Upload Fixed (part 15)

Fixed/digit/ball_15A_12.5/press_depth_01/up/franka_data.csv

@@ -0,0 +1,61 @@
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Fixed/digit/ball_15A_12.5/press_depth_01/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+32,2.583333333e+00,UP_FORCE_RAMP,1792837920804743350,7.535678611e-06,-3.147512481e-04,5.152367680e-05,7.631466323e-06,-3.151770555e-04,4.660855604e-05,8.994234376e-06,-3.172759790e-04,4.651845088e-05,7.019631685e-01,-3.370219831e-04,8.601946109e-01,7.019632643e-01,-3.374477906e-04,8.601896958e-01,7.027540246e-01,-4.358884880e-04,8.303724026e-01
+33,2.750000000e+00,UP_FORCE_RAMP,1792837920984996439,9.119126801e-06,-3.138207116e-04,6.623308969e-05,7.631466323e-06,-3.151770555e-04,4.660855604e-05,9.002710725e-06,-3.172769396e-04,4.653884957e-05,7.019647519e-01,-3.360914466e-04,8.602093203e-01,7.019632643e-01,-3.374477906e-04,8.601896958e-01,7.027540331e-01,-4.358894486e-04,8.303724230e-01
+34,2.883333333e+00,UP_FORCE_RAMP,1792837921115245800,6.818373236e-06,-3.101776086e-04,7.322984581e-05,1.013976562e-05,-3.088609375e-04,6.810880936e-05,1.198579509e-05,-3.109360564e-04,6.801746786e-05,7.019624512e-01,-3.324483437e-04,8.602163171e-01,7.019657726e-01,-3.311316725e-04,8.602111960e-01,7.027570161e-01,-4.295485654e-04,8.303939017e-01
+35,2.916666667e+00,UP_FORCE_RAMP,1792837921150204667,-1.720465327e-05,-3.055107700e-04,6.980963083e-05,-1.692945314e-05,-3.054896041e-04,6.976046428e-05,-1.704010513e-05,-3.075501928e-04,6.963110798e-05,7.019384282e-01,-3.277815050e-04,8.602128969e-01,7.019387034e-01,-3.277603391e-04,8.602128477e-01,7.027279902e-01,-4.261627019e-04,8.303955153e-01
+36,3.050000000e+00,UP_FORCE_RAMP,1792837921295588326,-1.890995606e-05,-3.073058481e-04,8.391815230e-05,-1.692945314e-05,-3.054896041e-04,6.976046428e-05,-1.710795587e-05,-3.075561722e-04,6.965067899e-05,7.019367229e-01,-3.295765831e-04,8.602270054e-01,7.019387034e-01,-3.277603391e-04,8.602128477e-01,7.027279224e-01,-4.261686813e-04,8.303955349e-01
+37,3.166666667e+00,UP_FORCE_RAMP,1792837921410210095,-1.682139140e-05,-3.082954309e-04,9.251558405e-05,-1.665097093e-05,-3.082536318e-04,9.249778852e-05,-1.657168066e-05,-3.103576741e-04,9.228292349e-05,7.019388114e-01,-3.305661659e-04,8.602356028e-01,7.019389818e-01,-3.305243668e-04,8.602355850e-01,7.027284587e-01,-4.289701831e-04,8.304181671e-01
+38,3.300000000e+00,UP_FORCE_RAMP,1792837921541310112,-1.428934936e-05,-3.041172079e-04,1.052399105e-04,-1.665097093e-05,-3.082536318e-04,9.249778852e-05,-1.657618365e-05,-3.103583320e-04,9.235370452e-05,7.019413435e-01,-3.263879429e-04,8.602483271e-01,7.019389818e-01,-3.305243668e-04,8.602355850e-01,7.027284542e-01,-4.289708410e-04,8.304182379e-01
+39,3.416666667e+00,UP_FORCE_RAMP,1792837921655975563,-1.380695606e-05,-3.056095256e-04,1.158311268e-04,-1.328310723e-05,-3.032972269e-04,1.122152986e-04,-1.271924192e-05,-3.053744613e-04,1.120199091e-04,7.019418259e-01,-3.278802606e-04,8.602589184e-01,7.019423497e-01,-3.255679619e-04,8.602553025e-01,7.027323111e-01,-4.239869703e-04,8.304379041e-01
+40,3.566666667e+00,UP_FORCE_RAMP,1792837921803424372,-1.057603317e-05,-3.030373868e-04,1.305217977e-04,-1.328310723e-05,-3.032972269e-04,1.122152986e-04,-1.271439467e-05,-3.053732845e-04,1.120634183e-04,7.019450568e-01,-3.253081218e-04,8.602736090e-01,7.019423497e-01,-3.255679619e-04,8.602553025e-01,7.027323159e-01,-4.239857935e-04,8.304379476e-01
+41,3.666666667e+00,UP_FORCE_RAMP,1792837921902831812,-1.027128264e-05,-3.044809562e-04,1.405454612e-04,-9.841956865e-06,-3.076530537e-04,1.343788647e-04,-8.768360231e-06,-3.097067262e-04,1.341690872e-04,7.019453615e-01,-3.267516912e-04,8.602836327e-01,7.019457909e-01,-3.299237888e-04,8.602774661e-01,7.027362620e-01,-4.283192353e-04,8.304600533e-01
+42,3.800000000e+00,UP_FORCE_RAMP,1792837922033061306,-8.363164436e-06,-3.040711918e-04,1.525616796e-04,-9.841956865e-06,-3.076530537e-04,1.343788647e-04,-8.763169770e-06,-3.097062982e-04,1.342082734e-04,7.019472697e-01,-3.263419268e-04,8.602956489e-01,7.019457909e-01,-3.299237888e-04,8.602774661e-01,7.027362672e-01,-4.283188072e-04,8.304600925e-01
+43,3.966666667e+00,UP_FORCE_RAMP,1792837922196964246,-9.448595966e-06,-3.023663157e-04,1.651704520e-04,-7.006682366e-06,-3.019323002e-04,1.570155652e-04,-5.440443998e-06,-3.039872110e-04,1.567510873e-04,7.019461842e-01,-3.246370507e-04,8.603082577e-01,7.019486261e-01,-3.242030352e-04,8.603001028e-01,7.027395899e-01,-4.225997200e-04,8.304826353e-01
+44,4.083333333e+00,UP_FORCE_RAMP,1792837922311447530,-1.055705655e-05,-3.042360961e-04,1.734088476e-04,-7.006682366e-06,-3.019323002e-04,1.570155652e-04,-5.437791172e-06,-3.039867086e-04,1.567780582e-04,7.019450758e-01,-3.265068311e-04,8.603164961e-01,7.019486261e-01,-3.242030352e-04,8.603001028e-01,7.027395925e-01,-4.225992176e-04,8.304826623e-01
+45,4.200000000e+00,UP_FORCE_RAMP,1792837922442447055,-1.181910020e-05,-3.018474115e-04,1.859402476e-04,-8.799452908e-06,-3.016156915e-04,1.818267857e-04,-7.001148424e-06,-3.036882767e-04,1.815309430e-04,7.019438137e-01,-3.241181466e-04,8.603290275e-01,7.019468334e-01,-3.238864265e-04,8.603249140e-01,7.027380292e-01,-4.223007857e-04,8.305074151e-01
+46,4.333333333e+00,UP_FORCE_RAMP,1792837922573267990,-1.529790286e-05,-3.013224754e-04,1.957951993e-04,-8.799452908e-06,-3.016156915e-04,1.818267857e-04,-7.001998291e-06,-3.036869560e-04,1.815759509e-04,7.019403349e-01,-3.235932104e-04,8.603388824e-01,7.019468334e-01,-3.238864265e-04,8.603249140e-01,7.027380283e-01,-4.222994650e-04,8.305074601e-01
+47,4.450000000e+00,UP_FORCE_RAMP,1792837922687728091,-1.624519773e-05,-2.999810149e-04,2.017424429e-04,-1.433571518e-05,-3.018341529e-04,2.011199204e-04,-1.276690937e-05,-3.038854852e-04,2.008192012e-04,7.019393876e-01,-3.222517499e-04,8.603448297e-01,7.019412971e-01,-3.241048879e-04,8.603442072e-01,7.027322634e-01,-4.224979942e-04,8.305267034e-01
+48,4.600000000e+00,UP_FORCE_RAMP,1792837922835062141,-1.733114133e-05,-2.974599199e-04,2.126755795e-04,-1.433571518e-05,-3.018341529e-04,2.011199204e-04,-1.277423396e-05,-3.038834701e-04,2.008634100e-04,7.019383017e-01,-3.197306549e-04,8.603557628e-01,7.019412971e-01,-3.241048879e-04,8.603442072e-01,7.027322561e-01,-4.224959792e-04,8.305267476e-01
+49,4.700000000e+00,UP_FORCE_HOLD,1792837922933643291,-2.016898889e-05,-3.031961597e-04,2.162771923e-04,-1.433571518e-05,-3.018341529e-04,2.011199204e-04,-1.277615265e-05,-3.038829467e-04,2.008819358e-04,7.019354638e-01,-3.254668947e-04,8.603593644e-01,7.019412971e-01,-3.241048879e-04,8.603442072e-01,7.027322542e-01,-4.224954558e-04,8.305267661e-01
+50,4.833333333e+00,UP_FORCE_HOLD,1792837923065081969,-2.266637978e-05,-2.993967105e-04,2.227801661e-04,-1.904006338e-05,-2.986947906e-04,2.211360232e-04,-1.758903811e-05,-3.007027099e-04,2.208440355e-04,7.019329664e-01,-3.216674455e-04,8.603658674e-01,7.019365928e-01,-3.209655256e-04,8.603642233e-01,7.027274413e-01,-4.193152189e-04,8.305467282e-01
+51,4.966666667e+00,UP_SETTLE,1792837923196401540,-2.027744720e-05,-2.983776023e-04,2.321905013e-04,-1.904006338e-05,-2.986947906e-04,2.211360232e-04,-1.759541944e-05,-3.007008075e-04,2.208798391e-04,7.019353554e-01,-3.206483374e-04,8.603752777e-01,7.019365928e-01,-3.209655256e-04,8.603642233e-01,7.027274349e-01,-4.193133166e-04,8.305467640e-01
+52,5.083333333e+00,UP_SETTLE,1792837923310213368,-2.115417760e-05,-2.986869895e-04,2.369432935e-04,-1.904006338e-05,-2.986947906e-04,2.211360232e-04,-1.759869710e-05,-3.006996693e-04,2.209014191e-04,7.019344786e-01,-3.209577245e-04,8.603800305e-01,7.019365928e-01,-3.209655256e-04,8.603642233e-01,7.027274316e-01,-4.193121784e-04,8.305467856e-01
+53,5.216666667e+00,UP_SETTLE,1792837923441298204,-2.175885747e-05,-2.962557944e-04,2.450876559e-04,-1.984012052e-05,-2.957854297e-04,2.424927050e-04,-1.814607900e-05,-2.977818038e-04,2.422229224e-04,7.019338740e-01,-3.185265294e-04,8.603881749e-01,7.019357927e-01,-3.180561647e-04,8.603855799e-01,7.027268843e-01,-4.163943129e-04,8.305681071e-01
+54,5.366666667e+00,UP_SETTLE,1792837923588401925,-2.194209588e-05,-3.002567518e-04,2.511576229e-04,-1.984012052e-05,-2.957854297e-04,2.424927050e-04,-1.814963426e-05,-2.977796964e-04,2.422602830e-04,7.019336907e-01,-3.225274868e-04,8.603942449e-01,7.019357927e-01,-3.180561647e-04,8.603855799e-01,7.027268807e-01,-4.163922054e-04,8.305681445e-01
+55,5.533333333e+00,UP_SETTLE,1792837923768977660,-2.393224886e-05,-2.948512685e-04,2.540977727e-04,-1.984012052e-05,-2.957854297e-04,2.424927050e-04,-1.815301239e-05,-2.977781402e-04,2.422871416e-04,7.019317006e-01,-3.171220035e-04,8.603971850e-01,7.019357927e-01,-3.180561647e-04,8.603855799e-01,7.027268773e-01,-4.163906492e-04,8.305681713e-01
+56,5.666666667e+00,UP_SETTLE,1792837923900226817,-2.298937085e-05,-2.977099986e-04,2.637106008e-04,-2.298690002e-05,-2.973553556e-04,2.622818129e-04,-2.132095358e-05,-2.993315761e-04,2.620363403e-04,7.019326434e-01,-3.199807336e-04,8.604067978e-01,7.019326459e-01,-3.196260906e-04,8.604053691e-01,7.027237094e-01,-4.179440851e-04,8.305879205e-01
+57,5.816666667e+00,UP_SETTLE,1792837924047198537,-2.270815744e-05,-2.984145200e-04,2.685501191e-04,-2.298690002e-05,-2.973553556e-04,2.622818129e-04,-2.132815072e-05,-2.993292849e-04,2.620795229e-04,7.019329247e-01,-3.206852550e-04,8.604116374e-01,7.019326459e-01,-3.196260906e-04,8.604053691e-01,7.027237022e-01,-4.179417939e-04,8.305879637e-01
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+59,6.083333333e+00,UP_SETTLE,1792837924325663856,-2.574256454e-05,-2.941602246e-04,2.707520665e-04,-2.298690002e-05,-2.973553556e-04,2.622818129e-04,-2.133416673e-05,-2.993267393e-04,2.621188247e-04,7.019298903e-01,-3.164309596e-04,8.604138393e-01,7.019326459e-01,-3.196260906e-04,8.604053691e-01,7.027236962e-01,-4.179392484e-04,8.305880030e-01

Fixed/digit/ball_15A_12.5/press_depth_01/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
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+7,5.8333e-01,WAIT_W2,1.3991e-04,3.6525e-02,6.5137e-02,2.4531e+00,-4.1263e-02,3.9364e-02,6.6636e-05,7.7396e-03,-2.1987e-04,-6.2084e-04,2.7165e-05,5.4708e-04,-2.1221e-05,7.7676e-03,5.4816e-04
+8,5.8333e-01,WAIT_W2,1.3991e-04,3.6525e-02,6.5137e-02,2.4531e+00,-4.1263e-02,3.9364e-02,6.6636e-05,7.7396e-03,-2.1987e-04,-6.2084e-04,2.7165e-05,5.4708e-04,-2.1221e-05,7.7676e-03,5.4816e-04
+9,5.8333e-01,WAIT_W2,1.3991e-04,3.6525e-02,6.5137e-02,2.4531e+00,-4.1263e-02,3.9364e-02,6.6636e-05,7.7396e-03,-2.1987e-04,-6.2084e-04,2.7165e-05,5.4708e-04,-2.1221e-05,7.7676e-03,5.4816e-04
+10,6.0000e-01,WAIT_W2,4.5166e-04,3.6668e-02,6.5132e-02,2.4530e+00,-4.1262e-02,3.9374e-02,6.6147e-05,7.8829e-03,-2.2537e-04,-6.3419e-04,2.7720e-05,5.5720e-04,-2.1710e-05,7.9116e-03,5.5831e-04
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Fixed/digit/ball_15A_12.5/press_depth_02/down/camera_frames_60hz.tar

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Fixed/digit/ball_15A_12.5/press_depth_02/down/franka_data.csv

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+8300,1792837977566064795,16656980000000,1792837977564663667,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.0603,0.0603010430932045,0.6759692647178277,-0.004750395976810371,0.10679426548679759,0.9999999616213954,-0.0001180387032678543,-0.0002315705781784736,-2.5337795944032243e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.01104179875727751,-0.0016032070532986387,0.001772641042013523,6.36511112348942e-05,0.00023714641383689589,8.457876473782783e-07,0.7942653824287425,0.8486408390780186,0.1692792187192167,0.06491918065013756,-0.062077550807082785,0.0007578114975197617,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,-0.054834368636932494,1.1375368082293855,1.5266229690808593,-0.22542448266863852,-1.014637955288681,0.6697273409507225,1.6213854171166837,-0.001772641042013523,0.09476244803582445,0.0,0.0,0,0,0.0,0.0
+8404,1792837978426024734,16657840000000,1792837978424663822,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6759707833075083,-0.004751069427373965,0.10679490994770692,0.9999999620744783,-0.00011851480406132938,-0.00022943292768428376,-2.4671427733807257e-05,0.6761,-0.0046,0.10699400773080714,1.0,0.0,0.0,0.0,-0.010038279246983306,-0.014455928645939364,-0.006254346545528422,-0.0009391187261955508,0.00025707239846222557,-3.2086051227365195e-06,0.7952689019390367,0.8357881174853778,0.16125223113167475,0.06391641081270712,-0.062057624822457455,0.0007537571047496469,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,-0.044381479044273205,1.1777327988304245,1.5464356577741516,-0.2381712814361338,-1.0253146210288449,0.6986378456142708,1.6213854171166837,0.006254346545528422,0.07494975934253212,0.07494975934253212,0.15605503609597873,0,0,-2.1333248968773095e-05,-9.999999025923074e-05
+8505,1792837979268091141,16658682000000,1792837979260664398,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6759697100192776,-0.004753020400974488,0.10678428136940217,0.9999999618694057,-0.00011791013540654256,-0.00023078153863458181,-2.326226295404245e-05,0.6761,-0.0046,0.10696506234300306,1.0,0.0,0.0,0.0,-0.01657767035397051,-0.003977078178713067,0.013600681701107786,-0.0009675795417024013,0.0012667162815146946,-4.132753414611088e-06,0.7887295108320495,0.8462669679526041,0.18110725937831096,0.06388794999720027,-0.061047980939404986,0.0007528329564577723,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.138682045094465,1.2125838924294197,1.3716199626150394,-0.24264529607502835,-0.8651725713006159,0.723300678143711,1.6213854171166837,-0.013600681701107786,0.24976545450164434,0.24976545450164434,0.2823550360959822,0,0,-4.718800425705229e-05,8.162127620047289e-05
+8599,1792837980050990036,16659465000000,1792837980048663972,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6759660629814407,-0.004752588992200139,0.10674999329710233,0.9999999604876711,-0.00011623318090686415,-0.0002380860318827528,-1.650483552335757e-05,0.6761,-0.0046,0.10692293587017505,1.0,0.0,0.0,0.0,-0.019727761803986943,-0.02329979108031266,0.10214947681092179,-0.0019256428281873017,0.0012664263836251258,-8.708252704533591e-05,0.785579419382033,0.8269442550510046,0.26965605448812496,0.06292988671071537,-0.061048270837294555,0.0006698831828270475,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.16833040331290322,1.0845189171581073,1.3043789752864388,-0.1639444721115058,-0.8241449996002563,0.6524866513537511,1.6213854171166837,-0.10214947681092179,0.31700644183024496,0.31700644183024496,0.3998050360959693,0,0,-5.949085709752578e-05,-9.999811675787668e-05
+8658,1792837980543003003,16659956999999,1792837980536664305,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760013896907686,-0.004762068843196216,0.10673524077934445,0.9999999775281861,-0.00011368950419156944,-0.00015313718416173455,3.1923217594794725e-06,0.6761,-0.0046,0.10689236515964902,1.0,0.0,0.0,0.0,-0.08852351168891959,0.005442275588237178,0.13472352696812,0.0009038032440659011,0.006265202898153237,0.0009996992123936443,0.7167836694971004,0.8556863217195544,0.3022301046453232,0.06575933278296857,-0.056049494322766444,0.0017566649222660277,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.2620022840750839,1.0935870629184896,1.090278713145546,-0.1660448287113452,-0.6766884161062874,0.6527340949201191,1.6213854171166837,-0.13472352696812,0.5311067039711377,0.5311067039711377,0.47360503609596116,0,0,-6.88817105478926e-05,9.99951191557102e-05
+8742,1792837981243003784,16660657000000,1792837981236664825,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.675994473345708,-0.004762309216335972,0.10669471920302509,0.9999999746111129,-0.00011264918329519665,-0.00017164323997286157,8.330522056128297e-06,0.6761,-0.0046,0.10684444242085143,1.0,0.0,0.0,0.0,-0.082203458344417,-0.022581972252667337,0.2441504619412137,-0.0011425903002271337,0.005638388736174928,0.0008966683959278155,0.723103722841603,0.8276620738786499,0.4116570396184169,0.06371293923867553,-0.05667630848474475,0.0016536341058001989,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.31980691159803143,1.136953199732995,1.0134398798036701,-0.1360501980997266,-0.6135282934497954,0.685410681190933,1.6213854171166837,-0.2441504619412137,0.6079455373130136,0.6079455373130136,0.5786050360959496,0,0,-6.089306118087367e-05,9.999999025923074e-05
+8837,1792837982035115948,16661449000000,1792837982032655580,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6759935246133069,-0.004767150162695372,0.10667159741528162,0.9999999740908591,-0.00011314060894723617,-0.00017386750702528324,1.5180196116368058e-05,0.6761,-0.0046,0.10679948656371785,1.0,0.0,0.0,0.0,-0.09193908504563852,-0.02953598417156622,0.3043963682153513,-0.0011689782728906556,0.006271432904842486,0.0007217392807515003,0.7133680961403814,0.820708061959751,0.4719029458925545,0.06368655126601201,-0.056043264316077195,0.0014787049906238837,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.3137615021890617,1.0505974964170615,0.949053759471048,-0.09310951804585353,-0.5778854324477993,0.6232402531350614,1.6213854171166837,-0.3043963682153513,0.6723316576456357,0.6723316576456357,0.6974050360959365,0,0,-5.57761238764457e-05,9.99571356504802e-05
+8929,1792837982801128009,16662215000000,1792837982796655032,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6759978377796566,-0.004766094705281409,0.10664107227016098,0.999999976567723,-0.00010282713021018802,-0.00016486863360918466,2.350176267345174e-05,0.6761,-0.0046,0.10675463749965712,1.0,0.0,0.0,0.0,-0.09576571133939515,-0.02566506575720806,0.3780541785412013,-0.0015874255201386162,0.007281291858513027,0.0008010491852117267,0.7095414698466248,0.8245789803741091,0.5455607562184045,0.06326810401876405,-0.055033405362406654,0.00155801489508411,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.3462670416587665,0.9726042197482183,0.892736793846861,-0.0427781200936721,-0.5379316875935375,0.5697370822277765,1.6213854171166837,-0.3780541785412013,0.7286486232698227,0.7286486232698227,0.8123050360959239,0,0,-6.0579676396137157e-05,-9.99999208702917e-05
+9018,1792837983543118112,16662956999999,1792837983540653856,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6759999077528667,-0.004769913521997681,0.10660611564886126,0.9999999777964358,-9.915368789934621e-05,-0.00015740939899347496,3.5225269520670283e-05,0.6761,-0.0046,0.10670919482052421,1.0,0.0,0.0,0.0,-0.11461980081604806,-0.04111953729760498,0.4543896725403683,-0.002276671791294538,0.008282630094063062,0.0007535146911716126,0.6906873803699719,0.8091245088337122,0.6218962502175714,0.06257885774760813,-0.05403206712685662,0.001510480401043996,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.39201006812739364,0.9786049072892988,0.8352739944151201,-0.010884980478516803,-0.49726041989966324,0.5709826123624577,1.6213854171166837,-0.4543896725403683,0.7861114227015636,0.7861114227015636,0.9236050360959116,0,0,-6.442866634234624e-05,-9.999839431363284e-05
+9098,1792837984210047439,16663624000000,1792837984208664054,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.676005265304253,-0.004770942126500762,0.10657358147726588,0.9999999797115077,-9.36277201489547e-05,-0.00014553738766113946,4.5525458516361695e-05,0.6761,-0.0046,0.1066655535407949,1.0,0.0,0.0,0.0,-0.12821947262325328,-0.04689579092764873,0.5432198391669274,-0.002322476792087566,0.0092778047585255,0.0006953809066876121,0.6770877085627667,0.8033482552036685,0.7107264168441306,0.0625330527468151,-0.05303689246239418,0.0014523466165599955,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.3754178690516421,0.9944428502792086,0.6815357927839031,-0.0019441710331220368,-0.40581750546079537,0.5752140343334646,1.6213854171166837,-0.5432198391669274,0.9398496243327806,0.9398496243327806,1.023655036095918,0,0,-6.463827622735086e-05,-9.999999025923074e-05
+9191,1792837984985136981,16664399000000,1792837984984663623,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.676009704021762,-0.004778124166529749,0.10654292583022328,0.9999999807676168,-9.276567235547583e-05,-0.00013526918785479794,5.4812473213734714e-05,0.6761,-0.0046,0.10661575264564059,1.0,0.0,0.0,0.0,-0.14270006655581635,-0.057971816081652694,0.6235411931695278,-0.003375163588242497,0.01029338074970064,0.0006334793743374061,0.6626071146302036,0.7922722300496645,0.7910477708467311,0.06148036595066017,-0.05202131647121904,0.0013904450842097895,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.4630367301818731,0.91167994378582,0.46472990113806045,0.05249098533352131,-0.24676348467461956,0.5167677530498274,1.6213854171166837,-0.6235411931695278,1.1566555159786231,1.1566555159786231,1.1399050360959913,0,0,-6.484577464297014e-05,9.922177943011973e-05
+9281,1792837985735066795,16665149000000,1792837985728654698,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760116720109307,-0.004780352723559388,0.10650053052577056,0.9999999807471383,-9.095945434558226e-05,-0.00013171683732236337,6.576959733684974e-05,0.6761,-0.0046,0.10656681446424829,1.0,0.0,0.0,0.0,-0.15719367244345284,-0.06349262975314618,0.7144353868881732,-0.0034316418342991636,0.011287994845041595,0.0005738299913136625,0.6481135087425671,0.786751416378171,0.8819419645653763,0.061423887704603504,-0.051026702375878086,0.001330795701186046,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.459100079873023,0.8692871144596801,0.47415362764050506,0.09364954490785153,-0.2596653719879629,0.4821324805251194,1.6213854171166837,-0.7144353868881732,1.1472317894761788,1.1472317894761788,1.2524050360960621,0,0,-6.378015631888635e-05,-9.999954617002089e-05
+9385,1792837986601130823,16666015000000,1792837986596664098,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760175411207665,-0.004785177819620305,0.10646236791368047,0.9999999821014272,-8.368202050448932e-05,-0.00011922103065961733,7.761233979118265e-05,0.6761,-0.0046,0.10651076699563077,1.0,0.0,0.0,0.0,-0.17179584306347828,-0.07111503407311037,0.8047308036968781,-0.0034773153687175165,0.01228277537077628,0.000514851189076573,0.6335113381225417,0.7791290120582068,0.9722373813740812,0.06137821417018515,-0.0500319218501434,0.0012718168989489563,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.5234035105928767,0.8682328032150518,0.20612581359788953,0.11011318054801468,-0.07546498925402208,0.4775126727234336,1.6213854171166837,-0.8047308036968781,1.415259603518794,1.415259603518794,1.382305036096144,0,0,-6.598143422323487e-05,9.974805289936767e-05
+9482,1792837987410172334,16666824000000,1792837987408664182,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760212998982166,-0.004784738220541423,0.10641989277953773,0.9999999823608972,-8.327433342493869e-05,-0.0001113267298260995,8.598147719818299e-05,0.6761,-0.0046,0.10645605700712135,1.0,0.0,0.0,0.0,-0.19035921239507703,-0.07027057531265923,0.8848778362266092,-0.0035222103691865264,0.013329341244609147,0.00046383093725094215,0.6149479687909429,0.779973470818658,1.0523844139038123,0.06133331916971614,-0.048985355976310534,0.0012207966471233255,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.5095255742441581,0.9088620784391408,0.24997626905998196,0.11673559273485813,-0.11227062631287292,0.497327306417896,1.6213854171166837,-0.8848778362266092,1.3714091480567017,1.3714091480567017,1.5036550360962204,0,0,-6.66627097925795e-05,-9.990234614421496e-05
+9574,1792837988176150826,16667590000000,1792837988172654512,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760284239536859,-0.004787031698105273,0.10638217161605719,0.9999999829565159,-9.802418340645492e-05,-9.645945248826622e-05,8.134289063037257e-05,0.6761,-0.0046,0.10640379420702843,1.0,0.0,0.0,0.0,-0.1978731861267985,-0.061558633084001335,0.9728965710450919,-0.003560966619224719,0.014274247007189475,0.00040725797119689337,0.6074339950592215,0.7886854130473159,1.140403148722295,0.06129456291967795,-0.048040450213730206,0.0011642236810692768,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.5535085887620622,1.002416706058182,0.0028256054302182795,0.08517129741439318,0.05897208695657973,0.5582342290328657,1.6213854171166837,-0.9728965710450919,1.6185598116864655,1.6185598116864655,1.6185550360962928,0,0,-7.120102340077571e-05,9.375000361989123e-05
+9662,1792837988910136816,16668324000000,1792837988908654964,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760331413824332,-0.004790966934038665,0.10634153328116049,0.9999999832885266,-0.00010036920672274535,-8.443778684690204e-05,8.753338432946676e-05,0.6761,-0.0046,0.10634681631532868,1.0,0.0,0.0,0.0,-0.2156795361498357,-0.06207817789922976,1.065017646242837,-0.00362955112055028,0.016055213507559674,0.00035714740408740214,0.5896276450361843,0.7881658682320875,1.23252422392004,0.06122597841835239,-0.04625948371336001,0.0011141131139597855,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.6349810158580349,0.8979992642714719,-0.048545390576757046,0.11448427002104145,0.11403021810762529,0.48865433147240933,1.6213854171166837,-1.065017646242837,1.6699308076934407,1.6699308076934407,1.7286550360963622,0,0,-8.186159490966715e-05,8.012964877591173e-05
+9757,1792837989701183153,16669115000000,1792837989700654500,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.676039594237637,-0.004791830976686241,0.10629062890966347,0.9999999833525318,-9.907407707138071e-05,-7.48146096233112e-05,9.656553118390953e-05,0.6761,-0.0046,0.10628286784533325,1.0,0.0,0.0,0.0,-0.2288396985171618,-0.0685501712598171,1.1656953643151728,-0.0036882256262548638,0.017269078945221922,0.0008858696694920396,0.5764674826688582,0.7816938748715001,1.333201941992376,0.061167303912647804,-0.04504561827569776,0.001642835379364423,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.6261141963793307,0.8740539959708045,-0.13967632335529143,0.12297591410465519,0.1688185505607246,0.4725870637384319,1.6213854171166837,-1.1656953643151728,1.761061740471975,1.761061740471975,1.847305036096437,0,0,-8.189052049942103e-05,-5.039032665988259e-05
+9847,1792837990451216203,16669865000000,1792837990444664090,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760490701562188,-0.004796879455721723,0.10624875748252204,0.9999999834459868,-9.89556210203504e-05,-5.6981736890080485e-05,0.00010729285737652831,0.6761,-0.0046,0.10622079528195177,1.0,0.0,0.0,0.0,-0.25361150563433144,-0.06581117168350703,1.256142112277881,-0.003736596299790139,0.01826076980640215,0.001261747679890978,0.5516956755516885,0.7844328744478102,1.4236486899550842,0.06111893323911253,-0.04405392741451753,0.0020187133897633614,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.6739626525959774,0.9947236509070013,-0.21491237659641513,0.07052162065087864,0.22778440107548203,0.5457130693781491,1.6213854171166837,-1.256142112277881,1.8362977937130989,1.8362977937130989,1.9598050360965078,0,0,-8.425612840343012e-05,-9.999443914410761e-05
+9942,1792837991243188377,16670657000000,1792837991240664448,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6760577354169224,-0.004797286156961201,0.10620099785481579,0.9999999831358257,-0.00010548549730592262,-4.261753107934493e-05,0.00011057924148816029,0.6761,-0.0046,0.10615422040477697,1.0,0.0,0.0,0.0,-0.2673183149424122,-0.06307596356762257,1.3662993650899355,-0.002782744577506817,0.019877924401716034,0.001200486485217584,0.5379888662436078,0.7871680825636946,1.5338059427671387,0.06207278496139585,-0.04243677281920365,0.0019574521950899673,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.7378774451582853,0.8689512001181191,-0.46386392217922123,0.12119349685409614,0.4016975964329107,0.46708541847159424,1.6213854171166837,-1.3662993650899355,2.085249339295905,2.085249339295905,2.0786050360965826,0,0,-8.309728917879766e-05,9.995273639174513e-05
+10044,1792837992093197340,16671507000000,1792837992088654961,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.676068093830754,-0.004796894640586626,0.1061485248625983,0.9999999805053988,-0.00015360552064767755,-2.5164872809618133e-05,7.876635969846514e-05,0.6761,-0.0046,0.10608371866457932,1.0,0.0,0.0,0.0,-0.2593414942392447,-0.02974458668180735,1.4679904643913604,-0.0007400142687137706,0.019169762806770185,0.001140190699284874,0.5459656869467753,0.8204994594495099,1.6354970420685635,0.0641155152701889,-0.043144934414149495,0.0018971564091572574,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.7486001651475732,0.851271899593663,-0.592669646641864,0.13796102330991059,0.4826535151481973,0.46180664154936096,1.6213854171166837,-1.4679904643913604,2.214055063758548,2.214055063758548,2.206105036096663,0,0,-8.396028279980682e-05,9.994654689838284e-05
+10134,1792837992843149089,16672257000000,1792837992840654706,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760767327003798,-0.004798874629048861,0.10610004662657699,0.9999999800473478,-0.0001554530313666044,-1.1785424151986864e-05,8.392631889873191e-05,0.6761,-0.0046,0.10602126747977669,1.0,0.0,0.0,0.0,-0.26972943984970366,-0.026465136583677218,1.5582144155113922,-0.0007863873904678936,0.020244123035256592,0.0010830067368565758,0.5355777413363163,0.82377890954764,1.7257209931885953,0.06406914214843477,-0.04207057418566309,0.0018399724467289592,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.8313296171286296,0.8777192864732586,-0.6788408239103487,0.12397859324744959,0.560693431723199,0.4788638015385809,1.6213854171166837,-1.5582144155113922,2.3002262410270324,2.3002262410270324,2.318605036096734,0,0,-8.220170285147687e-05,9.997410818496916e-05
+10219,1792837993551255353,16672965000000,1792837993544654839,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6760852759758446,-0.00479400192116942,0.1060518386584816,0.9999999797014594,-0.0001554304781267108,1.8632072254808948e-06,8.875719657933959e-05,0.6761,-0.0046,0.10596244006922596,1.0,0.0,0.0,0.0,-0.2924122784397398,-0.02040429851035963,1.648719795668996,0.00016134282357874175,0.022152273709707418,0.001048792601824828,0.5128949027462801,0.8298397476209576,1.8162263733461992,0.06501687236248141,-0.04016242351121226,0.0018057583116972114,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.8637805707408223,0.8285506508290176,-0.8134267459242714,0.14464640828609882,0.6521029127907311,0.4447645339903936,1.6213854171166837,-1.648719795668996,2.434812163040955,2.434812163040955,2.4248050360968008,0,0,-8.273400381867001e-05,9.986905333126401e-05
+10303,1792837994251276352,16673665000000,1792837994244664015,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6760949173813335,-0.0048010441208953935,0.10601111237288985,0.9999999780796376,-0.00016028051570579147,1.6740334177278605e-05,9.650650859213337e-05,0.6761,-0.0046,0.10590131639736011,1.0,0.0,0.0,0.0,-0.3016289915778435,-0.017432492699473223,1.728636708215125,0.00012170010223201688,0.023147783166655916,0.0009987631447350587,0.5036781896081765,0.832811553431844,1.8961432858923282,0.06497722964113468,-0.039166914054263764,0.0017557288546074421,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.8952545661577818,0.8636635678459498,-0.8239109405483058,0.13210914680600158,0.6657399950884205,0.4628122531200033,1.6213854171166837,-1.728636708215125,2.4452963576649895,2.4452963576649895,2.529805036096867,0,0,-9.093674393642471e-05,-9.459360658515265e-05
+10398,1792837995043246717,16674456999999,1792837995040654859,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761007840362084,-0.004801977727851019,0.10594840814553953,0.9999999760179854,-0.00017214370091936615,2.7587468948146894e-05,9.493350559423104e-05,0.6761,-0.0046,0.10582662142730362,1.0,0.0,0.0,0.0,-0.31804244350633387,-0.009057528701428286,1.8295704817284681,0.0010683348086246852,0.024120266505501857,0.0009423627251186957,0.4872647376796861,0.8411865174298889,1.9970770594056713,0.06592386434752735,-0.038194430715417824,0.0016993284349910791,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.9438681261153783,0.8333571291257162,-0.9327091892572297,0.1505463849444947,0.7437810525314442,0.444731875361016,1.6213854171166837,-1.8295704817284681,2.5540946063739134,2.5540946063739134,2.6486050360969418,0,0,-9.553240836876332e-05,-7.521968744950697e-05
+10488,1792837995793241729,16675206999999,1792837995788654735,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761073200640101,-0.004807514232913371,0.10588836247844176,0.9999999731876128,-0.00018589478429471056,3.739688043876661e-05,9.54580558202464e-05,0.6761,-0.0046,0.10575493407776998,1.0,0.0,0.0,0.0,-0.3163748487542573,-0.007385777719742137,1.9299050420964161,0.0010770584391436439,0.02409864105934527,0.0008616997246187509,0.48893233243176265,0.8428582684115751,2.0974116197736192,0.06593258797804631,-0.03821605616157441,0.0016186654344911343,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.9766274750455356,0.8938380053655784,-1.0183441807375115,0.1357913987779371,0.808463998903909,0.4861446216138099,1.6213854171166837,-1.9299050420964161,2.6397295978541955,2.6397295978541955,2.7611050360970126,0,0,-9.423195751065284e-05,-9.961013544413361e-05
+10580,1792837996560281197,16675973999999,1792837996556655818,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761125317483193,-0.0048098434183020105,0.1058223426536959,0.9999999709538171,-0.0001939599283668596,4.63869188490522e-05,9.88080418548069e-05,0.6761,-0.0046,0.10567873841677282,1.0,0.0,0.0,0.0,-0.32763673314332736,-0.004934588066963896,2.01042682807602,0.001027647340540852,0.02509035982668488,0.0016108671076962165,0.4776704480426926,0.8453094580643533,2.1779334057532234,0.06588317687944352,-0.0372243373942348,0.0023678328175686,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.0483576130516217,0.858663557046886,-1.2248220864283728,0.14763500126775234,0.9567782728970081,0.46015094470861945,1.6213854171166837,-2.01042682807602,2.8462075035450565,2.8462075035450565,2.876155036097085,0,0,-0.00010238756583261376,9.990236002200276e-05
+10683,1792837997418201792,16676831999999,1792837997416654436,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761245754874763,-0.004811301161674396,0.10575826340263231,0.9999999690739764,-0.000197781129031645,6.687139004215473e-05,9.851777850561198e-05,0.6761,-0.0046,0.10558957895704278,1.0,0.0,0.0,0.0,-0.32848835924661485,-0.0006600568424836029,2.1099116136563874,0.0009890079512001743,0.026056604513825785,0.0009724278847765633,0.4768188219394051,0.8495839892888336,2.2774181913335907,0.06584453749010284,-0.036258092707093896,0.0017293935946489467,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.0701703917316432,0.8142368234030103,-1.3126180349314533,0.16534738650284944,1.0185556207099635,0.4300943020881482,1.6213854171166837,-2.1099116136563874,2.9340034520481373,2.9340034520481373,3.004855036097166,0,0,-0.00010458773218727379,9.999978209241362e-05
+10771,1792837998151280502,16677564999999,1792837998144655172,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6761319716241454,-0.004811724517532682,0.10568982263642547,0.9999999868908586,4.1191187216484664e-05,7.921743186411615e-05,9.843287898826952e-05,0.6761,-0.0046,0.1055093842399398,1.0,0.0,0.0,0.0,-0.32905668844983144,0.010703731407915917,2.1811429880139515,0.001987214843268942,0.026045756973775792,0.001727203503890304,0.4762504927361885,0.8609477775392331,2.348649565691155,0.06684274438217161,-0.03626894024714389,0.0024841692137626873,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.0732817062067093,1.017893497148952,-1.37395855381792,0.08711133258133245,1.0591447028871162,0.5247817495466937,1.6213854171166837,-2.1811429880139515,2.995343970934604,2.995343970934604,3.1148050360972355,0,0,-0.00011696755871789944,-9.999999025923074e-05
+10861,1792837998901317014,16678314999999,1792837998900664366,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761397845332502,-0.00481827682270284,0.105611956531018,0.9999999862845423,1.760641994811401e-05,9.292353626314127e-05,9.964441712554679e-05,0.6761,-0.0046,0.10541429717396597,1.0,0.0,0.0,0.0,-0.33864820592253314,0.017178179919158376,2.2711873278051686,0.0019439543579612,0.027039274813032935,0.001669201265038373,0.4666589752634868,0.8674222260504756,2.438693905482372,0.06679948389686387,-0.035275422407886746,0.0024261669749107563,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.0811377437621013,1.083813276703637,-1.447450279035694,0.06600605878200883,1.1037034983422263,0.5596902618137329,1.6213854171166837,-2.2711873278051686,3.0688356961523775,3.0688356961523775,3.2273050360973063,0,0,-0.00013652201939359643,-9.991305979640259e-05
+10942,1792837999576297707,16678990000000,1792837999568654786,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6761482354681263,-0.004823505160579445,0.10552737005994638,0.9999999847048258,-4.0279019576828435e-06,0.00010570049282840602,0.00010413642263118716,0.6761,-0.0046,0.10531795089377625,1.0,0.0,0.0,0.0,-0.3441120658177902,0.015277871857852454,2.360605519574765,0.0029388212691930093,0.027001477693580182,0.001607199586994927,0.46119511536822977,0.8655219179891697,2.5281120972519684,0.06779435080809568,-0.0353132195273395,0.0023641652968673104,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1429656847907304,0.8967038266886103,-1.6439696576703053,0.13734941364722553,1.2443574083234485,0.4529908761161878,1.6213854171166837,-2.360605519574765,3.265355074786989,3.265355074786989,3.32855503609737,0,0,-0.00014522200005443053,9.981987045127311e-05
+11015,1792838000185312794,16679598999999,1792838000180664164,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761511486490338,-0.004826053267640822,0.10545164140138025,0.9999999838303268,-1.8075853707916756e-05,0.00011042273513607053,0.00010612395452579918,0.6761,-0.0046,0.10522875747313724,1.0,0.0,0.0,0.0,-0.336981104820143,0.018615395094312648,2.4417791512589817,0.0019118746071923043,0.02700194171753166,0.0015315687917904525,0.468326076365877,0.8688594412256299,2.609285728936185,0.06676740414609497,-0.03531275550338802,0.002288534501662836,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1693831048730703,0.8527189020476373,-1.6721535457828913,0.168626785720533,1.2651395867510091,0.4436974463978083,1.6213854171166837,-2.4417791512589817,3.293538962899575,3.293538962899575,3.4199050360974277,0,0,-0.00014740842139568245,-1.2305460766983865e-08
+11099,1792838000885341387,16680299000000,1792838000884664012,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6761590124715194,-0.004827185209856193,0.10536320472205264,0.9999999815384126,-3.705002758278789e-05,0.00012310450327494965,0.00010880540222676088,0.6761,-0.0046,0.10512582645400627,1.0,0.0,0.0,0.0,-0.33469025624678045,0.026310943835204936,2.5224357573603657,0.0018694725968178838,0.027997582957785462,0.0014822789248648196,0.4706169249392395,0.8765549899665221,2.689942335037569,0.06672500213572055,-0.03431711426313422,0.002239244634737203,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2011988885220883,0.8897622268079689,-1.7821559787239039,0.1823344041566327,1.3417285253099496,0.49026732525952377,1.6213854171166837,-2.5224357573603657,3.4035413958405876,3.4035413958405876,3.524905036097494,0,0,-0.0001470362783225927,1.4140505195001877e-05
+11178,1792838001543355045,16680956999999,1792838001540654311,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761659042471985,-0.00483530418690596,0.10527961367571474,0.9999999789047752,-6.164335864789332e-05,0.00013484919816830513,0.00010793101410996837,0.6761,-0.0046,0.10502802664690988,1.0,0.0,0.0,0.0,-0.3395536578624454,0.028870680611124855,2.5922140029060947,0.0018559461835571806,0.027982600747933566,0.0014257486974146329,0.46575352332357456,0.8791147267424421,2.759720580583298,0.06671147572245985,-0.034332096472986115,0.0021827144072870163,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1820574360229636,0.7797020793860154,-1.7989339100834307,0.22431953728771895,1.3420578422991942,0.4305417951411992,1.6213854171166837,-2.5922140029060947,3.4203193272001142,3.4203193272001142,3.623605036097556,0,0,-0.0001512199100481545,-9.998212954632208e-05
+11253,1792838002168343950,16681581999999,1792838002160654911,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761724036660535,-0.004837332427518787,0.10518978000306234,0.9999999760351349,-7.278633004859246e-05,0.0001455970326993878,0.00011347355683268836,0.6761,-0.0046,0.1049301077867629,1.0,0.0,0.0,0.0,-0.34001094834527534,0.031553029016015866,2.66207313722145,0.0018160828344608582,0.028980406553980674,0.0013846900539613175,0.4652962328407446,0.8817970751473331,2.8295797148986535,0.06667161237336353,-0.03333429066693901,0.002141655763833701,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2112455979692243,0.9362424465248436,-1.973054973238305,0.19640409743731038,1.4585388755182915,0.5502388448837247,1.6213854171166837,-2.66207313722145,3.594440390354989,3.594440390354989,3.717355036097615,0,0,-0.00016148394238882512,8.605964138397865e-05
+11325,1792838002768361781,16682182000000,1792838002764654307,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761835858363674,-0.004842338430301589,0.10511289151543278,0.9999999716389298,-8.807477714781603e-05,0.00016514413492641164,0.00011460912804873504,0.6761,-0.0046,0.1048309114630558,1.0,0.0,0.0,0.0,-0.34018772063931585,0.023977123103433695,2.732921500309686,0.0018015097156670046,0.028965773429294184,0.001327423582874785,0.4651194605467041,0.8742211692347509,2.900428077986889,0.06665703925456967,-0.0333489237916255,0.0020843892927471684,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2195837389491748,0.7379452362131932,-1.9774667691511247,0.2632075704588431,1.462015486680375,0.4161346028145262,1.6213854171166837,-2.732921500309686,3.5988521862678082,3.5988521862678082,3.807355036097672,0,0,-0.00016742135100086675,-9.999994862586731e-05
+11410,1792838003476340082,16682890000000,1792838003472654219,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6761895790292165,-0.0048423090569722944,0.10500295207175889,0.9999999676253912,-0.00011354636130886507,0.00017727458431188108,0.00010896341823344461,0.6761,-0.0046,0.10471021135007216,1.0,0.0,0.0,0.0,-0.3442517469271057,0.03697232151448471,2.813327835647727,0.0018072395657854068,0.02993016180381259,0.0012775576993337928,0.46105543425891427,0.8872163676458019,2.9808344133249305,0.06666276910468807,-0.03238453541710709,0.002034523409206176,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2519006961575234,0.7470021597770374,-2.1088798996509026,0.26795362734339584,1.5527619236378971,0.4197895173502725,1.6213854171166837,-2.813327835647727,3.7302653167675865,3.7302653167675865,3.9135550360977387,0,0,-0.00017642730914676908,-9.965443334281616e-05
+11494,1792838004176373454,16683590000000,1792838004172654027,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6761951341834782,-0.004845505001315892,0.10488681405623064,0.9999999639184927,-0.0001333705246791584,0.0001862433490900728,0.0001055063778184736,0.6761,-0.0046,0.1045835476615476,1.0,0.0,0.0,0.0,-0.3401301755828256,0.040476329388855814,2.9136146412092843,0.0017418733966516747,0.029938695413436765,0.0011971701898585271,0.46517700560319436,0.890720375520173,3.0811212188864876,0.06659740293555434,-0.032376001807482915,0.0019541358997309105,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2724004297070262,0.8334742370154471,-2.1773886546943713,0.2519022499258883,1.601831487261073,0.47608187983578654,1.6213854171166837,-2.9136146412092843,3.7987740718110548,3.7987740718110548,4.01855503609775,0,0,-0.00018353553723623873,-9.932393382617306e-05
+11562,1792838004743395099,16684157000000,1792838004736663787,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762062321882345,-0.004846681935639146,0.10479392999187166,0.9999999583589799,-0.00014607816190166767,0.00020461769520047304,0.00010732041774076883,0.6761,-0.0046,0.10447827729457489,1.0,0.0,0.0,0.0,-0.34390384879625063,0.03269293206983248,2.980204612904003,0.001729315289183797,0.029926438590256434,0.0011470454742864807,0.4614033323897693,0.8829369782011497,3.1477111905812065,0.06658484482808646,-0.03238825863066325,0.001904011184158864,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2578362400159075,0.8342422098807621,-2.3265543844675953,0.2638096738161669,1.6927725277847891,0.47913564263213326,1.6213854171166837,-2.980204612904003,3.947939801584279,3.947939801584279,4.103605036097552,0,0,-0.0001863303354055284,-4.726727377766507e-06
+11642,1792838005410393444,16684824000000,1792838005408654264,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762091478101879,-0.004854613798727906,0.1046728738462837,0.9999999553844374,-0.0001564653966071313,0.00020751081195038596,0.00011459419713622852,0.6761,-0.0046,0.10434981114154039,1.0,0.0,0.0,0.0,-0.3409780083539153,0.025692136955484668,3.033588522812093,0.0006694344694170989,0.030943803976964973,0.0011043294712630974,0.4643291728321047,0.8759361830868019,3.2010951004892965,0.06552496400831977,-0.03137089324395471,0.0018612951811354808,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.332871911707694,0.8156339865061265,-2.4297469276974586,0.2736356995742252,1.7812279132872426,0.46848443636306514,1.6213854171166837,-3.033588522812093,4.0511323448141425,4.0511323448141425,4.203655036097318,0,0,-0.00020074783950854857,9.921875407237763e-05
+11716,1792838006026407550,16685439999999,1792838006024654113,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762187486589281,-0.004859032860205794,0.10456131653298675,0.999999961703858,-5.8059140036825974e-05,0.00022469999126199612,0.00011905543732747276,0.6761,-0.0046,0.10421902041450595,1.0,0.0,0.0,0.0,-0.35142934688558597,0.011582204546201735,3.0933762711772177,-0.0001374419040096747,0.030949052331173225,0.0010439717226589248,0.453877834300434,0.861826250677519,3.260882848854421,0.06471808763489299,-0.031365644889746455,0.0018009374325313081,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.316124325725508,0.8818229819025976,-2.3971013378171033,0.23798888060721166,1.7567730161147632,0.4735903842611643,1.6213854171166837,-3.0933762711772177,4.018486754933787,4.018486754933787,4.296055036097103,0,0,-0.00022380118234607694,-9.999999025923074e-05
+11781,1792838006568361572,16685982000000,1792838006560654360,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762294029487159,-0.004856057496157113,0.10444881898290377,0.9999999559306729,-8.241723933868058e-05,0.00024260379915719542,0.00011803521434656157,0.6761,-0.0046,0.10409196721274531,1.0,0.0,0.0,0.0,-0.34970993604661504,0.012633772113398556,3.1333061960606243,-0.0003713548511039,0.030944153262058585,0.0012080539327092956,0.4555972451394049,0.8628778182447158,3.3008127737378277,0.06448417468779877,-0.031370543958861095,0.001965019642581679,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.3292852203607524,0.7202592079733314,-2.5043824194414825,0.31769782110540323,1.8234613079513602,0.3967986896014606,1.6213854171166837,-3.1333061960606243,4.1257678365581665,4.1257678365581665,4.377355036096914,0,0,-0.00024651674413875133,-9.999999025923074e-05
+11850,1792838007143412150,16686557000000,1792838007136654789,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762327775152085,-0.004859905414583508,0.10430697702166294,0.9999999522840389,-9.948325995418102e-05,0.0002484843855307624,0.0001234235611181976,0.6761,-0.0046,0.10394318702064502,1.0,0.0,0.0,0.0,-0.3400293258331925,0.008759335347646391,3.1725051653970917,-0.001372786607345286,0.03042348955493905,0.0009643408987730455,0.46527785535282745,0.8590033814789636,3.340011743074295,0.06348274293155738,-0.03189120766598063,0.001721306608645429,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2874885970832888,0.7906170065684772,-2.474337513688732,0.32046433451579126,1.793334621482325,0.4584976167645231,1.6213854171166837,-3.1725051653970917,4.095722930805415,4.095722930805415,4.4636050360967126,0,0,-0.0002702472128121843,-9.999999025923074e-05
+11903,1792838007585371232,16686999000000,1792838007584663961,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762305496301841,-0.0048640396726271976,0.1041835831743773,0.9999999510050932,-0.00011365773233802003,0.00024401375116658128,0.00013027618614756695,0.6761,-0.0046,0.10381957707161527,1.0,0.0,0.0,0.0,-0.33925154179842865,-0.01125705581956904,3.173369405956004,-0.0023929146064421147,0.029970064382297462,0.0009413571991716109,0.4660556393875913,0.8389869903117482,3.3408759836332074,0.06246261493246055,-0.03234463283862222,0.0016983229090439943,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2800053238076008,0.7251677785826774,-2.5517861501745305,0.3465744970820224,1.8405321840430464,0.4127737415002325,1.6213854171166837,-3.173369405956004,4.173171567291214,4.173171567291214,4.529905036096558,0,0,-0.0002906048587145423,-9.999999025923074e-05
+11964,1792838008093454655,16687507000000,1792838008092654457,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762347005902737,-0.004863741648836968,0.10403652917799801,0.9999999458431432,-0.00013558928186080881,0.0002552026427947991,0.00012745090323734967,0.6761,-0.0046,0.10366551090464762,1.0,0.0,0.0,0.0,-0.3292445127577914,-0.033981848711960305,3.1725636648246156,-0.0033882590156083595,0.028975254286147056,0.0009160744840547089,0.4760626684282286,0.8162621974193569,3.340070242501819,0.06146727052329431,-0.033339442934772624,0.0016730401939270923,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2657370774651848,0.7121119465962781,-2.5355616890695414,0.36432744584732923,1.825540736642089,0.40463377619618085,1.6213854171166837,-3.1725636648246156,4.156947106186225,4.156947106186225,4.6061050360963804,0,0,-0.00031600485376623153,-9.999999025923074e-05
+12014,1792838008510393752,16687924000000,1792838008504655275,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.676232670127498,-0.004866566102761365,0.10389193859027135,0.9999999457457288,-0.0001358746156179897,0.0002542307245669974,0.00012983155059184128,0.6761,-0.0046,0.10352940008147604,1.0,0.0,0.0,0.0,-0.3097154581262403,-0.04814018674350973,3.185507832022271,-0.005432013196835499,0.029003952133931685,0.0008840851956706194,0.49559172305977967,0.8021038593878075,3.3530144096994743,0.05942351634206717,-0.033310745086987996,0.0016410509055430028,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2704709824803335,0.7424958636599014,-2.5177660504821944,0.36146684420199365,1.8142367681286238,0.4297930289422416,1.6213854171166837,-3.185507832022271,4.139151467598878,4.139151467598878,4.668655036096235,0,0,-0.00033685484970433075,-9.999999025923074e-05
+12064,1792838008926425267,16688340000000,1792838008924655570,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762269429837084,-0.004868041664156723,0.10374338889320904,0.9999999493671474,-0.00012502074625177058,0.0002422975525645798,0.0001355369912314537,0.6761,-0.0046,0.10338495246484392,1.0,0.0,0.0,0.0,-0.2904180828170684,-0.08457707238068501,3.1810551648197687,-0.007421192113445947,0.027067711705028197,0.0008365145907081486,0.5148890983689516,0.7656669737506322,3.348561742496972,0.05743433742545672,-0.035246985515891484,0.001593480300580532,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1765905031831931,0.6485108423287959,-2.5862691491097416,0.4052334337224501,1.8343645728381202,0.37468724547028165,1.6213854171166837,-3.1810551648197687,4.2076545662264255,4.2076545662264255,4.731055036096089,0,0,-0.00035765484565217074,-9.999999025923074e-05
+12112,1792838009326449969,16688740000000,1792838009320654874,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762324918815805,-0.004869649873057474,0.10359596955621594,0.9999999493480564,-6.08051500358158e-05,0.0002618946118339507,0.00014304088603471387,0.6761,-0.0046,0.10323790052736426,1.0,0.0,0.0,0.0,-0.29768972374152225,-0.1018797093163365,3.151572825260079,-0.009520394867885869,0.02706441093077952,0.0008362446714655196,0.5076174574444977,0.7483643368149807,3.3190794029372825,0.0553351346710168,-0.03525028629014016,0.001593210381337903,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1746808563777407,0.6885015595981369,-2.5105543911510075,0.3908183963112406,1.786882630360921,0.39283958515039896,1.6213854171166837,-3.151572825260079,4.131939808267691,4.131939808267691,4.791055036095949,0,0,-0.00037765484175586304,-9.999999025923074e-05
+12157,1792838009701386540,16689115000000,1792838009700654551,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762215479040611,-0.004874190133562969,0.10344450990821286,0.9999999548567112,-9.40181115058349e-05,0.00023263416355652462,0.00013700868804490917,0.6761,-0.0046,0.10309277371239253,1.0,0.0,0.0,0.0,-0.2786752152098817,-0.12816202124668719,3.1475079220938347,-0.011471058826083964,0.02608940258098264,0.0008016795934588233,0.5266319659761383,0.72208202488463,3.315014499771038,0.0533844707128187,-0.03622529463993704,0.0015586453033312067,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1909658812238668,0.6836911916208355,-2.5015094242794933,0.4179201296226652,1.7902756432086468,0.3982951798060034,1.6213854171166837,-3.1475079220938347,4.122894841396177,4.122894841396177,4.847305036095818,0,0,-0.00039640483810307457,-9.999999025923074e-05
+12204,1792838010093461817,16689507000000,1792838010092654766,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.676238102668552,-0.004872565527784069,0.10330237965915043,0.9999999477771853,-0.00010575660208972967,0.0002528066876308824,0.00014419712525005888,0.6761,-0.0046,0.10293355121660644,1.0,0.0,0.0,0.0,-0.3065625075053102,-0.10678503049864307,3.099641538935947,-0.010487875216599732,0.02810711900141504,0.0008813150075134258,0.49874467368070974,0.7434590156326741,3.2671481166131504,0.054367654322302936,-0.03420757821950464,0.0016382807173858092,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.265951386808016,0.6626659900496356,-2.384044209276679,0.4350986178022278,1.7277224837803011,0.38451261340567444,1.6213854171166837,-3.099641538935947,4.005429626393362,4.005429626393362,4.906105036095681,0,0,-0.000416004834284693,-9.999999025923074e-05
+12247,1792838010451427185,16689865000000,1792838010448654124,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762303441786395,-0.004873087900768947,0.1031400241764836,0.999999948629189,-0.00012063765761277981,0.0002416020845585423,0.00014580628221189224,0.6761,-0.0046,0.10278142633655847,1.0,0.0,0.0,0.0,-0.2923461356978726,-0.14237355291409293,3.088212425071043,-0.012508544172431607,0.02713590043745983,0.0008534675113387432,0.5129610454881474,0.7078704932172243,3.2557190027482465,0.05234698536647106,-0.03517879678345985,0.0016104332212111265,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1993813671203686,0.6908787289709537,-2.4584434828398694,0.429325518110522,1.762563208120343,0.4022746982185704,1.6213854171166837,-3.088212425071043,4.079828899956553,4.079828899956553,4.959805036095556,0,0,-0.0004339048307974976,-9.999999025923074e-05
+12288,1792838010793470844,16690206999999,1792838010792654836,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762242128055198,-0.004875644206225079,0.10298065117596848,0.9999999491540971,-0.00013106921133100244,0.000233362532456903,0.0001466201142521286,0.6761,-0.0046,0.10263011533499705,1.0,0.0,0.0,0.0,-0.2766118806145458,-0.17026086657489203,3.0578756878622615,-0.014921208953866588,0.026175703431375853,0.0008366313716467613,0.5286953005714742,0.6799831795564252,3.225382265539465,0.04993432058503608,-0.03613899378954383,0.0015935970815191447,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.188074947200079,0.5372215610590878,-2.432282289931435,0.4854114868293194,1.7450820699140033,0.3058664082594473,1.6213854171166837,-3.0578756878622615,4.053667707048119,4.053667707048119,5.011105036095437,0,0,-0.00045100482746615454,-9.999999025923074e-05
+12328,1792838011126381052,16690540000000,1792838011124654457,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6762193913459816,-0.004880213432260153,0.10281965445409953,0.999999956552228,-5.937487060524711e-05,0.00022717992025217802,0.00015232306241881103,0.6761,-0.0046,0.10247716682799252,1.0,0.0,0.0,0.0,-0.28365349816072116,-0.1990941583334792,3.016817398428736,-0.017020536869554702,0.026234330108953867,0.0008395921996514721,0.5216536830252988,0.651149887797838,3.184323976105939,0.047834992669347966,-0.036080367111965814,0.0015965579095238555,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2056297777029237,0.6361250955617236,-2.446858231979057,0.46239890958724206,1.7600780295298422,0.3762533835355958,1.6213854171166837,-3.016817398428736,4.0682436490957405,4.0682436490957405,5.06105503609532,0,0,-0.0004676548242224784,-9.999999025923074e-05
+12365,1792838011435388588,16690848999999,1792838011428654462,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762168612994173,-0.004878150940954084,0.10266533213994378,0.9999999567704959,-8.636664325599879e-05,0.0002219885692851412,0.00014547765758546414,0.6761,-0.0046,0.1023302821877743,1.0,0.0,0.0,0.0,-0.27559891147050763,-0.2232450611151996,2.9763850591918897,-0.018563086613488225,0.025333550715379183,0.0008468156471259833,0.5297082697155123,0.6269989850161176,3.143891636869093,0.04629244292541444,-0.0369811465055405,0.0016037813569983667,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.2188152753970403,0.6836399439076457,-2.3052387196443767,0.4658050488082927,1.674983116271,0.40716541647233173,1.6213854171166837,-2.9763850591918897,3.9266241367610606,3.9266241367610606,5.107405036095212,0,0,-0.00048310482121258067,-9.999999025923074e-05
+12403,1792838011751379474,16691165000000,1792838011748654965,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762134375143164,-0.004883906862101899,0.10249972987802385,0.9999999556979716,-0.0001055619405193626,0.00021362533459884812,0.00015253790429200676,0.6761,-0.0046,0.102175132564759,1.0,0.0,0.0,0.0,-0.2827737533513319,-0.25985664662291263,2.945174205324112,-0.020587917241164606,0.025299494818535502,0.0008466420339561097,0.522533427834688,0.5903873995084046,3.1126807830013155,0.04426761229773806,-0.03701520240238418,0.001603607743828493,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.213294539565658,0.505868923452646,-2.373537122638778,0.5118043912381919,1.7225114886175588,0.2941843220309854,1.6213854171166837,-2.945174205324112,3.9949225397554615,3.9949225397554615,5.154805036095102,0,0,-0.0004989048181344976,-9.999999025923074e-05
+12436,1792838012026413080,16691439999999,1792838012020654475,DOWN_FORCE_DETACH,2,0.0603,0.060302358120679855,0.6762041578439787,-0.004890754133865821,0.10234160383538453,0.9999999556336902,-0.00010919628509661646,0.00019952029377228413,0.0001686514326219577,0.6761,-0.0046,0.10203604999014168,1.0,0.0,0.0,0.0,-0.2965453152753432,-0.28237008584469714,2.894405904802481,-0.023677167221659086,0.026376851030886328,0.0008671141839492868,0.5087618659106767,0.5678739602866201,3.061912482479684,0.04117836231724358,-0.03593784619003335,0.0016240798938216702,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.137938284657782,0.5634002852909828,-2.192881043369454,0.49453763061053163,1.5899889193510086,0.3315568686899462,1.6213854171166837,-2.894405904802481,3.814266460486138,3.814266460486138,5.1960550360950055,0,0,-0.0005126548154557861,-9.999999025923074e-05
+12471,1792838012318488999,16691732000000,1792838012312654349,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761924818132893,-0.004896614463024633,0.10217161245039781,0.9999999554333426,-0.0001176088064697702,0.00018231606651715888,0.00018304425032571382,0.6761,-0.0046,0.10188423048444528,1.0,0.0,0.0,0.0,-0.2967106859830596,-0.33084899852569594,2.832361985933542,-0.026725743509303547,0.026453770997639285,0.0008826351151152796,0.5085964952029604,0.5193950476056213,2.9998685636107454,0.03812978602959912,-0.035860926223280395,0.001639600824987663,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1095389951687888,0.5427200805577642,-2.1418967954941532,0.5058171690679534,1.553369878878786,0.32275875500745344,1.6213854171166837,-2.832361985933542,3.7632822126108367,3.7632822126108367,5.239855036094903,0,0,-0.0005272548126114815,-9.999999025923074e-05
+12505,1792838012601483858,16692015000000,1792838012596655077,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761845350806055,-0.0048874804698765565,0.10200472556318628,0.9999999558015704,-0.00016282562831434135,0.0001723707673027661,0.00015367450941576765,0.6761,-0.0046,0.10173302222286768,1.0,0.0,0.0,0.0,-0.2756959268857876,-0.33391623603848775,2.7522570527052426,-0.026655159769647066,0.024836114046915915,0.0009282401058717637,0.5296112543002324,0.5163278100928295,2.919763630382446,0.0382003697692556,-0.037478583174003766,0.001685205815744147,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1490634013905103,0.5213819765865714,-2.0686650674916254,0.5134319628334824,1.5209627531168772,0.30897359437788374,1.6213854171166837,-2.7522570527052426,3.6900504846083093,3.6900504846083093,5.2823050360948045,0,0,-0.0005414048098548438,-9.999999025923074e-05
+12538,1792838012876485261,16692290000000,1792838012876654443,DOWN_FORCE_DETACH,2,0.0603,0.06030169874429703,0.6761858513007185,-0.004895468044669946,0.10185348721721411,0.9999999550607463,-0.000154384618435595,0.00016651955665719856,0.00017250506216108896,0.6761,-0.0046,0.10158225215052726,1.0,0.0,0.0,0.0,-0.2957073579473406,-0.3660655880887554,2.6813687499647005,-0.028728522047819727,0.025855761567076918,0.0009716805162955778,0.5095998232386794,0.4841784580425618,2.848875327641904,0.03612700749108294,-0.03645893565384276,0.0017286462261679612,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1759768194968618,0.44058484787796864,-2.1046393453898515,0.5410760512380921,1.549165628486864,0.2576938244871077,1.6213854171166837,-2.6813687499647005,3.726024762506535,3.726024762506535,5.323555036094708,0,0,-0.0005551548071761322,-9.999999025923074e-05
+12576,1792838013191460756,16692605000000,1792838013184654794,DOWN_SETTLE,2,0.0603,0.060302358120679855,0.6761708744319237,-0.004892045858217149,0.10169247872146314,0.9999999710883358,-2.533186812253572e-05,0.00014094917121915007,0.00016958130687833085,0.6761,-0.0046,0.10145292625533185,1.0,0.0,0.0,0.0,-0.286687419917407,-0.3824879307929206,2.5806459472819654,-0.030742340703898585,0.0255732541278157,0.0010254925048640666,0.518619761268613,0.4677561153383966,2.7481525249591687,0.03411318883500408,-0.03674144309310398,0.00178245821473645,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,1.1859553370215274,0.537668519906314,-1.9077680783747157,0.46491175105280874,1.4456051190035093,0.24693421155276435,1.6213854171166837,-2.5806459472819654,3.5291534954913995,0.0,0.0,0,0,-0.00011119961319461439,0.001123228416107216
+12664,1792838013924506125,16693338000000,1792838013920654458,DOWN_PEAK_HOLD,2,0.0603,0.060302358120679855,0.6761493974894432,-0.004891928930512744,0.10162850067575556,0.9999999758324222,-3.7585256174076465e-05,0.00010059868806395709,0.00016806329754248366,0.6761,-0.0046,0.10144284366042385,1.0,0.0,0.0,0.0,-0.27300214558299973,-0.4111147122816662,2.203977674285975,-0.03265005789810996,0.02367271896867288,0.0002495774883138058,0.5323050356030202,0.439129333849651,2.3714842519631785,0.03220547164079271,-0.0386419782522468,0.0010065431981861892,0.80530718118602,0.8502440461313172,0.16750657767720317,0.06485552953890267,-0.06231469722091968,0.0007569657098723834,1,0.9663200300408286,0.5098712212846218,-1.393429286950897,0.4677623043008562,1.0616564223087408,0.23405629838728,1.6213854171166837,-2.203977674285975,3.0148147040675806,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_12.5/press_depth_02/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792837977562892836,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.008864075e-09,-7.663981949e-11,-1.519795401e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450497e-01,-1.185951381e-04,8.303258776e-01
+1,8.833333333e-01,DOWN_FORCE_DETACH,1792837978429744432,3.985974740e-07,-1.264723038e-06,3.973770076e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.899711835e-08,-3.686434706e-09,-5.860835817e-09,7.019560314e-01,-2.353545806e-05,8.601434846e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451167e-01,-1.185987478e-04,8.303258719e-01
+2,1.716666667e+00,DOWN_FORCE_DETACH,1792837979265964986,1.171938834e-06,-4.176543059e-06,-7.378956221e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.493859143e-08,-5.700497201e-09,-8.994729739e-09,7.019568048e-01,-2.644727808e-05,8.601357083e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451426e-01,-1.186007619e-04,8.303258688e-01
+3,2.516666667e+00,DOWN_FORCE_DETACH,1792837980051452714,-3.367843952e-06,-2.688402636e-06,-4.289433662e-05,-4.435515443e-06,-6.038364312e-06,-4.007251504e-05,-5.160251644e-06,-6.064233399e-06,-3.997484111e-05,7.019522650e-01,-2.495913766e-05,8.601001929e-01,7.019511973e-01,-2.830909934e-05,8.601030147e-01,7.027398874e-01,-1.246592948e-04,8.302859029e-01
+4,3.016666667e+00,DOWN_FORCE_DETACH,1792837980542817000,3.305517096e-05,-1.503352425e-05,-5.437552149e-05,3.230672213e-05,-1.203221389e-05,-5.323016308e-05,3.422211816e-05,-1.207724698e-05,-5.308410198e-05,7.019886880e-01,-3.730425927e-05,8.600887117e-01,7.019879395e-01,-3.430294892e-05,8.600898571e-01,7.027792698e-01,-1.306723084e-04,8.302727937e-01
+5,3.733333333e+00,DOWN_FORCE_DETACH,1792837981247028140,2.735886127e-05,-1.344433790e-05,-9.393121164e-05,2.501706846e-05,-1.128097264e-05,-9.517425889e-05,2.592811046e-05,-1.134999973e-05,-9.489788035e-05,7.019829917e-01,-3.571507293e-05,8.600491560e-01,7.019806499e-01,-3.355170766e-05,8.600479130e-01,7.027709758e-01,-1.299450611e-04,8.302309799e-01
+6,4.533333333e+00,DOWN_FORCE_DETACH,1792837982033093811,2.366772521e-05,-1.763140934e-05,-1.213141391e-04,2.121194011e-05,-1.509084307e-05,-1.153708173e-04,2.159672867e-05,-1.517674930e-05,-1.151903515e-04,7.019793005e-01,-3.990214437e-05,8.600217731e-01,7.019768448e-01,-3.736157809e-05,8.600277164e-01,7.027666444e-01,-1.337718107e-04,8.302106874e-01
+7,5.266666667e+00,DOWN_FORCE_DETACH,1792837982803554403,2.655075907e-05,-1.465639098e-05,-1.536169730e-04,2.267354195e-05,-1.778268393e-05,-1.361861590e-04,2.294998154e-05,-1.789127693e-05,-1.360462792e-04,7.019821836e-01,-3.692712600e-05,8.599894703e-01,7.019783064e-01,-4.005341895e-05,8.600069011e-01,7.027679977e-01,-1.364863383e-04,8.301898315e-01
+8,6.016666667e+00,DOWN_FORCE_DETACH,1792837983541003439,3.350402014e-05,-2.155550072e-05,-1.831733366e-04,2.910497670e-05,-1.997047577e-05,-1.765982297e-04,2.930566504e-05,-2.006344351e-05,-1.763545550e-04,7.019891368e-01,-4.382623574e-05,8.599599139e-01,7.019847378e-01,-4.224121079e-05,8.599664890e-01,7.027743533e-01,-1.386585049e-04,8.301495232e-01
+9,6.683333333e+00,DOWN_FORCE_DETACH,1792837984211949338,3.583447886e-05,-2.104153694e-05,-2.193061565e-04,3.583613175e-05,-2.101147329e-05,-2.190352404e-04,3.602971626e-05,-2.112306696e-05,-2.186556872e-04,7.019914673e-01,-4.331227196e-05,8.599237811e-01,7.019914689e-01,-4.328220832e-05,8.599240520e-01,7.027810774e-01,-1.397181284e-04,8.301072221e-01
+10,7.416666667e+00,DOWN_FORCE_DETACH,1792837984982356034,3.885817939e-05,-2.553890218e-05,-2.525533899e-04,3.837855702e-05,-2.881766490e-05,-2.403207884e-04,3.847634918e-05,-2.895274823e-05,-2.400380513e-04,7.019944910e-01,-4.780963720e-05,8.598905338e-01,7.019940114e-01,-5.108839993e-05,8.599027665e-01,7.027835240e-01,-1.475478096e-04,8.300858397e-01
+11,8.183333333e+00,DOWN_FORCE_DETACH,1792837985735234694,4.224118554e-05,-3.045213399e-05,-2.923571079e-04,3.899364224e-05,-3.337093038e-05,-2.822052530e-04,3.869716398e-05,-3.351546594e-05,-2.819469295e-04,7.019978740e-01,-5.272286902e-05,8.598507301e-01,7.019946265e-01,-5.564166540e-05,8.598608820e-01,7.027837448e-01,-1.521105273e-04,8.300439308e-01
+12,9.016666667e+00,DOWN_FORCE_DETACH,1792837986603508295,4.744292584e-05,-3.550656624e-05,-3.316042126e-04,4.496490079e-05,-3.525102596e-05,-3.250669634e-04,4.458497723e-05,-3.541018514e-05,-3.247982437e-04,7.020030757e-01,-5.777730127e-05,8.598114830e-01,7.020005977e-01,-5.752176098e-05,8.598180203e-01,7.027896327e-01,-1.540052466e-04,8.300010795e-01
+13,9.833333333e+00,DOWN_FORCE_DETACH,1792837987407819239,5.064261834e-05,-3.642982914e-05,-3.737059005e-04,5.166324123e-05,-3.579248312e-05,-3.645811015e-04,5.126629128e-05,-3.598392657e-05,-3.643286832e-04,7.020062754e-01,-5.870056416e-05,8.597693813e-01,7.020072961e-01,-5.806321815e-05,8.597785061e-01,7.027963140e-01,-1.545789880e-04,8.299615491e-01
+14,1.058333333e+01,DOWN_FORCE_DETACH,1792837988176820787,5.798608228e-05,-3.950954125e-05,-4.106479363e-04,5.639099201e-05,-3.537124836e-05,-4.076889448e-04,5.578669046e-05,-3.554967063e-05,-4.074136034e-04,7.020136189e-01,-6.178027628e-05,8.597324393e-01,7.020120238e-01,-5.764198338e-05,8.597353983e-01,7.028008344e-01,-1.541447320e-04,8.299184642e-01
+15,1.133333333e+01,DOWN_FORCE_DETACH,1792837988912866746,6.079603063e-05,-4.164447547e-05,-4.580251359e-04,6.310339421e-05,-4.405920119e-05,-4.482785523e-04,6.248857370e-05,-4.429353324e-05,-4.480230105e-04,7.020164288e-01,-6.391521049e-05,8.596850621e-01,7.020187362e-01,-6.632993622e-05,8.596948087e-01,7.028075363e-01,-1.628885947e-04,8.298778548e-01
+16,1.213333333e+01,DOWN_FORCE_DETACH,1792837989699697204,6.982349838e-05,-4.718487978e-05,-5.018491769e-04,6.878446049e-05,-4.518199661e-05,-4.904828568e-04,6.814988692e-05,-4.541650720e-05,-4.902355574e-04,7.020254563e-01,-6.945561480e-05,8.596412381e-01,7.020244173e-01,-6.745273163e-05,8.596526044e-01,7.028131976e-01,-1.640115686e-04,8.298356422e-01
+17,1.283333333e+01,DOWN_FORCE_DETACH,1792837990453367224,7.953779545e-05,-4.524835289e-05,-5.431041784e-04,7.617939493e-05,-4.824334742e-05,-5.298138674e-04,7.559255368e-05,-4.848331817e-05,-5.296160662e-04,7.020351706e-01,-6.751908791e-05,8.595999831e-01,7.020318122e-01,-7.051408245e-05,8.596132734e-01,7.028206402e-01,-1.670783796e-04,8.297962617e-01
+18,1.360000000e+01,DOWN_FORCE_DETACH,1792837991239804316,8.975426748e-05,-4.619582551e-05,-5.892226513e-04,8.563207964e-05,-4.619194173e-05,-5.909689331e-04,8.498752801e-05,-4.642055129e-05,-5.906560085e-04,7.020453871e-01,-6.846656053e-05,8.595538646e-01,7.020412649e-01,-6.846267676e-05,8.595521183e-01,7.028300352e-01,-1.650156127e-04,8.297352218e-01
+19,1.440000000e+01,DOWN_FORCE_DETACH,1792837992091068731,9.700723280e-05,-4.291251434e-05,-6.456367893e-04,9.166665810e-05,-4.379469212e-05,-6.363952313e-04,9.104187380e-05,-4.401260657e-05,-6.361562277e-04,7.020526400e-01,-6.518324936e-05,8.594974504e-01,7.020472995e-01,-6.606542714e-05,8.595066920e-01,7.028360896e-01,-1.626076680e-04,8.296897215e-01
+20,1.511666667e+01,DOWN_FORCE_DETACH,1792837992846970260,1.075145154e-04,-4.914952175e-05,-6.927530159e-04,1.005283817e-04,-4.798705177e-05,-6.773251477e-04,1.001212142e-04,-4.820205539e-05,-6.770965624e-04,7.020631473e-01,-7.142025677e-05,8.594503342e-01,7.020561612e-01,-7.025778679e-05,8.594657621e-01,7.028451689e-01,-1.667971168e-04,8.296487812e-01
+21,1.583333333e+01,DOWN_FORCE_DETACH,1792837993549107427,1.140579012e-04,-5.152807680e-05,-7.431616441e-04,1.121818950e-04,-5.131375054e-05,-7.388220488e-04,1.119207329e-04,-5.154801955e-05,-7.385250324e-04,7.020696907e-01,-7.379881183e-05,8.593999256e-01,7.020678147e-01,-7.358448556e-05,8.594042652e-01,7.028569684e-01,-1.701430810e-04,8.295873527e-01
+22,1.655000000e+01,DOWN_FORCE_DETACH,1792837994252988250,1.241937608e-04,-5.118759295e-05,-7.843343733e-04,1.224536288e-04,-4.663774884e-05,-7.817713440e-04,1.225311384e-04,-4.686302653e-05,-7.814922498e-04,7.020798266e-01,-7.345832797e-05,8.593587529e-01,7.020780864e-01,-6.890848386e-05,8.593613159e-01,7.028675788e-01,-1.654580879e-04,8.295443855e-01
+23,1.731666667e+01,DOWN_FORCE_DETACH,1792837995041507016,1.307513416e-04,-5.319828971e-05,-8.458123068e-04,1.311252858e-04,-5.642534547e-05,-8.433482727e-04,1.311618420e-04,-5.668614735e-05,-8.430213249e-04,7.020863842e-01,-7.546902473e-05,8.592972749e-01,7.020867581e-01,-7.869608049e-05,8.592997390e-01,7.028762095e-01,-1.752812088e-04,8.294828564e-01
+24,1.805000000e+01,DOWN_FORCE_DETACH,1792837995794396239,1.380579743e-04,-5.973406891e-05,-9.043631266e-04,1.357938895e-04,-5.722461620e-05,-9.057916525e-04,1.354423340e-04,-5.748917500e-05,-9.054624227e-04,7.020936908e-01,-8.200480393e-05,8.592387241e-01,7.020914267e-01,-7.949535122e-05,8.592372956e-01,7.028804900e-01,-1.760842364e-04,8.294204154e-01
+25,1.863333333e+01,DOWN_FORCE_DETACH,1792837996567161182,1.428218493e-04,-6.124897248e-05,-9.693736719e-04,1.426035636e-04,-6.118031527e-05,-9.694113972e-04,1.419968697e-04,-6.145432122e-05,-9.688893369e-04,7.020984547e-01,-8.351970751e-05,8.591737136e-01,7.020982364e-01,-8.345105030e-05,8.591736758e-01,7.028870445e-01,-1.800493826e-04,8.293569884e-01
+26,1.931666667e+01,DOWN_FORCE_DETACH,1792837997414457157,1.531110660e-04,-5.741039755e-05,-1.038027761e-03,1.505704099e-04,-6.248626310e-05,-1.030279283e-03,1.498299250e-04,-6.278815457e-05,-1.029852253e-03,7.021087439e-01,-7.968113258e-05,8.591050595e-01,7.021062032e-01,-8.475699812e-05,8.591128080e-01,7.028948776e-01,-1.813832160e-04,8.292960255e-01
+27,2.006666667e+01,DOWN_FORCE_DETACH,1792837998151827791,1.625963036e-04,-6.324405905e-05,-1.102373987e-03,1.621129412e-04,-5.992031619e-05,-1.089926807e-03,1.615758368e-04,-6.020969952e-05,-1.089586950e-03,7.021182291e-01,-8.551479407e-05,8.590407133e-01,7.021177458e-01,-8.219105121e-05,8.590531604e-01,7.029066235e-01,-1.788047609e-04,8.292362908e-01
+28,2.083333333e+01,DOWN_FORCE_DETACH,1792837998905067821,1.699076531e-04,-6.691769608e-05,-1.180928888e-03,1.697390388e-04,-6.683945415e-05,-1.175559981e-03,1.687158724e-04,-6.714737948e-05,-1.175061837e-03,7.021255405e-01,-8.918843111e-05,8.589621584e-01,7.021253719e-01,-8.911018918e-05,8.589675273e-01,7.029137636e-01,-1.857424409e-04,8.291508159e-01
+29,2.151666667e+01,DOWN_FORCE_DETACH,1792837999576764252,1.788046427e-04,-7.360457101e-05,-1.265517574e-03,1.778115457e-04,-6.997071007e-05,-1.260831679e-03,1.763854808e-04,-7.030169798e-05,-1.260263573e-03,7.021344375e-01,-9.587530604e-05,8.588775697e-01,7.021334444e-01,-9.224144509e-05,8.588822556e-01,7.029214332e-01,-1.888967594e-04,8.290656142e-01
+30,2.213333333e+01,DOWN_FORCE_DETACH,1792838000182895407,1.824178493e-04,-7.613644054e-05,-1.342668521e-03,1.806967857e-04,-7.287635277e-05,-1.329553755e-03,1.787419494e-04,-7.325995611e-05,-1.329027604e-03,7.021380507e-01,-9.840717556e-05,8.588004187e-01,7.021363296e-01,-9.514708779e-05,8.588135335e-01,7.029237896e-01,-1.918550175e-04,8.289968502e-01
+31,2.273333333e+01,DOWN_FORCE_DETACH,1792838000887593780,1.891366253e-04,-8.229847946e-05,-1.430860638e-03,1.875933139e-04,-7.802291482e-05,-1.412208628e-03,1.851315975e-04,-7.841090758e-05,-1.411676739e-03,7.021447694e-01,-1.045692145e-04,8.587122266e-01,7.021432261e-01,-1.002936498e-04,8.587308786e-01,7.029301793e-01,-1.970059690e-04,8.289142010e-01
+32,2.340000000e+01,DOWN_FORCE_DETACH,1792838001542055209,1.967237527e-04,-8.288914607e-05,-1.511957685e-03,1.957659309e-04,-7.937495761e-05,-1.494853474e-03,1.929185458e-04,-7.977312436e-05,-1.494373218e-03,7.021523566e-01,-1.051598811e-04,8.586311296e-01,7.021513987e-01,-1.016456926e-04,8.586482338e-01,7.029379662e-01,-1.983681858e-04,8.288315046e-01
+33,2.403333333e+01,DOWN_FORCE_DETACH,1792838002164587593,2.039683900e-04,-8.533680334e-05,-1.598433459e-03,2.003202027e-04,-8.515849621e-05,-1.579792558e-03,1.967904865e-04,-8.558140156e-05,-1.579349637e-03,7.021596012e-01,-1.076075384e-04,8.585446538e-01,7.021559530e-01,-1.074292312e-04,8.585632947e-01,7.029418382e-01,-2.041764630e-04,8.287465281e-01
+34,2.463333333e+01,DOWN_FORCE_DETACH,1792838002770708954,2.113426652e-04,-9.231367592e-05,-1.686086196e-03,2.106166798e-04,-9.083103408e-05,-1.683307301e-03,2.066261644e-04,-9.132511151e-05,-1.682729394e-03,7.021669755e-01,-1.145844109e-04,8.584570010e-01,7.021662495e-01,-1.131017691e-04,8.584597799e-01,7.029516738e-01,-2.099201729e-04,8.286431484e-01
+35,2.533333333e+01,DOWN_FORCE_DETACH,1792838003475097935,2.208782242e-04,-9.199980056e-05,-1.789842434e-03,2.183950207e-04,-9.286578837e-05,-1.772518955e-03,2.139774608e-04,-9.339480148e-05,-1.772063809e-03,7.021765110e-01,-1.142705356e-04,8.583532448e-01,7.021740278e-01,-1.151365234e-04,8.583705683e-01,7.029590251e-01,-2.119898629e-04,8.285538140e-01
+36,2.605000000e+01,DOWN_FORCE_DETACH,1792838004180291368,2.276919962e-04,-9.780241264e-05,-1.903844215e-03,2.275454801e-04,-9.797710700e-05,-1.903848983e-03,2.222040365e-04,-9.855186216e-05,-1.903289897e-03,7.021833248e-01,-1.200731477e-04,8.582392430e-01,7.021831783e-01,-1.202478420e-04,8.582392383e-01,7.029672517e-01,-2.171469236e-04,8.284225879e-01
+37,2.661666667e+01,DOWN_FORCE_DETACH,1792838004745158725,2.347473676e-04,-1.009208911e-04,-2.001999658e-03,2.341547427e-04,-9.680518589e-05,-1.995693591e-03,2.281893022e-04,-9.735937757e-05,-1.995082357e-03,7.021903802e-01,-1.231916262e-04,8.581410876e-01,7.021897876e-01,-1.190759209e-04,8.581473936e-01,7.029732370e-01,-2.159544390e-04,8.283307954e-01
+38,2.726666667e+01,DOWN_FORCE_DETACH,1792838005408034488,2.419124307e-04,-1.064007193e-04,-2.116740972e-03,2.410194352e-04,-1.019836548e-04,-2.101321872e-03,2.342921056e-04,-1.025764006e-04,-2.100790732e-03,7.021975452e-01,-1.286714544e-04,8.580263463e-01,7.021966523e-01,-1.242543898e-04,8.580417654e-01,7.029793398e-01,-2.211714621e-04,8.282250870e-01
+39,2.786666667e+01,DOWN_FORCE_DETACH,1792838006030467734,2.496896332e-04,-1.021586321e-04,-2.231565493e-03,2.500156808e-04,-1.088252611e-04,-2.228175937e-03,2.424738107e-04,-1.094458703e-04,-2.227522137e-03,7.022053225e-01,-1.244293671e-04,8.579115217e-01,7.022056485e-01,-1.310959961e-04,8.579149113e-01,7.029875215e-01,-2.280409318e-04,8.280983556e-01
+40,2.840000000e+01,DOWN_FORCE_DETACH,1792838006571300108,2.579658650e-04,-1.068564149e-04,-2.344602478e-03,2.575520767e-04,-1.104098930e-04,-2.335946414e-03,2.492611718e-04,-1.110090328e-04,-2.335280540e-03,7.022135987e-01,-1.291271499e-04,8.577984848e-01,7.022131849e-01,-1.326806280e-04,8.578071408e-01,7.029943089e-01,-2.296040942e-04,8.279905972e-01
+41,2.886666667e+01,DOWN_FORCE_DETACH,1792838007145011244,2.642437681e-04,-1.105750753e-04,-2.484549904e-03,2.609920763e-04,-1.079463190e-04,-2.470061363e-03,2.513551867e-04,-1.085263826e-04,-2.469299372e-03,7.022198766e-01,-1.328458103e-04,8.576585373e-01,7.022166249e-01,-1.302170540e-04,8.576730259e-01,7.029964029e-01,-2.271214440e-04,8.278565784e-01
+42,2.931666667e+01,DOWN_FORCE_DETACH,1792838007586476930,2.611188048e-04,-1.141390831e-04,-2.609304459e-03,2.609553020e-04,-1.142358948e-04,-2.609630006e-03,2.496415530e-04,-1.148163604e-04,-2.608821364e-03,7.022167516e-01,-1.364098181e-04,8.575337828e-01,7.022165881e-01,-1.365066298e-04,8.575334572e-01,7.029946892e-01,-2.334114218e-04,8.277170564e-01
+43,2.981666667e+01,DOWN_FORCE_DETACH,1792838008095125515,2.653239408e-04,-1.143913344e-04,-2.756273908e-03,2.640785237e-04,-1.161602451e-04,-2.738971841e-03,2.514196976e-04,-1.167769664e-04,-2.738258860e-03,7.022209568e-01,-1.366620694e-04,8.573868133e-01,7.022197113e-01,-1.384309801e-04,8.574041154e-01,7.029964674e-01,-2.353720278e-04,8.275876189e-01
+44,3.020000000e+01,DOWN_FORCE_DETACH,1792838008505926286,2.634818348e-04,-1.145932195e-04,-2.897881237e-03,2.626404847e-04,-1.143256135e-04,-2.882309902e-03,2.481859860e-04,-1.149162770e-04,-2.881478373e-03,7.022191147e-01,-1.368639546e-04,8.572452060e-01,7.022182733e-01,-1.365963485e-04,8.572607773e-01,7.029932337e-01,-2.335113385e-04,8.274443994e-01
+45,3.060000000e+01,DOWN_FORCE_DETACH,1792838008930299127,2.567518698e-04,-1.208230650e-04,-3.052593252e-03,2.513165209e-04,-1.167226828e-04,-3.045707408e-03,2.340441499e-04,-1.173025085e-04,-3.044740478e-03,7.022123847e-01,-1.430938000e-04,8.570904940e-01,7.022069493e-01,-1.389934178e-04,8.570973798e-01,7.029790918e-01,-2.358975699e-04,8.272811373e-01
+46,3.090000000e+01,DOWN_FORCE_DETACH,1792838009323325561,2.644213623e-04,-1.196875814e-04,-3.192903350e-03,2.576377154e-04,-1.209982687e-04,-3.188869336e-03,2.391270068e-04,-1.216081368e-04,-3.187844366e-03,7.022200542e-01,-1.419583165e-04,8.569501839e-01,7.022132705e-01,-1.432690037e-04,8.569542179e-01,7.029841747e-01,-2.402031982e-04,8.271380334e-01
+47,3.128333333e+01,DOWN_FORCE_DETACH,1792838009700031679,2.502932308e-04,-1.209257993e-04,-3.347957462e-03,2.479649347e-04,-1.213057030e-04,-3.329577837e-03,2.270824061e-04,-1.219290233e-04,-3.328664249e-03,7.022059260e-01,-1.431965343e-04,8.567951298e-01,7.022035978e-01,-1.435764380e-04,8.568135094e-01,7.029721301e-01,-2.405240847e-04,8.269972135e-01
+48,3.168333333e+01,DOWN_FORCE_DETACH,1792838010093591263,2.686718432e-04,-1.226649382e-04,-3.490507975e-03,2.691063413e-04,-1.259610117e-04,-3.483669999e-03,2.479501234e-04,-1.266565171e-04,-3.482751179e-03,7.022243047e-01,-1.449356732e-04,8.566525793e-01,7.022247392e-01,-1.482317467e-04,8.566594172e-01,7.029929978e-01,-2.452515785e-04,8.268431266e-01
+49,3.205000000e+01,DOWN_FORCE_DETACH,1792838010453130015,2.616323277e-04,-1.252165582e-04,-3.650791293e-03,2.651967964e-04,-1.223516255e-04,-3.640567831e-03,2.418354842e-04,-1.230500909e-04,-3.639648035e-03,7.022172651e-01,-1.474872933e-04,8.564922959e-01,7.022208296e-01,-1.446223605e-04,8.565025194e-01,7.029868832e-01,-2.416451523e-04,8.266862297e-01
+50,3.238333333e+01,DOWN_FORCE_DETACH,1792838010797001001,2.559635932e-04,-1.245758491e-04,-3.812892630e-03,2.535459857e-04,-1.299034820e-04,-3.802352100e-03,2.272895619e-04,-1.306425034e-04,-3.801399559e-03,7.022115964e-01,-1.468465841e-04,8.563301946e-01,7.022091788e-01,-1.521742170e-04,8.563407351e-01,7.029723372e-01,-2.492375648e-04,8.265244782e-01
+51,3.270000000e+01,DOWN_FORCE_DETACH,1792838011124950678,2.515634788e-04,-1.316215666e-04,-3.970254978e-03,2.513847044e-04,-1.315333863e-04,-3.970273309e-03,2.230171770e-04,-1.323009735e-04,-3.969249749e-03,7.022071963e-01,-1.538923016e-04,8.561728323e-01,7.022070175e-01,-1.538041214e-04,8.561728139e-01,7.029680649e-01,-2.508960349e-04,8.263566280e-01
+52,3.301666667e+01,DOWN_FORCE_DETACH,1792838011436160463,2.474304740e-04,-1.282503514e-04,-4.127555494e-03,2.458016614e-04,-1.304706241e-04,-4.112381288e-03,2.153018699e-04,-1.311984851e-04,-4.111506374e-03,7.022030633e-01,-1.505210864e-04,8.560155317e-01,7.022014345e-01,-1.527413591e-04,8.560307060e-01,7.029603495e-01,-2.497935465e-04,8.262143714e-01
+53,3.333333333e+01,DOWN_FORCE_DETACH,1792838011747440520,2.428146901e-04,-1.372451111e-04,-4.292312993e-03,2.423381687e-04,-1.308731971e-04,-4.286039857e-03,2.094106138e-04,-1.315910909e-04,-4.285133726e-03,7.021984475e-01,-1.595158462e-04,8.558507742e-01,7.021979710e-01,-1.531439322e-04,8.558570474e-01,7.029544583e-01,-2.501861523e-04,8.260407440e-01
+54,3.361666667e+01,DOWN_FORCE_DETACH,1792838012025585069,2.347270186e-04,-1.408535443e-04,-4.451283798e-03,2.346859620e-04,-1.408192492e-04,-4.451012261e-03,1.991979430e-04,-1.415742537e-04,-4.450054237e-03,7.021903598e-01,-1.631242793e-04,8.556918034e-01,7.021903188e-01,-1.630899842e-04,8.556920750e-01,7.029442456e-01,-2.601693151e-04,8.258758235e-01
+55,3.391666667e+01,DOWN_FORCE_DETACH,1792838012320672973,2.232092763e-04,-1.467069855e-04,-4.621255856e-03,2.216703926e-04,-1.430323643e-04,-4.605163060e-03,1.833768083e-04,-1.437930922e-04,-4.604399324e-03,7.021788421e-01,-1.689777205e-04,8.555218314e-01,7.021773032e-01,-1.653030993e-04,8.555379242e-01,7.029284245e-01,-2.623881536e-04,8.257214785e-01
+56,3.420000000e+01,DOWN_FORCE_DETACH,1792838012599036054,2.172824065e-04,-1.365750979e-04,-4.782294566e-03,2.171652225e-04,-1.365914319e-04,-4.781986867e-03,1.763335863e-04,-1.373077809e-04,-4.781099364e-03,7.021729152e-01,-1.588458330e-04,8.553607927e-01,7.021727980e-01,-1.588621669e-04,8.553611004e-01,7.029213813e-01,-2.559028423e-04,8.255447784e-01
+57,3.448333333e+01,DOWN_FORCE_DETACH,1792838012877256815,2.164204753e-04,-1.455674551e-04,-4.939400417e-03,2.163311507e-04,-1.455808350e-04,-4.939392512e-03,1.735901160e-04,-1.463250114e-04,-4.938599194e-03,7.021720533e-01,-1.678381901e-04,8.552036868e-01,7.021719640e-01,-1.678515700e-04,8.552036947e-01,7.029186378e-01,-2.649200728e-04,8.253872786e-01
+58,3.480000000e+01,DOWN_SETTLE,1792838013189033591,2.010085724e-04,-1.479519193e-04,-5.100139039e-03,2.008846686e-04,-1.480080495e-04,-5.100000095e-03,1.551047032e-04,-1.487702664e-04,-5.099362868e-03,7.021566414e-01,-1.702226543e-04,8.550429482e-01,7.021565175e-01,-1.702787846e-04,8.550430871e-01,7.029001524e-01,-2.673653278e-04,8.252265149e-01
+59,3.553333333e+01,DOWN_PEAK_HOLD,1792838013925395082,1.799666641e-04,-1.420283409e-04,-5.164386958e-03,1.810626995e-04,-1.435676445e-04,-5.159326102e-03,1.328834545e-04,-1.443805700e-04,-5.159753350e-03,7.021355995e-01,-1.642990760e-04,8.549787003e-01,7.021366955e-01,-1.658383795e-04,8.549837611e-01,7.028779311e-01,-2.629756314e-04,8.251661244e-01

Fixed/digit/ball_15A_12.5/press_depth_02/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.3759e-02,6.9502e-02,2.4543e+00,-4.1574e-02,3.9166e-02,1.0311e-04,3.5126e-04,-2.1905e-06,-2.7895e-05,8.0839e-07,2.4833e-05,-6.4448e-07,3.5237e-04,2.4854e-05
+1,8.8333e-01,DOWN_FORCE_DETACH,1.7331e-04,4.5445e-02,6.9211e-02,2.4533e+00,-4.1536e-02,3.9992e-02,7.3780e-05,1.2037e-02,-2.9241e-04,-1.0660e-03,3.8844e-05,8.5078e-04,-2.9973e-05,1.2088e-02,8.5219e-04
+2,1.7167e+00,DOWN_FORCE_DETACH,3.4874e-04,4.9959e-02,6.8993e-02,2.4527e+00,-4.1517e-02,4.0311e-02,5.5391e-05,1.6551e-02,-5.1031e-04,-1.6315e-03,5.7641e-05,1.1698e-03,-4.8361e-05,1.6639e-02,1.1722e-03
+3,2.5167e+00,DOWN_FORCE_DETACH,5.2460e-04,5.6294e-02,8.2207e-02,2.4847e+00,-4.2422e-02,4.0724e-02,4.5008e-05,2.2886e-02,1.2703e-02,3.0352e-02,-8.4727e-04,1.5829e-03,-5.8745e-05,4.0080e-02,1.7964e-03
+4,3.0167e+00,DOWN_FORCE_DETACH,6.9476e-04,3.1755e-02,9.2326e-02,2.4842e+00,-4.3120e-02,3.8991e-02,5.8642e-05,-1.6534e-03,2.2822e-02,2.9845e-02,-1.5452e-03,-1.5039e-04,-4.5110e-05,3.7608e-02,1.5531e-03
+5,3.7333e+00,DOWN_FORCE_DETACH,8.7072e-04,5.1669e-02,9.1532e-02,2.5030e+00,-4.3055e-02,4.0374e-02,2.5611e-05,1.8261e-02,2.2028e-02,4.8682e-02,-1.4799e-03,1.2324e-03,-7.8142e-05,5.6468e-02,1.9275e-03
+6,4.5333e+00,DOWN_FORCE_DETACH,1.0425e-03,5.5919e-02,9.9282e-02,2.4882e+00,-4.3589e-02,4.0683e-02,-2.3652e-05,2.2510e-02,2.9779e-02,3.3834e-02,-2.0145e-03,1.5422e-03,-1.2740e-04,5.0381e-02,2.5402e-03
+7,5.2667e+00,DOWN_FORCE_DETACH,1.2166e-03,5.4161e-02,1.0484e-01,2.4855e+00,-4.3981e-02,4.0558e-02,-6.2253e-05,2.0753e-02,3.5333e-02,3.1190e-02,-2.4067e-03,1.4172e-03,-1.6601e-04,5.1497e-02,2.7979e-03
+8,6.0167e+00,DOWN_FORCE_DETACH,1.3947e-03,5.0087e-02,1.0920e-01,2.4989e+00,-4.4293e-02,4.0254e-02,-9.4748e-05,1.6679e-02,3.9700e-02,4.4497e-02,-2.7180e-03,1.1129e-03,-1.9850e-04,6.1922e-02,2.9437e-03
+9,6.6833e+00,DOWN_FORCE_DETACH,1.5657e-03,4.8543e-02,1.1408e-01,2.4951e+00,-4.4658e-02,4.0147e-02,-1.2113e-04,1.5135e-02,4.4571e-02,4.0709e-02,-3.0836e-03,1.0061e-03,-2.2488e-04,6.2233e-02,3.2514e-03
+10,7.4167e+00,DOWN_FORCE_DETACH,1.7441e-03,4.8866e-02,1.2662e-01,2.5055e+00,-4.5561e-02,4.0160e-02,-1.4543e-04,1.5457e-02,5.7112e-02,5.1188e-02,-3.9866e-03,1.0183e-03,-2.4919e-04,7.8236e-02,4.1222e-03
+11,8.1833e+00,DOWN_FORCE_DETACH,1.9163e-03,4.9727e-02,1.3607e-01,2.5099e+00,-4.6255e-02,4.0219e-02,-1.6737e-04,1.6319e-02,6.6570e-02,5.5564e-02,-4.6799e-03,1.0778e-03,-2.7112e-04,8.8234e-02,4.8100e-03
+12,9.0167e+00,DOWN_FORCE_DETACH,2.0887e-03,4.4275e-02,1.3951e-01,2.5117e+00,-4.6538e-02,3.9836e-02,-1.7246e-04,1.0867e-02,7.0010e-02,5.7375e-02,-4.9628e-03,6.9527e-04,-2.7622e-04,9.1167e-02,5.0189e-03
+13,9.8333e+00,DOWN_FORCE_DETACH,2.2638e-03,3.8530e-02,1.3972e-01,2.5091e+00,-4.6581e-02,3.9438e-02,-1.6071e-04,5.1222e-03,7.0220e-02,5.4786e-02,-5.0066e-03,2.9690e-04,-2.6447e-04,8.9211e-02,5.0223e-03
+14,1.0583e+01,DOWN_FORCE_DETACH,2.4380e-03,3.4091e-02,1.3805e-01,2.5127e+00,-4.6473e-02,3.9124e-02,-1.4012e-04,6.8321e-04,6.8543e-02,5.8310e-02,-4.8987e-03,-1.7136e-05,-2.4388e-04,8.9993e-02,4.9048e-03
+15,1.1333e+01,DOWN_FORCE_DETACH,2.6089e-03,2.9576e-02,1.5454e-01,2.5094e+00,-4.7612e-02,3.8810e-02,-9.7088e-05,-3.8325e-03,8.5032e-02,5.5002e-02,-6.0376e-03,-3.3073e-04,-2.0084e-04,1.0134e-01,6.0500e-03
+16,1.2133e+01,DOWN_FORCE_DETACH,2.7858e-03,2.8082e-02,1.5555e-01,2.5019e+00,-4.7657e-02,3.8713e-02,-4.5153e-05,-5.3261e-03,8.6044e-02,4.7591e-02,-6.0827e-03,-4.2791e-04,-1.4891e-04,9.8472e-02,6.0996e-03
+17,1.2833e+01,DOWN_FORCE_DETACH,2.9601e-03,2.5752e-02,1.6059e-01,2.4991e+00,-4.7999e-02,3.8550e-02,1.4428e-05,-7.6561e-03,9.1082e-02,4.4723e-02,-6.4243e-03,-5.9115e-04,-8.9325e-05,1.0176e-01,6.4520e-03
+18,1.3600e+01,DOWN_FORCE_DETACH,3.1355e-03,2.5483e-02,1.5636e-01,2.5148e+00,-4.7686e-02,3.8515e-02,8.7775e-05,-7.9253e-03,8.6861e-02,6.0461e-02,-6.1110e-03,-6.2654e-04,-1.5978e-05,1.0613e-01,6.1431e-03
+19,1.4400e+01,DOWN_FORCE_DETACH,3.3079e-03,3.0663e-02,1.5197e-01,2.5061e+00,-4.7379e-02,3.8892e-02,1.6305e-04,-2.7447e-03,8.2468e-02,5.1704e-02,-5.8044e-03,-2.4884e-04,5.9297e-05,9.7374e-02,5.8100e-03
+20,1.5117e+01,DOWN_FORCE_DETACH,3.4838e-03,3.3948e-02,1.6117e-01,2.4996e+00,-4.8023e-02,3.9134e-02,2.2893e-04,5.3983e-04,9.1665e-02,4.5248e-02,-6.4486e-03,-6.6981e-06,1.2518e-04,1.0223e-01,6.4499e-03
+21,1.5833e+01,DOWN_FORCE_DETACH,3.6555e-03,3.5414e-02,1.6918e-01,2.5129e+00,-4.8554e-02,3.9228e-02,2.7341e-04,2.0057e-03,9.9674e-02,5.8537e-02,-6.9792e-03,8.6449e-05,1.6965e-04,1.1561e-01,6.9818e-03
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+24,1.8050e+01,DOWN_FORCE_DETACH,4.1787e-03,4.5160e-02,1.8400e-01,2.5252e+00,-4.9473e-02,3.9912e-02,1.7919e-04,1.1752e-02,1.1449e-01,7.0841e-02,-7.8987e-03,7.7053e-04,7.5439e-05,1.3515e-01,7.9365e-03
+25,1.8633e+01,DOWN_FORCE_DETACH,4.3544e-03,4.6303e-02,1.8304e-01,2.5165e+00,-4.9378e-02,4.0000e-02,1.1547e-04,1.2895e-02,1.1354e-01,6.2102e-02,-7.8038e-03,8.5863e-04,1.1716e-05,1.3005e-01,7.8509e-03
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+32,2.3400e+01,DOWN_FORCE_DETACH,5.5720e-03,5.7115e-02,2.2758e-01,2.5546e+00,-5.2241e-02,4.0692e-02,-9.6151e-05,2.3707e-02,1.5808e-01,1.0020e-01,-1.0666e-02,1.5508e-03,-1.9990e-04,1.8865e-01,1.0780e-02
+33,2.4033e+01,DOWN_FORCE_DETACH,5.7433e-03,5.8621e-02,2.3781e-01,2.5558e+00,-5.2999e-02,4.0794e-02,-6.5560e-05,2.5213e-02,1.6830e-01,1.0139e-01,-1.1424e-02,1.6529e-03,-1.6931e-04,1.9810e-01,1.1544e-02
+34,2.4633e+01,DOWN_FORCE_DETACH,5.9200e-03,5.4658e-02,2.4678e-01,2.5807e+00,-5.3639e-02,4.0491e-02,-2.9870e-05,2.1250e-02,1.7728e-01,1.2631e-01,-1.2064e-02,1.3496e-03,-1.3362e-04,2.1871e-01,1.2140e-02
+35,2.5333e+01,DOWN_FORCE_DETACH,6.0927e-03,5.0311e-02,2.4711e-01,2.5595e+00,-5.3660e-02,4.0207e-02,-1.4264e-05,1.6902e-02,1.7760e-01,1.0516e-01,-1.2085e-02,1.0659e-03,-1.1802e-04,2.0710e-01,1.2133e-02
+36,2.6050e+01,DOWN_FORCE_DETACH,6.2677e-03,5.2991e-02,2.4641e-01,2.5636e+00,-5.3567e-02,4.0385e-02,-6.0461e-06,1.9583e-02,1.7691e-01,1.0923e-01,-1.1993e-02,1.2440e-03,-1.0980e-04,2.0883e-01,1.2058e-02
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+38,2.7267e+01,DOWN_FORCE_DETACH,6.6149e-03,5.1342e-02,2.6611e-01,2.5958e+00,-5.4786e-02,4.0230e-02,5.3270e-05,1.7934e-02,1.9660e-01,1.4146e-01,-1.3211e-02,1.0885e-03,-5.0483e-05,2.4287e-01,1.3256e-02
+39,2.7867e+01,DOWN_FORCE_DETACH,6.7883e-03,4.7818e-02,2.8388e-01,2.6168e+00,-5.5885e-02,3.9959e-02,1.0175e-04,1.4410e-02,2.1438e-01,1.6248e-01,-1.4310e-02,8.1790e-04,-2.0034e-06,2.6938e-01,1.4334e-02
+40,2.8400e+01,DOWN_FORCE_DETACH,6.9624e-03,4.5083e-02,2.8851e-01,2.6138e+00,-5.6109e-02,3.9757e-02,1.3133e-04,1.1675e-02,2.1900e-01,1.5947e-01,-1.4534e-02,6.1547e-04,2.7577e-05,2.7116e-01,1.4547e-02
+41,2.8867e+01,DOWN_FORCE_DETACH,7.1394e-03,4.5493e-02,2.8548e-01,2.6474e+00,-5.5797e-02,3.9740e-02,1.2705e-04,1.2085e-02,2.1598e-01,1.9309e-01,-1.4223e-02,5.9907e-04,2.3296e-05,2.8996e-01,1.4235e-02
+42,2.9317e+01,DOWN_FORCE_DETACH,7.3118e-03,4.5129e-02,3.0327e-01,2.6401e+00,-5.6957e-02,3.9725e-02,1.1623e-04,1.1721e-02,2.3376e-01,1.8576e-01,-1.5382e-02,5.8342e-04,1.2473e-05,2.9881e-01,1.5393e-02
+43,2.9817e+01,DOWN_FORCE_DETACH,7.4899e-03,4.4409e-02,3.0385e-01,2.6522e+00,-5.6899e-02,3.9675e-02,8.8396e-05,1.1001e-02,2.3434e-01,1.9787e-01,-1.5324e-02,5.3358e-04,-1.5357e-05,3.0691e-01,1.5333e-02
+44,3.0200e+01,DOWN_FORCE_DETACH,7.6604e-03,4.9481e-02,3.0027e-01,2.6823e+00,-5.6542e-02,4.0003e-02,5.1732e-05,1.6073e-02,2.3077e-01,2.2795e-01,-1.4967e-02,8.6223e-04,-5.2021e-05,3.2477e-01,1.4992e-02
+45,3.0600e+01,DOWN_FORCE_DETACH,7.8366e-03,6.7874e-02,3.0980e-01,2.7167e+00,-5.7004e-02,4.1254e-02,-2.0371e-05,3.4466e-02,2.4030e-01,2.6237e-01,-1.5429e-02,2.1133e-03,-1.2412e-04,3.5745e-01,1.5573e-02
+46,3.0900e+01,DOWN_FORCE_DETACH,8.0050e-03,6.0406e-02,3.2372e-01,2.7380e+00,-5.7725e-02,4.0699e-02,-5.7726e-05,2.6998e-02,2.5422e-01,2.8361e-01,-1.6150e-02,1.5581e-03,-1.6148e-04,3.8182e-01,1.6226e-02
+47,3.1283e+01,DOWN_FORCE_DETACH,8.1834e-03,7.2880e-02,3.2369e-01,2.7275e+00,-5.7633e-02,4.1575e-02,-1.1925e-04,3.9472e-02,2.5419e-01,2.7315e-01,-1.6058e-02,2.4337e-03,-2.2300e-04,3.7521e-01,1.6243e-02
+48,3.1683e+01,DOWN_FORCE_DETACH,8.3540e-03,5.4615e-02,3.2952e-01,2.7329e+00,-5.8017e-02,4.0279e-02,-7.3699e-05,2.1207e-02,2.6002e-01,2.7858e-01,-1.6442e-02,1.1375e-03,-1.7745e-04,3.8166e-01,1.6483e-02
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+51,3.2700e+01,DOWN_FORCE_DETACH,8.8788e-03,7.1490e-02,3.2395e-01,2.7552e+00,-5.7397e-02,4.1434e-02,-7.7956e-05,3.8082e-02,2.5445e-01,3.0088e-01,-1.5823e-02,2.2930e-03,-1.8171e-04,3.9588e-01,1.5989e-02
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+54,3.3617e+01,DOWN_FORCE_DETACH,9.4013e-03,6.4553e-02,3.5839e-01,2.7788e+00,-5.9367e-02,4.0916e-02,-6.8853e-05,3.1144e-02,2.8889e-01,3.2440e-01,-1.7793e-02,1.7750e-03,-1.7261e-04,4.3550e-01,1.7882e-02
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+59,3.5533e+01,DOWN_PEAK_HOLD,1.0272e-02,7.5007e-02,3.5797e-01,2.6168e+00,-5.9981e-02,4.1845e-02,-1.6992e-04,4.1598e-02,2.8847e-01,1.6243e-01,-1.8406e-02,2.7040e-03,-2.7367e-04,3.3366e-01,1.8606e-02

Fixed/digit/ball_15A_12.5/press_depth_02/up/camera_frames_60hz.tar

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+size 573440

Fixed/digit/ball_15A_12.5/press_depth_02/up/franka_data.csv

@@ -0,0 +1,61 @@
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+7058,1792837967238912832,16646652999999,1792837967236654687,WAIT_W2,2,0.0603,0.06549790501594543,0.6759678484971804,-0.004431264212470178,0.10663707427567372,0.99999996140466,6.815477684105603e-05,-0.00023726803681383316,-8.770603127075198e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0025063347990599907,0.006190086152043445,0.0005455343713780085,1.1641947397363853e-06,-8.910091768617364e-07,-2.901424694318807e-07,-0.062201241318112006,-0.057910147445361715,-0.019492452239323766,-0.0010315137904330128,2.3213818590983118e-05,0.0010236972101671739,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.140220917970605,0.16956293122919508,2.588824072312783,-0.4001552489769091,-1.9230250360184118,0.028685286011519776,1.6213854171166837,-0.0005455343713780085,-0.9674386551960994,0.0,0.0,0,0,0.0,0.0
+7072,1792837967355933643,16646770000000,1792837967352654741,WAIT_W2,2,0.0603,0.06549790501594543,0.6759661908966329,-0.0044313639961265335,0.10663379066120215,0.9999999608462871,6.776028687661434e-05,-0.00023983281127687664,-8.740168701893944e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0005667029352340036,0.007833770479092776,2.5713654148426524e-05,1.109411729186124e-06,-6.687072315006453e-07,4.1844450209081036e-08,-0.064140873181938,-0.05626646311831238,-0.020012272956553348,-0.001031568573443563,2.343612053634421e-05,0.0010240291970868148,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1691913821892366,0.21072978138275797,2.5315492752766207,-0.4126364739670772,-1.8969534444895038,0.0592323485694973,1.6213854171166837,-2.5713654148426524e-05,-0.910163858159937,0.0,0.0,0,0,0.0,0.0
+7084,1792837967455894660,16646869999999,1792837967452664420,WAIT_W2,2,0.0603,0.06549790501594543,0.6759669043798934,-0.0044336666922677685,0.10663437513348437,0.9999999610555895,6.859530302510851e-05,-0.00023933107743899886,-8.571466513986273e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.0005505265316018831,-0.0002558787145693908,-7.691887233450892e-05,-2.3580630986253306e-08,5.729827046751151e-08,2.1647994053190962e-07,-0.06415704958557011,-0.06435611231197455,-0.020114905483036283,-0.0010327015658037355,2.4162126038312366e-05,0.0010242038325771377,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1386290044626486,0.2085133699147834,2.6128458264904064,-0.40342566702726246,-1.9418301156163011,0.06002788451654201,1.6213854171166837,7.691887233450892e-05,-0.9914604093737227,0.0,0.0,0,0,0.0,0.0
+7095,1792837967546938704,16646961000000,1792837967540663927,WAIT_W2,2,0.0603,0.06549790501594543,0.6759658536352494,-0.004492966842260779,0.10663455242147983,0.999999964667343,3.4785761548584576e-05,-0.00023814294850436668,-6.46997997930514e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22672600301192586,0.20310899621176476,0.006673744116521316,0.0140709566896988,-0.016417091007420864,-7.39167003591338e-05,0.16201842689475388,0.1390087626143596,-0.013364242494180459,0.01303827870452605,-0.01639298617965302,0.000950070652277472,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1129018038922933,0.4024133844017924,2.5268225068141397,-0.4027515604343041,-1.8744130500560197,0.19558110049282668,1.6213854171166837,-0.006673744116521316,-0.905437089697456,0.0,0.0,0,0,0.0,0.0
+7095,1792837967546938704,16646961000000,1792837967540663927,WAIT_W2,2,0.0603,0.06549790501594543,0.6759658536352494,-0.004492966842260779,0.10663455242147983,0.999999964667343,3.4785761548584576e-05,-0.00023814294850436668,-6.46997997930514e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.22672600301192586,0.20310899621176476,0.006673744116521316,0.0140709566896988,-0.016417091007420864,-7.39167003591338e-05,0.16201842689475388,0.1390087626143596,-0.013364242494180459,0.01303827870452605,-0.01639298617965302,0.000950070652277472,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.1129018038922933,0.4024133844017924,2.5268225068141397,-0.4027515604343041,-1.8744130500560197,0.19558110049282668,1.6213854171166837,-0.006673744116521316,-0.905437089697456,0.0,0.0,0,0,0.0,0.0
+7098,1792837967571896366,16646986000000,1792837967564664302,WAIT_W2,2,0.0603,0.06549790501594543,0.6759671870840579,-0.00456329690215786,0.10663978525223157,0.9999999665783904,-1.3417806466865043e-05,-0.00023546347117882707,-5.160425217176359e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5346117344334355,0.5111650192860898,0.03327951899697319,0.036535081354289914,-0.03823047272297321,-0.00014292834095078525,0.4699041583162634,0.4470647856886847,0.013241532386271416,0.03550240336911716,-0.038206367895205366,0.0008810590116858205,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.126773556402954,0.6558199004540372,2.499871523749026,-0.4159330162179309,-1.8607904321298445,0.36745145513948074,1.6213854171166837,-0.03327951899697319,-0.8784861066323424,0.0,0.0,0,0,0.0,0.0
+7098,1792837967571896366,16646986000000,1792837967564664302,WAIT_W2,2,0.0603,0.06549790501594543,0.6759671870840579,-0.00456329690215786,0.10663978525223157,0.9999999665783904,-1.3417806466865043e-05,-0.00023546347117882707,-5.160425217176359e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.5346117344334355,0.5111650192860898,0.03327951899697319,0.036535081354289914,-0.03823047272297321,-0.00014292834095078525,0.4699041583162634,0.4470647856886847,0.013241532386271416,0.03550240336911716,-0.038206367895205366,0.0008810590116858205,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.126773556402954,0.6558199004540372,2.499871523749026,-0.4159330162179309,-1.8607904321298445,0.36745145513948074,1.6213854171166837,-0.03327951899697319,-0.8784861066323424,0.0,0.0,0,0,0.0,0.0
+7100,1792837967588899624,16647003000000,1792837967588654068,WAIT_W2,2,0.0603,0.06549790501594543,0.6759696926706368,-0.004633544642158041,0.10664435856426403,0.9999999662483838,-5.938711193989636e-05,-0.0002306102122967677,-4.730958191218769e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7414694937356576,0.7219578225066161,0.04347183385188972,0.05159817878946717,-0.053769997862797216,-0.00020116994634268484,0.6767619176184856,0.657857588909211,0.023433847241187945,0.050565500804294415,-0.05374589303502937,0.0008228174062939209,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.0991988630324858,0.9781102096228845,2.557326925215596,-0.46742325885885416,-1.8905901825644755,0.5868094292444639,1.6213854171166837,-0.04347183385188972,-0.9359415080989122,0.0,0.0,0,0,0.0,0.0
+7100,1792837967588899624,16647003000000,1792837967588654068,WAIT_W2,2,0.0603,0.06549790501594543,0.6759696926706368,-0.004633544642158041,0.10664435856426403,0.9999999662483838,-5.938711193989636e-05,-0.0002306102122967677,-4.730958191218769e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.7414694937356576,0.7219578225066161,0.04347183385188972,0.05159817878946717,-0.053769997862797216,-0.00020116994634268484,0.6767619176184856,0.657857588909211,0.023433847241187945,0.050565500804294415,-0.05374589303502937,0.0008228174062939209,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.0991988630324858,0.9781102096228845,2.557326925215596,-0.46742325885885416,-1.8905901825644755,0.5868094292444639,1.6213854171166837,-0.04347183385188972,-0.9359415080989122,0.0,0.0,0,0,0.0,0.0
+7102,1792837967605937527,16647020000000,1792837967604663940,WAIT_W2,2,0.0603,0.06288634240627289,0.6759665768495852,-0.0047100484774715195,0.10664259569810777,0.9999999611942169,-0.0001157549472328563,-0.00023350581559585632,-3.361927258645812e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,0.8281100282742186,0.8082932609355041,0.04744826902942774,0.057819033969665604,-0.059161174233094825,-0.0002035469396238749,0.7634024521570466,0.744193027338099,0.02741028241872596,0.05678635598449285,-0.05913706940532698,0.0008204404130127309,-0.064707576117172,-0.06410023359740516,-0.020037986610701775,-0.0010326779851727492,2.4104827767844854e-05,0.0010239873526366058,1,-1.084336593448757,0.9415245619076617,2.5228566891826825,-0.42390400388914046,-1.8655318699172676,0.5666556756270348,1.6213854171166837,-0.04744826902942774,-0.9014712720659988,0.0,0.0,0,0,0.0,0.0
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Fixed/digit/ball_15A_12.5/press_depth_02/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+30,2.233333333e+00,UP_FORCE_RAMP,1792837969142599635,7.812760468e-06,-3.336245925e-04,3.241238395e-05,5.229424361e-06,-3.392530559e-04,1.985854977e-05,6.082559247e-06,-3.412064627e-04,1.995560927e-05,7.019634456e-01,-3.558953275e-04,8.601754996e-01,7.019608622e-01,-3.615237909e-04,8.601629458e-01,7.027511303e-01,-4.598015228e-04,8.303458333e-01
+31,2.333333333e+00,UP_FORCE_RAMP,1792837969290419230,8.254214748e-06,-3.302109980e-04,3.661466170e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.322720665e-05,-3.298248344e-04,3.946080911e-05,7.019638870e-01,-3.524817330e-04,8.601797019e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027582749e-01,-4.484198945e-04,8.303653385e-01
+32,2.500000000e+00,UP_FORCE_RAMP,1792837969469576124,1.175278729e-05,-3.315758397e-04,4.705789908e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.324536963e-05,-3.298255871e-04,3.948711602e-05,7.019673856e-01,-3.538465748e-04,8.601901451e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027582931e-01,-4.484206472e-04,8.303653648e-01
+33,2.650000000e+00,UP_FORCE_RAMP,1792837969617344001,1.093900106e-05,-3.262219024e-04,5.086771615e-05,1.167517498e-05,-3.279176856e-04,3.947825234e-05,1.325515164e-05,-3.298266646e-04,3.949605369e-05,7.019665718e-01,-3.484926374e-04,8.601939550e-01,7.019673080e-01,-3.501884206e-04,8.601825655e-01,7.027583029e-01,-4.484217246e-04,8.303653738e-01
+34,2.800000000e+00,UP_FORCE_RAMP,1792837969771556728,1.218498200e-05,-3.298723974e-04,6.247727503e-05,1.226202753e-05,-3.298536796e-04,6.221905293e-05,1.420061885e-05,-3.317409461e-04,6.208499769e-05,7.019678178e-01,-3.521431325e-04,8.602055645e-01,7.019678948e-01,-3.521244147e-04,8.602053063e-01,7.027592483e-01,-4.503360062e-04,8.303879627e-01
+35,2.900000000e+00,UP_FORCE_RAMP,1792837969879196434,1.134336304e-05,-3.323994445e-04,6.471760179e-05,1.226202753e-05,-3.298536796e-04,6.221905293e-05,1.420697722e-05,-3.317403434e-04,6.214156309e-05,7.019669762e-01,-3.546701795e-04,8.602078048e-01,7.019678948e-01,-3.521244147e-04,8.602053063e-01,7.027592547e-01,-4.503354035e-04,8.303880193e-01
+36,3.083333333e+00,UP_FORCE_RAMP,1792837970059735260,1.012959860e-05,-3.244057070e-04,7.893174595e-05,1.226202753e-05,-3.298536796e-04,6.221905293e-05,1.421622339e-05,-3.317418607e-04,6.217213645e-05,7.019657624e-01,-3.466764420e-04,8.602220190e-01,7.019678948e-01,-3.521244147e-04,8.602053063e-01,7.027592639e-01,-4.503369208e-04,8.303880499e-01
+37,3.150000000e+00,UP_FORCE_RAMP,1792837970126388296,-2.497429074e-05,-3.263922923e-04,7.514557633e-05,-2.472891767e-05,-3.263802184e-04,7.495609745e-05,-2.530779552e-05,-3.282644757e-04,7.476721709e-05,7.019306585e-01,-3.486630274e-04,8.602182328e-01,7.019309039e-01,-3.486509534e-04,8.602180433e-01,7.027197399e-01,-4.468595358e-04,8.304006450e-01
+38,3.266666667e+00,UP_FORCE_RAMP,1792837970256018873,-1.999797613e-05,-3.265548041e-04,9.018367257e-05,-2.472891767e-05,-3.263802184e-04,7.495609745e-05,-2.538759252e-05,-3.282673783e-04,7.479575243e-05,7.019356348e-01,-3.488255391e-04,8.602332709e-01,7.019309039e-01,-3.486509534e-04,8.602180433e-01,7.027196601e-01,-4.468624384e-04,8.304006735e-01
+39,3.433333333e+00,UP_FORCE_RAMP,1792837970452860154,-1.687578189e-05,-3.219409433e-04,1.039807587e-04,-1.835700486e-05,-3.221696868e-04,9.397789069e-05,-1.835676995e-05,-3.240249341e-04,9.382007587e-05,7.019387570e-01,-3.442116783e-04,8.602470680e-01,7.019372758e-01,-3.444404219e-04,8.602370651e-01,7.027266909e-01,-4.426199942e-04,8.304196978e-01
+40,3.550000000e+00,UP_FORCE_RAMP,1792837970567091398,-1.182544297e-05,-3.234469744e-04,1.217222758e-04,-1.337214296e-05,-3.219963507e-04,1.139452007e-04,-1.280179128e-05,-3.238597554e-04,1.137127825e-04,7.019438074e-01,-3.457177094e-04,8.602648095e-01,7.019422607e-01,-3.442670857e-04,8.602570324e-01,7.027322459e-01,-4.424548155e-04,8.304395905e-01
+41,3.666666667e+00,UP_FORCE_RAMP,1792837970682171042,-1.167594533e-05,-3.201151874e-04,1.331675371e-04,-1.337214296e-05,-3.219963507e-04,1.139452007e-04,-1.279735769e-05,-3.238591905e-04,1.137512868e-04,7.019439569e-01,-3.423859224e-04,8.602762548e-01,7.019422607e-01,-3.442670857e-04,8.602570324e-01,7.027322503e-01,-4.424542506e-04,8.304396290e-01
+42,3.800000000e+00,UP_FORCE_RAMP,1792837970812627577,-7.943443630e-06,-3.212722340e-04,1.458498739e-04,-1.086791260e-05,-3.182404601e-04,1.361622567e-04,-9.780749528e-06,-3.201190701e-04,1.359465429e-04,7.019476894e-01,-3.435429691e-04,8.602889371e-01,7.019447649e-01,-3.405111952e-04,8.602792495e-01,7.027352670e-01,-4.387141302e-04,8.304618243e-01
+43,3.966666667e+00,UP_FORCE_RAMP,1792837970976999561,-8.838900768e-06,-3.203407746e-04,1.560265845e-04,-7.360709561e-06,-3.185877190e-04,1.572530179e-04,-5.807609929e-06,-3.204391939e-04,1.569497387e-04,7.019467939e-01,-3.426115096e-04,8.602991138e-01,7.019482721e-01,-3.408584540e-04,8.603003403e-01,7.027392401e-01,-4.390342540e-04,8.304828275e-01
+44,4.133333333e+00,UP_FORCE_RAMP,1792837971173476389,-8.014733893e-06,-3.197188815e-04,1.766213887e-04,-7.360709561e-06,-3.185877190e-04,1.572530179e-04,-5.797176841e-06,-3.204376999e-04,1.570230558e-04,7.019476181e-01,-3.419896165e-04,8.603197086e-01,7.019482721e-01,-3.408584540e-04,8.603003403e-01,7.027392505e-01,-4.390327600e-04,8.304829008e-01
+45,4.283333333e+00,UP_FORCE_RAMP,1792837971321147079,-5.751121486e-06,-3.224055229e-04,1.912031730e-04,-4.934560152e-06,-3.195211793e-04,1.799465969e-04,-2.816969049e-06,-3.213907142e-04,1.796486233e-04,7.019498817e-01,-3.446762580e-04,8.603342904e-01,7.019506983e-01,-3.417919143e-04,8.603230338e-01,7.027422307e-01,-4.399857743e-04,8.305055264e-01
+46,4.400000000e+00,UP_FORCE_RAMP,1792837971435429129,-1.076413217e-05,-3.197109607e-04,1.930451468e-04,-4.934560152e-06,-3.195211793e-04,1.799465969e-04,-2.812892733e-06,-3.213900533e-04,1.796833893e-04,7.019448687e-01,-3.419816958e-04,8.603361324e-01,7.019506983e-01,-3.417919143e-04,8.603230338e-01,7.027422348e-01,-4.399851134e-04,8.305055611e-01
+47,4.533333333e+00,UP_FORCE_RAMP,1792837971566597002,-1.391065153e-05,-3.130487881e-04,2.036352842e-04,-1.040140484e-05,-3.153096668e-04,2.019848321e-04,-8.389221518e-06,-3.171714312e-04,2.016785388e-04,7.019417222e-01,-3.353195232e-04,8.603467225e-01,7.019452314e-01,-3.375804018e-04,8.603450721e-01,7.027366585e-01,-4.357664913e-04,8.305275563e-01
+48,4.666666667e+00,UP_FORCE_RAMP,1792837971697957250,-1.605196538e-05,-3.224209292e-04,2.165678351e-04,-1.040140484e-05,-3.153096668e-04,2.019848321e-04,-8.394916866e-06,-3.171698464e-04,2.017264774e-04,7.019395809e-01,-3.446916642e-04,8.603596551e-01,7.019452314e-01,-3.375804018e-04,8.603450721e-01,7.027366528e-01,-4.357649065e-04,8.305276042e-01
+49,4.850000000e+00,UP_FORCE_RAMP,1792837971878047842,-2.354571571e-05,-3.167783333e-04,2.229262664e-04,-1.884355328e-05,-3.172308867e-04,2.199449858e-04,-1.730076184e-05,-3.190853089e-04,2.196270288e-04,7.019320871e-01,-3.390490683e-04,8.603660135e-01,7.019367893e-01,-3.395016217e-04,8.603630322e-01,7.027277469e-01,-4.376803690e-04,8.305455048e-01
+50,5.016666667e+00,UP_FORCE_HOLD,1792837972041632802,-2.325309005e-05,-3.184326059e-04,2.385159298e-04,-1.884355328e-05,-3.172308867e-04,2.199449858e-04,-1.731382038e-05,-3.190835906e-04,2.196733707e-04,7.019323797e-01,-3.407033409e-04,8.603816032e-01,7.019367893e-01,-3.395016217e-04,8.603630322e-01,7.027277339e-01,-4.376786507e-04,8.305455511e-01
+51,5.150000000e+00,UP_FORCE_HOLD,1792837972172788671,-2.525522779e-05,-3.172459715e-04,2.432843132e-04,-2.613072992e-05,-3.143922660e-04,2.388075585e-04,-2.489338660e-05,-3.162383522e-04,2.384456074e-04,7.019303776e-01,-3.395167065e-04,8.603863716e-01,7.019295021e-01,-3.366630010e-04,8.603818948e-01,7.027201543e-01,-4.348334123e-04,8.305643233e-01
+52,5.250000000e+00,UP_SETTLE,1792837972270471349,-2.619705498e-05,-3.160140970e-04,2.501989569e-04,-2.613072992e-05,-3.143922660e-04,2.388075585e-04,-2.490526266e-05,-3.162367195e-04,2.384829224e-04,7.019294358e-01,-3.382848320e-04,8.603932862e-01,7.019295021e-01,-3.366630010e-04,8.603818948e-01,7.027201424e-01,-4.348317796e-04,8.305643607e-01
+53,5.416666667e+00,UP_SETTLE,1792837972434568730,-2.455688312e-05,-3.117143200e-04,2.630223740e-04,-2.299778180e-05,-3.141288538e-04,2.597158675e-04,-2.130752313e-05,-3.159373798e-04,2.593252162e-04,7.019310759e-01,-3.339850550e-04,8.604061096e-01,7.019326350e-01,-3.363995888e-04,8.604028031e-01,7.027237402e-01,-4.345324399e-04,8.305852029e-01
+54,5.550000000e+00,UP_SETTLE,1792837972565461870,-2.482477683e-05,-3.092375421e-04,2.730404548e-04,-2.299778180e-05,-3.141288538e-04,2.597158675e-04,-2.130865296e-05,-3.159356149e-04,2.593664487e-04,7.019308080e-01,-3.315082771e-04,8.604161277e-01,7.019326350e-01,-3.363995888e-04,8.604028031e-01,7.027237391e-01,-4.345306750e-04,8.305852442e-01
+55,5.683333333e+00,UP_SETTLE,1792837972696545523,-2.456380242e-05,-3.108458927e-04,2.815162272e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.254579612e-05,-3.126992205e-04,2.811940221e-04,7.019310690e-01,-3.331166278e-04,8.604246035e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027225019e-01,-4.312942806e-04,8.306070718e-01
+56,5.850000000e+00,UP_SETTLE,1792837972860745578,-2.719243646e-05,-3.140006576e-04,2.826348847e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.255233823e-05,-3.126939084e-04,2.812834500e-04,7.019284404e-01,-3.362713926e-04,8.604257221e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224954e-01,-4.312889685e-04,8.306071612e-01
+57,6.016666667e+00,UP_SETTLE,1792837973023977617,-2.591900916e-05,-3.152068917e-04,2.903929026e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.255632966e-05,-3.126919535e-04,2.813219348e-04,7.019297138e-01,-3.374776267e-04,8.604334801e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224914e-01,-4.312870136e-04,8.306071997e-01
+58,6.166666667e+00,UP_SETTLE,1792837973171567531,-2.586075800e-05,-3.153871200e-04,2.935173237e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.255951647e-05,-3.126904572e-04,2.813472187e-04,7.019297721e-01,-3.376578550e-04,8.604366046e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224882e-01,-4.312855173e-04,8.306072250e-01
+59,6.350000000e+00,UP_SETTLE,1792837973434640802,-2.705399528e-05,-3.142170149e-04,2.978583305e-04,-2.437922199e-05,-3.109284081e-04,2.816062060e-04,-2.256309985e-05,-3.126887268e-04,2.813727677e-04,7.019285788e-01,-3.364877499e-04,8.604409456e-01,7.019312536e-01,-3.331991431e-04,8.604246934e-01,7.027224846e-01,-4.312837869e-04,8.306072505e-01

Fixed/digit/ball_15A_12.5/press_depth_02/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,3.3764e-02,6.9502e-02,2.4543e+00,-4.1574e-02,3.9166e-02,1.0307e-04,3.5125e-04,-2.2203e-06,-2.8133e-05,8.1584e-07,2.4829e-05,-6.4413e-07,3.5238e-04,2.4851e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.1119e-05,3.6334e-02,6.9472e-02,2.4541e+00,-4.1567e-02,3.9348e-02,9.8000e-05,2.9219e-03,-3.2842e-05,-2.3413e-04,7.5996e-06,2.0657e-04,-5.7148e-06,2.9315e-03,2.0679e-04
+2,2.8333e-01,WAIT_W2,6.8348e-05,3.8790e-02,6.9423e-02,2.4539e+00,-4.1560e-02,3.9522e-02,9.2535e-05,5.3778e-03,-8.1703e-05,-4.3702e-04,1.5102e-05,3.8016e-04,-1.1180e-05,5.3962e-03,3.8062e-04
+3,4.0000e-01,WAIT_W2,9.7920e-05,4.0437e-02,6.9381e-02,2.4538e+00,-4.1554e-02,3.9638e-02,8.8488e-05,7.0242e-03,-1.2329e-04,-5.7840e-04,2.0541e-05,4.9652e-04,-1.5227e-05,7.0491e-03,4.9718e-04
+4,5.0000e-01,WAIT_W2,1.3419e-04,4.1692e-02,6.9345e-02,2.4537e+00,-4.1550e-02,3.9727e-02,8.5169e-05,8.2793e-03,-1.5956e-04,-6.9094e-04,2.4874e-05,5.8521e-04,-1.8545e-05,8.3096e-03,5.8604e-04
+5,6.0000e-01,WAIT_W2,1.5932e-04,4.2820e-02,6.9309e-02,2.4536e+00,-4.1546e-02,3.9806e-02,8.1991e-05,9.4078e-03,-1.9560e-04,-7.9679e-04,2.8919e-05,6.6496e-04,-2.1723e-05,9.4435e-03,6.6595e-04
+6,6.3333e-01,WAIT_W2,2.0015e-04,3.8664e-02,1.0634e-01,2.4432e+00,-4.4131e-02,3.9523e-02,9.7592e-05,5.2518e-03,3.6831e-02,-1.1173e-02,-2.5559e-03,3.8100e-04,-6.1233e-06,3.8845e-02,2.5841e-03
+7,6.3333e-01,WAIT_W2,2.0015e-04,3.8664e-02,1.0634e-01,2.4432e+00,-4.4131e-02,3.9523e-02,9.7592e-05,5.2518e-03,3.6831e-02,-1.1173e-02,-2.5559e-03,3.8100e-04,-6.1233e-06,3.8845e-02,2.5841e-03
+8,6.5000e-01,WAIT_W2,2.7980e-04,4.1482e-02,1.5425e-01,2.4472e+00,-4.7478e-02,3.9717e-02,1.1851e-04,8.0691e-03,8.4742e-02,-7.1459e-03,-5.9033e-03,5.7504e-04,1.4797e-05,8.5425e-02,5.9313e-03
+9,6.5000e-01,WAIT_W2,2.7980e-04,4.1482e-02,1.5425e-01,2.4472e+00,-4.7478e-02,3.9717e-02,1.1851e-04,8.0691e-03,8.4742e-02,-7.1459e-03,-5.9033e-03,5.7504e-04,1.4797e-05,8.5425e-02,5.9313e-03
+10,6.6667e-01,WAIT_W2,3.5854e-04,4.5283e-02,3.1606e-01,2.4449e+00,-5.8774e-02,3.9983e-02,1.8662e-04,1.1870e-02,2.4656e-01,-9.4686e-03,-1.7199e-02,8.4119e-04,8.2904e-05,2.4703e-01,1.7220e-02
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Fixed/digit/ball_15A_12.5/press_depth_03/down/camera_frames_60hz.tar

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+size 624640

Fixed/digit/ball_15A_12.5/press_depth_03/down/franka_data.csv

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+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+14418,1792838028504665146,16707918000000,1792838028504654416,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0601,0.06010141596198082,0.6759124795247795,-0.004776784878734633,0.10674001647242108,0.9999999438735448,-2.593626900242203e-05,-0.00030782905406454394,9.090849816588967e-05,0.6761,-0.0046,0.107,1.0,0.0,0.0,0.0,-0.0010983500472258045,-0.004997204128564525,-0.00037773518411887697,-0.0007468861780036418,0.0007270684382865433,4.456308016954945e-06,0.7307009561808412,0.7854942742397075,0.18908189994403335,0.059784082030542376,-0.05612510203429612,0.0007710466820742446,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,-0.18287524702089752,1.0649609038442402,1.4718160959493556,-0.08052954186228442,-1.0462845518324337,0.6234885391204603,1.6213854171166837,0.00037773518411887697,0.14956932116732813,0.0,0.0,0,0,0.0,0.0
+14511,1792838029273624066,16708687000000,1792838029268654669,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759121249948403,-0.00477851534491893,0.10673900732289188,0.9999999433705743,-2.7159421251340907e-05,-0.0003086423690594719,9.329505106075557e-05,0.6761,-0.0046,0.10699709823592769,1.0,0.0,0.0,0.0,-0.010069346328972162,0.0007287038569757653,-0.0004175068537323745,-0.0008677580785393935,0.0009492612239030557,4.147245208606376e-06,0.7217299598990948,0.7912201822252478,0.18904212827441985,0.059663210130006625,-0.055902909248679605,0.000770737619265896,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,-0.19701024363211114,1.0238216768634125,1.5222138007158774,-0.06470169815218611,-1.0842761590094927,0.6012067188392134,1.6213854171166837,0.0004175068537323745,0.0991716164008063,0.0991716164008063,0.16468185530285406,0,0,-1.204315037558879e-05,-9.892616867202548e-05
+14615,1792838030140637468,16709554000000,1792838030140653890,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759148034210773,-0.004775144102603529,0.10674171966462126,0.9999999453903551,-2.459541882741872e-05,-0.00030244578331804816,9.264860934078288e-05,0.6761,-0.0046,0.10697517992920184,1.0,0.0,0.0,0.0,-0.010291321802016196,-0.005056033191175091,-0.00043468531652088305,-0.0008685610394326138,0.0009497330304077817,4.125592034332263e-06,0.7215079844260508,0.785435445177097,0.18902494981163134,0.059662407169113404,-0.05590243744217488,0.0007707159660916219,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.04065682974123531,0.9750671056219311,1.4172135518903823,-0.04670817735705074,-0.9536115539036216,0.5693987664019309,1.6213854171166837,0.00043468531652088305,0.20417186522630137,0.20417186522630137,0.2947318553028555,0,0,-3.3410823908923366e-05,-9.999999025923074e-05
+14733,1792838031123721678,16710537000000,1792838031120654549,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.675912781925571,-0.004780869821282135,0.10671639845661958,0.9999999430889924,-2.708946997028453e-05,-0.00030797602964938473,9.839614937449496e-05,0.6761,-0.0046,0.10693873439150332,1.0,0.0,0.0,0.0,-0.019683668005135768,-0.023257327627519753,0.051878982619347674,-0.0008807907580716187,0.0009403470624566729,-3.8590650525432806e-05,0.7121156382229312,0.7672341507407523,0.2413386177474999,0.0596501774504744,-0.05591182341012599,0.0007279997235318568,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.19281008206998904,1.0213931477268046,1.2183079296704482,-0.043065161449764224,-0.785841025506582,0.592410939335409,1.6213854171166837,-0.051878982619347674,0.4030774874462355,0.4030774874462355,0.44218185530283927,0,0,-4.487813592856454e-05,-2.0677833326868413e-05
+14800,1792838031682649751,16711096000000,1792838031676655800,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759484371359175,-0.004788743110354365,0.1066984373319127,0.9999999642491415,-2.1537252624944737e-05,-0.00022080104642464084,0.00011716494747339238,0.6761,-0.0046,0.10691099851961304,1.0,0.0,0.0,0.0,-0.10644632652535468,0.02024208640238523,0.08736436400176656,0.002002061432540919,0.007080297772062871,5.228965873739662e-05,0.6253529797027123,0.8107335647706573,0.2768239991299188,0.06253302964108694,-0.04977187270051979,0.0008188800327946863,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.12277679635576012,0.927258966090954,1.230110615916995,0.003176754348971974,-0.8345600994722014,0.528902106223092,1.6213854171166837,-0.08736436400176656,0.3912748011996887,0.3912748011996887,0.52603185530283,0,0,-5.5171233480392996e-05,-9.999999025923074e-05
+14896,1792838032482641215,16711896000000,1792838032476655519,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759401230086852,-0.00478664929104424,0.10666233279104068,0.9999999591462683,-1.6478317981658396e-05,-0.000240595835201194,0.00012244360107479326,0.6761,-0.0046,0.10686035212665475,1.0,0.0,0.0,0.0,-0.08646366902719682,-0.004949826870885632,0.20004033912932873,-2.4193982888394416e-05,0.00595576688353474,-7.701739075755974e-05,0.6453356372008702,0.7855416514973864,0.38949997425748095,0.060506774225657624,-0.05089640358904792,0.0006895729832997299,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.2899432731943048,0.8818339557614309,0.9819532732803737,0.05762508298927061,-0.6308875792973829,0.49578605903199385,1.6213854171166837,-0.20004033912932873,0.63943214383631,0.63943214383631,0.6460318553028168,0,0,-6.562732341311583e-05,9.982755874571864e-05
+14975,1792838033140653740,16712554000000,1792838033140655604,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759353060582599,-0.004793051161716159,0.1066288723715386,0.999999955323846,-1.4996605070412467e-05,-0.00025206680449444384,0.00013050899761749522,0.6761,-0.0046,0.10682201731232252,1.0,0.0,0.0,0.0,-0.07690384847892029,-0.014524674482840894,0.29006189230829205,-0.0010623461242634247,0.005955585298371348,-0.00016009407491683245,0.6548954577491467,0.7759668038854312,0.4795215274364443,0.059468622084282594,-0.05089658517421131,0.0006064962991404572,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.31427912166617766,0.8995804652611004,0.9142363910138273,0.07454690344326176,-0.5852273099514808,0.49982323515695515,1.6213854171166837,-0.29006189230829205,0.7071490261028565,0.7071490261028565,0.744731855302806,0,0,-5.0869017946515764e-05,2.7126047268072287e-05
+15069,1792838033923648961,16713337000000,1792838033916663979,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759377509941846,-0.0047924092294419,0.10660758536080028,0.9999999558351889,-1.0788897406878376e-05,-0.0002470597425566948,0.00013644620955943458,0.6761,-0.0046,0.10677854870553977,1.0,0.0,0.0,0.0,-0.09518176499056408,-0.02003630148974933,0.34964313987669715,-0.0017145781009731617,0.006967737455421591,-0.00019807714056768331,0.6366175412375029,0.7704551768785227,0.5391027750048494,0.058816390107572857,-0.04988443301716107,0.0005685132334896063,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.3360711218851714,0.9837160621002605,0.7951021928264309,0.06594692219131175,-0.5062066187985184,0.5527733547619329,1.6213854171166837,-0.34964313987669715,0.8262832242902528,0.8262832242902528,0.862181855302793,0,0,-6.069189609628355e-05,7.578119662199895e-05
+15189,1792838034923723393,16714337000000,1792838034916654703,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759454210227184,-0.004796105384345492,0.10656356520555813,0.9999999581669605,-6.223359692686696e-06,-0.0002306523843849462,0.00014788403938890583,0.6761,-0.0046,0.10671226211439037,1.0,0.0,0.0,0.0,-0.1049714352620057,-0.03087104108601879,0.46996790799897714,-0.0021740257984591005,0.007963589228380627,-6.793667936366471e-05,0.6268278709660613,0.7596204372822533,0.6594275431271294,0.05835694241008692,-0.048888581244202034,0.0006986536946936249,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4251517312877682,0.8613914419184528,0.5320743739836638,0.11329947195633351,-0.3153474692995527,0.46839438344783485,1.6213854171166837,-0.46996790799897714,1.08931104313302,1.08931104313302,1.0121818553027855,0,0,-6.962069599017606e-05,9.999999025923074e-05
+15272,1792838035615756497,16715028999999,1792838035612653881,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759528195102392,-0.004801765077718616,0.10652923341173516,0.9999999606600088,-8.158051980344776e-06,-0.00021324231995340434,0.00015679287156549653,0.6761,-0.0046,0.10666394296547531,1.0,0.0,0.0,0.0,-0.12958694900704493,-0.028387997897300732,0.5501105440569288,-0.002251483157531986,0.009967511741769575,0.00048488593985978267,0.6022123572210221,0.7621034804709713,0.7395701791850811,0.05827948505101403,-0.046884658730813086,0.0012514763139170723,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.46762788966637103,0.875628298636908,0.5091448824270992,0.1147055574800631,-0.28884850681838414,0.4791738489842515,1.6213854171166837,-0.5501105440569288,1.1122405346895845,1.1122405346895845,1.1159818553028509,0,0,-6.959605336889917e-05,9.945402420908351e-05
+15358,1792838036332787289,16715746000000,1792838036332654658,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6759549856945284,-0.004800435987143748,0.10648962723019842,0.9999999603647388,-1.4137318129166041e-06,-0.00020889725962136807,0.00016453972660724877,0.6761,-0.0046,0.10661440695481054,1.0,0.0,0.0,0.0,-0.14303696252985776,-0.029546627131006087,0.6386187703018132,-0.002295746682534204,0.010963499657625851,0.0006438609841239484,0.5887623436982092,0.760944851237266,0.8280784054299655,0.058235221526011814,-0.04588867081495681,0.001410451358181238,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.44290405827786644,0.8340365005519781,0.5058248923964274,0.1342447006836813,-0.2954361412086481,0.44846760422823184,1.6213854171166837,-0.6386187703018132,1.1155605247202565,1.1155605247202565,1.2235318553029186,0,0,-6.923710836190112e-05,-8.804784265426519e-05
+15460,1792838037182747019,16716596000000,1792838037180654299,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6759599961280842,-0.004807824296337572,0.10644685062409122,0.999999961686779,-7.81889239792713e-06,-0.0001969173392437322,0.00017097289634584794,0.6761,-0.0046,0.10655355843551842,1.0,0.0,0.0,0.0,-0.15392671309022243,-0.03231907522812605,0.7410593051226178,-0.0023438154525098273,0.011954183109045682,0.0005761774854504741,0.5778725931378446,0.758172403140146,0.93051894025077,0.05818715275603619,-0.04489798736353698,0.0013427678595077637,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4790384447835261,0.8719362016940014,0.41575279985873137,0.1307607795893744,-0.23105741326050855,0.47242431774254345,1.6213854171166837,-0.7410593051226178,1.2056326172579523,1.2056326172579523,1.351031855302999,0,0,-7.229222457746787e-05,-9.99997404590502e-05
+15521,1792838037690794399,16717104000000,1792838037684655012,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760032699939502,-0.004804961988577706,0.10644448578782932,0.9999999684925123,-4.23721304815234e-06,-0.00015337838581372525,0.00017582649342124177,0.6761,-0.0046,0.1065152260142507,1.0,0.0,0.0,0.0,-0.20588924022282673,0.019338145318434696,0.7519174609526905,0.001675090573470317,0.01533187238301336,0.0006655702052337637,0.5259100660052403,0.8098296236867067,0.9413770960808427,0.062206058782016335,-0.0415202980895693,0.0014321605792910533,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.4168775249595622,0.8425292016866955,0.32891547978067903,0.14827804136503736,-0.207598079531628,0.4585713607694358,1.6213854171166837,-0.7519174609526905,1.2924699373360047,1.2924699373360047,1.427231855303047,0,0,-8.186577346166869e-05,-9.999999025923074e-05
+15612,1792838038448807036,16717862000000,1792838038444654569,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.676005603642489,-0.004802117100028955,0.10639463854270825,0.9999999688073776,-4.9940659762741215e-06,-0.00014318215476588216,0.00018248846067592475,0.6761,-0.0046,0.10644373300926878,1.0,0.0,0.0,0.0,-0.2211756378619214,0.019703463595830195,0.862748679516021,0.002204106178609236,0.01669230165823317,0.0005934866427643557,0.5106236683661456,0.8101949419641022,1.0522083146441732,0.06273507438715525,-0.04015986881434949,0.0013600770168216453,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.6022547585885077,0.7995017135424671,0.21402136168686503,0.15720788007582842,-0.0863890590342905,0.4252978036112125,1.6213854171166837,-0.862748679516021,1.4073640554298188,1.4073640554298188,1.5409318553031186,0,0,-0.00010137046797395322,-9.999946290329404e-05
+15686,1792838039065748815,16718479000000,1792838039064654940,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760191995617726,-0.004787684177572574,0.1063476627405288,0.9999999772259873,-0.00015027178930952927,-0.00010651604515363746,5.534989342074262e-05,0.6761,-0.0046,0.10638329508586868,1.0,0.0,0.0,0.0,-0.1607902209050679,0.11344807138998325,0.956293709829645,0.009437710007164424,0.012093339405000597,0.0005430092226147189,0.5710090853229991,0.9039395497582553,1.1457533449577972,0.06996867821571044,-0.044758831067582064,0.0013095995966720085,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.6358029457813584,1.058798907287219,0.18933967577580355,-0.15905365325661863,-0.015640655683553936,0.6434674852566016,1.6213854171166837,-0.956293709829645,1.4320457413408803,1.4320457413408803,1.633481855303177,0,0,-9.967851778289039e-05,-9.999999025923074e-05
+15781,1792838039857735175,16719271000000,1792838039852665127,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760268191233282,-0.004788997437640043,0.10628763577231089,0.9999999786106657,-0.00014118329757819748,-9.220770078478698e-05,7.606936880435037e-05,0.6761,-0.0046,0.1062923014519734,1.0,0.0,0.0,0.0,-0.19671924718469236,0.09902492932448792,1.1026761819099105,0.0076926764225200145,0.01559239986767988,0.0013428894768693165,0.5350800590433746,0.88951640769276,1.2921358170380626,0.06822364463106603,-0.04125977060490278,0.002109479850926606,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.7723857763963451,0.982589728746258,0.003653930599892803,-0.06145065158138186,0.12399743748006846,0.5850367673089232,1.6213854171166837,-1.1026761819099105,1.6177314865167909,1.6177314865167909,1.7522818553032518,0,0,-0.00011951870707990609,-9.572599243690689e-05
+15873,1792838040623782702,16720037000000,1792838040620654648,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760342902181778,-0.0047970228885836404,0.1062216865445036,0.9999999787360923,-0.00013657333483330395,-8.018223885718268e-05,9.428261878252555e-05,0.6761,-0.0046,0.10621061991006099,1.0,0.0,0.0,0.0,-0.21936786382839946,0.08414567395751305,1.2501044531633205,0.007625106734445844,0.016711028233109215,0.0013770956142128573,0.5124314423996675,0.8746371523257851,1.4395640882914729,0.06815607494299186,-0.040141142239473446,0.002143685988270147,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8386810606240387,0.9006228933696898,-0.33136252714841,0.036275825214504405,0.3436939528446879,0.509185108819681,1.6213854171166837,-1.2501044531633205,1.9527479442650937,1.9527479442650937,1.8671818553033241,0,0,-9.001164794489457e-05,9.999999025923074e-05
+15973,1792838041457844713,16720871000000,1792838041452664897,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760410256967129,-0.004801689231293495,0.10617591717489874,0.9999999786924968,-0.0001311746723410878,-6.942655295637021e-05,0.00010968604929555603,0.6761,-0.0046,0.1061514007708499,1.0,0.0,0.0,0.0,-0.2352449086818928,0.0874384538083226,1.3469395785563072,0.007552097763169022,0.018716766006478563,0.0013292782744383997,0.4965543975461742,0.8779299321765947,1.5363992136844593,0.06808306597171504,-0.0381354044661041,0.0020958686484956893,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8599125385251756,0.7759197913903114,-0.3518474259562342,0.13745708722808947,0.35125789694253057,0.41156008225691837,1.6213854171166837,-1.3469395785563072,1.973232843072918,1.973232843072918,1.992281855303403,0,0,-5.128445464544639e-05,9.999999025923074e-05
+16080,1792838042348782776,16721761999999,1792838042344654205,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760494653238169,-0.004801127936305686,0.10615314350810126,0.9999999794802432,-0.0001262000637334831,-5.716209269525912e-05,0.00011527539473851493,0.6761,-0.0046,0.10611585877583167,1.0,0.0,0.0,0.0,-0.25885846260351353,0.08803421831068803,1.3962799497961296,0.007516734310664769,0.019721049186962762,0.001305891617668733,0.47294084362455346,0.8785256966789601,1.585739584924282,0.06804770251921079,-0.0371311212856199,0.0020724819917260226,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.8569619362218002,0.830699060028656,-0.46643586989898894,0.15502787322076775,0.4141191490779034,0.44289144718119383,1.6213854171166837,-1.3962799497961296,2.0878212870156725,2.0878212870156725,2.125931855303487,0,0,-3.8393918047869526e-05,-7.412892825765735e-05
+16174,1792838043132794749,16722545999999,1792838043132654413,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760514741742425,-0.0047975179614590845,0.10612162633599784,0.9999999766940414,-0.00017062613367915304,-5.131160001847376e-05,7.94268416969093e-05,0.6761,-0.0046,0.10607743162500027,1.0,0.0,0.0,0.0,-0.2344503162931713,0.11730872597311937,1.4576430773753457,0.009576571444826293,0.018520047515892223,0.0012622160528654764,0.4973489899348957,0.9078002043413914,1.6471027125034978,0.07010753965337231,-0.03833212295669044,0.002028806426922766,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9018236060888416,0.9126449400494617,-0.5400312481797808,0.1448264968415649,0.4714574166242992,0.49999604351110694,1.6213854171166837,-1.4576430773753457,2.1614166652964646,2.1614166652964646,2.2435318553035613,0,0,-6.029811957661136e-05,-9.9902415533154e-05
+16276,1792838043982854512,16723396000000,1792838043980654279,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760653965181779,-0.00479685277689305,0.10608743165936174,0.9999999767835648,-0.00017250748736897116,-2.9762714737954915e-05,8.503576732079638e-05,0.6761,-0.0046,0.10601395399607866,1.0,0.0,0.0,0.0,-0.2554183314092188,0.11375368236393701,1.534617839877309,0.009531961816479625,0.019650408662610815,0.0012128015488055192,0.47638097481884817,0.9042451607322091,1.724077475005461,0.07006293002502564,-0.037201761809971846,0.001979391922862809,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9256991241152633,0.8098380921316023,-0.6144450488136264,0.17723522928624624,0.5221359678223355,0.4309721669552624,1.6213854171166837,-1.534617839877309,2.2358304659303103,2.2358304659303103,2.3710318553036416,0,0,-8.78913853322435e-05,-9.687500387845489e-05
+16367,1792838044740836523,16724153999999,1792838044740654218,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6760763787431332,-0.004800024309809382,0.10602543487933559,0.9999999762412287,-0.00017119835349965144,-1.155299559359032e-05,9.756053625329453e-05,0.6761,-0.0046,0.10594197206330026,1.0,0.0,0.0,0.0,-0.28446985383900586,0.1212747189539819,1.668902835359055,0.010407531153214244,0.021630751348472553,0.001144753837903192,0.44732945238906113,0.911766197322254,1.858362470487207,0.07093849936176026,-0.03522141912411011,0.0019113442119604817,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,0.9903800861588808,0.8207923845978828,-0.7170951590351164,0.17310078716144395,0.6022716731114922,0.4357859624292976,1.6213854171166837,-1.668902835359055,2.3384805761518,2.3384805761518,2.484731855303713,0,0,-9.643069212170031e-05,-9.997795233219193e-05
+16465,1792838045557827062,16724971000000,1792838045552654299,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.676085572105795,-0.004802574683923126,0.10596769702073307,0.999999974901496,-0.0001748423866499991,4.191536457539097e-06,0.00010513059720602686,0.6761,-0.0046,0.10586421228041022,1.0,0.0,0.0,0.0,-0.30344516686314155,0.12209271860063131,1.783047962202081,0.010395113722492508,0.02363129559922012,0.0010798556064514938,0.42835413936492545,0.9125841969689034,1.9725075973302333,0.07092608193103853,-0.03322087487336254,0.0018464459805087835,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.0720635110021772,0.8804501802177659,-0.9518295417458476,0.1594557638442816,0.7695639042511788,0.47495122317776817,1.6213854171166837,-1.783047962202081,2.5732149588625313,2.5732149588625313,2.6072818553037904,0,0,-9.174200248510266e-05,9.687604471254047e-05
+16567,1792838046407900245,16725821000000,1792838046400654099,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6760932049403817,-0.004808568237990124,0.10590287751192544,0.999999972948607,-0.00018268918455411354,1.361793563326408e-05,0.00010947540006592356,0.6761,-0.0046,0.10578908759065266,1.0,0.0,0.0,0.0,-0.31347210660662417,0.12630108241353588,1.9073723816809331,0.010343249097117674,0.0246170228342905,0.0012069819029852545,0.4183271996214428,0.9167925607818079,2.0968320168090853,0.07087421730566369,-0.03223514763829216,0.001973572277042544,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.0568253094160012,0.9321470305963157,-1.1346303236776936,0.14545872100608745,0.882502836328235,0.5043614493941712,1.6213854171166837,-1.9073723816809331,2.7560157407943775,2.7560157407943775,2.7347818553038707,0,0,-8.68136652190391e-05,9.999964331453554e-05
+16659,1792838047173816604,16726587000000,1792838047168663969,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761015247929483,-0.004805206316327311,0.10585506546868384,0.9999999709921537,-0.00019568864620545494,2.751263417366699e-05,0.00010201747286987059,0.6761,-0.0046,0.10572331848117339,1.0,0.0,0.0,0.0,-0.3148718206038455,0.13051338258498402,1.9826067424888207,0.011342906157020424,0.024578342660465685,0.00159781753501199,0.4169274856242215,0.9210048609532561,2.172066377616973,0.07187387436556644,-0.032273827812116976,0.0023644079090692797,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.111171951886064,0.8662938855500716,-1.0832735905687056,0.17585294845316343,0.865034950894024,0.463836118019616,1.6213854171166837,-1.9826067424888207,2.7046590076853896,2.7046590076853896,2.849681855303943,0,0,-8.577672770268408e-05,-9.970528155734399e-05
+16750,1792838047932882553,16727346000000,1792838047928654613,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761118349144793,-0.004812525397880401,0.10580650359787427,0.9999999674648077,-0.0002085444838900759,4.6589986152209985e-05,0.00010417206473533548,0.6761,-0.0046,0.10565589645408856,1.0,0.0,0.0,0.0,-0.32387387217874875,0.134501440302372,2.0706950951968452,0.011298689591908495,0.025571970374522232,0.0018669935492123505,0.40792543404931825,0.924992918670644,2.2601547303249974,0.07182965780045451,-0.03128020009806043,0.00263358392326964,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.1480785064688883,0.9595518204936565,-1.2705261151957448,0.14925768757856983,0.9873068850436788,0.5254926927875199,1.6213854171166837,-2.0706950951968452,2.8919115323124283,2.8919115323124283,2.963531855304015,0,0,-9.333939895020548e-05,9.740769260256025e-12
+16840,1792838048682930099,16728096000000,1792838048676664784,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761166236643242,-0.004813618148501378,0.10574374913286819,0.9999999659946277,-0.00021329761551767707,5.407199780981765e-05,0.00010504262924021893,0.6761,-0.0046,0.10558296800597981,1.0,0.0,0.0,0.0,-0.33395296973726096,0.1396870090872685,2.1612565011411133,0.011739722883012477,0.026553001923597035,0.00186888608721058,0.39784633649080603,0.9301784874555405,2.3507161362692655,0.0722706910915585,-0.030299168548985626,0.0026354764612678697,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.1918515408307957,0.8329076104445416,-1.2925162097913152,0.1891798942175342,1.012991830463621,0.4430621989258971,1.6213854171166837,-2.1612565011411133,2.913901626907999,2.913901626907999,3.0760318553040857,0,0,-0.00010220227046195263,-9.994085700538164e-05
+16923,1792838049373895792,16728787000000,1792838049372654958,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761289233938085,-0.004810535001765638,0.10569240585432717,0.999999963168486,-0.00022076064339666417,7.359254666299816e-05,0.00010466501878361907,0.6761,-0.0046,0.10551001264793561,1.0,0.0,0.0,0.0,-0.3439946706663563,0.15301270861853755,2.2415942706529983,0.012233025126330274,0.02754028881649021,0.0018195569086634496,0.3878046355617107,0.9435041869868096,2.4310539057811504,0.07276399333487629,-0.029311881656092453,0.002586147282720739,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.248912614357118,0.7851088201216421,-1.5104287874310933,0.20659511298017696,1.1652676063593812,0.4106933366006543,1.6213854171166837,-2.2415942706529983,3.1318142045477773,3.1318142045477773,3.179681855304151,0,0,-0.00010716370946598085,9.999999025923074e-05
+17001,1792838050023949591,16729437000000,1792838050020663819,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761331076302125,-0.004816221090160881,0.1056298377758417,0.9999999598759683,-0.0002329244845303122,7.947049143761507e-05,0.00010545876560208584,0.6761,-0.0046,0.10543819335324782,1.0,0.0,0.0,0.0,-0.3442235583034309,0.14666016658262515,2.3282209690143625,0.012215299760953702,0.02752322940336168,0.001749559447281634,0.3875757479246361,0.9371516449508972,2.5176806041425146,0.07274626796949972,-0.02932894106922098,0.0025161498213389236,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2440293542237122,0.801705110645282,-1.485951576357991,0.20409035665507977,1.1459289162630426,0.41766222317767876,1.6213854171166837,-2.3282209690143625,3.1073369934746746,3.1073369934746746,3.2771818553042125,0,0,-0.00011200114955897534,-9.982467216585462e-05
+17108,1792838050915911517,16730329000000,1792838050912664117,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761465062655474,-0.0048165824860124246,0.10555132708415904,0.9999999556290957,-0.00024073438935431318,0.00010513648229664071,0.00010572579878460512,0.6761,-0.0046,0.10533642922561239,1.0,0.0,0.0,0.0,-0.35426597790367503,0.15369660692029885,2.4420577896976705,0.013186937506663804,0.02849320693721598,0.0016834438925505475,0.37753332832439196,0.9441880852885709,2.6315174248258226,0.07371790571520982,-0.028358963535366682,0.002450034266607837,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2228575867695024,0.9065924736239872,-1.6390522102509797,0.1792433209448733,1.2339421812136961,0.4900048406192732,1.6213854171166837,-2.4420577896976705,3.260437627367663,3.260437627367663,3.4109818553042968,0,0,-0.00011789655652713472,-9.921875407237763e-05
+17199,1792838051673868680,16731087000000,1792838051668663997,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761507452142657,-0.004824613184955383,0.1054720329508536,0.9999999837412451,5.657913745122141e-06,0.00010955097379469446,0.00010921055936939222,0.6761,-0.0046,0.10524475022126914,1.0,0.0,0.0,0.0,-0.34713238126903145,0.15703409742582697,2.5228249300949552,0.01310764124048934,0.028476615360389864,0.0016186419354798018,0.38466692495903554,0.947525575794099,2.7122845652231073,0.07363860944903536,-0.028375555112192797,0.0023852323095370914,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.323177984550356,0.9399611495141189,-1.8061651311362934,0.1374192429866397,1.3782288503810474,0.4564725004275091,1.6213854171166837,-2.5228249300949552,3.4275505482529773,3.4275505482529773,3.5246818553043684,0,0,-0.0001277861023149266,8.74568293048938e-05
+17294,1792838052465967936,16731879000000,1792838052460655820,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761589120434972,-0.004830131118043616,0.10538256724508151,0.9999999818654256,-1.6955176883255746e-05,0.00012328106548570663,0.00011057266366580024,0.6761,-0.0046,0.10513782925424507,1.0,0.0,0.0,0.0,-0.3505303871458992,0.15582010279110137,2.622657124577381,0.01307106623279683,0.028455951380359733,0.0015408656632467503,0.3812689190821678,0.9463115811593734,2.812116759705533,0.07360203444134285,-0.028396219092222928,0.00230745603730404,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3118939057324337,0.9273395515382209,-1.8560309481169155,0.16073886714408125,1.4015448491780607,0.46971876701025633,1.6213854171166837,-2.622657124577381,3.477416365233599,3.477416365233599,3.6434818553044432,0,0,-0.00014075634843377228,-9.999527181137608e-05
+17385,1792838053223978532,16732636999999,1792838053220654046,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761673685554287,-0.004833436070853383,0.1052891088114798,0.999999979159544,-4.319432736065565e-05,0.00013806568364360192,0.00011043501789436196,0.6761,-0.0046,0.10502945509255644,1.0,0.0,0.0,0.0,-0.35511421434713364,0.16339324782852893,2.717362883782083,0.013109132332176143,0.029447291963766404,0.001480014749947987,0.37668509188093335,0.953884726196801,2.9068225189102352,0.07364010054072216,-0.027404878508816257,0.0022466051240052766,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3359348328851142,0.7768680179988993,-2.000042725364044,0.2288624258498519,1.4963288865904412,0.3985778836598186,1.6213854171166837,-2.717362883782083,3.6214281424807275,3.6214281424807275,3.757181855304515,0,0,-0.00014670786644829648,-9.999961555895993e-05
+17473,1792838053957963959,16733371000000,1792838053956654485,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761766311798311,-0.004837322646699254,0.10519619166319796,0.9999999751139091,-6.033131482299827e-05,0.00015519355001653379,0.00011614706193124146,0.6761,-0.0046,0.10492080236786945,1.0,0.0,0.0,0.0,-0.3585171142101546,0.17064198398242814,2.8036755013979358,0.013065755563559892,0.03044032119231499,0.001422382869053536,0.3732821920179124,0.9611334623507002,2.993135136526088,0.07359672377210591,-0.02641184928026767,0.0021889732431108256,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3060896104819135,0.7527213200530901,-2.1492404838224264,0.26108701262284895,1.5750320197221526,0.4145535281794335,1.6213854171166837,-2.8036755013979358,3.77062590093911,3.77062590093911,3.8672818553045842,0,0,-0.00015116007844454137,9.992184443608493e-05
+17568,1792838054749003550,16734162000000,1792838054748663816,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6761848350453061,-0.00484096834360434,0.10509486900117405,0.9999999713722588,-8.095061488462096e-05,0.0001700196730809259,0.00011505935324752586,0.6761,-0.0046,0.10480054429063355,1.0,0.0,0.0,0.0,-0.35514348544461105,0.16762947809453876,2.8936246686073175,0.012044223624566738,0.030438267068120674,0.0013387634680526845,0.37665582078345594,0.9581209564628108,3.0830843037354696,0.07257519183311276,-0.026413903404461987,0.002105353842109974,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3469394741306577,0.7603413505987799,-2.21346021843546,0.2727852507645899,1.6287224660600081,0.4226052847591986,1.6213854171166837,-2.8936246686073175,3.834845635552144,3.834845635552144,3.985931855304659,0,0,-0.00015100574547319135,-9.450692592250504e-05
+17648,1792838055416005131,16734829000000,1792838055408663635,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6761961361100158,-0.004842151189540202,0.10500277411895609,0.9999999669167658,-9.754342890428717e-05,0.0001880842413695077,0.00011277823028984885,0.6761,-0.0046,0.1046952454645578,1.0,0.0,0.0,0.0,-0.3562707739712685,0.1661737312476117,2.9644973963991443,0.012977708215691497,0.03053664294153434,0.0012880025014837242,0.3755285322567985,0.9566652096158837,3.1539570315272965,0.07350867642423752,-0.02631552753104832,0.002054592875541014,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.429265933043375,0.787815481909164,-2.3037708665469214,0.2803085411073172,1.70574145332819,0.4472078440098388,1.6213854171166837,-2.9644973963991443,3.925156283663605,3.925156283663605,4.085981855304468,0,0,-0.00016214346183349016,-7.73685796248202e-05
+17723,1792838056041016727,16735454000000,1792838056036663810,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676200500369785,-0.004845462497385875,0.10490907943365249,0.9999999643210314,-0.00011493446954350807,0.00019337304511661644,0.00011044334858882098,0.6761,-0.0046,0.10459240518633686,1.0,0.0,0.0,0.0,-0.34641951889976147,0.17295167532718247,3.0541641220411044,0.01199836276550545,0.030404715079034177,0.0012158429574534,0.3853797873283055,0.9634431536954545,3.2436237571692565,0.07252933097405147,-0.026447455393548484,0.0019824333315106896,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4224113595317434,0.7802227861144195,-2.515907999800531,0.2863747818894959,1.841105801516024,0.43993759529912163,1.6213854171166837,-3.0541641220411044,4.137293416917215,4.137293416917215,4.179731855304249,0,0,-0.00016712438459934453,9.998779168374767e-05
+17796,1792838056648937517,16736062000000,1792838056644664462,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676209486529648,-0.004852275066701228,0.10481734050505913,0.9999999591718494,-0.00012512170260756594,0.00021092031760824997,0.00011382593305231692,0.6761,-0.0046,0.10448785967140786,1.0,0.0,0.0,0.0,-0.34747410205775753,0.1747478798669495,3.1241627964108365,0.011957698572746617,0.03140269202343646,0.0011747820526525658,0.38432520417030946,0.9652393582352216,3.3136224315389886,0.07248866678129263,-0.0254494784491462,0.0019413724267098554,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3958142660143482,0.7221524832130256,-2.4410541262756134,0.3224936116076381,1.7831531163194105,0.4074967910037576,1.6213854171166837,-3.1241627964108365,4.062439543392297,4.062439543392297,4.2709318553040365,0,0,-0.00017846679698926694,-9.97218238804109e-05
+17874,1792838057298999064,16736712000000,1792838057296664286,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762178418698915,-0.004853793218212955,0.10471183599022466,0.9999999560100482,-0.00013084383854919556,0.00022115811020685989,0.00011572271201264633,0.6761,-0.0046,0.10436881926480356,1.0,0.0,0.0,0.0,-0.3556062531356577,0.15590744814563195,3.2045943776039114,0.010918254482633963,0.03140002423512955,0.002037578085819186,0.3761930530924093,0.946398926513904,3.3940540127320635,0.07144922269117998,-0.025452146237453108,0.0028041684598764756,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.463020248733536,0.8078850210364162,-2.596840264199318,0.2913790019881326,1.9054535359205704,0.4610503502397959,1.6213854171166837,-3.2045943776039114,4.218225681316001,4.218225681316001,4.368431855303809,0,0,-0.00018761822733826602,7.445271265551953e-05
+17955,1792838057974041737,16737386999999,1792838057968664266,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.676227130946846,-0.004859197534714988,0.10460150458066612,0.9999999520759988,-0.0001255917402605205,0.00023930407054479163,0.0001193781438809876,0.6761,-0.0046,0.104236977285868,1.0,0.0,0.0,0.0,-0.34726758508084826,0.15801951271560355,3.264433830523433,0.01090800130220429,0.03139191045522508,0.0011711049145895767,0.38453172114721873,0.9485109910838756,3.453893465651585,0.07143896951075031,-0.02546026001735758,0.0019376952886468663,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4599006945328605,0.6559022977942955,-2.6376213674953215,0.35637432656803214,1.9266054052709012,0.36931954897376007,1.6213854171166837,-3.264433830523433,4.259006784612005,4.259006784612005,4.469681855303573,0,0,-0.00020275164058366902,-9.94506380288584e-05
+18031,1792838058608042430,16738021000000,1792838058604663791,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762434001623338,-0.0048612251694972845,0.10448861701375574,0.9999999508644136,-7.489625267116777e-05,0.00026407166816604186,0.0001198780220515956,0.6761,-0.0046,0.10410231580324995,1.0,0.0,0.0,0.0,-0.35613938995390704,0.17026767460037395,3.334660717145461,0.010870061779073903,0.03219508098349887,0.0010509987352387985,0.37565991627415996,0.960759152968646,3.5241203522736133,0.07140102998761992,-0.02465708948908379,0.0018175891092960881,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.459318625008142,0.749278331132302,-2.7565354278920755,0.3261274609410058,2.0013604823021343,0.41105904155782313,1.6213854171166837,-3.334660717145461,4.377920845008759,4.377920845008759,4.564781855303352,0,0,-0.00022059573847740677,-6.249996380108771e-06
+18110,1792838059266054760,16738679000000,1792838059260663984,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762484623132974,-0.004864222447102805,0.1043494330156667,0.9999999449476548,-9.824648364299499e-05,0.0002769119832232271,0.00012334882984053612,0.6761,-0.0046,0.1039505776981525,1.0,0.0,0.0,0.0,-0.34625140712295277,0.15011620194599407,3.404419899239867,0.009855203246759592,0.031376801849003086,0.0019500269923926937,0.3855478991051142,0.9406076803142661,3.593879534368019,0.07038617145530561,-0.02547536862357958,0.0027166173664499834,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.486747931851431,0.7217070918898808,-2.8757501606758353,0.3541774918787145,2.083405330763582,0.4124117485371523,1.6213854171166837,-3.404419899239867,4.497135577792519,4.497135577792519,4.663481855303122,0,0,-0.00024050247384302536,9.960937216580418e-05
+18171,1792838059774017913,16739187000000,1792838059772664065,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762463079455132,-0.004867704506702932,0.10422340855577572,0.9999999438433469,-0.0001134534376533137,0.00027165934737914026,0.0001307122173193485,0.6761,-0.0046,0.10382382898803272,1.0,0.0,0.0,0.0,-0.3363613906430938,0.13801959791536167,3.4433800922336704,0.00884817009515157,0.030505611188592827,0.001891498285330685,0.3954379155849732,0.9285110762836337,3.6328397273618225,0.06937913830369759,-0.026346559283989834,0.0026580886593879746,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4528630091794565,0.7785065310141122,-2.901974924135874,0.34136715683300767,2.0945438568004056,0.4467697994995158,1.6213854171166837,-3.4433800922336704,4.523360341252558,4.523360341252558,4.739681855302944,0,0,-0.0002609036168124427,1.2018285004639042e-05
+18234,1792838060299064069,16739712000000,1792838060296664137,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762484727958888,-0.004861944509407731,0.10408847333527493,0.999999940692186,-0.00012616821175450907,0.0002791723694916376,0.00012729045269066014,0.6761,-0.0046,0.1036811443275315,1.0,0.0,0.0,0.0,-0.3210438506880019,0.12601146473295144,3.4636766903312743,0.007853241291067847,0.02940552817814089,0.0018476986423235277,0.4107554555400651,0.9165029431012235,3.6531363254594265,0.06838420949961387,-0.02744664229444177,0.0026142890163808174,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.4417834702496697,0.7998819314959744,-2.802388995093948,0.35402449517066675,2.0293468073132455,0.4644078806092887,1.6213854171166837,-3.4636766903312743,4.423774412210632,4.423774412210632,4.8184318553027605,0,0,-0.00028344339058769395,-9.999999025923074e-05
+18291,1792838060774077175,16740187000000,1792838060768654268,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762531308725245,-0.004867678381325712,0.10394892106973275,0.9999999356991003,-0.00013541485126380783,0.00029032421800952933,0.0001319822942309833,0.6761,-0.0046,0.10354100639665419,1.0,0.0,0.0,0.0,-0.30659003503493054,0.10115144892219252,3.4844253620223338,0.005835148769256518,0.028397770010039198,0.00179349298549689,0.42520927119313645,0.8916429272904646,3.673884997150486,0.06636611697780254,-0.028454400462543463,0.0025600833595541797,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3746827943053723,0.7115376171554233,-3.021562831691802,0.3862158029323132,2.1468568641329457,0.40404892345185,1.6213854171166837,-3.4844253620223338,4.6429482488084854,4.6429482488084854,4.8896818553025945,0,0,-0.00030649621745174196,8.750000310276391e-05
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+18499,1792838062508067273,16741920999999,1792838062504663958,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762598448227034,-0.004874299529223312,0.10335042396800175,0.9999999372604388,-0.0001028850944138251,0.00029266693272108274,0.0001438148345405145,0.6761,-0.0046,0.10293548417682027,1.0,0.0,0.0,0.0,-0.2751372957129298,0.023130474106932142,3.451436355274984,-0.00021394868683450446,0.026494790283407545,0.0017201309393770209,0.4566620105151372,0.8136219524752042,3.640895990403136,0.060317019521711514,-0.030357380189175116,0.0024867213134343105,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.370977270316183,0.6545227547211828,-2.8959446757374194,0.4461155823563133,2.0730902368716686,0.37575547233188844,1.6213854171166837,-3.451436355274984,4.517330092854103,4.517330092854103,5.149781855301988,0,0,-0.0003925157902831807,-9.999999025923074e-05
+18548,1792838062916110726,16742329000000,1792838062912664078,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762551356208109,-0.0048801391053376,0.10318279819521922,0.9999999363067685,-0.00012309442797890438,0.0002861746968058145,0.00014758430828573958,0.6761,-0.0046,0.10277118633519747,1.0,0.0,0.0,0.0,-0.2553243762172246,-0.0031865452831292274,3.4288279940166992,-0.0022414659803739953,0.025526621218191728,0.0013317875542223365,0.4764749300108424,0.7873049330851428,3.6182876291448514,0.05828950222817202,-0.03132554925439093,0.002098377928279626,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3132269547734157,0.6572101841288092,-2.9394165847864047,0.4505584970572185,2.0886196442048384,0.3812280104167268,1.6213854171166837,-3.4288279940166992,4.560802001903088,4.560802001903088,5.210981855301846,0,0,-0.00041291578630894685,-9.999999025923074e-05
+18590,1792838063266059255,16742679000000,1792838063260663931,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762529260043444,-0.004882619632686687,0.10302918806862621,0.9999999356599172,-0.000132184268794766,0.00028438191334882235,0.00014757124428511515,0.6761,-0.0046,0.10262361206058766,1.0,0.0,0.0,0.0,-0.2532906420006213,-0.032601186513729674,3.3892363192588912,-0.005184192160964274,0.024579995966924402,0.0012035763975762393,0.4785086642274457,0.7578902918545424,3.5786959543870434,0.055346776047581744,-0.03227217450565826,0.001970166771633529,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3234704546226015,0.6539169128295779,-2.887094799159648,0.46372289196058053,2.062212139716945,0.38325825348096315,1.6213854171166837,-3.3892363192588912,4.5084802162763316,4.5084802162763316,5.263481855301723,0,0,-0.0004304157828996776,-9.999999025923074e-05
+18631,1792838063608071590,16743021000000,1792838063600654731,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762449430710002,-0.004889042088519616,0.10286760280258922,0.9999999445356998,-6.726198313708267e-05,0.0002723748208187538,0.00015381561777810828,0.6761,-0.0046,0.1024734943134073,1.0,0.0,0.0,0.0,-0.2448270977307912,-0.06389969288334929,3.358440403868925,-0.00730703911181322,0.024625544049467755,0.0015616414275879606,0.4869722084972758,0.7265917854849228,3.547900038997077,0.0532239290967328,-0.032226626423114905,0.0023282318016452502,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.3187062291032465,0.6275249023284785,-2.871183187737469,0.4754242788007543,2.056549055755723,0.3683239009388211,1.6213854171166837,-3.358440403868925,4.492568604854153,4.492568604854153,5.314781855301604,0,0,-0.00044751577956833453,-9.999999025923074e-05
+18672,1792838063949004537,16743362000000,1792838063948666677,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762401442734847,-0.0048839045223919,0.10270191221477681,0.9999999456499317,-9.394179610080433e-05,0.00026419651192255645,0.0001466906271898823,0.6761,-0.0046,0.10231799293314249,1.0,0.0,0.0,0.0,-0.24121058199543743,-0.09641320526544739,3.303467299521337,-0.009284191588288047,0.022736475173535685,0.0012261912127250144,0.49058872423262956,0.6940782731028247,3.492926934649489,0.05124677662025797,-0.034115695299046976,0.001992781586782304,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2694627531139977,0.608899578149545,-2.802728708687855,0.4979473674896404,2.0002455461814876,0.3584801579063798,1.6213854171166837,-3.303467299521337,4.424114125804539,4.424114125804539,5.3659318553014845,0,0,-0.0004645657762467322,-9.999999025923074e-05
+18713,1792838064291020407,16743704000000,1792838064284654963,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762320895906496,-0.0048845819532048725,0.10252259151263929,0.9999999468454638,-0.00010917379403335917,0.00025031038061228356,0.00015224233954432695,0.6761,-0.0046,0.10215619588823743,1.0,0.0,0.0,0.0,-0.23946683080891956,-0.13643914619638275,3.2653920422494482,-0.012305244786962356,0.022760745698605235,0.0006499685748986687,0.49233247541914743,0.6540523321718893,3.4548516773776003,0.04822572342158366,-0.034091424773977426,0.0014165589489559584,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2747618581419218,0.5471094205382305,-2.583524209781367,0.5032454378716121,1.8692744503944192,0.31859572829075494,1.6213854171166837,-3.2653920422494482,4.204909626898051,4.204909626898051,5.417231855301365,0,0,-0.0004816657729153891,-9.999999025923074e-05
+18753,1792838064624073695,16744037000000,1792838064620664478,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762271267292506,-0.004897176070313524,0.10234704047146866,0.9999999447105853,-0.00011622334372605154,0.00024138476477539067,0.00017391728001975618,0.6761,-0.0046,0.1019930372863983,1.0,0.0,0.0,0.0,-0.24350817642974715,-0.17751929358508078,3.19593686603721,-0.015413236948546544,0.023810507115938663,0.0006868333125777313,0.48829112979831985,0.6129721847831913,3.385396501165362,0.045117731259999475,-0.033041663356644,0.0014534236866350209,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2686222630776698,0.5453664456581684,-2.604543067064281,0.5083024310619292,1.8869808319796424,0.3219431545897771,1.6213854171166837,-3.19593686603721,4.225928484180964,4.225928484180964,5.467181855301249,0,0,-0.000498315769671713,-9.999999025923074e-05
+18792,1792838064949142447,16744362000000,1792838064948664310,DOWN_FORCE_DETACH,3,0.0601,0.06010141596198082,0.6762188589867967,-0.0048945928040554166,0.10216595553367945,0.9999999463148528,-0.00013803832424613092,0.00022657286196082536,0.00016859215599683057,0.6761,-0.0046,0.10182845216177101,1.0,0.0,0.0,0.0,-0.24517177951082308,-0.21871242477412034,3.119000605533573,-0.018434855344227064,0.022873886766072896,0.000701615721939166,0.4866275267172439,0.5717790535941517,3.308460240661725,0.042096112864318955,-0.033978283706509765,0.0014682060959964557,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2235534934290624,0.5408614175083196,-2.431876227131029,0.5239971137474033,1.7661639443663322,0.31546709380296384,1.6213854171166837,-3.119000605533573,4.053261644247713,4.053261644247713,5.515931855301135,0,0,-0.000514565766505963,-9.999999025923074e-05
+18829,1792838065258119873,16744670999999,1792838065252664465,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762161620923327,-0.004896805303647803,0.10199799900528402,0.9999999461595397,-0.00015219221805895611,0.0002189765793729164,0.00016736358144107507,0.6761,-0.0046,0.1016670720403872,1.0,0.0,0.0,0.0,-0.24063360565242192,-0.2285147568055247,3.048351973022419,-0.0193052431708362,0.022906147083436218,0.0007505278197467281,0.49116570057564507,0.5619767215627474,3.237811608150571,0.04122572503770982,-0.03394602338914644,0.0015171181938040178,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.2801306149665281,0.4920243544217813,-2.421030021962898,0.5305793247255994,1.7842695611953632,0.2934467772972447,1.6213854171166837,-3.048351973022419,4.042415439079582,4.042415439079582,5.562281855301027,0,0,-0.0005300157634960653,-9.999999025923074e-05
+18865,1792838065558125330,16744971000000,1792838065552654734,DOWN_FORCE_DETACH,3,0.0601,0.06010207161307335,0.6762136251195664,-0.004897825185745528,0.10182358247450406,0.9999999558657064,-1.202704154188619e-05,0.00021897340791940606,0.0001778129535329842,0.6761,-0.0046,0.10150582481177818,1.0,0.0,0.0,0.0,-0.2653789936244322,-0.2660076891250104,2.9818991152067427,-0.021488622201462956,0.023975938089468005,0.0007879512800800439,0.4664203126036348,0.5244837892432617,3.171358750334895,0.03904234600708306,-0.032876232383114656,0.0015545416541373335,0.731799306228067,0.790491478368272,0.18945963512815223,0.06053096820854602,-0.05685217047258266,0.0007665903740572896,1,1.294540932667732,0.45010760783002046,-2.4028455003302684,0.5406655924799477,1.7735321785909521,0.25342134608648365,1.6213854171166837,-2.9818991152067427,4.024230917446952,4.024230917446952,5.607281855300922,0,0,-0.0005450157605738345,-9.999999025923074e-05
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Fixed/digit/ball_15A_12.5/press_depth_03/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838028503859117,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.284759715e-09,-8.333905788e-11,-1.791511384e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450696e-01,-1.185647980e-04,8.303258689e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792838029273925769,-1.772133714e-07,-4.623255871e-07,-6.838829503e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.415245440e-08,-3.713970326e-09,-6.204499803e-09,7.019554556e-01,-2.273306061e-05,8.601424034e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451414e-01,-1.185684286e-04,8.303258629e-01
+2,1.616666667e+00,DOWN_FORCE_DETACH,1792838030142020372,2.188799683e-06,1.207223667e-07,1.960754852e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.136147390e-07,-6.679717637e-09,-1.049484433e-08,7.019578216e-01,-2.215001266e-05,8.601450480e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451809e-01,-1.185713944e-04,8.303258586e-01
+3,2.466666667e+00,DOWN_FORCE_DETACH,1792838031124712608,2.358841832e-07,-3.345564289e-06,-2.356367171e-05,-7.269421474e-07,-1.042560569e-06,-2.071148816e-05,-8.872139534e-07,-1.081194910e-06,-2.059803818e-05,7.019558687e-01,-2.561629931e-05,8.601195236e-01,7.019549059e-01,-2.331329559e-05,8.601223758e-01,7.027441801e-01,-1.196459096e-04,8.303052710e-01
+4,3.033333333e+00,DOWN_FORCE_DETACH,1792838031682033622,3.613492771e-05,-1.069009102e-05,-4.125387393e-05,2.677421500e-05,-5.635597861e-06,-3.542877093e-05,2.842052564e-05,-5.655625492e-06,-3.527734983e-05,7.019917677e-01,-3.296082605e-05,8.601018334e-01,7.019824070e-01,-2.790633288e-05,8.601076585e-01,7.027734878e-01,-1.242203402e-04,8.302905917e-01
+5,3.816666667e+00,DOWN_FORCE_DETACH,1792838032484526131,2.782080047e-05,-8.596271712e-06,-7.735841480e-05,2.786683325e-05,-8.749010244e-06,-7.581847431e-05,2.916365358e-05,-8.774169840e-06,-7.553356667e-05,7.019834536e-01,-3.086700673e-05,8.600657288e-01,7.019834997e-01,-3.101974527e-05,8.600672688e-01,7.027742309e-01,-1.273388845e-04,8.302503355e-01
+6,4.466666667e+00,DOWN_FORCE_DETACH,1792838033139775434,2.300385005e-05,-1.499814238e-05,-1.108188343e-04,2.339777720e-05,-8.277476883e-06,-9.727338246e-05,2.420677835e-05,-8.307310375e-06,-9.706752520e-05,7.019786367e-01,-3.726887741e-05,8.600322684e-01,7.019790306e-01,-3.054821191e-05,8.600458139e-01,7.027692741e-01,-1.268720250e-04,8.302288015e-01
+7,5.266666667e+00,DOWN_FORCE_DETACH,1792838033925761709,2.544878597e-05,-1.435621011e-05,-1.321058450e-04,2.134383878e-05,-1.132864476e-05,-1.197860325e-04,2.169970169e-05,-1.136728645e-05,-1.196297249e-04,7.019810816e-01,-3.662694513e-05,8.600109814e-01,7.019769767e-01,-3.359937979e-05,8.600233012e-01,7.027667670e-01,-1.299320011e-04,8.302062393e-01
+8,6.066666667e+00,DOWN_FORCE_DETACH,1792838034925163265,3.293840971e-05,-1.789097704e-05,-1.762538564e-04,2.614727757e-05,-1.598804050e-05,-1.633717829e-04,2.628644707e-05,-1.607350708e-05,-1.631195694e-04,7.019885712e-01,-4.016171206e-05,8.599668334e-01,7.019817801e-01,-3.825877552e-05,8.599797155e-01,7.027713537e-01,-1.346382217e-04,8.301627495e-01
+9,6.766666667e+00,DOWN_FORCE_DETACH,1792838035613374818,3.818152055e-05,-2.381841753e-05,-2.111154728e-04,3.655843782e-05,-1.974035355e-05,-2.022609185e-04,3.706522243e-05,-1.985839621e-05,-2.019357542e-04,7.019938143e-01,-4.608915256e-05,8.599319718e-01,7.019921913e-01,-4.201108857e-05,8.599408263e-01,7.027821325e-01,-1.384231109e-04,8.301239333e-01
+10,7.466666667e+00,DOWN_FORCE_DETACH,1792838036334119617,4.376194237e-05,-2.304831777e-05,-2.449202456e-04,4.148789442e-05,-2.427542676e-05,-2.448928154e-04,4.184825991e-05,-2.439476403e-05,-2.445104722e-04,7.019993948e-01,-4.531905279e-05,8.598981670e-01,7.019971207e-01,-4.654616178e-05,8.598981944e-01,7.027869155e-01,-1.429594787e-04,8.300813586e-01
+11,8.333333333e+00,DOWN_FORCE_DETACH,1792838037185578801,4.681910324e-05,-2.479529793e-05,-2.957503732e-04,4.659550687e-05,-3.006351649e-05,-2.831044887e-04,4.685304744e-05,-3.020968601e-05,-2.827435991e-04,7.020024519e-01,-4.706603295e-05,8.598473369e-01,7.020022283e-01,-5.233425151e-05,8.598599828e-01,7.027919203e-01,-1.487744007e-04,8.300431255e-01
+12,8.800000000e+00,DOWN_FORCE_DETACH,1792838037693755226,8.948423908e-05,-2.152761134e-05,-2.962180580e-04,8.073224690e-05,-2.436878219e-05,-3.015321276e-04,8.330080710e-05,-2.449811713e-05,-3.011122642e-04,7.020451171e-01,-4.379834637e-05,8.598468692e-01,7.020363651e-01,-4.663951721e-05,8.598415551e-01,7.028283681e-01,-1.430628318e-04,8.300247568e-01
+13,9.533333333e+00,DOWN_FORCE_DETACH,1792838038446803635,9.354410501e-05,-2.661109349e-05,-3.465606118e-04,9.335517355e-05,-2.134401883e-05,-3.442859338e-04,9.637834847e-05,-2.143445695e-05,-3.437585036e-04,7.020491769e-01,-4.888182851e-05,8.597965266e-01,7.020489880e-01,-4.361475385e-05,8.597988013e-01,7.028414456e-01,-1.399991716e-04,8.299821106e-01
+14,1.015000000e+01,DOWN_FORCE_DETACH,1792838039062795512,1.057457917e-04,-9.452627240e-06,-3.919204227e-04,1.001127659e-04,1.422561961e-06,-3.811135423e-04,1.032813601e-04,1.403648508e-06,-3.806374724e-04,7.020613786e-01,-3.172336226e-05,8.597511668e-01,7.020557456e-01,-2.084817306e-05,8.597619737e-01,7.028483486e-01,-1.171610662e-04,8.299452316e-01
+15,1.090000000e+01,DOWN_FORCE_DETACH,1792838039855512448,1.093894209e-04,-1.394976258e-05,-4.597949492e-04,1.110385905e-04,-1.162703157e-05,-4.411847694e-04,1.143770718e-04,-1.170859940e-05,-4.406232684e-04,7.020650222e-01,-3.622049760e-05,8.596832923e-01,7.020666714e-01,-3.389776659e-05,8.597019025e-01,7.028594443e-01,-1.302733141e-04,8.298852458e-01
+16,1.166666667e+01,DOWN_FORCE_DETACH,1792838040625434315,1.221515049e-04,-1.910260140e-05,-5.179568388e-04,1.171068492e-04,-1.741077599e-05,-5.059441082e-04,1.200766710e-04,-1.756162072e-05,-5.054501265e-04,7.020777843e-01,-4.137333643e-05,8.596251304e-01,7.020727397e-01,-3.968151101e-05,8.596371431e-01,7.028651439e-01,-1.361263354e-04,8.298204189e-01
+17,1.251666667e+01,DOWN_FORCE_DETACH,1792838041460812423,1.265082178e-04,-2.348928040e-05,-5.663617124e-04,1.264277346e-04,-2.359003552e-05,-5.662052651e-04,1.293834384e-04,-2.372726089e-05,-5.656808800e-04,7.020821410e-01,-4.576001542e-05,8.595767255e-01,7.020820606e-01,-4.586077054e-05,8.595768820e-01,7.028744507e-01,-1.422919756e-04,8.297601882e-01
+18,1.336666667e+01,DOWN_FORCE_DETACH,1792838042345438853,1.397582226e-04,-2.052529394e-05,-5.829602615e-04,1.349480711e-04,-2.283103014e-05,-5.848800415e-04,1.383391405e-04,-2.297457755e-05,-5.845608013e-04,7.020953910e-01,-4.279602896e-05,8.595601270e-01,7.020905809e-01,-4.510176517e-05,8.595582072e-01,7.028834064e-01,-1.415392922e-04,8.297413083e-01
+19,1.415000000e+01,DOWN_FORCE_DETACH,1792838043131679273,1.391719660e-04,-1.946494213e-05,-6.180648698e-04,1.383412134e-04,-2.283764442e-05,-6.047865255e-04,1.418486490e-04,-2.295197546e-05,-6.045460630e-04,7.020948048e-01,-4.173567715e-05,8.595250224e-01,7.020939740e-01,-4.510837945e-05,8.595383007e-01,7.028869159e-01,-1.415166901e-04,8.297213230e-01
+20,1.498333333e+01,DOWN_FORCE_DETACH,1792838043983415957,1.526763864e-04,-2.060793045e-05,-6.543303702e-04,1.476327627e-04,-1.978164258e-05,-6.441616648e-04,1.513331878e-04,-1.989018479e-05,-6.438502951e-04,7.021083092e-01,-4.287866548e-05,8.594887569e-01,7.021032656e-01,-4.205237761e-05,8.594989256e-01,7.028964005e-01,-1.384548995e-04,8.296820188e-01
+21,1.575000000e+01,DOWN_FORCE_DETACH,1792838044737351612,1.626580828e-04,-2.108578316e-05,-7.164681434e-04,1.599702296e-04,-2.364192882e-05,-7.036828637e-04,1.639202325e-04,-2.375365435e-05,-7.033473510e-04,7.021182909e-01,-4.335651818e-05,8.594266191e-01,7.021156030e-01,-4.591266385e-05,8.594394044e-01,7.029089875e-01,-1.423183690e-04,8.296225217e-01
+22,1.658333333e+01,DOWN_FORCE_DETACH,1792838045556028169,1.756778129e-04,-2.531290266e-05,-7.705530339e-04,1.712268505e-04,-2.392916024e-05,-7.650631892e-04,1.753551807e-04,-2.405070299e-05,-7.646633931e-04,7.021313106e-01,-4.758363768e-05,8.593725342e-01,7.021268597e-01,-4.619989527e-05,8.593780241e-01,7.029204225e-01,-1.426154177e-04,8.295612057e-01
+23,1.745000000e+01,DOWN_FORCE_DETACH,1792838046408266069,1.811526736e-04,-3.106914774e-05,-8.363962096e-04,1.808294979e-04,-2.597602462e-05,-8.307520529e-04,1.849238747e-04,-2.610528965e-05,-8.303498237e-04,7.021367855e-01,-5.333988276e-05,8.593066910e-01,7.021364623e-01,-4.824675964e-05,8.593123352e-01,7.029299912e-01,-1.446700043e-04,8.294955192e-01
+24,1.823333333e+01,DOWN_FORCE_DETACH,1792838047177801102,1.863257453e-04,-3.036426100e-05,-8.881870214e-04,1.861200820e-04,-3.153977194e-05,-8.746920426e-04,1.900644146e-04,-3.169204859e-05,-8.743393095e-04,7.021419586e-01,-5.263499602e-05,8.592549002e-01,7.021417529e-01,-5.381050696e-05,8.592683952e-01,7.029351317e-01,-1.502567633e-04,8.294515298e-01
+25,1.898333333e+01,DOWN_FORCE_DETACH,1792838047930954004,1.988232024e-04,-3.048229372e-05,-9.315394058e-04,1.955542258e-04,-3.394610632e-05,-9.356090808e-04,1.994893797e-04,-3.411744753e-05,-9.351772836e-04,7.021544560e-01,-5.275302874e-05,8.592115478e-01,7.021511870e-01,-5.621684134e-05,8.592074782e-01,7.029445567e-01,-1.526821622e-04,8.293906918e-01
+26,1.975000000e+01,DOWN_FORCE_DETACH,1792838048684694907,2.043214561e-04,-3.556512917e-05,-9.959420730e-04,2.036167154e-04,-3.258032852e-05,-9.767231945e-04,2.076897856e-04,-3.274753643e-05,-9.763404568e-04,7.021599543e-01,-5.783586419e-05,8.591471452e-01,7.021592495e-01,-5.485106355e-05,8.591663640e-01,7.029527571e-01,-1.513122511e-04,8.293495286e-01
+27,2.045000000e+01,DOWN_FORCE_DETACH,1792838049372369807,2.157144123e-04,-3.796046936e-05,-1.048127038e-03,2.106116890e-04,-3.791754778e-05,-1.037357875e-03,2.145486420e-04,-3.813520490e-05,-1.036887452e-03,7.021713472e-01,-6.023120438e-05,8.590949602e-01,7.021662445e-01,-6.018828281e-05,8.591057294e-01,7.029596159e-01,-1.566999196e-04,8.292889816e-01
+28,2.108333333e+01,DOWN_FORCE_DETACH,1792838050027946894,2.218942623e-04,-4.003944211e-05,-1.107798277e-03,2.205082234e-04,-3.806869361e-05,-1.099225855e-03,2.243836583e-04,-3.832748163e-05,-1.098647258e-03,7.021775271e-01,-6.231017713e-05,8.590352890e-01,7.021761410e-01,-6.033942863e-05,8.590438614e-01,7.029694509e-01,-1.568921963e-04,8.292272218e-01
+29,2.196666667e+01,DOWN_FORCE_DETACH,1792838050912261553,2.322484100e-04,-4.054497747e-05,-1.188991236e-03,2.338163608e-04,-3.935615467e-05,-1.182907135e-03,2.377284259e-04,-3.958386188e-05,-1.182228509e-03,7.021878812e-01,-6.281571249e-05,8.589540960e-01,7.021894492e-01,-6.162688969e-05,8.589601801e-01,7.029827957e-01,-1.581485766e-04,8.291436406e-01
+30,2.268333333e+01,DOWN_FORCE_DETACH,1792838051678203533,2.382168012e-04,-4.613769009e-05,-1.268205066e-03,2.371251530e-04,-4.313192176e-05,-1.267558132e-03,2.402888286e-04,-4.337170155e-05,-1.266840349e-03,7.021938496e-01,-6.840842512e-05,8.588748822e-01,7.021927580e-01,-6.540265679e-05,8.588755291e-01,7.029853561e-01,-1.619364162e-04,8.290590287e-01
+31,2.348333333e+01,DOWN_FORCE_DETACH,1792838052468611220,2.473358542e-04,-4.675721226e-05,-1.357008638e-03,2.470920404e-04,-4.748960708e-05,-1.351564397e-03,2.500673057e-04,-4.776881673e-05,-1.350878902e-03,7.022029687e-01,-6.902794728e-05,8.587860786e-01,7.022027249e-01,-6.976034210e-05,8.587915228e-01,7.029951346e-01,-1.663335314e-04,8.289749902e-01
+32,2.423333333e+01,DOWN_FORCE_DETACH,1792838053221486345,2.563013836e-04,-4.908404333e-05,-1.449687784e-03,2.545704605e-04,-5.527598497e-05,-1.437316099e-03,2.571617097e-04,-5.564310150e-05,-1.436677821e-03,7.022119342e-01,-7.135477835e-05,8.586933995e-01,7.022102033e-01,-7.754672000e-05,8.587057711e-01,7.030022290e-01,-1.742078162e-04,8.288891912e-01
+33,2.496666667e+01,DOWN_FORCE_DETACH,1792838053958790316,2.643289716e-04,-5.926962737e-05,-1.543499543e-03,2.612926616e-04,-6.074161795e-05,-1.524149758e-03,2.633368776e-04,-6.112004520e-05,-1.523493061e-03,7.022199618e-01,-8.154036239e-05,8.585995877e-01,7.022169255e-01,-8.301235298e-05,8.586189375e-01,7.030084042e-01,-1.796847599e-04,8.288023760e-01
+34,2.566666667e+01,DOWN_FORCE_DETACH,1792838054745697118,2.732768924e-04,-6.004139624e-05,-1.644380367e-03,2.709930222e-04,-6.167536760e-05,-1.632383157e-03,2.724800874e-04,-6.208373934e-05,-1.631630258e-03,7.022289097e-01,-8.231213126e-05,8.584987069e-01,7.022266258e-01,-8.394610263e-05,8.585107041e-01,7.030175474e-01,-1.806484540e-04,8.286942388e-01
+35,2.633333333e+01,DOWN_FORCE_DETACH,1792838055417076283,2.878200694e-04,-6.557979469e-05,-1.730061094e-03,2.816646654e-04,-6.584147205e-05,-1.716800569e-03,2.829107303e-04,-6.626957484e-05,-1.716127651e-03,7.022434529e-01,-8.785052971e-05,8.584130261e-01,7.022372975e-01,-8.811220708e-05,8.584262867e-01,7.030279780e-01,-1.848342895e-04,8.286097414e-01
+36,2.695000000e+01,DOWN_FORCE_DETACH,1792838056039973628,2.881981616e-04,-6.740947805e-05,-1.830611772e-03,2.877320787e-04,-6.880286806e-05,-1.825477864e-03,2.882072698e-04,-6.924622482e-05,-1.824705585e-03,7.022438310e-01,-8.968021308e-05,8.583124755e-01,7.022433649e-01,-9.107360308e-05,8.583176094e-01,7.030332745e-01,-1.878109395e-04,8.285011635e-01
+37,2.756666667e+01,DOWN_FORCE_DETACH,1792838056645020427,2.968275167e-04,-7.857751796e-05,-1.922683580e-03,2.972369426e-04,-7.041473338e-05,-1.918556266e-03,2.972609324e-04,-7.082414752e-05,-1.917732314e-03,7.022524603e-01,-1.008482530e-04,8.582204037e-01,7.022528698e-01,-9.268546841e-05,8.582245310e-01,7.030423282e-01,-1.893888622e-04,8.284081368e-01
+38,2.823333333e+01,DOWN_FORCE_DETACH,1792838057300384743,3.055396617e-04,-7.574019888e-05,-2.027855216e-03,3.052932508e-04,-7.553985487e-05,-2.027995083e-03,3.046190940e-04,-7.594824079e-05,-2.027122106e-03,7.022611725e-01,-9.801093390e-05,8.581152320e-01,7.022609261e-01,-9.781058989e-05,8.581150922e-01,7.030496864e-01,-1.945129555e-04,8.282987470e-01
+39,2.891666667e+01,DOWN_FORCE_DETACH,1792838057972292449,3.164338092e-04,-7.980923754e-05,-2.136164999e-03,3.156657031e-04,-7.841658167e-05,-2.133895382e-03,3.145441828e-04,-7.881424947e-05,-2.133075205e-03,7.022720666e-01,-1.020799726e-04,8.580069222e-01,7.022712985e-01,-1.006873167e-04,8.580091919e-01,7.030596115e-01,-1.973789641e-04,8.281927939e-01
+40,2.956666667e+01,DOWN_FORCE_DETACH,1792838058610940638,3.287846300e-04,-8.166424415e-05,-2.253965385e-03,3.284136720e-04,-8.327063720e-05,-2.244015149e-03,3.269357301e-04,-8.372716508e-05,-2.243143299e-03,7.022844174e-01,-1.039349792e-04,8.578891219e-01,7.022840465e-01,-1.055413722e-04,8.578990721e-01,7.030720030e-01,-2.022918797e-04,8.280827258e-01
+41,3.023333333e+01,DOWN_FORCE_DETACH,1792838059266066482,3.384305306e-04,-8.105076014e-05,-2.386703116e-03,3.349993706e-04,-8.567393401e-05,-2.378107847e-03,3.324468758e-04,-8.614872871e-05,-2.377244583e-03,7.022940633e-01,-1.033214952e-04,8.577563841e-01,7.022906322e-01,-1.079446690e-04,8.577649794e-01,7.030775142e-01,-2.047134434e-04,8.279486245e-01
+42,3.075000000e+01,DOWN_FORCE_DETACH,1792838059774740213,3.340057373e-04,-8.965148737e-05,-2.516282650e-03,3.331481951e-04,-8.243617792e-05,-2.514351882e-03,3.287676684e-04,-8.291825471e-05,-2.513344996e-03,7.022896386e-01,-1.119222224e-04,8.576268046e-01,7.022887810e-01,-1.047069129e-04,8.576287354e-01,7.030738349e-01,-2.014829694e-04,8.278125241e-01
+43,3.125000000e+01,DOWN_FORCE_DETACH,1792838060295950633,3.407906840e-04,-8.755412878e-05,-2.644838057e-03,3.382339343e-04,-8.401504560e-05,-2.630015678e-03,3.328019163e-04,-8.449373685e-05,-2.629067226e-03,7.022964235e-01,-1.098248638e-04,8.574982492e-01,7.022938668e-01,-1.062857806e-04,8.575130716e-01,7.030778692e-01,-2.030584515e-04,8.276968018e-01
+44,3.171666667e+01,DOWN_FORCE_DETACH,1792838060772980544,3.407993256e-04,-8.755152037e-05,-2.787691446e-03,3.365220723e-04,-8.337291297e-05,-2.771745286e-03,3.293110612e-04,-8.384842230e-05,-2.770746135e-03,7.022964321e-01,-1.098222554e-04,8.573553958e-01,7.022921549e-01,-1.056436480e-04,8.573713420e-01,7.030743783e-01,-2.024131370e-04,8.275551229e-01
+45,3.218333333e+01,DOWN_FORCE_DETACH,1792838061232243241,3.342251092e-04,-9.438810232e-05,-2.937404659e-03,3.344944290e-04,-9.476556976e-05,-2.928156159e-03,3.252017478e-04,-9.528222644e-05,-2.927064137e-03,7.022898579e-01,-1.166588373e-04,8.572056826e-01,7.022901272e-01,-1.170363048e-04,8.572149311e-01,7.030702690e-01,-2.138469411e-04,8.273988049e-01
+46,3.261666667e+01,DOWN_FORCE_DETACH,1792838061673789569,3.374891317e-04,-9.475156680e-05,-3.083118557e-03,3.333972098e-04,-9.468653411e-05,-3.069522122e-03,3.223248009e-04,-9.520847062e-05,-3.068437816e-03,7.022931219e-01,-1.170223018e-04,8.570599687e-01,7.022890300e-01,-1.169572691e-04,8.570735651e-01,7.030673921e-01,-2.137731853e-04,8.272574312e-01
+47,3.303333333e+01,DOWN_FORCE_DETACH,1792838062107082680,3.479042911e-04,-9.600658741e-05,-3.233271458e-03,3.496094149e-04,-9.602673571e-05,-3.227889549e-03,3.379137242e-04,-9.655968873e-05,-3.226632011e-03,7.023035371e-01,-1.182773224e-04,8.569098158e-01,7.023052422e-01,-1.182974707e-04,8.569151977e-01,7.030829810e-01,-2.151244034e-04,8.270992371e-01
+48,3.341666667e+01,DOWN_FORCE_DETACH,1792838062509601413,3.479346947e-04,-9.681684605e-05,-3.392128642e-03,3.489707537e-04,-1.009338868e-04,-3.381781674e-03,3.353712702e-04,-1.015116527e-04,-3.380469406e-03,7.023035675e-01,-1.190875811e-04,8.567509586e-01,7.023046036e-01,-1.232046218e-04,8.567613056e-01,7.030804385e-01,-2.200763674e-04,8.269453997e-01
+49,3.381666667e+01,DOWN_FORCE_DETACH,1792838062919062124,3.439285102e-04,-1.029724739e-04,-3.557750798e-03,3.438448958e-04,-1.030044693e-04,-3.557544817e-03,3.277314632e-04,-1.036009051e-04,-3.556174356e-03,7.022995613e-01,-1.252432090e-04,8.565853364e-01,7.022994777e-01,-1.252752043e-04,8.565855424e-01,7.030727987e-01,-2.221656197e-04,8.267696947e-01
+50,3.416666667e+01,DOWN_FORCE_DETACH,1792838063262715422,3.395695836e-04,-1.064351445e-04,-3.707637940e-03,3.377926807e-04,-1.072630261e-04,-3.689158976e-03,3.196902492e-04,-1.078775805e-04,-3.687957870e-03,7.022952024e-01,-1.287058795e-04,8.564354493e-01,7.022934255e-01,-1.295337611e-04,8.564539283e-01,7.030647575e-01,-2.264422952e-04,8.266379112e-01
+51,3.451666667e+01,DOWN_FORCE_DETACH,1792838063607112992,3.347272735e-04,-1.051067914e-04,-3.867888648e-03,3.347092738e-04,-1.051329339e-04,-3.867590376e-03,3.142393727e-04,-1.057547874e-04,-3.866222250e-03,7.022903601e-01,-1.273775264e-04,8.562751986e-01,7.022903421e-01,-1.274036689e-04,8.562754969e-01,7.030593066e-01,-2.243195020e-04,8.264596468e-01
+52,3.486666667e+01,DOWN_FORCE_DETACH,1792838063951297908,3.276408487e-04,-1.082165073e-04,-4.036673261e-03,3.274833335e-04,-1.078451506e-04,-4.036563023e-03,3.044655835e-04,-1.084310944e-04,-4.035218194e-03,7.022832737e-01,-1.304872423e-04,8.561064140e-01,7.022831162e-01,-1.301158856e-04,8.561065242e-01,7.030495329e-01,-2.269958090e-04,8.262906509e-01
+53,3.520000000e+01,DOWN_FORCE_DETACH,1792838064295005897,3.209556026e-04,-1.117577133e-04,-4.217744152e-03,3.218059683e-04,-1.117193533e-04,-4.198602431e-03,2.963563936e-04,-1.122891470e-04,-4.197302475e-03,7.022765884e-01,-1.340284483e-04,8.559253431e-01,7.022774388e-01,-1.339900884e-04,8.559444848e-01,7.030414237e-01,-2.308538616e-04,8.261285666e-01
+54,3.548333333e+01,DOWN_FORCE_DETACH,1792838064622854151,3.134542818e-04,-1.186194950e-04,-4.390666597e-03,3.131355449e-04,-1.186676385e-04,-4.390435831e-03,2.847008074e-04,-1.192579590e-04,-4.389048170e-03,7.022690871e-01,-1.408902300e-04,8.557524206e-01,7.022687684e-01,-1.409383735e-04,8.557526514e-01,7.030297681e-01,-2.378226737e-04,8.259368209e-01
+55,3.580000000e+01,DOWN_FORCE_DETACH,1792838064950610081,3.068405668e-04,-1.149032796e-04,-4.572048716e-03,3.064892459e-04,-1.150042128e-04,-4.571931154e-03,2.753117377e-04,-1.155424994e-04,-4.570556936e-03,7.022624734e-01,-1.371740146e-04,8.555710385e-01,7.022621221e-01,-1.372749478e-04,8.555711561e-01,7.030203790e-01,-2.341072141e-04,8.257553121e-01
+56,3.606666667e+01,DOWN_FORCE_DETACH,1792838065261528489,3.048619561e-04,-1.177565502e-04,-4.741209846e-03,3.018908870e-04,-1.190506597e-04,-4.733422609e-03,2.684347945e-04,-1.196464020e-04,-4.732129841e-03,7.022604948e-01,-1.400272852e-04,8.554018774e-01,7.022575237e-01,-1.413213948e-04,8.554096646e-01,7.030135021e-01,-2.382111166e-04,8.255937392e-01
+57,3.628333333e+01,DOWN_FORCE_DETACH,1792838065557091088,3.013229114e-04,-1.197721664e-04,-4.916108731e-03,3.039896392e-04,-1.221916098e-04,-4.897193861e-03,2.687208713e-04,-1.228009594e-04,-4.895811728e-03,7.022569557e-01,-1.420429014e-04,8.552269785e-01,7.022596225e-01,-1.444623449e-04,8.552458934e-01,7.030137881e-01,-2.413656741e-04,8.254300573e-01
+58,3.658333333e+01,DOWN_SETTLE,1792838065851322553,2.885218991e-04,-1.209165709e-04,-5.072617592e-03,2.910603905e-04,-1.217837363e-04,-5.055161788e-03,2.529087125e-04,-1.223953430e-04,-5.054029957e-03,7.022441547e-01,-1.431873059e-04,8.550704696e-01,7.022466932e-01,-1.440544713e-04,8.550879255e-01,7.029979760e-01,-2.409600577e-04,8.252718391e-01
+59,3.736666667e+01,DOWN_PEAK_HOLD,1792838066620959114,2.609710709e-04,-1.109805065e-04,-5.167586937e-03,2.630902503e-04,-1.129748394e-04,-5.163054286e-03,2.214871998e-04,-1.135428482e-04,-5.163061069e-03,7.022166039e-01,-1.332512415e-04,8.549755003e-01,7.022187231e-01,-1.352455745e-04,8.549800330e-01,7.029665545e-01,-2.321075629e-04,8.251628080e-01

Fixed/digit/ball_15A_12.5/press_depth_03/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,3.8922e-02,7.5177e-02,2.4548e+00,-4.1964e-02,3.9526e-02,1.1946e-04,3.9818e-04,-1.4305e-06,-3.2663e-05,8.5682e-07,2.8133e-05,-5.9267e-07,3.9952e-04,2.8153e-05
+1,7.5000e-01,DOWN_FORCE_DETACH,1.8209e-04,5.1435e-02,7.4918e-02,2.4537e+00,-4.1926e-02,4.0411e-02,9.5099e-05,1.2911e-02,-2.6042e-04,-1.1256e-03,3.8832e-05,9.1253e-04,-2.4951e-05,1.2963e-02,9.1370e-04
+2,1.6167e+00,DOWN_FORCE_DETACH,3.6631e-04,5.8294e-02,7.4597e-02,2.4529e+00,-4.1898e-02,4.0896e-02,7.2975e-05,1.9770e-02,-5.8067e-04,-1.8981e-03,6.7290e-05,1.3974e-03,-4.7075e-05,1.9869e-02,1.3998e-03
+3,2.4667e+00,DOWN_FORCE_DETACH,5.5232e-04,6.2631e-02,7.7038e-02,2.4741e+00,-4.2063e-02,4.1180e-02,5.7613e-05,2.4107e-02,1.8603e-03,1.9278e-02,-9.7752e-05,1.6819e-03,-6.2436e-05,3.0923e-02,1.6859e-03
+4,3.0333e+00,DOWN_FORCE_DETACH,7.3831e-04,3.1072e-02,8.5969e-02,2.4792e+00,-4.2678e-02,3.8948e-02,5.5335e-05,-7.4514e-03,1.0791e-02,2.4436e-02,-7.1242e-04,-5.5058e-04,-6.4714e-05,2.7732e-02,9.0270e-04
+5,3.8167e+00,DOWN_FORCE_DETACH,9.2199e-04,5.3028e-02,9.2246e-02,2.5015e+00,-4.3106e-02,4.0471e-02,4.3908e-05,1.4504e-02,1.7068e-02,4.6719e-02,-1.1404e-03,9.7245e-04,-7.6141e-05,5.1811e-02,1.5006e-03
+6,4.4667e+00,DOWN_FORCE_DETACH,1.1083e-03,6.1661e-02,9.1390e-02,2.4949e+00,-4.3042e-02,4.1084e-02,5.7931e-06,2.3137e-02,1.6212e-02,4.0106e-02,-1.0769e-03,1.5856e-03,-1.1426e-04,4.9058e-02,1.9201e-03
+7,5.2667e+00,DOWN_FORCE_DETACH,1.2895e-03,6.4025e-02,9.8031e-02,2.4892e+00,-4.3508e-02,4.1252e-02,-4.3506e-05,2.5502e-02,2.2853e-02,3.4401e-02,-1.5425e-03,1.7534e-03,-1.6356e-04,4.8539e-02,2.3410e-03
+8,6.0667e+00,DOWN_FORCE_DETACH,1.4726e-03,6.0944e-02,1.0797e-01,2.5056e+00,-4.4198e-02,4.1013e-02,-8.4492e-05,2.2421e-02,3.2790e-02,5.0833e-02,-2.2326e-03,1.5151e-03,-2.0454e-04,6.4512e-02,2.7059e-03
+9,6.7667e+00,DOWN_FORCE_DETACH,1.6570e-03,5.4150e-02,1.1549e-01,2.5150e+00,-4.4732e-02,4.0521e-02,-1.1758e-04,1.5626e-02,4.0309e-02,6.0167e-02,-2.7672e-03,1.0228e-03,-2.3763e-04,7.4088e-02,2.9597e-03
+10,7.4667e+00,DOWN_FORCE_DETACH,1.8416e-03,5.4242e-02,1.2515e-01,2.5304e+00,-4.5433e-02,4.0510e-02,-1.4858e-04,1.5719e-02,4.9974e-02,7.5558e-02,-3.4682e-03,1.0122e-03,-2.6863e-04,9.1943e-02,3.6228e-03
+11,8.3333e+00,DOWN_FORCE_DETACH,2.0259e-03,5.3124e-02,1.3742e-01,2.5260e+00,-4.6330e-02,4.0440e-02,-1.7567e-04,1.4601e-02,6.2238e-02,7.1186e-02,-4.3651e-03,9.4165e-04,-2.9572e-04,9.5678e-02,4.4753e-03
+12,8.8000e+00,DOWN_FORCE_DETACH,2.2095e-03,1.9051e-02,1.2290e-01,2.5214e+00,-4.5343e-02,3.8041e-02,-1.7551e-04,-1.9472e-02,4.7719e-02,6.6567e-02,-3.3781e-03,-1.4571e-03,-2.9556e-04,8.4187e-02,3.6908e-03
+13,9.5333e+00,DOWN_FORCE_DETACH,2.3955e-03,2.5437e-02,1.1458e-01,2.5383e+00,-4.4796e-02,3.8480e-02,-1.7171e-04,-1.3086e-02,3.9401e-02,8.3516e-02,-2.8313e-03,-1.0177e-03,-2.9175e-04,9.3266e-02,3.0227e-03
+14,1.0150e+01,DOWN_FORCE_DETACH,2.5787e-03,2.9374e-02,6.4440e-02,2.5337e+00,-4.1310e-02,3.8766e-02,-1.8267e-04,-9.1499e-03,-1.0738e-02,7.8925e-02,6.5511e-04,-7.3179e-04,-3.0272e-04,8.0176e-02,1.0278e-03
+15,1.0900e+01,DOWN_FORCE_DETACH,2.7592e-03,3.0024e-02,9.1066e-02,2.5392e+00,-4.3164e-02,3.8810e-02,-1.4481e-04,-8.5002e-03,1.5888e-02,8.4443e-02,-1.1993e-03,-6.8856e-04,-2.6486e-04,8.6344e-02,1.4081e-03
+16,1.1667e+01,DOWN_FORCE_DETACH,2.9455e-03,3.3616e-02,1.0312e-01,2.5363e+00,-4.3952e-02,3.9064e-02,-9.1170e-05,-4.9077e-03,2.7945e-02,8.1518e-02,-1.9872e-03,-4.3462e-04,-2.1122e-04,8.6315e-02,2.0451e-03
+17,1.2517e+01,DOWN_FORCE_DETACH,3.1330e-03,3.6504e-02,1.1390e-01,2.5091e+00,-4.4669e-02,3.9291e-02,-8.3062e-07,-2.0193e-03,3.8721e-02,5.4295e-02,-2.7043e-03,-2.0730e-04,-1.2088e-04,6.6719e-02,2.7149e-03
+18,1.3367e+01,DOWN_FORCE_DETACH,3.3134e-03,3.4374e-02,1.1536e-01,2.5017e+00,-4.4784e-02,3.9149e-02,9.8017e-05,-4.1494e-03,4.0180e-02,4.6921e-02,-2.8184e-03,-3.4932e-04,-2.2033e-05,6.1914e-02,2.8401e-03
+19,1.4150e+01,DOWN_FORCE_DETACH,3.5023e-03,4.1085e-02,1.1606e-01,2.4874e+00,-4.4857e-02,3.9640e-02,1.7573e-04,2.5612e-03,4.0882e-02,3.2577e-02,-2.8917e-03,1.4177e-04,5.5685e-05,5.2337e-02,2.8957e-03
+20,1.4983e+01,DOWN_FORCE_DETACH,3.6799e-03,4.0722e-02,1.1002e-01,2.4908e+00,-4.4458e-02,3.9614e-02,2.3253e-04,2.1979e-03,3.4839e-02,3.6029e-02,-2.4932e-03,1.1550e-04,1.1248e-04,5.0166e-02,2.4984e-03
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Fixed/digit/ball_15A_12.5/press_depth_03/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_12.5/press_depth_03/up/franka_data.csv

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+13769,1792838023117590854,16702531000000,1792838023116654138,UP_SETTLE,3,0.0601,0.06010207161307335,0.6759253595985311,-0.004751582625053784,0.10689158055606646,0.9999999358591711,-0.00013250166439597136,-0.00031632886599872493,-4.5868022363888006e-05,0.6761,-0.0046,0.10734724839949425,1.0,0.0,0.0,0.0,0.8990081615387325,0.8722172817088245,-0.33586368634978686,0.062067357181035045,-0.06489967675117436,4.4501596457045605e-05,0.8353155621629688,0.8071876938101101,-0.35550542494221127,0.06103592703522612,-0.06492696429987468,0.001067594466089662,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.342828715099344,1.358065751660157,3.014073835837086,-0.5487570657076837,-2.2353053222321155,0.787820567526983,1.6213854171166837,0.33586368634978686,-1.3926884187204023,0.33586368634978686,0.3177,0,0,7.820845065034809e-05,-9.999999025923074e-05
+13791,1792838023300569465,16702714000000,1792838023300653936,UP_SETTLE,3,0.0601,0.06010207161307335,0.6759289728679478,-0.0047491053697243536,0.1069089242967733,0.9999999377061841,-0.000130481375057477,-0.00031114538840294216,-4.683642198167815e-05,0.6761,-0.0046,0.10736072789612726,1.0,0.0,0.0,0.0,0.8990987913876902,0.8720907131137007,-0.3717571554629254,0.062074012949302954,-0.06489203094280585,0.000100551016434163,0.8354061920119265,0.8070611252149863,-0.39139889405534983,0.061042582803494026,-0.06491931849150617,0.0011236438860667793,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.3131791588505133,1.3035082420846233,3.0649959681105674,-0.528543427040738,-2.2609101744897355,0.7564268652926571,1.6213854171166837,0.3717571554629254,-1.4436105509938837,0.3717571554629254,0.3177,0,0,6.905845243290886e-05,-9.999999025923074e-05
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+13810,1792838023458621044,16702872000000,1792838023456653772,UP_SETTLE,3,0.0601,0.06010141596198082,0.6758904587487448,-0.004756903882931718,0.10688670780854477,0.9999999231886895,-0.00013704788774854105,-0.0003521419926901474,-4.7742778602716966e-05,0.6761,-0.0046,0.10737101898173401,1.0,0.0,0.0,0.0,0.9321284783051815,0.8416555015224529,-0.3546214181426169,0.060042691288135594,-0.0670639799901692,-0.000913702793459986,0.8684358789294178,0.7766259136237386,-0.3742631567350413,0.05901126114232667,-0.06709126753886953,0.00010939007617263025,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.2466550767011524,1.3000429482298013,2.931441375880777,-0.5384122568795973,-2.1472430655668115,0.7475982759024349,1.6213854171166837,0.3546214181426169,-1.3100559587640934,0.3546214181426169,0.3177,0,0,6.11584539719504e-05,-9.999999025923074e-05
+13814,1792838023492565113,16702906000000,1792838023492654643,UP_SETTLE,3,0.0601,0.06010141596198082,0.6759034220272057,-0.004755996827476885,0.1069051511902256,0.9999999297993386,-0.0001378382060601881,-0.0003322494291321961,-4.954924829837006e-05,0.6761,-0.0046,0.10737307031917485,1.0,0.0,0.0,0.0,0.9413798214693422,0.7921146995309342,-0.2760257625073311,0.05708918735252741,-0.06882996665461655,-0.00022401849341135472,0.8776872220935784,0.7270851116322198,-0.2956675010997555,0.05605775720671848,-0.06885725420331687,0.0007990743762212616,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.1846911232560466,1.2489808300485228,2.838665156352889,-0.5269589805763345,-2.065669785602151,0.7147079421064395,1.6213854171166837,0.2760257625073311,-1.2172797392362054,0.2760257625073311,0.3177,0,0,5.945845430313656e-05,-9.999999025923074e-05
+13824,1792838023575548490,16702989000000,1792838023568654331,UP_SETTLE,3,0.0601,0.06010207161307335,0.6758965996208338,-0.004755648312360199,0.10690539911251291,0.9999999270577681,-0.00013714887308282074,-0.0003408023479357037,-4.8695680957754764e-05,0.6761,-0.0046,0.10737783522091597,1.0,0.0,0.0,0.0,0.9478249775982421,0.8133104968125721,-0.315734567503136,0.05809317106213872,-0.06884914359533613,-0.0008714367073772114,0.8841323782224784,0.7482809089138577,-0.3353763060955604,0.05706174091632979,-0.06887643114403645,0.00015165616225540482,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.3011018771643315,1.3611480674195222,2.9995497639520274,-0.5654716765281699,-2.199446524499377,0.7853884169071723,1.6213854171166837,0.315734567503136,-1.3781643468353437,0.315734567503136,0.3177,0,0,5.530845511162041e-05,-9.999999025923074e-05
+13847,1792838023767624481,16703181000000,1792838023764654246,UP_SETTLE,3,0.0601,0.06010207161307335,0.6758933194882875,-0.004754397194714536,0.10690804460119105,0.9999999263225176,-0.0001318840136447528,-0.00034550000693512364,-4.510184037025287e-05,0.6761,-0.0046,0.10738753764447788,1.0,0.0,0.0,0.0,0.9301847608248395,0.8007202919255263,-0.35199418632245594,0.05705354834697591,-0.06783229966803316,-0.0009054917347806732,0.8664921614490757,0.7356907040268119,-0.37163592491488034,0.05602211820116698,-0.06785958721673348,0.00011760113485194313,-0.0636925993757638,-0.06502958789871434,-0.019641738592424393,-0.00103143014580893,-2.728754870031739e-05,0.0010230928696326163,1,-1.3352218249537187,1.3577795847198593,2.9729838434300357,-0.5793430664322342,-2.1903007903859204,0.7860839959887972,1.6213854171166837,0.35199418632245594,-1.351598426313352,0.35199418632245594,0.3177,0,0,4.5708456981848105e-05,-9.999999025923074e-05
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Fixed/digit/ball_15A_12.5/press_depth_03/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+4,6.166666667e-01,WAIT_W2,1792838018282992176,1.987995160e-06,-1.292486546e-05,3.312464383e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.485517889e-08,-3.133633372e-09,-5.342221776e-09,7.019576208e-01,-3.519560048e-05,8.601463997e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451321e-01,-1.185678452e-04,8.303258637e-01
+5,6.333333333e-01,WAIT_W2,1792838018299472123,2.236704640e-06,-4.285500563e-05,4.334038828e-06,2.117458758e-06,-4.267518531e-05,4.492575874e-06,2.398473429e-06,-4.282972261e-05,4.447733156e-06,7.019578695e-01,-6.512574065e-05,8.601474213e-01,7.019577503e-01,-6.494592033e-05,8.601475798e-01,7.027474657e-01,-1.613944342e-04,8.303303168e-01
+6,6.500000000e-01,WAIT_W2,1792838018316040918,1.837346715e-06,-8.102796410e-05,4.665600656e-06,1.833314947e-06,-8.096641585e-05,4.431018945e-06,2.119726789e-06,-8.131014028e-05,4.365608267e-06,7.019574702e-01,-1.032986991e-04,8.601477528e-01,7.019574661e-01,-1.032371509e-04,8.601475183e-01,7.027471869e-01,-1.998748519e-04,8.303302347e-01
+7,6.666666667e-01,WAIT_W2,1792838018332124864,1.189299132e-06,-1.305573439e-04,8.100705142e-06,1.386681626e-06,-1.305519356e-04,8.307282612e-06,1.692429784e-06,-1.310872630e-04,8.216917401e-06,7.019568221e-01,-1.528280790e-04,8.601511879e-01,7.019570195e-01,-1.528226706e-04,8.601513945e-01,7.027467596e-01,-2.496519745e-04,8.303340860e-01
+8,6.666666667e-01,WAIT_W2,1792838018332124864,1.189299132e-06,-1.305573439e-04,8.100705142e-06,1.386681626e-06,-1.305519356e-04,8.307282612e-06,1.692429784e-06,-1.310872630e-04,8.216917401e-06,7.019568221e-01,-1.528280790e-04,8.601511879e-01,7.019570195e-01,-1.528226706e-04,8.601513945e-01,7.027467596e-01,-2.496519745e-04,8.303340860e-01
+9,6.833333333e-01,WAIT_W2,1792838018348044337,2.583678189e-06,-1.995369693e-04,1.073171470e-05,2.459669275e-06,-1.992289636e-04,1.070424458e-05,2.905761015e-06,-2.000650118e-04,1.063735246e-05,7.019582165e-01,-2.218077043e-04,8.601538190e-01,7.019580925e-01,-2.214996986e-04,8.601537915e-01,7.027479730e-01,-3.186297234e-04,8.303365064e-01
+10,6.833333333e-01,WAIT_W2,1792838018348044337,2.583678189e-06,-1.995369693e-04,1.073171470e-05,2.459669275e-06,-1.992289636e-04,1.070424458e-05,2.905761015e-06,-2.000650118e-04,1.063735246e-05,7.019582165e-01,-2.218077043e-04,8.601538190e-01,7.019580925e-01,-2.214996986e-04,8.601537915e-01,7.027479730e-01,-3.186297234e-04,8.303365064e-01
+11,7.000000000e-01,WAIT_W2,1792838018365621065,4.709681657e-06,-2.654635000e-04,1.531854457e-05,4.641927411e-06,-2.656509748e-04,1.543634740e-05,5.254641110e-06,-2.668549915e-04,1.532412336e-05,7.019603425e-01,-2.877342350e-04,8.601584058e-01,7.019602747e-01,-2.879217099e-04,8.601585236e-01,7.027503219e-01,-3.854197031e-04,8.303411932e-01
+12,7.166666667e-01,WAIT_W2,1792838018381310863,-1.064340258e-07,-3.270603378e-04,1.368689739e-05,-9.046652738e-08,-3.269620587e-04,1.337466878e-05,2.011890313e-07,-3.284507736e-04,1.334753752e-05,7.019555264e-01,-3.493310729e-04,8.601567741e-01,7.019555424e-01,-3.492327937e-04,8.601564619e-01,7.027452684e-01,-4.470154851e-04,8.303392166e-01
+13,7.166666667e-01,WAIT_W2,1792838018381310863,-1.064340258e-07,-3.270603378e-04,1.368689739e-05,-9.046652738e-08,-3.269620587e-04,1.337466878e-05,2.011890313e-07,-3.284507736e-04,1.334753752e-05,7.019555264e-01,-3.493310729e-04,8.601567741e-01,7.019555424e-01,-3.492327937e-04,8.601564619e-01,7.027452684e-01,-4.470154851e-04,8.303392166e-01
+14,7.500000000e-01,WAIT_W2,1792838018413685977,2.559492082e-06,-3.573602241e-04,1.733116413e-05,2.372285349e-06,-3.607682364e-04,1.578093307e-05,2.932202685e-06,-3.624361682e-04,1.575219029e-05,7.019581923e-01,-3.796309591e-04,8.601604184e-01,7.019580051e-01,-3.830389714e-04,8.601588682e-01,7.027479994e-01,-4.810008798e-04,8.303416212e-01
+15,8.000000000e-01,WAIT_W2,1792838018463589056,4.149485875e-06,-3.133050116e-04,1.767913984e-05,1.915372621e-06,-3.145332684e-04,1.452359313e-05,2.353656420e-06,-3.160150261e-04,1.454632553e-05,7.019597823e-01,-3.355757466e-04,8.601607664e-01,7.019575482e-01,-3.368040034e-04,8.601576108e-01,7.027474209e-01,-4.345797377e-04,8.303404154e-01
+16,8.333333333e-01,WAIT_W2,1792838018496130325,4.587024741e-06,-3.477657547e-04,2.041818900e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.505405132e-06,-3.493422776e-04,2.091222774e-05,7.019602198e-01,-3.700364897e-04,8.601635054e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505726e-01,-4.679069892e-04,8.303467813e-01
+17,9.333333333e-01,WAIT_W2,1792838018610787019,6.560220889e-06,-3.437541769e-04,2.431489498e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.515217719e-06,-3.493722354e-04,2.095208832e-05,7.019621930e-01,-3.660249120e-04,8.601674021e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505824e-01,-4.679369470e-04,8.303468211e-01
+18,1.050000000e+00,WAIT_W2,1792838018725405810,5.931394116e-06,-3.429080322e-04,2.234190704e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.526496140e-06,-3.493777282e-04,2.096941243e-05,7.019615642e-01,-3.651787672e-04,8.601654291e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027505937e-01,-4.679424398e-04,8.303468385e-01
+19,1.150000000e+00,WAIT_W2,1792838018823363362,8.389158042e-06,-3.461994600e-04,2.579493459e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.534678110e-06,-3.493804757e-04,2.097677742e-05,7.019640220e-01,-3.684701951e-04,8.601688822e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506019e-01,-4.679451873e-04,8.303468458e-01
+20,1.250000000e+00,WAIT_W2,1792838018928846971,7.228932842e-06,-3.459859943e-04,2.604161259e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.541986029e-06,-3.493825894e-04,2.098066979e-05,7.019628617e-01,-3.682567293e-04,8.601691289e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506092e-01,-4.679473010e-04,8.303468497e-01
+21,1.383333333e+00,UP_FORCE_RAMP,1792838019085581677,7.718939345e-06,-3.400425892e-04,2.615275105e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.550839952e-06,-3.493848933e-04,2.098295058e-05,7.019633518e-01,-3.623133242e-04,8.601692400e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506181e-01,-4.679496049e-04,8.303468520e-01
+22,1.516666667e+00,UP_FORCE_RAMP,1792838019232580591,6.784853003e-06,-3.386094028e-04,2.450343143e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.558994610e-06,-3.493868309e-04,2.098348239e-05,7.019624177e-01,-3.608801378e-04,8.601675907e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506262e-01,-4.679515425e-04,8.303468525e-01
+23,1.683333333e+00,UP_FORCE_RAMP,1792838019413679021,8.142701199e-06,-3.365514073e-04,2.867010623e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.568488583e-06,-3.493889234e-04,2.098297410e-05,7.019637755e-01,-3.588221423e-04,8.601717573e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506357e-01,-4.679536350e-04,8.303468520e-01
+24,1.816666667e+00,UP_FORCE_RAMP,1792838019545739964,8.645394760e-06,-3.415440679e-04,3.010660330e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.575643243e-06,-3.493904161e-04,2.098212423e-05,7.019642782e-01,-3.638148029e-04,8.601731938e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506429e-01,-4.679551277e-04,8.303468512e-01
+25,1.966666667e+00,UP_FORCE_RAMP,1792838019709762015,9.373331577e-06,-3.440847659e-04,3.228999698e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.583298961e-06,-3.493919526e-04,2.098095690e-05,7.019650061e-01,-3.663555009e-04,8.601753772e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506505e-01,-4.679566642e-04,8.303468500e-01
+26,2.133333333e+00,UP_FORCE_RAMP,1792838019904635529,8.634060522e-06,-3.384303162e-04,3.427813194e-05,4.725325169e-06,-3.477264139e-04,2.086976740e-05,5.591215377e-06,-3.493936015e-04,2.097952473e-05,7.019642669e-01,-3.607010512e-04,8.601773654e-01,7.019603581e-01,-3.699971490e-04,8.601639570e-01,7.027506584e-01,-4.679583131e-04,8.303468486e-01
+27,2.300000000e+00,UP_FORCE_RAMP,1792838020068502987,8.515887477e-06,-3.407750946e-04,3.896649950e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.227673214e-05,-3.415679184e-04,3.866984193e-05,7.019641487e-01,-3.630458296e-04,8.601820537e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573439e-01,-4.601326300e-04,8.303645389e-01
+28,2.433333333e+00,UP_FORCE_RAMP,1792838020199721841,1.151905765e-05,-3.400459195e-04,4.882715185e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.229066799e-05,-3.415688757e-04,3.868811994e-05,7.019671519e-01,-3.623166545e-04,8.601919144e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573579e-01,-4.601335873e-04,8.303645572e-01
+29,2.600000000e+00,UP_FORCE_RAMP,1792838020363014097,1.093174585e-05,-3.404622988e-04,5.383491783e-05,1.076437279e-05,-3.399129405e-04,3.869541060e-05,1.230295736e-05,-3.415702618e-04,3.869950169e-05,7.019665646e-01,-3.627330338e-04,8.601969222e-01,7.019663972e-01,-3.621836755e-04,8.601817826e-01,7.027573702e-01,-4.601349734e-04,8.303645686e-01
+30,2.783333333e+00,UP_FORCE_RAMP,1792838020543422595,1.263299658e-05,-3.421264608e-04,6.681948683e-05,1.097553348e-05,-3.391322802e-04,5.880829236e-05,1.279431793e-05,-3.407779251e-04,5.874240383e-05,7.019682658e-01,-3.643971958e-04,8.602099067e-01,7.019666084e-01,-3.614030152e-04,8.602018955e-01,7.027578615e-01,-4.593426367e-04,8.303846115e-01
+31,2.933333333e+00,UP_FORCE_RAMP,1792838020690673556,1.062126283e-05,-3.382016560e-04,7.255826400e-05,1.097553348e-05,-3.391322802e-04,5.880829236e-05,1.280288634e-05,-3.407793382e-04,5.877216998e-05,7.019662541e-01,-3.604723910e-04,8.602156455e-01,7.019666084e-01,-3.614030152e-04,8.602018955e-01,7.027578701e-01,-4.593440498e-04,8.303846412e-01
+32,3.066666667e+00,UP_FORCE_RAMP,1792838020821719603,9.800248555e-06,-3.381587399e-04,8.544165509e-05,1.213595234e-05,-3.362469594e-04,7.952338822e-05,1.436506596e-05,-3.379008236e-04,7.944307088e-05,7.019654331e-01,-3.604294749e-04,8.602285289e-01,7.019677688e-01,-3.585176944e-04,8.602226106e-01,7.027594323e-01,-4.564655352e-04,8.304053121e-01
+33,3.100000000e+00,UP_FORCE_RAMP,1792838020854581730,-2.655665188e-05,-3.384298719e-04,7.624227924e-05,-2.613455922e-05,-3.386974556e-04,7.572253277e-05,-2.680119690e-05,-3.403437160e-04,7.557895842e-05,7.019290762e-01,-3.607006069e-04,8.602193295e-01,7.019294983e-01,-3.609681906e-04,8.602188098e-01,7.027182660e-01,-4.589084276e-04,8.304014480e-01
+34,3.183333333e+00,UP_FORCE_RAMP,1792838020936306633,-2.262230406e-05,-3.336001208e-04,8.560146449e-05,-2.613455922e-05,-3.386974556e-04,7.572253277e-05,-2.687417715e-05,-3.403515181e-04,7.559655196e-05,7.019330105e-01,-3.558708558e-04,8.602286887e-01,7.019294983e-01,-3.609681906e-04,8.602188098e-01,7.027181930e-01,-4.589162297e-04,8.304014656e-01
+35,3.300000000e+00,UP_FORCE_RAMP,1792838021067707151,-1.753031918e-05,-3.363588893e-04,9.644548192e-05,-1.780839535e-05,-3.314448541e-04,9.463885941e-05,-1.776151575e-05,-3.330711016e-04,9.445349918e-05,7.019381025e-01,-3.586296243e-04,8.602395327e-01,7.019378244e-01,-3.537155891e-04,8.602377261e-01,7.027273057e-01,-4.516358132e-04,8.304203226e-01
+36,3.466666667e+00,UP_FORCE_RAMP,1792838021231360380,-1.410421965e-05,-3.355312895e-04,1.128407451e-04,-1.780839535e-05,-3.314448541e-04,9.463885941e-05,-1.776966755e-05,-3.330693794e-04,9.450571763e-05,7.019415286e-01,-3.578020246e-04,8.602559280e-01,7.019378244e-01,-3.537155891e-04,8.602377261e-01,7.027272975e-01,-4.516340910e-04,8.304203748e-01
+37,3.633333333e+00,UP_FORCE_RAMP,1792838021395101415,-8.687019277e-06,-3.356057885e-04,1.329631529e-04,-1.319369797e-05,-3.326856673e-04,1.155595577e-04,-1.251474501e-05,-3.343261103e-04,1.153495629e-04,7.019469458e-01,-3.578765235e-04,8.602760504e-01,7.019424391e-01,-3.549564023e-04,8.602586468e-01,7.027325525e-01,-4.528908218e-04,8.304412186e-01
+38,3.733333333e+00,UP_FORCE_RAMP,1792838021494011150,-9.763201793e-06,-3.305020566e-04,1.377429682e-04,-9.232847097e-06,-3.395066905e-04,1.355785751e-04,-8.009283588e-06,-3.411730981e-04,1.353333339e-04,7.019458696e-01,-3.527727917e-04,8.602808302e-01,7.019464000e-01,-3.617774255e-04,8.602786658e-01,7.027370579e-01,-4.597378097e-04,8.304612024e-01
+39,3.866666667e+00,UP_FORCE_RAMP,1792838021640884694,-8.378002017e-06,-3.355549320e-04,1.509843845e-04,-9.232847097e-06,-3.395066905e-04,1.355785751e-04,-8.000809915e-06,-3.411739511e-04,1.353883498e-04,7.019472548e-01,-3.578256670e-04,8.602940716e-01,7.019464000e-01,-3.617774255e-04,8.602786658e-01,7.027370664e-01,-4.597386627e-04,8.304612574e-01
+40,4.000000000e+00,UP_FORCE_RAMP,1792838021788462093,-9.579170629e-06,-3.330977745e-04,1.602299612e-04,-8.109061556e-06,-3.320671944e-04,1.550408194e-04,-6.523580296e-06,-3.336835944e-04,1.547536128e-04,7.019460536e-01,-3.553685096e-04,8.603033172e-01,7.019475238e-01,-3.543379294e-04,8.602981281e-01,7.027385436e-01,-4.522483060e-04,8.304806227e-01
+41,4.200000000e+00,UP_FORCE_RAMP,1792838022009120765,-4.873579047e-06,-3.349894163e-04,1.867485246e-04,-3.624281169e-06,-3.305731679e-04,1.791219058e-04,-1.409444063e-06,-3.321822095e-04,1.788154325e-04,7.019507592e-01,-3.572601513e-04,8.603298358e-01,7.019520085e-01,-3.528439029e-04,8.603222091e-01,7.027436578e-01,-4.507469211e-04,8.305046845e-01
+42,4.300000000e+00,UP_FORCE_RAMP,1792838022183484082,-9.016712362e-06,-3.334378681e-04,2.000126724e-04,-6.719362575e-06,-3.295854119e-04,2.021325459e-04,-4.455373459e-06,-3.311985369e-04,2.017267319e-04,7.019466161e-01,-3.557086032e-04,8.603430999e-01,7.019489135e-01,-3.518561469e-04,8.603452198e-01,7.027406118e-01,-4.497632485e-04,8.305275958e-01
+43,4.433333333e+00,UP_FORCE_RAMP,1792838022312595455,-2.520324428e-05,-3.282179517e-04,2.045536571e-04,-6.719362575e-06,-3.295854119e-04,2.021325459e-04,-4.456263305e-06,-3.311968374e-04,2.018076138e-04,7.019304296e-01,-3.504886867e-04,8.603476409e-01,7.019489135e-01,-3.518561469e-04,8.603452198e-01,7.027406110e-01,-4.497615490e-04,8.305276767e-01
+44,4.600000000e+00,UP_FORCE_RAMP,1792838022476576605,-2.893253505e-05,-3.269281850e-04,2.154651004e-04,-2.535971506e-05,-3.334535366e-04,2.090980255e-04,-2.435985452e-05,-3.350690502e-04,2.087739637e-04,7.019267003e-01,-3.491989200e-04,8.603585523e-01,7.019302731e-01,-3.557242716e-04,8.603521853e-01,7.027207074e-01,-4.536337618e-04,8.305346430e-01
+45,4.716666667e+00,UP_FORCE_RAMP,1792838022593421156,-2.792796433e-05,-3.269772652e-04,2.256337667e-04,-2.535971506e-05,-3.334535366e-04,2.090980255e-04,-2.437527263e-05,-3.350688334e-04,2.088049795e-04,7.019277049e-01,-3.492480003e-04,8.603687210e-01,7.019302731e-01,-3.557242716e-04,8.603521853e-01,7.027206919e-01,-4.536335450e-04,8.305346740e-01
+46,4.916666667e+00,UP_FORCE_HOLD,1792838022787470321,-3.066952724e-05,-3.273512547e-04,2.402896774e-04,-2.846538404e-05,-3.257195593e-04,2.291247776e-04,-2.753910469e-05,-3.273081697e-04,2.287245369e-04,7.019249633e-01,-3.496219897e-04,8.603833769e-01,7.019271674e-01,-3.479902943e-04,8.603722120e-01,7.027175281e-01,-4.458728813e-04,8.305545936e-01
+47,5.100000000e+00,UP_FORCE_HOLD,1792838022968140464,-2.868333721e-05,-3.271507782e-04,2.581093760e-04,-2.863858980e-05,-3.276558827e-04,2.516196218e-04,-2.740164080e-05,-3.292378900e-04,2.512640193e-04,7.019269495e-01,-3.494215132e-04,8.604011966e-01,7.019269942e-01,-3.499266177e-04,8.603947069e-01,7.027176656e-01,-4.478026016e-04,8.305771331e-01
+48,5.250000000e+00,UP_SETTLE,1792838023115254141,-2.688107754e-05,-3.279171783e-04,2.742075129e-04,-2.673653749e-05,-3.277984920e-04,2.741299343e-04,-2.512806121e-05,-3.294280427e-04,2.736884868e-04,7.019287517e-01,-3.501879133e-04,8.604172948e-01,7.019288963e-01,-3.500692270e-04,8.604172172e-01,7.027199392e-01,-4.479927542e-04,8.305995575e-01
+49,5.416666667e+00,UP_SETTLE,1792838023297843453,-3.088604492e-05,-3.274614472e-04,2.833799402e-04,-2.673653749e-05,-3.277984920e-04,2.741299343e-04,-2.512504967e-05,-3.294242465e-04,2.737914582e-04,7.019247468e-01,-3.497321822e-04,8.604264672e-01,7.019288963e-01,-3.500692270e-04,8.604172172e-01,7.027199422e-01,-4.479889580e-04,8.305996605e-01
+50,5.550000000e+00,UP_SETTLE,1792838023426534378,-4.952683042e-05,-3.280485086e-04,2.845494473e-04,-4.910258771e-05,-3.283012333e-04,2.846472245e-04,-4.902345650e-05,-3.298842195e-04,2.841725625e-04,7.019061060e-01,-3.503192436e-04,8.604276367e-01,7.019065302e-01,-3.505719683e-04,8.604277345e-01,7.026960438e-01,-4.484489311e-04,8.306100416e-01
+51,5.583333333e+00,UP_SETTLE,1792838023458969845,-6.621039055e-05,-3.281824424e-04,2.630219529e-04,-6.663867180e-05,-3.289925405e-04,2.653045826e-04,-6.805364902e-05,-3.305685180e-04,2.649186393e-04,7.018894224e-01,-3.504531774e-04,8.604061092e-01,7.018889941e-01,-3.512632755e-04,8.604083918e-01,7.026770136e-01,-4.491332296e-04,8.305907877e-01
+52,5.616666667e+00,UP_SETTLE,1792838023493307511,-5.254780773e-05,-3.293504552e-04,2.851690886e-04,-5.266776720e-05,-3.292280766e-04,2.851587736e-04,-5.284601196e-05,-3.308277693e-04,2.846622166e-04,7.019030850e-01,-3.516211902e-04,8.604282563e-01,7.019029650e-01,-3.514988117e-04,8.604282460e-01,7.026922212e-01,-4.493924809e-04,8.306105313e-01
+53,5.700000000e+00,UP_SETTLE,1792838023574590303,-5.949578628e-05,-3.303007735e-04,2.837060454e-04,-5.266776720e-05,-3.292280766e-04,2.851587736e-04,-5.285702533e-05,-3.308238720e-04,2.847057754e-04,7.018961370e-01,-3.525715085e-04,8.604267933e-01,7.019029650e-01,-3.514988117e-04,8.604282460e-01,7.026922102e-01,-4.493885836e-04,8.306105748e-01
+54,5.883333333e+00,UP_SETTLE,1792838023770961392,-6.362908053e-05,-3.306741724e-04,2.877327765e-04,-5.266776720e-05,-3.292280766e-04,2.851587736e-04,-5.288350147e-05,-3.308216984e-04,2.847533612e-04,7.018920037e-01,-3.529449075e-04,8.604308200e-01,7.019029650e-01,-3.514988117e-04,8.604282460e-01,7.026921837e-01,-4.493864100e-04,8.306106224e-01
+55,5.950000000e+00,UP_SETTLE,1792838023837151890,-6.578550549e-05,-3.390682130e-04,2.895837140e-04,-6.364006564e-05,-3.524674412e-04,2.888388394e-04,-6.463830168e-05,-3.541677566e-04,2.884496479e-04,7.018898473e-01,-3.613389480e-04,8.604326710e-01,7.018919928e-01,-3.747381762e-04,8.604319261e-01,7.026804289e-01,-4.727324681e-04,8.306143187e-01
+56,6.100000000e+00,UP_SETTLE,1792838023983682901,-6.610235680e-05,-3.496823992e-04,2.924753933e-04,-6.364006564e-05,-3.524674412e-04,2.888388394e-04,-6.467110853e-05,-3.541703316e-04,2.884797335e-04,7.018895305e-01,-3.719531342e-04,8.604355626e-01,7.018919928e-01,-3.747381762e-04,8.604319261e-01,7.026803961e-01,-4.727350432e-04,8.306143488e-01
+57,6.233333333e+00,UP_SETTLE,1792838024130464327,-6.906010957e-05,-3.446191164e-04,2.933819533e-04,-6.364006564e-05,-3.524674412e-04,2.888388394e-04,-6.468592045e-05,-3.541691344e-04,2.884995036e-04,7.018865727e-01,-3.668898514e-04,8.604364692e-01,7.018919928e-01,-3.747381762e-04,8.604319261e-01,7.026803813e-01,-4.727338459e-04,8.306143686e-01
+58,6.416666667e+00,UP_SETTLE,1792838024310854886,-6.594364106e-05,-3.471771298e-04,3.033138254e-04,-6.364006564e-05,-3.524674412e-04,2.888388394e-04,-6.469880580e-05,-3.541669898e-04,2.885225680e-04,7.018896892e-01,-3.694478649e-04,8.604464011e-01,7.018919928e-01,-3.747381762e-04,8.604319261e-01,7.026803684e-01,-4.727317014e-04,8.306143916e-01
+59,6.583333333e+00,UP_SETTLE,1792838024474517488,-6.577608677e-05,-3.424525688e-04,3.065368705e-04,-6.568274685e-05,-3.423663772e-04,3.065469759e-04,-6.668386357e-05,-3.440301694e-04,3.060342084e-04,7.018898567e-01,-3.647233038e-04,8.604496241e-01,7.018899501e-01,-3.646371122e-04,8.604496342e-01,7.026783834e-01,-4.625948810e-04,8.306319033e-01

Fixed/digit/ball_15A_12.5/press_depth_03/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,3.8911e-02,7.5177e-02,2.4548e+00,-4.1964e-02,3.9526e-02,1.1942e-04,3.9830e-04,-1.3858e-06,-3.2425e-05,8.4564e-07,2.8145e-05,-5.9238e-07,3.9962e-04,2.8164e-05
+1,2.1667e-01,WAIT_W2,3.5803e-05,4.3511e-02,7.5127e-02,2.4544e+00,-4.1953e-02,3.9851e-02,1.1195e-04,4.9977e-03,-5.1215e-05,-4.1437e-04,1.2558e-05,3.5321e-04,-8.0686e-06,5.0151e-03,3.5352e-04
+2,3.8333e-01,WAIT_W2,7.1974e-05,4.6430e-02,7.5068e-02,2.4541e+00,-4.1944e-02,4.0057e-02,1.0644e-04,7.9169e-03,-1.1083e-04,-6.6519e-04,2.1439e-05,5.5955e-04,-1.3570e-05,7.9456e-03,5.6012e-04
+3,5.1667e-01,WAIT_W2,1.0864e-04,4.8450e-02,7.5015e-02,2.4540e+00,-4.1937e-02,4.0200e-02,1.0219e-04,9.9370e-03,-1.6399e-04,-8.4496e-04,2.8145e-05,7.0233e-04,-1.7827e-05,9.9742e-03,7.0312e-04
+4,6.1667e-01,WAIT_W2,1.4381e-04,4.9807e-02,7.4973e-02,2.4538e+00,-4.1932e-02,4.0296e-02,9.9084e-05,1.1294e-02,-2.0523e-04,-9.6965e-04,3.2894e-05,7.9821e-04,-2.0930e-05,1.1337e-02,7.9916e-04
+5,6.3333e-01,WAIT_W2,1.7375e-04,5.0020e-02,7.4966e-02,2.4538e+00,-4.1931e-02,4.0311e-02,9.8575e-05,1.1507e-02,-2.1215e-04,-9.8991e-04,3.3662e-05,8.1333e-04,-2.1439e-05,1.1552e-02,8.1431e-04
+6,6.5000e-01,WAIT_W2,2.1193e-04,4.8779e-02,1.6921e-01,2.4483e+00,-4.8504e-02,4.0227e-02,1.3584e-04,1.0266e-02,9.4034e-02,-6.5334e-03,-6.5389e-03,7.2915e-04,1.5824e-05,9.4818e-02,6.5795e-03
+7,6.6667e-01,WAIT_W2,2.6158e-04,5.1198e-02,2.5428e-01,2.4499e+00,-5.4449e-02,4.0394e-02,1.7239e-04,1.2685e-02,1.7910e-01,-4.8800e-03,-1.2484e-02,8.9624e-04,5.2372e-05,1.7962e-01,1.2516e-02
+8,6.6667e-01,WAIT_W2,2.6158e-04,5.1198e-02,2.5428e-01,2.4499e+00,-5.4449e-02,4.0394e-02,1.7239e-04,1.2685e-02,1.7910e-01,-4.8800e-03,-1.2484e-02,8.9624e-04,5.2372e-05,1.7962e-01,1.2516e-02
+9,6.8333e-01,WAIT_W2,3.3063e-04,5.5013e-02,3.6201e-01,2.4460e+00,-6.1973e-02,4.0663e-02,2.1330e-04,1.6500e-02,2.8683e-01,-8.8081e-03,-2.0008e-02,1.1654e-03,9.3284e-05,2.8744e-01,2.0042e-02
+10,6.8333e-01,WAIT_W2,3.3063e-04,5.5013e-02,3.6201e-01,2.4460e+00,-6.1973e-02,4.0663e-02,2.1330e-04,1.6500e-02,2.8683e-01,-8.8081e-03,-2.0008e-02,1.1654e-03,9.3284e-05,2.8744e-01,2.0042e-02
+11,7.0000e-01,WAIT_W2,3.9675e-04,5.8804e-02,5.0785e-01,2.4468e+00,-7.2173e-02,4.0928e-02,2.7495e-04,2.0291e-02,4.3267e-01,-7.9701e-03,-3.0208e-02,1.4301e-03,1.5493e-04,4.3322e-01,3.0242e-02
+12,7.1667e-01,WAIT_W2,4.5855e-04,6.1691e-02,6.4739e-01,2.4461e+00,-8.1954e-02,4.1132e-02,3.3872e-04,2.3178e-02,5.7221e-01,-8.6801e-03,-3.9989e-02,1.6350e-03,2.1871e-04,5.7275e-01,4.0023e-02
+13,7.1667e-01,WAIT_W2,4.5855e-04,6.1691e-02,6.4739e-01,2.4461e+00,-8.1954e-02,4.1132e-02,3.3872e-04,2.3178e-02,5.7221e-01,-8.6801e-03,-3.9989e-02,1.6350e-03,2.1871e-04,5.7275e-01,4.0023e-02
+14,7.5000e-01,WAIT_W2,4.9639e-04,7.3022e-02,8.4300e-01,2.4570e+00,-9.5690e-02,4.1922e-02,4.1641e-04,3.4509e-02,7.6782e-01,2.2297e-03,-5.3725e-02,2.4248e-03,2.9640e-04,7.6860e-01,5.3780e-02
+15,8.0000e-01,WAIT_W2,5.4444e-04,6.9979e-02,7.4023e-01,2.4640e+00,-8.8589e-02,4.1706e-02,3.5299e-04,3.1466e-02,6.6505e-01,9.2492e-03,-4.6624e-02,2.2089e-03,2.3297e-04,6.6586e-01,4.6677e-02
+16,8.3333e-01,WAIT_W2,5.7902e-04,7.0360e-02,7.4093e-01,2.4647e+00,-8.8651e-02,4.1733e-02,3.4609e-04,3.1847e-02,6.6575e-01,9.8758e-03,-4.6686e-02,2.2359e-03,2.2607e-04,6.6659e-01,4.6740e-02
+17,9.3333e-01,WAIT_W2,6.1977e-04,7.1889e-02,8.0786e-01,2.4653e+00,-9.3420e-02,4.1845e-02,3.7223e-04,3.3376e-02,7.3268e-01,1.0506e-02,-5.1455e-02,2.3480e-03,2.5222e-04,7.3351e-01,5.1510e-02
+18,1.0500e+00,WAIT_W2,6.5168e-04,7.3872e-02,8.0677e-01,2.4688e+00,-9.3386e-02,4.1984e-02,3.5397e-04,3.5359e-02,7.3160e-01,1.3972e-02,-5.1421e-02,2.4868e-03,2.3395e-04,7.3258e-01,5.1482e-02
+19,1.1500e+00,WAIT_W2,6.9118e-04,7.5306e-02,8.0629e-01,2.4702e+00,-9.3373e-02,4.2085e-02,3.3895e-04,3.6793e-02,7.3111e-01,1.5432e-02,-5.1408e-02,2.5877e-03,2.1894e-04,7.3219e-01,5.1473e-02
+20,1.2500e+00,WAIT_W2,7.2452e-04,7.6580e-02,8.0593e-01,2.4710e+00,-9.3362e-02,4.2175e-02,3.2439e-04,3.8067e-02,7.3075e-01,1.6206e-02,-5.1397e-02,2.6777e-03,2.0438e-04,7.3192e-01,5.1467e-02
+21,1.3833e+00,UP_FORCE_RAMP,7.6039e-04,7.8114e-02,8.0557e-01,2.4715e+00,-9.3348e-02,4.2284e-02,3.0578e-04,3.9601e-02,7.3039e-01,1.6666e-02,-5.1383e-02,2.7863e-03,1.8576e-04,7.3165e-01,5.1459e-02
+22,1.5167e+00,UP_FORCE_RAMP,7.9572e-04,7.9521e-02,8.0528e-01,2.4716e+00,-9.3335e-02,4.2383e-02,2.8809e-04,4.1008e-02,7.3010e-01,1.6784e-02,-5.1370e-02,2.8861e-03,1.6808e-04,7.3145e-01,5.1451e-02
+23,1.6833e+00,UP_FORCE_RAMP,8.3440e-04,8.1156e-02,8.0498e-01,2.4715e+00,-9.3320e-02,4.2499e-02,2.6718e-04,4.2643e-02,7.2980e-01,1.6704e-02,-5.1355e-02,3.0021e-03,1.4716e-04,7.3124e-01,5.1443e-02
+24,1.8167e+00,UP_FORCE_RAMP,8.7024e-04,8.2386e-02,8.0477e-01,2.4714e+00,-9.3309e-02,4.2587e-02,2.5132e-04,4.3873e-02,7.2959e-01,1.6553e-02,-5.1344e-02,3.0894e-03,1.3131e-04,7.3110e-01,5.1437e-02
+25,1.9667e+00,UP_FORCE_RAMP,9.0851e-04,8.3703e-02,8.0455e-01,2.4711e+00,-9.3298e-02,4.2680e-02,2.3434e-04,4.5190e-02,7.2938e-01,1.6342e-02,-5.1333e-02,3.1829e-03,1.1432e-04,7.3096e-01,5.1432e-02
+26,2.1333e+00,UP_FORCE_RAMP,9.4229e-04,8.5066e-02,8.0433e-01,2.4709e+00,-9.3286e-02,4.2777e-02,2.1655e-04,4.6553e-02,7.2915e-01,1.6081e-02,-5.1321e-02,3.2795e-03,9.6539e-05,7.3081e-01,5.1425e-02
+27,2.3000e+00,UP_FORCE_RAMP,9.8013e-04,8.0059e-02,7.8630e-01,2.4545e+00,-9.2120e-02,4.2444e-02,2.2138e-04,4.1546e-02,7.1112e-01,-2.5940e-04,-5.0155e-02,2.9463e-03,1.0137e-04,7.1234e-01,5.0241e-02
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Fixed/digit/ball_15A_12.5/press_depth_04/down/camera_frames_60hz.tar

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Fixed/digit/ball_15A_12.5/press_depth_04/down/franka_data.csv

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+21247,1792838085364255254,16764776999999,1792838085360654455,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759449041359883,-0.004781108648159875,0.10667121356370804,0.9999999609063531,-0.00014092225842230152,-0.0002222196003306419,1.9736330232572884e-05,0.6761,-0.0046,0.10686363769479514,1.0,0.0,0.0,0.0,-0.08812917483828109,-0.004807685385310179,0.19525252684879862,-0.00011344704888045787,0.006129088081177056,-6.051136777301459e-05,0.690085892266225,0.8472133301605992,0.4013871880390648,0.06472330487287604,-0.05401941969227973,0.000696207391571208,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.31139631722867606,1.0153683282324033,1.0798629016649115,-0.04320342212466625,-0.678312564301976,0.5957898153194929,1.6213854171166837,-0.19525252684879862,0.5415225154517722,0.5415225154517722,0.6162860024395889,0,0,-6.194223808461542e-05,-5.01624950174417e-05
+21358,1792838086289329890,16765702000000,1792838086288653868,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759375501433547,-0.004782985581253261,0.1066269990311631,0.9999999576119587,-0.00013476153943110783,-0.00023902024171084876,3.045647150418579e-05,0.6761,-0.0046,0.10681692320003343,1.0,0.0,0.0,0.0,-0.08781241244203764,-0.017887346141620464,0.30580268527455995,-0.0012108646524258831,0.006121535190854767,0.0007711060813047993,0.6904026546624684,0.8341336694042889,0.5119373464648261,0.06362588726933062,-0.05402697258260202,0.0015278248406490219,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.298807495825769,0.987692620501692,1.0051234288177033,-0.0057684234957154044,-0.6339058269295433,0.5686412213339214,1.6213854171166837,-0.30580268527455995,0.6162619882989804,0.6162619882989804,0.7550360024395736,0,0,-4.398714761463663e-05,-9.999999025923074e-05
+21445,1792838087014395216,16766427000000,1792838087012654846,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759377367242188,-0.0047809565824079745,0.10660699322558415,0.9999999583436705,-0.0001286844697072127,-0.00023862550291073233,3.540760168762627e-05,0.6761,-0.0046,0.10678215149018688,1.0,0.0,0.0,0.0,-0.08359810961898129,-0.022427350175724503,0.355705057928075,-0.0012188596881407,0.006112838427659653,0.00016243153937324452,0.6946169574855248,0.8295936653701849,0.5618397191183412,0.0636178922336158,-0.054035669345797135,0.0009191502987174671,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.3540291374031956,1.0083079071488716,0.8541017966115847,0.011111235410268696,-0.5278911951218261,0.5863813034380301,1.6213854171166837,-0.355705057928075,0.767283620505099,0.767283620505099,0.8637860024395616,0,0,-5.3319209654427386e-05,-9.999990699250389e-05
+21547,1792838087864395315,16767276999999,1792838087856663750,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759435351467772,-0.0047860033784077076,0.10657609975593799,0.9999999607631097,-0.0001287744527399695,-0.00022677808459926037,4.365185150614775e-05,0.6761,-0.0046,0.10673100966423742,1.0,0.0,0.0,0.0,-0.10754016531452626,-0.03145515180865044,0.44242848907092874,-0.0013101752926500815,0.007943633140484657,0.0007692764214095,0.6706749017899798,0.8205658637372589,0.6485631502611949,0.06352657662910642,-0.05220487463297213,0.0015259951807537226,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.40264169669360794,0.9146196720916274,0.7175135112866878,0.07040203280861788,-0.4325346971209085,0.5137656124330015,1.6213854171166837,-0.44242848907092874,0.9038719058299959,0.9038719058299959,0.9912860024395476,0,0,-6.567098264772942e-05,-9.990534374638144e-05
+21636,1792838088606392837,16768018000000,1792838088604654190,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6759552838481391,-0.004789740345018491,0.10654875758714541,0.9999999661266968,-0.00012532333656120332,-0.00020127901799902874,5.450034656020364e-05,0.6761,-0.0046,0.10668038008070209,1.0,0.0,0.0,0.0,-0.12602924158215478,-0.03167675163393224,0.5262509401046722,-0.0013406718800689638,0.009113982859534422,0.0007185014488577361,0.6521858255223513,0.8203442639119771,0.7323856012949383,0.06349608004168754,-0.051034524913922366,0.0014752202082019587,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.37161543886182064,0.9596075495035031,0.6442041354973856,0.08191631554349939,-0.4040027974399726,0.5360360769156772,1.6213854171166837,-0.5262509401046722,0.9771812816192981,0.9771812816192981,1.1024360024396112,0,0,-7.223867262293038e-05,-9.999911595859885e-05
+21737,1792838089447409958,16768860000000,1792838089444654582,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759574278745805,-0.0047893432183990226,0.10650309326192499,0.9999999671983588,-0.0001226187465952429,-0.0001947680259147657,6.384516224920258e-05,0.6761,-0.0046,0.10662179532235878,1.0,0.0,0.0,0.0,-0.14452939915212448,-0.03520984866367449,0.6269937169686266,-0.002423997699819082,0.011128778440511376,0.0006401995187853938,0.6336856679523816,0.8168111668822349,0.8331283781588928,0.06241275422193742,-0.04901972933294541,0.0013969182781296164,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.46609229040456357,0.927913232639307,0.48424089011111004,0.11111680505848807,-0.2763009472421753,0.5106716621012021,1.6213854171166837,-0.6269937169686266,1.1371445270055736,1.1371445270055736,1.2287360024396907,0,0,-6.772149686448537e-05,-9.121006313972941e-05
+21842,1792838090322389020,16769735000000,1792838090316654463,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759599633129587,-0.0047956760096908805,0.10645314225947278,0.999999967005765,-0.00013055377894683856,-0.00018933217455711815,6.738228158983524e-05,0.6761,-0.0046,0.10656341552107176,1.0,0.0,0.0,0.0,-0.16019536028677517,-0.030942449166651342,0.7527841815186027,-0.0024616401071760885,0.011235146062663647,0.0005510515162831599,0.6180197068177309,0.821078566379258,0.9589188427088688,0.062375111814580414,-0.04891336171079314,0.0013077702756273824,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.465517167035981,0.9399134759518809,0.43886761878194486,0.11770103339176048,-0.24832362358691049,0.517150658627078,1.6213854171166837,-0.7527841815186027,1.1825177983347388,1.1825177983347388,1.3599860024397734,0,0,-6.552486838814898e-05,-9.999968494789897e-05
+21934,1792838091089421113,16770502000000,1792838091088654239,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6759667643240136,-0.004794746023038076,0.10641884658667349,0.9999999686989294,-0.00013713729158157934,-0.00017523513573937768,6.731281501017725e-05,0.6761,-0.0046,0.1065134171732335,1.0,0.0,0.0,0.0,-0.17609241566140854,-0.03643029569344003,0.8368949646074137,-0.0020167290978667374,0.01209354309947882,0.0005082004101175033,0.6021226514430975,0.8155907198524693,1.0430296257976799,0.06282002282388977,-0.04805496467397797,0.0012649191694617259,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.5167801909719567,0.9771600863894869,0.259422595492807,0.09662480580365435,-0.12051510599153319,0.5419779383122856,1.6213854171166837,-0.8368949646074137,1.3619628216238766,1.3619628216238766,1.475036002439846,0,0,-6.553955698570946e-05,-9.991586310953977e-05
+22035,1792838091930357756,16771343000000,1792838091928654556,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760097734967971,-0.00479613544733895,0.1063986414076932,0.9999999755584312,-0.00013163154198787214,-0.00013065362916838124,7.699849083870978e-05,0.6761,-0.0046,0.10645448356116155,1.0,0.0,0.0,0.0,-0.22055010660386132,0.047071832633769906,0.8569891927239917,0.004028583356356877,0.0170348007283556,0.0006237267482778922,0.5576649605006447,0.8990928481796793,1.0631238539142578,0.06886533527811338,-0.04311370704510119,0.0013804455076221148,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.5610549712509032,0.8611609325147405,0.2456835782071723,0.1327046659035386,-0.11412843828378545,0.4686784839437865,1.6213854171166837,-0.8569891927239917,1.3757018389095115,1.3757018389095115,1.6011860024399254,0,0,-7.803833039085462e-05,-9.999999025923074e-05
+22133,1792838092747339589,16772160000000,1792838092740654530,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760200174107669,-0.004796050754736976,0.10635311337206572,0.9999999782087375,-0.000125976450380559,-0.0001074837015770349,8.719275543091403e-05,0.6761,-0.0046,0.10637672494153882,1.0,0.0,0.0,0.0,-0.24345118654674558,0.023974018375213846,0.9767642090035766,0.0034319825448401314,0.018041034571131376,0.0005381463793086007,0.5347638805577605,0.8759950339211232,1.1828988701938428,0.06826873446659663,-0.04210747320232541,0.0012948651386528232,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.7527187323669355,0.9269098118638225,0.059188317071237756,0.1166800105758117,0.05308353050197885,0.5163987323836364,1.6213854171166837,-0.9767642090035766,1.562197100045446,1.562197100045446,1.7237360024400026,0,0,-0.00010741029619484722,-9.819532273270255e-05
+22219,1792838093464460403,16772877000000,1792838093456655009,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760255344459233,-0.004798743901173813,0.10629410675659497,0.9999999787144447,-0.0001238486857140282,-9.53155781962096e-05,9.79306794348449e-05,0.6761,-0.0046,0.10629996441316933,1.0,0.0,0.0,0.0,-0.2741733368540191,0.01752320656685813,1.1184218965590533,0.0023482074902071576,0.0200474668886454,0.0008548440124966449,0.5040417302504869,0.8695442221127675,1.3245565577493195,0.06718495941196366,-0.04010104088481139,0.0016115627718408675,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.790881601438896,0.8883942169662611,-0.12129100332618051,0.11447832727136027,0.18208389326684632,0.48132573633414377,1.6213854171166837,-1.1184218965590533,1.7426764204428642,1.7426764204428642,1.8312860024400703,0,0,-0.00010474650374110858,-1.6010047025644288e-05
+22308,1792838094205440516,16773617999999,1792838094200655080,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760336316090607,-0.004803021126807038,0.1062436081825443,0.999999978510498,-0.0001256031554096343,-8.160811883782834e-05,0.00010947981608537221,0.6761,-0.0046,0.10622936332544101,1.0,0.0,0.0,0.0,-0.2972435301067014,0.010597346884793968,1.2494295127179553,0.002257793152182608,0.021455897101381308,0.0013840322484299987,0.48097153699780465,0.8626183624307033,1.4555641739082215,0.06709454507393911,-0.03869261067207548,0.002140751007774221,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.8246600500928919,0.900783165824708,-0.3169120604250428,0.11621835940044538,0.3129589621861838,0.4919436961528841,1.6213854171166837,-1.2494295127179553,1.9382974775417265,1.9382974775417265,1.9424360024401404,0,0,-8.699506196388628e-05,9.921915652822406e-05
+22408,1792838095039474479,16774452000000,1792838095032654795,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760408533869132,-0.004806643428241579,0.10619524413292081,0.9999999787129806,-0.00012489754553413434,-6.930335463701435e-05,0.00011668140679897961,0.6761,-0.0046,0.10616817432233158,1.0,0.0,0.0,0.0,-0.3096231886056956,0.016850400741047156,1.3501909475251135,0.003214063588110494,0.023023385720469122,0.0013353564450084435,0.46859187849881045,0.8688714162869565,1.5563256087153796,0.068050815509867,-0.037125122052987666,0.002092075204352666,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.8842105304974258,0.9640422147449406,-0.4838452476104698,0.08822359020348826,0.4392132257672544,0.5341778909330295,1.6213854171166837,-1.3501909475251135,2.1052306647271535,2.1052306647271535,2.067536002440219,0,0,-6.295671089032317e-05,9.99999347480795e-05
+22506,1792838095855491053,16775268000000,1792838095852654093,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760463570513826,-0.004807943642785993,0.10615935612322634,0.9999999786728004,-0.000123912237789468,-6.306828627722722e-05,0.00012151301016426396,0.6761,-0.0046,0.10611815934765505,1.0,0.0,0.0,0.0,-0.3222855129429165,0.019577623200509264,1.4247441943104404,0.003172385200217523,0.02402061767582956,0.0012875920411441733,0.45592955416158953,0.8715986387464186,1.6308788555007065,0.06800913712197403,-0.03612789009762723,0.0020443108004883958,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.9429263750970066,0.8659761708251604,-0.4900482306996224,0.11678706836382642,0.4573634789639556,0.4696115972585072,1.6213854171166837,-1.4247441943104404,2.1114336478163063,2.1114336478163063,2.1899360024402963,0,0,-6.536373092366621e-05,-8.832563433281421e-05
+22609,1792838096714498351,16776127000000,1792838096712654515,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760607607990119,-0.004797176457388892,0.10611740142016178,0.9999999750754613,-0.0001885086433478505,-3.456637437134727e-05,6.75396024022385e-05,0.6761,-0.0046,0.10605502500698802,1.0,0.0,0.0,0.0,-0.3110773203579739,0.07186982065690128,1.5214770172971583,0.006449104512199336,0.02332724675418102,0.0012395105344513188,0.46713774674653213,0.9238908362028107,1.7276116784874245,0.07128585643395584,-0.03682126101927577,0.0019962292937955413,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,0.9870629160043687,0.9454144566981599,-0.5284069555887757,0.068958763823617,0.49956810634358,0.5327910458711742,1.6213854171166837,-1.5214770172971583,2.1497923727054595,2.1497923727054595,2.3187860024403775,0,0,-8.197520223326838e-05,-9.999997638144293e-05
+22699,1792838097464468568,16776877000000,1792838097460663602,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6760687267890085,-0.0048042601218146455,0.10606042392613355,0.9999999746652334,-0.00018677438616633959,-2.16940644754588e-05,8.220153885447727e-05,0.6761,-0.0046,0.1059864753231575,1.0,0.0,0.0,0.0,-0.33032556364115506,0.07866390470514795,1.6405274748942713,0.007190531412284831,0.02490787046702477,0.00117432136370656,0.447889503463351,0.9306849202510573,1.8466621360845374,0.07202728333404133,-0.03524063730643202,0.0019310401230507824,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.04923195057247,0.8699122595385032,-0.7817560355269417,0.11538693154281067,0.669108429355187,0.478473756303117,1.6213854171166837,-1.6405274748942713,2.4031414526436254,2.4031414526436254,2.4312860024404483,0,0,-9.51074705976288e-05,9.961626942634467e-05
+22799,1792838098297511121,16777710000000,1792838098292654390,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760810046572924,-0.004808247621467171,0.10600906171592932,0.9999999747692889,-0.0001825357449314159,-3.2394044147253664e-07,9.265464186716421e-05,0.6761,-0.0046,0.10591134113883804,1.0,0.0,0.0,0.0,-0.3506953036571148,0.07302973755548015,1.762379372003636,0.00711188252529632,0.026909332235443804,0.0011063231958786147,0.42751976344739123,0.9250507531013895,1.9685140331939022,0.07194863444705282,-0.033239175538012984,0.0018630419552228372,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.0231849129343258,0.834006855910689,-0.8429604646969734,0.13280277796996537,0.6968061375644544,0.45091673001077937,1.6213854171166837,-1.762379372003636,2.464345881813657,2.464345881813657,2.556236002440527,0,0,-8.567079729934613e-05,-7.500000206850927e-05
+22878,1792838098955513811,16778367999999,1792838098948654512,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760899771098087,-0.004806905257033798,0.10596980351329952,0.9999999740808581,-0.00018307263440627624,1.1672563798015143e-05,9.81290431085291e-05,0.6761,-0.0046,0.10585658226946784,1.0,0.0,0.0,0.0,-0.3695789638362639,0.06714379853969887,1.8434318624701032,0.007066201154301607,0.027902792160487015,0.0016421683979198271,0.4086361032682422,0.9191648140856082,2.0495665236603693,0.07190295307605811,-0.03224571561296977,0.0023988871572640496,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.101578004737213,0.8468537014964979,-0.93740662759744,0.13567641772646993,0.7768717708837426,0.46089839226648904,1.6213854171166837,-1.8434318624701032,2.5587920447141235,2.5587920447141235,2.6549360024405892,0,0,-8.07081676310314e-05,-9.375000361989123e-05
+22976,1792838099772523616,16779185000000,1792838099772654525,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6760979738910365,-0.004809154091810629,0.10591668226599828,0.9999999733461306,-0.0001845787207330116,2.2447905652702416e-05,0.00010088304986661732,0.6761,-0.0046,0.1057918879705491,1.0,0.0,0.0,0.0,-0.3798501037991774,0.08272920976706499,1.9536998276880304,0.007974306896134459,0.028876953618049185,0.00112079857593139,0.39836496330532867,0.9347502253129744,2.1598344888782965,0.07281105881789096,-0.031271554155407603,0.0018775173352756124,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1140008563820138,0.8751979750858025,-1.0868488769640772,0.13495061420097557,0.8718425579022824,0.4761408157326126,1.6213854171166837,-1.9536998276880304,2.7082342940807607,2.7082342940807607,2.7774860024406665,0,0,-7.635938259062248e-05,-6.099421942374335e-05
+23063,1792838100497502698,16779910000000,1792838100496654460,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761048913717992,-0.0048091545830751,0.10587498322439289,0.9999999711236642,-0.00019614078764605366,3.534442804005285e-05,9.734011339457086e-05,0.6761,-0.0046,0.10573616189781189,1.0,0.0,0.0,0.0,-0.3894466674789069,0.08466363331710158,2.024312151503855,0.007998016201877983,0.029644468667101354,0.0019616604771680863,0.38876839962559917,0.936684648863011,2.230446812694121,0.07283476812363449,-0.030504039106355435,0.002718379236512309,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.0921251474803102,0.8654774739691188,-1.1937885882177461,0.14207723162375974,0.9318112159517085,0.4706575399951322,1.6213854171166837,-2.024312151503855,2.8151740053344296,2.8151740053344296,2.886236002440735,0,0,-7.874333843205415e-05,-6.597028379305312e-05
+23167,1792838101364513067,16780776999999,1792838101360655031,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761175959357153,-0.004815759724349299,0.10582392889707998,0.9999999685442703,-0.00020366582325065226,5.540381175318866e-05,9.9020061716164e-05,0.6761,-0.0046,0.10566268465644706,1.0,0.0,0.0,0.0,-0.400330375391767,0.0910580348721356,2.124889673096509,0.008965906547309,0.030837187331650234,0.0019204749877722925,0.37788469171273903,0.943079050418045,2.331024334286775,0.0738026584690655,-0.029311320441806555,0.002677193747116515,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1775383814029219,0.8373639073417745,-1.4166036390563215,0.14699405061632664,1.0944233768145148,0.4494393656525955,1.6213854171166837,-2.124889673096509,3.0379890561730054,3.0379890561730054,3.016286002440817,0,0,-8.823327502374833e-05,9.997730007616496e-05
+23257,1792838102114528516,16781526999999,1792838102112654623,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761251965476623,-0.004814329230712209,0.10576999936550446,0.9999999662339818,-0.00021018694922680174,6.963049124958057e-05,9.97393625714709e-05,0.6761,-0.0046,0.10559283271494721,1.0,0.0,0.0,0.0,-0.4121563351861329,0.09621988870677112,2.2292410597650063,0.008942771523238136,0.03093472472188338,0.0018313851722319583,0.3660587319183731,0.9482409042526805,2.4353757209552724,0.07377952344499464,-0.02921378305157341,0.002588103931576181,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1691214713546547,0.8664313932428066,-1.414211986741882,0.15073337359767913,1.0855361520161786,0.47603583668105925,1.6213854171166837,-2.2292410597650063,3.035597403858566,3.035597403858566,3.128786002440888,0,0,-9.599629386822096e-05,-9.994431257454579e-05
+23340,1792838102805512381,16782218000000,1792838102804654935,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761348153511768,-0.004814502395118011,0.1057169744658585,0.9999999641474056,-0.00021532718244337244,8.472843930806287e-05,9.799667165973425e-05,0.6761,-0.0046,0.10552520179936262,1.0,0.0,0.0,0.0,-0.42721224482539266,0.10864812060782025,2.315409305796832,0.009924709046858826,0.031793782347572276,0.0017905569152628126,0.3510028222791134,0.9606691361537296,2.5215439669870983,0.07476146096861533,-0.028354725425884512,0.002547275674607035,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.2827057816842569,0.8534525418006124,-1.5674480341613433,0.15618604354657944,1.2166235732034705,0.4635124509627446,1.6213854171166837,-2.315409305796832,3.188833451278027,3.188833451278027,3.232436002440953,0,0,-0.00010208319513729946,7.500000206850927e-05
+23432,1792838103572466147,16782985000000,1792838103564654612,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761431056325992,-0.004818081614098034,0.10565706958806001,0.9999999608796136,-0.00022508212119535658,9.789309556221541e-05,9.715253923845785e-05,0.6761,-0.0046,0.10544680510798514,1.0,0.0,0.0,0.0,-0.42792078084967494,0.11106344063586937,2.406127322249753,0.009879099642509201,0.032787114129823214,0.0017329610006556976,0.3502942862548311,0.9630844561817787,2.612261983440019,0.0747158515642657,-0.027361393643633575,0.00248967975999992,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.2147082208298285,0.8008332942748626,-1.5690716400596088,0.18355507805013954,1.1921655336717418,0.4307312742168464,1.6213854171166837,-2.406127322249753,3.1904570571762925,3.1904570571762925,3.3474860024410256,0,0,-0.00010470613617394176,-9.979287815398691e-05
+23521,1792838104314531957,16783726999999,1792838104308655482,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761502743396478,-0.0048202731342257485,0.10559037728668234,0.9999999844716894,2.6330430776793922e-05,0.00010994479462612619,9.858162192904629e-05,0.6761,-0.0046,0.10536706907459073,1.0,0.0,0.0,0.0,-0.436803788843518,0.11785155174510631,2.50638030870355,0.009863739830534152,0.03375973137141915,0.0016665359301831686,0.34141127826098805,0.9698725672910157,2.712514969893816,0.07470049175229065,-0.026388776402037645,0.002423254689527391,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3003622780342503,1.0043701411759292,-1.6768040231560235,0.08926302751203113,1.2893668368463453,0.5037572830631307,1.6213854171166837,-2.50638030870355,3.298189440272707,3.298189440272707,3.4587860024410957,0,0,-0.00010949271580659582,-9.990236002200276e-05
+23621,1792838105147547037,16784560000000,1792838105144655093,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761573767349961,-0.004823793424302884,0.1055114973744376,0.9999999827167665,1.2323417761950774e-05,0.00012229405199426917,0.00010441086866914281,0.6761,-0.0046,0.10527245022388927,1.0,0.0,0.0,0.0,-0.44814235371943906,0.12123105954530145,2.625774374593851,0.010804971889377846,0.034717138419630894,0.0015909196228396003,0.330072713385067,0.9732520750912108,2.831909035784117,0.07564172381113435,-0.02543136935382589,0.0023476383821838228,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3172638115218698,0.9131212539162215,-1.931161573771276,0.12956941094493477,1.4533644387883544,0.4564721336703873,1.6213854171166837,-2.625774374593851,3.5525469908879597,3.5525469908879597,3.5837360024411744,0,0,-0.00011799889846200872,9.504382977721377e-05
+23721,1792838105980596138,16785393000000,1792838105976654673,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761662328771625,-0.004827613793936497,0.10543380246895605,0.999999981090579,-1.1628289226397021e-05,0.00013706479206276369,0.00010168447256010239,0.6761,-0.0046,0.10517529434005969,1.0,0.0,0.0,0.0,-0.4399386842693698,0.1165295063947791,2.7335696173581967,0.010379736791570324,0.03473617158225202,0.0015022296484195068,0.3382763828351363,0.9685505219406885,2.939704278548463,0.07521648871332683,-0.02541233619120477,0.0022589484077637292,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3366391933783195,0.9237562968466689,-1.9612750863819286,0.14395795963252045,1.476204063680372,0.4864161892631037,1.6213854171166837,-2.7335696173581967,3.5826605034986123,3.5826605034986123,3.708686002441253,0,0,-0.00011580533652441461,-9.999999025923074e-05
+23812,1792838106739533272,16786151999999,1792838106736654443,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.676173806522434,-0.004828403326154603,0.10536133270332404,0.9999999788849525,-3.1392977506947145e-05,0.0001496318645126723,0.00010147780573601906,0.6761,-0.0046,0.10508650749947389,1.0,0.0,0.0,0.0,-0.4402639666357969,0.13067572743687228,2.797530934802834,0.010772759129526632,0.03470959673581764,0.0014582205508788938,0.33795110046870913,0.9826967429827816,3.0036655959931,0.07560951105128313,-0.025438911037639147,0.0022149393102231163,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3557234845812034,0.8352013616677371,-2.102561099883296,0.19648654150933184,1.565513150128584,0.45923420174353974,1.6213854171166837,-2.797530934802834,3.7239465169999795,3.7239465169999795,3.822536002441325,0,0,-0.0001204451696580634,2.1593809378272257e-05
+23902,1792838107489514067,16786901999999,1792838107488654537,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761813521772305,-0.004832978582067241,0.10527780810204501,0.9999999758040761,-4.8671668994818813e-05,0.00016232895042903823,0.0001054281378261979,0.6761,-0.0046,0.10499113237953095,1.0,0.0,0.0,0.0,-0.4405768368877037,0.13220986732906503,2.8874805821489793,0.010729832478481915,0.03548037615571681,0.0014649259086918494,0.33763823021680234,0.9842308828749744,3.0936152433392454,0.07556658440023842,-0.024668131617739984,0.002221644668036072,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4090512871089957,0.7459776189195264,-2.177667961567495,0.23907529818579498,1.6253448904662031,0.4173426826114096,1.6213854171166837,-2.8874805821489793,3.799053378684179,3.799053378684179,3.9350360024413957,0,0,-0.0001341658726020364,-9.942000975116656e-05
+23981,1792838108147590845,16787560000000,1792838108144654897,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6761924240251288,-0.004838426300010886,0.10520625368187769,0.9999999711620864,-6.6001270384489e-05,0.0001823278695980425,0.00010732693552067136,0.6761,-0.0046,0.10490179860384846,1.0,0.0,0.0,0.0,-0.4442702304514239,0.12672612653662374,2.9672703306405324,0.010705536619601497,0.035681274390846555,0.0021372418622277417,0.33394483665308217,0.9787471420825331,3.1734049918307985,0.075542288541358,-0.024467233382610233,0.002893960621571964,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4219962324170654,0.7552272259060855,-2.280288641238277,0.24273962009739153,1.692818277694851,0.4282116308417128,1.6213854171166837,-2.9672703306405324,3.9016740583549607,3.9016740583549607,4.033736002441358,0,0,-0.00013537951827210926,-8.239082613237798e-05
+24073,1792838108914627149,16788327000000,1792838108912655330,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6761996583633424,-0.004841741598750459,0.10511706704141248,0.9999999673195099,-8.182883799458097e-05,0.00019508827533406336,0.00010976542955260704,0.6761,-0.0046,0.10479486924717152,1.0,0.0,0.0,0.0,-0.44132981316146197,0.1296223103584374,3.055221945915707,0.010663774005797141,0.03654051561230562,0.0023096866364003934,0.3368852539430441,0.9816433259043468,3.261356607105973,0.07550052592755364,-0.023607992161151174,0.003066405395744616,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.371135026939803,0.7706807152018067,-2.370279681612217,0.25221131537127867,1.732837132581998,0.4414479974819263,1.6213854171166837,-3.055221945915707,3.991665098728901,3.991665098728901,4.14878600244109,0,0,-0.00014458682667392442,-9.999999025923074e-05
+24160,1792838109639637154,16789052000000,1792838109636654026,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762109317166084,-0.004842186754131011,0.10502054800916875,0.9999999614846306,-0.00011050369679386574,0.00021413516870559546,0.00010202286216261346,0.6761,-0.0046,0.10468615877892437,1.0,0.0,0.0,0.0,-0.4420008732267662,0.14598695818970697,3.149474062740413,0.011613309663787721,0.03664207053297632,0.0022355210732353642,0.3362141938777399,0.9980079737356163,3.355608723930679,0.07645006158554422,-0.023506437240480467,0.0029922398325795867,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4151108391770566,0.8212984140883289,-2.4397972018916465,0.24572907744003794,1.78805139813057,0.4747717388465486,1.6213854171166837,-3.149474062740413,4.06118261900833,4.06118261900833,4.257536002440837,0,0,-0.00015564690792754655,-9.999999025923074e-05
+24235,1792838110264604457,16789677000000,1792838110264654412,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762157221512273,-0.004843995236380578,0.10493558066885102,0.9999999583543289,-0.00012508277647978546,0.0002214454910723482,0.0001002516754737593,0.6761,-0.0046,0.10458865113300259,1.0,0.0,0.0,0.0,-0.4316344561469007,0.13991351939947527,3.229564204245117,0.010678223708067675,0.03562252895270217,0.002153156465151354,0.34658061095760534,0.9919345349453846,3.4356988654353833,0.07551497562982418,-0.024525978820754617,0.0029098752244955763,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4501747716691393,0.7846479630314485,-2.615953179123895,0.2706989871787237,1.9124008150050682,0.4540418086590112,1.6213854171166837,-3.229564204245117,4.237338596240579,4.237338596240579,4.351286002440618,0,0,-0.00015724210105230873,6.540816085832119e-05
+24321,1792838110980608074,16790393000000,1792838110976654977,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762259325520845,-0.004848083630122421,0.10483071860131454,0.999999952618405,-0.00013450119551745138,0.0002384505186044885,0.0001060982126073037,0.6761,-0.0046,0.10447161645485335,1.0,0.0,0.0,0.0,-0.4328275498508124,0.14785817224811404,3.3193807672297777,0.010837162316710738,0.03661251296684122,0.0020985151473723986,0.34538751725369365,0.9998791877940234,3.525515428420044,0.07567391423846724,-0.02353599480661557,0.002855233906716621,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4264709710285062,0.7366695989043862,-2.649225880437102,0.2911621905518658,1.9259469132860862,0.4196624099564259,1.6213854171166837,-3.3193807672297777,4.270611297553786,4.270611297553786,4.458686002440368,0,0,-0.00017027352592765966,-9.996111857558105e-05
+24401,1792838111647589303,16791060000000,1792838111644654778,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762353715670133,-0.004852320666205374,0.1047292905223438,0.9999999476076342,-0.00014498744415280306,0.0002515197102812811,0.00010928892623377169,0.6761,-0.0046,0.10435492350939428,1.0,0.0,0.0,0.0,-0.44184519274702183,0.13658124202122468,3.392207784130996,0.010595329306067505,0.03660011135448742,0.002036279595278543,0.3363698743574842,0.988602257567134,3.5983424453212622,0.07543208122782401,-0.023548396418969365,0.0027929983546227653,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.503068029981709,0.7281212276932874,-2.724986228466024,0.30289060696403225,1.9952457948786602,0.41753339015582613,1.6213854171166837,-3.392207784130996,4.346371645582708,4.346371645582708,4.558736002440135,0,0,-0.00017911340868401038,-9.99999208702917e-05
+24484,1792838112339639624,16791752000000,1792838112336654042,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762447551237873,-0.004856947392895987,0.10462466035647526,0.9999999419546454,-0.00015035992795200582,0.0002679628353070852,0.00011454859751336554,0.6761,-0.0046,0.10422772864142668,1.0,0.0,0.0,0.0,-0.43342806970832826,0.14807794343462088,3.467086085520585,0.011595078421639093,0.036701553269304577,0.0019814125295680696,0.3447869973961778,1.0000989589805303,3.673220746710851,0.0764318303433956,-0.023446954504152212,0.002738131288912292,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5098071218140692,0.8394771959068478,-2.9117150856429634,0.28571430996565045,2.1124551453274596,0.4899294825558767,1.6213854171166837,-3.467086085520585,4.533100502759647,4.533100502759647,4.662536002439893,0,0,-0.00019162810356990333,8.565318873466338e-05
+24568,1792838113039674956,16792452000000,1792838113036655130,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762581422981,-0.0048532888300373556,0.10450655522958695,0.9999999438264027,-7.117361456995651e-05,0.0002929338290773922,0.00011364041644418343,0.6761,-0.0046,0.10408833774034353,1.0,0.0,0.0,0.0,-0.4316441404405954,0.14863061981822723,3.559787770209094,0.010564994129369967,0.03661038370244745,0.0019042923503055087,0.34657092666391065,1.0006516353641366,3.76592243139936,0.07540174605112647,-0.023538124071009338,0.002661011109649731,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5754761388552359,0.8449956552198259,-2.907835697039377,0.2771655963438967,2.1323895077126527,0.45974625519891354,1.6213854171166837,-3.559787770209094,4.52922111415606,4.52922111415606,4.767536002439648,0,0,-0.00021079131009712893,-9.99674190912458e-05
+24659,1792838113797585096,16793210000000,1792838113796654041,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762686055365117,-0.004860034151619772,0.10436099289480535,0.9999999347946166,-0.00010165022777566773,0.00031239316770904197,0.0001180312115780148,0.6761,-0.0046,0.1039231616134766,1.0,0.0,0.0,0.0,-0.4244357764567872,0.15125981726925897,3.64478135719659,0.010523194963945728,0.037509415451970264,0.0018496160895769519,0.35377929064771885,1.0032808328151683,3.8509160183868563,0.07535994688570223,-0.022639092321486524,0.0026063348489211743,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5460953356750973,0.7549219179097841,-3.07226347376302,0.3315712583939547,2.2241118727140265,0.4347868350454685,1.6213854171166837,-3.64478135719659,4.693648890879704,4.693648890879704,4.881236002439383,0,0,-0.0002238342957581765,-1.283068801453339e-05
+24732,1792838114405604679,16793818000000,1792838114404654558,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762684315502093,-0.0048673862255385995,0.10422355398308533,0.9999999319342407,-0.00011775437580988882,0.00031213275938775083,0.00012759869022124765,0.6761,-0.0046,0.10378275209975373,1.0,0.0,0.0,0.0,-0.41398481725531194,0.1276625192144175,3.70061546996601,0.00849691109259762,0.03657305410337906,0.0017676400328963246,0.3642302498491941,0.9796835347603269,3.9067501311562762,0.07333366301435412,-0.02357545367007773,0.002524358792240547,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.512772191053962,0.8303090352116784,-3.0696990873233276,0.3182006672671932,2.2167760997386927,0.4825649975978064,1.6213854171166837,-3.70061546996601,4.691084504440012,4.691084504440012,4.972436002439171,0,0,-0.00023952904237431317,-9.999999025923074e-05
+24809,1792838115047663017,16794460000000,1792838115044654862,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762732075681802,-0.004865668362286446,0.10408106270958963,0.9999999257263055,-0.00013980681602612517,0.0003253562833361574,0.00012077910010115469,0.6761,-0.0046,0.10362182774003824,1.0,0.0,0.0,0.0,-0.39298708627504964,0.12127907862482701,3.7201870886480184,0.008544861991215083,0.03454374173640655,0.0017242348766477044,0.3852279808294564,0.9733000941707364,3.9263217498382845,0.07338161391297159,-0.025604766037050235,0.002480953635991927,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5178500086689326,0.7328365031733078,-3.1207612711514217,0.3715107142199045,2.2510710762104376,0.4245452797895601,1.6213854171166837,-3.7201870886480184,4.742146688268106,4.742146688268106,5.068736002438946,0,0,-0.00026348788524230136,-9.999999025923074e-05
+24867,1792838115530698799,16794943000000,1792838115524654977,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762717640103578,-0.004869446439452279,0.10394059226227065,0.9999999263091245,-0.0001368024372602776,0.00032319458398763837,0.0001251197989028285,0.6761,-0.0046,0.10348953010522273,1.0,0.0,0.0,0.0,-0.3845517813515328,0.1001963387095488,3.7695803370365684,0.005849018621539068,0.03458498789309099,0.0016519068000530692,0.39366328575297327,0.9522173542554582,3.9757149982268345,0.07068577054329557,-0.0255635198803658,0.0024086255593972917,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4932065526489393,0.7628481312860675,-3.200086031551519,0.37044305199001054,2.2991503294619484,0.44702029170592267,1.6213854171166837,-3.7695803370365684,4.821471448668203,4.821471448668203,5.141186002438777,0,0,-0.0002848727477758591,-9.999999025923074e-05
+24930,1792838116055708145,16795468000000,1792838116048654257,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762832718818743,-0.004875622788878506,0.10379304623696098,0.9999999236754601,-0.00011745596136625176,0.0003348064004894075,0.00013491000647377895,0.6761,-0.0046,0.10333313172795135,1.0,0.0,0.0,0.0,-0.3743083406880013,0.07576215586870938,3.7805294242620846,0.004478824363288392,0.03359403662936782,0.0016145235775009907,0.40390672641650477,0.9277831714146187,3.9866640854523507,0.0693155762850449,-0.026554471144088966,0.002371242336845213,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.5241099161513845,0.6658225853078625,-3.172391147699745,0.4105255109050558,2.291786504868849,0.39496135312138037,1.6213854171166837,-3.7805294242620846,4.7937765648164286,4.7937765648164286,5.219936002438594,0,0,-0.0003109964322137434,-9.999999025923074e-05
+24987,1792838116530633712,16795943000000,1792838116528654830,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762934265271576,-0.004878218673221672,0.10364923661315081,0.9999999224748279,-8.041561542836046e-05,0.0003479611897137999,0.0001376573348769432,0.6761,-0.0046,0.10317977967375101,1.0,0.0,0.0,0.0,-0.3746507391405291,0.07916641187683138,3.7754673481671874,0.004452891413924867,0.03460798575789656,0.0016331159078338165,0.40356432796397695,0.9311874274227407,3.9816020093574536,0.06928964333568137,-0.02554052201556023,0.002389834667178039,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.526455344702818,0.7947817492064762,-3.2686170406933353,0.3815350670071384,2.350326585832944,0.4738877641338628,1.6213854171166837,-3.7754673481671874,4.890002457810019,4.890002457810019,5.291186002438428,0,0,-0.000334746427586878,-9.999999025923074e-05
+25042,1792838116989697638,16796401999999,1792838116984654564,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762844996877013,-0.004875661521694343,0.1034855337341632,0.999999924627483,-0.00010428071718680116,0.0003364263993606289,0.00013465029689791637,0.6761,-0.0046,0.10302087551451697,1.0,0.0,0.0,0.0,-0.3444930612049584,0.041203239199024244,3.7879113961426314,0.001468450826235243,0.03162410863276757,0.001546186443074556,0.4337220058995477,0.8932242547449336,3.9940460573328975,0.06630520274799175,-0.028524399140689216,0.0023029052024187784,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4769890266389558,0.703868477550634,-3.2779534929395986,0.42600764724806706,2.34514296071507,0.41716739039184975,1.6213854171166837,-3.7879113961426314,4.899338910056282,4.899338910056282,5.360036002438267,0,0,-0.0003576964231158649,-9.999999025923074e-05
+25095,1792838117430663256,16796843000000,1792838117424654652,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762868256739588,-0.004875191444365959,0.10332725353399036,0.9999999213660002,-0.0001188170546851031,0.0003394370485697545,0.00013919718080559844,0.6761,-0.0046,0.10285828039287222,1.0,0.0,0.0,0.0,-0.3338752784994637,0.0076531561013611915,3.757355181598441,-0.0005421231001866283,0.030656946205531232,0.0015333898631540543,0.44433978860504236,0.8596741716472706,3.9634898427887073,0.06429462882156987,-0.029491561567925557,0.002290108622498277,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4706355813224858,0.6709742889192215,-3.2562064062610006,0.439547413889893,2.335073672500593,0.39423079477953404,1.6213854171166837,-3.757355181598441,4.877591823377684,4.877591823377684,5.426186002438113,0,0,-0.00037974641882018565,-9.999999025923074e-05
+25144,1792838117839642543,16797252000000,1792838117836654356,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762811889065939,-0.004878090535294242,0.10316007323198148,0.9999999220657727,-0.0001312724928502607,0.0003313602305845642,0.00014240520744643824,0.6761,-0.0046,0.10269879230839148,1.0,0.0,0.0,0.0,-0.3326202682597733,-0.02208946195548167,3.733001948474479,-0.0026033342495339826,0.030702503968632822,0.001530075751277928,0.44559479884473274,0.8299315535904277,3.9391366096647453,0.06223341767222252,-0.029446003804823966,0.0022867945106221504,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.434471410532779,0.6636932635410727,-3.1897892103917087,0.4534312106352415,2.2858628139563026,0.39241303746827544,1.6213854171166837,-3.733001948474479,4.811174627508392,4.811174627508392,5.48753600243797,0,0,-0.000400196414836211,-9.999999025923074e-05
+25191,1792838118230732890,16797643000000,1792838118228655120,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.676277487771672,-0.004880833016847326,0.10299431746616432,0.9999999232467295,-0.00012826043016799402,0.0003268410370824151,0.00014721955665274433,0.6761,-0.0046,0.10253850326093701,1.0,0.0,0.0,0.0,-0.3215646378318098,-0.050359646006174485,3.7053516371431368,-0.005612087581165291,0.029752975682437448,0.00150356472740779,0.4566504292726963,0.8016613695397349,3.911486298333403,0.05922466434059121,-0.03039553209101934,0.0022602834867520125,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4087732637029302,0.6233228291889271,-3.165164407824894,0.47059853570847465,2.26889600478357,0.371358955195726,1.6213854171166837,-3.7053516371431368,4.786549824941578,4.786549824941578,5.5461860024378336,0,0,-0.00041974641102757024,-9.999999025923074e-05
+25235,1792838118597726628,16798009999999,1792838118592654649,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762733029436699,-0.00488514215474614,0.10282494632078175,0.9999999299901831,-8.124869717358138e-05,0.0003214336206659102,0.00014677046775408585,0.6761,-0.0046,0.10238109827874767,1.0,0.0,0.0,0.0,-0.3104821212413748,-0.09032005998001535,3.6740289821573207,-0.008639570725832324,0.02880532040844533,0.0014818857388921715,0.46773294586313124,0.761700955565894,3.880163643347587,0.05619718119592418,-0.03134318736501146,0.002238604498236394,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4092971238352046,0.5597613631349803,-3.092152377426524,0.503342284039449,2.2288805716046443,0.3290758116825549,1.6213854171166837,-3.6740289821573207,4.713537794543208,4.713537794543208,5.601236002437705,0,0,-0.00043809640745270793,-9.999999025923074e-05
+25276,1792838118939746401,16798351999999,1792838118936653917,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762653328433614,-0.004887973119385543,0.1026608509306081,0.9999999313730767,-0.00010935631322518564,0.000310660095943773,0.0001422259036319482,0.6761,-0.0046,0.10222835375797017,1.0,0.0,0.0,0.0,-0.29970995880524204,-0.12515409327474525,3.6132595253470603,-0.010646748731158957,0.027844744207214348,0.0014917030478051431,0.478505108299264,0.7268669222711641,3.8193941865373264,0.054190003190597545,-0.03230376356624244,0.0022484218071493656,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4000032397952142,0.5755379026573195,-3.036941213659941,0.4984475485673183,2.1940396563282665,0.33620864749775853,1.6213854171166837,-3.6132595253470603,4.6583266307766245,4.6583266307766245,5.652536002437586,0,0,-0.00045519640412136484,-9.999999025923074e-05
+25317,1792838119280747101,16798693000000,1792838119276656353,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762579965237755,-0.0048943651401980775,0.10248213309136354,0.999999932238965,-0.00011637182853766465,0.0002960608848338341,0.00016053186488559798,0.6761,-0.0046,0.10207023328473278,1.0,0.0,0.0,0.0,-0.2985998111480581,-0.17126023454283734,3.5613628451401844,-0.014584583113481354,0.027931751427590766,0.001488548619918407,0.47961525595644794,0.680760781003072,3.7674975063304506,0.05025216880827515,-0.03221675634586602,0.0022452673792626296,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.372326165350338,0.5669954355199955,-3.0279774235702845,0.5040488052101286,2.187345744540326,0.3385386948814231,1.6213854171166837,-3.5613628451401844,4.649362840686968,4.649362840686968,5.7036860024374665,0,0,-0.0004722464007997625,-9.999999025923074e-05
+25357,1792838119614753415,16799026999999,1792838119612655066,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.676255061904601,-0.004894022267396144,0.10230977664660959,0.9999999328522763,-0.00011426858914488579,0.0002859809333022174,0.00017577230338200505,0.6761,-0.0046,0.1019097224374106,1.0,0.0,0.0,0.0,-0.30543828792471084,-0.21437592803625938,3.510102356356031,-0.01715884734341029,0.027992965870575336,0.0015000680846044456,0.4727767791797952,0.63764508750965,3.7162370175462973,0.04767790457834621,-0.03215554190288145,0.002256786843948668,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3456740082015228,0.6012793102890658,-2.8878831376572727,0.4910605632568712,2.0968457024950213,0.3626973548031982,1.6213854171166837,-3.510102356356031,4.509268554773956,4.509268554773956,5.75378600243735,0,0,-0.0004889463975463456,-9.999999025923074e-05
+25396,1792838119939719173,16799351999999,1792838119932655087,DOWN_FORCE_DETACH,4,0.0599,0.05990178883075714,0.6762491993246886,-0.004892303939147969,0.10213943394040886,0.9999999317195462,-0.00016219525458947785,0.00028229889392365705,0.00014833678277102158,0.6761,-0.0046,0.10174818235872406,1.0,0.0,0.0,0.0,-0.28532762176834914,-0.2108023419875985,3.4397987547345874,-0.017650202036816894,0.026922196466499813,0.0015366511568308625,0.4928874453361569,0.6412186735583109,3.6459334159248535,0.04718654988493961,-0.033226311306956975,0.002293369916175085,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.3414205459243989,0.5875431899216612,-2.8328118853555164,0.49335027692470335,2.066283914163641,0.3543295391979553,1.6213854171166837,-3.4397987547345874,4.4541973024722,4.4541973024722,5.802536002437236,0,0,-0.0005051963943805956,-9.999999025923074e-05
+25435,1792838120264761405,16799677000000,1792838120264654313,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762438046839981,-0.004901762902001737,0.1019626451151609,0.9999999341900638,-0.00013611093393587392,0.00027146524356417087,0.00017562222916708308,0.6761,-0.0046,0.10158136103106638,1.0,0.0,0.0,0.0,-0.29707350756280565,-0.2666647408950623,3.372549934797667,-0.021191386940576908,0.027088179900381495,0.0015508798306081584,0.4811415595417004,0.585356274650847,3.578684595987933,0.043645364981179595,-0.03306032787307529,0.002307598589952381,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.335690820315096,0.45051127760455423,-2.7661996479095508,0.5458853531471963,2.0221517892932566,0.2743140702324079,1.6213854171166837,-3.372549934797667,4.387585065026235,4.387585065026235,5.8512860024371225,0,0,-0.0005214463912148456,-9.999999025923074e-05
+25471,1792838120565769626,16799976999999,1792838120564654662,DOWN_FORCE_DETACH,4,0.0599,0.05990244820713997,0.6762541625366847,-0.004897435644035814,0.10180325369172352,0.9999999455230564,-4.761549826246778e-05,0.0002662961773057742,0.00016497229794735723,0.6761,-0.0046,0.10142268461414172,1.0,0.0,0.0,0.0,-0.30424746050161916,-0.23662800372850512,3.2386150391973425,-0.019760505676632976,0.02810437160639412,0.0006657638128505016,0.4739676066028869,0.6153930118174042,3.4447497003876086,0.045076246245123526,-0.03204413616706267,0.0014224825721947242,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.4230406881472581,0.5835197855106249,-2.6875374331485813,0.4985131522568965,1.9952662745884508,0.3266284262781963,1.6213854171166837,-3.2386150391973425,4.308922850265265,4.308922850265265,5.896286002437018,0,0,-0.0005364463882926149,-9.999999025923074e-05
+25510,1792838120888778932,16800301000000,1792838120888654537,DOWN_SETTLE,4,0.0599,0.05990178883075714,0.6762473078071699,-0.00489604946292157,0.1016520494418462,0.9999999450118456,-0.00011201398985352122,0.0002650817406381894,0.00013639540586478493,0.6761,-0.0046,0.10129683637229474,1.0,0.0,0.0,0.0,-0.2846359892982068,-0.2701215417790289,3.1878057694140116,-0.021723809335805762,0.02573034852029512,0.0010690177431957751,0.4935790778062992,0.5818994737668804,3.3939404306042777,0.04311294258595074,-0.03441815925316167,0.0018257365025399976,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.336870749214578,0.43381910569617005,-2.628131843301197,0.5548697418457699,1.9444220887757615,0.25901457914429715,1.6213854171166837,-3.1878057694140116,4.249517260417881,0.0,0.0,0,0,-9.786455323349702e-05,0.000988530840742394
+25597,1792838121608786770,16801021000000,1792838121604655466,DOWN_PEAK_HOLD,4,0.0599,0.05990244820713997,0.6762228944880665,-0.004890223036176561,0.10158056813783647,0.9999999568001543,-0.00010636191120990596,0.00021674882513312847,0.00013982004466228976,0.6761,-0.0046,0.10128808347880124,1.0,0.0,0.0,0.0,-0.26124181959154436,-0.3084216297801212,2.7559367033994318,-0.024637190856394202,0.023243232133639886,0.0009217607953840207,0.5169732475129617,0.5435993857657881,2.962071364589698,0.0401995610653623,-0.0369052756398169,0.0016784795547282432,0.778215067104506,0.8520210155459094,0.2061346611902662,0.0648367519217565,-0.06014850777345679,0.0007567187593442226,1,1.1075017737878592,0.5725887346485,-2.0354907102770476,0.49446984766236796,1.5081895638492482,0.348800204040924,1.6213854171166837,-2.7559367033994318,3.6568761273937316,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_12.5/press_depth_04/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838082149093713,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.529323084e-09,-1.128811610e-10,-1.902357161e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027450896e-01,-1.185258813e-04,8.303258605e-01
+1,9.166666667e-01,DOWN_FORCE_DETACH,1792838083050153269,1.938116344e-06,-2.238361430e-06,3.384088155e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.755393504e-08,-5.373573909e-09,-8.081244118e-09,7.019575709e-01,-2.450909645e-05,8.601464713e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451847e-01,-1.185311420e-04,8.303258526e-01
+2,1.733333333e+00,DOWN_FORCE_DETACH,1792838083902785204,3.166580006e-06,-2.514357039e-06,-8.160467057e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.387878323e-07,-8.620785644e-09,-1.256730719e-08,7.019587994e-01,-2.478509206e-05,8.601349268e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452259e-01,-1.185343893e-04,8.303258481e-01
+3,2.350000000e+00,DOWN_FORCE_DETACH,1792838084508012860,4.803966567e-05,-1.217204141e-05,-2.186664199e-05,4.772581630e-05,-1.206095508e-05,-2.178780020e-05,5.101014326e-05,-1.210666063e-05,-2.161681803e-05,7.020036725e-01,-3.444277643e-05,8.601212206e-01,7.020033586e-01,-3.433169010e-05,8.601212994e-01,7.027960973e-01,-1.306324291e-04,8.303042439e-01
+4,3.200000000e+00,DOWN_FORCE_DETACH,1792838085360331682,2.913785130e-05,-1.459303735e-05,-7.254687725e-05,3.156081944e-05,-1.404019173e-05,-5.759154592e-05,3.342131577e-05,-1.411020500e-05,-5.733463929e-05,7.019847707e-01,-3.686377237e-05,8.600705404e-01,7.019871936e-01,-3.631092676e-05,8.600854957e-01,7.027785084e-01,-1.326359735e-04,8.302685261e-01
+5,4.133333333e+00,DOWN_FORCE_DETACH,1792838086293243844,2.376888452e-05,-1.628327445e-05,-1.146343633e-04,2.327235888e-05,-1.459366861e-05,-9.990073176e-05,2.402347760e-05,-1.465841905e-05,-9.971482807e-05,7.019794017e-01,-3.855400947e-05,8.600284529e-01,7.019789052e-01,-3.686440363e-05,8.600431865e-01,7.027691106e-01,-1.331841875e-04,8.302261459e-01
+6,4.866666667e+00,DOWN_FORCE_DETACH,1792838087014517177,2.289431748e-05,-1.680207465e-05,-1.350991770e-04,2.154092590e-05,-1.687522378e-05,-1.204410678e-04,2.194074970e-05,-1.698474163e-05,-1.202526101e-04,7.019785271e-01,-3.907280967e-05,8.600079881e-01,7.019771737e-01,-3.914595880e-05,8.600226462e-01,7.027670279e-01,-1.355105101e-04,8.302056081e-01
+7,5.716666667e+00,DOWN_FORCE_DETACH,1792838087866564298,2.870377387e-05,-2.132171489e-05,-1.659922290e-04,2.679440044e-05,-2.146801613e-05,-1.614566355e-04,2.709061834e-05,-2.158184411e-05,-1.611585434e-04,7.019843366e-01,-4.359244991e-05,8.599770950e-01,7.019824272e-01,-4.373875116e-05,8.599816306e-01,7.027721777e-01,-1.401076126e-04,8.301647022e-01
+8,6.466666667e+00,DOWN_FORCE_DETACH,1792838088603550636,3.853310002e-05,-2.392351732e-05,-1.967323930e-04,3.348610806e-05,-2.201870142e-05,-1.801452354e-04,3.403944751e-05,-2.211677602e-05,-1.798946029e-04,7.019941659e-01,-4.619425234e-05,8.599463548e-01,7.019891189e-01,-4.428943644e-05,8.599629420e-01,7.027791266e-01,-1.406425445e-04,8.301459661e-01
+9,7.316666667e+00,DOWN_FORCE_DETACH,1792838089448666641,4.041780618e-05,-2.941292149e-05,-2.436238614e-04,4.095124300e-05,-2.909043980e-05,-2.423297066e-04,4.134813110e-05,-2.922274670e-05,-2.418328447e-04,7.019960506e-01,-5.168365651e-05,8.598994634e-01,7.019965841e-01,-5.136117482e-05,8.599007575e-01,7.027864352e-01,-1.477485152e-04,8.300840279e-01
+10,8.183333333e+00,DOWN_FORCE_DETACH,1792838090323003665,4.617228290e-05,-3.151536776e-05,-2.865747515e-04,4.433734865e-05,-3.036762101e-05,-2.843749136e-04,4.444072762e-05,-3.053397090e-05,-2.838958894e-04,7.020018051e-01,-5.378610278e-05,8.598565125e-01,7.019999702e-01,-5.263835603e-05,8.598587123e-01,7.027895278e-01,-1.490597394e-04,8.300419648e-01
+11,8.966666667e+00,DOWN_FORCE_DETACH,1792838091092838555,5.197749286e-05,-3.158556035e-05,-3.239661599e-04,5.186534275e-05,-3.182078253e-05,-3.235848099e-04,5.201859182e-05,-3.196639437e-05,-3.230715724e-04,7.020076103e-01,-5.385629537e-05,8.598191211e-01,7.020074982e-01,-5.409151756e-05,8.598195024e-01,7.027971057e-01,-1.504921628e-04,8.300027891e-01
+12,9.400000000e+00,DOWN_FORCE_DETACH,1792838091928188492,9.537953213e-05,-2.820280754e-05,-3.431337704e-04,8.694758979e-05,-2.763502106e-05,-3.427796061e-04,8.948167305e-05,-2.779139623e-05,-3.423198462e-04,7.020510123e-01,-5.047354256e-05,8.597999535e-01,7.020425804e-01,-4.990575608e-05,8.598003076e-01,7.028345688e-01,-1.463171647e-04,8.299835409e-01
+13,1.021666667e+01,DOWN_FORCE_DETACH,1792838092747770627,1.035116146e-04,-3.304179918e-05,-3.916043794e-04,1.020483727e-04,-3.219520135e-05,-3.777567944e-04,1.054093302e-04,-3.237238149e-05,-3.772233040e-04,7.020591444e-01,-5.531253421e-05,8.597514829e-01,7.020576812e-01,-5.446593637e-05,8.597653304e-01,7.028504964e-01,-1.508981500e-04,8.299486374e-01
+14,1.095000000e+01,DOWN_FORCE_DETACH,1792838093468114183,1.117891101e-04,-3.599393213e-05,-4.459904407e-04,1.102061200e-04,-3.806786064e-05,-4.401740518e-04,1.134147346e-04,-3.826352952e-05,-4.395486889e-04,7.020674219e-01,-5.826466715e-05,8.596970968e-01,7.020658389e-01,-6.033859566e-05,8.597029132e-01,7.028585018e-01,-1.567892980e-04,8.298863120e-01
+15,1.168333333e+01,DOWN_FORCE_DETACH,1792838094205215429,1.189141784e-04,-3.934119973e-05,-4.984611591e-04,1.140685460e-04,-4.012751676e-05,-4.819762111e-04,1.170893240e-04,-4.033842924e-05,-4.814366064e-04,7.020745470e-01,-6.161193475e-05,8.596446261e-01,7.020697014e-01,-6.239825179e-05,8.596611110e-01,7.028621764e-01,-1.588641977e-04,8.298444241e-01
+16,1.250000000e+01,DOWN_FORCE_DETACH,1792838095041475825,1.241312100e-04,-4.080804173e-05,-5.503445222e-04,1.230542984e-04,-4.621534451e-05,-5.451636964e-04,1.260344514e-04,-4.646376236e-05,-5.446575050e-04,7.020797640e-01,-6.307877675e-05,8.595927427e-01,7.020786871e-01,-6.848607953e-05,8.595979235e-01,7.028711216e-01,-1.649895308e-04,8.297812032e-01
+17,1.331666667e+01,DOWN_FORCE_DETACH,1792838095859676161,1.349595025e-04,-4.262424109e-05,-5.788279217e-04,1.287061685e-04,-4.129267994e-05,-5.642765814e-04,1.319824458e-04,-4.151974167e-05,-5.639324016e-04,7.020905923e-01,-6.489497612e-05,8.595642593e-01,7.020843390e-01,-6.356341496e-05,8.595788107e-01,7.028770696e-01,-1.600455101e-04,8.297619283e-01
+18,1.411666667e+01,DOWN_FORCE_DETACH,1792838096711813509,1.458577144e-04,-3.153146666e-05,-6.248523147e-04,1.457311264e-04,-3.174621387e-05,-6.249590337e-04,1.495207607e-04,-3.194486279e-05,-6.244543122e-04,7.021014905e-01,-5.380220168e-05,8.595182349e-01,7.021013639e-01,-5.401694889e-05,8.595181282e-01,7.028946079e-01,-1.504706313e-04,8.297014064e-01
+19,1.483333333e+01,DOWN_FORCE_DETACH,1792838097465321837,1.538843823e-04,-4.010561405e-05,-6.816684764e-04,1.547801237e-04,-3.925346965e-05,-6.647544579e-04,1.588398725e-04,-3.946880386e-05,-6.642808390e-04,7.021095172e-01,-6.237634907e-05,8.594614188e-01,7.021104129e-01,-6.152420468e-05,8.594783328e-01,7.029039270e-01,-1.579945723e-04,8.296615799e-01
+20,1.565000000e+01,DOWN_FORCE_DETACH,1792838098300467929,1.675683636e-04,-4.430582706e-05,-7.312087427e-04,1.657637358e-04,-3.732655850e-05,-7.319849208e-04,1.698885093e-04,-3.751366472e-05,-7.314195610e-04,7.021232012e-01,-6.657656209e-05,8.594118785e-01,7.021213966e-01,-5.959729352e-05,8.594111023e-01,7.029149756e-01,-1.560394332e-04,8.295944411e-01
+21,1.631666667e+01,DOWN_FORCE_DETACH,1792838098955743406,1.751347031e-04,-4.275074927e-05,-7.722888893e-04,1.749031586e-04,-4.287022033e-05,-7.723756024e-04,1.792066987e-04,-4.314226031e-05,-7.718911186e-04,7.021307675e-01,-6.502148429e-05,8.593707984e-01,7.021305360e-01,-6.514095535e-05,8.593707116e-01,7.029242938e-01,-1.616680288e-04,8.295539696e-01
+22,1.715000000e+01,DOWN_FORCE_DETACH,1792838099774555480,1.818837426e-04,-4.949536143e-05,-8.270964650e-04,1.808880052e-04,-4.842024323e-05,-8.112370832e-04,1.852340128e-04,-4.867027127e-05,-8.108050416e-04,7.021375166e-01,-7.176609645e-05,8.593159908e-01,7.021365208e-01,-7.069097825e-05,8.593318502e-01,7.029303211e-01,-1.671960397e-04,8.295150557e-01
+23,1.786666667e+01,DOWN_FORCE_DETACH,1792838100495410781,1.927065766e-04,-4.890110940e-05,-8.633534671e-04,1.875023785e-04,-4.334927040e-05,-8.502154828e-04,1.918530104e-04,-4.359397022e-05,-8.498334696e-04,7.021483394e-01,-7.117184442e-05,8.592797338e-01,7.021431352e-01,-6.562000542e-05,8.592928718e-01,7.029369401e-01,-1.621197387e-04,8.294760272e-01
+24,1.875000000e+01,DOWN_FORCE_DETACH,1792838101363611948,2.015661295e-04,-5.130610993e-05,-9.192757687e-04,1.990507897e-04,-4.971887182e-05,-9.093260849e-04,2.036380169e-04,-4.995902136e-05,-9.089604299e-04,7.021571989e-01,-7.357684495e-05,8.592238115e-01,7.021546836e-01,-7.198960685e-05,8.592337612e-01,7.029487251e-01,-1.684847898e-04,8.294169003e-01
+25,1.950000000e+01,DOWN_FORCE_DETACH,1792838102116168407,2.119339290e-04,-4.986654150e-05,-9.709209979e-04,2.058359088e-04,-4.833796664e-05,-9.702597763e-04,2.102017854e-04,-4.858499463e-05,-9.697762891e-04,7.021675667e-01,-7.213727652e-05,8.591721662e-01,7.021614687e-01,-7.060870167e-05,8.591728275e-01,7.029552889e-01,-1.671107631e-04,8.293560844e-01
+26,2.018333333e+01,DOWN_FORCE_DETACH,1792838102804490723,2.191236347e-04,-5.774064874e-05,-1.024891911e-03,2.169456461e-04,-5.287474349e-05,-1.011293333e-03,2.216884603e-04,-5.312887049e-05,-1.010799393e-03,7.021747565e-01,-8.001138377e-05,8.591181953e-01,7.021725785e-01,-7.514547851e-05,8.591317939e-01,7.029667756e-01,-1.716546390e-04,8.293150613e-01
+27,2.093333333e+01,DOWN_FORCE_DETACH,1792838103574577201,2.243720027e-04,-5.256847359e-05,-1.089910997e-03,2.225742550e-04,-5.341919810e-05,-1.076414219e-03,2.269943555e-04,-5.369899018e-05,-1.075785882e-03,7.021800048e-01,-7.483920861e-05,8.590531762e-01,7.021782071e-01,-7.568993312e-05,8.590666730e-01,7.029720815e-01,-1.722247586e-04,8.292500748e-01
+28,2.165000000e+01,DOWN_FORCE_DETACH,1792838104312167312,2.380053788e-04,-5.101092952e-05,-1.147921017e-03,2.311123352e-04,-5.598413251e-05,-1.138291315e-03,2.355033680e-04,-5.629302982e-05,-1.137627206e-03,7.021936382e-01,-7.328166454e-05,8.589951662e-01,7.021867452e-01,-7.825486753e-05,8.590047959e-01,7.029805905e-01,-1.748187983e-04,8.291882335e-01
+29,2.246666667e+01,DOWN_FORCE_DETACH,1792838105147216000,2.438432182e-04,-6.195393645e-05,-1.230366830e-03,2.425175557e-04,-5.948011976e-05,-1.221809512e-03,2.467492612e-04,-5.981075928e-05,-1.221086553e-03,7.021994760e-01,-8.422467147e-05,8.589127204e-01,7.021981504e-01,-8.175085478e-05,8.589212777e-01,7.029918364e-01,-1.783365277e-04,8.291047742e-01
+30,2.328333333e+01,DOWN_FORCE_DETACH,1792838105983004566,2.519552754e-04,-5.751084356e-05,-1.309445038e-03,2.505235354e-04,-6.048940220e-05,-1.291088604e-03,2.546462188e-04,-6.080455484e-05,-1.290432082e-03,7.022075881e-01,-7.978157858e-05,8.588336422e-01,7.022061564e-01,-8.276013722e-05,8.588519986e-01,7.029997333e-01,-1.793303233e-04,8.290354286e-01
+31,2.405000000e+01,DOWN_FORCE_DETACH,1792838106736207094,2.596076816e-04,-6.899972151e-05,-1.381188514e-03,2.599785547e-04,-6.854822025e-05,-1.375396935e-03,2.637684881e-04,-6.891836077e-05,-1.374681971e-03,7.022152405e-01,-9.127045653e-05,8.587618987e-01,7.022156114e-01,-9.081895527e-05,8.587676903e-01,7.030088556e-01,-1.874441292e-04,8.289511787e-01
+32,2.480000000e+01,DOWN_FORCE_DETACH,1792838107489520970,2.685046041e-04,-6.745118539e-05,-1.461966829e-03,2.648987863e-04,-6.530431757e-05,-1.458422827e-03,2.680518426e-04,-6.571050122e-05,-1.457671224e-03,7.022241374e-01,-8.972192041e-05,8.586811204e-01,7.022205316e-01,-8.757505260e-05,8.586846644e-01,7.030131390e-01,-1.842362697e-04,8.288681895e-01
+33,2.546666667e+01,DOWN_FORCE_DETACH,1792838108144556911,2.794478285e-04,-7.216719680e-05,-1.534114221e-03,2.742751869e-04,-7.589898136e-05,-1.518443988e-03,2.774143774e-04,-7.633093348e-05,-1.517738656e-03,7.022350806e-01,-9.443793182e-05,8.586089730e-01,7.022299080e-01,-9.816971639e-05,8.586246433e-01,7.030225015e-01,-1.948567019e-04,8.288081220e-01
+34,2.623333333e+01,DOWN_FORCE_DETACH,1792838108914817150,2.848159566e-04,-7.758709099e-05,-1.625025361e-03,2.845982120e-04,-7.764658017e-05,-1.625061076e-03,2.872473885e-04,-7.813109707e-05,-1.624187933e-03,7.022404488e-01,-9.985782601e-05,8.585180619e-01,7.022402310e-01,-9.991731520e-05,8.585180262e-01,7.030323345e-01,-1.966568655e-04,8.287016728e-01
+35,2.693333333e+01,DOWN_FORCE_DETACH,1792838109635263108,2.930119356e-04,-8.220165689e-05,-1.722657280e-03,2.918011836e-04,-7.750055651e-05,-1.711593555e-03,2.940029165e-04,-7.796492613e-05,-1.710715217e-03,7.022486448e-01,-1.044723919e-04,8.584204300e-01,7.022474340e-01,-9.977129153e-05,8.584314937e-01,7.030390900e-01,-1.964906946e-04,8.286151455e-01
+36,2.753333333e+01,DOWN_FORCE_DETACH,1792838110260556760,2.994642579e-04,-7.859691267e-05,-1.808613339e-03,2.990862840e-04,-8.468760429e-05,-1.796691559e-03,3.008191190e-04,-8.519632698e-05,-1.795876527e-03,7.022550971e-01,-1.008676477e-04,8.583344739e-01,7.022547191e-01,-1.069583393e-04,8.583463957e-01,7.030459062e-01,-2.037220954e-04,8.285299842e-01
+37,2.820000000e+01,DOWN_FORCE_DETACH,1792838110978836103,3.110901453e-04,-8.392912236e-05,-1.911373801e-03,3.073238102e-04,-8.584513429e-05,-1.902249892e-03,3.084122012e-04,-8.637891171e-05,-1.901360752e-03,7.022667230e-01,-1.061998574e-04,8.582317134e-01,7.022629566e-01,-1.081158693e-04,8.582408373e-01,7.030534993e-01,-2.049046802e-04,8.284245000e-01
+38,2.885000000e+01,DOWN_FORCE_DETACH,1792838111650521704,3.192629182e-04,-8.771522208e-05,-2.014018504e-03,3.201349527e-04,-8.674186112e-05,-2.005805372e-03,3.209095804e-04,-8.721231010e-05,-2.004857437e-03,7.022748957e-01,-1.099859571e-04,8.581290687e-01,7.022757678e-01,-1.090125961e-04,8.581372819e-01,7.030659967e-01,-2.057380786e-04,8.283210033e-01
+39,2.955000000e+01,DOWN_FORCE_DETACH,1792838112337973674,3.332008394e-04,-9.164842972e-05,-2.112520166e-03,3.309269443e-04,-9.111718613e-05,-2.111346432e-03,3.313368959e-04,-9.161542169e-05,-2.110322662e-03,7.022888337e-01,-1.139191647e-04,8.580305671e-01,7.022865598e-01,-1.133879212e-04,8.580317408e-01,7.030764240e-01,-2.101411902e-04,8.282155380e-01
+40,3.025000000e+01,DOWN_FORCE_DETACH,1792838113042270088,3.414491189e-04,-9.612919641e-05,-2.239873692e-03,3.414476886e-04,-9.602958937e-05,-2.239622946e-03,3.411058381e-04,-9.649776246e-05,-2.238491616e-03,7.022970819e-01,-1.183999314e-04,8.579032135e-01,7.022970805e-01,-1.183003244e-04,8.579034643e-01,7.030861929e-01,-2.150235309e-04,8.280873691e-01
+41,3.090000000e+01,DOWN_FORCE_DETACH,1792838113795847471,3.516509781e-04,-9.627715386e-05,-2.383823554e-03,3.504090250e-04,-9.343438937e-05,-2.370892630e-03,3.492301751e-04,-9.391535836e-05,-2.369750211e-03,7.023072838e-01,-1.185478889e-04,8.577592637e-01,7.023060418e-01,-1.157051244e-04,8.577721946e-01,7.030943173e-01,-2.124411268e-04,8.279561105e-01
+42,3.151666667e+01,DOWN_FORCE_DETACH,1792838114402050008,3.551623712e-04,-9.891902771e-05,-2.515690479e-03,3.556557012e-04,-9.701525267e-05,-2.507502049e-03,3.531607153e-04,-9.751595525e-05,-2.506312514e-03,7.023107952e-01,-1.211897627e-04,8.576273968e-01,7.023112885e-01,-1.192859877e-04,8.576355852e-01,7.030982478e-01,-2.160417237e-04,8.278195482e-01
+43,3.216666667e+01,DOWN_FORCE_DETACH,1792838115048693691,3.563589226e-04,-1.005717517e-04,-2.663894928e-03,3.586352176e-04,-1.018556177e-04,-2.644603839e-03,3.546829257e-04,-1.023628788e-04,-2.643518788e-03,7.023119917e-01,-1.228424867e-04,8.574791923e-01,7.023142680e-01,-1.241263527e-04,8.574984834e-01,7.030997700e-01,-2.208886473e-04,8.276823419e-01
+44,3.265000000e+01,DOWN_FORCE_DETACH,1792838115532158267,3.571801433e-04,-1.069881167e-04,-2.799338353e-03,3.560483346e-04,-1.048183537e-04,-2.787892318e-03,3.502143548e-04,-1.053482484e-04,-2.786777503e-03,7.023128130e-01,-1.292588518e-04,8.573437489e-01,7.023116812e-01,-1.270890887e-04,8.573551949e-01,7.030953015e-01,-2.238740169e-04,8.275390832e-01
+45,3.318333333e+01,DOWN_FORCE_DETACH,1792838116056490448,3.684294751e-04,-1.114682811e-04,-2.949046166e-03,3.683002031e-04,-1.115253643e-04,-2.948972636e-03,3.614166591e-04,-1.120553046e-04,-2.947664422e-03,7.023240623e-01,-1.337390161e-04,8.571940411e-01,7.023239330e-01,-1.337960994e-04,8.571941146e-01,7.031065038e-01,-2.305810731e-04,8.273781963e-01
+46,3.366666667e+01,DOWN_FORCE_DETACH,1792838116532432243,3.776428997e-04,-1.131841207e-04,-3.093282341e-03,3.775187972e-04,-1.131089298e-04,-3.093547011e-03,3.696940531e-04,-1.136258653e-04,-3.092135823e-03,7.023332757e-01,-1.354548557e-04,8.570498049e-01,7.023331516e-01,-1.353796649e-04,8.570495402e-01,7.031147812e-01,-2.321516337e-04,8.272337249e-01
+47,3.410000000e+01,DOWN_FORCE_DETACH,1792838116992050380,3.696572810e-04,-1.115070139e-04,-3.256558668e-03,3.696432344e-04,-1.113119927e-04,-3.256682209e-03,3.592491653e-04,-1.118478807e-04,-3.255091243e-03,7.023252901e-01,-1.337777490e-04,8.568865286e-01,7.023252761e-01,-1.335827278e-04,8.568864050e-01,7.031043363e-01,-2.303736492e-04,8.270707695e-01
+48,3.453333333e+01,DOWN_FORCE_DETACH,1792838117432597184,3.712096114e-04,-1.117450075e-04,-3.415656407e-03,3.674259545e-04,-1.132958648e-04,-3.397997303e-03,3.551723641e-04,-1.138560066e-04,-3.396573504e-03,7.023268424e-01,-1.340157425e-04,8.567274308e-01,7.023230588e-01,-1.355665999e-04,8.567450899e-01,7.031002595e-01,-2.323817750e-04,8.269292872e-01
+49,3.495000000e+01,DOWN_FORCE_DETACH,1792838117841916515,3.673133569e-04,-1.140945169e-04,-3.581562301e-03,3.672048482e-04,-1.189129313e-04,-3.564594324e-03,3.529035816e-04,-1.195144569e-04,-3.563152374e-03,7.023229462e-01,-1.363652519e-04,8.565615249e-01,7.023228377e-01,-1.411836663e-04,8.565784929e-01,7.030979907e-01,-2.380402254e-04,8.267627083e-01
+50,3.531666667e+01,DOWN_FORCE_DETACH,1792838118234984053,3.620323234e-04,-1.187187340e-04,-3.752659356e-03,3.618206054e-04,-1.186811225e-04,-3.752532604e-03,3.449647596e-04,-1.192693200e-04,-3.750870056e-03,7.023176651e-01,-1.409894690e-04,8.563904279e-01,7.023174534e-01,-1.409518575e-04,8.563905546e-01,7.030900519e-01,-2.377950884e-04,8.265749906e-01
+51,3.566666667e+01,DOWN_FORCE_DETACH,1792838118595439189,3.579000308e-04,-1.198041075e-04,-3.915414698e-03,3.577405047e-04,-1.198446851e-04,-3.915220507e-03,3.385975304e-04,-1.204172282e-04,-3.913552577e-03,7.023135328e-01,-1.420748426e-04,8.562276725e-01,7.023133733e-01,-1.421154201e-04,8.562278667e-01,7.030836846e-01,-2.389429967e-04,8.264123081e-01
+52,3.600000000e+01,DOWN_FORCE_DETACH,1792838118939599663,3.503777038e-04,-1.234810031e-04,-4.081847295e-03,3.512366851e-04,-1.252649975e-04,-4.066823763e-03,3.298446311e-04,-1.258797535e-04,-4.065170633e-03,7.023060105e-01,-1.457517382e-04,8.560612399e-01,7.023068695e-01,-1.475357326e-04,8.560762635e-01,7.030749317e-01,-2.444055220e-04,8.262606901e-01
+53,3.635000000e+01,DOWN_FORCE_DETACH,1792838119283349045,3.430337050e-04,-1.306480559e-04,-4.263271663e-03,3.427824203e-04,-1.305532852e-04,-4.263251752e-03,3.183061519e-04,-1.311289133e-04,-4.261452303e-03,7.022986665e-01,-1.529187909e-04,8.558798156e-01,7.022984152e-01,-1.528240202e-04,8.558798355e-01,7.030633933e-01,-2.496546817e-04,8.260644084e-01
+54,3.665000000e+01,DOWN_FORCE_DETACH,1792838119610823011,3.410295797e-04,-1.352468104e-04,-4.430683509e-03,3.399514953e-04,-1.318738801e-04,-4.420556496e-03,3.132706777e-04,-1.324410971e-04,-4.418875627e-03,7.022966624e-01,-1.575175454e-04,8.557124037e-01,7.022955843e-01,-1.541446151e-04,8.557225307e-01,7.030583578e-01,-2.509668656e-04,8.259069851e-01
+55,3.698333333e+01,DOWN_FORCE_DETACH,1792838119938415601,3.355881533e-04,-1.274570037e-04,-4.598927638e-03,3.355404576e-04,-1.273882213e-04,-4.598695577e-03,3.064127401e-04,-1.279456745e-04,-4.596994508e-03,7.022912210e-01,-1.497277387e-04,8.555441596e-01,7.022911733e-01,-1.496589563e-04,8.555443917e-01,7.030514999e-01,-2.464714430e-04,8.257288662e-01
+56,3.731666667e+01,DOWN_FORCE_DETACH,1792838120266579804,3.287780301e-04,-1.376852148e-04,-4.779992821e-03,3.279175126e-04,-1.389129614e-04,-4.772798432e-03,2.961600524e-04,-1.394951273e-04,-4.771148881e-03,7.022844108e-01,-1.599559499e-04,8.553630944e-01,7.022835503e-01,-1.611836964e-04,8.553702888e-01,7.030412472e-01,-2.580208957e-04,8.255547118e-01
+57,3.761666667e+01,DOWN_FORCE_DETACH,1792838120561110821,3.390484495e-04,-1.337612373e-04,-4.936502685e-03,3.412273597e-04,-1.327513464e-04,-4.919426449e-03,3.086210497e-04,-1.333391873e-04,-4.917935413e-03,7.022946813e-01,-1.560319723e-04,8.552065846e-01,7.022968602e-01,-1.550220814e-04,8.552236608e-01,7.030537082e-01,-2.518649558e-04,8.254079253e-01
+58,3.795000000e+01,DOWN_SETTLE,1792838120888430862,3.351900041e-04,-1.323180735e-04,-5.086288550e-03,3.324579732e-04,-1.321065172e-04,-5.088464028e-03,2.972574300e-04,-1.326652464e-04,-5.087048457e-03,7.022908228e-01,-1.545888085e-04,8.550567987e-01,7.022880908e-01,-1.543772522e-04,8.550546232e-01,7.030423445e-01,-2.511910149e-04,8.252388122e-01
+59,3.866666667e+01,DOWN_PEAK_HOLD,1792838121609832133,3.072256057e-04,-1.258284601e-04,-5.163720885e-03,3.094896027e-04,-1.295566226e-04,-5.153780028e-03,2.717608782e-04,-1.301597616e-04,-5.153469881e-03,7.022628584e-01,-1.480991951e-04,8.549793664e-01,7.022651224e-01,-1.518273576e-04,8.549893072e-01,7.030168480e-01,-2.486855301e-04,8.251723908e-01

Fixed/digit/ball_15A_12.5/press_depth_04/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,4.4265e-02,8.1662e-02,2.4554e+00,-4.2409e-02,3.9900e-02,1.3395e-04,4.3980e-04,-4.9472e-06,-3.4809e-05,1.1474e-06,3.1058e-05,-5.7754e-07,4.4120e-04,3.1084e-05
+1,9.1667e-01,DOWN_FORCE_DETACH,1.8294e-04,6.0777e-02,8.1237e-02,2.4540e+00,-4.2354e-02,4.1067e-02,1.0443e-04,1.6952e-02,-4.2951e-04,-1.4648e-03,5.5630e-05,1.1978e-03,-3.0096e-05,1.7021e-02,1.1995e-03
+2,1.7333e+00,DOWN_FORCE_DETACH,3.6920e-04,6.7934e-02,8.0875e-02,2.4532e+00,-4.2324e-02,4.1573e-02,8.2342e-05,2.4109e-02,-7.9162e-04,-2.2736e-03,8.6244e-05,1.7035e-03,-5.2181e-05,2.4229e-02,1.7065e-03
+3,2.3500e+00,DOWN_FORCE_DETACH,5.5387e-04,4.0280e-02,1.0258e-01,2.4818e+00,-4.3830e-02,3.9597e-02,8.0561e-05,-3.5446e-03,2.0914e-02,2.6323e-02,-1.4196e-03,-2.7239e-04,-5.3962e-05,3.3806e-02,1.4465e-03
+4,3.2000e+00,DOWN_FORCE_DETACH,7.4277e-04,6.0653e-02,1.1093e-01,2.4884e+00,-4.4416e-02,4.1020e-02,6.2728e-05,1.6828e-02,2.9261e-02,3.3006e-02,-2.0058e-03,1.1513e-03,-7.1795e-05,4.7210e-02,2.3138e-03
+5,4.1333e+00,DOWN_FORCE_DETACH,9.2900e-04,7.4344e-02,1.1278e-01,2.4970e+00,-4.4541e-02,4.1973e-02,1.0611e-06,3.0519e-02,3.1117e-02,4.1541e-02,-2.1314e-03,2.1042e-03,-1.3346e-04,6.0211e-02,2.9980e-03
+6,4.8667e+00,DOWN_FORCE_DETACH,1.1148e-03,7.6036e-02,1.1813e-01,2.4956e+00,-4.4917e-02,4.2091e-02,-4.7446e-05,3.2211e-02,3.6463e-02,4.0181e-02,-2.5075e-03,2.2219e-03,-1.8197e-04,6.3100e-02,3.3552e-03
+7,5.7167e+00,DOWN_FORCE_DETACH,1.2996e-03,7.1518e-02,1.2823e-01,2.5150e+00,-4.5620e-02,4.1749e-02,-9.2421e-05,2.7693e-02,4.6562e-02,5.9530e-02,-3.2099e-03,1.8799e-03,-2.2694e-04,8.0491e-02,3.7267e-03
+8,6.4667e+00,DOWN_FORCE_DETACH,1.4860e-03,6.7137e-02,1.2858e-01,2.5076e+00,-4.5656e-02,4.1445e-02,-1.2935e-04,2.3312e-02,4.6918e-02,5.2130e-02,-3.2456e-03,1.5761e-03,-2.6388e-04,7.3907e-02,3.6177e-03
+9,7.3167e+00,DOWN_FORCE_DETACH,1.6695e-03,6.5881e-02,1.4507e-01,2.5481e+00,-4.6812e-02,4.1316e-02,-1.5959e-04,2.2056e-02,6.3399e-02,9.2661e-02,-4.4024e-03,1.4464e-03,-2.9411e-04,1.1442e-01,4.6433e-03
+10,8.1833e+00,DOWN_FORCE_DETACH,1.8541e-03,6.4188e-02,1.4723e-01,2.5471e+00,-4.6991e-02,4.1197e-02,-1.9177e-04,2.0363e-02,6.5561e-02,9.1680e-02,-4.5812e-03,1.3275e-03,-3.2629e-04,1.1453e-01,4.7808e-03
+11,8.9667e+00,DOWN_FORCE_DETACH,2.0367e-03,6.1015e-02,1.5592e-01,2.5266e+00,-4.7642e-02,4.0998e-02,-2.0633e-04,1.7190e-02,7.4251e-02,7.1145e-02,-5.2319e-03,1.1294e-03,-3.4085e-04,1.0426e-01,5.3632e-03
+12,9.4000e+00,DOWN_FORCE_DETACH,2.2246e-03,2.2298e-02,1.3749e-01,2.5395e+00,-4.6365e-02,3.8256e-02,-1.9680e-04,-2.1527e-02,5.5819e-02,8.4045e-02,-3.9554e-03,-1.6135e-03,-3.3132e-04,1.0316e-01,4.2847e-03
+13,1.0217e+01,DOWN_FORCE_DETACH,2.4137e-03,2.8776e-02,1.4546e-01,2.5349e+00,-4.6958e-02,3.8724e-02,-1.7269e-04,-1.5049e-02,6.3789e-02,7.9464e-02,-4.5482e-03,-1.1456e-03,-3.0722e-04,1.0300e-01,4.7003e-03
+14,1.0950e+01,DOWN_FORCE_DETACH,2.5989e-03,3.3592e-02,1.5738e-01,2.5511e+00,-4.7779e-02,3.9049e-02,-1.4003e-04,-1.0233e-02,7.5713e-02,9.5700e-02,-5.3688e-03,-8.1966e-04,-2.7455e-04,1.2246e-01,5.4379e-03
+15,1.1683e+01,DOWN_FORCE_DETACH,2.7844e-03,4.0105e-02,1.6087e-01,2.5346e+00,-4.7987e-02,3.9526e-02,-9.9578e-05,-3.7196e-03,7.9205e-02,7.9188e-02,-5.5775e-03,-3.4329e-04,-2.3410e-04,1.1206e-01,5.5930e-03
+16,1.2500e+01,DOWN_FORCE_DETACH,2.9674e-03,4.1487e-02,1.7464e-01,2.5395e+00,-4.8894e-02,3.9610e-02,-2.3869e-05,-2.3374e-03,9.2976e-02,8.4039e-02,-6.4840e-03,-2.5906e-04,-1.5839e-04,1.2535e-01,6.4911e-03
+17,1.3317e+01,DOWN_FORCE_DETACH,3.1520e-03,4.6057e-02,1.6295e-01,2.5057e+00,-4.8079e-02,3.9966e-02,6.2283e-05,2.2324e-03,8.1283e-02,5.0230e-02,-5.6694e-03,9.6455e-05,-7.2240e-05,9.5577e-02,5.6707e-03
+18,1.4117e+01,DOWN_FORCE_DETACH,3.3439e-03,4.5516e-02,1.6602e-01,2.5027e+00,-4.8299e-02,3.9931e-02,1.5915e-04,1.6912e-03,8.4353e-02,4.7264e-02,-5.8895e-03,6.1858e-05,2.4627e-05,9.6706e-02,5.8899e-03
+19,1.4833e+01,DOWN_FORCE_DETACH,3.5251e-03,4.3689e-02,1.6030e-01,2.5222e+00,-4.7901e-02,3.9783e-02,2.3094e-04,-1.3568e-04,7.8632e-02,6.6807e-02,-5.4908e-03,-8.5857e-05,9.6419e-05,1.0318e-01,5.4923e-03
+20,1.5650e+01,DOWN_FORCE_DETACH,3.7112e-03,4.5223e-02,1.5631e-01,2.5394e+00,-4.7642e-02,3.9877e-02,2.6631e-04,1.3977e-03,7.4644e-02,8.3941e-02,-5.2322e-03,8.3931e-06,1.3179e-04,1.1234e-01,5.2338e-03
+21,1.6317e+01,DOWN_FORCE_DETACH,3.8971e-03,5.2021e-02,1.7213e-01,2.5091e+00,-4.8782e-02,4.0395e-02,2.6026e-04,8.1962e-03,9.0463e-02,5.3651e-02,-6.3717e-03,5.2623e-04,1.2574e-04,1.0550e-01,6.3946e-03
+22,1.7150e+01,DOWN_FORCE_DETACH,4.0829e-03,5.1206e-02,1.8079e-01,2.5104e+00,-4.9386e-02,4.0347e-02,2.2119e-04,7.3807e-03,9.9123e-02,5.4953e-02,-6.9758e-03,4.7784e-04,8.6669e-05,1.1358e-01,6.9926e-03
+23,1.7867e+01,DOWN_FORCE_DETACH,4.2691e-03,5.3258e-02,1.7009e-01,2.5012e+00,-4.8620e-02,4.0510e-02,1.6542e-04,9.4333e-03,8.8423e-02,4.5775e-02,-6.2104e-03,6.4067e-04,3.0898e-05,1.0001e-01,6.2434e-03
+24,1.8750e+01,DOWN_FORCE_DETACH,4.4545e-03,5.1484e-02,1.8679e-01,2.5099e+00,-4.9748e-02,4.0381e-02,1.1283e-04,7.6594e-03,1.0512e-01,5.4495e-02,-7.3385e-03,5.1143e-04,-2.1693e-05,1.1866e-01,7.3564e-03
+25,1.9500e+01,DOWN_FORCE_DETACH,4.6388e-03,5.3764e-02,1.8519e-01,2.5303e+00,-4.9604e-02,4.0519e-02,7.0135e-05,9.9389e-03,1.0352e-01,7.4880e-02,-7.1940e-03,6.4942e-04,-6.4388e-05,1.2815e-01,7.2235e-03
+26,2.0183e+01,DOWN_FORCE_DETACH,4.8274e-03,5.0593e-02,1.9519e-01,2.5282e+00,-5.0291e-02,4.0292e-02,4.9024e-05,6.7682e-03,1.1352e-01,7.2725e-02,-7.8812e-03,4.2248e-04,-8.5499e-05,1.3499e-01,7.8930e-03
+27,2.0933e+01,DOWN_FORCE_DETACH,5.0087e-03,5.6010e-02,1.9532e-01,2.5454e+00,-5.0282e-02,4.0649e-02,2.8558e-05,1.2185e-02,1.1365e-01,8.9931e-02,-7.8718e-03,7.7996e-04,-1.0596e-04,1.4544e-01,7.9111e-03
+28,2.1650e+01,DOWN_FORCE_DETACH,5.1943e-03,5.7573e-02,1.9986e-01,2.5568e+00,-5.0583e-02,4.0743e-02,2.0959e-05,1.3749e-02,1.1819e-01,1.0132e-01,-8.1727e-03,8.7357e-04,-1.1356e-04,1.5628e-01,8.2200e-03
+29,2.2467e+01,DOWN_FORCE_DETACH,5.3822e-03,5.9123e-02,2.0661e-01,2.5724e+00,-5.1018e-02,4.0834e-02,2.0884e-05,1.5298e-02,1.2495e-01,1.1699e-01,-8.6077e-03,9.6539e-04,-1.1364e-04,1.7185e-01,8.6624e-03
+30,2.3283e+01,DOWN_FORCE_DETACH,5.5726e-03,6.3747e-02,2.0808e-01,2.5591e+00,-5.1079e-02,4.1175e-02,4.3621e-06,1.9922e-02,1.2642e-01,1.0365e-01,-8.6695e-03,1.3054e-03,-1.3016e-04,1.6468e-01,8.7682e-03
+31,2.4050e+01,DOWN_FORCE_DETACH,5.7518e-03,6.4835e-02,2.2559e-01,2.5686e+00,-5.2247e-02,4.1236e-02,-2.7718e-05,2.1010e-02,1.4393e-01,1.1313e-01,-9.8372e-03,1.3667e-03,-1.6224e-04,1.8427e-01,9.9330e-03
+32,2.4800e+01,DOWN_FORCE_DETACH,5.9378e-03,7.0293e-02,2.1531e-01,2.5776e+00,-5.1503e-02,4.1599e-02,-9.5990e-05,2.6468e-02,1.3365e-01,1.2216e-01,-9.0936e-03,1.7296e-03,-2.3051e-04,1.8299e-01,9.2595e-03
+33,2.5467e+01,DOWN_FORCE_DETACH,6.1228e-03,6.8953e-02,2.3626e-01,2.5690e+00,-5.2981e-02,4.1502e-02,-1.5145e-04,2.5128e-02,1.5459e-01,1.1356e-01,-1.0571e-02,1.6324e-03,-2.8597e-04,1.9346e-01,1.0700e-02
+34,2.6233e+01,DOWN_FORCE_DETACH,6.3086e-03,6.8966e-02,2.3523e-01,2.5722e+00,-5.2934e-02,4.1495e-02,-2.2111e-04,2.5141e-02,1.5356e-01,1.1677e-01,-1.0524e-02,1.6261e-03,-3.5563e-04,1.9455e-01,1.0655e-02
+35,2.6933e+01,DOWN_FORCE_DETACH,6.4952e-03,6.4092e-02,2.3442e-01,2.6018e+00,-5.2849e-02,4.1122e-02,-2.4703e-04,2.0267e-02,1.5276e-01,1.4633e-01,-1.0439e-02,1.2533e-03,-3.8156e-04,2.1251e-01,1.0521e-02
+36,2.7533e+01,DOWN_FORCE_DETACH,6.6795e-03,6.2438e-02,2.5109e-01,2.6043e+00,-5.3953e-02,4.1005e-02,-2.1598e-04,1.8613e-02,1.6943e-01,1.4884e-01,-1.1543e-02,1.1362e-03,-3.5050e-04,2.2629e-01,1.1604e-02
+37,2.8200e+01,DOWN_FORCE_DETACH,6.8686e-03,6.2809e-02,2.5645e-01,2.6204e+00,-5.4227e-02,4.1007e-02,-1.1645e-04,1.8984e-02,1.7479e-01,1.6495e-01,-1.1817e-02,1.1377e-03,-2.5098e-04,2.4108e-01,1.1874e-02
+38,2.8850e+01,DOWN_FORCE_DETACH,7.0503e-03,6.0326e-02,2.6234e-01,2.6355e+00,-5.4556e-02,4.0812e-02,3.8744e-05,1.6501e-02,1.8067e-01,1.8007e-01,-1.2146e-02,9.4279e-04,-9.5778e-05,2.5562e-01,1.2183e-02
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+40,3.0250e+01,DOWN_FORCE_DETACH,7.4225e-03,6.7507e-02,2.8878e-01,2.6349e+00,-5.6327e-02,4.1329e-02,2.8807e-04,2.3682e-02,2.0712e-01,1.7950e-01,-1.3917e-02,1.4597e-03,1.5355e-04,2.7510e-01,1.3994e-02
+41,3.0900e+01,DOWN_FORCE_DETACH,7.6107e-03,6.4346e-02,2.8437e-01,2.6667e+00,-5.5927e-02,4.1052e-02,2.8911e-04,2.0522e-02,2.0270e-01,2.1128e-01,-1.3517e-02,1.1826e-03,1.5459e-04,2.9351e-01,1.3570e-02
+42,3.1517e+01,DOWN_FORCE_DETACH,7.7933e-03,6.1635e-02,2.9067e-01,2.6811e+00,-5.6313e-02,4.0828e-02,2.0760e-04,1.7810e-02,2.0900e-01,2.2569e-01,-1.3903e-02,9.5896e-04,7.3077e-05,3.0811e-01,1.3937e-02
+43,3.2167e+01,DOWN_FORCE_DETACH,7.9855e-03,6.3366e-02,3.0379e-01,2.6727e+00,-5.7144e-02,4.0964e-02,9.7516e-05,1.9541e-02,2.2212e-01,2.1723e-01,-1.4734e-02,1.0948e-03,-3.7006e-05,3.1130e-01,1.4775e-02
+44,3.2650e+01,DOWN_FORCE_DETACH,8.1661e-03,6.9329e-02,3.1402e-01,2.6965e+00,-5.7712e-02,4.1367e-02,3.9221e-05,2.5504e-02,2.3235e-01,2.4108e-01,-1.5302e-02,1.4977e-03,-9.5302e-05,3.3579e-01,1.5375e-02
+45,3.3183e+01,DOWN_FORCE_DETACH,8.3533e-03,6.4355e-02,3.2102e-01,2.7015e+00,-5.8129e-02,4.1013e-02,3.5604e-05,2.0530e-02,2.3935e-01,2.4601e-01,-1.5719e-02,1.1436e-03,-9.8919e-05,3.4385e-01,1.5761e-02
+46,3.3667e+01,DOWN_FORCE_DETACH,8.5346e-03,5.7918e-02,3.3008e-01,2.7235e+00,-5.8663e-02,4.0536e-02,6.4877e-05,1.4094e-02,2.4842e-01,2.6810e-01,-1.6253e-02,6.6676e-04,-6.9646e-05,3.6577e-01,1.6267e-02
+47,3.4100e+01,DOWN_FORCE_DETACH,8.7219e-03,6.9984e-02,3.2847e-01,2.7557e+00,-5.8423e-02,4.1343e-02,1.9231e-05,2.6159e-02,2.4680e-01,3.0030e-01,-1.6013e-02,1.4743e-03,-1.1529e-04,3.8958e-01,1.6081e-02
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+49,3.4950e+01,DOWN_FORCE_DETACH,9.0942e-03,7.8659e-02,3.4204e-01,2.8019e+00,-5.9032e-02,4.1874e-02,-1.2986e-04,3.4835e-02,2.6038e-01,3.4641e-01,-1.6622e-02,2.0050e-03,-2.6438e-04,4.3475e-01,1.6745e-02
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+51,3.5667e+01,DOWN_FORCE_DETACH,9.4632e-03,1.0052e-01,3.5899e-01,2.8391e+00,-5.9940e-02,4.3365e-02,-8.3440e-05,5.6699e-02,2.7733e-01,3.8370e-01,-1.7530e-02,3.4956e-03,-2.1796e-04,4.7681e-01,1.7876e-02
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+53,3.6350e+01,DOWN_FORCE_DETACH,9.8371e-03,9.7059e-02,3.7592e-01,2.8789e+00,-6.0777e-02,4.3086e-02,-3.3253e-05,5.3235e-02,2.9426e-01,4.2349e-01,-1.8367e-02,3.2166e-03,-1.6778e-04,5.1843e-01,1.8647e-02
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Fixed/digit/ball_15A_12.5/press_depth_04/up/camera_frames_60hz.tar

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Fixed/digit/ball_15A_12.5/press_depth_04/up/franka_data.csv

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+20218,1792838076799225359,16756212000000,1792838076796663841,UP_SETTLE,4,0.0599,0.05990244820713997,0.6758889100428211,-0.004753264691124702,0.10690717813963653,0.9999999183958467,-0.00016131093988446557,-0.00035158621054241394,-7.083135945173028e-05,0.6761,-0.0046,0.10739552183620985,1.0,0.0,0.0,0.0,0.9478353855820738,0.8279974775397568,-0.3626068895259332,0.06023525974967722,-0.06925179631774502,2.3014702945171493e-05,0.8850189093878107,0.7666284930266363,-0.38250740769966884,0.05920343131004136,-0.06923813917753822,0.001029699459687214,-0.06281647619426316,-0.06136898451312055,-0.01990051817373565,-0.0010318284396358627,1.3657140206785138e-05,0.0010066847567420426,1,-1.253174121046706,1.3737466163633651,2.9513697630471083,-0.5297261205756681,-2.1641180648530436,0.7926619040502438,1.6213854171166837,0.3626068895259332,-1.3299843459304246,0.3626068895259332,0.3177,0,0,6.410982609087045e-05,-9.999999025923074e-05
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Fixed/digit/ball_15A_12.5/press_depth_04/up/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
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+11,1.183333333e+00,WAIT_W2,1792838071485723275,1.347354544e-06,-1.708432501e-04,1.079019238e-05,1.220990509e-06,-1.706660536e-04,1.033676501e-05,1.560045361e-06,-1.712590253e-04,1.029755525e-05,7.019569802e-01,-1.931139851e-04,8.601538774e-01,7.019568538e-01,-1.929367886e-04,8.601534240e-01,7.027466472e-01,-2.897848085e-04,8.303361583e-01
+12,1.200000000e+00,WAIT_W2,1792838071501964993,5.408519728e-07,-2.286609246e-04,9.090330861e-06,7.182051015e-07,-2.286299305e-04,9.260000617e-06,1.094599685e-06,-2.294638629e-04,9.215393540e-06,7.019561737e-01,-2.509316596e-04,8.601521776e-01,7.019563510e-01,-2.509006655e-04,8.601523472e-01,7.027461818e-01,-3.479896461e-04,8.303350761e-01
+13,1.200000000e+00,WAIT_W2,1792838071501964993,5.408519728e-07,-2.286609246e-04,9.090330861e-06,7.182051015e-07,-2.286299305e-04,9.260000617e-06,1.094599685e-06,-2.294638629e-04,9.215393540e-06,7.019561737e-01,-2.509316596e-04,8.601521776e-01,7.019563510e-01,-2.509006655e-04,8.601523472e-01,7.027461818e-01,-3.479896461e-04,8.303350761e-01
+14,1.216666667e+00,WAIT_W2,1792838071518260693,2.375477688e-06,-3.055163154e-04,1.523840235e-05,2.444117849e-06,-3.054957368e-04,1.530114591e-05,3.021585090e-06,-3.066222613e-04,1.522570824e-05,7.019580083e-01,-3.277870504e-04,8.601583256e-01,7.019580769e-01,-3.277664719e-04,8.601583884e-01,7.027481088e-01,-4.251480445e-04,8.303410864e-01
+15,1.216666667e+00,WAIT_W2,1792838071518260693,2.375477688e-06,-3.055163154e-04,1.523840235e-05,2.444117849e-06,-3.054957368e-04,1.530114591e-05,3.021585090e-06,-3.066222613e-04,1.522570824e-05,7.019580083e-01,-3.277870504e-04,8.601583256e-01,7.019580769e-01,-3.277664719e-04,8.601583884e-01,7.027481088e-01,-4.251480445e-04,8.303410864e-01
+16,1.250000000e+00,WAIT_W2,1792838071551048867,-1.074896056e-06,-3.671052753e-04,1.225298613e-05,-1.114559707e-06,-3.545377965e-04,1.211566309e-05,-8.376651580e-07,-3.559174615e-04,1.209849863e-05,7.019545579e-01,-3.893760103e-04,8.601553402e-01,7.019545183e-01,-3.768085315e-04,8.601552029e-01,7.027442495e-01,-4.744432447e-04,8.303379592e-01
+17,1.283333333e+00,WAIT_W2,1792838071584233333,3.458555454e-06,-3.242293216e-04,1.645709966e-05,3.403170542e-06,-3.243062124e-04,1.644381258e-05,3.998894079e-06,-3.255942181e-04,1.642294617e-05,7.019590914e-01,-3.465000566e-04,8.601595443e-01,7.019590360e-01,-3.465769474e-04,8.601595311e-01,7.027490861e-01,-4.441200013e-04,8.303422837e-01
+18,1.333333333e+00,WAIT_W2,1792838071632957906,1.393010851e-07,-3.435725705e-04,1.436742809e-05,3.403170542e-06,-3.243062124e-04,1.644381258e-05,4.013102328e-06,-3.255928985e-04,1.644263253e-05,7.019557721e-01,-3.658433055e-04,8.601574547e-01,7.019590360e-01,-3.465769474e-04,8.601595311e-01,7.027491003e-01,-4.441186817e-04,8.303423033e-01
+19,1.450000000e+00,WAIT_W2,1792838071747839038,4.881180082e-06,-3.489676513e-04,2.272728850e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.077535653e-06,-3.513607441e-04,2.066518237e-05,7.019605140e-01,-3.712383863e-04,8.601658145e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491647e-01,-4.698865273e-04,8.303465259e-01
+20,1.616666667e+00,WAIT_W2,1792838071911595629,5.041648301e-06,-3.478891971e-04,2.515471050e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.089818729e-06,-3.513692274e-04,2.069303295e-05,7.019606745e-01,-3.701599321e-04,8.601682419e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491770e-01,-4.698950106e-04,8.303465537e-01
+21,1.716666667e+00,WAIT_W2,1792838072009914404,5.279233609e-06,-3.496143538e-04,2.537110860e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.096608554e-06,-3.513718519e-04,2.070194482e-05,7.019609121e-01,-3.718850889e-04,8.601684583e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491838e-01,-4.698976351e-04,8.303465627e-01
+22,1.833333333e+00,WAIT_W2,1792838072124765688,5.913216103e-06,-3.438572952e-04,2.679276143e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.103925362e-06,-3.513741851e-04,2.070861861e-05,7.019615460e-01,-3.661280302e-04,8.601698800e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491911e-01,-4.698999684e-04,8.303465693e-01
+23,1.983333333e+00,UP_FORCE_RAMP,1792838072272057497,7.539136194e-06,-3.481180718e-04,2.794498248e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.112560078e-06,-3.513765954e-04,2.071354577e-05,7.019631720e-01,-3.703888068e-04,8.601710322e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027491997e-01,-4.699023786e-04,8.303465743e-01
+24,2.133333333e+00,UP_FORCE_RAMP,1792838072419195654,6.462389031e-06,-3.503720909e-04,2.814284364e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.120541922e-06,-3.513786017e-04,2.071595579e-05,7.019620952e-01,-3.726428259e-04,8.601712301e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492077e-01,-4.699043849e-04,8.303465767e-01
+25,2.316666667e+00,UP_FORCE_RAMP,1792838072599705502,7.988549459e-06,-3.496942311e-04,3.264714135e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.129632867e-06,-3.513806955e-04,2.071690636e-05,7.019636214e-01,-3.719649662e-04,8.601757344e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492168e-01,-4.699064787e-04,8.303465776e-01
+26,2.483333333e+00,UP_FORCE_RAMP,1792838072763854666,6.684033395e-06,-3.462240953e-04,3.066250172e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.137400780e-06,-3.513823579e-04,2.071666073e-05,7.019623169e-01,-3.684948303e-04,8.601737497e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492246e-01,-4.699081411e-04,8.303465774e-01
+27,2.716666667e+00,UP_FORCE_RAMP,1792838072992861855,9.226307071e-06,-3.439209729e-04,3.609605597e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.147604428e-06,-3.513844417e-04,2.071537888e-05,7.019648591e-01,-3.661917079e-04,8.601791833e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492348e-01,-4.699102249e-04,8.303465761e-01
+28,2.816666667e+00,UP_FORCE_RAMP,1792838073090987774,8.385277621e-06,-3.443285221e-04,3.689376261e-05,3.364978447e-06,-3.499776335e-04,2.062064322e-05,4.151782530e-06,-3.513852612e-04,2.071463866e-05,7.019640181e-01,-3.665992571e-04,8.601799810e-01,7.019589978e-01,-3.722483685e-04,8.601637079e-01,7.027492389e-01,-4.699110444e-04,8.303465754e-01
+29,2.966666667e+00,UP_FORCE_RAMP,1792838073238679209,6.249396273e-06,-3.487709553e-04,3.663828074e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.234447730e-05,-3.483424881e-04,4.301292008e-05,7.019618822e-01,-3.710416903e-04,8.601797255e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574316e-01,-4.668682714e-04,8.303688736e-01
+30,3.100000000e+00,UP_FORCE_RAMP,1792838073369907597,8.461396930e-06,-3.471763536e-04,4.401807128e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.236353686e-05,-3.483438800e-04,4.304806993e-05,7.019640942e-01,-3.694470886e-04,8.601871053e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574507e-01,-4.668696633e-04,8.303689088e-01
+31,3.216666667e+00,UP_FORCE_RAMP,1792838073484768719,1.137789917e-05,-3.410849657e-04,5.276793220e-05,1.074780272e-05,-3.469337416e-04,4.305264617e-05,1.237477595e-05,-3.483449501e-04,4.306444605e-05,7.019670107e-01,-3.633557007e-04,8.601958552e-01,7.019663806e-01,-3.692044766e-04,8.601861399e-01,7.027574619e-01,-4.668707333e-04,8.303689252e-01
+32,3.416666667e+00,UP_FORCE_RAMP,1792838073681116978,1.201119304e-05,-3.441944175e-04,6.345314662e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.409190501e-05,-3.456439094e-04,6.313500509e-05,7.019676440e-01,-3.664651525e-04,8.602065404e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027591791e-01,-4.641696927e-04,8.303889957e-01
+33,3.550000000e+00,UP_FORCE_RAMP,1792838073811801344,1.251360349e-05,-3.467879414e-04,7.384038172e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.410473253e-05,-3.456435453e-04,6.318812083e-05,7.019681464e-01,-3.690586764e-04,8.602169276e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027591919e-01,-4.641693285e-04,8.303890488e-01
+34,3.716666667e+00,UP_FORCE_RAMP,1792838073975569775,9.079307941e-06,-3.434175449e-04,8.140855599e-05,1.212366562e-05,-3.442153755e-04,6.323225091e-05,1.411559499e-05,-3.456447877e-04,6.321776525e-05,7.019647121e-01,-3.656882799e-04,8.602244958e-01,7.019677565e-01,-3.664861105e-04,8.602063195e-01,7.027592028e-01,-4.641705710e-04,8.303890785e-01
+35,3.800000000e+00,UP_FORCE_RAMP,1792838074057953943,-2.692346934e-05,-3.409991944e-04,7.515081817e-05,-9.923420976e-06,-3.413438515e-04,7.780935310e-05,-9.328895984e-06,-3.427775445e-04,7.767951448e-05,7.019287093e-01,-3.632699295e-04,8.602182381e-01,7.019457094e-01,-3.636145865e-04,8.602208966e-01,7.027357583e-01,-4.613033277e-04,8.304035402e-01
+36,3.916666667e+00,UP_FORCE_RAMP,1792838074172033412,-2.013582570e-05,-3.415188318e-04,8.935749969e-05,-9.923420976e-06,-3.413438515e-04,7.780935310e-05,-9.361824341e-06,-3.427776432e-04,7.770554270e-05,7.019354970e-01,-3.637895668e-04,8.602324447e-01,7.019457094e-01,-3.636145865e-04,8.602208966e-01,7.027357253e-01,-4.613034265e-04,8.304035663e-01
+37,4.050000000e+00,UP_FORCE_RAMP,1792838074302907467,-1.835942951e-05,-3.343475805e-04,9.806497638e-05,-1.862419626e-05,-3.351767498e-04,9.505195733e-05,-1.847605027e-05,-3.365636795e-04,9.484515771e-05,7.019372734e-01,-3.566183156e-04,8.602411522e-01,7.019370086e-01,-3.574474848e-04,8.602381392e-01,7.027266111e-01,-4.550894627e-04,8.304207059e-01
+38,4.200000000e+00,UP_FORCE_RAMP,1792838074450805433,-1.574268928e-05,-3.354591799e-04,1.125592307e-04,-1.862419626e-05,-3.351767498e-04,9.505195733e-05,-1.849988707e-05,-3.365629631e-04,9.488891217e-05,7.019398901e-01,-3.577299149e-04,8.602556465e-01,7.019370086e-01,-3.574474848e-04,8.602381392e-01,7.027265873e-01,-4.550887463e-04,8.304207496e-01
+39,4.316666667e+00,UP_FORCE_RAMP,1792838074564992515,-1.137131888e-05,-3.364455566e-04,1.284458344e-04,-1.407171548e-05,-3.400484416e-04,1.170440110e-04,-1.339332480e-05,-3.414670205e-04,1.168320253e-04,7.019442615e-01,-3.587162916e-04,8.602715331e-01,7.019415611e-01,-3.623191766e-04,8.602601313e-01,7.027316938e-01,-4.599928037e-04,8.304426927e-01
+40,4.466666667e+00,UP_FORCE_RAMP,1792838074713014557,-8.771791659e-06,-3.380757732e-04,1.419284738e-04,-9.286207447e-06,-3.372362049e-04,1.393384915e-04,-7.975665981e-06,-3.386392569e-04,1.390546123e-04,7.019468610e-01,-3.603465083e-04,8.602850157e-01,7.019463466e-01,-3.595069400e-04,8.602824257e-01,7.027371115e-01,-4.571650401e-04,8.304649153e-01
+41,4.583333333e+00,UP_FORCE_RAMP,1792838074859841061,-8.776532708e-06,-3.441475818e-04,1.539542743e-04,-9.286207447e-06,-3.372362049e-04,1.393384915e-04,-7.969532461e-06,-3.386391762e-04,1.391101316e-04,7.019468563e-01,-3.664183168e-04,8.602970415e-01,7.019463466e-01,-3.595069400e-04,8.602824257e-01,7.027371176e-01,-4.571649594e-04,8.304649708e-01
+42,4.716666667e+00,UP_FORCE_RAMP,1792838074991062755,-9.795424245e-06,-3.383755530e-04,1.640177694e-04,-6.665396503e-06,-3.373721886e-04,1.636449555e-04,-4.847880574e-06,-3.387648164e-04,1.633081619e-04,7.019458374e-01,-3.606462880e-04,8.603071050e-01,7.019489674e-01,-3.596429237e-04,8.603067322e-01,7.027402393e-01,-4.572905997e-04,8.304891689e-01
+43,4.883333333e+00,UP_FORCE_RAMP,1792838075171092087,-9.707517038e-06,-3.378813250e-04,1.831161190e-04,-6.665396503e-06,-3.373721886e-04,1.636449555e-04,-4.839638996e-06,-3.387647130e-04,1.633824677e-04,7.019459253e-01,-3.601520600e-04,8.603262034e-01,7.019489674e-01,-3.596429237e-04,8.603067322e-01,7.027402475e-01,-4.572904962e-04,8.304892432e-01
+44,5.066666667e+00,UP_FORCE_RAMP,1792838075363698155,-1.720621450e-05,-3.312821469e-04,1.960572019e-04,-9.992803117e-06,-3.338803430e-04,1.843263672e-04,-8.162065574e-06,-3.352784917e-04,1.840758344e-04,7.019384266e-01,-3.535528820e-04,8.603391444e-01,7.019456400e-01,-3.561510781e-04,8.603274136e-01,7.027369251e-01,-4.538042749e-04,8.305099365e-01
+45,5.183333333e+00,UP_FORCE_RAMP,1792838075673006516,-2.546567248e-05,-3.311884742e-04,2.249687034e-04,-2.525955905e-05,-3.311592343e-04,2.249712745e-04,-2.407159327e-05,-3.325479384e-04,2.244013677e-04,7.019301671e-01,-3.534592092e-04,8.603680559e-01,7.019303733e-01,-3.534299693e-04,8.603680585e-01,7.027210156e-01,-4.510737216e-04,8.305502621e-01
+46,5.266666667e+00,UP_FORCE_RAMP,1792838075845687630,-2.650865060e-05,-3.328634639e-04,2.409567994e-04,-2.525955905e-05,-3.311592343e-04,2.249712745e-04,-2.409316729e-05,-3.325477103e-04,2.244727308e-04,7.019291242e-01,-3.551341989e-04,8.603840440e-01,7.019303733e-01,-3.534299693e-04,8.603680585e-01,7.027209940e-01,-4.510734935e-04,8.305503334e-01
+47,5.433333333e+00,UP_FORCE_HOLD,1792838076137710362,-2.910778261e-05,-3.327230389e-04,2.644984101e-04,-2.769748897e-05,-3.304342322e-04,2.491207430e-04,-2.638307433e-05,-3.318279667e-04,2.486147230e-04,7.019265250e-01,-3.549937740e-04,8.604075856e-01,7.019279353e-01,-3.527049672e-04,8.603922080e-01,7.027187041e-01,-4.503537499e-04,8.305744754e-01
+48,5.616666667e+00,UP_SETTLE,1792838076334789844,-3.014905672e-05,-3.289276205e-04,2.759309514e-04,-2.884893306e-05,-3.301732762e-04,2.718485686e-04,-2.737654827e-05,-3.315638936e-04,2.713232560e-04,7.019254838e-01,-3.511983556e-04,8.604190182e-01,7.019267839e-01,-3.524440112e-04,8.604149358e-01,7.027177106e-01,-4.500896768e-04,8.305971840e-01
+49,5.800000000e+00,UP_SETTLE,1792838076514740676,-3.128898801e-05,-3.297814450e-04,2.901554525e-04,-2.884893306e-05,-3.301732762e-04,2.718485686e-04,-2.738676583e-05,-3.315632603e-04,2.714102354e-04,7.019243438e-01,-3.520521800e-04,8.604332427e-01,7.019267839e-01,-3.524440112e-04,8.604149358e-01,7.027177004e-01,-4.500890435e-04,8.305972709e-01
+50,5.983333333e+00,UP_SETTLE,1792838076711566657,-3.298332881e-05,-3.277157788e-04,3.057319307e-04,-3.108349727e-05,-3.275901557e-04,2.920004058e-04,-2.949710635e-05,-3.289586757e-04,2.915171062e-04,7.019226495e-01,-3.499865138e-04,8.604488192e-01,7.019245493e-01,-3.498608908e-04,8.604350876e-01,7.027155901e-01,-4.474844589e-04,8.306173778e-01
+51,6.033333333e+00,UP_SETTLE,1792838076760472753,-4.779188734e-05,-3.309606773e-04,3.029936007e-04,-4.765682035e-05,-3.314209074e-04,3.027395486e-04,-4.712528991e-05,-3.328068557e-04,3.021724065e-04,7.019078409e-01,-3.532314124e-04,8.604460808e-01,7.019079760e-01,-3.536916425e-04,8.604458268e-01,7.026979619e-01,-4.513326389e-04,8.306280331e-01
+52,6.066666667e+00,UP_SETTLE,1792838076799600771,-7.237963457e-05,-3.381664411e-04,2.798384926e-04,-7.169445888e-05,-3.305776412e-04,2.831110353e-04,-7.321318524e-05,-3.319798368e-04,2.825993530e-04,7.018832532e-01,-3.604371761e-04,8.604229257e-01,7.018839384e-01,-3.528483762e-04,8.604261983e-01,7.026718740e-01,-4.505056200e-04,8.306084601e-01
+53,6.100000000e+00,UP_SETTLE,1792838076859755433,-6.847373813e-05,-3.337191210e-04,2.952379608e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.645008025e-05,-3.343510391e-04,3.074849834e-04,7.018871591e-01,-3.559898560e-04,8.604383252e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026886371e-01,-4.528768224e-04,8.306333457e-01
+54,6.250000000e+00,UP_SETTLE,1792838077006218746,-6.493830920e-05,-3.347508709e-04,3.045588029e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.648620067e-05,-3.343501235e-04,3.075592634e-04,7.018906945e-01,-3.570216060e-04,8.604476460e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026886010e-01,-4.528759067e-04,8.306334200e-01
+55,6.366666667e+00,UP_SETTLE,1792838077120464847,-6.527614222e-05,-3.344546798e-04,3.094894533e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.650436695e-05,-3.343492993e-04,3.075966794e-04,7.018903567e-01,-3.567254148e-04,8.604525767e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885828e-01,-4.528750825e-04,8.306334574e-01
+56,6.583333333e+00,UP_SETTLE,1792838077333954855,-6.814866571e-05,-3.356931977e-04,3.133029526e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.652653385e-05,-3.343471585e-04,3.076482378e-04,7.018874842e-01,-3.579639327e-04,8.604563902e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885606e-01,-4.528729418e-04,8.306335090e-01
+57,6.766666667e+00,UP_SETTLE,1792838077513873355,-6.675217834e-05,-3.320930065e-04,3.208088470e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.653924743e-05,-3.343450077e-04,3.076820540e-04,7.018888806e-01,-3.543637415e-04,8.604638961e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885479e-01,-4.528707909e-04,8.306335428e-01
+58,6.966666667e+00,UP_SETTLE,1792838077710122701,-6.684468339e-05,-3.286425718e-04,3.244563497e-04,-5.635736960e-05,-3.329235339e-04,3.081069024e-04,-5.654995449e-05,-3.343425075e-04,3.077129660e-04,7.018887881e-01,-3.509133068e-04,8.604675436e-01,7.018992754e-01,-3.551942689e-04,8.604511941e-01,7.026885372e-01,-4.528682907e-04,8.306335737e-01
+59,7.133333333e+00,UP_SETTLE,1792838077873946191,-6.818281015e-05,-3.343406086e-04,3.250909275e-04,-6.578170912e-05,-3.357894142e-04,3.252240796e-04,-6.648971872e-05,-3.371702347e-04,3.247776756e-04,7.018874500e-01,-3.566113436e-04,8.604681782e-01,7.018898511e-01,-3.580601493e-04,8.604683113e-01,7.026785974e-01,-4.556960179e-04,8.306506384e-01

Fixed/digit/ball_15A_12.5/press_depth_04/up/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,4.4274e-02,8.1660e-02,2.4554e+00,-4.2409e-02,3.9901e-02,1.3381e-04,4.3967e-04,-4.9099e-06,-3.4809e-05,1.1474e-06,3.1058e-05,-5.7684e-07,4.4107e-04,3.1084e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.8194e-05,4.8693e-02,8.1589e-02,2.4551e+00,-4.2396e-02,4.0213e-02,1.2762e-04,4.8590e-03,-7.5832e-05,-3.8481e-04,1.3869e-05,3.4324e-04,-6.7706e-06,4.8748e-03,3.4359e-04
+2,3.3333e-01,WAIT_W2,7.5329e-05,5.1809e-02,8.1522e-02,2.4548e+00,-4.2386e-02,4.0433e-02,1.2268e-04,7.9746e-03,-1.4298e-04,-6.4135e-04,2.3637e-05,5.6340e-04,-1.1712e-05,8.0017e-03,5.6402e-04
+3,5.3333e-01,WAIT_W2,1.1239e-04,5.5385e-02,8.1425e-02,2.4545e+00,-4.2374e-02,4.0686e-02,1.1622e-04,1.1550e-02,-2.3926e-04,-9.5320e-04,3.5681e-05,8.1608e-04,-1.8176e-05,1.1592e-02,8.1706e-04
+4,7.0000e-01,WAIT_W2,1.5253e-04,5.7940e-02,8.1343e-02,2.4543e+00,-4.2365e-02,4.0866e-02,1.1096e-04,1.4106e-02,-3.2173e-04,-1.1890e-03,4.4834e-05,9.9669e-04,-2.3432e-05,1.4160e-02,9.9797e-04
+5,8.8333e-01,WAIT_W2,1.8607e-04,6.0377e-02,8.1252e-02,2.4540e+00,-4.2356e-02,4.1039e-02,1.0535e-04,1.6542e-02,-4.1220e-04,-1.4255e-03,5.4013e-05,1.1688e-03,-2.9045e-05,1.6609e-02,1.1704e-03
+6,1.0500e+00,WAIT_W2,2.2308e-04,6.2296e-02,8.1172e-02,2.4538e+00,-4.2348e-02,4.1174e-02,1.0042e-04,1.8462e-02,-4.9278e-04,-1.6220e-03,6.1601e-05,1.3045e-03,-3.3971e-05,1.8539e-02,1.3064e-03
+7,1.1333e+00,WAIT_W2,2.5789e-04,6.3162e-02,8.1133e-02,2.4537e+00,-4.2345e-02,4.1235e-02,9.8026e-05,1.9328e-02,-5.3211e-04,-1.7142e-03,6.5133e-05,1.3657e-03,-3.6366e-05,1.9411e-02,1.3677e-03
+8,1.1500e+00,WAIT_W2,3.0051e-04,6.9119e-02,1.3347e-01,2.4550e+00,-4.5992e-02,4.1652e-02,1.1616e-04,2.5285e-02,5.1809e-02,-4.5967e-04,-3.5823e-03,1.7827e-03,-1.8229e-05,5.7652e-02,4.0014e-03
+9,1.1667e+00,WAIT_W2,3.5315e-04,6.5272e-02,2.3172e-01,2.4490e+00,-5.2851e-02,4.1386e-02,1.5614e-04,2.1437e-02,1.5005e-01,-6.4480e-03,-1.0441e-02,1.5165e-03,2.1749e-05,1.5171e-01,1.0551e-02
+10,1.1667e+00,WAIT_W2,3.5315e-04,6.5272e-02,2.3172e-01,2.4490e+00,-5.2851e-02,4.1386e-02,1.5614e-04,2.1437e-02,1.5005e-01,-6.4480e-03,-1.0441e-02,1.5165e-03,2.1749e-05,1.5171e-01,1.0551e-02
+11,1.1833e+00,WAIT_W2,4.0722e-04,6.8888e-02,3.5305e-01,2.4466e+00,-6.1327e-02,4.1639e-02,2.0187e-04,2.5054e-02,2.7138e-01,-8.8582e-03,-1.8918e-02,1.7689e-03,6.7481e-05,2.7268e-01,1.9000e-02
+12,1.2000e+00,WAIT_W2,4.6507e-04,7.1007e-02,4.7920e-01,2.4454e+00,-7.0147e-02,4.1788e-02,2.5277e-04,2.7173e-02,3.9754e-01,-1.0067e-02,-2.7738e-02,1.9184e-03,1.1838e-04,3.9859e-01,2.7804e-02
+13,1.2000e+00,WAIT_W2,4.6507e-04,7.1007e-02,4.7920e-01,2.4454e+00,-7.0147e-02,4.1788e-02,2.5277e-04,2.7173e-02,3.9754e-01,-1.0067e-02,-2.7738e-02,1.9184e-03,1.1838e-04,3.9859e-01,2.7804e-02
+14,1.2167e+00,WAIT_W2,5.4219e-04,7.6759e-02,6.1097e-01,2.4505e+00,-7.9357e-02,4.2187e-02,3.0247e-04,3.2924e-02,5.2931e-01,-4.9527e-03,-3.6947e-02,2.3173e-03,1.6808e-04,5.3036e-01,3.7020e-02
+15,1.2167e+00,WAIT_W2,5.4219e-04,7.6759e-02,6.1097e-01,2.4505e+00,-7.9357e-02,4.2187e-02,3.0247e-04,3.2924e-02,5.2931e-01,-4.9527e-03,-3.6947e-02,2.3173e-03,1.6808e-04,5.3036e-01,3.7020e-02
+16,1.2500e+00,WAIT_W2,6.0399e-04,9.1035e-02,8.8901e-01,2.4588e+00,-9.8850e-02,4.3187e-02,4.1195e-04,4.7201e-02,8.0734e-01,3.3627e-03,-5.6440e-02,3.3172e-03,2.7756e-04,8.0873e-01,5.6538e-02
+17,1.2833e+00,WAIT_W2,6.4786e-04,8.9970e-02,8.8518e-01,2.4636e+00,-9.8636e-02,4.3113e-02,3.9613e-04,4.6136e-02,8.0351e-01,8.1906e-03,-5.6226e-02,3.2435e-03,2.6174e-04,8.0488e-01,5.6320e-02
+18,1.3333e+00,WAIT_W2,6.7856e-04,8.1721e-02,8.1517e-01,2.4600e+00,-9.3798e-02,4.2538e-02,3.6631e-04,3.7887e-02,7.3351e-01,4.5087e-03,-5.1388e-02,2.6678e-03,2.3191e-04,7.3450e-01,5.1458e-02
+19,1.4500e+00,WAIT_W2,7.1406e-04,8.5858e-02,8.7004e-01,2.4637e+00,-9.7724e-02,4.2832e-02,3.7171e-04,4.2024e-02,7.8837e-01,8.2550e-03,-5.5314e-02,2.9623e-03,2.3732e-04,7.8953e-01,5.5394e-02
+20,1.6167e+00,WAIT_W2,7.4620e-04,8.7989e-02,8.6840e-01,2.4691e+00,-9.7673e-02,4.2981e-02,3.4580e-04,4.4155e-02,7.8673e-01,1.3659e-02,-5.5263e-02,3.1117e-03,2.1141e-04,7.8809e-01,5.5351e-02
+21,1.7167e+00,WAIT_W2,7.8784e-04,8.9169e-02,8.6791e-01,2.4708e+00,-9.7663e-02,4.3065e-02,3.3196e-04,4.5335e-02,7.8625e-01,1.5362e-02,-5.5253e-02,3.1949e-03,1.9757e-04,7.8771e-01,5.5346e-02
+22,1.8333e+00,WAIT_W2,8.2566e-04,9.0440e-02,8.6750e-01,2.4721e+00,-9.7654e-02,4.3154e-02,3.1665e-04,4.6606e-02,7.8584e-01,1.6636e-02,-5.5244e-02,3.2847e-03,1.8226e-04,7.8740e-01,5.5342e-02
+23,1.9833e+00,UP_FORCE_RAMP,8.6105e-04,9.1936e-02,8.6710e-01,2.4730e+00,-9.7644e-02,4.3260e-02,2.9790e-04,4.8102e-02,7.8544e-01,1.7578e-02,-5.5234e-02,3.3907e-03,1.6351e-04,7.8710e-01,5.5339e-02
+24,2.1333e+00,UP_FORCE_RAMP,8.9524e-04,9.3316e-02,8.6678e-01,2.4735e+00,-9.7634e-02,4.3358e-02,2.8005e-04,4.9482e-02,7.8511e-01,1.8042e-02,-5.5224e-02,3.4886e-03,1.4566e-04,7.8688e-01,5.5335e-02
+25,2.3167e+00,UP_FORCE_RAMP,9.3882e-04,9.4884e-02,8.6645e-01,2.4737e+00,-9.7623e-02,4.3470e-02,2.5933e-04,5.1050e-02,7.8479e-01,1.8232e-02,-5.5213e-02,3.6001e-03,1.2494e-04,7.8666e-01,5.5330e-02
+26,2.4833e+00,UP_FORCE_RAMP,9.7323e-04,9.6222e-02,8.6620e-01,2.4736e+00,-9.7612e-02,4.3565e-02,2.4149e-04,5.2388e-02,7.8454e-01,1.8197e-02,-5.5203e-02,3.6952e-03,1.0709e-04,7.8649e-01,5.5326e-02
+27,2.7167e+00,UP_FORCE_RAMP,1.0107e-03,9.7983e-02,8.6589e-01,2.4734e+00,-9.7599e-02,4.3690e-02,2.1794e-04,5.4149e-02,7.8422e-01,1.7970e-02,-5.5189e-02,3.8205e-03,8.3545e-05,7.8630e-01,5.5321e-02
+28,2.8167e+00,UP_FORCE_RAMP,1.0487e-03,9.8702e-02,8.6576e-01,2.4733e+00,-9.7593e-02,4.3741e-02,2.0831e-04,5.4868e-02,7.8410e-01,1.7837e-02,-5.5183e-02,3.8716e-03,7.3921e-05,7.8622e-01,5.5319e-02
+29,2.9667e+00,UP_FORCE_RAMP,1.0834e-03,9.0134e-02,8.5655e-01,2.4466e+00,-9.7046e-02,4.3166e-02,2.1765e-04,4.6299e-02,7.7488e-01,-8.7976e-03,-5.4636e-02,3.2960e-03,8.3260e-05,7.7632e-01,5.4735e-02
+30,3.1000e+00,UP_FORCE_RAMP,1.1224e-03,9.3764e-02,8.5633e-01,2.4539e+00,-9.7055e-02,4.3417e-02,2.1452e-04,4.9930e-02,7.7466e-01,-1.5507e-03,-5.4645e-02,3.5476e-03,8.0133e-05,7.7627e-01,5.4760e-02
+31,3.2167e+00,UP_FORCE_RAMP,1.1602e-03,9.5775e-02,8.5615e-01,2.4570e+00,-9.7053e-02,4.3557e-02,2.0861e-04,5.1941e-02,7.7448e-01,1.5395e-03,-5.4643e-02,3.6873e-03,7.4213e-05,7.7622e-01,5.4768e-02
+32,3.4167e+00,UP_FORCE_RAMP,1.1981e-03,9.8347e-02,8.5591e-01,2.4600e+00,-9.7044e-02,4.3736e-02,1.9558e-04,5.4513e-02,7.7424e-01,4.5896e-03,-5.4635e-02,3.8661e-03,6.1184e-05,7.7617e-01,5.4771e-02
+33,3.5500e+00,UP_FORCE_RAMP,1.2358e-03,9.7905e-02,8.4830e-01,2.4431e+00,-9.6614e-02,4.3725e-02,1.9043e-04,5.4071e-02,7.6664e-01,-1.2390e-02,-5.4204e-02,3.8555e-03,5.6041e-05,7.6864e-01,5.4341e-02
+34,3.7167e+00,UP_FORCE_RAMP,1.2727e-03,9.9822e-02,8.4809e-01,2.4486e+00,-9.6610e-02,4.3856e-02,1.8001e-04,5.5988e-02,7.6643e-01,-6.8374e-03,-5.4201e-02,3.9859e-03,4.5614e-05,7.6850e-01,5.4347e-02
+35,3.8000e+00,UP_FORCE_RAMP,1.3142e-03,1.2901e-01,8.4301e-01,2.4363e+00,-9.6324e-02,4.5927e-02,1.0229e-04,8.5178e-02,7.6134e-01,-1.9109e-02,-5.3914e-02,6.0577e-03,-3.2103e-05,7.6633e-01,5.4254e-02
+36,3.9167e+00,UP_FORCE_RAMP,1.3478e-03,1.2131e-01,8.4290e-01,2.4411e+00,-9.6326e-02,4.5382e-02,6.9167e-05,7.7472e-02,7.6124e-01,-1.4343e-02,-5.3916e-02,5.5119e-03,-6.5224e-05,7.6531e-01,5.4197e-02
+37,4.0500e+00,UP_FORCE_RAMP,1.3853e-03,1.2728e-01,8.2900e-01,2.4254e+00,-9.5426e-02,4.5820e-02,1.3530e-05,8.3441e-02,7.4734e-01,-3.0009e-02,-5.3017e-02,5.9501e-03,-1.2086e-04,7.5258e-01,5.3350e-02
+38,4.2000e+00,UP_FORCE_RAMP,1.4247e-03,1.2278e-01,8.2909e-01,2.4337e+00,-9.5443e-02,4.5495e-02,-8.1062e-06,7.8945e-02,7.4742e-01,-2.1705e-02,-5.3033e-02,5.6248e-03,-1.4250e-04,7.5190e-01,5.3330e-02
+39,4.3167e+00,UP_FORCE_RAMP,1.4621e-03,1.1641e-01,8.3778e-01,2.4169e+00,-9.6153e-02,4.5065e-02,3.8352e-06,7.2572e-02,7.5611e-01,-3.8496e-02,-5.3743e-02,5.1956e-03,-1.3056e-04,7.6056e-01,5.3994e-02
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Fixed/digit/ball_15A_12.5/press_depth_05/down/camera_frames_60hz.tar

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

Fixed/digit/ball_15A_12.5/press_depth_05/down/franka_data.csv

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+28170,1792838143004986009,16822417000000,1792838143004653910,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.675942095261369,-0.004805933480800701,0.10656789159214321,0.9999999555623901,1.6859664197285387e-05,-0.00023491398389894588,0.00015763646204845622,0.6761,-0.0046,0.10671582833321056,1.0,0.0,0.0,0.0,-0.11891169471775909,-0.022631087766060376,0.4721717780967206,-0.0010221757490015554,0.008049590266405567,9.698987371647809e-05,0.6069267372974538,0.7850017445665267,0.7068831837418261,0.06036054663551656,-0.04792567254129389,0.0008503636705938778,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.4534311226787768,0.8491648599968079,0.6486061624722691,0.13584723920500616,-0.38832900813574306,0.45576862695761466,1.6213854171166837,-0.4721717780967206,0.9727792546444146,0.9727792546444146,1.1165712805684729,0,0,-7.29836784438539e-05,-9.999999025923074e-05
+28270,1792838143837985733,16823250000000,1792838143832664463,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759522534767408,-0.004808643720775919,0.1065283115234747,0.9999999588473392,1.691413734168001e-05,-0.00021182396909829023,0.00016909376836488535,0.6761,-0.0046,0.10665010658951778,1.0,0.0,0.0,0.0,-0.14710018794827007,-0.023824610081214836,0.5761079342292938,-0.0011024258242109813,0.010050456695314312,0.0006935238253685816,0.5787382440669429,0.7838082222513723,0.8108193398743994,0.06028029656030713,-0.04592480611238514,0.0014468976222459812,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5009574921146781,0.9351637879344091,0.41199860376111525,0.11294661405613032,-0.22790365632086373,0.5162836023046901,1.6213854171166837,-0.5761079342292938,1.2093868133555685,1.2093868133555685,1.2415212805685516,0,0,-7.889474295111475e-05,9.884571913610358e-05
+28364,1792838144620992870,16824033000000,1792838144616663752,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759568353027925,-0.004810318092031364,0.10647938364038126,0.9999999597018511,1.7435261421801197e-05,-0.00020191601660738917,0.00017596901613092583,0.6761,-0.0046,0.10658749532778238,1.0,0.0,0.0,0.0,-0.16599739098282051,-0.04013617548950077,0.7064524040000566,-0.0011667372888131688,0.011648426842163363,0.0006073683709153723,0.5598410410323924,0.7674966568430863,0.9411638096451621,0.060215985095704944,-0.04432683596553609,0.001360742167792772,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5299340260105306,0.8386643255581481,0.242147570007873,0.14152163750014857,-0.10946741980312276,0.44922477209696043,1.6213854171166837,-0.7064524040000566,1.3792378471088107,1.3792378471088107,1.3589712805686256,0,0,-7.614326294894257e-05,9.999381464365626e-05
+28473,1792838145530044285,16824942000000,1792838145524664253,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6759624236777924,-0.004814845388051779,0.10643131502675038,0.9999999604814701,1.2554024779079088e-05,-0.00018982446863894227,0.00018517286569419438,0.6761,-0.0046,0.106527036824254,1.0,0.0,0.0,0.0,-0.176380229936274,-0.028794004273975826,0.8168254024635547,-0.0012379827023341894,0.013039513070850245,0.000542594535179527,0.5494582020789389,0.7788388280586113,1.0515368081086602,0.06014473968218392,-0.04293574973684921,0.0012959683320569266,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5454236885779238,0.9516578321386401,0.2094057999710163,0.10649457311551119,-0.08478941011764748,0.5224650084701308,1.6213854171166837,-0.8168254024635547,1.4119796171456673,1.4119796171456673,1.4953212805687115,0,0,-5.938099057886526e-05,-9.999860248044996e-05
+28579,1792838146413045886,16825825000000,1792838146412663762,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6759639910794355,-0.004819749036529854,0.10639198022595962,0.999999960638469,6.968774964401473e-06,-0.00018512480954875577,0.0001893308377894604,0.6761,-0.0046,0.1064755483739607,1.0,0.0,0.0,0.0,-0.19167298766334762,-0.04545683345218898,0.9161919586455197,-0.001285861173203201,0.013155731125684383,0.0004567263757249277,0.5341654443518653,0.7621759988803981,1.1509033642906252,0.06009686121131491,-0.04281953168201507,0.0012101001726023274,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.5752544347032155,0.8460466670010185,0.06718699438876465,0.13942467730456423,0.014476320205646893,0.4499022586509991,1.6213854171166837,-0.9161919586455197,1.554198422727919,1.554198422727919,1.627771280568795,0,0,-6.079273582734602e-05,-9.999863023602557e-05
+28677,1792838147230023680,16826642000000,1792838147228664282,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6759717095299277,-0.004817588765670207,0.10635462755442662,0.9999999624613517,9.736699210619493e-06,-0.00017257037397002767,0.0001914283739697371,0.6761,-0.0046,0.10642090513122712,1.0,0.0,0.0,0.0,-0.20477180704102893,-0.03226092244818346,0.996426988470236,-0.0013209474372850583,0.015027452879055332,0.0004250008548986556,0.521066624974184,0.7753719098844036,1.2311383941153415,0.060061774947233054,-0.04094780992864412,0.0011783746517760553,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.6052601416270513,0.9460356077623061,-0.04232614910861239,0.10725975610062385,0.08997484142394466,0.5201748276672372,1.6213854171166837,-0.996426988470236,1.6637115662252961,1.6637115662252961,1.7503212805688722,0,0,-7.537367836404763e-05,-6.289821027761206e-05
+28728,1792838147655001743,16827067000000,1792838147652654703,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760197569580066,-0.004812566652637941,0.10636491260842078,0.9999999695639209,1.2061010280986667e-05,-0.00011816338358347378,0.00019546602880337525,0.6761,-0.0046,0.10638445038938871,1.0,0.0,0.0,0.0,-0.25865334421293357,0.042447905342328784,0.9691604434731195,0.004702275654591054,0.018969126077265475,0.0005729820741991261,0.46718508780227935,0.8500807376749159,1.203871849118225,0.06608499803910917,-0.03700613673043398,0.0013263558710765258,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.8009390277052719,0.8032503245710705,-0.007313084813189675,0.15614234873455782,0.0996202170533955,0.42461550341518306,1.6213854171166837,-0.9691604434731195,1.6286985019298734,1.6286985019298734,1.8140712805689123,0,0,-9.640407688390885e-05,-9.999999025923074e-05
+28787,1792838148146096444,16827558000000,1792838148140663973,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760310586694206,-0.004793123405563582,0.10632923491194571,0.9999999805876698,-0.00014114478135139803,-8.326823463826077e-05,5.841297779673523e-05,0.6761,-0.0046,0.10633169348496645,1.0,0.0,0.0,0.0,-0.1936444953948281,0.1458159722593454,1.0527246778600365,0.01193722997161456,0.01475951859106072,0.0005613167820468839,0.5321939366203848,0.9534488045919325,1.287436083505142,0.07331995235613267,-0.04121574421663873,0.0013146905789242836,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.8145105955134881,0.9641586770931264,-0.0801460268028672,-0.10226708426687875,0.1903636557873509,0.5806379733881143,1.6213854171166837,-1.0527246778600365,1.701531443919551,1.701531443919551,1.8877212805689587,0,0,-0.00011943218047458094,-9.999999025923074e-05
+28873,1792838148863039321,16828275000000,1792838148856654845,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760332196132853,-0.004803472499697413,0.10625270512405256,0.9999999801565551,-0.00013394194229962139,-7.926203064997925e-05,8.310740234688566e-05,0.6761,-0.0046,0.10623467940036678,1.0,0.0,0.0,0.0,-0.22174723291006682,0.11955399316933613,1.238473665354249,0.010824577256780363,0.0167711182343318,0.0014128239248548653,0.5040911991051461,0.9271868255019232,1.4731850709993544,0.07220729964129848,-0.039204144573367655,0.002166197721732265,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.9282809882809487,0.9457397314822226,-0.256449198129806,-0.015931278139960987,0.3232146824637212,0.5539217261798184,1.6213854171166837,-1.238473665354249,1.8778346152464898,1.8778346152464898,1.9952712805690265,0,0,-0.00014246089386951366,1.5524196792622504e-05
+28960,1792838149588037350,16829000000000,1792838149580665221,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760469906471953,-0.004809006935965222,0.10618633156291798,0.9999999812349802,-0.0001221697034141413,-5.769169451632656e-05,0.00010353325772027641,0.6761,-0.0046,0.10614241307370623,1.0,0.0,0.0,0.0,-0.2506116202600697,0.11431257982982124,1.4130008137245897,0.009716697308904482,0.01877014831633119,0.001300175673135258,0.4752268117551432,0.9219454121624083,1.6477122193696951,0.0710994196934226,-0.03720511449136826,0.0020535494700126577,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,0.9545779812897259,0.794646635667674,-0.49785811824669013,0.12839238326763694,0.46393086117850085,0.43348933984491334,1.6213854171166837,-1.4130008137245897,2.119243535363374,2.119243535363374,2.104021280569095,0,0,-0.00010945086828942496,9.999999025923074e-05
+29054,1792838150371067422,16829783000000,1792838150368663964,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760597065667558,-0.004810226344959523,0.10613578492146439,0.9999999814064937,-0.00012045464779254138,-3.892241942724396e-05,0.0001122746605374043,0.6761,-0.0046,0.10607184676640355,1.0,0.0,0.0,0.0,-0.2880593036541598,0.11982670503897386,1.5237501241168174,0.010661365273835655,0.020754467723605563,0.0012491902098026905,0.4377791283610531,0.927459537371561,1.7584615297619228,0.07204408765835377,-0.03522079508409389,0.00200256400668009,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0402061438523655,0.8269755028006813,-0.6057297031452825,0.1818251652620898,0.5428977605432447,0.44149153370323113,1.6213854171166837,-1.5237501241168174,2.227115120261966,2.227115120261966,2.221471280569169,0,0,-7.144343564383237e-05,9.999999025923074e-05
+29158,1792838151238016986,16830650000000,1792838151236654923,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676068062141042,-0.00481192395373581,0.10610222794004105,0.9999999795823709,-0.00015625732641677336,-2.3670817323356505e-05,8.544859581126342e-05,0.6761,-0.0046,0.10602807489440125,1.0,0.0,0.0,0.0,-0.2796155161646722,0.15363209036408487,1.604803506816816,0.012689745641077207,0.020696799172390833,0.0012077743221123145,0.44622291585054075,0.961264922696672,1.8395149124619214,0.07407246802559532,-0.03527846363530862,0.001961148118989714,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0151791894367486,0.806916099521786,-0.6921268743377464,0.1802127764371672,0.5930014405976519,0.4290139576181308,1.6213854171166837,-1.604803506816816,2.31351229145443,2.31351229145443,2.351521280569251,0,0,-3.377786386290905e-05,-9.96303553809696e-05
+29271,1792838152180084270,16831592000000,1792838152176664185,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6760710202848741,-0.004807058412458919,0.10607568707020228,0.9999999801988065,-0.00015158804835538084,-1.916263497115114e-05,8.774455990510464e-05,0.6761,-0.0046,0.10600071786700623,1.0,0.0,0.0,0.0,-0.288915148702489,0.15018008228232205,1.6548859343133513,0.012652069322705017,0.021699669947802938,0.001182315840634808,0.4369232833127239,0.9578129146149091,1.8895973399584567,0.07403479170722313,-0.034275592859896516,0.0019356896375122077,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0280712581017628,0.8194647927731364,-0.7921494174815363,0.17848342560032154,0.6587854233108137,0.4401768909118505,1.6213854171166837,-1.6548859343133513,2.41353483459822,2.41353483459822,2.49282128056934,0,0,-3.664939434852433e-05,-9.999999025923074e-05
+29371,1792838153013125254,16832425000000,1792838153008654577,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760761023796847,-0.0048064372961987845,0.10604432535828366,0.9999999805266759,-0.00014779677608303075,-1.2027781769715554e-05,9.165673677706714e-05,0.6761,-0.0046,0.10595641688722279,1.0,0.0,0.0,0.0,-0.2992994940430266,0.1417165042580757,1.7148661412188897,0.012614289561759917,0.022618979955010977,0.0011466214239606286,0.42653893797218634,0.9493493365906628,1.949577546863995,0.07399701194627803,-0.033356282852688476,0.0018999952208380282,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.0182866934771975,0.8621692144520011,-0.816904186969326,0.17492514570015472,0.665431301588185,0.4660862064534524,1.6213854171166837,-1.7148661412188897,2.43828960408601,2.43828960408601,2.6177712805694187,0,0,-6.862810476434967e-05,-9.995129310181312e-05
+29481,1792838153930136504,16833342000000,1792838153928654634,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6760907250204665,-0.004815516539696278,0.10599497171251003,0.9999999790649501,-0.00014879369697317702,1.200449790797842e-05,0.00010502043433281874,0.6761,-0.0046,0.1058750274175664,1.0,0.0,0.0,0.0,-0.32607888037814237,0.153158364864592,1.8257037400439695,0.013581136680432426,0.023688785621458097,0.0010823276838253014,0.39975955163707055,0.9607911971971791,2.060415145689075,0.07496385906495054,-0.03228647718624136,0.001835701480702701,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.092359007068327,0.8595678691005932,-0.928841290532182,0.17803353898790256,0.753693107947001,0.46406639998619464,1.6213854171166837,-1.8257037400439695,2.5502267076488656,2.5502267076488656,2.7553212805695053,0,0,-0.0001040518000886267,-9.999900493629638e-05
+29583,1792838154780064781,16834192000000,1792838154772664358,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761044942231267,-0.00481500960489556,0.10592096618433768,0.9999999783885869,-0.00014297683011492448,3.3818564449118495e-05,0.00011436617022435952,0.6761,-0.0046,0.10578490975624587,1.0,0.0,0.0,0.0,-0.3569338619377717,0.15532931173640174,2.0061349805947057,0.013463044837514732,0.026669470195650396,0.0016013599469656672,0.3689045700774412,0.9629621440689888,2.240846386239811,0.07484576722203284,-0.029305792612049058,0.002354733743843067,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2126868877681103,0.7943037011607722,-1.330889632614308,0.19263376925978684,1.0423643087225796,0.4176427633756431,1.6213854171166837,-2.0061349805947057,2.952275049730992,2.952275049730992,2.8828212805695856,0,0,-9.670525729224699e-05,9.999999025923074e-05
+29669,1792838155496132037,16834908000000,1792838155488664888,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761131013713404,-0.004819088519513315,0.10587725541450418,0.999999977414382,-0.00014784718590117824,4.857113439594541e-05,0.00011133801802842939,0.6761,-0.0046,0.10572326006528933,1.0,0.0,0.0,0.0,-0.35974952877565525,0.1577807521378436,2.0968653759648954,0.01445442497469504,0.026710358333249612,0.0019445666476372817,0.3660889032395577,0.9654135844704307,2.331576781610001,0.07583714735921315,-0.029264904474449842,0.0026979404445146814,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2021018713491514,0.7572584543374178,-1.363793794065214,0.21198196099596092,1.055616582067473,0.40035085016925404,1.6213854171166837,-2.0968653759648954,2.9851792111818978,2.9851792111818978,2.9902212805696533,0,0,-7.715090627882925e-05,9.997464941869367e-05
+29774,1792838156372133468,16835783000000,1792838156368664340,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761190799617454,-0.004818981442116261,0.10582587149379998,0.9999999879336826,2.0965340841210416e-05,5.787833967201146e-05,0.000108563581709016,0.6761,-0.0046,0.1056546954084225,1.0,0.0,0.0,0.0,-0.3765096662817168,0.16443589468919573,2.187443001125037,0.014418574207847909,0.027622561602237042,0.0018855741566165326,0.34932876573349614,0.9720687270217828,2.4221544067701424,0.07580129659236602,-0.028352701205462412,0.0026389479534939322,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3020214147588451,0.9387599582361379,-1.4599515659427333,0.11579069879285966,1.155612587031908,0.4443931054317475,1.6213854171166837,-2.187443001125037,3.0813369830594173,3.0813369830594173,3.121471280569736,0,0,-8.434094317802542e-05,5.312451453599039e-05
+29890,1792838157338133541,16836750000000,1792838157336654738,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761320695921432,-0.004819306362732722,0.10575833745778929,0.999999986939436,7.536989907230254e-07,7.920120312098023e-05,0.00010625720516055984,0.6761,-0.0046,0.10556668623856653,1.0,0.0,0.0,0.0,-0.38714441028613505,0.1787819668444547,2.328089652157122,0.015368042205812851,0.029239083067720027,0.0018080826267243613,0.33869402172907787,0.9864147991770418,2.5628010578022273,0.07675076459033096,-0.026736179739979427,0.002561456423601761,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2945538318739496,0.9304315232079102,-1.6058151103960272,0.1296736218184436,1.2399967741347584,0.45884683796045733,1.6213854171166837,-2.328089652157122,3.2272005275127107,3.2272005275127107,3.2665212805698274,0,0,-9.692533209784836e-05,8.8292216619773e-05
+29970,1792838158005152569,16837417000000,1792838158004654455,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761421217439628,-0.00481923940124972,0.10571368467039301,0.9999999853605274,-1.309663166677081e-05,9.821131870249901e-05,0.00010442616866777832,0.6761,-0.0046,0.10550255366470924,1.0,0.0,0.0,0.0,-0.40000595832058844,0.1856935024289107,2.4170321652514932,0.015364546045488855,0.030592168752584966,0.0017556003660346667,0.3258324736946245,0.9933263347614978,2.6517435708965986,0.07674726843000697,-0.025383094055114488,0.0025089741629120664,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3071807053490723,0.8116981506549038,-1.6698226480665086,0.18634203461440169,1.276188455794395,0.39803669511663864,1.6213854171166837,-2.4170321652514932,3.2912080651831923,3.2912080651831923,3.3665712805698904,0,0,-9.56821621150396e-05,5.299296617173617e-05
+30070,1792838158838092771,16838250000000,1792838158832654629,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761496851519551,-0.00482268514559412,0.10564722809018315,0.9999999835667416,-3.1478215175179784e-05,0.00010956868509061974,0.0001063635574596075,0.6761,-0.0046,0.1054224940962119,1.0,0.0,0.0,0.0,-0.4159550719768991,0.19265667270888798,2.5288445939329756,0.01628820629378501,0.0315136226006589,0.0016905770018015105,0.3098833600383138,1.000289505041475,2.763555999578081,0.07767092867830312,-0.024461640207040548,0.00244395079867891,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.2759596048518607,0.7917651419927303,-1.643931352480936,0.20951917437040418,1.2454458304280906,0.4096424063655817,1.6213854171166837,-2.5288445939329756,3.2653167695976197,3.2653167695976197,3.491521280569969,0,0,-9.33645520992662e-05,-9.990843849306259e-05
+30173,1792838159696199921,16839108000000,1792838159688655375,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761587498135717,-0.004820580038547823,0.10558351259969614,0.9999999816877656,-4.391256660935252e-05,0.00012403492470382276,0.00010370321481211541,0.6761,-0.0046,0.105341554150589,1.0,0.0,0.0,0.0,-0.42072010199830945,0.19161556855843154,2.624696570104376,0.01687333429281193,0.03153163855788774,0.0016260244139850897,0.30511833001690347,0.9992484008910186,2.8594079757494812,0.07825605667733004,-0.024443624249811714,0.0023793982108624894,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.34342500585651,0.7414627716916522,-1.8884877329510437,0.24167788881338342,1.4198765173312085,0.3971236389831512,1.6213854171166837,-2.624696570104376,3.5098731500677274,3.5098731500677274,3.62022128057005,0,0,-9.532018007826627e-05,-9.999996250365512e-05
+30263,1792838160446164302,16839858000000,1792838160444654600,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761636338128302,-0.0048305755284697195,0.10552356874763001,0.9999999791652887,-6.147160110258154e-05,0.00013211140775689636,0.00010899589318518785,0.6761,-0.0046,0.10526834511379266,1.0,0.0,0.0,0.0,-0.4269139458782239,0.1923909766119588,2.729146453264443,0.017229509825979025,0.03251510282599342,0.0015545673703520958,0.298924486136989,1.000023808944546,2.9638578589095483,0.07861223221049714,-0.023460159981706034,0.0023079411672294954,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.322438717224138,0.781193904658119,-1.9816329746295829,0.24101083687756872,1.4705274634749348,0.4364054658824317,1.6213854171166837,-2.729146453264443,3.6030183917462666,3.6030183917462666,3.732721280570121,0,0,-9.946151689341066e-05,-9.991904112294776e-05
+30355,1792838161213121312,16840625000000,1792838161212664286,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6761734318043422,-0.004829249382268845,0.10546610703873871,0.9999999765588945,-7.018133463872158e-05,0.00014827441851512845,0.00010683797075345506,0.6761,-0.0046,0.1051929631404963,1.0,0.0,0.0,0.0,-0.43320056864431894,0.19524216235545577,2.810163464134613,0.017198279645998363,0.033504390094037356,0.0016102226811883552,0.292637863370894,1.0028749946880429,3.0448748697797186,0.07858100203051648,-0.022470872713662098,0.002363596478065755,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4094364991882988,0.7266946984745115,-2.1311547828589585,0.2584443701122873,1.5876906343228707,0.4040897527031778,1.6213854171166837,-2.810163464134613,3.752540199975642,3.752540199975642,3.8477712805701936,0,0,-0.00010140574549097193,-8.512973245634043e-05
+30451,1792838162013201768,16841425000000,1792838162008664255,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761801791206692,-0.004833085066334661,0.10539810302028035,0.9999999738727198,-8.488177396189346e-05,0.00015906716549786646,0.00010578348366788848,0.6761,-0.0046,0.1051100439312617,1.0,0.0,0.0,0.0,-0.4367881889938904,0.19839309162524732,2.9104323685536,0.01717083940034289,0.033483613079485094,0.002408987156386904,0.28905024302132254,1.0060259239578344,3.1451437741987056,0.078553561784861,-0.022491649728214356,0.0031623609532643038,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4419315770629881,0.7186921237487645,-2.143829279175822,0.2684907803000783,1.6035474287237506,0.39865995850819624,1.6213854171166837,-2.9104323685536,3.7652146962925057,3.7652146962925057,3.967771280570269,0,0,-0.00010840109533202658,-9.990256818881988e-05
+30552,1792838162855227256,16842267000000,1792838162848654494,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6761916528411042,-0.004835702292981436,0.10532171769174765,0.999999969989825,-8.82422344218785e-05,0.00017818737820050803,0.00010920521899274432,0.6761,-0.0046,0.10501523567726835,1.0,0.0,0.0,0.0,-0.44064484820368593,0.20205603310217912,3.0111104770002606,0.01712462934360666,0.034475093147097007,0.002258006017028977,0.285193583811527,1.0096888654347662,3.245821882645366,0.07850735172812477,-0.021500169660602447,0.0030113798139063765,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4348395231231799,0.7900098859115152,-2.3409757895754972,0.24802145312325527,1.7261834985820381,0.4447809104272542,1.6213854171166837,-3.0111104770002606,3.962361206692181,3.962361206692181,4.09407128057007,0,0,-0.00011881950432865297,-7.542180355113998e-05
+30667,1792838163813250968,16843224999999,1792838163812654317,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762043820185265,-0.004841287612426416,0.10522397996127159,0.9999999642116747,-9.757300073430877e-05,0.0002019822882944462,0.00011270394129503865,0.6761,-0.0046,0.10489226535922354,1.0,0.0,0.0,0.0,-0.4472298020109313,0.21045416006061612,3.131735363082298,0.018094134802688927,0.035443052863797425,0.002313014170007217,0.2786086300042816,1.0180869923932032,3.3664467687274033,0.07947685718720704,-0.02053220994390203,0.0030663879668846165,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4653537811678257,0.8098873060884741,-2.500263270728955,0.25327513629529447,1.8315392173647695,0.4602333456846661,1.6213854171166837,-3.131735363082298,4.121648687845639,4.121648687845639,4.237771280569735,0,0,-0.00013708016764870843,-2.2898420406132524e-05
+30770,1792838164671231671,16844082999999,1792838164664655072,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762166633540485,-0.00484318039199929,0.10512481734819347,0.9999999594743793,-0.00010480886437684045,0.0002223066680866139,0.00010994976769504528,0.6761,-0.0046,0.10477052831082523,1.0,0.0,0.0,0.0,-0.442384475848851,0.21716929609604463,3.2415055664155803,0.018075257423230837,0.03541857187498694,0.0022252330385395345,0.28345395616636193,1.0248021284286317,3.4762169720606857,0.07945797980774895,-0.02055669093271251,0.002978606835416934,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4787494651956696,0.7406828829080092,-2.6287141444525086,0.27885277160850874,1.9172821072319979,0.41512018801837325,1.6213854171166837,-3.2415055664155803,4.2500995615691926,4.2500995615691926,4.366471280569435,0,0,-0.0001472378190522664,7.456126968475302e-05
+30863,1792838165446260046,16844858000000,1792838165444654392,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762304497726088,-0.0048480041466986415,0.1050251723105472,0.9999999525761883,-0.0001210356925032506,0.00024502110493783956,0.00010772884799276708,0.6761,-0.0046,0.10465559865472075,1.0,0.0,0.0,0.0,-0.4481423402652226,0.22750210713808328,3.351315813215828,0.018027538914725652,0.036407410930271514,0.0021509524255850588,0.2776960917499903,1.0351349394706704,3.5860272188609335,0.07941026129924376,-0.019567851877427943,0.0029043262224624582,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5381635514705418,0.7098837710818875,-2.819794076887266,0.29472869848796623,2.0549655975571097,0.3941562815318389,1.6213854171166837,-3.351315813215828,4.44117949400395,4.44117949400395,4.482721280569164,0,0,-0.00014742293840267073,9.980559020761887e-05
+30959,1792838166246186198,16845658000000,1792838166240664148,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762368970000932,-0.004853018512530905,0.10492065204424902,0.9999999478869586,-0.00013929464381913422,0.00025405948984409985,0.00010825766660857538,0.6761,-0.0046,0.10453652609680147,1.0,0.0,0.0,0.0,-0.4527278461451709,0.22114170253571996,3.4429362195928688,0.01800955030594055,0.036386664675741746,0.0020773391190123227,0.273110585870042,1.028774534868307,3.677647625237974,0.07939227269045866,-0.019588598131957707,0.0028307129158897226,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5037432791529897,0.7325664193323781,-2.7513075818159893,0.3009457680895495,2.001427816653368,0.4075851961079912,1.6213854171166837,-3.4429362195928688,4.372692998932673,4.372692998932673,4.602721280568884,0,0,-0.00015208170371236308,-9.999999025923074e-05
+31043,1792838166946269966,16846358000000,1792838166940657324,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762483617856586,-0.004853271365637473,0.1048307983583132,0.9999999411662218,-0.00015035968593185477,0.0002731280361949943,0.00010910296966392545,0.6761,-0.0046,0.10442816982650929,1.0,0.0,0.0,0.0,-0.4486878463297416,0.22396281907880955,3.53311504599251,0.017992635738445423,0.036368637707248457,0.0020044078034839466,0.2771505856854713,1.0315956514113966,3.767826451637615,0.07937535812296354,-0.019606625100450997,0.0027577816003613465,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5593273579164821,0.7486314319294499,-2.9607457031591906,0.30252711903705687,2.1522305100114854,0.42066977237879305,1.6213854171166837,-3.53311504599251,4.582131120275874,4.582131120275874,4.70772128056864,0,0,-0.00015757081095882507,1.533506241291889e-05
+31132,1792838167688289297,16847099999999,1792838167684663794,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762588411248995,-0.004852110363756661,0.104726561783049,0.9999999368081656,-0.00014644612279584196,0.0002888686919628967,0.0001137318822036949,0.6761,-0.0046,0.10430843185021578,1.0,0.0,0.0,0.0,-0.43969330629920506,0.2270576666867562,3.6234387880232335,0.017974468730936416,0.03634874599479442,0.0019325382328439576,0.28614512571600786,1.0346904990193433,3.858150193668339,0.07935719111545453,-0.01962651681290503,0.0026859120297213573,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.579594872153535,0.7089999129955015,-2.9728248199170837,0.3228038041791506,2.1638592277159905,0.39388559729171235,1.6213854171166837,-3.6234387880232335,4.594210237033767,4.594210237033767,4.81902128056838,0,0,-0.000164972304937698,-9.999997638144293e-05
+31214,1792838168371305866,16847783000000,1792838168368654429,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762675314156352,-0.0048580111145059566,0.10462509350172558,0.9999999415771514,-4.0980086655947525e-05,0.0003045833997083333,0.00011763563776545055,0.6761,-0.0046,0.1041898142009873,1.0,0.0,0.0,0.0,-0.4327040832565063,0.23571660536080075,3.69371837568627,0.017936249152198255,0.03734576259807893,0.0018923454207357851,0.29313434875870664,1.0433494376933878,3.9284297813313755,0.07931897153671637,-0.018629500209620523,0.002645719217613185,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.59670865850928,0.8798786918118551,-3.066830452849328,0.2467274210797113,2.234397664615002,0.4495624617660798,1.6213854171166837,-3.69371837568627,4.688215869966012,4.688215869966012,4.9214712805681415,0,0,-0.0001825705776517791,-9.868679071012849e-05
+31303,1792838169113304122,16848525000000,1792838169112664360,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762794388179677,-0.0048601521067400755,0.10450458267239007,0.9999999329820995,-7.297701128402885e-05,0.00032641909957399954,0.00011663442120942874,0.6761,-0.0046,0.10404553802816581,1.0,0.0,0.0,0.0,-0.42762847766940193,0.229056553460674,3.8041797922928438,0.017942116839584327,0.03630908798309864,0.0017877683494206857,0.298209954345811,1.036689385793261,4.038891197937949,0.07932483922410244,-0.019666174824600813,0.0025411421462980853,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6164519866011295,0.8114316117262006,-3.172050661814115,0.2987852226491372,2.304005102627243,0.436326279069807,1.6213854171166837,-3.8041797922928438,4.793436078930799,4.793436078930799,5.032771280567882,0,0,-0.00020232144105489092,-9.943967457649023e-05
+31383,1792838169780278205,16849192000000,1792838169776664113,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762843404463064,-0.004866438913829164,0.10437967050637748,0.9999999257824562,-9.940259238177908e-05,0.0003388647370961752,0.00012315746377292074,0.6761,-0.0046,0.10390742052133142,1.0,0.0,0.0,0.0,-0.4213122574471796,0.22376225937659544,3.8840635249559186,0.016905923029112133,0.03631107924335891,0.0017127394036889935,0.3045261745680333,1.0313950917091825,4.118774930601024,0.07828864541363025,-0.019664183564340538,0.002466113200566393,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5643067606538674,0.7126979697475082,-3.332876153743707,0.35216250865174614,2.3890662048229383,0.4007020129780924,1.6213854171166837,-3.8840635249559186,4.954261570860391,4.954261570860391,5.132821280567649,0,0,-0.00021021533649498293,-7.865516427614478e-08
+31456,1792838170388328826,16849800000000,1792838170384654830,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762912025089913,-0.004868286045865781,0.10426376830758316,0.9999999190063712,-0.00011094239499502104,0.0003519685086667729,0.00013130144420619769,0.6761,-0.0046,0.10377834741575802,1.0,0.0,0.0,0.0,-0.4179113438613321,0.220186309384082,3.963149779400075,0.015871284613371284,0.036312704663815566,0.0016364362707929406,0.3079270881538808,1.027819141716669,4.197861185045181,0.0772540069978894,-0.019662558143883888,0.0023898100676703403,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6264491820343523,0.8831750688769293,-3.4220843677379578,0.30887574740866824,2.46678705821725,0.5161862597938593,1.6213854171166837,-3.963149779400075,5.043469784854642,5.043469784854642,5.224021280567436,0,0,-0.00021489148809994638,-1.7881886418255122e-05
+31535,1792838171046320352,16850457999999,1792838171044654223,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762965000353065,-0.004869149537430108,0.1041366964703084,0.9999999112808209,-0.0001378277755772468,0.00036671370423961444,0.00012412001428906174,0.6761,-0.0046,0.1036338792828833,1.0,0.0,0.0,0.0,-0.3984445255881763,0.21888147514470713,3.9941590099531763,0.015892342350840333,0.035292348384919,0.0015996281280297477,0.32739390642703664,1.0265143074772942,4.228870415598282,0.07727506473535845,-0.02068291442278045,0.0023530019249071474,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6122401088420082,0.8052224953647369,-3.492823449292543,0.35358907570626485,2.5058679543305473,0.46562767864673776,1.6213854171166837,-3.9941590099531763,5.114208866409227,5.114208866409227,5.322721280567206,0,0,-0.0002292804186468641,-9.989907098629231e-05
+31608,1792838171655279671,16851067000000,1792838171652663821,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676299742919026,-0.004871752561733136,0.10399132977297781,0.9999999092654948,-0.0001451764743995551,0.0003679243914067826,0.00012832497749545418,0.6761,-0.0046,0.10348910093473318,1.0,0.0,0.0,0.0,-0.38858415492243914,0.1925500928839593,4.063521363726953,0.01386317548181576,0.034303425610133,0.001640503970537537,0.3372542770927738,1.0001829252165464,4.298232769372059,0.07524589786633387,-0.021671837197566456,0.0023938777674149367,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.605360103577732,0.7747848773268158,-3.524912019099045,0.37104462121722487,2.5279895117975397,0.4493193699854562,1.6213854171166837,-4.063521363726953,5.146297436215729,5.146297436215729,5.4140712805669935,0,0,-0.0002474242957143088,-9.999997638144293e-05
+31676,1792838172221327110,16851633000000,1792838172216654751,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763127577743191,-0.004877942485983019,0.10385194190989314,0.9999999051952678,-0.0001262165417518057,0.00038242937701494806,0.00013736621068084857,0.6761,-0.0046,0.1033419495012512,1.0,0.0,0.0,0.0,-0.3928541055335437,0.19899317770804636,4.083739247616582,0.0139358400990056,0.03466401904539211,0.001501100908536413,0.3329843264816692,1.0066260100406335,4.318450653261688,0.07531856248352371,-0.021311243762307346,0.0022544747054138127,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6691237556116518,0.7394094207187576,-3.581628682655039,0.3930335375947058,2.578701326189771,0.4279209967489138,1.6213854171166837,-4.083739247616582,5.203014099771723,5.203014099771723,5.498971280566796,0,0,-0.00027350659238398043,-9.999999025923074e-05
+31743,1792838172780351481,16852192000000,1792838172772664195,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763156788712715,-0.004876704211380436,0.10370164789832122,0.9999999072171941,-7.076595965461153e-05,0.0003909135069554737,0.00013851814600163991,0.6761,-0.0046,0.10318133979108614,1.0,0.0,0.0,0.0,-0.37211395374657263,0.1678002457867499,4.105923847809176,0.011845706522920371,0.03332663890234884,0.0014362764411150468,0.3537244782686403,0.975433078119337,4.340635253454282,0.07322842890743848,-0.02264862390535061,0.0021896502379924465,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.6183818755016384,0.787334643807898,-3.6346333802286495,0.3947860406616065,2.605151501859693,0.4612457972215768,1.6213854171166837,-4.105923847809176,5.256018797345333,5.256018797345333,5.5828212805666,0,0,-0.00030123931167166793,-9.999999025923074e-05
+31804,1792838173288291305,16852700000000,1792838173280655036,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676313404876824,-0.004879675792382488,0.10354348024165327,0.9999999077085743,-0.0001018787098198108,0.0003836462234502784,0.00013587498309839384,0.6761,-0.0046,0.10302187132201628,1.0,0.0,0.0,0.0,-0.34284356448336095,0.13986195004911928,4.122489037114911,0.009849013832531478,0.03132892786361083,0.0013705046528173588,0.38299486753185197,0.9474947823817064,4.357200442760017,0.07123173621704959,-0.02464633494408863,0.0021238784496947585,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5658117090901598,0.7159275441180835,-3.622281246230643,0.42665645654060835,2.5811369838094684,0.41909973334015493,1.6213854171166837,-4.122489037114911,5.243666663347327,5.243666663347327,5.659021280566423,0,0,-0.00032663930672335715,-9.999999025923074e-05
+31868,1792838173821257421,16853233000000,1792838173820655030,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763147226312551,-0.004883003811843545,0.10336369105074722,0.9999999044674219,-0.00011982973423615489,0.00038426389853128353,0.00014314364243427826,0.6761,-0.0046,0.10284068367291894,1.0,0.0,0.0,0.0,-0.33399922871497056,0.11510475502110051,4.1016934698112895,0.007837895941393544,0.030359232433607282,0.0013495397585166745,0.39183920330024236,0.9227375873536876,4.336404875456395,0.06922061832591166,-0.025616030374092172,0.002102913555394074,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5708849939620586,0.751581113523338,-3.6825052573644106,0.4274699334341754,2.62707985170983,0.44602140519620137,1.6213854171166837,-4.1016934698112895,5.303890674481094,5.303890674481094,5.738971280566236,0,0,-0.00035328930153152714,-9.999999025923074e-05
+31918,1792838174238385259,16853650000000,1792838174236654328,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763162509145796,-0.004882354304548465,0.10321301480195262,0.9999999016646077,-0.00013654596504168736,0.0003865947742192887,0.0001414684382844048,0.6761,-0.0046,0.10268902523502924,1.0,0.0,0.0,0.0,-0.32846263439592305,0.07764257518356155,4.0910169789947455,0.0048319980229265674,0.03001954543178672,0.0013273068141895544,0.39737579761928987,0.8852754075161486,4.325728384639851,0.06621472040744468,-0.025955717375912735,0.002080680611066954,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5434250917545072,0.690987081035528,-3.5207998891127374,0.4542813440024657,2.5200108259694964,0.40699968339261755,1.6213854171166837,-4.0910169789947455,5.142185306229421,5.142185306229421,5.8015212805660905,0,0,-0.00037413929746962635,-9.999999025923074e-05
+31969,1792838174663342081,16854075000000,1792838174660654485,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763091232728333,-0.00488963867323997,0.10304068751164817,0.9999999041075676,-0.00012834757395380534,0.00037974963148269586,0.00015014938478525222,0.6761,-0.0046,0.10252551103448643,1.0,0.0,0.0,0.0,-0.31016630277236923,0.04251576897956122,4.079303742038474,0.0017896867248650972,0.02882624497605638,0.0012900833688865483,0.4156721292428437,0.8501486013121483,4.3140151476835795,0.06317240910938321,-0.027149017831643075,0.002043457165763948,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5014746719925312,0.6840500352372026,-3.50708854575293,0.46830320819715926,2.50491825024302,0.4116741227128511,1.6213854171166837,-4.079303742038474,5.128473962869614,5.128473962869614,5.865271280565942,0,0,-0.0003953892933297994,-9.999999025923074e-05
+32018,1792838175071336088,16854483000000,1792838175064654469,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763064282245527,-0.004888069299747157,0.10286661716058987,0.999999911134325,-8.602140266931278e-05,0.00037458292129088195,0.0001464996922707637,0.6761,-0.0046,0.1023600408036206,1.0,0.0,0.0,0.0,-0.299526019461286,0.011318612426331365,4.028896810488701,-0.00026297888717065343,0.028506483303462067,0.0012889383837403512,0.42631241255392693,0.8189514447589185,4.2636082161338065,0.06111974349734746,-0.027468779504237387,0.002042312180617751,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.5199395807671796,0.6337090821858297,-3.553149616977932,0.48885143456534746,2.5432727992649222,0.3739806501697385,1.6213854171166837,-4.028896810488701,5.174535034094616,5.174535034094616,5.926471280565799,0,0,-0.00041578928935556556,-9.999999025923074e-05
+32064,1792838175455367977,16854866999999,1792838175452654513,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6763077412827295,-0.0048897447667272,0.10269691568430164,0.9999999086663358,-0.00011074150243444282,0.0003748435713894291,0.00014607806496110725,0.6761,-0.0046,0.1021967009172281,1.0,0.0,0.0,0.0,-0.29063344715976935,-0.016134611740808658,3.9777846379843917,-0.0022702346627979653,0.027542093605039505,0.001292551004538286,0.43520498485544357,0.7914982205917784,4.212496043629497,0.05911248772172015,-0.02843316920265995,0.0020459248014156857,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.483153763107365,0.6756618248872457,-3.431637360223246,0.48047020083332465,2.461234758288321,0.4045680436326573,1.6213854171166837,-3.9777846379843917,5.05302277733993,5.05302277733993,5.984071280565665,0,0,-0.00043498928561511017,-9.999999025923074e-05
+32109,1792838175830385755,16855241999999,1792838175824654248,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762984276411167,-0.0048999158671362356,0.10251325042196785,0.9999999098302584,-0.00011818274362547908,0.0003611201487271809,0.00016555185454584956,0.6761,-0.0046,0.10203007368580916,1.0,0.0,0.0,0.0,-0.29516054876606673,-0.08116651321519575,3.92577157472869,-0.007348953719578,0.027651399777948223,0.0012769858685565242,0.4306778832491462,0.7264663191173913,4.1604829803737955,0.05403376866494011,-0.02832386302975123,0.002030359665433924,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4575745170422125,0.6078176111792939,-3.3756177817318127,0.49658981304454514,2.4262286667097572,0.3638761125981333,1.6213854171166837,-3.92577157472869,4.997003198848496,4.997003198848496,6.040321280565534,0,0,-0.0004537392819623217,-9.999999025923074e-05
+32150,1792838176171350221,16855582999999,1792838176168654691,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.676286840769636,-0.004904147998160593,0.10233798737078786,0.9999999135417815,-0.0001274046650243165,0.00034297556068520175,0.0001746284910410175,0.6761,-0.0046,0.101872450091228,1.0,0.0,0.0,0.0,-0.28402540132348486,-0.13457569908183165,3.8883216727967924,-0.011416055225285847,0.026725091153217497,0.001245534253854419,0.44181303069172806,0.6730571332507554,4.123033078441898,0.049966667159232266,-0.029250171654481957,0.0019989080507318187,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3936278383919058,0.4868339268550637,-3.354526679788536,0.5431885592280281,2.4039329814839916,0.2871247048079867,1.6213854171166837,-3.8883216727967924,4.97591209690522,4.97591209690522,6.091471280565415,0,0,-0.0004707892786407194,-9.999999025923074e-05
+32191,1792838176513356672,16855925000000,1792838176508655068,DOWN_FORCE_DETACH,5,0.0597,0.05970150604844093,0.6762772725953627,-0.004902039245044961,0.10216120541587999,0.9999999156368488,-0.00016138491407907427,0.0003328306731883679,0.00015279990852278764,0.6761,-0.0046,0.1017085246085042,1.0,0.0,0.0,0.0,-0.2645252703987404,-0.1501113624883117,3.813288540486536,-0.012368333730874675,0.02473434168092323,0.0012663258749475755,0.4613131616164725,0.6575214698442754,4.047999946131641,0.04901438865364344,-0.031240921126776223,0.0020196996718249752,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.402347501732555,0.5881721120032402,-3.325709708886694,0.5028658063423169,2.398923773597582,0.3610186832976769,1.6213854171166837,-3.813288540486536,4.9470951260033775,4.9470951260033775,6.142771280565295,0,0,-0.0004878892753093763,-9.999999025923074e-05
+32231,1792838176846388246,16856258000000,1792838176844654278,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6763052116366589,-0.0049112873402309505,0.1020055849970544,0.9999999072539638,-0.00012422282127673572,0.00035779430925924114,0.0001829941283819535,0.6761,-0.0046,0.10154329358036787,1.0,0.0,0.0,0.0,-0.28802835555015577,-0.1911114822519916,3.7418658518260437,-0.015448919471552018,0.02582270692411025,0.0013022131301600635,0.43781007646505715,0.6165213500805955,3.976577257471149,0.045933802912966094,-0.030152555883589203,0.002055586927037463,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4770210474935848,0.5126764606951986,-3.1411854321600727,0.5308717396727035,2.3045183492619588,0.31560385346243364,1.6213854171166837,-3.7418658518260437,4.762570849276757,4.762570849276757,6.192721280565179,0,0,-0.0005045392720657002,-9.999999025923074e-05
+32266,1792838177138351136,16856550000000,1792838177136654410,DOWN_FORCE_DETACH,5,0.0597,0.05970216169953346,0.6762866210537011,-0.00491284547364028,0.10183918635795915,0.9999999233121892,-3.6495166621423455e-05,0.0003295957056524858,0.00018669026190070887,0.6761,-0.0046,0.10139384381334138,1.0,0.0,0.0,0.0,-0.2830813774494477,-0.19644273681523827,3.6709391756803553,-0.016452979530881096,0.025857500881876563,0.0013486782272079552,0.4427570545657652,0.6111900955173488,3.9056505813254607,0.04492974285363702,-0.03011776192582289,0.002102052024085355,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.4690008804786672,0.5334159305199556,-3.1950210882563876,0.5150053362529097,2.3348994501722986,0.2930636753312444,1.6213854171166837,-3.6709391756803553,4.816406505373071,4.816406505373071,6.236521280565077,0,0,-0.0005191392692213956,-9.999999025923074e-05
+32305,1792838177463338445,16856875000000,1792838177456654913,DOWN_SETTLE,5,0.0597,0.05970216169953346,0.6762715911959777,-0.004907179380542333,0.10166594648972119,0.9999999296668564,-0.00012704300801260726,0.00031194380804482936,0.00013660264061992963,0.6761,-0.0046,0.10124844419585276,1.0,0.0,0.0,0.0,-0.2331250611428745,-0.20055874996472423,3.5836487059023914,-0.016333459117791722,0.021831242454137784,0.0013719166658698312,0.4927133708723384,0.6070740823678629,3.8183601115474968,0.04504926326672639,-0.03414402035356167,0.002125290462747231,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.3392081679704144,0.46710371787241506,-2.969266984893286,0.5196459368002796,2.1722450923679824,0.2904491121451844,1.6213854171166837,-3.5836487059023914,4.59065240200997,0.0,0.0,0,0,-0.00016888513529308185,0.001705910457505877
+32398,1792838178238417144,16857650000000,1792838178236654483,DOWN_PEAK_HOLD,5,0.0597,0.05970150604844093,0.6762420064189087,-0.004901537890875058,0.10157160741279371,0.999999945759756,-0.00011934565972071738,0.0002544637920788147,0.00014466561957997482,0.6761,-0.0046,0.10123261775502142,1.0,0.0,0.0,0.0,-0.21719435095860773,-0.2639917764141134,3.0986044372141954,-0.021280105257211794,0.02000320350436669,0.0006397519591330842,0.5086440810566052,0.5436410559184737,3.333315842859301,0.04010261712730632,-0.03597205930333276,0.0013931257560104839,0.7258384320152129,0.8076328323325871,0.2347114056451055,0.06138272238451811,-0.055975262807699454,0.0007533737968773997,1,1.127811617456499,0.4658910796872842,-2.4368528966819354,0.5107779746838664,1.779962400660086,0.2794270159961161,1.6213854171166837,-3.0986044372141954,4.058238313798619,0.0,0.0,0,0,0.0,0.0

Fixed/digit/ball_15A_12.5/press_depth_05/down/real_sim_motion_alignment.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792838137056986902,3.680780536e-08,1.828236171e-07,3.586061954e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.716644243e-09,-1.314867989e-10,-2.088116346e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027451446e-01,-1.184936161e-04,8.303258529e-01
+1,8.500000000e-01,DOWN_FORCE_DETACH,1792838137907677387,-1.465048727e-06,3.370578192e-06,-1.188091232e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.028290421e-07,-5.681325570e-09,-8.313426392e-09,7.019541678e-01,-1.890015683e-05,8.601418991e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452448e-01,-1.184991659e-04,8.303258448e-01
+2,1.666666667e+00,DOWN_FORCE_DETACH,1792838138709927466,1.398693310e-06,-1.019969332e-07,-7.285449394e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.546274602e-07,-9.544739431e-09,-1.348297618e-08,7.019570315e-01,-2.237273196e-05,8.601358018e-01,7.019556328e-01,-2.227073502e-05,8.601430872e-01,7.027452966e-01,-1.185030293e-04,8.303258396e-01
+3,2.500000000e+00,DOWN_FORCE_DETACH,1792838139562288129,4.474067214e-05,-9.041257219e-06,-3.002114831e-05,4.437064450e-05,-9.190873893e-06,-2.974900805e-05,4.729063085e-05,-9.218666409e-06,-2.957393030e-05,7.020003735e-01,-3.131199224e-05,8.601130661e-01,7.020000035e-01,-3.146160892e-05,8.601133382e-01,7.027924326e-01,-1.277121510e-04,8.302962792e-01
+4,3.183333333e+00,DOWN_FORCE_DETACH,1792838140233635771,3.670272149e-05,-7.249280729e-06,-5.609989144e-05,3.679066495e-05,-7.205943287e-06,-5.170495793e-05,3.913263225e-05,-7.277248763e-06,-5.144941586e-05,7.019923355e-01,-2.952001575e-05,8.600869873e-01,7.019924235e-01,-2.947667831e-05,8.600913823e-01,7.027842746e-01,-1.257707333e-04,8.302744037e-01
+5,4.066666667e+00,DOWN_FORCE_DETACH,1792838141119874321,2.679149723e-05,-1.350141413e-05,-1.081302037e-04,2.755695145e-05,-1.200978732e-05,-9.402181709e-05,2.872867118e-05,-1.207897984e-05,-9.373533983e-05,7.019824243e-01,-3.577214915e-05,8.600349570e-01,7.019831898e-01,-3.428052234e-05,8.600490654e-01,7.027738706e-01,-1.305724644e-04,8.302321178e-01
+6,5.000000000e+00,DOWN_FORCE_DETACH,1792838142068844838,2.490837700e-05,-1.676087841e-05,-1.386262053e-04,2.499167401e-05,-1.708256726e-05,-1.348560909e-04,2.546864160e-05,-1.713209029e-05,-1.344781394e-04,7.019805412e-01,-3.903161343e-05,8.600044610e-01,7.019806245e-01,-3.935330229e-05,8.600082311e-01,7.027706106e-01,-1.356255749e-04,8.301913750e-01
+7,5.950000000e+00,DOWN_FORCE_DETACH,1792838143001923061,3.211351996e-05,-1.487535490e-05,-1.723360460e-04,2.800684695e-05,-1.852418899e-05,-1.546454537e-04,2.846325138e-05,-1.859094465e-05,-1.543607474e-04,7.019877463e-01,-3.714608992e-05,8.599707512e-01,7.019836397e-01,-4.079492401e-05,8.599884418e-01,7.027736052e-01,-1.370844292e-04,8.301714924e-01
+8,6.800000000e+00,DOWN_FORCE_DETACH,1792838143836982150,4.530724647e-05,-1.914286098e-05,-2.105025034e-04,3.960810638e-05,-2.178341428e-05,-1.975249841e-04,4.041212613e-05,-2.187434856e-05,-1.971607450e-04,7.020009401e-01,-4.141359601e-05,8.599325847e-01,7.019952409e-01,-4.405414930e-05,8.599455623e-01,7.027855541e-01,-1.403678331e-04,8.301286924e-01
+9,7.600000000e+00,DOWN_FORCE_DETACH,1792838144623591328,4.691953657e-05,-2.262566560e-05,-2.630971205e-04,4.488270532e-05,-2.566849038e-05,-2.603821619e-04,4.529682317e-05,-2.579037599e-05,-2.598363737e-04,7.020025524e-01,-4.489640062e-05,8.598799901e-01,7.020005155e-01,-4.793922540e-05,8.598827051e-01,7.027904387e-01,-1.442838606e-04,8.300660168e-01
+10,8.383333333e+00,DOWN_FORCE_DETACH,1792838145526296829,5.019428392e-05,-2.874343374e-05,-3.139403831e-04,5.115794314e-05,-3.054329536e-05,-3.014507839e-04,5.155226267e-05,-3.066749359e-05,-3.008810088e-04,7.020058271e-01,-5.101416876e-05,8.598291469e-01,7.020067908e-01,-5.281403038e-05,8.598416365e-01,7.027966942e-01,-1.491609782e-04,8.300249721e-01
+11,9.250000000e+00,DOWN_FORCE_DETACH,1792838146409260698,5.475918524e-05,-3.085135530e-05,-3.488675729e-04,5.360873926e-05,-2.742671648e-05,-3.424274708e-04,5.365859554e-05,-2.756047672e-05,-3.418505707e-04,7.020103920e-01,-5.312209032e-05,8.597942197e-01,7.020092416e-01,-4.969745150e-05,8.598006598e-01,7.027988005e-01,-1.460539613e-04,8.299840026e-01
+12,1.006666667e+01,DOWN_FORCE_DETACH,1792838147228208668,6.498201340e-05,-2.944683232e-05,-3.829500204e-04,6.020412786e-05,-3.340613716e-05,-3.816446028e-04,6.023828568e-05,-3.355593704e-05,-3.811491778e-04,7.020206148e-01,-5.171756735e-05,8.597601372e-01,7.020158369e-01,-5.567687219e-05,8.597614426e-01,7.028053802e-01,-1.520494216e-04,8.299447040e-01
+13,1.048333333e+01,DOWN_FORCE_DETACH,1792838147653833338,1.054537342e-04,-2.536520191e-05,-3.812224818e-04,9.867385592e-05,-2.024089383e-05,-3.691892201e-04,1.017381070e-04,-2.035141651e-05,-3.687519147e-04,7.020610866e-01,-4.763593693e-05,8.597618648e-01,7.020543067e-01,-4.251162885e-05,8.597738980e-01,7.028468800e-01,-1.388449011e-04,8.299571012e-01
+14,1.093333333e+01,DOWN_FORCE_DETACH,1792838148146136510,1.206620758e-04,-5.201416476e-06,-4.145348466e-04,1.158891077e-04,-1.183577701e-05,-4.020026653e-04,1.199121213e-04,-1.196498827e-05,-4.014793293e-04,7.020762949e-01,-2.747215150e-05,8.597285524e-01,7.020715219e-01,-3.410651203e-05,8.597410846e-01,7.028650540e-01,-1.304584729e-04,8.299243738e-01
+15,1.165000000e+01,DOWN_FORCE_DETACH,1792838148865831005,1.261608967e-04,-1.283520274e-05,-4.852160405e-04,1.238417183e-04,-7.076941654e-06,-4.767748477e-04,1.276222341e-04,-7.210029093e-06,-4.760541695e-04,7.020817937e-01,-3.510593776e-05,8.596578712e-01,7.020794745e-01,-2.934767668e-05,8.596663124e-01,7.028727642e-01,-1.257035137e-04,8.298497990e-01
+16,1.238333333e+01,DOWN_FORCE_DETACH,1792838149586635371,1.398004067e-04,-1.890763951e-05,-5.522914629e-04,1.329800922e-04,-1.602128727e-05,-5.432428607e-04,1.366818333e-04,-1.619375580e-05,-5.425684289e-04,7.020954332e-01,-4.117837453e-05,8.595907958e-01,7.020886129e-01,-3.829202230e-05,8.595998444e-01,7.028818238e-01,-1.346872404e-04,8.297832847e-01
+17,1.318333333e+01,DOWN_FORCE_DETACH,1792838150374121503,1.506793866e-04,-2.278463863e-05,-6.056830832e-04,1.509460897e-04,-1.768093044e-05,-6.025449490e-04,1.553034976e-04,-1.785241219e-05,-6.018215325e-04,7.021063122e-01,-4.505537365e-05,8.595374042e-01,7.021065789e-01,-3.995166546e-05,8.595405423e-01,7.029004454e-01,-1.363458968e-04,8.297240316e-01
+18,1.403333333e+01,DOWN_FORCE_DETACH,1792838151240971629,1.595533379e-04,-2.067344900e-05,-6.412132430e-04,1.584025159e-04,-1.764848984e-05,-6.415763084e-04,1.629375964e-04,-1.779910309e-05,-6.410080204e-04,7.021151862e-01,-4.294418402e-05,8.595018740e-01,7.021140353e-01,-3.991922486e-05,8.595015109e-01,7.029080795e-01,-1.362925877e-04,8.296848451e-01
+19,1.491666667e+01,DOWN_FORCE_DETACH,1792838152176213269,1.624525714e-04,-1.672648375e-05,-6.666313911e-04,1.595333365e-04,-1.689210076e-05,-6.632287276e-04,1.639956160e-04,-1.703481461e-05,-6.628187031e-04,7.021180854e-01,-3.899721877e-05,8.594764558e-01,7.021151662e-01,-3.916283578e-05,8.594798585e-01,7.029091375e-01,-1.355282992e-04,8.296630344e-01
+20,1.573333333e+01,DOWN_FORCE_DETACH,1792838153012202183,1.664652038e-04,-1.703593018e-05,-6.979070595e-04,1.630892949e-04,-1.656724795e-05,-6.843261558e-04,1.676337760e-04,-1.671023289e-05,-6.839770417e-04,7.021220980e-01,-3.930666520e-05,8.594451802e-01,7.021187221e-01,-3.883798297e-05,8.594587611e-01,7.029127757e-01,-1.352037175e-04,8.296418761e-01
+21,1.661666667e+01,DOWN_FORCE_DETACH,1792838153927813759,1.802083716e-04,-2.322232596e-05,-7.469279403e-04,1.801982992e-04,-2.151914342e-05,-7.454248054e-04,1.852943989e-04,-2.166139184e-05,-7.449211563e-04,7.021358412e-01,-4.549306099e-05,8.593961593e-01,7.021358311e-01,-4.378987845e-05,8.593976624e-01,7.029304363e-01,-1.401548764e-04,8.295809320e-01
+22,1.735000000e+01,DOWN_FORCE_DETACH,1792838154779054685,1.942064778e-04,-2.374764210e-05,-8.216631996e-04,1.916664648e-04,-2.786930510e-05,-8.062064699e-04,1.968582633e-04,-2.803478022e-05,-8.056559766e-04,7.021498393e-01,-4.601837712e-05,8.593214240e-01,7.021472993e-01,-5.014004013e-05,8.593368808e-01,7.029420002e-01,-1.465282648e-04,8.295201972e-01
+23,1.808333333e+01,DOWN_FORCE_DETACH,1792838155500542120,2.025050556e-04,-2.563150425e-05,-8.637659047e-04,2.015890424e-04,-2.396476702e-05,-8.472464023e-04,2.071484736e-04,-2.409737176e-05,-8.467006672e-04,7.021581379e-01,-4.790223927e-05,8.592793213e-01,7.021572219e-01,-4.623550204e-05,8.592958408e-01,7.029522904e-01,-1.425908563e-04,8.294791525e-01
+24,1.895000000e+01,DOWN_FORCE_DETACH,1792838156367807765,2.081367932e-04,-2.974863925e-05,-9.187645390e-04,2.077945266e-04,-2.778987830e-05,-9.109920886e-04,2.130399161e-04,-2.792031066e-05,-9.104580573e-04,7.021637696e-01,-5.201937427e-05,8.592243227e-01,7.021634273e-01,-5.006061333e-05,8.592320952e-01,7.029581818e-01,-1.464137952e-04,8.294153951e-01
+25,1.981666667e+01,DOWN_FORCE_DETACH,1792838157335381403,2.221985466e-04,-3.061262027e-05,-9.824190232e-04,2.197685051e-04,-3.249674539e-05,-9.724851127e-04,2.251588898e-04,-3.266239153e-05,-9.719048823e-04,7.021778314e-01,-5.288335529e-05,8.591606682e-01,7.021754013e-01,-5.476748042e-05,8.591706021e-01,7.029703008e-01,-1.511558761e-04,8.293539482e-01
+26,2.046666667e+01,DOWN_FORCE_DETACH,1792838158005920656,2.324845681e-04,-2.983803523e-05,-1.028547747e-03,2.286200403e-04,-2.856944433e-05,-1.012340829e-03,2.342466146e-04,-2.869771634e-05,-1.011803139e-03,7.021881174e-01,-5.210877025e-05,8.591145395e-01,7.021842529e-01,-5.084017935e-05,8.591307464e-01,7.029793885e-01,-1.471912009e-04,8.293140500e-01
+27,2.131666667e+01,DOWN_FORCE_DETACH,1792838158841707395,2.390965119e-04,-3.313438438e-05,-1.097072114e-03,2.367946641e-04,-3.043907217e-05,-1.079413253e-03,2.422451836e-04,-3.060499081e-05,-1.078753115e-03,7.021947293e-01,-5.540511940e-05,8.590460151e-01,7.021924275e-01,-5.270980720e-05,8.590636740e-01,7.029873871e-01,-1.490984754e-04,8.292471000e-01
+28,2.218333333e+01,DOWN_FORCE_DETACH,1792838159693015963,2.484872939e-04,-3.632561540e-05,-1.156773180e-03,2.448663773e-04,-3.368530132e-05,-1.143501811e-03,2.502409877e-04,-3.384534719e-05,-1.142831325e-03,7.022041201e-01,-5.859635042e-05,8.589863141e-01,7.022004992e-01,-5.595603634e-05,8.589995854e-01,7.029953829e-01,-1.523388318e-04,8.291830218e-01
+29,2.293333333e+01,DOWN_FORCE_DETACH,1792838160447088955,2.572697094e-04,-3.801770325e-05,-1.212512806e-03,2.564311703e-04,-3.559154073e-05,-1.204938237e-03,2.619177026e-04,-3.578320278e-05,-1.204189680e-03,7.022129025e-01,-6.028843827e-05,8.589305744e-01,7.022120640e-01,-5.786227575e-05,8.589381490e-01,7.030070596e-01,-1.542766874e-04,8.291216635e-01
+30,2.370000000e+01,DOWN_FORCE_DETACH,1792838161217087362,2.652120678e-04,-3.718748823e-05,-1.275362368e-03,2.608556932e-04,-3.666520540e-05,-1.270068985e-03,2.659884495e-04,-3.687747032e-05,-1.269322282e-03,7.022208449e-01,-5.945822326e-05,8.588677249e-01,7.022164885e-01,-5.893594042e-05,8.588730183e-01,7.030111304e-01,-1.553709549e-04,8.290565308e-01
+31,2.448333333e+01,DOWN_FORCE_DETACH,1792838162015368176,2.697073257e-04,-4.268323927e-05,-1.346801990e-03,2.690955779e-04,-4.026896785e-05,-1.330873191e-03,2.741480019e-04,-4.048985872e-05,-1.330207914e-03,7.022253401e-01,-6.495397429e-05,8.587962852e-01,7.022247284e-01,-6.253970288e-05,8.588122140e-01,7.030192899e-01,-1.589833433e-04,8.289956452e-01
+32,2.533333333e+01,DOWN_FORCE_DETACH,1792838162854868166,2.804803672e-04,-4.566114880e-05,-1.421050063e-03,2.805725741e-04,-4.458412295e-05,-1.415821539e-03,2.854937882e-04,-4.487124472e-05,-1.415026497e-03,7.022361132e-01,-6.793188382e-05,8.587220372e-01,7.022362054e-01,-6.685485797e-05,8.587272657e-01,7.030306357e-01,-1.633647293e-04,8.289108266e-01
+33,2.620000000e+01,DOWN_FORCE_DETACH,1792838163821739314,2.961033144e-04,-5.039608638e-05,-1.517097008e-03,2.925906594e-04,-4.884911546e-05,-1.500528170e-03,2.973586393e-04,-4.917746871e-05,-1.499763288e-03,7.022517361e-01,-7.266682141e-05,8.586259902e-01,7.022482235e-01,-7.111985048e-05,8.586425591e-01,7.030425006e-01,-1.676709533e-04,8.288260898e-01
+34,2.678333333e+01,DOWN_FORCE_DETACH,1792838164673331533,3.067575478e-04,-4.859197386e-05,-1.619856206e-03,3.021510091e-04,-4.914103544e-05,-1.606553776e-03,3.063951158e-04,-4.949689488e-05,-1.605571358e-03,7.022623904e-01,-7.086270888e-05,8.585232310e-01,7.022577838e-01,-7.141177046e-05,8.585365335e-01,7.030515370e-01,-1.679903795e-04,8.287202818e-01
+35,2.753333333e+01,DOWN_FORCE_DETACH,1792838165443173904,3.173342644e-04,-5.253635077e-05,-1.718754914e-03,3.163472735e-04,-5.722062576e-05,-1.707832735e-03,3.204562858e-04,-5.759359504e-05,-1.706812181e-03,7.022729671e-01,-7.480708580e-05,8.584243323e-01,7.022719801e-01,-7.949136079e-05,8.584352545e-01,7.030655982e-01,-1.760870796e-04,8.286190410e-01
+36,2.833333333e+01,DOWN_FORCE_DETACH,1792838166245311339,3.272794671e-04,-5.929224203e-05,-1.822546947e-03,3.245129589e-04,-6.341891859e-05,-1.816257266e-03,3.279136647e-04,-6.379332470e-05,-1.815223140e-03,7.022829123e-01,-8.156297705e-05,8.583205403e-01,7.022801458e-01,-8.568965362e-05,8.583268300e-01,7.030730556e-01,-1.822868093e-04,8.285106300e-01
+37,2.903333333e+01,DOWN_FORCE_DETACH,1792838166949904247,3.374284249e-04,-6.142991218e-05,-1.913772540e-03,3.340051689e-04,-6.644311279e-05,-1.901995228e-03,3.371302769e-04,-6.680667047e-05,-1.901076737e-03,7.022930612e-01,-8.370064720e-05,8.582293147e-01,7.022896380e-01,-8.871384781e-05,8.582410920e-01,7.030822722e-01,-1.853001551e-04,8.284247764e-01
+38,2.973333333e+01,DOWN_FORCE_DETACH,1792838167687176888,3.466517124e-04,-6.797197408e-05,-2.019997565e-03,3.453474659e-04,-6.939528598e-05,-2.006754884e-03,3.480977588e-04,-6.973570668e-05,-2.005683585e-03,7.023022845e-01,-9.024270911e-05,8.581230897e-01,7.023009803e-01,-9.166602100e-05,8.581363324e-01,7.030932397e-01,-1.882291913e-04,8.283201695e-01
+39,3.041666667e+01,DOWN_FORCE_DETACH,1792838168374715191,3.571497151e-04,-6.874584567e-05,-2.116423607e-03,3.583950568e-04,-6.865302942e-05,-2.112100204e-03,3.609627355e-04,-6.895689471e-05,-2.110916077e-03,7.023127825e-01,-9.101658069e-05,8.580266636e-01,7.023140279e-01,-9.092376445e-05,8.580309870e-01,7.031061047e-01,-1.874503793e-04,8.282149371e-01
+40,3.116666667e+01,DOWN_FORCE_DETACH,1792838169112419565,3.698016421e-04,-7.075074072e-05,-2.237649745e-03,3.663595025e-04,-7.037409863e-05,-2.220166096e-03,3.682105058e-04,-7.063474771e-05,-2.219122061e-03,7.023254345e-01,-9.302147574e-05,8.579054375e-01,7.023219923e-01,-9.264483365e-05,8.579229211e-01,7.031133524e-01,-1.891282323e-04,8.281067311e-01
+41,3.185000000e+01,DOWN_FORCE_DETACH,1792838169783252214,3.737254120e-04,-7.933825467e-05,-2.362679009e-03,3.742929496e-04,-7.490390842e-05,-2.349475617e-03,3.752264523e-04,-7.520541531e-05,-2.348277067e-03,7.023293582e-01,-1.016089897e-04,8.577804082e-01,7.023299258e-01,-9.717464344e-05,8.577936116e-01,7.031203684e-01,-1.936988999e-04,8.279775761e-01
+42,3.245000000e+01,DOWN_FORCE_DETACH,1792838170389856352,3.815653331e-04,-7.888467984e-05,-2.478464110e-03,3.755150415e-04,-7.693526491e-05,-2.464573655e-03,3.751306099e-04,-7.727808816e-05,-2.463348232e-03,7.023371982e-01,-1.011554149e-04,8.576646231e-01,7.023311479e-01,-9.920599993e-05,8.576785136e-01,7.031202725e-01,-1.957715727e-04,8.278625049e-01
+43,3.303333333e+01,DOWN_FORCE_DETACH,1792838171045006461,3.867663091e-04,-7.990022034e-05,-2.605239634e-03,3.862127730e-04,-8.120345066e-05,-2.592250982e-03,3.851504258e-04,-8.154994153e-05,-2.590985360e-03,7.023423991e-01,-1.021709554e-04,8.575378476e-01,7.023418456e-01,-1.034741857e-04,8.575508363e-01,7.031302924e-01,-2.000434261e-04,8.277348678e-01
+44,3.363333333e+01,DOWN_FORCE_DETACH,1792838171651063737,3.907888242e-04,-8.512957493e-05,-2.748827510e-03,3.871009971e-04,-8.345353670e-05,-2.741660044e-03,3.842767789e-04,-8.382712643e-05,-2.740336166e-03,7.023464216e-01,-1.074003100e-04,8.573942597e-01,7.023427338e-01,-1.057242717e-04,8.574014272e-01,7.031294187e-01,-2.023206110e-04,8.275855170e-01
+45,3.420000000e+01,DOWN_FORCE_DETACH,1792838172224438891,4.041261341e-04,-8.621185578e-05,-2.889582741e-03,4.035566751e-04,-8.260349879e-05,-2.872636512e-03,4.004389395e-04,-8.289528886e-05,-2.871282152e-03,7.023597590e-01,-1.084825908e-04,8.572535045e-01,7.023591895e-01,-1.048742338e-04,8.572704507e-01,7.031455809e-01,-2.013887734e-04,8.274545710e-01
+46,3.476666667e+01,DOWN_FORCE_DETACH,1792838172781394679,4.060416954e-04,-8.730284536e-05,-3.040584519e-03,4.073632069e-04,-8.386895480e-05,-3.025425486e-03,4.027264771e-04,-8.417697853e-05,-3.024041857e-03,7.023616745e-01,-1.095735804e-04,8.571025027e-01,7.023629960e-01,-1.061396898e-04,8.571176618e-01,7.031478684e-01,-2.026704631e-04,8.273018113e-01
+47,3.528333333e+01,DOWN_FORCE_DETACH,1792838173289134363,4.037677010e-04,-9.027442636e-05,-3.198752176e-03,4.021279936e-04,-8.937980196e-05,-3.191884790e-03,3.950486499e-04,-8.975413179e-05,-3.190304507e-03,7.023594005e-01,-1.125451614e-04,8.569443351e-01,7.023577608e-01,-1.116505370e-04,8.569512024e-01,7.031401906e-01,-2.082476164e-04,8.271355486e-01
+48,3.556666667e+01,DOWN_FORCE_DETACH,1792838173825105618,4.055237187e-04,-9.566997103e-05,-3.380404375e-03,4.054110834e-04,-9.575449361e-05,-3.380358287e-03,3.963480034e-04,-9.614876599e-05,-3.378254195e-03,7.023611565e-01,-1.179407060e-04,8.567626829e-01,7.023610439e-01,-1.180252286e-04,8.567627290e-01,7.031414899e-01,-2.146422506e-04,8.269475989e-01
+49,3.598333333e+01,DOWN_FORCE_DETACH,1792838174239239529,4.066137387e-04,-9.295293853e-05,-3.529217616e-03,4.052525892e-04,-9.482041981e-05,-3.513541784e-03,3.946095077e-04,-9.522478858e-05,-3.511680182e-03,7.023622466e-01,-1.152236735e-04,8.566138696e-01,7.023608854e-01,-1.170911548e-04,8.566295455e-01,7.031397514e-01,-2.137182732e-04,8.268141730e-01
+50,3.641666667e+01,DOWN_FORCE_DETACH,1792838174666283949,3.994860970e-04,-1.002373072e-04,-3.701544906e-03,4.004060997e-04,-9.944700368e-05,-3.682740390e-03,3.873916903e-04,-9.984694249e-05,-3.680945336e-03,7.023551189e-01,-1.225080422e-04,8.564415423e-01,7.023560389e-01,-1.217177387e-04,8.564603468e-01,7.031325336e-01,-2.183404271e-04,8.266449078e-01
+51,3.681666667e+01,DOWN_FORCE_DETACH,1792838175074523391,3.987678461e-04,-1.000516222e-04,-3.873377265e-03,3.984596388e-04,-1.002954481e-04,-3.873636572e-03,3.830191738e-04,-1.006816291e-04,-3.871691848e-03,7.023544007e-01,-1.223223572e-04,8.562697100e-01,7.023540925e-01,-1.225661831e-04,8.562694507e-01,7.031281611e-01,-2.191751136e-04,8.264541613e-01
+52,3.720000000e+01,DOWN_FORCE_DETACH,1792838175451138748,3.965481449e-04,-1.041036534e-04,-4.044417422e-03,3.962351061e-04,-1.039865264e-04,-4.044365063e-03,3.786482537e-04,-1.043716057e-04,-4.042344173e-03,7.023521810e-01,-1.263743884e-04,8.560986698e-01,7.023518679e-01,-1.262572614e-04,8.560987222e-01,7.031237902e-01,-2.228650903e-04,8.262835090e-01
+53,3.758333333e+01,DOWN_FORCE_DETACH,1792838175828083900,3.889774698e-04,-1.076369529e-04,-4.227155370e-03,3.888899639e-04,-1.075408116e-04,-4.226763394e-03,3.684977146e-04,-1.078931587e-04,-4.224700749e-03,7.023446103e-01,-1.299076879e-04,8.559159319e-01,7.023445228e-01,-1.298115466e-04,8.559163238e-01,7.031136396e-01,-2.263866432e-04,8.261011524e-01
+54,3.793333333e+01,DOWN_FORCE_DETACH,1792838176173137891,3.753903353e-04,-1.182513742e-04,-4.409245667e-03,3.754044256e-04,-1.134048338e-04,-4.392917830e-03,3.519796791e-04,-1.137892930e-04,-4.390946694e-03,7.023310232e-01,-1.405221092e-04,8.557338416e-01,7.023310372e-01,-1.356755688e-04,8.557501694e-01,7.030971216e-01,-2.322827775e-04,8.259349064e-01
+55,3.826666667e+01,DOWN_FORCE_DETACH,1792838176515576692,3.673059325e-04,-1.103702752e-04,-4.582595170e-03,3.671777529e-04,-1.102535231e-04,-4.582242007e-03,3.408011505e-04,-1.105677911e-04,-4.580296380e-03,7.023229387e-01,-1.326410102e-04,8.555604921e-01,7.023228106e-01,-1.325242582e-04,8.555608452e-01,7.030859431e-01,-2.290612757e-04,8.257455568e-01
+56,3.858333333e+01,DOWN_FORCE_DETACH,1792838176843572176,3.954235641e-04,-1.213845345e-04,-4.734835516e-03,3.950595739e-04,-1.215753031e-04,-4.734376131e-03,3.688368306e-04,-1.219233613e-04,-4.732447766e-03,7.023510564e-01,-1.436552695e-04,8.554082517e-01,7.023506924e-01,-1.438460381e-04,8.554087111e-01,7.031139788e-01,-2.404168459e-04,8.255934054e-01
+57,3.888333333e+01,DOWN_FORCE_DETACH,1792838177138049314,3.764666286e-04,-1.260774977e-04,-4.902548189e-03,3.762944456e-04,-1.261553536e-04,-4.902173716e-03,3.468085818e-04,-1.265789654e-04,-4.900275742e-03,7.023320994e-01,-1.483482328e-04,8.552405391e-01,7.023319273e-01,-1.484260886e-04,8.552409135e-01,7.030919505e-01,-2.450724499e-04,8.254255774e-01
+58,3.921666667e+01,DOWN_SETTLE,1792838177466007847,3.629949623e-04,-1.135405531e-04,-5.074115571e-03,3.639883050e-04,-1.137387161e-04,-5.065570252e-03,3.315926116e-04,-1.140822604e-04,-5.063796542e-03,7.023186278e-01,-1.358112881e-04,8.550689717e-01,7.023196211e-01,-1.360094511e-04,8.550775170e-01,7.030767345e-01,-2.325757450e-04,8.252620566e-01
+59,4.000000000e+01,DOWN_PEAK_HOLD,1792838178235550920,3.327751670e-04,-1.134353827e-04,-5.167777217e-03,3.339504116e-04,-1.116494388e-04,-5.167214986e-03,2.980473056e-04,-1.120005713e-04,-5.166584036e-03,7.022884080e-01,-1.357061177e-04,8.549753100e-01,7.022895832e-01,-1.339201738e-04,8.549758723e-01,7.030431892e-01,-2.304940559e-04,8.251592691e-01

Fixed/digit/ball_15A_12.5/press_depth_05/down/simulation_data.csv

@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,5.0611e-02,8.7653e-02,2.4563e+00,-4.2819e-02,4.0344e-02,1.4814e-04,4.7158e-04,-6.9141e-06,-3.7670e-05,1.3486e-06,3.3278e-05,-5.9954e-07,4.7313e-04,3.3311e-05
+1,8.5000e-01,DOWN_FORCE_DETACH,1.9395e-04,6.7983e-02,8.7209e-02,2.4548e+00,-4.2761e-02,4.1571e-02,1.1869e-04,1.7844e-02,-4.5150e-04,-1.5044e-03,5.9269e-05,1.2603e-03,-3.0048e-05,1.7913e-02,1.2620e-03
+2,1.6667e+00,DOWN_FORCE_DETACH,3.8543e-04,7.6966e-02,8.6783e-02,2.4539e+00,-4.2724e-02,4.2206e-02,9.3464e-05,2.6827e-02,-8.7693e-04,-2.4366e-03,9.6377e-05,1.8950e-03,-5.5272e-05,2.6951e-02,1.8983e-03
+3,2.5000e+00,DOWN_FORCE_DETACH,6.0054e-04,7.3209e-02,9.3583e-02,2.4957e+00,-4.3186e-02,4.1899e-02,7.3215e-05,2.3070e-02,5.9224e-03,3.9373e-02,-3.6589e-04,1.5881e-03,-7.5522e-05,4.6017e-02,1.6315e-03
+4,3.1833e+00,DOWN_FORCE_DETACH,7.7254e-04,6.2059e-02,1.0189e-01,2.4912e+00,-4.3774e-02,4.1114e-02,6.5693e-05,1.1920e-02,1.4232e-02,3.4868e-02,-9.5415e-04,8.0341e-04,-8.3043e-05,3.9502e-02,1.2501e-03
+5,4.0667e+00,DOWN_FORCE_DETACH,9.6777e-04,8.3195e-02,1.1406e-01,2.5071e+00,-4.4628e-02,4.2586e-02,1.9104e-05,3.3055e-02,2.6397e-02,5.0725e-02,-1.8080e-03,2.2750e-03,-1.2963e-04,6.6049e-02,2.9088e-03
+6,5.0000e+00,DOWN_FORCE_DETACH,1.1635e-03,8.7724e-02,1.2671e-01,2.5204e+00,-4.5512e-02,4.2888e-02,-4.1730e-05,3.7585e-02,3.9050e-02,6.4027e-02,-2.6919e-03,2.5773e-03,-1.9047e-04,8.3887e-02,3.7316e-03
+7,5.9500e+00,DOWN_FORCE_DETACH,1.3553e-03,8.3912e-02,1.2951e-01,2.5087e+00,-4.5720e-02,4.2629e-02,-1.0339e-04,3.3773e-02,4.1851e-02,5.2331e-02,-2.8995e-03,2.3177e-03,-2.5212e-04,7.5038e-02,3.7205e-03
+8,6.8000e+00,DOWN_FORCE_DETACH,1.5480e-03,7.4099e-02,1.3631e-01,2.5248e+00,-4.6200e-02,4.1918e-02,-1.4200e-04,2.3960e-02,4.8651e-02,6.8421e-02,-3.3796e-03,1.6069e-03,-2.9074e-04,8.7306e-02,3.7535e-03
+9,7.6000e+00,DOWN_FORCE_DETACH,1.7410e-03,7.3844e-02,1.4537e-01,2.5612e+00,-4.6837e-02,4.1862e-02,-1.7358e-04,2.3704e-02,5.7713e-02,1.0489e-01,-4.0173e-03,1.5509e-03,-3.2232e-04,1.2204e-01,4.3183e-03
+10,8.3833e+00,DOWN_FORCE_DETACH,1.9353e-03,6.9151e-02,1.5583e-01,2.5600e+00,-4.7589e-02,4.1534e-02,-1.9723e-04,1.9012e-02,6.8170e-02,1.0368e-01,-4.7690e-03,1.2230e-03,-3.4597e-04,1.2553e-01,4.9354e-03
+11,9.2500e+00,DOWN_FORCE_DETACH,2.1298e-03,6.6940e-02,1.4710e-01,2.5546e+00,-4.7026e-02,4.1389e-02,-2.1980e-04,1.6801e-02,5.9444e-02,9.8214e-02,-4.2061e-03,1.0783e-03,-3.6854e-04,1.1603e-01,4.3577e-03
+12,1.0067e+01,DOWN_FORCE_DETACH,2.3215e-03,5.8356e-02,1.5994e-01,2.5508e+00,-4.7965e-02,4.0793e-02,-2.1740e-04,8.2166e-03,7.2281e-02,9.4427e-02,-5.1453e-03,4.8200e-04,-3.6613e-04,1.1920e-01,5.1808e-03
+13,1.0483e+01,DOWN_FORCE_DETACH,2.5171e-03,2.3240e-02,1.2479e-01,2.5173e+00,-4.5543e-02,3.8354e-02,-2.0885e-04,-2.6899e-02,3.7128e-02,6.0959e-02,-2.7233e-03,-1.9570e-03,-3.5758e-04,7.6276e-02,3.3726e-03
+14,1.0933e+01,DOWN_FORCE_DETACH,2.7083e-03,1.8437e-02,1.0241e-01,2.5318e+00,-4.3993e-02,3.8003e-02,-2.0013e-04,-3.1702e-02,1.4755e-02,7.5512e-02,-1.1733e-03,-2.3077e-03,-3.4887e-04,8.3215e-02,2.6122e-03
+15,1.1650e+01,DOWN_FORCE_DETACH,2.9011e-03,2.9514e-02,8.8534e-02,2.5662e+00,-4.3017e-02,3.8749e-02,-1.6923e-04,-2.0626e-02,8.7396e-04,1.0990e-01,-1.9674e-04,-1.5619e-03,-3.1797e-04,1.1182e-01,1.6060e-03
+16,1.2383e+01,DOWN_FORCE_DETACH,3.0951e-03,3.6656e-02,1.0797e-01,2.5683e+00,-4.4313e-02,3.9246e-02,-9.9006e-05,-1.3484e-02,2.0306e-02,1.1197e-01,-1.4924e-03,-1.0646e-03,-2.4774e-04,1.1460e-01,1.8499e-03
+17,1.3183e+01,DOWN_FORCE_DETACH,3.2893e-03,3.3916e-02,1.1145e-01,2.5650e+00,-4.4490e-02,3.9050e-02,5.2105e-06,-1.6224e-02,2.3788e-02,1.0864e-01,-1.6703e-03,-1.2610e-03,-1.4353e-04,1.1239e-01,2.0978e-03
+18,1.4033e+01,DOWN_FORCE_DETACH,3.4836e-03,4.5325e-02,1.1350e-01,2.5429e+00,-4.4616e-02,3.9874e-02,1.2060e-04,-4.8148e-03,2.5840e-02,8.6596e-02,-1.7954e-03,-4.3718e-04,-2.8138e-05,9.0498e-02,1.8481e-03
+19,1.4917e+01,DOWN_FORCE_DETACH,3.6773e-03,6.0838e-02,1.1292e-01,2.5132e+00,-4.4612e-02,4.0999e-02,2.0128e-04,1.0699e-02,2.5259e-02,5.6844e-02,-1.7922e-03,6.8782e-04,5.2543e-05,6.3117e-02,1.9204e-03
+20,1.5733e+01,DOWN_FORCE_DETACH,3.8711e-03,6.4321e-02,1.1269e-01,2.4969e+00,-4.4644e-02,4.1267e-02,2.3452e-04,1.4181e-02,2.5032e-02,4.0575e-02,-1.8239e-03,9.5574e-04,8.5788e-05,4.9740e-02,2.0609e-03
+21,1.6617e+01,DOWN_FORCE_DETACH,4.0628e-03,5.3180e-02,1.2468e-01,2.5295e+00,-4.5517e-02,4.0455e-02,2.4214e-04,3.0409e-03,3.7024e-02,7.3126e-02,-2.6968e-03,1.4406e-04,9.3403e-05,8.2021e-02,2.7023e-03
+22,1.7350e+01,DOWN_FORCE_DETACH,4.2546e-03,5.4838e-02,1.3963e-01,2.5366e+00,-4.6562e-02,4.0568e-02,2.1962e-04,4.6982e-03,5.1969e-02,8.0259e-02,-3.7417e-03,2.5718e-04,7.0888e-05,9.5731e-02,3.7512e-03
+23,1.8083e+01,DOWN_FORCE_DETACH,4.4514e-03,5.5214e-02,1.3150e-01,2.5206e+00,-4.5964e-02,4.0621e-02,1.7165e-04,5.0747e-03,4.3838e-02,6.4306e-02,-3.1443e-03,3.1014e-04,2.2910e-05,7.7992e-02,3.1596e-03
+24,1.8950e+01,DOWN_FORCE_DETACH,4.6441e-03,5.8151e-02,1.4401e-01,2.5279e+00,-4.6783e-02,4.0830e-02,1.1759e-04,8.0113e-03,5.6350e-02,7.1605e-02,-3.9632e-03,5.1888e-04,-3.1149e-05,9.1470e-02,3.9972e-03
+25,1.9817e+01,DOWN_FORCE_DETACH,4.8360e-03,5.5771e-02,1.5724e-01,2.5372e+00,-4.7664e-02,4.0653e-02,7.7251e-05,5.6314e-03,6.9576e-02,8.0847e-02,-4.8438e-03,3.4242e-04,-7.1485e-05,1.0681e-01,4.8564e-03
+26,2.0467e+01,DOWN_FORCE_DETACH,5.0267e-03,5.5752e-02,1.4728e-01,2.5356e+00,-4.6966e-02,4.0649e-02,5.1153e-05,5.6129e-03,5.9619e-02,7.9294e-02,-4.1464e-03,3.3777e-04,-9.7584e-05,9.9365e-02,4.1612e-03
+27,2.1317e+01,DOWN_FORCE_DETACH,5.2234e-03,5.9969e-02,1.5065e-01,2.5512e+00,-4.7201e-02,4.0921e-02,3.7057e-05,9.8300e-03,6.2989e-02,9.4863e-02,-4.3808e-03,6.1013e-04,-1.1168e-04,1.1429e-01,4.4245e-03
+28,2.2183e+01,DOWN_FORCE_DETACH,5.4178e-03,6.4881e-02,1.5667e-01,2.5579e+00,-4.7617e-02,4.1258e-02,3.9773e-05,1.4741e-02,6.9006e-02,1.0154e-01,-4.7971e-03,9.4710e-04,-1.0896e-04,1.2365e-01,4.8909e-03
+29,2.2933e+01,DOWN_FORCE_DETACH,5.6110e-03,6.4888e-02,1.5959e-01,2.5674e+00,-4.7818e-02,4.1249e-02,4.5691e-05,1.4749e-02,7.1926e-02,1.1103e-01,-4.9978e-03,9.3815e-04,-1.0305e-04,1.3311e-01,5.0862e-03
+30,2.3700e+01,DOWN_FORCE_DETACH,5.8037e-03,7.2797e-02,1.6115e-01,2.5704e+00,-4.7910e-02,4.1803e-02,3.6080e-05,2.2658e-02,7.3491e-02,1.1404e-01,-5.0901e-03,1.4921e-03,-1.1266e-04,1.3755e-01,5.3055e-03
+31,2.4483e+01,DOWN_FORCE_DETACH,5.9987e-03,7.5621e-02,1.6829e-01,2.5604e+00,-4.8383e-02,4.2010e-02,1.0643e-06,2.5482e-02,8.0633e-02,1.0402e-01,-5.5632e-03,1.6995e-03,-1.4767e-04,1.3406e-01,5.8189e-03
+32,2.5333e+01,DOWN_FORCE_DETACH,6.1904e-03,7.3996e-02,1.7536e-01,2.5786e+00,-4.8844e-02,4.1870e-02,-6.6245e-05,2.3857e-02,8.7703e-02,1.2224e-01,-6.0242e-03,1.5589e-03,-2.1498e-04,1.5233e-01,6.2264e-03
+33,2.6200e+01,DOWN_FORCE_DETACH,6.3832e-03,7.2690e-02,1.8057e-01,2.5824e+00,-4.9200e-02,4.1757e-02,-1.5456e-04,2.2551e-02,9.2906e-02,1.2609e-01,-6.3803e-03,1.4466e-03,-3.0330e-04,1.5823e-01,6.5493e-03
+34,2.6783e+01,DOWN_FORCE_DETACH,6.5755e-03,7.0673e-02,1.7846e-01,2.6197e+00,-4.9025e-02,4.1567e-02,-2.2156e-04,2.0533e-02,9.0797e-02,1.6335e-01,-6.2046e-03,1.2562e-03,-3.7030e-04,1.8801e-01,6.3414e-03
+35,2.7533e+01,DOWN_FORCE_DETACH,6.7735e-03,6.3591e-02,1.9497e-01,2.6260e+00,-5.0155e-02,4.1062e-02,-2.7420e-04,1.3452e-02,1.0731e-01,1.6970e-01,-7.3351e-03,7.5106e-04,-4.2294e-04,2.0123e-01,7.3856e-03
+36,2.8333e+01,DOWN_FORCE_DETACH,6.9653e-03,6.4953e-02,2.1101e-01,2.6313e+00,-5.1203e-02,4.1152e-02,-2.5811e-04,1.4813e-02,1.2335e-01,1.7495e-01,-8.3834e-03,8.4158e-04,-4.0684e-04,2.1457e-01,8.4353e-03
+37,2.9033e+01,DOWN_FORCE_DETACH,7.1574e-03,6.6878e-02,2.2237e-01,2.6246e+00,-5.1898e-02,4.1285e-02,-1.4966e-04,1.6739e-02,1.3471e-01,1.6828e-01,-9.0782e-03,9.7441e-04,-2.9839e-04,2.1621e-01,9.1352e-03
+38,2.9733e+01,DOWN_FORCE_DETACH,7.3532e-03,6.8682e-02,2.3589e-01,2.6397e+00,-5.2758e-02,4.1393e-02,3.4952e-05,1.8543e-02,1.4823e-01,1.8337e-01,-9.9377e-03,1.0820e-03,-1.1378e-04,2.3652e-01,9.9971e-03
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+40,3.1167e+01,DOWN_FORCE_DETACH,7.7374e-03,7.3417e-02,2.4692e-01,2.6524e+00,-5.3520e-02,4.1730e-02,3.0028e-04,2.3277e-02,1.5926e-01,1.9602e-01,-1.0700e-02,1.4189e-03,1.5154e-04,2.5363e-01,1.0794e-02
+41,3.1850e+01,DOWN_FORCE_DETACH,7.9341e-03,7.4164e-02,2.5481e-01,2.6709e+00,-5.4062e-02,4.1746e-02,3.1626e-04,2.4024e-02,1.6715e-01,2.1457e-01,-1.1241e-02,1.4350e-03,1.6752e-04,2.7305e-01,1.1334e-02
+42,3.2450e+01,DOWN_FORCE_DETACH,8.1230e-03,8.0587e-02,2.5612e-01,2.6808e+00,-5.4146e-02,4.2169e-02,2.6275e-04,3.0447e-02,1.6846e-01,2.2448e-01,-1.1326e-02,1.8582e-03,1.1401e-04,2.8231e-01,1.1478e-02
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+51,3.6817e+01,DOWN_FORCE_DETACH,9.8664e-03,9.8783e-02,3.2036e-01,2.8643e+00,-5.7481e-02,4.3210e-02,-9.5579e-05,4.8644e-02,2.3270e-01,4.0799e-01,-1.4660e-02,2.8992e-03,-2.4432e-04,4.7220e-01,1.4946e-02
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Fixed/digit/ball_15A_12.5/press_depth_05/up/camera_frames_60hz.tar

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+size 593920

Fixed/digit/ball_15A_12.5/press_depth_05/up/franka_data.csv

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