# フィジカルAI研究室を作る Log#23 | 手応えを学習に足すため、mechArm 270 の電流を読んだ - 記録: LOG461（フィジカルAI研究室） - 公開: 2026/11/7 - 記事のページ: https://pixelstomotors.com/record/reading-mecharm-270-servo-current-for-learning - サイト: Pixels to Motors（ADAPT DESIGN / 島津 栄一） https://pixelstomotors.com/ - 要約: mechArm 270 のサーボの電流は、用意された関数では答えず、サーボの中の番地を直接読むと1秒に約10回取れた。爪の値は空で閉じると15前後、ブロックをつかむと870前後。力センサーなしで手応えを π0.5 のお手本に足す準備。 > AI が読むための記事の全文です（コード・実行ログを含む）。引用するときは上の「記事のページ」の住所を使ってください。 --- 小型ロボットアーム mechArm 270 のサーボの電流は、用意された関数（get_servo_currents）では答えず、サーボの中の電流の番地を直接読むと1秒に約10回取れました。**爪の値は、空のまま閉じると15前後、ブロックをつかむと870前後（つかんだ直後は993）で、つかめたか空振りかは、カメラを見なくても値だけで分かりました。** 力センサーは付けていません。 この回でやったことで、次の3つが変わりました。 - 良くなること：つかめたかどうかを、爪の値だけで見分けられる（空で閉じた15前後に対し、つかむと870前後で、50倍以上の差）。肩の値も、つかんだブロックを手で引いた間は11から9へ、アームを手で押すと0〜3へ動いた - もたらされること：Physical Intelligence の π0.5（ロボット用の AI のモデル）に学ばせるお手本と、実機で動かしたときの記録に、爪と肩の値の列を足す依頼（依頼116）を出した。人の力加減を学習に入れるための入口ができた - 時間・費用：読む道具づくりは依頼箱の Claude Code が46分（コード・テスト・外部のレビュー3回を含む）。実機での測定は、アームの中のプログラムの入れ替えから3回の計測まで約7分（17:56〜18:03）。力センサーは買っていないので、機材の費用は0円。クラウドの GPU は使っていない きっかけは、筑波大学の境野翔さんの X の投稿です（[投稿](https://x.com/shosakaino/status/2118312642431570242)）。力制御を使った模倣学習なら、3D プリンタで作った1自由度の手でも豆腐をつかめること、手応え（物から返ってくる力）は力センサーや触覚センサーを使わず、関節の角度とモーターの電流から見積もっていることが紹介されていました。もとの研究は、論文 [Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning](https://arxiv.org/abs/2311.09555)（Yamane・Saigusa・Sakaino・Tsuji、2023）にまとまっています。 実は mechArm 270 の電流は、5月（LOG203〜209 のころ）に一度、読む関数があることを資料で確かめていました。そのときは「つかんで置く動き（PICK＆PLACE）を終えてから」として保留し、そのまま忘れていました。境野さんの投稿を調べているうちにそれを思い出し、この回で実機で読むところまで進めました。 やったことの全体は次のとおりです。 | 段階 | やったこと | 結果 | |---|---|---| | 境野さんの投稿と論文を調べる（12:46〜） | 力センサーなしで手応えを見積もる仕組みと、論文の数字を読んだ | 20種類の物をつかむ試験で、力制御ありの成功率は95%、位置だけだと49%。卵とクラッカーは0%から100%に | | 5月の記録を探す | 過去のチャットから、電流を保留した経緯を探した | 読む関数の存在は確かめたが、実機では一度も読んでいなかった | | 読む道具を作る（依頼109・13:36〜14:22） | アームの中のプログラム（daemon）に読むだけの命令を足し、読み続けて記録する道具を作った | テスト23件、外部のレビュー（codex）3回。Pi に届かず実機では未確認 | | 実機1回目（17:56） | daemon を入れ替え、触らずに10秒、電流の関数で読んだ | 81回とも返事なし。毎回0.1秒待たされ、1秒に約7.9回 | | 実機2回目（17:57） | ゲームパッドをつないで同じ読み方 | 731回中730回返事なし。この回は HOME に戻しただけで、操作の印は入れていない | | 実機3回目（18:00〜18:03） | 関数をやめ、肩と爪の電流の番地を直接読み、つかむ・引く・押すを試した | 1,492回読んで読めなかった回0。爪と肩の値が操作に合わせて動いた | | お手本の記録に足す（依頼116） | 爪と肩の値を、お手本と実機推論の記録に足す依頼を出した | 依頼箱で順番待ち | [図解: LOG461_current_phases.html](https://pixelstomotors.com/embeds/LOG461_current_phases.html) 次は、依頼116 で記録に足した爪と肩の値が、π0.5 で動かしたときにも同じように読めるかを確かめます。値がたまったら、学習に入れるかを決めます。 GPU を買うか借りるかの判断は、Runpod で実際に借りて学習させた費用をもとに、別のページにまとめています。 [ロボットAIの学習用GPU、買うか借りるか](https://pixelstomotors.com/gpu-buy-or-rent) この回の作業は、Claude（調べものと分析と依頼文を一緒に組み立てた AI）と進めました。アームとゲームパッドの操作と、目で見た判断はこちらで行い、読む道具づくりは [Claude Code](https://claude.com/claude-code)（プログラムを書く AI）に依頼箱を通して頼んでいます。ここから下は、調べた内容・依頼文と報告・コードの差分・端末の出力・測定データを全量で載せた作業ログです。値の数字は記録から数えたもので、見込みのものは見込みと書いています。鍵（アクセストークンなど）は、どこにも載せていません。 ## 作業ログ ― 境野翔さんの研究を調べ、mechArm 270 の爪と肩の電流を読んで、お手本の記録に足すまで ### この回で使う言葉 | 言葉 | 意味 | |---|---| | 手応え（反力） | ロボットが物に触れたときに、物から押し返される力。豆腐をつぶさずにつかむには、これを感じて力を加減する必要がある | | バイラテラル制御 | 人が動かす側（リーダー）と、作業する側（フォロワー）の2台のロボットを、位置と力の両方でつなぐ遠隔操作。フォロワーが受けた手応えがリーダーに返るので、人は物の硬さを感じながら操作できる。境野さんの研究室は、これで集めたお手本で模倣学習をしている | | 模倣学習 | 人のお手本の動きを AI に学ばせる方法。このシリーズで π0.5 に使っているのもこれ | | 外乱オブザーバ・反力推定オブザーバ | モーターに流した電流から出るはずの力と、角度から計算した動きとの差を、外から受けた力とみなして見積もる計算の仕組み。力センサーの代わりになる | | サーボ | 角度を指令すると、その角度まで自分で回って止まるモーター。mechArm 270 の6つの関節と爪は、それぞれサーボで動く | | サーボの番地 | サーボの中の小さな記憶の場所。角度・電圧・温度・電流などが番号の付いた場所に入っていて、番号を指定して読める。この回で読んだのは番地69（電流の下位）と番地70（電流の上位） | | 爪の値・肩の値 | 番地69と70から組み立てた数。値 ＝ （番地70 の最上位ビットが立っていればマイナス）×（番地69 ＋ 256 ×（番地70 の残り））。単位は確かめていないので、この記事では値のまま書く | | daemon（デーモン） | アームの中の小さな計算機（Raspberry Pi）で動き続け、Mac からの指令を受けて関節を動かしたり値を読んだりするプログラム | | read_servo | この回で daemon に足した、読むだけの命令。角度・電流・異常の印・爪の開き・指定した番地を、1回の問い合わせでまとめて読む | | 印のキー | 測る道具の上で押すキー。1 静止・2 空で閉じた・3 つかんだ・4 引っ張った・5 離した・6 押した。押した時刻が記録に残る | ## 境野翔さんの投稿：3D プリンタの1自由度の手で豆腐をつかみ、手応えはセンサーなしで見積もる 境野さんの投稿の要点は3つでした。力制御を使って模倣学習をすると、3D プリンタで作った硬い手でも豆腐ぐらいは扱えること。お手本（教師データ）はじゃがいもだけだったはず、という記憶。そして、手応えは関節の角度と電流の値から見積もっていて、力センサーも触覚センサーも使わず、サーボモーターが1つあるだけ、ということ。引用されていたのは、2022年の国際ロボット展で、3D プリンタの硬い1自由度の手がいろいろな物をつかむ様子を紹介した投稿です。 返信の欄では、海外の研究者から「論文では位置の情報と電流の指令だけを使い、外からの力は加速度の変化から見積もっているのでは」という問いがありました。境野さんの答えは、制御器が使うのは電流の指令と関節の角度だけ、ただしモーターのドライバが電流を見ながら制御しているので、指令どおりの電流が流れていると信じてよい、つまり全体としては角度のセンサーと電流のセンサーの両方が要る、というものでした。 この2人の話は食い違っていません。見積もりの式には、角度から計算した加速度が入っています。そして、その式が成り立つのは、ドライバの中の電流のセンサーが、指令どおりの電流を流してくれているからです。**電流を読めるだけでは足りず、狙った電流を確実に流せることが前提**になっている、というのがこのやり取りの要点でした。 別の返信では、消耗品だからこそ手は簡単にしないとコストが合わない、センサーは指先ではなく関節に付けるべき、という意見もありました。 ### 論文で確かめた数字（交差構造の手と、20種類の物をつかむ試験） もとの論文（[arXiv:2311.09555](https://arxiv.org/abs/2311.09555)、IEEE Robotics and Automation Letters 2023）で確かめたことを並べます。 | 項目 | 論文の内容 | |---|---| | アーム | RT 社の CRANE-X7（7自由度）。手を自作の1自由度の手に替えた | | 手 | 指の先が交互に入れ違う交差構造。FDM 方式の3D プリンタでポリカーボネートを出力。指の幅 9.4mm・すき間 10.4mm。指先は爪の形 | | 手応えの見積もり | トルクのセンサーはなく、外乱オブザーバと反力推定オブザーバで見積もる。制御は1秒に500回 | | お手本の集め方 | 4チャンネルのバイラテラル制御。フォロワーの手の力を、リーダーの10分の1に縮めて集めた | | お手本に使った物 | スポンジ9種類（幅 10・20・30mm、材料3種類）とアルミのパイプ3本（直径 8・10・12mm）。1つにつき2回 | | 学習のモデル | LSTM（時系列を覚えるニューラルネットワーク）。1秒25回に間引いたデータで学習 | | 試験 | 学習に使っていない20種類の物を、各5回つかんで別の皿へ移す | | 成功率 | 力制御あり 95%、位置だけ（力の制御を切った同じモデル）49% | 20種類のうち、差がはっきり出た物と出なかった物です（成功率、力制御あり／位置だけ）。 | 物 | 重さ | 力制御あり | 位置だけ | |---|---|---|---| | 卵 | 49.1〜54.4g | 100% | 0% | | クラッカー | 3.4〜3.5g | 100% | 0% | | ペン | 7.8g | 60% | 0% | | ポテトチップス | 0.8〜1.8g | 100% | 20% | | じゃがいも | 93.7〜131.1g | 100% | 40% | | 豆腐 | 60.0〜70.0g | 100% | 100% | | ブルーベリー | 1.1〜2.4g | 60% | 100% | 豆腐は、位置だけでも100%でした。論文によると、学習に使った物と幅が近い物は位置だけでも成功し、幅が違う物は失敗しました。力制御があると、位置の指令と物の幅の差を力で埋めるので、多くの物で成功しています。**力が効いた証拠は、豆腐よりも、卵とクラッカーが0%から100%になったこと**のほうでした。ブルーベリーは指のすき間（10.4mm）より小さく、手の形の限界として書かれています。投稿の「じゃがいもだけ」は、論文とは別の、2022年の展示のデモの記憶だと思われます。 ### その後の流れ：Transformer への置き換え、VLA との組み合わせ、安いアームでの試み - 大阪大学のグループは、バイラテラル制御のお手本で ACT（動きを一続きのまとまりで出す Transformer の模倣学習）を学ばせる Bi-ACT を出し、安い材料で作った2本腕の ALPHA-α で、卵を扱うなどの作業を試しています（[arXiv:2411.09942](https://arxiv.org/abs/2411.09942)） - 境野さんの研究室は、力センサーのない安い腕でも、動きの模型を正確に作れば4チャンネルのバイラテラル制御ができ、力の情報を学習の入出力に入れると模倣学習の成績が上がることを示しています（[arXiv:2507.06174](https://arxiv.org/abs/2507.06174)） - 2026年度のムーンショット型研究開発（目標3）では、境野さんが PM となり、VLA（画像と言葉から動きを出す AI のモデル）による認識・判断と、バイラテラル制御の力制御を組み合わせる計画が始まっています（[JST の概要](https://www.jst.go.jp/moonshot/program/goal3/files/3F_sakaino.pdf)） - SO-101（安く作れるオープンなアーム）で、爪のモーターの電流を ACT の入力に足しただけで、柔らかい立方体と硬い立方体の仕分けの正しさが 77.5% から 95% に上がった、という報告もあります（[ポスター](https://vibhusiddha.vercel.app/so101-research)） ### mechArm 270 に当てはめると：指令は角度だけ、電流は読むだけ mechArm 270 は、関節に角度の指令しか送れません。境野さんの研究のように、狙った電流を流して力を制御することはできません。できるのは、電流を読むことだけです。それでも、電流を記録に残して学習の入力に足すだけなら、動きを一切変えずに始められます。SO-101 の報告は、まさにその形でした。 - ねらい：π0.5 のお手本と実機推論の記録に、手応えの代わりになる値を足す - 変わったこと：力の制御は目指さず、電流を観測として読むところから始めると決めた - 見込める効果：つかめたか・引かれたかを、カメラの画像だけに頼らず記録できる見込み（実機でどこまで読めるかは、このあとの測定で確かめた） ## 5月に一度調べて保留していた mechArm 270 の電流（LOG203〜260） 過去のチャットを探すと、電流の話は5月に一度出ていました。 | 時期 | 出てきたこと | |---|---| | LOG203〜209 のころ（5月） | Boston Dynamics の Atlas の記事（体の中の感覚で重い物を運ぶ話）から、mechArm 270 で電流が取れるかの話になった。公式の資料で、関節の電流を mA で読む関数、異常の印を返す関数、爪の保護電流の関数があることを確かめた。使い道の候補は、降りるときの接触の検知、つかめたかの判定、運ぶ途中の落下の検知、関節ごとの負荷の見える化。「動的追従の PICK＆PLACE を終えてから」として保留した | | LOG205 | 単腕で試すことの一つとして、電流での力の検知を挙げた | | LOG217 | 放す動きを「面から数mm上で離す（接触なし）」と決めたときに、電流の話は別のシリーズで、取れるかの確かめから入る順番のまま残した | | LOG260 | 持ち上げ直すと爪が緩む件の原因を、サーボの保持や電流の側に探すべきだと書いたところで止まった | どの時期も、実機で値を読んだ記録はありませんでした。保留の条件だった PICK＆PLACE は、台帳付きの通しの実行まで動いていて、受け渡しの動きや π0.5 のお手本集めも始まっています。条件はもう満たしていると見て、再開しました。 ## 依頼109：daemon に読むだけの命令を足し、読み続けて記録する道具を作った（13:36〜14:22） 依頼箱（Claude Code への依頼を Mac の見張り係が自動で渡す仕組み・LOG390）に、次の依頼を置きました。アームを動かす指令は送らない依頼にし、実機での測定はこちらでやる形にしています。 #### 依頼109 の依頼文 ````markdown --- 作業フォルダ: /Users/shimazueiichi/r2r2r-scripts 上限時間: 90 --- # 依頼：mechArm の関節と爪の電流が読めるかを確かめ、エイイチが実機で測るための道具を作る（2026-11-07） ## なぜやるか 5月（DAY203〜209のころ）に、pymycobot に関節の電流を mA で読む関数（get_servo_currents）、異常の印を返す関数（get_servo_status）、爪の保護電流の関数があることを資料で確かめた。そのときは PICK＆PLACE を終えてから、として実機では一度も読んでいない。 筑波大の境野翔さんの研究（バイラテラル制御による模倣学習）では、力センサーなしで、モーターの電流と関節角から物に当たった力を見積もり、人の力加減ごと学ばせている。3D プリンタの1自由度の手で豆腐をつかめる。 - 投稿：https://x.com/shosakaino/status/2118312642431570242 - 論文：https://arxiv.org/abs/2311.09555 SO-101 で爪の電流を ACT の入力に足しただけで、柔らかい／硬いの仕分けの精度が上がった例もある。 mechArm は電流の指令は出せない（角度の指令だけ）ので、まずは電流を「観測」として読み、π0.5 のお手本の記録に足せるかを見たい。この依頼はその手前の、読めるか・どれだけ速く読めるか、を確かめる道具づくり。 ## A. 読めるかを調べる（読むだけ・アームは動かさない） - Pi の pymycobot（古い版。Python 3.6、MyCobot クラスで使っている）に、電流を読む関数があるかをソースで確かめる。get_servo_currents・get_servo_status・get_servo_data など。戻り値の形と単位、読めないときの値（-1・None・空）も - mecharm_daemon.py に電流を読む命令があるか。なければ、読むだけの命令を足す案を作る。daemon がシリアルを握っているので、別のプロセスから直接ポートを開かない - 爪の電流が、6つの関節と同じ読み方で取れるか。取れないなら、爪の電流や保護電流をどう読むか - 今動いている読み取り（run_policy_client.py の記録スレッド、gamepad_teleop.py）と、電流の読み取りがぶつからないか。daemon への問い合わせが増えると、角度の記録や指令が遅れないか ## B. 測る道具を作る - 電流（と同じ時刻の角度）を、読める限り速く繰り返し読み、CSV に残すスクリプト。アームへの指令は一切送らない - 1回の読み取りにかかる時間と、実際に何 Hz で取れたかを表示する - エイイチがキーを押すと、その時刻に印（例：空で閉じた／つかんだ／引っ張った／離した）が入る形 - アームと爪の動かし方は今あるもの（ゲームパッドの gamepad_teleop.py など）をそのまま使う。同時に動かしたとき、ゲームパッドの指令が遅れないかも測れるようにする - 出力先は保存先テーブルどおり KIOXIA の `r2r2r-data/diag/servo_current_{日付}/`。書く前にマウントを確かめ、無ければ止める ## C. お手本の記録に足す案（案だけ・実装しない） - run_policy_client.py の記録（states.csv など）に電流の列を足すなら、どこに、どの頻度で足すか。角度の記録の頻度を落とさずに済むか - 測った結果しだいで決めるので、ここでは案と、決めるのに要る数字を書くだけ ## D. ついでに直すこと - 依頼97の決めてほしいこと3（エイイチ決定済み）：学習のテスト（lab_train_fakes.sh / test_lab_train.sh）の偽物のチェックポイントの assets 名が v3 のまま。corr3 の流れに合わせて直す。本番の流れは変えない ## 確かめ - 既存のテストが全部通ること - daemon に手を入れたら、codex のレビューを通す（docs/ に依頼文と結果を残す）。今までの命令の動きは変えない - アームを動かす指令は送らない。daemon が起動していてアームの電源が入っているときに限り、静止したまま10秒だけ読む確かめはしてよい（読む命令だけ）。起動していなければ、それはエイイチの手順に回す - 測定データ（runs/・datasets/・checkpoints/ の既存のもの）は上書き・移動・削除しない - git は個別ファイルを指定して add・commit する（git add . は使わない） ## 報告に書くこと - 電流が読めるか（関節・爪それぞれ）、単位、読めないときの値。静止で読めたならその値 - 1回の読み取りの時間と、取れた Hz。記録やゲームパッドへの影響の見込み - エイイチが実機で測る手順。5分ほどで終わる形で、打つコマンドと、やること（例：静止10秒 → 爪を空で閉じる → ブロックをつかむ → つかんだブロックを手で軽く引く → 放す → アームを手で軽く押す）を順に短く - C の案 - 最後の1行に「判定：合格／止めた（決めてほしいことあり）／失敗」 ```` Claude Code は Pi に届かなかったので（Pi の電源が入っていなかった）、Pi と同じ版の pymycobot（2.9.6）を手元に取り寄せて、ソースを読んで確かめました。分かったことは、関節の電流を読む関数は 2.9.6 にあるが、説明には別の機種だけと書いてあり、mechArm 270 が答えるかは分からない、ということでした。もう1つの手として、サーボの中の電流の番地（69と70）を直接読む方法も入れてもらいました。11月3日に、同じ読み方で電圧（番地62）と温度（番地63）が読めていたからです。 #### 依頼109 の報告 ````markdown # 結果：20261107_109_mechArmの関節電流を読めるか確かめ測る道具を作る - 状態：完了 - 始めた時刻：2026-11-07 13:36 - 終わった時刻：2026-11-07 14:22（46分） - 作業フォルダ：/Users/shimazueiichi/r2r2r-scripts - この続きを Claude Code で話すとき：作業フォルダで `claude --resume b52fc320-86d1-4d80-8096-a72c0f952cd9` ## Claude Code の報告 ## 依頼109の報告：mechArm の関節と爪の電流が読めるかの確かめと、測る道具づくり **やったこと** - **A（読めるかの調べ）:** Pi につながらなかったので（192.168.2.1 の22番がタイムアウト）、Pi と同じ pymycobot 2.9.6 を手元に取り寄せ、ソースを読んで確かめました。11-03 の servo_check の結果も合わせて見ました。実機の値はまだ1つも読めていません。 - **B（道具づくり）:** - daemon（tools/pi/mecharm_daemon.py）に、読むだけの命令 read_servo を足しました。消した行は0で、今までの命令は変えていません。 - Pi へ置くスクリプト tools/daemon_add_read_servo.sh を作りました。Pi の今の版を KIOXIA に写してから入れ替え、起動し直して返事を確かめます。まだ流していません。 - 測る道具 tools/servo_current_probe.py を作りました。 - アームには何も送りません。キーで印（1 静止／2 空で閉じた／3 つかんだ／4 引っ張った／5 離した／6 押した／0 そのほか）が入ります。p で読むのを止めたり再開したりできます。 - --with-pad を付けると gamepad_teleop を同じプロセスで動かし、パッドの命令ごとの待ち時間を pad_rpc.csv に残します。 - 出力先は KIOXIA の r2r2r-data/diag/servo_current_{日付}/ です。KIOXIA がマウントされていなければ止まります。 - 新しいテストを2本足しました。daemon の偽物で確かめるもの12件と、道具のもの11件です。 - **daemon のレビュー:** codex に3回通しました。1回目の必須2件（始めの読み取りが3秒を超えうる、返事なしを成功の値として返す）と、2回目の必須1件（始めの読み取りの間、ゲームパッドの停止を受け付けない）を直しました。3回目は必須なしで、推奨1件も直しました。依頼文と結果は docs/ に3組あります。 - **D:** 学習のテストの偽物のチェックポイントの assets 名を、作るモデルの学習データ（corr: corr_v3、corr2: corr_v4b、corr3: corr_v5）に合わせました。本番の流れは変えていません。 - **静止10秒の確かめ:** Pi に届かないので、していません。下の手順に回しました。 - 作業記録を logs/20261107_1420.md に書き、個別にファイルを指定してコミットしました（32a4280）。 **結果** - **関節の電流:** - 2.9.6 に get_servo_currents があります。単位は mA（0〜3250）ですが、説明には「mycobot 350 だけ」とあります。新しい 4.0.5 の MechArm270 にはこの関数がないので、この機体が答えるかは分かりません。 - 返事がないと 0.1 秒待って空（[]）を返します。read_servo では、これを値なし（エラー "no reply"）として返します。 - 11-03 の温度の読みは、1関節1バイトの返事を2.9.6が読み違えた形でした（[6425, 5654, 6421] は 25,25,22,22,25,21 ℃）。電流も同じ形で返ると読み違えるので、始めの1回で生のバイト列も残します。 - **異常の印:** get_servo_status は使えます。11-03 の値は [0, 0, 0] でした。 - **サーボの番地:** 11-03 の値は、番地62（電圧）が72〜74で約7.4V、番地63（温度）が21〜26℃でした。Feetech STS の並びに合うので、番地69/70（電流。STS3215 なら1 = 6.5mA）と60/61（負荷）も読める見込みです。2.9.6 は1バイトずつしか読めないので、下位と上位を分けて読みます。 - **爪の電流:** - 6関節と同じ get_servo_currents には入りません（返るのは6個だけ）。爪は id 7 の番地69/70を読む方法しかなく、未確認です。 - 爪の保護電流を読む関数は 2.9.6 にありません。 - **速さ（見込み。実機では測っていません）:** - 11-06 の記録では、send_angle の往復が 0.032 秒、set_gripper_value が 0.013 秒でした。1回読むのに15〜20ms ほどです。 - 電流が答えれば、角度と電流の1回が30〜45ms で、20〜30Hz の見込みです。答えなければ毎回0.1秒待つので、7Hz ほどになります。 - ゲームパッドの命令は、読んでいる途中の1回が終わるまで待ちます。待つのは最大でその1回分で、答えれば約40ms、答えない項目があれば1つにつき0.1〜0.2秒です。 - 一緒に動かすときは、1回に読む数を4までにしました。 - **ぶつかり:** daemon は1本ずつしかつながりを受けないので、別のプロセスからは同時に読めません。ゲームパッドとは同じプロセスにして、鍵を共有する形にしました。 - **テスト:** - 通ったもの: test_lab_train.sh 216件（足した2件を含む）、test_lab_start.sh 153件、pi05 のテスト9本、place_modules のテスト4本、test_provenance、test_servo_check_pi、新しい2本。 - 落ちたもの: tools/test_gamepad_teleop.py が90件中1件 NG です。「1秒より短く終わる」という時間の確かめで、3回流して3回とも1.03〜1.04秒でした。このテストが読むファイルには触っていません。ただ、手を入れる前の版（git の最新コミットの写し）で比べようとしたところ、git に入っていないファイル（auto_detect_cameras.py）がなくて動かず、確かめきれていません。 **エイイチが実機で測る手順（5分ほど）** 1. ゲームパッドなど daemon を使うものを止め、アームを HOME にします。 2. `tools/daemon_add_read_servo.sh` を流します。daemon が入れ替わり、最後に電流・状態・爪の値が出ます。 3. `python3 tools/servo_current_probe.py --seconds 10` で、アームに触らず10秒読みます。始めに出る表示で、電流が6個の数か、servo 7 の番地69/70に値があるかを見ます。 4. `python3 tools/servo_current_probe.py --with-pad` を動かします。電流が読めなかったときは、後ろに `--no-currents --regs 7:69,7:70` を足します。 5. 次の順に操作します。 1. キー1を押して静止10秒 2. ×で空のまま閉じてキー2、○で開く 3. ブロックを×でつかんでキー3 4. 手で軽く引いてキー4 5. ○で放してキー5 6. アームを手で軽く押してキー6 7. pで読むのを止め、同じ十字キーを数回押す（読んでいる間との待ちの比べ） 8. 窓を閉じる 6. 結果は summary.json に出ます（回数、Hz、往復の中央値、パッドの待ちの中央値と最大）。 **C の案（実装していません）** - **足す場所:** policy_recorder の角度の記録（10Hz）で、get_angles の代わりに read_servo（角度と電流）を1回呼びます。daemon への問い合わせの数は今と同じなので、角度の頻度は落ちない見込みです。 - **書く先:** states.csv の列は変えません（学習データを作る側が読むため）。同じ時刻の電流は別の currents.csv に書きます（時刻、関節6つ、爪）。 - **決めるのに要る数字:** - 角度と電流の1回が50ms 以下か（10Hz に収まるか） - 静止のときの電流の揺れの幅と、つかんだ・引いたときの差 - 爪の電流が取れるか - 読んでいるときのパッドの待ちの増え方 **変えたファイル** - 変更: tools/pi/mecharm_daemon.py、lab_train_fakes.sh、test_lab_train.sh - 新規: - tools/daemon_add_read_servo.sh、tools/servo_current_probe.py - テスト: tools/test_daemon_read_servo.py、tools/test_servo_current_probe.py - docs/ の codex の依頼文と結果（3組） - logs/20261107_1420.md **決めてほしいこと** 1. Pi の daemon を、daemon_add_read_servo.sh で入れ替えてよいか（起動し直すとアームの初期化が走ります）。 2. 爪の保護電流を読むかどうか。読む関数は新しい版にしかなく、命令の番号（0x37）が別の機種では動かす命令と同じです。なので、生の0x37は送らない形にしてあります。読むならファームの版を確かめるのが先です。 3. gamepad_teleop を単独で動かすと、送り口を鍵をかける前に読み込むので、send_angle・stop・get_angles が鍵を通りません。範囲の外なので直していません。直すかどうか。測る道具のほうは、先に鍵をかけるので問題ありません。 4. test_gamepad_teleop の時間の確かめの NG（1.03〜1.04秒）をどう扱うか。 5. C を実装するかどうか（実機で測った結果を見て）。 判定：止めた（決めてほしいことあり） ```` 決めてほしいことの5つには、次のように答えました。daemon の入れ替えは行う（読むだけの命令を足しただけで、今までの命令は変えていないため）。爪の保護電流は読まない（その命令の番号が別の機種では動かす命令と同じで、危ないわりに得るものが少ないため）。ゲームパッドの鍵の件は、電流を記録に足すときに一緒に直す。テストの時間の件は次の依頼で確かめる。記録に足すかは、測ってから決める。 ### commit 32a4280 の差分（daemon の read_servo・入れ替えのスクリプト・測る道具・テスト・codex のレビュー） ````diff commit 32a42803fea52e2b745d1fb51aa69232fe06a4f7 Author: Eiichi Shimazu Date: Sat Nov 7 14:21:21 2026 +0900 daemon に電流などを読むだけの read_servo を足し (tools/pi. Pi へは tools/daemon_add_read_servo.sh で置く. まだ置いていない), 関節と爪の電流と角度を読める限り速く読んで KIOXIA の diag/servo_current_{日付}/ に残す tools/servo_current_probe.py を作る (印のキー・--with-pad で gamepad_teleop を同じプロセスで動かしパッドの命令の鍵の待ちを残す). 学習のテストの偽物のチェックポイントの assets 名を作るモデルの学習データに合わせる (lab_train_fakes.sh・test_lab_train.sh. 本番の流れは変えない) (依頼 109. codex 3 回) Co-Authored-By: Claude Opus 5.5 diff --git a/docs/review_request_20261107_read_servo.md b/docs/review_request_20261107_read_servo.md new file mode 100644 index 0000000..81e4d34 --- /dev/null +++ b/docs/review_request_20261107_read_servo.md @@ -0,0 +1,30 @@ +# コードレビュー依頼：daemon に電流を読むだけの命令 read_servo を足す（2026-11-07 依頼 109） + +mechArm 270-Pi の関節と爪の電流が読めるか・何 Hz で読めるかを測るための準備。Pi の daemon（tools/pi/mecharm_daemon.py。Pi の Python 3.6・pymycobot 2.9.6 の MyCobot で動く。TCP 5555 で 1 本ずつ受ける）に、読むだけの命令を 1 つ足した。まだ Pi には置いていない（置くのは tools/daemon_add_read_servo.sh。エイイチが流す）。 + +## 守りたいこと（ここを重く見てください） +- アームと爪に何も送らないこと（pymycobot の読む関数だけを呼ぶ） +- 今までの命令（ping・send_angles・send_angle・get_angles・get_angles_once・send_angles_fast・set_gripper*・get_gripper_value・is_gripper_moving・set_fresh_mode・stop）の動きを 1 文字も変えないこと +- 読めないときに daemon が落ちない・止まらないこと（1 件ずつ処理するので、長くかかるとゲームパッドの指令が遅れる） +- Python 3.6 で動くこと + +## したこと +- `tools/pi/mecharm_daemon.py`: `handle_servo_read()` と `_servo_read_one()` を足し、`handle_command` の unknown cmd の else の直前に `elif cmd == "read_servo": return handle_servo_read(cmd_obj)` を足した + - 頼まれた項目（angles・currents は既定で読む / status・gripper・regs は頼んだときだけ）を 1 回ずつ呼ぶ。読み直さない・待たない + - 例外や関数がないときは value None と error（ok=True のまま。get_angles_once と同じ考え） + - regs は get_servo_data(servo_id, addr)。servo_id 1〜7（7 = 爪）・addr 0〜100・32 個まで。外れていれば何も読まずに ok=False + - raw=True のとき、インスタンスの `_read` を一時的に包んで返事のバイト列を写し、finally で `del _mc._read` で外す（2.9.6 の MyCobot は `_read = read` をクラスに持つ） +- `tools/daemon_add_read_servo.sh`: Pi の今の daemon を持ち帰り KIOXIA に写しを残し、11-05 の版（sha256 806336b6…。git HEAD の tools/pi/mecharm_daemon.py）と同じときだけ新しい版を置いて systemd で起動し直し、ping・get_angles・read_servo を確かめる。違えば何も変えずに止まる +- `tools/test_daemon_read_servo.py`（新）: 偽物の MyCobot で 10 件（送る関数が呼ばれない・順番・読めないとき・範囲外は何も読まない・raw のあと `_read` が戻る・今までの命令の返事が同じ） +- 参考（daemon ではない Mac 側。見てもらえれば助かるが主ではない）: `tools/servo_current_probe.py`（read_servo を繰り返し呼んで CSV に残す。--with-pad で gamepad_teleop を同じプロセスで動かし、policy_recorder.install_daemon_lock の鍵を gamepad_teleop の送り口を読む前にかける）、`tools/test_servo_current_probe.py` + +差分: `git diff -- tools/pi/mecharm_daemon.py` と、新しいファイル `tools/daemon_add_read_servo.sh`・`tools/test_daemon_read_servo.py`・`tools/servo_current_probe.py`・`tools/test_servo_current_probe.py`。pymycobot 2.9.6 のソースは /tmp/pmc_x/pymycobot/（generate.py の get_servo_currents・get_servo_status・get_servo_data、mycobot.py の _mesg、common.py の read・_process_received）。 + +## 見てほしいこと +1. 読むだけになっているか（get_servo_currents / get_servo_status / get_gripper_value / get_servo_data が 2.9.6 で何かを動かす命令にならないか） +2. 今までの命令に影響がないか +3. `_read` の包みと外し方が安全か（例外のとき・2.9.6 の read の中身との組み合わせ） +4. 読めない項目があるとき 1 回の read_servo が最長どれだけかかるか（2.9.6 の read は返事がないと 0.1 秒待つ）。ゲームパッドと一緒に回すときの問題 +5. daemon_add_read_servo.sh の確かめ方・戻し方に抜けがないか + +指摘は「必須 / 推奨 / 据え置きでよい」に分けてください。ファイルは変えないでください。 diff --git a/docs/review_request_20261107_read_servo_r2.md b/docs/review_request_20261107_read_servo_r2.md new file mode 100644 index 0000000..d78eea7 --- /dev/null +++ b/docs/review_request_20261107_read_servo_r2.md @@ -0,0 +1,19 @@ +# コードレビュー依頼 R2：daemon の read_servo（2026-11-07 依頼 109） + +R1（docs/review_result_20261107_read_servo_codex.md）の指摘を反映した。前提・守りたいことは docs/review_request_20261107_read_servo.md と同じ（アームと爪に駆動の命令を送らない・今までの命令を変えない・daemon が止まらない・Python 3.6）。 + +## R1 の指摘への対応 +| # | 分類 | 指摘 | 反映 | 対応 | 次に見てほしい点 | +| --- | --- | --- | --- | --- | --- | +| 1 | 必須 | 始めの一括読み取り (32 個) が 3 秒を超えうる・その間ゲームパッドの stop も待つ | 反映 | servo_current_probe.py: 始めの 1 回を FIRST_CHUNK=4 個ずつの read_servo に分けた (1 回目 = 角度・電流・状態・爪、あとは番地 4 個ずつ × 7)。--with-pad のときは毎回読む数 (角度・電流・状態・爪・番地の合計) を PAD_MAX_READS=4 までにし、超えたら記録を作る前に止める。daemon の説明に待ちの目安を書いた | 分けた 1 回の最長 (4 × 約 0.2 秒) とゲームパッドの命令の待ちの見込みが妥当か | +| 2 | 必須 | 返事なしの [] / -1 を成功値として返す | 反映 | daemon: リストを返す関数 (angles・currents・status) は []・None、1 つの値の関数 (gripper・regs) は -1 なら value None・error "no reply"・returned に元の値。probe: やりとりの失敗 (n_error) と項目が読めなかった回 (n_item_error) を分けて数え、往復の時間は項目が読めなくても数える | -1 を「返事なし」とみなすこと (番地の値として -1 は来ない前提。2.9.6 の _process_single) | +| 3 | 推奨 | regs の int() 丸め | 反映 | 長さ 2 の list/tuple で、要素が int (bool は除く) のときだけ受ける。1.9・True・"1"・dict は ok=False で何も読まない | 抜けがないか | +| 4 | 推奨 | get_servo_data がないときの理由 | 反映 | regs_detail に error "get_servo_data is not available ..." | — | +| 5 | 推奨 | 導入の確かめで返事の形も見る | 反映 | daemon_add_read_servo.sh: items が 4 つそろうこと・角度が 6 個読めること (空なら 0.2 秒あけて 5 回まで頼み直す) を確かめ、電流・状態・爪の値は出すだけ (読めなくてもよい) | — | +| 6 | 推奨 | mv のあとに ssh が切れたときの戻し方・すでに新版のときの確かめ | 反映 | 構文の確かめと mv を分け、mv から先は失敗したら戻し方を出す。すでに新版なら置き直さず起動し直さず、返事の確かめだけ流す | — | +| 7 | 据え置き | 読むだけ・今までの命令・_read の戻し方・導入の基本手順・3.6 | — | R1 で問題なしとされた | — | + +テスト: tools/test_daemon_read_servo.py 12 件・tools/test_servo_current_probe.py 10 件 (どちらも通る)。 +差分: `git diff -- tools/pi/mecharm_daemon.py` と新しいファイル tools/daemon_add_read_servo.sh・tools/test_daemon_read_servo.py・tools/servo_current_probe.py・tools/test_servo_current_probe.py。 + +指摘は「必須 / 推奨 / 据え置きでよい」に分けてください。ファイルは変えないでください。 diff --git a/docs/review_request_20261107_read_servo_r3.md b/docs/review_request_20261107_read_servo_r3.md new file mode 100644 index 0000000..3a5683f --- /dev/null +++ b/docs/review_request_20261107_read_servo_r3.md @@ -0,0 +1,17 @@ +# コードレビュー依頼 R3：daemon の read_servo（2026-11-07 依頼 109） + +R2（docs/review_result_20261107_read_servo_codex_r2.md）の指摘を反映した。前提は docs/review_request_20261107_read_servo.md と同じ。 + +## R2 の指摘への対応 +| # | 分類 | 指摘 | 反映 | 対応 | 次に見てほしい点 | +| --- | --- | --- | --- | --- | --- | +| 1 | 必須 | 始めの 1 回を on_frame の中で読むと、その間 gamepad_teleop が停止 (L2+R2)・切断・窓を閉じるを見ない | 反映 | servo_current_probe.py run_with_pad: 始めの 1 回は gamepad_teleop.main を呼ぶ前に、vsp.get_daemon_socket() で作ったつながりで読む (鍵の中・パッドの命令には数えない)。gamepad_teleop.main は同じつながりをそのまま使う (get_daemon_socket はつながりがあればそれを返す)。読めなければつながりを閉じて終わる。on_frame は読み取りのスレッドを始めるだけ。テストで「偽物の main が呼ばれた時点で first_read.json があり、read_servo が 8 回済んでいる」を確かめる | 窓を開く前に読むことで抜けがないか (つながりの持ち主・終わるときの閉じ方) | +| 2 | 推奨 | regs={}・""・0・False が空として通る | 反映 | regs がない / None のときだけ空。それ以外は list/tuple でなければ ok=False (テストに足した) | — | +| 3 | 推奨 | -1 を返事なしと断定する前提 | 反映 | daemon の説明に「番地の値は 1 バイトで返る前提・この機体で未確認・ffff だと見分けられない・raw で確かめる」と書いた。始めの 1 回は raw=True でバイト列を残す | — | +| 4 | 推奨 | 「1 秒以内」は目安 | 反映 | 説明を「目安 0.4〜0.8 秒 (シリアルの待ちだけの見込み。上限の保証ではない)」にした | — | +| 5 | 据え置き | 正規化・集計・PAD_MAX_READS・導入スクリプト・読むだけ・既存命令・_read・3.6 | — | R2 で妥当とされた | — | + +テスト: tools/test_daemon_read_servo.py 12 件・tools/test_servo_current_probe.py 10 件 (通る)。 +差分: `git diff -- tools/pi/mecharm_daemon.py` と新しいファイル tools/daemon_add_read_servo.sh・tools/test_daemon_read_servo.py・tools/servo_current_probe.py・tools/test_servo_current_probe.py。gamepad_teleop.py の main・run_loop は tools/gamepad_teleop.py。 + +指摘は「必須 / 推奨 / 据え置きでよい」に分けてください。ファイルは変えないでください。 diff --git a/docs/review_result_20261107_read_servo_codex.md b/docs/review_result_20261107_read_servo_codex.md new file mode 100644 index 0000000..5a7d38d --- /dev/null +++ b/docs/review_result_20261107_read_servo_codex.md @@ -0,0 +1,100 @@ +# codex レビュー結果 R1：daemon の read_servo（2026-11-07 依頼 109） + +依頼文: docs/review_request_20261107_read_servo.md（codex exec -s read-only） + +**現状は、ゲームパッドとの併用前に修正が必要です。** 読み取り専用であること、既存コマンドの差分がないことは確認できました。ファイルは変更していません。 + +**必須** + +1. **一括読み取りが3秒タイムアウトを超えます。** + [servo_current_probe.py:380](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/servo_current_probe.py:380) の初回読み取りは、通常項目4件＋レジスタ28件＝32回です。全件無応答なら約3.2秒＋処理時間となり、設定の3秒を超えます。初回記録前に終了する可能性があります。 + + また、[mecharm_daemon.py:144](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:144) は要求全体を中断せず処理するため、その間はゲームパッドの `stop` も待たされます。初回診断は操作開始前に行い、併用中は読み取り件数を制限するか、複数RPCに分割して操作指令を通せるようにしてください。タイムアウト延長だけでは操作遅延は解消しません。 + + 無応答時の目安は以下です。 + + | 要求 | 読み取り回数 | 待ち時間の目安 | + |---|---:|---:| + | 既定 | 2 | 約0.2秒 | + | 初回診断 | 32 | 約3.2秒 | + | 最大要求 | 36 | 約3.6秒 | + + **これは厳密な最長時間ではありません。** 2.9.6 の `read()` は期限確認後に最大0.1秒のシリアル読み取りへ入るため、部分受信では1呼び出しが約0.2秒近くまで伸び得ます。さらに `_write()` の `write/flush` には、この追加実装による時間制限がありません。 + +2. **「読めない」を成功値として返し、計測結果が誤解を招きます。** + [mecharm_daemon.py:97](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:97) は、ライブラリの戻り値をそのまま採用します。2.9.6 では無応答時に currents/status は `[]`、gripper/regs は `-1` になり得ますが、`error` が付きません。計測側もこれを正常な往復として集計します。 + + 項目ごとの無応答値を `value=None`＋`error` に正規化し、必要なら元の値を別フィールドに残してください。`ok=True` は維持できます。空電流 `[]` がエラーなしで返ることは再現しました。 + +**推奨** + +- **regsの入力を厳密に検証する。** + [mecharm_daemon.py:123](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:123) の `int()` により、`[[1.9, 60.9]]` が `[1, 60]` に変換され、実際に読み取りへ進みます。各要素を「長さ2の配列・整数・範囲内」として検証してください。 + +- **get_servo_data が存在しない場合も理由を返す。** + [mecharm_daemon.py:155](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:155) は `None` だけを返し、ほかの項目と違って関数未対応の `error` が残りません。 + +- **導入確認は `ok` に加えて返事の構造を確認する。** + [daemon_add_read_servo.sh:71](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/daemon_add_read_servo.sh:71) は、全項目が例外でも成功扱いです。電流未対応は許容しつつ、期待した `items` が存在し、角度取得が成立していることなどを確認すると確実です。 + +- **入れ替え時の通信断にも復旧案内を出す。** + [daemon_add_read_servo.sh:53](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/daemon_add_read_servo.sh:53) は、Piで `mv` 成功後にSSHが切れても「変えていません」と表示し得ます。この経路でも復旧コマンドを案内してください。既に新版だった場合の早期終了も、稼働確認は省略されています。 + +**据え置きでよい** + +- **読み取り専用性**：指定された2.9.6のソースでは、各関数は取得用プロトコル命令を送るだけで、駆動・設定関数は呼びません。「何も送らない」は厳密には「駆動命令を送らない」です。 +- **既存命令**：git差分は関数・定数と `read_servo` 分岐の追加だけで、既存分岐は変更されていません。 +- **`_read` の復元**：指定環境ではクラスに `_read = read` があるため、一時ラップ後に `del _mc._read` で戻す方式は成立します。取得関数内の例外でも `finally` が動きます。 +- **導入の基本手順**：旧版SHAはHEADと一致しました。バックアップ、旧版照合、Piでの構文確認、一時名からの入れ替えは妥当です。復旧は自動ではなく手動です。 +- **Python 3.6**：追加コードの構文互換性を確認しました。 + +検証はdaemonの偽物テスト10件が全件成功、シェル構文チェックも成功しました。Piへの接続・転送・実機操作は行っていません。計測側テストは一時ファイルを書き込むため、読み取り専用環境では実行していません。 +tokens used +56,597 +**現状は、ゲームパッドとの併用前に修正が必要です。** 読み取り専用であること、既存コマンドの差分がないことは確認できました。ファイルは変更していません。 + +**必須** + +1. **一括読み取りが3秒タイムアウトを超えます。** + [servo_current_probe.py:380](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/servo_current_probe.py:380) の初回読み取りは、通常項目4件＋レジスタ28件＝32回です。全件無応答なら約3.2秒＋処理時間となり、設定の3秒を超えます。初回記録前に終了する可能性があります。 + + また、[mecharm_daemon.py:144](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:144) は要求全体を中断せず処理するため、その間はゲームパッドの `stop` も待たされます。初回診断は操作開始前に行い、併用中は読み取り件数を制限するか、複数RPCに分割して操作指令を通せるようにしてください。タイムアウト延長だけでは操作遅延は解消しません。 + + 無応答時の目安は以下です。 + + | 要求 | 読み取り回数 | 待ち時間の目安 | + |---|---:|---:| + | 既定 | 2 | 約0.2秒 | + | 初回診断 | 32 | 約3.2秒 | + | 最大要求 | 36 | 約3.6秒 | + + **これは厳密な最長時間ではありません。** 2.9.6 の `read()` は期限確認後に最大0.1秒のシリアル読み取りへ入るため、部分受信では1呼び出しが約0.2秒近くまで伸び得ます。さらに `_write()` の `write/flush` には、この追加実装による時間制限がありません。 + +2. **「読めない」を成功値として返し、計測結果が誤解を招きます。** + [mecharm_daemon.py:97](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:97) は、ライブラリの戻り値をそのまま採用します。2.9.6 では無応答時に currents/status は `[]`、gripper/regs は `-1` になり得ますが、`error` が付きません。計測側もこれを正常な往復として集計します。 + + 項目ごとの無応答値を `value=None`＋`error` に正規化し、必要なら元の値を別フィールドに残してください。`ok=True` は維持できます。空電流 `[]` がエラーなしで返ることは再現しました。 + +**推奨** + +- **regsの入力を厳密に検証する。** + [mecharm_daemon.py:123](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:123) の `int()` により、`[[1.9, 60.9]]` が `[1, 60]` に変換され、実際に読み取りへ進みます。各要素を「長さ2の配列・整数・範囲内」として検証してください。 + +- **get_servo_data が存在しない場合も理由を返す。** + [mecharm_daemon.py:155](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:155) は `None` だけを返し、ほかの項目と違って関数未対応の `error` が残りません。 + +- **導入確認は `ok` に加えて返事の構造を確認する。** + [daemon_add_read_servo.sh:71](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/daemon_add_read_servo.sh:71) は、全項目が例外でも成功扱いです。電流未対応は許容しつつ、期待した `items` が存在し、角度取得が成立していることなどを確認すると確実です。 + +- **入れ替え時の通信断にも復旧案内を出す。** + [daemon_add_read_servo.sh:53](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/daemon_add_read_servo.sh:53) は、Piで `mv` 成功後にSSHが切れても「変えていません」と表示し得ます。この経路でも復旧コマンドを案内してください。既に新版だった場合の早期終了も、稼働確認は省略されています。 + +**据え置きでよい** + +- **読み取り専用性**：指定された2.9.6のソースでは、各関数は取得用プロトコル命令を送るだけで、駆動・設定関数は呼びません。「何も送らない」は厳密には「駆動命令を送らない」です。 +- **既存命令**：git差分は関数・定数と `read_servo` 分岐の追加だけで、既存分岐は変更されていません。 +- **`_read` の復元**：指定環境ではクラスに `_read = read` があるため、一時ラップ後に `del _mc._read` で戻す方式は成立します。取得関数内の例外でも `finally` が動きます。 +- **導入の基本手順**：旧版SHAはHEADと一致しました。バックアップ、旧版照合、Piでの構文確認、一時名からの入れ替えは妥当です。復旧は自動ではなく手動です。 +- **Python 3.6**：追加コードの構文互換性を確認しました。 + +検証はdaemonの偽物テスト10件が全件成功、シェル構文チェックも成功しました。Piへの接続・転送・実機操作は行っていません。計測側テストは一時ファイルを書き込むため、読み取り専用環境では実行していません。 diff --git a/docs/review_result_20261107_read_servo_codex_r2.md b/docs/review_result_20261107_read_servo_codex_r2.md new file mode 100644 index 0000000..2e7787a --- /dev/null +++ b/docs/review_result_20261107_read_servo_codex_r2.md @@ -0,0 +1,43 @@ +# codex レビュー結果 R2：daemon の read_servo（2026-11-07 依頼 109） + +依頼文: docs/review_request_20261107_read_servo_r2.md（codex exec -s read-only） + +**R1の修正は概ね反映されていますが、初回診断中の停止入力について1点、修正が必要です。** ファイルは変更していません。 + +**必須** + +1. **初回読み取りの分割だけでは、ゲームパッドの停止入力を処理できません。** + + [servo_current_probe.py:530](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/servo_current_probe.py:530) は、`on_frame()` の中で初回診断8回分を同期実行しています。[gamepad_teleop.py:1398](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/gamepad_teleop.py:1398) は、そのコールバックが戻ってからイベントと停止トリガーを読みます。 + + このため、RPC単位では4項目に分かれていても、初回診断全体が終わるまで停止入力・切断・ウィンドウ終了を処理できません。全32項目が無応答なら約3.2秒、部分受信では約6.4秒近く＋処理時間になる見込みです。 + + 初回診断を操作受付開始前の準備として明確に分離するか、別スレッドまたはフレームごとの分割実行にしてください。現在のテストはRPCの件数だけを確認しており、この入力停止を検出できません。 + +**推奨** + +1. **空の不正な`regs`も検証してください。** + + [mecharm_daemon.py:127](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:127) の `cmd_obj.get("regs") or []` により、`{}`、`""`、`False`、`0` が空配列になります。実際に`regs={}`で`ok=True`となり、既定の角度・電流読み取りが実行されることを再現しました。 + + 「不正な指定なら何も読まずに`ok=False`」を満たすには、未指定・許容する`None`と、それ以外を分けて検証してください。各ペアの長さ・整数・bool除外・範囲の検証は妥当です。 + +2. **`-1`を無応答と断定できる条件を残してください。** + + [mecharm_daemon.py:173](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/pi/mecharm_daemon.py:173) の処理について、2.9.6の`_process_single()`は空データを`-1`にします。一方、受信データが2バイトの`ffff`でも、符号付きデコードによって`-1`になります。ローカルの2.9.6ソースで再現しました。 + + 想定どおり1バイトの番地値なら`ff`は255になり、今回の扱いで問題ありません。ただし、ライブラリの実装だけでは「`-1`は必ず無応答」とは証明できません。実機の応答形式を確認するまでは、この前提を明記してください。 + +3. **「1秒以内」は保証ではなく目安にしてください。** + + [servo_current_probe.py:399](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/servo_current_probe.py:399) の説明は断定的です。4項目で約0.8秒はシリアル受信待ちの目安であり、書き込み・flush・通信・OSの遅延を含む厳密な上限ではありません。通常計測でも、停止指令は進行中の読み取り完了を待ちます。 + +**据え置きでよい** + +- `[]`・`None`・`-1`の正規化と、通信失敗／項目失敗を分けた集計は、上記の前提内で妥当です。 +- `PAD_MAX_READS=4`を記録作成前に検証する配置は妥当です。 +- `get_servo_data`未対応時の理由が追加されています。 +- 導入スクリプトの返事の構造確認、角度取得の再試行、入れ替え後の復旧案内、既導入時の確認は、R1の指摘を反映しています。 +- 指定された2.9.6ソースでは取得用命令だけを呼びます。既存コマンドの分岐は変更されていません。指定環境での`_read`復元方式とPython 3.6構文互換性にも、新たな問題は見つかりませんでした。 + +検証はdaemonの偽物テスト**12件成功**、シェル構文チェック成功です。計測側テストは一時ファイルを作るため、読み取り専用環境では実行していません。Pi接続・転送・実機操作は行っていません。 diff --git a/docs/review_result_20261107_read_servo_codex_r3.md b/docs/review_result_20261107_read_servo_codex_r3.md new file mode 100644 index 0000000..b928903 --- /dev/null +++ b/docs/review_result_20261107_read_servo_codex_r3.md @@ -0,0 +1,32 @@ +# codex レビュー結果 R3：daemon の read_servo（2026-11-07 依頼 109） + +依頼文: docs/review_request_20261107_read_servo_r3.md（codex exec -s read-only） + +R2の必須指摘は解消されています。初回診断を操作受付前に移す対応は妥当です。**必須の追加指摘はありませんが、接続の後始末に推奨事項が1点あります。** ファイルは変更していません。 + +**必須** + +なし。 + +**推奨** + +1. **初回診断後、gamepad側へ接続を引き継ぐ前に終了した場合も後始末してください。** + + [servo_current_probe.py:531](https://pixelstomotors.com/Users/shimazueiichi/r2r2r-scripts/tools/servo_current_probe.py:531) で開いた接続は、初回診断の失敗時には閉じられます。一方、診断成功後に`TermKeys.__enter__()`や、`gt.main()`の冒頭の記録フォルダ作成などで失敗すると、gamepad側の接続解放処理に到達しません。 + + また、初回診断の失敗時には、登録済みRPC observerと`pad_rpc.csv`の後始末も実行されません。通常の単独起動ではプロセス終了で回収されますが、同一プロセスから呼ぶ場合は接続やobserverが残ります。 + + `run_with_pad()`全体を覆う後始末を設け、引き継ぎ前の失敗でも接続・observer・CSVを解放することを推奨します。テストには「初回診断失敗」と「診断成功後、gamepad初期化前の失敗」を加えると確認できます。 + +**据え置きでよい** + +- 初回診断は`gt.main()`より前に完了し、`on_frame()`では計測スレッドを開始するため、R2の入力停止問題は解消されています。 +- `get_daemon_socket()`は既存接続を再利用するため、通常起動時の接続引き継ぎは妥当です。 +- 初回診断の失敗時に接続を閉じる処理と、診断をパッドのRPC集計から除外する処理は妥当です。 +- 不正な空の`regs`の拒否、`-1`の解釈に関する前提の明記、待ち時間を目安とする説明は、R2の指摘を反映しています。 +- daemonの既存コマンド分岐、読み取り専用の呼び出し、指定された2.9.6環境での`_read`復元方式について、追加の問題は見つかりませんでした。 + +検証はdaemonの偽物テスト**12件成功**、導入スクリプトのシェル構文チェック成功です。計測側10件は一時ファイルを作成するため、読み取り専用環境では実行していません。Piへの接続・転送・実機操作は行っていません。 + +## 反映（Claude Code） +- 推奨 1 を反映: run_with_pad の始めの 1 回から gamepad_teleop.main までを 1 つの try/finally で包み、どこで終わっても読み取りのスレッド・観察（rpc observer）・pad_rpc.csv を片付ける。gamepad_teleop の窓まで行かなかったときだけ、この道具がつながりを閉じる（窓まで行ったあとは gamepad_teleop.main の閉じ方のまま）。テスト test_cleanup_before_handover（始めの 1 回の失敗・gamepad_teleop の初めの失敗）を足した diff --git a/lab_train_fakes.sh b/lab_train_fakes.sh index 87a5d9f..8b8e861 100644 --- a/lab_train_fakes.sh +++ b/lab_train_fakes.sh @@ -69,13 +69,18 @@ POLL_SEC=${LAB_DRY_POLL_SEC:-1} NOTIFY_TITLE="$NOTIFY_TITLE (ドライラン)" # 偽物のチェックポイント (Pod 側の一覧と同じ中身を Hugging Face / scp で取ったことにする) -FAKE_CKPT_FILES=$'_CHECKPOINT_METADATA\t426\nassets/local/mecharm_redblock_box_teach_v1_trim2_corr_v3/norm_stats.json\t2120\nparams/_METADATA\t33052\nparams/d/0123abcd\t1048576\nparams/manifest.ocdbt\t118' -fake_make_ckpt() { # fake_make_ckpt フォルダ [ずらす] → FAKE_CKPT_FILES のとおりのファイルを作る +# assets の名前は作るモデルの学習データ (DATA_NAME. corr: ..._corr_v3 / corr2: ..._corr_v4b / corr3: ..._corr_v5). +# --stop は記録のモデルで use_model し直すので, 呼んだときの DATA_NAME で作る (依頼 109 D) +fake_ckpt_files() { + printf '_CHECKPOINT_METADATA\t426\nassets/local/%s/norm_stats.json\t2120\nparams/_METADATA\t33052\nparams/d/0123abcd\t1048576\nparams/manifest.ocdbt\t118\n' \ + "${DATA_NAME:-mecharm_redblock_box_teach_v1_trim2_corr_v3}" +} +fake_make_ckpt() { # fake_make_ckpt フォルダ [ずらす] → fake_ckpt_files のとおりのファイルを作る local d="$1" p n while IFS=$'\t' read -r p n; do [ "${2:-}" = shift ] && [ "$p" = params/manifest.ocdbt ] && n=$((n + 1)) mkdir -p "$d/$(dirname "$p")"; head -c "$n" /dev/zero > "$d/$p" - done <<<"$FAKE_CKPT_FILES" + done < <(fake_ckpt_files) } fake_n() { echo x >> "$LAB_DRY_ROOT/fake/$1.n"; wc -l < "$LAB_DRY_ROOT/fake/$1.n" | tr -d ' '; } @@ -138,11 +143,11 @@ pod_ssh() { esac ;; *": lt=list_ckpt"*|*": lt=ls_all"*) if [ "$LAB_FAKE_SCENARIO" = list_partial ] && [[ "$*" == *"lt=list_ckpt"* ]]; then - sed 's/^/F\t/' <<<"$FAKE_CKPT_FILES" | head -2; echo "find: './params/d': Input/output error"; return 1 + sed 's/^/F\t/' < <(fake_ckpt_files) | head -2; echo "find: './params/d': Input/output error"; return 1 fi if [ -f "$LAB_DRY_ROOT/fake/status.n" ] && [ "$LAB_FAKE_SCENARIO" != crash ] && [ "$LAB_FAKE_SCENARIO" != list_empty ] && [ "$LAB_FAKE_SCENARIO" != killed ] \ && [ "$LAB_FAKE_SCENARIO" != timeout ] && [ "$LAB_FAKE_SCENARIO" != stall ]; then - sed 's/^/F\t/' <<<"$FAKE_CKPT_FILES" + sed 's/^/F\t/' < <(fake_ckpt_files) fi ;; *"hf_upload_ckpt.py"*) if [ "$LAB_FAKE_SCENARIO" = hf_fail ]; then echo "HFUP error HfHubHTTPError: 401 Client Error"; return 6; fi diff --git a/logs/20261107_1420.md b/logs/20261107_1420.md new file mode 100644 index 0000000..77de8e4 --- /dev/null +++ b/logs/20261107_1420.md @@ -0,0 +1,38 @@ +# 2026-11-07 依頼 109：mechArm の関節と爪の電流が読めるかを確かめ、測る道具を作る + +## A. 読めるか（ソースで確かめた。アームは動かしていない） +Pi は今日つながらなかった（192.168.2.1:22 がタイムアウト）。なので、Pi と同じ pymycobot 2.9.6 を手元に取り寄せ（/tmp/pmc_x。読むだけ）、ソースで確かめた。あわせて 11-03 の servo_check の結果（diag/servo_check_20261103_071326）を見た。 + +- 関節の電流 `get_servo_currents()`（命令 0xE2）: 2.9.6 にある。説明は「mycobot 350 だけ」「0〜3250 mA」。返事の 12 バイトを 2 バイトずつ符号つきで読んで 6 個の数にする。返事がないと 0.1 秒待って `[]`。返事が 6 バイト（1 関節 1 バイト）の形なら、間違って 3 個の数になる。いまの pymycobot 4.0.5 の MechArm270 には、この関数がない（350 などにだけある）→ 270 のファームが答えるかは分からない。実機で確かめる +- 異常の印 `get_servo_status()`（0xE4）: 2.9.6 にある。[電圧, センサー, 温度, 電流, 角度, 過負荷]（0 = 正常）。11-03 はこの機体で `[0, 0, 0]`（6 バイトを 2 バイトずつ読んだ形） +- 同じ番号の仲間 get_servo_temps は 11-03 に `[6425, 5654, 6421]` = 0x1919・0x1616・0x1915。1 関節 1 バイトの 6 バイト（25,25,22,22,25,21 ℃）を 2.9.6 が 2 バイトずつ読み違えている。電流も 1 バイトずつで返ると読み違える → 道具では生のバイト列も残す +- `get_servo_data(id, 番地)`（0x53）: 1 つの番地を 1 回で読む。11-03 は番地 62 = 72〜74（0.1 V 単位で 7.4 V）・63 = 21〜26（℃）・65 = 0。Feetech STS の並びに合う → 番地 69/70（今の電流。STS3215 なら 1 = 6.5 mA）と 60/61（負荷。0.1% 単位・bit10 が向き）も読める見込み。爪は id 7（4.x の is_torque_gripper が get_servo_data(7, 1) を使う）。2.9.6 は 1 バイトずつしか読まないので、下位と上位を別々に読む +- 爪: 6 関節と同じ get_servo_currents には入らない（6 個だけ）。爪の電流は id 7 の番地 69/70 を読むしかない（未確認）。保護電流（GetGripperProtectCurrent 0x37。1〜500）は 4.x の MechArm270 にだけあり、2.9.6 にはない。0x37 は別の機種では JOG_INCREMENT_BASE_COORD（動かす命令）と同じ番号なので、生の 0x37 は送らない（決めてほしいこと） +- daemon（tools/pi/mecharm_daemon.py）には電流を読む命令がなかった → 読むだけの `read_servo` を足した（下） +- ぶつかり: daemon は 1 本ずつしかつながりを受けない（listen(1)・1 本を処理し終えるまで次を受けない）。別のプロセスから同時に読むことはできない。ゲームパッドと一緒に測るときは、同じプロセスで動かして鍵を共有する（run_policy_client の p と同じ形） +- 気づいたこと（直していない）: gamepad_teleop を単独で動かすと、送り口 `daemon_request` を鍵をかける前に読む（load_daemon_modules のあとに install_daemon_lock）。gamepad_teleop の send_angle・stop・get_angles は鍵を通らない。測る道具は、先に鍵をかけてから読ませるので、この問題はない + +## B. 作ったもの +- `tools/pi/mecharm_daemon.py`: `read_servo` を足した（純追記。消した行 0）。angles・currents は既定で読み、status・gripper・regs（[id, 番地] 32 個まで。id 1〜7・番地 0〜100）は頼んだときだけ読む。読み直さない。読めないときは value None・error（"no reply" は 2.9.6 が返す [] / -1）。raw=True で返事のバイト列 +- `tools/daemon_add_read_servo.sh`: Pi の daemon を持ち帰って KIOXIA の archive/ に写しを残す。11-05 の版（sha256 806336b6…）のときだけ置き換えて起動し直す。そのあと ping・get_angles・read_servo（角度が 6 個読めること）を確かめる。失敗したら戻すコマンドを出す +- `tools/servo_current_probe.py`: 読むだけ。始めに全部（電流・状態・爪の値・番地 sts の 28 個・バイト列）を 4 個ずつ 8 回で読んで first_read.json に残す。そのあと角度と電流を詰めて読み、samples.csv に書く（Mac の往復・Pi の中の時間・項目ごとの ms）。印はキー 1〜6・0、p で読むのを止める/再開。`--with-pad` は gamepad_teleop を同じプロセスで動かし、パッドの命令ごとに鍵の待ち（wait_ms）を pad_rpc.csv に書く（読んでいる間と止めた間を比べられる）。パッドと一緒のときは 1 回に読む数を 4 までにした。出力は `diag/servo_current_{日付}/{時刻}_{solo|pad}/`。KIOXIA がなければ止める +- テスト: tools/test_daemon_read_servo.py（12 件）・tools/test_servo_current_probe.py（11 件） +- codex: 3 回（docs/review_request_20261107_read_servo{,_r2,_r3}.md → docs/review_result_20261107_read_servo_codex{,_r2,_r3}.md）。R1 必須 2（始めの一括が 3 秒を超える・返事なしを成功の値にする）、R2 必須 1（始めの 1 回を窓の中で読むと停止を見ない）を反映。R3 は必須なし。推奨 1（窓まで行かずに終わったときの片付け）も反映した + +## 速さの見込み（実機では測っていない） +- 11-06 の記録（pi05_20261106_183926）: send_angle の rpc（送る + 角度を 1 回読む）0.032 秒・set_gripper_value（返事を読まない）0.013 秒 → 1 回読むのは 15〜20 ms ほど +- read_servo（角度 + 電流）: 両方答えれば 1 回 30〜45 ms → 20〜30 Hz。電流が答えなければ、毎回 0.1 秒待つ → 7 Hz ほど（そのときは --no-currents で番地を読む。爪の 69/70 なら角度 + 2 個で 15〜20 Hz の見込み） +- ゲームパッド: 命令は、読んでいる最中の 1 回が終わるまで鍵を待つ。最大で 1 回分（答えれば約 40 ms、答えない項目があれば 1 つにつき 0.1〜0.2 秒）。記録（run_policy_client の 10 Hz の角度）に足すなら、角度と電流を 1 回の read_servo で読めば、問い合わせの数は今と同じ + +## D. 学習のテストの偽物の assets +- lab_train_fakes.sh: 偽物のチェックポイントの assets の名前を、作るモデルの学習データ（DATA_NAME）にした（corr: ..._corr_v3 / corr2: ..._corr_v4b / corr3: ..._corr_v5）。--stop でモデルを読み直したあとの名前で作るよう、呼んだときに作る関数にした。本番の流れ（lab_train.sh・lab_lib.sh）は変えていない +- test_lab_train.sh: 12b・12c に assets の名前の確かめを 2 件足した → OK 216 / NG 0（足した 2 件を含む） + +## テスト +- test_lab_train.sh 216/0・test_lab_start.sh 153/0 +- pi05/test_*.py 9 本・test_provenance.py・tools/test_servo_check_pi.py・place_modules/tests 4 本・新しい 2 本: すべて OK +- tools/test_gamepad_teleop.py: 90 件中 1 件 NG（test_daemon_arm_step_not_moved_returns_and_resends の「1 秒より短く」が 1.03〜1.04 秒）。このテストが読むファイルには触っていない。HEAD の写しでも試そうとしたが、git にないファイル（auto_detect_cameras.py）がないので動かせなかった +- experiments/test_top_cam_dual_open.py は実機カメラを使う確かめなので流していない + +## 変えたファイル +tools/pi/mecharm_daemon.py・lab_train_fakes.sh・test_lab_train.sh（変更）、tools/daemon_add_read_servo.sh・tools/servo_current_probe.py・tools/test_daemon_read_servo.py・tools/test_servo_current_probe.py・docs/review_request_20261107_read_servo*.md（3）・docs/review_result_20261107_read_servo_codex*.md（3）・logs/20261107_1420.md（新規） diff --git a/test_lab_train.sh b/test_lab_train.sh index 4bf9c55..d0f84fd 100755 --- a/test_lab_train.sh +++ b/test_lab_train.sh @@ -204,6 +204,7 @@ P2="$TD/train_provenance.json" check "由来: 入力は corr_v4b と corr の 1499 (KIOXIA の原本・指紋・Hugging Face の元)" '[ "$(jq -r ".inputs[0].id" "$P2")" = mecharm_redblock_box_teach_v1_trim2_corr_v4b ] && [ "$(jq -r ".inputs[1] | [.kind,.id,.path,.hf_repo,.pod_path] | join(\" \")" "$P2")" = "checkpoint pi05_mecharm_trim_corr_lora_v1/1499 checkpoints/pi05_mecharm_trim_corr_lora_v1/1499 PixelstoMotors/pi05-mecharm-trim-corr-lora-v1 /workspace/ckpt/corr_v1_1499/params" ] && [ "$(jq -r ".inputs[1].fingerprint" "$P2")" = "$(python3 "$HERE/provenance.py" fingerprint "$T/data/checkpoints/pi05_mecharm_trim_corr_lora_v1/1499")" ]' check "由来: 設定・出力・チェックポイント側と Hugging Face にも同じもの" '[ "$(jq -r ".config | [.name,.exp_name,.init_params,.data_name] | join(\" \")" "$P2")" = "pi05_mecharm_trim_corr_v4_lora trim_corr_v4 /workspace/ckpt/corr_v1_1499/params mecharm_redblock_box_teach_v1_trim2_corr_v4b" ] && [ "$(jq -r ".outputs[0] | [.path,.hf_repo] | join(\" \")" "$P2")" = "checkpoints/pi05_mecharm_trim_corr_lora_v2/1499 PixelstoMotors/pi05-mecharm-trim-corr-lora-v2" ] && cmp -s "$P2" "$CK2/1499/train_provenance.json" && has calls.log "hf upload PixelstoMotors/pi05-mecharm-trim-corr-lora-v2 train_provenance.json"' check "由来: argv に --model corr2" 'jq -e ".producer.argv | index(\"corr2\")" "$P2" >/dev/null' +check "偽物のチェックポイントの assets は corr_v4b の名前 (依頼 109 D)" '[ -f "$CK2/1499/assets/local/mecharm_redblock_box_teach_v1_trim2_corr_v4b/norm_stats.json" ] && [ ! -e "$CK2/1499/assets/local/mecharm_redblock_box_teach_v1_trim2_corr_v3" ]' rm -rf "$T" T=$(mktemp -d); mkdir -p "$T/data/lab/LogT/train" "$T/fake" jq -n '{id:"dryrunpod0001", kind:"train", model:"corr2", config:"pi05_mecharm_trim_corr_v4_lora", gpu:"NVIDIA A40", costPerHr:0.44, created_epoch:1793449178, created_at:"2026-10-31 21:19:38", exp:"trim_corr_v4", train_started_epoch:1793449300}' > "$T/data/lab/LogT/train/lab_pod.json" @@ -226,6 +227,7 @@ check "記録 lab_pod.json に model・設定・exp・init" '[ "$(jq -r "[.model P3="$TD/train_provenance.json" check "由来: 入力は corr_v5 と corr2 の 1499 (KIOXIA の原本・指紋・Hugging Face の元)" '[ "$(jq -r ".inputs[0].id" "$P3")" = mecharm_redblock_box_teach_v1_trim2_corr_v5 ] && [ "$(jq -r ".inputs[1] | [.kind,.id,.path,.hf_repo,.pod_path] | join(\" \")" "$P3")" = "checkpoint pi05_mecharm_trim_corr_lora_v2/1499 checkpoints/pi05_mecharm_trim_corr_lora_v2/1499 PixelstoMotors/pi05-mecharm-trim-corr-lora-v2 /workspace/ckpt/corr_v2_1499/params" ] && [ "$(jq -r ".inputs[1].fingerprint" "$P3")" = "$(python3 "$HERE/provenance.py" fingerprint "$T/data/checkpoints/pi05_mecharm_trim_corr_lora_v2/1499")" ]' check "由来: 設定・出力・チェックポイント側と Hugging Face にも同じもの" '[ "$(jq -r ".config | [.name,.exp_name,.init_params,.data_name] | join(\" \")" "$P3")" = "pi05_mecharm_trim_corr_v5_lora trim_corr_v5 /workspace/ckpt/corr_v2_1499/params mecharm_redblock_box_teach_v1_trim2_corr_v5" ] && [ "$(jq -r ".outputs[0] | [.path,.hf_repo] | join(\" \")" "$P3")" = "checkpoints/pi05_mecharm_trim_corr_lora_v3/1499 PixelstoMotors/pi05-mecharm-trim-corr-lora-v3" ] && cmp -s "$P3" "$CK3/1499/train_provenance.json" && has calls.log "hf upload PixelstoMotors/pi05-mecharm-trim-corr-lora-v3 train_provenance.json"' +check "偽物のチェックポイントの assets は corr_v5 の名前 (依頼 109 D)" '[ -f "$CK3/1499/assets/local/mecharm_redblock_box_teach_v1_trim2_corr_v5/norm_stats.json" ] && [ ! -e "$CK3/1499/assets/local/mecharm_redblock_box_teach_v1_trim2_corr_v3" ]' rm -rf "$T" T=$(mktemp -d); mkdir -p "$T/data/lab/LogT/train" "$T/fake" jq -n '{id:"dryrunpod0001", kind:"train", model:"corr3", config:"pi05_mecharm_trim_corr_v5_lora", gpu:"NVIDIA A40", costPerHr:0.44, created_epoch:1793449178, created_at:"2026-10-31 21:19:38", exp:"trim_corr_v5", train_started_epoch:1793449300}' > "$T/data/lab/LogT/train/lab_pod.json" diff --git a/tools/daemon_add_read_servo.sh b/tools/daemon_add_read_servo.sh new file mode 100755 index 0000000..10462cf --- /dev/null +++ b/tools/daemon_add_read_servo.sh @@ -0,0 +1,95 @@ +#!/bin/bash +# daemon_add_read_servo.sh — Pi の mecharm_daemon.py に「read_servo」(電流などを読むだけ) を足した版を置いて起動し直す (2026-11-07 依頼 109) +# +# tools/daemon_add_read_servo.sh +# +# なぜ: 関節と爪の電流が読めるか・どれだけ速く読めるかを tools/servo_current_probe.py で測るため. +# 今の daemon には電流を読む命令がない. daemon がシリアルを握っているので, 別のプロセスからポートを開かない. +# 足す命令: {"cmd": "read_servo", ...} → get_angles / get_servo_currents / get_servo_status / get_gripper_value / +# get_servo_data を頼まれた分だけ 1 回ずつ呼ぶ (読むだけ. アームにも爪にも送らない). +# ほかの命令は 1 文字も変えない (unknown cmd の else の直前に足し, 関数を 2 つ足すだけ). +# 流れ: +# 1. Pi で今動いている /home/ubuntu/mecharm_daemon.py を Mac に持ち帰り, KIOXIA の archive/ に写しを残す +# 2. 持ち帰ったものが 11-05 の版 (tools/daemon_fast_read.sh のあと. sha256 806336b6…) なら tools/pi/mecharm_daemon.py を置く. +# すでに tools/pi/mecharm_daemon.py と同じなら置かない. どちらでもなければ止まる (Pi で誰かが変えている) +# 3. Pi へ一時名で送ってから入れ替え, systemd で起動し直し, ping・get_angles・read_servo が返事をするか確かめる +# うまくいかなければ, 元に戻すコマンドを出して止まる +# 流す前に: ゲームパッドなど daemon を使うものを止め, アームを HOME など安全な姿勢にしておく +# (daemon を起動し直すと MyCobot の初期化が走る) +set -u +PI=ubuntu@192.168.2.1 +KEY="$HOME/.ssh/id_rsa_pi" +SSH=(ssh -n -i "$KEY" -o ConnectTimeout=5 "$PI") +UNIT=mecharm-daemon.service +HERE="$(cd "$(dirname "$0")" && pwd)" +NEW="$HERE/pi/mecharm_daemon.py" +BEFORE_SHA=806336b6e55e3d4e6d7cf8941f88741cf28b604cef43addb941694e574212c81 # 11-05 の版 (c7992ca の tools/pi/mecharm_daemon.py) +DATA_ROOT=/Volumes/KIOXIA/r2r2r-data +[ -d "$DATA_ROOT/archive" ] || { echo "ABORT: $DATA_ROOT/archive がない (KIOXIA がマウントされていない?)"; exit 1; } +grep -q 'cmd == "read_servo"' "$NEW" || { echo "ABORT: $NEW に read_servo がない"; exit 1; } +python3 -c "import sys; compile(open(sys.argv[1], encoding='utf-8').read(), 'mecharm_daemon.py', 'exec')" "$NEW" || { echo "ABORT: $NEW の構文が通らない"; exit 1; } +STAMP=$(date +%Y%m%d_%H%M%S) +BK="$DATA_ROOT/archive/mecharm_daemon_premerge_readservo_$STAMP" +mkdir "$BK" || exit 1 +WORK=$(mktemp -d) + +scp -i "$KEY" -q -o ConnectTimeout=5 "$PI:/home/ubuntu/mecharm_daemon.py" "$WORK/before.py" || { echo "ABORT: Pi から持ち帰れない"; exit 1; } +cp "$WORK/before.py" "$BK/mecharm_daemon.py" || { echo "ABORT: 写しを残せない (Pi の daemon は変えていません)"; exit 1; } +echo "今の daemon の写し: $BK/mecharm_daemon.py" +SHA=$(shasum -a 256 "$WORK/before.py" | cut -d' ' -f1) +NEW_SHA=$(shasum -a 256 "$NEW" | cut -d' ' -f1) +RESTORE="scp -i $KEY $BK/mecharm_daemon.py $PI:/home/ubuntu/mecharm_daemon.py && ssh -i $KEY $PI sudo systemctl restart $UNIT" +fail() { echo "ABORT: $1"; echo "元に戻すには: $RESTORE"; exit 1; } +ALREADY=no +if [ "$SHA" = "$NEW_SHA" ]; then + echo "Pi の daemon はもう read_servo の版です。置き直さず, 起動し直さず, 返事だけ確かめます" + ALREADY=yes +fi +[ "$ALREADY" = yes ] || [ "$SHA" = "$BEFORE_SHA" ] || { echo "ABORT: Pi の daemon が 11-05 の版でも新しい版でもない (sha256 $SHA). Pi の daemon は変えていません"; exit 1; } +if [ "$ALREADY" = no ]; then +cp "$NEW" "$BK/mecharm_daemon_with_read_servo.py" || exit 1 +echo "--- 差分" +diff "$WORK/before.py" "$NEW" + +scp -i "$KEY" -q -o ConnectTimeout=5 "$NEW" "$PI:/home/ubuntu/mecharm_daemon.py.new" || { echo "ABORT: Pi へ送れない (Pi の daemon は変えていません)"; exit 1; } +"${SSH[@]}" "python3 -m py_compile /home/ubuntu/mecharm_daemon.py.new" \ + || { echo "ABORT: Pi で構文が通らない (Pi の daemon は変えていません)"; exit 1; } +# mv のあとに ssh が切れても入れ替わっているかもしれないので, ここからは戻し方を出す (codex R1 推奨) +"${SSH[@]}" "mv /home/ubuntu/mecharm_daemon.py.new /home/ubuntu/mecharm_daemon.py" \ + || fail "Pi で入れ替えられない (入れ替わったかは分からない. 起動し直していないので, 動いている daemon は前の版のまま)" +"${SSH[@]}" "sudo systemctl restart $UNIT" || fail "systemctl restart が失敗した" +UP=no +for i in 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15; do + sleep 2 + "${SSH[@]}" "ss -ltn | grep -q ':5555 '" && { UP=yes; break; } +done +[ "$UP" = yes ] || fail "30 秒たっても 5555 が開かない" +fi +python3 - <<'PY' +import json, socket +s = socket.create_connection(("192.168.2.1", 5555), timeout=5) +f = s.makefile("rwb") +import time +for c in ({"cmd": "ping"}, {"cmd": "get_angles"}, + {"cmd": "read_servo", "status": True, "gripper": True, "raw": True}): + for attempt in range(5): # read_servo は読み直さないので, 角度が空で返ったら 5 回まで頼み直す + f.write((json.dumps(c) + "\n").encode()); f.flush() + r = json.loads(f.readline().decode()) + a = (r.get("items", {}).get("angles") or {}).get("value") if c["cmd"] == "read_servo" else None + if c["cmd"] != "read_servo" or (isinstance(a, list) and len(a) == 6): + break + time.sleep(0.2) + print(c["cmd"], "→", r) + assert r.get("ok"), c["cmd"] + " が ok を返さない" + if c["cmd"] == "read_servo": + # 返事の形を確かめる (電流は読めなくてもよい. 読めるかを測るのがこの先の仕事. codex R1 推奨) + items = r.get("items", {}) + assert set(items) == {"angles", "currents", "status", "gripper_value"}, "read_servo の items が足りない" + a = items["angles"].get("value") + assert isinstance(a, list) and len(a) == 6, "read_servo で角度が読めない: " + repr(items["angles"]) + for k in ("currents", "status", "gripper_value"): + print(" ", k, "=", items[k].get("value"), "" if not items[k].get("error") else "(" + items[k]["error"] + ")") +s.close() +PY +[ $? = 0 ] || fail "ping か get_angles か read_servo が ok を返さない" +echo "できました。記録: $BK" diff --git a/tools/pi/mecharm_daemon.py b/tools/pi/mecharm_daemon.py index 6df4b30..2e9f172 100644 --- a/tools/pi/mecharm_daemon.py +++ b/tools/pi/mecharm_daemon.py @@ -64,6 +64,127 @@ def read_angles_once_for_log(): return a if isinstance(a, (list, tuple)) and len(a) == 6 else None +# ---- 2026-11-07 依頼 109: 電流などを読むだけの命令 read_servo (純追記) ---------------------- +# アームと爪には何も送らない. pymycobot の読む関数 (get_angles / get_servo_currents / get_servo_status / +# get_gripper_value / get_servo_data) だけを, 頼まれた順に 1 回ずつ呼ぶ. 読み直さない・待たない. +# 読めなかった項目は値 None と error を返す (ok=True のまま. get_angles_once と同じ. 呼び出し側が例外にしないため). +# 2.9.6 は返事がないとき 例外にせず, リストを返す関数は [] を, 1 つの値を返す関数は -1 を返す. +# これも読めなかったとして value None・error "no reply"・returned (返ってきた値そのまま) にする (codex R1 必須 2). +# 前提 (この機体で確かめていない. codex R2): 番地の値は 1 バイトで返る (ff は 255 になり -1 にならない). +# 2 バイトの ffff が返る形だと符号つきで -1 になり, 返事なしと見分けられない. raw=True のバイト列で確かめる. +# 2.9.6 の read は返事がないと 1 回 0.1 秒ほど待つ (途中まで返ると 0.2 秒近く). 頼む数を増やすと, その分 +# daemon がほかの命令 (ゲームパッドの stop も) を受けるのが遅れる. 呼び出し側で数を絞る (codex R1 必須 1). +# 頼み方がおかしいとき (regs の形・番号の範囲) だけ ok=False で, そのときは何も読まない. +# {"cmd": "read_servo", "angles": true, "currents": true, "status": false, "gripper": false, +# "regs": [[servo_id, addr], ...], "raw": false} +# angles / currents は既定で読む. status / gripper / regs は頼んだときだけ. +# regs: get_servo_data(servo_id, addr) を 1 つずつ (servo_id 1〜7. 7 = 爪. addr 0〜100. 32 個まで). +# この版の get_servo_data は番地を 1 つ渡すだけなので, 2 バイトの値は下位と上位の番地を別々に頼む. +# raw: 返ってきたバイト列 (16 進) も返す (形の分からない返事を確かめる用). +# 返事: {"ok": true, "t": Pi の時刻, "total_ms": ..., "items": {名前: {"value": ..., "ms": ..., ("error"), ("raw")}}, +# "regs": [[servo_id, addr, value, ms], ...]} +SERVO_READ_MAX_REGS = 32 + + +def _servo_read_one(fn, args, want_raw, no_reply=None): + """読む関数を 1 回だけ呼ぶ. 返事のバイト列は _read を一時的に包んで写す (daemon は 1 件ずつなので混ざらない). + no_reply: 2.9.6 が返事のないときに返す値 ([] か -1). これが返ったら value None・error にする.""" + item = {} + cap = [] + if want_raw: + orig = _mc._read + + def _cap_read(*a, **k): + d = orig(*a, **k) + cap.append(d) + return d + _mc._read = _cap_read + t0 = time.perf_counter() + try: + v = fn(*args) + if isinstance(v, tuple): + v = list(v) + if v is None or (no_reply is not None and v == no_reply): + item["value"] = None + item["error"] = "no reply" + item["returned"] = v + else: + item["value"] = v + except Exception as e: + item["value"] = None + item["error"] = f"{type(e).__name__}: {e}" + finally: + item["ms"] = round((time.perf_counter() - t0) * 1000.0, 2) + if want_raw: + del _mc._read # インスタンスに置いた包みを外す (クラスの _read に戻る) + item["raw"] = [d.hex() if isinstance(d, (bytes, bytearray)) else repr(d) for d in cap] + try: + json.dumps(item["value"]) + except (TypeError, ValueError): + item["value"] = repr(item["value"])[:200] + return item + + +def handle_servo_read(cmd_obj): + regs = cmd_obj.get("regs") + if regs is None: # 頼まないのは「ない」か None だけ ({}・""・0 は形がおかしいとして断る. codex R2) + regs = [] + if not isinstance(regs, (list, tuple)) or len(regs) > SERVO_READ_MAX_REGS: + return {"ok": False, "error": f"regs must be a list of at most {SERVO_READ_MAX_REGS} [servo_id, addr]"} + pairs = [] + for r in regs: + try: + if not isinstance(r, (list, tuple)) or len(r) != 2: + raise ValueError("length") + # 整数だけ (1.9 を 1 に丸めて読まない. True も数にしない. codex R1 推奨) + if not all(isinstance(x, int) and not isinstance(x, bool) for x in r): + raise TypeError("not int") + sid, addr = r + except (TypeError, ValueError): + return {"ok": False, "error": f"bad reg: {r!r}"} + if not (1 <= sid <= 7) or not (0 <= addr <= 100): + return {"ok": False, "error": f"reg out of range (servo_id 1..7, addr 0..100): {r!r}"} + pairs.append((sid, addr)) + want_raw = bool(cmd_obj.get("raw", False)) + plan = [] + if cmd_obj.get("angles", True): + plan.append(("angles", "get_angles", [])) + if cmd_obj.get("currents", True): + plan.append(("currents", "get_servo_currents", [])) + if cmd_obj.get("status", False): + plan.append(("status", "get_servo_status", [])) + if cmd_obj.get("gripper", False): + plan.append(("gripper_value", "get_gripper_value", -1)) + t_start = time.perf_counter() + t_wall = time.time() + items = {} + for key, name, no_reply in plan: + fn = getattr(_mc, name, None) + if fn is None: + items[key] = {"value": None, "ms": 0.0, "error": f"{name} is not available in this pymycobot environment"} + continue + items[key] = _servo_read_one(fn, (), want_raw, no_reply) + out_regs = [] + raw_regs = [] + if pairs: + fn = getattr(_mc, "get_servo_data", None) + for sid, addr in pairs: + if fn is None: + out_regs.append([sid, addr, None, 0.0]) + raw_regs.append({"servo_id": sid, "addr": addr, "raw": None, + "error": "get_servo_data is not available in this pymycobot environment"}) + continue + it = _servo_read_one(fn, (sid, addr), want_raw, -1) + out_regs.append([sid, addr, it["value"], it["ms"]]) + if want_raw or "error" in it: + raw_regs.append({"servo_id": sid, "addr": addr, "raw": it.get("raw"), "error": it.get("error")}) + resp = {"ok": True, "t": t_wall, "total_ms": round((time.perf_counter() - t_start) * 1000.0, 2), + "items": items, "regs": out_regs} + if raw_regs: + resp["regs_detail"] = raw_regs + return resp + + def handle_command(cmd_obj): """コマンドを処理してレスポンス dict を返す。""" global _fresh_mode_state @@ -259,6 +380,10 @@ def handle_command(cmd_obj): return {"ok": False, "error": f"stop failed: {res}"} return {"ok": True, "result": res} + # 2026-11-07 依頼 109: 関節と爪の電流を読む (読むだけ. 純追記). handle_servo_read の説明を参照. + elif cmd == "read_servo": + return handle_servo_read(cmd_obj) + else: return {"ok": False, "error": f"unknown cmd: {cmd}"} diff --git a/tools/servo_current_probe.py b/tools/servo_current_probe.py new file mode 100755 index 0000000..4ee2c50 --- /dev/null +++ b/tools/servo_current_probe.py @@ -0,0 +1,626 @@ +#!/usr/bin/env python3 +"""servo_current_probe.py — mechArm の関節と爪の電流 (と同じ時刻の角度) を読める限り速く読み, CSV に残す (依頼 109. 2026-11-07) + +アームと爪には何も送らない. daemon の read_servo (tools/daemon_add_read_servo.sh で足す. 読むだけ) を繰り返し呼ぶだけ. +daemon は 1 本ずつしかつながりを受けないので, ゲームパッドと一緒に測るときは --with-pad で +tools/gamepad_teleop.py をこのプロセスの中で動かす (run_policy_client の p と同じ形. 送り方・守りは gamepad_teleop のまま). +そのときは daemon とのやりとりに 1 つの鍵をかけ (policy_recorder.install_daemon_lock), ゲームパッドの命令が +鍵を待った時間 (wait_ms) とやりとりの長さ (rpc_ms) を pad_rpc.csv に残す. p キーで読むのを止める/再開でき, +読んでいる間と止めている間の wait_ms を比べられる. + + python3 tools/servo_current_probe.py --seconds 10 # 静止で 10 秒だけ読む (アームは手で触らない) + python3 tools/servo_current_probe.py # q で終わるまで読む. 手でアームを押すなど + python3 tools/servo_current_probe.py --with-pad # ゲームパッドで動かしながら読む (ウィンドウを閉じると終わる) + python3 tools/servo_current_probe.py --regs sts # 電流の関数が読めないとき: サーボの番地 69/70 (電流) と 60/61 (負荷) も読む + +印 (ターミナルで 1 文字. --with-pad のときはゲームパッドの窓が手前でも受け付ける): + 1 静止 2 爪を空で閉じた 3 つかんだ 4 引っ張った 5 離した 6 アームを押した 0 そのほか + p 読むのを止める/再開 q 終わる (--with-pad のときはウィンドウを閉じる) + +始めに 1 回だけ, 読めるものを全部 (電流・状態・爪の値・サーボの番地 sts の 28 個・返事のバイト列) 読んで +first_read.json に残し, 画面に出す. 電流の関数が返す形はこの機体で確かめていない (2.9.6 の説明は「mycobot 350 だけ」). +サーボの番地 (60/61 負荷・69/70 電流) は Feetech STS 想定の値で, この機体で確かめていない. 生の値をそのまま残す. + +出力: /Volumes/KIOXIA/r2r2r-data/diag/servo_current_{YYYYMMDD}/{HHMMSS}_{solo|pad}/ + samples.csv 1 回の読み取りごとに 1 行 (Mac の時刻・往復・Pi の中の時間・角度・電流・印) + marks.csv 印 (時刻・キー・名前) + pad_rpc.csv (--with-pad) ゲームパッドの命令 1 つごとに 鍵の待ち・やりとりの長さ・読むのを止めていたか + first_read.json 始めの 1 回 / summary.json 回数・Hz・往復の中央値など / servo_current_probe.py (使った写し) + ゲームパッドの押した記録は今までどおり runs/experiments/gamepad_teleop/teleop_*/ (summary.json に場所を書く) +""" +import argparse +import csv +import json +import os +import queue +import select +import shutil +import socket +import statistics +import sys +import threading +import time +from datetime import datetime +from pathlib import Path + +DAEMON_HOST = "192.168.2.1" +DAEMON_PORT = 5555 +RPC_TIMEOUT_SEC = 3.0 +SSD_MOUNT = "/Volumes/KIOXIA" +OUT_ROOT = Path(SSD_MOUNT) / "r2r2r-data" / "diag" +GAP_SOLO_SEC = 0.0 # 読み取りの間にあける時間 (ひとりのときは詰めて読む) +GAP_PAD_SEC = 0.01 # ゲームパッドと一緒のとき. 鍵を手放してすぐ取り直さないよう少しあける +STS_REGS = [(sid, addr) for sid in range(1, 8) for addr in (60, 61, 69, 70)] # 7 = 爪 +# 1 回の read_servo で読む数の上限. 2.9.6 は返事がないと 1 つにつき 0.1〜0.2 秒待ち, その間 daemon は +# ゲームパッドの命令 (stop も) を受けない (codex R1 必須 1). 始めの 1 回もこの数ずつに分けて頼む. +FIRST_CHUNK = 4 +PAD_MAX_READS = 4 # --with-pad のとき 毎回読む数 (角度・電流・状態・爪・番地の合計) の上限 +MARKS = {"1": "static", "2": "close_empty", "3": "grasp", "4": "pull", "5": "release", "6": "push_arm", "0": "other"} +SUMMARY_EVERY_SEC = 2.0 + + +def ensure_ssd_mounted(): + if not os.path.ismount(SSD_MOUNT): + sys.exit("[ABORT] KIOXIA がマウントされていません。記録をローカルには逃がさず、ここで止めます。") + + +# ============================================================================= +# daemon とのやりとり +# ============================================================================= + +class SoloClient: + """ひとりで daemon につなぐ (ゲームパッドなど, ほかに daemon を使うものを止めてから).""" + + def __init__(self, host=DAEMON_HOST, port=DAEMON_PORT, timeout=RPC_TIMEOUT_SEC): + self.sock = socket.create_connection((host, port), timeout=timeout) + self.sock.settimeout(timeout) + self.buf = b"" + + def request(self, obj): + self.sock.sendall((json.dumps(obj) + "\n").encode("utf-8")) + while b"\n" not in self.buf: + d = self.sock.recv(65536) + if not d: + raise RuntimeError("daemon がつながりを閉じた") + self.buf += d + line, self.buf = self.buf.split(b"\n", 1) + return json.loads(line.decode("utf-8")) + + def close(self): + try: + self.sock.close() + except Exception: + pass + + +def read_cmd(currents=True, status=False, gripper=False, regs=(), raw=False): + return {"cmd": "read_servo", "angles": True, "currents": bool(currents), "status": bool(status), + "gripper": bool(gripper), "regs": [list(r) for r in regs], "raw": bool(raw)} + + +def check_first(resp): + """始めの 1 回の返事を確かめる. daemon に read_servo がなければ止める (何も送っていない).""" + if not isinstance(resp, dict): + sys.exit(f"[ABORT] daemon の返事の形がおかしい: {resp!r}") + if not resp.get("ok"): + err = str(resp.get("error", "")) + if "unknown cmd" in err: + sys.exit("[ABORT] daemon に read_servo がありません。先に tools/daemon_add_read_servo.sh を流してください") + sys.exit(f"[ABORT] read_servo が ok を返しません: {err}") + + +def describe_first(resp): + """始めの 1 回を人が読める形にする (画面と first_read.json の notes).""" + lines = [] + items = resp.get("items", {}) + for k in ("angles", "currents", "status", "gripper_value"): + it = items.get(k) + if it is None: + continue + s = f"{k:14s} {it.get('value')!r} ({it.get('ms')} ms)" + if it.get("error"): + s += f" error={it['error']}" + if it.get("raw"): + s += f" raw={it['raw']}" + lines.append(s) + regs = resp.get("regs") or [] + by_sid = {} + for sid, addr, val, ms in regs: + by_sid.setdefault(sid, []).append(f"{addr}:{'返事なし' if val is None else val}") + for sid in sorted(by_sid): + name = "爪" if sid == 7 else f"j{sid - 1}" + lines.append(f"servo {sid} ({name}) " + " ".join(by_sid[sid])) + if regs: + lines.append(f"番地 1 つの読み取り: 中央値 {statistics.median(r[3] for r in regs):.1f} ms") + lines.append(f"Pi の中の合計 {resp.get('total_ms')} ms") + return lines + + +# ============================================================================= +# 読み取りのスレッド +# ============================================================================= + +def flat_currents(v): + """電流の値を 6 列に. 6 個の数のリストでなければ None (生の形は currents_raw 列に残す).""" + if isinstance(v, list) and len(v) == 6 and all(isinstance(x, (int, float)) for x in v): + return v + return None + + +SAMPLE_COLS = (["i", "t_mac_send", "t_mac_recv", "rtt_ms", "wait_ms", "t_pi", "pi_total_ms", + "angles_ms", "currents_ms"] + + [f"j{k}" for k in range(6)] + [f"cur{k}" for k in range(6)] + + ["currents_raw", "gripper_value", "status", "regs", "error", "mark"]) + + +class Prober: + def __init__(self, request_fn, out_dir, cmd, gap_sec, out=print, wait_of_last=None): + self.request_fn = request_fn + self.cmd = cmd + self.gap = gap_sec + self.out = out + self.wait_of_last = wait_of_last # --with-pad: 直前のやりとりで鍵を待った秒 (同じスレッド) + self.stop_flag = threading.Event() + self.paused = threading.Event() + self.marks = queue.Queue() + self.mark_lock = threading.Lock() # ターミナルとゲームパッドの窓の両方から呼ばれる + self.n = 0 + self.n_err = 0 # やりとりそのものの失敗 (つながらない・ok=False) + self.n_item_err = 0 # やりとりはできたが, どれかの項目が読めなかった (返事なしなど) + self.n_cur_ok = 0 + self.rtts = [] + self.pi_totals = [] + self.item_ms = {"angles": [], "currents": []} + self.t_first = self.t_last = None + self.f = open(Path(out_dir) / "samples.csv", "x", newline="", encoding="utf-8") + self.w = csv.writer(self.f) + self.w.writerow(SAMPLE_COLS) + self.mf = open(Path(out_dir) / "marks.csv", "x", newline="", encoding="utf-8") + self.mw = csv.writer(self.mf) + self.mw.writerow(["t_mac", "key", "name", "sample_i"]) + self.thread = threading.Thread(target=self._loop, name="probe", daemon=True) + + def mark(self, key): + name = MARKS.get(key) + if name is None: + return False + t = time.time() + with self.mark_lock: + if self.mf.closed: + return False + self.mw.writerow([f"{t:.6f}", key, name, self.n]) + self.mf.flush() + self.marks.put(name) + self.out(f"[印] {key} {name} ({datetime.fromtimestamp(t).strftime('%H:%M:%S.%f')[:-3]})") + return True + + def toggle_pause(self): + if self.paused.is_set(): + self.paused.clear() + self.out("[再開] 読みます") + else: + self.paused.set() + self.out("[止めた] 読むのを止めています (p で再開)") + + def start(self): + self.thread.start() + + def stop(self, join_sec=5.0): + self.stop_flag.set() + if self.thread.is_alive(): + self.thread.join(join_sec) + with self.mark_lock: + for fh in (self.f, self.mf): + try: + fh.close() + except Exception: + pass + + def _loop(self): + last_print = time.time() + while not self.stop_flag.is_set(): + if self.paused.is_set(): + time.sleep(0.05) + continue + mark = [] + while not self.marks.empty(): + mark.append(self.marks.get_nowait()) + t0 = time.time() + resp, err = None, "" + try: + resp = self.request_fn(self.cmd) + except Exception as e: + err = f"{type(e).__name__}: {e}" + t1 = time.time() + wait = self.wait_of_last() if self.wait_of_last is not None else None + self.write_row(t0, t1, wait, resp, err, mark) + if t1 - last_print >= SUMMARY_EVERY_SEC: + last_print = t1 + self.out(self.status_line()) + if self.gap > 0: + time.sleep(self.gap) + + def write_row(self, t0, t1, wait, resp, err, mark): + items = (resp or {}).get("items", {}) if isinstance(resp, dict) else {} + ang = (items.get("angles") or {}).get("value") + cur_it = items.get("currents") or {} + cur = flat_currents(cur_it.get("value")) + if not err and isinstance(resp, dict) and not resp.get("ok"): + err = str(resp.get("error")) + if not err and not isinstance(resp, dict): + err = f"bad response: {resp!r}"[:200] + transport_err = bool(err) + errs = [f"{k}:{v['error']}" for k, v in items.items() if isinstance(v, dict) and v.get("error")] + regs_none = sum(1 for r in ((resp or {}).get("regs") or []) if isinstance(resp, dict) and r[2] is None) + if regs_none: + errs.append(f"regs:{regs_none} no reply") + if errs: + err = (err + " " if err else "") + " ".join(errs) + rtt = (t1 - t0) * 1000.0 + row = [self.n, f"{t0:.6f}", f"{t1:.6f}", f"{rtt:.2f}", "" if wait is None else f"{wait * 1000.0:.2f}", + f"{resp['t']:.6f}" if isinstance(resp, dict) and isinstance(resp.get("t"), (int, float)) else "", + (resp or {}).get("total_ms", "") if isinstance(resp, dict) else "", + (items.get("angles") or {}).get("ms", ""), cur_it.get("ms", "")] + row += ([f"{float(v):.2f}" for v in ang] if isinstance(ang, list) and len(ang) == 6 else [""] * 6) + row += (list(cur) if cur is not None else [""] * 6) + row += ["" if cur is not None or "value" not in cur_it else json.dumps(cur_it.get("value")), + json.dumps((items.get("gripper_value") or {}).get("value")) if "gripper_value" in items else "", + json.dumps((items.get("status") or {}).get("value")) if "status" in items else "", + json.dumps((resp or {}).get("regs")) if isinstance(resp, dict) and resp.get("regs") else "", + err, "+".join(mark)] + self.w.writerow(row) + if self.n % 20 == 0: + self.f.flush() + self.n += 1 + self.t_first = self.t_first or t0 + self.t_last = t1 + if transport_err: + self.n_err += 1 + else: + if errs: + self.n_item_err += 1 + self.rtts.append(rtt) + if isinstance(resp.get("total_ms"), (int, float)): + self.pi_totals.append(resp["total_ms"]) + for k in self.item_ms: + ms = (items.get(k) or {}).get("ms") + if isinstance(ms, (int, float)): + self.item_ms[k].append(ms) + if cur is not None: + self.n_cur_ok += 1 + + def hz(self): + if self.n < 2 or self.t_last is None: + return 0.0 + return (self.n - 1) / max(self.t_last - self.t_first, 1e-9) + + def status_line(self): + med = statistics.median(self.rtts) if self.rtts else float("nan") + return (f"[読み] {self.n} 回 {self.hz():.1f} Hz 往復の中央値 {med:.1f} ms " + f"電流が 6 個の数で読めた {self.n_cur_ok} 回 項目が読めなかった {self.n_item_err} 回 " + f"やりとりの失敗 {self.n_err} 回") + + def summary(self): + def stats(xs): + if not xs: + return None + s = sorted(xs) + return {"n": len(s), "median": round(statistics.median(s), 2), "p95": round(s[int(0.95 * (len(s) - 1))], 2), + "max": round(s[-1], 2), "min": round(s[0], 2)} + return {"n": self.n, "n_error": self.n_err, "n_item_error": self.n_item_err, "n_currents_6": self.n_cur_ok, "hz": round(self.hz(), 2), + "rtt_ms": stats(self.rtts), "pi_total_ms": stats(self.pi_totals), + "item_ms": {k: stats(v) for k, v in self.item_ms.items()}} + + +# ============================================================================= +# ターミナルの 1 文字 +# ============================================================================= + +class TermKeys: + """ターミナルを 1 文字ずつ読む形にする (Ctrl+C は効くまま). 端末でなければ何もしない.""" + + def __init__(self): + self.ok = sys.stdin.isatty() + self.old = None + + def __enter__(self): + if self.ok: + import termios + import tty + self.old = termios.tcgetattr(sys.stdin) + tty.setcbreak(sys.stdin.fileno()) + return self + + def __exit__(self, *a): + if self.old is not None: + import termios + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.old) + + def get(self, timeout): + if not self.ok: + time.sleep(timeout) + return None + r, _, _ = select.select([sys.stdin], [], [], timeout) + return sys.stdin.read(1) if r else None + + +def key_thread(keys, prober, quit_ev, allow_quit): + while not quit_ev.is_set(): + c = keys.get(0.1) + if c is None: + continue + c = c.lower() + if c == "q" and allow_quit: + quit_ev.set() + elif c == "p": + prober.toggle_pause() + else: + prober.mark(c) + + +# ============================================================================= +# main +# ============================================================================= + +def parse_regs(s): + if s in (None, "", "none"): + return [] + if s == "sts": + return list(STS_REGS) + out = [] + for part in s.split(","): + sid, addr = part.split(":") + out.append((int(sid), int(addr))) + return out + + +def make_out_dir(mode): + ensure_ssd_mounted() + now = datetime.now() + d = OUT_ROOT / f"servo_current_{now.strftime('%Y%m%d')}" / f"{now.strftime('%H%M%S')}_{mode}" + if d.exists(): + sys.exit(f"[ABORT] 同じ名前のフォルダがあります: {d}") + d.mkdir(parents=True) + shutil.copy2(__file__, d / Path(__file__).name) + return d + + +def write_json(path, obj): + tmp = Path(str(path) + ".tmp") + tmp.write_text(json.dumps(obj, ensure_ascii=False, indent=1), encoding="utf-8") + os.replace(tmp, path) + + +def n_reads(cmd): + return sum(1 for k in ("angles", "currents", "status", "gripper") if cmd.get(k)) + len(cmd.get("regs") or []) + + +def first_read(request_fn, out_dir): + """読めるものを全部 1 回ずつ. 1 回の頼みは FIRST_CHUNK 個までに分ける. + 返事がないときの目安は 1 回 0.4〜0.8 秒 (シリアルの待ちだけの見込み. 上限の保証ではない). + --with-pad のときは, ゲームパッドの窓を開く前 (操作を受け付ける前) に呼ぶ (codex R2 必須).""" + cmds = [read_cmd(currents=True, status=True, gripper=True, regs=(), raw=True)] + for i in range(0, len(STS_REGS), FIRST_CHUNK): + c = read_cmd(currents=False, regs=STS_REGS[i:i + FIRST_CHUNK], raw=True) + c["angles"] = False + cmds.append(c) + t0 = time.time() + resps = [] + for c in cmds: + r = request_fn(c) + check_first(r) + resps.append(r) + t1 = time.time() + resp = {"ok": True, "t": resps[0].get("t"), "items": resps[0].get("items", {}), + "total_ms": round(sum(r.get("total_ms") or 0 for r in resps), 2), + "regs": [x for r in resps for x in (r.get("regs") or [])], + "regs_detail": [x for r in resps for x in (r.get("regs_detail") or [])]} + notes = describe_first(resp) + print("---- 始めの 1 回 (読めるものを全部)") + for ln in notes: + print(" " + ln) + print(f" 往復 {1000 * (t1 - t0):.1f} ms") + write_json(out_dir / "first_read.json", {"cmds": cmds, "resps": resps, "rtt_ms": round(1000 * (t1 - t0), 2), + "notes": notes}) + return resp + + +def run_solo(args, out_dir, cmd, meta): + try: + cli = SoloClient() + except OSError as e: + sys.exit(f"[ABORT] daemon につながりません ({e}). daemon が動いているか, ゲームパッドなどほかに " + "daemon を使うものが動いていないか確かめてください") + try: + first_read(cli.request, out_dir) + prober = Prober(cli.request, out_dir, cmd, args.gap if args.gap is not None else GAP_SOLO_SEC) + quit_ev = threading.Event() + print("読み始めます。印: 1 静止 2 空で閉じた 3 つかんだ 4 引っ張った 5 離した 6 押した 0 そのほか / p 止める・再開 / q 終わる") + prober.start() + end = None + with TermKeys() as keys: + kt = threading.Thread(target=key_thread, args=(keys, prober, quit_ev, True), daemon=True) + kt.start() + t_end = time.time() + args.seconds if args.seconds else None + try: + while not quit_ev.is_set(): + if t_end is not None and time.time() >= t_end: + end = "seconds" + break + if not prober.thread.is_alive(): + end = "probe_died" + break + time.sleep(0.05) + end = end or "q" + except KeyboardInterrupt: + end = "ctrl_c" + quit_ev.set() + prober.stop() + kt.join(1.0) + meta["end_reason"] = end + return prober, None + finally: + cli.close() + + +def run_with_pad(args, out_dir, cmd, meta): + """gamepad_teleop をこのプロセスで動かす. 鍵をかけてから gamepad_teleop の送り口を読む + (gamepad_teleop は読んだときの _daemon_request を持つので, 先に鍵の版にしておく).""" + sys.path.insert(0, str(Path(__file__).resolve().parent)) + import gamepad_teleop as gt + import run_policy_client as rpcmod # gamepad_teleop が pi05 をパスに入れる. pymycobot のスタブも入る + import policy_recorder as pr + import visual_servo_pick as vsp + pr.install_daemon_lock() + locked = vsp._daemon_request + tl = threading.local() + + def on_rpc(cmd_obj, resp, t0, t1, err): + tl.last = (t0, t1) + + pr.add_rpc_observer(on_rpc) + pad_f = open(out_dir / "pad_rpc.csv", "x", newline="", encoding="utf-8") + pad_w = csv.writer(pad_f) + pad_w.writerow(["t_call", "cmd", "joint_id", "wait_ms", "rpc_ms", "probe_paused", "error"]) + pad_lock = threading.Lock() + pad_waits = {"reading": [], "paused": []} + prober_box = [] + + def timed(*a, **k): + tl.last = None + t_call = time.time() + err = "" + try: + return locked(*a, **k) + except BaseException as e: + err = f"{type(e).__name__}: {e}" + raise + finally: + last = getattr(tl, "last", None) + tl.wait = None if last is None else last[0] - t_call + if threading.current_thread().name != "probe" and not getattr(tl, "probe_own", False): + c = a[0] if a else k.get("cmd_obj", {}) + c = c if isinstance(c, dict) else {} + paused = bool(prober_box and prober_box[0].paused.is_set()) + wait_ms = None if last is None else (last[0] - t_call) * 1000.0 + rpc_ms = None if last is None else (last[1] - last[0]) * 1000.0 + with pad_lock: + pad_w.writerow([f"{t_call:.6f}", c.get("cmd"), c.get("joint_id", ""), + "" if wait_ms is None else f"{wait_ms:.2f}", + "" if rpc_ms is None else f"{rpc_ms:.2f}", int(paused), err]) + pad_f.flush() + if wait_ms is not None and c.get("cmd") != "ping": + pad_waits["paused" if paused else "reading"].append(wait_ms) + timed._policy_locked = True # gamepad_teleop.main の install_daemon_lock で包み直させない + timed._orig = locked + vsp._daemon_request = timed + gt.load_daemon_modules() + if gt.daemon_request is not timed: + sys.exit("[ABORT] gamepad_teleop の送り口が鍵の版になっていません (先に読まれていた). 何も送らずに終わります") + assert rpcmod is gt.rpc + + state = {"started": False, "teleop_log": None} + quit_ev = threading.Event() + keys = TermKeys() + + def on_frame(frame, tp): + if not state["started"]: + state["started"] = True + state["teleop_log"] = str(getattr(tp.log, "path", "")) or None + p = Prober(lambda c: vsp._daemon_request(c, timeout_override=RPC_TIMEOUT_SEC), out_dir, cmd, + args.gap if args.gap is not None else GAP_PAD_SEC, wait_of_last=lambda: getattr(tl, "wait", None)) + prober_box.append(p) + p.start() + threading.Thread(target=key_thread, args=(keys, p, quit_ev, False), daemon=True).start() + print("読み始めます。印はターミナルかゲームパッドの窓で: 1 静止 2 空で閉じた 3 つかんだ 4 引っ張った " + "5 離した 6 押した 0 そのほか / p 止める・再開 / 終わるときはウィンドウを閉じる") + for ev in gt.pygame.event.get(gt.pygame.KEYDOWN): # 窓が手前のときの印 (gamepad_teleop はキーを使わない) + ch = (ev.unicode or "").lower() + if ch == "p": + prober_box[0].toggle_pause() + elif ch: + prober_box[0].mark(ch) + + # 始めの 1 回は, ゲームパッドの窓を開く前 (操作を受け付ける前) に読む. on_frame の中で読むと, 読み終わるまで + # gamepad_teleop が L2+R2 の停止もボタンも見ない (codex R2 必須). つながりは gamepad_teleop.main がそのまま使う. + try: + tl.probe_own = True # この道具の読み取り (パッドの命令に数えない) + try: + try: + vsp.get_daemon_socket() + except Exception as e: + sys.exit(f"[ABORT] daemon につながりません ({type(e).__name__}: {e}). 何も送らずに終わります") + first_read(lambda c: vsp._daemon_request(c, timeout_override=RPC_TIMEOUT_SEC), out_dir) + finally: + tl.probe_own = False + with keys: + gt.main(["--execute"], on_frame=on_frame) + finally: + # どこで終わっても 読み取り・観察・CSV を片付ける (codex R3 推奨) + quit_ev.set() + if prober_box: + prober_box[0].stop() + pr.remove_rpc_observer(on_rpc) + with pad_lock: + pad_f.close() + if not state["started"]: + # gamepad_teleop の窓まで行かなかった (始めの 1 回の失敗・記録フォルダが作れないなど): + # つながりはこの道具が閉じる. 窓まで行ったあとは gamepad_teleop.main が閉じる + # (送っている途中の仕事が戻らないときは, わざと閉じない. それを変えない) + vsp.close_daemon_socket() + meta["teleop_log"] = state["teleop_log"] + + def stats(xs): + if not xs: + return None + s = sorted(xs) + return {"n": len(s), "median": round(statistics.median(s), 2), "p95": round(s[int(0.95 * (len(s) - 1))], 2), + "max": round(s[-1], 2)} + meta["pad_wait_ms"] = {k: stats(v) for k, v in pad_waits.items()} + return (prober_box[0] if prober_box else None), meta["pad_wait_ms"] + + +def main(argv=None): + ap = argparse.ArgumentParser(description="関節と爪の電流を読むだけ (アームには送らない)") + ap.add_argument("--with-pad", action="store_true", help="gamepad_teleop をこのプロセスで動かす (ゲームパッドで動かす)") + ap.add_argument("--seconds", type=float, default=None, help="この秒数で終わる (ひとりのときだけ)") + ap.add_argument("--regs", default="none", help="毎回読むサーボの番地: none (既定) / sts (1〜7 の 60,61,69,70) / 'id:addr,...'") + ap.add_argument("--status", action="store_true", help="毎回 get_servo_status も読む") + ap.add_argument("--gripper", action="store_true", help="毎回 get_gripper_value も読む") + ap.add_argument("--no-currents", action="store_true", help="get_servo_currents を読まない (番地だけで測るとき)") + ap.add_argument("--gap", type=float, default=None, help=f"読み取りの間の秒 (既定 ひとり {GAP_SOLO_SEC} / パッド {GAP_PAD_SEC})") + args = ap.parse_args(argv) + if args.with_pad and args.seconds: + ap.error("--seconds は --with-pad と一緒に使えません (ウィンドウを閉じて終わる)") + regs = parse_regs(args.regs) + cmd = read_cmd(currents=not args.no_currents, status=args.status, gripper=args.gripper, regs=regs) + if args.with_pad and n_reads(cmd) > PAD_MAX_READS: + ap.error(f"--with-pad のときは 1 回に読む数 (角度・電流・状態・爪・番地の合計) を {PAD_MAX_READS} までにしてください " + f"(今 {n_reads(cmd)}). daemon が読んでいる間はゲームパッドの命令 (stop も) が待たされます") + mode = "pad" if args.with_pad else "solo" + out_dir = make_out_dir(mode) + print(f"[記録] {out_dir}") + meta = {"started_at": datetime.now().isoformat(timespec="seconds"), "argv": sys.argv, "mode": mode, + "cmd": cmd, "gap_sec": args.gap, "daemon": f"{DAEMON_HOST}:{DAEMON_PORT}", "sends_to_arm": "none (read only)" + + ("; gamepad_teleop sends as usual" if args.with_pad else "")} + prober = None + try: + if args.with_pad: + prober, _ = run_with_pad(args, out_dir, cmd, meta) + else: + prober, _ = run_solo(args, out_dir, cmd, meta) + finally: + meta["ended_at"] = datetime.now().isoformat(timespec="seconds") + if prober is not None: + meta["probe"] = prober.summary() + print(prober.status_line()) + if meta.get("pad_wait_ms"): + print(f"[パッド] 鍵の待ち (ms): 読んでいる間 {meta['pad_wait_ms'].get('reading')} / " + f"止めている間 {meta['pad_wait_ms'].get('paused')}") + write_json(out_dir / "summary.json", meta) + print(f"[終了] アームには何も送っていません (ゲームパッドで送った分を除く)。記録: {out_dir}") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/tools/test_daemon_read_servo.py b/tools/test_daemon_read_servo.py new file mode 100644 index 0000000..d4cc5d2 --- /dev/null +++ b/tools/test_daemon_read_servo.py @@ -0,0 +1,211 @@ +#!/usr/bin/env python3 +"""test_daemon_read_servo.py — tools/pi/mecharm_daemon.py の read_servo (依頼 109) を偽物の MyCobot で確かめる + + python3 tools/test_daemon_read_servo.py + +確かめること: 読むだけ (送る関数を 1 つも呼ばない)・頼んだ分だけ読む・読めないときは None と error で ok=True・ +頼み方がおかしいときは何も読まずに ok=False・raw でバイト列が返り _read が元に戻る・今までの命令の返事が同じ. +""" +import importlib.util +import json +import sys +import types +import unittest +from pathlib import Path + +DAEMON = Path(__file__).resolve().parent / "pi" / "mecharm_daemon.py" + + +def load_daemon(): + pkg = types.ModuleType("pymycobot") + mod = types.ModuleType("pymycobot.mycobot") + mod.MyCobot = object + saved = {k: sys.modules.get(k) for k in ("pymycobot", "pymycobot.mycobot")} + sys.modules["pymycobot"] = pkg + sys.modules["pymycobot.mycobot"] = mod + try: + spec = importlib.util.spec_from_file_location("mecharm_daemon_under_test", DAEMON) + m = importlib.util.module_from_spec(spec) + spec.loader.exec_module(m) + finally: + for k, v in saved.items(): + if v is None: + sys.modules.pop(k, None) + else: + sys.modules[k] = v + return m + + +def class_read(self, genre): + return bytes([0xFE, 0xFE, 0x02, genre, 0xFA]) + + +class FakeMC: + """読む関数だけを持つ. 送る関数が呼ばれたら記録する.""" + _read = class_read # 2.9.6 の MyCobot と同じくクラスに置く + + def __init__(self): + self.calls = [] + self.sent = [] + self.currents = [10, 20, 30, 40, 50, 60] + + def _rec(self, name, *a): + self.calls.append((name,) + a) + + def get_angles(self): + self._rec("get_angles") + self._read(0x20) + return [1.0, 2.0, 3.0, 4.0, 5.0, -30.0] + + def get_servo_currents(self): + self._rec("get_servo_currents") + self._read(0xE2) + if isinstance(self.currents, Exception): + raise self.currents + return self.currents + + def get_servo_status(self): + self._rec("get_servo_status") + return [0, 0, 0] + + gripper = 42 + + def get_gripper_value(self): + self._rec("get_gripper_value") + return self.gripper + + def get_servo_data(self, sid, addr): + self._rec("get_servo_data", sid, addr) + self._read(0x53) + return -1 if addr == 99 else sid * 100 + addr + + def __getattr__(self, name): # 送る関数 (send_angles など) は呼ばれたら記録して何もしない + if name.startswith(("send_", "set_", "release", "focus", "jog", "stop", "power", "pause", "resume")): + def f(*a, **k): + self.sent.append(name) + return 1 + return f + raise AttributeError(name) + + +class ReadServoTest(unittest.TestCase): + def setUp(self): + self.d = load_daemon() + self.mc = FakeMC() + self.d._mc = self.mc + + def cmd(self, **kw): + obj = {"cmd": "read_servo"} + obj.update(kw) + r = self.d.handle_command(obj) + json.dumps(r) # JSON で返せること + return r + + def test_default_reads_angles_and_currents_only(self): + r = self.cmd() + self.assertTrue(r["ok"]) + self.assertEqual(sorted(r["items"]), ["angles", "currents"]) + self.assertEqual(r["items"]["currents"]["value"], [10, 20, 30, 40, 50, 60]) + self.assertEqual(r["items"]["angles"]["value"][5], -30.0) + self.assertEqual([c[0] for c in self.mc.calls], ["get_angles", "get_servo_currents"]) + self.assertEqual(r["regs"], []) + self.assertNotIn("raw", r["items"]["angles"]) + self.assertEqual(self.mc.sent, []) + + def test_all_items_and_regs_in_order(self): + r = self.cmd(status=True, gripper=True, regs=[[7, 69], [1, 60]]) + self.assertEqual([c[0] for c in self.mc.calls], + ["get_angles", "get_servo_currents", "get_servo_status", "get_gripper_value", + "get_servo_data", "get_servo_data"]) + self.assertEqual([r_[:3] for r_ in r["regs"]], [[7, 69, 769], [1, 60, 160]]) + self.assertEqual(r["items"]["gripper_value"]["value"], 42) + self.assertEqual(self.mc.sent, []) + + def test_no_angles_no_currents(self): + r = self.cmd(angles=False, currents=False, regs=[[2, 69]]) + self.assertEqual(r["items"], {}) + self.assertEqual(self.mc.calls, [("get_servo_data", 2, 69)]) + + def test_read_error_is_none_with_ok_true(self): + self.mc.currents = ValueError("unpack") + r = self.cmd() + self.assertTrue(r["ok"]) + self.assertIsNone(r["items"]["currents"]["value"]) + self.assertIn("ValueError", r["items"]["currents"]["error"]) + self.assertEqual(r["items"]["angles"]["value"][0], 1.0) # ほかの項目は読める + + def test_missing_function(self): + del FakeMC.get_servo_currents + try: + r = self.cmd() + finally: + FakeMC.get_servo_currents = ReadServoTest._orig_cur + self.assertTrue(r["ok"]) + self.assertIsNone(r["items"]["currents"]["value"]) + self.assertIn("not available", r["items"]["currents"]["error"]) + + def test_no_reply_values_become_none(self): + # 2.9.6 は返事がないと [] / -1 を返す. 読めなかったとして扱う (codex R1 必須 2) + self.mc.currents = [] + self.mc.gripper = -1 + r = self.cmd(gripper=True, regs=[[7, 99], [7, 69]]) + self.assertTrue(r["ok"]) + cur = r["items"]["currents"] + self.assertEqual((cur["value"], cur["error"], cur["returned"]), (None, "no reply", [])) + g = r["items"]["gripper_value"] + self.assertEqual((g["value"], g["error"], g["returned"]), (None, "no reply", -1)) + self.assertEqual([x[:3] for x in r["regs"]], [[7, 99, None], [7, 69, 769]]) + self.assertEqual(r["regs_detail"][0]["error"], "no reply") + self.mc.currents = None + self.assertEqual(self.cmd()["items"]["currents"]["error"], "no reply") + + def test_missing_get_servo_data_reports_error(self): + orig = FakeMC.get_servo_data + del FakeMC.get_servo_data + try: + r = self.cmd(regs=[[1, 60]]) + finally: + FakeMC.get_servo_data = orig + self.assertEqual(r["regs"][0][:3], [1, 60, None]) + self.assertIn("not available", r["regs_detail"][0]["error"]) + + def test_unjsonable_values(self): + self.mc.currents = object() + v = self.cmd()["items"]["currents"]["value"] + self.assertIsInstance(v, str) + + def test_raw_capture_and_restore(self): + r = self.cmd(raw=True, regs=[[7, 69]]) + self.assertEqual(r["items"]["currents"]["raw"], ["fefe02e2fa"]) + self.assertEqual(r["regs_detail"][0]["raw"], ["fefe0253fa"]) + self.assertNotIn("_read", self.mc.__dict__) # 包みが外れている + self.assertIs(type(self.mc)._read, class_read) + + def test_raw_restored_after_exception(self): + self.mc.currents = RuntimeError("x") + self.cmd(raw=True) + self.assertNotIn("_read", self.mc.__dict__) + + def test_bad_regs_read_nothing(self): + for regs in ([[8, 69]], [[0, 1]], [[1, 101]], [[1]], [[1, 2, 3]], "1:69", [1], [["a", 2]], + [[1, 60]] * 33, [[1.9, 60.9]], [[True, 60]], [["1", "60"]], [{"0": 1, "1": 2}], {}, "", 0, False): + self.mc.calls.clear() + r = self.cmd(regs=regs) + self.assertFalse(r["ok"], regs) + self.assertEqual(self.mc.calls, [], regs) + self.assertEqual(self.mc.sent, []) + + def test_existing_commands_unchanged(self): + self.assertEqual(self.d.handle_command({"cmd": "ping"}), + {"ok": True, "daemon": "mecharm_daemon", "fresh_mode": 0}) + self.assertEqual(self.d.handle_command({"cmd": "get_angles_once"}), + {"ok": True, "angles": [1.0, 2.0, 3.0, 4.0, 5.0, -30.0]}) + self.assertEqual(self.d.handle_command({"cmd": "get_gripper_value"}), {"ok": True, "value": 42}) + self.assertEqual(self.d.handle_command({"cmd": "nope"}), {"ok": False, "error": "unknown cmd: nope"}) + + +ReadServoTest._orig_cur = FakeMC.get_servo_currents + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/test_servo_current_probe.py b/tools/test_servo_current_probe.py new file mode 100644 index 0000000..3b02335 --- /dev/null +++ b/tools/test_servo_current_probe.py @@ -0,0 +1,308 @@ +#!/usr/bin/env python3 +"""test_servo_current_probe.py — tools/servo_current_probe.py の読む側 (Prober など) を偽物の daemon で確かめる + + python3 tools/test_servo_current_probe.py + +アームにも daemon にもつながない. 一時フォルダに書く. +""" +import csv +import json +import socket +import sys +import tempfile +import threading +import time +import unittest +from pathlib import Path + +sys.path.insert(0, str(Path(__file__).resolve().parent)) +import servo_current_probe as scp # noqa: E402 + + +def fake_resp(cur=(1, 2, 3, 4, 5, 6), ok=True, err_item=None): + items = {"angles": {"value": [0.0, 1.0, 2.0, 3.0, 4.0, -30.0], "ms": 3.0}, + "currents": {"value": list(cur) if isinstance(cur, tuple) else cur, "ms": 4.0}} + if err_item: + items["currents"]["error"] = err_item + return {"ok": ok, "t": time.time(), "total_ms": 7.5, "items": items, "regs": []} + + +class ProberTest(unittest.TestCase): + def setUp(self): + self.tmp = tempfile.TemporaryDirectory() + self.dir = Path(self.tmp.name) + + def tearDown(self): + self.tmp.cleanup() + + def rows(self, name="samples.csv"): + with open(self.dir / name, newline="", encoding="utf-8") as f: + return list(csv.DictReader(f)) + + def test_rows_and_marks(self): + seq = [fake_resp(), fake_resp(cur=[]), fake_resp(cur=None, err_item="ValueError: x")] + sent = [] + + def req(c): + sent.append(c) + if len(sent) > 3: + raise OSError("down") + return seq[len(sent) - 1] + p = scp.Prober(req, self.dir, scp.read_cmd(), 0.0, out=lambda *a: None) + p.mark("3") + self.assertFalse(p.mark("x")) + for _ in range(4): + resp, err = None, "" + try: + resp = req(p.cmd) + except Exception as e: + err = f"{type(e).__name__}: {e}" + marks = [] + while not p.marks.empty(): + marks.append(p.marks.get_nowait()) + p.write_row(time.time(), time.time() + 0.01, None, resp, err, marks) + p.stop() + r = self.rows() + self.assertEqual(len(r), 4) + self.assertEqual([r[0][f"cur{k}"] for k in range(6)], ["1", "2", "3", "4", "5", "6"]) + self.assertEqual(r[0]["mark"], "grasp") + self.assertEqual(r[0]["j5"], "-30.00") + self.assertEqual(r[1]["currents_raw"], "[]") + self.assertEqual(r[1]["cur0"], "") + self.assertIn("currents:ValueError", r[2]["error"]) + self.assertIn("OSError", r[3]["error"]) + self.assertEqual(p.n_cur_ok, 1) + self.assertEqual(p.n_err, 1) # やりとりの失敗は OSError の 1 回だけ + self.assertEqual(p.n_item_err, 1) # 項目が読めなかった (ValueError) 1 回 + m = self.rows("marks.csv") + self.assertEqual([(x["key"], x["name"]) for x in m], [("3", "grasp")]) + s = p.summary() + self.assertEqual(s["n"], 4) + self.assertEqual(s["rtt_ms"]["n"], 3) + json.dumps(s) + self.assertTrue(all(c["cmd"] == "read_servo" for c in sent)) + + def test_thread_runs_pauses_and_stops(self): + n = [0] + + def req(c): + n[0] += 1 + time.sleep(0.002) + return fake_resp() + p = scp.Prober(req, self.dir, scp.read_cmd(), 0.0, out=lambda *a: None) + p.start() + time.sleep(0.15) + p.toggle_pause() + time.sleep(0.1) # 止める前に始めた 1 回が終わるのを待つ + k = n[0] + time.sleep(0.15) + self.assertEqual(n[0], k) # 止めている間は読まない + p.toggle_pause() + time.sleep(0.1) + p.stop() + self.assertGreater(n[0], k) + self.assertFalse(p.thread.is_alive()) + self.assertGreater(p.hz(), 10) + self.assertFalse(p.mark("1")) # 閉じたあとの印は書かない + + +class HelpersTest(unittest.TestCase): + def test_parse_regs(self): + self.assertEqual(scp.parse_regs("none"), []) + self.assertEqual(len(scp.parse_regs("sts")), 28) + self.assertIn((7, 69), scp.parse_regs("sts")) + self.assertEqual(scp.parse_regs("7:69,7:70"), [(7, 69), (7, 70)]) + + def test_read_cmd_is_read_only(self): + c = scp.read_cmd(status=True, gripper=True, regs=[(7, 69)], raw=True) + self.assertEqual(c["cmd"], "read_servo") + self.assertEqual(c["regs"], [[7, 69]]) + self.assertLessEqual(len(scp.STS_REGS), 32) # daemon の上限 SERVO_READ_MAX_REGS + + def test_check_first(self): + with self.assertRaises(SystemExit) as cm: + scp.check_first({"ok": False, "error": "unknown cmd: read_servo"}) + self.assertIn("daemon_add_read_servo.sh", str(cm.exception)) + with self.assertRaises(SystemExit): + scp.check_first(None) + scp.check_first(fake_resp()) + + def test_first_read_is_chunked(self): + sent = [] + + def req(c): + sent.append(c) + return fake_resp() + with tempfile.TemporaryDirectory() as d: + scp.first_read(req, Path(d)) + j = json.loads((Path(d) / "first_read.json").read_text(encoding="utf-8")) + self.assertTrue(all(scp.n_reads(c) <= scp.FIRST_CHUNK for c in sent)) + self.assertEqual(sorted(tuple(r) for c in sent for r in c["regs"]), sorted(scp.STS_REGS)) + self.assertTrue(sent[0]["currents"] and sent[0]["status"] and sent[0]["gripper"]) + self.assertEqual(len(j["resps"]), len(sent)) + + def test_pad_read_cap(self): + with self.assertRaises(SystemExit): + scp.main(["--with-pad", "--regs", "sts"]) + with self.assertRaises(SystemExit): + scp.main(["--with-pad", "--status", "--gripper", "--regs", "7:69"]) + + def test_describe_first(self): + r = fake_resp() + r["regs"] = [[7, 69, 12, 3.0], [1, 60, 5, 2.0]] + lines = scp.describe_first(r) + self.assertTrue(any("currents" in ln for ln in lines)) + self.assertTrue(any(ln.startswith("servo 7 (爪)") for ln in lines)) + + +class SoloClientTest(unittest.TestCase): + def test_line_protocol(self): + srv = socket.socket() + srv.bind(("127.0.0.1", 0)) + srv.listen(1) + port = srv.getsockname()[1] + got = [] + + def serve(): + c, _ = srv.accept() + buf = b"" + while len(got) < 2: + buf += c.recv(4096) + while b"\n" in buf: + line, buf = buf.split(b"\n", 1) + got.append(json.loads(line)) + resp = json.dumps({"ok": True, "n": len(got)}) + "\n" + c.sendall(resp[:5].encode()) # 返事を 2 回に分けて送る + time.sleep(0.01) + c.sendall(resp[5:].encode()) + c.close() + t = threading.Thread(target=serve, daemon=True) + t.start() + cli = scp.SoloClient("127.0.0.1", port, timeout=2) + self.assertEqual(cli.request({"cmd": "a"})["n"], 1) + self.assertEqual(cli.request({"cmd": "b"})["n"], 2) + cli.close() + srv.close() + self.assertEqual([g["cmd"] for g in got], ["a", "b"]) + + +class WithPadWiringTest(unittest.TestCase): + """--with-pad のつなぎ: gamepad_teleop の送り口が鍵の版になり, パッドの命令が pad_rpc.csv に残る. + gamepad_teleop.main は偽物に差し替える (pygame の窓も daemon も使わない).""" + + def test_wiring(self): + try: + import gamepad_teleop as gt + import run_policy_client # noqa: F401 + import visual_servo_pick as vsp + except Exception as e: # pygame・cv2 がない環境 + self.skipTest(f"import できない: {e}") + if gt.rpc is not None or getattr(vsp._daemon_request, "_policy_locked", False): + self.skipTest("ほかのテストが先に読み込んだ") + calls = [] + lock_holder = [] + + def base(cmd_obj, timeout_override=None, _deadline_at=None): + calls.append((threading.current_thread().name, cmd_obj["cmd"])) + lock_holder.append(threading.current_thread().name) + time.sleep(0.003) + if cmd_obj["cmd"] == "read_servo": + return fake_resp() + return {"ok": True} + orig_req, orig_main, orig_get = vsp._daemon_request, gt.main, gt.pygame.event.get + orig_sock = vsp.get_daemon_socket + vsp.get_daemon_socket = lambda *a, **k: None + vsp._daemon_request = base + tmp = tempfile.TemporaryDirectory() + out_dir = Path(tmp.name) + + class FakeLog: + path = Path("/tmp/teleop_fake/log.jsonl") + + class FakeTp: + log = FakeLog() + + def fake_main(argv, on_frame=None): + self.assertEqual(argv, ["--execute"]) + # 始めの 1 回 (読めるものを全部) は窓を開く前に終わっている (codex R2 必須) + self.assertTrue((out_dir / "first_read.json").exists()) + self.assertEqual(len([c for c in calls if c[1] == "read_servo"]), 1 + len(scp.STS_REGS) // scp.FIRST_CHUNK) + for i in range(20): + on_frame(i, FakeTp()) + gt.daemon_request({"cmd": "send_angle", "joint_id": 2, "angle": 1.0}) + time.sleep(0.01) + return 0 + gt.main = fake_main + gt.pygame.event.get = lambda *a, **k: [] + try: + class A: + gap = 0.0 + meta = {} + prober, waits = scp.run_with_pad(A(), out_dir, scp.read_cmd(), meta) + self.assertIs(gt.daemon_request, vsp._daemon_request) + self.assertTrue(gt.daemon_request._policy_locked) + with open(out_dir / "pad_rpc.csv", newline="", encoding="utf-8") as f: + rows = list(csv.DictReader(f)) + self.assertEqual([r["cmd"] for r in rows], ["send_angle"] * 20) + self.assertTrue(all(r["wait_ms"] != "" and r["rpc_ms"] != "" for r in rows)) + self.assertEqual(waits["reading"]["n"], 20) + self.assertEqual(meta["teleop_log"], "/tmp/teleop_fake/log.jsonl") + self.assertGreater(prober.n, 5) + self.assertTrue((out_dir / "first_read.json").exists()) + self.assertIn(("probe", "read_servo"), calls) + self.assertFalse(prober.thread.is_alive()) + with open(out_dir / "samples.csv", newline="", encoding="utf-8") as f: + srows = list(csv.DictReader(f)) + self.assertTrue(all(r["wait_ms"] != "" for r in srows)) + finally: + vsp._daemon_request, gt.main, gt.pygame.event.get = orig_req, orig_main, orig_get + vsp.get_daemon_socket = orig_sock + tmp.cleanup() + + + def test_cleanup_before_handover(self): + """窓まで行かずに終わったとき (始めの 1 回の失敗・gamepad_teleop の初めの失敗) も, + つながり・観察・pad_rpc.csv を片付ける (codex R3 推奨).""" + try: + import gamepad_teleop as gt + import run_policy_client # noqa: F401 + import policy_recorder as pr + import visual_servo_pick as vsp + except Exception as e: + self.skipTest(f"import できない: {e}") + saved = (vsp._daemon_request, vsp.get_daemon_socket, vsp.close_daemon_socket, gt.main, gt.rpc, gt.daemon_request) + closed = [] + + class A: + gap = 0.0 + try: + for case in ("first_read_fails", "main_fails_early"): + closed.clear() + gt.rpc = None # gamepad_teleop の送り口を読み直させる + gt.daemon_request = None + n_obs = len(pr._rpc_observers) + + def base(cmd_obj, timeout_override=None, _deadline_at=None, case=case): + if case == "first_read_fails": + raise RuntimeError("daemon error: unknown cmd: read_servo") + return fake_resp() + vsp._daemon_request = base + vsp.get_daemon_socket = lambda *a, **k: None + vsp.close_daemon_socket = lambda: closed.append(1) + + def bad_main(argv, on_frame=None): + sys.exit("[ABORT] 同じ名前のフォルダがあります") + gt.main = bad_main + with tempfile.TemporaryDirectory() as d: + with self.assertRaises((SystemExit, RuntimeError)): + scp.run_with_pad(A(), Path(d), scp.read_cmd(), {}) + self.assertTrue((Path(d) / "pad_rpc.csv").exists()) + self.assertTrue(closed, case) # つながりを閉じた + self.assertEqual(len(pr._rpc_observers), n_obs, case) # 観察は残さない + finally: + (vsp._daemon_request, vsp.get_daemon_socket, vsp.close_daemon_socket, gt.main, gt.rpc, + gt.daemon_request) = saved + + +if __name__ == "__main__": + unittest.main() ```` ## 実機1回目と2回目：電流を読む関数は、mechArm 270 では一度も答えなかった（17:56〜17:58） アームのところに戻ってから、ターミナルで3つのコマンドを打ちました。daemon の入れ替え（`tools/daemon_add_read_servo.sh`）、触らずに10秒読む、ゲームパッドをつないで読む、の順です。 入れ替えのあとの確かめで、もう結果が出ていました。角度（16ms）・異常の印（15ms）・爪の開き（19ms）は読めたのに、電流だけは 115ms 待って返事がありませんでした。触らずに10秒読んだ回は81回とも返事なしで、毎回約0.11秒待たされるため、1秒に約7.9回しか読めませんでした。始めの1回では、7つのサーボの番地60・61（負荷）と69・70（電流）も読んでいて、肩（2番）の番地69が1、番地70が128だった以外は、すべて0でした。 ゲームパッドをつないだ2回目も、731回中730回が返事なしでした（残りの1回は、Ctrl+C で止めたときにつながりが切れた分）。この回は、起動したときの肩 j1 が 92.37° で、ゲームパッドの守りの外だったため、肩を含む操作は送られない状態でした。HOME の長押しで HOME に戻したところ（ずれ 1.31°）で、印は入れずに Ctrl+C で終えています。読み取りの間にゲームパッドの指令が待たされた時間は、11回で中央 42ms、最大 140ms でした。 **関節の電流を一度に読む関数は、mechArm 270 では答えない**と分かったので、3回目は関数をやめ、番地を直接読む読み方に切り替えました。 - ねらい：電流を読む手段を、返事のない関数から、読めると分かっている番地の読み方に替える - 変わったこと：電流の関数をやめ（`--no-currents`）、肩と爪の番地だけを指定して読む（`--regs`）ようにした - 見込める効果：1回の読み取りが短くなり、記録の10回/秒に届く見込み（3回目で、平均10.3回/秒を確かめた） #### 端末の出力（daemon の入れ替え・1回目・2回目・3回目の打ち間違い） ````text (base) shimazueiichi@shimadzueiichinoMacBook-Pro _制作ベース % cd ~/r2r2r-scripts && bash tools/daemon_add_read_servo.sh 今の daemon の写し: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_readservo_20261107_175619/mecharm_daemon.py --- 差分 66a67,187 > # ---- 2026-11-07 依頼 109: 電流などを読むだけの命令 read_servo (純追記) ---------------------- > # アームと爪には何も送らない. pymycobot の読む関数 (get_angles / get_servo_currents / get_servo_status / > # get_gripper_value / get_servo_data) だけを, 頼まれた順に 1 回ずつ呼ぶ. 読み直さない・待たない. > # 読めなかった項目は値 None と error を返す (ok=True のまま. get_angles_once と同じ. 呼び出し側が例外にしないため). > # 2.9.6 は返事がないとき 例外にせず, リストを返す関数は [] を, 1 つの値を返す関数は -1 を返す. > # これも読めなかったとして value None・error "no reply"・returned (返ってきた値そのまま) にする (codex R1 必須 2). > # 前提 (この機体で確かめていない. codex R2): 番地の値は 1 バイトで返る (ff は 255 になり -1 にならない). > # 2 バイトの ffff が返る形だと符号つきで -1 になり, 返事なしと見分けられない. raw=True のバイト列で確かめる. > # 2.9.6 の read は返事がないと 1 回 0.1 秒ほど待つ (途中まで返ると 0.2 秒近く). 頼む数を増やすと, その分 > # daemon がほかの命令 (ゲームパッドの stop も) を受けるのが遅れる. 呼び出し側で数を絞る (codex R1 必須 1). > # 頼み方がおかしいとき (regs の形・番号の範囲) だけ ok=False で, そのときは何も読まない. > # {"cmd": "read_servo", "angles": true, "currents": true, "status": false, "gripper": false, > # "regs": [[servo_id, addr], ...], "raw": false} > # angles / currents は既定で読む. status / gripper / regs は頼んだときだけ. > # regs: get_servo_data(servo_id, addr) を 1 つずつ (servo_id 1〜7. 7 = 爪. addr 0〜100. 32 個まで). > # この版の get_servo_data は番地を 1 つ渡すだけなので, 2 バイトの値は下位と上位の番地を別々に頼む. > # raw: 返ってきたバイト列 (16 進) も返す (形の分からない返事を確かめる用). > # 返事: {"ok": true, "t": Pi の時刻, "total_ms": ..., "items": {名前: {"value": ..., "ms": ..., ("error"), ("raw")}}, > # "regs": [[servo_id, addr, value, ms], ...]} > SERVO_READ_MAX_REGS = 32 > > > def _servo_read_one(fn, args, want_raw, no_reply=None): > """読む関数を 1 回だけ呼ぶ. 返事のバイト列は _read を一時的に包んで写す (daemon は 1 件ずつなので混ざらない). > no_reply: 2.9.6 が返事のないときに返す値 ([] か -1). これが返ったら value None・error にする.""" > item = {} > cap = [] > if want_raw: > orig = _mc._read > > def _cap_read(*a, **k): > d = orig(*a, **k) > cap.append(d) > return d > _mc._read = _cap_read > t0 = time.perf_counter() > try: > v = fn(*args) > if isinstance(v, tuple): > v = list(v) > if v is None or (no_reply is not None and v == no_reply): > item["value"] = None > item["error"] = "no reply" > item["returned"] = v > else: > item["value"] = v > except Exception as e: > item["value"] = None > item["error"] = f"{type(e).__name__}: {e}" > finally: > item["ms"] = round((time.perf_counter() - t0) * 1000.0, 2) > if want_raw: > del _mc._read # インスタンスに置いた包みを外す (クラスの _read に戻る) > item["raw"] = [d.hex() if isinstance(d, (bytes, bytearray)) else repr(d) for d in cap] > try: > json.dumps(item["value"]) > except (TypeError, ValueError): > item["value"] = repr(item["value"])[:200] > return item > > > def handle_servo_read(cmd_obj): > regs = cmd_obj.get("regs") > if regs is None: # 頼まないのは「ない」か None だけ ({}・""・0 は形がおかしいとして断る. codex R2) > regs = [] > if not isinstance(regs, (list, tuple)) or len(regs) > SERVO_READ_MAX_REGS: > return {"ok": False, "error": f"regs must be a list of at most {SERVO_READ_MAX_REGS} [servo_id, addr]"} > pairs = [] > for r in regs: > try: > if not isinstance(r, (list, tuple)) or len(r) != 2: > raise ValueError("length") > # 整数だけ (1.9 を 1 に丸めて読まない. True も数にしない. codex R1 推奨) > if not all(isinstance(x, int) and not isinstance(x, bool) for x in r): > raise TypeError("not int") > sid, addr = r > except (TypeError, ValueError): > return {"ok": False, "error": f"bad reg: {r!r}"} > if not (1 <= sid <= 7) or not (0 <= addr <= 100): > return {"ok": False, "error": f"reg out of range (servo_id 1..7, addr 0..100): {r!r}"} > pairs.append((sid, addr)) > want_raw = bool(cmd_obj.get("raw", False)) > plan = [] > if cmd_obj.get("angles", True): > plan.append(("angles", "get_angles", [])) > if cmd_obj.get("currents", True): > plan.append(("currents", "get_servo_currents", [])) > if cmd_obj.get("status", False): > plan.append(("status", "get_servo_status", [])) > if cmd_obj.get("gripper", False): > plan.append(("gripper_value", "get_gripper_value", -1)) > t_start = time.perf_counter() > t_wall = time.time() > items = {} > for key, name, no_reply in plan: > fn = getattr(_mc, name, None) > if fn is None: > items[key] = {"value": None, "ms": 0.0, "error": f"{name} is not available in this pymycobot environment"} > continue > items[key] = _servo_read_one(fn, (), want_raw, no_reply) > out_regs = [] > raw_regs = [] > if pairs: > fn = getattr(_mc, "get_servo_data", None) > for sid, addr in pairs: > if fn is None: > out_regs.append([sid, addr, None, 0.0]) > raw_regs.append({"servo_id": sid, "addr": addr, "raw": None, > "error": "get_servo_data is not available in this pymycobot environment"}) > continue > it = _servo_read_one(fn, (sid, addr), want_raw, -1) > out_regs.append([sid, addr, it["value"], it["ms"]]) > if want_raw or "error" in it: > raw_regs.append({"servo_id": sid, "addr": addr, "raw": it.get("raw"), "error": it.get("error")}) > resp = {"ok": True, "t": t_wall, "total_ms": round((time.perf_counter() - t_start) * 1000.0, 2), > "items": items, "regs": out_regs} > if raw_regs: > resp["regs_detail"] = raw_regs > return resp > > 260a382,385 > > # 2026-11-07 依頼 109: 関節と爪の電流を読む (読むだけ. 純追記). handle_servo_read の説明を参照. > elif cmd == "read_servo": > return handle_servo_read(cmd_obj) ping → {'ok': True, 'daemon': 'mecharm_daemon', 'fresh_mode': 0} get_angles → {'ok': True, 'angles': [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44]} read_servo → {'ok': True, 't': 1665645171.1441107, 'total_ms': 165.4, 'items': {'angles': {'value': [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44], 'ms': 16.42, 'raw': ['fefe0e20fff82415fe0302ebdd04f480fa']}, 'currents': {'value': None, 'error': 'no reply', 'returned': [], 'ms': 114.57, 'raw': ['None']}, 'status': {'value': [0, 0, 0], 'ms': 15.16, 'raw': ['fefe08e4000000000000fa']}, 'gripper_value': {'value': 95, 'ms': 18.93, 'raw': ['fefe03655ffa']}}, 'regs': []} currents = None (no reply) status = [0, 0, 0] gripper_value = 95 できました。記録: /Volumes/KIOXIA/r2r2r-data/archive/mecharm_daemon_premerge_readservo_20261107_175619 (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 tools/servo_current_probe.py --seconds 10 [記録] /Volumes/KIOXIA/r2r2r-data/diag/servo_current_20261107/175645_solo ---- 始めの 1 回 (読めるものを全部) angles [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44] (18.09 ms) raw=['fefe0e20fff82415fe0302ebdd04f480fa'] currents None (109.93 ms) error=no reply raw=['None'] status [0, 0, 0] (18.67 ms) raw=['fefe08e4000000000000fa'] gripper_value 95 (15.85 ms) raw=['fefe03655ffa'] servo 1 (j0) 60:0 61:0 69:0 70:0 servo 2 (j1) 60:0 61:0 69:1 70:128 servo 3 (j2) 60:0 61:0 69:0 70:0 servo 4 (j3) 60:0 61:0 69:0 70:0 servo 5 (j4) 60:0 61:0 69:0 70:0 servo 6 (j5) 60:0 61:0 69:0 70:0 servo 7 (爪) 60:0 61:0 69:0 70:0 番地 1 つの読み取り: 中央値 19.9 ms Pi の中の合計 709.67 ms 往復 720.2 ms 読み始めます。印: 1 静止 2 空で閉じた 3 つかんだ 4 引っ張った 5 離した 6 押した 0 そのほか / p 止める・再開 / q 終わる [読み] 16 回 7.4 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 16 回 やりとりの失敗 0 回 [読み] 33 回 7.7 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 33 回 やりとりの失敗 0 回 [読み] 50 回 7.9 Hz 往復の中央値 123.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 50 回 やりとりの失敗 0 回 [読み] 67 回 7.9 Hz 往復の中央値 124.2 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 67 回 やりとりの失敗 0 回 [読み] 81 回 7.9 Hz 往復の中央値 127.1 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 81 回 やりとりの失敗 0 回 [終了] アームには何も送っていません (ゲームパッドで送った分を除く)。記録: /Volumes/KIOXIA/r2r2r-data/diag/servo_current_20261107/175645_solo (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 tools/servo_current_probe.py --with-pad [記録] /Volumes/KIOXIA/r2r2r-data/diag/servo_current_20261107/175706_pad /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. from pkg_resources import resource_stream, resource_exists objc[91550]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025612c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0890). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561318) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b08e0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561390) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0958). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025613b8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0980). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561408) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b09d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561458) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0a20). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025614d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0a98). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561520) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0ae8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561570) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0b38). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025615c0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0b88). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025615e8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0bb0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561610) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0bd8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561688) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0c50). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561700) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0cc8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561750) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0d18). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x102561778) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0d40). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. objc[91550]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1025617c8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1279b0d90). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed. ---- 始めの 1 回 (読めるものを全部) angles [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44] (20.63 ms) raw=['fefe0e20fff82415fe0302ebdd04f480fa'] currents None (100.74 ms) error=no reply raw=['None'] status [0, 0, 0] (20.16 ms) raw=['fefe08e4000000000000fa'] gripper_value 95 (21.44 ms) raw=['fefe03655ffa'] servo 1 (j0) 60:0 61:0 69:0 70:0 servo 2 (j1) 60:0 61:0 69:0 70:0 servo 3 (j2) 60:0 61:0 69:0 70:0 servo 4 (j3) 60:0 61:0 69:0 70:0 servo 5 (j4) 60:0 61:0 69:0 70:0 servo 6 (j5) 60:0 61:0 69:0 70:0 servo 7 (爪) 60:0 61:0 69:0 70:0 番地 1 つの読み取り: 中央値 19.8 ms Pi の中の合計 712.86 ms 往復 724.7 ms [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261107_175708 [実機] daemon に送ります。起動したときの姿勢: -0.08 +92.37 -5.09 +7.47 -89.56 -29.44 [注意] 起動したときの姿勢が守りの外: j1=+92.37。この関節を含む操作は送りません（HOME の長押しは送れます） コントローラーを待っています（つないでいなければ、今つないでください） 読み始めます。印はターミナルかゲームパッドの窓で: 1 静止 2 空で閉じた 3 つかんだ 4 引っ張った 5 離した 6 押した 0 そのほか / p 止める・再開 / 終わるときはウィンドウを閉じる [読み] 15 回 6.7 Hz 往復の中央値 127.5 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 15 回 やりとりの失敗 0 回 [読み] 30 回 6.9 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 30 回 やりとりの失敗 0 回 [読み] 45 回 7.0 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 45 回 やりとりの失敗 0 回 [読み] 60 回 7.1 Hz 往復の中央値 127.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 60 回 やりとりの失敗 0 回 [読み] 75 回 7.1 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 75 回 やりとりの失敗 0 回 [読み] 90 回 7.2 Hz 往復の中央値 127.5 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 90 回 やりとりの失敗 0 回 [読み] 105 回 7.2 Hz 往復の中央値 127.5 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 105 回 やりとりの失敗 0 回 [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [読み] 108 回 6.0 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 108 回 やりとりの失敗 0 回 [読み] 123 回 6.1 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 123 回 やりとりの失敗 0 回 [読み] 138 回 6.2 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 138 回 やりとりの失敗 0 回 [読み] 153 回 6.3 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 153 回 やりとりの失敗 0 回 [読み] 168 回 6.4 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 168 回 やりとりの失敗 0 回 [読み] 183 回 6.4 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 183 回 やりとりの失敗 0 回 [読み] 198 回 6.5 Hz 往復の中央値 127.5 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 198 回 やりとりの失敗 0 回 [読み] 213 回 6.5 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 213 回 やりとりの失敗 0 回 [読み] 228 回 6.6 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 228 回 やりとりの失敗 0 回 [読み] 243 回 6.6 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 243 回 やりとりの失敗 0 回 [読み] 258 回 6.7 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 258 回 やりとりの失敗 0 回 [読み] 273 回 6.7 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 273 回 やりとりの失敗 0 回 [読み] 287 回 6.7 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 287 回 やりとりの失敗 0 回 [読み] 302 回 6.7 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 302 回 やりとりの失敗 0 回 [読み] 317 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 317 回 やりとりの失敗 0 回 [読み] 332 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 332 回 やりとりの失敗 0 回 [読み] 346 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 346 回 やりとりの失敗 0 回 [読み] 361 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 361 回 やりとりの失敗 0 回 [読み] 376 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 376 回 やりとりの失敗 0 回 [読み] 391 回 6.8 Hz 往復の中央値 127.6 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 391 回 やりとりの失敗 0 回 [読み] 406 回 6.8 Hz 往復の中央値 127.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 406 回 やりとりの失敗 0 回 [読み] 421 回 6.8 Hz 往復の中央値 127.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 421 回 やりとりの失敗 0 回 [読み] 432 回 6.8 Hz 往復の中央値 127.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 432 回 やりとりの失敗 0 回 [送信] HOME → +0.00 +0.00 +0.00 +0.00 +0.00 -30.00 届いた（ずれ 1.31°） 届いた角度 -0.26 +1.23 +0.70 +0.70 +1.31 -29.61 [読み] 447 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 447 回 やりとりの失敗 0 回 [読み] 462 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 462 回 やりとりの失敗 0 回 [読み] 477 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 477 回 やりとりの失敗 0 回 [読み] 492 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 492 回 やりとりの失敗 0 回 [読み] 507 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 507 回 やりとりの失敗 0 回 [読み] 521 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 521 回 やりとりの失敗 0 回 [読み] 536 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 536 回 やりとりの失敗 0 回 [読み] 551 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 551 回 やりとりの失敗 0 回 [読み] 566 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 566 回 やりとりの失敗 0 回 [読み] 581 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 581 回 やりとりの失敗 0 回 [読み] 596 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 596 回 やりとりの失敗 0 回 [読み] 611 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 611 回 やりとりの失敗 0 回 [読み] 626 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 626 回 やりとりの失敗 0 回 [読み] 641 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 641 回 やりとりの失敗 0 回 [読み] 656 回 6.9 Hz 往復の中央値 127.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 656 回 やりとりの失敗 0 回 [読み] 671 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 671 回 やりとりの失敗 0 回 [読み] 686 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 686 回 やりとりの失敗 0 回 [読み] 701 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 701 回 やりとりの失敗 0 回 [読み] 716 回 6.9 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 716 回 やりとりの失敗 0 回 [終了] Ctrl+C [終了] アームは動かしていません。記録: /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261107_175708 [WARN] _daemon_request timeout (timeout=3.0s, cmd=read_servo). socket closed. [読み] 731 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 730 回 やりとりの失敗 1 回 [読み] 731 回 6.8 Hz 往復の中央値 127.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 730 回 やりとりの失敗 1 回 [パッド] 鍵の待ち (ms): 読んでいる間 {'n': 11, 'median': 41.66, 'p95': 132.41, 'max': 139.99} / 止めている間 None [終了] アームには何も送っていません (ゲームパッドで送った分を除く)。記録: /Volumes/KIOXIA/r2r2r-data/diag/servo_current_20261107/175706_pad (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 tools/servo_current_probe.py --with-pad --no-currents --regs 2:69,2:70,7:69,7:70 usage: servo_current_probe.py [-h] [--with-pad] [--seconds SECONDS] [--regs REGS] [--status] [--gripper] [--no-currents] [--gap GAP] servo_current_probe.py: error: --with-pad のときは 1 回に読む数 (角度・電流・状態・爪・番地の合計) を 4 までにしてください (今 5). daemon が読んでいる間はゲームパッドの命令 (stop も) が待たされます (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % ```` #### 175645_solo/summary.json（1回目のまとめ） ````json { "started_at": "2026-11-07T17:56:45", "argv": [ "tools/servo_current_probe.py", "--seconds", "10" ], "mode": "solo", "cmd": { "cmd": "read_servo", "angles": true, "currents": true, "status": false, "gripper": false, "regs": [], "raw": false }, "gap_sec": null, "daemon": "192.168.2.1:5555", "sends_to_arm": "none (read only)", "end_reason": "seconds", "ended_at": "2026-11-07T17:56:56", "probe": { "n": 81, "n_error": 0, "n_item_error": 81, "n_currents_6": 0, "hz": 7.88, "rtt_ms": { "n": 81, "median": 127.13, "p95": 129.08, "max": 166.33, "min": 111.19 }, "pi_total_ms": { "n": 81, "median": 125.36, "p95": 127.04, "max": 129.72, "min": 109.91 }, "item_ms": { "angles": { "n": 81, "median": 17.8, "p95": 23.91, "max": 25.7, "min": 8.38 }, "currents": { "n": 81, "median": 108.91, "p95": 111.63, "max": 112.03, "min": 100.63 } } } } ```` #### 175645_solo/first_read.json（1回目の始めの1回） ````json { "cmds": [ { "cmd": "read_servo", "angles": true, "currents": true, "status": true, "gripper": true, "regs": [], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 1, 60 ], [ 1, 61 ], [ 1, 69 ], [ 1, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 2, 60 ], [ 2, 61 ], [ 2, 69 ], [ 2, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 3, 60 ], [ 3, 61 ], [ 3, 69 ], [ 3, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 4, 60 ], [ 4, 61 ], [ 4, 69 ], [ 4, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 5, 60 ], [ 5, 61 ], [ 5, 69 ], [ 5, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 6, 60 ], [ 6, 61 ], [ 6, 69 ], [ 6, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 7, 60 ], [ 7, 61 ], [ 7, 69 ], [ 7, 70 ] ], "raw": true } ], "resps": [ { "ok": true, "t": 1665645178.5468545, "total_ms": 162.76, "items": { "angles": { "value": [ -0.08, 92.37, -5.09, 7.47, -89.56, -29.44 ], "ms": 18.09, "raw": [ "fefe0e20fff82415fe0302ebdd04f480fa" ] }, "currents": { "value": null, "error": "no reply", "returned": [], "ms": 109.93, "raw": [ "None" ] }, "status": { "value": [ 0, 0, 0 ], "ms": 18.67, "raw": [ "fefe08e4000000000000fa" ] }, "gripper_value": { "value": 95, "ms": 15.85, "raw": [ "fefe03655ffa" ] } }, "regs": [] }, { "ok": true, "t": 1665645178.712033, "total_ms": 73.55, "items": {}, "regs": [ [ 1, 60, 0, 13.5 ], [ 1, 61, 0, 19.93 ], [ 1, 69, 0, 19.95 ], [ 1, 70, 0, 19.97 ] ], "regs_detail": [ { "servo_id": 1, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645178.7866843, "total_ms": 78.89, "items": {}, "regs": [ [ 2, 60, 0, 18.85 ], [ 2, 61, 0, 19.92 ], [ 2, 69, 1, 19.96 ], [ 2, 70, 128, 19.96 ] ], "regs_detail": [ { "servo_id": 2, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 69, "raw": [ "fefe035301fa" ], "error": null }, { "servo_id": 2, "addr": 70, "raw": [ "fefe035380fa" ], "error": null } ] }, { "ok": true, "t": 1665645178.866651, "total_ms": 78.92, "items": {}, "regs": [ [ 3, 60, 0, 18.88 ], [ 3, 61, 0, 19.93 ], [ 3, 69, 0, 19.96 ], [ 3, 70, 0, 19.95 ] ], "regs_detail": [ { "servo_id": 3, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645178.9466763, "total_ms": 78.89, "items": {}, "regs": [ [ 4, 60, 0, 18.86 ], [ 4, 61, 0, 19.93 ], [ 4, 69, 0, 19.96 ], [ 4, 70, 0, 19.96 ] ], "regs_detail": [ { "servo_id": 4, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645179.0266244, "total_ms": 78.95, "items": {}, "regs": [ [ 5, 60, 0, 18.91 ], [ 5, 61, 0, 19.93 ], [ 5, 69, 0, 19.96 ], [ 5, 70, 0, 19.95 ] ], "regs_detail": [ { "servo_id": 5, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645179.1067216, "total_ms": 78.87, "items": {}, "regs": [ [ 6, 60, 0, 18.9 ], [ 6, 61, 0, 19.85 ], [ 6, 69, 0, 19.89 ], [ 6, 70, 0, 19.88 ] ], "regs_detail": [ { "servo_id": 6, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645179.186734, "total_ms": 78.84, "items": {}, "regs": [ [ 7, 60, 0, 18.75 ], [ 7, 61, 0, 19.93 ], [ 7, 69, 0, 19.96 ], [ 7, 70, 0, 19.96 ] ], "regs_detail": [ { "servo_id": 7, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] } ], "rtt_ms": 720.23, "notes": [ "angles [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44] (18.09 ms) raw=['fefe0e20fff82415fe0302ebdd04f480fa']", "currents None (109.93 ms) error=no reply raw=['None']", "status [0, 0, 0] (18.67 ms) raw=['fefe08e4000000000000fa']", "gripper_value 95 (15.85 ms) raw=['fefe03655ffa']", "servo 1 (j0) 60:0 61:0 69:0 70:0", "servo 2 (j1) 60:0 61:0 69:1 70:128", "servo 3 (j2) 60:0 61:0 69:0 70:0", "servo 4 (j3) 60:0 61:0 69:0 70:0", "servo 5 (j4) 60:0 61:0 69:0 70:0", "servo 6 (j5) 60:0 61:0 69:0 70:0", "servo 7 (爪) 60:0 61:0 69:0 70:0", "番地 1 つの読み取り: 中央値 19.9 ms", "Pi の中の合計 709.67 ms" ] } ```` #### 175645_solo/marks.csv（1回目の印） ````csv t_mac,key,name,sample_i ```` #### 175645_solo/samples.csv（1回目の読み取り81回） ````csv i,t_mac_send,t_mac_recv,rtt_ms,wait_ms,t_pi,pi_total_ms,angles_ms,currents_ms,j0,j1,j2,j3,j4,j5,cur0,cur1,cur2,cur3,cur4,cur5,currents_raw,gripper_value,status,regs,error,mark 0,1794041806.508898,1794041806.630475,121.58,,1665645179.274495,120.51,8.38,112.03,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 1,1794041806.630604,1794041806.758419,127.82,,1665645179.396166,126.83,17.79,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 2,1794041806.758471,1794041806.886396,127.92,,1665645179.524004,126.98,17.92,108.97,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 3,1794041806.886444,1794041807.014438,127.99,,1665645179.652045,126.94,18.13,108.72,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 4,1794041807.014483,1794041807.142413,127.93,,1665645179.780068,126.91,17.91,108.91,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 5,1794041807.142451,1794041807.271023,128.57,,1665645179.908015,126.97,17.94,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 6,1794041807.271085,1794041807.402445,131.36,,1665645180.040572,126.42,14.34,111.98,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 7,1794041807.402499,1794041807.530417,127.92,,1665645180.168135,126.85,17.84,108.92,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 8,1794041807.530474,1794041807.658497,128.02,,1665645180.296032,126.99,17.91,108.97,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 9,1794041807.658548,1794041807.786499,127.95,,1665645180.424121,126.97,18.06,108.78,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 10,1794041807.786546,1794041807.910422,123.88,,1665645180.552134,122.85,10.96,111.79,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 11,1794041807.910470,1794041808.038394,127.92,,1665645180.676035,126.95,17.92,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 12,1794041808.038442,1794041808.166417,127.97,,1665645180.804000,126.98,17.99,108.9,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 13,1794041808.166465,1794041808.294843,128.38,,1665645180.932019,127.14,18.19,108.81,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 14,1794041808.294895,1794041808.407920,113.02,,1665645181.060561,111.85,10.96,100.69,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 15,1794041808.407971,1794041808.524397,116.43,,1665645181.173746,115.1,14.18,100.69,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 16,1794041808.524490,1794041808.641567,117.08,,1665645181.290175,115.92,15.1,100.64,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 17,1794041808.641617,1794041808.754389,112.77,,1665645181.407369,111.54,10.73,100.63,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 18,1794041808.754437,1794041808.874519,120.08,,1665645181.520142,118.87,9.01,109.76,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 19,1794041808.874565,1794041809.002412,127.85,,1665645181.640145,126.84,17.93,108.82,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 20,1794041809.002457,1794041809.130565,128.11,,1665645181.768024,126.97,18.16,108.72,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 21,1794041809.130649,1794041809.258429,127.78,,1665645181.896277,126.71,17.68,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 22,1794041809.258480,1794041809.386603,128.12,,1665645182.024044,127.04,17.92,109.0,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 23,1794041809.386648,1794041809.514735,128.09,,1665645182.152468,126.48,25.58,100.72,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 24,1794041809.514786,1794041809.636975,122.19,,1665645182.281451,119.37,18.51,100.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 25,1794041809.637385,1794041809.758361,120.98,,1665645182.403362,119.32,18.51,100.63,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 26,1794041809.758411,1794041809.878499,120.09,,1665645182.524194,118.74,17.77,100.8,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 27,1794041809.878555,1794041810.002834,124.28,,1665645182.644362,122.47,21.54,100.7,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 28,1794041810.003175,1794041810.124207,121.03,,1665645182.769526,119.18,18.35,100.66,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 29,1794041810.124267,1794041810.246460,122.19,,1665645182.890132,120.6,19.76,100.67,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 30,1794041810.246516,1794041810.368296,121.78,,1665645183.012373,120.45,19.64,100.63,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 31,1794041810.368345,1794041810.494352,126.01,,1665645183.134099,118.46,17.51,100.73,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 32,1794041810.494406,1794041810.660733,166.33,,1665645183.260528,124.8,23.87,100.72,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 33,1794041810.688620,1794041810.811155,122.53,,1665645183.454545,120.8,19.73,100.86,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 34,1794041810.811333,1794041810.939742,128.41,,1665645183.577214,126.9,25.7,100.99,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 35,1794041810.939798,1794041811.066441,126.64,,1665645183.705718,125.17,24.16,100.83,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 36,1794041811.066501,1794041811.190667,124.17,,1665645183.832278,122.62,21.7,100.74,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 37,1794041811.190729,1794041811.312413,121.68,,1665645183.956581,120.33,19.39,100.74,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 38,1794041811.312467,1794041811.428479,116.01,,1665645184.078179,114.22,13.38,100.64,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 39,1794041811.428534,1794041811.548028,119.49,,1665645184.194621,117.92,17.04,100.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 40,1794041811.548124,1794041811.660626,112.50,,1665645184.313902,110.51,9.65,100.67,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 41,1794041811.660725,1794041811.771912,111.19,,1665645184.426483,109.91,9.09,100.64,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 42,1794041811.771960,1794041811.894725,122.77,,1665645184.537567,121.51,9.69,111.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 43,1794041811.894809,1794041812.014480,119.67,,1665645184.660517,118.56,9.47,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 44,1794041812.014529,1794041812.138646,124.12,,1665645184.780225,122.97,11.79,111.03,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 45,1794041812.138693,1794041812.258845,120.15,,1665645184.904357,118.72,9.57,109.0,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 46,1794041812.259039,1794041812.382502,123.46,,1665645185.025260,121.79,10.51,111.15,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 47,1794041812.382551,1794041812.502725,120.17,,1665645185.148157,118.85,9.09,109.66,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 48,1794041812.502835,1794041812.622926,120.09,,1665645185.268556,118.75,17.8,100.76,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 49,1794041812.622974,1794041812.746430,123.46,,1665645185.388625,122.39,12.7,109.59,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 50,1794041812.746515,1794041812.874551,128.04,,1665645185.512094,126.92,17.84,108.99,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 51,1794041812.874599,1794041813.002427,127.83,,1665645185.640212,126.79,17.74,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 52,1794041813.002474,1794041813.130410,127.94,,1665645185.768028,126.97,17.93,108.95,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 53,1794041813.130475,1794041813.258416,127.94,,1665645185.896040,126.96,17.92,108.95,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 54,1794041813.258466,1794041813.386423,127.96,,1665645186.024040,126.96,18.2,108.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 55,1794041813.386473,1794041813.514425,127.95,,1665645186.152044,126.95,17.91,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 56,1794041813.514491,1794041813.642622,128.13,,1665645186.280102,126.9,17.8,109.0,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 57,1794041813.642671,1794041813.770642,127.97,,1665645186.408223,126.88,17.7,109.05,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 58,1794041813.770691,1794041813.894436,123.74,,1665645186.536301,122.7,12.99,109.61,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 59,1794041813.894484,1794041814.022435,127.95,,1665645186.660065,126.93,17.87,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 60,1794041814.022491,1794041814.150381,127.89,,1665645186.788084,126.9,17.86,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 61,1794041814.150460,1794041814.278833,128.37,,1665645186.916054,127.14,17.9,109.09,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 62,1794041814.278892,1794041814.394526,115.63,,1665645187.044617,113.96,13.11,100.66,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 63,1794041814.394576,1794041814.506037,111.46,,1665645187.160285,110.29,9.42,100.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 64,1794041814.506086,1794041814.618031,111.95,,1665645187.271741,110.82,9.96,100.68,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 65,1794041814.618082,1794041814.738502,120.42,,1665645187.383759,119.3,10.06,109.09,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 66,1794041814.738549,1794041814.862389,123.84,,1665645187.504173,122.83,11.14,111.59,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 67,1794041814.862545,1794041814.990859,128.31,,1665645187.628125,126.87,17.82,108.95,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 68,1794041814.990906,1794041815.119074,128.17,,1665645187.756520,126.46,17.43,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 69,1794041815.119129,1794041815.246782,127.65,,1665645187.884688,126.3,17.56,108.65,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 70,1794041815.246831,1794041815.375963,129.13,,1665645188.012432,126.55,17.56,108.9,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 71,1794041815.376016,1794041815.502768,126.75,,1665645188.141624,125.36,16.33,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 72,1794041815.502819,1794041815.631191,128.37,,1665645188.268382,126.6,17.58,108.93,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 73,1794041815.631239,1794041815.760315,129.08,,1665645188.396818,126.16,17.1,108.97,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 74,1794041815.760362,1794041815.886675,126.31,,1665645188.525932,125.05,16.29,108.67,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 75,1794041815.886751,1794041816.014853,128.10,,1665645188.652709,126.28,17.23,108.95,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 76,1794041816.015021,1794041816.143638,128.62,,1665645188.780632,126.35,17.35,108.91,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 77,1794041816.143691,1794041816.274469,130.78,,1665645188.909255,129.72,18.01,111.63,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 78,1794041816.274517,1794041816.402866,128.35,,1665645189.040082,127.08,17.86,109.08,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 79,1794041816.402919,1794041816.529549,126.63,,1665645189.168899,125.07,23.91,100.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 80,1794041816.529600,1794041816.656731,127.13,,1665645189.295496,125.62,24.65,100.75,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, ```` #### 175706_pad/summary.json（2回目のまとめ） ````json { "started_at": "2026-11-07T17:57:07", "argv": [ "tools/servo_current_probe.py", "--with-pad" ], "mode": "pad", "cmd": { "cmd": "read_servo", "angles": true, "currents": true, "status": false, "gripper": false, "regs": [], "raw": false }, "gap_sec": null, "daemon": "192.168.2.1:5555", "sends_to_arm": "none (read only); gamepad_teleop sends as usual", "teleop_log": "/Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261107_175708/log.jsonl", "pad_wait_ms": { "reading": { "n": 11, "median": 41.66, "p95": 132.41, "max": 139.99 }, "paused": null }, "ended_at": "2026-11-07T17:58:57", "probe": { "n": 731, "n_error": 1, "n_item_error": 730, "n_currents_6": 0, "hz": 6.77, "rtt_ms": { "n": 730, "median": 127.81, "p95": 132.25, "max": 248.7, "min": 111.05 }, "pi_total_ms": { "n": 730, "median": 126.32, "p95": 129.62, "max": 247.45, "min": 109.46 }, "item_ms": { "angles": { "n": 730, "median": 17.71, "p95": 24.66, "max": 127.4, "min": 8.41 }, "currents": { "n": 730, "median": 108.93, "p95": 112.03, "max": 127.03, "min": 100.4 } } } } ```` #### 175706_pad/first_read.json（2回目の始めの1回） ````json { "cmds": [ { "cmd": "read_servo", "angles": true, "currents": true, "status": true, "gripper": true, "regs": [], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 1, 60 ], [ 1, 61 ], [ 1, 69 ], [ 1, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 2, 60 ], [ 2, 61 ], [ 2, 69 ], [ 2, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 3, 60 ], [ 3, 61 ], [ 3, 69 ], [ 3, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 4, 60 ], [ 4, 61 ], [ 4, 69 ], [ 4, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 5, 60 ], [ 5, 61 ], [ 5, 69 ], [ 5, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 6, 60 ], [ 6, 61 ], [ 6, 69 ], [ 6, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 7, 60 ], [ 7, 61 ], [ 7, 69 ], [ 7, 70 ] ], "raw": true } ], "resps": [ { "ok": true, "t": 1665645200.7638552, "total_ms": 163.39, "items": { "angles": { "value": [ -0.08, 92.37, -5.09, 7.47, -89.56, -29.44 ], "ms": 20.63, "raw": [ "fefe0e20fff82415fe0302ebdd04f480fa" ] }, "currents": { "value": null, "error": "no reply", "returned": [], "ms": 100.74, "raw": [ "None" ] }, "status": { "value": [ 0, 0, 0 ], "ms": 20.16, "raw": [ "fefe08e4000000000000fa" ] }, "gripper_value": { "value": 95, "ms": 21.44, "raw": [ "fefe03655ffa" ] } }, "regs": [] }, { "ok": true, "t": 1665645200.9287553, "total_ms": 77.42, "items": {}, "regs": [ [ 1, 60, 0, 17.96 ], [ 1, 61, 0, 19.78 ], [ 1, 69, 0, 20.15 ], [ 1, 70, 0, 19.04 ] ], "regs_detail": [ { "servo_id": 1, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.0074494, "total_ms": 78.9, "items": {}, "regs": [ [ 2, 60, 0, 18.65 ], [ 2, 61, 0, 19.93 ], [ 2, 69, 0, 19.92 ], [ 2, 70, 0, 20.12 ] ], "regs_detail": [ { "servo_id": 2, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.0876105, "total_ms": 79.25, "items": {}, "regs": [ [ 3, 60, 0, 19.11 ], [ 3, 61, 0, 19.95 ], [ 3, 69, 0, 19.71 ], [ 3, 70, 0, 19.79 ] ], "regs_detail": [ { "servo_id": 3, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.168442, "total_ms": 78.08, "items": {}, "regs": [ [ 4, 60, 0, 18.61 ], [ 4, 61, 0, 19.22 ], [ 4, 69, 0, 19.97 ], [ 4, 70, 0, 19.92 ] ], "regs_detail": [ { "servo_id": 4, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.2479992, "total_ms": 78.85, "items": {}, "regs": [ [ 5, 60, 0, 18.52 ], [ 5, 61, 0, 20.02 ], [ 5, 69, 0, 19.98 ], [ 5, 70, 0, 19.81 ] ], "regs_detail": [ { "servo_id": 5, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.3283596, "total_ms": 78.46, "items": {}, "regs": [ [ 6, 60, 0, 18.43 ], [ 6, 61, 0, 19.78 ], [ 6, 69, 0, 19.89 ], [ 6, 70, 0, 19.8 ] ], "regs_detail": [ { "servo_id": 6, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645201.4083622, "total_ms": 78.51, "items": {}, "regs": [ [ 7, 60, 0, 18.36 ], [ 7, 61, 0, 19.79 ], [ 7, 69, 0, 19.85 ], [ 7, 70, 0, 19.85 ] ], "regs_detail": [ { "servo_id": 7, "addr": 60, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] } ], "rtt_ms": 724.67, "notes": [ "angles [-0.08, 92.37, -5.09, 7.47, -89.56, -29.44] (20.63 ms) raw=['fefe0e20fff82415fe0302ebdd04f480fa']", "currents None (100.74 ms) error=no reply raw=['None']", "status [0, 0, 0] (20.16 ms) raw=['fefe08e4000000000000fa']", "gripper_value 95 (21.44 ms) raw=['fefe03655ffa']", "servo 1 (j0) 60:0 61:0 69:0 70:0", "servo 2 (j1) 60:0 61:0 69:0 70:0", "servo 3 (j2) 60:0 61:0 69:0 70:0", "servo 4 (j3) 60:0 61:0 69:0 70:0", "servo 5 (j4) 60:0 61:0 69:0 70:0", "servo 6 (j5) 60:0 61:0 69:0 70:0", "servo 7 (爪) 60:0 61:0 69:0 70:0", "番地 1 つの読み取り: 中央値 19.8 ms", "Pi の中の合計 712.86 ms" ] } ```` #### 175706_pad/marks.csv（2回目の印。入れていない） ````csv t_mac,key,name,sample_i ```` #### 175706_pad/pad_rpc.csv（2回目のゲームパッドの指令と待ち） ````csv t_call,cmd,joint_id,wait_ms,rpc_ms,probe_paused,error 1794041828.757123,get_angles,,0.00,21.12,0, 1794041890.611064,get_angles,,19.31,19.10,0, 1794041890.650176,get_angles,,132.41,18.19,0, 1794041890.802264,send_angles,,111.54,29.02,0, 1794041890.942913,get_angles,,139.99,12.20,0, 1794041891.398266,get_angles,,4.37,20.82,0, 1794041891.727436,get_angles,,95.13,20.94,0, 1794041892.148281,get_angles,,0.01,19.12,0, 1794041892.472620,get_angles,,90.03,20.86,0, 1794041892.886245,get_angles,,0.01,24.79,0, 1794041893.213939,get_angles,,41.66,23.21,0, ```` #### 175706_pad/samples.csv（2回目の読み取り731回） ````csv i,t_mac_send,t_mac_recv,rtt_ms,wait_ms,t_pi,pi_total_ms,angles_ms,currents_ms,j0,j1,j2,j3,j4,j5,cur0,cur1,cur2,cur3,cur4,cur5,currents_raw,gripper_value,status,regs,error,mark 0,1794041829.867833,1794041830.025863,158.03,0.01,1665645202.633966,121.03,11.7,109.22,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 1,1794041830.039029,1794041830.166427,127.40,0.01,1665645202.804850,126.13,17.09,108.95,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 2,1794041830.177184,1794041830.306336,129.15,0.01,1665645202.942942,128.05,18.99,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 3,1794041830.318918,1794041830.446414,127.50,0.01,1665645203.084590,126.39,17.71,108.59,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 4,1794041830.457058,1794041830.586355,129.30,0.17,1665645203.223906,127.08,18.04,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 5,1794041830.598790,1794041830.726689,127.90,0.01,1665645203.366001,124.98,15.93,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 6,1794041830.739254,1794041830.866363,127.11,0.01,1665645203.504972,126.01,16.94,108.98,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 7,1794041830.878077,1794041831.006577,128.50,0.00,1665645203.643815,127.37,18.14,109.09,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 8,1794041831.019160,1794041831.146367,127.21,0.01,1665645203.785100,125.9,16.65,109.12,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 9,1794041831.157494,1794041831.286772,129.28,0.02,1665645203.923306,127.69,18.68,108.91,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 10,1794041831.299394,1794041831.426487,127.09,0.00,1665645204.065221,125.89,16.78,108.98,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 11,1794041831.436908,1794041831.562358,125.45,0.01,1665645204.202639,124.35,15.09,109.17,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 12,1794041831.574921,1794041831.702530,127.61,0.01,1665645204.340626,126.36,17.36,108.91,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 13,1794041831.715491,1794041831.842680,127.19,0.01,1665645204.481486,125.69,16.44,109.1,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 14,1794041831.855216,1794041831.970782,115.57,0.01,1665645204.621425,113.9,12.93,100.78,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 15,1794041831.982266,1794041832.102904,120.64,0.01,1665645204.748308,119.07,18.02,100.85,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 16,1794041832.114499,1794041832.235468,120.97,0.01,1665645204.880607,118.96,17.79,100.99,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 17,1794041832.250571,1794041832.378550,127.98,0.01,1665645205.017318,125.72,12.44,113.15,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 18,1794041832.388825,1794041832.518416,129.59,0.01,1665645205.154624,128.37,17.02,111.26,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 19,1794041832.530978,1794041832.658554,127.58,0.00,1665645205.296796,126.28,17.51,108.65,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 20,1794041832.668758,1794041832.790710,121.95,0.01,1665645205.434645,120.34,10.97,109.27,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 21,1794041832.802084,1794041832.930351,128.27,0.00,1665645205.567852,127.13,18.1,108.94,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 22,1794041832.942426,1794041833.070628,128.20,0.01,1665645205.708179,126.97,17.78,109.05,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 23,1794041833.083193,1794041833.206390,123.20,0.01,1665645205.849017,121.97,12.58,109.3,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 24,1794041833.217664,1794041833.346495,128.83,0.01,1665645205.983432,127.56,18.54,108.93,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 25,1794041833.358527,1794041833.487528,129.00,0.01,1665645206.124354,126.63,17.58,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 26,1794041833.500022,1794041833.626382,126.36,0.02,1665645206.265817,125.16,16.12,108.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 27,1794041833.636885,1794041833.766504,129.62,0.01,1665645206.402624,128.36,19.29,108.98,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 28,1794041833.779107,1794041833.906370,127.26,0.01,1665645206.544837,126.14,17.44,108.61,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 29,1794041833.918937,1794041834.046955,128.02,0.00,1665645206.684970,126.4,16.92,109.35,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 30,1794041834.057139,1794041834.183487,126.35,0.00,1665645206.823343,124.64,23.76,100.69,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 31,1794041834.196066,1794041834.320625,124.56,0.01,1665645206.962021,123.09,22.23,100.66,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 32,1794041834.333201,1794041834.452809,119.61,0.01,1665645207.099308,117.98,17.18,100.63,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 33,1794041834.463221,1794041834.587055,123.83,0.00,1665645207.229231,122.32,21.25,100.87,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 34,1794041834.599529,1794041834.731780,132.25,0.01,1665645207.365647,130.59,29.42,100.96,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 35,1794041834.743834,1794041834.872187,128.35,0.01,1665645207.509835,126.88,25.73,100.9,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 36,1794041834.884767,1794041835.004725,119.96,0.01,1665645207.650934,118.26,17.41,100.67,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 37,1794041835.017295,1794041835.146822,129.53,0.00,1665645207.783658,127.7,16.24,111.26,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 38,1794041835.158492,1794041835.279478,120.99,0.01,1665645207.924494,119.15,18.21,100.64,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 39,1794041835.291582,1794041835.418411,126.83,0.01,1665645208.057386,125.63,15.95,109.57,-0.08,92.37,-5.09,7.47,-89.56,-29.44,,,,,,,null,,,,currents:no reply, 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712,1794041932.284257,1794041932.404308,120.05,0.00,1665645305.050426,118.5,17.64,100.68,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 713,1794041932.416848,1794041932.546625,129.78,0.00,1665645305.183019,128.28,16.75,111.36,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 714,1794041932.558549,1794041932.686316,127.77,0.00,1665645305.324456,126.57,17.18,109.28,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 715,1794041932.698287,1794041932.826352,128.07,0.00,1665645305.464531,126.47,17.43,108.93,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 716,1794041932.847081,1794041932.974224,127.14,0.20,1665645305.613837,125.14,16.13,108.93,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 717,1794041932.984812,1794041933.114125,129.31,0.01,1665645305.750650,128.33,19.27,108.97,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 718,1794041933.124514,1794041933.250122,125.61,0.01,1665645305.890369,124.61,15.61,108.92,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 719,1794041933.261512,1794041933.386369,124.86,0.00,1665645306.030495,120.66,11.05,109.46,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 720,1794041933.398936,1794041933.518249,119.31,0.01,1665645306.164794,118.19,8.81,109.28,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 721,1794041933.529515,1794041933.658270,128.75,0.00,1665645306.296045,126.95,17.91,108.94,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 722,1794041933.669350,1794041933.798724,129.37,0.00,1665645306.435225,127.76,18.75,108.91,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 723,1794041933.811027,1794041933.938157,127.13,0.00,1665645306.576893,126.08,17.06,108.94,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 724,1794041933.950745,1794041934.078234,127.49,0.00,1665645306.716641,126.34,17.3,108.95,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 725,1794041934.089668,1794041934.218378,128.71,0.00,1665645306.855540,127.58,18.77,108.72,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 726,1794041934.230928,1794041934.348692,117.76,0.00,1665645306.996994,116.42,15.47,100.79,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 727,1794041934.361242,1794041934.482651,121.41,0.00,1665645307.127340,119.95,19.0,100.78,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 728,1794041934.493947,1794041934.615150,121.20,0.00,1665645307.260140,119.52,18.54,100.74,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 729,1794041934.627726,1794041934.754489,126.76,0.01,1665645307.393878,125.24,24.43,100.63,-0.26,1.23,0.70,0.26,-0.26,-29.70,,,,,,,null,,,,currents:no reply, 730,1794041934.765201,1794041937.766513,3001.31,0.00,,,,,,,,,,,,,,,,,,,,,RuntimeError: daemon timeout after 3.0s (cmd=read_servo), ```` ## 実機3回目：肩と爪の番地を読み、つかむ・引く・押すで値が動いた（18:00〜18:03） 最初は肩と爪の番地を4つ（69と70を両方）読もうとしましたが、ゲームパッドと一緒に動かすときは、1回に読む数を4までにする決まりにしてあったため（角度で1つ使う）、道具に止められました。読んでいる間はゲームパッドの指令が待たされるので、待ちが長くならないようにした決まりです。そこで、肩は下位の番地69だけにし、爪は69と70を読みました。 ``` python3 tools/servo_current_probe.py --with-pad --no-currents --regs 2:69,7:69,7:70 ``` 操作は次の順です。触らずに10秒（キー1）。×で爪を空のまま閉じて（キー2）、○で開く。爪の間にブロックを手で差し込んで×で閉じ（キー3）、つかんだブロックを手で軽く引っ張る（キー4）。○で放す。アームを手で軽く押す（キー6）。キーは操作のあとに押したので、印の時刻は操作より少し遅れています。キー5（離した）は押し忘れました。 1,492回読んで、読めなかった回は0回でした。かかった時間は144.4秒で、平均 10.3回/秒、1回の往復の中央値は 84.7ms でした（ゲームパッドの操作がない間は約69ms）。爪の指令がゲームパッドから送られたとき、読み取りに待たされた時間は 24〜80ms でした。 区間ごとの値です。区間は、値の変わり目と、ゲームパッドの爪の指令の時刻（pad_rpc.csv）から決めました。 | 区間 | 秒 | 読んだ回数 | 爪の値（中央・最小〜最大） | 肩の値（中央・最小〜最大） | 肩 j1 の角度 | |---|---|---|---|---|---| | 静止 | 0〜50 | 540 | 2（−7〜8） | 11（10〜11） | 1.23° | | 空で閉じた | 52〜64 | 127 | 15（7〜22） | 11（10〜11） | 1.23° | | 開いた | 66〜78 | 113 | −48（−63〜−3） | 11 | 1.23° | | つかんだ | 80〜92.8 | 131 | 870（833〜977） | 11（10〜11） | 1.23° | | 手で引いた（と見られる間） | 92.9〜96.0 | 33 | 824（816〜834） | 9（9〜11） | 1.14〜1.23° | | 引いたあと | 96.1〜109 | 113 | 804（792〜817） | 11（10〜11） | 1.23° | | 放したあと | 110〜123 | 135 | −57（−66〜−42） | 9 | 1.14〜1.23° | | 押した | 123.2〜128 | 53 | −45（−56〜−26） | 1（0〜7） | −0.52〜1.05° | | 押したあと | 128〜145 | 179 | −37（−49〜−24） | 3 | 0.79° | 読めたことと、読めなかったことを分けます。 - 爪の値は、操作にきれいに反応した。空で閉じると15前後、ブロックをつかむと最初に993まで上がり、つかんでいる30秒ほどの間に800前後までゆっくり下がった。開いたり放したりすると −50前後になる。マイナスは向きが逆の値で、開き切った所へ押し当てている分と思われる（確かめてはいない） - 手で引いたときの変化は、爪の値には見えなかった。つかんだあとのゆっくりした下がりに埋もれている - 肩の値は、手で引いたと見られる3秒ほど11から9に下がり、肩の角度も 1.23° から 1.14° に動いた。アームを押すと0〜3に下がり、角度も −0.52° まで動いて、押し終えたあとは 0.79° で止まった。押されたことは値で分かる。ただし下位の番地しか読んでいないので、向きは分からない - 爪を放したあと、肩の値は11に戻らず9のままだった。理由は分かっていない - 1回目と2回目では、肩の番地69が始めの1回で1か0だった（腕を上げた姿勢）。3回目の HOME の姿勢では11。姿勢で値が変わるのか、読み方の違いかは、まだ分けていない この表の数字は、このあとの集計のコード（phase_stats.py）で出したものです。 - ねらい：お手本に足す値として、爪と肩の値が使えるかを確かめる - 変わったこと：爪の値で、空振り（15前後）とつかめた（870前後）が分かれ、肩の値で、引かれた・押されたが出ることを確かめた - 見込める効果：π0.5 で動かした記録の中で、つかみに失敗した回を値で見つけられる見込み。学習に入れて効くかは、まだ確かめていない #### 3回目の端末の出力（チャットに貼った範囲） ````text (base) shimazueiichi@shimadzueiichinoMacBook-Pro r2r2r-scripts % python3 tools/servo_current_probe.py --with-pad --no-currents --regs 2:69,7:69,7:70 （この行と、続く objc の警告・始めの 1 回の表示はチャットに貼った範囲の外。以下はチャットに貼られた部分をそのまま） [記録] /Volumes/KIOXIA/r2r2r-data/runs/experiments/gamepad_teleop/teleop_20261107_180052 [実機] daemon に送ります。起動したときの姿勢: -0.35 +1.23 +0.70 +0.26 -0.26 -29.70 コントローラーを待っています（つないでいなければ、今つないでください） 読み始めます。印はターミナルかゲームパッドの窓で: 1 静止 2 空で閉じた 3 つかんだ 4 引っ張った 5 離した 6 押した 0 そのほか / p 止める・再開 / 終わるときはウィンドウを閉じる [接続] PS4 Controller GUID=03008fe54c050000cc09000000016800 軸=6 ボタン=16 [読み] 23 回 10.7 Hz 往復の中央値 69.9 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 48 回 11.5 Hz 往復の中央値 68.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 73 回 11.7 Hz 往復の中央値 68.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 95 回 11.5 Hz 往復の中央値 69.2 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 117 回 11.3 Hz 往復の中央値 69.7 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 140 回 11.3 Hz 往復の中央値 69.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 [読み] 162 回 11.3 Hz 往復の中央値 69.8 ms 電流が 6 個の数で読めた 0 回 項目が読めなかった 0 回 やりとりの失敗 0 回 ```` #### phase_stats.py（区間ごとの値をまとめる集計のコード） ````python # LOG461: 180051_pad の samples.csv から、爪（7番）と肩（2番）の番地の値を段階ごとにまとめる # 値 = (番地70 の最上位ビットが立っていればマイナス) × (番地69 + 256 × (番地70 & 127)) import csv, json, statistics as st, sys path = sys.argv[1] if len(sys.argv) > 1 else 'samples.csv' rows = list(csv.DictReader(open(path))) t0 = float(rows[0]['t_mac_recv']) D = [] for r in rows: try: g = json.loads(r['regs']) d = {(a, b): v for a, b, v, _ in g} except Exception: continue gh = d[(7, 70)] gv = (-1 if gh & 128 else 1) * (d[(7, 69)] + 256 * (gh & 127)) j1 = float(r['j1']) if r['j1'] else None D.append((float(r['t_mac_recv']) - t0, gv, d[(2, 69)], j1, float(r['rtt_ms']))) # 区間の秒は、値の変わり目と pad_rpc.csv の爪の指令の時刻から決めた W = [('静止', 0, 50), ('空で閉じた', 52, 64), ('開いた', 66, 78), ('つかんだ', 80, 92.8), ('手で引いた', 92.9, 96.0), ('引いたあと', 96.1, 109), ('放したあと', 110, 123), ('押した', 123.2, 128), ('押したあと', 128, 145)] print('区間,秒,読んだ回数,爪の中央値,爪の最小,爪の最大,肩の中央値,肩の最小,肩の最大,j1の最小,j1の最大') for n, a, b in W: x = [d for d in D if a <= d[0] < b] g = [d[1] for d in x]; s = [d[2] for d in x]; j = [d[3] for d in x if d[3] is not None] print(f'{n},{a}-{b},{len(x)},{st.median(g)},{min(g)},{max(g)},{st.median(s)},{min(s)},{max(s)},{min(j)},{max(j)}') r = [d[4] for d in D] print(f'読んだ回数 {len(D)} かかった秒 {D[-1][0]:.1f} 平均 {len(D)/D[-1][0]:.1f} Hz 往復の中央値 {st.median(r):.1f} ms') ```` #### phase_stats.py の出力 ````text 区間,秒,読んだ回数,爪の中央値,爪の最小,爪の最大,肩の中央値,肩の最小,肩の最大,j1の最小,j1の最大 静止,0-50,540,2.0,-7,8,11.0,10,11,1.23,1.23 空で閉じた,52-64,127,15,7,22,11,10,11,1.23,1.23 開いた,66-78,113,-48,-63,-3,11,11,11,1.23,1.23 つかんだ,80-92.8,131,870,833,977,11,10,11,1.23,1.23 手で引いた,92.9-96.0,33,824,816,834,9,9,11,1.14,1.23 引いたあと,96.1-109,113,804,792,817,11,10,11,1.23,1.23 放したあと,110-123,135,-57,-66,-42,9,9,9,1.14,1.23 押した,123.2-128,53,-45,-56,-26,1,0,7,-0.52,1.05 押したあと,128-145,179,-37,-49,-24,3,3,3,0.79,0.79 読んだ回数 1492 かかった秒 144.4 平均 10.3 Hz 往復の中央値 84.7 ms ```` #### 180051_pad/summary.json（3回目のまとめ） ````json { "started_at": "2026-11-07T18:00:51", "argv": [ "tools/servo_current_probe.py", "--with-pad", "--no-currents", "--regs", "2:69,7:69,7:70" ], "mode": "pad", "cmd": { "cmd": "read_servo", "angles": true, "currents": false, "status": false, "gripper": false, "regs": [ [ 2, 69 ], [ 7, 69 ], [ 7, 70 ] ], "raw": false }, "gap_sec": null, "daemon": "192.168.2.1:5555", "sends_to_arm": "none (read only); gamepad_teleop sends as usual", "ended_at": "2026-11-07T18:03:24" } ```` #### 180051_pad/first_read.json（3回目の始めの1回） ````json { "cmds": [ { "cmd": "read_servo", "angles": true, "currents": true, "status": true, "gripper": true, "regs": [], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 1, 60 ], [ 1, 61 ], [ 1, 69 ], [ 1, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 2, 60 ], [ 2, 61 ], [ 2, 69 ], [ 2, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 3, 60 ], [ 3, 61 ], [ 3, 69 ], [ 3, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 4, 60 ], [ 4, 61 ], [ 4, 69 ], [ 4, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 5, 60 ], [ 5, 61 ], [ 5, 69 ], [ 5, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 6, 60 ], [ 6, 61 ], [ 6, 69 ], [ 6, 70 ] ], "raw": true }, { "cmd": "read_servo", "angles": false, "currents": false, "status": false, "gripper": false, "regs": [ [ 7, 60 ], [ 7, 61 ], [ 7, 69 ], [ 7, 70 ] ], "raw": true } ], "resps": [ { "ok": true, "t": 1665645424.6145096, "total_ms": 161.83, "items": { "angles": { "value": [ -0.35, 1.23, 0.7, 0.26, -0.26, -29.7 ], "ms": 22.17, "raw": [ "fefe0e20ffdd007b0046001affe6f466fa" ] }, "currents": { "value": null, "error": "no reply", "returned": [], "ms": 100.81, "raw": [ "None" ] }, "status": { "value": [ 0, 0, 0 ], "ms": 17.99, "raw": [ "fefe08e4000000000000fa" ] }, "gripper_value": { "value": 96, "ms": 20.35, "raw": [ "fefe036560fa" ] } }, "regs": [] }, { "ok": true, "t": 1665645424.777819, "total_ms": 74.74, "items": {}, "regs": [ [ 1, 60, 8, 14.84 ], [ 1, 61, 0, 19.86 ], [ 1, 69, 0, 19.85 ], [ 1, 70, 0, 19.83 ] ], "regs_detail": [ { "servo_id": 1, "addr": 60, "raw": [ "fefe035308fa" ], "error": null }, { "servo_id": 1, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 1, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645424.8539758, "total_ms": 79.18, "items": {}, "regs": [ [ 2, 60, 96, 18.5 ], [ 2, 61, 0, 19.91 ], [ 2, 69, 11, 19.93 ], [ 2, 70, 0, 20.53 ] ], "regs_detail": [ { "servo_id": 2, "addr": 60, "raw": [ "fefe035360fa" ], "error": null }, { "servo_id": 2, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 2, "addr": 69, "raw": [ "fefe03530bfa" ], "error": null }, { "servo_id": 2, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645424.9346828, "total_ms": 78.45, "items": {}, "regs": [ [ 3, 60, 40, 18.39 ], [ 3, 61, 0, 19.84 ], [ 3, 69, 1, 19.94 ], [ 3, 70, 0, 19.91 ] ], "regs_detail": [ { "servo_id": 3, "addr": 60, "raw": [ "fefe035328fa" ], "error": null }, { "servo_id": 3, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 3, "addr": 69, "raw": [ "fefe035301fa" ], "error": null }, { "servo_id": 3, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645425.0147223, "total_ms": 78.4, "items": {}, "regs": [ [ 4, 60, 37, 18.39 ], [ 4, 61, 4, 19.81 ], [ 4, 69, 0, 19.9 ], [ 4, 70, 0, 19.92 ] ], "regs_detail": [ { "servo_id": 4, "addr": 60, "raw": [ "fefe035325fa" ], "error": null }, { "servo_id": 4, "addr": 61, "raw": [ "fefe035304fa" ], "error": null }, { "servo_id": 4, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 4, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645425.0947123, "total_ms": 78.42, "items": {}, "regs": [ [ 5, 60, 64, 18.38 ], [ 5, 61, 0, 19.88 ], [ 5, 69, 0, 19.91 ], [ 5, 70, 0, 19.87 ] ], "regs_detail": [ { "servo_id": 5, "addr": 60, "raw": [ "fefe035340fa" ], "error": null }, { "servo_id": 5, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 5, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645425.1746562, "total_ms": 78.47, "items": {}, "regs": [ [ 6, 60, 28, 18.43 ], [ 6, 61, 4, 19.84 ], [ 6, 69, 0, 19.97 ], [ 6, 70, 0, 19.86 ] ], "regs_detail": [ { "servo_id": 6, "addr": 60, "raw": [ "fefe03531cfa" ], "error": null }, { "servo_id": 6, "addr": 61, "raw": [ "fefe035304fa" ], "error": null }, { "servo_id": 6, "addr": 69, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 6, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] }, { "ok": true, "t": 1665645425.254699, "total_ms": 79.17, "items": {}, "regs": [ [ 7, 60, 12, 18.33 ], [ 7, 61, 0, 19.93 ], [ 7, 69, 5, 19.87 ], [ 7, 70, 0, 20.58 ] ], "regs_detail": [ { "servo_id": 7, "addr": 60, "raw": [ "fefe03530cfa" ], "error": null }, { "servo_id": 7, "addr": 61, "raw": [ "fefe035300fa" ], "error": null }, { "servo_id": 7, "addr": 69, "raw": [ "fefe035305fa" ], "error": null }, { "servo_id": 7, "addr": 70, "raw": [ "fefe035300fa" ], "error": null } ] } ], "rtt_ms": 720.91, "notes": [ "angles [-0.35, 1.23, 0.7, 0.26, -0.26, -29.7] (22.17 ms) raw=['fefe0e20ffdd007b0046001affe6f466fa']", "currents None (100.81 ms) error=no reply raw=['None']", "status [0, 0, 0] (17.99 ms) raw=['fefe08e4000000000000fa']", "gripper_value 96 (20.35 ms) raw=['fefe036560fa']", "servo 1 (j0) 60:8 61:0 69:0 70:0", "servo 2 (j1) 60:96 61:0 69:11 70:0", "servo 3 (j2) 60:40 61:0 69:1 70:0", "servo 4 (j3) 60:37 61:4 69:0 70:0", "servo 5 (j4) 60:64 61:0 69:0 70:0", "servo 6 (j5) 60:28 61:4 69:0 70:0", "servo 7 (爪) 60:12 61:0 69:5 70:0", "番地 1 つの読み取り: 中央値 19.9 ms", "Pi の中の合計 708.66 ms" ] } ```` #### 180051_pad/marks.csv（3回目の印） ````csv t_mac,key,name,sample_i 1794042097.898721,1,static,449 1794042118.407143,2,close_empty,663 1794042140.794489,3,grasp,876 1794042154.007000,4,pull,1013 1794042183.396141,6,push_arm,1298 ```` #### 180051_pad/pad_rpc.csv（3回目のゲームパッドの指令と待ち） ````csv t_call,cmd,joint_id,wait_ms,rpc_ms,probe_paused,error 1794042052.606234,get_angles,,0.00,26.73,0, 1794042107.330679,set_gripper_value,,79.99,11.34,0, 1794042121.818129,set_gripper,,30.87,2013.34,0, 1794042135.387035,set_gripper_value,,62.95,1.85,0, 1794042163.666056,set_gripper,,23.99,2019.07,0, ```` #### 180051_pad/samples.csv（3回目の読み取り1,492回） ````csv i,t_mac_send,t_mac_recv,rtt_ms,wait_ms,t_pi,pi_total_ms,angles_ms,currents_ms,j0,j1,j2,j3,j4,j5,cur0,cur1,cur2,cur3,cur4,cur5,currents_raw,gripper_value,status,regs,error,mark 0,1794042056.526342,1794042056.635107,108.77,0.01,1665645429.292696,59.76,9.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.31], [7, 69, 5, 19.97], [7, 70, 128, 19.94]]",, 1,1794042056.645813,1794042056.727582,81.77,0.01,1665645429.412001,80.45,18.44,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.91], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 2,1794042056.739615,1794042056.807611,68.00,0.01,1665645429.505712,66.73,16.24,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.4], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 3,1794042056.819025,1794042056.887515,68.49,0.01,1665645429.585035,67.41,16.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.39], [7, 69, 1, 19.97], [7, 70, 0, 19.96]]",, 4,1794042056.900114,1794042056.967651,67.54,0.01,1665645429.666103,66.35,15.86,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.4], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 5,1794042056.979335,1794042057.047512,68.18,0.00,1665645429.745303,67.15,16.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.39], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 6,1794042057.057600,1794042057.127521,69.92,0.00,1665645429.823557,68.9,18.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.4], [7, 69, 6, 19.96], [7, 70, 128, 19.97]]",, 7,1794042057.140091,1794042057.207523,67.43,0.00,1665645429.906053,66.4,15.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.42], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 8,1794042057.220105,1794042057.287476,67.37,0.01,1665645429.986140,66.32,15.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.42], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 9,1794042057.299243,1794042057.367463,68.22,0.01,1665645430.065251,67.21,16.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.39], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 10,1794042057.380112,1794042057.447524,67.41,0.00,1665645430.146123,66.34,15.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.29], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 11,1794042057.457916,1794042057.527713,69.80,0.00,1665645430.223888,68.57,18.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 12,1794042057.537894,1794042057.607522,69.63,0.00,1665645430.303859,68.61,18.15,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.38], [7, 69, 3, 19.95], [7, 70, 128, 19.95]]",, 13,1794042057.620090,1794042057.688370,68.28,0.00,1665645430.386101,67.12,15.89,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.39], [7, 69, 2, 19.96], [7, 70, 128, 20.68]]",, 14,1794042057.700932,1794042057.788061,87.13,0.00,1665645430.467380,85.55,21.32,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 24.35], [7, 69, 6, 19.95], [7, 70, 0, 19.62]]",, 15,1794042057.798794,1794042057.888069,89.28,0.00,1665645430.565012,87.96,21.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.13], [7, 69, 3, 19.86], [7, 70, 0, 19.99]]",, 16,1794042057.900640,1794042057.988180,87.54,0.00,1665645430.672626,80.36,23.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.25], [7, 69, 1, 19.86], [7, 70, 128, 19.94]]",, 17,1794042057.999599,1794042058.088508,88.91,0.00,1665645430.765895,87.39,20.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.13], [7, 69, 4, 19.77], [7, 70, 128, 20.23]]",, 18,1794042058.098720,1794042058.187843,89.12,0.00,1665645430.865490,87.17,22.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.08], [7, 69, 0, 19.67], [7, 70, 128, 19.61]]",, 19,1794042058.198573,1794042058.288164,89.59,0.01,1665645430.964782,88.24,19.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.7], [7, 69, 1, 19.94], [7, 70, 128, 20.32]]",, 20,1794042058.300727,1794042058.388191,87.46,0.00,1665645431.067050,85.96,19.79,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.98], [7, 69, 1, 19.94], [7, 70, 0, 19.97]]",, 21,1794042058.400937,1794042058.488691,87.75,0.01,1665645431.167333,86.21,19.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.28], [7, 69, 2, 19.91], [7, 70, 0, 20.08]]",, 22,1794042058.498939,1794042058.588320,89.38,0.00,1665645431.265438,87.72,19.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.14], [7, 69, 5, 19.94], [7, 70, 0, 20.13]]",, 23,1794042058.600952,1794042058.667660,66.71,0.00,1665645431.367444,65.15,13.15,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.85], [7, 69, 7, 19.9], [7, 70, 0, 19.91]]",, 24,1794042058.679373,1794042058.747659,68.29,0.00,1665645431.445729,66.87,14.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.79], [7, 69, 6, 19.92], [7, 70, 0, 19.9]]",, 25,1794042058.759085,1794042058.827751,68.67,0.00,1665645431.525346,67.3,15.14,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.01], [7, 69, 1, 19.88], [7, 70, 0, 19.93]]",, 26,1794042058.838744,1794042058.907751,69.01,0.00,1665645431.605028,67.64,15.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.1], [7, 69, 1, 19.94], [7, 70, 128, 19.98]]",, 27,1794042058.920096,1794042058.987587,67.49,0.00,1665645431.686377,66.13,14.32,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.78], [7, 69, 5, 19.84], [7, 70, 128, 19.91]]",, 28,1794042058.997858,1794042059.067564,69.71,0.00,1665645431.763896,68.6,18.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.41], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 29,1794042059.080135,1794042059.147548,67.41,0.00,1665645431.846141,66.35,15.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.45], [7, 69, 5, 19.96], [7, 70, 128, 19.96]]",, 30,1794042059.157763,1794042059.227480,69.72,0.00,1665645431.923732,68.76,18.26,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.41], [7, 69, 4, 19.96], [7, 70, 128, 19.96]]",, 31,1794042059.237665,1794042059.307543,69.88,0.01,1665645432.003725,68.78,18.22,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 5, 19.97], [7, 70, 128, 19.95]]",, 32,1794042059.320097,1794042059.387561,67.46,0.00,1665645432.086093,66.41,15.92,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.39], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 33,1794042059.397857,1794042059.467533,69.68,0.00,1665645432.163813,68.69,18.15,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.45], [7, 69, 5, 19.97], [7, 70, 128, 19.96]]",, 34,1794042059.480111,1794042059.547505,67.39,0.00,1665645432.246124,66.38,15.85,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.44], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 35,1794042059.560072,1794042059.627576,67.50,0.00,1665645432.326057,66.44,15.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.43], [7, 69, 4, 19.96], [7, 70, 128, 19.96]]",, 36,1794042059.638705,1794042059.707548,68.84,0.00,1665645432.404713,67.79,17.21,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.5], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 37,1794042059.720088,1794042059.787865,67.78,0.00,1665645432.486100,66.4,15.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.42], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 38,1794042059.798716,1794042059.867560,68.84,0.03,1665645432.564796,67.71,17.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.45], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 39,1794042059.878944,1794042059.947815,68.87,0.01,1665645432.645642,66.87,16.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.48], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 40,1794042059.959338,1794042060.027555,68.22,0.01,1665645432.725348,67.16,16.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 41,1794042060.040155,1794042060.107614,67.46,0.00,1665645432.806175,66.33,15.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.47], [7, 69, 6, 19.96], [7, 70, 128, 19.96]]",, 42,1794042060.120094,1794042060.187875,67.78,0.00,1665645432.886162,66.44,15.77,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.58], [7, 69, 3, 19.92], [7, 70, 128, 19.87]]",, 43,1794042060.200239,1794042060.268515,68.28,0.00,1665645432.966432,66.08,13.69,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.3], [7, 69, 4, 19.96], [7, 70, 128, 19.96]]",, 44,1794042060.281329,1794042060.368640,87.31,0.00,1665645433.047408,85.11,18.52,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.5], [7, 69, 5, 19.96], [7, 70, 128, 19.96]]",, 45,1794042060.378995,1794042060.447717,68.72,0.03,1665645433.145120,67.4,16.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.47], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 46,1794042060.457863,1794042060.527777,69.91,0.00,1665645433.223993,68.53,17.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 47,1794042060.539640,1794042060.607743,68.10,0.00,1665645433.305756,66.77,16.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.42], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 48,1794042060.620112,1794042060.687751,67.64,0.00,1665645433.386197,66.33,15.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.49], [7, 69, 7, 19.96], [7, 70, 0, 19.96]]",, 49,1794042060.698295,1794042060.780976,82.68,0.01,1665645433.464504,68.02,17.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.4], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 50,1794042060.792121,1794042060.867774,75.65,0.10,1665645433.558380,74.14,15.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.52], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 51,1794042060.878429,1794042060.947657,69.23,0.01,1665645433.644532,68.0,17.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.44], [7, 69, 0, 19.96], [7, 70, 128, 19.97]]",, 52,1794042060.959283,1794042061.027741,68.46,0.00,1665645433.725453,67.08,14.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.35], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 53,1794042061.037873,1794042061.107667,69.79,0.00,1665645433.803914,68.62,18.07,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 54,1794042061.118635,1794042061.187669,69.03,0.00,1665645433.884654,67.88,17.34,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.45], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 55,1794042061.200236,1794042061.267804,67.57,0.00,1665645433.966478,66.05,15.5,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.47], [7, 69, 5, 19.96], [7, 70, 128, 19.96]]",, 56,1794042061.280006,1794042061.347841,67.84,0.01,1665645434.047105,65.44,13.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.28], [7, 69, 3, 19.95], [7, 70, 128, 19.97]]",, 57,1794042061.359553,1794042061.427642,68.09,0.01,1665645434.125643,66.89,16.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.47], [7, 69, 1, 19.96], [7, 70, 0, 19.96]]",, 58,1794042061.440206,1794042061.507869,67.66,0.01,1665645434.206276,66.38,15.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.34], [7, 69, 2, 19.91], [7, 70, 0, 19.89]]",, 59,1794042061.520456,1794042061.587856,67.40,0.01,1665645434.287226,65.44,12.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.52], [7, 69, 7, 19.87], [7, 70, 0, 19.92]]",, 60,1794042061.599430,1794042061.667897,68.47,0.01,1665645434.365861,66.81,14.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.89], [7, 69, 6, 19.88], [7, 70, 0, 19.9]]",, 61,1794042061.678121,1794042061.747908,69.79,0.00,1665645434.444510,68.15,17.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.92], [7, 69, 5, 19.91], [7, 70, 0, 19.9]]",, 62,1794042061.759943,1794042061.827840,67.90,0.00,1665645434.526295,66.37,14.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.53], [7, 69, 1, 19.95], [7, 70, 0, 19.91]]",, 63,1794042061.838090,1794042061.907804,69.71,0.00,1665645434.604437,68.16,16.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.9], [7, 69, 3, 19.89], [7, 70, 128, 19.85]]",, 64,1794042061.919706,1794042061.987696,67.99,0.00,1665645434.685813,66.75,14.28,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.37], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 65,1794042061.998205,1794042062.067619,69.41,0.00,1665645434.764266,68.28,17.68,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.52], [7, 69, 4, 19.95], [7, 70, 0, 19.96]]",, 66,1794042062.080783,1794042062.167679,86.90,0.00,1665645434.846886,85.67,19.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.49], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 67,1794042062.179808,1794042062.247779,67.97,0.00,1665645434.946218,66.36,14.52,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.78], [7, 69, 3, 19.87], [7, 70, 0, 19.88]]",, 68,1794042062.260359,1794042062.347711,87.35,0.01,1665645435.026553,86.0,19.4,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.51], [7, 69, 4, 19.95], [7, 70, 0, 19.97]]",, 69,1794042062.357790,1794042062.427683,69.89,0.00,1665645435.123865,68.69,18.11,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.49], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 70,1794042062.438212,1794042062.507660,69.45,0.00,1665645435.204767,67.79,17.18,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.53], [7, 69, 6, 19.97], [7, 70, 0, 19.96]]",, 71,1794042062.518597,1794042062.588136,69.54,0.00,1665645435.284669,67.89,17.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.51], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 72,1794042062.600488,1794042062.687654,87.17,0.01,1665645435.366872,85.69,19.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.55], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 73,1794042062.697959,1794042062.767687,69.73,0.00,1665645435.463957,68.61,18.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.46], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 74,1794042062.778755,1794042062.847729,68.97,0.00,1665645435.546360,66.21,15.61,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.51], [7, 69, 2, 19.96], [7, 70, 128, 19.96]]",, 75,1794042062.859675,1794042062.927682,68.01,0.00,1665645435.625709,66.86,16.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.5], [7, 69, 4, 19.97], [7, 70, 128, 19.97]]",, 76,1794042062.940238,1794042063.027616,87.38,0.00,1665645435.711447,81.13,18.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.49], [7, 69, 3, 19.98], [7, 70, 128, 19.94]]",, 77,1794042063.039292,1794042063.107722,68.43,0.00,1665645435.805228,67.34,16.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.48], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 78,1794042063.118511,1794042063.187722,69.21,0.00,1665645435.884538,68.04,17.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.51], [7, 69, 1, 19.97], [7, 70, 128, 19.97]]",, 79,1794042063.200210,1794042063.267677,67.47,0.03,1665645435.966288,66.29,15.68,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.52], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 80,1794042063.279690,1794042063.348142,68.45,0.01,1665645436.045749,66.82,16.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.49], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 81,1794042063.360728,1794042063.447718,86.99,0.00,1665645436.126781,85.8,19.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.54], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 82,1794042063.459203,1794042063.527687,68.48,0.00,1665645436.225259,67.32,16.71,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.53], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 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98,1794042064.978987,1794042065.049324,70.34,0.02,1665645437.745516,67.09,16.51,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.49], [7, 69, 2, 19.97], [7, 70, 0, 19.95]]",, 99,1794042065.060596,1794042065.148512,87.92,0.03,1665645437.827477,85.13,18.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.63], [7, 69, 2, 19.96], [7, 70, 0, 19.96]]",, 100,1794042065.161126,1794042065.249759,88.63,0.01,1665645437.927490,85.13,18.45,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.59], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 101,1794042065.262506,1794042065.347995,85.49,0.02,1665645438.029196,83.42,16.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.59], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 102,1794042065.358577,1794042065.428306,69.73,0.01,1665645438.125064,67.55,16.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.51], [7, 69, 4, 19.97], [7, 70, 0, 19.97]]",, 103,1794042065.439726,1794042065.509196,69.47,0.10,1665645438.206334,66.28,15.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.57], [7, 69, 6, 19.97], [7, 70, 0, 19.96]]",, 104,1794042065.522956,1794042065.608328,85.37,0.12,1665645438.289660,82.96,16.24,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.63], [7, 69, 2, 19.97], [7, 70, 0, 19.96]]",, 105,1794042065.620939,1794042065.709197,88.26,0.01,1665645438.387274,85.35,18.68,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.58], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 106,1794042065.722187,1794042065.811876,89.69,0.02,1665645438.488768,83.86,17.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.6], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 107,1794042065.824500,1794042065.910589,86.09,0.01,1665645438.590595,82.03,19.32,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.62], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 108,1794042065.921662,1794042066.008603,86.94,0.01,1665645438.687891,84.74,18.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.62], [7, 69, 7, 19.97], [7, 70, 0, 19.97]]",, 109,1794042066.020704,1794042066.107904,87.20,0.02,1665645438.787265,85.36,18.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.61], [7, 69, 8, 19.96], [7, 70, 0, 19.97]]",, 110,1794042066.120516,1794042066.208317,87.80,0.01,1665645438.886662,85.97,19.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.62], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 111,1794042066.218452,1794042066.289547,71.09,0.01,1665645438.984763,67.87,17.2,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.58], [7, 69, 7, 19.96], [7, 70, 0, 19.96]]",, 112,1794042066.302192,1794042066.368278,66.09,0.02,1665645439.070349,62.31,10.64,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.56], [7, 69, 5, 19.91], [7, 70, 0, 19.88]]",, 113,1794042066.381282,1794042066.469614,88.33,0.01,1665645439.147865,84.77,18.07,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.6], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 114,1794042066.483889,1794042066.572080,88.19,0.02,1665645439.250434,82.21,15.51,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.61], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 115,1794042066.584947,1794042066.675127,90.18,0.02,1665645439.351609,81.03,18.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.61], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 116,1794042066.687840,1794042066.768420,80.58,0.02,1665645439.454724,77.92,19.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.64], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 117,1794042066.781986,1794042066.868705,86.72,0.01,1665645439.548279,84.37,17.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.59], [7, 69, 2, 19.88], [7, 70, 128, 19.96]]",, 118,1794042066.881335,1794042066.969043,87.71,0.03,1665645439.647895,84.75,18.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.64], [7, 69, 1, 19.95], [7, 70, 0, 19.97]]",, 119,1794042066.981766,1794042067.068216,86.45,0.01,1665645439.748260,84.39,17.68,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.61], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 120,1794042067.078938,1794042067.147986,69.05,0.01,1665645439.845398,67.25,16.6,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.57], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 121,1794042067.159566,1794042067.227926,68.36,0.01,1665645439.925868,66.78,16.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.62], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 122,1794042067.240531,1794042067.329564,89.03,0.01,1665645440.006796,86.77,19.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.65], [7, 69, 7, 19.95], [7, 70, 0, 20.82]]",, 123,1794042067.341967,1794042067.408240,66.27,0.02,1665645440.108620,64.17,12.14,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.82], [7, 69, 2, 19.93], [7, 70, 0, 19.94]]",, 124,1794042067.420762,1794042067.488386,67.62,0.01,1665645440.187399,65.41,13.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.17], [7, 69, 5, 19.96], [7, 70, 0, 19.92]]",, 125,1794042067.499684,1794042067.572329,72.64,0.02,1665645440.266997,65.81,13.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.16], [7, 69, 4, 19.88], [7, 70, 0, 19.94]]",, 126,1794042067.588657,1794042067.672693,84.04,0.02,1665645440.355552,77.22,15.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.05], [7, 69, 5, 19.86], [7, 70, 0, 19.92]]",, 127,1794042067.688155,1794042067.767999,79.84,0.07,1665645440.455335,77.49,15.11,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.16], [7, 69, 5, 19.92], [7, 70, 0, 19.97]]",, 128,1794042067.780574,1794042067.848304,67.73,0.01,1665645440.547145,65.52,13.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.88], [7, 69, 2, 19.94], [7, 70, 0, 19.95]]",, 129,1794042067.861062,1794042067.947899,86.84,0.02,1665645440.627629,85.04,18.32,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.62], [7, 69, 2, 19.95], [7, 70, 0, 19.97]]",, 130,1794042067.960440,1794042068.028583,68.14,0.01,1665645440.730313,62.37,9.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.36], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 131,1794042068.040629,1794042068.130703,90.07,0.01,1665645440.806821,85.88,19.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.62], [7, 69, 3, 19.96], [7, 70, 0, 19.98]]",, 132,1794042068.142713,1794042068.227752,85.04,0.01,1665645440.910377,82.3,15.58,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.62], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 133,1794042068.240309,1794042068.307759,67.45,0.00,1665645441.006519,66.15,13.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.39], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 134,1794042068.320328,1794042068.387904,67.58,0.00,1665645441.086443,66.32,15.56,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.68], [7, 69, 5, 19.91], [7, 70, 0, 19.86]]",, 135,1794042068.400216,1794042068.467755,67.54,0.00,1665645441.166428,66.25,13.79,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.36], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 136,1794042068.480315,1794042068.547766,67.45,0.00,1665645441.246333,66.34,15.63,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.63], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 137,1794042068.560354,1794042068.648231,87.88,0.01,1665645441.326548,86.13,19.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.63], [7, 69, 6, 19.96], [7, 70, 128, 19.96]]",, 138,1794042068.660801,1794042068.747990,87.19,0.01,1665645441.426965,85.72,18.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.69], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 139,1794042068.760611,1794042068.848965,88.35,0.01,1665645441.526723,85.97,19.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.68], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 140,1794042068.861851,1794042068.948245,86.39,0.01,1665645441.628170,84.51,17.76,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.67], [7, 69, 8, 19.96], [7, 70, 0, 19.97]]",, 141,1794042068.961352,1794042069.048294,86.94,0.03,1665645441.727886,84.8,18.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.64], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 142,1794042069.058636,1794042069.127724,69.09,0.01,1665645441.824763,67.92,17.23,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.61], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 143,1794042069.140301,1794042069.207832,67.53,0.01,1665645441.906298,66.39,15.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.64], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 144,1794042069.220422,1794042069.288009,67.59,0.01,1665645441.986436,66.26,15.52,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.65], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 145,1794042069.300627,1794042069.389156,88.53,0.01,1665645442.066994,86.19,20.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.96], [7, 69, 0, 19.92], [7, 70, 0, 19.95]]",, 146,1794042069.401850,1794042069.488976,87.13,0.03,1665645442.168589,84.67,18.31,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.29], [7, 69, 6, 19.72], [7, 70, 0, 20.06]]",, 147,1794042069.501412,1794042069.588902,87.49,0.09,1665645442.268111,85.09,18.77,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.16], [7, 69, 7, 19.93], [7, 70, 0, 19.95]]",, 148,1794042069.600272,1794042069.688834,88.56,0.01,1665645442.366573,86.67,20.35,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.14], [7, 69, 7, 19.93], [7, 70, 0, 19.97]]",, 149,1794042069.700463,1794042069.788988,88.52,0.01,1665645442.466893,86.3,20.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.06], [7, 69, 3, 19.99], [7, 70, 0, 19.93]]",, 150,1794042069.799966,1794042069.888653,88.69,0.02,1665645442.566940,86.31,19.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.11], [7, 69, 3, 19.92], [7, 70, 0, 20.03]]",, 151,1794042069.900540,1794042069.988526,87.99,0.01,1665645442.667011,86.18,20.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.0], [7, 69, 2, 19.93], [7, 70, 0, 19.92]]",, 152,1794042070.001167,1794042070.088626,87.46,0.01,1665645442.767491,85.7,19.5,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.01], [7, 69, 6, 19.98], [7, 70, 0, 19.93]]",, 153,1794042070.102760,1794042070.188770,86.01,0.01,1665645442.869202,84.0,17.74,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.07], [7, 69, 7, 19.97], [7, 70, 0, 19.95]]",, 154,1794042070.201775,1794042070.290254,88.48,0.00,1665645442.968051,85.23,18.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.06], [7, 69, 5, 19.94], [7, 70, 0, 20.0]]",, 155,1794042070.303683,1794042070.390257,86.57,0.01,1665645443.070573,83.33,17.26,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.54], [7, 69, 5, 19.69], [7, 70, 128, 20.3]]",, 156,1794042070.402983,1794042070.468554,65.57,0.02,1665645443.169715,63.15,11.24,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.72], [7, 69, 0, 19.92], [7, 70, 0, 19.92]]",, 157,1794042070.480425,1794042070.548164,67.74,0.01,1665645443.247046,65.78,13.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.16], [7, 69, 6, 19.52], [7, 70, 0, 19.85]]",, 158,1794042070.560845,1794042070.629250,68.40,0.02,1665645443.327467,65.36,13.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.75], [7, 69, 5, 19.93], [7, 70, 128, 19.93]]",, 159,1794042070.641887,1794042070.709850,67.96,0.02,1665645443.408572,64.3,12.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.04], [7, 69, 0, 19.94], [7, 70, 0, 19.91]]",, 160,1794042070.722686,1794042070.788656,65.97,0.02,1665645443.489263,63.6,12.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.98], [7, 69, 5, 19.95], [7, 70, 0, 19.92]]",, 161,1794042070.801647,1794042070.867898,66.25,0.01,1665645443.568053,64.67,12.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.02], [7, 69, 1, 17.01], [7, 70, 128, 19.96]]",, 162,1794042070.878416,1794042070.947802,69.39,0.01,1665645443.644522,68.2,17.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.57], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 163,1794042070.960375,1794042071.027915,67.54,0.00,1665645443.726393,66.35,15.6,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.64], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 164,1794042071.040507,1794042071.130615,90.11,0.01,1665645443.806633,86.09,19.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.73], [7, 69, 5, 19.97], [7, 70, 0, 19.96]]",, 165,1794042071.142238,1794042071.228303,86.07,0.02,1665645443.908558,84.17,17.41,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.66], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 166,1794042071.240443,1794042071.328142,87.70,0.02,1665645444.006838,85.89,19.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.7], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 167,1794042071.340884,1794042071.428260,87.38,0.02,1665645444.107271,85.46,18.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.7], [7, 69, 0, 19.95], [7, 70, 0, 19.97]]",, 168,1794042071.441023,1794042071.528186,87.16,0.01,1665645444.207095,85.64,18.88,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.67], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 169,1794042071.539972,1794042071.608065,68.09,0.01,1665645444.306064,66.67,15.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.65], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 170,1794042071.621385,1794042071.707982,86.60,0.01,1665645444.387554,85.18,18.4,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.69], [7, 69, 0, 19.97], [7, 70, 0, 19.97]]",, 171,1794042071.721465,1794042071.808056,86.59,0.01,1665645444.487812,84.93,18.16,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.68], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 172,1794042071.821546,1794042071.907952,86.41,0.02,1665645444.587929,84.81,17.99,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.74], [7, 69, 5, 19.97], [7, 70, 128, 19.97]]",, 173,1794042071.921839,1794042072.008319,86.48,0.01,1665645444.687968,84.77,17.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.71], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 174,1794042072.020972,1794042072.108921,87.95,0.01,1665645444.787085,85.66,18.83,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.74], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 175,1794042072.120318,1794042072.210934,90.62,0.01,1665645444.887255,85.49,18.65,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.75], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 176,1794042072.221482,1794042072.310736,89.25,0.02,1665645444.987772,84.97,18.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.71], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 177,1794042072.323382,1794042072.409036,85.65,0.02,1665645445.089673,83.08,16.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.72], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 178,1794042072.420294,1794042072.508357,88.06,0.01,1665645445.186434,86.34,18.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.26], [7, 69, 6, 19.67], [7, 70, 0, 19.89]]",, 179,1794042072.519034,1794042072.588075,69.04,0.01,1665645445.285233,67.52,16.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.65], [7, 69, 6, 19.97], [7, 70, 0, 19.95]]",, 180,1794042072.599460,1794042072.688064,88.60,1.01,1665645445.366563,86.19,19.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.74], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 181,1794042072.701166,1794042072.788339,87.17,0.01,1665645445.467408,85.35,18.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.73], [7, 69, 4, 19.96], [7, 70, 0, 19.96]]",, 182,1794042072.801244,1794042072.888121,86.88,0.01,1665645445.567589,85.17,18.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.58], [7, 69, 5, 19.95], [7, 70, 0, 19.96]]",, 183,1794042072.900899,1794042072.987873,86.97,0.01,1665645445.667105,85.66,18.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.73], [7, 69, 2, 19.95], [7, 70, 0, 19.97]]",, 184,1794042073.000208,1794042073.068030,67.82,0.01,1665645445.771133,61.63,8.99,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.53], [7, 69, 3, 19.96], [7, 70, 0, 19.96]]",, 185,1794042073.080698,1794042073.168070,87.37,0.01,1665645445.846942,85.82,18.99,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.74], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 186,1794042073.180693,1794042073.268126,87.43,0.01,1665645445.946951,85.84,18.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.75], [7, 69, 7, 20.03], [7, 70, 0, 19.88]]",, 187,1794042073.280733,1794042073.349783,69.05,0.01,1665645446.047037,67.49,14.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.28], [7, 69, 4, 21.78], [7, 70, 0, 19.54]]",, 188,1794042073.360281,1794042073.428003,67.72,0.01,1665645446.126661,66.25,13.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.54], [7, 69, 4, 19.88], [7, 70, 0, 19.92]]",, 189,1794042073.439711,1794042073.508105,68.39,0.01,1665645446.206068,66.9,14.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.78], [7, 69, 1, 19.98], [7, 70, 0, 19.91]]",, 190,1794042073.520675,1794042073.588071,67.40,0.00,1665645446.287036,65.89,13.83,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.86], [7, 69, 3, 19.91], [7, 70, 0, 19.95]]",, 191,1794042073.600639,1794042073.668332,67.69,0.00,1665645446.367014,65.93,13.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.89], [7, 69, 4, 19.94], [7, 70, 0, 19.92]]",, 192,1794042073.680915,1794042073.748039,67.12,0.01,1665645446.447261,65.65,13.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.0], [7, 69, 2, 19.91], [7, 70, 0, 19.91]]",, 193,1794042073.760121,1794042073.828036,67.91,0.01,1665645446.526441,66.34,13.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.26], [7, 69, 6, 19.95], [7, 70, 0, 19.96]]",, 194,1794042073.840443,1794042073.908111,67.67,0.00,1665645446.606532,66.24,13.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.61], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 195,1794042073.920033,1794042074.008119,88.09,0.01,1665645446.687200,85.58,18.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.75], [7, 69, 7, 19.95], [7, 70, 0, 19.97]]",, 196,1794042074.020772,1794042074.108011,87.24,0.00,1665645446.786824,85.96,19.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.78], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 197,1794042074.120597,1794042074.209433,88.84,0.00,1665645446.886574,86.21,19.37,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.76], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 198,1794042074.220632,1794042074.308333,87.70,0.01,1665645446.986934,85.85,18.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.8], [7, 69, 2, 19.96], [7, 70, 0, 19.96]]",, 199,1794042074.319358,1794042074.388927,69.57,0.02,1665645447.085675,67.11,16.31,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.72], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 200,1794042074.401518,1794042074.488341,86.82,0.01,1665645447.167525,85.42,18.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.76], [7, 69, 0, 19.96], [7, 70, 0, 20.06]]",, 201,1794042074.500957,1794042074.567918,66.96,0.01,1665645447.267479,65.32,13.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.64], [7, 69, 2, 19.94], [7, 70, 128, 19.96]]",, 202,1794042074.580483,1794042074.667981,87.50,0.01,1665645447.346618,86.18,19.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.76], [7, 69, 5, 19.96], [7, 70, 128, 19.96]]",, 203,1794042074.684896,1794042074.768405,83.51,0.02,1665645447.451510,81.29,18.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.77], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 204,1794042074.778587,1794042074.848467,69.88,0.00,1665645447.544701,68.1,17.34,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.67], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 205,1794042074.861515,1794042074.948016,86.50,0.01,1665645447.627656,85.14,18.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.75], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 206,1794042074.958637,1794042075.028307,69.67,0.01,1665645447.724733,68.07,17.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.73], [7, 69, 3, 19.97], [7, 70, 128, 19.96]]",, 207,1794042075.041114,1794042075.128099,86.98,0.14,1665645447.807831,84.97,18.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.78], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 208,1794042075.140265,1794042075.208668,68.40,0.01,1665645447.906466,66.34,15.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.72], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 209,1794042075.222263,1794042075.309053,86.79,0.01,1665645447.988752,84.05,17.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.8], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 210,1794042075.321718,1794042075.409651,87.93,0.03,1665645448.095784,77.53,18.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.81], [7, 69, 3, 20.09], [7, 70, 0, 20.31]]",, 211,1794042075.422295,1794042075.508565,86.27,0.01,1665645448.188639,84.68,18.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.14], [7, 69, 4, 20.03], [7, 70, 0, 19.91]]",, 212,1794042075.521169,1794042075.608469,87.30,0.00,1665645448.287453,85.79,18.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.59], [7, 69, 1, 20.02], [7, 70, 0, 19.93]]",, 213,1794042075.621057,1794042075.708770,87.71,0.00,1665645448.387456,85.85,19.55,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.15], [7, 69, 1, 19.97], [7, 70, 128, 19.9]]",, 214,1794042075.721442,1794042075.808693,87.25,0.01,1665645448.487841,85.42,19.2,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.12], [7, 69, 3, 19.87], [7, 70, 128, 19.9]]",, 215,1794042075.821232,1794042075.908915,87.68,0.01,1665645448.587929,85.38,19.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.19], [7, 69, 4, 19.95], [7, 70, 128, 19.89]]",, 216,1794042075.924662,1794042076.009765,85.10,0.01,1665645448.692226,81.09,24.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.12], [7, 69, 5, 19.92], [7, 70, 128, 19.93]]",, 217,1794042076.022236,1794042076.108981,86.75,0.04,1665645448.788950,84.33,18.07,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.13], [7, 69, 1, 19.97], [7, 70, 128, 19.86]]",, 218,1794042076.122058,1794042076.210701,88.64,0.02,1665645448.888848,84.47,18.18,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.15], [7, 69, 3, 19.96], [7, 70, 128, 19.89]]",, 219,1794042076.223384,1794042076.309348,85.96,0.01,1665645448.989851,83.33,17.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 29.41], [7, 69, 3, 18.81], [7, 70, 128, 17.42]]",, 220,1794042076.341109,1794042076.428333,87.22,0.01,1665645449.109004,83.93,15.86,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.44], [7, 69, 2, 19.34], [7, 70, 128, 19.92]]",, 221,1794042076.443047,1794042076.513806,70.76,0.01,1665645449.211345,61.61,9.23,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.19], [7, 69, 0, 19.95], [7, 70, 0, 19.9]]",, 222,1794042076.526433,1794042076.608475,82.04,0.01,1665645449.292846,80.09,19.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 20.08], [7, 69, 1, 19.9], [7, 70, 0, 19.91]]",, 223,1794042076.620978,1794042076.695265,74.29,0.01,1665645449.387583,65.42,13.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.91], [7, 69, 5, 19.93], [7, 70, 0, 19.96]]",, 224,1794042076.707862,1794042076.788153,80.29,0.01,1665645449.474199,78.73,16.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.01], [7, 69, 3, 19.87], [7, 70, 0, 19.9]]",, 225,1794042076.800386,1794042076.868196,67.81,0.01,1665645449.566560,66.28,13.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.36], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 226,1794042076.879208,1794042076.948309,69.10,0.02,1665645449.645549,67.29,16.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.74], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 227,1794042076.961126,1794042077.048414,87.29,0.01,1665645449.727415,85.44,18.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.81], [7, 69, 3, 19.97], [7, 70, 128, 19.96]]",, 228,1794042077.061085,1794042077.148872,87.79,0.01,1665645449.827533,85.31,18.37,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.85], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 229,1794042077.160811,1794042077.247922,87.11,0.01,1665645449.927103,85.74,18.83,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.83], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 230,1794042077.260542,1794042077.348635,88.09,0.01,1665645450.026589,86.26,19.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.87], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 231,1794042077.364155,1794042077.447956,83.80,0.02,1665645450.130450,82.4,15.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.84], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 232,1794042077.459898,1794042077.528009,68.11,0.00,1665645450.226030,66.82,15.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.75], [7, 69, 1, 19.96], [7, 70, 0, 19.97]]",, 233,1794042077.540597,1794042077.627958,87.36,0.01,1665645450.306647,86.2,19.69,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.42], [7, 69, 0, 19.95], [7, 70, 128, 19.96]]",, 234,1794042077.640529,1794042077.728002,87.47,0.00,1665645450.406558,86.29,19.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.82], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 235,1794042077.740820,1794042077.828009,87.19,0.01,1665645450.507072,85.78,18.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.88], [7, 69, 0, 19.96], [7, 70, 128, 19.96]]",, 236,1794042077.840600,1794042077.928016,87.42,0.00,1665645450.607047,85.81,18.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.82], [7, 69, 0, 19.94], [7, 70, 128, 19.96]]",, 237,1794042077.940577,1794042078.028047,87.47,0.00,1665645450.706645,86.21,19.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.83], [7, 69, 0, 19.96], [7, 70, 0, 19.96]]",, 238,1794042078.040619,1794042078.108524,67.91,0.01,1665645450.810552,62.31,9.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.38], [7, 69, 2, 19.95], [7, 70, 128, 19.97]]",, 239,1794042078.120403,1794042078.208332,87.93,0.01,1665645450.890722,82.14,19.23,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.82], [7, 69, 7, 19.96], [7, 70, 128, 19.97]]",, 240,1794042078.221058,1794042078.313776,92.72,0.02,1665645450.987649,85.22,18.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.86], [7, 69, 1, 19.97], [7, 70, 128, 19.96]]",, 241,1794042078.324638,1794042078.409272,84.63,0.02,1665645451.091214,81.65,18.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.84], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 242,1794042078.421930,1794042078.508815,86.88,0.01,1665645451.188379,84.49,17.55,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.85], [7, 69, 5, 19.97], [7, 70, 128, 19.96]]",, 243,1794042078.520785,1794042078.610844,90.06,0.02,1665645451.287290,85.7,18.65,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.85], [7, 69, 4, 20.07], [7, 70, 128, 19.85]]",, 244,1794042078.623631,1794042078.688717,65.09,0.01,1665645451.390259,62.61,10.21,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.3], [7, 69, 2, 19.96], [7, 70, 128, 19.96]]",, 245,1794042078.700441,1794042078.788716,88.27,0.02,1665645451.467036,85.9,18.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.88], [7, 69, 6, 19.96], [7, 70, 128, 20.0]]",, 246,1794042078.800336,1794042078.868851,68.52,2.00,1665645451.568833,64.04,11.61,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.34], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 247,1794042078.881772,1794042078.970721,88.95,0.02,1665645451.648444,84.43,17.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.77], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 248,1794042078.983722,1794042079.071227,87.50,0.01,1665645451.750294,82.59,15.63,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.87], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 249,1794042079.084742,1794042079.177391,92.65,0.02,1665645451.851410,81.47,18.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.84], [7, 69, 2, 19.97], [7, 70, 128, 19.96]]",, 250,1794042079.190025,1794042079.272675,82.65,0.01,1665645451.956505,76.38,17.45,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.84], [7, 69, 4, 19.96], [7, 70, 0, 19.96]]",, 251,1794042079.283526,1794042079.349222,65.70,0.02,1665645452.051267,61.74,9.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.55], [7, 69, 0, 16.97], [7, 70, 0, 19.87]]",, 252,1794042079.362050,1794042079.428304,66.25,0.02,1665645452.128986,64.05,11.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.19], [7, 69, 4, 19.96], [7, 70, 0, 19.91]]",, 253,1794042079.439513,1794042079.508403,68.89,0.01,1665645452.205874,67.13,15.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.88], [7, 69, 5, 19.88], [7, 70, 0, 19.91]]",, 254,1794042079.521313,1794042079.591787,70.47,0.02,1665645452.287802,65.24,12.77,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.25], [7, 69, 6, 19.93], [7, 70, 0, 19.95]]",, 255,1794042079.602975,1794042079.668273,65.30,0.02,1665645452.369550,63.46,11.37,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.93], [7, 69, 8, 19.94], [7, 70, 0, 19.87]]",, 256,1794042079.680859,1794042079.751250,70.39,0.01,1665645452.447326,65.65,13.6,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.92], [7, 69, 6, 19.93], [7, 70, 0, 19.86]]",, 257,1794042079.766129,1794042079.849679,83.55,0.01,1665645452.532415,80.49,18.0,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.38], [7, 69, 3, 19.97], [7, 70, 0, 19.96]]",, 258,1794042079.861481,1794042079.948115,86.63,0.01,1665645452.627739,85.16,18.22,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.85], [7, 69, 1, 19.96], [7, 70, 128, 19.96]]",, 259,1794042079.960707,1794042080.048260,87.55,0.01,1665645452.726898,86.0,19.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.87], [7, 69, 2, 19.97], [7, 70, 0, 19.95]]",, 260,1794042080.060761,1794042080.148226,87.47,0.05,1665645452.827581,85.32,18.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.87], [7, 69, 4, 19.97], [7, 70, 128, 19.96]]",, 261,1794042080.159046,1794042080.228205,69.16,0.02,1665645452.925323,67.58,16.69,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.79], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 262,1794042080.239570,1794042080.308160,68.59,0.01,1665645453.005892,67.01,16.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.82], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 263,1794042080.322960,1794042080.408722,85.76,0.01,1665645453.089248,83.66,16.71,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.86], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 264,1794042080.422931,1794042080.511399,88.47,0.01,1665645453.189132,83.78,16.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.88], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 265,1794042080.522653,1794042080.610126,87.47,0.01,1665645453.288999,83.91,16.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.89], [7, 69, 5, 19.94], [7, 70, 0, 19.97]]",, 266,1794042080.622664,1794042080.690226,67.56,0.01,1665645453.389177,63.76,11.96,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.7], [7, 69, 3, 19.9], [7, 70, 0, 19.89]]",, 267,1794042080.702950,1794042080.788643,85.69,0.02,1665645453.469393,83.52,16.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.89], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 268,1794042080.799412,1794042080.869451,70.04,0.01,1665645453.566174,66.74,15.83,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.82], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 269,1794042080.882974,1794042080.969386,86.41,0.01,1665645453.649220,83.7,16.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.89], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 270,1794042080.981919,1794042081.071320,89.40,0.01,1665645453.748090,84.83,17.88,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.86], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 271,1794042081.089889,1794042081.168134,78.24,0.01,1665645453.855996,76.92,17.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.87], [7, 69, 6, 19.96], [7, 70, 0, 19.96]]",, 272,1794042081.179703,1794042081.248354,68.65,0.01,1665645453.945798,67.13,16.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.79], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 273,1794042081.259871,1794042081.349801,89.93,0.02,1665645454.026675,86.25,19.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.9], [7, 69, 0, 19.96], [7, 70, 0, 19.96]]",, 274,1794042081.362710,1794042081.448613,85.90,0.01,1665645454.129117,84.16,16.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.28], [7, 69, 2, 19.99], [7, 70, 0, 19.83]]",, 275,1794042081.459292,1794042081.549099,89.81,0.01,1665645454.225746,87.92,21.45,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.33], [7, 69, 3, 19.86], [7, 70, 0, 19.97]]",, 276,1794042081.566732,1794042081.655772,89.04,0.01,1665645454.333444,79.99,25.68,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 14.15], [7, 69, 5, 19.93], [7, 70, 0, 19.94]]",, 277,1794042081.668460,1794042081.749283,80.82,0.01,1665645454.435282,78.15,21.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.08], [7, 69, 4, 19.97], [7, 70, 0, 19.9]]",, 278,1794042081.761932,1794042081.848829,86.90,0.02,1665645454.528491,84.94,18.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.17], [7, 69, 4, 19.87], [7, 70, 0, 19.99]]",, 279,1794042081.861449,1794042081.948708,87.26,0.01,1665645454.627965,85.47,19.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.1], [7, 69, 2, 19.98], [7, 70, 0, 19.93]]",, 280,1794042081.961309,1794042082.048927,87.62,0.01,1665645454.727632,85.81,19.51,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.14], [7, 69, 4, 19.91], [7, 70, 0, 19.96]]",, 281,1794042082.061637,1794042082.148763,87.13,0.01,1665645454.827950,85.43,19.22,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.06], [7, 69, 5, 19.99], [7, 70, 0, 19.87]]",, 282,1794042082.161338,1794042082.249105,87.77,0.00,1665645454.927692,86.05,19.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.16], [7, 69, 4, 19.89], [7, 70, 0, 20.23]]",, 283,1794042082.261678,1794042082.348485,86.81,0.00,1665645455.028407,84.64,19.5,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.81], [7, 69, 0, 19.01], [7, 70, 0, 19.92]]",, 284,1794042082.360035,1794042082.431618,71.58,0.01,1665645455.126940,66.12,14.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.85], [7, 69, 2, 19.92], [7, 70, 128, 19.86]]",, 285,1794042082.444463,1794042082.508378,63.92,0.01,1665645455.211110,61.95,10.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.77], [7, 69, 3, 19.93], [7, 70, 128, 19.88]]",, 286,1794042082.521031,1794042082.588465,67.43,0.01,1665645455.287436,65.62,13.49,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.94], [7, 69, 2, 19.95], [7, 70, 128, 19.9]]",, 287,1794042082.600347,1794042082.668872,68.53,0.01,1665645455.366733,66.38,13.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.4], [7, 69, 4, 19.89], [7, 70, 128, 19.94]]",, 288,1794042082.682611,1794042082.749966,67.36,0.01,1665645455.449306,63.74,11.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.82], [7, 69, 0, 19.9], [7, 70, 0, 19.87]]",, 289,1794042082.762625,1794042082.828491,65.87,0.02,1665645455.529127,63.83,11.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.37], [7, 69, 4, 19.95], [7, 70, 0, 19.97]]",, 290,1794042082.840186,1794042082.908904,68.72,0.01,1665645455.606428,66.53,15.59,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.84], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 291,1794042082.920080,1794042082.988412,68.33,0.01,1665645455.686475,66.48,15.6,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.79], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 292,1794042083.002562,1794042083.089426,86.86,0.02,1665645455.768893,84.06,17.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.91], [7, 69, 1, 19.96], [7, 70, 0, 19.96]]",, 293,1794042083.104269,1794042083.188075,83.81,0.02,1665645455.875034,77.94,15.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.36], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 294,1794042083.200680,1794042083.289038,88.36,0.02,1665645455.966920,86.04,19.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.94], [7, 69, 6, 19.96], [7, 70, 0, 19.96]]",, 295,1794042083.300504,1794042083.390689,90.19,0.01,1665645456.066915,86.05,18.99,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 296,1794042083.403133,1794042083.488851,85.72,0.02,1665645456.169479,83.52,16.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 7, 19.96], [7, 70, 0, 19.98]]",, 297,1794042083.501496,1794042083.588367,86.87,0.02,1665645456.267897,85.07,18.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.95], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 298,1794042083.602411,1794042083.688161,85.75,0.03,1665645456.368855,84.11,17.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.94], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 299,1794042083.700225,1794042083.768144,67.92,0.01,1665645456.466408,66.56,15.64,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.84], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 300,1794042083.779560,1794042083.848178,68.62,0.01,1665645456.545659,67.31,16.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.86], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 301,1794042083.860059,1794042083.928128,68.07,0.01,1665645456.626225,66.75,15.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.8], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 302,1794042083.942749,1794042084.028992,86.24,0.01,1665645456.708966,84.02,16.96,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 4, 19.96], [7, 70, 128, 19.96]]",, 303,1794042084.042091,1794042084.128234,86.14,0.62,1665645456.809535,83.44,16.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 304,1794042084.141415,1794042084.229299,87.88,0.01,1665645456.907684,85.3,18.28,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.93], [7, 69, 4, 19.96], [7, 70, 128, 19.96]]",, 305,1794042084.243213,1794042084.329580,86.37,0.02,1665645457.009565,83.42,16.38,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.95], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 306,1794042084.341095,1794042084.431126,90.03,0.01,1665645457.107221,85.76,18.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 307,1794042084.443234,1794042084.530308,87.07,0.30,1665645457.209805,83.19,16.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.96], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 308,1794042084.541041,1794042084.628929,87.89,0.01,1665645457.307170,85.81,18.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.85], [7, 69, 0, 19.95], [7, 70, 0, 19.97]]",, 309,1794042084.641078,1794042084.728323,87.24,0.01,1665645457.407241,85.86,18.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.94], [7, 69, 0, 19.96], [7, 70, 128, 20.03]]",, 310,1794042084.740517,1794042084.808473,67.96,0.01,1665645457.507212,65.79,13.64,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.13], [7, 69, 3, 19.82], [7, 70, 0, 19.94]]",, 311,1794042084.820267,1794042084.908653,88.39,0.01,1665645457.586539,86.45,19.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 2, 19.96], [7, 70, 0, 19.96]]",, 312,1794042084.921390,1794042085.008141,86.75,0.02,1665645457.687805,85.19,18.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.97], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 313,1794042085.020221,1794042085.088397,68.18,0.01,1665645457.786451,66.55,15.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.92], [7, 69, 1, 19.96], [7, 70, 128, 19.96]]",, 314,1794042085.100545,1794042085.188014,87.47,0.01,1665645457.866969,86.03,18.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.99], [7, 69, 5, 19.96], [7, 70, 128, 19.96]]",, 315,1794042085.198400,1794042085.269398,71.00,0.01,1665645457.964575,68.58,17.5,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.84], [7, 69, 2, 20.15], [7, 70, 0, 19.83]]",, 316,1794042085.279774,1794042085.348293,68.52,0.01,1665645458.046163,66.95,14.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.87], [7, 69, 4, 19.93], [7, 70, 0, 19.88]]",, 317,1794042085.358663,1794042085.428378,69.72,0.00,1665645458.125016,68.13,16.15,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.8], [7, 69, 1, 19.94], [7, 70, 128, 19.88]]",, 318,1794042085.439333,1794042085.512776,73.44,0.01,1665645458.205955,67.17,15.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.89], [7, 69, 4, 19.95], [7, 70, 128, 19.91]]",, 319,1794042085.528093,1794042085.608459,80.37,0.02,1665645458.296928,76.22,14.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.03], [7, 69, 4, 19.86], [7, 70, 0, 19.93]]",, 320,1794042085.620928,1794042085.688368,67.44,0.01,1665645458.387312,65.79,13.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.07], [7, 69, 5, 19.89], [7, 70, 0, 19.87]]",, 321,1794042085.701549,1794042085.786087,84.54,0.01,1665645458.468005,65.02,12.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.23], [7, 69, 7, 19.95], [7, 70, 0, 19.97]]",, 322,1794042085.797991,1794042085.870627,72.64,0.01,1665645458.564183,68.84,17.88,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.86], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 323,1794042085.883272,1794042085.971292,88.02,0.49,1665645458.651111,81.91,18.8,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.01], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 324,1794042085.987586,1794042086.072724,85.14,0.02,1665645458.753955,79.07,16.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.32], [7, 69, 2, 19.94], [7, 70, 128, 19.97]]",, 325,1794042086.088176,1794042086.170076,81.90,0.02,1665645458.854880,78.14,19.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 18.97], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 326,1794042086.192982,1794042086.268477,75.50,0.01,1665645458.959234,73.8,18.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.0], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 327,1794042086.280628,1794042086.368169,87.54,0.00,1665645459.047210,85.81,18.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.02], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 328,1794042086.379622,1794042086.448148,68.53,0.01,1665645459.145702,67.32,16.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.87], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 329,1794042086.460729,1794042086.550481,89.75,0.01,1665645459.226823,86.21,19.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.02], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 330,1794042086.561786,1794042086.648745,86.96,0.01,1665645459.327966,85.06,17.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.03], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 331,1794042086.661378,1794042086.756011,94.63,0.01,1665645459.427551,85.48,18.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.0], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 332,1794042086.769348,1794042086.848709,79.36,0.00,1665645459.535911,77.14,16.35,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 20.75], [7, 69, 3, 19.85], [7, 70, 0, 19.89]]",, 333,1794042086.860764,1794042086.948194,87.43,0.01,1665645459.627004,86.03,18.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.0], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 334,1794042086.960782,1794042087.049440,88.66,0.01,1665645459.727340,85.7,18.59,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.02], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 335,1794042087.062197,1794042087.149399,87.20,0.01,1665645459.828696,84.34,17.21,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.05], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 336,1794042087.161969,1794042087.254010,92.04,0.01,1665645459.928319,84.72,17.58,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.06], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 337,1794042087.266817,1794042087.349276,82.46,0.04,1665645460.033248,80.28,17.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.41], [7, 69, 5, 20.43], [7, 70, 0, 19.93]]",, 338,1794042087.361896,1794042087.449504,87.61,0.01,1665645460.128516,85.02,18.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.99], [7, 69, 2, 19.84], [7, 70, 0, 19.98]]",, 339,1794042087.464177,1794042087.550466,86.29,0.02,1665645460.231281,82.2,15.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.12], [7, 69, 2, 19.93], [7, 70, 0, 19.89]]",, 340,1794042087.561092,1794042087.649829,88.74,0.01,1665645460.327788,85.77,19.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.06], [7, 69, 2, 19.92], [7, 70, 0, 19.95]]",, 341,1794042087.662112,1794042087.754073,91.96,0.01,1665645460.429022,84.48,18.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.07], [7, 69, 1, 19.77], [7, 70, 0, 19.87]]",, 342,1794042087.766833,1794042087.850093,83.26,0.01,1665645460.533544,80.0,23.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.14], [7, 69, 3, 19.93], [7, 70, 0, 19.95]]",, 343,1794042087.864520,1794042087.953173,88.65,0.02,1665645460.633216,80.29,24.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.07], [7, 69, 2, 19.94], [7, 70, 0, 19.89]]",, 344,1794042087.965666,1794042088.055663,90.00,0.02,1665645460.732512,81.04,24.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.24], [7, 69, 1, 19.86], [7, 70, 0, 19.96]]",, 345,1794042088.068338,1794042088.150818,82.48,0.01,1665645460.835387,78.12,21.92,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.09], [7, 69, 1, 19.93], [7, 70, 0, 19.89]]",, 346,1794042088.163657,1794042088.249368,85.71,0.02,1665645460.936347,77.41,24.81,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.67], [7, 69, 1, 19.57], [7, 70, 128, 19.87]]",, 347,1794042088.261974,1794042088.350656,88.68,0.01,1665645461.029769,83.45,16.24,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.31], [7, 69, 6, 19.57], [7, 70, 128, 19.92]]",, 348,1794042088.364506,1794042088.429771,65.26,0.02,1665645461.131561,61.62,9.59,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.88], [7, 69, 0, 19.9], [7, 70, 0, 19.91]]",, 349,1794042088.442372,1794042088.513033,70.66,0.01,1665645461.208869,64.3,12.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.83], [7, 69, 2, 19.93], [7, 70, 128, 19.91]]",, 350,1794042088.525685,1794042088.609337,83.65,0.01,1665645461.292351,80.84,19.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 10, 21.63], [7, 69, 4, 19.93], [7, 70, 128, 19.91]]",, 351,1794042088.623823,1794042088.689648,65.82,0.08,1665645461.391102,62.06,10.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.79], [7, 69, 5, 19.92], [7, 70, 128, 19.85]]",, 352,1794042088.705788,1794042088.788769,82.98,0.03,1665645461.472596,80.48,17.96,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.43], [7, 69, 4, 19.95], [7, 70, 128, 19.96]]",, 353,1794042088.801497,1794042088.888785,87.29,0.12,1665645461.568127,84.96,19.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 24.99], [7, 69, 3, 19.73], [7, 70, 128, 19.89]]",, 354,1794042088.901438,1794042088.968611,67.17,0.01,1665645461.667789,65.29,12.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.37], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 355,1794042088.982382,1794042089.071000,88.62,0.01,1665645461.748528,84.55,17.45,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.02], [7, 69, 0, 19.95], [7, 70, 0, 19.96]]",, 356,1794042089.083647,1794042089.168714,85.07,0.03,1665645461.850288,82.79,15.61,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.09], [7, 69, 2, 19.96], [7, 70, 128, 19.96]]",, 357,1794042089.181468,1794042089.270641,89.17,0.01,1665645461.948007,85.07,17.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.03], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 358,1794042089.283475,1794042089.369497,86.02,0.01,1665645462.049840,83.24,16.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.03], [7, 69, 1, 19.95], [7, 70, 128, 19.97]]",, 359,1794042089.385706,1794042089.468751,83.05,0.02,1665645462.152258,80.83,17.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.02], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 360,1794042089.481361,1794042089.568191,86.83,0.01,1665645462.247777,85.31,18.18,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.04], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 361,1794042089.580799,1794042089.668209,87.41,0.00,1665645462.346885,86.2,19.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.06], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 362,1794042089.678559,1794042089.748230,69.67,0.01,1665645462.444630,68.46,17.41,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.96], [7, 69, 3, 19.97], [7, 70, 0, 19.96]]",, 363,1794042089.758765,1794042089.828197,69.43,0.01,1665645462.524841,68.26,17.21,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 10.95], [7, 69, 3, 19.97], [7, 70, 0, 19.97]]",, 364,1794042089.840762,1794042089.928292,87.53,0.00,1665645462.606886,86.2,19.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.1], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 365,1794042089.940866,1794042090.028630,87.76,0.03,1665645462.707103,85.99,18.79,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 1, 19.96], [7, 70, 0, 19.96]]",, 366,1794042090.048206,1794042090.134322,86.12,0.01,1665645462.814945,78.15,18.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.09], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 367,1794042090.146936,1794042090.239692,92.76,0.01,1665645462.913373,79.72,17.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.45], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 368,1794042090.252574,1794042090.333621,81.05,0.03,1665645463.019204,73.9,18.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.08], [7, 69, 5, 19.96], [7, 70, 128, 19.97]]",, 369,1794042090.346602,1794042090.431841,85.24,0.02,1665645463.114270,78.83,16.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.44], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 370,1794042090.443599,1794042090.528531,84.93,0.01,1665645463.209788,83.32,16.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 371,1794042090.541286,1794042090.628564,87.28,0.02,1665645463.307627,85.48,18.35,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.04], [7, 69, 6, 19.96], [7, 70, 0, 19.96]]",, 372,1794042090.640612,1794042090.728531,87.92,0.01,1665645463.407061,86.05,18.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.09], [7, 69, 5, 19.9], [7, 70, 0, 19.96]]",, 373,1794042090.739824,1794042090.828492,88.67,0.01,1665645463.506698,86.41,19.24,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.08], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 374,1794042090.841304,1794042090.928519,87.21,0.01,1665645463.611089,82.05,19.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.68], [7, 69, 2, 19.89], [7, 70, 0, 19.89]]",, 375,1794042090.944674,1794042091.030092,85.42,0.02,1665645463.711005,82.12,18.94,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.07], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 376,1794042091.044320,1794042091.128691,84.37,0.02,1665645463.814394,78.72,16.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.44], [7, 69, 4, 19.96], [7, 70, 128, 19.97]]",, 377,1794042091.146448,1794042091.229488,83.04,0.02,1665645463.915346,77.92,18.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.14], [7, 69, 6, 19.98], [7, 70, 0, 19.87]]",, 378,1794042091.241674,1794042091.309756,68.08,0.02,1665645464.008510,64.73,12.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.59], [7, 69, 4, 19.92], [7, 70, 0, 19.94]]",, 379,1794042091.322290,1794042091.388679,66.39,0.02,1665645464.089331,63.93,12.13,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.63], [7, 69, 1, 19.92], [7, 70, 0, 19.89]]",, 380,1794042091.400410,1794042091.468461,68.05,0.01,1665645464.167125,66.14,14.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.9], [7, 69, 3, 19.92], [7, 70, 128, 19.94]]",, 381,1794042091.481335,1794042091.548827,67.49,0.01,1665645464.247825,65.44,13.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.14], [7, 69, 0, 19.95], [7, 70, 0, 19.88]]",, 382,1794042091.561446,1794042091.629493,68.05,0.01,1665645464.328093,65.18,12.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.99], [7, 69, 6, 19.93], [7, 70, 0, 19.95]]",, 383,1794042091.642118,1794042091.709204,67.09,0.01,1665645464.408816,64.32,12.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.16], [7, 69, 2, 19.93], [7, 70, 128, 19.96]]",, 384,1794042091.721632,1794042091.809469,87.84,0.03,1665645464.488411,84.72,17.51,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.12], [7, 69, 3, 19.96], [7, 70, 128, 19.96]]",, 385,1794042091.821816,1794042091.909245,87.43,0.02,1665645464.588581,84.55,17.35,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 386,1794042091.923079,1794042092.009193,86.11,0.03,1665645464.690398,82.73,15.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.1], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 387,1794042092.021956,1794042092.109071,87.11,0.01,1665645464.788219,84.91,17.71,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 388,1794042092.120833,1794042092.210977,90.14,0.02,1665645464.887358,85.78,18.58,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 389,1794042092.222819,1794042092.311194,88.38,0.02,1665645464.989815,83.32,16.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.07], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 390,1794042092.328418,1794042092.409696,81.28,0.05,1665645465.095367,77.78,18.59,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.09], [7, 69, 8, 19.96], [7, 70, 0, 19.97]]",, 391,1794042092.423752,1794042092.516764,93.01,0.02,1665645465.190355,82.78,15.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.13], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 392,1794042092.529372,1794042092.609433,80.06,0.01,1665645465.295789,77.36,18.16,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.12], [7, 69, 2, 19.94], [7, 70, 0, 19.97]]",, 393,1794042092.620040,1794042092.709491,89.45,0.02,1665645465.386878,86.27,19.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.13], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 394,1794042092.722090,1794042092.808753,86.66,0.01,1665645465.488423,84.72,17.49,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.14], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 395,1794042092.821415,1794042092.909403,87.99,0.01,1665645465.587665,85.63,18.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.11], [7, 69, 1, 19.96], [7, 70, 0, 20.06]]",, 396,1794042092.922308,1794042092.989264,66.96,0.03,1665645465.689381,63.77,12.18,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 14.01], [7, 69, 2, 17.41], [7, 70, 0, 19.95]]",, 397,1794042093.000467,1794042093.090314,89.85,0.34,1665645465.769939,83.21,16.0,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.12], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 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468,1794042099.738087,1794042099.829394,91.31,0.00,1665645472.505603,88.41,23.9,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 24.3], [7, 69, 0, 19.96], [7, 70, 0, 19.92]]",, 469,1794042099.841981,1794042099.930522,88.54,0.00,1665645472.608573,85.21,19.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.91], [7, 69, 3, 19.93], [7, 70, 0, 19.99]]",, 470,1794042099.943138,1794042100.030211,87.07,0.02,1665645472.710197,83.62,17.16,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.23], [7, 69, 3, 19.97], [7, 70, 0, 19.97]]",, 471,1794042100.042159,1794042100.129769,87.61,0.01,1665645472.808550,85.6,19.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.3], [7, 69, 6, 19.88], [7, 70, 0, 19.97]]",, 472,1794042100.142178,1794042100.210233,68.05,0.01,1665645472.908766,64.68,12.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.93], [7, 69, 5, 19.9], [7, 70, 0, 19.95]]",, 473,1794042100.222200,1794042100.289880,67.68,0.02,1665645472.988869,64.57,12.4,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.04], [7, 69, 3, 19.84], [7, 70, 0, 19.95]]",, 474,1794042100.302930,1794042100.370689,67.76,0.03,1665645473.069910,63.52,11.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.88], [7, 69, 0, 19.89], [7, 70, 128, 19.94]]",, 475,1794042100.383576,1794042100.451412,67.84,0.03,1665645473.150552,62.9,10.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.89], [7, 69, 1, 19.91], [7, 70, 0, 19.93]]",, 476,1794042100.467475,1794042100.548595,81.12,0.03,1665645473.234433,78.96,16.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.95], [7, 69, 2, 19.95], [7, 70, 0, 19.89]]",, 477,1794042100.562319,1794042100.628528,66.21,0.01,1665645473.328765,64.54,12.14,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.29], [7, 69, 2, 19.96], [7, 70, 0, 19.96]]",, 478,1794042100.641104,1794042100.728428,87.32,0.01,1665645473.407181,86.12,18.8,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.22], [7, 69, 5, 19.96], [7, 70, 0, 19.97]]",, 479,1794042100.741009,1794042100.829162,88.15,0.01,1665645473.507098,86.21,18.85,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.27], [7, 69, 6, 19.95], [7, 70, 0, 19.97]]",, 480,1794042100.841321,1794042100.928777,87.46,0.01,1665645473.607489,85.82,18.42,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.3], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 481,1794042100.942072,1794042101.029208,87.14,0.02,1665645473.708412,84.89,17.5,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.31], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 482,1794042101.042196,1794042101.129393,87.20,0.01,1665645473.808850,84.49,17.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.42], [7, 69, 4, 19.84], [7, 70, 0, 19.89]]",, 483,1794042101.142088,1794042101.209394,67.31,0.02,1665645473.908772,64.54,12.11,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.33], [7, 69, 6, 19.96], [7, 70, 0, 19.96]]",, 484,1794042101.225477,1794042101.312703,87.23,0.02,1665645473.992366,80.94,17.58,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.28], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 485,1794042101.324576,1794042101.409622,85.05,0.02,1665645474.091172,82.15,18.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.32], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 486,1794042101.421299,1794042101.508811,87.51,0.02,1665645474.187896,85.42,18.0,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.33], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 487,1794042101.521524,1794042101.608903,87.38,0.02,1665645474.288137,85.18,17.76,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.34], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 488,1794042101.621698,1794042101.708826,87.13,0.01,1665645474.388012,85.3,17.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.27], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 489,1794042101.721461,1794042101.810734,89.27,0.01,1665645474.487543,85.78,18.38,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.31], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 490,1794042101.821729,1794042101.909238,87.51,0.01,1665645474.588003,85.31,17.96,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.27], [7, 69, 0, 19.96], [7, 70, 128, 19.97]]",, 491,1794042101.921020,1794042102.010664,89.64,0.01,1665645474.687245,86.08,18.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.29], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 492,1794042102.024017,1794042102.110257,86.24,0.02,1665645474.790902,82.42,19.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.33], [7, 69, 6, 19.96], [7, 70, 128, 19.97]]",, 493,1794042102.121412,1794042102.209890,88.48,0.02,1665645474.887975,85.35,17.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.29], [7, 69, 0, 19.96], [7, 70, 128, 19.97]]",, 494,1794042102.222657,1794042102.309683,87.03,0.02,1665645474.989182,84.15,16.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.34], [7, 69, 4, 19.97], [7, 70, 128, 19.96]]",, 495,1794042102.323405,1794042102.409806,86.40,0.02,1665645475.091355,81.97,18.55,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.34], [7, 69, 4, 19.97], [7, 70, 128, 19.97]]",, 496,1794042102.422417,1794042102.508898,86.48,0.01,1665645475.188702,84.63,17.23,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.32], [7, 69, 1, 19.96], [7, 70, 128, 19.97]]",, 497,1794042102.522462,1794042102.608903,86.44,0.03,1665645475.288970,84.37,16.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.38], [7, 69, 1, 19.9], [7, 70, 0, 19.96]]",, 498,1794042102.626423,1794042102.711906,85.48,0.01,1665645475.392595,80.75,17.38,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.27], [7, 69, 4, 19.96], [7, 70, 0, 19.96]]",, 499,1794042102.725159,1794042102.815650,90.49,0.02,1665645475.491852,81.49,18.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.31], [7, 69, 7, 19.97], [7, 70, 0, 19.97]]",, 500,1794042102.828307,1794042102.912049,83.74,0.02,1665645475.595008,78.33,18.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.32], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 501,1794042102.928690,1794042103.008904,80.21,0.02,1665645475.697893,75.45,16.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.33], [7, 69, 6, 19.97], [7, 70, 0, 19.97]]",, 502,1794042103.021490,1794042103.109637,88.15,0.01,1665645475.787707,85.76,18.22,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.41], [7, 69, 7, 19.93], [7, 70, 0, 19.89]]",, 503,1794042103.122622,1794042103.189157,66.53,0.02,1665645475.889866,63.62,12.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.05], [7, 69, 2, 19.9], [7, 70, 128, 19.95]]",, 504,1794042103.202544,1794042103.289543,87.00,0.02,1665645475.969279,84.18,15.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.57], [7, 69, 1, 19.9], [7, 70, 128, 19.92]]",, 505,1794042103.305820,1794042103.392992,87.17,0.02,1665645476.078408,75.1,13.07,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.84], [7, 69, 4, 19.9], [7, 70, 128, 19.92]]",, 506,1794042103.407856,1794042103.489933,82.08,0.15,1665645476.174439,79.05,17.39,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.47], [7, 69, 3, 19.95], [7, 70, 128, 19.89]]",, 507,1794042103.500880,1794042103.571593,70.71,0.02,1665645476.267641,65.72,13.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.14], [7, 69, 2, 19.95], [7, 70, 0, 19.96]]",, 508,1794042103.583466,1794042103.677550,94.08,0.03,1665645476.350132,83.23,15.86,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.28], [7, 69, 3, 19.96], [7, 70, 0, 19.97]]",, 509,1794042103.690550,1794042103.768542,77.99,0.02,1665645476.459033,74.33,18.92,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.32], [7, 69, 7, 19.95], [7, 70, 0, 19.97]]",, 510,1794042103.781161,1794042103.874060,92.90,0.01,1665645476.547249,86.11,18.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.32], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 511,1794042103.888075,1794042103.973588,85.51,0.02,1665645476.654660,78.76,19.28,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.34], [7, 69, 7, 19.96], [7, 70, 0, 19.99]]",, 512,1794042103.985232,1794042104.050510,65.28,0.02,1665645476.751960,61.43,9.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.49], [7, 69, 4, 20.03], [7, 70, 0, 19.89]]",, 513,1794042104.063289,1794042104.131554,68.26,0.02,1665645476.829976,63.39,10.95,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.35], [7, 69, 2, 19.96], [7, 70, 0, 19.97]]",, 514,1794042104.143935,1794042104.230523,86.59,0.02,1665645476.910452,82.92,15.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.34], [7, 69, 6, 19.96], [7, 70, 0, 19.97]]",, 515,1794042104.246327,1794042104.329596,83.27,0.02,1665645477.012850,80.52,18.0,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.43], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 516,1794042104.341951,1794042104.430860,88.91,0.02,1665645477.108465,84.91,17.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.35], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 517,1794042104.445173,1794042104.533563,88.39,0.02,1665645477.211770,81.6,18.14,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.38], [7, 69, 0, 19.97], [7, 70, 0, 19.96]]",, 518,1794042104.547704,1794042104.629362,81.66,0.02,1665645477.314326,79.05,16.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.34], [7, 69, 0, 19.96], [7, 70, 128, 19.97]]",, 519,1794042104.642228,1794042104.729224,87.00,0.02,1665645477.408874,84.5,17.06,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.36], [7, 69, 5, 19.95], [7, 70, 128, 19.97]]",, 520,1794042104.741711,1794042104.829486,87.77,0.02,1665645477.508593,84.79,17.36,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.34], [7, 69, 0, 19.96], [7, 70, 0, 19.97]]",, 521,1794042104.842218,1794042104.929554,87.34,0.02,1665645477.608884,84.5,17.03,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.38], [7, 69, 7, 19.96], [7, 70, 0, 19.97]]",, 522,1794042104.943302,1794042105.031757,88.46,0.02,1665645477.710050,83.33,15.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.34], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 523,1794042105.047417,1794042105.129082,81.67,0.03,1665645477.814272,79.11,16.65,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.38], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 524,1794042105.141181,1794042105.230851,89.67,0.01,1665645477.907449,86.75,24.92,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.61], [7, 69, 1, 19.86], [7, 70, 128, 19.87]]",, 525,1794042105.250365,1794042105.328472,78.11,0.02,1665645478.017449,75.94,13.63,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.21], [7, 69, 7, 19.95], [7, 70, 0, 19.97]]",, 526,1794042105.343890,1794042105.431051,87.16,0.01,1665645478.110069,83.32,15.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.36], [7, 69, 4, 19.96], [7, 70, 0, 19.96]]",, 527,1794042105.444357,1794042105.534028,89.67,0.01,1665645478.210908,82.5,19.0,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.39], [7, 69, 4, 20.0], [7, 70, 0, 19.91]]",, 528,1794042105.548288,1794042105.628933,80.65,0.02,1665645478.314998,78.4,18.96,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.35], [7, 69, 2, 19.96], [7, 70, 0, 19.96]]",, 529,1794042105.641604,1794042105.728891,87.29,0.02,1665645478.408091,85.31,17.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.4], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 530,1794042105.741635,1794042105.828746,87.11,0.01,1665645478.507947,85.45,17.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.4], [7, 69, 3, 19.95], [7, 70, 128, 19.96]]",, 531,1794042105.840760,1794042105.929419,88.66,0.24,1665645478.607741,85.66,18.16,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.41], [7, 69, 4, 19.96], [7, 70, 0, 19.97]]",, 532,1794042105.940084,1794042106.013097,73.01,0.01,1665645478.706467,69.5,15.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.15], [7, 69, 3, 19.96], [7, 70, 0, 22.49]]",, 533,1794042106.025880,1794042106.090720,64.84,0.01,1665645478.792466,61.06,8.76,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.15], [7, 69, 3, 19.89], [7, 70, 128, 19.92]]",, 534,1794042106.111474,1794042106.189918,78.44,0.03,1665645478.878883,74.67,12.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.03], [7, 69, 2, 19.93], [7, 70, 0, 19.94]]",, 535,1794042106.203235,1794042106.272011,68.78,0.02,1665645478.972175,61.36,9.37,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.79], [7, 69, 5, 19.93], [7, 70, 0, 19.93]]",, 536,1794042106.285559,1794042106.369441,83.88,0.02,1665645479.052924,80.6,18.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 21.93], [7, 69, 0, 19.96], [7, 70, 128, 19.89]]",, 537,1794042106.379865,1794042106.450509,70.64,0.02,1665645479.146563,66.95,14.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.91], [7, 69, 4, 19.92], [7, 70, 128, 19.86]]",, 538,1794042106.463008,1794042106.529912,66.90,0.03,1665645479.229776,63.64,11.25,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.28], [7, 69, 1, 19.96], [7, 70, 128, 19.96]]",, 539,1794042106.543032,1794042106.629078,86.05,0.02,1665645479.313281,80.13,17.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.37], [7, 69, 3, 19.96], [7, 70, 0, 19.96]]",, 540,1794042106.642988,1794042106.730399,87.41,0.02,1665645479.409650,83.77,16.28,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.4], [7, 69, 6, 19.96], [7, 70, 0, 19.96]]",, 541,1794042106.741760,1794042106.830692,88.93,0.02,1665645479.508287,85.13,17.64,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.41], [7, 69, 5, 19.96], [7, 70, 0, 19.96]]",, 542,1794042106.845428,1794042106.935146,89.72,0.02,1665645479.612061,81.36,17.91,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.37], [7, 69, 3, 19.96], [7, 70, 0, 19.96]]",, 543,1794042106.948210,1794042107.032031,83.82,0.02,1665645479.715231,78.19,18.69,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.41], [7, 69, 3, 19.96], [7, 70, 128, 19.97]]",, 544,1794042107.047883,1794042107.129320,81.44,0.02,1665645479.814536,78.89,19.4,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.4], [7, 69, 2, 19.96], [7, 70, 128, 19.97]]",, 545,1794042107.141926,1794042107.228704,86.78,0.01,1665645479.907942,85.48,18.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.38], [7, 69, 0, 19.96], [7, 70, 0, 19.96]]",, 546,1794042107.240684,1794042107.308817,68.13,0.01,1665645480.007279,66.18,13.7,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.42], [7, 69, 3, 19.87], [7, 70, 0, 19.88]]",, 547,1794042107.321063,1794042107.410502,89.44,0.01,1665645480.087280,86.15,18.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.39], [7, 69, 0, 19.96], [7, 70, 0, 19.96]]",, 548,1794042107.421403,1794042107.589378,167.98,0.90,1665645480.188354,165.09,111.37,,,,,,,,,,,,,,,,,"[[2, 69, 11, 13.63], [7, 69, 39, 19.98], [7, 70, 0, 19.93]]",angles:no reply, 549,1794042107.604359,1794042107.689771,85.41,0.06,1665645480.371003,82.43,18.97,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.37], [7, 69, 53, 19.96], [7, 70, 0, 19.97]]",, 550,1794042107.701004,1794042107.788775,87.77,0.01,1665645480.467487,85.95,18.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.39], [7, 69, 118, 19.96], [7, 70, 0, 19.96]]",, 551,1794042107.801604,1794042107.890203,88.60,0.00,1665645480.567685,85.75,18.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.38], [7, 69, 72, 19.96], [7, 70, 0, 19.97]]",, 552,1794042107.907467,1794042107.988741,81.27,0.01,1665645480.673630,79.81,17.3,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.42], [7, 69, 79, 19.96], [7, 70, 0, 19.97]]",, 553,1794042108.001057,1794042108.089063,88.01,0.01,1665645480.767107,86.33,18.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.4], [7, 69, 107, 19.96], [7, 70, 0, 19.97]]",, 554,1794042108.101032,1794042108.189194,88.16,0.00,1665645480.867066,86.37,18.88,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.41], [7, 69, 61, 19.96], [7, 70, 0, 19.97]]",, 555,1794042108.201091,1794042108.289044,87.95,0.01,1665645480.967326,86.12,18.62,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.42], [7, 69, 60, 19.96], [7, 70, 0, 19.97]]",, 556,1794042108.301679,1794042108.392591,90.91,0.01,1665645481.068053,85.39,17.84,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.46], [7, 69, 23, 19.96], [7, 70, 0, 19.97]]",, 557,1794042108.404172,1794042108.493101,88.93,0.02,1665645481.176464,76.99,17.52,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.4], [7, 69, 20, 19.91], [7, 70, 0, 19.96]]",, 558,1794042108.506725,1794042108.593059,86.33,0.02,1665645481.274828,78.63,19.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.45], [7, 69, 10, 19.96], [7, 70, 0, 19.95]]",, 559,1794042108.605644,1794042108.691130,85.49,0.00,1665645481.371763,81.69,18.14,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.46], [7, 69, 9, 19.96], [7, 70, 0, 19.97]]",, 560,1794042108.705082,1794042108.789721,84.64,0.01,1665645481.471351,82.12,18.65,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.36], [7, 69, 15, 19.97], [7, 70, 0, 19.95]]",, 561,1794042108.801849,1794042108.889457,87.61,0.02,1665645481.568502,84.96,17.43,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.44], [7, 69, 20, 19.96], [7, 70, 0, 19.96]]",, 562,1794042108.900581,1794042108.989374,88.79,0.01,1665645481.667067,86.51,18.86,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 29.87], [7, 69, 17, 17.58], [7, 70, 0, 19.89]]",, 563,1794042108.999559,1794042109.069569,70.01,0.01,1665645481.766075,67.53,15.1,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.23], [7, 69, 15, 19.96], [7, 70, 0, 19.91]]",, 564,1794042109.082581,1794042109.151123,68.54,0.02,1665645481.852083,61.53,9.23,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.97], [7, 69, 12, 19.06], [7, 70, 0, 19.92]]",, 565,1794042109.164318,1794042109.230106,65.79,0.01,1665645481.931354,62.25,10.2,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.83], [7, 69, 11, 19.94], [7, 70, 0, 19.94]]",, 566,1794042109.245373,1794042109.311955,66.58,0.02,1665645482.012310,61.3,9.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.94], [7, 69, 15, 21.67], [7, 70, 0, 18.17]]",, 567,1794042109.324607,1794042109.389770,65.16,0.02,1665645482.091543,62.04,12.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.22], [7, 69, 21, 17.58], [7, 70, 0, 19.88]]",, 568,1794042109.402460,1794042109.470165,67.71,0.06,1665645482.169350,64.13,12.18,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.84], [7, 69, 21, 19.93], [7, 70, 0, 19.95]]",, 569,1794042109.482368,1794042109.570368,88.00,0.02,1665645482.250328,83.15,15.59,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.47], [7, 69, 16, 19.94], [7, 70, 0, 19.96]]",, 570,1794042109.583417,1794042109.673781,90.36,0.01,1665645482.350248,83.22,15.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.39], [7, 69, 8, 19.95], [7, 70, 0, 19.96]]",, 571,1794042109.686623,1794042109.770696,84.07,0.02,1665645482.453248,80.23,17.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.42], [7, 69, 16, 19.96], [7, 70, 0, 19.97]]",, 572,1794042109.783294,1794042109.871055,87.76,0.01,1665645482.549635,83.84,16.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.47], [7, 69, 19, 19.96], [7, 70, 0, 19.96]]",, 573,1794042109.885085,1794042109.970321,85.24,0.07,1665645482.652850,80.63,18.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.46], [7, 69, 19, 19.96], [7, 70, 0, 19.97]]",, 574,1794042109.983094,1794042110.069704,86.61,0.01,1665645482.749654,83.83,16.27,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.47], [7, 69, 20, 19.96], [7, 70, 0, 19.97]]",, 575,1794042110.081830,1794042110.169062,87.23,0.01,1665645482.848265,85.22,17.66,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.47], [7, 69, 20, 19.96], [7, 70, 0, 19.97]]",, 576,1794042110.181733,1794042110.273920,92.19,0.02,1665645482.952440,81.56,17.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.48], [7, 69, 15, 19.96], [7, 70, 0, 20.45]]",, 577,1794042110.285211,1794042110.371997,86.79,0.02,1665645483.052036,81.95,15.76,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.05], [7, 69, 10, 19.92], [7, 70, 0, 19.94]]",, 578,1794042110.383236,1794042110.471853,88.62,0.02,1665645483.152780,81.21,24.98,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.04], [7, 69, 9, 19.98], [7, 70, 0, 19.93]]",, 579,1794042110.487644,1794042110.569744,82.10,0.02,1665645483.255311,78.68,22.35,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.18], [7, 69, 19, 19.93], [7, 70, 0, 19.95]]",, 580,1794042110.582409,1794042110.670089,87.68,0.02,1665645483.349176,84.76,18.57,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.11], [7, 69, 21, 19.93], [7, 70, 0, 19.88]]",, 581,1794042110.691079,1794042110.769461,78.38,0.02,1665645483.459062,74.97,18.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.04], [7, 69, 12, 19.88], [7, 70, 0, 20.02]]",, 582,1794042110.782124,1794042110.869900,87.78,0.01,1665645483.548687,85.35,19.04,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.13], [7, 69, 9, 19.94], [7, 70, 0, 19.97]]",, 583,1794042110.882549,1794042110.969722,87.17,0.01,1665645483.649005,85.0,18.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.08], [7, 69, 13, 19.98], [7, 70, 0, 19.95]]",, 584,1794042110.982340,1794042111.069708,87.37,0.01,1665645483.748783,85.26,18.93,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.09], [7, 69, 21, 19.93], [7, 70, 0, 20.03]]",, 585,1794042111.080401,1794042111.169222,88.82,0.01,1665645483.847023,86.97,20.78,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.05], [7, 69, 19, 19.93], [7, 70, 0, 19.93]]",, 586,1794042111.181775,1794042111.269281,87.51,0.00,1665645483.948084,85.98,19.72,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.06], [7, 69, 17, 19.92], [7, 70, 0, 20.0]]",, 587,1794042111.279845,1794042111.369863,90.02,0.01,1665645484.046584,87.93,21.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.12], [7, 69, 10, 21.9], [7, 70, 0, 18.4]]",, 588,1794042111.382416,1794042111.471542,89.13,0.00,1665645484.149074,84.98,17.74,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.01], [7, 69, 12, 19.72], [7, 70, 0, 20.12]]",, 589,1794042111.484099,1794042111.569893,85.79,0.00,1665645484.250658,83.19,14.19,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.69], [7, 69, 17, 19.94], [7, 70, 0, 20.13]]",, 590,1794042111.582454,1794042111.669194,86.74,0.00,1665645484.348765,85.19,19.09,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 25.87], [7, 69, 17, 19.9], [7, 70, 0, 20.05]]",, 591,1794042111.680366,1794042111.769709,89.34,0.01,1665645484.446815,87.27,20.92,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.08], [7, 69, 11, 19.99], [7, 70, 0, 19.99]]",, 592,1794042111.782331,1794042111.875604,93.27,0.01,1665645484.548863,85.21,18.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 26.14], [7, 69, 14, 19.87], [7, 70, 0, 20.04]]",, 593,1794042111.888346,1794042111.970093,81.75,0.00,1665645484.654668,79.94,23.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 16.4], [7, 69, 21, 20.03], [7, 70, 0, 20.03]]",, 594,1794042111.982285,1794042112.048849,66.56,0.01,1665645484.748810,64.86,12.73,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.9], [7, 69, 17, 19.94], [7, 70, 0, 19.94]]",, 595,1794042112.061497,1794042112.129911,68.41,0.01,1665645484.828306,65.37,13.28,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.89], [7, 69, 7, 19.93], [7, 70, 0, 19.92]]",, 596,1794042112.144098,1794042112.212957,68.86,0.01,1665645484.910842,62.84,10.55,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.09], [7, 69, 10, 19.88], [7, 70, 0, 19.96]]",, 597,1794042112.231684,1794042112.309629,77.94,0.02,1665645484.998607,75.03,12.87,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.03], [7, 69, 16, 19.89], [7, 70, 0, 19.89]]",, 598,1794042112.321306,1794042112.389738,68.43,0.01,1665645485.087934,65.74,13.63,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.93], [7, 69, 19, 19.93], [7, 70, 0, 19.89]]",, 599,1794042112.402383,1794042112.477571,75.19,0.02,1665645485.169271,64.27,11.82,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.33], [7, 69, 14, 19.95], [7, 70, 0, 19.97]]",, 600,1794042112.490279,1794042112.569213,78.93,0.00,1665645485.256405,77.15,17.55,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.49], [7, 69, 9, 19.95], [7, 70, 0, 19.98]]",, 601,1794042112.583099,1794042112.681873,98.77,0.01,1665645485.349466,84.07,16.47,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.5], [7, 69, 15, 19.96], [7, 70, 0, 19.97]]",, 602,1794042112.694566,1794042112.771088,76.52,0.01,1665645485.461126,72.41,16.83,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.49], [7, 69, 18, 19.96], [7, 70, 0, 19.97]]",, 603,1794042112.788997,1794042112.872204,83.21,0.02,1665645485.555524,78.01,18.4,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.52], [7, 69, 18, 19.96], [7, 70, 0, 19.97]]",, 604,1794042112.892274,1794042112.969037,76.76,0.11,1665645485.658836,74.7,19.08,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 15.53], [7, 69, 20, 19.96], [7, 70, 0, 19.97]]",, 605,1794042112.981718,1794042113.068691,86.97,0.00,1665645485.747944,85.59,18.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.5], [7, 69, 20, 19.96], [7, 70, 0, 19.97]]",, 606,1794042113.081284,1794042113.168661,87.38,0.01,1665645485.847400,86.14,18.54,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.51], [7, 69, 18, 19.96], [7, 70, 0, 19.97]]",, 607,1794042113.179657,1794042113.249427,69.77,0.01,1665645485.946440,67.1,15.67,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.34], [7, 69, 10, 19.96], [7, 70, 0, 19.97]]",, 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613,1794042113.740448,1794042113.828811,88.36,0.01,1665645486.506634,86.92,19.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.54], [7, 69, 18, 19.96], [7, 70, 0, 19.97]]",, 614,1794042113.842719,1794042113.930349,87.63,0.02,1665645486.609425,84.13,16.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.52], [7, 69, 15, 19.96], [7, 70, 0, 19.96]]",, 615,1794042113.944187,1794042114.029020,84.83,0.02,1665645486.710596,82.96,19.33,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.54], [7, 69, 15, 19.97], [7, 70, 0, 19.96]]",, 616,1794042114.046912,1794042114.128919,82.01,0.02,1665645486.813909,79.65,17.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 22.43], [7, 69, 16, 19.96], [7, 70, 0, 19.97]]",, 617,1794042114.140408,1794042114.209264,68.86,0.01,1665645486.906532,67.06,14.52,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.42], [7, 69, 12, 19.96], [7, 70, 0, 19.99]]",, 618,1794042114.221366,1794042114.308992,87.63,0.01,1665645486.987505,86.06,18.48,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.49], [7, 69, 11, 19.96], [7, 70, 0, 19.97]]",, 619,1794042114.320841,1794042114.409106,88.26,0.01,1665645487.087071,86.57,18.88,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.52], [7, 69, 11, 19.96], [7, 70, 0, 20.0]]",, 620,1794042114.419636,1794042114.489022,69.39,0.01,1665645487.186007,67.56,15.11,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.36], [7, 69, 13, 19.96], [7, 70, 0, 19.96]]",, 621,1794042114.501514,1794042114.589383,87.87,0.01,1665645487.267822,85.75,18.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.54], [7, 69, 18, 19.97], [7, 70, 0, 19.96]]",, 622,1794042114.601948,1794042114.690120,88.17,0.02,1665645487.368290,85.28,17.61,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.58], [7, 69, 20, 19.96], [7, 70, 0, 19.97]]",, 623,1794042114.701163,1794042114.789059,87.90,0.02,1665645487.467735,85.84,18.2,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.55], [7, 69, 21, 19.97], [7, 70, 0, 19.94]]",, 624,1794042114.808659,1794042114.888695,80.04,0.01,1665645487.574893,78.68,19.02,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 19.57], [7, 69, 17, 19.96], [7, 70, 0, 19.97]]",, 625,1794042114.900608,1794042114.968910,68.30,0.01,1665645487.667254,66.47,15.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.22], [7, 69, 17, 19.95], [7, 70, 0, 19.9]]",, 626,1794042114.981492,1794042115.049411,67.92,0.01,1665645487.747845,66.18,13.75,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.94], [7, 69, 14, 19.91], [7, 70, 0, 20.22]]",, 627,1794042115.062070,1794042115.130195,68.12,0.01,1665645487.828614,65.09,13.17,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.79], [7, 69, 18, 19.86], [7, 70, 0, 19.93]]",, 628,1794042115.141279,1794042115.209124,67.85,0.02,1665645487.907896,65.8,13.53,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.65], [7, 69, 14, 19.41], [7, 70, 0, 19.85]]",, 629,1794042115.220463,1794042115.289276,68.81,0.02,1665645487.987197,66.5,14.22,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.13], [7, 69, 15, 19.9], [7, 70, 0, 19.92]]",, 630,1794042115.299770,1794042115.369081,69.31,0.02,1665645488.066488,67.18,15.05,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.04], [7, 69, 16, 19.85], [7, 70, 0, 19.9]]",, 631,1794042115.383331,1794042115.449081,65.75,0.01,1665645488.149840,63.75,11.29,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 12.36], [7, 69, 21, 19.96], [7, 70, 0, 19.97]]",, 632,1794042115.459802,1794042115.528934,69.13,0.02,1665645488.227179,66.45,14.85,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 11.54], [7, 69, 18, 19.85], [7, 70, 0, 19.89]]",, 633,1794042115.541575,1794042115.608922,67.35,0.02,1665645488.308053,65.54,13.12,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 10, 12.32], [7, 69, 19, 19.96], [7, 70, 0, 19.97]]",, 634,1794042115.624113,1794042115.709404,85.29,0.02,1665645488.390437,83.15,15.46,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.61], [7, 69, 11, 19.96], [7, 70, 0, 19.97]]",, 635,1794042115.722841,1794042115.810304,87.46,0.01,1665645488.489357,84.23,16.65,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.5], [7, 69, 10, 19.96], [7, 70, 0, 19.97]]",, 636,1794042115.825867,1794042115.908672,82.81,0.01,1665645488.591944,81.65,18.01,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 23.55], [7, 69, 20, 19.97], [7, 70, 0, 19.97]]",, 637,1794042115.922035,1794042116.010258,88.22,0.00,1665645488.688051,85.54,17.86,,-0.35,1.23,0.70,0.26,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 27.6], [7, 69, 18, 19.96], [7, 70, 0, 19.96]]",, 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1008,1794042153.524220,1794042153.613792,89.57,0.01,1665645526.295490,79.91,25.17,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 14.39], [7, 69, 48, 19.74], [7, 70, 3, 20.08]]",, 1009,1794042153.624316,1794042153.691486,67.17,0.01,1665645526.390826,63.68,11.27,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 12.2], [7, 69, 46, 19.9], [7, 70, 3, 19.98]]",, 1010,1794042153.702013,1794042153.770064,68.05,0.01,1665645526.468423,66.03,14.05,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 17.27], [7, 69, 48, 14.45], [7, 70, 3, 19.91]]",, 1011,1794042153.781749,1794042153.849691,67.94,0.01,1665645526.548246,66.27,14.22,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 13.28], [7, 69, 46, 18.46], [7, 70, 3, 19.97]]",, 1012,1794042153.860416,1794042153.929540,69.12,0.01,1665645526.627017,67.44,15.43,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 13.33], [7, 69, 45, 18.4], [7, 70, 3, 19.93]]",, 1013,1794042153.943023,1794042154.018648,75.62,0.01,1665645526.709532,64.97,12.67,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 12.09], [7, 69, 45, 19.92], [7, 70, 3, 19.93]]",, 1014,1794042154.031775,1794042154.109454,77.68,0.01,1665645526.800721,73.62,11.23,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 22.29], [7, 69, 43, 19.96], [7, 70, 3, 19.96]]",,pull 1015,1794042154.131267,1794042154.234696,103.43,0.00,1665645526.898398,75.94,15.55,,-0.35,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 20.3], [7, 69, 46, 19.96], [7, 70, 3, 19.96]]",, 1016,1794042154.248202,1794042154.338549,90.35,0.01,1665645527.014293,80.05,17.59,,-0.26,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 22.38], [7, 69, 45, 19.95], [7, 70, 3, 19.97]]",, 1017,1794042154.349849,1794042154.429385,79.54,0.01,1665645527.116368,77.99,16.15,,-0.26,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 21.81], [7, 69, 42, 19.83], [7, 70, 3, 19.89]]",, 1018,1794042154.439554,1794042154.509685,70.13,0.05,1665645527.205917,68.43,16.43,,-0.17,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 11.9], [7, 69, 43, 19.96], [7, 70, 3, 19.97]]",, 1019,1794042154.522101,1794042154.615078,92.98,0.00,1665645527.288160,86.19,17.84,,-0.08,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 28.27], [7, 69, 46, 19.96], [7, 70, 3, 19.97]]",, 1020,1794042154.625993,1794042154.710675,84.68,0.01,1665645527.392198,82.15,17.76,,0.00,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 24.3], [7, 69, 44, 19.96], [7, 70, 3, 19.96]]",, 1021,1794042154.722825,1794042154.809552,86.73,0.01,1665645527.488908,85.44,17.02,,0.00,1.23,0.70,-0.43,-0.35,-29.79,,,,,,,,,,"[[2, 69, 11, 28.34], [7, 69, 46, 19.96], [7, 70, 3, 19.97]]",, 1022,1794042154.821988,1794042154.909890,87.90,0.10,1665645527.589782,84.57,16.14,,0.17,1.23,0.70,-0.35,-0.26,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 44, 19.95], [7, 70, 3, 19.97]]",, 1023,1794042154.921866,1794042155.009985,88.12,0.01,1665645527.688651,85.7,17.3,,0.17,1.23,0.70,-0.35,0.00,-29.70,,,,,,,,,,"[[2, 69, 11, 28.31], [7, 69, 42, 19.96], [7, 70, 3, 19.97]]",, 1024,1794042155.027521,1794042155.109465,81.94,0.01,1665645527.793815,80.54,18.01,,-0.26,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 22.44], [7, 69, 45, 19.97], [7, 70, 3, 19.96]]",, 1025,1794042155.121230,1794042155.209510,88.28,0.00,1665645527.887387,86.97,18.54,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.34], [7, 69, 39, 19.96], [7, 70, 3, 19.97]]",, 1026,1794042155.221980,1794042155.310410,88.43,0.01,1665645527.988278,86.08,17.65,,-0.26,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 40, 19.96], [7, 70, 3, 19.97]]",, 1027,1794042155.323024,1794042155.412726,89.70,0.01,1665645528.089286,85.07,16.7,,-0.26,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.29], [7, 69, 40, 19.96], [7, 70, 3, 19.96]]",, 1028,1794042155.423951,1794042155.509428,85.48,0.01,1665645528.190050,84.31,15.87,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.36], [7, 69, 46, 19.96], [7, 70, 3, 19.97]]",, 1029,1794042155.520769,1794042155.610187,89.42,0.00,1665645528.286963,87.4,18.94,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.37], [7, 69, 38, 19.96], [7, 70, 3, 19.97]]",, 1030,1794042155.620836,1794042155.710206,89.37,0.01,1665645528.387101,87.27,18.83,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 41, 19.96], [7, 70, 3, 19.97]]",, 1031,1794042155.722383,1794042155.809630,87.25,0.01,1665645528.488458,85.91,17.54,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.29], [7, 69, 43, 19.96], [7, 70, 3, 19.97]]",, 1032,1794042155.820788,1794042155.909466,88.68,0.01,1665645528.586967,87.4,18.97,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 41, 19.96], [7, 70, 3, 19.96]]",, 1033,1794042155.920665,1794042156.009456,88.79,0.01,1665645528.686725,87.65,19.21,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 38, 19.96], [7, 70, 3, 19.96]]",, 1034,1794042156.020399,1794042156.090063,69.66,0.01,1665645528.786628,67.75,15.23,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.41], [7, 69, 39, 19.96], [7, 70, 3, 19.96]]",, 1035,1794042156.102670,1794042156.189469,86.80,0.01,1665645528.868933,85.44,17.02,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.34], [7, 69, 38, 19.96], [7, 70, 3, 19.97]]",, 1036,1794042156.202101,1794042156.289966,87.87,0.01,1665645528.968152,86.23,17.83,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.31], [7, 69, 41, 19.98], [7, 70, 3, 19.95]]",, 1037,1794042156.301591,1794042156.389472,87.88,0.01,1665645529.068706,85.67,17.27,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.32], [7, 69, 42, 19.96], [7, 70, 3, 19.96]]",, 1038,1794042156.401443,1794042156.470155,68.71,0.00,1665645529.167942,66.46,14.33,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 12.07], [7, 69, 42, 19.82], [7, 70, 3, 19.89]]",, 1039,1794042156.481575,1794042156.571301,89.73,0.00,1665645529.247703,86.79,18.24,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.4], [7, 69, 42, 19.99], [7, 70, 3, 19.85]]",, 1040,1794042156.586535,1794042156.649808,63.27,0.01,1665645529.353059,61.48,9.52,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 17.21], [7, 69, 41, 14.43], [7, 70, 3, 19.95]]",, 1041,1794042156.661716,1794042156.750281,88.56,0.01,1665645529.428146,66.38,14.67,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.04], [7, 69, 37, 18.41], [7, 70, 3, 19.9]]",, 1042,1794042156.771657,1794042156.850850,79.19,0.01,1665645529.538004,76.5,14.29,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 22.05], [7, 69, 36, 19.9], [7, 70, 3, 19.91]]",, 1043,1794042156.863718,1794042156.930211,66.49,0.01,1665645529.630151,64.39,12.15,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.04], [7, 69, 39, 19.93], [7, 70, 3, 19.93]]",, 1044,1794042156.943150,1794042157.009664,66.51,0.01,1665645529.710462,63.94,11.97,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 17.19], [7, 69, 41, 14.57], [7, 70, 3, 19.95]]",, 1045,1794042157.022381,1794042157.110370,87.99,0.01,1665645529.788640,85.76,17.36,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 28.3], [7, 69, 38, 19.96], [7, 70, 3, 19.97]]",, 1046,1794042157.123021,1794042157.213921,90.90,0.00,1665645529.889183,85.21,16.77,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 40, 19.96], [7, 70, 3, 19.97]]",, 1047,1794042157.227686,1794042157.309788,82.10,0.01,1665645529.994678,79.72,19.28,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 20.36], [7, 69, 36, 19.95], [7, 70, 3, 19.96]]",, 1048,1794042157.321182,1794042157.410225,89.04,0.04,1665645530.087362,87.04,18.6,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.35], [7, 69, 38, 19.95], [7, 70, 3, 19.97]]",, 1049,1794042157.424237,1794042157.510959,86.72,0.00,1665645530.190343,84.06,15.59,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.38], [7, 69, 41, 19.96], [7, 70, 3, 19.97]]",, 1050,1794042157.523136,1794042157.610061,86.93,0.01,1665645530.292990,81.42,16.95,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.39], [7, 69, 36, 19.94], [7, 70, 3, 19.96]]",, 1051,1794042157.674397,1794042157.789762,115.37,0.01,1665645530.476848,77.56,17.21,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.26], [7, 69, 34, 19.96], [7, 70, 3, 19.96]]",, 1052,1794042157.814412,1794042157.890120,75.71,0.01,1665645530.580685,73.72,17.27,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.37], [7, 69, 36, 19.96], [7, 70, 3, 19.96]]",, 1053,1794042157.900720,1794042157.989851,89.13,0.01,1665645530.667141,87.27,18.81,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.37], [7, 69, 39, 19.96], [7, 70, 3, 19.97]]",, 1054,1794042158.000560,1794042158.090256,89.70,0.01,1665645530.766727,87.68,19.17,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.43], [7, 69, 39, 19.96], [7, 70, 3, 19.97]]",, 1055,1794042158.102800,1794042158.189622,86.82,0.02,1665645530.870345,84.07,15.58,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.4], [7, 69, 35, 19.96], [7, 70, 3, 19.97]]",, 1056,1794042158.214088,1794042158.289926,75.84,0.01,1665645530.980582,73.83,17.37,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.37], [7, 69, 33, 19.96], [7, 70, 3, 19.97]]",, 1057,1794042158.301732,1794042158.389664,87.93,0.01,1665645531.067989,86.43,17.95,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.39], [7, 69, 38, 19.96], [7, 70, 3, 19.97]]",, 1058,1794042158.400362,1794042158.489926,89.56,0.01,1665645531.166621,87.89,19.31,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.49], [7, 69, 40, 19.9], [7, 70, 3, 19.9]]",, 1059,1794042158.501661,1794042158.569607,67.95,0.01,1665645531.267964,66.46,13.99,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.37], [7, 69, 34, 19.96], [7, 70, 3, 19.96]]",, 1060,1794042158.585210,1794042158.670778,85.57,0.01,1665645531.351631,83.34,18.29,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.97], [7, 69, 36, 19.9], [7, 70, 3, 19.94]]",, 1061,1794042158.683437,1794042158.770864,87.43,0.01,1665645531.449956,84.99,18.75,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 26.04], [7, 69, 37, 20.01], [7, 70, 3, 19.91]]",, 1062,1794042158.785017,1794042158.870568,85.55,0.01,1665645531.551372,83.6,17.31,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 26.16], [7, 69, 39, 19.91], [7, 70, 3, 19.94]]",, 1063,1794042158.883237,1794042158.971064,87.83,0.22,1665645531.650180,85.37,18.32,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 26.3], [7, 69, 38, 19.92], [7, 70, 3, 20.5]]",, 1064,1794042158.983561,1794042159.070242,86.68,0.01,1665645531.750083,84.86,18.25,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 26.35], [7, 69, 34, 19.99], [7, 70, 3, 19.96]]",, 1065,1794042159.088982,1794042159.170443,81.46,0.01,1665645531.855397,79.84,23.4,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.24], [7, 69, 32, 19.96], [7, 70, 3, 19.94]]",, 1066,1794042159.191110,1794042159.270356,79.25,0.01,1665645531.957776,77.19,22.97,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 14.07], [7, 69, 32, 19.95], [7, 70, 3, 19.91]]",, 1067,1794042159.291089,1794042159.371382,80.29,1.27,1665645532.059277,75.71,19.41,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.11], [7, 69, 31, 19.93], [7, 70, 3, 19.96]]",, 1068,1794042159.383675,1794042159.472268,88.59,0.01,1665645532.150141,86.6,18.62,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 26.01], [7, 69, 32, 20.0], [7, 70, 3, 21.63]]",, 1069,1794042159.483296,1794042159.570178,86.88,0.01,1665645532.250614,84.37,18.92,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 25.24], [7, 69, 31, 19.98], [7, 70, 3, 19.78]]",, 1070,1794042159.592074,1794042159.670698,78.62,0.01,1665645532.361205,73.37,16.23,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.91], [7, 69, 32, 19.92], [7, 70, 3, 19.95]]",, 1071,1794042159.681297,1794042159.749943,68.65,0.01,1665645532.447840,66.76,14.81,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.22], [7, 69, 32, 18.39], [7, 70, 3, 19.93]]",, 1072,1794042159.760650,1794042159.830436,69.79,0.01,1665645532.527111,67.45,15.4,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 13.3], [7, 69, 35, 18.55], [7, 70, 3, 19.86]]",, 1073,1794042159.841532,1794042159.912732,71.20,0.01,1665645532.607989,66.57,14.82,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.97], [7, 69, 30, 18.51], [7, 70, 3, 19.93]]",, 1074,1794042159.924863,1794042159.990008,65.15,0.01,1665645532.691285,63.22,11.24,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.27], [7, 69, 35, 18.46], [7, 70, 3, 19.9]]",, 1075,1794042160.000922,1794042160.078583,77.66,0.01,1665645532.767126,67.33,14.9,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.34], [7, 69, 33, 19.96], [7, 70, 3, 19.96]]",, 1076,1794042160.088882,1794042160.170929,82.05,0.10,1665645532.855276,79.18,18.72,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.37], [7, 69, 30, 19.96], [7, 70, 3, 19.96]]",, 1077,1794042160.183206,1794042160.270004,86.80,0.00,1665645532.949501,84.97,16.44,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.43], [7, 69, 31, 19.96], [7, 70, 3, 19.98]]",, 1078,1794042160.282876,1794042160.375638,92.76,0.01,1665645533.049177,85.28,16.74,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.45], [7, 69, 35, 19.96], [7, 70, 3, 19.96]]",, 1079,1794042160.388280,1794042160.469737,81.46,0.08,1665645533.154619,79.84,19.39,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.36], [7, 69, 35, 19.96], [7, 70, 3, 19.97]]",, 1080,1794042160.485504,1794042160.552896,67.39,0.01,1665645533.252085,62.4,10.3,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.4], [7, 69, 29, 18.5], [7, 70, 3, 19.89]]",, 1081,1794042160.567383,1794042160.650645,83.26,0.01,1665645533.333907,80.56,18.13,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 22.34], [7, 69, 30, 19.96], [7, 70, 3, 19.97]]",, 1082,1794042160.662773,1794042160.750105,87.33,0.01,1665645533.429050,85.42,16.94,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.39], [7, 69, 36, 19.96], [7, 70, 3, 19.96]]",, 1083,1794042160.760484,1794042160.860236,99.75,0.00,1665645533.526886,87.58,19.01,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.48], [7, 69, 34, 19.96], [7, 70, 3, 19.96]]",, 1084,1794042160.910281,1794042160.997959,87.68,0.01,1665645533.676668,77.8,17.33,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.39], [7, 69, 29, 19.96], [7, 70, 3, 19.97]]",, 1085,1794042161.013855,1794042161.093568,79.71,0.01,1665645533.780052,74.42,17.93,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.4], [7, 69, 30, 19.96], [7, 70, 3, 19.97]]",, 1086,1794042161.106219,1794042161.193280,87.06,0.01,1665645533.872275,82.2,17.63,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.48], [7, 69, 29, 19.96], [7, 70, 3, 19.96]]",, 1087,1794042161.204814,1794042161.289599,84.78,0.07,1665645533.971099,83.38,18.86,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.43], [7, 69, 28, 19.96], [7, 70, 3, 19.97]]",, 1088,1794042161.303043,1794042161.396207,93.16,0.00,1665645534.069116,85.36,16.8,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.47], [7, 69, 28, 19.96], [7, 70, 3, 19.97]]",, 1089,1794042161.408299,1794042161.490675,82.38,0.01,1665645534.175797,78.68,18.21,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.39], [7, 69, 28, 19.96], [7, 70, 3, 19.97]]",, 1090,1794042161.502949,1794042161.591840,88.89,0.01,1665645534.269033,85.45,16.9,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.46], [7, 69, 32, 19.96], [7, 70, 3, 19.97]]",, 1091,1794042161.604612,1794042161.689529,84.92,0.01,1665645534.370950,83.53,18.99,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 24.45], [7, 69, 29, 19.96], [7, 70, 3, 19.97]]",, 1092,1794042161.701924,1794042161.791196,89.27,0.01,1665645534.468021,86.46,17.91,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.46], [7, 69, 29, 19.96], [7, 70, 3, 19.97]]",, 1093,1794042161.802526,1794042161.892484,89.96,0.01,1665645534.568773,85.71,17.17,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.46], [7, 69, 33, 19.96], [7, 70, 3, 19.97]]",, 1094,1794042161.905936,1794042162.000550,94.61,0.01,1665645534.681747,72.76,16.17,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 16.48], [7, 69, 34, 20.0], [7, 70, 3, 19.91]]",, 1095,1794042162.025774,1794042162.109841,84.07,0.01,1665645534.792149,82.34,17.83,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.42], [7, 69, 26, 19.96], [7, 70, 3, 19.97]]",, 1096,1794042162.121280,1794042162.211223,89.94,0.01,1665645534.887472,87.02,18.47,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 28.46], [7, 69, 30, 19.96], [7, 70, 3, 19.97]]",, 1097,1794042162.223370,1794042162.312439,89.07,0.01,1665645534.989491,85.0,16.47,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 28.46], [7, 69, 32, 19.94], [7, 70, 3, 19.97]]",, 1098,1794042162.325182,1794042162.409601,84.42,0.01,1665645535.091394,83.1,18.53,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.48], [7, 69, 33, 19.96], [7, 70, 3, 19.97]]",, 1099,1794042162.420783,1794042162.510515,89.73,0.01,1665645535.187651,87.33,18.3,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 29.24], [7, 69, 33, 19.28], [7, 70, 3, 20.19]]",, 1100,1794042162.521310,1794042162.592607,71.30,0.00,1665645535.287803,66.8,14.62,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.39], [7, 69, 25, 18.57], [7, 70, 3, 19.63]]",, 1101,1794042162.604246,1794042162.670918,66.67,0.01,1665645535.371079,63.64,11.1,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.31], [7, 69, 33, 19.9], [7, 70, 3, 19.97]]",, 1102,1794042162.683237,1794042162.750537,67.30,0.01,1665645535.449718,64.9,12.69,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.37], [7, 69, 26, 18.58], [7, 70, 3, 19.9]]",, 1103,1794042162.763148,1794042162.829912,66.76,0.01,1665645535.529622,65.0,13.21,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.97], [7, 69, 34, 18.58], [7, 70, 3, 19.88]]",, 1104,1794042162.841274,1794042162.913534,72.26,0.01,1665645535.607771,66.88,15.47,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.46], [7, 69, 25, 18.66], [7, 70, 3, 19.95]]",, 1105,1794042162.926465,1794042162.990137,63.67,0.01,1665645535.692790,61.72,9.45,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.17], [7, 69, 33, 19.93], [7, 70, 3, 19.96]]",, 1106,1794042163.002075,1794042163.089723,87.65,0.23,1665645535.768994,85.52,16.97,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.46], [7, 69, 32, 19.96], [7, 70, 3, 19.96]]",, 1107,1794042163.109892,1794042163.191776,81.88,0.01,1665645535.876327,78.19,17.62,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.47], [7, 69, 31, 19.97], [7, 70, 3, 19.96]]",, 1108,1794042163.203243,1794042163.289656,86.41,0.01,1665645535.970937,83.58,18.98,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.51], [7, 69, 25, 19.97], [7, 70, 3, 19.95]]",, 1109,1794042163.301064,1794042163.389649,88.58,0.00,1665645536.067803,86.72,18.12,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.51], [7, 69, 24, 19.96], [7, 70, 3, 19.97]]",, 1110,1794042163.400786,1794042163.490058,89.27,0.05,1665645536.168867,85.65,17.05,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 10, 28.51], [7, 69, 24, 19.96], [7, 70, 3, 19.96]]",, 1111,1794042163.502823,1794042163.591065,88.24,0.01,1665645536.268904,85.61,16.96,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.57], [7, 69, 26, 19.96], [7, 70, 3, 19.97]]",, 1112,1794042163.603710,1794042163.689978,86.27,0.01,1665645536.369888,84.63,16.05,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.5], [7, 69, 32, 19.96], [7, 70, 3, 19.97]]",, 1113,1794042163.701170,1794042165.792099,2090.93,2008.30,1665645538.475953,78.71,16.86,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 21.68], [7, 69, 7, 19.93], [7, 70, 3, 19.9]]",, 1114,1794042165.806389,1794042165.870371,63.98,0.02,1665645538.572751,61.92,9.65,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 13.4], [7, 69, 194, 18.71], [7, 70, 2, 19.73]]",, 1115,1794042165.882967,1794042165.951602,68.63,0.01,1665645538.649608,65.01,13.21,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.97], [7, 69, 46, 18.6], [7, 70, 2, 19.89]]",, 1116,1794042165.962567,1794042166.030334,67.77,0.01,1665645538.728748,65.83,13.4,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 12.33], [7, 69, 93, 19.95], [7, 70, 1, 19.97]]",, 1117,1794042166.042623,1794042166.130734,88.11,0.01,1665645538.808718,85.87,17.22,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.54], [7, 69, 49, 19.96], [7, 70, 128, 19.97]]",, 1118,1794042166.143677,1794042166.232517,88.84,0.01,1665645538.909830,84.74,16.11,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.54], [7, 69, 36, 19.96], [7, 70, 128, 19.97]]",, 1119,1794042166.248821,1794042166.330591,81.77,0.01,1665645539.014902,79.67,19.06,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 20.52], [7, 69, 35, 19.96], [7, 70, 128, 19.96]]",, 1120,1794042166.342247,1794042166.430151,87.90,0.01,1665645539.108413,86.16,17.51,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.57], [7, 69, 46, 19.96], [7, 70, 128, 19.97]]",, 1121,1794042166.441056,1794042166.530423,89.37,0.02,1665645539.213828,80.75,16.1,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 24.56], [7, 69, 31, 19.97], [7, 70, 128, 19.96]]",, 1122,1794042166.542176,1794042166.630149,87.97,0.01,1665645539.308372,86.35,17.59,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 11, 28.53], [7, 69, 60, 19.96], [7, 70, 128, 20.05]]",, 1123,1794042166.648528,1794042166.730316,81.79,0.01,1665645539.415529,79.06,16.84,,-0.35,1.23,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 22.1], [7, 69, 54, 19.93], [7, 70, 128, 19.96]]",, 1124,1794042166.740701,1794042166.836983,96.28,0.01,1665645539.507003,87.58,18.91,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.57], [7, 69, 59, 19.96], [7, 70, 128, 19.97]]",, 1125,1794042166.847759,1794042166.929747,81.99,0.01,1665645539.613971,80.61,18.19,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 22.33], [7, 69, 44, 19.96], [7, 70, 128, 19.97]]",, 1126,1794042166.944682,1794042167.029825,85.14,0.01,1665645539.710817,83.77,19.16,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.52], [7, 69, 57, 19.96], [7, 70, 128, 19.97]]",, 1127,1794042167.041103,1794042167.130817,89.71,0.01,1665645539.807367,87.22,18.53,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.61], [7, 69, 64, 19.96], [7, 70, 128, 19.97]]",, 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1133,1794042167.725763,1794042167.809673,83.91,0.01,1665645540.491843,82.76,18.1,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.57], [7, 69, 50, 19.96], [7, 70, 128, 19.96]]",, 1134,1794042167.823695,1794042167.915535,91.84,0.01,1665645540.589893,84.71,16.02,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.61], [7, 69, 59, 19.96], [7, 70, 128, 19.97]]",, 1135,1794042167.927246,1794042168.009682,82.44,0.00,1665645540.693448,81.16,16.65,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.4], [7, 69, 43, 19.96], [7, 70, 128, 19.96]]",, 1136,1794042168.020493,1794042168.112862,92.37,0.01,1665645540.786611,88.0,19.38,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.53], [7, 69, 65, 19.96], [7, 70, 128, 19.97]]",, 1137,1794042168.124463,1794042168.210460,86.00,0.01,1665645540.891049,83.56,18.91,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.56], [7, 69, 53, 19.97], [7, 70, 128, 19.96]]",, 1138,1794042168.224016,1794042168.310445,86.43,0.01,1665645540.991147,83.46,18.8,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.58], [7, 69, 43, 19.95], [7, 70, 128, 19.96]]",, 1139,1794042168.321169,1794042168.413172,92.00,0.01,1665645541.087689,86.92,18.26,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.57], [7, 69, 51, 19.96], [7, 70, 128, 19.96]]",, 1140,1794042168.424232,1794042168.510735,86.50,0.01,1665645541.190297,84.42,20.14,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.15], [7, 69, 60, 19.81], [7, 70, 128, 19.91]]",, 1141,1794042168.522700,1794042168.589936,67.24,0.29,1665645541.289444,65.28,13.15,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 13.19], [7, 69, 53, 18.68], [7, 70, 128, 19.91]]",, 1142,1794042168.602444,1794042168.680437,77.99,0.01,1665645541.369000,67.32,13.55,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 13.23], [7, 69, 49, 18.72], [7, 70, 128, 21.4]]",, 1143,1794042168.690793,1794042168.795660,104.87,0.01,1665645541.457253,77.48,17.44,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 19.73], [7, 69, 61, 19.84], [7, 70, 128, 19.92]]",, 1144,1794042168.809134,1794042168.890025,80.89,0.03,1665645541.575618,79.19,17.03,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 21.97], [7, 69, 51, 19.83], [7, 70, 128, 19.73]]",, 1145,1794042168.907668,1794042168.991287,83.62,0.01,1665645541.674030,80.6,18.27,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 22.22], [7, 69, 42, 19.96], [7, 70, 128, 19.96]]",, 1146,1794042169.039061,1794042169.130678,91.62,0.01,1665645541.807221,87.41,18.74,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.58], [7, 69, 45, 19.95], [7, 70, 128, 19.96]]",, 1147,1794042169.143061,1794042169.230358,87.30,0.02,1665645541.909336,85.3,16.63,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.57], [7, 69, 58, 19.97], [7, 70, 128, 19.96]]",, 1148,1794042169.241856,1794042169.416982,175.13,0.01,1665645542.008031,86.6,17.89,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.62], [7, 69, 61, 19.96], [7, 70, 128, 19.97]]",, 1149,1794042169.432461,1794042169.510374,77.91,0.01,1665645542.203440,71.19,18.53,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 12.57], [7, 69, 56, 19.96], [7, 70, 128, 19.97]]",, 1150,1794042169.527828,1794042169.610985,83.16,0.01,1665645542.294194,80.44,17.95,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 22.4], [7, 69, 57, 19.96], [7, 70, 128, 19.97]]",, 1151,1794042169.621549,1794042169.710187,88.64,0.01,1665645542.387707,86.93,18.24,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.61], [7, 69, 44, 19.96], [7, 70, 128, 19.96]]",, 1152,1794042169.720415,1794042169.810833,90.42,0.01,1665645542.486627,88.01,19.3,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.62], [7, 69, 65, 19.96], [7, 70, 128, 19.97]]",, 1153,1794042169.825564,1794042169.910502,84.94,0.01,1665645542.591841,82.81,18.1,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 24.61], [7, 69, 50, 19.96], [7, 70, 128, 19.98]]",, 1154,1794042169.920746,1794042169.990052,69.31,0.01,1665645542.687016,67.63,18.88,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 9.65], [7, 69, 44, 18.97], [7, 70, 128, 19.97]]",, 1155,1794042170.002644,1794042170.090029,87.38,0.01,1665645542.768803,85.84,17.13,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.63], [7, 69, 61, 19.95], [7, 70, 128, 19.97]]",, 1156,1794042170.101106,1794042170.189966,88.86,0.01,1665645542.867376,87.27,18.57,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.62], [7, 69, 45, 19.96], [7, 70, 128, 19.97]]",, 1157,1794042170.200691,1794042170.269871,69.18,0.01,1665645542.966879,67.77,19.02,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 9.65], [7, 69, 59, 18.97], [7, 70, 128, 19.96]]",, 1158,1794042170.281020,1794042170.350550,69.53,0.01,1665645543.047280,67.37,18.61,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 9.66], [7, 69, 63, 18.98], [7, 70, 128, 19.97]]",, 1159,1794042170.360940,1794042170.453248,92.31,0.01,1665645543.127562,87.09,18.39,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 28.6], [7, 69, 54, 19.97], [7, 70, 128, 19.96]]",, 1160,1794042170.465176,1794042170.550446,85.27,0.01,1665645543.231364,83.8,18.54,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 25.29], [7, 69, 46, 19.83], [7, 70, 128, 19.89]]",, 1161,1794042170.577036,1794042170.651542,74.51,0.00,1665645543.343427,71.73,16.06,,-0.35,1.14,0.70,-0.35,0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 15.55], [7, 69, 66, 19.94], [7, 70, 128, 19.89]]",, 1162,1794042170.664227,1794042170.751202,86.98,0.01,1665645543.430596,85.06,18.29,,-0.35,1.14,0.70,-0.35,0.08,-29.70,,,,,,,,,,"[[2, 69, 9, 26.13], [7, 69, 54, 20.21], [7, 70, 128, 20.02]]",, 1163,1794042170.763791,1794042170.856792,93.00,0.01,1665645543.530669,84.2,19.23,,-0.35,1.14,0.70,-0.35,-0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 25.01], [7, 69, 52, 19.65], [7, 70, 128, 19.92]]",, 1164,1794042170.869560,1794042170.950622,81.06,0.01,1665645543.636426,78.75,19.57,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 19.25], [7, 69, 62, 19.74], [7, 70, 128, 19.87]]",, 1165,1794042170.966127,1794042171.050896,84.77,0.01,1665645543.734112,81.11,24.76,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.21], [7, 69, 48, 19.9], [7, 70, 128, 19.95]]",, 1166,1794042171.065669,1794042171.150939,85.27,0.16,1665645543.834799,80.42,24.05,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.21], [7, 69, 62, 19.88], [7, 70, 128, 19.99]]",, 1167,1794042171.163524,1794042171.253326,89.80,0.01,1665645543.929899,85.34,18.99,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.17], [7, 69, 50, 19.95], [7, 70, 128, 19.94]]",, 1168,1794042171.264466,1794042171.350335,85.87,0.01,1665645544.031031,84.13,17.84,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.11], [7, 69, 62, 19.96], [7, 70, 128, 19.93]]",, 1169,1794042171.363825,1794042171.451366,87.54,0.02,1665645544.130646,85.28,18.16,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.94], [7, 69, 50, 19.68], [7, 70, 128, 20.0]]",, 1170,1794042171.465479,1794042171.550762,85.28,0.01,1665645544.232419,82.48,19.34,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 22.98], [7, 69, 62, 19.88], [7, 70, 128, 19.76]]",, 1171,1794042171.562884,1794042171.630310,67.43,0.29,1665645544.329590,65.36,13.04,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.18], [7, 69, 64, 18.7], [7, 70, 128, 19.9]]",, 1172,1794042171.649999,1794042171.730428,80.43,0.01,1665645544.417160,77.72,15.62,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 21.83], [7, 69, 50, 19.77], [7, 70, 128, 19.84]]",, 1173,1794042171.741632,1794042171.810155,68.52,0.01,1665645544.508277,66.62,14.67,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.88], [7, 69, 63, 18.69], [7, 70, 128, 19.84]]",, 1174,1794042171.822800,1794042171.891318,68.52,0.00,1665645544.589449,65.46,13.13,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.18], [7, 69, 60, 18.81], [7, 70, 128, 19.93]]",, 1175,1794042171.911997,1794042171.990209,78.21,0.01,1665645544.678398,76.3,13.84,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 22.34], [7, 69, 56, 19.96], [7, 70, 128, 19.97]]",, 1176,1794042172.003908,1794042172.089825,85.92,0.01,1665645544.770040,84.66,15.95,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 28.6], [7, 69, 61, 19.96], [7, 70, 128, 19.97]]",, 1177,1794042172.106356,1794042172.189811,83.46,0.00,1665645544.872707,81.98,17.24,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.65], [7, 69, 55, 19.96], [7, 70, 128, 19.97]]",, 1178,1794042172.200367,1794042172.270121,69.75,0.02,1665645544.966567,68.12,19.32,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.66], [7, 69, 61, 19.01], [7, 70, 128, 19.96]]",, 1179,1794042172.282858,1794042172.349991,67.13,0.01,1665645545.049233,65.46,16.67,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.65], [7, 69, 65, 19.01], [7, 70, 128, 19.97]]",, 1180,1794042172.364300,1794042172.453028,88.73,0.01,1665645545.134992,79.7,18.96,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.65], [7, 69, 54, 19.96], [7, 70, 128, 19.97]]",, 1181,1794042172.466931,1794042172.552576,85.65,0.01,1665645545.233180,81.51,16.75,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.67], [7, 69, 61, 19.96], [7, 70, 128, 19.97]]",, 1182,1794042172.565201,1794042172.653851,88.65,0.01,1665645545.331409,83.28,18.54,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.65], [7, 69, 58, 19.96], [7, 70, 128, 19.96]]",, 1183,1794042172.666427,1794042172.750018,83.59,0.00,1665645545.433644,81.05,16.29,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.68], [7, 69, 50, 19.97], [7, 70, 128, 19.96]]",, 1184,1794042172.762598,1794042172.850481,87.88,0.11,1665645545.531814,83.02,18.3,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.53], [7, 69, 64, 19.81], [7, 70, 128, 19.75]]",, 1185,1794042172.861145,1794042172.929840,68.70,0.01,1665645545.627467,67.26,14.9,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.23], [7, 69, 59, 22.03], [7, 70, 128, 17.86]]",, 1186,1794042172.944115,1794042173.090157,146.04,0.01,1665645545.793555,61.15,9.65,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.42], [7, 69, 50, 18.9], [7, 70, 128, 19.96]]",, 1187,1794042173.100442,1794042173.170187,69.74,0.01,1665645545.866848,67.86,19.11,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.58], [7, 69, 57, 19.03], [7, 70, 128, 19.96]]",, 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1193,1794042173.606936,1794042173.689849,82.91,0.00,1665645546.374028,80.69,15.96,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.64], [7, 69, 51, 19.96], [7, 70, 128, 19.97]]",, 1194,1794042173.701315,1794042173.770664,69.35,0.01,1665645546.467541,67.18,18.43,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.57], [7, 69, 57, 19.04], [7, 70, 128, 19.97]]",, 1195,1794042173.783402,1794042173.850679,67.28,0.01,1665645546.549642,65.08,16.27,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.64], [7, 69, 65, 19.04], [7, 70, 128, 19.97]]",, 1196,1794042173.862783,1794042173.930464,67.68,0.01,1665645546.629791,64.94,16.1,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.66], [7, 69, 59, 19.08], [7, 70, 128, 19.88]]",, 1197,1794042173.941590,1794042174.013535,71.94,0.01,1665645546.709609,65.12,16.33,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.63], [7, 69, 57, 19.02], [7, 70, 128, 19.97]]",, 1198,1794042174.025390,1794042174.119070,93.68,0.06,1665645546.791871,82.85,18.07,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.7], [7, 69, 62, 19.96], [7, 70, 128, 19.96]]",, 1199,1794042174.130290,1794042174.211178,80.89,0.01,1665645546.896451,78.27,17.53,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.66], [7, 69, 51, 19.96], [7, 70, 128, 19.97]]",, 1200,1794042174.224653,1794042174.318734,94.08,0.01,1665645546.990944,83.79,18.99,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.71], [7, 69, 62, 19.94], [7, 70, 128, 19.97]]",, 1201,1794042174.331699,1794042174.410115,78.42,0.01,1665645547.098353,76.6,15.63,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.65], [7, 69, 58, 19.96], [7, 70, 128, 20.13]]",, 1202,1794042174.420779,1794042174.493073,72.29,0.01,1665645547.187375,67.5,15.23,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.13], [7, 69, 64, 18.99], [7, 70, 128, 19.82]]",, 1203,1794042174.505241,1794042174.576252,71.01,0.01,1665645547.272058,62.87,10.93,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.78], [7, 69, 56, 19.02], [7, 70, 128, 19.77]]",, 1204,1794042174.589016,1794042174.670213,81.20,0.01,1665645547.355564,79.38,17.09,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 22.17], [7, 69, 62, 19.8], [7, 70, 128, 19.98]]",, 1205,1794042174.687142,1794042174.750651,63.51,0.00,1665645547.453586,61.35,8.98,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.23], [7, 69, 63, 18.95], [7, 70, 128, 19.85]]",, 1206,1794042174.761731,1794042174.830259,68.53,0.02,1665645547.528366,66.61,14.31,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.07], [7, 69, 55, 18.9], [7, 70, 128, 19.96]]",, 1207,1794042174.841608,1794042174.914608,73.00,0.01,1665645547.608040,66.74,14.96,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.73], [7, 69, 54, 14.81], [7, 70, 128, 19.89]]",, 1208,1794042174.925530,1794042175.010243,84.71,0.01,1665645547.691733,83.01,18.2,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.71], [7, 69, 58, 19.93], [7, 70, 128, 19.94]]",, 1209,1794042175.021886,1794042175.110195,88.31,0.03,1665645547.788997,85.8,18.63,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 27.11], [7, 69, 62, 19.87], [7, 70, 128, 19.86]]",, 1210,1794042175.121446,1794042175.210636,89.19,0.00,1665645547.888613,86.16,17.4,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 28.63], [7, 69, 54, 19.95], [7, 70, 128, 19.94]]",, 1211,1794042175.223093,1794042175.290028,66.94,0.00,1665645547.990041,64.73,15.87,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.63], [7, 69, 53, 19.07], [7, 70, 128, 19.93]]",, 1212,1794042175.303261,1794042175.390020,86.76,0.01,1665645548.072381,82.4,17.52,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.77], [7, 69, 58, 19.92], [7, 70, 128, 19.94]]",, 1213,1794042175.400436,1794042175.471509,71.07,0.01,1665645548.166736,68.04,19.16,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.62], [7, 69, 50, 19.07], [7, 70, 128, 19.94]]",, 1214,1794042175.483302,1794042175.550137,66.84,0.16,1665645548.249705,65.07,16.24,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.6], [7, 69, 52, 19.07], [7, 70, 128, 19.94]]",, 1215,1794042175.563093,1794042175.633648,70.56,0.01,1665645548.330425,64.75,15.52,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.61], [7, 69, 61, 19.07], [7, 70, 128, 19.94]]",, 1216,1794042175.644706,1794042175.710555,65.85,0.01,1665645548.410936,63.84,11.34,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.38], [7, 69, 65, 19.95], [7, 70, 128, 19.94]]",, 1217,1794042175.723161,1794042175.790098,66.94,0.02,1665645548.489524,65.26,16.39,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.64], [7, 69, 57, 19.08], [7, 70, 128, 19.94]]",, 1218,1794042175.802870,1794042175.885177,82.31,0.01,1665645548.569064,65.72,16.87,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.64], [7, 69, 51, 19.06], [7, 70, 128, 19.94]]",, 1219,1794042175.896517,1794042175.976392,79.87,0.02,1665645548.663075,71.71,18.87,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.73], [7, 69, 63, 19.95], [7, 70, 128, 19.94]]",, 1220,1794042175.989189,1794042176.069951,80.76,0.01,1665645548.755292,79.49,18.69,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.7], [7, 69, 53, 19.93], [7, 70, 128, 19.94]]",, 1221,1794042176.083079,1794042176.159829,76.75,0.02,1665645548.849359,65.43,16.59,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.6], [7, 69, 55, 19.09], [7, 70, 128, 19.94]]",, 1222,1794042176.172765,1794042176.249911,77.15,0.01,1665645548.940340,74.45,17.58,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.76], [7, 69, 58, 19.93], [7, 70, 128, 19.94]]",, 1223,1794042176.269049,1794042176.350109,81.06,0.01,1665645549.035210,79.58,18.8,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.67], [7, 69, 59, 19.93], [7, 70, 128, 19.94]]",, 1224,1794042176.362419,1794042176.445999,83.58,0.01,1665645549.128699,66.09,17.31,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.55], [7, 69, 64, 19.09], [7, 70, 128, 19.94]]",, 1225,1794042176.458029,1794042176.544528,86.50,0.01,1665645549.224291,71.04,18.15,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.24], [7, 69, 54, 19.95], [7, 70, 128, 20.41]]",, 1226,1794042176.557011,1794042176.651606,94.60,0.01,1665645549.324415,90.89,24.57,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.23], [7, 69, 53, 19.9], [7, 70, 128, 19.9]]",, 1227,1794042176.662830,1794042176.759523,96.69,0.01,1665645549.429291,85.97,19.7,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.15], [7, 69, 63, 19.91], [7, 70, 128, 19.94]]",, 1228,1794042176.771027,1794042176.852485,81.46,0.01,1665645549.537432,77.91,21.58,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.13], [7, 69, 57, 19.96], [7, 70, 128, 19.96]]",, 1229,1794042176.868233,1794042176.951001,82.77,0.01,1665645549.634857,80.47,24.15,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 16.18], [7, 69, 61, 19.89], [7, 70, 128, 19.94]]",, 1230,1794042176.962552,1794042177.053546,90.99,0.01,1665645549.728961,86.46,20.1,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 26.05], [7, 69, 56, 20.18], [7, 70, 128, 19.83]]",, 1231,1794042177.066161,1794042177.150836,84.68,0.10,1665645549.834186,81.33,27.98,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 14.57], [7, 69, 62, 18.36], [7, 70, 128, 19.91]]",, 1232,1794042177.163621,1794042177.275204,111.58,0.01,1665645549.930012,84.99,17.49,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 27.63], [7, 69, 53, 19.65], [7, 70, 128, 19.94]]",, 1233,1794042177.285778,1794042177.382583,96.81,0.01,1665645550.052185,83.41,13.96,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 29.03], [7, 69, 53, 19.96], [7, 70, 128, 20.13]]",, 1234,1794042177.397675,1794042177.539704,142.03,0.01,1665645550.175191,80.16,21.82,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 18.05], [7, 69, 53, 20.0], [7, 70, 128, 19.86]]",, 1235,1794042177.553613,1794042177.631949,78.34,0.01,1665645550.323476,71.56,9.85,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 21.51], [7, 69, 55, 20.0], [7, 70, 128, 19.83]]",, 1236,1794042177.644274,1794042177.711166,66.89,0.01,1665645550.410907,64.29,12.39,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.46], [7, 69, 58, 19.0], [7, 70, 128, 20.1]]",, 1237,1794042177.721667,1794042177.790409,68.74,0.01,1665645550.488268,66.75,14.96,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.5], [7, 69, 65, 19.01], [7, 70, 128, 19.91]]",, 1238,1794042177.801515,1794042177.870030,68.52,0.01,1665645550.568037,66.91,14.55,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 13.16], [7, 69, 56, 19.02], [7, 70, 128, 19.85]]",, 1239,1794042177.881929,1794042177.950050,68.12,0.05,1665645550.648254,66.6,14.14,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.32], [7, 69, 56, 19.98], [7, 70, 128, 19.98]]",, 1240,1794042177.960844,1794042178.029962,69.12,0.01,1665645550.727057,67.79,18.88,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.61], [7, 69, 64, 19.15], [7, 70, 128, 19.97]]",, 1241,1794042178.046220,1794042178.130228,84.01,0.01,1665645550.812435,82.39,17.53,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.8], [7, 69, 54, 19.93], [7, 70, 128, 19.96]]",, 1242,1794042178.141310,1794042178.210088,68.78,0.01,1665645550.907619,67.21,18.31,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.62], [7, 69, 62, 19.15], [7, 70, 128, 19.97]]",, 1243,1794042178.225288,1794042178.309884,84.60,0.01,1665645550.991396,83.43,18.58,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.76], [7, 69, 54, 19.96], [7, 70, 128, 19.97]]",, 1244,1794042178.320791,1794042178.526912,206.12,0.01,1665645551.087785,67.05,18.18,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.59], [7, 69, 62, 19.16], [7, 70, 128, 19.96]]",, 1245,1794042178.549550,1794042178.632049,82.50,0.01,1665645551.315683,79.15,18.38,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 20.68], [7, 69, 54, 19.95], [7, 70, 128, 19.97]]",, 1246,1794042178.643669,1794042178.710779,67.11,0.01,1665645551.409926,64.91,15.94,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.68], [7, 69, 54, 19.19], [7, 70, 128, 19.94]]",, 1247,1794042178.722676,1794042178.790216,67.54,0.02,1665645551.488958,65.88,16.95,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.64], [7, 69, 59, 19.16], [7, 70, 128, 19.97]]",, 1248,1794042178.807162,1794042178.900188,93.03,0.01,1665645551.573628,81.21,16.29,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 24.83], [7, 69, 62, 19.96], [7, 70, 128, 19.96]]",, 1249,1794042178.913358,1794042178.990158,76.80,0.01,1665645551.680416,74.43,12.01,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 22.33], [7, 69, 64, 19.94], [7, 70, 128, 19.96]]",, 1250,1794042179.003167,1794042179.070152,66.99,0.00,1665645551.769282,65.56,16.61,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.65], [7, 69, 54, 19.17], [7, 70, 128, 19.96]]",, 1251,1794042179.082156,1794042179.151587,69.43,0.01,1665645551.848226,67.5,17.7,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.62], [7, 69, 62, 19.17], [7, 70, 128, 20.8]]",, 1252,1794042179.164184,1794042179.230122,65.94,0.01,1665645551.930681,64.18,12.05,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 12.87], [7, 69, 54, 18.91], [7, 70, 128, 19.94]]",, 1253,1794042179.243322,1794042179.309998,66.68,0.11,1665645552.009693,65.16,16.26,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.59], [7, 69, 63, 19.16], [7, 70, 128, 19.98]]",, 1254,1794042179.321511,1794042179.390857,69.35,0.01,1665645552.088152,66.71,17.81,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.62], [7, 69, 58, 19.14], [7, 70, 128, 19.97]]",, 1255,1794042179.401487,1794042179.471049,69.56,0.01,1665645552.167615,67.24,18.3,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.65], [7, 69, 55, 19.17], [7, 70, 128, 19.96]]",, 1256,1794042179.483980,1794042179.551010,67.03,0.01,1665645552.250077,64.78,15.87,,-0.35,1.14,0.70,-0.35,-0.79,-29.70,,,,,,,,,,"[[2, 69, 9, 9.6], [7, 69, 60, 19.18], [7, 70, 128, 19.96]]",, 1257,1794042179.564350,1794042179.630133,65.78,0.01,1665645552.330467,64.39,15.48,,-0.17,1.14,0.70,-0.35,-0.70,-29.70,,,,,,,,,,"[[2, 69, 9, 9.61], [7, 69, 45, 19.18], [7, 70, 128, 19.96]]",, 1258,1794042179.646435,1794042179.737340,90.90,0.00,1665645552.412531,82.32,17.42,,0.35,1.14,0.70,-0.08,-0.43,-29.61,,,,,,,,,,"[[2, 69, 9, 24.83], [7, 69, 40, 19.97], [7, 70, 128, 19.95]]",, 1259,1794042179.748894,1794042179.829934,81.04,0.08,1665645552.515245,79.61,18.75,,0.61,1.05,0.70,-0.08,-0.43,-29.61,,,,,,,,,,"[[2, 69, 6, 20.77], [7, 69, 49, 19.96], [7, 70, 128, 19.97]]",, 1260,1794042179.840312,1794042179.915997,75.69,0.00,1665645552.606440,68.45,16.08,,0.61,0.96,0.70,-0.08,-0.43,-29.61,,,,,,,,,,"[[2, 69, 6, 13.19], [7, 69, 42, 19.01], [7, 70, 128, 19.98]]",, 1261,1794042179.928623,1794042180.014335,85.71,0.01,1665645552.694907,79.96,19.13,,0.61,0.96,0.70,-0.08,-0.43,-29.61,,,,,,,,,,"[[2, 69, 6, 20.74], [7, 69, 52, 19.96], [7, 70, 128, 19.96]]",, 1262,1794042180.024970,1794042180.110031,85.06,0.01,1665645552.791200,83.66,18.74,,0.79,0.96,0.79,0.00,-0.35,-29.53,,,,,,,,,,"[[2, 69, 6, 24.84], [7, 69, 44, 19.96], [7, 70, 128, 19.96]]",, 1263,1794042180.130891,1794042180.218229,87.34,0.01,1665645552.897009,77.86,17.02,,0.87,0.96,0.79,0.08,-0.35,-29.53,,,,,,,,,,"[[2, 69, 6, 20.76], [7, 69, 38, 19.96], [7, 70, 128, 19.97]]",, 1264,1794042180.230183,1794042180.310942,80.76,0.01,1665645552.996637,78.24,15.55,,0.87,0.96,0.79,0.17,-0.35,-29.53,,,,,,,,,,"[[2, 69, 6, 22.65], [7, 69, 45, 19.88], [7, 70, 128, 19.96]]",, 1265,1794042180.323159,1794042180.390282,67.12,0.01,1665645553.089291,65.77,16.67,,0.87,0.96,0.79,0.52,0.26,-29.44,,,,,,,,,,"[[2, 69, 6, 9.59], [7, 69, 43, 19.31], [7, 70, 128, 19.92]]",, 1266,1794042180.401596,1794042180.476021,74.43,0.01,1665645553.168038,67.04,14.93,,0.87,1.05,0.96,1.23,1.23,-29.35,,,,,,,,,,"[[2, 69, 7, 12.77], [7, 69, 49, 19.07], [7, 70, 128, 19.92]]",, 1267,1794042180.488265,1794042180.570953,82.69,0.01,1665645553.254695,80.41,18.23,,0.79,1.05,0.96,1.31,1.23,-29.35,,,,,,,,,,"[[2, 69, 7, 21.99], [7, 69, 54, 20.02], [7, 70, 128, 19.82]]",, 1268,1794042180.584320,1794042180.651703,67.38,0.01,1665645553.350733,64.37,12.32,,0.79,1.05,0.96,1.31,1.23,-29.44,,,,,,,,,,"[[2, 69, 7, 12.72], [7, 69, 37, 18.97], [7, 70, 128, 20.01]]",, 1269,1794042180.663142,1794042180.730585,67.44,0.01,1665645553.429712,65.38,13.44,,0.79,1.05,0.96,1.31,1.23,-29.44,,,,,,,,,,"[[2, 69, 7, 12.64], [7, 69, 56, 19.03], [7, 70, 128, 19.92]]",, 1270,1794042180.744805,1794042180.810545,65.74,0.01,1665645553.511240,63.84,11.23,,0.79,1.05,0.96,1.31,1.23,-29.44,,,,,,,,,,"[[2, 69, 7, 13.32], [7, 69, 31, 19.18], [7, 70, 128, 19.77]]",, 1271,1794042180.823930,1794042180.889931,66.00,0.01,1665645553.590376,64.52,12.29,,0.79,1.05,0.96,1.31,1.23,-29.44,,,,,,,,,,"[[2, 69, 7, 12.84], [7, 69, 48, 19.19], [7, 70, 128, 19.97]]",, 1272,1794042180.900137,1794042180.970181,70.04,0.01,1665645553.667398,67.49,18.57,,0.79,1.05,0.96,1.31,1.23,-29.44,,,,,,,,,,"[[2, 69, 7, 9.59], [7, 69, 30, 19.2], [7, 70, 128, 19.96]]",, 1273,1794042180.987143,1794042181.070416,83.27,0.01,1665645553.753438,81.45,16.49,,0.79,1.05,0.96,1.23,1.23,-29.53,,,,,,,,,,"[[2, 69, 7, 24.89], [7, 69, 40, 19.92], [7, 70, 128, 19.96]]",, 1274,1794042181.083119,1794042181.152757,69.64,0.01,1665645553.849524,65.37,16.41,,0.79,0.87,0.87,0.96,0.79,-29.70,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 45, 19.21], [7, 70, 128, 19.97]]",, 1275,1794042181.171645,1794042181.253510,81.87,0.01,1665645553.937770,77.26,16.26,,0.79,0.70,0.87,0.87,0.26,-29.70,,,,,,,,,,"[[2, 69, 2, 20.91], [7, 69, 38, 19.94], [7, 70, 128, 19.8]]",, 1276,1794042181.264498,1794042181.334003,69.50,0.01,1665645554.030693,64.2,11.69,,0.79,0.70,0.87,0.79,0.00,-30.14,,,,,,,,,,"[[2, 69, 2, 12.39], [7, 69, 50, 19.98], [7, 70, 128, 19.96]]",, 1277,1794042181.352027,1794042181.430044,78.02,0.01,1665645554.118483,76.41,13.89,,0.79,0.61,0.87,0.52,-0.52,-30.32,,,,,,,,,,"[[2, 69, 1, 22.45], [7, 69, 39, 19.94], [7, 70, 128, 19.97]]",, 1278,1794042181.450623,1794042181.530913,80.29,0.01,1665645554.216731,78.16,17.32,,0.79,0.61,0.87,0.43,-0.52,-30.23,,,,,,,,,,"[[2, 69, 1, 20.76], [7, 69, 44, 19.95], [7, 70, 128, 19.96]]",, 1279,1794042181.542186,1794042181.610488,68.30,0.01,1665645554.308290,66.6,17.67,,0.79,0.61,0.87,0.70,-0.52,-29.97,,,,,,,,,,"[[2, 69, 2, 9.59], [7, 69, 43, 19.23], [7, 70, 128, 19.96]]",, 1280,1794042181.632069,1794042181.710036,77.97,0.01,1665645554.398164,76.73,15.88,,0.79,0.70,0.87,0.87,-0.35,-29.61,,,,,,,,,,"[[2, 69, 2, 20.77], [7, 69, 41, 19.96], [7, 70, 128, 19.97]]",, 1281,1794042181.723363,1794042181.790834,67.47,0.01,1665645554.489609,65.29,16.31,,0.79,0.70,0.96,0.87,-0.35,-29.61,,,,,,,,,,"[[2, 69, 2, 9.63], [7, 69, 47, 19.25], [7, 70, 128, 19.94]]",, 1282,1794042181.804390,1794042181.894157,89.77,0.00,1665645554.570883,84.02,19.03,,0.79,0.70,0.96,0.87,-0.35,-29.61,,,,,,,,,,"[[2, 69, 2, 24.89], [7, 69, 49, 19.98], [7, 70, 128, 19.97]]",, 1283,1794042181.905279,1794042181.989934,84.66,0.01,1665645554.671551,83.35,18.42,,0.79,0.70,0.87,0.87,-0.35,-29.61,,,,,,,,,,"[[2, 69, 2, 24.85], [7, 69, 49, 19.96], [7, 70, 128, 19.96]]",, 1284,1794042182.006630,1794042182.090769,84.14,0.01,1665645554.772746,82.16,17.13,,0.79,0.70,0.87,0.08,-0.70,-30.49,,,,,,,,,,"[[2, 69, 1, 24.97], [7, 69, 45, 19.94], [7, 70, 128, 19.97]]",, 1285,1794042182.103779,1794042182.170037,66.26,0.00,1665645554.869886,65.02,16.02,,0.79,0.52,0.79,-0.79,-1.23,-31.20,,,,,,,,,,"[[2, 69, 0, 9.64], [7, 69, 48, 19.24], [7, 70, 128, 19.97]]",, 1286,1794042182.186202,1794042182.270943,84.74,0.01,1665645554.952343,83.31,17.62,,0.79,0.35,0.79,-0.87,-1.75,-31.37,,,,,,,,,,"[[2, 69, 1, 24.86], [7, 69, 45, 19.96], [7, 70, 128, 20.67]]",, 1287,1794042182.284651,1794042182.350034,65.38,0.01,1665645555.051114,63.8,11.38,,0.79,0.08,0.79,-0.87,-2.37,-31.37,,,,,,,,,,"[[2, 69, 1, 13.04], [7, 69, 43, 19.23], [7, 70, 128, 19.95]]",, 1288,1794042182.360430,1794042182.437315,76.88,0.01,1665645555.126583,68.33,19.37,,0.79,0.00,0.70,-0.87,-2.46,-31.37,,,,,,,,,,"[[2, 69, 1, 9.63], [7, 69, 45, 19.21], [7, 70, 128, 19.96]]",, 1289,1794042182.447575,1794042182.530750,83.17,0.01,1665645555.213680,81.77,16.28,,0.70,-0.17,0.70,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 24.87], [7, 69, 45, 20.14], [7, 70, 128, 20.29]]",, 1290,1794042182.542071,1794042182.630657,88.59,0.03,1665645555.308611,86.83,20.5,,0.70,-0.26,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 26.1], [7, 69, 34, 19.96], [7, 70, 128, 19.99]]",, 1291,1794042182.642916,1794042182.738441,95.52,0.01,1665645555.409341,86.1,19.72,,0.70,-0.35,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 26.16], [7, 69, 39, 20.0], [7, 70, 128, 19.95]]",, 1292,1794042182.749996,1794042182.831075,81.08,0.01,1665645555.516578,79.12,22.58,,0.70,-0.35,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 16.06], [7, 69, 49, 20.02], [7, 70, 128, 20.14]]",, 1293,1794042182.843825,1794042182.930549,86.72,0.01,1665645555.610309,85.02,18.08,,0.70,-0.43,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 26.86], [7, 69, 34, 19.91], [7, 70, 128, 19.87]]",, 1294,1794042182.941864,1794042183.030588,88.72,0.01,1665645555.708228,87.15,20.77,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 26.24], [7, 69, 36, 19.95], [7, 70, 128, 19.91]]",, 1295,1794042183.041714,1794042183.134678,92.96,0.01,1665645555.808146,87.24,21.04,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 1, 26.04], [7, 69, 49, 19.96], [7, 70, 128, 19.92]]",, 1296,1794042183.146083,1794042183.230623,84.54,0.00,1665645555.912456,83.03,16.63,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 0, 26.22], [7, 69, 46, 19.91], [7, 70, 128, 19.99]]",, 1297,1794042183.243404,1794042183.332069,88.67,0.01,1665645556.011411,84.65,17.65,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 0, 26.56], [7, 69, 42, 19.99], [7, 70, 128, 19.95]]",, 1298,1794042183.343143,1794042183.410915,67.77,0.01,1665645556.109483,65.58,13.58,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 0, 12.69], [7, 69, 47, 19.15], [7, 70, 128, 19.83]]",, 1299,1794042183.423734,1794042183.490414,66.68,0.01,1665645556.190172,65.02,12.85,,0.70,-0.52,0.61,-0.87,-2.54,-31.37,,,,,,,,,,"[[2, 69, 0, 12.71], [7, 69, 42, 19.16], [7, 70, 128, 19.95]]",,push_arm 1300,1794042183.502071,1794042183.570423,68.35,0.01,1665645556.268559,66.61,14.75,,0.70,-0.52,0.61,-0.87,-2.54,-31.28,,,,,,,,,,"[[2, 69, 0, 12.43], [7, 69, 56, 19.21], [7, 70, 128, 19.87]]",, 1301,1794042183.593565,1794042183.671277,77.71,0.01,1665645556.360054,75.03,13.12,,0.70,-0.52,0.61,-0.87,-2.54,-31.28,,,,,,,,,,"[[2, 69, 1, 21.82], [7, 69, 50, 19.85], [7, 70, 128, 19.82]]",, 1302,1794042183.683828,1794042183.752492,68.66,0.01,1665645556.450198,64.95,13.39,,0.70,-0.52,0.61,-0.87,-2.54,-31.28,,,,,,,,,,"[[2, 69, 0, 12.18], [7, 69, 47, 19.32], [7, 70, 128, 19.72]]",, 1303,1794042183.765016,1794042183.830005,64.99,0.06,1665645556.532578,62.37,10.12,,0.70,-0.43,0.61,-0.87,-2.54,-31.20,,,,,,,,,,"[[2, 69, 1, 12.76], [7, 69, 37, 19.24], [7, 70, 128, 19.95]]",, 1304,1794042183.844133,1794042183.909965,65.83,0.01,1665645556.610295,64.65,15.67,,0.70,-0.43,0.61,-0.87,-2.37,-31.20,,,,,,,,,,"[[2, 69, 1, 9.58], [7, 69, 52, 19.29], [7, 70, 128, 19.94]]",, 1305,1794042183.922948,1794042183.992831,69.88,0.01,1665645556.689055,65.89,16.92,,0.70,-0.43,0.61,-0.87,-2.28,-31.20,,,,,,,,,,"[[2, 69, 1, 9.58], [7, 69, 29, 19.27], [7, 70, 128, 19.96]]",, 1306,1794042184.004599,1794042184.073014,68.41,0.03,1665645556.770876,64.07,11.72,,0.70,-0.43,0.61,-0.87,-2.28,-31.20,,,,,,,,,,"[[2, 69, 1, 12.96], [7, 69, 50, 19.24], [7, 70, 128, 19.96]]",, 1307,1794042184.085079,1794042184.170204,85.12,0.01,1665645556.851206,83.74,18.74,,0.70,-0.43,0.61,-0.87,-2.10,-31.11,,,,,,,,,,"[[2, 69, 1, 24.92], [7, 69, 47, 19.98], [7, 70, 128, 19.95]]",, 1308,1794042184.181904,1794042184.251669,69.77,0.01,1665645556.948040,66.91,17.9,,0.70,-0.17,0.61,-0.79,-1.58,-31.11,,,,,,,,,,"[[2, 69, 1, 9.61], [7, 69, 42, 19.27], [7, 70, 128, 19.96]]",, 1309,1794042184.262053,1794042184.330486,68.43,0.01,1665645557.028322,66.63,17.64,,0.70,0.26,0.61,-0.70,-0.79,-30.84,,,,,,,,,,"[[2, 69, 1, 9.59], [7, 69, 46, 19.27], [7, 70, 128, 19.96]]",, 1310,1794042184.341404,1794042184.410613,69.21,0.01,1665645557.107479,67.51,18.42,,0.70,0.43,0.70,-0.43,0.61,-30.67,,,,,,,,,,"[[2, 69, 1, 9.66], [7, 69, 36, 19.28], [7, 70, 128, 20.0]]",, 1311,1794042184.422873,1794042184.510257,87.38,0.01,1665645557.192614,82.34,17.34,,0.17,0.79,0.79,-0.35,1.05,-30.58,,,,,,,,,,"[[2, 69, 3, 24.93], [7, 69, 26, 19.96], [7, 70, 128, 19.95]]",, 1312,1794042184.522866,1794042184.590625,67.76,0.01,1665645557.289011,65.95,16.89,,0.08,0.79,0.79,-0.35,1.05,-30.58,,,,,,,,,,"[[2, 69, 3, 9.65], [7, 69, 33, 18.59], [7, 70, 128, 19.93]]",, 1313,1794042184.602081,1794042184.676963,74.88,0.01,1665645557.368270,66.69,17.67,,0.08,0.79,0.79,-0.35,1.05,-30.58,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 28, 19.28], [7, 70, 128, 19.96]]",, 1314,1794042184.689691,1794042184.770894,81.20,0.01,1665645557.455792,79.16,18.25,,0.08,0.79,0.79,-0.35,1.05,-30.58,,,,,,,,,,"[[2, 69, 3, 20.83], [7, 69, 41, 19.98], [7, 70, 128, 19.95]]",, 1315,1794042184.784841,1794042184.875960,91.12,0.01,1665645557.551566,83.39,18.41,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.9], [7, 69, 34, 19.96], [7, 70, 128, 19.96]]",, 1316,1794042184.887198,1794042184.972415,85.22,0.01,1665645557.653318,81.64,16.6,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.95], [7, 69, 33, 19.98], [7, 70, 128, 19.95]]",, 1317,1794042184.985479,1794042185.070210,84.73,0.01,1665645557.751641,83.32,18.29,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.95], [7, 69, 34, 19.96], [7, 70, 128, 19.96]]",, 1318,1794042185.087331,1794042185.170017,82.69,0.01,1665645557.853757,81.2,16.18,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.94], [7, 69, 30, 19.96], [7, 70, 128, 19.97]]",, 1319,1794042185.180695,1794042185.258710,78.01,0.01,1665645557.946905,68.08,19.01,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 39, 19.29], [7, 70, 128, 19.98]]",, 1320,1794042185.274128,1794042185.350752,76.62,0.00,1665645558.042097,73.1,15.87,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 17.44], [7, 69, 42, 19.56], [7, 70, 128, 19.91]]",, 1321,1794042185.364041,1794042185.432297,68.26,0.01,1665645558.130356,64.62,11.68,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 12.89], [7, 69, 35, 19.91], [7, 70, 128, 19.96]]",, 1322,1794042185.442787,1794042185.512425,69.64,0.01,1665645558.208924,66.05,17.03,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.59], [7, 69, 39, 19.3], [7, 70, 128, 19.96]]",, 1323,1794042185.525353,1794042185.611211,85.86,0.02,1665645558.292202,82.77,17.72,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.96], [7, 69, 43, 19.96], [7, 70, 128, 19.96]]",, 1324,1794042185.624050,1794042185.698046,74.00,0.12,1665645558.390304,64.67,15.61,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 30, 19.3], [7, 70, 128, 19.96]]",, 1325,1794042185.722938,1794042185.791958,69.02,0.01,1665645558.489444,65.55,16.54,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.57], [7, 69, 32, 19.35], [7, 70, 128, 19.89]]",, 1326,1794042185.804741,1794042185.890369,85.63,0.01,1665645558.571063,83.92,18.89,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 24.92], [7, 69, 33, 20.02], [7, 70, 128, 19.91]]",, 1327,1794042185.901653,1794042185.974548,72.89,0.01,1665645558.667899,67.08,18.02,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 34, 19.31], [7, 70, 128, 19.96]]",, 1328,1794042185.999032,1794042186.071524,72.49,0.01,1665645558.765616,69.37,16.9,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 13.05], [7, 69, 29, 19.28], [7, 70, 128, 19.97]]",, 1329,1794042186.083361,1794042186.160490,77.13,0.02,1665645558.849577,65.41,16.39,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.59], [7, 69, 44, 19.31], [7, 70, 128, 19.97]]",, 1330,1794042186.180996,1794042186.253471,72.47,0.01,1665645558.947145,67.84,18.81,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.6], [7, 69, 40, 19.31], [7, 70, 128, 19.96]]",, 1331,1794042186.265324,1794042186.337797,72.47,0.02,1665645559.032632,62.57,9.71,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 12.71], [7, 69, 32, 20.64], [7, 70, 128, 19.16]]",, 1332,1794042186.350093,1794042186.430766,80.67,0.01,1665645559.116696,78.56,16.43,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 21.93], [7, 69, 38, 19.81], [7, 70, 128, 20.05]]",, 1333,1794042186.442565,1794042186.603387,160.82,0.01,1665645559.209120,66.1,14.01,,0.08,0.79,0.79,-0.35,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 12.66], [7, 69, 37, 19.13], [7, 70, 128, 19.93]]",, 1334,1794042186.615139,1794042186.693216,78.08,0.01,1665645559.381853,73.34,10.84,,0.08,0.79,0.79,-0.26,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 22.36], [7, 69, 37, 19.93], [7, 70, 128, 19.88]]",, 1335,1794042186.704363,1794042186.771387,67.02,0.00,1665645559.470927,64.08,11.74,,0.08,0.79,0.79,-0.26,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 12.75], [7, 69, 33, 19.28], [7, 70, 128, 19.95]]",, 1336,1794042186.782089,1794042186.851097,69.01,0.01,1665645559.548300,66.7,17.62,,0.08,0.79,0.79,-0.26,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 46, 19.33], [7, 70, 128, 19.96]]",, 1337,1794042186.863010,1794042186.930317,67.31,0.01,1665645559.629188,65.81,16.8,,0.08,0.79,0.79,-0.26,1.05,-30.49,,,,,,,,,,"[[2, 69, 3, 9.57], [7, 69, 31, 19.32], [7, 70, 128, 19.97]]",, 1338,1794042186.941250,1794042187.010979,69.73,0.01,1665645559.707453,67.55,18.48,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 39, 19.33], [7, 70, 128, 19.96]]",, 1339,1794042187.024876,1794042187.119415,94.54,0.00,1665645559.791272,83.73,18.67,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 24.97], [7, 69, 36, 19.95], [7, 70, 128, 19.97]]",, 1340,1794042187.129786,1794042187.210343,80.56,0.01,1665645559.895950,79.06,18.08,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 20.88], [7, 69, 39, 19.96], [7, 70, 128, 19.96]]",, 1341,1794042187.221544,1794042187.296073,74.53,0.01,1665645559.987824,67.18,18.12,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 42, 19.31], [7, 70, 128, 19.97]]",, 1342,1794042187.308058,1794042187.392715,84.66,0.00,1665645560.074212,80.99,15.74,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 25.15], [7, 69, 40, 19.91], [7, 70, 128, 19.87]]",, 1343,1794042187.405838,1794042187.470702,64.86,0.01,1665645560.172168,62.84,9.94,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 12.8], [7, 69, 31, 19.97], [7, 70, 128, 19.96]]",, 1344,1794042187.480796,1794042187.555512,74.72,0.01,1665645560.247089,67.91,18.87,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.59], [7, 69, 41, 19.34], [7, 70, 128, 19.95]]",, 1345,1794042187.567716,1794042187.650337,82.62,0.01,1665645560.334374,80.66,18.07,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 22.48], [7, 69, 40, 19.98], [7, 70, 128, 19.95]]",, 1346,1794042187.671760,1794042187.751258,79.50,0.00,1665645560.438512,76.49,14.08,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 22.35], [7, 69, 33, 19.94], [7, 70, 128, 19.95]]",, 1347,1794042187.761503,1794042187.830922,69.42,0.01,1665645560.528292,66.71,17.65,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.6], [7, 69, 47, 19.33], [7, 70, 128, 19.96]]",, 1348,1794042187.843825,1794042187.911296,67.47,0.02,1665645560.610163,64.84,15.76,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 31, 19.33], [7, 70, 128, 19.96]]",, 1349,1794042187.923994,1794042187.993400,69.41,0.01,1665645560.690376,64.62,15.57,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.6], [7, 69, 45, 19.33], [7, 70, 128, 19.96]]",, 1350,1794042188.005988,1794042188.090130,84.14,0.01,1665645560.772160,82.84,17.79,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 24.99], [7, 69, 44, 19.94], [7, 70, 128, 19.97]]",, 1351,1794042188.100700,1794042188.170951,70.25,0.01,1665645560.866953,68.05,18.97,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 31, 19.35], [7, 70, 128, 19.95]]",, 1352,1794042188.181781,1794042188.250237,68.46,0.01,1665645560.947937,67.07,17.99,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 48, 19.34], [7, 70, 128, 19.96]]",, 1353,1794042188.262994,1794042188.330679,67.69,0.01,1665645561.029704,65.32,16.25,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 9.59], [7, 69, 29, 19.34], [7, 70, 128, 19.97]]",, 1354,1794042188.350944,1794042188.431553,80.61,0.02,1665645561.117686,77.83,21.64,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 16.05], [7, 69, 25, 19.92], [7, 70, 128, 19.94]]",, 1355,1794042188.442317,1794042188.540087,97.77,0.01,1665645561.208717,86.83,20.72,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 25.91], [7, 69, 29, 19.94], [7, 70, 128, 19.98]]",, 1356,1794042188.551409,1794042188.630847,79.44,0.01,1665645561.318171,77.38,21.22,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 15.93], [7, 69, 31, 19.91], [7, 70, 128, 20.03]]",, 1357,1794042188.641697,1794042188.731661,89.96,0.01,1665645561.408355,87.22,20.91,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 26.07], [7, 69, 30, 20.13], [7, 70, 128, 19.78]]",, 1358,1794042188.743211,1794042188.830903,87.69,0.01,1665645561.510533,85.03,18.66,,0.08,0.79,0.79,-0.26,1.05,-30.41,,,,,,,,,,"[[2, 69, 3, 26.16], [7, 69, 38, 19.95], [7, 70, 128, 19.97]]",, 1359,1794042188.847597,1794042188.930823,83.23,0.00,1665645561.613957,81.64,15.32,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 26.16], [7, 69, 47, 19.87], [7, 70, 128, 20.0]]",, 1360,1794042188.941747,1794042189.030794,89.05,0.01,1665645561.708170,87.46,21.15,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 26.09], [7, 69, 40, 19.91], [7, 70, 128, 20.01]]",, 1361,1794042189.042209,1794042189.131511,89.30,0.01,1665645561.808583,87.02,20.61,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 26.19], [7, 69, 32, 19.9], [7, 70, 128, 20.03]]",, 1362,1794042189.143152,1794042189.233202,90.05,0.01,1665645561.909643,86.52,19.58,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 26.12], [7, 69, 35, 20.05], [7, 70, 128, 20.38]]",, 1363,1794042189.248767,1794042189.331634,82.87,0.01,1665645562.015572,80.6,24.72,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 15.44], [7, 69, 33, 19.89], [7, 70, 128, 20.06]]",, 1364,1794042189.345587,1794042189.412215,66.63,0.01,1665645562.112454,62.89,10.54,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 12.79], [7, 69, 48, 19.37], [7, 70, 128, 19.84]]",, 1365,1794042189.425219,1794042189.490865,65.65,0.01,1665645562.191681,63.62,14.29,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.82], [7, 69, 31, 19.19], [7, 70, 128, 19.95]]",, 1366,1794042189.507469,1794042189.590907,83.44,0.00,1665645562.275798,79.41,17.6,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 21.65], [7, 69, 26, 19.98], [7, 70, 128, 19.8]]",, 1367,1794042189.610920,1794042189.691569,80.65,0.01,1665645562.380694,74.54,12.25,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 22.15], [7, 69, 25, 19.84], [7, 70, 128, 19.97]]",, 1368,1794042189.702377,1794042189.771366,68.99,0.01,1665645562.469102,65.96,14.12,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 12.49], [7, 69, 35, 19.19], [7, 70, 128, 19.89]]",, 1369,1794042189.783580,1794042189.850279,66.70,0.01,1665645562.549847,65.2,16.13,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.57], [7, 69, 41, 19.37], [7, 70, 128, 19.96]]",, 1370,1794042189.863398,1794042189.930428,67.03,0.01,1665645562.629855,65.21,16.11,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.58], [7, 69, 33, 19.37], [7, 70, 128, 19.97]]",, 1371,1794042189.942318,1794042190.010249,67.93,0.01,1665645562.708513,66.56,17.44,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.6], [7, 69, 46, 19.37], [7, 70, 128, 19.98]]",, 1372,1794042190.022843,1794042190.090567,67.72,0.01,1665645562.789290,65.76,16.64,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 36, 19.37], [7, 70, 128, 19.96]]",, 1373,1794042190.100669,1794042190.172199,71.53,0.01,1665645562.866867,68.19,19.07,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 48, 19.37], [7, 70, 128, 19.96]]",, 1374,1794042190.184500,1794042190.271659,87.16,0.01,1665645562.951618,83.45,18.29,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 25.06], [7, 69, 48, 19.96], [7, 70, 128, 19.99]]",, 1375,1794042190.283428,1794042190.350254,66.83,0.01,1665645563.049942,65.11,15.98,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 32, 19.38], [7, 70, 128, 19.96]]",, 1376,1794042190.363211,1794042190.430282,67.07,0.01,1665645563.129365,65.69,16.58,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 44, 19.36], [7, 70, 128, 19.96]]",, 1377,1794042190.447781,1794042190.530381,82.60,0.01,1665645563.218974,76.1,18.95,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 17.04], [7, 69, 46, 20.0], [7, 70, 128, 19.94]]",, 1378,1794042190.543048,1794042190.614081,71.03,0.03,1665645563.309255,65.8,16.65,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.69], [7, 69, 25, 19.33], [7, 70, 128, 19.97]]",, 1379,1794042190.626853,1794042190.710271,83.42,0.01,1665645563.393461,81.6,16.47,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 25.09], [7, 69, 25, 19.91], [7, 70, 128, 19.97]]",, 1380,1794042190.723762,1794042190.793132,69.37,0.24,1665645563.490207,64.87,15.77,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.58], [7, 69, 29, 19.38], [7, 70, 128, 19.98]]",, 1381,1794042190.816454,1794042190.890758,74.30,0.01,1665645563.584077,70.97,17.88,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 13.01], [7, 69, 25, 19.97], [7, 70, 128, 19.95]]",, 1382,1794042190.903350,1794042190.970137,66.79,0.01,1665645563.669563,65.49,16.38,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 44, 19.36], [7, 70, 128, 19.97]]",, 1383,1794042190.980305,1794042191.051621,71.32,0.01,1665645563.746449,68.6,16.08,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 13.05], [7, 69, 25, 19.34], [7, 70, 128, 19.97]]",, 1384,1794042191.062870,1794042191.130309,67.44,0.01,1665645563.829083,65.97,16.86,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 33, 19.37], [7, 70, 128, 19.96]]",, 1385,1794042191.141842,1794042191.210883,69.04,0.01,1665645563.910078,64.98,15.85,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 39, 19.36], [7, 70, 128, 19.97]]",, 1386,1794042191.221395,1794042191.290519,69.12,0.01,1665645563.987540,67.52,18.36,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 34, 19.37], [7, 70, 128, 19.97]]",, 1387,1794042191.302491,1794042191.370637,68.15,0.01,1665645564.068665,66.39,17.26,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 43, 19.37], [7, 70, 128, 19.96]]",, 1388,1794042191.383715,1794042191.450285,66.57,0.01,1665645564.149958,65.1,15.97,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 26, 19.37], [7, 70, 128, 19.97]]",, 1389,1794042191.460756,1794042191.530478,69.72,0.01,1665645564.227277,67.8,15.27,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 13.2], [7, 69, 39, 19.17], [7, 70, 128, 19.86]]",, 1390,1794042191.541897,1794042191.610613,68.72,0.01,1665645564.308188,66.87,17.8,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.58], [7, 69, 39, 19.36], [7, 70, 128, 19.96]]",, 1391,1794042191.622345,1794042191.690635,68.29,0.01,1665645564.388822,66.24,17.11,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 33, 19.37], [7, 70, 128, 19.96]]",, 1392,1794042191.700787,1794042191.776115,75.33,0.01,1665645564.467423,67.65,18.51,,0.08,0.79,0.79,-0.26,1.05,-30.32,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 48, 19.39], [7, 70, 128, 19.91]]",, 1393,1794042191.787682,1794042191.879166,91.48,0.01,1665645564.554011,81.06,15.96,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 25.04], [7, 69, 47, 19.93], [7, 70, 128, 19.96]]",, 1394,1794042191.898609,1794042191.976755,78.15,0.02,1665645564.665035,70.03,17.55,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 13.02], [7, 69, 45, 19.34], [7, 70, 128, 19.97]]",, 1395,1794042191.992871,1794042192.073480,80.61,0.01,1665645564.759110,75.96,18.82,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 17.06], [7, 69, 41, 19.95], [7, 70, 128, 19.96]]",, 1396,1794042192.084590,1794042192.171022,86.43,0.17,1665645564.851282,83.79,18.68,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 25.03], [7, 69, 39, 19.96], [7, 70, 128, 19.97]]",, 1397,1794042192.187269,1794042192.272083,84.81,0.01,1665645564.953793,81.44,16.19,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 25.0], [7, 69, 30, 20.06], [7, 70, 128, 19.93]]",, 1398,1794042192.285522,1794042192.350946,65.42,0.01,1665645565.052667,62.64,10.22,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 12.87], [7, 69, 41, 19.2], [7, 70, 128, 20.0]]",, 1399,1794042192.364010,1794042192.432548,68.54,0.01,1665645565.131182,64.21,12.07,,0.08,0.79,0.79,-0.26,1.05,-30.23,,,,,,,,,,"[[2, 69, 3, 12.54], [7, 69, 46, 19.25], [7, 70, 128, 19.99]]",, 1400,1794042192.445710,1794042192.510976,65.27,0.01,1665645565.212257,63.0,11.0,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 12.55], [7, 69, 36, 19.2], [7, 70, 128, 19.91]]",, 1401,1794042192.523256,1794042192.590548,67.29,0.01,1665645565.289941,65.29,12.73,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 13.11], [7, 69, 26, 19.07], [7, 70, 128, 19.9]]",, 1402,1794042192.600844,1794042192.683901,83.06,0.01,1665645565.367381,67.86,15.82,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 12.67], [7, 69, 40, 19.11], [7, 70, 128, 19.92]]",, 1403,1794042192.696642,1794042192.770948,74.31,0.19,1665645565.464483,70.62,18.16,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 12.93], [7, 69, 26, 19.4], [7, 70, 128, 19.92]]",, 1404,1794042192.784187,1794042192.938911,154.72,0.00,1665645565.552993,82.1,16.95,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 25.06], [7, 69, 30, 19.96], [7, 70, 128, 19.97]]",, 1405,1794042192.963075,1794042193.039490,76.41,0.01,1665645565.729198,65.91,16.79,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 9.59], [7, 69, 40, 19.39], [7, 70, 128, 19.98]]",, 1406,1794042193.052004,1794042193.130620,78.62,0.01,1665645565.818129,76.96,15.94,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 20.94], [7, 69, 25, 19.96], [7, 70, 128, 19.96]]",, 1407,1794042193.141728,1794042193.212228,70.50,0.25,1665645565.908100,66.99,17.85,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 36, 19.39], [7, 70, 128, 19.97]]",, 1408,1794042193.226515,1794042193.310575,84.06,0.01,1665645565.992629,82.46,17.3,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 25.08], [7, 69, 36, 19.96], [7, 70, 128, 19.97]]",, 1409,1794042193.324525,1794042193.416113,91.59,0.01,1665645566.090803,84.3,19.11,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 25.1], [7, 69, 36, 20.0], [7, 70, 128, 19.91]]",, 1410,1794042193.429272,1794042193.511341,82.07,0.01,1665645566.195539,79.75,18.54,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 20.93], [7, 69, 33, 19.96], [7, 70, 128, 20.1]]",, 1411,1794042193.523023,1794042193.590207,67.18,0.01,1665645566.289418,65.69,13.53,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 12.72], [7, 69, 47, 19.06], [7, 70, 128, 19.94]]",, 1412,1794042193.601666,1794042193.670957,69.29,0.05,1665645566.368212,66.89,17.7,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 34, 19.39], [7, 70, 128, 19.96]]",, 1413,1794042193.683584,1794042193.779108,95.52,0.01,1665645566.457686,77.42,16.37,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 20.96], [7, 69, 30, 19.97], [7, 70, 128, 19.97]]",, 1414,1794042193.790703,1794042193.870975,80.27,0.01,1665645566.556952,78.15,17.15,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 20.91], [7, 69, 24, 19.96], [7, 70, 128, 19.97]]",, 1415,1794042193.883591,1794042193.950440,66.85,0.01,1665645566.650077,65.03,15.88,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 44, 19.41], [7, 70, 128, 19.96]]",, 1416,1794042193.963559,1794042194.030893,67.33,0.04,1665645566.729786,65.32,16.13,,0.08,0.79,0.79,-0.26,0.96,-30.23,,,,,,,,,,"[[2, 69, 3, 9.66], [7, 69, 36, 19.41], [7, 70, 128, 19.96]]",, 1417,1794042194.043264,1794042194.110695,67.43,0.13,1665645566.809573,65.54,16.38,,0.08,0.79,0.79,-0.26,0.87,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 40, 19.4], [7, 70, 128, 19.97]]",, 1418,1794042194.124379,1794042194.190276,65.90,0.00,1665645566.890501,64.61,12.11,,0.08,0.79,0.79,-0.26,0.08,-30.23,,,,,,,,,,"[[2, 69, 3, 12.98], [7, 69, 33, 19.39], [7, 70, 128, 19.96]]",, 1419,1794042194.202015,1794042194.270524,68.51,0.01,1665645566.968224,66.89,17.73,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 45, 19.41], [7, 70, 128, 19.97]]",, 1420,1794042194.281796,1794042194.351146,69.35,0.01,1665645567.047896,67.77,18.05,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 32, 19.42], [7, 70, 128, 20.48]]",, 1421,1794042194.362492,1794042194.450880,88.39,0.01,1665645567.129081,86.67,19.86,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.53], [7, 69, 26, 19.83], [7, 70, 128, 20.16]]",, 1422,1794042194.483889,1794042194.587617,103.73,0.01,1665645567.251073,84.6,20.36,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 24.5], [7, 69, 49, 19.49], [7, 70, 128, 19.94]]",, 1423,1794042194.601038,1794042194.691122,90.08,0.01,1665645567.367491,88.28,21.87,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.09], [7, 69, 36, 19.99], [7, 70, 128, 20.03]]",, 1424,1794042194.703555,1794042194.792127,88.57,0.01,1665645567.469994,85.63,19.42,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.09], [7, 69, 41, 19.89], [7, 70, 128, 19.94]]",, 1425,1794042194.807286,1794042194.891003,83.72,0.01,1665645567.573730,81.95,15.64,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.16], [7, 69, 38, 19.92], [7, 70, 128, 19.94]]",, 1426,1794042194.904688,1794042194.992553,87.86,0.01,1665645567.671783,83.85,17.59,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.22], [7, 69, 33, 19.86], [7, 70, 128, 19.9]]",, 1427,1794042195.004922,1794042195.156331,151.41,0.01,1665645567.771396,84.28,17.95,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.2], [7, 69, 28, 19.91], [7, 70, 128, 19.93]]",, 1428,1794042195.169565,1794042195.261227,91.66,0.00,1665645567.936175,80.22,25.88,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 14.19], [7, 69, 34, 19.82], [7, 70, 128, 19.76]]",, 1429,1794042195.274322,1794042195.354073,79.75,0.01,1665645568.040773,74.53,12.47,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 21.84], [7, 69, 46, 20.12], [7, 70, 128, 19.73]]",, 1430,1794042195.367260,1794042195.449402,82.14,0.07,1665645568.134215,61.14,8.63,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 13.02], [7, 69, 31, 19.16], [7, 70, 128, 20.0]]",, 1431,1794042195.462836,1794042195.557951,95.11,0.01,1665645568.229228,66.07,14.31,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 16.17], [7, 69, 41, 15.39], [7, 70, 128, 19.84]]",, 1432,1794042195.570669,1794042195.651168,80.50,0.01,1665645568.337638,77.76,15.59,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 22.04], [7, 69, 30, 19.8], [7, 70, 128, 19.96]]",, 1433,1794042195.663372,1794042195.732743,69.37,0.01,1665645568.429871,65.28,13.33,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 16.44], [7, 69, 40, 15.3], [7, 70, 128, 19.95]]",, 1434,1794042195.745366,1794042195.830227,84.86,0.01,1665645568.511651,83.5,18.3,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.1], [7, 69, 35, 19.96], [7, 70, 128, 19.97]]",, 1435,1794042195.841869,1794042195.911311,69.44,0.01,1665645568.608061,67.08,17.89,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 47, 19.44], [7, 70, 128, 19.96]]",, 1436,1794042195.923613,1794042196.014344,90.73,0.01,1665645568.690933,84.21,19.0,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.13], [7, 69, 37, 19.96], [7, 70, 128, 19.96]]",, 1437,1794042196.025512,1794042196.112532,87.02,0.01,1665645568.791635,84.32,18.29,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.14], [7, 69, 28, 19.96], [7, 70, 128, 20.74]]",, 1438,1794042196.125309,1794042196.190989,65.68,0.01,1665645568.891641,63.52,12.27,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 11.8], [7, 69, 43, 19.53], [7, 70, 128, 19.72]]",, 1439,1794042196.201762,1794042196.270359,68.60,0.01,1665645568.967950,67.2,18.0,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 47, 19.45], [7, 70, 128, 19.96]]",, 1440,1794042196.283130,1794042196.350260,67.13,0.02,1665645569.049502,65.65,16.42,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.66], [7, 69, 29, 19.44], [7, 70, 128, 19.96]]",, 1441,1794042196.365605,1794042196.450242,84.64,0.01,1665645569.131773,83.38,18.2,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.1], [7, 69, 27, 19.96], [7, 70, 128, 19.97]]",, 1442,1794042196.463914,1794042196.536863,72.95,0.01,1665645569.230501,64.66,12.1,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.98], [7, 69, 47, 19.45], [7, 70, 128, 19.97]]",, 1443,1794042196.549132,1794042196.630224,81.09,0.00,1665645569.315616,79.55,18.57,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 20.88], [7, 69, 48, 19.96], [7, 70, 128, 19.97]]",, 1444,1794042196.642935,1794042196.710214,67.28,0.01,1665645569.409116,66.04,16.94,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.51], [7, 69, 38, 19.47], [7, 70, 128, 19.96]]",, 1445,1794042196.721585,1794042196.790369,68.78,0.01,1665645569.487838,67.33,18.11,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 32, 19.46], [7, 70, 128, 19.96]]",, 1446,1794042196.803816,1794042196.870276,66.46,0.29,1665645569.570311,64.85,15.6,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 41, 19.46], [7, 70, 128, 19.96]]",, 1447,1794042196.883733,1794042196.971785,88.05,0.01,1665645569.650801,84.36,19.11,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.17], [7, 69, 34, 19.96], [7, 70, 128, 19.97]]",, 1448,1794042196.982328,1794042197.050576,68.25,0.01,1665645569.748608,66.56,17.33,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 42, 19.46], [7, 70, 128, 19.97]]",, 1449,1794042197.063242,1794042197.130397,67.15,0.01,1665645569.829322,65.84,16.59,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 29, 19.46], [7, 70, 128, 19.96]]",, 1450,1794042197.147121,1794042197.230504,83.38,0.00,1665645569.913222,81.94,16.69,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.18], [7, 69, 28, 19.96], [7, 70, 128, 19.97]]",, 1451,1794042197.242797,1794042197.310916,68.12,0.03,1665645570.008925,66.25,17.0,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.66], [7, 69, 37, 19.47], [7, 70, 128, 19.97]]",, 1452,1794042197.325224,1794042197.412482,87.26,0.01,1665645570.091348,83.83,18.58,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.16], [7, 69, 41, 19.96], [7, 70, 128, 19.97]]",, 1453,1794042197.423208,1794042197.492154,68.95,0.01,1665645570.189455,65.72,16.49,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.63], [7, 69, 41, 19.47], [7, 70, 128, 19.97]]",, 1454,1794042197.503880,1794042197.570419,66.54,0.01,1665645570.270186,65.03,15.73,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.66], [7, 69, 29, 19.48], [7, 70, 128, 19.98]]",, 1455,1794042197.586196,1794042197.677957,91.76,0.01,1665645570.352382,82.82,17.78,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 24.99], [7, 69, 29, 19.86], [7, 70, 128, 19.88]]",, 1456,1794042197.688795,1794042197.770226,81.43,0.01,1665645570.455469,79.72,17.29,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 22.32], [7, 69, 30, 19.96], [7, 70, 128, 19.97]]",, 1457,1794042197.780393,1794042197.853994,73.60,0.01,1665645570.546620,68.57,19.29,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 48, 19.47], [7, 70, 128, 19.97]]",, 1458,1794042197.866571,1794042197.952458,85.89,0.01,1665645570.632715,82.47,17.22,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.15], [7, 69, 42, 19.96], [7, 70, 128, 19.97]]",, 1459,1794042197.966123,1794042198.061871,95.75,0.01,1665645570.733146,82.04,16.83,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.12], [7, 69, 29, 19.97], [7, 70, 128, 19.96]]",, 1460,1794042198.074861,1794042198.163253,88.39,0.01,1665645570.842058,73.13,15.87,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 17.18], [7, 69, 37, 19.96], [7, 70, 128, 19.96]]",, 1461,1794042198.176943,1794042198.270946,94.00,0.01,1665645570.944032,91.26,23.83,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 27.28], [7, 69, 33, 19.9], [7, 70, 128, 19.93]]",, 1462,1794042198.282634,1794042198.350490,67.86,0.01,1665645571.049091,66.23,14.13,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.63], [7, 69, 41, 19.22], [7, 70, 128, 19.9]]",, 1463,1794042198.366719,1794042198.430787,64.07,0.01,1665645571.133280,62.03,10.0,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.52], [7, 69, 37, 19.26], [7, 70, 128, 19.92]]",, 1464,1794042198.443272,1794042198.513383,70.11,0.01,1665645571.209767,65.61,13.27,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.76], [7, 69, 42, 19.26], [7, 70, 128, 19.97]]",, 1465,1794042198.531526,1794042198.633011,101.49,0.01,1665645571.297989,77.34,15.27,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 21.89], [7, 69, 43, 19.92], [7, 70, 128, 19.93]]",, 1466,1794042198.643921,1794042198.712329,68.41,0.01,1665645571.410267,64.94,12.52,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.79], [7, 69, 43, 19.47], [7, 70, 128, 19.96]]",, 1467,1794042198.725033,1794042198.810527,85.49,0.01,1665645571.491179,84.03,18.72,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.22], [7, 69, 42, 19.94], [7, 70, 128, 19.97]]",, 1468,1794042198.821826,1794042198.890643,68.82,0.01,1665645571.588027,67.18,17.91,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 32, 19.47], [7, 70, 128, 19.96]]",, 1469,1794042198.900976,1794042198.979809,78.83,0.01,1665645571.667232,67.97,18.71,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 42, 19.49], [7, 70, 128, 19.97]]",, 1470,1794042198.995164,1794042199.071657,76.49,0.01,1665645571.761284,73.92,16.61,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 17.22], [7, 69, 47, 19.96], [7, 70, 128, 19.96]]",, 1471,1794042199.082701,1794042199.152533,69.83,0.02,1665645571.848939,66.27,16.96,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.69], [7, 69, 29, 19.5], [7, 70, 128, 19.97]]",, 1472,1794042199.164227,1794042199.230939,66.71,0.01,1665645571.930412,64.8,15.68,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.48], [7, 69, 35, 19.5], [7, 70, 128, 19.97]]",, 1473,1794042199.244199,1794042199.310252,66.05,0.00,1665645572.010323,64.89,15.64,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 44, 19.51], [7, 70, 128, 19.97]]",, 1474,1794042199.321998,1794042199.393662,71.66,0.00,1665645572.088147,67.07,17.8,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.64], [7, 69, 28, 19.5], [7, 70, 128, 19.97]]",, 1475,1794042199.406324,1794042199.493781,87.46,0.01,1665645572.172748,82.47,17.2,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.18], [7, 69, 27, 19.95], [7, 70, 128, 19.97]]",, 1476,1794042199.505973,1794042199.590550,84.58,0.01,1665645572.272195,83.03,17.71,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.22], [7, 69, 33, 19.96], [7, 70, 128, 19.97]]",, 1477,1794042199.603120,1794042199.670422,67.30,0.01,1665645572.369240,66.09,16.73,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 43, 19.6], [7, 70, 128, 19.88]]",, 1478,1794042199.682379,1794042199.750283,67.90,0.01,1665645572.448850,66.37,14.0,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.73], [7, 69, 31, 19.49], [7, 70, 128, 19.96]]",, 1479,1794042199.766694,1794042199.869314,102.62,0.01,1665645572.532867,82.35,17.07,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.19], [7, 69, 30, 19.96], [7, 70, 128, 19.96]]",, 1480,1794042199.885776,1794042199.970811,85.04,0.01,1665645572.652006,83.22,17.91,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 25.23], [7, 69, 40, 19.96], [7, 70, 128, 19.96]]",, 1481,1794042199.983029,1794042200.050350,67.32,0.03,1665645572.750526,64.7,12.18,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 12.87], [7, 69, 35, 19.51], [7, 70, 128, 19.97]]",, 1482,1794042200.063148,1794042200.131178,68.03,0.02,1665645572.829288,65.94,16.64,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.67], [7, 69, 45, 19.5], [7, 70, 128, 19.97]]",, 1483,1794042200.143061,1794042200.210961,67.90,0.06,1665645572.909431,65.8,16.49,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.66], [7, 69, 32, 19.52], [7, 70, 128, 19.97]]",, 1484,1794042200.221518,1794042200.290995,69.48,0.00,1665645572.987654,68.14,18.31,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 9.62], [7, 69, 47, 20.06], [7, 70, 128, 19.93]]",, 1485,1794042200.303637,1794042200.391057,87.42,0.01,1665645573.070084,85.7,19.39,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.09], [7, 69, 43, 20.0], [7, 70, 128, 19.94]]",, 1486,1794042200.405350,1794042200.498024,92.67,0.01,1665645573.171957,83.84,17.49,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.2], [7, 69, 46, 19.92], [7, 70, 128, 19.96]]",, 1487,1794042200.508654,1794042200.591047,82.39,0.01,1665645573.275123,80.66,24.41,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 16.05], [7, 69, 42, 20.01], [7, 70, 128, 19.9]]",, 1488,1794042200.603586,1794042200.691540,87.95,0.01,1665645573.370043,85.71,19.48,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.08], [7, 69, 46, 19.9], [7, 70, 128, 19.91]]",, 1489,1794042200.704412,1794042200.792786,88.37,0.01,1665645573.470992,84.76,18.47,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.18], [7, 69, 47, 19.92], [7, 70, 128, 19.89]]",, 1490,1794042200.804061,1794042200.891025,86.96,0.01,1665645573.570405,85.38,19.11,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.1], [7, 69, 45, 20.01], [7, 70, 128, 19.89]]",, 1491,1794042200.903022,1794042200.993655,90.63,0.00,1665645573.669899,85.89,19.54,,0.08,0.79,0.79,-0.26,-0.52,-30.23,,,,,,,,,,"[[2, 69, 3, 26.13], [7, 69, 47, 19.99], [7, 70, 128, 19.93]]",, 1492,1794042201.006426,1794042204.009230,3002.80,0.01,,,,,,,,,,,,,,,,,,,,,RuntimeError: daemon timeout after 3.0s (cmd=read_servo), ```` ## 依頼116：π0.5 のお手本と実機推論の記録に、爪と肩の値を足す 測った結果を見て、お手本の記録に足すことに決めました。足すのは爪の番地69・70と、肩の番地69・70です。爪は値が255を超えるので上位も要り、肩は向きを取るために上位も読みます。角度の記録の1秒10回を落とさないことを条件にし、4つで収まらなければ、肩の上位だけを数回に1回にする形を Claude Code に選ばせました。学習データを作る側は変えず、値は同じ記録のフォルダに別の表（currents.csv）として残します。学習に入れるかは、記録がたまってから決めます。 #### 依頼116 の依頼文 ````markdown --- 作業フォルダ: /Users/shimazueiichi/r2r2r-scripts 上限時間: 120 --- # 依頼：π0.5 のお手本と実機推論の記録に、爪と肩の電流の値を足す（2026-11-07） 依頼109の続き。109の決めてほしいこと5（C を実装するか）は、エイイチが実機で測った結果を見て「お手本の記録に足す」と決めた。 ## 実機で分かったこと（KIOXIA の diag/servo_current_20261107/） - 関節の電流を一度に読む関数（get_servo_currents）は、この機体では答えない（175645_solo・175706_pad。毎回 no reply で0.1秒待つ）。使わない - サーボの番地を直接読む方法は読める（180051_pad。角度＋番地3つで11Hz、往復の中央値69ms、読めなかった回0） - 値は、番地69が下位、70が上位。上位の最上位ビット（128）が向き、残りが大きさ。符号付きの値 = (70の最上位ビットが立っていればマイナス) × (69 + 256 × (70 & 127)) - 爪（7番）：静止0前後（±8の揺れ）、空で閉じる15前後、開くと-50前後、ブロックをつかむと990まで跳ね、30秒かけて800まで下がる、放すと-50前後。つかめたかがはっきり分かる。値が255を超えるので上位も要る - 肩（2番、下位だけ読んだ）：静止11、つかんだブロックを手で引くと9、アームを手で押すと0〜3。引かれた・押されたが出ている。向きを取るには上位も要る - 印の時刻は 180051_pad の marks.csv、値は samples.csv の regs 列 ## A. 記録に足す - 実機推論とお手本集めの記録（policy_recorder の角度の記録）で、get_angles の代わりに read_servo（角度と番地）を呼ぶ。daemon への問い合わせの回数は今と同じにする - 読む番地：爪 7:69・7:70 と、肩 2:69・2:70 - 角度の記録の頻度（今の10Hz）を落とさないこと。角度＋番地4つが1回で収まらない、またはゲームパッドの待ちが増えすぎるなら、肩の上位（2:70）だけを数回に1回にするなど、頻度を守る形を Claude Code が選び、測った数字と理由を報告に書く。爪の2つと肩の下位は毎回読む - states.csv の列は変えない（学習データを作る側が読むため）。同じ時刻の値は、同じ run のフォルダに currents.csv として別に書く。列は時刻（states.csv と突き合わせられる形）、生の4バイト、爪と肩の符号付きの値、その回に読まなかった番地は空 - 読めなかった回は値を空にして続ける。記録のために推論や補正を止めない - 依頼109の決めてほしいこと3：gamepad_teleop を単独で動かすと送り口が鍵を通らない件を、ここで直す（同じプロセスで記録とパッドが同時に daemon を使うため） - 学習データを作る側（build_correction_episodes.py など）は今回変えない。電流を学習に入れるかは、記録がたまってから決める ## B. ついでに - tools/test_gamepad_teleop.py の時間の確かめが1.03〜1.04秒で NG の件（依頼109の決めてほしいこと4）。手を入れる前の版でも落ちるかを確かめ、前からの揺らぎなら許す幅を直す。auto_detect_cameras.py が git に入っていない件も報告に書く ## 確かめ - 既存のテストが全部通ること。新しい記録の形のテストを足す（daemon の偽物で、読めた回・読めなかった回・頻度を守る形） - codex のレビューを通す（実機の経路とゲームパッドの鍵に触るため。docs/ に依頼文と結果を残す） - アームは動かさない。実機での確かめはエイイチがやるので、手順を報告に書く - 測定データ（runs/・datasets/・checkpoints/ の既存のもの）は上書き・移動・削除しない。書く前に KIOXIA のマウントを確かめる - git は個別ファイルを指定して add・commit する（git add . は使わない） ## 報告に書くこと - 1回の読み取りにかかった時間と、記録の頻度（測った数字）。肩の上位をどう扱ったか - currents.csv の列 - エイイチが実機で確かめる手順。今までの実機推論の起動（1行）で、ブロックをつかむ・放すを1回やり、currents.csv に爪の値が出ているかを見る形で短く - 最後の1行に「判定：合格／止めた（決めてほしいことあり）／失敗」 ```` ## 次は依頼116 の記録で、π0.5 の実機推論のつかみを値で見る 依頼116 が戻ったら、π0.5 で実機を動かし、記録に爪と肩の値が出ているかを確かめます。つかみに失敗した回が爪の値で見分けられるか、人がゲームパッドで直した所で肩の値がどう動くかを見て、学習に入れるかを決めます。境野さんの研究のように狙った力を出すことは、この機体ではできません。それでも、手応えを記録に残すところまでは、力センサーなしで届きました。 ### 出典 - 境野翔さんの X の投稿：https://x.com/shosakaino/status/2118312642431570242 - Yamane, Saigusa, Sakaino, Tsuji, Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning（arXiv:2311.09555）：https://arxiv.org/abs/2311.09555 - Yamane ほか, Fast Bilateral Teleoperation and Imitation Learning Using Sensorless Force Control via Accurate Dynamics Model（arXiv:2507.06174）：https://arxiv.org/abs/2507.06174 - Kobayashi, Buamanee ほか, ALPHA-α and Bi-ACT（arXiv:2411.09942）：https://arxiv.org/abs/2411.09942 - JST ムーンショット目標3 境野プロジェクトの概要：https://www.jst.go.jp/moonshot/program/goal3/files/3F_sakaino.pdf - SO-101 でモーターの電流を ACT の入力に足した報告：https://vibhusiddha.vercel.app/so101-research - pymycobot（MechArm 270 の API）：https://pypi.org/project/pymycobot/