1.2737e-01,5.8872e-02,1.2299e-03,6.3194e-02,3.9944e-01,6.1810e-01,-2.5535e-02,3.3755e-03,-9.0522e-04,7.3865e-01,2.5773e-02
+33,3.7617e+01,DOWN_FORCE_DETACH,8.6264e-03,3.4032e-01,1.3384e+00,3.0741e+00,-1.3112e-01,6.0142e-02,1.2799e-03,8.2831e-02,4.5011e-01,6.2510e-01,-2.9279e-02,4.6450e-03,-8.5525e-04,7.7473e-01,2.9658e-02
+34,3.8617e+01,DOWN_FORCE_DETACH,8.8880e-03,3.4333e-01,1.3753e+00,3.0840e+00,-1.3378e-01,6.0324e-02,1.2876e-03,8.5839e-02,4.8696e-01,6.3500e-01,-3.1945e-02,4.8267e-03,-8.4746e-04,8.0481e-01,3.2319e-02
+35,3.9833e+01,DOWN_FORCE_DETACH,9.1493e-03,3.3187e-01,1.3896e+00,3.1560e+00,-1.3424e-01,5.9259e-02,1.2506e-03,7.4375e-02,5.0124e-01,7.0699e-01,-3.2401e-02,3.7616e-03,-8.8447e-04,8.6983e-01,3.2631e-02
+36,4.0900e+01,DOWN_FORCE_DETACH,9.4134e-03,3.5496e-01,1.3985e+00,3.1856e+00,-1.3475e-01,6.0809e-02,1.2107e-03,9.7464e-02,5.1015e-01,7.3658e-01,-3.2914e-02,5.3118e-03,-9.2442e-04,9.0128e-01,3.3353e-02
+37,4.2000e+01,DOWN_FORCE_DETACH,9.6715e-03,3.6357e-01,1.5129e+00,3.3270e+00,-1.4205e-01,6.1366e-02,1.1323e-03,1.0608e-01,6.2452e-01,8.7796e-01,-4.0211e-02,5.8693e-03,-1.0028e-03,1.0826e+00,4.0650e-02
+38,4.3017e+01,DOWN_FORCE_DETACH,9.9347e-03,4.0744e-01,1.5088e+00,3.3980e+00,-1.4067e-01,6.4203e-02,3.6378e-04,1.4995e-01,6.2041e-01,9.4896e-01,-3.8827e-02,8.7062e-03,-1.7713e-03,1.1436e+00,3.9830e-02
+39,4.4050e+01,DOWN_FORCE_DETACH,1.0195e-02,4.0898e-01,1.6019e+00,3.6123e+00,-1.4610e-01,6.4191e-02,2.0467e-04,1.5149e-01,7.1360e-01,1.1633e+00,-4.4256e-02,8.6939e-03,-1.9304e-03,1.3731e+00,4.5143e-02
+40,4.5050e+01,DOWN_FORCE_DETACH,1.0457e-02,4.2262e-01,1.6909e+00,3.7266e+00,-1.5146e-01,6.4957e-02,1.3384e-04,1.6513e-01,8.0252e-01,1.2776e+00,-4.9616e-02,9.4598e-03,-2.0013e-03,1.5177e+00,5.0550e-02
+41,4.6117e+01,DOWN_FORCE_DETACH,1.0717e-02,4.1462e-01,1.7851e+00,3.8149e+00,-1.5720e-01,6.4157e-02,1.4883e-04,1.5713e-01,8.9673e-01,1.3659e+00,-5.5359e-02,8.6602e-03,-1.9863e-03,1.6415e+00,5.6068e-02
+42,4.7100e+01,DOWN_FORCE_DETACH,1.0979e-02,4.7892e-01,1.8264e+00,3.9120e+00,-1.5937e-01,6.8359e-02,1.5916e-04,2.2143e-01,9.3808e-01,1.4630e+00,-5.7532e-02,1.2862e-02,-1.9759e-03,1.7519e+00,5.8985e-02
+43,4.8017e+01,DOWN_FORCE_DETACH,1.1239e-02,4.6171e-01,1.8200e+00,3.9379e+00,-1.5825e-01,6.7102e-02,2.1411e-04,2.0422e-01,9.3170e-01,1.4889e+00,-5.6406e-02,1.1605e-02,-1.9210e-03,1.7682e+00,5.7619e-02
+44,4.8967e+01,DOWN_FORCE_DETACH,1.1504e-02,4.2485e-01,1.8581e+00,3.9996e+00,-1.6010e-01,6.4388e-02,3.5810e-04,1.6736e-01,9.6974e-01,1.5506e+00,-5.8257e-02,8.8912e-03,-1.7770e-03,1.8365e+00,5.8958e-02
+45,4.9900e+01,DOWN_FORCE_DETACH,1.1762e-02,4.2600e-01,1.9940e+00,4.1310e+00,-1.6884e-01,6.4191e-02,6.1094e-04,1.6850e-01,1.1056e+00,1.6820e+00,-6.7000e-02,8.6938e-03,-1.5242e-03,2.0199e+00,6.7579e-02
+46,5.0650e+01,DOWN_FORCE_DETACH,1.2025e-02,4.0157e-01,2.0155e+00,4.5478e+00,-1.6906e-01,6.2074e-02,6.7440e-04,1.4408e-01,1.1271e+00,2.0988e+00,-6.7217e-02,6.5766e-03,-1.4607e-03,2.3867e+00,6.7553e-02
+47,5.1517e+01,DOWN_FORCE_DETACH,1.2285e-02,4.2300e-01,2.0582e+00,4.4955e+00,-1.7068e-01,6.3171e-02,7.6872e-04,1.6551e-01,1.1699e+00,2.0465e+00,-6.8841e-02,7.6737e-03,-1.3664e-03,2.3631e+00,6.9281e-02
+48,5.2367e+01,DOWN_FORCE_DETACH,1.2547e-02,3.9741e-01,2.0329e+00,4.4663e+00,-1.6834e-01,6.1358e-02,1.1856e-03,1.3992e-01,1.1445e+00,2.0173e+00,-6.6503e-02,5.8607e-03,-9.4951e-04,2.3236e+00,6.6767e-02
+49,5.3183e+01,DOWN_FORCE_DETACH,1.2811e-02,3.9060e-01,1.9349e+00,4.5372e+00,-1.6069e-01,6.0660e-02,1.2992e-03,1.3311e-01,1.0465e+00,2.0882e+00,-5.8846e-02,5.1635e-03,-8.3588e-04,2.3395e+00,5.9078e-02
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Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/camera_frames_60hz.tar

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Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/franka_data.csv

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Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+29,2.750000000e+00,UP_FORCE_RAMP,1793079138622096592,4.130893134e-05,-5.062748299e-04,1.196162601e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.898736159e-05,-4.672442326e-04,1.173586211e-04,7.019969068e-01,-5.282598845e-04,8.602630022e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027948562e-01,-5.811231845e-04,8.304428730e-01
+30,2.916666667e+00,UP_FORCE_RAMP,1793079138785998873,4.244731607e-05,-5.054825940e-04,1.245162915e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.918167631e-05,-4.672691362e-04,1.176649099e-04,7.019980452e-01,-5.274676486e-04,8.602679022e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027950505e-01,-5.811480881e-04,8.304431792e-01
+31,3.033333333e+00,UP_FORCE_RAMP,1793079138900745578,4.167191861e-05,-5.068041749e-04,1.275912837e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.927750739e-05,-4.672865133e-04,1.177732908e-04,7.019972698e-01,-5.287892294e-04,8.602709772e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027951463e-01,-5.811654652e-04,8.304432876e-01
+32,3.183333333e+00,UP_FORCE_RAMP,1793079139063406551,3.824661914e-05,-5.062707990e-04,1.289141518e-04,4.330388523e-05,-5.094954643e-04,1.201571744e-04,4.939210265e-05,-4.673070026e-04,1.178838619e-04,7.019938445e-01,-5.282558536e-04,8.602723001e-01,7.019989018e-01,-5.314805189e-04,8.602635431e-01,7.027952609e-01,-5.811859545e-04,8.304433982e-01
+33,3.416666667e+00,UP_FORCE_RAMP,1793079139293615682,3.500313965e-05,-5.017533098e-04,1.381925475e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.436230513e-05,-4.622452119e-04,1.358108670e-04,7.019906010e-01,-5.237383644e-04,8.602815785e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027902311e-01,-5.761241638e-04,8.304613252e-01
+34,3.583333333e+00,UP_FORCE_RAMP,1793079139458090112,3.552014850e-05,-5.031861466e-04,1.462656920e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.441052896e-05,-4.622617365e-04,1.360753716e-04,7.019911180e-01,-5.251712012e-04,8.602896516e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027902794e-01,-5.761406884e-04,8.304615897e-01
+35,3.766666667e+00,UP_FORCE_RAMP,1793079139637283907,2.975431273e-05,-5.038332542e-04,1.513085031e-04,3.808405777e-05,-5.039549536e-04,1.386160382e-04,4.449259922e-05,-4.622779787e-04,1.362386333e-04,7.019853522e-01,-5.258183088e-04,8.602946944e-01,7.019936819e-01,-5.259400082e-04,8.602820020e-01,7.027903614e-01,-5.761569306e-04,8.304617530e-01
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+37,4.083333333e+00,UP_FORCE_RAMP,1793079139949097914,2.655089800e-05,-4.999080214e-04,1.702982710e-04,2.961328688e-05,-5.016444863e-04,1.571131487e-04,3.607865761e-05,-4.601407659e-04,1.543080731e-04,7.019821488e-01,-5.218930760e-04,8.603136842e-01,7.019852112e-01,-5.236295409e-04,8.603004991e-01,7.027819475e-01,-5.740197178e-04,8.304798224e-01
+38,4.266666667e+00,UP_FORCE_RAMP,1793079140129117538,2.166401718e-05,-4.995374220e-04,1.792621565e-04,2.151751677e-05,-5.000400389e-04,1.757315445e-04,2.795380790e-05,-4.586353283e-04,1.723183457e-04,7.019772619e-01,-5.215224766e-04,8.603226481e-01,7.019771154e-01,-5.220250935e-04,8.603191175e-01,7.027738226e-01,-5.725142802e-04,8.304978327e-01
+39,4.383333333e+00,UP_FORCE_RAMP,1793079140244161229,1.596500315e-05,-5.023010115e-04,1.841894039e-04,2.151751677e-05,-5.000400389e-04,1.757315445e-04,2.789778975e-05,-4.586400181e-04,1.725839927e-04,7.019715629e-01,-5.242860661e-04,8.603275753e-01,7.019771154e-01,-5.220250935e-04,8.603191175e-01,7.027737666e-01,-5.725189699e-04,8.304980983e-01
+40,4.550000000e+00,UP_FORCE_RAMP,1793079140407611643,1.114019804e-05,-5.012570164e-04,1.938723093e-04,1.364871695e-05,-4.988590739e-04,1.956045543e-04,2.004108538e-05,-4.575397358e-04,1.918011945e-04,7.019667381e-01,-5.232420710e-04,8.603372582e-01,7.019692466e-01,-5.208441285e-04,8.603389905e-01,7.027659099e-01,-5.714186877e-04,8.305173155e-01
+41,4.666666667e+00,UP_FORCE_RAMP,1793079140522014154,8.191565780e-06,-4.965483381e-04,2.021476743e-04,1.364871695e-05,-4.988590739e-04,1.956045543e-04,1.996791951e-05,-4.575402426e-04,1.920974506e-04,7.019637894e-01,-5.185333927e-04,8.603455336e-01,7.019692466e-01,-5.208441285e-04,8.603389905e-01,7.027658367e-01,-5.714191945e-04,8.305176118e-01
+42,4.816666667e+00,UP_FORCE_RAMP,1793079140669443814,-3.934428240e-07,-4.967287758e-04,2.149198779e-04,-1.833125334e-06,-4.961228834e-04,2.078432428e-04,4.225390022e-06,-4.550176742e-04,2.040036504e-04,7.019552044e-01,-5.187138304e-04,8.603583058e-01,7.019537647e-01,-5.181079379e-04,8.603512292e-01,7.027500942e-01,-5.688966260e-04,8.305295180e-01
+43,4.983333333e+00,UP_FORCE_RAMP,1793079140833355494,-9.779765412e-06,-4.928197780e-04,2.223931162e-04,-1.833125334e-06,-4.961228834e-04,2.078432428e-04,4.016959213e-06,-4.550176882e-04,2.043214107e-04,7.019458181e-01,-5.148048326e-04,8.603657790e-01,7.019537647e-01,-5.181079379e-04,8.603512292e-01,7.027498858e-01,-5.688966401e-04,8.305298357e-01
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+46,5.466666667e+00,UP_FORCE_RAMP,1793079141341056062,-3.633142281e-05,-4.916062487e-04,2.448977314e-04,-2.902830065e-05,-4.981506957e-04,2.373019992e-04,-2.412705334e-05,-4.567958065e-04,2.334274839e-04,7.019192664e-01,-5.135913033e-04,8.603882836e-01,7.019265696e-01,-5.201357503e-04,8.603806879e-01,7.027217418e-01,-5.706747583e-04,8.305589418e-01
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+48,5.783333333e+00,UP_FORCE_HOLD,1793079141685071154,-4.633480650e-05,-4.908928104e-04,2.625767596e-04,-3.920027889e-05,-4.913378327e-04,2.532791248e-04,-3.471239914e-05,-4.505035305e-04,2.492520375e-04,7.019092631e-01,-5.128778650e-04,8.604059627e-01,7.019163976e-01,-5.133228873e-04,8.603966650e-01,7.027111564e-01,-5.643824824e-04,8.305747664e-01
+49,5.950000000e+00,UP_FORCE_HOLD,1793079141849314392,-4.518528964e-05,-4.938490263e-04,2.777032832e-04,-4.159494839e-05,-4.913473205e-04,2.739083603e-04,-3.705305911e-05,-4.504886192e-04,2.693893887e-04,7.019104126e-01,-5.158340809e-04,8.604210892e-01,7.019140029e-01,-5.133323751e-04,8.604172943e-01,7.027088158e-01,-5.643675710e-04,8.305949037e-01
+50,6.150000000e+00,UP_SETTLE,1793079142045667583,-4.578227567e-05,-4.912724201e-04,2.887511719e-04,-4.159494839e-05,-4.913473205e-04,2.739083603e-04,-3.716811279e-05,-4.504770388e-04,2.697449145e-04,7.019098156e-01,-5.132574747e-04,8.604321371e-01,7.019140029e-01,-5.133323751e-04,8.604172943e-01,7.027087007e-01,-5.643559907e-04,8.305952592e-01
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+59,7.350000000e+00,UP_SETTLE,1793079143327157449,-5.951504804e-05,-5.059222836e-04,3.178818626e-04,-5.342223976e-05,-4.962559032e-04,3.066415183e-04,-4.958168419e-05,-4.548701616e-04,3.029245740e-04,7.018960828e-01,-5.279073381e-04,8.604612678e-01,7.019021756e-01,-5.182409578e-04,8.604500274e-01,7.026962871e-01,-5.687491135e-04,8.306284389e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_06/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/franka_data.csv

@@ -0,0 +1,61 @@
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+50457,1793079225489212367,15776581000000,1793079225488727449,XJC_ZERO_HOLD_BEFORE_DOWN,7,0.0708,0.07080180197954178,0.675949735423305,-0.004911104293195651,0.09979006196864502,0.9999999018711277,-0.0003773343743965223,-0.0002125001585878984,-1.2769132524270553e-05,0.6761,-0.0046,0.1,1.0,0.0,0.0,0.0,0.014638498349623275,0.014267142761443141,-0.03309623400628525,0.000732270211624142,-0.0009739283865167828,3.093496353552246e-05,0.8664460912886174,1.0755255008444637,1.2674123337187857,0.06869461587332179,-0.05300752630263693,-0.0019716557081197387,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,-0.13734640663906555,1.4647165374740505,0.7834099437607939,-0.16588400205039622,-0.5499964664761355,0.9399764772243673,1.6826685290495669,0.03309623400628525,0.899258585288773,0.0,0.0,0,0,0.0,0.0
+50593,1793079226616322441,15777708000000,1793079226612737583,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6759503287698979,-0.004909976696486168,0.09978968818133567,0.9999999029281783,-0.00037476930069617375,-0.00021215245310605838,-1.1216292876518028e-05,0.6761,-0.0046,0.09999745909676235,1.0,0.0,0.0,0.0,-0.007221853318892024,-0.02445189887464294,-0.06931297261666858,-0.001711124539101827,-0.00018811134248952754,3.196054866277725e-05,0.8445857396201021,1.0368064592083777,1.2311955951084024,0.06625122112259582,-0.05222170925860967,-0.001970630122992484,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,-0.060294756521698356,1.5066749586911972,0.7635004416457081,-0.1787836201554748,-0.5145512996421004,0.9696535728876415,1.6826685290495669,0.06931297261666858,0.9191680874038588,0.9191680874038588,0.9708528985122069,0,0,-7.551999049752684e-06,-9.80672029956608e-05
+50741,1793079227850359743,15778942000000,1793079227848727848,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6759546148304384,-0.0049087578985313966,0.0997917628337527,0.9999999056938544,-0.0003732859479945857,-0.0002014776215718019,-1.093226573977645e-05,0.6761,-0.0046,0.09996864775220454,1.0,0.0,0.0,0.0,-0.02727757770014594,-0.012049895711832459,-0.1049528061239482,0.0005497318944852198,0.0008000187387443222,0.00010058099677276509,0.8245300152388482,1.0492084623711881,1.1955557616011228,0.06851207755618287,-0.051233579177375824,-0.001902009674882496,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.15777556719497796,1.4417773699294998,0.6073764588021855,-0.15781853415658015,-0.3674672117425701,0.9281518531147013,1.6826685290495669,0.1049528061239482,1.0752920702473814,1.0752920702473814,1.0942528985121933,0,0,-4.075682529383761e-05,7.263053633377865e-05
+50896,1793079229141381581,15780233000000,1793079229136737274,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6759601459893366,-0.004912001689906229,0.09978547564556851,0.9999999083894063,-0.00037387605366339077,-0.00018660138836891222,-7.788485494718086e-06,0.6761,-0.0046,0.0999274175033061,1.0,0.0,0.0,0.0,-0.08257100738261325,0.021910960178670003,-0.10478236212557968,0.0025453814637530214,0.004455922630003953,0.00016981560249877204,0.7692365855563809,1.0831693182616906,1.1957262055994913,0.07050772712545067,-0.04757767528611619,-0.0018327750691564892,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.4658535232548722,1.5150296774638399,0.4355138864224801,-0.17236234479312115,-0.19092934943290843,0.9727299998496067,1.6826685290495669,0.10478236212557968,1.2471546426270868,1.2471546426270868,1.223352898512179,0,0,-1.8199779840107115e-05,9.999980984798924e-05
+51051,1793079230433442526,15781525000000,1793079230432737748,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.675964998558245,-0.004910802758209645,0.09978454771838337,0.9999999115842609,-0.00037078789955334785,-0.00017530905783157187,-7.576372034102953e-06,0.6761,-0.0046,0.09990877494003894,1.0,0.0,0.0,0.0,-0.1090629922425379,0.015051878283621312,-0.06587782839725187,0.002539743697342875,0.005812753902790527,0.00118680942414161,0.7427446006964562,1.076310236366642,1.234630739327819,0.07050208935904052,-0.04622084401332962,-0.0008157812475136512,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.5680342698632094,1.4982898392732722,0.4238320758942442,-0.1710738197535529,-0.15918372476921225,0.955972391885309,1.6826685290495669,0.06587782839725187,1.2588364531553227,1.2588364531553227,1.3525528985121649,0,0,-1.5857039163706628e-05,-9.999999025923074e-05
+51189,1793079231583478157,15782675000000,1793079231580737668,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6759769058474733,-0.004911464866326445,0.09977633732268507,0.9999999155754659,-0.00036612963537621077,-0.0001619823846551903,-1.6497389685574887e-06,0.6761,-0.0046,0.09988217875691051,1.0,0.0,0.0,0.0,-0.15653866307652053,0.06786004234179388,-0.0032323061851611268,0.006255218870737864,0.00876231350184288,0.001223484247322383,0.6952689298624736,1.1291184004248145,1.2972762615399098,0.07421756453243551,-0.043271284414277265,-0.0007791064243328782,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.8149967344296002,1.4607174519626087,0.19698858707568487,-0.15685069001671906,0.03956329822938867,0.926858118331639,1.6826685290495669,0.0032323061851611268,1.485679941973882,1.485679941973882,1.4675528985121522,0,0,-2.4406334513089927e-05,9.377935514110475e-05
+51315,1793079232633527631,15783725000000,1793079232628737545,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6760173780339093,-0.004917774932999,0.09977149579890843,0.9999999227824694,-0.0003657684316833387,-0.000109531306750843,9.709054872446085e-06,0.6761,-0.0046,0.09983119482904097,1.0,0.0,0.0,0.0,-0.06982543261629648,0.0876478549693347,-0.016053001839902103,0.007672319128963517,0.0026521811628920228,0.0011507163293041495,0.7819821603226976,1.1489062130523553,1.2844555658851688,0.07563466479066117,-0.04938141675322812,-0.0008518743423511116,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.8080530850851109,1.4444462979943873,0.2065169291521085,-0.10269565634495047,0.03362375051052472,0.92954468791287,1.6826685290495669,0.016053001839902103,1.4761515998974584,1.4761515998974584,1.5725528985121406,0,0,-7.172771173821613e-05,-9.999999025923074e-05
+51466,1793079233891529520,15784983000000,1793079233884737508,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760317033628436,-0.004923061940553594,0.09973873236737295,0.9999999281858056,-0.00035766785039526835,-8.167135433976376e-05,2.178865881972503e-05,0.6761,-0.0046,0.09976244434361366,1.0,0.0,0.0,0.0,-0.17504360695465915,0.12367387304232813,0.3369738848628443,0.01151417369217761,0.008588663175563852,0.001949885274647535,0.676763985984335,1.1849322311253487,1.6374824525879152,0.07947651935387526,-0.043444934740556294,-5.2705397007726354e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9066062174136913,1.373197037766888,-0.2293882172585827,-0.064363590225548,0.3224430661909349,0.8735483259345731,1.6826685290495669,-0.3369738848628443,1.9120567463081495,1.9120567463081495,1.6983528985121268,0,0,-2.5050273887135315e-05,9.999999025923074e-05
+51613,1793079235116554660,15786208000000,1793079235112738050,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760310410363012,-0.004919374336568518,0.09972551877488427,0.9999999302499777,-0.0003513198090227121,-8.31883979260131e-05,2.443328502458562e-05,0.6761,-0.0046,0.09975513117610423,1.0,0.0,0.0,0.0,-0.18466003885692683,0.12593511862393436,0.3807661507031086,0.011494384851557932,0.009594180465056106,0.0013602335363936675,0.6671475540820673,1.187193476706955,1.6812747184281795,0.07945673051325558,-0.04243941745106404,-0.0006423571352615937,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9143266336988711,1.4155139101482233,-0.17556907531717397,-0.08538564252674456,0.28887719448042193,0.8912134179863322,1.6826685290495669,-0.3807661507031086,1.8582376043667408,1.8582376043667408,1.8208528985121133,0,0,-4.2716508080742344e-07,4.31479879603458e-06
+51751,1793079236266520947,15787358000000,1793079236264737322,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6760347616352818,-0.00491970649792253,0.09972712608987341,0.9999999313127951,-0.00034947256945986704,-7.787007885844339e-05,2.494880055779379e-05,0.6761,-0.0046,0.09974747224911862,1.0,0.0,0.0,0.0,-0.19905286673521205,0.12626842302265873,0.39088880819150895,0.011483604243245502,0.009592026534335184,0.001596662483762087,0.652754726203782,1.1875267811056793,1.69139737591658,0.07944594990494315,-0.04244157138178496,-0.0004059281878931741,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.851963723760199,1.3648678045526539,-0.11606866793087983,-0.0611264765053982,0.23243614820642544,0.8606600952130957,1.6826685290495669,-0.39088880819150895,1.7987371969804467,1.7987371969804467,1.9358528985121006,0,0,-1.559958296845488e-05,-9.999924085868912e-05
+51900,1793079237508579750,15788600000000,1793079237504737140,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760438285916031,-0.0049186424058491884,0.09971545444654878,0.9999999344869698,-0.0003430284691107924,-6.298032928022923e-05,2.8876756752090204e-05,0.6761,-0.0046,0.09971180476001272,1.0,0.0,0.0,0.0,-0.23351463427257313,0.15793306382951622,0.5024315851256653,0.014384981264918356,0.01254630158804692,0.0019888038070375166,0.618292958666421,1.2191914219125368,1.8029401528507363,0.082347326926616,-0.039487296328073226,-1.3786864617744469e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,0.9887106208714429,1.3872987889983932,-0.3143164834041614,-0.06589775354265522,0.3861577429224279,0.8709783829499848,1.6826685290495669,-0.5024315851256653,1.9969850124537283,1.9969850124537283,2.0600528985122204,0,0,-3.127903956265244e-05,-7.500000206850927e-05
+52030,1793079238591692757,15789683000000,1793079238584727465,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760561072369099,-0.00492305609032283,0.09970397431788568,0.999999935923947,-0.00034090211737073853,-4.624609641784711e-05,3.524216839945939e-05,0.6761,-0.0046,0.09967922557866186,1.0,0.0,0.0,0.0,-0.25361416948815585,0.1742815757765075,0.6015699809719461,0.015411144094354262,0.013518452838493566,0.0019333558704206517,0.5981934234508383,1.235539933859528,1.902078548697017,0.08337348975605191,-0.03851514507762658,-6.923480123460942e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.054611873225994,1.4920983297917414,-0.5475113135900989,-0.09390982562554046,0.5472445156334655,0.9349665432957424,1.6826685290495669,-0.6015699809719461,2.2301798426396657,2.2301798426396657,2.168352898512449,0,0,-2.6839603321755827e-05,9.999824165796695e-05
+52175,1793079239800703547,15790892000000,1793079239792727589,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760608571851636,-0.004920299677057323,0.09968827451455504,0.9999999399920165,-0.0003295158768514527,-3.699550231367162e-05,3.8851596667966376e-05,0.6761,-0.0046,0.09965158144467745,1.0,0.0,0.0,0.0,-0.3010984334778808,0.19400984024134416,0.7234973027791283,0.01734844088799653,0.01644454693841358,0.0019777882552372296,0.5507091594611133,1.2552681983243648,2.0240058705041992,0.08531078654969418,-0.035589050977706566,-2.4802416418031707e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0691304525193952,1.3955011022506516,-0.6543655316085625,-0.05193976994795807,0.6099981070047567,0.8752601905849574,1.6826685290495669,-0.7234973027791283,2.3370340606581292,2.3370340606581292,2.289252898512704,0,0,-1.854291756667325e-05,9.999818614681572e-05
+52323,1793079241033676951,15792125000000,1793079241032727995,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760719166880571,-0.004922199559423221,0.09968314708618392,0.9999999426911559,-0.0003221191735388621,-1.919501617085748e-05,4.394698994056944e-05,0.6761,-0.0046,0.09962608909244429,1.0,0.0,0.0,0.0,-0.32995305926111573,0.20014916089477963,0.8186273673512743,0.018312840282665666,0.017461580188046222,0.0028688921279807567,0.5218545336778784,1.2614075189778002,2.1191359350763452,0.08627518594436331,-0.034572017728073924,0.0008663014563254954,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0550828048975889,1.4937656036650437,-0.6452738619254711,-0.08138332141070057,0.5942822533755187,0.9321790684333684,1.6826685290495669,-0.8186273673512743,2.327942390975038,2.327942390975038,2.4125528985129643,0,0,-2.628653901079326e-05,-9.997557923047679e-05
+52459,1793079242166768371,15793258000000,1793079242164727593,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.676076341726604,-0.00492401555282558,0.09966550182360209,0.9999999430697132,-0.00032051886256485233,-8.71137611643511e-06,4.995202230009589e-05,0.6761,-0.0046,0.09959349199920087,1.0,0.0,0.0,0.0,-0.36807095454918903,0.21849920456004446,0.9442537551477665,0.01936663976182043,0.02044384119182619,0.0028269235638958704,0.4837366383898051,1.279757562643065,2.2447623228728375,0.08732898542351808,-0.031589756724293955,0.0008243328922406092,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.1842736363943671,1.4891386386410883,-0.8593067526042554,-0.07893768784924524,0.7622365358580733,0.9306901934443529,1.6826685290495669,-0.9442537551477665,2.5419752816538224,2.5419752816538224,2.5258528985132034,0,0,-2.6692853334593696e-05,9.999999025923074e-05
+52592,1793079243275730711,15794367000000,1793079243272727450,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760825215483457,-0.004924742333923315,0.09965342147139775,0.9999999441636657,-0.00031678512239293426,1.161773117992151e-06,5.254869820990623e-05,0.6761,-0.0046,0.09956810749581886,1.0,0.0,0.0,0.0,-0.3879176353062976,0.23604843968092193,1.0265020491117476,0.02122851937958714,0.021413629799834355,0.0027964660515734227,0.4638899576326965,1.2973067977639425,2.3270106168368185,0.08919086504128479,-0.03061996811628579,0.0007938753799181613,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.2693897203842346,1.456605164200951,-0.9625347739592527,-0.07308535568510545,0.8465072735147966,0.9068165922210342,1.6826685290495669,-1.0265020491117476,2.6452033030088193,2.6452033030088193,2.6367528985134374,0,0,-2.4686772699651687e-05,9.998705616099385e-05
+52746,1793079244558823730,15795650000000,1793079244556727617,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760901050007528,-0.004925555052575325,0.09963914698982607,0.9999999448137038,-0.0003136330249354709,1.2814943970691408e-05,5.731976933767583e-05,0.6761,-0.0046,0.09953645463382575,1.0,0.0,0.0,0.0,-0.4175623137104681,0.2436452422855333,1.1571241202387534,0.022169160259115916,0.023393586842817612,0.0027302760094776906,0.434245279228526,1.304903600368554,2.4576326879638244,0.09013150592081356,-0.028640011073302534,0.0007276853378224296,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.219886756388204,1.3466578157346698,-1.0561207039938132,-0.04617824502512213,0.8860151572747588,0.8299608946893351,1.6826685290495669,-1.1571241202387534,2.73878923304338,2.73878923304338,2.765052898513708,0,0,-2.706526260433254e-05,-4.496096929354997e-05
+52879,1793079245666833293,15796758000000,1793079245664727672,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6760938809623752,-0.004927496844909434,0.09962029121688183,0.9999999450067042,-0.0003119735592504976,1.783238660898336e-05,6.151387176915577e-05,0.6761,-0.0046,0.09950986267706284,1.0,0.0,0.0,0.0,-0.44653670657710454,0.24949552606113867,1.2580330677213631,0.02310895144046686,0.02537485434908324,0.003488984275323369,0.40527088636188957,1.3107538841441593,2.558541635446434,0.09107129710216451,-0.026658743567036906,0.0014863936036681078,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3021273939491145,1.4597185321705244,-1.2563626727897474,-0.09094370530235571,1.0369922282903927,0.9020733528064987,1.6826685290495669,-1.2580330677213631,2.939031201839314,2.939031201839314,2.875852898513942,0,0,-2.1520163946660336e-05,9.999999025923074e-05
+53046,1793079247058914442,15798150000000,1793079247056727364,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761024603741288,-0.004929184630940895,0.09960412486384279,0.9999999446677207,-0.00031081466305473614,3.2816659738016204e-05,6.651865487080677e-05,0.6761,-0.0046,0.09947249488189605,1.0,0.0,0.0,0.0,-0.48536981214885627,0.2731992760257502,1.3891072737708219,0.025069236434433984,0.02733831852606418,0.0036593182637541747,0.36643778079013783,1.3344576341087708,2.689615841495893,0.09303158209613163,-0.024695279390055967,0.0016567275920989133,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3201693438149495,1.3518051554498622,-1.3475028089106507,-0.0558174252195451,1.0935001425703454,0.8287860357237583,1.6826685290495669,-1.3891072737708219,3.0301713379602173,3.0301713379602173,3.0150528985142357,0,0,-2.9254602633395403e-05,8.124137060162013e-05
+53190,1793079248258886704,15799350000000,1793079248256728061,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761091181025856,-0.0049329496711688625,0.09958657963186077,0.9999999441713906,-0.00031015814383777334,4.3412680475577176e-05,7.083321506631256e-05,0.6761,-0.0046,0.09943910560091349,1.0,0.0,0.0,0.0,-0.523648493690716,0.2870783606282652,1.5007850527776772,0.026004460027579182,0.029686151109484613,0.003604713160637249,0.32815909924827813,1.3483367187112858,2.801293620502748,0.09396680568927683,-0.022347446806635533,0.0016021224889819876,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.3314249314624549,1.5374854260761284,-1.3300264535987787,-0.10967195250044487,1.077836575080237,0.9512128515907582,1.6826685290495669,-1.5007850527776772,3.0126949826483456,3.0126949826483456,3.135052898514489,0,0,-2.8318379470564044e-05,-9.999999025923074e-05
+53326,1793079249392024449,15800483000000,1793079249384728217,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761166396342323,-0.004934169978889512,0.09956856070121294,0.9999999441181463,-0.00030703987515588905,5.512515247013214e-05,7.677434907833496e-05,0.6761,-0.0046,0.0994099984580762,1.0,0.0,0.0,0.0,-0.5422991384884615,0.29383001037601675,1.6198975148162178,0.027076428849936093,0.03129941492248994,0.0035516789510097197,0.3095084544505326,1.3550883684590374,2.9204060825412888,0.09503877451163374,-0.020734182993630203,0.0015490882793544587,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.389557810828886,1.3729623676120917,-1.5719903529181616,-0.06953579956956311,1.247770330976534,0.841263029987418,1.6826685290495669,-1.6198975148162178,3.2546588819677282,3.2546588819677282,3.248352898514728,0,0,-2.5741622462745244e-05,9.98946023386182e-05
+53485,1793079250717000977,15801808000000,1793079250716728066,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761233969054308,-0.004935274311428862,0.0995509991920697,0.9999999438978913,-0.00030470893256692917,6.551732226583213e-05,8.066613243143717e-05,0.6761,-0.0046,0.09937258472220356,1.0,0.0,0.0,0.0,-0.5729061577795371,0.32392959135334864,1.7200244882787834,0.028870719434197306,0.03330071321476452,0.003520787737115556,0.27890143515945703,1.3851879494363692,3.0205330560038544,0.09683306509589495,-0.018732884701355625,0.001518197065460295,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.429229248689998,1.3889543353761529,-1.690352351095036,-0.07646243780446918,1.3254316952589933,0.8486355057305753,1.6826685290495669,-1.7200244882787834,3.373020880144603,3.373020880144603,3.3808528985150077,0,0,-3.502845446060198e-05,8.777035628704794e-05
+53634,1793079251959083267,15803050000000,1793079251956727988,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761340901337909,-0.004934432446775806,0.09952817800330455,0.9999999430804989,-0.000302039818918964,8.228320326254236e-05,8.534216371540757e-05,0.6761,-0.0046,0.09933117651171522,1.0,0.0,0.0,0.0,-0.6114526574927641,0.33632701496565054,1.8520883700878807,0.02983799156088475,0.03625629605656413,0.004077213125158563,0.24035493544623,1.3975853730486711,3.1525969378129517,0.0978003372225824,-0.015777301859556017,0.0020746224535033017,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.4825460652111981,1.397769443493766,-1.7786276077624121,-0.07773778954703611,1.3947162001036222,0.8548672444137988,1.6826685290495669,-1.8520883700878807,3.461296136811979,3.461296136811979,3.50505289851527,0,0,-3.075577686559162e-05,-9.755364158004482e-05
+53787,1793079253234140326,15804325000000,1793079253232727883,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761418419654166,-0.004932810743040206,0.09950156688783335,0.9999999410701178,-0.00030405312640329797,9.470208949568752e-05,8.880222544189986e-05,0.6761,-0.0046,0.0992900199237372,1.0,0.0,0.0,0.0,-0.6404460210956459,0.33906110258450406,1.9625114942314397,0.030785065205739384,0.03824224608637808,0.0034166796451400353,0.21136157184334822,1.4003194606675247,3.2630200619565106,0.09874741086743703,-0.013791351829742065,0.001414088973484774,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5116403388437751,1.4240964663728388,-1.9506078168760363,-0.08266575391617675,1.50602828630247,0.8707540738150237,1.6826685290495669,-1.9625114942314397,3.6332763459256032,3.6332763459256032,3.632552898515539,0,0,-3.3159789696009294e-05,8.016306648895295e-05
+53931,1793079254434171790,15805525000000,1793079254428737075,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6761519791471643,-0.004936131871054485,0.09947463572178904,0.9999999394463376,-0.000302041534629334,0.00011106387338552225,9.4794051097429e-05,0.6761,-0.0046,0.09924203525461843,1.0,0.0,0.0,0.0,-0.6513794099605219,0.364158390025509,2.0694693252706884,0.031651173798277615,0.04022621992035435,0.0033731994977579745,0.20042818297847215,1.4254167481085296,3.3699778929957596,0.09961351945997526,-0.011807377995765799,0.0013706088261027133,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.563621985108352,1.4452853623629311,-2.0484934879118986,-0.08975890600322835,1.5813162212529353,0.8849188391136962,1.6826685290495669,-2.0694693252706884,3.7311620169614654,3.7311620169614654,3.752552898515792,0,0,-4.632252118411261e-05,5.7486150588320586e-05
+54067,1793079255567234880,15806658000000,1793079255564727350,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761593351819433,-0.004940899668616949,0.09944081247361641,0.9999999368289326,-0.000303987575641676,0.00012386557168998622,0.00010016919981938024,0.6761,-0.0046,0.0991926135933033,1.0,0.0,0.0,0.0,-0.6604152122334745,0.35886187312783857,2.1766333184271653,0.030665045838629015,0.04123493314693358,0.0032909452936302056,0.19139238070551962,1.4201202312108592,3.4771418861522365,0.09862739150032666,-0.01079866476918657,0.0012883546219749444,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5617421318853888,1.4042206847138439,-2.069530222300579,-0.08017127491903107,1.5948459442135183,0.8585623980994428,1.6826685290495669,-2.1766333184271653,3.752198751350146,3.752198751350146,3.865852898516031,0,0,-4.253600016243387e-05,-9.763656136219651e-05
+54214,1793079256792283793,15807883000000,1793079256788728207,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.676167445026166,-0.004946445571887536,0.09939816866878047,0.9999999309872158,-0.00031510385783409885,0.00013871085382766835,0.0001045814748867224,0.6761,-0.0046,0.09913109697702904,1.0,0.0,0.0,0.0,-0.6680213980428359,0.3507433131858606,2.2819562925502703,0.02857678689658308,0.04226362448784626,0.0031974650029951467,0.18378619489615822,1.4120016712688812,3.5824648602753415,0.09653913255828073,-0.009769973428273886,0.0011948743313398857,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6014249618009342,1.4122589157360719,-2.2715982650950566,-0.09214172468363314,1.7376706627894,0.8553320783275462,1.6826685290495669,-2.2819562925502703,3.9542667941446235,3.9542667941446235,3.9883528985162897,0,0,-6.029246038955082e-05,6.437197583165073e-05
+54367,1793079258067183724,15809158000000,1793079258060737763,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761792232584218,-0.004947984560117457,0.09935280914408857,0.9999999277257746,-0.0003134814530590417,0.000158428328739587,0.00011234390152101717,0.6761,-0.0046,0.09906000282035198,1.0,0.0,0.0,0.0,-0.6794498199531133,0.3486561519130551,2.4023691814099086,0.02748940096393225,0.044288135378756664,0.0020916871049266243,0.1723577729858808,1.4099145099960757,3.70287774913498,0.0954517466256299,-0.0077454625373634825,8.9096433271363e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.531122121920109,1.4996465297445212,-2.366610194055747,-0.1070856540136563,1.7746631283752434,0.9200546195179276,1.6826685290495669,-2.4023691814099086,4.049278723105314,4.049278723105314,4.115852898516044,0,0,-5.288003823297605e-05,-9.839953438029454e-05
+54505,1793079259217319703,15810308000000,1793079259212737932,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6761896080719993,-0.004950330927112619,0.09931187335967726,0.9999999241321688,-0.000314601566628348,0.00017352477047198177,0.000118716168991041,0.6761,-0.0046,0.09899994628115992,1.0,0.0,0.0,0.0,-0.7032307456774821,0.3459023956863747,2.502165383954389,0.02742342260219452,0.04592748033493258,0.002033816222891886,0.148576847261512,1.4071607537693953,3.80267395167946,0.09538576826389217,-0.006106117581187564,3.1225551236624496e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5686574982785433,1.4863156925343322,-2.5116423876751837,-0.12030451512243373,1.8777849840041225,0.9025694729829172,1.6826685290495669,-2.502165383954389,4.194310916724751,4.194310916724751,4.230852898515776,0,0,-5.5752578100005994e-05,3.370302234373952e-05
+54648,1793079260409305252,15811500000000,1793079260404737619,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762014840518231,-0.00495098435166724,0.09926418500225843,0.9999999195610916,-0.000316269817117922,0.0001914102508444141,0.00012512470872698232,0.6761,-0.0046,0.0989302769120262,1.0,0.0,0.0,0.0,-0.715781945492994,0.33231529570601204,2.61599053529784,0.02635316030860721,0.0473028085471629,0.0019502348789406617,0.1360256474460001,1.3935736537890326,3.916499103022911,0.09431550597030486,-0.004730789368957249,-5.2355792714599396e-05,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5976179526134737,1.4141192929514075,-2.6626326228750803,-0.09466523617353392,1.981827078534779,0.8541915232211426,1.6826685290495669,-2.61599053529784,4.345301151924647,4.345301151924647,4.350052898515498,0,0,-6.013524063844399e-05,9.971960343436165e-05
+54808,1793079261742286136,15812833000000,1793079261740727814,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762123207046817,-0.004952917679402509,0.09920024534266537,0.9999999112825754,-0.00032920053072631677,0.00021086121889761064,0.00012665805068673644,0.6761,-0.0046,0.09884782542073704,1.0,0.0,0.0,0.0,-0.69657798618575,0.32886019561003543,2.701560189577254,0.024421189444995925,0.04732208803018507,0.0018619062211487816,0.15522960675324415,1.390118553693056,4.002068757302325,0.09238353510669357,-0.004711509885935076,-0.00014068445050647964,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6121463000939655,1.4200837742067256,-2.65826413513011,-0.07915989645239438,1.9813271257201472,0.8583562874552754,1.6826685290495669,-2.701560189577254,4.340932664179677,4.340932664179677,4.483352898515188,0,0,-6.788851026759269e-05,-9.720152046999714e-05
+54965,1793079263051404173,15814142000000,1793079263048727851,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762274765833619,-0.004955898538202341,0.09912915181674857,0.9999999008565369,-0.00034483903806446336,0.00023553786963327651,0.00012384558783164754,0.6761,-0.0046,0.09875093634721138,1.0,0.0,0.0,0.0,-0.6942235331093076,0.3207870238792061,2.841647513921001,0.0232578709589268,0.0473103322422661,0.0017362033949991024,0.15758405982968646,1.3820453819622267,4.142156081646072,0.09122021662062445,-0.004723265673854048,-0.00026638727665615885,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6520544368731396,1.5229761403348523,-2.8956692109375775,-0.10352449372022515,2.1474399410954037,0.922349607336123,1.6826685290495669,-2.841647513921001,4.578337739987145,4.578337739987145,4.6142528985148825,0,0,-7.431191681864379e-05,9.429223654511815e-05
+55120,1793079264342421612,15815433000000,1793079264340736828,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762399002718813,-0.004962134130657276,0.09905916000209053,0.999999892892743,-0.0003528925329048553,0.0002522543484059943,0.00013225721039989395,0.6761,-0.0046,0.09866117265696124,1.0,0.0,0.0,0.0,-0.6961985185985228,0.29477814871199115,2.9314608537218536,0.022172136400777698,0.04832538238451307,0.001667372314733287,0.15560907434047136,1.3560365067950118,4.231969421446925,0.09013448206247535,-0.003708215531607077,-0.0003352183569219742,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.62244287921236,1.4056315034065798,-2.9180725292636374,-0.07915348193612351,2.1551883900935347,0.8385473360596329,1.6826685290495669,-2.9314608537218536,4.600741058313204,4.600741058313204,4.743352898514582,0,0,-7.194893130865599e-05,-9.978872869543238e-05
+55267,1793079265567445526,15816658000000,1793079265564737584,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6762508238623941,-0.004961032107146852,0.09897820645367567,0.9999998822542885,-0.00036927012831432677,0.0002724287760410516,0.00012789216857232686,0.6761,-0.0046,0.09855814278494121,1.0,0.0,0.0,0.0,-0.6871560174881485,0.2906141230571462,3.015801987772991,0.02106200195962768,0.048325679678565436,0.001588387524830911,0.1646515754508456,1.3518724811401668,4.316310555498062,0.08902434762132533,-0.0037079182375547087,-0.00041420314682435024,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6010314972205675,1.410447637238693,-3.020593775451456,-0.0611741579590864,2.210530970580276,0.8419192065524185,1.6826685290495669,-3.015801987772991,4.703262304501022,4.703262304501022,4.865852898514296,0,0,-9.475349292273195e-05,-9.990234614421496e-05
+55391,1793079266601534013,15817692000000,1793079266596728064,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6762649585582199,-0.004963573429385358,0.09890362527448682,0.9999998660008779,-0.0003974936726599335,0.0002956486504034611,0.00011845566727639507,0.6761,-0.0046,0.09846305305164205,1.0,0.0,0.0,0.0,-0.6581602792232631,0.2801736676036515,3.11979272517213,0.019479425724581306,0.047117764747068136,0.00146847407959014,0.19364731371573093,1.341432025686672,4.420301292897201,0.08744177138627895,-0.004915833169052012,-0.0005341165920651211,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6069492873268205,1.4453905888960457,-3.1258988328514925,-0.06299350250385666,2.283927428927429,0.8650153209708451,1.6826685290495669,-3.11979272517213,4.808567361901059,4.808567361901059,4.969252898514055,0,0,-9.09085317815902e-05,-9.993268298836284e-05
+55527,1793079267734566308,15818825000000,1793079267728737462,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6762750345866135,-0.004969165212191074,0.09882175155033344,0.9999998537628846,-0.00041261421643880465,0.0003145596000428582,0.00012132122252184875,0.6761,-0.0046,0.09836080486517843,1.0,0.0,0.0,0.0,-0.6571836866714483,0.24931071093590118,3.1906289309092886,0.018092953346409604,0.046320337561341,0.001385228616487046,0.19462390626754578,1.3105690690189218,4.49113749863436,0.08605529900810725,-0.005713260354779147,-0.0006173620551682151,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6518207711687254,1.3662038226112994,-3.285637515452168,-0.04173644972365114,2.399739441157566,0.806395627038055,1.6826685290495669,-3.1906289309092886,4.968306044501735,4.968306044501735,5.082552898513791,0,0,-9.297927642678972e-05,-9.765417227492463e-05
+55659,1793079268834567324,15819925000000,1793079268832737343,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6762897732095632,-0.004972442429872862,0.09873422345127023,0.9999998410829958,-0.00042425091016768193,0.00033678958194928893,0.0001259396242848248,0.6761,-0.0046,0.09825202756916519,1.0,0.0,0.0,0.0,-0.6271795655472245,0.20627190728293443,3.2488841200430265,0.014025342219373418,0.04537192532868637,0.0012800187420393362,0.2246280273917695,1.267530265365955,4.549392687768098,0.08198768788107107,-0.0066616725874337765,-0.0007225719296159251,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.611687544809372,1.4603545887274103,-3.485581544025963,-0.07603983558296837,2.5234989154852028,0.8668500981579474,1.6826685290495669,-3.2488841200430265,5.16825007307553,5.16825007307553,5.192552898513535,0,0,-0.00010693058483527006,9.999976821462581e-05
+55800,1793079270009649753,15821100000000,1793079270008728732,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763003519449559,-0.004977745248201811,0.0986280945789755,0.9999998278319329,-0.0004393654345191665,0.00035475212927258906,0.00012995348873521154,0.6761,-0.0046,0.09812039148534661,1.0,0.0,0.0,0.0,-0.6253104229290287,0.15790690491369141,3.356600270826366,0.010961999713105838,0.04475712933902206,0.0011498511144086192,0.2264971700099654,1.219165262996712,4.657108838551437,0.07892434537480349,-0.007276468577098087,-0.0008527395572466419,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.543441502509756,1.5912185354134174,-3.498021265680149,-0.12151715780643765,2.514127226003242,0.9507955686662717,1.6826685290495669,-3.356600270826366,5.180689794729716,5.180689794729716,5.310052898513261,0,0,-0.00011317043128597349,-9.99984914581475e-05
+55932,1793079271109682072,15822200000000,1793079271104737689,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763135320788568,-0.004981887686281321,0.09852122949510547,0.9999998137923858,-0.00045192463246387633,0.00037616419063506043,0.0001346205207338357,0.6761,-0.0046,0.09799636300381488,1.0,0.0,0.0,0.0,-0.5972221678257038,0.10697785975487917,3.4265800525159893,0.007013578987752761,0.04344452343567806,0.00102788626097216,0.2545854251132903,1.1682362178378998,4.7270886202410605,0.07497592464945041,-0.008589074480442086,-0.0009747044106831012,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.573296502230464,1.3938730058837123,-3.523948439620186,-0.06548448904505737,2.553202578836437,0.8148461721484327,1.6826685290495669,-3.4265800525159893,5.206616968669753,5.206616968669753,5.4200528985130045,0,0,-0.00011446876399120865,-9.960941379916761e-05
+56071,1793079272267647953,15823358000000,1793079272264727985,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763287124535056,-0.004978378587750278,0.09840122005232063,0.9999998018501524,-0.00045496806324119823,0.0004028135002618915,0.00013597008523209657,0.6761,-0.0046,0.09784813683975659,1.0,0.0,0.0,0.0,-0.6045256157720011,0.07168961883785929,3.5052279272150404,0.005855541461856739,0.04344958688493371,0.0009524661638455627,0.2472819771669929,1.13294797692088,4.805736494940112,0.07381788712355439,-0.00858401103118644,-0.0010501245078096985,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5512968644264067,1.4195920734955483,-3.7708122774598163,-0.06760251601932275,2.700049633792368,0.836685167149499,1.6826685290495669,-3.5052279272150404,5.453480806509383,5.453480806509383,5.535852898512735,0,0,-0.00013638734138313324,9.719212520765125e-05
+56205,1793079273384728796,15824475000000,1793079273376727473,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.676341465585986,-0.004980786672793821,0.09826582521096619,0.9999998914382118,-8.885466423121788e-05,0.0004269133882529699,0.0001357064353787005,0.6761,-0.0046,0.09768618749397591,1.0,0.0,0.0,0.0,-0.6026204207301662,0.03498729444439541,3.565903141400433,0.0027889154440271374,0.04350102046617425,-0.0001585072611200093,0.24918717220882794,1.096245652527416,4.866411709125504,0.07075126110572479,-0.008532577449945896,-0.0021610979327752705,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5805324985797071,1.638765123404579,-3.776841132188134,-0.17960624518542814,2.723401545439644,0.8949511586183688,1.6826685290495669,-3.565903141400433,5.459509661237701,5.459509661237701,5.647552898512474,0,0,-0.00015442708818233365,-9.999999025923074e-05
+56339,1793079274501763688,15825592000000,1793079274500728248,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763575297758307,-0.004986812821706859,0.09812118549775199,0.9999998770028323,-0.00011485272197884881,0.0004511256805705557,0.0001439849195980942,0.6761,-0.0046,0.09751625504329667,1.0,0.0,0.0,0.0,-0.6013164744191121,-5.550382818153565e-05,3.6853482460937395,0.0007204503178713656,0.04351394277608136,-5.111670557885221e-05,0.25049111851988204,1.061202854254839,4.985856813818811,0.06868279597956901,-0.008519655140038787,-0.0020537073772341134,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.558234962940726,1.4710505124097375,-3.874899131511371,-0.0991211083634681,2.7798609478368266,0.831218562800084,1.6826685290495669,-3.6853482460937395,5.557567660560938,5.557567660560938,5.759252898512214,0,0,-0.00014222672301974904,-9.687500387845489e-05
+56466,1793079275559788287,15826650000000,1793079275552728055,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6763664459470579,-0.004987455161690183,0.09797343175735825,0.9999998659257842,-0.00014611748301263883,0.0004672000552449159,0.00014129779716657304,0.6761,-0.0046,0.09735644528463301,1.0,0.0,0.0,0.0,-0.5707439968030458,-0.04787771071086544,3.718904165457145,-0.002303955340972025,0.04153458826548335,0.00065794905437493,0.28106359613594833,1.0133806473721552,5.019412733182216,0.06565839032072562,-0.010499009650636798,-0.0013446416172803312,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.602380593959713,1.4436724701632717,-4.013142758770273,-0.05476312358661268,2.8855824625550364,0.8466840444656469,1.6826685290495669,-3.718904165457145,5.69581128781984,5.69581128781984,5.865052898511967,0,0,-0.0001577181361720178,-9.99413288501671e-05
+56596,1793079276642720229,15827733000000,1793079276640727296,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763807742394067,-0.004997000160991904,0.09782315653258981,0.9999998481585435,-0.00019069322412468975,0.0004913083308908225,0.00013182553792402406,0.6761,-0.0046,0.09717987225241441,1.0,0.0,0.0,0.0,-0.5136841200609231,-0.08025578185063753,3.7748887327947243,-0.005295344780186409,0.03854058338583457,0.0005397732142414572,0.338123472878071,0.9810025762323831,5.075397300519795,0.06266700088151124,-0.013493014530285579,-0.001462817457413804,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.4999832779113849,1.3706253131623714,-3.9699522922341797,-0.010565093516068299,2.8364924446665762,0.800116443472619,1.6826685290495669,-3.7748887327947243,5.6526208212837465,5.6526208212837465,5.973352898511715,0,0,-0.00016914190639347038,-9.999999025923074e-05
+56714,1793079277626837875,15828717000000,1793079277624727318,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6763908189425454,-0.004991018889760066,0.09766480314856715,0.9999998356885609,-0.00020682009400318417,0.0005092657494511662,0.00013393864459441572,0.6761,-0.0046,0.09700440794311802,1.0,0.0,0.0,0.0,-0.5198782595793481,-0.11697409149789151,3.874093523539777,-0.007367322851379768,0.0385541607844115,0.001463149017363004,0.3319293333596461,0.9442842665851291,5.174602091264848,0.06059502281031788,-0.013479437131708648,-0.0005394416542922572,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5557093084126965,1.4593819374715091,-4.219762969801235,-0.038905359816272654,3.016636551460399,0.853630280842293,1.6826685290495669,-3.874093523539777,5.902431498850802,5.902431498850802,6.071752898511486,0,0,-0.00018188879010869042,-4.707282760663674e-05
+56826,1793079278559777950,15829650000000,1793079278556727534,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764043813752394,-0.004996838543917888,0.09750915628695073,0.9999998202056446,-0.00022721136960299147,0.0005283861546709903,0.00014217808407141456,0.6761,-0.0046,0.09683104093731676,1.0,0.0,0.0,0.0,-0.5103736889681849,-0.17714037763548962,3.9336824767781504,-0.010417965682798902,0.03758944514763653,0.0013658599463530507,0.34143390397080925,0.884117980447531,5.234191044503222,0.057544379978898746,-0.014444152768483617,-0.0006367307253022104,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5527727450070927,1.3443053003136685,-4.348215291247605,0.007713047494959437,3.10566424086896,0.780287283547171,1.6826685290495669,-3.9336824767781504,6.030883820297172,6.030883820297172,6.165052898511268,0,0,-0.00018778981235726,9.939432196593429e-05
+56930,1793079279426905161,15830517000000,1793079279424727646,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6764148477786891,-0.005001604318054001,0.09736280040905021,0.9999998055989783,-0.0002467522380507292,0.0005453962221453027,0.0001479904165174915,0.6761,-0.0046,0.09666568187496012,1.0,0.0,0.0,0.0,-0.48274009201642065,-0.2204338046324288,3.9541776250648804,-0.0136670755550201,0.03663208787583811,0.0013000168155987805,0.36906750092257345,0.8408245534505918,5.2546861927899515,0.05429527010667755,-0.015401510040282035,-0.0007025738560564808,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5712801230135156,1.3693537583867175,-4.356811120165837,0.0077846989149317905,3.1277930937819884,0.7924768951267089,1.6826685290495669,-3.9541776250648804,6.039479649215403,6.039479649215403,6.251752898511066,0,0,-0.00019973077084875358,-9.999999025923074e-05
+57046,1793079280392934670,15831483000000,1793079280392727946,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764242698278915,-0.004998985200207438,0.09717768175736649,0.9999997874698009,-0.0002779380798994403,0.0005661750058295722,0.00013674612754838826,0.6761,-0.0046,0.09645954769972309,1.0,0.0,0.0,0.0,-0.42525751155829794,-0.24380985529287125,4.0316110623596755,-0.01538684830868206,0.03195536962826475,0.0011486936559316364,0.42655008138069617,0.8174485027901494,5.332119630084747,0.05257549735301559,-0.020078228287855396,-0.0008538970157236249,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.538606567295891,1.283527097177408,-4.4783591272889085,0.04472416922960852,3.2088321987652346,0.7331477944591442,1.6826685290495669,-4.0316110623596755,6.161027656338476,6.161027656338476,6.348352898510841,0,0,-0.00022347796576508086,-1.3255806482397948e-05
+57151,1793079281267920833,15832358000000,1793079281264727814,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764387689476861,-0.004997075091130408,0.09699708903783734,0.9999998061720796,-9.456414421106496e-05,0.0005882967774651992,0.00015512315111669306,0.6761,-0.0046,0.09625526926887248,1.0,0.0,0.0,0.0,-0.3425221565437184,-0.21486425087375216,4.123159800082993,-0.013224304213686734,0.02694308268326111,3.5372674746318375e-05,0.5092854363952757,0.8463941072092684,5.423668367808064,0.054738041448010914,-0.025090515232859035,-0.001967217996908943,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5559812426596202,1.6716397567938837,-4.526596688482259,-0.10590814664827936,3.262425908576753,0.9019304625799108,1.6826685290495669,-4.123159800082993,6.209265217531826,6.209265217531826,6.435852898510637,0,0,-0.00024246968230032107,-9.999999025923074e-05
+57261,1793079282184885397,15833275000000,1793079282180727853,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764562222325821,-0.0049934235759887795,0.09679032453684883,0.9999997851126491,-0.0001349970756972596,0.0006150423207567526,0.0001572140367203274,0.6761,-0.0046,0.09602214588045946,1.0,0.0,0.0,0.0,-0.3115711775600628,-0.19939614657950977,4.173859761198281,-0.011801251816721557,0.024404071688279464,0.0009821247928984175,0.5402364153789313,0.8618622115035108,5.474368328923352,0.05616109384497609,-0.027629526227840682,-0.0010204658787568437,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6141416676147684,1.4332351067245328,-4.613359398880761,0.032154432259172624,3.3318992485094667,0.7973629144453424,1.6826685290495669,-4.173859761198281,6.296027927930329,6.296027927930329,6.527552898510423,0,0,-0.00026469705082940296,-5.94610058269325e-06
+57361,1793079283018055210,15834108000000,1793079283016728924,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764592768446642,-0.004992840878715808,0.09657821488680986,0.9999997691149017,-0.0001809515468833616,0.0006304752245734698,0.00015156033917514998,0.6761,-0.0046,0.09579875692534956,1.0,0.0,0.0,0.0,-0.28527700063213535,-0.2568415107916342,4.243836960353238,-0.014976633579245918,0.02241165009176413,0.0018768192896999288,0.5665305923068588,0.8044168472913864,5.544345528078309,0.05298571208245173,-0.029621947824356017,-0.00012577138195533246,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5406147486764679,1.3594854055276688,-4.68857932370449,0.09403222639877092,3.367808815812756,0.800831674339961,1.6826685290495669,-4.243836960353238,6.371247852754056,6.371247852754056,6.610852898510229,0,0,-0.00026925824708343,-9.989343660444234e-05
+57459,1793079283835012090,15834925000000,1793079283828737835,DOWN_FORCE_DETACH,7,0.0708,0.07080114632844925,0.6764732010938987,-0.004997432780577118,0.09636484230884372,0.9999997567238789,-0.00018005279447727614,0.0006443554733002756,0.00017430451092844765,0.6761,-0.0046,0.09557633263193796,1.0,0.0,0.0,0.0,-0.2938358539163036,-0.2805634593874645,4.256852642703071,-0.016372152037291393,0.023433734303827402,0.0018724791613042757,0.5579717390226905,0.7806948986955561,5.557361210428142,0.051590193624406255,-0.028599863612292744,-0.00013011151035098554,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6695940893404781,1.5313716085633549,-4.730840869865101,0.05075161878518745,3.4380672931226597,0.9130219127920315,1.6826685290495669,-4.256852642703071,6.413509398914668,6.413509398914668,6.692552898510039,0,0,-0.0002771914515656545,-9.999944902550623e-05
+57551,1793079284603003210,15835692000000,1793079284596727933,DOWN_FORCE_DETACH,7,0.0708,0.07080180197954178,0.6764847266004317,-0.004993103375844273,0.09615757518278091,0.9999997355884344,-0.00023787367080187256,0.0006657596801749378,0.00014298982594940286,0.6761,-0.0046,0.09535187834531883,1.0,0.0,0.0,0.0,-0.2388275052217551,-0.2589654108024487,4.314978018575458,-0.014136125123775309,0.018942490356575158,0.0017890047518571944,0.612980087717239,0.8022929472805719,5.615486586300529,0.05382622053792234,-0.03309110755954499,-0.00021358591979806684,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.633161203409332,1.427313872765388,-4.774558387435746,0.13235969356581695,3.458414218846994,0.8433621997364356,1.6826685290495669,-4.314978018575458,6.457226916485313,6.457226916485313,6.76925289850986,0,0,-0.0003079562182859138,-9.999999025923074e-05
+57642,1793079285359995720,15836450000000,1793079285352727573,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764933686841869,-0.004997156491227829,0.09593042291247526,0.9999997223865131,-0.0002376712800557415,0.0006806086631720199,0.0001641766454408749,0.6761,-0.0046,0.09510718317098621,1.0,0.0,0.0,0.0,-0.26440716074611814,-0.3511512122274092,4.3913683352962,-0.01902405745496971,0.020432059157839015,0.0016772455123726633,0.587400432192876,0.7101071458556114,5.691876903021271,0.04893828820672794,-0.03160153875828113,-0.00032534515928259785,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.624985948566612,1.3878839438522108,-4.83064433079941,0.11374378571457473,3.508365213981478,0.8208900623406198,1.6826685290495669,-4.3913683352962,6.513312859848977,6.513312859848977,6.8450528985096835,0,0,-0.0003369922378746156,-9.824170229955626e-05
+57728,1793079286077057007,15837167000000,1793079286072728536,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6764996314869789,-0.005001369581174475,0.09570095619070416,0.9999997145040012,-0.0002187696842180898,0.0006919119767072098,0.00018929453754121202,0.6761,-0.0046,0.09485994341738575,1.0,0.0,0.0,0.0,-0.23852439632103484,-0.4405076954262178,4.465185519033491,-0.02430201408437261,0.017882868296642075,0.0015314092226356446,0.6132831966179593,0.6207506626568028,5.765694086758562,0.04366033157732504,-0.03415072961947807,-0.0004711814490196166,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.553111044755428,1.381789500727066,-4.963413014166887,0.11851966721917526,3.597434094304165,0.8179830395491681,1.6826685290495669,-4.465185519033491,6.646081543216454,6.646081543216454,6.916752898509516,0,0,-0.0003512668282814894,7.4943047627346e-05
+57807,1793079286735105152,15837825000000,1793079286732727444,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765051836716224,-0.005001589870068121,0.09547388479504051,0.9999997197363725,-0.00016198928635794576,0.0007090899338378607,0.00015139675545760496,0.6761,-0.0046,0.09462250627556666,1.0,0.0,0.0,0.0,-0.1433856047643095,-0.3977187249085824,4.502292935961309,-0.02214819501289409,0.011370825175187137,0.0014487362983440846,0.7084219881746846,0.6635396331744382,5.80280150368638,0.04581415064880356,-0.04066277274093301,-0.0005538543733111766,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.623614697924516,1.3268119550749382,-4.9191140043531005,0.14255482686388435,3.6048035705839676,0.7556823119851778,1.6826685290495669,-4.502292935961309,6.601782533402668,6.601782533402668,6.982552898509363,0,0,-0.00037016394500574554,-9.999999025923074e-05
+57884,1793079287377132715,15838467000000,1793079287376727592,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765219852052367,-0.005005042613311983,0.0952416687002287,0.9999997062664955,-0.0001569751331582551,0.0007213687178850254,0.0001841080315163665,0.6761,-0.0046,0.09437853438482878,1.0,0.0,0.0,0.0,-0.24240732026947454,-0.4435734389184183,4.5104787837931175,-0.024278572369262306,0.017062765862304465,0.0025013740197809367,0.6094002726695196,0.6176849191646023,5.810987351518189,0.04368377329243534,-0.03497083205381568,0.0004987833481256754,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6862371372277363,1.3274791133660513,-4.997809954106163,0.13804503488322067,3.664243669850614,0.7786309131701782,1.6826685290495669,-4.5104787837931175,6.68047848315573,6.68047848315573,7.046752898509213,0,0,-0.0003933559176397524,-9.999999025923074e-05
+57956,1793079287977087179,15839067000000,1793079287976727744,DOWN_FORCE_DETACH,7,0.0708,0.07080245763063431,0.6765264988955186,-0.005006455885623741,0.09500321066450243,0.9999996956525301,-0.00015608505900501825,0.0007280203400179008,0.00021391949465568989,0.6761,-0.0046,0.09413477720667308,1.0,0.0,0.0,0.0,-0.21851863668601146,-0.5209025320654964,4.550241569974013,-0.02830013068545225,0.015510174280291972,0.0023768126186659963,0.6332889562529826,0.5403558260175242,5.850750137699084,0.0396622149762454,-0.036523423635828174,0.000374221947010735,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.5847185235562062,1.2859646983577273,-5.006449631837895,0.154326668900692,3.6595980548017817,0.7505095314628297,1.6826685290495669,-4.550241569974013,6.689118160887462,6.689118160887462,7.1067528985090735,0,0,-0.0004200352108033308,-9.262967756574198e-05
+58017,1793079288484166767,15839574000000,1793079288480739290,DOWN_SETTLE,7,0.0708,0.07080180197954178,0.6765272828883122,-0.005006273914534018,0.09478535020387185,0.9999996805877649,-0.00024485519087180614,0.0007362265521163836,0.00016817738105069494,0.6761,-0.0046,0.09391556763353263,1.0,0.0,0.0,0.0,-0.12592442661161363,-0.5099351696255844,4.5804920878392625,-0.02914213730120996,0.011350457031446916,0.0023091257530105363,0.7258831663273805,0.5513231884574362,5.881000655564334,0.03882020836048769,-0.04068314088467323,0.00030653508135527487,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.6179848851682002,1.3811247116999164,-5.0502692695684415,0.1498614777891968,3.7185283577132773,0.8245549183830169,1.6826685290495669,-4.5804920878392625,6.732937798618009,0.0,0.0,0,0,-0.00043823985159180385,0.0007500000791297086
+58124,1793079289370086041,15840460000000,1793079289364728612,DOWN_PEAK_HOLD,7,0.0708,0.07080114632844925,0.6764890902216077,-0.005003491044459257,0.09461816301910168,0.9999997291451398,-0.00024068732977859127,0.000665303839113475,0.000180535099560778,0.6761,-0.0046,0.09386310404405035,1.0,0.0,0.0,0.0,0.09815800514413453,-0.7848978256928749,3.684070298756585,-0.045971363246605904,-0.005216382793189804,-0.0003528835056837705,0.9499655980831286,0.27636053239014563,4.984578866481656,0.02199098241509175,-0.05724998070930995,-0.0023554741773390317,0.8518075929389941,1.0612583580830206,1.300508567725071,0.06796234566169765,-0.052033597916120146,-0.002002590671655261,1,1.0698208639775415,1.3098978377488215,-3.9923478555609244,0.1529864820476147,2.9545380349784325,0.7709094225905699,1.6826685290495669,-3.684070298756585,5.675016384610491,0.0,0.0,0,0,0.0,0.0

Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1793079225488767304,7.175778838e-08,-1.028568257e-07,5.992965590e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.481242573e-08,-1.119236228e-09,-3.921103442e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027459799e-01,-1.135243950e-04,8.303254038e-01
+1,1.133333333e+00,DOWN_FORCE_DETACH,1793079226618658477,1.453245889e-06,1.852742790e-06,2.787355617e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.939731299e-07,-6.357298422e-08,-5.164498673e-08,7.019570511e-01,-2.013231179e-05,8.601461733e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027466591e-01,-1.135868487e-04,8.303253526e-01
+2,2.366666667e+00,DOWN_FORCE_DETACH,1793079227847235737,6.344772594e-06,4.422796270e-06,4.161364764e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.014577302e-06,-9.297765627e-08,-8.931318163e-08,7.019619426e-01,-1.756225831e-05,8.601475473e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027469797e-01,-1.136162534e-04,8.303253149e-01
+3,3.633333333e+00,DOWN_FORCE_DETACH,1793079229140927782,1.261370694e-05,-4.200678239e-07,-3.192441781e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.156905558e-06,-1.092671001e-07,-1.101229199e-07,7.019682116e-01,-2.240512240e-05,8.601430667e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027471220e-01,-1.136325428e-04,8.303252941e-01
+4,4.950000000e+00,DOWN_FORCE_DETACH,1793079230435199212,1.572592940e-05,2.443605232e-06,-5.378229432e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.222141099e-06,-1.161278720e-07,-1.183974740e-07,7.019713238e-01,-1.954144935e-05,8.601380077e-01,7.019555979e-01,-2.198505458e-05,8.601433859e-01,7.027471873e-01,-1.136394036e-04,8.303252858e-01
+5,6.100000000e+00,DOWN_FORCE_DETACH,1793079231582081822,2.940187476e-05,-2.223588390e-07,-8.559700825e-06,1.931804705e-05,2.089035957e-06,-4.274810054e-06,2.141918461e-05,1.759222799e-06,-4.171798433e-06,7.019849997e-01,-2.220741342e-05,8.601348262e-01,7.019749159e-01,-1.989601862e-05,8.601391111e-01,7.027673843e-01,-1.117640529e-04,8.303212324e-01
+6,7.133333333e+00,DOWN_FORCE_DETACH,1793079232630273916,6.458758462e-05,-5.765931938e-06,-2.259892210e-05,6.062817845e-05,-6.812028953e-06,-1.143050923e-05,6.508097167e-05,-6.483020022e-06,-1.094301062e-05,7.020201855e-01,-2.775098652e-05,8.601207870e-01,7.020162260e-01,-2.879708353e-05,8.601319554e-01,7.028110461e-01,-1.200062957e-04,8.303144612e-01
+7,8.400000000e+00,DOWN_FORCE_DETACH,1793079233891638829,8.271613360e-05,-1.073163069e-05,-4.995446997e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.013452408e-05,-1.083863567e-05,-4.977953289e-05,7.020383140e-01,-3.271668527e-05,8.600934314e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028260996e-01,-1.243619114e-04,8.302756247e-01
+8,9.633333333e+00,DOWN_FORCE_DETACH,1793079235120598608,8.378253971e-05,-8.226449618e-06,-5.804106218e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.073565088e-05,-1.087076689e-05,-5.046827684e-05,7.020393804e-01,-3.021150420e-05,8.600853449e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028267008e-01,-1.243940426e-04,8.302749360e-01
+9,1.075000000e+01,DOWN_FORCE_DETACH,1793079236266415776,8.607634511e-05,-5.896522146e-06,-6.119677597e-05,7.454982815e-05,-1.157232595e-05,-5.113025271e-05,8.095415518e-05,-1.088284343e-05,-5.073229942e-05,7.020416742e-01,-2.788157673e-05,8.600821891e-01,7.020301477e-01,-3.355738053e-05,8.600922557e-01,7.028269193e-01,-1.244061191e-04,8.302746719e-01
+10,1.201666667e+01,DOWN_FORCE_DETACH,1793079237512211227,9.343238494e-05,-5.446426272e-06,-7.457901871e-05,8.557481802e-05,-5.709841650e-06,-6.757893050e-05,9.233206276e-05,-5.604483002e-06,-6.684183077e-05,7.020490303e-01,-2.743148085e-05,8.600688069e-01,7.020411727e-01,-2.769489623e-05,8.600758070e-01,7.028382972e-01,-1.191277587e-04,8.302585624e-01
+11,1.311666667e+01,DOWN_FORCE_DETACH,1793079238592430069,1.071200077e-04,-1.072578046e-05,-8.471251945e-05,1.000645546e-04,-1.304190762e-05,-7.994372698e-05,1.075956665e-04,-1.231889571e-05,-7.909213822e-05,7.020627179e-01,-3.271083504e-05,8.600586734e-01,7.020556624e-01,-3.502696220e-05,8.600634422e-01,7.028535608e-01,-1.258421714e-04,8.302463121e-01
+12,1.431666667e+01,DOWN_FORCE_DETACH,1793079239804509277,1.121531820e-04,-1.135256333e-05,-1.004069178e-04,1.104217436e-04,-5.543492910e-06,-9.627820839e-05,1.185434603e-04,-5.547109529e-06,-9.521940239e-05,7.020677510e-01,-3.333761791e-05,8.600429790e-01,7.020660196e-01,-2.752854749e-05,8.600471077e-01,7.028645086e-01,-1.190703852e-04,8.302301848e-01
+13,1.555000000e+01,DOWN_FORCE_DETACH,1793079241033845334,1.219571294e-04,-1.168149382e-05,-1.070476112e-04,1.104217436e-04,-5.543492910e-06,-9.627820839e-05,1.189332010e-04,-5.561691797e-06,-9.565179472e-05,7.020775550e-01,-3.366654840e-05,8.600363383e-01,7.020660196e-01,-2.752854749e-05,8.600471077e-01,7.028648983e-01,-1.190849675e-04,8.302297524e-01
+14,1.670000000e+01,DOWN_FORCE_DETACH,1793079242163382585,1.269104109e-04,-1.316457856e-05,-1.257847884e-04,1.165233238e-04,-1.198874615e-05,-1.160439401e-04,1.252616543e-04,-1.142083918e-05,-1.152371856e-04,7.020825083e-01,-3.514963314e-05,8.600176011e-01,7.020721212e-01,-3.397380073e-05,8.600273420e-01,7.028712268e-01,-1.249441149e-04,8.302101670e-01
+15,1.783333333e+01,DOWN_FORCE_DETACH,1793079243277533594,1.337048118e-04,-1.409951106e-05,-1.339966175e-04,1.325169012e-04,-1.379756780e-05,-1.277414485e-04,1.420270274e-04,-1.312504199e-05,-1.268148504e-04,7.020893027e-01,-3.608456564e-05,8.600093893e-01,7.020881148e-01,-3.578262238e-05,8.600156445e-01,7.028879921e-01,-1.266483177e-04,8.301985894e-01
+16,1.913333333e+01,DOWN_FORCE_DETACH,1793079244555004956,1.383412892e-04,-1.460770508e-05,-1.555298481e-04,1.335224529e-04,-1.771924554e-05,-1.480827298e-04,1.432434159e-04,-1.668883042e-05,-1.469421691e-04,7.020939392e-01,-3.659275966e-05,8.599878561e-01,7.020891203e-01,-3.970430012e-05,8.599953032e-01,7.028892085e-01,-1.302121061e-04,8.301784621e-01
+17,2.025000000e+01,DOWN_FORCE_DETACH,1793079245668745716,1.445577032e-04,-1.492506107e-05,-1.686729601e-04,1.421350348e-04,-1.578765279e-05,-1.659202902e-04,1.521155967e-04,-1.496378885e-05,-1.645405448e-04,7.021001556e-01,-3.691011565e-05,8.599747130e-01,7.020977329e-01,-3.777270737e-05,8.599774656e-01,7.028980807e-01,-1.284870646e-04,8.301608637e-01
+18,2.165000000e+01,DOWN_FORCE_DETACH,1793079247061516285,1.570542906e-04,-1.860029898e-05,-1.799061942e-04,1.514874370e-04,-2.002004052e-05,-1.829773865e-04,1.618377254e-04,-1.883800778e-05,-1.815554367e-04,7.021126522e-01,-4.058535356e-05,8.599634797e-01,7.021070853e-01,-4.200509510e-05,8.599604085e-01,7.029078028e-01,-1.323612835e-04,8.301438488e-01
+19,2.285000000e+01,DOWN_FORCE_DETACH,1793079248257311587,1.604682345e-04,-1.836696882e-05,-2.033715708e-04,1.569564086e-04,-2.210390048e-05,-2.036429692e-04,1.676195795e-04,-2.072372384e-05,-2.019590246e-04,7.021160661e-01,-4.035202340e-05,8.599400143e-01,7.021125543e-01,-4.408895506e-05,8.599397429e-01,7.029135847e-01,-1.342469996e-04,8.301234452e-01
+20,2.396666667e+01,DOWN_FORCE_DETACH,1793079249388168194,1.680420136e-04,-2.235918246e-05,-2.189954591e-04,1.569564086e-04,-2.210390048e-05,-2.036429692e-04,1.679083295e-04,-2.073346830e-05,-2.026733333e-04,7.021236399e-01,-4.434423703e-05,8.599243905e-01,7.021125543e-01,-4.408895506e-05,8.599397429e-01,7.029138734e-01,-1.342567440e-04,8.301227309e-01
+21,2.531666667e+01,DOWN_FORCE_DETACH,1793079250714267863,1.760286861e-04,-2.293730706e-05,-2.362531350e-04,1.732508784e-04,-1.733941919e-05,-2.403418165e-04,1.846337109e-04,-1.644040933e-05,-2.384127684e-04,7.021316266e-01,-4.492236164e-05,8.599071328e-01,7.021288487e-01,-3.932447377e-05,8.599030441e-01,7.029305988e-01,-1.299636850e-04,8.300869915e-01
+22,2.655000000e+01,DOWN_FORCE_DETACH,1793079251959308889,1.856650587e-04,-2.022423661e-05,-2.588980360e-04,1.825684575e-04,-2.369748224e-05,-2.573385032e-04,1.944213956e-04,-2.223984349e-05,-2.557085805e-04,7.021412629e-01,-4.220929119e-05,8.598844879e-01,7.021381663e-01,-4.568253682e-05,8.598860474e-01,7.029403865e-01,-1.357631192e-04,8.300696957e-01
+23,2.783333333e+01,DOWN_FORCE_DETACH,1793079253236982780,1.928547362e-04,-2.048043317e-05,-2.871199495e-04,1.883476253e-04,-2.367744701e-05,-2.790170445e-04,2.005862582e-04,-2.230448610e-05,-2.775236569e-04,7.021484526e-01,-4.246548775e-05,8.598562660e-01,7.021439455e-01,-4.566250159e-05,8.598643689e-01,7.029465514e-01,-1.358277618e-04,8.300478806e-01
+24,2.903333333e+01,DOWN_FORCE_DETACH,1793079254432507754,2.023565880e-04,-2.952857523e-05,-3.117623895e-04,1.945909462e-04,-2.499211734e-05,-2.992009974e-04,2.071709330e-04,-2.349551877e-05,-2.978818470e-04,7.021579545e-01,-5.151362981e-05,8.598316235e-01,7.021501888e-01,-4.697717192e-05,8.598441849e-01,7.029531360e-01,-1.370187945e-04,8.300275224e-01
+25,3.015000000e+01,DOWN_FORCE_DETACH,1793079255565142553,2.084251341e-04,-2.702741258e-05,-3.512024187e-04,2.060173550e-04,-2.884848490e-05,-3.387984430e-04,2.189073790e-04,-2.701749219e-05,-3.369757945e-04,7.021640230e-01,-4.901246716e-05,8.597921835e-01,7.021616152e-01,-5.083353948e-05,8.598045875e-01,7.029648725e-01,-1.405407679e-04,8.299884284e-01
+26,3.136666667e+01,DOWN_FORCE_DETACH,1793079256791216800,2.190237708e-04,-3.256186758e-05,-3.908890888e-04,2.148181881e-04,-2.951241371e-05,-3.800873828e-04,2.278791576e-04,-2.770852904e-05,-3.780065440e-04,7.021746216e-01,-5.454692216e-05,8.597524968e-01,7.021704161e-01,-5.149746829e-05,8.597632985e-01,7.029738443e-01,-1.412318048e-04,8.299473977e-01
+27,3.266666667e+01,DOWN_FORCE_DETACH,1793079258069147585,2.300774770e-04,-3.632667462e-05,-4.357526201e-04,2.246660662e-04,-3.309381191e-05,-4.205924721e-04,2.380642925e-04,-3.101068950e-05,-4.186433831e-04,7.021856753e-01,-5.831172920e-05,8.597076333e-01,7.021802639e-01,-5.507886649e-05,8.597227934e-01,7.029840294e-01,-1.445339652e-04,8.299067608e-01
+28,3.380000000e+01,DOWN_FORCE_DETACH,1793079259216250977,2.411031963e-04,-3.872461251e-05,-4.795429897e-04,2.325871301e-04,-3.579534105e-05,-4.634983083e-04,2.462107150e-04,-3.350298224e-05,-4.613695835e-04,7.021967011e-01,-6.070966709e-05,8.596638429e-01,7.021881850e-01,-5.778039563e-05,8.596798876e-01,7.029921758e-01,-1.470262580e-04,8.298640346e-01
+29,3.500000000e+01,DOWN_FORCE_DETACH,1793079260411803696,2.524968226e-04,-3.865404180e-05,-5.245018351e-04,2.474749798e-04,-3.667145658e-05,-5.223447359e-04,2.613292045e-04,-3.434487029e-05,-5.195749718e-04,7.022080947e-01,-6.063909638e-05,8.596188841e-01,7.022030728e-01,-5.865651116e-05,8.596210412e-01,7.030072943e-01,-1.478681460e-04,8.298058293e-01
+30,3.633333333e+01,DOWN_FORCE_DETACH,1793079261738665984,2.658055343e-04,-4.390018213e-05,-5.863412958e-04,2.616208452e-04,-4.344825717e-05,-5.828074838e-04,2.758453186e-04,-4.059184118e-05,-5.796289400e-04,7.022214034e-01,-6.588523671e-05,8.595570446e-01,7.022172187e-01,-6.543331175e-05,8.595605784e-01,7.030218104e-01,-1.541151169e-04,8.297457753e-01
+31,3.761666667e+01,DOWN_FORCE_DETACH,1793079263048759099,2.787424108e-04,-4.946939340e-05,-6.601170512e-04,2.718293623e-04,-4.483607097e-05,-6.452694874e-04,2.861800892e-04,-4.184693194e-05,-6.420045170e-04,7.022343403e-01,-7.145444798e-05,8.594832689e-01,7.022274272e-01,-6.682112555e-05,8.594981164e-01,7.030321452e-01,-1.553702077e-04,8.296833997e-01
+32,3.891666667e+01,DOWN_FORCE_DETACH,1793079264343585741,2.899699432e-04,-4.735570765e-05,-7.297193555e-04,2.877924203e-04,-4.620159826e-05,-7.258891412e-04,3.023097140e-04,-4.313885737e-05,-7.219476631e-04,7.022455678e-01,-6.934076223e-05,8.594136666e-01,7.022433903e-01,-6.818665284e-05,8.594174968e-01,7.030482748e-01,-1.566621331e-04,8.296034566e-01
+33,4.015000000e+01,DOWN_FORCE_DETACH,1793079265571343198,3.032824512e-04,-5.737603748e-05,-8.075029584e-04,3.004528516e-04,-5.106451824e-05,-7.897652923e-04,3.151187571e-04,-4.759733912e-05,-7.859802927e-04,7.022588803e-01,-7.936109206e-05,8.593358830e-01,7.022560507e-01,-7.304957282e-05,8.593536206e-01,7.030610839e-01,-1.611206148e-04,8.295394239e-01
+34,4.120000000e+01,DOWN_FORCE_DETACH,1793079266603788709,3.155740852e-04,-4.742307642e-05,-8.866177719e-04,3.137071800e-04,-5.472103736e-05,-8.685539273e-04,3.283443001e-04,-5.101717280e-05,-8.643308920e-04,7.022711720e-01,-6.940813100e-05,8.592567681e-01,7.022693050e-01,-7.670609194e-05,8.592748320e-01,7.030743094e-01,-1.645404485e-04,8.294610733e-01
+35,4.226666667e+01,DOWN_FORCE_DETACH,1793079267733271129,3.258245395e-04,-5.668391381e-05,-9.661307012e-04,3.246912696e-04,-5.349326858e-05,-9.486733844e-04,3.392914093e-04,-4.995287025e-05,-9.442527982e-04,7.022814224e-01,-7.866896839e-05,8.591772552e-01,7.022802891e-01,-7.547832316e-05,8.591947125e-01,7.030852565e-01,-1.634761460e-04,8.293811514e-01
+36,4.338333333e+01,DOWN_FORCE_DETACH,1793079268831011116,3.397913282e-04,-5.953069881e-05,-1.052638615e-03,3.379752050e-04,-5.825094020e-05,-1.048169706e-03,3.524730209e-04,-5.434754400e-05,-1.043001002e-03,7.022953892e-01,-8.151575339e-05,8.590907473e-01,7.022935731e-01,-8.023599478e-05,8.590952162e-01,7.030984381e-01,-1.678708197e-04,8.292824032e-01
+37,4.456666667e+01,DOWN_FORCE_DETACH,1793079270010670417,3.538357452e-04,-6.261974025e-05,-1.157965575e-03,3.518184123e-04,-6.094401913e-05,-1.155658904e-03,3.661472272e-04,-5.682733003e-05,-1.149816777e-03,7.023094336e-01,-8.460479483e-05,8.589854203e-01,7.023074163e-01,-8.292907370e-05,8.589877270e-01,7.031121123e-01,-1.703506057e-04,8.291755875e-01
+38,4.566666667e+01,DOWN_FORCE_DETACH,1793079271107996395,3.644080667e-04,-6.031267301e-05,-1.266615475e-03,3.610026064e-04,-6.565055117e-05,-1.250470163e-03,3.751992575e-04,-6.111096282e-05,-1.244766098e-03,7.023200059e-01,-8.229772759e-05,8.588767704e-01,7.023166005e-01,-8.763560575e-05,8.588929158e-01,7.031211644e-01,-1.746342385e-04,8.290806381e-01
+39,4.673333333e+01,DOWN_FORCE_DETACH,1793079272271485498,3.791449988e-04,-6.591140720e-05,-1.387587748e-03,3.769772673e-04,-6.812554791e-05,-1.375604291e-03,3.907509403e-04,-6.345480780e-05,-1.368935665e-03,7.023347429e-01,-8.789646178e-05,8.587557982e-01,7.023325751e-01,-9.011060249e-05,8.587677816e-01,7.031367161e-01,-1.769780835e-04,8.289564686e-01
+40,4.783333333e+01,DOWN_FORCE_DETACH,1793079273384787549,3.947952745e-04,-7.258081631e-05,-1.519596774e-03,3.926256177e-04,-6.911389660e-05,-1.508917876e-03,4.060509821e-04,-6.443511083e-05,-1.501575022e-03,7.023503931e-01,-9.456587089e-05,8.586237891e-01,7.023482235e-01,-9.109895118e-05,8.586344680e-01,7.031520161e-01,-1.779583865e-04,8.288238292e-01
+41,4.891666667e+01,DOWN_FORCE_DETACH,1793079274501115567,4.060278132e-04,-7.779450662e-05,-1.670075985e-03,4.080400892e-04,-7.619339861e-05,-1.664966205e-03,4.208290627e-04,-7.099043426e-05,-1.656374785e-03,7.023616257e-01,-9.977956120e-05,8.584733099e-01,7.023636380e-01,-9.817845319e-05,8.584784197e-01,7.031667942e-01,-1.845137100e-04,8.286690294e-01
+42,4.998333333e+01,DOWN_FORCE_DETACH,1793079275563657372,4.188924051e-04,-7.855480220e-05,-1.811623512e-03,4.164514426e-04,-7.642330552e-05,-1.813727230e-03,4.283823091e-04,-7.116067235e-05,-1.804681050e-03,7.023744903e-01,-1.005398568e-04,8.583317624e-01,7.023720493e-01,-9.840836010e-05,8.583296587e-01,7.031743474e-01,-1.846839481e-04,8.285207232e-01
+43,5.103333333e+01,DOWN_FORCE_DETACH,1793079276644670682,4.319609872e-04,-8.429419764e-05,-1.965068088e-03,4.289643390e-04,-7.923206050e-05,-1.962398370e-03,4.401285532e-04,-7.384290542e-05,-1.953313967e-03,7.023875589e-01,-1.062792522e-04,8.581783178e-01,7.023845622e-01,-1.012171151e-04,8.581809875e-01,7.031860937e-01,-1.873661811e-04,8.283720903e-01
+44,5.200000000e+01,DOWN_FORCE_DETACH,1793079277628073811,4.418317133e-04,-7.868857989e-05,-2.123883689e-03,4.415244787e-04,-8.394928610e-05,-2.112023415e-03,4.517774308e-04,-7.818344775e-05,-2.102707843e-03,7.023974296e-01,-1.006736345e-04,8.580195022e-01,7.023971223e-01,-1.059343407e-04,8.580313625e-01,7.031977425e-01,-1.917067235e-04,8.282226964e-01
+45,5.295000000e+01,DOWN_FORCE_DETACH,1793079278561648911,4.585254719e-04,-8.787018684e-05,-2.273659074e-03,4.545367268e-04,-8.463809301e-05,-2.264986963e-03,4.638607053e-04,-7.892960355e-05,-2.255402617e-03,7.024141233e-01,-1.098552414e-04,8.578697268e-01,7.024101346e-01,-1.066231476e-04,8.578783990e-01,7.032098258e-01,-1.924528793e-04,8.280700016e-01
+46,5.383333333e+01,DOWN_FORCE_DETACH,1793079279429330874,4.634697090e-04,-8.282382677e-05,-2.428547477e-03,4.632489303e-04,-8.276529184e-05,-2.429019010e-03,4.713350236e-04,-7.725682396e-05,-2.418446792e-03,7.024190676e-01,-1.048088813e-04,8.577148384e-01,7.024188468e-01,-1.047503464e-04,8.577143669e-01,7.032173001e-01,-1.907800997e-04,8.279069574e-01
+47,5.478333333e+01,DOWN_FORCE_DETACH,1793079280395792489,4.766042897e-04,-8.672671335e-05,-2.610452074e-03,4.751086300e-04,-8.661316513e-05,-2.598578362e-03,4.820371491e-04,-8.068818389e-05,-2.587836588e-03,7.024322022e-01,-1.087117679e-04,8.575329338e-01,7.024307065e-01,-1.085982197e-04,8.575448076e-01,7.032280023e-01,-1.942114596e-04,8.277375676e-01
+48,5.565000000e+01,DOWN_FORCE_DETACH,1793079281264193429,4.897374241e-04,-8.116194012e-05,-2.791222577e-03,4.886357884e-04,-7.822437306e-05,-2.780298817e-03,4.941576189e-04,-7.293614538e-05,-2.768816270e-03,7.024453353e-01,-1.031469947e-04,8.573521633e-01,7.024442337e-01,-1.002094276e-04,8.573630871e-01,7.032401227e-01,-1.864594211e-04,8.275565880e-01
+49,5.656666667e+01,DOWN_FORCE_DETACH,1793079282182058748,5.040113727e-04,-7.829954164e-05,-3.002278110e-03,5.038531859e-04,-7.837466186e-05,-3.002104363e-03,5.079184326e-04,-7.323345381e-05,-2.989246258e-03,7.024596092e-01,-1.002845962e-04,8.571411078e-01,7.024594511e-01,-1.003597164e-04,8.571412816e-01,7.032538835e-01,-1.867567295e-04,8.273361580e-01
+50,5.741666667e+01,DOWN_FORCE_DETACH,1793079283017258525,5.108361066e-04,-8.124536509e-05,-3.209166264e-03,5.108950269e-04,-8.128665813e-05,-3.193717181e-03,5.135897242e-04,-7.605346780e-05,-3.180900813e-03,7.024664340e-01,-1.032304197e-04,8.569342197e-01,7.024664929e-01,-1.032717127e-04,8.569496687e-01,7.032595548e-01,-1.895767435e-04,8.271445034e-01
+51,5.825000000e+01,DOWN_FORCE_DETACH,1793079283836048033,5.252270099e-04,-8.689870001e-05,-3.423779754e-03,5.200418475e-04,-8.168772572e-05,-3.409597756e-03,5.209190983e-04,-7.643232747e-05,-3.396089871e-03,7.024808249e-01,-1.088837546e-04,8.567196062e-01,7.024756397e-01,-1.036727803e-04,8.567337882e-01,7.032668842e-01,-1.899556032e-04,8.269293144e-01
+52,5.903333333e+01,DOWN_FORCE_DETACH,1793079284605802537,5.346380587e-04,-8.100675603e-05,-3.633148945e-03,5.346345520e-04,-8.109939840e-05,-3.632836867e-03,5.339007236e-04,-7.591389814e-05,-3.618053565e-03,7.024902359e-01,-1.029918106e-04,8.565102370e-01,7.024902324e-01,-1.030844530e-04,8.565105490e-01,7.032798658e-01,-1.894371739e-04,8.267073507e-01
+53,5.978333333e+01,DOWN_FORCE_DETACH,1793079285359405601,5.463877187e-04,-8.830704104e-05,-3.854383757e-03,5.480490236e-04,-8.734190151e-05,-3.836573486e-03,5.458168339e-04,-8.171713405e-05,-3.821739419e-03,7.025019856e-01,-1.102920956e-04,8.562890022e-01,7.025036469e-01,-1.093269561e-04,8.563068124e-01,7.032917819e-01,-1.952404098e-04,8.265036648e-01
+54,6.048333333e+01,DOWN_FORCE_DETACH,1793079286080295755,5.486294549e-04,-9.194342503e-05,-4.092475203e-03,5.514650189e-04,-9.129379285e-05,-4.075643979e-03,5.469438142e-04,-8.531001572e-05,-4.059287752e-03,7.025042273e-01,-1.139284796e-04,8.560509107e-01,7.025070629e-01,-1.132788474e-04,8.560677419e-01,7.032929089e-01,-1.988332914e-04,8.262661165e-01
+55,6.115000000e+01,DOWN_FORCE_DETACH,1793079286734967970,5.551828498e-04,-8.762442765e-05,-4.315429570e-03,5.565849980e-04,-8.845306405e-05,-4.308556519e-03,5.497807436e-04,-8.257468848e-05,-4.291190133e-03,7.025107807e-01,-1.096094822e-04,8.558279563e-01,7.025121829e-01,-1.104381186e-04,8.558348294e-01,7.032957459e-01,-1.960979642e-04,8.260342141e-01
+56,6.180000000e+01,DOWN_FORCE_DETACH,1793079287373842119,5.729488435e-04,-9.320366795e-05,-4.546540289e-03,5.698809168e-04,-9.299960733e-05,-4.543557661e-03,5.609686069e-04,-8.683661694e-05,-4.525489005e-03,7.025285467e-01,-1.151887225e-04,8.555968456e-01,7.025254788e-01,-1.149846619e-04,8.555998283e-01,7.033069337e-01,-2.003598927e-04,8.257999152e-01
+57,6.240000000e+01,DOWN_FORCE_DETACH,1793079287980413174,5.792213400e-04,-9.855050126e-05,-4.787537573e-03,5.790778278e-04,-9.848236023e-05,-4.787297639e-03,5.678997216e-04,-9.198449498e-05,-4.767947092e-03,7.025348192e-01,-1.205355558e-04,8.553558483e-01,7.025346757e-01,-1.204674148e-04,8.553560883e-01,7.033138648e-01,-2.055077707e-04,8.255574571e-01
+58,6.291666667e+01,DOWN_SETTLE,1793079288488381962,5.813254895e-04,-8.949995794e-05,-5.002269479e-03,5.812935463e-04,-8.951508345e-05,-5.001911088e-03,5.681512318e-04,-8.386414039e-05,-4.981845115e-03,7.025369234e-01,-1.114850125e-04,8.551411164e-01,7.025368914e-01,-1.115001380e-04,8.551414748e-01,7.033141163e-01,-1.973874161e-04,8.253435591e-01
+59,6.380000000e+01,DOWN_PEAK_HOLD,1793079289371960778,5.399342471e-04,-9.429281366e-05,-5.169973113e-03,5.384735291e-04,-9.208035318e-05,-5.171198100e-03,5.219963198e-04,-8.623252114e-05,-5.156724854e-03,7.024955321e-01,-1.162778682e-04,8.549734128e-01,7.024940714e-01,-1.140654078e-04,8.549721878e-01,7.032679614e-01,-1.997557969e-04,8.251686794e-01

Fixed/digit/cylinder_PLA_17.5/press_depth_07/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.0990e-01,9.5174e-01,2.4522e+00,-1.0651e-01,5.9114e-02,2.3681e-03,2.7692e-02,-3.1197e-03,5.3372e-03,1.8708e-04,1.7518e-03,-2.2558e-05,2.8374e-02,1.7619e-03
+1,1.1333e+00,DOWN_FORCE_DETACH,2.7482e-04,4.1137e-01,9.4252e-01,2.4419e+00,-1.0594e-01,6.6645e-02,1.4475e-03,1.2917e-01,-1.2343e-02,-5.0211e-03,7.6053e-04,9.2826e-03,-9.4312e-04,1.2985e-01,9.3614e-03
+2,2.3667e+00,DOWN_FORCE_DETACH,5.5321e-04,4.6856e-01,9.3852e-01,2.4349e+00,-1.0571e-01,7.0776e-02,9.9923e-04,1.8635e-01,-1.6342e-02,-1.1931e-02,9.9351e-04,1.3414e-02,-1.3914e-03,1.8745e-01,1.3522e-02
+3,3.6333e+00,DOWN_FORCE_DETACH,8.2774e-04,4.9583e-01,9.3504e-01,2.4311e+00,-1.0546e-01,7.2725e-02,7.6128e-04,2.1363e-01,-1.9818e-02,-1.5743e-02,1.2447e-03,1.5363e-02,-1.6293e-03,2.1512e-01,1.5499e-02
+4,4.9500e+00,DOWN_FORCE_DETACH,1.1025e-03,5.0678e-01,9.3416e-01,2.4293e+00,-1.0540e-01,7.3525e-02,6.4099e-04,2.2457e-01,-2.0699e-02,-1.7555e-02,1.3037e-03,1.6163e-02,-1.7496e-03,2.2620e-01,1.6309e-02
+5,6.1000e+00,DOWN_FORCE_DETACH,1.3688e-03,4.0215e-01,8.8482e-01,2.4475e+00,-1.0181e-01,6.5908e-02,7.0816e-04,1.1995e-01,-7.0038e-02,6.6519e-04,4.8931e-03,8.5456e-03,-1.6825e-03,1.3890e-01,9.9901e-03
+6,7.1333e+00,DOWN_FORCE_DETACH,1.6533e-03,2.4932e-01,1.0372e+00,2.4991e+00,-1.1271e-01,5.4845e-02,1.0927e-03,-3.2888e-02,8.2319e-02,5.2256e-02,-6.0126e-03,-2.5172e-03,-1.2979e-03,1.0290e-01,6.6462e-03
+7,8.4000e+00,DOWN_FORCE_DETACH,1.9284e-03,3.4382e-01,1.1147e+00,2.6498e+00,-1.1795e-01,6.1281e-02,1.1191e-03,6.1618e-02,1.5984e-01,2.0295e-01,-1.1252e-02,3.9185e-03,-1.2715e-03,2.6559e-01,1.1982e-02
+8,9.6333e+00,DOWN_FORCE_DETACH,2.2078e-03,4.4751e-01,1.1087e+00,2.5354e+00,-1.1756e-01,6.9114e-02,9.5904e-04,1.6531e-01,1.5386e-01,8.8558e-02,-1.0857e-02,1.1752e-02,-1.4316e-03,2.4257e-01,1.6064e-02
+9,1.0750e+01,DOWN_FORCE_DETACH,2.4802e-03,4.8790e-01,1.1067e+00,2.4870e+00,-1.1749e-01,7.2040e-02,8.1275e-04,2.0570e-01,1.5185e-01,4.0146e-02,-1.0783e-02,1.4678e-02,-1.5779e-03,2.5881e-01,1.8282e-02
+10,1.2017e+01,DOWN_FORCE_DETACH,2.7589e-03,4.3955e-01,9.8902e-01,2.5400e+00,-1.0892e-01,6.8447e-02,7.2622e-04,1.5734e-01,3.4166e-02,9.3113e-02,-2.2215e-03,1.1085e-02,-1.6644e-03,1.8600e-01,1.1427e-02
+11,1.3117e+01,DOWN_FORCE_DETACH,3.0379e-03,3.9529e-01,1.1221e+00,2.5515e+00,-1.1849e-01,6.5171e-02,9.0759e-04,1.1308e-01,1.6727e-01,1.0462e-01,-1.1789e-02,7.8090e-03,-1.4830e-03,2.2740e-01,1.4219e-02
+12,1.4317e+01,DOWN_FORCE_DETACH,3.3110e-03,3.9474e-01,9.7205e-01,2.5870e+00,-1.0762e-01,6.5144e-02,8.0700e-04,1.1254e-01,1.7190e-02,1.4017e-01,-9.1392e-04,7.7823e-03,-1.5836e-03,1.8057e-01,7.9942e-03
+13,1.5550e+01,DOWN_FORCE_DETACH,3.5831e-03,4.6234e-01,9.7050e-01,2.5108e+00,-1.0758e-01,7.0172e-02,7.5948e-04,1.8013e-01,1.5642e-02,6.3879e-02,-8.7502e-04,1.2809e-02,-1.6311e-03,1.9176e-01,1.2942e-02
+14,1.6700e+01,DOWN_FORCE_DETACH,3.8604e-03,4.6610e-01,1.0896e+00,2.5523e+00,-1.1607e-01,7.0438e-02,7.9197e-04,1.8390e-01,1.3476e-01,1.0546e-01,-9.3687e-03,1.3076e-02,-1.5986e-03,2.5120e-01,1.6165e-02
+15,1.7833e+01,DOWN_FORCE_DETACH,4.1349e-03,3.9047e-01,1.1174e+00,2.5548e+00,-1.1804e-01,6.4860e-02,8.4209e-04,1.0827e-01,1.6251e-01,1.0788e-01,-1.1342e-02,7.4974e-03,-1.5485e-03,2.2309e-01,1.3684e-02
+16,1.9133e+01,DOWN_FORCE_DETACH,4.4118e-03,4.6401e-01,1.1888e+00,2.5962e+00,-1.2306e-01,7.0159e-02,8.3579e-04,1.8180e-01,2.3395e-01,1.4928e-01,-1.6361e-02,1.2797e-02,-1.5548e-03,3.3177e-01,2.0829e-02
+17,2.0250e+01,DOWN_FORCE_DETACH,4.6865e-03,4.2399e-01,1.1487e+00,2.6331e+00,-1.2007e-01,6.7196e-02,7.7011e-04,1.4178e-01,1.9383e-01,1.8625e-01,-1.3369e-02,9.8340e-03,-1.6205e-03,3.0391e-01,1.6675e-02
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+41,4.8917e+01,DOWN_FORCE_DETACH,1.1308e-02,4.6204e-01,2.1187e+00,3.9685e+00,-1.8001e-01,6.7274e-02,5.7864e-04,1.7984e-01,1.1639e+00,1.5217e+00,-7.3311e-02,9.9122e-03,-1.8120e-03,1.9241e+00,7.4000e-02
+42,4.9983e+01,DOWN_FORCE_DETACH,1.1583e-02,5.1261e-01,2.1332e+00,4.0060e+00,-1.7995e-01,7.0682e-02,5.6017e-04,2.3041e-01,1.1783e+00,1.5591e+00,-7.3247e-02,1.3320e-02,-1.8304e-03,1.9678e+00,7.4470e-02
+43,5.1033e+01,DOWN_FORCE_DETACH,1.1860e-02,5.1922e-01,2.1903e+00,4.0571e+00,-1.8349e-01,7.1013e-02,5.3907e-04,2.3702e-01,1.2355e+00,1.6102e+00,-7.6790e-02,1.3651e-02,-1.8515e-03,2.0434e+00,7.8015e-02
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Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/camera_frames_60hz.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e690ce0716a56c2bbd27f8174253a12f9b8a9a07386807064345544f200230ab
+size 604160

Fixed/digit/cylinder_PLA_17.5/press_depth_07/up/franka_data.csv

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