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Preserve bounded validation evidence and historical failures

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Frank14f committed 2026-10-15 10:13:51 +08:00
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research/fine_surface_joint_20261014/zero_boundary.csv
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step,substep,time,bfl_error,drive_mass,latest_body_impulse_x,latest_body_impulse_y,latest_body_angular_impulse,boundary_m,boundary_px,boundary_py,fine_transfer_m,fine_transfer_px,fine_transfer_py
1,1,0.5,1.862645149230957e-09,-3.725290298461914e-09,0.0,0.0,0.0,-3.725290298461914e-09,0.0,0.0,0.0,0.0,0.0
1,2,1.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-3.557652235031128e-07,0.0,0.0
2,1,1.5,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-8.530914783477783e-07,-7.450580596923828e-09,-1.6763806343078613e-07
2,2,2.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-1.3401731848716736e-06,2.7939677238464355e-09,-9.313225746154785e-10
3,1,2.5,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-1.6577541828155518e-06,1.5832483768463135e-07,1.5832483768463135e-07
3,2,3.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-1.982320100069046e-06,3.1152740120887756e-07,3.096647560596466e-07
4,1,3.5,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-3.2121315598487854e-06,3.5297125577926636e-07,3.762543201446533e-07
4,2,4.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-3.698747605085373e-06,-3.585591912269592e-08,1.909211277961731e-08
5,1,4.5,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-3.6563724279403687e-06,5.550682544708252e-07,2.4121254682540894e-07
5,2,5.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-3.6312267184257507e-06,5.122274160385132e-07,2.2258609533309937e-07
6,1,5.5,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-2.8940849006175995e-06,5.164183676242828e-07,3.213062882423401e-08
6,2,6.0,7.450580596923828e-09,1.4901161193847656e-08,0.0,0.0,0.0,1.4901161193847656e-08,0.0,0.0,-2.759043127298355e-06,1.4202669262886047e-07,-9.173527359962463e-08
7,1,6.5,7.450580596923828e-09,1.2056459275378018e-08,2.60770320892334e-08,2.60770320892334e-08,0.0,2.2351741790771484e-08,-2.9802322387695312e-08,-2.9802322387695312e-08,-2.505723387002945e-06,1.41095370054245e-07,1.909211277961731e-08
7,2,7.0,3.3177493669045433e-09,8.59302214106794e-09,6.146728992462158e-08,3.5390257835388184e-08,0.0,5.634501576423645e-08,-6.565824151039124e-08,-3.119930624961853e-08,-2.1560117602348328e-06,9.872019290924072e-08,-7.171183824539185e-08
8,1,7.5,3.3720288783456454e-09,5.322996345785702e-09,-1.1175870895385742e-08,-3.725290298461914e-09,-1.3969838619232178e-09,7.031485438346863e-08,1.1641532182693481e-08,1.0710209608078003e-08,-2.4740584194660187e-06,2.6496127247810364e-07,1.103617250919342e-07
8,2,8.0,5.7645661577510054e-09,9.257705106853475e-09,8.568167686462402e-08,6.891787052154541e-08,5.587935447692871e-09,6.658956408500671e-08,-8.242204785346985e-08,-6.100162863731384e-08,-2.444721758365631e-06,1.7601996660232544e-07,1.5832483768463135e-08
9,1,8.5,5.7645661577510054e-09,1.0978071169134851e-08,1.1548399925231934e-07,1.043081283569336e-07,2.3094196555106805e-09,3.166496753692627e-08,-1.1082738637924194e-07,-1.0710209608078003e-07,-2.629123628139496e-06,1.7415732145309448e-07,-9.313225746154785e-08
9,2,9.0,6.9608347974536855e-09,7.898425626214067e-09,1.3131648302078247e-07,1.648440957069397e-07,6.947145747560057e-09,3.119930624961853e-08,-1.19674950838089e-07,-1.578591763973236e-07,-2.517830580472946e-06,1.7741695046424866e-07,-1.0477378964424133e-07
10,1,9.5,8.157103437156366e-09,1.1035995113421737e-08,9.592622518539429e-08,1.387670636177063e-07,-4.134291242685606e-09,-5.3085386753082275e-08,-9.499490261077881e-08,-1.4062970876693726e-07,-2.5741755962371826e-06,4.377216100692749e-08,-2.1420419216156006e-08
10,2,10.0,9.843117876329188e-09,-2.3864622283528703e-09,-5.587935447692871e-09,1.601874828338623e-07,-2.2389515352827516e-08,-5.820766091346741e-08,4.656612873077393e-10,-1.5692785382270813e-07,-2.477318048477173e-06,1.1362135410308838e-07,-4.6566128730773926e-08
11,1,10.5,5.7645661577510054e-09,8.417366170396234e-09,3.073364496231079e-08,1.4062970876693726e-07,5.2116290616410765e-08,-5.541369318962097e-08,-2.2817403078079224e-08,-1.4295801520347595e-07,-2.542976289987564e-06,-1.0943040251731873e-07,-1.3923272490501404e-07
11,2,11.0,8.646849236626508e-09,4.201981729581861e-09,2.0489096641540527e-08,6.51925802230835e-08,2.9745662044611265e-08,-1.3969838619232178e-08,-2.0489096641540527e-08,-7.264316082000732e-08,-2.610962837934494e-06,2.561137080192566e-08,-1.2153759598731995e-07
12,1,11.5,7.450580596923828e-09,6.251696621321912e-09,-2.3283064365386963e-08,2.514570951461792e-08,-8.029562570399662e-09,-2.9802322387695312e-08,2.7939677238464355e-08,-2.7939677238464355e-08,-2.630986273288727e-06,-2.60770320892334e-08,-1.0337680578231812e-07
12,2,12.0,5.7645661577510054e-09,2.728442157970412e-09,1.3969838619232178e-08,4.377216100692749e-08,3.1274215439580644e-09,-6.51925802230835e-09,-1.1175870895385742e-08,-4.377216100692749e-08,-2.6319175958633423e-06,1.4901161193847656e-08,-1.4528632164001465e-07
13,1,12.5,5.7645661577510054e-09,-9.308885346587248e-11,-1.5832483768463135e-08,-1.3969838619232178e-08,-5.176395001527112e-08,-2.1420419216156006e-08,2.2351741790771484e-08,7.450580596923828e-09,-2.5229528546333313e-06,-1.30385160446167e-07,-1.94646418094635e-07
13,2,13.0,5.7645661577510054e-09,2.221090411418103e-09,-8.381903171539307e-09,6.51925802230835e-09,-8.495223857707401e-09,-1.862645149230957e-09,8.381903171539307e-09,-1.3969838619232178e-08,-2.4405308067798615e-06,-7.12461769580841e-08,-1.8673017621040344e-07
14,1,13.5,5.7645661577510054e-09,2.3050655134637665e-09,-1.0244548320770264e-08,1.7695128917694092e-08,-5.172617645321509e-08,-1.4435499906539917e-08,7.916241884231567e-09,-1.4435499906539917e-08,-2.2603198885917664e-06,-1.4062970876693726e-07,-2.561137080192566e-07
14,2,14.0,5.7645661577510054e-09,-1.3810677766332158e-09,4.6566128730773926e-09,1.955777406692505e-08,-2.4717821789366212e-08,-1.5832483768463135e-08,-9.313225746154785e-09,-1.955777406692505e-08,-2.158805727958679e-06,-5.587935447692871e-08,-2.654269337654114e-07
15,1,14.5,5.7645661577510054e-09,3.710991161934296e-09,-2.514570951461792e-08,1.955777406692505e-08,-3.6359353972059694e-08,-2.3748725652694702e-08,2.7474015951156616e-08,-1.3504177331924438e-08,-2.0223669707775116e-06,-1.7834827303886414e-07,-2.752058207988739e-07
15,2,15.0,5.7645661577510054e-09,5.327543748170904e-09,1.3969838619232178e-08,1.5832483768463135e-08,1.7229467630386353e-08,1.0710209608078003e-08,-1.257285475730896e-08,-1.7229467630386353e-08,-1.909211277961731e-06,-5.8673322200775146e-08,-2.812594175338745e-07
16,1,15.5,5.7645661577510054e-09,4.6057723086800895e-10,-2.7008354663848877e-08,-2.1420419216156006e-08,-3.447782204180072e-08,-2.2351741790771484e-08,2.7939677238464355e-08,2.7008354663848877e-08,-1.9264407455921173e-06,-1.3737007975578308e-07,-4.237517714500427e-08
16,2,16.0,6.254311957221148e-09,5.437245712697214e-09,-9.313225746154785e-10,-1.3969838619232178e-08,1.6260371493714842e-08,4.190951585769653e-09,3.259629011154175e-09,1.3504177331924438e-08,-1.8654391169548035e-06,-1.0617077350616455e-07,-1.7136335372924805e-07
17,1,16.5,9.13659503609665e-09,3.3756476485596876e-09,-4.0046870708465576e-08,-3.632158041000366e-08,-2.366079998594728e-09,-1.0710209608078003e-08,3.864988684654236e-08,4.0512531995773315e-08,-1.7364509403705597e-06,-2.062879502773285e-07,-3.864988684654236e-08
17,2,17.0,6.254311957221148e-09,-1.3075458155445419e-09,-2.7939677238464355e-09,-5.681067705154419e-08,-2.5630257582953675e-08,-1.1641532182693481e-08,5.122274160385132e-09,4.7963112592697144e-08,-1.6386620700359344e-06,-1.2153759598731995e-07,-9.73232090473175e-08
18,1,17.5,6.254311957221148e-09,6.7173146229421166e-09,1.862645149230957e-09,-1.862645149230957e-08,2.366079998594728e-09,-1.1641532182693481e-08,-5.122274160385132e-09,2.3748725652694702e-08,-1.4598481357097626e-06,-5.2619725465774536e-08,5.541369318962097e-08
18,2,18.0,7.94032639639397e-09,6.865774111568246e-09,8.754432201385498e-08,-1.30385160446167e-08,-1.534793570012738e-08,7.450580596923828e-09,-8.754432201385498e-08,8.381903171539307e-09,-1.3792887330055237e-06,-5.587935447692871e-08,-2.0489096641540527e-08
19,1,18.5,9.13659503609665e-09,1.0526447616343582e-08,7.636845111846924e-08,-5.587935447692871e-09,1.5908030892575198e-08,-6.51925802230835e-09,-7.82310962677002e-08,3.725290298461914e-09,-1.307111233472824e-06,1.909211277961731e-08,5.122274160385132e-09
19,2,19.0,6.254311957221148e-09,9.55982605143485e-09,1.2479722499847412e-07,-1.1175870895385742e-08,-3.2520742987429685e-08,0.0,-1.2200325727462769e-07,9.313225746154785e-09,-1.2475065886974335e-06,-3.213062882423401e-08,-3.119930624961853e-08
20,1,19.5,7.450580596923828e-09,8.078089798642385e-09,9.499490261077881e-08,-1.4901161193847656e-08,2.2911836983219303e-08,-9.778887033462524e-09,-9.639188647270203e-08,1.7229467630386353e-08,-1.2731179594993591e-06,8.568167686462402e-08,5.4016709327697754e-08
20,2,20.0,9.13659503609665e-09,6.598118141264153e-09,8.288770914077759e-08,-4.563480615615845e-08,2.065907767079267e-08,4.656612873077393e-10,-8.800998330116272e-08,4.6100467443466187e-08,-1.1995434761047363e-06,8.195638656616211e-08,-2.60770320892334e-08
21,1,20.5,9.13659503609665e-09,3.7482895407295325e-09,7.729977369308472e-08,-4.7497451305389404e-08,-1.2497307633196897e-08,-1.5832483768463135e-08,-7.729977369308472e-08,4.0046870708465576e-08,-1.3262033462524414e-06,1.471489667892456e-07,-4.563480615615845e-08
21,2,21.0,9.13659503609665e-09,9.180836884128962e-09,9.313225746154785e-08,-3.91155481338501e-08,-1.5700276301267024e-08,1.6298145055770874e-08,-8.987262845039368e-08,3.585591912269592e-08,-1.3378448784351349e-06,1.1781230568885803e-07,-7.310882210731506e-08
22,1,21.5,9.13659503609665e-09,5.584703916330924e-09,1.0058283805847168e-07,-2.7939677238464355e-08,-3.1589420412814206e-08,-1.1175870895385742e-08,-1.0244548320770264e-07,2.60770320892334e-08,-1.443084329366684e-06,1.317821443080902e-07,-1.7276033759117126e-07
22,2,22.0,9.13659503609665e-09,1.0796289612313714e-08,9.592622518539429e-08,-5.3085386753082275e-08,-1.7493244630628624e-09,1.1641532182693481e-08,-9.266659617424011e-08,5.541369318962097e-08,-1.4277175068855286e-06,1.1641532182693481e-07,-1.6298145055770874e-07
23,1,22.5,9.13659503609665e-09,5.392017251963643e-09,1.0803341865539551e-07,-3.5390257835388184e-08,-2.3635404966526607e-08,6.05359673500061e-09,-1.1315569281578064e-07,3.585591912269592e-08,-1.3522803783416748e-06,4.6566128730773926e-08,-1.1920928955078125e-07
23,2,23.0,1.0332863675799331e-08,9.153846265187726e-09,1.1175870895385742e-07,-4.470348358154297e-08,-2.7845243333324277e-08,1.30385160446167e-08,-1.1082738637924194e-07,4.7497451305389404e-08,-1.2884847819805145e-06,3.026798367500305e-08,-7.310882210731506e-08
24,1,23.5,7.450580596923828e-09,3.828949286105443e-09,5.3085386753082275e-08,-3.632158041000366e-08,-3.0305757237059083e-08,4.190951585769653e-09,-5.820766091346741e-08,3.958120942115784e-08,-1.028645783662796e-06,6.193295121192932e-08,-4.7031790018081665e-08
24,2,24.0,7.450580596923828e-09,1.2711602917839238e-08,5.8673322200775146e-08,-6.612390279769897e-08,-6.552603404319512e-08,1.257285475730896e-08,-7.217749953269958e-08,6.100162863731384e-08,-9.830109775066376e-07,1.257285475730896e-08,-1.5366822481155396e-08
1 step substep time bfl_error drive_mass latest_body_impulse_x latest_body_impulse_y latest_body_angular_impulse boundary_m boundary_px boundary_py fine_transfer_m fine_transfer_px fine_transfer_py
2 1 1 0.5 1.862645149230957e-09 -3.725290298461914e-09 0.0 0.0 0.0 -3.725290298461914e-09 0.0 0.0 0.0 0.0 0.0
3 1 2 1.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -3.557652235031128e-07 0.0 0.0
4 2 1 1.5 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -8.530914783477783e-07 -7.450580596923828e-09 -1.6763806343078613e-07
5 2 2 2.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -1.3401731848716736e-06 2.7939677238464355e-09 -9.313225746154785e-10
6 3 1 2.5 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -1.6577541828155518e-06 1.5832483768463135e-07 1.5832483768463135e-07
7 3 2 3.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -1.982320100069046e-06 3.1152740120887756e-07 3.096647560596466e-07
8 4 1 3.5 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -3.2121315598487854e-06 3.5297125577926636e-07 3.762543201446533e-07
9 4 2 4.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -3.698747605085373e-06 -3.585591912269592e-08 1.909211277961731e-08
10 5 1 4.5 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -3.6563724279403687e-06 5.550682544708252e-07 2.4121254682540894e-07
11 5 2 5.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -3.6312267184257507e-06 5.122274160385132e-07 2.2258609533309937e-07
12 6 1 5.5 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -2.8940849006175995e-06 5.164183676242828e-07 3.213062882423401e-08
13 6 2 6.0 7.450580596923828e-09 1.4901161193847656e-08 0.0 0.0 0.0 1.4901161193847656e-08 0.0 0.0 -2.759043127298355e-06 1.4202669262886047e-07 -9.173527359962463e-08
14 7 1 6.5 7.450580596923828e-09 1.2056459275378018e-08 2.60770320892334e-08 2.60770320892334e-08 0.0 2.2351741790771484e-08 -2.9802322387695312e-08 -2.9802322387695312e-08 -2.505723387002945e-06 1.41095370054245e-07 1.909211277961731e-08
15 7 2 7.0 3.3177493669045433e-09 8.59302214106794e-09 6.146728992462158e-08 3.5390257835388184e-08 0.0 5.634501576423645e-08 -6.565824151039124e-08 -3.119930624961853e-08 -2.1560117602348328e-06 9.872019290924072e-08 -7.171183824539185e-08
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