Upload Fixed (part 20)

Fixed/digit/ball_PLA_12.5/press_depth_09/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+9675,1792843702561683188,22382141000000,1792843702556181519,XJC_ZERO_HOLD_BEFORE_DOWN,9,0.0596,0.059600379317998886,0.675940036536337,-0.004888025510110794,0.10681340961555677,0.9999999584315811,-0.00013604019612554967,-0.00023406828932720036,3.5844127084033724e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.01257852788163727,-0.016725578729943624,-0.04598567181064728,-0.0010313239469673524,0.00022780455699083352,1.3721953694992729e-05,0.7296441575874546,1.0563741443351435,1.4177809200364269,0.083172352775037,-0.0606555108754408,-0.0031004451341199923,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,-0.1950819741056678,1.465646254209052,0.5716898772594141,-0.15668730500750971,-0.4796712774757222,0.883208194803155,-0.8466464348486994,0.04598567181064728,-1.4183363121081136,0.0,0.0,0,0,0.0,0.0
+9784,1792843703463740553,22383043000000,1792843703460181804,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6759395680518793,-0.004886815885807998,0.10681090210007166,0.9999999580390004,-0.00013776978978163784,-0.0002348893430148181,3.4804355590915804e-05,0.6761,-0.0046,0.10698745065228014,1.0,0.0,0.0,0.0,-0.025560562648340057,-0.025567195907896023,-0.0747771808318567,-0.0021735719093985,0.0012674679949659998,4.460235517487121e-05,0.7166621228207518,1.0475325271571911,1.3889894110152174,0.08203010481260585,-0.05961584743746563,-0.003069564732640114,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,-0.10126969497238567,1.4046438179023077,0.5334261881962796,-0.14028660610149235,-0.43032661428277463,0.8438766705619125,-0.8466464348486994,0.0747771808318567,-1.380072623044979,-1.380072623044979,0.1063499999999988,0,0,-3.544999333945776e-05,-9.999999025923074e-05
+9910,1792843704513686149,22384093000000,1792843704512181486,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6759476510227294,-0.004888022916215181,0.10681155483791209,0.9999999617903681,-0.0001397953588225912,-0.00021651133234282724,3.797666560222141e-05,0.6761,-0.0046,0.10692269191464843,1.0,0.0,0.0,0.0,-0.06287368478637245,-0.017036707790832883,-0.10264711428962903,-0.0011907531261961396,0.0032696083068854687,0.0001086152527031317,0.6793490006827194,1.0560630152742543,1.3611194775574451,0.08301292359580821,-0.057613707125546164,-0.0030055518351118533,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,0.39807313103232034,1.3776434536262312,0.24600527678938516,-0.11876945738000205,-0.12346143777154653,0.8219729671404126,-0.8466464348486994,0.10264711428962903,-1.0926517116380845,-1.0926517116380845,0.2638500000000063,0,0,-8.794998311165004e-05,-9.999999025923074e-05
+9996,1792843705230660431,22384810000000,1792843705228183627,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.675981923304736,-0.004889811729844928,0.10679517045112438,0.9999999768176802,-0.00013135307724040018,-0.000132643914074312,5.4400962888060905e-05,0.6761,-0.0046,0.10684679747926468,1.0,0.0,0.0,0.0,-0.2113609394712156,0.045987047876804965,0.04902206586777047,0.004801431788519578,0.014831773759204706,0.0012434424375453372,0.5308617459978763,1.1190867709418921,1.5127886577148446,0.08900510851052393,-0.04605154167322693,-0.0018707246502696478,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,0.8293852554039419,1.4239692755483122,-0.09958347257869882,-0.10756469818928918,0.18156670804328662,0.8457630309898128,-0.8466464348486994,-0.04902206586777047,-0.7470629622700006,-0.7470629622700006,0.37139999999999446,0,0,-0.00012379997612751848,-9.999999025923074e-05
+10085,1792843705971650425,22385551000000,1792843705968181714,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6760258791808915,-0.004891915972288179,0.10674031817985548,0.9999999808569751,-0.00011797455699114255,-9.859905322746139e-05,7.803296980161952e-05,0.6761,-0.0046,0.10674135319963203,1.0,0.0,0.0,0.0,-0.3045632662661566,0.20808465366068574,0.1490015847296069,0.018287251615746403,0.022423103392967082,0.002303707038924128,0.4376594192029353,1.281184376725773,1.612768176576681,0.10249092833775075,-0.03846021203946455,-0.0008104600488908571,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,0.9525421576371542,1.3648826542582453,-0.2431221662059335,-0.0391058865354649,0.28016872751066846,0.7998481889238848,-0.8466464348486994,-0.1490015847296069,-0.6035242686427659,-0.6035242686427659,0.4825499999999822,0,0,-0.00016084996890960846,-9.999999025923074e-05
+10154,1792843706546689730,22386126000000,1792843706544181678,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6760564241592573,-0.004893435571823823,0.10671281449452302,0.9999999839889271,-0.00011678065349873957,-3.662496968892138e-05,9.211894848194805e-05,0.6761,-0.0046,0.10664061321912208,1.0,0.0,0.0,0.0,-0.40713309332406517,0.21569881167612048,0.7151420739123009,0.018300088297651312,0.02849048798162713,0.002074464462268434,0.3350895921450267,1.2887985347412076,2.178908665759375,0.10250376501965566,-0.032392827450804504,-0.0010397026255465512,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,1.3611206371526385,1.2655515722587634,-0.8965883732316275,-0.004901508887154367,0.7925001731580719,0.7279068166645388,-0.8466464348486994,-0.7151420739123009,0.04994193838292815,0.04994193838292815,0.5687999999999728,0,0,-0.00018959996330866614,-9.999999025923074e-05
+10246,1792843707313663204,22386893000000,1792843707312180922,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6760997152819653,-0.004895717757797569,0.10664973648158996,0.9999999830129674,-0.00010447637178944909,3.4221570327081883e-05,0.00011545778946050239,0.6761,-0.0046,0.10648249330553036,1.0,0.0,0.0,0.0,-0.5985039408239331,0.28573750845185675,1.2705315237321084,0.02539272901390298,0.04093856907735003,0.002920302942304877,0.1437187446451588,1.358837231516944,2.7342981155791826,0.10959640573590733,-0.019944746355081602,-0.00019386414551010806,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,1.6031489696307522,1.2504323878218022,-1.449522272682738,0.003666390725832408,1.1875210143475594,0.7184491389579479,-0.8466464348486994,-1.2705315237321084,0.6028758378340385,0.6028758378340385,0.6838499999999601,0,0,-0.0002094707338875804,9.999999025923074e-05
+10348,1792843708163595623,22387743000000,1792843708160181613,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.676138028766097,-0.0048987404045613085,0.10656515648291053,0.9999999759715587,-0.00012530628618161554,9.893699514628568e-05,0.0001183619534547934,0.6761,-0.0046,0.10632248442820293,1.0,0.0,0.0,0.0,-0.7369740839680676,0.4010334443829946,1.8731457438443506,0.03445964177297514,0.05076268427497591,0.003705402586430669,0.005248601501024292,1.4741331674480818,3.3369123356914248,0.11866331849497949,-0.01012063115745572,0.0005912354986156835,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,1.8657197768345857,1.204675382664917,-2.1260316059307938,0.003043627008188869,1.6735304446462853,0.6842451372884114,-0.8466464348486994,-1.8731457438443506,1.2793851710820943,1.2793851710820943,0.8113499999999461,0,0,-0.00016697074216723428,9.999999025923074e-05
+10446,1792843708980591702,22388560000000,1792843708980182059,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.676170210372354,-0.004894240051123041,0.10650570459271161,0.9999999659775142,-0.0001679578902572802,0.00015320071810232596,8.83601817039959e-05,0.6761,-0.0046,0.10620273612859739,1.0,0.0,0.0,0.0,-0.8070105046681681,0.5097610725943338,2.2602877387925955,0.04278527082050407,0.05558287378099538,0.004588566094412658,-0.0647878191990763,1.582860795659421,3.7240543306396696,0.12698894754250842,-0.005300441651436257,0.0014743990065976726,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.0107168849886508,1.2346274618393043,-2.4906789764392787,0.006602765870423184,1.92979699084514,0.7042875459001993,-0.8466464348486994,-2.2602877387925955,1.6440325415905792,1.6440325415905792,0.9338999999999326,0,0,-0.00012612075012544276,9.999999025923074e-05
+10568,1792843709996623872,22389576000000,1792843709992181866,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6761918637506619,-0.00489398323006143,0.10644367361463157,0.9999999591002786,-0.00016904067049440205,0.0001892577678494943,9.406941245164244e-05,0.6761,-0.0046,0.1061003784414375,1.0,0.0,0.0,0.0,-0.8781476002000153,0.5511102865929636,2.5830127551865356,0.04627785413668467,0.06110982179302555,0.005442183462525101,-0.13592491473092339,1.6242100096580507,4.04677934703361,0.13048153085868902,0.00022650636059391716,0.0023280163747101163,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.075459207168879,1.2334008912257275,-2.8638287809266596,0.0037103289941136605,2.1770289300601053,0.7017969963614896,-0.8466464348486994,-2.5830127551865356,2.01718234607796,2.01718234607796,1.0862999999999796,0,0,-7.532076002206433e-05,9.999999025923074e-05
+10694,1792843711046576828,22390626000000,1792843711040182506,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762035991323119,-0.004907760506973158,0.106407137857299,0.9999999527012747,-0.00017984595045355804,0.00020811432627867172,0.00010190276609145869,0.6761,-0.0046,0.10604882788803963,1.0,0.0,0.0,0.0,-0.906193127732734,0.5681067719670498,2.723838570535942,0.04746649973480313,0.06247710732082047,0.005395353789216283,-0.16397044226364213,1.641206495032137,4.187605162383016,0.13167017645680748,0.0015937918883888419,0.0022811867014012983,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.171483064460201,1.254926783012603,-2.979731214814266,-0.006007924857688352,2.2788586087554354,0.7175158197465312,-0.8466464348486994,-2.723838570535942,2.1330847799655666,2.1330847799655666,1.2438000000000788,0,0,-2.282077024987205e-05,9.999999025923074e-05
+10792,1792843711863571717,22391443000000,1792843711860181352,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6762071116653401,-0.004897707766803161,0.10640095973358171,0.9999999534874338,-0.00017203278489344808,0.00021245000029013596,9.867985056035419e-05,0.6761,-0.0046,0.10604273412064699,1.0,0.0,0.0,0.0,-0.9055710437434465,0.545928677937793,2.7134566709809675,0.046581479676141846,0.06249651311451321,0.005393828134378902,-0.16334835827435465,1.6190284010028801,4.177223262828042,0.1307851563981462,0.0016131976820815757,0.0022796610465639165,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.1133362604486168,1.1991422325562242,-2.8743325573563916,0.01358031757401475,2.198046941589423,0.6794074522035969,-0.8466464348486994,-2.7134566709809675,2.027686122507692,2.027686122507692,1.366350000000156,0,0,-6.019581508254213e-07,6.080385361872942e-06
+10928,1792843712996548823,22392576000000,1792843712992181317,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762021669453184,-0.004900984716690222,0.10638729164941431,0.9999999543388752,-0.0001769087090570454,0.00020327209337272175,0.00010074163216597235,0.6761,-0.0046,0.10604261414399163,1.0,0.0,0.0,0.0,-0.8862664036088514,0.5376688818001025,2.6737873492219375,0.045586874252862036,0.06187131100015408,0.005402078399631113,-0.14404371813975964,1.6107686048651897,4.137553941069012,0.1297905509748664,0.0009879955677224478,0.002287911311816128,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.141033126729561,1.1859318680976236,-2.973819132094041,0.011006257101687737,2.2743278584922386,0.6683125609248761,-0.8466464348486994,-2.6737873492219375,2.1271726972453413,2.1271726972453413,1.5363000000002631,0,0,-2.0556718827169362e-09,2.0764362451686225e-08
+11036,1792843713896502970,22393476000000,1792843713896180550,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6762001983726781,-0.004901781315771779,0.10637891992577748,0.9999999549656138,-0.00017648341046316762,0.0001990699240474313,0.0001036166287651104,0.6761,-0.0046,0.10604261373737892,1.0,0.0,0.0,0.0,-0.8854846020067957,0.5196357235330706,2.6532589293058564,0.04462694491204994,0.06153561155837462,0.005406929728464211,-0.14326191653770384,1.5927354465981578,4.1170255211529305,0.1288306216340543,0.0006522961259429898,0.002292762640649226,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.057556046522155,1.2754917454057184,-2.8485000809370993,-0.018137211246018064,2.170159306621774,0.7267873894820782,-0.8466464348486994,-2.6532589293058564,2.0018536460883998,2.0018536460883998,1.6713000000003482,0,0,-2.2586932324486497e-11,2.2815083156046967e-10
+11164,1792843714963475188,22394543000000,1792843714960182104,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6762013437165862,-0.004897056149023443,0.10637827686391634,0.9999999560215659,-0.00017097211459663248,0.00019977453071925639,0.00010128377683846588,0.6761,-0.0046,0.10604261373240828,1.0,0.0,0.0,0.0,-0.8761100572275156,0.5181451717752852,2.632517088370056,0.044608664766545125,0.060527071595745226,0.0054082970503154335,-0.13388737175842375,1.5912448948403723,4.09628368021713,0.12881234148854948,-0.0003562438366864036,0.002294129962500448,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.0236744619178313,1.2350454745690251,-2.8439867260297587,-5.112721458780983e-05,2.161106678803748,0.7003340391735292,-0.8466464348486994,-2.632517088370056,1.9973402911810592,1.9973402911810592,1.831350000000449,0,0,-1.3739009929736312e-12,1.3877787807814457e-11
+11282,1792843715946358137,22395526000000,1792843715944182163,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6761998255741449,-0.004899991608317861,0.10637423339947978,0.9999999557138144,-0.00017649631198617485,0.0001964711487316948,0.00010130830653360002,0.6761,-0.0046,0.10604206449624552,1.0,0.0,0.0,0.0,-0.8725200739298768,0.5149849376637559,2.621302227914537,0.043590704871376895,0.06054913263402354,0.005406023018088455,-0.13029738846078492,1.588084660728843,4.085068819761611,0.12779438159338125,-0.0003341827984080915,0.0022918559302734696,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,1.9842915470945934,1.2012522615628092,-2.7495639891211776,0.009075419279758195,2.090557897661971,0.6777277695176658,-0.8466464348486994,-2.621302227914537,1.902917554272478,1.902917554272478,1.978800000000542,0,0,-3.6875574774538676e-06,-9.999999025923074e-05
+11406,1792843716980345605,22396560000000,1792843716976182680,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6761997513964265,-0.004903479637248323,0.1063688203694547,0.9999999550936635,-0.0001765725683017393,0.00019843753580832277,0.00010344180882400151,0.6761,-0.0046,0.10602562394128802,1.0,0.0,0.0,0.0,-0.8765371045897388,0.5135920750334384,2.641990440157314,0.04358683184211898,0.06054391867339949,0.005389068596304582,-0.13431441912064684,1.5866917980985256,4.105757032004388,0.12779050856412333,-0.00033939675903214226,0.002274901508489598,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.072296556599203,1.2095480086767725,-2.960482232927903,0.008503664631487093,2.2484235894310394,0.6811886201554399,-0.8466464348486994,-2.641990440157314,2.1138357980792035,2.1138357980792035,2.1339000000006396,0,0,-3.466961051992878e-05,3.234020022563302e-06
+11516,1792843717896378682,22397476000000,1792843717896181365,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6762110994229208,-0.004901504501952453,0.10635344420323256,0.9999999512310859,-0.00017555176249181356,0.0002159481572395493,0.00010737160727023183,0.6761,-0.0046,0.10598042612820113,1.0,0.0,0.0,0.0,-0.9235356961092521,0.5171632454726498,2.7807783726730992,0.04554512717326076,0.06250377897675431,0.0053245592548308955,-0.18131301064016023,1.590262968537737,4.244544964520173,0.1297488038952651,0.0016204635443226778,0.002210392167015911,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.160607893906561,1.1726915650406555,-2.9937524360143546,0.01818453161393553,2.282902096925406,0.6567976354156574,-0.8466464348486994,-2.7807783726730992,2.147106001165655,2.147106001165655,2.271300000000726,0,0,-5.845253235189774e-05,-9.62866689421304e-05
+11638,1792843718913398762,22398493000000,1792843718912181234,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762234643605372,-0.004897335234476852,0.10632778152814922,0.9999999473047888,-0.0001737492997981559,0.0002344549511578049,0.00010805248930731769,0.6761,-0.0046,0.10591746798151229,1.0,0.0,0.0,0.0,-0.959749678562945,0.5479555209630564,2.955362851644841,0.04848984638174986,0.06544671587957167,0.006206086443404127,-0.21752699309385318,1.6210552440281436,4.419129443491915,0.1326935231037542,0.00456340044714003,0.0030919193555891417,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.285797645533063,1.143550831994051,-3.2435073409913073,0.026942090473822924,2.4718217415777404,0.6405014637447741,-0.8466464348486994,-2.955362851644841,2.396860906142608,2.396860906142608,2.4238500000008223,0,0,-6.048014230122944e-05,8.778044543878422e-05
+11762,1792843719946375621,22399526000000,1792843719944180733,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762344311080944,-0.004895811290858192,0.10630185729822304,0.9999999421787775,-0.0001765501695627766,0.0002531538138509613,0.00010875886165420315,0.6761,-0.0046,0.10586903476043283,1.0,0.0,0.0,0.0,-1.001215151285734,0.5710342597146085,3.1262221981363076,0.04999851874080441,0.068334763569815,0.006213549469237439,-0.2589924658166421,1.6441339827796957,4.589988789983382,0.13420219546280876,0.00745144813738336,0.0030993823814224543,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.3158679958492607,1.132948102834143,-3.431195023610517,0.03487186772012967,2.5965869061441382,0.6341324736112175,-0.8466464348486994,-3.1262221981363076,2.5845485887618174,2.5845485887618174,2.57880000000092,0,0,-3.48718715056665e-05,9.999950453665746e-05
+11905,1792843721138357956,22400718000000,1792843721136182474,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762397940142244,-0.004901679628707289,0.1062734683707375,0.9999999368007519,-0.00018785595050196008,0.0002650490069718176,0.00011090771839084,0.6761,-0.0046,0.10583668949304105,1.0,0.0,0.0,0.0,-1.020043267148789,0.5980672113448777,3.2447615333275355,0.05139897231556248,0.06937467894054507,0.006145568859565708,-0.27782058167969703,1.6711669344099649,4.70852812517461,0.13560264903756683,0.008491363508113433,0.003031401771750723,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.2994374295772007,1.217776061322136,-3.4525527841137684,0.016237347972223395,2.6009990074310982,0.6875104626253215,-0.8466464348486994,-3.2447615333275355,2.605906349265069,2.605906349265069,2.7576000000010326,0,0,-3.433522496462527e-05,-9.999999025923074e-05
+12013,1792843722038290941,22401618000000,1792843722032184134,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762494807661535,-0.004903523615865001,0.10624862457272723,0.9999999311664389,-0.00018893296273576703,0.00028327458635620445,0.0001147598617947448,0.6761,-0.0046,0.10579592798044468,1.0,0.0,0.0,0.0,-1.0418884573771592,0.6139504839706713,3.34688922451969,0.052735237568607485,0.07135291040884142,0.006107845140483596,-0.29966577190806737,1.6870502070357585,4.810655816366764,0.13693891429061184,0.010469594976409792,0.0029936780526686113,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.4013172103352085,1.1517561898649897,-3.618851154347424,0.0427036200688966,2.732295735945153,0.6471486848878751,-0.8466464348486994,-3.34688922451969,2.7722047194987245,2.7722047194987245,2.8926000000011176,0,0,-5.801549189251987e-05,-9.999999025923074e-05
+12127,1792843722988235140,22402568000000,1792843722988182703,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762626361992882,-0.004911722373482436,0.1062131674480956,0.9999999206490315,-0.00020206145987904198,0.00030981817469184574,0.00011544981524717356,0.6761,-0.0046,0.10572986726917805,1.0,0.0,0.0,0.0,-1.062883639419221,0.6489152124447053,3.4788319771407803,0.05529265742460224,0.07394073638835195,0.006637067935413039,-0.32066095395012895,1.7220149355097925,4.942598568987854,0.1394963341466066,0.013057420955920324,0.003522900847598053,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.489411660485739,1.2720412063558548,-3.8007971218284404,0.012330847127902837,2.8636828191073045,0.7287202684586195,-0.8466464348486994,-3.4788319771407803,2.954150686979741,2.954150686979741,3.0351000000012074,0,0,-7.695183152775365e-05,-9.999932412541596e-05
+12235,1792843723888298951,22403468000000,1792843723884181981,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6762712877060888,-0.004911394245659125,0.10616285701132334,0.9999999138871418,-0.00021458689581577161,0.0003244078019571655,0.00011126821315406378,0.6761,-0.0046,0.10566715385488254,1.0,0.0,0.0,0.0,-1.0741228611064773,0.681942249310866,3.6503673112518653,0.05726321420810154,0.07524420697021582,0.006996681417052754,-0.3319001756373854,1.7550419723759532,5.1141339030989394,0.1414668909301059,0.014360891537784186,0.0038825143292377687,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.5488256501376885,1.2448870757938795,-3.9868291491506604,0.025563725120946006,2.9929515570540843,0.7105811245383515,-0.8466464348486994,-3.6503673112518653,3.140182714301961,3.140182714301961,3.1701000000012924,0,0,-6.114476260446621e-05,9.375000361989123e-05
+12353,1792843724871165197,22404451000000,1792843724868182210,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.676279654020693,-0.004912502415152224,0.10612278742168255,0.9999999081665288,-0.00022242640058421626,0.0003383367346413013,0.00010566242599346506,0.6761,-0.0046,0.10561112192135928,1.0,0.0,0.0,0.0,-1.057378230750467,0.7061006627914044,3.730211009564485,0.058298967971042115,0.07520594284208851,0.0069501791247549285,-0.3151555452813752,1.7792003858564915,5.193977601411559,0.14250264469304647,0.014322627409656874,0.0038360120369399435,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.5224612653964646,1.2272261384212415,-4.037396092505566,0.05126333906063105,3.018603724619015,0.7028669187596677,-0.8466464348486994,-3.730211009564485,3.1907496576568666,3.1907496576568666,3.3175500000013853,0,0,-6.277710498245182e-05,-9.999999025923074e-05
+12465,1792843725805245604,22405385000000,1792843725800183163,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.676290685170423,-0.004913654349062571,0.10607760641490699,0.999999925384216,-5.157763251822997e-05,0.0003570639501369294,0.00010256466360957109,0.6761,-0.0046,0.10553850227374544,1.0,0.0,0.0,0.0,-1.084912190298359,0.73566706517161,3.84245894882089,0.06023745079543669,0.07716938208186067,0.006911431650977136,-0.34268950482926713,1.8087667882366971,5.306225540667964,0.14444112751744104,0.01628606664942904,0.0037972645631621513,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.670859042759723,1.2162733675902957,-4.205563398556332,0.01653926946553824,3.1704746912769233,0.6233583914127361,-0.8466464348486994,-3.84245894882089,3.358916963707632,3.358916963707632,3.4576500000014736,0,0,-9.302943955044463e-05,-8.561896610992931e-05
+12573,1792843726705231893,22406285000000,1792843726704181346,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6763054216390376,-0.0049191005628871284,0.10601924866344732,0.9999999143979053,-6.323090421599098e-05,0.00038284782503772907,0.00010989286678850733,0.6761,-0.0046,0.10545457510080646,1.0,0.0,0.0,0.0,-1.1135998231206719,0.7595851801858977,4.035844659687815,0.06216126020745302,0.08011257645429591,0.006821626692218112,-0.3713771376515799,1.8326849032509849,5.499611251534889,0.14636493692945737,0.019229261021864282,0.0037074596044031267,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.709892684098821,1.3102043553636646,-4.440493457706657,-0.00040990284145383984,3.3223048424411465,0.6999966932489342,-0.8466464348486994,-4.035844659687815,3.593847022857957,3.593847022857957,3.5926500000015587,0,0,-8.607295887555632e-05,9.999871350275242e-05
+12676,1792843727563213325,22407143000000,1792843727556183018,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6763130427729495,-0.004923769549776972,0.1059657943265337,0.9999999078266905,-7.766605463044842e-05,0.0003962191846306899,0.00011299476447179042,0.6761,-0.0046,0.1053878856714314,1.0,0.0,0.0,0.0,-1.1157431553208577,0.7937821157110838,4.124363838268139,0.0630907525133774,0.08110145127713697,0.006774062192518117,-0.37352046985176574,1.866881838776171,5.588130430115213,0.14729442923538175,0.02021813584470533,0.0036598951047031323,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.742186180345881,1.2612251880432184,-4.593865731660979,0.03340550231983663,3.4240085116840593,0.6913884296597751,-0.8466464348486994,-4.124363838268139,3.7472192968122795,3.7472192968122795,3.7213500000016397,0,0,-7.204460234358644e-05,9.999953229223308e-05
+12784,1792843728463185209,22408043000000,1792843728460181924,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6763186694305549,-0.0049225383316086795,0.10591330483578963,0.9999999040337717,-8.828599571729507e-05,0.00040430234145114366,0.00011009319480913522,0.6761,-0.0046,0.10532284406439016,1.0,0.0,0.0,0.0,-1.1080798518675623,0.8038426608444675,4.197198719348682,0.06411566463315496,0.08107208042734448,0.006725553842538937,-0.36585716639847043,1.8769423839095547,5.660965311195756,0.1483193413551593,0.02018876499491286,0.003611386754723952,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.735515690974094,1.2367816079906564,-4.566236899706611,0.0662721140188386,3.401148570869286,0.6923872371694331,-0.8466464348486994,-4.197198719348682,3.719590464857912,3.719590464857912,3.856350000001725,0,0,-7.973985640816051e-05,-9.998158831259758e-05
+12903,1792843729455168255,22409035000000,1792843729452181270,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6763261461479838,-0.004928844972208763,0.10584376542594531,0.9999998963179373,-0.0001116306042738154,0.00041688909869254945,0.00011202261723015492,0.6761,-0.0046,0.10523289344546839,1.0,0.0,0.0,0.0,-1.1100837709557387,0.8360384391156641,4.336901739531897,0.06501545457398644,0.08229623348674646,0.007674519336567837,-0.36786108548664675,1.9091381621807513,5.800668331378971,0.1492191312959908,0.021412918054314823,0.004560352248752852,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.8148192476051865,1.1627256559813561,-4.773848804145225,0.12295620192854867,3.5481532963785,0.6771161970073769,-0.8466464348486994,-4.336901739531897,3.9272023692965257,3.9272023692965257,4.005150000001803,0,0,-9.80763037666109e-05,4.584996889169272e-05
+13012,1792843730363075965,22409943000000,1792843730360183026,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6763386614445354,-0.004930025125692115,0.10578029735387426,0.9999998864592475,-0.0001198719045774039,0.00043710424556316074,0.00011443321799609247,0.6761,-0.0046,0.10514664664759975,1.0,0.0,0.0,0.0,-1.150709731822071,0.8451387474666252,4.486531393624971,0.06511095646646198,0.0856713807599201,0.007608656541614061,-0.40848704635297917,1.9182384705317124,5.950297985472045,0.14931463318846633,0.024788065327488472,0.0044944894537990755,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.8562626289290742,1.1702699237683483,-4.983581209529304,0.12280587465233023,3.690552789952871,0.687761573641332,-0.8466464348486994,-4.486531393624971,4.136934774680605,4.136934774680605,4.141350000001486,0,0,-8.903972176646657e-05,9.974641532040635e-05
+13126,1792843731313096986,22410893000000,1792843731312182092,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.67634966122814,-0.004931927987631894,0.10571336133763569,0.9999998692005223,-0.0001958595505947569,0.00045893994720849394,6.36785965726963e-05,0.6761,-0.0046,0.10506273841483259,1.0,0.0,0.0,0.0,-1.0739950640708038,0.9420740683482725,4.565698570185288,0.0711832999984697,0.08186415521422624,0.00755481536872366,-0.331772378601712,2.0151737914133596,6.029465162032362,0.15538697672047405,0.020980839781794613,0.004440648280908676,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.868898729986512,1.2437793412400935,-4.9512171835864285,0.14472050580357002,3.6677610546267387,0.7452489808416319,-0.8466464348486994,-4.565698570185288,4.104570748737729,4.104570748737729,4.283850000001154,0,0,-9.393571250990019e-05,-9.999999025923074e-05
+13234,1792843732213063543,22411793000000,1792843732208182760,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6763624285057729,-0.004933926048525217,0.10564378632818072,0.9999998587089182,-0.00019376121589578002,0.00048019761983481626,7.675835454281903e-05,0.6761,-0.0046,0.10496979584989359,1.0,0.0,0.0,0.0,-1.12987431238715,0.9246239840614754,4.697099608796654,0.07006834446816942,0.08584821938080257,0.007499426648160766,-0.387651626918058,1.9977237071265626,6.160866200643728,0.15427202119017377,0.024964903948370944,0.004385259560345781,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.0074213629940116,1.189426167844774,-5.233625525032059,0.150485771974968,3.885037780229945,0.70319560457489,-0.8466464348486994,-4.697099608796654,4.38697909018336,4.38697909018336,4.418850000000839,0,0,-0.00011017813795058539,9.716349533140373e-05
+13338,1792843733080105901,22412660000000,1792843733076181680,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6763707418899912,-0.00493952113655547,0.10556338984670323,0.9999998502216849,-0.0001960369892692126,0.000494652247226304,8.881511757529531e-05,0.6761,-0.0046,0.10487247092767456,1.0,0.0,0.0,0.0,-1.1610239468787944,0.9410452139114966,4.809866845245413,0.07090253863856144,0.08790089363766956,0.007446915205449992,-0.4188012614097025,2.014144936976584,6.273633437092487,0.1551062153605658,0.027017578205237938,0.004332748117635008,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.018013931534722,1.2362472546003747,-5.269411441625879,0.13905891939711565,3.9040402821293525,0.7334436444771536,-0.8466464348486994,-4.809866845245413,4.42276500677718,4.42276500677718,4.548900000000536,0,0,-0.00011457661358157812,-9.983900792066009e-05
+13446,1792843733980068983,22413560000000,1792843733976181641,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6763829891945887,-0.004945061720488227,0.10548045477817374,0.9999998530420423,-0.00010848406122106352,0.0005127497820363663,0.00010333260712845402,0.6761,-0.0046,0.10476868724449263,1.0,0.0,0.0,0.0,-1.1704040902888224,0.9202966520578353,4.939849498950058,0.06886519584724643,0.08991769459214402,0.007349948162855257,-0.42818140481973055,1.9933963751229224,6.403616090797132,0.15306887256925078,0.029034379159712385,0.004235781075040272,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.0321922246169613,1.2121402129490675,-5.440307374061843,0.14214101089226816,4.02034596653422,0.7091142370621761,-0.8466464348486994,-4.939849498950058,4.593660939213144,4.593660939213144,4.6839000000002216,0,0,-0.00011309601614318696,4.8577204027205754e-05
+13536,1792843734729952048,22414310000000,1792843734728181640,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6763901145206627,-0.00494568755060273,0.10540955121898814,0.999999844978636,-0.00011478686128504598,0.0005251442573164617,0.00011195112238451348,0.6761,-0.0046,0.10468254386541435,1.0,0.0,0.0,0.0,-1.1672875755275187,0.9128898006457213,5.017931321947891,0.06876336204152272,0.09012853824307335,0.007287959549783025,-0.4250648900584268,1.9859895237108085,6.4816979137949655,0.15296703876352707,0.02924522281064171,0.00417379246196804,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.0046252746419837,1.1592821342557311,-5.515825096061655,0.16698161042599888,4.06078700897214,0.6866584413894304,-0.8466464348486994,-5.017931321947891,4.669178661212956,4.669178661212956,4.796399999999959,0,0,-0.00011997463183618796,-9.999999025923074e-05
+13633,1792843735537971065,22415118000000,1792843735532182801,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6763956983504192,-0.004949928573324154,0.10531886142721765,0.9999998381771623,-0.000121771014522095,0.0005348019543950078,0.00011936164914850425,0.6761,-0.0046,0.10457972849012588,1.0,0.0,0.0,0.0,-1.1888420318627182,0.9126760542014538,5.118097288909517,0.06775450201103517,0.09191698875097803,0.00722329287801541,-0.4466193463936264,1.985775777266541,6.5818638807565915,0.15195817873303952,0.031033673318546402,0.004109125790200425,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.077745401325042,1.1750379039568606,-5.6026756801519015,0.17471275846671208,4.134614699146994,0.7007592296882141,-0.8466464348486994,-5.118097288909517,4.7560292453032025,4.7560292453032025,4.917599999999677,0,0,-0.00013310910596950188,-7.502223428457739e-05
+13731,1792843736354993717,22415935000000,1792843736348182267,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764058040450414,-0.0049516135923351615,0.10521982740438975,0.9999998256669992,-0.00014278261357734357,0.0005530114237241699,0.00011789964352450703,0.6761,-0.0046,0.10446455683994554,1.0,0.0,0.0,0.0,-1.198520204060835,0.9176245572090076,5.21659134994806,0.06770876035306717,0.09291839764296829,0.00715858604682836,-0.45629751859174306,1.9907242802740948,6.680357941795134,0.15191243707507152,0.03203508221053666,0.004044418959013375,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.1300709779597673,1.0905584903894816,-5.731306259566522,0.2105052853401958,4.228199286059866,0.6438289069727574,-0.8466464348486994,-5.21659134994806,4.884659824717823,4.884659824717823,5.040149999999391,0,0,-0.00014187194578438168,-9.543788956201666e-05
+13829,1792843737170915297,22416751000000,1792843737168181404,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6764158826107368,-0.004953342771042365,0.10512009164128942,0.9999998130341505,-0.00016686170429424505,0.0005698789328788096,0.00011300310488577468,0.6761,-0.0046,0.10434503749839324,1.0,0.0,0.0,0.0,-1.1895338113682212,0.9210898242075434,5.3000048868423795,0.06769314565721313,0.09290003590073462,0.007092145642252712,-0.44731112589912936,1.9941895472726305,6.763771478689454,0.15189682237921748,0.03201672046830298,0.003977978554437728,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.1361566815743482,1.0989957910613053,-5.849451670787064,0.22262631653953668,4.307635728572048,0.6469658270690379,-0.8466464348486994,-5.3000048868423795,5.002805235938365,5.002805235938365,5.162549999999106,0,0,-0.00015276543825357004,-9.983172208206099e-05
+13930,1792843738012944829,22417593000000,1792843738012181668,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764257749350269,-0.004957194992423553,0.10500123507764189,0.9999998004599816,-0.00017438507272328114,0.0005877947368063164,0.00012087206081594582,0.6761,-0.0046,0.10420875846754261,1.0,0.0,0.0,0.0,-1.2035219822658265,0.9271207725090187,5.407936533872158,0.0686359079455501,0.09394242082622649,0.007029711378896549,-0.46129929679673465,2.000220495574106,6.8717031257192325,0.15283958466755446,0.033059105393794856,0.003915544291081563,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.1628596939760394,1.16480347593511,-5.949636755486792,0.21562611091456677,4.374909924675769,0.6948826733990668,-0.8466464348486994,-5.407936533872158,5.102990320638093,5.102990320638093,5.288849999998812,0,0,-0.00017351197701828547,-9.945271969702957e-05
+14026,1792843738812964395,22418393000000,1792843738812181938,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764322321768057,-0.004945659927025481,0.10487555589153161,0.9999997924658937,-0.00018032862255051664,0.0006007591672948133,0.0001143723945560046,0.6761,-0.0046,0.10406595261399956,1.0,0.0,0.0,0.0,-1.1451344467678224,0.9857031162673067,5.50230935099412,0.07182439729568615,0.08973613541480295,0.00693306731413814,-0.4029117612987306,2.058802839332394,6.9660759428411945,0.1560280740176905,0.028852819982371318,0.0038189002263231547,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.164976774761138,1.3093019011268103,-6.102471639319221,0.1910606116217748,4.469326622381884,0.7875605022596576,-0.8466464348486994,-5.50230935099412,5.255825204470522,5.255825204470522,5.408849999998532,0,0,-0.00018493784060764532,1.3212989636701006e-05
+14120,1792843739595941400,22419176000000,1792843739588182015,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764381551075663,-0.00494741701899657,0.10473975917906109,0.9999997966570869,-9.982602712280115e-05,0.000611908843559851,0.0001171792670108989,0.6761,-0.0046,0.10391531409132469,1.0,0.0,0.0,0.0,-1.1267143699087707,0.9875652179231491,5.6011323194839315,0.07178530159131832,0.08931235951977888,0.0068335217323624966,-0.3844916844396788,2.0606649409882363,7.064898911331006,0.15598897831332267,0.028429044087347248,0.0037193546445475115,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.1974626769249657,1.2671116831513374,-6.223640666406122,0.21356110060534853,4.560648244654286,0.7512591063488057,-0.8466464348486994,-5.6011323194839315,5.376994231557423,5.376994231557423,5.526299999998258,0,0,-0.00019431233554548377,9.999999025923074e-05
+14217,1792843740404889051,22419985000000,1792843740400182874,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764507924859313,-0.004947210833005417,0.10459352200121552,0.999999783130738,-0.00011018317698829906,0.0006289778593181412,0.000132014625173788,0.6761,-0.0046,0.10375160818060261,1.0,0.0,0.0,0.0,-1.1475170386797213,0.9978682029944481,5.653012680440192,0.0724161674342183,0.09075301329219022,0.0068398367875397515,-0.4052943532106295,2.0709679260595353,7.116779272287266,0.15661984415622265,0.029869697859758588,0.0037256696997247664,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.257827379056389,1.2678667715260432,-6.221558221818425,0.23584805744586818,4.56817471825459,0.7654726569155277,-0.8466464348486994,-5.653012680440192,5.374911786969726,5.374911786969726,5.6476499999979755,0,0,-0.00021352236979496476,-9.999999025923074e-05
+14299,1792843741087906987,22420668000000,1792843741080183037,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764637425082726,-0.004942353536059985,0.1044514228469895,0.9999997684447663,-0.00013979530809555377,0.0006475249572413246,0.00012538731776123955,0.6761,-0.0046,0.10359570277633554,1.0,0.0,0.0,0.0,-1.1676964931729548,1.0261095660200648,5.755724519507884,0.07475797571536585,0.09266275076905117,0.006807288853320693,-0.425473807703863,2.099209289085152,7.219491111354958,0.1589616524373702,0.03177943533661954,0.0036931217655057076,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.2910903949363335,1.2287487370196555,-6.338952903447726,0.26722395028986906,4.641407296508926,0.7349769736214435,-0.8466464348486994,-5.755724519507884,5.492306468599027,5.492306468599027,5.750099999997737,0,0,-0.00023804703834093133,-9.999166358654605e-05
+14380,1792843741762921293,22421343000000,1792843741760181709,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764710199957257,-0.0049410257813565376,0.10429603333054528,0.9999997569687507,-0.000158327469451502,0.0006603187302357579,0.00012812841544775416,0.6761,-0.0046,0.10342643148831357,1.0,0.0,0.0,0.0,-1.1475126164541392,1.0247338522461813,5.849766953310366,0.07374728358913962,0.09164626648221677,0.006706590918572786,-0.4052899309850472,2.0978335753112685,7.31353354515744,0.15795096031114397,0.03076295104978514,0.0035924238307578006,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.30554821876919,1.2383970621269618,-6.519190270930264,0.27729629612099693,4.763168637005005,0.7464079553121696,-0.8466464348486994,-5.849766953310366,5.672543836081565,5.672543836081565,5.851349999997501,0,0,-0.00025840308368466216,9.999999025923074e-05
+14458,1792843742412895407,22421993000000,1792843742408181154,DOWN_FORCE_DETACH,9,0.0596,0.059601034969091415,0.6764731521753905,-0.004943907488335078,0.10413273566774219,0.9999997543981698,-0.0001574191121439127,0.0006624831021395291,0.00013777455035243034,0.6761,-0.0046,0.10325652915625731,1.0,0.0,0.0,0.0,-1.118950812680401,0.9947317294838671,5.9333348412772775,0.07174243490310392,0.08967190536373534,0.006588134442694942,-0.3767281272113093,2.0678314525489543,7.397101433124352,0.15594611162510827,0.028788589931303704,0.0034739673548799567,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.288997847044415,1.255553062244702,-6.523319820044829,0.2931820599096287,4.762035891795475,0.7623649134843061,-0.8466464348486994,-5.9333348412772775,5.67667338519613,5.67667338519613,5.9488499999972735,0,0,-0.00026289000903542546,-9.94541907425372e-05
+14537,1792843743070781963,22422651000000,1792843743064181867,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764792882468522,-0.004944928127573926,0.10395972593636778,0.9999997565979185,-9.437346965259356e-05,0.0006724558581069892,0.00013093408767678966,0.6761,-0.0046,0.10307887339193808,1.0,0.0,0.0,0.0,-1.1228810876860993,0.9669963383186138,5.933178072077966,0.06973543569462112,0.08954777984154554,0.006568727198592481,-0.38065840221700753,2.040096061383701,7.39694466392504,0.15393911241662547,0.0286644644091139,0.0034545601107774954,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.277886043924456,1.2284534289593192,-6.639545267826209,0.32041803954670023,4.834038637285589,0.7392949920957173,-0.8466464348486994,-5.933178072077966,5.79289883297751,5.79289883297751,6.0475499999970435,0,0,-0.000282675400513381,-9.999999025923074e-05
+14610,1792843743679793342,22423260000000,1792843743672181170,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764815420791918,-0.004946827849475307,0.10378716658215789,0.9999997476329001,-0.00011108963118275597,0.0006810601092942943,0.0001413973895895321,0.6761,-0.0046,0.10289791465924059,1.0,0.0,0.0,0.0,-1.1530198846286432,0.9472050949808499,5.952319132500893,0.06799346857207153,0.09165946343530136,0.006553924709824494,-0.41079719915955143,2.020304818045937,7.416085724347967,0.15219714529407588,0.030776148002869732,0.0034397576220095093,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.307648011043452,1.1313903821097182,-6.619939468594975,0.3492440424518848,4.827025730041514,0.6854554632319684,-0.8466464348486994,-5.952319132500893,5.773293033746276,5.773293033746276,6.138899999996831,0,0,-0.00031219295798109856,-9.999999025923074e-05
+14673,1792843744204737578,22423785000000,1792843744204182404,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764868872009723,-0.004952744058481689,0.10362624217839485,0.9999997390604816,-0.0001359004918724348,0.0006886067956925857,0.0001437830662061512,0.6761,-0.0046,0.1027271656831003,1.0,0.0,0.0,0.0,-1.149152341655023,0.9216428789073638,5.994201960765535,0.06597321509495935,0.0911192481009031,0.006429412855022061,-0.406929656185931,1.994742601972451,7.457968552612609,0.1501768918169637,0.030235932668471473,0.003315245767207076,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.3342069543658415,1.2425657383509654,-6.670482899526527,0.3322556808068359,4.868992989293767,0.7562760125028882,-0.8466464348486994,-5.994201960765535,5.823836464677828,5.823836464677828,6.217649999996647,0,0,-0.000338334955547774,-9.999999025923074e-05
+14739,1792843744754795423,22424335000000,1792843744748181912,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764873142344934,-0.004949620732872449,0.103439101957983,0.9999997335414647,-0.00016015269872778938,0.0006918455388192719,0.0001416358968587974,0.6761,-0.0046,0.1025339099106035,1.0,0.0,0.0,0.0,-1.1260208021916096,0.8897250640563472,6.059123958784369,0.0637570229536065,0.08997900345731755,0.006401949453705487,-0.3837981167225177,1.9628247871214344,7.522890550631443,0.14796069967561085,0.02909568802488592,0.0032877823658905023,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.3052748725388432,1.1506777005796736,-6.745289248170728,0.35680317801719963,4.913527790045125,0.6988842376442889,-0.8466464348486994,-6.059123958784369,5.898642813322029,5.898642813322029,6.300149999996455,0,0,-0.0003649047663992474,-9.999999025923074e-05
+14798,1792843745245819725,22424826000000,1792843745240181581,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764875547808116,-0.004961901282717383,0.10325817643675991,0.9999997330658158,-0.00015698829695794952,0.0006907322757437543,0.00015347559803736578,0.6761,-0.0046,0.10234874803365433,1.0,0.0,0.0,0.0,-1.1397165888472762,0.8356551690977543,6.119812770794322,0.06044682659106382,0.09069763747788738,0.006314732753326353,-0.39749390337818424,1.9087548921628414,7.583579362641396,0.14465050331306817,0.029814322045455748,0.003200565665511367,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.2645183174834895,1.1893149124165434,-6.71281171694891,0.3544362067835764,4.889086849501986,0.7295722649017164,-0.8466464348486994,-6.119812770794322,5.866165282100211,5.866165282100211,6.373799999996283,0,0,-0.0003886885996076935,-9.999960168117212e-05
+14855,1792843745720806137,22425301000000,1792843745720181434,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764936501536283,-0.00496190604080027,0.1030676405224443,0.9999997387286346,-7.52932227946525e-05,0.0006977083628302065,0.00014669525562307446,0.6761,-0.0046,0.10215856079381004,1.0,0.0,0.0,0.0,-1.149931732087079,0.8349537038744932,6.139745419034733,0.0598816211459981,0.0918412782615679,0.006315030988018909,-0.40770904661798707,1.9080534269395804,7.603512010881807,0.14408529786800245,0.03095796282913628,0.0032008639002039244,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.341439372436071,1.0927760867493992,-6.775942841476974,0.41287234644231086,4.949318395468226,0.686258793512347,-0.8466464348486994,-6.139745419034733,5.929296406628275,5.929296406628275,6.445049999996117,0,0,-0.0004119683660694636,-9.999999025923074e-05
+14910,1792843746179797961,22425760000000,1792843746176182565,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6764914119000817,-0.00496482865613391,0.10286975801266116,0.9999997398014785,-0.00010231602393158016,0.0006912897351810853,0.00015326373632966006,0.6761,-0.0046,0.10196421176481249,1.0,0.0,0.0,0.0,-1.130085864618476,0.7930557901490707,6.168812072436571,0.05699368388780221,0.0898869123435436,0.006230556024570383,-0.387863179149384,1.8661555132141578,7.6325786642836455,0.14119736060980656,0.029003596911111963,0.003116388936755398,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.397300777405117,1.0712104879834512,-6.910343110076,0.3916718757062041,5.068221055367946,0.6562823980941008,-0.8466464348486994,-6.168812072436571,6.063696675227301,6.063696675227301,6.513899999995957,0,0,-0.0004349183615984505,-9.999999025923074e-05
+14959,1792843746587784187,22426168000000,1792843746584181807,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.676499524515433,-0.004969232999422721,0.1026876996227999,0.9999997298833352,-0.00010098012967997422,0.0006991741796913655,0.00018065049385653274,0.6761,-0.0046,0.10178261367409305,1.0,0.0,0.0,0.0,-1.171980255337053,0.765630756627544,6.1176162217027015,0.054623067727536084,0.09297293746987943,0.0062911142683702,-0.42975756986796126,1.8387304796926311,7.581382813549776,0.13882674444954043,0.0320896220374478,0.0031769471805552143,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.414950178005936,0.9675950791975554,-6.72702983695588,0.41984979696571506,4.95652545319829,0.5901896491042218,-0.8466464348486994,-6.1176162217027015,5.880383402107181,5.880383402107181,6.575099999995814,0,0,-0.00045531835762421666,-9.999999025923074e-05
+15005,1792843746970777270,22426551000000,1792843746964181282,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764937885689719,-0.0049658875504255545,0.10250349593174692,0.9999997283993138,-0.00017638486383835135,0.000696030454454452,0.00013810919247129962,0.6761,-0.0046,0.10160456909383928,1.0,0.0,0.0,0.0,-1.1092946679943818,0.7768750425396873,6.054622623902168,0.05643685407968599,0.08792675100111451,0.006289050982440845,-0.36707198252529,1.8499747656047745,7.5183892157492425,0.14064053080169034,0.027043435568682876,0.0031748838946258602,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.3493590598022425,0.9299037488744832,-6.672495465811461,0.42505180317801583,4.913458938645439,0.572665444602084,-0.8466464348486994,-6.054622623902168,5.825849030962762,5.825849030962762,6.63254999999568,0,0,-0.00047446835389350204,-9.999999025923074e-05
+15052,1792843747362772265,22426943000000,1792843747356182828,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764866121162963,-0.004973351150574973,0.10230161700917592,0.9999997367965704,-0.0001760135896626765,0.0006787206487543884,0.00016188623001610772,0.6761,-0.0046,0.10141474569986333,1.0,0.0,0.0,0.0,-1.1437266188878046,0.6857705498514568,6.005387009199572,0.04925591475402505,0.09009167855912847,0.006273615421923498,-0.40150393341871266,1.758870272916544,7.469153601046646,0.1334595914760294,0.029208363126696835,0.003159448334108512,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.378932979677474,1.0214812583456665,-6.673161416169652,0.39839559973395194,4.932727526556736,0.6309518594333123,-0.8466464348486994,-6.005387009199572,5.826514981320953,5.826514981320953,6.691349999995543,0,0,-0.0004940683500751205,-9.999999025923074e-05
+15095,1792843747720723313,22427301000000,1792843747720181704,DOWN_FORCE_DETACH,9,0.0596,0.05960234999656677,0.6764821687925517,-0.004978450565760379,0.10210758800040841,0.9999997525704127,-8.867058757223897e-05,0.0006725662450680239,0.00016153683966342662,0.6761,-0.0046,0.10123467408116239,1.0,0.0,0.0,0.0,-1.126124711615308,0.6396211586290645,5.9146694967934,0.04624866796975419,0.08918060012495678,0.005260779913363019,-0.38390202614621605,1.7127208816941517,7.378436088640474,0.13045234469175854,0.028297284692525144,0.002146612825548034,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.3607804405903337,1.0238060540836664,-6.497875491198471,0.38220317898601175,4.827791178694484,0.6119325433983678,-0.8466464348486994,-5.9146694967934,5.651229056349772,5.651229056349772,6.745049999995418,0,0,-0.0005119683465879251,-9.999999025923074e-05
+15134,1792843748045745522,22427626000000,1792843748040183210,DOWN_FORCE_DETACH,9,0.0596,0.05960169434547424,0.6764724154706739,-0.004973944707470412,0.1019166911084519,0.9999997595906776,-0.00015255356277493444,0.0006563540454455225,0.0001348637423636933,0.6761,-0.0046,0.10106565186903733,1.0,0.0,0.0,0.0,-1.0568150342614877,0.6366531074665862,5.819130796185461,0.045327667274566746,0.08428812309675655,0.005270940443834063,-0.3145923487923957,1.7097528305316734,7.282897388032535,0.1295313439965711,0.023404807664324925,0.0021567733560190787,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.3278858143957204,0.8285260259802844,-6.45083804327478,0.47756666632708883,4.786875410736584,0.5046939818793259,-0.8466464348486994,-5.819130796185461,5.604191608426081,5.604191608426081,6.793799999995304,0,0,-0.0005282183434221751,-9.999999025923074e-05
+15180,1792843748429704956,22428010000000,1792843748424181586,DOWN_SETTLE,9,0.0596,0.05960234999656677,0.6764559296532833,-0.004981879366662392,0.10171042720687219,0.9999997787705815,-0.0001444509503037303,0.0006211751158027013,0.00016485463550010445,0.6761,-0.0046,0.10090583571219146,1.0,0.0,0.0,0.0,-1.0475129669522065,0.5365937897874085,5.570815227590096,0.03767674035203719,0.08356953290057165,0.005372943647974029,-0.30529028148311477,1.6096935128524956,7.03458181943717,0.12188041707404154,0.02268621746814001,0.0022587765601590442,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,3.1913181631551897,1.0049994183007425,-6.231207478292656,0.39852843689162265,4.624749126702311,0.6316987414904212,-0.8466464348486994,-5.570815227590096,5.384561043443957,0.0,0.0,0,0,-0.00010474625118201494,0.001058042941232474
+15267,1792843749148639603,22428729000000,1792843749148180899,DOWN_PEAK_HOLD,9,0.0596,0.05960234999656677,0.6763899106150317,-0.004979945413873007,0.10154630858076362,0.9999998467930039,-0.00013752871195473617,0.0004988426428002246,0.00017348978168924673,0.6761,-0.0046,0.10089639573340971,1.0,0.0,0.0,0.0,-0.8769968727558557,0.31067614590884984,4.410325718517615,0.021579474876371685,0.06889592488231543,0.004879206944031028,-0.13477418728676382,1.383775868973937,5.874092310364689,0.10578315159837604,0.008012609449883789,0.0017650398562160433,0.7422226854690919,1.0730997230650872,1.4637665918470741,0.08420367672200435,-0.06088331543243163,-0.003114167087814985,1,2.63491117097901,0.974114362444989,-4.963316454992639,0.39074349490685667,3.686541739463459,0.6086034703600944,-0.8466464348486994,-4.410325718517615,4.11667002014394,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_12.5/press_depth_09/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792843702564044267,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.127323568e-08,-1.364553999e-09,-2.725459858e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456158e-01,-1.171906112e-04,8.303256332e-01
+1,8.666666667e-01,DOWN_FORCE_DETACH,1792843703464660026,-8.747253255e-07,5.243870263e-06,8.208344673e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.363538764e-07,-5.529502790e-08,-4.226772377e-09,7.019547581e-01,-1.702686476e-05,8.601439081e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460408e-01,-1.172445417e-04,8.303256292e-01
+2,1.933333333e+00,DOWN_FORCE_DETACH,1792843704512941832,4.722270202e-06,6.924601129e-06,-3.479432209e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.014782514e-07,-9.030082769e-08,-5.669135827e-09,7.019603551e-01,-1.534613389e-05,8.601430524e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027463060e-01,-1.172795475e-04,8.303256278e-01
+3,2.650000000e+00,DOWN_FORCE_DETACH,1792843705233887292,4.109445225e-05,2.691087865e-06,-1.684579760e-05,4.049992556e-05,-2.019016226e-06,-1.910519623e-06,4.374314277e-05,-2.079774898e-06,-1.835136980e-06,7.019967273e-01,-1.957964716e-05,8.601262414e-01,7.019961327e-01,-2.428975125e-05,8.601411767e-01,7.027893476e-01,-1.192690216e-04,8.303237983e-01
+4,3.366666667e+00,DOWN_FORCE_DETACH,1792843705970740380,8.472636445e-05,-1.294081990e-06,-6.981201535e-05,8.477138996e-05,-1.440517467e-06,-7.003149526e-05,8.977027944e-05,-1.524816505e-06,-6.843368941e-05,7.020403592e-01,-2.356481701e-05,8.600732752e-01,7.020404042e-01,-2.371125249e-05,8.600730557e-01,7.028353748e-01,-1.187140632e-04,8.302571998e-01
+5,3.950000000e+00,DOWN_FORCE_DETACH,1792843706544140641,1.136345456e-04,-3.891235425e-07,-1.009156838e-04,1.120141143e-04,-4.517791996e-06,-9.387856085e-05,1.189835905e-04,-4.581181343e-06,-9.224124940e-05,7.020692674e-01,-2.265985857e-05,8.600421716e-01,7.020676469e-01,-2.678852702e-05,8.600492087e-01,7.028645881e-01,-1.217704280e-04,8.302333922e-01
+6,4.733333333e+00,DOWN_FORCE_DETACH,1792843707313522481,1.593307677e-04,-3.570228694e-06,-1.605582804e-04,1.559444907e-04,-8.841017791e-06,-1.626548501e-04,1.652320151e-04,-8.836265468e-06,-1.599587142e-04,7.021149636e-01,-2.584096372e-05,8.599825290e-01,7.021115773e-01,-3.111175281e-05,8.599804324e-01,7.029108365e-01,-1.260255121e-04,8.301656747e-01
+7,5.600000000e+00,DOWN_FORCE_DETACH,1792843708165477018,1.974159730e-04,-5.427738712e-06,-2.470019776e-04,1.939194722e-04,-4.090353923e-06,-2.362484243e-04,2.054220947e-04,-4.340212297e-06,-2.330759695e-04,7.021530488e-01,-2.769847373e-05,8.598960853e-01,7.021495523e-01,-2.636108895e-05,8.599068388e-01,7.029510266e-01,-1.215294590e-04,8.300925575e-01
+8,6.416666667e+00,DOWN_FORCE_DETACH,1792843708984496396,2.293363430e-04,-6.158423913e-06,-3.074594543e-04,2.289742223e-04,-6.238337486e-06,-3.074764204e-04,2.423187579e-04,-6.446960171e-06,-3.037246981e-04,7.021849692e-01,-2.842915894e-05,8.598356278e-01,7.021846070e-01,-2.850907251e-05,8.598356108e-01,7.029879232e-01,-1.236362068e-04,8.300219087e-01
+9,7.416666667e+00,DOWN_FORCE_DETACH,1792843710000434751,2.535468038e-04,-4.814130019e-06,-3.640125221e-04,2.504664348e-04,-3.207448423e-06,-3.649620120e-04,2.653297741e-04,-3.554516882e-06,-3.613738732e-04,7.022091796e-01,-2.708486504e-05,8.597790747e-01,7.022060993e-01,-2.547818345e-05,8.597781252e-01,7.030109343e-01,-1.207437635e-04,8.299642596e-01
+10,8.416666667e+00,DOWN_FORCE_DETACH,1792843711048328632,2.649634921e-04,-1.211311067e-05,-3.992280810e-04,2.610627448e-04,-4.519862127e-06,-4.043272162e-04,2.767537061e-04,-4.798509899e-06,-4.013057853e-04,7.022205963e-01,-3.438384569e-05,8.597438592e-01,7.022166956e-01,-2.679059715e-05,8.597387600e-01,7.030223582e-01,-1.219877566e-04,8.299243277e-01
+11,9.250000000e+00,DOWN_FORCE_DETACH,1792843711867252545,2.666688881e-04,-5.648010733e-06,-4.091215320e-04,2.610627448e-04,-4.519862127e-06,-4.043272162e-04,2.772410972e-04,-4.770738915e-06,-4.024544864e-04,7.022223017e-01,-2.791874576e-05,8.597339657e-01,7.022166956e-01,-2.679059715e-05,8.597387600e-01,7.030228456e-01,-1.219599856e-04,8.299231790e-01
+12,1.028333333e+01,DOWN_FORCE_DETACH,1792843712997863162,2.621501154e-04,-9.712920653e-06,-4.214748552e-04,2.607736924e-04,-5.049039242e-06,-4.256331776e-04,2.769090250e-04,-5.309741087e-06,-4.238955765e-04,7.022177829e-01,-3.198365568e-05,8.597216124e-01,7.022164065e-01,-2.731977426e-05,8.597174541e-01,7.030225135e-01,-1.224989877e-04,8.299017379e-01
+13,1.116666667e+01,DOWN_FORCE_DETACH,1792843713898139839,2.618268489e-04,-7.082291309e-06,-4.269379995e-04,2.607736924e-04,-5.049039242e-06,-4.256331776e-04,2.770401933e-04,-5.308102166e-06,-4.245274695e-04,7.022174597e-01,-2.935302633e-05,8.597161492e-01,7.022164065e-01,-2.731977426e-05,8.597174541e-01,7.030226447e-01,-1.224973488e-04,8.299011060e-01
+14,1.221666667e+01,DOWN_FORCE_DETACH,1792843714963101682,2.612668567e-04,-4.839947427e-06,-4.312238503e-04,2.607736924e-04,-5.049039242e-06,-4.256331776e-04,2.771552639e-04,-5.314507947e-06,-4.248793345e-04,7.022168997e-01,-2.711068245e-05,8.597118634e-01,7.022164065e-01,-2.731977426e-05,8.597174541e-01,7.030227598e-01,-1.225037546e-04,8.299007541e-01
+15,1.318333333e+01,DOWN_FORCE_DETACH,1792843715945726860,2.576835301e-04,-1.146587105e-05,-4.364406286e-04,2.607736924e-04,-5.049039242e-06,-4.256331776e-04,2.772186055e-04,-5.321440824e-06,-4.250474882e-04,7.022133163e-01,-3.373660607e-05,8.597066466e-01,7.022164065e-01,-2.731977426e-05,8.597174541e-01,7.030228231e-01,-1.225106875e-04,8.299005860e-01
+16,1.420000000e+01,DOWN_FORCE_DETACH,1792843716977921750,2.589050538e-04,-4.362179369e-06,-4.409978907e-04,2.607736924e-04,-5.049039242e-06,-4.256331776e-04,2.772564055e-04,-5.328321191e-06,-4.251375116e-04,7.022145379e-01,-2.663291439e-05,8.597020893e-01,7.022164065e-01,-2.731977426e-05,8.597174541e-01,7.030228609e-01,-1.225175678e-04,8.299004959e-01
+17,1.513333333e+01,DOWN_FORCE_DETACH,1792843717895206969,2.712238652e-04,-6.912178027e-06,-4.538939139e-04,2.595169625e-04,-8.046211403e-06,-4.474227153e-04,2.757006193e-04,-8.250321761e-06,-4.466715090e-04,7.022268567e-01,-2.918291305e-05,8.596891933e-01,7.022151498e-01,-3.031694643e-05,8.596956645e-01,7.030213051e-01,-1.254395684e-04,8.298789619e-01
+18,1.615000000e+01,DOWN_FORCE_DETACH,1792843718910323493,2.836336124e-04,-8.802280035e-06,-4.803980205e-04,2.798533085e-04,-1.054804537e-05,-4.840906155e-04,2.967433464e-04,-1.064245057e-05,-4.827167762e-04,7.022392664e-01,-3.107301506e-05,8.596626892e-01,7.022354861e-01,-3.281878039e-05,8.596589966e-01,7.030423478e-01,-1.278316972e-04,8.298429167e-01
+19,1.711666667e+01,DOWN_FORCE_DETACH,1792843719942453254,2.944451584e-04,-4.754826350e-06,-5.082743322e-04,2.890230278e-04,-4.264873440e-06,-5.018660735e-04,3.064862134e-04,-4.600645066e-06,-5.007723353e-04,7.022500780e-01,-2.702556137e-05,8.596348129e-01,7.022446558e-01,-2.653560846e-05,8.596412212e-01,7.030520907e-01,-1.217898917e-04,8.298248611e-01
+20,1.805000000e+01,DOWN_FORCE_DETACH,1792843721141387100,3.038567968e-04,-9.231409904e-06,-5.334411941e-04,2.960638356e-04,-7.975171562e-06,-5.213258973e-04,3.139100633e-04,-8.227009866e-06,-5.203018186e-04,7.022594896e-01,-3.150214493e-05,8.596096460e-01,7.022516967e-01,-3.024590658e-05,8.596217613e-01,7.030595145e-01,-1.254162565e-04,8.298053316e-01
+21,1.885000000e+01,DOWN_FORCE_DETACH,1792843722039214602,3.081765508e-04,-1.161341764e-05,-5.640636358e-04,3.084970622e-04,-9.379119074e-06,-5.592446976e-04,3.267743165e-04,-9.635049028e-06,-5.577327526e-04,7.022638094e-01,-3.388415266e-05,8.595790236e-01,7.022641299e-01,-3.164985410e-05,8.595838425e-01,7.030723788e-01,-1.268242957e-04,8.297679007e-01
+22,1.978333333e+01,DOWN_FORCE_DETACH,1792843722989076999,3.223627790e-04,-1.903882861e-05,-5.967155766e-04,3.222066875e-04,-1.882448747e-05,-5.960204664e-04,3.409592312e-04,-1.880520537e-05,-5.942034548e-04,7.022779956e-01,-4.130956363e-05,8.595463717e-01,7.022778395e-01,-4.109522249e-05,8.595470668e-01,7.030865637e-01,-1.359944520e-04,8.297314300e-01
+23,2.066666667e+01,DOWN_FORCE_DETACH,1792843723890224108,3.352490194e-04,-1.665818338e-05,-6.421941313e-04,3.294594941e-04,-1.802151112e-05,-6.391699115e-04,3.483769843e-04,-1.810411577e-05,-6.373212754e-04,7.022908818e-01,-3.892891840e-05,8.595008931e-01,7.022850923e-01,-4.029224614e-05,8.595039173e-01,7.030939815e-01,-1.352933624e-04,8.296883122e-01
+24,2.163333333e+01,DOWN_FORCE_DETACH,1792843724872977203,3.397047012e-04,-1.920635467e-05,-6.879606843e-04,3.368172967e-04,-2.158558184e-05,-6.806474957e-04,3.558669850e-04,-2.160253623e-05,-6.788651747e-04,7.022953375e-01,-4.147708969e-05,8.594551266e-01,7.022924501e-01,-4.385631686e-05,8.594624397e-01,7.031014715e-01,-1.387917829e-04,8.296467683e-01
+25,2.253333333e+01,DOWN_FORCE_DETACH,1792843725806899986,3.498649161e-04,-1.747615167e-05,-7.323982447e-04,3.446274656e-04,-2.596173306e-05,-7.220016461e-04,3.638935502e-04,-2.586508190e-05,-7.202027962e-04,7.023054977e-01,-3.974688669e-05,8.594106890e-01,7.023002603e-01,-4.823246808e-05,8.594210856e-01,7.031094980e-01,-1.430543286e-04,8.296054306e-01
+26,2.338333333e+01,DOWN_FORCE_DETACH,1792843726707046213,3.647952810e-04,-2.746713469e-05,-7.925323240e-04,3.592066275e-04,-2.658782667e-05,-7.809109053e-04,3.786512007e-04,-2.649419680e-05,-7.788350271e-04,7.023204281e-01,-4.973786972e-05,8.593505549e-01,7.023148394e-01,-4.885856170e-05,8.593621763e-01,7.031242557e-01,-1.436834435e-04,8.295467984e-01
+27,2.421666667e+01,DOWN_FORCE_DETACH,1792843727563261936,3.714996959e-04,-3.365423273e-05,-8.463180333e-04,3.674386813e-04,-2.996621977e-05,-8.451790034e-04,3.868044328e-04,-2.977388332e-05,-8.427188945e-04,7.023271325e-01,-5.592496776e-05,8.592967692e-01,7.023230715e-01,-5.223695479e-05,8.592979082e-01,7.031324089e-01,-1.469631300e-04,8.294829145e-01
+28,2.513333333e+01,DOWN_FORCE_DETACH,1792843728460085183,3.767801740e-04,-2.950877486e-05,-8.987691358e-04,3.764159770e-04,-3.251650725e-05,-8.865241944e-04,3.960170921e-04,-3.224209156e-05,-8.844874196e-04,7.023324130e-01,-5.177950989e-05,8.592443181e-01,7.023320488e-01,-5.478724227e-05,8.592565630e-01,7.031416216e-01,-1.494313382e-04,8.294411460e-01
+29,2.611666667e+01,DOWN_FORCE_DETACH,1792843729459015923,3.894606422e-04,-3.557526176e-05,-9.610856020e-04,3.834887311e-04,-3.598108353e-05,-9.466223188e-04,4.029324816e-04,-3.556422781e-05,-9.445677940e-04,7.023450935e-01,-5.784599678e-05,8.591820016e-01,7.023391215e-01,-5.825181855e-05,8.591964649e-01,7.031485370e-01,-1.527534745e-04,8.293810656e-01
+30,2.696666667e+01,DOWN_FORCE_DETACH,1792843730359794061,3.989521012e-04,-3.915931549e-05,-1.028791660e-03,3.986812172e-04,-3.918872344e-05,-1.028142189e-03,4.181180563e-04,-3.872680806e-05,-1.025227590e-03,7.023545849e-01,-6.143005051e-05,8.591142956e-01,7.023543140e-01,-6.145945847e-05,8.591149451e-01,7.031637225e-01,-1.559160547e-04,8.293004059e-01
+31,2.791666667e+01,DOWN_FORCE_DETACH,1792843731310402395,4.061010167e-04,-3.981317328e-05,-1.101144586e-03,4.066604712e-04,-3.498750578e-05,-1.089665796e-03,4.260354848e-04,-3.469429443e-05,-1.086941039e-03,7.023617338e-01,-6.208390830e-05,8.590419427e-01,7.023622933e-01,-5.725824081e-05,8.590534214e-01,7.031716400e-01,-1.518835411e-04,8.292386924e-01
+32,2.881666667e+01,DOWN_FORCE_DETACH,1792843732210781932,4.186264343e-04,-4.050853076e-05,-1.168314500e-03,4.176521107e-04,-4.118086977e-05,-1.150928884e-03,4.371027947e-04,-4.078666878e-05,-1.148190576e-03,7.023742593e-01,-6.277926579e-05,8.589747727e-01,7.023732849e-01,-6.345160480e-05,8.589921584e-01,7.031827073e-01,-1.579759154e-04,8.291774429e-01
+33,2.965000000e+01,DOWN_FORCE_DETACH,1792843733079327591,4.328683809e-04,-4.738994407e-05,-1.241389907e-03,4.319093667e-04,-4.738688674e-05,-1.234782465e-03,4.513116983e-04,-4.689845157e-05,-1.231456163e-03,7.023885012e-01,-6.966067909e-05,8.589016973e-01,7.023875422e-01,-6.965762176e-05,8.589083048e-01,7.031969162e-01,-1.640876982e-04,8.290941773e-01
+34,3.051666667e+01,DOWN_FORCE_DETACH,1792843733980159361,4.432941460e-04,-5.146791189e-05,-1.327867596e-03,4.397966167e-04,-5.004812502e-05,-1.318684375e-03,4.587013651e-04,-4.958131170e-05,-1.315275149e-03,7.023989270e-01,-7.373864691e-05,8.588152196e-01,7.023954294e-01,-7.231886005e-05,8.588244029e-01,7.032043059e-01,-1.667705584e-04,8.290103583e-01
+35,3.128333333e+01,DOWN_FORCE_DETACH,1792843734733417565,4.501455997e-04,-5.231035782e-05,-1.398738418e-03,4.462866077e-04,-5.494301674e-05,-1.399911196e-03,4.646201220e-04,-5.443922629e-05,-1.396367877e-03,7.024057784e-01,-7.458109284e-05,8.587443488e-01,7.024019194e-01,-7.721375177e-05,8.587431760e-01,7.032102246e-01,-1.716284729e-04,8.289292656e-01
+36,3.210000000e+01,DOWN_FORCE_DETACH,1792843735537040652,4.553705798e-04,-5.747985873e-05,-1.491198145e-03,4.554416949e-04,-5.833914446e-05,-1.484698621e-03,4.733242612e-04,-5.784510296e-05,-1.481103594e-03,7.024110034e-01,-7.975059375e-05,8.586518891e-01,7.024110745e-01,-8.060987949e-05,8.586583886e-01,7.032189287e-01,-1.750343496e-04,8.288445298e-01
+37,3.293333333e+01,DOWN_FORCE_DETACH,1792843736354958932,4.639340610e-04,-5.854525783e-05,-1.592273112e-03,4.658900941e-04,-6.120842392e-05,-1.586781572e-03,4.832598410e-04,-6.068834127e-05,-1.582811851e-03,7.024195669e-01,-8.081599285e-05,8.585508141e-01,7.024215229e-01,-8.347915894e-05,8.585563057e-01,7.032288643e-01,-1.778775879e-04,8.287428216e-01
+38,3.373333333e+01,DOWN_FORCE_DETACH,1792843737173883077,4.734380012e-04,-6.871371439e-05,-1.693189768e-03,4.731472388e-04,-6.881239419e-05,-1.692765337e-03,4.900041835e-04,-6.793212909e-05,-1.688561260e-03,7.024290708e-01,-9.098444941e-05,8.584498975e-01,7.024287801e-01,-9.108312922e-05,8.584503219e-01,7.032356087e-01,-1.851213757e-04,8.286370722e-01
+39,3.458333333e+01,DOWN_FORCE_DETACH,1792843738009414342,4.848262893e-04,-6.225748092e-05,-1.807747733e-03,4.857164189e-04,-6.133974532e-05,-1.805334725e-03,5.022233613e-04,-6.048259893e-05,-1.801041637e-03,7.024404591e-01,-8.452821594e-05,8.583353395e-01,7.024413492e-01,-8.361048034e-05,8.583377525e-01,7.032478278e-01,-1.776718456e-04,8.285245918e-01
+40,3.536666667e+01,DOWN_FORCE_DETACH,1792843738811821897,4.915969395e-04,-5.356790900e-05,-1.934529448e-03,4.920436245e-04,-5.264004408e-05,-1.930898988e-03,5.077787066e-04,-5.187340361e-05,-1.926131690e-03,7.024472298e-01,-7.583864402e-05,8.582085578e-01,7.024476764e-01,-7.491077910e-05,8.582121883e-01,7.032533832e-01,-1.690626503e-04,8.283995018e-01
+41,3.613333333e+01,DOWN_FORCE_DETACH,1792843739598966967,4.977123304e-04,-5.535726293e-05,-2.070322087e-03,4.973552338e-04,-5.249130919e-05,-2.059514105e-03,5.120040716e-04,-5.164041415e-05,-2.054358989e-03,7.024533451e-01,-7.762799795e-05,8.580727652e-01,7.024529881e-01,-7.476204421e-05,8.580835731e-01,7.032576086e-01,-1.688296608e-04,8.282712745e-01
+42,3.688333333e+01,DOWN_FORCE_DETACH,1792843740400993073,5.111390452e-04,-5.064368823e-05,-2.212723975e-03,5.076632587e-04,-5.479413741e-05,-2.206471502e-03,5.213336744e-04,-5.382630001e-05,-2.200835193e-03,7.024667719e-01,-7.291442326e-05,8.579303633e-01,7.024632961e-01,-7.706487243e-05,8.579366157e-01,7.032669382e-01,-1.710155467e-04,8.281247982e-01
+43,3.756666667e+01,DOWN_FORCE_DETACH,1792843741088058379,5.233851429e-04,-5.320214648e-05,-2.357555394e-03,5.219144338e-04,-5.306009000e-05,-2.339077018e-03,5.351372181e-04,-5.221349530e-05,-2.333485356e-03,7.024790180e-01,-7.547288150e-05,8.577855318e-01,7.024775473e-01,-7.533082502e-05,8.578040102e-01,7.032807417e-01,-1.694027420e-04,8.279921481e-01
+44,3.820000000e+01,DOWN_FORCE_DETACH,1792843741761187893,5.304538904e-04,-4.878885524e-05,-2.514385598e-03,5.302730647e-04,-4.896846107e-05,-2.514212112e-03,5.420957056e-04,-4.831160557e-05,-2.507462045e-03,7.024860867e-01,-7.105959026e-05,8.576287016e-01,7.024859059e-01,-7.123919610e-05,8.576288751e-01,7.032877002e-01,-1.655008522e-04,8.278181714e-01
+45,3.883333333e+01,DOWN_FORCE_DETACH,1792843742415269931,5.327093982e-04,-5.184773226e-05,-2.677345598e-03,5.327477174e-04,-5.032766883e-05,-2.668743955e-03,5.430514792e-04,-4.963691510e-05,-2.662180586e-03,7.024883422e-01,-7.411846729e-05,8.574657416e-01,7.024883805e-01,-7.259840385e-05,8.574743433e-01,7.032886560e-01,-1.668261618e-04,8.276634529e-01
+46,3.941666667e+01,DOWN_FORCE_DETACH,1792843743071233534,5.374867463e-04,-5.325369266e-05,-2.851431738e-03,5.374202301e-04,-5.310897672e-05,-2.851365350e-03,5.458943088e-04,-5.234181606e-05,-2.844002752e-03,7.024931196e-01,-7.552442768e-05,8.572916555e-01,7.024930530e-01,-7.537971174e-05,8.572917219e-01,7.032914988e-01,-1.695310627e-04,8.274816307e-01
+47,4.000000000e+01,DOWN_FORCE_DETACH,1792843743677229375,5.431029688e-04,-5.128298410e-05,-3.021397617e-03,5.430001748e-04,-5.149548274e-05,-3.021329245e-03,5.496960228e-04,-5.096013813e-05,-3.013516257e-03,7.024987358e-01,-7.355371912e-05,8.571216896e-01,7.024986330e-01,-7.376621776e-05,8.571217580e-01,7.032953005e-01,-1.681493848e-04,8.273121172e-01
+48,4.053333333e+01,DOWN_FORCE_DETACH,1792843744201077960,5.450786989e-04,-5.957771901e-05,-3.184656723e-03,5.448505146e-04,-5.943379712e-05,-3.184754466e-03,5.496511462e-04,-5.878350288e-05,-3.176630058e-03,7.025007115e-01,-8.184845403e-05,8.569584305e-01,7.025004833e-01,-8.170453214e-05,8.569583328e-01,7.032952556e-01,-1.759727495e-04,8.271490034e-01
+49,4.106666667e+01,DOWN_FORCE_DETACH,1792843744758018929,5.453880757e-04,-6.262520140e-05,-3.374584475e-03,5.445766061e-04,-6.169108928e-05,-3.369379655e-03,5.470454235e-04,-6.111761744e-05,-3.361108695e-03,7.025010209e-01,-8.489593642e-05,8.567685028e-01,7.025002094e-01,-8.396182430e-05,8.567737076e-01,7.032926499e-01,-1.783068641e-04,8.269645247e-01
+50,4.155000000e+01,DOWN_FORCE_DETACH,1792843745249819457,5.480844606e-04,-6.789521658e-05,-3.551702559e-03,5.479233744e-04,-6.812181775e-05,-3.551469595e-03,5.484687207e-04,-6.733600072e-05,-3.542923905e-03,7.025037173e-01,-9.016595160e-05,8.565913847e-01,7.025035562e-01,-9.039255278e-05,8.565916176e-01,7.032940732e-01,-1.845252474e-04,8.267827095e-01
+51,4.203333333e+01,DOWN_FORCE_DETACH,1792843745724003324,5.541303616e-04,-6.826130490e-05,-3.740792931e-03,5.540261897e-04,-6.804577410e-05,-3.740938860e-03,5.527954631e-04,-6.701248717e-05,-3.732057741e-03,7.025097632e-01,-9.053203992e-05,8.564022943e-01,7.025096590e-01,-9.031650912e-05,8.564021484e-01,7.032983999e-01,-1.842017338e-04,8.265935757e-01
+52,4.248333333e+01,DOWN_FORCE_DETACH,1792843746183080286,5.508946763e-04,-7.429062320e-05,-3.940360639e-03,5.512248398e-04,-7.212445323e-05,-3.932441102e-03,5.476488570e-04,-7.081725984e-05,-3.923287920e-03,7.025065275e-01,-9.656135822e-05,8.562027266e-01,7.025068577e-01,-9.439518826e-05,8.562106461e-01,7.032932533e-01,-1.880065065e-04,8.264023455e-01
+53,4.288333333e+01,DOWN_FORCE_DETACH,1792843746589555798,5.543029188e-04,-7.716643116e-05,-4.128286428e-03,5.539290593e-04,-7.716916330e-05,-4.128495603e-03,5.481933694e-04,-7.561477801e-05,-4.118515345e-03,7.025099357e-01,-9.943716618e-05,8.560148008e-01,7.025095619e-01,-9.943989833e-05,8.560145916e-01,7.032937979e-01,-1.928040247e-04,8.262071181e-01
+54,4.326666667e+01,DOWN_FORCE_DETACH,1792843746969202556,5.545033973e-04,-7.388017069e-05,-4.306223041e-03,5.539974498e-04,-7.815265878e-05,-4.298612611e-03,5.463410912e-04,-7.661733456e-05,-4.288874087e-03,7.025101362e-01,-9.615090571e-05,8.558368642e-01,7.025096303e-01,-1.004233938e-04,8.558444746e-01,7.032919456e-01,-1.938065812e-04,8.260367594e-01
+55,4.365000000e+01,DOWN_FORCE_DETACH,1792843747361777591,5.477263223e-04,-7.927146951e-05,-4.505487972e-03,5.468873175e-04,-8.001711091e-05,-4.498435813e-03,5.366605694e-04,-7.838372357e-05,-4.488443905e-03,7.025033591e-01,-1.015422045e-04,8.556375993e-01,7.025025201e-01,-1.022878459e-04,8.556446514e-01,7.032822651e-01,-1.955729702e-04,8.258371895e-01
+56,4.401666667e+01,DOWN_FORCE_DETACH,1792843747723139695,5.410160675e-04,-8.758533811e-05,-4.706018125e-03,5.412793138e-04,-7.987698740e-05,-4.694846320e-03,5.283360942e-04,-7.830560550e-05,-4.684615449e-03,7.024966489e-01,-1.098560731e-04,8.554370691e-01,7.024969121e-01,-1.021477224e-04,8.554482409e-01,7.032739406e-01,-1.954948522e-04,8.256410180e-01
+57,4.433333333e+01,DOWN_FORCE_DETACH,1792843748049722081,5.323987176e-04,-8.183090457e-05,-4.895415963e-03,5.322617872e-04,-8.197544982e-05,-4.895456279e-03,5.163555041e-04,-8.050692573e-05,-4.884335362e-03,7.024880315e-01,-1.041016396e-04,8.552476713e-01,7.024878946e-01,-1.042461848e-04,8.552476310e-01,7.032619600e-01,-1.976961724e-04,8.254412981e-01
+58,4.470000000e+01,DOWN_SETTLE,1792843748427109891,5.143820845e-04,-8.630607275e-05,-5.098615111e-03,5.185243745e-04,-8.533775584e-05,-5.085657629e-03,4.992331331e-04,-8.397136567e-05,-5.075291817e-03,7.024700149e-01,-1.085768078e-04,8.550444721e-01,7.024741572e-01,-1.076084909e-04,8.550574296e-01,7.032448376e-01,-2.011606123e-04,8.252503416e-01
+59,4.541666667e+01,DOWN_PEAK_HOLD,1792843749147621166,4.502323765e-04,-9.030942291e-05,-5.262758568e-03,4.529829905e-04,-8.430049564e-05,-5.256713636e-03,4.273651948e-04,-8.303228715e-05,-5.249775489e-03,7.024058652e-01,-1.125801579e-04,8.548803287e-01,7.024086158e-01,-1.065712307e-04,8.548863736e-01,7.031729697e-01,-2.002215338e-04,8.250758580e-01

Fixed/digit/ball_PLA_12.5/press_depth_09/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.7921e-01,3.2224e-01,2.4580e+00,-5.9052e-02,4.9387e-02,8.7146e-04,6.0201e-06,9.1791e-05,-1.0490e-05,-5.9903e-06,7.1526e-07,-1.0664e-07,9.2585e-05,6.0338e-06
+1,8.6667e-01,DOWN_FORCE_DETACH,2.1144e-04,2.5222e-01,3.1540e-01,2.4576e+00,-5.8514e-02,5.4539e-02,5.8820e-04,7.3010e-02,-6.7579e-03,-4.8685e-04,5.3162e-04,5.1525e-03,-2.8337e-04,7.3323e-02,5.1876e-03
+2,1.9333e+00,DOWN_FORCE_DETACH,4.2407e-04,2.9837e-01,3.1030e-01,2.4573e+00,-5.8168e-02,5.7797e-02,3.4078e-04,1.1916e-01,-1.1854e-02,-7.6485e-04,8.7740e-04,8.4106e-03,-5.3079e-04,1.1975e-01,8.4729e-03
+3,2.6500e+00,DOWN_FORCE_DETACH,6.3194e-04,1.7220e-01,3.1729e-01,2.4643e+00,-5.8676e-02,4.8871e-02,3.0865e-04,-7.0087e-03,-4.8633e-03,6.2275e-03,3.6978e-04,-5.1583e-04,-5.6292e-04,1.0562e-02,8.4835e-04
+4,3.3667e+00,DOWN_FORCE_DETACH,8.4840e-04,-4.4437e-02,2.6650e-01,2.5986e+00,-5.5089e-02,3.3433e-02,2.2076e-04,-2.2364e-01,-5.5657e-02,1.4052e-01,3.9569e-03,-1.5954e-02,-6.5081e-04,2.6993e-01,1.6450e-02
+5,3.9500e+00,DOWN_FORCE_DETACH,1.0556e-03,3.0960e-02,3.2321e-01,2.7342e+00,-5.9019e-02,3.8660e-02,1.7145e-04,-1.4825e-01,1.0618e-03,2.7619e-01,2.6088e-05,-1.0726e-02,-7.0012e-04,3.1346e-01,1.0749e-02
+6,4.7333e+00,DOWN_FORCE_DETACH,1.2655e-03,6.0633e-03,3.4372e-01,2.8744e+00,-6.0476e-02,3.6837e-02,9.3013e-05,-1.7314e-01,2.1568e-02,4.1633e-01,-1.4304e-03,-1.2550e-02,-7.7855e-04,4.5142e-01,1.2655e-02
+7,5.6000e+00,DOWN_FORCE_DETACH,1.4791e-03,-2.6343e-03,2.9914e-01,2.9805e+00,-5.7488e-02,3.6018e-02,3.3666e-05,-1.8184e-01,-2.3018e-02,5.2250e-01,1.5575e-03,-1.3368e-02,-8.3790e-04,5.5371e-01,1.3485e-02
+8,6.4167e+00,DOWN_FORCE_DETACH,1.6904e-03,2.9994e-02,2.6775e-01,2.9735e+00,-5.5317e-02,3.8186e-02,9.4600e-05,-1.4921e-01,-5.4408e-02,5.1543e-01,3.7282e-03,-1.1200e-02,-7.7697e-04,5.3935e-01,1.1830e-02
+9,7.4167e+00,DOWN_FORCE_DETACH,1.9005e-03,8.6828e-02,2.7693e-01,3.0019e+00,-5.5856e-02,4.2328e-02,6.2612e-04,-9.2380e-02,-4.5227e-02,5.4387e-01,3.1890e-03,-7.0586e-03,-2.4544e-04,5.5351e-01,7.7495e-03
+10,8.4167e+00,DOWN_FORCE_DETACH,2.1065e-03,1.7470e-01,3.0107e-01,2.9105e+00,-5.7617e-02,4.8680e-02,1.2554e-03,-4.5076e-03,-2.1080e-02,4.5246e-01,1.4285e-03,-7.0618e-04,3.8387e-04,4.5297e-01,1.6391e-03
+11,9.2500e+00,DOWN_FORCE_DETACH,2.3204e-03,2.4478e-01,2.9481e-01,2.7369e+00,-5.7296e-02,5.3717e-02,1.4809e-03,6.5572e-02,-2.7338e-02,2.7882e-01,1.7497e-03,4.3303e-03,6.0930e-04,2.8773e-01,4.7100e-03
+12,1.0283e+01,DOWN_FORCE_DETACH,2.5299e-03,3.0219e-01,3.0191e-01,2.7173e+00,-5.8040e-02,5.7832e-02,1.6102e-03,1.2299e-01,-2.0240e-02,2.5922e-01,1.0053e-03,8.4459e-03,7.3865e-04,2.8763e-01,8.5376e-03
+13,1.1167e+01,DOWN_FORCE_DETACH,2.7430e-03,3.2553e-01,3.0148e-01,2.5892e+00,-5.8239e-02,5.9594e-02,1.5961e-03,1.4632e-01,-2.0676e-02,1.3120e-01,8.0642e-04,1.0207e-02,7.2457e-04,1.9761e-01,1.0265e-02
+14,1.2217e+01,DOWN_FORCE_DETACH,2.9542e-03,3.4549e-01,3.0170e-01,2.5288e+00,-5.8450e-02,6.1083e-02,1.4889e-03,1.6628e-01,-2.0454e-02,7.0793e-02,5.9595e-04,1.1696e-02,6.1729e-04,1.8188e-01,1.1728e-02
+15,1.3183e+01,DOWN_FORCE_DETACH,3.1672e-03,3.5636e-01,3.0025e-01,2.4991e+00,-5.8464e-02,6.1880e-02,1.4053e-03,1.7715e-01,-2.1905e-02,4.1046e-02,5.8117e-04,1.2494e-02,5.3377e-04,1.8316e-01,1.2519e-02
+16,1.4200e+01,DOWN_FORCE_DETACH,3.3760e-03,3.6290e-01,2.9918e-01,2.4831e+00,-5.8466e-02,6.2364e-02,1.3421e-03,1.8369e-01,-2.2976e-02,2.5069e-02,5.7959e-04,1.2978e-02,4.7055e-04,1.8681e-01,1.2999e-02
+17,1.5133e+01,DOWN_FORCE_DETACH,3.5888e-03,3.7052e-01,3.2301e-01,2.5268e+00,-6.0176e-02,6.2843e-02,1.3112e-03,1.9132e-01,8.6045e-04,6.8746e-02,-1.1309e-03,1.3456e-02,4.3964e-04,2.0329e-01,1.3511e-02
+18,1.6150e+01,DOWN_FORCE_DETACH,3.7988e-03,2.9778e-01,3.4205e-01,2.6439e+00,-6.1455e-02,5.7663e-02,1.2717e-03,1.1858e-01,1.9899e-02,1.8584e-01,-2.4097e-03,8.2765e-03,4.0013e-04,2.2135e-01,8.6294e-03
+19,1.7117e+01,DOWN_FORCE_DETACH,4.0106e-03,3.0698e-01,2.8320e-01,2.5861e+00,-5.7337e-02,5.8271e-02,1.1711e-03,1.2777e-01,-3.8949e-02,1.2804e-01,1.7089e-03,8.8843e-03,2.9953e-04,1.8503e-01,9.0522e-03
+20,1.8050e+01,DOWN_FORCE_DETACH,4.2216e-03,3.1971e-01,3.0943e-01,2.5700e+00,-5.9186e-02,5.9178e-02,1.0710e-03,1.4050e-01,-1.2727e-02,1.1191e-01,-1.4077e-04,9.7916e-03,1.9947e-04,1.8008e-01,9.7947e-03
+21,1.8850e+01,DOWN_FORCE_DETACH,4.4314e-03,2.9266e-01,3.1456e-01,2.6732e+00,-5.9509e-02,5.7230e-02,9.2420e-04,1.1345e-01,-7.5974e-03,2.1517e-01,-4.6300e-04,7.8434e-03,5.2637e-05,2.4336e-01,7.8572e-03
+22,1.9783e+01,DOWN_FORCE_DETACH,4.6418e-03,3.1452e-01,3.3469e-01,2.5988e+00,-6.0901e-02,5.8819e-02,7.2678e-04,1.3531e-01,1.2541e-02,1.4078e-01,-1.8555e-03,9.4326e-03,-1.4478e-04,1.9567e-01,9.6144e-03
+23,2.0667e+01,DOWN_FORCE_DETACH,4.8531e-03,2.9956e-01,3.7155e-01,2.7174e+00,-6.3377e-02,5.7636e-02,6.1222e-04,1.2036e-01,4.9401e-02,2.5931e-01,-4.3311e-03,8.2493e-03,-2.5935e-04,2.9012e-01,9.3208e-03
+24,2.1633e+01,DOWN_FORCE_DETACH,5.0637e-03,3.0740e-01,3.9453e-01,2.7115e+00,-6.4951e-02,5.8155e-02,4.4482e-04,1.2819e-01,7.2374e-02,2.5347e-01,-5.9059e-03,8.7686e-03,-4.2674e-04,2.9312e-01,1.0581e-02
+25,2.2533e+01,DOWN_FORCE_DETACH,5.2744e-03,3.0737e-01,4.2682e-01,2.7101e+00,-6.7158e-02,5.8150e-02,3.2786e-04,1.2816e-01,1.0466e-01,2.5204e-01,-8.1126e-03,8.7638e-03,-5.4371e-04,3.0150e-01,1.1955e-02
+26,2.3383e+01,DOWN_FORCE_DETACH,5.4868e-03,2.8115e-01,4.2962e-01,2.7663e+00,-6.7145e-02,5.6264e-02,2.2995e-04,1.0194e-01,1.0747e-01,3.0821e-01,-8.0994e-03,6.8773e-03,-6.4162e-04,3.4195e-01,1.0645e-02
+27,2.4217e+01,DOWN_FORCE_DETACH,5.6963e-03,2.8720e-01,4.5882e-01,2.8358e+00,-6.8804e-02,5.6586e-02,1.5952e-04,1.0799e-01,1.3667e-01,3.7772e-01,-9.7583e-03,7.1995e-03,-7.1205e-04,4.1595e-01,1.2148e-02
+28,2.5133e+01,DOWN_FORCE_DETACH,5.9101e-03,2.8744e-01,4.8600e-01,2.7488e+00,-7.0402e-02,5.6674e-02,1.0275e-04,1.0823e-01,1.6385e-01,2.9073e-01,-1.1357e-02,7.2880e-03,-7.6882e-04,3.5083e-01,1.3516e-02
+29,2.6117e+01,DOWN_FORCE_DETACH,6.1187e-03,2.9219e-01,5.1420e-01,2.7573e+00,-7.2130e-02,5.6971e-02,-1.0231e-06,1.1298e-01,1.9205e-01,2.9930e-01,-1.3085e-02,7.5851e-03,-8.7259e-04,3.7313e-01,1.5149e-02
+30,2.6967e+01,DOWN_FORCE_DETACH,6.3296e-03,2.7018e-01,5.0310e-01,2.7803e+00,-7.1290e-02,5.5362e-02,-1.4495e-04,9.0968e-02,1.8094e-01,3.2228e-01,-1.2245e-02,5.9757e-03,-1.0165e-03,3.8063e-01,1.3663e-02
+31,2.7917e+01,DOWN_FORCE_DETACH,6.5433e-03,2.7384e-01,4.9463e-01,2.8867e+00,-7.0799e-02,5.5531e-02,-2.6308e-04,9.4634e-02,1.7247e-01,4.2863e-01,-1.1753e-02,6.1445e-03,-1.1346e-03,4.7162e-01,1.3311e-02
+32,2.8817e+01,DOWN_FORCE_DETACH,6.7537e-03,2.5885e-01,5.2327e-01,2.8877e+00,-7.2873e-02,5.4465e-02,-3.4035e-04,7.9644e-02,2.0112e-01,4.2964e-01,-1.3827e-02,5.0789e-03,-1.2119e-03,4.8102e-01,1.4780e-02
+33,2.9650e+01,DOWN_FORCE_DETACH,6.9638e-03,2.3414e-01,5.5496e-01,2.9663e+00,-7.5286e-02,5.2665e-02,-3.9958e-04,5.4928e-02,2.3280e-01,5.0822e-01,-1.6241e-02,3.2787e-03,-1.2711e-03,5.6170e-01,1.6617e-02
+34,3.0517e+01,DOWN_FORCE_DETACH,7.1730e-03,2.2721e-01,5.6437e-01,3.0061e+00,-7.6192e-02,5.2188e-02,-4.3210e-04,4.8002e-02,2.4222e-01,5.4809e-01,-1.7146e-02,2.8020e-03,-1.3037e-03,6.0114e-01,1.7422e-02
+35,3.1283e+01,DOWN_FORCE_DETACH,7.3866e-03,2.2022e-01,5.8742e-01,3.0549e+00,-7.7909e-02,5.1637e-02,-4.0764e-04,4.1013e-02,2.6527e-01,5.9682e-01,-1.8863e-02,2.2507e-03,-1.2792e-03,6.5440e-01,1.9040e-02
+36,3.2100e+01,DOWN_FORCE_DETACH,7.6005e-03,1.9657e-01,6.0543e-01,3.0416e+00,-7.9179e-02,5.0019e-02,-3.3066e-04,1.7360e-02,2.8327e-01,5.8357e-01,-2.0134e-02,6.3270e-04,-1.2022e-03,6.4892e-01,2.0180e-02
+37,3.2933e+01,DOWN_FORCE_DETACH,7.8065e-03,1.8373e-01,6.2881e-01,3.0805e+00,-8.0442e-02,4.9052e-02,-1.7757e-04,4.5188e-03,3.0666e-01,6.2242e-01,-2.1396e-02,-3.3388e-04,-1.0491e-03,6.9388e-01,2.1425e-02
+38,3.3733e+01,DOWN_FORCE_DETACH,8.0194e-03,2.0241e-01,6.2574e-01,3.0723e+00,-7.9629e-02,5.0304e-02,2.2465e-04,2.3200e-02,3.0359e-01,6.1428e-01,-2.0583e-02,9.1801e-04,-6.4692e-04,6.8560e-01,2.0614e-02
+39,3.4583e+01,DOWN_FORCE_DETACH,8.2285e-03,2.1595e-01,6.6750e-01,3.1722e+00,-8.1565e-02,5.1199e-02,7.4948e-04,3.6739e-02,3.4534e-01,7.1413e-01,-2.2520e-02,1.8128e-03,-1.2209e-04,7.9410e-01,2.2593e-02
+40,3.5367e+01,DOWN_FORCE_DETACH,8.4388e-03,2.5430e-01,6.3940e-01,3.2499e+00,-7.9120e-02,5.3781e-02,8.3471e-04,7.5091e-02,3.1724e-01,7.9190e-01,-2.0074e-02,4.3949e-03,-3.6861e-05,8.5638e-01,2.0550e-02
+41,3.6133e+01,DOWN_FORCE_DETACH,8.6499e-03,2.7456e-01,6.3025e-01,3.3496e+00,-7.8128e-02,5.5033e-02,5.7532e-04,9.5355e-02,3.0809e-01,8.9155e-01,-1.9083e-02,5.6465e-03,-2.9625e-04,9.4809e-01,1.9903e-02
+42,3.6883e+01,DOWN_FORCE_DETACH,8.8615e-03,2.7024e-01,6.7810e-01,3.4592e+00,-8.1634e-02,5.4632e-02,2.9195e-04,9.1027e-02,3.5594e-01,1.0011e+00,-2.2588e-02,5.2456e-03,-5.7962e-04,1.0664e+00,2.3196e-02
+43,3.7567e+01,DOWN_FORCE_DETACH,9.0722e-03,2.6072e-01,6.5149e-01,3.5080e+00,-8.0056e-02,5.3936e-02,1.0707e-04,8.1517e-02,3.2934e-01,1.0499e+00,-2.1011e-02,4.5498e-03,-7.6450e-04,1.1034e+00,2.1511e-02
+44,3.8200e+01,DOWN_FORCE_DETACH,9.2854e-03,2.9110e-01,6.3587e-01,3.5774e+00,-7.9223e-02,5.6030e-02,1.1860e-04,1.1190e-01,3.1371e-01,1.1193e+00,-2.0177e-02,6.6432e-03,-7.5297e-04,1.1678e+00,2.1256e-02
+45,3.8833e+01,DOWN_FORCE_DETACH,9.4918e-03,3.1613e-01,6.1995e-01,3.6450e+00,-7.8161e-02,5.7691e-02,4.0274e-04,1.3692e-01,2.9779e-01,1.1869e+00,-1.9115e-02,8.3043e-03,-4.6882e-04,1.2314e+00,2.0846e-02
+46,3.9417e+01,DOWN_FORCE_DETACH,9.7084e-03,3.1960e-01,6.0143e-01,3.7403e+00,-7.6644e-02,5.7755e-02,4.4283e-04,1.4039e-01,2.7928e-01,1.2823e+00,-1.7598e-02,8.3689e-03,-4.2874e-04,1.3198e+00,1.9491e-02
+47,4.0000e+01,DOWN_FORCE_DETACH,9.9179e-03,2.8997e-01,6.1663e-01,3.7897e+00,-7.7473e-02,5.5607e-02,1.1136e-04,1.1076e-01,2.9448e-01,1.3317e+00,-1.8428e-02,6.2205e-03,-7.6021e-04,1.3683e+00,1.9464e-02
+48,4.0533e+01,DOWN_FORCE_DETACH,1.0126e-02,2.6589e-01,6.1732e-01,3.8803e+00,-7.7544e-02,5.3777e-02,-2.6239e-04,8.6678e-02,2.9517e-01,1.4222e+00,-1.8499e-02,4.3905e-03,-1.1340e-03,1.4551e+00,1.9047e-02
+49,4.1067e+01,DOWN_FORCE_DETACH,1.0338e-02,2.6293e-01,6.3229e-01,3.9697e+00,-7.8379e-02,5.3448e-02,-3.0172e-04,8.3726e-02,3.1014e-01,1.5116e+00,-1.9333e-02,4.0612e-03,-1.1733e-03,1.5454e+00,1.9790e-02
+50,4.1550e+01,DOWN_FORCE_DETACH,1.0546e-02,2.5940e-01,6.7508e-01,3.9842e+00,-8.0896e-02,5.3204e-02,-1.0287e-04,8.0192e-02,3.5293e-01,1.5261e+00,-2.1850e-02,3.8174e-03,-9.7444e-04,1.5685e+00,2.2203e-02
+51,4.2033e+01,DOWN_FORCE_DETACH,1.0757e-02,2.6939e-01,7.2935e-01,4.0636e+00,-8.3926e-02,5.3832e-02,2.3805e-04,9.0186e-02,4.0720e-01,1.6055e+00,-2.4881e-02,4.4460e-03,-6.3351e-04,1.6588e+00,2.5283e-02
+52,4.2483e+01,DOWN_FORCE_DETACH,1.0973e-02,2.9393e-01,7.8102e-01,4.1618e+00,-8.6779e-02,5.5389e-02,3.7405e-04,1.1472e-01,4.5886e-01,1.7037e+00,-2.7734e-02,6.0027e-03,-4.9752e-04,1.7682e+00,2.8380e-02
+53,4.2883e+01,DOWN_FORCE_DETACH,1.1180e-02,2.7068e-01,8.5015e-01,4.2213e+00,-9.1045e-02,5.3689e-02,3.6801e-04,9.1472e-02,5.2800e-01,1.7632e+00,-3.1999e-02,4.3023e-03,-5.0356e-04,1.8428e+00,3.2291e-02
+54,4.3267e+01,DOWN_FORCE_DETACH,1.1394e-02,3.0074e-01,8.4748e-01,4.2939e+00,-9.0695e-02,5.5676e-02,3.7141e-04,1.2153e-01,5.2533e-01,1.8358e+00,-3.1649e-02,6.2899e-03,-5.0015e-04,1.9134e+00,3.2272e-02
+55,4.3650e+01,DOWN_FORCE_DETACH,1.1606e-02,3.4999e-01,8.8092e-01,4.3619e+00,-9.2708e-02,5.9036e-02,4.0863e-04,1.7078e-01,5.5877e-01,1.9038e+00,-3.3663e-02,9.6494e-03,-4.6294e-04,1.9914e+00,3.5022e-02
+56,4.4017e+01,DOWN_FORCE_DETACH,1.1821e-02,3.7912e-01,8.7857e-01,4.4154e+00,-9.2222e-02,6.0981e-02,3.3044e-04,1.9991e-01,5.5641e-01,1.9574e+00,-3.3177e-02,1.1595e-02,-5.4113e-04,2.0447e+00,3.5149e-02
+57,4.4333e+01,DOWN_FORCE_DETACH,1.2025e-02,3.9703e-01,8.6738e-01,4.5132e+00,-9.1127e-02,6.2146e-02,7.2163e-05,2.1782e-01,5.4523e-01,2.0551e+00,-3.2081e-02,1.2760e-02,-7.9940e-04,2.1373e+00,3.4535e-02
+58,4.4700e+01,DOWN_SETTLE,1.2238e-02,4.0467e-01,8.5010e-01,4.5370e+00,-8.9745e-02,6.2643e-02,-2.3172e-04,2.2546e-01,5.2794e-01,2.0790e+00,-3.0700e-02,1.3257e-02,-1.1033e-03,2.1568e+00,3.3458e-02
+59,4.5417e+01,DOWN_PEAK_HOLD,1.2449e-02,5.6633e-01,8.3066e-01,3.9087e+00,-8.8956e-02,7.4737e-02,-7.5432e-04,3.8712e-01,5.0850e-01,1.4507e+00,-2.9910e-02,2.5350e-02,-1.6259e-03,1.5852e+00,3.9241e-02

Fixed/digit/ball_PLA_12.5/press_depth_09/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a72c42814a41812407aa13050213ccb9b360c0ab59296342c9aed378ffacd7e0
+size 583680

Fixed/digit/ball_PLA_12.5/press_depth_09/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+8116,1792843689604952997,22369184000000,1792843689604182572,XJC_ZERO_HOLD_BEFORE_UP,9,0.0662,0.06619790941476822,0.6759488273289185,-0.0044335587149093095,0.1066108375943197,0.9999999501055988,0.00013693130988908092,-0.0002604755622545455,-6.807320981804199e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0007518399096863998,0.0007881069652918848,-1.2442494067302357e-05,1.023480144433063e-07,-8.724709234773829e-08,3.8647613194030435e-08,-0.07363225129999841,-0.08116486700000072,0.06994104099999997,-0.0010520790290000001,6.313899999999887e-06,0.0009501869800000011,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.074638808305171,0.5239424624704756,2.5661700497824027,-0.575042047305622,-1.8777454134560454,0.1987336153213208,-0.8466464348486994,1.2442494067302357e-05,-3.412816484631102,0.0,0.0,0,0,0.0,0.0
+8143,1792843689823945382,22369403000000,1792843689816182620,WAIT_W2,9,0.0596,0.06619725376367569,0.6759474981424292,-0.004437158963801705,0.10660909708624128,0.9999999502408354,0.00013267152942467408,-0.00026251305357631615,-6.668097794419812e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0007990255116319123,0.0007881069652925649,-1.2442494067302357e-05,1.023480144433063e-07,-8.724709234777302e-08,3.8647613193922015e-08,-0.0735850656980529,-0.08116486700000004,0.06994104099999997,-0.0010520790290000001,6.313899999999852e-06,0.000950186980000001,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0955179654025597,0.3839632814230947,2.5551172404303104,-0.5301418595891186,-1.8776642824172982,0.10650358238109214,-0.8466464348486994,1.2442494067302357e-05,-3.40176367527901,0.0,0.0,0,0,0.0,0.0
+8172,1792843690066035939,22369645000000,1792843690060182805,WAIT_W2,9,0.0596,0.06619725376367569,0.6759482607606525,-0.004437659531105685,0.10661072765013778,0.9999999502836425,0.00013534005317951083,-0.000260734781751666,-6.764628900749947e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0007516339996304217,0.0006878833419996233,-1.273912213289874e-05,8.78598677815385e-08,-7.883634110254562e-08,3.872524382338583e-08,-0.07363245721005439,-0.08126509062329298,0.06994074437193437,-0.001052093517146662,6.32231075124508e-06,0.0009501870576306304,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0826103019500657,0.40927523520980924,2.6253353685749823,-0.5424827505474661,-1.9167135812119063,0.12120571045012787,-0.8466464348486994,1.273912213289874e-05,-3.471981803423682,0.0,0.0,0,0,0.0,0.0
+8212,1792843690399024230,22369978000000,1792843690392182294,WAIT_W2,9,0.0596,0.06619725376367569,0.6759454537178444,-0.004439365756525646,0.10660872295008782,0.9999999494879965,0.00013516493894536954,-0.0002640482557169175,-6.690161867621661e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0007524531346685126,0.0007031893914136444,-1.25060756399481e-05,9.46307044621432e-08,-8.451322805856631e-08,3.8741945056989385e-08,-0.0736316380750163,-0.08124978457387896,0.06994097741842732,-0.0010520867463099813,6.316633864289059e-06,0.000950187074331864,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0306469574003656,0.4090866135621666,2.626208176979674,-0.5399766303828992,-1.9053673994189606,0.1238582408598084,-0.8466464348486994,1.25060756399481e-05,-3.4728546118283736,0.0,0.0,0,0,0.0,0.0
+8218,1792843690449033909,22370028000000,1792843690444181098,WAIT_W2,9,0.0596,0.06619725376367569,0.6759500818261965,-0.004444539225918369,0.10661311992576514,0.9999999515032022,0.00013319929843794544,-0.0002583759307279983,-6.273980282439987e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0009650029786178599,0.000787614948547774,-1.210829620999776e-05,9.798946343101203e-08,-9.148845024923957e-08,6.423743001979579e-08,-0.07341908823106695,-0.08116535901674483,0.06994137519785727,-0.0010520833875510124,6.309658642098386e-06,0.0009502125698168268,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.010303960240798,0.4379935993667163,2.604289949599372,-0.538372324271893,-1.8825028073187948,0.14443697966254615,-0.8466464348486994,1.210829620999776e-05,-3.4509363844480716,0.0,0.0,0,0,0.0,0.0
+8221,1792843690474030527,22370053000000,1792843690468185940,WAIT_W2,9,0.0596,0.06619725376367569,0.6759517867910175,-0.004527802645847468,0.10661963727799414,0.9999999595340274,8.457801151310319e-05,-0.00025307483981309656,-3.427088150252133e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22877959059962083,0.24063112263087788,0.013963563908679144,0.016339350536447004,-0.017498966985113,-7.76862017732075e-05,0.15439549938993602,0.15867814866558527,0.08391704740274641,0.01528716915943256,-0.01749256583802065,0.0008724621306135995,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0126778061586006,0.8416982725093396,2.5766647354237877,-0.5627439752559107,-1.8637034497075646,0.4220411666732875,-0.8466464348486994,-0.013963563908679144,-3.423311170272487,0.0,0.0,0,0,0.0,0.0
+8221,1792843690474030527,22370053000000,1792843690468185940,WAIT_W2,9,0.0596,0.06619725376367569,0.6759517867910175,-0.004527802645847468,0.10661963727799414,0.9999999595340274,8.457801151310319e-05,-0.00025307483981309656,-3.427088150252133e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22877959059962083,0.24063112263087788,0.013963563908679144,0.016339350536447004,-0.017498966985113,-7.76862017732075e-05,0.15439549938993602,0.15867814866558527,0.08391704740274641,0.01528716915943256,-0.01749256583802065,0.0008724621306135995,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0126778061586006,0.8416982725093396,2.5766647354237877,-0.5627439752559107,-1.8637034497075646,0.4220411666732875,-0.8466464348486994,-0.013963563908679144,-3.423311170272487,0.0,0.0,0,0,0.0,0.0
+8223,1792843690491036249,22370070000000,1792843690488182223,WAIT_W2,9,0.0596,0.06619725376367569,0.6759537309055782,-0.00465974514659795,0.10662592899334072,0.999999965170325,-5.054437755909992e-07,-0.0002470391684721899,-8.5794677296861e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8265183120539809,0.8281323654405341,0.09874292759758424,0.05833564557496276,-0.058809936801225426,-0.0001973517387296505,0.752134220844296,0.7461793914752415,0.1686964110916515,0.05728346419794832,-0.05880353565413308,0.0007527965936571565,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0162410884109623,1.2935007881549874,2.5560843236343684,-0.5939406778003689,-1.8533594780243352,0.73028953768305,-0.8466464348486994,-0.09874292759758424,-3.402730758483068,0.0,0.0,0,0,0.0,0.0
+8223,1792843690491036249,22370070000000,1792843690488182223,WAIT_W2,9,0.0596,0.06619725376367569,0.6759537309055782,-0.00465974514659795,0.10662592899334072,0.999999965170325,-5.054437755909992e-07,-0.0002470391684721899,-8.5794677296861e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8265183120539809,0.8281323654405341,0.09874292759758424,0.05833564557496276,-0.058809936801225426,-0.0001973517387296505,0.752134220844296,0.7461793914752415,0.1686964110916515,0.05728346419794832,-0.05880353565413308,0.0007527965936571565,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0162410884109623,1.2935007881549874,2.5560843236343684,-0.5939406778003689,-1.8533594780243352,0.73028953768305,-0.8466464348486994,-0.09874292759758424,-3.402730758483068,0.0,0.0,0,0,0.0,0.0
+8223,1792843690491036249,22370070000000,1792843690488182223,WAIT_W2,9,0.0596,0.06619725376367569,0.6759537309055782,-0.00465974514659795,0.10662592899334072,0.999999965170325,-5.054437755909992e-07,-0.0002470391684721899,-8.5794677296861e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8265183120539809,0.8281323654405341,0.09874292759758424,0.05833564557496276,-0.058809936801225426,-0.0001973517387296505,0.752134220844296,0.7461793914752415,0.1686964110916515,0.05728346419794832,-0.05880353565413308,0.0007527965936571565,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0162410884109623,1.2935007881549874,2.5560843236343684,-0.5939406778003689,-1.8533594780243352,0.73028953768305,-0.8466464348486994,-0.09874292759758424,-3.402730758483068,0.0,0.0,0,0,0.0,0.0
+8225,1792843690508028556,22370087000000,1792843690500181417,WAIT_W2,9,0.0596,0.06619725376367569,0.6759553257225809,-0.004817369686229647,0.10663714289528807,0.9999999612191962,-0.00010143910366458073,-0.00024059642763290748,2.8773905295513572e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.100295953688013,1.129731161057479,0.150755362390636,0.08061101895114643,-0.07937742529434619,0.00015503579845142117,1.0259118624783283,1.0477781870921863,0.22070884588470327,0.07955883757413199,-0.07937102414725385,0.0011051841308382282,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0605443231380745,1.6604483134621608,2.528756115668069,-0.6064581428908418,-1.8506511548877511,0.9822735977582081,-0.8466464348486994,-0.150755362390636,-3.3754025505167684,0.0,0.0,0,0,0.0,0.0
+8225,1792843690508028556,22370087000000,1792843690500181417,WAIT_W2,9,0.0596,0.06619725376367569,0.6759553257225809,-0.004817369686229647,0.10663714289528807,0.9999999612191962,-0.00010143910366458073,-0.00024059642763290748,2.8773905295513572e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.100295953688013,1.129731161057479,0.150755362390636,0.08061101895114643,-0.07937742529434619,0.00015503579845142117,1.0259118624783283,1.0477781870921863,0.22070884588470327,0.07955883757413199,-0.07937102414725385,0.0011051841308382282,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0605443231380745,1.6604483134621608,2.528756115668069,-0.6064581428908418,-1.8506511548877511,0.9822735977582081,-0.8466464348486994,-0.150755362390636,-3.3754025505167684,0.0,0.0,0,0,0.0,0.0
+8227,1792843690523947774,22370103000000,1792843690516180854,WAIT_W2,9,0.0596,0.06619725376367569,0.6759521811296691,-0.004938521430924573,0.10663993870207439,0.9999999478878613,-0.00018532012300004374,-0.00024132810282258583,5.553681399022549e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3119003675360235,1.3823658373323127,0.19251110127063215,0.09946196131290078,-0.0960519458598003,0.0006230865921223063,1.2375162763263385,1.30041286336702,0.2624645847646994,0.09840977993588633,-0.09604554471270796,0.0015732349245091133,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0099162127853984,1.867979303842948,2.434318812598075,-0.6146923326609544,-1.7772943512383124,1.1258307146758293,-0.8466464348486994,-0.19251110127063215,-3.2809652474467743,0.0,0.0,0,0,0.0,0.0
+8227,1792843690523947774,22370103000000,1792843690516180854,WAIT_W2,9,0.0596,0.06619725376367569,0.6759521811296691,-0.004938521430924573,0.10663993870207439,0.9999999478878613,-0.00018532012300004374,-0.00024132810282258583,5.553681399022549e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3119003675360235,1.3823658373323127,0.19251110127063215,0.09946196131290078,-0.0960519458598003,0.0006230865921223063,1.2375162763263385,1.30041286336702,0.2624645847646994,0.09840977993588633,-0.09604554471270796,0.0015732349245091133,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0099162127853984,1.867979303842948,2.434318812598075,-0.6146923326609544,-1.7772943512383124,1.1258307146758293,-0.8466464348486994,-0.19251110127063215,-3.2809652474467743,0.0,0.0,0,0,0.0,0.0
+8229,1792843690541027003,22370120000000,1792843690536181726,WAIT_W2,9,0.0596,0.06619725376367569,0.6759544418046736,-0.004985408856517128,0.10664400621443064,0.9999999418805043,-0.00021878111286426893,-0.00023795938505266834,5.6497857758328976e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.231403858935102,1.2826777007244952,0.2012441815940837,0.09320517536765559,-0.09649473691461244,0.0015857338359049514,1.157019767725417,1.2007247267592025,0.27119766508815096,0.09215299399064114,-0.0964883357675201,0.0025358821682917583,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.9453860903314364,1.7477226970644297,2.2872978440722775,-0.5808446820929614,-1.6668943224456823,1.0410852225842,-0.8466464348486994,-0.2012441815940837,-3.133944278920977,0.0,0.0,0,0,0.0,0.0
+8233,1792843690573988420,22370153000000,1792843690572183228,WAIT_W2,9,0.0596,0.06619725376367569,0.6759653104524002,-0.004904846412309791,0.10665748584561119,0.9999999562870848,-0.0001663141857361955,-0.000223194441909062,3.731655542795343e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8090779294297655,0.8675029648732551,0.374960834327799,0.0648945327377345,-0.061308275600821575,-0.0011514941049429778,0.7346938382200807,0.7855499909079625,0.44491431782186625,0.06384235136072006,-0.06130187445372923,-0.00020134577255617075,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.9758993190780888,1.6602446074623027,2.2021787251367,-0.5733917851139038,-1.623420541740924,0.9755866615997433,-0.8466464348486994,-0.374960834327799,-3.0488251599853995,0.0,0.0,0,0,0.0,0.0
+8235,1792843690591021723,22370170000000,1792843690588182244,WAIT_W2,9,0.0596,0.06619725376367569,0.6759644239274945,-0.004872483304867621,0.10665778403003355,0.9999999600072891,-0.0001419227154632168,-0.00022406405877712596,3.2886547780961775e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9018894964674627,0.9698447254523606,0.44494009600809903,0.07164357133318273,-0.06917674150416142,-0.0014419533015899457,0.8275054052577779,0.887891751487068,0.5148935795021663,0.07059138995616829,-0.06917034035706908,-0.0004918049692031386,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0040218491708472,1.823758613713912,2.2863430421116644,-0.6075912613106672,-1.6860692617510276,1.0843295400161361,-0.8466464348486994,-0.44494009600809903,-3.132989476960364,0.0,0.0,0,0,0.0,0.0
+8239,1792843690623988731,22370203000000,1792843690616182869,WAIT_W2,9,0.0596,0.06121709197759628,0.6759689040528335,-0.00492315955592772,0.1066692691962404,0.9999999565594468,-0.00017464372678690484,-0.00021468591085781191,4.163528624990745e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.251864004194724,1.4413054833031531,0.5870717126139052,0.10412587685210348,-0.09105494180351144,-0.0009113825485558694,1.1774799129850393,1.3593525093378604,0.6570251961079725,0.10307369547508903,-0.0910485406564191,3.876578383093767e-05,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.961692435330201,1.9673662949308632,2.132143002114874,-0.6075223265103568,-1.5786985883293057,1.184265235100151,-0.8466464348486994,-0.5870717126139052,-2.9787894369635737,0.0,0.0,0,0,0.0,0.0
+8243,1792843690657992491,22370237000000,1792843690656183271,WAIT_W2,9,0.0596,0.06121709197759628,0.6759750112251445,-0.004925134756904504,0.10668767933531799,0.9999999590419986,-0.00017665905064048813,-0.00020133925247719435,4.0161556537991463e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9522588781263684,1.1909960630403933,0.848094205413246,0.08686958250424187,-0.0708229389504024,-0.002294906552907399,0.8778747869166836,1.1090430890751006,0.9180476889073133,0.08581740112722742,-0.07081653780331006,-0.001344758220520592,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.9104660693168387,1.7984694098508345,1.8804970750169359,-0.5656979838850943,-1.4103244772040313,1.0721426351110583,-0.8466464348486994,-0.848094205413246,-2.7271435098656354,0.0,0.0,0,0,0.0,0.0
+8255,1792843690757989837,22370337000000,1792843690752182097,WAIT_W2,9,0.0596,0.06121709197759628,0.6759909127580584,-0.004906487936142344,0.10672687490284284,0.9999999668608734,-0.0001663704243113936,-0.00017057069167546375,3.078371970370389e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8802482864528812,1.315822047505345,1.1187121863333052,0.0966753408898057,-0.064709004899325,-0.0037755571403253765,0.8058641952431964,1.2338690735400524,1.1886656698273723,0.09562315951279125,-0.06470260375223266,-0.0028254088079385695,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.7266116420181142,1.8705663314751473,1.5585809649265454,-0.6064697773745444,-1.1652676963687425,1.1192197951876686,-0.8466464348486994,-1.1187121863333052,-2.405227399775245,0.0,0.0,0,0,0.0,0.0
+8267,1792843690857984768,22370437000000,1792843690856181980,WAIT_W2,9,0.0596,0.05992542952299118,0.6760000398631137,-0.004909162467096097,0.10675012686626455,0.9999999696037964,-0.00016837449000218805,-0.00015182049190644713,2.8910896318230407e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8688642316563553,1.3987110060062289,1.2115404145199076,0.10225487466821248,-0.06415033225732585,-0.004804811194544724,0.7944801404466705,1.3167580320409362,1.2814938980139747,0.10120269329119803,-0.0641439311102335,-0.003854662862157917,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.6474706022653229,1.9003080798160072,1.3429042903677435,-0.6353664246028835,-1.0122718982035641,1.1359513916317565,-0.8466464348486994,-1.2115404145199076,-2.189550725216443,0.0,0.0,0,0,0.0,0.0
+8278,1792843690948965286,22370528000000,1792843690944183849,WAIT_W2,9,0.0596,0.05992542952299118,0.6760027862966806,-0.00489786893173153,0.1067560762870115,0.9999999712370182,-0.00016220166100849512,-0.00014819325528429522,2.6423609945926426e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8489749565978569,1.4074111697655873,1.2595378699990927,0.10300109535801426,-0.06188834380041249,-0.0048028795408394985,0.7745908653881721,1.3254581958002947,1.32949135349316,0.10194891398099981,-0.06188194265332014,-0.003852731208452691,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5927463432234594,1.7500807914124343,1.3478760190825276,-0.5920869593310172,-1.0028644972606697,1.03617899839018,-0.8466464348486994,-1.2595378699990927,-2.194522453931227,0.0,0.0,0,0,0.0,0.0
+8292,1792843691065962974,22370645000000,1792843691060181975,WAIT_W2,9,0.0596,0.059660136699676514,0.6760029387306071,-0.00490261378531944,0.10676197152911125,0.9999999710775105,-0.00016625907152162443,-0.00014517806557954094,2.3855665954256433e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7971076154079779,1.3947898320714054,1.25834062005638,0.10243093032165632,-0.06088299934516313,-0.0047897562413616035,0.7227235241982931,1.3128368581061127,1.3282941035504472,0.10137874894464187,-0.06087659819807078,-0.0038396079089747966,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5845236764815844,1.789471983718052,1.3112182874386777,-0.6085601091155932,-0.9800259378184648,1.0640287150938892,-0.8466464348486994,-1.25834062005638,-2.157864722287377,0.0,0.0,0,0,0.0,0.0
+8314,1792843691243990502,22370823000000,1792843691240181095,UP_FORCE_RAMP,9,0.0596,0.059612855315208435,0.6760038824355661,-0.0048884499080084996,0.10676227640498016,0.9999999729785194,-0.00015513074233953363,-0.00014459428226027508,2.2644452804318812e-05,0.6761,-0.0046,0.10700029434996576,1.0,0.0,0.0,0.0,0.735192027952619,1.3095835090814414,1.2550674073576058,0.09604667066982182,-0.055002039251557396,-0.004768117822259767,0.6608079367429341,1.2276305351161487,1.3250208908516732,0.09499448929280738,-0.05499563810446505,-0.00381796948987296,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5796621129982308,1.7872302335679975,1.3233054078982152,-0.6240145503627396,-0.987842992435212,1.0609175723039312,-0.8466464348486994,-1.2550674073576058,-2.1699518427469147,-1.2550674073576058,0.01089999999999999,0,0,5.449999183919313e-06,9.999999025923074e-05
+8332,1792843691393976217,22370973000000,1792843691392181934,UP_FORCE_RAMP,9,0.0596,0.059612855315208435,0.676004173142216,-0.004895759500377146,0.10676588474131608,0.9999999723270282,-0.00016143982578378408,-0.00014216180360612465,2.2715886562098137e-05,0.6761,-0.0046,0.10700167059973303,1.0,0.0,0.0,0.0,0.7111918724114683,1.2981430097243931,1.2256431418814189,0.09590956768159152,-0.05417264243050046,-0.0047594281273858645,0.6368077812017835,1.2161900357591005,1.295596625375486,0.09485738630457707,-0.05416624128340811,-0.0038092797949990575,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5743856788307705,1.749159618345232,1.2984982950544666,-0.6110863562183582,-0.9715309495999183,1.0376756856936695,-0.8466464348486994,-1.2256431418814189,-2.145144729903166,-1.2256431418814189,0.0258999999999999,0,0,1.2949997722803924e-05,9.999999025923074e-05
+8352,1792843691562002382,22371140000000,1792843691556181818,UP_FORCE_RAMP,9,0.0596,0.05960366502404213,0.6760040460003655,-0.004889303003998546,0.10676696048711345,0.9999999729744307,-0.00015743318381936084,-0.00014209910534735995,2.2729697106372744e-05,0.6761,-0.0046,0.1070045262992161,1.0,0.0,0.0,0.0,0.7248373120620062,1.3158287390995151,1.2071243499763886,0.09605646409506984,-0.05429607098737987,-0.0047267029828941326,0.6504532208523214,1.2338757651342225,1.2770778334704558,0.09500428271805539,-0.05428966984028752,-0.003776554650507325,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5705052431732242,1.7474076812217205,1.4045773129072001,-0.6158919019883036,-1.035892284457025,1.0330288615660081,-0.8466464348486994,-1.2071243499763886,-2.2512237477558994,-1.2071243499763886,0.04260000000000019,0,0,2.129999609609546e-05,9.999999025923074e-05
+8373,1792843691735908581,22371315000000,1792843691732180456,UP_FORCE_RAMP,9,0.0596,0.05960169434547424,0.6760051864137384,-0.004889233940801521,0.10676963168329866,0.9999999735725498,-0.00015569821771961421,-0.00013996732043702778,2.1563356879651556e-05,0.6761,-0.0046,0.10700901504838291,1.0,0.0,0.0,0.0,0.683278297656682,1.260818462340815,1.18366787931437,0.09424400763644251,-0.05280430761076236,-0.004723673683157551,0.6088942064469972,1.1788654883755223,1.2536213628084372,0.09319182625942807,-0.05279790646367001,-0.003773525350770744,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5273933613642439,1.7686260985955393,1.3631575094998236,-0.6217541688298759,-0.9988525261614972,1.051780708413317,-0.8466464348486994,-1.18366787931437,-2.209803944348523,-1.18366787931437,0.060100000000000695,0,0,3.004999439146084e-05,9.999999025923074e-05
+8395,1792843691918961290,22371498000000,1792843691916181101,UP_FORCE_RAMP,9,0.0596,0.05959972366690636,0.67600584923768,-0.004890341609322834,0.10677268672079768,0.9999999733352068,-0.00015933842374823957,-0.00013752234842120487,2.170991109894123e-05,0.6761,-0.0046,0.10701534684719255,1.0,0.0,0.0,0.0,0.7013993437628784,1.2703551230136272,1.163234366262909,0.09533036466995048,-0.053870398317126526,-0.004701847893585547,0.6270152525531936,1.1884021490483345,1.2331878497569762,0.09427818329293604,-0.05386399717003418,-0.00375169956119874,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5939903129116906,1.7096558432401014,1.3692716511688683,-0.6090153301578742,-1.0192836714899167,1.0147865629270614,-0.8466464348486994,-1.163234366262909,-2.2159180860175676,-1.163234366262909,0.07840000000000122,0,0,3.9199992608900065e-05,9.999999025923074e-05
+8420,1792843692126940729,22371706000000,1792843692124182681,UP_FORCE_RAMP,9,0.0596,0.05959972366690636,0.6760036619123391,-0.004890392765614629,0.10677268958454551,0.9999999728529987,-0.00015878831922814236,-0.00014188169500273817,1.9817176720021947e-05,0.6761,-0.0046,0.10702457684544348,1.0,0.0,0.0,0.0,0.6894051577289415,1.270077230800758,1.1238313555456294,0.09486455910935353,-0.053799628402401045,-0.004665683551826644,0.6150210665192567,1.1881242568354653,1.1937848390396966,0.09381237773233908,-0.0537932272553087,-0.0037155352194398364,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.6335103424901765,1.749571738767393,1.5299015267320357,-0.6235791931104356,-1.1332894671982015,1.0391664841826675,-0.8466464348486994,-1.1238313555456294,-2.376547961580735,-1.1238313555456294,0.09920000000000181,0,0,4.959999058282006e-05,9.999999025923074e-05
+8436,1792843692261000824,22371840000000,1792843692260182250,UP_FORCE_RAMP,9,0.0596,0.05959972366690636,0.6760039497434452,-0.004887867791273705,0.10677638015992415,0.9999999736020639,-0.00015499611785947995,-0.00014067604485269296,2.0620126938043165e-05,0.6761,-0.0046,0.10703166879409347,1.0,0.0,0.0,0.0,0.6921377402613064,1.2677864624457091,1.0934705495892443,0.09416942880107275,-0.052707403811520025,-0.004645129629242094,0.6177536490516216,1.1858334884804165,1.1634240330833117,0.0931172474240583,-0.052701002664427676,-0.003694981296855287,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.5650751112714857,1.6544470104611102,1.4093390395403622,-0.5966366361903801,-1.0327668363322315,0.9802057295774408,-0.8466464348486994,-1.0934705495892443,-2.2559854743890617,-1.0934705495892443,0.1126000000000022,0,0,5.629998927755698e-05,9.999999025923074e-05
+8464,1792843692493950873,22372073000000,1792843692492181317,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6760035861852741,-0.004892712417493931,0.10678404367876011,0.9999999732751305,-0.00015607284171502593,-0.0001415118702713971,2.2544651465451063e-05,0.6761,-0.0046,0.1070461380913296,1.0,0.0,0.0,0.0,0.7179888432861755,1.2826354224028935,1.019906412230859,0.09458493881885154,-0.05356095799226391,-0.004597024251500608,0.6436047520764907,1.2006824484376009,1.0898598957249264,0.09353275744183709,-0.05355455684517156,-0.0036468759191138,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.6253121707517733,1.689939177998176,1.6367853130166925,-0.6138518550917671,-1.1978172969647476,0.9976680197752612,-0.8466464348486994,-1.019906412230859,-2.483431747865392,-1.019906412230859,0.13590000000000135,0,0,6.794998700795774e-05,9.999999025923074e-05
+8489,1792843692701925954,22372281000000,1792843692700182606,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6760019190098732,-0.004887199345372152,0.10679037561430665,0.9999999729916251,-0.00015462272603640934,-0.00014576708948599816,1.7417854299366335e-05,0.6761,-0.0046,0.10706134808841553,1.0,0.0,0.0,0.0,0.7267361616854241,1.2773552679525253,0.9664884024762926,0.09415929148504083,-0.054602864327966315,-0.005457218010700088,0.6523520704757393,1.1954022939872326,1.03644188597036,0.09310711010802639,-0.054596463180873966,-0.004507069678313281,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.6227272589358742,1.7277102388372798,1.7659034025938862,-0.6243062111029871,-1.2759701965113648,1.0217986178485585,-0.8466464348486994,-0.9664884024762926,-2.6125498374425855,-0.9664884024762926,0.15669999999999906,0,0,7.834998498187774e-05,9.999999025923074e-05
+8501,1792843692801964898,22372381000000,1792843692800182077,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6759676526114173,-0.004885081018434571,0.1067902895730895,0.9999999574463714,-0.00015752373678271008,-0.00022741137294264802,4.523212545868704e-06,0.6761,-0.0046,0.10706943058686452,1.0,0.0,0.0,0.0,0.727495626152002,1.2683875302953536,0.9235904979552858,0.09323928388473877,-0.055060606682533,-0.004598969707746216,0.6531115349423172,1.186434556330061,0.9935439814493531,0.09218710250772433,-0.05505420553544065,-0.0036488213753594094,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.7172504699168828,1.7556420931714911,1.7740299903760945,-0.6293737248805421,-1.2993813928194404,1.0417750130919885,-0.8466464348486994,-0.9235904979552858,-2.620676425224794,-0.9235904979552858,0.16669999999999796,0,0,8.334998400780081e-05,9.999999025923074e-05
+8519,1792843692951917331,22372531000000,1792843692944181469,UP_FORCE_RAMP,9,0.0596,0.05959972366690636,0.6759714236821109,-0.004885657093533678,0.10679739070124407,0.9999999594409593,-0.00015565742215183561,-0.00021973150406184814,7.055297310343813e-06,0.6761,-0.0046,0.10708249183435538,1.0,0.0,0.0,0.0,0.8439037531478265,1.200869830739219,0.8736385915597029,0.08816169913776802,-0.06386487182610857,-0.005726455292888781,0.7695196619381417,1.1189168567739263,0.9435920750537702,0.08710951776075357,-0.06385847067901623,-0.004776306960501974,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.8267048370657887,1.7203830538874376,1.8509320650171568,-0.5932057028887385,-1.3709298026088064,1.0163861197308033,-0.8466464348486994,-0.8736385915597029,-2.6975784998658563,-0.8736385915597029,0.1816999999999963,0,0,9.084998254668542e-05,9.999999025923074e-05
+8546,1792843693176967402,22372756000000,1792843693176181839,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6759687680104663,-0.004883886297382782,0.1068013641085563,0.9999999593438155,-0.00015257855422811002,-0.00022226787211112776,8.485845732922169e-06,0.6761,-0.0046,0.10710419308018072,1.0,0.0,0.0,0.0,0.8381528505971004,1.1944137419891843,0.7903413831789569,0.087411665783962,-0.0629886814158994,-0.005653042678062225,0.7637687593874156,1.1124607680238916,0.8602948666730241,0.08635948440694756,-0.06298228026880706,-0.004702894345675418,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.804388040464523,1.7704219277711113,1.9273687282992074,-0.6217141329420306,-1.4116075317187402,1.0519509655210009,-0.8466464348486994,-0.7903413831789569,-2.7740151631479066,-0.7903413831789569,0.20419999999999383,0,0,0.00010209998035501234,9.999999025923074e-05
+8574,1792843693410937452,22372990000000,1792843693404183139,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6759720357251158,-0.0048828460784610265,0.10681706194404134,0.9999999608358268,-0.00015453558996781074,-0.0002141817536353762,4.017086246387962e-06,0.6761,-0.0046,0.10712944752531597,1.0,0.0,0.0,0.0,0.8463116898637548,1.1977207455105146,0.7103802922165922,0.08841443632571806,-0.06363268530294032,-0.005586040532562303,0.77192759865407,1.1157677715452219,0.7803337757106594,0.08736225494870362,-0.06362628415584798,-0.004635892200175496,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.8225327730231481,1.7578497924208825,1.9623195235813324,-0.6251049163389907,-1.437904948085203,1.0431802349111765,-0.8466464348486994,-0.7103802922165922,-2.808965958430032,-0.7103802922165922,0.22759999999999125,0,0,0.00011379997807567233,9.999999025923074e-05
+8603,1792843693651929894,22373231000000,1792843693648181021,UP_FORCE_RAMP,9,0.0596,0.059600379317998886,0.6759728399646056,-0.0048833617837840985,0.106830383767101,0.9999999614482654,-0.0001528141737211137,-0.0002125458665657531,4.291268565839491e-06,0.6761,-0.0046,0.10715831931974816,1.0,0.0,0.0,0.0,0.8526038477733318,1.2040704406770917,0.6030031713118091,0.08846070681594323,-0.06457459285465006,-0.0055074384976679025,0.778219756563647,1.122117466711799,0.6729566548058764,0.08740852543892878,-0.06456819170755772,-0.0045572901652810955,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.8881311916432801,1.7988585317102344,1.9719692308829102,-0.6402628089332495,-1.4634355151858067,1.0667025448840077,-0.8466464348486994,-0.6030031713118091,-2.8186156657316097,-0.6030031713118091,0.2516999999999886,0,0,0.00012584997572814694,9.999999025923074e-05
+8629,1792843693868955426,22373448000000,1792843693868181475,UP_FORCE_RAMP,9,0.0596,0.05960169434547424,0.675971006326661,-0.004880273183237235,0.10684263473250433,0.9999999611093512,-0.00015291726051310268,-0.0002140979667130115,1.5913898925039373e-06,0.6761,-0.0046,0.10718680056425077,1.0,0.0,0.0,0.0,0.8652612809680225,1.2099181748079593,0.5034886972258961,0.08848359863185958,-0.06460192912574166,-0.005431107780331778,0.7908771897583377,1.1279652008426666,0.5734421807199633,0.08743141725484513,-0.06459552797864931,-0.004480959447944971,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-0.9215934273623372,1.755267071002366,2.2328193927765128,-0.6191692057437997,-1.639779309231737,1.0422220298866214,-0.8466464348486994,-0.5034886972258961,-3.0794658276252123,-0.5034886972258961,0.2733999999999862,0,0,0.0001366999736144,9.999999025923074e-05
+8652,1792843694060924307,22373640000000,1792843694056182072,UP_FORCE_RAMP,9,0.0596,0.059601034969091415,0.6759632397605868,-0.004879291018023293,0.10685191427539538,0.9999999581475542,-0.00015189742513594133,-0.0002281897055406443,-2.0939803548602237e-06,0.6761,-0.0046,0.10721396375900426,1.0,0.0,0.0,0.0,0.8760489808356969,1.194486476549375,0.3868630452643037,0.08754597006306236,-0.06644285693066346,-0.006402691122679249,0.8016648896260121,1.1125335025840823,0.456816528758371,0.08649378868604791,-0.06643645578357112,-0.005452542790292442,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0108757203556544,1.8794695513036703,2.3854140848518677,-0.6501607587678013,-1.7608311275429231,1.122538029438813,-0.8466464348486994,-0.3868630452643037,-3.232060519700567,-0.3868630452643037,0.2925999999999841,0,0,0.00014629997174417231,9.999999025923074e-05
+8678,1792843694276946369,22373856000000,1792843694276182226,UP_FORCE_RAMP,9,0.0596,0.059601034969091415,0.6759454643038241,-0.004883965501413526,0.10686591708638352,0.9999999465502072,-0.00015727931455471932,-0.00027117943499860775,-8.208424965787763e-06,0.6761,-0.0046,0.10724672555267271,1.0,0.0,0.0,0.0,0.9705213994834596,1.1542279213632445,0.2601362545865794,0.08367083051764604,-0.07250314820918989,-0.006428317931178576,0.8961373082737748,1.0722749473979518,0.3300897380806467,0.08261864914063159,-0.07249674706209755,-0.005478169598791769,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.0571133224018807,1.8073641682454857,2.4955177216234925,-0.6206030217213756,-1.8235547890330615,1.0795754118541137,-0.8466464348486994,-0.2601362545865794,-3.342164156472192,-0.2601362545865794,0.3141999999999817,0,0,0.00015709996964016616,9.999999025923074e-05
+8701,1792843694468879053,22374048000000,1792843694464181672,UP_FORCE_RAMP,9,0.0596,0.05960169434547424,0.6759420074848046,-0.00487888494333414,0.10687841285574717,0.9999999446886603,-0.00015721377484644787,-0.00027784198527499123,-1.2377430604976411e-05,0.6761,-0.0046,0.10727780554666315,1.0,0.0,0.0,0.0,0.9892389288647533,1.1551197744396295,0.1485111169182807,0.08369708227659763,-0.07340950545345576,-0.006355192954378878,0.9148548376550685,1.0731668004743369,0.21846460041234797,0.08264490089958318,-0.07340310430636342,-0.005405044621992071,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.064491387129926,1.8332219906537266,2.5386716432783634,-0.6227719957439456,-1.8565321570567879,1.0979013260379156,-0.8466464348486994,-0.1485111169182807,-3.385318078127063,-0.1485111169182807,0.3333999999999796,0,0,0.00016669996776993846,9.999999025923074e-05
+8727,1792843694685954097,22374265000000,1792843694680181994,UP_FORCE_RAMP,9,0.0596,0.05960169434547424,0.6759408923293907,-0.004878459729699046,0.10689865207757174,0.9999999445095337,-0.0001548651238648761,-0.00027958387019534273,-1.6536222782662326e-05,0.6761,-0.0046,0.10731515123943883,1.0,0.0,0.0,0.0,0.9889946037556769,1.1471314896264833,-0.0015792011044314658,0.08294160269230129,-0.07386649432012278,-0.006239994154090708,0.9146105125459921,1.0651785156611906,0.0683742823896358,0.08188942131528684,-0.07386009317303044,-0.005289845821703901,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.1164698130971173,1.8187462094912905,2.7019011572526437,-0.6223013526323855,-1.975606478939974,1.0863140992044498,-0.8466464348486994,0.0015792011044314658,-3.548547592101343,0.0015792011044314658,0.3550999999999772,0,0,0.00017754996565619153,9.999999025923074e-05
+8756,1792843694926863795,22374506000000,1792843694924181829,UP_FORCE_RAMP,9,0.0596,0.05960234999656677,0.6759340481859997,-0.004873704543233128,0.10691867979741429,0.9999999410802362,-0.00015387555629278166,-0.0002916772478379634,-2.3001840011465956e-05,0.6761,-0.0046,0.10735880771602561,1.0,0.0,0.0,0.0,1.011686768644243,1.149211031906648,-0.20327354478966494,0.08281169117236406,-0.07547183189406276,-0.007139923956855368,0.9373026774345581,1.0672580579413553,-0.13332006129559767,0.08175950979534961,-0.07546543074697042,-0.006189775624468561,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.1118556972146285,1.8091920716676702,2.941041867313651,-0.6140074342754556,-2.130419037343762,1.0810760469070078,-0.8466464348486994,0.20327354478966494,-3.7876883021623504,0.20327354478966494,0.37919999999997456,0,0,0.00017881843090009208,-9.999999025923074e-05
+8792,1792843695226872877,22374806000000,1792843695220182012,UP_FORCE_RAMP,9,0.0596,0.05960169434547424,0.6759202035825325,-0.0048719069855181485,0.1069421982689114,0.9999999309545017,-0.0001553377514442391,-0.00032324055146781957,-3.0324662232639412e-05,0.6761,-0.0046,0.10741021074573544,1.0,0.0,0.0,0.0,1.0688720656878083,1.1211409614100867,-0.39288834545368523,0.07989514828723392,-0.07934609000247464,-0.007069537261389394,0.9944879744781236,1.039187987444794,-0.32293486195961796,0.07884296691021947,-0.0793396888553823,-0.0061193889290025874,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.2289087645182284,1.911578108801938,3.098910791773831,-0.6417398823895669,-2.2545981843328176,1.1482075992779504,-0.8466464348486994,0.39288834545368523,-3.9455572266225305,0.39288834545368523,0.4026,0,0,0.00016381843382232286,-9.999999025923074e-05
+8814,1792843695403900272,22374983000000,1792843695400181695,UP_FORCE_HOLD,9,0.0596,0.05960169434547424,0.6759158300305327,-0.0048678175689474594,0.10695784761407123,0.9999999280172561,-0.00015384340457512232,-0.00033230749976713794,-3.622539787327054e-05,0.6761,-0.0046,0.10743842780867544,1.0,0.0,0.0,0.0,1.0807195508960605,1.0976240872008363,-0.521990350626863,0.07901173958354193,-0.08042425332922679,-0.006990312323133742,1.0063354596863758,1.0156711132355436,-0.45203686713279584,0.07795955820652749,-0.08041785218213444,-0.006040163990746935,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.1565855836273717,1.8251797801011258,3.200845911407999,-0.6059364033116909,-2.30192647646202,1.0929170551867022,-0.8466464348486994,0.521990350626863,-4.047492346256698,0.521990350626863,0.4026,0,0,0.00015496843554643901,-9.999999025923074e-05
+8838,1792843695604826070,22375184000000,1792843695600181387,UP_SETTLE,9,0.0596,0.05960234999656677,0.6759107929376358,-0.004872102762936218,0.10697272179781833,0.9999999243002023,-0.00015662461398060178,-0.00034189333863039295,-3.768460194700218e-05,0.6761,-0.0046,0.10746857146441802,1.0,0.0,0.0,0.0,1.0958796527971315,1.1001374320811872,-0.6274509975877377,0.07904702062080908,-0.08146118917637928,-0.0077381162870675665,1.0214955615874468,1.0181844581158945,-0.5574975140936704,0.07799483924379463,-0.08145478802928693,-0.00678796795468076,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.2299278015535635,1.8128444039166756,3.3809799554317586,-0.5974301437966086,-2.437149308982007,1.0881173222528278,-0.8466464348486994,0.6274509975877377,-4.227626390280458,0.6274509975877377,0.4026,0,0,0.00014491843750433363,-9.999999025923074e-05
+8863,1792843695812919932,22375392000000,1792843695812180886,UP_SETTLE,9,0.0596,0.05960234999656677,0.6759049955888778,-0.0048718253313151695,0.10698649386821192,0.9999999196819035,-0.0001602254312683723,-0.0003531561652608816,-4.1080224224237525e-05,0.6761,-0.0046,0.10749763809963064,1.0,0.0,0.0,0.0,1.1233576564454362,1.1136229298861464,-0.7500379697073675,0.07884545976700066,-0.08364930936223722,-0.007886142764945276,1.0489735652357512,1.0316699559208538,-0.6800844862133002,0.07779327838998622,-0.08364290821514488,-0.006935994432558469,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.2760218819858615,1.8055686884855624,3.480096761261277,-0.601337656542814,-2.5141563235760307,1.078942615718022,-0.8466464348486994,0.7500379697073675,-4.326743196109977,0.7500379697073675,0.4026,0,0,0.00013451843953041364,-9.999999025923074e-05
+8891,1792843696046891165,22375626000000,1792843696040183449,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758973041712503,-0.004867078543639088,0.10700325692141803,0.9999999148773928,-0.00015406372383379896,-0.00036840326891617855,-4.723845561689366e-05,0.6761,-0.0046,0.10752775236474858,1.0,0.0,0.0,0.0,1.1457134736057055,1.0969381667661988,-0.8861265593877616,0.0781087285896476,-0.08534621687208514,-0.00781382887107385,1.0713293823960208,1.0149851928009062,-0.8161730758936944,0.07705654721263315,-0.0853398157249928,-0.0068636805386870425,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.3237640690454213,1.8737935369824024,3.64246926332557,-0.6171817973630138,-2.62616764914037,1.1256374073829492,-0.8466464348486994,0.8861265593877616,-4.4891156981742695,0.8861265593877616,0.4026,0,0,0.00012281844180975365,-9.999999025923074e-05
+8920,1792843696287835428,22375867000000,1792843696280182130,UP_SETTLE,9,0.0596,0.05960169434547424,0.675892691425341,-0.004871026818881052,0.10701727285044496,0.999999909701553,-0.00016326052725325959,-0.0003777764904817021,-5.167856107805556e-05,0.6761,-0.0046,0.10755590560950878,1.0,0.0,0.0,0.0,1.1531847170501655,1.0849084042909622,-0.9870011671828712,0.07714498701890357,-0.08632921727237344,-0.0077571659585361045,1.0788006258404805,1.0029554303256696,-0.917047683688804,0.07609280564188912,-0.0863228161252811,-0.006807017626149298,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.3121488141557276,1.89500334174996,3.792158453260105,-0.6141372813712521,-2.7228053790507447,1.1389718827256985,-0.8466464348486994,0.9870011671828712,-4.638804888108805,0.9870011671828712,0.4026,0,0,0.00011076844415727904,-9.999999025923074e-05
+8947,1792843696512793258,22376092000000,1792843696508182058,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758878882566569,-0.004868440416990098,0.10702874900616074,0.9999999060391896,-0.00016276868892307956,-0.0003870485401576493,-5.535573725659674e-05,0.6761,-0.0046,0.10757956850969183,1.0,0.0,0.0,0.0,1.1589941753611206,1.059105114824468,-1.069984062850359,0.07619503120610419,-0.08730463939500932,-0.007717995914031257,1.084610084151436,0.9771521408591753,-1.0000305793562916,0.07514284982908974,-0.08729823824791698,-0.00676784758164445,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.3441398842180048,1.9297654840811114,3.8254429053167813,-0.6248143089753856,-2.753977502637323,1.1634666357608847,-0.8466464348486994,1.069984062850359,-4.67208934016548,1.069984062850359,0.4026,0,0,9.951844634895212e-05,-9.999999025923074e-05
+8973,1792843696729890064,22376309000000,1792843696728182052,UP_SETTLE,9,0.0596,0.05960169434547424,0.6758835300639736,-0.004866852803318146,0.10703930436468632,0.999999903173526,-0.00015893687379998523,-0.0003959290479218382,-5.5453241530148034e-05,0.6761,-0.0046,0.10759999221277995,1.0,0.0,0.0,0.0,1.1704179543492854,1.0534835196048538,-1.1404796219826978,0.0752156384513094,-0.0882838891893717,-0.007686864915334799,1.0960338631396005,0.9715305456395611,-1.0705261384886304,0.07416345707429495,-0.08827748804227936,-0.006736716582947992,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.3305998903245984,1.8158800869465594,3.9747671417762835,-0.5891778794079623,-2.8420020681952165,1.0877918147552013,-0.8466464348486994,1.1404796219826978,-4.821413576624983,1.1404796219826978,0.4026,0,0,8.866844846269905e-05,-9.999999025923074e-05
+9003,1792843696979889146,22376559000000,1792843696972183381,UP_SETTLE,9,0.0596,0.05960169434547424,0.6758734292084675,-0.004866963962590606,0.10704648133823265,0.9999998967034366,-0.0001625070677426393,-0.0004097870881824755,-6.0843864237733156e-05,0.6761,-0.0046,0.10762060307520124,1.0,0.0,0.0,0.0,1.1944585971042776,1.0470558298597552,-1.2089805176619293,0.07421501429215531,-0.08990036635709915,-0.00865328937385121,1.1200745058945927,0.9651028558944627,-1.139027034167862,0.07316283291514086,-0.08989396521000681,-0.007703141041464402,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.408873876179562,1.8497023657934286,3.994383567239296,-0.6039580385251074,-2.8766750510440366,1.1100080260391645,-0.8466464348486994,1.2089805176619293,-4.8410300020879955,1.2089805176619293,0.4026,0,0,7.616845089789136e-05,-9.999999025923074e-05
+9007,1792843697012871533,22376592000000,1792843697008181386,UP_SETTLE,9,0.0596,0.05960169434547424,0.6758261171624521,-0.004874626001588724,0.10701931298179179,0.9999998776321956,-0.00016624440099464901,-0.00045271465078633287,-5.992246867413489e-05,0.6761,-0.0046,0.10762309023408634,1.0,0.0,0.0,0.0,1.1981500812700698,1.0178104148549951,-1.1920712738172443,0.07302141605375743,-0.08989799162696571,-0.008739388481292638,1.1237659900603851,0.9358574408897026,-1.1221177903231772,0.07196923467674299,-0.08989159047987337,-0.007789240148905831,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.441517408199218,1.8802837918751634,3.7690414580443643,-0.6115672164955729,-2.7312042757880746,1.1262752714966648,-0.8466464348486994,1.1920712738172443,-4.615687892893064,1.1920712738172443,0.4026,0,0,7.451845121933675e-05,-9.999999025923074e-05
+9013,1792843697062821020,22376642000000,1792843697056182373,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758398010683632,-0.004869766072765542,0.10704651301901325,0.9999998867171689,-0.00016676612497751659,-0.00043137361942658726,-6.414338282377412e-05,0.6761,-0.0046,0.10762675490665972,1.0,0.0,0.0,0.0,1.2324400445046395,0.8826423395924046,-0.7362958167003314,0.06423837548540448,-0.09232881801602241,-0.009237507625868824,1.1580559532949548,0.800689365627112,-0.6663423332062641,0.06318619410839003,-0.09232241686893007,-0.008287359293482018,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.469378557801886,1.764834527156467,3.6129443253544755,-0.5785861790964695,-2.6268613177951705,1.0466850060918798,-0.8466464348486994,0.7362958167003314,-4.459590760203175,0.7362958167003314,0.4026,0,0,7.201845170637521e-05,-9.999999025923074e-05
+9024,1792843697154884255,22376734000000,1792843697152181441,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758269731408588,-0.004865331036145879,0.10703638072124588,0.9999998788330419,-0.0001677154327611224,-0.00044827720868138263,-6.852622642267962e-05,0.6761,-0.0046,0.10763317130425838,1.0,0.0,0.0,0.0,1.2111263506608232,0.9158427925948898,-0.9984602486126579,0.06414844695555749,-0.09126526129076606,-0.008977558027060963,1.1367422594511383,0.8338898186295972,-0.9285067651185906,0.06309626557854305,-0.09125886014367372,-0.008027409694674156,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.5111205547054147,1.9086771363965975,3.6697470665721106,-0.6318957697555719,-2.672494249335471,1.1409194547709363,-0.8466464348486994,0.9984602486126579,-4.51639350142081,0.9984602486126579,0.4026,0,0,6.741845260252598e-05,-9.999999025923074e-05
+9046,1792843697337867917,22376917000000,1792843697336181245,UP_SETTLE,9,0.0596,0.05960234999656677,0.675827186809733,-0.004869643617269896,0.107045186370838,0.9999998784190084,-0.00016821683484516016,-0.0004491721248606641,-6.747096519237474e-05,0.6761,-0.0046,0.10764467623124864,1.0,0.0,0.0,0.0,1.235986139095273,0.9230251375649026,-0.9774162129969263,0.06572239975202823,-0.09274923196493771,-0.009018556310032564,1.1616020478855884,0.84107216359961,-0.907462729502859,0.06467021837501379,-0.09274283081784537,-0.008068407977645757,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.4845522534414621,1.8938573088814097,3.766025971839573,-0.6361951457861504,-2.714619074210974,1.132223443415109,-0.8466464348486994,0.9774162129969263,-4.612672406688272,0.9774162129969263,0.4026,0,0,5.826845438508676e-05,-9.999999025923074e-05
+9074,1792843697571835674,22377151000000,1792843697568182418,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758245093564604,-0.004864678301983015,0.10704870653170916,0.9999998758176429,-0.0001658025572805618,-0.00045563243799777794,-6.867427874735931e-05,0.6761,-0.0046,0.10765694799984257,1.0,0.0,0.0,0.0,1.2402287864536632,0.9175158920238018,-1.0443020354777666,0.06509975385096342,-0.0931673451421379,-0.00897749858415929,1.1658446952439785,0.8355629180585091,-0.9743485519836993,0.06404757247394897,-0.09316094399504556,-0.008027350251772484,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.592070384318363,1.8941132137910415,3.8297993118903717,-0.6354557102307089,-2.790392702716449,1.1345990935931562,-0.8466464348486994,1.0443020354777666,-4.676445746739071,1.0443020354777666,0.4026,0,0,4.6568456664426765e-05,-9.999999025923074e-05
+9101,1792843697796866280,22377376000000,1792843697796180653,UP_SETTLE,9,0.0596,0.05960169434547424,0.6758203666011677,-0.004867994317261394,0.10705428543502953,0.9999998724040685,-0.00016770337106412482,-0.00046201438781961584,-7.10844256024455e-05,0.6761,-0.0046,0.10766616590283973,1.0,0.0,0.0,0.0,1.2554232871350255,0.9050170492534779,-1.1036084975836604,0.06513568490033896,-0.09416898817252142,-0.008942908830137621,1.1810391959253406,0.8230640752881854,-1.0336550140895933,0.06408350352332451,-0.09416258702542908,-0.007992760497750814,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.563913798130265,1.8617908814844422,3.8320838304393403,-0.6207996607354271,-2.783474767151766,1.1154118761942735,-0.8466464348486994,1.1036084975836604,-4.678730265288039,1.1036084975836604,0.4026,0,0,3.531845885609985e-05,-9.999999025923074e-05
+9131,1792843698046765707,22377626000000,1792843698040181952,UP_SETTLE,9,0.0596,0.05960169434547424,0.6758178405970218,-0.0048662536959535995,0.10705982152066292,0.9999998705394203,-0.00016831150204351788,-0.00046560823164216227,-7.241698614217479e-05,0.6761,-0.0046,0.10767343926785937,1.0,0.0,0.0,0.0,1.2499365955035238,0.9054093899269378,-1.1532466258287362,0.0651450813548663,-0.09415809581519999,-0.008904023539912839,1.1755525042938388,0.8234564159616451,-1.0832931423346688,0.06409289997785185,-0.09415169466810765,-0.007953875207526032,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.6210363298121688,1.9289303892549137,3.8759296825757117,-0.6388763181396,-2.8304315180139663,1.1590360634784187,-0.8466464348486994,1.1532466258287362,-4.722576117424411,1.1532466258287362,0.4026,0,0,2.2818461291292162e-05,-9.999999025923074e-05
+9160,1792843698287816540,22377867000000,1792843698284181638,UP_SETTLE,9,0.0596,0.05960234999656677,0.6758163595296311,-0.004866159289133974,0.1070592080162974,0.9999998690346106,-0.00016867540615222147,-0.0004687320593772357,-7.219757545028114e-05,0.6761,-0.0046,0.10767749251731462,1.0,0.0,0.0,0.0,1.2582076050127786,0.9019249570361427,-1.1747247070134792,0.06417976786324119,-0.0941652945350575,-0.008897323584701026,1.183823513803094,0.8199719830708502,-1.1047712235194118,0.06312758648622674,-0.09415889338796515,-0.007947175252314219,-0.07438409120968481,-0.08195297396529261,0.06995348349406727,-0.0010521813770144434,6.4011470923476254e-06,0.000950148332386807,1,-1.6158993830412056,1.892775935187411,3.9443871295225,-0.6263716418791155,-2.877023817310793,1.1344405927788677,-0.8466464348486994,1.1747247070134792,-4.791033564371199,1.1747247070134792,0.4026,0,0,1.0768463638817555e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_12.5/press_depth_09/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,1792843689607433969,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.127305815e-08,-1.364606126e-09,-2.730691229e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456158e-01,-1.171906165e-04,8.303256332e-01
+1,2.166666667e-01,WAIT_W2,1792843689820162524,9.265240465e-07,4.244929675e-06,2.130547826e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.454176434e-07,-1.835392122e-08,-2.294075596e-09,7.019565593e-01,-1.802580535e-05,8.601452178e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027457499e-01,-1.172076058e-04,8.303256312e-01
+2,4.333333333e-01,WAIT_W2,1792843690066067217,4.094344233e-06,1.902809029e-06,6.130555423e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.585071911e-07,-3.273408849e-08,-3.262469406e-09,7.019597272e-01,-2.036792599e-05,8.601492178e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458630e-01,-1.172219859e-04,8.303256302e-01
+3,6.500000000e-01,WAIT_W2,1792843690396669313,-1.265766639e-06,-3.326240410e-07,6.700844775e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.544211017e-07,-4.485285992e-08,-3.821725381e-09,7.019543671e-01,-2.260335906e-05,8.601437573e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459589e-01,-1.172341047e-04,8.303256296e-01
+4,7.000000000e-01,WAIT_W2,1792843690449293502,1.455066976e-06,-5.889810457e-06,2.282882499e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.746202420e-07,-4.736211443e-08,-3.898191103e-09,7.019570879e-01,-2.816054548e-05,8.601453701e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459791e-01,-1.172366140e-04,8.303256296e-01
+5,7.166666667e-01,WAIT_W2,1792843690475815733,4.615961542e-06,-9.374346683e-05,1.110908372e-05,4.555621451e-06,-9.354226252e-05,1.089650513e-05,5.331767311e-06,-9.045068465e-05,1.053617411e-05,7.019602488e-01,-1.160142019e-04,8.601541963e-01,7.019601884e-01,-1.158129975e-04,8.601539837e-01,7.027509363e-01,-2.076399365e-04,8.303361696e-01
+6,7.166666667e-01,WAIT_W2,1792843690475815733,4.615961542e-06,-9.374346683e-05,1.110908372e-05,4.555621451e-06,-9.354226252e-05,1.089650513e-05,5.331767311e-06,-9.045068465e-05,1.053617411e-05,7.019602488e-01,-1.160142019e-04,8.601541963e-01,7.019601884e-01,-1.158129975e-04,8.601539837e-01,7.027509363e-01,-2.076399365e-04,8.303361696e-01
+7,7.333333333e-01,WAIT_W2,1792843690492824922,7.927662521e-06,-2.245786522e-04,2.112188625e-05,7.887906455e-06,-2.244966814e-04,2.112836417e-05,8.957956044e-06,-2.172897224e-04,2.053144812e-05,7.019635605e-01,-2.468493872e-04,8.601642091e-01,7.019635207e-01,-2.467674164e-04,8.601642156e-01,7.027545625e-01,-3.344789743e-04,8.303461649e-01
+8,7.333333333e-01,WAIT_W2,1792843690492824922,7.927662521e-06,-2.245786522e-04,2.112188625e-05,7.887906455e-06,-2.244966814e-04,2.112836417e-05,8.957956044e-06,-2.172897224e-04,2.053144812e-05,7.019635605e-01,-2.468493872e-04,8.601642091e-01,7.019635207e-01,-2.467674164e-04,8.601642156e-01,7.027545625e-01,-3.344789743e-04,8.303461649e-01
+9,7.333333333e-01,WAIT_W2,1792843690492824922,7.927662521e-06,-2.245786522e-04,2.112188625e-05,7.887906455e-06,-2.244966814e-04,2.112836417e-05,8.957956044e-06,-2.172897224e-04,2.053144812e-05,7.019635605e-01,-2.468493872e-04,8.601642091e-01,7.019635207e-01,-2.467674164e-04,8.601642156e-01,7.027545625e-01,-3.344789743e-04,8.303461649e-01
+10,7.500000000e-01,WAIT_W2,1792843690508387926,6.897468843e-06,-3.675612168e-04,2.785826402e-05,6.881888768e-06,-3.673375758e-04,2.780850421e-05,8.034643699e-06,-3.556907011e-04,2.702768997e-05,7.019625303e-01,-3.898319518e-04,8.601709455e-01,7.019625147e-01,-3.896083108e-04,8.601708957e-01,7.027536391e-01,-4.728799530e-04,8.303526612e-01
+11,7.500000000e-01,WAIT_W2,1792843690508387926,6.897468843e-06,-3.675612168e-04,2.785826402e-05,6.881888768e-06,-3.673375758e-04,2.780850421e-05,8.034643699e-06,-3.556907011e-04,2.702768997e-05,7.019625303e-01,-3.898319518e-04,8.601709455e-01,7.019625147e-01,-3.896083108e-04,8.601708957e-01,7.027536391e-01,-4.728799530e-04,8.303526612e-01
+12,7.666666667e-01,WAIT_W2,1792843690525036382,6.353435153e-06,-5.025563045e-04,3.225446192e-05,6.354465784e-06,-5.022415927e-04,3.240449826e-05,7.705469113e-06,-4.864005378e-04,3.165578090e-05,7.019619863e-01,-5.248270395e-04,8.601753417e-01,7.019619873e-01,-5.245123277e-04,8.601754917e-01,7.027533100e-01,-6.035897897e-04,8.303572892e-01
+13,7.666666667e-01,WAIT_W2,1792843690525036382,6.353435153e-06,-5.025563045e-04,3.225446192e-05,6.354465784e-06,-5.022415927e-04,3.240449826e-05,7.705469113e-06,-4.864005378e-04,3.165578090e-05,7.019619863e-01,-5.248270395e-04,8.601753417e-01,7.019619873e-01,-5.245123277e-04,8.601754917e-01,7.027533100e-01,-6.035897897e-04,8.303572892e-01
+14,7.833333333e-01,WAIT_W2,1792843690540890819,9.324470110e-06,-5.432792979e-04,3.549399094e-05,9.390603796e-06,-5.433768325e-04,3.547104551e-05,1.083244573e-05,-5.263664122e-04,3.478311458e-05,7.019649573e-01,-5.655500329e-04,8.601785812e-01,7.019650234e-01,-5.656475676e-04,8.601785583e-01,7.027564369e-01,-6.435556640e-04,8.303604166e-01
+15,8.166666667e-01,WAIT_W2,1792843690574001364,1.859832456e-05,-4.665153805e-04,4.938607035e-05,1.862864692e-05,-4.666654247e-04,4.914188372e-05,2.064077142e-05,-4.525088734e-04,4.810404555e-05,7.019742311e-01,-4.887861155e-04,8.601924733e-01,7.019742615e-01,-4.889361597e-04,8.601922291e-01,7.027662453e-01,-5.696981252e-04,8.303737375e-01
+16,8.333333333e-01,WAIT_W2,1792843690590488921,1.770444301e-05,-4.334501724e-04,4.973116442e-05,1.768671962e-05,-4.332879538e-04,4.996915790e-05,1.968613159e-05,-4.202253028e-04,4.897549525e-05,7.019733373e-01,-4.557209074e-04,8.601928184e-01,7.019733195e-01,-4.555586888e-04,8.601930564e-01,7.027652906e-01,-5.374145547e-04,8.303746090e-01
+17,8.666666667e-01,WAIT_W2,1792843690623519267,2.204004631e-05,-4.837487619e-04,6.104218307e-05,2.219578713e-05,-4.837375216e-04,6.098350584e-05,2.460320988e-05,-4.687907071e-04,5.972556113e-05,7.019776729e-01,-5.060194970e-04,8.602041294e-01,7.019778286e-01,-5.060082566e-04,8.602040707e-01,7.027702077e-01,-5.859799590e-04,8.303853590e-01
+18,9.000000000e-01,WAIT_W2,1792843690655778837,3.125127578e-05,-4.861320116e-04,8.289944188e-05,2.689018537e-05,-5.001140009e-04,7.605635468e-05,2.979689680e-05,-4.847526247e-04,7.451915847e-05,7.019868841e-01,-5.084027467e-04,8.602259867e-01,7.019825230e-01,-5.223847360e-04,8.602191436e-01,7.027754014e-01,-6.019418765e-04,8.304001526e-01
+19,1.000000000e+00,WAIT_W2,1792843690754304711,4.445074423e-05,-4.713221372e-04,1.191958443e-04,4.161402790e-05,-4.657993099e-04,1.083875428e-04,4.576350075e-05,-4.516759205e-04,1.062583857e-04,7.020000836e-01,-4.935928723e-04,8.602622831e-01,7.019972468e-01,-4.880700450e-04,8.602514748e-01,7.027913680e-01,-5.688651724e-04,8.304318919e-01
+20,1.083333333e+00,WAIT_W2,1792843690854447549,5.103601431e-05,-4.640130026e-04,1.390639725e-04,5.371847695e-05,-4.493796774e-04,1.383713165e-04,5.899737933e-05,-4.358396504e-04,1.357339222e-04,7.020066688e-01,-4.862837377e-04,8.602821512e-01,7.020093513e-01,-4.716504124e-04,8.602814586e-01,7.028046019e-01,-5.530289022e-04,8.304613674e-01
+21,1.166666667e+00,WAIT_W2,1792843690951471756,5.493798369e-05,-4.627481745e-04,1.491597251e-04,5.473313183e-05,-4.449128255e-04,1.448840294e-04,6.031321593e-05,-4.315472398e-04,1.424475803e-04,7.020105708e-01,-4.850189095e-04,8.602922470e-01,7.020103659e-01,-4.671835605e-04,8.602879713e-01,7.028059177e-01,-5.487364916e-04,8.304680810e-01
+22,1.283333333e+00,WAIT_W2,1792843691065652616,5.716791633e-05,-4.646470520e-04,1.550344255e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.323340300e-05,-4.341006424e-04,1.518965368e-04,7.020128007e-01,-4.869177870e-04,8.602981217e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028088379e-01,-5.512898943e-04,8.304775300e-01
+23,1.450000000e+00,UP_FORCE_RAMP,1792843691245564033,5.863751421e-05,-4.480820649e-04,1.564342702e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.348003558e-05,-4.341537433e-04,1.523060611e-04,7.020142703e-01,-4.703527999e-04,8.602995215e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028090845e-01,-5.513429951e-04,8.304779395e-01
+24,1.600000000e+00,UP_FORCE_RAMP,1792843691393436261,5.681982706e-05,-4.571123781e-04,1.557512750e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.365457157e-05,-4.342036938e-04,1.525681678e-04,7.020124526e-01,-4.793831131e-04,8.602988385e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028092591e-01,-5.513929456e-04,8.304782016e-01
+25,1.766666667e+00,UP_FORCE_RAMP,1792843691557366946,5.795475650e-05,-4.459222158e-04,1.587255148e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.381834810e-05,-4.342539992e-04,1.527972568e-04,7.020135876e-01,-4.681929508e-04,8.603018128e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028094228e-01,-5.514432511e-04,8.304784307e-01
+26,1.933333333e+00,UP_FORCE_RAMP,1792843691737665895,5.999204002e-05,-4.495208541e-04,1.632287048e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.395993776e-05,-4.343001797e-04,1.529777580e-04,7.020156249e-01,-4.717915891e-04,8.603063159e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028095644e-01,-5.514894315e-04,8.304786112e-01
+27,2.116666667e+00,UP_FORCE_RAMP,1792843691916915840,5.860553833e-05,-4.539892403e-04,1.636424298e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.409895027e-05,-4.343451117e-04,1.531371073e-04,7.020142384e-01,-4.762599753e-04,8.603067297e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028097034e-01,-5.515343635e-04,8.304787706e-01
+28,2.316666667e+00,UP_FORCE_RAMP,1792843692129647151,5.816152911e-05,-4.468911318e-04,1.654893904e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.423352307e-05,-4.343882333e-04,1.532780226e-04,7.020137943e-01,-4.691618668e-04,8.603085766e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028098380e-01,-5.515774851e-04,8.304789115e-01
+29,2.450000000e+00,UP_FORCE_RAMP,1792843692260850044,5.978786565e-05,-4.463685601e-04,1.708657402e-04,5.715800594e-05,-4.475098963e-04,1.542105282e-04,6.431506891e-05,-4.344148523e-04,1.533571395e-04,7.020154207e-01,-4.686392952e-04,8.603139530e-01,7.020127908e-01,-4.697806313e-04,8.602972978e-01,7.028099196e-01,-5.516041042e-04,8.304789906e-01
+30,2.683333333e+00,UP_FORCE_RAMP,1792843692490226685,5.465563876e-05,-4.492344559e-04,1.726779042e-04,5.767164859e-05,-4.495153978e-04,1.743850026e-04,6.520988314e-05,-4.363833562e-04,1.730836473e-04,7.020102885e-01,-4.715051909e-04,8.603157651e-01,7.020133045e-01,-4.717861329e-04,8.603174722e-01,7.028108144e-01,-5.535726080e-04,8.304987171e-01
+31,2.900000000e+00,UP_FORCE_RAMP,1792843692704161228,5.646999625e-05,-4.486281114e-04,1.855633122e-04,5.767164859e-05,-4.495153978e-04,1.743850026e-04,6.531955954e-05,-4.364214597e-04,1.733101767e-04,7.020121028e-01,-4.708988465e-04,8.603286506e-01,7.020133045e-01,-4.717861329e-04,8.603174722e-01,7.028109241e-01,-5.536107116e-04,8.304989436e-01
+32,3.000000000e+00,UP_FORCE_RAMP,1792843692802015442,2.072987071e-05,-4.433378934e-04,1.797855685e-04,2.124246039e-05,-4.435464785e-04,1.794868437e-04,2.729394378e-05,-4.306729925e-04,1.782974893e-04,7.019763627e-01,-4.656086284e-04,8.603228728e-01,7.019768753e-01,-4.658172136e-04,8.603225741e-01,7.027728984e-01,-5.478622444e-04,8.305039310e-01
+33,3.150000000e+00,UP_FORCE_RAMP,1792843692956100444,2.327446482e-05,-4.495844845e-04,1.881537991e-04,2.124246039e-05,-4.435464785e-04,1.794868437e-04,2.701139383e-05,-4.306668602e-04,1.784475637e-04,7.019789073e-01,-4.718552195e-04,8.603312410e-01,7.019768753e-01,-4.658172136e-04,8.603225741e-01,7.027726159e-01,-5.478561121e-04,8.305040810e-01
+34,3.366666667e+00,UP_FORCE_RAMP,1792843693179366131,2.749732118e-05,-4.450106075e-04,2.055839861e-04,2.721532410e-05,-4.429914142e-04,2.011918536e-04,3.344145964e-05,-4.301403591e-04,1.996807107e-04,7.019831301e-01,-4.672813426e-04,8.603486712e-01,7.019828481e-01,-4.652621493e-04,8.603442791e-01,7.027790460e-01,-5.473296109e-04,8.305253142e-01
+35,3.600000000e+00,UP_FORCE_RAMP,1792843693407627986,2.500106484e-05,-4.466009730e-04,2.090662611e-04,2.721532410e-05,-4.429914142e-04,2.011918536e-04,3.347102613e-05,-4.301597275e-04,1.999797647e-04,7.019806339e-01,-4.688717080e-04,8.603521535e-01,7.019828481e-01,-4.652621493e-04,8.603442791e-01,7.027790755e-01,-5.473489794e-04,8.305256132e-01
+36,3.850000000e+00,UP_FORCE_RAMP,1792843693654419783,2.501667893e-05,-4.485563956e-04,2.217410819e-04,2.516664266e-05,-4.485821924e-04,2.217049753e-04,3.167035279e-05,-4.355340687e-04,2.200221903e-04,7.019806495e-01,-4.708271306e-04,8.603648283e-01,7.019807995e-01,-4.708529275e-04,8.603647922e-01,7.027772749e-01,-5.527233206e-04,8.305456557e-01
+37,4.066666667e+00,UP_FORCE_RAMP,1792843693865792413,2.317979491e-05,-4.429063446e-04,2.304695349e-04,2.516664266e-05,-4.485821924e-04,2.217049753e-04,3.167254099e-05,-4.355849673e-04,2.203898638e-04,7.019788126e-01,-4.651770797e-04,8.603735568e-01,7.019807995e-01,-4.708529275e-04,8.603647922e-01,7.027772770e-01,-5.527742191e-04,8.305460233e-01
+38,4.266666667e+00,UP_FORCE_RAMP,1792843694062863780,1.567985953e-05,-4.427341790e-04,2.428297843e-04,2.078825173e-05,-4.449293397e-04,2.410661068e-04,2.726351232e-05,-4.320534974e-04,2.393539874e-04,7.019713127e-01,-4.650049140e-04,8.603859170e-01,7.019764211e-01,-4.672000747e-04,8.603841533e-01,7.027728680e-01,-5.492427492e-04,8.305649875e-01
+39,4.483333333e+00,UP_FORCE_RAMP,1792843694275439842,-1.951122733e-06,-4.421432229e-04,2.574436857e-04,-2.193278762e-07,-4.411938877e-04,2.505785286e-04,5.318425554e-06,-4.284511187e-04,2.488604065e-04,7.019536817e-01,-4.644139579e-04,8.604005309e-01,7.019554135e-01,-4.634646227e-04,8.603936658e-01,7.027509229e-01,-5.456403705e-04,8.305744939e-01
+40,4.683333333e+00,UP_FORCE_RAMP,1792843694472026597,-3.078618284e-06,-4.412244298e-04,2.729197742e-04,-1.581452512e-06,-4.403863982e-04,2.718122427e-04,4.009075906e-06,-4.276078776e-04,2.696803174e-04,7.019525542e-01,-4.634951648e-04,8.604160070e-01,7.019540514e-01,-4.626571332e-04,8.604148995e-01,7.027496136e-01,-5.447971295e-04,8.305953138e-01
+41,4.900000000e+00,UP_FORCE_RAMP,1792843694685065792,-7.575174451e-06,-4.375995058e-04,2.885284300e-04,-1.581452512e-06,-4.403863982e-04,2.718122427e-04,3.940573784e-06,-4.276164848e-04,2.700201639e-04,7.019480576e-01,-4.598702408e-04,8.604316157e-01,7.019540514e-01,-4.626571332e-04,8.604148995e-01,7.027495451e-01,-5.448057367e-04,8.305956536e-01
+42,5.150000000e+00,UP_FORCE_RAMP,1792843694931059662,-1.524228027e-05,-4.401614193e-04,3.079177324e-04,-9.688045573e-06,-4.387645927e-04,3.120922241e-04,-4.116233725e-06,-4.260416668e-04,3.095572182e-04,7.019403905e-01,-4.624321543e-04,8.604510050e-01,7.019459448e-01,-4.610353277e-04,8.604551795e-01,7.027414883e-01,-5.432309186e-04,8.306351907e-01
+43,5.450000000e+00,UP_FORCE_RAMP,1792843695225823913,-2.672651688e-05,-4.328095178e-04,3.339390930e-04,-2.380178429e-05,-4.352810902e-04,3.268469063e-04,-1.886713466e-05,-4.226454717e-04,3.244337700e-04,7.019289063e-01,-4.550802528e-04,8.604770263e-01,7.019318310e-01,-4.575518252e-04,8.604699341e-01,7.027267374e-01,-5.398347236e-04,8.306500672e-01
+44,5.633333333e+00,UP_FORCE_HOLD,1792843695406014401,-3.232175663e-05,-4.342130146e-04,3.489245006e-04,-3.081270149e-05,-4.377917415e-04,3.463098481e-04,-2.612759478e-05,-4.250590006e-04,3.436203852e-04,7.019233111e-01,-4.564837496e-04,8.604920117e-01,7.019248201e-01,-4.600624765e-04,8.604893971e-01,7.027194769e-01,-5.422482524e-04,8.306692539e-01
+45,5.833333333e+00,UP_SETTLE,1792843695602517499,-3.879103354e-05,-4.340646736e-04,3.597707599e-04,-3.081270149e-05,-4.377917415e-04,3.463098481e-04,-2.624237395e-05,-4.250663460e-04,3.439876964e-04,7.019168418e-01,-4.563354086e-04,8.605028580e-01,7.019248201e-01,-4.600624765e-04,8.604893971e-01,7.027193621e-01,-5.422555978e-04,8.306696212e-01
+46,6.033333333e+00,UP_SETTLE,1792843695815421122,-4.417017833e-05,-4.355078595e-04,3.761561396e-04,-3.708672329e-05,-4.346842860e-04,3.675660558e-04,-3.267542068e-05,-4.220611152e-04,3.649385291e-04,7.019114626e-01,-4.577785945e-04,8.605192434e-01,7.019185461e-01,-4.569550210e-04,8.605106533e-01,7.027129291e-01,-5.392503670e-04,8.306905720e-01
+47,6.266666667e+00,UP_SETTLE,1792843696047333889,-4.978062593e-05,-4.343291172e-04,3.946148282e-04,-4.559390141e-05,-4.326150563e-04,3.889265648e-04,-4.140239537e-05,-4.200588518e-04,3.861090056e-04,7.019058522e-01,-4.565998522e-04,8.605377021e-01,7.019100389e-01,-4.548857914e-04,8.605320138e-01,7.027042021e-01,-5.372481037e-04,8.307117425e-01
+48,6.516666667e+00,UP_SETTLE,1792843696291022906,-5.305887793e-05,-4.305257876e-04,4.107281084e-04,-5.278328829e-05,-4.305825936e-04,4.102967081e-04,-4.878476683e-05,-4.180592990e-04,4.071727315e-04,7.019025739e-01,-4.527965227e-04,8.605538153e-01,7.019028495e-01,-4.528533286e-04,8.605533839e-01,7.026968197e-01,-5.352485508e-04,8.307328062e-01
+49,6.733333333e+00,UP_SETTLE,1792843696510422462,-5.937235035e-05,-4.308122746e-04,4.187543404e-04,-5.278328829e-05,-4.305825936e-04,4.102967081e-04,-4.891994156e-05,-4.180517914e-04,4.076569715e-04,7.018962605e-01,-4.530830096e-04,8.605618416e-01,7.019028495e-01,-4.528533286e-04,8.605533839e-01,7.026966846e-01,-5.352410433e-04,8.307332904e-01
+50,6.950000000e+00,UP_SETTLE,1792843696732911242,-6.212761203e-05,-4.270226456e-04,4.339263240e-04,-6.119808435e-05,-4.290470490e-04,4.285555208e-04,-5.762676234e-05,-4.165093336e-04,4.256662522e-04,7.018935052e-01,-4.492933806e-04,8.605770136e-01,7.018944347e-01,-4.513177841e-04,8.605716428e-01,7.026879777e-01,-5.336985855e-04,8.307512997e-01
+51,7.200000000e+00,UP_SETTLE,1792843696978707314,-7.314476359e-05,-4.269290696e-04,4.379244548e-04,-6.119808435e-05,-4.290470490e-04,4.285555208e-04,-5.773542785e-05,-4.164955347e-04,4.260228562e-04,7.018824881e-01,-4.491998047e-04,8.605810117e-01,7.018944347e-01,-4.513177841e-04,8.605716428e-01,7.026878691e-01,-5.336847865e-04,8.307516563e-01
+52,7.233333333e+00,UP_SETTLE,1792843697011308341,-1.246412566e-04,-4.294865419e-04,4.089915343e-04,-1.242955607e-04,-4.291567209e-04,4.090592235e-04,-1.240040318e-04,-4.165912663e-04,4.070561567e-04,7.018309916e-01,-4.517572769e-04,8.605520788e-01,7.018313373e-01,-4.514274559e-04,8.605521465e-01,7.026216005e-01,-5.337805182e-04,8.307326896e-01
+53,7.283333333e+00,UP_SETTLE,1792843697060521686,-1.052954233e-04,-4.288028357e-04,4.376345027e-04,-1.054469931e-04,-4.288288157e-04,4.373029265e-04,-1.042802998e-04,-4.162577712e-04,4.343593600e-04,7.018503374e-01,-4.510735707e-04,8.605807217e-01,7.018501858e-01,-4.510995507e-04,8.605803902e-01,7.026413242e-01,-5.334470230e-04,8.307599928e-01
+54,7.383333333e+00,UP_SETTLE,1792843697158529406,-1.195712738e-04,-4.281894829e-04,4.266649381e-04,-1.054469931e-04,-4.288288157e-04,4.373029265e-04,-1.044133587e-04,-4.162460263e-04,4.346036127e-04,7.018360615e-01,-4.504602179e-04,8.605697522e-01,7.018501858e-01,-4.510995507e-04,8.605803902e-01,7.026411911e-01,-5.334352781e-04,8.307602371e-01
+55,7.566666667e+00,UP_SETTLE,1792843697339522350,-1.201556739e-04,-4.302605874e-04,4.353407607e-04,-1.054469931e-04,-4.288288157e-04,4.373029265e-04,-1.046233137e-04,-4.162315518e-04,4.348237925e-04,7.018354771e-01,-4.525313224e-04,8.605784280e-01,7.018501858e-01,-4.510995507e-04,8.605803902e-01,7.026409812e-01,-5.334208037e-04,8.307604573e-01
+56,7.800000000e+00,UP_SETTLE,1792843697568223173,-1.213896469e-04,-4.279686721e-04,4.428735399e-04,-1.054469931e-04,-4.288288157e-04,4.373029265e-04,-1.048021910e-04,-4.162126419e-04,4.350354506e-04,7.018342432e-01,-4.502394071e-04,8.605859608e-01,7.018501858e-01,-4.510995507e-04,8.605803902e-01,7.026408023e-01,-5.334018937e-04,8.307606689e-01
+57,8.033333333e+00,UP_SETTLE,1792843697796906805,-1.263528833e-04,-4.289611848e-04,4.462325694e-04,-1.265382774e-04,-4.229125326e-04,4.389387816e-04,-1.271228492e-04,-4.104549776e-04,4.367331035e-04,7.018292799e-01,-4.512319198e-04,8.605893198e-01,7.018290945e-01,-4.451832676e-04,8.605820260e-01,7.026184816e-01,-5.276442295e-04,8.307623666e-01
+58,8.283333333e+00,UP_SETTLE,1792843698043084890,-1.255669401e-04,-4.289153379e-04,4.547696618e-04,-1.265382774e-04,-4.229125326e-04,4.389387816e-04,-1.273465252e-04,-4.104265515e-04,4.369062821e-04,7.018300659e-01,-4.511860729e-04,8.605978569e-01,7.018290945e-01,-4.451832676e-04,8.605820260e-01,7.026182580e-01,-5.276158034e-04,8.307625398e-01
+59,8.533333333e+00,UP_SETTLE,1792843698288577167,-1.303599549e-04,-4.271261566e-04,4.511551507e-04,-1.265382774e-04,-4.229125326e-04,4.389387816e-04,-1.275013602e-04,-4.104036894e-04,4.370572372e-04,7.018252729e-01,-4.493968917e-04,8.605942424e-01,7.018290945e-01,-4.451832676e-04,8.605820260e-01,7.026181031e-01,-5.275929412e-04,8.307626907e-01

Fixed/digit/ball_PLA_12.5/press_depth_09/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.7924e-01,3.2225e-01,2.4580e+00,-5.9052e-02,4.9389e-02,8.7141e-04,5.1707e-06,9.1523e-05,-1.0252e-05,-5.9716e-06,6.6310e-07,-1.0571e-07,9.2240e-05,6.0093e-06
+1,2.1667e-01,WAIT_W2,5.0319e-05,2.0552e-01,3.2038e-01,2.4579e+00,-5.8882e-02,5.1251e-02,7.8886e-04,2.6285e-02,-1.7801e-03,-1.9670e-04,1.6347e-04,1.8630e-03,-8.2656e-05,2.6346e-02,1.8720e-03
+2,4.3333e-01,WAIT_W2,1.0555e-04,2.2350e-01,3.1855e-01,2.4577e+00,-5.8745e-02,5.2510e-02,7.1824e-04,4.4273e-02,-3.6041e-03,-3.4070e-04,3.0072e-04,3.1220e-03,-1.5327e-04,4.4420e-02,3.1402e-03
+3,6.5000e-01,WAIT_W2,1.5316e-04,2.3892e-01,3.1693e-01,2.4576e+00,-5.8625e-02,5.3597e-02,6.5041e-04,5.9689e-02,-5.2328e-03,-4.2129e-04,4.2130e-04,4.2089e-03,-2.2110e-04,5.9920e-02,4.2357e-03
+4,7.0000e-01,WAIT_W2,1.7202e-04,2.4610e-01,3.1632e-01,2.4576e+00,-5.8578e-02,5.4107e-02,6.1950e-04,6.6871e-02,-5.8430e-03,-4.3511e-04,4.6752e-04,4.7189e-03,-2.5202e-04,6.7127e-02,4.7487e-03
+5,7.1667e-01,WAIT_W2,2.6037e-04,2.4599e-01,3.1632e-01,2.4576e+00,-5.8579e-02,5.4100e-02,6.1938e-04,6.6764e-02,-5.8414e-03,-4.4942e-04,4.6739e-04,4.7118e-03,-2.5214e-04,6.7020e-02,4.7417e-03
+6,7.1667e-01,WAIT_W2,2.6037e-04,2.4599e-01,3.1632e-01,2.4576e+00,-5.8579e-02,5.4100e-02,6.1938e-04,6.6764e-02,-5.8414e-03,-4.4942e-04,4.6739e-04,4.7118e-03,-2.5214e-04,6.7020e-02,4.7417e-03
+7,7.3333e-01,WAIT_W2,3.9163e-04,2.2490e-01,1.2210e+00,2.3872e+00,-1.2198e-01,5.2693e-02,9.6082e-04,4.5665e-02,8.9885e-01,-7.0837e-02,-6.2937e-02,3.3054e-03,8.9300e-05,9.0280e-01,6.3024e-02
+8,7.3333e-01,WAIT_W2,3.9163e-04,2.2490e-01,1.2210e+00,2.3872e+00,-1.2198e-01,5.2693e-02,9.6082e-04,4.5665e-02,8.9885e-01,-7.0837e-02,-6.2937e-02,3.3054e-03,8.9300e-05,9.0280e-01,6.3024e-02
+9,7.3333e-01,WAIT_W2,3.9163e-04,2.2490e-01,1.2210e+00,2.3872e+00,-1.2198e-01,5.2693e-02,9.6082e-04,4.5665e-02,8.9885e-01,-7.0837e-02,-6.2937e-02,3.3054e-03,8.9300e-05,9.0280e-01,6.3024e-02
+10,7.5000e-01,WAIT_W2,5.3478e-04,2.2927e-01,2.3929e+00,2.3431e+00,-2.0453e-01,5.3033e-02,1.6042e-03,5.0038e-02,2.0708e+00,-1.1498e-01,-1.4548e-01,3.6453e-03,7.3267e-04,2.0745e+00,1.4553e-01
+11,7.5000e-01,WAIT_W2,5.3478e-04,2.2927e-01,2.3929e+00,2.3431e+00,-2.0453e-01,5.3033e-02,1.6042e-03,5.0038e-02,2.0708e+00,-1.1498e-01,-1.4548e-01,3.6453e-03,7.3267e-04,2.0745e+00,1.4553e-01
+12,7.6667e-01,WAIT_W2,6.6985e-04,2.5945e-01,3.3583e+00,2.3390e+00,-2.7121e-01,5.5120e-02,1.9380e-03,8.0218e-02,3.0362e+00,-1.1905e-01,-2.1217e-01,5.7326e-03,1.0665e-03,3.0396e+00,2.1225e-01
+13,7.6667e-01,WAIT_W2,6.6985e-04,2.5945e-01,3.3583e+00,2.3390e+00,-2.7121e-01,5.5120e-02,1.9380e-03,8.0218e-02,3.0362e+00,-1.1905e-01,-2.1217e-01,5.7326e-03,1.0665e-03,3.0396e+00,2.1225e-01
+14,7.8333e-01,WAIT_W2,7.1080e-04,3.0772e-01,4.7880e+00,2.3471e+00,-3.7376e-01,5.8603e-02,2.9959e-03,1.2849e-01,4.4658e+00,-1.1097e-01,-3.1471e-01,9.2148e-03,2.1244e-03,4.4690e+00,3.1485e-01
+15,8.1667e-01,WAIT_W2,7.9038e-04,2.7160e-01,4.7545e+00,2.3253e+00,-3.7221e-01,5.6181e-02,3.2435e-03,9.2369e-02,4.4324e+00,-1.3273e-01,-3.1317e-01,6.7934e-03,2.3720e-03,4.4353e+00,3.1325e-01
+16,8.3333e-01,WAIT_W2,8.2345e-04,2.1017e-01,4.1864e+00,2.2898e+00,-3.3289e-01,5.1847e-02,3.5832e-03,3.0941e-02,3.8642e+00,-1.6829e-01,-2.7384e-01,2.4593e-03,2.7117e-03,3.8680e+00,2.7387e-01
+17,8.6667e-01,WAIT_W2,8.7558e-04,2.1502e-01,3.9015e+00,2.2921e+00,-3.1288e-01,5.2198e-02,3.5054e-03,3.5790e-02,3.5793e+00,-1.6593e-01,-2.5383e-01,2.8103e-03,2.6339e-03,3.5833e+00,2.5386e-01
+18,9.0000e-01,WAIT_W2,9.1444e-04,1.9016e-01,4.5187e+00,2.1764e+00,-3.5713e-01,5.0589e-02,4.1565e-03,1.0924e-02,4.1966e+00,-2.8167e-01,-2.9809e-01,1.2014e-03,3.2850e-03,4.2060e+00,2.9811e-01
+19,1.0000e+00,WAIT_W2,9.7368e-04,1.2221e-01,4.1768e+00,2.0500e+00,-3.3403e-01,4.5939e-02,4.1476e-03,-5.7023e-02,3.8546e+00,-4.0805e-01,-2.7499e-01,-3.4488e-03,3.2761e-03,3.8766e+00,2.7503e-01
+20,1.0833e+00,WAIT_W2,1.0238e-03,9.5296e-02,4.0368e+00,1.9852e+00,-3.2488e-01,4.4153e-02,4.1833e-03,-8.3935e-02,3.7146e+00,-4.7280e-01,-2.6583e-01,-5.2353e-03,3.3118e-03,3.7455e+00,2.6591e-01
+21,1.1667e+00,WAIT_W2,1.0792e-03,1.1057e-01,3.9500e+00,1.9973e+00,-3.1907e-01,4.5228e-02,4.2534e-03,-6.8664e-02,3.6279e+00,-4.6079e-01,-2.6002e-01,-4.1596e-03,3.3819e-03,3.6577e+00,2.6008e-01
+22,1.2833e+00,WAIT_W2,1.1317e-03,1.3176e-01,3.9698e+00,2.0150e+00,-3.2059e-01,4.6732e-02,4.2028e-03,-4.7471e-02,3.6476e+00,-4.4304e-01,-2.6155e-01,-2.6564e-03,3.3313e-03,3.6747e+00,2.6158e-01
+23,1.4500e+00,UP_FORCE_RAMP,1.1795e-03,1.7231e-01,3.9776e+00,2.0862e+00,-3.2105e-01,4.9480e-02,4.1509e-03,-6.9211e-03,3.6554e+00,-3.7182e-01,-2.6200e-01,9.2566e-05,3.2794e-03,3.6743e+00,2.6202e-01
+24,1.6000e+00,UP_FORCE_RAMP,1.2273e-03,2.0967e-01,3.9699e+00,2.1522e+00,-3.2032e-01,5.2087e-02,3.9946e-03,3.0436e-02,3.6478e+00,-3.0587e-01,-2.6127e-01,2.6986e-03,3.1231e-03,3.6607e+00,2.6130e-01
+25,1.7667e+00,UP_FORCE_RAMP,1.2779e-03,2.4757e-01,3.9556e+00,2.2029e+00,-3.1897e-01,5.4740e-02,3.4245e-03,6.8334e-02,3.6334e+00,-2.5512e-01,-2.5993e-01,5.3524e-03,2.5530e-03,3.6430e+00,2.6000e-01
+26,1.9333e+00,UP_FORCE_RAMP,1.3320e-03,2.7049e-01,3.9464e+00,2.2327e+00,-3.1810e-01,5.6357e-02,3.2525e-03,9.1262e-02,3.6242e+00,-2.2534e-01,-2.5906e-01,6.9689e-03,2.3810e-03,3.6324e+00,2.5916e-01
+27,2.1167e+00,UP_FORCE_RAMP,1.3819e-03,3.0385e-01,3.9364e+00,2.2722e+00,-3.1710e-01,5.8668e-02,2.8611e-03,1.2462e-01,3.6142e+00,-1.8587e-01,-2.5805e-01,9.2798e-03,1.9895e-03,3.6211e+00,2.5823e-01
+28,2.3167e+00,UP_FORCE_RAMP,1.4373e-03,3.1662e-01,3.9325e+00,2.2828e+00,-3.1670e-01,5.9552e-02,2.6794e-03,1.3738e-01,3.6103e+00,-1.7522e-01,-2.5765e-01,1.0164e-02,1.8079e-03,3.6172e+00,2.5786e-01
+29,2.4500e+00,UP_FORCE_RAMP,1.4831e-03,3.2933e-01,3.9289e+00,2.2974e+00,-3.1632e-01,6.0437e-02,2.5293e-03,1.5010e-01,3.6067e+00,-1.6066e-01,-2.5728e-01,1.1049e-02,1.6578e-03,3.6134e+00,2.5752e-01
+30,2.6833e+00,UP_FORCE_RAMP,1.5343e-03,3.5005e-01,3.9357e+00,2.2163e+00,-3.1713e-01,6.1981e-02,2.2118e-03,1.7082e-01,3.6136e+00,-2.4175e-01,-2.5809e-01,1.2593e-02,1.3403e-03,3.6257e+00,2.5840e-01
+31,2.9000e+00,UP_FORCE_RAMP,1.5895e-03,3.7406e-01,3.9295e+00,2.2756e+00,-3.1649e-01,6.3625e-02,1.9536e-03,1.9483e-01,3.6073e+00,-1.8248e-01,-2.5745e-01,1.4237e-02,1.0821e-03,3.6172e+00,2.5784e-01
+32,3.0000e+00,UP_FORCE_RAMP,1.6397e-03,3.8355e-01,3.9276e+00,2.2864e+00,-3.1628e-01,6.4275e-02,1.8609e-03,2.0432e-01,3.6054e+00,-1.7165e-01,-2.5723e-01,1.4887e-02,9.8936e-04,3.6153e+00,2.5766e-01
+33,3.1500e+00,UP_FORCE_RAMP,1.6882e-03,5.4034e-01,3.8855e+00,2.2805e+00,-3.1335e-01,7.5335e-02,6.7886e-04,3.6110e-01,3.5633e+00,-1.7752e-01,-2.5431e-01,2.5947e-02,-1.9266e-04,3.5859e+00,2.5563e-01
+34,3.3667e+00,UP_FORCE_RAMP,1.7396e-03,4.9148e-01,3.8768e+00,2.1744e+00,-3.1323e-01,7.2000e-02,5.5678e-04,3.1225e-01,3.5547e+00,-2.8366e-01,-2.5418e-01,2.2612e-02,-3.1474e-04,3.5796e+00,2.5519e-01
+35,3.6000e+00,UP_FORCE_RAMP,1.7935e-03,4.9916e-01,3.8751e+00,2.2469e+00,-3.1295e-01,7.2474e-02,5.1059e-04,3.1993e-01,3.5529e+00,-2.1117e-01,-2.5390e-01,2.3086e-02,-3.6093e-04,3.5735e+00,2.5495e-01
+36,3.8500e+00,UP_FORCE_RAMP,1.8453e-03,5.0412e-01,3.8727e+00,2.2772e+00,-3.1260e-01,7.2772e-02,3.8504e-04,3.2489e-01,3.5505e+00,-1.8081e-01,-2.5355e-01,2.3384e-02,-4.8648e-04,3.5700e+00,2.5463e-01
+37,4.0667e+00,UP_FORCE_RAMP,1.8951e-03,5.1638e-01,3.9179e+00,2.2131e+00,-3.1628e-01,7.3721e-02,3.2204e-04,3.3715e-01,3.5958e+00,-2.4492e-01,-2.5724e-01,2.4333e-02,-5.4948e-04,3.6198e+00,2.5838e-01
+38,4.2667e+00,UP_FORCE_RAMP,1.9456e-03,5.4069e-01,3.8849e+00,2.1503e+00,-3.1434e-01,7.5496e-02,7.4647e-05,3.6146e-01,3.5628e+00,-3.0774e-01,-2.5529e-01,2.6108e-02,-7.9687e-04,3.5943e+00,2.5662e-01
+39,4.4833e+00,UP_FORCE_RAMP,1.9971e-03,6.5705e-01,3.8557e+00,2.1475e+00,-3.1237e-01,8.3706e-02,-6.5032e-04,4.7782e-01,3.5335e+00,-3.1058e-01,-2.5332e-01,3.4318e-02,-1.5218e-03,3.5792e+00,2.5564e-01
+40,4.6833e+00,UP_FORCE_RAMP,2.0505e-03,6.2423e-01,3.8496e+00,2.0791e+00,-3.1235e-01,8.1448e-02,-7.6594e-04,4.4500e-01,3.5274e+00,-3.7891e-01,-2.5331e-01,3.2060e-02,-1.6375e-03,3.5755e+00,2.5533e-01
+41,4.9000e+00,UP_FORCE_RAMP,2.1022e-03,6.1102e-01,3.8518e+00,2.1582e+00,-3.1236e-01,8.0457e-02,-8.1030e-04,4.3179e-01,3.5297e+00,-2.9986e-01,-2.5332e-01,3.1069e-02,-1.6818e-03,3.5686e+00,2.5522e-01
+42,5.1500e+00,UP_FORCE_RAMP,2.1507e-03,6.3587e-01,3.8385e+00,2.0012e+00,-3.1228e-01,8.2337e-02,-1.0870e-03,4.5664e-01,3.5164e+00,-4.5683e-01,-2.5324e-01,3.2949e-02,-1.9585e-03,3.5752e+00,2.5538e-01
+43,5.4500e+00,UP_FORCE_RAMP,2.2033e-03,6.9050e-01,3.8142e+00,2.0422e+00,-3.1073e-01,8.6236e-02,-1.5080e-03,5.1126e-01,3.4921e+00,-4.1581e-01,-2.5168e-01,3.6848e-02,-2.3795e-03,3.5537e+00,2.5438e-01
+44,5.6333e+00,UP_FORCE_HOLD,2.2533e-03,7.1170e-01,3.8356e+00,1.9689e+00,-3.1256e-01,8.7686e-02,-1.6540e-03,5.3247e-01,3.5135e+00,-4.8913e-01,-2.5351e-01,3.8298e-02,-2.5255e-03,3.5871e+00,2.5640e-01
+45,5.8333e+00,UP_SETTLE,2.3027e-03,6.8967e-01,3.8390e+00,2.0555e+00,-3.1264e-01,8.6104e-02,-1.7065e-03,5.1044e-01,3.5169e+00,-4.0255e-01,-2.5359e-01,3.6716e-02,-2.5781e-03,3.5765e+00,2.5625e-01
+46,6.0333e+00,UP_SETTLE,2.3566e-03,7.0975e-01,3.8125e+00,1.9807e+00,-3.1115e-01,8.7569e-02,-1.8815e-03,5.3052e-01,3.4904e+00,-4.7733e-01,-2.5210e-01,3.8181e-02,-2.7530e-03,3.5626e+00,2.5499e-01
+47,6.2667e+00,UP_SETTLE,2.4074e-03,7.3253e-01,3.7996e+00,1.9499e+00,-3.1051e-01,8.9201e-02,-2.0988e-03,5.5330e-01,3.4774e+00,-5.0813e-01,-2.5146e-01,3.9813e-02,-2.9703e-03,3.5576e+00,2.5461e-01
+48,6.5167e+00,UP_SETTLE,2.4600e-03,7.1038e-01,3.8056e+00,2.0376e+00,-3.1061e-01,8.7535e-02,-2.1355e-03,5.3115e-01,3.4835e+00,-4.2045e-01,-2.5156e-01,3.8147e-02,-3.0071e-03,3.5487e+00,2.5446e-01
+49,6.7333e+00,UP_SETTLE,2.5098e-03,7.3138e-01,3.7902e+00,1.9829e+00,-3.0983e-01,8.9064e-02,-2.2685e-03,5.5215e-01,3.4680e+00,-4.7513e-01,-2.5079e-01,3.9676e-02,-3.1400e-03,3.5437e+00,2.5393e-01
+50,6.9500e+00,UP_SETTLE,2.5633e-03,7.5358e-01,3.7734e+00,1.9507e+00,-3.0868e-01,9.0547e-02,-2.3301e-03,5.7434e-01,3.4512e+00,-5.0738e-01,-2.4963e-01,4.1159e-02,-3.2017e-03,3.5353e+00,2.5302e-01
+51,7.2000e+00,UP_SETTLE,2.6136e-03,7.3523e-01,3.7889e+00,2.0288e+00,-3.0957e-01,8.9255e-02,-2.3858e-03,5.5600e-01,3.4667e+00,-4.2927e-01,-2.5053e-01,3.9868e-02,-3.2573e-03,3.5372e+00,2.5370e-01
+52,7.2333e+00,UP_SETTLE,2.6732e-03,9.4035e-01,3.8114e+00,2.0375e+00,-3.1098e-01,1.0367e-01,-3.3506e-03,7.6112e-01,3.4892e+00,-4.2056e-01,-2.5193e-01,5.4284e-02,-4.2221e-03,3.5959e+00,2.5775e-01
+53,7.2833e+00,UP_SETTLE,2.7151e-03,1.0902e+00,3.7971e+00,2.1556e+00,-3.0927e-01,1.1426e-01,-4.0154e-03,9.1097e-01,3.4749e+00,-3.0243e-01,-2.5022e-01,6.4876e-02,-4.8869e-03,3.6051e+00,2.5854e-01
+54,7.3833e+00,UP_SETTLE,2.7649e-03,9.1336e-01,3.7958e+00,1.9909e+00,-3.1002e-01,1.0185e-01,-3.6591e-03,7.3413e-01,3.4736e+00,-4.6716e-01,-2.5098e-01,5.2461e-02,-4.5307e-03,3.5810e+00,2.5644e-01
+55,7.5667e+00,UP_SETTLE,2.8184e-03,8.6140e-01,3.8069e+00,2.0638e+00,-3.1053e-01,9.8151e-02,-3.6244e-03,6.8217e-01,3.4847e+00,-3.9427e-01,-2.5148e-01,4.8763e-02,-4.4959e-03,3.5727e+00,2.5621e-01
+56,7.8000e+00,UP_SETTLE,2.8691e-03,8.4238e-01,3.8091e+00,2.0852e+00,-3.1047e-01,9.6732e-02,-3.5760e-03,6.6315e-01,3.4869e+00,-3.7282e-01,-2.5142e-01,4.7344e-02,-4.4476e-03,3.5689e+00,2.5588e-01
+57,8.0333e+00,UP_SETTLE,2.9231e-03,9.3401e-01,3.7626e+00,2.1033e+00,-3.0693e-01,1.0316e-01,-3.9861e-03,7.5478e-01,3.4404e+00,-3.5472e-01,-2.4788e-01,5.3771e-02,-4.8576e-03,3.5400e+00,2.5370e-01
+58,8.2833e+00,UP_SETTLE,2.9702e-03,8.7029e-01,3.7754e+00,2.1458e+00,-3.0751e-01,9.8622e-02,-3.9168e-03,6.9106e-01,3.4533e+00,-3.1220e-01,-2.4846e-01,4.9235e-02,-4.7884e-03,3.5355e+00,2.5334e-01
+59,8.5333e+00,UP_SETTLE,3.0228e-03,8.3486e-01,3.7797e+00,2.1808e+00,-3.0742e-01,9.6034e-02,-3.7291e-03,6.5563e-01,3.4575e+00,-2.7725e-01,-2.4837e-01,4.6646e-02,-4.6006e-03,3.5300e+00,2.5276e-01

Fixed/digit/ball_PLA_12.5/press_depth_10/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72f0f2fd907636404cd456550954ae21a22f0ffe5e88154c35c78ab65ac3024a
+size 645120

Fixed/digit/ball_PLA_12.5/press_depth_10/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+2683,1792843823218099999,22502800000000,1792843823217094887,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0594,0.05939812585711479,0.675953561549861,-0.004890159073208357,0.10683519364412178,0.9999999591392946,-0.0001399975252423953,-0.0002152382503526634,8.507327341416771e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.011720465720334805,-0.00876564496611243,-0.04841581861313782,-0.0005659029495659884,0.00021138287838711606,3.2875409616044994e-05,0.7091116372986377,0.9688675242962238,1.5797852176022074,0.07681625937316283,-0.05941965660735341,-0.0032870598393230253,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,-0.14840115666828962,1.4401733565047325,0.2865776552842604,-0.16618701159229138,-0.28501385325353534,0.8495068496767633,-1.8133809866870656,0.04841581861313782,-2.099958641971326,0.0,0.0,0,0,0.0,0.0
+2801,1792843824195049614,22503777000000,1792843824193094301,DOWN_FORCE_DETACH,10,0.0594,0.05939812585711479,0.6759539416057697,-0.0048896785230535976,0.10683786046925184,0.9999999596830338,-0.00013922283589714213,-0.00021339599641341636,8.459282373934867e-05,0.6761,-0.0046,0.10698465315280745,1.0,0.0,0.0,0.0,-0.022810939210706205,-0.026293116056616772,-0.07953818886590858,-0.0015588050161730316,0.00111455682047603,6.528699694660807e-05,0.6980211638082663,0.9513400532057195,1.5486628473494366,0.07582335730655579,-0.0585164826652645,-0.0032546482519924622,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,-0.10872672668372807,1.439022702139354,0.3899997902041958,-0.1656766929041674,-0.34415336855151923,0.8479063036519701,-1.8133809866870656,0.07953818886590858,-2.203380776891261,-2.203380776891261,0.11759999999999861,0,0,-3.9199992608900065e-05,-9.999999025923074e-05
+2919,1792843825178020759,22504760000000,1792843825177094383,DOWN_FORCE_DETACH,10,0.0594,0.05939878150820732,0.675961249884256,-0.004888452502669106,0.10683713897917264,0.9999999635393596,-0.00013531889067104234,-0.00019591892397895382,8.75712096933991e-05,0.6761,-0.0046,0.10692198691478388,1.0,0.0,0.0,0.0,-0.04857419996986234,-0.014538887041290471,-0.10936221437503169,-0.0005872268067376035,0.003128293948640802,0.0001245145737049998,0.6722579030491102,0.9630942822210458,1.5188388218403135,0.07679493551599122,-0.056502745537099726,-0.0031954206752340705,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,0.35909367500428935,1.3697261492294948,0.05552123123478744,-0.11771837329349975,-0.013004643322202027,0.7958926540722864,-1.8133809866870656,0.10936221437503169,-1.868902217921853,-1.868902217921853,0.26505000000000617,0,0,-8.834998303372388e-05,-9.999999025923074e-05
+2992,1792843825787042132,22505369000000,1792843825781094401,DOWN_FORCE_DETACH,10,0.0594,0.05939944088459015,0.6759984360007181,-0.0048924817187750375,0.10682467714640274,0.9999999759461149,-0.00013379681879903898,-0.00010460642203636466,0.00010347242008516807,0.6761,-0.0046,0.10685892497692565,1.0,0.0,0.0,0.0,-0.20556762135410944,0.07577064252097931,-0.036966571064478426,0.006938457722472063,0.014111895474397833,0.0003075092025397173,0.515264481664863,1.0534038117833155,1.5912344651508668,0.08432062004520088,-0.045519144011342695,-0.003012426046399353,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,0.6358769983373023,1.347464927231239,-0.15585836688045407,-0.10124061584063178,0.1608339044097488,0.7752175145109304,-1.8133809866870656,0.036966571064478426,-1.6575226198066115,-1.6575226198066115,0.3563999999999961,0,0,-0.0001187999771015954,-9.999999025923074e-05
+3072,1792843826453020415,22506035000000,1792843826449094170,DOWN_FORCE_DETACH,10,0.0594,0.05940009653568268,0.6760336674676238,-0.004891576482328669,0.10679830869642068,0.9999999777915582,-0.00012391989567712123,-8.403343243593759e-05,0.00011593959310842196,0.6761,-0.0046,0.10676873194433951,1.0,0.0,0.0,0.0,-0.26316406100446654,0.1321901181984425,0.2464920953293417,0.01240004993089637,0.01897968468923058,0.0011810476279702918,0.45766804201450595,1.1098232874607787,1.8746931315446869,0.08978221225362519,-0.04065135479650995,-0.0021388876209687785,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,0.9502709619834558,1.3944575101706642,-0.3314409875151569,-0.06923494125432071,0.3441143928503198,0.8019941054177823,-1.8133809866870656,-0.2464920953293417,-1.4819399991719087,-1.4819399991719087,0.4562999999999851,0,0,-0.00015209997061424308,-9.999999025923074e-05
+3141,1792843827028022937,22506610000000,1792843827021094329,DOWN_FORCE_DETACH,10,0.0594,0.05940009653568268,0.6760595852995168,-0.004892539832214869,0.10675206526781832,0.9999999790838859,-0.00012944997158213022,-3.781797382909083e-05,0.00012283158321652426,0.6761,-0.0046,0.1066730232128494,1.0,0.0,0.0,0.0,-0.36933146069456385,0.2233764657488343,0.5759174406293281,0.018685505621271317,0.025892617684861542,0.002125520614925481,0.35150064232440864,1.2010096350111705,2.2041184768446733,0.09606766794400014,-0.033738421800878986,-0.0011944146340135892,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,1.1998174524940746,1.3560729210332922,-0.8566946213790115,-0.05854249369465158,0.7266507605335277,0.7751430283450904,-1.8133809866870656,-0.5759174406293281,-0.9566863653080541,-0.9566863653080541,0.5425499999999757,0,0,-0.00018084996501330076,-9.999999025923074e-05
+3238,1792843827836898990,22507419000000,1792843827833094913,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6761062661749437,-0.0048874342086646285,0.10668520379896415,0.9999999741477963,-0.00017762177605259026,5.084143865346469e-05,9.493641872551262e-05,0.6761,-0.0046,0.10651037379434515,1.0,0.0,0.0,0.0,-0.5202282478840079,0.36895961153815426,1.154898772469874,0.030670313983071018,0.03567078189895104,0.003020267308207798,0.2006038551349646,1.3465927808004905,2.7830998086852192,0.10805247630579984,-0.023960257586789494,-0.00029966794073127244,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,1.5246854081837637,1.2823977444628998,-1.4778308937983655,-0.022215980829590243,1.183600078112833,0.7261338124715228,-1.8133809866870656,-1.154898772469874,-0.3355500928887001,-0.3355500928887001,0.6638999999999623,0,0,-0.00022129995713301843,-9.999999025923074e-05
+3334,1792843828636973444,22508219000000,1792843828637094130,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.676158490866923,-0.004886711411954445,0.10659614079538211,0.999999963414229,-0.00018927964744580095,0.00013471360135732953,0.00010314972372568805,0.6761,-0.0046,0.10631735383175968,1.0,0.0,0.0,0.0,-0.6974614937337533,0.5138578866459981,1.8794788861385525,0.04204137236292731,0.04885109319048289,0.0037840523707682676,0.023370609285219123,1.4914910559083343,3.5076799223538977,0.11942353468565613,-0.010779946295257638,0.0004641171218291974,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,1.8268667716782379,1.3068180828626863,-2.295974371851489,-0.034022866860426666,1.7609656775805909,0.7425537028966109,-1.8133809866870656,-1.8794788861385525,0.4825933851644233,0.4825933851644233,0.7838999999999491,0,0,-0.000261299949340403,-9.999999025923074e-05
+3430,1792843829436965616,22509019000000,1792843829433094234,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6762017396891511,-0.0048902706367704,0.10649727800454846,0.9999999494541628,-0.00018593806814699512,0.00020923250942890233,0.00011909377697808442,0.6761,-0.0046,0.10611659063658434,1.0,0.0,0.0,0.0,-0.8444868822636574,0.6088901958734628,2.5843504265471093,0.049364927127481334,0.05929025445899403,0.004471048559576625,-0.12365477924468493,1.586523365135799,4.2125514627624545,0.12674708945021015,-0.0003407850267465001,0.0011511133106375541,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.0634247762847733,1.2622880409219288,-3.1111702366379617,-0.022130260055347777,2.3336497041073248,0.7121206690171691,-1.8133809866870656,-2.5843504265471093,1.297789249950896,1.297789249950896,0.9038999999999359,0,0,-0.00023173453185945802,9.999999025923074e-05
+3525,1792843830227939536,22509810000000,1792843830225094927,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6762446300766745,-0.004891415265971857,0.10639784217134599,0.9999999315304583,-0.0002103953568003162,0.000266962070019467,0.00011334456282181349,0.6761,-0.0046,0.10594891086883235,1.0,0.0,0.0,0.0,-0.9535935103010796,0.7121252009316265,3.203053006574936,0.059269544713519834,0.06597102666952852,0.005209136312871305,-0.23276140728210712,1.6897583701939627,4.831254042790281,0.13665170703624865,0.00633998718378799,0.0018892010639322344,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.3098061183201497,1.2273024395008663,-3.6850702460648606,0.006216451703196296,2.7466019329927107,0.6830345161488234,-1.8133809866870656,-3.203053006574936,1.871689259377795,1.871689259377795,1.0225499999999395,0,0,-0.0001921845395644065,9.999999025923074e-05
+3603,1792843830877923251,22510460000000,1792843830877093957,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6762752678363099,-0.004894985520147812,0.10632563265335546,0.9999999118724692,-0.00022123886424174388,0.00032923009691784806,0.00010177831876187533,0.6761,-0.0046,0.10583453716605458,1.0,0.0,0.0,0.0,-1.034994226613201,0.7875617009180239,3.597738835061179,0.06617788442937247,0.07190799414895921,0.006083892681562086,-0.31416212359422857,1.7651948701803601,5.225939871276524,0.1435600467521013,0.012276954663218674,0.0027639574326230156,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.544215970292783,1.204368153977132,-4.0525132125302585,0.02267036673788539,3.0325390206961407,0.6733573362393959,-1.8133809866870656,-3.597738835061179,2.2391322258431927,2.2391322258431927,1.1200500000000009,0,0,-0.00015968454589590652,9.999999025923074e-05
+3703,1792843831711914951,22511294000000,1792843831705104002,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763093846286846,-0.004897056382031935,0.1062741521126467,0.9999999155627031,-2.0180050161181757e-05,0.0003847371767939736,0.00010902991129368917,0.6761,-0.0046,0.1057187283013857,1.0,0.0,0.0,0.0,-1.0953829278759755,0.8647028541279128,3.7592070679185117,0.07110777248534872,0.07684158426314976,0.006082230358157498,-0.37455082485700303,1.842336023390249,5.387408104133857,0.14848993480807754,0.017210544777409232,0.0027622951092184274,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.6265363616052877,1.3060151524743768,-4.296377588327757,-0.035948259673626984,3.200983028483025,0.6869465029161169,-1.8133809866870656,-3.7592070679185117,2.482996601640691,2.482996601640691,1.2451500000000797,0,0,-0.00011798455401970808,9.999999025923074e-05
+3825,1792843832727843567,22512310000000,1792843832721094232,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763180673654448,-0.00489951596476897,0.10620372180037795,0.9999999098754875,-4.2340985248106364e-05,0.0003975042224026312,0.00010903905519110478,0.6761,-0.0046,0.10562463698946925,1.0,0.0,0.0,0.0,-1.0956518076851003,0.8698880815887106,3.970410391297116,0.07207839899544255,0.0767773908102243,0.005972214998541174,-0.3748197046661278,1.8475212508510468,5.598611427512461,0.14946056131817137,0.017146351324483774,0.002652279749602104,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.661660430784966,1.2758663968800419,-4.4657618578631375,-0.002348254713267618,3.324363694705729,0.6844656563851798,-1.8133809866870656,-3.970410391297116,2.6523808711760717,2.6523808711760717,1.3975500000001757,0,0,-6.718456391632965e-05,9.999999025923074e-05
+3935,1792843833644831973,22513227000000,1792843833641094399,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763186248183599,-0.004901168431874442,0.10616601835503388,0.9999999095786404,-5.063195723453466e-05,0.000397578020262129,0.00010795229594467344,0.6761,-0.0046,0.10558402804025806,1.0,0.0,0.0,0.0,-1.0866740703930897,0.8649081037115659,4.006755316281729,0.07105158744584361,0.07678235431835752,0.006908676590229156,-0.36584196737411717,1.8425412729739021,5.634956352497074,0.14843374976857243,0.017151314832616994,0.003588741341290086,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.636432869665954,1.2633989952702027,-4.470341328652486,0.007412558782952341,3.3224748483329374,0.6932748509538655,-1.8133809866870656,-4.006755316281729,2.65696034196542,2.65696034196542,1.5351000000002624,0,0,-2.1334572848615056e-05,9.999999025923074e-05
+4046,1792843834569878573,22514152000000,1792843834565103938,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763173903357405,-0.004901962944035935,0.10614896518069601,0.9999999108345701,-5.449702859738802e-05,0.00039378449662684197,0.00010834002244061337,0.6761,-0.0046,0.10557853114545646,1.0,0.0,0.0,0.0,-1.0531449018688788,0.854508575460767,3.9275742465123615,0.06908195513260418,0.07481264470699535,0.006927600294171837,-0.3323127988499063,1.8321417447231032,5.555775282727707,0.146464117455333,0.015181605221254817,0.0036076650452327667,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.5824734355617633,1.3189191342164435,-4.52297141825806,-0.0022969434778758267,3.3447950778071904,0.7316490662087496,-1.8133809866870656,-3.9275742465123615,2.7095904315709944,2.7095904315709944,1.6738500000003498,0,0,-3.0186110611118977e-07,3.04910208193121e-06
+4150,1792843835436834032,22515019000000,1792843835433093964,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763137537298571,-0.004899496989133432,0.10613478639586887,0.9999999139747572,-5.209941977193136e-05,0.0003859792347078019,0.00010862331057827925,0.6761,-0.0046,0.10557847155468925,1.0,0.0,0.0,0.0,-1.0182307896257297,0.839343832112137,3.8287377626085837,0.06813313398979867,0.07285479139877302,0.006954518225302766,-0.29739868660675706,1.8169770013744733,5.456938798823929,0.1455152963125275,0.013223751913032492,0.003634582976363695,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.4663635155959094,1.3804613822056724,-4.200852721238837,-0.01717568111755468,3.109794823524195,0.7703294793531572,-1.8133809866870656,-3.8287377626085837,2.387471734551771,2.387471734551771,1.8039000000004317,0,0,-3.911482387985998e-09,3.950992311096968e-08
+4275,1792843836477752871,22516060000000,1792843836473103649,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763085585836109,-0.004904010793328674,0.10612377620921461,0.9999999171541218,-5.795617345536602e-05,0.000376406991260158,0.00010997032763990425,0.6761,-0.0046,0.10557847077663987,1.0,0.0,0.0,0.0,-0.990544116575545,0.8309220357510697,3.737705601950565,0.06614339420295917,0.07187205009627232,0.006959712325445632,-0.2697120135565725,1.808555205013406,5.36590663816591,0.143525556525688,0.012241010610531787,0.003639777076506562,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.4664763180571527,1.4028458745450592,-4.293120535124815,-0.018680502104018552,3.1758710847115834,0.7905770039669406,-1.8133809866870656,-3.737705601950565,2.479739548437749,2.479739548437749,1.96005000000053,0,0,-2.1171814301723657e-11,2.1385671011842078e-10
+4399,1792843837511747901,22517094000000,1792843837505103522,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763072216290729,-0.004904858651838326,0.10611848131338744,0.9999999182149929,-5.50661581987186e-05,0.0003735127186400106,0.00011166395576327155,0.6761,-0.0046,0.10557847077198192,1.0,0.0,0.0,0.0,-0.9785284779317327,0.8200232567142963,3.6761207922429042,0.06516246785568564,0.07089128405281998,0.00641695090602814,-0.25769637491276026,1.7976564259766326,5.304321828458249,0.14254463017841446,0.011260244567079455,0.0030970156570890696,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.42078223511619,1.317233027054467,-4.127992797837901,0.007016991738226631,3.0593934020494955,0.7333247907666047,-1.8133809866870656,-3.6761207922429042,2.3146118111508356,2.3146118111508356,2.115150000000628,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+4498,1792843838336702007,22517919000000,1792843838333103713,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763060574676808,-0.004904199856206163,0.1061149093212608,0.9999999193252518,-5.70365164785548e-05,0.00037111407597032364,0.0001086900762276353,0.6761,-0.0046,0.10557845410729269,1.0,0.0,0.0,0.0,-0.9643222769262885,0.8018440795652663,3.63682896159185,0.06417732684155372,0.06990813833446166,0.006006906738703564,-0.24349017390731592,1.7794772488276025,5.265029997807195,0.14155948916428254,0.010277098848721128,0.0026869714897644935,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.392223601533668,1.3372708380433236,-4.022614211919424,0.009423703350918362,2.984121162933806,0.7482954988478441,-1.8133809866870656,-3.63682896159185,2.2092332252323583,2.2092332252323583,2.2389000000007058,0,0,-9.120420904881242e-07,-9.834090072680652e-05
+4609,1792843839261715419,22518844000000,1792843839257103657,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763047200284448,-0.004906612268986943,0.10610914292969022,0.9999999198378844,-5.787866585873924e-05,0.00036873156346156074,0.00011159831353813575,0.6761,-0.0046,0.10557216647670829,1.0,0.0,0.0,0.0,-0.9593712813492377,0.8006394702444689,3.606718875286327,0.06414386088844046,0.06991541533464606,0.0060309128698690494,-0.23853917833026522,1.7782726395068051,5.234919911501672,0.14152602321116928,0.010284375848905524,0.0027109776209299796,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.4315656514874138,1.2869414428630723,-4.096180752663787,0.03212227484683423,3.0415229512503985,0.7166108830304849,-1.8133809866870656,-3.606718875286327,2.282799765976721,2.282799765976721,2.377650000000793,0,0,-2.0563155826740183e-05,-9.999999025923074e-05
+4726,1792843840236736063,22519819000000,1792843840229104104,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.676308831929909,-0.004909897046191631,0.10608937906341807,0.9999999152240764,-6.35075743925217e-05,0.0003795570580828605,0.00011356906336558221,0.6761,-0.0046,0.10552942096498072,1.0,0.0,0.0,0.0,-0.9887644411296254,0.8056640610233204,3.726617068746129,0.06450564681470222,0.07190031452886675,0.005972570410340789,-0.26793233811065287,1.7832972302856567,5.354818104961474,0.14188780913743104,0.012269275043126221,0.002652635161401719,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.453496847203769,1.327190360454273,-4.3150772299170175,0.013162089509299263,3.1798215668705008,0.7438314416585112,-1.8133809866870656,-3.726617068746129,2.5016962432299517,2.5016962432299517,2.5239000000008853,0,0,-6.20570161271886e-05,9.999585467846401e-05
+4847,1792843841244696550,22520827000000,1792843841241103997,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.67632084239368,-0.0049071374727383335,0.10605757649330115,0.9999999073432912,-6.77122108084886e-05,0.00039872729180396677,0.00011483848037701608,0.6761,-0.0046,0.10546766573111344,1.0,0.0,0.0,0.0,-1.0460931516158019,0.8337328551244946,3.92871856502608,0.06701135311774872,0.0758561355683221,0.0069168724087553864,-0.3252610485968294,1.8113660243868308,5.556919601241425,0.14439351544047754,0.016225096082581568,0.0035969371598163157,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.5840222812180036,1.2421682903694593,-4.5189466300629615,0.05323953597042937,3.33840685450944,0.7107138069925936,-1.8133809866870656,-3.92871856502608,2.7055656433758957,2.7055656433758957,2.6751000000009806,0,0,-5.0899690327817264e-05,9.999980984798924e-05
+4962,1792843842202647442,22521785000000,1792843842197103704,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763293090934148,-0.0049039548056478074,0.1060318294184368,0.9999999003524974,-7.660627438901242e-05,0.00041460836576212053,0.00011388257789562624,0.6761,-0.0046,0.10542647530162846,1.0,0.0,0.0,0.0,-1.0759387717620874,0.8502965271152713,4.049416371651182,0.06897572342790234,0.07782604969279693,0.006870127882808665,-0.3551066687431148,1.8279296963776075,5.677617407866527,0.14635788575063116,0.0181950102070564,0.003550192633869595,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.699162202015762,1.1506191825352927,-4.640050458561772,0.08709881235197571,3.441696104292898,0.658828030678469,-1.8133809866870656,-4.049416371651182,2.8266694718747063,2.8266694718747063,2.818800000001071,0,0,-3.623474617989319e-05,9.841178846692884e-05
+5062,1792843843036568878,22522619000000,1792843843033104073,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763346824005364,-0.004906865911514926,0.10600628703307859,0.9999998962029167,-8.17525960532772e-05,0.0004234862424563963,0.00011407425450872248,0.6761,-0.0046,0.10539253432498243,1.0,0.0,0.0,0.0,-1.0952201986875907,0.8572667818197565,4.130141367883713,0.06995296841245657,0.07880207033988196,0.006829677343878303,-0.37438809566861814,1.8348999510820927,5.758342404099058,0.1473351307351854,0.01917103085414143,0.0035097420949392324,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.6933842491113094,1.2434273176657356,-4.657075183607674,0.06318259101467175,3.4463299675289925,0.7207455798177306,-1.8133809866870656,-4.130141367883713,2.843694196920608,2.843694196920608,2.94390000000115,0,0,-4.532055492975496e-05,-9.999851921372311e-05
+5172,1792843843952570524,22523535000000,1792843843949104286,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763421504212617,-0.004904877650907091,0.10597237363105169,0.9999998897106164,-9.26148824455082e-05,0.0004378517990729229,0.00010830468620211161,0.6761,-0.0046,0.10534121274168733,1.0,0.0,0.0,0.0,-1.0968273544007556,0.897919320040996,4.211459587504144,0.07172846022124221,0.07976053860694907,0.006804090555449887,-0.3759952513817831,1.8755524893033322,5.839660623719489,0.14911062254397103,0.02012949912120854,0.003484155306510817,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.7458850436114095,1.1642249071653075,-4.796546678859699,0.10245989956086468,3.547591202138265,0.6717379838151974,-1.8133809866870656,-4.211459587504144,2.9831656921726335,2.9831656921726335,3.0813000000012365,0,0,-6.863916322405317e-05,-9.999997638144293e-05
+5331,1792843845277611044,22524860000000,1792843845277103840,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763566456538176,-0.004906993976951236,0.10590275391273092,0.9999998724521532,-0.00014457330718344106,0.0004687484775336661,7.688930561563152e-05,0.6761,-0.0046,0.10524185308580022,1.0,0.0,0.0,0.0,-1.1097855113737656,0.9802650454193557,4.444479386601314,0.0769485929811892,0.08162893470341115,0.007728454916925673,-0.38895340835479303,1.957898214681692,6.072680422816659,0.15433075530391802,0.021997895217670618,0.004408519667986602,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.8432541629357377,1.1745904407519376,-5.11369615025172,0.11362313994777617,3.7653283544292684,0.6826058328072683,-1.8133809866870656,-4.444479386601314,3.3003151635646546,3.3003151635646546,3.2800500000013617,0,0,-6.994191075329758e-05,9.999999025923074e-05
+5441,1792843846194669121,22525777000000,1792843846193094488,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.676365941468034,-0.004909714976639971,0.1058598264715578,0.9999998647346481,-0.0001418908312573762,0.00048442722332981813,8.468061936709987e-05,0.6761,-0.0046,0.10518166689917269,1.0,0.0,0.0,0.0,-1.1198523998408305,0.9901511277050149,4.548729680108638,0.07688237006418003,0.08363266485687157,0.007676131567794598,-0.399020296821858,1.9677842969673511,6.176930716323983,0.15426453238690885,0.02400162537113104,0.004356196318855528,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.8452170302329214,1.234038690496112,-5.200909855940888,0.10260782762007818,3.8189035049488087,0.724220965804027,-1.8133809866870656,-4.548729680108638,3.3875288692538224,3.3875288692538224,3.4176000000014484,0,0,-6.505902089695847e-05,3.3709100814799344e-05
+5542,1792843847037036006,22526619000000,1792843847037094081,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763705578520962,-0.004914359371708201,0.10581242598117209,0.9999998610988524,-0.00014464249270548392,0.0004899861701168635,9.075925622520181e-05,0.6761,-0.0046,0.10512306364862306,1.0,0.0,0.0,0.0,-1.1375173300214532,0.9845421328383638,4.665148260047129,0.076831807267848,0.08462128639413785,0.007594607191244231,-0.4166852270024807,1.9621753021007,6.293349296262474,0.15421396959057682,0.024990246908397327,0.004274671942305161,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.905936240137956,1.2002169434649979,-5.25617940907029,0.11327888150704887,3.8694951399789166,0.7001546677784366,-1.8133809866870656,-4.665148260047129,3.442798422383224,3.442798422383224,3.543900000001528,0,0,-7.270784041088352e-05,-9.641324824472548e-05
+5667,1792843848078513629,22527660000000,1792843848077094895,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6763810737304424,-0.0049162594154744926,0.10575214950583584,0.9999998543895947,-0.00011917375577731626,0.0005084848197152872,9.952114272208634e-05,0.6761,-0.0046,0.10503959098773737,1.0,0.0,0.0,0.0,-1.139731458478992,1.0192649072733775,4.765765516034214,0.0771310481379725,0.0866075898937084,0.007554382422417867,-0.41889935546001944,1.9968980765357136,6.393966552249559,0.15451321046070132,0.026976550407967866,0.004234447173478797,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.9262591330966163,1.2552373721899137,-5.457418581495165,0.10450045155341701,3.997855992635094,0.745313580779837,-1.8133809866870656,-4.765765516034214,3.6440375948080987,3.6440375948080987,3.7000500000016263,0,0,-8.94894954431028e-05,8.25311583226906e-05
+5781,1792843849028927773,22528610000000,1792843849025094170,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6763937236027485,-0.004924909487191957,0.1056865214783501,0.9999998424424663,-0.00012073408900319505,0.0005295184303037234,0.00010766345159384167,0.6761,-0.0046,0.10495004693574198,1.0,0.0,0.0,0.0,-1.176842467272455,1.030072285623954,4.9364289544346605,0.07868804427468992,0.08958863786728873,0.007472383766547573,-0.4560103642534824,2.00770545488629,6.564629990650006,0.15607020659741874,0.029957598381548198,0.0041524485176085025,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.9700158079677617,1.2085650550637401,-5.579121522326982,0.11664155086213747,4.083833472635335,0.7069899665054806,-1.8133809866870656,-4.9364289544346605,3.7657405356399165,3.7657405356399165,3.842550000001716,0,0,-9.379467885810343e-05,1.6397188120645742e-05
+5891,1792843849946283776,22529527000000,1792843849941094386,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6764032907596504,-0.004929641529223607,0.10561967606225275,0.9999998309824825,-0.00012555606472842664,0.0005484599608242119,0.00011360113011719806,0.6761,-0.0046,0.1048627782826132,1.0,0.0,0.0,0.0,-1.1797573688788667,1.048193844435123,5.085156216730396,0.0796539854488238,0.09054983082444713,0.00737796631714387,-0.45892526585989424,2.025827013697459,6.713357252945741,0.15703614777155261,0.03091879133870661,0.0040580310682048,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.999117771142091,1.2527211264037355,-5.700129317491931,0.11261762308744934,4.166220527252065,0.7403326969844476,-1.8133809866870656,-5.085156216730396,3.886748330804865,3.886748330804865,3.9801000000018028,0,0,-9.156456789591173e-05,-9.359718142055157e-05
+5980,1792843850688699232,22530269000000,1792843850681094342,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764087682547157,-0.004924322218965513,0.10556457427845228,0.9999998266021645,-0.0001249537667471932,0.0005563017175356633,0.00011468853803653873,0.6761,-0.0046,0.10479858024277701,1.0,0.0,0.0,0.0,-1.179882784582986,1.0509357769462504,5.127530661370458,0.07964662428186253,0.09054192030482497,0.007344879314441872,-0.45905068156401346,2.0285689462085865,6.755731697585803,0.15702878660459135,0.030910880819084437,0.004024944065502802,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.0604164185026423,1.288938574015002,-5.802527437685705,0.11027673257348015,4.250081410399538,0.7630775208577334,-1.8133809866870656,-5.127530661370458,3.989146450998639,3.989146450998639,4.091400000001602,0,0,-8.790889220319643e-05,-9.9772075350063e-05
+6100,1792843851689143299,22531269000000,1792843851689094538,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764203175612505,-0.0049250120030054,0.10548617918764956,0.9999998139156404,-0.00014344144617987062,0.0005755424897974771,0.00010856768775035725,0.6761,-0.0046,0.10470003589209803,1.0,0.0,0.0,0.0,-1.1902587594359937,1.0767180473538773,5.258282257328109,0.0803803902026424,0.09248852718896487,0.007814006294090112,-0.4694266564170212,2.0543512166162134,6.886483293543455,0.15776255252537122,0.032857487703224345,0.004494071045151041,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.072627167090628,1.2693767411106853,-6.027205682697991,0.13635844911710374,4.392404195873773,0.7503737250378189,-1.8133809866870656,-5.258282257328109,4.213824696010925,4.213824696010925,4.241400000001253,0,0,-0.00010911195800070305,9.687614185705513e-05
+6206,1792843852572490769,22532152000000,1792843852569094440,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764292034281194,-0.00493603036682842,0.10540409917125415,0.9999998010175596,-0.0001549345486369912,0.0005936153002199483,0.00011412215567776285,0.6761,-0.0046,0.10460265255636689,1.0,0.0,0.0,0.0,-1.2099137588031665,1.0945675401099826,5.379341253216633,0.08155038803303918,0.09356273432728446,0.008236106594706128,-0.489081655784194,2.0722007093723187,7.007542289431978,0.158932550355768,0.03393169484154392,0.004916171345767058,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.122582882283058,1.274200102062366,-6.100763251169353,0.13932379278080284,4.448596804747387,0.7538661636464355,-1.8133809866870656,-5.379341253216633,4.287382264482287,4.287382264482287,4.373850000000944,0,0,-0.00011261766714732707,8.945842954483047e-05
+6294,1792843853305846983,22532885000000,1792843853305094599,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764389938438338,-0.004935493683675994,0.1053378773252637,0.999999791243007,-0.00016221398669490376,0.0006076283596542313,0.00011589307896538098,0.6761,-0.0046,0.10451947460056173,1.0,0.0,0.0,0.0,-1.2196553592935522,1.097127991956452,5.466037852043124,0.0815082186987442,0.09447639495566051,0.008185828244687422,-0.4988232562745796,2.074761161218788,7.094238888258469,0.15889038102147302,0.03484535546991998,0.004865892995748352,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.173946139581722,1.2021346835971745,-6.177148974461953,0.16581940952154853,4.511035948239816,0.7063327829326138,-1.8133809866870656,-5.466037852043124,4.363767987774887,4.363767987774887,4.483800000000688,0,0,-0.00011918710327993155,-9.999999025923074e-05
+6386,1792843854073194094,22533652000000,1792843854073094626,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764490042835648,-0.004938489154516185,0.10526022061384434,0.9999997778935916,-0.00017853691158958412,0.0006260054911326539,0.0001090748723088411,0.6761,-0.0046,0.10442440620546249,1.0,0.0,0.0,0.0,-1.230246631550939,1.1156855799370415,5.550618523343487,0.08350707002528468,0.09543175103144258,0.008148884764416092,-0.5094145285319666,2.0933187491993777,7.178819559558832,0.1608892323480135,0.03580071154570205,0.004828949515477022,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.1985058065890417,1.267789557689496,-6.2815613482036134,0.16819196744730097,4.576807732029672,0.7480507401372871,-1.8133809866870656,-5.550618523343487,4.468180361516548,4.468180361516548,4.59885000000042,0,0,-0.00012890045404253948,-9.999999025923074e-05
+6481,1792843854865454004,22534444000000,1792843854865094352,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6764574291636153,-0.004942889704575904,0.10517089713398371,0.9999997685372466,-0.00018251195038744255,0.0006401116591971675,0.00010637090400559694,0.6761,-0.0046,0.1043175843735657,1.0,0.0,0.0,0.0,-1.2220158048599168,1.130026725289556,5.659635380158503,0.0834604606607448,0.09641998452976429,0.00807682167953553,-0.5011837018409444,2.107659894551892,7.287836416373848,0.16084262298347363,0.03678894504402376,0.0047568864305964605,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.26748383206224,1.2031495436991226,-6.3656080130795685,0.20285294743492413,4.650536970892277,0.7098533394341692,-1.8133809866870656,-5.659635380158503,4.552227026392503,4.552227026392503,4.717650000000143,0,0,-0.00013912177065508591,-9.947668663657367e-05
+6579,1792843855681893589,22535260000000,1792843855677094265,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764662498115709,-0.004943520955672569,0.10507024570510676,0.9999997705808478,-8.72837751598509e-05,0.0006566935316282934,0.00010684692072067539,0.6761,-0.0046,0.10420024873177032,1.0,0.0,0.0,0.0,-1.2408307243056624,1.1343110552942508,5.770698076181448,0.08342105524883017,0.09741456503729443,0.0071996849620756176,-0.5199986212866898,2.111944224556587,7.398899112396793,0.160803217571559,0.037783525551553905,0.0038797497131365473,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.2792270821011598,1.3155686511974263,-6.474078957042735,0.15204222211131088,4.726082647862557,0.7415703601433405,-1.8133809866870656,-5.770698076181448,4.6606979703556695,4.6606979703556695,4.840049999999858,0,0,-0.0001455139125542112,-9.928664421033346e-05
+6693,1792843856632302821,22536210000000,1792843856629094400,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6764717510563731,-0.004946112675385508,0.10494122801461266,0.9999997602992772,-0.00010333070780779136,0.0006676007913091907,0.00012031708543776988,0.6761,-0.0046,0.10405402769582517,1.0,0.0,0.0,0.0,-1.2436014518173115,1.1250489979341358,5.869449432765476,0.08235331181258984,0.09842557734890328,0.00703588219725996,-0.522769348798339,2.102682167196472,7.497650468980821,0.15973547413531866,0.03879453786316275,0.00371594694832089,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.29020527576012,1.2664422737147272,-6.706423481551352,0.18680770648356204,4.874850632495005,0.7383626717528523,-1.8133809866870656,-5.869449432765476,4.893042494864286,4.893042494864286,4.9825499999995255,0,0,-0.00016027402096188836,9.375455553429219e-05
+6789,1792843857432611196,22537010000000,1792843857429104219,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6764868771594041,-0.004943791691816222,0.1048294558478947,0.9999997428926786,-0.0001237058843767041,0.0006897590064976547,0.00012077585944511114,0.6761,-0.0046,0.1039174671060916,1.0,0.0,0.0,0.0,-1.2605156123306605,1.1536955452014905,5.969151772601762,0.08433836805523126,0.0993734664364522,0.007881422925945843,-0.539683509311688,2.1313287144638267,7.597352808817107,0.16172053037796008,0.03974242695071168,0.004561487677006774,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.3335254969998234,1.2773046178098582,-6.7788984246683235,0.21312028039755604,4.92384350966554,0.758049458675151,-1.8133809866870656,-5.969151772601762,4.965517437981258,4.965517437981258,5.102549999999246,0,0,-0.00017989757775530168,5.048912263128642e-05
+6878,1792843858174929059,22537752000000,1792843858173094549,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6764976826399712,-0.004945506113436921,0.10470745019788348,0.9999997275971336,-0.0001538321001916032,0.0007067134921255709,0.0001146309205830419,0.6761,-0.0046,0.10378044295326527,1.0,0.0,0.0,0.0,-1.2640568447812868,1.1723706032860473,6.051409605075613,0.08634094341305401,0.10033045588432445,0.007852658445103276,-0.5432247417623143,2.1500037725483834,7.679610641290958,0.16372310573578283,0.04069941639858392,0.004532723196164206,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.403116726935983,1.2792144261278382,-6.872389492345241,0.2346865505417763,4.997757704149036,0.7632045259907195,-1.8133809866870656,-6.051409605075613,5.059008505658175,5.059008505658175,5.2138499999989865,0,0,-0.00019373340242452903,8.00364567227839e-05
+6968,1792843858925297762,22538502000000,1792843858921094420,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765104317721358,-0.004943115006840951,0.10457134476885974,0.9999997108507421,-0.00015875139740478608,0.000727214471246481,0.00012529326750436605,0.6761,-0.0046,0.10362746057018044,1.0,0.0,0.0,0.0,-1.272082473250336,1.2096919154591839,6.17050298405589,0.0874501835517558,0.101292569777949,0.007778799690518562,-0.5512503702313634,2.18732508472152,7.798704020271235,0.16483234587448461,0.04166153029220847,0.004458864441579492,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.430716764652965,1.2713032396143085,-7.021907103536662,0.24256210270285683,5.09876397953887,0.7545851812478347,-1.8133809866870656,-6.17050298405589,5.208526116849596,5.208526116849596,5.326349999998724,0,0,-0.00020244135959660158,9.999996250365512e-05
+7057,1792843859667613182,22539244000000,1792843859665094583,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765143997089074,-0.004942138890601574,0.10442865075193507,0.9999997055253166,-0.00015190620612554924,0.0007355232006565023,0.0001277586406620511,0.6761,-0.0046,0.10347104076968563,1.0,0.0,0.0,0.0,-1.2526181799939407,1.176515313787144,6.242959572523219,0.08530131441380048,0.09971150771054321,0.007682560424855945,-0.5317860769749683,2.15414848304948,7.871160608738564,0.1626834767365293,0.04008046822480268,0.004362625175916875,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.368543627077512,1.2250536378118084,-6.963785768943754,0.2793643963153886,5.047823610480532,0.73669917478883,-1.8133809866870656,-6.242959572523219,5.150404782256688,5.150404782256688,5.437649999998465,0,0,-0.00021875049080052745,-9.999944902550623e-05
+7129,1792843860267872463,22539844000000,1792843860265094448,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765198450078407,-0.00494501012058733,0.10429933278709372,0.9999997090952324,-9.564630597232277e-05,0.0007409040463305369,0.00012314744567093675,0.6761,-0.0046,0.10333799224718825,1.0,0.0,0.0,0.0,-1.2533711467105006,1.1824572251651406,6.30969018398596,0.08630097809858836,0.10027786106415028,0.006620187368753477,-0.532539043691528,2.1600903944274767,7.937891220201305,0.16368314042131718,0.04064682157840975,0.0033002521198144067,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.449132151275979,1.2843678582395919,-7.1470098800501125,0.2642288944463051,5.187328089687335,0.7587649488668389,-1.8133809866870656,-6.30969018398596,5.333628893363047,5.333628893363047,5.527649999998255,0,0,-0.00022958101215528182,-7.840932096608813e-06
+7204,1792843860893086104,22540469000000,1792843860893095231,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765272139761896,-0.004948907295174883,0.10415974731652135,0.9999996973167188,-0.00011252527234824294,0.0007527071986330675,0.0001325868440891316,0.6761,-0.0046,0.1031900037395422,1.0,0.0,0.0,0.0,-1.2544849955655857,1.1566153300124657,6.3734176935664335,0.08423929658691465,0.10029899541027551,0.007191299372499391,-0.5336528925466131,2.134248499274802,8.001618729781779,0.16162145890964347,0.040667955924534975,0.0038713641235603204,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.4664453550731227,1.2975706802866704,-7.278002384067154,0.2645845423777904,5.274202889878564,0.7776707010972803,-1.8133809866870656,-6.3734176935664335,5.464621397380088,5.464621397380088,5.621399999998037,0,0,-0.00024426400630353653,9.734436453990298e-05
+7275,1792843861484280207,22541060000000,1792843861481095168,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765304306264969,-0.004944027924493016,0.10401533914705807,0.9999996922548074,-0.0001219846556040886,0.0007567736697152255,0.00013909173717214932,0.6761,-0.0046,0.1030385004489246,1.0,0.0,0.0,0.0,-1.2304420660066702,1.1605881026058378,6.419330430211374,0.08420938068727546,0.09831437548124172,0.006952497284052089,-0.5096099629876977,2.138221271868174,8.047531466426719,0.16159154301000428,0.038683335995501195,0.003632562035113019,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.411035262228699,1.232048628290852,-7.240026441638674,0.2985040151176668,5.239258150735386,0.7335293519424065,-1.8133809866870656,-6.419330430211374,5.4266454549516085,5.4266454549516085,5.71004999999783,0,0,-0.00026782577616377,-9.999980984798924e-05
+7342,1792843862043584356,22541619000000,1792843862041095016,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765324519937996,-0.0049377085815551225,0.1038667507245202,0.9999996823426206,-0.00014698034502257372,0.0007663984711030618,0.00013337047568580957,0.6761,-0.0046,0.10288158342106266,1.0,0.0,0.0,0.0,-1.1882157684593824,1.2013115213937509,6.468356356896286,0.08687096341180145,0.09618765619938048,0.006440314644897797,-0.4673836654404098,2.178944690656087,8.096557393111631,0.16425312573453027,0.03655661671363995,0.0031203793959587267,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.428427268638683,1.4110533985367513,-7.35053540957903,0.2621552115147468,5.318066670063603,0.8548336981167923,-1.8133809866870656,-6.468356356896286,5.537154422891964,5.537154422891964,5.793899999997635,0,0,-0.0002933183709488959,-4.0549615080936976e-05
+7412,1792843862626887603,22542202000000,1792843862625094951,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765362632311328,-0.004944301382936397,0.10369997882874075,0.9999996763730234,-0.00014738885530639166,0.0007715645113008201,0.00014717826868965045,0.6761,-0.0046,0.10270271761823224,1.0,0.0,0.0,0.0,-1.1959983791596518,1.1568220753312874,6.5317916197665875,0.08367986908475228,0.09622999280410041,0.006349939797571353,-0.47516627614067924,2.1344552445936236,8.159992655981933,0.1610620314074811,0.036598953318359884,0.003030004548632283,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.475627425234561,1.253719231947457,-7.403169287292891,0.3133730623110151,5.370708974281731,0.7541984643783963,-1.8133809866870656,-6.5317916197665875,5.589788300605825,5.589788300605825,5.881349999997431,0,0,-0.0003196722914114699,-9.999999025923074e-05
+7477,1792843863169102840,22542744000000,1792843863169094687,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765451650974668,-0.004942185324363472,0.10353453780962645,0.9999996664968877,-0.0001438332377392084,0.000785722267598774,0.00014283380434327214,0.6761,-0.0046,0.10252532101975743,1.0,0.0,0.0,0.0,-1.1957042380730756,1.1671264603078102,6.584595469118201,0.08429482149629158,0.09620454963923246,0.0063176068342059655,-0.4748721350541031,2.1447596295701463,8.212796505333547,0.1616769838190204,0.03657351015349193,0.002997671585266895,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.4897623602683656,1.2190743336711385,-7.474778619464233,0.3473114412978433,5.4159626549805315,0.7426261907940945,-1.8133809866870656,-6.584595469118201,5.661397632777168,5.661397632777168,5.962649999997241,0,0,-0.000336937739690872,-9.998917946252845e-05
+7536,1792843863660268062,22543235000000,1792843863657094358,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765481925428011,-0.004943214638891629,0.1033652070617952,0.9999996714908391,-8.221448499251187e-05,0.0007887676230650591,0.00013981235113524,0.6761,-0.0046,0.10235503993663116,1.0,0.0,0.0,0.0,-1.1780996590030173,1.1343175159176027,6.669632050873013,0.08228446620840199,0.09525508619112588,0.006211192021764175,-0.45726755598404484,2.111950685179939,8.297833087088359,0.1596666285311308,0.03562404670538536,0.002891256772825104,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.4478702181388203,1.243410617073148,-7.448446754792281,0.33524550624782457,5.395221612835603,0.7505028318607776,-1.8133809866870656,-6.669632050873013,5.635065768105215,5.635065768105215,6.03629999999707,0,0,-0.00035790140052591033,-9.999999025923074e-05
+7593,1792843864135507842,22543710000000,1792843864129094547,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765490288861148,-0.004948213897312077,0.10319639681103698,0.9999996659261469,-8.823705658303024e-05,0.0007917970807451583,0.00015767708718403045,0.6761,-0.0046,0.1021805381903565,1.0,0.0,0.0,0.0,-1.2027886778552443,1.0834060952158837,6.682506396448459,0.07814537336988131,0.09723273036051769,0.006183926681965142,-0.48195657483627174,2.06103926447822,8.310707432663804,0.15552753569261013,0.03760169087477716,0.002863991433026071,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.4599633699428143,1.2226873912456788,-7.463612391650879,0.33090196131873767,5.417234030706791,0.7416703458877647,-1.8133809866870656,-6.682506396448459,5.650231404963813,5.650231404963813,6.107549999996904,0,0,-0.00037741988592329543,-9.999999025923074e-05
+7648,1792843864594697178,22544169000000,1792843864593094681,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765485646822119,-0.004953627009263399,0.10301680164560069,0.9999996647321656,-0.00010048274263504594,0.0007885023550291257,0.0001736251002623187,0.6761,-0.0046,0.10200227850674734,1.0,0.0,0.0,0.0,-1.2090558448197866,1.0269528076163654,6.71037302324106,0.07405058845399642,0.09738744549609876,0.006112001621529926,-0.48822374180081407,2.0045859768787015,8.338574059456406,0.15143275077672524,0.03775640601035823,0.002792066372590856,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.468703091597254,1.1947342987113865,-7.5409086479298395,0.3477362968128082,5.476943735817351,0.725173092572406,-1.8133809866870656,-6.71037302324106,5.727527661242774,5.727527661242774,6.176399999996743,0,0,-0.0003996978246670598,-9.999999025923074e-05
+7696,1792843864994821654,22544569000000,1792843864989094640,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765523532396358,-0.004956438858948511,0.10284998933388792,0.9999996541603227,-0.00016165873627830204,0.0007977716143189463,0.0001433492365963481,0.6761,-0.0046,0.10183840937766173,1.0,0.0,0.0,0.0,-1.1684348649432994,1.0706125442605976,6.695713820700088,0.07714182859443991,0.09445738956084909,0.0061223654914583404,-0.4476027619243269,2.0482457135229337,8.323914856915433,0.15452399091716873,0.03482635007510857,0.00280243024251927,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.48397743921076,1.2103284176483737,-7.5355797463389464,0.3477877858060404,5.481416807592386,0.7475699406818799,-1.8133809866870656,-6.695713820700088,5.722198759651881,5.722198759651881,6.236399999996603,0,0,-0.0004196978207707521,-9.999999025923074e-05
+7747,1792843865420041236,22544994000000,1792843865417094505,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765553133980411,-0.004957961090057505,0.10266566206292768,0.9999996533417849,-0.00016812672843536603,0.0007952274166899622,0.00015526085539801073,0.6761,-0.0046,0.10165553280471594,1.0,0.0,0.0,0.0,-1.2228809918485566,1.0296873006213865,6.610536679192546,0.07409338856855308,0.09837637597264617,0.006209978592702191,-0.5020488888295841,2.0073204698837226,8.238737715407892,0.1514755508912819,0.038745336486905646,0.00289004334376312,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.528243954303159,1.0744361404646385,-7.39305576259495,0.3821575403664615,5.399636160179552,0.6537486766300276,-1.8133809866870656,-6.610536679192546,5.579674775907884,5.579674775907884,6.300149999996455,0,0,-0.0004409478166309252,-9.999999025923074e-05
+7796,1792843865828210356,22545402000000,1792843865825094606,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765544157189359,-0.00495922485497726,0.10247593455334617,0.9999996554002352,-0.00015198493203682218,0.0007944989065560665,0.0001622169629367587,0.6761,-0.0046,0.10147147469634325,1.0,0.0,0.0,0.0,-1.226045568396569,0.984641100817076,6.596608082266008,0.07109083813741812,0.09747208871304663,0.00617023603094749,-0.5052134653775965,1.9622742700794122,8.224809118481353,0.14847300046014694,0.03784104922730611,0.0028503007820084203,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.511417351730333,1.1448025829134039,-7.411016863256379,0.3596724750571693,5.414799057572729,0.7135562542426727,-1.8133809866870656,-6.596608082266008,5.5976358765693135,5.5976358765693135,6.361349999996312,0,0,-0.0004613478126566913,-9.999999025923074e-05
+7838,1792843866178356560,22545752000000,1792843866177094683,DOWN_FORCE_DETACH,10,0.0594,0.059402067214250565,0.6765569457022883,-0.004957796135527765,0.10230169269555191,0.9999996636125986,-0.00010600220228945222,0.0007959622145978353,0.0001393744592736009,0.6761,-0.0046,0.10130694921251174,1.0,0.0,0.0,0.0,-1.2003997634481183,0.9991479438848648,6.522115557770978,0.0719339713658455,0.09644432682582575,0.006224585962125001,-0.4795676604291457,1.976781113147201,8.150316593986323,0.14931613368857433,0.036813287340085224,0.00290465071318593,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.549296396695213,1.1474080936858215,-7.289557651484246,0.34369333886167663,5.351477644922127,0.675401292629737,-1.8133809866870656,-6.522115557770978,5.476176664797181,5.476176664797181,6.41384999999619,0,0,-0.0004788478092474221,-9.999999025923074e-05
+7882,1792843866545509648,22546119000000,1792843866541103933,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765470854808062,-0.004958054592630848,0.10210850052217613,0.9999996759143822,-0.00013176347210147528,0.0007754751764719957,0.00014453592272595724,0.6761,-0.0046,0.10112785401717571,1.0,0.0,0.0,0.0,-1.1651972392675294,0.9339060441051928,6.464839293927191,0.06705947450107527,0.09352549970413393,0.006176077605788054,-0.4443651362485568,1.911539213367529,8.093040330142536,0.1444416368238041,0.03389446021839341,0.002856142356848984,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.463217733318804,1.0535798572774764,-7.297303724796558,0.3854930353050467,5.345691108812708,0.6493902775659735,-1.8133809866870656,-6.464839293927191,5.483922738109492,5.483922738109492,6.4688999999960615,0,0,-0.0004971978056725598,-9.999999025923074e-05
+7924,1792843866895657239,22546469000000,1792843866889094549,DOWN_FORCE_DETACH,10,0.0594,0.059401411563158035,0.6765356475583556,-0.004959821712146258,0.1019117713019013,0.9999996879618079,-0.00014177108919464276,0.0007570061232708718,0.00014953875301643263,0.6761,-0.0046,0.10095078103578864,1.0,0.0,0.0,0.0,-1.1218783460323734,0.8788017889741128,6.371755905521568,0.06307396498326653,0.09058442261895963,0.006168908890464734,-0.40104624301340086,1.856434958236449,7.999956941736913,0.14045612730599535,0.030953383133219103,0.002848973641525663,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.365275126829743,1.033816077582219,-7.062076271946677,0.40420851960086046,5.1761320636062615,0.6413281617082834,-1.8133809866870656,-6.371755905521568,5.248695285259611,5.248695285259611,6.521399999995939,0,0,-0.0005146978022632906,-9.999999025923074e-05
+7971,1792843867281744076,22546855000000,1792843867277103327,DOWN_SETTLE,10,0.0594,0.059401411563158035,0.6765122808590952,-0.004955583529845384,0.10172312777371753,0.9999997196343764,-0.00014353798864895681,0.0007124568313794468,0.0001548423136381402,0.6761,-0.0046,0.10082061760753612,1.0,0.0,0.0,0.0,-1.0214582269703358,0.8259785088829429,6.012550485769483,0.05943187784367274,0.08264313172962401,0.006281885283541783,-0.30062612395136346,1.8036116781452791,7.6407515219848285,0.13681404016640156,0.023012092243883477,0.002961950034602713,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,3.2020386670898064,1.1398983549365065,-6.789047422157064,0.3640940719461463,4.976541577608352,0.7130695644185127,-1.8133809866870656,-6.012550485769483,4.975666435469998,0.0,0.0,0,0,-5.602810993677138e-05,0.0005659405044118321
+8050,1792843867938989067,22547512000000,1792843867937094346,DOWN_PEAK_HOLD,10,0.0594,0.059401411563158035,0.6764528823619433,-0.004954256392912418,0.10157787592545471,0.9999997906232242,-0.00014275521135227075,0.0006021562883361369,0.000165000382097034,0.6761,-0.0046,0.1008160225661158,1.0,0.0,0.0,0.0,-0.8412944594070756,0.6586547803773454,4.9361382106855505,0.0456139293177113,0.06794421412748794,0.004776643120691123,-0.12046235638810314,1.6362879496396816,6.564339246900896,0.12299609164044012,0.008313174641747412,0.0014567078717520525,0.7208321030189725,0.9776331692623362,1.6282010362153452,0.07738216232272882,-0.05963103948574053,-0.0033199352489390703,1,2.7387604351120536,1.2320553293231455,-5.741161112063694,0.32201170565146875,4.204749908502069,0.7666477146423761,-1.8133809866870656,-4.9361382106855505,3.9277801253766285,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_12.5/press_depth_10/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792843823213618489,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.185461784e-08,-1.463029387e-09,-4.114708574e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456895e-01,-1.170926248e-04,8.303255862e-01
+1,9.500000000e-01,DOWN_FORCE_DETACH,1792843824196548907,2.553910685e-06,7.087231751e-07,1.722874554e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.941967474e-07,-6.637725272e-08,-1.089701518e-08,7.019581867e-01,-2.156201185e-05,8.601448101e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027461718e-01,-1.171575390e-04,8.303255757e-01
+2,1.900000000e+00,DOWN_FORCE_DETACH,1792843825181156661,8.235315845e-06,3.537312725e-06,1.786691818e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.520253897e-07,-1.019077461e-07,-1.410370676e-08,7.019638681e-01,-1.873342230e-05,8.601448739e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027464296e-01,-1.171930695e-04,8.303255725e-01
+3,2.483333333e+00,DOWN_FORCE_DETACH,1792843825785047556,4.703478516e-05,-4.472072745e-06,-1.302880146e-05,4.618618823e-05,-3.372969518e-06,-7.658237819e-06,4.940874574e-05,-3.400925943e-06,-7.395059951e-06,7.020026676e-01,-2.674280777e-05,8.601300584e-01,7.020018190e-01,-2.564370454e-05,8.601354290e-01,7.027950863e-01,-1.204920877e-04,8.303181916e-01
+4,3.100000000e+00,DOWN_FORCE_DETACH,1792843826456634038,8.348807263e-05,3.681812742e-06,-3.936750360e-05,8.047968959e-05,-8.000405665e-07,-3.772102863e-05,8.538460074e-05,-9.477459497e-07,-3.693166810e-05,7.020391209e-01,-1.858892228e-05,8.601037197e-01,7.020361125e-01,-2.307077559e-05,8.601053662e-01,7.028310622e-01,-1.180389077e-04,8.302886550e-01
+5,3.683333333e+00,DOWN_FORCE_DETACH,1792843827030133710,1.075913179e-04,6.832627355e-07,-8.510372773e-05,1.048464012e-04,-2.192206497e-06,-8.426447238e-05,1.113239414e-04,-2.322475710e-06,-8.252292419e-05,7.020632241e-01,-2.158747229e-05,8.600579835e-01,7.020604792e-01,-2.446294152e-05,8.600588228e-01,7.028570015e-01,-1.194136375e-04,8.302430637e-01
+6,4.466666667e+00,DOWN_FORCE_DETACH,1792843827832773634,1.546652873e-04,3.525514885e-06,-1.496604841e-04,1.543965630e-04,3.424175918e-06,-1.498384547e-04,1.635201991e-04,3.028730630e-06,-1.470117397e-04,7.021102981e-01,-1.874522014e-05,8.599934268e-01,7.021100294e-01,-1.884655911e-05,8.599932488e-01,7.029091978e-01,-1.140624311e-04,8.301785749e-01
+7,5.266666667e+00,DOWN_FORCE_DETACH,1792843828635358606,2.069303484e-04,2.842976832e-06,-2.403327346e-04,2.067708566e-04,2.838155950e-06,-2.403317223e-04,2.185516858e-04,2.351498818e-06,-2.363652727e-04,7.021625632e-01,-1.942775819e-05,8.599027545e-01,7.021624037e-01,-1.943257907e-05,8.599027555e-01,7.029642293e-01,-1.147396630e-04,8.300892214e-01
+8,6.016666667e+00,DOWN_FORCE_DETACH,1792843829437866024,2.503010284e-04,1.566542353e-07,-3.396943974e-04,2.454346083e-04,-3.972713494e-06,-3.324185671e-04,2.593049209e-04,-4.291269364e-06,-3.278065405e-04,7.022059338e-01,-2.211408079e-05,8.598033928e-01,7.022010674e-01,-2.624344852e-05,8.598106687e-01,7.030049825e-01,-1.213824311e-04,8.299977801e-01
+9,6.800000000e+00,DOWN_FORCE_DETACH,1792843830224629790,2.930454880e-04,1.769333410e-06,-4.393160170e-04,2.890922367e-04,-5.979786200e-06,-4.267365207e-04,3.053121065e-04,-6.294637780e-06,-4.216565994e-04,7.022486783e-01,-2.050140161e-05,8.597037712e-01,7.022447251e-01,-2.825052122e-05,8.597163507e-01,7.030509897e-01,-1.233857996e-04,8.299039300e-01
+10,7.466666667e+00,DOWN_FORCE_DETACH,1792843830880506885,3.222794452e-04,-1.713615217e-06,-5.149258109e-04,3.245177657e-04,-4.072502378e-06,-5.000492799e-04,3.426665829e-04,-4.393128521e-06,-4.947870366e-04,7.022779123e-01,-2.398435024e-05,8.596281614e-01,7.022801506e-01,-2.634323740e-05,8.596430380e-01,7.030883442e-01,-1.214842903e-04,8.298307996e-01
+11,8.283333333e+00,DOWN_FORCE_DETACH,1792843831712525508,3.594811253e-04,-6.933006679e-06,-5.608755020e-04,3.524943656e-04,-2.306961817e-06,-5.523535162e-04,3.728088669e-04,-2.658992369e-06,-5.482047236e-04,7.023151139e-01,-2.920374170e-05,8.595822117e-01,7.023081272e-01,-2.457769684e-05,8.595907337e-01,7.031184865e-01,-1.197501541e-04,8.297773819e-01
+12,9.283333333e+00,DOWN_FORCE_DETACH,1792843832730709536,3.652209216e-04,-8.829823562e-06,-6.332996263e-04,3.650608989e-04,-8.729666661e-06,-6.332355231e-04,3.862885868e-04,-8.996366202e-06,-6.292564410e-04,7.023208537e-01,-3.110055858e-05,8.595097876e-01,7.023206937e-01,-3.100040168e-05,8.595098517e-01,7.031319662e-01,-1.260875280e-04,8.296963302e-01
+13,1.016666667e+01,DOWN_FORCE_DETACH,1792843833647625648,3.670642999e-04,-1.161404309e-05,-6.704551749e-04,3.669850954e-04,-5.365407066e-06,-6.544657318e-04,3.886317031e-04,-5.870229455e-06,-6.519035353e-04,7.023226971e-01,-3.388477811e-05,8.594726321e-01,7.023226179e-01,-2.763614209e-05,8.594886215e-01,7.031343093e-01,-1.229613912e-04,8.296736831e-01
+14,1.106666667e+01,DOWN_FORCE_DETACH,1792843834569539621,3.637808431e-04,-1.613693929e-05,-6.911494267e-04,3.666340148e-04,-1.403556679e-05,-6.728479024e-04,3.883294742e-04,-1.430601602e-05,-6.709307713e-04,7.023194137e-01,-3.840767431e-05,8.594519378e-01,7.023222668e-01,-3.630630181e-05,8.594702393e-01,7.031340071e-01,-1.313971778e-04,8.296546559e-01
+15,1.193333333e+01,DOWN_FORCE_DETACH,1792843835433360089,3.624364097e-04,-1.487998863e-05,-6.993590600e-04,3.636595457e-04,-5.647798233e-06,-6.923243564e-04,3.850394115e-04,-6.222189367e-06,-6.907842544e-04,7.023180692e-01,-3.715072366e-05,8.594437282e-01,7.023192924e-01,-2.791853326e-05,8.594507629e-01,7.031307170e-01,-1.233133511e-04,8.296348024e-01
+16,1.295000000e+01,DOWN_FORCE_DETACH,1792843836481809239,3.590060365e-04,-1.689803418e-05,-7.099866872e-04,3.578671007e-04,-1.546762362e-05,-7.089576342e-04,3.787358608e-04,-1.572226540e-05,-7.076500748e-04,7.023146389e-01,-3.916876920e-05,8.594331006e-01,7.023134999e-01,-3.773835864e-05,8.594341296e-01,7.031244135e-01,-1.328134272e-04,8.296179366e-01
+17,1.378333333e+01,DOWN_FORCE_DETACH,1792843837512996267,3.559544106e-04,-1.422913099e-05,-7.189294213e-04,3.578671007e-04,-1.546762362e-05,-7.089576342e-04,3.786852766e-04,-1.572842323e-05,-7.080080013e-04,7.023115872e-01,-3.649986602e-05,8.594241578e-01,7.023134999e-01,-3.773835864e-05,8.594341296e-01,7.031243629e-01,-1.328195850e-04,8.296175786e-01
+18,1.461666667e+01,DOWN_FORCE_DETACH,1792843838332358634,3.536718417e-04,-1.407820152e-05,-7.231509650e-04,3.578671007e-04,-1.546762362e-05,-7.089576342e-04,3.786546886e-04,-1.573278365e-05,-7.082028894e-04,7.023093047e-01,-3.634893654e-05,8.594199363e-01,7.023134999e-01,-3.773835864e-05,8.594341296e-01,7.031243323e-01,-1.328239454e-04,8.296173837e-01
+19,1.551666667e+01,DOWN_FORCE_DETACH,1792843839265424269,3.513491604e-04,-1.801854696e-05,-7.296614051e-04,3.515262772e-04,-8.378655850e-06,-7.276229315e-04,3.716574651e-04,-8.884733425e-06,-7.266996120e-04,7.023069820e-01,-4.028928198e-05,8.594134258e-01,7.023071591e-01,-3.064939087e-05,8.594154643e-01,7.031173351e-01,-1.259758952e-04,8.295988870e-01
+20,1.645000000e+01,DOWN_FORCE_DETACH,1792843840232392741,3.575131260e-04,-1.491990409e-05,-7.471702139e-04,3.539451710e-04,-1.477615885e-05,-7.472978659e-04,3.739285500e-04,-1.503003221e-05,-7.460906754e-04,7.023131459e-01,-3.719063911e-05,8.593959170e-01,7.023095780e-01,-3.704689387e-05,8.593957894e-01,7.031196062e-01,-1.321211940e-04,8.295794960e-01
+21,1.746666667e+01,DOWN_FORCE_DETACH,1792843841247511595,3.689102145e-04,-1.657610262e-05,-7.792291299e-04,3.637356336e-04,-1.765499635e-05,-7.654250850e-04,3.840943016e-04,-1.786272788e-05,-7.643706080e-04,7.023245430e-01,-3.884683765e-05,8.593638581e-01,7.023193685e-01,-3.992573137e-05,8.593776622e-01,7.031297719e-01,-1.349538897e-04,8.295612160e-01
+22,1.840000000e+01,DOWN_FORCE_DETACH,1792843842198871156,3.779302947e-04,-1.703445428e-05,-8.020588814e-04,3.757453871e-04,-1.143977151e-05,-8.016751342e-04,3.963926040e-04,-1.180832899e-05,-8.002687071e-04,7.023335631e-01,-3.930518931e-05,8.593410284e-01,7.023313782e-01,-3.371050653e-05,8.593414121e-01,7.031420702e-01,-1.288994908e-04,8.295253179e-01
+23,1.921666667e+01,DOWN_FORCE_DETACH,1792843843033112148,3.839152679e-04,-1.850819005e-05,-8.291479996e-04,3.784897573e-04,-1.989428184e-05,-8.213476679e-04,3.991967384e-04,-1.997914573e-05,-8.201032231e-04,7.023395481e-01,-4.077892507e-05,8.593139392e-01,7.023341226e-01,-4.216501687e-05,8.593217396e-01,7.031448743e-01,-1.370703075e-04,8.295054834e-01
+24,2.013333333e+01,DOWN_FORCE_DETACH,1792843843950623186,3.891654132e-04,-1.711331933e-05,-8.669229109e-04,3.893570983e-04,-2.243943654e-05,-8.599353010e-04,4.103597887e-04,-2.244400876e-05,-8.582939789e-04,7.023447982e-01,-3.938405435e-05,8.592761643e-01,7.023449899e-01,-4.471017157e-05,8.592831519e-01,7.031560374e-01,-1.395351705e-04,8.294672926e-01
+25,2.101666667e+01,DOWN_FORCE_DETACH,1792843845278017742,4.069900017e-04,-1.836186046e-05,-9.298734033e-04,4.011828548e-04,-1.738730036e-05,-9.186259180e-04,4.223656206e-04,-1.755017782e-05,-9.165673164e-04,7.023626228e-01,-4.063259548e-05,8.592132138e-01,7.023568157e-01,-3.965803538e-05,8.592244613e-01,7.031680432e-01,-1.346413396e-04,8.294090193e-01
+26,2.191666667e+01,DOWN_FORCE_DETACH,1792843846194332887,4.125908793e-04,-2.253775373e-05,-9.785967144e-04,4.129472971e-04,-1.751869307e-05,-9.791061981e-04,4.342408411e-04,-1.763410174e-05,-9.764681260e-04,7.023682237e-01,-4.480848875e-05,8.591644905e-01,7.023685801e-01,-3.978942809e-05,8.591639810e-01,7.031799184e-01,-1.347252635e-04,8.293491185e-01
+27,2.275000000e+01,DOWN_FORCE_DETACH,1792843847036707811,4.185802680e-04,-2.333204686e-05,-1.025589852e-03,4.179666302e-04,-2.601779976e-05,-1.020302208e-03,4.392608070e-04,-2.588119790e-05,-1.017797741e-03,7.023742131e-01,-4.560278188e-05,8.591174974e-01,7.023735994e-01,-4.828853478e-05,8.591227850e-01,7.031849384e-01,-1.429723597e-04,8.293077889e-01
+28,2.375000000e+01,DOWN_FORCE_DETACH,1792843848079976056,4.301878866e-04,-2.898660305e-05,-1.084031939e-03,4.282426976e-04,-3.096912169e-05,-1.082464242e-03,4.494670865e-04,-3.074310248e-05,-1.079551305e-03,7.023858207e-01,-5.125733807e-05,8.590590553e-01,7.023838755e-01,-5.323985671e-05,8.590606230e-01,7.031951447e-01,-1.478342643e-04,8.292460353e-01
+29,2.466666667e+01,DOWN_FORCE_DETACH,1792843849031691958,4.427125704e-04,-3.600690270e-05,-1.147214319e-03,4.399630690e-04,-3.331405498e-05,-1.145452312e-03,4.612530299e-04,-3.311609246e-05,-1.142336192e-03,7.023983454e-01,-5.827763772e-05,8.589958729e-01,7.023955959e-01,-5.558479000e-05,8.589976349e-01,7.032069306e-01,-1.502072542e-04,8.291832504e-01
+30,2.553333333e+01,DOWN_FORCE_DETACH,1792843849947609832,4.517302412e-04,-4.008714044e-05,-1.216797468e-03,4.487272819e-04,-3.283713966e-05,-1.208343256e-03,4.698733509e-04,-3.271730570e-05,-1.205115731e-03,7.024073631e-01,-6.235787546e-05,8.589262898e-01,7.024043601e-01,-5.510787468e-05,8.589347440e-01,7.032155510e-01,-1.498084675e-04,8.291204709e-01
+31,2.628333333e+01,DOWN_FORCE_DETACH,1792843850686169167,4.561819354e-04,-4.078239115e-05,-1.274855061e-03,4.550798478e-04,-3.868135527e-05,-1.270057284e-03,4.758675359e-04,-3.846691258e-05,-1.266608089e-03,7.024118148e-01,-6.305312618e-05,8.588682322e-01,7.024107127e-01,-6.095209029e-05,8.588730300e-01,7.032215451e-01,-1.555580744e-04,8.290589785e-01
+32,2.715000000e+01,DOWN_FORCE_DETACH,1792843851684788435,4.664862308e-04,-3.945276065e-05,-1.349552422e-03,4.629223536e-04,-4.523361326e-05,-1.332715248e-03,4.834944032e-04,-4.491386583e-05,-1.329441040e-03,7.024221190e-01,-6.172349568e-05,8.587935348e-01,7.024185552e-01,-6.750434829e-05,8.588103720e-01,7.032291720e-01,-1.620050276e-04,8.289961456e-01
+33,2.800000000e+01,DOWN_FORCE_DETACH,1792843852569514093,4.786948395e-04,-4.620173073e-05,-1.429672275e-03,4.770840680e-04,-4.310811216e-05,-1.418836573e-03,4.974915353e-04,-4.291190650e-05,-1.415211408e-03,7.024343277e-01,-6.847246575e-05,8.587134150e-01,7.024327169e-01,-6.537884718e-05,8.587242507e-01,7.032431691e-01,-1.600030683e-04,8.289103752e-01
+34,2.875000000e+01,DOWN_FORCE_DETACH,1792843853307054958,4.851917606e-04,-4.854418280e-05,-1.502555985e-03,4.849241604e-04,-4.861101951e-05,-1.502559344e-03,5.048711491e-04,-4.830044694e-05,-1.498395536e-03,7.024408246e-01,-7.081491783e-05,8.586405313e-01,7.024405570e-01,-7.088175453e-05,8.586405279e-01,7.032505488e-01,-1.653916087e-04,8.288271911e-01
+35,2.953333333e+01,DOWN_FORCE_DETACH,1792843854076915217,4.968678090e-04,-4.661525627e-05,-1.578514318e-03,4.927934645e-04,-5.424244771e-05,-1.567604021e-03,5.125614815e-04,-5.373037813e-05,-1.563976000e-03,7.024525006e-01,-6.888599129e-05,8.585645729e-01,7.024484263e-01,-7.651318273e-05,8.585754832e-01,7.032582391e-01,-1.708215399e-04,8.287616106e-01
+36,3.033333333e+01,DOWN_FORCE_DETACH,1792843854863493114,5.034538438e-04,-5.212485090e-05,-1.668791884e-03,5.022290656e-04,-5.438387656e-05,-1.652567633e-03,5.218762036e-04,-5.376767214e-05,-1.648917540e-03,7.024590867e-01,-7.439558592e-05,8.584742954e-01,7.024578619e-01,-7.665461159e-05,8.584905196e-01,7.032675538e-01,-1.708588339e-04,8.286766691e-01
+37,3.116666667e+01,DOWN_FORCE_DETACH,1792843855682954439,5.146892931e-04,-5.396656689e-05,-1.766227825e-03,5.129282891e-04,-5.169164355e-05,-1.755484917e-03,5.322924690e-04,-5.096470032e-05,-1.751568755e-03,7.024703221e-01,-7.623730191e-05,8.583768594e-01,7.024685611e-01,-7.396237858e-05,8.583876023e-01,7.032779701e-01,-1.680558621e-04,8.285740179e-01
+38,3.205000000e+01,DOWN_FORCE_DETACH,1792843856633437811,5.212201603e-04,-5.754590115e-05,-1.892127645e-03,5.200896497e-04,-5.217645143e-05,-1.886056124e-03,5.386426481e-04,-5.129608776e-05,-1.881431743e-03,7.024768530e-01,-7.981663617e-05,8.582509596e-01,7.024757225e-01,-7.444718645e-05,8.582570311e-01,7.032843203e-01,-1.683872495e-04,8.284441549e-01
+39,3.283333333e+01,DOWN_FORCE_DETACH,1792843857435963548,5.347839651e-04,-5.589203573e-05,-2.009428868e-03,5.287688465e-04,-5.890630766e-05,-1.998951086e-03,5.466408438e-04,-5.780067575e-05,-1.994039527e-03,7.024904168e-01,-7.816277075e-05,8.581336584e-01,7.024844017e-01,-8.117704269e-05,8.581441362e-01,7.032923184e-01,-1.748918375e-04,8.283315471e-01
+40,3.355000000e+01,DOWN_FORCE_DETACH,1792843858174155038,5.461221215e-04,-5.595172465e-05,-2.129023332e-03,5.467350236e-04,-5.647977028e-05,-2.123414632e-03,5.644090440e-04,-5.543859012e-05,-2.117777469e-03,7.025017549e-01,-7.822245967e-05,8.580140639e-01,7.025023678e-01,-7.875050531e-05,8.580196726e-01,7.033100866e-01,-1.725297519e-04,8.282078092e-01
+41,3.421666667e+01,DOWN_FORCE_DETACH,1792843858927327087,5.588712536e-04,-5.356061805e-05,-2.265128761e-03,5.589248607e-04,-5.308723717e-05,-2.258602092e-03,5.759622552e-04,-5.220335764e-05,-2.252311343e-03,7.025145041e-01,-7.583135308e-05,8.578779585e-01,7.025145577e-01,-7.535797220e-05,8.578844851e-01,7.033216399e-01,-1.692945194e-04,8.280732753e-01
+42,3.496666667e+01,DOWN_FORCE_DETACH,1792843859664995830,5.627565384e-04,-5.845204747e-05,-2.405316401e-03,5.597820232e-04,-5.762722887e-05,-2.394172806e-03,5.755684915e-04,-5.671765514e-05,-2.388149210e-03,7.025183894e-01,-8.072278250e-05,8.577377708e-01,7.025154148e-01,-7.989796389e-05,8.577489144e-01,7.033212461e-01,-1.738088169e-04,8.279374374e-01
+43,3.558333333e+01,DOWN_FORCE_DETACH,1792843860271703205,5.696582792e-04,-5.866336595e-05,-2.535732373e-03,5.685623881e-04,-5.572331140e-05,-2.525743763e-03,5.834649772e-04,-5.490924452e-05,-2.519374241e-03,7.025252911e-01,-8.093410097e-05,8.576073549e-01,7.025241952e-01,-7.799404642e-05,8.576173435e-01,7.033291426e-01,-1.720004063e-04,8.278062124e-01
+44,3.615000000e+01,DOWN_FORCE_DETACH,1792843860894066801,5.756534577e-04,-5.935290639e-05,-2.676726213e-03,5.741273330e-04,-5.914716235e-05,-2.666590021e-03,5.877995214e-04,-5.821922339e-05,-2.659757980e-03,7.025312863e-01,-8.162364141e-05,8.574663610e-01,7.025297602e-01,-8.141789738e-05,8.574764972e-01,7.033334771e-01,-1.753103852e-04,8.276658286e-01
+45,3.673333333e+01,DOWN_FORCE_DETACH,1792843861483460545,5.781471641e-04,-5.200783802e-05,-2.819169537e-03,5.771339997e-04,-5.772825595e-05,-2.803394163e-03,5.893468951e-04,-5.688037105e-05,-2.796538327e-03,7.025337800e-01,-7.427857304e-05,8.573239177e-01,7.025327668e-01,-7.999899097e-05,8.573396931e-01,7.033350245e-01,-1.739715328e-04,8.275290483e-01
+46,3.730000000e+01,DOWN_FORCE_DETACH,1792843862041077590,5.846418844e-04,-4.923139699e-05,-2.965063312e-03,5.816637866e-04,-5.186622659e-05,-2.962864659e-03,5.923112160e-04,-5.127072209e-05,-2.955135433e-03,7.025402747e-01,-7.150213202e-05,8.571780239e-01,7.025372966e-01,-7.413696161e-05,8.571802226e-01,7.033379888e-01,-1.683618839e-04,8.273704512e-01
+47,3.790000000e+01,DOWN_FORCE_DETACH,1792843862630845808,5.857992861e-04,-5.210306273e-05,-3.135269889e-03,5.841324626e-04,-5.219552448e-05,-3.121573515e-03,5.929799189e-04,-5.169849221e-05,-3.113540160e-03,7.025414321e-01,-7.437379775e-05,8.570078174e-01,7.025397653e-01,-7.446625950e-05,8.570215137e-01,7.033386575e-01,-1.687896540e-04,8.272120465e-01
+48,3.845000000e+01,DOWN_FORCE_DETACH,1792843863171645013,5.924743718e-04,-5.324460738e-05,-3.304228378e-03,5.925118014e-04,-5.350778779e-05,-3.303808074e-03,5.996166418e-04,-5.307531827e-05,-3.295031971e-03,7.025481072e-01,-7.551534240e-05,8.568388589e-01,7.025481446e-01,-7.577852282e-05,8.568392792e-01,7.033452942e-01,-1.701664800e-04,8.270305547e-01
+49,3.893333333e+01,DOWN_FORCE_DETACH,1792843863664123404,5.946461961e-04,-6.002030588e-05,-3.472373418e-03,5.950195985e-04,-5.303623499e-05,-3.453682644e-03,6.005002464e-04,-5.265280856e-05,-3.445170097e-03,7.025502790e-01,-8.229104091e-05,8.566707138e-01,7.025506524e-01,-7.530697002e-05,8.566894046e-01,7.033461779e-01,-1.697439703e-04,8.268804165e-01
+50,3.940000000e+01,DOWN_FORCE_DETACH,1792843864138526320,5.947174462e-04,-5.963690998e-05,-3.644610502e-03,5.944209634e-04,-5.945663121e-05,-3.644215832e-03,5.976807459e-04,-5.866864996e-05,-3.634668240e-03,7.025503503e-01,-8.190764500e-05,8.564984767e-01,7.025500538e-01,-8.172736623e-05,8.564988714e-01,7.033433583e-01,-1.757598117e-04,8.266909184e-01
+51,3.986666667e+01,DOWN_FORCE_DETACH,1792843864597360637,5.966493618e-04,-6.480578816e-05,-3.819633103e-03,5.952482576e-04,-6.130657165e-05,-3.808006247e-03,5.966469333e-04,-6.029825149e-05,-3.798554043e-03,7.025522822e-01,-8.707652318e-05,8.563234541e-01,7.025508811e-01,-8.357730667e-05,8.563350810e-01,7.033423245e-01,-1.773894133e-04,8.265270326e-01
+52,4.025000000e+01,DOWN_FORCE_DETACH,1792843864991082214,5.996372552e-04,-6.474439043e-05,-3.987467087e-03,5.975012450e-04,-6.338113829e-05,-3.981867955e-03,5.969893276e-04,-6.221263793e-05,-3.971672049e-03,7.025552701e-01,-8.701512545e-05,8.561556202e-01,7.025531341e-01,-8.565187332e-05,8.561612193e-01,7.033426669e-01,-1.793037997e-04,8.263539146e-01
+53,4.066666667e+01,DOWN_FORCE_DETACH,1792843865416877819,6.068926940e-04,-6.967909971e-05,-4.167379068e-03,6.052867290e-04,-7.101285884e-05,-4.160582407e-03,6.031555568e-04,-6.959991245e-05,-4.150125026e-03,7.025625255e-01,-9.194983473e-05,8.559757082e-01,7.025609195e-01,-9.328359386e-05,8.559825048e-01,7.033488332e-01,-1.866910742e-04,8.261754616e-01
+54,4.103333333e+01,DOWN_FORCE_DETACH,1792843865826172652,6.027867604e-04,-6.779869813e-05,-4.360184128e-03,6.024296714e-04,-7.075454893e-05,-4.355066168e-03,5.979929704e-04,-6.938130565e-05,-4.343969801e-03,7.025584196e-01,-9.006943316e-05,8.557829031e-01,7.025580625e-01,-9.302528396e-05,8.557880211e-01,7.033436706e-01,-1.864724674e-04,8.259816168e-01
+55,4.136666667e+01,DOWN_FORCE_DETACH,1792843866179880158,6.043940543e-04,-6.593814144e-05,-4.536055409e-03,6.051350258e-04,-6.992896564e-05,-4.523076648e-03,5.989107784e-04,-6.855394848e-05,-4.511762944e-03,7.025600269e-01,-8.820887646e-05,8.556070318e-01,7.025607678e-01,-9.219970067e-05,8.556200106e-01,7.033445884e-01,-1.856451103e-04,8.258138237e-01
+56,4.170000000e+01,DOWN_FORCE_DETACH,1792843866547217800,5.962420164e-04,-7.180075463e-05,-4.725488997e-03,5.962719150e-04,-7.197962948e-05,-4.725477930e-03,5.872575684e-04,-7.057431560e-05,-4.713396455e-03,7.025518748e-01,-9.407148965e-05,8.554175982e-01,7.025519047e-01,-9.425036450e-05,8.554176093e-01,7.033329352e-01,-1.876654774e-04,8.256121902e-01
+57,4.205000000e+01,DOWN_FORCE_DETACH,1792843866891245233,5.837829678e-04,-7.270226192e-05,-4.923157977e-03,5.821746699e-04,-7.295939922e-05,-4.914491646e-03,5.700365735e-04,-7.171881737e-05,-4.902370995e-03,7.025394158e-01,-9.497299694e-05,8.552199293e-01,7.025378075e-01,-9.523013424e-05,8.552285956e-01,7.033157142e-01,-1.888099791e-04,8.254232156e-01
+58,4.245000000e+01,DOWN_SETTLE,1792843867285417095,5.607203406e-04,-6.602914106e-05,-5.113345756e-03,5.638113135e-04,-6.360107221e-05,-5.097447065e-03,5.482362615e-04,-6.282176633e-05,-5.086451049e-03,7.025163532e-01,-8.829987608e-05,8.550297415e-01,7.025194441e-01,-8.587180723e-05,8.550456402e-01,7.032939139e-01,-1.799129281e-04,8.252391356e-01
+59,4.311666667e+01,DOWN_PEAK_HOLD,1792843867940242180,5.011529399e-04,-6.471170455e-05,-5.258797618e-03,5.056467953e-04,-6.156600027e-05,-5.249121051e-03,4.843762461e-04,-6.086988089e-05,-5.241479979e-03,7.024567858e-01,-8.698243957e-05,8.548842896e-01,7.024612796e-01,-8.383673529e-05,8.548939662e-01,7.032300538e-01,-1.779610427e-04,8.250841066e-01

Fixed/digit/ball_PLA_12.5/press_depth_10/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.9236e-01,3.4325e-01,2.4629e+00,-6.0504e-02,5.0342e-02,1.0264e-03,3.0628e-04,-6.1452e-05,-4.9591e-05,4.1090e-06,2.0750e-05,-4.6240e-07,3.1629e-04,2.1158e-05
+1,9.5000e-01,DOWN_FORCE_DETACH,2.0465e-04,2.8162e-01,3.3179e-01,2.4606e+00,-5.9629e-02,5.6609e-02,6.0503e-04,8.9571e-02,-1.1527e-02,-2.4190e-03,8.7900e-04,6.2870e-03,-4.2185e-04,9.0342e-02,6.3622e-03
+2,1.9000e+00,DOWN_FORCE_DETACH,4.1059e-04,3.2715e-01,3.2631e-01,2.4600e+00,-5.9246e-02,5.9822e-02,3.5429e-04,1.3510e-01,-1.7002e-02,-2.9507e-03,1.2623e-03,9.5003e-03,-6.7260e-04,1.3620e-01,9.6073e-03
+3,2.4833e+00,DOWN_FORCE_DETACH,6.1374e-04,1.3483e-01,3.4764e-01,2.4922e+00,-6.0747e-02,4.6154e-02,3.3193e-04,-5.7215e-02,4.3240e-03,2.9248e-02,-2.3924e-04,-4.1677e-03,-6.9496e-04,6.4403e-02,4.2320e-03
+4,3.1000e+00,DOWN_FORCE_DETACH,8.1759e-04,4.3757e-03,3.1673e-01,2.5726e+00,-5.8570e-02,3.6945e-02,2.4104e-04,-1.8767e-01,-2.6585e-02,1.0960e-01,1.9376e-03,-1.3376e-02,-7.8585e-04,2.1895e-01,1.3539e-02
+5,3.6833e+00,DOWN_FORCE_DETACH,1.0232e-03,6.3358e-02,3.2026e-01,2.7386e+00,-5.8778e-02,4.1001e-02,1.6584e-04,-1.2869e-01,-2.3054e-02,2.7562e-01,1.7299e-03,-9.3204e-03,-8.6104e-04,3.0505e-01,9.5186e-03
+6,4.4667e+00,DOWN_FORCE_DETACH,1.2285e-03,3.1718e-02,3.0642e-01,2.8266e+00,-5.7894e-02,3.8577e-02,8.5167e-05,-1.6033e-01,-3.6889e-02,3.6361e-01,2.6139e-03,-1.1745e-02,-9.4172e-04,3.9909e-01,1.2069e-02
+7,5.2667e+00,DOWN_FORCE_DETACH,1.4318e-03,-5.0509e-02,2.3220e-01,3.0324e+00,-5.2788e-02,3.2658e-02,-4.4122e-05,-2.4256e-01,-1.1111e-01,5.6940e-01,7.7199e-03,-1.7664e-02,-1.0710e-03,6.2880e-01,1.9307e-02
+8,6.0167e+00,DOWN_FORCE_DETACH,1.6350e-03,-7.3426e-02,2.8426e-01,3.2507e+00,-5.6342e-02,3.0744e-02,-1.1039e-05,-2.6548e-01,-5.9050e-02,7.8774e-01,4.1661e-03,-1.9577e-02,-1.0379e-03,8.3337e-01,2.0043e-02
+9,6.8000e+00,DOWN_FORCE_DETACH,1.8382e-03,-7.7378e-02,3.0212e-01,3.3337e+00,-5.7525e-02,3.0344e-02,2.8747e-04,-2.6943e-01,-4.1188e-02,8.7078e-01,2.9831e-03,-1.9978e-02,-7.3942e-04,9.1244e-01,2.0213e-02
+10,7.4667e+00,DOWN_FORCE_DETACH,2.0465e-03,-5.1578e-02,2.9053e-01,3.3380e+00,-5.6650e-02,3.2136e-02,1.2552e-03,-2.4363e-01,-5.2778e-02,8.7499e-01,3.8578e-03,-1.8186e-02,2.2827e-04,9.0980e-01,1.8592e-02
+11,8.2833e+00,DOWN_FORCE_DETACH,2.2490e-03,2.6185e-02,2.7853e-01,3.1647e+00,-5.5979e-02,3.7759e-02,1.4058e-03,-1.6586e-01,-6.4783e-02,7.0174e-01,4.5284e-03,-1.2562e-02,3.7891e-04,7.2398e-01,1.3359e-02
+12,9.2833e+00,DOWN_FORCE_DETACH,2.4545e-03,1.7515e-01,3.0558e-01,2.9871e+00,-5.8287e-02,4.8429e-02,1.4508e-03,-1.6897e-02,-3.7733e-02,5.2408e-01,2.2213e-03,-1.8923e-03,4.2392e-04,5.2571e-01,2.9486e-03
+13,1.0167e+01,DOWN_FORCE_DETACH,2.6622e-03,2.9671e-01,2.7167e-01,2.8308e+00,-5.6165e-02,5.7261e-02,1.0490e-03,1.0466e-01,-7.1643e-02,3.6781e-01,4.3424e-03,6.9396e-03,2.2075e-05,3.8906e-01,8.1863e-03
+14,1.1067e+01,DOWN_FORCE_DETACH,2.8655e-03,3.5528e-01,3.3887e-01,2.7115e+00,-6.1000e-02,6.1573e-02,7.1427e-04,1.6323e-01,-4.4434e-03,2.4853e-01,-4.9176e-04,1.1251e-02,-3.1262e-04,2.9737e-01,1.1266e-02
+15,1.1933e+01,DOWN_FORCE_DETACH,3.0697e-03,3.8814e-01,2.6049e-01,2.6379e+00,-5.5594e-02,6.3964e-02,4.8917e-04,1.9609e-01,-8.2827e-02,1.7490e-01,4.9140e-03,1.3642e-02,-5.3771e-04,2.7551e-01,1.4510e-02
+16,1.2950e+01,DOWN_FORCE_DETACH,3.2762e-03,4.1574e-01,3.4554e-01,2.6011e+00,-6.1573e-02,6.5971e-02,3.9222e-04,2.2369e-01,2.2254e-03,1.3815e-01,-1.0652e-03,1.5649e-02,-6.3467e-04,2.6292e-01,1.5698e-02
+17,1.3783e+01,DOWN_FORCE_DETACH,3.4796e-03,4.0769e-01,3.4432e-01,2.5405e+00,-6.1475e-02,6.5477e-02,2.6351e-04,2.1564e-01,1.0101e-03,7.7493e-02,-9.6750e-04,1.5155e-02,-7.6337e-04,2.2914e-01,1.5205e-02
+18,1.4617e+01,DOWN_FORCE_DETACH,3.6840e-03,4.0200e-01,3.4368e-01,2.5044e+00,-6.1407e-02,6.5117e-02,1.9025e-04,2.0995e-01,3.6636e-04,4.1451e-02,-8.9902e-04,1.4796e-02,-8.3664e-04,2.1400e-01,1.4846e-02
+19,1.5517e+01,DOWN_FORCE_DETACH,3.8905e-03,4.2076e-01,2.8384e-01,2.5432e+00,-5.7131e-02,6.6394e-02,1.0509e-04,2.2871e-01,-5.9473e-02,8.0249e-02,3.3768e-03,1.6072e-02,-9.2180e-04,2.4957e-01,1.6449e-02
+20,1.6450e+01,DOWN_FORCE_DETACH,4.0961e-03,3.9389e-01,3.4076e-01,2.5897e+00,-6.1020e-02,6.4434e-02,9.0476e-05,2.0184e-01,-2.5516e-03,1.2677e-01,-5.1204e-04,1.4112e-02,-9.3641e-04,2.3836e-01,1.4152e-02
+21,1.7467e+01,DOWN_FORCE_DETACH,4.2983e-03,3.5838e-01,3.6780e-01,2.5635e+00,-6.2773e-02,6.1927e-02,9.1951e-05,1.6633e-01,2.4492e-02,1.0050e-01,-2.2649e-03,1.1606e-02,-9.3494e-04,1.9587e-01,1.1861e-02
+22,1.8400e+01,DOWN_FORCE_DETACH,4.5025e-03,3.2308e-01,3.1315e-01,2.6252e+00,-5.8703e-02,5.9356e-02,4.8776e-05,1.3103e-01,-3.0160e-02,1.6225e-01,1.8049e-03,9.0343e-03,-9.7811e-04,2.1072e-01,9.2646e-03
+23,1.9217e+01,DOWN_FORCE_DETACH,4.7071e-03,3.4448e-01,3.8936e-01,2.6042e+00,-6.3917e-02,6.0868e-02,6.6112e-05,1.5243e-01,4.6052e-02,1.4123e-01,-3.4092e-03,1.0547e-02,-9.6077e-04,2.1284e-01,1.1126e-02
+24,2.0133e+01,DOWN_FORCE_DETACH,4.9116e-03,3.2812e-01,4.1092e-01,2.6699e+00,-6.5189e-02,5.9679e-02,3.0745e-05,1.3607e-01,6.7610e-02,2.0697e-01,-4.6812e-03,9.3569e-03,-9.9614e-04,2.5675e-01,1.0510e-02
+25,2.1017e+01,DOWN_FORCE_DETACH,5.1172e-03,3.1246e-01,3.6971e-01,2.7596e+00,-6.2147e-02,5.8398e-02,-4.2640e-05,1.2041e-01,2.6396e-02,2.9662e-01,-1.6396e-03,8.0765e-03,-1.0695e-03,3.2122e-01,8.3103e-03
+26,2.1917e+01,DOWN_FORCE_DETACH,5.3237e-03,3.1555e-01,3.7336e-01,2.7949e+00,-6.2363e-02,5.8588e-02,-9.7935e-05,1.2350e-01,3.0051e-02,3.3192e-01,-1.8555e-03,8.2660e-03,-1.1248e-03,3.5542e-01,8.5460e-03
+27,2.2750e+01,DOWN_FORCE_DETACH,5.5290e-03,3.2317e-01,4.3853e-01,2.8236e+00,-6.6950e-02,5.9085e-02,-1.9668e-04,1.3112e-01,9.5221e-02,3.6059e-01,-6.4417e-03,8.7635e-03,-1.2236e-03,3.9533e-01,1.0945e-02
+28,2.3750e+01,DOWN_FORCE_DETACH,5.7321e-03,3.0999e-01,4.5606e-01,2.8523e+00,-6.8254e-02,5.8113e-02,-3.6820e-04,1.1794e-01,1.1275e-01,3.8937e-01,-7.7460e-03,7.7917e-03,-1.3951e-03,4.2217e-01,1.1075e-02
+29,2.4667e+01,DOWN_FORCE_DETACH,5.9378e-03,2.8656e-01,4.8257e-01,2.9300e+00,-7.0284e-02,5.6414e-02,-4.3715e-04,9.4507e-02,1.3926e-01,4.6704e-01,-9.7763e-03,6.0927e-03,-1.4640e-03,4.9644e-01,1.1612e-02
+30,2.5533e+01,DOWN_FORCE_DETACH,6.1387e-03,2.7321e-01,4.6166e-01,2.9610e+00,-6.9002e-02,5.5359e-02,-5.4712e-04,8.1158e-02,1.1835e-01,4.9802e-01,-8.4942e-03,5.0371e-03,-1.5740e-03,5.1828e-01,1.0000e-02
+31,2.6283e+01,DOWN_FORCE_DETACH,6.3455e-03,2.6724e-01,5.0124e-01,3.0232e+00,-7.1983e-02,5.4984e-02,-5.7785e-04,7.5190e-02,1.5792e-01,5.6024e-01,-1.1475e-02,4.6623e-03,-1.6047e-03,5.8691e-01,1.2490e-02
+32,2.7150e+01,DOWN_FORCE_DETACH,6.5490e-03,2.4712e-01,5.4023e-01,2.9623e+00,-7.4898e-02,5.3624e-02,-5.7411e-04,5.5076e-02,1.9691e-01,4.9935e-01,-1.4390e-02,3.3023e-03,-1.6010e-03,5.3959e-01,1.4851e-02
+33,2.8000e+01,DOWN_FORCE_DETACH,6.7551e-03,2.0374e-01,5.1584e-01,3.0313e+00,-7.3301e-02,5.0533e-02,-4.6136e-04,1.1686e-02,1.7253e-01,5.6833e-01,-1.2794e-02,2.1114e-04,-1.4882e-03,5.9406e-01,1.2882e-02
+34,2.8750e+01,DOWN_FORCE_DETACH,6.9581e-03,2.0272e-01,5.3508e-01,2.9983e+00,-7.4561e-02,5.0406e-02,-2.6973e-04,1.0668e-02,1.9177e-01,5.3531e-01,-1.4053e-02,8.4344e-05,-1.2966e-03,5.6872e-01,1.4113e-02
+35,2.9533e+01,DOWN_FORCE_DETACH,7.1639e-03,1.9499e-01,6.0292e-01,3.0868e+00,-7.8896e-02,4.9748e-02,1.1258e-04,2.9393e-03,2.5960e-01,6.2387e-01,-1.8388e-02,-5.7372e-04,-9.1431e-04,6.7573e-01,1.8420e-02
+36,3.0333e+01,DOWN_FORCE_DETACH,7.3685e-03,2.1238e-01,6.1400e-01,3.1027e+00,-7.9011e-02,5.0991e-02,5.7060e-04,2.0336e-02,2.7068e-01,6.3976e-01,-1.8503e-02,6.6938e-04,-4.5628e-04,6.9496e-01,1.8521e-02
+37,3.1167e+01,DOWN_FORCE_DETACH,7.5737e-03,2.3892e-01,6.2064e-01,3.1367e+00,-7.8730e-02,5.2860e-02,1.0023e-03,4.6875e-02,2.7733e-01,6.7370e-01,-1.8222e-02,2.5384e-03,-2.4605e-05,7.3006e-01,1.8398e-02
+38,3.2050e+01,DOWN_FORCE_DETACH,7.7754e-03,2.7616e-01,6.5312e-01,3.2547e+00,-8.0368e-02,5.5329e-02,1.1320e-03,8.4114e-02,3.0981e-01,7.9172e-01,-1.9860e-02,5.0075e-03,1.0510e-04,8.5433e-01,2.0482e-02
+39,3.2833e+01,DOWN_FORCE_DETACH,7.9839e-03,2.8965e-01,7.2966e-01,3.3396e+00,-8.5442e-02,5.6107e-02,9.1146e-04,9.7598e-02,3.8635e-01,8.7662e-01,-2.4934e-02,5.7856e-03,-1.1543e-04,9.6294e-01,2.5597e-02
+40,3.3550e+01,DOWN_FORCE_DETACH,8.1892e-03,2.6355e-01,7.0576e-01,3.4032e+00,-8.3631e-02,5.4210e-02,6.4696e-04,7.1497e-02,3.6244e-01,9.4025e-01,-2.3123e-02,3.8884e-03,-3.7992e-04,1.0102e+00,2.3451e-02
+41,3.4217e+01,DOWN_FORCE_DETACH,8.3901e-03,2.7020e-01,6.7795e-01,3.5345e+00,-8.1671e-02,5.4523e-02,6.3417e-05,7.8153e-02,3.3464e-01,1.0715e+00,-2.1163e-02,4.2016e-03,-9.6347e-04,1.1253e+00,2.1597e-02
+42,3.4967e+01,DOWN_FORCE_DETACH,8.5964e-03,3.3074e-01,6.9747e-01,3.5563e+00,-8.3268e-02,5.8792e-02,-2.2974e-04,1.3869e-01,3.5416e-01,1.0933e+00,-2.2760e-02,8.4708e-03,-1.2566e-03,1.1576e+00,2.4318e-02
+43,3.5583e+01,DOWN_FORCE_DETACH,8.8025e-03,3.3183e-01,6.7150e-01,3.5870e+00,-8.1615e-02,5.8867e-02,-1.5775e-04,1.3978e-01,3.2819e-01,1.1240e+00,-2.1107e-02,8.5451e-03,-1.1846e-03,1.1793e+00,2.2802e-02
+44,3.6150e+01,DOWN_FORCE_DETACH,9.0067e-03,3.3895e-01,6.9566e-01,3.6849e+00,-8.3261e-02,5.9212e-02,9.7601e-05,1.4690e-01,3.5234e-01,1.2219e+00,-2.2753e-02,8.8907e-03,-9.2929e-04,1.2801e+00,2.4446e-02
+45,3.6733e+01,DOWN_FORCE_DETACH,9.2104e-03,3.4560e-01,6.8301e-01,3.7072e+00,-8.2477e-02,5.9606e-02,1.2331e-04,1.5356e-01,3.3970e-01,1.2443e+00,-2.1969e-02,9.2841e-03,-9.0357e-04,1.2989e+00,2.3867e-02
+46,3.7300e+01,DOWN_FORCE_DETACH,9.4110e-03,3.3658e-01,6.1698e-01,3.8311e+00,-7.7830e-02,5.8735e-02,-1.8651e-04,1.4453e-01,2.7367e-01,1.3681e+00,-1.7322e-02,8.4129e-03,-1.2134e-03,1.4027e+00,1.9295e-02
+47,3.7900e+01,DOWN_FORCE_DETACH,9.6178e-03,3.2404e-01,6.0084e-01,3.9295e+00,-7.6722e-02,5.7756e-02,-3.4387e-04,1.3199e-01,2.5752e-01,1.4665e+00,-1.6214e-02,7.4346e-03,-1.3708e-03,1.4948e+00,1.7890e-02
+48,3.8450e+01,DOWN_FORCE_DETACH,9.8265e-03,2.8866e-01,5.9115e-01,3.9878e+00,-7.5910e-02,5.5228e-02,-3.5360e-04,9.6614e-02,2.4783e-01,1.5248e+00,-1.5402e-02,4.9068e-03,-1.3805e-03,1.5479e+00,1.6224e-02
+49,3.8933e+01,DOWN_FORCE_DETACH,1.0027e-02,2.8185e-01,5.8770e-01,4.0601e+00,-7.5329e-02,5.4654e-02,-8.1159e-05,8.9798e-02,2.4439e-01,1.5971e+00,-1.4821e-02,4.3324e-03,-1.1080e-03,1.6182e+00,1.5481e-02
+50,3.9400e+01,DOWN_FORCE_DETACH,1.0236e-02,2.9397e-01,6.9364e-01,4.1204e+00,-8.2103e-02,5.5452e-02,4.8478e-04,1.0192e-01,3.5033e-01,1.6574e+00,-2.1595e-02,5.1306e-03,-5.4211e-04,1.6971e+00,2.2203e-02
+51,3.9867e+01,DOWN_FORCE_DETACH,1.0438e-02,3.1014e-01,7.2609e-01,4.2143e+00,-8.3805e-02,5.6496e-02,7.1267e-04,1.1810e-01,3.8278e-01,1.7513e+00,-2.3298e-02,6.1745e-03,-3.1422e-04,1.7965e+00,2.4104e-02
+52,4.0250e+01,DOWN_FORCE_DETACH,1.0643e-02,3.0595e-01,7.5219e-01,4.3340e+00,-8.4993e-02,5.6011e-02,6.3137e-04,1.1390e-01,4.0888e-01,1.8711e+00,-2.4485e-02,5.6895e-03,-3.9551e-04,1.9186e+00,2.5141e-02
+53,4.0667e+01,DOWN_FORCE_DETACH,1.0845e-02,2.8422e-01,8.2864e-01,4.3928e+00,-8.9851e-02,5.4410e-02,4.3274e-04,9.2169e-02,4.8533e-01,1.9298e+00,-2.9343e-02,4.0884e-03,-5.9414e-04,1.9920e+00,2.9633e-02
+54,4.1033e+01,DOWN_FORCE_DETACH,1.1054e-02,3.2531e-01,8.1936e-01,4.5234e+00,-8.9015e-02,5.7164e-02,2.6581e-04,1.3326e-01,4.7605e-01,2.0604e+00,-2.8507e-02,6.8428e-03,-7.6107e-04,2.1189e+00,2.9327e-02
+55,4.1367e+01,DOWN_FORCE_DETACH,1.1254e-02,3.2915e-01,8.2072e-01,4.5620e+00,-8.8851e-02,5.7438e-02,2.2699e-04,1.3710e-01,4.7741e-01,2.0990e+00,-2.8343e-02,7.1159e-03,-7.9989e-04,2.1570e+00,2.9234e-02
+56,4.1700e+01,DOWN_FORCE_DETACH,1.1457e-02,3.7497e-01,8.1982e-01,4.6822e+00,-8.8545e-02,6.0440e-02,1.7957e-04,1.8293e-01,4.7650e-01,2.2192e+00,-2.8037e-02,1.0118e-02,-8.4732e-04,2.2772e+00,2.9819e-02
+57,4.2050e+01,DOWN_FORCE_DETACH,1.1665e-02,4.2721e-01,8.1541e-01,4.7486e+00,-8.8036e-02,6.3944e-02,-4.3476e-05,2.3516e-01,4.7209e-01,2.2856e+00,-2.7528e-02,1.3622e-02,-1.0704e-03,2.3457e+00,3.0733e-02
+58,4.2450e+01,DOWN_SETTLE,1.1870e-02,4.6710e-01,7.1162e-01,4.7120e+00,-8.0849e-02,6.6723e-02,-2.5960e-04,2.7505e-01,3.6831e-01,2.2490e+00,-2.0341e-02,1.6401e-02,-1.2865e-03,2.2955e+00,2.6161e-02
+59,4.3117e+01,DOWN_PEAK_HOLD,1.2076e-02,5.9512e-01,6.6999e-01,4.0431e+00,-7.8658e-02,7.6500e-02,-4.7377e-04,4.0307e-01,3.2668e-01,1.5801e+00,-1.8150e-02,2.6178e-02,-1.5007e-03,1.6631e+00,3.1890e-02

Fixed/digit/ball_PLA_12.5/press_depth_10/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41be2223e8686cc449975daa3a591a431ae96b4e73a8ff99ba03b1d0a321fa19
+size 614400

Fixed/digit/ball_PLA_12.5/press_depth_10/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+1134,1792843810326381626,22489908000000,1792843810325103345,XJC_ZERO_HOLD_BEFORE_UP,10,0.0662,0.06619790941476822,0.6759592640366878,-0.004598184309302253,0.10665527434232637,0.9999999675045445,-1.590010129141606e-05,-0.00023123491687575685,-5.207086122493056e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.002631531196819928,-0.00027852295570797436,0.0001522730498526581,-2.7837453017275776e-07,-1.5000891923966215e-07,3.444663922214921e-05,-0.07363222204535232,-0.08116468601800107,0.06994092278217895,-0.001052076503525616,6.315395195686231e-06,0.0009499011771613788,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.507542119244375,0.49854510453088086,2.267113382211597,-0.4290087233524972,-1.5681731461228985,0.13168425073618323,-1.8133809866870656,-0.0001522730498526581,-4.080494368898663,0.0,0.0,0,0,0.0,0.0
+1165,1792843810586271324,22490168000000,1792843810585093921,WAIT_W2,10,0.0594,0.06619790941476822,0.6759582471818301,-0.004603177462609797,0.10665364232722832,0.9999999668900339,-1.9403623472533662e-05,-0.00023399482882243084,-5.0326087027966816e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.005426252431047177,-0.0003592015755793515,-0.009829108720797168,1.4293098767939865e-06,1.8576632864792614e-06,4.378429798257313e-05,-0.06557443841748521,-0.08124536463787245,0.05995954101152912,-0.0010503688191186493,8.323067401405154e-06,0.0009592388359218028,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.4960031599394976,0.4674850218171966,2.174463003720478,-0.419956587900802,-1.5051180632184764,0.10882290105928905,-1.8133809866870656,0.009829108720797168,-3.9878439904075433,0.0,0.0,0,0,0.0,0.0
+1186,1792843810761348435,22490343000000,1792843810761103229,WAIT_W2,10,0.0594,0.06619790941476822,0.6759622688143899,-0.004600498599831732,0.10665808613003029,0.9999999682505364,-2.008376357690623e-05,-0.0002274447339110923,-5.2984206178527924e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.002631959211288226,-7.04380697917617e-05,1.5727359615302916e-05,2.6210933705738196e-06,1.577216069711304e-06,-0.0002907189162586331,-0.07363265005982061,-0.08095660113208486,0.0698043770919416,-0.0010491770356248695,8.042620184637197e-06,0.0006247356216805965,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5128312768669023,0.4872762501138481,2.2008447930539643,-0.43029956269910774,-1.528714919125838,0.12047361072803212,-1.8133809866870656,-1.5727359615302916e-05,-4.01422577974103,0.0,0.0,0,0,0.0,0.0
+1210,1792843810961297015,22490543000000,1792843810961093517,WAIT_W2,10,0.0594,0.06619790941476822,0.6759593857012128,-0.004605954837163143,0.10665533449086204,0.9999999672841038,-2.0891666175507292e-05,-0.00023231093946791284,-4.969729895078391e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.005857208299948971,-0.00029324181157963647,0.00016570334684537502,-4.5400147426427964e-07,-3.205632136016147e-07,3.575144956139689e-05,-0.06514348254858342,-0.08117940487387273,0.06995435307917167,-0.0010522521304697076,6.144840901324278e-06,0.0009512059875006265,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5205680689010995,0.4705785910190901,2.1786566060980754,-0.4200461946297691,-1.5192171715629819,0.1142309988652282,-1.8133809866870656,-0.00016570334684537502,-3.992037592785141,0.0,0.0,0,0,0.0,0.0
+1214,1792843810994364234,22490576000000,1792843810989103924,WAIT_W2,10,0.0594,0.06619790941476822,0.6759595355064001,-0.0046349503440844585,0.10665635808142766,0.9999999676912865,-3.7772633831715e-05,-0.00023066059640959943,-3.780486347437429e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.002192991209195666,0.03692391644280261,0.00016484034838441797,2.8459529416175605e-07,-4.938020007964777e-07,3.4781167526141727e-05,-0.07319368205772805,-0.04396224661949049,0.06995349008071071,-0.0010515135337012815,5.971602114129415e-06,0.0009502357054653714,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5276757063041291,0.661596870137737,2.1593289963288984,-0.44778046318420595,-1.504932229560308,0.24684128885538645,-1.8133809866870656,-0.00016484034838441797,-3.972709983015964,0.0,0.0,0,0,0.0,0.0
+1216,1792843811011366902,22490593000000,1792843811005103273,WAIT_W2,10,0.0594,0.06619790941476822,0.6759640658063777,-0.004706433960212402,0.10666494998812028,0.999999967345672,-8.383685343282086e-05,-0.00022225235817900177,-1.8077352248698797e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.3326466250327544,0.3308690653162968,0.023274051664482542,0.022421658850999778,-0.024046047230755423,-6.968898620078395e-05,0.261645934184222,0.2499829022540037,0.09306270139680883,0.021369860722004336,-0.024039581826640496,0.0008457655517384457,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5147966693328753,1.0129877124917297,2.1335436701267505,-0.48597545238821677,-1.4791623057288328,0.4938163592012376,-1.8133809866870656,-0.023274051664482542,-3.946924656813816,0.0,0.0,0,0,0.0,0.0
+1216,1792843811011366902,22490593000000,1792843811005103273,WAIT_W2,10,0.0594,0.06619790941476822,0.6759640658063777,-0.004706433960212402,0.10666494998812028,0.999999967345672,-8.383685343282086e-05,-0.00022225235817900177,-1.8077352248698797e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.3326466250327544,0.3308690653162968,0.023274051664482542,0.022421658850999778,-0.024046047230755423,-6.968898620078395e-05,0.261645934184222,0.2499829022540037,0.09306270139680883,0.021369860722004336,-0.024039581826640496,0.0008457655517384457,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5147966693328753,1.0129877124917297,2.1335436701267505,-0.48597545238821677,-1.4791623057288328,0.4938163592012376,-1.8133809866870656,-0.023274051664482542,-3.946924656813816,0.0,0.0,0,0,0.0,0.0
+1218,1792843811027353678,22490609000000,1792843811021103553,WAIT_W2,10,0.0594,0.06619790941476822,0.6759614561158677,-0.00481164755267215,0.10667012907226492,0.9999999603124149,-0.0001469863064245992,-0.00022118324617225742,1.705960635104521e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7823425384803671,0.7758293722933798,0.09997057445853572,0.054547459790933256,-0.055742545581028806,-0.00020018872957020732,0.7113418476318346,0.6949432092310867,0.169759224190862,0.05349566166193781,-0.05573608017691388,0.0007152658083690223,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5043553164754708,1.4031343193936203,2.1157095237416725,-0.519196950668425,-1.4635496309143439,0.7683405974682693,-1.8133809866870656,-0.09997057445853572,-3.929090510428738,0.0,0.0,0,0,0.0,0.0
+1218,1792843811027353678,22490609000000,1792843811021103553,WAIT_W2,10,0.0594,0.06619790941476822,0.6759614561158677,-0.00481164755267215,0.10667012907226492,0.9999999603124149,-0.0001469863064245992,-0.00022118324617225742,1.705960635104521e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7823425384803671,0.7758293722933798,0.09997057445853572,0.054547459790933256,-0.055742545581028806,-0.00020018872957020732,0.7113418476318346,0.6949432092310867,0.169759224190862,0.05349566166193781,-0.05573608017691388,0.0007152658083690223,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5043553164754708,1.4031343193936203,2.1157095237416725,-0.519196950668425,-1.4635496309143439,0.7683405974682693,-1.8133809866870656,-0.09997057445853572,-3.929090510428738,0.0,0.0,0,0,0.0,0.0
+1220,1792843811044318305,22490626000000,1792843811037104245,WAIT_W2,10,0.0594,0.06414713710546494,0.6759637515366871,-0.004915010529910521,0.10667811166814892,0.999999948169995,-0.00021460330372782434,-0.00021683817636961521,4.5049957185215964e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.118599359728595,1.1521294306746765,0.1570771601960029,0.08232323211504836,-0.0812715107186176,0.00039074779776113893,1.0475986688800627,1.0712432676123835,0.2268658099283292,0.08127143398605291,-0.08126504531450268,0.0013062023357003686,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5439294425157756,1.6813014990657902,2.101361204212024,-0.5285154192824566,-1.4637551351379208,0.9640356484400716,-1.8133809866870656,-0.1570771601960029,-3.91474219089909,0.0,0.0,0,0,0.0,0.0
+1220,1792843811044318305,22490626000000,1792843811037104245,WAIT_W2,10,0.0594,0.06414713710546494,0.6759637515366871,-0.004915010529910521,0.10667811166814892,0.999999948169995,-0.00021460330372782434,-0.00021683817636961521,4.5049957185215964e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.118599359728595,1.1521294306746765,0.1570771601960029,0.08232323211504836,-0.0812715107186176,0.00039074779776113893,1.0475986688800627,1.0712432676123835,0.2268658099283292,0.08127143398605291,-0.08126504531450268,0.0013062023357003686,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5439294425157756,1.6813014990657902,2.101361204212024,-0.5285154192824566,-1.4637551351379208,0.9640356484400716,-1.8133809866870656,-0.1570771601960029,-3.91474219089909,0.0,0.0,0,0,0.0,0.0
+1224,1792843811077314451,22490659000000,1792843811077103569,WAIT_W2,10,0.0594,0.06414713710546494,0.675969364412978,-0.004948726280951923,0.10668650405547794,0.9999999450098078,-0.00023716536990977418,-0.0002062949267881597,5.1168698877962245e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0271747258455053,1.0699040629111192,0.27970514362681986,0.07828201794769268,-0.076074614896758,0.0002660090393277821,0.9561740349969728,0.9890178998488262,0.34949379335914615,0.07723021981869724,-0.07606814949264308,0.0011814635772670118,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6473955808520796,1.7078971824430436,2.0710255783115015,-0.5066843730171908,-1.474555752933762,0.9853275857450701,-1.8133809866870656,-0.27970514362681986,-3.8844065649985673,0.0,0.0,0,0,0.0,0.0
+1228,1792843811111263312,22490693000000,1792843811109094672,WAIT_W2,10,0.0594,0.06414713710546494,0.6759783488135302,-0.004890085658540148,0.10669961369548256,0.9999999573163258,-0.00019588840647457605,-0.0001921026031292099,3.917311168260434e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9717128016413694,1.0311474987238551,0.46960457758832813,0.07809319387069176,-0.07154878230606956,-0.0013247703748014673,0.9007121107928371,0.950261335661562,0.5393932273206544,0.07704139574169631,-0.07154231690195464,-0.00040931583686223765,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6486624149800595,1.7637988649195522,1.9538717970806876,-0.5167392059359169,-1.3999411923175977,1.0220035036150834,-1.8133809866870656,-0.46960457758832813,-3.767252783767753,0.0,0.0,0,0,0.0,0.0
+1234,1792843811161320105,22490743000000,1792843811161093733,WAIT_W2,10,0.0594,0.06414713710546494,0.6759842682336471,-0.004926124765045616,0.1067151767008855,0.9999999539099538,-0.0002213153347197618,-0.00018035003232107005,4.600372562997165e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1041586799016472,1.2660315559845965,0.778826132587191,0.09113126385377808,-0.079528652992579,-0.001437707427590059,1.0331579890531148,1.1851453929223035,0.8486147823195174,0.09007946572478263,-0.07952218758846408,-0.0005222528896508293,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5980464881732691,1.93009100376788,1.6263094161195477,-0.5369306229596036,-1.1778355732007262,1.1364612005793426,-1.8133809866870656,-0.778826132587191,-3.4396904028066135,0.0,0.0,0,0,0.0,0.0
+1240,1792843811211358132,22490793000000,1792843811205094212,WAIT_W2,10,0.0594,0.06414713710546494,0.6759942642429855,-0.004904472227928287,0.10673919512505174,0.9999999609111586,-0.00020459185591431857,-0.0001617764308456141,3.988864795436241e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9032795929270852,1.169945233781476,1.003122012701559,0.08602789754055644,-0.06581461173848584,-0.0027654627860374233,0.8322789020785527,1.089059070719183,1.0729106624338853,0.08497609941156099,-0.06580814633437092,-0.0018500082480981935,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6279825252853134,1.940411182387699,1.4623182189525465,-0.5701833427323707,-1.085949451027481,1.1378703215052082,-1.8133809866870656,-1.003122012701559,-3.2756992056396124,0.0,0.0,0,0,0.0,0.0
+1252,1792843811311319623,22490893000000,1792843811309103184,WAIT_W2,10,0.0594,0.06006070226430893,0.6760084027065629,-0.004909795139979649,0.10677331774845768,0.9999999637924306,-0.00021095948999566168,-0.0001342740598181452,3.6394670176307005e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8159003632650643,1.2354832683664636,1.2649910836380869,0.09230628715636606,-0.06022788317444341,-0.0038299690128926643,0.7448996724165319,1.1545971053041706,1.3347797333704132,0.09125448902737061,-0.06022141777032848,-0.0029145144749534346,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.4844770645447383,1.8173338820383198,1.2316612640633142,-0.5448964907054448,-0.9071491285202381,1.0599115250055748,-1.8133809866870656,-1.2649910836380869,-3.04504225075038,0.0,0.0,0,0,0.0,0.0
+1265,1792843811419261533,22491001000000,1792843811417103894,WAIT_W2,10,0.0594,0.06006070226430893,0.6760154859331732,-0.00489547187553807,0.10679062020843533,0.9999999672208164,-0.00020358720908758245,-0.00012085063422994609,3.0799395808608526e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7065398881666316,1.1976066743772371,1.3835044667450105,0.08791161957522074,-0.05263950591714437,-0.0038876445211293038,0.6355391973180993,1.116720511314944,1.4532931164773368,0.0868598214462253,-0.052633040513029444,-0.002972189983190074,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.41330832445289706,1.6500938565822247,1.008541576654272,-0.5047699116150097,-0.7524755269700111,0.9472402668823234,-1.8133809866870656,-1.3835044667450105,-2.821922563341338,0.0,0.0,0,0,0.0,0.0
+1277,1792843811519359869,22491101000000,1792843811517103346,WAIT_W2,10,0.0594,0.05951107293367386,0.6760164032433961,-0.004892313237902158,0.10679458877928466,0.99999996761394,-0.00020339538600991347,-0.00011840146840023347,2.874703633971632e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.6874150583494363,1.2033191108691907,1.4107690693490722,0.08830469379145837,-0.05201675133582786,-0.003890611119296875,0.6164143675009038,1.1224329478068977,1.4805577190813985,0.08725289566246293,-0.05201028593171293,-0.0029751565813576453,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.35492570446573657,1.8615189060429238,0.9962121976057813,-0.573644053241654,-0.7293082499375798,1.0848792946609263,-1.8133809866870656,-1.4107690693490722,-2.8095931842928468,0.0,0.0,0,0,0.0,0.0
+1303,1792843811735257315,22491317000000,1792843811729093741,UP_FORCE_RAMP,10,0.0594,0.05942242220044136,0.6760202842276599,-0.004892029133730025,0.10680255482529011,0.9999999691072552,-0.0002002504991309578,-0.00011117675117447656,2.770957411892302e-05,0.6761,-0.0046,0.10700006379999699,1.0,0.0,0.0,0.0,0.6970586507060907,1.2181184131372844,1.3977034002896935,0.09046228711444892,-0.05296724617193306,-0.0038662646081115987,0.6260579598575584,1.1372322500749914,1.4674920500220199,0.08941048898545348,-0.052960780767818134,-0.002950810070172369,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.3072115489460122,1.7210068674627825,0.933844075833725,-0.5388916138577489,-0.6753198981645459,0.9928566665569197,-1.8133809866870656,-1.3977034002896935,-2.7472250625207906,-1.3977034002896935,0.0051,0,0,2.5499997488839298e-06,9.999999025923074e-05
+1322,1792843811893323763,22491475000000,1792843811893104705,UP_FORCE_RAMP,10,0.0594,0.05940403789281845,0.6760176173034217,-0.004895571681700244,0.106800076694219,0.999999968015887,-0.00020360961710724385,-0.00011466140705952464,2.8407297032635478e-05,0.6761,-0.0046,0.10700108684983496,1.0,0.0,0.0,0.0,0.7355606430661794,1.2485951420159385,1.3658596638441836,0.09297902318195084,-0.054720174329576765,-0.0038427784652903976,0.6645599522176471,1.1677089789536454,1.43564831357651,0.09192722505295539,-0.05471370892546184,-0.002927323927351168,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.3079472498082374,1.7784597140748086,0.9461934998372891,-0.567252603448622,-0.6874665494676439,1.0274586809283754,-1.8133809866870656,-1.3658596638441836,-2.7595744865243548,-1.3658596638441836,0.02089999999999993,0,0,1.0449998209842387e-05,9.999999025923074e-05
+1346,1792843812093284095,22491675000000,1792843812089103657,UP_FORCE_RAMP,10,0.0594,0.05940075218677521,0.6760168459078494,-0.004886291135076029,0.10679953557277728,0.9999999691811514,-0.00019727381359261172,-0.00011583381665018079,2.7315375560520734e-05,0.6761,-0.0046,0.10700417184928114,1.0,0.0,0.0,0.0,0.7147516791083439,1.2341989714728219,1.344246357288662,0.09091616491914127,-0.05354757860015117,-0.0038322154201743987,0.6437509882598116,1.1533128084105289,1.4140350070209884,0.08986436679014582,-0.053541113196036244,-0.002916760882235169,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.372746901742702,1.7498680740674504,1.05601292176712,-0.560283376963664,-0.7749752728340739,1.0086768941311615,-1.8133809866870656,-1.344246357288662,-2.8693939084541853,-1.344246357288662,0.040900000000000145,0,0,2.0449996261688537e-05,9.999999025923074e-05
+1368,1792843812276275031,22491858000000,1792843812273104885,UP_FORCE_RAMP,10,0.0594,0.05940075218677521,0.6760196002070084,-0.004887139677228051,0.10680379128234131,0.9999999699130225,-0.00019572935724613148,-0.00011169790152939279,2.881693247428057e-05,0.6761,-0.0046,0.10700874684843303,1.0,0.0,0.0,0.0,0.6977399263286732,1.2221366175888488,1.3245290520849398,0.08964195084246158,-0.052294157132831295,-0.003813919719387501,0.6267392354801408,1.1412504545265558,1.394317701817266,0.08859015271346614,-0.05228769172871637,-0.0028984651814482716,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.3732263277782491,1.7108442539270508,0.9846195035102001,-0.5602810153903611,-0.7284224784979623,0.9835700094079988,-1.8133809866870656,-1.3245290520849398,-2.798000490197266,-1.3245290520849398,0.05920000000000067,0,0,2.9599994479127763e-05,9.999999025923074e-05
+1387,1792843812435336063,22492017000000,1792843812433094066,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6760163968167521,-0.004889939175080609,0.10680261783791135,0.999999969106949,-0.0001975618663526733,-0.00011588745319357096,2.7719529335706537e-05,0.6761,-0.0046,0.10701408129743131,1.0,0.0,0.0,0.0,0.6970272469356602,1.2119058601560808,1.3030634610231189,0.09002836319043282,-0.05285538502521989,-0.0038019919290349087,0.6260265560871278,1.1310196970937878,1.3728521107554452,0.08897656506143738,-0.05284891962110497,-0.002886537391095679,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.34596460502949744,1.670399020632465,1.0419844573067956,-0.5456605529387398,-0.7579096954501882,0.9581634600134635,-1.8133809866870656,-1.3030634610231189,-2.855365443993861,-1.3030634610231189,0.07510000000000112,0,0,3.754999293034545e-05,9.999999025923074e-05
+1419,1792843812701332840,22492283000000,1792843812701103203,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6760185541096844,-0.0048912868711313215,0.10680910340215902,0.99999996951714,-0.00019778640854031956,-0.00011196582575755091,2.743672254540552e-05,0.6761,-0.0046,0.10702583184520488,1.0,0.0,0.0,0.0,0.6940644790141874,1.2157193628214469,1.2532271518746367,0.08941461695616462,-0.052589744158459135,-0.0037636960289402846,0.623063788165655,1.1348331997591539,1.323015801606963,0.08836281882716918,-0.05258327875434421,-0.002848241491001055,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.3635107477148356,1.640187521695507,1.1224417613090287,-0.5480835825765764,-0.8104273451726688,0.9386254270240588,-1.8133809866870656,-1.2532271518746367,-2.9358227479960943,-1.2532271518746367,0.10170000000000189,0,0,5.084999033930083e-05,9.999999025923074e-05
+1442,1792843812893276877,22492475000000,1792843812893094047,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6760140882814907,-0.004886073670528929,0.10680852747666253,0.999999969028575,-0.00019641362635162236,-0.00011896348876931977,2.5594706696547302e-05,0.6761,-0.0046,0.10703651184316955,1.0,0.0,0.0,0.0,0.6988714273556784,1.210251040456827,1.2025730038744726,0.0890236432484705,-0.052621649943479176,-0.0037273724300446367,0.6278707365071461,1.129364877394534,1.272361653606799,0.08797184511947505,-0.05261518453936425,-0.002811917892105407,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.47283082846602437,1.7339538683811317,1.2883615702969742,-0.5800958811792141,-0.9456681165497502,0.9988421020045153,-1.8133809866870656,-1.2025730038744726,-3.10174255698404,-1.2025730038744726,0.12090000000000244,0,0,6.044998846907313e-05,9.999999025923074e-05
+1464,1792843813076324358,22492658000000,1792843813069094338,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.676011963822767,-0.004892447502126604,0.10681625646134388,0.9999999681047888,-0.0001958148354020376,-0.0001270659935980344,2.7277630947848072e-05,0.6761,-0.0046,0.1070484068408954,1.0,0.0,0.0,0.0,0.7064147833173737,1.1945077653310172,1.133994313528685,0.088272261560306,-0.05359816303882071,-0.004603665766122042,0.6354140924688413,1.1136216022687242,1.2037829632610113,0.08722046343131055,-0.05359169763470578,-0.003688211228182813,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.43402731207446565,1.7460560461364274,1.3308728014530926,-0.581003595504292,-0.9558264690654921,1.0097529672548085,-1.8133809866870656,-1.133994313528685,-3.1442537881401584,-1.133994313528685,0.139200000000001,0,0,6.959998668651236e-05,9.999999025923074e-05
+1476,1792843813176250294,22492758000000,1792843813173094294,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6759853832161802,-0.0048846908494499,0.10682004896808327,0.9999999591984641,-0.00018536219078180228,-0.0001954531589218183,2.2019428911186316e-05,0.6761,-0.0046,0.10705561433951485,1.0,0.0,0.0,0.0,0.8189339294251676,1.10054400396426,1.1027394298289948,0.08108631175275369,-0.06252037893150436,-0.004907023292487475,0.7479332385766353,1.019657840901967,1.172528079561321,0.08003451362375824,-0.06251391352738944,-0.003991568754548245,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5489129167277911,1.7249570636684206,1.3388483958855955,-0.5558151236726311,-0.9672289652126695,0.9998744495701459,-1.8133809866870656,-1.1027394298289948,-3.152229382572661,-1.1027394298289948,0.1491999999999999,0,0,7.459998571243543e-05,9.999999025923074e-05
+1499,1792843813368269511,22492950000000,1792843813361103891,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6759845515627939,-0.004882789406676027,0.10682533640324919,0.999999959793076,-0.00018255966711704737,-0.00019449744651529448,2.644658335550487e-05,0.6761,-0.0046,0.10707085433659116,1.0,0.0,0.0,0.0,0.8287145989407645,1.1153748721664185,1.0256189209252842,0.08218758814117179,-0.06257067622853989,-0.004829945273922736,0.757713908092232,1.0344887091041255,1.0954075706576105,0.08113579001217634,-0.06256421082442497,-0.0039144907359835055,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.5968639121253686,1.7617746121319537,1.441310343644364,-0.5852050964446972,-1.0503756144039056,1.0187893462122461,-1.8133809866870656,-1.0256189209252842,-3.2546913303314295,-1.0256189209252842,0.16839999999999777,0,0,8.419998384220773e-05,9.999999025923074e-05
+1523,1792843813568314701,22493150000000,1792843813561103607,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6759837189467754,-0.004886635733522736,0.10683221075793015,0.9999999611112069,-0.00017578417144452607,-0.0001930457838341462,3.246073720390534e-05,0.6761,-0.0046,0.10708868933316382,1.0,0.0,0.0,0.0,0.8179027759964081,1.1114365647599271,0.961985238224879,0.08123037746143205,-0.06152733078044172,-0.00477384555566861,0.7469020851478757,1.0305504016976341,1.0317738879572054,0.0801785793324366,-0.0615208653763268,-0.00385839101772938,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6375958685888196,1.809713030008223,1.5181431866645927,-0.610726574681872,-1.112122941975547,1.0535321519377954,-1.8133809866870656,-0.961985238224879,-3.3315241733516583,-0.961985238224879,0.18839999999999557,0,0,9.419998189405388e-05,9.999999025923074e-05
+1540,1792843813710264493,22493292000000,1792843813709093942,UP_FORCE_RAMP,10,0.0594,0.05939878150820732,0.6759836807874348,-0.0048861523811572095,0.1068366484398103,0.9999999619099135,-0.00017028825476339223,-0.00019335989179562364,3.516956656963912e-05,0.6761,-0.0046,0.10710256628049387,1.0,0.0,0.0,0.0,0.8100538906172683,1.1036256572417584,0.9085534083180329,0.08116303520512384,-0.06151573624841021,-0.004737301886392227,0.7390531997687358,1.0227394941794654,0.9783420580503592,0.0801112370761284,-0.061509270844295284,-0.0038218473484529975,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6198422460648426,1.784456627268574,1.596566499689102,-0.6075742388566994,-1.1571688608364599,1.035697486913217,-1.8133809866870656,-0.9085534083180329,-3.4099474863761676,-0.9085534083180329,0.202599999999994,0,0,0.00010129998051086465,9.999999025923074e-05
+1562,1792843813893264436,22493475000000,1792843813889094697,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6759842791242179,-0.0048887015845950335,0.10684565534501526,0.9999999620722176,-0.00017113909036262814,-0.00019137755949866686,3.720845208587909e-05,0.6761,-0.0046,0.10712193682676337,1.0,0.0,0.0,0.0,0.8181938090308367,1.1071017060275876,0.8381898500619991,0.08118225241902373,-0.06149632019488477,-0.005037649877397266,0.7471931181823043,1.0262155429652946,0.9079784997943254,0.08013045429002828,-0.06148985479076984,-0.004122195339458036,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6014765773572142,1.759136162037081,1.5539610169261584,-0.6051681531231022,-1.1242945518262637,1.016193414306254,-1.8133809866870656,-0.8381898500619991,-3.367342003613224,-0.8381898500619991,0.220899999999992,0,0,0.00011044997872830387,9.999999025923074e-05
+1588,1792843814110260117,22493692000000,1792843814109094306,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.675983999466919,-0.004886916597776234,0.10685519270810277,0.999999962538808,-0.00016770761855777476,-0.00019167592928860577,3.872647391740748e-05,0.6761,-0.0046,0.10714707627191701,1.0,0.0,0.0,0.0,0.8186205849934964,1.108718086522362,0.7578536204859811,0.08120077217734836,-0.061478538269043974,-0.005623351755869777,0.7476198941449641,1.027831923460069,0.8276422702183074,0.08014897404835292,-0.06147207286492905,-0.004707897217930548,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6667812073138781,1.6850887883046437,1.7305853520528767,-0.5812383691979062,-1.2591204518625707,0.9686751419570677,-1.8133809866870656,-0.7578536204859811,-3.543966338739942,-0.7578536204859811,0.2425999999999896,0,0,0.00012129997661455694,9.999999025923074e-05
+1611,1792843814301244607,22493883000000,1792843814297094034,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6759828183109705,-0.004882473541500601,0.10686603528933662,0.9999999633740494,-0.00016117020809411144,-0.0001931058745324934,3.7802770148083024e-05,0.6761,-0.0046,0.10717115181727178,1.0,0.0,0.0,0.0,0.8285947188191525,1.1000367459180633,0.6776304765027381,0.08022263158015046,-0.0624235015257011,-0.005602515536591624,0.7575940279706201,1.0191505828557703,0.7474191262350645,0.07917083345115501,-0.062417036121586174,-0.004687060998652394,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.6814031576695413,1.6784877456117218,1.8317129919893074,-0.5782748267875513,-1.3253913753857678,0.9660292255843528,-1.8133809866870656,-0.6776304765027381,-3.645093978676373,-0.6776304765027381,0.2616999999999875,0,0,0.00013084997475407002,9.999999025923074e-05
+1633,1792843814485257898,22494067000000,1792843814485094003,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6759781237639919,-0.004885415979494554,0.10687508380426333,0.9999999617640053,-0.00016060842244540916,-0.00020163736489405793,3.8238200556713715e-05,0.6761,-0.0046,0.10719607001246075,1.0,0.0,0.0,0.0,0.8441301246894939,1.1004779031523615,0.5546576229193712,0.08025787894267751,-0.06290156772698462,-0.00551155827194864,0.7731294338409616,1.0195917400900685,0.6244462726516974,0.07920608081368206,-0.0628951023228697,-0.00459610373400941,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.7483866462557712,1.7707794505036996,2.025953966484815,-0.6019740461167116,-1.469722951016279,1.0286966731216647,-1.8133809866870656,-0.5546576229193712,-3.839334953171881,-0.5546576229193712,0.28009999999998547,0,0,0.00014004997296176847,9.999999025923074e-05
+1651,1792843814635249402,22494217000000,1792843814633094839,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.675964681842425,-0.004887661844689363,0.10688611157263557,0.9999999541214672,-0.0001641049132678053,-0.00023473753334161135,3.417302370072763e-05,0.6761,-0.0046,0.1072176362582947,1.0,0.0,0.0,0.0,0.87690813014406,1.0692411225055687,0.46856493653241266,0.07830700678174499,-0.06540795053587284,-0.005516223814835996,0.8059074392955276,0.9883549594432757,0.538353586264739,0.07725520865274954,-0.06540148513175792,-0.004600769276896766,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.8082142384950389,1.6616255126453015,2.0432715019235332,-0.5662674996233769,-1.483469183874219,0.9575079753803444,-1.8133809866870656,-0.46856493653241266,-3.8566524886105986,-0.46856493653241266,0.2950999999999838,0,0,0.00014754997150065308,9.999999025923074e-05
+1678,1792843814860287007,22494442000000,1792843814857093829,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6759567427327778,-0.0048850383216412635,0.10690127595118948,0.9999999510176963,-0.00016042732571019649,-0.0002502534589481047,3.2307098869956995e-05,0.6761,-0.0046,0.10725209500163468,1.0,0.0,0.0,0.0,0.9433334931173207,1.0576416273375604,0.33640053312155926,0.07636552015680967,-0.0693899719745829,-0.005871407187466307,0.8723328022687884,0.9767554642752674,0.40618918285388556,0.07531372202781422,-0.06938350657046798,-0.004955952649527077,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.8588286186446532,1.7651098393435989,2.175012022437944,-0.5923781920113289,-1.5780348935406117,1.0267877761924307,-1.8133809866870656,-0.33640053312155926,-3.9883930091250095,-0.33640053312155926,0.31759999999998134,0,0,0.00015879996930898,9.999999025923074e-05
+1700,1792843815043244802,22494625000000,1792843815037094514,UP_FORCE_RAMP,10,0.0594,0.05939944088459015,0.6759539379662496,-0.004883075682135611,0.10691162521454854,0.999999949699588,-0.00015974864156298744,-0.0002560350227500169,3.114682099734146e-05,0.6761,-0.0046,0.10728198804585423,1.0,0.0,0.0,0.0,0.9486071744640832,1.0501877346594821,0.19736617761704994,0.07543719767452974,-0.07035832200271636,-0.006410969609810356,0.8776064836155508,0.9693015715971891,0.26715482734937623,0.07438539954553429,-0.07035185659860144,-0.005495515071871126,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.8670573337674785,1.8049111646642328,2.343264946789086,-0.5969427951641667,-1.6874480389591067,1.056205375047429,-1.8133809866870656,-0.19736617761704994,-4.156645933476152,-0.19736617761704994,0.3358999999999793,0,0,0.00016794996752641923,9.999999025923074e-05
+1723,1792843815235233603,22494817000000,1792843815233094558,UP_FORCE_RAMP,10,0.0594,0.05940009653568268,0.6759513506597086,-0.004881369530269038,0.1069294798991287,0.9999999495365044,-0.0001543551844210341,-0.0002600808017064134,3.0038422262846088e-05,0.6761,-0.0046,0.10731515123943883,1.0,0.0,0.0,0.0,0.9735315276300318,1.0353752778772474,0.08719130568808928,0.07449266351255948,-0.07229006611222633,-0.006359122742002871,0.9025308367814995,0.9544891148149544,0.15697995542041557,0.07344086538356404,-0.0722836007081114,-0.005443668204063641,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.9838328534415007,1.7953705311599997,2.5190048413022565,-0.597021842727526,-1.8374745698702157,1.0477662400631342,-1.8133809866870656,-0.08719130568808928,-4.332385827989322,-0.08719130568808928,0.3550999999999772,0,0,0.00017754996565619153,9.999999025923074e-05
+1743,1792843815401268568,22494983000000,1792843815397094402,UP_FORCE_RAMP,10,0.0594,0.05940009653568268,0.675944791651961,-0.004878514712941076,0.10693966806572386,0.9999999466781755,-0.0001534987019601755,-0.0002716450822997581,2.7085201202847205e-05,0.6761,-0.0046,0.10734530928360274,1.0,0.0,0.0,0.0,0.9870068380470074,1.028974853559782,-0.03736994821246028,0.07389687485714666,-0.07331107029096456,-0.00627743090562659,0.916006147198475,0.9480886904974889,0.03241870151986601,0.07284507672815121,-0.07330460488684964,-0.00536197636768736,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-0.965704021618178,1.7989763979209619,2.612083546957197,-0.5955661900926584,-1.8880418623974746,1.04924204365581,-1.8133809866870656,0.03736994821246028,-4.425464533644263,0.03736994821246028,0.3716999999999754,0,0,0.00018584996403922383,9.999999025923074e-05
+1765,1792843815585259167,22495167000000,1792843815581094198,UP_FORCE_RAMP,10,0.0594,0.05940075218677521,0.6759303743253056,-0.004880293729419378,0.10695346501656121,0.9999999361358879,-0.00015515870124528566,-0.0003076841832755585,2.067136333728287e-05,0.6761,-0.0046,0.1073797898824614,1.0,0.0,0.0,0.0,1.0423972199867797,0.9950025290717884,-0.1713037609114188,0.07082584748010941,-0.07719134035989224,-0.0062627521685419876,0.9713965291382474,0.9141163660094953,-0.10151511117909251,0.06977404935111396,-0.07718487495577732,-0.0053472976306027575,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.0913740815099384,1.8428983776949774,2.7474375725400986,-0.5991277897018676,-1.99799680201433,1.0833538583543671,-1.8133809866870656,0.1713037609114188,-4.560818559227164,0.1713037609114188,0.39009999999997336,0,0,0.00018470942065165896,-9.999999025923074e-05
+1792,1792843815810258161,22495392000000,1792843815809094483,UP_FORCE_RAMP,10,0.0594,0.05940009653568268,0.6759243773248308,-0.0048783683089083495,0.10697469333399486,0.9999999328984701,-0.00015534418618918096,-0.0003181605349998243,1.696989249462155e-05,0.6761,-0.0046,0.10742008950235568,1.0,0.0,0.0,0.0,1.0682252587399925,0.9868323792680311,-0.34670889358320356,0.07068841312300181,-0.0792516542396096,-0.006211706716898696,0.9972245678914601,0.905946216205738,-0.27692024385087727,0.06963661499400636,-0.07924518883549468,-0.005296252178959466,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.0606229158039124,1.7551834233426031,2.8859211226680133,-0.5685426471097834,-2.0768342861928986,1.024718032738634,-1.8133809866870656,0.34670889358320356,-4.699302109355079,0.34670889358320356,0.4026,0,0,0.00017345942284333204,-9.999999025923074e-05
+1813,1792843815986257761,22495568000000,1792843815985094204,UP_FORCE_HOLD,10,0.0594,0.05940009653568268,0.6759211898558154,-0.004876951506835548,0.1069866704456156,0.9999999311779658,-0.00015594266864460578,-0.00032340340788184846,1.338087379604366e-05,0.6761,-0.0046,0.10744984836092783,1.0,0.0,0.0,0.0,1.0784556354652801,0.9817023032736791,-0.4759624246529045,0.06972216220616607,-0.08022114517800914,-0.00710441198519092,1.0074549446167478,0.900816140211386,-0.4061737749205782,0.06867036407717063,-0.08021467977389422,-0.006188957447251691,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.1655951769232242,1.8056280177079662,3.136224825860695,-0.584852764375937,-2.269999677932765,1.0575047886707172,-1.8133809866870656,0.4759624246529045,-4.949605812547761,0.4759624246529045,0.4026,0,0,0.00016465942455770743,-9.999999025923074e-05
+1835,1792843816170223765,22495752000000,1792843816165094820,UP_SETTLE,10,0.0594,0.05940075218677521,0.6759172623781512,-0.004878194441758133,0.10700048442136761,0.999999928428912,-0.0001591940203540925,-0.00033035945275782967,1.0243575656945145e-05,0.6761,-0.0046,0.10747930389521224,1.0,0.0,0.0,0.0,1.0822672675296137,0.9772933578860896,-0.596595393064973,0.06976228800057829,-0.0808416511528791,-0.0070166201845833585,1.0112665766810813,0.8964071948237965,-0.5268067433326468,0.06871048987158285,-0.08083518574876418,-0.006101165646644129,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.1667242914142237,1.7828859258054022,3.234642809628457,-0.5694569657948036,-2.3351260459087957,1.045277987803703,-1.8133809866870656,0.596595393064973,-5.048023796315523,0.596595393064973,0.4026,0,0,0.00015545942635000897,-9.999999025923074e-05
+1859,1792843816370206049,22495952000000,1792843816369093947,UP_SETTLE,10,0.0594,0.05940075218677521,0.6759092356108147,-0.00487845568277128,0.10701166123148519,0.9999999229637119,-0.0001603761406200597,-0.00034601438225010403,8.30514662925522e-06,0.6761,-0.0046,0.10750940078067803,1.0,0.0,0.0,0.0,1.1086863601073134,0.969994363584815,-0.7211050562011183,0.06880224684767601,-0.0821733410973103,-0.006945653434740297,1.037685669258781,0.8891082005225218,-0.6513164064687921,0.06775044871868056,-0.08216687569319538,-0.006030198896801067,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.160095630533875,1.8035065359750184,3.3399497306208503,-0.57768070430825,-2.398834841504974,1.0589641310094815,-1.8133809866870656,0.7211050562011183,-5.153330717307916,0.7211050562011183,0.4026,0,0,0.00014545942829816282,-9.999999025923074e-05
+1883,1792843816570205165,22496152000000,1792843816565094534,UP_SETTLE,10,0.0594,0.05940075218677521,0.6759056400138675,-0.004875300052050543,0.10703019228723212,0.9999999201043618,-0.00015910685188524985,-0.00035484203801257634,2.504433252480471e-06,0.6761,-0.0046,0.10753749766653345,1.0,0.0,0.0,0.0,1.1275186536160184,0.9530290835263651,-0.8419382825367625,0.06785796749437473,-0.08413079911614461,-0.006952468917925182,1.056517962767486,0.8721429204640719,-0.7721496328044362,0.06680616936537928,-0.0841243337120297,-0.006037014379985953,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.2120000044879102,1.8507783954974037,3.5509081471507624,-0.5890808428952661,-2.545987920268878,1.0896764372718168,-1.8133809866870656,0.8419382825367625,-5.364289133837828,0.8419382825367625,0.4026,0,0,0.00013545943024631667,-9.999999025923074e-05
+1908,1792843816778193817,22496360000000,1792843816773094416,UP_SETTLE,10,0.0594,0.059401411563158035,0.6759003441862645,-0.004874885658888744,0.10704481845827589,0.999999915991231,-0.00016087157552928695,-0.00036548248366094954,-1.8126245356490813e-06,0.6761,-0.0046,0.10756459682823641,1.0,0.0,0.0,0.0,1.132095354796175,0.9396216519483003,-0.9431083389689803,0.0669041125052782,-0.084759269232759,-0.007722266954832786,1.0610946639476426,0.8587354888860071,-0.8733196892366539,0.06585231437628275,-0.08475280382864409,-0.006806812416893556,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.2126113718812122,1.8155068702762214,3.45375501927667,-0.5761274998763932,-2.484332460394995,1.067748832508294,-1.8133809866870656,0.9431083389689803,-5.267136005963736,0.9431083389689803,0.4026,0,0,0.00012505943227239668,-9.999999025923074e-05
+1933,1792843816987175928,22496569000000,1792843816981094228,UP_SETTLE,10,0.0594,0.059401411563158035,0.6758937210528507,-0.004869757734818865,0.1070523622261217,0.9999999115553414,-0.0001579027162315515,-0.0003786356776541093,-5.8248984415041215e-06,0.6761,-0.0046,0.1075896474497951,1.0,0.0,0.0,0.0,1.1431318975242175,0.9408863376147715,-1.0360191132034422,0.06602865323573191,-0.08513759839013406,-0.007798525044270059,1.0721312066756852,0.8600001745524783,-0.9662304634711159,0.06497685510673647,-0.08513113298601914,-0.0068830705063308295,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.257343713068165,1.8282749788151664,3.6357756198575317,-0.5783307018622402,-2.6113371990393572,1.0766433622791782,-1.8133809866870656,1.0360191132034422,-5.449156606544597,1.0360191132034422,0.4026,0,0,0.00011460943430821745,-9.999999025923074e-05
+1965,1792843817253233409,22496835000000,1792843817249094529,UP_SETTLE,10,0.0594,0.059402067214250565,0.675886572119489,-0.004877291428544695,0.1070655066070749,0.9999999058598726,-0.0001623670593659219,-0.00039153941906237377,-7.545291682214692e-06,0.6761,-0.0046,0.10761837130966699,1.0,0.0,0.0,0.0,1.1613184447579703,0.9222752594905348,-1.1319766766509005,0.06555653678108299,-0.08707784869032492,-0.007756783309457319,1.090317753909438,0.8413890964282417,-1.0621880269185742,0.06450473865208754,-0.08707138328621,-0.006841328771518089,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.3018077673204993,1.807680405860824,3.8357975626797494,-0.5665128264273572,-2.752288558456873,1.065050751363429,-1.8133809866870656,1.1319766766509005,-5.649178549366815,1.1319766766509005,0.4026,0,0,0.00010130943689926208,-9.999999025923074e-05
+1984,1792843817412239149,22496994000000,1792843817409094520,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758818901909848,-0.004877983114613532,0.10707373432715465,0.9999999017777258,-0.00016424123971532336,-0.0004010141389419805,-9.993929759459795e-06,0.6761,-0.0046,0.10763385146025788,1.0,0.0,0.0,0.0,1.1755041465779952,0.9189999151451683,-1.1842110364308576,0.06497798569607853,-0.08802770721490431,-0.0077308867419218896,1.1045034557294628,0.8381137520828752,-1.1144223866985312,0.06392618756708308,-0.0880212418107894,-0.0068154322039826595,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.2953587635859993,1.816389695460311,3.8324420911203907,-0.5717933546076069,-2.7474332071731267,1.0707722493527045,-1.8133809866870656,1.1842110364308576,-5.6458230778074565,1.1842110364308576,0.4026,0,0,9.335943844804439e-05,-9.999999025923074e-05
+1998,1792843817528127114,22497110000000,1792843817525094073,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758738150689618,-0.004873587339600505,0.10707611718480615,0.9999998974404861,-0.0001650921664344104,-0.00041121407234909473,-1.4472204453254094e-05,0.6761,-0.0046,0.10764434765518395,1.0,0.0,0.0,0.0,1.1872079407878091,0.9029971019784762,-1.2113271666908383,0.06398979959724427,-0.08905382677437983,-0.00773369667216337,1.1162072499392768,0.822110938916183,-1.141538516958512,0.06293800146824882,-0.08904736137026491,-0.00681824213422414,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.3710197464777476,1.8206726689554786,3.8857810378759887,-0.5724628635957212,-2.800827813166362,1.073706605456937,-1.8133809866870656,1.2113271666908383,-5.699162024563054,1.2113271666908383,0.4026,0,0,8.755943957797362e-05,-9.999999025923074e-05
+2006,1792843817595230286,22497177000000,1792843817589094775,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758439724479289,-0.00487640940338351,0.10707379952446909,0.9999998877754339,-0.00016528924785250642,-0.0004339344913541017,-1.650168025500412e-05,0.6761,-0.0046,0.10765010358765786,1.0,0.0,0.0,0.0,1.214516578308963,0.7864873644975081,-0.8029229887032245,0.05517067251554202,-0.09128916501699375,-0.008181062314868686,1.1435158874604308,0.705601201435215,-0.7331343389708982,0.05411887438654658,-0.09128269961287883,-0.007265607776929457,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.2471771838977874,1.7495051615762207,3.426003877247438,-0.5473823141318612,-2.4562304157072155,1.0231787872021112,-1.8133809866870656,0.8029229887032245,-5.239384863934504,0.8029229887032245,0.4026,0,0,8.420944023060516e-05,-9.999999025923074e-05
+2010,1792843817628150761,22497210000000,1792843817625094778,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758367820590679,-0.004876529438759397,0.10706942158278639,0.9999998836864594,-0.00016570450912026073,-0.00044304476437214324,-1.7980107876240747e-05,0.6761,-0.0046,0.10765285609919094,1.0,0.0,0.0,0.0,1.1917228009919438,0.817008520627084,-1.062306575527246,0.0567969418164008,-0.08861951459092862,-0.007900956314506456,1.1207221101434115,0.7361223575647908,-0.9925179257949198,0.05574514368740535,-0.0886130491868137,-0.006985501776567226,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.3505083760385626,1.7809336454155296,3.631649543247732,-0.5590525333323282,-2.621146627112074,1.0393383621397274,-1.8133809866870656,1.062306575527246,-5.445030529934797,1.062306575527246,0.4026,0,0,8.255944055205055e-05,-9.999999025923074e-05
+2022,1792843817728218241,22497310000000,1792843817721095761,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758395555035585,-0.004873243620004751,0.10707531545148248,0.9999998841967309,-0.0001658771623424649,-0.00044179839238008277,-1.8663776531541228e-05,0.6761,-0.0046,0.10766086454329533,1.0,0.0,0.0,0.0,1.2038401217451458,0.8383978476407247,-1.103053988116458,0.060758544341192704,-0.0890241097311682,-0.007859599987914552,1.1328394308966134,0.7575116845784315,-1.0332653383841317,0.05970674621219726,-0.08901764432705328,-0.006944145449975323,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.3701852661656555,1.8692662688527526,3.6196704516441454,-0.5945010517534184,-2.611193835577209,1.0974996581035272,-1.8133809866870656,1.103053988116458,-5.433051438331211,1.103053988116458,0.4026,0,0,7.755944152612747e-05,-9.999999025923074e-05
+2043,1792843817903211296,22497485000000,1792843817901093912,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758377417252127,-0.004872900206032248,0.10708686763753672,0.9999998825142322,-0.00016315411492710268,-0.0004464730243610608,-2.1376605600215077e-05,0.6761,-0.0046,0.10767367619571241,1.0,0.0,0.0,0.0,1.2212824837983545,0.8178238746662376,-1.1071379120111222,0.058265323011681074,-0.0909851334960557,-0.007909162081871373,1.1502817929498221,0.7369377116039445,-1.0373492622787959,0.05721352488268563,-0.09097866809194079,-0.006993707543932144,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.4516077366408573,1.778067031666152,3.75106317640833,-0.5647305190875134,-2.717273923508833,1.0429723016343049,-1.8133809866870656,1.1071379120111222,-5.564444163095396,1.1071379120111222,0.4026,0,0,6.88094432307621e-05,-9.999999025923074e-05
+2071,1792843818137214105,22497719000000,1792843818137094082,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758311248298049,-0.004872855554538786,0.10709355636275478,0.9999998746692417,-0.00017108867659800612,-0.000460554913570751,-2.6873804315445137e-05,0.6761,-0.0046,0.10768841455569624,1.0,0.0,0.0,0.0,1.2410674066237426,0.8005340833748716,-1.1872876145936313,0.05725367269252683,-0.09296140382273231,-0.007877192606740994,1.1700667157752103,0.7196479203125785,-1.117498964861305,0.05620187456353139,-0.09295493841861739,-0.006961738068801764,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.5528505467709723,1.8389630385761813,3.8137895105074624,-0.5793475930718419,-2.7834782567112906,1.0841198872329354,-1.8133809866870656,1.1872876145936313,-5.627170497194528,1.1872876145936313,0.4026,0,0,5.71094455101021e-05,-9.999999025923074e-05
+2091,1792843818303158843,22497885000000,1792843818297103902,UP_SETTLE,10,0.0594,0.059402067214250565,0.67582816676434,-0.004873071388801933,0.10709804207239457,0.9999998737555954,-0.00016851236863668327,-0.00046346232855179036,-2.716448010401287e-05,0.6761,-0.0046,0.10769720997378593,1.0,0.0,0.0,0.0,1.2416018991247495,0.808872669020757,-1.2375255731177164,0.05696260767943944,-0.09296884940160215,-0.008878587606243393,1.1706012082762172,0.7279865059584639,-1.16773692338539,0.055910809550443995,-0.09296238399748723,-0.007963133068304163,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.5652032958971691,1.8394372664910426,3.81343952977732,-0.5873472514647318,-2.7874768433272332,1.0846569564482262,-1.8133809866870656,1.2375255731177164,-5.626820516464385,1.2375255731177164,0.4026,0,0,4.88094471270698e-05,-9.999999025923074e-05
+2112,1792843818478132623,22498060000000,1792843818473094727,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758266228103554,-0.0048746458468158435,0.10710213943591787,0.9999998727080129,-0.00017007226176714359,-0.0004650939181124236,-2.8105075687070905e-05,0.6761,-0.0046,0.10770499037718317,1.0,0.0,0.0,0.0,1.2459769562233183,0.8081251215597591,-1.2580642354589058,0.05696692854875229,-0.0929654976196989,-0.008861059746294914,1.174976265374786,0.727238958497466,-1.1882755857265794,0.05591513041975684,-0.09295903221558398,-0.007945605208355685,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.5718152880923066,1.7643656876215228,3.927343228476234,-0.5572409146177704,-2.8649325823339633,1.0371438685896792,-1.8133809866870656,1.2580642354589058,-5.7407242151633,1.2580642354589058,0.4026,0,0,4.005944883170442e-05,-9.999999025923074e-05
+2136,1792843818678188454,22498260000000,1792843818673094424,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758208054135343,-0.004871914786251848,0.10710104176224802,0.9999998695063496,-0.00016951534515173152,-0.0004720069485025549,-3.0068860292630235e-05,0.6761,-0.0046,0.1077120072671453,1.0,0.0,0.0,0.0,1.2516907280898744,0.7924535377227674,-1.2771597428774533,0.05597678481325871,-0.09395499097359333,-0.008857831575549084,1.180690037241342,0.7115673746604743,-1.207371093145127,0.054924986684263266,-0.09394852556947841,-0.007942377037609855,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.6184082004986322,1.8668984424742223,3.8967333404427142,-0.5958954880608334,-2.854706323532196,1.1007529710486224,-1.8133809866870656,1.2771597428774533,-5.71011432712978,1.2771597428774533,0.4026,0,0,3.005945077985827e-05,-9.999999025923074e-05
+2157,1792843818853193653,22498435000000,1792843818849094777,UP_SETTLE,10,0.0594,0.059402067214250565,0.6758142743893493,-0.004874289979453279,0.10709898339399798,0.9999998673348455,-0.00017042024137109042,-0.00047627815747888254,-2.981968591067874e-05,0.6761,-0.0046,0.10771650642118179,1.0,0.0,0.0,0.0,1.272131685036875,0.7386864067949613,-1.2100374955623412,0.05295211169742833,-0.09592627667330027,-0.008990327315422292,1.2011309941883426,0.6578002437326682,-1.1402488458300148,0.05190031356843289,-0.09591981126918535,-0.008074872777483063,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.7097069004947858,1.7691342227320999,3.8839450244006435,-0.5724029404993332,-2.86249938602004,1.0359752156663489,-1.8133809866870656,1.2100374955623412,-5.697326011087709,1.2100374955623412,0.4026,0,0,2.130945248449289e-05,-9.999999025923074e-05
+2183,1792843819070155573,22498652000000,1792843819065094624,UP_SETTLE,10,0.0594,0.059401411563158035,0.6758119084379586,-0.004871560536987986,0.1071005843278249,0.9999998664125304,-0.00017008934834177936,-0.0004782336041197406,-3.1305257391809824e-05,0.6761,-0.0046,0.10771995877260132,1.0,0.0,0.0,0.0,1.2742774795027385,0.744672360332838,-1.21935154364975,0.052955365158441355,-0.09593477615589469,-0.008982342255922891,1.2032767886542062,0.6637861972705449,-1.1495628939174236,0.05190356702944591,-0.09592831075177977,-0.008066887717983662,-0.07100069084853239,-0.0808861630622931,0.06978864973232629,-0.0010517981289954433,6.465404114925893e-06,0.0009154545379392296,1,-1.6609446107490624,1.8636823399732523,3.8790630564088726,-0.599010807699335,-2.8416788779937736,1.098737460533961,-1.8133809866870656,1.21935154364975,-5.692444043095938,1.21935154364975,0.4026,0,0,1.045945459823982e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_12.5/press_depth_10/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792843810323563676,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.174386655e-08,-2.122571681e-09,-4.151528010e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027456893e-01,-1.170931829e-04,8.303255862e-01
+1,2.500000000e-01,WAIT_W2,1792843810587180438,-1.425874976e-06,-9.823770611e-07,-4.460952759e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.721761125e-07,-2.303849528e-08,-5.124037750e-09,7.019542069e-01,-2.325311208e-05,8.601426411e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027458497e-01,-1.171140988e-04,8.303255815e-01
+2,4.333333333e-01,WAIT_W2,1792843810765254092,-9.450143981e-07,-6.995278380e-07,-5.884040142e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.723221559e-07,-3.650048219e-08,-7.383704537e-09,7.019546878e-01,-2.297026286e-05,8.601424988e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027459499e-01,-1.171275608e-04,8.303255792e-01
+3,6.333333333e-01,WAIT_W2,1792843810961736384,8.458436601e-07,-3.202394433e-06,1.900452562e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.674206349e-07,-4.910208511e-08,-9.126899458e-09,7.019564787e-01,-2.547312946e-05,8.601449877e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027460450e-01,-1.171401624e-04,8.303255775e-01
+4,6.666666667e-01,WAIT_W2,1792843810995028682,1.766699349e-06,-3.776844288e-05,4.913874539e-06,1.636852410e-06,-3.750422864e-05,5.085252246e-06,2.168439886e-06,-3.614342756e-05,4.898593366e-06,7.019573995e-01,-6.003917790e-05,8.601480011e-01,7.019572697e-01,-5.977496366e-05,8.601481725e-01,7.027478460e-01,-1.532344879e-04,8.303304852e-01
+5,6.833333333e-01,WAIT_W2,1792843811010678289,4.337964238e-06,-9.885744544e-05,9.947582700e-06,4.494085313e-06,-9.899380613e-05,1.012014152e-05,5.271303662e-06,-9.549278787e-05,9.800613420e-06,7.019599708e-01,-1.211281805e-04,8.601530348e-01,7.019601269e-01,-1.212645412e-04,8.601532074e-01,7.027509489e-01,-2.125838482e-04,8.303353872e-01
+6,6.833333333e-01,WAIT_W2,1792843811010678289,4.337964238e-06,-9.885744544e-05,9.947582700e-06,4.494085313e-06,-9.899380613e-05,1.012014152e-05,5.271303662e-06,-9.549278787e-05,9.800613420e-06,7.019599708e-01,-1.211281805e-04,8.601530348e-01,7.019601269e-01,-1.212645412e-04,8.601532074e-01,7.027509489e-01,-2.125838482e-04,8.303353872e-01
+7,7.000000000e-01,WAIT_W2,1792843811027430250,6.931758715e-06,-2.216830211e-04,2.190004362e-05,6.926146878e-06,-2.216186447e-04,2.195621442e-05,7.985023450e-06,-2.138958658e-04,2.124871657e-05,7.019625646e-01,-2.439537561e-04,8.601649873e-01,7.019625590e-01,-2.438893798e-04,8.601650435e-01,7.027536626e-01,-3.309869261e-04,8.303468353e-01
+8,7.000000000e-01,WAIT_W2,1792843811027430250,6.931758715e-06,-2.216830211e-04,2.190004362e-05,6.926146878e-06,-2.216186447e-04,2.195621442e-05,7.985023450e-06,-2.138958658e-04,2.124871657e-05,7.019625646e-01,-2.439537561e-04,8.601649873e-01,7.019625590e-01,-2.438893798e-04,8.601650435e-01,7.027536626e-01,-3.309869261e-04,8.303468353e-01
+9,7.166666667e-01,WAIT_W2,1792843811043532250,4.028757156e-06,-3.043141561e-04,2.289215390e-05,3.798106633e-06,-3.040907057e-04,2.253332453e-05,4.827670179e-06,-2.936186835e-04,2.190190060e-05,7.019596616e-01,-3.265848912e-04,8.601659794e-01,7.019594309e-01,-3.263614407e-04,8.601656206e-01,7.027505052e-01,-4.107097438e-04,8.303474885e-01
+10,7.166666667e-01,WAIT_W2,1792843811043532250,4.028757156e-06,-3.043141561e-04,2.289215390e-05,3.798106633e-06,-3.040907057e-04,2.253332453e-05,4.827670179e-06,-2.936186835e-04,2.190190060e-05,7.019596616e-01,-3.265848912e-04,8.601659794e-01,7.019594309e-01,-3.263614407e-04,8.601656206e-01,7.027505052e-01,-4.107097438e-04,8.303474885e-01
+11,7.500000000e-01,WAIT_W2,1792843811076216916,1.169406679e-05,-3.469662486e-04,3.386593385e-05,9.465921076e-06,-3.526413030e-04,2.997490252e-05,1.079376778e-05,-3.407485366e-04,2.917598180e-05,7.019673269e-01,-3.692369836e-04,8.601769532e-01,7.019650987e-01,-3.749120380e-04,8.601730621e-01,7.027564713e-01,-4.578395969e-04,8.303547626e-01
+12,7.833333333e-01,WAIT_W2,1792843811108857911,1.738110237e-05,-2.892357489e-04,4.310662276e-05,1.753272851e-05,-2.892745487e-04,4.315923440e-05,1.939367452e-05,-2.797700292e-04,4.205808160e-05,7.019730139e-01,-3.115064839e-04,8.601861939e-01,7.019731655e-01,-3.115452837e-04,8.601862465e-01,7.027650712e-01,-3.968610895e-04,8.303676447e-01
+13,8.333333333e-01,WAIT_W2,1792843811158283036,2.386025815e-05,-3.254329210e-04,5.727747672e-05,1.995448692e-05,-3.172795361e-04,4.938528778e-05,2.206228828e-05,-3.067491745e-04,4.822907551e-05,7.019794931e-01,-3.477036560e-04,8.602003647e-01,7.019755873e-01,-3.395502711e-04,8.601924725e-01,7.027677398e-01,-4.238402349e-04,8.303738157e-01
+14,8.833333333e-01,WAIT_W2,1792843811210234869,3.587944244e-05,-2.995212725e-04,8.543497646e-05,3.550955059e-05,-3.030339873e-04,7.987243647e-05,3.872416301e-05,-2.930811510e-04,7.790686525e-05,7.019915123e-01,-3.217920075e-04,8.602285222e-01,7.019911424e-01,-3.253047223e-04,8.602229597e-01,7.027844017e-01,-4.101722114e-04,8.304034935e-01
+15,9.833333333e-01,WAIT_W2,1792843811308234535,5.183030807e-05,-3.063359716e-04,1.219447706e-04,5.176080207e-05,-3.066147842e-04,1.216442733e-04,5.649152244e-05,-2.965764465e-04,1.187697899e-04,7.020074631e-01,-3.286067066e-04,8.602650320e-01,7.020073936e-01,-3.288855192e-04,8.602647315e-01,7.028021691e-01,-4.136675068e-04,8.304443564e-01
+16,1.100000000e+00,WAIT_W2,1792843811421123873,5.547516941e-05,-2.912434305e-04,1.351404007e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.097347403e-05,-2.816080125e-04,1.322829225e-04,7.020111080e-01,-3.135141655e-04,8.602782276e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028066510e-01,-3.986990728e-04,8.304578695e-01
+17,1.200000000e+00,WAIT_W2,1792843811520715866,5.878564519e-05,-2.920011024e-04,1.432060660e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.119389315e-05,-2.815847105e-04,1.326799523e-04,7.020144185e-01,-3.142718375e-04,8.602862933e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028068714e-01,-3.986757708e-04,8.304582665e-01
+18,1.416666667e+00,UP_FORCE_RAMP,1792843811732116322,5.904349013e-05,-2.928148162e-04,1.463374441e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.153612768e-05,-2.816415526e-04,1.332055587e-04,7.020146763e-01,-3.150855512e-04,8.602894247e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028072137e-01,-3.987326129e-04,8.304587922e-01
+19,1.583333333e+00,UP_FORCE_RAMP,1792843811895750705,5.926303704e-05,-2.919004164e-04,1.459781715e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.174088986e-05,-2.816795894e-04,1.335045483e-04,7.020148959e-01,-3.141711514e-04,8.602890654e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028074184e-01,-3.987706497e-04,8.304590911e-01
+20,1.783333333e+00,UP_FORCE_RAMP,1792843812091728297,6.011740131e-05,-2.880776785e-04,1.465528334e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.194253741e-05,-2.817194175e-04,1.337860317e-04,7.020157502e-01,-3.103484135e-04,8.602896401e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028076201e-01,-3.988104778e-04,8.304593726e-01
+21,1.966666667e+00,UP_FORCE_RAMP,1792843812272666799,5.666499074e-05,-2.867924632e-04,1.446560328e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.209796246e-05,-2.817442401e-04,1.339903579e-04,7.020122978e-01,-3.090631982e-04,8.602877433e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028077755e-01,-3.988353004e-04,8.304595770e-01
+22,2.133333333e+00,UP_FORCE_RAMP,1792843812436788499,6.063462078e-05,-2.862580261e-04,1.524647502e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.222509208e-05,-2.817631117e-04,1.341511135e-04,7.020162674e-01,-3.085287612e-04,8.602955520e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028079026e-01,-3.988541720e-04,8.304597377e-01
+23,2.400000000e+00,UP_FORCE_RAMP,1792843812698282537,5.784624501e-05,-2.835122650e-04,1.507915608e-04,5.566111651e-05,-2.910003396e-04,1.351000565e-04,6.240335040e-05,-2.817951768e-04,1.343636051e-04,7.020134791e-01,-3.057830000e-04,8.602938788e-01,7.020112939e-01,-3.132710746e-04,8.602781873e-01,7.028080809e-01,-3.988862371e-04,8.304599502e-01
+24,2.600000000e+00,UP_FORCE_RAMP,1792843812894547795,5.588039274e-05,-2.855170089e-04,1.553684823e-04,5.938785149e-05,-2.885420856e-04,1.552964975e-04,6.672419010e-05,-2.794414813e-04,1.542075943e-04,7.020115132e-01,-3.077877440e-04,8.602984557e-01,7.020150207e-01,-3.108128207e-04,8.602983837e-01,7.028124017e-01,-3.965325416e-04,8.304797942e-01
+25,2.783333333e+00,UP_FORCE_RAMP,1792843813074541106,5.173740735e-05,-2.891304566e-04,1.591463278e-04,5.938785149e-05,-2.885420856e-04,1.552964975e-04,6.683339702e-05,-2.794604241e-04,1.543931450e-04,7.020073702e-01,-3.114011917e-04,8.603022336e-01,7.020150207e-01,-3.108128207e-04,8.602983837e-01,7.028125109e-01,-3.965514844e-04,8.304799797e-01
+26,2.866666667e+00,UP_FORCE_RAMP,1792843813172869364,2.722972919e-05,-2.776412995e-04,1.661997420e-04,2.424899669e-05,-2.807615531e-04,1.571274753e-04,3.006539733e-05,-2.719512210e-04,1.562147532e-04,7.019828625e-01,-2.999120345e-04,8.603092870e-01,7.019798818e-01,-3.030322881e-04,8.603002147e-01,7.027757429e-01,-3.890422813e-04,8.304818014e-01
+27,3.066666667e+00,UP_FORCE_RAMP,1792843813369654541,2.607150319e-05,-2.827274283e-04,1.738463149e-04,2.424899669e-05,-2.807615531e-04,1.571274753e-04,2.991083386e-05,-2.719555415e-04,1.563684292e-04,7.019817043e-01,-3.049981633e-04,8.603169336e-01,7.019798818e-01,-3.030322881e-04,8.603002147e-01,7.027755884e-01,-3.890466018e-04,8.304819550e-01
+28,3.266666667e+00,UP_FORCE_RAMP,1792843813565876038,2.683101075e-05,-2.878101348e-04,1.825532517e-04,2.847149070e-05,-2.799976547e-04,1.788191939e-04,3.457224085e-05,-2.712225823e-04,1.776493337e-04,7.019824638e-01,-3.100808698e-04,8.603256405e-01,7.019841043e-01,-3.022683897e-04,8.603219064e-01,7.027802498e-01,-3.883136427e-04,8.305032359e-01
+29,3.416666667e+00,UP_FORCE_RAMP,1792843813713114543,2.682433582e-05,-2.853483766e-04,1.844520093e-04,2.847149070e-05,-2.799976547e-04,1.788191939e-04,3.456897742e-05,-2.712302139e-04,1.778082656e-04,7.019824572e-01,-3.076191116e-04,8.603275392e-01,7.019841043e-01,-3.022683897e-04,8.603219064e-01,7.027802465e-01,-3.883212742e-04,8.305033949e-01
+30,3.600000000e+00,UP_FORCE_RAMP,1792843813893811295,2.734551785e-05,-2.842015325e-04,1.956502116e-04,2.847149070e-05,-2.799976547e-04,1.788191939e-04,3.456975949e-05,-2.712395480e-04,1.779597507e-04,7.019829783e-01,-3.064722675e-04,8.603387375e-01,7.019841043e-01,-3.022683897e-04,8.603219064e-01,7.027802473e-01,-3.883306083e-04,8.305035463e-01
+31,3.816666667e+00,UP_FORCE_RAMP,1792843814106215261,2.484283898e-05,-2.825556281e-04,2.026760259e-04,2.582601504e-05,-2.823806667e-04,2.009383219e-04,3.204067146e-05,-2.735501569e-04,1.995615693e-04,7.019804757e-01,-3.048263632e-04,8.603457633e-01,7.019814588e-01,-3.046514017e-04,8.603440256e-01,7.027777182e-01,-3.906412172e-04,8.305251482e-01
+32,4.016666667e+00,UP_FORCE_RAMP,1792843814302949493,2.224187757e-05,-2.856189041e-04,2.092063487e-04,2.582601504e-05,-2.823806667e-04,2.009383219e-04,3.203786362e-05,-2.735602110e-04,1.998114600e-04,7.019778747e-01,-3.078896391e-04,8.603522936e-01,7.019814588e-01,-3.046514017e-04,8.603440256e-01,7.027777154e-01,-3.906512713e-04,8.305253981e-01
+33,4.200000000e+00,UP_FORCE_RAMP,1792843814482977499,1.807143075e-05,-2.835344284e-04,2.200717767e-04,2.148085259e-05,-2.828538071e-04,2.203600905e-04,2.775373257e-05,-2.739993276e-04,2.187741548e-04,7.019737042e-01,-3.058051635e-04,8.603631590e-01,7.019771137e-01,-3.051245421e-04,8.603634473e-01,7.027734313e-01,-3.910903879e-04,8.305443608e-01
+34,4.333333333e+00,UP_FORCE_RAMP,1792843814630809480,5.528738224e-06,-2.788613328e-04,2.306859177e-04,2.148085259e-05,-2.828538071e-04,2.203600905e-04,2.773598572e-05,-2.740058864e-04,2.189855854e-04,7.019611616e-01,-3.011320678e-04,8.603737732e-01,7.019771137e-01,-3.051245421e-04,8.603634473e-01,7.027734135e-01,-3.910969467e-04,8.305445722e-01
+35,4.566666667e+00,UP_FORCE_RAMP,1792843814859908512,-1.637080931e-06,-2.797483609e-04,2.450948890e-04,6.436887893e-06,-2.789308290e-04,2.349897323e-04,1.202421480e-05,-2.702215666e-04,2.334505736e-04,7.019539957e-01,-3.020190960e-04,8.603881821e-01,7.019620697e-01,-3.012015640e-04,8.603780770e-01,7.027577018e-01,-3.873126269e-04,8.305590372e-01
+36,4.750000000e+00,UP_FORCE_RAMP,1792843815040221309,-3.753447187e-06,-2.838577268e-04,2.572340152e-04,-3.661423355e-06,-2.770243194e-04,2.521012935e-04,1.627547580e-06,-2.683966306e-04,2.503159710e-04,7.019518794e-01,-3.061284619e-04,8.604003213e-01,7.019519714e-01,-2.992950544e-04,8.603951885e-01,7.027473051e-01,-3.854876909e-04,8.305759026e-01
+37,4.950000000e+00,UP_FORCE_RAMP,1792843815236878057,-7.281565770e-06,-2.787324227e-04,2.764172711e-04,-8.026805052e-06,-2.847467211e-04,2.702694538e-04,-2.857165221e-06,-2.758319303e-04,2.682132483e-04,7.019483513e-01,-3.010031578e-04,8.604195045e-01,7.019476060e-01,-3.070174562e-04,8.604133567e-01,7.027428204e-01,-3.929229906e-04,8.305937998e-01
+38,5.116666667e+00,UP_FORCE_RAMP,1792843815400580186,-1.393603144e-05,-2.759130547e-04,2.861787655e-04,-8.026805052e-06,-2.847467211e-04,2.702694538e-04,-2.949764248e-06,-2.758462825e-04,2.685093043e-04,7.019416968e-01,-2.981837897e-04,8.604292660e-01,7.019476060e-01,-3.070174562e-04,8.604133567e-01,7.027427278e-01,-3.929373428e-04,8.305940959e-01
+39,5.300000000e+00,UP_FORCE_RAMP,1792843815580835045,-2.940387646e-05,-2.790948487e-04,2.997005391e-04,-1.362298947e-05,-2.793040923e-04,2.895623881e-04,-8.692459968e-06,-2.705798577e-04,2.875208621e-04,7.019262289e-01,-3.013655837e-04,8.604427878e-01,7.019420098e-01,-3.015748274e-04,8.604326496e-01,7.027369851e-01,-3.876709180e-04,8.306131075e-01
+40,5.533333333e+00,UP_FORCE_RAMP,1792843815810089406,-3.658498580e-05,-2.765612035e-04,3.189071845e-04,-2.892006627e-05,-2.767008373e-04,3.022186149e-04,-2.477860570e-05,-2.680255134e-04,3.001809093e-04,7.019190478e-01,-2.988319386e-04,8.604619944e-01,7.019267128e-01,-2.989715724e-04,8.604453059e-01,7.027208989e-01,-3.851165737e-04,8.306257675e-01
+41,5.716666667e+00,UP_FORCE_HOLD,1792843815989972963,-3.790027321e-05,-2.742098542e-04,3.328865796e-04,-3.506920892e-05,-2.772069329e-04,3.210909052e-04,-3.112056115e-05,-2.684735272e-04,3.187999295e-04,7.019177325e-01,-2.964805893e-04,8.604759738e-01,7.019205636e-01,-2.994776679e-04,8.604641781e-01,7.027145570e-01,-3.855645875e-04,8.306443865e-01
+42,5.850000000e+00,UP_SETTLE,1792843816173109010,-4.206363970e-05,-2.780063251e-04,3.478073652e-04,-4.030550039e-05,-2.737349227e-04,3.399087286e-04,-3.644973629e-05,-2.651425889e-04,3.373159135e-04,7.019135692e-01,-3.002770602e-04,8.604908946e-01,7.019153273e-01,-2.960056577e-04,8.604829960e-01,7.027092278e-01,-3.822336493e-04,8.306629025e-01
+43,6.050000000e+00,UP_SETTLE,1792843816366952477,-4.737125946e-05,-2.714081636e-04,3.629385462e-04,-4.694766722e-05,-2.755082219e-04,3.587775134e-04,-4.332705912e-05,-2.668585588e-04,3.560100151e-04,7.019082616e-01,-2.936788986e-04,8.605060258e-01,7.019086851e-01,-2.977789569e-04,8.605018648e-01,7.027023505e-01,-3.839496191e-04,8.306815966e-01
+44,6.250000000e+00,UP_SETTLE,1792843816567413463,-5.523808811e-05,-2.737236951e-04,3.745971451e-04,-4.694766722e-05,-2.755082219e-04,3.587775134e-04,-4.347550204e-05,-2.668532637e-04,3.564292984e-04,7.019003947e-01,-2.959944302e-04,8.605176844e-01,7.019086851e-01,-2.977789569e-04,8.605018648e-01,7.027022020e-01,-3.839443240e-04,8.306820159e-01
+45,6.450000000e+00,UP_SETTLE,1792843816777251601,-5.932940055e-05,-2.720537259e-04,3.904767554e-04,-5.619749448e-05,-2.727473375e-04,3.770879990e-04,-5.308343713e-05,-2.641358069e-04,3.745355084e-04,7.018963034e-01,-2.943244609e-04,8.605335640e-01,7.018994353e-01,-2.950180725e-04,8.605201752e-01,7.026925941e-01,-3.812268672e-04,8.307001221e-01
+46,6.666666667e+00,UP_SETTLE,1792843816989509476,-6.482848733e-05,-2.723879609e-04,3.982471648e-04,-6.199495704e-05,-2.721688487e-04,3.981106522e-04,-5.903000986e-05,-2.635653167e-04,3.953509618e-04,7.018908043e-01,-2.946586959e-04,8.605413344e-01,7.018936379e-01,-2.944395837e-04,8.605411979e-01,7.026866475e-01,-3.806563770e-04,8.307209376e-01
+47,6.933333333e+00,UP_SETTLE,1792843817251118930,-7.034122160e-05,-2.734375157e-04,4.135940074e-04,-6.199495704e-05,-2.721688487e-04,3.981106522e-04,-5.919959923e-05,-2.635517231e-04,3.958274701e-04,7.018852916e-01,-2.957082508e-04,8.605566812e-01,7.018936379e-01,-2.944395837e-04,8.605411979e-01,7.026864779e-01,-3.806427834e-04,8.307214141e-01
+48,7.100000000e+00,UP_SETTLE,1792843817415158768,-7.567754850e-05,-2.721941159e-04,4.206203332e-04,-6.988653550e-05,-2.696926856e-04,4.177463457e-04,-6.734401531e-05,-2.611486342e-04,4.151001684e-04,7.018799553e-01,-2.944648509e-04,8.605637076e-01,7.018857463e-01,-2.919634206e-04,8.605608336e-01,7.026783335e-01,-3.782396945e-04,8.307406868e-01
+49,7.216666667e+00,UP_SETTLE,1792843817529883526,-8.397697419e-05,-2.698758320e-04,4.233685084e-04,-6.988653550e-05,-2.696926856e-04,4.177463457e-04,-6.741824767e-05,-2.611418452e-04,4.152997847e-04,7.018716558e-01,-2.921465670e-04,8.605664557e-01,7.018857463e-01,-2.919634206e-04,8.605608336e-01,7.026782593e-01,-3.782329055e-04,8.307408864e-01
+50,7.283333333e+00,UP_SETTLE,1792843817595164403,-1.171249345e-04,-2.766051204e-04,4.195941122e-04,-1.215570915e-04,-2.725653257e-04,4.033447357e-04,-1.217766606e-04,-2.638896798e-04,4.013488244e-04,7.018385079e-01,-2.988758554e-04,8.605626814e-01,7.018340757e-01,-2.948360607e-04,8.605464320e-01,7.026239009e-01,-3.809807401e-04,8.307269354e-01
+51,7.316666667e+00,UP_SETTLE,1792843817628126957,-1.250585658e-04,-2.716670304e-04,4.129027375e-04,-1.249950126e-04,-2.718803124e-04,4.126890277e-04,-1.253379207e-04,-2.632329445e-04,4.104391110e-04,7.018305743e-01,-2.939377654e-04,8.605559900e-01,7.018306378e-01,-2.941510474e-04,8.605557763e-01,7.026203396e-01,-3.803240048e-04,8.307360257e-01
+52,7.416666667e+00,UP_SETTLE,1792843817726165456,-1.176344847e-04,-2.741916441e-04,4.239046407e-04,-1.108577113e-04,-2.701030096e-04,4.311118915e-04,-1.105501828e-04,-2.614656511e-04,4.284351254e-04,7.018379983e-01,-2.964623791e-04,8.605669919e-01,7.018447751e-01,-2.923737446e-04,8.605741991e-01,7.026351274e-01,-3.785567114e-04,8.307540217e-01
+53,7.600000000e+00,UP_SETTLE,1792843817906646507,-1.252891461e-04,-2.691947595e-04,4.280090602e-04,-1.108577113e-04,-2.701030096e-04,4.311118915e-04,-1.107696808e-04,-2.614477537e-04,4.287510312e-04,7.018303437e-01,-2.914654945e-04,8.605710963e-01,7.018447751e-01,-2.923737446e-04,8.605741991e-01,7.026349079e-01,-3.785388140e-04,8.307543376e-01
+54,7.816666667e+00,UP_SETTLE,1792843818136607996,-1.283693653e-04,-2.717019776e-04,4.395163988e-04,-1.108577113e-04,-2.701030096e-04,4.311118915e-04,-1.109738186e-04,-2.614309435e-04,4.290208751e-04,7.018272635e-01,-2.939727127e-04,8.605826036e-01,7.018447751e-01,-2.923737446e-04,8.605741991e-01,7.026347037e-01,-3.785220038e-04,8.307546075e-01
+55,7.983333333e+00,UP_SETTLE,1792843818299542866,-1.299550785e-04,-2.732320141e-04,4.452157693e-04,-1.301351402e-04,-2.709370228e-04,4.355658382e-04,-1.313750049e-04,-2.622494447e-04,4.335078968e-04,7.018256777e-01,-2.955027491e-04,8.605883030e-01,7.018254977e-01,-2.932077579e-04,8.605786531e-01,7.026143025e-01,-3.793405050e-04,8.307590945e-01
+56,8.166666667e+00,UP_SETTLE,1792843818480736144,-1.316162540e-04,-2.673720683e-04,4.469963837e-04,-1.301351402e-04,-2.709370228e-04,4.355658382e-04,-1.315797454e-04,-2.622331116e-04,4.336891435e-04,7.018240166e-01,-2.896428033e-04,8.605900836e-01,7.018254977e-01,-2.932077579e-04,8.605786531e-01,7.026140978e-01,-3.793241720e-04,8.307592757e-01
+57,8.366666667e+00,UP_SETTLE,1792843818676660367,-1.366829516e-04,-2.719040428e-04,4.484038319e-04,-1.301351402e-04,-2.709370228e-04,4.355658382e-04,-1.317510294e-04,-2.622165362e-04,4.338552793e-04,7.018189499e-01,-2.941747778e-04,8.605914911e-01,7.018254977e-01,-2.932077579e-04,8.605786531e-01,7.026139265e-01,-3.793075965e-04,8.307594419e-01
+58,8.550000000e+00,UP_SETTLE,1792843818856355915,-1.442132469e-04,-2.748666873e-04,4.484230169e-04,-1.301351402e-04,-2.709370228e-04,4.355658382e-04,-1.318792303e-04,-2.622030585e-04,4.339857504e-04,7.018114196e-01,-2.971374224e-04,8.605915103e-01,7.018254977e-01,-2.932077579e-04,8.605786531e-01,7.026137983e-01,-3.792941188e-04,8.307595723e-01
+59,8.766666667e+00,UP_SETTLE,1792843819072277426,-1.484490044e-04,-2.716367028e-04,4.465496802e-04,-1.459070191e-04,-2.659211308e-04,4.472661829e-04,-1.483834109e-04,-2.572846048e-04,4.455089075e-04,7.018071838e-01,-2.939074379e-04,8.605896369e-01,7.018097258e-01,-2.881918658e-04,8.605903534e-01,7.025972941e-01,-3.743756651e-04,8.307710955e-01

Fixed/digit/ball_PLA_12.5/press_depth_10/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.9128e-01,3.4322e-01,2.4630e+00,-6.0500e-02,5.0274e-02,1.0274e-03,3.9129e-04,-6.8665e-05,-5.5313e-05,4.5598e-06,2.6289e-05,-4.8382e-07,4.0110e-04,2.6686e-05
+1,2.5000e-01,WAIT_W2,4.5972e-05,2.2993e-01,3.3803e-01,2.4612e+00,-6.0102e-02,5.2968e-02,8.4990e-04,3.9037e-02,-5.2569e-03,-1.8623e-03,4.0220e-04,2.7198e-03,-1.7797e-04,3.9434e-02,2.7551e-03
+2,4.3333e-01,WAIT_W2,9.0306e-05,2.4124e-01,3.3677e-01,2.4614e+00,-6.0004e-02,5.3762e-02,7.9810e-04,5.0348e-02,-6.5243e-03,-1.6460e-03,5.0060e-04,3.5140e-03,-2.2977e-04,5.0796e-02,3.5569e-03
+3,6.3333e-01,WAIT_W2,1.3929e-04,2.6291e-01,3.3404e-01,2.4606e+00,-5.9796e-02,5.5288e-02,6.9816e-04,7.2017e-02,-9.2555e-03,-2.3777e-03,7.0835e-04,5.0403e-03,-3.2970e-04,7.2648e-02,5.1004e-03
+4,6.6667e-01,WAIT_W2,1.7490e-04,2.6289e-01,3.3403e-01,2.4606e+00,-5.9796e-02,5.5287e-02,6.9781e-04,7.1993e-02,-9.2588e-03,-2.3804e-03,7.0852e-04,5.0390e-03,-3.3005e-04,7.2625e-02,5.0993e-03
+5,6.8333e-01,WAIT_W2,2.3625e-04,2.5783e-01,6.9976e-01,2.4290e+00,-8.5587e-02,5.4964e-02,8.5234e-04,6.6935e-02,3.5646e-01,-3.4001e-02,-2.5082e-02,4.7162e-03,-1.7553e-04,3.6428e-01,2.5523e-02
+6,6.8333e-01,WAIT_W2,2.3625e-04,2.5783e-01,6.9976e-01,2.4290e+00,-8.5587e-02,5.4964e-02,8.5234e-04,6.6935e-02,3.5646e-01,-3.4001e-02,-2.5082e-02,4.7162e-03,-1.7553e-04,3.6428e-01,2.5523e-02
+7,7.0000e-01,WAIT_W2,3.5969e-04,2.4870e-01,1.2701e+00,2.4023e+00,-1.2585e-01,5.4352e-02,1.1848e-03,5.7805e-02,9.2677e-01,-6.0759e-02,-6.5341e-02,4.1038e-03,1.5691e-04,9.3055e-01,6.5470e-02
+8,7.0000e-01,WAIT_W2,3.5969e-04,2.4870e-01,1.2701e+00,2.4023e+00,-1.2585e-01,5.4352e-02,1.1848e-03,5.7805e-02,9.2677e-01,-6.0759e-02,-6.5341e-02,4.1038e-03,1.5691e-04,9.3055e-01,6.5470e-02
+9,7.1667e-01,WAIT_W2,4.4237e-04,2.5492e-01,2.4794e+00,2.3338e+00,-2.1058e-01,5.4852e-02,1.7468e-03,6.4028e-02,2.1361e+00,-1.2920e-01,-1.5008e-01,4.6046e-03,7.1890e-04,2.1410e+00,1.5015e-01
+10,7.1667e-01,WAIT_W2,4.4237e-04,2.5492e-01,2.4794e+00,2.3338e+00,-2.1058e-01,5.4852e-02,1.7468e-03,6.4028e-02,2.1361e+00,-1.2920e-01,-1.5008e-01,4.6046e-03,7.1890e-04,2.1410e+00,1.5015e-01
+11,7.5000e-01,WAIT_W2,4.9918e-04,2.6176e-01,3.5851e+00,2.3158e+00,-2.8930e-01,5.5402e-02,2.8085e-03,7.0871e-02,3.2418e+00,-1.4723e-01,-2.2880e-01,5.1546e-03,1.7807e-03,3.2459e+00,2.2886e-01
+12,7.8333e-01,WAIT_W2,5.5794e-04,2.2443e-01,3.0770e+00,2.2776e+00,-2.5392e-01,5.2822e-02,2.8289e-03,3.3532e-02,2.7338e+00,-1.8545e-01,-1.9342e-01,2.5740e-03,1.8010e-03,2.7402e+00,1.9344e-01
+13,8.3333e-01,WAIT_W2,5.9985e-04,2.0836e-01,3.1566e+00,2.2457e+00,-2.5962e-01,5.1738e-02,2.8490e-03,1.7471e-02,2.8133e+00,-2.1734e-01,-1.9912e-01,1.4905e-03,1.8211e-03,2.8217e+00,1.9913e-01
+14,8.8333e-01,WAIT_W2,6.4299e-04,1.2022e-01,2.9709e+00,2.0882e+00,-2.4726e-01,4.5746e-02,2.9229e-03,-7.0671e-02,2.6276e+00,-3.7478e-01,-1.8675e-01,-4.5021e-03,1.8950e-03,2.6551e+00,1.8682e-01
+15,9.8333e-01,WAIT_W2,6.8681e-04,1.0703e-01,2.9579e+00,2.0377e+00,-2.4647e-01,4.4859e-02,2.9431e-03,-8.3862e-02,2.6146e+00,-4.2528e-01,-1.8596e-01,-5.3891e-03,1.9153e-03,2.6503e+00,1.8605e-01
+16,1.1000e+00,WAIT_W2,7.3578e-04,8.0446e-02,2.9995e+00,1.9595e+00,-2.4995e-01,4.3044e-02,3.2177e-03,-1.1045e-01,2.6562e+00,-5.0355e-01,-1.8945e-01,-7.2037e-03,2.1899e-03,2.7058e+00,1.8960e-01
+17,1.2000e+00,WAIT_W2,7.7656e-04,9.6073e-02,2.8686e+00,1.9656e+00,-2.4109e-01,4.4123e-02,3.1884e-03,-9.4820e-02,2.5253e+00,-4.9736e-01,-1.8059e-01,-6.1247e-03,2.1605e-03,2.5755e+00,1.8070e-01
+18,1.4167e+00,UP_FORCE_RAMP,8.2433e-04,1.7022e-01,2.8357e+00,2.0876e+00,-2.3863e-01,4.9241e-02,3.0660e-03,-2.0676e-02,2.4924e+00,-3.7538e-01,-1.7812e-01,-1.0070e-03,2.0381e-03,2.5206e+00,1.7814e-01
+19,1.5833e+00,UP_FORCE_RAMP,8.7073e-04,2.1725e-01,2.8228e+00,2.1543e+00,-2.3759e-01,5.2572e-02,2.8373e-03,2.6358e-02,2.4795e+00,-3.0870e-01,-1.7709e-01,2.3238e-03,1.8094e-03,2.4987e+00,1.7711e-01
+20,1.7833e+00,UP_FORCE_RAMP,9.1581e-04,2.6455e-01,2.8130e+00,2.2233e+00,-2.3682e-01,5.5890e-02,2.4946e-03,7.3654e-02,2.4697e+00,-2.3971e-01,-1.7632e-01,5.6420e-03,1.4667e-03,2.4824e+00,1.7641e-01
+21,1.9667e+00,UP_FORCE_RAMP,9.6156e-04,2.9221e-01,2.8105e+00,2.2624e+00,-2.3659e-01,5.7776e-02,2.3561e-03,1.0131e-01,2.4672e+00,-2.0064e-01,-1.7609e-01,7.5285e-03,1.3282e-03,2.4774e+00,1.7625e-01
+22,2.1333e+00,UP_FORCE_RAMP,1.0076e-03,3.0821e-01,2.8067e+00,2.2823e+00,-2.3626e-01,5.8915e-02,2.1594e-03,1.1731e-01,2.4634e+00,-1.8070e-01,-1.7576e-01,8.6672e-03,1.1315e-03,2.4728e+00,1.7597e-01
+23,2.4000e+00,UP_FORCE_RAMP,1.0539e-03,3.3282e-01,2.8038e+00,2.3093e+00,-2.3601e-01,6.0590e-02,2.0074e-03,1.4193e-01,2.4605e+00,-1.5370e-01,-1.7551e-01,1.0342e-02,9.7957e-04,2.4694e+00,1.7582e-01
+24,2.6000e+00,UP_FORCE_RAMP,1.1013e-03,3.2931e-01,2.7738e+00,2.2321e+00,-2.3417e-01,6.0414e-02,1.8827e-03,1.3842e-01,2.4305e+00,-2.3093e-01,-1.7366e-01,1.0167e-02,8.5482e-04,2.4454e+00,1.7396e-01
+25,2.7833e+00,UP_FORCE_RAMP,1.1436e-03,3.5297e-01,2.7730e+00,2.2756e+00,-2.3409e-01,6.2049e-02,1.7526e-03,1.6208e-01,2.4297e+00,-1.8738e-01,-1.7359e-01,1.1801e-02,7.2475e-04,2.4423e+00,1.7399e-01
+26,2.8667e+00,UP_FORCE_RAMP,1.1898e-03,5.7330e-01,2.7067e+00,2.2774e+00,-2.2941e-01,7.7617e-02,9.6929e-04,3.8240e-01,2.3634e+00,-1.8566e-01,-1.6890e-01,2.7369e-02,-5.8578e-05,2.4013e+00,1.7111e-01
+27,3.0667e+00,UP_FORCE_RAMP,1.2380e-03,5.2930e-01,2.7095e+00,2.3067e+00,-2.2953e-01,7.4458e-02,8.4533e-04,3.3841e-01,2.3662e+00,-1.5627e-01,-1.6903e-01,2.4210e-02,-1.8254e-04,2.3954e+00,1.7075e-01
+28,3.2667e+00,UP_FORCE_RAMP,1.2854e-03,4.9706e-01,2.6996e+00,2.2341e+00,-2.2917e-01,7.2265e-02,7.8947e-04,3.0616e-01,2.3563e+00,-2.2892e-01,-1.6866e-01,2.2017e-02,-2.3840e-04,2.3871e+00,1.7009e-01
+29,3.4167e+00,UP_FORCE_RAMP,1.3308e-03,4.9510e-01,2.6972e+00,2.2638e+00,-2.2892e-01,7.2068e-02,6.7437e-04,3.0421e-01,2.3539e+00,-1.9917e-01,-1.6842e-01,2.1820e-02,-3.5350e-04,2.3818e+00,1.6983e-01
+30,3.6000e+00,UP_FORCE_RAMP,1.3742e-03,4.9517e-01,2.6957e+00,2.2902e+00,-2.2876e-01,7.2042e-02,5.8418e-04,3.0428e-01,2.3525e+00,-1.7280e-01,-1.6826e-01,2.1794e-02,-4.4369e-04,2.3783e+00,1.6967e-01
+31,3.8167e+00,UP_FORCE_RAMP,1.4221e-03,5.1191e-01,2.7187e+00,2.1801e+00,-2.3075e-01,7.3339e-02,4.8416e-04,3.2102e-01,2.3754e+00,-2.8294e-01,-1.7024e-01,2.3092e-02,-5.4370e-04,2.4137e+00,1.7180e-01
+32,4.0167e+00,UP_FORCE_RAMP,1.4691e-03,5.1080e-01,2.7163e+00,2.2436e+00,-2.3051e-01,7.3200e-02,4.2730e-04,3.1991e-01,2.3731e+00,-2.1946e-01,-1.7000e-01,2.2952e-02,-6.0056e-04,2.4046e+00,1.7155e-01
+33,4.2000e+00,UP_FORCE_RAMP,1.5145e-03,5.3585e-01,2.7173e+00,2.1517e+00,-2.3083e-01,7.5021e-02,2.8013e-04,3.4496e-01,2.3740e+00,-3.1131e-01,-1.7033e-01,2.4773e-02,-7.4774e-04,2.4190e+00,1.7212e-01
+34,4.3333e+00,UP_FORCE_RAMP,1.5565e-03,5.3235e-01,2.7191e+00,2.2026e+00,-2.3093e-01,7.4761e-02,2.4492e-04,3.4146e-01,2.3758e+00,-2.6037e-01,-1.7043e-01,2.4513e-02,-7.8295e-04,2.4143e+00,1.7218e-01
+35,4.5667e+00,UP_FORCE_RAMP,1.6032e-03,5.9272e-01,2.6874e+00,2.1965e+00,-2.2886e-01,7.9040e-02,-1.3485e-04,4.0183e-01,2.3441e+00,-2.6650e-01,-1.6836e-01,2.8792e-02,-1.1627e-03,2.3932e+00,1.7081e-01
+36,4.7500e+00,UP_FORCE_RAMP,1.6467e-03,6.4002e-01,2.6736e+00,2.1307e+00,-2.2816e-01,8.2464e-02,-3.6958e-04,4.4912e-01,2.3303e+00,-3.3230e-01,-1.6766e-01,3.2217e-02,-1.3974e-03,2.3964e+00,1.7073e-01
+37,4.9500e+00,UP_FORCE_RAMP,1.6969e-03,6.4299e-01,2.7463e+00,2.0683e+00,-2.3345e-01,8.2647e-02,-4.6806e-04,4.5210e-01,2.4030e+00,-3.9476e-01,-1.7295e-01,3.2399e-02,-1.4959e-03,2.4769e+00,1.7596e-01
+38,5.1167e+00,UP_FORCE_RAMP,1.7412e-03,6.2532e-01,2.7402e+00,2.1460e+00,-2.3304e-01,8.1400e-02,-5.0633e-04,4.3443e-01,2.3969e+00,-3.1698e-01,-1.7254e-01,3.1152e-02,-1.5342e-03,2.4565e+00,1.7533e-01
+39,5.3000e+00,UP_FORCE_RAMP,1.7886e-03,6.3958e-01,2.6929e+00,2.0936e+00,-2.2999e-01,8.2441e-02,-7.0259e-04,4.4869e-01,2.3496e+00,-3.6942e-01,-1.6949e-01,3.2193e-02,-1.7305e-03,2.4204e+00,1.7252e-01
+40,5.5333e+00,UP_FORCE_RAMP,1.8332e-03,6.9161e-01,2.6748e+00,2.1028e+00,-2.2884e-01,8.6145e-02,-9.9558e-04,5.0071e-01,2.3315e+00,-3.6018e-01,-1.6834e-01,3.5897e-02,-2.0234e-03,2.4117e+00,1.7213e-01
+41,5.7167e+00,UP_FORCE_HOLD,1.8805e-03,7.0370e-01,2.6813e+00,2.0446e+00,-2.2956e-01,8.7024e-02,-1.1390e-03,5.1281e-01,2.3380e+00,-4.1846e-01,-1.6905e-01,3.6776e-02,-2.1668e-03,2.4299e+00,1.7302e-01
+42,5.8500e+00,UP_SETTLE,1.9242e-03,7.1103e-01,2.6486e+00,1.9897e+00,-2.2744e-01,8.7536e-02,-1.1976e-03,5.2014e-01,2.3053e+00,-4.7331e-01,-1.6693e-01,3.7289e-02,-2.2255e-03,2.4102e+00,1.7106e-01
+43,6.0500e+00,UP_SETTLE,1.9685e-03,7.1577e-01,2.6619e+00,1.9708e+00,-2.2846e-01,8.7823e-02,-1.3490e-03,5.2488e-01,2.3186e+00,-4.9219e-01,-1.6796e-01,3.7575e-02,-2.3769e-03,2.4277e+00,1.7212e-01
+44,6.2500e+00,UP_SETTLE,2.0167e-03,7.0037e-01,2.6713e+00,2.0296e+00,-2.2917e-01,8.6778e-02,-1.4159e-03,5.0948e-01,2.3280e+00,-4.3343e-01,-1.6866e-01,3.6530e-02,-2.4438e-03,2.4222e+00,1.7259e-01
+45,6.4500e+00,UP_SETTLE,2.0616e-03,7.1921e-01,2.6526e+00,2.0123e+00,-2.2802e-01,8.8116e-02,-1.5551e-03,5.2832e-01,2.3093e+00,-4.5070e-01,-1.6752e-01,3.7868e-02,-2.5829e-03,2.4115e+00,1.7176e-01
+46,6.6667e+00,UP_SETTLE,2.1069e-03,7.2575e-01,2.6441e+00,1.9531e+00,-2.2754e-01,8.8545e-02,-1.6627e-03,5.3486e-01,2.3008e+00,-5.0995e-01,-1.6704e-01,3.8297e-02,-2.6906e-03,2.4166e+00,1.7140e-01
+47,6.9333e+00,UP_SETTLE,2.1531e-03,6.9520e-01,2.6571e+00,2.0583e+00,-2.2836e-01,8.6370e-02,-1.7466e-03,5.0431e-01,2.3138e+00,-4.0473e-01,-1.6786e-01,3.6122e-02,-2.7745e-03,2.4024e+00,1.7172e-01
+48,7.1000e+00,UP_SETTLE,2.2021e-03,7.1585e-01,2.6367e+00,2.0025e+00,-2.2707e-01,8.7824e-02,-1.8232e-03,5.2495e-01,2.2934e+00,-4.6047e-01,-1.6657e-01,3.7576e-02,-2.8511e-03,2.3973e+00,1.7078e-01
+49,7.2167e+00,UP_SETTLE,2.2252e-03,7.0745e-01,2.6403e+00,2.0320e+00,-2.2728e-01,8.7232e-02,-1.8449e-03,5.1655e-01,2.2970e+00,-4.3106e-01,-1.6678e-01,3.6984e-02,-2.8728e-03,2.3935e+00,1.7085e-01
+50,7.2833e+00,UP_SETTLE,2.2876e-03,1.0171e+00,2.6813e+00,2.1340e+00,-2.2983e-01,1.0897e-01,-2.7928e-03,8.2625e-01,2.3380e+00,-3.2902e-01,-1.6932e-01,5.8724e-02,-3.8207e-03,2.5014e+00,1.7926e-01
+51,7.3167e+00,UP_SETTLE,2.3343e-03,8.5037e-01,2.6666e+00,1.9696e+00,-2.2927e-01,9.7365e-02,-2.5221e-03,6.5948e-01,2.3233e+00,-4.9342e-01,-1.6877e-01,4.7117e-02,-3.5500e-03,2.4650e+00,1.7526e-01
+52,7.4167e+00,UP_SETTLE,2.3850e-03,8.8077e-01,2.6516e+00,2.0131e+00,-2.2802e-01,9.9608e-02,-2.8170e-03,6.8988e-01,2.3083e+00,-4.4988e-01,-1.6751e-01,4.9360e-02,-3.8449e-03,2.4508e+00,1.7467e-01
+53,7.6000e+00,UP_SETTLE,2.4309e-03,8.3828e-01,2.6604e+00,2.0468e+00,-2.2865e-01,9.6447e-02,-2.7118e-03,6.4739e-01,2.3171e+00,-4.1623e-01,-1.6815e-01,4.6199e-02,-3.7397e-03,2.4416e+00,1.7442e-01
+54,7.8167e+00,UP_SETTLE,2.4763e-03,7.9200e-01,2.6682e+00,2.1195e+00,-2.2900e-01,9.3154e-02,-2.6478e-03,6.0111e-01,2.3249e+00,-3.4347e-01,-1.6849e-01,4.2906e-02,-3.6756e-03,2.4258e+00,1.7391e-01
+55,7.9833e+00,UP_SETTLE,2.5226e-03,8.7196e-01,2.6815e+00,2.1220e+00,-2.2985e-01,9.8788e-02,-2.8388e-03,6.8106e-01,2.3382e+00,-3.4105e-01,-1.6934e-01,4.8540e-02,-3.8666e-03,2.4591e+00,1.7620e-01
+56,8.1667e+00,UP_SETTLE,2.5675e-03,8.1647e-01,2.6873e+00,2.1727e+00,-2.3003e-01,9.4799e-02,-2.7941e-03,6.2557e-01,2.3440e+00,-2.9029e-01,-1.6952e-01,4.4551e-02,-3.8220e-03,2.4434e+00,1.7532e-01
+57,8.3667e+00,UP_SETTLE,2.6122e-03,7.9467e-01,2.6893e+00,2.1927e+00,-2.3004e-01,9.3227e-02,-2.7492e-03,6.0377e-01,2.3460e+00,-2.7027e-01,-1.6954e-01,4.2980e-02,-3.7771e-03,2.4375e+00,1.7494e-01
+58,8.5500e+00,UP_SETTLE,2.6592e-03,7.7692e-01,2.6912e+00,2.2123e+00,-2.3004e-01,9.1937e-02,-2.6886e-03,5.8603e-01,2.3479e+00,-2.5076e-01,-1.6953e-01,4.1689e-02,-3.7165e-03,2.4329e+00,1.7462e-01
+59,8.7667e+00,UP_SETTLE,2.7038e-03,8.4022e-01,2.6493e+00,2.1700e+00,-2.2709e-01,9.6427e-02,-2.7191e-03,6.4933e-01,2.3061e+00,-2.9298e-01,-1.6658e-01,4.6179e-02,-3.7469e-03,2.4136e+00,1.7290e-01

Fixed/digit/ball_PLA_15/press_depth_01/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c16fbb97891a2767ba620639098e212864f6642e2a2422afab2ed95577d0dd3
+size 624640

Fixed/digit/ball_PLA_15/press_depth_01/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+2316,1792844074114367428,22753626000000,1792844074113378424,XJC_ZERO_HOLD_BEFORE_DOWN,1,0.0662,0.06620119512081146,0.6759656211200239,-0.004938400573535823,0.1068044849644068,0.9999999512289498,-0.00019128651716003448,-0.00021889166013192983,6.693931286634663e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.018320764905938702,-0.02050273123059365,-0.018321697351027566,-0.0010813529305227637,0.0005782453889149469,9.17288313060532e-06,1.3549110689083343,1.4043205830908052,0.49443820930289367,0.11007923170048788,-0.11063379746905297,0.001348679614053371,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,-0.13550647352841289,2.1871431005429454,1.5266458892171426,-0.4641895496937476,-0.9989451624124728,1.3750072094853862,1.6625214820367051,0.018321697351027566,0.13587559281956252,0.0,0.0,0,0,0.0,0.0
+2406,1792844074865496554,22754377000000,1792844074865377901,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6759644998593883,-0.004936420667638488,0.10680463306752683,0.9999999512368188,-0.0001898404632884786,-0.0002197467495995353,6.812626874216434e-05,0.6761,-0.0046,0.10699510889182051,1.0,0.0,0.0,0.0,-0.018816333287840603,-0.015755075356572945,-0.028389034569313742,-0.0011177668165373161,0.0008054600916913845,2.0597593259424028e-05,1.3544155005264324,1.409068238964826,0.4843708720846075,0.11004281781447332,-0.11040658276627653,0.0013601043241821898,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,-0.08859752683705166,2.264815834840706,1.5263012246917789,-0.4911590520232263,-0.9864196178075378,1.4245545601908096,1.6625214820367051,0.028389034569313742,0.13622025734492627,0.13622025734492627,0.2021085501210124,0,0,-1.9627327481368202e-05,-9.999999025923074e-05
+2503,1792844075673641977,22755185000000,1792844075673377949,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.675961009027235,-0.004934839563416195,0.10678421577640422,0.9999999493522966,-0.00018806604553768186,-0.0002291115425431862,6.983789717734766e-05,0.6761,-0.0046,0.10697398920007227,1.0,0.0,0.0,0.0,-0.020156629806873605,-0.04447436280044692,0.09144596283739281,-0.0023584467904865652,0.0009498324821600873,-9.122616638258764e-05,1.3530752040073994,1.380348951520952,0.604205869491314,0.10880213784052407,-0.11026221037580783,0.0012482805645401781,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.13707446490941105,2.1341388658917904,1.2684571921362597,-0.44752271112320147,-0.7556149845760012,1.343921897878381,1.6625214820367051,-0.09144596283739281,0.3940642899004454,0.3940642899004454,0.3233085501210079,0,0,-1.659385942956592e-05,9.999999025923074e-05
+2581,1792844076323753949,22755835000000,1792844076317387931,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6759620003090043,-0.004941428247936138,0.10678027632787561,0.9999999483867249,-0.00019362790371113602,-0.00022808018121890595,7.181279412084669e-05,0.6761,-0.0046,0.10696946350275868,1.0,0.0,0.0,0.0,-0.02711769425288124,-0.04528606705985916,0.1376443175166342,-0.0031831887480152227,0.0015973919116007984,-0.00012526395342766085,1.3461141395613918,1.3795372472615397,0.6504042241705554,0.10797739588299542,-0.10961465094636712,0.001214242777495105,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.07054856724693406,2.2585132485260586,1.2320695820702967,-0.4783203822078708,-0.7513471054847682,1.4298879843994439,1.6625214820367051,-0.1376443175166342,0.4304518999664084,0.4304518999664084,0.42080855012099716,0,0,-2.6852550333300584e-06,2.7123788215455136e-05
+2671,1792844077073984067,22756585000000,1792844077073387666,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.675962067918181,-0.004941587659071022,0.10677526147555169,0.9999999482944875,-0.00019338595386655277,-0.00022802892061260613,7.388214139518448e-05,0.6761,-0.0046,0.10696091918753227,1.0,0.0,0.0,0.0,-0.024718945295810313,-0.06452754755570456,0.15106218861138854,-0.0038350045902077745,0.0016078217833652847,-0.0001447544543683448,1.3485128885184627,1.3602957667656943,0.6638220952653098,0.10732558004080286,-0.10960422107460263,0.001194752276554421,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.09751463012781546,2.1065986919173367,1.1666154226073995,-0.42529607778629747,-0.7027113789654813,1.331516343763733,1.6625214820367051,-0.15106218861138854,0.49590605942930566,0.49590605942930566,0.5333085501209848,0,0,-2.4297429328272397e-05,-9.999999025923074e-05
+2762,1792844077833107463,22757344000000,1792844077825378772,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6759639218235814,-0.004942240503910858,0.10676418652303286,0.9999999492583523,-0.00018951754691259865,-0.00022634557014345244,7.600617805995604e-05,0.6761,-0.0046,0.10693077869580135,1.0,0.0,0.0,0.0,-0.036622251403956474,-0.062022960118641945,0.22544126089320315,-0.0032589582217021074,0.00180427566617207,-0.00019756649556005646,1.3366095824103166,1.362800354202757,0.7382011675471244,0.10790162640930853,-0.10940776719179585,0.0011419402353627093,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.17231247269212663,2.191556974226534,1.0641099610181566,-0.43032565973195114,-0.621358678848748,1.3873820430074268,1.6625214820367051,-0.22544126089320315,0.5984115210185486,0.5984115210185486,0.6471585501209722,0,0,-5.274265065917952e-05,-5.811903296695847e-05
+2831,1792844078408246918,22757919000000,1792844078405377841,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6759992408137514,-0.004948127493769947,0.10675470293684211,0.9999999643494172,-0.00018708538966112303,-0.0001374240753501345,9.411540220930361e-05,0.6761,-0.0046,0.1068961331456851,1.0,0.0,0.0,0.0,-0.16372648820547897,0.032193845919833874,0.2673944125880966,0.003709019269224248,0.011675670050300888,-1.732437900014809e-06,1.209505345608794,1.4570171602412327,0.7801543192420178,0.11486960390023489,-0.09953637280766703,0.001337774293022751,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.1391862254979686,2.074783567996662,1.1455630833759938,-0.3770988654521452,-0.7222470986837334,1.309427222731725,1.6625214820367051,-0.2673944125880966,0.5169583986607114,0.5169583986607114,0.7334085501209627,0,0,-6.745976377095365e-05,-9.999999025923074e-05
+2903,1792844079008329482,22758519000000,1792844079001378455,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.675998733429382,-0.004949242220386934,0.10673888488119512,0.9999999633233885,-0.00018742103591289961,-0.0001417285053262731,9.78901016383183e-05,0.6761,-0.0046,0.10685074525054415,1.0,0.0,0.0,0.0,-0.15302988227779268,0.00924099599885464,0.37108772537551427,0.0017395684153006241,0.011582098280864594,-0.00011357016353351476,1.2202019515364804,1.4340643103202535,0.8838476320294355,0.11290015304631126,-0.09962994457710332,0.001225936567389251,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.3917213306255434,2.0377507055254065,0.878075744997419,-0.3242939194420909,-0.4855719452781545,1.2909169642540408,1.6625214820367051,-0.37108772537551427,0.7844457370392861,0.7844457370392861,0.8234085501209528,0,0,-7.54241110026158e-05,9.999999025923074e-05
+2996,1792844079783473356,22759294000000,1792844079781378488,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6759956810462355,-0.004949662521467672,0.10670229057794148,0.9999999613822254,-0.00018351929099097236,-0.00015436468546207126,0.00010569118102811535,0.6761,-0.0046,0.10680545724719205,1.0,0.0,0.0,0.0,-0.14532699443426145,0.002349332451567987,0.5635620082356416,0.0013555734042200035,0.010613558775394494,-0.00028512027536050136,1.2279048393800116,1.4271726467729668,1.0763219148895629,0.11251615803523064,-0.10059848408257342,0.0010543864555622644,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.4007669744088216,2.0966762074022753,0.6372041258478911,-0.3018624574965751,-0.3257833506557401,1.3209685941890967,1.6625214820367051,-0.5635620082356416,1.025317356188814,1.025317356188814,0.93965855012094,0,0,-3.988955892400702e-05,9.999999025923074e-05
+3088,1792844080549654905,22760060000000,1792844080545387524,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6759980523887015,-0.0049501098296444975,0.1066943079803863,0.9999999623312593,-0.00018055493026182044,-0.00015078368238907486,0.00010697916817196959,0.6761,-0.0046,0.10678811996964371,1.0,0.0,0.0,0.0,-0.1583818125858485,-0.03220544338864162,0.5922116447939032,0.00018001513665315272,0.011515088097507273,-0.0002797641873037908,1.2148500212284246,1.3926178709327572,1.1049715514478244,0.11134059976766379,-0.09969695476046064,0.001059742543618975,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.36062434087375783,2.0610087646695483,0.5595036057286111,-0.2690660371296228,-0.2945588972547643,1.2950592655990216,1.6625214820367051,-0.5922116447939032,1.103017876308094,1.103017876308094,1.0545585501209678,0,0,-8.843231305982746e-06,8.932556874730047e-05
+3181,1792844081324778471,22760835000000,1792844081317388187,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6759987831709378,-0.004950446951120694,0.10668906467163507,0.9999999628241412,-0.0001777631889470437,-0.00014826983662064093,0.00011050287168398233,0.6761,-0.0046,0.10677863371203497,1.0,0.0,0.0,0.0,-0.16226891546301525,-0.018912913231705186,0.5902648890844004,0.0005261159306060303,0.01203621460166314,-0.00028017538577993417,1.2109629183512578,1.4059104010896937,1.1030247957383217,0.11168670056161667,-0.09917582825630478,0.0010593313451428316,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.3420349640907842,1.9988320068931498,0.534731436480055,-0.24009778230601392,-0.28719707397820543,1.252548731891567,1.6625214820367051,-0.5902648890844004,1.12779004555665,1.12779004555665,1.170808550121041,0,0,-2.335257482807685e-05,-9.999999025923074e-05
+3255,1792844081941934980,22761452000000,1792844081937387547,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760047681798252,-0.0049457144965174395,0.10668156404318362,0.9999999650894562,-0.0001735303719978093,-0.00013636378839165407,0.00011205390563391277,0.6761,-0.0046,0.10675646255981257,1.0,0.0,0.0,0.0,-0.17303444447123661,-0.016574795875213155,0.6223700684789957,0.0004840501949823217,0.013156396409337232,0.00029387162340453916,1.2001973893430364,1.4082485184461857,1.135129975132917,0.11164463482599296,-0.09805564644863068,0.001633378354327305,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.36034818625573006,1.9900847951200549,0.45995442227276884,-0.23728799218538418,-0.24142239926945455,1.2431860610043555,1.6625214820367051,-0.6223700684789957,1.2025670597639362,1.2025670597639362,1.2633585501210993,0,0,-4.959328182427137e-05,-5.316383030884993e-05
+3336,1792844082617105666,22762127000000,1792844082613377876,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.676013851992606,-0.004954047079511221,0.10666787625106783,0.9999999666948894,-0.0001736447031451054,-0.00011467787098080605,0.00012144787860130878,0.6761,-0.0046,0.10671332724677664,1.0,0.0,0.0,0.0,-0.1993568939582766,0.00920005598847684,0.6986005638375656,0.0024863227182028574,0.015334043969462904,0.0007015777011451629,1.1738749398559964,1.4340233703098757,1.2113604704914869,0.1136469073492135,-0.09587799888850501,0.0020410844320679286,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.46756238188686394,2.0219175654830726,0.42402004440216695,-0.2033826952686646,-0.20009139322705657,1.2609200637972597,1.6625214820367051,-0.6986005638375656,1.2385014376345382,1.2385014376345382,1.364608550121163,0,0,-7.711101332050075e-05,-9.999999025923074e-05
+3432,1792844083417220224,22762927000000,1792844083417377578,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760238266452863,-0.004956283988710384,0.10663421886593444,0.999999967838124,-0.00016943456303321135,-9.609587386307341e-05,0.0001335070305911622,0.6761,-0.0046,0.10665479314968654,1.0,0.0,0.0,0.0,-0.21871484067977853,0.010613457378859215,0.8752964197488786,0.0033787013367999746,0.01717446380121558,0.0006127621095971172,1.1545169931344945,1.435436771700258,1.3880563264027999,0.11453928596781061,-0.09403757905675234,0.001952268840519883,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.5223351505612454,2.0001993908303226,0.11414152964965793,-0.1619509916976637,0.004771834190131143,1.2385925343555115,1.6625214820367051,-0.8752964197488786,1.5483799523870472,1.5483799523870472,1.4846085501212387,0,0,-5.9415089338739395e-05,9.999999025923074e-05
+3493,1792844083925322376,22763435000000,1792844083921378539,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760240835441269,-0.0049628774295207454,0.10659727586558264,0.9999999664783874,-0.00016950965629507664,-9.808284713502115e-05,0.0001418884060462482,0.6761,-0.0046,0.10663085296247199,1.0,0.0,0.0,0.0,-0.2232924657185047,0.00030012663952438956,1.0441979855522203,0.0023156513559202396,0.017498658352240584,0.00046636208892470387,1.1499393680957684,1.4251234409609232,1.5569578922061416,0.11347623598693088,-0.09371338450572733,0.0018058688198474696,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.6140549689333775,1.9528149224038442,0.0004643851125057661,-0.12471398644923636,0.10460103768194133,1.2009272747557151,1.6625214820367051,-1.0441979855522203,1.6620570969241995,1.6620570969241995,1.5608085501212867,0,0,-3.450300542909434e-05,9.999999025923074e-05
+3612,1792844084917569824,22764427000000,1792844084917377620,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760285740554265,-0.004959823764338975,0.10658654113199784,0.9999999679305421,-0.00016045918404459765,-8.88697060329626e-05,0.00014811078475959386,0.6761,-0.0046,0.10661432241441884,1.0,0.0,0.0,0.0,-0.22423139400241143,-0.010231601265407564,1.0052546700988778,0.0013060935127591489,0.017525323013493438,0.00048600397550892954,1.1490004398118616,1.4145917130559913,1.518014576752799,0.11246667814376979,-0.09368671984447448,0.0018255107064316953,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.5320417998140342,2.025949671676064,0.05464595655562368,-0.13533448526684533,0.04365204456742049,1.2426869075174125,1.6625214820367051,-1.0052546700988778,1.6078755254810815,1.6078755254810815,1.7096085501213805,0,0,-1.490680380108878e-05,-9.999999025923074e-05
+3694,1792844085600635266,22765110000000,1792844085597387535,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760289151347054,-0.004963585401221478,0.10657269564504676,0.9999999668263604,-0.0001656506758531472,-8.653628054927408e-05,0.00015120009320576666,0.6761,-0.0046,0.10659436850231285,1.0,0.0,0.0,0.0,-0.22922119828113896,-0.019209010700508955,0.9949052130106333,0.00028772205834325104,0.01754586568705055,0.0004799509020641426,1.144010635533134,1.40561430362089,1.5076651196645545,0.11144830668935389,-0.09366617717091737,0.0018194576329869084,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.5896299655482252,2.047260260118673,-0.07727921137673248,-0.12367040031127043,0.1420950086116737,1.2528578993292145,1.6625214820367051,-0.9949052130106333,1.7398006934134376,1.7398006934134376,1.812058550121445,0,0,-4.5991213763778245e-05,-9.999999025923074e-05
+3790,1792844086400756383,22765910000000,1792844086393387307,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760364440665957,-0.004965998160784592,0.10654520905384378,0.9999999675455298,-0.00016079495072719206,-7.010258919222759e-05,0.00015994503559285049,0.6761,-0.0046,0.10654328874817681,1.0,0.0,0.0,0.0,-0.24814799073794447,-0.02835338249073449,1.094920307300809,0.00021321908298696512,0.019552503562332013,0.00043064821341544813,1.1250838430763286,1.3964699318306644,1.6076802139547302,0.1113738037139976,-0.0916595392956359,0.0017701549443382139,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.637767192567027,2.0008576035033965,-0.2005884708780958,-0.08976876143613341,0.2274463817654392,1.2184879585500519,1.6625214820367051,-1.094920307300809,1.863109952914801,1.863109952914801,1.9320585501215206,0,0,-7.97606100486636e-05,-3.007784443838344e-05
+3892,1792844087250998535,22766760000000,1792844087245378226,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.676044363918271,-0.004968651994204654,0.10649602519303523,0.9999999672331785,-0.00016173074345324483,-5.3342333861282673e-05,0.00016725509946925523,0.6761,-0.0046,0.1064640712883286,1.0,0.0,0.0,0.0,-0.2527239529219627,-0.006302476271305757,1.2243849315274529,0.0001364172686760673,0.021547642816891407,0.00035102626542224185,1.1205078808923103,1.418520838050093,1.737144838181374,0.1112970018996867,-0.08966440004107651,0.0016905329963450076,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.6573443735371253,1.9323450892554999,-0.2980749781963404,-0.04891234288699662,0.28866048406054157,1.1700828732734034,1.6625214820367051,-1.2243849315274529,1.9605964602330455,1.9605964602330455,2.0595585501216007,0,0,-0.00010035060530741292,-9.396071007217727e-05
+3959,1792844087810179845,22767319000000,1792844087809378383,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760549202272546,-0.004976501154620111,0.10645647045714568,0.9999999653187036,-0.00016899884939934197,-3.363653437302933e-05,0.00017638998962780613,0.6761,-0.0046,0.10641028062403804,1.0,0.0,0.0,0.0,-0.2669295337448343,-0.01137818232535448,1.3167499171331505,9.672262565907364e-05,0.02251478018026122,0.0002966423403516947,1.1063023000694387,1.4134451319960444,1.8295098237870717,0.11125730725666971,-0.0886972626777067,0.0016361490712744604,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7198949538897608,1.8951052744933545,-0.4812939075789442,-0.034508194371159734,0.41881758702356975,1.146740732928795,1.6625214820367051,-1.3167499171331505,2.143815389615649,2.143815389615649,2.1434085501216535,0,0,-8.989229303005419e-05,9.999999025923074e-05
+4030,1792844088401258482,22767910000000,1792844088397378661,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760578565312122,-0.004970529660615219,0.10641357670226137,0.9999999655676942,-0.00016452325455694675,-2.8775103018814923e-05,0.00018003212690322922,0.6761,-0.0046,0.10636027339304926,1.0,0.0,0.0,0.0,-0.25829550355690056,-0.020138203233913687,1.3752539497509833,-0.0009411802832945959,0.022501223006986523,0.00023780108674158044,1.1149363302573725,1.4046851110874852,1.8880138564049045,0.11021940434771604,-0.08871081985098139,0.0015773078176643462,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7176322765197526,1.8651706578949374,-0.4915214495274289,-0.019806853563031485,0.4314891745531481,1.129246336680814,1.6625214820367051,-1.3752539497509833,2.154042931564134,2.154042931564134,2.2320585501217094,0,0,-8.183212171361388e-05,-3.088028030363006e-05
+4116,1792844089118396973,22768627000000,1792844089117377378,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760615320520361,-0.004978272542422069,0.10636708705066275,0.9999999629597064,-0.00018730561359375973,-2.2934114647295388e-05,0.00017295688318704318,0.6761,-0.0046,0.10630034873587818,1.0,0.0,0.0,0.0,-0.230096296206997,-0.02326500432596945,1.425177694219692,-0.0019418075693848486,0.021411507234201974,0.00017240907114203052,1.143135537607276,1.4015583099954294,1.9379376008736133,0.10921877706162579,-0.08980053562376594,0.0015119158020647963,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7912223632467155,1.9256291215487007,-0.5902927322876244,-0.03386557487521729,0.5162404022280758,1.163649458135797,1.6625214820367051,-1.425177694219692,2.2528142143243297,2.2528142143243297,2.339608550121777,0,0,-8.759554643719548e-05,-9.999822778017915e-05
+4195,1792844089776507713,22769285000000,1792844089773387687,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760689403540268,-0.004972911081070408,0.10631792684165783,0.9999999601683764,-0.00022287611674889291,-1.0695254174025248e-05,0.00014600670431191016,0.6761,-0.0046,0.10623790800310544,1.0,0.0,0.0,0.0,-0.20277727103327692,0.0034521987664548615,1.467574999671135,-0.00022151286721489027,0.01947165137589077,0.00013353915041965352,1.1704545627809961,1.4282755130878537,1.9803349063250562,0.11093907176379575,-0.09174039148207715,0.0014730458813424193,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8314335817953449,1.9432799452166232,-0.7248780367462874,-0.03171650134431504,0.6156355609569808,1.1880238729702113,1.6625214820367051,-1.467574999671135,2.3873995187829924,2.3873995187829924,2.4383085501218393,0,0,-0.00010436629544333253,9.375003137546684e-05
+4265,1792844090360603417,22769869000000,1792844090357387653,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760772505688647,-0.004980738343764829,0.10626659284774652,0.9999999582370291,-0.0002250919218054196,2.38131902511856e-06,0.00015587418049505734,0.6761,-0.0046,0.10617238682734659,1.0,0.0,0.0,0.0,-0.22141570589817516,-0.005435458507229818,1.5431741148580649,-0.0009175403488140138,0.020487866336963076,8.646432700838832e-05,1.1518161279160979,1.419387855814169,2.055934021511986,0.11024304428219663,-0.09072417652100484,0.001425971057931154,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8417028738692787,2.0141445643153646,-0.6685633648963717,-0.05305417707820253,0.5763722173530981,1.2284958533536694,1.6625214820367051,-1.5431741148580649,2.3310848469330767,2.3310848469330767,2.5259085501218945,0,0,-0.00011941583775573606,-9.999999025923074e-05
+4350,1792844091068734266,22770577000000,1792844091065387602,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760891917880482,-0.004979658982779095,0.10619765004006196,0.9999999564244793,-0.00022521732871230048,1.662497904979418e-05,0.00016611643060534989,0.6761,-0.0046,0.10608818001388723,1.0,0.0,0.0,0.0,-0.22949913807947353,-0.009636361624513645,1.6057485114290273,-0.0019215611886597705,0.02248848724788534,4.42970153084418e-05,1.1437326957347995,1.4151869526968852,2.1185084180829485,0.10923902344235087,-0.08872355561008258,0.0013838037462312075,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8916489018450102,1.888383582140672,-0.7790721952141472,-0.015740011638999997,0.660303028497042,1.1447452436682461,1.6625214820367051,-1.6057485114290273,2.4415936772508524,2.4415936772508524,2.6321085501219614,0,0,-0.00012174412676177327,-9.999999025923074e-05
+4423,1792844091676880634,22771185000000,1792844091669387905,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6760951708366849,-0.004989220135404226,0.10613203674843533,0.9999999533198385,-0.00023043771403026756,2.4114178413483318e-05,0.00017640904538293015,0.6761,-0.0046,0.10600723092079609,1.0,0.0,0.0,0.0,-0.2212822635419276,-0.02371724271485176,1.6649409915000333,-0.0030392406241127184,0.022523884897882415,-1.4037437610266114e-05,1.1519495702723455,1.401106071606547,2.1777008981539545,0.10812134400689792,-0.0886881579600855,0.0013254692933124996,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9246006034364423,1.9735260205109344,-0.9429393906473916,-0.03490868880692028,0.7722518317897158,1.201970710819636,1.6625214820367051,-1.6649409915000333,2.605460872684097,2.605460872684097,2.723308550122019,0,0,-0.00014193000330869362,5.179700840274933e-06
+4497,1792844092293964394,22771802000000,1792844092293387282,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761078534006352,-0.0049902510129453586,0.10605733328152735,0.9999999503844549,-0.0002326352204011096,4.586565457019886e-05,0.000185610203672121,0.6761,-0.0046,0.10591739693586118,1.0,0.0,0.0,0.0,-0.2231858672825553,-0.04073161247897894,1.7260837732538081,-0.005091024817775569,0.022550888934978447,-8.596627865510966e-05,1.1500459665317178,1.38409170184242,2.2388436799077294,0.10606955981323507,-0.08866115392298947,0.001253540452267656,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9149974775481964,1.939897593504024,-0.8955241493085824,-0.031582916461140274,0.7407567099418251,1.1763589280800373,1.6625214820367051,-1.7260837732538081,2.5580456313452875,2.5580456313452875,2.815858550122077,0,0,-0.0001491530414829675,-9.999997638144293e-05
+4574,1792844092936143076,22772444000000,1792844092933378585,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761166859179647,-0.004988698292031833,0.10597082019171682,0.9999999463105843,-0.0002446163873265598,6.0453480083859005e-05,0.00018796247575400324,0.6761,-0.0046,0.10581638669123955,1.0,0.0,0.0,0.0,-0.21883775418997975,-0.06173539641729353,1.8045568970437595,-0.006775232300590475,0.022565620578330517,-0.00016843178272792862,1.1543940796242933,1.3630879179041053,2.317316803697681,0.10438535233042016,-0.0886464222796374,0.0011710749481948371,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9356798259437853,1.8561770388164216,-1.1085081726106751,-0.0023715554634900398,0.8817047974357116,1.1196948749596174,1.6625214820367051,-1.8045568970437595,2.7710296546473803,2.7710296546473803,2.912158550122138,0,0,-0.00016117389533909087,-8.263413364260842e-05
+4655,1792844093611215704,22773119000000,1792844093605378366,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761272485252756,-0.004992592937925019,0.10587321134570053,0.9999999372149864,-0.0002853033505146104,8.06791884020714e-05,0.0001706040851694828,0.6761,-0.0046,0.10570177114859305,1.0,0.0,0.0,0.0,-0.18251192086917256,-0.05618610279502567,1.8266576667110739,-0.006310619050934288,0.020536316412587047,0.0006828763881881442,1.1907199129451005,1.3686372115263732,2.339417573364995,0.10484996558007635,-0.09067572644538087,0.00202238311911091,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9801490417104533,1.979227064631133,-1.2303376590062283,-0.020276852512399503,0.9676964934345874,1.2018776014500332,1.6625214820367051,-1.8266576667110739,2.8928591410429334,2.8928591410429334,3.0134085501222017,0,0,-0.00017784444528570897,9.32235636171896e-05
+4735,1792844094277403482,22773785000000,1792844094273378886,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761349794046283,-0.004994242330620023,0.10576653972416596,0.9999999311052926,-0.00030321188177669214,9.010277990187854e-05,0.00017081076507190283,0.6761,-0.0046,0.10557843530508208,1.0,0.0,0.0,0.0,-0.17492912919955095,-0.08835250958371321,1.8753623842226816,-0.009148958167093837,0.020392192088817485,-0.00010133928336767675,1.198302704614722,1.3364708047376856,2.388122290876603,0.1020116264639168,-0.09081985076915043,0.001238167447555089,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,1.0409889962647445,1.9999016091130297,-1.249394615079096,-0.0248769566901165,1.0045468432659945,1.2133713781501887,1.6625214820367051,-1.8753623842226816,2.9119160971158013,2.9119160971158013,3.1133085501222646,0,0,-0.00019457635595385015,-9.999999025923074e-05
+4802,1792844094836469544,22774344000000,1792844094829378674,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761435219166939,-0.004997007725244183,0.10566654683630397,0.9999999265110873,-0.0003077710379766797,0.0001040381533918126,0.00018131115427984983,0.6761,-0.0046,0.10546578736649076,1.0,0.0,0.0,0.0,-0.1701945573469339,-0.12581268496205023,1.9330926277430085,-0.011186243166001697,0.019578512515554952,0.0006630914494511805,1.2030372764673392,1.2990106293593486,2.4458525343969297,0.09997434146500894,-0.09163353034241296,0.002002598180373946,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9719264055770167,1.863936260103888,-1.3650280315416101,0.020558709126868566,1.0579235715229818,1.1265312618297405,1.6625214820367051,-1.9330926277430085,3.0275495135783155,3.0275495135783155,3.1971585501223174,0,0,-0.0002098377584184494,6.370620773380869e-05
+4865,1792844095361585864,22774869000000,1792844095361387701,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761509962689206,-0.005000420211660066,0.10556236479735708,0.9999999710271598,-2.070931534827056e-05,0.00011564534404070023,0.0001886420493886504,0.6761,-0.0046,0.10534969182912192,1.0,0.0,0.0,0.0,-0.1682403198570177,-0.16027455520542544,1.9592867207292084,-0.015245853721276681,0.019606138238101034,-0.00043014368390638586,1.2049915139572553,1.2645487591159734,2.4720466273831296,0.09591473090973396,-0.09160590461986688,0.0009093630470163799,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9829264784186872,2.0238430855651863,-1.3469146464524218,-0.062162608892886134,1.0572939388183038,1.1784367337110861,1.6625214820367051,-1.9592867207292084,3.009436128489127,3.009436128489127,3.275908550122367,0,0,-0.00023187997407888983,-9.999999025923074e-05
+4930,1792844095902687108,22775410000000,1792844095901387967,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761556273115286,-0.005003246631431578,0.10544363974454937,0.999999968082825,-4.000820390242884e-05,0.00012356591392041595,0.00019597964700702173,0.6761,-0.0046,0.10521820187345604,1.0,0.0,0.0,0.0,-0.15787206489397354,-0.19468008974477757,1.992054037937475,-0.01728129113538139,0.018674694122471774,-0.0004507646221050816,1.2153597689202995,1.2301432245766213,2.504813944591396,0.09387929349562925,-0.09253734873549614,0.0008887421088176841,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,1.0063780363033135,1.9800087682597634,-1.4621953510328043,-0.027468999440117405,1.1351859100651145,1.170830864302895,1.6625214820367051,-1.992054037937475,3.1247168330695096,3.1247168330695096,3.357058550122418,0,0,-0.00025492534908996687,-9.999999025923074e-05
+4985,1792844096361710789,22775869000000,1792844096361388338,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761616013706554,-0.00499976284330015,0.10533099916878141,0.9999999682130429,-0.00012278348066596025,0.00013736885846294758,0.00014515781454539024,0.6761,-0.0046,0.10509808254782564,1.0,0.0,0.0,0.0,-0.10230923095121613,-0.17492951409143687,2.042599595842208,-0.015365164787459529,0.01484358727287495,0.0004620674346758509,1.270922602863057,1.249893800229962,2.5553595024961293,0.09579541984355111,-0.09636845558509297,0.0018015741655986166,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,1.0157326308967067,1.9155772093020664,-1.5391592692350218,0.027924969426607018,1.1867020108031894,1.1585957487901763,1.6625214820367051,-2.042599595842208,3.201680751271727,3.201680751271727,3.4259085501224615,0,0,-0.0002687900634108683,-2.8615677779089427e-06
+5046,1792844096869867041,22776377000000,1792844096865388457,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761649920937695,-0.00500364484703282,0.10519694026197027,0.9999999634816036,-0.00013273460279478904,0.00014147292077987085,0.00016384930187842732,0.6761,-0.0046,0.10495663240575097,1.0,0.0,0.0,0.0,-0.09984591836783752,-0.23107269783980278,2.0571407998916267,-0.02027440285713454,0.015303060828956064,0.0004015452316287881,1.2733859154464355,1.193750616481596,2.569900706545548,0.0908861817738761,-0.09590898202901185,0.0017410519625515538,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9417112731614701,1.9335332635143907,-1.581816260020129,0.042817027653349105,1.1934091212178648,1.2023933267075837,1.6625214820367051,-2.0571407998916267,3.2443377420568345,3.2443377420568345,3.5021085501225095,0,0,-0.0002896247368975021,-9.094240224628009e-05
+5099,1792844097311912037,22776819000000,1792844097309387633,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761646932522982,-0.0050030951682829335,0.10506651060565053,0.9999999602510189,-0.00013275382909377402,0.00014118032523128618,0.0001827166157499108,0.6761,-0.0046,0.10482459379273454,1.0,0.0,0.0,0.0,-0.09804853817142845,-0.2798024211465404,2.0518803513127284,-0.024369159449585717,0.015721511413662945,0.0003637078233650075,1.2751832956428446,1.1450208931748584,2.5646402579666496,0.08679142518142492,-0.09549053144430497,0.0017032145542877732,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9626855968703727,1.772856394610869,-1.6932714924539571,0.0913515684876181,1.2737389119162839,1.0989165174702205,1.6625214820367051,-2.0518803513127284,3.3557929744906625,3.3557929744906625,3.5684085501225513,0,0,-0.00030874880129341955,8.591256458879144e-05
+5150,1792844097737048901,22777244000000,1792844097733378057,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761670744941856,-0.0050096688967623945,0.10493122628780148,0.9999999557509462,-0.0001432510345106984,0.0001446407460361691,0.00019621204215469285,0.6761,-0.0046,0.10468937543556585,1.0,0.0,0.0,0.0,-0.10091070943945524,-0.3119803652045987,2.0723010672917055,-0.027441094223093127,0.015806117021465282,0.0003005337791628,1.2723211243748178,1.1128429491168002,2.5850609739456267,0.08371949040791751,-0.09540592583650263,0.0016400405100855657,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8608586419711395,1.7427356369259799,-1.551833796368673,0.10293108951571192,1.1567372990037077,1.078416313338152,1.6625214820367051,-2.0723010672917055,3.214355278405378,3.214355278405378,3.6321585501225915,0,0,-0.0003283618679420216,-9.999999025923074e-05
+5203,1792844098178157507,22777685000000,1792844098173378955,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761700397392886,-0.005013999438439597,0.10478613697051979,0.9999999512378495,-0.0001680655084827643,0.0001506748034144525,0.00019498269530431758,0.6761,-0.0046,0.10453971685275276,1.0,0.0,0.0,0.0,-0.10386308853815285,-0.35878501298561605,2.0757547216819083,-0.03047972615770382,0.015204734363192376,0.0002577485803146823,1.2693687452761202,1.0660383013357828,2.5885146283358296,0.08068085847330682,-0.09600730849477554,0.001597255311237448,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8674206816565295,1.729491990411934,-1.6103746265012138,0.1279469234558037,1.1950758393431837,1.071231611172556,1.6625214820367051,-2.0757547216819083,3.272896108537919,3.272896108537919,3.698308550122633,0,0,-0.00035041186364634234,-9.999999025923074e-05
+5252,1792844098587234806,22778094000000,1792844098581378657,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761727855520455,-0.005013187266925987,0.10464586873997365,0.9999999467768975,-0.0001916255224443739,0.00015563301927942538,0.0001922162552423944,0.6761,-0.0046,0.10439222660133812,1.0,0.0,0.0,0.0,-0.09383498656522749,-0.3841418458595447,2.0372584650645473,-0.03189919967714104,0.01488864829813824,0.00027503821313812956,1.2793968472490456,1.0406814684618542,2.5500183717184686,0.0792613849538696,-0.09632339455982968,0.0016145449440608953,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8563961405188344,1.7733421599986825,-1.6176702279382966,0.11743767038887809,1.2008862867953634,1.0983759144141385,1.6625214820367051,-2.0372584650645473,3.2801917099750018,3.2801917099750018,3.759658550122672,0,0,-0.0003708618596623677,-9.999999025923074e-05
+5297,1792844098962204615,22778469000000,1792844098961377988,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761743306370998,-0.0050189708476403045,0.10450624847922875,0.9999999417632939,-0.00021174860329689887,0.0001602343628213105,0.0001934004936833985,0.6761,-0.0046,0.10424964715465146,1.0,0.0,0.0,0.0,-0.09966145856723085,-0.4111992249222345,2.0254146754674265,-0.034419914733789594,0.014939525860483471,0.0002542989660179176,1.2735703752470422,1.0136240893991644,2.5381745821213477,0.07674066989722104,-0.09627251699748444,0.0015938056969406833,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9040191334418596,1.6328824531860062,-1.5968246138604931,0.18393802182371613,1.2025511820037837,1.0083577945168165,1.6625214820367051,-2.0254146754674265,3.2593460958971985,3.2593460958971985,3.8159085501227072,0,0,-0.00038961185600957924,-9.999999025923074e-05
+5343,1792844099345376187,22778852000000,1792844099341378158,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.676173060829414,-0.005019329800513669,0.10434933622257055,0.9999999592687778,-0.0001185338321876571,0.00015843473091106032,0.0001837211850410879,0.6761,-0.0046,0.10409676816451609,1.0,0.0,0.0,0.0,-0.08268352463010187,-0.42629063735015726,1.984975982136989,-0.035543107316227715,0.013959308324476546,0.0002614546062076684,1.2905483091841712,0.9985326769712416,2.4977358887909102,0.07561747731478292,-0.09725273453349137,0.0016009613371304342,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8660086265286174,1.6248916627298275,-1.4644941494655264,0.2044382032963866,1.103110074701958,1.0122311349478195,1.6625214820367051,-1.984975982136989,3.1270156315022315,3.1270156315022315,3.8733585501227434,0,0,-0.0004087618522788646,-9.999999025923074e-05
+5382,1792844099670440355,22779177000000,1792844099665378289,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761705975639052,-0.005021771882968376,0.10420701053974668,0.9999999559715,-0.0001362862150656588,0.00015156898614352189,0.00019481471274957612,0.6761,-0.0046,0.10396128806304147,1.0,0.0,0.0,0.0,-0.09030767185263189,-0.48063898583630316,1.96806754349275,-0.038607160076357255,0.014038563912213253,0.0002377061300917031,1.2829241619616412,0.9441843284850957,2.480827450146671,0.07255342455465338,-0.09717347894575466,0.0015772128610144689,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8964099435360046,1.7207471199203326,-1.5033275884371413,0.13624633390785862,1.14854053194866,1.0223922868731592,1.6625214820367051,-1.96806754349275,3.1658490704738464,3.1658490704738464,3.922108550122774,0,0,-0.0004250118491131146,-9.999999025923074e-05
+5419,1792844099978441170,22779485000000,1792844099973378081,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761699542346162,-0.005026172459301324,0.10407096708882975,0.9999999510513029,-0.0001569867330181008,0.00015082946029001894,0.00020480697142669224,0.6761,-0.0046,0.10382802051397816,1.0,0.0,0.0,0.0,-0.10768064836314051,-0.5050104378968122,1.9442338428414354,-0.04061512265804969,0.015873297787513174,0.0002662303058626773,1.2655511854511325,0.9198128764245866,2.4569937494953566,0.07054546197296095,-0.09533874507045474,0.001605737036785443,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8677803570395181,1.628026462991272,-1.404178368364642,0.19260505445793755,1.071983544077012,0.998800444329184,1.6625214820367051,-1.9442338428414354,3.0666998504013474,3.0666998504013474,3.9683085501228033,0,0,-0.0004404118461129577,-9.999999025923074e-05
+5457,1792844100295557398,22779802000000,1792844100289378297,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761691418925088,-0.005028555633093059,0.10392142042468785,0.999999946556235,-0.0001922917910734857,0.00015149270562266065,0.00019596994248343583,0.6761,-0.0046,0.10368590565925132,1.0,0.0,0.0,0.0,-0.11042356987164492,-0.519401712174066,1.911963809839055,-0.04211222939239638,0.015908066448287683,0.00026170763717918563,1.2628082639426281,0.9054216021473328,2.4247237164929762,0.06904835523861426,-0.09530397640968023,0.0016012143681019514,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8274275802874903,1.5090356335216322,-1.4347521947648572,0.2508641418486712,1.0767520804062096,0.9286676411132399,1.6625214820367051,-1.911963809839055,3.0972736768015623,3.0972736768015623,4.015858550122786,0,0,-0.0004562618430251338,-9.999999025923074e-05
+5492,1792844100587620110,22780094000000,1792844100581387738,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761643929162319,-0.0050277635317893445,0.10378332265912829,0.9999999448547752,-0.00020703563859394267,0.0001405743079642263,0.0001977584864518628,0.6761,-0.0046,0.10355055290150467,1.0,0.0,0.0,0.0,-0.09233651751539385,-0.5539927083695833,1.9111170091777132,-0.044716163070400244,0.014151969803701953,0.0002162662041529503,1.2808953162988792,0.8708306059518156,2.4238769158316344,0.0664444215606104,-0.09706007305426596,0.001555772935075716,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7524605848742993,1.5103082410480053,-1.3955358091776875,0.25115514909650194,1.0369085837477552,0.9281933545264112,1.6625214820367051,-1.9111170091777132,3.058057291214393,3.058057291214393,4.059658550122684,0,0,-0.0004708618401808292,-9.999999025923074e-05
+5528,1792844100887673852,22780394000000,1792844100881387799,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.676159517009409,-0.005033515044145335,0.10362779662684254,0.9999999412513145,-0.0002187627721945282,0.0001321092699767144,0.00020887848569892906,0.6761,-0.0046,0.10340705184989021,1.0,0.0,0.0,0.0,-0.10402117066949335,-0.581341513215506,1.8708011781922513,-0.04678552704116638,0.015212853498769358,0.00024021486053926364,1.2692106631447797,0.8434818011058929,2.3835610848461726,0.06437505758984426,-0.09599918935919856,0.0015797215914620294,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7701630539895091,1.5288659390953239,-1.3700954412028468,0.249589117239609,1.0239578425440456,0.9425982993763802,1.6625214820367051,-1.8708011781922513,3.032616923239552,3.032616923239552,4.104658550122579,0,0,-0.0004858618372585984,-9.999999025923074e-05
+5563,1792844101178735502,22780685000000,1792844101177387726,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761541780500155,-0.0050386020686932365,0.10347741487213624,0.9999999582822953,-0.00012451926920229678,0.00012314993462217498,0.00021025536206390876,0.6761,-0.0046,0.10326355630566181,1.0,0.0,0.0,0.0,-0.11260984574375277,-0.6056136270996321,1.8245435284937952,-0.04783881195264361,0.015273626775782631,0.000266000730648299,1.2606219880705203,0.8192096872217668,2.3373034351477164,0.06332177267836703,-0.09593841608218528,0.0016055074615710647,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7607878419045707,1.5158926790889895,-1.395517568273265,0.25007808619702065,1.0380672703387255,0.9123048547350749,1.6625214820367051,-1.8245435284937952,3.0580390503099704,3.0580390503099704,4.1483085501224775,0,0,-0.0005004118344240346,-9.999999025923074e-05
+5598,1792844101470789993,22780977000000,1792844101465388008,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761511637692565,-0.005035035360888946,0.10332342496223243,0.999999954514487,-0.00016112142138103867,0.00012075596924816077,0.0002046259311046379,0.6761,-0.0046,0.10311531175042668,1.0,0.0,0.0,0.0,-0.11946286310471566,-0.609531664157891,1.7924844078132143,-0.04884055352976673,0.016282988181149788,0.00029624469864406055,1.2537689707095574,0.8152916501635079,2.3052443144671355,0.06232003110124391,-0.09492905467681813,0.0016357514295668263,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7796153525314812,1.4664639856750457,-1.320471907490014,0.2841163606959198,0.9904436066576192,0.9011154690890713,1.6625214820367051,-1.7924844078132143,2.982993389526719,2.982993389526719,4.192108550122375,0,0,-0.00051501183157973,-9.999999025923074e-05
+5630,1792844101737795357,22781244000000,1792844101733388445,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.676141909277409,-0.005040980462250969,0.10317620327829931,0.9999999525901009,-0.00017351289881290354,0.00010168876724018917,0.00021404515579386398,0.6761,-0.0046,0.1029760280417434,1.0,0.0,0.0,0.0,-0.12982930547662153,-0.6370440555974007,1.7404613321402342,-0.050903010413162524,0.01734738671713036,0.0003282345717106113,1.2434025283376515,0.7877792587239981,2.2532212387941555,0.060257574217848116,-0.09386465614083755,0.001667741302633377,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7949922041639707,1.453097692351418,-1.2654116003849338,0.29428653766427265,0.9607262076752163,0.8983949585877339,1.6625214820367051,-1.7404613321402342,2.9279330824216387,2.9279330824216387,4.232158550122282,0,0,-0.0005283618289789446,-9.999999025923074e-05
+5663,1792844102012792951,22781519000000,1792844102005387565,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761371532337302,-0.005040706113331242,0.10301733648511889,0.9999999501627811,-0.00019279592381135773,9.160265060403551e-05,0.00021343848207955524,0.6761,-0.0046,0.10282884478914385,1.0,0.0,0.0,0.0,-0.14152106874846626,-0.6637968415141139,1.706539360325575,-0.052958670856372334,0.018406804075051172,0.0003460831559917684,1.2317107650658068,0.761026472807285,2.219299266979496,0.058201913774638306,-0.09280523878291674,0.0016855898869145341,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7769116161819025,1.4561182941276787,-1.1852060267283895,0.29974226279867555,0.9027623993630152,0.8968173322652236,1.6625214820367051,-1.706539360325575,2.847727508765095,2.847727508765095,4.273408550122186,0,0,-0.0005421118263002331,-9.999999025923074e-05
+5693,1792844102262892449,22781769000000,1792844102261377618,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761344112370073,-0.005040554340665477,0.10287259962165986,0.9999999467732867,-0.00021211064973738802,9.003926286300325e-05,0.0002116560680650197,0.6761,-0.0046,0.10269176058287441,1.0,0.0,0.0,0.0,-0.14711548268034536,-0.6772247764323884,1.666258542400206,-0.05360557098490817,0.018430971408867916,0.0003757756942127802,1.2261163511339277,0.7475985378890104,2.1790184490541273,0.05755501364610247,-0.0927810714491,0.001715282425135546,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7967829011754146,1.3046677331596648,-1.1666227759326888,0.3459620161034535,0.8922556410477446,0.7984181225264992,1.6625214820367051,-1.666258542400206,2.8291442579693937,2.8291442579693937,4.3109085501220985,0,0,-0.0005546118238650407,-9.999999025923074e-05
+5724,1792844102521004072,22782027000000,1792844102513387618,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761266014082841,-0.005039553685306049,0.10271165291607277,0.9999999469696287,-0.00020321334977188823,7.770949622222324e-05,0.00022398475981431063,0.6761,-0.0046,0.10254701308264268,1.0,0.0,0.0,0.0,-0.16603296551060698,-0.6807533423422891,1.5958084787946167,-0.05404494055969529,0.019599432674501358,0.00043704627554920386,1.207198868303666,0.7440699719791097,2.108568385448538,0.05711564407131535,-0.09161261018346656,0.0017765530064719696,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7391947964699336,1.3174450263215753,-1.0263628414732735,0.3482667548456262,0.778430450891438,0.8147088484457211,1.6625214820367051,-1.5958084787946167,2.6888843235099786,2.6888843235099786,4.349608550122008,0,0,-0.0005675118213519223,-9.999999025923074e-05
+5751,1792844102745951403,22782252000000,1792844102745378003,DOWN_FORCE_DETACH,1,0.0662,0.06620250642299652,0.6761182933490036,-0.005043198015345418,0.10257113308210504,0.9999999511119532,-0.0001900625304332678,6.175713943246938e-05,0.0002219937964757174,0.6761,-0.0046,0.10241806292308615,1.0,0.0,0.0,0.0,-0.16413950694543677,-0.7131488878930758,1.5456186106452097,-0.05602799985493455,0.019515351339312884,0.00045446859704493343,1.2090923268688363,0.711674426428323,2.058378517299131,0.05513258477607609,-0.09169669151865503,0.0017939753279676992,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7864044826385223,1.3879731949842804,-1.1053368939167658,0.3350702439764619,0.8431924902780166,0.8663376174788193,1.6625214820367051,-1.5456186106452097,2.767858375953471,2.767858375953471,4.38335855012193,0,0,-0.0005787618191602492,-9.999999025923074e-05
+5779,1792844102979072242,22782485000000,1792844102973378665,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6761096539988936,-0.005041484244234591,0.10241882615752411,0.9999999595872068,-0.000148262837088639,4.750476797594409e-05,0.0002191571975943452,0.6761,-0.0046,0.10228186001948736,1.0,0.0,0.0,0.0,-0.18181462718683772,-0.7282724960776007,1.483366253614809,-0.05770238559765755,0.020584489496071168,-0.0003883106046457021,1.1914172066274353,0.6965508182437982,1.9961261602687301,0.05345819903335309,-0.09062755336189675,0.0009511961262770636,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.798877275963357,1.309405618931699,-0.9900019223905058,0.35719239962638655,0.7699632363672759,0.8136890497459685,1.6625214820367051,-1.483366253614809,2.652523404427211,2.652523404427211,4.418308550121848,0,0,-0.00059041181689065,-9.999999025923074e-05
+5807,1792844103213084596,22782719000000,1792844103209378333,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760970491128028,-0.0050450826947586735,0.10225676003456756,0.9999999578970759,-0.00016154652542591752,2.623564658179557e-05,0.00022105004363420026,0.6761,-0.0046,0.10214234060460277,1.0,0.0,0.0,0.0,-0.19999218232162086,-0.7388688731073352,1.4034679940772026,-0.05872512979270236,0.022498459776534613,-8.371387962368532e-05,1.1732396514926522,0.6859544412140637,1.9162279007311238,0.052435454838308276,-0.0887135830814333,0.0012557928512990804,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7806280989058081,1.2220307662592969,-0.9391402498961938,0.3866456359198526,0.7278453346238918,0.76143986568019,1.6625214820367051,-1.4034679940772026,2.601661731932899,2.601661731932899,4.453408550121766,0,0,-0.00060211181461131,-9.999999025923074e-05
+5834,1792844103438154749,22782944000000,1792844103433378768,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760873756444257,-0.005046508308211349,0.1021084259413126,0.9999999550555835,-0.00015637961031865347,9.486392529042302e-06,0.0002383004847780227,0.6761,-0.0046,0.10200560544656288,1.0,0.0,0.0,0.0,-0.22710136093288313,-0.7608909583402845,1.3249976642343084,-0.06017165347413698,0.023701281748371703,-0.00038603441961032776,1.14613047288139,0.6639323559811143,1.8377575708882297,0.05098893115687366,-0.08751076110959621,0.000953472311312438,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.7910960187427913,1.2495116456661621,-0.8453621113964894,0.3652135603975909,0.6703510867860204,0.7807636994791326,1.6625214820367051,-1.3249976642343084,2.5078835934331947,2.5078835934331947,4.487158550121688,0,0,-0.0006133618124196369,-9.999999025923074e-05
+5862,1792844103671142536,22783177000000,1792844103669378269,DOWN_FORCE_DETACH,1,0.0662,0.06620185077190399,0.6760819976339724,-0.005047515362040004,0.10195206999134701,0.9999999511728083,-0.00016224602314892552,8.400112060598347e-07,0.000250544941291585,0.6761,-0.0046,0.10186134074453465,1.0,0.0,0.0,0.0,-0.2738249649469642,-0.7711871800968035,1.2472652414737997,-0.06024129124691875,0.026759595841244946,-0.0002770474845206015,1.0994068688673089,0.6536361342245953,1.760025148127721,0.05091929338409189,-0.08445244701672297,0.0010624592464021643,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.831544503200861,1.2951894791197431,-0.7913322726879629,0.34816830911165886,0.6379143931297344,0.8068182863278259,1.6625214820367051,-1.2472652414737997,2.453853754724668,2.453853754724668,4.522108550121606,0,0,-0.0006250118101500376,-9.999999025923074e-05
+5887,1792844103878219357,22783384000000,1792844103873378522,DOWN_SETTLE,1,0.0662,0.06620185077190399,0.6760796577129967,-0.005037502599551027,0.10180584940749508,0.9999999499070485,-0.00021835923983124802,-5.221781188397588e-06,0.00020957275578614202,0.6761,-0.0046,0.10173089725004329,1.0,0.0,0.0,0.0,-0.2755724670319082,-0.7337271712645109,1.1733974084177403,-0.057153133328007935,0.027442402225727955,-0.00016954826541966503,1.0976593667823649,0.6910961430568879,1.6861573150716616,0.054007451303002704,-0.08376964063223996,0.0011699584655031007,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.9067493499797455,1.2533798260359041,-0.7352146054107962,0.35580985691616707,0.6215308081116889,0.7908157878745833,1.6625214820367051,-1.1733974084177403,2.3977360874475013,0.0,0.0,0,0,-0.0006353618081336984,-9.999999025923074e-05
+5923,1792844104179300815,22783685000000,1792844104177378231,DOWN_SETTLE,1,0.0662,0.06620185077190399,0.6760631515741294,-0.005044502453273291,0.10167931741643797,0.9999999467129608,-0.00021679197134104187,-3.6424630330276095e-05,0.0002229157401367733,0.6761,-0.0046,0.1016409920272356,1.0,0.0,0.0,0.0,-0.285129928992752,-0.7658233846633508,0.9427194279898548,-0.059816282816291345,0.026833151698963498,-2.8842724037195277e-05,1.088101904821521,0.6589999296580481,1.455479334643776,0.051344301814719294,-0.08437889115900442,0.0013106640068855705,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.8148706347692121,1.2601058051913987,-0.3324761121896701,0.3454892620699345,0.34403475591031313,0.78910249177012,1.6625214820367051,-0.9427194279898548,1.9949975942263753,0.0,0.0,0,0,-5.273456991849805e-05,0.0005326724234191722
+6002,1792844104830421623,22784336000000,1792844104825378080,DOWN_PEAK_HOLD,1,0.0662,0.06620185077190399,0.6760349512293876,-0.00503627011957622,0.10160667964157132,0.9999999454004728,-0.0002063116353641654,-9.002521058564437e-05,0.00022354616138347232,0.6761,-0.0046,0.10163672441846329,1.0,0.0,0.0,0.0,-0.28952339574036956,-0.8098489088710327,0.537564760517296,-0.0620952202360604,0.02594517961271889,-0.0007757058244859812,1.0837084380739035,0.6149744054503662,1.0503246671712172,0.04906536439495024,-0.08526686324524903,0.0005638009064367845,1.373231833814273,1.4248233143213989,0.5127599066539212,0.11116058463101064,-0.11121204285796792,0.0013395067309227657,1,0.6731555256394647,1.2888513171094116,0.05552392072212837,0.3133884420319128,0.054310614854788004,0.8043011930160383,1.6625214820367051,-0.537564760517296,1.6069975613145768,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_15/press_depth_01/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844074112267146,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.894004452e-09,-3.681014261e-10,7.914169320e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451574e-01,-1.178346962e-04,8.303258294e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792844074866748843,2.649557829e-08,-1.872532541e-09,-2.209506967e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.014223382e-07,-1.342956513e-08,5.971548367e-09,7.019556593e-01,-2.227260756e-05,8.601428663e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452549e-01,-1.178477577e-04,8.303258353e-01
+2,1.550000000e+00,DOWN_FORCE_DETACH,1792844075672670877,-1.276693221e-06,2.746658822e-06,-1.616659634e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.303070531e-07,-1.809141342e-08,9.669893219e-09,7.019543561e-01,-1.952407620e-05,8.601269206e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452838e-01,-1.178524195e-04,8.303258390e-01
+3,2.200000000e+00,DOWN_FORCE_DETACH,1792844076323644310,-3.352994258e-06,-5.499345494e-06,-2.396489668e-05,-4.951747623e-06,-1.717870398e-06,-2.217491144e-05,-5.543261472e-06,-1.720523833e-06,-2.204961122e-05,7.019522798e-01,-2.777008052e-05,8.601191223e-01,7.019506811e-01,-2.398860542e-05,8.601209123e-01,7.027396103e-01,-1.195548519e-04,8.303037797e-01
+4,2.883333333e+00,DOWN_FORCE_DETACH,1792844077077734672,-4.311019355e-07,-5.184514599e-07,-2.491864246e-05,-4.951747623e-06,-1.717870398e-06,-2.217491144e-05,-5.567306717e-06,-1.716048703e-06,-2.212066657e-05,7.019552017e-01,-2.278918648e-05,8.601181686e-01,7.019506811e-01,-2.398860542e-05,8.601209123e-01,7.027395862e-01,-1.195503768e-04,8.303037087e-01
+5,3.650000000e+00,DOWN_FORCE_DETACH,1792844077831657254,-1.611294089e-06,-5.186311301e-06,-4.069674331e-05,-4.951747623e-06,-1.717870398e-06,-2.217491144e-05,-5.575406341e-06,-1.714395791e-06,-2.214006351e-05,7.019540215e-01,-2.745704632e-05,8.601023905e-01,7.019506811e-01,-2.398860542e-05,8.601209123e-01,7.027395781e-01,-1.195487239e-04,8.303036893e-01
+6,4.216666667e+00,DOWN_FORCE_DETACH,1792844078404751337,3.391958663e-05,-7.533548754e-06,-5.098182668e-05,4.340073771e-05,-1.429868711e-05,-4.306335197e-05,4.549455583e-05,-1.413375630e-05,-4.278342855e-05,7.019895524e-01,-2.980428378e-05,8.600921054e-01,7.019990336e-01,-3.656942214e-05,8.601000239e-01,7.027906481e-01,-1.319680844e-04,8.302830459e-01
+7,4.783333333e+00,DOWN_FORCE_DETACH,1792844079010686584,3.309384448e-05,-1.172871586e-05,-6.597653940e-05,3.193900617e-05,-7.238127954e-06,-5.812600294e-05,3.370451710e-05,-7.170551930e-06,-5.785185825e-05,7.019887267e-01,-3.399945088e-05,8.600771107e-01,7.019875718e-01,-2.950886298e-05,8.600849612e-01,7.027788580e-01,-1.250048800e-04,8.302679775e-01
+8,5.416666667e+00,DOWN_FORCE_DETACH,1792844079786687918,3.187008387e-05,-1.647054712e-05,-9.847986730e-05,3.018870983e-05,-1.344506460e-05,-8.296309831e-05,3.164124318e-05,-1.329161775e-05,-8.263434135e-05,7.019875029e-01,-3.874128214e-05,8.600446074e-01,7.019858215e-01,-3.571579962e-05,8.600601241e-01,7.027767948e-01,-1.311259458e-04,8.302431950e-01
+9,6.100000000e+00,DOWN_FORCE_DETACH,1792844080551507692,3.522139806e-05,-9.765204493e-06,-1.075202661e-04,2.922386662e-05,-1.197876419e-05,-1.058251868e-04,3.033641098e-05,-1.181118933e-05,-1.054660056e-04,7.019908542e-01,-3.203593952e-05,8.600355670e-01,7.019848567e-01,-3.424949921e-05,8.600372621e-01,7.027754899e-01,-1.296455174e-04,8.302203633e-01
+10,6.850000000e+00,DOWN_FORCE_DETACH,1792844081321089334,3.632691632e-05,-1.084940413e-05,-1.106671720e-04,2.922386662e-05,-1.197876419e-05,-1.058251868e-04,3.033633848e-05,-1.180460246e-05,-1.055792364e-04,7.019919597e-01,-3.312013915e-05,8.600324201e-01,7.019848567e-01,-3.424949921e-05,8.600372621e-01,7.027754899e-01,-1.296389305e-04,8.302202501e-01
+11,7.483333333e+00,DOWN_FORCE_DETACH,1792844081943340092,3.917755459e-05,-7.247772517e-06,-1.227344200e-04,3.722618645e-05,-1.628729734e-05,-1.247426328e-04,3.857420894e-05,-1.608389921e-05,-1.241598290e-04,7.019948104e-01,-2.951850754e-05,8.600203528e-01,7.019928590e-01,-3.855803237e-05,8.600183446e-01,7.027837277e-01,-1.339182273e-04,8.302016695e-01
+12,8.166666667e+00,DOWN_FORCE_DETACH,1792844082615421312,4.563705313e-05,-2.039013495e-05,-1.395887313e-04,3.722618645e-05,-1.628729734e-05,-1.247426328e-04,3.869575961e-05,-1.608386974e-05,-1.244235200e-04,7.020012699e-01,-4.266086997e-05,8.600034985e-01,7.019928590e-01,-3.855803237e-05,8.600183446e-01,7.027838493e-01,-1.339181978e-04,8.302014058e-01
+13,8.900000000e+00,DOWN_FORCE_DETACH,1792844083419501080,5.712518431e-05,-1.888432255e-05,-1.723267554e-04,5.626176875e-05,-1.867499194e-05,-1.593322587e-04,5.868307754e-05,-1.840799929e-05,-1.588692021e-04,7.020127580e-01,-4.115505758e-05,8.599707605e-01,7.020118946e-01,-4.094572696e-05,8.599837550e-01,7.028038366e-01,-1.362423274e-04,8.301669602e-01
+14,9.383333333e+00,DOWN_FORCE_DETACH,1792844083926306909,5.872032901e-05,-2.547782183e-05,-2.068842474e-04,5.693118646e-05,-2.073953990e-05,-2.006209722e-04,5.900091665e-05,-2.045621650e-05,-1.998478018e-04,7.020143531e-01,-4.774855685e-05,8.599362030e-01,7.020125640e-01,-4.301027493e-05,8.599424663e-01,7.028041544e-01,-1.382905446e-04,8.301259816e-01
+15,1.011666667e+01,DOWN_FORCE_DETACH,1792844084915096488,6.276998894e-05,-2.278370742e-05,-2.176285108e-04,5.689703954e-05,-2.038461382e-05,-2.207307937e-04,5.875706693e-05,-2.011122760e-05,-2.202029552e-04,7.020184028e-01,-4.505444244e-05,8.599254587e-01,7.020125299e-01,-4.265534884e-05,8.599223564e-01,7.028039106e-01,-1.379455557e-04,8.301056264e-01
+16,1.081666667e+01,DOWN_FORCE_DETACH,1792844085597571361,6.194817903e-05,-2.830360756e-05,-2.331306208e-04,5.689703954e-05,-2.038461382e-05,-2.207307937e-04,5.877576177e-05,-2.010690885e-05,-2.204791206e-04,7.020175810e-01,-5.057434258e-05,8.599099566e-01,7.020125299e-01,-4.265534884e-05,8.599223564e-01,7.028039293e-01,-1.379412369e-04,8.301053502e-01
+17,1.158333333e+01,DOWN_FORCE_DETACH,1792844086399500767,7.158894042e-05,-3.115930467e-05,-2.575898028e-04,6.877974099e-05,-3.089118104e-05,-2.561488886e-04,7.110504050e-05,-3.053816650e-05,-2.555718669e-04,7.020272218e-01,-5.343003969e-05,8.598854974e-01,7.020244126e-01,-5.316191606e-05,8.598869384e-01,7.028162586e-01,-1.483724946e-04,8.300702575e-01
+18,1.235000000e+01,DOWN_FORCE_DETACH,1792844087251900894,7.900070315e-05,-3.125238651e-05,-3.081349200e-04,7.765800432e-05,-3.122900146e-05,-2.975568021e-04,8.012239559e-05,-3.085918340e-05,-2.968427408e-04,7.020346335e-01,-5.352312153e-05,8.598349523e-01,7.020332908e-01,-5.349973648e-05,8.598455304e-01,7.028252759e-01,-1.486935115e-04,8.300289866e-01
+19,1.291666667e+01,DOWN_FORCE_DETACH,1792844087808761571,8.992637958e-05,-3.790950484e-05,-3.466554370e-04,8.732973635e-05,-3.521541645e-05,-3.399130484e-04,9.004289669e-05,-3.480585853e-05,-3.392225978e-04,7.020455592e-01,-6.018023987e-05,8.597964318e-01,7.020429626e-01,-5.748615147e-05,8.598031742e-01,7.028351964e-01,-1.526401866e-04,8.299866068e-01
+20,1.350000000e+01,DOWN_FORCE_DETACH,1792844088398611651,9.269412014e-05,-3.592047154e-05,-3.913600629e-04,9.110591841e-05,-3.836048579e-05,-3.791496850e-04,9.373329104e-05,-3.798077144e-05,-3.785962975e-04,7.020483269e-01,-5.819120656e-05,8.597517272e-01,7.020467387e-01,-6.063122081e-05,8.597639376e-01,7.028388868e-01,-1.558150995e-04,8.299472331e-01
+21,1.420000000e+01,DOWN_FORCE_DETACH,1792844089120338143,9.616883692e-05,-4.087293473e-05,-4.370730624e-04,9.261967840e-05,-3.672272996e-05,-4.265790722e-04,9.482674782e-05,-3.637738073e-05,-4.260869558e-04,7.020518017e-01,-6.314366975e-05,8.597060142e-01,7.020482525e-01,-5.899346499e-05,8.597165082e-01,7.028399803e-01,-1.542117088e-04,8.298997424e-01
+22,1.485000000e+01,DOWN_FORCE_DETACH,1792844089774432133,1.019503137e-04,-3.197755314e-05,-4.869391096e-04,1.017495613e-04,-3.214606376e-05,-4.870195978e-04,1.038228459e-04,-3.186020932e-05,-4.860827947e-04,7.020575831e-01,-5.424828816e-05,8.596561481e-01,7.020573824e-01,-5.441679879e-05,8.596560676e-01,7.028489764e-01,-1.496945374e-04,8.298397466e-01
+23,1.543333333e+01,DOWN_FORCE_DETACH,1792844090364244965,1.113787587e-04,-4.089020059e-05,-5.379892369e-04,1.090167168e-04,-4.146162178e-05,-5.271867180e-04,1.111464102e-04,-4.109583852e-05,-5.265096703e-04,7.020670116e-01,-6.316093561e-05,8.596050980e-01,7.020646495e-01,-6.373235680e-05,8.596159005e-01,7.028562999e-01,-1.589301666e-04,8.297993197e-01
+24,1.613333333e+01,DOWN_FORCE_DETACH,1792844091068696448,1.246663914e-04,-4.105882575e-05,-6.077082145e-04,1.244991244e-04,-4.117988180e-05,-6.075716366e-04,1.267822286e-04,-4.080878653e-05,-6.064202091e-04,7.020802992e-01,-6.332956077e-05,8.595353790e-01,7.020801319e-01,-6.345061682e-05,8.595355156e-01,7.028719357e-01,-1.586431146e-04,8.297194091e-01
+25,1.673333333e+01,DOWN_FORCE_DETACH,1792844091675845671,1.308962680e-04,-4.819055689e-05,-6.703987765e-04,1.288155270e-04,-4.753056577e-05,-6.518164756e-04,1.309648392e-04,-4.712093327e-05,-6.510215651e-04,7.020865291e-01,-7.046129191e-05,8.594726885e-01,7.020844483e-01,-6.980130079e-05,8.594912708e-01,7.028761184e-01,-1.649552614e-04,8.296748078e-01
+26,1.735000000e+01,DOWN_FORCE_DETACH,1792844092297732551,1.427695720e-04,-5.174903657e-05,-7.483887060e-04,1.403609750e-04,-4.995346224e-05,-7.387346978e-04,1.423457360e-04,-4.951664685e-05,-7.376972833e-04,7.020984024e-01,-7.401977159e-05,8.593946985e-01,7.020959938e-01,-7.222419727e-05,8.594043525e-01,7.028874992e-01,-1.673509749e-04,8.295881321e-01
+27,1.795000000e+01,DOWN_FORCE_DETACH,1792844092936533889,1.513227028e-04,-5.129868434e-05,-8.333399213e-04,1.482153492e-04,-5.505844048e-05,-8.236514947e-04,1.498631912e-04,-5.458170413e-05,-8.224392556e-04,7.021069555e-01,-7.356941936e-05,8.593097473e-01,7.021038482e-01,-7.732917550e-05,8.593194357e-01,7.028950167e-01,-1.724160322e-04,8.295033901e-01
+28,1.863333333e+01,DOWN_FORCE_DETACH,1792844093608639969,1.634177658e-04,-5.447072254e-05,-9.297291527e-04,1.607919587e-04,-5.321509961e-05,-9.100830090e-04,1.623458586e-04,-5.275014214e-05,-9.089749727e-04,7.021190506e-01,-7.674145756e-05,8.592133581e-01,7.021164248e-01,-7.548583464e-05,8.592330042e-01,7.029074994e-01,-1.705844702e-04,8.294168544e-01
+29,1.925000000e+01,DOWN_FORCE_DETACH,1792844094279913209,1.703175140e-04,-5.280474240e-05,-1.038383596e-03,1.702222475e-04,-5.287042948e-05,-1.038369683e-03,1.708994177e-04,-5.242754900e-05,-1.036547736e-03,7.021259503e-01,-7.507547742e-05,8.591047036e-01,7.021258551e-01,-7.514116450e-05,8.591047176e-01,7.029160529e-01,-1.702618771e-04,8.292892816e-01
+30,1.981666667e+01,DOWN_FORCE_DETACH,1792844094837464502,1.771016308e-04,-6.088242928e-05,-1.139485248e-03,1.756930696e-04,-5.987265480e-05,-1.125510654e-03,1.757906525e-04,-5.931720083e-05,-1.123900618e-03,7.021327344e-01,-8.315316430e-05,8.590036020e-01,7.021313259e-01,-8.214338982e-05,8.590175766e-01,7.029209442e-01,-1.771515289e-04,8.292019287e-01
+31,2.035000000e+01,DOWN_FORCE_DETACH,1792844095361275238,1.837489153e-04,-6.208819535e-05,-1.245000777e-03,1.860550312e-04,-6.329675424e-05,-1.236664345e-03,1.855242731e-04,-6.272814332e-05,-1.234835343e-03,7.021393817e-01,-8.435893037e-05,8.588980865e-01,7.021416878e-01,-8.556748926e-05,8.589064229e-01,7.029306778e-01,-1.805624714e-04,8.290909940e-01
+32,2.090000000e+01,DOWN_FORCE_DETACH,1792844095901833775,1.904534953e-04,-6.489314746e-05,-1.359154105e-03,1.885714683e-04,-6.508996596e-05,-1.346799689e-03,1.870924412e-04,-6.452209363e-05,-1.345215744e-03,7.021460863e-01,-8.716388248e-05,8.587839331e-01,7.021442043e-01,-8.736070098e-05,8.587962875e-01,7.029322460e-01,-1.823564217e-04,8.289806136e-01
+33,2.136666667e+01,DOWN_FORCE_DETACH,1792844096360574479,2.008350528e-04,-5.958664864e-05,-1.466885670e-03,1.959792063e-04,-5.403593961e-05,-1.455945202e-03,1.937060222e-04,-5.366550855e-05,-1.454208270e-03,7.021564679e-01,-8.185738367e-05,8.586762016e-01,7.021516120e-01,-7.630667463e-05,8.586871420e-01,7.029388595e-01,-1.714998366e-04,8.288716211e-01
+34,2.186666667e+01,DOWN_FORCE_DETACH,1792844096869073753,2.010329443e-04,-6.768757586e-05,-1.604807812e-03,1.991541174e-04,-6.456925298e-05,-1.589884273e-03,1.955330595e-04,-6.406975653e-05,-1.587936939e-03,7.021566658e-01,-8.995831088e-05,8.585382794e-01,7.021547869e-01,-8.683998800e-05,8.585532030e-01,7.029406866e-01,-1.819040846e-04,8.287378924e-01
+35,2.231666667e+01,DOWN_FORCE_DETACH,1792844097310973087,1.993300372e-04,-6.569556059e-05,-1.737649507e-03,1.991274787e-04,-6.567446061e-05,-1.737213470e-03,1.937719991e-04,-6.516494682e-05,-1.734728818e-03,7.021549629e-01,-8.796629561e-05,8.584054377e-01,7.021547603e-01,-8.794519563e-05,8.584058738e-01,7.029389255e-01,-1.829992749e-04,8.285911005e-01
+36,2.275000000e+01,DOWN_FORCE_DETACH,1792844097736729628,2.017595715e-04,-7.391279209e-05,-1.873847778e-03,2.014514601e-04,-7.366974218e-05,-1.869427089e-03,1.946777644e-04,-7.303556347e-05,-1.866957370e-03,7.021573924e-01,-9.618352711e-05,8.582692395e-01,7.021570843e-01,-9.594047720e-05,8.582736602e-01,7.029398313e-01,-1.908698916e-04,8.284588720e-01
+37,2.318333333e+01,DOWN_FORCE_DETACH,1792844098180377796,2.046765242e-04,-7.659983074e-05,-2.018023142e-03,2.045152461e-04,-7.628090514e-05,-2.004262569e-03,1.962930082e-04,-7.562713831e-05,-2.001757665e-03,7.021603093e-01,-9.887056577e-05,8.581250641e-01,7.021601481e-01,-9.855164016e-05,8.581388247e-01,7.029414465e-01,-1.934614664e-04,8.283240717e-01
+38,2.360000000e+01,DOWN_FORCE_DETACH,1792844098589385761,2.039939239e-04,-7.636020176e-05,-2.162591174e-03,2.038072588e-04,-7.640059387e-05,-2.162633920e-03,1.937100524e-04,-7.570609149e-05,-2.159822395e-03,7.021596267e-01,-9.863093679e-05,8.579804961e-01,7.021594401e-01,-9.867132889e-05,8.579804533e-01,7.029388636e-01,-1.935404196e-04,8.281660070e-01
+39,2.395000000e+01,DOWN_FORCE_DETACH,1792844098965890207,2.076223112e-04,-7.797084315e-05,-2.302284779e-03,2.071006565e-04,-7.901432067e-05,-2.285650251e-03,1.957124077e-04,-7.829204784e-05,-2.283168161e-03,7.021632551e-01,-1.002415782e-04,8.578408025e-01,7.021627335e-01,-1.012850557e-04,8.578574370e-01,7.029408659e-01,-1.961263759e-04,8.280426612e-01
+40,2.428333333e+01,DOWN_FORCE_DETACH,1792844099343292232,2.074666151e-04,-8.364443109e-05,-2.452320986e-03,2.075248772e-04,-7.578405752e-05,-2.435300049e-03,1.943191740e-04,-7.510729610e-05,-2.432558102e-03,7.021630994e-01,-1.059151661e-04,8.576907663e-01,7.021631577e-01,-9.805479255e-05,8.577077872e-01,7.029394727e-01,-1.929416242e-04,8.278932713e-01
+41,2.460000000e+01,DOWN_FORCE_DETACH,1792844099671288486,2.077968227e-04,-8.327384678e-05,-2.592833747e-03,2.076522685e-04,-8.286840399e-05,-2.576896375e-03,1.926483183e-04,-8.210644941e-05,-2.574138146e-03,7.021634296e-01,-1.055445818e-04,8.575502535e-01,7.021632851e-01,-1.051391390e-04,8.575661909e-01,7.029378018e-01,-1.999407775e-04,8.277516912e-01
+42,2.491666667e+01,DOWN_FORCE_DETACH,1792844099981292818,2.045910195e-04,-8.877285161e-05,-2.733193024e-03,2.058049775e-04,-8.989668089e-05,-2.723757861e-03,1.888441627e-04,-8.908059795e-05,-2.720820501e-03,7.021602238e-01,-1.110435866e-04,8.574098942e-01,7.021614378e-01,-1.121674159e-04,8.574193294e-01,7.029339977e-01,-2.069149260e-04,8.276050089e-01
+43,2.521666667e+01,DOWN_FORCE_DETACH,1792844100293142036,2.037786774e-04,-9.115602540e-05,-2.882739688e-03,2.034750916e-04,-9.134367574e-05,-2.882315562e-03,1.844004093e-04,-9.046224924e-05,-2.878861059e-03,7.021594115e-01,-1.134267604e-04,8.572603476e-01,7.021591079e-01,-1.136144108e-04,8.572607717e-01,7.029295539e-01,-2.082965773e-04,8.274469683e-01
+44,2.551666667e+01,DOWN_FORCE_DETACH,1792844100587929602,1.960933120e-04,-8.972626486e-05,-3.025791019e-03,1.960100445e-04,-8.954637528e-05,-3.025695338e-03,1.746448351e-04,-8.866989758e-05,-3.022331815e-03,7.021517261e-01,-1.119969999e-04,8.571172962e-01,7.021516429e-01,-1.118171103e-04,8.571173919e-01,7.029197983e-01,-2.065042257e-04,8.273034975e-01
+45,2.580000000e+01,DOWN_FORCE_DETACH,1792844100883785314,1.937930373e-04,-9.458559982e-05,-3.174833090e-03,1.936800785e-04,-9.464991452e-05,-3.174944351e-03,1.703601664e-04,-9.370231596e-05,-3.171651744e-03,7.021494259e-01,-1.168563348e-04,8.569682541e-01,7.021493129e-01,-1.169206495e-04,8.569681429e-01,7.029155137e-01,-2.115366440e-04,8.271541776e-01
+46,2.610000000e+01,DOWN_FORCE_DETACH,1792844101177106232,1.890634640e-04,-9.571179842e-05,-3.324475850e-03,1.881564729e-04,-9.586475078e-05,-3.317351570e-03,1.628459231e-04,-9.494570683e-05,-3.314304555e-03,7.021446963e-01,-1.179825334e-04,8.568186114e-01,7.021437893e-01,-1.181354858e-04,8.568257357e-01,7.029079994e-01,-2.127800349e-04,8.270115248e-01
+47,2.638333333e+01,DOWN_FORCE_DETACH,1792844101473259817,1.845730792e-04,-9.775932100e-05,-3.483044488e-03,1.845345129e-04,-9.758889705e-05,-3.483137066e-03,1.570018060e-04,-9.668877613e-05,-3.479849031e-03,7.021402059e-01,-1.200300560e-04,8.566600428e-01,7.021401673e-01,-1.198596321e-04,8.566599502e-01,7.029021553e-01,-2.145231042e-04,8.268459803e-01
+48,2.665000000e+01,DOWN_FORCE_DETACH,1792844101734371414,1.755871923e-04,-1.008707484e-04,-3.630017179e-03,1.755815026e-04,-1.008438919e-04,-3.630102703e-03,1.456199916e-04,-9.990960967e-05,-3.626747500e-03,7.021312200e-01,-1.231414835e-04,8.565130701e-01,7.021312143e-01,-1.231146269e-04,8.565129845e-01,7.028907735e-01,-2.177439378e-04,8.266990819e-01
+49,2.691666667e+01,DOWN_FORCE_DETACH,1792844102012503391,1.714623751e-04,-1.049735672e-04,-3.786564660e-03,1.713652457e-04,-1.053947374e-04,-3.786701669e-03,1.391951980e-04,-1.043836696e-04,-3.783107438e-03,7.021270952e-01,-1.272443022e-04,8.563565226e-01,7.021269981e-01,-1.276654725e-04,8.563563856e-01,7.028843487e-01,-2.222179977e-04,8.265427219e-01
+50,2.715000000e+01,DOWN_FORCE_DETACH,1792844102258853905,1.689505727e-04,-1.001552801e-04,-3.926912081e-03,1.702731002e-04,-1.071304802e-04,-3.909264497e-03,1.364593584e-04,-1.060731932e-04,-3.906111146e-03,7.021245834e-01,-1.224260151e-04,8.562161752e-01,7.021259059e-01,-1.294012152e-04,8.562338227e-01,7.028816129e-01,-2.239075213e-04,8.264197182e-01
+51,2.740000000e+01,DOWN_FORCE_DETACH,1792844102520687916,1.619000702e-04,-1.078318706e-04,-4.090691612e-03,1.630325203e-04,-1.040340155e-04,-4.078652279e-03,1.265578427e-04,-1.030498175e-04,-4.075514120e-03,7.021175329e-01,-1.301026056e-04,8.560523956e-01,7.021186653e-01,-1.263047506e-04,8.560644350e-01,7.028717114e-01,-2.208841456e-04,8.262503152e-01
+52,2.763333333e+01,DOWN_FORCE_DETACH,1792844102749770542,1.515371462e-04,-1.036734083e-04,-4.237431332e-03,1.502820123e-04,-1.067226458e-04,-4.226954702e-03,1.111340659e-04,-1.058321887e-04,-4.223909653e-03,7.021071700e-01,-1.259441433e-04,8.559056559e-01,7.021059148e-01,-1.289933808e-04,8.559161325e-01,7.028562876e-01,-2.236665168e-04,8.261019197e-01
+53,2.786666667e+01,DOWN_FORCE_DETACH,1792844102979144191,1.442907838e-04,-1.040846365e-04,-4.385333955e-03,1.419370952e-04,-1.034422045e-04,-4.378685208e-03,1.003028984e-04,-1.025513290e-04,-4.375653686e-03,7.020999236e-01,-1.263553716e-04,8.557577533e-01,7.020975699e-01,-1.257129395e-04,8.557644020e-01,7.028454564e-01,-2.203856571e-04,8.259501757e-01
+54,2.810000000e+01,DOWN_FORCE_DETACH,1792844103208598366,1.300188226e-04,-1.078725905e-04,-4.545130258e-03,1.298364581e-04,-1.078618264e-04,-4.545476856e-03,8.524288568e-05,-1.068283376e-04,-4.542290881e-03,7.020856516e-01,-1.301433255e-04,8.555979570e-01,7.020854693e-01,-1.301325615e-04,8.555976104e-01,7.028303964e-01,-2.246626656e-04,8.257835385e-01
+55,2.833333333e+01,DOWN_FORCE_DETACH,1792844103438954638,1.220124293e-04,-1.091087005e-04,-4.695734172e-03,1.218840115e-04,-1.091230133e-04,-4.695771323e-03,7.486565717e-05,-1.080848195e-04,-4.692605090e-03,7.020776452e-01,-1.313794355e-04,8.554473531e-01,7.020775168e-01,-1.313937483e-04,8.554473159e-01,7.028200192e-01,-2.259191476e-04,8.256332243e-01
+56,2.856666667e+01,DOWN_FORCE_DETACH,1792844103667891416,1.170638336e-04,-1.117001598e-04,-4.849681368e-03,1.161323084e-04,-1.106031673e-04,-4.838412170e-03,6.687578094e-05,-1.095549256e-04,-4.835575334e-03,7.020726967e-01,-1.339708948e-04,8.552934059e-01,7.020717651e-01,-1.328739024e-04,8.553046751e-01,7.028120293e-01,-2.273892537e-04,8.254902540e-01
+57,2.878333333e+01,DOWN_SETTLE,1792844103881112926,1.150303538e-04,-1.069409877e-04,-4.997668561e-03,1.160442167e-04,-1.069277141e-04,-4.983101894e-03,6.495662101e-05,-1.059574422e-04,-4.980363080e-03,7.020706632e-01,-1.292117228e-04,8.551454187e-01,7.020716770e-01,-1.291984491e-04,8.551599853e-01,7.028101101e-01,-2.237917702e-04,8.253454663e-01
+58,2.908333333e+01,DOWN_SETTLE,1792844104175081220,9.713491438e-05,-1.069952982e-04,-5.124465713e-03,1.022858720e-04,-1.004912147e-04,-5.108493852e-03,4.870228556e-05,-9.955479451e-05,-5.106809979e-03,7.020527677e-01,-1.292660333e-04,8.550186215e-01,7.020579187e-01,-1.227619498e-04,8.550345934e-01,7.027938558e-01,-2.173891226e-04,8.252190194e-01
+59,2.971666667e+01,DOWN_PEAK_HOLD,1792844104831922012,6.886707198e-05,-9.667928411e-05,-5.197642797e-03,7.337067153e-05,-1.011225689e-04,-5.185658232e-03,1.660143367e-05,-1.002013235e-04,-5.185830507e-03,7.020244999e-01,-1.189500191e-04,8.549454444e-01,7.020290035e-01,-1.233933039e-04,8.549574290e-01,7.027617549e-01,-2.180356516e-04,8.251399988e-01

Fixed/digit/ball_PLA_15/press_depth_01/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.4321e-02,2.0393e-01,2.4548e+00,-5.0709e-02,4.0627e-02,1.6488e-04,-1.6857e-05,4.0054e-05,0.0000e+00,-2.6971e-06,-1.1437e-06,-1.8789e-07,4.3457e-05,2.9356e-06
+1,7.5000e-01,DOWN_FORCE_DETACH,1.6389e-04,7.1315e-02,2.0273e-01,2.4558e+00,-5.0542e-02,4.1823e-02,-1.6493e-05,1.6978e-02,-1.1601e-03,9.9516e-04,1.6408e-04,1.1948e-03,-1.8156e-04,1.7046e-02,1.2196e-03
+2,1.5500e+00,DOWN_FORCE_DETACH,3.2781e-04,7.6540e-02,2.0208e-01,2.4564e+00,-5.0472e-02,4.2192e-02,-8.8255e-05,2.2202e-02,-1.8135e-03,1.6589e-03,2.3454e-04,1.5640e-03,-2.5332e-04,2.2338e-02,1.6016e-03
+3,2.2000e+00,DOWN_FORCE_DETACH,4.8887e-04,8.3121e-02,2.1435e-01,2.4805e+00,-5.1244e-02,4.2626e-02,-1.0416e-04,2.8784e-02,1.0456e-02,2.5695e-02,-5.3733e-04,1.9980e-03,-2.6923e-04,3.9976e-02,2.0864e-03
+4,2.8833e+00,DOWN_FORCE_DETACH,6.4912e-04,7.8680e-02,2.1529e-01,2.4668e+00,-5.1337e-02,4.2324e-02,-9.3889e-05,2.4342e-02,1.1397e-02,1.2012e-02,-6.3103e-04,1.6958e-03,-2.5896e-04,2.9440e-02,1.8279e-03
+5,3.6500e+00,DOWN_FORCE_DETACH,8.1250e-04,7.7138e-02,2.1541e-01,2.4630e+00,-5.1356e-02,4.2220e-02,-8.3147e-05,2.2800e-02,1.1517e-02,8.2297e-03,-6.4919e-04,1.5921e-03,-2.4822e-04,2.6837e-02,1.7372e-03
+6,4.2167e+00,DOWN_FORCE_DETACH,9.7769e-04,-1.1681e-01,2.8142e-01,2.4935e+00,-5.5936e-02,2.8421e-02,6.7816e-05,-1.7115e-01,7.7531e-02,3.8740e-02,-5.2294e-03,-1.2208e-02,-9.7252e-05,1.9184e-01,1.3281e-02
+7,4.7833e+00,DOWN_FORCE_DETACH,1.1368e-03,5.2457e-02,2.4006e-01,2.5023e+00,-5.2944e-02,4.0419e-02,1.5958e-04,-1.8808e-03,3.6164e-02,4.7486e-02,-2.2374e-03,-2.0884e-04,-5.4915e-06,5.9718e-02,2.2471e-03
+8,5.4167e+00,DOWN_FORCE_DETACH,1.3051e-03,7.2529e-02,2.7267e-01,2.5162e+00,-5.5153e-02,4.1805e-02,1.1783e-04,1.8191e-02,6.8778e-02,6.1449e-02,-4.4469e-03,1.1769e-03,-4.7242e-05,9.4007e-02,4.6002e-03
+9,6.1000e+00,DOWN_FORCE_DETACH,1.4668e-03,7.7617e-02,2.6917e-01,2.5122e+00,-5.4930e-02,4.2165e-02,6.5242e-05,2.3279e-02,6.5275e-02,5.7409e-02,-4.2231e-03,1.5370e-03,-9.9826e-05,8.9992e-02,4.4952e-03
+10,6.8500e+00,DOWN_FORCE_DETACH,1.6267e-03,7.7760e-02,2.7057e-01,2.4930e+00,-5.5149e-02,4.2200e-02,5.8297e-05,2.3423e-02,6.6679e-02,3.8212e-02,-4.4429e-03,1.5713e-03,-1.0677e-04,8.0342e-02,4.7138e-03
+11,7.4833e+00,DOWN_FORCE_DETACH,1.7872e-03,5.2564e-02,2.9228e-01,2.5504e+00,-5.6635e-02,4.0374e-02,7.9504e-05,-1.7736e-03,8.8382e-02,9.5669e-02,-5.9281e-03,-2.5449e-04,-8.5564e-05,1.3026e-01,5.9342e-03
+12,8.1667e+00,DOWN_FORCE_DETACH,1.9521e-03,7.1205e-02,2.9277e-01,2.5031e+00,-5.6731e-02,4.1712e-02,1.0322e-04,1.6868e-02,8.8877e-02,4.8291e-02,-6.0250e-03,1.0842e-03,-6.1844e-05,1.0255e-01,6.1221e-03
+13,8.9000e+00,DOWN_FORCE_DETACH,2.1167e-03,4.9064e-02,3.0384e-01,2.5395e+00,-5.7472e-02,4.0064e-02,1.4735e-04,-5.2730e-03,9.9943e-02,8.4696e-02,-6.7657e-03,-5.6439e-04,-1.7715e-05,1.3111e-01,6.7893e-03
+14,9.3833e+00,DOWN_FORCE_DETACH,2.2782e-03,6.8678e-02,3.1547e-01,2.6024e+00,-5.8220e-02,4.1385e-02,1.2867e-04,1.4341e-02,1.1158e-01,1.4763e-01,-7.5134e-03,7.5714e-04,-3.6398e-05,1.8561e-01,7.5515e-03
+15,1.0117e+01,DOWN_FORCE_DETACH,2.4407e-03,7.8707e-02,3.1405e-01,2.5568e+00,-5.8334e-02,4.2154e-02,4.9425e-06,2.4370e-02,1.1015e-01,1.0199e-01,-7.6272e-03,1.5260e-03,-1.6013e-04,1.5209e-01,7.7800e-03
+16,1.0817e+01,DOWN_FORCE_DETACH,2.6020e-03,8.2456e-02,3.1367e-01,2.4983e+00,-5.8624e-02,4.2495e-02,-5.5505e-05,2.8119e-02,1.0978e-01,4.3476e-02,-7.9177e-03,1.8666e-03,-2.2057e-04,1.2137e-01,8.1378e-03
+17,1.1583e+01,DOWN_FORCE_DETACH,2.7674e-03,6.3236e-02,3.6500e-01,2.5565e+00,-6.2247e-02,4.1093e-02,-2.0590e-05,8.8988e-03,1.6111e-01,1.0177e-01,-1.1540e-02,4.6510e-04,-1.8566e-04,1.9077e-01,1.1551e-02
+18,1.2350e+01,DOWN_FORCE_DETACH,2.9305e-03,6.4251e-02,3.6157e-01,2.5640e+00,-6.1960e-02,4.1085e-02,-2.9540e-05,9.9140e-03,1.5768e-01,1.0925e-01,-1.1254e-02,4.5672e-04,-1.9461e-04,1.9208e-01,1.1265e-02
+19,1.2917e+01,DOWN_FORCE_DETACH,3.0903e-03,5.7149e-02,3.7967e-01,2.5853e+00,-6.3242e-02,4.0664e-02,-3.5371e-05,2.8120e-03,1.7578e-01,1.3050e-01,-1.2536e-02,3.5558e-05,-2.0044e-04,2.1895e-01,1.2538e-02
+20,1.3500e+01,DOWN_FORCE_DETACH,3.2537e-03,7.2245e-02,3.8900e-01,2.5595e+00,-6.3953e-02,4.1698e-02,-1.3449e-05,1.7908e-02,1.8511e-01,1.0474e-01,-1.3247e-02,1.0699e-03,-1.7852e-04,2.1344e-01,1.3291e-02
+21,1.4200e+01,DOWN_FORCE_DETACH,3.4183e-03,8.1806e-02,3.7624e-01,2.5490e+00,-6.3093e-02,4.2398e-02,1.1608e-05,2.7469e-02,1.7235e-01,9.4252e-02,-1.2386e-02,1.7698e-03,-1.5346e-04,1.9835e-01,1.2513e-02
+22,1.4850e+01,DOWN_FORCE_DETACH,3.5787e-03,7.9769e-02,3.7945e-01,2.5275e+00,-6.3367e-02,4.2293e-02,9.6848e-05,2.5431e-02,1.7556e-01,7.2755e-02,-1.2660e-02,1.6647e-03,-6.8220e-05,1.9173e-01,1.2770e-02
+23,1.5433e+01,DOWN_FORCE_DETACH,3.7402e-03,6.4943e-02,3.9306e-01,2.5907e+00,-6.4136e-02,4.1152e-02,3.8316e-04,1.0606e-02,1.8917e-01,1.3592e-01,-1.3430e-02,5.2376e-04,2.1810e-04,2.3318e-01,1.3442e-02
+24,1.6133e+01,DOWN_FORCE_DETACH,3.9061e-03,6.5657e-02,4.0636e-01,2.5694e+00,-6.4897e-02,4.1242e-02,5.2273e-04,1.1319e-02,2.0247e-01,1.1458e-01,-1.4190e-02,6.1405e-04,3.5766e-04,2.3292e-01,1.4208e-02
+25,1.6733e+01,DOWN_FORCE_DETACH,4.0648e-03,6.5490e-02,4.1680e-01,2.5994e+00,-6.5448e-02,4.1150e-02,7.5306e-04,1.1152e-02,2.1291e-01,1.4458e-01,-1.4741e-02,5.2201e-04,5.8799e-04,2.5760e-01,1.4762e-02
+26,1.7350e+01,DOWN_FORCE_DETACH,4.2306e-03,6.0278e-02,4.2712e-01,2.6605e+00,-6.5823e-02,4.0795e-02,8.1993e-04,5.9410e-03,2.2323e-01,2.0577e-01,-1.5117e-02,1.6692e-04,6.5486e-04,3.0366e-01,1.5132e-02
+27,1.7950e+01,DOWN_FORCE_DETACH,4.3950e-03,7.1769e-02,4.5684e-01,2.7115e+00,-6.7630e-02,4.1522e-02,8.9580e-04,1.7432e-02,2.5294e-01,2.5671e-01,-1.6923e-02,8.9420e-04,7.3073e-04,3.6081e-01,1.6963e-02
+28,1.8633e+01,DOWN_FORCE_DETACH,4.5556e-03,6.5387e-02,4.4515e-01,2.6817e+00,-6.6631e-02,4.1100e-02,8.0758e-04,1.1050e-02,2.4126e-01,2.2693e-01,-1.5924e-02,4.7157e-04,6.4251e-04,3.3140e-01,1.5944e-02
+29,1.9250e+01,DOWN_FORCE_DETACH,4.7205e-03,6.6637e-02,4.6476e-01,2.7418e+00,-6.7585e-02,4.1080e-02,4.8911e-04,1.2300e-02,2.6087e-01,2.8702e-01,-1.6879e-02,4.5196e-04,3.2404e-04,3.8805e-01,1.6888e-02
+30,1.9817e+01,DOWN_FORCE_DETACH,4.8835e-03,7.0679e-02,4.8469e-01,2.8081e+00,-6.8763e-02,4.1286e-02,5.7539e-05,1.6341e-02,2.8079e-01,3.5331e-01,-1.8057e-02,6.5729e-04,-1.0753e-04,4.5160e-01,1.8069e-02
+31,2.0350e+01,DOWN_FORCE_DETACH,5.0471e-03,6.9752e-02,4.9834e-01,2.7945e+00,-6.9699e-02,4.1219e-02,-1.0632e-04,1.5415e-02,2.9445e-01,3.3977e-01,-1.8993e-02,5.9125e-04,-2.7139e-04,4.4987e-01,1.9004e-02
+32,2.0900e+01,DOWN_FORCE_DETACH,5.2063e-03,8.9867e-02,5.0293e-01,2.8321e+00,-6.9878e-02,4.2604e-02,-3.2650e-04,3.5530e-02,2.9904e-01,3.7731e-01,-1.9172e-02,1.9756e-03,-4.9157e-04,4.8275e-01,1.9280e-02
+33,2.1367e+01,DOWN_FORCE_DETACH,5.3671e-03,8.4552e-02,4.4087e-01,2.8431e+00,-6.5525e-02,4.2242e-02,-2.9647e-04,3.0215e-02,2.3698e-01,3.8833e-01,-1.4819e-02,1.6142e-03,-4.6154e-04,4.5593e-01,1.4913e-02
+34,2.1867e+01,DOWN_FORCE_DETACH,5.5323e-03,9.6112e-02,5.0086e-01,2.8873e+00,-6.9579e-02,4.2981e-02,3.9058e-05,4.1774e-02,2.9696e-01,4.3256e-01,-1.8872e-02,2.3531e-03,-1.2601e-04,5.2634e-01,1.9019e-02
+35,2.2317e+01,DOWN_FORCE_DETACH,5.6989e-03,1.1315e-01,5.4715e-01,2.9150e+00,-7.2387e-02,4.4127e-02,2.5127e-04,5.8812e-02,3.4325e-01,4.6018e-01,-2.1681e-02,3.4984e-03,8.6198e-05,5.7710e-01,2.1961e-02
+36,2.2750e+01,DOWN_FORCE_DETACH,5.8582e-03,1.1355e-01,5.5559e-01,2.9721e+00,-7.2412e-02,4.4082e-02,2.1329e-04,5.9212e-02,3.5170e-01,5.1729e-01,-2.1705e-02,3.4539e-03,4.8224e-05,6.2832e-01,2.1979e-02
+37,2.3183e+01,DOWN_FORCE_DETACH,6.0217e-03,1.0917e-01,5.6658e-01,2.9863e+00,-7.2732e-02,4.3713e-02,1.8268e-05,5.4831e-02,3.6269e-01,5.3148e-01,-2.2026e-02,3.0847e-03,-1.4680e-04,6.4577e-01,2.2241e-02
+38,2.3600e+01,DOWN_FORCE_DETACH,6.1847e-03,1.1618e-01,5.8960e-01,3.0023e+00,-7.4202e-02,4.4166e-02,-6.3649e-05,6.1844e-02,3.8570e-01,5.4749e-01,-2.3496e-02,3.5376e-03,-2.2872e-04,6.7256e-01,2.3762e-02
+39,2.3950e+01,DOWN_FORCE_DETACH,6.3461e-03,1.1530e-01,5.9142e-01,3.0338e+00,-7.4188e-02,4.4091e-02,-1.6753e-04,6.0960e-02,3.8753e-01,5.7903e-01,-2.3481e-02,3.4625e-03,-3.3260e-04,6.9941e-01,2.3737e-02
+40,2.4283e+01,DOWN_FORCE_DETACH,6.5084e-03,1.1144e-01,5.7909e-01,3.0662e+00,-7.3206e-02,4.3818e-02,-1.1900e-04,5.7099e-02,3.7520e-01,6.1143e-01,-2.2500e-02,3.1901e-03,-2.8407e-04,7.1964e-01,2.2727e-02
+41,2.4600e+01,DOWN_FORCE_DETACH,6.6706e-03,1.0239e-01,6.0459e-01,3.0891e+00,-7.4495e-02,4.3153e-02,5.0215e-05,4.8049e-02,4.0070e-01,6.3435e-01,-2.3788e-02,2.5251e-03,-1.1485e-04,7.5184e-01,2.3922e-02
+42,2.4917e+01,DOWN_FORCE_DETACH,6.8314e-03,9.6838e-02,6.3867e-01,3.0973e+00,-7.6436e-02,4.2750e-02,2.1872e-04,4.2501e-02,4.3478e-01,6.4256e-01,-2.5730e-02,2.1213e-03,5.3647e-05,7.7699e-01,2.5817e-02
+43,2.5217e+01,DOWN_FORCE_DETACH,6.9999e-03,9.4286e-02,6.4260e-01,3.1451e+00,-7.6397e-02,4.2509e-02,2.3598e-04,3.9949e-02,4.3870e-01,6.9032e-01,-2.5690e-02,1.8803e-03,7.0910e-05,8.1890e-01,2.5759e-02
+44,2.5517e+01,DOWN_FORCE_DETACH,7.1615e-03,1.0624e-01,6.6278e-01,3.1707e+00,-7.7341e-02,4.3230e-02,1.6573e-04,5.1902e-02,4.5889e-01,7.1596e-01,-2.6634e-02,2.6022e-03,6.6450e-07,8.5198e-01,2.6761e-02
+45,2.5800e+01,DOWN_FORCE_DETACH,7.3201e-03,1.1574e-01,6.7407e-01,3.1810e+00,-7.7983e-02,4.3858e-02,5.7317e-05,6.1405e-02,4.7018e-01,7.2620e-01,-2.7276e-02,3.2303e-03,-1.0775e-04,8.6730e-01,2.7467e-02
+46,2.6100e+01,DOWN_FORCE_DETACH,7.4830e-03,1.3558e-01,6.7253e-01,3.1491e+00,-7.8121e-02,4.5303e-02,-2.5671e-05,8.1246e-02,4.6863e-01,6.9431e-01,-2.7415e-02,4.6749e-03,-1.9074e-04,8.4159e-01,2.7811e-02
+47,2.6383e+01,DOWN_FORCE_DETACH,7.6495e-03,1.4775e-01,6.8344e-01,3.1746e+00,-7.8605e-02,4.6153e-02,-9.1675e-05,9.3409e-02,4.7954e-01,7.1981e-01,-2.7898e-02,5.5245e-03,-2.5674e-04,8.6995e-01,2.8441e-02
+48,2.6650e+01,DOWN_FORCE_DETACH,7.8102e-03,1.5579e-01,6.9866e-01,3.1737e+00,-7.9296e-02,4.6707e-02,-1.7357e-04,1.0145e-01,4.9477e-01,7.1894e-01,-2.8589e-02,6.0789e-03,-3.3864e-04,8.7861e-01,2.9230e-02
+49,2.6917e+01,DOWN_FORCE_DETACH,7.9784e-03,1.5357e-01,7.2165e-01,3.2071e+00,-8.0531e-02,4.6496e-02,-2.7720e-04,9.9233e-02,5.1776e-01,7.5234e-01,-2.9824e-02,5.8677e-03,-4.4227e-04,9.1866e-01,3.0399e-02
+50,2.7150e+01,DOWN_FORCE_DETACH,8.1309e-03,1.4735e-01,7.2547e-01,3.2494e+00,-8.0466e-02,4.6017e-02,-3.5618e-04,9.3008e-02,5.2157e-01,7.9465e-01,-2.9760e-02,5.3886e-03,-5.2125e-04,9.5507e-01,3.0248e-02
+51,2.7400e+01,DOWN_FORCE_DETACH,8.3043e-03,1.4510e-01,7.0806e-01,3.2520e+00,-7.9228e-02,4.5859e-02,-3.6275e-04,9.0764e-02,5.0416e-01,7.9725e-01,-2.8522e-02,5.2305e-03,-5.2781e-04,9.4764e-01,2.9002e-02
+52,2.7633e+01,DOWN_FORCE_DETACH,8.4574e-03,1.5799e-01,7.0835e-01,3.2357e+00,-7.9200e-02,4.6768e-02,-3.2292e-04,1.0365e-01,5.0445e-01,7.8093e-01,-2.8494e-02,6.1402e-03,-4.8799e-04,9.3545e-01,2.9152e-02
+53,2.7867e+01,DOWN_FORCE_DETACH,8.6199e-03,1.5712e-01,7.1269e-01,3.2370e+00,-7.9140e-02,4.6722e-02,-3.0908e-04,1.0278e-01,5.0880e-01,7.8223e-01,-2.8433e-02,6.0942e-03,-4.7415e-04,9.3879e-01,2.9083e-02
+54,2.8100e+01,DOWN_FORCE_DETACH,8.7878e-03,1.5433e-01,7.1475e-01,3.2381e+00,-7.9019e-02,4.6549e-02,-3.6727e-04,9.9995e-02,5.1086e-01,7.8328e-01,-2.8313e-02,5.9211e-03,-5.3234e-04,9.4048e-01,2.8930e-02
+55,2.8333e+01,DOWN_FORCE_DETACH,8.9475e-03,1.5092e-01,7.3661e-01,3.2375e+00,-8.0407e-02,4.6333e-02,-4.5575e-04,9.6586e-02,5.3271e-01,7.8277e-01,-2.9700e-02,5.7045e-03,-6.2082e-04,9.5175e-01,3.0249e-02
+56,2.8567e+01,DOWN_FORCE_DETACH,9.1093e-03,1.3913e-01,7.4483e-01,3.2413e+00,-8.0932e-02,4.5494e-02,-4.7800e-04,8.4795e-02,5.4093e-01,7.8651e-01,-3.0226e-02,4.8662e-03,-6.4307e-04,9.5833e-01,3.0621e-02
+57,2.8783e+01,DOWN_SETTLE,9.2818e-03,1.2943e-01,7.0549e-01,3.2338e+00,-7.8482e-02,4.4823e-02,-4.3953e-04,7.5094e-02,5.0159e-01,7.7906e-01,-2.7775e-02,4.1951e-03,-6.0460e-04,9.2960e-01,2.8097e-02
+58,2.9083e+01,DOWN_SETTLE,9.4382e-03,1.4414e-01,6.9085e-01,3.1668e+00,-7.7662e-02,4.5852e-02,-4.2360e-04,8.9802e-02,4.8695e-01,7.1207e-01,-2.6955e-02,5.2234e-03,-5.8867e-04,8.6731e-01,2.7463e-02
+59,2.9717e+01,DOWN_PEAK_HOLD,9.6003e-03,1.5136e-01,6.5806e-01,2.7388e+00,-7.8341e-02,4.6858e-02,-5.0578e-04,9.7027e-02,4.5417e-01,2.8403e-01,-2.7634e-02,6.2298e-03,-6.7085e-04,5.4439e-01,2.8336e-02

Fixed/digit/ball_PLA_15/press_depth_01/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60bb54389e2f4ab3f6f9f512f50d40856322e69ed327ca77c879f40b97df211
+size 552960

Fixed/digit/ball_PLA_15/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+1114,1792844064105217115,22743619000000,1792844064105378736,XJC_ZERO_HOLD_BEFORE_UP,1,0.0712,0.0712023675441742,0.6759439866071217,-0.00448112910560636,0.10661138359344728,0.9999999573839684,2.380434743835254e-05,-0.0002608368894169852,-8.984651335818043e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0025093783484161462,0.0004247896220721508,6.149305281893946e-05,-1.5543887509914325e-06,-9.82958709770615e-07,0.0001895593494098113,0.02209688017553119,0.012744902997362053,0.1502001636688395,-0.0010465622061579137,-1.5228846253831549e-05,-0.00013093924153837117,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8866980111166843,0.2798539312237596,2.445862477214235,-0.4394464895431436,-1.763681880608988,0.08982372050244515,1.6625214820367051,-6.149305281893946e-05,-0.7833409951775301,0.0,0.0,0,0,0.0,0.0
+1125,1792844064197284644,22743711000000,1792844064197378122,XJC_ZERO_HOLD_BEFORE_UP,1,0.0712,0.07120171189308167,0.675943371604281,-0.004479863387963386,0.10661070357431154,0.9999999571411813,2.3214184140216738e-05,-0.0002610954193961046,-9.192814469703416e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0008715648748881533,-0.008807859432845639,-0.001138902493373506,-1.8907900552101072e-06,-5.596149685735105e-07,0.00012568726084324664,0.01871593695222689,0.003512253942444264,0.14899976812264706,-0.0010468986074621323,-1.4805502512634444e-05,-0.00019481133010493585,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9463105884707239,0.26192976006034335,2.4404122279461236,-0.43208992390364215,-1.7745412812625723,0.08143068269206072,1.6625214820367051,0.001138902493373506,-0.7778907459094184,0.0,0.0,0,0,0.0,0.0
+1147,1792844064382327907,22743896000000,1792844064377387776,WAIT_W2,1,0.0662,0.0712023675441742,0.6759443917009877,-0.004477829667151309,0.1066106548482062,0.9999999571927695,2.738444691742063e-05,-0.0002607406047951467,-9.122364137089632e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.00637151278781747,0.0004616716632166104,5.249157712355901e-06,-9.948916682319103e-07,-7.030083196104559e-07,0.00011815481445229481,0.025959014614932514,0.012781785038506513,0.15014391977373293,-0.0010460027090751541,-1.494889586367139e-05,-0.00020234377649588767,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9612288653281806,0.28870354709807505,2.500187509072684,-0.4419402445397013,-1.8180427687866532,0.09804746743554317,1.6625214820367051,-5.249157712355901e-06,-0.8376660270359788,0.0,0.0,0,0,0.0,0.0
+1170,1792844064573317785,22744087000000,1792844064569378002,WAIT_W2,1,0.0662,0.0712023675441742,0.6759439194344243,-0.004479388556874988,0.10660943804131048,0.9999999569391255,2.3383663694424925e-05,-0.00026212102429220625,-9.116131114789956e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0028918995217644475,-0.009594995095537327,3.5882722640739884e-05,-3.0615283869747482e-06,-1.950590701452992e-07,0.00019040395499859283,0.02247940134887949,0.0027251182797525756,0.1501745533386613,-0.001048069345793897,-1.4440946614206233e-05,-0.00013009463594958965,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8848061741237907,0.3031374977391326,2.532742689994504,-0.4453367929217609,-1.8171470755271364,0.1078879197653237,1.6625214820367051,-3.5882722640739884e-05,-0.8702212079577989,0.0,0.0,0,0,0.0,0.0
+1182,1792844064673363530,22744187000000,1792844064673377692,WAIT_W2,1,0.0662,0.0712023675441742,0.6759424241727704,-0.004485241099954246,0.10660992209292486,0.9999999568501582,1.9940007032758516e-05,-0.0002634320429888656,-8.915436732118613e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0027602599165228413,0.00018826612053258508,-0.006294060058377099,-1.648273254350064e-06,3.1685705160550366e-07,0.00018935210114956697,0.022347761743637885,0.012508379495822487,0.14384461055764347,-0.0010466560906612723,-1.392903049245543e-05,-0.00013114648979861552,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.909268300364539,0.34817111499329756,2.5401744266010415,-0.4623205416704989,-1.828471305496359,0.13660771985523937,1.6625214820367051,0.006294060058377099,-0.8776529445643364,0.0,0.0,0,0,0.0,0.0
+1196,1792844064790400400,22744304000000,1792844064785378207,WAIT_W2,1,0.0662,0.0712023675441742,0.6759411947311851,-0.004489669980330793,0.1066076224724693,0.999999956642702,2.08699655800312e-05,-0.00026585998440121036,-8.390692292196524e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.008237688149220226,0.00041688835541352394,8.085117036121803e-05,-1.6006393281744243e-06,-1.0263652386807573e-06,0.0001903327754628167,0.02782518997633527,0.012737001730703426,0.1502195217863818,-0.0010466084567350967,-1.527225278274169e-05,-0.0001301658154853658,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9054904784108734,0.3956610618611241,2.4806808257632746,-0.46470275571657715,-1.7905965433590236,0.1686331694529812,1.6625214820367051,-8.085117036121803e-05,-0.8181593437265695,0.0,0.0,0,0,0.0,0.0
+1198,1792844064807412578,22744321000000,1792844064805377822,WAIT_W2,1,0.0662,0.0712023675441742,0.6759436888368942,-0.0045224219023508325,0.10661222506871737,0.9999999590151142,8.893763161844981e-07,-0.000260332490563035,-7.509219548999312e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.1477349657830856,0.14055318978223724,0.004140148190660414,0.009651272015779614,-0.009876619185840204,-0.0007835133401307773,0.16732246761020064,0.15287330315752715,0.15427881880668098,0.008606264198372692,-0.009890865073384264,-0.0011040119310789598,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8627565859108057,0.40469632279704426,2.472956240151984,-0.4293905786832081,-1.7757073178327063,0.18013045181208048,1.6625214820367051,-0.004140148190660414,-0.8104347581152789,0.0,0.0,0,0,0.0,0.0
+1200,1792844064823382049,22744337000000,1792844064817378056,WAIT_W2,1,0.0662,0.0712023675441742,0.6759445003263393,-0.004574057569745425,0.10661350966371935,0.9999999602686821,-2.994106032155267e-05,-0.00025783702383123464,-5.940623549775169e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.30209326709765516,0.335239196611811,0.018656006960571042,0.023824045992905954,-0.02176425819264189,-0.0008651799588808753,0.3216807689247702,0.3475593099871009,0.1687946775765916,0.022779038175499033,-0.021778504080185952,-0.0011856785498290578,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8623971003735226,0.6914305597160479,2.4054255548086707,-0.46561791034177036,-1.7329630140351655,0.3737754957967782,1.6625214820367051,-0.018656006960571042,-0.7429040727719656,0.0,0.0,0,0,0.0,0.0
+1200,1792844064823382049,22744337000000,1792844064817378056,WAIT_W2,1,0.0662,0.0712023675441742,0.6759445003263393,-0.004574057569745425,0.10661350966371935,0.9999999602686821,-2.994106032155267e-05,-0.00025783702383123464,-5.940623549775169e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.30209326709765516,0.335239196611811,0.018656006960571042,0.023824045992905954,-0.02176425819264189,-0.0008651799588808753,0.3216807689247702,0.3475593099871009,0.1687946775765916,0.022779038175499033,-0.021778504080185952,-0.0011856785498290578,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8623971003735226,0.6914305597160479,2.4054255548086707,-0.46561791034177036,-1.7329630140351655,0.3737754957967782,1.6625214820367051,-0.018656006960571042,-0.7429040727719656,0.0,0.0,0,0,0.0,0.0
+1202,1792844064840429470,22744354000000,1792844064837378082,WAIT_W2,1,0.0662,0.0712023675441742,0.6759442896159656,-0.00463774554206002,0.10661949982551978,0.9999999594300799,-7.022093827628366e-05,-0.000256468627880658,-4.330780186426816e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5931101813279317,0.6753805935543561,0.06561637560960804,0.05064108530102077,-0.04590630135113533,-0.0008865828679880416,0.6126976831550467,0.687700706929646,0.2157550462256286,0.04959607748361385,-0.045920547238679395,-0.0012070814589362241,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8301586556050008,0.9744400967069882,2.362348598269217,-0.4804945039674003,-1.6972631564454972,0.5693776473637862,1.6625214820367051,-0.06561637560960804,-0.699827116232512,0.0,0.0,0,0,0.0,0.0
+1202,1792844064840429470,22744354000000,1792844064837378082,WAIT_W2,1,0.0662,0.0712023675441742,0.6759442896159656,-0.00463774554206002,0.10661949982551978,0.9999999594300799,-7.022093827628366e-05,-0.000256468627880658,-4.330780186426816e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5931101813279317,0.6753805935543561,0.06561637560960804,0.05064108530102077,-0.04590630135113533,-0.0008865828679880416,0.6126976831550467,0.687700706929646,0.2157550462256286,0.04959607748361385,-0.045920547238679395,-0.0012070814589362241,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8301586556050008,0.9744400967069882,2.362348598269217,-0.4804945039674003,-1.6972631564454972,0.5693776473637862,1.6625214820367051,-0.06561637560960804,-0.699827116232512,0.0,0.0,0,0,0.0,0.0
+1204,1792844064857361551,22744371000000,1792844064857377416,WAIT_W2,1,0.0662,0.0712023675441742,0.6759455881823748,-0.004726504506295856,0.1066231350487646,0.9999999561034744,-0.00012108898376802934,-0.0002529831444865519,-2.3935337046106652e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.840033488949572,0.9382367973429157,0.09140887702251169,0.07180116878367451,-0.06682931375140912,0.00035453586564994366,0.859620990776687,0.9505569107182056,0.24154754763853226,0.07075616096626759,-0.06684355963895318,3.4037274701761175e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.829051247983899,1.2401826596085204,2.3167163850569272,-0.4914210701786544,-1.669225179576798,0.7537180380242638,1.6625214820367051,-0.09140887702251169,-0.6541949030202221,0.0,0.0,0,0,0.0,0.0
+1204,1792844064857361551,22744371000000,1792844064857377416,WAIT_W2,1,0.0662,0.0712023675441742,0.6759455881823748,-0.004726504506295856,0.1066231350487646,0.9999999561034744,-0.00012108898376802934,-0.0002529831444865519,-2.3935337046106652e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.840033488949572,0.9382367973429157,0.09140887702251169,0.07180116878367451,-0.06682931375140912,0.00035453586564994366,0.859620990776687,0.9505569107182056,0.24154754763853226,0.07075616096626759,-0.06684355963895318,3.4037274701761175e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.829051247983899,1.2401826596085204,2.3167163850569272,-0.4914210701786544,-1.669225179576798,0.7537180380242638,1.6625214820367051,-0.09140887702251169,-0.6541949030202221,0.0,0.0,0,0,0.0,0.0
+1204,1792844064857361551,22744371000000,1792844064857377416,WAIT_W2,1,0.0662,0.0712023675441742,0.6759455881823748,-0.004726504506295856,0.1066231350487646,0.9999999561034744,-0.00012108898376802934,-0.0002529831444865519,-2.3935337046106652e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.840033488949572,0.9382367973429157,0.09140887702251169,0.07180116878367451,-0.06682931375140912,0.00035453586564994366,0.859620990776687,0.9505569107182056,0.24154754763853226,0.07075616096626759,-0.06684355963895318,3.4037274701761175e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.829051247983899,1.2401826596085204,2.3167163850569272,-0.4914210701786544,-1.669225179576798,0.7537180380242638,1.6625214820367051,-0.09140887702251169,-0.6541949030202221,0.0,0.0,0,0,0.0,0.0
+1206,1792844064873379232,22744387000000,1792844064873377842,WAIT_W2,1,0.0662,0.0687103196978569,0.675946497504254,-0.004808255265633596,0.10662753461026045,0.9999999506910348,-0.00016561800195417787,-0.00025023471623388384,3.74922500108475e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.979704417632948,1.0879822210832597,0.11181186367249482,0.08389683777644569,-0.07891341179671839,0.0013113861471179093,0.999291919460063,1.1003023344585496,0.2619505342885154,0.08285182995903877,-0.07892765768426245,0.0009908875561697268,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8140213547159344,1.3733019132523638,2.277517107222456,-0.48431406407342187,-1.6425663838848528,0.8461084867956064,1.6625214820367051,-0.11181186367249482,-0.6149956251857507,0.0,0.0,0,0,0.0,0.0
+1206,1792844064873379232,22744387000000,1792844064873377842,WAIT_W2,1,0.0662,0.0687103196978569,0.675946497504254,-0.004808255265633596,0.10662753461026045,0.9999999506910348,-0.00016561800195417787,-0.00025023471623388384,3.74922500108475e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.979704417632948,1.0879822210832597,0.11181186367249482,0.08389683777644569,-0.07891341179671839,0.0013113861471179093,0.999291919460063,1.1003023344585496,0.2619505342885154,0.08285182995903877,-0.07892765768426245,0.0009908875561697268,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8140213547159344,1.3733019132523638,2.277517107222456,-0.48431406407342187,-1.6425663838848528,0.8461084867956064,1.6625214820367051,-0.11181186367249482,-0.6149956251857507,0.0,0.0,0,0,0.0,0.0
+1206,1792844064873379232,22744387000000,1792844064873377842,WAIT_W2,1,0.0662,0.0687103196978569,0.675946497504254,-0.004808255265633596,0.10662753461026045,0.9999999506910348,-0.00016561800195417787,-0.00025023471623388384,3.74922500108475e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.979704417632948,1.0879822210832597,0.11181186367249482,0.08389683777644569,-0.07891341179671839,0.0013113861471179093,0.999291919460063,1.1003023344585496,0.2619505342885154,0.08285182995903877,-0.07892765768426245,0.0009908875561697268,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8140213547159344,1.3733019132523638,2.277517107222456,-0.48431406407342187,-1.6425663838848528,0.8461084867956064,1.6625214820367051,-0.11181186367249482,-0.6149956251857507,0.0,0.0,0,0,0.0,0.0
+1208,1792844064890441275,22744404000000,1792844064889378107,WAIT_W2,1,0.0662,0.0687103196978569,0.6759457740865475,-0.004883373248325782,0.1066312278141565,0.9999999418557746,-0.0002114264066814141,-0.00024945727536041147,2.8306426338718577e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0629090306825617,1.1605332405365814,0.11371415885167177,0.09024171881545534,-0.08589799580546474,0.0018780972279650342,1.0824965325096767,1.1728533539118713,0.26385282946769234,0.08919671099804842,-0.0859122416930088,0.0015575986370168517,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8681919447894274,1.5606524118290466,2.3771865274926376,-0.5017869101287946,-1.7206329689883764,0.9728373984557399,1.6625214820367051,-0.11371415885167177,-0.7146650454559325,0.0,0.0,0,0,0.0,0.0
+1208,1792844064890441275,22744404000000,1792844064889378107,WAIT_W2,1,0.0662,0.0687103196978569,0.6759457740865475,-0.004883373248325782,0.1066312278141565,0.9999999418557746,-0.0002114264066814141,-0.00024945727536041147,2.8306426338718577e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.0629090306825617,1.1605332405365814,0.11371415885167177,0.09024171881545534,-0.08589799580546474,0.0018780972279650342,1.0824965325096767,1.1728533539118713,0.26385282946769234,0.08919671099804842,-0.0859122416930088,0.0015575986370168517,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8681919447894274,1.5606524118290466,2.3771865274926376,-0.5017869101287946,-1.7206329689883764,0.9728373984557399,1.6625214820367051,-0.11371415885167177,-0.7146650454559325,0.0,0.0,0,0,0.0,0.0
+1210,1792844064907405483,22744421000000,1792844064905377691,WAIT_W2,1,0.0662,0.0687103196978569,0.6759441185585169,-0.004922316426231075,0.10663146246111495,0.9999999374852485,-0.0002250077728005464,-0.0002515081556451408,5.086760045451124e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.10332269270095,1.1954934051462758,0.11508010330964177,0.09341478924893212,-0.0895985408608433,0.0019398318396580086,1.122910194528065,1.2078135185215657,0.26521877392566234,0.0923697814315252,-0.08961278674838737,0.001619333248709826,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8396149867833544,1.6901861572059254,2.439363138717026,-0.5183482307008946,-1.7513825952167152,1.0612953100047493,1.6625214820367051,-0.11508010330964177,-0.7768416566803209,0.0,0.0,0,0,0.0,0.0
+1212,1792844064923367738,22744437000000,1792844064921378127,WAIT_W2,1,0.0662,0.0687103196978569,0.6759449992132268,-0.004937882295648967,0.10663560993279163,0.9999999376726473,-0.00022454639463834997,-0.00024843392479106577,6.290522648919432e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1643700182119545,1.24565731829792,0.11564160151322259,0.09806902940751942,-0.09463735684636289,0.0019355055217971074,1.1839575200390695,1.25797743167321,0.26578027212924316,0.0970240215901125,-0.09465160273390695,0.0016150069308489248,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8062850533683837,1.8527003960075763,2.4137323448336914,-0.540247369402084,-1.7251175606183855,1.1721757131516752,1.6625214820367051,-0.11564160151322259,-0.7512108627969862,0.0,0.0,0,0,0.0,0.0
+1220,1792844064990433268,22744504000000,1792844064985378326,WAIT_W2,1,0.0662,0.0687103196978569,0.6759480632390339,-0.004944954136165095,0.10663859536456703,0.9999999392937431,-0.0002169312632460477,-0.00024592330490956005,7.292413420149154e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.375242831794887,1.4994481167019023,0.18041292803196315,0.11727584840517218,-0.11210226675948538,0.002850584491394654,1.394830333622002,1.5117682300771922,0.3305515986479837,0.11623084058776526,-0.11211651264702945,0.0025300859004464714,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.759922489624806,2.224734995420424,2.234823697710215,-0.5773597708986591,-1.5959792046288417,1.4153907259992382,1.6625214820367051,-0.18041292803196315,-0.5723022156735098,0.0,0.0,0,0,0.0,0.0
+1229,1792844065065469064,22744579000000,1792844065061378318,WAIT_W2,1,0.0662,0.06667661666870117,0.6759479747845687,-0.004951755569544565,0.1066386296202766,0.9999999390969456,-0.00021636806157621373,-0.00024613978632855835,7.647899470557815e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3511530746366602,1.5010930129090583,0.26164350756769217,0.11735592746394774,-0.11079661484465762,0.001816584602173959,1.3707405764637752,1.5134131262843482,0.4117821781837127,0.11631091964654082,-0.11081086073220169,0.0014960860112257764,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8203519198506907,2.3356989383930853,2.2458533728765713,-0.5920299375886623,-1.6277761319307822,1.489250321973311,1.6625214820367051,-0.26164350756769217,-0.5833318908398661,0.0,0.0,0,0,0.0,0.0
+1243,1792844065182491924,22744696000000,1792844065181377981,WAIT_W2,1,0.0662,0.06667661666870117,0.6759484656143137,-0.004958551491633774,0.10663993131581848,0.9999999387048105,-0.00021907819219547966,-0.0002449638495157996,7.765756498023182e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.314650022374378,1.5076247944346088,0.3363311167161983,0.11822865772927395,-0.10795887339691095,0.0007884941401873876,1.334237524201493,1.5199449078098988,0.4864697873322189,0.11718364991186703,-0.10797311928445501,0.00046799554923920503,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8512800101434166,2.2092689625587396,2.174039419197415,-0.5515121222130485,-1.592065746427845,1.405814080236228,1.6625214820367051,-0.3363311167161983,-0.5115179371607099,0.0,0.0,0,0,0.0,0.0
+1259,1792844065315530752,22744829000000,1792844065309378102,WAIT_W2,1,0.0662,0.06628984212875366,0.6759513495066819,-0.00496169380268233,0.10664654669330582,0.9999999390963814,-0.00022262285356359465,-0.00023990146414229753,7.833549702540362e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.293637525474406,1.4967462948669885,0.36606166288480535,0.11779685051182345,-0.10669784533195034,0.0007587029010833182,1.313225027301521,1.5090664082422784,0.516200333500826,0.11675184269441653,-0.1067120912194944,0.0004382043101351357,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8262248556636772,2.2008730840232174,2.167993235395832,-0.5480326039203146,-1.5823554860524145,1.396432967583664,1.6625214820367051,-0.36606166288480535,-0.5054717533591271,0.0,0.0,0,0,0.0,0.0
+1271,1792844065413468078,22744927000000,1792844065409377502,UP_FORCE_RAMP,1,0.0662,0.06628984212875366,0.6759499188532092,-0.004965179908772707,0.10664490834692428,0.999999937985244,-0.0002258387582306617,-0.00024172277505407456,7.771311106434248e-05,0.6761,-0.0046,0.10700001630000035,1.0,0.0,0.0,0.0,1.2793407266902281,1.4808973957545402,0.3617977652308092,0.11674906590982388,-0.10563937643957297,0.000766950427811704,1.2989282285173431,1.49321750912983,0.5119364358468298,0.11570405809241696,-0.10565362232711703,0.00044645183686352146,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.7971336518314208,2.1943919097952285,2.175002495530527,-0.552100696667789,-1.5794547973227888,1.393370983423022,1.6625214820367051,-0.3617977652308092,-0.5124810134938218,-0.3617977652308092,0.0025999999999999994,0,0,1.2999999924031612e-06,9.999999025923074e-05
+1287,1792844065546574888,22745060000000,1792844065541378092,UP_FORCE_RAMP,1,0.0662,0.06621826440095901,0.6759538257864288,-0.004970891053251133,0.1066504102529962,0.9999999390525204,-0.00022725728113127025,-0.00023642990460201344,7.611076076264735e-05,0.6761,-0.0046,0.10700062809991254,1.0,0.0,0.0,0.0,1.2579916306528016,1.4508512205393769,0.3551003053936339,0.11526609783420488,-0.10461469921605648,0.0007667334060599249,1.2775791324799166,1.4631713339146668,0.5052389760096545,0.11422109001679796,-0.10462894510360055,0.00044623481511174237,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.7894406556422268,2.1591704745043785,2.189144920992527,-0.5375382478907035,-1.586938572707751,1.3733426771393795,1.6625214820367051,-0.3551003053936339,-0.5266234389558218,-0.3551003053936339,0.01589999999999996,0,0,7.94999869688085e-06,9.999999025923074e-05
+1304,1792844065688602647,22745202000000,1792844065681378720,UP_FORCE_RAMP,1,0.0662,0.06620447337627411,0.6759529209658589,-0.0049730771289442964,0.1066485631399348,0.9999999380130207,-0.00023089923057984,-0.0002375276758130908,7.538545912542371e-05,0.6761,-0.0046,0.1070022575496286,1.0,0.0,0.0,0.0,1.2165411215369952,1.4231259607870546,0.3390713203492536,0.11298000130632226,-0.10161018253058497,0.0007914925342130659,1.2361286233641102,1.4354460741623445,0.4892099909652741,0.11193499348891534,-0.10162442841812903,0.0004709939432648835,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.7538628673952052,2.0896439784733785,2.070929231004176,-0.5190064775510146,-1.5021095655979795,1.327628115586378,1.6625214820367051,-0.3390713203492536,-0.4084077489674707,-0.3390713203492536,0.030099999999999873,0,0,1.5049997313691615e-05,9.999999025923074e-05
+1320,1792844065821591219,22745335000000,1792844065817388197,UP_FORCE_RAMP,1,0.0662,0.06620447337627411,0.6759510892902129,-0.004977625952426794,0.10664732007333813,0.9999999367931005,-0.0002337022880639603,-0.0002398677826636094,7.55205039475098e-05,0.6761,-0.0046,0.10700469809918452,1.0,0.0,0.0,0.0,1.2122146857035212,1.4099568983853015,0.33339321689062396,0.11188257958091125,-0.10051484192063184,0.0008041324039790908,1.2318021875306362,1.4222770117605914,0.48353188750664455,0.11083757176350433,-0.1005290878081759,0.00048363381303090835,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.7921465315535885,2.1476953251776254,2.1627146246495754,-0.544418701222946,-1.5704871590041698,1.362896649211923,1.6625214820367051,-0.33339321689062396,-0.5001931426128703,-0.33339321689062396,0.043400000000000216,0,0,2.1699996018169305e-05,9.999999025923074e-05
+1332,1792844065921553592,22745435000000,1792844065921388057,UP_FORCE_RAMP,1,0.0662,0.06620119512081146,0.6759514704241074,-0.0049772490754290835,0.1066486962070425,0.9999999366468453,-0.00023502725376952155,-0.0002391214855297828,7.571178734811998e-05,0.6761,-0.0046,0.10700711559873714,1.0,0.0,0.0,0.0,1.2034930139584887,1.3875580557319958,0.3230197778039626,0.11086149561633175,-0.10047378551920122,0.0008001933232350349,1.2230805157856037,1.3998781691072857,0.4731584484199832,0.10981648779892483,-0.10048803140674528,0.00047969473228685243,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.7818964461930538,2.1762644352872758,2.1020851160192793,-0.5529898411877843,-1.529198427430723,1.383523327095451,1.6625214820367051,-0.3230197778039626,-0.43956363398257414,-0.3230197778039626,0.0534000000000005,0,0,2.669999504409238e-05,9.999999025923074e-05
+1348,1792844066054669034,22745568000000,1792844066049387644,UP_FORCE_RAMP,1,0.0662,0.06620119512081146,0.6759528163104188,-0.004976652923066461,0.10664914153078765,0.9999999372914086,-0.000233023808197361,-0.00023824243393173335,7.616094942774613e-05,0.6761,-0.0046,0.10701110559799121,1.0,0.0,0.0,0.0,1.197855009886252,1.3969695060064864,0.3136456576416976,0.11071737734052288,-0.09945817656106617,0.0008219203218730543,1.217442511713367,1.4092896193817763,0.46378432825771815,0.10967236952311596,-0.09947242244861024,0.0005014217309248719,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8476300168179809,2.0409952411268004,2.1610011690903197,-0.5183010248797284,-1.584100278651872,1.2916282794843008,1.6625214820367051,-0.3136456576416976,-0.49847968705361456,-0.3136456576416976,0.06670000000000088,0,0,3.334999374857007e-05,9.999999025923074e-05
+1361,1792844066163602826,22745677000000,1792844066161387946,UP_FORCE_RAMP,1,0.0662,0.0661998763680458,0.6759527667318849,-0.004978661222906377,0.10665018804800161,0.9999999364093096,-0.000238508109057081,-0.00023689173664353348,7.496951168076958e-05,0.6761,-0.0046,0.1070150350472514,1.0,0.0,0.0,0.0,1.1942529267437836,1.3924901150252487,0.30246539177591414,0.11047012390765842,-0.09944609558707117,0.0004181464327493204,1.2138404285708986,1.4048102284005386,0.45260406239193474,0.1094251160902515,-0.09946034147461523,9.764784180113793e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8313999336286301,2.1346112841507883,2.1925593360980344,-0.5543915770232855,-1.5997251261134442,1.35070038084839,1.6625214820367051,-0.30246539177591414,-0.5300378540613293,-0.30246539177591414,0.0776000000000012,0,0,3.879999268682622e-05,9.999999025923074e-05
+1375,1792844066279663931,22745793000000,1792844066273387596,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759533931596815,-0.004979682332211857,0.1066550285600318,0.9999999377736039,-0.0002339611916357528,-0.00023574503006814238,7.471341263858898e-05,0.6761,-0.0046,0.10701986934633698,1.0,0.0,0.0,0.0,1.1943667472116715,1.3831124360072624,0.2859828303464663,0.109819709441022,-0.0994329959202088,0.0008327510420981727,1.2139542490387865,1.3954325493825523,0.43612150096248686,0.10877470162361508,-0.09944724180775286,0.0005122524511499902,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8259344409447006,2.173980386940192,2.270020227947352,-0.5691564051571086,-1.6474779478822366,1.3770711033801226,1.6625214820367051,-0.2859828303464663,-0.6074987459106467,-0.2859828303464663,0.08920000000000153,0,0,4.4599991556896985e-05,9.999999025923074e-05
+1385,1792844066363746465,22745877000000,1792844066357378247,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759534186853547,-0.0049753043149241396,0.10665557404306292,0.999999937589024,-0.00023560786532961377,-0.00023558411944951674,7.248357447529259e-05,0.6761,-0.0046,0.10702379004559298,1.0,0.0,0.0,0.0,1.1926180242055247,1.3827051250062228,0.27449671858520786,0.10982162541389402,-0.0994256535727948,0.0008187084858845923,1.2122055260326396,1.3950252383815127,0.42463538920122845,0.1087766175964871,-0.09943989946033886,0.0004982098949364099,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8638766578651722,2.064902267289626,2.2105749738388467,-0.5351575236570376,-1.6166916827996909,1.3062725816387661,1.6625214820367051,-0.27449671858520786,-0.5480534918021416,-0.27449671858520786,0.09760000000000177,0,0,4.879999073867237e-05,9.999999025923074e-05
+1403,1792844066513675632,22746027000000,1792844066513377610,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759521453516131,-0.004973731720129853,0.10665654702668069,0.9999999383255902,-0.0002308379572898586,-0.00023695405637662044,7.320035808710728e-05,0.6761,-0.0046,0.10703166879409347,1.0,0.0,0.0,0.0,1.1854337054535835,1.376111166244879,0.25211221649103677,0.10982205251652889,-0.09928903315141172,0.0007351498473714662,1.2050212072806985,1.388431279620169,0.4022508871070573,0.10877704469912197,-0.09930327903895578,0.0004146512564232837,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8856465077016734,2.1402688910911274,2.2838372933376263,-0.5557859499891952,-1.6697348320681298,1.357465020160416,1.6625214820367051,-0.25211221649103677,-0.6213158113009212,-0.25211221649103677,0.1126000000000022,0,0,5.629998927755698e-05,9.999999025923074e-05
+1418,1792844066638801971,22746152000000,1792844066633388144,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759545109124679,-0.0049746661796820895,0.10666493016369155,0.9999999392543399,-0.00023053840267455572,-0.00023347107308315277,7.264629012976389e-05,0.6761,-0.0046,0.10703909379267645,1.0,0.0,0.0,0.0,1.1826693705929856,1.3811493869697284,0.2256995623390254,0.10980519619226825,-0.098487863184181,0.0008949142421280471,1.2022568724201006,1.3934695003450184,0.375838232955046,0.10876018837486133,-0.09850210907172506,0.0005744156511798647,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.8371204276970065,2.1340816512173406,2.205441894895441,-0.5584653756053114,-1.6018820063284172,1.3489186271208806,1.6625214820367051,-0.2256995623390254,-0.5429204128587357,-0.2256995623390254,0.12510000000000254,0,0,6.254998805996082e-05,9.999999025923074e-05
+1434,1792844066771839736,22746285000000,1792844066765378423,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759524996455506,-0.004976174973767458,0.10666583981832088,0.9999999387265298,-0.00022976050630282732,-0.00023634350264955923,7.308665539684e-05,0.6761,-0.0046,0.10704785184100163,1.0,0.0,0.0,0.0,1.1854203283158822,1.3799006543687888,0.18393561235928116,0.10974631283718826,-0.09839250628901434,0.00012995924176952461,1.2050078301429972,1.3922207677440788,0.33407428297530173,0.10870130501978134,-0.0984067521765584,-0.00019053934917865787,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9480652595051269,2.090191771034404,2.4422684709837164,-0.551799369992412,-1.7862202960909908,1.319778712481475,1.6625214820367051,-0.18393561235928116,-0.7797469889470112,-0.18393561235928116,0.13840000000000108,0,0,6.919998676443851e-05,9.999999025923074e-05
+1456,1792844066954946017,22746468000000,1792844066953387522,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759515627418802,-0.0049774275822053364,0.10667372211880975,0.9999999378316057,-0.00023301468312232653,-0.00023724678067095246,7.209557121235917e-05,0.6761,-0.0046,0.10706134808841553,1.0,0.0,0.0,0.0,1.176408618043161,1.382751547951429,0.12187353806170961,0.10945045074112218,-0.09837752525806795,0.0009776017417591528,1.195996119870276,1.395071661326719,0.2720122086777302,0.10840544292371526,-0.09839177114561201,0.0006571031508109704,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9973632678702611,2.2026810292531938,2.5096612695001412,-0.5884557442272639,-1.8439566466912105,1.3902032291915294,1.6625214820367051,-0.12187353806170961,-0.8471397874634361,-0.12187353806170961,0.15669999999999906,0,0,7.834998498187774e-05,9.999999025923074e-05
+1468,1792844067054920640,22746568000000,1792844067049387648,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759451707129523,-0.0049730581062747865,0.10667996840886633,0.9999999359369951,-0.00022890029042455616,-0.00025022312938086805,6.754193074751935e-05,0.6761,-0.0046,0.10706943058686452,1.0,0.0,0.0,0.0,1.18614999427656,1.3741344870925742,0.07733448350042677,0.10882586282524052,-0.09835055596977745,2.8090239193325395e-05,1.205737496103675,1.3864546004678642,0.22747315411644733,0.1077808550078336,-0.09836480185732151,-0.0002924083517548571,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.956737955006408,2.1320146185437236,2.509372872653605,-0.5649844280445916,-1.8306757836799066,1.3448584680129108,1.6625214820367051,-0.07733448350042677,-0.8468513906168997,-0.07733448350042677,0.16669999999999796,0,0,8.334998400780081e-05,9.999999025923074e-05
+1472,1792844067088897578,22746602000000,1792844067085387515,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759159768936372,-0.004972995628212996,0.10667639901429633,0.9999999162705122,-0.00022628184305070086,-0.00032209901543762476,6.285367310487054e-05,0.6761,-0.0046,0.10707229253631499,1.0,0.0,0.0,0.0,1.1952114387888748,1.3624361766038677,0.07764797440945584,0.1088485883248369,-0.09922636388415677,-2.5974780332317215e-05,1.2147989406159898,1.3747562899791577,0.2277866450254764,0.10780358050742998,-0.09924060977170084,-0.0003464733712804997,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9228734318523629,2.094694884564413,2.5142268983717333,-0.5463414243028911,-1.8081648726105481,1.3130199669292861,1.6625214820367051,-0.07764797440945584,-0.8517054163350282,-0.07764797440945584,0.1700999999999976,0,0,8.504998367661466e-05,9.999999025923074e-05
+1481,1792844067163894022,22746677000000,1792844067157388241,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759176558561747,-0.004970331086180053,0.10668277341795791,0.9999999172342288,-0.00022732637082011447,-0.0003185556789318089,6.180129561091403e-05,0.6761,-0.0046,0.10707881003506298,1.0,0.0,0.0,0.0,1.2437105187979989,1.3218686975442442,0.08083648366720766,0.10484226108832262,-0.10322273692587536,-0.0001422347129162809,1.2632980206251139,1.3341888109195341,0.23097515428322823,0.1037972532709157,-0.10323698281341942,-0.0004627333038644634,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-0.9298079035929572,2.0644466362886242,2.4487046623615285,-0.5346555152070946,-1.7728616972480011,1.2890694004106975,1.6625214820367051,-0.08083648366720766,-0.7861831803248234,-0.08083648366720766,0.17759999999999676,0,0,8.879998294605696e-05,9.999999025923074e-05
+1493,1792844067263842561,22746777000000,1792844067261387558,UP_FORCE_RAMP,1,0.0662,0.06620053946971893,0.6759191703754929,-0.004972723026534483,0.10668854971618044,0.9999999183204187,-0.00022693759601846242,-0.0003154296202790797,6.168875202493672e-05,0.6761,-0.0046,0.10708793753330839,1.0,0.0,0.0,0.0,1.2300175175606822,1.323333697655353,0.04965544888808185,0.10519024473622264,-0.1023388043959425,-0.0001091223143318982,1.2496050193877972,1.3356538110306428,0.19979411950410242,0.10414523691881572,-0.10235305028348657,-0.0004296209052800807,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.01004828991745,2.025101030862066,2.5230520396055747,-0.5300935940333044,-1.8447107258035587,1.2607029248032056,1.6625214820367051,-0.04965544888808185,-0.8605305575688695,-0.04965544888808185,0.18759999999999566,0,0,9.379998197198004e-05,9.999999025923074e-05
+1507,1792844067379967060,22746893000000,1792844067377387336,UP_FORCE_RAMP,1,0.0662,0.06620119512081146,0.6759203172906386,-0.004969058339779833,0.10669529527634039,0.9999999200884374,-0.0002230939041406048,-0.0003131300209372145,5.86914197114666e-05,0.6761,-0.0046,0.10709915183115104,1.0,0.0,0.0,0.0,1.2325267717493251,1.3303790121140675,0.019384102414579052,0.10485622946858661,-0.10231370566014014,-7.879097109651757e-05,1.2521142735764401,1.3426991254893574,0.16952277303059962,0.10381122165117969,-0.1023279515476842,-0.00039928956204470005,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0296671004880178,2.2282363371004204,2.564742160286232,-0.6010791985592809,-1.8774777257372763,1.3914696124725254,1.6625214820367051,-0.019384102414579052,-0.902220678249527,-0.019384102414579052,0.19919999999999438,0,0,9.95999808420508e-05,9.999999025923074e-05
+1522,1792844067504898496,22747018000000,1792844067497387648,UP_FORCE_RAMP,1,0.0662,0.06620119512081146,0.6759187803664274,-0.0049727888790189025,0.10669679483987746,0.9999999191050726,-0.00022526918631446714,-0.00031448316488826055,5.9890274952396745e-05,0.6761,-0.0046,0.10711198932867959,1.0,0.0,0.0,0.0,1.2200823316011795,1.3279730848018005,-0.020337366071397134,0.10586488689192654,-0.10232295825339086,-3.689451042646519e-05,1.2396698334282945,1.3402931981770905,0.12980130454462344,0.10481987907451962,-0.10233720414093492,-0.0003573931013746477,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.041254988754374,2.144004526287647,2.6506987192953284,-0.5811721512588287,-1.9341040884292453,1.3326061788653218,1.6625214820367051,0.020337366071397134,-0.9881772372586233,0.020337366071397134,0.211699999999993,0,0,0.00010584997962445464,9.999999025923074e-05
+1544,1792844067688996381,22747202000000,1792844067685387451,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.6759204572146922,-0.004973526486628873,0.10670773797537059,0.9999999197674838,-0.00022927833427599615,-0.0003097199621746689,5.841986251286057e-05,0.6761,-0.0046,0.10713186939934147,1.0,0.0,0.0,0.0,1.2169784448613852,1.3347028514916606,-0.10416815097588582,0.10526229471192815,-0.10128123181647222,3.944024877646662e-05,1.2365659466885002,1.3470229648669505,0.04597051964013475,0.10421728689452123,-0.10129547770401628,-0.00028105834217171587,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0914009964753335,2.175421798966471,2.739028100967953,-0.5951801332029814,-2.0047397680137475,1.347454667620385,1.6625214820367051,0.10416815097588582,-1.0765066189312478,0.10416815097588582,0.23009999999999098,0,0,0.00010637753928147286,-9.999999025923074e-05
+1558,1792844067805025300,22747318000000,1792844067797387296,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.6759206601833132,-0.004968118811392318,0.10671748873205376,0.9999999218287491,-0.00022308534813659167,-0.0003079352402204288,5.6517032877827625e-05,0.6761,-0.0046,0.10714387569396422,1.0,0.0,0.0,0.0,1.216773825620609,1.3358286063455491,-0.15862265552300717,0.10586709028220857,-0.10128052572464764,8.898379631856024e-05,1.236361327447724,1.348148719720839,-0.008483984906986604,0.10482208246480165,-0.1012947716121917,-0.00023151479462962224,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0381496021292906,2.1245094089680685,2.7259915162285084,-0.582828594512306,-1.9836310146425284,1.3119401848035281,1.6625214820367051,0.15862265552300717,-1.0634700341918033,0.15862265552300717,0.2416999999999897,0,0,0.00010057754041140209,-9.999999025923074e-05
+1566,1792844067872006928,22747385000000,1792844067865378739,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.6759216077451605,-0.004970084277856511,0.10672310215354486,0.9999999224394844,-0.00022423270613551819,-0.0003049753183313063,5.721571499128002e-05,0.6761,-0.0046,0.10715050383919397,1.0,0.0,0.0,0.0,1.2003590664766495,1.3431608096373935,-0.19669992002379222,0.10586579920528243,-0.100264484782567,0.00014293994311254387,1.2199465683037645,1.3554809230126834,-0.04656124940777165,0.1048207913878755,-0.10027873067011106,-0.00017755864783563862,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0776226939670013,2.2614299993049634,2.731392411199285,-0.6298873444512199,-1.9993613579854155,1.3984698524955221,1.6625214820367051,0.19669992002379222,-1.0688709291625798,0.19669992002379222,0.24839999999998896,0,0,9.722754106403363e-05,-9.999999025923074e-05
+1582,1792844068005091177,22747518000000,1792844068001378162,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.6759227896988761,-0.004974500041095935,0.1067317235164504,0.999999922749069,-0.00022580434709301104,-0.0003026714441269855,5.7854245701552615e-05,0.6761,-0.0046,0.10716299620224229,1.0,0.0,0.0,0.0,1.2099212672570034,1.3392264604739637,-0.25995510762687346,0.10587633778826527,-0.1002464366632047,0.00018853853393748058,1.2295087690841184,1.3515465738492536,-0.1098164370108529,0.10483132997085835,-0.10026068255074876,-0.0001319600570107019,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.1202068260103384,2.1416705999950114,2.9595210645527876,-0.5892803422654748,-2.159352583495662,1.3208260437626993,1.6625214820367051,0.25995510762687346,-1.2969995825160825,0.25995510762687346,0.2616999999999875,0,0,9.057754235955594e-05,-9.999999025923074e-05
+1595,1792844068114016986,22747627000000,1792844068113387731,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.67592206882975,-0.00496701228453417,0.10674008273790024,0.9999999245151303,-0.00021986463370481782,-0.0003017276251778592,5.506887383017538e-05,0.6761,-0.0046,0.10717257485441788,1.0,0.0,0.0,0.0,1.2070270518442794,1.3511173451704894,-0.3111357798977139,0.10653302365383978,-0.10024748831862791,0.0002354123186411966,1.2266145536713944,1.3634374585457794,-0.16099710928169333,0.10548801583643286,-0.10026173420617197,-8.508627230698588e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.1389604039001022,2.2028034666048057,3.060312015719138,-0.6100417856752554,-2.230380285798503,1.3578139708832726,1.6625214820367051,0.3111357798977139,-1.397790533682433,0.3111357798977139,0.2725999999999863,0,0,8.51275434212998e-05,-9.999999025923074e-05
+1613,1792844068264103501,22747777000000,1792844068261377573,UP_FORCE_RAMP,1,0.0662,0.06620185077190399,0.6759205067247879,-0.0049663518785068505,0.10674611425867203,0.9999999238094008,-0.00021953701788042033,-0.0003047021830309481,5.276489213550084e-05,0.6761,-0.0046,0.10718478523604139,1.0,0.0,0.0,0.0,1.201697282842275,1.336951534453616,-0.36555589603563443,0.1060313503548854,-0.10022737451849215,0.0002772647961456701,1.22128478466939,1.349271647828906,-0.21541722541961386,0.10498634253747847,-0.10024162040603621,-4.323379480251236e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.1098539958898799,2.138992276269171,2.9722862549706806,-0.5820309692136301,-2.16569222467307,1.3193181840956116,1.6625214820367051,0.36555589603563443,-1.3097647729339754,0.36555589603563443,0.28759999999998465,0,0,7.762754488241518e-05,-9.999999025923074e-05
+1633,1792844068430136675,22747943000000,1792844068429378249,UP_FORCE_RAMP,1,0.0662,0.06620250642299652,0.6759192484713914,-0.004969832030722652,0.10675331908796935,0.9999999228068707,-0.00022063785774991193,-0.0003073235249756427,5.1964443484006624e-05,0.6761,-0.0046,0.10719698665862688,1.0,0.0,0.0,0.0,1.2080617304246117,1.3479790332567005,-0.4013197252353816,0.1059295964764385,-0.10117968850503323,0.0002861394395181943,1.2276492322517267,1.3602991466319905,-0.251181054619361,0.10488458865903158,-0.10119393439257729,-3.4359151429988226e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.090442920328527,2.0836706911873892,3.073335134791881,-0.5658691864508557,-2.2251737199625508,1.2826270647327782,1.6625214820367051,0.4013197252353816,-1.4108136527551758,0.4013197252353816,0.3041999999999828,0,0,6.932754649938288e-05,-9.999999025923074e-05
+1648,1792844068555106688,22748068000000,1792844068549377929,UP_FORCE_RAMP,1,0.0662,0.06620250642299652,0.6759156625908657,-0.004971727536849202,0.10675815725306127,0.999999919591052,-0.00022605412044748315,-0.0003137859375653232,5.1948760662486e-05,0.6761,-0.0046,0.10720526510201601,1.0,0.0,0.0,0.0,1.2117570618057518,1.329091285533574,-0.4221558097805451,0.10552973760190638,-0.10121204880789214,0.0003048097581243962,1.2313445636328668,1.3414113989088639,-0.2720171391645245,0.10448472978449946,-0.1012262946954362,-1.5688832823786317e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0504954551100392,2.190922015208806,3.0277987893458103,-0.5985296937465686,-2.1862007093857616,1.3518294267786868,1.6625214820367051,0.4221558097805451,-1.3652773073091051,0.4221558097805451,0.31669999999998144,0,0,6.307754771697904e-05,-9.999999025923074e-05
+1660,1792844068655225215,22748168000000,1792844068653378098,UP_FORCE_RAMP,1,0.0662,0.06620250642299652,0.6759163325656868,-0.004968752299944059,0.1067626094795799,0.9999999198038159,-0.0002232108880030281,-0.0003153621323423085,5.0585085861587945e-05,0.6761,-0.0046,0.1072113253568369,1.0,0.0,0.0,0.0,1.217827870277113,1.3296912766886635,-0.44229569484878495,0.10496326168021124,-0.10120035563711871,0.00031102482446916256,1.237415372104228,1.3420113900639534,-0.2921570242327644,0.10391825386280432,-0.10121460152466277,-9.473766479019931e-06,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.053361148314762,2.2067849977457397,3.0107708237554283,-0.609077162277117,-2.1736506685772263,1.3638922335317398,1.6625214820367051,0.44229569484878495,-1.3482493417187231,0.44229569484878495,0.32669999999998034,0,0,5.807754869105596e-05,-9.999999025923074e-05
+1678,1792844068805275353,22748318000000,1792844068805377650,UP_FORCE_RAMP,1,0.0662,0.06620250642299652,0.6759089644013231,-0.0049632813493561845,0.10676393164273382,0.9999999166265474,-0.00021592002797128193,-0.0003303665304342992,4.9257076384014896e-05,0.6761,-0.0046,0.10721947823925088,1.0,0.0,0.0,0.0,1.2347608895199307,1.3144489128196952,-0.45267949293647436,0.10392488436336003,-0.10214328630705302,0.0002916681275688252,1.2543483913470457,1.3267690261949852,-0.3025408223204538,0.10287987654595311,-0.10215753219459708,-2.8830463379357278e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.100847629676134,2.1107089787007136,3.124786365030916,-0.5766069983511983,-2.2551219518239134,1.2968331937021762,1.6625214820367051,0.45267949293647436,-1.4622648829942109,0.45267949293647436,0.3416999999999787,0,0,5.057755015217135e-05,-9.999999025923074e-05
+1698,1792844068971319700,22748484000000,1792844068969378276,UP_FORCE_HOLD,1,0.0662,0.06620250642299652,0.6759076495090308,-0.004965533493935985,0.1067693071763415,0.999999913989378,-0.00022029385038398555,-0.00033574267580487515,4.702739436968823e-05,0.6761,-0.0046,0.10722718936271115,1.0,0.0,0.0,0.0,1.2243570842592277,1.3077984960443996,-0.46337450611920006,0.10327986777911054,-0.10222185073467367,0.0002881843414295602,1.2439445860863427,1.3201186094196895,-0.31323583550317946,0.10223485996170362,-0.10223609662221773,-3.231424951862226e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.1036629157911817,2.061489498223116,3.1133779738563603,-0.5667710771753065,-2.246199744440822,1.2637446876536749,1.6625214820367051,0.46337450611920006,-1.4508564918196551,0.46337450611920006,0.4718,0,0,4.227755176913905e-05,-9.999999025923074e-05
+1713,1792844069096277754,22748609000000,1792844069093378656,UP_FORCE_HOLD,1,0.0662,0.06620250642299652,0.6759074936097976,-0.004968318337859925,0.10677070071138509,0.999999912610655,-0.0002224391511243679,-0.00033867729949604196,4.516699160845094e-05,0.6761,-0.0046,0.107232086556759,1.0,0.0,0.0,0.0,1.2376001158312966,1.3095222892645568,-0.48102237365412925,0.10291167807062712,-0.10216677592388197,0.00023212566367464494,1.2571876176584116,1.3218424026398468,-0.33088370303810866,0.1018666702532202,-0.10218102181142603,-8.837292727353755e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.1227242703177058,2.2310723831763823,3.0849477804195016,-0.6186983003792612,-2.2339663340252973,1.3721333591082585,1.6625214820367051,0.48102237365412925,-1.4224262983827964,0.48102237365412925,0.4718,0,0,3.6027552986735205e-05,-9.999999025923074e-05
+1727,1792844069213348118,22748726000000,1792844069213377974,UP_FORCE_HOLD,1,0.0662,0.06620250642299652,0.6759064083169228,-0.0049691058485572094,0.1067747671572093,0.9999999118034527,-0.00022375683917912618,-0.0003400589317607889,4.613838580591546e-05,0.6761,-0.0046,0.10723596248052569,1.0,0.0,0.0,0.0,1.2284620674738416,1.307915500026193,-0.4929785077211857,0.1035760131996142,-0.10217911516400227,0.00026104572156501656,1.2480495693009566,1.320235613401483,-0.34283983710516513,0.10253100538220727,-0.10219336105154633,-5.94528693831659e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0637660536694946,2.1833618044398198,3.126714612133468,-0.6004177046811093,-2.245531878404812,1.34168504761566,1.6625214820367051,0.4929785077211857,-1.464193130096763,0.4929785077211857,0.4718,0,0,3.0177554126405208e-05,-9.999999025923074e-05
+1749,1792844069397320663,22748910000000,1792844069393378079,UP_SETTLE,1,0.0662,0.06620185077190399,0.6759039447700381,-0.004964813715998597,0.10677511047176425,0.9999999108926404,-0.0002225346675385539,-0.00034393327305154843,4.296278247970168e-05,0.6761,-0.0046,0.10724067335065074,1.0,0.0,0.0,0.0,1.2294319431294538,1.3062774349835413,-0.5096943160404515,0.10293293360102054,-0.10216003904433671,0.0003251911423218048,1.2490194449565688,1.3185975483588313,-0.3595556454244309,0.10188792578361362,-0.10217428493188077,4.6925513736223e-06,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.057694832589326,2.1299162966104,3.1812440079736417,-0.57739448535844,-2.279065115285717,1.3138900549689367,1.6625214820367051,0.5096943160404515,-1.5187225259369366,0.5096943160404515,0.4718,0,0,2.097755591870675e-05,-9.999999025923074e-05
+1764,1792844069522407096,22749035000000,1792844069521378866,UP_SETTLE,1,0.0662,0.06620185077190399,0.675905780079557,-0.0049632138558312585,0.1067803749041694,0.99999991245896,-0.00021830971623792962,-0.00034200397763168726,4.357847369555976e-05,0.6761,-0.0046,0.10724290804521729,1.0,0.0,0.0,0.0,1.2287353809891366,1.3023976103567039,-0.5222350459915138,0.10291707947455508,-0.10215738533971082,0.0003350984850323925,1.2483228828162516,1.3147177237319938,-0.3720963753754932,0.10187207165714816,-0.10217163122725488,1.4599894084209977e-05,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.0512410298408008,2.1438121824885803,3.1316441177289622,-0.5885309315612702,-2.246354641118162,1.3187108757222594,1.6625214820367051,0.5222350459915138,-1.469122635692257,0.5222350459915138,0.4718,0,0,1.472755713630291e-05,-9.999999025923074e-05
+1774,1792844069606387847,22749119000000,1792844069601378769,UP_SETTLE,1,0.0662,0.06620185077190399,0.6759046715500092,-0.0049648050161625185,0.10678145565871348,0.9999999116665531,-0.00022205703443312443,-0.0003418125530627991,4.432383090651979e-05,0.6761,-0.0046,0.10724397086005151,1.0,0.0,0.0,0.0,1.2286886993525064,1.2979579098624183,-0.5237759493279694,0.10292431895731581,-0.10215151377437717,-0.0006427347652654032,1.2482762011796213,1.3102780232377083,-0.37363727871194885,0.10187931113990889,-0.10216575966192123,-0.0009632333562135857,0.019587501827115043,0.012320113375289902,0.15013867061602057,-0.0010450078174069222,-1.4245887544060934e-05,-0.0003204985909481825,1,-1.114604940505843,2.151101879772597,3.1457378877023787,-0.5931282753481254,-2.274926185162639,1.3238824716069564,1.6625214820367051,0.5237759493279694,-1.4832164056656736,0.5237759493279694,0.4718,0,0,1.0527557954527528e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_15/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792844064102400937,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.890388678e-09,-3.683503398e-10,7.814748848e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451574e-01,-1.178346942e-04,8.303258294e-01
+1,8.333333333e-02,XJC_ZERO_HOLD_BEFORE_UP,1792844064200066449,-3.580344313e-07,1.304665561e-07,-3.815923990e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.206891736e-08,-2.557968682e-09,5.701401573e-10,7.019552748e-01,-2.214026847e-05,8.601427056e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451756e-01,-1.178368838e-04,8.303258299e-01
+2,2.666666667e-01,WAIT_W2,1792844064380331789,-1.711744600e-06,5.337025954e-06,-3.431047376e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.356316257e-08,-6.604985666e-09,2.019530987e-09,7.019539211e-01,-1.693370907e-05,8.601396562e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452071e-01,-1.178409308e-04,8.303258314e-01
+3,4.666666667e-01,WAIT_W2,1792844064577034652,4.725278321e-07,1.380325570e-06,-5.908641763e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.809804115e-08,-9.949296949e-09,3.768725110e-09,7.019561053e-01,-2.089040945e-05,8.601424964e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452316e-01,-1.178442751e-04,8.303258331e-01
+4,5.666666667e-01,WAIT_W2,1792844064675659146,-3.133672662e-06,4.807297053e-07,-3.135245323e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.765503856e-08,-1.133138660e-08,4.575058998e-09,7.019524991e-01,-2.179000532e-05,8.601399520e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452412e-01,-1.178456572e-04,8.303258339e-01
+5,6.833333333e-01,WAIT_W2,1792844064789821786,-5.518036279e-07,-6.412657607e-06,5.597411523e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.685383451e-08,-1.274180547e-08,5.477425402e-09,7.019550810e-01,-2.868339263e-05,8.601436470e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452504e-01,-1.178470676e-04,8.303258348e-01
+6,7.000000000e-01,WAIT_W2,1792844064806224065,-1.697784635e-08,-2.945262643e-05,2.159809937e-06,-1.939827208e-07,-2.930446617e-05,2.208722030e-06,-8.638233706e-08,-2.888491825e-05,2.166078897e-06,7.019556158e-01,-5.172336145e-05,8.601452470e-01,7.019554388e-01,-5.157520120e-05,8.601452960e-01,7.027450672e-01,-1.467192441e-04,8.303279954e-01
+7,7.166666667e-01,WAIT_W2,1792844064824412079,-1.006389891e-06,-8.617900075e-05,4.099318245e-06,-8.606589723e-07,-8.616226788e-05,4.352286372e-06,-7.489264946e-07,-8.505917882e-05,4.282813613e-06,7.019546264e-01,-1.084497358e-04,8.601471866e-01,7.019547722e-01,-1.084330029e-04,8.601474395e-01,7.027444046e-01,-2.028935046e-04,8.303301122e-01
+8,7.166666667e-01,WAIT_W2,1792844064824412079,-1.006389891e-06,-8.617900075e-05,4.099318245e-06,-8.606589723e-07,-8.616226788e-05,4.352286372e-06,-7.489264946e-07,-8.505917882e-05,4.282813613e-06,7.019546264e-01,-1.084497358e-04,8.601471866e-01,7.019547722e-01,-1.084330029e-04,8.601474395e-01,7.027444046e-01,-2.028935046e-04,8.303301122e-01
+9,7.333333333e-01,WAIT_W2,1792844064839283496,-4.673556634e-07,-1.484811532e-04,7.257863266e-06,-3.955039891e-07,-1.482786327e-04,7.161190779e-06,-2.374052726e-07,-1.464004357e-04,6.986896639e-06,7.019551655e-01,-1.707518882e-04,8.601503451e-01,7.019552373e-01,-1.705493677e-04,8.601502484e-01,7.027449161e-01,-2.642347616e-04,8.303328163e-01
+10,7.333333333e-01,WAIT_W2,1792844064839283496,-4.673556634e-07,-1.484811532e-04,7.257863266e-06,-3.955039891e-07,-1.482786327e-04,7.161190779e-06,-2.374052726e-07,-1.464004357e-04,6.986896639e-06,7.019551655e-01,-1.707518882e-04,8.601503451e-01,7.019552373e-01,-1.705493677e-04,8.601502484e-01,7.027449161e-01,-2.642347616e-04,8.303328163e-01
+11,7.500000000e-01,WAIT_W2,1792844064855240621,1.865542738e-06,-2.148270996e-04,9.972208852e-06,1.856737642e-06,-2.150751420e-04,9.746092376e-06,2.188642284e-06,-2.124338436e-04,9.626853048e-06,7.019574984e-01,-2.370978346e-04,8.601530594e-01,7.019574896e-01,-2.373458770e-04,8.601528333e-01,7.027473422e-01,-3.302681694e-04,8.303354562e-01
+12,7.500000000e-01,WAIT_W2,1792844064855240621,1.865542738e-06,-2.148270996e-04,9.972208852e-06,1.856737642e-06,-2.150751420e-04,9.746092376e-06,2.188642284e-06,-2.124338436e-04,9.626853048e-06,7.019574984e-01,-2.370978346e-04,8.601530594e-01,7.019574896e-01,-2.373458770e-04,8.601528333e-01,7.027473422e-01,-3.302681694e-04,8.303354562e-01
+13,7.500000000e-01,WAIT_W2,1792844064855240621,1.865542738e-06,-2.148270996e-04,9.972208852e-06,1.856737642e-06,-2.150751420e-04,9.746092376e-06,2.188642284e-06,-2.124338436e-04,9.626853048e-06,7.019574984e-01,-2.370978346e-04,8.601530594e-01,7.019574896e-01,-2.373458770e-04,8.601528333e-01,7.027473422e-01,-3.302681694e-04,8.303354562e-01
+14,7.666666667e-01,WAIT_W2,1792844064873260213,3.201077421e-06,-3.119626217e-04,1.696404204e-05,3.115723759e-06,-3.118694513e-04,1.709778533e-05,3.649309317e-06,-3.081032970e-04,1.687751399e-05,7.019588339e-01,-3.342333568e-04,8.601600513e-01,7.019587485e-01,-3.341401863e-04,8.601601850e-01,7.027488029e-01,-4.259376228e-04,8.303427069e-01
+15,7.666666667e-01,WAIT_W2,1792844064873260213,3.201077421e-06,-3.119626217e-04,1.696404204e-05,3.115723759e-06,-3.118694513e-04,1.709778533e-05,3.649309317e-06,-3.081032970e-04,1.687751399e-05,7.019588339e-01,-3.342333568e-04,8.601600513e-01,7.019587485e-01,-3.341401863e-04,8.601601850e-01,7.027488029e-01,-4.259376228e-04,8.303427069e-01
+16,7.666666667e-01,WAIT_W2,1792844064873260213,3.201077421e-06,-3.119626217e-04,1.696404204e-05,3.115723759e-06,-3.118694513e-04,1.709778533e-05,3.649309317e-06,-3.081032970e-04,1.687751399e-05,7.019588339e-01,-3.342333568e-04,8.601600513e-01,7.019587485e-01,-3.341401863e-04,8.601601850e-01,7.027488029e-01,-4.259376228e-04,8.303427069e-01
+17,7.833333333e-01,WAIT_W2,1792844064888470912,-1.048026326e-07,-3.861278487e-04,1.695262685e-05,-4.517203311e-08,-3.859734547e-04,1.713599327e-05,2.534388500e-07,-3.814135843e-04,1.704499726e-05,7.019555280e-01,-4.083985837e-04,8.601600399e-01,7.019555876e-01,-4.082441898e-04,8.601602232e-01,7.027454070e-01,-4.992479101e-04,8.303428744e-01
+18,7.833333333e-01,WAIT_W2,1792844064888470912,-1.048026326e-07,-3.861278487e-04,1.695262685e-05,-4.517203311e-08,-3.859734547e-04,1.713599327e-05,2.534388500e-07,-3.814135843e-04,1.704499726e-05,7.019555280e-01,-4.083985837e-04,8.601600399e-01,7.019555876e-01,-4.082441898e-04,8.601602232e-01,7.027454070e-01,-4.992479101e-04,8.303428744e-01
+19,8.000000000e-01,WAIT_W2,1792844064904907292,1.568800577e-06,-4.265889517e-04,2.117907121e-05,1.523116952e-06,-4.261826380e-04,2.090871508e-05,2.020069749e-06,-4.211588103e-04,2.072931019e-05,7.019572016e-01,-4.488596868e-04,8.601642663e-01,7.019571559e-01,-4.484533730e-04,8.601639960e-01,7.027471736e-01,-5.389931362e-04,8.303465587e-01
+20,8.166666667e-01,WAIT_W2,1792844064920936929,2.906037053e-06,-4.557947081e-04,2.532717417e-05,3.088493016e-06,-4.559955522e-04,2.545587526e-05,3.732768637e-06,-4.506388726e-04,2.522249953e-05,7.019585389e-01,-4.780654431e-04,8.601684144e-01,7.019587213e-01,-4.782662872e-04,8.601685431e-01,7.027488863e-01,-5.684731985e-04,8.303510519e-01
+21,8.833333333e-01,WAIT_W2,1792844064986481839,3.279400328e-06,-4.644018056e-04,2.653671943e-05,3.088493016e-06,-4.559955522e-04,2.545587526e-05,3.795506642e-06,-4.507440440e-04,2.524959694e-05,7.019589122e-01,-4.866725406e-04,8.601696240e-01,7.019587213e-01,-4.782662872e-04,8.601685431e-01,7.027489491e-01,-5.685783699e-04,8.303510790e-01
+22,9.666666667e-01,WAIT_W2,1792844065068709680,6.271420880e-06,-4.673929764e-04,2.969810641e-05,3.088493016e-06,-4.559955522e-04,2.545587526e-05,3.864123071e-06,-4.507834134e-04,2.527934927e-05,7.019619042e-01,-4.896637114e-04,8.601727853e-01,7.019587213e-01,-4.782662872e-04,8.601685431e-01,7.027490177e-01,-5.686177393e-04,8.303511087e-01
+23,1.083333333e+00,WAIT_W2,1792844065183261678,6.010013056e-06,-4.768617955e-04,3.148119884e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.106662060e-06,-4.740103747e-04,3.248520987e-05,7.019616428e-01,-4.991325305e-04,8.601745684e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027522602e-01,-5.918447005e-04,8.303583146e-01
+24,1.216666667e+00,WAIT_W2,1792844065314125064,7.456818399e-06,-4.778701842e-04,3.700346889e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.198464058e-06,-4.740502146e-04,3.254249882e-05,7.019630896e-01,-5.001409192e-04,8.601800907e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027523520e-01,-5.918845404e-04,8.303583719e-01
+25,1.316666667e+00,UP_FORCE_RAMP,1792844065412177591,7.273477165e-06,-4.772951995e-04,3.632442770e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.256771498e-06,-4.740757509e-04,3.257665248e-05,7.019629063e-01,-4.995659345e-04,8.601794117e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027524103e-01,-5.919100768e-04,8.303584060e-01
+26,1.450000000e+00,UP_FORCE_RAMP,1792844065544661015,7.834836700e-06,-4.864366284e-04,3.777547936e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.324388866e-06,-4.740994771e-04,3.261824730e-05,7.019634677e-01,-5.087073634e-04,8.601808627e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027524779e-01,-5.919338030e-04,8.303584476e-01
+27,1.600000000e+00,UP_FORCE_RAMP,1792844065690922512,5.431529831e-06,-4.885737155e-04,3.434084831e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.390790693e-06,-4.741211968e-04,3.265953672e-05,7.019610643e-01,-5.108444505e-04,8.601774281e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027525443e-01,-5.919555226e-04,8.303584889e-01
+28,1.733333333e+00,UP_FORCE_RAMP,1792844065822380514,7.132823152e-06,-4.940287342e-04,3.665614764e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.443901182e-06,-4.741370590e-04,3.269233173e-05,7.019627656e-01,-5.162994692e-04,8.601797434e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027525975e-01,-5.919713848e-04,8.303585217e-01
+29,1.833333333e+00,UP_FORCE_RAMP,1792844065920294271,6.853009114e-06,-4.949221184e-04,3.748577283e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.480433962e-06,-4.741480767e-04,3.271484521e-05,7.019624858e-01,-5.171928534e-04,8.601805730e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027526340e-01,-5.919824026e-04,8.303585442e-01
+30,1.950000000e+00,UP_FORCE_RAMP,1792844066051486201,8.325387173e-06,-4.960075865e-04,4.019595097e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.519978118e-06,-4.741592737e-04,3.273896847e-05,7.019639582e-01,-5.182783216e-04,8.601832832e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027526735e-01,-5.919935995e-04,8.303585683e-01
+31,2.033333333e+00,UP_FORCE_RAMP,1792844066162921258,5.934786292e-06,-4.941898024e-04,3.751871271e-05,6.024680374e-06,-4.795044093e-04,3.269927521e-05,7.546737882e-06,-4.741664931e-04,3.275496615e-05,7.019615676e-01,-5.164605374e-04,8.601806060e-01,7.019616575e-01,-5.017751443e-04,8.601757865e-01,7.027527003e-01,-5.920008189e-04,8.303585843e-01
+32,2.150000000e+00,UP_FORCE_RAMP,1792844066281314211,6.859000827e-06,-4.995295578e-04,4.116160944e-05,6.950150670e-06,-4.995034814e-04,4.118050335e-05,8.683929617e-06,-4.938435005e-04,4.108429084e-05,7.019624918e-01,-5.218002928e-04,8.601842488e-01,7.019625830e-01,-5.217742165e-04,8.601842677e-01,7.027538375e-01,-6.116778263e-04,8.303669137e-01
+33,2.233333333e+00,UP_FORCE_RAMP,1792844066362583917,7.563726820e-06,-4.946550451e-04,4.373823410e-05,6.950150670e-06,-4.995034814e-04,4.118050335e-05,8.712948669e-06,-4.938929086e-04,4.112513461e-05,7.019631965e-01,-5.169257801e-04,8.601868255e-01,7.019625830e-01,-5.217742165e-04,8.601842677e-01,7.027538665e-01,-6.117272345e-04,8.303669545e-01
+34,2.366666667e+00,UP_FORCE_RAMP,1792844066510443766,7.735875716e-06,-4.958869272e-04,4.521386687e-05,6.950150670e-06,-4.995034814e-04,4.118050335e-05,8.754839051e-06,-4.939089084e-04,4.116341036e-05,7.019633687e-01,-5.181576622e-04,8.601883011e-01,7.019625830e-01,-5.217742165e-04,8.601842677e-01,7.027539084e-01,-6.117432343e-04,8.303669928e-01
+35,2.500000000e+00,UP_FORCE_RAMP,1792844066641833246,8.012714056e-06,-4.973270744e-04,5.026926173e-05,6.950150670e-06,-4.995034814e-04,4.118050335e-05,8.791696635e-06,-4.939204931e-04,4.119500225e-05,7.019636455e-01,-5.195978094e-04,8.601933565e-01,7.019625830e-01,-5.217742165e-04,8.601842677e-01,7.027539452e-01,-6.117548189e-04,8.303670244e-01
+36,2.633333333e+00,UP_FORCE_RAMP,1792844066772698156,7.077040199e-06,-4.929599993e-04,5.478194763e-05,6.950150670e-06,-4.995034814e-04,4.118050335e-05,8.825129977e-06,-4.939300764e-04,4.122225415e-05,7.019627099e-01,-5.152307343e-04,8.601978692e-01,7.019625830e-01,-5.217742165e-04,8.601842677e-01,7.027539787e-01,-6.117644023e-04,8.303670516e-01
+37,2.816666667e+00,UP_FORCE_RAMP,1792844066952581199,6.958766004e-06,-4.921074940e-04,6.463330744e-05,7.746867033e-06,-4.956074855e-04,6.427952152e-05,9.954766706e-06,-4.900696981e-04,6.398637113e-05,7.019625916e-01,-5.143782290e-04,8.602077205e-01,7.019633797e-01,-5.178782205e-04,8.602073668e-01,7.027551083e-01,-6.079040239e-04,8.303898157e-01
+38,2.916666667e+00,UP_FORCE_RAMP,1792844067052656044,4.046240061e-06,-4.903332658e-04,6.904986023e-05,7.746867033e-06,-4.956074855e-04,6.427952152e-05,9.977302500e-06,-4.900773021e-04,6.405833562e-05,7.019596791e-01,-5.126040008e-04,8.602121371e-01,7.019633797e-01,-5.178782205e-04,8.602073668e-01,7.027551309e-01,-6.079116280e-04,8.303898877e-01
+39,2.950000000e+00,UP_FORCE_RAMP,1792844067084733090,-3.422506761e-05,-4.927069209e-04,6.265554507e-05,-1.873245233e-05,-4.888905382e-04,6.283148338e-05,-1.803801965e-05,-4.834990695e-04,6.253376652e-05,7.019214077e-01,-5.149776559e-04,8.602057428e-01,7.019369004e-01,-5.111612733e-04,8.602059187e-01,7.027271155e-01,-6.013333954e-04,8.303883631e-01
+40,3.033333333e+00,UP_FORCE_RAMP,1792844067165319209,-2.637158116e-05,-4.862757554e-04,7.175889207e-05,-1.873245233e-05,-4.888905382e-04,6.283148338e-05,-1.809114989e-05,-4.834905300e-04,6.256809764e-05,7.019292612e-01,-5.085464905e-04,8.602148461e-01,7.019369004e-01,-5.111612733e-04,8.602059187e-01,7.027270624e-01,-6.013248558e-04,8.303883975e-01
+41,3.133333333e+00,UP_FORCE_RAMP,1792844067264076200,-2.478609157e-05,-4.891258083e-04,7.788579048e-05,-1.873245233e-05,-4.888905382e-04,6.283148338e-05,-1.811751732e-05,-4.834879532e-04,6.260397087e-05,7.019308467e-01,-5.113965433e-04,8.602209730e-01,7.019369004e-01,-5.111612733e-04,8.602059187e-01,7.027270360e-01,-6.013222790e-04,8.303884333e-01
+42,3.250000000e+00,UP_FORCE_RAMP,1792844067378638425,-2.397076212e-05,-4.906321260e-04,8.243212418e-05,-2.166845772e-05,-4.885767624e-04,8.465107297e-05,-2.102984538e-05,-4.831765908e-04,8.406778287e-05,7.019316621e-01,-5.129028610e-04,8.602255194e-01,7.019339644e-01,-5.108474974e-04,8.602277383e-01,7.027241237e-01,-6.010109166e-04,8.304098971e-01
+43,3.366666667e+00,UP_FORCE_RAMP,1792844067507644551,-2.468586277e-05,-4.884692430e-04,8.683841207e-05,-2.166845772e-05,-4.885767624e-04,8.465107297e-05,-2.104867304e-05,-4.831792301e-04,8.415867720e-05,7.019309470e-01,-5.107399781e-04,8.602299257e-01,7.019339644e-01,-5.108474974e-04,8.602277383e-01,7.027241049e-01,-6.010135559e-04,8.304099880e-01
+44,3.500000000e+00,UP_FORCE_RAMP,1792844067690067576,-2.344020500e-05,-4.899833732e-04,9.682197775e-05,-2.166845772e-05,-4.885767624e-04,8.465107297e-05,-2.106334742e-05,-4.831817835e-04,8.423010986e-05,7.019321926e-01,-5.122541082e-04,8.602399092e-01,7.019339644e-01,-5.108474974e-04,8.602277383e-01,7.027240902e-01,-6.010161094e-04,8.304100595e-01
+45,3.600000000e+00,UP_FORCE_RAMP,1792844067804707885,-2.307722215e-05,-4.844732159e-04,1.067876884e-04,-2.289575308e-05,-4.902866209e-04,1.046335317e-04,-2.208089693e-05,-4.848204625e-04,1.039779772e-04,7.019325556e-01,-5.067439510e-04,8.602498749e-01,7.019327371e-01,-5.125573559e-04,8.602477208e-01,7.027230727e-01,-6.026547883e-04,8.304298073e-01
+46,3.666666667e+00,UP_FORCE_RAMP,1792844067870133331,-2.269485289e-05,-4.905524272e-04,1.108689477e-04,-2.289575308e-05,-4.902866209e-04,1.046335317e-04,-2.208647193e-05,-4.848246739e-04,1.040406919e-04,7.019329380e-01,-5.128231623e-04,8.602539562e-01,7.019327371e-01,-5.125573559e-04,8.602477208e-01,7.027230671e-01,-6.026589998e-04,8.304298701e-01
+47,3.800000000e+00,UP_FORCE_RAMP,1792844068001265072,-2.204329637e-05,-4.909768353e-04,1.179202704e-04,-2.289575308e-05,-4.902866209e-04,1.046335317e-04,-2.209535458e-05,-4.848294781e-04,1.041298224e-04,7.019335895e-01,-5.132475703e-04,8.602610075e-01,7.019327371e-01,-5.125573559e-04,8.602477208e-01,7.027230582e-01,-6.026638039e-04,8.304299592e-01
+48,3.916666667e+00,UP_FORCE_RAMP,1792844068115913871,-2.188763731e-05,-4.834150663e-04,1.294188122e-04,-2.027539560e-05,-4.876516341e-04,1.266120695e-04,-1.907186390e-05,-4.822453217e-04,1.257968654e-04,7.019337452e-01,-5.056858013e-04,8.602725061e-01,7.019353574e-01,-5.099223691e-04,8.602696993e-01,7.027260817e-01,-6.000796475e-04,8.304516262e-01
+49,4.066666667e+00,UP_FORCE_RAMP,1792844068262896632,-2.193104341e-05,-4.833243579e-04,1.375430187e-04,-2.027539560e-05,-4.876516341e-04,1.266120695e-04,-1.907202334e-05,-4.822538136e-04,1.259191731e-04,7.019337018e-01,-5.055950929e-04,8.602806303e-01,7.019353574e-01,-5.099223691e-04,8.602696993e-01,7.027260815e-01,-6.000881394e-04,8.304517485e-01
+50,4.233333333e+00,UP_FORCE_RAMP,1792844068427248403,-2.371139756e-05,-4.848053145e-04,1.439465872e-04,-2.027539560e-05,-4.876516341e-04,1.266120695e-04,-1.907360199e-05,-4.822606555e-04,1.260214559e-04,7.019319214e-01,-5.070760495e-04,8.602870338e-01,7.019353574e-01,-5.099223691e-04,8.602696993e-01,7.027260799e-01,-6.000949814e-04,8.304518508e-01
+51,4.350000000e+00,UP_FORCE_RAMP,1792844068558417955,-2.397380146e-05,-4.808389214e-04,1.517720958e-04,-2.330892727e-05,-4.806059663e-04,1.462814823e-04,-2.204222341e-05,-4.752783078e-04,1.454282825e-04,7.019316590e-01,-5.031096564e-04,8.602948593e-01,7.019323239e-01,-5.028767013e-04,8.602893687e-01,7.027231113e-01,-5.931126337e-04,8.304712576e-01
+52,4.450000000e+00,UP_FORCE_RAMP,1792844068656887868,-2.773304234e-05,-4.850631383e-04,1.520347271e-04,-2.330892727e-05,-4.806059663e-04,1.462814823e-04,-2.204971453e-05,-4.752810076e-04,1.455100334e-04,7.019278998e-01,-5.073338733e-04,8.602951220e-01,7.019323239e-01,-5.028767013e-04,8.602893687e-01,7.027231038e-01,-5.931153334e-04,8.304713394e-01
+53,4.600000000e+00,UP_FORCE_RAMP,1792844068804014571,-3.306496913e-05,-4.815118652e-04,1.527294606e-04,-2.330892727e-05,-4.806059663e-04,1.462814823e-04,-2.205830656e-05,-4.752844510e-04,1.456076374e-04,7.019225678e-01,-5.037826002e-04,8.602958167e-01,7.019323239e-01,-5.028767013e-04,8.602893687e-01,7.027230952e-01,-5.931187768e-04,8.304714370e-01
+54,4.766666667e+00,UP_FORCE_HOLD,1792844068971682320,-3.776023041e-05,-4.789575202e-04,1.552720071e-04,-2.330892727e-05,-4.806059663e-04,1.462814823e-04,-2.206689349e-05,-4.752877126e-04,1.456961254e-04,7.019178726e-01,-5.012282552e-04,8.602983592e-01,7.019323239e-01,-5.028767013e-04,8.602893687e-01,7.027230867e-01,-5.931220384e-04,8.304715255e-01
+55,4.900000000e+00,UP_FORCE_HOLD,1792844069098892811,-3.831570552e-05,-4.822417231e-04,1.594796910e-04,-3.634983027e-05,-4.823117675e-04,1.619998769e-04,-3.567466148e-05,-4.769793635e-04,1.611560336e-04,7.019173171e-01,-5.045124581e-04,8.603025669e-01,7.019192830e-01,-5.045825026e-04,8.603050871e-01,7.027094789e-01,-5.948136893e-04,8.304869854e-01
+56,5.016666667e+00,UP_FORCE_HOLD,1792844069214145949,-3.819611524e-05,-4.812366808e-04,1.629078060e-04,-3.634983027e-05,-4.823117675e-04,1.619998769e-04,-3.571700164e-05,-4.769802755e-04,1.612454665e-04,7.019174367e-01,-5.035074158e-04,8.603059950e-01,7.019192830e-01,-5.045825026e-04,8.603050871e-01,7.027094365e-01,-5.948146013e-04,8.304870748e-01
+57,5.183333333e+00,UP_SETTLE,1792844069394018968,-3.970484691e-05,-4.805596089e-04,1.658805053e-04,-3.634983027e-05,-4.823117675e-04,1.619998769e-04,-3.575108535e-05,-4.769838694e-04,1.613407422e-04,7.019159280e-01,-5.028303440e-04,8.603089677e-01,7.019192830e-01,-5.045825026e-04,8.603050871e-01,7.027094025e-01,-5.948181952e-04,8.304871701e-01
+58,5.316666667e+00,UP_SETTLE,1792844069525166185,-3.846913099e-05,-4.780548609e-04,1.699001323e-04,-3.634983027e-05,-4.823117675e-04,1.619998769e-04,-3.577184208e-05,-4.769839652e-04,1.614040280e-04,7.019171637e-01,-5.003255959e-04,8.603129874e-01,7.019192830e-01,-5.045825026e-04,8.603050871e-01,7.027093817e-01,-5.948182910e-04,8.304872334e-01
+59,5.400000000e+00,UP_SETTLE,1792844069606340558,-3.906824514e-05,-4.809371192e-04,1.701377391e-04,-3.634983027e-05,-4.823117675e-04,1.619998769e-04,-3.578292053e-05,-4.769838372e-04,1.614393307e-04,7.019165646e-01,-5.032078542e-04,8.603132250e-01,7.019192830e-01,-5.045825026e-04,8.603050871e-01,7.027093706e-01,-5.948181630e-04,8.304872687e-01

Fixed/digit/ball_PLA_15/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,5.3229e-02,2.0391e-01,2.4548e+00,-5.0704e-02,4.0558e-02,1.6548e-04,1.7744e-04,2.3991e-05,-4.7684e-07,-1.7695e-06,1.1500e-05,-1.7742e-07,1.7905e-04,1.1637e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,2.8966e-05,5.6212e-02,2.0413e-01,2.4548e+00,-5.0713e-02,4.0758e-02,1.3817e-04,3.1607e-03,2.5268e-04,7.1526e-06,-1.1336e-05,2.1159e-04,-2.7490e-05,3.1708e-03,2.1367e-04
+2,2.6667e-01,WAIT_W2,6.0682e-05,6.2200e-02,2.0377e-01,2.4551e+00,-5.0660e-02,4.1178e-02,7.6058e-05,9.1479e-03,-1.0888e-04,2.6608e-04,4.1988e-05,6.3157e-04,-8.9597e-05,9.1524e-03,6.3927e-04
+3,4.6667e-01,WAIT_W2,8.6144e-05,6.6762e-02,2.0296e-01,2.4553e+00,-5.0575e-02,4.1507e-02,2.9269e-05,1.3710e-02,-9.1881e-04,5.5385e-04,1.2714e-04,9.6104e-04,-1.3639e-04,1.3752e-02,9.7896e-04
+4,5.6667e-01,WAIT_W2,1.1530e-04,6.7741e-02,2.0291e-01,2.4555e+00,-5.0565e-02,4.1578e-02,5.3539e-06,1.4690e-02,-9.7446e-04,7.4720e-04,1.3708e-04,1.0315e-03,-1.6030e-04,1.4741e-02,1.0528e-03
+5,6.8333e-01,WAIT_W2,1.4223e-04,7.0548e-02,2.0283e-01,2.4557e+00,-5.0552e-02,4.1769e-02,-1.2802e-05,1.7497e-02,-1.0532e-03,9.0504e-04,1.4954e-04,1.2224e-03,-1.7846e-04,1.7552e-02,1.2444e-03
+6,7.0000e-01,WAIT_W2,1.6534e-04,7.0576e-02,2.0283e-01,2.4557e+00,-5.0552e-02,4.1771e-02,-1.2873e-05,1.7525e-02,-1.0558e-03,9.0551e-04,1.4981e-04,1.2244e-03,-1.7853e-04,1.7580e-02,1.2464e-03
+7,7.1667e-01,WAIT_W2,2.2210e-04,7.3679e-02,3.6148e-01,2.4474e+00,-6.1775e-02,4.2003e-02,7.9877e-05,2.0628e-02,1.5759e-01,-7.3962e-03,-1.1073e-02,1.4561e-03,-8.5778e-05,1.5911e-01,1.1168e-02
+8,7.1667e-01,WAIT_W2,2.2210e-04,7.3679e-02,3.6148e-01,2.4474e+00,-6.1775e-02,4.2003e-02,7.9877e-05,2.0628e-02,1.5759e-01,-7.3962e-03,-1.1073e-02,1.4561e-03,-8.5778e-05,1.5911e-01,1.1168e-02
+9,7.3333e-01,WAIT_W2,2.8449e-04,8.2464e-02,6.9489e-01,2.4426e+00,-8.4998e-02,4.2621e-02,2.5433e-04,2.9413e-02,4.9101e-01,-1.2147e-02,-3.4296e-02,2.0748e-03,8.8670e-05,4.9204e-01,3.4359e-02
+10,7.3333e-01,WAIT_W2,2.8449e-04,8.2464e-02,6.9489e-01,2.4426e+00,-8.4998e-02,4.2621e-02,2.5433e-04,2.9413e-02,4.9101e-01,-1.2147e-02,-3.4296e-02,2.0748e-03,8.8670e-05,4.9204e-01,3.4359e-02
+11,7.5000e-01,WAIT_W2,3.5093e-04,8.3378e-02,8.3568e-01,2.4417e+00,-9.4522e-02,4.2686e-02,2.8848e-04,3.0326e-02,6.3179e-01,-1.3057e-02,-4.3820e-02,2.1397e-03,1.2282e-04,6.3266e-01,4.3872e-02
+12,7.5000e-01,WAIT_W2,3.5093e-04,8.3378e-02,8.3568e-01,2.4417e+00,-9.4522e-02,4.2686e-02,2.8848e-04,3.0326e-02,6.3179e-01,-1.3057e-02,-4.3820e-02,2.1397e-03,1.2282e-04,6.3266e-01,4.3872e-02
+13,7.5000e-01,WAIT_W2,3.5093e-04,8.3378e-02,8.3568e-01,2.4417e+00,-9.4522e-02,4.2686e-02,2.8848e-04,3.0326e-02,6.3179e-01,-1.3057e-02,-4.3820e-02,2.1397e-03,1.2282e-04,6.3266e-01,4.3872e-02
+14,7.6667e-01,WAIT_W2,4.4833e-04,8.3891e-02,1.0450e+00,2.4409e+00,-1.0870e-01,4.2725e-02,3.3415e-04,3.0839e-02,8.4110e-01,-1.3861e-02,-5.8003e-02,2.1786e-03,1.6849e-04,8.4178e-01,5.8044e-02
+15,7.6667e-01,WAIT_W2,4.4833e-04,8.3891e-02,1.0450e+00,2.4409e+00,-1.0870e-01,4.2725e-02,3.3415e-04,3.0839e-02,8.4110e-01,-1.3861e-02,-5.8003e-02,2.1786e-03,1.6849e-04,8.4178e-01,5.8044e-02
+16,7.6667e-01,WAIT_W2,4.4833e-04,8.3891e-02,1.0450e+00,2.4409e+00,-1.0870e-01,4.2725e-02,3.3415e-04,3.0839e-02,8.4110e-01,-1.3861e-02,-5.8003e-02,2.1786e-03,1.6849e-04,8.4178e-01,5.8044e-02
+17,7.8333e-01,WAIT_W2,5.2257e-04,9.5447e-02,1.9898e+00,2.4125e+00,-1.7541e-01,4.3570e-02,8.3454e-04,4.2395e-02,1.7860e+00,-4.2302e-02,-1.2471e-01,3.0236e-03,6.6889e-04,1.7870e+00,1.2474e-01
+18,7.8333e-01,WAIT_W2,5.2257e-04,9.5447e-02,1.9898e+00,2.4125e+00,-1.7541e-01,4.3570e-02,8.3454e-04,4.2395e-02,1.7860e+00,-4.2302e-02,-1.2471e-01,3.0236e-03,6.6889e-04,1.7870e+00,1.2474e-01
+19,8.0000e-01,WAIT_W2,5.6328e-04,1.1674e-01,2.2093e+00,2.4768e+00,-1.9260e-01,4.5025e-02,1.2928e-03,6.3691e-02,2.0054e+00,2.2046e-02,-1.4190e-01,4.4788e-03,1.1272e-03,2.0066e+00,1.4197e-01
+20,8.1667e-01,WAIT_W2,5.9281e-04,1.0142e-01,2.3593e+00,2.4666e+00,-2.0343e-01,4.3980e-02,2.0630e-03,4.8364e-02,2.1554e+00,1.1800e-02,-1.5273e-01,3.4331e-03,1.8973e-03,2.1560e+00,1.5278e-01
+21,8.8333e-01,WAIT_W2,6.0855e-04,1.0653e-01,2.5048e+00,2.4376e+00,-2.1393e-01,4.4347e-02,2.1730e-03,5.3479e-02,2.3009e+00,-1.7161e-02,-1.6323e-01,3.8007e-03,2.0073e-03,2.3016e+00,1.6329e-01
+22,9.6667e-01,WAIT_W2,6.3726e-04,1.3134e-01,2.4763e+00,2.4516e+00,-2.1190e-01,4.6007e-02,2.1416e-03,7.8284e-02,2.2724e+00,-3.1996e-03,-1.6120e-01,5.4609e-03,1.9760e-03,2.2737e+00,1.6131e-01
+23,1.0833e+00,WAIT_W2,6.6589e-04,1.2912e-01,2.6031e+00,2.4296e+00,-2.2097e-01,4.5949e-02,2.0391e-03,7.6071e-02,2.3992e+00,-2.5153e-02,-1.7027e-01,5.4026e-03,1.8734e-03,2.4005e+00,1.7037e-01
+24,1.2167e+00,WAIT_W2,6.9103e-04,1.5579e-01,2.5856e+00,2.4530e+00,-2.1957e-01,4.7752e-02,1.9752e-03,1.0273e-01,2.3817e+00,-1.7927e-03,-1.6887e-01,7.2058e-03,1.8096e-03,2.3840e+00,1.6903e-01
+25,1.3167e+00,UP_FORCE_RAMP,7.2337e-04,1.6177e-01,2.5847e+00,2.4437e+00,-2.1920e-01,4.8263e-02,1.7338e-03,1.0872e-01,2.3808e+00,-1.1135e-02,-1.6850e-01,7.7162e-03,1.5682e-03,2.3833e+00,1.6868e-01
+26,1.4500e+00,UP_FORCE_RAMP,7.5214e-04,1.6808e-01,2.5781e+00,2.4533e+00,-2.1881e-01,4.8666e-02,1.5613e-03,1.1503e-01,2.3743e+00,-1.4653e-03,-1.6810e-01,8.1195e-03,1.3957e-03,2.3771e+00,1.6831e-01
+27,1.6000e+00,UP_FORCE_RAMP,7.7898e-04,1.7632e-01,2.5737e+00,2.4644e+00,-2.1839e-01,4.9254e-02,1.4191e-03,1.2327e-01,2.3699e+00,9.6149e-03,-1.6769e-01,8.7075e-03,1.2535e-03,2.3731e+00,1.6792e-01
+28,1.7333e+00,UP_FORCE_RAMP,8.0765e-04,1.9232e-01,2.5691e+00,2.4740e+00,-2.1792e-01,5.0370e-02,1.1691e-03,1.3927e-01,2.3652e+00,1.9251e-02,-1.6722e-01,9.8233e-03,1.0034e-03,2.3694e+00,1.6751e-01
+29,1.8333e+00,UP_FORCE_RAMP,8.3976e-04,1.9368e-01,2.5692e+00,2.4743e+00,-2.1793e-01,5.0459e-02,1.1669e-03,1.4063e-01,2.3654e+00,1.9544e-02,-1.6723e-01,9.9127e-03,1.0012e-03,2.3696e+00,1.6753e-01
+30,1.9500e+00,UP_FORCE_RAMP,8.6974e-04,2.0067e-01,2.5676e+00,2.4788e+00,-2.1776e-01,5.0946e-02,1.0531e-03,1.4762e-01,2.3637e+00,2.4040e-02,-1.6706e-01,1.0400e-02,8.8743e-04,2.3685e+00,1.6738e-01
+31,2.0333e+00,UP_FORCE_RAMP,8.9474e-04,2.0706e-01,2.5657e+00,2.4828e+00,-2.1757e-01,5.1395e-02,9.5707e-04,1.5400e-01,2.3619e+00,2.7983e-02,-1.6686e-01,1.0848e-02,7.9141e-04,2.3670e+00,1.6722e-01
+32,2.1500e+00,UP_FORCE_RAMP,9.2229e-04,2.1633e-01,2.5639e+00,2.4882e+00,-2.1736e-01,5.2040e-02,8.1315e-04,1.6328e-01,2.3600e+00,3.3417e-02,-1.6666e-01,1.1493e-02,6.4749e-04,2.3659e+00,1.6706e-01
+33,2.2333e+00,UP_FORCE_RAMP,9.5423e-04,2.2276e-01,2.6710e+00,2.4708e+00,-2.2525e-01,5.2507e-02,9.5249e-04,1.6970e-01,2.4671e+00,1.6056e-02,-1.7455e-01,1.1961e-02,7.8683e-04,2.4730e+00,1.7496e-01
+34,2.3667e+00,UP_FORCE_RAMP,9.8334e-04,2.2654e-01,2.6705e+00,2.4716e+00,-2.2512e-01,5.2781e-02,8.7555e-04,1.7349e-01,2.4666e+00,1.6777e-02,-1.7442e-01,1.2234e-02,7.0990e-04,2.4727e+00,1.7485e-01
+35,2.5000e+00,UP_FORCE_RAMP,1.0117e-03,2.3615e-01,2.6689e+00,2.4785e+00,-2.2490e-01,5.3443e-02,7.5168e-04,1.8310e-01,2.4650e+00,2.3690e-02,-1.7420e-01,1.2897e-02,5.8603e-04,2.4719e+00,1.7468e-01
+36,2.6333e+00,UP_FORCE_RAMP,1.0382e-03,2.4581e-01,2.6682e+00,2.4861e+00,-2.2478e-01,5.4101e-02,6.5088e-04,1.9276e-01,2.4644e+00,3.1287e-02,-1.7408e-01,1.3555e-02,4.8523e-04,2.4721e+00,1.7461e-01
+37,2.8167e+00,UP_FORCE_RAMP,1.0693e-03,2.4176e-01,2.6425e+00,2.4051e+00,-2.2410e-01,5.3962e-02,5.7598e-04,1.8871e-01,2.4386e+00,-4.9667e-02,-1.7340e-01,1.3415e-02,4.1032e-04,2.4464e+00,1.7392e-01
+38,2.9167e+00,UP_FORCE_RAMP,1.0889e-03,2.4738e-01,2.6436e+00,2.4300e+00,-2.2390e-01,5.4320e-02,5.3614e-04,1.9433e-01,2.4397e+00,-2.4791e-02,-1.7320e-01,1.3774e-02,3.7049e-04,2.4476e+00,1.7375e-01
+39,2.9500e+00,UP_FORCE_RAMP,1.1286e-03,3.4251e-01,2.6072e+00,2.4348e+00,-2.2121e-01,6.1026e-02,-9.7047e-04,2.8946e-01,2.4034e+00,-2.0025e-02,-1.7050e-01,2.0480e-02,-1.1361e-03,2.4208e+00,1.7173e-01
+40,3.0333e+00,UP_FORCE_RAMP,1.1568e-03,3.3466e-01,2.6084e+00,2.4385e+00,-2.2120e-01,6.0452e-02,-8.0391e-04,2.8161e-01,2.4045e+00,-1.6277e-02,-1.7050e-01,1.9906e-02,-9.6957e-04,2.4210e+00,1.7166e-01
+41,3.1333e+00,UP_FORCE_RAMP,1.1847e-03,3.2607e-01,2.6093e+00,2.4463e+00,-2.2120e-01,5.9839e-02,-7.4574e-04,2.7302e-01,2.4054e+00,-8.4610e-03,-1.7049e-01,1.9293e-02,-9.1140e-04,2.4209e+00,1.7159e-01
+42,3.2500e+00,UP_FORCE_RAMP,1.2141e-03,3.3112e-01,2.6114e+00,2.3773e+00,-2.2235e-01,6.0323e-02,-7.4571e-04,2.7807e-01,2.4075e+00,-7.7450e-02,-1.7165e-01,1.9776e-02,-9.1137e-04,2.4247e+00,1.7279e-01
+43,3.3667e+00,UP_FORCE_RAMP,1.2405e-03,3.2727e-01,2.6136e+00,2.3998e+00,-2.2226e-01,6.0024e-02,-7.5268e-04,2.7422e-01,2.4097e+00,-5.4965e-02,-1.7156e-01,1.9477e-02,-9.1834e-04,2.4259e+00,1.7266e-01
+44,3.5000e+00,UP_FORCE_RAMP,1.2743e-03,3.2441e-01,2.6130e+00,2.4131e+00,-2.2199e-01,5.9795e-02,-7.3557e-04,2.7136e-01,2.4091e+00,-4.1725e-02,-1.7129e-01,1.9249e-02,-9.0123e-04,2.4247e+00,1.7237e-01
+45,3.6000e+00,UP_FORCE_RAMP,1.3027e-03,3.2566e-01,2.6143e+00,2.3459e+00,-2.2288e-01,5.9966e-02,-7.1278e-04,2.7261e-01,2.4104e+00,-1.0888e-01,-1.7218e-01,1.9420e-02,-8.7843e-04,2.4283e+00,1.7327e-01
+46,3.6667e+00,UP_FORCE_RAMP,1.3284e-03,3.2506e-01,2.6215e+00,2.3688e+00,-2.2329e-01,5.9913e-02,-7.1052e-04,2.7201e-01,2.4176e+00,-8.5967e-02,-1.7259e-01,1.9366e-02,-8.7617e-04,2.4344e+00,1.7368e-01
+47,3.8000e+00,UP_FORCE_RAMP,1.3598e-03,3.2291e-01,2.6183e+00,2.3854e+00,-2.2277e-01,5.9724e-02,-6.9296e-04,2.6986e-01,2.4144e+00,-6.9367e-02,-1.7207e-01,1.9178e-02,-8.5862e-04,2.4304e+00,1.7314e-01
+48,3.9167e+00,UP_FORCE_RAMP,1.3887e-03,3.1245e-01,2.6057e+00,2.3387e+00,-2.2266e-01,5.9061e-02,-5.3100e-04,2.5940e-01,2.4018e+00,-1.1613e-01,-1.7196e-01,1.8515e-02,-6.9666e-04,2.4185e+00,1.7296e-01
+49,4.0667e+00,UP_FORCE_RAMP,1.4181e-03,3.1206e-01,2.6027e+00,2.3552e+00,-2.2216e-01,5.9003e-02,-5.3439e-04,2.5901e-01,2.3988e+00,-9.9633e-02,-1.7146e-01,1.8456e-02,-7.0004e-04,2.4148e+00,1.7245e-01
+50,4.2333e+00,UP_FORCE_RAMP,1.4468e-03,3.1166e-01,2.6013e+00,2.3694e+00,-2.2183e-01,5.8949e-02,-5.3373e-04,2.5861e-01,2.3974e+00,-8.5414e-02,-1.7112e-01,1.8403e-02,-6.9939e-04,2.4128e+00,1.7211e-01
+51,4.3500e+00,UP_FORCE_RAMP,1.4784e-03,3.1787e-01,2.5632e+00,2.3326e+00,-2.1977e-01,5.9454e-02,-6.4167e-04,2.6482e-01,2.3593e+00,-1.2222e-01,-1.6907e-01,1.8907e-02,-8.0733e-04,2.3773e+00,1.7012e-01
+52,4.4500e+00,UP_FORCE_RAMP,1.5013e-03,3.1707e-01,2.5633e+00,2.3356e+00,-2.1960e-01,5.9375e-02,-6.5401e-04,2.6402e-01,2.3594e+00,-1.1921e-01,-1.6890e-01,1.8829e-02,-8.1967e-04,2.3771e+00,1.6995e-01
+53,4.6000e+00,UP_FORCE_RAMP,1.5305e-03,3.1565e-01,2.5659e+00,2.3559e+00,-2.1956e-01,5.9251e-02,-6.5512e-04,2.6259e-01,2.3620e+00,-9.8921e-02,-1.6886e-01,1.8705e-02,-8.2077e-04,2.3786e+00,1.6989e-01
+54,4.7667e+00,UP_FORCE_HOLD,1.5612e-03,3.1365e-01,2.5600e+00,2.3700e+00,-2.1883e-01,5.9071e-02,-6.3843e-04,2.6059e-01,2.3561e+00,-8.4780e-02,-1.6813e-01,1.8525e-02,-8.0408e-04,2.3720e+00,1.6915e-01
+55,4.9000e+00,UP_FORCE_HOLD,1.5890e-03,3.6481e-01,2.5671e+00,2.3403e+00,-2.1997e-01,6.2697e-02,-1.2226e-03,3.1175e-01,2.3632e+00,-1.1445e-01,-1.6927e-01,2.2150e-02,-1.3883e-03,2.3864e+00,1.7071e-01
+56,5.0167e+00,UP_FORCE_HOLD,1.6187e-03,3.6239e-01,2.5691e+00,2.3407e+00,-2.2009e-01,6.2536e-02,-1.2218e-03,3.0934e-01,2.3652e+00,-1.1413e-01,-1.6939e-01,2.1990e-02,-1.3874e-03,2.3881e+00,1.7082e-01
+57,5.1833e+00,UP_SETTLE,1.6482e-03,3.4045e-01,2.5756e+00,2.3685e+00,-2.2005e-01,6.0987e-02,-1.0947e-03,2.8740e-01,2.3717e+00,-8.6272e-02,-1.6934e-01,2.0440e-02,-1.2604e-03,2.3906e+00,1.7058e-01
+58,5.3167e+00,UP_SETTLE,1.6773e-03,3.3839e-01,2.5695e+00,2.3778e+00,-2.1941e-01,6.0798e-02,-9.8739e-04,2.8534e-01,2.3657e+00,-7.6976e-02,-1.6871e-01,2.0252e-02,-1.1530e-03,2.3841e+00,1.6992e-01
+59,5.4000e+00,UP_SETTLE,1.7056e-03,3.3554e-01,2.5754e+00,2.3852e+00,-2.1977e-01,6.0605e-02,-9.7926e-04,2.8249e-01,2.3715e+00,-6.9565e-02,-1.6906e-01,2.0059e-02,-1.1449e-03,2.3893e+00,1.7025e-01

Fixed/digit/ball_PLA_15/press_depth_02/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b35b940aca6e3aa0048e915b56017d1110b487ed3e395cd5d63335b28aa5b2f3
+size 624640

Fixed/digit/ball_PLA_15/press_depth_02/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+7619,1792844118265816565,22797769000000,1792844118265377601,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.066,0.06600156426429749,0.6759473529832034,-0.0049461137532900755,0.10676224676468632,0.9999999412162782,-0.0001973131326331679,-0.00025362380390314465,7.584720197133958e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.010166278318005872,-0.02162955255151977,-0.023712579559756364,-0.0006792521230583604,0.0008930555325129264,-0.0005296629377667857,1.3001595193359448,1.3494135066516613,0.5055930739618953,0.1058439375255168,-0.10482982912463079,0.0003401733838661056,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,-0.17385574908716359,2.1188859882842572,1.671416532511526,-0.4283665751051309,-1.106926842102039,1.3397212289916227,1.6625214820367051,0.023712579559756364,-0.008895050474820865,0.0,0.0,0,0,0.0,0.0
+7695,1792844118900996723,22798404000000,1792844118897377864,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6759503725154042,-0.004951256355032547,0.10676654022983643,0.9999999424254034,-0.0001977910867028045,-0.00024751123002440903,7.879677129751114e-05,0.6761,-0.0046,0.10699929644445905,1.0,0.0,0.0,0.0,-0.01571449567492711,-0.021544922013202905,-0.021029201248899287,-0.0008034996223308388,0.0004642199494136745,-0.0005350116722419467,1.2946113019790235,1.3494981371899781,0.5082764522727524,0.10571969002624432,-0.10525866470773004,0.0003348246493909446,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,-0.21208761535331214,2.125432969869708,1.6777151232005638,-0.42990698880456435,-1.1235670289910948,1.3482047707133602,1.6625214820367051,0.021029201248899287,-0.015193641163858684,-0.015193641163858684,0.07855933988474106,0,0,-3.974069999494684e-06,-9.989246515929579e-05
+7784,1792844119643131591,22799146000000,1792844119641378155,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.675949460973169,-0.004951178943095563,0.1067655651492436,0.999999941992381,-0.00019924928110646962,-0.00024856412650578957,7.728970054724173e-05,0.6761,-0.0046,0.1069914014013282,1.0,0.0,0.0,0.0,-0.027693555465418518,-0.03785542753670246,-0.03810995234343095,-0.00229244569116506,0.001284932703006142,-0.0005246963467055844,1.2826322421885321,1.3331876316664786,0.49119570117822076,0.1042307439574101,-0.10443795195413758,0.00034513997492730686,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,-0.12678451495747756,1.9986747159678073,1.5073037234930953,-0.39822566490733635,-0.9950180681609058,1.2633049585315528,1.6625214820367051,0.03810995234343095,0.15521775854360986,0.15521775854360986,0.1898593398847451,0,0,-1.8635283811933807e-05,-5.0390618093426556e-05
+7876,1792844120409269282,22799912000000,1792844120405378587,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759504342564285,-0.004951389224333793,0.10676193762993375,0.9999999423913172,-0.00019853552162040427,-0.00024702104587591677,7.889534875031209e-05,0.6761,-0.0046,0.1069734275206588,1.0,0.0,0.0,0.0,-0.028236877504820512,-0.031096968112698242,-0.017401421883268542,-0.001723834983034661,0.001401408480890251,0.00035749498638547,1.2820889201491301,1.3399460910904828,0.5119042316383832,0.1047993546655405,-0.10432147617625347,0.0012273313080183614,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.1171379964475338,1.9610082386354222,1.3511702318494458,-0.38125742612927954,-0.8247321625112354,1.2428076193715398,1.6625214820367051,0.017401421883268542,0.3113512501872593,0.3113512501872593,0.3047593398847436,0,0,-2.1495198958250465e-05,6.243237457426715e-05
+7961,1792844121118354747,22800621000000,1792844121117378045,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759508188477994,-0.0049487570436465315,0.10675389691902691,0.9999999423809225,-0.0001975592202341026,-0.000247480922883108,8.002851490441133e-05,0.6761,-0.0046,0.1069613853217527,1.0,0.0,0.0,0.0,-0.027866185227815476,-0.04279064126025367,0.05203210320796536,-0.00275618999571621,0.001638875047133434,-0.000596653077516501,1.2824596124261352,1.3282524179429274,0.5813377567296171,0.10376699965285895,-0.10408400961001028,0.0002731832441163904,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.15097714850469923,2.0774139019589297,1.2807929619008427,-0.4114535469417535,-0.7678450484535151,1.317125161573234,1.6625214820367051,-0.05203210320796536,0.38172852013586245,0.38172852013586245,0.41110933988473186,0,0,-1.664235550344196e-05,-9.999999025923074e-05
+8057,1792844121918456066,22801421000000,1792844121913378124,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759510671717293,-0.004952068442578775,0.10674686541777112,0.9999999417154579,-0.00019951263519934922,-0.00024791947620500494,8.211325474904626e-05,0.6761,-0.0046,0.10694232191932676,1.0,0.0,0.0,0.0,-0.03894617016930946,-0.05328803237376922,0.11240140056262193,-0.002899923971894258,0.0022700160783855478,-0.00023074480861525284,1.2713796274846412,1.3177550268294118,0.6417070540842736,0.1036232656766809,-0.10345286857875817,0.0006390915130176385,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.16929025774359457,2.012416243021911,1.1145289000342096,-0.37538924316012867,-0.660839558963676,1.2795823140743938,1.6625214820367051,-0.11240140056262193,0.5479925820024956,0.5479925820024956,0.5311093398847186,0,0,-3.441224412784193e-05,8.090210032308249e-05
+8143,1792844122634603379,22802137000000,1792844122633388367,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6759553166680744,-0.004949167576648413,0.10673699464940158,0.9999999440878847,-0.00019499131464965967,-0.00024029696111296494,8.661898866695061e-05,0.6761,-0.0046,0.1069119152320343,1.0,0.0,0.0,0.0,-0.047066548563240884,-0.04935052230377912,0.18260979970854097,-0.002960407252508318,0.0032708657912517425,-0.0002600742282959193,1.2632592490907097,1.321692536899402,0.7119154532301927,0.10356278239606684,-0.10245201886589198,0.0006097620933369721,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.18010008251868612,2.0277965455734672,1.1186035808119457,-0.36450724272738644,-0.6642119863733597,1.2874960856277924,1.6625214820367051,-0.18260979970854097,0.5439179012247595,0.5439179012247595,0.6385093398847068,0,0,-5.2276012403622236e-05,-9.328279401555335e-05
+8214,1792844123226692121,22802729000000,1792844123225388186,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759903922300442,-0.004954961683261331,0.10673029064687958,0.9999999601024958,-0.00019355619116296087,-0.00015358014954187934,0.00010093071602645067,0.6761,-0.0046,0.10687545380690847,1.0,0.0,0.0,0.0,-0.15941781261979626,0.04390857647104229,0.2043978273589574,0.004850394930037277,0.012603525468505974,0.0005458518235735137,1.1509079850341544,1.4149516356742233,0.7337034808806091,0.11137358457861243,-0.09311935918863774,0.001415688145206405,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.3395876368558536,2.0470762659715662,1.0676497437322419,-0.3500702293524909,-0.6289317616771325,1.298101494203107,1.6625214820367051,-0.2043978273589574,0.5948717383044633,0.5948717383044633,0.727309339884697,0,0,-7.310769086918268e-05,-9.978377432518499e-05
+8309,1792844124018916538,22803521000000,1792844124017387741,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6759846603188304,-0.004958942613031681,0.10669385274841363,0.9999999571138646,-0.00019176994427715422,-0.00016897362129729947,0.00010902906519197204,0.6761,-0.0046,0.10682112636908701,1.0,0.0,0.0,0.0,-0.16343727824302712,0.01269236765936177,0.42475055592421007,0.0019772909128441957,0.012240061511245903,0.0003378303721764869,1.1468885194109235,1.3837354268625428,0.9540562094458618,0.10850048056141935,-0.09348282314589781,0.0012076666938093783,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.36208558015853615,1.9983006284101974,0.7635439303683879,-0.2910557678435661,-0.4293126911537829,1.259078923631242,1.6625214820367051,-0.42475055592421007,0.8989775516683173,0.8989775516683173,0.846109339884684,0,0,-5.461953777177874e-05,9.999999025923074e-05
+8419,1792844124934972379,22804437000000,1792844124929387611,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759891684814103,-0.0049587798610107635,0.10668249121865205,0.9999999581034362,-0.0001869441171431071,-0.00016542215869719642,0.00011368111773707111,0.6761,-0.0046,0.10679140155942043,1.0,0.0,0.0,0.0,-0.16709594984497667,-0.0020618671957572943,0.5207980282873147,0.0013109282788356519,0.012233013871629367,0.0002585048833327904,1.143229847808974,1.3689811920074237,1.0501036818089664,0.10783411792741081,-0.09348987078551435,0.0011283412049656817,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.4201399163491337,1.9037664477631666,0.5981706442128559,-0.2438227636713783,-0.3073807562708928,1.1901919300987678,1.6625214820367051,-0.5207980282873147,1.064350837823849,1.064350837823849,0.9835093398846688,0,0,-1.3488469859075697e-05,9.99759400529598e-05
+8511,1792844125702177137,22805204000000,1792844125701377323,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.675989832948899,-0.004959167239071501,0.10667841340802739,0.9999999583384583,-0.000187869837683818,-0.0001626637488767086,0.00011406741303628235,0.6761,-0.0046,0.10678039682874495,1.0,0.0,0.0,0.0,-0.16375598844265404,0.0027601501284737484,0.5351026460073091,0.0019251261140977444,0.0122176196657416,0.0002482496031232462,1.1465698092112966,1.3738032093316548,1.0644082995289608,0.1084483157626729,-0.09350526499140212,0.0011180859247561376,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.4091002595219869,1.980229906223763,0.5787982776828617,-0.25374337908435707,-0.3021505425581547,1.2388283011044536,1.6625214820367051,-0.5351026460073091,1.0837232043538434,1.0837232043538434,1.098559339884729,0,0,-2.177074847376108e-05,4.007460441109337e-05
+8611,1792844126535284531,22806037000000,1792844126533377807,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6759937366829328,-0.004960377589565691,0.10666678281606354,0.9999999597660817,-0.00018501393132559592,-0.00015374015726679987,0.00011850952937569198,0.6761,-0.0046,0.10674971537432677,1.0,0.0,0.0,0.0,-0.186187230205769,-0.001446852354844097,0.5751208806461153,0.0019192754084406405,0.013222669112630259,0.00022923290397577716,1.1241385674481816,1.369596206848337,1.104426534167767,0.1084424650570158,-0.09250021554451346,0.0010990692256086685,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.43367389706657256,1.8922342399171532,0.5306170934292013,-0.2077290413908692,-0.27229841042611846,1.1767189086800856,1.6625214820367051,-0.5751208806461153,1.131904388607504,1.131904388607504,1.2235093398848078,0,0,-5.04963502914998e-05,-9.999999025923074e-05
+8716,1792844127410479986,22806912000000,1792844127409378021,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6760042663774988,-0.004963658715343258,0.1066392428301053,0.9999999621113186,-0.0001799102392303775,-0.00013341085238801378,0.0001305912553304491,0.6761,-0.0046,0.10670262724129072,1.0,0.0,0.0,0.0,-0.2155630044989829,0.021432439831961192,0.7359487188885768,0.0034736441108377952,0.0162697696210566,0.0001628387624760234,1.0947627931549677,1.3924754990351422,1.2652543724102285,0.10999683375941295,-0.08945311503608712,0.0010326750841089148,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.5526009661780729,1.8871539537015587,0.26699937382877265,-0.16395338642515825,-0.08139733405404583,1.1684525323743626,1.6625214820367051,-0.7359487188885768,1.3955221082079325,1.3955221082079325,1.3547593398848905,0,0,-4.7739403587183975e-05,9.997526004135721e-05
+8810,1792844128194662422,22807696000000,1792844128193378773,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760113802689937,-0.004965913296278315,0.10662479001778535,0.9999999636309224,-0.0001782234013664092,-0.00011769721645101008,0.000136252716201807,0.6761,-0.0046,0.106672231240172,1.0,0.0,0.0,0.0,-0.24937759149203664,0.012834573239783431,0.8264061859087309,0.003774325656426006,0.018195000133997205,0.0004959768767919831,1.060948206161914,1.3838776324429645,1.3557118394303826,0.11029751530500116,-0.08752788452314651,0.0013658131984248744,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.5663422310595403,1.877438188731431,0.24163817931462428,-0.13976612641255962,-0.07119952106935323,1.1554956444798903,1.6625214820367051,-0.8264061859087309,1.4208833027220809,1.4208833027220809,1.4723593398849646,0,0,-3.289059300889819e-05,-6.676539462813764e-05
+8908,1792844129010682486,22808512000000,1792844129009387175,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6760159411339048,-0.004962240352067282,0.10660432199410246,0.9999999649404898,-0.00017177588756309294,-0.00010920350411062312,0.00014187854859767397,0.6761,-0.0046,0.10664166140053295,1.0,0.0,0.0,0.0,-0.2654308068368494,0.007937531895353844,0.8968388739030685,0.0036994605956610638,0.020154677097679582,0.00111795949500259,1.0448949908171012,1.3789805910985349,1.4261445274247202,0.11022265024423622,-0.08556820755946414,0.0019877958166354816,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.5496100040089988,1.8240305483827877,0.26298575563320936,-0.10838948826563183,-0.09304954644780564,1.1172349561474897,1.6625214820367051,-0.8968388739030685,1.3995357264034958,1.3995357264034958,1.5947593398850417,0,0,-4.330301594665376e-05,-9.999986535914047e-05
+9012,1792844129877928527,22809379000000,1792844129877377989,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760223204332724,-0.004968140545324712,0.10658595665570031,0.9999999653309594,-0.000172324890107912,-9.472354169059034e-05,0.0001487028151434357,0.6761,-0.0046,0.10660253028380741,1.0,0.0,0.0,0.0,-0.2862083938202804,0.00229318009899937,1.007049240727428,0.0036531207255848797,0.02119486049989068,0.0010440835769360821,1.0241174038336702,1.3733362393021804,1.53635489424908,0.11017631037416004,-0.08452802415725304,0.0019139198985689736,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.6048713142387406,1.8009568339679978,-0.06362764200060105,-0.07902826627375642,0.12533938346622253,1.0971443852670884,1.6625214820367051,-1.007049240727428,1.7261491240373061,1.7261491240373061,1.7248093398851236,0,0,-4.625941431715829e-05,9.999348157674887e-05
+9122,1792844130794997825,22810296000000,1792844130793378488,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760295787430975,-0.004969064583698513,0.10655958035274242,0.999999966053384,-0.00016723326647842833,-8.207510960731861e-05,0.0001569484186412428,0.6761,-0.0046,0.10656089992679496,1.0,0.0,0.0,0.0,-0.3074656382778642,0.0027450965729034493,1.1172586717933273,0.00357581137887579,0.02315680038336511,0.000983287574291579,1.0028601593760864,1.3737881557760845,1.6465643253149789,0.11009900102745095,-0.08256608427377861,0.0018531238959244702,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.6660218685328596,1.7894871731578776,-0.15257158700329357,-0.0527957811674831,0.19533589141229832,1.0830108129755593,1.6625214820367051,-1.1172586717933273,1.8150930690399987,1.8150930690399987,1.8623593398852103,0,0,-4.3297429387660575e-05,-9.310776735572119e-05
+9223,1792844131636132926,22811137000000,1792844131633378273,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6760378380047088,-0.004972496192023369,0.10654119537804667,0.9999999659197875,-0.00016985909988494844,-6.649891936873185e-05,0.00016226234386432112,0.6761,-0.0046,0.10652404494619327,1.0,0.0,0.0,0.0,-0.3167440970067509,0.0073396810686678915,1.2017923394208436,0.004576353547428816,0.023162200482401543,0.0009277330110928225,0.9935817006471998,1.378382740271849,1.7310979929424954,0.11109954319600397,-0.08256068417474217,0.001797569332725714,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.7202441980610562,1.757203976402594,-0.27375704767287434,-0.039235050066730365,0.2864395468981358,1.0635604917360122,1.6625214820367051,-1.2017923394208436,1.9362785297095795,1.9362785297095795,1.9885093398852898,0,0,-4.681432263650554e-05,-9.982600443348417e-05
+9331,1792844132536354360,22812037000000,1792844132529377894,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6760446912463917,-0.004973723420365293,0.10651000716430781,0.999999965748837,-0.00016951345978641035,-5.344424791917347e-05,0.00016838672283328509,0.6761,-0.0046,0.10647708880219181,1.0,0.0,0.0,0.0,-0.32751847649034715,0.012545471666371544,1.3170952102695441,0.004491436869083168,0.024842232625735136,0.0008610118196859298,0.9828073211636035,1.3835885308695526,1.8464008637911957,0.11101462651765832,-0.08088065203140858,0.0017308481413188211,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.6935220139404042,1.861305319489289,-0.4428449724946558,-0.07036577078823927,0.38176887575527246,1.128767107906794,1.6625214820367051,-1.3170952102695441,2.105366454531361,2.105366454531361,2.123509339885375,0,0,-5.625809339629561e-05,7.987633751505569e-05
+9411,1792844133203406581,22812704000000,1792844133201378726,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.676050448404436,-0.004973907572141091,0.10648511451197894,0.9999999658392383,-0.0001671482807201691,-4.347881868649891e-05,0.0001730185853586509,0.6761,-0.0046,0.10643783218912826,1.0,0.0,0.0,0.0,-0.3370069505246951,0.007473353401519223,1.3850280015866634,0.0034572180618282905,0.025519278060784162,0.0008087967107299959,0.9733188471292555,1.3785164126047003,1.914333655108315,0.10998040771040345,-0.08020360659635956,0.0016786330323628872,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.7350137997662285,1.8316671570060634,-0.4647484171018626,-0.060886422738371054,0.4112529586251933,1.109945243302646,1.6625214820367051,-1.3850280015866634,2.1272698991385677,2.1272698991385677,2.223559339885438,0,0,-6.234720171668785e-05,-9.843750400773672e-05
+9504,1792844133978639183,22813479000000,1792844133977388386,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760576774591488,-0.004977643590019798,0.10644756510208052,0.9999999647146804,-0.00017007850171065468,-2.8233521902101426e-05,0.0001796932762164018,0.6761,-0.0046,0.1063846016107204,1.0,0.0,0.0,0.0,-0.3311221598379164,0.008666136098379518,1.4581690192260344,0.0034257374033890703,0.02616429635592392,0.0007527592990571014,0.9792036378160343,1.3797091953015606,1.9874746727476862,0.10994892705196423,-0.0795585883012198,0.0016225956206899928,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.827246274572734,1.754936243582885,-0.6416365837968322,-0.04172552799596797,0.5492252462462573,1.0570074895246937,1.6625214820367051,-1.4581690192260344,2.3041580658335374,2.3041580658335374,2.339809339885511,0,0,-7.365142877938246e-05,9.99148500310298e-05
+9604,1792844134811711671,22814312000000,1792844134809388150,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760723274480288,-0.0049818645144623025,0.10639957406350119,0.9999999631624852,-0.0001727093757018195,-1.1106582389625737e-05,0.00018752601875860012,0.6761,-0.0046,0.10631408286020816,1.0,0.0,0.0,0.0,-0.33635998565847247,0.02020977993084383,1.538355409351435,0.003740778152110255,0.027766834556200742,0.0007177646169232952,0.9739658119954782,1.3912528391340249,2.067661062873087,0.11026396780068541,-0.07795605010094298,0.0015876009385561865,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.876379016316978,1.7753121501887312,-0.6559228179277771,-0.03235913913794761,0.5657629740229962,1.0741267228356466,1.6625214820367051,-1.538355409351435,2.318444299964482,2.318444299964482,2.46475933988559,0,0,-9.529510258263064e-05,-9.999999025923074e-05
+9681,1792844135453892833,22814954000000,1792844135453387851,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6760874832737905,-0.004969405042713462,0.10635583046578181,0.9999999567244722,-0.00025209206039405096,1.510662728171828e-05,0.00011922793522975391,0.6761,-0.0046,0.10624956721730525,1.0,0.0,0.0,0.0,-0.3065782104751946,0.10969659253111885,1.6293264045565796,0.008518146667926274,0.02620129468746235,0.0006893975010178497,1.003747587178756,1.4807396517342999,2.1586320580782314,0.11504133631650143,-0.07952158996968137,0.001559233822650741,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9349607946576787,1.8157587061676894,-0.688507856032065,-0.10349433777920711,0.6132477790351432,1.1182018341733477,1.6625214820367051,-1.6293264045565796,2.35102933806877,2.35102933806877,2.5610593398856505,0,0,-0.00010556423336446764,-9.999999025923074e-05
+9785,1792844136321038370,22815821000000,1792844136317378545,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761028796920214,-0.004982597651259126,0.10628684796337819,0.9999999532709939,-0.00025126925496398925,3.959769384670056e-05,0.00014211494708889842,0.6761,-0.0046,0.10615287235426461,1.0,0.0,0.0,0.0,-0.2946115787086687,0.09978195399373102,1.75493751125251,0.008461184274333483,0.02601016853561161,0.0005755466536314543,1.015714218945282,1.470825013196912,2.284243164774162,0.11498437392290864,-0.0797127161215321,0.0014453829752643457,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9933119878338008,1.8147911763820668,-0.9661011008676853,-0.043244039906409085,0.796399882299473,1.1055357591835329,1.6625214820367051,-1.75493751125251,2.6286225829043905,2.6286225829043905,2.6911093398857324,0,0,-0.00010883284669718917,9.966282940443989e-05
+9881,1792844137121150622,22816621000000,1792844137113377999,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761120927516484,-0.0049858922888552214,0.10622075594733872,0.9999999519593026,-0.0002454511038029373,5.31522085872015e-05,0.00015637408648828225,0.6761,-0.0046,0.10607392712951613,1.0,0.0,0.0,0.0,-0.28964618644652806,0.0661753608335982,1.833918350822938,0.005046048105581694,0.02604693649296891,0.00047320121186630187,1.0206796112074226,1.4372184200367792,2.36322400434459,0.11156923775415685,-0.07967594816417481,0.0013430375334991932,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0077813677896894,1.8429842013778392,-1.0801922488674074,-0.040144258814570184,0.877079481514842,1.1242689604720142,1.6625214820367051,-1.833918350822938,2.7427137309041125,2.7427137309041125,2.811109339885808,0,0,-9.421577531057578e-05,8.295691497484654e-05
+9975,1792844137904318252,22817404000000,1792844137901379110,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761171498104939,-0.004987415499287802,0.106155558753149,0.9999999504266216,-0.00024303705103106946,6.068840376313426e-05,0.0001668518139762022,0.6761,-0.0046,0.10599644328135131,1.0,0.0,0.0,0.0,-0.28439289376464627,0.04847204372569247,1.8958899876086113,0.0032965497784677167,0.02614687733593693,0.00040274852471395954,1.0259329038893044,1.4195151029288735,2.425195641130263,0.10981973942704287,-0.07957600732120679,0.0012725848463468509,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0821329577136887,1.8383393022360128,-1.1418680250814532,-0.03212541546330981,0.9391220477561141,1.1193738742709163,1.6625214820367051,-1.8958899876086113,2.8043895071181586,2.8043895071181586,2.928559339885882,0,0,-0.00010646561838664604,-9.971797973318814e-05
+10068,1792844138679412860,22818179000000,1792844138673377720,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761269584319074,-0.004990865573986314,0.10608336668564232,0.9999999474989935,-0.00024253463848830471,7.676497963295655e-05,0.0001781262515619311,0.6761,-0.0046,0.10590911010602623,1.0,0.0,0.0,0.0,-0.2829999191704933,0.015916573765208053,1.9691464769209777,0.000917097911128345,0.026126751675690243,0.0003242646119109893,1.0273258784834574,1.386959632968389,2.4984521304426295,0.1074402875597035,-0.07959613298145347,0.0011941009335438807,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0182294515517791,1.7886428121613325,-1.230930392275216,-0.008328064864930401,0.9759636253625049,1.0888057590355942,1.6625214820367051,-1.9691464769209777,2.8934518743119213,2.8934518743119213,3.0448093398859553,0,0,-0.00011971221188930426,-9.999999025923074e-05
+10158,1792844139429569007,22818929000000,1792844139425388259,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761354558598172,-0.004995712334311158,0.10600366378727054,0.9999999416726694,-0.0002609139775752227,9.068618425147735e-05,0.00017831835064920613,0.6761,-0.0046,0.10581173118550288,1.0,0.0,0.0,0.0,-0.27128235689034796,-0.002316925277305204,2.066654457466132,-0.000645344543759821,0.02610566623954433,0.0002221080332791989,1.0390434407636027,1.3687261339258758,2.5959601109877837,0.10587784510481534,-0.07961721841759939,0.0010919443549120902,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.1176739928156876,1.7942225554568942,-1.3850753364657225,-0.0039038886348738413,1.1068138956392217,1.0876437545944388,1.6625214820367051,-2.066654457466132,3.0475968185024276,3.0475968185024276,3.157309339886026,0,0,-0.00013462853009433897,3.0035398323441755e-05
+10233,1792844140054602836,22819554000000,1792844140049388377,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761463954584489,-0.004997371939797399,0.1059326819866244,0.9999999356111268,-0.0002812325014272044,0.00011034092969443514,0.00017015806046553352,0.6761,-0.0046,0.10572458708290552,1.0,0.0,0.0,0.0,-0.2525610945774315,-0.0019773244385568045,2.0990413155206973,-0.0007597551398307034,0.025087734265124312,0.00018283234497755007,1.0577647030765192,1.3690657347646242,2.628346969042349,0.10576343450874445,-0.0806351503920194,0.0010526686666104414,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0348234270202559,1.8111946209646115,-1.4403931598210287,0.009544550585591545,1.1137655774193302,1.09840996408575,1.6625214820367051,-2.0990413155206973,3.102914641857734,3.102914641857734,3.251059339886085,0,0,-0.00014531314923157813,-9.577038748010409e-05
+10310,1792844140696785488,22820196000000,1792844140693388461,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761517624803839,-0.00499695609189342,0.10584887709966698,0.9999999293540229,-0.00030445420753852695,0.00011908241419796691,0.00016081612811539523,0.6761,-0.0046,0.10562770746348035,1.0,0.0,0.0,0.0,-0.23189968199873312,-0.024454932915936478,2.158431989785933,-0.0025444782674051147,0.02372464610860686,9.583129434681591e-05,1.0784261156552175,1.3465881262872446,2.687737643307585,0.10397871138117004,-0.08199823854853686,0.0009656676159797073,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.1286190344430662,1.7490665815218314,-1.5131518856536277,0.04046976762628099,1.1888392055760832,1.063255130970214,1.6625214820367051,-2.158431989785933,3.175673367690333,3.175673367690333,3.347359339886146,0,0,-0.00015567455539519515,-9.999277380957067e-05
+10380,1792844141279837280,22820779000000,1792844141277387889,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761621731701034,-0.005002239671483561,0.10577010289602737,0.9999999237672685,-0.0003104225184507952,0.00013646651869244367,0.00017006783999076006,0.6761,-0.0046,0.10553283845474422,1.0,0.0,0.0,0.0,-0.22425766539727432,-0.028828842538360266,2.2074486407402842,-0.003941836163420059,0.023176586131847393,0.0008342018732232548,1.0860681322566763,1.3422142166648208,2.736754294261936,0.1025813534851551,-0.08254629852529632,0.0017040381948561461,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.1208418148173014,1.8147286359050898,-1.6123933185165293,0.022394167489348485,1.249111952979611,1.1004882816245463,1.6625214820367051,-2.2074486407402842,3.2749148005532343,3.2749148005532343,3.434809339886201,0,0,-0.00017079566131813906,-9.999999025923074e-05
+10457,1792844141921956046,22821421000000,1792844141917388207,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761705286706738,-0.005007235680114516,0.10567079459877975,0.9999999185536573,-0.0003175820061466773,0.000148304927628962,0.0001774341012405157,0.6761,-0.0046,0.10541863858622094,1.0,0.0,0.0,0.0,-0.21353709424836742,-0.06440808315593216,2.2519457385510693,-0.006288497038100818,0.023137351662792155,-1.617080042053934e-05,1.0967887034055832,1.3066349760472489,2.781251392072721,0.10023469261047434,-0.08258553299435156,0.000853665521212352,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.1675144159905764,1.7411548897495415,-1.7846717232918767,0.043583706634169724,1.3787192008658442,1.0524777427640852,1.6625214820367051,-2.2519457385510693,3.447193205328582,3.447193205328582,3.5311093398862616,0,0,-0.000184294947737336,9.914915696652144e-05
+10532,1792844142547115840,22822046000000,1792844142541378074,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761779620077238,-0.005014055788152009,0.10556207462236439,0.9999999651864677,-3.6802177326561195e-05,0.000161293832231172,0.00018357512674433782,0.6761,-0.0046,0.10529842543429008,1.0,0.0,0.0,0.0,-0.21055983726704053,-0.11071494516979308,2.3062949307678893,-0.009901061931423594,0.022207759193633908,-0.0001299599790352574,1.09976596038691,1.260328114033388,2.835600584289541,0.09662212771715156,-0.08351512546350981,0.000739876342597634,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.130020071983526,1.8708457559979184,-1.810750439113321,-0.029521752918285626,1.3891713267939052,1.0797872313358896,1.6625214820367051,-2.3062949307678893,3.473271921150026,3.473271921150026,3.6248593398863207,0,0,-0.00020035967826928657,9.999999025923074e-05
+10601,1792844143122202489,22822621000000,1792844143117378089,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761868471435998,-0.005004653971597814,0.10545821243890875,0.9999999633041226,-6.097494640747114e-05,0.00017580449329098602,0.0001738086708443601,0.6761,-0.0046,0.10517659581313785,1.0,0.0,0.0,0.0,-0.19472757391582585,-0.13353474156138012,2.336945653213992,-0.012149397705960047,0.021570831903873766,-0.0001911991754595261,1.1155982237381248,1.237508317641801,2.8662513067356437,0.09437379194261511,-0.08415205275326995,0.0006786371461733652,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.1067677720167362,1.8129690007359258,-1.8147877682287195,0.02586905213763087,1.3834214487539198,1.0692305694568853,1.6625214820367051,-2.336945653213992,3.4773092502654244,3.4773092502654244,3.711109339886375,0,0,-0.0002225792172752802,-9.987620039198503e-05
+10667,1792844143672281770,22823171000000,1792844143665378275,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761902822143832,-0.005008856948824844,0.10533771913813865,0.9999999594701428,-0.00012762335361181322,0.00018760401038797394,0.0001449813508547408,0.6761,-0.0046,0.10505004189467831,1.0,0.0,0.0,0.0,-0.1450801560633228,-0.12622878257034142,2.3831715917356173,-0.011988791033853571,0.018172970042644343,0.0005319618134020586,1.1652456415906278,1.2448142766328396,2.912477245257269,0.09453439861472158,-0.08754991461449937,0.00140179813503495,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0948213195961822,1.800196832363114,-1.8163613203877866,0.052514701088248544,1.3799521762662954,1.0947603112476803,1.6625214820367051,-2.3831715917356173,3.4788828024244918,3.4788828024244918,3.793609339886427,0,0,-0.0002379018241946681,-9.999999025923074e-05
+10734,1792844144230372030,22823729000000,1792844144225378084,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761963245657894,-0.005013091286504591,0.10521285104491487,0.9999999535790595,-0.0001366240524458259,0.00019726706170455002,0.00016341455819178326,0.6761,-0.0046,0.10491194859566194,1.0,0.0,0.0,0.0,-0.1665877112983407,-0.2218520255868326,2.433367548746276,-0.017863909194691996,0.019212045796467153,0.000362484964496705,1.14373808635561,1.1491910336163484,2.962673202267928,0.08865928045388316,-0.08651083886067656,0.0012323212861295963,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0759865607698238,1.621798202920213,-2.003354525467882,0.13337222453624628,1.496261268030982,1.0074756236757727,1.6625214820367051,-2.433367548746276,3.665876007504587,3.665876007504587,3.8773093398864797,0,0,-0.00025488712527832924,1.1789155758162341e-05
+10797,1792844144755438707,22824254000000,1792844144753387798,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761963810664978,-0.005020417770674077,0.10507461072298561,0.9999999499442986,-0.00014395959232618583,0.00019474465624953427,0.00018139575322609377,0.6761,-0.0046,0.10477244224565037,1.0,0.0,0.0,0.0,-0.1564880870563763,-0.26996975168486914,2.443887429892804,-0.022093146495994517,0.01920239655514483,0.0006048896633238998,1.1538377105975743,1.101073307518312,2.973193083414456,0.08443004315258064,-0.08652048810199889,0.0014747259849567911,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.070932736628823,1.6286570825736086,-1.998218656897011,0.13210676722596681,1.4998215443992176,1.0133319147430977,1.6625214820367051,-2.443887429892804,3.660740138933716,3.660740138933716,3.9560593398865294,0,0,-0.0002771040261098908,-9.999999025923074e-05
+10854,1792844145230539404,22824729000000,1792844145229378912,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762045494281012,-0.005029004475443806,0.10494625127773546,0.9999999428189781,-0.00016205106002320968,0.00020789903261391387,0.0001905842363045332,0.6761,-0.0046,0.10463570551638773,1.0,0.0,0.0,0.0,-0.13709695500286578,-0.3071854425417393,2.4720310147995925,-0.02501627778200853,0.01738201870059171,0.0005211434546459605,1.1732288426510848,1.0638576166614417,3.0013366683212443,0.08150691186656663,-0.08834086595655201,0.0013909797762788518,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.012211858493922,1.6729281149560775,-1.9820795004943343,0.1215475517985349,1.4750994416952092,1.0424067179967116,1.6625214820367051,-2.4720310147995925,3.6446009825310393,3.6446009825310393,4.027309339886493,0,0,-0.0002990093340385621,-9.999999025923074e-05
+10909,1792844145688565480,22825187000000,1792844145681388692,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6762074283218429,-0.005018859902394133,0.10480810151278863,0.9999999387689376,-0.00019353693590316184,0.00021436195779335875,0.00017463502145301804,0.6761,-0.0046,0.10449357867049643,1.0,0.0,0.0,0.0,-0.1257084850217871,-0.33328452388506924,2.452840732126824,-0.027138966462908934,0.017271026593379202,0.0005137215245025691,1.1846173126321635,1.0377585353181118,2.982146385648476,0.07938422318566622,-0.08845185806376452,0.0013835578461354604,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0173818488700659,1.6355898003787979,-1.9705831108783427,0.1461242123943936,1.470897153680392,1.0125727680779604,1.6625214820367051,-2.452840732126824,3.633104592915048,3.633104592915048,4.096009339886333,0,0,-0.0003214544757005041,-9.999277380957067e-05
+10962,1792844146130638942,22825629000000,1792844146129387714,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6762109444776834,-0.005030894779424396,0.10466965906074915,0.9999999326956918,-0.00020645740739103568,0.00021939543586939225,0.00018786286992166718,0.6761,-0.0046,0.10434662274317474,1.0,0.0,0.0,0.0,-0.12631013984565787,-0.3605454926442244,2.4395986285063653,-0.029404567058392117,0.016809750596295636,0.0004866575734711055,1.1840156578082928,1.0104975665589566,2.968904282028017,0.07711862259018304,-0.08891313406084808,0.0013564938951039968,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9940931302841004,1.4953382119016678,-1.892652440316549,0.19515749291420093,1.4164953146469894,0.922797054001931,1.6625214820367051,-2.4395986285063653,3.555173922353254,3.555173922353254,4.162309339886178,0,0,-0.00034355447142283966,-9.999999025923074e-05
+11011,1792844146538752364,22826037000000,1792844146533387705,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762155486463896,-0.0050241960506897925,0.10453107002159183,0.9999999285316497,-0.0002256536681854534,0.0002279919409499965,0.00017742507274013755,0.6761,-0.0046,0.10420230111964696,1.0,0.0,0.0,0.0,-0.11718936398195634,-0.38718746803832493,2.4419600333770615,-0.03142096684423451,0.015706187097112245,0.0004489790139015239,1.1931364336719943,0.9838555911648561,2.9712656868987133,0.07510222280434065,-0.09001669756003147,0.0013188153355344152,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0463995012897722,1.5742554117408283,-2.02482103236963,0.18772335200586715,1.5157348853335053,0.9742212374997756,1.6625214820367051,-2.4419600333770615,3.687342514406335,3.687342514406335,4.223509339886036,0,0,-0.0003639544674486058,-9.999999025923074e-05
+11062,1792844146963790952,22826462000000,1792844146957387863,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762133337982382,-0.005034081868911058,0.10437091190825545,0.9999999434837024,-0.0001463343482573537,0.0002282889332525214,0.00017591440535422121,0.6761,-0.0046,0.10404311547186308,1.0,0.0,0.0,0.0,-0.09847285984319543,-0.42378498025775946,2.437554103768925,-0.03422628349331806,0.014557617620251734,0.00040269218855477635,1.2118529378107552,0.9472580789454216,2.966859757290577,0.07229690615525709,-0.09116526703689198,0.0012725285101876677,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0363580273856838,1.5829991832880708,-2.00085787819636,0.1590171068175583,1.5075923098008943,0.9332488781706081,1.6625214820367051,-2.437554103768925,3.663379360233065,3.663379360233065,4.287259339885887,0,0,-0.00038520446330877887,-9.999999025923074e-05
+11110,1792844147363887892,22826862000000,1792844147361387605,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762139939532873,-0.005036213003464095,0.10421208805324096,0.9999999373807378,-0.00016399078567745832,0.0002293601088793352,0.00019282724767993205,0.6761,-0.0046,0.10388504368732078,1.0,0.0,0.0,0.0,-0.10157727693962348,-0.47387116144856656,2.4368041208897635,-0.03796696864496327,0.014586191336266319,0.00036693746408613434,1.2087485207143271,0.8971718977546145,2.9661097744114153,0.06855622100361189,-0.0911366933208774,0.0012367737857190257,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,1.0370112165877345,1.5422874421061308,-2.0519724777844983,0.1948117936476535,1.542888153340956,0.9397964264110825,1.6625214820367051,-2.4368041208897635,3.7144939598212035,3.7144939598212035,4.347259339885747,0,0,-0.00040520445941247116,-9.999999025923074e-05
+11151,1792844147705955888,22827204000000,1792844147705387912,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762162130339492,-0.005038302161626331,0.10407168776712235,0.9999999326075577,-0.0001896269599411463,0.00023214716871185648,0.0001907276914180606,0.6761,-0.0046,0.10374354821277304,1.0,0.0,0.0,0.0,-0.10386660289906913,-0.510031397330181,2.433454375744617,-0.040354213094096036,0.014627493372143682,0.00033525970684159326,1.2064591947548815,0.861011661873,2.962760029266269,0.06616897655447912,-0.09109539128500004,0.0012050960284744846,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9014829020536327,1.5117116782790454,-1.987676798485801,0.22242366314615908,1.4637876923225728,0.9334637992012904,1.6625214820367051,-2.433454375744617,3.650198280522506,3.650198280522506,4.398559339885628,0,0,-0.0004223044560811281,-9.999999025923074e-05
+11192,1792844148048008660,22827546000000,1792844148045378650,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6762125342538324,-0.005041146766979151,0.10391590581905365,0.9999999287294435,-0.00022141068872301954,0.0002244441389250172,0.00018597340458208087,0.6761,-0.0046,0.10359620453936462,1.0,0.0,0.0,0.0,-0.08232677693174262,-0.5353798815653303,2.4426804435952256,-0.0423215608791568,0.013650310615934871,0.000291000605676745,1.227999020722208,0.8356631776378507,2.9719860971168774,0.06420162876941836,-0.09207257404120885,0.0011608369273096364,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9457557273859145,1.460262829731109,-1.9169665841400882,0.260239630852546,1.4372799499404878,0.9035031958645542,1.6625214820367051,-2.4426804435952256,3.5794880661767934,3.5794880661767934,4.449859339885508,0,0,-0.000439404452749785,-9.999999025923074e-05
+11233,1792844148389028090,22827887000000,1792844148381379376,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6762152864550857,-0.0050465906728090195,0.10376047931458726,0.9999999243725686,-0.00023138179838609922,0.00022422838649602606,0.00019718472379061746,0.6761,-0.0046,0.10344346912154494,1.0,0.0,0.0,0.0,-0.08924169750198585,-0.5444025460121088,2.3860551938164987,-0.043408302606531335,0.014694657110508463,0.00034142349186891614,1.2210841001519648,0.8266405131910722,2.9153608473381505,0.06311488704204382,-0.09102822754663525,0.0012112598135018075,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.931454919702065,1.4203879249152875,-1.9922868714489526,0.2726139690016668,1.4793421480148845,0.8785521348938099,1.6625214820367051,-2.3860551938164987,3.6548083534856577,3.6548083534856577,4.501009339885389,0,0,-0.0004564544494281827,-9.999999025923074e-05
+11275,1792844148739121381,22828237000000,1792844148737378107,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6762090886098394,-0.005046604891519922,0.1035941633609479,0.9999999439135769,-0.000135323017900987,0.0002154484189783173,0.00019719372911358873,0.6761,-0.0046,0.1032806563148434,1.0,0.0,0.0,0.0,-0.08925981652189119,-0.5890773774090773,2.3439001693262194,-0.04603194344191053,0.013614758489159592,0.0003263174348316543,1.2210659811320594,0.7819656817941038,2.873205822847871,0.06049124620666463,-0.09210812616798413,0.0011961537564645457,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9578588300584692,1.4411934047173707,-1.9343985450086691,0.28022006770816144,1.4510571297578274,0.8901340588270554,1.6625214820367051,-2.3439001693262194,3.5969200270453743,3.5969200270453743,4.553509339885267,0,0,-0.00047395444601891344,-9.999999025923074e-05
+11312,1792844149048123267,22828546000000,1792844149041378138,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.676204131254395,-0.0050446407373351924,0.10343361995254075,0.9999999402878849,-0.00017282445689334116,0.00020848769994683046,0.0001937309393915205,0.6761,-0.0046,0.10313182509149009,1.0,0.0,0.0,0.0,-0.06482225502678385,-0.5914238909044506,2.332545714905423,-0.04705590524986951,0.01275467565710224,0.0003140803906966741,1.2455035426271668,0.7796191682987305,2.8618513684270748,0.05946728439870565,-0.09296820900004148,0.0011839167123295655,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9388909476018128,1.4672203100321148,-1.8769400178846691,0.27846680492752585,1.4107398970570018,0.9106797538624614,1.6625214820367051,-2.332545714905423,3.5394614999213743,3.5394614999213743,4.599859339885159,0,0,-0.0004894044430090158,-9.999999025923074e-05
+11347,1792844149339191147,22828837000000,1792844149333378769,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761978719702594,-0.005040029392419439,0.10328192709115083,0.999999939654469,-0.00017271387686365654,0.0001985397369456298,0.00020708889950709993,0.6761,-0.0046,0.10298729864898831,1.0,0.0,0.0,0.0,-0.029888018485339396,-0.6049011429374224,2.27282391357283,-0.04800328487048005,0.009755032541897343,0.00030304333626628946,1.2804377791686112,0.7661419162657587,2.802129567094482,0.05851990477809511,-0.09596785211524637,0.0011728796578991808,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8381644115702525,1.462877208925524,-1.8329344194229211,0.2826808837490374,1.3584633792684133,0.9093129550582073,1.6625214820367051,-2.27282391357283,3.4954559014596263,3.4954559014596263,4.643509339885057,0,0,-0.0005039544401744519,-9.999999025923074e-05
+11387,1792844149673227325,22829171000000,1792844149673378393,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761890043513895,-0.00503956530562737,0.10309577304907412,0.9999999383901134,-0.00019782951361837017,0.00018340736085460468,0.00020466523185486515,0.6761,-0.0046,0.10281619731651499,1.0,0.0,0.0,0.0,-0.01890361951892472,-0.6370987059938811,2.2037958443915184,-0.05035904744247437,0.008792952654162495,0.00032274277630223224,1.291422178135026,0.7339443532093,2.7331014979131703,0.05616414220610079,-0.09692993200298122,0.0011925790979351236,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8017328360451973,1.3894649038771216,-1.7998226178896597,0.31681659792227507,1.3270191848646755,0.855871273585963,1.6625214820367051,-2.2037958443915184,3.462344099926365,3.462344099926365,4.69360933988494,0,0,-0.000520654436921035,-9.999999025923074e-05
+11423,1792844149973332408,22829471000000,1792844149969378496,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761868557657036,-0.0050401415337637,0.10292955139292917,0.9999999359630166,-0.000212133526902574,0.00017587341991966884,0.00020876957057874534,0.6761,-0.0046,0.10265775848587848,1.0,0.0,0.0,0.0,-0.027333693021810657,-0.651163332584206,2.1494481501449805,-0.05131548781628685,0.009835728006162878,0.00036961896233559256,1.28299210463214,0.719879726618975,2.6787538036666323,0.055207701832288306,-0.09588715665098084,0.001239455283968484,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8571295727253546,1.472955027489319,-1.6718532688870689,0.29751952082466654,1.2600031872244326,0.9187408896276794,1.6625214820367051,-2.1494481501449805,3.3343747509237742,3.3343747509237742,4.738609339884835,0,0,-0.0005356544339988042,-9.999999025923074e-05
+11458,1792844150264367953,22829762000000,1792844150257378307,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761811851772613,-0.00504283646367539,0.10275746180308597,0.9999999360250497,-0.00020591964930938397,0.00016601049746651315,0.00022232942556985361,0.6761,-0.0046,0.10249977329599867,1.0,0.0,0.0,0.0,-0.059010538498208476,-0.666944230158004,2.0710141072575277,-0.05237698325239832,0.011900114196217573,0.0004494850932191171,1.2513152591557422,0.7040988290451771,2.6003197607791795,0.05414620639617684,-0.09382277046092614,0.0013193214148520085,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8900369164086099,1.3275199598677583,-1.607519777952783,0.34466683147463206,1.2247254859601016,0.8256926560663439,1.6625214820367051,-2.0710141072575277,3.270041259989488,3.270041259989488,4.7822593398847335,0,0,-0.0005502044311642404,-9.999999025923074e-05
+11487,1792844150506426644,22830004000000,1792844150505380098,DOWN_FORCE_DETACH,2,0.066,0.06600221991539001,0.6761733191162256,-0.005044370255780439,0.10260394405539691,0.9999999382221498,-0.0002159757314264075,0.00015372072995141999,0.00021147808690394343,0.6761,-0.0046,0.10236516577394333,1.0,0.0,0.0,0.0,-0.06100049726799739,-0.6941828223081328,2.019247309037856,-0.05446685295528963,0.01097171126310642,0.00045404099799845304,1.2493253003859532,0.6768602368950483,2.548552962559508,0.05205633669328553,-0.0947511733940373,0.0013238773196313444,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.7612695102089868,1.3743700813178836,-1.4675531803635133,0.34115518368078346,1.094647539369926,0.861231727438182,1.6625214820367051,-2.019247309037856,3.1300746624002187,3.1300746624002187,4.818559339884649,0,0,-0.0005623044288069742,-9.999999025923074e-05
+11518,1792844150764357860,22830262000000,1792844150757387343,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761614030345465,-0.005047405473583018,0.10243710972302628,0.9999999469532578,-0.0001825203696191272,0.00013477884199321438,0.0002146097022745469,0.6761,-0.0046,0.10221843358163658,1.0,0.0,0.0,0.0,-0.060993920750705755,-0.7163402049389359,1.9281111411330203,-0.05589047385331049,0.011633049845879567,0.0005167603896245456,1.2493318769032449,0.6547028542642451,2.457416794654672,0.05063271579526467,-0.09408983481126415,0.001386596711257437,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8352409873217528,1.2845443086526294,-1.5214714344083753,0.36656951006839933,1.1563061203130072,0.8091687671686274,1.6625214820367051,-1.9281111411330203,3.1839929164450806,3.1839929164450806,4.857259339884559,0,0,-0.0005752044262938557,-9.999999025923074e-05
+11552,1792844151048466363,22830546000000,1792844151041378469,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761516494320051,-0.005047536952868784,0.10225462465005264,0.9999999537722805,-0.0001365310810283735,0.0001126483079732186,0.0002292769587298447,0.6761,-0.0046,0.10205306622496334,1.0,0.0,0.0,0.0,-0.08690345849089409,-0.7505388559597477,1.8276472960946548,-0.05755060184624102,0.01305646504802685,0.000596309569329283,1.2234223391630565,0.6205042032434334,2.3569529496163066,0.048972587802334135,-0.09266641960911687,0.0014661458909621743,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8804946270338246,1.327219585382659,-1.357108670810139,0.3425193690376405,1.0625526723004177,0.8278376218336779,1.6625214820367051,-1.8276472960946548,3.019630152846844,3.019630152846844,4.899859339884459,0,0,-0.0005894044235274773,-9.999999025923074e-05
+11583,1792844151306451003,22830804000000,1792844151305378215,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761496266581863,-0.0050481603253242704,0.1020940082639702,0.9999999488705764,-0.00014187107507239989,0.00010955661611718912,0.0002481363630195878,0.6761,-0.0046,0.1018993422340187,1.0,0.0,0.0,0.0,-0.13503108795114827,-0.7439603468845386,1.726842911527653,-0.05761225639592675,0.01613080784114486,0.0007225020078023985,1.1752947097028024,0.6270827123186424,2.2561485650493047,0.048910933252648406,-0.08959207681599886,0.0015923383294352898,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9597068801853217,1.2416481347482686,-1.2428022047985976,0.36193632880441595,1.0033165391582053,0.7736773029822571,1.6625214820367051,-1.726842911527653,2.9053236868353025,2.9053236868353025,4.938559339884369,0,0,-0.0006023044210143588,-9.999999025923074e-05
+11611,1792844151539571055,22831037000000,1792844151537377702,DOWN_FORCE_DETACH,2,0.066,0.06600156426429749,0.6761429680125118,-0.005038390764216738,0.10193547481453193,0.9999999466360774,-0.00022231529132960874,0.00010408031072304176,0.0001947149365097032,0.6761,-0.0046,0.1017576539041879,1.0,0.0,0.0,0.0,-0.09854213603192319,-0.7235530635612852,1.6765596528173257,-0.05688243362812778,0.014552574399623083,0.0007556495804070586,1.2117836616220274,0.6474899956418958,2.2058653063389775,0.049640756020447374,-0.09117031025752063,0.00162548590203995,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.887307949339892,1.2856814479881695,-1.1432642277537362,0.33506175067742566,0.9238784087170283,0.8155686788403471,1.6625214820367051,-1.6765596528173257,2.8057857097904413,2.8057857097904413,4.973509339884288,0,0,-0.0006139544187447596,-9.999999025923074e-05
+11641,1792844151787615493,22831285000000,1792844151781388040,DOWN_SETTLE,2,0.066,0.06600156426429749,0.6761250067509267,-0.005052720718847119,0.10175947568872223,0.9999999431617891,-0.00022489094536816295,7.301146053360051e-05,0.00022183929290895888,0.6761,-0.0046,0.10160386668363988,1.0,0.0,0.0,0.0,-0.12883997874317776,-0.7676248511403454,1.596668433865974,-0.05962231039826283,0.016178664324945413,0.0008068214180440538,1.1814858189107729,0.6034182080628356,2.125974087387626,0.046900879250312326,-0.0895442203321983,0.0016766577396769451,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.9390027459618611,1.3647696732808698,-1.0708744973997824,0.3249095548223848,0.889398633199794,0.8624367551635819,1.6625214820367051,-1.596668433865974,2.7333959794364873,0.0,0.0,0,0,-0.0006245544163290489,0.00035000000974076933
+11682,1792844152129638495,22831627000000,1792844152129378411,DOWN_SETTLE,2,0.066,0.06600156426429749,0.676099589702457,-0.00504883044816668,0.10160615301958881,0.999999954061487,-0.00018023122380937356,2.7266787811848072e-05,0.00022381491541715099,0.6761,-0.0046,0.10151923778672318,1.0,0.0,0.0,0.0,-0.13274975959318658,-0.8013231228658719,1.2559943576601458,-0.06160034872927575,0.01631587722262448,2.8070583420113592e-05,1.177576038060764,0.5697199363373091,1.7853000111817976,0.044922840919299406,-0.08940700743451924,0.0008979069050530049,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.8370743709980288,1.2360108309961588,-0.7655155304460756,0.3669165698301035,0.6643453634672569,0.7827973506417316,1.6625214820367051,-1.2559943576601458,2.428037012482781,0.0,0.0,0,0,-3.122231864963472e-05,0.0003153769560569164
+11755,1792844152736773719,22832234000000,1792844152729388019,DOWN_PEAK_HOLD,2,0.066,0.06600221991539001,0.6760697224183412,-0.005042761627592955,0.10153461359090815,0.9999999545670517,-0.00018351537502488976,-2.785372511081727e-05,0.00021875793865389824,0.6761,-0.0046,0.10151710915871331,1.0,0.0,0.0,0.0,-0.14738288594674653,-0.8298975065921183,0.8039997646291398,-0.06250075807117761,0.015426637102024715,-0.0006601119074489156,1.162942911707204,0.5411455526110628,1.3333054181507915,0.044022431577397554,-0.090296247555119,0.00020972441418397574,1.3103257976539506,1.371043059203181,0.5293056535216517,0.10652318964857516,-0.10572288465714372,0.0008698363216328914,1,0.6929571479959672,1.1628474445841481,-0.28933653006657006,0.35598064973641136,0.3155522237085203,0.7275017857605295,1.6625214820367051,-0.8039997646291398,1.9518580121032751,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_PLA_15/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792844118265468396,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.954531563e-09,-3.985929850e-10,1.120337156e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451777e-01,-1.177184446e-04,8.303258030e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792844118904275592,-1.696238855e-07,1.912081911e-06,1.339090028e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.172112124e-07,-1.595111222e-08,5.355074162e-09,7.019554632e-01,-2.035865311e-05,8.601444263e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452899e-01,-1.177339971e-04,8.303258084e-01
+2,1.333333333e+00,DOWN_FORCE_DETACH,1792844119641227261,1.308061024e-06,6.324741474e-06,1.667237635e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.679316073e-07,-2.422966250e-08,1.051802923e-08,7.019569409e-01,-1.594599355e-05,8.601447545e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453406e-01,-1.177422756e-04,8.303258135e-01
+3,2.116666667e+00,DOWN_FORCE_DETACH,1792844120411385809,2.051463488e-06,6.131118404e-06,8.668707915e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.879420570e-07,-2.769178672e-08,1.316075393e-08,7.019576843e-01,-1.613961662e-05,8.601439541e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453607e-01,-1.177457378e-04,8.303258162e-01
+4,2.816666667e+00,DOWN_FORCE_DETACH,1792844121119626450,1.601513839e-06,2.419572545e-06,-9.556105491e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.946958470e-07,-2.888839423e-08,1.421303419e-08,7.019572343e-01,-1.985116248e-05,8.601335311e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453674e-01,-1.177469344e-04,8.303258172e-01
+5,3.616666667e+00,DOWN_FORCE_DETACH,1792844121918421164,3.783384495e-06,3.109537860e-06,-1.543050454e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.975934227e-07,-2.942920032e-08,1.472365541e-08,7.019594162e-01,-1.916119716e-05,8.601276567e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453703e-01,-1.177474752e-04,8.303258177e-01
+6,4.350000000e+00,DOWN_FORCE_DETACH,1792844122638927878,7.593224817e-06,2.433506250e-06,-2.472940490e-05,3.025574010e-07,4.046021631e-06,-1.998802008e-05,2.896472131e-07,3.992417353e-06,-1.987609983e-05,7.019632260e-01,-1.983722877e-05,8.601183578e-01,7.019559354e-01,-1.822471339e-05,8.601230992e-01,7.027454624e-01,-1.137256286e-04,8.303059269e-01
+7,4.916666667e+00,DOWN_FORCE_DETACH,1792844123228784325,4.098881624e-05,-1.649574455e-06,-3.397291327e-05,4.873887674e-05,-3.298992200e-06,-1.981151903e-05,5.189302830e-05,-3.288792389e-06,-1.964438044e-05,7.019966216e-01,-2.392030948e-05,8.601091143e-01,7.020043717e-01,-2.556972722e-05,8.601232757e-01,7.027970657e-01,-1.210068384e-04,8.303061586e-01
+8,5.683333333e+00,DOWN_FORCE_DETACH,1792844124015346389,3.947831222e-05,-5.139790225e-06,-6.362298232e-05,3.690988630e-05,-5.456104941e-06,-6.017835269e-05,3.926239316e-05,-5.425272080e-06,-5.966350474e-05,7.019951111e-01,-2.741052525e-05,8.600794643e-01,7.019925427e-01,-2.772683996e-05,8.600829089e-01,7.027844351e-01,-1.231433181e-04,8.302661395e-01
+9,6.566666667e+00,DOWN_FORCE_DETACH,1792844124932806053,3.900068520e-05,-3.780010133e-06,-7.967279562e-05,3.668659745e-05,-5.810299009e-06,-8.279499231e-05,3.878346125e-05,-5.765978235e-06,-8.224997570e-05,7.019946335e-01,-2.605074516e-05,8.600634144e-01,7.019923194e-01,-2.808103403e-05,8.600602922e-01,7.027839562e-01,-1.234840242e-04,8.302435530e-01
+10,7.350000000e+00,DOWN_FORCE_DETACH,1792844125702920849,4.209004635e-05,-6.002691743e-06,-8.380468931e-05,3.668659745e-05,-5.810299009e-06,-8.279499231e-05,3.879478111e-05,-5.755371935e-06,-8.250056772e-05,7.019977229e-01,-2.827342677e-05,8.600592825e-01,7.019923194e-01,-2.808103403e-05,8.600602922e-01,7.027839675e-01,-1.234734179e-04,8.302433024e-01
+11,8.183333333e+00,DOWN_FORCE_DETACH,1792844126538293420,4.472385410e-05,-3.632219880e-06,-9.577224315e-05,3.668659745e-05,-5.810299009e-06,-8.279499231e-05,3.879885565e-05,-5.752295665e-06,-8.256175356e-05,7.020003567e-01,-2.590295490e-05,8.600473150e-01,7.019923194e-01,-2.808103403e-05,8.600602922e-01,7.027839716e-01,-1.234703416e-04,8.302432413e-01
+12,9.000000000e+00,DOWN_FORCE_DETACH,1792844127414056212,5.759309075e-05,-9.341832195e-06,-1.187141320e-04,5.533014244e-05,-3.431603199e-06,-1.172695237e-04,5.823419223e-05,-3.411049630e-06,-1.166732323e-04,7.020132259e-01,-3.161256722e-05,8.600243731e-01,7.020109630e-01,-2.570233822e-05,8.600258177e-01,7.028034069e-01,-1.211290956e-04,8.302091298e-01
+13,9.783333333e+00,DOWN_FORCE_DETACH,1792844128192719932,6.363736644e-05,-1.274874895e-05,-1.374280796e-04,5.995174843e-05,-1.169878058e-05,-1.360328942e-04,6.312221091e-05,-1.151912326e-05,-1.354413300e-04,7.020192702e-01,-3.501948397e-05,8.600056592e-01,7.020155846e-01,-3.396951560e-05,8.600070543e-01,7.028082949e-01,-1.292371692e-04,8.301903617e-01
+14,1.060000000e+01,DOWN_FORCE_DETACH,1792844129012288473,7.086416077e-05,-1.121227198e-05,-1.535808865e-04,6.720433931e-05,-1.561409393e-05,-1.541198677e-04,7.070523107e-05,-1.536366711e-05,-1.533939222e-04,7.020264970e-01,-3.348300700e-05,8.599895064e-01,7.020228372e-01,-3.788482895e-05,8.599889674e-01,7.028158779e-01,-1.330817131e-04,8.301724091e-01
+15,1.148333333e+01,DOWN_FORCE_DETACH,1792844129880412431,7.512580828e-05,-1.450652890e-05,-1.761856507e-04,7.498464788e-05,-1.268186883e-05,-1.728596788e-04,7.887910576e-05,-1.247069638e-05,-1.721648661e-04,7.020307586e-01,-3.677726393e-05,8.599669016e-01,7.020306175e-01,-3.495260386e-05,8.599702276e-01,7.028240518e-01,-1.301887424e-04,8.301536381e-01
+16,1.230000000e+01,DOWN_FORCE_DETACH,1792844130798429939,8.155185746e-05,-1.483915480e-05,-2.034486139e-04,8.110304468e-05,-1.940840180e-05,-1.924478178e-04,8.526586655e-05,-1.912281832e-05,-1.917690391e-04,7.020371847e-01,-3.710988982e-05,8.599396386e-01,7.020367359e-01,-4.167913682e-05,8.599506394e-01,7.028304386e-01,-1.368408643e-04,8.301340340e-01
+17,1.305000000e+01,DOWN_FORCE_DETACH,1792844131633338596,8.918589235e-05,-2.088795470e-05,-2.220243205e-04,8.573758628e-05,-1.694338970e-05,-2.123435305e-04,9.009235036e-05,-1.667219299e-05,-2.117397356e-04,7.020448187e-01,-4.315868972e-05,8.599210629e-01,7.020413704e-01,-3.921412473e-05,8.599307437e-01,7.028352651e-01,-1.343902390e-04,8.301140633e-01
+18,1.396666667e+01,DOWN_FORCE_DETACH,1792844132534162220,9.513347810e-05,-1.982887308e-05,-2.556218540e-04,9.448233831e-05,-1.679098915e-05,-2.514836206e-04,9.901852756e-05,-1.652152400e-05,-2.506548256e-04,7.020507663e-01,-4.209960811e-05,8.598874654e-01,7.020501152e-01,-3.906172417e-05,8.598916036e-01,7.028441912e-01,-1.342395700e-04,8.300751482e-01
+19,1.463333333e+01,DOWN_FORCE_DETACH,1792844133205905770,1.017857196e-04,-2.264176929e-05,-2.771630051e-04,9.958499737e-05,-2.108350115e-05,-2.703033428e-04,1.043200755e-04,-2.077045508e-05,-2.696696336e-04,7.020574185e-01,-4.491250431e-05,8.598659242e-01,7.020552178e-01,-4.335423617e-05,8.598727839e-01,7.028494928e-01,-1.384885011e-04,8.300561334e-01
+20,1.541666667e+01,DOWN_FORCE_DETACH,1792844133976175376,1.107920569e-04,-2.642554819e-05,-3.139176115e-04,1.103438717e-04,-2.950264129e-05,-3.090716699e-04,1.153772883e-04,-2.910081727e-05,-3.082810085e-04,7.020664249e-01,-4.869628322e-05,8.598291696e-01,7.020659767e-01,-5.177337631e-05,8.598340156e-01,7.028605500e-01,-1.468188633e-04,8.300175220e-01
+21,1.625000000e+01,DOWN_FORCE_DETACH,1792844134811515127,1.265554916e-04,-3.214938996e-05,-3.614369441e-04,1.189737593e-04,-2.815525796e-05,-3.480344143e-04,1.242643673e-04,-2.782991913e-05,-3.474102295e-04,7.020821883e-01,-5.442012498e-05,8.597816503e-01,7.020746066e-01,-5.042599298e-05,8.597950528e-01,7.028694371e-01,-1.455479651e-04,8.299783928e-01
+22,1.688333333e+01,DOWN_FORCE_DETACH,1792844135450754743,1.423251001e-04,-1.664577560e-05,-4.029431090e-04,1.387952208e-04,-1.290748075e-05,-3.973571257e-04,1.448871796e-04,-1.281672371e-05,-3.964933897e-04,7.020979579e-01,-3.891651063e-05,8.597401441e-01,7.020944280e-01,-3.517821577e-05,8.597457301e-01,7.028900599e-01,-1.305347697e-04,8.299293096e-01
+23,1.770000000e+01,DOWN_FORCE_DETACH,1792844136318973927,1.577541766e-04,-2.860632848e-05,-4.723309595e-04,1.505964664e-04,-2.429975911e-05,-4.563464301e-04,1.570219501e-04,-2.404353563e-05,-4.555529953e-04,7.021133870e-01,-5.087706350e-05,8.596707563e-01,7.021062293e-01,-4.657049413e-05,8.596867408e-01,7.029021947e-01,-1.417615816e-04,8.298702500e-01
+24,1.848333333e+01,DOWN_FORCE_DETACH,1792844137121619244,1.643498491e-04,-3.272774153e-05,-5.414621500e-04,1.642311702e-04,-3.304815291e-05,-5.413992899e-04,1.705523514e-04,-3.266148666e-05,-5.401116210e-04,7.021199827e-01,-5.499847655e-05,8.596016251e-01,7.021198640e-01,-5.531888793e-05,8.596016879e-01,7.029157251e-01,-1.503795326e-04,8.297856914e-01
+25,1.928333333e+01,DOWN_FORCE_DETACH,1792844137907725081,1.715128285e-04,-3.468191343e-05,-6.039559366e-04,1.693106783e-04,-3.451468859e-05,-6.020502284e-04,1.753771053e-04,-3.412974533e-05,-6.008565124e-04,7.021271456e-01,-5.695264845e-05,8.595391313e-01,7.021249435e-01,-5.678542361e-05,8.595410370e-01,7.029205498e-01,-1.518477913e-04,8.297249465e-01
+26,2.005000000e+01,DOWN_FORCE_DETACH,1792844138678232555,1.813398990e-04,-3.947863299e-05,-6.758636349e-04,1.735663506e-04,-3.702534000e-05,-6.640781093e-04,1.792900031e-04,-3.661614266e-05,-6.630468580e-04,7.021369727e-01,-6.174936802e-05,8.594672236e-01,7.021291992e-01,-5.929607502e-05,8.594790091e-01,7.029244627e-01,-1.543341886e-04,8.296627562e-01
+27,2.076666667e+01,DOWN_FORCE_DETACH,1792844139431764746,1.889988663e-04,-4.345629413e-05,-7.587089677e-04,1.868084512e-04,-4.660667812e-05,-7.457328067e-04,1.924203702e-04,-4.609610992e-05,-7.445298694e-04,7.021446317e-01,-6.572702916e-05,8.593843783e-01,7.021424413e-01,-6.887741315e-05,8.593973544e-01,7.029375931e-01,-1.638141559e-04,8.295812731e-01
+28,2.140000000e+01,DOWN_FORCE_DETACH,1792844140054312790,1.999750099e-04,-4.486985723e-05,-8.268839002e-04,1.972376006e-04,-4.563241954e-05,-8.274667411e-04,2.026569720e-04,-4.513246480e-05,-8.259851761e-04,7.021556078e-01,-6.714059225e-05,8.593162033e-01,7.021528704e-01,-6.790315456e-05,8.593156205e-01,7.029478297e-01,-1.628505108e-04,8.294998178e-01
+29,2.205000000e+01,DOWN_FORCE_DETACH,1792844140693052194,2.064543694e-04,-4.765113661e-05,-9.084092244e-04,2.024138986e-04,-4.215822558e-05,-8.939031667e-04,2.075209823e-04,-4.171997727e-05,-8.926952827e-04,7.021620872e-01,-6.992187164e-05,8.592346780e-01,7.021580467e-01,-6.442896060e-05,8.592491841e-01,7.029526937e-01,-1.594380232e-04,8.294331077e-01
+30,2.263333333e+01,DOWN_FORCE_DETACH,1792844141282467027,2.116078080e-04,-4.716750444e-05,-9.958508837e-04,2.105891525e-04,-4.569105305e-05,-9.774454498e-04,2.153039897e-04,-4.518492869e-05,-9.759017357e-04,7.021672406e-01,-6.943823947e-05,8.591472364e-01,7.021662220e-01,-6.796178807e-05,8.591656418e-01,7.029604767e-01,-1.629029747e-04,8.293499013e-01
+31,2.325000000e+01,DOWN_FORCE_DETACH,1792844141921921756,2.219256648e-04,-5.346168293e-05,-1.092189929e-03,2.225006776e-04,-5.053319997e-05,-1.083156344e-03,2.268301744e-04,-5.001821089e-05,-1.081194183e-03,7.021775585e-01,-7.573241796e-05,8.590508973e-01,7.021781335e-01,-7.280393499e-05,8.590599309e-01,7.029720029e-01,-1.677362569e-04,8.292446088e-01
+32,2.386666667e+01,DOWN_FORCE_DETACH,1792844142544772923,2.321245118e-04,-5.134573871e-05,-1.196653192e-03,2.306887316e-04,-5.339420282e-05,-1.192356811e-03,2.343959479e-04,-5.287662907e-05,-1.190185291e-03,7.021877573e-01,-7.361647373e-05,8.589464340e-01,7.021863215e-01,-7.566493784e-05,8.589507304e-01,7.029795687e-01,-1.705946750e-04,8.291356177e-01
+33,2.443333333e+01,DOWN_FORCE_DETACH,1792844143118001201,2.410097705e-04,-5.593728790e-05,-1.298014730e-03,2.366574056e-04,-5.681635530e-05,-1.301692624e-03,2.395562692e-04,-5.630010298e-05,-1.299486734e-03,7.021966426e-01,-7.820802293e-05,8.588450725e-01,7.021922902e-01,-7.908709032e-05,8.588413946e-01,7.029847290e-01,-1.740181490e-04,8.290263163e-01
+34,2.496666667e+01,DOWN_FORCE_DETACH,1792844143674455489,2.450409706e-04,-5.688411224e-05,-1.420189596e-03,2.435737720e-04,-4.935266673e-05,-1.409886750e-03,2.457035261e-04,-4.895237195e-05,-1.407745387e-03,7.022006738e-01,-7.915484726e-05,8.587228976e-01,7.021992066e-01,-7.162340175e-05,8.587332005e-01,7.029908762e-01,-1.666704179e-04,8.289180576e-01
+35,2.551666667e+01,DOWN_FORCE_DETACH,1792844144232602113,2.476786897e-04,-6.586056010e-05,-1.551026669e-03,2.474264478e-04,-6.254194310e-05,-1.544597607e-03,2.482204719e-04,-6.198331548e-05,-1.542126255e-03,7.022033115e-01,-8.813129512e-05,8.585920606e-01,7.022030593e-01,-8.481267813e-05,8.585984896e-01,7.029933932e-01,-1.797013615e-04,8.287836768e-01
+36,2.605000000e+01,DOWN_FORCE_DETACH,1792844144755900123,2.486381639e-04,-6.725322335e-05,-1.687607374e-03,2.498860440e-04,-6.723461587e-05,-1.677886367e-03,2.492667944e-04,-6.655483226e-05,-1.675300273e-03,7.022042710e-01,-8.952395837e-05,8.584554799e-01,7.022055189e-01,-8.950535089e-05,8.584652009e-01,7.029944395e-01,-1.842728782e-04,8.286505027e-01
+37,2.653333333e+01,DOWN_FORCE_DETACH,1792844145231357381,2.568065255e-04,-7.583992812e-05,-1.815966820e-03,2.535361080e-04,-6.839601814e-05,-1.812001589e-03,2.515947649e-04,-6.764392314e-05,-1.809305216e-03,7.022124393e-01,-9.811066314e-05,8.583271204e-01,7.022091689e-01,-9.066675316e-05,8.583310857e-01,7.029967675e-01,-1.853619691e-04,8.285164978e-01
+38,2.700000000e+01,DOWN_FORCE_DETACH,1792844145690271608,2.596626146e-04,-6.483771750e-05,-1.954468792e-03,2.599862231e-04,-7.328371858e-05,-1.943351202e-03,2.569032016e-04,-7.243562896e-05,-1.940507951e-03,7.022152954e-01,-8.710845252e-05,8.581886184e-01,7.022156190e-01,-9.555445360e-05,8.581997360e-01,7.030020759e-01,-1.901536749e-04,8.283852951e-01
+39,2.745000000e+01,DOWN_FORCE_DETACH,1792844146132715248,2.655914428e-04,-7.152220079e-05,-2.090016515e-03,2.629328691e-04,-7.197151647e-05,-2.081766758e-03,2.585375271e-04,-7.118031683e-05,-2.078786633e-03,7.022212243e-01,-9.379293582e-05,8.580530707e-01,7.022185657e-01,-9.424225149e-05,8.580613205e-01,7.030037102e-01,-1.888983628e-04,8.282470164e-01
+40,2.786666667e+01,DOWN_FORCE_DETACH,1792844146541811155,2.692041541e-04,-7.403331439e-05,-2.230763773e-03,2.667282224e-04,-7.628145064e-05,-2.211463631e-03,2.610753807e-04,-7.539015629e-05,-2.208665326e-03,7.022248370e-01,-9.630404942e-05,8.579123235e-01,7.022223610e-01,-9.855218566e-05,8.579316236e-01,7.030062481e-01,-1.931082023e-04,8.281171377e-01
+41,2.828333333e+01,DOWN_FORCE_DETACH,1792844146968055994,2.675591833e-04,-7.951490143e-05,-2.390051864e-03,2.671953422e-04,-7.751998525e-05,-2.372631161e-03,2.595939085e-04,-7.658140164e-05,-2.369645901e-03,7.022231920e-01,-1.017856364e-04,8.577530354e-01,7.022228282e-01,-9.979072027e-05,8.577704561e-01,7.030047666e-01,-1.942994476e-04,8.279561571e-01
+42,2.866666667e+01,DOWN_FORCE_DETACH,1792844147360576014,2.660517037e-04,-8.450356211e-05,-2.549358014e-03,2.647816974e-04,-8.243894210e-05,-2.536505806e-03,2.549478264e-04,-8.141438904e-05,-2.533197904e-03,7.022216845e-01,-1.067742971e-04,8.575937292e-01,7.022204145e-01,-1.047096771e-04,8.576065814e-01,7.030001205e-01,-1.991324350e-04,8.277926051e-01
+43,2.901666667e+01,DOWN_FORCE_DETACH,1792844147705300585,2.684701314e-04,-8.513761430e-05,-2.690530330e-03,2.653079232e-04,-8.407188883e-05,-2.678277591e-03,2.536544702e-04,-8.303656157e-05,-2.674920464e-03,7.022241029e-01,-1.074083493e-04,8.574525569e-01,7.022209407e-01,-1.063426239e-04,8.574648096e-01,7.029988272e-01,-2.007546075e-04,8.276508825e-01
+44,2.933333333e+01,DOWN_FORCE_DETACH,1792844148048161313,2.615632659e-04,-8.429450243e-05,-2.852658017e-03,2.612525112e-04,-8.412083588e-05,-2.852662765e-03,2.472320060e-04,-8.308366254e-05,-2.848354740e-03,7.022171961e-01,-1.065652375e-04,8.572904292e-01,7.022168853e-01,-1.063915709e-04,8.572904245e-01,7.029924047e-01,-2.008017085e-04,8.274774483e-01
+45,2.968333333e+01,DOWN_FORCE_DETACH,1792844148392891326,2.663012943e-04,-8.891848817e-05,-3.002217479e-03,2.671565501e-04,-9.209205242e-05,-2.988369895e-03,2.518125595e-04,-9.090364314e-05,-2.984567359e-03,7.022219341e-01,-1.111892232e-04,8.571408698e-01,7.022227894e-01,-1.143627874e-04,8.571547173e-01,7.029969853e-01,-2.086216891e-04,8.273412357e-01
+46,3.003333333e+01,DOWN_FORCE_DETACH,1792844148736752338,2.624993568e-04,-9.506215130e-05,-3.166372013e-03,2.630409792e-04,-9.556981722e-05,-3.150461525e-03,2.456276037e-04,-9.432306521e-05,-3.146881506e-03,7.022181322e-01,-1.173328863e-04,8.569767152e-01,7.022186738e-01,-1.178405522e-04,8.569926257e-01,7.029908003e-01,-2.120411112e-04,8.271789215e-01
+47,3.035000000e+01,DOWN_FORCE_DETACH,1792844149048123928,2.594943782e-04,-9.502757385e-05,-3.324303515e-03,2.599819427e-04,-9.112588744e-05,-3.305802440e-03,2.405138471e-04,-9.002607163e-05,-3.302295200e-03,7.022151272e-01,-1.172983089e-04,8.568187837e-01,7.022156148e-01,-1.133966225e-04,8.568372848e-01,7.029856866e-01,-2.077441176e-04,8.270235078e-01
+48,3.063333333e+01,DOWN_FORCE_DETACH,1792844149342922060,2.501596260e-04,-8.630580119e-05,-3.480774463e-03,2.494698250e-04,-9.004760717e-05,-3.470504001e-03,2.273704828e-04,-8.894832518e-05,-3.466699529e-03,7.022057924e-01,-1.085765362e-04,8.566623128e-01,7.022051026e-01,-1.123183422e-04,8.566725832e-01,7.029725432e-01,-2.066663712e-04,8.268591035e-01
+49,3.093333333e+01,DOWN_FORCE_DETACH,1792844149670859074,2.414173765e-04,-9.050408088e-05,-3.661873285e-03,2.412435695e-04,-9.034875530e-05,-3.661740369e-03,2.163015771e-04,-8.921636431e-05,-3.657476292e-03,7.021970502e-01,-1.127748159e-04,8.564812140e-01,7.021968764e-01,-1.126194903e-04,8.564813469e-01,7.029614743e-01,-2.069344103e-04,8.266683267e-01
+50,3.120000000e+01,DOWN_FORCE_DETACH,1792844149970571061,2.410401985e-04,-8.770711089e-05,-3.824420477e-03,2.392012722e-04,-8.750807813e-05,-3.808121758e-03,2.122409841e-04,-8.639190200e-05,-3.803948608e-03,7.021966730e-01,-1.099778459e-04,8.563186668e-01,7.021948341e-01,-1.097788132e-04,8.563349655e-01,7.029574137e-01,-2.041099480e-04,8.265218544e-01
+51,3.148333333e+01,DOWN_FORCE_DETACH,1792844150260614877,2.378421570e-04,-8.778472885e-05,-3.997769623e-03,2.374928310e-04,-8.775675076e-05,-3.997399986e-03,2.080990048e-04,-8.658586759e-05,-3.993080156e-03,7.021934750e-01,-1.100554639e-04,8.561453176e-01,7.021931256e-01,-1.100274858e-04,8.561456873e-01,7.029532717e-01,-2.043039136e-04,8.263327229e-01
+52,3.171666667e+01,DOWN_FORCE_DETACH,1792844150506102640,2.241127688e-04,-9.158660004e-05,-4.160322903e-03,2.239947583e-04,-9.155492817e-05,-4.160507076e-03,1.916745865e-04,-9.041055509e-05,-4.156141736e-03,7.021797456e-01,-1.138573351e-04,8.559827643e-01,7.021796276e-01,-1.138256632e-04,8.559825802e-01,7.029368473e-01,-2.081286011e-04,8.261696613e-01
+53,3.198333333e+01,DOWN_FORCE_DETACH,1792844150768048829,2.137878764e-04,-9.528429306e-05,-4.326817103e-03,2.127054215e-04,-9.543251428e-05,-4.317631456e-03,1.775573419e-04,-9.427327170e-05,-4.313720191e-03,7.021694207e-01,-1.175550281e-04,8.558162701e-01,7.021683382e-01,-1.177032493e-04,8.558254558e-01,7.029227301e-01,-2.119913177e-04,8.260120828e-01
+54,3.225000000e+01,DOWN_FORCE_DETACH,1792844151047738583,2.039065295e-04,-9.437240554e-05,-4.507593447e-03,2.035806918e-04,-9.444671742e-05,-4.507555139e-03,1.653991049e-04,-9.324659589e-05,-4.503341265e-03,7.021595393e-01,-1.166431406e-04,8.556354938e-01,7.021592135e-01,-1.167174524e-04,8.556355321e-01,7.029105718e-01,-2.109646419e-04,8.258224617e-01
+55,3.251666667e+01,DOWN_FORCE_DETACH,1792844151309310648,2.019883785e-04,-9.973376768e-05,-4.671872651e-03,2.031783285e-04,-9.849574029e-05,-4.658215205e-03,1.629724052e-04,-9.726094033e-05,-4.654373131e-03,7.021576212e-01,-1.220045027e-04,8.554712146e-01,7.021588111e-01,-1.207664753e-04,8.554848720e-01,7.029081451e-01,-2.149789863e-04,8.256714299e-01
+56,3.275000000e+01,DOWN_FORCE_DETACH,1792844151538522207,1.949820353e-04,-8.540186495e-05,-4.826031489e-03,1.934447736e-04,-8.708648336e-05,-4.814012594e-03,1.506145032e-04,-8.595145412e-05,-4.810236257e-03,7.021506149e-01,-1.076726000e-04,8.553170558e-01,7.021490776e-01,-1.093572184e-04,8.553290746e-01,7.028957872e-01,-2.036695001e-04,8.255155668e-01
+57,3.300000000e+01,DOWN_SETTLE,1792844151784097159,1.786109384e-04,-9.835238492e-05,-4.996722398e-03,1.784912844e-04,-9.907567559e-05,-4.977541595e-03,1.326691795e-04,-9.778167566e-05,-4.974090345e-03,7.021342438e-01,-1.206231199e-04,8.551463648e-01,7.021341241e-01,-1.213464106e-04,8.551655456e-01,7.028778419e-01,-2.154997216e-04,8.253517127e-01
+58,3.335000000e+01,DOWN_SETTLE,1792844152129003595,1.519418852e-04,-1.016625109e-04,-5.153167870e-03,1.571102139e-04,-9.916118201e-05,-5.136041481e-03,1.078900713e-04,-9.792456660e-05,-5.133661628e-03,7.021075747e-01,-1.239332459e-04,8.549899194e-01,7.021127430e-01,-1.214319170e-04,8.550070458e-01,7.028530628e-01,-2.156426126e-04,8.251921414e-01
+59,3.396666667e+01,DOWN_PEAK_HOLD,1792844152734412726,1.236369284e-04,-8.381945141e-05,-5.225393874e-03,1.268495346e-04,-9.207244514e-05,-5.215425523e-03,7.430760500e-05,-9.095469987e-05,-5.215064729e-03,7.020792697e-01,-1.060901864e-04,8.549176934e-01,7.020824824e-01,-1.143431802e-04,8.549276617e-01,7.028194803e-01,-2.086727459e-04,8.251107383e-01

Fixed/digit/ball_PLA_15/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,6.5138e-02,2.2610e-01,2.4546e+00,-5.2191e-02,4.1398e-02,2.4348e-04,3.5837e-05,1.0446e-05,1.9073e-06,-7.0035e-07,2.3805e-06,-1.2200e-07,3.7377e-05,2.4843e-06
+1,6.1667e-01,DOWN_FORCE_DETACH,1.7793e-04,8.5648e-02,2.2465e-01,2.4554e+00,-5.1990e-02,4.2841e-02,1.5692e-05,2.0546e-02,-1.4369e-03,8.8167e-04,2.0079e-04,1.4457e-03,-2.2790e-04,2.0615e-02,1.4772e-03
+2,1.3333e+00,DOWN_FORCE_DETACH,3.5618e-04,9.4968e-02,2.2346e-01,2.4564e+00,-5.1861e-02,4.3495e-02,-9.0769e-05,2.9866e-02,-2.6245e-03,1.8032e-03,3.3003e-04,2.0999e-03,-3.3437e-04,3.0036e-02,2.1518e-03
+3,2.1167e+00,DOWN_FORCE_DETACH,5.3243e-04,9.8667e-02,2.2309e-01,2.4568e+00,-5.1820e-02,4.3756e-02,-1.3585e-04,3.3565e-02,-2.9907e-03,2.2721e-03,3.7111e-04,2.3604e-03,-3.7945e-04,3.3774e-02,2.4193e-03
+4,2.8167e+00,DOWN_FORCE_DETACH,7.0849e-04,9.9788e-02,2.2297e-01,2.4570e+00,-5.1806e-02,4.3834e-02,-1.5048e-04,3.4686e-02,-3.1188e-03,2.4614e-03,3.8514e-04,2.4389e-03,-3.9408e-04,3.4913e-02,2.5004e-03
+5,3.6167e+00,DOWN_FORCE_DETACH,8.8788e-04,1.0037e-01,2.2290e-01,2.4571e+00,-5.1798e-02,4.3877e-02,-1.5668e-04,3.5272e-02,-3.1859e-03,2.5544e-03,3.9232e-04,2.4811e-03,-4.0027e-04,3.5508e-02,2.5436e-03
+6,4.3500e+00,DOWN_FORCE_DETACH,1.0659e-03,9.9108e-02,2.0350e-01,2.4785e+00,-5.0360e-02,4.3757e-02,-1.5708e-04,3.4006e-02,-2.2581e-02,2.3915e-02,1.8307e-03,2.3610e-03,-4.0068e-04,4.7310e-02,3.0144e-03
+7,4.9167e+00,DOWN_FORCE_DETACH,1.2386e-03,-2.8068e-02,2.3811e-01,2.4678e+00,-5.2801e-02,3.4758e-02,4.1902e-05,-9.3170e-02,1.2024e-02,1.3270e-02,-6.1052e-04,-6.6373e-03,-2.0170e-04,9.4875e-02,6.6684e-03
+8,5.6833e+00,DOWN_FORCE_DETACH,1.4184e-03,8.6610e-02,2.5210e-01,2.5504e+00,-5.3620e-02,4.2772e-02,6.9904e-05,2.1508e-02,2.6019e-02,9.5807e-02,-1.4293e-03,1.3764e-03,-1.7369e-04,1.0158e-01,1.9918e-03
+9,6.5667e+00,DOWN_FORCE_DETACH,1.5966e-03,9.9363e-02,2.5799e-01,2.5492e+00,-5.3991e-02,4.3666e-02,2.4226e-05,3.4261e-02,3.1903e-02,9.4611e-02,-1.8006e-03,2.2701e-03,-2.1937e-04,1.0556e-01,2.9058e-03
+10,7.3500e+00,DOWN_FORCE_DETACH,1.7743e-03,1.0174e-01,2.5939e-01,2.4992e+00,-5.4156e-02,4.3891e-02,5.3034e-06,3.6642e-02,3.3305e-02,4.4612e-02,-1.9655e-03,2.4954e-03,-2.3829e-04,6.6649e-02,3.1854e-03
+11,8.1833e+00,DOWN_FORCE_DETACH,1.9508e-03,1.0250e-01,2.6007e-01,2.4884e+00,-5.4256e-02,4.3957e-02,-1.5758e-06,3.7394e-02,3.3989e-02,3.3791e-02,-2.0654e-03,2.5612e-03,-2.4517e-04,6.0790e-02,3.2994e-03
+12,9.0000e+00,DOWN_FORCE_DETACH,2.1285e-03,5.8167e-02,2.4834e-01,2.5577e+00,-5.3348e-02,4.0712e-02,3.4324e-05,-6.9353e-03,2.2254e-02,1.0313e-01,-1.1571e-03,-6.8390e-04,-2.0927e-04,1.0573e-01,1.3603e-03
+13,9.7833e+00,DOWN_FORCE_DETACH,2.3056e-03,8.1220e-02,2.9472e-01,2.5485e+00,-5.6633e-02,4.2338e-02,6.5379e-05,1.6118e-02,6.8637e-02,9.3963e-02,-4.4427e-03,9.4204e-04,-1.7822e-04,1.1747e-01,4.5449e-03
+14,1.0600e+01,DOWN_FORCE_DETACH,2.4813e-03,7.0698e-02,3.1972e-01,2.5904e+00,-5.8475e-02,4.1640e-02,-9.4706e-06,5.5959e-03,9.3636e-02,1.3583e-01,-6.2839e-03,2.4486e-04,-2.5307e-04,1.6507e-01,6.2938e-03
+15,1.1483e+01,DOWN_FORCE_DETACH,2.6593e-03,7.6880e-02,3.0126e-01,2.5628e+00,-5.7290e-02,4.2003e-02,-6.1581e-05,1.1778e-02,7.5178e-02,1.0823e-01,-5.0996e-03,6.0748e-04,-3.0518e-04,1.3230e-01,5.1447e-03
+16,1.2300e+01,DOWN_FORCE_DETACH,2.8382e-03,8.1630e-02,3.3744e-01,2.5733e+00,-5.9911e-02,4.2334e-02,-1.0509e-04,1.6528e-02,1.1135e-01,1.1872e-01,-7.7200e-03,9.3798e-04,-3.4869e-04,1.6360e-01,7.7846e-03
+17,1.3050e+01,DOWN_FORCE_DETACH,3.0146e-03,9.3607e-02,3.2211e-01,2.5504e+00,-5.8966e-02,4.3178e-02,-1.7758e-04,2.8505e-02,9.6023e-02,9.5827e-02,-6.7753e-03,1.7825e-03,-4.2117e-04,1.3862e-01,7.0185e-03
+18,1.3967e+01,DOWN_FORCE_DETACH,3.1934e-03,9.2210e-02,3.2235e-01,2.5881e+00,-5.9141e-02,4.3078e-02,-2.8387e-04,2.7108e-02,9.6264e-02,1.3350e-01,-6.9503e-03,1.6821e-03,-5.2747e-04,1.6680e-01,7.1703e-03
+19,1.4633e+01,DOWN_FORCE_DETACH,3.3665e-03,9.5206e-02,3.4095e-01,2.5575e+00,-6.0530e-02,4.3291e-02,-3.0891e-04,3.0104e-02,1.1486e-01,1.0292e-01,-8.3396e-03,1.8952e-03,-5.5251e-04,1.5714e-01,8.5701e-03
+20,1.5417e+01,DOWN_FORCE_DETACH,3.5426e-03,8.6737e-02,3.8201e-01,2.5866e+00,-6.3452e-02,4.2740e-02,-3.2023e-04,2.1635e-02,1.5593e-01,1.3204e-01,-1.1262e-02,1.3440e-03,-5.6383e-04,2.0546e-01,1.1356e-02
+21,1.6250e+01,DOWN_FORCE_DETACH,3.7222e-03,8.9684e-02,3.7145e-01,2.5588e+00,-6.2791e-02,4.2927e-02,-3.1395e-04,2.4582e-02,1.4536e-01,1.0428e-01,-1.0600e-02,1.5317e-03,-5.5754e-04,1.8058e-01,1.0724e-02
+22,1.6883e+01,DOWN_FORCE_DETACH,3.8992e-03,6.0689e-02,2.7856e-01,2.6074e+00,-5.6163e-02,4.0835e-02,-2.5304e-04,-4.4133e-03,5.2477e-02,1.5283e-01,-3.9718e-03,-5.6099e-04,-4.9664e-04,1.6165e-01,4.0419e-03
+23,1.7700e+01,DOWN_FORCE_DETACH,4.0785e-03,7.8960e-02,3.4084e-01,2.5675e+00,-6.0467e-02,4.2128e-02,-5.0222e-05,1.3858e-02,1.1475e-01,1.1298e-01,-8.2760e-03,7.3234e-04,-2.9382e-04,1.6163e-01,8.3136e-03
+24,1.8483e+01,DOWN_FORCE_DETACH,4.2525e-03,8.7467e-02,3.8622e-01,2.5578e+00,-6.3501e-02,4.2757e-02,2.6556e-04,2.2365e-02,1.6014e-01,1.0322e-01,-1.1310e-02,1.3612e-03,2.1964e-05,1.9183e-01,1.1392e-02
+25,1.9283e+01,DOWN_FORCE_DETACH,4.4318e-03,8.5445e-02,3.9745e-01,2.6373e+00,-6.4119e-02,4.2578e-02,5.5817e-04,2.0343e-02,1.7137e-01,1.8276e-01,-1.1928e-02,1.1820e-03,3.1458e-04,2.5136e-01,1.1990e-02
+26,2.0050e+01,DOWN_FORCE_DETACH,4.6098e-03,8.7012e-02,4.0334e-01,2.6343e+00,-6.4367e-02,4.2634e-02,8.4202e-04,2.1910e-02,1.7726e-01,1.7972e-01,-1.2176e-02,1.2379e-03,5.9843e-04,2.5338e-01,1.2254e-02
+27,2.0767e+01,DOWN_FORCE_DETACH,4.7843e-03,7.2192e-02,4.5353e-01,2.6817e+00,-6.7803e-02,4.1591e-02,9.4523e-04,7.0897e-03,2.2744e-01,2.2712e-01,-1.5612e-02,1.9531e-04,7.0163e-04,3.2150e-01,1.5629e-02
+28,2.1400e+01,DOWN_FORCE_DETACH,4.9634e-03,6.8631e-02,4.5041e-01,2.6878e+00,-6.7474e-02,4.1344e-02,9.8628e-04,3.5286e-03,2.2433e-01,2.3326e-01,-1.5283e-02,-5.1189e-05,7.4268e-04,3.2365e-01,1.5301e-02
+29,2.2050e+01,DOWN_FORCE_DETACH,5.1396e-03,7.7488e-02,4.3502e-01,2.6908e+00,-6.6262e-02,4.1948e-02,9.2784e-04,1.2386e-02,2.0894e-01,2.3621e-01,-1.4072e-02,5.5274e-04,6.8424e-04,3.1560e-01,1.4099e-02
+30,2.2633e+01,DOWN_FORCE_DETACH,5.3195e-03,7.8062e-02,4.4645e-01,2.7355e+00,-6.6720e-02,4.1891e-02,6.7936e-04,1.2960e-02,2.2036e-01,2.8095e-01,-1.4529e-02,4.9569e-04,4.3576e-04,3.5729e-01,1.4544e-02
+31,2.3250e+01,DOWN_FORCE_DETACH,5.4964e-03,7.6940e-02,4.7611e-01,2.8236e+00,-6.8568e-02,4.1721e-02,4.3719e-04,1.1838e-02,2.5002e-01,3.6906e-01,-1.6378e-02,3.2514e-04,1.9359e-04,4.4593e-01,1.6382e-02
+32,2.3867e+01,DOWN_FORCE_DETACH,5.6725e-03,9.0691e-02,4.9242e-01,2.8613e+00,-6.9615e-02,4.2635e-02,8.0261e-05,2.5589e-02,2.6633e-01,4.0674e-01,-1.7424e-02,1.2393e-03,-1.6334e-04,4.8685e-01,1.7469e-02
+33,2.4433e+01,DOWN_FORCE_DETACH,5.8461e-03,1.0080e-01,4.8821e-01,2.8640e+00,-6.9173e-02,4.3359e-02,-1.9954e-04,3.5694e-02,2.6212e-01,4.0942e-01,-1.6982e-02,1.9634e-03,-4.4313e-04,4.8745e-01,1.7101e-02
+34,2.4967e+01,DOWN_FORCE_DETACH,6.0254e-03,9.6534e-02,4.6471e-01,2.8762e+00,-6.7420e-02,4.3051e-02,-3.9392e-04,3.1432e-02,2.3862e-01,4.2168e-01,-1.5229e-02,1.6558e-03,-6.3752e-04,4.8553e-01,1.5332e-02
+35,2.5517e+01,DOWN_FORCE_DETACH,6.2046e-03,1.0260e-01,5.1145e-01,2.9125e+00,-7.0422e-02,4.3428e-02,-2.7223e-04,3.7496e-02,2.8537e-01,4.5798e-01,-1.8231e-02,2.0323e-03,-5.1583e-04,5.4091e-01,1.8351e-02
+36,2.6050e+01,DOWN_FORCE_DETACH,6.3816e-03,1.0699e-01,5.5205e-01,2.9666e+00,-7.2872e-02,4.3609e-02,4.3306e-05,4.1885e-02,3.2597e-01,5.1205e-01,-2.0681e-02,2.2139e-03,-2.0029e-04,6.0845e-01,2.0801e-02
+37,2.6533e+01,DOWN_FORCE_DETACH,6.5586e-03,1.1253e-01,5.6942e-01,2.9939e+00,-7.3667e-02,4.3997e-02,1.6671e-04,4.7427e-02,3.4334e-01,5.3939e-01,-2.1477e-02,2.6015e-03,-7.6883e-05,6.4115e-01,2.1634e-02
+38,2.7000e+01,DOWN_FORCE_DETACH,6.7412e-03,1.1132e-01,5.9984e-01,3.0157e+00,-7.5645e-02,4.3888e-02,1.8075e-04,4.6215e-02,3.7375e-01,5.6115e-01,-2.3454e-02,2.4924e-03,-6.2848e-05,6.7581e-01,2.3586e-02
+39,2.7450e+01,DOWN_FORCE_DETACH,6.9132e-03,1.3195e-01,5.8847e-01,3.0610e+00,-7.4424e-02,4.5242e-02,3.1709e-05,6.6851e-02,3.6238e-01,6.0646e-01,-2.2233e-02,3.8466e-03,-2.1189e-04,7.0964e-01,2.2564e-02
+40,2.7867e+01,DOWN_FORCE_DETACH,7.0925e-03,1.3648e-01,6.2174e-01,3.0764e+00,-7.6536e-02,4.5525e-02,-2.2926e-05,7.1373e-02,3.9565e-01,6.2185e-01,-2.4346e-02,4.1294e-03,-2.6652e-04,7.4049e-01,2.4695e-02
+41,2.8283e+01,DOWN_FORCE_DETACH,7.2694e-03,1.3409e-01,6.3549e-01,3.1051e+00,-7.7127e-02,4.5327e-02,-8.1183e-05,6.8987e-02,4.0940e-01,6.5055e-01,-2.4936e-02,3.9319e-03,-3.2478e-04,7.7174e-01,2.5246e-02
+42,2.8667e+01,DOWN_FORCE_DETACH,7.4477e-03,1.2495e-01,6.6505e-01,3.1578e+00,-7.8768e-02,4.4616e-02,-9.1614e-06,5.9850e-02,4.3897e-01,7.0320e-01,-2.6577e-02,3.2205e-03,-2.5276e-04,8.3112e-01,2.6773e-02
+43,2.9017e+01,DOWN_FORCE_DETACH,7.6220e-03,1.0647e-01,6.7115e-01,3.1738e+00,-7.8845e-02,4.3278e-02,2.3473e-04,4.1363e-02,4.4506e-01,7.1922e-01,-2.6654e-02,1.8824e-03,-8.8704e-06,8.4679e-01,2.6721e-02
+44,2.9333e+01,DOWN_FORCE_DETACH,7.7987e-03,1.1577e-01,7.0380e-01,3.2541e+00,-8.0800e-02,4.3840e-02,3.3582e-04,5.0665e-02,4.7771e-01,7.9955e-01,-2.8609e-02,2.4444e-03,9.2225e-05,9.3277e-01,2.8713e-02
+45,2.9683e+01,DOWN_FORCE_DETACH,7.9757e-03,9.7858e-02,7.1838e-01,3.2823e+00,-8.1238e-02,4.2531e-02,3.5347e-04,3.2756e-02,4.9230e-01,8.2769e-01,-2.9047e-02,1.1359e-03,1.0988e-04,9.6359e-01,2.9070e-02
+46,3.0033e+01,DOWN_FORCE_DETACH,8.1561e-03,1.2172e-01,7.1643e-01,3.2629e+00,-8.0808e-02,4.4137e-02,2.4508e-04,5.6616e-02,4.9034e-01,8.0832e-01,-2.8617e-02,2.7418e-03,1.4869e-06,9.4711e-01,2.8748e-02
+47,3.0350e+01,DOWN_FORCE_DETACH,8.3302e-03,1.4185e-01,6.9834e-01,3.2531e+00,-7.9714e-02,4.5603e-02,3.4560e-05,7.6750e-02,4.7225e-01,7.9850e-01,-2.7523e-02,4.2075e-03,-2.0904e-04,9.3087e-01,2.7843e-02
+48,3.0633e+01,DOWN_FORCE_DETACH,8.4968e-03,1.7375e-01,6.9591e-01,3.3149e+00,-7.9426e-02,4.7791e-02,-1.1543e-04,1.0865e-01,4.6983e-01,8.6033e-01,-2.7235e-02,6.3956e-03,-3.5903e-04,9.8626e-01,2.7978e-02
+49,3.0933e+01,DOWN_FORCE_DETACH,8.6866e-03,1.9135e-01,6.8829e-01,3.3391e+00,-7.8485e-02,4.8953e-02,-1.8916e-04,1.2625e-01,4.6220e-01,8.8450e-01,-2.6295e-02,7.5574e-03,-4.3276e-04,1.0059e+00,2.7363e-02
+50,3.1200e+01,DOWN_FORCE_DETACH,8.8553e-03,1.8114e-01,6.9341e-01,3.3865e+00,-7.8502e-02,4.8220e-02,-2.6557e-04,1.1604e-01,4.6733e-01,9.3190e-01,-2.6311e-02,6.8245e-03,-5.0916e-04,1.0489e+00,2.7186e-02
+51,3.1483e+01,DOWN_FORCE_DETACH,9.0444e-03,1.6900e-01,7.1120e-01,3.3859e+00,-7.9342e-02,4.7321e-02,-3.2264e-04,1.0390e-01,4.8512e-01,9.3132e-01,-2.7151e-02,5.9258e-03,-5.6623e-04,1.0552e+00,2.7796e-02
+52,3.1717e+01,DOWN_FORCE_DETACH,9.2157e-03,1.8303e-01,7.0583e-01,3.3952e+00,-7.8952e-02,4.8290e-02,-3.5309e-04,1.1792e-01,4.7975e-01,9.4069e-01,-2.6761e-02,6.8941e-03,-5.9668e-04,1.0625e+00,2.7641e-02
+53,3.1983e+01,DOWN_FORCE_DETACH,9.3905e-03,1.8749e-01,7.1726e-01,3.3773e+00,-7.9619e-02,4.8672e-02,-3.4650e-04,1.2238e-01,4.9118e-01,9.2272e-01,-2.7428e-02,7.2763e-03,-5.9010e-04,1.0524e+00,2.8383e-02
+54,3.2250e+01,DOWN_FORCE_DETACH,9.5748e-03,1.8080e-01,7.3203e-01,3.3907e+00,-8.0188e-02,4.8227e-02,-3.4043e-04,1.1569e-01,5.0595e-01,9.3616e-01,-2.7997e-02,6.8316e-03,-5.8403e-04,1.0704e+00,2.8825e-02
+55,3.2517e+01,DOWN_FORCE_DETACH,9.7481e-03,1.4327e-01,7.4649e-01,3.3862e+00,-8.0978e-02,4.5637e-02,-3.5245e-04,7.8168e-02,5.2040e-01,9.3161e-01,-2.8787e-02,4.2419e-03,-5.9604e-04,1.0700e+00,2.9104e-02
+56,3.2750e+01,DOWN_FORCE_DETACH,9.9244e-03,1.4624e-01,7.0378e-01,3.3902e+00,-7.7948e-02,4.5770e-02,-3.9789e-04,8.1136e-02,4.7769e-01,9.3565e-01,-2.5758e-02,4.3746e-03,-6.4149e-04,1.0537e+00,2.6134e-02
+57,3.3000e+01,DOWN_SETTLE,1.0103e-02,1.6697e-01,7.4186e-01,3.3847e+00,-8.0691e-02,4.7166e-02,-4.0410e-04,1.0187e-01,5.1577e-01,9.3011e-01,-2.8500e-02,5.7706e-03,-6.4770e-04,1.0684e+00,2.9086e-02
+58,3.3350e+01,DOWN_SETTLE,1.0281e-02,2.0485e-01,7.3383e-01,3.2845e+00,-8.0410e-02,4.9863e-02,-4.4208e-04,1.3975e-01,5.0775e-01,8.2996e-01,-2.8219e-02,8.4677e-03,-6.8568e-04,9.8294e-01,2.9470e-02
+59,3.3967e+01,DOWN_PEAK_HOLD,1.0459e-02,2.0578e-01,6.5786e-01,2.7972e+00,-7.7723e-02,5.0539e-02,-6.1366e-04,1.4068e-01,4.3178e-01,3.4263e-01,-2.5532e-02,9.1438e-03,-8.5726e-04,5.6887e-01,2.7134e-02

Fixed/digit/ball_PLA_15/press_depth_02/up/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc09b407368fc7831193feb27df766b151d3f1758acf9a57039ea92218cac01
+size 542720

Fixed/digit/ball_PLA_15/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+6452,1792844108562067016,22788067000000,1792844108561377921,XJC_ZERO_HOLD_BEFORE_UP,2,0.0712,0.07119777053594589,0.675945784769934,-0.004448231360772682,0.10660591793637886,0.9999999566308617,3.1314149945131526e-05,-0.00025973668454498075,-9.867835601998005e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.001317759804127551,0.001164469692861686,0.0008796945430564751,-3.8047449362589927e-06,-2.0689439374227358e-06,0.00038995738744922783,-0.05690668654029418,-0.06421679016974984,0.1502638378148914,-0.0010654053087922207,-1.2369245883351706e-05,0.0008577034935431982,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0218680090671584,0.3245084441608474,2.5734482763092648,-0.4302203365536374,-1.8782136889770777,0.1422134471372435,1.6625214820367051,-0.0008796945430564751,-0.9109267942725596,0.0,0.0,0,0,0.0,0.0
+6466,1792844108679146715,22788184000000,1792844108673379356,XJC_ZERO_HOLD_BEFORE_UP,2,0.0712,0.07119711488485336,0.675946825667566,-0.004446987064139838,0.10660934354139359,0.9999999571085438,3.207966089001602e-05,-0.0002574490342733827,-9.958245397222945e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0029151250209730056,0.006437164352674496,-0.0023608372298758173,-2.2691810702066273e-06,-2.3586197820040714e-06,0.000194442684037699,-0.05530932132344873,-0.058944095509937025,0.1470233060419591,-0.0010638697449261683,-1.2658921727933041e-05,0.0006621887901316694,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.1274306673898649,0.27815417077118104,2.657447795191109,-0.4071171564836183,-1.9673858011153122,0.11497575037519174,1.6625214820367051,0.0023608372298758173,-0.9949263131544037,0.0,0.0,0,0,0.0,0.0
+6486,1792844108847171178,22788352000000,1792844108845378037,WAIT_W2,2,0.066,0.07119711488485336,0.6759464738889913,-0.0044444697591333555,0.10660836515153342,0.9999999567367207,3.475209403172363e-05,-0.00025828772284300193,-0.00010024552582106985,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0028622713060727917,-0.002496809760831123,-0.008230747488675999,6.632354618303811e-06,5.2114088619976604e-06,-0.0005982390501427573,-0.05536217503834894,-0.06787806962344264,0.1411533957831589,-0.001054968209237658,-5.0888930839313094e-06,-0.00013049294404878694,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0827463568172782,0.30039880410144176,2.533598843963256,-0.4173031902309019,-1.8755499673292626,0.12458602646775382,1.6625214820367051,0.008230747488675999,-0.871077361926551,0.0,0.0,0,0,0.0,0.0
+6507,1792844109022098130,22788527000000,1792844109021377710,WAIT_W2,2,0.066,0.07119777053594589,0.6759468512037387,-0.00444601502322037,0.10661027750352318,0.9999999569801016,3.280696690306308e-05,-0.00025747028320481923,-0.00010057542279566781,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.001317455332268909,-0.002787542975496396,0.0005020611599545477,-4.089855606284913e-06,-2.0024911363544646e-06,0.0004196269493420746,-0.056906991012152824,-0.06816880283810792,0.14988620443178946,-0.0010656904194622466,-1.2302793082283434e-05,0.000887373055436045,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.045304640477438,0.23713608280125953,2.5683979722981487,-0.4074115028110182,-1.886194297910866,0.08309259376420562,1.6625214820367051,-0.0005020611599545477,-0.9058764902614436,0.0,0.0,0,0,0.0,0.0
+6521,1792844109139187530,22788644000000,1792844109137377937,WAIT_W2,2,0.066,0.07119777053594589,0.6759454998090746,-0.0044461458698118106,0.10660716680324177,0.999999956369384,3.180850270337736e-05,-0.00026056018811863033,-9.899849549731592e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.002874748719175743,-0.0013653653096034474,0.00045444186836221534,5.706579386678895e-06,2.9902046541732783e-06,-0.000607341812108175,-0.05534969762524599,-0.06674662517221497,0.14983858514019713,-0.0010558939844692828,-7.310097291755692e-06,-0.00013959570601420468,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0440459201967038,0.25268684225819127,2.4967691298859744,-0.4069924359287045,-1.8415839435329235,0.09442284555662951,1.6625214820367051,-0.00045444186836221534,-0.8342476478492693,0.0,0.0,0,0,0.0,0.0
+6535,1792844109255181665,22788760000000,1792844109253378474,WAIT_W2,2,0.066,0.07119777053594589,0.6759452619956657,-0.004445039723015941,0.10660810179516206,0.9999999564778268,3.3422624966691875e-05,-0.00025922207680115846,-0.00010086650525897931,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0023845280276934347,0.006054865455501601,0.0009117807754043805,-2.6513281456619006e-06,-2.8401047086173768e-06,0.0004191330851159813,-0.06060897437211517,-0.05932639440710992,0.1502959240472393,-0.0010642518920016236,-1.3140406654546347e-05,0.0008868791912099517,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.045855448725535,0.2076663836377217,2.547926306732438,-0.3874932010766887,-1.8779655638552717,0.06592052814529613,1.6625214820367051,-0.0009117807754043805,-0.8854048246957329,0.0,0.0,0,0,0.0,0.0
+6541,1792844109305182027,22788810000000,1792844109305378314,WAIT_W2,2,0.066,0.07119777053594589,0.6759493545493824,-0.004466223452131578,0.10661307640613517,0.9999999591873727,2.4937346484541466e-05,-0.00025346662802978854,-9.05589013643886e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.00288761198328559,-0.0020783066004509826,0.0004640259658340862,4.857831041547465e-06,3.2516481953978344e-06,-0.0005959917469075644,-0.05533683436113614,-0.0674595664630625,0.149848169237669,-0.0010567427328144142,-7.0486537505311355e-06,-0.00012824564081359406,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0535970460239699,0.3468388464605031,2.558621607753229,-0.4245787183550794,-1.8813953872484734,0.15764070921275175,1.6625214820367051,-0.0004640259658340862,-0.896100125716524,0.0,0.0,0,0,0.0,0.0
+6543,1792844109322202773,22788827000000,1792844109317378089,WAIT_W2,2,0.066,0.07119777053594589,0.6759464378963655,-0.0045159779633938985,0.10661150682300455,0.9999999599655015,-5.560339050420089e-06,-0.00025685947672821015,-7.418997002838362e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.1749012085110968,0.18635570840935645,0.0016611063898002987,0.012388056927166727,-0.013746451057925475,-0.0006181517405084628,0.11667676216667507,0.12097444854674494,0.1510452496616352,0.011326456363310766,-0.013756751359871405,-0.00015040563441449242,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0230781338214345,0.5811726082825536,2.6101167644139687,-0.43224027763186934,-1.9039355343592599,0.3195920511459779,1.6625214820367051,-0.0016611063898002987,-0.9475952823772635,0.0,0.0,0,0,0.0,0.0
+6545,1792844109339250556,22788844000000,1792844109333377993,WAIT_W2,2,0.066,0.07119777053594589,0.6759489135027866,-0.004590642229152798,0.10661935587768544,0.9999999620804273,-4.746756867934993e-05,-0.0002497119636618549,-5.169887359667191e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5362204921225069,0.5150053962051985,0.046905206438192404,0.036221648963200445,-0.03872068477129826,4.308681017796905e-05,0.4779960457780852,0.44962413634258697,0.19628934971002732,0.03516004839934448,-0.03873098507324419,0.0005108329162719394,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0318636070037623,0.8350137329300922,2.5015621835674318,-0.4388809600658074,-1.8361731879980527,0.49609200177851104,1.6625214820367051,-0.046905206438192404,-0.8390407015307266,0.0,0.0,0,0,0.0,0.0
+6545,1792844109339250556,22788844000000,1792844109333377993,WAIT_W2,2,0.066,0.07119777053594589,0.6759489135027866,-0.004590642229152798,0.10661935587768544,0.9999999620804273,-4.746756867934993e-05,-0.0002497119636618549,-5.169887359667191e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5362204921225069,0.5150053962051985,0.046905206438192404,0.036221648963200445,-0.03872068477129826,4.308681017796905e-05,0.4779960457780852,0.44962413634258697,0.19628934971002732,0.03516004839934448,-0.03873098507324419,0.0005108329162719394,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0318636070037623,0.8350137329300922,2.5015621835674318,-0.4388809600658074,-1.8361731879980527,0.49609200177851104,1.6625214820367051,-0.046905206438192404,-0.8390407015307266,0.0,0.0,0,0,0.0,0.0
+6545,1792844109339250556,22788844000000,1792844109333377993,WAIT_W2,2,0.066,0.07119777053594589,0.6759489135027866,-0.004590642229152798,0.10661935587768544,0.9999999620804273,-4.746756867934993e-05,-0.0002497119636618549,-5.169887359667191e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5362204921225069,0.5150053962051985,0.046905206438192404,0.036221648963200445,-0.03872068477129826,4.308681017796905e-05,0.4779960457780852,0.44962413634258697,0.19628934971002732,0.03516004839934448,-0.03873098507324419,0.0005108329162719394,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0318636070037623,0.8350137329300922,2.5015621835674318,-0.4388809600658074,-1.8361731879980527,0.49609200177851104,1.6625214820367051,-0.046905206438192404,-0.8390407015307266,0.0,0.0,0,0,0.0,0.0
+6547,1792844109355191868,22788860000000,1792844109353378036,WAIT_W2,2,0.066,0.07119777053594589,0.6759502418148349,-0.0046953144724195765,0.10662557094630389,0.9999999611070416,-8.517603847891602e-05,-0.0002488364619076019,-7.364587427178478e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9027348355575666,0.8555568654323691,0.09354032510048599,0.061970424269572354,-0.0652158000363529,0.0001556430849568088,0.8445103892131449,0.7901756055697575,0.2429244683723209,0.06090882370571639,-0.06522610033829883,0.0006233891910507792,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0696816971309713,1.2747690259767577,2.4694875938822265,-0.5051374249968049,-1.82469951972471,0.7939089877990224,1.6625214820367051,-0.09354032510048599,-0.8069661118455214,0.0,0.0,0,0,0.0,0.0
+6547,1792844109355191868,22788860000000,1792844109353378036,WAIT_W2,2,0.066,0.07119777053594589,0.6759502418148349,-0.0046953144724195765,0.10662557094630389,0.9999999611070416,-8.517603847891602e-05,-0.0002488364619076019,-7.364587427178478e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9027348355575666,0.8555568654323691,0.09354032510048599,0.061970424269572354,-0.0652158000363529,0.0001556430849568088,0.8445103892131449,0.7901756055697575,0.2429244683723209,0.06090882370571639,-0.06522610033829883,0.0006233891910507792,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0696816971309713,1.2747690259767577,2.4694875938822265,-0.5051374249968049,-1.82469951972471,0.7939089877990224,1.6625214820367051,-0.09354032510048599,-0.8069661118455214,0.0,0.0,0,0,0.0,0.0
+6547,1792844109355191868,22788860000000,1792844109353378036,WAIT_W2,2,0.066,0.07119777053594589,0.6759502418148349,-0.0046953144724195765,0.10662557094630389,0.9999999611070416,-8.517603847891602e-05,-0.0002488364619076019,-7.364587427178478e-06,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.9027348355575666,0.8555568654323691,0.09354032510048599,0.061970424269572354,-0.0652158000363529,0.0001556430849568088,0.8445103892131449,0.7901756055697575,0.2429244683723209,0.06090882370571639,-0.06522610033829883,0.0006233891910507792,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0696816971309713,1.2747690259767577,2.4694875938822265,-0.5051374249968049,-1.82469951972471,0.7939089877990224,1.6625214820367051,-0.09354032510048599,-0.8069661118455214,0.0,0.0,0,0,0.0,0.0
+6549,1792844109372239240,22788877000000,1792844109365378592,WAIT_W2,2,0.066,0.06868339329957962,0.6759481348929419,-0.004819960747297715,0.10662845350525352,0.9999999543529716,-0.00013107285696049593,-0.00025093760503610587,5.086397216329668e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.041151730300876,0.9968099712606648,0.11264197704617884,0.07272644506941228,-0.07631390714559651,0.0005384508110898112,0.9829272839564542,0.9314287113980533,0.26202612031801376,0.07166484450555632,-0.07632420744754244,0.0010061969171837816,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.058090185404375,1.3663127071639272,2.452714395648681,-0.47830928817599005,-1.8093049234988,0.8636728650143396,1.6625214820367051,-0.11264197704617884,-0.7901929136119761,0.0,0.0,0,0,0.0,0.0
+6549,1792844109372239240,22788877000000,1792844109365378592,WAIT_W2,2,0.066,0.06868339329957962,0.6759481348929419,-0.004819960747297715,0.10662845350525352,0.9999999543529716,-0.00013107285696049593,-0.00025093760503610587,5.086397216329668e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.041151730300876,0.9968099712606648,0.11264197704617884,0.07272644506941228,-0.07631390714559651,0.0005384508110898112,0.9829272839564542,0.9314287113980533,0.26202612031801376,0.07166484450555632,-0.07632420744754244,0.0010061969171837816,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.058090185404375,1.3663127071639272,2.452714395648681,-0.47830928817599005,-1.8093049234988,0.8636728650143396,1.6625214820367051,-0.11264197704617884,-0.7901929136119761,0.0,0.0,0,0,0.0,0.0
+6549,1792844109372239240,22788877000000,1792844109365378592,WAIT_W2,2,0.066,0.06868339329957962,0.6759481348929419,-0.004819960747297715,0.10662845350525352,0.9999999543529716,-0.00013107285696049593,-0.00025093760503610587,5.086397216329668e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.041151730300876,0.9968099712606648,0.11264197704617884,0.07272644506941228,-0.07631390714559651,0.0005384508110898112,0.9829272839564542,0.9314287113980533,0.26202612031801376,0.07166484450555632,-0.07632420744754244,0.0010061969171837816,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.058090185404375,1.3663127071639272,2.452714395648681,-0.47830928817599005,-1.8093049234988,0.8636728650143396,1.6625214820367051,-0.11264197704617884,-0.7901929136119761,0.0,0.0,0,0,0.0,0.0
+6549,1792844109372239240,22788877000000,1792844109365378592,WAIT_W2,2,0.066,0.06868339329957962,0.6759481348929419,-0.004819960747297715,0.10662845350525352,0.9999999543529716,-0.00013107285696049593,-0.00025093760503610587,5.086397216329668e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.041151730300876,0.9968099712606648,0.11264197704617884,0.07272644506941228,-0.07631390714559651,0.0005384508110898112,0.9829272839564542,0.9314287113980533,0.26202612031801376,0.07166484450555632,-0.07632420744754244,0.0010061969171837816,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.058090185404375,1.3663127071639272,2.452714395648681,-0.47830928817599005,-1.8093049234988,0.8636728650143396,1.6625214820367051,-0.11264197704617884,-0.7901929136119761,0.0,0.0,0,0,0.0,0.0
+6551,1792844109389263243,22788894000000,1792844109389377070,WAIT_W2,2,0.066,0.06868339329957962,0.675948983913948,-0.004901173225011647,0.10663481672789274,0.9999999463518565,-0.00018094749000217668,-0.0002470480480597055,7.045861286872198e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.147099067651326,1.1125149325994357,0.11217655943643112,0.08176640471477549,-0.08591431457926292,0.0010618725343794367,1.0888746213069043,1.0471336727368241,0.26156070270826604,0.08070480415091953,-0.08592461488120885,0.0015296186404734071,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9950426686536006,1.4954894213928365,2.3909172704113617,-0.470356806464734,-1.7514984503342397,0.9518040769126589,1.6625214820367051,-0.11217655943643112,-0.7283957883746566,0.0,0.0,0,0,0.0,0.0
+6551,1792844109389263243,22788894000000,1792844109389377070,WAIT_W2,2,0.066,0.06868339329957962,0.675948983913948,-0.004901173225011647,0.10663481672789274,0.9999999463518565,-0.00018094749000217668,-0.0002470480480597055,7.045861286872198e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.147099067651326,1.1125149325994357,0.11217655943643112,0.08176640471477549,-0.08591431457926292,0.0010618725343794367,1.0888746213069043,1.0471336727368241,0.26156070270826604,0.08070480415091953,-0.08592461488120885,0.0015296186404734071,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9950426686536006,1.4954894213928365,2.3909172704113617,-0.470356806464734,-1.7514984503342397,0.9518040769126589,1.6625214820367051,-0.11217655943643112,-0.7283957883746566,0.0,0.0,0,0,0.0,0.0
+6553,1792844109405262385,22788910000000,1792844109405377755,WAIT_W2,2,0.066,0.06868339329957962,0.6759491474809998,-0.0049494022291078545,0.10663571843408783,0.9999999392254021,-0.00021337395609852876,-0.00024643266430622737,8.206432293587832e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1538436188227772,1.1183883394557452,0.10493752604289208,0.08192939108662756,-0.08660813416532613,0.0010848856029945942,1.0956191724783555,1.0530070795931337,0.254321669314727,0.0808677905227716,-0.08661843446727206,0.0015526317090885646,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9668930520303664,1.5799647209575176,2.354998136354849,-0.464015474237981,-1.7206498989274257,1.0072944564269697,1.6625214820367051,-0.10493752604289208,-0.6924766543181438,0.0,0.0,0,0,0.0,0.0
+6554,1792844109414261270,22788919000000,1792844109413378644,WAIT_W2,2,0.066,0.06868339329957962,0.6759500170162802,-0.00496463835071657,0.10663760785696734,0.9999999375050483,-0.00022051199680941285,-0.00024435653849446976,8.998391446651087e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.1814290308391378,1.1189163230737857,0.09926192357343996,0.08319783228218315,-0.08830105547120616,0.0017271000182435493,1.123204584494716,1.0535350632111742,0.24864606684527488,0.0821362317183272,-0.08831135577315209,0.0021948461243375197,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9608149588959941,1.734644957385297,2.363193863027659,-0.49453130600427697,-1.7254062333557505,1.1091133747474864,1.6625214820367051,-0.09926192357343996,-0.7006723809909539,0.0,0.0,0,0,0.0,0.0
+6562,1792844109480246995,22788985000000,1792844109477377939,WAIT_W2,2,0.066,0.06868339329957962,0.675951068718099,-0.004948820101053562,0.10663895017272654,0.999999940768548,-0.00020651425982604806,-0.0002436947296174343,8.87158595969567e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.421046965110945,1.4163042650454374,0.11203839716495723,0.10483675963106795,-0.10806109821080338,0.002051001204255364,1.3628225187665233,1.3509230051828258,0.26142254043679214,0.10377515906721199,-0.10807139851274931,0.0025187473103493343,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9376654586168454,2.0272837887798842,2.2564111988946918,-0.5120008223169384,-1.6516496982268392,1.2982352816895668,1.6625214820367051,-0.11203839716495723,-0.5938897168579866,0.0,0.0,0,0,0.0,0.0
+6570,1792844109547278997,22789052000000,1792844109545377943,WAIT_W2,2,0.066,0.06868339329957962,0.6759520841720563,-0.004959754196916685,0.1066394275899898,0.999999939002253,-0.000215597551215972,-0.0002418052834575394,9.212087259500494e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3702264219171278,1.377211199280724,0.23908138005842966,0.10298857863698815,-0.10538507587748924,0.0010305919442997636,1.3120019755727061,1.3118299394181125,0.3884655233302646,0.1019269780731322,-0.10539537617943517,0.001498338050393734,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0589183749308033,2.1005174337081747,2.31640356013465,-0.500276012480026,-1.727407796539789,1.3478365272677233,1.6625214820367051,-0.23908138005842966,-0.6538820780979449,0.0,0.0,0,0,0.0,0.0
+6590,1792844109714286950,22789219000000,1792844109713377800,WAIT_W2,2,0.066,0.06654134392738342,0.6759581720553687,-0.004967559077737939,0.10665079389753675,0.9999999409983944,-0.000217109000299405,-0.00023116059735382017,9.420473453697058e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3992607553262502,1.4596160247172922,0.3624526843913658,0.10894476297205342,-0.10730637213960081,0.0008896145475290268,1.3410363089818285,1.3942347648546807,0.5118368276632007,0.10788316240819747,-0.10731667244154675,0.0013573606536229973,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.995916864760172,2.1167280965660256,2.1321448655180815,-0.5110993983159795,-1.5944858499195258,1.3574857622257452,1.6625214820367051,-0.3624526843913658,-0.46962338348137633,0.0,0.0,0,0,0.0,0.0
+6602,1792844109814352097,22789319000000,1792844109813378193,WAIT_W2,2,0.066,0.06610597670078278,0.6759588497711594,-0.004963717112219324,0.10665450367419747,0.9999999415313835,-0.0002170124782356338,-0.00022978616827718534,9.210860362349105e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.3927616042853843,1.4820839873890186,0.37410863581733966,0.10984617221132151,-0.1070945606092068,-0.00013071413220713005,1.3345371579409626,1.416702727526407,0.5234927790891746,0.10878457164746555,-0.10710486091115273,0.0003370319738868403,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9953635076151616,2.1334181056571087,2.1883324058164297,-0.5125883556316904,-1.6270221186029343,1.3697904464293456,1.6625214820367051,-0.37410863581733966,-0.5258109237797246,0.0,0.0,0,0,0.0,0.0
+6617,1792844109939369005,22789444000000,1792844109937378737,WAIT_W2,2,0.066,0.06610597670078278,0.6759590100727786,-0.004966603482833087,0.10665641348203268,0.999999941281664,-0.00021862206575021617,-0.00022893333196309556,9.313138234191094e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,1.375312838179879,1.454032221131418,0.37430542798794497,0.10915773103548812,-0.10652973964411461,-0.0001289159133568646,1.3170883918354572,1.3886509612688065,0.5236895712597799,0.10809613047163216,-0.10654003994606054,0.00033883019273710577,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9938050527444302,2.101249605401178,2.143720419319567,-0.5065173715989916,-1.6024701292533707,1.347212369142335,1.6625214820367051,-0.37430542798794497,-0.481198937282862,0.0,0.0,0,0,0.0,0.0
+6633,1792844110070365710,22789575000000,1792844110069377817,UP_FORCE_RAMP,2,0.066,0.06602126359939575,0.6759579829756748,-0.004962411664682846,0.10665528004131465,0.999999941670438,-0.00021623394303802265,-0.00023022328399030476,9.133513016591402e-05,0.6761,-0.0046,0.10700029434996576,1.0,0.0,0.0,0.0,1.3412586249387153,1.40635737862596,0.36985002415397394,0.10615917515632609,-0.10371727200284035,-0.00012369707710613206,1.2830341785942936,1.3409761187633484,0.5192341674258089,0.10509757459247013,-0.10372757230478628,0.0003440490289878383,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9977391655355663,2.056158371355582,2.158451133741688,-0.4922838255641378,-1.6133816053666432,1.3186777713007931,1.6625214820367051,-0.36985002415397394,-0.4959296517049827,-0.36985002415397394,0.01089999999999999,0,0,5.449999183919313e-06,9.999999025923074e-05
+6651,1792844110220377622,22789725000000,1792844110213378272,UP_FORCE_RAMP,2,0.066,0.06600484997034073,0.6759566130613929,-0.004963269459921647,0.10665413987574875,0.9999999415657066,-0.00021493567062835184,-0.00023140375259821317,9.255489388876288e-05,0.6761,-0.0046,0.10700167059973303,1.0,0.0,0.0,0.0,1.356579455487224,1.4410767346405144,0.35258160150645557,0.10757664734956697,-0.10424241012996012,-0.00010033025272725648,1.2983550091428022,1.3756954747779029,0.5019657447782905,0.10651504678571101,-0.10425271043190605,0.0003674158533667139,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9946084732395193,2.152975402897811,2.1447549091943454,-0.5236818020258907,-1.6036706030440555,1.3799887430435682,1.6625214820367051,-0.35258160150645557,-0.4822334271576403,-0.35258160150645557,0.0258999999999999,0,0,1.2949997722803924e-05,9.999999025923074e-05
+6667,1792844110353396676,22789858000000,1792844110353378399,UP_FORCE_RAMP,2,0.066,0.06600484997034073,0.6759571614716609,-0.004968781259903611,0.10665349047945744,0.999999940164626,-0.0002211482927453663,-0.00023168442459104194,9.235457972242796e-05,0.6761,-0.0046,0.10700383184934337,1.0,0.0,0.0,0.0,1.3666060508790687,1.4416810815078547,0.3429477351509017,0.10825569852077657,-0.10547573974110251,-9.730781225072868e-05,1.308381604534647,1.3762998216452431,0.4923318784227366,0.10719409795692061,-0.10548604004304844,0.0003704382938432417,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0190808234220665,2.2504800037526542,2.1770119057337065,-0.5489429718199459,-1.632552999223017,1.447834244825713,1.6625214820367051,-0.3429477351509017,-0.5144904236970014,-0.3429477351509017,0.039200000000000096,0,0,1.9599996427281614e-05,9.999999025923074e-05
+6686,1792844110512442861,22790017000000,1792844110509378101,UP_FORCE_RAMP,2,0.066,0.0660041943192482,0.6759569807625656,-0.0049603471810917895,0.10665404134700669,0.9999999422010086,-0.0002126069585793647,-0.00023098460961339543,9.211533407997658e-05,0.6761,-0.0046,0.1070075762986514,1.0,0.0,0.0,0.0,1.3310741890125326,1.4050438456925323,0.3319404054893948,0.10585768981525007,-0.10289882897202074,-8.046666708378921e-05,1.272849742668111,1.3396625858299207,0.4813245487612297,0.10479608925139411,-0.10290912927396667,0.00038727943901018116,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9914275323701249,2.138519656146202,2.2406987856286213,-0.5275308671903344,-1.6622914388331234,1.3674386489831545,1.6625214820367051,-0.3319404054893948,-0.5781773035919162,-0.3319404054893948,0.05510000000000055,0,0,2.7549994878499302e-05,9.999999025923074e-05
+6700,1792844110628457832,22790133000000,1792844110625378011,UP_FORCE_RAMP,2,0.066,0.06600288301706314,0.6759579136628352,-0.00495739708762819,0.10665786837298885,0.999999942833203,-0.000211681018507104,-0.00022915413429991575,9.195642390032093e-05,0.6761,-0.0046,0.10701110559799121,1.0,0.0,0.0,0.0,1.3310115570634706,1.413369241127611,0.32815641787054667,0.1058554799867735,-0.10336028971268955,-9.107628240323572e-05,1.272787110719049,1.3479879812649995,0.4775405611423816,0.10479387942291754,-0.10337059001463549,0.00037666982369073465,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0359673783301138,2.0546256260382663,2.184795883532063,-0.5026774456785497,-1.6396774269634495,1.3170821144263312,1.6625214820367051,-0.32815641787054667,-0.5222744014953578,-0.32815641787054667,0.06670000000000088,0,0,3.334999374857007e-05,9.999999025923074e-05
+6716,1792844110762516877,22790267000000,1792844110757378487,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759564578453097,-0.004962976424550171,0.10665593829723687,0.9999999411382307,-0.0002166439402499183,-0.0002323167249139244,9.088862273311186e-05,0.6761,-0.0046,0.10701602004706541,1.0,0.0,0.0,0.0,1.355576925744738,1.4453839638635717,0.3052467425540776,0.10782494853140986,-0.104450474200429,-5.997385347513329e-05,1.2973524794003164,1.3800027040009601,0.4546308858259125,0.1067633479675539,-0.10446077450237493,0.0004077722526188371,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-0.9943137109109077,1.9602069817789223,2.1212166693653742,-0.47884780682727457,-1.5838687408486016,1.2507035083077909,1.6625214820367051,-0.3052467425540776,-0.4586951873286691,-0.3052467425540776,0.08010000000000127,0,0,4.004999244330699e-05,9.999999025923074e-05
+6732,1792844110895523845,22790400000000,1792844110893382717,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759567922303714,-0.004960325998639233,0.1066581263279546,0.9999999423420167,-0.0002127665184656084,-0.00023058509720421706,9.121265817696522e-05,0.6761,-0.0046,0.10702178559597357,1.0,0.0,0.0,0.0,1.3334244680880896,1.4136241749142777,0.29238638654706767,0.10647848607310811,-0.10350707935173188,-6.049224667348474e-05,1.2752000217436679,1.3482429150516662,0.4417705298189026,0.10541688550925216,-0.10351737965367781,0.0004072538594204856,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0181608608462416,2.1004641007107447,2.217364134797069,-0.523478546176769,-1.6543960024140485,1.3443984081593772,1.6625214820367051,-0.29238638654706767,-0.5548426527603638,-0.29238638654706767,0.09340000000000165,0,0,4.6699991147784676e-05,9.999999025923074e-05
+6751,1792844111053477861,22790558000000,1792844111053378266,UP_FORCE_RAMP,2,0.066,0.06600090861320496,0.6759582163452074,-0.004961753943436908,0.10666299471097788,0.9999999428793581,-0.0002141097369751591,-0.00022743199614690468,9.008802467988502e-05,0.6761,-0.0046,0.10702978434445257,1.0,0.0,0.0,0.0,1.343223012696723,1.4240168091175958,0.27241605884898623,0.10651182466688437,-0.10342235456405671,-3.065393373724633e-05,1.2849985663523014,1.3586355492549842,0.42180020212082114,0.10545022410302841,-0.10343265486600264,0.00043709217235672404,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0765907859691783,2.14329248580709,2.3600341435690786,-0.5386315978746365,-1.758843098235136,1.3685642037588002,1.6625214820367051,-0.27241605884898623,-0.6975126615323735,-0.27241605884898623,0.1092000000000021,0,0,5.4599989608743134e-05,9.999999025923074e-05
+6765,1792844111170597801,22790675000000,1792844111169387630,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759575672882586,-0.004963502001379054,0.10666639893535255,0.9999999419900896,-0.00021747548474413395,-0.00022830876444410904,8.967833184538226e-05,0.6761,-0.0046,0.10703651184316955,1.0,0.0,0.0,0.0,1.342985594383056,1.4288118729513772,0.2458160660390472,0.10686186025178354,-0.10420668193403865,-2.2751348229915226e-05,1.2847611480386343,1.3634306130887657,0.3952002093108821,0.10580025968792758,-0.10421698223598458,0.00044499475786405514,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0737155864921122,2.1112782357417217,2.361024028658252,-0.5289317884411272,-1.7556980184779907,1.347461297484417,1.6625214820367051,-0.2458160660390472,-0.6985025466215466,-0.2458160660390472,0.12090000000000244,0,0,6.044998846907313e-05,9.999999025923074e-05
+6781,1792844111303612420,22790808000000,1792844111301377980,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759591864295537,-0.004962616870871657,0.10667345977875384,0.9999999432898921,-0.00021428574780787938,-0.00022581036242655487,8.918730446639499e-05,0.6761,-0.0046,0.10704499059154914,1.0,0.0,0.0,0.0,1.3403953010525629,1.4176380363309293,0.21184329323596368,0.1061032399296357,-0.10352890885248463,4.3663203562740115e-06,1.2821708547081412,1.3522567764683178,0.3612274365077986,0.10504163936577975,-0.10353920915443056,0.0004721124264502444,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0871684511380781,2.1486129823846594,2.3056717961574633,-0.5431753413363103,-1.7244501561131387,1.3740189115001287,1.6625214820367051,-0.21184329323596368,-0.6431503141207582,-0.21184329323596368,0.13420000000000154,0,0,6.709998717355082e-05,9.999999025923074e-05
+6800,1792844111462646770,22790967000000,1792844111457387803,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759574059033783,-0.004958880753435317,0.10668002649925244,0.9999999438436512,-0.00021094287262526264,-0.00022723028645151686,8.732158951560644e-05,0.6761,-0.0046,0.10705628753938583,1.0,0.0,0.0,0.0,1.3313302552337205,1.4139867049399106,0.16216422446893225,0.10588477492947444,-0.10338642563017685,4.3969174185801943e-05,1.2731058088892988,1.348605445077299,0.31154836774076716,0.10482317436561849,-0.10339672593212278,0.0005117152802797723,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0542870152958401,2.0777193306680832,2.4420375906687157,-0.518916353498524,-1.8030996276531386,1.322198220302136,1.6625214820367051,-0.16216422446893225,-0.7795161086320106,-0.16216422446893225,0.1500999999999998,0,0,7.504998562476851e-05,9.999999025923074e-05
+6816,1792844111595668453,22791100000000,1792844111593378167,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759496793086804,-0.0049551773302529195,0.1066822176774792,0.9999999400760761,-0.00021002186048463113,-0.0002450000657014638,8.45960658226819e-05,0.6761,-0.0046,0.10706670808738712,1.0,0.0,0.0,0.0,1.348732739951472,1.4134703172660994,0.11822530974172452,0.10591887647272974,-0.10430753995822224,6.686186176947732e-05,1.2905082936070502,1.3480890574034878,0.26760945301355943,0.10485727590887378,-0.10431784026016817,0.0005346079678634477,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.0859599609168833,2.139754753355647,2.3882281989180307,-0.5405926860096013,-1.7735584189500981,1.3657299432066972,1.6625214820367051,-0.11822530974172452,-0.7257067168813256,-0.11822530974172452,0.16339999999999832,0,0,8.16999843292462e-05,9.999999025923074e-05
+6820,1792844111628683003,22791133000000,1792844111625387608,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759172578489431,-0.004953875952729911,0.10667625225308063,0.9999999191058414,-0.0002092327380340774,-0.00032175166079029054,7.69980825095857e-05,0.6761,-0.0046,0.10706943058686452,1.0,0.0,0.0,0.0,1.3507086379360753,1.3804953251709837,0.11115796138275663,0.10503752826363033,-0.10555132854919995,2.160951581122757e-05,1.2924841915916536,1.3151140653083722,0.26054210465459154,0.10397592769977437,-0.10556162885114588,0.0004893556219051979,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.1595910305988302,2.095396500223119,2.552159787173887,-0.5198170264960497,-1.8819703877523155,1.335804683232914,1.6625214820367051,-0.11115796138275663,-0.8896383051371819,-0.11115796138275663,0.16669999999999796,0,0,8.334998400780081e-05,9.999999025923074e-05
+6828,1792844111695687060,22791200000000,1792844111693387495,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759228723958107,-0.004953984359698745,0.10668685606975509,0.9999999228465518,-0.00020840802247369257,-0.00031072467366430453,7.593436482975019e-05,0.6761,-0.0046,0.10707512558577086,1.0,0.0,0.0,0.0,1.4450044402791709,1.3230439370116411,0.12595974796225307,0.09927450454790167,-0.11237308220684895,-0.0011557291771891705,1.3867799939347492,1.2576626771490296,0.275343891234088,0.09821290398404571,-0.11238338250879489,-0.0006879830710952001,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2306200622325696,2.1727349459430543,2.525593991391099,-0.5204428649399037,-1.8842292462527177,1.3799747784107401,1.6625214820367051,-0.12595974796225307,-0.8630725093543941,-0.12595974796225307,0.17339999999999722,0,0,8.669998335516927e-05,9.999999025923074e-05
+6844,1792844111828679923,22791333000000,1792844111821387721,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759253478229361,-0.0049568942879425594,0.10669252604862117,0.9999999238720119,-0.00021124513258358497,-0.0003055848545146141,7.544683733561135e-05,0.6761,-0.0046,0.1070870955834703,1.0,0.0,0.0,0.0,1.4383282327310323,1.3267637242633128,0.07259035277429851,0.09999916077173367,-0.11135040787656081,-0.001091458457816617,1.3801037863866106,1.2613824644007012,0.22197449604613342,0.09893756020787771,-0.11136070817850674,-0.0006237123517226468,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2126663382850904,2.152064585206414,2.5224447703554205,-0.5271415403618706,-1.8809412686673712,1.3654817453280044,1.6625214820367051,-0.07259035277429851,-0.8599232883187153,-0.07259035277429851,0.18669999999999576,0,0,9.334998205964696e-05,9.999999025923074e-05
+6859,1792844111953733455,22791458000000,1792844111953377800,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759242779793573,-0.004954823180179386,0.10669615492770192,0.9999999236766894,-0.0002112257304123744,-0.00030639902869066156,7.478506188657338e-05,0.6761,-0.0046,0.10709915183115104,1.0,0.0,0.0,0.0,1.4288514345805545,1.3353154745376368,0.03880455035028746,0.09998855165574795,-0.11063781476496824,-0.0010555282848029586,1.3706269882361328,1.2699342146750252,0.18818869362212237,0.098926951091892,-0.11064811506691417,-0.0005877821787089883,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.248446022462141,2.1391986725003505,2.595049790933202,-0.5370020084532787,-1.9343128189647258,1.3568538856020094,1.6625214820367051,-0.03880455035028746,-0.9325283088964968,-0.03880455035028746,0.19919999999999438,0,0,9.95999808420508e-05,9.999999025923074e-05
+6875,1792844112087760668,22791592000000,1792844112085377702,UP_FORCE_RAMP,2,0.066,0.06600221991539001,0.6759249877899359,-0.004949813915495753,0.10670154723823894,0.9999999257330635,-0.00020550339358238112,-0.0003041887818663538,7.220991380249586e-05,0.6761,-0.0046,0.10711294377849577,1.0,0.0,0.0,0.0,1.417818045103129,1.3379871669621417,-0.009083532025883523,0.09999053203838766,-0.11032114169479694,-0.001013593745994671,1.3595935987587073,1.2726059070995301,0.1403006112459514,0.0989289314745317,-0.11033144199674287,-0.0005458476399007005,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2736764893994534,2.074989480399347,2.7351492621848807,-0.5188156960868968,-2.0296014886897256,1.3149944238798132,1.6625214820367051,0.009083532025883523,-1.0726277801481756,0.009083532025883523,0.2125999999999929,0,0,0.00010629997953678772,9.999999025923074e-05
+6897,1792844112270695221,22791775000000,1792844112265387407,UP_FORCE_RAMP,2,0.066,0.06600221991539001,0.6759262767591543,-0.004951372036822345,0.10671678162673712,0.9999999266216932,-0.0002087812156483128,-0.0002995882181311989,6.969057172651199e-05,0.6761,-0.0046,0.10713316077891792,1.0,0.0,0.0,0.0,1.4162025702420602,1.346752905752821,-0.08037474450142008,0.10102528208721631,-0.1103246770350781,-0.0009412464458107181,1.3579781238976385,1.2813716458902094,0.06900939877041483,0.09996368152336035,-0.11033497733702403,-0.0004735003397167477,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2108689178858747,2.1208329618343122,2.7065511746125885,-0.5431522585305147,-1.9963121408961357,1.3355566615874261,1.6625214820367051,0.08037474450142008,-1.0440296925758834,0.08037474450142008,0.2308999999999909,0,0,0.00011219830469341996,-6.899622065071088e-05
+6916,1792844112428723691,22791933000000,1792844112425387654,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759245017303807,-0.004949266823913333,0.10672339566687915,0.999999927233612,-0.00020679721317250877,-0.00029911729147250943,6.884325288179139e-05,0.6761,-0.0046,0.10715031143156915,1.0,0.0,0.0,0.0,1.410343825770453,1.355521902723877,-0.17918340429362592,0.10103433961501694,-0.10993487802149433,-0.0008620138148447284,1.3521193794260313,1.2901406428612654,-0.029799261021791017,0.09997273905116098,-0.10994517832344027,-0.000394267708750758,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.236784088235953,2.1414379340938536,2.8049355294794247,-0.5501760801244935,-2.0693273854896073,1.3417241349616698,1.6625214820367051,0.17918340429362592,-1.1424140474427196,0.17918340429362592,0.24669999999998915,0,0,0.00010462311507833532,-9.999999025923074e-05
+6928,1792844112528797365,22792033000000,1792844112525387666,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759267246498623,-0.004952077512384956,0.10673466928266838,0.9999999285310412,-0.0002072499897859241,-0.0002947863180773484,6.729966581171964e-05,0.6761,-0.0046,0.10716052624312618,1.0,0.0,0.0,0.0,1.4007632093106863,1.3592991912259855,-0.23923183440196893,0.10182310012510659,-0.10929299104669886,-0.000793613274980904,1.3425387629662646,1.293917931363374,-0.08984769113013404,0.10076149956125063,-0.10930329134864479,-0.0003258671688869337,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2906661791454639,2.2292130734092157,2.8755102509723627,-0.5792733144823858,-2.132267594723781,1.3932062245468793,1.6625214820367051,0.23923183440196893,-1.2129887689356575,0.23923183440196893,0.25669999999998805,0,0,9.962311605241225e-05,-9.999999025923074e-05
+6946,1792844112678766118,22792183000000,1792844112673387637,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759278630927777,-0.004950006806856512,0.1067464157086979,0.9999999300710247,-0.00020458306348872807,-0.000291702529071386,6.600162458727188e-05,0.6761,-0.0046,0.10717491096064435,1.0,0.0,0.0,0.0,1.4008832990700035,1.3659732660197177,-0.2818242867197868,0.10124217130882318,-0.10848441752617416,-0.0007533221133501629,1.3426588527255818,1.3005920061571061,-0.1324401434479519,0.10018057074496722,-0.10849471782812009,-0.0002855760072561925,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2247889900731472,2.1999475989782127,2.9034434703585807,-0.5718566083633216,-2.1318045068295457,1.3739737722942582,1.6625214820367051,0.2818242867197868,-1.2409219883218756,0.2818242867197868,0.2716999999999864,0,0,9.212311751352763e-05,-9.999999025923074e-05
+6961,1792844112803903030,22792308000000,1792844112801388392,UP_FORCE_RAMP,2,0.066,0.06600221991539001,0.6759255900939964,-0.004948927682195365,0.10675049530054834,0.9999999289555168,-0.00020765771703795699,-0.00029407503658344773,6.268947857202532e-05,0.6761,-0.0046,0.10718603885041025,1.0,0.0,0.0,0.0,1.3929619061463627,1.3565242179615606,-0.34158210835693503,0.10139466578495458,-0.10833111726041052,-0.0007042382539261989,1.334737459801941,1.291142958098949,-0.19219796508510015,0.10033306522109862,-0.10834141756235645,-0.00023649214783222849,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.3026197099085939,2.238708020561797,3.071457334849193,-0.5863378645898454,-2.263841757535123,1.3940027207060364,1.6625214820367051,0.34158210835693503,-1.4089358528124878,0.34158210835693503,0.284199999999985,0,0,8.587311873112379e-05,-9.999999025923074e-05
+6979,1792844112953858536,22792458000000,1792844112953387543,UP_FORCE_RAMP,2,0.066,0.06600221991539001,0.675925394186097,-0.0049500255113816205,0.1067623152793416,0.9999999292977795,-0.0002054000044075718,-0.0002942788075441672,6.370338799408048e-05,0.6761,-0.0046,0.10719836106833024,1.0,0.0,0.0,0.0,1.399732144133162,1.3774018001109032,-0.3814866994164787,0.10300062558957486,-0.10920227635553023,-0.0006646203783634773,1.3415076977887403,1.3120205402482916,-0.23210255614464378,0.1019390250257189,-0.10921257665747616,-0.00019687427226950692,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.203235180828368,2.264877214919434,3.05162167792252,-0.6043421061005224,-2.2233310578994874,1.40449719032336,1.6625214820367051,0.3814866994164787,-1.3891001958858147,0.3814866994164787,0.29919999999998337,0,0,7.837312019223918e-05,-9.999999025923074e-05
+6997,1792844113103949343,22792608000000,1792844113101378580,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759218423152316,-0.0049502864558366695,0.1067642827814712,0.9999999261455728,-0.00020801779510164694,-0.00030336309848941326,6.205755790765957e-05,0.6761,-0.0046,0.10720955828646939,1.0,0.0,0.0,0.0,1.3933394282648779,1.342018120909895,-0.41449667741711155,0.10080280673509291,-0.10843995924115099,-0.0006619786889691811,1.3351149819204562,1.2766368610472834,-0.26511253414527663,0.09974120617123695,-0.10845025954309692,-0.00019423258287521076,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.1870597003242254,2.218079390649439,3.06592395226665,-0.5970880107281276,-2.2245404162961493,1.3705551334971908,1.6625214820367051,0.41449667741711155,-1.403402470229945,0.41449667741711155,0.3141999999999817,0,0,7.087312165335457e-05,-9.999999025923074e-05
+7013,1792844113237975772,22792742000000,1792844113233387980,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759169931290604,-0.004951763043066946,0.10676840594749741,0.9999999238152116,-0.00020557274413098242,-0.00031298357242847785,5.994635437641761e-05,0.6761,-0.0046,0.10721860973485904,1.0,0.0,0.0,0.0,1.3926889918221255,1.3542906061551347,-0.4321495320034391,0.10044452892243534,-0.10862489872520754,-0.0006480581592118806,1.3344645454777038,1.2889093462925232,-0.2827653887316042,0.09938292835857938,-0.10863519902715348,-0.00018031205311791026,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.1774109482080892,2.2747071811800126,3.035963827753206,-0.6029417856136065,-2.1998972528441705,1.4099432185749963,1.6625214820367051,0.4321495320034391,-1.373442345716501,0.4321495320034391,0.32759999999998024,0,0,6.417312295861765e-05,-9.999999025923074e-05
+7026,1792844113346003764,22792850000000,1792844113345378012,UP_FORCE_RAMP,2,0.066,0.06600156426429749,0.6759129877524143,-0.004954003178433442,0.10677191694100444,0.9999999208541134,-0.00020658152887160084,-0.00032179992944461714,5.9190442129993486e-05,0.6761,-0.0046,0.1072252515321959,1.0,0.0,0.0,0.0,1.4066770098213555,1.340410532201734,-0.45150515043201617,0.1003399756342804,-0.10982637317884357,-0.0006489401138329008,1.3484525634769338,1.2750292723391223,-0.30212100716018125,0.09927837507042445,-0.1098366734807895,-0.0001811940077389304,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2258302642539318,2.2693752027536878,3.1111683535761707,-0.6015658659280946,-2.2608363972252565,1.3995100411156187,1.6625214820367051,0.45150515043201617,-1.4486468715394656,0.45150515043201617,0.33839999999997905,0,0,5.877312401062073e-05,-9.999999025923074e-05
+7042,1792844113478947055,22792983000000,1792844113477387843,UP_FORCE_RAMP,2,0.066,0.06600221991539001,0.6759109764239573,-0.004948222782752291,0.1067762936056747,0.9999999193641012,-0.00020708858921380407,-0.00032689245751458553,5.450039241075336e-05,0.6761,-0.0046,0.10723262945777612,1.0,0.0,0.0,0.0,1.409719524734177,1.3263577245490987,-0.4696626720030663,0.09970891075158,-0.10984625337572916,-0.0006362019478912848,1.3514950783897552,1.2609764646864872,-0.32027852873123136,0.09864731018772405,-0.10985655367767509,-0.00016845584179731442,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2173056182455184,2.1317779363552907,3.1543752573859707,-0.5708756150759132,-2.2839062410942237,1.3074631264238619,1.6625214820367051,0.4696626720030663,-1.4918537753492656,0.4696626720030663,0.3516999999999776,0,0,5.212312530614304e-05,-9.999999025923074e-05
+7062,1792844113645041821,22793149000000,1792844113637378129,UP_FORCE_HOLD,2,0.066,0.06600156426429749,0.6759110133456211,-0.004945052914414966,0.10678329507759474,0.9999999199695311,-0.00020345919209570473,-0.000327239884153192,5.497463857184767e-05,0.6761,-0.0046,0.10724059714671196,1.0,0.0,0.0,0.0,1.4153887751761864,1.3444511004551385,-0.5025519458389478,0.09994938721740546,-0.11008132111837861,-0.000615189476519344,1.3571643288317647,1.279069840592527,-0.35316780256711283,0.0988877866535495,-0.11009162142032454,-0.00014744337042537365,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.3010523497548752,2.2663280904231544,3.2130734360157285,-0.6098252681479479,-2.348359942289813,1.3914483493396386,1.6625214820367051,0.5025519458389478,-1.5505519539790233,0.5025519458389478,0.4718,0,0,4.382312692311074e-05,-9.999999025923074e-05
+7083,1792844113821077890,22793325000000,1792844113817379065,UP_SETTLE,2,0.066,0.06600221991539001,0.6759078147081086,-0.00494330635011757,0.10678728699583656,0.999999918072594,-0.00020493947644916618,-0.00033255422753479725,5.201121121729974e-05,0.6761,-0.0046,0.10724754001720214,1.0,0.0,0.0,0.0,1.4209516221434004,1.3370659754710934,-0.5365161386942532,0.10009112565192592,-0.11020044134499046,-0.0013898918114742251,1.3627271757989787,1.2716847156084818,-0.38713199542241833,0.09902952508806996,-0.1102107416469364,-0.0009221457053802547,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.1984376679436444,2.1345304748426477,3.2188663188022306,-0.5733521924731494,-2.3210706938069947,1.304639288056942,1.6625214820367051,0.5365161386942532,-1.5563448367655255,0.5365161386942532,0.4718,0,0,3.502312863748613e-05,-9.999999025923074e-05
+7097,1792844113938032776,22793442000000,1792844113937377814,UP_SETTLE,2,0.066,0.06600221991539001,0.6759062726857049,-0.004938770159707936,0.10678784436692439,0.9999999178254572,-0.00020022731297278327,-0.0003363889346380649,5.043263693981717e-05,0.6761,-0.0046,0.10725129842331997,1.0,0.0,0.0,0.0,1.41024941116887,1.33193407560456,-0.5431931831484863,0.09972602753502186,-0.11019686346970631,-0.0009441914650256936,1.3520249648244482,1.2665528157419483,-0.3938090398766514,0.0986644269711659,-0.11020716377165224,-0.00047644535893172314,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2496927874181334,2.191351636014633,3.201787158822861,-0.5887150847380898,-2.327471746343954,1.343058142576973,1.6625214820367051,0.5431931831484863,-1.539265676786156,0.5431931831484863,0.4718,0,0,2.917312977715613e-05,-9.999999025923074e-05
+7111,1792844114054123848,22793558000000,1792844114053378950,UP_SETTLE,2,0.066,0.06600221991539001,0.6759062076215406,-0.0049455602791732165,0.1067924253475588,0.9999999164339021,-0.00020686020732174105,-0.0003367056092950656,4.912474448729007e-05,0.6761,-0.0046,0.10725434900644022,1.0,0.0,0.0,0.0,1.4117998810422452,1.343085051690633,-0.5544974597489105,0.10008791809215196,-0.11020233000777847,-0.0005808161085671271,1.3535754346978235,1.2777037918280214,-0.4051133164770756,0.099026317528296,-0.1102126303097244,-0.00011307000247315678,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2747866372392052,2.245016936250604,3.2649299257823308,-0.6004408783172555,-2.3769245343357492,1.3788161569155748,1.6625214820367051,0.5544974597489105,-1.6024084437456256,0.5544974597489105,0.4718,0,0,2.3373130907085364e-05,-9.999999025923074e-05
+7127,1792844114188145913,22793692000000,1792844114181379410,UP_SETTLE,2,0.066,0.06600221991539001,0.6759064304466743,-0.004943882097212078,0.10679467937393887,0.9999999171389227,-0.00020510172809394848,-0.0003357356408279637,4.87839382995515e-05,0.6761,-0.0046,0.10725703545606988,1.0,0.0,0.0,0.0,1.4084120845131152,1.3346099803347211,-0.5645927384577998,0.09969192964021423,-0.1101931080321208,-0.0005714985342939378,1.3501876381686935,1.2692287204721096,-0.41520859518596487,0.09863032907635827,-0.11020340833406674,-0.00010375242819996742,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2587861970694274,2.269454280180301,3.1321202121537484,-0.6078141503058034,-2.288254615601675,1.3954757257485615,1.6625214820367051,0.5645927384577998,-1.4695987301170432,0.5645927384577998,0.4718,0,0,1.6673132212348445e-05,-9.999999025923074e-05
+7142,1792844114313122323,22793817000000,1792844114309378116,UP_SETTLE,2,0.066,0.06600221991539001,0.675905808920052,-0.00494340543818222,0.10679558190990636,0.9999999167352223,-0.00020539945769565274,-0.00033675469011688495,4.878272381265007e-05,0.6761,-0.0046,0.10725873209767313,1.0,0.0,0.0,0.0,1.3943859323436365,1.3203148126996396,-0.5741689240376118,0.09907538590560057,-0.1095791336530557,-0.001584694130909554,1.3361614859992148,1.254933552837028,-0.4247847807657769,0.09801378534174461,-0.10958943395500163,-0.0011169480248155836,-0.05822444634442173,-0.06538125986261152,0.1493841432718349,-0.0010616005638559617,-1.030030194592897e-05,0.00046774610609397036,1,-1.2318995773879196,2.214949030398624,3.232471017273226,-0.5971080811679913,-2.3430396532663584,1.3584079481870766,1.6625214820367051,0.5741689240376118,-1.5699495352365207,0.5741689240376118,0.4718,0,0,1.0423133429944604e-05,-9.999999025923074e-05

Fixed/digit/ball_PLA_15/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792844108566042857,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.975541867e-09,-4.665372429e-10,-2.001154797e-11,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451777e-01,-1.177185139e-04,8.303258030e-01
+1,1.166666667e-01,XJC_ZERO_HOLD_BEFORE_UP,1792844108680746977,2.542644765e-06,-3.207779496e-06,4.132123928e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.499313850e-08,-4.070913650e-09,4.182099111e-10,7.019581755e-01,-2.547851452e-05,8.601472194e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452077e-01,-1.177221183e-04,8.303258034e-01
+2,2.833333333e-01,WAIT_W2,1792844108844363867,1.163109322e-07,5.046741414e-06,4.991069436e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.937656438e-08,-8.677588634e-09,1.930305249e-09,7.019557491e-01,-1.722399361e-05,8.601435863e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452421e-01,-1.177267250e-04,8.303258049e-01
+3,4.500000000e-01,WAIT_W2,1792844109025009094,1.718871747e-06,-1.431759304e-06,4.347430348e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.611344221e-08,-1.271655744e-08,3.639224699e-09,7.019573517e-01,-2.370249433e-05,8.601474347e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452688e-01,-1.177307639e-04,8.303258066e-01
+4,5.666666667e-01,WAIT_W2,1792844109139252715,-4.428949885e-08,-2.720056158e-07,-7.015533027e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.113442410e-07,-1.498943594e-08,4.855204572e-09,7.019555885e-01,-2.254274064e-05,8.601423857e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452841e-01,-1.177330368e-04,8.303258079e-01
+5,6.833333333e-01,WAIT_W2,1792844109254908249,-6.240400234e-07,-1.457265429e-06,-5.992029044e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.243210869e-07,-1.708501706e-08,5.980574702e-09,7.019550088e-01,-2.372800045e-05,8.601424880e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452970e-01,-1.177351324e-04,8.303258090e-01
+6,7.333333333e-01,WAIT_W2,1792844109303597407,2.040652402e-06,-7.290581729e-06,4.632813231e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.292025446e-07,-1.785224703e-08,6.423360510e-09,7.019576735e-01,-2.956131675e-05,8.601477201e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027453019e-01,-1.177358996e-04,8.303258094e-01
+7,7.500000000e-01,WAIT_W2,1792844109319917474,2.212527450e-06,-4.959281556e-05,4.562823337e-06,2.140322872e-06,-4.927164494e-05,4.730157107e-06,2.422264158e-06,-4.843458960e-05,4.644714220e-06,7.019578453e-01,-7.186355059e-05,8.601476501e-01,7.019577731e-01,-7.154237996e-05,8.601478174e-01,7.027475950e-01,-1.661526370e-04,8.303304477e-01
+8,7.666666667e-01,WAIT_W2,1792844109336826619,3.916656933e-06,-1.165954503e-04,1.182641186e-05,3.924505882e-06,-1.166991095e-04,1.184662820e-05,4.433122524e-06,-1.148001321e-04,1.160999332e-05,7.019595495e-01,-1.388661853e-04,8.601549137e-01,7.019595573e-01,-1.389698445e-04,8.601549339e-01,7.027496058e-01,-2.325181795e-04,8.303374130e-01
+9,7.666666667e-01,WAIT_W2,1792844109336826619,3.916656933e-06,-1.165954503e-04,1.182641186e-05,3.924505882e-06,-1.166991095e-04,1.184662820e-05,4.433122524e-06,-1.148001321e-04,1.160999332e-05,7.019595495e-01,-1.388661853e-04,8.601549137e-01,7.019595573e-01,-1.389698445e-04,8.601549339e-01,7.027496058e-01,-2.325181795e-04,8.303374130e-01
+10,7.666666667e-01,WAIT_W2,1792844109336826619,3.916656933e-06,-1.165954503e-04,1.182641186e-05,3.924505882e-06,-1.166991095e-04,1.184662820e-05,4.433122524e-06,-1.148001321e-04,1.160999332e-05,7.019595495e-01,-1.388661853e-04,8.601549137e-01,7.019595573e-01,-1.389698445e-04,8.601549339e-01,7.027496058e-01,-2.325181795e-04,8.303374130e-01
+11,7.833333333e-01,WAIT_W2,1792844109352274821,4.614358806e-06,-1.969116582e-04,1.363307846e-05,4.623504914e-06,-1.967172160e-04,1.340582278e-05,5.216984192e-06,-1.935894641e-04,1.318635487e-05,7.019602472e-01,-2.191823932e-04,8.601567203e-01,7.019602563e-01,-2.189879510e-04,8.601564931e-01,7.027503897e-01,-3.113075115e-04,8.303389894e-01
+12,7.833333333e-01,WAIT_W2,1792844109352274821,4.614358806e-06,-1.969116582e-04,1.363307846e-05,4.623504914e-06,-1.967172160e-04,1.340582278e-05,5.216984192e-06,-1.935894641e-04,1.318635487e-05,7.019602472e-01,-2.191823932e-04,8.601567203e-01,7.019602563e-01,-2.189879510e-04,8.601564931e-01,7.027503897e-01,-3.113075115e-04,8.303389894e-01
+13,7.833333333e-01,WAIT_W2,1792844109352274821,4.614358806e-06,-1.969116582e-04,1.363307846e-05,4.623504914e-06,-1.967172160e-04,1.340582278e-05,5.216984192e-06,-1.935894641e-04,1.318635487e-05,7.019602472e-01,-2.191823932e-04,8.601567203e-01,7.019602563e-01,-2.189879510e-04,8.601564931e-01,7.027503897e-01,-3.113075115e-04,8.303389894e-01
+14,8.000000000e-01,WAIT_W2,1792844109370723713,4.898717152e-06,-3.425641855e-04,2.053046705e-05,4.959933191e-06,-3.424088764e-04,2.081150066e-05,5.765770543e-06,-3.371873208e-04,2.046015573e-05,7.019605315e-01,-3.648349205e-04,8.601636177e-01,7.019605928e-01,-3.646796114e-04,8.601638987e-01,7.027509385e-01,-4.549053682e-04,8.303462632e-01
+15,8.000000000e-01,WAIT_W2,1792844109370723713,4.898717152e-06,-3.425641855e-04,2.053046705e-05,4.959933191e-06,-3.424088764e-04,2.081150066e-05,5.765770543e-06,-3.371873208e-04,2.046015573e-05,7.019605315e-01,-3.648349205e-04,8.601636177e-01,7.019605928e-01,-3.646796114e-04,8.601638987e-01,7.027509385e-01,-4.549053682e-04,8.303462632e-01
+16,8.000000000e-01,WAIT_W2,1792844109370723713,4.898717152e-06,-3.425641855e-04,2.053046705e-05,4.959933191e-06,-3.424088764e-04,2.081150066e-05,5.765770543e-06,-3.371873208e-04,2.046015573e-05,7.019605315e-01,-3.648349205e-04,8.601636177e-01,7.019605928e-01,-3.646796114e-04,8.601638987e-01,7.027509385e-01,-4.549053682e-04,8.303462632e-01
+17,8.000000000e-01,WAIT_W2,1792844109370723713,4.898717152e-06,-3.425641855e-04,2.053046705e-05,4.959933191e-06,-3.424088764e-04,2.081150066e-05,5.765770543e-06,-3.371873208e-04,2.046015573e-05,7.019605315e-01,-3.648349205e-04,8.601636177e-01,7.019605928e-01,-3.646796114e-04,8.601638987e-01,7.027509385e-01,-4.549053682e-04,8.303462632e-01
+18,8.166666667e-01,WAIT_W2,1792844109386054502,6.411885675e-07,-4.289769650e-04,2.075277413e-05,7.644620870e-07,-4.288554391e-04,2.066448466e-05,1.283167114e-06,-4.224440710e-04,2.052039553e-05,7.019562740e-01,-4.512477001e-04,8.601638400e-01,7.019563973e-01,-4.511261741e-04,8.601637517e-01,7.027464559e-01,-5.401621184e-04,8.303463234e-01
+19,8.166666667e-01,WAIT_W2,1792844109386054502,6.411885675e-07,-4.289769650e-04,2.075277413e-05,7.644620870e-07,-4.288554391e-04,2.066448466e-05,1.283167114e-06,-4.224440710e-04,2.052039553e-05,7.019562740e-01,-4.512477001e-04,8.601638400e-01,7.019563973e-01,-4.511261741e-04,8.601637517e-01,7.027464559e-01,-5.401621184e-04,8.303463234e-01
+20,8.333333333e-01,WAIT_W2,1792844109402011948,2.110326842e-06,-4.934958645e-04,2.379006490e-05,2.138716669e-06,-4.935069561e-04,2.419773890e-05,2.788521903e-06,-4.861675031e-04,2.405460142e-05,7.019577431e-01,-5.157665995e-04,8.601668773e-01,7.019577715e-01,-5.157776911e-04,8.601672850e-01,7.027479612e-01,-6.038855504e-04,8.303498576e-01
+21,8.500000000e-01,WAIT_W2,1792844109418055883,4.472917707e-06,-5.187644865e-04,2.973950042e-05,4.470558368e-06,-5.185462473e-04,2.964652343e-05,5.342975644e-06,-5.107911335e-04,2.941454732e-05,7.019601057e-01,-5.410352215e-04,8.601728267e-01,7.019601034e-01,-5.408169823e-04,8.601727338e-01,7.027505157e-01,-6.285091808e-04,8.303552176e-01
+22,9.166666667e-01,WAIT_W2,1792844109483424502,4.383496997e-06,-5.068281305e-04,2.921471981e-05,4.115776148e-06,-4.968894668e-04,2.958307630e-05,4.972775687e-06,-4.896611381e-04,2.935797520e-05,7.019600163e-01,-5.290988655e-04,8.601723020e-01,7.019597486e-01,-5.191602018e-04,8.601726703e-01,7.027501455e-01,-6.073791854e-04,8.303551610e-01
+23,9.833333333e-01,WAIT_W2,1792844109548882836,6.543976583e-06,-5.134832803e-04,3.177991792e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.424008446e-06,-5.111821082e-04,3.361567007e-05,7.019621768e-01,-5.357540153e-04,8.601748672e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027535967e-01,-6.289001556e-04,8.303594187e-01
+24,1.150000000e+00,WAIT_W2,1792844109712934882,1.054056756e-05,-5.184598873e-04,4.126351790e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.553701391e-06,-5.112505203e-04,3.368361729e-05,7.019661734e-01,-5.407306223e-04,8.601843508e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027537264e-01,-6.289685677e-04,8.303594866e-01
+25,1.250000000e+00,WAIT_W2,1792844109811208111,1.219105721e-05,-5.161109768e-04,4.470481536e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.619265754e-06,-5.112762824e-04,3.372020229e-05,7.019678239e-01,-5.383817118e-04,8.601877921e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027537920e-01,-6.289943298e-04,8.303595232e-01
+26,1.383333333e+00,WAIT_W2,1792844109942501649,1.209065505e-05,-5.215936913e-04,4.668593106e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.697323479e-06,-5.113035361e-04,3.376474523e-05,7.019677235e-01,-5.438644263e-04,8.601897732e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027538700e-01,-6.290215835e-04,8.303595678e-01
+27,1.516666667e+00,UP_FORCE_RAMP,1792844110073436493,1.112654833e-05,-5.147618459e-04,4.529173753e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.766255642e-06,-5.113272820e-04,3.380554540e-05,7.019667594e-01,-5.370325809e-04,8.601883790e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027539390e-01,-6.290453293e-04,8.303596086e-01
+28,1.666666667e+00,UP_FORCE_RAMP,1792844110221350054,1.106896282e-05,-5.173955957e-04,4.627151920e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.835152486e-06,-5.113500447e-04,3.384736125e-05,7.019667018e-01,-5.396663307e-04,8.601893588e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027540079e-01,-6.290680921e-04,8.303596504e-01
+29,1.800000000e+00,UP_FORCE_RAMP,1792844110352191632,1.138022212e-05,-5.187214192e-04,4.705726205e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.891376394e-06,-5.113669577e-04,3.388109656e-05,7.019670130e-01,-5.409921542e-04,8.601901445e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027540641e-01,-6.290850051e-04,8.303596841e-01
+30,1.966666667e+00,UP_FORCE_RAMP,1792844110515900555,1.187012447e-05,-5.134041313e-04,4.514866342e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.954906650e-06,-5.113859731e-04,3.391921637e-05,7.019675029e-01,-5.356748663e-04,8.601882359e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027541276e-01,-6.291040205e-04,8.303597222e-01
+31,2.083333333e+00,UP_FORCE_RAMP,1792844110630268638,1.175292560e-05,-5.182683583e-04,4.618957978e-05,7.236518729e-06,-5.187480887e-04,3.390281240e-05,8.995664545e-06,-5.113983501e-04,3.394356710e-05,7.019673857e-01,-5.405390933e-04,8.601892768e-01,7.019628693e-01,-5.410188237e-04,8.601769901e-01,7.027541684e-01,-6.291163975e-04,8.303597466e-01
+32,2.216666667e+00,UP_FORCE_RAMP,1792844110762072397,1.054642121e-05,-5.172623492e-04,4.704390893e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.621368480e-05,-5.015675537e-04,5.176373123e-05,7.019661792e-01,-5.395330842e-04,8.601901311e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027613864e-01,-6.192856011e-04,8.303775667e-01
+33,2.350000000e+00,UP_FORCE_RAMP,1792844110892129472,1.253642104e-05,-5.152780675e-04,5.149786786e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.627363735e-05,-5.015792411e-04,5.184441213e-05,7.019681692e-01,-5.375488026e-04,8.601945851e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027614463e-01,-6.192972884e-04,8.303776474e-01
+34,2.516666667e+00,UP_FORCE_RAMP,1792844111056951265,1.199797132e-05,-5.123403973e-04,5.475766344e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.633212652e-05,-5.015958272e-04,5.190826320e-05,7.019676308e-01,-5.346111324e-04,8.601978449e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027615048e-01,-6.193138745e-04,8.303777113e-01
+35,2.633333333e+00,UP_FORCE_RAMP,1792844111171445555,1.202318969e-05,-5.176281372e-04,5.853057881e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.636834524e-05,-5.016062605e-04,5.194468272e-05,7.019676560e-01,-5.398988722e-04,8.602016178e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027615411e-01,-6.193243079e-04,8.303777477e-01
+36,2.766666667e+00,UP_FORCE_RAMP,1792844111302313303,1.400930270e-05,-5.160906633e-04,6.800130950e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.640664194e-05,-5.016165674e-04,5.198096510e-05,7.019696421e-01,-5.383613983e-04,8.602110885e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027615794e-01,-6.193346148e-04,8.303777840e-01
+37,2.933333333e+00,UP_FORCE_RAMP,1792844111466159556,7.671094262e-06,-5.165933454e-04,6.561631796e-05,1.384576712e-05,-5.087393078e-04,5.203200622e-05,1.644955111e-05,-5.016283061e-04,5.202011291e-05,7.019633039e-01,-5.388640804e-04,8.602087036e-01,7.019694786e-01,-5.310100428e-04,8.601951192e-01,7.027616223e-01,-6.193463535e-04,8.303778231e-01
+38,3.066666667e+00,UP_FORCE_RAMP,1792844111597167143,4.198041973e-06,-5.145548505e-04,7.461727270e-05,1.079346720e-05,-5.115975469e-04,7.146289764e-05,1.348476239e-05,-5.044099056e-04,7.123308974e-05,7.019598309e-01,-5.368255855e-04,8.602177045e-01,7.019664263e-01,-5.338682819e-04,8.602145501e-01,7.027586575e-01,-6.221279530e-04,8.303970361e-01
+39,3.100000000e+00,UP_FORCE_RAMP,1792844111630418854,-2.579757486e-05,-5.068976357e-04,6.894447143e-05,-2.261832218e-05,-5.067947223e-04,7.533778973e-05,-2.177579466e-05,-4.997077341e-04,7.494115195e-05,7.019298352e-01,-5.291683707e-04,8.602120317e-01,7.019330145e-01,-5.290654573e-04,8.602184250e-01,7.027233969e-01,-6.174257815e-04,8.304007442e-01
+40,3.166666667e+00,UP_FORCE_RAMP,1792844111695343680,-2.524364171e-05,-5.160832386e-04,7.414064073e-05,-2.261832218e-05,-5.067947223e-04,7.533778973e-05,-2.184225561e-05,-4.997007341e-04,7.498375231e-05,7.019303892e-01,-5.383539736e-04,8.602172279e-01,7.019330145e-01,-5.290654573e-04,8.602184250e-01,7.027233305e-01,-6.174187815e-04,8.304007868e-01
+41,3.283333333e+00,UP_FORCE_RAMP,1792844111826625494,-1.944597220e-05,-5.074646277e-04,8.603372878e-05,-2.261832218e-05,-5.067947223e-04,7.533778973e-05,-2.189266924e-05,-4.996964941e-04,7.503871941e-05,7.019361868e-01,-5.297353627e-04,8.602291210e-01,7.019330145e-01,-5.290654573e-04,8.602184250e-01,7.027232800e-01,-6.174145415e-04,8.304008417e-01
+42,3.416666667e+00,UP_FORCE_RAMP,1792844111957334734,-1.924698556e-05,-5.107498783e-04,9.119153651e-05,-2.261832218e-05,-5.067947223e-04,7.533778973e-05,-2.192381313e-05,-4.996954837e-04,7.508943447e-05,7.019363858e-01,-5.330206134e-04,8.602342788e-01,7.019330145e-01,-5.290654573e-04,8.602184250e-01,7.027232489e-01,-6.174135310e-04,8.304008924e-01
+43,3.550000000e+00,UP_FORCE_RAMP,1792844112088523405,-2.055630864e-05,-5.039400513e-04,9.367888169e-05,-1.852666561e-05,-5.077237574e-04,9.553720897e-05,-1.737030297e-05,-5.005932308e-04,9.494541577e-05,7.019350765e-01,-5.262107863e-04,8.602367661e-01,7.019371062e-01,-5.299944924e-04,8.602386244e-01,7.027278024e-01,-6.183112782e-04,8.304207484e-01
+44,3.716666667e+00,UP_FORCE_RAMP,1792844112268960103,-2.058905019e-05,-5.038056398e-04,1.056152090e-04,-1.852666561e-05,-5.077237574e-04,9.553720897e-05,-1.737028571e-05,-5.006031670e-04,9.507677391e-05,7.019350438e-01,-5.260763749e-04,8.602487024e-01,7.019371062e-01,-5.299944924e-04,8.602386244e-01,7.027278024e-01,-6.183212144e-04,8.304208798e-01
+45,3.883333333e+00,UP_FORCE_RAMP,1792844112433089459,-2.075267597e-05,-5.072197688e-04,1.175123460e-04,-1.883875891e-05,-5.081339314e-04,1.163593935e-04,-1.750724386e-05,-5.009808882e-04,1.156197188e-04,7.019348801e-01,-5.294905039e-04,8.602605996e-01,7.019367941e-01,-5.304046664e-04,8.602594466e-01,7.027276655e-01,-6.186989355e-04,8.304414227e-01
+46,3.983333333e+00,UP_FORCE_RAMP,1792844112530945256,-1.709853006e-05,-5.066128090e-04,1.285576417e-04,-1.883875891e-05,-5.081339314e-04,1.163593935e-04,-1.750973733e-05,-5.009874608e-04,1.157064228e-04,7.019385343e-01,-5.288835440e-04,8.602716449e-01,7.019367941e-01,-5.304046664e-04,8.602594466e-01,7.027276630e-01,-6.187055082e-04,8.304415094e-01
+47,4.133333333e+00,UP_FORCE_RAMP,1792844112678475747,-1.785032054e-05,-5.041119071e-04,1.384633920e-04,-1.783242873e-05,-5.040607924e-04,1.381479151e-04,-1.616928654e-05,-4.970084731e-04,1.370878666e-04,7.019377825e-01,-5.263826421e-04,8.602815506e-01,7.019378004e-01,-5.263315274e-04,8.602812352e-01,7.027290034e-01,-6.147265205e-04,8.304628909e-01
+48,4.250000000e+00,UP_FORCE_RAMP,1792844112801201975,-2.074672363e-05,-5.061212292e-04,1.423868336e-04,-1.783242873e-05,-5.040607924e-04,1.381479151e-04,-1.616727607e-05,-4.970097128e-04,1.372489552e-04,7.019348861e-01,-5.283919642e-04,8.602854741e-01,7.019378004e-01,-5.263315274e-04,8.602812352e-01,7.027290054e-01,-6.147277601e-04,8.304630520e-01
+49,4.400000000e+00,UP_FORCE_RAMP,1792844112956539830,-1.783819886e-05,-5.077738137e-04,1.567661699e-04,-1.783242873e-05,-5.040607924e-04,1.381479151e-04,-1.616742787e-05,-4.970175266e-04,1.373633741e-04,7.019377946e-01,-5.300445487e-04,8.602998534e-01,7.019378004e-01,-5.263315274e-04,8.602812352e-01,7.027290053e-01,-6.147355740e-04,8.304631664e-01
+50,4.550000000e+00,UP_FORCE_RAMP,1792844113103890311,-2.383104362e-05,-5.043816649e-04,1.563987084e-04,-2.332559237e-05,-5.046760391e-04,1.576806174e-04,-2.175530462e-05,-4.976088931e-04,1.566208563e-04,7.019318018e-01,-5.266523999e-04,8.602994859e-01,7.019323072e-01,-5.269467741e-04,8.603007679e-01,7.027234174e-01,-6.153269405e-04,8.304824239e-01
+51,4.683333333e+00,UP_FORCE_RAMP,1792844113235474401,-2.761273069e-05,-5.071519126e-04,1.619006965e-04,-2.332559237e-05,-5.046760391e-04,1.576806174e-04,-2.177330490e-05,-4.976159108e-04,1.567503740e-04,7.019280201e-01,-5.294226476e-04,8.603049879e-01,7.019323072e-01,-5.269467741e-04,8.603007679e-01,7.027233994e-01,-6.153339582e-04,8.304825534e-01
+52,4.800000000e+00,UP_FORCE_RAMP,1792844113349747113,-3.223685299e-05,-4.974565357e-04,1.647869873e-04,-2.332559237e-05,-5.046760391e-04,1.576806174e-04,-2.178249054e-05,-4.976196521e-04,1.568327284e-04,7.019233960e-01,-5.197272707e-04,8.603078742e-01,7.019323072e-01,-5.269467741e-04,8.603007679e-01,7.027233902e-01,-6.153376995e-04,8.304826357e-01
+53,4.933333333e+00,UP_FORCE_RAMP,1792844113480856512,-3.193649067e-05,-5.024219691e-04,1.718092199e-04,-2.332559237e-05,-5.046760391e-04,1.576806174e-04,-2.179076464e-05,-4.976233680e-04,1.569122144e-04,7.019236963e-01,-5.246927041e-04,8.603148965e-01,7.019323072e-01,-5.269467741e-04,8.603007679e-01,7.027233819e-01,-6.153414154e-04,8.304827152e-01
+54,5.100000000e+00,UP_FORCE_HOLD,1792844113645410633,-3.453075295e-05,-4.991790502e-04,1.754267211e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.197551264e-05,-4.951436017e-04,1.743653511e-04,7.019211021e-01,-5.214497852e-04,8.603185140e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027131972e-01,-6.128616490e-04,8.305001684e-01
+55,5.283333333e+00,UP_SETTLE,1792844113824950556,-3.598480725e-05,-4.951720918e-04,1.804234376e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.201960002e-05,-4.951423664e-04,1.745056696e-04,7.019196480e-01,-5.174428269e-04,8.603235107e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027131531e-01,-6.128604138e-04,8.305003087e-01
+56,5.400000000e+00,UP_SETTLE,1792844113939868512,-3.934352380e-05,-4.921959146e-04,1.799138849e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.203915762e-05,-4.951425538e-04,1.745737292e-04,7.019162893e-01,-5.144666496e-04,8.603230011e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027131336e-01,-6.128606012e-04,8.305003767e-01
+57,5.516666667e+00,UP_SETTLE,1792844114054489413,-3.933647703e-05,-4.996864150e-04,1.845569910e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.205649395e-05,-4.951477152e-04,1.746361394e-04,7.019162963e-01,-5.219571500e-04,8.603276442e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027131162e-01,-6.128657625e-04,8.305004391e-01
+58,5.650000000e+00,UP_SETTLE,1792844114185194774,-4.028091362e-05,-4.983926071e-04,1.850593442e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.207274949e-05,-4.951488189e-04,1.746974461e-04,7.019153519e-01,-5.206633421e-04,8.603281466e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027131000e-01,-6.128668663e-04,8.305005005e-01
+59,5.783333333e+00,UP_SETTLE,1792844114317100144,-4.046935652e-05,-5.001213342e-04,1.868138138e-04,-3.314970493e-05,-5.021878762e-04,1.753909280e-04,-3.208682646e-05,-4.951494795e-04,1.747521137e-04,7.019151635e-01,-5.223920692e-04,8.603299011e-01,7.019224831e-01,-5.244586112e-04,8.603184782e-01,7.027130859e-01,-6.128675269e-04,8.305005551e-01

Fixed/digit/ball_PLA_15/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,6.5277e-02,2.2613e-01,2.4546e+00,-5.2194e-02,4.1407e-02,2.4333e-04,3.1538e-05,8.8662e-06,1.9073e-06,-6.0350e-07,2.0973e-06,-1.2107e-07,3.2816e-05,2.1858e-06
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.2640e-05,7.1395e-02,2.2554e-01,2.4546e+00,-5.2115e-02,4.1843e-02,1.6099e-04,6.1486e-03,-5.8131e-04,8.7738e-05,7.7743e-05,4.3764e-04,-8.2464e-05,6.1766e-03,4.5208e-04
+2,2.8333e-01,WAIT_W2,6.7893e-05,7.6635e-02,2.2531e-01,2.4548e+00,-5.2075e-02,4.2209e-02,1.1025e-04,1.1389e-02,-8.2064e-04,2.8276e-04,1.1811e-04,8.0331e-04,-1.3321e-04,1.1422e-02,8.2280e-04
+3,4.5000e-01,WAIT_W2,1.0185e-04,8.2514e-02,2.2497e-01,2.4552e+00,-5.2027e-02,4.2621e-02,4.7936e-05,1.7268e-02,-1.1549e-03,6.5517e-04,1.6607e-04,1.2152e-03,-1.9552e-04,1.7319e-02,1.2420e-03
+4,5.6667e-01,WAIT_W2,1.3023e-04,8.5588e-02,2.2465e-01,2.4554e+00,-5.1990e-02,4.2837e-02,1.5862e-05,2.0342e-02,-1.4806e-03,8.9121e-04,2.0340e-04,1.4320e-03,-2.2759e-04,2.0415e-02,1.4641e-03
+5,6.8333e-01,WAIT_W2,1.6250e-04,8.6875e-02,2.2436e-01,2.4555e+00,-5.1961e-02,4.2928e-02,2.2131e-06,2.1629e-02,-1.7636e-03,9.8538e-04,2.3208e-04,1.5224e-03,-2.4124e-04,2.1724e-02,1.5587e-03
+6,7.3333e-01,WAIT_W2,1.8764e-04,8.8108e-02,2.2437e-01,2.4557e+00,-5.1959e-02,4.3015e-02,-1.1682e-05,2.2863e-02,-1.7586e-03,1.1010e-03,2.3455e-04,1.6096e-03,-2.5514e-04,2.2956e-02,1.6465e-03
+7,7.5000e-01,WAIT_W2,2.2995e-04,8.8124e-02,2.2437e-01,2.4557e+00,-5.1959e-02,4.3016e-02,-1.1706e-05,2.2878e-02,-1.7575e-03,1.1020e-03,2.3450e-04,1.6106e-03,-2.5516e-04,2.2972e-02,1.6475e-03
+8,7.6667e-01,WAIT_W2,2.9736e-04,8.2251e-02,5.4669e-01,2.4318e+00,-7.4484e-02,4.2627e-02,1.2098e-04,1.7005e-02,3.2057e-01,-2.2759e-02,-2.2291e-02,1.2214e-03,-1.2248e-04,3.2182e-01,2.2325e-02
+9,7.6667e-01,WAIT_W2,2.9736e-04,8.2251e-02,5.4669e-01,2.4318e+00,-7.4484e-02,4.2627e-02,1.2098e-04,1.7005e-02,3.2057e-01,-2.2759e-02,-2.2291e-02,1.2214e-03,-1.2248e-04,3.2182e-01,2.2325e-02
+10,7.6667e-01,WAIT_W2,2.9736e-04,8.2251e-02,5.4669e-01,2.4318e+00,-7.4484e-02,4.2627e-02,1.2098e-04,1.7005e-02,3.2057e-01,-2.2759e-02,-2.2291e-02,1.2214e-03,-1.2248e-04,3.2182e-01,2.2325e-02
+11,7.8333e-01,WAIT_W2,3.7770e-04,8.2175e-02,9.1144e-01,2.4094e+00,-1.0059e-01,4.2645e-02,4.2015e-04,1.6929e-02,6.8531e-01,-4.5166e-02,-4.8398e-02,1.2397e-03,1.7670e-04,6.8701e-01,4.8414e-02
+12,7.8333e-01,WAIT_W2,3.7770e-04,8.2175e-02,9.1144e-01,2.4094e+00,-1.0059e-01,4.2645e-02,4.2015e-04,1.6929e-02,6.8531e-01,-4.5166e-02,-4.8398e-02,1.2397e-03,1.7670e-04,6.8701e-01,4.8414e-02
+13,7.8333e-01,WAIT_W2,3.7770e-04,8.2175e-02,9.1144e-01,2.4094e+00,-1.0059e-01,4.2645e-02,4.2015e-04,1.6929e-02,6.8531e-01,-4.5166e-02,-4.8398e-02,1.2397e-03,1.7670e-04,6.8701e-01,4.8414e-02
+14,8.0000e-01,WAIT_W2,5.2352e-04,8.7312e-02,1.2499e+00,2.4176e+00,-1.2342e-01,4.2991e-02,5.0023e-04,2.2066e-02,1.0238e+00,-3.6994e-02,-7.1229e-02,1.5858e-03,2.5678e-04,1.0247e+00,7.1247e-02
+15,8.0000e-01,WAIT_W2,5.2352e-04,8.7312e-02,1.2499e+00,2.4176e+00,-1.2342e-01,4.2991e-02,5.0023e-04,2.2066e-02,1.0238e+00,-3.6994e-02,-7.1229e-02,1.5858e-03,2.5678e-04,1.0247e+00,7.1247e-02
+16,8.0000e-01,WAIT_W2,5.2352e-04,8.7312e-02,1.2499e+00,2.4176e+00,-1.2342e-01,4.2991e-02,5.0023e-04,2.2066e-02,1.0238e+00,-3.6994e-02,-7.1229e-02,1.5858e-03,2.5678e-04,1.0247e+00,7.1247e-02
+17,8.0000e-01,WAIT_W2,5.2352e-04,8.7312e-02,1.2499e+00,2.4176e+00,-1.2342e-01,4.2991e-02,5.0023e-04,2.2066e-02,1.0238e+00,-3.6994e-02,-7.1229e-02,1.5858e-03,2.5678e-04,1.0247e+00,7.1247e-02
+18,8.1667e-01,WAIT_W2,6.1004e-04,1.1598e-01,2.1692e+00,2.4065e+00,-1.8983e-01,4.5059e-02,1.2706e-03,5.0730e-02,1.9431e+00,-4.8041e-02,-1.3763e-01,3.6539e-03,1.0271e-03,1.9443e+00,1.3768e-01
+19,8.1667e-01,WAIT_W2,6.1004e-04,1.1598e-01,2.1692e+00,2.4065e+00,-1.8983e-01,4.5059e-02,1.2706e-03,5.0730e-02,1.9431e+00,-4.8041e-02,-1.3763e-01,3.6539e-03,1.0271e-03,1.9443e+00,1.3768e-01
+20,8.3333e-01,WAIT_W2,6.7464e-04,1.3254e-01,2.4971e+00,2.4355e+00,-2.1192e-01,4.6161e-02,1.3641e-03,6.7291e-02,2.2710e+00,-1.9059e-02,-1.5973e-01,4.7554e-03,1.1206e-03,2.2721e+00,1.5980e-01
+21,8.5000e-01,WAIT_W2,7.0071e-04,1.3759e-01,2.9837e+00,2.4524e+00,-2.4798e-01,4.6537e-02,2.0097e-03,7.2340e-02,2.7576e+00,-2.1782e-03,-1.9579e-01,5.1315e-03,1.7663e-03,2.7585e+00,1.9586e-01
+22,9.1667e-01,WAIT_W2,7.3531e-04,1.4096e-01,2.9765e+00,2.4390e+00,-2.4723e-01,4.6771e-02,2.5238e-03,7.5716e-02,2.7504e+00,-1.5575e-02,-1.9504e-01,5.3660e-03,2.2803e-03,2.7515e+00,1.9513e-01
+23,9.8333e-01,WAIT_W2,7.6313e-04,1.3475e-01,3.1176e+00,2.4350e+00,-2.5737e-01,4.6360e-02,2.7829e-03,6.9508e-02,2.8915e+00,-1.9545e-02,-2.0518e-01,4.9544e-03,2.5394e-03,2.8924e+00,2.0525e-01
+24,1.1500e+00,WAIT_W2,7.9671e-04,1.6593e-01,3.0926e+00,2.4412e+00,-2.5554e-01,4.8459e-02,2.7083e-03,1.0068e-01,2.8664e+00,-1.3387e-02,-2.0335e-01,7.0539e-03,2.4649e-03,2.8682e+00,2.0349e-01
+25,1.2500e+00,WAIT_W2,8.2705e-04,1.7992e-01,3.1041e+00,2.4675e+00,-2.5604e-01,4.9473e-02,2.2624e-03,1.1468e-01,2.8780e+00,1.2956e-02,-2.0385e-01,8.0679e-03,2.0189e-03,2.8803e+00,2.0402e-01
+26,1.3833e+00,WAIT_W2,8.6463e-04,1.9483e-01,3.0755e+00,2.4611e+00,-2.5387e-01,5.0559e-02,2.0654e-03,1.2959e-01,2.8494e+00,6.5894e-03,-2.0168e-01,9.1542e-03,1.8220e-03,2.8523e+00,2.0190e-01
+27,1.5167e+00,UP_FORCE_RAMP,8.9768e-04,2.1225e-01,3.0738e+00,2.4726e+00,-2.5382e-01,5.1681e-02,1.8973e-03,1.4700e-01,2.8477e+00,1.8013e-02,-2.0163e-01,1.0275e-02,1.6538e-03,2.8515e+00,2.0190e-01
+28,1.6667e+00,UP_FORCE_RAMP,9.3041e-04,2.1471e-01,3.0706e+00,2.4744e+00,-2.5341e-01,5.1923e-02,1.6287e-03,1.4946e-01,2.8445e+00,1.9886e-02,-2.0122e-01,1.0518e-02,1.3852e-03,2.8485e+00,2.0150e-01
+29,1.8000e+00,UP_FORCE_RAMP,9.6245e-04,2.1995e-01,3.0646e+00,2.4781e+00,-2.5286e-01,5.2331e-02,1.5312e-03,1.5470e-01,2.8385e+00,2.3566e-02,-2.0067e-01,1.0926e-02,1.2877e-03,2.8428e+00,2.0097e-01
+30,1.9667e+00,UP_FORCE_RAMP,9.9724e-04,2.3255e-01,3.0613e+00,2.4860e+00,-2.5252e-01,5.3209e-02,1.3529e-03,1.6730e-01,2.8351e+00,3.1486e-02,-2.0032e-01,1.1804e-02,1.1094e-03,2.8402e+00,2.0067e-01
+31,2.0833e+00,UP_FORCE_RAMP,1.0289e-03,2.3812e-01,3.0634e+00,2.4901e+00,-2.5269e-01,5.3564e-02,1.2652e-03,1.7287e-01,2.8373e+00,3.5544e-02,-2.0049e-01,1.2159e-02,1.0217e-03,2.8428e+00,2.0086e-01
+32,2.2167e+00,UP_FORCE_RAMP,1.0625e-03,2.2245e-01,3.0018e+00,2.4299e+00,-2.4920e-01,5.2546e-02,1.3044e-03,1.5721e-01,2.7757e+00,-2.4692e-02,-1.9700e-01,1.1140e-02,1.0609e-03,2.7802e+00,1.9732e-01
+33,2.3500e+00,UP_FORCE_RAMP,1.0958e-03,2.3493e-01,2.9943e+00,2.4507e+00,-2.4838e-01,5.3405e-02,1.2835e-03,1.6969e-01,2.7682e+00,-3.8929e-03,-1.9619e-01,1.2000e-02,1.0401e-03,2.7734e+00,1.9656e-01
+34,2.5167e+00,UP_FORCE_RAMP,1.1295e-03,2.3904e-01,2.9872e+00,2.4594e+00,-2.4777e-01,5.3707e-02,1.1385e-03,1.7379e-01,2.7611e+00,4.8211e-03,-1.9558e-01,1.2302e-02,8.9508e-04,2.7666e+00,1.9597e-01
+35,2.6333e+00,UP_FORCE_RAMP,1.1623e-03,2.4639e-01,2.9874e+00,2.4656e+00,-2.4768e-01,5.4216e-02,1.0691e-03,1.8115e-01,2.7613e+00,1.1067e-02,-1.9548e-01,1.2811e-02,8.2566e-04,2.7672e+00,1.9590e-01
+36,2.7667e+00,UP_FORCE_RAMP,1.1944e-03,2.5625e-01,2.9906e+00,2.4725e+00,-2.4779e-01,5.4885e-02,9.6303e-04,1.9101e-01,2.7644e+00,1.7902e-02,-1.9560e-01,1.3480e-02,7.1958e-04,2.7711e+00,1.9607e-01
+37,2.9333e+00,UP_FORCE_RAMP,1.2316e-03,2.6263e-01,2.9887e+00,2.4824e+00,-2.4756e-01,5.5333e-02,8.4519e-04,1.9739e-01,2.7625e+00,2.7871e-02,-1.9537e-01,1.3928e-02,6.0174e-04,2.7697e+00,1.9587e-01
+38,3.0667e+00,UP_FORCE_RAMP,1.2616e-03,2.7736e-01,3.0091e+00,2.4205e+00,-2.4976e-01,5.6462e-02,6.4585e-04,2.1211e-01,2.7830e+00,-3.4032e-02,-1.9756e-01,1.5057e-02,4.0240e-04,2.7913e+00,1.9814e-01
+39,3.1000e+00,UP_FORCE_RAMP,1.2972e-03,4.0601e-01,2.9807e+00,2.4173e+00,-2.4795e-01,6.5572e-02,-1.2964e-03,3.4076e-01,2.7546e+00,-3.7249e-02,-1.9576e-01,2.4166e-02,-1.5399e-03,2.7758e+00,1.9725e-01
+40,3.1667e+00,UP_FORCE_RAMP,1.3236e-03,3.9185e-01,2.9788e+00,2.4196e+00,-2.4768e-01,6.4474e-02,-1.1248e-03,3.2660e-01,2.7527e+00,-3.4932e-02,-1.9548e-01,2.3069e-02,-1.3682e-03,2.7722e+00,1.9685e-01
+41,3.2833e+00,UP_FORCE_RAMP,1.3615e-03,3.8086e-01,2.9816e+00,2.4314e+00,-2.4774e-01,6.3736e-02,-9.5643e-04,3.1562e-01,2.7555e+00,-2.3105e-02,-1.9555e-01,2.2330e-02,-1.1999e-03,2.7736e+00,1.9682e-01
+42,3.4167e+00,UP_FORCE_RAMP,1.3963e-03,3.7394e-01,2.9823e+00,2.4410e+00,-2.4765e-01,6.3241e-02,-8.5055e-04,3.0869e-01,2.7562e+00,-1.3544e-02,-1.9546e-01,2.1836e-02,-1.0940e-03,2.7735e+00,1.9667e-01
+43,3.5500e+00,UP_FORCE_RAMP,1.4284e-03,3.6034e-01,2.9664e+00,2.4083e+00,-2.4671e-01,6.2342e-02,-7.9507e-04,2.9509e-01,2.7403e+00,-4.6223e-02,-1.9451e-01,2.0937e-02,-1.0385e-03,2.7565e+00,1.9564e-01
+44,3.7167e+00,UP_FORCE_RAMP,1.4610e-03,3.5394e-01,2.9892e+00,2.4037e+00,-2.4876e-01,6.1905e-02,-5.7291e-04,2.8869e-01,2.7631e+00,-5.0879e-02,-1.9657e-01,2.0500e-02,-8.1637e-04,2.7786e+00,1.9764e-01
+45,3.8833e+00,UP_FORCE_RAMP,1.4949e-03,3.5370e-01,2.9872e+00,2.3363e+00,-2.4945e-01,6.1973e-02,-5.3889e-04,2.8845e-01,2.7610e+00,-1.1827e-01,-1.9726e-01,2.0568e-02,-7.8234e-04,2.7786e+00,1.9833e-01
+46,3.9833e+00,UP_FORCE_RAMP,1.5266e-03,3.5330e-01,2.9925e+00,2.3664e+00,-2.4959e-01,6.1916e-02,-5.3430e-04,2.8806e-01,2.7663e+00,-8.8151e-02,-1.9739e-01,2.0510e-02,-7.7775e-04,2.7827e+00,1.9846e-01
+47,4.1333e+00,UP_FORCE_RAMP,1.5622e-03,3.5262e-01,2.9905e+00,2.3799e+00,-2.4922e-01,6.1841e-02,-5.2679e-04,2.8737e-01,2.7644e+00,-7.4629e-02,-1.9702e-01,2.0436e-02,-7.7025e-04,2.7803e+00,1.9808e-01
+48,4.2500e+00,UP_FORCE_RAMP,1.5935e-03,3.4707e-01,2.9651e+00,2.3257e+00,-2.4825e-01,6.1532e-02,-4.9027e-04,2.8182e-01,2.7389e+00,-1.2887e-01,-1.9606e-01,2.0127e-02,-7.3372e-04,2.7564e+00,1.9709e-01
+49,4.4000e+00,UP_FORCE_RAMP,1.6302e-03,3.4675e-01,2.9629e+00,2.3439e+00,-2.4781e-01,6.1477e-02,-4.8180e-04,2.8151e-01,2.7368e+00,-1.1065e-01,-1.9562e-01,2.0071e-02,-7.2525e-04,2.7535e+00,1.9664e-01
+50,4.5500e+00,UP_FORCE_RAMP,1.6591e-03,3.6465e-01,2.9684e+00,2.2914e+00,-2.4889e-01,6.2826e-02,-5.9895e-04,2.9940e-01,2.7423e+00,-1.6320e-01,-1.9670e-01,2.1421e-02,-8.4241e-04,2.7634e+00,1.9787e-01
+51,4.6833e+00,UP_FORCE_RAMP,1.6923e-03,3.6057e-01,2.9696e+00,2.3208e+00,-2.4861e-01,6.2490e-02,-6.7009e-04,2.9533e-01,2.7435e+00,-1.3380e-01,-1.9641e-01,2.1085e-02,-9.1354e-04,2.7626e+00,1.9755e-01
+52,4.8000e+00,UP_FORCE_RAMP,1.7288e-03,3.6084e-01,2.9634e+00,2.3290e+00,-2.4804e-01,6.2484e-02,-6.7165e-04,2.9560e-01,2.7373e+00,-1.2553e-01,-1.9585e-01,2.1078e-02,-9.1510e-04,2.7560e+00,1.9698e-01
+53,4.9333e+00,UP_FORCE_RAMP,1.7587e-03,3.5848e-01,2.9648e+00,2.3508e+00,-2.4784e-01,6.2284e-02,-6.5984e-04,2.9323e-01,2.7387e+00,-1.0372e-01,-1.9565e-01,2.0879e-02,-9.0329e-04,2.7563e+00,1.9676e-01
+54,5.1000e+00,UP_FORCE_HOLD,1.7927e-03,3.9148e-01,2.9467e+00,2.3063e+00,-2.4726e-01,6.4676e-02,-1.1255e-03,3.2623e-01,2.7206e+00,-1.4830e-01,-1.9507e-01,2.3271e-02,-1.3689e-03,2.7441e+00,1.9646e-01
+55,5.2833e+00,UP_SETTLE,1.8249e-03,3.8308e-01,2.9500e+00,2.3301e+00,-2.4714e-01,6.4049e-02,-1.0848e-03,3.1784e-01,2.7238e+00,-1.2443e-01,-1.9495e-01,2.2644e-02,-1.3282e-03,2.7451e+00,1.9626e-01
+56,5.4000e+00,UP_SETTLE,1.8633e-03,3.7623e-01,2.9578e+00,2.3405e+00,-2.4745e-01,6.3558e-02,-1.0440e-03,3.1099e-01,2.7316e+00,-1.1409e-01,-1.9526e-01,2.2153e-02,-1.2875e-03,2.7517e+00,1.9651e-01
+57,5.5167e+00,UP_SETTLE,1.8922e-03,3.7555e-01,2.9478e+00,2.3566e+00,-2.4658e-01,6.3469e-02,-9.8989e-04,3.1031e-01,2.7217e+00,-9.7975e-02,-1.9439e-01,2.2064e-02,-1.2333e-03,2.7411e+00,1.9564e-01
+58,5.6500e+00,UP_SETTLE,1.9258e-03,3.7255e-01,2.9482e+00,2.3581e+00,-2.4646e-01,6.3243e-02,-9.2209e-04,3.0731e-01,2.7221e+00,-9.6466e-02,-1.9427e-01,2.1838e-02,-1.1655e-03,2.7411e+00,1.9550e-01
+59,5.7833e+00,UP_SETTLE,1.9591e-03,3.6899e-01,2.9501e+00,2.3726e+00,-2.4641e-01,6.2972e-02,-8.6883e-04,3.0374e-01,2.7239e+00,-8.1918e-02,-1.9421e-01,2.1567e-02,-1.1123e-03,2.7420e+00,1.9541e-01

Fixed/digit/ball_PLA_15/press_depth_03/down/camera_frames_60hz.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90947d816ca4338ad633473e42de66183921883b5dfe59bbd7c0eb4fb262ecf2
+size 624640

Fixed/digit/ball_PLA_15/press_depth_03/down/franka_data.csv

@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+13378,1792844166246873155,22845742000000,1792844166241387342,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0658,0.06580128520727158,0.6759441732718485,-0.0049581841611637464,0.10675650773097427,0.999999937315699,-0.0002090355119511903,-0.0002584371654268026,7.953520256739804e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.013127561360511297,-0.013940049442607627,-0.02586027368757482,-0.0008710875857346617,0.0010751719955882089,2.5472921321301927e-05,1.235626456093793,1.3136915851782562,0.5708921460492772,0.10262018388088608,-0.09936537685934044,0.0003372005947863674,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,-0.43390717082901387,2.070118901028052,1.6447305881763916,-0.41725156253890566,-1.1680361129916583,1.3092367019663849,1.6625214820367051,0.02586027368757482,0.017790893860313517,0.0,0.0,0,0,0.0,0.0
+13492,1792844167198069639,22846693000000,1792844167193387348,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759436184872301,-0.00495897626823356,0.10675444380887825,0.9999999369473033,-0.00021143238178957384,-0.000257737582002449,8.009956524183583e-05,0.6761,-0.0046,0.10698949471787422,1.0,0.0,0.0,0.0,-0.02156295910035655,-0.030368437175084972,-0.030353491153402246,-0.0018885842946552434,0.001102860222437066,1.738151984732514e-05,1.2271910583539478,1.297263197445779,0.5663989285834498,0.1016026871719655,-0.09933768863249158,0.00032910919331239063,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,-0.33781123238127764,1.9803367461715995,1.6580452826914944,-0.3878057930790529,-1.1543657519908805,1.2498432098202752,1.6625214820367051,0.030353491153402246,0.004476199345210707,0.004476199345210707,0.12651793996156713,0,0,-2.933149399339386e-05,-9.999999025923074e-05
+13581,1792844167940182676,22847435000000,1792844167937380651,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6759457761551002,-0.004961607520607984,0.10675558227645437,0.9999999381795761,-0.00021130409026273378,-0.0002525905664506268,8.143890501086023e-05,0.6761,-0.0046,0.10696518139142173,1.0,0.0,0.0,0.0,-0.022628614115534518,-0.014463189534365428,-0.03845916579629516,-0.0008768913482009449,0.0011147121367128948,3.4281789844116536e-05,1.2261254033387698,1.3131684450864984,0.5582932539405568,0.10261438011841979,-0.09932583671821575,0.000346009463309182,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.01629464480020071,1.9496763917647062,1.3106319708841574,-0.3753617820966648,-0.8370933260454251,1.2309717525002362,1.6625214820367051,0.03845916579629516,0.35188951115254774,0.35188951115254774,0.23781793996157546,0,0,-2.3035425432389782e-05,9.999999025923074e-05
+13674,1792844168715308681,22848210000000,1792844168713377674,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6759481768190115,-0.004961039685082285,0.10675511285716717,0.9999999390537087,-0.00021051573002402123,-0.00024926253464891427,8.298650102350005e-05,0.6761,-0.0046,0.10695805045143411,1.0,0.0,0.0,0.0,-0.031727425282324306,-0.023897210617865428,-0.026620844450877756,-0.0019216908912567943,0.0023906197916697958,3.9819391595353874e-05,1.21702659217198,1.3037344240029984,0.5701315752859742,0.10156958057536394,-0.09804992906325885,0.00035154706506041936,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.11293496496785826,1.9840583272209462,1.2974425038137964,-0.3683987428800918,-0.8056897358994868,1.2548139097366486,1.6625214820367051,0.026620844450877756,0.3650789782229087,0.3650789782229087,0.35406793996156494,0,0,-4.12615407466288e-06,4.167832398649374e-05
+13775,1792844169556424561,22849051000000,1792844169549378234,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759472360561237,-0.004963737864931622,0.10674976726717371,0.9999999386072652,-0.00021171714720495693,-0.00024993699596205835,8.328071481416512e-05,0.6761,-0.0046,0.1069486381777044,1.0,0.0,0.0,0.0,-0.03310248883220068,-0.01996916898923562,-0.006331789389736997,-0.0010422631255882359,0.0021743875652123906,2.347874423383494e-05,1.2156515286221037,1.3076624656316282,0.590420630347115,0.1024490083410325,-0.09826616128971626,0.0003352064176989004,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.1686777891924688,1.936319800214199,1.2555383668788547,-0.34658573498524,-0.7623330354509635,1.225945885146861,1.6625214820367051,0.006331789389736997,0.40698311515785046,0.40698311515785046,0.48021793996155104,0,0,-2.2878884893577596e-05,-9.999999025923074e-05
+13878,1792844170415553622,22849910000000,1792844170413386966,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759473405296509,-0.004960858482673387,0.10673486295187987,0.999999939109485,-0.00020812450594176577,-0.00024992445194247184,8.628933117393002e-05,0.6761,-0.0046,0.1069168771293445,1.0,0.0,0.0,0.0,-0.04112225365065281,-0.032380349122655305,0.09484161576465999,-0.0019716355796483287,0.003103161536900212,-5.5017291505506615e-05,1.2076317638036516,1.2952512854982086,0.691594035501512,0.10151963588697241,-0.09733738731802843,0.00025671038195955887,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.22296949596474447,1.9102277840962687,1.1190091199781573,-0.32922634383588234,-0.6639490942228757,1.2073753616769045,1.6625214820367051,-0.09484161576465999,0.5435123620585478,0.5435123620585478,0.6090679399615369,0,0,-4.702345724891111e-05,-9.999999025923074e-05
+13954,1792844171048651414,22850543000000,1792844171041387802,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759836753973055,-0.004970112111439047,0.10672814212610068,0.9999999558506104,-0.00020943370682923175,-0.0001584568996983381,0.00010378137931745364,0.6761,-0.0046,0.10688576933996546,1.0,0.0,0.0,0.0,-0.18671282520213506,0.06838579519257193,0.12567335393713785,0.006297827312489568,0.01433111618778983,0.0001749904967322522,1.0620411922521693,1.3960174298134358,0.7224257736739899,0.1097890987791103,-0.08610943266713882,0.0004867181701973177,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.2834486053528627,1.9010961113275586,1.123411941668721,-0.30892348579181317,-0.6917466490644625,1.1923652796470037,1.6625214820367051,-0.12567335393713785,0.5391095403679842,0.5391095403679842,0.7040179399615264,0,0,-5.454781614874638e-05,-9.999997638144293e-05
+14054,1792844171881696617,22851376000000,1792844171881387949,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6759845332651707,-0.00496591596755289,0.10670431911182104,0.9999999563440832,-0.00019911712474736067,-0.00016470379673801246,0.00010945193333884646,0.6761,-0.0046,0.10683678447999605,1.0,0.0,0.0,0.0,-0.1840697280932253,0.03055429388845643,0.33465824272000644,0.0030413884452099443,0.013062651218664623,0.0003360590827630069,1.064684289361079,1.3581859285093203,0.9314106624568584,0.10653265991183068,-0.08737789763626402,0.0006477867562280724,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.44107717902553095,1.911189221548067,0.7934514948859177,-0.275994125594744,-0.4364696456978863,1.198950709139623,1.6625214820367051,-0.33465824272000644,0.8690699871507874,0.8690699871507874,0.8289679399615126,0,0,-4.787295210664932e-05,9.999999025923074e-05
+14159,1792844172756913190,22852251000000,1792844172749387516,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759817942978308,-0.0049739310809670464,0.10668360818385109,0.9999999531483258,-0.0002053447659145615,-0.0001720595483596389,0.00011565141284789601,0.6761,-0.0046,0.10681242345440581,1.0,0.0,0.0,0.0,-0.1597289503071344,0.026348614058873343,0.4467347358550212,0.0037800129147234907,0.012057707725566441,0.0008830331925351836,1.08902506714717,1.3539802486797372,1.0434871555918732,0.10727128438134423,-0.0883828411293622,0.0011947608660002492,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.41034445414098314,1.8319932596919644,0.7064686307060986,-0.23473772771535106,-0.39024273379759455,1.1390612045521142,1.6625214820367051,-0.4467347358550212,0.9560528513306066,0.9560528513306066,0.9602179399614982,0,0,-8.478427538071727e-06,3.5154759404058655e-05
+14273,1792844173706963229,22853201000000,1792844173705387620,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6759836171254253,-0.004967425782068923,0.10668085240485325,0.9999999553707725,-0.000195975618660097,-0.00017065362173058566,0.00011477027344538052,0.6761,-0.0046,0.10680198169283489,1.0,0.0,0.0,0.0,-0.1764708021448409,0.014421963057172471,0.4563088682481361,0.002780801847307418,0.013057988562513348,0.0004970301669720305,1.0722832153094635,1.3420535976780363,1.053061287984988,0.10627207331392816,-0.0873825602924153,0.0008087578404370959,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.4084998028582655,1.8963032731449567,0.6376247677218644,-0.24826011572727805,-0.34388969472532643,1.1806174271327619,1.6625214820367051,-0.4563088682481361,1.0248967143148406,1.0248967143148406,1.1027179399615585,0,0,-2.479296886822991e-05,-9.999999025923074e-05
+14375,1792844174557155060,22854051000000,1792844174557377935,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6759867219875005,-0.004969713869703289,0.10667239783223184,0.9999999555910197,-0.00019864662882074308,-0.00016419949449135841,0.00011763870774399277,0.6761,-0.0046,0.1067651385265929,1.0,0.0,0.0,0.0,-0.18156694166589138,0.006225061286753153,0.5156199794592463,0.0027679605722552847,0.013048301362188597,0.0008295340734115403,1.067187075788413,1.333856695907617,1.1123723991960983,0.10625923203887602,-0.08739224749274005,0.0011412617468766059,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.5018523216540127,1.862090609255891,0.5207133861815422,-0.2092856942786745,-0.25122432974508546,1.1564024577396792,1.6625214820367051,-0.5156199794592463,1.141808095855163,1.141808095855163,1.2302179399616389,0,0,-6.247844541315407e-05,-9.999999025923074e-05
+14477,1792844175407309062,22854901000000,1792844175401378758,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6759991516096101,-0.004968487873473484,0.10664493086572299,0.9999999598448491,-0.00018681244358295288,-0.00014176738313340066,0.00012944606731953907,0.6761,-0.0046,0.10670855640382561,1.0,0.0,0.0,0.0,-0.23432351081367742,0.0155929105903716,0.697087613291922,0.003647312898043098,0.017039463912994532,0.0007579475023658565,1.014430506640627,1.3432245452112355,1.293840033028774,0.10713858436466384,-0.08340108494193411,0.001069675175830922,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.5097972010494566,1.8737119701277412,0.2885777529575535,-0.1808914234939874,-0.113904628097786,1.155275427216265,1.6625214820367051,-0.697087613291922,1.3739437290791516,1.3739437290791516,1.3577179399617192,0,0,-5.734232800117122e-05,9.999999025923074e-05
+14577,1792844176241422368,22855735000000,1792844176241378039,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6760076167109982,-0.0049777275100381085,0.10662748915018362,0.9999999604606195,-0.00018994017404523543,-0.0001244101334496029,0.0001377188174441971,0.6761,-0.0046,0.10667618492661286,1.0,0.0,0.0,0.0,-0.2547878857146193,0.034462585396331846,0.8081405260213094,0.005582157684335398,0.018217963704984796,0.000700406175352489,0.9939661317396851,1.3620942200171957,1.4048929457581614,0.10907342915095614,-0.08222258514994385,0.0010121338488175546,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.5248948230921608,1.8273437593388542,0.22944155797783547,-0.14573510421020772,-0.07948512255069454,1.1227373258511448,1.6625214820367051,-0.8081405260213094,1.4330799240588696,1.4330799240588696,1.482817939961798,0,0,-2.4392220489304013e-05,-9.995118207951065e-05
+14677,1792844177074573741,22856568000000,1792844177073377738,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6760125110262232,-0.004974373654608268,0.10661840766509974,0.9999999619716624,-0.00018621780184554658,-0.0001135285300913953,0.0001411869006041026,0.6761,-0.0046,0.10665926804139345,1.0,0.0,0.0,0.0,-0.2805682019127065,0.02182548059818834,0.8476862985480823,0.004968949146753027,0.019893266390273542,0.0006824372722896894,0.9681858155415979,1.3494571152190522,1.4444387182849343,0.10846022061337376,-0.0805472824646551,0.000994164945754755,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.6430811965604365,1.77953854747886,0.0742741485059681,-0.12127861297784444,0.04990114565152829,1.0845664877950396,1.6625214820367051,-0.8476862985480823,1.588247333530737,1.588247333530737,1.6077679399618767,0,0,-2.5770471339990203e-05,2.3694380026490163e-05
+14776,1792844177899601916,22857393000000,1792844177893387609,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6760191045733908,-0.004975565294276959,0.10660529111856012,0.9999999631576281,-0.00018328083424717857,-9.934662489603797e-05,0.0001471937178619581,0.6761,-0.0046,0.10662544464717194,1.0,0.0,0.0,0.0,-0.3010147452724353,0.02367889302863091,0.9242731800048852,0.005554623177382645,0.021885454922260156,0.0008338585302287145,0.947739272181869,1.3513105276494948,1.5210255997417372,0.10904589464400338,-0.07855509393266849,0.00114558620369378,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.6885630042545648,1.8416635873100107,0.02633451281785264,-0.12049087038492828,0.08701942003372176,1.1261509022980047,1.6625214820367051,-0.9242731800048852,1.6361869692188524,1.6361869692188524,1.7315179399619547,0,0,-5.422688898889939e-05,-8.750000310276391e-05
+14886,1792844178816768786,22858310000000,1792844178813387668,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.67602646429444,-0.004974862564315468,0.10657461628129351,0.999999963937326,-0.00018004588380643932,-8.623590902735491e-05,0.0001539969430879906,0.6761,-0.0046,0.10657260587262686,1.0,0.0,0.0,0.0,-0.3356997386761644,0.024912579258594025,1.0881918311447576,0.005494696920180106,0.023872157615883197,0.0015819678664574842,0.9130542787781399,1.352544213879458,1.6849442508816095,0.10898596838680084,-0.07656839123904545,0.0018936955399225497,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.7498482111813227,1.7053501171732244,-0.25516211843644465,-0.06886824633494038,0.27653686046478765,1.0279453134441792,1.6625214820367051,-1.0881918311447576,1.9176836004731497,1.9176836004731497,1.8690679399620413,0,0,-5.4152810781389664e-05,9.999999025923074e-05
+14988,1792844179666945376,22859160000000,1792844179661387821,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.676034288941742,-0.004976672216670742,0.10655297490042995,0.9999999649633434,-0.000174830667651317,-7.2284168216534e-05,0.00016039143625536868,0.6761,-0.0046,0.10653336985861578,1.0,0.0,0.0,0.0,-0.34899688218946745,0.029283418202452394,1.2088515695418725,0.005498091723990933,0.024945699120241804,0.0014993235939467682,0.8997571352648369,1.3569150528233163,1.8056039892787243,0.10898936319061167,-0.07549484973468684,0.0018110512674118337,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.7510600482032913,1.7750413434878007,-0.28279032165757473,-0.08844099496818975,0.2954121706843826,1.071354862911716,1.6625214820367051,-1.2088515695418725,1.9453118036942798,1.9453118036942798,1.9965679399621217,0,0,-3.81672877844671e-05,-7.500000206850927e-05
+15087,1792844180492084492,22859985000000,1792844180485378083,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6760393892197726,-0.004982145640879057,0.10653319658899545,0.999999963751748,-0.00017909521142834916,-6.197105111617499e-05,0.0001674032880026692,0.6761,-0.0046,0.10650323940070958,1.0,0.0,0.0,0.0,-0.3620173001861857,0.012148181946908698,1.287911364081582,0.005349338170260898,0.025961527948374696,0.0014499299306185765,0.8867367172681186,1.3397798165677726,1.884663783818434,0.10884060963688164,-0.07447902090655395,0.001761657604083642,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.7706544163426402,1.734101268046323,-0.40105700620750245,-0.06735039826613119,0.377213050890655,1.0479007502942066,1.6625214820367051,-1.287911364081582,2.0635784882442074,2.0635784882442074,2.1203179399621996,0,0,-4.0517729417459354e-05,-7.536289234189581e-05
+15185,1792844181308210857,22860801000000,1792844181301378395,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.67604533116295,-0.0049827219713680935,0.10650629779253197,0.99999996386821,-0.00017643410589989638,-5.125094177153886e-05,0.00017306296635381647,0.6761,-0.0046,0.10646627897284411,1.0,0.0,0.0,0.0,-0.37564566101541585,0.02345250001223853,1.3800395932159213,0.006294866159353207,0.026832759510080018,0.0013987163913382976,0.8731083564388885,1.3510841346331024,1.9767920129527734,0.10978613762597395,-0.07360778934484863,0.0017104440648033632,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.8045957829649083,1.7224833233529142,-0.6061904824141442,-0.06399834504508939,0.515244038432704,1.0376458499381314,1.6625214820367051,-1.3800395932159213,2.2687119644508495,2.2687119644508495,2.2427179399622768,0,0,-4.7048029129499784e-05,9.999999025923074e-05
+15289,1792844182176350025,22861668000000,1792844182173377674,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6760564194383649,-0.0049860859753681494,0.10648257406683186,0.9999999633888443,-0.00017916704074871342,-3.260545088367264e-05,0.0001774858592577376,0.6761,-0.0046,0.10641887784062805,1.0,0.0,0.0,0.0,-0.38594692818081444,0.03218724878224344,1.484242469355117,0.006244412517843731,0.027957590727012385,0.0013280072679794394,0.8628070892734899,1.3598188834031073,2.080994889091969,0.10973568398446447,-0.07248295812791626,0.001639734941444505,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.818591468791958,1.6971533235160672,-0.5631668157348709,-0.055205358449251375,0.48765700469621726,1.0189930268746794,1.6625214820367051,-1.484242469355117,2.225688297771576,2.225688297771576,2.3727679399623587,0,0,-6.127661191931833e-05,-9.587499824459939e-05
+15378,1792844182917423635,22862410000000,1792844182913377761,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6760829825817322,-0.004982644331222642,0.10646368943404862,0.9999999635854021,-0.00017440933164758574,-1.4163024972087927e-06,0.00018398760215644706,0.6761,-0.0046,0.10636750282890678,1.0,0.0,0.0,0.0,-0.4315659847310179,0.09649583819172114,1.501614233918335,0.011239233164606621,0.031892326129713364,0.0014274899678024774,0.8171880327232864,1.424127472812585,2.098366653655187,0.11473050463122736,-0.06854822272521528,0.001739217641267543,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.99950667293189,1.7390035364876466,-0.6973237252552513,-0.06068143273137763,0.6101300537012754,1.0507334938416566,1.6625214820367051,-1.501614233918335,2.3598452072919565,2.3598452072919565,2.484067939962429,0,0,-8.300078345044171e-05,-9.999987923692828e-05
+15481,1792844183775527726,22863268000000,1792844183773377498,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6760929319921455,-0.004988829555160746,0.10641196866294221,0.9999999615275907,-0.0001752403676052793,1.5911658952045626e-05,0.00019345623242214566,0.6761,-0.0046,0.10629357930521509,1.0,0.0,0.0,0.0,-0.42731877406641783,0.08039045895464181,1.6822681395041612,0.01018262459281108,0.03189146405167144,0.001275010198003135,0.8214352433878865,1.4080220935755057,2.279020559241013,0.11367389605943182,-0.06854908480325721,0.0015867378714682005,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.0351337396541709,1.7868553459200114,-0.8295464384547127,-0.07162226989401733,0.707384042057321,1.0815071923241357,1.6625214820367051,-1.6822681395041612,2.492067920491418,2.492067920491418,2.61276793996251,0,0,-8.322794372714182e-05,-9.999346769896106e-05
+15570,1792844184517683498,22864010000000,1792844184517387359,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.676102442983281,-0.004993265608120502,0.10637160903068898,0.9999999587569645,-0.00018406199550059847,3.375668590087743e-05,0.00019725770317707253,0.6761,-0.0046,0.10623652771950969,1.0,0.0,0.0,0.0,-0.40167482947044675,0.08766884468220582,1.7616856400550271,0.009150225469565745,0.03189152462492158,0.0012025463208997864,0.8470791879838576,1.4153004793030697,2.358438059791879,0.11264149693618648,-0.06854902423000707,0.001514273994364852,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.0623443670168689,1.6325253799725838,-1.0073774969873166,-0.027125210113423347,0.8303380046861183,0.9768743022633248,1.6625214820367051,-1.7616856400550271,2.6698989790240217,2.6698989790240217,2.72406793996258,0,0,-7.491784459881667e-05,9.999999025923074e-05
+15652,1792844185200707427,22864693000000,1792844185197387824,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761139795047337,-0.004984287292212379,0.10633187900796817,0.9999999469349258,-0.00028371366048391853,5.9358650209599036e-05,0.000116430747536624,0.6761,-0.0046,0.10618046298116747,1.0,0.0,0.0,0.0,-0.3178086605151993,0.177559365196295,1.837327817421016,0.014948349222744503,0.02696682822086878,0.0011381204906221656,0.9309453569391051,1.5051909998171589,2.434080237157868,0.11843962068936524,-0.07347372063405987,0.001449848164087231,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.0704595976172977,1.8392462172536599,-1.0329052203615088,-0.22433853291097727,0.878150369665817,1.1512892557934136,1.6625214820367051,-1.837327817421016,2.6954267023982137,2.6954267023982137,2.8265179399626446,0,0,-9.356468802099028e-05,-9.999999025923074e-05
+15753,1792844186042808996,22865535000000,1792844186041387230,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761232833154772,-0.004987985074072382,0.10626520400886565,0.999999946673267,-0.000273767401851873,7.051097258520348e-05,0.00013481817212927392,0.6761,-0.0046,0.10609449675734203,1.0,0.0,0.0,0.0,-0.3477303186709819,0.15748253296550785,1.9849988024919116,0.013257897161264368,0.028772352992495143,0.0010278566344661603,0.9010236987833224,1.4851141675863717,2.5817512222287635,0.1167491686278851,-0.0716681958624335,0.0013395843079312259,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.184488059909123,1.7288510346843637,-1.2700365218503054,-0.1083585319534908,1.045469559666239,1.0652724526573978,1.6625214820367051,-1.9849988024919116,2.9325580038870105,2.9325580038870105,2.952817939962724,0,0,-9.978281196168647e-05,9.467332059832074e-05
+15843,1792844186792916483,22866285000000,1792844186785377521,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761311195435146,-0.004993495663251078,0.10621148636954968,0.9999999448397685,-0.0002665779103121052,8.490724493574883e-05,0.00015326545956748113,0.6761,-0.0046,0.10602467358494719,1.0,0.0,0.0,0.0,-0.3546920308078958,0.11328322739315966,2.0382982516574626,0.010191288917190011,0.02914063195026617,0.0009539483984838341,0.8940619866464086,1.4409148620140235,2.6350506713943145,0.11368256038381075,-0.07129991690466247,0.0012656760719488996,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1551963889030732,1.681932583735382,-1.316437704606674,-0.03843095048681792,1.0615893472234446,1.0174016557119454,1.6625214820367051,-2.0382982516574626,2.978959186643379,2.978959186643379,3.065317939962795,0,0,-8.964670003139131e-05,-9.818462295830272e-05
+15947,1792844187659103325,22867151000000,1792844187657377413,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761380921697526,-0.0049977710242540075,0.10614476363938637,0.9999999434370203,-0.00025925185722438664,9.613610583683585e-05,0.00016767571067434413,0.6761,-0.0046,0.10594721568906935,1.0,0.0,0.0,0.0,-0.3529581559480969,0.0802604749295075,2.129213042471587,0.007106043727495501,0.030459063076991824,0.0008611812674676252,0.8957958615062075,1.4078921095503714,2.725965462208439,0.11059731519411624,-0.06998148577793682,0.0011729089409326908,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1388683630663927,1.6581668721973866,-1.3700878527176565,-0.008061802185195482,1.0897034101923408,0.9989715016487771,1.6625214820367051,-2.129213042471587,3.032609334754362,3.032609334754362,3.195217939962877,0,0,-8.905305940862108e-05,-9.628403216244692e-05
+16036,1792844188401218544,22867893000000,1792844188401378973,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761442872136885,-0.004999952327184164,0.1060878163963444,0.9999999407773631,-0.00026011957981047893,0.00010668630586303309,0.00017562451529801998,0.6761,-0.0046,0.10587664655071428,1.0,0.0,0.0,0.0,-0.3357186372582973,0.053890043444803526,2.1731052862778037,0.00469677782442271,0.02905625919619559,0.0007854435187839993,0.913035380196007,1.3815216780656674,2.7698577060146556,0.10818804929104345,-0.07138428965873306,0.0010971711922490648,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1575160700691403,1.7426083755739215,-1.4939793773718606,-0.023916806237429155,1.1765677383363127,1.0533177937691172,1.6625214820367051,-2.1731052862778037,3.156500859408566,3.156500859408566,3.306517939962947,0,0,-0.00010389870893775933,-9.999999025923074e-05
+16122,1792844189118342398,22868610000000,1792844189113378614,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761526675347695,-0.00500046421725346,0.1060233941762852,0.999999935656442,-0.0002752072480636586,0.00012042013052929618,0.000172887068329093,0.6761,-0.0046,0.10579520169587851,1.0,0.0,0.0,0.0,-0.3240878894695731,0.05322671306875093,2.262272879254381,0.004032658598264238,0.028838417587555565,0.000702820045893307,0.9246661279847312,1.3808583476896148,2.859025298991233,0.10752393006488498,-0.07160213126737308,0.0010145477193583725,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1508388309794837,1.7862728073753922,-1.5865402908164534,-0.029355691976839453,1.2349678736148526,1.0800583704910456,1.6625214820367051,-2.262272879254381,3.2490617728531586,3.2490617728531586,3.4140679399630147,0,0,-0.00011709627689290703,-9.997557923047679e-05
+16217,1792844189909469058,22869401000000,1792844189905380030,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761607643625764,-0.00500167207676522,0.10594080159480947,0.9999999266484689,-0.00030794380578313567,0.00013931016693079343,0.00015462603409985913,0.6761,-0.0046,0.10569659598248836,1.0,0.0,0.0,0.0,-0.3055732570974101,0.056391995254895466,2.3193921497951497,0.004048839449190017,0.027812312864397296,0.0006432214122137185,0.9431807603568942,1.3840236298757593,2.9161445695320016,0.10754011091581075,-0.07262823599053135,0.0009549490856787839,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.232317039359862,1.7175334844141568,-1.7263144130305519,0.011507511000681392,1.3436491171237963,1.0331076198430627,1.6625214820367051,-2.3193921497951497,3.388835895067257,3.388835895067257,3.5327179399630895,0,0,-0.00013416152448294939,-9.980506285168218e-05
+16313,1792844190709546306,22870201000000,1792844190705377517,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761749375832298,-0.005001684108008799,0.1058544886233839,0.9999999215564089,-0.00031258966891563995,0.0001579263787068488,0.0001602404364496184,0.6761,-0.0046,0.10558534399678685,1.0,0.0,0.0,0.0,-0.2927677030090259,0.02617204236137627,2.4021031729988955,0.0020177998133326797,0.026820794664405026,0.0005391974238566461,0.9559863144452785,1.3538036769822401,2.9988555927357474,0.10550907127995342,-0.07361975419052362,0.0008509250973217117,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.209700415367137,1.7079178757832634,-1.831551956296696,0.020580679538099108,1.4064604649855144,1.0283696094181285,1.6625214820367051,-2.4021031729988955,3.494073438333401,3.494073438333401,3.652717939963165,0,0,-0.00014478490196620365,-9.999999025923074e-05
+16392,1792844191368693982,22870860000000,1792844191365387725,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761840455946382,-0.005008913392583706,0.10577092338941729,0.9999999137961787,-0.00032365282117003953,0.00017588585749037566,0.00016781988894486896,0.6761,-0.0046,0.1054842980115849,1.0,0.0,0.0,0.0,-0.2905487147475959,0.012981358439507762,2.4514812081740978,-3.22470850903922e-05,0.02685736979789398,0.00047655902335248026,0.9582053027067085,1.3406129930603716,3.0482336279109497,0.10345902438153035,-0.07358317905703467,0.0007882866968175457,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.2027526154605652,1.759451446677499,-1.8539421797373759,0.008005061018080935,1.416763770414433,1.0597461317826031,1.6625214820367051,-2.4514812081740978,3.5164636617740808,3.5164636617740808,3.7515679399632273,0,0,-0.0001612086421812472,-9.994199498398188e-05
+16464,1792844191968771807,22871460000000,1792844191961387825,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761919450401369,-0.0050095483228022,0.10567840013400406,0.999999910093422,-0.0003278669905629952,0.00018689366464972478,0.00016979401059858028,0.6761,-0.0046,0.10538204144668015,1.0,0.0,0.0,0.0,-0.2759561836233412,-0.023051917070068484,2.546669671370427,-0.0020938845037945936,0.02686532184701587,0.00038292506868105775,0.9727978338309632,1.3045797175507954,3.1434220911072788,0.10139738696282614,-0.07357522700791277,0.0006946527421461232,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.2004558455774117,1.7848876991633724,-1.970604862927042,0.006858266376867392,1.4948850681381707,1.080111930364679,1.6625214820367051,-2.546669671370427,3.633126344963747,3.633126344963747,3.841567939963284,0,0,-0.00017367095239281672,-9.999999025923074e-05
+16541,1792844192609861892,22872101000000,1792844192605388579,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6761993565622498,-0.00501355364557933,0.10557635301767487,0.9999999593462227,-4.7314161770641555e-05,0.00020015070436921087,0.00017450353349524563,0.6761,-0.0046,0.10526746786781263,1.0,0.0,0.0,0.0,-0.25534823122919514,-0.050194572059243825,2.5744945152661485,-0.004139568413325911,0.024904527698109594,0.0003039162749283074,0.9934057862251092,1.27743706256162,3.1712469350030004,0.09935170305329483,-0.07553602115681905,0.0006156439483933729,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1415277062456997,1.7871236340252556,-2.0160221438977493,-0.010793514147331618,1.5148137754817572,1.0380341157160602,1.6625214820367051,-2.5744945152661485,3.6785436259344544,3.6785436259344544,3.9377179399633446,0,0,-0.0001860528521621926,-9.894344651784621e-05
+16614,1792844193218889829,22872710000000,1792844193217387244,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762098470920296,-0.005007859716123318,0.10547490960547283,0.9999999555021785,-0.0001270489932888398,0.00022094849409873718,0.00012441391216140468,0.6761,-0.0046,0.10514733647369462,1.0,0.0,0.0,0.0,-0.16259472664627528,-0.011861838466710184,2.641600356050363,-0.002976042263892295,0.019831503677475243,0.00019447787632086627,1.086159290808029,1.3157697961541537,3.238352775787215,0.10051522920272844,-0.0806090451774534,0.0005062055497859318,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1979269004859683,1.8085798866952505,-2.166965675305702,0.02318556156499842,1.6292823351843126,1.0835749705720958,1.6625214820367051,-2.641600356050363,3.829487157342407,3.829487157342407,4.0290679399633165,0,0,-0.00020358682217422176,-9.93389218370055e-05
+16690,1792844193852000138,22873343000000,1792844193845388379,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.676215761187089,-0.005018809113719402,0.10535250579721157,0.9999999492325564,-0.0001372697802555298,0.00023094451241438918,0.00014421993091633508,0.6761,-0.0046,0.1050126906819515,1.0,0.0,0.0,0.0,-0.18001100502372225,-0.09602241391243993,2.680007077684419,-0.008295862561994688,0.02047320229308089,0.001126306937451325,1.0687430124305821,1.231609220708424,3.276759497421271,0.09519540890462605,-0.07996734656184776,0.0014380346109163905,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1561644400490023,1.7184362712446213,-2.2342691150604073,0.07201834901891659,1.6621139808734824,1.0594769399632464,1.6625214820367051,-2.680007077684419,3.8967905970971124,3.8967905970971124,4.124017939963095,0,0,-0.00022283656953977905,-9.992234403644602e-05
+16759,1792844194427091843,22873918000000,1792844194425377500,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762250705351252,-0.0050154987568335665,0.1052327563399462,0.9999999426768472,-0.00014315511750862006,0.0002455198908159437,0.00015910927721638317,0.6761,-0.0046,0.10487753652235371,1.0,0.0,0.0,0.0,-0.21170755942593944,-0.1661823612492488,2.7377508840806892,-0.013165236807129638,0.021517782558871393,0.0010525942548188342,1.037046458028365,1.161449273371615,3.334503303817541,0.0903260346594911,-0.07892276629605725,0.0013643219282838998,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.2072728318503398,1.562791184777815,-2.2965300876277195,0.12479501838532675,1.7171835558304325,0.9686745510540659,1.6625214820367051,-2.7377508840806892,3.9590515696644246,3.9590515696644246,4.210267939962894,0,0,-0.00024457937708030473,-9.999999025923074e-05
+16822,1792844194952166261,22874443000000,1792844194949378300,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762302484776912,-0.005021370304644162,0.10510331393433937,0.9999999375323949,-0.00014771129370396883,0.0002513886132708575,0.00017709660991372235,0.6761,-0.0046,0.10474511255589619,1.0,0.0,0.0,0.0,-0.19228386874018955,-0.20050936547953913,2.754509989648587,-0.016751471770545506,0.020998980460235725,0.0009913422373773767,1.0564701487141148,1.1271222691413247,3.351262409385439,0.08673979969607523,-0.07944156839469292,0.0013030699108424423,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1478944478235964,1.6050476242938634,-2.328162407133934,0.1169458281545997,1.7229718461021024,0.9929359710074707,1.6625214820367051,-2.754509989648587,3.990683889170639,3.990683889170639,4.289017939962711,0,0,-0.00026085813193829486,-9.999999025923074e-05
+16889,1792844195510285823,22875001000000,1792844195509377716,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762377624034425,-0.005026600294969965,0.10496574035873213,0.9999999302973805,-0.00017133970369539065,0.00026216026471424564,0.00018100497200197177,0.6761,-0.0046,0.10459502592387764,1.0,0.0,0.0,0.0,-0.15579222326486653,-0.24285488464422134,2.7657169450550616,-0.019398952355871663,0.01840013389158633,0.000906544292775672,1.0929617941894378,1.0847767499766425,3.3624693647919135,0.08409231911074908,-0.08204041496334231,0.0012182719662407375,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1643331518092541,1.5801885454468427,-2.363463625337984,0.13369213456519957,1.7600329461641808,0.9765373297094601,1.6625214820367051,-2.7657169450550616,4.025985107374689,4.025985107374689,4.372717939962516,0,0,-0.00028011652318113276,-9.999999025923074e-05
+16950,1792844196019307356,22875510000000,1792844196013378029,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762430189393085,-0.005021825811487937,0.10482472226494155,0.999999924670098,-0.00019707040202420164,0.000271668641063511,0.00017164518192525264,0.6761,-0.0046,0.10444611966186752,1.0,0.0,0.0,0.0,-0.1434253079964809,-0.2701943738123844,2.774924683528854,-0.022274704003339016,0.018076159325058377,0.0008655730968427661,1.1053287094578235,1.0574372608084794,3.371677103265706,0.08121656746328172,-0.08236438952987027,0.0011773007703078317,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.144993514794533,1.5827381254760096,-2.4764843913093966,0.14122356695293206,1.8307176406084498,0.9788878915632547,1.6625214820367051,-2.774924683528854,4.139005873346102,4.139005873346102,4.449067939962338,0,0,-0.00030488644317125244,-9.999999025923074e-05
+17011,1792844196527397159,22876018000000,1792844196525378822,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762538162828189,-0.0050246739180903575,0.10468000095695318,0.9999999146015053,-0.0002125633205237147,0.00029133895628934424,0.00017938309166735722,0.6761,-0.0046,0.10428479844999587,1.0,0.0,0.0,0.0,-0.14007647539866142,-0.32606817266112453,2.8133447172714448,-0.025354323562961592,0.017117890822335807,0.0007844034346995441,1.108677542055643,1.0015634619597393,3.4100971370082966,0.07813694790365915,-0.08332265803259284,0.0010961311081646096,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1415110423521857,1.5113912076860023,-2.4736895260234375,0.17631185166198296,1.8313077378968745,0.9321872157266898,1.6625214820367051,-2.8133447172714448,4.136211008060142,4.136211008060142,4.52526793996216,0,0,-0.00033028643822294166,-9.999999025923074e-05
+17066,1792844196985498055,22876476000000,1792844196981377936,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762538629203827,-0.0050303342286810325,0.1045278785081069,0.9999999078126789,-0.0002459367621159402,0.0002952738234210534,0.00016776762458943443,0.6761,-0.0046,0.10412830459102945,1.0,0.0,0.0,0.0,-0.08409099045661272,-0.321115167681268,2.8415659112205436,-0.026540728295486787,0.014111469032104931,0.0006991866002885433,1.1646630269976916,1.0065164669395958,3.4383183309573955,0.07695054317113395,-0.08632907982282371,0.0010109142737536089,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.093140033535758,1.492882419134677,-2.5209566756432285,0.20539487663784425,1.8528841276144967,0.9204212055977029,1.6625214820367051,-2.8415659112205436,4.183478157679934,4.183478157679934,4.593967939962,0,0,-0.0003531434650913808,-9.999999025923074e-05
+17121,1792844197444554708,22876935000000,1792844197441388094,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762588969238753,-0.0050335683565623825,0.10437028545105802,0.9999999215792292,-0.00015458283802428316,0.00030459665761645936,0.00017779038778439725,0.6761,-0.0046,0.10396095619158084,1.0,0.0,0.0,0.0,-0.09005902919190878,-0.37986117825037646,2.8522569498165624,-0.030384264323959853,0.014120528741610266,0.0006543390300659793,1.1586949882623956,0.9477704563704874,3.4490093695534143,0.07310700714266088,-0.08632002011331838,0.0009660667035310447,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.114942762651528,1.6190185243148036,-2.5319143420969947,0.1442630765005921,1.8777814939920547,0.9666539795766604,1.6625214820367051,-2.8522569498165624,4.1944358241337,4.1944358241337,4.6628179399618395,0,0,-0.00037609346062036773,-9.999999025923074e-05
+17173,1792844197877569178,22877368000000,1792844197877387344,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762612450754265,-0.005037337116296001,0.10420699743353216,0.9999999148149026,-0.00017833879581234826,0.00030809237042674905,0.0001873163551121075,0.6761,-0.0046,0.10379343132404747,1.0,0.0,0.0,0.0,-0.07931533013506087,-0.4307372235321003,2.8571413453253776,-0.03443060193159442,0.013231586836741596,0.0005902733714036701,1.1694386873192435,0.8968944110887636,3.4538937650622294,0.06906066953502632,-0.08720896201818705,0.0009020010448687355,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1124624533177951,1.5412114230775915,-2.5434636363537986,0.20085052597951353,1.8854591141337964,0.9514080387630915,1.6625214820367051,-2.8571413453253776,4.205985118390504,4.205985118390504,4.727767939961688,0,0,-0.00039774345640261464,-9.999999025923074e-05
+17219,1792844198260664677,22877751000000,1792844198257387831,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762634976719936,-0.005043284686306258,0.1040498806409345,0.9999999067469515,-0.00022070691886318209,0.0003123581875879879,0.00017796002623359216,0.6761,-0.0046,0.10363743793096157,1.0,0.0,0.0,0.0,-0.04749885028886536,-0.43910303349456026,2.9091439363617235,-0.0350625460953516,0.011215487218910788,0.0005244993176245771,1.201255167165439,0.8885286011263036,3.5058963560985754,0.06842872537126914,-0.08922506163601786,0.0008362269910896426,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.1162399760987447,1.5180780504731601,-2.554364245958783,0.22658485896260655,1.8993396534701792,0.9381628922404354,1.6625214820367051,-2.9091439363617235,4.216885727995488,4.216885727995488,4.785217939961554,0,0,-0.0004168934526719,-9.999999025923074e-05
+17268,1792844198669729635,22878160000000,1792844198669388288,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762653281099187,-0.0050455757685974765,0.10386925257971645,0.9999999036367839,-0.0002283440303988386,0.0003088153608060626,0.00019147157383763133,0.6761,-0.0046,0.10346275670963548,1.0,0.0,0.0,0.0,-0.053126448364220646,-0.46907041998503085,2.843961006343404,-0.037477122050268166,0.011264015553786103,0.001187889776598866,1.1956275690900837,0.858561214635833,3.440713426080256,0.06601414941635257,-0.08917653330114254,0.0014996174500639316,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.0825734860165914,1.3873894619386615,-2.503539088729456,0.2713392363667502,1.8560542259954216,0.8534766207740806,1.6625214820367051,-2.843961006343404,4.166060570766161,4.166060570766161,4.846567939961411,0,0,-0.0004373434486879254,-9.999999025923074e-05
+17311,1792844199027776911,22878518000000,1792844199021387549,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762619276458236,-0.00504687985080037,0.10370817814447673,0.9999999218778924,-0.00013240499610126338,0.0003048114258555637,0.00019299218916584096,0.6761,-0.0046,0.10330299260563115,1.0,0.0,0.0,0.0,-0.02468595015523678,-0.5216651594270361,2.850115839052339,-0.04150637132627938,0.009314589365959872,0.0014361788491540262,1.2240680672990676,0.8059664751938278,3.446868258789191,0.06198490014034136,-0.09112595948896877,0.0017479065226190917,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,1.0158268652806022,1.4080304776706207,-2.6263612849274987,0.2870201688348925,1.922916373711703,0.880466087749483,1.6625214820367051,-2.850115839052339,4.288882766964203,4.288882766964203,4.900267939961286,0,0,-0.00045524344520073,-9.999999025923074e-05
+17355,1792844199394833948,22878885000000,1792844199393387141,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762592995618002,-0.005051600800204587,0.10353304837993116,0.9999999167568765,-0.00017287839666279208,0.0003035941100164147,0.00018940111045954384,0.6761,-0.0046,0.10313256021190026,1.0,0.0,0.0,0.0,0.0002502990631443325,-0.5605589741631402,2.808433849178073,-0.04412878297570797,0.007362179328253823,0.00043101722573724277,1.2490043165174487,0.7670726604577237,3.405186268914925,0.05936248849091277,-0.09307836952667482,0.0007427448992023083,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9927294814511286,1.5341576555404737,-2.4811321831116855,0.25420580278245086,1.8305599671017176,0.9514839078971818,1.6625214820367051,-2.808433849178073,4.14365366514839,4.14365366514839,4.955317939961158,0,0,-0.0004735934416258677,-9.999999025923074e-05
+17398,1792844199752882121,22879243000000,1792844199745387681,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762609912846226,-0.005048576648437293,0.10335149965733215,0.9999999119850658,-0.00018024227459576732,0.00030598196748910655,0.00020337276823345724,0.6761,-0.0046,0.10295981861042415,1.0,0.0,0.0,0.0,-0.006459023037981959,-0.5926641826803851,2.7490054395628905,-0.04653427802938534,0.007412855471354951,0.0004536764967461666,1.2422949944163224,0.7349674519404787,3.3457578592997423,0.0569569934372354,-0.0930276933835737,0.0007654041702112321,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9491661903927004,1.3844266475664517,-2.346379137330646,0.2940121227402109,1.7336309771877543,0.8522656144283581,1.6625214820367051,-2.7490054395628905,4.008900619367351,4.008900619367351,5.009017939961033,0,0,-0.0004914934381386723,-9.999999025923074e-05
+17439,1792844200094835296,22879585000000,1792844200089387815,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.676257752030252,-0.005038546259786971,0.10317359701219464,0.9999999115733166,-0.00020193253670027745,0.0002970505911723915,0.00019819288599655136,0.6761,-0.0046,0.10278881230515205,1.0,0.0,0.0,0.0,0.049163563458146875,-0.5699727438786616,2.672841363828227,-0.04538932913958563,0.0034370815886410055,0.0004763660925272628,1.2979175809124512,0.7576588907422023,3.269593783565079,0.05810194232703511,-0.09700346726628764,0.0007880937659923283,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.956442880951711,1.4401868418420771,-2.274055516869516,0.3059246122052813,1.6876075399945376,0.8896850238898524,1.6625214820367051,-2.672841363828227,3.936576998906221,3.936576998906221,5.060317939960913,0,0,-0.0005085934348073292,-9.999999025923074e-05
+17475,1792844200394974645,22879885000000,1792844200393387204,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762462652340178,-0.005043858287368197,0.10300497613842129,0.9999999123779472,-0.00021363298865731813,0.00027843902399205125,0.00020861356169540632,0.6761,-0.0046,0.10263399177514965,1.0,0.0,0.0,0.0,0.06980867065186946,-0.6197777965689587,2.625237397068967,-0.04854154717999053,0.0024140568411754326,0.0004603793628718146,1.3185626881061738,0.7078538380519052,3.2219898168058188,0.05494972428663021,-0.09802649201375321,0.0007721070363368801,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.883399218218811,1.4168840289659967,-2.182561503194523,0.30790039539287717,1.617122623109633,0.8753699019898263,1.6625214820367051,-2.625237397068967,3.8450829852312283,3.8450829852312283,5.105317939960808,0,0,-0.0005235934318850985,-9.999999025923074e-05
+17513,1792844200711013723,22880201000000,1792844200705387159,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.676237900260057,-0.005042009741927956,0.10282107029916875,0.9999999170739348,-0.00020519367329716176,0.00026149252835462817,0.00021636127604286552,0.6761,-0.0046,0.10246604775116183,1.0,0.0,0.0,0.0,0.062343688690019494,-0.6608297510204894,2.527502313963046,-0.05146098108946202,0.0024922034316075398,0.0005040164967756793,1.3110977061443239,0.6668018836003745,3.124254733699898,0.05203029037715872,-0.0979483454233211,0.0008157441702407448,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9210875351903238,1.345174128094303,-2.18333617061368,0.3388734896671142,1.6296360832374794,0.8373262580351993,1.6625214820367051,-2.527502313963046,3.845857652650385,3.845857652650385,5.152717939960698,0,0,-0.0005393934288070154,-9.999999025923074e-05
+17547,1792844200995050822,22880485000000,1792844200989378937,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762297457277027,-0.005044425625585429,0.10264945543733617,0.9999999238022449,-0.00019770940497871564,0.0002474973080815426,0.0002085532117480279,0.6761,-0.0046,0.10231085071777485,1.0,0.0,0.0,0.0,0.06938924218338394,-0.6774565869094274,2.4728561930372646,-0.053117788525341325,0.0025417513961989158,0.0005348783260958132,1.3181432596376883,0.6501750477114364,3.0696086127741165,0.05037348294127941,-0.09789879745872973,0.0008466059995608787,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9539819918805201,1.4223470791362611,-2.133132745700013,0.3251163615098302,1.6118117248847974,0.8939959805152211,1.6625214820367051,-2.4728561930372646,3.7956542277367182,3.7956542277367182,5.195317939960598,0,0,-0.0005535934260406369,-9.999999025923074e-05
+17579,1792844201261059465,22880751000000,1792844201257387262,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762208021427507,-0.005049804176700193,0.10247937208831687,0.9999999331621662,-0.00015694297875079054,0.00023252783493270626,0.00021544891451783237,0.6761,-0.0046,0.10216183261679394,1.0,0.0,0.0,0.0,0.058970227742520365,-0.6961711040000816,2.3928065821188764,-0.05449889390643863,0.0025806586662808634,0.0005817495565846589,1.3077242451968247,0.6314605306207822,2.9895590018557283,0.048992377560182106,-0.09785989018864778,0.0008934772300497244,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.8586748960754447,1.347177415176791,-1.9450079844219288,0.34076076242369624,1.4646799993649355,0.8406924369905963,1.6625214820367051,-2.3928065821188764,3.607529466458634,3.607529466458634,5.235217939960505,0,0,-0.0005668934234495923,-9.999999025923074e-05
+17614,1792844201553059729,22881043000000,1792844201549377866,DOWN_FORCE_DETACH,3,0.0658,0.06580259650945663,0.6762115011508716,-0.005049012950839369,0.1022942053437185,0.9999999335421508,-0.00015385373684357681,0.00021420700808312987,0.0002341002855995743,0.6761,-0.0046,0.10199417543756335,1.0,0.0,0.0,0.0,0.04575125452484574,-0.737602234942045,2.2626640418307518,-0.057566839667638946,0.003679465509501087,0.0006645123461250699,1.29450527197915,0.5900293996788188,2.8594164615676037,0.04592443179898179,-0.09676108334542756,0.0009762400195901354,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.8547542990938762,1.327950067896384,-1.8432268076011686,0.3345967821085473,1.3982926002475218,0.8288143635431393,1.6625214820367051,-2.2626640418307518,3.5057482896378738,3.5057482896378738,5.279017939960403,0,0,-0.0005814934206052877,-9.999999025923074e-05
+17648,1792844201836127100,22881326000000,1792844201829377705,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6762072041589147,-0.005050099016243699,0.10211442296006908,0.9999999320034011,-0.00017738548025456808,0.00020485717275299016,0.00023238758048461802,0.6761,-0.0046,0.1018276176499235,1.0,0.0,0.0,0.0,0.005527731543073955,-0.7494305441219269,2.1510761745887454,-0.05821277398982548,0.005743968126204493,0.0007800164482332538,1.2542817489973783,0.578201090498937,2.7478285943255973,0.04527849747679526,-0.09469658072872415,0.0010917441216983194,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9393867262846964,1.2367131792797301,-1.7613395758095773,0.3835929927406438,1.3612233559890263,0.7756185712303219,1.6625214820367051,-2.1510761745887454,3.4238610578462825,3.4238610578462825,5.321467939960304,0,0,-0.00059564341784865,-9.999999025923074e-05
+17679,1792844202095111095,22881585000000,1792844202093377911,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.6761944346937261,-0.005045258055764173,0.10194178865533413,0.9999999328354303,-0.00022000708094095759,0.00018082864139893872,0.00021135251575864173,0.6761,-0.0046,0.10167167545502867,1.0,0.0,0.0,0.0,0.04133897733689351,-0.734392899057988,2.062552242819062,-0.057482995616489195,0.003304870335321189,0.0008175503602231467,1.2900929947911979,0.5932387355628759,2.659304662555914,0.04600827585013154,-0.09713567851960746,0.0011292780336882122,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9262961898576093,1.2686279711122213,-1.654019495012633,0.3596858211956221,1.2930397648026728,0.7998673299387503,1.6625214820367051,-2.062552242819062,3.316540977049338,3.316540977049338,5.360317939960214,0,0,-0.0006085934153257907,-9.999999025923074e-05
+17709,1792844202345259473,22881835000000,1792844202341378509,DOWN_FORCE_DETACH,3,0.0658,0.0658019408583641,0.676186939532395,-0.005048995340910192,0.10176744759620594,0.9999999437574388,-0.00016509651712577977,0.00017576165413237468,0.00021396019359673504,0.6761,-0.0046,0.10151797085150284,1.0,0.0,0.0,0.0,0.026221542404186282,-0.7603915119894911,1.969741041240329,-0.05855981362456324,0.005144354292845252,0.0009073892241416163,1.2749755598584906,0.5672401226313728,2.566493460977181,0.0449314578420575,-0.0952961945620834,0.0012191168976066818,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.9534262978131974,1.306091477003622,-1.4815131514637987,0.37253809534577675,1.183365630325396,0.8393176472330472,1.6625214820367051,-1.969741041240329,3.144034633500504,3.144034633500504,5.3978179399601265,0,0,-0.0006210934128905984,-9.999999025923074e-05
+17748,1792844202669199638,22882159000000,1792844202665378616,DOWN_SETTLE,3,0.0658,0.0658019408583641,0.6761537471036544,-0.005051740157897743,0.10160646183184821,0.999999949404578,-0.0001721065421908022,0.00011287541650025985,0.00022421459342500603,0.6761,-0.0046,0.10142074286214822,1.0,0.0,0.0,0.0,0.03283243913628242,-0.7963349489485049,1.6284511739176262,-0.06152317950580144,0.0039020925203363532,0.00010067976198273706,1.2815864565905868,0.531296685672359,2.225203593654478,0.0419680919608193,-0.09653845633459229,0.00041240743544780254,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.8210215394320918,1.2543926708219797,-1.2007067636897786,0.35795146034376774,0.9801072896957493,0.7941811665132984,1.6625214820367051,-1.6284511739176262,2.863228245726484,0.0,0.0,0,0,-4.717489049429317e-05,0.0004765140453969007
+17825,1792844203309361937,22882799000000,1792844203305378027,DOWN_PEAK_HOLD,3,0.0658,0.0658019408583641,0.6761117688671521,-0.005043819927808275,0.10150077248029589,0.9999999550784924,-0.0001646743285340677,3.1705539502268965e-05,0.00023057103394038414,0.6761,-0.0046,0.10141702760364474,1.0,0.0,0.0,0.0,0.0170582183593051,-0.8461686697730889,1.0768536690018014,-0.0638012305002768,0.0030617284617045493,-0.0005258845616883711,1.2658122358136095,0.48146296484777495,1.6736060887386535,0.03969004096634394,-0.0973788203932241,-0.00021415688822330558,1.2487540174543044,1.3276316346208639,0.596752419736852,0.10349127146662074,-0.10044054885492865,0.0003117276734650655,1,0.6812684870694183,1.2939252497190914,-0.5925046962689633,0.31976285576493096,0.5467403464513071,0.814906327180101,1.6625214820367051,-1.0768536690018014,2.2550261783056684,0.0,0.0,0,0,0.0,0.0