diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5b3e267c7c59ecefc3030432de159c933edab66
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+3992,1792666562326985068,35102723000000,1792666562320780822,XJC_ZERO_HOLD_BEFORE_DOWN,8,0.0434,0.04339975491166115,0.6760212096694316,-0.004642062562054339,0.09090767451449307,0.9999999875280811,1.0873731525878673e-05,-0.00012735231385891795,-7.06061682035726e-06,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.056179466910288356,0.08036929984922064,0.0025315605831593736,0.0054478597794226855,-0.004312916516428809,-4.49328619113714e-07,0.538248487257587,0.4639301507887673,-0.013026461275141055,0.0327196191286548,-0.04015012406336004,0.0018748889495530444,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.1934355448942945,0.8433981594572877,1.459640433602491,-0.24850375810327346,-0.9044140105713694,0.45002339958076193,1.2216411916912124,0.0025315605831593736,-0.23799924191127864,0.0,0.0,0,0,0.0,0.0
+4108,1792666563285886602,35103682000000,1792666563284779823,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760205573557788,-0.00465578851852825,0.09090673186614698,0.9999999874817123,4.0288462254424615e-07,-0.00012831459189918492,-3.826615854479939e-06,0.6761,-0.00453,0.09099396065106309,1.0,0.0,0.0,0.0,0.10479584696733119,0.1200471170591016,0.021673545998329442,0.008597044073073767,-0.0074163447635782545,-1.3562534081125845e-05,0.5868648673146298,0.5036079679986483,0.006115524140029014,0.03586880342230588,-0.04325355231050949,0.0018617757440910323,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.16901692981236635,0.9295815546493564,1.3695207783500192,-0.2632319369846315,-0.838816826730885,0.5071216227087271,1.2216411916912124,0.021673545998329442,-0.14787958665880674,-0.14787958665880674,0.03444000000000022,0,0,-2.459999545320469e-05,-9.999999025923074e-05
+4224,1792666564252887940,35104648999999,1792666564248780453,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760048550233052,-0.004665546091796151,0.09084976071262345,0.9999999825333067,-7.427232239065234e-07,-0.00016217664334141228,8.627611074230888e-06,0.6761,-0.00453,0.09096190329521489,1.0,0.0,0.0,0.0,0.13841691760109648,0.12806583267475574,0.24470810788324115,0.008610824143570506,-0.009493337817175491,-0.00022999934148137794,0.6204859379483951,0.5116266836143024,0.22915008602494072,0.03588258349280262,-0.045330545364106724,0.0016453389366907802,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.053658866152798905,0.8736771246199718,1.129565464568515,-0.22699124969377787,-0.6482971017479363,0.47516279560133434,1.2216411916912124,0.24470810788324115,0.09207572712269751,0.09207572712269751,0.10213000000000082,0,0,-2.484860033427771e-05,9.960959421040911e-05
+4364,1792666565418885657,35105815000000,1792666565416780022,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760031346050174,-0.004667671015065128,0.09083412140093644,0.9999999818134868,-7.560260416283086e-07,-0.00016622717669199932,1.355893379594702e-05,0.6761,-0.00453,0.09095103514750194,1.0,0.0,0.0,0.0,0.15642751020518758,0.12542761558525045,0.3056875693569047,0.009644276056481167,-0.010538406884821376,-0.00028129922033875467,0.6384965305524862,0.5089884665247971,0.2901295474986043,0.03691603540571328,-0.04637561443175261,0.0015940390578334034,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.040086063941318875,0.851744675461439,1.0566574231741004,-0.20151111710553396,-0.5983786962484929,0.4700042999516896,1.2216411916912124,0.3056875693569047,0.16498376851711205,0.16498376851711205,0.1837499999999899,0,0,-6.183503916799906e-06,-7.023089011327863e-05
+4515,1792666566677820126,35107074000000,1792666566672780406,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760002072835598,-0.004674073433520974,0.09082345924048947,0.9999999806776161,-6.364625478256003e-06,-0.00017249303557290168,1.7125305898102458e-05,0.6761,-0.00453,0.09093782679552029,1.0,0.0,0.0,0.0,0.15637899060079846,0.13400834494076158,0.33581374482611254,0.009641311583569998,-0.010545624496248018,-0.00030562718633704794,0.6384480109480971,0.5175691958803083,0.32025572296781213,0.03691307093280211,-0.04638283204317925,0.0015697110918351102,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.03344118422629376,0.9880477019337804,0.9653783758030231,-0.22437615318584764,-0.5436100728770276,0.5617015613024322,1.2216411916912124,0.33581374482611254,0.25626281588818933,0.25626281588818933,0.27187999999998186,0,0,-1.671595838094733e-05,5.8423530330227906e-05
+4639,1792666567710871733,35108107000000,1792666567708780414,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760034080762235,-0.004673585870420493,0.09081880040966883,0.9999999814890285,-4.890723312979697e-06,-0.00016744236746217667,2.009829676760829e-05,0.6761,-0.00453,0.09091407242854072,1.0,0.0,0.0,0.0,0.15622163025179797,0.13535198005737975,0.3722817538473609,0.009634260310491596,-0.01055353096268434,-0.00033626877458931546,0.6382906505990966,0.5189128309969264,0.3567237319890605,0.03690601965972371,-0.04639073850961557,0.0015390695035828426,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.042170267666983875,0.8494797644574147,0.9096684403934971,-0.1702071214856811,-0.5158008126325528,0.4760864944337276,1.2216411916912124,0.3722817538473609,0.3119727512977153,0.3119727512977153,0.34418999999999683,0,0,-2.813630508161224e-05,5.2273699521265395e-06
+4731,1792666568477788060,35108874000000,1792666568476780156,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760481867219852,-0.00468290883425938,0.09080906882523757,0.9999999932677176,-2.547399596386145e-06,-5.5760654391391974e-05,4.2328350888852864e-05,0.6761,-0.00453,0.090888961362195,1.0,0.0,0.0,0.0,0.05592984551936103,0.19239812081012214,0.4003622514987885,0.014219998495829736,-0.0035566039502551855,-0.00020629525770052954,0.5379988658666597,0.5759589717496688,0.3848042296404881,0.04149175784506185,-0.03939381149718642,0.0016690430204716286,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,-0.04779224142807138,0.8948592878991984,1.0226529458791775,-0.19524705764736103,-0.6218432549250681,0.5037205912941514,1.2216411916912124,0.4003622514987885,0.1989882458120349,0.1989882458120349,0.39788000000000795,0,0,-4.305673113466491e-05,-9.999999025923074e-05
+4855,1792666569510867930,35109907000000,1792666569508780298,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760412280909263,-0.004684890091720949,0.0907822339295086,0.9999999921784106,-3.5390745923380403e-07,-7.008612916190442e-05,4.6624591397270015e-05,0.6761,-0.00453,0.09085053189909682,1.0,0.0,0.0,0.0,0.07844359436371823,0.18782530543859427,0.5038136991037381,0.013530378018455635,-0.004579561480886354,-0.00031161529321609626,0.5605126147110169,0.5713861563781409,0.48825567724543767,0.04080213736768775,-0.04041676902781759,0.0015637229849560618,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.09270509026132168,0.8384301192272525,0.7892098728984064,-0.14946381471759534,-0.43570455205954545,0.47491417719324014,1.2216411916912124,0.5038136991037381,0.43243131879280605,0.43243131879280605,0.4701900000000229,0,0,-2.1813262844642918e-05,-1.780672417706626e-05
+4963,1792666570410827070,35110807000000,1792666570404780307,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760410950969786,-0.004687611982410306,0.09077652852399404,0.9999999919033241,-3.884117916964902e-07,-7.139924312462837e-05,5.0380683804711736e-05,0.6761,-0.00453,0.09084003038570823,1.0,0.0,0.0,0.0,0.08635966340141082,0.18224170738885043,0.5375968540804242,0.01352315323663987,-0.004586389799838407,-0.00033688025593134004,0.5684286837487095,0.5658025583283971,0.5220388322221238,0.040794912585871985,-0.04042359734676964,0.001538458022240818,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.12807469367144994,0.8955897834159203,0.6358683157964393,-0.1638110862565214,-0.3303369740770965,0.5094393875941097,1.2216411916912124,0.5375968540804242,0.5857728758947731,0.5857728758947731,0.5331900000000359,0,0,-7.773305784053441e-06,7.851824024296405e-05
+5090,1792666571468837361,35111864999999,1792666571468779523,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760397138851088,-0.004688796535090104,0.09076859682837435,0.9999999916538308,-2.55764067865174e-06,-7.507798748907437e-05,4.9919507209770536e-05,0.6761,-0.00453,0.0908247331892497,1.0,0.0,0.0,0.0,0.0875451842508092,0.18433780130909544,0.5640345160562659,0.013518535208576272,-0.0046009646008875055,-0.00035799554100133645,0.5696142045981079,0.5678986522486421,0.5484764941979654,0.04079029455780839,-0.04043817214781874,0.0015173427371708216,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.08838344802817359,0.8880544631623781,0.6895145953958155,-0.14560624397072142,-0.37905917724846616,0.5014794717714086,1.2216411916912124,0.5640345160562659,0.5321265962953969,0.5321265962953969,0.6072500000000512,0,0,-2.0089650314163106e-05,-9.999999025923074e-05
+5234,1792666572668719579,35113065000000,1792666572664780125,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760366592972821,-0.004687213411953417,0.09074916389725127,0.9999999909445669,2.575161248162892e-06,-8.114589111227752e-05,5.442833405575393e-05,0.6761,-0.00453,0.09079546726170247,1.0,0.0,0.0,0.0,0.08777910006678763,0.18304344148512514,0.6275035398528472,0.012486311376161026,-0.004585791989329881,-0.0004201569915901601,0.5698481204140863,0.5666042924246718,0.6119455179945468,0.03975807072539314,-0.04042299953626111,0.001455181286581998,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.07637845268177937,0.9791792850440839,0.5854852124932922,-0.1514420994476054,-0.32121415982193574,0.5600622892282426,1.2216411916912124,0.6275035398528472,0.6361559791979202,0.6361559791979202,0.6912500000000686,0,0,-2.8538947423355172e-05,-5.225260088360102e-05
+5350,1792666573635731691,35114032000000,1792666573632780204,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760369702688888,-0.004692898075476975,0.09073588562448728,0.9999999906765942,2.667984891505263e-06,-8.017539354083804e-05,6.0452164911566035e-05,0.6761,-0.00453,0.09076864115598793,1.0,0.0,0.0,0.0,0.08777945322478381,0.17970332213690493,0.6776783078402893,0.012476675403706242,-0.00459799399156071,-0.0004612586706506578,0.5698484735720825,0.5632641730764516,0.6621202859819888,0.03974843475293836,-0.04043520153849194,0.0014140796075215003,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.1425229671710401,0.8883035850116219,0.42456678287844524,-0.10425400117382592,-0.20168302075185623,0.49324018959428434,1.2216411916912124,0.6776783078402893,0.7970744088127673,0.7970744088127673,0.7589400000000827,0,0,-2.511590712209332e-05,9.998107483444869e-05
+5486,1792666574768773418,35115165000000,1792666574764779793,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760364571387915,-0.004691433865767522,0.0907167802096474,0.9999999903870826,7.082084671270535e-06,-8.003109197340934e-05,6.491199715960066e-05,0.6761,-0.00453,0.0907416950164159,1.0,0.0,0.0,0.0,0.07851909121040007,0.1768126506513233,0.7278096274414408,0.012466796000679972,-0.004608303220560259,-0.0005026107612501115,0.5605881115576987,0.56037350159087,0.7122516055831404,0.03973855534991209,-0.04044551076749149,0.0013727275169220466,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.11244813787561041,0.7685550461818674,0.49089023205022436,-0.04981494482206603,-0.2595494273383021,0.4137083185988533,1.2216411916912124,0.7278096274414408,0.730750959640988,0.730750959640988,0.8382500000000991,0,0,-2.4496197316452257e-05,-9.989361701568384e-05
+5617,1792666575860730216,35116256999999,1792666575856780293,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760354124266913,-0.004696558389040241,0.09069678362481073,0.9999999901617052,8.964190035555931e-06,-7.738337989499636e-05,7.106975385785526e-05,0.6761,-0.00453,0.09071485539570297,1.0,0.0,0.0,0.0,0.07375414882430892,0.17781004192517874,0.7679064426227229,0.012433071986139063,-0.0036534122082295395,-0.0005210325489928267,0.5558231691716076,0.5613708928647254,0.7523484207644224,0.03970483133537118,-0.03949061975516077,0.0013543057291793314,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.11558415611080905,0.834331122547636,0.4012328693878347,-0.04926270803974815,-0.20552305869112902,0.4599797343294843,1.2216411916912124,0.7679064426227229,0.8204083223033778,0.8204083223033778,0.9146900000001149,0,0,-2.5610372318711445e-05,-9.999944902550623e-05
+5773,1792666577160649475,35117557000000,1792666577156789369,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760427117566219,-0.004703657738017553,0.09066922379962103,0.9999999905164781,6.670850228784757e-06,-6.237375489755326e-05,8.046690412884479e-05,0.6761,-0.00453,0.09067608713137233,1.0,0.0,0.0,0.0,0.061018512609881725,0.17312441200869505,0.824303466316289,0.013440618214056843,-0.0036334120883901103,-0.0005516958723551701,0.5430875329571804,0.5566852629482417,0.8087454444579886,0.04071237756328896,-0.03947061963532134,0.001323642405816988,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.1610271608850988,0.8266919293190719,0.285321460162608,-0.048831502448298016,-0.12574015083801102,0.45074490217996244,1.2216411916912124,0.824303466316289,0.9363197315286045,0.9363197315286045,1.0056900000001336,0,0,-3.066961682815362e-05,-9.959206656440784e-05
+5913,1792666578327732018,35118724000000,1792666578324779629,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.676041654070846,-0.004702784584616786,0.09063005150396361,0.9999999900258364,1.0514689692987205e-05,-6.276089535576398e-05,8.568373805923089e-05,0.6761,-0.00453,0.09063139604988801,1.0,0.0,0.0,0.0,0.05014595568913677,0.17308484010381414,0.8520186331732361,0.012824859113729804,-0.003632842915657769,-0.0005833654671456954,0.5322149760364354,0.5566456910433608,0.8364606113149357,0.04009661846296192,-0.039470050462589,0.0012919728110264627,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.21572902286693413,0.8464470450368495,0.23123206467442592,-0.048475009644160696,-0.07964767476644163,0.46515042230798465,1.2216411916912124,0.8520186331732361,0.9904091270167865,0.9904091270167865,1.0873800000001506,0,0,-4.479465409298745e-05,-7.726005532416309e-05
+6024,1792666579252642073,35119648999999,1792666579248789782,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760864448118766,-0.0047014221662150055,0.09061881166755963,0.999999991794427,6.2003269813439175e-06,-1.545563991642587e-05,8.704418111920073e-05,0.6761,-0.00453,0.09058569296308887,1.0,0.0,0.0,0.0,0.05747863232598921,0.18483906030927594,0.8825089329750837,0.013273358803237281,-0.0026422063018317274,-0.0005858323517568117,0.5395476526732879,0.5683999112488226,0.8669509111167832,0.040545118152469396,-0.03847941384876296,0.0012895059264153464,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.3447948757890533,0.763725735379934,0.1989167846142583,-0.01531963187743258,-0.030620244515052,0.4156081813267548,1.2216411916912124,0.8825089329750837,1.0227244070769541,1.0227244070769541,1.152130000000164,0,0,-5.340153416274885e-05,-9.9999754336838e-05
+6124,1792666580085674801,35120482000000,1792666580080782085,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760833474236324,-0.004699744522364974,0.09056765089225464,0.9999999920144319,-2.257957565563959e-06,-1.3879187605913832e-05,8.494863277385843e-05,0.6761,-0.00453,0.09052752087480145,1.0,0.0,0.0,0.0,0.0017218652954342217,0.23053567983979567,0.900879049064198,0.01740095634045915,0.00032454925936517554,2.124297295353749e-05,0.48379088564273287,0.6140965307793423,0.8853210272058976,0.044672715689691264,-0.03551265828756606,0.0018965812511256956,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.416383567798721,0.8299958314473133,0.140590020618804,-0.03542546431180959,0.010702525013816196,0.45906817796569954,1.2216411916912124,0.900879049064198,1.0810511710724084,1.0810511710724084,1.210440000000176,0,0,-7.761600965691529e-05,-7.923768172014007e-05
+6212,1792666580818651523,35121214999999,1792666580816790955,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760839802151742,-0.00470511861159129,0.09052169344221671,0.9999999915053226,-1.0873053384256333e-06,-9.236594446285879e-06,9.135492521122867e-05,0.6761,-0.00453,0.09047581789660264,1.0,0.0,0.0,0.0,0.0013750531373335484,0.2164540032826215,0.9595592417542993,0.016371886759190706,0.0003318926232637673,-0.0005746453418937322,0.4834440734846322,0.6000148542221682,0.9440012198959988,0.04364364610842282,-0.035505314923667465,0.0013006929362784259,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.40217440134347915,0.8074529678744938,0.10003581772009287,-0.03211726820372559,0.029846195159958344,0.442779550727711,1.2216411916912124,0.9595592417542993,1.1216053739711196,1.1216053739711196,1.2617500000001867,0,0,-6.252480159593533e-05,-9.999979597020143e-05
+6328,1792666581785638291,35122182000000,1792666581780789577,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760799480173175,-0.004710253292039921,0.09045951061617762,0.9999999905447268,-2.8482144111352178e-06,-1.7684251374328168e-05,0.00010016269621858615,0.6761,-0.00453,0.09041412859139247,1.0,0.0,0.0,0.0,0.02964808799311963,0.19720593439812867,0.95950784539383,0.014365930195388857,-0.000643147074540544,-0.0006100957740495503,0.5117171083404183,0.5807667853376753,0.9439498235355296,0.04163768954462097,-0.036480354621471776,0.0012652425041226078,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.46761192626601067,0.7801066399380034,0.022667347969390034,-0.023206442504578068,0.10116894651953773,0.4247446336280344,1.2216411916912124,0.95950784539383,1.1989738437218225,1.1989738437218225,1.3294400000002007,0,0,-6.673708860124717e-05,-9.500094741288762e-05
+6443,1792666582743658040,35123140000000,1792666582736789921,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760806559533596,-0.004716578592811928,0.09039230551216734,0.9999999892157864,-1.993424086980374e-06,-1.6837372335538982e-05,0.0001127999150749113,0.6761,-0.00453,0.09034016187638616,1.0,0.0,0.0,0.0,0.029607656732578203,0.19934047306029096,0.9835578637542033,0.014348783294650828,-0.0006486302355851944,-0.0006295698487941959,0.5116766770798769,0.5829013239998376,0.9679998418959028,0.04162054264388294,-0.03648583778251643,0.0012457684293779622,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.4367285153777177,0.8065382386179254,-0.04575859732663677,-0.02786581376141056,0.13123774365261015,0.44040625231137315,1.2216411916912124,0.9835578637542033,1.2673997890178492,1.2673997890178492,1.3965000000002146,0,0,-8.66084021494996e-05,-3.799742967834494e-05
+6555,1792666583677543077,35124074000000,1792666583672789811,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760849827016678,-0.004713219708928266,0.09031425706272064,0.9999999887448952,-6.392630624789735e-06,-1.1532668126874727e-05,0.0001173848620622327,0.6761,-0.00453,0.09025523678161163,1.0,0.0,0.0,0.0,0.028741692196721236,0.18462815041541297,1.002898338625551,0.013728187207505106,-0.0006402258838297675,-0.0006518465418574981,0.5108107125440199,0.5681890013549596,0.9873403167672505,0.04099994655673722,-0.036477433430761,0.00122349173631466,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5081056222159089,0.7547223690380405,-0.1432800338679854,-0.009429120521280792,0.20808266987518553,0.4063564521799724,1.2216411916912124,1.002898338625551,1.3649212255591978,1.3649212255591978,1.461880000000228,0,0,-9.313963227478161e-05,9.978925605136908e-05
+6643,1792666584410553442,35124807000000,1792666584404789797,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760898976620164,-0.004704913837194199,0.09024693618809794,0.999999989997772,-9.442383312705946e-05,4.872737140812632e-06,5.007710705577912e-05,0.6761,-0.00453,0.09018297853072041,1.0,0.0,0.0,0.0,0.04774652658599249,0.2158099962480236,1.0197739117116495,0.015393186081378775,-0.001691313749923512,-0.0006608317673677771,0.5298155469332911,0.5993708471875703,1.004215889853349,0.04266494543061089,-0.037528521296854744,0.001214506510804381,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5224118793467702,0.8678674562219374,-0.06078754604006951,-0.15132547162680188,0.1787154123068914,0.5117836651072795,1.2216411916912124,1.0197739117116495,1.282428737731282,1.282428737731282,1.5131900000002387,0,0,-0.00011101065197224725,-9.999999025923074e-05
+6735,1792666585177552703,35125574000000,1792666585176780179,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760871092414944,-0.004710419875665573,0.09015698522189151,0.9999999897496865,-7.930690253595139e-05,-4.3831987840460215e-06,7.506459989814154e-05,0.6761,-0.00453,0.09008910786499694,1.0,0.0,0.0,0.0,0.04938616921622446,0.1801667850223178,1.036019407324931,0.013055102137569614,-0.0016488736895429318,-0.0006996383804635966,0.5314551895635231,0.5637276359618645,1.0204613854666305,0.04032686148680173,-0.037486081236474164,0.0011756998977085615,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.48620819483981254,0.8353734165884318,-0.1572077082292377,-0.06100812407329543,0.20967901438982642,0.4708522384813278,1.2216411916912124,1.036019407324931,1.3788488999204502,1.3788488999204502,1.5668800000002499,0,0,-0.00012969867969478267,-8.457082519896654e-07
+6831,1792666585977575178,35126374000000,1792666585976789729,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760879565185401,-0.004715266103762035,0.09006351956230747,0.9999999893411257,-5.878438814056081e-05,-5.691330517904334e-06,9.629443084398633e-05,0.6761,-0.00453,0.08998836129912821,1.0,0.0,0.0,0.0,0.049405534361353476,0.1776043385793083,1.0386334311496885,0.012336239535123104,-0.0020359037642746075,-0.0007161871761465568,0.5314745547086521,0.561165189518855,1.023075409291388,0.03960799888435522,-0.03787311131120584,0.0011591511020256013,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.4991130522116997,0.8510294359448473,-0.2365514219960314,-0.027425411884266643,0.2513554715783071,0.46860113267667264,1.2216411916912124,1.0386334311496885,1.4581926136872438,1.4581926136872438,1.6228800000002614,0,0,-0.0001255495828453038,8.984727825478984e-05
+6926,1792666586768573013,35127165000000,1792666586764789620,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760905471682003,-0.0047231057169336305,0.08996824188965999,0.9999999886237498,-4.173483015566703e-05,-1.7158678513546736e-06,0.00011158236600328182,0.6761,-0.00453,0.08988817663151118,1.0,0.0,0.0,0.0,0.05485513500093592,0.16804830054265024,1.038669393969282,0.01235104011549975,-0.002629591484494577,-0.0007252154847335768,0.5369241553482346,0.5516091514821969,1.0231113721109815,0.039622799464731864,-0.03846679903142581,0.0011501227934385813,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5362272815753546,0.872134235471681,-0.2777446519195379,-0.014013271719937182,0.27414051223027064,0.48862565283086157,1.2216411916912124,1.038669393969282,1.4993858436107503,1.4993858436107503,1.678250000000273,0,0,-0.000130959846027208,4.308987475021837e-05
+7014,1792666587502481632,35127898999999,1792666587500790060,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760893523388142,-0.004721899901353346,0.08986779741461806,0.9999999897969044,-4.210567623586703e-05,-4.945645086948479e-06,0.00010025820747861086,0.6761,-0.00453,0.08978985230595384,1.0,0.0,0.0,0.0,0.06053705022956263,0.16577995018271025,1.0483716632911273,0.011412235944542264,-0.002680026342040037,-0.000744452813054224,0.5426060705768613,0.5493408011222569,1.0328136414328268,0.03868399529377438,-0.03851723388897127,0.001130885465117934,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5756474913466271,0.7407159573395323,-0.41249505080627086,0.05143220641920612,0.3627575140390018,0.41023943772393445,1.2216411916912124,1.0483716632911273,1.6341362424974832,1.6341362424974832,1.7296300000002836,0,0,-0.00013688138876946786,9.997557923047679e-05
+7110,1792666588302477686,35128699000000,1792666588300780113,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760891285367678,-0.004723021816074939,0.08975694968908145,0.9999999905840693,-3.9642885745445526e-05,-3.5008178428904346e-06,9.3225059214579e-05,0.6761,-0.00453,0.08967678357701554,1.0,0.0,0.0,0.0,0.07063755305385261,0.1614617085771199,1.0384657866640095,0.011432917672703158,-0.00364302845813394,-0.0007536725612044203,0.5527065734011513,0.5450225595166666,1.022907764805709,0.03870467702193527,-0.03948023600506517,0.0011216657169677378,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5333658115191325,0.7570682734366427,-0.29708609826456656,0.05287333289337097,0.26987095590270826,0.41921690783794247,1.2216411916912124,1.0384657866640095,1.518727289955779,1.518727289955779,1.7856300000002951,0,0,-0.00014853925240784627,-8.382126523288064e-05
+7194,1792666589002559823,35129398999999,1792666589000790035,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760875864884005,-0.004728557291553406,0.08964729929319448,0.9999999892328696,-3.350701039780318e-05,-8.844103063890742e-06,0.00010851814180392419,0.6761,-0.00453,0.08956650140976592,1.0,0.0,0.0,0.0,0.0693437935059204,0.1506042070589702,1.0478243600508825,0.010336232607372112,-0.003624451620206505,-0.0007698941185701796,0.551412813853219,0.5341650579985169,1.032266338192582,0.03760799195660423,-0.03946165916713774,0.0011054441596019785,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5373957082730042,0.805938681516816,-0.35593041966322064,0.04236237543451288,0.3040682560995082,0.45482646780138236,1.2216411916912124,1.0478243600508825,1.5775716113544331,1.5775716113544331,1.8346300000003053,0,0,-0.00016606029295681968,-9.999999025923074e-05
+7274,1792666589668546710,35130065000000,1792666589660789909,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.67608768726063,-0.00473416246296969,0.08953576336799723,0.9999999877853911,-2.7137632703196527e-05,-9.847525577459986e-06,0.0001226322033726529,0.6761,-0.00453,0.08945360104077539,1.0,0.0,0.0,0.0,0.0700466020465344,0.14316040615351316,1.0585062578377251,0.01033257213599198,-0.0036261352485179796,-0.0007784814277735177,0.552115622393833,0.5267212570930598,1.0429482359794247,0.037604331485224095,-0.03946334279544921,0.0010968568503986404,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5619264507862941,0.7887082092079052,-0.39440865067378594,0.04830896499889438,0.33065222790934146,0.4405990023624601,1.2216411916912124,1.0585062578377251,1.6160498423649985,1.6160498423649985,1.881250000000315,0,0,-0.00017390318160090257,-9.999999025923074e-05
+7346,1792666590268556208,35130665000000,1792666590260789789,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.676085697613824,-0.004741467305520159,0.0894234594711899,0.9999999870726245,-2.9033175871202236e-05,-1.542275280492855e-05,0.00012734531304851613,0.6761,-0.00453,0.08934556665247685,1.0,0.0,0.0,0.0,0.07182502655669892,0.13126584961262783,1.0781755350731843,0.009308918883067487,-0.003610627621186767,-0.0008056320176684465,0.5538940469039976,0.5148267005521745,1.0626175132148838,0.0365806782322996,-0.039447835168118,0.0010697062605037116,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5825297928916211,0.7369452574412527,-0.37377943964740545,0.07911777796478739,0.3162846231434082,0.4109956122966997,1.2216411916912124,1.0781755350731843,1.595420631338618,1.595420631338618,1.9232500000003236,0,0,-0.0001857199343161239,-9.770175920931762e-05
+7417,1792666590860529938,35131256999999,1792666590856789776,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760908253726308,-0.0047346116504251995,0.08931443800641957,0.9999999891082433,-7.164053504177137e-05,-4.886317076986445e-06,8.983393281808381e-05,0.6761,-0.00453,0.08923274434473086,1.0,0.0,0.0,0.0,0.08795801441928403,0.14530656718065155,1.095342496668157,0.010353353647723718,-0.004647776056668149,-0.0008217500015494186,0.5700270347665827,0.5288674181201982,1.0797844748098566,0.03762511299695583,-0.04048498360359938,0.0010535882766227395,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5983497239391875,0.7623854499669761,-0.4911314912039963,0.09074026570277884,0.3877051935792389,0.4352413939609701,1.2216411916912124,1.095342496668157,1.7127726828952088,1.7127726828952088,1.9646900000003322,0,0,-0.00019476663100784363,9.998665370514743e-05
+7489,1792666591460520002,35131857000000,1792666591456779830,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760850957760279,-0.0047407788993821705,0.08918549149199026,0.9999999884432557,-4.495970419359295e-05,-1.7420361252775967e-05,0.00011059615262556408,0.6761,-0.00453,0.08911426833195858,1.0,0.0,0.0,0.0,0.08887895561569586,0.12984500195249898,1.1075606428468925,0.008533702478864695,-0.004615527515511211,-0.000851998924864156,0.5709479759629945,0.5134058528920457,1.092002620988592,0.03580546182809681,-0.040452735062442444,0.001023339353308002,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5627663293103766,0.7903225324513634,-0.48256541970285033,0.10001288475137082,0.37153471296211205,0.4554553181103593,1.2216411916912124,1.1075606428468925,1.7042066113940628,1.7042066113940628,2.006690000000341,0,0,-0.00019967193514855287,-5.5832404004202376e-05
+7561,1792666592060417095,35132457000000,1792666592052789826,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760857076609204,-0.00474904821341495,0.08906770960859935,0.9999999875778796,-3.517309326902697e-05,-1.9130264751543254e-05,0.000121177521567815,0.6761,-0.00453,0.08899179366239195,1.0,0.0,0.0,0.0,0.0889196423972895,0.11857234208330597,1.0973722298663595,0.008309904895468803,-0.004605052864706964,-0.0008462622507551926,0.5709886627445881,0.5021331930228526,1.081814208008059,0.03558166424470092,-0.040442260411638196,0.0010290760274169655,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5469051939852279,0.7071158337737893,-0.4147780501085006,0.13453524376203813,0.3167692994375678,0.39889898729087353,1.2216411916912124,1.0973722298663595,1.636419241799713,1.636419241799713,2.0486900000003496,0,0,-0.00021134084393223252,-9.998265690225878e-05
+7629,1792666592627452751,35133023999999,1792666592624790003,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760856474825157,-0.004749325518659935,0.08894457924808798,0.9999999872193791,-4.9634567529953343e-05,-1.7350651824181383e-05,0.00011932925327336536,0.6761,-0.00453,0.08886793743413392,1.0,0.0,0.0,0.0,0.08902819520101096,0.12318168052300854,1.0995049312171925,0.008310396898752827,-0.004610412129744744,-0.0008488408371954241,0.5710972155483096,0.5067425314625552,1.083946909358892,0.03558215624798494,-0.040447619676675976,0.001026497440976734,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5807646600112009,0.7504454396251792,-0.38449942910049234,0.13848937794791252,0.30314862823638405,0.42702596761580663,1.2216411916912124,1.0995049312171925,1.6061406207917048,1.6061406207917048,2.088380000000358,0,0,-0.00022463848669693055,-9.999999025923074e-05
+7697,1792666593193425042,35133589999999,1792666593188789585,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760820614343304,-0.004753713272526913,0.08880715354642263,0.9999999862765333,-6.107682268554692e-05,-2.5756064218090086e-05,0.00012039952100448012,0.6761,-0.00453,0.08873577177782951,1.0,0.0,0.0,0.0,0.08684538981991269,0.11961134273763258,1.1114360391667761,0.008306562939480164,-0.004612875767278736,-0.0008598529858654057,0.5689144101672113,0.5031721936771792,1.0958780173084757,0.03557832228871228,-0.04045008331420997,0.0010154852923067524,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6569698491345477,0.754791512112559,-0.5582409531982622,0.14797967521720298,0.4319515704853215,0.43259521469255646,1.2216411916912124,1.1114360391667761,1.7798821448894746,1.7798821448894746,2.128000000000366,0,0,-0.00024072265772996014,-2.9897382299634958e-05
+7753,1792666593660489646,35134057000000,1792666593652789841,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760798759129444,-0.004760597315398617,0.08868785050246972,0.999999985747921,-6.18344013181297e-05,-2.9150696472802195e-05,0.00012358707769262727,0.6761,-0.00453,0.08862045192704114,1.0,0.0,0.0,0.0,0.08903997155773508,0.11848080264296618,1.1250117736778311,0.007414796066468603,-0.004264702732682472,-0.0008651688439035772,0.5711089919050337,0.5020416535825128,1.1094537518195307,0.03468655541570072,-0.040101910279613705,0.001010169434268581,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6012352759999822,0.6592861808293726,-0.5846089322200585,0.19735407679888936,0.4247972199598324,0.372659528838311,1.2216411916912124,1.1250117736778311,1.806250123911271,1.806250123911271,2.160690000000373,0,0,-0.00025299612529872914,4.937587915512982e-05
+7812,1792666594152484141,35134549000000,1792666594148789914,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760761089995062,-0.004768787946108971,0.08855951634251993,0.9999999850579286,-4.9317858938358484e-05,-3.759849410094754e-05,0.00013221614451240773,0.6761,-0.00453,0.08849359929245278,1.0,0.0,0.0,0.0,0.08042241190823479,0.11044843127077697,1.1270902746089257,0.0072838530009428845,-0.004595379253051195,-0.0008828562847559721,0.5624914322555334,0.49400928221032364,1.1115322527506253,0.034555612350175,-0.04043258679998243,0.000992481993416186,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5746658880620361,0.690775013324667,-0.5408124139677994,0.19476761348939237,0.38654834161802887,0.4007471324497169,1.2216411916912124,1.1270902746089257,1.7624536056590119,1.7624536056590119,2.19513000000038,0,0,-0.0002628467504581496,-9.999980984798924e-05
+7869,1792666594628434786,35135023999999,1792666594624789761,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760794126930053,-0.004770852934092652,0.08843362306363953,0.9999999851420979,-4.059326581890221e-05,-2.993302403230402e-05,0.00013643631976725473,0.6761,-0.00453,0.08836485271454737,1.0,0.0,0.0,0.0,0.07058567844723657,0.11667954676172615,1.1173212036867324,0.007257038561900242,-0.0035816681723635987,-0.0008604520268467369,0.5526546987945352,0.5002403977012728,1.101763181828432,0.03452879791113236,-0.03941887571929483,0.0010148862513254212,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6046929798634111,0.6872178098391909,-0.6204430282859646,0.21115530543619296,0.4384014194425571,0.39736208386823046,1.2216411916912124,1.1173212036867324,1.8420842199771772,1.8420842199771772,2.228380000000387,0,0,-0.0002787172907483862,8.394186598120637e-05
+7917,1792666595027468721,35135424000000,1792666595024789782,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760768046490138,-0.0047732557824965525,0.08831640302797518,0.9999999841694419,-5.4945366616027606e-05,-3.5649782090055394e-05,0.00013716442708836774,0.6761,-0.00453,0.08825063936545632,1.0,0.0,0.0,0.0,0.07661293195311575,0.10759649700535062,1.1366258649217613,0.007254743836903027,-0.0035850003641864567,-0.0008612150332789506,0.5586819523004144,0.4911573479448973,1.1210678430634609,0.03452650318613514,-0.03942220791111769,0.0010141232448932075,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.5840975252721322,0.7606537085828189,-0.6119657228048191,0.2059851729370255,0.4248047467500535,0.4446324815086178,1.2216411916912124,1.1366258649217613,1.8336069144960314,1.8336069144960314,2.2563800000003926,0,0,-0.0002912580857842003,-3.8383569959893296e-05
+7968,1792666595452387746,35135849000000,1792666595448789869,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760754229331721,-0.004775762160877116,0.08818854728852762,0.9999999833476925,-6.308932526085486e-05,-3.660504218104132e-05,0.00013938180381949602,0.6761,-0.00453,0.0881237470582095,1.0,0.0,0.0,0.0,0.07078348948926622,0.10702705207018604,1.1170122292353863,0.007256815097555908,-0.0035809129749666477,-0.0008458451151435288,0.5528525098365649,0.4905879030097327,1.1014542073770859,0.03452857444678802,-0.03941812052189788,0.0010294931630286293,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6996726259812136,0.664120410578411,-0.6196153569308784,0.25883894815097513,0.4566045494222421,0.3886965309490593,1.2216411916912124,1.1170122292353863,1.8412565486220909,1.8412565486220909,2.286130000000399,0,0,-0.0003054535589732356,-6.018037365232269e-05
+8016,1792666595852427617,35136249000000,1792666595844789988,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760742196043789,-0.0047829521617369945,0.08806241467449154,0.9999999823130462,-6.896496884289155e-05,-4.102170109322607e-05,0.00014275091918187889,0.6761,-0.00453,0.08799943717854017,1.0,0.0,0.0,0.0,0.07080025964216224,0.10757568128020889,1.1314679238679997,0.007254264207586035,-0.0035840193346240654,-0.00087509802622292,0.5528692799894609,0.49113653221975556,1.1159099020096992,0.03452602355681815,-0.0394212268815553,0.001000240251949238,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6492646580780829,0.6037624087231812,-0.6137370702891559,0.27985808322987304,0.4347186436920769,0.3420929308966565,1.2216411916912124,1.1314679238679997,1.8353782619803685,1.8353782619803685,2.3141300000004046,0,0,-0.000317202066039994,-9.993719326940038e-05
+8064,1792666596252443087,35136648999999,1792666596244789949,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760723435380573,-0.004785464525655826,0.08792742596852757,0.9999999812074014,-7.182302021811892e-05,-4.4872745742812365e-05,0.0001478375858815872,0.6761,-0.00453,0.08787033462626245,1.0,0.0,0.0,0.0,0.0706128750283414,0.10769441899909238,1.1471154267611525,0.007250946108946624,-0.0035879064731638224,-0.0008896597563512764,0.55268189537564,0.49125526993863905,1.131557404902852,0.03452270545817874,-0.039425114020095055,0.0009856785218208817,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6833357192326246,0.6307887254452785,-0.6621872326694824,0.29083215765352055,0.4736266988771759,0.36189020877295897,1.2216411916912124,1.1471154267611525,1.8838284243606949,1.8838284243606949,2.3421300000004104,0,0,-0.00032861735594216936,7.711336710703449e-05
+8108,1792666596618344009,35137015000000,1792666596616789673,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760715876663512,-0.004787039117265669,0.08780411546415186,0.9999999823706874,-5.474743686032075e-05,-4.624380695234572e-05,0.0001468527076181183,0.6761,-0.00453,0.08774825625424501,1.0,0.0,0.0,0.0,0.07314804474567621,0.10514039284780669,1.1681817228322142,0.006453597589901938,-0.003576432637314733,-0.0009113056580578393,0.5552170650929749,0.48870124378735336,1.1526237009739138,0.03372535693913405,-0.039413640184245965,0.0009640326201143188,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.7198404506779986,0.6685148396468424,-0.5689616794712473,0.2948021888093714,0.4205845400968696,0.394401930457685,1.2216411916912124,1.1681817228322142,1.7906028711624598,1.7906028711624598,2.3677500000004157,0,0,-0.0003380365245872748,-9.999682612361056e-05
+8156,1792666597018392904,35137415000000,1792666597012790219,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760658290128922,-0.004786831256755529,0.08766714313907863,0.9999999832191815,-3.5704522052445824e-05,-5.3973470011618506e-05,0.00014427942613623403,0.6761,-0.00453,0.08761131047469688,1.0,0.0,0.0,0.0,0.0800081258005752,0.11375145987394875,1.126752198934269,0.007254707936978973,-0.0035854449189614973,-0.0008670278367598966,0.5620771461478739,0.4973123108134954,1.1111941770759686,0.03452646728621109,-0.03942265246589273,0.0010083104414122615,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6910631128546474,0.6368840100300461,-0.5184729835758647,0.3249378215890905,0.3753524783405497,0.37192096265607716,1.2216411916912124,1.126752198934269,1.740114175267077,1.740114175267077,2.3957500000004215,0,0,-0.0003498604677035485,-9.999999025923074e-05
+8200,1792666597385354354,35137782000000,1792666597384789759,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.676067071358585,-0.0047934449884596275,0.08753828269838097,0.9999999816620134,-4.924057927169306e-05,-5.210625153089999e-05,0.00015158872343027697,0.6761,-0.00453,0.08748012709971632,1.0,0.0,0.0,0.0,0.06811723441559098,0.09768024703703992,1.1309798421615684,0.00725425205603402,-0.0035824719515422654,-0.0008737451898103907,0.5501862547628896,0.4812410979765866,1.115421820303268,0.034526011405266135,-0.0394196794984735,0.0010015930883617674,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.6819713596241589,0.6607534101878765,-0.5887647172002115,0.33196535070626076,0.4148839949755978,0.3902546754407124,1.2216411916912124,1.1309798421615684,1.810405908891424,1.810405908891424,2.421440000000427,0,0,-0.00036583023436539817,-9.999999025923074e-05
+8244,1792666597752320724,35138148999999,1792666597748780906,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760681578454436,-0.004795466020936007,0.08740747937026012,0.9999999805258447,-6.759468950776027e-05,-4.669807980391276e-05,0.00015375767307670854,0.6761,-0.00453,0.08734392030844688,1.0,0.0,0.0,0.0,0.061352847591333914,0.10976567025651957,1.1333918474412024,0.00723147041950848,-0.0027954127742755366,-0.0008628181539350743,0.5434218679386326,0.49332652119606624,1.117833825582902,0.034503229768740595,-0.03863262032120677,0.0010125201242370838,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.7556665046770851,0.5831815984236526,-0.572167451788371,0.3635675489717582,0.42251460768226934,0.33673589485425126,1.2216411916912124,1.1333918474412024,1.7938086434795835,1.7938086434795835,2.447130000000432,0,0,-0.00037794575205171564,-9.999999025923074e-05
+8284,1792666598085311384,35138482000000,1792666598080790211,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760651901521264,-0.0047974363847265895,0.08728282230304771,0.9999999793281925,-8.195913360850716e-05,-5.2617443940831925e-05,0.00015264528772814928,0.6761,-0.00453,0.08721644249353779,1.0,0.0,0.0,0.0,0.06961400805374046,0.10119903254827123,1.1370671640353573,0.0072536527799683115,-0.0035841519168495414,-0.0008764602002150313,0.5516830284010391,0.4847598834878179,1.1215091421770569,0.034525412129200427,-0.039421359463780774,0.0009988780779571268,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.8049258955639295,0.6680015806984401,-0.6442029270139105,0.34848160223818475,0.4805595491749474,0.3929188943956587,1.2216411916912124,1.1370671640353573,1.865844118705123,1.865844118705123,2.470440000000437,0,0,-0.00038835773127496163,-9.936226427609824e-05
+8324,1792666598418410189,35138815000000,1792666598412790242,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.676064217530121,-0.004798452540735589,0.08714921137463699,0.9999999778273795,-9.346190627229106e-05,-5.462548441665829e-05,0.00015514197813806154,0.6761,-0.00453,0.08708484667025304,1.0,0.0,0.0,0.0,0.07020924331521944,0.12027375762296327,1.1366644848737844,0.008272559296389898,-0.00360581023127296,-0.00021889022879935274,0.5522782636625181,0.50383460856251,1.121106463015484,0.03554431864562201,-0.03944301777820419,0.0016564480493728054,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.8326396196502834,0.5544545241626655,-0.7048971171033183,0.38225882915407683,0.526634722493068,0.3161951310856856,1.2216411916912124,1.1366644848737844,1.9265383087945307,1.9265383087945307,2.493750000000442,0,0,-0.0004012816703076374,4.276248953029901e-05
+8364,1792666598752334088,35139148999999,1792666598744780315,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760645542415226,-0.0048040485080052125,0.08701484099324942,0.9999999762770949,-9.479689404054798e-05,-5.2906665387111774e-05,0.00016463021459115236,0.6761,-0.00453,0.08694864901328267,1.0,0.0,0.0,0.0,0.06983504755781483,0.12020812685583776,1.1311133274616099,0.008276735782949601,-0.0036023654281977166,-0.0008590014226015701,0.5519040679051135,0.5037689777953844,1.1155553056033094,0.035548495132181716,-0.03943957297512895,0.001016336855570588,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.7938434566744801,0.6453614688315532,-0.6967544624299962,0.3651533822462877,0.510094731609833,0.37499608289604075,1.2216411916912124,1.1311133274616099,1.9183956541212086,1.9183956541212086,2.5171300000004466,0,0,-0.00041403064252312094,-5.134747062975401e-05
+8400,1792666599052393012,35139449000000,1792666599044790318,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760626791192147,-0.0048033842552459545,0.08688852566249344,0.9999999753618863,-9.700361634925671e-05,-5.479158496979314e-05,0.00016824764989787898,0.6761,-0.00453,0.08682285000146829,1.0,0.0,0.0,0.0,0.07946728060782965,0.13046819060019427,1.1311812494843487,0.008358985629884158,-0.0036051178721569,-0.0008588297802572076,0.5615363009551283,0.5140290415397409,1.1156232276260483,0.03563074497911627,-0.03944232541908813,0.0010165084979149505,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.8699314366674168,0.6045000147592225,-0.6037892198748717,0.38549164256785445,0.4721221393724937,0.3554753513106683,1.2216411916912124,1.1311812494843487,1.8254304115660842,1.8254304115660842,2.538130000000451,0,0,-0.00042501696825433664,-9.999997638144293e-05
+8439,1792666599377307161,35139773999999,1792666599376789763,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.6760592089897843,-0.004804234841021814,0.08674423067170298,0.9999999758100723,3.1145504892439896e-05,-6.71453174228544e-05,0.00018532183660337553,0.6761,-0.00453,0.0866822726399641,1.0,0.0,0.0,0.0,0.07915410778057891,0.13322351054143994,1.1371525325375056,0.009324168727978616,-0.004634691594213432,-0.0008680820591168096,0.5612231281278776,0.5167843614809866,1.1215945106792051,0.03659592807721073,-0.040471899141144664,0.0010072562190553485,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.8641829442475633,0.773808332261133,-0.5487807588104523,0.34291657168000933,0.4371718912755471,0.46428730148353337,1.2216411916912124,1.1371525325375056,1.7704219505016647,1.7704219505016647,2.5608800000004557,0,0,-0.00043964660533943176,-9.999999025923074e-05
+8471,1792666599643365741,35140040000000,1792666599640780187,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760674828014709,-0.004795692247047789,0.0866377202200877,0.9999999801786764,-7.68623583613616e-06,-4.401236376642147e-05,0.00017055598720172385,0.6761,-0.00453,0.08656360209016249,1.0,0.0,0.0,0.0,0.06549496539046101,0.14574353199040807,1.1295866185506913,0.01031975496458068,-0.0036412114376500743,-0.0008366849606401569,0.5475639857377597,0.5293043829299547,1.1140285966923908,0.037591514313812795,-0.03947841898458131,0.0010386533175320012,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.9590000460222259,0.657155027081286,-0.5967625513241708,0.38759847709683254,0.4955145506877841,0.38549004103598533,1.2216411916912124,1.1295866185506913,1.8184037430153832,1.8184037430153832,2.5795000000004595,0,0,-0.0004524734863412246,-9.999999025923074e-05
+8507,1792666599943354669,35140339999999,1792666599936789955,DOWN_FORCE_DETACH,8,0.0434,0.04340238496661186,0.676061094528508,-0.004797849402586603,0.08650017786065363,0.9999999803467329,-4.017050262213254e-05,-5.7268498363752e-05,0.00016079815992765402,0.6761,-0.00453,0.0864256222807896,1.0,0.0,0.0,0.0,0.10559265676749369,0.1586749685837225,1.1367536364197586,0.0113923385626317,-0.00569124777667511,-0.00025429089466857935,0.5876616771147923,0.5422358195232692,1.121195614561458,0.038664097911863815,-0.04152845532360634,0.0016210473835035787,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.9512870105556313,0.7074809812114327,-0.5633854252175609,0.3646909633801149,0.47751382381179563,0.42656896952840606,1.2216411916912124,1.1367536364197586,1.7850266169087732,1.7850266169087732,2.600500000000464,0,0,-0.00046733223750125417,-9.999999025923074e-05
+8539,1792666600210278530,35140607000000,1792666600204789978,DOWN_FORCE_DETACH,8,0.0434,0.043401725590229034,0.6760597330380748,-0.004797398195274884,0.08637277026584646,0.9999999794882661,-6.529168985144646e-05,-5.060966261328079e-05,0.00016013116261839744,0.6761,-0.00453,0.08629916223477296,1.0,0.0,0.0,0.0,0.10607978960559244,0.1604234795802269,1.121357890324887,0.011397362950852932,-0.005686879363476817,-0.0008447296490692539,0.5881488099528911,0.5439843305197736,1.1057998684665866,0.03866912230008505,-0.04152408691040805,0.0010306086291029042,0.48206902034729865,0.38356085093954667,-0.015558021858300429,0.027271759349232115,-0.03583720754693123,0.001875338278172158,1,0.9102598472614355,0.7615149098020596,-0.6357111849358464,0.36442155057494596,0.5152935185597323,0.4560498210668696,1.2216411916912124,1.121357890324887,1.857352376627059,1.857352376627059,2.6191900000004678,0,0,-0.0004799872530644996,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbe8c2fd0523b970a33619e56d08bf4f6e685e37
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5f3093af65c96b82f5dc2a4e5d74e1d9cf95228
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+20,1.051666667e+01,DOWN_FORCE_DETACH,1792666582747961084,6.126571536e-05,-7.252469916e-05,-5.156139200e-04,5.912995893e-05,-6.611048870e-05,-5.071973174e-04,6.006084342e-05,-6.600148513e-05,-5.053133649e-04,7.015991372e-01,-7.097373784e-05,8.402253273e-01,7.015970014e-01,-6.455952737e-05,8.402337439e-01,7.017890555e-01,-6.424516648e-05,8.290673758e-01
+21,1.100000000e+01,DOWN_FORCE_DETACH,1792666583680174336,6.559103005e-05,-7.306369725e-05,-5.938927426e-04,6.555180170e-05,-7.295361296e-05,-5.935851061e-04,6.633171722e-05,-7.280207800e-05,-5.911415106e-04,7.016034625e-01,-7.151273593e-05,8.401470484e-01,7.016034233e-01,-7.140265164e-05,8.401473561e-01,7.017953264e-01,-7.104575934e-05,8.289815476e-01
+22,1.138333333e+01,DOWN_FORCE_DETACH,1792666584411991795,7.122172397e-05,-6.143621020e-05,-6.599449855e-04,6.753388998e-05,-6.387187809e-05,-6.590007098e-04,6.815405312e-05,-6.373584696e-05,-6.564302054e-04,7.016090932e-01,-5.988524888e-05,8.400809962e-01,7.016054054e-01,-6.232091677e-05,8.400819405e-01,7.017971487e-01,-6.197952831e-05,8.289162589e-01
+23,1.178333333e+01,DOWN_FORCE_DETACH,1792666585175932133,6.731370185e-05,-6.540572445e-05,-7.534711036e-04,6.527933442e-05,-7.127479824e-05,-7.465036311e-04,6.550992575e-05,-7.111164697e-05,-7.435633901e-04,7.016051852e-01,-6.385476313e-05,8.399874701e-01,7.016031508e-01,-6.972383692e-05,8.399944376e-01,7.017945046e-01,-6.935532832e-05,8.288291257e-01
+24,1.221666667e+01,DOWN_FORCE_DETACH,1792666585974213999,7.023150443e-05,-7.617093404e-05,-8.431853176e-04,6.991322661e-05,-7.988304963e-05,-8.334965221e-04,6.987553092e-05,-7.968443541e-05,-8.305208402e-04,7.016081030e-01,-7.461997272e-05,8.398977559e-01,7.016077847e-01,-7.833208831e-05,8.399074447e-01,7.017988702e-01,-7.792811676e-05,8.287421683e-01
+25,1.263333333e+01,DOWN_FORCE_DETACH,1792666586772110807,7.166228619e-05,-8.216210363e-05,-9.377334447e-04,7.225343569e-05,-7.961773985e-05,-9.182926284e-04,7.202673616e-05,-7.939940364e-05,-9.154132234e-04,7.016095338e-01,-8.061114231e-05,8.398032077e-01,7.016101249e-01,-7.806677853e-05,8.398226486e-01,7.018010214e-01,-7.764308499e-05,8.286572759e-01
+26,1.301666667e+01,DOWN_FORCE_DETACH,1792666587506471606,6.864532198e-05,-7.515822402e-05,-1.041891061e-03,6.942225714e-05,-8.148336701e-05,-1.037525869e-03,6.865122733e-05,-8.128522017e-05,-1.034019477e-03,7.016065168e-01,-7.360726270e-05,8.396990501e-01,7.016072937e-01,-7.993240569e-05,8.397034153e-01,7.017976459e-01,-7.952890152e-05,8.285386696e-01
+27,1.341666667e+01,DOWN_FORCE_DETACH,1792666588304309636,7.176993794e-05,-8.385871965e-05,-1.150393263e-03,7.121988188e-05,-8.065468622e-05,-1.131450525e-03,7.015688466e-05,-8.042045358e-05,-1.128016980e-03,7.016096414e-01,-8.230775833e-05,8.395905479e-01,7.016090914e-01,-7.910372490e-05,8.396094907e-01,7.017991515e-01,-7.866413493e-05,8.284446721e-01
+28,1.376666667e+01,DOWN_FORCE_DETACH,1792666589005424058,6.873322741e-05,-8.076760385e-05,-1.260375616e-03,6.948160205e-05,-8.711856070e-05,-1.248351422e-03,6.794918623e-05,-8.690465317e-05,-1.244452864e-03,7.016066047e-01,-7.921664253e-05,8.394805656e-01,7.016073531e-01,-8.556759938e-05,8.394925898e-01,7.017969438e-01,-8.514833451e-05,8.283282363e-01
+29,1.410000000e+01,DOWN_FORCE_DETACH,1792666589668193700,7.010185321e-05,-9.014606206e-05,-1.368867373e-03,6.922731083e-05,-9.253492618e-05,-1.354868963e-03,6.733584939e-05,-9.238410507e-05,-1.350851576e-03,7.016079733e-01,-8.859510073e-05,8.393720738e-01,7.016070988e-01,-9.098396486e-05,8.393860722e-01,7.017963305e-01,-9.062778641e-05,8.282218375e-01
+30,1.440000000e+01,DOWN_FORCE_DETACH,1792666590268529398,6.696760899e-05,-9.701012246e-05,-1.483113211e-03,7.018705652e-05,-9.535192872e-05,-1.473009912e-03,6.786285912e-05,-9.518213774e-05,-1.468566587e-03,7.016048391e-01,-9.545916114e-05,8.392578280e-01,7.016080585e-01,-9.380096740e-05,8.392679313e-01,7.017968575e-01,-9.342581909e-05,8.281041225e-01
+31,1.470000000e+01,DOWN_FORCE_DETACH,1792666590864222832,6.995349005e-05,-9.270460814e-05,-1.596340529e-03,6.987913501e-05,-9.279202791e-05,-1.595569744e-03,6.709175056e-05,-9.264997140e-05,-1.590563295e-03,7.016078250e-01,-9.115364682e-05,8.391446007e-01,7.016077506e-01,-9.124106659e-05,8.391453714e-01,7.017960864e-01,-9.089365275e-05,8.279821258e-01
+32,1.501666667e+01,DOWN_FORCE_DETACH,1792666591464089745,6.632176128e-05,-9.771186428e-05,-1.721871067e-03,6.619927675e-05,-9.777758769e-05,-1.721603984e-03,6.289501170e-05,-9.760329178e-05,-1.716317534e-03,7.016041932e-01,-9.616090296e-05,8.390190701e-01,7.016040708e-01,-9.622662637e-05,8.390193372e-01,7.017918897e-01,-9.584697313e-05,8.278563716e-01
+33,1.533333333e+01,DOWN_FORCE_DETACH,1792666592064096223,6.717097704e-05,-1.069461673e-04,-1.839668934e-03,6.651991968e-05,-1.048906908e-04,-1.835572819e-03,6.266293958e-05,-1.047331139e-04,-1.830562261e-03,7.016050425e-01,-1.053952060e-04,8.389012723e-01,7.016043914e-01,-1.033397295e-04,8.389053684e-01,7.017916576e-01,-1.029767952e-04,8.277421269e-01
+34,1.563333333e+01,DOWN_FORCE_DETACH,1792666592628140316,6.675118043e-05,-1.053945913e-04,-1.962394980e-03,6.547012832e-05,-1.075956218e-04,-1.956643399e-03,6.119011418e-05,-1.074009877e-04,-1.951545282e-03,7.016046227e-01,-1.038436300e-04,8.387785462e-01,7.016033416e-01,-1.060446604e-04,8.387842978e-01,7.017901848e-01,-1.056446690e-04,8.276211438e-01
+35,1.593333333e+01,DOWN_FORCE_DETACH,1792666593192118860,6.372808976e-05,-1.133957637e-04,-2.099299939e-03,6.313830603e-05,-1.125096515e-04,-2.081597502e-03,5.832467750e-05,-1.123175397e-04,-2.076448073e-03,7.016015996e-01,-1.118448024e-04,8.386416412e-01,7.016010098e-01,-1.109586902e-04,8.386593437e-01,7.017873193e-01,-1.105612210e-04,8.274962411e-01
+36,1.618333333e+01,DOWN_FORCE_DETACH,1792666593658054183,6.197273822e-05,-1.165818020e-04,-2.216508817e-03,6.062124837e-05,-1.154946210e-04,-2.201362914e-03,5.535943159e-05,-1.152942727e-04,-2.196045537e-03,7.015998442e-01,-1.150308407e-04,8.385244324e-01,7.015984927e-01,-1.139436597e-04,8.385395783e-01,7.017843541e-01,-1.135379541e-04,8.273766436e-01
+37,1.643333333e+01,DOWN_FORCE_DETACH,1792666594156096043,5.974438102e-05,-1.211089306e-04,-2.343985405e-03,5.976888888e-05,-1.202209635e-04,-2.328038371e-03,5.400445259e-05,-1.200185704e-04,-2.322553996e-03,7.015976159e-01,-1.195579693e-04,8.383969558e-01,7.015976404e-01,-1.186700021e-04,8.384129028e-01,7.017829991e-01,-1.182622518e-04,8.272501351e-01
+38,1.668333333e+01,DOWN_FORCE_DETACH,1792666594624044558,6.156448642e-05,-1.229626513e-04,-2.471295356e-03,5.886304711e-05,-1.289123566e-04,-2.456144023e-03,5.251424845e-05,-1.286270662e-04,-2.450443313e-03,7.015994360e-01,-1.214116900e-04,8.382696458e-01,7.015967345e-01,-1.273613953e-04,8.382847972e-01,7.017815089e-01,-1.268707476e-04,8.271222458e-01
+39,1.690000000e+01,DOWN_FORCE_DETACH,1792666595024000377,5.904051575e-05,-1.257124673e-04,-2.587446760e-03,5.888200804e-05,-1.259977170e-04,-2.587586868e-03,5.205149487e-05,-1.256533248e-04,-2.581385478e-03,7.015969120e-01,-1.241615060e-04,8.381534944e-01,7.015967535e-01,-1.244467556e-04,8.381533543e-01,7.017810462e-01,-1.238970061e-04,8.269913036e-01
+40,1.713333333e+01,DOWN_FORCE_DETACH,1792666595456070220,5.872651495e-05,-1.340425712e-04,-2.718712840e-03,5.805639029e-05,-1.308629740e-04,-2.707283637e-03,5.073085683e-05,-1.305069118e-04,-2.701174166e-03,7.015965980e-01,-1.324916099e-04,8.380222283e-01,7.015959279e-01,-1.293120126e-04,8.380336576e-01,7.017797255e-01,-1.287505932e-04,8.268715150e-01
+41,1.733333333e+01,DOWN_FORCE_DETACH,1792666595855998173,5.720107305e-05,-1.378830703e-04,-2.841505512e-03,5.693069316e-05,-1.381289623e-04,-2.841652736e-03,4.912926570e-05,-1.377449390e-04,-2.835155136e-03,7.015950726e-01,-1.363321089e-04,8.378994357e-01,7.015948022e-01,-1.365780010e-04,8.378992885e-01,7.017781239e-01,-1.359886203e-04,8.267375340e-01
+42,1.753333333e+01,DOWN_FORCE_DETACH,1792666596252087633,5.250217213e-05,-1.426266833e-04,-2.979767290e-03,5.166606152e-05,-1.386727733e-04,-2.960713367e-03,4.339480292e-05,-1.383336405e-04,-2.954272546e-03,7.015903737e-01,-1.410757220e-04,8.377611739e-01,7.015895375e-01,-1.371218119e-04,8.377802278e-01,7.017723895e-01,-1.365773219e-04,8.266184166e-01
+43,1.771666667e+01,DOWN_FORCE_DETACH,1792666596620155000,5.257555188e-05,-1.455737808e-04,-3.103034663e-03,5.234907679e-05,-1.454276284e-04,-3.102885978e-03,4.347407912e-05,-1.451253631e-04,-3.095810458e-03,7.015904470e-01,-1.440228195e-04,8.376379065e-01,7.015902206e-01,-1.438766671e-04,8.376380552e-01,7.017724687e-01,-1.433690445e-04,8.264768787e-01
+44,1.791666667e+01,DOWN_FORCE_DETACH,1792666597018032871,4.693271081e-05,-1.429003294e-04,-3.239831089e-03,4.693250784e-05,-1.428776037e-04,-3.239420417e-03,3.740601305e-05,-1.425647015e-04,-3.232230729e-03,7.015848042e-01,-1.413493681e-04,8.375011101e-01,7.015848040e-01,-1.413266424e-04,8.375015208e-01,7.017664007e-01,-1.408083828e-04,8.263404584e-01
+45,1.810000000e+01,DOWN_FORCE_DETACH,1792666597384134984,5.085531228e-05,-1.460289580e-04,-3.364268102e-03,4.860963871e-05,-1.500705049e-04,-3.354452533e-03,3.860735213e-05,-1.496998944e-04,-3.347499534e-03,7.015887268e-01,-1.444779967e-04,8.373766731e-01,7.015864811e-01,-1.485195436e-04,8.373864887e-01,7.017676020e-01,-1.479435757e-04,8.262251896e-01
+46,1.828333333e+01,DOWN_FORCE_DETACH,1792666597750325604,5.009944395e-05,-1.508448226e-04,-3.497620454e-03,4.997901907e-05,-1.509252513e-04,-3.497574833e-03,3.949948222e-05,-1.505512510e-04,-3.490320247e-03,7.015879709e-01,-1.492938613e-04,8.372433207e-01,7.015878505e-01,-1.493742900e-04,8.372433664e-01,7.017684941e-01,-1.487949324e-04,8.260823689e-01
+47,1.845000000e+01,DOWN_FORCE_DETACH,1792666598082223711,4.710894469e-05,-1.545027281e-04,-3.623130427e-03,4.713311472e-05,-1.544991343e-04,-3.622467215e-03,3.619919169e-05,-1.540962840e-04,-3.615129714e-03,7.015849804e-01,-1.529517668e-04,8.371178108e-01,7.015850046e-01,-1.529481730e-04,8.371184740e-01,7.017651938e-01,-1.523399654e-04,8.259575594e-01
+48,1.861666667e+01,DOWN_FORCE_DETACH,1792666598416009140,4.599382184e-05,-1.569966034e-04,-3.755070723e-03,4.586144573e-05,-1.570064463e-04,-3.754866291e-03,3.445095366e-05,-1.565985740e-04,-3.747385131e-03,7.015838653e-01,-1.554456421e-04,8.369858705e-01,7.015837329e-01,-1.554554849e-04,8.369860749e-01,7.017634456e-01,-1.548422553e-04,8.258253040e-01
+49,1.878333333e+01,DOWN_FORCE_DETACH,1792666598748392483,4.623233326e-05,-1.585012780e-04,-3.891087653e-03,4.574282958e-05,-1.581547439e-04,-3.891314133e-03,3.378932848e-05,-1.577242453e-04,-3.883718604e-03,7.015841038e-01,-1.569503167e-04,8.368498535e-01,7.015836143e-01,-1.566037825e-04,8.368496271e-01,7.017627840e-01,-1.559679267e-04,8.256889705e-01
+50,1.893333333e+01,DOWN_FORCE_DETACH,1792666599048010198,4.013164451e-05,-1.585315416e-04,-4.019620541e-03,3.991527607e-05,-1.585274127e-04,-4.019797317e-03,2.736606398e-05,-1.580355773e-04,-4.011996734e-03,7.015780031e-01,-1.569805803e-04,8.367213206e-01,7.015777868e-01,-1.569764514e-04,8.367211439e-01,7.017563607e-01,-1.562792586e-04,8.255606924e-01
+51,1.911666667e+01,DOWN_FORCE_DETACH,1792666599380108052,4.081470355e-05,-1.597205623e-04,-4.162165253e-03,3.923535617e-05,-1.576611606e-04,-4.151357518e-03,2.616999018e-05,-1.570846250e-04,-4.143966763e-03,7.015786862e-01,-1.581696010e-04,8.365787759e-01,7.015771068e-01,-1.561101993e-04,8.365895837e-01,7.017551646e-01,-1.553283064e-04,8.254287224e-01
+52,1.925000000e+01,DOWN_FORCE_DETACH,1792666599646012875,4.733887903e-05,-1.400279305e-04,-4.275057901e-03,4.717176376e-05,-1.401394027e-04,-4.274769301e-03,3.379349429e-05,-1.396285366e-04,-4.267164025e-03,7.015852104e-01,-1.384769692e-04,8.364658833e-01,7.015850432e-01,-1.385884413e-04,8.364661719e-01,7.017627882e-01,-1.378722180e-04,8.253055251e-01
+53,1.940000000e+01,DOWN_FORCE_DETACH,1792666599944245915,4.219822642e-05,-1.539184752e-04,-4.406796367e-03,4.002705329e-05,-1.506754208e-04,-4.394787967e-03,2.621729773e-05,-1.501453746e-04,-4.387286163e-03,7.015800697e-01,-1.523675139e-04,8.363341448e-01,7.015778985e-01,-1.491244595e-04,8.363461532e-01,7.017552120e-01,-1.483890560e-04,8.251854030e-01
+54,1.955000000e+01,DOWN_FORCE_DETACH,1792666600212066017,3.730261968e-05,-1.506154255e-04,-4.539748304e-03,3.725121307e-05,-1.504901699e-04,-4.539476748e-03,2.289213702e-05,-1.499726585e-04,-4.531700702e-03,7.015751741e-01,-1.490644642e-04,8.362011929e-01,7.015751227e-01,-1.489392085e-04,8.362014644e-01,7.017518868e-01,-1.482163398e-04,8.250409884e-01
+55,1.968333333e+01,DOWN_FORCE_DETACH,1792666600478616491,2.843563138e-05,-1.586592575e-04,-4.676646684e-03,2.822829568e-05,-1.587548245e-04,-4.676797392e-03,1.312269922e-05,-1.581770595e-04,-4.669094418e-03,7.015663071e-01,-1.571082962e-04,8.360642945e-01,7.015660998e-01,-1.572038632e-04,8.360641438e-01,7.017421174e-01,-1.564207408e-04,8.249035947e-01
+56,1.983333333e+01,DOWN_FORCE_DETACH,1792666600744067876,1.958598636e-05,-1.566878354e-04,-4.816897218e-03,1.955660778e-05,-1.567048369e-04,-4.816621091e-03,3.835728743e-06,-1.561625837e-04,-4.809070642e-03,7.015574575e-01,-1.551368740e-04,8.359240440e-01,7.015574281e-01,-1.551538756e-04,8.359243201e-01,7.017328304e-01,-1.544062651e-04,8.247636185e-01
+57,1.993333333e+01,DOWN_FORCE_DETACH,1792666600959995232,5.157438978e-05,-1.350798747e-04,-4.897693576e-03,4.410283105e-05,-1.379212422e-04,-4.890819823e-03,2.833813141e-05,-1.373901614e-04,-4.883921443e-03,7.015894459e-01,-1.335289133e-04,8.358432476e-01,7.015819743e-01,-1.363702808e-04,8.358501214e-01,7.017573328e-01,-1.356338427e-04,8.246887677e-01
+58,2.008333333e+01,DOWN_SETTLE,1792666601227301914,4.252972875e-05,-1.378335119e-04,-5.045917461e-03,4.216578643e-05,-1.377634978e-04,-5.046297079e-03,2.592521302e-05,-1.372268557e-04,-5.039187906e-03,7.015804012e-01,-1.362825506e-04,8.356950237e-01,7.015800373e-01,-1.362125365e-04,8.356946441e-01,7.017549199e-01,-1.354705371e-04,8.245335012e-01
+59,2.051666667e+01,DOWN_PEAK_HOLD,1792666602042174997,2.173536216e-05,-1.228709554e-04,-5.128547434e-03,2.689187142e-05,-1.275653252e-04,-5.112677847e-03,1.012117258e-05,-1.271224565e-04,-5.109076808e-03,7.015596068e-01,-1.213199941e-04,8.356123938e-01,7.015647634e-01,-1.260143639e-04,8.356282633e-01,7.017391158e-01,-1.253661379e-04,8.244636123e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da89dfc9ad0ea9019618c0728b872f9c45363430
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-2.6450e-02,9.8096e-04,2.4519e+00,-3.6901e-02,3.4906e-02,-4.9208e-05,5.9341e-04,2.5877e-06,3.5906e-04,-8.4937e-07,4.0766e-05,-5.6432e-07,6.9359e-04,4.0779e-05
+1,4.8333e-01,DOWN_FORCE_DETACH,1.4136e-04,-1.1327e-02,1.1768e-03,2.4604e+00,-3.6929e-02,3.5965e-02,-6.5139e-05,1.5717e-02,1.9841e-04,8.8673e-03,-2.8793e-05,1.0994e-03,-1.6495e-05,1.8047e-02,1.0999e-03
+2,9.6667e-01,DOWN_FORCE_DETACH,2.7694e-04,6.7093e-03,6.8222e-03,2.5001e+00,-3.7329e-02,3.7215e-02,-6.8462e-05,3.3753e-02,5.8438e-03,4.8594e-02,-4.2848e-04,2.3494e-03,-1.9818e-05,5.9455e-02,2.3882e-03
+3,1.5500e+00,DOWN_FORCE_DETACH,4.1423e-04,1.3494e-02,1.0038e-02,2.4974e+00,-3.7550e-02,3.7700e-02,-6.2292e-05,4.0538e-02,9.0594e-03,4.5940e-02,-6.4945e-04,2.8339e-03,-1.3649e-05,6.1935e-02,2.9074e-03
+4,2.2000e+00,DOWN_FORCE_DETACH,5.4968e-04,1.7767e-02,1.4313e-02,2.4999e+00,-3.7832e-02,3.8004e-02,-5.2668e-05,4.4811e-02,1.3335e-02,4.8400e-02,-9.3196e-04,3.1379e-03,-4.0245e-06,6.7294e-02,3.2734e-03
+5,2.7500e+00,DOWN_FORCE_DETACH,6.8589e-04,1.7157e-02,1.4304e-02,2.4844e+00,-3.7827e-02,3.7973e-02,-4.4876e-05,4.4201e-02,1.3326e-02,3.2867e-02,-9.2665e-04,3.1074e-03,3.7668e-06,5.6671e-02,3.2426e-03
+6,3.1500e+00,DOWN_FORCE_DETACH,8.2526e-04,-1.8767e-02,1.6949e-02,2.4910e+00,-3.8001e-02,3.5491e-02,-3.9351e-05,8.2773e-03,1.5970e-02,3.9482e-02,-1.1006e-03,6.2545e-04,9.2919e-06,4.3386e-02,1.2659e-03
+7,3.7000e+00,DOWN_FORCE_DETACH,9.6134e-04,-3.1821e-04,1.7460e-02,2.4952e+00,-3.8024e-02,3.6718e-02,-2.6790e-05,2.6726e-02,1.6482e-02,4.3715e-02,-1.1239e-03,1.8521e-03,2.1853e-05,5.3823e-02,2.1665e-03
+8,4.1667e+00,DOWN_FORCE_DETACH,1.0983e-03,6.3965e-03,1.7557e-02,2.4812e+00,-3.8018e-02,3.7204e-02,-1.5231e-05,3.3440e-02,1.6579e-02,2.9719e-02,-1.1175e-03,2.3380e-03,3.3412e-05,4.7711e-02,2.5915e-03
+9,4.7167e+00,DOWN_FORCE_DETACH,1.2399e-03,1.6071e-02,1.7066e-02,2.4904e+00,-3.7966e-02,3.7884e-02,-2.0039e-07,4.3115e-02,1.6088e-02,3.8949e-02,-1.0660e-03,3.0184e-03,4.8443e-05,6.0289e-02,3.2015e-03
+10,5.3167e+00,DOWN_FORCE_DETACH,1.3754e-03,1.8438e-02,1.7142e-02,2.4735e+00,-3.7955e-02,3.8068e-02,1.2850e-05,4.5482e-02,1.6164e-02,2.2003e-02,-1.0550e-03,3.2019e-03,6.1493e-05,5.3047e-02,3.3718e-03
+11,5.8000e+00,DOWN_FORCE_DETACH,1.5119e-03,2.0000e-02,1.9693e-02,2.4794e+00,-3.8120e-02,3.8176e-02,2.6222e-05,4.7044e-02,1.8714e-02,2.7862e-02,-1.2198e-03,3.3100e-03,7.4865e-05,5.7790e-02,3.5284e-03
+12,6.3833e+00,DOWN_FORCE_DETACH,1.6528e-03,2.0956e-02,2.0142e-02,2.4798e+00,-3.8138e-02,3.8244e-02,3.5461e-05,4.8000e-02,1.9164e-02,2.8302e-02,-1.2379e-03,3.3783e-03,8.4104e-05,5.8926e-02,3.5989e-03
+13,6.9667e+00,DOWN_FORCE_DETACH,1.7846e-03,2.1507e-02,2.2442e-02,2.4819e+00,-3.8288e-02,3.8286e-02,4.0261e-05,4.8551e-02,2.1464e-02,3.0356e-02,-1.3880e-03,3.4201e-03,8.8904e-05,6.1151e-02,3.6921e-03
+14,7.6500e+00,DOWN_FORCE_DETACH,1.9272e-03,2.0463e-02,2.2738e-02,2.4763e+00,-3.8306e-02,3.8214e-02,3.9357e-05,4.7507e-02,2.1759e-02,2.4787e-02,-1.4059e-03,3.3487e-03,8.8000e-05,5.7834e-02,3.6329e-03
+15,8.2667e+00,DOWN_FORCE_DETACH,2.0625e-03,2.3245e-02,2.3310e-02,2.4853e+00,-3.8347e-02,3.8401e-02,3.5156e-05,5.0289e-02,2.2332e-02,3.3767e-02,-1.4467e-03,3.5358e-03,8.3799e-05,6.4560e-02,3.8212e-03
+16,8.7500e+00,DOWN_FORCE_DETACH,2.2241e-03,2.5379e-02,2.5845e-02,2.4956e+00,-3.8527e-02,3.8544e-02,3.1587e-05,5.2423e-02,2.4867e-02,4.4137e-02,-1.6264e-03,3.6787e-03,8.0230e-05,7.2901e-02,4.0230e-03
+17,9.1667e+00,DOWN_FORCE_DETACH,2.3364e-03,3.7368e-03,2.2840e-02,2.4949e+00,-3.8327e-02,3.7026e-02,2.4173e-05,3.0781e-02,2.1862e-02,4.3434e-02,-1.4261e-03,2.1606e-03,7.2816e-05,5.7549e-02,2.5899e-03
+18,9.5333e+00,DOWN_FORCE_DETACH,2.4769e-03,1.0301e-02,2.5477e-02,2.5167e+00,-3.8518e-02,3.7457e-02,2.7652e-05,3.7344e-02,2.4498e-02,6.5231e-02,-1.6178e-03,2.5916e-03,7.6296e-05,7.9056e-02,3.0561e-03
+19,1.0017e+01,DOWN_FORCE_DETACH,2.6135e-03,1.9878e-02,2.7025e-02,2.5337e+00,-3.8638e-02,3.8102e-02,3.2747e-05,4.6922e-02,2.6047e-02,8.2198e-02,-1.7372e-03,3.2359e-03,8.1390e-05,9.8166e-02,3.6736e-03
+20,1.0517e+01,DOWN_FORCE_DETACH,2.7522e-03,2.4801e-02,2.8587e-02,2.5497e+00,-3.8766e-02,3.8435e-02,3.9696e-05,5.1845e-02,2.7609e-02,9.8250e-02,-1.8660e-03,3.5697e-03,8.8339e-05,1.1447e-01,4.0290e-03
+21,1.1000e+01,DOWN_FORCE_DETACH,2.8900e-03,2.2955e-02,3.0977e-02,2.5577e+00,-3.8944e-02,3.8297e-02,4.8543e-05,4.9998e-02,2.9998e-02,1.0623e-01,-2.0440e-03,3.4315e-03,9.7186e-05,1.2118e-01,3.9953e-03
+22,1.1383e+01,DOWN_FORCE_DETACH,3.0223e-03,2.2994e-02,3.0432e-02,2.5750e+00,-3.8914e-02,3.8288e-02,5.8537e-05,5.0038e-02,2.9454e-02,1.2354e-01,-2.0134e-03,3.4227e-03,1.0718e-04,1.3651e-01,3.9724e-03
+23,1.1783e+01,DOWN_FORCE_DETACH,3.1626e-03,2.5263e-02,3.1903e-02,2.5918e+00,-3.9007e-02,3.8435e-02,6.8265e-05,5.2307e-02,3.0924e-02,1.4032e-01,-2.1067e-03,3.5689e-03,1.1691e-04,1.5291e-01,4.1459e-03
+24,1.2217e+01,DOWN_FORCE_DETACH,3.2998e-03,2.4557e-02,3.4260e-02,2.5992e+00,-3.9138e-02,3.8394e-02,8.0531e-05,5.1601e-02,3.3282e-02,1.4767e-01,-2.2375e-03,3.5285e-03,1.2917e-04,1.5993e-01,4.1801e-03
+25,1.2633e+01,DOWN_FORCE_DETACH,3.4357e-03,2.1899e-02,3.6529e-02,2.6036e+00,-3.9231e-02,3.8211e-02,8.9247e-05,4.8943e-02,3.5551e-02,1.5212e-01,-2.3309e-03,3.3449e-03,1.3789e-04,1.6371e-01,4.0793e-03
+26,1.3017e+01,DOWN_FORCE_DETACH,3.5779e-03,2.2680e-02,3.8427e-02,2.6155e+00,-3.9279e-02,3.8254e-02,9.1512e-05,4.9724e-02,3.7448e-02,1.6399e-01,-2.3782e-03,3.3886e-03,1.4016e-04,1.7540e-01,4.1422e-03
+27,1.3417e+01,DOWN_FORCE_DETACH,3.7145e-03,2.2533e-02,3.7092e-02,2.6287e+00,-3.9129e-02,3.8233e-02,8.6466e-05,4.9577e-02,3.6113e-02,1.7725e-01,-2.2287e-03,3.3669e-03,1.3511e-04,1.8756e-01,4.0400e-03
+28,1.3767e+01,DOWN_FORCE_DETACH,3.8538e-03,2.3592e-02,3.7675e-02,2.6412e+00,-3.9173e-02,3.8295e-02,8.0257e-05,5.0636e-02,3.6697e-02,1.8968e-01,-2.2729e-03,3.4288e-03,1.2890e-04,1.9972e-01,4.1158e-03
+29,1.4100e+01,DOWN_FORCE_DETACH,3.9878e-03,2.4513e-02,3.7633e-02,2.6537e+00,-3.9205e-02,3.8349e-02,6.9964e-05,5.1557e-02,3.6655e-02,2.0217e-01,-2.3045e-03,3.4833e-03,1.1861e-04,2.1183e-01,4.1783e-03
+30,1.4400e+01,DOWN_FORCE_DETACH,4.1276e-03,2.7598e-02,3.7783e-02,2.6654e+00,-3.9243e-02,3.8548e-02,5.6107e-05,5.4642e-02,3.6805e-02,2.1387e-01,-2.3430e-03,3.6819e-03,1.0475e-04,2.2379e-01,4.3654e-03
+31,1.4700e+01,DOWN_FORCE_DETACH,4.2644e-03,2.5972e-02,3.5124e-02,2.6784e+00,-3.9081e-02,3.8423e-02,4.1688e-05,5.3016e-02,3.4145e-02,2.2688e-01,-2.1805e-03,3.5568e-03,9.0331e-05,2.3548e-01,4.1730e-03
+32,1.5017e+01,DOWN_FORCE_DETACH,4.4060e-03,2.6635e-02,3.7714e-02,2.6921e+00,-3.9249e-02,3.8458e-02,3.0922e-05,5.3679e-02,3.6735e-02,2.4057e-01,-2.3489e-03,3.5927e-03,7.9565e-05,2.4921e-01,4.2932e-03
+33,1.5333e+01,DOWN_FORCE_DETACH,4.5380e-03,2.3904e-02,4.2290e-02,2.6957e+00,-3.9525e-02,3.8279e-02,2.3446e-05,5.0948e-02,4.1312e-02,2.4416e-01,-2.6251e-03,3.4135e-03,7.2089e-05,2.5282e-01,4.3067e-03
+34,1.5633e+01,DOWN_FORCE_DETACH,4.6730e-03,2.1947e-02,4.4757e-02,2.6948e+00,-3.9650e-02,3.8147e-02,1.7982e-05,4.8991e-02,4.3778e-02,2.4326e-01,-2.7497e-03,3.2811e-03,6.6625e-05,2.5197e-01,4.2815e-03
+35,1.5933e+01,DOWN_FORCE_DETACH,4.8155e-03,2.4692e-02,4.5342e-02,2.7048e+00,-3.9666e-02,3.8317e-02,1.5547e-05,5.1736e-02,4.4364e-02,2.5329e-01,-2.7654e-03,3.4513e-03,6.4190e-05,2.6230e-01,4.4230e-03
+36,1.6183e+01,DOWN_FORCE_DETACH,4.9500e-03,2.5274e-02,4.5889e-02,2.7166e+00,-3.9704e-02,3.8344e-02,1.4684e-05,5.2318e-02,4.4911e-02,2.6512e-01,-2.8037e-03,3.4784e-03,6.3327e-05,2.7394e-01,4.4681e-03
+37,1.6433e+01,DOWN_FORCE_DETACH,5.0878e-03,2.6885e-02,4.6990e-02,2.7269e+00,-3.9777e-02,3.8445e-02,1.0564e-05,5.3928e-02,4.6012e-02,2.7544e-01,-2.8764e-03,3.5790e-03,5.9208e-05,2.8442e-01,4.5920e-03
+38,1.6683e+01,DOWN_FORCE_DETACH,5.2295e-03,2.4432e-02,5.2193e-02,2.7321e+00,-4.0087e-02,3.8279e-02,2.7908e-06,5.1476e-02,5.1214e-02,2.8064e-01,-3.1868e-03,3.4135e-03,5.1434e-05,2.8988e-01,4.6701e-03
+39,1.6900e+01,DOWN_FORCE_DETACH,5.3600e-03,2.3567e-02,5.5740e-02,2.7407e+00,-4.0263e-02,3.8216e-02,-5.2475e-06,5.0611e-02,5.4762e-02,2.8922e-01,-3.3624e-03,3.3505e-03,4.3396e-05,2.9868e-01,4.7469e-03
+40,1.7133e+01,DOWN_FORCE_DETACH,5.4992e-03,2.3333e-02,5.9086e-02,2.7563e+00,-4.0418e-02,3.8187e-02,-8.9911e-06,5.0377e-02,5.8108e-02,3.0475e-01,-3.5174e-03,3.3208e-03,3.9652e-05,3.1431e-01,4.8375e-03
+41,1.7333e+01,DOWN_FORCE_DETACH,5.6320e-03,2.5478e-02,5.9683e-02,2.7575e+00,-4.0428e-02,3.8322e-02,-8.3854e-06,5.2522e-02,5.8704e-02,3.0601e-01,-3.5271e-03,3.4563e-03,4.0258e-05,3.1598e-01,4.9384e-03
+42,1.7533e+01,DOWN_FORCE_DETACH,5.7729e-03,2.7739e-02,5.7630e-02,2.7730e+00,-4.0285e-02,3.8461e-02,-8.0144e-06,5.4782e-02,5.6651e-02,3.2152e-01,-3.3849e-03,3.5957e-03,4.0629e-05,3.3104e-01,4.9384e-03
+43,1.7717e+01,DOWN_FORCE_DETACH,5.9075e-03,2.8255e-02,5.7373e-02,2.7842e+00,-4.0268e-02,3.8485e-02,-9.3505e-06,5.5299e-02,5.6394e-02,3.3270e-01,-3.3679e-03,3.6189e-03,3.9293e-05,3.4195e-01,4.9438e-03
+44,1.7917e+01,DOWN_FORCE_DETACH,6.0509e-03,2.6984e-02,5.8662e-02,2.7916e+00,-4.0344e-02,3.8392e-02,-1.2686e-05,5.4028e-02,5.7683e-02,3.4006e-01,-3.4440e-03,3.5260e-03,3.5957e-05,3.4913e-01,4.9290e-03
+45,1.8100e+01,DOWN_FORCE_DETACH,6.1846e-03,2.3163e-02,6.1724e-02,2.7949e+00,-4.0527e-02,3.8130e-02,-1.6533e-05,5.0207e-02,6.0746e-02,3.4341e-01,-3.6271e-03,3.2648e-03,3.2110e-05,3.5234e-01,4.8801e-03
+46,1.8283e+01,DOWN_FORCE_DETACH,6.3254e-03,2.3726e-02,6.5443e-02,2.7998e+00,-4.0739e-02,3.8156e-02,-1.9328e-05,5.0770e-02,6.4464e-02,3.4831e-01,-3.8383e-03,3.2903e-03,2.9316e-05,3.5784e-01,5.0557e-03
+47,1.8450e+01,DOWN_FORCE_DETACH,6.4628e-03,2.4513e-02,6.5870e-02,2.8036e+00,-4.0740e-02,3.8201e-02,-2.1014e-05,5.1556e-02,6.4892e-02,3.5208e-01,-3.8400e-03,3.3354e-03,2.7629e-05,3.6171e-01,5.0864e-03
+48,1.8617e+01,DOWN_FORCE_DETACH,6.5987e-03,2.5247e-02,6.4975e-02,2.8066e+00,-4.0671e-02,3.8252e-02,-2.3273e-05,5.2291e-02,6.3996e-02,3.5509e-01,-3.7703e-03,3.3860e-03,2.5370e-05,3.6458e-01,5.0676e-03
+49,1.8783e+01,DOWN_FORCE_DETACH,6.7401e-03,2.6235e-02,6.5567e-02,2.8157e+00,-4.0688e-02,3.8320e-02,-2.7707e-05,5.3279e-02,6.4589e-02,3.6419e-01,-3.7880e-03,3.4540e-03,2.0937e-05,3.7369e-01,5.1264e-03
+50,1.8933e+01,DOWN_FORCE_DETACH,6.8719e-03,2.6395e-02,6.9853e-02,2.8201e+00,-4.0929e-02,3.8329e-02,-3.3848e-05,5.3439e-02,6.8874e-02,3.6865e-01,-4.0291e-03,3.4635e-03,1.4796e-05,3.7882e-01,5.3132e-03
+51,1.9117e+01,DOWN_FORCE_DETACH,7.0180e-03,2.6542e-02,7.2589e-02,2.8230e+00,-4.1058e-02,3.8333e-02,-4.0124e-05,5.3586e-02,7.1611e-02,3.7155e-01,-4.1574e-03,3.4669e-03,8.5196e-06,3.8216e-01,5.4133e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b9190b8e97d85b50b32d22907cff25495e52960
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b1c813286183e9082c6c23783aea59e6d1c4f29
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e143ba8f9f36d9663acb97cddee315fe44ba6213
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.833333333e-01,WAIT_W2,1792666546955954952,6.165744132e-07,-1.477407408e-06,-2.409315921e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.306009844e-07,1.960324162e-09,1.571584093e-07,7.015384881e-01,7.355391305e-08,8.407385319e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293253e-01,1.758279050e-06,8.295728463e-01
+7,5.666666667e-01,WAIT_W2,1792666547122097810,5.086608369e-07,-4.947260194e-06,-5.076646419e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.728822270e-07,2.338174182e-09,1.764146106e-07,7.015383801e-01,-3.396298873e-06,8.407404335e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293675e-01,1.758656900e-06,8.295728655e-01
+8,6.333333333e-01,WAIT_W2,1792666547255897156,2.274828283e-06,4.684686701e-07,1.174472531e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.046592857e-07,2.619677206e-09,1.906777475e-07,7.015401463e-01,2.019429991e-06,8.407421157e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293993e-01,1.758938403e-06,8.295728798e-01
+9,7.166666667e-01,WAIT_W2,1792666547424102380,2.087925169e-06,-3.766871387e-06,8.732689156e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.418794648e-07,2.996591041e-09,2.071828731e-07,7.015399594e-01,-2.215910066e-06,8.407418145e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294365e-01,1.759315317e-06,8.295728963e-01
+10,8.500000000e-01,WAIT_W2,1792666547687888346,2.845036818e-06,3.689311732e-06,1.059186497e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.962246996e-07,3.620749790e-09,2.308125627e-07,7.015407165e-01,5.240273053e-06,8.407420004e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294909e-01,1.759939475e-06,8.295729199e-01
+11,9.166666667e-01,WAIT_W2,1792666547820146261,1.943656528e-06,5.615280388e-06,-2.493163287e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.211908022e-07,3.968357625e-09,2.414500518e-07,7.015398151e-01,7.166241709e-06,8.407409163e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295158e-01,1.760287083e-06,8.295729306e-01
+12,1.033333333e+00,WAIT_W2,1792666548053896892,3.815460956e-06,4.005996748e-06,-2.264025620e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.617051333e-07,4.575897531e-09,2.583989330e-07,7.015416869e-01,5.556958069e-06,8.407407148e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295564e-01,1.760894623e-06,8.295729475e-01
+13,1.100000000e+00,WAIT_W2,1792666548186053860,4.339320307e-06,4.894346791e-06,1.557137861e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.831828273e-07,4.931966269e-09,2.672246086e-07,7.015422108e-01,6.445308112e-06,8.407424983e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295778e-01,1.761250692e-06,8.295729563e-01
+14,1.200000000e+00,WAIT_W2,1792666548385965726,4.470145954e-06,9.474241929e-06,2.135837386e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.132988050e-07,5.445698947e-09,2.793771260e-07,7.015423416e-01,1.102520325e-05,8.407430770e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296080e-01,1.761764425e-06,8.295729685e-01
+15,1.266666667e+00,WAIT_W2,1792666548520064093,2.958377630e-06,-1.678237269e-07,1.008620365e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.320629715e-07,5.793626835e-09,2.868218503e-07,7.015408299e-01,1.383137594e-06,8.407419498e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296267e-01,1.762112352e-06,8.295729759e-01
+16,1.350000000e+00,WAIT_W2,1792666548687881404,8.221043808e-07,-9.267856009e-06,-4.201108176e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.541708555e-07,6.197577064e-09,2.954511397e-07,7.015386936e-01,-7.716894688e-06,8.407405211e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296488e-01,1.762516303e-06,8.295729846e-01
+17,1.483333333e+00,UP_FORCE_RAMP,1792666548951885973,1.908741967e-06,-1.264513463e-05,9.308971006e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.866427574e-07,6.820128474e-09,3.078302969e-07,7.015397802e-01,-1.109417331e-05,8.407418721e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296813e-01,1.763138854e-06,8.295729970e-01
+18,1.566666667e+00,UP_FORCE_RAMP,1792666549129145738,2.475006284e-06,-1.729878024e-05,2.344904198e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.052630800e-07,7.199198135e-09,3.147602053e-07,7.015403465e-01,-1.574781892e-05,8.407432861e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296999e-01,1.763517924e-06,8.295730039e-01
+19,1.650000000e+00,UP_FORCE_RAMP,1792666549284578833,9.357794446e-07,-2.217050347e-05,1.602393317e-06,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.155407162e-06,-2.271693514e-05,2.053968675e-06,7.015388073e-01,-2.061954215e-05,8.407425436e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017321501e-01,-2.096061641e-05,8.295747431e-01
+20,1.800000000e+00,UP_FORCE_RAMP,1792666549549907530,2.602834502e-06,-2.574951308e-05,1.828138089e-06,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.190165633e-06,-2.272458250e-05,2.069864587e-06,7.015404743e-01,-2.419855176e-05,8.407427693e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017321848e-01,-2.096826378e-05,8.295747590e-01
+21,1.883333333e+00,UP_FORCE_RAMP,1792666549715894625,5.385080464e-07,-3.216679654e-05,-7.468452309e-07,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.207374097e-06,-2.272540172e-05,2.077478940e-06,7.015384100e-01,-3.061583521e-05,8.407401943e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017322020e-01,-2.096908299e-05,8.295747666e-01
+22,2.000000000e+00,UP_FORCE_RAMP,1792666549950481124,-3.942184579e-09,-3.846780447e-05,-5.347884426e-07,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.229553575e-06,-2.272569178e-05,2.087097126e-06,7.015378675e-01,-3.691684315e-05,8.407404064e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017322242e-01,-2.096937306e-05,8.295747762e-01
+23,2.116666667e+00,UP_FORCE_RAMP,1792666550147890590,4.664813555e-06,-3.991381681e-05,4.990553322e-06,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.249786216e-06,-2.272567641e-05,2.095661380e-06,7.015425363e-01,-3.836285549e-05,8.407459317e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017322444e-01,-2.096935769e-05,8.295747848e-01
+24,2.200000000e+00,UP_FORCE_RAMP,1792666550315965277,4.262528149e-07,-4.078303722e-05,1.230697976e-06,2.378266258e-06,-2.278283945e-05,1.800278319e-06,3.263144073e-06,-2.272560721e-05,2.101206286e-06,7.015382977e-01,-3.923207590e-05,8.407421719e-01,7.015402497e-01,-2.123187812e-05,8.407427415e-01,7.017322578e-01,-2.096928848e-05,8.295747903e-01
+25,2.283333333e+00,UP_FORCE_RAMP,1792666550484062037,1.023352620e-06,-4.772641933e-05,2.031778452e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.074995391e-06,-4.474447616e-05,4.270449512e-06,7.015388948e-01,-4.617545801e-05,8.407429730e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017320697e-01,-4.298815743e-05,8.295769596e-01
+26,2.366666667e+00,UP_FORCE_RAMP,1792666550647882985,3.043350327e-06,-4.575244299e-05,5.706689289e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.086535887e-06,-4.475204319e-05,4.279831386e-06,7.015409148e-01,-4.420148167e-05,8.407466479e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017320812e-01,-4.299572447e-05,8.295769690e-01
+27,2.433333333e+00,UP_FORCE_RAMP,1792666550748021961,3.559454312e-06,-4.400168137e-05,5.973011321e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.095308547e-06,-4.475429542e-05,4.286369261e-06,7.015414309e-01,-4.245072005e-05,8.407469142e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017320900e-01,-4.299797669e-05,8.295769755e-01
+28,2.516666667e+00,UP_FORCE_RAMP,1792666550915881928,1.858106746e-08,-4.981485512e-05,2.842107303e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.105621337e-06,-4.475553790e-05,4.293802378e-06,7.015378901e-01,-4.826389379e-05,8.407437833e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017321003e-01,-4.299921917e-05,8.295769829e-01
+29,2.600000000e+00,UP_FORCE_RAMP,1792666551082203466,-6.596729518e-08,-5.098405863e-05,3.786727558e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.115269282e-06,-4.475610819e-05,4.300579138e-06,7.015378055e-01,-4.943309731e-05,8.407447279e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017321099e-01,-4.299978947e-05,8.295769897e-01
+30,2.666666667e+00,UP_FORCE_RAMP,1792666551214693287,3.421492437e-07,-5.196708357e-05,4.896199327e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.122551526e-06,-4.475636960e-05,4.305592251e-06,7.015382136e-01,-5.041612224e-05,8.407458374e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017321172e-01,-4.300005088e-05,8.295769947e-01
+31,2.783333333e+00,UP_FORCE_RAMP,1792666551411907136,3.458701078e-07,-5.263824035e-05,8.637519464e-06,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.134462620e-06,-4.475668341e-05,4.313583353e-06,7.015382174e-01,-5.108727903e-05,8.407495787e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017321291e-01,-4.300036469e-05,8.295770027e-01
+32,2.916666667e+00,UP_FORCE_RAMP,1792666551679855528,1.195404752e-06,-5.334749431e-05,1.147905041e-05,2.202021695e-06,-4.482212235e-05,3.947113026e-06,3.146811751e-06,-4.475691388e-05,4.321661150e-06,7.015390669e-01,-5.179653299e-05,8.407524202e-01,7.015400735e-01,-4.327116103e-05,8.407448883e-01,7.017321415e-01,-4.300059515e-05,8.295770108e-01
+33,3.000000000e+00,UP_FORCE_RAMP,1792666551845998950,4.929250468e-06,-6.008266466e-05,1.932711953e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.078996583e-06,-5.988643483e-05,1.932980853e-05,7.015428007e-01,-5.853170334e-05,8.407602683e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017350737e-01,-5.813011610e-05,8.295920189e-01
+34,3.083333333e+00,UP_FORCE_RAMP,1792666551979866552,1.530330816e-06,-5.224029536e-05,1.643581574e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.091538896e-06,-5.990413162e-05,1.938595772e-05,7.015394018e-01,-5.068933403e-05,8.407573770e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017350862e-01,-5.814781289e-05,8.295920751e-01
+35,3.183333333e+00,UP_FORCE_RAMP,1792666552182621939,4.799487544e-06,-5.767777644e-05,2.457904932e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.103688859e-06,-5.990772198e-05,1.942587929e-05,7.015426710e-01,-5.612681511e-05,8.407655202e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017350983e-01,-5.815140325e-05,8.295921150e-01
+36,3.316666667e+00,UP_FORCE_RAMP,1792666552444775927,3.337205328e-06,-5.422586859e-05,2.440436224e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.118022026e-06,-5.990907074e-05,1.946855739e-05,7.015412087e-01,-5.267490727e-05,8.407653455e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017351127e-01,-5.815275202e-05,8.295921577e-01
+37,3.383333333e+00,UP_FORCE_RAMP,1792666552576106750,5.941292563e-06,-5.654821999e-05,3.203987529e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.124654817e-06,-5.990935864e-05,1.948711122e-05,7.015438128e-01,-5.499725867e-05,8.407729811e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017351193e-01,-5.815303991e-05,8.295921762e-01
+38,3.483333333e+00,UP_FORCE_RAMP,1792666552743856837,7.294093012e-06,-5.628776333e-05,3.570511227e-05,4.998766315e-06,-5.999994101e-05,1.934752453e-05,6.134077078e-06,-5.990964644e-05,1.951221726e-05,7.015451656e-01,-5.473680201e-05,8.407766463e-01,7.015428702e-01,-5.844897969e-05,8.407602887e-01,7.017351287e-01,-5.815332772e-05,8.295922013e-01
+39,3.600000000e+00,UP_FORCE_RAMP,1792666552977963727,8.200418043e-06,-5.923953271e-05,4.011204596e-05,8.294660471e-06,-5.928083953e-05,3.999864852e-05,9.499861443e-06,-5.921792975e-05,3.976886005e-05,7.015460719e-01,-5.768857139e-05,8.407810532e-01,7.015461661e-01,-5.772987821e-05,8.407809398e-01,7.017384945e-01,-5.746161102e-05,8.296124580e-01
+40,3.700000000e+00,UP_FORCE_RAMP,1792666553176691326,8.261022065e-06,-5.541362493e-05,4.253232394e-05,8.294660471e-06,-5.928083953e-05,3.999864852e-05,9.517134895e-06,-5.921738483e-05,3.986444291e-05,7.015461325e-01,-5.386266360e-05,8.407834735e-01,7.015461661e-01,-5.772987821e-05,8.407809398e-01,7.017385118e-01,-5.746106610e-05,8.296125536e-01
+41,3.766666667e+00,UP_FORCE_RAMP,1792666553276377951,7.546779902e-06,-5.914055957e-05,4.122959363e-05,8.294660471e-06,-5.928083953e-05,3.999864852e-05,9.525712109e-06,-5.921714022e-05,3.990800463e-05,7.015454183e-01,-5.758959825e-05,8.407821708e-01,7.015461661e-01,-5.772987821e-05,8.407809398e-01,7.017385204e-01,-5.746082149e-05,8.296125971e-01
+42,3.866666667e+00,UP_FORCE_RAMP,1792666553476061070,1.004397276e-05,-5.802856532e-05,4.774866525e-05,8.294660471e-06,-5.928083953e-05,3.999864852e-05,9.537573566e-06,-5.921702679e-05,3.996387262e-05,7.015479155e-01,-5.647760399e-05,8.407886899e-01,7.015461661e-01,-5.772987821e-05,8.407809398e-01,7.017385322e-01,-5.746070806e-05,8.296126530e-01
+43,3.950000000e+00,UP_FORCE_RAMP,1792666553643864706,1.259023934e-05,-6.138254191e-05,6.007142798e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.397112153e-05,-6.127926750e-05,5.959699139e-05,7.015504617e-01,-5.983158058e-05,8.408010126e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017429658e-01,-5.952294877e-05,8.296322861e-01
+44,4.016666667e+00,UP_FORCE_RAMP,1792666553775903744,1.124811405e-05,-6.060061965e-05,5.891844107e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.398791011e-05,-6.128143428e-05,5.968184800e-05,7.015491196e-01,-5.904965833e-05,8.407998596e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017429826e-01,-5.952511555e-05,8.296323710e-01
+45,4.116666667e+00,UP_FORCE_RAMP,1792666553939927360,1.237097591e-05,-5.717999499e-05,5.973928730e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.400535968e-05,-6.128179836e-05,5.977049307e-05,7.015502425e-01,-5.562903366e-05,8.408006805e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430000e-01,-5.952547964e-05,8.296324596e-01
+46,4.233333333e+00,UP_FORCE_RAMP,1792666554173922062,1.493117797e-05,-5.881205602e-05,6.631064103e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.402350827e-05,-6.128190312e-05,5.985521067e-05,7.015528027e-01,-5.726109470e-05,8.408072518e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430182e-01,-5.952558440e-05,8.296325443e-01
+47,4.283333333e+00,UP_FORCE_RAMP,1792666554276105791,1.515881266e-05,-5.935790550e-05,6.696024831e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.403084552e-05,-6.128191947e-05,5.988732852e-05,7.015530303e-01,-5.780694418e-05,8.408079014e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430255e-01,-5.952560074e-05,8.296325765e-01
+48,4.366666667e+00,UP_FORCE_RAMP,1792666554441810816,1.467053351e-05,-5.916837243e-05,6.648372314e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.404253074e-05,-6.128199078e-05,5.993628042e-05,7.015525420e-01,-5.761741111e-05,8.408074249e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430372e-01,-5.952567205e-05,8.296326254e-01
+49,4.433333333e+00,UP_FORCE_RAMP,1792666554573845148,1.480081324e-05,-6.577637980e-05,6.663176060e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.405144198e-05,-6.128204001e-05,5.997176703e-05,7.015526723e-01,-6.422541848e-05,8.408075729e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430461e-01,-5.952572129e-05,8.296326609e-01
+50,4.533333333e+00,UP_FORCE_RAMP,1792666554773853674,1.494129416e-05,-6.121091242e-05,6.723013407e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.406412298e-05,-6.128211368e-05,6.001956847e-05,7.015528128e-01,-5.965995110e-05,8.408081713e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430588e-01,-5.952579495e-05,8.296327087e-01
+51,4.633333333e+00,UP_FORCE_RAMP,1792666554973924942,1.515000417e-05,-5.355818743e-05,6.854850691e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.407605497e-05,-6.128219946e-05,6.006154457e-05,7.015530215e-01,-5.200722611e-05,8.408094897e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430707e-01,-5.952588074e-05,8.296327507e-01
+52,4.716666667e+00,UP_FORCE_RAMP,1792666555140023992,1.618182356e-05,-5.641884920e-05,7.062178981e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.408536754e-05,-6.128227651e-05,6.009263663e-05,7.015540533e-01,-5.486788788e-05,8.408115630e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430800e-01,-5.952595779e-05,8.296327818e-01
+53,4.766666667e+00,UP_FORCE_RAMP,1792666555237963940,1.429181175e-05,-5.708246488e-05,6.878097102e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.409070930e-05,-6.128232475e-05,6.010974926e-05,7.015521633e-01,-5.553150356e-05,8.408097222e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430854e-01,-5.952600603e-05,8.296327989e-01
+54,4.816666667e+00,UP_FORCE_RAMP,1792666555339845426,1.604941946e-05,-5.316294539e-05,7.264853824e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.409587211e-05,-6.128237379e-05,6.012579325e-05,7.015539209e-01,-5.161198407e-05,8.408135897e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017430905e-01,-5.952605506e-05,8.296328149e-01
+55,4.916666667e+00,UP_FORCE_RAMP,1792666555542197951,1.669460742e-05,-6.211089138e-05,7.514564262e-05,1.260757810e-05,-6.134136331e-05,5.999933500e-05,1.410567633e-05,-6.128248364e-05,6.015493294e-05,7.015545661e-01,-6.055993006e-05,8.408160868e-01,7.015504791e-01,-5.979040199e-05,8.408009405e-01,7.017431003e-01,-5.952616492e-05,8.296328441e-01
+56,5.016666667e+00,UP_FORCE_RAMP,1792666555742934486,1.670372068e-05,-5.959610993e-05,8.132374611e-05,1.687931499e-05,-5.946824388e-05,8.149048728e-05,1.854588234e-05,-5.939669068e-05,8.117299714e-05,7.015545752e-01,-5.804514861e-05,8.408222649e-01,7.015547508e-01,-5.791728256e-05,8.408224317e-01,7.017475405e-01,-5.764037196e-05,8.296538621e-01
+57,5.066666667e+00,UP_FORCE_HOLD,1792666555838556127,2.019582175e-05,-5.688775706e-05,9.590675416e-05,1.687931499e-05,-5.946824388e-05,8.149048728e-05,1.855882831e-05,-5.939570219e-05,8.123293343e-05,7.015580673e-01,-5.533679574e-05,8.408368479e-01,7.015547508e-01,-5.791728256e-05,8.408224317e-01,7.017475535e-01,-5.763938347e-05,8.296539221e-01
+58,5.150000000e+00,UP_FORCE_HOLD,1792666556003838831,2.455090411e-05,-5.303820633e-05,1.030460417e-04,2.389907581e-05,-5.717719973e-05,1.028748950e-04,2.574675858e-05,-5.708588627e-05,1.023285611e-04,7.015624224e-01,-5.148724501e-05,8.408439872e-01,7.015617706e-01,-5.562623841e-05,8.408438161e-01,7.017547414e-01,-5.532956754e-05,8.296750177e-01
+59,5.200000000e+00,UP_FORCE_HOLD,1792666556103833381,2.154370978e-05,-5.453069286e-05,1.014565427e-04,2.389907581e-05,-5.717719973e-05,1.028748950e-04,2.576027027e-05,-5.708504079e-05,1.023891190e-04,7.015594152e-01,-5.297973154e-05,8.408423977e-01,7.015617706e-01,-5.562623841e-05,8.408438161e-01,7.017547549e-01,-5.532872206e-05,8.296750782e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d46d5601ea04f48c4ea6099fce6994bdf564af3f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_08/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-2.6450e-02,9.8095e-04,2.4519e+00,-3.6901e-02,3.4906e-02,-4.9208e-05,5.9341e-04,2.5884e-06,3.5882e-04,-8.4564e-07,4.0762e-05,-5.6421e-07,6.9346e-04,4.0775e-05
+1,6.6667e-02,XJC_ZERO_HOLD_BEFORE_UP,1.9886e-05,-2.4129e-02,9.9540e-04,2.4532e+00,-3.6905e-02,3.5067e-02,-5.1414e-05,2.9151e-03,1.7040e-05,1.7436e-03,-4.3921e-06,2.0085e-04,-2.7709e-06,3.3968e-03,2.0092e-04
+2,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.6943e-05,-2.1896e-02,1.0148e-03,2.4545e+00,-3.6908e-02,3.5221e-02,-5.3535e-05,5.1474e-03,3.6474e-05,3.0475e-03,-8.0578e-06,3.5557e-04,-4.8919e-06,5.9820e-03,3.5569e-04
+3,2.5000e-01,WAIT_W2,6.3943e-05,-1.7909e-02,1.0720e-03,2.4568e+00,-3.6917e-02,3.5501e-02,-5.7819e-05,9.1345e-03,9.3660e-05,5.3425e-03,-1.6116e-05,6.3484e-04,-9.1751e-06,1.0583e-02,6.3511e-04
+4,3.0000e-01,WAIT_W2,8.5786e-05,-1.6373e-02,1.0974e-03,2.4577e+00,-3.6920e-02,3.5609e-02,-5.9562e-05,1.0671e-02,1.1904e-04,6.1898e-03,-1.9342e-05,7.4312e-04,-1.0918e-05,1.2337e-02,7.4345e-04
+5,4.0000e-01,WAIT_W2,1.1043e-04,-1.3520e-02,1.1432e-03,2.4592e+00,-3.6925e-02,3.5810e-02,-6.2760e-05,1.3524e-02,1.6486e-04,7.7205e-03,-2.4918e-05,9.4441e-04,-1.4116e-05,1.5573e-02,9.4484e-04
+6,4.8333e-01,WAIT_W2,1.3258e-04,-1.1329e-02,1.1767e-03,2.4604e+00,-3.6929e-02,3.5965e-02,-6.5128e-05,1.5715e-02,1.9830e-04,8.8658e-03,-2.8767e-05,1.0992e-03,-1.6485e-05,1.8044e-02,1.0997e-03
+7,5.6667e-01,WAIT_W2,1.5403e-04,-9.2819e-03,1.2085e-03,2.4614e+00,-3.6933e-02,3.6110e-02,-6.7268e-05,1.7762e-02,2.3013e-04,9.9216e-03,-3.2164e-05,1.2439e-03,-1.8625e-05,2.0346e-02,1.2444e-03
+8,6.3333e-01,WAIT_W2,1.7404e-04,-7.7524e-03,1.2178e-03,2.4622e+00,-3.6934e-02,3.6218e-02,-6.8801e-05,1.9292e-02,2.3943e-04,1.0697e-02,-3.3524e-05,1.3520e-03,-2.0158e-05,2.2060e-02,1.3526e-03
+9,7.1667e-01,WAIT_W2,1.9675e-04,-5.9555e-03,1.2364e-03,2.4631e+00,-3.6936e-02,3.6345e-02,-7.0508e-05,2.1088e-02,2.5806e-04,1.1596e-02,-3.5428e-05,1.4790e-03,-2.1864e-05,2.4068e-02,1.4796e-03
+10,8.5000e-01,WAIT_W2,2.1827e-04,-3.3303e-03,1.2728e-03,2.4644e+00,-3.6939e-02,3.6530e-02,-7.2791e-05,2.3714e-02,2.9441e-04,1.2888e-02,-3.8378e-05,1.6646e-03,-2.4147e-05,2.6991e-02,1.6652e-03
+11,9.1667e-01,WAIT_W2,2.4183e-04,-2.1250e-03,1.2897e-03,2.4650e+00,-3.6940e-02,3.6616e-02,-7.3739e-05,2.4919e-02,3.1136e-04,1.3469e-02,-3.9559e-05,1.7498e-03,-2.5095e-05,2.8328e-02,1.7504e-03
+12,1.0333e+00,WAIT_W2,2.6368e-04,-1.7434e-04,1.3186e-03,2.4659e+00,-3.6942e-02,3.6753e-02,-7.5109e-05,2.6870e-02,3.4026e-04,1.4394e-02,-4.1295e-05,1.8877e-03,-2.6466e-05,3.0484e-02,1.8884e-03
+13,1.1000e+00,WAIT_W2,2.8488e-04,8.5920e-04,1.3335e-03,2.4664e+00,-3.6942e-02,3.6827e-02,-7.5743e-05,2.7903e-02,3.5518e-04,1.4876e-02,-4.2029e-05,1.9608e-03,-2.7100e-05,3.1623e-02,1.9614e-03
+14,1.2000e+00,WAIT_W2,3.0919e-04,2.3087e-03,1.3558e-03,2.4670e+00,-3.6943e-02,3.6929e-02,-7.6510e-05,2.9353e-02,3.7745e-04,1.5540e-02,-4.2949e-05,2.0633e-03,-2.7866e-05,3.3215e-02,2.0639e-03
+15,1.2667e+00,WAIT_W2,3.3099e-04,3.2119e-03,1.3696e-03,2.4674e+00,-3.6944e-02,3.6993e-02,-7.6908e-05,3.0256e-02,3.9121e-04,1.5945e-02,-4.3381e-05,2.1272e-03,-2.8264e-05,3.4203e-02,2.1278e-03
+16,1.3500e+00,WAIT_W2,3.5160e-04,4.2840e-03,1.3847e-03,2.4679e+00,-3.6944e-02,3.7069e-02,-7.7301e-05,3.1328e-02,4.0634e-04,1.6417e-02,-4.3690e-05,2.2029e-03,-2.8657e-05,3.5371e-02,2.2036e-03
+17,1.4833e+00,UP_FORCE_RAMP,3.7472e-04,5.8500e-03,1.4064e-03,2.4686e+00,-3.6944e-02,3.7179e-02,-7.7692e-05,3.2894e-02,4.2803e-04,1.7093e-02,-4.3806e-05,2.3137e-03,-2.9049e-05,3.7072e-02,2.3143e-03
+18,1.5667e+00,UP_FORCE_RAMP,3.9678e-04,6.7484e-03,1.4179e-03,2.4690e+00,-3.6944e-02,3.7243e-02,-7.7804e-05,3.3792e-02,4.3951e-04,1.7473e-02,-4.3646e-05,2.3772e-03,-2.9160e-05,3.8045e-02,2.3778e-03
+19,1.6500e+00,UP_FORCE_RAMP,4.1754e-04,6.3605e-03,1.1479e-02,2.4674e+00,-3.7669e-02,3.7224e-02,-6.0098e-05,3.3404e-02,1.0501e-02,1.5934e-02,-7.6870e-04,2.3586e-03,-1.1454e-05,3.8471e-02,2.4808e-03
+20,1.8000e+00,UP_FORCE_RAMP,4.4021e-04,7.6295e-03,1.0781e-02,2.4684e+00,-3.7613e-02,3.7311e-02,-5.7967e-05,3.4673e-02,9.8028e-03,1.6937e-02,-7.1298e-04,2.4448e-03,-9.3239e-06,3.9815e-02,2.5466e-03
+21,1.8833e+00,UP_FORCE_RAMP,4.6011e-04,8.3628e-03,1.0595e-02,2.4688e+00,-3.7597e-02,3.7361e-02,-5.7233e-05,3.5407e-02,9.6168e-03,1.7348e-02,-6.9687e-04,2.4952e-03,-8.5899e-06,4.0584e-02,2.5907e-03
+22,2.0000e+00,UP_FORCE_RAMP,4.8330e-04,9.3755e-03,1.0450e-02,2.4694e+00,-3.7583e-02,3.7431e-02,-5.6502e-05,3.6419e-02,9.4717e-03,1.7879e-02,-6.8276e-04,2.5654e-03,-7.8582e-06,4.1662e-02,2.6547e-03
+23,2.1167e+00,UP_FORCE_RAMP,5.0893e-04,1.0291e-02,1.0368e-02,2.4698e+00,-3.7574e-02,3.7495e-02,-5.6095e-05,3.7335e-02,9.3895e-03,1.8334e-02,-6.7374e-04,2.6293e-03,-7.4517e-06,4.2640e-02,2.7143e-03
+24,2.2000e+00,UP_FORCE_RAMP,5.2799e-04,1.0920e-02,1.0325e-02,2.4701e+00,-3.7569e-02,3.7539e-02,-5.5944e-05,3.7964e-02,9.3463e-03,1.8639e-02,-6.6856e-04,2.6734e-03,-7.3004e-06,4.3313e-02,2.7558e-03
+25,2.2833e+00,UP_FORCE_RAMP,5.4901e-04,1.2220e-02,1.9954e-02,2.4678e+00,-3.8261e-02,3.7639e-02,-3.7824e-05,3.9264e-02,1.8975e-02,1.6341e-02,-1.3608e-03,2.7737e-03,1.0820e-05,4.6570e-02,3.0895e-03
+26,2.3667e+00,UP_FORCE_RAMP,5.7555e-04,1.2675e-02,1.8822e-02,2.4694e+00,-3.8166e-02,3.7668e-02,-3.3161e-05,3.9719e-02,1.7844e-02,1.7887e-02,-1.2654e-03,2.8019e-03,1.5482e-05,4.7074e-02,3.0744e-03
+27,2.4333e+00,UP_FORCE_RAMP,5.9193e-04,1.2870e-02,1.8832e-02,2.4693e+00,-3.8166e-02,3.7681e-02,-3.2937e-05,3.9914e-02,1.7854e-02,1.7762e-02,-1.2657e-03,2.8153e-03,1.5707e-05,4.7195e-02,3.0868e-03
+28,2.5167e+00,UP_FORCE_RAMP,6.1465e-04,1.3259e-02,1.8787e-02,2.4695e+00,-3.8162e-02,3.7708e-02,-3.2930e-05,4.0303e-02,1.7808e-02,1.7972e-02,-1.2618e-03,2.8420e-03,1.5713e-05,4.7586e-02,3.1095e-03
+29,2.6000e+00,UP_FORCE_RAMP,6.3982e-04,1.3676e-02,1.8752e-02,2.4698e+00,-3.8159e-02,3.7736e-02,-3.3188e-05,4.0720e-02,1.7773e-02,1.8288e-02,-1.2583e-03,2.8707e-03,1.5455e-05,4.8046e-02,3.1344e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e8e98b3cb031cef287f9ed8d6dd465567766e948
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:c8edd221a5e81f77a5f0d9a6367ff280f4346fea1a6fb20bac48e67bb164766f
+size 51548160
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4027d6713de850a73df92aec5d42eaf585dfb888
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,1.603333e+01,2841,6.962281e-01,1.621899e-02,8.178043e-01,6.848464e-05,-1.708084e-04,-5.004193e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.603333e+01,2842,6.932549e-01,1.729698e-02,8.242414e-01,9.573113e-05,-1.455813e-04,-5.083199e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.603333e+01,2843,6.997761e-01,1.672844e-02,8.143037e-01,6.522418e-06,-1.551172e-04,-4.999183e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.603333e+01,2844,6.997820e-01,1.747567e-02,8.136091e-01,-1.233552e-07,-1.619918e-04,-5.005315e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca9df7b7c3ede4aeb5f5268098b67a61375db041
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+3451,1792666682683144872,35223081000000,1792666682678072112,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760201242533586,-0.00464948549971753,0.0909143486848478,0.9999999871537301,1.8827905396513074e-05,-0.0001281338923047963,1.9042581650560512e-05,0.6761,-0.00453,0.09099376245109982,1.0,0.0,0.0,0.0,0.09805475917889284,0.12166820341936568,0.0059110450541076005,0.008970127120085665,-0.0066359061672687444,6.0963631687027155e-06,0.5466718477576851,0.48981909583153044,-0.012195895317635298,0.03477088882929457,-0.040272281659961495,0.0018971367576908701,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,-0.2528771489687326,0.9136621148362422,1.4220706762815924,-0.257672840203198,-0.9044527017560481,0.5023015351085013,0.6964189101206878,0.0059110450541076005,-0.7256517661609047,-0.7256517661609047,0.035000000000000225,0,0,-2.4999995375278534e-05,-9.999999025923074e-05
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+3630,1792666684175137577,35224573000000,1792666684174071132,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760021748314441,-0.004662874115185157,0.09081646142775542,0.9999999806940697,1.6596171507240737e-05,-0.0001675939000575396,4.1128779871585215e-05,0.6761,-0.00453,0.09090084816884896,1.0,0.0,0.0,0.0,0.1444567465962011,0.11332678616391245,0.4032799029602805,0.007955307856974396,-0.009665968610343821,-0.000361477286058592,0.5930738351749933,0.4814776785760772,0.3851729625885376,0.0337560695661833,-0.04330234410303657,0.0015295631084635754,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,-0.011852742760972711,0.8438963654554401,0.9729929529292347,-0.14627523579920956,-0.5560865298312597,0.46680372426091,0.6964189101206878,0.4032799029602805,-0.2765740428085469,-0.2765740428085469,0.1394399999999983,0,0,-9.95999808420508e-05,-9.999999025923074e-05
+3690,1792666684675117698,35225073000000,1792666684674071371,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760413144682645,-0.004677442697255484,0.09077798672821417,0.9999999912960124,1.0685770000920401e-05,-6.786975028029958e-05,6.426780774701419e-05,0.6761,-0.00453,0.0908448531095612,1.0,0.0,0.0,0.0,0.06619200652344115,0.17377548189027375,0.5350757184578754,0.012869863755556217,-0.0037068814629330413,-0.00033031154756776697,0.5148090951022334,0.5419263743024385,0.5169687780861325,0.03867062546476512,-0.03734325695562579,0.0015607288469544004,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.0042793496436095745,0.8155206221490852,0.6970192506194689,-0.15211098276736756,-0.4036463406416826,0.4500095000938811,0.6964189101206878,0.5350757184578754,-0.0006003404987811045,-0.0006003404987811045,0.17443999999999166,0,0,-0.0001228536426797503,7.591413108822367e-10
+3806,1792666685642103801,35226040000000,1792666685642070940,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760356172454716,-0.004686039686104269,0.0907182674763718,0.9999999895655051,1.103611768308986e-05,-8.157313986990166e-05,7.440350214387757e-05,0.6761,-0.00453,0.09074374969636015,1.0,0.0,0.0,0.0,0.08573793499987092,0.157233764057711,0.7482077472274175,0.011862478746488936,-0.005759459813490221,-0.0004791871540539524,0.5343550235786632,0.5253846564698758,0.7301008068556746,0.03766324045569784,-0.03939583530618297,0.001411853240468215,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.10665652371281295,0.8964349999023443,0.4227900065615489,-0.09775739525024452,-0.21786205149699864,0.4854839355897958,0.6964189101206878,0.7482077472274175,0.2736289035591389,0.2736289035591389,0.24212999999997883,0,0,-8.10694548755445e-05,9.999999025923074e-05
+3930,1792666686675090551,35227073000000,1792666686674071565,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760416916441304,-0.004687460818880191,0.09067508633318552,0.999999990386989,6.908794273475457e-06,-6.756266595140259e-05,7.782314103297304e-05,0.6761,-0.00453,0.09068665237309277,1.0,0.0,0.0,0.0,0.07676378152709395,0.1656799764414814,0.8398414481529587,0.012221222801311285,-0.004774179364874481,-0.0004738627169016934,0.5253808701058862,0.5338308688536462,0.8217345077812158,0.03802198451052019,-0.03841055485756723,0.001417177677620474,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.13776571451437805,0.8841499635610136,0.2746989132865243,-0.08524070537636559,-0.12070544029555674,0.4786833728203762,0.6964189101206878,0.8398414481529587,0.4217199968341635,0.4217199968341635,0.31443999999999067,0,0,-2.9708182834571655e-05,9.997104119386364e-05
+4053,1792666687699976620,35228098000000,1792666687698070684,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760382635359721,-0.0046932662047573055,0.0906548332004965,0.9999999898219177,6.656811726695741e-06,-7.091173938148858e-05,8.20136634317454e-05,0.6761,-0.00453,0.0906753514678051,1.0,0.0,0.0,0.0,0.08463982452291485,0.16134989003858408,0.7996308445805699,0.011827211164497753,-0.004757749520083128,-0.000569520347277058,0.5332569131017071,0.5295007824507488,0.781523904208827,0.03762797287370666,-0.03839412501277588,0.0013215200472451094,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.11229743596099187,0.8518699453853245,0.3564613218579954,-0.08524439825570539,-0.17902477716570675,0.45548091484032116,0.6964189101206878,0.7996308445805699,0.3399575882626924,0.3399575882626924,0.38619000000000553,0,0,-6.550410806853374e-06,-9.820742416367096e-05
+4165,1792666688633029856,35229031000000,1792666688630071492,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760341033676661,-0.004693146749973601,0.0906344700543351,0.9999999891362097,4.3037741626211e-06,-7.752043447396062e-05,8.451334047503522e-05,0.6761,-0.00453,0.09065628600855448,1.0,0.0,0.0,0.0,0.0933271647417796,0.15838593929569006,0.7796159534394173,0.011856406825752078,-0.005736629003967188,-0.0005675248459954356,0.5419442533205718,0.5265368317078548,0.7615090130676744,0.03765716853496098,-0.03937300449665994,0.0013235155485267318,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.08466140674029643,0.8992656328056237,0.3518714412437002,-0.08566146305978092,-0.1900389864580047,0.4858359177831849,0.6964189101206878,0.7796159534394173,0.3445474688769876,0.3445474688769876,0.45150000000001905,0,0,-3.440925287342823e-05,-9.978943646261058e-05
+4261,1792666689433017727,35229831000000,1792666689426071241,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760348655105016,-0.004698998581483893,0.09060575857002608,0.9999999887726803,7.838355738911351e-06,-7.44522313816946e-05,9.106552063680448e-05,0.6761,-0.00453,0.09062168547658454,1.0,0.0,0.0,0.0,0.08263667342748182,0.163465478091194,0.8096590423004377,0.011825285888356511,-0.004759836132490293,-0.0005778682298109661,0.531253762006274,0.5316163705033587,0.7915521019286949,0.03762604759756542,-0.038396211625183044,0.0013131721647112013,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.19270622465282825,0.8667110827612432,0.25404986123157625,-0.0815411427222534,-0.09886798125052235,0.4696231143048365,0.6964189101206878,0.8096590423004377,0.44236904888911155,0.44236904888911155,0.5075000000000306,0,0,-4.85139098379842e-05,1.88950758081063e-05
+4364,1792666690292013732,35230690000000,1792666690286071626,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760386184940386,-0.0046974230370561715,0.0905729708324606,0.9999999885093998,8.688218776305364e-06,-6.888725722434976e-05,9.799553819616503e-05,0.6761,-0.00453,0.09057598220118243,1.0,0.0,0.0,0.0,0.07526011329907922,0.16126847881286682,0.8590243237844407,0.011814739108721398,-0.004770126432493339,-0.000546831279744877,0.5238772018778715,0.5294193712250316,0.8409173834126978,0.0376155008179303,-0.03840650192518609,0.0013442091147772904,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.21276548004075702,0.797607164790383,0.2486491019989355,-0.06408596801959576,-0.09206278022479387,0.4214502789116781,0.6964189101206878,0.8590243237844407,0.44776980812175227,0.44776980812175227,0.567630000000043,0,0,-5.480186050374337e-05,-9.943380427224752e-05
+4405,1792666690632990957,35231031000000,1792666690630070874,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760749033952319,-0.004692292682573645,0.09057987620094275,0.9999999901925272,1.3302424226270004e-05,-3.372809416910525e-05,9.870800987338205e-05,0.6761,-0.00453,0.09055507286520888,1.0,0.0,0.0,0.0,0.020419832243373404,0.2229289815646605,0.7912972469716694,0.016824695304509425,-0.0007991476281027088,-0.0004501564151150135,0.46903692082216564,0.5910798739768253,0.7731903065999265,0.04262545701371833,-0.03443552312079546,0.001440883979407154,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.30681262627061195,0.7820650224028528,0.29039018345945855,-0.05020972035965774,-0.11183724753532602,0.4186061962288708,0.6964189101206878,0.7912972469716694,0.40602872666122924,0.40602872666122924,0.591500000000048,0,0,-6.966380480396962e-05,-9.999999025923074e-05
+4508,1792666691491927825,35231890000000,1792666691490071041,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760790696909489,-0.004696587684990257,0.09052735090623837,0.999999989449683,1.1558790542644867e-05,-2.279085514892559e-05,0.00010904342925575675,0.6761,-0.00453,0.09049163863392336,1.0,0.0,0.0,0.0,0.025556261422190085,0.22329590248475478,0.8904437476276726,0.015758616426118074,0.00020960041168168603,-0.0005260305340550916,0.4741733500009823,0.5914467948969195,0.8723368072559298,0.04155937813532698,-0.033426775081011065,0.0013650098604670758,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.40177018143125065,0.8688638832676264,0.18250807884729342,-0.07845209320720416,-0.020667965385211182,0.4717357329827158,0.6964189101206878,0.8904437476276726,0.5139108312733944,0.5139108312733944,0.6516300000000604,0,0,-6.9482907104372e-05,-9.890005067537117e-05
+4612,1792666692357964454,35232756000000,1792666692354071371,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.676077531837004,-0.004700943781904262,0.09047041164359837,0.9999999890461864,4.918736938993944e-06,-2.335269132406239e-05,0.0001130528610609818,0.6761,-0.00453,0.09043295740742292,1.0,0.0,0.0,0.0,0.03046455679048532,0.2013097476227374,0.9008352840635594,0.014762102788221203,-0.0007843814893519416,-0.000560461073130043,0.47908164536927755,0.5694606400349022,0.8827283436918165,0.04056286449743011,-0.03442075698204469,0.0013305793213921244,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.3910295274940796,0.8359136907548371,0.09837549213243009,-0.0635928346657706,0.03115287411585917,0.45320512794814366,0.6964189101206878,0.9008352840635594,0.5980434179882577,0.5980434179882577,0.712250000000073,0,0,-7.034682827355236e-05,-9.69472639870542e-05
+4708,1792666693158992788,35233556000000,1792666693154070980,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760752328676386,-0.0046879858789127225,0.0904126571262314,0.9999999906956933,-9.280218585512381e-05,-2.1943028459909166e-05,3.094730304010171e-05,0.6761,-0.00453,0.0903733090001166,1.0,0.0,0.0,0.0,0.05424678001163963,0.20254649118597962,0.9410557679653336,0.014751210240746097,-0.0018063191452594093,-0.0006058690507497848,0.5028638685904319,0.5706973835981444,0.9229488275935908,0.040551971949955,-0.03544269463795216,0.0012851713437723826,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.3516926800292369,0.8331397429014715,0.0609664806324289,-0.04582005211293362,0.041267449628083874,0.445120273949863,0.6964189101206878,0.9410557679653336,0.6354524294882589,0.6354524294882589,0.7682500000000846,0,0,-7.801389513148316e-05,-9.997784130988947e-05
+4804,1792666693957972537,35234356000000,1792666693954072010,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760790098969055,-0.004692890339184956,0.09034487681474772,0.9999999908944587,-8.080451286432049e-05,-1.431068472898053e-05,5.4035008133574225e-05,0.6761,-0.00453,0.09030030589376421,1.0,0.0,0.0,0.0,0.06369812736456848,0.20309628081465098,0.9525097083509175,0.014806788480768864,-0.0028224691987613,-0.0006295791154926034,0.5123152159433607,0.5712471732268157,0.9344027679791747,0.04060755018997777,-0.03645884469145405,0.001261461279029564,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.3915906415620571,0.8473549877037836,0.024312190230313967,-0.14549441812634778,0.09026959085628719,0.4770686844536439,0.6964189101206878,0.9525097083509175,0.6721067198903738,0.6721067198903738,0.8242500000000962,0,0,-0.00010085151062463738,-5.5224348731402986e-05
+4896,1792666694724940765,35235123000000,1792666694722072268,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760817712961988,-0.0046972939357304766,0.0902729748132143,0.9999999906816736,-6.59518834555367e-05,-1.2430653071996714e-05,7.466823435646881e-05,0.6761,-0.00453,0.09022068299767509,1.0,0.0,0.0,0.0,0.04943370446009182,0.18698920603134567,0.9703960627043454,0.013765306738092953,-0.0022042638672146037,-0.0006482674335753446,0.49805079303888405,0.5551400984435104,0.9522891223326025,0.03956606844730186,-0.035840639359907354,0.0012427729609468228,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.4070927408280834,0.8802993671706871,-0.07083123195662896,-0.08550557045682619,0.13907041879207868,0.4863497588188391,0.6964189101206878,0.9703960627043454,0.7672501420773168,0.7672501420773168,0.8779400000001073,0,0,-0.0001036234430942543,9.812818199528834e-05
+4996,1792666695557881840,35235956000000,1792666695554071401,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760797642473751,-0.0047071188673651326,0.0901870658829731,0.9999999900077862,-4.884269711861274e-05,-1.777773267525057e-05,9.341110962514e-05,0.6761,-0.00453,0.0901357656808261,1.0,0.0,0.0,0.0,0.05558679341437067,0.16841942730763398,0.9711613688493339,0.012759308598683461,-0.0027873362289479245,-0.0006687002925609444,0.5042038819931629,0.5365703197197987,0.953054428477591,0.038560070307892366,-0.036423711721640675,0.001222340101961223,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.4353824797986689,0.8217892199663411,-0.06462131710351154,-0.03971287694418016,0.1294049264859563,0.4459292812674184,0.6964189101206878,0.9711613688493339,0.7610402272241994,0.7610402272241994,0.9362500000001194,0,0,-0.0001020668024917778,-9.999965719232335e-05
+5079,1792666696249905093,35236648000000,1792666696246070960,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760776361515838,-0.004706766224621167,0.09011742013205369,0.9999999894848761,-2.9439957548761586e-05,-2.3481400863589096e-05,0.00010514287906992142,0.6761,-0.00453,0.090061663418905,1.0,0.0,0.0,0.0,0.06525923421896662,0.1649557021541453,0.9803359773921165,0.011739528913724678,-0.002849179192964457,-0.0006868691475734991,0.5138763227977589,0.53310659456631,0.9622290370203737,0.037540290622933584,-0.03648555468565721,0.0012041712469486683,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.45432348202664047,0.8208632251797059,-0.07524111578928691,-0.02566361636999699,0.14013906915943844,0.44655447654038904,0.6964189101206878,0.9803359773921165,0.7716600259099747,0.7716600259099747,0.9846900000001294,0,0,-0.00011276987988836774,-9.999999025923074e-05
+5179,1792666697082937814,35237481000000,1792666697082071674,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760811088751749,-0.004711794144826026,0.0900254940684986,0.9999999895712546,-2.2445863876055515e-05,-1.7423403061536667e-05,0.00010720524066214352,0.6761,-0.00453,0.08996160298659236,1.0,0.0,0.0,0.0,0.06525123692898216,0.17477616342713848,0.9901199281817866,0.011737139728714138,-0.0027725328945779545,-0.0006943314775128885,0.5138683255077744,0.5429270558393032,0.9720129878100437,0.037537901437923044,-0.036408908387270705,0.001196708917009279,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.466519708482607,0.7591829172296675,-0.09667152998239958,0.010498387355615223,0.1451082814156349,0.411563251238868,0.6964189101206878,0.9901199281817866,0.7930904401030874,0.7930904401030874,1.0430000000001414,0,0,-0.00012694735282012116,-9.98164703932602e-05
+5263,1792666697782864539,35238181000000,1792666697782071706,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760835270245917,-0.004710578673866621,0.0899372220177419,0.9999999914922666,-3.5393031911268094e-05,-1.0781118133072883e-05,8.419876541880876e-05,0.6761,-0.00453,0.08987120335706619,1.0,0.0,0.0,0.0,0.07456998492766387,0.1770356203069467,1.0103846644096834,0.011825518321772532,-0.003791785187006007,-0.0007244783560321081,0.5231870735064561,0.5451865127191114,0.9922777240379406,0.03762628003098144,-0.03742816067969876,0.0011665620384900593,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.46246738831812323,0.8030607659333877,-0.18562530239826858,0.011911437809300257,0.19076496934036868,0.4447300225232142,0.6964189101206878,1.0103846644096834,0.8820442125189564,0.8820442125189564,1.0920000000001515,0,0,-0.00013044236269885013,-6.0959053109438346e-05
+5343,1792666698449829048,35238848000000,1792666698446073061,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760833972653558,-0.004713621848781079,0.08984816637171424,0.9999999907518956,-2.4096030857991033e-05,-1.5848800690620527e-05,9.54320183423843e-05,0.6761,-0.00453,0.0897819732745835,1.0,0.0,0.0,0.0,0.06792798173479775,0.1550291237917612,1.0098700187645977,0.010820871649664068,-0.0037714300754370447,-0.0007364145217502308,0.51654507031359,0.523180016203926,0.9917630783928547,0.036621633358872974,-0.037407805568129796,0.0011546258727719366,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.4773138415729309,0.8235388133660546,-0.26381068258200735,0.005680537884239381,0.24215991731217437,0.4551249378131035,0.6964189101206878,1.0098700187645977,0.9602295927026951,0.9602295927026951,1.1386900000001612,0,0,-0.000142034493878758,9.999389791038311e-05
+5419,1792666699082888255,35239481000000,1792666699082071367,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760827767765499,-0.004719734533320471,0.0897565174831073,0.9999999895170433,-2.2711228201223885e-05,-1.689465859726989e-05,0.00010773833350111352,0.6761,-0.00453,0.08968941261912235,1.0,0.0,0.0,0.0,0.07425232548404914,0.15399875167022387,1.009837770565662,0.010738302205538994,-0.0037698390760902076,-0.0007364118673321048,0.5228694140628414,0.5221496440823886,0.991730830193919,0.0365390639147479,-0.03740621456878296,0.0011546285271900626,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.4320893458742539,0.7712169655514097,-0.21240271078779774,0.02503459393874514,0.189685564027642,0.42404397609321903,0.6964189101206878,1.009837770565662,0.9088216209084855,0.9088216209084855,1.1830000000001704,0,0,-0.0001511444286353677,-9.999999025923074e-05
+5490,1792666699674900420,35240073000000,1792666699674071249,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760831215181206,-0.004720338155134719,0.08966853091237321,0.9999999887329536,-1.845584262714723e-05,-1.674706897339223e-05,0.00011556761942185505,0.6761,-0.00453,0.0895973924965062,1.0,0.0,0.0,0.0,0.07582970825254953,0.15126784892191608,1.0095569026345141,0.009800931910425179,-0.0037524045103363296,-0.0007472759880601768,0.5244467968313418,0.5194187413340808,0.9914499622627713,0.035601693619634084,-0.03738878000302908,0.0011437644064619906,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.450468159082027,0.7898753344305571,-0.27542932321290753,0.026870082451147827,0.22707544683708816,0.4349404820103175,0.6964189101206878,1.0095569026345141,0.9718482333335954,0.9718482333335954,1.224440000000179,0,0,-0.0001582057349389362,-9.99026098221833e-05
+5566,1792666700307862716,35240706000000,1792666700306071175,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760834616565158,-0.004726722947410801,0.08956245536228236,0.9999999881927288,-2.1650639904522448e-05,-1.9394146727541102e-05,0.00011921628904562923,0.6761,-0.00453,0.0894927987484142,1.0,0.0,0.0,0.0,0.08415163918310387,0.15281928076280266,1.0196410908987397,0.010087827590353989,-0.0037608118703526122,-0.0007504341922814652,0.5327687277618961,0.5209701731749674,1.0015341505269968,0.035888589299562894,-0.03739718736304536,0.0011406062022407022,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.4895237645013032,0.7667460905691161,-0.24551611039993768,0.054576920660577365,0.21207823138748869,0.42155803591219376,0.6964189101206878,1.0196410908987397,0.9419350205206255,0.9419350205206255,1.2687500000001881,0,0,-0.00016988290940242313,-9.999999025923074e-05
+5630,1792666700841878658,35241240000000,1792666700838071075,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760843697934406,-0.004722367768776426,0.08947058192332569,0.9999999903245812,-6.496700160481504e-05,-1.4754756853128897e-05,7.97200595494495e-05,0.6761,-0.00453,0.08939987188610342,1.0,0.0,0.0,0.0,0.09381832571563509,0.16438581281121595,1.0239553757239213,0.010763846737721718,-0.004787409829693723,-0.0007630721794500061,0.5424354142944273,0.5325367052233807,1.0058484353521784,0.03656460844693062,-0.038423785322386474,0.0011279682150721613,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5437919334500352,0.8513184821537085,-0.3444867509538963,0.04147889275370426,0.28540782546911336,0.4833730690432679,0.6964189101206878,1.0239553757239213,1.0409056610745842,1.0409056610745842,1.3061300000001959,0,0,-0.0001787287919427768,-4.167674125111205e-05
+5698,1792666701407814287,35241806000000,1792666701406070505,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760810711075428,-0.0047224393375923926,0.08936349552039904,0.9999999899909192,-4.3813216049798625e-05,-2.1903887803804777e-05,9.519268723447062e-05,0.6761,-0.00453,0.08929587520823373,1.0,0.0,0.0,0.0,0.0924926097310762,0.14935285025273265,1.0196567747727434,0.009743874702988979,-0.0047671038621748055,-0.0007693525286442016,0.5411096983098684,0.5175037426648974,1.0015498344010005,0.035544636412197884,-0.038403479354867556,0.0011216878658779658,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5251671994190428,0.7244352750511379,-0.3618715079728748,0.08565870665141413,0.2859076698662118,0.40292637810884546,0.6964189101206878,1.0196567747727434,1.0582904180935626,1.0582904180935626,1.345750000000204,0,0,-0.00018986707514131863,-9.999985148135266e-05
+5762,1792666701941828262,35242340000000,1792666701938071553,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760838105346041,-0.004731437268361635,0.08926133188169948,0.9999999890361072,-2.6215873178919322e-05,-2.1417469970803778e-05,0.00011056522873362454,0.6761,-0.00453,0.08919164560906087,1.0,0.0,0.0,0.0,0.09797327788494781,0.1427518157815783,1.0536398527004758,0.009735608847288503,-0.0047735340628786566,-0.0007978231367257432,0.54659036646374,0.5109027081937431,1.035532912328733,0.03553637055649741,-0.03840990955557141,0.0010932172577964242,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5378181713173315,0.6997306374173617,-0.40738090756017636,0.0969220644578703,0.3170220304023242,0.3875711441795059,0.6964189101206878,1.0536398527004758,1.103799817680864,1.103799817680864,1.3831300000002118,0,0,-0.00020083638626739947,5.358847115006138e-05
+5822,1792666702441754643,35242840000000,1792666702438070661,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760809770304655,-0.00473696907822404,0.08915747797786056,0.999999988074766,-3.265258867831535e-05,-2.601362404276647e-05,0.00011640632379163375,0.6761,-0.00453,0.08909059125666415,1.0,0.0,0.0,0.0,0.09555612339563935,0.12736465138199488,1.0393330802572323,0.008745075960243653,-0.005763887742998304,-0.0008121150175710804,0.5441732119744316,0.49551554379415963,1.0212261398854894,0.03454583766945256,-0.039400263235691055,0.001078925376951087,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5432007094007589,0.7323817759668653,-0.5266871674507405,0.10111369649786703,0.3886715183386984,0.40766013517121785,0.6964189101206878,1.0393330802572323,1.2231060775714284,1.2231060775714284,1.418130000000219,0,0,-0.00020535403519730965,9.388903129814991e-05
+5882,1792666702941830997,35243340000000,1792666702938070681,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760764164511844,-0.004737122314796109,0.08904494707530464,0.9999999876106457,-4.259491278083676e-05,-3.397956510290471e-05,0.00011512009155668444,0.6761,-0.00453,0.0889854734185203,1.0,0.0,0.0,0.0,0.09645983188002494,0.1275825144569835,1.0582129618299696,0.008094716957761726,-0.0057533314647515085,-0.0008381699894212048,0.5450769204588172,0.49573340686914824,1.0401060214582267,0.03389547866697063,-0.03938970695744426,0.0010528704051009626,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5884212657326838,0.7530365902015319,-0.4408435897605122,0.10738945764701627,0.3446118952181737,0.4199318265453248,0.6964189101206878,1.0582129618299696,1.1372624998812,1.1372624998812,1.4531300000002263,0,0,-0.0002146064474975714,-3.8844825993261625e-05
+5943,1792666703449848253,35243848000000,1792666703442071663,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760774411658236,-0.004734282863435802,0.08893668638167215,0.999999987838723,-4.6617837786211246e-05,-3.037263539986007e-05,0.00011255975546460074,0.6761,-0.00453,0.0888735072509028,1.0,0.0,0.0,0.0,0.09520461757195031,0.12943682434535375,1.0392984845971127,0.008745151375319317,-0.005763715425545324,-0.0008121321038288009,0.5438217061507425,0.4975877167575185,1.0211915442253698,0.03454591308452822,-0.039400090918238075,0.0010789082906933665,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5743882436916701,0.6571432687108025,-0.4694807503948812,0.15352659617618367,0.35257157942636785,0.3598071540617879,0.6964189101206878,1.0392984845971127,1.165899660515569,1.165899660515569,1.4886900000002337,0,0,-0.00022640401292883328,4.553285753211751e-06
+6001,1792666703932844165,35244331000000,1792666703930070846,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.676075996903965,-0.004742840332127532,0.0888208780610651,0.9999999869489326,-5.0737203091437594e-05,-3.74631471486555e-05,0.00011647852938571634,0.6761,-0.00453,0.08876073880359442,1.0,0.0,0.0,0.0,0.09517058707326875,0.13037883416247414,1.0593512303618617,0.008707744172814516,-0.0056345724676197875,-0.000826612003253463,0.543787675652061,0.4985297265746389,1.0412442899901189,0.03450850588202342,-0.03927094796031254,0.0010644283912687044,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5830570975790214,0.7253398122987055,-0.35685973012295863,0.14873382547666184,0.2777753315527308,0.40870600070219715,0.6964189101206878,1.0593512303618617,1.0532786402436465,1.0532786402436465,1.5225000000002407,0,0,-0.00023839898146835038,-9.999994862586731e-05
+6053,1792666704366730525,35244765000000,1792666704366070731,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760766630145985,-0.004748539549754746,0.08871421881062377,0.9999999867937053,-3.8475460313502633e-05,-3.6669117112779826e-05,0.0001225988109704417,0.6761,-0.00453,0.08865506858108596,1.0,0.0,0.0,0.0,0.08622755260129156,0.127775421376012,1.068942144469235,0.007692279676730494,-0.004738168878625569,-0.000832970870087505,0.5348446411800838,0.49592631378817675,1.0508352040974922,0.0334930413859394,-0.03837454437131832,0.0010580695244346624,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5694105051820458,0.7080123009490371,-0.4685435395874629,0.1692085221324726,0.33931234393042053,0.4059767730866038,0.6964189101206878,1.068942144469235,1.1649624497081508,1.1649624497081508,1.552880000000247,0,0,-0.00024933050086636675,-9.802000463932643e-05
+6099,1792666704749796088,35245148000000,1792666704742080552,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760752561199573,-0.004749784012430637,0.08861802866324875,0.9999999866459616,-2.808195490311608e-05,-3.981039532841887e-05,0.00012560842828367752,0.6761,-0.00453,0.08855851896330165,1.0,0.0,0.0,0.0,0.08662338404753878,0.11570183936063627,1.0593621462562477,0.0076923081637037954,-0.004735048360345953,-0.0008252028817165708,0.535240472626331,0.483852731772801,1.0412552058845048,0.0334930698729127,-0.038371423853038704,0.0010658375128055966,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6281174083886356,0.6962508588001732,-0.4922178302231507,0.17716546921199694,0.36813927773258404,0.39571292566148286,0.6964189101206878,1.0593621462562477,1.1886367403438385,1.1886367403438385,1.5796900000002525,0,0,-0.00025646174085377913,-9.939849918006444e-05
+6149,1792666705166751182,35245565000000,1792666705162070875,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760740199598232,-0.004754408504094066,0.08850674452670858,0.9999999856877937,-3.708861796107034e-05,-3.974522822614474e-05,0.00013081295074866906,0.6761,-0.00453,0.08844835300752679,1.0,0.0,0.0,0.0,0.08621309087854023,0.11736625225418934,1.058874965206955,0.007692658326995554,-0.004735076619688264,-0.00082485662684159,0.5348301794573325,0.4855171446663541,1.040768024835212,0.03349342003620446,-0.038371452112381015,0.0010661837676805774,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5684220035578482,0.7632863565633561,-0.5019776867814314,0.1734386576009919,0.3531523247866223,0.4386906622292509,0.6964189101206878,1.058874965206955,1.198396596902119,1.198396596902119,1.6088800000002585,0,0,-0.00027296331412826467,-9.999999025923074e-05
+6197,1792666705566814433,35245965000000,1792666705562071048,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760700638352365,-0.0047568003651506955,0.08839531029987557,0.999999985174368,-5.332034245979345e-05,-4.470007977787854e-05,0.00012748714534727024,0.6761,-0.00453,0.08833694338069123,1.0,0.0,0.0,0.0,0.07866410977151173,0.12627156631515107,1.049605061038006,0.007670420239956302,-0.003802436992136414,-0.0008039903224402677,0.527281198350304,0.49442245872731583,1.0314981206662632,0.03347118194916521,-0.037438812484829165,0.0010870500720818997,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.5910337611796095,0.7114530149846178,-0.4975691288572459,0.20934235856972802,0.3511484350095965,0.40797088740618276,0.6964189101206878,1.049605061038006,1.1939880389779338,1.1939880389779338,1.6368800000002643,0,0,-0.000285815014165773,-9.99654623231649e-05
+6241,1792666705932814500,35246331000000,1792666705926071083,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760720520924497,-0.004758371799702066,0.08828865519237825,0.9999999845263353,-5.467944364347539e-05,-4.2979588057614535e-05,0.00013248813935216826,0.6761,-0.00453,0.08823060431409571,1.0,0.0,0.0,0.0,0.08621092246117934,0.1173754996819712,1.059366604898062,0.007692567546037518,-0.004735184148800482,-0.0008252540674016054,0.5348280110399716,0.48552639209413595,1.041259664526319,0.03349332925524642,-0.03837155964149323,0.001065786327120562,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6205466917766946,0.716362588726959,-0.49877658459379715,0.21668004900790033,0.3557190167916657,0.4121883827834174,0.6964189101206878,1.059366604898062,1.195195494714485,1.195195494714485,1.6625000000002697,0,0,-0.0002963000604414275,-9.999864411381338e-05
+6281,1792666706266734437,35246665000000,1792666706262080279,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760724084798284,-0.0047648487342044936,0.08818463540803992,0.9999999839429796,-5.496525242890765e-05,-4.304600906874195e-05,0.0001366849191027549,0.6761,-0.00453,0.08813005662667399,1.0,0.0,0.0,0.0,0.07887117852894909,0.11762659090392902,1.0610388541580598,0.007680135573384532,-0.004317030456544503,-0.000817931124038417,0.5274882671077413,0.48577748331609377,1.0429319137863169,0.03348089728259344,-0.037953405949237254,0.0010731092704837505,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6175357883536321,0.7004701716468055,-0.5362594327856053,0.23844440117935134,0.37819141258014877,0.40783621958340893,0.6964189101206878,1.0610388541580598,1.232678342906293,1.232678342906293,1.6858800000002745,0,0,-0.0003046894782685313,-5.8845202348339856e-05
+6321,1792666706599720056,35246998000000,1792666706594080705,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760632654228343,-0.004766357302824139,0.08807135611608147,0.9999999826734427,-5.7972073750269184e-05,-5.829000785066429e-05,0.00013905931262917225,0.6761,-0.00453,0.08802707479753408,1.0,0.0,0.0,0.0,0.08875436273194304,0.11511427237938648,1.0717312710498115,0.006720710856520859,-0.004719790395392526,-0.0008447086878806043,0.5373714513107353,0.48326516479155124,1.0536243306780686,0.032521472565729764,-0.03835616588808528,0.0010463317066415631,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6050057418642472,0.5640282296269473,-0.4698501924905804,0.2870649631668806,0.327283747390536,0.31568039040911666,0.6964189101206878,1.0717312710498115,1.1662691026112681,1.1662691026112681,1.7091900000002793,0,0,-0.0003143440431244412,-9.928800423353862e-05
+6364,1792666706957794769,35247356000000,1792666706954071623,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760684246255173,-0.004768911036791609,0.08796131293766689,0.9999999829255972,-5.4332282952099265e-05,-5.078100358384156e-05,0.0001416367265094256,0.6761,-0.00453,0.08791287739267886,1.0,0.0,0.0,0.0,0.08614769842555015,0.11846316964697284,1.08897560116634,0.007687181100382717,-0.004741579011978435,-0.0008484920062559827,0.5347647870043424,0.4866140620591376,1.0708686607945972,0.03348794280959162,-0.038377954504671186,0.0010425483882661847,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6078029443105072,0.7159542717763685,-0.4707550023304389,0.2601402327224611,0.32406070173323337,0.41796181508538544,0.6964189101206878,1.08897560116634,1.1671739124511267,1.1671739124511267,1.7342500000002845,0,0,-0.00032325145743058856,-9.85360363011722e-05
+6404,1792666707291764713,35247690000000,1792666707290071525,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.676065530473779,-0.004769549502737315,0.08785305592927908,0.9999999846015395,-1.633445366606032e-05,-5.423289204779537e-05,0.00013795566075825176,0.6761,-0.00453,0.08780332097547754,1.0,0.0,0.0,0.0,0.08626197209867703,0.11878970590347415,1.0388272184594434,0.007696672516961323,-0.004730877925857663,-0.0008086535629180595,0.5348790606774693,0.4869405983156389,1.0207202780877005,0.03349743422617023,-0.038367253418550414,0.001082386831604108,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7062191285434688,0.5235812339892193,-0.5222841436997788,0.32452104701493945,0.38103551831148597,0.2899508486878698,0.6964189101206878,1.0388272184594434,1.2187030538204666,1.2187030538204666,1.7576300000002893,0,0,-0.00033447733023136825,-9.999999025923074e-05
+6444,1792666707624784911,35248023000000,1792666707622079890,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760611275752506,-0.004769935964862369,0.08773566514837165,0.9999999833217962,-3.2024532154406624e-05,-6.172211423809979e-05,0.0001412943090529607,0.6761,-0.00453,0.08769087200011917,1.0,0.0,0.0,0.0,0.08625937705556674,0.11758121144420358,1.0647914037418023,0.007691546232250622,-0.004736399583287511,-0.0008297416913545343,0.534876465634359,0.48573210385636834,1.0466844633700594,0.03349230794145953,-0.03837277507598026,0.001061298703167633,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6922973634665145,0.5618072250597919,-0.5366673201717914,0.322759079585945,0.3859567802835545,0.3142953952418168,0.6964189101206878,1.0647914037418023,1.2330862302924792,1.2330862302924792,1.7809400000002942,0,0,-0.00034375582333020924,-9.8177670186611e-05
+6480,1792666707924692713,35248323000000,1792666707918080762,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760596474165855,-0.004769885523549115,0.0876301671880654,0.9999999823078736,-4.183114657575098e-05,-6.44547710291877e-05,0.0001446473459266769,0.6761,-0.00453,0.08758624485066131,1.0,0.0,0.0,0.0,0.09544549494520937,0.11771704578701492,1.068929027993786,0.007692793926462355,-0.004817100140960526,-0.0008330913465139382,0.5440625835240016,0.48586793819917967,1.050822087622043,0.03349355563567126,-0.03845347563365328,0.0010579490480082292,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7031609237721614,0.6622464123533202,-0.5458060922598822,0.2953955993692626,0.39468914453304604,0.37640345625991967,0.6964189101206878,1.068929027993786,1.2422250023805699,1.2422250023805699,1.8019400000002985,0,0,-0.00035420886601164456,-9.524769448011056e-05
+6516,1792666708224685627,35248623000000,1792666708222080202,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760593164851906,-0.004772004865605923,0.08752556884931094,0.9999999812787069,-5.110656367158147e-05,-6.473377303201182e-05,0.0001486038626798162,0.6761,-0.00453,0.08747804053609326,1.0,0.0,0.0,0.0,0.09054303952213238,0.12698988373624354,1.0673884717373379,0.008661908682081665,-0.004756040780152973,-0.0008210171203886117,0.5391601281009246,0.4951407761484083,1.049281531365595,0.03446267039129057,-0.038392416272845724,0.0010700232741335557,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7222171949384228,0.6215652694593959,-0.5405083247299339,0.3200203958828568,0.39510765539425363,0.3519415249213807,0.6964189101206878,1.0673884717373379,1.2369272348506217,1.2369272348506217,1.8229400000003029,0,0,-0.00036641152012103904,-9.999411995498803e-05
+6556,1792666708557704076,35248956000000,1792666708554070938,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760627193331986,-0.004774074061191216,0.08740683857198216,0.99999998092743,-6.706361413333503e-05,-5.7294214060577956e-05,0.00014767480699474098,0.6761,-0.00453,0.08735356956053099,1.0,0.0,0.0,0.0,0.09491272041234966,0.14026865945760164,1.0593080705796616,0.008713946405200693,-0.0047556311183673886,-0.0008126223489115299,0.5435298089911419,0.5084195518697664,1.0412011302079187,0.0345147081144096,-0.03839200661106014,0.0010784180456106375,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.6769342275564106,0.6732548509652634,-0.5988545625102328,0.32766798196806013,0.41475164883152926,0.39317866226048187,0.6964189101206878,1.0593080705796616,1.2952734726309205,1.2952734726309205,1.8462500000003077,0,0,-0.0003806804558726572,-5.053649783751308e-05
+6588,1792666708824745024,35249223000000,1792666708822080178,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760606714970587,-0.004768471581606291,0.08730371928698868,0.9999999801624339,-7.487316997941208e-05,-6.204012554050981e-05,0.00014718365281393513,0.6761,-0.00453,0.08725035739497056,1.0,0.0,0.0,0.0,0.09880251399141937,0.13072336885596353,1.069386490700402,0.008740191911372645,-0.005751372639891575,-0.0008325383851009807,0.5474196025702116,0.4988742612681283,1.0512795503286592,0.03454095362058155,-0.039387748132584326,0.0010585020094211867,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7359565331910868,0.6456073715656758,-0.539771847687661,0.3385525969026097,0.3938531212591397,0.3723365836041203,0.6964189101206878,1.069386490700402,1.2361907578083486,1.2361907578083486,1.8649400000003116,0,0,-0.0003920544209515527,-9.999999025923074e-05
+6624,1792666709124767286,35249523000000,1792666709122070850,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.676057169023629,-0.004770045458504612,0.08718155339186796,0.9999999786297868,-7.464194575893115e-05,-6.641523116905122e-05,0.00015556634364443641,0.6761,-0.00453,0.08713112603611035,1.0,0.0,0.0,0.0,0.10385503495425885,0.14306266410536522,1.0657881682548234,0.009762396695501337,-0.005788551768225139,-0.0008209626692558209,0.5524721235330511,0.51121355651753,1.0476812278830805,0.03556315840471024,-0.03942492726091789,0.0010700777252663466,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7387370683196628,0.6824632903224216,-0.48512548615741274,0.32630985479457747,0.3585039930909817,0.39442747741512896,0.6964189101206878,1.0657881682548234,1.1815443962781005,1.1815443962781005,1.885940000000316,0,0,-0.0004035905540281367,-9.999711755715452e-05
+6656,1792666709391667795,35249790000000,1792666709390080856,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760547310213922,-0.004765344442166722,0.08706975664019001,0.9999999780601263,-7.019096115773883e-05,-7.17048297121338e-05,0.00015891588237002539,0.6761,-0.00453,0.08702178972029757,1.0,0.0,0.0,0.0,0.10967298546545301,0.15238937566344873,1.0776875185598305,0.009787985067867898,-0.00680559680879865,-0.0008459816446380281,0.5582900740442452,0.5205402680756135,1.0595805781880876,0.0355887467770768,-0.0404419723014914,0.0010450587498841393,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.7721454762486326,0.6861118830194531,-0.5466295299818092,0.32715329300999824,0.40730671826683906,0.3966670948092058,0.6964189101206878,1.0776875185598305,1.243048440102497,1.243048440102497,1.9046300000003198,0,0,-0.00041533645942923157,-9.999999025923074e-05
+6692,1792666709691655253,35250090000000,1792666709690070969,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.676056143619966,-0.004762638936989721,0.08694943926903596,0.9999999775517241,-5.275742136191469e-05,-6.82690557641493e-05,0.00016998648880478474,0.6761,-0.00453,0.08689504739492894,1.0,0.0,0.0,0.0,0.121308003091681,0.14591005452578937,1.0642229621504742,0.01080982225714746,-0.006820698473746695,-0.0008190147061290555,0.5699250916704732,0.5140609469379541,1.0461160217787313,0.036610583966356365,-0.040457073966439445,0.001072025688393112,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8332024206456405,0.6391907226377762,-0.6223356422707389,0.3484662106908177,0.47436059852665546,0.3728699618061192,0.6964189101206878,1.0642229621504742,1.3187545523914266,1.3187545523914266,1.9256300000003241,0,0,-0.00042877855058601346,2.31608163466845e-05
+6724,1792666709957749654,35250356000000,1792666709954080378,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760554485636169,-0.00476738430766128,0.0868366591839834,0.9999999753013269,4.823070885059251e-05,-7.000616663147142e-05,0.00018333888081785603,0.6761,-0.00453,0.08677969597441135,1.0,0.0,0.0,0.0,0.1033938511318434,0.15542606685666754,1.0601448874246517,0.010648758043910633,-0.005805441104928671,-0.0008064683298415927,0.5520109397106356,0.5235769592688323,1.0420379470529089,0.03644951975311954,-0.03944181659762142,0.0010845720646805747,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8405713815217213,0.7310073288577978,-0.5423126252932482,0.3190547941697673,0.4294068266662797,0.4095003518704219,0.6964189101206878,1.0601448874246517,1.2387315354139359,1.2387315354139359,1.944250000000328,0,0,-0.0004395214206990002,-9.999999025923074e-05
+6752,1792666710191654066,35250590000000,1792666710190070724,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760552724946136,-0.004757876952136406,0.0867311298192847,0.9999999841995838,-2.7530677824027757e-05,-7.143299452977329e-05,0.00013108426967392667,0.6761,-0.00453,0.08667572217520587,1.0,0.0,0.0,0.0,0.12581220142575278,0.1787768544252079,1.0633019660637275,0.011839197599820175,-0.006853897727185837,-0.0008092339187728765,0.574429290004545,0.5469277468373727,1.0451950256919846,0.03763995930902908,-0.04049027321987859,0.001081806475749291,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8395637384239825,0.7181824150910775,-0.5166911936870477,0.2968722179597767,0.41983700005267527,0.43264236284039354,0.6964189101206878,1.0633019660637275,1.2131101038077357,1.2131101038077357,1.9606300000003314,0,0,-0.0004498087981627804,-9.952405152636174e-05
+6784,1792666710457705940,35250856000000,1792666710454080667,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760555168306572,-0.00477150090432045,0.08660801278377858,0.9999999806626759,-2.851497345468237e-05,-6.473879923974913e-05,0.0001584717524565675,0.6761,-0.00453,0.08655433278296976,1.0,0.0,0.0,0.0,0.10570029615619314,0.1782107162366649,1.070659896408363,0.011804636169078966,-0.005830735563573122,-0.000801579751233092,0.5543173847349854,0.5463616086488297,1.05255295603662,0.03760539787828787,-0.03946711105626587,0.0010894606432890754,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8406653528388132,0.715485194117443,-0.5270661347880313,0.33719283869536687,0.42033334976389064,0.42407319452281994,0.6964189101206878,1.070659896408363,1.2234850449087191,1.2234850449087191,1.9792500000003352,0,0,-0.0004629488105881415,-9.999999025923074e-05
+6815,1792666710716667678,35251115000000,1792666710710080643,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.676051487103367,-0.004769642646517606,0.08649030901410239,0.9999999798578542,-4.7734601340634074e-05,-7.404605879374079e-05,0.0001548087357806595,0.6761,-0.00453,0.08643301160204539,1.0,0.0,0.0,0.0,0.12062808208695186,0.16790326121059312,1.0705076687213826,0.011427609554023693,-0.006832037256520429,-0.0008199197103464552,0.5692451706657441,0.5360541536227579,1.0524007283496397,0.0372283712632326,-0.04046841274921318,0.0010711206841757122,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.9552533406117432,0.7472647330344978,-0.599366761639722,0.3478432959314786,0.4993837572417465,0.4442735101959774,0.6964189101206878,1.0705076687213826,1.29578567176041,1.29578567176041,1.997380000000339,0,0,-0.00047461015683788874,-9.999999025923074e-05
+6843,1792666710949738501,35251348000000,1792666710942080613,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760558460337196,-0.004777802975735786,0.08638449528047572,0.9999999777516188,-4.573579888463053e-05,-5.895403884141184e-05,0.00017427645970561088,0.6761,-0.00453,0.08632113185313443,1.0,0.0,0.0,0.0,0.10424371537874932,0.167979027416089,1.0541261979398668,0.011325621319455775,-0.005827014608209974,-0.0007918190369095408,0.5528608039575416,0.5361299198282538,1.036019257568124,0.03712638302866468,-0.039463390100902725,0.0010992213576126266,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8997802523311095,0.6377430633420736,-0.4800215930767216,0.37825485810096876,0.40720417988576924,0.3772022094960913,0.6964189101206878,1.0541261979398668,1.1764405031974094,1.1764405031974094,2.0136900000003424,0,0,-0.0004858094782248231,-9.999999025923074e-05
+6867,1792666711149742414,35251548000000,1792666711142080588,DOWN_FORCE_DETACH,9,0.0436,0.04360135272145271,0.6760444539654574,-0.004784081502230434,0.0862772459368999,0.9999999749281099,-1.979305262608153e-05,-7.885392171401697e-05,0.0001870212238514671,0.6761,-0.00453,0.08622310028702351,1.0,0.0,0.0,0.0,0.12591130089221436,0.15375042975837855,1.0801596587877604,0.009787569576316796,-0.006807185745854261,-0.0008455832220299157,0.5745283894710066,0.5219013221705433,1.0620527184160176,0.0355883312855257,-0.04044356123854701,0.0010454571724922517,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.9117532320610026,0.6223917379624675,-0.6230251763250327,0.3947066797581664,0.5083489151900069,0.3769259548254239,0.6964189101206878,1.0801596587877604,1.3194440864457206,1.3194440864457206,2.0276900000003453,0,0,-0.000493917834949392,-1.8730348877224858e-05
+6896,1792666711391636649,35251790000000,1792666711386080573,DOWN_FORCE_DETACH,9,0.0436,0.04360200837254524,0.6760397550047627,-0.004778507680192258,0.08614954063107341,0.9999999796447174,-7.014201634054905e-05,-7.386423089682143e-05,0.00014757236204069056,0.6761,-0.00453,0.08610223190365134,1.0,0.0,0.0,0.0,0.14137363710815976,0.1665737515803996,1.0707590750373805,0.010969962603703164,-0.008058359210678455,-0.0008405998391561747,0.589990725686952,0.5347246439925644,1.0526521346656377,0.03677072431291207,-0.041694734703371206,0.0010504405553659927,0.44861708857879223,0.36815089241216475,-0.0181069403717429,0.025800761709208905,-0.03363637549269275,0.0018910403945221674,1,0.8888480793862596,0.7660274023878236,-0.47769004252228303,0.3334282754277689,0.415031786787126,0.4678156479717953,0.6964189101206878,1.0707590750373805,1.1741089526429709,1.1741089526429709,2.044630000000349,0,0,-0.000505518870107273,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fadbd0f567867bf01cb8fd08f693db8249ce7c2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3747e91f356f40d39f82795e3e7015a7e4c269d4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+15,6.333333333e+00,DOWN_FORCE_DETACH,1792666693955907353,6.056190198e-05,-5.584223980e-05,-5.672923052e-04,5.606065682e-05,-5.608711260e-05,-5.598746150e-04,5.680336593e-05,-5.595244480e-05,-5.574954095e-04,7.015984334e-01,-5.429127848e-05,8.401736489e-01,7.015939321e-01,-5.453615127e-05,8.401810666e-01,7.017857690e-01,-5.417249553e-05,8.290151666e-01
+16,6.716666667e+00,DOWN_FORCE_DETACH,1792666694721856654,5.756440822e-05,-5.764962589e-05,-6.478045775e-04,5.713728900e-05,-6.051302636e-05,-6.442599134e-04,5.760120077e-05,-6.037515900e-05,-6.412352730e-04,7.015954359e-01,-5.609866457e-05,8.400931366e-01,7.015950088e-01,-5.896206504e-05,8.400966813e-01,7.017865668e-01,-5.859520973e-05,8.289314267e-01
+17,7.150000000e+00,DOWN_FORCE_DETACH,1792666695554066902,5.601363521e-05,-6.533256797e-05,-7.344577307e-04,5.599857983e-05,-6.515066750e-05,-7.345007890e-04,5.620862749e-05,-6.499125862e-05,-7.311559957e-04,7.015938851e-01,-6.378160665e-05,8.400064835e-01,7.015938701e-01,-6.359970618e-05,8.400064404e-01,7.017851743e-01,-6.321130934e-05,8.288415060e-01
+18,7.516666667e+00,DOWN_FORCE_DETACH,1792666696252091429,5.541633991e-05,-6.838883557e-05,-8.003278079e-04,5.527247786e-05,-6.846415942e-05,-8.004663190e-04,5.519117303e-05,-6.829447783e-05,-7.971634092e-04,7.015932878e-01,-6.683787425e-05,8.399406134e-01,7.015931440e-01,-6.691319810e-05,8.399404749e-01,7.017841568e-01,-6.651452856e-05,8.287754986e-01
+19,7.950000000e+00,DOWN_FORCE_DETACH,1792666697083691444,5.953016560e-05,-7.388468253e-05,-8.905301746e-04,5.783884269e-05,-7.161674282e-05,-8.866930761e-04,5.748258313e-05,-7.143497488e-05,-8.833321318e-04,7.015974016e-01,-7.233372121e-05,8.398504110e-01,7.015957103e-01,-7.006578150e-05,8.398542481e-01,7.017864482e-01,-6.965502561e-05,8.286893299e-01
+20,8.316666667e+00,DOWN_FORCE_DETACH,1792666697781820034,6.129598281e-05,-6.954456812e-05,-9.835227150e-04,6.107754047e-05,-6.920415472e-05,-9.832947619e-04,6.036795880e-05,-6.903208078e-05,-9.795071328e-04,7.015991675e-01,-6.799360680e-05,8.397574185e-01,7.015989490e-01,-6.765319340e-05,8.397576464e-01,7.017893336e-01,-6.725213151e-05,8.285931548e-01
+21,8.666666667e+00,DOWN_FORCE_DETACH,1792666698448184241,6.117870156e-05,-7.434109943e-05,-1.070034904e-03,5.831485085e-05,-7.442421089e-05,-1.053503317e-03,5.727400516e-05,-7.424727593e-05,-1.049848243e-03,7.015990502e-01,-7.279013811e-05,8.396709063e-01,7.015961863e-01,-7.287324957e-05,8.396874379e-01,7.017862396e-01,-7.246732666e-05,8.285228137e-01
+22,9.000000000e+00,DOWN_FORCE_DETACH,1792666699079509403,5.898842394e-05,-7.714960966e-05,-1.163418211e-03,5.889891775e-05,-7.721316376e-05,-1.163177959e-03,5.744363711e-05,-7.701717425e-05,-1.158886674e-03,7.015968599e-01,-7.559864834e-05,8.395775230e-01,7.015967704e-01,-7.566220244e-05,8.395777632e-01,7.017864093e-01,-7.523722498e-05,8.284137753e-01
+23,9.316666667e+00,DOWN_FORCE_DETACH,1792666699677494283,5.996621242e-05,-8.512850662e-05,-1.251414845e-03,5.889402380e-05,-8.157440397e-05,-1.232418281e-03,5.724951320e-05,-8.139884919e-05,-1.228414494e-03,7.015978377e-01,-8.357754529e-05,8.394895263e-01,7.015967655e-01,-8.002344265e-05,8.395085229e-01,7.017862151e-01,-7.961889991e-05,8.283442475e-01
+24,9.650000000e+00,DOWN_FORCE_DETACH,1792666700309735260,6.061517737e-05,-8.795522095e-05,-1.355866091e-03,6.100063628e-05,-8.653410298e-05,-1.345902844e-03,5.895881963e-05,-8.635463019e-05,-1.341447458e-03,7.015984867e-01,-8.640425963e-05,8.393850751e-01,7.015988721e-01,-8.498314166e-05,8.393950383e-01,7.017879244e-01,-8.457468092e-05,8.282312145e-01
+25,9.916666667e+00,DOWN_FORCE_DETACH,1792666700841630328,6.213109094e-05,-8.277158572e-05,-1.447700858e-03,6.276350997e-05,-7.894469724e-05,-1.440005554e-03,6.041282182e-05,-7.879710809e-05,-1.435250380e-03,7.016000026e-01,-8.122062440e-05,8.392932403e-01,7.016006350e-01,-7.739373592e-05,8.393009356e-01,7.017893784e-01,-7.701715881e-05,8.281374116e-01
+26,1.020000000e+01,DOWN_FORCE_DETACH,1792666701407488397,6.021584759e-05,-8.204072538e-05,-1.551840992e-03,5.767337583e-05,-8.810246277e-05,-1.537002163e-03,5.488431738e-05,-8.797229539e-05,-1.532143727e-03,7.015980873e-01,-8.048976406e-05,8.391891002e-01,7.015955449e-01,-8.655150145e-05,8.392039390e-01,7.017838499e-01,-8.619234612e-05,8.280405183e-01
+27,1.046666667e+01,DOWN_FORCE_DETACH,1792666701940031580,5.893059140e-05,-8.968640739e-05,-1.661175627e-03,6.239597542e-05,-8.891415382e-05,-1.647908522e-03,5.934176541e-05,-8.876727567e-05,-1.642587189e-03,7.015968021e-01,-8.813544607e-05,8.390797656e-01,7.016002675e-01,-8.736319250e-05,8.390930327e-01,7.017883074e-01,-8.698732639e-05,8.279300748e-01
+28,1.071666667e+01,DOWN_FORCE_DETACH,1792666702437457097,5.876632810e-05,-9.630452225e-05,-1.762096802e-03,5.638325190e-05,-1.000544379e-04,-1.756896751e-03,5.274079133e-05,-9.990026950e-05,-1.751209418e-03,7.015966378e-01,-9.475356093e-05,8.389788444e-01,7.015942547e-01,-9.850347656e-05,8.389840444e-01,7.017817064e-01,-9.812032023e-05,8.278214526e-01
+29,1.096666667e+01,DOWN_FORCE_DETACH,1792666702940522749,5.545543642e-05,-9.833007540e-05,-1.871198540e-03,5.422925743e-05,-9.823663889e-05,-1.852269322e-03,5.020812709e-05,-9.805803878e-05,-1.846655657e-03,7.015933269e-01,-9.677911408e-05,8.388697426e-01,7.015921007e-01,-9.668567757e-05,8.388886719e-01,7.017791738e-01,-9.627808951e-05,8.277260063e-01
+30,1.121666667e+01,DOWN_FORCE_DETACH,1792666703465553147,5.611668821e-05,-9.949971645e-05,-1.982164081e-03,5.588214510e-05,-9.977759211e-05,-1.982273158e-03,5.138129950e-05,-9.959419717e-05,-1.976116597e-03,7.015939882e-01,-9.794875513e-05,8.387587771e-01,7.015937536e-01,-9.822663079e-05,8.387586680e-01,7.017803469e-01,-9.781424790e-05,8.275965454e-01
+31,1.145000000e+01,DOWN_FORCE_DETACH,1792666703935473038,5.707170201e-05,-1.051132402e-04,-2.092907709e-03,5.700222408e-05,-1.051117083e-04,-2.092420523e-03,5.209462975e-05,-1.049167529e-04,-2.086047673e-03,7.015949432e-01,-1.035622789e-04,8.386480335e-01,7.015948737e-01,-1.035607469e-04,8.386485207e-01,7.017810603e-01,-1.031368036e-04,8.274866143e-01
+32,1.168333333e+01,DOWN_FORCE_DETACH,1792666704367570396,5.441513413e-05,-1.040335083e-04,-2.203075524e-03,5.216458006e-05,-1.054126460e-04,-2.188818787e-03,4.685040060e-05,-1.051727473e-04,-2.182701668e-03,7.015922866e-01,-1.024825470e-04,8.385378657e-01,7.015900361e-01,-1.038616847e-04,8.385521224e-01,7.017758160e-01,-1.033927980e-04,8.273899603e-01
+33,1.186666667e+01,DOWN_FORCE_DETACH,1792666704751363270,4.953012499e-05,-1.082821194e-04,-2.306898287e-03,4.921776674e-05,-1.080213502e-04,-2.306795955e-03,4.344179623e-05,-1.077866691e-04,-2.299981889e-03,7.015874016e-01,-1.067311581e-04,8.384340429e-01,7.015870892e-01,-1.064703889e-04,8.384341452e-01,7.017724074e-01,-1.060067198e-04,8.272726801e-01
+34,1.210000000e+01,DOWN_FORCE_DETACH,1792666705167616461,5.178125733e-05,-1.148123210e-04,-2.411538255e-03,5.068301875e-05,-1.134183561e-04,-2.404417281e-03,4.449640235e-05,-1.131445120e-04,-2.397963152e-03,7.015896527e-01,-1.132613597e-04,8.383294029e-01,7.015885545e-01,-1.118673948e-04,8.383365239e-01,7.017734620e-01,-1.113645628e-04,8.271746988e-01
+35,1.230000000e+01,DOWN_FORCE_DETACH,1792666705563434950,5.057810413e-05,-1.172708153e-04,-2.520020917e-03,5.043639061e-05,-1.141847544e-04,-2.510812877e-03,4.378785390e-05,-1.138805614e-04,-2.504213258e-03,7.015884496e-01,-1.157198540e-04,8.382209203e-01,7.015883079e-01,-1.126337931e-04,8.382301283e-01,7.017727535e-01,-1.121006121e-04,8.270684487e-01
+36,1.250000000e+01,DOWN_FORCE_DETACH,1792666705931503848,4.930276984e-05,-1.223573517e-04,-2.628408979e-03,4.890549946e-05,-1.180393611e-04,-2.620791984e-03,4.178092623e-05,-1.176679163e-04,-2.613982549e-03,7.015871743e-01,-1.208063904e-04,8.381125322e-01,7.015867770e-01,-1.164883997e-04,8.381201492e-01,7.017707466e-01,-1.158879670e-04,8.269586794e-01
+37,1.268333333e+01,DOWN_FORCE_DETACH,1792666706263442417,4.904669801e-05,-1.209343377e-04,-2.733374493e-03,5.094185960e-05,-1.198664438e-04,-2.714414057e-03,4.349291538e-05,-1.195107277e-04,-2.707660277e-03,7.015869182e-01,-1.193833764e-04,8.380075667e-01,7.015888133e-01,-1.183154825e-04,8.380265271e-01,7.017724585e-01,-1.177307784e-04,8.268650017e-01
+38,1.285000000e+01,DOWN_FORCE_DETACH,1792666706597408686,4.424044122e-05,-1.239340849e-04,-2.840847276e-03,4.284745366e-05,-1.267501649e-04,-2.830982567e-03,3.488523869e-05,-1.263640549e-04,-2.823762270e-03,7.015821119e-01,-1.223831235e-04,8.379000939e-01,7.015807189e-01,-1.251992036e-04,8.379099586e-01,7.017638509e-01,-1.245841056e-04,8.267488997e-01
+39,1.305000000e+01,DOWN_FORCE_DETACH,1792666706961425341,4.387596502e-05,-1.285732441e-04,-2.961369699e-03,4.518227421e-05,-1.268547030e-04,-2.948815540e-03,3.685827762e-05,-1.264790160e-04,-2.941608349e-03,7.015817474e-01,-1.270222828e-04,8.377795715e-01,7.015830538e-01,-1.253037416e-04,8.377921256e-01,7.017658239e-01,-1.246990667e-04,8.266310536e-01
+40,1.321666667e+01,DOWN_FORCE_DETACH,1792666707295489036,4.206820439e-05,-1.300590207e-04,-3.069783735e-03,4.197874839e-05,-1.300300317e-04,-3.069715243e-03,3.317388843e-05,-1.297082820e-04,-3.062000967e-03,7.015799397e-01,-1.285080593e-04,8.376711575e-01,7.015798502e-01,-1.284790704e-04,8.376712259e-01,7.017621395e-01,-1.279283327e-04,8.265106610e-01
+41,1.340000000e+01,DOWN_FORCE_DETACH,1792666707627581704,3.990074346e-05,-1.310697611e-04,-3.182739427e-03,4.182039250e-05,-1.324079472e-04,-3.168415652e-03,3.258093564e-05,-1.321062329e-04,-3.160974592e-03,7.015777722e-01,-1.295187998e-04,8.375582018e-01,7.015796919e-01,-1.308569859e-04,8.375725255e-01,7.017615466e-01,-1.303262836e-04,8.264116874e-01
+42,1.355000000e+01,DOWN_FORCE_DETACH,1792666707927417020,3.626422095e-05,-1.347368759e-04,-3.290123484e-03,3.841087766e-05,-1.321928427e-04,-3.275598639e-03,2.867712786e-05,-1.318642053e-04,-3.267895876e-03,7.015741357e-01,-1.331859145e-04,8.374508177e-01,7.015762824e-01,-1.306418814e-04,8.374653425e-01,7.017576428e-01,-1.300842560e-04,8.263047661e-01
+43,1.371666667e+01,DOWN_FORCE_DETACH,1792666708225380262,3.921548723e-05,-1.348322860e-04,-3.390052426e-03,3.928820686e-05,-1.331151357e-04,-3.378111207e-03,2.910985295e-05,-1.327194662e-04,-3.370552920e-03,7.015770870e-01,-1.332813247e-04,8.373508888e-01,7.015771597e-01,-1.315641744e-04,8.373628300e-01,7.017580755e-01,-1.309395169e-04,8.262021091e-01
+44,1.388333333e+01,DOWN_FORCE_DETACH,1792666708559364903,3.828896513e-05,-1.326995529e-04,-3.515150744e-03,4.010444179e-05,-1.331427138e-04,-3.499349143e-03,2.948083176e-05,-1.327761708e-04,-3.491593658e-03,7.015761604e-01,-1.311485916e-04,8.372257904e-01,7.015779759e-01,-1.315917525e-04,8.372415920e-01,7.017584465e-01,-1.309962216e-04,8.260810683e-01
+45,1.401666667e+01,DOWN_FORCE_DETACH,1792666708825375569,3.946541614e-05,-1.326036186e-04,-3.613577842e-03,3.799798669e-05,-1.306920766e-04,-3.599011054e-03,2.702769486e-05,-1.303350009e-04,-3.591071920e-03,7.015773369e-01,-1.310526573e-04,8.371273633e-01,7.015758695e-01,-1.291411153e-04,8.371419301e-01,7.017559933e-01,-1.285550516e-04,8.259815901e-01
+46,1.416666667e+01,DOWN_FORCE_DETACH,1792666709123363830,3.399956621e-05,-1.282768097e-04,-3.735726307e-03,3.398288494e-05,-1.284188112e-04,-3.735955295e-03,2.246100059e-05,-1.280794783e-04,-3.727479747e-03,7.015718710e-01,-1.267258484e-04,8.370052149e-01,7.015718544e-01,-1.268678498e-04,8.370049859e-01,7.017514266e-01,-1.262995291e-04,8.258451822e-01
+47,1.430000000e+01,DOWN_FORCE_DETACH,1792666709392225368,3.424038810e-05,-1.262503467e-04,-3.846617444e-03,3.392336290e-05,-1.259079916e-04,-3.846579972e-03,2.199248760e-05,-1.255391582e-04,-3.837875335e-03,7.015721119e-01,-1.246993854e-04,8.368943237e-01,7.015717948e-01,-1.243570303e-04,8.368943612e-01,7.017509581e-01,-1.237592089e-04,8.257347866e-01
+48,1.445000000e+01,DOWN_FORCE_DETACH,1792666709689371735,3.261700247e-05,-1.261088718e-04,-3.968432530e-03,3.483545907e-05,-1.214669419e-04,-3.951059270e-03,2.250555478e-05,-1.211085680e-04,-3.942655106e-03,7.015704885e-01,-1.245579105e-04,8.367725087e-01,7.015727069e-01,-1.199159806e-04,8.367898819e-01,7.017514712e-01,-1.193286188e-04,8.256300069e-01
+49,1.458333333e+01,DOWN_FORCE_DETACH,1792666709957370394,3.320986112e-05,-1.277881246e-04,-4.081623597e-03,3.238640884e-05,-1.308864328e-04,-4.066168296e-03,1.953188643e-05,-1.304071866e-04,-4.057591786e-03,7.015710813e-01,-1.262371633e-04,8.366593176e-01,7.015702579e-01,-1.293354714e-04,8.366747729e-01,7.017484975e-01,-1.286272373e-04,8.255150702e-01
+50,1.470000000e+01,DOWN_FORCE_DETACH,1792666710187500674,2.972563037e-05,-1.219156050e-04,-4.189864119e-03,2.989528999e-05,-1.220346340e-04,-4.175969257e-03,1.661313077e-05,-1.215412299e-04,-4.167184707e-03,7.015675971e-01,-1.203646437e-04,8.365510771e-01,7.015677668e-01,-1.204836726e-04,8.365649719e-01,7.017455788e-01,-1.197612806e-04,8.254054773e-01
+51,1.483333333e+01,DOWN_FORCE_DETACH,1792666710455359700,3.202031807e-05,-1.341925619e-04,-4.310025294e-03,3.181141753e-05,-1.341147196e-04,-4.310141737e-03,1.810147875e-05,-1.335803527e-04,-4.300972407e-03,7.015698918e-01,-1.326416006e-04,8.364309159e-01,7.015696829e-01,-1.325637583e-04,8.364307995e-01,7.017470671e-01,-1.318004034e-04,8.252716896e-01
+52,1.496666667e+01,DOWN_FORCE_DETACH,1792666710719342042,3.188309041e-05,-1.298261712e-04,-4.423857951e-03,3.196331562e-05,-1.297153573e-04,-4.423568511e-03,1.788148319e-05,-1.292236154e-04,-4.414485078e-03,7.015697546e-01,-1.282752099e-04,8.363170832e-01,7.015698348e-01,-1.281643959e-04,8.363173727e-01,7.017468471e-01,-1.274436661e-04,8.251581769e-01
+53,1.508333333e+01,DOWN_FORCE_DETACH,1792666710953355564,3.338012234e-05,-1.377740712e-04,-4.537811982e-03,3.453799318e-05,-1.382839362e-04,-4.518079202e-03,2.017364919e-05,-1.378088483e-04,-4.509410118e-03,7.015712516e-01,-1.362231099e-04,8.362031292e-01,7.015724095e-01,-1.367329748e-04,8.362228620e-01,7.017491393e-01,-1.360288991e-04,8.250632519e-01
+54,1.518333333e+01,DOWN_FORCE_DETACH,1792666711153391196,2.066864363e-05,-1.463678215e-04,-4.643980947e-03,2.073080704e-05,-1.464727214e-04,-4.643793059e-03,5.561278799e-06,-1.459773128e-04,-4.635776947e-03,7.015585401e-01,-1.448168602e-04,8.360969602e-01,7.015586023e-01,-1.449217601e-04,8.360971481e-01,7.017345269e-01,-1.441973635e-04,8.249368850e-01
+55,1.530000000e+01,DOWN_FORCE_DETACH,1792666711387413237,1.552710175e-05,-1.374384581e-04,-4.769101380e-03,1.526476066e-05,-1.375081876e-04,-4.768931861e-03,-4.024829240e-07,-1.370216708e-04,-4.760350502e-03,7.015533986e-01,-1.358874968e-04,8.359718398e-01,7.015531362e-01,-1.359572262e-04,8.359720093e-01,7.017285631e-01,-1.352417215e-04,8.248123115e-01
+56,1.540000000e+01,DOWN_FORCE_DETACH,1792666711587409055,6.368968476e-06,-1.471829039e-04,-4.873538975e-03,8.620345606e-06,-1.460809892e-04,-4.854120133e-03,-7.486678763e-06,-1.455554142e-04,-4.845818785e-03,7.015442404e-01,-1.456319425e-04,8.358674022e-01,7.015464918e-01,-1.445300279e-04,8.358868211e-01,7.017214789e-01,-1.437754650e-04,8.247268432e-01
+57,1.550000000e+01,DOWN_FORCE_DETACH,1792666711787436973,3.546346559e-05,-1.421389654e-04,-4.958096688e-03,3.532514589e-05,-1.421600132e-04,-4.957709466e-03,1.917523362e-05,-1.416323062e-04,-4.949353704e-03,7.015733349e-01,-1.405880041e-04,8.357828445e-01,7.015731966e-01,-1.406090519e-04,8.357832317e-01,7.017481409e-01,-1.398523569e-04,8.246233083e-01
+58,1.561666667e+01,DOWN_SETTLE,1792666712001364023,3.303135831e-05,-1.427359693e-04,-5.063960855e-03,3.293705694e-05,-1.426511895e-04,-5.063810248e-03,1.641546439e-05,-1.420813343e-04,-5.055559508e-03,7.015709028e-01,-1.411850080e-04,8.356769803e-01,7.015708085e-01,-1.411002281e-04,8.356771309e-01,7.017453811e-01,-1.403013851e-04,8.245171025e-01
+59,1.603333333e+01,DOWN_PEAK_HOLD,1792666712783494856,1.479020218e-05,-1.292694308e-04,-5.127701581e-03,1.517644974e-05,-1.255513647e-04,-5.126146704e-03,-1.819403811e-06,-1.251411079e-04,-5.121569991e-03,7.015526617e-01,-1.277184695e-04,8.356132396e-01,7.015530479e-01,-1.240004034e-04,8.356147945e-01,7.017271462e-01,-1.233611586e-04,8.244510920e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d61cf1d153c00da66ce69c7134fe980473f09c7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.2001e-02,1.8445e-03,2.4499e+00,-3.6962e-02,3.4512e-02,-5.2045e-05,6.7357e-04,3.7737e-06,3.7098e-04,-8.6427e-07,4.6339e-05,-4.7463e-07,7.6899e-04,4.6349e-05
+1,5.3333e-01,DOWN_FORCE_DETACH,1.1649e-04,-1.3228e-02,2.0946e-03,2.4595e+00,-3.6993e-02,3.5827e-02,-6.5921e-05,1.9447e-02,2.5390e-04,9.9757e-03,-3.1378e-05,1.3609e-03,-1.4351e-05,2.1858e-02,1.3614e-03
+2,7.8333e-01,DOWN_FORCE_DETACH,2.3681e-04,8.4372e-03,1.0208e-02,2.5235e+00,-3.7553e-02,3.7310e-02,-6.4527e-05,4.1112e-02,8.3673e-03,7.3994e-02,-5.9156e-04,2.8439e-03,-1.2957e-05,8.5061e-02,2.9048e-03
+3,1.3000e+00,DOWN_FORCE_DETACH,3.5650e-04,1.3315e-02,1.1506e-02,2.5199e+00,-3.7648e-02,3.7675e-02,-5.9734e-05,4.5990e-02,9.6652e-03,7.0314e-02,-6.8654e-04,3.2094e-03,-8.1644e-06,8.4573e-02,3.2820e-03
+4,1.5500e+00,DOWN_FORCE_DETACH,4.7520e-04,-1.8895e-02,1.5905e-02,2.5409e+00,-3.7943e-02,3.5439e-02,-5.3628e-05,1.3780e-02,1.4065e-02,9.1313e-02,-9.8153e-04,9.7276e-04,-2.0578e-06,9.3412e-02,1.3819e-03
+5,2.0333e+00,DOWN_FORCE_DETACH,5.9159e-04,1.3168e-03,1.9300e-02,2.5563e+00,-3.8157e-02,3.6789e-02,-3.6227e-05,3.3992e-02,1.7459e-02,1.0673e-01,-1.1956e-03,2.3230e-03,1.5343e-05,1.1337e-01,2.6127e-03
+6,2.5500e+00,DOWN_FORCE_DETACH,7.1130e-04,8.0783e-03,2.1722e-02,2.5515e+00,-3.8284e-02,3.7276e-02,-1.6214e-05,4.0753e-02,1.9881e-02,1.0192e-01,-1.3225e-03,2.8095e-03,3.5356e-05,1.1155e-01,3.1054e-03
+7,3.1000e+00,DOWN_FORCE_DETACH,8.2919e-04,1.4510e-02,2.3357e-02,2.5189e+00,-3.8362e-02,3.7749e-02,3.8743e-06,4.7185e-02,2.1516e-02,6.9384e-02,-1.4009e-03,3.2830e-03,5.5444e-05,8.6623e-02,3.5698e-03
+8,3.5833e+00,DOWN_FORCE_DETACH,9.4462e-04,2.2351e-02,2.2753e-02,2.5058e+00,-3.8309e-02,3.8317e-02,1.4975e-05,5.5026e-02,2.0913e-02,5.6212e-02,-1.3474e-03,3.8507e-03,6.6545e-05,8.1394e-02,4.0802e-03
+9,4.0000e+00,DOWN_FORCE_DETACH,1.0642e-03,2.6476e-02,2.3029e-02,2.4995e+00,-3.8328e-02,3.8615e-02,1.8663e-05,5.9151e-02,2.1188e-02,4.9999e-02,-1.3664e-03,4.1493e-03,7.0233e-05,8.0298e-02,4.3691e-03
+10,4.4667e+00,DOWN_FORCE_DETACH,1.1793e-03,2.7355e-02,2.5257e-02,2.5117e+00,-3.8488e-02,3.8671e-02,2.1581e-05,6.0030e-02,2.3416e-02,6.2190e-02,-1.5261e-03,4.2051e-03,7.3150e-05,8.9552e-02,4.4741e-03
+11,4.6333e+00,DOWN_FORCE_DETACH,1.2982e-03,5.4072e-03,2.5120e-02,2.4979e+00,-3.8483e-02,3.7159e-02,2.2168e-05,3.8082e-02,2.3279e-02,4.8376e-02,-1.5221e-03,2.6926e-03,7.3738e-05,6.5821e-02,3.0939e-03
+12,5.1000e+00,DOWN_FORCE_DETACH,1.4227e-03,7.2475e-03,2.5314e-02,2.5099e+00,-3.8506e-02,3.7249e-02,2.5142e-05,3.9923e-02,2.3474e-02,6.0329e-02,-1.5447e-03,2.7829e-03,7.6711e-05,7.6055e-02,3.1838e-03
+13,5.5333e+00,DOWN_FORCE_DETACH,1.5368e-03,1.5650e-02,2.6898e-02,2.5367e+00,-3.8624e-02,3.7805e-02,3.0938e-05,4.8325e-02,2.5057e-02,8.7116e-02,-1.6628e-03,3.3388e-03,8.2508e-05,1.0272e-01,3.7309e-03
+14,5.9333e+00,DOWN_FORCE_DETACH,1.6558e-03,2.2078e-02,2.6795e-02,2.5545e+00,-3.8626e-02,3.8238e-02,3.5985e-05,5.4753e-02,2.4954e-02,1.0495e-01,-1.6642e-03,3.7723e-03,8.7555e-05,1.2098e-01,4.1240e-03
+15,6.3333e+00,DOWN_FORCE_DETACH,1.7715e-03,2.4050e-02,2.5690e-02,2.5718e+00,-3.8553e-02,3.8362e-02,3.8212e-05,5.6725e-02,2.3849e-02,1.2229e-01,-1.5911e-03,3.8959e-03,8.9782e-05,1.3690e-01,4.2093e-03
+16,6.7167e+00,DOWN_FORCE_DETACH,1.8955e-03,2.4925e-02,2.7595e-02,2.5882e+00,-3.8685e-02,3.8409e-02,4.6296e-05,5.7600e-02,2.5754e-02,1.3867e-01,-1.7238e-03,3.9433e-03,9.7866e-05,1.5235e-01,4.3047e-03
+17,7.1500e+00,DOWN_FORCE_DETACH,2.0111e-03,2.7794e-02,3.2378e-02,2.6028e+00,-3.9016e-02,3.8598e-02,6.3136e-05,6.0469e-02,3.0538e-02,1.5327e-01,-2.0545e-03,4.1320e-03,1.1471e-04,1.6758e-01,4.6160e-03
+18,7.5167e+00,DOWN_FORCE_DETACH,2.1291e-03,2.9694e-02,3.1671e-02,2.6005e+00,-3.8971e-02,3.8740e-02,7.6671e-05,6.2369e-02,2.9830e-02,1.5099e-01,-2.0097e-03,4.2743e-03,1.2824e-04,1.6606e-01,4.7250e-03
+19,7.9500e+00,DOWN_FORCE_DETACH,2.2481e-03,2.8530e-02,3.4816e-02,2.6109e+00,-3.9154e-02,3.8674e-02,9.1952e-05,6.1205e-02,3.2976e-02,1.6140e-01,-2.1927e-03,4.2077e-03,1.4352e-04,1.7573e-01,4.7470e-03
+20,8.3167e+00,DOWN_FORCE_DETACH,2.3694e-03,2.5408e-02,3.2530e-02,2.6205e+00,-3.8944e-02,3.8455e-02,9.6829e-05,5.8083e-02,3.0689e-02,1.7093e-01,-1.9830e-03,3.9892e-03,1.4840e-04,1.8312e-01,4.4573e-03
+21,8.6667e+00,DOWN_FORCE_DETACH,2.4871e-03,2.5829e-02,3.5104e-02,2.6338e+00,-3.9051e-02,3.8469e-02,9.6509e-05,5.8504e-02,3.3263e-02,1.8421e-01,-2.0893e-03,4.0033e-03,1.4808e-04,1.9612e-01,4.5181e-03
+22,9.0000e+00,DOWN_FORCE_DETACH,2.6079e-03,2.4747e-02,3.5931e-02,2.6423e+00,-3.9062e-02,3.8385e-02,9.1862e-05,5.7422e-02,3.4090e-02,1.9275e-01,-2.1009e-03,3.9187e-03,1.4343e-04,2.0399e-01,4.4487e-03
+23,9.3167e+00,DOWN_FORCE_DETACH,2.7224e-03,2.4571e-02,3.6256e-02,2.6536e+00,-3.9083e-02,3.8361e-02,8.4224e-05,5.7246e-02,3.4415e-02,2.0410e-01,-2.1220e-03,3.8954e-03,1.3579e-04,2.1475e-01,4.4380e-03
+24,9.6500e+00,DOWN_FORCE_DETACH,2.8441e-03,2.5304e-02,3.6824e-02,2.6652e+00,-3.9156e-02,3.8405e-02,7.2098e-05,5.7979e-02,3.4983e-02,2.1565e-01,-2.1951e-03,3.9390e-03,1.2367e-04,2.2603e-01,4.5111e-03
+25,9.9167e+00,DOWN_FORCE_DETACH,2.9574e-03,2.6503e-02,3.3302e-02,2.6754e+00,-3.8952e-02,3.8477e-02,5.6788e-05,5.9178e-02,3.1461e-02,2.2582e-01,-1.9904e-03,4.0111e-03,1.0836e-04,2.3556e-01,4.4791e-03
+26,1.0200e+01,DOWN_FORCE_DETACH,3.0790e-03,3.0282e-02,3.5030e-02,2.6941e+00,-3.9089e-02,3.8715e-02,3.9700e-05,6.2957e-02,3.3189e-02,2.4455e-01,-2.1275e-03,4.2485e-03,9.1270e-05,2.5470e-01,4.7523e-03
+27,1.0467e+01,DOWN_FORCE_DETACH,3.1989e-03,2.9630e-02,3.7007e-02,2.7082e+00,-3.9228e-02,3.8658e-02,2.7951e-05,6.2305e-02,3.5166e-02,2.5868e-01,-2.2666e-03,4.1915e-03,7.9521e-05,2.6839e-01,4.7658e-03
+28,1.0717e+01,DOWN_FORCE_DETACH,3.3120e-03,3.0444e-02,4.0119e-02,2.7227e+00,-3.9424e-02,3.8708e-02,2.0668e-05,6.3119e-02,3.8278e-02,2.7316e-01,-2.4626e-03,4.2414e-03,7.2238e-05,2.8296e-01,4.9050e-03
+29,1.0967e+01,DOWN_FORCE_DETACH,3.4306e-03,2.9605e-02,4.2789e-02,2.7319e+00,-3.9570e-02,3.8654e-02,1.5032e-05,6.2280e-02,4.0949e-02,2.8234e-01,-2.6088e-03,4.1879e-03,6.6602e-05,2.9202e-01,4.9344e-03
+30,1.1217e+01,DOWN_FORCE_DETACH,3.5491e-03,2.9039e-02,4.4507e-02,2.7352e+00,-3.9643e-02,3.8618e-02,1.1046e-05,6.1714e-02,4.2666e-02,2.8564e-01,-2.6814e-03,4.1515e-03,6.2616e-05,2.9533e-01,4.9426e-03
+31,1.1450e+01,DOWN_FORCE_DETACH,3.6695e-03,2.8344e-02,4.5669e-02,2.7491e+00,-3.9690e-02,3.8558e-02,9.8242e-06,6.1019e-02,4.3828e-02,2.9953e-01,-2.7285e-03,4.0917e-03,6.1394e-05,3.0881e-01,4.9184e-03
+32,1.1683e+01,DOWN_FORCE_DETACH,3.7903e-03,3.0243e-02,4.6143e-02,2.7617e+00,-3.9714e-02,3.8668e-02,1.0894e-05,6.2919e-02,4.4302e-02,3.1216e-01,-2.7523e-03,4.2015e-03,6.2464e-05,3.2150e-01,5.0231e-03
+33,1.1867e+01,DOWN_FORCE_DETACH,3.9051e-03,3.0963e-02,4.7394e-02,2.7632e+00,-3.9801e-02,3.8709e-02,1.1180e-05,6.3638e-02,4.5554e-02,3.1365e-01,-2.8401e-03,4.2426e-03,6.2750e-05,3.2327e-01,5.1059e-03
+34,1.2100e+01,DOWN_FORCE_DETACH,4.0225e-03,3.1572e-02,4.9053e-02,2.7664e+00,-3.9902e-02,3.8748e-02,8.2790e-06,6.4248e-02,4.7212e-02,3.1688e-01,-2.9405e-03,4.2823e-03,5.9849e-05,3.2675e-01,5.1950e-03
+35,1.2300e+01,DOWN_FORCE_DETACH,4.1410e-03,2.8566e-02,5.2473e-02,2.7716e+00,-4.0091e-02,3.8548e-02,3.3062e-06,6.1241e-02,5.0633e-02,3.2208e-01,-3.1297e-03,4.0816e-03,5.4876e-05,3.3174e-01,5.1437e-03
+36,1.2500e+01,DOWN_FORCE_DETACH,4.2622e-03,2.7311e-02,5.5393e-02,2.7816e+00,-4.0226e-02,3.8460e-02,-2.2935e-06,5.9986e-02,5.3552e-02,3.3210e-01,-3.2649e-03,3.9936e-03,4.9276e-05,3.4170e-01,5.1586e-03
+37,1.2683e+01,DOWN_FORCE_DETACH,4.3813e-03,2.7431e-02,5.7808e-02,2.7922e+00,-4.0338e-02,3.8458e-02,-4.0321e-06,6.0106e-02,5.5967e-02,3.4267e-01,-3.3764e-03,3.9918e-03,4.7538e-05,3.5238e-01,5.2284e-03
+38,1.2850e+01,DOWN_FORCE_DETACH,4.4949e-03,2.9559e-02,5.9288e-02,2.7974e+00,-4.0407e-02,3.8591e-02,-3.0439e-06,6.2234e-02,5.7448e-02,3.4789e-01,-3.4452e-03,4.1253e-03,4.8526e-05,3.5805e-01,5.3749e-03
+39,1.3050e+01,DOWN_FORCE_DETACH,4.6218e-03,3.1530e-02,5.7368e-02,2.8050e+00,-4.0274e-02,3.8715e-02,-1.9122e-06,6.4205e-02,5.5527e-02,3.5542e-01,-3.3129e-03,4.2488e-03,4.9658e-05,3.6541e-01,5.3879e-03
+40,1.3217e+01,DOWN_FORCE_DETACH,4.7362e-03,3.2043e-02,5.4795e-02,2.8079e+00,-4.0113e-02,3.8742e-02,-2.4388e-06,6.4718e-02,5.2955e-02,3.5840e-01,-3.1514e-03,4.2757e-03,4.9131e-05,3.6803e-01,5.3119e-03
+41,1.3400e+01,DOWN_FORCE_DETACH,4.8589e-03,3.2435e-02,5.5541e-02,2.8193e+00,-4.0165e-02,3.8759e-02,-4.5309e-06,6.5110e-02,5.3700e-02,3.6976e-01,-3.2035e-03,4.2933e-03,4.7039e-05,3.7927e-01,5.3570e-03
+42,1.3550e+01,DOWN_FORCE_DETACH,4.9743e-03,3.1766e-02,5.7173e-02,2.8250e+00,-4.0265e-02,3.8712e-02,-6.7084e-06,6.4441e-02,5.5332e-02,3.7545e-01,-3.3035e-03,4.2460e-03,4.4862e-05,3.8494e-01,5.3799e-03
+43,1.3717e+01,DOWN_FORCE_DETACH,5.0861e-03,2.9046e-02,5.9587e-02,2.8238e+00,-4.0406e-02,3.8527e-02,-8.9550e-06,6.1721e-02,5.7747e-02,3.7429e-01,-3.4451e-03,4.0612e-03,4.2615e-05,3.8372e-01,5.3257e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4ef59de666c87ad69954d0f84a11d8ab71e86528
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b85e6eb33557cbdf3ac4047157e8041b36a8a37
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1cee1f32cc23e93cf33db62a4f3fe7aafbe21ba
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31f17a8cd186c5b8e06dce8e510cc19a0097121e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1c3637de9f1e0735d0f1d57f08431eed396a73c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792666664287072970,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.543645678e-08,8.701104594e-11,6.845022327e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017289811e-01,1.780034081e-06,8.295726688e-01
+1,1.333333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1792666664551359158,1.619810149e-07,3.920057298e-06,-9.167884705e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.315047297e-07,8.936694579e-10,5.799629399e-08,7.015380335e-01,5.471018619e-06,8.407400244e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017290971e-01,1.780840739e-06,8.295727200e-01
+2,2.666666667e-01,WAIT_W2,1792666664785959056,1.492567494e-06,6.115661729e-06,1.586676536e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.357200393e-07,1.726665713e-09,1.030872537e-07,7.015393640e-01,7.666623050e-06,8.407425279e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292013e-01,1.781673735e-06,8.295727651e-01
+3,4.000000000e-01,WAIT_W2,1792666665051357635,9.925815797e-07,5.411074751e-06,9.763179456e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.289503772e-07,2.556685953e-09,1.430109501e-07,7.015388641e-01,6.962036072e-06,8.407419175e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292946e-01,1.782503756e-06,8.295728050e-01
+4,5.000000000e-01,WAIT_W2,1792666665248109069,2.549093380e-06,8.588209947e-06,1.172273631e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.926394316e-07,3.209911137e-09,1.698704593e-07,7.015404206e-01,1.013917127e-05,8.407421135e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293583e-01,1.783156981e-06,8.295728319e-01
+5,6.333333333e-01,WAIT_W2,1792666665483355900,2.656253285e-06,8.742247724e-06,2.025852124e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.698736997e-07,4.083186116e-09,2.020552543e-07,7.015405277e-01,1.029320904e-05,8.407429670e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294355e-01,1.784030256e-06,8.295728640e-01
+6,7.666666667e-01,WAIT_W2,1792666665747394949,3.365816809e-06,1.013575503e-05,2.831956041e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.399657089e-07,4.976761081e-09,2.303833861e-07,7.015412373e-01,1.168671635e-05,8.407437731e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295056e-01,1.784923831e-06,8.295728924e-01
+7,8.666666667e-01,WAIT_W2,1792666665916300155,-1.344801064e-06,7.511622487e-06,-3.165004756e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.878602984e-07,5.624076219e-09,2.494612564e-07,7.015365267e-01,9.062583809e-06,8.407377762e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295535e-01,1.785571146e-06,8.295729114e-01
+8,9.833333333e-01,WAIT_W2,1792666666148141909,1.293297831e-06,1.825395989e-05,-4.327136015e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.393613962e-07,6.381243365e-09,2.695633552e-07,7.015391648e-01,1.980492121e-05,8.407405085e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296050e-01,1.786328313e-06,8.295729315e-01
+9,1.083333333e+00,WAIT_W2,1792666666347401121,3.364838861e-06,2.108880175e-05,-9.499783171e-07,4.327512675e-06,2.157791091e-05,2.883120691e-06,4.994564093e-06,2.153868335e-05,3.071855512e-06,7.015412363e-01,2.263976307e-05,8.407399912e-01,7.015421990e-01,2.312887223e-05,8.407438243e-01,7.017339602e-01,2.331863042e-05,8.295757338e-01
+10,1.216666667e+00,WAIT_W2,1792666666579422914,2.772831113e-06,1.977760143e-05,-1.632422964e-06,4.327512675e-06,2.157791091e-05,2.883120691e-06,5.054096412e-06,2.155261126e-05,3.100685345e-06,7.015406443e-01,2.132856275e-05,8.407393088e-01,7.015421990e-01,2.312887223e-05,8.407438243e-01,7.017340197e-01,2.333255833e-05,8.295757627e-01
+11,1.300000000e+00,WAIT_W2,1792666666747447570,5.022361081e-06,1.972696913e-05,2.332270952e-06,4.327512675e-06,2.157791091e-05,2.883120691e-06,5.087230331e-06,2.155511149e-05,3.115930871e-06,7.015428938e-01,2.127793045e-05,8.407432735e-01,7.015421990e-01,2.312887223e-05,8.407438243e-01,7.017340529e-01,2.333505856e-05,8.295757779e-01
+12,1.433333333e+00,WAIT_W2,1792666667011409859,1.616772149e-06,1.070291047e-05,-7.581345818e-07,4.327512675e-06,2.157791091e-05,2.883120691e-06,5.135860260e-06,2.155713870e-05,3.137525397e-06,7.015394883e-01,1.225387179e-05,8.407401831e-01,7.015421990e-01,2.312887223e-05,8.407438243e-01,7.017341015e-01,2.333708577e-05,8.295757995e-01
+13,1.533333333e+00,UP_FORCE_RAMP,1792666667212206034,3.606352320e-06,2.716285095e-06,2.289608111e-06,4.327512675e-06,2.157791091e-05,2.883120691e-06,5.169244770e-06,2.155813936e-05,3.151863191e-06,7.015414778e-01,4.267246416e-06,8.407432308e-01,7.015421990e-01,2.312887223e-05,8.407438243e-01,7.017341349e-01,2.333808643e-05,8.295758138e-01
+14,1.616666667e+00,UP_FORCE_RAMP,1792666667377988287,3.560171297e-06,-1.757330540e-07,3.297050698e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.360768346e-06,-1.432513962e-07,3.976783648e-06,7.015414317e-01,1.375228267e-06,8.407442382e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017333264e-01,1.636695674e-06,8.295766388e-01
+15,1.700000000e+00,UP_FORCE_RAMP,1792666667543369080,3.064022016e-06,1.525181913e-06,2.199300640e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.382833808e-06,-1.719808138e-07,3.988762799e-06,7.015409355e-01,3.076143234e-06,8.407431405e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017333485e-01,1.607966256e-06,8.295766507e-01
+16,1.816666667e+00,UP_FORCE_RAMP,1792666667777620556,3.677751503e-06,-6.159402459e-06,2.644681531e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.413535597e-06,-1.772681679e-07,4.003100132e-06,7.015415492e-01,-4.608441138e-06,8.407435859e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017333792e-01,1.602678902e-06,8.295766651e-01
+17,1.916666667e+00,UP_FORCE_RAMP,1792666667977687106,3.642962450e-06,-8.655898553e-06,4.011436405e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.437956189e-06,-1.781810238e-07,4.014078016e-06,7.015415144e-01,-7.104937232e-06,8.407449526e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017334036e-01,1.601766046e-06,8.295766761e-01
+18,2.050000000e+00,UP_FORCE_RAMP,1792666668243962658,3.315154817e-06,-1.008741659e-05,2.346246029e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.467932888e-06,-1.781838172e-07,4.027151630e-06,7.015411866e-01,-8.536455267e-06,8.407432874e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017334336e-01,1.601763252e-06,8.295766891e-01
+19,2.166666667e+00,UP_FORCE_RAMP,1792666668475354699,4.734176064e-06,-1.050251130e-05,5.534606920e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.491951646e-06,-1.778869284e-07,4.037292634e-06,7.015426057e-01,-8.951549979e-06,8.407464758e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017334576e-01,1.602060141e-06,8.295766993e-01
+20,2.283333333e+00,UP_FORCE_RAMP,1792666668709939987,3.965987273e-06,-1.434033552e-05,5.306255878e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.514083714e-06,-1.775222509e-07,4.046360471e-06,7.015418375e-01,-1.278937420e-05,8.407462474e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017334797e-01,1.602424819e-06,8.295767083e-01
+21,2.416666667e+00,UP_FORCE_RAMP,1792666668975373610,3.397506733e-06,-1.746943962e-05,8.116654818e-06,3.468908620e-06,-2.117254493e-07,3.654471678e-06,4.537266983e-06,-1.770946235e-07,4.055561592e-06,7.015412690e-01,-1.591847830e-05,8.407490578e-01,7.015413404e-01,1.339235872e-06,8.407445957e-01,7.017335029e-01,1.602852446e-06,8.295767175e-01
+22,2.566666667e+00,UP_FORCE_RAMP,1792666669275338475,5.412289736e-06,-1.831752014e-05,1.711640436e-05,3.676698666e-06,-1.888275256e-05,1.081262102e-05,4.768316175e-06,-1.883299697e-05,1.109054231e-05,7.015432838e-01,-1.676655882e-05,8.407580576e-01,7.015415482e-01,-1.733179124e-05,8.407517538e-01,7.017337339e-01,-1.705304990e-05,8.295837525e-01
+23,2.700000000e+00,UP_FORCE_RAMP,1792666669539330129,6.363893970e-06,-1.966774097e-05,2.310866891e-05,3.676698666e-06,-1.888275256e-05,1.081262102e-05,4.787922538e-06,-1.883628375e-05,1.111613954e-05,7.015442354e-01,-1.811677964e-05,8.407640499e-01,7.015415482e-01,-1.733179124e-05,8.407517538e-01,7.017337536e-01,-1.705633668e-05,8.295837781e-01
+24,2.800000000e+00,UP_FORCE_RAMP,1792666669739335360,7.104602736e-06,-2.271069609e-05,2.517134373e-05,3.676698666e-06,-1.888275256e-05,1.081262102e-05,4.801440043e-06,-1.883679446e-05,1.113239188e-05,7.015449761e-01,-2.115973477e-05,8.407661125e-01,7.015415482e-01,-1.733179124e-05,8.407517538e-01,7.017337671e-01,-1.705684739e-05,8.295837944e-01
+25,2.900000000e+00,UP_FORCE_RAMP,1792666669939385254,5.150903753e-06,-2.514323533e-05,2.606423532e-05,3.676698666e-06,-1.888275256e-05,1.081262102e-05,4.814113902e-06,-1.883692388e-05,1.114684570e-05,7.015430224e-01,-2.359227401e-05,8.407670054e-01,7.015415482e-01,-1.733179124e-05,8.407517538e-01,7.017337797e-01,-1.705697681e-05,8.295838088e-01
+26,3.033333333e+00,UP_FORCE_RAMP,1792666670207335015,6.242000259e-06,-2.366996418e-05,2.685234827e-05,3.676698666e-06,-1.888275256e-05,1.081262102e-05,4.829745712e-06,-1.883690909e-05,1.116382578e-05,7.015441135e-01,-2.211900286e-05,8.407677935e-01,7.015415482e-01,-1.733179124e-05,8.407517538e-01,7.017337954e-01,-1.705696202e-05,8.295838258e-01
+27,3.166666667e+00,UP_FORCE_RAMP,1792666670439326562,7.890513954e-06,-2.379531600e-05,3.449731125e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.427521052e-06,-2.150471380e-05,3.229598225e-05,7.015457620e-01,-2.224435468e-05,8.407754385e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017373931e-01,-1.972476673e-05,8.296049580e-01
+28,3.233333333e+00,UP_FORCE_RAMP,1792666670571908152,6.585373651e-06,-2.721028729e-05,3.366059553e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.437633564e-06,-2.150476065e-05,3.233314363e-05,7.015444569e-01,-2.565932597e-05,8.407746018e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374033e-01,-1.972481358e-05,8.296049951e-01
+29,3.383333333e+00,UP_FORCE_RAMP,1792666670871626625,6.077601219e-06,-2.286088607e-05,3.449141524e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.458396133e-06,-2.150451837e-05,3.240281183e-05,7.015439491e-01,-2.130992475e-05,8.407754326e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374240e-01,-1.972457130e-05,8.296050648e-01
+30,3.500000000e+00,UP_FORCE_RAMP,1792666671071384352,7.939872305e-06,-2.308913374e-05,3.929985316e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.473208847e-06,-2.150429456e-05,3.244821656e-05,7.015458114e-01,-2.153817242e-05,8.407802410e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374388e-01,-1.972434749e-05,8.296051102e-01
+31,3.616666667e+00,UP_FORCE_RAMP,1792666671303417520,7.757115672e-06,-2.744963078e-05,4.156399192e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.487018235e-06,-2.150411615e-05,3.248773294e-05,7.015456286e-01,-2.589866946e-05,8.407825052e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374526e-01,-1.972416908e-05,8.296051497e-01
+32,3.750000000e+00,UP_FORCE_RAMP,1792666671571498996,7.604456223e-06,-2.354709540e-05,4.329750764e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.501654139e-06,-2.150389031e-05,3.252679864e-05,7.015454759e-01,-2.199613408e-05,8.407842387e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374673e-01,-1.972394324e-05,8.296051888e-01
+33,3.833333333e+00,UP_FORCE_RAMP,1792666671703882923,6.906757879e-06,-3.192928389e-05,4.518935045e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.510248712e-06,-2.150376143e-05,3.254832527e-05,7.015447782e-01,-3.037832257e-05,8.407861305e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374759e-01,-1.972381436e-05,8.296052103e-01
+34,3.900000000e+00,UP_FORCE_RAMP,1792666671836219686,3.420511829e-06,-2.695481195e-05,4.198307993e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.516790773e-06,-2.150366069e-05,3.256415547e-05,7.015412920e-01,-2.540385063e-05,8.407829243e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374824e-01,-1.972371362e-05,8.296052261e-01
+35,3.950000000e+00,UP_FORCE_RAMP,1792666671935635286,6.370196332e-06,-2.534631312e-05,4.521358715e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.521521856e-06,-2.150359330e-05,3.257526655e-05,7.015442417e-01,-2.379535180e-05,8.407861548e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374872e-01,-1.972364623e-05,8.296052372e-01
+36,4.033333333e+00,UP_FORCE_RAMP,1792666672103930445,2.062731153e-06,-2.928999898e-05,4.375158585e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.529088937e-06,-2.150349180e-05,3.259244075e-05,7.015399342e-01,-2.773903766e-05,8.407846928e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374947e-01,-1.972354473e-05,8.296052544e-01
+37,4.083333333e+00,UP_FORCE_RAMP,1792666672201844267,4.886613245e-07,-3.182972742e-05,4.689353074e-05,7.112265287e-06,-2.156362987e-05,3.235917789e-05,8.533444733e-06,-2.150343614e-05,3.260199458e-05,7.015383601e-01,-3.027876610e-05,8.407878347e-01,7.015449837e-01,-2.001266855e-05,8.407733004e-01,7.017374991e-01,-1.972348907e-05,8.296052640e-01
+38,4.100000000e+00,UP_FORCE_RAMP,1792666672235823560,-4.388066730e-05,-2.373540554e-05,3.676798162e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.249770523e-05,-2.347972701e-05,3.637155440e-05,7.014939908e-01,-2.218444422e-05,8.407777092e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016864679e-01,-2.169977994e-05,8.296090335e-01
+39,4.133333333e+00,UP_FORCE_RAMP,1792666672299917427,-3.980241939e-05,-1.941964840e-05,4.354793396e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.256755662e-05,-2.348174290e-05,3.638704094e-05,7.014980691e-01,-1.786868708e-05,8.407844891e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016863981e-01,-2.170179583e-05,8.296090490e-01
+40,4.183333333e+00,UP_FORCE_RAMP,1792666672367861366,-3.451395939e-05,-2.530759636e-05,4.753776511e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.261937768e-05,-2.348229810e-05,3.640310446e-05,7.015033575e-01,-2.375663504e-05,8.407884790e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016863463e-01,-2.170235103e-05,8.296090651e-01
+41,4.233333333e+00,UP_FORCE_RAMP,1792666672467839489,-3.421969524e-05,-2.799836667e-05,4.757191455e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.265822483e-05,-2.348253916e-05,3.641671892e-05,7.015036518e-01,-2.644740535e-05,8.407885131e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016863074e-01,-2.170259209e-05,8.296090787e-01
+42,4.300000000e+00,UP_FORCE_RAMP,1792666672599883517,-3.656761748e-05,-1.699351048e-05,4.861924545e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.270243916e-05,-2.348281318e-05,3.643293932e-05,7.015013039e-01,-1.544254916e-05,8.407895604e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016862632e-01,-2.170286611e-05,8.296090949e-01
+43,4.433333333e+00,UP_FORCE_RAMP,1792666672867994567,-3.370678694e-05,-2.461078838e-05,5.136891627e-05,-4.343676361e-05,-2.357529946e-05,3.629301117e-05,-4.277845225e-05,-2.348343737e-05,3.646067274e-05,7.015041647e-01,-2.305982706e-05,8.407923101e-01,7.014944347e-01,-2.202433814e-05,8.407772342e-01,7.016861872e-01,-2.170349030e-05,8.296091227e-01
+44,4.550000000e+00,UP_FORCE_RAMP,1792666673066130945,-3.331443647e-05,-2.163829938e-05,5.410521635e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.255857469e-05,-2.147432850e-05,5.408535724e-05,7.015045570e-01,-2.008733806e-05,8.407950464e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016964071e-01,-1.969438143e-05,8.296267473e-01
+45,4.650000000e+00,UP_FORCE_RAMP,1792666673265975907,-3.640792203e-05,-2.015160703e-05,5.357240885e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.257623935e-05,-2.147140736e-05,5.416929701e-05,7.015014636e-01,-1.860064571e-05,8.407945136e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016963894e-01,-1.969146029e-05,8.296268313e-01
+46,4.733333333e+00,UP_FORCE_RAMP,1792666673431842641,-3.322522278e-05,-1.868082034e-05,5.858392322e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.259862315e-05,-2.147123800e-05,5.421266820e-05,7.015046463e-01,-1.712985902e-05,8.407995251e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016963670e-01,-1.969129093e-05,8.296268746e-01
+47,4.833333333e+00,UP_FORCE_RAMP,1792666673599859403,-3.099477928e-05,-2.098644173e-05,6.456983819e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.262465308e-05,-2.147141158e-05,5.425639395e-05,7.015068767e-01,-1.943548041e-05,8.408055110e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016963410e-01,-1.969146451e-05,8.296269184e-01
+48,4.950000000e+00,UP_FORCE_RAMP,1792666673831876667,-3.495158701e-05,-2.165847768e-05,6.228669748e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.265278313e-05,-2.147181528e-05,5.429992170e-05,7.015029199e-01,-2.010751636e-05,8.408032279e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016963128e-01,-1.969186821e-05,8.296269619e-01
+49,5.083333333e+00,UP_FORCE_RAMP,1792666674097989535,-3.350608327e-05,-2.303513671e-05,6.667817257e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.268185792e-05,-2.147237472e-05,5.434205844e-05,7.015043654e-01,-2.148417539e-05,8.408076194e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016962838e-01,-1.969242765e-05,8.296270040e-01
+50,5.183333333e+00,UP_FORCE_RAMP,1792666674263978124,-3.374803506e-05,-2.026032542e-05,6.863032657e-05,-3.333459752e-05,-2.154366380e-05,5.423280244e-05,-3.270157486e-05,-2.147280865e-05,5.436926310e-05,7.015041234e-01,-1.870936410e-05,8.408095715e-01,7.015045369e-01,-1.999270248e-05,8.407951740e-01,7.016962641e-01,-1.969286158e-05,8.296270312e-01
+51,5.316666667e+00,UP_FORCE_RAMP,1792666674531503571,-3.092221650e-05,-1.591149195e-05,7.438720311e-05,-3.152462577e-05,-1.703431310e-05,7.374423941e-05,-3.084875528e-05,-1.698175906e-05,7.350579528e-05,7.015069493e-01,-1.436053063e-05,8.408153284e-01,7.015063469e-01,-1.548335178e-05,8.408146854e-01,7.016981169e-01,-1.520181199e-05,8.296461678e-01
+52,5.433333333e+00,UP_FORCE_RAMP,1792666674763880637,-3.376018559e-05,-2.009785740e-05,7.496710379e-05,-3.152462577e-05,-1.703431310e-05,7.374423941e-05,-3.086402319e-05,-1.697890835e-05,7.359015030e-05,7.015041113e-01,-1.854689608e-05,8.408159083e-01,7.015063469e-01,-1.548335178e-05,8.408146854e-01,7.016981016e-01,-1.519896128e-05,8.296462521e-01
+53,5.533333333e+00,UP_FORCE_RAMP,1792666674927926883,-3.174468042e-05,-1.524277363e-05,7.883030043e-05,-3.152462577e-05,-1.703431310e-05,7.374423941e-05,-3.087629707e-05,-1.697839755e-05,7.364472743e-05,7.015061268e-01,-1.369181231e-05,8.408197715e-01,7.015063469e-01,-1.548335178e-05,8.408146854e-01,7.016980893e-01,-1.519845048e-05,8.296463067e-01
+54,5.600000000e+00,UP_FORCE_RAMP,1792666675063761776,-3.212439715e-05,-2.010003604e-05,8.008336125e-05,-3.152462577e-05,-1.703431310e-05,7.374423941e-05,-3.088386056e-05,-1.697832761e-05,7.367658362e-05,7.015057471e-01,-1.854907472e-05,8.408210245e-01,7.015063469e-01,-1.548335178e-05,8.408146854e-01,7.016980818e-01,-1.519838054e-05,8.296463386e-01
+55,5.700000000e+00,UP_FORCE_RAMP,1792666675264068516,-3.327419520e-05,-1.684180444e-05,8.424505317e-05,-3.152462577e-05,-1.703431310e-05,7.374423941e-05,-3.089428179e-05,-1.697837433e-05,7.371914688e-05,7.015045973e-01,-1.529084312e-05,8.408251862e-01,7.015063469e-01,-1.548335178e-05,8.408146854e-01,7.016980713e-01,-1.519842726e-05,8.296463811e-01
+56,5.750000000e+00,UP_FORCE_RAMP,1792666675361951840,-2.884851394e-05,-1.928416457e-05,9.551498174e-05,-2.879186832e-05,-1.907303660e-05,9.516861836e-05,-2.802445988e-05,-1.898973855e-05,9.467633696e-05,7.015090230e-01,-1.773320325e-05,8.408364562e-01,7.015090796e-01,-1.752207528e-05,8.408361098e-01,7.017009412e-01,-1.720979148e-05,8.296673383e-01
+57,5.766666667e+00,UP_FORCE_HOLD,1792666675396038450,-2.705864598e-05,-2.245807204e-05,1.117211389e-04,-2.879186832e-05,-1.907303660e-05,9.516861836e-05,-2.802205605e-05,-1.899109381e-05,9.470646910e-05,7.015108128e-01,-2.090711072e-05,8.408526623e-01,7.015090796e-01,-1.752207528e-05,8.408361098e-01,7.017009436e-01,-1.721114674e-05,8.296673685e-01
+58,5.816666667e+00,UP_FORCE_HOLD,1792666675495856598,-1.888969605e-05,-1.503106675e-05,1.301920547e-04,-1.862441371e-05,-1.647579507e-05,1.292111517e-04,-1.767408866e-05,-1.640211273e-05,1.281162636e-04,7.015189818e-01,-1.348010543e-05,8.408711332e-01,7.015192471e-01,-1.492483375e-05,8.408701523e-01,7.017112915e-01,-1.462216566e-05,8.297007782e-01
+59,5.900000000e+00,UP_FORCE_HOLD,1792666675660048930,-1.950027794e-05,-1.346989768e-05,1.306483659e-04,-1.862441371e-05,-1.647579507e-05,1.292111517e-04,-1.766123771e-05,-1.640055355e-05,1.282676898e-04,7.015183712e-01,-1.191893636e-05,8.408715896e-01,7.015192471e-01,-1.492483375e-05,8.408701523e-01,7.017113044e-01,-1.462060648e-05,8.297009297e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..283678307d4699d919a542cc8486c2618e9fbcb4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.2012e-02,1.8411e-03,2.4499e+00,-3.6962e-02,3.4512e-02,-5.1935e-05,6.7556e-04,3.8679e-06,3.7265e-04,-8.7917e-07,4.6484e-05,-4.7608e-07,7.7153e-04,4.6495e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,2.7663e-05,-2.6818e-02,1.8793e-03,2.4527e+00,-3.6969e-02,3.4871e-02,-5.5600e-05,5.8698e-03,4.2086e-05,3.1595e-03,-8.0690e-06,4.0600e-04,-4.1412e-06,6.6662e-03,4.0610e-04
+2,2.6667e-01,WAIT_W2,5.2666e-05,-2.2020e-02,1.9444e-03,2.4552e+00,-3.6977e-02,3.5206e-02,-5.8969e-05,1.0668e-02,1.0718e-04,5.6481e-03,-1.6209e-05,7.4076e-04,-7.5098e-06,1.2071e-02,7.4097e-04
+3,4.0000e-01,WAIT_W2,7.8798e-05,-1.7307e-02,2.0267e-03,2.4576e+00,-3.6986e-02,3.5538e-02,-6.2662e-05,1.5381e-02,1.8946e-04,8.0304e-03,-2.5038e-05,1.0732e-03,-1.1203e-05,1.7352e-02,1.0735e-03
+4,5.0000e-01,WAIT_W2,1.0365e-04,-1.4203e-02,2.0798e-03,2.4591e+00,-3.6991e-02,3.5758e-02,-6.5116e-05,1.8485e-02,2.4256e-04,9.5263e-03,-3.0279e-05,1.2929e-03,-1.3657e-05,2.0796e-02,1.2933e-03
+5,6.3333e-01,WAIT_W2,1.3127e-04,-1.0506e-02,2.1382e-03,2.4608e+00,-3.6997e-02,3.6020e-02,-6.7819e-05,2.2182e-02,3.0097e-04,1.1254e-02,-3.5480e-05,1.5545e-03,-1.6360e-05,2.4875e-02,1.5550e-03
+6,7.6667e-01,WAIT_W2,1.5726e-04,-7.0933e-03,2.1995e-03,2.4624e+00,-3.7001e-02,3.6261e-02,-7.0047e-05,2.5595e-02,3.6230e-04,1.2837e-02,-4.0032e-05,1.7959e-03,-1.8588e-05,2.8636e-02,1.7965e-03
+7,8.6667e-01,WAIT_W2,1.8320e-04,-4.7797e-03,2.2328e-03,2.4634e+00,-3.7003e-02,3.6425e-02,-7.1433e-05,2.7908e-02,3.9554e-04,1.3884e-02,-4.2111e-05,1.9598e-03,-1.9974e-05,3.1174e-02,1.9604e-03
+8,9.8333e-01,WAIT_W2,2.1176e-04,-2.3237e-03,2.2593e-03,2.4645e+00,-3.7004e-02,3.6599e-02,-7.2702e-05,3.0364e-02,4.2207e-04,1.4976e-02,-4.3243e-05,2.1337e-03,-2.1243e-05,3.3859e-02,2.1342e-03
+9,1.0833e+00,WAIT_W2,2.3584e-04,-2.5622e-03,-8.3634e-03,2.4621e+00,-3.6229e-02,3.6600e-02,-9.5382e-05,3.0126e-02,-1.0201e-02,1.2582e-02,7.3174e-04,2.1353e-03,-4.3923e-05,3.4204e-02,2.2576e-03
+10,1.2167e+00,WAIT_W2,2.6352e-04,-6.8384e-04,-7.6884e-03,2.4638e+00,-3.6283e-02,3.6727e-02,-9.7482e-05,3.2004e-02,-9.5257e-03,1.4253e-02,6.7852e-04,2.2617e-03,-4.6023e-05,3.6306e-02,2.3618e-03
+11,1.3000e+00,WAIT_W2,2.8740e-04,6.9937e-04,-7.3340e-03,2.4647e+00,-3.6309e-02,3.6821e-02,-9.8279e-05,3.3387e-02,-9.1712e-03,1.5114e-02,6.5175e-04,2.3562e-03,-4.6820e-05,3.7779e-02,2.4451e-03
+12,1.4333e+00,WAIT_W2,3.1349e-04,2.8451e-03,-7.0105e-03,2.4658e+00,-3.6334e-02,3.6970e-02,-9.8901e-05,3.5533e-02,-8.8478e-03,1.6309e-02,6.2742e-04,2.5044e-03,-4.7442e-05,4.0086e-02,2.5823e-03
+13,1.5333e+00,UP_FORCE_RAMP,3.4387e-04,4.3611e-03,-6.8715e-03,2.4666e+00,-3.6344e-02,3.7075e-02,-9.8930e-05,3.7049e-02,-8.7088e-03,1.7095e-02,6.1740e-04,2.6100e-03,-4.7471e-05,4.1722e-02,2.6824e-03
+14,1.6167e+00,UP_FORCE_RAMP,3.6823e-04,5.5587e-03,-6.7910e-03,2.4672e+00,-3.6349e-02,3.7159e-02,-9.8717e-05,3.8247e-02,-8.6283e-03,1.7691e-02,6.1204e-04,2.6937e-03,-4.7258e-05,4.3014e-02,2.7628e-03
+15,1.7000e+00,UP_FORCE_RAMP,3.9163e-04,8.2779e-03,3.7238e-03,2.4670e+00,-3.7107e-02,3.7363e-02,-7.8738e-05,4.0966e-02,1.8866e-03,1.7437e-02,-1.4576e-04,2.8979e-03,-2.7279e-05,4.4562e-02,2.9017e-03
+16,1.8167e+00,UP_FORCE_RAMP,4.1753e-04,9.3564e-03,3.1525e-03,2.4677e+00,-3.7062e-02,3.7435e-02,-7.6589e-05,4.2044e-02,1.3152e-03,1.8166e-02,-1.0093e-04,2.9695e-03,-2.5130e-05,4.5820e-02,2.9713e-03
+17,1.9167e+00,UP_FORCE_RAMP,4.4681e-04,1.0367e-02,2.8968e-03,2.4683e+00,-3.7040e-02,3.7503e-02,-7.4951e-05,4.3055e-02,1.0596e-03,1.8757e-02,-7.8887e-05,3.0381e-03,-2.3493e-05,4.6975e-02,3.0393e-03
+18,2.0500e+00,UP_FORCE_RAMP,4.7093e-04,1.1675e-02,2.7333e-03,2.4690e+00,-3.7024e-02,3.7593e-02,-7.3053e-05,4.4363e-02,8.9606e-04,1.9464e-02,-6.2466e-05,3.1282e-03,-2.1594e-05,4.8453e-02,3.1289e-03
+19,2.1667e+00,UP_FORCE_RAMP,5.0058e-04,1.2758e-02,2.6582e-03,2.4696e+00,-3.7014e-02,3.7669e-02,-7.1606e-05,4.5446e-02,8.2097e-04,2.0015e-02,-5.3417e-05,3.2036e-03,-2.0147e-05,4.9665e-02,3.2041e-03
+20,2.2833e+00,UP_FORCE_RAMP,5.2512e-04,1.3791e-02,2.6076e-03,2.4701e+00,-3.7007e-02,3.7741e-02,-7.0284e-05,4.6479e-02,7.7040e-04,2.0516e-02,-4.6398e-05,3.2758e-03,-1.8825e-05,5.0811e-02,3.2762e-03
+21,2.4167e+00,UP_FORCE_RAMP,5.5153e-04,1.4869e-02,2.5695e-03,2.4706e+00,-3.7001e-02,3.7817e-02,-6.8962e-05,4.7557e-02,7.3224e-04,2.1015e-02,-4.0181e-05,3.3516e-03,-1.7503e-05,5.1998e-02,3.3518e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6d01eede87b006d12e415722478623ee294801b3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:500a52a162b5a46050bd7169380f7e287b5981cea1b1ac16e64f0ae7d948bf23
+size 50186240
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..feebca559114ec3cbbae83fff2f5bd601ff937fe
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4cc4204bff454d6f0833a9ac748f8b874797dae
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
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+10094,1792666737967267312,35278366000000,1792666737962081568,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0438,0.04380163550376892,0.6760078067795048,-0.004636263191448545,0.09086172896814056,0.9999999829548284,1.9148977210426216e-05,-0.00015723501222134512,2.1063596256524208e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.05199354668149475,0.0556272062645638,-0.007954416684211152,0.004168213089143398,-0.002979327032377632,1.3696313836240957e-05,0.5209208112431628,0.4088560688333529,0.1356773524024591,0.028556997144987602,-0.03807674509535888,0.0017380428969592367,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,-0.1853810358018998,0.7240752618104714,1.2998351464482212,-0.21302247706516395,-0.7931739674450882,0.3935949736557153,0.6964189101206878,0.007954416684211152,-0.6034162363275334,0.0,0.0,0,0,0.0,0.0
+10222,1792666739026351701,35279425000000,1792666739026070735,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760043600959211,-0.0046456599068369995,0.09085577695072553,0.9999999821101656,1.48522892015621e-05,-0.0001626018273592751,2.3718942559180244e-05,0.6761,-0.00453,0.09099174870147443,1.0,0.0,0.0,0.0,0.08691845768367074,0.09387484133310164,-0.006480541378217686,0.0073144009937792,-0.006079127699533948,4.246440034753494e-06,0.5558457222453388,0.44710370390189075,0.13715122770845256,0.031703185049623404,-0.0411765457625152,0.0017285930231577492,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,-0.17348885873208017,0.7333000073592495,1.339313687249798,-0.1977633160822207,-0.8192254864920899,0.41590374764605126,0.6964189101206878,0.006480541378217686,-0.6428947771291101,-0.6428947771291101,0.04025000000000027,0,0,-2.874999464472084e-05,-9.999999025923074e-05
+10338,1792666739993334707,35280392000000,1792666739986071564,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760033540645187,-0.004653969394550337,0.09083278071350769,0.9999999815595533,1.0903477294117165e-05,-0.00016458805346263088,3.340126104967571e-05,0.6761,-0.00453,0.09094059441121194,1.0,0.0,0.0,0.0,0.08860922729145443,0.10882010122386487,0.08257125602619242,0.007673266927024119,-0.006112719638185896,-6.617270589006534e-05,0.5575364918531225,0.462048963792654,0.22620302511286267,0.03206205098286832,-0.041210137701167146,0.0016581738772329304,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,-0.04673977478366145,0.8062859466650109,1.0784976098669754,-0.16482669588153154,-0.6310943809456304,0.4580270135508385,0.6964189101206878,0.08257125602619242,-0.3820786997462876,-0.3820786997462876,0.10794000000000087,0,0,-7.709998522539697e-05,-9.999999025923074e-05
+10406,1792666740560230162,35280959000000,1792666740558082202,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760484394050551,-0.004667821040991389,0.0908059345863644,0.9999999924791936,9.648985350220272e-06,-5.4680593225753085e-05,5.832158423145037e-05,0.6761,-0.00453,0.09088885567115768,1.0,0.0,0.0,0.0,-0.01796361577154504,0.18743104600852373,0.12699942496949884,0.014129623657662713,0.0017585122047872603,8.729185416236581e-05,0.450963648790123,0.5406599085773128,0.2706311940561691,0.03851840771350692,-0.03333890585819399,0.0018116384372853615,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,-0.10273012549189979,0.8058389056030858,1.052727525934503,-0.16263953190738956,-0.6613141488334772,0.4425050796693857,0.6964189101206878,0.12699942496949884,-0.35630861581381523,-0.35630861581381523,0.14762999999999674,0,0,-0.0001054499797023808,-9.999999025923074e-05
+10506,1792666741393287858,35281792000000,1792666741386081000,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760364993823432,-0.0046808390819895905,0.09074672323479283,0.9999999896266513,1.073222959605146e-05,-8.145866978943468e-05,7.374866863238397e-05,0.6761,-0.00453,0.09079040131573748,1.0,0.0,0.0,0.0,0.034747873971192667,0.13906460244050817,0.45541350434845346,0.010181857232013185,-0.0021330696880192263,-0.00027222030850843266,0.5036751385328607,0.49229346500929727,0.5990452734351237,0.03457064128785739,-0.03723048775100048,0.001452126274614563,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.04813028174843869,0.8290689361918412,0.5333722967908261,-0.07581132108202825,-0.3054408838501362,0.4489116896068782,0.6964189101206878,0.45541350434845346,0.1630466133298617,0.1630466133298617,0.2059399999999857,0,0,-0.0001128625058590974,9.99979779799986e-05
+10606,1792666742226307629,35282625000000,1792666742226071287,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760362092728607,-0.0046955186075296465,0.0906923361167323,0.9999999885706802,8.540489426204845e-06,-7.996366248492618e-05,8.851201432179858e-05,0.6761,-0.00453,0.09071329013560582,1.0,0.0,0.0,0.0,0.02900542216850005,0.13502935800841043,0.6064936353263446,0.010124997430738098,-0.0012029110787721217,-0.00038494921554788823,0.4979326867301681,0.48825822057719953,0.7501254044130148,0.0345137814865823,-0.03630032914175337,0.0013393973675751075,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.17300229985516344,0.5884001759187752,0.26503695810068456,0.001176194641107925,-0.10299563334163551,0.2896979838867444,0.6964189101206878,0.6064936353263446,0.43138195202000323,0.43138195202000323,0.2642499999999803,0,0,-7.184098247262215e-05,9.999999025923074e-05
+10697,1792666742985187125,35283384000000,1792666742978071729,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.676037766908984,-0.004696477309535806,0.09065860476857392,0.9999999884770242,1.3571516055295064e-05,-7.283847951756905e-05,9.486403804661485e-05,0.6761,-0.00453,0.0906731366052188,1.0,0.0,0.0,0.0,0.028194176638387303,0.13690737531573072,0.6498637267643903,0.010117022597071094,-0.0011937311419257246,-0.0004179704801764491,0.49712144120005536,0.4901362378845198,0.7934954958510605,0.0345058066529153,-0.036291149204906975,0.0013063761029465466,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.11209900788414075,0.6509377164811923,0.23909312293170043,-0.021951716246302017,-0.10469842246282172,0.3322907493520538,0.6964189101206878,0.6498637267643903,0.45732578718898736,0.45732578718898736,0.3173799999999913,0,0,-3.4230301652866994e-05,9.999999025923074e-05
+10801,1792666743851184140,35284250000000,1792666743850071207,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760338932120767,-0.004699546499508837,0.0906344506331236,0.9999999875326617,1.1606665278302539e-05,-7.78520811212558e-05,0.00010090530057327082,0.6761,-0.00453,0.09065818341403419,1.0,0.0,0.0,0.0,0.023497890676128175,0.13588506046008098,0.6063411523307711,0.010124745542885106,-0.0012026297140118325,-0.00038578742186510975,0.49242515523779623,0.4891139230288701,0.7499729214174413,0.03451352959872931,-0.03630004777699308,0.001338559161257886,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.098994706332825,0.6830705227011798,0.30036305667551255,-0.02468924938742702,-0.14797056415632712,0.3525694363367311,0.6964189101206878,0.6063411523307711,0.39605585344517524,0.39605585344517524,0.37800000000000383,0,0,-1.0876196572502712e-05,9.994342439612609e-05
+10913,1792666744785272357,35285184000000,1792666744778071360,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.676030377936982,-0.004705189241096679,0.0906110686939902,0.9999999865054506,9.897499128846649e-06,-8.371697955242536e-05,0.00010642119080466046,0.6761,-0.00453,0.09063834304614135,1.0,0.0,0.0,0.0,0.03448016900803669,0.14334972727893136,0.5863261377871725,0.010129920535011019,-0.0011994396832564133,-0.0003679412917592399,0.5034074335697047,0.49657858984772046,0.7299579068738428,0.03451870459085522,-0.036296857746237664,0.0013564052913637558,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.1070981568934856,0.6753754915485453,0.45170435373669077,-0.01460527019876695,-0.2465641932494567,0.3535532503447914,0.6964189101206878,0.5863261377871725,0.24471455638399703,0.24471455638399703,0.44338000000001737,0,0,-3.5892577503220065e-05,-9.999999025923074e-05
+11064,1792666746043177125,35286442000000,1792666746042070584,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760302312626919,-0.004709458189513696,0.09056355645038666,0.9999999859958167,8.136431176677058e-06,-8.088059748282177e-05,0.00011332854188247387,0.6761,-0.00453,0.09057822106074281,1.0,0.0,0.0,0.0,0.028442692100374478,0.1362571872496638,0.6564167234792246,0.010115739998146227,-0.001213792729331753,-0.00042530957491608806,0.49736995666204253,0.4894860498184529,0.8000484925658949,0.03450452405399043,-0.036311210792313,0.0012990370082069077,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.17049794117070544,0.7440861601981886,0.26857739982526346,-0.03161896818384427,-0.11666271282750643,0.3953417146872797,0.6964189101206878,0.6564167234792246,0.42784151029542433,0.42784151029542433,0.5314400000000356,0,0,-5.506983227351737e-05,-9.952774301791862e-05
+11116,1792666746476205973,35286875000000,1792666746474070757,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.676079264565732,-0.004695609531774377,0.09058374826715113,0.9999999887354214,2.031825852396167e-05,-2.7223667974173394e-05,0.00011321687919422549,0.6761,-0.00453,0.09055429778899032,1.0,0.0,0.0,0.0,-0.03776331805142946,0.20262667392599315,0.5667616075691031,0.015205422377747944,0.003517574377380199,-0.0002246720640485941,0.4311639465102386,0.5558555364947823,0.7103933766557733,0.03959420643359215,-0.03157984368560105,0.0014996745190744016,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.17586564759910608,0.7409860293200582,0.3438275924402714,-0.03221452721266865,-0.17663653644213823,0.3978803765749556,0.6964189101206878,0.5667616075691031,0.3525913176804164,0.3525913176804164,0.5617500000000418,0,0,-5.572745427204063e-05,-9.999999025923074e-05
+11192,1792666747110236265,35287509000000,1792666747106080508,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760726107514446,-0.004702212728360005,0.09053495147547086,0.9999999872359462,2.0961189479903767e-05,-3.5483303835772235e-05,0.00012358210065719204,0.6761,-0.00453,0.09050942678664865,1.0,0.0,0.0,0.0,-0.03065538863446099,0.18986399898143397,0.6409011070107977,0.015111097322276248,0.0027462239174703487,-0.00029956092510844204,0.43827187592720707,0.5430928615502231,0.784532876097468,0.03949988137812045,-0.0323511941455109,0.0014247856580145537,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.3838945194268142,0.7564710502761299,0.15218195928096762,-0.04284101153817097,-0.0031661512316448134,0.3995488054009664,0.6964189101206878,0.6409011070107977,0.5442369508397202,0.5442369508397202,0.606130000000051,0,0,-8.13395321971625e-05,9.991630719874962e-05
+11296,1792666747976185991,35288375000000,1792666747970071497,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760727168540723,-0.004710049557964489,0.09047115977002515,0.9999999863176018,1.313115137531842e-05,-3.2347147033994186e-05,0.00013262313444838532,0.6761,-0.00453,0.09044056178847244,1.0,0.0,0.0,0.0,-0.025578298770781105,0.16956176797727668,0.6875032098186344,0.013064457272353943,0.002774518659760014,-0.00035956998889233424,0.44334896579088695,0.5227906305460658,0.8311349789053046,0.03745324132819815,-0.032322899403221236,0.0013647765942306615,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.3537185289735784,0.79392614421687,0.091916583088366,-0.05508590669696279,0.025719248533760595,0.42232303365697726,0.6964189101206878,0.6875032098186344,0.6045023270323218,0.6045023270323218,0.6667500000000636,0,0,-7.764161029791416e-05,9.938077724503386e-05
+11392,1792666748776173724,35289175000000,1792666748770071173,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760739757737985,-0.004712015273836126,0.090414378465954,0.9999999854399239,1.5087959855077729e-05,-3.1590488189847143e-05,0.00013905902057782853,0.6761,-0.00453,0.09037949819752605,1.0,0.0,0.0,0.0,-0.015991379115354254,0.15712781998517772,0.7373198542666042,0.012061524728738993,0.00177085909768427,-0.00042603420372148895,0.4529358854463138,0.5103566825539668,0.8809516233532744,0.0364503087845832,-0.03332655896529698,0.0012983123794015068,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.3963658842066938,0.7177919564694916,0.06345180882353768,-0.027255828772333082,0.055886570111733216,0.37745583779453806,0.6964189101206878,0.7373198542666042,0.6329671012971501,0.6329671012971501,0.7227500000000752,0,0,-7.595623129488948e-05,9.984052059953114e-05
+11496,1792666749643107177,35290042000000,1792666749638071142,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760771532817617,-0.004694310656318616,0.09034663803248576,0.9999999903615044,-8.675801294431524e-05,-1.7232794800037156e-05,5.38138768656716e-05,0.6761,-0.00453,0.09030909175049695,1.0,0.0,0.0,0.0,0.016390204510014772,0.20016126621907254,0.7384706467136928,0.014132538999934916,0.0007141182544216224,-0.0004154839258860483,0.4853174690716828,0.5533901287878616,0.8821024158003631,0.03852132305577912,-0.03438329980855963,0.0013088626572369474,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.3334735471922489,0.7720983603429816,0.14781677915273636,-0.17515064703642536,0.00910160059188152,0.44259325270137173,0.6964189101206878,0.7384706467136928,0.5486021309679514,0.5486021309679514,0.7834400000000877,0,0,-9.402088855667146e-05,-9.999999025923074e-05
+11587,1792666750401205305,35290800000000,1792666750394072155,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760803274357109,-0.004702012963353517,0.09027531821406842,0.9999999899069316,-7.724858619461599e-05,-1.4578878369597343e-05,7.381811077563308e-05,0.6761,-0.00453,0.09022558724769865,1.0,0.0,0.0,0.0,0.006547450646741504,0.17447502640991158,0.7579049003007268,0.013105578686717936,0.0007324331085850552,-0.00044397147353876726,0.47547471520840956,0.5277038889787007,0.9015366693873971,0.03749436274256214,-0.034364984954396195,0.0012803751095842285,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.40900380761764604,0.8486794920015145,0.09128201817161553,-0.1437873312117501,0.047597650786212864,0.4836522794615284,0.6964189101206878,0.7579049003007268,0.6051368919490723,0.6051368919490723,0.8365000000000987,0,0,-0.00012489938753665187,-9.99727620395518e-05
+11671,1792666751101159727,35291500000000,1792666751094071521,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760795396608265,-0.004705269673489069,0.09019069194238202,0.9999999893599156,-5.1518756002530045e-05,-1.9211717682992377e-05,9.848736298068266e-05,0.6761,-0.00453,0.09014023959789971,1.0,0.0,0.0,0.0,0.006863331288285923,0.157453416494508,0.7839206828279748,0.012079267524016783,0.0007475408152050819,-0.0004734751929176349,0.475790595849954,0.5106822790632971,0.9275524519146451,0.03646805157986099,-0.03434987724777617,0.0012508713902053608,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.44078462883519054,0.737783444142862,0.020381392734436135,-0.023752293263742834,0.08015093126618947,0.3976434099370877,0.6964189101206878,0.7839206828279748,0.6760375173862516,0.6760375173862516,0.8855000000001089,0,0,-0.00011931570112064106,-9.999922698090131e-05
+11759,1792666751836105144,35292234000000,1792666751834071198,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760730503145637,-0.0047130788321478,0.09010484130509784,0.9999999880640156,-3.480292668841038e-05,-3.0789711026396614e-05,0.000114697791121323,0.6761,-0.00453,0.0900569171868954,1.0,0.0,0.0,0.0,0.01627596907757206,0.14188467377890135,0.7830248173948351,0.010654589473503024,0.0007648999117162505,-0.000501423627987082,0.4852032336392401,0.49511353634769045,0.9266565864815053,0.03504337352934723,-0.034332518151265,0.0012229229551359137,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.4155262683840262,0.7473214383168479,-0.09045814078317069,0.0007120211077542874,0.13414963112105452,0.4000317177551126,0.6964189101206878,0.7830248173948351,0.7868770509038585,0.7868770509038585,0.9368800000001195,0,0,-0.00010990561212194788,4.9530785399648335e-05
+11843,1792666752535067031,35292934000000,1792666752534071378,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760738725723177,-0.004713900222007311,0.09003033209789728,0.9999999879227782,-1.6740186260622566e-05,-2.867646125654167e-05,0.0001203940802510419,0.6761,-0.00453,0.08997558018690928,1.0,0.0,0.0,0.0,0.0180378250574324,0.1441131556749191,0.7768036498586273,0.010039289783398336,0.0007682203187259137,-0.0004926463288473348,0.48696508961910046,0.4973420182437082,0.9204354189452976,0.03442807383924254,-0.03432919774425534,0.001231700254275661,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.44189012065734495,0.7309213273317948,-0.08170830282486509,0.011075808643863039,0.13291663488990005,0.3899635202345878,0.6964189101206878,0.7768036498586273,0.7781272129455529,0.7781272129455529,0.9858800000001297,0,0,-0.00012417713688847443,-9.999384239923188e-05
+11923,1792666753201155376,35293600000000,1792666753194071398,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.676080029772948,-0.004709120735069472,0.08995125859645037,0.999999991125668,-3.574594438320324e-05,-1.567989089808415e-05,8.756652973928145e-05,0.6761,-0.00453,0.08988931259960957,1.0,0.0,0.0,0.0,0.02736450255218842,0.15389545501653162,0.7873227413756925,0.011085253301376042,-0.0002487815471667182,-0.0005039552624171511,0.4962917671138565,0.5071243175853207,0.9309545104623628,0.035474037357220246,-0.03534619961014797,0.0012203913207058446,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.43862345179190715,0.7207823743864756,-0.13260531950112256,0.03115215593746739,0.15173068999187617,0.39093056935064563,0.6964189101206878,0.7873227413756925,0.8290242296218103,0.8290242296218103,1.0325000000001392,0,0,-0.0001349196969961571,-7.589234614821316e-05
+11995,1792666753801079362,35294200000000,1792666753794071476,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760807481608291,-0.004716847871975739,0.08986777481575965,0.9999999900416507,-2.2953024754975148e-05,-1.826711262496275e-05,0.00010246479477418475,0.6761,-0.00453,0.08980720732983219,1.0,0.0,0.0,0.0,0.027897408991449768,0.14154097118821996,0.7990504883598117,0.010061733136612,-0.00023167666811219068,-0.0005250994750712352,0.4968246735531178,0.49476983375700906,0.9426822574464819,0.034450517192456204,-0.03532909473109344,0.0011992471080517605,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.4693361341216069,0.7487506518707593,-0.17029291159536816,0.02183243757053672,0.18161822920975687,0.4069319664385619,0.6964189101206878,0.7990504883598117,0.866711821716056,0.866711821716056,1.074500000000148,0,0,-0.00013900721950020248,-6.509601311779667e-05
+12067,1792666754401136642,35294800000000,1792666754398071515,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760753897365817,-0.00472121383170876,0.08977715466990784,0.9999999887802304,-1.9610134656944358e-05,-2.6120810089449813e-05,0.00011320578315772268,0.6761,-0.00453,0.08972064541084605,1.0,0.0,0.0,0.0,0.02664675647438597,0.13150586043839696,0.7969932846811143,0.01006068213162779,-0.00023038814136121938,-0.000523392239182934,0.495574021036054,0.48473472300718606,0.9406250537677846,0.034449466187471994,-0.03532780620434247,0.0012009543439400617,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.513957822049735,0.7327766683864408,-0.19603866793193586,0.03697354159470737,0.20261322109611232,0.3995438156969319,0.6964189101206878,0.7969932846811143,0.8924575780526236,0.8924575780526236,1.1165000000001566,0,0,-0.00014892015369993554,-7.98943602357328e-05
+12142,1792666755026068750,35295425000000,1792666755022071339,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760786682033494,-0.004722031954881167,0.08968838021514455,0.9999999876666487,-1.2658020706162316e-05,-2.4212269752224648e-05,0.00012394800363489146,0.6761,-0.00453,0.08962522456356208,1.0,0.0,0.0,0.0,0.02839985357440089,0.12869925192542392,0.796564885774401,0.009058573941536346,-0.00021182139051698773,-0.0005341266805621561,0.49732711813606895,0.481928114494213,0.9401966548610713,0.03344735799738055,-0.03530923945349824,0.0011902199025608396,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.4937309248639034,0.7541258330834886,-0.1727890831105363,0.04060947765317,0.17704733245911053,0.4139018410144218,0.6964189101206878,0.796564885774401,0.8692079932312241,0.8692079932312241,1.1602500000001656,0,0,-0.00015910749106703837,-9.999999025923074e-05
+12218,1792666755660121205,35296059000000,1792666755658071349,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760776410405864,-0.00472936207877256,0.08958580806174703,0.9999999868902062,-1.8213913304517812e-05,-2.6930221086083914e-05,0.00012886220718738602,0.6761,-0.00453,0.08952233225873196,1.0,0.0,0.0,0.0,0.03424697691617068,0.12935762452503513,0.8163124432628037,0.009037752183844092,-0.00021509954039454493,-0.000546386203643831,0.5031742414778387,0.48258648709382423,0.9599442123494739,0.0334265362396883,-0.035312517603375795,0.0011779603794791647,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.47606707781052426,0.6899426933593211,-0.21688934621281913,0.06924752746582682,0.19300857356312423,0.373992346888951,0.6964189101206878,0.8163124432628037,0.9133082563335069,0.9133082563335069,1.2046300000001748,0,0,-0.00016618053371861142,-8.75241504535495e-05
+12282,1792666756193068391,35296592000000,1792666756190071261,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760806028102947,-0.004724701529187618,0.0894949881219853,0.9999999896379184,-6.508895942902376e-05,-1.95030549009638e-05,8.689123010926521e-05,0.6761,-0.00453,0.0894313096971692,1.0,0.0,0.0,0.0,0.04666558879330657,0.13546267225611514,0.8175786039041102,0.010717920608938152,-0.001492274957696535,-0.0005664113799444253,0.5155928533549746,0.48869153482490424,0.9612103729907805,0.03510670466478236,-0.036589693020677785,0.0011579352031785704,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5804469243072303,0.6534356730430568,-0.33066502464722697,0.0976937024118215,0.28817470764877107,0.35795801875294087,0.6964189101206878,0.8175786039041102,1.0270839347679148,1.0270839347679148,1.2419400000001826,0,0,-0.00017395044853566054,9.75708222813509e-05
+12350,1792666756760099442,35297159000000,1792666756758071487,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760790039147276,-0.004732189981904446,0.08939423872157888,0.9999999886533819,-4.98680730330136e-05,-2.6454074215795504e-05,0.00010463965653665024,0.6761,-0.00453,0.0893297070133909,1.0,0.0,0.0,0.0,0.054233948440519375,0.1336476587130212,0.825537373689677,0.009063934205848053,-0.001232353608229951,-0.0005705484011531031,0.5231612130021874,0.4868765212818103,0.9691691427763472,0.03345271826169226,-0.0363297716712112,0.0011537981819698926,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5286518812688754,0.6421817211015893,-0.2660085438685025,0.11019828530798319,0.23071530932926848,0.3491642517986808,0.6964189101206878,0.825537373689677,0.9624274539891903,0.9624274539891903,1.2816300000001908,0,0,-0.00018622836589074344,-9.999843594699626e-05
+12418,1792666757326073429,35297725000000,1792666757326070874,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760798765818901,-0.004737338750845187,0.08928684751920216,0.9999999877889875,-2.2154867501122713e-05,-2.576519500805036e-05,0.00012128563796143467,0.6761,-0.00453,0.08922208951571817,1.0,0.0,0.0,0.0,0.038534263565202787,0.11397092374238527,0.8367030453114932,0.009058565929302053,-0.001232308679507764,-0.0005812693326637012,0.5074615281268708,0.46719978631117437,0.9803348143981634,0.03344734998514626,-0.036329726742489014,0.0011430772504592945,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5833897940046892,0.7785469478790538,-0.3256272422308147,0.08440730243726895,0.2780420022963202,0.4447089834977189,0.6964189101206878,0.8367030453114932,1.0220461523515025,1.0220461523515025,1.321250000000199,0,0,-0.00019201606280968975,-9.981705326034813e-05
+12474,1792666757793089473,35298192000000,1792666757790070543,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760762659999006,-0.004734468436305379,0.08919023925206808,0.999999987047594,-2.056715606260254e-05,-3.383308641128002e-05,0.00012561843269520825,0.6761,-0.00453,0.08913169316465484,1.0,0.0,0.0,0.0,0.05656784230639861,0.1257263753555069,0.8480595208363013,0.00846869769084974,-0.0022428135820470457,-0.0006081814751848745,0.5254951068680667,0.478955237924296,0.9916912899229716,0.032857481746693944,-0.037340231645028296,0.0011161651079381212,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5754611381816591,0.6934808247970938,-0.35319208965703797,0.11196629972887658,0.29181490370033136,0.3837372397313081,0.6964189101206878,0.8480595208363013,1.0496109997777259,1.0496109997777259,1.3539400000002058,0,0,-0.00019667253597507729,-9.652274399052913e-05
+12534,1792666758293010778,35298692000000,1792666758286071189,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760736233157706,-0.004735083018470909,0.08908446880253343,0.9999999864428437,-3.0005277044443073e-05,-3.8910770268539034e-05,0.00012705436684156782,0.6761,-0.00453,0.08903037201008814,1.0,0.0,0.0,0.0,0.04881214240392179,0.11733882329420797,0.8425053883022859,0.008065167891958675,-0.0022288848054485624,-0.0006146811180483993,0.5177394069655898,0.4705676858629971,0.9861371573889561,0.03245395194780288,-0.03732630286842981,0.0011096654650745964,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5830687999060501,0.7053976537644595,-0.4191427442269952,0.11884621752077058,0.3306789185258638,0.3927956013609389,0.6964189101206878,0.8425053883022859,1.115561654347683,1.115561654347683,1.388940000000213,0,0,-0.00020883906691884923,9.972833256289277e-05
+12593,1792666758784991002,35299184000000,1792666758782071187,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760708696481049,-0.004739526290614153,0.08897528403596404,0.9999999860361545,-4.0302936990891656e-05,-4.327814504051844e-05,0.0001259890102501415,0.6761,-0.00453,0.08892432209650948,1.0,0.0,0.0,0.0,0.051221671944859104,0.117405699067829,0.8398537527302241,0.00806664038411237,-0.0022280465643242583,-0.00060786309405432,0.5201489365065272,0.4706345616366181,0.9834855218168943,0.032455424439956575,-0.03732546462730551,0.0011164834890686757,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5629140206136786,0.6078455634533402,-0.2817030145374262,0.16285980584826715,0.22824672516291947,0.3295719214744747,0.6964189101206878,0.8398537527302241,0.978121924658114,0.978121924658114,1.4233800000002201,0,0,-0.00022273535840308523,-9.999783920212053e-05
+12649,1792666759250974802,35299650000000,1792666759246071084,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760687321753569,-0.004730666015592733,0.08886562822609959,0.9999999861154757,-3.5654629425215474e-05,-4.77716070177385e-05,0.0001251340636111012,0.6761,-0.00453,0.08881685722500031,1.0,0.0,0.0,0.0,0.05704127287176203,0.11804299075421937,0.8565064688355595,0.008063255691524256,-0.002232049773711074,-0.0006222319333650701,0.5259685374334301,0.47127185332300847,1.0001382379222297,0.03245203974736846,-0.037329467836692325,0.0011021146497579256,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5634701260348663,0.6688618563621355,-0.3084458657124356,0.15687784678579605,0.2447652756841662,0.37356856199835453,0.6964189101206878,0.8565064688355595,1.0048647758331235,1.0048647758331235,1.456000000000227,0,0,-0.00023645945266689695,-9.986959456498851e-05
+12705,1792666759718061448,35300117000000,1792666759718071327,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760679707046766,-0.004733660473856932,0.08875448715390043,0.9999999858147367,-2.9254415599874388e-05,-4.7747440038739146e-05,0.00012914237096811132,0.6761,-0.00453,0.08870354878475684,1.0,0.0,0.0,0.0,0.057077743067527276,0.12737663170730373,0.8465227195396596,0.00810907109306538,-0.002232617435841487,-0.0006168299392447787,0.5260050076291953,0.48060549427609284,0.9901544886263299,0.032497855148909585,-0.03733003549882274,0.001107516643878217,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.568887199244201,0.6517388426263603,-0.4196005723688434,0.1702905817684863,0.30896350329666433,0.3608307283323278,0.6964189101206878,0.8465227195396596,1.116019482489531,1.116019482489531,1.4886900000002337,0,0,-0.00024868881058212464,-9.090469629680626e-05
+12753,1792666760117954381,35300517000000,1792666760118071610,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760670149151928,-0.0047405260737546345,0.08864953466421233,0.999999985043778,-1.5901520779740525e-05,-5.1057626874235995e-05,0.00013599841367857208,0.6761,-0.00453,0.08860168782907332,1.0,0.0,0.0,0.0,0.05721396442398324,0.11815851532672139,0.8565514908740968,0.00806324704134902,-0.0022320563100039284,-0.0006222400583877504,0.5261412289856513,0.4713873778955105,1.000183259960767,0.032452031097193225,-0.03732947437298518,0.0011021065247352453,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.592030927578328,0.5954140870980351,-0.4251084072373558,0.20006196270875418,0.3169836140215512,0.3305727034759885,0.6964189101206878,0.8565514908740968,1.1215273173580436,1.1215273173580436,1.5166900000002395,0,0,-0.0002590797885213255,-9.999999025923074e-05
+12801,1792666760517947735,35300917000000,1792666760518071597,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760681378214417,-0.004739973836992051,0.08854941173943157,0.9999999848586547,-1.828669965033952e-05,-5.0622960774574764e-05,0.00013721686153392258,0.6761,-0.00453,0.08849583173441955,1.0,0.0,0.0,0.0,0.05580541752921736,0.11801227866456188,0.8565121797492925,0.008063248787727757,-0.0022320391275025067,-0.0006223845701729327,0.5247326820908854,0.471241141233351,1.0001439488359627,0.03245203284357196,-0.03732945719048376,0.001101962012950063,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5716695987841577,0.5836476029425096,-0.43171865316408115,0.21853328407453457,0.31075891439449643,0.31944131064158793,0.6964189101206878,0.8565121797492925,1.128137563284769,1.128137563284769,1.5446900000002453,0,0,-0.000270137256351581,-9.999999025923074e-05
+12845,1792666760884997899,35301284000000,1792666760878071515,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760693322592786,-0.0047413334610026435,0.08844774958158716,0.9999999845753652,-3.412681149050435e-05,-4.7114173863714986e-05,0.00013750545097527097,0.6761,-0.00453,0.08839490086310384,1.0,0.0,0.0,0.0,0.0475361945069383,0.12359528573576906,0.8564741900744604,0.008047575354808639,-0.0016208633004735143,-0.0006138739327269792,0.5164634590686064,0.47682414830455816,1.0001059591611305,0.03243635941065284,-0.036718281363454765,0.0011104726503960165,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.625432891838632,0.6712420497796685,-0.4438626850603315,0.2103386300767273,0.3288539137328684,0.3831401284881446,0.6964189101206878,0.8564741900744604,1.1402815951810192,1.1402815951810192,1.5703800000002506,0,0,-0.0002798186168842794,-9.999999025923074e-05
+12889,1792666761250947155,35301650000000,1792666761250073500,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760680770745119,-0.0047462540209080835,0.08834398001891001,0.9999999840321264,-4.4018798832983185e-05,-4.900170524176747e-05,0.00013798474379285463,0.6761,-0.00453,0.08829056979347555,1.0,0.0,0.0,0.0,0.05146487994224108,0.11193790895216182,0.8565031884362964,0.008062952770653931,-0.002231836173174892,-0.0006228999663831097,0.5203921445039091,0.46516677152095093,1.0001349575229666,0.032451736826498136,-0.03732925423615614,0.001101446616739886,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.5897759960838331,0.6190959826029301,-0.45061436572705643,0.23255663347129338,0.32176655810781585,0.34593391450324407,0.6964189101206878,0.8565031884362964,1.1470332758477442,1.1470332758477442,1.5960000000002559,0,0,-0.0002896006620581578,-9.999999025923074e-05
+12933,1792666761618037028,35302017000000,1792666761618071492,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760659315262785,-0.004748861135820837,0.08822881615127401,0.9999999831540113,-4.320699570968769e-05,-5.2503577501461374e-05,0.00014321791607754182,0.6761,-0.00453,0.08818242172638312,1.0,0.0,0.0,0.0,0.04743392918896622,0.11836774839043573,0.8661672224590786,0.008033912769210439,-0.0012206958678368865,-0.0006156453430974107,0.5163611937506343,0.47159661095922484,1.0097989915457488,0.032422696825054644,-0.03631811393081814,0.001108701240025585,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.6229514831363315,0.6074278138431028,-0.3978647626337724,0.25708922772403103,0.29161406845653975,0.34546827772451105,0.6964189101206878,0.8661672224590786,1.0942836727544603,1.0942836727544603,1.6216900000002612,0,0,-0.00029999786314435637,-9.999999025923074e-05
+12976,1792666761975958640,35302375000000,1792666761974071398,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760607644964105,-0.004759387402068544,0.08811459497360571,0.9999999814293248,-5.387862165705413e-05,-6.190190358670472e-05,0.00014781563873263192,0.6761,-0.00453,0.08807317817198013,1.0,0.0,0.0,0.0,0.05758883037679502,0.10519808956903587,0.8561323540611461,0.007042570701985881,-0.0022126434449087143,-0.0006333813234078167,0.5265160949384631,0.458426952137825,0.9997641231478163,0.031431354757830085,-0.037310061507889965,0.001090965259715179,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.6146772021181289,0.6171637079295347,-0.39933362859074006,0.2626572589235147,0.28679638190105894,0.3510994713904257,0.6964189101206878,0.8561323540611461,1.095752538711428,1.095752538711428,1.6467500000002664,0,0,-0.00031060906082877447,-9.999999025923074e-05
+13017,1792666762317985856,35302717000000,1792666762318070825,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760610450110469,-0.004757700097135924,0.08800636464728578,0.999999981616297,-4.7109601596184746e-05,-6.212161707729987e-05,0.00014876780633555874,0.6761,-0.00453,0.08796493803062416,1.0,0.0,0.0,0.0,0.04836322396597065,0.11481082111380925,0.8660872862898035,0.007016618732101316,-0.001283363397978271,-0.0006280332932972741,0.5172904885276387,0.46803968368259835,1.0097190553764737,0.03140540278794552,-0.03638078146095952,0.0010963132898257216,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.6520545383057036,0.6324824641358181,-0.5721410392407733,0.27594718009784636,0.40512057804214224,0.3633064634695227,0.6964189101206878,0.8660872862898035,1.2685599493614612,1.2685599493614612,1.6706900000002713,0,0,-0.00032219383038348406,9.829463218225527e-05
+13056,1792666762642965935,35303042000000,1792666762642070980,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760613390956243,-0.004761289560895526,0.08790246967194949,0.9999999828000274,3.613521094411001e-06,-6.1033689919617506e-05,0.00014867629449197116,0.6761,-0.00453,0.08785885207627019,1.0,0.0,0.0,0.0,0.04809408406694332,0.10524812469331896,0.8573925266603861,0.007014469395685268,-0.0012056412612224746,-0.0006194486183418466,0.5170213486286114,0.45847698726210806,1.0010242957470563,0.03140325345152947,-0.036303059324203725,0.0011048979647811492,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.64097330886997,0.6756625657485316,-0.47352991417878326,0.2701323590802139,0.3366084929676943,0.385214735130802,0.6964189101206878,0.8573925266603861,1.1699488242994711,1.1699488242994711,1.693440000000276,0,0,-0.0003318942897137785,-9.999567426722251e-05
+13093,1792666762950935105,35303350000000,1792666762950071128,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760610576589001,-0.004764146803018923,0.08779042893502899,0.9999999821641539,-1.7938686134143866e-05,-6.334831633568595e-05,0.00015092962235897876,0.6761,-0.00453,0.08775490152226108,1.0,0.0,0.0,0.0,0.04803509309903625,0.10612572282962829,0.883085592493176,0.007009567731170691,-0.0012090875393417147,-0.0006406520722016451,0.5169623576607043,0.4593545853984174,1.0267173615798462,0.031398351787014896,-0.036306505602322965,0.0010836945109213506,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.6517508583449938,0.5726680443426344,-0.5068206424455189,0.3095897740615263,0.35822553699385434,0.32191913191574195,0.6964189101206878,0.883085592493176,1.2032395525662067,1.2032395525662067,1.7150000000002805,0,0,-0.0003403716072839221,-5.8581302335386456e-05
+13136,1792666763309951594,35303709000000,1792666763306071632,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760561175736484,-0.004770756839062826,0.08766817769828766,0.9999999811514027,-3.397539511438921e-05,-7.021463842831315e-05,0.00015184082405633525,0.6761,-0.00453,0.08763080202117059,1.0,0.0,0.0,0.0,0.048082111040624376,0.10233332948009316,0.8560161385434517,0.00701403622813573,-0.001198588709341343,-0.0006187419067676531,0.5170093756022924,0.45556219204888226,0.9996479076301219,0.031402820283979935,-0.036296006772322593,0.0011056046763553427,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.7438717642347671,0.5735685780849586,-0.5344833322176585,0.3135388972335519,0.39943220749562236,0.32123119455511623,0.6964189101206878,0.8560161385434517,1.2309022423383462,1.2309022423383462,1.7401300000002857,0,0,-0.00035362368151105523,-2.864392780103464e-05
+13172,1792666763609918108,35304009000000,1792666763606071188,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760588101740266,-0.0047732079692397395,0.08756623538993054,0.999999980321422,-4.465773229444056e-05,-6.400915496101283e-05,0.0001571894878451409,0.6761,-0.00453,0.08752277907800257,1.0,0.0,0.0,0.0,0.030060806621700797,0.09555096983887779,0.8525596943464653,0.00701408229913111,-0.0011955250706531875,-0.0006042999426593126,0.49898807118336885,0.4487798324076669,0.9961914634331355,0.031402866354975315,-0.03629294313363444,0.0011200466404636831,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.7585192685427804,0.5140137587241108,-0.54047751683517,0.34062475277868337,0.40300416731258415,0.284405840117102,0.6964189101206878,0.8525596943464653,1.2368964269558578,1.2368964269558578,1.76113000000029,0,0,-0.0003663393852375632,-6.304200944842633e-06
+13208,1792666763909910862,35304309000000,1792666763906070704,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760542658330982,-0.00477988648148733,0.08745205143826693,0.9999999784628334,-6.0810154753708175e-05,-7.277789996600939e-05,0.00015975825362279784,0.6761,-0.00453,0.08741125746048126,1.0,0.0,0.0,0.0,0.03883319311133521,0.095160100991175,0.8559802827617882,0.00701318727629777,-0.0011978067757831279,-0.0006198449118894874,0.5077604576730033,0.4483889635599641,0.9996120518484584,0.031401971332141974,-0.03629522483876438,0.0011045016712335084,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.731903347629415,0.5232837145715757,-0.40878569612072047,0.35347072262700313,0.3120361896717722,0.29086526413546787,0.6964189101206878,0.8559802827617882,1.1052046062414083,1.1052046062414083,1.7821300000002944,0,0,-0.0003775497460459506,-9.999994862586731e-05
+13244,1792666764209968018,35304609000000,1792666764210071101,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760535674564998,-0.004778132645157056,0.08733863296179119,0.9999999780042832,-7.907955512725672e-05,-7.122535964001523e-05,0.00015526644764127134,0.6761,-0.00453,0.08729646946088601,1.0,0.0,0.0,0.0,0.038856538808945185,0.10506796858945139,0.8558521671544825,0.007014650665180162,-0.0011985934783660668,-0.0006197119960379557,0.5077838033706132,0.4582968311582405,0.9994839362411528,0.031403434721024366,-0.03629601154134732,0.00110463458708504,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.7280283739033229,0.5300331957693416,-0.3933060295163733,0.3641829056019586,0.296422046703526,0.2985550909509924,0.6964189101206878,0.8558521671544825,1.089724939637061,1.089724939637061,1.8031300000002988,0,0,-0.00038847473305822353,-9.999999025923074e-05
+13280,1792666764509999747,35304909000000,1792666764510071562,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760515083942799,-0.004781392869961446,0.08722209242987497,0.9999999766142103,-8.132693124164512e-05,-7.553954583825647e-05,0.0001609165958112477,0.6761,-0.00453,0.08717791857814312,1.0,0.0,0.0,0.0,0.037899003970457035,0.10212266067659637,0.8441965607089821,0.007986145542042921,-0.0012118436826273407,-0.0006066413430219331,0.5068262685321251,0.45535152324538547,0.9878283297956523,0.032374929597887125,-0.03630926174560859,0.0011177052401010626,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.7570351697427636,0.5715379899982993,-0.5028252705281004,0.3549726025302327,0.37208886300605115,0.3259589304125348,0.6964189101206878,0.8441965607089821,1.1992441806487881,1.1992441806487881,1.8241300000003031,0,0,-0.00040203688000536717,-9.866122782498649e-05
+13312,1792666764775924377,35305175000000,1792666764774071359,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760518624460422,-0.004787455794042637,0.08711514523168287,0.9999999753080266,-8.76789026580557e-05,-7.449784383310398e-05,0.00016610024600785834,0.6761,-0.00453,0.08706950036780504,1.0,0.0,0.0,0.0,0.03544681684249723,0.1003243544253844,0.846023101166173,0.007011634346643505,-0.0010614299240887595,-0.0006098378450386304,0.5043740814041653,0.4535532169941735,0.9896548702528433,0.03140041840248771,-0.03615884798707001,0.0011145087380843653,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.7763582150925977,0.515578459126505,-0.48475119220708307,0.38235644259742313,0.3670308148048985,0.2899789649550791,0.6964189101206878,0.846023101166173,1.181170102327771,1.181170102327771,1.842750000000307,0,0,-0.0004125781327094221,-9.999982372577704e-05
+13346,1792666765059915854,35305459000000,1792666765054071095,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760480495708899,-0.00479201792011698,0.08699194997453462,0.9999999740789958,-8.21035632135517e-05,-8.084619298344906e-05,0.0001732275100302124,0.6761,-0.00453,0.08695072619004748,1.0,0.0,0.0,0.0,0.021390878937908753,0.1070442516701498,0.8472280335074862,0.006989164063168508,-0.0001831783989783703,-0.0005987853942340266,0.4903181434995768,0.4602731142389389,0.9908598025941565,0.03137794811901271,-0.03528059646195962,0.001125561188888969,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.8083486794985222,0.5870786018043205,-0.49606615135688265,0.36981288256167405,0.3785135034033124,0.3418726275588026,0.6964189101206878,0.8472280335074862,1.1924850614775704,1.1924850614775704,1.862630000000311,0,0,-0.00042427313503709394,-9.770399353315468e-05
+13376,1792666765309989909,35305709000000,1792666765306071174,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760494209125137,-0.004794911361144216,0.08688862639031959,0.9999999751710309,3.1671873313177785e-05,-7.797289008133302e-05,0.00018443948270491388,0.6761,-0.00453,0.08684323637662629,1.0,0.0,0.0,0.0,0.023515364303874853,0.10413549093969826,0.8469482844602374,0.0069893885172220525,-0.0001828391865353468,-0.0005989354261464225,0.4924426288655429,0.45736435350848736,0.9905800535469077,0.03137817257306626,-0.0352802572495166,0.0011254111569765732,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.8367973478146072,0.5741805458772505,-0.46637632126889517,0.36626077724404127,0.37177161737518827,0.3226253610694514,0.6964189101206878,0.8469482844602374,1.162795231389583,1.162795231389583,1.8801300000003147,0,0,-0.00043589100654914246,-9.999999025923074e-05
+13408,1792666765575933387,35305975000000,1792666765574070861,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760483555498262,-0.00478397668046912,0.08676698207164939,0.9999999826378321,-5.477508053996759e-05,-7.979837934677196e-05,0.00012961137772091622,0.6761,-0.00453,0.08672556531605913,1.0,0.0,0.0,0.0,0.020201455374581956,0.0951389518779654,0.8548376141843828,0.00698610038165608,-0.00018379962717345738,-0.0006053184353488957,0.48912871993625,0.4483678144467545,0.9984693832710531,0.031374884437500285,-0.03528121769015471,0.0011190281477741,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.8819523627046022,0.6514803220203997,-0.4733657001555295,0.36094064461924247,0.39077780611794033,0.3833410822165651,0.6964189101206878,0.8548376141843828,1.1697846102762173,1.1697846102762173,1.8987500000003186,0,0,-0.00044856784861132946,-9.99970759237911e-05
+13435,1792666765800923742,35306200000000,1792666765798070792,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760575905392485,-0.004794390518803403,0.08667416186388713,0.9999999806928499,-4.382572726163056e-05,-5.846725293346798e-05,0.00015721975146779205,0.6761,-0.00453,0.08662337843657536,1.0,0.0,0.0,0.0,0.009885391913182828,0.13153362281242448,0.8372442014818195,0.009376545676034447,0.0007826815989669597,-0.0005545184574168699,0.4788126564748509,0.4847624853812136,0.9808759705684897,0.03376532973187865,-0.03431473646401429,0.0011698281257061258,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.9301318473228537,0.6073496832910139,-0.5345146282122749,0.36261914276604423,0.44218091897728784,0.36288263093928685,0.6964189101206878,0.8372442014818195,1.2309335383329627,1.2309335383329627,1.9145000000003218,0,0,-0.0004597850070911776,-9.953766563620121e-05
+13468,1792666766075937548,35306475000000,1792666766074070153,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.6760537386122613,-0.004798198081890068,0.0865504628554557,0.9999999779981482,-5.731987229286243e-05,-6.715269316504843e-05,0.00016628744865550868,0.6761,-0.00453,0.08649520014942745,1.0,0.0,0.0,0.0,0.019646307597013912,0.1182663025609273,0.8563497289156505,0.008088777020033602,-0.0002062156310571328,-0.0005943284873183438,0.48857357215868197,0.4714951651297164,0.9999814980023208,0.032477561075877806,-0.03530363369403838,0.001130018095804652,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.9466702618289567,0.5277187445539783,-0.4959672199833913,0.4050061932106129,0.4249950416022089,0.3031806585054466,0.6964189101206878,0.8563497289156505,1.192386130104079,1.192386130104079,1.9337500000003258,0,0,-0.00047280149793468693,-9.999999025923074e-05
+13496,1792666766309977464,35306709000000,1792666766306071092,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760519137024811,-0.004803270470809109,0.08643535360334785,0.9999999759930017,-6.780031179033428e-05,-6.66471185598766e-05,0.00017440796895169174,0.6761,-0.00453,0.086383236324948,1.0,0.0,0.0,0.0,0.029112701348704806,0.1297251392073947,0.8563651330173745,0.008010159983417576,-0.0002167325018709726,-0.0005942593319600913,0.49803996591037286,0.4829540017761838,0.9999969021040448,0.03239894403926178,-0.03531415056485222,0.0011300872511629044,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.8942235927954395,0.5623463725053296,-0.4624407114340332,0.39237473326919287,0.3874968376154329,0.32739496788526856,0.6964189101206878,0.8563651330173745,1.158859621554721,1.158859621554721,1.9501300000003292,0,0,-0.00048376016339587844,-9.999999025923074e-05
+13523,1792666766534878183,35306934000000,1792666766530070815,DOWN_FORCE_DETACH,10,0.0438,0.04380229488015175,0.6760424470307735,-0.0048019704746872895,0.08632187994264622,0.9999999730858252,-5.882240735478123e-05,-8.256300390633768e-05,0.00018706813756771344,0.6761,-0.00453,0.08627327194916236,1.0,0.0,0.0,0.0,0.03780643976338699,0.115670977971006,0.8563692243506913,0.008035710227377733,-0.0012141723988930361,-0.0006086804939563928,0.506733704325055,0.4688998405397951,1.0000009934373615,0.03242449428322194,-0.03631159046187429,0.0011156660891666029,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.9052594819812445,0.5661760702276833,-0.5359390787005158,0.38888340162120966,0.4454997822339025,0.32942717351162537,0.6964189101206878,0.8563692243506913,1.2323579888212035,1.2323579888212035,1.9658800000003325,0,0,-0.0004931051015108753,-9.937050768205608e-05
+13551,1792666766767906816,35307167000000,1792666766766070989,DOWN_FORCE_DETACH,10,0.0438,0.04380163550376892,0.67603673003343,-0.00479357678478974,0.08619918346299107,0.9999999773542904,-9.432373957209195e-05,-8.240565879178384e-05,0.00014507454254781524,0.6761,-0.00453,0.08615722753811288,1.0,0.0,0.0,0.0,0.05658103282658228,0.10517614776225814,0.8561043840607965,0.0070419801453082236,-0.0022122831396958406,-0.0006334872950751304,0.5255082973882503,0.45840501033104725,0.9997361531474668,0.03143076420115243,-0.03730970120267709,0.0010908592880478653,0.46892726456166806,0.3532288625687891,0.14363176908667025,0.024388784055844204,-0.03509741806298125,0.0017243465831229957,1,0.9321477544973527,0.6002000280405548,-0.48754363342899243,0.4108126953869832,0.42096190271608436,0.35578108512770007,0.6964189101206878,0.8561043840607965,1.1839625435496801,1.1839625435496801,1.9821900000003358,0,0,-0.0005026583580994545,-9.999965719232335e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4d31d8f079873b832046436064ff78940830d58
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b22957838ecfc647bfcfde54ad677a6f12764f8
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792666737965134270,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.706703545e-08,2.999783234e-11,7.144331682e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017288983e-01,1.793508092e-06,8.295726365e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1792666739029374998,-2.752907464e-06,-1.397624031e-05,-3.833130390e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.852199054e-07,1.485365640e-09,1.974321965e-07,7.015351186e-01,-1.242527899e-05,8.407371081e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293664e-01,1.794963460e-06,8.295728268e-01
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+8,3.500000000e+00,DOWN_FORCE_DETACH,1792666744783066613,1.946902123e-05,-6.598408285e-05,-2.539418694e-04,2.215904457e-05,-6.498181888e-05,-2.361299517e-04,2.322636518e-05,-6.486084882e-05,-2.346817331e-04,7.015573405e-01,-6.443312153e-05,8.404869993e-01,7.015600305e-01,-6.343085756e-05,8.405048112e-01,7.017521076e-01,-6.306737073e-05,8.293379476e-01
+9,4.150000000e+00,DOWN_FORCE_DETACH,1792666746047051546,2.420005308e-05,-6.837172110e-05,-2.955633264e-04,2.145718067e-05,-7.217429671e-05,-2.770460249e-04,2.245621495e-05,-7.206007975e-05,-2.757785011e-04,7.015620715e-01,-6.682075978e-05,8.404453779e-01,7.015593287e-01,-7.062333539e-05,8.404638952e-01,7.017513374e-01,-7.026660165e-05,8.292968508e-01
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+12,5.166666667e+00,DOWN_FORCE_DETACH,1792666747978251356,6.573594618e-05,-7.620212884e-05,-3.878808246e-04,6.524924439e-05,-7.425014106e-05,-3.808497328e-04,6.682669792e-05,-7.411171788e-05,-3.788934148e-04,7.016036074e-01,-7.465116752e-05,8.403530604e-01,7.016031207e-01,-7.269917974e-05,8.403600915e-01,7.017957079e-01,-7.231823978e-05,8.291937359e-01
+13,5.583333333e+00,DOWN_FORCE_DETACH,1792666748775092520,6.316605784e-05,-7.445271555e-05,-4.487757396e-04,6.426221943e-05,-7.973399208e-05,-4.447884284e-04,6.577672919e-05,-7.958529007e-05,-4.423495552e-04,7.016010375e-01,-7.290175423e-05,8.402921654e-01,7.016021337e-01,-7.818303076e-05,8.402961528e-01,7.017946579e-01,-7.779181198e-05,8.291302798e-01
+14,6.033333333e+00,DOWN_FORCE_DETACH,1792666749641041401,6.789580677e-05,-6.057067863e-05,-5.134153936e-04,6.823124919e-05,-6.193588165e-05,-5.027995231e-04,6.967358028e-05,-6.175218782e-05,-5.002424145e-04,7.016057673e-01,-5.901971731e-05,8.402275258e-01,7.016061027e-01,-6.038492033e-05,8.402381417e-01,7.017985548e-01,-5.995870972e-05,8.290723869e-01
+15,6.416666667e+00,DOWN_FORCE_DETACH,1792666750403016424,6.969861793e-05,-6.532729484e-05,-5.880936785e-04,6.955846000e-05,-6.522627369e-05,-5.881980327e-04,7.079565560e-05,-6.503803663e-05,-5.848619631e-04,7.016075701e-01,-6.377633352e-05,8.401528475e-01,7.016074299e-01,-6.367531236e-05,8.401527432e-01,7.017996768e-01,-6.324455853e-05,8.289877674e-01
+16,6.766666667e+00,DOWN_FORCE_DETACH,1792666751103013947,7.023600064e-05,-7.250757914e-05,-6.727728400e-04,7.079520171e-05,-7.239414896e-05,-6.580310144e-04,7.182010917e-05,-7.217365549e-05,-6.544765572e-04,7.016081075e-01,-7.095661782e-05,8.400681683e-01,7.016086667e-01,-7.084318764e-05,8.400829102e-01,7.018007013e-01,-7.038017739e-05,8.289181528e-01
+17,7.133333333e+00,DOWN_FORCE_DETACH,1792666751835100789,6.741624678e-05,-7.778517953e-05,-7.514095986e-04,6.587732760e-05,-7.474038403e-05,-7.454862486e-04,6.660218536e-05,-7.451384133e-05,-7.415975087e-04,7.016052877e-01,-7.623421820e-05,8.399895316e-01,7.016037488e-01,-7.318942271e-05,8.399954549e-01,7.017954834e-01,-7.272036323e-05,8.288310318e-01
+18,7.483333333e+00,DOWN_FORCE_DETACH,1792666752535935236,6.709739159e-05,-8.458681382e-05,-8.298653257e-04,6.424293486e-05,-7.912367576e-05,-8.115753486e-04,6.472879240e-05,-7.890674675e-05,-8.078355124e-04,7.016049689e-01,-8.303585250e-05,8.399110759e-01,7.016021144e-01,-7.757271444e-05,8.399293658e-01,7.017936100e-01,-7.711326866e-05,8.287647938e-01
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+20,8.116666667e+00,DOWN_FORCE_DETACH,1792666753800337894,7.049035688e-05,-8.011839072e-05,-9.953714737e-04,6.849185905e-05,-8.162013345e-05,-9.777116567e-04,6.839056090e-05,-8.143602828e-05,-9.734604314e-04,7.016083618e-01,-7.856742940e-05,8.397455697e-01,7.016063633e-01,-8.006917213e-05,8.397632295e-01,7.017972718e-01,-7.964255018e-05,8.285991689e-01
+21,8.433333333e+00,DOWN_FORCE_DETACH,1792666754397418683,6.854347213e-05,-8.308496674e-05,-1.080609432e-03,6.944929895e-05,-8.732466017e-05,-1.065318353e-03,6.893763532e-05,-8.712511914e-05,-1.060893138e-03,7.016064150e-01,-8.153400542e-05,8.396603318e-01,7.016073208e-01,-8.577369885e-05,8.396756228e-01,7.017978188e-01,-8.533164104e-05,8.285117362e-01
+22,8.766666667e+00,DOWN_FORCE_DETACH,1792666755029036209,6.870310400e-05,-8.992802825e-05,-1.175263884e-03,6.850627621e-05,-8.986203016e-05,-1.175178585e-03,6.761025101e-05,-8.965593063e-05,-1.170183967e-03,7.016065746e-01,-8.837706693e-05,8.395656773e-01,7.016063778e-01,-8.831106884e-05,8.395657626e-01,7.017964914e-01,-8.786245254e-05,8.284024454e-01
+23,9.100000000e+00,DOWN_FORCE_DETACH,1792666755661044383,6.988778767e-05,-9.170474157e-05,-1.274539491e-03,6.982335083e-05,-9.685368148e-05,-1.264274170e-03,6.855598207e-05,-9.665855840e-05,-1.259384880e-03,7.016077593e-01,-9.015378025e-05,8.394664017e-01,7.016076948e-01,-9.530272016e-05,8.394766670e-01,7.017974372e-01,-9.486508030e-05,8.283132445e-01
+24,9.383333333e+00,DOWN_FORCE_DETACH,1792666756191062576,7.351649070e-05,-8.782952778e-05,-1.363964163e-03,7.154495326e-05,-8.675898774e-05,-1.348714733e-03,7.005677520e-05,-8.656871689e-05,-1.343896610e-03,7.016113880e-01,-8.627856646e-05,8.393769770e-01,7.016094164e-01,-8.520802642e-05,8.393922265e-01,7.017989380e-01,-8.477523879e-05,8.282287327e-01
+25,9.683333333e+00,DOWN_FORCE_DETACH,1792666756759033627,7.107367019e-05,-9.400328472e-05,-1.468202462e-03,6.935850579e-05,-9.445215097e-05,-1.457387380e-03,6.745924310e-05,-9.424900926e-05,-1.452187034e-03,7.016089452e-01,-9.245232340e-05,8.392727387e-01,7.016072300e-01,-9.290118965e-05,8.392835538e-01,7.017963404e-01,-9.245553116e-05,8.281204423e-01
+26,9.966666667e+00,DOWN_FORCE_DETACH,1792666757323436188,7.184707900e-05,-9.836262313e-05,-1.575747951e-03,7.055900416e-05,-9.649892581e-05,-1.569921321e-03,6.829903681e-05,-9.630813739e-05,-1.564194877e-03,7.016097186e-01,-9.681166181e-05,8.391651932e-01,7.016084305e-01,-9.494796449e-05,8.391710199e-01,7.017971802e-01,-9.451465929e-05,8.280084345e-01
+27,1.021666667e+01,DOWN_FORCE_DETACH,1792666757791134634,6.644870982e-05,-9.865239227e-05,-1.672396730e-03,6.408342401e-05,-9.898994985e-05,-1.662272913e-03,6.134919655e-05,-9.881756896e-05,-1.656332467e-03,7.016043202e-01,-9.710143094e-05,8.390685445e-01,7.016019549e-01,-9.743898853e-05,8.390786683e-01,7.017902304e-01,-9.702409086e-05,8.279162969e-01
+28,1.046666667e+01,DOWN_FORCE_DETACH,1792666758289133941,6.433154194e-05,-9.937055111e-05,-1.776761513e-03,6.412677071e-05,-9.961016652e-05,-1.776958718e-03,6.096903904e-05,-9.943265958e-05,-1.770468567e-03,7.016022030e-01,-9.781958979e-05,8.389641797e-01,7.016019983e-01,-9.805920520e-05,8.389639825e-01,7.017898502e-01,-9.763918148e-05,8.278021608e-01
+29,1.071666667e+01,DOWN_FORCE_DETACH,1792666758787030108,6.524913487e-05,-1.005456569e-04,-1.880903366e-03,6.397880790e-05,-1.050837717e-04,-1.875780790e-03,6.044939383e-05,-1.048310541e-04,-1.869330784e-03,7.016031206e-01,-9.899469559e-05,8.388600378e-01,7.016018503e-01,-1.035328104e-04,8.388651604e-01,7.017893306e-01,-1.030375760e-04,8.277032986e-01
+30,1.095000000e+01,DOWN_FORCE_DETACH,1792666759255062022,6.347635810e-05,-9.849738229e-05,-1.992739557e-03,6.074615789e-05,-9.953581650e-05,-1.977957246e-03,5.678436274e-05,-9.929831839e-05,-1.971311135e-03,7.016013478e-01,-9.694642097e-05,8.387482016e-01,7.015986176e-01,-9.798485518e-05,8.387629839e-01,7.017856656e-01,-9.750484029e-05,8.276013182e-01
+31,1.118333333e+01,DOWN_FORCE_DETACH,1792666759719149896,6.164233283e-05,-1.013938285e-04,-2.105247657e-03,6.217659234e-05,-9.695089704e-05,-2.096928927e-03,5.776242380e-05,-9.668982210e-05,-2.089854722e-03,7.015995138e-01,-9.984286716e-05,8.386356935e-01,7.016000481e-01,-9.539993572e-05,8.386440123e-01,7.017866436e-01,-9.489634400e-05,8.274827746e-01
+32,1.138333333e+01,DOWN_FORCE_DETACH,1792666760120865590,5.869061677e-05,-1.018116461e-04,-2.212383113e-03,5.853345501e-05,-1.018118974e-04,-2.212405619e-03,5.362647738e-05,-1.015153713e-04,-2.204803470e-03,7.015965621e-01,-1.002606848e-04,8.385285581e-01,7.015964049e-01,-1.002609361e-04,8.385285356e-01,7.017825077e-01,-9.972189319e-05,8.273678259e-01
+33,1.158333333e+01,DOWN_FORCE_DETACH,1792666760519029760,5.946736233e-05,-1.049965699e-04,-2.312232814e-03,5.929363671e-05,-1.050172893e-04,-2.312176655e-03,5.407075659e-05,-1.047026130e-04,-2.304526232e-03,7.015973388e-01,-1.034456086e-04,8.384287084e-01,7.015971651e-01,-1.034663280e-04,8.384287645e-01,7.017829519e-01,-1.029091349e-04,8.272681031e-01
+34,1.176666667e+01,DOWN_FORCE_DETACH,1792666760883499479,6.051443100e-05,-1.127669674e-04,-2.410610596e-03,6.000028243e-05,-1.110670846e-04,-2.395368548e-03,5.441476920e-05,-1.107350356e-04,-2.387936694e-03,7.015983859e-01,-1.112160061e-04,8.383303306e-01,7.015978718e-01,-1.095161232e-04,8.383455726e-01,7.017832960e-01,-1.089415575e-04,8.271846927e-01
+35,1.195000000e+01,DOWN_FORCE_DETACH,1792666761247050051,5.879210964e-05,-1.113595239e-04,-2.517172768e-03,5.851463737e-05,-1.115769291e-04,-2.517395169e-03,5.242172330e-05,-1.112159286e-04,-2.509331914e-03,7.015966636e-01,-1.098085626e-04,8.382237684e-01,7.015963861e-01,-1.100259678e-04,8.382235460e-01,7.017813029e-01,-1.094224505e-04,8.270632974e-01
+36,1.213333333e+01,DOWN_FORCE_DETACH,1792666761615291113,5.727884125e-05,-1.151179266e-04,-2.633649064e-03,5.705397903e-05,-1.151128334e-04,-2.633755793e-03,5.047153568e-05,-1.147210397e-04,-2.625373113e-03,7.015951503e-01,-1.135669653e-04,8.381072921e-01,7.015949255e-01,-1.135618721e-04,8.381071854e-01,7.017793527e-01,-1.129275616e-04,8.269472562e-01
+37,1.231666667e+01,DOWN_FORCE_DETACH,1792666761979554380,5.497093663e-05,-1.222948426e-04,-2.745346066e-03,5.487338305e-05,-1.194278972e-04,-2.727039553e-03,4.792859862e-05,-1.189922861e-04,-2.718932379e-03,7.015928424e-01,-1.207438813e-04,8.379955951e-01,7.015927449e-01,-1.178769358e-04,8.380139016e-01,7.017768098e-01,-1.171988080e-04,8.268536970e-01
+38,1.248333333e+01,DOWN_FORCE_DETACH,1792666762315632101,5.355927655e-05,-1.246831651e-04,-2.852962879e-03,5.337971544e-05,-1.248614385e-04,-2.852881395e-03,4.595631550e-05,-1.244137189e-04,-2.844143647e-03,7.015914308e-01,-1.231322038e-04,8.378879783e-01,7.015912512e-01,-1.233104772e-04,8.378880598e-01,7.017748375e-01,-1.226202408e-04,8.267284857e-01
+39,1.266666667e+01,DOWN_FORCE_DETACH,1792666762645388690,5.234289781e-05,-1.259270166e-04,-2.960957637e-03,5.566268784e-05,-1.277782826e-04,-2.946621402e-03,4.785714321e-05,-1.273083836e-04,-2.938373101e-03,7.015902144e-01,-1.243760553e-04,8.377799836e-01,7.015935342e-01,-1.262273213e-04,8.377943198e-01,7.017767383e-01,-1.255149055e-04,8.266342562e-01
+40,1.281666667e+01,DOWN_FORCE_DETACH,1792666762947578142,5.004333083e-05,-1.316652631e-04,-3.073303628e-03,4.929848061e-05,-1.324808994e-04,-3.064792045e-03,4.100342717e-05,-1.320447330e-04,-3.055981176e-03,7.015879148e-01,-1.301143018e-04,8.376676376e-01,7.015871700e-01,-1.309299381e-04,8.376761491e-01,7.017698846e-01,-1.302512549e-04,8.265166482e-01
+41,1.301666667e+01,DOWN_FORCE_DETACH,1792666763310995137,4.744711454e-05,-1.357795720e-04,-3.193466855e-03,4.748857706e-05,-1.355444656e-04,-3.193259104e-03,3.867780014e-05,-1.350972466e-04,-3.184316414e-03,7.015853186e-01,-1.342286107e-04,8.375474743e-01,7.015853601e-01,-1.339935043e-04,8.375476821e-01,7.017675590e-01,-1.333037685e-04,8.263883129e-01
+42,1.316666667e+01,DOWN_FORCE_DETACH,1792666763611647119,4.843134788e-05,-1.387133138e-04,-3.297562550e-03,4.832895003e-05,-1.386856794e-04,-3.297441360e-03,3.910746846e-05,-1.382489412e-04,-3.288384784e-03,7.015863028e-01,-1.371623525e-04,8.374433786e-01,7.015862004e-01,-1.371347181e-04,8.374434998e-01,7.017679887e-01,-1.364554631e-04,8.262842446e-01
+43,1.333333333e+01,DOWN_FORCE_DETACH,1792666763909958315,4.559537399e-05,-1.449092144e-04,-3.409593115e-03,4.435468574e-05,-1.435261931e-04,-3.399318893e-03,3.466517518e-05,-1.430184260e-04,-3.390479136e-03,7.015834669e-01,-1.433582531e-04,8.373313481e-01,7.015822262e-01,-1.419752318e-04,8.373416223e-01,7.017635464e-01,-1.412249479e-04,8.261821502e-01
+44,1.348333333e+01,DOWN_FORCE_DETACH,1792666764211726870,4.551801107e-05,-1.442878769e-04,-3.521843112e-03,4.526519165e-05,-1.442865358e-04,-3.521868557e-03,3.512074267e-05,-1.437795192e-04,-3.512632430e-03,7.015833895e-01,-1.427369156e-04,8.372190981e-01,7.015831367e-01,-1.427355745e-04,8.372190726e-01,7.017640019e-01,-1.419860411e-04,8.260599969e-01
+45,1.365000000e+01,DOWN_FORCE_DETACH,1792666764507527860,4.195707962e-05,-1.475147799e-04,-3.639557938e-03,4.411434855e-05,-1.438266964e-04,-3.627251548e-03,3.353587003e-05,-1.433211598e-04,-3.618175660e-03,7.015798286e-01,-1.459638185e-04,8.371013832e-01,7.015819858e-01,-1.422757350e-04,8.371136896e-01,7.017624171e-01,-1.415276817e-04,8.259544537e-01
+46,1.378333333e+01,DOWN_FORCE_DETACH,1792666764775537884,4.213473320e-05,-1.496725698e-04,-3.746058485e-03,4.092698621e-05,-1.511712285e-04,-3.734373556e-03,2.992807202e-05,-1.506239712e-04,-3.725086085e-03,7.015800062e-01,-1.481216085e-04,8.369948827e-01,7.015787985e-01,-1.496202672e-04,8.370065676e-01,7.017588093e-01,-1.488304931e-04,8.258475433e-01
+47,1.393333333e+01,DOWN_FORCE_DETACH,1792666765057231430,3.994556692e-05,-1.527375040e-04,-3.866500288e-03,3.971712440e-05,-1.527328315e-04,-3.866294557e-03,2.822126559e-05,-1.521769624e-04,-3.856621435e-03,7.015778170e-01,-1.511865427e-04,8.368744409e-01,7.015775886e-01,-1.511818701e-04,8.368746466e-01,7.017571025e-01,-1.503834843e-04,8.257160079e-01
+48,1.406666667e+01,DOWN_FORCE_DETACH,1792666765307488191,4.021487524e-05,-1.614197933e-04,-3.971068632e-03,4.072556259e-05,-1.569564491e-04,-3.955029100e-03,2.884213622e-05,-1.563592214e-04,-3.945603181e-03,7.015780864e-01,-1.598688320e-04,8.367698726e-01,7.015785970e-01,-1.554054878e-04,8.367859121e-01,7.017577233e-01,-1.545657433e-04,8.256270262e-01
+49,1.420000000e+01,DOWN_FORCE_DETACH,1792666765573697758,3.804505080e-05,-1.539110962e-04,-4.095186435e-03,3.777957090e-05,-1.542429561e-04,-4.095008834e-03,2.536087413e-05,-1.535892635e-04,-4.084850705e-03,7.015759165e-01,-1.523601348e-04,8.366457548e-01,7.015756511e-01,-1.526919948e-04,8.366459324e-01,7.017542421e-01,-1.517957854e-04,8.254877786e-01
+50,1.433333333e+01,DOWN_FORCE_DETACH,1792666765805658408,4.663265301e-05,-1.568566314e-04,-4.193562401e-03,4.818750935e-05,-1.594846201e-04,-4.175471659e-03,3.553639848e-05,-1.587663763e-04,-4.165883220e-03,7.015845041e-01,-1.553056701e-04,8.365473788e-01,7.015860590e-01,-1.579336588e-04,8.365654695e-01,7.017644176e-01,-1.569728983e-04,8.254067461e-01
+51,1.446666667e+01,DOWN_FORCE_DETACH,1792666766073236272,4.309578862e-05,-1.637152712e-04,-4.311514159e-03,4.159106855e-05,-1.607007711e-04,-4.299007048e-03,2.839768380e-05,-1.599789134e-04,-4.289146169e-03,7.015809673e-01,-1.621643099e-04,8.364294270e-01,7.015794625e-01,-1.591498098e-04,8.364419341e-01,7.017572789e-01,-1.581854353e-04,8.252834832e-01
+52,1.458333333e+01,DOWN_FORCE_DETACH,1792666766307562884,4.506607494e-05,-1.638355856e-04,-4.422989955e-03,4.454868256e-05,-1.637128256e-04,-4.423274353e-03,3.095065895e-05,-1.630194684e-04,-4.412934082e-03,7.015829376e-01,-1.622846243e-04,8.363179512e-01,7.015824202e-01,-1.621618643e-04,8.363176668e-01,7.017598319e-01,-1.612259903e-04,8.251596953e-01
+53,1.470000000e+01,DOWN_FORCE_DETACH,1792666766537336895,3.249742768e-05,-1.666232055e-04,-4.542014487e-03,3.216937666e-05,-1.664126061e-04,-4.541825870e-03,1.804016690e-05,-1.657657305e-04,-4.531389490e-03,7.015703689e-01,-1.650722442e-04,8.361989267e-01,7.015700409e-01,-1.648616448e-04,8.361991153e-01,7.017469214e-01,-1.639722524e-04,8.250412399e-01
+54,1.481666667e+01,DOWN_FORCE_DETACH,1792666766771542721,2.740760600e-05,-1.611584911e-04,-4.663004210e-03,2.705686594e-05,-1.611107575e-04,-4.662848627e-03,1.230877732e-05,-1.604514017e-04,-4.653817058e-03,7.015652791e-01,-1.596075298e-04,8.360779370e-01,7.015649283e-01,-1.595597962e-04,8.360780926e-01,7.017411900e-01,-1.586579236e-04,8.249188123e-01
+55,1.491666667e+01,DOWN_FORCE_DETACH,1792666766971523767,2.186786206e-05,-1.712328070e-04,-4.770492383e-03,2.226213353e-05,-1.662079785e-04,-4.756020486e-03,7.061587450e-06,-1.654905895e-04,-4.746760311e-03,7.015597393e-01,-1.696818457e-04,8.359704488e-01,7.015601336e-01,-1.646570171e-04,8.359849207e-01,7.017359428e-01,-1.636971114e-04,8.248258690e-01
+56,1.501666667e+01,DOWN_FORCE_DETACH,1792666767171501518,7.247386069e-06,-1.711486200e-04,-4.881560231e-03,8.548914852e-06,-1.732727119e-04,-4.863245284e-03,-7.245771244e-06,-1.725420513e-04,-4.853720699e-03,7.015451189e-01,-1.695976587e-04,8.358593810e-01,7.015464204e-01,-1.717217505e-04,8.358776959e-01,7.017216354e-01,-1.707485732e-04,8.247189087e-01
+57,1.511666667e+01,DOWN_FORCE_DETACH,1792666767371552116,4.400304581e-05,-1.623244587e-04,-4.963078776e-03,4.357836539e-05,-1.623228629e-04,-4.963040819e-03,2.785529350e-05,-1.616591881e-04,-4.953211270e-03,7.015818745e-01,-1.607734974e-04,8.357778624e-01,7.015814498e-01,-1.607719015e-04,8.357779004e-01,7.017567365e-01,-1.598657100e-04,8.246194181e-01
+58,1.525000000e+01,DOWN_SETTLE,1792666767635600302,3.591729686e-05,-1.610274711e-04,-5.070067860e-03,3.588625289e-05,-1.610981511e-04,-5.069941595e-03,1.976245942e-05,-1.604235280e-04,-5.060504208e-03,7.015737888e-01,-1.594765098e-04,8.356708733e-01,7.015737577e-01,-1.595471897e-04,8.356709996e-01,7.017486437e-01,-1.586300499e-04,8.245121251e-01
+59,1.561666667e+01,DOWN_PEAK_HOLD,1792666768367863873,1.435782153e-05,-1.410882464e-04,-5.139243752e-03,1.505986309e-05,-1.485610180e-04,-5.136525182e-03,-1.722263629e-06,-1.480211843e-04,-5.130525663e-03,7.015522293e-01,-1.395372851e-04,8.356016974e-01,7.015529313e-01,-1.470100567e-04,8.356044160e-01,7.017271589e-01,-1.462277062e-04,8.244421037e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed587589f312b03b6a7ab123712c4beeb39aa9d2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.8946e-02,2.8015e-03,2.4477e+00,-3.7036e-02,3.4021e-02,-5.6606e-05,7.4337e-04,2.2464e-06,3.8671e-04,-8.5309e-07,5.1212e-05,-4.4890e-07,8.3795e-04,5.1221e-05
+1,5.6667e-01,DOWN_FORCE_DETACH,1.1689e-04,-1.6979e-02,2.9505e-03,2.4583e+00,-3.7062e-02,3.5561e-02,-7.0697e-05,2.2711e-02,1.5126e-04,1.1045e-02,-2.6911e-05,1.5909e-03,-1.4540e-05,2.5254e-02,1.5912e-03
+2,1.0667e+00,DOWN_FORCE_DETACH,2.3492e-04,-8.0786e-04,1.1169e-02,2.4753e+00,-3.7634e-02,3.6701e-02,-7.1934e-05,3.8882e-02,8.3702e-03,2.8060e-02,-5.9812e-04,2.7315e-03,-1.5776e-05,4.8675e-02,2.7962e-03
+3,1.3667e+00,DOWN_FORCE_DETACH,3.5730e-04,-4.0511e-02,1.8929e-02,2.5043e+00,-3.8162e-02,3.4034e-02,-6.7139e-05,-8.2096e-04,1.6129e-02,5.7065e-02,-1.1262e-03,6.4179e-05,-1.0982e-05,5.9306e-02,1.1281e-03
+4,1.8000e+00,DOWN_FORCE_DETACH,4.6988e-04,-7.9116e-03,1.9623e-02,2.5407e+00,-3.8210e-02,3.6154e-02,-5.1108e-05,3.1778e-02,1.6824e-02,9.3384e-02,-1.1740e-03,2.1843e-03,5.0494e-06,1.0007e-01,2.4798e-03
+5,2.2167e+00,DOWN_FORCE_DETACH,5.8770e-04,3.1486e-03,2.4550e-02,2.5602e+00,-3.8530e-02,3.6920e-02,-3.3918e-05,4.2838e-02,2.1751e-02,1.1291e-01,-1.4942e-03,2.9498e-03,2.2239e-05,1.2270e-01,3.3067e-03
+6,2.6000e+00,DOWN_FORCE_DETACH,7.0211e-04,8.6847e-03,2.8664e-02,2.5661e+00,-3.8792e-02,3.7310e-02,-1.3023e-05,4.8374e-02,2.5865e-02,1.1882e-01,-1.7568e-03,3.3399e-03,4.3134e-05,1.3087e-01,3.7740e-03
+7,3.0333e+00,DOWN_FORCE_DETACH,8.2248e-04,1.5777e-02,2.8477e-02,2.5490e+00,-3.8756e-02,3.7817e-02,9.6629e-06,5.5466e-02,2.5678e-02,1.0172e-01,-1.7204e-03,3.8471e-03,6.5820e-05,1.1867e-01,4.2148e-03
+8,3.5000e+00,DOWN_FORCE_DETACH,9.3649e-04,2.3493e-02,2.9486e-02,2.5289e+00,-3.8803e-02,3.8378e-02,3.0828e-05,6.3183e-02,2.6686e-02,8.1587e-02,-1.7675e-03,4.4081e-03,8.6985e-05,1.0659e-01,4.7501e-03
+9,4.1500e+00,DOWN_FORCE_DETACH,1.0537e-03,2.8280e-02,3.2270e-02,2.5199e+00,-3.8979e-02,3.8733e-02,5.4028e-05,6.7969e-02,2.9471e-02,7.2573e-02,-1.9431e-03,4.7627e-03,1.1019e-04,1.0371e-01,5.1450e-03
+10,4.3667e+00,DOWN_FORCE_DETACH,1.1596e-03,-1.4801e-02,3.0169e-02,2.5036e+00,-3.8831e-02,3.5835e-02,5.7544e-05,2.4889e-02,2.7370e-02,5.6301e-02,-1.7958e-03,1.8650e-03,1.1370e-04,6.7367e-02,2.5915e-03
+11,4.7000e+00,DOWN_FORCE_DETACH,1.2907e-03,4.7168e-03,3.0776e-02,2.5117e+00,-3.8865e-02,3.7092e-02,6.2378e-05,4.4406e-02,2.7977e-02,6.4374e-02,-1.8291e-03,3.1225e-03,1.1854e-04,8.3058e-02,3.6207e-03
+12,5.1667e+00,DOWN_FORCE_DETACH,1.4064e-03,1.1633e-02,3.3130e-02,2.5427e+00,-3.9025e-02,3.7540e-02,7.1665e-05,5.1322e-02,3.0331e-02,9.5388e-02,-1.9891e-03,3.5705e-03,1.2782e-04,1.1248e-01,4.0892e-03
+13,5.5833e+00,DOWN_FORCE_DETACH,1.5242e-03,1.9339e-02,3.5305e-02,2.5569e+00,-3.9172e-02,3.8063e-02,7.9426e-05,5.9028e-02,3.2505e-02,1.0962e-01,-2.1370e-03,4.0929e-03,1.3558e-04,1.2868e-01,4.6192e-03
+14,6.0333e+00,DOWN_FORCE_DETACH,1.6412e-03,2.4095e-02,3.1489e-02,2.5796e+00,-3.8913e-02,3.8378e-02,8.1014e-05,6.3784e-02,2.8689e-02,1.3228e-01,-1.8780e-03,4.4080e-03,1.3717e-04,1.4963e-01,4.7933e-03
+15,6.4167e+00,DOWN_FORCE_DETACH,1.7559e-03,2.6373e-02,3.3584e-02,2.5961e+00,-3.9041e-02,3.8514e-02,7.7521e-05,6.6063e-02,3.0785e-02,1.4879e-01,-2.0056e-03,4.5437e-03,1.3368e-04,1.6568e-01,4.9684e-03
+16,6.7667e+00,DOWN_FORCE_DETACH,1.8754e-03,2.8821e-02,3.5625e-02,2.6266e+00,-3.9173e-02,3.8659e-02,8.0591e-05,6.8510e-02,3.2826e-02,1.7931e-01,-2.1376e-03,4.6894e-03,1.3675e-04,1.9474e-01,5.1554e-03
+17,7.1333e+00,DOWN_FORCE_DETACH,1.9920e-03,3.3457e-02,3.8313e-02,2.6410e+00,-3.9357e-02,3.8967e-02,8.8805e-05,7.3146e-02,3.5514e-02,1.9374e-01,-2.3215e-03,4.9972e-03,1.4496e-04,2.1011e-01,5.5120e-03
+18,7.4833e+00,DOWN_FORCE_DETACH,2.1112e-03,3.5943e-02,3.9766e-02,2.6410e+00,-3.9467e-02,3.9150e-02,9.7588e-05,7.5632e-02,3.6966e-02,1.9371e-01,-2.4314e-03,5.1796e-03,1.5375e-04,2.1121e-01,5.7240e-03
+19,7.8167e+00,DOWN_FORCE_DETACH,2.2261e-03,3.2427e-02,3.5823e-02,2.6480e+00,-3.9198e-02,3.8924e-02,1.0159e-04,7.2116e-02,3.3023e-02,2.0070e-01,-2.1621e-03,4.9538e-03,1.5775e-04,2.1580e-01,5.4074e-03
+20,8.1167e+00,DOWN_FORCE_DETACH,2.3462e-03,3.2595e-02,3.9376e-02,2.6620e+00,-3.9409e-02,3.8932e-02,1.0514e-04,7.2284e-02,3.6576e-02,2.1472e-01,-2.3734e-03,4.9622e-03,1.6130e-04,2.2949e-01,5.5029e-03
+21,8.4333e+00,DOWN_FORCE_DETACH,2.4569e-03,3.1512e-02,4.0775e-02,2.6702e+00,-3.9460e-02,3.8854e-02,1.0465e-04,7.1201e-02,3.7976e-02,2.2290e-01,-2.4243e-03,4.8841e-03,1.6081e-04,2.3705e-01,5.4551e-03
+22,8.7667e+00,DOWN_FORCE_DETACH,2.5768e-03,2.9676e-02,4.0943e-02,2.6777e+00,-3.9421e-02,3.8717e-02,9.7642e-05,6.9366e-02,3.8144e-02,2.3042e-01,-2.3857e-03,4.7472e-03,1.5380e-04,2.4363e-01,5.3152e-03
+23,9.1000e+00,DOWN_FORCE_DETACH,2.6999e-03,2.8659e-02,4.1186e-02,2.6879e+00,-3.9417e-02,3.8633e-02,8.4604e-05,6.8349e-02,3.8387e-02,2.4067e-01,-2.3815e-03,4.6626e-03,1.4076e-04,2.5312e-01,5.2375e-03
+24,9.3833e+00,DOWN_FORCE_DETACH,2.8124e-03,2.7992e-02,3.8725e-02,2.6967e+00,-3.9270e-02,3.8577e-02,6.9928e-05,6.7682e-02,3.5925e-02,2.4947e-01,-2.2350e-03,4.6073e-03,1.2609e-04,2.6097e-01,5.1224e-03
+25,9.6833e+00,DOWN_FORCE_DETACH,2.9318e-03,3.0992e-02,4.0209e-02,2.7087e+00,-3.9401e-02,3.8768e-02,4.9875e-05,7.0681e-02,3.7410e-02,2.6137e-01,-2.3658e-03,4.7980e-03,1.0603e-04,2.7333e-01,5.3506e-03
+26,9.9667e+00,DOWN_FORCE_DETACH,3.0488e-03,3.1877e-02,4.1297e-02,2.7211e+00,-3.9496e-02,3.8814e-02,3.2159e-05,7.1566e-02,3.8498e-02,2.7385e-01,-2.4606e-03,4.8442e-03,8.8316e-05,2.8566e-01,5.4340e-03
+27,1.0217e+01,DOWN_FORCE_DETACH,3.1643e-03,3.5851e-02,4.3133e-02,2.7361e+00,-3.9624e-02,3.9069e-02,2.0200e-05,7.5541e-02,4.0334e-02,2.8877e-01,-2.5887e-03,5.0987e-03,7.6357e-05,3.0120e-01,5.7187e-03
+28,1.0467e+01,DOWN_FORCE_DETACH,3.2801e-03,3.5202e-02,4.4273e-02,2.7492e+00,-3.9689e-02,3.9026e-02,1.1282e-05,7.4892e-02,4.1474e-02,3.0191e-01,-2.6537e-03,5.0560e-03,6.7439e-05,3.1381e-01,5.7105e-03
+29,1.0717e+01,DOWN_FORCE_DETACH,3.4005e-03,3.4474e-02,4.6164e-02,2.7598e+00,-3.9782e-02,3.8983e-02,5.6251e-06,7.4164e-02,4.3364e-02,3.1248e-01,-2.7469e-03,5.0129e-03,6.1783e-05,3.2408e-01,5.7165e-03
+30,1.0950e+01,DOWN_FORCE_DETACH,3.5163e-03,3.5515e-02,4.7050e-02,2.7710e+00,-3.9799e-02,3.9052e-02,3.4771e-06,7.5204e-02,4.4250e-02,3.2369e-01,-2.7636e-03,5.0823e-03,5.9635e-05,3.3524e-01,5.7854e-03
+31,1.1183e+01,DOWN_FORCE_DETACH,3.6379e-03,3.6188e-02,4.6952e-02,2.7850e+00,-3.9757e-02,3.9086e-02,2.8310e-06,7.5877e-02,4.4153e-02,3.3775e-01,-2.7219e-03,5.1158e-03,5.8988e-05,3.4897e-01,5.7952e-03
+32,1.1383e+01,DOWN_FORCE_DETACH,3.7556e-03,3.6965e-02,4.7360e-02,2.8005e+00,-3.9772e-02,3.9119e-02,3.2932e-06,7.6654e-02,4.4561e-02,3.5321e-01,-2.7365e-03,5.1490e-03,5.9451e-05,3.6417e-01,5.8313e-03
+33,1.1583e+01,DOWN_FORCE_DETACH,3.8658e-03,3.9348e-02,4.7942e-02,2.8113e+00,-3.9814e-02,3.9264e-02,4.4598e-06,7.9038e-02,4.5143e-02,3.6400e-01,-2.7790e-03,5.2942e-03,6.0617e-05,3.7521e-01,5.9796e-03
+34,1.1767e+01,DOWN_FORCE_DETACH,3.9799e-03,3.7215e-02,5.1575e-02,2.8169e+00,-4.0055e-02,3.9116e-02,5.4307e-06,7.6905e-02,4.8776e-02,3.6958e-01,-3.0197e-03,5.1465e-03,6.1588e-05,3.8063e-01,5.9673e-03
+35,1.1950e+01,DOWN_FORCE_DETACH,4.0970e-03,3.6161e-02,5.2359e-02,2.8262e+00,-4.0086e-02,3.9043e-02,4.2392e-06,7.5851e-02,4.9559e-02,3.7897e-01,-3.0510e-03,5.0733e-03,6.0397e-05,3.8965e-01,5.9203e-03
+36,1.2133e+01,DOWN_FORCE_DETACH,4.2221e-03,3.3679e-02,5.7413e-02,2.8391e+00,-4.0370e-02,3.8873e-02,1.8237e-06,7.3368e-02,5.4613e-02,3.9186e-01,-3.3347e-03,4.9027e-03,5.7981e-05,4.0240e-01,5.9296e-03
+37,1.2317e+01,DOWN_FORCE_DETACH,4.3416e-03,3.4723e-02,6.1376e-02,2.8553e+00,-4.0567e-02,3.8931e-02,-9.2667e-08,7.4412e-02,5.8577e-02,4.0805e-01,-3.5318e-03,4.9609e-03,5.6065e-05,4.1890e-01,6.0900e-03
+38,1.2483e+01,DOWN_FORCE_DETACH,4.4531e-03,3.5861e-02,6.2873e-02,2.8612e+00,-4.0621e-02,3.8999e-02,3.0070e-07,7.5551e-02,6.0074e-02,4.1393e-01,-3.5851e-03,5.0292e-03,5.6458e-05,4.2504e-01,6.1765e-03
+39,1.2667e+01,DOWN_FORCE_DETACH,4.5713e-03,3.6489e-02,6.2104e-02,2.8638e+00,-4.0554e-02,3.9034e-02,1.7917e-06,7.6179e-02,5.9305e-02,4.1651e-01,-3.5184e-03,5.0644e-03,5.7949e-05,4.2755e-01,6.1669e-03
+40,1.2817e+01,DOWN_FORCE_DETACH,4.6855e-03,3.7498e-02,6.1403e-02,2.8689e+00,-4.0517e-02,3.9095e-02,2.4145e-06,7.7187e-02,5.8604e-02,4.2162e-01,-3.4817e-03,5.1253e-03,5.8572e-05,4.3262e-01,6.1963e-03
+41,1.3017e+01,DOWN_FORCE_DETACH,4.8118e-03,4.0133e-02,6.0927e-02,2.8725e+00,-4.0495e-02,3.9263e-02,1.8207e-06,7.9823e-02,5.8128e-02,4.2524e-01,-3.4593e-03,5.2926e-03,5.7978e-05,4.3656e-01,6.3231e-03
+42,1.3167e+01,DOWN_FORCE_DETACH,4.9182e-03,3.8928e-02,6.3398e-02,2.8780e+00,-4.0650e-02,3.9181e-02,1.3286e-06,7.8617e-02,6.0598e-02,4.3076e-01,-3.6143e-03,5.2110e-03,5.7486e-05,4.4205e-01,6.3420e-03
+43,1.3333e+01,DOWN_FORCE_DETACH,5.0353e-03,3.7650e-02,6.7484e-02,2.8823e+00,-4.0893e-02,3.9096e-02,1.6905e-06,7.7340e-02,6.4685e-02,4.3505e-01,-3.8577e-03,5.1258e-03,5.7848e-05,4.4658e-01,6.4155e-03
+44,1.3483e+01,DOWN_FORCE_DETACH,5.1523e-03,3.7106e-02,7.0588e-02,2.8875e+00,-4.1069e-02,3.9055e-02,3.0789e-06,7.6795e-02,6.7789e-02,4.4019e-01,-4.0339e-03,5.0853e-03,5.9236e-05,4.5195e-01,6.4912e-03
+45,1.3650e+01,DOWN_FORCE_DETACH,5.2752e-03,3.7334e-02,6.9853e-02,2.8948e+00,-4.0995e-02,3.9060e-02,3.4593e-06,7.7024e-02,6.7054e-02,4.4750e-01,-3.9591e-03,5.0904e-03,5.9617e-05,4.5900e-01,6.4491e-03
+46,1.3783e+01,DOWN_FORCE_DETACH,5.3857e-03,3.8089e-02,7.0627e-02,2.9001e+00,-4.1038e-02,3.9104e-02,2.9689e-06,7.7778e-02,6.7827e-02,4.5280e-01,-4.0026e-03,5.1341e-03,5.9126e-05,4.6441e-01,6.5103e-03
+47,1.3933e+01,DOWN_FORCE_DETACH,5.5108e-03,3.8270e-02,7.2165e-02,2.9113e+00,-4.1132e-02,3.9109e-02,4.4017e-07,7.7959e-02,6.9366e-02,4.6398e-01,-4.0964e-03,5.1395e-03,5.6598e-05,4.7557e-01,6.5726e-03
+48,1.4067e+01,DOWN_FORCE_DETACH,5.6198e-03,3.7348e-02,7.5701e-02,2.9118e+00,-4.1344e-02,3.9046e-02,-3.9739e-06,7.7038e-02,7.2901e-02,4.6453e-01,-4.3090e-03,5.0766e-03,5.2184e-05,4.7648e-01,6.6589e-03
+49,1.4200e+01,DOWN_FORCE_DETACH,5.7486e-03,3.7284e-02,8.1025e-02,2.9211e+00,-4.1649e-02,3.9037e-02,-9.6123e-06,7.6973e-02,7.8225e-02,4.7381e-01,-4.6138e-03,5.0667e-03,4.6545e-05,4.8635e-01,6.8528e-03
+50,1.4333e+01,DOWN_FORCE_DETACH,5.8562e-03,3.6013e-02,8.0633e-02,2.9258e+00,-4.1569e-02,3.8943e-02,-1.7124e-05,7.5702e-02,7.7834e-02,4.7848e-01,-4.5336e-03,4.9727e-03,3.9034e-05,4.9065e-01,6.7293e-03
+51,1.4467e+01,DOWN_FORCE_DETACH,5.9761e-03,3.2604e-02,8.3446e-02,2.9284e+00,-4.1712e-02,3.8707e-02,-2.1321e-05,7.2293e-02,8.0646e-02,4.8110e-01,-4.6761e-03,4.7367e-03,3.4836e-05,4.9314e-01,6.6561e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0146caa950381c4766223eecc9b00ae7196124f
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..875cded4067539c3641a54faceb379dc4ba18615
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dafd090f312dec0e3dba4804ab27c1c240f835d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4aca762dade810793c3312d3f5beb6b35f4eeed3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+58,7.016666667e+00,UP_SETTLE,1792666731545905851,-5.890914241e-05,-8.460173316e-05,1.404277210e-04,-5.592365393e-05,-8.483871902e-05,1.299284098e-04,-5.534368891e-05,-8.467462505e-05,1.294010885e-04,7.014789623e-01,-8.305077184e-05,8.408813689e-01,7.014819478e-01,-8.328775769e-05,8.408708696e-01,7.016735375e-01,-8.288114357e-05,8.297020304e-01
+59,7.183333333e+00,UP_SETTLE,1792666731843199366,-5.961782717e-05,-8.533044955e-05,1.464188063e-04,-5.592365393e-05,-8.483871902e-05,1.299284098e-04,-5.537847923e-05,-8.467423899e-05,1.295082727e-04,7.014782537e-01,-8.377948823e-05,8.408873600e-01,7.014819478e-01,-8.328775769e-05,8.408708696e-01,7.016735027e-01,-8.288075751e-05,8.297021376e-01
diff --git a/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b060ae7d5b8c6082d0f918c0eb4ac37045e476e3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_15/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.8946e-02,2.8018e-03,2.4477e+00,-3.7036e-02,3.4021e-02,-5.6601e-05,7.4337e-04,2.2384e-06,3.8671e-04,-8.5682e-07,5.1208e-05,-4.4878e-07,8.3794e-04,5.1217e-05
+1,1.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.0997e-05,-3.1769e-02,2.8324e-03,2.4513e+00,-3.7045e-02,3.4519e-02,-6.0957e-05,7.9205e-03,3.2780e-05,4.0560e-03,-9.3840e-06,5.4915e-04,-4.8045e-06,8.8987e-03,5.4925e-04
+2,3.0000e-01,WAIT_W2,5.8420e-05,-2.6343e-02,2.8677e-03,2.4540e+00,-3.7052e-02,3.4900e-02,-6.4472e-05,1.3346e-02,6.8125e-05,6.7065e-03,-1.6037e-05,9.2961e-04,-8.3197e-06,1.4936e-02,9.2978e-04
+3,4.3333e-01,WAIT_W2,9.3509e-05,-2.1541e-02,2.9172e-03,2.4562e+00,-3.7058e-02,3.5238e-02,-6.7647e-05,1.8148e-02,1.1763e-04,8.9672e-03,-2.2452e-05,1.2679e-03,-1.1494e-05,2.0243e-02,1.2682e-03
+4,6.0000e-01,WAIT_W2,1.2151e-04,-1.5943e-02,2.9583e-03,2.4588e+00,-3.7063e-02,3.5634e-02,-7.1385e-05,2.3746e-02,1.5870e-04,1.1508e-02,-2.7783e-05,1.6641e-03,-1.5233e-05,2.6388e-02,1.6644e-03
+5,7.1667e-01,WAIT_W2,1.5517e-04,-1.2454e-02,2.9789e-03,2.4603e+00,-3.7066e-02,3.5881e-02,-7.3661e-05,2.7235e-02,1.7934e-04,1.3043e-02,-3.0022e-05,1.9112e-03,-1.7509e-05,3.0197e-02,1.9115e-03
+6,8.1667e-01,WAIT_W2,1.8199e-04,-9.6996e-03,2.9918e-03,2.4615e+00,-3.7067e-02,3.6076e-02,-7.5395e-05,2.9989e-02,1.9221e-04,1.4242e-02,-3.1076e-05,2.1064e-03,-1.9243e-05,3.3200e-02,2.1067e-03
+7,9.3333e-01,WAIT_W2,2.1168e-04,-6.7375e-03,3.0175e-03,2.4628e+00,-3.7068e-02,3.6286e-02,-7.7165e-05,3.2951e-02,2.1791e-04,1.5530e-02,-3.2432e-05,2.3162e-03,-2.1013e-05,3.6428e-02,2.3166e-03
+8,1.0500e+00,WAIT_W2,2.4398e-04,-4.0191e-03,3.0320e-03,2.4640e+00,-3.7068e-02,3.6479e-02,-7.8676e-05,3.5670e-02,2.3240e-04,1.6688e-02,-3.2529e-05,2.5088e-03,-2.2524e-05,3.9381e-02,2.5091e-03
+9,1.1500e+00,WAIT_W2,2.7419e-04,-5.9084e-03,-6.2319e-03,2.4541e+00,-3.6429e-02,3.6366e-02,-8.7879e-05,3.3781e-02,-9.0315e-03,6.8498e-03,6.0602e-04,2.3964e-03,-3.1727e-05,3.5632e-02,2.4721e-03
+10,1.2833e+00,WAIT_W2,3.0608e-04,-2.8881e-03,-5.2212e-03,2.4573e+00,-3.6487e-02,3.6572e-02,-9.2056e-05,3.6801e-02,-8.0208e-03,1.0024e-02,5.4874e-04,2.6024e-03,-3.5904e-05,3.8976e-02,2.6598e-03
+11,1.4500e+00,WAIT_W2,3.3441e-04,3.7161e-04,-5.1318e-03,2.4600e+00,-3.6485e-02,3.6798e-02,-9.5804e-05,4.0061e-02,-7.9314e-03,1.2766e-02,5.5010e-04,2.8282e-03,-3.9651e-05,4.2787e-02,2.8815e-03
+12,1.5667e+00,UP_FORCE_RAMP,3.6855e-04,2.4851e-03,-5.1583e-03,2.4616e+00,-3.6480e-02,3.6946e-02,-9.7696e-05,4.2174e-02,-7.9579e-03,1.4352e-02,5.5571e-04,2.9757e-03,-4.1544e-05,4.5254e-02,3.0274e-03
+13,1.6667e+00,UP_FORCE_RAMP,3.9980e-04,7.0093e-03,6.4720e-03,2.4682e+00,-3.7264e-02,3.7260e-02,-9.4552e-05,4.6698e-02,3.6724e-03,2.0944e-02,-2.2832e-04,3.2902e-03,-3.8400e-05,5.1312e-02,3.2983e-03
+14,1.7833e+00,UP_FORCE_RAMP,4.3005e-04,7.7129e-03,4.1427e-03,2.4677e+00,-3.7118e-02,3.7313e-02,-9.2088e-05,4.7402e-02,1.3431e-03,2.0467e-02,-8.2836e-05,3.3430e-03,-3.5936e-05,5.1649e-02,3.3442e-03
+15,1.8833e+00,UP_FORCE_RAMP,4.5907e-04,8.9159e-03,6.2685e-03,2.4677e+00,-3.7264e-02,3.7398e-02,-8.9546e-05,4.8605e-02,3.4689e-03,2.0449e-02,-2.2803e-04,3.4279e-03,-3.3394e-05,5.2845e-02,3.4356e-03
+16,1.9833e+00,UP_FORCE_RAMP,4.8793e-04,1.0613e-02,1.4863e-02,2.4664e+00,-3.7906e-02,3.7529e-02,-5.9832e-05,5.0302e-02,1.2063e-02,1.9132e-02,-8.7034e-04,3.5586e-03,-3.6804e-06,5.5153e-02,3.6635e-03
+17,2.1000e+00,UP_FORCE_RAMP,5.2144e-04,1.1786e-02,1.4294e-02,2.4673e+00,-3.7858e-02,3.7607e-02,-5.7869e-05,5.1475e-02,1.1495e-02,2.0042e-02,-8.2280e-04,3.6372e-03,-1.7167e-06,5.6422e-02,3.7291e-03
+18,2.2667e+00,UP_FORCE_RAMP,5.5185e-04,1.4992e-02,2.4124e-02,2.4699e+00,-3.8554e-02,3.7836e-02,-2.6090e-05,5.4681e-02,2.1324e-02,2.2613e-02,-1.5184e-03,3.8664e-03,3.0063e-05,6.2897e-02,4.1540e-03
+19,2.4167e+00,UP_FORCE_RAMP,5.8354e-04,1.6188e-02,2.3458e-02,2.4702e+00,-3.8498e-02,3.7916e-02,-2.5296e-05,5.5877e-02,2.0658e-02,2.2894e-02,-1.4626e-03,3.9461e-03,3.0857e-05,6.3822e-02,4.2085e-03
+20,2.5167e+00,UP_FORCE_RAMP,6.0943e-04,1.7000e-02,2.3217e-02,2.4705e+00,-3.8476e-02,3.7971e-02,-2.5350e-05,5.6689e-02,2.0417e-02,2.3200e-02,-1.4403e-03,4.0015e-03,3.0802e-05,6.4565e-02,4.2529e-03
+21,2.6667e+00,UP_FORCE_RAMP,6.4552e-04,1.7357e-02,3.0735e-02,2.4613e+00,-3.8990e-02,3.8002e-02,-1.8581e-05,5.7046e-02,2.7936e-02,1.4022e-02,-1.9541e-03,4.0323e-03,3.7571e-05,6.5048e-02,4.4811e-03
+22,2.8000e+00,UP_FORCE_RAMP,6.7330e-04,1.8415e-02,3.0501e-02,2.4631e+00,-3.8976e-02,3.8075e-02,-1.6934e-05,5.8104e-02,2.7702e-02,1.5775e-02,-1.9409e-03,4.1054e-03,3.9218e-05,6.6275e-02,4.5412e-03
+23,2.9333e+00,UP_FORCE_RAMP,7.0199e-04,1.9420e-02,3.0487e-02,2.4644e+00,-3.8975e-02,3.8145e-02,-1.6486e-05,5.9109e-02,2.7688e-02,1.7158e-02,-1.9391e-03,4.1751e-03,3.9666e-05,6.7490e-02,4.6036e-03
+24,3.0500e+00,UP_FORCE_RAMP,7.3772e-04,2.0245e-02,3.0483e-02,2.4655e+00,-3.8972e-02,3.8203e-02,-1.6852e-05,5.9934e-02,2.7683e-02,1.8194e-02,-1.9368e-03,4.2326e-03,3.9301e-05,6.8480e-02,4.6548e-03
+25,3.1167e+00,UP_FORCE_RAMP,7.6959e-04,2.0694e-02,3.0474e-02,2.4660e+00,-3.8970e-02,3.8234e-02,-1.7318e-05,6.0383e-02,2.7675e-02,1.8731e-02,-1.9348e-03,4.2639e-03,3.8834e-05,6.9013e-02,4.6825e-03
+26,3.2000e+00,UP_FORCE_RAMP,7.9427e-04,2.3507e-02,4.3788e-02,2.4482e+00,-3.9888e-02,3.8437e-02,-8.5873e-06,6.3196e-02,4.0989e-02,9.0861e-04,-2.8528e-03,4.4672e-03,4.7565e-05,7.5330e-02,5.3006e-03
+27,3.3333e+00,UP_FORCE_RAMP,8.2858e-04,2.4082e-02,4.3146e-02,2.4519e+00,-3.9859e-02,3.8481e-02,-4.9621e-06,6.3771e-02,4.0347e-02,4.6132e-03,-2.8232e-03,4.5111e-03,5.1190e-05,7.5603e-02,5.3219e-03
+28,3.4333e+00,UP_FORCE_RAMP,8.5917e-04,2.4539e-02,4.3154e-02,2.4540e+00,-3.9863e-02,3.8514e-02,-3.8831e-06,6.4228e-02,4.0354e-02,6.7408e-03,-2.8271e-03,4.5438e-03,5.2269e-05,7.6152e-02,5.3518e-03
+29,3.5500e+00,UP_FORCE_RAMP,8.8852e-04,2.5041e-02,4.3209e-02,2.4562e+00,-3.9867e-02,3.8549e-02,-3.7386e-06,6.4730e-02,4.0410e-02,8.8975e-03,-2.8319e-03,4.5791e-03,5.2414e-05,7.6825e-02,5.3843e-03
+30,3.7167e+00,UP_FORCE_RAMP,9.1980e-04,2.5695e-02,4.3251e-02,2.4588e+00,-3.9869e-02,3.8594e-02,-5.1714e-06,6.5384e-02,4.0451e-02,1.1515e-02,-2.8334e-03,4.6244e-03,5.0981e-05,7.7743e-02,5.4237e-03
+31,3.8667e+00,UP_FORCE_RAMP,9.5168e-04,2.6229e-02,4.3231e-02,2.4609e+00,-3.9865e-02,3.8631e-02,-7.9852e-06,6.5918e-02,4.0432e-02,1.3583e-02,-2.8294e-03,4.6612e-03,4.8167e-05,7.8514e-02,5.4529e-03
+32,4.0000e+00,UP_FORCE_RAMP,9.8351e-04,2.6751e-02,4.2831e-02,2.4626e+00,-3.9827e-02,3.8670e-02,-2.7035e-05,6.6440e-02,4.0031e-02,1.5326e-02,-2.7914e-03,4.7004e-03,2.9117e-05,7.9067e-02,5.4668e-03
+33,4.1500e+00,UP_FORCE_RAMP,1.0108e-03,2.4578e-02,4.1677e-02,2.4427e+00,-3.9754e-02,3.8528e-02,-2.9508e-05,6.4267e-02,3.8877e-02,-4.5683e-03,-2.7186e-03,4.5583e-03,2.6644e-05,7.5250e-02,5.3075e-03
+34,4.2833e+00,UP_FORCE_RAMP,1.0418e-03,2.5184e-02,4.1818e-02,2.4466e+00,-3.9763e-02,3.8568e-02,-3.1681e-05,6.4873e-02,3.9018e-02,-6.5827e-04,-2.7276e-03,4.5984e-03,2.4471e-05,7.5706e-02,5.3465e-03
+35,4.3167e+00,UP_FORCE_RAMP,1.0857e-03,2.5324e-02,4.1835e-02,2.4475e+00,-3.9764e-02,3.8578e-02,-3.2312e-05,6.5013e-02,3.9035e-02,2.2650e-04,-2.7284e-03,4.6076e-03,2.3840e-05,7.5832e-02,5.3549e-03
+36,4.3500e+00,UP_FORCE_RAMP,1.0991e-03,6.5666e-02,3.6878e-02,2.4427e+00,-3.9426e-02,4.1313e-02,-3.6618e-05,1.0536e-01,3.4079e-02,-4.5571e-03,-2.3909e-03,7.3433e-03,1.9534e-05,1.1082e-01,7.7227e-03
+37,4.5000e+00,UP_FORCE_RAMP,1.1329e-03,5.7624e-02,3.7770e-02,2.4468e+00,-3.9479e-02,4.0823e-02,-4.3949e-05,9.7313e-02,3.4970e-02,-4.8232e-04,-2.4431e-03,6.8526e-03,1.2203e-05,1.0341e-01,7.2751e-03
+38,4.6667e+00,UP_FORCE_RAMP,1.1670e-03,5.4693e-02,3.7831e-02,2.4507e+00,-3.9479e-02,4.0641e-02,-5.1281e-05,9.4382e-02,3.5031e-02,3.4673e-03,-2.4432e-03,6.6712e-03,4.8715e-06,1.0073e-01,7.1045e-03
+39,4.8167e+00,UP_FORCE_RAMP,1.1930e-03,5.2456e-02,3.7814e-02,2.4537e+00,-3.9475e-02,4.0492e-02,-5.7788e-05,9.2145e-02,3.5015e-02,6.3813e-03,-2.4399e-03,6.5225e-03,-1.6359e-06,9.8779e-02,6.9639e-03
+40,4.9333e+00,UP_FORCE_RAMP,1.2239e-03,4.5079e-02,4.1694e-02,2.4370e+00,-3.9741e-02,3.9995e-02,-6.4321e-05,8.4768e-02,3.8894e-02,-1.0294e-02,-2.7058e-03,6.0249e-03,-8.1686e-06,9.3832e-02,6.6046e-03
+41,5.0833e+00,UP_FORCE_RAMP,1.2569e-03,4.4271e-02,4.1509e-02,2.4416e+00,-3.9736e-02,3.9932e-02,-6.8061e-05,8.3960e-02,3.8709e-02,-5.6760e-03,-2.7007e-03,5.9618e-03,-1.1909e-05,9.2628e-02,6.5450e-03
+42,5.2333e+00,UP_FORCE_RAMP,1.2884e-03,4.2895e-02,4.1550e-02,2.4457e+00,-3.9742e-02,3.9832e-02,-7.2507e-05,8.2584e-02,3.8750e-02,-1.6150e-03,-2.7066e-03,5.8619e-03,-1.6355e-05,9.1238e-02,6.4566e-03
+43,5.3833e+00,UP_FORCE_RAMP,1.3176e-03,4.1594e-02,4.1591e-02,2.4490e+00,-3.9746e-02,3.9737e-02,-7.7417e-05,8.1283e-02,3.8791e-02,1.7073e-03,-2.7106e-03,5.7673e-03,-2.1265e-05,9.0081e-02,6.3726e-03
+44,5.5500e+00,UP_FORCE_RAMP,1.3481e-03,3.9277e-02,4.1614e-02,2.4536e+00,-3.9748e-02,3.9559e-02,-9.8778e-05,7.8966e-02,3.8814e-02,6.3694e-03,-2.7128e-03,5.5889e-03,-4.2626e-05,8.8220e-02,6.2126e-03
+45,5.6500e+00,UP_FORCE_RAMP,1.3812e-03,3.4292e-02,3.9082e-02,2.4332e+00,-3.9578e-02,3.9229e-02,-1.0315e-04,7.3981e-02,3.6282e-02,-1.4093e-02,-2.5427e-03,5.2590e-03,-4.6996e-05,8.3595e-02,5.8417e-03
+46,5.7833e+00,UP_FORCE_RAMP,1.4112e-03,3.4348e-02,3.9322e-02,2.4374e+00,-3.9593e-02,3.9229e-02,-1.0629e-04,7.4037e-02,3.6523e-02,-9.8522e-03,-2.5570e-03,5.2592e-03,-5.0142e-05,8.3142e-02,5.8481e-03
+47,5.9167e+00,UP_FORCE_RAMP,1.4407e-03,3.4084e-02,3.9376e-02,2.4413e+00,-3.9595e-02,3.9208e-02,-1.0957e-04,7.3773e-02,3.6576e-02,-6.0027e-03,-2.5594e-03,5.2382e-03,-5.3422e-05,8.2561e-02,5.8303e-03
+48,6.0333e+00,UP_FORCE_RAMP,1.4712e-03,3.3833e-02,3.9383e-02,2.4441e+00,-3.9595e-02,3.9189e-02,-1.1250e-04,7.3522e-02,3.6584e-02,-3.1531e-03,-2.5590e-03,5.2186e-03,-5.6343e-05,8.2181e-02,5.8125e-03
+49,6.1167e+00,UP_FORCE_RAMP,1.5128e-03,3.3647e-02,3.9380e-02,2.4460e+00,-3.9594e-02,3.9174e-02,-1.1485e-04,7.3336e-02,3.6581e-02,-1.2538e-03,-2.5581e-03,5.2041e-03,-5.8695e-05,8.1963e-02,5.7991e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..594c37ae1488f0d61f156ddafff88097a659d6e4
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af910eb1ace333ba97255b57559f3384c493fe21
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
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+3143,1791617006634948037,22190431000000,1791617006630246770,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.675996160931187,-0.004894406154909584,0.09080557356224084,0.999999976936878,2.4891638321613336e-05,-0.0001478067253258829,0.00012289298760072718,0.6761,-0.0048,0.0908551599650854,1.0,0.0,0.0,0.0,0.41103783848911446,0.3982105356940174,0.14097802296786358,0.02727793653694671,-0.02791579285999109,-0.00018853870353106677,0.3351976398777171,0.3811289615789086,0.012664028344776876,0.02628338495050617,-0.02787091702295532,-0.00010566753546545929,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2740264464904252,0.1161762714499896,0.061963887508241465,0.514553134649437,0.20515381147925976,0.058513210607214455,0.5152655439204765,0.14097802296786358,0.4533016564122351,0.4533016564122351,0.5207200000000597,1,0,-1.95262554278638e-05,-9.687576715678432e-05
+3438,1791617009092960228,22192889000000,1791617009086246919,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760142508692134,-0.004898888198661487,0.09077342371537717,0.9999999809029543,2.120375699235813e-05,-0.0001179190341508907,0.0001236222378182982,0.6761,-0.0048,0.09079033116059942,1.0,0.0,0.0,0.0,0.39061037736247123,0.42033994535070635,0.3021497580991651,0.029234412566149302,-0.025956014432256834,-0.00026662145998552334,0.3147701787510739,0.40325837123559755,0.17383576347607843,0.028239860979708764,-0.025911138595221064,-0.00018375029191991586,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.396713733089649,0.0845931527519076,-0.1587487538109959,0.5211097868101435,0.3727966340262481,0.036286396000515794,0.5152655439204765,0.3021497580991651,0.6740142977314725,0.6740142977314725,0.7173599999999835,1,0,-2.9122998217194447e-05,-3.9889296059253356e-05
+3706,1791617011326976890,22195123000000,1791617011322246387,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.676040713492056,-0.004898442720789701,0.09073452031454962,0.9999999847509189,2.0689721597967842e-05,-8.129620183524748e-05,0.00012208148670190313,0.6761,-0.0048,0.09071284489533545,1.0,0.0,0.0,0.0,0.35145011146019545,0.46352199276862494,0.46368198675039685,0.03225764959704749,-0.023010931275911237,-0.00031926272459276514,0.2756099128487981,0.44644041865351614,0.3353679921273101,0.03126309801060695,-0.022966055438875466,-0.00023639155652715766,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.468044923902425,-0.0010786520387045433,-0.36562285804420586,0.5489167297107319,0.5179704028544567,-0.021352877594520266,0.5152655439204765,0.46368198675039685,0.8808884019646823,0.8808884019646823,0.8960799999999142,1,0,-2.7213984167524845e-05,9.99956603894347e-05
+4003,1791617013802041406,22197598000000,1791617013794246968,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760543639934263,-0.0049035973032721565,0.09068090332743946,0.999999986323082,1.85716355345065e-05,-5.732388634816083e-05,0.0001231493679963722,0.6761,-0.0048,0.09063085756223127,1.0,0.0,0.0,0.0,0.33233668416574863,0.4857048658362109,0.6547499121282341,0.03414072434143923,-0.02119841816289278,-0.00042379482148088534,0.2564964855543513,0.4686232917211021,0.5264359175051474,0.03314617275499869,-0.02115354232585701,-0.00034092365341527786,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4565194259636716,0.16502602017088994,-0.5609396727074725,0.5039642917618868,0.6360945572656961,0.09426532895550498,0.5152655439204765,0.6547499121282341,1.076205216627949,1.076205216627949,1.094079999999968,1,0,-3.4498633051634246e-05,9.936509534481103e-05
+4260,1791617015942989656,22199739000000,1791617015942247239,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760691590684368,-0.0049067040466039364,0.09062561532218572,0.9999999872723889,1.835235822177558e-05,-3.28944025660386e-05,0.00012441557595416745,0.6761,-0.0048,0.09054922109607391,1.0,0.0,0.0,0.0,0.32935417092232494,0.4905370981125088,0.7796166026501214,0.03476934816367095,-0.021107260987433273,0.0005110496770148594,0.2535139723109276,0.4734555239974,0.6513026080270348,0.03377479657723041,-0.021062385150397503,0.0005939208450804668,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4863583104496478,0.07568887725902135,-0.7113766727397234,0.514717151187685,0.7452836870448789,0.029141330295078243,0.5152655439204765,0.7796166026501214,1.2266422166602,1.2266422166602,1.2653600000001393,1,0,-4.353056078512806e-05,9.353870042272944e-05
+4548,1791617018343065029,22202139000000,1791617018338246459,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760839492244631,-0.004912987780662978,0.09050599541526894,0.9999999876397511,1.5737881583168535e-05,-1.0212108916176305e-05,0.0001257433660817582,0.6761,-0.0048,0.09040218839134449,1.0,0.0,0.0,0.0,0.3388069589681356,0.48116076524208873,0.904329176799761,0.03475382716046534,-0.0221496478279514,0.00039299417314337174,0.26296676035673827,0.46407919112697993,0.7760151821766743,0.033759275574024805,-0.02210477199091563,0.0004758653412089792,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4715443556753816,0.11597931172770196,-0.8481115018880465,0.5047080531680611,0.8277008447314081,0.059876272123192006,0.5152655439204765,0.904329176799761,1.363377045808523,1.363377045808523,1.4573600000003313,1,0,-8.076557919299716e-05,5.6355715551015696e-05
+4771,1791617020202117291,22203998000000,1791617020198246227,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760941398761721,-0.00491248573012018,0.09035558578384727,0.9999999877412428,1.0587231534701766e-05,7.690718880981064e-06,0.0001256548535875487,0.6761,-0.0048,0.09023441656150338,1.0,0.0,0.0,0.0,0.36812951781391556,0.433002444565755,0.9958695213539747,0.032096841857594205,-0.024140853851795534,0.0002627386850171588,0.2922893192025182,0.4159208704506462,0.867555526730888,0.031102290271153663,-0.024095978014759763,0.0003456098530827663,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4429253869483916,0.019315257004587662,-0.9439934578716875,0.5191305799913376,0.8906836288661898,-0.009061667140679172,0.5152655439204765,0.9958695213539747,1.459259001792164,1.459259001792164,1.60608000000048,1,0,-0.00010469828666123527,-5.0045005665860745e-05
+4975,1791617021902118174,22205698000000,1791617021898246528,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760971672647913,-0.004918579893565342,0.09015711604383006,0.9999999870937281,5.8244730025376635e-06,1.5605171484270777e-05,0.00013029951048825687,0.6761,-0.0048,0.09002673971990184,1.0,0.0,0.0,0.0,0.4170214116236048,0.39618360422348975,1.0775005557494117,0.029129043307901396,-0.02815380572155143,0.000462419328805677,0.34118121301220744,0.37910203010838095,0.9491865611263249,0.028134491721460857,-0.02810892988451566,0.0005452904968712845,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3843565462399805,0.04589940989850857,-1.0668536778269335,0.510557417019472,0.9635909443083109,0.00518908403921025,0.5152655439204765,1.0775005557494117,1.58211922174741,1.58211922174741,1.742080000000616,1,0,-0.00013801585531794813,9.999990699250389e-05
+5158,1791617023427104708,22207223000000,1791617023422246723,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761218587505874,-0.004917801142271179,0.08994272761719932,0.9999999846614298,2.9340689095187826e-05,4.7893164205833044e-05,0.00013771482631367302,0.6761,-0.0048,0.08977819986393341,1.0,0.0,0.0,0.0,0.41730715429814436,0.38295044831613284,1.1547229298235018,0.027076497013328628,-0.028132055288219236,2.0649520124915683e-05,0.341466955686747,0.36586887420102404,1.026408935200415,0.02608194542688809,-0.028087179451183466,0.00010352068819052315,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3547289073156163,0.1099951706882766,-1.161820609598633,0.4871240632368372,1.0135984482885476,0.05206727870561184,0.5152655439204765,1.1547229298235018,1.6770861535191095,1.6770861535191095,1.864080000000738,1,0,-0.00018281042817450276,7.925681918952705e-05
+5314,1791617024727146245,22208523000000,1791617024726246430,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761308325793399,-0.004924293588389364,0.08970008129192769,0.9999999844755415,2.255935668005388e-05,6.425102881157683e-05,0.00013362133750467975,0.6761,-0.0048,0.0895247369849569,1.0,0.0,0.0,0.0,0.45665037358227667,0.35800653705626584,1.1933228951473107,0.025104287944798322,-0.03114199429773,-7.601864159730422e-05,0.3808101749708793,0.34092496294115704,1.065008900524224,0.024109736358357784,-0.03109711846069423,6.852526468303241e-06,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3038573436017442,0.22261250945085814,-1.2575851293749558,0.46650574675919354,1.0693058823559924,0.12209909275937417,0.5152655439204765,1.1933228951473107,1.7728506732954323,1.7728506732954323,1.968080000000842,1,0,-0.00020866024276891692,9.99999347480795e-05
+5446,1791617025827144915,22209623000000,1791617025822246925,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761347857205389,-0.0049299002197909685,0.0894574777693007,0.999999985310658,-9.007149304933114e-07,7.018306566645178e-05,0.00012607566842179932,0.6761,-0.0048,0.08927607273396361,1.0,0.0,0.0,0.0,0.49201588255061446,0.3179590379595131,1.2372435390107899,0.022090390299264823,-0.03352549926036731,0.0008430008886554411,0.4161756839392171,0.3008774638444043,1.1089295443877032,0.021095838712824284,-0.033480623423331544,0.0009258720567210485,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.267846472973819,0.18870205758016004,-1.1529442209457335,0.480048910196878,0.996886972657387,0.0982228447584838,0.5152655439204765,1.2372435390107899,1.66820976486621,1.66820976486621,2.05608000000093,1,0,-0.0002439025864428831,-9.999999025923074e-05
+5566,1791617026827191589,22210623000000,1791617026826246508,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761363378092856,-0.004940459167868412,0.08919310477187957,0.9999999838735809,-4.371710654344817e-06,6.777693959798379e-05,0.0001381407863154748,0.6761,-0.0048,0.08901741704066295,1.0,0.0,0.0,0.0,0.508257007215356,0.28743174333730115,1.263409102873257,0.02008384858568408,-0.03511593387014245,0.0007804316704203633,0.4324168086039587,0.27035016922219235,1.1350951082501703,0.01908929699924354,-0.035071058033106686,0.0008633028384859707,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1890696393586422,0.14605482748169507,-1.2464101998446069,0.4940033994119614,1.0393789353587088,0.07019600415174096,0.5152655439204765,1.263409102873257,1.7616757437650834,1.7616757437650834,2.13608000000101,1,0,-0.0002772744823839864,-8.571866413754065e-05
+5666,1791617027660198424,22211456000000,1791617027658236696,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761345423452608,-0.004945199230535156,0.08893879846599373,0.9999999836334102,8.506637843258467e-06,6.26403938586511e-05,0.0001420558404862097,0.6761,-0.0048,0.08877198732149168,1.0,0.0,0.0,0.0,0.5265639560393203,0.2610980587931183,1.3088267224131263,0.017268030119764362,-0.036086977781285896,0.0006971384329923142,0.45072375742792287,0.24401648467800952,1.1805127277900396,0.016273478533323824,-0.03604210194425013,0.0007800096010579217,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1192073281009003,0.05245278009231225,-1.1866097626300842,0.5255700742780475,0.9829324793046167,0.009290704910510213,0.5152655439204765,1.3088267224131263,1.7018753065505607,1.7018753065505607,2.2027200000010767,1,0,-0.00031192435949042716,-9.999999025923074e-05
+5761,1791617028452129022,22212248000000,1791617028450238270,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761385538479563,-0.004951839947789341,0.08868183196674133,0.9999999832335553,5.796993454024675e-06,6.632246319285391e-05,0.00014332996689451512,0.6761,-0.0048,0.0885099270177102,1.0,0.0,0.0,0.0,0.5278546216339369,0.2463828031032252,1.3113153185190676,0.01602059576191077,-0.036063573843126015,0.000682427116797436,0.4520144230225396,0.2293012289881164,1.183001323895981,0.01502604417547023,-0.03601869800609025,0.0007652982848630434,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0113473303498552,0.10541525126621251,-1.1607851160371871,0.5125199436853545,0.9321610798783458,0.04249170049825937,0.5152655439204765,1.3113153185190676,1.6760506599576637,1.6760506599576637,2.26608000000114,1,0,-0.0003501030127292789,-9.999999025923074e-05
+5845,1791617029152211847,22212948000000,1791617029150237205,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761380593962193,-0.004959757822069758,0.08842536905398059,0.9999999833761786,3.1162133053406544e-06,6.295243848610725e-05,0.00014393674537657063,0.6761,-0.0048,0.088253668418591,1.0,0.0,0.0,0.0,0.5370806670674331,0.22987849074633382,1.3316450431193287,0.015002842791885199,-0.03633710304532128,0.0006510325260744136,0.4612404684560358,0.21279691663122502,1.203331048496242,0.01400829120544466,-0.03629222720828551,0.000733903694140021,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9110160161417336,0.1301333887215008,-1.2625155189044133,0.511309128671886,0.9660339379030676,0.061891669500910726,0.5152655439204765,1.3316450431193287,1.7777810628248898,1.7777810628248898,2.322080000001196,1,0,-0.00038273245933226194,-9.999999025923074e-05
+5921,1791617029785235224,22213581000000,1791617029778246873,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.67613973087068,-0.004963291451279334,0.08817540996042499,0.9999999832384652,-3.1288185173280204e-06,6.421941291874018e-05,0.0001443329876468977,0.6761,-0.0048,0.08800144778792746,1.0,0.0,0.0,0.0,0.5315702664518873,0.22306438396746808,1.3372596136642092,0.013972864882314166,-0.036040810480425074,0.000640537508033804,0.45573006784048997,0.20598280985235928,1.2089456190411225,0.012978313295873628,-0.03599593464338931,0.0007234086760994114,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9520849227423217,0.1213290039477214,-1.3004081829111978,0.5136413258836495,0.999948745121174,0.05302319217051,0.5152655439204765,1.3372596136642092,1.8156737268316743,1.8156737268316743,2.3727200000012467,1,0,-0.0004140920332282568,-9.849860790745452e-05
+5993,1791617030385181851,22214181000000,1791617030378237484,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761357814580354,-0.004971255048359576,0.08790954769867865,0.9999999832715493,-4.16840608983624e-06,5.6901889186557626e-05,0.00014712091987031475,0.6761,-0.0048,0.08774401132690399,1.0,0.0,0.0,0.0,0.538099102344255,0.21118341779752745,1.3689010647954887,0.012969652482873305,-0.03689576547868648,0.0005882382892470537,0.46225890373285766,0.19410184368241865,1.240587070172402,0.011975100896432767,-0.036850889641650716,0.0006711094573126611,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8127114239392316,0.06493947584815518,-1.1431437802603968,0.5324871911562821,0.860247772966763,0.01458688215734396,0.5152655439204765,1.3689010647954887,1.6584093241808733,1.6584093241808733,2.4207200000012947,1,0,-0.0004440812287162795,-9.999999025923074e-05
+6065,1791617030985221405,22214781000000,1791617030982236941,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761320213082705,-0.0049700339082687705,0.08763396033967348,0.9999999837317143,3.260078703543595e-07,4.8122402369270536e-05,0.00014718547392265777,0.6761,-0.0048,0.08746857759143048,1.0,0.0,0.0,0.0,0.5476221206847471,0.2024551541415811,1.3623834658162135,0.012997264089450667,-0.0378180192263367,0.0005791789806533782,0.4717819220733498,0.1853735800264723,1.2340694711931268,0.012002712503010129,-0.037773143389300934,0.0006620501487189857,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.827440992017218,0.23111599183171225,-1.1761225868915985,0.49293606910942045,0.8891998991386209,0.12629041970457572,0.5152655439204765,1.3623834658162135,1.691388130812075,1.691388130812075,2.4687200000013427,1,0,-0.00047408122287181796,-9.999999025923074e-05
+6129,1791617031518132461,22215314000000,1791617031514246568,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.676132844466708,-0.004975491212266276,0.08737686090344396,0.9999999835692874,-1.2740451436679047e-06,5.029262601316312e-05,0.0001475578457815928,0.6761,-0.0048,0.08720880340102602,1.0,0.0,0.0,0.0,0.5566419916822765,0.21283606603738756,1.3612036000754806,0.012975342818607691,-0.037047428843067845,0.0005949734317767937,0.48080179307087906,0.19575449192227876,1.232889605452394,0.011980791232167153,-0.03700255300603208,0.0006778445998424012,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7205505342968171,0.16946392462777782,-1.0791789130865996,0.5123327251500108,0.7999915232273367,0.08206543593629718,0.5152655439204765,1.3612036000754806,1.5944444570070762,1.5944444570070762,2.5113600000013854,1,0,-0.000500731217679988,-9.999999025923074e-05
+6192,1791617032043249329,22215839000000,1791617032042238033,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761316452872362,-0.00497702106386047,0.08710681585255163,0.9999999832052786,-6.422241238439516e-06,5.007102895551752e-05,0.00014994650368881473,0.6761,-0.0048,0.08693904201308898,1.0,0.0,0.0,0.0,0.54684543645966,0.22389027462088845,1.365362498150953,0.013994635738476377,-0.03704941116676926,0.0006021870528257807,0.47100523784826265,0.20680870050577965,1.2370485035278662,0.013000084152035839,-0.037004535329733496,0.0006850582208913881,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7156436092837922,0.08377428227368555,-1.0794081519254162,0.5377059184452824,0.7988768351953962,0.021136239234225793,0.5152655439204765,1.365362498150953,1.5946736958458927,1.5946736958458927,2.5533600000014274,1,0,-0.0005269812125660841,-9.999999025923074e-05
+6248,1791617032510180312,22216306000000,1791617032502240087,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761334793888863,-0.004979161676795632,0.0868552499079794,0.9999999828726474,-3.809739865284942e-06,5.239124050530046e-05,0.0001514536668873303,0.6761,-0.0048,0.08668750123788507,1.0,0.0,0.0,0.0,0.5563080729772756,0.21508750823700667,1.378987859524026,0.014017847866367578,-0.03803563193215172,0.0005771090969073669,0.4804678743658783,0.19800593412189788,1.2506738649009392,0.01302329627992704,-0.03799075609511595,0.0006599802649729743,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.735996904571715,0.28200521511888854,-1.0405307689841272,0.48407980674709084,0.7845827037374744,0.1542874045584746,0.5152655439204765,1.378987859524026,1.5557963129046037,1.5557963129046037,2.5907200000014647,1,0,-0.0005503312080171449,-9.999999025923074e-05
+6308,1791617033010248631,22216806000000,1791617033006237261,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761327824035872,-0.004980217326792071,0.08658021810677632,0.999999983068157,-7.702739863000648e-07,5.1560286007553335e-05,0.00015049084337263123,0.6761,-0.0048,0.08640609813509653,1.0,0.0,0.0,0.0,0.5571979370288394,0.23565755486042744,1.3686633169574658,0.014426795738803322,-0.03807988388424805,0.0005933013082094381,0.48135773841744206,0.21857598074531864,1.2403493223343791,0.013432244152362783,-0.038035008047212285,0.0006761724762750455,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7346798252489859,0.26776169468677447,-1.0327868423223419,0.4967548026336707,0.7840976626324427,0.14366812204454524,0.5152655439204765,1.3686633169574658,1.5480523862428184,1.5480523862428184,2.6307200000015047,1,0,-0.0005753312031467603,-9.999999025923074e-05
+6366,1791617033493255305,22217289000000,1791617033486237869,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761372158895081,-0.00497756393173655,0.08630571569084602,0.9999999824046101,1.7008948750082004e-06,6.171300704423446e-05,0.0001510703673250812,0.6761,-0.0048,0.0861223930151152,1.0,0.0,0.0,0.0,0.5645072065830731,0.2554874028537871,1.3626218436523732,0.016066265743367808,-0.038102286106341775,0.0006139214483498244,0.4886670079716757,0.23840582873867833,1.2343078490292865,0.015071714156927268,-0.03805741026930601,0.0006967926164154318,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7513825330842445,0.137397419868724,-0.9933244087215205,0.5327432783688755,0.7642923477174535,0.057190124812154554,0.5152655439204765,1.3626218436523732,1.508589952641997,1.508589952641997,2.6693600000015434,1,0,-0.0005994811984419687,-9.999999025923074e-05
+6420,1791617033943166873,22217739000000,1791617033938237172,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761379783000896,-0.004975372483210901,0.08603803593148973,0.9999999821966524,-1.6461525842697253e-07,6.669775163649911e-05,0.0001503360978691617,0.6761,-0.0048,0.08584757522680476,1.0,0.0,0.0,0.0,0.5731994527094266,0.2725894307668095,1.3724188072353596,0.017086653075812423,-0.03812502778723552,0.0006185956380026578,0.4973592540980293,0.2555078566517007,1.244104812612273,0.016092101489371884,-0.03808015195019975,0.0007014668060682652,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8104489039918819,0.1803616404323689,-1.0845793034248081,0.525132858744151,0.8419619738738058,0.08887176637854546,0.5152655439204765,1.3724188072353596,1.5998448473452846,1.5998448473452846,2.7053600000015794,1,0,-0.0006219811940586225,-9.999999025923074e-05
+6472,1791617034377266883,22218173000000,1791617034374237512,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.676140837342772,-0.004978517272089997,0.08576571817588217,0.9999999818355849,-1.2648793206945834e-06,7.185010097218127e-05,0.00015035843019066148,0.6761,-0.0048,0.0855729373395028,1.0,0.0,0.0,0.0,0.5711583289056642,0.27276300182754415,1.3727886455334848,0.017087099847936056,-0.03812466011020588,0.0006216284596957401,0.49531813029426686,0.25568142771243535,1.244474650910398,0.016092548261495518,-0.03807978427317011,0.0007044996277613475,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8067856652548256,0.235965745470184,-1.0495536255875189,0.5090744679917515,0.8207795084268791,0.12386569873455275,0.5152655439204765,1.3727886455334848,1.5648191695079954,1.5648191695079954,2.740080000001614,1,0,-0.0006436811898311287,-9.999999025923074e-05
+6520,1791617034777278804,22218573000000,1791617034770236871,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761358966770823,-0.004980091692476056,0.08550073134640078,0.999999982648955,-7.676201238584467e-06,6.40964585332803e-05,0.0001482486908567407,0.6761,-0.0048,0.08531147486435156,1.0,0.0,0.0,0.0,0.5793489666624491,0.2661594188736972,1.3750772370222388,0.01711422613522433,-0.0391364724194098,0.0006072479036940033,0.5035087680510517,0.24907784475858843,1.2467632423991521,0.016119674548783793,-0.03909159658237403,0.0006901190717596107,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7695342658143471,0.21448628871922965,-1.0674106496905171,0.5132352892120985,0.8198269463227431,0.11094180096102335,0.5152655439204765,1.3750772370222388,1.5826761936109937,1.5826761936109937,2.772080000001646,1,0,-0.000663681185934821,-9.999999025923074e-05
+6572,1791617035210238895,22219006000000,1791617035206237613,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761347467471855,-0.004983376204023639,0.08521481012296543,0.9999999829405672,-9.608345037675635e-06,6.581255283356499e-05,0.00014538953601060046,0.6761,-0.0048,0.08501942451175704,1.0,0.0,0.0,0.0,0.5676737291254785,0.27259089085701343,1.3528727587554477,0.017089247013287217,-0.03812220867014351,0.0006291128215150404,0.4918335305140812,0.25550931674190464,1.224558764132361,0.01609469542684668,-0.03807733283310774,0.0007119839895806478,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8803731404766243,0.21291537061311644,-1.033483423525306,0.5226558224880248,0.8274648894899964,0.11317851042372493,0.5152655439204765,1.3528727587554477,1.5487489674457826,1.5487489674457826,2.8067200000016808,1,0,-0.0006853311817170679,-9.999999025923074e-05
+6617,1791617035585286668,22219381000000,1791617035582236658,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761362421955553,-0.004986232550785176,0.08495614428171483,0.9999999825217281,-1.1396122031545014e-05,6.96963757085985e-05,0.00014632823296985013,0.6761,-0.0048,0.08475891906929986,1.0,0.0,0.0,0.0,0.5692689562452133,0.27586647697213396,1.3493913478137034,0.017630232865271777,-0.03814066121924698,0.0006412042747686726,0.493428757633816,0.25878490285702516,1.2210773531906167,0.01663568127883124,-0.038095785382211214,0.00072407544283428,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9050904466519311,0.284802436065927,-1.098661694837874,0.493757545880965,0.8760307244435488,0.1589919705536549,0.5152655439204765,1.3493913478137034,1.6139272387583505,1.6139272387583505,2.8367200000017108,1,0,-0.0007040811780642794,-9.999999025923074e-05
+6664,1791617035977283324,22219773000000,1791617035970236882,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761394009118268,-0.0049879162067471864,0.08468567492341152,0.9999999822937541,-9.801275154266262e-06,7.416898487742907e-05,0.00014580210122220775,0.6761,-0.0048,0.08447908744824897,1.0,0.0,0.0,0.0,0.5560528160810604,0.2713286079768904,1.33267886877586,0.01709442042307541,-0.03811593478691364,0.000648619113033598,0.48021261746966304,0.2542470338617816,1.2043648741527733,0.016099868836634872,-0.038071058949877876,0.0007314902810992054,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9191731704231016,0.24348924433848532,-1.170608585041287,0.5004079078192398,0.9234178366436301,0.13336297833333613,0.5152655439204765,1.33267886877586,1.6858741289617636,1.6858741289617636,2.868080000001742,1,0,-0.0007236811742458979,-9.999999025923074e-05
+6707,1791617036335284238,22220131000000,1791617036334237194,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761337186110634,-0.004992652242690922,0.08441922304919819,0.9999999828767584,-1.396320938628681e-05,6.574162177900181e-05,0.0001455074408822609,0.6761,-0.0048,0.0842168144384949,1.0,0.0,0.0,0.0,0.5653333750386218,0.2616628271794661,1.3527006402525619,0.016823472913085478,-0.03890506717753644,0.0006138012485646701,0.48949317642722445,0.24458125306435732,1.2243866456294752,0.01582892132664494,-0.03886019134050067,0.0006966724166302775,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9267491351324467,0.17372815727277527,-1.0856330481582284,0.5201170847017473,0.8719163759639235,0.08902005500526573,0.5152655439204765,1.3527006402525619,1.6008985920787049,1.6008985920787049,2.8967200000017708,1,0,-0.0007415811707587025,-9.999999025923074e-05
+6752,1791617036710194050,22220506000000,1791617036706237413,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761351719186124,-0.004996649057997759,0.08414557598976474,0.9999999823151628,-1.8918442621103073e-05,7.205924566527649e-05,0.0001458152815213372,0.6761,-0.0048,0.0839352152501471,1.0,0.0,0.0,0.0,0.5647498401566413,0.26123634456962797,1.3224469310060276,0.017095409992441652,-0.0381121978272302,0.0006610069054572997,0.488909641545244,0.24415477045451917,1.194132936382941,0.016100858406001114,-0.038067321990194435,0.0007438780735229072,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9471207444400865,0.26521898805755445,-1.1728377452198049,0.48762106502868824,0.9285646980208633,0.1491015753964598,0.5152655439204765,1.3224469310060276,1.6881032891402814,1.6881032891402814,2.9267200000018008,1,0,-0.000760331167105914,-9.999999025923074e-05
+6795,1791617037068302288,22220864000000,1791617037066237265,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761341893766386,-0.004997089942155993,0.08387567733664636,0.9999999825643626,-2.7671074039630058e-05,7.436222839094493e-05,0.000141487489218412,0.6761,-0.0048,0.08365982154294914,1.0,0.0,0.0,0.0,0.5474653207486685,0.2702219394609193,1.290546453402196,0.017074738097973767,-0.03709464727213611,0.0006973347711890342,0.47162512213727115,0.2531403653458105,1.1622324587791093,0.01608018651153323,-0.03704977143510034,0.0007802059392546416,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9887930284286696,0.33515552204702836,-1.1223756850433428,0.46250853572936945,0.9007531116289745,0.19585756667132664,0.5152655439204765,1.290546453402196,1.6376412289638194,1.6376412289638194,2.9553600000018294,1,0,-0.0007782311636187186,-9.999999025923074e-05
+6835,1791617037402296897,22221198000000,1791617037398236935,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761352522177662,-0.005001269532171437,0.08361545493177899,0.9999999823058747,-2.633530251932314e-05,7.484053177874576e-05,0.00014330548248419603,0.6761,-0.0048,0.08339711178484543,1.0,0.0,0.0,0.0,0.5638484571283733,0.26951550283998577,1.2832252934861663,0.017075744049001553,-0.03709193300380269,0.0007052225509645697,0.4880082585169759,0.25243392872487697,1.1549112988630796,0.016081192462561015,-0.03704705716676692,0.0007880937190301771,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0409567836336688,0.1918962270567392,-1.1641624002107174,0.49846410447468653,0.9436374182505649,0.10104861053429698,0.5152655439204765,1.2832252934861663,1.679427944131194,1.679427944131194,2.982080000001856,1,0,-0.0007949311603653017,-9.999999025923074e-05
+6875,1791617037735276794,22221531000000,1791617037734237625,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761308655170356,-0.0049940324791462555,0.08333751662140419,0.9999999827289017,-2.2570987584220954e-05,7.039168954565245e-05,0.0001432502056438878,0.6761,-0.0048,0.08312963580898548,1.0,0.0,0.0,0.0,0.5587882375455299,0.24798244508972483,1.2820558531281405,0.016082209299756976,-0.03808509337238661,0.0006783155942565586,0.4829480389341325,0.23090087097461603,1.1537418585050538,0.015087657713316438,-0.03804021753535084,0.0007611867623221661,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0533614906784021,0.2681003183297053,-1.2254294009602655,0.4700517289216357,0.9860383088711212,0.15355927682204412,0.5152655439204765,1.2820558531281405,1.740694944880742,1.740694944880742,3.0087200000018828,1,0,-0.0008115811571216255,-9.999999025923074e-05
+6915,1791617038068314872,22221864000000,1791617038066236804,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6761286471571644,-0.005004607359047894,0.08306251286815919,0.9999999821621897,-2.8987344573112504e-05,6.614569870525564e-05,0.0001479965045680254,0.6761,-0.0048,0.08285661538420568,1.0,0.0,0.0,0.0,0.5555587811631146,0.2674791224363369,1.2342565460226969,0.017003793880613308,-0.037148115117884094,0.0007390763996985358,0.4797185825517173,0.2503975483212281,1.1059425513996102,0.01600924229417277,-0.03710323928084833,0.0008219475677641433,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.023536035193117,0.2895421730889375,-1.2309551304392126,0.46206451380294317,0.9761645433027433,0.16666170100519315,0.5152655439204765,1.2342565460226969,1.746220674359689,1.746220674359689,3.0353600000019094,1,0,-0.0008282311538779494,-9.999999025923074e-05
+6951,1791617038368307627,22222164000000,1791617038366237034,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761223324842656,-0.005002980837949331,0.08280446690917405,0.9999999832361169,-3.579891603147424e-05,5.802915651390371e-05,0.00014255414738530587,0.6761,-0.0048,0.08260590353848209,1.0,0.0,0.0,0.0,0.558029936736458,0.24193848311337507,1.2276743447269898,0.015088619632844101,-0.03805389232830748,0.0007174497120818947,0.4821897381250606,0.22485690899826627,1.099360350103903,0.014094068046403563,-0.03800901649127171,0.0008003208801475022,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1149167241560545,0.2368149984450877,-1.168093034370103,0.47119662217407005,0.9593640993714402,0.13110223436299429,0.5152655439204765,1.2276743447269898,1.6833585782905796,1.6833585782905796,3.0593600000019334,1,0,-0.0008432311509557186,-9.999999025923074e-05
+6991,1791617038702314762,22222498000000,1791617038702237245,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6761175482851477,-0.005004195090469014,0.082511373052913,0.9999999837308367,-3.533376752286832e-05,4.832194322324925e-05,0.00014282053650040952,0.6761,-0.0048,0.08232148378460782,1.0,0.0,0.0,0.0,0.5644560742615075,0.2498631554608307,1.1950481607078685,0.015079640772647014,-0.03804696437223793,0.0007400408515105943,0.48861587565011017,0.2327815813457219,1.0667341660847818,0.014085089186206476,-0.038002088535202164,0.0008229120195762017,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.109591755813651,0.22868000841153377,-1.1417085265592188,0.4681817598820256,0.9410685016961426,0.12732730673575499,0.5152655439204765,1.1950481607078685,1.6569740704796954,1.6569740704796954,3.08608000000196,1,0,-0.0008599311477023016,-9.999999025923074e-05
+7023,1791617038968275624,22222764000000,1791617038962237553,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.676104209492158,-0.005005619712046646,0.0822550897697531,0.9999999838741828,-3.937922845440277e-05,2.7368015017178828e-05,0.00014626950096320566,0.6761,-0.0048,0.08209097984966492,1.0,0.0,0.0,0.0,0.5660028756272155,0.23751715711654484,1.1804738379538096,0.014089849324534812,-0.03802527093354729,0.0007384098304318859,0.4901626770158181,0.22043558300143604,1.0521598433307229,0.013095297738094274,-0.03798039509651152,0.0008212809984974933,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1328352619388935,0.22602853669653217,-1.1801128092924484,0.46749774106970726,0.9736112435528828,0.12652181664838144,0.5152655439204765,1.1804738379538096,1.695378353212925,1.695378353212925,3.1073600000019814,1,0,-0.000873231145111257,-9.999999025923074e-05
+7059,1791617039268320920,22223064000000,1791617039266237222,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760970370868701,-0.005006168669360009,0.08197756934540874,0.9999999842671535,-4.392782656936359e-05,1.5813193745526325e-05,0.0001439751577257611,0.6761,-0.0048,0.08182676800657133,1.0,0.0,0.0,0.0,0.5661632754071617,0.22673019332902702,1.1244194942106283,0.014071329372969042,-0.03801036134650991,0.0007898390356193634,0.4903230767957643,0.20964861921391822,0.9961054995875415,0.013076777786528503,-0.037965485509474144,0.0008727102036849709,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2243448570236575,0.3272744145735493,-1.1878052266770927,0.42876105433087647,1.0005377559703794,0.19373659151815542,0.5152655439204765,1.1244194942106283,1.7030707705975692,1.7030707705975692,3.1313600000020054,1,0,-0.0008882311421890262,-9.999999025923074e-05
+7090,1791617039527219853,22223323000000,1791617039526237241,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760910013237655,-0.005004724900207121,0.08173268097129063,0.9999999844236167,-4.0155058745798635e-05,6.230451370749045e-06,0.00014472174537233574,0.6761,-0.0048,0.08159504559107235,1.0,0.0,0.0,0.0,0.5590075684360963,0.23134068168947367,1.0705578927143466,0.014079804797606257,-0.03799894672619521,0.0008261667734131096,0.483167369824699,0.21425910757436487,0.94224389809126,0.013085253211165718,-0.03795407088915944,0.000909037941478717,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1964528654690245,0.24722614063685944,-1.1406417920442065,0.4515439941696034,0.9580402433304364,0.1414070972961619,0.5152655439204765,1.0705578927143466,1.655907335964683,1.655907335964683,3.152080000002026,1,0,-0.000901181139666167,-9.999999025923074e-05
+7126,1791617039827327357,22223623000000,1791617039826237172,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760827386310685,-0.005005639445858198,0.08144327535712453,0.99999998386202,-4.451010066671138e-05,-8.661279132950788e-06,0.0001471823948964933,0.6761,-0.0048,0.0813224487496123,1.0,0.0,0.0,0.0,0.5476636284544633,0.22150162963423248,1.0107827438009676,0.014062335192886907,-0.03697313129950587,0.0008889302636395114,0.4718234298430659,0.20442005551912368,0.8824687491778809,0.013067783606446368,-0.036928255462470104,0.0009718014317051188,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.229814618126669,0.33136896726261245,-1.020563376494234,0.42212146260346667,0.8851297247201506,0.19430430152793554,0.5152655439204765,1.0107827438009676,1.5358289204147104,1.5358289204147104,3.17608000000205,1,0,-0.0009161811367439362,-9.999999025923074e-05
+7158,1791617040093294473,22223889000000,1791617040086237302,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760757432832163,-0.005002360866578847,0.08118334898193579,0.999999983910245,-4.074518066474902e-05,-1.997565048104755e-05,0.00014684405910966148,0.6761,-0.0048,0.08107698231758431,1.0,0.0,0.0,0.0,0.532323020002244,0.22415341129599967,0.9901996367793096,0.014039203697777917,-0.03595537495425832,0.0009106562835712801,0.45648282139084656,0.20707183718089087,0.8618856421562229,0.013044652111337379,-0.03591049911722256,0.0009935274516368875,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3132949933304934,0.29243289307291037,-1.042771720089668,0.42339032908392465,0.9175495514807511,0.16740435175221516,0.5152655439204765,0.9901996367793096,1.5580372640101445,1.5580372640101445,3.1973600000020714,1,0,-0.0009294811341528916,-9.999999025923074e-05
+7190,1791617040360331507,22224156000000,1791617040358237249,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760642675373616,-0.005004003237190489,0.0809116702235991,0.9999999830240915,-4.506389597609823e-05,-3.710340785067233e-05,0.00014828102905705507,0.6761,-0.0048,0.080827035305114,1.0,0.0,0.0,0.0,0.5295989936036463,0.20667450447922003,0.94998358566632,0.013024845543517708,-0.03592651895623898,0.0009398857521208351,0.4537587949922489,0.18959293036411123,0.8216695910432333,0.01203029395707717,-0.035881643119203215,0.0010227569201864426,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2803087096299715,0.2903077728090399,-1.034302252497557,0.4247980626363825,0.8982467265236117,0.16777750233742628,0.5152655439204765,0.94998358566632,1.5495677964180334,1.5495677964180334,3.218720000002093,1,0,-0.0009428311315521062,-9.999999025923074e-05
+7226,1791617040660322762,22224456000000,1791617040658236830,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760600184867831,-0.0049981657276833725,0.0806238010993297,0.9999999831559463,-4.3506535345193394e-05,-4.2881066026383754e-05,0.0001462852258196719,0.6761,-0.0048,0.08054194346608816,1.0,0.0,0.0,0.0,0.5108259168976668,0.21218095557072852,0.8595168084027734,0.012996534660738268,-0.03387736042182664,0.00024091301151715083,0.4349857182862694,0.19509938145561972,0.7312028137796868,0.01200198307429773,-0.03383248458479087,0.0003237841795827583,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3079417568849174,0.2764972218327108,-0.9886318563107579,0.4133427867456561,0.8736160745482655,0.15432571241198978,0.5152655439204765,0.8595168084027734,1.5038974002312344,1.5038974002312344,3.242720000002117,1,0,-0.0009578311286298754,-9.999999025923074e-05
+7258,1791617040927236011,22224723000000,1791617040922237080,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760533550927166,-0.005004715836258129,0.08036138215692198,0.9999999824893375,-5.59123017082998e-05,-5.053809928710747e-05,0.00014416623794032287,0.6761,-0.0048,0.08028442700509249,1.0,0.0,0.0,0.0,0.4830114948874789,0.20954608195662333,0.7987460715210035,0.012971681865952465,-0.0328531269795005,0.001020639487003153,0.40717129627608156,0.19246450784151453,0.6704320768979168,0.011977130279511927,-0.03280825114246473,0.0011035106550687603,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3118315273672836,0.17279599444501392,-0.8887815881295692,0.4370648928806981,0.8040835882423066,0.08711793429020631,0.5152655439204765,0.7987460715210035,1.4040471320500458,1.4040471320500458,3.264080000002138,1,0,-0.00097118112602909,-9.999999025923074e-05
+7290,1791617041193336722,22224989000000,1791617041190237390,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760473431162466,-0.0050005759442294006,0.08009168013374707,0.9999999824483152,-4.965466055424426e-05,-5.79021452528518e-05,0.00014397218491442288,0.6761,-0.0048,0.08002433057591465,1.0,0.0,0.0,0.0,0.464696940460623,0.20486705793067514,0.7576686118570756,0.011923690987674896,-0.03092915356776452,0.00012513412438039221,0.38885674184922564,0.18778548381556634,0.6293546172339889,0.010929139401234357,-0.03088427773072875,0.0002080052924459997,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.384624340423882,0.3101330421411142,-0.8749526641813744,0.39526569348346235,0.8066044975277233,0.17497207007079796,0.5152655439204765,0.7576686118570756,1.3902182081018508,1.3902182081018508,3.2853600000021594,1,0,-0.0009844811234380453,-9.999999025923074e-05
+7322,1791617041460344432,22225256000000,1791617041458236828,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760436708628117,-0.004995368199731062,0.07981910829572166,0.9999999823632952,-4.7380324270050567e-05,-6.437177060847904e-05,0.00014257508095719877,0.6761,-0.0048,0.0797596985663052,1.0,0.0,0.0,0.0,0.4454768955763234,0.20110833078231413,0.7141726713695286,0.012913734031401376,-0.029788400117270897,0.00018717145148252934,0.36963669696492607,0.18402675666720533,0.5858586767464419,0.011919182444960838,-0.029743524280235127,0.0002700426195481368,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.395220611615218,0.16338984432713421,-0.8285981548158128,0.4310062235241678,0.7760584725221396,0.07939347742133884,0.5152655439204765,0.7141726713695286,1.3438636987362893,1.3438636987362893,3.306720000002181,1,0,-0.00099783112083726,-9.999999025923074e-05
+7354,1791617041727342553,22225523000000,1791617041726237539,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760385398192501,-0.004994315064185003,0.07954709572655749,0.9999999825134619,-4.235125082163976e-05,-6.752452677705412e-05,0.0001416430383806651,0.6761,-0.0048,0.07949150210739016,1.0,0.0,0.0,0.0,0.42737169609525116,0.20102772098698318,0.6470971209070573,0.011879212539993708,-0.028742005456468735,0.00024337381836701886,0.3515314974838538,0.18394614687187438,0.5187831262839706,0.01088466095355317,-0.028697129619432965,0.00032624498643262634,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4164082152232136,0.20323431757208393,-0.783398215479365,0.4152230692780337,0.746679133283653,0.10496239251411996,0.5152655439204765,0.6470971209070573,1.2986637593998416,1.2986637593998416,3.328080000002202,1,0,-0.0010111811182364745,-9.999999025923074e-05
+7386,1791617041993348144,22225789000000,1791617041990237470,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760359889588448,-0.0049932569527677785,0.07927253373220898,0.9999999824011302,-4.3560385140755215e-05,-6.975868986785417e-05,0.00014098518318792795,0.6761,-0.0048,0.07922076568028516,1.0,0.0,0.0,0.0,0.400751711672982,0.2006242312629452,0.596761761781439,0.011849810921638646,-0.0273165866150995,0.00030270365526428763,0.32491151306158467,0.1835426571478364,0.46844776715835235,0.010855259335198108,-0.02727171077806373,0.0003855748233298951,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4385023596251627,0.1046738031720797,-0.7825420960046147,0.4381963800418525,0.7465715430520353,0.037929000854081185,0.5152655439204765,0.596761761781439,1.2978076399250913,1.2978076399250913,3.3493600000022234,1,0,-0.00102448111564543,-9.999999025923074e-05
+7418,1791617042260348550,22226056000000,1791617042254237391,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760286464509176,-0.00498777323340649,0.07898823836587883,0.9999999817639814,-4.5141466011017976e-05,-8.069121380094006e-05,0.00013916205465914396,0.6761,-0.0048,0.07894545367275634,1.0,0.0,0.0,0.0,0.39070098444705553,0.18301861139044642,0.5361099277067277,0.0108047104587283,-0.026029411422534007,0.0003526029442232049,0.3148607858356582,0.16593703727533762,0.40779593308364104,0.009810158872287762,-0.025984535585498236,0.0004354741122888124,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4315622828753425,0.2459629426916803,-0.695791502219564,0.3851810563651303,0.6861423520284534,0.12467479612267787,0.5152655439204765,0.5361099277067277,1.2110570461400405,1.2110570461400405,3.370720000002245,1,0,-0.0010378311130446445,-9.999999025923074e-05
+7446,1791617042493279904,22226289000000,1791617042490237218,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.676023181582456,-0.004985822599818097,0.07872883466640607,0.9999999803899676,-3.491277780067694e-05,-9.152324499461503e-05,0.00014514655457174876,0.6761,-0.0048,0.07870228762368248,1.0,0.0,0.0,0.0,0.38139685432114273,0.16507808013207298,0.5061871784407536,0.010719663318566223,-0.025649368870968286,0.00038689651707060824,0.3055566557097454,0.14799650601696418,0.3778731838176668,0.009725111732125685,-0.025604493033932516,0.0004697676851362157,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.412408352955977,0.2292249245476117,-0.6482721579971328,0.3889344860752588,0.6481237802062987,0.11370204582021745,0.5152655439204765,0.5061871784407536,1.1635377019176092,1.1635377019176092,3.3893600000022635,1,0,-0.0010494811107750453,-9.999999025923074e-05
+7474,1791617042727352540,22226523000000,1791617042726237266,DOWN_FORCE_DETACH,1,0.048,0.04800167679786682,0.6760159337141333,-0.004978754954453889,0.07847250823555893,0.9999999802065351,-4.168521090198084e-05,-0.00010441366321113043,0.00013560945302666514,0.6761,-0.0048,0.07845534599402894,1.0,0.0,0.0,0.0,0.3725813700198997,0.16789540696861632,0.4361282783281738,0.009765809304425555,-0.024602404474646056,0.00044725038529092026,0.29674117140850237,0.15081383285350752,0.30781428370508707,0.008771257717985016,-0.024557528637610286,0.0005301215533565277,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4518815306549326,0.2295161010979434,-0.6149099698102968,0.38631831965329655,0.6333262311416755,0.11332020766761121,0.5152655439204765,0.4361282783281738,1.1301755137307734,1.1301755137307734,3.408080000002282,1,0,-0.0010611811084957053,-9.999999025923074e-05
+7506,1791617042993355797,22226789000000,1791617042986237279,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760110498354378,-0.004969846481756633,0.07818141568945626,0.9999999797605671,-3.3559607450488106e-05,-0.00011296014289972649,0.00013429627265620732,0.6761,-0.0048,0.07817130956951499,1.0,0.0,0.0,0.0,0.34732115403663794,0.15539005272276538,0.385374798970072,0.008726912523330275,-0.023563156272805696,0.0004889151002396852,0.2714809554252406,0.13830847860765658,0.25706080434698525,0.0077323609368897366,-0.023518280435769926,0.0005717862683052926,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.473055418975196,0.24300140183165506,-0.5737435864955742,0.3778571170242704,0.6094462717948805,0.12061999736784962,0.5152655439204765,0.385374798970072,1.0890091304160507,1.0890091304160507,3.4293600000023035,1,0,-0.0010744811059046607,-9.999999025923074e-05
+7534,1791617043227357560,22227023000000,1791617043222246024,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760058409352933,-0.004971720885243583,0.0779227287369678,0.999999978624245,-3.340841702687697e-05,-0.00011993078615587229,0.00013672914184652228,0.6761,-0.0048,0.07791851794100112,1.0,0.0,0.0,0.0,0.33001803143062275,0.1435056781944886,0.33440885024402717,0.008707304389838464,-0.022532407570295652,0.0005438261799696962,0.2541778328192254,0.1264241040793798,0.20609485562094046,0.007712752803397925,-0.02248753173325988,0.0006266973480353037,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4339417542482065,0.12441165825674935,-0.41836316931113127,0.4055056305153202,0.4966731690877991,0.03945176122138739,0.5152655439204765,0.33440885024402717,0.9336287132316078,0.9336287132316078,3.448080000002322,1,0,-0.0010861811036253206,-9.999999025923074e-05
+7562,1791617043460364557,22227256000000,1791617043454237908,DOWN_FORCE_DETACH,1,0.048,0.04800233244895935,0.6760022988782929,-0.004967731205939071,0.07766140808722036,0.9999999778509795,-2.7039434826418527e-05,-0.00012594832313269497,0.000138371940801655,0.6761,-0.0048,0.07766408634412196,1.0,0.0,0.0,0.0,0.31515019848983455,0.12923550936977127,0.2936194998560222,0.007665824721612039,-0.02149019133933254,0.0005794535701221372,0.2393099998784372,0.11215393525466248,0.1653055052329355,0.006671273135171501,-0.02144531550229677,0.0006623247381877446,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4898775147410184,0.005832505343204348,-0.4638644829307449,0.4320563994231607,0.5378675815771127,-0.03964912258527922,0.5152655439204765,0.2936194998560222,0.9791300268512214,0.9791300268512214,3.466720000002341,1,0,-0.0010978311013557214,-9.999999025923074e-05
+7594,1791617043721358183,22227517000000,1791617043718236649,DOWN_SETTLE,1,0.048,0.04800167679786682,0.6759958052210492,-0.00496420871112517,0.07736167562010465,0.9999999769499306,-3.109187426589979e-05,-0.00013345623252982263,0.00013698807323054107,0.6761,-0.0048,0.0773758608020011,1.0,0.0,0.0,0.0,0.29071619843862956,0.12288322464444941,0.25515429785998756,0.006604164112955458,-0.019660120725095067,0.0006236960794585193,0.2148759998272322,0.10580165052934061,0.12684030323690085,0.00560961252651492,-0.019615244888059297,0.0007065672475241267,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.4323415121815015,0.18567439035403188,-0.3487731194076762,0.38286849846573995,0.4467838052922964,0.07726208006637438,0.5152655439204765,0.25515429785998756,0.8640386633281527,0.0,0.0,1,1,-0.0011090810988133807,0.00035000000974076933
+7658,1791617044254364345,22228050000000,1791617044254237384,DOWN_SETTLE,1,0.048,0.04800167679786682,0.6759733488258505,-0.004947077665861596,0.0771238178506149,0.9999999725868611,-1.6837864568939486e-05,-0.00017113708530838497,0.00012921968014767434,0.6761,-0.0048,0.07719193153372617,1.0,0.0,0.0,0.0,0.2586321630350478,0.09483468876172277,-0.05833568313133422,0.005593154249232587,-0.018327195664646224,-0.00014316419132044951,0.18279196442365048,0.07775311464661397,-0.18664967775442093,0.004598602662792049,-0.018282319827610454,-6.029302325484205e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2969659137643665,0.21474414680515969,0.05028175549484378,0.3373202884110274,0.1626818521084869,0.08769505458516612,0.5152655439204765,0.05833568313133422,0.46498378842563276,0.0,0.0,1,1,-1.0825555180787455e-05,0.0001093490422301763
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de1bd18ff7d90088c4f6975ba40a4a1d6bf0520d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9594dbdc2c48e861d488378f651a8c2509fabec1
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,5.766666667e+00,DOWN_FORCE_DETACH,1791617011322745758,6.427459249e-05,-8.456991848e-05,-1.511286477e-04,5.897697465e-05,-8.513465341e-05,-1.337899301e-04,6.012746313e-05,-8.514471382e-05,-1.338296848e-04,7.016021461e-01,-8.301895716e-05,8.405898125e-01,7.015968485e-01,-8.358369209e-05,8.406071513e-01,7.017894557e-01,-8.340203027e-05,8.294388413e-01
+6,7.066666667e+00,DOWN_FORCE_DETACH,1791617013801241570,7.922874806e-05,-8.964870447e-05,-2.052311047e-04,7.595023617e-05,-8.583226054e-05,-1.926332722e-04,7.740276657e-05,-8.584597361e-05,-1.925537283e-04,7.016171002e-01,-8.809774315e-05,8.405357101e-01,7.016138217e-01,-8.428129922e-05,8.405483079e-01,7.018067311e-01,-8.410329006e-05,8.293801173e-01
+7,8.183333333e+00,DOWN_FORCE_DETACH,1791617015946780328,9.235981011e-05,-9.306000227e-05,-2.615567074e-04,9.113190434e-05,-8.708314700e-05,-2.564947319e-04,9.282967600e-05,-8.706879920e-05,-2.562915844e-04,7.016302313e-01,-9.150904095e-05,8.404793845e-01,7.016290034e-01,-8.553218568e-05,8.404844465e-01,7.018221580e-01,-8.532611565e-05,8.293163794e-01
+8,9.383333333e+00,DOWN_FORCE_DETACH,1791617018342824853,1.077739651e-04,-9.418359936e-05,-3.800810569e-04,1.076157903e-04,-9.411464309e-05,-3.800504566e-04,1.093775598e-04,-9.410007081e-05,-3.794236293e-04,7.016456454e-01,-9.263263804e-05,8.403608601e-01,7.016454873e-01,-9.256368177e-05,8.403608907e-01,7.018387058e-01,-9.235738726e-05,8.291932474e-01
+9,1.035000000e+01,DOWN_FORCE_DETACH,1791617020202867112,1.180617330e-04,-9.736526681e-05,-5.293366670e-04,1.175588574e-04,-1.005159868e-04,-5.274334836e-04,1.191561881e-04,-1.005125989e-04,-5.266907209e-04,7.016559332e-01,-9.581430549e-05,8.402116045e-01,7.016554303e-01,-9.896502549e-05,8.402135077e-01,7.018484845e-01,-9.876991539e-05,8.290459803e-01
+10,1.125000000e+01,DOWN_FORCE_DETACH,1791617021902970068,1.210891217e-04,-1.034594303e-04,-7.278064070e-04,1.210028194e-04,-1.031566360e-04,-7.277494961e-04,1.220482322e-04,-1.031700814e-04,-7.266780720e-04,7.016589606e-01,-1.019084689e-04,8.400131348e-01,7.016588743e-01,-1.016056747e-04,8.400131917e-01,7.018513765e-01,-1.014273978e-04,8.288459929e-01
+11,1.206666667e+01,DOWN_FORCE_DETACH,1791617023430955433,1.471080373e-04,-1.020926283e-04,-9.424521194e-04,1.468591188e-04,-1.019661960e-04,-9.420910871e-04,1.478117269e-04,-1.019646639e-04,-9.407892172e-04,7.016849795e-01,-1.005416670e-04,8.397984891e-01,7.016847306e-01,-1.004152347e-04,8.397988501e-01,7.018771400e-01,-1.002219804e-04,8.286318818e-01
+12,1.271666667e+01,DOWN_FORCE_DETACH,1791617024726923854,1.539281338e-04,-1.107424727e-04,-1.186408175e-03,1.543481029e-04,-1.111832625e-04,-1.172624369e-03,1.546970195e-04,-1.111472506e-04,-1.171245115e-03,7.016917996e-01,-1.091915114e-04,8.395545330e-01,7.016922196e-01,-1.096323011e-04,8.395683168e-01,7.018840253e-01,-1.094045670e-04,8.284014259e-01
+13,1.326666667e+01,DOWN_FORCE_DETACH,1791617025826936560,1.587075774e-04,-1.147797565e-04,-1.427444682e-03,1.588781587e-04,-1.131492210e-04,-1.413310126e-03,1.583897765e-04,-1.130872592e-04,-1.411768914e-03,7.016965791e-01,-1.132287952e-04,8.393134965e-01,7.016967496e-01,-1.115982597e-04,8.393276311e-01,7.018877181e-01,-1.113445756e-04,8.281609021e-01
+14,1.376666667e+01,DOWN_FORCE_DETACH,1791617026824954831,1.611775290e-04,-1.220324742e-04,-1.688868787e-03,1.611340732e-04,-1.220884654e-04,-1.688714833e-03,1.597857045e-04,-1.220144311e-04,-1.686881643e-03,7.016990490e-01,-1.204815128e-04,8.390520724e-01,7.016990056e-01,-1.205375041e-04,8.390522264e-01,7.018891140e-01,-1.202717476e-04,8.278857893e-01
+15,1.420000000e+01,DOWN_FORCE_DETACH,1791617027656977020,1.603142693e-04,-1.276376418e-04,-1.942553535e-03,1.577583461e-04,-1.299494067e-04,-1.934325016e-03,1.553210729e-04,-1.298750608e-04,-1.932540709e-03,7.016981858e-01,-1.260866805e-04,8.387983877e-01,7.016956298e-01,-1.283984454e-04,8.388066162e-01,7.018846494e-01,-1.281323772e-04,8.276401303e-01
+16,1.461666667e+01,DOWN_FORCE_DETACH,1791617028455012456,1.616614865e-04,-1.354342509e-04,-2.203922425e-03,1.616391452e-04,-1.324091394e-04,-2.194213666e-03,1.584514577e-04,-1.323023110e-04,-2.192412120e-03,7.016995330e-01,-1.338832896e-04,8.385370188e-01,7.016995106e-01,-1.308581781e-04,8.385467275e-01,7.018877797e-01,-1.305596274e-04,8.273802589e-01
+17,1.498333333e+01,DOWN_FORCE_DETACH,1791617029151023656,1.615699847e-04,-1.417998127e-04,-2.459430043e-03,1.604996822e-04,-1.415787100e-04,-2.448041227e-03,1.563253833e-04,-1.414604977e-04,-2.446110276e-03,7.016994415e-01,-1.402488514e-04,8.382815111e-01,7.016983712e-01,-1.400277487e-04,8.382929000e-01,7.018856537e-01,-1.397178141e-04,8.271265607e-01
+18,1.531666667e+01,DOWN_FORCE_DETACH,1791617029783059392,1.618199447e-04,-1.465098267e-04,-2.710568398e-03,1.616965931e-04,-1.465410207e-04,-2.710444945e-03,1.565431357e-04,-1.464658969e-04,-2.708324005e-03,7.016996914e-01,-1.449588654e-04,8.380303728e-01,7.016995681e-01,-1.449900594e-04,8.380304962e-01,7.018858714e-01,-1.447232133e-04,8.268643470e-01
+19,1.563333333e+01,DOWN_FORCE_DETACH,1791617030383032759,1.605620718e-04,-1.594328307e-04,-2.973101996e-03,1.605053610e-04,-1.574552546e-04,-2.957591176e-03,1.543427690e-04,-1.573335311e-04,-2.955913037e-03,7.016984336e-01,-1.578818694e-04,8.377678392e-01,7.016983768e-01,-1.559042933e-04,8.377833500e-01,7.018836711e-01,-1.555908475e-04,8.266167579e-01
+20,1.595000000e+01,DOWN_FORCE_DETACH,1791617030983093995,1.594745185e-04,-1.577254177e-04,-3.244698588e-03,1.595285288e-04,-1.585131819e-04,-3.231034555e-03,1.523625797e-04,-1.583663229e-04,-3.229312752e-03,7.016973460e-01,-1.561744564e-04,8.374962426e-01,7.016974000e-01,-1.569622205e-04,8.375099066e-01,7.018816909e-01,-1.566236393e-04,8.263433582e-01
+21,1.623333333e+01,DOWN_FORCE_DETACH,1791617031515150521,1.572936651e-04,-1.603686090e-04,-3.505182806e-03,1.570262724e-04,-1.571789740e-04,-3.490409986e-03,1.488326346e-04,-1.570138967e-04,-3.488817325e-03,7.016951651e-01,-1.588176477e-04,8.372357584e-01,7.016948978e-01,-1.556280127e-04,8.372505312e-01,7.018781609e-01,-1.552712132e-04,8.260838537e-01
+22,1.651666667e+01,DOWN_FORCE_DETACH,1791617032047080659,1.576788322e-04,-1.604510339e-04,-3.777072976e-03,1.575039886e-04,-1.632118712e-04,-3.759491341e-03,1.484250740e-04,-1.630392958e-04,-3.757984831e-03,7.016955503e-01,-1.589000726e-04,8.369638682e-01,7.016953755e-01,-1.616609098e-04,8.369814498e-01,7.018777534e-01,-1.612966122e-04,8.258146862e-01
+23,1.675000000e+01,DOWN_FORCE_DETACH,1791617032511086599,1.574012458e-04,-1.640412135e-04,-4.029672543e-03,1.571517298e-04,-1.642310039e-04,-4.029469818e-03,1.471125617e-04,-1.640631950e-04,-4.027841042e-03,7.016952727e-01,-1.624902522e-04,8.367112686e-01,7.016950232e-01,-1.626800426e-04,8.367114714e-01,7.018764408e-01,-1.623205115e-04,8.255448299e-01
+24,1.700000000e+01,DOWN_FORCE_DETACH,1791617033011780439,1.563233924e-04,-1.660244812e-04,-4.303549360e-03,1.561706380e-04,-1.664399734e-04,-4.303445366e-03,1.449839931e-04,-1.663244818e-04,-4.302049794e-03,7.016941949e-01,-1.644735199e-04,8.364373918e-01,7.016940421e-01,-1.648890121e-04,8.364374958e-01,7.018743123e-01,-1.645817982e-04,8.252706212e-01
+25,1.723333333e+01,DOWN_FORCE_DETACH,1791617033489972410,1.596822998e-04,-1.615574398e-04,-4.579664118e-03,1.594061064e-04,-1.617920744e-04,-4.579427779e-03,1.473859862e-04,-1.616364635e-04,-4.578312134e-03,7.016975538e-01,-1.600064785e-04,8.361612771e-01,7.016972776e-01,-1.602411131e-04,8.361615134e-01,7.018767143e-01,-1.598937799e-04,8.249943589e-01
+26,1.746666667e+01,DOWN_FORCE_DETACH,1791617033943587319,1.619001570e-04,-1.602520199e-04,-4.846886519e-03,1.598115523e-04,-1.638463402e-04,-4.829957827e-03,1.468840117e-04,-1.636865775e-04,-4.829001956e-03,7.016997716e-01,-1.587010586e-04,8.358940547e-01,7.016976830e-01,-1.622953788e-04,8.359109834e-01,7.018762123e-01,-1.619438940e-04,8.247436690e-01
+27,1.768333333e+01,DOWN_FORCE_DETACH,1791617034375109324,1.609177083e-04,-1.627476472e-04,-5.122633601e-03,1.607907749e-04,-1.627244149e-04,-5.122587410e-03,1.468714213e-04,-1.625275892e-04,-5.121539762e-03,7.016987892e-01,-1.611966859e-04,8.356183076e-01,7.016986623e-01,-1.611734536e-04,8.356183538e-01,7.018761997e-01,-1.607849056e-04,8.244511312e-01
+28,1.788333333e+01,DOWN_FORCE_DETACH,1791617034775120365,1.634784656e-04,-1.644926896e-04,-5.376600941e-03,1.633664678e-04,-1.644636443e-04,-5.376027832e-03,1.485978342e-04,-1.643084919e-04,-5.375232116e-03,7.017013499e-01,-1.629417283e-04,8.353643402e-01,7.017012379e-01,-1.629126830e-04,8.353649134e-01,7.018779261e-01,-1.625658084e-04,8.241974389e-01
+29,1.810000000e+01,DOWN_FORCE_DETACH,1791617035207129388,1.606788860e-04,-1.689881735e-04,-5.666003343e-03,1.603900180e-04,-1.689905633e-04,-5.665987096e-03,1.444667425e-04,-1.687851536e-04,-5.665245810e-03,7.016985504e-01,-1.674372122e-04,8.350749378e-01,7.016982615e-01,-1.674396020e-04,8.350749541e-01,7.018737950e-01,-1.670424701e-04,8.239074252e-01
+30,1.830000000e+01,DOWN_FORCE_DETACH,1791617035589138566,1.591760831e-04,-1.711885453e-04,-5.930997074e-03,1.591492849e-04,-1.729148811e-04,-5.918368235e-03,1.423847952e-04,-1.727833757e-04,-5.917908641e-03,7.016970476e-01,-1.696375840e-04,8.348099441e-01,7.016970208e-01,-1.713639198e-04,8.348225730e-01,7.018717131e-01,-1.710406921e-04,8.236547623e-01
+31,1.850000000e+01,DOWN_FORCE_DETACH,1791617035973139833,1.627138776e-04,-1.751701703e-04,-6.195773903e-03,1.624917543e-04,-1.752507064e-04,-6.195416760e-03,1.448326721e-04,-1.751969997e-04,-6.195109245e-03,7.017005854e-01,-1.736192090e-04,8.345451673e-01,7.017003632e-01,-1.736997451e-04,8.345455244e-01,7.018741610e-01,-1.734543161e-04,8.233775617e-01
+32,1.870000000e+01,DOWN_FORCE_DETACH,1791617036337154887,1.581507849e-04,-1.773039564e-04,-6.467523547e-03,1.579777458e-04,-1.774852032e-04,-6.467250602e-03,1.392236934e-04,-1.775938305e-04,-6.467017623e-03,7.016960223e-01,-1.757529951e-04,8.342734176e-01,7.016958492e-01,-1.759342419e-04,8.342736906e-01,7.018685520e-01,-1.758511469e-04,8.231056534e-01
+33,1.888333333e+01,DOWN_FORCE_DETACH,1791617036711131406,1.584189546e-04,-1.791812124e-04,-6.741198775e-03,1.584121414e-04,-1.792699700e-04,-6.741030263e-03,1.386836453e-04,-1.795414296e-04,-6.740943179e-03,7.016962904e-01,-1.776302511e-04,8.339997424e-01,7.016962836e-01,-1.777190087e-04,8.339999109e-01,7.018680119e-01,-1.777987461e-04,8.228317278e-01
+34,1.908333333e+01,DOWN_FORCE_DETACH,1791617037071177877,1.578253667e-04,-1.833385921e-04,-7.010923797e-03,1.577406426e-04,-1.831646200e-04,-7.010519055e-03,1.370513066e-04,-1.835245490e-04,-7.010486814e-03,7.016956968e-01,-1.817876308e-04,8.337300174e-01,7.016956121e-01,-1.816136586e-04,8.337304221e-01,7.018663796e-01,-1.817818655e-04,8.225621842e-01
+35,1.925000000e+01,DOWN_FORCE_DETACH,1791617037403231097,1.591740746e-04,-1.861490689e-04,-7.269467519e-03,1.589105243e-04,-1.860582522e-04,-7.268787933e-03,1.373412639e-04,-1.865220526e-04,-7.268850359e-03,7.016970456e-01,-1.845981075e-04,8.334714737e-01,7.016967820e-01,-1.845072909e-04,8.334721533e-01,7.018666695e-01,-1.847793691e-04,8.223038206e-01
+36,1.943333333e+01,DOWN_FORCE_DETACH,1791617037735663742,1.547873739e-04,-1.789120158e-04,-7.547405829e-03,1.545977165e-04,-1.789137142e-04,-7.547235037e-03,1.319585549e-04,-1.795385908e-04,-7.547479495e-03,7.016926589e-01,-1.773610545e-04,8.331935354e-01,7.016924692e-01,-1.773627529e-04,8.331937062e-01,7.018612868e-01,-1.777959072e-04,8.220251915e-01
+37,1.960000000e+01,DOWN_FORCE_DETACH,1791617038067195831,1.533816966e-04,-1.906399475e-04,-7.821119533e-03,1.533780787e-04,-1.906368939e-04,-7.821075490e-03,1.296938658e-04,-1.915111049e-04,-7.821406972e-03,7.016912532e-01,-1.890889862e-04,8.329198217e-01,7.016912496e-01,-1.890859326e-04,8.329198657e-01,7.018590222e-01,-1.897684213e-04,8.217512640e-01
+38,1.976666667e+01,DOWN_FORCE_DETACH,1791617038367238341,1.488500074e-04,-1.858558130e-04,-8.075796722e-03,1.488984331e-04,-1.857379841e-04,-8.075191167e-03,1.241404302e-04,-1.867150595e-04,-8.075643754e-03,7.016867215e-01,-1.843048516e-04,8.326651445e-01,7.016867699e-01,-1.841870228e-04,8.326657500e-01,7.018534687e-01,-1.849723760e-04,8.214970272e-01
+39,1.993333333e+01,DOWN_FORCE_DETACH,1791617038700835178,1.405503408e-04,-1.844275472e-04,-8.365229353e-03,1.404695310e-04,-1.845501406e-04,-8.364801907e-03,1.145108402e-04,-1.856490434e-04,-8.365284295e-03,7.016784218e-01,-1.828765858e-04,8.323757118e-01,7.016783410e-01,-1.829991792e-04,8.323761393e-01,7.018438391e-01,-1.839063599e-04,8.212073867e-01
+40,2.008333333e+01,DOWN_FORCE_DETACH,1791617038967234351,1.309548635e-04,-1.910401721e-04,-8.622354456e-03,1.307990528e-04,-1.911287286e-04,-8.622155426e-03,1.036628106e-04,-1.922770812e-04,-8.622702003e-03,7.016688263e-01,-1.894892108e-04,8.321185867e-01,7.016686705e-01,-1.895777672e-04,8.321187858e-01,7.018329911e-01,-1.905343977e-04,8.209499690e-01
+41,2.023333333e+01,DOWN_FORCE_DETACH,1791617039265221117,1.204511800e-04,-1.905661397e-04,-8.905367524e-03,1.203869211e-04,-1.904061739e-04,-8.905271374e-03,9.201477284e-05,-1.915491455e-04,-8.905857759e-03,7.016583227e-01,-1.890151784e-04,8.318355737e-01,7.016582584e-01,-1.888552126e-04,8.318356698e-01,7.018213431e-01,-1.898064620e-04,8.206668132e-01
+42,2.038333333e+01,DOWN_FORCE_DETACH,1791617039531219071,1.131417923e-04,-1.898029702e-04,-9.156109595e-03,1.130837172e-04,-1.896791888e-04,-9.155754448e-03,8.361685588e-05,-1.908234542e-04,-9.156304878e-03,7.016510133e-01,-1.882520089e-04,8.315848316e-01,7.016509552e-01,-1.881282275e-04,8.315851867e-01,7.018129451e-01,-1.890807707e-04,8.204163661e-01
+43,2.053333333e+01,DOWN_FORCE_DETACH,1791617039831235868,1.018961009e-04,-1.910833788e-04,-9.448145107e-03,1.015640667e-04,-1.912194583e-04,-9.448531222e-03,7.076966587e-05,-1.923866866e-04,-9.449179101e-03,7.016397676e-01,-1.895324174e-04,8.312927961e-01,7.016394355e-01,-1.896684969e-04,8.312924100e-01,7.018000980e-01,-1.906440031e-04,8.201234919e-01
+44,2.068333333e+01,DOWN_FORCE_DETACH,1791617040095492538,9.981813262e-05,-1.871031136e-04,-9.703253093e-03,9.950920078e-05,-1.871700702e-04,-9.703284093e-03,6.782423830e-05,-1.882903543e-04,-9.703876443e-03,7.016376896e-01,-1.855521523e-04,8.310376881e-01,7.016373807e-01,-1.856191089e-04,8.310376571e-01,7.017971525e-01,-1.865476708e-04,8.198687945e-01
+45,2.081666667e+01,DOWN_FORCE_DETACH,1791617040363343665,8.933928397e-05,-1.933324647e-04,-9.973322234e-03,8.910493985e-05,-1.933603662e-04,-9.973392780e-03,5.614424736e-05,-1.945415685e-04,-9.974003332e-03,7.016272108e-01,-1.917815034e-04,8.307676190e-01,7.016269764e-01,-1.918094049e-04,8.307675484e-01,7.017854725e-01,-1.927988849e-04,8.195986677e-01
+46,2.096666667e+01,DOWN_FORCE_DETACH,1791617040663300975,8.333352627e-05,-1.879730122e-04,-1.026595438e-02,8.321185612e-05,-1.878698927e-04,-1.026548715e-02,4.913299802e-05,-1.889951005e-04,-1.026611652e-02,7.016212050e-01,-1.864220509e-04,8.304749868e-01,7.016210833e-01,-1.863189314e-04,8.304754540e-01,7.017784613e-01,-1.872524169e-04,8.193065545e-01
+47,2.110000000e+01,DOWN_FORCE_DETACH,1791617040929246626,7.596864332e-05,-1.869902513e-04,-1.052820309e-02,7.588383566e-05,-1.869070943e-04,-1.052771018e-02,4.071436999e-05,-1.880310555e-04,-1.052836432e-02,7.016138401e-01,-1.854392900e-04,8.302127381e-01,7.016137553e-01,-1.853561330e-04,8.302132310e-01,7.017700427e-01,-1.862883720e-04,8.190443067e-01
+48,2.123333333e+01,DOWN_FORCE_DETACH,1791617041195708817,7.309487470e-05,-1.837108915e-04,-1.079188490e-02,7.293523733e-05,-1.836416287e-04,-1.079176303e-02,3.680448651e-05,-1.847781954e-04,-1.079242004e-02,7.016109664e-01,-1.821599302e-04,8.299490563e-01,7.016108067e-01,-1.820906674e-04,8.299491782e-01,7.017661328e-01,-1.830355118e-04,8.187802509e-01
+49,2.136666667e+01,DOWN_FORCE_DETACH,1791617041461265276,6.890304824e-05,-1.824043070e-04,-1.106368864e-02,6.871020016e-05,-1.825521089e-04,-1.106327343e-02,3.156917436e-05,-1.836708280e-04,-1.106399143e-02,7.016067745e-01,-1.808533457e-04,8.296772525e-01,7.016065817e-01,-1.810011476e-04,8.296776678e-01,7.017608975e-01,-1.819281444e-04,8.185086796e-01
+50,2.150000000e+01,DOWN_FORCE_DETACH,1791617041727258524,6.246167612e-05,-1.791946009e-04,-1.133782672e-02,6.220242130e-05,-1.793873847e-04,-1.133759447e-02,2.403163852e-05,-1.804763610e-04,-1.133830749e-02,7.016003332e-01,-1.776436396e-04,8.294031145e-01,7.016000739e-01,-1.778364234e-04,8.294033467e-01,7.017533599e-01,-1.787336774e-04,8.182343635e-01
+51,2.163333333e+01,DOWN_FORCE_DETACH,1791617041993268458,5.991081571e-05,-1.781364895e-04,-1.161238872e-02,5.971014305e-05,-1.780679367e-04,-1.161207678e-02,2.049266752e-05,-1.791486537e-04,-1.161276268e-02,7.015977823e-01,-1.765855281e-04,8.291285525e-01,7.015975816e-01,-1.765169754e-04,8.291288644e-01,7.017498210e-01,-1.774059702e-04,8.179599083e-01
+52,2.176666667e+01,DOWN_FORCE_DETACH,1791617042259270452,5.178123362e-05,-1.780380091e-04,-1.189749611e-02,5.137125781e-05,-1.781314013e-04,-1.189743305e-02,1.099546953e-05,-1.792251120e-04,-1.189817126e-02,7.015896527e-01,-1.764870477e-04,8.288434451e-01,7.015892427e-01,-1.765804400e-04,8.288435081e-01,7.017403238e-01,-1.774824285e-04,8.176744997e-01
+53,2.188333333e+01,DOWN_FORCE_DETACH,1791617042491280736,4.771482425e-05,-1.731781098e-04,-1.215231259e-02,4.754470086e-05,-1.735864268e-04,-1.215218162e-02,6.258842844e-06,-1.746302183e-04,-1.215292579e-02,7.015855863e-01,-1.716271485e-04,8.285886286e-01,7.015854162e-01,-1.720354654e-04,8.285887596e-01,7.017355871e-01,-1.728875347e-04,8.174197452e-01
+54,2.200000000e+01,DOWN_FORCE_DETACH,1791617042725958553,4.185419926e-05,-1.632074875e-04,-1.240738277e-02,4.142261000e-05,-1.633336114e-04,-1.240717548e-02,-9.242057155e-07,-1.643293948e-04,-1.240792208e-02,7.015797257e-01,-1.616565262e-04,8.283335584e-01,7.015792941e-01,-1.617826501e-04,8.283337657e-01,7.017284041e-01,-1.625867113e-04,8.171647489e-01
+55,2.213333333e+01,DOWN_FORCE_DETACH,1791617042991295383,3.371894043e-05,-1.628642959e-04,-1.270160842e-02,3.351535706e-05,-1.628270179e-04,-1.270129197e-02,-9.974446729e-06,-1.638152621e-04,-1.270209190e-02,7.015715904e-01,-1.613133346e-04,8.280393328e-01,7.015713868e-01,-1.612760566e-04,8.280396492e-01,7.017193538e-01,-1.620725785e-04,8.168705791e-01
+56,2.225000000e+01,DOWN_FORCE_DETACH,1791617043223305081,2.853603256e-05,-1.551933802e-04,-1.295858078e-02,2.833036156e-05,-1.548945800e-04,-1.295854605e-02,-1.614974934e-05,-1.558304811e-04,-1.295932047e-02,7.015664075e-01,-1.536424189e-04,8.277823604e-01,7.015662018e-01,-1.533436186e-04,8.277823951e-01,7.017131785e-01,-1.540877976e-04,8.166133505e-01
+57,2.236666667e+01,DOWN_FORCE_DETACH,1791617043457296509,2.610123382e-05,-1.505109945e-04,-1.322226679e-02,2.582947325e-05,-1.506657706e-04,-1.322222880e-02,-1.961452197e-05,-1.515763727e-04,-1.322304205e-02,7.015639727e-01,-1.489600332e-04,8.275186744e-01,7.015637010e-01,-1.491148093e-04,8.275187124e-01,7.017097138e-01,-1.498336892e-04,8.163496289e-01
+58,2.250000000e+01,DOWN_SETTLE,1791617043723345754,1.861987513e-05,-1.493521607e-04,-1.352602498e-02,1.832092131e-05,-1.494144239e-04,-1.352611767e-02,-2.825349660e-05,-1.502981778e-04,-1.352692494e-02,7.015564914e-01,-1.478011994e-04,8.272149162e-01,7.015561924e-01,-1.478634625e-04,8.272148235e-01,7.017010748e-01,-1.485554942e-04,8.160457460e-01
+59,2.278333333e+01,DOWN_SETTLE,1791617044255306360,-2.729317284e-06,-1.319572026e-04,-1.376110460e-02,1.618486322e-07,-1.290288206e-04,-1.375246874e-02,-4.767439670e-05,-1.298188379e-04,-1.375329655e-02,7.015351422e-01,-1.304062412e-04,8.269798366e-01,7.015380333e-01,-1.274778592e-04,8.269884725e-01,7.016816539e-01,-1.280761544e-04,8.158193744e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1111384960df0140d41f58d84520e8fd66674f0c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-3.9581e-04,1.8808e-04,2.4555e+00,-3.6804e-02,3.6746e-02,-2.9932e-06,1.6849e-04,4.3858e-06,9.1076e-05,-5.3272e-07,1.1791e-05,7.2259e-09,1.9158e-04,1.1803e-05
+1,1.0833e+00,DOWN_FORCE_DETACH,2.7518e-04,1.4988e-03,2.1033e-02,2.4626e+00,-3.8265e-02,3.6882e-02,3.2835e-05,2.0631e-03,2.0850e-02,7.1139e-03,-1.4614e-03,1.4822e-04,3.5836e-05,2.2126e-02,1.4694e-03
+2,2.1500e+00,DOWN_FORCE_DETACH,5.4862e-04,2.1526e-03,2.2964e-02,2.4574e+00,-3.8403e-02,3.6934e-02,2.0582e-05,2.7169e-03,2.2780e-02,1.9259e-03,-1.5992e-03,2.0006e-04,2.3582e-05,2.3022e-02,1.6118e-03
+3,3.3667e+00,DOWN_FORCE_DETACH,8.1861e-04,3.0559e-04,2.6324e-02,2.4607e+00,-3.8625e-02,3.6797e-02,2.2882e-05,8.6989e-04,2.6140e-02,5.2891e-03,-1.8217e-03,6.2563e-05,2.5883e-05,2.6684e-02,1.8229e-03
+4,4.6167e+00,DOWN_FORCE_DETACH,1.0907e-03,-2.7691e-03,2.7583e-02,2.4618e+00,-3.8718e-02,3.6582e-02,2.4410e-05,-2.2048e-03,2.7399e-02,6.3338e-03,-1.9139e-03,-1.5157e-04,2.7410e-05,2.8208e-02,1.9201e-03
+5,5.7667e+00,DOWN_FORCE_DETACH,1.3659e-03,-3.5803e-03,2.8721e-02,2.4561e+00,-3.8802e-02,3.6518e-02,3.3161e-05,-3.0160e-03,2.8537e-02,6.4325e-04,-1.9978e-03,-2.1615e-04,3.6162e-05,2.8703e-02,2.0098e-03
+6,7.0667e+00,DOWN_FORCE_DETACH,1.6381e-03,-1.4162e-03,2.8969e-02,2.4609e+00,-3.8821e-02,3.6676e-02,3.8265e-05,-8.5193e-04,2.8786e-02,5.4498e-03,-2.0169e-03,-5.7727e-05,4.1266e-05,2.9309e-02,2.0181e-03
+7,8.1833e+00,DOWN_FORCE_DETACH,1.9123e-03,-5.2220e-04,2.9340e-02,2.4644e+00,-3.8833e-02,3.6740e-02,3.9477e-05,4.2100e-05,2.9156e-02,8.9536e-03,-2.0292e-03,5.5768e-06,4.2477e-05,3.0500e-02,2.0297e-03
+8,9.3833e+00,DOWN_FORCE_DETACH,2.1848e-03,1.9896e-03,3.1483e-02,2.4722e+00,-3.8950e-02,3.6904e-02,4.1766e-05,2.5539e-03,3.1300e-02,1.6714e-02,-2.1467e-03,1.6977e-04,4.4766e-05,3.5574e-02,2.1538e-03
+9,1.0350e+01,DOWN_FORCE_DETACH,2.4588e-03,4.9543e-03,3.2800e-02,2.4846e+00,-3.9002e-02,3.7098e-02,4.3170e-05,5.5186e-03,3.2617e-02,2.9172e-02,-2.1980e-03,3.6371e-04,4.6170e-05,4.4106e-02,2.2284e-03
+10,1.1250e+01,DOWN_FORCE_DETACH,2.7305e-03,9.4494e-03,3.2932e-02,2.4958e+00,-3.8940e-02,3.7402e-02,3.5320e-05,1.0014e-02,3.2748e-02,4.0379e-02,-2.1362e-03,6.6840e-04,3.8321e-05,5.2945e-02,2.2387e-03
+11,1.2067e+01,DOWN_FORCE_DETACH,3.0067e-03,5.0027e-03,3.5253e-02,2.5087e+00,-3.9066e-02,3.7084e-02,2.7542e-05,5.5670e-03,3.5070e-02,5.3275e-02,-2.2625e-03,3.4948e-04,3.0542e-05,6.4024e-02,2.2895e-03
+12,1.2717e+01,DOWN_FORCE_DETACH,3.2760e-03,5.8050e-03,3.7977e-02,2.5245e+00,-3.9181e-02,3.7129e-02,2.6641e-05,6.3693e-03,3.7793e-02,6.9026e-02,-2.3775e-03,3.9516e-04,2.9641e-05,7.8952e-02,2.4103e-03
+13,1.3267e+01,DOWN_FORCE_DETACH,3.5463e-03,5.5347e-03,3.8625e-02,2.5333e+00,-3.9174e-02,3.7101e-02,3.1146e-05,6.0990e-03,3.8441e-02,7.7885e-02,-2.3700e-03,3.6744e-04,3.4147e-05,8.7069e-02,2.3986e-03
+14,1.3767e+01,DOWN_FORCE_DETACH,3.8305e-03,5.7667e-03,4.1742e-02,2.5344e+00,-3.9323e-02,3.7114e-02,4.2053e-05,6.3310e-03,4.1559e-02,7.8942e-02,-2.5192e-03,3.7951e-04,4.5054e-05,8.9438e-02,2.5481e-03
+15,1.4200e+01,DOWN_FORCE_DETACH,4.0955e-03,7.2738e-03,4.4393e-02,2.5436e+00,-3.9461e-02,3.7206e-02,4.1244e-05,7.8381e-03,4.4210e-02,8.8151e-02,-2.6576e-03,4.7245e-04,4.4245e-05,9.8927e-02,2.6996e-03
+16,1.4617e+01,DOWN_FORCE_DETACH,4.3728e-03,7.8542e-03,4.6448e-02,2.5444e+00,-3.9544e-02,3.7244e-02,3.5275e-05,8.4185e-03,4.6264e-02,8.8978e-02,-2.7405e-03,5.1023e-04,3.8276e-05,1.0064e-01,2.7879e-03
+17,1.4983e+01,DOWN_FORCE_DETACH,4.6447e-03,8.7502e-03,4.8320e-02,2.5499e+00,-3.9626e-02,3.7304e-02,2.8435e-05,9.3145e-03,4.8136e-02,9.4507e-02,-2.8224e-03,5.7028e-04,3.1436e-05,1.0647e-01,2.8796e-03
+18,1.5317e+01,DOWN_FORCE_DETACH,4.9095e-03,8.0818e-03,5.0430e-02,2.5548e+00,-3.9714e-02,3.7259e-02,2.1774e-05,8.6461e-03,5.0246e-02,9.9320e-02,-2.9098e-03,5.2469e-04,2.4774e-05,1.1164e-01,2.9568e-03
+19,1.5633e+01,DOWN_FORCE_DETACH,5.1808e-03,5.6718e-03,5.4094e-02,2.5516e+00,-3.9878e-02,3.7095e-02,2.3196e-05,6.2361e-03,5.3911e-02,9.6207e-02,-3.0742e-03,3.6093e-04,2.6196e-05,1.1046e-01,3.0954e-03
+20,1.5950e+01,DOWN_FORCE_DETACH,5.4630e-03,6.3753e-03,5.5089e-02,2.5441e+00,-3.9938e-02,3.7138e-02,2.4733e-05,6.9396e-03,5.4905e-02,8.8673e-02,-3.1339e-03,4.0404e-04,2.7734e-05,1.0453e-01,3.1599e-03
+21,1.6233e+01,DOWN_FORCE_DETACH,5.7331e-03,5.5239e-03,5.4990e-02,2.5454e+00,-3.9909e-02,3.7082e-02,1.5217e-05,6.0882e-03,5.4806e-02,9.0003e-02,-3.1054e-03,3.4818e-04,1.8218e-05,1.0555e-01,3.1249e-03
+22,1.6517e+01,DOWN_FORCE_DETACH,6.0124e-03,6.6881e-03,5.6119e-02,2.5424e+00,-3.9953e-02,3.7161e-02,5.9075e-06,7.2524e-03,5.5935e-02,8.6967e-02,-3.1490e-03,4.2655e-04,8.9079e-06,1.0366e-01,3.1778e-03
+23,1.6750e+01,DOWN_FORCE_DETACH,6.2698e-03,6.8484e-03,5.5868e-02,2.5406e+00,-3.9934e-02,3.7177e-02,-2.9466e-06,7.4127e-03,5.5685e-02,8.5136e-02,-3.1303e-03,4.4323e-04,5.3815e-08,1.0200e-01,3.1616e-03
+24,1.7000e+01,DOWN_FORCE_DETACH,6.5477e-03,3.2879e-03,5.3556e-02,2.5340e+00,-3.9765e-02,3.6942e-02,-6.5813e-06,3.8522e-03,5.3372e-02,7.8529e-02,-2.9608e-03,2.0773e-04,-3.5809e-06,9.5028e-02,2.9681e-03
+25,1.7233e+01,DOWN_FORCE_DETACH,6.8275e-03,2.2837e-03,5.3601e-02,2.5225e+00,-3.9802e-02,3.6874e-02,-4.5134e-07,2.8480e-03,5.3417e-02,6.7013e-02,-2.9979e-03,1.4013e-04,2.5491e-06,8.5746e-02,3.0011e-03
+26,1.7467e+01,DOWN_FORCE_DETACH,7.0986e-03,5.7071e-03,5.4591e-02,2.5183e+00,-3.9872e-02,3.7107e-02,-2.3178e-06,6.2714e-03,5.4408e-02,6.2871e-02,-3.0684e-03,3.7310e-04,6.8257e-07,8.3381e-02,3.0910e-03
+27,1.7683e+01,DOWN_FORCE_DETACH,7.3767e-03,5.5728e-03,5.5983e-02,2.5123e+00,-3.9948e-02,3.7108e-02,-7.4495e-06,6.1371e-03,5.5799e-02,5.6906e-02,-3.1443e-03,3.7419e-04,-4.4491e-06,7.9935e-02,3.1665e-03
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+29,1.8100e+01,DOWN_FORCE_DETACH,7.9272e-03,4.1391e-03,5.7729e-02,2.5065e+00,-4.0019e-02,3.7020e-02,-1.7226e-05,4.7034e-03,5.7545e-02,5.1054e-02,-3.2157e-03,2.8597e-04,-1.4225e-05,7.7072e-02,3.2285e-03
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+56,2.2250e+01,DOWN_FORCE_DETACH,1.5282e-02,3.6472e-10,7.9382e-10,2.4525e+00,-3.6788e-02,3.6787e-02,-3.9171e-10,5.6430e-04,-1.8369e-04,-2.9378e-03,1.6227e-05,5.3424e-05,3.0000e-06,2.9971e-03,5.5915e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fdae80110c107cc13a80b4a559f823d621a1f455
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbaf773d69a6570a48bf76adec9b05b3ab07fcff7d62ca55b89d3e55598227ba
+size 10680320
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..697b2376ee59fc351c49a5737e34a526a81c43c2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7a7a3d622e148d261b3b427ea1f28205aed2c91
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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+1681,1791616994462852483,22178259000000,1791616994458246827,UP_FORCE_HOLD,1,0.048,0.04800167679786682,0.6759367217699002,-0.004857331724167516,0.09103133301235083,0.9999999572991505,-6.481941895264683e-06,-0.0002751614423046711,3.2995858299955155e-05,0.6761,-0.0048,0.09137337535358771,1.0,0.0,0.0,0.0,0.5042009237100908,0.38957713202721306,-0.631114475879062,0.027647316667080465,-0.03686038129932564,-0.00030499570837009535,0.42836072509869355,0.37249555791210426,-0.7594284705021487,0.026652765080639927,-0.03681550546228987,-0.00022212454030448787,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.185616299981454,0.28781471666552483,2.1728423945407345,0.09102173608917956,-1.3952426651683374,0.1955230140040626,0.5152655439204765,0.631114475879062,-1.657576850620258,0.631114475879062,0.558,0,0,1.1222326586042603e-05,-9.999999025923074e-05
+1693,1791616994562749166,22178359000000,1791616994558237378,UP_FORCE_HOLD,1,0.048,0.04800167679786682,0.6759378031800264,-0.00485506802922106,0.09103438157823177,0.999999957967439,-6.01802281184863e-06,-0.00027294959278239314,3.114944298746391e-05,0.6761,-0.0048,0.0913742500862955,1.0,0.0,0.0,0.0,0.5067146312921011,0.3996659031668645,-0.631274156767812,0.02766276155778432,-0.03685832467737218,-0.0006968646452122908,0.43087443268070375,0.3825843290517557,-0.7595881513908986,0.02666820997134378,-0.03681344884033641,-0.0006139934771466833,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.21374882844514229,0.35246194237617295,2.105963372472388,0.07121426362062833,-1.3584156576656565,0.2382344089386342,0.5152655439204765,0.631274156767812,-1.5906978285519116,0.631274156767812,0.558,0,0,6.222327560119528e-06,-9.999999025923074e-05
+1702,1791616994637860571,22178434000000,1791616994634246744,UP_FORCE_HOLD,1,0.048,0.04800167679786682,0.6759381152636561,-0.004857419351804144,0.09103765642919429,0.9999999580101213,-7.290939723030309e-06,-0.0002726081943001316,3.2468981207248096e-05,0.6761,-0.0048,0.09137457801089027,1.0,0.0,0.0,0.0,0.498347922053912,0.3798015356260471,-0.6309194630240308,0.027669706046085114,-0.036862300733858884,0.0002739299434594383,0.42250772344251464,0.3627199615109383,-0.7592334576471175,0.026675154459644575,-0.03681742489682312,0.0003568011115250458,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2017616546884776,0.30048678585816285,2.1020771111403382,0.0794667044254635,-1.355401910916776,0.20263764550094993,0.5152655439204765,0.6309194630240308,-1.5868115672198617,0.6309194630240308,0.558,0,0,2.4723282906772227e-06,-9.999999025923074e-05
+1716,1791616994754869454,22178551000000,1791616994750246596,UP_FORCE_HOLD,1,0.048,0.04800167679786682,0.6759399532471492,-0.004855320959115848,0.09103891725598383,0.9999999586867896,-4.2909877808607416e-06,-0.00027030045048763207,3.144101357283156e-05,0.6761,-0.0048,0.09137452797336752,1.0,0.0,0.0,0.0,0.49789634513455566,0.39054164382982826,-0.6271118148310736,0.027674399626734913,-0.03674490276863818,-0.00023833646224411963,0.4220561465231583,0.37346006971471946,-0.7554258094541603,0.026679848040294375,-0.03670002693160241,-0.00015546529417851215,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.22292237641178303,0.27244317721396755,2.1123068025919656,0.09040715992505059,-1.3694737485632893,0.18926512910730134,0.5152655439204765,0.6271118148310736,-1.597041258671489,0.6271118148310736,0.558,0,0,-3.377670569652774e-06,-9.999999025923074e-05
+1729,1791616994862853779,22178659000000,1791616994862237081,UP_FORCE_HOLD,1,0.048,0.04800167679786682,0.6759391144430653,-0.004857921860815066,0.09103721994210592,0.9999999582235896,-6.13417948284688e-06,-0.00027176596039138424,3.31861135613023e-05,0.6761,-0.0048,0.09137387428500333,1.0,0.0,0.0,0.0,0.4975976755877369,0.402333160677203,-0.6142139262844213,0.028462711154404408,-0.03680419342465297,-7.271650848549484e-05,0.42175747697633953,0.3852515865620942,-0.742527920907508,0.02746815956796387,-0.036759317587617205,1.0154659580112626e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.19083937025618652,0.24942151094620332,2.0231729899969486,0.0903949228575992,-1.3047044387687003,0.1713719435733313,0.5152655439204765,0.6142139262844213,-1.507907446076472,0.6142139262844213,0.558,0,0,-8.777669517649694e-06,-9.999999025923074e-05
+1748,1791616995021831937,22178818000000,1791616995018246765,UP_FORCE_HOLD,1,0.048,0.04800233244895935,0.6759390015830872,-0.004861847029440627,0.09103991740765086,0.9999999584554071,-8.969671567238816e-06,-0.00027073943869021836,3.393744083507035e-05,0.6761,-0.0048,0.09137186288917475,1.0,0.0,0.0,0.0,0.4888027981922392,0.393980180642859,-0.6011594442312982,0.027870230421489874,-0.03587380164979187,-0.0003542398913439622,0.41296259958084186,0.3768986065277502,-0.7294734388543849,0.026875678835049335,-0.0358289258127561,-0.0002713687232783547,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.20217126732837584,0.32581154913705,2.0121328032794206,0.07856914466249422,-1.3003312868369776,0.22167117650874668,0.5152655439204765,0.6011594442312982,-1.496867259358944,0.6011594442312982,0.558,0,0,-1.600585431799927e-05,-5.630169492575555e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc16f13a2a17b9e5be04cf49911b40d9430072e1
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0739912eea8616952de2a21f8b48aa9d4df6027c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,3.416666667e+00,UP_FORCE_HOLD,1791616995822668865,-3.790063270e-05,-9.692494813e-05,1.478481485e-04,-3.748827276e-05,-9.305430079e-05,1.442101660e-04,-3.797502329e-05,-9.305806452e-05,1.441680126e-04,7.014999708e-01,-9.537398681e-05,8.408887893e-01,7.015003832e-01,-9.150333947e-05,8.408851514e-01,7.016913533e-01,-9.131538097e-05,8.297168390e-01
+58,3.466666667e+00,UP_FORCE_HOLD,1791616995904733523,-3.515626204e-05,-9.505187971e-05,1.505355416e-04,-3.748827276e-05,-9.305430079e-05,1.442101660e-04,-3.797481541e-05,-9.305775894e-05,1.441750876e-04,7.015027152e-01,-9.350091838e-05,8.408914767e-01,7.015003832e-01,-9.150333947e-05,8.408851514e-01,7.016913535e-01,-9.131507538e-05,8.297168461e-01
+59,3.500000000e+00,UP_FORCE_HOLD,1791616995954733493,-3.618611529e-05,-9.984166141e-05,1.490103376e-04,-3.748827276e-05,-9.305430079e-05,1.442101660e-04,-3.797455933e-05,-9.305782134e-05,1.441796982e-04,7.015016854e-01,-9.829070008e-05,8.408899515e-01,7.015003832e-01,-9.150333947e-05,8.408851514e-01,7.016913537e-01,-9.131513778e-05,8.297168507e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3897857c7b096c1ca6be27d81c2c9782383a929b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-3.9581e-04,1.8808e-04,2.4555e+00,-3.6804e-02,3.6746e-02,-2.9932e-06,1.6849e-04,4.3858e-06,9.1076e-05,-5.3272e-07,1.1791e-05,7.2259e-09,1.9158e-04,1.1803e-05
+1,5.0000e-02,UP_FORCE_RAMP,1.5085e-05,7.5357e-05,2.0139e-04,2.4558e+00,-3.6806e-02,3.6779e-02,-2.9596e-06,6.3966e-04,1.7698e-05,3.4094e-04,-2.1234e-06,4.4927e-05,4.0833e-08,7.2506e-04,4.4977e-05
+2,1.0000e-01,UP_FORCE_RAMP,3.1193e-05,4.9822e-04,2.1477e-04,2.4560e+00,-3.6807e-02,3.6809e-02,-2.9092e-06,1.0625e-03,3.1075e-05,5.5885e-04,-3.6843e-06,7.4867e-05,9.1168e-08,1.2009e-03,7.4958e-05
+3,1.5000e-01,UP_FORCE_RAMP,4.2675e-05,8.7688e-04,2.2800e-04,2.4562e+00,-3.6809e-02,3.6836e-02,-2.8437e-06,1.4412e-03,4.4302e-05,7.4959e-04,-5.2005e-06,1.0185e-04,1.5674e-07,1.6251e-03,1.0198e-04
+4,2.3333e-01,UP_FORCE_RAMP,5.9628e-05,1.8287e-03,7.5093e-03,2.4567e+00,-3.7339e-02,3.6913e-02,7.2569e-06,2.3930e-03,7.3256e-03,1.2856e-03,-5.3496e-04,1.7907e-04,1.0257e-05,7.8131e-03,5.6422e-04
+5,3.0000e-01,UP_FORCE_RAMP,7.5044e-05,1.9153e-03,7.1216e-03,2.4568e+00,-3.7301e-02,3.6917e-02,2.1178e-05,2.4796e-03,6.9379e-03,1.3776e-03,-4.9734e-04,1.8295e-04,2.4178e-05,7.4954e-03,5.3047e-04
+6,3.6667e-01,UP_FORCE_RAMP,8.9959e-05,2.0843e-03,7.0936e-03,2.4568e+00,-3.7299e-02,3.6928e-02,2.1035e-05,2.6486e-03,6.9099e-03,1.4055e-03,-4.9533e-04,1.9427e-04,2.4036e-05,7.5324e-03,5.3261e-04
+7,4.3333e-01,UP_FORCE_RAMP,1.0358e-04,2.2855e-03,8.1961e-03,2.4567e+00,-3.7371e-02,3.6942e-02,2.1092e-05,2.8498e-03,8.0124e-03,1.3041e-03,-5.6758e-04,2.0790e-04,2.4092e-05,8.6035e-03,6.0494e-04
+8,5.0000e-01,UP_FORCE_RAMP,1.1987e-04,2.4589e-03,1.4224e-02,2.4555e+00,-3.7810e-02,3.6957e-02,2.8328e-05,3.0232e-03,1.4040e-02,2.3365e-05,-1.0064e-03,2.2296e-04,3.1328e-05,1.4362e-02,1.0313e-03
+9,5.6667e-01,UP_FORCE_RAMP,1.3265e-04,2.5436e-03,1.4180e-02,2.4558e+00,-3.7806e-02,3.6963e-02,2.8590e-05,3.1079e-03,1.3996e-02,3.8624e-04,-1.0019e-03,2.2851e-04,3.1590e-05,1.4342e-02,1.0281e-03
+10,6.3333e-01,UP_FORCE_RAMP,1.4856e-04,2.6414e-03,1.4141e-02,2.4561e+00,-3.7802e-02,3.6969e-02,2.8646e-05,3.2057e-03,1.3957e-02,6.6590e-04,-9.9817e-04,2.3496e-04,3.1646e-05,1.4336e-02,1.0259e-03
+11,6.8333e-01,UP_FORCE_RAMP,1.6163e-04,2.7097e-03,1.4120e-02,2.4563e+00,-3.7800e-02,3.6974e-02,2.8608e-05,3.2740e-03,1.3936e-02,8.3828e-04,-9.9597e-04,2.3951e-04,3.1608e-05,1.4340e-02,1.0249e-03
+12,7.6667e-01,UP_FORCE_RAMP,1.7878e-04,2.9618e-03,1.5403e-02,2.4566e+00,-3.7882e-02,3.6990e-02,2.8768e-05,3.5261e-03,1.5219e-02,1.1852e-03,-1.0788e-03,2.5633e-04,3.1768e-05,1.5667e-02,1.1093e-03
+13,8.3333e-01,UP_FORCE_RAMP,1.8984e-04,3.6763e-03,2.2018e-02,2.4567e+00,-3.8347e-02,3.7042e-02,4.3489e-05,4.2405e-03,2.1834e-02,1.2586e-03,-1.5433e-03,3.0804e-04,4.6489e-05,2.2277e-02,1.5744e-03
+14,9.0000e-01,UP_FORCE_RAMP,2.0357e-04,3.6760e-03,2.1914e-02,2.4570e+00,-3.8341e-02,3.7042e-02,4.3518e-05,4.2403e-03,2.1730e-02,1.5326e-03,-1.5376e-03,3.0805e-04,4.6519e-05,2.2193e-02,1.5689e-03
+15,9.3333e-01,UP_FORCE_RAMP,2.1833e-04,3.6517e-03,2.1899e-02,2.4571e+00,-3.8341e-02,3.7041e-02,4.3445e-05,4.2160e-03,2.1716e-02,1.6179e-03,-1.5370e-03,3.0646e-04,4.6446e-05,2.2180e-02,1.5679e-03
+16,9.8333e-01,UP_FORCE_RAMP,2.3370e-04,3.6188e-03,2.1896e-02,2.4571e+00,-3.8341e-02,3.7038e-02,4.3293e-05,4.1831e-03,2.1712e-02,1.6994e-03,-1.5370e-03,3.0428e-04,4.6294e-05,2.2177e-02,1.5675e-03
+17,1.0333e+00,UP_FORCE_RAMP,2.4987e-04,3.5836e-03,2.1901e-02,2.4572e+00,-3.8341e-02,3.7036e-02,4.3116e-05,4.1479e-03,2.1718e-02,1.7509e-03,-1.5373e-03,3.0193e-04,4.6116e-05,2.2179e-02,1.5674e-03
+18,1.0833e+00,UP_FORCE_RAMP,2.6543e-04,3.4837e-03,2.1902e-02,2.4573e+00,-3.8341e-02,3.7027e-02,3.5100e-05,4.0480e-03,2.1718e-02,1.9064e-03,-1.5371e-03,2.9302e-04,3.8100e-05,2.2175e-02,1.5652e-03
+19,1.1333e+00,UP_FORCE_RAMP,2.7993e-04,3.4374e-03,2.1915e-02,2.4573e+00,-3.8341e-02,3.7024e-02,3.4966e-05,4.0017e-03,2.1731e-02,1.9102e-03,-1.5377e-03,2.9026e-04,3.7966e-05,2.2179e-02,1.5654e-03
+20,1.1667e+00,UP_FORCE_RAMP,2.9303e-04,3.4283e-03,2.1918e-02,2.4574e+00,-3.8342e-02,3.7024e-02,3.4920e-05,3.9926e-03,2.1734e-02,1.9145e-03,-1.5379e-03,2.8969e-04,3.7921e-05,2.2181e-02,1.5654e-03
+21,1.2500e+00,UP_FORCE_RAMP,3.0810e-04,3.4662e-03,2.1816e-02,2.4574e+00,-3.8332e-02,3.7028e-02,3.0561e-05,4.0305e-03,2.1633e-02,1.9569e-03,-1.5281e-03,2.9385e-04,3.3562e-05,2.2092e-02,1.5564e-03
+22,1.3167e+00,UP_FORCE_RAMP,3.2336e-04,9.9380e-03,2.7670e-02,2.4584e+00,-3.8728e-02,3.7464e-02,3.2861e-05,1.0502e-02,2.7486e-02,3.0098e-03,-1.9248e-03,7.3012e-04,3.5861e-05,2.9578e-02,2.0589e-03
+23,1.3833e+00,UP_FORCE_RAMP,3.3892e-04,8.6057e-03,2.7201e-02,2.4582e+00,-3.8702e-02,3.7381e-02,3.2962e-05,9.1700e-03,2.7017e-02,2.7933e-03,-1.8983e-03,6.4722e-04,3.5963e-05,2.8667e-02,2.0059e-03
+24,1.4167e+00,UP_FORCE_RAMP,3.4849e-04,8.1508e-03,2.7148e-02,2.4581e+00,-3.8700e-02,3.7353e-02,3.2916e-05,8.7151e-03,2.6965e-02,2.7070e-03,-1.8962e-03,6.1853e-04,3.5916e-05,2.8467e-02,1.9949e-03
+25,1.4667e+00,UP_FORCE_RAMP,3.6853e-04,7.5880e-03,2.7143e-02,2.4580e+00,-3.8701e-02,3.7317e-02,3.2747e-05,8.1523e-03,2.6959e-02,2.5949e-03,-1.8973e-03,5.8247e-04,3.5747e-05,2.8284e-02,1.9850e-03
+26,1.5333e+00,UP_FORCE_RAMP,3.8078e-04,8.3796e-03,2.8037e-02,2.4520e+00,-3.8764e-02,3.7372e-02,3.2555e-05,8.9439e-03,2.7854e-02,-3.4637e-03,-1.9601e-03,6.3799e-04,3.5556e-05,2.9459e-02,2.0616e-03
+27,1.6000e+00,UP_FORCE_RAMP,3.9703e-04,8.8447e-03,2.8681e-02,2.4484e+00,-3.8812e-02,3.7407e-02,3.2322e-05,9.4090e-03,2.8498e-02,-7.0610e-03,-2.0081e-03,6.7292e-04,3.5322e-05,3.0830e-02,2.1182e-03
+28,1.6667e+00,UP_FORCE_RAMP,4.1358e-04,8.4849e-03,2.8919e-02,2.4485e+00,-3.8833e-02,3.7386e-02,3.1864e-05,9.0492e-03,2.8735e-02,-6.9757e-03,-2.0290e-03,6.5148e-04,3.4864e-05,3.0924e-02,2.1313e-03
+29,1.7000e+00,UP_FORCE_RAMP,4.2630e-04,9.3941e-03,2.9538e-02,2.4437e+00,-3.8878e-02,3.7449e-02,3.1719e-05,9.9584e-03,2.9355e-02,-1.1725e-02,-2.0746e-03,7.1451e-04,3.4719e-05,3.3141e-02,2.1945e-03
+30,1.7333e+00,UP_FORCE_RAMP,4.3955e-04,9.8853e-03,2.9935e-02,2.4412e+00,-3.8909e-02,3.7483e-02,3.1557e-05,1.0450e-02,2.9752e-02,-1.4217e-02,-2.1050e-03,7.4935e-04,3.4558e-05,3.4590e-02,2.2346e-03
+31,1.8000e+00,UP_FORCE_RAMP,4.5723e-04,1.0319e-02,3.0361e-02,2.4387e+00,-3.8946e-02,3.7517e-02,3.1032e-05,1.0883e-02,3.0178e-02,-1.6757e-02,-2.1425e-03,7.8255e-04,3.4032e-05,3.6193e-02,2.2812e-03
+32,1.8333e+00,UP_FORCE_RAMP,4.6876e-04,1.1221e-02,3.0552e-02,2.4353e+00,-3.8965e-02,3.7579e-02,3.0704e-05,1.1785e-02,3.0368e-02,-2.0153e-02,-2.1608e-03,8.4531e-04,3.3704e-05,3.8305e-02,2.3205e-03
+33,1.9000e+00,UP_FORCE_HOLD,4.8635e-04,1.1434e-02,3.0813e-02,2.4348e+00,-3.8991e-02,3.7598e-02,2.9968e-05,1.1998e-02,3.0630e-02,-2.0652e-02,-2.1877e-03,8.6383e-04,3.2968e-05,3.8841e-02,2.3523e-03
+34,1.9500e+00,UP_FORCE_HOLD,4.9870e-04,1.1111e-02,3.0988e-02,2.4365e+00,-3.9009e-02,3.7578e-02,2.9359e-05,1.1675e-02,3.0804e-02,-1.8959e-02,-2.2052e-03,8.4428e-04,3.2359e-05,3.8008e-02,2.3615e-03
+35,2.0333e+00,UP_FORCE_HOLD,5.1632e-04,1.1662e-02,3.1206e-02,2.4321e+00,-3.9036e-02,3.7620e-02,2.8147e-05,1.2226e-02,3.1022e-02,-2.3364e-02,-2.2323e-03,8.8620e-04,3.1148e-05,4.0715e-02,2.4020e-03
+36,2.1000e+00,UP_FORCE_HOLD,5.3013e-04,1.1307e-02,3.1431e-02,2.4341e+00,-3.9058e-02,3.7598e-02,2.7208e-05,1.1871e-02,3.1247e-02,-2.1373e-02,-2.2544e-03,8.6428e-04,3.0208e-05,3.9675e-02,2.4146e-03
+37,2.1500e+00,UP_FORCE_HOLD,5.4580e-04,1.0692e-02,3.1117e-02,2.4322e+00,-3.9044e-02,3.7559e-02,2.6319e-05,1.1256e-02,3.0933e-02,-2.3268e-02,-2.2400e-03,8.2543e-04,2.9320e-05,4.0311e-02,2.3874e-03
+38,2.2167e+00,UP_FORCE_HOLD,5.6077e-04,1.0034e-02,3.0906e-02,2.4312e+00,-3.9036e-02,3.7517e-02,2.5246e-05,1.0599e-02,3.0723e-02,-2.4267e-02,-2.2321e-03,7.8296e-04,2.8247e-05,4.0560e-02,2.3657e-03
+39,2.2833e+00,UP_FORCE_HOLD,5.7470e-04,9.5955e-03,3.0976e-02,2.4339e+00,-3.9045e-02,3.7487e-02,2.4279e-05,1.0160e-02,3.0793e-02,-2.1544e-02,-2.2408e-03,7.5251e-04,2.7279e-05,3.8930e-02,2.3639e-03
+40,2.3667e+00,UP_FORCE_HOLD,5.8767e-04,9.1269e-03,3.1039e-02,2.4340e+00,-3.9053e-02,3.7454e-02,2.3088e-05,9.6912e-03,3.0855e-02,-2.1423e-02,-2.2492e-03,7.1998e-04,2.6089e-05,3.8793e-02,2.3618e-03
+41,2.4167e+00,UP_FORCE_HOLD,6.0209e-04,8.9439e-03,3.1090e-02,2.4327e+00,-3.9059e-02,3.7442e-02,2.2455e-05,9.5082e-03,3.0907e-02,-2.2780e-02,-2.2552e-03,7.0770e-04,2.5456e-05,3.9555e-02,2.3638e-03
+42,2.5000e+00,UP_FORCE_HOLD,6.1934e-04,8.7285e-03,3.1262e-02,2.4354e+00,-3.9073e-02,3.7425e-02,2.1481e-05,9.2928e-03,3.1078e-02,-2.0022e-02,-2.2691e-03,6.9108e-04,2.4481e-05,3.8119e-02,2.3721e-03
+43,2.5667e+00,UP_FORCE_HOLD,6.3330e-04,8.5895e-03,3.1439e-02,2.4388e+00,-3.9085e-02,3.7413e-02,2.0757e-05,9.1538e-03,3.1255e-02,-1.6596e-02,-2.2811e-03,6.7921e-04,2.3757e-05,3.6552e-02,2.3801e-03
+44,2.6333e+00,UP_FORCE_HOLD,6.4672e-04,8.4552e-03,3.1625e-02,2.4424e+00,-3.9096e-02,3.7401e-02,2.0018e-05,9.0195e-03,3.1441e-02,-1.3087e-02,-2.2921e-03,6.6724e-04,2.3018e-05,3.5230e-02,2.3874e-03
+45,2.7000e+00,UP_FORCE_HOLD,6.6119e-04,8.3159e-03,3.1547e-02,2.4435e+00,-3.9089e-02,3.7390e-02,1.9202e-05,8.8802e-03,3.1363e-02,-1.1966e-02,-2.2854e-03,6.5558e-04,2.2202e-05,3.4723e-02,2.3776e-03
+46,2.7500e+00,UP_FORCE_HOLD,6.7840e-04,8.2471e-03,3.1201e-02,2.4397e+00,-3.9066e-02,3.7386e-02,1.8558e-05,8.8114e-03,3.1017e-02,-1.5704e-02,-2.2621e-03,6.5155e-04,2.1558e-05,3.5865e-02,2.3541e-03
+47,2.8000e+00,UP_FORCE_HOLD,6.9347e-04,8.2401e-03,3.1097e-02,2.4397e+00,-3.9058e-02,3.7385e-02,1.8004e-05,8.8044e-03,3.0913e-02,-1.5786e-02,-2.2543e-03,6.5053e-04,2.1004e-05,3.5810e-02,2.3464e-03
+48,2.8667e+00,UP_FORCE_HOLD,7.0744e-04,8.2474e-03,3.1087e-02,2.4416e+00,-3.9056e-02,3.7384e-02,1.7308e-05,8.8117e-03,3.0903e-02,-1.3879e-02,-2.2518e-03,6.4952e-04,2.0309e-05,3.5004e-02,2.3437e-03
+49,2.9167e+00,UP_FORCE_HOLD,7.2060e-04,8.2490e-03,3.1123e-02,2.4436e+00,-3.9056e-02,3.7382e-02,1.6763e-05,8.8133e-03,3.0939e-02,-1.1849e-02,-2.2522e-03,6.4817e-04,1.9764e-05,3.4283e-02,2.3437e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f271ff1b615dc31b30b41287df0f1f588355661
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
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+9576,1791617060225510693,22244021000000,1791617060222237260,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760132791682857,-0.004864092083412786,0.09074376649650052,0.9999999872775606,1.3278288846755439e-05,-0.00012328550031519915,3.888593054256871e-05,0.6761,-0.0048,0.09083313818190024,1.0,0.0,0.0,0.0,0.4931382123986636,0.48557427028495886,0.17402736030627583,0.03356574278165108,-0.03411641389971809,-0.0002302366379117603,0.4172980137872663,0.46849269616985006,0.04571336568318912,0.03257119119521054,-0.03407153806268232,-0.00014736546984615284,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.2695209344544053,0.3362801722632429,0.8539399081011732,0.15454764314395622,-0.4394125910560104,0.1958040156628455,0.5152655439204765,0.17402736030627583,-0.33867436418069663,-0.33867436418069663,0.20671999999999294,1,0,-0.0001291999750755154,-9.999999025923074e-05
+9791,1791617062017506564,22245813000000,1791617062014237129,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760779000480697,-0.004882532462611691,0.09060847737675119,0.9999999925583444,2.2372900172165244e-05,-2.1213196625299554e-05,7.331868277240848e-05,0.6761,-0.0048,0.09057560456387423,1.0,0.0,0.0,0.0,0.39264257251496304,0.5766679465030995,0.7881248391993138,0.04036292072709385,-0.025747564644374922,-0.0004756141087572478,0.3168023739035657,0.5595863723879907,0.6598108445762271,0.03936836914065331,-0.02570268880733915,-0.0003927429406916403,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5850987456451526,0.22087203734513566,0.02673904423900333,0.2831169408287671,0.12926776537082957,0.10401949686119472,0.5152655439204765,0.7881248391993138,0.4885264996814732,0.4885264996814732,0.3500800000000218,1,0,-0.00011543016275175765,9.999999025923074e-05
+10035,1791617064050527586,22247846000000,1791617064046236726,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760966230493791,-0.004889089405773079,0.09050389361462578,0.9999999933525118,9.654759446706812e-06,5.5492044493698625e-06,6.792520002848097e-05,0.6761,-0.0048,0.09044421142286027,1.0,0.0,0.0,0.0,0.38384057092585283,0.5725159144525065,0.9292253563377871,0.04056839639534597,-0.026317786204065267,0.00038050726436418173,0.3080003723144555,0.5554343403373977,0.8009113617147005,0.03957384480890543,-0.026272910367029497,0.0004633784324297892,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5867964612213638,0.2724082327859424,-0.10967711402456697,0.2725322752614326,0.21420356014140113,0.13849435311347674,0.5152655439204765,0.9292253563377871,0.6249426579450434,0.6249426579450434,0.5127200000000628,1,0,-1.3780182554741555e-05,9.999999025923074e-05
+10318,1791617066408599091,22250204000000,1791617066402246624,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760929620580426,-0.004890653060345183,0.0904680931019562,0.9999999932598816,1.1041379123271366e-05,-3.8423305155800704e-07,6.928954875922547e-05,0.6761,-0.0048,0.0904141537456503,1.0,0.0,0.0,0.0,0.41443748282906306,0.5364460826699322,0.8586811441852684,0.03941420170946294,-0.029317276183756482,0.0003820065196829207,0.3385972842176657,0.5193645085548234,0.7303671495621817,0.038419650123022404,-0.02927240034672071,0.0004648776877485282,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5202244876762177,0.35129089229502986,-0.16459554174702762,0.25084809307210065,0.2360857926747671,0.190181706111391,0.5152655439204765,0.8586811441852684,0.6798610856675041,0.6798610856675041,0.7013599999999897,1,0,-4.076775147046773e-05,9.710354328807397e-05
+10602,1791617068775589116,22252571000000,1791617068774236653,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761056826220271,-0.004893745263766473,0.0903658269976263,0.9999999930870751,6.771505926471156e-06,2.1150001905374115e-05,6.91052707615105e-05,0.6761,-0.0048,0.0902795076920151,1.0,0.0,0.0,0.0,0.41813223122357523,0.5269101904594856,1.0087615864084538,0.038363621465180756,-0.02932962630176804,0.0002496771514450436,0.3422920326121779,0.5098286163443768,0.8804475917853671,0.03736906987874022,-0.02928475046473227,0.00033254831951065107,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6431955514628865,0.2601845322577098,-0.2714755548679676,0.283342160325733,0.33250309788698773,0.12999175211777944,0.5152655439204765,1.0087615864084538,0.7867410987884441,0.7867410987884441,0.8907199999999162,1,0,-6.175265283433896e-05,-9.687504551181831e-05
+10839,1791617070750546004,22254546000000,1791617070750236818,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761151398706445,-0.00491884282496842,0.09024888173525832,0.9999999910841251,-1.185718116994032e-06,3.819912987006439e-05,8.839702946911083e-05,0.6761,-0.0048,0.09014400016119141,1.0,0.0,0.0,0.0,0.4051549825750808,0.4590800450810118,1.057612365376696,0.03423317858431886,-0.028251517144613436,0.0009787840999729745,0.32931478396368347,0.441998470965903,0.9292983707536093,0.03323862699787832,-0.028206641307577666,0.0010616552680385819,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6098755040747784,0.18006900405597007,-0.3202092231651201,0.29050343478577645,0.35357782514354646,0.07609930876510718,0.5152655439204765,1.057612365376696,0.8354747670855966,0.8354747670855966,1.0487199999999226,1,0,-8.530438928430607e-05,-9.998201852401962e-05
+11069,1791617072667579727,22256463000000,1791617072662236853,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761216888711677,-0.004928499358952798,0.09009157257193667,0.9999999900484792,1.3191092315943723e-06,4.861523053663053e-05,9.476668880229308e-05,0.6761,-0.0048,0.08996621640597062,1.0,0.0,0.0,0.0,0.4348234556965251,0.4241547861066552,1.125586391376863,0.031218482395976962,-0.030230447643498852,6.955381630106086e-05,0.35898325708512774,0.4070732119915464,0.9972723967537762,0.030223930809536424,-0.03018557180646308,0.00015242498436666833,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6776468368887297,0.2539060269790908,-0.5187451679879819,0.27875222982278997,0.49344408846327475,0.1288064171814193,0.5152655439204765,1.125586391376863,1.0340107119084583,1.0340107119084583,1.202080000000076,1,0,-0.00010259626378602971,-9.999953229223308e-05
+11296,1791617074558656779,22258354000000,1791617074558236703,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761318946453139,-0.004931741409107885,0.0899047927620451,0.9999999895508157,4.764034659030621e-06,6.376767109323798e-05,9.08417361121395e-05,0.6761,-0.0048,0.0897599680066011,1.0,0.0,0.0,0.0,0.4658760999755989,0.3806731677647956,1.1756266053012667,0.028219307131691018,-0.03322806594117048,8.00114680806526e-05,0.3900359013642016,0.3635915936496868,1.04731261067818,0.02722475554525048,-0.033183190104134716,0.00016288263614626006,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6402580734176384,0.153229928833199,-0.6488711619504177,0.3338455520790008,0.5608654799220086,0.07015685295225776,0.5152655439204765,1.1756266053012667,1.1641367058708942,1.1641367058708942,1.3533600000002273,1,0,-0.00011673733147784938,-9.868967728999251e-05
+11504,1791617076292700190,22260088000000,1791617076286236401,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761442319950982,-0.004935622135520846,0.08969679644742165,0.9999999883908991,-8.47283513335696e-06,8.02048076973193e-05,9.031315538511606e-05,0.6761,-0.0048,0.08953366243900705,1.0,0.0,0.0,0.0,0.49366030894751645,0.3635822209963032,1.225114990665088,0.02619388648966399,-0.03421348876135158,0.0008944645037720913,0.4178201103361191,0.3465006468811944,1.0968009960420013,0.02519933490322345,-0.03416861292431581,0.0009773356718376987,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6322764037317563,0.1593858539033368,-0.7046920226006795,0.3271845843526388,0.5869887318873466,0.07202800374258764,0.5152655439204765,1.225114990665088,1.2199575665211562,1.2199575665211562,1.492080000000366,1,0,-0.00014182440180174195,-9.999291258744875e-05
+11687,1791617077817718136,22261613000000,1791617077810236820,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761487434791722,-0.004933893915657237,0.08947826607732245,0.9999999878717488,-1.468886227514004e-05,8.628984172593873e-05,8.9653037514352e-05,0.6761,-0.0048,0.08930246532550834,1.0,0.0,0.0,0.0,0.5231003039982253,0.3383934818978764,1.265029541409734,0.024209664988209003,-0.036611157971729674,0.0008035511355623673,0.4472601053868279,0.3213119077827676,1.1367155467866472,0.023215113401768465,-0.03656628213469391,0.0008864223036279748,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6594109488219413,0.11253083561023056,-0.8487045085188195,0.3460877320166092,0.6834265368560852,0.04095165677790746,0.5152655439204765,1.265029541409734,1.3639700524392961,1.3639700524392961,1.614080000000488,1,0,-0.00016117430499537478,-9.993548630150002e-05
+11851,1791617079183687989,22262979000000,1791617079182246267,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761529625917373,-0.004937290628334479,0.08925088548508582,0.9999999866445944,-1.8446997834759325e-05,9.116802366025139e-05,9.747704935073007e-05,0.6761,-0.0048,0.08907074696149546,1.0,0.0,0.0,0.0,0.5528795334192981,0.3044810684859432,1.2957850219292586,0.022231519640986165,-0.03921643687557898,0.00072058015888517,0.47703933480790073,0.2873994943708344,1.167471027306172,0.021236968054545627,-0.03917156103854321,0.0008034513269507774,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6442203744035659,0.28097786396625973,-1.0250645549329498,0.3070705917546346,0.788783025260324,0.1542183595926668,0.5152655439204765,1.2957850219292586,1.5403300988534263,1.5403300988534263,1.7233600000005973,1,0,-0.00018622878345389703,9.576768131148156e-05
+12007,1791617080483746744,22264279000000,1791617080478246532,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761536761999208,-0.004938370180472779,0.08899081967201307,0.9999999861397699,1.372874881848923e-06,8.87541150399531e-05,0.00010622686396840892,0.6761,-0.0048,0.08881493196796839,1.0,0.0,0.0,0.0,0.5893117029147861,0.2897326447127475,1.3539860539390602,0.02020626271635006,-0.0402050434773146,0.0006385685086220687,0.5134715043033887,0.2726510705976387,1.2256720593159736,0.01921171112990952,-0.040160167640278834,0.0007214396766876761,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6049061944215792,0.2673095254987092,-1.0108901646622555,0.3190941805190859,0.7653302515418149,0.149868530663663,0.5152655439204765,1.3539860539390602,1.526155708582732,1.526155708582732,1.8273600000007013,1,0,-0.0002104625566837478,-9.999629876767386e-05
+12140,1791617081592660558,22265388000000,1791617081586236646,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761529752685831,-0.0049425896406631534,0.08874561825868542,0.9999999859331015,-7.41020500962229e-06,8.707040447620124e-05,0.00010927257145197274,0.6761,-0.0048,0.08856766618185903,1.0,0.0,0.0,0.0,0.590295561393048,0.27586441403183054,1.3436736267193397,0.019214430086545546,-0.04119636033351954,0.0006197820750299168,0.5144553627816506,0.25878283991672174,1.215359632096253,0.018219878500105008,-0.04115148449648377,0.0007026532430955242,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6585002456660832,0.11758153145135103,-1.0809975407836565,0.3767582966951407,0.8207260201494265,0.05200996582530158,0.5152655439204765,1.3436736267193397,1.596263084704133,1.596263084704133,1.91608000000079,1,0,-0.00024019274387085255,-9.999901881408419e-05
+12262,1791617082608677574,22266404000000,1791617082606237370,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761565510452116,-0.0049442101317101915,0.0884910762166888,0.9999999852645473,-3.56476563093223e-06,8.969659340850372e-05,0.00011338246481560759,0.6761,-0.0048,0.0883084743884468,1.0,0.0,0.0,0.0,0.6010204696410048,0.2574369917047785,1.3942471496039055,0.01818280373630942,-0.04120398492135359,0.0005684366668844939,0.5251802710296074,0.24035541758966972,1.2659331549808188,0.017188252149868882,-0.04115910908431782,0.0006513078349501013,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6202704004311893,0.2387195034638963,-1.1388773956537463,0.3498148544552391,0.8480426800900559,0.13432006415806072,0.5152655439204765,1.3942471496039055,1.6541429395742229,1.6541429395742229,1.9973600000008713,1,0,-0.00027315282037652813,-1.4351797624147949e-05
+12370,1791617083508778090,22267304000000,1791617083502246874,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761586283960853,-0.0049504412899888574,0.08823160425550701,0.9999999846991297,-6.848970527263558e-06,9.186006070469145e-05,0.00011644494744916442,0.6761,-0.0048,0.08804699957855161,1.0,0.0,0.0,0.0,0.6017510841360987,0.25109420581455333,1.4310422996450045,0.017182806310833645,-0.04218970236177235,0.000511852587147549,0.5259108855247013,0.23401263169944456,1.3027283050219178,0.016188254724393107,-0.042144826524736584,0.0005947237552131565,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5538612754032556,0.23526397640740246,-1.126379323191582,0.36195288355571387,0.8225276450413849,0.13013252529728947,0.5152655439204765,1.4310422996450045,1.6416448671120585,1.6416448671120585,2.0693600000009433,1,0,-0.0003092242083738413,-9.999999025923074e-05
+12466,1791617084308787313,22268104000000,1791617084302247520,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761590803440457,-0.004954902721900993,0.08796984574004643,0.9999999841337942,-3.1329966115169794e-06,9.234740245938947e-05,0.00012098519467512596,0.6761,-0.0048,0.08778537292066825,1.0,0.0,0.0,0.0,0.6029188027067558,0.2335573255054853,1.4729607014851698,0.016152702203194,-0.04217842022128584,0.00046658321300126177,0.5270786040953584,0.2164757513903765,1.344646706862083,0.015158150616753463,-0.04213354438425007,0.0005494543810668693,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5517535018775228,0.15821747639501643,-1.1097356347798282,0.4022749488360641,0.8150805183368738,0.08556201675283136,0.5152655439204765,1.4729607014851698,1.6250011787003047,1.6250011787003047,2.1333600000010073,1,0,-0.0003445502952767728,-9.999999025923074e-05
+12558,1791617085075692197,22268871000000,1791617085074237891,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761590946625209,-0.004962942941399836,0.08769672645296185,0.9999999839426185,-1.045669069880933e-05,9.083006085803516e-05,0.0001232809190397832,0.6761,-0.0048,0.08750811580590612,1.0,0.0,0.0,0.0,0.6118916446129644,0.22175482109491634,1.49900980111063,0.01512652803999983,-0.042165094785083235,0.00043484309822649033,0.5360514460015671,0.20467324697980754,1.3706958064875434,0.014131976453559292,-0.04212021894804747,0.0005177142662920978,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4848705420912816,0.23871995755339018,-1.0878414423312261,0.39145274168609706,0.7905970316138926,0.13497195154398806,0.5152655439204765,1.49900980111063,1.6031069862517027,1.6031069862517027,2.1947200000010687,1,0,-0.000378471858848732,-9.999999025923074e-05
+12641,1791617085767711059,22269563000000,1791617085766246804,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761601706244756,-0.004963245177557768,0.08742784219548355,0.999999983685754,-2.7386752784671014e-06,9.23174630013553e-05,0.00012466491858033956,0.6761,-0.0048,0.08723425898191842,1.0,0.0,0.0,0.0,0.6063317548403778,0.2222390696245146,1.5026607569390384,0.015132186396550206,-0.04216548720942748,0.0004317615742161443,0.5304915562289805,0.2051574955094058,1.3743467623159518,0.014137634810109668,-0.04212061137239171,0.0005146327422817518,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5098678457036633,0.27366489788797876,-1.1096402053440633,0.3916491975938506,0.8155348385262233,0.1576092575889781,0.5152655439204765,1.5026607569390384,1.6249057492645398,1.6249057492645398,2.250080000001124,1,0,-0.0004130718521081197,-9.999999025923074e-05
+12713,1791617086367793469,22270163000000,1791617086366237320,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761616266593469,-0.00497572221391247,0.08717617953012632,0.9999999824076015,-1.3614031056153374e-05,9.617355416076237e-05,0.0001311219547659791,0.6761,-0.0048,0.08697743723661168,1.0,0.0,0.0,0.0,0.6112978149630681,0.2328715661510067,1.5112249623197487,0.015726826335698316,-0.04217689816719447,0.00043429935113671337,0.5354576163516708,0.2157899920358979,1.382910967696662,0.014732274749257776,-0.042132022330158704,0.0005171705192023208,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.48446810827611375,0.21259229600049448,-1.1036172658053365,0.41802915552249587,0.8092988042837795,0.11895297428250785,0.5152655439204765,1.5112249623197487,1.618882809725813,1.618882809725813,2.298080000001172,1,0,-0.00044300281519113325,-9.999999025923074e-05
+12781,1791617086933817561,22270729000000,1791617086926247295,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.676163840577401,-0.004965680990405468,0.08691716494017117,0.9999999821158766,-3.7570618979059845e-06,0.00010038779746240847,0.00013084068801684802,0.6761,-0.0048,0.08671870289477651,1.0,0.0,0.0,0.0,0.6018134125158293,0.2353390899808498,1.5190369118360334,0.01611585406715533,-0.04117613040149217,0.00044490241914905596,0.525973213904432,0.218257515865741,1.3907229172129467,0.01512130248071479,-0.041131254564456404,0.0005277735872146634,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5242019075943662,0.22430396954718562,-1.0585257657611649,0.4293657644661693,0.7907907277205314,0.1321676690153964,0.5152655439204765,1.5190369118360334,1.5737913096816414,1.5737913096816414,2.3433600000012174,1,0,-0.00047130280967785785,-9.999999025923074e-05
+12849,1791617087500821281,22271296000000,1791617087498247043,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.676159468282215,-0.00497582528393101,0.08664428398941758,0.9999999818796497,-5.384188625614831e-06,9.526463192851699e-05,0.00013630563200990294,0.6761,-0.0048,0.0864434511532577,1.0,0.0,0.0,0.0,0.6293253910760308,0.24832579704526883,1.5438126255390503,0.017154036482696516,-0.043179006331131066,0.0007660120761659532,0.5534851924646335,0.23124422293016003,1.4154986309159636,0.016159484896255977,-0.0431341304940953,0.0008488832442315606,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4986740367118247,0.27346682622920865,-1.0777622093723316,0.4165293070698156,0.8031061432075757,0.1597345399731831,0.5152655439204765,1.5438126255390503,1.593027753292808,1.593027753292808,2.3887200000012627,1,0,-0.0004996528041548417,-9.999999025923074e-05
+12913,1791617088033815425,22271829000000,1791617088030247424,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761615405720042,-0.004974013194637735,0.0863802753222785,0.999999981646849,-8.574717368313803e-06,0.0001003733411961407,0.0001341671819776795,0.6761,-0.0048,0.08617004731002939,1.0,0.0,0.0,0.0,0.6291413391103768,0.24979962507312034,1.5427687847525087,0.017384358750953285,-0.04259110826399301,0.0010759611556056248,0.5533011404989795,0.23271805095801154,1.414454790129422,0.016389807164512746,-0.042546232426957244,0.0011588323236712322,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4504339966744747,0.29270517341333796,-1.04489410762694,0.4206528426798729,0.7637268702539858,0.1744735752012134,0.5152655439204765,1.5427687847525087,1.5601596515474165,1.5601596515474165,2.4313600000013054,1,0,-0.0005263027989630117,-9.999999025923074e-05
+12977,1791617088567830145,22272363000000,1791617088566237146,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761666691601907,-0.004972594976799338,0.08610389138872954,0.9999999804583071,-9.279220204707118e-06,0.0001112869716990658,0.00013437022028297608,0.6761,-0.0048,0.08588188606677456,1.0,0.0,0.0,0.0,0.6207451783122182,0.2617226396831376,1.5545122331527397,0.018178439681064026,-0.04229097486347872,0.0014523545934997258,0.5449049797008209,0.24464106556802878,1.426198238529653,0.017183888094623487,-0.042246099026442954,0.0015352257615653332,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.48019335006272207,0.24235237848697222,-1.1146538262928192,0.4459616183537428,0.8167531215854007,0.14043035973054635,0.5152655439204765,1.5545122331527397,1.6299193702132957,1.6299193702132957,2.474080000001348,1,0,-0.0005530027937614409,-9.999999025923074e-05
+13033,1791617089033836863,22272829000000,1791617089030247291,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761679948975959,-0.004980783884834953,0.08584417586495932,0.9999999797073993,-1.1283800976377432e-05,0.00011453288880920258,0.00013705093451229193,0.6761,-0.0048,0.08561876951594163,1.0,0.0,0.0,0.0,0.6168742814527651,0.27416620099876143,1.5648723435536738,0.019160934343830146,-0.04226281855126107,0.001437329537533623,0.5410340828413678,0.25708462688365263,1.436558348930587,0.018166382757389608,-0.042217942714225305,0.0015202007055992305,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5315110125102173,0.23832433268375341,-1.0849539033063047,0.4502544686680968,0.8114952415420065,0.13733996645927213,0.5152655439204765,1.5648723435536738,1.6002194472267812,1.6002194472267812,2.5113600000013854,1,0,-0.0005763027892222425,-9.999999025923074e-05
+13088,1791617089492825524,22273288000000,1791617089486237690,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761661555801246,-0.004980011124383863,0.08557458183400989,0.9999999799427425,-1.7270832398776764e-05,0.00011308331463470279,0.0001359090191218812,0.6761,-0.0048,0.08534899250924506,1.0,0.0,0.0,0.0,0.6196435417562131,0.2656140995805705,1.5733426480433377,0.018180236199275213,-0.04224923153459763,0.0014200674182056456,0.5438033431448157,0.24853252546546167,1.445028653420251,0.017185684612834675,-0.04220435569756186,0.001502938586271253,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5282134291388747,0.259289845548096,-1.0499524371782545,0.4535559351327875,0.7871835853307861,0.15296764612104377,0.5152655439204765,1.5733426480433377,1.565217981098731,1.565217981098731,2.548080000001422,1,0,-0.000599247623643577,-9.999999025923074e-05
+13144,1791617089958801406,22273754000000,1791617089954246915,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761661640093228,-0.0049852242858704765,0.08529396208834632,0.9999999797454974,-2.0398925952889213e-05,0.00011473584945113158,0.00013554127820050667,0.6761,-0.0048,0.08506432586768706,1.0,0.0,0.0,0.0,0.6227617964787577,0.26703476657882363,1.5650741546777727,0.018200965164138258,-0.04226244389680448,0.0014450359085094399,0.5469215978673604,0.24995319246371484,1.436760160054686,0.01720641357769772,-0.042217568059768715,0.0015279070765750473,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5816240528855027,0.27003895457003985,-1.1105094711574288,0.45730791834830664,0.8397297400591242,0.16079646937198366,0.5152655439204765,1.5650741546777727,1.6257750150779053,1.6257750150779053,2.5853600000014594,1,0,-0.0006225476191043785,-9.999999025923074e-05
+13196,1791617090392815212,22274188000000,1791617090390237166,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761635324975663,-0.004992944581094695,0.08501901083539416,0.9999999794218399,-2.416782322052995e-05,0.00011512531151060113,0.00013697176063802297,0.6761,-0.0048,0.08478944215191524,1.0,0.0,0.0,0.0,0.6368222728186916,0.279258979314497,1.567557402493213,0.019558495825781418,-0.04327646962326493,0.0014417296704788275,0.5609820742072943,0.2621774051993882,1.4392434078701264,0.01856394423934088,-0.043231593786229164,0.001524600838544435,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6303785761412662,0.190191205076533,-1.1841596530374552,0.4856716861235038,0.8989644633886381,0.11070013992928757,0.5152655439204765,1.567557402493213,1.6994251969579317,1.6994251969579317,2.620080000001494,1,0,-0.0006442476148768847,-9.999999025923074e-05
+13244,1791617090792831985,22274588000000,1791617090790246596,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761662028687495,-0.004988427388500005,0.08476595021727128,0.9999999793493387,-2.016723510071249e-05,0.00011698818441590267,0.0001365695204522936,0.6761,-0.0048,0.08452775310674569,1.0,0.0,0.0,0.0,0.6184944302528317,0.2737785474522819,1.545059620344338,0.019194064709935024,-0.04225882641637278,0.001472175025910067,0.5426542316414343,0.2566969733371731,1.4167456257212514,0.018199513123494486,-0.042213950579337016,0.0015550461939756745,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.648721768032283,0.34540680317726297,-1.195455041509425,0.4409157542518428,0.9043092704622993,0.21352654304432594,0.5152655439204765,1.545059620344338,1.7107205854299015,1.7107205854299015,2.652080000001526,1,0,-0.000664247610980577,-9.999999025923074e-05
+13296,1791617091225857961,22275021000000,1791617091222237270,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761628495965475,-0.004994404932508144,0.08446877593645882,0.9999999796049172,-2.3764383343680517e-05,0.00011128044403487651,0.00013887025100540296,0.6761,-0.0048,0.08423547763376156,1.0,0.0,0.0,0.0,0.6196074091130856,0.2644677159498445,1.5510504208489126,0.018172584191654562,-0.042240210903936884,0.0014575274112723943,0.5437672105016883,0.24738614183473567,1.422736426225826,0.017178032605214024,-0.04219533506690112,0.0015403985793380017,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7179075211721865,0.28501941156151384,-1.1555204251497906,0.45075780850540875,0.900225690793784,0.17250693491180483,0.5152655439204765,1.5510504208489126,1.670785969070267,1.670785969070267,2.6867200000015607,1,0,-0.0006850134906491709,-9.999953229223308e-05
+13344,1791617091625852163,22275421000000,1791617091622246580,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761589295517176,-0.004995952942687395,0.0841958752479238,0.9999999798991679,-2.746978347693438e-05,0.00011000921586906782,0.00013706900333411293,0.6761,-0.0048,0.08395748223827185,1.0,0.0,0.0,0.0,0.6194931946419319,0.26835293673543603,1.5244351508557272,0.018177768354158075,-0.042235427900623373,0.0014773107183842467,0.5436529960305345,0.25127136262032723,1.3961211562326405,0.017183216767717537,-0.04219055206358761,0.0015601818864498542,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6756531040758605,0.28752043876934275,-1.0950072413725034,0.45159150873779275,0.8446935757080184,0.17525090233050822,0.5152655439204765,1.5244351508557272,1.61027278529298,1.61027278529298,2.7187200000015928,1,0,-0.0007050134867806187,-9.999999025923074e-05
+13388,1791617091992833307,22275788000000,1791617091986246766,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761604604855573,-0.0049959744977292,0.0839411096208817,0.99999997945067,-3.053582028716232e-05,0.00011599838525082627,0.00013473478505184587,0.6761,-0.0048,0.08369538423928113,1.0,0.0,0.0,0.0,0.619561867055429,0.2666030716298931,1.4846600336844362,0.018183079498309364,-0.04222744180537362,0.0015051077109766637,0.5437216684440317,0.24952149751478434,1.3563460390613495,0.017188527911868826,-0.04218256596833785,0.0015879788790422711,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7728501944936517,0.30210147554346883,-1.2173379020054405,0.4462313611237166,0.945070878079011,0.18732566444657678,0.5152655439204765,1.4846600336844362,1.732603445925917,1.732603445925917,2.748080000001622,1,0,-0.0007233634832057564,-9.999999025923074e-05
+13432,1791617092358823674,22276154000000,1791617092358247032,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761581045423822,-0.004999891801362468,0.08367178713613146,0.9999999796972427,-2.9822592716353876e-05,0.00011140580250343662,0.0001369223818307449,0.6761,-0.0048,0.08342729345508203,1.0,0.0,0.0,0.0,0.6103044613747617,0.2688179062301033,1.4813574459804353,0.018157923011757046,-0.041213279465197115,0.0015270225448464736,0.5344642627633643,0.2517363321149945,1.3530434513573486,0.017163371425316508,-0.04116840362816135,0.001609893712912081,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8439387166575941,0.26247058818117913,-1.1395230944161128,0.45559240016159436,0.915351034129548,0.1572031356795361,0.5152655439204765,1.4813574459804353,1.6547886383365893,1.6547886383365893,2.7773600000016514,1,0,-0.0007416634796406349,-9.999999025923074e-05
+13475,1791617092717811382,22276513000000,1791617092714246988,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.676152789933134,-0.005006039300212539,0.08339118617457436,0.9999999798702696,-3.547157051248682e-05,0.00010519102867894815,0.00013920826133232285,0.6761,-0.0048,0.08315782321652049,1.0,0.0,0.0,0.0,0.6142692447899879,0.24716730761062974,1.4736320493342125,0.017170903942607285,-0.042203033708135176,0.0005150831166016751,0.5384290461785906,0.23008573349552094,1.3453180547111259,0.016176352356166747,-0.04215815787109941,0.0005979542846672825,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8760216847648628,0.16988839607558398,-1.2646465437047727,0.4823287019066059,1.0019170069924763,0.09892672495149346,0.5152655439204765,1.4736320493342125,1.7799120876252492,1.7799120876252492,2.80608000000168,1,0,-0.0007596134761436987,-9.999999025923074e-05
+13520,1791617093092840819,22276888000000,1791617093086246092,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761517389601722,-0.005008379408292814,0.08310069083786743,0.9999999794823763,-3.9995692404824136e-05,0.00010258049208024998,0.00014267339882691388,0.6761,-0.0048,0.08286946191365333,1.0,0.0,0.0,0.0,0.6207458342855534,0.24238427924479916,1.4430998730412556,0.016156629941118102,-0.04217554866233861,0.0004967350465329873,0.5449056356741561,0.22530270512969036,1.314785878418169,0.015162078354677562,-0.04213067282530284,0.0005796062145985947,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8810967037616059,0.26056117741002854,-1.17454206172784,0.4547136638917169,0.9404261048526232,0.15895756993677504,0.5152655439204765,1.4430998730412556,1.6898076056483164,1.6898076056483164,2.83608000000171,1,0,-0.0007783634724909102,-9.999999025923074e-05
+13559,1791617093417855691,22277213000000,1791617093410246872,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761469103518443,-0.005007080999991605,0.08283686065942572,0.9999999803100664,-4.0556057954809066e-05,9.741223198114733e-05,0.0001403167644324519,0.6761,-0.0048,0.0826138612856098,1.0,0.0,0.0,0.0,0.6285936051065243,0.2315525687768732,1.4220199853368944,0.01616155591244921,-0.04216782583785122,0.0005147841557383564,0.5527534064951269,0.2144709946617644,1.2937059907138078,0.015167004326008671,-0.04212295000081545,0.0005976553238039638,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9083581884553255,0.21539751152679656,-1.1755413986490548,0.4654682742150402,0.9522516134439927,0.12634560339358264,0.5152655439204765,1.4220199853368944,1.6908069425695313,1.6908069425695313,2.862080000001736,1,0,-0.0007946134693251602,-9.999999025923074e-05
+13599,1791617093750885932,22277546000000,1791617093750236892,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761410994003264,-0.005010893129792339,0.08256282928539482,0.9999999806895279,-4.1380259937124234e-05,8.754958376739111e-05,0.00014382820562371584,0.6761,-0.0048,0.08234649110086621,1.0,0.0,0.0,0.0,0.6257003815069561,0.23015256357002617,1.384850717334908,0.016168923449600966,-0.04215919328379056,0.0005413384749557322,0.5498601828955587,0.21307098945491737,1.2565367227118214,0.015174371863160428,-0.04211431744675479,0.0006242096430213397,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9289044490009529,0.23610562610651406,-1.1826876798906334,0.45812281654709497,0.9588527280022393,0.1411919152140864,0.5152655439204765,1.384850717334908,1.69795322381111,1.69795322381111,2.8887200000017628,1,0,-0.0008112634660814841,-9.999999025923074e-05
+13635,1791617094050887715,22277846000000,1791617094050246520,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761283010517695,-0.005015767285943826,0.08229384167446094,0.999999981748982,-4.759583451838864e-05,6.742384311439255e-05,0.00014537386966209155,0.6761,-0.0048,0.08210086956148156,1.0,0.0,0.0,0.0,0.6214579568681984,0.22283183135436066,1.3585671083965636,0.015135575110274344,-0.04213477821656963,0.0005495352140272734,0.545617758256801,0.20575025723925186,1.230253113773477,0.014141023523833805,-0.04208990237953386,0.0006324063820928808,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9742339727484186,0.27050807175632735,-1.238478424715362,0.4431630781166042,1.0062192626114659,0.16270550422786872,0.5152655439204765,1.3585671083965636,1.7537439686358385,1.7537439686358385,2.9127200000017868,1,0,-0.0008262634631592533,-9.999999025923074e-05
+13671,1791617094350895079,22278146000000,1791617094350246009,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761199895409115,-0.005011569070820308,0.0820267226612803,0.999999983078045,-4.781031026284907e-05,5.317963350048852e-05,0.00014203124627024406,0.6761,-0.0048,0.08185074802297358,1.0,0.0,0.0,0.0,0.6308317141133934,0.21133037872393087,1.3141456147285817,0.01416780176978899,-0.04310768201861232,0.0005608765254988275,0.5549915155019961,0.19424880460882207,1.185831620105495,0.013173250183348452,-0.043062806181576554,0.0006437476935644349,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.993167813048895,0.290044570397385,-1.19405534924475,0.4373270618056297,0.9811329251294563,0.17548714364931864,0.5152655439204765,1.3141456147285817,1.7093208931652266,1.7093208931652266,2.9367200000018108,1,0,-0.0008412634602370225,-9.999999025923074e-05
+13711,1791617094683824029,22278479000000,1791617094682246529,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6761134016535536,-0.005008843618113267,0.08172844298614389,0.9999999832195372,-4.553503536597521e-05,4.314231416162102e-05,0.00014515195855627504,0.6761,-0.0048,0.08156784339125635,1.0,0.0,0.0,0.0,0.6166739661405857,0.20014317283570499,1.2614466817981742,0.014148842786071899,-0.04209262183008714,0.0006192805555472663,0.5408337675291883,0.18306159872059619,1.1331326871750875,0.01315429119963136,-0.042047745993051375,0.0007021517236128738,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0517023464330022,0.19644676471047545,-1.0486374726713492,0.4500542999497342,0.900049825655795,0.11104599918496418,0.5152655439204765,1.2614466817981742,1.5639030165918257,1.5639030165918257,2.9633600000018374,1,0,-0.0008579134569933463,-9.999999025923074e-05
+13743,1791617094950800230,22278746000000,1791617094950237183,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6761027463989138,-0.005011530341803104,0.08147978142926178,0.9999999833748469,-5.339799656042976e-05,2.430954679864175e-05,0.00014577678297437747,0.6761,-0.0048,0.08133700494858763,1.0,0.0,0.0,0.0,0.6128440570334447,0.20589687029889436,1.210976214450855,0.013407664741471233,-0.04107251474442578,0.0006687878703861053,0.5370038584220473,0.18881529618378556,1.0826622198277682,0.012413113155030695,-0.041027638907390016,0.0007516590384517127,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0661755639724126,0.2723468160616482,-1.1145107729675292,0.4315412426673323,0.9432842986587514,0.1620600044791614,0.5152655439204765,1.210976214450855,1.6297763168880057,1.6297763168880057,2.9847200000018588,1,0,-0.000871263454392561,-9.999999025923074e-05
+13779,1791617095250832763,22279046000000,1791617095250246983,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760982709474291,-0.005009667033612715,0.08120315199797008,0.9999999835858274,-4.779862188372084e-05,1.56141501792226e-05,0.00014745405890282423,0.6761,-0.0048,0.08107338341270966,1.0,0.0,0.0,0.0,0.5949825033873911,0.19387067503171973,1.1634116832346466,0.013110837337713163,-0.04004483937938636,0.0007068499752508848,0.5191423047759938,0.17678910091661093,1.03509768861156,0.012116285751272625,-0.039999963542350594,0.0007897211433164922,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1332078063283102,0.23202209567726595,-1.143274325755091,0.4316577673144237,0.9767355651388254,0.1348019411108421,0.5152655439204765,1.1634116832346466,1.6585398696755675,1.6585398696755675,3.0087200000018828,1,0,-0.0008862634514703302,-9.999999025923074e-05
+13815,1791617095550846832,22279346000000,1791617095550246464,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760888480964404,-0.005004661417186517,0.08091772626541709,0.9999999837639354,-4.9023863925351174e-05,2.5796882886086426e-07,0.000146668290887191,0.6761,-0.0048,0.08080526187770835,1.0,0.0,0.0,0.0,0.5876801561378036,0.19168077379504625,1.1045071711259586,0.0131032898641258,-0.04001286096384755,0.0007610189406718813,0.5118399575264062,0.17459919967993745,0.976193176502872,0.012108738277685261,-0.03996798512681178,0.0008438901087374888,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1189037685095304,0.29156961202644477,-1.0919658822047853,0.41201623950860294,0.9347284131393653,0.17491334386512783,0.5152655439204765,1.1045071711259586,1.6072314261252618,1.6072314261252618,3.032720000001907,1,0,-0.0009012634485480994,-9.999999025923074e-05
+13851,1791617095850861160,22279646000000,1791617095850246445,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760791058091984,-0.005006944204110041,0.08063785882113626,0.999999983757394,-5.261866640826689e-05,-1.1593809118005402e-05,0.00014499977834939789,0.6761,-0.0048,0.08053264034358372,1.0,0.0,0.0,0.0,0.5634603715263886,0.18885012146073007,1.0201866189278863,0.013090734227643595,-0.038980486029339366,0.0008401219027765131,0.4876201729149913,0.17176854734562128,0.8918726243047996,0.012096182641203056,-0.0389356101923036,0.0009229930708421206,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1630090035427418,0.2983751055449073,-0.9840979875386919,0.4073726440134876,0.8714114518930579,0.17687559831668284,0.5152655439204765,1.0201866189278863,1.4993635314591685,1.4993635314591685,3.056720000001931,1,0,-0.0009162634456258686,-9.999999025923074e-05
+13887,1791617096150914083,22279946000000,1791617096146247049,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760718809334467,-0.004999049889299363,0.08034971736105469,0.9999999836932969,-5.1795578539833487e-05,-2.024890497883184e-05,0.00014478767316756909,0.6761,-0.0048,0.08025551881033575,1.0,0.0,0.0,0.0,0.5405179290772931,0.1872694434313605,0.9621095477336734,0.013047633888258544,-0.036944681408450496,0.0009170651568952905,0.4646777304658958,0.1701878693162517,0.8337955531105867,0.012053082301818006,-0.03689980557141473,0.000999936324960898,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.193163440306356,0.25106073141753055,-0.9553324790327179,0.41376419534403835,0.853081461495475,0.14630704276815637,0.5152655439204765,0.9621095477336734,1.4705980229531943,1.4705980229531943,3.080720000001955,1,0,-0.0009312634427036378,-9.999999025923074e-05
+13918,1791617096408929776,22280204000000,1791617096406246652,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760672739981813,-0.004996463561255372,0.0801020563848516,0.9999999842177281,-4.996148780383777e-05,-2.459855662245621e-05,0.00014108922248178606,0.6761,-0.0048,0.08001359519244367,1.0,0.0,0.0,0.0,0.5352582625441492,0.19489055770782757,0.9095513011376423,0.013037652897017393,-0.03591924127962046,0.0009733842614224294,0.45941806393275186,0.17780898359271877,0.7812373065145556,0.012043101310576855,-0.035874365442584696,0.0010562554294880368,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.254895974147824,0.30860963058550756,-0.8559960474838155,0.4019925326158824,0.7988202227582339,0.18554878255577859,0.5152655439204765,0.9095513011376423,1.371261591404292,1.371261591404292,3.1013600000019754,1,0,-0.0009441634401905194,-9.999999025923074e-05
+13955,1791617096717917240,22280513000000,1791617096710246464,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760603677309024,-0.004994646314688887,0.0797956445775607,0.9999999837572655,-4.782575776861112e-05,-3.563778079417657e-05,0.00014272693808187135,0.6761,-0.0048,0.07971946938989133,1.0,0.0,0.0,0.0,0.5111169782089411,0.18675678980121016,0.8393581554949585,0.013021717252665916,-0.03488412810561784,0.000391390385343922,0.43527677959754374,0.16967521568610136,0.7110441608718718,0.012027165666225378,-0.034839252268582074,0.0004742615534095295,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2809017387887494,0.3288474374749117,-0.8641734520756089,0.38445624685153834,0.8043503386911756,0.19448585313128774,0.5152655439204765,0.8393581554949585,1.3794389959960855,1.3794389959960855,3.126080000002,1,0,-0.0009596134371806217,-9.999999025923074e-05
+13987,1791617096983920740,22280779000000,1791617096982236969,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760504964620657,-0.00499596371779619,0.07953039749674654,0.9999999834596477,-4.3811482667605954e-05,-4.581064454984025e-05,0.00014319744340659932,0.6761,-0.0048,0.07946244996594719,1.0,0.0,0.0,0.0,0.49684738895822833,0.1805064679395945,0.7768348885460159,0.013008014253788835,-0.033854650071494526,8.15570445106627e-05,0.421007190346831,0.1634248938244857,0.6485208939229292,0.012013462667348297,-0.03380977423445876,0.00016442821257627016,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.341726724999968,0.2138351134354416,-0.7964311778829045,0.4078735260685208,0.7719219638022584,0.11749554213200572,0.5152655439204765,0.7768348885460159,1.311696721803381,1.311696721803381,3.1473600000020214,1,0,-0.000972913434589577,-9.999999025923074e-05
+14018,1791617097242925709,22281038000000,1791617097242247183,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760529219762512,-0.004988693207524716,0.07927855377295062,0.9999999840761705,-4.165415920644664e-05,-4.24511690567226e-05,0.00014054662013383205,0.6761,-0.0048,0.07920879483671646,1.0,0.0,0.0,0.0,0.47367004988453976,0.18674249683674898,0.7101748378834193,0.012949060720272874,-0.031817355054877365,0.00016343964254553043,0.3978298512731424,0.16966092272164018,0.5818608432603326,0.011954509133832336,-0.0317724792178416,0.0002463108106111379,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3634834483747782,0.23174416940724674,-0.820860876701378,0.39650527918428136,0.7861440807261078,0.12655721180408977,0.5152655439204765,0.7101748378834193,1.3361264206218544,1.3361264206218544,3.168080000002042,1,0,-0.0009858634320667177,-9.999999025923074e-05
+14050,1791617097508896107,22281304000000,1791617097506246737,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760444619624485,-0.004997600041551248,0.07900355405608468,0.999999982870608,-4.7358803298246135e-05,-5.5146906039347555e-05,0.00014289020479198812,0.6761,-0.0048,0.07894479291413262,1.0,0.0,0.0,0.0,0.4555724068683413,0.17381588254707672,0.6677423784187168,0.011926132151762045,-0.030771168456585115,0.00019883981766199684,0.3797322082569439,0.15673430843196792,0.5394283837956301,0.010931580565321506,-0.030726292619549345,0.0002817109857276043,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3651625150827291,0.27449691183151254,-0.7492354533864634,0.37287507050298657,0.7403306163058225,0.15257836894601817,0.5152655439204765,0.6677423784187168,1.2645009973069399,1.2645009973069399,3.1893600000020634,1,0,-0.000999163429475673,-9.999999025923074e-05
+14082,1791617097775903991,22281571000000,1791617097774246480,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760339921027377,-0.004980520767957977,0.07871401383096088,0.9999999828507218,-4.270870280658853e-05,-7.339636855911419e-05,0.0001361262665147756,0.6761,-0.0048,0.07867624072881112,1.0,0.0,0.0,0.0,0.43431156526202314,0.15885558005021966,0.6066214227774753,0.010887084347305655,-0.029405407582985318,0.0002554360179061365,0.3584713666506258,0.14177400593511086,0.47830742815438865,0.009892532760865116,-0.029360531745949547,0.00033830718597174396,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3144789095563472,0.2949088914234828,-0.5544920471174584,0.37308880876954226,0.5945697868235333,0.16747929822481825,0.5152655439204765,0.6066214227774753,1.0697575910379349,1.0697575910379349,3.210720000002085,1,0,-0.0010125134268748877,-9.999999025923074e-05
+14114,1791617098042890145,22281838000000,1791617098042246845,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760277742132637,-0.004983911411801907,0.07843259155631348,0.9999999817437205,-4.306495278307148e-05,-8.506747164963118e-05,0.00013734758083329223,0.6761,-0.0048,0.07840412409418403,1.0,0.0,0.0,0.0,0.4283599473300209,0.15941705994823338,0.5199276882951429,0.010882455164099332,-0.028913463601228328,0.0003324432586780956,0.35251974871862357,0.14233548583312458,0.3916136936720562,0.009887903577658794,-0.028868587764192558,0.00041531442674370305,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3436298297369504,0.19649092881475883,-0.571632430815957,0.39643382079132417,0.6101392792898683,0.10179565540589358,0.5152655439204765,0.5199276882951429,1.0868979747364336,1.0868979747364336,3.232080000002106,1,0,-0.0010258634242741023,-9.999999025923074e-05
+14142,1791617098275921565,22282071000000,1791617098274237183,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760207141348585,-0.004984312210909303,0.0781866732286127,0.9999999810799426,-4.5253514078200746e-05,-9.399932417550277e-05,0.00013564374417231097,0.6761,-0.0048,0.0781637465165937,1.0,0.0,0.0,0.0,0.41020423340688106,0.14056915081056637,0.456504240729509,0.009841509300478056,-0.027694659674743344,0.0003871823487942661,0.3343640347954837,0.12348757669545758,0.32819024610642233,0.008846957714037517,-0.027649783837707574,0.0004700535168598736,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.345622142948376,0.23710747365771692,-0.4279376764975791,0.37935999348451277,0.5152848562610909,0.12319779586012783,0.5152655439204765,0.456504240729509,0.9432032204180556,0.9432032204180556,3.250720000002125,1,0,-0.001037513422004503,-9.999999025923074e-05
+14174,1791617098542836664,22282338000000,1791617098542246556,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760167619197238,-0.004974794663030856,0.07789472371905326,0.9999999806213632,-3.729181374203342e-05,-0.00010203857792325691,0.00013563770422501224,0.6761,-0.0048,0.07788495488326701,1.0,0.0,0.0,0.0,0.38781559682678923,0.13899564296323028,0.4052365663947184,0.009811156682207693,-0.02621925352267658,0.0004519756383691143,0.3119753982153919,0.12191406884812148,0.27692257177163165,0.008816605095767155,-0.02617437768564081,0.0005348468064347218,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.313597889956148,0.2771758191077968,-0.3732843593141793,0.36031556487370936,0.46800328973096306,0.1507054881706657,0.5152655439204765,0.4052365663947184,0.8885499032346558,0.8885499032346558,3.272080000002146,1,0,-0.0010508634194037177,-9.999999025923074e-05
+14202,1791617098775890187,22282571000000,1791617098770246833,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6760031125969855,-0.004974331932316904,0.07763363816131588,0.9999999786198281,-4.002935691545774e-05,-0.00011991561858596504,0.00013498556506344524,0.6761,-0.0048,0.07763875230681148,1.0,0.0,0.0,0.0,0.3827666411004658,0.12457076413766371,0.3650698735162117,0.008780877173011205,-0.025578222476226344,0.0004785817368413015,0.3069264424890685,0.10748919002255491,0.23675587889312494,0.007786325586570666,-0.025533346639190574,0.000561452904906909,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.353696474164599,0.3392895443715601,-0.3811780492374988,0.32796539628847504,0.48820353793885296,0.18516885000115854,0.5152655439204765,0.3650698735162117,0.8964435931579753,0.8964435931579753,3.290720000002165,1,0,-0.0010625134171341184,-9.999999025923074e-05
+14234,1791617099042836125,22282838000000,1791617099042246898,DOWN_FORCE_DETACH,2,0.0475,0.047502610832452774,0.6760082282763087,-0.004962988991031528,0.07734655668229623,0.9999999792091536,-3.155170748465641e-05,-0.0001177010259231678,0.00013481659771249886,0.6761,-0.0048,0.07735328567478518,1.0,0.0,0.0,0.0,0.33576000105752246,0.1372754732734878,0.292842790294922,0.009782220444621915,-0.022529845842331107,0.0005154987794199084,0.2599198024461251,0.120193899158379,0.16452879567183526,0.008787668858181377,-0.022484970005295337,0.0005983699474855158,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3776425225001214,0.17553569071002373,-0.20108793794694313,0.37715206817156677,0.3651147633930983,0.07846207642830193,0.5152655439204765,0.292842790294922,0.7163534818674197,0.7163534818674197,3.312080000002186,1,0,-0.001075863414533333,-9.999999025923074e-05
+14262,1791617099275941847,22283071000000,1791617099270246985,DOWN_FORCE_DETACH,2,0.0475,0.047501955181360245,0.6759978584561944,-0.004954921479309976,0.07708650681512075,0.9999999777660707,-2.912277055154946e-05,-0.0001282299529839925,0.0001364538966653925,0.6761,-0.0048,0.07710125809946446,1.0,0.0,0.0,0.0,0.34510928669143814,0.10777605856974087,0.25503221421322897,0.007731873018254036,-0.023513982499501505,0.0005825315652387996,0.2692690880800408,0.09069448445463207,0.1267182195901423,0.0067373214318134965,-0.023469106662465735,0.000665402733304407,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3548917297557321,0.24377500735841798,-0.20429409178880498,0.3495686921883094,0.3626689778143228,0.1191975076337256,0.5152655439204765,0.25503221421322897,0.7195596357092815,0.7195596357092815,3.330720000002205,1,0,-0.0010875134122637338,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2541d3b0f4b25bcbe56d9b6e1930c5ec2531537d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b57a9f674079fd865b82a596bbc1fa15b80289e8
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.290000000e+01,DOWN_FORCE_DETACH,1791617082608307543,1.626846562e-04,-1.591484765e-04,-2.350874641e-03,1.625078408e-04,-1.593227433e-04,-2.350818948e-03,1.588155358e-04,-1.591769304e-04,-2.348636966e-03,7.017005561e-01,-1.575975152e-04,8.383900665e-01,7.017003793e-01,-1.577717820e-04,8.383901222e-01,7.018881283e-01,-1.574284942e-04,8.272240449e-01
+15,1.335000000e+01,DOWN_FORCE_DETACH,1791617083508497193,1.645149602e-04,-1.651160470e-04,-2.612757947e-03,1.627036914e-04,-1.629509519e-04,-2.603090003e-03,1.581253432e-04,-1.627895880e-04,-2.600718141e-03,7.017023864e-01,-1.635650857e-04,8.381281832e-01,7.017005752e-01,-1.613999906e-04,8.381378512e-01,7.018874381e-01,-1.610411518e-04,8.269719637e-01
+16,1.375000000e+01,DOWN_FORCE_DETACH,1791617084306573898,1.651809920e-04,-1.706508199e-04,-2.873147699e-03,1.648791612e-04,-1.705702744e-04,-2.873420327e-03,1.593636940e-04,-1.703897062e-04,-2.870769254e-03,7.017030525e-01,-1.690998586e-04,8.378677935e-01,7.017027506e-01,-1.690193130e-04,8.378675209e-01,7.018886764e-01,-1.686412699e-04,8.267019126e-01
+17,1.413333333e+01,DOWN_FORCE_DETACH,1791617085072510137,1.638989385e-04,-1.751065550e-04,-3.149168865e-03,1.636575864e-04,-1.751491475e-04,-3.148953292e-03,1.570848188e-04,-1.749048154e-04,-3.146374368e-03,7.017017704e-01,-1.735555936e-04,8.375917723e-01,7.017015291e-01,-1.735981862e-04,8.375919879e-01,7.018863976e-01,-1.731563792e-04,8.264263074e-01
+18,1.450000000e+01,DOWN_FORCE_DETACH,1791617085768653244,1.660571886e-04,-1.779199346e-04,-3.416520007e-03,1.650929962e-04,-1.811591632e-04,-3.404613896e-03,1.576040749e-04,-1.808986350e-04,-3.402333182e-03,7.017039287e-01,-1.763689733e-04,8.373244212e-01,7.017029645e-01,-1.796082019e-04,8.373363273e-01,7.018869168e-01,-1.791501988e-04,8.261703486e-01
+19,1.481666667e+01,DOWN_FORCE_DETACH,1791617086368667184,1.644110220e-04,-1.843291479e-04,-3.672850789e-03,1.644341648e-04,-1.843725123e-04,-3.672627763e-03,1.559848989e-04,-1.841083698e-04,-3.670131031e-03,7.017022825e-01,-1.827781866e-04,8.370680904e-01,7.017023056e-01,-1.828215510e-04,8.370683134e-01,7.018852976e-01,-1.823599336e-04,8.259025508e-01
+20,1.511666667e+01,DOWN_FORCE_DETACH,1791617086934534970,1.697493038e-04,-1.802543521e-04,-3.927719577e-03,1.694532343e-04,-1.802832012e-04,-3.927314794e-03,1.602663134e-04,-1.800437794e-04,-3.924914354e-03,7.017076208e-01,-1.787033908e-04,8.368132216e-01,7.017073247e-01,-1.787322399e-04,8.368136264e-01,7.018895791e-01,-1.782953431e-04,8.256477675e-01
+21,1.541666667e+01,DOWN_FORCE_DETACH,1791617087498385039,1.669413143e-04,-1.902257093e-04,-4.197960352e-03,1.666575000e-04,-1.902437185e-04,-4.197900661e-03,1.563650536e-04,-1.900057547e-04,-4.195581767e-03,7.017048128e-01,-1.886747480e-04,8.365429808e-01,7.017045290e-01,-1.886927571e-04,8.365430405e-01,7.018856778e-01,-1.882573184e-04,8.253771000e-01
+22,1.570000000e+01,DOWN_FORCE_DETACH,1791617088034980923,1.679748496e-04,-1.891299842e-04,-4.461089446e-03,1.648557473e-04,-1.839480218e-04,-4.448262721e-03,1.535004764e-04,-1.837018566e-04,-4.446467565e-03,7.017058463e-01,-1.875790228e-04,8.362798517e-01,7.017027272e-01,-1.823970605e-04,8.362926785e-01,7.018828132e-01,-1.819534204e-04,8.251262143e-01
+23,1.596666667e+01,DOWN_FORCE_DETACH,1791617088564603891,1.736530857e-04,-1.913810768e-04,-4.738108004e-03,1.709457628e-04,-1.902648689e-04,-4.720117936e-03,1.588460511e-04,-1.899500925e-04,-4.718431071e-03,7.017115246e-01,-1.898301154e-04,8.360028332e-01,7.017088172e-01,-1.887139075e-04,8.360208233e-01,7.018881588e-01,-1.882016563e-04,8.248542507e-01
+24,1.621666667e+01,DOWN_FORCE_DETACH,1791617089030442716,1.737620206e-04,-1.961554183e-04,-4.999227090e-03,1.735402606e-04,-1.960728037e-04,-4.999501513e-03,1.605162247e-04,-1.957552288e-04,-4.997722861e-03,7.017116335e-01,-1.946044570e-04,8.357417141e-01,7.017114117e-01,-1.945218423e-04,8.357414397e-01,7.018898290e-01,-1.940067925e-04,8.245749590e-01
+25,1.646666667e+01,DOWN_FORCE_DETACH,1791617089496454841,1.731864213e-04,-1.946014481e-04,-5.271370489e-03,1.730747738e-04,-1.946505685e-04,-5.271503234e-03,1.591089606e-04,-1.943674250e-04,-5.269835519e-03,7.017110579e-01,-1.930504868e-04,8.354695707e-01,7.017109463e-01,-1.930996072e-04,8.354694380e-01,7.018884217e-01,-1.926189888e-04,8.243028463e-01
+26,1.671666667e+01,DOWN_FORCE_DETACH,1791617089960652909,1.720242741e-04,-1.970239137e-04,-5.550261409e-03,1.718776181e-04,-1.972081604e-04,-5.549946391e-03,1.568828104e-04,-1.969278768e-04,-5.548467797e-03,7.017098958e-01,-1.954729524e-04,8.351906798e-01,7.017097491e-01,-1.956571991e-04,8.351909948e-01,7.018861956e-01,-1.951794406e-04,8.240242140e-01
+27,1.693333333e+01,DOWN_FORCE_DETACH,1791617090392343087,1.715239840e-04,-2.052800197e-04,-5.821439974e-03,1.710027418e-04,-2.006280270e-04,-5.803101915e-03,1.550009951e-04,-2.003292270e-04,-5.801829172e-03,7.017093955e-01,-2.037290584e-04,8.349195012e-01,7.017088742e-01,-1.990770657e-04,8.349378393e-01,7.018843137e-01,-1.985807908e-04,8.237708526e-01
+28,1.713333333e+01,DOWN_FORCE_DETACH,1791617090792456163,1.705267909e-04,-2.066441299e-04,-6.081010007e-03,1.704694181e-04,-2.069127136e-04,-6.080645497e-03,1.535679787e-04,-2.066164397e-04,-6.079576978e-03,7.017083983e-01,-2.050931686e-04,8.346599312e-01,7.017083409e-01,-2.053617523e-04,8.346602957e-01,7.018828807e-01,-2.048680034e-04,8.234931048e-01
+29,1.735000000e+01,DOWN_FORCE_DETACH,1791617091224545474,1.672848063e-04,-2.109445986e-04,-6.375863230e-03,1.670963142e-04,-2.106320216e-04,-6.375911795e-03,1.489967267e-04,-2.103420968e-04,-6.375138954e-03,7.017051563e-01,-2.093936373e-04,8.343650780e-01,7.017049678e-01,-2.090810603e-04,8.343650294e-01,7.018783095e-01,-2.085936606e-04,8.231975429e-01
+30,1.755000000e+01,DOWN_FORCE_DETACH,1791617091624679481,1.676124174e-04,-2.117585773e-04,-6.645210185e-03,1.674177424e-04,-2.119149119e-04,-6.644980295e-03,1.484292312e-04,-2.116557389e-04,-6.644303858e-03,7.017054839e-01,-2.102076160e-04,8.340957310e-01,7.017052892e-01,-2.103639506e-04,8.340959609e-01,7.018777420e-01,-2.099073027e-04,8.229283780e-01
+31,1.773333333e+01,DOWN_FORCE_DETACH,1791617091988494034,1.635835169e-04,-2.141923715e-04,-6.903117100e-03,1.631788616e-04,-2.141202004e-04,-6.903214209e-03,1.431058095e-04,-2.139290384e-04,-6.902657210e-03,7.017014550e-01,-2.126414102e-04,8.338378241e-01,7.017010503e-01,-2.125692391e-04,8.338377270e-01,7.018724186e-01,-2.121806022e-04,8.226700246e-01
+32,1.791666667e+01,DOWN_FORCE_DETACH,1791617092356510471,1.663915552e-04,-2.153956087e-04,-7.168845594e-03,1.662886253e-04,-2.152821651e-04,-7.168929918e-03,1.453320319e-04,-2.151631901e-04,-7.168414880e-03,7.017042630e-01,-2.138446474e-04,8.335720956e-01,7.017041601e-01,-2.137312038e-04,8.335720113e-01,7.018746448e-01,-2.134147539e-04,8.224042669e-01
+33,1.810000000e+01,DOWN_FORCE_DETACH,1791617092720566684,1.602936987e-04,-2.168275320e-04,-7.452738117e-03,1.604059850e-04,-2.168779808e-04,-7.452334019e-03,1.384028046e-04,-2.169089940e-04,-7.452030357e-03,7.016981652e-01,-2.152765707e-04,8.332882031e-01,7.016982775e-01,-2.153270195e-04,8.332886072e-01,7.018677156e-01,-2.151605577e-04,8.221206515e-01
+34,1.828333333e+01,DOWN_FORCE_DETACH,1791617093088659195,1.549475696e-04,-2.227013206e-04,-7.743292923e-03,1.548729279e-04,-2.224761495e-04,-7.743307783e-03,1.316323886e-04,-2.228361787e-04,-7.743205583e-03,7.016928191e-01,-2.211503593e-04,8.329976483e-01,7.016927444e-01,-2.209251882e-04,8.329976334e-01,7.018609451e-01,-2.210877425e-04,8.218294762e-01
+35,1.845000000e+01,DOWN_FORCE_DETACH,1791617093420673215,1.537381790e-04,-2.247535982e-04,-8.007060946e-03,1.536753034e-04,-2.245163402e-04,-8.006950566e-03,1.294341493e-04,-2.250348329e-04,-8.007035151e-03,7.016916097e-01,-2.232026369e-04,8.327338802e-01,7.016915468e-01,-2.229653789e-04,8.327339906e-01,7.018587469e-01,-2.232863967e-04,8.215656467e-01
+36,1.861666667e+01,DOWN_FORCE_DETACH,1791617093752583288,1.480730269e-04,-2.226602917e-04,-8.281479736e-03,1.479813239e-04,-2.227511389e-04,-8.281284409e-03,1.225924318e-04,-2.234537575e-04,-8.281422138e-03,7.016859445e-01,-2.211093304e-04,8.324594615e-01,7.016858528e-01,-2.212001775e-04,8.324596568e-01,7.018519052e-01,-2.217053213e-04,8.212912597e-01
+37,1.878333333e+01,DOWN_FORCE_DETACH,1791617094052516295,1.356483489e-04,-2.231886248e-04,-8.552027936e-03,1.352717255e-04,-2.232487171e-04,-8.552008350e-03,1.085868112e-04,-2.240988170e-04,-8.552283815e-03,7.016735198e-01,-2.216376635e-04,8.321889133e-01,7.016731432e-01,-2.216977558e-04,8.321889328e-01,7.018378996e-01,-2.223503808e-04,8.210203980e-01
+38,1.893333333e+01,DOWN_FORCE_DETACH,1791617094352646528,1.250757374e-04,-2.267856774e-04,-8.821890052e-03,1.248738537e-04,-2.266255059e-04,-8.821766917e-03,9.694183549e-05,-2.276510402e-04,-8.822136194e-03,7.016629472e-01,-2.252347161e-04,8.319190511e-01,7.016627453e-01,-2.250745446e-04,8.319191743e-01,7.018262546e-01,-2.259026040e-04,8.207505456e-01
+39,1.911666667e+01,DOWN_FORCE_DETACH,1791617094684520524,1.220714747e-04,-2.234711736e-04,-9.115151457e-03,1.218148119e-04,-2.234305269e-04,-9.114929736e-03,9.275133227e-05,-2.247022401e-04,-9.115489978e-03,7.016599430e-01,-2.219202123e-04,8.316257897e-01,7.016596863e-01,-2.218795656e-04,8.316260115e-01,7.018220641e-01,-2.229538039e-04,8.204571918e-01
+40,1.925000000e+01,DOWN_FORCE_DETACH,1791617094950669528,1.086329630e-04,-2.262050988e-04,-9.364580774e-03,1.082045277e-04,-2.264071346e-04,-9.364720889e-03,7.790999609e-05,-2.277737910e-04,-9.365347270e-03,7.016465044e-01,-2.246541375e-04,8.313763604e-01,7.016460760e-01,-2.248561733e-04,8.313762203e-01,7.018072227e-01,-2.260253548e-04,8.202073345e-01
+41,1.941666667e+01,DOWN_FORCE_DETACH,1791617095250638219,1.041575116e-04,-2.243417906e-04,-9.641210205e-03,1.037868551e-04,-2.241936698e-04,-9.641070363e-03,7.243958195e-05,-2.255549943e-04,-9.641635219e-03,7.016420290e-01,-2.227908293e-04,8.310997310e-01,7.016416583e-01,-2.226427085e-04,8.310998708e-01,7.018017523e-01,-2.238065581e-04,8.199310466e-01
+42,1.956666667e+01,DOWN_FORCE_DETACH,1791617095548520383,9.250947934e-05,-2.194176256e-04,-9.926059998e-03,9.244991567e-05,-2.193501214e-04,-9.926151809e-03,5.981543010e-05,-2.206825767e-04,-9.926787344e-03,7.016303810e-01,-2.178666643e-04,8.308148812e-01,7.016303214e-01,-2.177991601e-04,8.308147894e-01,7.017891282e-01,-2.189341405e-04,8.196458945e-01
+43,1.973333333e+01,DOWN_FORCE_DETACH,1791617095848548117,8.468713534e-05,-2.215263589e-04,-1.020495688e-02,8.450359667e-05,-2.214180668e-04,-1.020465774e-02,5.070131518e-05,-2.227510183e-04,-1.020528298e-02,7.016225586e-01,-2.199753976e-04,8.305359843e-01,7.016223751e-01,-2.198671054e-04,8.305362835e-01,7.017800141e-01,-2.210025821e-04,8.193673988e-01
+44,1.988333333e+01,DOWN_FORCE_DETACH,1791617096148518493,7.819302960e-05,-2.155663490e-04,-1.049270807e-02,7.800222656e-05,-2.153723944e-04,-1.049234068e-02,4.296477947e-05,-2.166813825e-04,-1.049301664e-02,7.016160645e-01,-2.140153877e-04,8.302482331e-01,7.016158737e-01,-2.138214331e-04,8.302486005e-01,7.017722775e-01,-2.149329463e-04,8.190796652e-01
+45,2.003333333e+01,DOWN_FORCE_DETACH,1791617096412752189,7.394022832e-05,-2.180763845e-04,-1.074509052e-02,7.366420897e-05,-2.179164837e-04,-1.074489019e-02,3.773280593e-05,-2.192210584e-04,-1.074556821e-02,7.016118117e-01,-2.165254232e-04,8.299958507e-01,7.016115357e-01,-2.163655224e-04,8.299960510e-01,7.017670456e-01,-2.174726222e-04,8.188271136e-01
+46,2.018333333e+01,DOWN_FORCE_DETACH,1791617096714536769,6.734344433e-05,-2.173345339e-04,-1.104301998e-02,6.724079084e-05,-2.174172268e-04,-1.104294451e-02,3.014811527e-05,-2.187391798e-04,-1.104364369e-02,7.016052149e-01,-2.157835726e-04,8.296979212e-01,7.016051123e-01,-2.158662654e-04,8.296979967e-01,7.017594609e-01,-2.169907436e-04,8.185290381e-01
+47,2.033333333e+01,DOWN_FORCE_DETACH,1791617096980440625,5.790281069e-05,-2.089261829e-04,-1.130598916e-02,5.675614633e-05,-2.119260822e-04,-1.129348884e-02,1.845602997e-05,-2.132099526e-04,-1.129418477e-02,7.015957743e-01,-2.073752216e-04,8.294349520e-01,7.015946276e-01,-2.103751208e-04,8.294474524e-01,7.017477688e-01,-2.114615164e-04,8.182784970e-01
+48,2.046666667e+01,DOWN_FORCE_DETACH,1791617097244822152,5.731772473e-05,-2.046265408e-04,-1.156965302e-02,5.704606336e-05,-2.045088611e-04,-1.156951140e-02,1.791869436e-05,-2.056997746e-04,-1.157024209e-02,7.015951892e-01,-2.030755795e-04,8.291712882e-01,7.015949175e-01,-2.029578997e-04,8.291714298e-01,7.017472314e-01,-2.039513383e-04,8.180024397e-01
+49,2.060000000e+01,DOWN_FORCE_DETACH,1791617097512511568,5.065471851e-05,-2.074003836e-04,-1.184378736e-02,5.057107653e-05,-2.072733660e-04,-1.184359092e-02,1.037380915e-05,-2.085372681e-04,-1.184431930e-02,7.015885262e-01,-2.058494223e-04,8.288971538e-01,7.015884426e-01,-2.057224046e-04,8.288973503e-01,7.017396866e-01,-2.067888318e-04,8.177283625e-01
+50,2.075000000e+01,DOWN_FORCE_DETACH,1791617097778546589,4.100451094e-05,-1.969232070e-04,-1.213359778e-02,4.073621536e-05,-1.970492041e-04,-1.213354308e-02,-7.025180656e-07,-1.982127037e-04,-1.213429027e-02,7.015788760e-01,-1.953722457e-04,8.286073434e-01,7.015786077e-01,-1.954982427e-04,8.286073981e-01,7.017286102e-01,-1.964642675e-04,8.174383915e-01
+51,2.088333333e+01,DOWN_FORCE_DETACH,1791617098044709257,3.317615441e-05,-2.002382247e-04,-1.241331190e-02,3.305488989e-05,-2.001418960e-04,-1.241263305e-02,-9.526149173e-06,-2.013275951e-04,-1.241340565e-02,7.015710476e-01,-1.986872634e-04,8.283276293e-01,7.015709264e-01,-1.985909347e-04,8.283283081e-01,7.017197866e-01,-1.995791588e-04,8.171592762e-01
+52,2.101666667e+01,DOWN_FORCE_DETACH,1791617098276496559,2.372855827e-05,-1.940522124e-04,-1.266173596e-02,2.349880321e-05,-1.938595399e-04,-1.266149650e-02,-2.013166664e-05,-1.949960058e-04,-1.266232669e-02,7.015616000e-01,-1.925012511e-04,8.280792052e-01,7.015613703e-01,-1.923085786e-04,8.280794447e-01,7.017091811e-01,-1.932475696e-04,8.169103551e-01
+53,2.115000000e+01,DOWN_FORCE_DETACH,1791617098542683138,2.264848385e-05,-1.894694201e-04,-1.294963848e-02,2.245121235e-05,-1.896429951e-04,-1.294950375e-02,-2.217023896e-05,-1.907657246e-04,-1.295034071e-02,7.015605200e-01,-1.879184587e-04,8.277913027e-01,7.015603227e-01,-1.880920337e-04,8.277914374e-01,7.017071425e-01,-1.890172883e-04,8.166223411e-01
+54,2.126666667e+01,DOWN_FORCE_DETACH,1791617098776750317,8.999161110e-06,-1.890066893e-04,-1.321072404e-02,8.631053463e-06,-1.891378462e-04,-1.321072336e-02,-3.720989994e-05,-1.902833613e-04,-1.321149181e-02,7.015468706e-01,-1.874557280e-04,8.275302171e-01,7.015465025e-01,-1.875868848e-04,8.275302178e-01,7.016921028e-01,-1.885349251e-04,8.163611900e-01
+55,2.140000000e+01,DOWN_FORCE_DETACH,1791617099040728050,1.595234614e-05,-1.812640946e-04,-1.349321570e-02,1.593487059e-05,-1.812102014e-04,-1.349309274e-02,-3.061113668e-05,-1.822975014e-04,-1.349391348e-02,7.015538238e-01,-1.797131333e-04,8.272477255e-01,7.015538064e-01,-1.796592401e-04,8.272478485e-01,7.016987016e-01,-1.805490652e-04,8.160787683e-01
+56,2.151666667e+01,DOWN_FORCE_DETACH,1791617099274594273,3.875991778e-06,-1.677057770e-04,-1.375565509e-02,3.363930531e-06,-1.678018045e-04,-1.375531758e-02,-4.437778516e-05,-1.688042578e-04,-1.375615999e-02,7.015417475e-01,-1.661548157e-04,8.269852861e-01,7.015412354e-01,-1.662508431e-04,8.269856236e-01,7.016849350e-01,-1.670558216e-04,8.158165218e-01
+57,2.165000000e+01,DOWN_FORCE_DETACH,1791617099540563130,9.220216095e-07,-1.644784866e-04,-1.405460453e-02,7.093128944e-07,-1.645804523e-04,-1.405471442e-02,-4.805192176e-05,-1.655642462e-04,-1.405559186e-02,7.015387935e-01,-1.629275253e-04,8.266863367e-01,7.015385808e-01,-1.630294910e-04,8.266862268e-01,7.016812608e-01,-1.638158100e-04,8.155170900e-01
+58,2.176666667e+01,DOWN_SETTLE,1791617099772483997,-8.582655545e-06,-1.693523387e-04,-1.432501218e-02,-9.037550855e-06,-1.695064361e-04,-1.432485807e-02,-5.893101140e-05,-1.705173176e-04,-1.432576495e-02,7.015292888e-01,-1.678013774e-04,8.264159290e-01,7.015288339e-01,-1.679554747e-04,8.264160831e-01,7.016703817e-01,-1.687688814e-04,8.152469169e-01
+59,2.203333333e+01,DOWN_SETTLE,1791617100304553913,-3.389369522e-05,-1.476176477e-04,-1.458827144e-02,-3.216301639e-05,-1.526087552e-04,-1.458204915e-02,-8.355321260e-05,-1.534870400e-04,-1.458290456e-02,7.015039778e-01,-1.460666864e-04,8.261526697e-01,7.015057085e-01,-1.510577939e-04,8.261588920e-01,7.016457595e-01,-1.517386038e-04,8.149897773e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52c713bfc697638c02d7c829ec6d741a19933dc3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-2.2812e-03,3.2847e-04,2.4554e+00,-3.6816e-02,3.6609e-02,2.0465e-06,2.2884e-04,9.8356e-06,1.3518e-04,-9.6112e-07,1.5836e-05,2.6060e-07,2.6597e-04,1.5867e-05
+1,1.2833e+00,DOWN_FORCE_DETACH,2.7743e-04,-1.4700e-03,2.6678e-02,2.4835e+00,-3.8632e-02,3.6670e-02,6.6211e-05,1.0401e-03,2.6359e-02,2.8249e-02,-1.8178e-03,7.6871e-05,6.4425e-05,3.8651e-02,1.8205e-03
+2,2.2333e+00,DOWN_FORCE_DETACH,5.5647e-04,-1.5648e-02,3.3576e-02,2.4941e+00,-3.9063e-02,3.5650e-02,7.6020e-05,-1.3138e-02,3.3257e-02,3.8863e-02,-2.2487e-03,-9.4377e-04,7.4234e-05,5.2811e-02,2.4399e-03
+3,3.3000e+00,DOWN_FORCE_DETACH,8.2988e-04,-1.0937e-03,3.4703e-02,2.4755e+00,-3.9164e-02,3.6661e-02,8.0295e-05,1.4164e-03,3.4385e-02,2.0249e-02,-2.3489e-03,6.6940e-05,7.8509e-05,3.9929e-02,2.3512e-03
+4,4.5167e+00,DOWN_FORCE_DETACH,1.1075e-03,1.0319e-02,3.5409e-02,2.4620e+00,-3.9277e-02,3.7508e-02,3.4959e-05,1.2829e-02,3.5091e-02,6.7890e-03,-2.4625e-03,9.1440e-04,3.3173e-05,3.7974e-02,2.6270e-03
+5,5.7000e+00,DOWN_FORCE_DETACH,1.3848e-03,6.3792e-03,3.6807e-02,2.4777e+00,-3.9336e-02,3.7213e-02,3.1352e-05,8.8893e-03,3.6488e-02,2.2418e-02,-2.5215e-03,6.1940e-04,2.9566e-05,4.3737e-02,2.5966e-03
+6,6.7500e+00,DOWN_FORCE_DETACH,1.6619e-03,8.1792e-03,4.6378e-02,2.4849e+00,-3.9936e-02,3.7329e-02,3.6406e-05,1.0689e-02,4.6059e-02,2.9666e-02,-3.1217e-03,7.3563e-04,3.4620e-05,5.5819e-02,3.2074e-03
+7,7.7667e+00,DOWN_FORCE_DETACH,1.9372e-03,9.5214e-03,4.8690e-02,2.4951e+00,-4.0032e-02,3.7412e-02,2.9403e-05,1.2031e-02,4.8371e-02,3.9830e-02,-3.2170e-03,8.1840e-04,2.7617e-05,6.3804e-02,3.3196e-03
+8,8.7333e+00,DOWN_FORCE_DETACH,2.2117e-03,1.0698e-02,5.0632e-02,2.5102e+00,-4.0123e-02,3.7484e-02,1.4523e-05,1.3208e-02,5.0313e-02,5.4953e-02,-3.3085e-03,8.9001e-04,1.2737e-05,7.5668e-02,3.4262e-03
+9,9.6000e+00,DOWN_FORCE_DETACH,2.4916e-03,7.5080e-03,5.2774e-02,2.5197e+00,-4.0209e-02,3.7256e-02,1.0161e-05,1.0018e-02,5.2456e-02,6.4413e-02,-3.3946e-03,6.6266e-04,8.3753e-06,8.3672e-02,3.4587e-03
+10,1.0400e+01,DOWN_FORCE_DETACH,2.7682e-03,8.5985e-03,5.3783e-02,2.5283e+00,-4.0237e-02,3.7315e-02,1.8213e-05,1.1109e-02,5.3464e-02,7.3066e-02,-3.4220e-03,7.2189e-04,1.6427e-05,9.1217e-02,3.4974e-03
+11,1.1117e+01,DOWN_FORCE_DETACH,3.0453e-03,1.0257e-02,5.3914e-02,2.5313e+00,-4.0190e-02,3.7424e-02,3.7466e-05,1.2767e-02,5.3595e-02,7.6055e-02,-3.3748e-03,8.3066e-04,3.5680e-05,9.3914e-02,3.4758e-03
+12,1.1800e+01,DOWN_FORCE_DETACH,3.3268e-03,9.3346e-03,5.4003e-02,2.5371e+00,-4.0183e-02,3.7357e-02,4.3318e-05,1.1845e-02,5.3685e-02,8.1864e-02,-3.3684e-03,7.6353e-04,4.1533e-05,9.8611e-02,3.4541e-03
+13,1.2383e+01,DOWN_FORCE_DETACH,3.6021e-03,1.1372e-02,5.6188e-02,2.5463e+00,-4.0270e-02,3.7491e-02,3.6651e-05,1.3883e-02,5.5869e-02,9.1067e-02,-3.4556e-03,8.9760e-04,3.4865e-05,1.0774e-01,3.5704e-03
+14,1.2900e+01,DOWN_FORCE_DETACH,3.8787e-03,1.1700e-02,5.6854e-02,2.5539e+00,-4.0284e-02,3.7507e-02,2.8486e-05,1.4210e-02,5.6535e-02,9.8644e-02,-3.4690e-03,9.1344e-04,2.6700e-05,1.1458e-01,3.5874e-03
+15,1.3350e+01,DOWN_FORCE_DETACH,4.1543e-03,1.0724e-02,5.9380e-02,2.5668e+00,-4.0381e-02,3.7433e-02,2.2919e-05,1.3234e-02,5.9061e-02,1.1160e-01,-3.5660e-03,8.3962e-04,2.1133e-05,1.2695e-01,3.6635e-03
+16,1.3750e+01,DOWN_FORCE_DETACH,4.4267e-03,1.0234e-02,6.1028e-02,2.5767e+00,-4.0422e-02,3.7387e-02,2.5210e-05,1.2744e-02,6.0710e-02,1.2145e-01,-3.6069e-03,7.9349e-04,2.3425e-05,1.3637e-01,3.6933e-03
+17,1.4133e+01,DOWN_FORCE_DETACH,4.7113e-03,8.8170e-03,6.5125e-02,2.5734e+00,-4.0600e-02,3.7287e-02,3.2931e-05,1.1327e-02,6.4806e-02,1.1816e-01,-3.7854e-03,6.9304e-04,3.1145e-05,1.3524e-01,3.8485e-03
+18,1.4500e+01,DOWN_FORCE_DETACH,4.9888e-03,9.6622e-03,6.6480e-02,2.5770e+00,-4.0638e-02,3.7336e-02,3.0874e-05,1.2172e-02,6.6161e-02,1.2171e-01,-3.8235e-03,7.4243e-04,2.9088e-05,1.3906e-01,3.8950e-03
+19,1.4817e+01,DOWN_FORCE_DETACH,5.2564e-03,7.9893e-03,6.6390e-02,2.5713e+00,-4.0615e-02,3.7229e-02,2.2385e-05,1.0499e-02,6.6071e-02,1.1606e-01,-3.8003e-03,6.3527e-04,2.0599e-05,1.3396e-01,3.8531e-03
+20,1.5117e+01,DOWN_FORCE_DETACH,5.5316e-03,8.8307e-03,6.6225e-02,2.5705e+00,-4.0564e-02,3.7288e-02,8.8488e-06,1.1341e-02,6.5906e-02,1.1525e-01,-3.7493e-03,6.9395e-04,7.0630e-06,1.3325e-01,3.8130e-03
+21,1.5417e+01,DOWN_FORCE_DETACH,5.8160e-03,9.7829e-03,6.5381e-02,2.5715e+00,-4.0499e-02,3.7348e-02,-5.4948e-07,1.2293e-02,6.5063e-02,1.1624e-01,-3.6839e-03,7.5446e-04,-2.3353e-06,1.3377e-01,3.7604e-03
+22,1.5700e+01,DOWN_FORCE_DETACH,6.0870e-03,5.6820e-03,6.6057e-02,2.5626e+00,-4.0492e-02,3.7077e-02,-3.9490e-06,8.1921e-03,6.5738e-02,1.0731e-01,-3.6771e-03,4.8386e-04,-5.7349e-06,1.2611e-01,3.7088e-03
+23,1.5967e+01,DOWN_FORCE_DETACH,6.3716e-03,8.2442e-03,6.9376e-02,2.5545e+00,-4.0712e-02,3.7243e-02,-4.4928e-06,1.0754e-02,6.9058e-02,9.9220e-02,-3.8973e-03,6.4910e-04,-6.2787e-06,1.2136e-01,3.9510e-03
+24,1.6217e+01,DOWN_FORCE_DETACH,6.6379e-03,7.4993e-03,7.2020e-02,2.5515e+00,-4.0881e-02,3.7203e-02,-7.9283e-06,1.0009e-02,7.1701e-02,9.6305e-02,-4.0666e-03,6.0925e-04,-9.7142e-06,1.2048e-01,4.1120e-03
+25,1.6467e+01,DOWN_FORCE_DETACH,6.9140e-03,9.1426e-03,7.1856e-02,2.5460e+00,-4.0856e-02,3.7318e-02,-1.5187e-05,1.1653e-02,7.1538e-02,9.0772e-02,-4.0409e-03,7.2429e-04,-1.6973e-05,1.1616e-01,4.1054e-03
+26,1.6717e+01,DOWN_FORCE_DETACH,7.1993e-03,8.7722e-03,7.2322e-02,2.5386e+00,-4.0875e-02,3.7302e-02,-2.3657e-05,1.1282e-02,7.2003e-02,8.3368e-02,-4.0602e-03,7.0844e-04,-2.5443e-05,1.1073e-01,4.1216e-03
+27,1.6933e+01,DOWN_FORCE_DETACH,7.4763e-03,5.1038e-03,7.3628e-02,2.5365e+00,-4.0905e-02,3.7054e-02,-2.0918e-05,7.6139e-03,7.3309e-02,8.1227e-02,-4.0901e-03,4.6061e-04,-2.2704e-05,1.0968e-01,4.1160e-03
+28,1.7133e+01,DOWN_FORCE_DETACH,7.7405e-03,7.0376e-03,7.2632e-02,2.5225e+00,-4.0876e-02,3.7187e-02,-9.7980e-06,9.5477e-03,7.2313e-02,6.7219e-02,-4.0611e-03,5.9362e-04,-1.1584e-05,9.9190e-02,4.1043e-03
+29,1.7350e+01,DOWN_FORCE_DETACH,8.0420e-03,7.7353e-03,7.1429e-02,2.5099e+00,-4.0852e-02,3.7254e-02,-1.6229e-05,1.0245e-02,7.1111e-02,5.4699e-02,-4.0375e-03,6.6084e-04,-1.8015e-05,9.0298e-02,4.0913e-03
+30,1.7550e+01,DOWN_FORCE_DETACH,8.3151e-03,8.0825e-03,7.2142e-02,2.5068e+00,-4.0871e-02,3.7282e-02,-2.8565e-05,1.0593e-02,7.1823e-02,5.1561e-02,-4.0559e-03,6.8853e-04,-3.0351e-05,8.9047e-02,4.1140e-03
+31,1.7733e+01,DOWN_FORCE_DETACH,8.5775e-03,7.6191e-03,6.9046e-02,2.4995e+00,-4.0700e-02,3.7260e-02,-4.0925e-05,1.0129e-02,6.8727e-02,4.4213e-02,-3.8851e-03,6.6593e-04,-4.2711e-05,8.2346e-02,3.9420e-03
+32,1.7917e+01,DOWN_FORCE_DETACH,8.8480e-03,5.8299e-03,6.8470e-02,2.5000e+00,-4.0632e-02,3.7134e-02,-3.7875e-05,8.3400e-03,6.8151e-02,4.4749e-02,-3.8169e-03,5.4061e-04,-3.9661e-05,8.1955e-02,3.8552e-03
+33,1.8100e+01,DOWN_FORCE_DETACH,9.1334e-03,6.2146e-03,6.0362e-02,2.4935e+00,-4.0135e-02,3.7163e-02,-3.5299e-05,8.7247e-03,6.0043e-02,3.8259e-02,-3.3199e-03,5.6895e-04,-3.7085e-05,7.1729e-02,3.3685e-03
+34,1.8283e+01,DOWN_FORCE_DETACH,9.4256e-03,5.7634e-03,4.8377e-02,2.4808e+00,-3.9533e-02,3.7149e-02,-4.1447e-05,8.2735e-03,4.8058e-02,2.5517e-02,-2.7181e-03,5.5509e-04,-4.3233e-05,5.5038e-02,2.7746e-03
+35,1.8450e+01,DOWN_FORCE_DETACH,9.6913e-03,4.6829e-03,4.0124e-02,2.4772e+00,-3.9052e-02,3.7081e-02,-4.3433e-05,7.1929e-03,3.9805e-02,2.1932e-02,-2.2370e-03,4.8736e-04,-4.5219e-05,4.6013e-02,2.2899e-03
+36,1.8617e+01,DOWN_FORCE_DETACH,9.9689e-03,2.4763e-03,3.2436e-02,2.4719e+00,-3.8620e-02,3.6937e-02,-3.4748e-05,4.9864e-03,3.2117e-02,1.6694e-02,-1.8055e-03,3.4372e-04,-3.6534e-05,3.6539e-02,1.8383e-03
+37,1.8783e+01,DOWN_FORCE_DETACH,1.0242e-02,2.1466e-03,2.4763e-02,2.4686e+00,-3.8170e-02,3.6916e-02,-2.5620e-05,4.6567e-03,2.4444e-02,1.3341e-02,-1.3555e-03,3.2249e-04,-2.7406e-05,2.8235e-02,1.3936e-03
+38,1.8933e+01,DOWN_FORCE_DETACH,1.0513e-02,6.6571e-04,1.9615e-02,2.4656e+00,-3.7865e-02,3.6820e-02,-1.5580e-05,3.1758e-03,1.9296e-02,1.0390e-02,-1.0500e-03,2.2629e-04,-1.7366e-05,2.2145e-02,1.0742e-03
+39,1.9117e+01,DOWN_FORCE_DETACH,1.0811e-02,3.2707e-04,5.8230e-03,2.4570e+00,-3.7077e-02,3.6805e-02,-9.5334e-06,2.8371e-03,5.5044e-03,1.7927e-03,-2.6213e-04,2.1119e-04,-1.1319e-05,6.4468e-03,3.3682e-04
+40,1.9250e+01,DOWN_FORCE_DETACH,1.1061e-02,-7.0210e-06,-3.1530e-04,2.4531e+00,-3.6737e-02,3.6786e-02,-6.4678e-06,2.5031e-03,-6.3393e-04,-2.1484e-03,7.7870e-05,1.9229e-04,-8.2536e-06,3.3590e-03,2.0762e-04
+41,1.9417e+01,DOWN_FORCE_DETACH,1.1339e-02,2.2611e-06,3.4979e-05,2.4525e+00,-3.6791e-02,3.6788e-02,-2.5468e-06,2.5123e-03,-2.8365e-04,-2.7430e-03,2.4088e-05,1.9404e-04,-4.3327e-06,3.7305e-03,1.9558e-04
+42,1.9567e+01,DOWN_FORCE_DETACH,1.1626e-02,1.3143e-06,8.9232e-06,2.4525e+00,-3.6788e-02,3.6788e-02,-1.7344e-06,2.5114e-03,-3.0971e-04,-2.7421e-03,2.6446e-05,1.9396e-04,-3.5203e-06,3.7312e-03,1.9578e-04
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cba8c1dff029bedcd2dd9177213640997a523b1
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95947b27d7c28c0bcda216cebdb3016bf8bea145
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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+8764,1791617053468413092,22237264000000,1791617053466236958,UP_FORCE_HOLD,2,0.0475,0.047502610832452774,0.6759579564069381,-0.004858493477041657,0.09080344347530186,0.9999999688871607,-8.594261480166168e-06,-0.00023150518218269502,1.771766918938314e-07,0.6761,-0.0048,0.09116289023264665,1.0,0.0,0.0,0.0,0.5938903971976487,0.4031094289880368,-0.5492935362907264,0.027830905897625078,-0.04295783456675338,-0.0008715428662724417,0.5180501985862513,0.386027854872928,-0.6776075309138131,0.02683635431118454,-0.042912958729717614,-0.0007886716982068343,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.039576983269463,0.4564221760953584,2.568810847419091,-0.10176848257245628,-1.7676528340293247,0.2714779912370694,0.5152655439204765,0.5492935362907264,-2.0535453034986144,0.5492935362907264,0.558,0,0,7.457526928036139e-06,-3.135651589292243e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ed0aee578ff5d686d11662e0c13fe737952de26
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..734b8bcd34120d024db214ff01655b4750f8f880
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.400000000e+00,UP_FORCE_RAMP,1791617052571453486,-3.720094332e-05,-1.041327488e-04,5.264733517e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.773991074e-05,-1.042367565e-04,4.737032139e-05,7.015006705e-01,-1.025817875e-04,8.407935885e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016915728e-01,-1.024883203e-04,8.296200521e-01
+44,1.450000000e+00,UP_FORCE_RAMP,1791617052672266463,-3.857543022e-05,-1.040524315e-04,5.353934125e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.776851639e-05,-1.042374338e-04,4.741935879e-05,7.014992961e-01,-1.025014702e-04,8.407944805e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016915442e-01,-1.024889976e-04,8.296201012e-01
+45,1.500000000e+00,UP_FORCE_HOLD,1791617052772081940,-4.020403511e-05,-1.027899145e-04,5.562400286e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.779290815e-05,-1.042380654e-04,4.746027105e-05,7.014976674e-01,-1.012389532e-04,8.407965652e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016915198e-01,-1.024896292e-04,8.296201421e-01
+46,1.550000000e+00,UP_FORCE_HOLD,1791617052853830639,-4.050003492e-05,-1.022101298e-04,5.908157185e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.781436019e-05,-1.042385716e-04,4.749548991e-05,7.014973714e-01,-1.006591685e-04,8.408000228e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016914984e-01,-1.024901354e-04,8.296201773e-01
+47,1.566666667e+00,UP_FORCE_HOLD,1791617052871937538,-3.792781494e-05,-1.039983238e-04,6.322884316e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.782085026e-05,-1.042387260e-04,4.750621821e-05,7.014999437e-01,-1.024473625e-04,8.408041700e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016914919e-01,-1.024902898e-04,8.296201880e-01
+48,1.616666667e+00,UP_FORCE_HOLD,1791617052970711847,-4.321910268e-05,-1.062129112e-04,5.968314669e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.783873829e-05,-1.042391271e-04,4.753570418e-05,7.014946524e-01,-1.046619499e-04,8.408006243e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016914740e-01,-1.024906909e-04,8.296202175e-01
+49,1.650000000e+00,UP_FORCE_HOLD,1791617053038702838,-4.166139618e-05,-1.067228480e-04,6.377323498e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.784945790e-05,-1.042393409e-04,4.755332371e-05,7.014962101e-01,-1.051718867e-04,8.408047144e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016914633e-01,-1.024909047e-04,8.296202351e-01
+50,1.700000000e+00,UP_FORCE_HOLD,1791617053136126358,-4.250557077e-05,-1.108363874e-04,6.530043220e-05,-3.718405693e-05,-1.042608920e-04,4.771404379e-05,-3.786392970e-05,-1.042395934e-04,4.757706908e-05,7.014953659e-01,-1.092854261e-04,8.408062416e-01,7.015006874e-01,-1.027099307e-04,8.407886552e-01,7.016914488e-01,-1.024911571e-04,8.296202589e-01
+51,1.733333333e+00,UP_FORCE_HOLD,1791617053204025865,-4.244214537e-05,-1.086200233e-04,6.764298730e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.296527087e-05,-1.087183842e-04,6.689385997e-05,7.014954293e-01,-1.070690620e-04,8.408085842e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016863475e-01,-1.069699479e-04,8.296395757e-01
+52,1.766666667e+00,UP_FORCE_HOLD,1791617053272175417,-4.389756764e-05,-1.051337460e-04,6.696138797e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.298252014e-05,-1.087165993e-04,6.695350103e-05,7.014939739e-01,-1.035827847e-04,8.408079026e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016863302e-01,-1.069681631e-04,8.296396353e-01
+53,1.800000000e+00,UP_FORCE_HOLD,1791617053338954521,-4.315998412e-05,-1.053816189e-04,6.803600111e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.299530702e-05,-1.087169905e-04,6.699337882e-05,7.014947115e-01,-1.038306576e-04,8.408089772e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016863174e-01,-1.069685543e-04,8.296396752e-01
+54,1.816666667e+00,UP_FORCE_HOLD,1791617053371289961,-4.030795685e-05,-1.083467676e-04,7.334370952e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.300115696e-05,-1.087171066e-04,6.701079973e-05,7.014975635e-01,-1.067958063e-04,8.408142849e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016863116e-01,-1.069686703e-04,8.296396926e-01
+55,1.850000000e+00,UP_FORCE_HOLD,1791617053435885828,-4.024320193e-05,-1.006912191e-04,7.522757113e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.301191902e-05,-1.087173138e-04,6.704250587e-05,7.014976283e-01,-9.914025779e-05,8.408161688e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016863008e-01,-1.069688776e-04,8.296397243e-01
+56,1.866666667e+00,UP_FORCE_HOLD,1791617053468146256,-4.148116060e-05,-1.102535679e-04,7.285960954e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.301689556e-05,-1.087174064e-04,6.705710274e-05,7.014963903e-01,-1.087026066e-04,8.408138008e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016862959e-01,-1.069689702e-04,8.296397389e-01
+57,1.883333333e+00,UP_FORCE_HOLD,1791617053485819704,-4.357432238e-05,-1.046190167e-04,6.984442925e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.302163247e-05,-1.087174924e-04,6.707098799e-05,7.014942972e-01,-1.030680554e-04,8.408107856e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016862911e-01,-1.069690562e-04,8.296397528e-01
+58,1.933333333e+00,UP_FORCE_HOLD,1791617053567521064,-4.141400386e-05,-1.052920619e-04,7.539211787e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.303466958e-05,-1.087176959e-04,6.710886526e-05,7.014964575e-01,-1.037411005e-04,8.408163333e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016862781e-01,-1.069692597e-04,8.296397907e-01
+59,1.983333333e+00,UP_FORCE_HOLD,1791617053669618815,-4.176466690e-05,-1.085907132e-04,7.587344137e-05,-4.220892120e-05,-1.087412270e-04,6.737108716e-05,-4.304592141e-05,-1.087178708e-04,6.714203576e-05,7.014961068e-01,-1.070397519e-04,8.408168146e-01,7.014956626e-01,-1.071902657e-04,8.408083123e-01,7.016862668e-01,-1.069694346e-04,8.296398239e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0235d27b3918eb6005a92315789e50cf6ab81716
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-2.2812e-03,3.2847e-04,2.4554e+00,-3.6816e-02,3.6609e-02,2.0465e-06,2.2884e-04,9.8356e-06,1.3518e-04,-9.6112e-07,1.5836e-05,2.6060e-07,2.6597e-04,1.5867e-05
+1,1.6667e-02,UP_FORCE_RAMP,5.3170e-06,-2.0582e-03,3.3820e-04,2.4555e+00,-3.6817e-02,3.6625e-02,2.3114e-06,4.5184e-04,1.9568e-05,2.6536e-04,-1.9073e-06,3.1304e-05,5.2553e-07,5.2437e-04,3.1366e-05
+2,3.3333e-02,UP_FORCE_RAMP,1.4175e-05,-1.8409e-03,3.4782e-04,2.4556e+00,-3.6818e-02,3.6640e-02,2.5805e-06,6.6913e-04,2.9185e-05,3.9172e-04,-2.8424e-06,4.6410e-05,7.9467e-07,7.7591e-04,4.6503e-05
+3,5.0000e-02,UP_FORCE_RAMP,2.7239e-05,-1.6292e-03,3.5731e-04,2.4558e+00,-3.6818e-02,3.6655e-02,2.8537e-06,8.8084e-04,3.8675e-05,5.1379e-04,-3.7700e-06,6.1169e-05,1.0678e-06,1.0205e-03,6.1295e-05
+4,8.3333e-02,UP_FORCE_RAMP,3.6681e-05,-1.2221e-03,3.7588e-04,2.4560e+00,-3.6820e-02,3.6683e-02,3.4115e-06,1.2880e-03,5.7249e-05,7.4577e-04,-5.5842e-06,8.9645e-05,1.6257e-06,1.4894e-03,8.9834e-05
+5,1.0000e-01,UP_FORCE_RAMP,4.4235e-05,-1.0265e-03,3.8496e-04,2.4561e+00,-3.6821e-02,3.6697e-02,3.6959e-06,1.4836e-03,6.6327e-05,8.5616e-04,-6.4671e-06,1.0337e-04,1.9101e-06,1.7142e-03,1.0359e-04
+6,1.3333e-01,UP_FORCE_RAMP,5.4026e-05,-6.5052e-04,4.0268e-04,2.4563e+00,-3.6823e-02,3.6723e-02,4.2750e-06,1.8596e-03,8.4047e-05,1.0664e-03,-8.1956e-06,1.2983e-04,2.4891e-06,2.1453e-03,1.3011e-04
+7,1.5000e-01,UP_FORCE_RAMP,6.1239e-05,-4.1821e-04,1.6978e-03,2.4564e+00,-3.6908e-02,3.6740e-02,4.9082e-06,2.0919e-03,1.3792e-03,1.1179e-03,-9.3535e-05,1.4598e-04,3.1224e-06,2.7437e-03,1.7340e-04
+8,1.8333e-01,UP_FORCE_RAMP,6.8217e-05,3.5944e-04,6.5739e-03,2.4562e+00,-3.7264e-02,3.6805e-02,3.7983e-05,2.8695e-03,6.2553e-03,9.4008e-04,-4.4914e-04,2.1176e-04,3.6197e-05,6.9460e-03,4.9788e-04
+9,2.3333e-01,UP_FORCE_RAMP,7.7388e-05,8.4308e-04,7.4911e-03,2.4565e+00,-3.7325e-02,3.6837e-02,3.8519e-05,3.3532e-03,7.1724e-03,1.2348e-03,-5.1028e-04,2.4385e-04,3.6733e-05,8.0133e-03,5.6674e-04
+10,2.8333e-01,UP_FORCE_RAMP,8.7094e-05,1.2525e-03,8.9962e-03,2.4568e+00,-3.7425e-02,3.6865e-02,3.9280e-05,3.7626e-03,8.6775e-03,1.5361e-03,-6.1047e-04,2.7138e-04,3.7494e-05,9.5821e-03,6.6913e-04
+11,3.1667e-01,UP_FORCE_RAMP,9.8861e-05,1.7143e-03,1.4309e-02,2.4579e+00,-3.7813e-02,3.6902e-02,6.5009e-05,4.2244e-03,1.3990e-02,2.6629e-03,-9.9876e-04,3.0879e-04,6.3223e-05,1.4855e-02,1.0473e-03
+12,3.5000e-01,UP_FORCE_RAMP,1.0611e-04,1.9431e-03,1.4874e-02,2.4577e+00,-3.7851e-02,3.6917e-02,6.5212e-05,4.4532e-03,1.4555e-02,2.4765e-03,-1.0363e-03,3.2372e-04,6.3426e-05,1.5421e-02,1.0875e-03
+13,3.8333e-01,UP_FORCE_RAMP,1.1306e-04,2.1201e-03,1.5165e-02,2.4577e+00,-3.7871e-02,3.6929e-02,6.5349e-05,4.6302e-03,1.4847e-02,2.4116e-03,-1.0560e-03,3.3540e-04,6.3563e-05,1.5738e-02,1.1098e-03
+14,4.5000e-01,UP_FORCE_RAMP,1.2526e-04,2.4387e-03,2.4032e-02,2.4552e+00,-3.8516e-02,3.6954e-02,7.7126e-05,4.9488e-03,2.3713e-02,-8.7023e-05,-1.7009e-03,3.6066e-04,7.5341e-05,2.4224e-02,1.7403e-03
+15,4.6667e-01,UP_FORCE_RAMP,1.3132e-04,2.4608e-03,2.4040e-02,2.4554e+00,-3.8515e-02,3.6956e-02,7.7316e-05,4.9708e-03,2.3722e-02,1.1325e-04,-1.7006e-03,3.6207e-04,7.5531e-05,2.4237e-02,1.7403e-03
+16,5.1667e-01,UP_FORCE_RAMP,1.3990e-04,2.5528e-03,2.3991e-02,2.4559e+00,-3.8510e-02,3.6962e-02,7.7771e-05,5.0629e-03,2.3672e-02,6.3205e-04,-1.6949e-03,3.6804e-04,7.5986e-05,2.4216e-02,1.7360e-03
+17,5.5000e-01,UP_FORCE_RAMP,1.4873e-04,2.6249e-03,2.3941e-02,2.4562e+00,-3.8505e-02,3.6966e-02,7.7978e-05,5.1349e-03,2.3623e-02,9.1910e-04,-1.6901e-03,3.7278e-04,7.6192e-05,2.4192e-02,1.7324e-03
+18,6.0000e-01,UP_FORCE_RAMP,1.5647e-04,2.7372e-03,2.3871e-02,2.4565e+00,-3.8498e-02,3.6974e-02,7.8153e-05,5.2473e-03,2.3552e-02,1.2858e-03,-1.6834e-03,3.8021e-04,7.6367e-05,2.4164e-02,1.7274e-03
+19,6.3333e-01,UP_FORCE_RAMP,1.6467e-04,3.2456e-03,2.5049e-02,2.4572e+00,-3.8574e-02,3.7007e-02,7.8500e-05,5.7557e-03,2.4731e-02,1.9600e-03,-1.7592e-03,4.1381e-04,7.6714e-05,2.5467e-02,1.8089e-03
+20,6.8333e-01,UP_FORCE_RAMP,1.7571e-04,6.5985e-03,3.0763e-02,2.4611e+00,-3.8984e-02,3.7249e-02,8.7823e-05,9.1085e-03,3.0445e-02,5.8444e-03,-2.1691e-03,6.5543e-04,8.6037e-05,3.2311e-02,2.2676e-03
+21,7.3333e-01,UP_FORCE_RAMP,1.8398e-04,6.4769e-03,3.0806e-02,2.4606e+00,-3.8985e-02,3.7240e-02,8.8016e-05,8.9870e-03,3.0487e-02,5.3654e-03,-2.1701e-03,6.4659e-04,8.6230e-05,3.2234e-02,2.2661e-03
+22,7.6667e-01,UP_FORCE_RAMP,1.9043e-04,6.3410e-03,3.0796e-02,2.4603e+00,-3.8983e-02,3.7231e-02,8.8056e-05,8.8511e-03,3.0477e-02,5.1067e-03,-2.1681e-03,6.3701e-04,8.6271e-05,3.2145e-02,2.2614e-03
+23,8.0000e-01,UP_FORCE_RAMP,2.0112e-04,6.1977e-03,3.0774e-02,2.4602e+00,-3.8980e-02,3.7221e-02,8.8009e-05,8.7078e-03,3.0455e-02,4.9217e-03,-2.1653e-03,6.2696e-04,8.6223e-05,3.2056e-02,2.2559e-03
+24,8.3333e-01,UP_FORCE_RAMP,2.1163e-04,6.0551e-03,3.0747e-02,2.4600e+00,-3.8977e-02,3.7211e-02,8.7882e-05,8.5652e-03,3.0428e-02,4.7843e-03,-2.1622e-03,6.1696e-04,8.6097e-05,3.1971e-02,2.2502e-03
+25,8.6667e-01,UP_FORCE_RAMP,2.1807e-04,5.9170e-03,3.0719e-02,2.4599e+00,-3.8974e-02,3.7201e-02,8.7683e-05,8.4271e-03,3.0400e-02,4.6775e-03,-2.1591e-03,6.0724e-04,8.5897e-05,3.1892e-02,2.2445e-03
+26,9.0000e-01,UP_FORCE_RAMP,2.3068e-04,6.1102e-03,3.0890e-02,2.4578e+00,-3.8985e-02,3.7214e-02,8.7487e-05,8.6203e-03,3.0571e-02,2.5661e-03,-2.1698e-03,6.2041e-04,8.5702e-05,3.1867e-02,2.2584e-03
+27,9.1667e-01,UP_FORCE_RAMP,2.3360e-04,8.3996e-03,3.1944e-02,2.4447e+00,-3.9057e-02,3.7371e-02,8.7223e-05,1.0910e-02,3.1625e-02,-1.0553e-02,-2.2421e-03,7.7736e-04,8.5437e-05,3.5079e-02,2.3746e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..9f51e1d97f08ffcc5c5363d6e2a1123d327a35f7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:8e1e8689fb7dcb1b00d70f27c2f4b4cc029ba313b8e520c26e72c75564eda8d4
+size 70993920
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b36ddaca3fbf5bc30b084d91d7f5caccec89b6f2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/fem_node.csv
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+59,2.356667e+01,2822,6.939811e-01,2.052873e-02,8.189712e-01,2.092906e-06,-1.551777e-04,-1.506680e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.356667e+01,2823,7.006221e-01,2.050439e-02,8.037170e-01,-1.348769e-04,-1.470601e-04,-1.501967e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.356667e+01,2835,6.969323e-01,1.898788e-02,8.212672e-01,-3.618559e-05,-1.674449e-04,-1.507319e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9108f2243734a1acd88d4626c27330e9f16effa
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+17298,1791617124551166948,22308346000000,1791617124546236524,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761069008809791,-0.004924680043455567,0.0903906293676003,0.9999999923325191,-1.3701201933792832e-05,2.5229367260319458e-05,7.715946039841569e-05,0.6761,-0.0048,0.09029795387703675,1.0,0.0,0.0,0.0,0.3956001922358434,0.5660629772016458,1.0099166780991924,0.041395883943949836,-0.02834905973541837,0.0012751752745987254,0.31975999362444607,0.548981403086537,0.8816026834761057,0.0404013323575093,-0.0283041838983826,0.0013580464426643328,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6276649464438403,0.3463929417559859,-0.2813656853901111,0.23743903548178186,0.3290471774076126,0.18427519560627542,0.5152655439204765,1.0099166780991924,0.7966312293105876,0.7966312293105876,0.8727199999999232,1,0,-5.1254972362099985e-05,-9.71317594885708e-05
+17590,1791617126984138388,22310779000000,1791617126982246102,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761178926054557,-0.004934729744684462,0.09028014896108687,0.9999999908088877,-1.5088686570228738e-05,4.314991226844137e-05,8.795172392970676e-05,0.6761,-0.0048,0.0901691333410656,1.0,0.0,0.0,0.0,0.4022885805298821,0.5364774521837773,1.1500040132633353,0.03935231266301385,-0.028372541941934247,0.0011884723840964672,0.32644838191848474,0.5193958780686685,1.0216900186402487,0.038357761076573314,-0.028327666104898477,0.0012713435521620746,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5991596876598972,0.30996518408667395,-0.4931279642214461,0.2523941644514719,0.4531281155096424,0.15991153370478334,0.5152655439204765,1.1500040132633353,1.0083935081419226,1.0083935081419226,1.0673599999999412,1,0,-5.330072915917204e-05,6.189429972481974e-05
+17845,1791617129109205632,22312904000000,1791617129102236816,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761277502297216,-0.004936948727506402,0.0901528943006385,0.9999999894429813,-7.316810392468613e-06,5.8996568541066665e-05,9.49882661394439e-05,0.6761,-0.0048,0.0900184850517348,1.0,0.0,0.0,0.0,0.4311904002752121,0.5123846748267241,1.2091826835390111,0.03732352035582071,-0.030372654688335266,0.0010891203423725288,0.35535020166381476,0.4953031007116153,1.0808686889159245,0.036328968769380174,-0.030327778851299496,0.0011719915104381363,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6485264169949528,0.23344606949279148,-0.5869680017480822,0.2798460555452397,0.5250206764819173,0.11075033210236393,0.5152655439204765,1.2091826835390111,1.1022335456685588,1.1022335456685588,1.2373600000001113,1,0,-8.676415710481689e-05,-5.0061839422471624e-05
+18073,1791617131009241506,22314804000000,1791617131006236983,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761373929422457,-0.004939162315007441,0.08999932581155926,0.9999999886813502,-4.6791614344468434e-06,7.577308154203453e-05,9.119599388917686e-05,0.6761,-0.0048,0.08984411099907914,1.0,0.0,0.0,0.0,0.451614213066303,0.4744703807802011,1.298405022725403,0.03470135394571928,-0.03235908976620385,0.0009574466607942731,0.37577401445490566,0.4573888066650923,1.1700910281023162,0.03370680235927874,-0.032314213929168084,0.0010403178288598805,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6553418551181255,0.32013854680014703,-0.7220625639068742,0.2672747870276798,0.6100199096693096,0.17407871575608816,0.5152655439204765,1.298405022725403,1.2373281078273508,1.2373281078273508,1.3893600000002633,1,0,-9.564012677240464e-05,-9.984461454693445e-05
+18312,1791617133001241784,22316796000000,1791617132998237681,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761478078011286,-0.004947668652169099,0.08980640306141884,0.9999999875348646,-1.4062859156815487e-05,9.184278646029988e-05,8.797882498624129e-05,0.6761,-0.0048,0.08963209449400511,1.0,0.0,0.0,0.0,0.4815606025479032,0.43059835131385027,1.3378879517972313,0.03128064165855803,-0.034336102634189625,0.0008595222115905136,0.4057204039365059,0.41351677719874147,1.2095739571741446,0.03028609007211749,-0.03429122679715386,0.000942393379656121,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6843950865888848,0.2158726968882039,-0.8055370122158575,0.313130504301285,0.6671439934610985,0.11267406092818871,0.5152655439204765,1.3378879517972313,1.320802556136334,1.320802556136334,1.5487200000004226,1,0,-0.00011949477269765219,-9.999677061245932e-05
+18520,1791617134734324950,22318529000000,1791617134734237063,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761618194821973,-0.004952977186221796,0.08960395774783621,0.9999999850883858,-2.393612677782999e-05,0.00011028733310203884,9.235723313175303e-05,0.6761,-0.0048,0.08940568232259524,1.0,0.0,0.0,0.0,0.5106820935971914,0.3974076380058656,1.4037281246886069,0.029278357584789142,-0.03633739747685293,0.0007541802832178808,0.43484189498579406,0.3803260638907568,1.2754141300655202,0.028283805998348604,-0.036292521639817166,0.0008370514512834882,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6777493554591838,0.23485755065220654,-0.9700446753437489,0.3129013874934571,0.7665268881353909,0.12459441226194068,0.5152655439204765,1.4037281246886069,1.4853102192642256,1.4853102192642256,1.6873600000005613,1,0,-0.0001387721982424025,-9.703903933034325e-05
+18707,1791617136293334637,22320088000000,1791617136290236386,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761711409354141,-0.004948911178224967,0.08938495519873406,0.9999999835979011,-2.4341383453807243e-05,0.0001214734897560708,9.433318819320583e-05,0.6761,-0.0048,0.08917473917893022,1.0,0.0,0.0,0.0,0.5495762712551402,0.36193785158892505,1.4565587793654842,0.02625964885721165,-0.03831743227721044,0.0006514203219970379,0.4737360726437429,0.34485627747381625,1.3282447847423975,0.02526509727077111,-0.038272556440174674,0.0007342914900626453,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6741422404950387,0.2611768923619954,-1.071691896706464,0.31128199322097255,0.8304092016268902,0.14177932114960232,0.5152655439204765,1.4565587793654842,1.5869574406269404,1.5869574406269404,1.812080000000686,1,0,-0.0001576195720429371,-9.999932412541596e-05
+18883,1791617137759317015,22321554000000,1791617137758237118,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.676171481018533,-0.004953268732357159,0.08913608789325621,0.9999999830429392,-2.3173429713922255e-05,0.00012095156777613176,0.00010094897813851987,0.6761,-0.0048,0.08892783864154254,1.0,0.0,0.0,0.0,0.588838982153935,0.32467503305645035,1.4944500384652086,0.02327066027480003,-0.04130672479486067,0.0005439064141237809,0.5129987835425377,0.30759345894134155,1.366136043842122,0.02227610868835949,-0.041261848957824906,0.0006267775821893883,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6762592978883786,0.22655085144216702,-1.0980875228778808,0.3388552233925537,0.8450771407641852,0.1258801470869355,0.5152655439204765,1.4944500384652086,1.6133530667983573,1.6133530667983573,1.9293600000008033,1,0,-0.00017986566738378696,-9.974166911697608e-05
+19039,1791617139059322393,22322854000000,1791617139054237296,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.676176895162159,-0.004949020849975823,0.08889250730436532,0.999999981950399,-4.621935610465137e-06,0.00012710860319210004,0.00010660256581063617,0.6761,-0.0048,0.08867785685849977,1.0,0.0,0.0,0.0,0.6137571625701592,0.3066617337438539,1.545683919181344,0.022294781910920162,-0.04332514124180095,0.000463028511202968,0.5379169639587619,0.2895801596287451,1.4173699245582574,0.021300230324479624,-0.043280265404765185,0.0005458996792685755,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6414382316493479,0.17437600057468294,-1.2497472078024765,0.3548436256512033,0.9351398146202837,0.09030037571133587,0.5152655439204765,1.545683919181344,1.765012751722953,1.765012751722953,2.0333600000009073,1,0,-0.00020890952572434428,-5.8265382808274444e-05
+19175,1791617140193387691,22323988000000,1791617140190237030,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761808448071391,-0.004957106327953092,0.08864479208250502,0.9999999805179685,-4.74710720083265e-06,0.0001320301335153471,0.00011380876937758579,0.6761,-0.0048,0.08842415318719804,1.0,0.0,0.0,0.0,0.6279816726243143,0.28844422326552266,1.5749403513287283,0.020323996853216446,-0.04430671754124292,0.0004021269449634399,0.5521414740129169,0.27136264915041386,1.4466263567056417,0.019329445266775908,-0.044261841704207154,0.0004849981130290474,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5404276783600742,0.282297846752381,-1.2584843726788246,0.32354147408382855,0.9135278854091798,0.15858166275153818,0.5152655439204765,1.5749403513287283,1.7737499165993011,1.7737499165993011,2.124080000000998,1,0,-0.0002422246401470859,-9.999999025923074e-05
+19307,1791617141293298917,22325088000000,1791617141286237034,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761868443901589,-0.004955585678579792,0.08837169510054649,0.9999999794621629,-1.432636960709966e-05,0.00013970424384302952,0.0001131194841323833,0.6761,-0.0048,0.08813832902258605,1.0,0.0,0.0,0.0,0.6556490542958586,0.277309568670494,1.625004760230321,0.019270757403175826,-0.04531149806724291,0.00033777429799697285,0.5798088556844613,0.2602279945553852,1.4966907656072344,0.018276205816735287,-0.045266622230207144,0.00042064546606258033,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5223194734332126,0.3682403011545955,-1.3528326478796846,0.3198926839301611,0.9722937847177399,0.21728650025991206,0.5152655439204765,1.625004760230321,1.8680981918001611,1.8680981918001611,2.212080000001086,1,0,-0.0002765629137826701,1.1462326947270187e-05
+19418,1791617142218362238,22326013000000,1791617142218236600,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761869269184455,-0.004960041580291523,0.08810009276155956,0.9999999790153713,-8.413574638962721e-06,0.00013728870500205503,0.00012038747779794215,0.6761,-0.0048,0.08786940722329287,1.0,0.0,0.0,0.0,0.6655451928295589,0.2550017653956714,1.6559176214430071,0.018261410826116483,-0.04631603684746355,0.0011762830867674734,0.5897049942181616,0.23792019128056258,1.5276036268199205,0.017266859239675945,-0.04627116101042778,0.0012591542548330808,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.47253370601612704,0.264117573139894,-1.281530829662719,0.3672734574648338,0.9171060945829814,0.1490361711815529,0.5152655439204765,1.6559176214430071,1.7967963735831955,1.7967963735831955,2.28608000000116,1,0,-0.0003074604530098598,-9.999999025923074e-05
+19518,1791617143051367278,22326846000000,1791617143050237547,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761860075842784,-0.004969614035204585,0.08782824773883574,0.9999999785829129,-8.872235956652879e-06,0.00013629982661652208,0.00012498271403490498,0.6761,-0.0048,0.08759901006690521,1.0,0.0,0.0,0.0,0.6667419131996244,0.24451717754423366,1.718929688753524,0.017226961018238122,-0.04631124136153756,0.0012477332764121336,0.590901714588227,0.22743560342912486,1.5906156941304372,0.016232409431797584,-0.04626636552450179,0.001330604444477741,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4947106390932194,0.17015606359147542,-1.4219413680113488,0.4016730157228705,1.019616562278401,0.08758111560911035,0.5152655439204765,1.718929688753524,1.9372069119318254,1.9372069119318254,2.3527200000012267,1,0,-0.00034130087706960585,8.980208701095697e-05
+19614,1791617143851379857,22327646000000,1791617143846237391,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761918993568936,-0.004970009160630197,0.08755198317548689,0.9999999777486478,-1.2290187613323395e-05,0.00014536280242078052,0.00012109572750421755,0.6761,-0.0048,0.08731063266170493,1.0,0.0,0.0,0.0,0.6667590932851003,0.23406432302833943,1.7077153632849258,0.01722860788563283,-0.046306931333255905,0.001212352433490258,0.590918894673703,0.21698274891323063,1.5794013686618391,0.016234056299192293,-0.04626205549622014,0.0012952236015558655,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.43394507410446415,0.23133614186196838,-1.3064840621476392,0.4104386220666729,0.928133019231217,0.1314732289702458,0.5152655439204765,1.7077153632849258,1.8217496060681158,1.8217496060681158,2.4167200000012907,1,0,-0.00038006318862501685,-9.999999025923074e-05
+19702,1791617144584359901,22328379000000,1791617144582236747,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.67619373443144,-0.00497924541640932,0.08726821724719379,0.9999999760986392,-1.4673930073102142e-05,0.00014939800268478986,0.00012926909117558978,0.6761,-0.0048,0.08701881285586584,1.0,0.0,0.0,0.0,0.6635644849925886,0.2329396982630726,1.754688141184957,0.016199779612154686,-0.04629880919059316,0.0012107472145292,0.5877242863811912,0.2158581241479638,1.6263741465618704,0.015205228025714146,-0.046253933353557396,0.0012936183825948075,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5106400234008176,0.21951815478352713,-1.3910893671413158,0.42118598243670924,1.0115998255660519,0.12357236706806103,0.5152655439204765,1.754688141184957,1.9063549110617923,1.9063549110617923,2.4753600000013494,1,0,-0.0004162112810194004,-9.999999025923074e-05
+19781,1791617145243335218,22329038000000,1791617145242236846,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761946531895939,-0.004981939847474584,0.08698468690579025,0.9999999754416113,-1.2688355076680794e-05,0.0001524271451214927,0.00013101378667423286,0.6761,-0.0048,0.08673368907379238,1.0,0.0,0.0,0.0,0.6707747276802936,0.23386939812165577,1.7748206910124535,0.016271839678661314,-0.04630482494334626,0.0011962646118125577,0.5949345290688962,0.21678782400654698,1.6465066963893669,0.015277288092220776,-0.04625994910631049,0.0012791357798781651,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4627577181385625,0.20280807813550372,-1.312697021799449,0.4366323965113326,0.9515047059324021,0.11438451102989663,0.5152655439204765,1.7748206910124535,1.8279625657199254,1.8279625657199254,2.528080000001402,1,0,-0.00044916127460023345,-9.999999025923074e-05
+19854,1791617145851439379,22329646000000,1791617145846237681,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761941555879661,-0.0049795208224913505,0.08670680528783466,0.9999999752020783,-1.205706087615421e-05,0.00015223783235080154,0.0001331051345884617,0.6761,-0.0048,0.08645155547724956,1.0,0.0,0.0,0.0,0.6841711313334687,0.23966815093893246,1.8053587151838895,0.017232884111765615,-0.04714843268937327,0.0011710468618223314,0.6083309327220714,0.22258657682382366,1.6770447205608028,0.016238332525325076,-0.047103556852337504,0.0012539180298879388,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4094691833863593,0.25746133523643,-1.35515471491325,0.4314558316168856,0.9693015687539022,0.15044546817867824,0.5152655439204765,1.8053587151838895,1.8704202588337264,1.8704202588337264,2.5767200000014507,1,0,-0.0004785201879839703,-9.999999025923074e-05
+19925,1791617146443345974,22330238000000,1791617146442236672,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.676197056770322,-0.004983007896517446,0.08642361693169694,0.9999999742186341,-1.604190317292998e-05,0.0001578150064289317,0.00013357648245281942,0.6761,-0.0048,0.08615952472767283,1.0,0.0,0.0,0.0,0.6847586153969052,0.26000034786531484,1.7957373779358508,0.018261537232104226,-0.047361585589891356,0.0011838566853990603,0.6089184167855078,0.24291877375020604,1.667423383312764,0.017266985645663688,-0.04731670975285559,0.0012667278534646677,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.39141944150318386,0.2975017206313919,-1.3682710436646712,0.4274970603832484,0.9713316221530712,0.17591031389110381,0.5152655439204765,1.7957373779358508,1.8835365875851477,1.8835365875851477,2.624080000001498,1,0,-0.000508120182217435,-9.999999025923074e-05
+19993,1791617147009421727,22330804000000,1791617147006237462,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6762042383498097,-0.004981531304390296,0.08614065337264003,0.9999999716808361,-9.348084001600829e-06,0.00017232718441990286,0.00013526694496007995,0.6761,-0.0048,0.08586409621450408,1.0,0.0,0.0,0.0,0.6844572422723879,0.26139558123610795,1.8360240904185965,0.01865766714252929,-0.0473770174586712,0.001159463798341078,0.6086170436609906,0.24431400712099915,1.7077100957955098,0.01766311555608875,-0.04733214162163543,0.0012423349664066855,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.47568177562216457,0.2478531032212932,-1.3033410246194963,0.4406057160069449,0.9551181180068221,0.14139700653252546,0.5152655439204765,1.8360240904185965,1.8186065685399728,1.8186065685399728,2.6693600000015434,1,0,-0.0005361098024639618,-9.999999025923074e-05
+20057,1791617147543355919,22331338000000,1791617147542237619,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6762019120129789,-0.00499031180240652,0.08584797098171096,0.9999999716523422,-2.2227336022195558e-05,0.00017087766746172215,0.00013581217716491988,0.6761,-0.0048,0.08557077812086275,1.0,0.0,0.0,0.0,0.6735565698378864,0.27242927379841264,1.846220336895897,0.019246676894209724,-0.04638305332837616,0.0011724866547337261,0.597716371226489,0.25534769968330384,1.7179063422728102,0.018252125307769186,-0.04633817749134039,0.0012553578227993336,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.48256924258037054,0.30621123843957915,-1.41772987907086,0.43232424687853344,1.029300305922137,0.1826430329360201,0.5152655439204765,1.846220336895897,1.9329954229913364,1.9329954229913364,2.712080000001586,1,0,-0.0005625135378842502,-9.999999025923074e-05
+20117,1791617148043402729,22331838000000,1791617148038237770,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6762018116162182,-0.004989880353922491,0.08556073083759949,0.9999999721136918,-2.3972518275848016e-05,0.00016970922586302076,0.00013356487931588272,0.6761,-0.0048,0.08528328385314066,1.0,0.0,0.0,0.0,0.6847270084433849,0.26202819521319276,1.8560538217638054,0.018251043835346106,-0.04737395945791003,0.001138819899232846,0.6088868098319875,0.24494662109808396,1.7277398271407187,0.017256492248905568,-0.04732908362087426,0.0012216910672984535,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4670092404750522,0.3266127855856756,-1.3590607350776969,0.4372997160349911,0.9884608963347447,0.1980794500474291,0.5152655439204765,1.8560538217638054,1.8743262789981734,1.8743262789981734,2.752080000001626,1,0,-0.0005875135330138656,-9.999999025923074e-05
+20177,1791617148543450553,22332338000000,1791617148538237533,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761988779150744,-0.0049968641067023225,0.08526527390489526,0.9999999720216539,-2.317968313544158e-05,0.0001683963355952792,0.00013603283469303172,0.6761,-0.0048,0.0849833890542498,1.0,0.0,0.0,0.0,0.6836798898974039,0.26227667659589704,1.8371530930550923,0.018227082808720603,-0.04635635528537723,0.0011705213964895236,0.6078396912860066,0.24519510248078824,1.7088390984320057,0.017232531222280065,-0.046311479448341464,0.001253392564555131,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5160927568668339,0.2998726976753886,-1.4072285418324157,0.450903147048114,1.0303116437040234,0.18488456976701312,0.5152655439204765,1.8371530930550923,1.9224940857528923,1.9224940857528923,2.792080000001666,1,0,-0.0006122318084958708,-9.999999025923074e-05
+20233,1791617149009470569,22332804000000,1791617149006237331,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6762002899559927,-0.004995922219875748,0.08497780175724355,0.9999999712792951,-2.7613336125415487e-05,0.00017204780941824607,0.0001360930873393126,0.6761,-0.0048,0.08469272095428904,1.0,0.0,0.0,0.0,0.6752123199681528,0.2611123558636483,1.8260578997645764,0.018229095760923478,-0.04635393350284611,0.0011775548412822129,0.5993721213567554,0.24403078174853948,1.6977439051414898,0.01723454417448294,-0.046309057665810345,0.0012604260093478203,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5697173972454692,0.27424306576227847,-1.4075857337142794,0.4563330056170689,1.0454442085089375,0.16584518493771508,0.5152655439204765,1.8260578997645764,1.922851277634756,1.922851277634756,2.8293600000017034,1,0,-0.0006351219120307158,-9.830057187543701e-05
+20284,1791617149434434288,22333229000000,1791617149430237174,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761967342488052,-0.004999650380970085,0.084704208675359,0.9999999719424422,-2.611893424288608e-05,0.00016689972295292764,0.00013791396974677342,0.6761,-0.0048,0.08441830124608253,1.0,0.0,0.0,0.0,0.6814018211073386,0.25751422835786086,1.8335045344160246,0.018225872904260726,-0.04635712595452789,0.0011654308196676925,0.6055616224959413,0.2404326542427521,1.7051905397929379,0.017231321317820188,-0.046312250117492126,0.0012483019877333,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.628798565281332,0.2547935467781952,-1.4855999748081508,0.46390930966615074,1.1084515269412711,0.15567745807023817,0.5152655439204765,1.8335045344160246,2.0008655187286273,2.0008655187286273,2.8633600000017374,1,0,-0.0006563338437834673,-9.999999025923074e-05
+20336,1791617149868438631,22333663000000,1791617149866236528,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761945311309203,-0.005003943802996746,0.08441042565135289,0.9999999723485397,-2.6631441514589157e-05,0.0001646148909235824,0.0001376171810489304,0.6761,-0.0048,0.08412891031341048,1.0,0.0,0.0,0.0,0.6852393726561951,0.24827087177164703,1.825256435240528,0.017235680478393686,-0.047347599194959095,0.001152187207661314,0.6093991740447977,0.23118929765653823,1.6969424406174414,0.016241128891953147,-0.04730272335792333,0.0012350583757269214,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6279119505859468,0.2739041286770538,-1.4952371041726085,0.46396969939153765,1.1127997600894726,0.16898929130844187,0.5152655439204765,1.825256435240528,2.0105026480930848,2.0105026480930848,2.898080000001772,1,0,-0.0006772135002317256,-9.865564895428775e-05
+20388,1791617150301387896,22334096000000,1791617150298237425,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761930351144033,-0.005005600496601016,0.08412346303529328,0.9999999726762124,-3.631467937333763e-05,0.00016403427710453045,0.0001336579172056388,0.6761,-0.0048,0.08383135244184284,1.0,0.0,0.0,0.0,0.6844262424571649,0.2597516191882916,1.7956356510599216,0.018238222116563212,-0.04647946609027079,0.0012011502873472012,0.6085860438457675,0.24267004507318282,1.667321656436835,0.017243670530122674,-0.04643459025323502,0.0012840214554128086,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6663085425539524,0.36731735946254657,-1.4804588698133696,0.4355880206519175,1.1104983829479098,0.22844802646256746,0.5152655439204765,1.7956356510599216,1.9957244137338461,1.9957244137338461,2.9327200000018068,1,0,-0.0006978063710292012,-9.999999025923074e-05
+20436,1791617150701448211,22334496000000,1791617150698236755,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761942156642655,-0.005003107291480533,0.08384513723831244,0.9999999711117212,-3.3044043542514684e-05,0.0001709010514889381,0.00013755123704256312,0.6761,-0.0048,0.08354835225847843,1.0,0.0,0.0,0.0,0.6753341333579853,0.2589596421678356,1.767006652765185,0.018239975240945654,-0.046341050442059585,0.0012252714064094512,0.599493934746588,0.24187806805272685,1.6386926581420984,0.017245423654505116,-0.04629617460502382,0.0013081425744750587,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7120768010755211,0.3231839511561938,-1.4611046257602818,0.4473495307904034,1.106724799498683,0.20255829739630118,0.5152655439204765,1.767006652765185,1.9763701696807583,1.9763701696807583,2.9647200000018388,1,0,-0.0007173425273885023,-9.999999025923074e-05
+20484,1791617151101490653,22334896000000,1791617151094237106,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761892399944613,-0.005007330314655105,0.08354581460144539,0.9999999721951088,-3.966035204900686e-05,0.00016417936413615211,0.00013610598434373545,0.6761,-0.0048,0.08325742660592299,1.0,0.0,0.0,0.0,0.6667099529977322,0.2358696931748678,1.755070105455854,0.01721960277091871,-0.04631778222832441,0.0012223310431890818,0.5908697543863348,0.218788119059759,1.6267561108327673,0.016225051184478173,-0.04627290639128864,0.0013052022112546892,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7441134658997168,0.25717465368976217,-1.3908511517602797,0.4630079704456794,1.0671097867614214,0.15766454017000345,0.5152655439204765,1.755070105455854,1.9061166956807563,1.9061166956807563,2.9967200000018708,1,0,-0.0007373326138773992,-9.999999025923074e-05
+20528,1791617151468402207,22335263000000,1791617151466236803,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761854067430163,-0.005015527648231845,0.08326452439377581,0.9999999726059562,-4.3365652658203e-05,0.00015636751488612424,0.00014106584220417752,0.6761,-0.0048,0.08298357503612837,1.0,0.0,0.0,0.0,0.6759529694252613,0.24413812753797412,1.7350495948220301,0.017224631457480634,-0.046314205942187874,0.0012396365836589557,0.6001127708138639,0.22705655342286532,1.6067356001989435,0.016230079871040096,-0.04626933010515211,0.0013225077517245631,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8043817313048053,0.2623771498895969,-1.4594512966834592,0.4647343827584853,1.125059885740912,0.16173152994366197,0.5152655439204765,1.7350495948220301,1.9747168406039357,1.9747168406039357,3.0260800000019,1,0,-0.0007550828715438815,-9.999999025923074e-05
+20572,1791617151834474060,22335629000000,1791617151830238082,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761791258593693,-0.00501186171837348,0.08297869592193105,0.9999999739042775,-4.088639469852178e-05,0.00014934233335079297,0.00014021226380858136,0.6761,-0.0048,0.08270387495579751,1.0,0.0,0.0,0.0,0.6865594133450551,0.21822613307896074,1.7002385000291917,0.015246013632029277,-0.047280569629738096,0.001230196982543229,0.6107192147336578,0.20114455896385194,1.571924505406105,0.014251462045588739,-0.04723569379270233,0.0013130681506088365,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8018070275435487,0.22443252509160042,-1.41420050013605,0.46719333712901684,1.0951643181656405,0.1365769241076267,0.5152655439204765,1.7002385000291917,1.9294660440565266,1.9294660440565266,3.0553600000019294,1,0,-0.0007733828679787599,-9.999999025923074e-05
+20616,1791617152201454055,22335996000000,1791617152194236987,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761757252082028,-0.005011812072018094,0.08268700638923632,0.9999999749968153,-4.604517230629122e-05,0.0001423597921612783,0.00013806797216683018,0.6761,-0.0048,0.08241674554310438,1.0,0.0,0.0,0.0,0.6679956894370696,0.21721511616765646,1.670049103886161,0.015193972214923798,-0.04626073372067823,0.0012681326130595568,0.5921554908256722,0.20013354205254766,1.5417351092630742,0.01419942062848326,-0.046215857883642464,0.0013510037811251643,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9003105506981048,0.20274042306644557,-1.3324361694943392,0.47679536499941616,1.0706102717446095,0.12514876308090006,0.5152655439204765,1.670049103886161,1.8477017134148157,1.8477017134148157,3.084720000001959,1,0,-0.0007913724013555986,-9.999999025923074e-05
+20656,1791617152534485602,22336329000000,1791617152530236970,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761630816435494,-0.005013524511938884,0.08239524127336041,0.9999999771582685,-4.55759460878165e-05,0.00012098471792092153,0.00014287007430421268,0.6761,-0.0048,0.08215045463399466,1.0,0.0,0.0,0.0,0.6697095516924741,0.20256811998433605,1.6239276989270401,0.014181151300189215,-0.04623100740559194,0.0012941130222885932,0.5938693530810768,0.18548654586922725,1.4956137043039535,0.013186599713748677,-0.04618613156855617,0.0013769841903542007,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9084516568357675,0.3183155839789715,-1.4624135346567326,0.4366053972926426,1.1520891916833789,0.19521186333165458,0.5152655439204765,1.6239276989270401,1.9776790785772091,1.9776790785772091,3.1113600000019854,1,0,-0.0008080223981119225,-9.999999025923074e-05
+20696,1791617152868519550,22336663000000,1791617152862237174,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761589597324429,-0.005012104894633675,0.08210832672098303,0.9999999779603191,-4.632133440195437e-05,0.00011378056436761982,0.00014293545038303375,0.6761,-0.0048,0.08187779460357023,1.0,0.0,0.0,0.0,0.6785938684646822,0.18090598941875324,1.6133618526516154,0.013222435250092326,-0.047216742812657614,0.0008740406714622597,0.6027536698532848,0.16382441530364444,1.4850478580285287,0.012227883663651788,-0.04717186697562185,0.0009569118395278671,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.923742687082405,0.3093698494927686,-1.4023712119459233,0.4344857871126982,1.1189193551975405,0.19159410544302846,0.5152655439204765,1.6133618526516154,1.9176367558663998,1.9176367558663998,3.138080000002012,1,0,-0.0008247223948585055,-9.999999025923074e-05
+20736,1791617153201426332,22336996000000,1791617153194237207,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761467580826683,-0.005014064641646938,0.08181395802035157,0.9999999794891088,-4.798083107575307e-05,9.669680396444363e-05,0.00014426438997722576,0.6761,-0.0048,0.08160039814662404,1.0,0.0,0.0,0.0,0.6693650479654858,0.1899087256796894,1.53842024862751,0.013182181409923017,-0.046188346692056716,0.000619905191545769,0.5935248493540884,0.1728271515645806,1.4101062540044234,0.012187629823482479,-0.04614347085502095,0.0007027763596113764,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9947530447416859,0.28863387054984974,-1.3701475814245636,0.43643692515441074,1.1140837299250614,0.17825984120434724,0.5152655439204765,1.53842024862751,1.8854131253450401,1.8854131253450401,3.164720000002039,1,0,-0.0008413723916148294,-9.999999025923074e-05
+20776,1791617153534479872,22337329000000,1791617153534236791,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761359213551403,-0.005010561991399369,0.08150887227509442,0.9999999812034858,-4.88151379322533e-05,7.680966014434429e-05,0.00014405988668291056,0.6761,-0.0048,0.08131745724075799,1.0,0.0,0.0,0.0,0.6603037686613369,0.1841968857866747,1.4522044452297225,0.013200737860033025,-0.046168414841250595,0.0003929974123858318,0.5844635700499395,0.1671153116715659,1.3238904506066358,0.012206186273592486,-0.04612353900421483,0.00047586858045143925,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0071285407947344,0.20909337273095627,-1.2927584216096064,0.45663978297121394,1.0616738638971264,0.12456574279415963,0.5152655439204765,1.4522044452297225,1.808023965530083,1.808023965530083,3.1913600000020654,1,0,-0.0008580223883711532,-9.999999025923074e-05
+20811,1791617153826527429,22337621000000,1791617153826237449,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761295171087546,-0.005006150374963337,0.08124157546386604,0.9999999820775431,-4.631925149225996e-05,6.677858692966874e-05,0.00014381559437355156,0.6761,-0.0048,0.0810647904037703,1.0,0.0,0.0,0.0,0.6608437335071788,0.18024489638935545,1.4137778389013331,0.012270689312384243,-0.04614240298759474,0.00041415062761345026,0.5850035348957815,0.16316332227424665,1.2854638442782464,0.011276137725943705,-0.046097527150558974,0.0004970217956790577,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.073068654933198,0.16844402186217347,-1.3584058079339278,0.45421904089055215,1.1229996121176908,0.09391187068230987,0.5152655439204765,1.4137778389013331,1.8736713518544044,1.8736713518544044,3.214720000002089,1,0,-0.0008726223855268486,-9.999999025923074e-05
+20847,1791617154126464629,22337921000000,1791617154126237058,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6761166635440505,-0.005012571122247142,0.08095058686485075,0.9999999821499465,-5.412860766573688e-05,4.509525037105284e-05,0.00014892777901137803,0.6761,-0.0048,0.08080076118855205,1.0,0.0,0.0,0.0,0.6542754434204221,0.1741879487282673,1.3372418971956526,0.012187985439145947,-0.04564780050694789,0.0004812366394596861,0.5784352448090248,0.1571063746131585,1.2089279025725659,0.011193433852705409,-0.04560292466991212,0.0005641078075252936,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0859344466732381,0.28838124935025056,-1.2128910072543022,0.42359232932445373,1.0272244103497576,0.17717370656474987,0.5152655439204765,1.3372418971956526,1.7281565511747787,1.7281565511747787,3.238720000002113,1,0,-0.0008876223826046178,-9.999999025923074e-05
+20887,1791617154459502981,22338254000000,1791617154458236882,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.676105663837911,-0.00500513239322871,0.08064445567178051,0.9999999834888714,-5.309847789936083e-05,3.199704764688076e-05,0.000143603140067056,0.6761,-0.0048,0.0805024190356864,1.0,0.0,0.0,0.0,0.6330830256661161,0.17325053665507584,1.2330920292750625,0.012141131000596914,-0.044092215746726525,0.0005871217317366884,0.5572428270547187,0.15616896253996704,1.1047780346519758,0.011146579414156376,-0.04404733990969076,0.0006699928998022958,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1372412424303684,0.30922978129224143,-1.1949001914245052,0.4133167430612239,1.0222893613608515,0.18958343449784057,0.5152655439204765,1.2330920292750625,1.7101657353449817,1.7101657353449817,3.2653600000021394,1,0,-0.0009042723793609417,-9.999999025923074e-05
+20923,1791617154759511768,22338554000000,1791617154758237242,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6761014889613726,-0.00500940296616532,0.08036576713547407,0.9999999830916259,-5.683108685159804e-05,2.683146286261595e-05,0.00014597915148943414,0.6761,-0.0048,0.08022889482231792,1.0,0.0,0.0,0.0,0.6048454353476873,0.1647902686878812,1.160217964635531,0.01212412478652515,-0.04203099846157703,0.0006733479070634179,0.52900523673629,0.1477086945727724,1.0319039700124444,0.011129573200084612,-0.04198612262454126,0.0007562190751290253,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.172958536070023,0.27248226851536383,-1.1234276830899523,0.4154049320440646,0.9780225460137771,0.16180321263933622,0.5152655439204765,1.160217964635531,1.6386932270104289,1.6386932270104289,3.2893600000021634,1,0,-0.0009192723764387109,-9.999999025923074e-05
+20959,1791617155059485718,22338854000000,1791617155058236540,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760936840539578,-0.0050058346488996335,0.08007737366729183,0.9999999837218805,-5.2896909577758046e-05,1.8059592853774205e-05,0.00014448138695252868,0.6761,-0.0048,0.0799508706098261,1.0,0.0,0.0,0.0,0.586435629303711,0.17476308227964663,1.1000565532601638,0.01210964799306835,-0.04100526204094321,0.0007354382802770184,0.5105954306923136,0.15768150816453783,0.971742558637077,0.011115096406627811,-0.04096038620390744,0.0008183094483426259,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1802626747184157,0.3344005140115711,-0.9650530627470474,0.3963355398164984,0.8702097338935143,0.2000129893870126,0.5152655439204765,1.1000565532601638,1.4803186066675238,1.4803186066675238,3.3133600000021874,1,0,-0.0009342723735164801,-9.999999025923074e-05
+20995,1791617155359540732,22339154000000,1791617155358237653,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6760852917932607,-0.005003591501117977,0.07978108541787902,0.9999999839697138,-5.2337868534406054e-05,7.0804049792170255e-06,0.00014392377128402464,0.6761,-0.0048,0.07966834639821095,1.0,0.0,0.0,0.0,0.573707340729742,0.1662147372408571,1.031891657655233,0.012093864292799242,-0.0399762922216927,0.0008048156155237103,0.4978671421183447,0.1491331631257483,0.9035776630321463,0.011099312706358704,-0.039931416384656936,0.0008876867835893177,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.220705067950522,0.24599039160696848,-0.9671809421211482,0.4134767767393048,0.8773210399282783,0.14363034879810038,0.5152655439204765,1.031891657655233,1.4824464860416247,1.4824464860416247,3.3373600000022114,1,0,-0.0009492723705942493,-9.999999025923074e-05
+21031,1791617155659540232,22339454000000,1791617155658236841,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6760774127758341,-0.005002536061950637,0.0794857683330734,0.9999999837192385,-4.7418009100235694e-05,-3.7591178690546002e-06,0.00014745097026448354,0.6761,-0.0048,0.07938132218747247,1.0,0.0,0.0,0.0,0.5429970671992714,0.16524128816063643,0.9289790093737417,0.012066307182864234,-0.03792605265270456,2.545512905705304e-05,0.46715686858787414,0.14815971404552764,0.800665014750655,0.011071755596423696,-0.03788117681566879,0.0001083262971226605,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2188615108996088,0.2569597360779538,-0.8655736952841814,0.4062951756273797,0.805097772950773,0.1488566996456772,0.5152655439204765,0.9289790093737417,1.3808392392046578,1.3808392392046578,3.3613600000022354,1,0,-0.0009642723676720185,-9.999999025923074e-05
+21063,1791617155926546333,22339721000000,1791617155926236806,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760727209975927,-0.004996146136009925,0.07922128900755701,0.9999999846289035,-4.536853756919291e-05,-1.0418522435557381e-05,0.00014148571467976985,0.6761,-0.0048,0.07912208591565255,1.0,0.0,0.0,0.0,0.5213519480442037,0.16099075337308338,0.8684959051824687,0.01205105062183945,-0.03689434351668961,-4.980759718182642e-05,0.4455117494328063,0.14390917925797458,0.740181910559382,0.011056499035398912,-0.036849467679653844,3.306357088378104e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2385592444420168,0.2830627476998236,-0.8646181347023363,0.39445843625228555,0.8008392257196151,0.16437091387319286,0.5152655439204765,0.8684959051824687,1.3798836786228128,1.3798836786228128,3.382720000002257,1,0,-0.000977622365071233,-9.999999025923074e-05
+21099,1791617156226551544,22340021000000,1791617156226237108,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760620917278233,-0.004996827786688906,0.07890848022559419,0.9999999836724911,-4.4051756529839515e-05,-2.8519403779206413e-05,0.0001460957501623794,0.6761,-0.0048,0.07882655670657097,1.0,0.0,0.0,0.0,0.4943165794623377,0.14698921360091016,0.7882937301615849,0.010660401861437978,-0.03483083628977124,3.113249328694227e-05,0.41847638085094035,0.12990763948580136,0.6599797355384982,0.00966585027499744,-0.03478596045273547,0.00011400366135254974,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2567169681316108,0.25117683076835406,-0.8156640190002309,0.3882506503701712,0.7698322278803019,0.13922829700062694,0.5152655439204765,0.7882937301615849,1.3309295629207074,1.3309295629207074,3.406720000002281,1,0,-0.0009926223621490023,-9.999999025923074e-05
+21131,1791617156493543249,22340288000000,1791617156490237053,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760505349348539,-0.004994095118414024,0.0786202243915384,0.9999999832168279,-4.7023806849573136e-05,-4.696440334560404e-05,0.00014350022570284185,0.6761,-0.0048,0.0785597509862257,1.0,0.0,0.0,0.0,0.47619319519046227,0.1252799146295381,0.7275075145254106,0.009548734555516164,-0.03377574225297473,7.856498435536878e-05,0.4003529965790649,0.10819834051442931,0.599193519902324,0.008554182969075626,-0.03373086641593896,0.00016143615242097625,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.256230018130027,0.30030045238787184,-0.6963913645947121,0.3643955034907507,0.6888966052324873,0.16857103620704153,0.5152655439204765,0.7275075145254106,1.2116569085151885,1.2116569085151885,3.428080000002302,1,0,-0.0010059723595482169,-9.999999025923074e-05
+21163,1791617156759512336,22340554000000,1791617156754237048,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6760431387480137,-0.004992226348813207,0.07834590075081016,0.9999999828924959,-4.857916840451648e-05,-5.794440365843459e-05,0.00014121042008035563,0.6761,-0.0048,0.07829040008893177,1.0,0.0,0.0,0.0,0.4582434360920461,0.13058878442624777,0.6360378820662561,0.008905143926147203,-0.03208910802320516,0.00016856147299221984,0.38240323748064875,0.11350721031113899,0.5077238874431694,0.007910592339706665,-0.03204423218616939,0.0002514326410578273,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2953935049054357,0.17671284415045718,-0.6321582772587926,0.39748197910971955,0.6540415186038706,0.08718249821190152,0.5152655439204765,0.6360378820662561,1.147423821179269,1.147423821179269,3.4493600000023235,1,0,-0.0010192723569571723,-9.999999025923074e-05
+21195,1791617157026550880,22340821000000,1791617157026237285,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760384338509807,-0.004991602551895665,0.07806434379245294,0.9999999820263231,-4.81235506801893e-05,-6.726646690884076e-05,0.0001433511918473636,0.6761,-0.0048,0.07801647881997271,1.0,0.0,0.0,0.0,0.438908224024995,0.11121970785658782,0.5401658870798206,0.008801531662604877,-0.030673779238691808,0.0002589473470478459,0.3630680254135977,0.09413813374147902,0.41185189245673387,0.007806980076164338,-0.030628903401656037,0.0003418185151134534,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2936680253779356,0.15904949579421931,-0.5694951907260792,0.3846530148060568,0.6087599191570778,0.0690840253208931,0.5152655439204765,0.5401658870798206,1.0847607346465558,1.0847607346465558,3.470720000002345,1,0,-0.0010326223543563869,-9.999999025923074e-05
+21226,1791617157284518724,22341079000000,1791617157278236728,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.676029676586039,-0.004983052630324942,0.07777883224621343,0.9999999815416688,-4.314487463210335e-05,-7.833967688295627e-05,0.00014269176970424307,0.6761,-0.0048,0.07774840460287422,1.0,0.0,0.0,0.0,0.4209201138750034,0.10861859286220152,0.497129299589282,0.007844092245965066,-0.02964064416899954,0.00030302284287451873,0.34507991526360604,0.09153701874709272,0.3688153049661953,0.006849540659524527,-0.02959576833196377,0.0003858940109401262,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.329540349859763,0.16516541111682678,-0.4682704238016513,0.3862150452459719,0.5485617949544255,0.07395373402253143,0.5152655439204765,0.497129299589282,0.9835359677221278,0.9835359677221278,3.4913600000023655,1,0,-0.0010455223518432684,-9.999999025923074e-05
+21259,1791617157559573721,22341354000000,1791617157558237147,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6760273108387561,-0.004980036868054599,0.07747886750126039,0.9999999810382397,-3.680112493914264e-05,-8.644141941889367e-05,0.00014331762841817176,0.6761,-0.0048,0.07745900220648698,1.0,0.0,0.0,0.0,0.40966678565682124,0.10344051979730826,0.4169306221600365,0.007781045074866488,-0.02860925017732933,0.0003808055190313289,0.3338265870454239,0.08635894568219946,0.2886166275369498,0.00678649348842595,-0.02856437434029356,0.00046367668709693636,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3169612773379296,0.18871041419591814,-0.443000714691096,0.371328770053496,0.5251644409029282,0.08867020499894429,0.5152655439204765,0.4169306221600365,0.9582662586115724,0.9582662586115724,3.5133600000023875,1,0,-0.0010592723491645569,-9.999999025923074e-05
+21290,1791617157818580904,22341613000000,1791617157818236461,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6760162549673547,-0.0049650325028418344,0.07719397181491117,0.9999999813776638,-3.361218158886485e-05,-9.856216541555966e-05,0.00013357865615998862,0.6761,-0.0048,0.07718298011838133,1.0,0.0,0.0,0.0,0.41498107641147575,0.12233068615489981,0.3469534740491117,0.008841491839084876,-0.028749290237919348,0.00043915874300044306,0.3391408778000784,0.10524911203979101,0.21863947942602502,0.007846940252644338,-0.028704414400883577,0.0005220299110660505,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.30762577154604,0.19829834004384383,-0.4084732528185996,0.3736777001914106,0.5006385269134156,0.09359869152485897,0.5152655439204765,0.3469534740491117,0.9237387967390761,0.9237387967390761,3.534080000002408,1,0,-0.0010722223466416976,-9.999999025923074e-05
+21322,1791617158084500599,22341879000000,1791617158082236908,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6760086097818375,-0.004958187006653276,0.07689268489047647,0.9999999809562428,-2.5154005778648088e-05,-0.00010927695137494371,0.00013021598371759643,0.6761,-0.0048,0.07689600672452054,1.0,0.0,0.0,0.0,0.37439777035675337,0.09954325890313835,0.2939299163981073,0.007799037648382181,-0.026555364029972665,0.0005075077502446827,0.298557571745356,0.08246168478802955,0.16561592177502057,0.006804486061941642,-0.026510488192936894,0.0005903789183102901,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.301086971288594,0.29793661449080916,-0.177239918670187,0.3392169788661389,0.3430735284065443,0.15714148852961674,0.5152655439204765,0.2939299163981073,0.6925054625906635,0.6925054625906635,3.5553600000024295,1,0,-0.001085522344050653,-9.999999025923074e-05
+21350,1791617158319575938,22342113000000,1791617158314236719,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6759983290597744,-0.004960230263594031,0.0766212910771671,0.999999978398546,-3.1247540900368774e-05,-0.00012611567377383042,0.00013328240688919337,0.6761,-0.0048,0.07664063144628051,1.0,0.0,0.0,0.0,0.3661137517821208,0.08149555615748034,0.24325725801034737,0.005739635428199325,-0.02549248291208712,0.0005401416931991355,0.29027355317072345,0.06441398204237155,0.11494326338726067,0.004745083841758787,-0.02544760707505135,0.0006230128612647429,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.298962210090454,0.21066759875823562,-0.23132575911898492,0.3486498887901297,0.3810906564697187,0.0950632516131191,0.5152655439204765,0.24325725801034737,0.7465913030394614,0.7465913030394614,3.574080000002448,1,0,-0.001097222341771313,-9.999999025923074e-05
+21382,1791617158584602881,22342379000000,1791617158578236956,DOWN_FORCE_DETACH,3,0.047,0.04700222983956337,0.6759919995202359,-0.004957856549458304,0.07631336400859451,0.9999999775848972,-3.109137896098628e-05,-0.0001383816169030553,0.00012710988906147844,0.6761,-0.0048,0.07634700805371525,1.0,0.0,0.0,0.0,0.32042350593096114,0.08117039089071378,0.182533850481961,0.005670818518581651,-0.022488083577344026,0.000620267433379245,0.2445833073195638,0.06408881677560498,0.05421985585887428,0.004676266932141112,-0.022443207740308255,0.0007031386014448524,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.3047121749865427,0.22564142928999836,-0.19851407548383515,0.3430261496609427,0.3525429989797435,0.10590548953676508,0.5152655439204765,0.182533850481961,0.7137796194043117,0.7137796194043117,3.5953600000024695,1,0,-0.0011105223391802684,-9.999999025923074e-05
+21410,1791617158818547377,22342613000000,1791617158818236278,DOWN_FORCE_DETACH,3,0.047,0.04700157418847084,0.6759858974577188,-0.004956043834052148,0.07604505773050757,0.9999999754184578,-2.1715079808313137e-05,-0.0001503759912556562,0.0001323686704590467,0.6761,-0.0048,0.07608578277661489,1.0,0.0,0.0,0.0,0.2931630540689941,0.056690419311367965,0.12194799250284595,0.004630562629976827,-0.021391155438982228,0.0006710171447177225,0.2173228554575968,0.039608845196259165,-0.006366002120240755,0.003636011043536288,-0.021346279601946457,0.0007538883127833299,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.236863600296715,0.20869856871115974,-0.06090069212807834,0.34141772220320227,0.24018352341366053,0.09282500044118622,0.5152655439204765,0.12194799250284595,0.5761662360485549,0.5761662360485549,3.614080000002488,1,1,-0.0011222223369009284,-9.999999025923074e-05
+21478,1791617159383517817,22343178000000,1791617159382236589,DOWN_SETTLE,3,0.047,0.04700157418847084,0.67595515886904,-0.004927527785969673,0.0757515833430109,0.9999999674759842,5.888379011193251e-07,-0.0002014312767429855,0.00012615858791391237,0.6761,-0.0048,0.0758631592045165,1.0,0.0,0.0,0.0,0.27078898933432555,0.04058986680555708,-0.2029539895218996,0.0036542328479930632,-0.02028181426631658,-8.230033413956757e-05,0.1949487907229282,0.02350829269044829,-0.3312679841449863,0.0026596812615525245,-0.02023693842928081,5.708339260398941e-07,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1727039805548822,0.17449971124263364,0.30430061707049894,0.3187812443077699,-0.0007203245983463769,0.057195467401353284,0.5152655439204765,0.2029539895218996,0.21096492684997759,0.0,0.0,1,1,-1.1000651400706053e-05,0.00011111769091622275
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39796b547ce3211fa967ae53f069ad779a1619c5
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6524d11b00ab4faaeca3abc4d8038997cf620f4f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,5.633333333e+00,DOWN_FORCE_DETACH,1791617124555113903,1.169399499e-04,-1.358475448e-04,-4.286218985e-04,1.123207727e-04,-1.326166625e-04,-4.174214973e-04,1.144716611e-04,-1.325742724e-04,-4.172165518e-04,7.016548114e-01,-1.342965835e-04,8.403123193e-01,7.016501923e-01,-1.310657012e-04,8.403235197e-01,7.018437340e-01,-1.308173884e-04,8.291554727e-01
+6,6.816666667e+00,DOWN_FORCE_DETACH,1791617126984980638,1.284673587e-04,-1.412718138e-04,-5.411748221e-04,1.284613191e-04,-1.413921456e-04,-5.409790124e-04,1.305906804e-04,-1.413260297e-04,-5.401269293e-04,7.016663388e-01,-1.397208525e-04,8.401997664e-01,7.016663328e-01,-1.398411843e-04,8.401999622e-01,7.018598530e-01,-1.395691457e-04,8.290325623e-01
+7,7.933333333e+00,DOWN_FORCE_DETACH,1791617129112975266,1.375188838e-04,-1.443993759e-04,-6.692396702e-04,1.371524857e-04,-1.443533229e-04,-6.692823888e-04,1.390878510e-04,-1.442763249e-04,-6.681981860e-04,7.016753904e-01,-1.428484146e-04,8.400717015e-01,7.016750240e-01,-1.428023616e-04,8.400716588e-01,7.018683502e-01,-1.425194409e-04,8.289044910e-01
+8,8.933333333e+00,DOWN_FORCE_DETACH,1791617131009026289,1.478529878e-04,-1.494571149e-04,-8.226616686e-04,1.481623997e-04,-1.475409280e-04,-8.195830266e-04,1.498532135e-04,-1.474631004e-04,-8.184405797e-04,7.016857245e-01,-1.479061536e-04,8.399182795e-01,7.016860339e-01,-1.459899666e-04,8.399213582e-01,7.018791155e-01,-1.457062164e-04,8.287542486e-01
+9,9.950000000e+00,DOWN_FORCE_DETACH,1791617133005055316,1.562279272e-04,-1.508598727e-04,-1.018151928e-03,1.564314813e-04,-1.503753190e-04,-1.014925145e-03,1.576457379e-04,-1.503289063e-04,-1.013379206e-03,7.016940994e-01,-1.493089114e-04,8.397227893e-01,7.016943030e-01,-1.488243577e-04,8.397260160e-01,7.018869081e-01,-1.485720223e-04,8.285593100e-01
+10,1.081666667e+01,DOWN_FORCE_DETACH,1791617134735438395,1.724826256e-04,-1.594519069e-04,-1.217209333e-03,1.722545157e-04,-1.555372827e-04,-1.206711749e-03,1.731340904e-04,-1.554589581e-04,-1.205108223e-03,7.017103541e-01,-1.579009456e-04,8.395237319e-01,7.017101260e-01,-1.539863214e-04,8.395342294e-01,7.019023964e-01,-1.537020741e-04,8.283675810e-01
+11,1.163333333e+01,DOWN_FORCE_DETACH,1791617136297187268,1.803527327e-04,-1.574010391e-04,-1.437036131e-03,1.816854490e-04,-1.594257458e-04,-1.424829191e-03,1.821174427e-04,-1.593418586e-04,-1.423064773e-03,7.017182242e-01,-1.558500778e-04,8.393039051e-01,7.017195569e-01,-1.578747845e-04,8.393161120e-01,7.019113798e-01,-1.575849746e-04,8.281496244e-01
+12,1.240000000e+01,DOWN_FORCE_DETACH,1791617137761424589,1.821463170e-04,-1.567929905e-04,-1.685241717e-03,1.820147411e-04,-1.589157808e-04,-1.665711477e-03,1.816866878e-04,-1.588081822e-04,-1.663879720e-03,7.017200178e-01,-1.552420292e-04,8.390556995e-01,7.017198862e-01,-1.573648195e-04,8.390752297e-01,7.019109490e-01,-1.570512982e-04,8.279088095e-01
+13,1.308333333e+01,DOWN_FORCE_DETACH,1791617139059230218,1.874537800e-04,-1.554045297e-04,-1.928865536e-03,1.841962029e-04,-1.573457058e-04,-1.925372570e-03,1.829551625e-04,-1.572270189e-04,-1.923091821e-03,7.017253253e-01,-1.538535684e-04,8.388120757e-01,7.017220677e-01,-1.557947445e-04,8.388155686e-01,7.019122175e-01,-1.554701348e-04,8.276495974e-01
+14,1.368333333e+01,DOWN_FORCE_DETACH,1791617140191338568,1.913825911e-04,-1.622535082e-04,-2.175674929e-03,1.912643735e-04,-1.626603548e-04,-2.175942825e-03,1.891610952e-04,-1.625382535e-04,-2.173443886e-03,7.017292541e-01,-1.607025469e-04,8.385652663e-01,7.017291359e-01,-1.611093935e-04,8.385649984e-01,7.019184234e-01,-1.607813695e-04,8.273992453e-01
+15,1.423333333e+01,DOWN_FORCE_DETACH,1791617141289272266,1.945822798e-04,-1.670148245e-04,-2.451799628e-03,1.945636060e-04,-1.671899790e-04,-2.451518375e-03,1.916427669e-04,-1.670420667e-04,-2.448652345e-03,7.017324538e-01,-1.654638632e-04,8.382891416e-01,7.017324351e-01,-1.656390177e-04,8.382894228e-01,7.019209051e-01,-1.652851827e-04,8.271240369e-01
+16,1.470000000e+01,DOWN_FORCE_DETACH,1791617142221370088,1.983200888e-04,-1.638657330e-04,-2.722271141e-03,1.957605562e-04,-1.656914215e-04,-2.714578554e-03,1.919162933e-04,-1.654828262e-04,-2.711579434e-03,7.017361916e-01,-1.623147717e-04,8.380186700e-01,7.017336320e-01,-1.641404601e-04,8.380263626e-01,7.019211786e-01,-1.637259422e-04,8.268611098e-01
+17,1.511666667e+01,DOWN_FORCE_DETACH,1791617143051691798,1.965662022e-04,-1.759977150e-04,-2.993125102e-03,1.951472720e-04,-1.723757369e-04,-2.983550141e-03,1.903458073e-04,-1.721146537e-04,-2.980459162e-03,7.017344377e-01,-1.744467536e-04,8.377478161e-01,7.017330188e-01,-1.708247756e-04,8.377573910e-01,7.019196081e-01,-1.703577696e-04,8.265922301e-01
+18,1.553333333e+01,DOWN_FORCE_DETACH,1791617143849321676,2.026324158e-04,-1.737014336e-04,-3.268816499e-03,2.022816919e-04,-1.737840000e-04,-3.268825924e-03,1.965883509e-04,-1.735208764e-04,-3.265658775e-03,7.017405039e-01,-1.721504723e-04,8.374721247e-01,7.017401532e-01,-1.722330387e-04,8.374721153e-01,7.019258507e-01,-1.717639924e-04,8.263070304e-01
+19,1.591666667e+01,DOWN_FORCE_DETACH,1791617144581696889,2.034597688e-04,-1.831906687e-04,-3.555482544e-03,2.035100313e-04,-1.832999912e-04,-3.555200628e-03,1.968136680e-04,-1.829824103e-04,-3.551881197e-03,7.017413313e-01,-1.816397074e-04,8.371854586e-01,7.017413815e-01,-1.817490299e-04,8.371857406e-01,7.019260760e-01,-1.812255262e-04,8.260208080e-01
+20,1.626666667e+01,DOWN_FORCE_DETACH,1791617145245391445,2.041257266e-04,-1.871612238e-04,-3.839735836e-03,2.037969211e-04,-1.870249212e-04,-3.839669923e-03,1.960990420e-04,-1.867087640e-04,-3.836458269e-03,7.017419972e-01,-1.856102624e-04,8.369012054e-01,7.017416684e-01,-1.854739599e-04,8.369012713e-01,7.019253614e-01,-1.849518799e-04,8.257362309e-01
+21,1.658333333e+01,DOWN_FORCE_DETACH,1791617145848580450,2.042804524e-04,-1.882291848e-04,-4.115010125e-03,2.040628331e-04,-1.898352307e-04,-4.099746782e-03,1.954508671e-04,-1.895246685e-04,-4.096788994e-03,7.017421519e-01,-1.866782235e-04,8.366259311e-01,7.017419343e-01,-1.882842693e-04,8.366411944e-01,7.019247132e-01,-1.877677845e-04,8.254759002e-01
+22,1.690000000e+01,DOWN_FORCE_DETACH,1791617146445412380,2.072234847e-04,-1.881088356e-04,-4.399435289e-03,2.063802117e-04,-1.871145613e-04,-4.383190467e-03,1.967222606e-04,-1.867815309e-04,-4.380387285e-03,7.017450950e-01,-1.865578742e-04,8.363415059e-01,7.017442517e-01,-1.855636000e-04,8.363577507e-01,7.019259846e-01,-1.850246469e-04,8.251923019e-01
+23,1.720000000e+01,DOWN_FORCE_DETACH,1791617147009393614,2.135047681e-04,-1.923271840e-04,-4.681503847e-03,2.127866509e-04,-1.945248277e-04,-4.662261412e-03,2.022753712e-04,-1.941747131e-04,-4.659707567e-03,7.017513762e-01,-1.907762227e-04,8.360594373e-01,7.017506581e-01,-1.929738663e-04,8.360786798e-01,7.019315377e-01,-1.924178291e-04,8.249129816e-01
+24,1.748333333e+01,DOWN_FORCE_DETACH,1791617147541402942,2.143061439e-04,-1.969665418e-04,-4.969333973e-03,2.140049361e-04,-1.970223275e-04,-4.969024874e-03,2.024846524e-04,-1.966587623e-04,-4.966407192e-03,7.017521776e-01,-1.954155805e-04,8.357716072e-01,7.017518764e-01,-1.954713661e-04,8.357719163e-01,7.019317470e-01,-1.949018783e-04,8.246062820e-01
+25,1.773333333e+01,DOWN_FORCE_DETACH,1791617148041429459,2.117235154e-04,-1.985548898e-04,-5.257752912e-03,2.100745191e-04,-1.984690137e-04,-5.241221845e-03,1.975209312e-04,-1.980569194e-04,-5.238828875e-03,7.017495950e-01,-1.970039285e-04,8.354831883e-01,7.017479460e-01,-1.969180523e-04,8.354997193e-01,7.019267833e-01,-1.963000354e-04,8.243338603e-01
+26,1.800000000e+01,DOWN_FORCE_DETACH,1791617148541412640,2.110702902e-04,-1.990282091e-04,-5.553100726e-03,2.108920231e-04,-1.988964469e-04,-5.552874549e-03,1.972390371e-04,-1.984859474e-04,-5.550201308e-03,7.017489418e-01,-1.974772478e-04,8.351878405e-01,7.017487635e-01,-1.973454856e-04,8.351880666e-01,7.019265014e-01,-1.967290634e-04,8.240224879e-01
+27,1.823333333e+01,DOWN_FORCE_DETACH,1791617149005437375,2.105605957e-04,-2.001452088e-04,-5.841855582e-03,2.104165854e-04,-2.000274162e-04,-5.841870585e-03,1.956020972e-04,-1.996109302e-04,-5.839585132e-03,7.017484321e-01,-1.985942475e-04,8.348990856e-01,7.017482881e-01,-1.984764549e-04,8.348990706e-01,7.019248644e-01,-1.978540462e-04,8.237331041e-01
+28,1.845000000e+01,DOWN_FORCE_DETACH,1791617149437440741,2.081439401e-04,-2.028886162e-04,-6.119354207e-03,2.078384408e-04,-2.032044938e-04,-6.119244941e-03,1.920616468e-04,-2.027755297e-04,-6.117493668e-03,7.017460154e-01,-2.013376548e-04,8.346215870e-01,7.017457099e-01,-2.016535324e-04,8.346216962e-01,7.019213240e-01,-2.010186456e-04,8.234551955e-01
+29,1.866666667e+01,DOWN_FORCE_DETACH,1791617149869447273,2.050897488e-04,-2.103274827e-04,-6.410947189e-03,2.048189407e-04,-2.099022471e-04,-6.410455387e-03,1.878797712e-04,-2.094950221e-04,-6.408802395e-03,7.017429612e-01,-2.087765214e-04,8.343299940e-01,7.017426904e-01,-2.083512858e-04,8.343304858e-01,7.019171421e-01,-2.077381381e-04,8.231638868e-01
+30,1.888333333e+01,DOWN_FORCE_DETACH,1791617150304258986,2.033323252e-04,-2.120832530e-04,-6.701343862e-03,2.031202812e-04,-2.123616996e-04,-6.700882433e-03,1.850972639e-04,-2.119508313e-04,-6.699503183e-03,7.017412038e-01,-2.105322917e-04,8.340395973e-01,7.017409918e-01,-2.108107382e-04,8.340400588e-01,7.019143596e-01,-2.101939473e-04,8.228731860e-01
+31,1.908333333e+01,DOWN_FORCE_DETACH,1791617150702019032,2.054926383e-04,-2.156638876e-04,-6.974151322e-03,2.052770335e-04,-2.156579318e-04,-6.974415910e-03,1.863517923e-04,-2.151596157e-04,-6.973234842e-03,7.017433641e-01,-2.141129263e-04,8.337667899e-01,7.017431485e-01,-2.141069705e-04,8.337665253e-01,7.019156141e-01,-2.134027316e-04,8.225994544e-01
+32,1.928333333e+01,DOWN_FORCE_DETACH,1791617151101530212,1.997986123e-04,-2.137139944e-04,-7.275558239e-03,1.994171633e-04,-2.138444366e-04,-7.275831186e-03,1.791677463e-04,-2.133649832e-04,-7.274815611e-03,7.017376701e-01,-2.121630331e-04,8.334653829e-01,7.017372886e-01,-2.122934752e-04,8.334651100e-01,7.019084301e-01,-2.116080992e-04,8.222978736e-01
+33,1.946666667e+01,DOWN_FORCE_DETACH,1791617151465457526,1.960562413e-04,-2.200056512e-04,-7.552444388e-03,1.959554768e-04,-2.199074574e-04,-7.552545981e-03,1.747763458e-04,-2.195637425e-04,-7.551879785e-03,7.017339277e-01,-2.184546898e-04,8.331884968e-01,7.017338270e-01,-2.183564961e-04,8.331883952e-01,7.019040387e-01,-2.178068584e-04,8.220208094e-01
+34,1.965000000e+01,DOWN_FORCE_DETACH,1791617151833476955,1.905840405e-04,-2.157897434e-04,-7.840823077e-03,1.903953720e-04,-2.159206073e-04,-7.840836915e-03,1.679920071e-04,-2.157196864e-04,-7.840384998e-03,7.017284555e-01,-2.142387820e-04,8.329001181e-01,7.017282669e-01,-2.143696460e-04,8.329001043e-01,7.018972543e-01,-2.139628024e-04,8.217323042e-01
+35,1.985000000e+01,DOWN_FORCE_DETACH,1791617152199469484,1.861029954e-04,-2.160166907e-04,-8.134663938e-03,1.857275918e-04,-2.161425144e-04,-8.134489376e-03,1.621030025e-04,-2.161284258e-04,-8.134231615e-03,7.017239745e-01,-2.144657293e-04,8.326062772e-01,7.017235991e-01,-2.145915531e-04,8.326064518e-01,7.018913653e-01,-2.143715418e-04,8.214384576e-01
+36,2.001666667e+01,DOWN_FORCE_DETACH,1791617152531461726,1.756364488e-04,-2.224825113e-04,-8.420440629e-03,1.753813331e-04,-2.225953245e-04,-8.420889623e-03,1.505131541e-04,-2.227863890e-04,-8.420761393e-03,7.017135079e-01,-2.209315499e-04,8.323205006e-01,7.017132528e-01,-2.210443631e-04,8.323200516e-01,7.018797755e-01,-2.210295049e-04,8.211519278e-01
+37,2.020000000e+01,DOWN_FORCE_DETACH,1791617152865502923,1.664612193e-04,-2.216726712e-04,-8.712620302e-03,1.663874895e-04,-2.214689710e-04,-8.712469118e-03,1.401596102e-04,-2.217336366e-04,-8.712327837e-03,7.017043327e-01,-2.201217099e-04,8.320283209e-01,7.017042590e-01,-2.199180097e-04,8.320284721e-01,7.018694219e-01,-2.199767526e-04,8.208603614e-01
+38,2.036666667e+01,DOWN_FORCE_DETACH,1791617153198168958,1.592228083e-04,-2.200593525e-04,-9.003866281e-03,1.591442983e-04,-2.200156647e-04,-9.004099588e-03,1.317428906e-04,-2.206033468e-04,-9.004284974e-03,7.016970943e-01,-2.185083912e-04,8.317370749e-01,7.016970158e-01,-2.184647034e-04,8.317368416e-01,7.018610052e-01,-2.188464628e-04,8.205684042e-01
+39,2.055000000e+01,DOWN_FORCE_DETACH,1791617153531572747,1.472414112e-04,-2.191218433e-04,-9.312114772e-03,1.469819473e-04,-2.191462675e-04,-9.312087888e-03,1.181109314e-04,-2.200421032e-04,-9.312466242e-03,7.016851129e-01,-2.175708820e-04,8.314288264e-01,7.016848534e-01,-2.175953062e-04,8.314288533e-01,7.018473733e-01,-2.182852192e-04,8.202602230e-01
+40,2.070000000e+01,DOWN_FORCE_DETACH,1791617153829493861,1.370332727e-04,-2.215900033e-04,-9.585812517e-03,1.368161908e-04,-2.215283842e-04,-9.585539803e-03,1.067117151e-04,-2.226464937e-04,-9.585985928e-03,7.016749048e-01,-2.200390420e-04,8.311551287e-01,7.016746877e-01,-2.199774229e-04,8.311554014e-01,7.018359740e-01,-2.208896096e-04,8.199867033e-01
+41,2.086666667e+01,DOWN_FORCE_DETACH,1791617154129498629,1.251540486e-04,-2.181830288e-04,-9.874910642e-03,1.250394625e-04,-2.181899768e-04,-9.874859029e-03,9.358679418e-05,-2.194779348e-04,-9.875463077e-03,7.016630255e-01,-2.166320675e-04,8.308660305e-01,7.016629109e-01,-2.166390154e-04,8.308660822e-01,7.018228491e-01,-2.177210508e-04,8.196972261e-01
+42,2.103333333e+01,DOWN_FORCE_DETACH,1791617154461506218,1.168233855e-04,-2.146467907e-04,-1.017795392e-02,1.167178098e-04,-2.146763368e-04,-1.017793616e-02,8.405881011e-05,-2.159238283e-04,-1.017857243e-02,7.016546949e-01,-2.130958294e-04,8.305629873e-01,7.016545893e-01,-2.131253755e-04,8.305630050e-01,7.018133211e-01,-2.141669443e-04,8.193941168e-01
+43,2.120000000e+01,DOWN_FORCE_DETACH,1791617154761507089,1.110364232e-04,-2.169554693e-04,-1.045773112e-02,1.111223238e-04,-2.168914314e-04,-1.045786372e-02,7.733595486e-05,-2.181738709e-04,-1.045855371e-02,7.016489079e-01,-2.154045080e-04,8.302832101e-01,7.016489938e-01,-2.153404701e-04,8.302830775e-01,7.018065983e-01,-2.164169869e-04,8.191141355e-01
+44,2.135000000e+01,DOWN_FORCE_DETACH,1791617155059541729,1.042426718e-04,-2.122183286e-04,-1.074399917e-02,1.041195860e-04,-2.122407707e-04,-1.074358000e-02,6.911186844e-05,-2.135007754e-04,-1.074425994e-02,7.016421142e-01,-2.106673673e-04,8.299969420e-01,7.016419911e-01,-2.106898094e-04,8.299973612e-01,7.017983742e-01,-2.117438914e-04,8.188284293e-01
+45,2.151666667e+01,DOWN_FORCE_DETACH,1791617155359761651,9.585041113e-05,-2.099751809e-04,-1.104028742e-02,9.553224333e-05,-2.098198852e-04,-1.104015279e-02,5.934720613e-05,-2.110585088e-04,-1.104085024e-02,7.016337219e-01,-2.084242195e-04,8.297006538e-01,7.016334037e-01,-2.082689239e-04,8.297007884e-01,7.017886095e-01,-2.093016248e-04,8.185318390e-01
+46,2.166666667e+01,DOWN_FORCE_DETACH,1791617155657556633,8.924430469e-05,-2.085585215e-04,-1.133132085e-02,8.908009814e-05,-2.087323442e-04,-1.133117056e-02,5.172476361e-05,-2.099626029e-04,-1.133185931e-02,7.016271158e-01,-2.070075602e-04,8.294096203e-01,7.016269516e-01,-2.071813829e-04,8.294097706e-01,7.017809871e-01,-2.082057189e-04,8.182408299e-01
+47,2.181666667e+01,DOWN_FORCE_DETACH,1791617155923552975,8.208951455e-05,-2.029161994e-04,-1.159761851e-02,8.203362011e-05,-2.029282277e-04,-1.159762197e-02,4.362761371e-05,-2.041174021e-04,-1.159839836e-02,7.016199610e-01,-2.013652381e-04,8.291433227e-01,7.016199051e-01,-2.013772664e-04,8.291433192e-01,7.017728899e-01,-2.023605181e-04,8.179742909e-01
+48,2.196666667e+01,DOWN_FORCE_DETACH,1791617156225554274,7.152311879e-05,-2.031912918e-04,-1.191400657e-02,7.142671699e-05,-2.031688419e-04,-1.191357721e-02,3.168049638e-05,-2.043602010e-04,-1.191430570e-02,7.016093946e-01,-2.016403304e-04,8.288269346e-01,7.016092982e-01,-2.016178806e-04,8.288273640e-01,7.017609428e-01,-2.026033170e-04,8.176583835e-01
+49,2.211666667e+01,DOWN_FORCE_DETACH,1791617156489569473,6.384310309e-05,-2.076834371e-04,-1.219390540e-02,6.344730482e-05,-2.077107772e-04,-1.219398242e-02,2.254778939e-05,-2.089221730e-04,-1.219472722e-02,7.016017146e-01,-2.061324758e-04,8.285470358e-01,7.016013188e-01,-2.061598158e-04,8.285469588e-01,7.017518101e-01,-2.071652890e-04,8.173779620e-01
+50,2.225000000e+01,DOWN_FORCE_DETACH,1791617156755855340,5.485131774e-05,-1.971923403e-04,-1.246949726e-02,5.472809633e-05,-1.974065014e-04,-1.246932054e-02,1.262850106e-05,-1.985293871e-04,-1.247009651e-02,7.015927228e-01,-1.956413789e-04,8.282714439e-01,7.015925996e-01,-1.958555401e-04,8.282716206e-01,7.017418908e-01,-1.967725031e-04,8.171025927e-01
+51,2.238333333e+01,DOWN_FORCE_DETACH,1791617157024370607,4.922552163e-05,-1.980514075e-04,-1.275453223e-02,4.917784443e-05,-1.981697104e-04,-1.275418541e-02,6.021938019e-06,-1.993189799e-04,-1.275493022e-02,7.015870970e-01,-1.965004462e-04,8.279864090e-01,7.015870493e-01,-1.966187491e-04,8.279867558e-01,7.017352843e-01,-1.975620959e-04,8.168177590e-01
+52,2.251666667e+01,DOWN_FORCE_DETACH,1791617157288270268,3.935382810e-05,-1.921872325e-04,-1.304853426e-02,3.910859922e-05,-1.919968973e-04,-1.304842674e-02,-5.290404979e-06,-1.931026213e-04,-1.304925101e-02,7.015772253e-01,-1.906362712e-04,8.276924069e-01,7.015769801e-01,-1.904459360e-04,8.276925144e-01,7.017239719e-01,-1.913457372e-04,8.165234382e-01
+53,2.265000000e+01,DOWN_FORCE_DETACH,1791617157555906335,3.900725615e-05,-1.853008840e-04,-1.333610740e-02,3.849241320e-05,-1.853855489e-04,-1.333619167e-02,-6.805096944e-06,-1.864446733e-04,-1.333705325e-02,7.015768787e-01,-1.837499227e-04,8.274048338e-01,7.015763639e-01,-1.838345875e-04,8.274047495e-01,7.017224572e-01,-1.846877893e-04,8.162356360e-01
+54,2.278333333e+01,DOWN_FORCE_DETACH,1791617157819855755,2.751395164e-05,-1.685930262e-04,-1.362946389e-02,2.704824709e-05,-1.687122342e-04,-1.362942145e-02,-1.953532296e-05,-1.696387161e-04,-1.363024370e-02,7.015653854e-01,-1.670420649e-04,8.271114773e-01,7.015649197e-01,-1.671612729e-04,8.271115197e-01,7.017097270e-01,-1.678818321e-04,8.159424455e-01
+55,2.291666667e+01,DOWN_FORCE_DETACH,1791617158087600603,1.805002305e-05,-1.647476504e-04,-1.393326724e-02,1.783814901e-05,-1.644866850e-04,-1.393343407e-02,-3.002704102e-05,-1.654008803e-04,-1.393430532e-02,7.015559215e-01,-1.631966891e-04,8.268076739e-01,7.015557096e-01,-1.629357237e-04,8.268075071e-01,7.016992353e-01,-1.636439963e-04,8.156383839e-01
+56,2.303333333e+01,DOWN_FORCE_DETACH,1791617158322111954,8.031334402e-06,-1.688757290e-04,-1.420474497e-02,7.920680938e-06,-1.689282979e-04,-1.420453364e-02,-4.108153581e-05,-1.698716181e-04,-1.420543415e-02,7.015459028e-01,-1.673247677e-04,8.265361962e-01,7.015457922e-01,-1.673773365e-04,8.265364076e-01,7.016881808e-01,-1.681147341e-04,8.153672551e-01
+57,2.316666667e+01,DOWN_FORCE_DETACH,1791617158585603177,2.558138109e-06,-1.642402292e-04,-1.450800883e-02,2.300626200e-06,-1.640879365e-04,-1.450799287e-02,-4.776499818e-05,-1.649989711e-04,-1.450889375e-02,7.015404296e-01,-1.626892679e-04,8.262329324e-01,7.015401721e-01,-1.625369752e-04,8.262329483e-01,7.016814973e-01,-1.632420871e-04,8.150637955e-01
+58,2.328333333e+01,DOWN_FORCE_DETACH,1791617158819868741,-1.772312122e-06,-1.609116419e-04,-1.477583503e-02,-1.852775886e-06,-1.608480165e-04,-1.477561024e-02,-5.290711320e-05,-1.617367839e-04,-1.477648886e-02,7.015360992e-01,-1.593606806e-04,8.259651062e-01,7.015360187e-01,-1.592970552e-04,8.259653309e-01,7.016763552e-01,-1.599798999e-04,8.147962004e-01
+59,2.356666667e+01,DOWN_SETTLE,1791617159385604021,-3.653555121e-05,-1.340037711e-04,-1.507443091e-02,-3.316723742e-05,-1.346966417e-04,-1.506264018e-02,-8.605016958e-05,-1.354240750e-04,-1.506357084e-02,7.015013359e-01,-1.324528098e-04,8.256665103e-01,7.015047042e-01,-1.331456804e-04,8.256783010e-01,7.016432122e-01,-1.336671910e-04,8.145091184e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..804dbec35a0961323d0f2ba23afb552d7d124778
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-4.5659e-03,1.0203e-03,2.4549e+00,-3.6861e-02,3.6446e-02,5.4063e-06,3.0500e-04,1.3427e-05,1.9336e-04,-1.2033e-06,2.0880e-05,4.8071e-07,3.6138e-04,2.0920e-05
+1,1.2333e+00,DOWN_FORCE_DETACH,2.9398e-04,2.1391e-03,2.7404e-02,2.4850e+00,-3.8699e-02,3.6914e-02,1.0221e-04,7.0100e-03,2.6397e-02,3.0252e-02,-1.8395e-03,4.8887e-04,9.7289e-05,4.0757e-02,1.9058e-03
+2,2.2167e+00,DOWN_FORCE_DETACH,5.8361e-04,-1.8851e-02,3.6213e-02,2.5060e+00,-3.9240e-02,3.5428e-02,1.0930e-04,-1.3980e-02,3.5206e-02,5.1277e-02,-2.3803e-03,-9.9722e-04,1.0437e-04,6.3751e-02,2.5828e-03
+3,3.3000e+00,DOWN_FORCE_DETACH,8.7374e-04,-2.9319e-03,3.7357e-02,2.4866e+00,-3.9343e-02,3.6510e-02,1.0757e-04,1.9389e-03,3.6350e-02,3.1835e-02,-2.4829e-03,8.4251e-05,1.0264e-04,4.8358e-02,2.4865e-03
+4,4.4500e+00,DOWN_FORCE_DETACH,1.1672e-03,1.2027e-02,4.5950e-02,2.4624e+00,-3.9983e-02,3.7609e-02,7.9901e-05,1.6898e-02,4.4943e-02,7.6408e-03,-3.1238e-03,1.1838e-03,7.4975e-05,4.8619e-02,3.3414e-03
+5,5.6333e+00,DOWN_FORCE_DETACH,1.4587e-03,1.1588e-02,4.7227e-02,2.4665e+00,-4.0088e-02,3.7589e-02,1.7707e-05,1.6459e-02,4.6220e-02,1.1771e-02,-3.2283e-03,1.1634e-03,1.2781e-05,5.0456e-02,3.4315e-03
+6,6.8167e+00,DOWN_FORCE_DETACH,1.7495e-03,9.7768e-03,4.8565e-02,2.4819e+00,-4.0137e-02,3.7443e-02,1.7527e-05,1.4648e-02,4.7558e-02,2.7156e-02,-3.2774e-03,1.0180e-03,1.2601e-05,5.6690e-02,3.4319e-03
+7,7.9333e+00,DOWN_FORCE_DETACH,2.0425e-03,1.2564e-02,5.0796e-02,2.4935e+00,-4.0232e-02,3.7626e-02,1.3111e-05,1.7435e-02,4.9790e-02,3.8702e-02,-3.3725e-03,1.2004e-03,8.1857e-06,6.5428e-02,3.5797e-03
+8,8.9333e+00,DOWN_FORCE_DETACH,2.3312e-03,1.1890e-02,5.3059e-02,2.5057e+00,-4.0329e-02,3.7571e-02,-1.2633e-06,1.6761e-02,5.2052e-02,5.0946e-02,-3.4693e-03,1.1453e-03,-6.1889e-06,7.4738e-02,3.6535e-03
+9,9.9500e+00,DOWN_FORCE_DETACH,2.6252e-03,1.0629e-02,5.4345e-02,2.5227e+00,-4.0374e-02,3.7472e-02,-1.2875e-05,1.5500e-02,5.3338e-02,6.7986e-02,-3.5140e-03,1.0470e-03,-1.7801e-05,8.7791e-02,3.6667e-03
+10,1.0817e+01,DOWN_FORCE_DETACH,2.9174e-03,9.2247e-03,5.5831e-02,2.5310e+00,-4.0416e-02,3.7364e-02,-1.4017e-05,1.4096e-02,5.4824e-02,7.6270e-02,-3.5567e-03,9.3824e-04,-1.8943e-05,9.4981e-02,3.6784e-03
+11,1.1633e+01,DOWN_FORCE_DETACH,3.2070e-03,1.1590e-02,5.7522e-02,2.5433e+00,-4.0480e-02,3.7509e-02,1.2118e-06,1.6461e-02,5.6515e-02,8.8557e-02,-3.6207e-03,1.0833e-03,-3.7138e-06,1.0634e-01,3.7793e-03
+12,1.2400e+01,DOWN_FORCE_DETACH,3.5006e-03,1.4980e-02,5.7436e-02,2.5498e+00,-4.0425e-02,3.7736e-02,2.5566e-05,1.9851e-02,5.6429e-02,9.4996e-02,-3.5654e-03,1.3105e-03,2.0640e-05,1.1226e-01,3.7987e-03
+13,1.3083e+01,DOWN_FORCE_DETACH,3.7920e-03,1.4471e-02,5.7130e-02,2.5587e+00,-4.0393e-02,3.7698e-02,2.7823e-05,1.9342e-02,5.6123e-02,1.0391e-01,-3.5333e-03,1.2722e-03,2.2897e-05,1.1967e-01,3.7555e-03
+14,1.3683e+01,DOWN_FORCE_DETACH,4.0807e-03,1.4156e-02,5.8316e-02,2.5670e+00,-4.0420e-02,3.7668e-02,2.1237e-05,1.9027e-02,5.7309e-02,1.1220e-01,-3.5600e-03,1.2428e-03,1.6312e-05,1.2742e-01,3.7708e-03
+15,1.4233e+01,DOWN_FORCE_DETACH,4.3758e-03,1.3360e-02,5.8938e-02,2.5814e+00,-4.0424e-02,3.7600e-02,1.3636e-05,1.8231e-02,5.7931e-02,1.2668e-01,-3.5642e-03,1.1749e-03,8.7104e-06,1.4048e-01,3.7528e-03
+16,1.4700e+01,DOWN_FORCE_DETACH,4.6692e-03,1.3586e-02,6.2618e-02,2.5970e+00,-4.0582e-02,3.7599e-02,1.3278e-05,1.8457e-02,6.1611e-02,1.4225e-01,-3.7226e-03,1.1732e-03,8.3529e-06,1.5612e-01,3.9031e-03
+17,1.5117e+01,DOWN_FORCE_DETACH,4.9532e-03,1.4272e-02,6.5866e-02,2.6070e+00,-4.0717e-02,3.7632e-02,2.1864e-05,1.9143e-02,6.4859e-02,1.5227e-01,-3.8578e-03,1.2067e-03,1.6938e-05,1.6661e-01,4.0421e-03
+18,1.5533e+01,DOWN_FORCE_DETACH,5.2445e-03,1.3736e-02,6.7508e-02,2.6021e+00,-4.0760e-02,3.7594e-02,3.2238e-05,1.8607e-02,6.6501e-02,1.4735e-01,-3.9007e-03,1.1683e-03,2.7313e-05,1.6273e-01,4.0720e-03
+19,1.5917e+01,DOWN_FORCE_DETACH,5.5421e-03,1.2342e-02,6.9775e-02,2.6057e+00,-4.0865e-02,3.7496e-02,3.3304e-05,1.7213e-02,6.8769e-02,1.5092e-01,-4.0058e-03,1.0706e-03,2.8379e-05,1.6674e-01,4.1465e-03
+20,1.6267e+01,DOWN_FORCE_DETACH,5.8368e-03,1.2839e-02,7.0537e-02,2.6059e+00,-4.0875e-02,3.7527e-02,2.8802e-05,1.7709e-02,6.9530e-02,1.5111e-01,-4.0150e-03,1.1022e-03,2.3877e-05,1.6728e-01,4.1636e-03
+21,1.6583e+01,DOWN_FORCE_DETACH,6.1226e-03,1.4785e-02,7.1459e-02,2.6102e+00,-4.0877e-02,3.7654e-02,1.9728e-05,1.9656e-02,7.0452e-02,1.5540e-01,-4.0177e-03,1.2288e-03,1.4802e-05,1.7175e-01,4.2015e-03
+22,1.6900e+01,DOWN_FORCE_DETACH,6.4151e-03,1.1824e-02,7.0526e-02,2.6052e+00,-4.0781e-02,3.7456e-02,1.5484e-05,1.6695e-02,6.9520e-02,1.5042e-01,-3.9216e-03,1.0310e-03,1.0559e-05,1.6655e-01,4.0549e-03
+23,1.7200e+01,DOWN_FORCE_DETACH,6.7024e-03,1.0613e-02,7.2734e-02,2.5891e+00,-4.0910e-02,3.7377e-02,1.4618e-05,1.5484e-02,7.1727e-02,1.3430e-01,-4.0507e-03,9.5212e-04,9.6923e-06,1.5304e-01,4.1611e-03
+24,1.7483e+01,DOWN_FORCE_DETACH,7.0009e-03,1.1664e-02,7.4210e-02,2.5921e+00,-4.0982e-02,3.7443e-02,6.7151e-06,1.6535e-02,7.3203e-02,1.3734e-01,-4.1227e-03,1.0181e-03,1.7895e-06,1.5651e-01,4.2465e-03
+25,1.7733e+01,DOWN_FORCE_DETACH,7.2919e-03,1.2725e-02,7.5842e-02,2.5847e+00,-4.1077e-02,3.7522e-02,-3.4310e-06,1.7596e-02,7.4835e-02,1.2989e-01,-4.2169e-03,1.0966e-03,-8.3565e-06,1.5094e-01,4.3572e-03
+26,1.8000e+01,DOWN_FORCE_DETACH,7.5911e-03,1.3667e-02,7.7564e-02,2.5832e+00,-4.1189e-02,3.7591e-02,-1.2979e-05,1.8538e-02,7.6557e-02,1.2844e-01,-4.3292e-03,1.1660e-03,-1.7905e-05,1.5067e-01,4.4835e-03
+27,1.8233e+01,DOWN_FORCE_DETACH,7.8839e-03,9.0646e-03,7.8142e-02,2.5697e+00,-4.1168e-02,3.7288e-02,-1.3755e-05,1.3935e-02,7.7135e-02,1.1492e-01,-4.3086e-03,8.6288e-04,-1.8680e-05,1.3910e-01,4.3942e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..275d85ef439e4ec49a64942b8036f915b33869cb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c36af2f490fc9f07bbc391bdaf56133ecb1ea0612226c1753ca52e914b95981
+size 5058560
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53490435ab305e9e032f7a91a3d825569614e45d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4c5c4c5922a7aa7a4d8f871cbbfde2e4bffff86
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81988f7d3a30f791adf1568a2d8b3f51e87f3c18
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec1ccb4b9574f221ec08d3bd81a366a656da0cc2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,1.516666667e+00,UP_FORCE_HOLD,1791617109054855328,-3.472427011e-05,-1.164280110e-04,4.527116058e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.089217320e-05,-1.111509162e-04,3.658285658e-05,7.015031472e-01,-1.148770497e-04,8.407862123e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983701e-01,-1.093940321e-04,8.296092721e-01
+53,1.533333333e+00,UP_FORCE_HOLD,1791617109088715499,-3.138881230e-05,-1.135698525e-04,5.273826127e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.089616541e-05,-1.111509778e-04,3.659333531e-05,7.015064827e-01,-1.120188911e-04,8.407936794e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983662e-01,-1.093940938e-04,8.296092825e-01
+54,1.566666667e+00,UP_FORCE_HOLD,1791617109152835528,-3.415076578e-05,-1.166097045e-04,4.985101243e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.090353172e-05,-1.111511646e-04,3.661331568e-05,7.015037207e-01,-1.150587432e-04,8.407907922e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983588e-01,-1.093942806e-04,8.296093025e-01
+55,1.600000000e+00,UP_FORCE_HOLD,1791617109220878671,-3.290450818e-05,-1.100284410e-04,5.247083327e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.091036474e-05,-1.111513100e-04,3.663191122e-05,7.015049670e-01,-1.084774796e-04,8.407934120e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983520e-01,-1.093944259e-04,8.296093211e-01
+56,1.616666667e+00,UP_FORCE_HOLD,1791617109254752587,-3.445399927e-05,-1.163130994e-04,5.096694635e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.091359578e-05,-1.111513760e-04,3.664072246e-05,7.015034175e-01,-1.147621381e-04,8.407919081e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983487e-01,-1.093944920e-04,8.296093299e-01
+57,1.650000000e+00,UP_FORCE_HOLD,1791617109320737119,-3.558056782e-05,-1.160422746e-04,5.100807711e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.091970913e-05,-1.111514918e-04,3.665743974e-05,7.015022909e-01,-1.144913133e-04,8.407919493e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983426e-01,-1.093946078e-04,8.296093467e-01
+58,1.700000000e+00,UP_FORCE_HOLD,1791617109420636265,-3.573794020e-05,-1.153149573e-04,5.084358781e-05,-3.043520661e-05,-1.111982556e-04,3.683205674e-05,-3.092807053e-05,-1.111516309e-04,3.668042205e-05,7.015021335e-01,-1.137639960e-04,8.407917848e-01,7.015074363e-01,-1.096472943e-04,8.407777732e-01,7.016983343e-01,-1.093947469e-04,8.296093696e-01
+59,1.733333333e+00,UP_FORCE_HOLD,1791617109488744161,-3.317330188e-05,-1.188315672e-04,5.599417572e-05,-3.301244670e-05,-1.184130273e-04,5.590430240e-05,-3.346509395e-05,-1.183711656e-04,5.545872796e-05,7.015046982e-01,-1.172806059e-04,8.407969354e-01,7.015048590e-01,-1.168620660e-04,8.407968455e-01,7.016957972e-01,-1.166142816e-04,8.296281479e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..453ff4da7cbe219580970557c43eb88faf53d919
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-4.5659e-03,1.0203e-03,2.4549e+00,-3.6861e-02,3.6446e-02,5.4063e-06,3.0500e-04,1.3427e-05,1.9336e-04,-1.2033e-06,2.0880e-05,4.8071e-07,3.6138e-04,2.0920e-05
+1,1.6667e-02,UP_FORCE_RAMP,5.4823e-06,-4.2690e-03,1.0335e-03,2.4551e+00,-3.6862e-02,3.6467e-02,5.8950e-06,6.0189e-04,2.6543e-05,3.7956e-04,-2.3842e-06,4.1265e-05,9.6943e-07,7.1207e-04,4.1345e-05
+2,3.3333e-02,UP_FORCE_RAMP,1.4596e-05,-3.9794e-03,1.0463e-03,2.4553e+00,-3.6863e-02,3.6487e-02,6.3916e-06,8.9144e-04,3.9353e-05,5.5957e-04,-3.5428e-06,6.1210e-05,1.4661e-06,1.0532e-03,6.1330e-05
+3,6.6667e-02,UP_FORCE_RAMP,1.9526e-05,-3.4202e-03,1.0710e-03,2.4557e+00,-3.6865e-02,3.6525e-02,7.4079e-06,1.4507e-03,6.4095e-05,9.0170e-04,-5.7742e-06,9.9890e-05,2.4824e-06,1.7093e-03,1.0009e-04
+4,8.3333e-02,UP_FORCE_RAMP,2.7301e-05,-3.1498e-03,1.0830e-03,2.4558e+00,-3.6867e-02,3.6544e-02,7.9273e-06,1.7211e-03,7.6052e-05,1.0648e-03,-6.8545e-06,1.1867e-04,3.0018e-06,2.0252e-03,1.1890e-04
+5,1.0000e-01,UP_FORCE_RAMP,3.1314e-05,-2.8851e-03,1.0947e-03,2.4560e+00,-3.6868e-02,3.6562e-02,8.4540e-06,1.9857e-03,8.7738e-05,1.2231e-03,-7.9162e-06,1.3709e-04,3.5285e-06,2.3338e-03,1.3736e-04
+6,1.1667e-01,UP_FORCE_RAMP,4.0305e-05,-2.6260e-03,1.1061e-03,2.4561e+00,-3.6869e-02,3.6580e-02,8.9878e-06,2.2448e-03,9.9157e-05,1.3766e-03,-8.9556e-06,1.5516e-04,4.0622e-06,2.6352e-03,1.5547e-04
+7,1.3333e-01,UP_FORCE_RAMP,4.6281e-05,-2.4218e-03,2.7223e-03,2.4562e+00,-3.6975e-02,3.6595e-02,9.9124e-06,2.4491e-03,1.7153e-03,1.4467e-03,-1.1529e-04,1.6953e-04,4.9869e-06,3.3216e-03,2.0508e-04
+8,1.6667e-01,UP_FORCE_RAMP,5.9273e-05,-7.2265e-04,1.2722e-02,2.4571e+00,-3.7672e-02,3.6722e-02,5.5848e-05,4.1482e-03,1.1715e-02,2.3601e-03,-8.1270e-04,2.9625e-04,5.0922e-05,1.2650e-02,8.6651e-04
+9,1.8333e-01,UP_FORCE_RAMP,6.2470e-05,-7.5430e-04,1.2249e-02,2.4570e+00,-3.7643e-02,3.6720e-02,5.6165e-05,4.1166e-03,1.1242e-02,2.2354e-03,-7.8341e-04,2.9469e-04,5.1239e-05,1.2179e-02,8.3856e-04
+10,2.0000e-01,UP_FORCE_RAMP,6.9296e-05,-7.2792e-04,1.1891e-02,2.4569e+00,-3.7621e-02,3.6722e-02,5.6484e-05,4.1429e-03,1.0884e-02,2.1687e-03,-7.6138e-04,2.9689e-04,5.1559e-05,1.1846e-02,8.1884e-04
+11,2.1667e-01,UP_FORCE_RAMP,7.5571e-05,-3.5795e-04,1.2806e-02,2.4574e+00,-3.7682e-02,3.6747e-02,5.7100e-05,4.5129e-03,1.1799e-02,2.6221e-03,-8.2253e-04,3.2166e-04,5.2174e-05,1.2902e-02,8.8473e-04
+12,2.5000e-01,UP_FORCE_RAMP,8.5052e-05,1.8384e-03,1.7205e-02,2.4600e+00,-3.8008e-02,3.6905e-02,8.9368e-05,6.7093e-03,1.6198e-02,5.2931e-03,-1.1484e-03,4.7947e-04,8.4442e-05,1.8314e-02,1.2474e-03
+13,2.8333e-01,UP_FORCE_RAMP,9.4140e-05,2.1354e-03,1.7514e-02,2.4602e+00,-3.8029e-02,3.6924e-02,8.9652e-05,7.0063e-03,1.6507e-02,5.4393e-03,-1.1696e-03,4.9914e-04,8.4727e-05,1.8739e-02,1.2745e-03
+14,3.0000e-01,UP_FORCE_RAMP,9.7425e-05,2.2956e-03,1.7639e-02,2.4603e+00,-3.8038e-02,3.6935e-02,8.9819e-05,7.1665e-03,1.6632e-02,5.5068e-03,-1.1785e-03,5.0986e-04,8.4893e-05,1.8929e-02,1.2868e-03
+15,3.3333e-01,UP_FORCE_RAMP,1.0546e-04,2.5663e-03,1.7796e-02,2.4604e+00,-3.8050e-02,3.6953e-02,9.0112e-05,7.4371e-03,1.6789e-02,5.6007e-03,-1.1899e-03,5.2816e-04,8.5186e-05,1.9198e-02,1.3047e-03
+16,3.6667e-01,UP_FORCE_RAMP,1.1111e-04,1.1248e-03,2.5429e-02,2.4553e+00,-3.8617e-02,3.6855e-02,1.0364e-04,5.9957e-03,2.4422e-02,5.9342e-04,-1.7576e-03,4.3016e-04,9.8711e-05,2.5154e-02,1.8122e-03
+17,4.0000e-01,UP_FORCE_RAMP,1.2020e-04,1.1187e-03,2.5641e-02,2.4560e+00,-3.8629e-02,3.6855e-02,1.0409e-04,5.9895e-03,2.4634e-02,1.2388e-03,-1.7692e-03,4.3016e-04,9.9166e-05,2.5382e-02,1.8235e-03
+18,4.3333e-01,UP_FORCE_RAMP,1.2575e-04,1.2340e-03,2.5689e-02,2.4565e+00,-3.8630e-02,3.6863e-02,1.0448e-04,6.1048e-03,2.4682e-02,1.7662e-03,-1.7704e-03,4.3810e-04,9.9558e-05,2.5487e-02,1.8265e-03
+19,4.8333e-01,UP_FORCE_RAMP,1.3682e-04,1.5078e-03,2.5653e-02,2.4571e+00,-3.8625e-02,3.6882e-02,1.0495e-04,6.3787e-03,2.4646e-02,2.3823e-03,-1.7652e-03,4.5671e-04,1.0003e-04,2.5570e-02,1.8261e-03
+20,5.0000e-01,UP_FORCE_RAMP,1.3923e-04,2.0884e-03,2.6880e-02,2.4578e+00,-3.8704e-02,3.6921e-02,1.0541e-04,6.9593e-03,2.5873e-02,3.0208e-03,-1.8447e-03,4.9524e-04,1.0048e-04,2.6963e-02,1.9127e-03
+21,5.3333e-01,UP_FORCE_RAMP,1.5101e-04,6.7946e-03,3.3489e-02,2.4598e+00,-3.9166e-02,3.7256e-02,1.2165e-04,1.1665e-02,3.2482e-02,5.0631e-03,-2.3062e-03,8.3025e-04,1.1672e-04,3.4882e-02,2.4539e-03
+22,5.5000e-01,UP_FORCE_RAMP,1.5298e-04,5.8940e-03,3.2038e-02,2.4618e+00,-3.9070e-02,3.7196e-02,1.2296e-04,1.0765e-02,3.1031e-02,7.0682e-03,-2.2105e-03,7.7035e-04,1.1804e-04,3.3597e-02,2.3438e-03
+23,5.8333e-01,UP_FORCE_RAMP,1.6307e-04,6.0022e-03,3.2208e-02,2.4616e+00,-3.9081e-02,3.7202e-02,1.2314e-04,1.0873e-02,3.1201e-02,6.8650e-03,-2.2208e-03,7.7707e-04,1.1822e-04,3.3747e-02,2.3558e-03
+24,6.0000e-01,UP_FORCE_RAMP,1.6725e-04,6.0441e-03,3.2265e-02,2.4615e+00,-3.9084e-02,3.7205e-02,1.2322e-04,1.0915e-02,3.1258e-02,6.7711e-03,-2.2241e-03,7.7962e-04,1.1829e-04,3.3794e-02,2.3598e-03
+25,6.5000e-01,UP_FORCE_RAMP,1.7789e-04,6.0989e-03,3.2326e-02,2.4614e+00,-3.9087e-02,3.7208e-02,1.2328e-04,1.0970e-02,3.1319e-02,6.6261e-03,-2.2271e-03,7.8290e-04,1.1836e-04,3.3840e-02,2.3637e-03
+26,6.8333e-01,UP_FORCE_RAMP,1.8371e-04,6.1223e-03,3.2340e-02,2.4613e+00,-3.9087e-02,3.7210e-02,1.2325e-04,1.0993e-02,3.1333e-02,6.5470e-03,-2.2272e-03,7.8423e-04,1.1833e-04,3.3845e-02,2.3642e-03
+27,7.1667e-01,UP_FORCE_RAMP,1.8867e-04,6.1341e-03,3.2338e-02,2.4613e+00,-3.9086e-02,3.7210e-02,1.2315e-04,1.1005e-02,3.1332e-02,6.4993e-03,-2.2262e-03,7.8484e-04,1.1822e-04,3.3838e-02,2.3635e-03
+28,7.5000e-01,UP_FORCE_RAMP,1.9729e-04,6.1396e-03,3.2333e-02,2.4612e+00,-3.9085e-02,3.7210e-02,1.2301e-04,1.1010e-02,3.1326e-02,6.4783e-03,-2.2251e-03,7.8509e-04,1.1808e-04,3.3830e-02,2.3625e-03
+29,7.6667e-01,UP_FORCE_RAMP,2.0200e-04,6.1420e-03,3.2326e-02,2.4612e+00,-3.9084e-02,3.7210e-02,1.2289e-04,1.1013e-02,3.1319e-02,6.4683e-03,-2.2242e-03,7.8518e-04,1.1797e-04,3.3823e-02,2.3617e-03
+30,8.1667e-01,UP_FORCE_RAMP,2.1097e-04,1.3050e-02,3.9343e-02,2.4586e+00,-3.9549e-02,3.7671e-02,1.2417e-04,1.7921e-02,3.8337e-02,3.8228e-03,-2.6889e-03,1.2452e-03,1.1925e-04,4.2491e-02,2.9656e-03
+31,8.5000e-01,UP_FORCE_RAMP,2.1696e-04,1.2247e-02,3.8669e-02,2.4588e+00,-3.9508e-02,3.7622e-02,1.2422e-04,1.7118e-02,3.7662e-02,4.0455e-03,-2.6483e-03,1.1965e-03,1.1930e-04,4.1567e-02,2.9085e-03
+32,8.8333e-01,UP_FORCE_RAMP,2.2733e-04,1.1723e-02,3.8307e-02,2.4590e+00,-3.9487e-02,3.7590e-02,1.2418e-04,1.6594e-02,3.7300e-02,4.2500e-03,-2.6273e-03,1.1649e-03,1.1926e-04,4.1046e-02,2.8764e-03
+33,9.1667e-01,UP_FORCE_RAMP,2.3021e-04,1.1350e-02,3.8125e-02,2.4592e+00,-3.9477e-02,3.7568e-02,1.2406e-04,1.6220e-02,3.7118e-02,4.4317e-03,-2.6173e-03,1.1425e-03,1.1913e-04,4.0749e-02,2.8582e-03
+34,9.6667e-01,UP_FORCE_RAMP,2.3840e-04,1.0932e-02,3.8021e-02,2.4594e+00,-3.9472e-02,3.7542e-02,1.2372e-04,1.5802e-02,3.7015e-02,4.6678e-03,-2.6125e-03,1.1171e-03,1.1880e-04,4.0516e-02,2.8438e-03
+35,1.0000e+00,UP_FORCE_RAMP,2.4678e-04,1.0700e-02,3.8007e-02,2.4596e+00,-3.9472e-02,3.7528e-02,1.2340e-04,1.5571e-02,3.7000e-02,4.8060e-03,-2.6125e-03,1.1028e-03,1.1848e-04,4.0429e-02,2.8382e-03
+36,1.0333e+00,UP_FORCE_RAMP,2.5399e-04,1.0488e-02,3.8011e-02,2.4597e+00,-3.9473e-02,3.7515e-02,1.2301e-04,1.5359e-02,3.7004e-02,4.9319e-03,-2.6135e-03,1.0896e-03,1.1809e-04,4.0368e-02,2.8339e-03
+37,1.0500e+00,UP_FORCE_RAMP,2.5967e-04,1.0889e-02,3.8048e-02,2.4582e+00,-3.9477e-02,3.7543e-02,1.2282e-04,1.5760e-02,3.7041e-02,3.4680e-03,-2.6169e-03,1.1173e-03,1.1789e-04,4.0404e-02,2.8479e-03
+38,1.0833e+00,UP_FORCE_RAMP,2.6523e-04,1.6123e-02,3.8625e-02,2.4442e+00,-3.9522e-02,3.7901e-02,1.2143e-04,2.0994e-02,3.7618e-02,-1.0524e-02,-2.6628e-03,1.4757e-03,1.1650e-04,4.4346e-02,3.0466e-03
+39,1.1167e+00,UP_FORCE_RAMP,2.7358e-04,1.5642e-02,3.8670e-02,2.4453e+00,-3.9527e-02,3.7873e-02,1.2089e-04,2.0513e-02,3.7663e-02,-9.4738e-03,-2.6673e-03,1.4477e-03,1.1596e-04,4.3921e-02,3.0371e-03
+40,1.1667e+00,UP_FORCE_RAMP,2.8265e-04,1.5027e-02,3.8728e-02,2.4469e+00,-3.9533e-02,3.7836e-02,1.1996e-04,1.9898e-02,3.7721e-02,-7.8783e-03,-2.6730e-03,1.4110e-03,1.1504e-04,4.3369e-02,3.0248e-03
+41,1.1833e+00,UP_FORCE_RAMP,2.8703e-04,1.4841e-02,3.8744e-02,2.4474e+00,-3.9534e-02,3.7825e-02,1.1963e-04,1.9712e-02,3.7737e-02,-7.3700e-03,-2.6746e-03,1.3996e-03,1.1470e-04,4.3209e-02,3.0209e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..92ca19fb73d7718363a06ef3a6568198938583dc
--- /dev/null
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+59,2.531667e+01,2821,6.979699e-01,1.870558e-02,8.217132e-01,-4.080893e-05,-1.786474e-04,-1.541913e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2822,6.939801e-01,2.037716e-02,8.186333e-01,1.483098e-05,-1.612435e-04,-1.541267e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2823,7.006197e-01,2.035269e-02,8.033785e-01,-1.375435e-04,-1.509346e-04,-1.534992e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2824,6.956853e-01,2.158579e-02,8.055956e-01,-9.063585e-05,-1.570593e-04,-1.532086e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2825,6.995873e-01,1.916096e-02,8.050772e-01,-1.253015e-04,-1.619394e-04,-1.535901e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2826,6.992707e-01,2.163368e-02,8.256824e-01,-2.424371e-05,-1.535675e-04,-1.543699e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2827,6.928526e-01,2.160307e-02,8.126403e-01,4.053898e-06,-1.698587e-04,-1.534775e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2828,6.983021e-01,1.744949e-02,8.108575e-01,-1.777269e-04,-5.145733e-04,-1.545344e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2829,6.949329e-01,2.047682e-02,8.209969e-01,5.664372e-06,-1.515522e-04,-1.542943e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2830,6.939116e-01,1.968147e-02,8.132203e-01,7.385583e-06,-1.748596e-04,-1.536091e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2831,6.968593e-01,1.807531e-02,8.102736e-01,-1.302403e-04,-3.031947e-04,-1.539804e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2832,6.932442e-01,2.163814e-02,8.104604e-01,-1.724859e-05,-1.667734e-04,-1.532966e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2833,6.983367e-01,1.911239e-02,8.058281e-01,-1.144972e-04,-1.686407e-04,-1.535351e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2834,6.942419e-01,2.049961e-02,8.090941e-01,-3.368543e-05,-1.621971e-04,-1.532460e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2835,6.969315e-01,1.883631e-02,8.209291e-01,-3.466549e-05,-1.769974e-04,-1.541632e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2836,6.952324e-01,1.946808e-02,8.196940e-01,-5.515130e-06,-1.604140e-04,-1.541964e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2837,6.975808e-01,2.060353e-02,8.044801e-01,-1.148033e-04,-1.485431e-04,-1.533076e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2838,6.986079e-01,1.975310e-02,8.047157e-01,-1.183516e-04,-1.511776e-04,-1.533972e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2839,6.927049e-01,2.189114e-02,8.151789e-01,9.457080e-06,-1.660622e-04,-1.537184e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2840,7.004190e-01,2.175613e-02,8.260254e-01,-2.660238e-05,-1.545719e-04,-1.543998e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2841,6.961069e-01,1.944392e-02,8.075095e-01,-7.432030e-05,-1.651270e-04,-1.532948e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2842,6.932590e-01,2.049813e-02,8.139599e-01,2.038690e-05,-1.685642e-04,-1.536461e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2843,6.996388e-01,1.997147e-02,8.039982e-01,-1.295567e-04,-1.508055e-04,-1.534477e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.531667e+01,2844,6.996466e-01,2.072420e-02,8.033150e-01,-1.340173e-04,-1.519570e-04,-1.534398e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..152f2999386214c0ed1f073a15418c810cf3fa4d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+23094,1791617172826698534,22356621000000,1791617172826237640,DOWN_FORCE_DETACH,4,0.0465,0.046565547585487366,0.6759868703446653,-0.004803668611334611,0.09079640837695566,0.9999999791493938,3.340615782298909e-05,-0.00017861095230581035,-1.123533778529194e-05,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,0.301484418760371,0.11646441985351136,-0.6408784657482903,0.005413314627784565,-0.02114949794757663,-0.0007468321239981299,0.22564422014897367,0.09938284573840256,-0.769192460371377,0.004418763041344026,-0.02110462211054086,-0.0006639609559325225,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.22570159843866955,-0.00796483605873099,1.8643019936893057,0.028065677939227342,-1.1558004719825847,-0.046754347401422015,0.5152655439204765,0.6408784657482903,-1.3490364497688292,-1.3490364497688292,0.0,0,0,0.0,0.0
+23385,1791617175252755505,22359047000000,1791617175246246168,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6759961396227635,-0.004882196200465932,0.09072892363832027,0.9999999828859802,-2.0744736948967553e-06,-0.00015702625497055766,3.177035678487692e-05,0.6761,-0.0048,0.09085292372808298,1.0,0.0,0.0,0.0,0.6395237721269701,0.5964232853248642,-0.0668137290805039,0.041038085203508115,-0.04433951535384088,-9.547757762320856e-05,0.5636835735155727,0.5793417112097554,-0.1951277237035906,0.04004353361706758,-0.044294639516805116,-1.2606409557601098e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.13789059949630159,0.4932924750056201,1.1297949204171842,0.08028556732475264,-0.6339285319058563,0.2980650175831794,0.5152655439204765,0.0668137290805039,-0.6145293764967077,-0.6145293764967077,0.19407999999999345,1,0,-0.00012129997661455694,-9.999999025923074e-05
+23641,1791617177385679127,22361180000000,1791617177382247363,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6760841172563332,-0.004898268250759309,0.0905652745882583,0.9999999922512279,1.3501543122777694e-05,-1.2922168739772978e-05,8.118580232603401e-05,0.6761,-0.0048,0.09052020389179706,1.0,0.0,0.0,0.0,0.4530796903353734,0.7204972639257554,0.8309130896111907,0.050686904923092135,-0.030546940083552684,0.0005201857361958184,0.37723949172397603,0.7034156898106466,0.702599094988104,0.0496923533366516,-0.030502064246516913,0.0006030569042614259,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5630409650926863,0.4163987799971882,-0.0019477439672944171,0.22713600652960836,0.1339414747783883,0.23112941491406458,0.5152655439204765,0.8309130896111907,0.517213287887771,0.517213287887771,0.3647200000000263,1,0,-0.00013931330885144787,9.999999025923074e-05
+23952,1791617179977776517,22363772000000,1791617179970246425,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761122868977049,-0.004895943229028451,0.09042188724338539,0.9999999934375694,-2.153530419370751e-06,3.552882999025611e-05,5.74525028564985e-05,0.6761,-0.0048,0.09032700055820213,1.0,0.0,0.0,0.0,0.432463117271439,0.7130280432740396,1.1654867843024428,0.05251935176178195,-0.029643702603841426,0.0013133726319253176,0.35662291866004164,0.6959464691589308,1.037172789679356,0.05152480017534141,-0.029598826766805655,0.001396243799990925,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6577640119139766,0.49157425198307647,-0.4701540486041064,0.21274388533155844,0.45687936932186574,0.28045123485037543,0.5152655439204765,1.1654867843024428,0.985419592524583,0.985419592524583,0.5720800000000398,1,0,-9.716483766325501e-06,9.814630066995456e-05
+24279,1791617182702830783,22366497000000,1791617182698246976,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761042962384348,-0.004896717888009881,0.09039259027885843,0.9999999938344835,-1.2414952942291494e-07,1.877766108215031e-05,5.8491723055456654e-05,0.6761,-0.0048,0.09032187281019537,1.0,0.0,0.0,0.0,0.4543977672392641,0.6734215807577372,1.0139784929085223,0.049679562076721605,-0.03259435513640337,0.0013568141284815162,0.37855756862786677,0.6563400066426284,0.8856644982854355,0.04868501049028107,-0.032549479299367606,0.0014396852965471237,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6263858873838842,0.3512118507349265,-0.263567004370977,0.25165828933737133,0.32126192103008316,0.18746893066778736,0.5152655439204765,1.0139784929085223,0.7788325482914535,0.7788325482914535,0.7900799999999553,1,0,-1.0270698233052756e-05,1.2855927941933123e-05
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+24926,1791617188093876481,22371888000000,1791617188090246812,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761267957969895,-0.004909169079835787,0.0902306184116534,0.9999999913846584,7.055818154470226e-08,5.746833119572563e-05,7.328665245554222e-05,0.6761,-0.0048,0.09010181451094953,1.0,0.0,0.0,0.0,0.45698920282010336,0.655763805003019,1.2643854889684807,0.048603208171068,-0.03262810206491969,0.0011432522501859399,0.381149004208706,0.6386822308879102,1.136071494345394,0.047608656584627464,-0.03258322622788392,0.0012261234182515473,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6519550629316538,0.37287409439041624,-0.5800392111315519,0.25924919124201906,0.5164833290474669,0.205699408131722,0.5152655439204765,1.2643854889684807,1.0953047550520285,1.0953047550520285,1.2213600000000953,1,0,-5.778529872243888e-05,-9.99859043046058e-05
+25209,1791617190452879004,22374247000000,1791617190446246704,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761388459412285,-0.0049132093509956665,0.09009568201918627,0.9999999896162052,4.995197251952449e-06,7.783980566963907e-05,7.827174985410247e-05,0.6761,-0.0048,0.08994202951404763,1.0,0.0,0.0,0.0,0.4813542750178664,0.6214596230388972,1.3736489583972709,0.045546252667804904,-0.0336076302188861,0.0010076501156461937,0.405514076406469,0.6043780489237884,1.2453349637741842,0.044551701081364366,-0.033562754381850336,0.0010905212837118011,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6938542034857522,0.3722794759635369,-0.7852144511699097,0.2642173531836968,0.6592908269715927,0.2090897775912377,0.5152655439204765,1.3736489583972709,1.3004799950903863,1.3004799950903863,1.410080000000284,1,0,-7.586470701234494e-05,-9.999831104690599e-05
+25465,1791617192585901989,22376380000000,1791617192582246812,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761479555777686,-0.004919499871288129,0.08993417845632934,0.9999999885648327,4.804633283477978e-06,9.461066276779452e-05,7.306802818730493e-05,0.6761,-0.0048,0.08975645610666556,1.0,0.0,0.0,0.0,0.5220520136954836,0.5856692689870934,1.4529666736806583,0.04254980474429765,-0.03660571171281545,0.0008668283288692109,0.4462118150840863,0.5685876948719846,1.3246526790575717,0.04155525315785711,-0.036560835875779685,0.0009496994969348183,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7142983967749533,0.43781340536967417,-0.8617793412221507,0.26437373212609655,0.708843128414086,0.25842842395455456,0.5152655439204765,1.4529666736806583,1.3770448851426274,1.3770448851426274,1.5807200000004547,1,0,-9.636320477265781e-05,-9.687918109258504e-05
+25692,1791617194477960080,22378272000000,1791617194474247093,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761615667740654,-0.004921868037787742,0.08975868001639419,0.9999999865136628,1.694124418893082e-06,0.00011347861284106232,7.439941468844362e-05,0.6761,-0.0048,0.08955996029975946,1.0,0.0,0.0,0.0,0.5517620778256072,0.5456493651312544,1.5084464342280075,0.039530011973365045,-0.038585797448270565,0.0007628180556141842,0.47592187921420975,0.5285677910161456,1.3801324396049208,0.03853546038692451,-0.0385409216112348,0.0008456892236797916,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7041528714256053,0.35575590017288455,-0.9259529294501014,0.2931964737537185,0.7479694954205929,0.20119081463157784,0.5152655439204765,1.5084464342280075,1.441218473370578,1.441218473370578,1.732080000000606,1,0,-0.0001153696129560774,-9.972859624086112e-05
+25920,1791617196377978619,22380172000000,1791617196370246945,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761754603797772,-0.004941778715308237,0.08954554103547613,0.9999999834215072,-1.7660122861694245e-05,0.00013065275648977196,8.495779653195416e-05,0.6761,-0.0048,0.08932362153111612,1.0,0.0,0.0,0.0,0.5361787909500938,0.4750922588230611,1.5799058524167962,0.033361932153921636,-0.037476695992637914,0.000646475069971352,0.46033859233869645,0.4580106847079523,1.4515918577937095,0.0323673805674811,-0.03743182015560215,0.0007293462380369595,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7674999846279661,0.24726644492692712,-1.2869648638831697,0.31274033338568785,0.9913338320707473,0.1314746241630352,0.5152655439204765,1.5799058524167962,1.8022304078036462,1.8022304078036462,1.884080000000758,1,0,-0.00013017468806078713,9.999997638144293e-05
+26119,1791617198035982298,22381830000000,1791617198034246438,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.676186160477313,-0.004948799636635272,0.08932718018753037,0.9999999806867608,-2.5774942551946842e-05,0.00014560754082057432,9.057283747986463e-05,0.6761,-0.0048,0.08908717679612853,1.0,0.0,0.0,0.0,0.5660941645274187,0.4107570541918221,1.6590495525343856,0.030361296881123975,-0.0404655969003575,0.0005045402908214435,0.49025396591602133,0.3936754800767133,1.530735557911299,0.029366745294683437,-0.040420721063321736,0.0005874114588870509,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7513441500805418,0.21992123082367424,-1.3431577990909422,0.32964722603935864,1.0262550674886026,0.11441220109309705,0.5152655439204765,1.6590495525343856,1.8584233430114188,1.8584233430114188,2.0167200000008907,1,0,-0.0001532653141802801,9.803422937182944e-05
+26311,1791617199635989615,22383430000000,1791617199630246831,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761931968051912,-0.00495439448364717,0.08907381345601692,0.9999999788597173,-1.7943867036382595e-05,0.00015430468587364753,9.793626012155305e-05,0.6761,-0.0048,0.0888310486172506,1.0,0.0,0.0,0.0,0.6055060022100253,0.3804556156655878,1.7179050401668856,0.02633721885880085,-0.04243006647793875,0.00038446613851917706,0.5296658035986279,0.363374041550479,1.589591045543799,0.02534266727236031,-0.04238519064090299,0.00046733730658478454,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6272862529525708,0.33810695834037385,-1.404804867845805,0.30634656777442515,1.03207257440239,0.19617319155955276,0.5152655439204765,1.7179050401668856,1.9200704117662815,1.9200704117662815,2.1447200000010187,1,0,-0.0001698454160606585,-5.577878023211298e-05
+26491,1791617201136014713,22384930000000,1791617201134246612,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761976796523083,-0.0049538320284069695,0.0887934221410172,0.9999999769306388,-1.153051626253452e-05,0.00016103391114879285,0.00010731595011127514,0.6761,-0.0048,0.08854361344241884,1.0,0.0,0.0,0.0,0.6401833641142111,0.34636635531167786,1.7780256889768593,0.024315123730210796,-0.04543396358437508,0.0008111251372532337,0.5643431655028137,0.32928478119656907,1.6497116943537726,0.023320572143770257,-0.04538908774733931,0.0008939963053188412,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6605776445906899,0.25422256983953345,-1.4132832514032592,0.3349320932951157,1.051496895790498,0.13944034069880787,0.5152655439204765,1.7780256889768593,1.9285487953237357,1.9285487953237357,2.2647200000011387,1,0,-0.00021165136412512465,-9.986026869158166e-05
+26635,1791617202335961958,22386130000000,1791617202334247137,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762052447842642,-0.004961404832988191,0.08853136257216418,0.999999974958303,-1.4188174357912145e-05,0.00016941083726378602,0.00011236067724576281,0.6761,-0.0048,0.08827079896578614,1.0,0.0,0.0,0.0,0.6583999473721602,0.31091278143797774,1.839879321159998,0.021381682150644492,-0.046413387068707,0.0007154770968720579,0.5825597487607629,0.29383120732286894,1.7115653265369113,0.020387130564203954,-0.04636851123167123,0.0007983482649376653,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5737654452778993,0.31354117291097566,-1.4746634434179628,0.3312763107473797,1.0725649222560747,0.18114615973792975,0.5152655439204765,1.839879321159998,1.9899289873384394,1.9899289873384394,2.3607200000012347,1,0,-0.00024179418729316916,-9.998844393977464e-05
+26766,1791617203427962354,22387222000000,1791617203426247093,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.676212861323384,-0.0049616735405416,0.0882605170590478,0.9999999728423795,-1.3618931450369037e-05,0.00018011082401461393,0.00011459808258162925,0.6761,-0.0048,0.08798995580891081,1.0,0.0,0.0,0.0,0.6742455379777802,0.29866038344863993,1.8768311596433576,0.020309346312307176,-0.0474186702540284,0.001143920995907595,0.5984053393663828,0.28157880933353113,1.7485171650202709,0.019314794725866637,-0.04737379441699263,0.0012267921639732024,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5136492938008275,0.3290214295876664,-1.5462544628899955,0.3342658707982849,1.1053084211574824,0.19152111860352442,0.5152655439204765,1.8768311596433576,2.061520006810472,2.061520006810472,2.448080000001322,1,0,-0.00027325556234000645,-9.95985613691019e-05
+26882,1791617204394071861,22388188000000,1791617204390246931,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762150712311938,-0.004965013073092127,0.08798332469281707,0.9999999715993362,-7.2838191160803325e-06,0.00018319864492239156,0.00012095203072946459,0.6761,-0.0048,0.08771011113024815,1.0,0.0,0.0,0.0,0.6893834342672417,0.27782762923604226,1.9466357297986012,0.018921820502995994,-0.048421726291283954,0.0010653972915500266,0.6135432356558443,0.26074605512093346,1.8183217351755145,0.017927268916555456,-0.04837685045424819,0.001148268459615634,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.44429023755622343,0.28504009278727693,-1.5691149747210575,0.3665211495632712,1.1062552246740012,0.16211226890422364,0.5152655439204765,1.9466357297986012,2.084380518641534,2.084380518641534,2.5253600000013994,1,0,-0.0003050227012593983,-9.99972563350326e-05
+26981,1791617205219079227,22389013000000,1791617205214246678,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762161575437734,-0.0049737046491109115,0.08772997181438572,0.9999999706695596,-1.2306689538901157e-05,0.0001855174279832718,0.00012464178172200057,0.6761,-0.0048,0.0874485171042987,1.0,0.0,0.0,0.0,0.6945778871728221,0.25619133002908623,1.9483146220426175,0.018014170429948035,-0.04963892223748511,0.0010362421194745294,0.6187376885614247,0.23910975591397746,1.8200006274195308,0.017019618843507497,-0.04959404640044934,0.0011191132875401368,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5200926655159255,0.29745194450207574,-1.6486105628032748,0.3878074003860481,1.1851492671691668,0.1737996211374654,0.5152655439204765,1.9483146220426175,2.1638761067237513,2.1638761067237513,2.5913600000014654,1,0,-0.00033333386379489445,-8.740657401289738e-05
+27077,1791617206019073709,22389813000000,1791617206014246590,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762232105155132,-0.004981120382765735,0.08745915669015937,0.9999999684404377,-1.4331721669159302e-05,0.00019617514872090897,0.0001259837333555561,0.6761,-0.0048,0.08716748350270996,1.0,0.0,0.0,0.0,0.7013115138844626,0.2572448915255451,1.9952720076304296,0.017463933735070894,-0.048815727178247954,0.0009916214524180787,0.6254713152730652,0.2401633174104363,1.8669580130073429,0.016469382148630356,-0.04877085134121219,0.0010744926204836862,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.47828892358693287,0.32218097324329004,-1.5993341067493179,0.386931460486103,1.147894419001768,0.18977714138600058,0.5152655439204765,1.9952720076304296,2.1145996506697946,2.1145996506697946,2.6553600000015294,1,0,-0.0003706130075012678,-9.999999025923074e-05
+27169,1791617206786003344,22390580000000,1791617206778246672,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.676229409776854,-0.0049850052684719225,0.08717288567576782,0.9999999655377441,-1.85790294280299e-05,0.00020669488246748832,0.0001315272610778458,0.6761,-0.0048,0.08686977904058231,1.0,0.0,0.0,0.0,0.7117926986462201,0.25562868760467244,2.0394879534626114,0.017202483246565238,-0.0493506362004649,0.0009513942619442971,0.6359525000348227,0.23854711348956364,1.9111739588395247,0.0162079316601247,-0.04930576036342913,0.0010342654300099046,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.41123629621630936,0.27435486696616684,-1.5929139694545842,0.4032983701381977,1.131678326758619,0.15572615166411038,0.5152655439204765,2.0394879534626114,2.1081795133750605,2.1081795133750605,2.7167200000015908,1,0,-0.0004062509006100542,-9.999999025923074e-05
+27253,1791617207486065896,22391280000000,1791617207478246555,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762344682486747,-0.0049785648557806395,0.08688519997503907,0.9999999642456371,-4.274976119085986e-06,0.00021398247408853981,0.00013093820813769698,0.6761,-0.0048,0.0865735197396923,1.0,0.0,0.0,0.0,0.7048537351505111,0.2361876548775997,2.067399622927365,0.01638141632443258,-0.04963161842471698,0.0009166395229655878,0.6290135365391137,0.2191060807624909,1.9390856283042779,0.01538686473799204,-0.04958674258768121,0.0009995106910311953,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.28794405301153775,0.15291771424052156,-1.5890774174460172,0.4564848320632265,1.0961736130804018,0.07935156342555083,0.5152655439204765,2.067399622927365,2.104342961366494,2.104342961366494,2.7727200000016468,1,0,-0.0004401023607589468,-9.999999025923074e-05
+27321,1791617208053074188,22391847000000,1791617208050246529,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762329675174973,-0.004983541888977619,0.08663512460814009,0.9999999637462109,-1.4633315678823373e-05,0.00021416050090087795,0.00013368465605917464,0.6761,-0.0048,0.08631753058808847,1.0,0.0,0.0,0.0,0.7230146068428597,0.26330287969130295,2.096020766895568,0.018287307499899038,-0.050466342510322566,0.0009023737041495632,0.6471744082314623,0.24622130557619418,1.9677067722724813,0.0172927559134585,-0.0504214666732868,0.0009852448722151707,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.43993419676858736,0.2439966086253745,-1.6840951975093121,0.4406690240793245,1.2003380811021955,0.1442119761002579,0.5152655439204765,2.096020766895568,2.1993607414297887,2.1993607414297887,2.818080000001692,1,0,-0.00046305542419497323,-9.999999025923074e-05
+27393,1791617208653106252,22392447000000,1791617208646246801,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762327875110691,-0.004989870683602146,0.08635383088441011,0.999999962833603,-1.902290676581776e-05,0.0002166477132026411,0.0001359321677384393,0.6761,-0.0048,0.08603072428627925,1.0,0.0,0.0,0.0,0.7401503542659947,0.27053673822894986,2.1071899631323707,0.018276671046653717,-0.0514501132449479,0.0008798618782170575,0.6643101556545974,0.25345516411384106,1.978875968509284,0.01728211946021318,-0.051405237407912134,0.0009627330462826649,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3797143292944228,0.354795066583204,-1.658087886345365,0.4310721065821595,1.1711021199443226,0.22040614818223744,0.5152655439204765,2.1071899631323707,2.1733534302658413,2.1733534302658413,2.86608000000174,1,0,-0.0004930145733842137,-9.999999025923074e-05
+27465,1791617209253118440,22393047000000,1791617209250246336,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762401780147632,-0.004991208478900897,0.08605998859166256,0.9999999596926425,-1.8214864355189716e-05,0.00023121983460134025,0.00013514135040148878,0.6761,-0.0048,0.08572669171183256,1.0,0.0,0.0,0.0,0.7130241331733772,0.23914070280485505,2.116635596862466,0.017250553700222455,-0.050370216705925126,0.0008741630078672998,0.6371839345619799,0.22205912868974625,1.9883216022393793,0.016256002113781916,-0.05032534086888936,0.0009570341759329072,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4089966440381915,0.3489978698174446,-1.6860591509875895,0.4279849677713514,1.2014711683526016,0.21297870977702146,0.5152655439204765,2.116635596862466,2.201324694908066,2.201324694908066,2.914080000001788,1,0,-0.0005202627543874058,-9.999999025923074e-05
+27532,1791617209811104084,22393605000000,1791617209810246930,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762380838415613,-0.004998745824142765,0.08576443719098567,0.9999999595789422,-2.7740873693786388e-05,0.0002297614734200033,0.00013683964278148725,0.6761,-0.0048,0.08542873544490935,1.0,0.0,0.0,0.0,0.7226880986823235,0.24174394377693845,2.137583866876544,0.017258988334384013,-0.05047223578627493,0.0008576224123348688,0.6468479000709262,0.22466236966182965,2.009269872253457,0.016264436747943475,-0.050427359949239164,0.0009404935804004762,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4837417350384959,0.38849925026321447,-1.7070260619623236,0.4237942160233021,1.2325934475128062,0.23865642562918804,0.5152655439204765,2.137583866876544,2.2222916058828,2.2222916058828,2.9587200000018328,1,0,-0.0005476230479320707,-9.999999025923074e-05
+27592,1791617210311133083,22394105000000,1791617210306246912,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762359883940905,-0.005002678673887464,0.0854852810672206,0.9999999604045076,-3.2229832439996904e-05,0.00022664037632382227,0.00013501564919395586,0.6761,-0.0048,0.08514930067927598,1.0,0.0,0.0,0.0,0.7225378250306155,0.2385882656043444,2.1455697362018675,0.016608596628487675,-0.050444549091752444,0.0008427423322985578,0.6466976264192181,0.2215066914892356,2.0172557415787806,0.015614045042047135,-0.05039967325471668,0.0009256135003641652,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4949140408411062,0.32182887592873727,-1.7820002736616085,0.4426210407896616,1.2851946914894854,0.19732392189733297,0.5152655439204765,2.1455697362018675,2.297265817582085,2.297265817582085,2.9987200000018728,1,0,-0.0005695431399051778,8.46443835287626e-05
+27656,1791617210844144875,22394638000000,1791617210842246136,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762402959097042,-0.004999769434706652,0.08518366319932986,0.999999958402357,-2.7224634220305138e-05,0.0002369367435565766,0.00013325894985568692,0.6761,-0.0048,0.08483903865502761,1.0,0.0,0.0,0.0,0.7132921521087128,0.23751791921993395,2.1363543982806843,0.016259009875697176,-0.04943013925002608,0.0008614176449405014,0.6374519534973154,0.22043634510482515,2.0080404036575974,0.015264458289256638,-0.049385263412990314,0.0009442888130061088,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5296531901900184,0.35931749942969265,-1.766205274566733,0.4235565366451045,1.2834822115726126,0.21923244628736893,0.5152655439204765,2.1363543982806843,2.2814708184872092,2.2814708184872092,3.0413600000019154,1,0,-0.0005946136790821718,-9.999776981318149e-05
+27712,1791617211311143341,22395105000000,1791617211306246911,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762389032278587,-0.005004975819667754,0.08490316079194236,0.9999999580878316,-2.965954438250559e-05,0.00023497746327474366,0.00013846697367555174,0.6761,-0.0048,0.08455606596231782,1.0,0.0,0.0,0.0,0.7132652396424162,0.229100644477268,2.142667683956863,0.016219356131730256,-0.04942548172210137,0.0008561407508065266,0.6374250410310188,0.2120190703621592,2.014353689333776,0.015224804545289716,-0.049380605885065605,0.000939011918872134,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4818636528021323,0.3371404497723939,-1.6158714941309014,0.4306900250722053,1.174917539337885,0.20302588921149717,0.5152655439204765,2.142667683956863,2.131137038051378,2.131137038051378,3.078720000001953,1,0,-0.000616557669734534,-9.999997638144293e-05
+27768,1791617211778155264,22395572000000,1791617211774246635,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762323553722153,-0.005007774069502842,0.08460371546520369,0.9999999609691607,-3.1385554345326734e-05,0.00022264379554620244,0.00013765619804697704,0.6761,-0.0048,0.08426283689119016,1.0,0.0,0.0,0.0,0.7199432999460963,0.21824951051486283,2.145424654503374,0.01521806414667342,-0.05041764761159391,0.0008275943251898166,0.644103101334699,0.20116793639975403,2.017110659880287,0.014223512560232882,-0.050372771774558144,0.000910465493255424,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5391573671528113,0.2526603207408874,-1.7833096124621866,0.45230365914869924,1.2983414150284776,0.15195022800161312,0.5152655439204765,2.145424654503374,2.298575156382663,2.298575156382663,3.11608000000199,1,0,-0.0006393694690451632,-9.142136633689119e-05
+27824,1791617212244161160,22396038000000,1791617212242246290,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.676232112376027,-0.005009541835054576,0.08430697270100349,0.9999999599658836,-3.360664627921866e-05,0.0002270728335458592,0.000137184609276101,0.6761,-0.0048,0.0839598503131558,1.0,0.0,0.0,0.0,0.72864047842627,0.23214581751661295,2.116742113276628,0.016189926644550715,-0.050431296048360934,0.0008599933223406996,0.6528002798148727,0.21506424340150415,1.988428118653541,0.015195375058110175,-0.05038642021132517,0.000942864490406307,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5741509053220563,0.261127408926966,-1.596851515763394,0.47136864413941615,1.1817397999782047,0.1628463179351735,0.5152655439204765,2.116742113276628,2.1121170596838708,2.1121170596838708,3.1533600000020274,1,0,-0.0006609484690209541,-9.999999025923074e-05
+27879,1791617212703071939,22396497000000,1791617212698246503,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762338605559967,-0.005010015609020306,0.08400662353014329,0.9999999585620638,-3.779087132672113e-05,0.00023260676337198227,0.0001370572094409276,0.6761,-0.0048,0.08365146013071052,1.0,0.0,0.0,0.0,0.7133182674457269,0.22485620666629955,2.086744884039343,0.016217813491351388,-0.04941037346568167,0.0009013556929186629,0.6374780688343296,0.20777463255119075,1.958430889416256,0.015223261904910848,-0.0493654976286459,0.0009842268609842704,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.632693064636138,0.304491072312983,-1.7763926372553853,0.4503362770413528,1.30949853383455,0.1891267001018977,0.5152655439204765,2.086744884039343,2.291658181175862,2.291658181175862,3.190080000002064,1,0,-0.000682954459453626,-9.999999025923074e-05
+27932,1791617213144093182,22396938000000,1791617213138246610,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.676235029887165,-0.005011932335625096,0.0837032379501831,0.9999999579031368,-4.110508308986938e-05,0.00023657976197623637,0.00013407825110309888,0.6761,-0.0048,0.08334544809201912,1.0,0.0,0.0,0.0,0.7164380297512454,0.2214760835817555,2.0716662481345094,0.015200467581754348,-0.04938849831937613,0.000902414685241713,0.640597831139848,0.2043945094666467,1.9433522535114225,0.01420591599531381,-0.049343622482340366,0.0009852858533073204,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7037495083861054,0.262216786192596,-1.7888996797646548,0.4614853714479812,1.3333161919337757,0.15974346076832546,0.5152655439204765,2.0716662481345094,2.304165223685131,2.304165223685131,3.2253600000020994,1,0,-0.0007048941346968471,-9.999999025923074e-05
+27979,1791617213536192812,22397330000000,1791617213530237635,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762273068251267,-0.005011281503482531,0.08341249470679903,0.9999999606037131,-4.337252830334544e-05,0.00022301208010262763,0.0001364546539502138,0.6761,-0.0048,0.08306548732931689,1.0,0.0,0.0,0.0,0.7053754948163914,0.20853739864343512,2.0643790518422644,0.014181000782036796,-0.04936704719900593,0.0008952025802506352,0.629535296204994,0.19145582452832632,1.9360650572191778,0.013186449195596257,-0.04932217136197016,0.0009780737483162426,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7195161387313712,0.22143214287234525,-1.7089752765070338,0.47023064333261083,1.2876503114211546,0.1360730081464119,0.5152655439204765,2.0643790518422644,2.2242408204275104,2.2242408204275104,3.256720000002131,1,0,-0.0007235678604292347,-9.999999025923074e-05
+28027,1791617213936160325,22397730000000,1791617213934236690,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6762216367728111,-0.005012121198277439,0.08311328692906873,0.9999999612956723,-3.938903584618357e-05,0.00021729312677371104,0.0001417170398178281,0.6761,-0.0048,0.08277212593932443,1.0,0.0,0.0,0.0,0.7061793971784973,0.19429064679300542,2.024727783101765,0.013166690442165473,-0.04933865873292262,0.0009160366619898198,0.6303391985671,0.17720907267789662,1.8964137884786785,0.012172138855724934,-0.04929378289588685,0.0009989078300554272,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7180062517145329,0.3053621036590807,-1.8227867291132045,0.44274862462023457,1.3564822897052236,0.18801979744624292,0.5152655439204765,2.024727783101765,2.3380522730336812,2.3380522730336812,3.288720000002163,1,0,-0.0007425938135616469,-9.178009327393539e-05
+28071,1791617214303118025,22398097000000,1791617214302236704,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762197119756713,-0.005014460751465395,0.08283431840288806,0.9999999624258488,-4.719345016245553e-05,0.00021311017035351764,0.00013765173140871536,0.6761,-0.0048,0.08249626462083222,1.0,0.0,0.0,0.0,0.719007062138901,0.19298019138069739,1.9907998216507459,0.013199763291291905,-0.05034462788594759,0.0009350855776099462,0.6431668635275036,0.17589861726558859,1.8624858270276592,0.012205211704851367,-0.05029975204891182,0.0010179567456755536,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8118452217465167,0.3494028843404402,-1.770034783107378,0.4374626021203477,1.3479800771661727,0.21940328599905642,0.5152655439204765,1.9907998216507459,2.2853003270278545,2.2853003270278545,3.318080000002192,1,0,-0.0007607881245638978,-9.999999025923074e-05
+28115,1791617214669177742,22398463000000,1791617214662246535,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6762110366992337,-0.005012745702946806,0.08253195388278249,0.9999999651025857,-4.1512847529639885e-05,0.00019753249252451408,0.00014316176119457002,0.6761,-0.0048,0.0822144764500552,1.0,0.0,0.0,0.0,0.7161048854761305,0.17886197527396275,1.9545574956010106,0.012183451607282734,-0.050316122365160455,0.0009499038756627498,0.6402646868647331,0.16178040115885395,1.8262435009779239,0.011188900020842196,-0.05027124652812469,0.0010327750437283572,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8373541141983988,0.25667200287778913,-1.816437689776664,0.4521066953981975,1.3824234898466612,0.15672922994552285,0.5152655439204765,1.9545574956010106,2.331703233697141,2.331703233697141,3.3473600000022214,1,0,-0.0007790729872711718,-9.621655835812532e-05
+28159,1791617215036189935,22398830000000,1791617215034246591,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761996537313208,-0.005015822232025268,0.08221812578888515,0.9999999682058163,-5.0005382560488354e-05,0.0001791339097989167,0.0001429745954948632,0.6761,-0.0048,0.08192519861245288,1.0,0.0,0.0,0.0,0.716716709817416,0.15624800842381928,1.923150350291106,0.01117021647767103,-0.05028906047479623,0.0009662421399122708,0.6408765112060186,0.13916643430871048,1.7948363556680194,0.010175664891230491,-0.05024418463776046,0.0010491133079778782,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8464060450053112,0.3363588909997092,-1.7191464951806548,0.4314126216437647,1.3239886718666105,0.21033130254208252,0.5152655439204765,1.923150350291106,2.234412039101131,2.234412039101131,3.376720000002251,1,0,-0.0007974229838073318,-9.999999025923074e-05
+28199,1791617215369114911,22399163000000,1791617215366245994,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761870886346533,-0.0050098257842680904,0.08192983365245847,0.9999999720652787,-4.368430954578744e-05,0.00015811706160075877,0.00014283900779894535,0.6761,-0.0048,0.08165689947796581,1.0,0.0,0.0,0.0,0.733927937756027,0.14866627415873054,1.8267920786763558,0.010111938815671467,-0.051126902825103064,0.0010159490912313922,0.6580877391446297,0.13158470004362174,1.6984780840532692,0.009117387229230929,-0.0510820269880673,0.0010988202592969996,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8964145512173773,0.25893916307445936,-1.7038168967982985,0.4534099389575155,1.3258239019581635,0.16020978771084013,0.5152655439204765,1.8267920786763558,2.219082440718775,2.219082440718775,3.4033600000022775,1,0,-0.0008140344219490211,-9.999999025923074e-05
+28239,1791617215703164550,22399497000000,1791617215702236891,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761804743944159,-0.00501399793805653,0.08164160509523266,0.9999999731217377,-5.115424322869411e-05,0.00014733794607003407,0.0001444789309302563,0.6761,-0.0048,0.08138223143157979,1.0,0.0,0.0,0.0,0.7176390505041613,0.1456187686949076,1.7529623680613164,0.010130920894590896,-0.05023257594535401,0.0010897838296462022,0.641798851892764,0.1285371945797988,1.6246483734382298,0.009136369308150358,-0.050187700108318245,0.0011726549977118096,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9025980509992487,0.3754928724437253,-1.6704967197881933,0.4058070866144195,1.3021396739842237,0.23138607039935258,0.5152655439204765,1.7529623680613164,2.1857622637086696,2.1857622637086696,3.430080000002304,1,0,-0.0008307344186956042,-9.999999025923074e-05
+28279,1791617216036158527,22399830000000,1791617216034246313,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.676166323910633,-0.005013472704589186,0.08133818724324945,0.9999999760192527,-4.8280091645504985e-05,0.00012629610705418783,0.0001453364522390438,0.6761,-0.0048,0.08110283297069584,1.0,0.0,0.0,0.0,0.7110303964846677,0.13231497319049848,1.6946114595745463,0.009170049555806397,-0.05020113852778361,0.0011214213894902441,0.6351901978732704,0.1152333990753897,1.5662974649514596,0.008175497969365859,-0.05015626269074784,0.0012042925575558516,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9773342138392377,0.2908084435243557,-1.5618441025632321,0.43328800451519955,1.2481598936512837,0.1782761712909023,0.5152655439204765,1.6946114595745463,2.0771096464837084,2.0771096464837084,3.456720000002331,1,0,-0.000847384415451928,-9.999999025923074e-05
+28319,1791617216369203001,22400163000000,1791617216362246637,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761534204876447,-0.00500675517069974,0.08102327975230326,0.9999999785484515,-4.860747485940588e-05,0.0001040491260536728,0.00014545464550894842,0.6761,-0.0048,0.08081789006089204,1.0,0.0,0.0,0.0,0.7098152478408922,0.12517694150250025,1.5974689267914697,0.008175916101224265,-0.05015596110374267,0.00037557038157497294,0.6339750492294949,0.10809536738739145,1.469154932168383,0.007181364514783727,-0.050111085266706906,0.0004584415496405804,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9698010581305222,0.2980497194261126,-1.5786269854152848,0.41966663303061014,1.2546589917433262,0.17885854476900645,0.5152655439204765,1.5974689267914697,2.0938925293357613,2.0938925293357613,3.4833600000023575,1,0,-0.0008640344122082519,-9.999999025923074e-05
+28355,1791617216669131780,22400463000000,1791617216666236793,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761433326494347,-0.005007485226491659,0.08075228496770975,0.9999999797485353,-5.761382548533412e-05,9.024565739840215e-05,0.00014311590330970232,0.6761,-0.0048,0.08055643723766936,1.0,0.0,0.0,0.0,0.7012561778445188,0.11257836208661487,1.5070689408335558,0.00816593469952702,-0.04912233043685033,0.00024922302009512887,0.6254159792331214,0.09549678797150607,1.3787549462104691,0.007171383113086481,-0.049077454599814566,0.00033209418816073635,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.977128680043352,0.3440424398977491,-1.4513227648063378,0.41194425712231775,1.1667378202941552,0.21403912851021176,0.5152655439204765,1.5070689408335558,1.9665883087268143,1.9665883087268143,3.5073600000023815,1,0,-0.0008790344092860211,-9.999999025923074e-05
+28395,1791617217003202739,22400797000000,1791617216998238060,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761356584433518,-0.005004576734243332,0.08044525177548144,0.9999999806674014,-5.345452734046287e-05,8.107592124662878e-05,0.00014379627883173073,0.6761,-0.0048,0.08026005919551278,1.0,0.0,0.0,0.0,0.6814205150578725,0.13080788615850922,1.3920236935697576,0.009181397315027602,-0.048103279770670505,0.00036655875533923794,0.6055803164464751,0.11372631204340043,1.263709698946671,0.008186845728587064,-0.04805840393363474,0.0004494299234048454,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0127334781680255,0.2714944103218402,-1.203384274673483,0.4221595091211423,1.0090332902579247,0.16179439034121124,0.5152655439204765,1.3920236935697576,1.7186498185939596,1.7186498185939596,3.534080000002408,1,0,-0.0008957344060326042,-9.999999025923074e-05
+28434,1791617217328156129,22401122000000,1791617217326246880,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761250382555146,-0.005004231292575313,0.08013555341517399,0.999999982088188,-5.337350678464065e-05,6.634273006019468e-05,0.00014147932435127622,0.6761,-0.0048,0.0799663130140682,1.0,0.0,0.0,0.0,0.6534996124557013,0.13782573497591036,1.310115928997966,0.009143149752466018,-0.04605935812937727,0.00046077242387446306,0.577659413844304,0.12074416086080156,1.1818019343748793,0.00814859816602548,-0.0460144822923415,0.0005436435919400705,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0421279084643995,0.29673749850741893,-1.2648337514816286,0.41028811861961173,1.0473730214033459,0.17754869435308143,0.5152655439204765,1.310115928997966,1.780099295402105,1.780099295402105,3.560080000002434,1,0,-0.0009119844028668541,-9.999999025923074e-05
+28470,1791617217628140885,22401422000000,1791617217622237034,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6761145361369295,-0.005002599252717666,0.07984339199974537,0.9999999830850589,-5.25756643353754e-05,5.1031099641667374e-05,0.00014108285780240214,0.6761,-0.0048,0.07969047519364794,1.0,0.0,0.0,0.0,0.6348033505554466,0.12537826059390222,1.2400400890662466,0.009116911818259573,-0.044621576160253286,0.0005329954257380729,0.5589631519440492,0.10829668647879342,1.11172609444316,0.008122360231819035,-0.04457670032321752,0.0006158665938036803,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1672640662818479,0.3286124070066642,-1.2773177497318662,0.39553081201676754,1.0827903626318574,0.19867716717978157,0.5152655439204765,1.2400400890662466,1.7925832936523427,1.7925832936523427,3.584080000002458,1,0,-0.0009269843999446234,-9.999999025923074e-05
+28506,1791617217928142211,22401722000000,1791617217922237329,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761057442315337,-0.005001683860197445,0.07955623799183355,0.999999983516101,-4.722109845425528e-05,4.112612236634907e-05,0.0001431414409889958,0.6761,-0.0048,0.07941013737410435,1.0,0.0,0.0,0.0,0.6069638667038253,0.1304723251232779,1.1393824305696947,0.009092317950515426,-0.04298107706590277,0.0006401726305929965,0.531123668092428,0.1133907510081691,1.011068435946608,0.008097766364074888,-0.042936201228867,0.0007230437986586039,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1929664294265514,0.27274791483175026,-1.1044315206639668,0.40358516706356934,0.9726010904063932,0.16200263254561928,0.5152655439204765,1.1393824305696947,1.6196970645844433,1.6196970645844433,3.608080000002482,1,0,-0.0009419843970223926,-9.999999025923074e-05
+28543,1791617218236201501,22402030000000,1791617218230237187,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6761009328510207,-0.004996230180731871,0.0792565669008958,0.9999999843522989,-4.6384284626165513e-05,3.4704794659110296e-05,0.00013922047900523572,0.6761,-0.0048,0.07911764228028498,1.0,0.0,0.0,0.0,0.5899356546533441,0.1378481251675571,1.0686953409204087,0.009055328855559852,-0.04107539415596589,0.0007249675466919231,0.5140954560419467,0.1207665510524483,0.940381346297322,0.008060777269119314,-0.04103051831893012,0.0008078387147575306,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1786013525338006,0.17603569116891432,-1.0443637440281397,0.4220404247458334,0.9213893639980358,0.09184918907253437,0.5152655439204765,1.0686953409204087,1.5596292879486162,1.5596292879486162,3.632720000002507,1,0,-0.0009573843940222357,-9.999999025923074e-05
+28578,1791617218528196544,22402322000000,1791617218526237210,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6760883254930452,-0.004997895222475608,0.07895590095141311,0.9999999843508222,-4.4206350519575865e-05,1.4534401837331381e-05,0.000143442565186891,0.6761,-0.0048,0.07883596173764718,1.0,0.0,0.0,0.0,0.5580340786483677,0.12302074541434617,0.9590281553353196,0.00803234010940706,-0.039876884819264324,7.92560317793228e-05,0.48219388003697033,0.10593917129923737,0.8307141607122329,0.007037788522966521,-0.03983200898222856,0.00016212719984493026,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2262747621401555,0.2379758139415133,-0.9642982473129917,0.4008143687284733,0.8762183125147776,0.13226851225185415,0.5152655439204765,0.9590281553353196,1.4795637912334683,1.4795637912334683,3.65608000000253,1,0,-0.000971984391177931,-9.999999025923074e-05
+28614,1791617218828192552,22402622000000,1791617218826237366,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6760770535756301,-0.004991784583515527,0.07863975598004615,0.9999999848372613,-4.7287363593269726e-05,-6.040878551710251e-06,0.00013962719839602693,0.6761,-0.0048,0.07854212392073359,1.0,0.0,0.0,0.0,0.5436364177752947,0.10747581661862754,0.8803294652261431,0.00701669381121389,-0.03882663811891409,-0.00014489766648044901,0.46779621916389735,0.09039424250351874,0.7520154706030564,0.006022142224773351,-0.038781762281878324,-6.202649841484156e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2479126834131884,0.21989310520043073,-0.8781697861872235,0.40077101171330914,0.8208196068609425,0.11744242144693355,0.5152655439204765,0.8803294652261431,1.3934353301077,1.3934353301077,3.680080000002554,1,0,-0.0009869843882557002,-9.999999025923074e-05
+28646,1791617219094127622,22402888000000,1791617219090246456,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6760649797136696,-0.004986078598010953,0.07836245670714238,0.9999999847152432,-4.388481759984274e-05,-2.3766443957099405e-05,0.00013971992231426908,0.6761,-0.0048,0.07827782382380348,1.0,0.0,0.0,0.0,0.5336451048007015,0.10046327783061962,0.7784744709035959,0.006988986330901347,-0.0377897687835459,-4.892468825798682e-05,0.45780490618930414,0.08338170371551082,0.6501604762805092,0.005994434744460809,-0.037744892946510136,3.394647980762065e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2375864142411928,0.35257300777433925,-0.7764584650127264,0.3549134170843825,0.7508194211672398,0.19926050530251402,0.5152655439204765,0.7784744709035959,1.291724008933203,1.291724008933203,3.7013600000025755,1,0,-0.0010002843856646555,-9.999999025923074e-05
+28682,1791617219394238488,22403188000000,1791617219390236903,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6760577139623078,-0.0049773294258898555,0.078048662195498,0.9999999846341591,-3.834732352113645e-05,-3.5912762986054644e-05,0.0001393352155423272,0.6761,-0.0048,0.07797549600854388,1.0,0.0,0.0,0.0,0.5056899917803297,0.10875263832197593,0.6758400442307454,0.006955205364077573,-0.03574209594258954,6.20892425209411e-05,0.42984979316893235,0.09167106420686713,0.5475260496076587,0.005960653777637034,-0.035697220105553776,0.00014496041058654856,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2291459753505323,0.33235922528410944,-0.7528061439443974,0.3557959848270202,0.7248031431317867,0.18788530818425045,0.5152655439204765,0.6758400442307454,1.268071687864874,1.268071687864874,3.7253600000025995,1,0,-0.0010152843827424248,-9.999999025923074e-05
+28714,1791617219661197880,22403455000000,1791617219658237088,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6760469352169103,-0.004980343177909346,0.07775720059226558,0.9999999837034107,-3.856071368110138e-05,-5.2422727732246704e-05,0.00014071592560514683,0.6761,-0.0048,0.07770263952870016,1.0,0.0,0.0,0.0,0.4819499631425883,0.0886954934454396,0.6127801450380692,0.005990131664632324,-0.03432564655989892,0.00011580498505278347,0.40610976453119096,0.0716139193303308,0.48446615041498253,0.004995580078191785,-0.03428077072286315,0.00019867615311839094,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.239461655432209,0.2415679155012142,-0.6556224645494003,0.3734153398191684,0.6589639633507954,0.12468239977852198,0.5152655439204765,0.6127801450380692,1.170888008469877,1.170888008469877,3.746720000002621,1,0,-0.0010286343801416394,-9.999999025923074e-05
+28746,1791617219928240490,22403722000000,1791617219922236991,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6760409978850049,-0.0049716244755979725,0.07746628963118544,0.9999999835498696,-3.643709938576328e-05,-6.347798523015885e-05,0.00013778972441371335,0.6761,-0.0048,0.07742621859955084,1.0,0.0,0.0,0.0,0.47783097064906593,0.09774664083253028,0.5151041918893091,0.006928766240153405,-0.033678292886382834,0.000222670672693606,0.4019907720376686,0.08066506671742148,0.3867901972662224,0.005934214653712867,-0.03363341704934707,0.0003055418407592135,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.261617494018296,0.23607481512069478,-0.6040162070718409,0.3712423334600692,0.625824932265987,0.12249352550698278,0.5152655439204765,0.5151041918893091,1.1192817509923174,1.1192817509923174,3.768080000002642,1,0,-0.001041984377540854,-9.999999025923074e-05
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+28845,1791617220753215010,22404547000000,1791617220746237355,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6760183986563271,-0.00495966128190796,0.07655338653415948,0.9999999815352844,-3.0535459018947856e-05,-9.842527066066571e-05,0.00013323793389469142,0.6761,-0.0048,0.07654958649139856,1.0,0.0,0.0,0.0,0.367190464460734,0.07983158341022199,0.2730104611731661,0.004741841066296803,-0.026495706194396552,0.0004890250271567493,0.29135026584933665,0.0627500092951132,0.14469646655007934,0.003747289479856265,-0.02645083035736078,0.0005718961952223567,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.215416169859105,0.16467102740238243,-0.22793886668561544,0.363575131378093,0.3577158376656338,0.06674180398993186,0.5152655439204765,0.2730104611731661,0.743204410606092,0.743204410606092,3.834080000002708,1,0,-0.0010832343695047193,-9.999999025923074e-05
+28874,1791617220994221393,22404788000000,1791617220986237591,DOWN_FORCE_DETACH,4,0.0465,0.04650250822305679,0.6759987263390116,-0.00496010280736688,0.07626664805347493,0.9999999789860193,-3.019747191653657e-05,-0.00012446086093128057,0.00013064620921897314,0.6761,-0.0048,0.07628708100863198,1.0,0.0,0.0,0.0,0.3593136712479167,0.04279589867268669,0.21545409664481355,0.0026913406905058695,-0.025503686103339203,-0.0003632004726698546,0.28347347263651934,0.025714324557577894,0.08714010202172684,0.0016967891040653308,-0.025458810266303433,-0.0002803293046042471,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.2236058954971263,0.16334444814859858,-0.22387340204829317,0.3480394053452889,0.36015349994046414,0.06086605541687292,0.5152655439204765,0.21545409664481355,0.7391389459687697,0.7391389459687697,3.8533600000027275,1,0,-0.001095284367157194,-9.999999025923074e-05
+28905,1791617221253254413,22405047000000,1791617221250236884,DOWN_FORCE_DETACH,4,0.0465,0.046501848846673965,0.6759946691086424,-0.004957732211120604,0.07596858562836062,0.9999999765012619,-1.4526868078620931e-05,-0.0001392795703274888,0.0001372243112491204,0.6761,-0.0048,0.07600173180786624,1.0,0.0,0.0,0.0,0.31019466487211633,0.07404623810512187,0.1384892330233195,0.004261339737305247,-0.02236388174527745,-0.00035880020133350363,0.23435446626071896,0.05696466399001307,0.010175238400232786,0.003266788150864708,-0.02231900590824168,-0.00027592903326789615,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1926752299413637,0.13252885933302802,-0.03368820110515549,0.35386613252107046,0.21728742632523268,0.04211021718861146,0.5152655439204765,0.1384892330233195,0.548953745025632,0.548953745025632,3.874080000002748,1,0,-0.0011082343646343347,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a296a7a17c1b6e02373055c1a4aea9dedef4c2f7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f7d4edd8616432b6ca748bacaf6b4e230a19db7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,6.450000000e+00,DOWN_FORCE_DETACH,1791617185630608425,1.278806838e-04,-1.000927598e-04,-4.657937974e-04,1.208719742e-04,-1.019848184e-04,-4.493485742e-04,1.232527537e-04,-1.019245173e-04,-4.490617188e-04,7.016657522e-01,-9.854179845e-05,8.402751474e-01,7.016587435e-01,-1.004338570e-04,8.402915926e-01,7.018525006e-01,-1.001514676e-04,8.291236311e-01
+6,7.750000000e+00,DOWN_FORCE_DETACH,1791617188090464344,1.388141390e-04,-1.070610146e-04,-5.689383459e-04,1.370429920e-04,-1.106491905e-04,-5.525680047e-04,1.394942834e-04,-1.105720596e-04,-5.519203409e-04,7.016766856e-01,-1.055100533e-04,8.401720028e-01,7.016749145e-01,-1.090982292e-04,8.401883732e-01,7.018687421e-01,-1.087990099e-04,8.290207724e-01
+7,8.983333333e+00,DOWN_FORCE_DETACH,1791617190454736064,1.479608007e-04,-1.084077339e-04,-7.061986653e-04,1.487614559e-04,-1.139270423e-04,-7.037598229e-04,1.509335948e-04,-1.138494175e-04,-7.025166408e-04,7.016858323e-01,-1.068567726e-04,8.400347425e-01,7.016866329e-01,-1.123760810e-04,8.400371814e-01,7.018801814e-01,-1.120763677e-04,8.288701761e-01
+8,1.005000000e+01,DOWN_FORCE_DETACH,1791617192582537002,1.591781593e-04,-1.197068143e-04,-8.661769303e-04,1.571349239e-04,-1.179061339e-04,-8.620642323e-04,1.590218944e-04,-1.178216161e-04,-8.606008465e-04,7.016970496e-01,-1.181558530e-04,8.398747643e-01,7.016950064e-01,-1.163551726e-04,8.398788770e-01,7.018882697e-01,-1.160485664e-04,8.287120919e-01
+9,1.103333333e+01,DOWN_FORCE_DETACH,1791617194478667501,1.714274416e-04,-1.199714095e-04,-1.043252040e-03,1.697004048e-04,-1.206205172e-04,-1.037226054e-03,1.713220737e-04,-1.205533741e-04,-1.035593593e-03,7.017092989e-01,-1.184204482e-04,8.396976891e-01,7.017075719e-01,-1.190695559e-04,8.397037151e-01,7.019005699e-01,-1.187803243e-04,8.285370992e-01
+10,1.203333333e+01,DOWN_FORCE_DETACH,1791617196374620839,1.886057734e-04,-1.377718409e-04,-1.250611722e-03,1.873201303e-04,-1.383106664e-04,-1.231270329e-03,1.887042856e-04,-1.381912773e-04,-1.229659118e-03,7.017264773e-01,-1.362208796e-04,8.394903295e-01,7.017251916e-01,-1.367597050e-04,8.395096709e-01,7.019179521e-01,-1.364182276e-04,8.283430337e-01
+11,1.291666667e+01,DOWN_FORCE_DETACH,1791617198038619246,1.986306479e-04,-1.486010339e-04,-1.473485699e-03,1.973386525e-04,-1.438637867e-04,-1.461015073e-03,1.982989401e-04,-1.437486396e-04,-1.458970281e-03,7.017365021e-01,-1.470500725e-04,8.392674555e-01,7.017352101e-01,-1.423128254e-04,8.392799261e-01,7.019275468e-01,-1.419755898e-04,8.281137225e-01
+12,1.371666667e+01,DOWN_FORCE_DETACH,1791617199634642122,2.043105237e-04,-1.518209564e-04,-1.726179515e-03,2.036936580e-04,-1.523311346e-04,-1.706104946e-03,2.039575861e-04,-1.521949757e-04,-1.703942066e-03,7.017421820e-01,-1.502699951e-04,8.390147617e-01,7.017415651e-01,-1.507801733e-04,8.390348362e-01,7.019332054e-01,-1.504219259e-04,8.278687507e-01
+13,1.446666667e+01,DOWN_FORCE_DETACH,1791617201132872031,2.103276922e-04,-1.528635330e-04,-2.002797344e-03,2.094573801e-04,-1.525570310e-04,-1.992168110e-03,2.088900716e-04,-1.524144013e-04,-1.989470548e-03,7.017481992e-01,-1.513125717e-04,8.387381438e-01,7.017473289e-01,-1.510060697e-04,8.387487731e-01,7.019381379e-01,-1.506413516e-04,8.275832222e-01
+14,1.508333333e+01,DOWN_FORCE_DETACH,1791617202332661342,2.176953141e-04,-1.552360092e-04,-2.265935664e-03,2.158269834e-04,-1.544097693e-04,-2.252642880e-03,2.143633268e-04,-1.542348164e-04,-2.249763120e-03,7.017555668e-01,-1.536850479e-04,8.384750055e-01,7.017536985e-01,-1.528588079e-04,8.384882983e-01,7.019436111e-01,-1.524617666e-04,8.273229297e-01
+15,1.566666667e+01,DOWN_FORCE_DETACH,1791617203426708197,2.258085550e-04,-1.582213322e-04,-2.536405042e-03,2.254088766e-04,-1.585096863e-04,-2.536479252e-03,2.231583349e-04,-1.583085405e-04,-2.533158436e-03,7.017636800e-01,-1.566703708e-04,8.382045361e-01,7.017632804e-01,-1.569587250e-04,8.382044619e-01,7.019524061e-01,-1.565354908e-04,8.270395343e-01
+16,1.616666667e+01,DOWN_FORCE_DETACH,1791617204392214380,2.271844636e-04,-1.621856605e-04,-2.813080063e-03,2.265318332e-04,-1.623732867e-04,-2.795484998e-03,2.233763348e-04,-1.621487192e-04,-2.792113561e-03,7.017650559e-01,-1.606346992e-04,8.379278611e-01,7.017644033e-01,-1.608223254e-04,8.379454562e-01,7.019526241e-01,-1.603756694e-04,8.267805792e-01
+17,1.661666667e+01,DOWN_FORCE_DETACH,1791617205222763079,2.288296279e-04,-1.687644285e-04,-3.069977387e-03,2.283846666e-04,-1.691305851e-04,-3.069991976e-03,2.243681243e-04,-1.688868539e-04,-3.066282072e-03,7.017667011e-01,-1.672134672e-04,8.376709638e-01,7.017662561e-01,-1.675796238e-04,8.376709492e-01,7.019536159e-01,-1.671138041e-04,8.265064107e-01
+18,1.703333333e+01,DOWN_FORCE_DETACH,1791617206021525074,2.323532280e-04,-1.784822675e-04,-3.343108694e-03,2.351651187e-04,-1.785706762e-04,-3.328551345e-03,2.303854993e-04,-1.782599027e-04,-3.324885988e-03,7.017702247e-01,-1.769313062e-04,8.373978325e-01,7.017730366e-01,-1.770197149e-04,8.374123898e-01,7.019596333e-01,-1.764868529e-04,8.262478068e-01
+19,1.743333333e+01,DOWN_FORCE_DETACH,1791617206786692840,2.399211999e-04,-1.854281430e-04,-3.626503874e-03,2.395910332e-04,-1.854259128e-04,-3.626601654e-03,2.338353129e-04,-1.850576539e-04,-3.622565604e-03,7.017777927e-01,-1.838771817e-04,8.371144373e-01,7.017774625e-01,-1.838749515e-04,8.371143395e-01,7.019630831e-01,-1.832846041e-04,8.259501272e-01
+20,1.778333333e+01,DOWN_FORCE_DETACH,1791617207487120645,2.465450841e-04,-1.790318005e-04,-3.914176740e-03,2.462691500e-04,-1.791480537e-04,-3.913666545e-03,2.395734486e-04,-1.788058600e-04,-3.909510084e-03,7.017844166e-01,-1.774808392e-04,8.368267644e-01,7.017841406e-01,-1.775970923e-04,8.368272746e-01,7.019688213e-01,-1.770328102e-04,8.256631827e-01
+21,1.806666667e+01,DOWN_FORCE_DETACH,1791617208050674369,2.444189848e-04,-1.802674537e-04,-4.161869959e-03,2.440462422e-04,-1.803529474e-04,-4.161947109e-03,2.365293731e-04,-1.799910505e-04,-4.157831998e-03,7.017822905e-01,-1.787164924e-04,8.365790712e-01,7.017819177e-01,-1.788019861e-04,8.365789941e-01,7.019657772e-01,-1.782180008e-04,8.254148608e-01
+22,1.836666667e+01,DOWN_FORCE_DETACH,1791617208649361099,2.448964800e-04,-1.890660991e-04,-4.441295792e-03,2.439772681e-04,-1.824106374e-04,-4.427034309e-03,2.355001841e-04,-1.819875976e-04,-4.423352989e-03,7.017827680e-01,-1.875151378e-04,8.362996454e-01,7.017818487e-01,-1.808596760e-04,8.363139069e-01,7.019647480e-01,-1.802145478e-04,8.251493398e-01
+23,1.866666667e+01,DOWN_FORCE_DETACH,1791617209248659884,2.496798366e-04,-1.870228109e-04,-4.736811680e-03,2.506634837e-04,-1.896910981e-04,-4.717016745e-03,2.412389341e-04,-1.892624101e-04,-4.713446333e-03,7.017875513e-01,-1.854718496e-04,8.360041295e-01,7.017885350e-01,-1.881401367e-04,8.360239244e-01,7.019704867e-01,-1.874893604e-04,8.248592464e-01
+24,1.895000000e+01,DOWN_FORCE_DETACH,1791617209814873228,2.517102690e-04,-1.938454057e-04,-5.035822301e-03,2.515717187e-04,-1.938145380e-04,-5.035174356e-03,2.411028044e-04,-1.934384944e-04,-5.031679350e-03,7.017895818e-01,-1.922944444e-04,8.357051189e-01,7.017894432e-01,-1.922635767e-04,8.357057668e-01,7.019703506e-01,-1.916654447e-04,8.245410134e-01
+25,1.921666667e+01,DOWN_FORCE_DETACH,1791617210310768462,2.476142856e-04,-2.002470870e-04,-5.313850488e-03,2.453685115e-04,-2.010038323e-04,-5.298316137e-03,2.338377031e-04,-2.005900481e-04,-5.295241772e-03,7.017854858e-01,-1.986961257e-04,8.354270907e-01,7.017832400e-01,-1.994528710e-04,8.354426251e-01,7.019630855e-01,-1.988169984e-04,8.242774510e-01
+26,1.948333333e+01,DOWN_FORCE_DETACH,1791617210842707260,2.533165615e-04,-2.001990784e-04,-5.612666867e-03,2.514075429e-04,-1.969948919e-04,-5.597900363e-03,2.389525373e-04,-1.965557800e-04,-5.594632068e-03,7.017911880e-01,-1.986481170e-04,8.351282743e-01,7.017892790e-01,-1.954439306e-04,8.351430408e-01,7.019682003e-01,-1.947827302e-04,8.239780607e-01
+27,1.973333333e+01,DOWN_FORCE_DETACH,1791617211310870684,2.509824612e-04,-2.029663433e-04,-5.895701225e-03,2.509793324e-04,-2.027182982e-04,-5.895244968e-03,2.373951325e-04,-2.022403597e-04,-5.892233452e-03,7.017888539e-01,-2.014153820e-04,8.348452400e-01,7.017888508e-01,-2.011673369e-04,8.348456962e-01,7.019666429e-01,-2.004673100e-04,8.236804593e-01
+28,1.998333333e+01,DOWN_FORCE_DETACH,1791617211774786288,2.458142935e-04,-1.984919210e-04,-6.191664132e-03,2.433891166e-04,-2.026037030e-04,-6.174907869e-03,2.286817062e-04,-2.021334250e-04,-6.172648141e-03,7.017836858e-01,-1.969409596e-04,8.345492771e-01,7.017812606e-01,-2.010527417e-04,8.345660333e-01,7.019579295e-01,-2.003603752e-04,8.234000446e-01
+29,2.023333333e+01,DOWN_FORCE_DETACH,1791617212240738227,2.427902897e-04,-2.075050823e-04,-6.494139000e-03,2.425523937e-04,-2.075658489e-04,-6.494019121e-03,2.266132510e-04,-2.070856131e-04,-6.491869159e-03,7.017806618e-01,-2.059541210e-04,8.342468022e-01,7.017804239e-01,-2.060148876e-04,8.342469221e-01,7.019558611e-01,-2.053125634e-04,8.230808236e-01
+30,2.046666667e+01,DOWN_FORCE_DETACH,1791617212706969426,2.461963912e-04,-2.118343243e-04,-6.796224358e-03,2.459505875e-04,-2.118331966e-04,-6.795694981e-03,2.290249322e-04,-2.113303042e-04,-6.793597507e-03,7.017840679e-01,-2.102833630e-04,8.339447168e-01,7.017838221e-01,-2.102822353e-04,8.339452462e-01,7.019582727e-01,-2.095572544e-04,8.227790953e-01
+31,2.070000000e+01,DOWN_FORCE_DETACH,1791617213140740918,2.471483637e-04,-2.080058726e-04,-7.092113333e-03,2.471150850e-04,-2.080006493e-04,-7.092132768e-03,2.291198710e-04,-2.073782793e-04,-7.089963729e-03,7.017850198e-01,-2.064549113e-04,8.336488279e-01,7.017849866e-01,-2.064496880e-04,8.336488084e-01,7.019583677e-01,-2.056052296e-04,8.224827290e-01
+32,2.091666667e+01,DOWN_FORCE_DETACH,1791617213538730121,2.387170514e-04,-2.123276601e-04,-7.389893682e-03,2.386742359e-04,-2.123943214e-04,-7.389742692e-03,2.194252788e-04,-2.118547647e-04,-7.388144513e-03,7.017765885e-01,-2.107766988e-04,8.333510475e-01,7.017765457e-01,-2.108433601e-04,8.333511985e-01,7.019486731e-01,-2.100817150e-04,8.221845483e-01
+33,2.111666667e+01,DOWN_FORCE_DETACH,1791617213938849572,2.332751589e-04,-2.094817558e-04,-7.687630807e-03,2.330610517e-04,-2.093213565e-04,-7.687577487e-03,2.126283383e-04,-2.089304740e-04,-7.686530676e-03,7.017711466e-01,-2.079307945e-04,8.330533104e-01,7.017709325e-01,-2.077703952e-04,8.330533637e-01,7.019418761e-01,-2.071574243e-04,8.218861621e-01
+34,2.131666667e+01,DOWN_FORCE_DETACH,1791617214302760186,2.295114619e-04,-2.127512244e-04,-7.968171779e-03,2.294265263e-04,-2.127395048e-04,-7.967870842e-03,2.078442111e-04,-2.123916612e-04,-7.966836997e-03,7.017673829e-01,-2.112002631e-04,8.327727694e-01,7.017672980e-01,-2.111885435e-04,8.327730703e-01,7.019370920e-01,-2.106186114e-04,8.216058558e-01
+35,2.151666667e+01,DOWN_FORCE_DETACH,1791617214670787092,2.216000958e-04,-2.109396430e-04,-8.268739470e-03,2.211788256e-04,-2.111299706e-04,-8.268634973e-03,1.983098835e-04,-2.108038159e-04,-8.267958525e-03,7.017594716e-01,-2.093886817e-04,8.324722017e-01,7.017590503e-01,-2.095790093e-04,8.324723062e-01,7.019275577e-01,-2.090307661e-04,8.213047343e-01
+36,2.170000000e+01,DOWN_FORCE_DETACH,1791617215036761778,2.112804807e-04,-2.087377021e-04,-8.580887087e-03,2.110057038e-04,-2.087309295e-04,-8.580915102e-03,1.867175507e-04,-2.083671724e-04,-8.580295352e-03,7.017491520e-01,-2.071867408e-04,8.321600541e-01,7.017488772e-01,-2.071799681e-04,8.321600261e-01,7.019159654e-01,-2.065941226e-04,8.209923974e-01
+37,2.186666667e+01,DOWN_FORCE_DETACH,1791617215368925086,1.991678680e-04,-2.078163079e-04,-8.869028364e-03,1.990792653e-04,-2.076703543e-04,-8.869048853e-03,1.733982975e-04,-2.075265429e-04,-8.868840201e-03,7.017370393e-01,-2.062653466e-04,8.318719128e-01,7.017369507e-01,-2.061193930e-04,8.318718923e-01,7.019026461e-01,-2.057534931e-04,8.207038526e-01
+38,2.203333333e+01,DOWN_FORCE_DETACH,1791617215701988290,1.901856313e-04,-2.148336126e-04,-9.159997832e-03,1.898325424e-04,-2.148900417e-04,-9.160032498e-03,1.628379708e-04,-2.151125350e-04,-9.160059893e-03,7.017280571e-01,-2.132826513e-04,8.315809434e-01,7.017277040e-01,-2.133390804e-04,8.315809087e-01,7.018920858e-01,-2.133394852e-04,8.204126329e-01
+39,2.220000000e+01,DOWN_FORCE_DETACH,1791617216032879042,1.809950623e-04,-2.098224740e-04,-9.458242769e-03,1.808387481e-04,-2.097850127e-04,-9.458049771e-03,1.524750694e-04,-2.102560448e-04,-9.458215219e-03,7.017188665e-01,-2.082715127e-04,8.312826984e-01,7.017187102e-01,-2.082340514e-04,8.312828914e-01,7.018817229e-01,-2.084829951e-04,8.201144776e-01
+40,2.236666667e+01,DOWN_FORCE_DETACH,1791617216366843374,1.653647304e-04,-2.072950251e-04,-9.772282309e-03,1.652012644e-04,-2.074055295e-04,-9.771953688e-03,1.353569476e-04,-2.081277201e-04,-9.772230217e-03,7.017032362e-01,-2.057440638e-04,8.309686589e-01,7.017030727e-01,-2.058545682e-04,8.309689875e-01,7.018646048e-01,-2.063546703e-04,8.198004626e-01
+41,2.251666667e+01,DOWN_FORCE_DETACH,1791617216666775173,1.562114393e-04,-2.086556457e-04,-1.004411678e-02,1.560506623e-04,-2.085181185e-04,-1.004367004e-02,1.250066073e-04,-2.094444817e-04,-1.004407604e-02,7.016940829e-01,-2.071046844e-04,8.306968244e-01,7.016939221e-01,-2.069671572e-04,8.306972712e-01,7.018542544e-01,-2.076714319e-04,8.195286167e-01
+42,2.268333333e+01,DOWN_FORCE_DETACH,1791617216998798121,1.470801773e-04,-2.036095270e-04,-1.035122542e-02,1.468883249e-04,-2.035681155e-04,-1.035146151e-02,1.145231544e-04,-2.047437455e-04,-1.035203524e-02,7.016849517e-01,-2.020585656e-04,8.303897158e-01,7.016847598e-01,-2.020171542e-04,8.303894797e-01,7.018437710e-01,-2.029706958e-04,8.192206575e-01
+43,2.285000000e+01,DOWN_FORCE_DETACH,1791617217330865444,1.356949450e-04,-1.998141178e-04,-1.066761838e-02,1.356815253e-04,-1.997015156e-04,-1.066712975e-02,1.018970242e-04,-2.009693291e-04,-1.066779574e-02,7.016735664e-01,-1.982631564e-04,8.300733228e-01,7.016735530e-01,-1.981505543e-04,8.300738114e-01,7.018311448e-01,-1.991962794e-04,8.189048970e-01
+44,2.300000000e+01,DOWN_FORCE_DETACH,1791617217630837270,1.269380499e-04,-2.023925075e-04,-1.095625407e-02,1.269192672e-04,-2.024777313e-04,-1.095595342e-02,9.199377853e-05,-2.037367589e-04,-1.095663676e-02,7.016648095e-01,-2.008415462e-04,8.297846871e-01,7.016647907e-01,-2.009267699e-04,8.297849878e-01,7.018212416e-01,-2.019637092e-04,8.186160560e-01
+45,2.315000000e+01,DOWN_FORCE_DETACH,1791617217930824525,1.173063464e-04,-1.970793021e-04,-1.124492671e-02,1.170949684e-04,-1.968781583e-04,-1.124471947e-02,8.089133437e-05,-1.981014683e-04,-1.124541918e-02,7.016551778e-01,-1.955283407e-04,8.294960145e-01,7.016549664e-01,-1.953271970e-04,8.294962217e-01,7.018101391e-01,-1.963284186e-04,8.183272736e-01
+46,2.330000000e+01,DOWN_FORCE_DETACH,1791617218233493403,1.125445573e-04,-1.905244592e-04,-1.153891605e-02,1.124922455e-04,-1.907946719e-04,-1.153865208e-02,7.526105226e-05,-1.919773686e-04,-1.153933933e-02,7.016504160e-01,-1.889734979e-04,8.292020251e-01,7.016503637e-01,-1.892437106e-04,8.292022891e-01,7.018045089e-01,-1.902043189e-04,8.180333534e-01
+47,2.345000000e+01,DOWN_FORCE_DETACH,1791617218526977263,9.958346017e-05,-1.917134610e-04,-1.184250715e-02,9.958759232e-05,-1.917701539e-04,-1.184251251e-02,6.095456181e-05,-1.929659460e-04,-1.184324741e-02,7.016374549e-01,-1.901624997e-04,8.288984340e-01,7.016374591e-01,-1.902191925e-04,8.288984287e-01,7.017902024e-01,-1.911928963e-04,8.177294454e-01
+48,2.361666667e+01,DOWN_FORCE_DETACH,1791617218826889131,8.813023545e-05,-1.906789594e-04,-1.215714644e-02,8.788114669e-05,-1.907263709e-04,-1.215668291e-02,4.781402950e-05,-1.918932976e-04,-1.215739799e-02,7.016260017e-01,-1.891279981e-04,8.285837947e-01,7.016257526e-01,-1.891754096e-04,8.285842583e-01,7.017770618e-01,-1.901202479e-04,8.174152948e-01
+49,2.375000000e+01,DOWN_FORCE_DETACH,1791617219095025594,7.705894703e-05,-1.840691217e-04,-1.243640531e-02,7.687850627e-05,-1.840786394e-04,-1.243632322e-02,3.559305418e-05,-1.852234167e-04,-1.243711566e-02,7.016149304e-01,-1.825181603e-04,8.283045359e-01,7.016147500e-01,-1.825276781e-04,8.283046180e-01,7.017648409e-01,-1.834503670e-04,8.171355771e-01
+50,2.391666667e+01,DOWN_FORCE_DETACH,1791617219395294349,6.951956679e-05,-1.787983188e-04,-1.275416136e-02,6.936638298e-05,-1.786314536e-04,-1.275405077e-02,2.686737868e-05,-1.796980189e-04,-1.275483357e-02,7.016073910e-01,-1.772473575e-04,8.279867798e-01,7.016072379e-01,-1.770804923e-04,8.279868904e-01,7.017561152e-01,-1.779249692e-04,8.168178592e-01
+51,2.405000000e+01,DOWN_FORCE_DETACH,1791617219658894715,5.864964806e-05,-1.750825189e-04,-1.304020745e-02,5.849767278e-05,-1.750620401e-04,-1.304000799e-02,1.473654670e-05,-1.761562002e-04,-1.304080942e-02,7.015965211e-01,-1.735315576e-04,8.277007337e-01,7.015963692e-01,-1.735110788e-04,8.277009332e-01,7.017439844e-01,-1.743831504e-04,8.165318834e-01
+52,2.420000000e+01,DOWN_FORCE_DETACH,1791617219924910183,4.921552045e-05,-1.675463410e-04,-1.333247660e-02,4.895462042e-05,-1.679807274e-04,-1.333233833e-02,3.991972086e-06,-1.690163731e-04,-1.333316175e-02,7.015870870e-01,-1.659953797e-04,8.274084646e-01,7.015868261e-01,-1.664297661e-04,8.274086029e-01,7.017332398e-01,-1.672433233e-04,8.162395310e-01
+53,2.433333333e+01,DOWN_FORCE_DETACH,1791617220195059261,4.201857702e-05,-1.630352751e-04,-1.362394813e-02,4.180138660e-05,-1.628948481e-04,-1.362382361e-02,-4.301960951e-06,-1.638876865e-04,-1.362470196e-02,7.015798901e-01,-1.614843138e-04,8.271169931e-01,7.015796729e-01,-1.613438867e-04,8.271171176e-01,7.017249458e-01,-1.621146368e-04,8.159479908e-01
+54,2.450000000e+01,DOWN_FORCE_DETACH,1791617220491036874,2.925053154e-05,-1.576382423e-04,-1.395430403e-02,2.909612953e-05,-1.575548708e-04,-1.395396553e-02,-1.846163576e-05,-1.585155403e-04,-1.395479758e-02,7.015671220e-01,-1.560872810e-04,8.267866372e-01,7.015669676e-01,-1.560039095e-04,8.267869757e-01,7.017107862e-01,-1.567424906e-04,8.156178952e-01
+55,2.463333333e+01,DOWN_FORCE_DETACH,1791617220757082074,3.167406914e-05,-1.575714464e-04,-1.425025928e-02,3.150093698e-05,-1.574374205e-04,-1.424988490e-02,-1.691874400e-05,-1.583994217e-04,-1.425072929e-02,7.015695456e-01,-1.560204851e-04,8.264906819e-01,7.015693724e-01,-1.558864592e-04,8.264910563e-01,7.017123291e-01,-1.566263719e-04,8.153219635e-01
+56,2.475000000e+01,DOWN_FORCE_DETACH,1791617220991246955,1.018072374e-05,-1.575567640e-04,-1.452657720e-02,1.001165185e-05,-1.575252881e-04,-1.452633118e-02,-3.992247431e-05,-1.585043563e-04,-1.452721367e-02,7.015480522e-01,-1.560058027e-04,8.262143640e-01,7.015478831e-01,-1.559743268e-04,8.262146100e-01,7.016893253e-01,-1.567313066e-04,8.150454791e-01
+57,2.490000000e+01,DOWN_FORCE_DETACH,1791617221256959335,9.453525777e-06,-1.542618976e-04,-1.483973630e-02,9.021687886e-06,-1.542763319e-04,-1.483949183e-02,-4.192150280e-05,-1.552033394e-04,-1.484040978e-02,7.015473250e-01,-1.527109363e-04,8.259012049e-01,7.015468932e-01,-1.527253706e-04,8.259014494e-01,7.016873263e-01,-1.534302897e-04,8.147322830e-01
+58,2.503333333e+01,DOWN_SETTLE,1791617221522994046,-2.038299375e-06,-1.463755111e-04,-1.514456639e-02,-2.276485093e-06,-1.464668174e-04,-1.514422048e-02,-5.452366445e-05,-1.473504235e-04,-1.514513034e-02,7.015358332e-01,-1.448245497e-04,8.255963748e-01,7.015355950e-01,-1.449158561e-04,8.255967207e-01,7.016747241e-01,-1.455773738e-04,8.144275624e-01
+59,2.531666667e+01,DOWN_SETTLE,1791617222054898747,-3.602274460e-05,-1.279979311e-04,-1.541010656e-02,-3.359775507e-05,-1.362190652e-04,-1.540107774e-02,-8.754250049e-05,-1.370465852e-04,-1.540204582e-02,7.015018487e-01,-1.264469698e-04,8.253308346e-01,7.015042737e-01,-1.346681039e-04,8.253398634e-01,7.016417053e-01,-1.352735355e-04,8.141706470e-01