diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..584324de859d346c10a35757ae8eb03b64954fce
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6f8b587c233a5f5eba92e083fa60963f72b9879
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eca18846fe49bf2498ccac4d9057221f8a8f19a0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+11,1.483333333e+00,UP_FORCE_RAMP,1791364113886759444,-1.026142705e-05,-6.009581182e-06,4.511232117e-05,-9.494783714e-06,3.581326728e-06,3.925772705e-05,-9.406538275e-06,3.578905149e-06,3.899099503e-05,7.015276101e-01,-4.458619861e-06,8.407860535e-01,7.015283767e-01,5.132288049e-06,8.407801989e-01,7.017164298e-01,5.385040812e-06,8.298197397e-01
+12,1.600000000e+00,UP_FORCE_RAMP,1791364114067549035,-9.547140729e-06,-1.004005131e-07,5.758246740e-05,-9.494783714e-06,3.581326728e-06,3.925772705e-05,-9.397450578e-06,3.580395991e-06,3.901177097e-05,7.015283243e-01,1.450560808e-06,8.407985237e-01,7.015283767e-01,5.132288049e-06,8.407801989e-01,7.017164388e-01,5.386531655e-06,8.298197605e-01
+13,1.716666667e+00,UP_FORCE_RAMP,1791364114248270991,-1.487327901e-05,4.121157908e-07,6.550817667e-05,-1.359898255e-05,-1.017791592e-06,5.957488998e-05,-1.342473396e-05,-9.705599587e-07,5.912930381e-05,7.015229982e-01,1.963077112e-06,8.408064494e-01,7.015242725e-01,5.331697293e-07,8.408005161e-01,7.017124116e-01,8.355757045e-07,8.298398780e-01
+14,1.816666667e+00,UP_FORCE_RAMP,1791364114387291248,-1.262407088e-05,-1.503896231e-06,7.694139707e-05,-1.065044789e-05,1.350379106e-06,7.962906544e-05,-1.035510380e-05,1.407254660e-06,7.908865157e-05,7.015252474e-01,4.706509004e-08,8.408178826e-01,7.015272210e-01,2.901340427e-06,8.408205703e-01,7.017154812e-01,3.213390324e-06,8.298598374e-01
+15,1.916666667e+00,UP_FORCE_RAMP,1791364114548306419,-1.215870719e-05,7.337323282e-07,9.119863184e-05,-1.065044789e-05,1.350379106e-06,7.962906544e-05,-1.034743276e-05,1.408530939e-06,7.912000730e-05,7.015257128e-01,2.284693649e-06,8.408321398e-01,7.015272210e-01,2.901340427e-06,8.408205703e-01,7.017154889e-01,3.214666603e-06,8.298598687e-01
+16,2.000000000e+00,UP_FORCE_RAMP,1791364114668303216,-1.278385749e-05,5.003651979e-06,1.021991424e-04,-9.029489167e-06,4.942646918e-06,1.035521808e-04,-8.601075233e-06,4.982581457e-06,1.028883636e-04,7.015250876e-01,6.554613300e-06,8.408431403e-01,7.015288420e-01,6.493608240e-06,8.408444934e-01,7.017172352e-01,6.788717120e-06,8.298836371e-01
+17,2.116666667e+00,UP_FORCE_RAMP,1791364114848504304,-9.498876050e-06,2.475925888e-06,1.278577983e-04,-9.416313869e-06,2.246634017e-06,1.275856342e-04,-8.959702886e-06,2.276343729e-06,1.267202028e-04,7.015283726e-01,4.026887209e-06,8.408687990e-01,7.015284552e-01,3.797595338e-06,8.408685268e-01,7.017168766e-01,4.082479392e-06,8.299074689e-01
+18,2.183333333e+00,UP_FORCE_RAMP,1791364114948282746,-1.119167231e-05,5.653311189e-08,1.379269681e-04,-9.416313869e-06,2.246634017e-06,1.275856342e-04,-8.956045777e-06,2.275069138e-06,1.267618377e-04,7.015266798e-01,1.607494433e-06,8.408788682e-01,7.015284552e-01,3.797595338e-06,8.408685268e-01,7.017168802e-01,4.081204801e-06,8.299075106e-01
+19,2.266666667e+00,UP_FORCE_RAMP,1791364115068226929,-1.112287583e-05,1.508050693e-06,1.493361547e-04,-1.108152536e-05,1.683420007e-06,1.492868992e-04,-1.055916472e-05,1.743076308e-06,1.483066044e-04,7.015267486e-01,3.059012014e-06,8.408902773e-01,7.015267900e-01,3.234381329e-06,8.408902281e-01,7.017152771e-01,3.549211971e-06,8.299290553e-01
+20,2.383333333e+00,UP_FORCE_RAMP,1791364115248374384,-1.739685021e-05,4.783593705e-06,1.561289342e-04,-1.108152536e-05,1.683420007e-06,1.492868992e-04,-1.055342285e-05,1.743420831e-06,1.483744208e-04,7.015204746e-01,6.334555027e-06,8.408970701e-01,7.015267900e-01,3.234381329e-06,8.408902281e-01,7.017152829e-01,3.549556494e-06,8.299291231e-01
+21,2.466666667e+00,UP_FORCE_RAMP,1791364115367628260,-3.812535775e-05,1.393350897e-06,1.490385231e-04,-3.779652003e-05,1.327376753e-06,1.490399581e-04,-3.781675968e-05,1.393139089e-06,1.481655639e-04,7.014997461e-01,2.944312218e-06,8.408899797e-01,7.015000750e-01,2.878338074e-06,8.408899811e-01,7.016880195e-01,3.199274753e-06,8.299289143e-01
+22,2.550000000e+00,UP_FORCE_RAMP,1791364115487127820,-4.338644408e-05,4.070559750e-07,1.543878487e-04,-3.779652003e-05,1.327376753e-06,1.490399581e-04,-3.783175089e-05,1.392127066e-06,1.482001975e-04,7.014944850e-01,1.958017296e-06,8.408953290e-01,7.015000750e-01,2.878338074e-06,8.408899811e-01,7.016880045e-01,3.198262730e-06,8.299289489e-01
+23,2.666666667e+00,UP_FORCE_RAMP,1791364115669681899,-4.500825545e-05,1.209861201e-06,1.720609185e-04,-4.331243825e-05,2.801037289e-06,1.709010816e-04,-4.335788885e-05,2.838140192e-06,1.699898814e-04,7.014928632e-01,2.760822522e-06,8.409130021e-01,7.014945590e-01,4.351998610e-06,8.409118423e-01,7.016824784e-01,4.644275855e-06,8.299507386e-01
+24,2.766666667e+00,UP_FORCE_RAMP,1791364115842795859,-4.775066236e-05,2.180775031e-06,1.874067665e-04,-4.331243825e-05,2.801037289e-06,1.709010816e-04,-4.336376062e-05,2.838696497e-06,1.700373173e-04,7.014901208e-01,3.731736352e-06,8.409283480e-01,7.014945590e-01,4.351998610e-06,8.409118423e-01,7.016824725e-01,4.644832160e-06,8.299507860e-01
+25,2.866666667e+00,UP_FORCE_RAMP,1791364115986759813,-4.713679352e-05,4.153383135e-06,2.038413094e-04,-4.544422656e-05,4.260825794e-06,1.944492273e-04,-4.548072781e-05,4.309715425e-06,1.934113489e-04,7.014907347e-01,5.704344456e-06,8.409447825e-01,7.014924273e-01,5.811787115e-06,8.409353904e-01,7.016803556e-01,6.115851088e-06,8.299741601e-01
+26,3.000000000e+00,UP_FORCE_RAMP,1791364116186071956,-4.919603465e-05,3.320463669e-06,2.185554620e-04,-4.803181895e-05,6.478322582e-06,2.149528079e-04,-4.804393592e-05,6.507319349e-06,2.137564382e-04,7.014886754e-01,4.871424990e-06,8.409594966e-01,7.014898397e-01,8.029283903e-06,8.409558940e-01,7.016777924e-01,8.313455012e-06,8.299945052e-01
+27,3.066666667e+00,UP_FORCE_RAMP,1791364116286506579,-5.067942626e-05,6.665546410e-06,2.254745531e-04,-4.803181895e-05,6.478322582e-06,2.149528079e-04,-4.804662014e-05,6.507958141e-06,2.137943770e-04,7.014871921e-01,8.216507731e-06,8.409664157e-01,7.014898397e-01,8.029283903e-06,8.409558940e-01,7.016777897e-01,8.314093804e-06,8.299945431e-01
+28,3.150000000e+00,UP_FORCE_RAMP,1791364116416391679,-5.250927106e-05,6.186234126e-06,2.326473998e-04,-4.953426512e-05,7.657693294e-07,2.365951840e-04,-4.951797662e-05,8.591461389e-07,2.353280953e-04,7.014853622e-01,7.737195447e-06,8.409735886e-01,7.014883372e-01,2.316730650e-06,8.409775364e-01,7.016763183e-01,2.665281802e-06,8.300160768e-01
+29,3.283333333e+00,UP_FORCE_RAMP,1791364116616357410,-5.192899918e-05,1.335279441e-06,2.510726895e-04,-4.953426512e-05,7.657693294e-07,2.365951840e-04,-4.952260258e-05,8.591470868e-07,2.354067705e-04,7.014859425e-01,2.886240762e-06,8.409920139e-01,7.014883372e-01,2.316730650e-06,8.409775364e-01,7.016763137e-01,2.665282750e-06,8.300161555e-01
+30,3.400000000e+00,UP_FORCE_RAMP,1791364116786166121,-4.702076016e-05,2.895880901e-06,2.729512867e-04,-5.055823256e-05,2.767389003e-06,2.564504764e-04,-5.049197630e-05,2.802826421e-06,2.552222727e-04,7.014908507e-01,4.446842222e-06,8.410138925e-01,7.014873132e-01,4.318350324e-06,8.409973917e-01,7.016753443e-01,4.608962084e-06,8.300359710e-01
+31,3.516666667e+00,UP_FORCE_RAMP,1791364116956033142,-4.948935095e-05,4.124961387e-06,2.795548240e-04,-4.930099669e-05,8.217017015e-06,2.761980483e-04,-4.911813133e-05,8.246298074e-06,2.748382149e-04,7.014883821e-01,5.675922708e-06,8.410204960e-01,7.014885705e-01,9.767978336e-06,8.410171392e-01,7.016767182e-01,1.005243374e-05,8.300555869e-01
+32,3.600000000e+00,UP_FORCE_RAMP,1791364117086269966,-4.941109930e-05,3.193560832e-06,2.901175251e-04,-4.930099669e-05,8.217017015e-06,2.761980483e-04,-4.911913559e-05,8.247380323e-06,2.748907542e-04,7.014884604e-01,4.744522153e-06,8.410310587e-01,7.014885705e-01,9.767978336e-06,8.410171392e-01,7.016767172e-01,1.005351599e-05,8.300556395e-01
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+46,5.350000000e+00,UP_FORCE_RAMP,1791364119716500161,-5.467348489e-05,-8.826725298e-06,4.117935548e-04,-5.191915611e-05,-8.320991315e-06,3.939754047e-04,-5.141952182e-05,-8.196847295e-06,3.926859747e-04,7.014831980e-01,-7.275763977e-06,8.411527347e-01,7.014859523e-01,-6.770029994e-06,8.411349166e-01,7.016744168e-01,-6.390711632e-06,8.301734347e-01
+47,5.466666667e+00,UP_FORCE_RAMP,1791364119886037757,-5.565450037e-05,-5.689826117e-06,4.177502840e-04,-5.401963961e-05,-9.461895248e-06,4.142427792e-04,-5.340715251e-05,-9.335857681e-06,4.128124572e-04,7.014822170e-01,-4.138864796e-06,8.411586915e-01,7.014838518e-01,-7.910933927e-06,8.411551840e-01,7.016724291e-01,-7.529722018e-06,8.301935612e-01
+48,5.583333333e+00,UP_FORCE_RAMP,1791364120055056033,-5.468235158e-05,-4.926585144e-06,4.220806603e-04,-5.401963961e-05,-9.461895248e-06,4.142427792e-04,-5.340874996e-05,-9.336631260e-06,4.128666995e-04,7.014831891e-01,-3.375623823e-06,8.411630218e-01,7.014838518e-01,-7.910933927e-06,8.411551840e-01,7.016724275e-01,-7.530495597e-06,8.301936154e-01
+49,5.700000000e+00,UP_FORCE_RAMP,1791364120236072788,-5.745696157e-05,-9.228510614e-06,4.237721044e-04,-5.401963961e-05,-9.461895248e-06,4.142427792e-04,-5.340985872e-05,-9.337208864e-06,4.129153425e-04,7.014804145e-01,-7.677549293e-06,8.411647133e-01,7.014838518e-01,-7.910933927e-06,8.411551840e-01,7.016724264e-01,-7.531073201e-06,8.301936641e-01
+50,5.833333333e+00,UP_FORCE_RAMP,1791364120436108426,-5.853799659e-05,-4.945533587e-06,4.264023175e-04,-5.401963961e-05,-9.461895248e-06,4.142427792e-04,-5.341095230e-05,-9.337772892e-06,4.129662253e-04,7.014793335e-01,-3.394572266e-06,8.411673435e-01,7.014838518e-01,-7.910933927e-06,8.411551840e-01,7.016724253e-01,-7.531637229e-06,8.301937149e-01
+51,5.916666667e+00,UP_FORCE_RAMP,1791364120554795561,-5.806909670e-05,-4.720608594e-06,4.301569432e-04,-5.371192549e-05,-3.135538757e-06,4.347612429e-04,-5.307618828e-05,-3.068618392e-06,4.334005942e-04,7.014798024e-01,-3.169647273e-06,8.411710981e-01,7.014841596e-01,-1.584577436e-06,8.411757024e-01,7.016727601e-01,-1.262482729e-06,8.302141493e-01
+52,6.050000000e+00,UP_FORCE_RAMP,1791364120755209076,-5.627138835e-05,-1.050522139e-05,4.372225014e-04,-5.371192549e-05,-3.135538757e-06,4.347612429e-04,-5.307716287e-05,-3.068038301e-06,4.334600682e-04,7.014816001e-01,-8.954260068e-06,8.411781637e-01,7.014841596e-01,-1.584577436e-06,8.411757024e-01,7.016727591e-01,-1.261902638e-06,8.302142088e-01
+53,6.133333333e+00,UP_FORCE_HOLD,1791364120885359223,-5.563893648e-05,-6.488584845e-06,4.410040179e-04,-5.371192549e-05,-3.135538757e-06,4.347612429e-04,-5.307760941e-05,-3.068042017e-06,4.334927623e-04,7.014822325e-01,-4.937623524e-06,8.411819452e-01,7.014841596e-01,-1.584577436e-06,8.411757024e-01,7.016727587e-01,-1.261906354e-06,8.302142415e-01
+54,6.300000000e+00,UP_FORCE_HOLD,1791364121135731240,-5.873872015e-05,-5.764362287e-06,4.429354651e-04,-5.371192549e-05,-3.135538757e-06,4.347612429e-04,-5.307845867e-05,-3.068532667e-06,4.335523298e-04,7.014791328e-01,-4.213400966e-06,8.411838767e-01,7.014841596e-01,-1.584577436e-06,8.411757024e-01,7.016727578e-01,-1.262397004e-06,8.302143011e-01
+55,6.433333333e+00,UP_FORCE_HOLD,1791364121335496039,-5.701435753e-05,-5.365330717e-06,4.513934303e-04,-5.371192549e-05,-3.135538757e-06,4.347612429e-04,-5.307909665e-05,-3.069290434e-06,4.335956602e-04,7.014808571e-01,-3.814369396e-06,8.411923346e-01,7.014841596e-01,-1.584577436e-06,8.411757024e-01,7.016727572e-01,-1.263154770e-06,8.302143444e-01
+56,6.550000000e+00,UP_FORCE_HOLD,1791364121516338729,-5.720575247e-05,-6.654630374e-06,4.549918784e-04,-5.581247612e-05,-6.024512678e-06,4.546709876e-04,-5.518147679e-05,-5.938570187e-06,4.533470555e-04,7.014806657e-01,-5.103669053e-06,8.411959331e-01,7.014820590e-01,-4.473551357e-06,8.411956122e-01,7.016706548e-01,-4.132434524e-06,8.302340958e-01
+57,6.633333333e+00,UP_FORCE_HOLD,1791364121635776601,-6.043006831e-05,-3.867004234e-06,4.539692971e-04,-5.581247612e-05,-6.024512678e-06,4.546709876e-04,-5.518344619e-05,-5.939557227e-06,4.533821632e-04,7.014774414e-01,-2.316042913e-06,8.411949105e-01,7.014820590e-01,-4.473551357e-06,8.411956122e-01,7.016706528e-01,-4.133421564e-06,8.302341309e-01
+58,6.750000000e+00,UP_FORCE_HOLD,1791364121831435218,-5.842844130e-05,-9.868144056e-06,4.596266139e-04,-5.581247612e-05,-6.024512678e-06,4.546709876e-04,-5.518529890e-05,-5.940516929e-06,4.534244413e-04,7.014794430e-01,-8.317182735e-06,8.412005678e-01,7.014820590e-01,-4.473551357e-06,8.411956122e-01,7.016706510e-01,-4.134381266e-06,8.302341732e-01
+59,6.883333333e+00,UP_SETTLE,1791364122021200246,-5.738756485e-05,-7.402392519e-06,4.663706709e-04,-5.581247612e-05,-6.024512678e-06,4.546709876e-04,-5.518717212e-05,-5.941467696e-06,4.534680458e-04,7.014804839e-01,-5.851431198e-06,8.412073119e-01,7.014820590e-01,-4.473551357e-06,8.411956122e-01,7.016706491e-01,-4.135332033e-06,8.302342168e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34d0f9676f9bc8c75bfe24cae1d101e35c34ec75
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/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,UP_FORCE_RAMP,0.0000e+00,7.3829e-03,2.6298e-03,2.4578e+00,-3.6943e-02,3.7295e-02,3.9522e-06,1.8057e-04,-9.0525e-07,4.2915e-05,-1.3039e-07,1.2565e-05,2.7540e-07,1.8560e-04,1.2569e-05
+1,1.5000e-01,UP_FORCE_RAMP,3.0885e-05,8.5780e-03,2.6303e-03,2.4581e+00,-3.6944e-02,3.7378e-02,5.8079e-06,1.3757e-03,-4.4215e-07,2.6751e-04,-1.2927e-06,9.5971e-05,2.1311e-06,1.4015e-03,9.6003e-05
+2,2.8333e-01,UP_FORCE_RAMP,5.8803e-05,9.5779e-03,2.6364e-03,2.4583e+00,-3.6945e-02,3.7448e-02,7.6157e-06,2.3756e-03,5.7197e-06,4.6015e-04,-2.7195e-06,1.6584e-04,3.9389e-06,2.4197e-03,1.6591e-04
+3,4.0000e-01,UP_FORCE_RAMP,8.7861e-05,1.0412e-02,2.6440e-03,2.4584e+00,-3.6946e-02,3.7506e-02,9.2902e-06,3.2096e-03,1.3337e-05,6.2227e-04,-4.0829e-06,2.2421e-04,5.6134e-06,3.2694e-03,2.2431e-04
+4,5.3333e-01,UP_FORCE_RAMP,1.1953e-04,1.1322e-02,2.6545e-03,2.4586e+00,-3.6948e-02,3.7570e-02,1.1264e-05,4.1197e-03,2.3795e-05,8.0037e-04,-5.7220e-06,2.8798e-04,7.5875e-06,4.1968e-03,2.8814e-04
+5,6.5000e-01,UP_FORCE_RAMP,1.5118e-04,1.2083e-02,2.6650e-03,2.4587e+00,-3.6950e-02,3.7624e-02,1.3021e-05,4.8802e-03,3.4302e-05,9.5034e-04,-7.2047e-06,3.4133e-04,9.3443e-06,4.9720e-03,3.4153e-04
+6,8.1667e-01,UP_FORCE_RAMP,1.7719e-04,1.3110e-02,2.6824e-03,2.4589e+00,-3.6952e-02,3.7696e-02,1.5556e-05,5.9079e-03,5.1683e-05,1.1554e-03,-9.4138e-06,4.1355e-04,1.1880e-05,6.0200e-03,4.1383e-04
+7,9.3333e-01,UP_FORCE_RAMP,2.0700e-04,1.3797e-02,2.6948e-03,2.4591e+00,-3.6953e-02,3.7744e-02,1.7320e-05,6.5946e-03,6.4132e-05,1.2932e-03,-1.0923e-05,4.6179e-04,1.3644e-05,6.7205e-03,4.6212e-04
+8,1.0500e+00,UP_FORCE_RAMP,2.3751e-04,1.4459e-02,2.7070e-03,2.4592e+00,-3.6955e-02,3.7790e-02,1.9063e-05,7.2570e-03,7.6277e-05,1.4274e-03,-1.2368e-05,5.0831e-04,1.5386e-05,7.3964e-03,5.0869e-04
+9,1.2667e+00,UP_FORCE_RAMP,2.6897e-04,1.8043e-02,2.4633e-03,2.4530e+00,-3.6939e-02,3.8051e-02,2.2087e-05,1.0841e-02,-1.6736e-04,-4.7746e-03,3.0510e-06,7.6900e-04,1.8411e-05,1.1847e-02,7.6923e-04
+10,1.3833e+00,UP_FORCE_RAMP,2.9821e-04,1.8446e-02,2.4795e-03,2.4536e+00,-3.6941e-02,3.8079e-02,2.3814e-05,1.1243e-02,-1.5119e-04,-4.1776e-03,1.3523e-06,7.9693e-04,2.0137e-05,1.1995e-02,7.9718e-04
+11,1.4833e+00,UP_FORCE_RAMP,3.3061e-04,1.9384e-02,1.1520e-03,2.4473e+00,-3.6849e-02,3.8152e-02,2.4267e-05,1.2182e-02,-1.4787e-03,-1.0522e-02,9.2912e-05,8.7019e-04,2.0590e-05,1.6165e-02,8.7538e-04
+12,1.6000e+00,UP_FORCE_RAMP,3.5886e-04,1.9765e-02,1.1909e-03,2.4482e+00,-3.6853e-02,3.8179e-02,2.5985e-05,1.2563e-02,-1.4398e-03,-9.6171e-03,8.9746e-05,8.9638e-04,2.2308e-05,1.5886e-02,9.0114e-04
+13,1.7167e+00,UP_FORCE_RAMP,3.8311e-04,2.1457e-02,3.2518e-03,2.4420e+00,-3.6997e-02,3.8306e-02,2.8853e-05,1.4255e-02,6.2113e-04,-1.5783e-02,-5.4676e-05,1.0236e-03,2.5176e-05,2.1276e-02,1.0254e-03
+14,1.8167e+00,UP_FORCE_RAMP,4.1679e-04,2.0433e-02,2.2085e-03,2.4361e+00,-3.6927e-02,3.8240e-02,2.9620e-05,1.3231e-02,-4.2223e-04,-2.1743e-02,1.5527e-05,9.5803e-04,2.5944e-05,2.5455e-02,9.5851e-04
+15,1.9167e+00,UP_FORCE_RAMP,4.4571e-04,2.0936e-02,2.1997e-03,2.4373e+00,-3.6925e-02,3.8273e-02,3.0589e-05,1.3734e-02,-4.3101e-04,-2.0464e-02,1.6954e-05,9.9119e-04,2.6913e-05,2.4649e-02,9.9170e-04
+16,2.0000e+00,UP_FORCE_RAMP,4.7678e-04,2.0381e-02,6.7686e-04,2.4299e+00,-3.6823e-02,3.8241e-02,3.1095e-05,1.3179e-02,-1.9538e-03,-2.7856e-02,1.1965e-04,9.5889e-04,2.7419e-05,3.0879e-02,9.6671e-04
+17,2.1167e+00,UP_FORCE_RAMP,5.1098e-04,2.0978e-02,6.7195e-04,2.4318e+00,-3.6820e-02,3.8283e-02,3.2134e-05,1.3776e-02,-1.9588e-03,-2.6030e-02,1.2209e-04,1.0006e-03,2.8457e-05,2.9516e-02,1.0084e-03
+18,2.1833e+00,UP_FORCE_RAMP,5.4005e-04,2.1263e-02,1.8997e-03,2.4245e+00,-3.6907e-02,3.8311e-02,3.3762e-05,1.4061e-02,-7.3098e-04,-3.3278e-02,3.5841e-05,1.0288e-03,3.0085e-05,3.6134e-02,1.0299e-03
+19,2.2667e+00,UP_FORCE_RAMP,5.6606e-04,2.1530e-02,1.9250e-03,2.4261e+00,-3.6909e-02,3.8329e-02,3.4684e-05,1.4328e-02,-7.0571e-04,-3.1695e-02,3.3669e-05,1.0465e-03,3.1007e-05,3.4790e-02,1.0475e-03
+20,2.3833e+00,UP_FORCE_RAMP,5.9567e-04,2.2366e-02,2.1920e-03,2.4209e+00,-3.6928e-02,3.8394e-02,3.6113e-05,1.5164e-02,-4.3868e-04,-3.6923e-02,1.4007e-05,1.1122e-03,3.2436e-05,3.9918e-02,1.1128e-03
+21,2.4667e+00,UP_FORCE_RAMP,6.2449e-04,2.2610e-02,2.2291e-03,2.4225e+00,-3.6931e-02,3.8411e-02,3.7040e-05,1.5408e-02,-4.0162e-04,-3.5334e-02,1.1146e-05,1.1285e-03,3.3363e-05,3.8549e-02,1.1290e-03
+22,2.5500e+00,UP_FORCE_RAMP,6.5664e-04,3.1727e-02,2.4143e-03,2.4240e+00,-3.6944e-02,3.9059e-02,3.8319e-05,2.4525e-02,-2.1642e-04,-3.3756e-02,-2.1122e-06,1.7768e-03,3.4642e-05,4.1725e-02,1.7771e-03
+23,2.6667e+00,UP_FORCE_RAMP,6.8448e-04,3.3233e-02,1.8497e-03,2.4181e+00,-3.6906e-02,3.9163e-02,3.9043e-05,2.6030e-02,-7.8101e-04,-3.9647e-02,3.6102e-05,1.8807e-03,3.5367e-05,4.7435e-02,1.8814e-03
+24,2.7667e+00,UP_FORCE_RAMP,7.1218e-04,3.3033e-02,1.8366e-03,2.4202e+00,-3.6905e-02,3.9158e-02,3.9579e-05,2.5831e-02,-7.9409e-04,-3.7587e-02,3.7182e-05,1.8756e-03,3.5903e-05,4.5614e-02,1.8764e-03
+25,2.8667e+00,UP_FORCE_RAMP,7.4627e-04,3.3485e-02,1.1947e-03,2.4141e+00,-3.6861e-02,3.9197e-02,4.0204e-05,2.6283e-02,-1.4360e-03,-4.3682e-02,8.1033e-05,1.9151e-03,3.6527e-05,5.1000e-02,1.9172e-03
+26,3.0000e+00,UP_FORCE_RAMP,7.7638e-04,3.4074e-02,2.3708e-04,2.4098e+00,-3.6795e-02,3.9245e-02,4.0870e-05,2.6872e-02,-2.3936e-03,-4.7970e-02,1.4703e-04,1.9626e-03,3.7193e-05,5.5036e-02,1.9685e-03
+27,3.0667e+00,UP_FORCE_RAMP,8.0730e-04,3.3962e-02,2.7681e-04,2.4115e+00,-3.6799e-02,3.9236e-02,4.1345e-05,2.6759e-02,-2.3539e-03,-4.6270e-02,1.4387e-04,1.9541e-03,3.7668e-05,5.3503e-02,1.9597e-03
+28,3.1500e+00,UP_FORCE_RAMP,8.3451e-04,3.4196e-02,2.7988e-03,2.4057e+00,-3.6969e-02,3.9255e-02,4.2620e-05,2.6994e-02,1.6811e-04,-5.2080e-02,-2.6278e-05,1.9727e-03,3.8943e-05,5.8660e-02,1.9732e-03
+29,3.2833e+00,UP_FORCE_RAMP,8.6316e-04,3.4105e-02,2.8263e-03,2.4091e+00,-3.6977e-02,3.9252e-02,4.4416e-05,2.6903e-02,1.9562e-04,-4.8695e-02,-3.4738e-05,1.9695e-03,4.0740e-05,5.5633e-02,1.9703e-03
+30,3.4000e+00,UP_FORCE_RAMP,8.9135e-04,3.4253e-02,1.9429e-03,2.4050e+00,-3.6916e-02,3.9268e-02,4.4679e-05,2.7051e-02,-6.8779e-04,-5.2818e-02,2.6129e-05,1.9857e-03,4.1002e-05,5.9346e-02,1.9863e-03
+31,3.5167e+00,UP_FORCE_RAMP,9.2431e-04,3.3628e-02,-4.9469e-04,2.4009e+00,-3.6747e-02,3.9229e-02,4.3997e-05,2.6426e-02,-3.1254e-03,-5.6848e-02,1.9537e-04,1.9466e-03,4.0321e-05,6.2768e-02,1.9568e-03
+32,3.6000e+00,UP_FORCE_RAMP,9.5408e-04,3.3590e-02,-4.4360e-04,2.4033e+00,-3.6751e-02,3.9225e-02,4.4511e-05,2.6388e-02,-3.0743e-03,-5.4531e-02,1.9167e-04,1.9429e-03,4.0834e-05,6.0658e-02,1.9528e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..62fae225f772bdac4b68b3992e096be93484fddb
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d6dbd9935410f598ff0819d28a98b4834b3cc0b
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..021e38a4f81d2a40e6fa5c17b5193357a8ce87d0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
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+37713,1791364201995869126,3153375000000,1791364201994250209,DOWN_FORCE_DETACH,9,0.049,0.049000468105077744,0.6759865198291557,-0.004744885422148683,0.09072690102663379,0.9999999676190561,0.00013955994766457256,-0.0001698494583706773,8.876335645073594e-05,0.6761,-0.0048,0.09083313818190024,1.0,0.0,0.0,0.0,-0.05830406145486065,-0.06022916191037805,-0.16966273842676033,-0.004141273616672293,0.004132136050363351,-0.0006905095902849086,0.012424431028663531,-0.0678613781303424,-0.10762496611261435,-0.006114435272775138,0.0011608618116551288,-0.0020286375612502045,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.4275276723367896,-0.34273154037623954,0.8402590473588449,0.20755718622074126,-0.42414361909278103,-0.2889339241378563,0.5954971238671044,0.16966273842676033,-0.24476192349174053,-0.24476192349174053,0.15504000000000584,0,0,-0.0001291999750755154,-9.999999025923074e-05
+37815,1791364202845912269,3154225000000,1791364202842250034,DOWN_FORCE_DETACH,9,0.049,0.04900112375617027,0.6760347627480678,-0.004751102914693549,0.09065602748535362,0.9999999733375678,0.00014259672281250195,-0.00011096841295625846,0.00011009048026699589,0.6761,-0.0048,0.09070556957892623,1.0,0.0,0.0,0.0,-0.07766756351160775,-0.0472800603095683,-0.1252031928149766,-0.0031561452042890336,0.005116929884839368,-0.0007015320710090929,-0.006939071028083571,-0.05491227652953266,-0.06316542050083061,-0.0051293068603918785,0.002145655646131145,-0.002039660041974389,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6459875922500885,-0.36449881463999,0.7281025478848554,0.22352853508516454,-0.3049376871500861,-0.30785200688346936,0.5954971238671044,0.1252031928149766,-0.132605424017751,-0.132605424017751,0.20604000000000966,0,0,-0.00016932901011487556,-9.999999025923074e-05
+37899,1791364203545936982,3154925000000,1791364203542249359,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760367650542185,-0.004726464169767814,0.09053787468552545,0.9999999912760479,-4.1115244872410486e-06,-9.389718375575424e-05,-7.561944723718798e-06,0.6761,-0.0048,0.09057895349499104,1.0,0.0,0.0,0.0,-0.05979084581175861,-0.03113755100383742,-0.03437836336969445,-0.0021245053318636213,0.004070284204487226,-0.0007458647071098567,0.010937646671765574,-0.03876976722380177,0.02765940894445154,-0.004097666987966466,0.0010990099657790036,-0.0020839926780751527,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6517340242826559,-0.4064479076542981,0.666465071737252,0.17585481184265553,-0.2541386949172129,-0.3182490086675126,0.5954971238671044,0.03437836336969445,-0.0709679478701476,-0.0709679478701476,0.2480400000000128,0,0,-0.00018952252811152282,-5.007004559526254e-06
+38025,1791364204595874983,3155975000000,1791364204594250445,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760424834500426,-0.004737669469496214,0.09037933091527561,0.9999999791781208,0.00015674444874056413,-8.68639508638984e-05,3.118419519397801e-05,0.6761,-0.0048,0.09040243512026833,1.0,0.0,0.0,0.0,-0.07012636973909366,-0.03964020350609278,0.08554449036049651,-0.0031954788012265294,0.00507056172949656,-0.0008404138915091852,0.000602122744430524,-0.047272419726057134,0.1475822626746425,-0.005168640457329374,0.002099287490788338,-0.002178541862474481,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.650856693243155,-0.3058032085659384,0.3497346603020407,0.25577525223767456,-0.07805272442588057,-0.27881466221211204,0.5954971238671044,0.08554449036049651,0.2457624635650637,0.2457624635650637,0.3110400000000175,0,0,-0.00014473192739142415,9.999999025923074e-05
+38173,1791364205828914233,3157208000000,1791364205826249441,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760418128700014,-0.004738533201346155,0.09024070149901217,0.9999999826979376,0.00013101234336206056,-8.783192024995264e-05,3.418052788357439e-05,0.6761,-0.0048,0.09026121282770529,1.0,0.0,0.0,0.0,-0.06913940056660936,-0.05294060507495401,0.18625549738172464,-0.0032247447034157153,0.005062721899188083,6.105515284344771e-05,0.0015890919169148203,-0.060572821294918366,0.24829326969587062,-0.00519790635951856,0.002091447660479861,-0.0012770728181218482,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7068991003500875,-0.49211477935233994,0.28301143299331544,0.3360077380937699,-0.026843389651748335,-0.3809105394139291,0.5954971238671044,0.18625549738172464,0.31248569087378897,0.31248569087378897,0.38502000000002307,0,0,-8.453828444635191e-05,9.999999025923074e-05
+38309,1791364206961902999,3158341000000,1791364206958249751,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760421486206791,-0.004740077571596894,0.09016631693381492,0.9999999847704346,0.00011430075322305547,-8.832037775811763e-05,3.220005395535091e-05,0.6761,-0.0048,0.09018324402743572,1.0,0.0,0.0,0.0,-0.06942248537640916,-0.04538568020244682,0.23639131692256127,-0.0032344097164510683,0.005033915166215373,3.499084605249362e-05,0.0013060071071150294,-0.05301789642241118,0.29842908923670725,-0.005207571372553913,0.002062640927507151,-0.0013031371249128023,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6481800007167973,-0.3749893678677757,0.24827225940962794,0.30638972724391755,-0.02267780522080002,-0.2992557837367474,0.5954971238671044,0.23639131692256127,0.34722486445747647,0.34722486445747647,0.45300000000002816,0,0,-5.5810829067101554e-05,-7.731567937807525e-05
+38453,1791364208161979257,3159541000000,1791364208158250036,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760453700981054,-0.004738693309075275,0.09010214899832873,0.9999999851737432,0.00011258181706477955,-8.46884039440873e-05,3.5335341703673935e-05,0.6761,-0.0048,0.09011550980852259,1.0,0.0,0.0,0.0,-0.07321432414186574,-0.04338703646897232,0.27651037814840557,-0.003269688650281743,0.006037900823479704,1.6870248226607447e-05,-0.0024858316583415553,-0.05101925268893668,0.33854815046255154,-0.005242850306384588,0.003066626584771482,-0.0013212577227386885,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6973863172733645,-0.3257777291224269,0.19957712434419184,0.2980660464459082,0.01819698573692671,-0.26620429963948844,0.5954971238671044,0.27651037814840557,0.39591999952291257,0.39591999952291257,0.5250000000000105,0,0,-6.000391323676547e-05,-9.45858766573437e-05
+38629,1791364209628878965,3161008000000,1791364209626249290,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760488230391268,-0.0047395579782326825,0.09001879273790668,0.9999999858280665,0.00010949927141083942,-7.865694537873989e-05,4.0121386606765906e-05,0.6761,-0.0048,0.09002116401020707,1.0,0.0,0.0,0.0,-0.07883644841917692,-0.05109215824236775,0.3266504507286929,-0.0033434933598180125,0.006027769884538802,-2.376951171415378e-05,-0.008107955935652729,-0.058724374462332106,0.3886882230428389,-0.0053166550159208575,0.0030564956458305798,-0.0013618974826794497,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7557326299532158,-0.46279368694378764,0.11544514399530353,0.3443654697277497,0.08522896851100774,-0.35168201334724986,0.5954971238671044,0.3266504507286929,0.48005197987180087,0.48005197987180087,0.6130199999999356,0,0,-6.886779435197188e-05,-9.957606547506543e-05
+38781,1791364210895892141,3162275000000,1791364210890249849,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760577088299564,-0.004747024362483674,0.0899461852224776,0.9999999869021329,0.00010800806571810564,-6.386576351749658e-05,4.352034474514501e-05,0.6761,-0.0048,0.08993368940205673,1.0,0.0,0.0,0.0,-0.07905773129692867,-0.04964312726149371,0.38078942501620544,-0.003289280964413538,0.006015952033021892,-6.75234974703942e-05,-0.00832923881340448,-0.05727534348145807,0.4428271973303514,-0.005262442620516383,0.0030446777943136704,-0.0014056514684356901,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7510108777305532,-0.4845622274034119,-0.09010937063481193,0.3517728233712365,0.2116985250184413,-0.36603989541625975,0.5954971238671044,0.38078942501620544,0.6856064945019164,0.6856064945019164,0.689039999999871,0,0,-7.082701330010798e-05,9.999999025923074e-05
+38941,1791364212228987087,3163608000000,1791364212226250019,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760627835252833,-0.004739197394156146,0.08986313670564784,0.9999999866600502,0.00011541377550658259,-5.5139889202385716e-05,4.1976382226485325e-05,0.6761,-0.0048,0.08983663249928212,1.0,0.0,0.0,0.0,-0.07983999971896842,-0.049295495806488926,0.4269726539351077,-0.003297844884858834,0.006005904077818417,-0.00010494881562257198,-0.009111507235444237,-0.05692771202645328,0.48901042624925367,-0.005271006540961679,0.0030346298391101946,-0.001443076786587868,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7386605397971955,-0.36920707042202344,0.03680508856089357,0.3284387060001397,0.12267745847329685,-0.2876890132300303,0.5954971238671044,0.4269726539351077,0.5586920353062108,0.5586920353062108,0.769019999999803,0,0,-7.49130801239436e-05,-9.687739085795783e-05
+39082,1791364213403962246,3164783000000,1791364213398249741,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760701706042584,-0.0047467355210603765,0.08978816396686921,0.9999999881758775,0.00010689004381244124,-4.2847251047684396e-05,4.277547014580828e-05,0.6761,-0.0048,0.08974954011273306,1.0,0.0,0.0,0.0,-0.07932574929351631,-0.056051527303317826,0.4763227805205962,-0.0033091306030370035,0.006013761031285486,-0.00014890785891319013,-0.008597256809992132,-0.06368374352328218,0.5383605528347422,-0.0052822922591398485,0.0030424867925772634,-0.001487035829878486,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7792234810845694,-0.5034706923962531,-0.09780334338466726,0.3781617341911639,0.21974279966798843,-0.3758583039734704,0.5954971238671044,0.4763227805205962,0.6933004672517716,0.6933004672517716,0.839519999999743,0,0,-7.51102816151913e-05,-9.999675673467152e-05
+39245,1791364214761992917,3166141000000,1791364214758249930,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760713637350596,-0.004747199586781388,0.08969077117670445,0.9999999886299433,0.00010366021370332022,-4.252184370643725e-05,4.03662064114128e-05,0.6761,-0.0048,0.0896465596231906,1.0,0.0,0.0,0.0,-0.09055711705644315,-0.05457641837503993,0.5371741477982266,-0.003572503560852416,0.007000265914044838,-0.00018209727952156994,-0.01982862457291896,-0.06220863459500429,0.5992119201123726,-0.005545665216955261,0.004028991675336616,-0.0015202252504868659,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7989080732942685,-0.4635663324168174,-0.21107825787580337,0.37346258523382964,0.2914355599475787,-0.34677363735553746,0.5954971238671044,0.5371741477982266,0.8065753817429078,0.8065753817429078,0.9209999999996737,0,0,-7.977792812888384e-05,9.37684333221e-05
+39397,1791364216028993926,3167408000000,1791364216022250355,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760771961735754,-0.004748738258414952,0.0895976181368049,0.9999999889098677,0.0001023992455740659,-3.315994676875998e-05,4.514355987704508e-05,0.6761,-0.0048,0.08954362851885632,1.0,0.0,0.0,0.0,-0.08863690674908582,-0.05985010967133842,0.5903461632245058,-0.00400968042434085,0.006997105445924334,-0.00023068017894052086,-0.017908414265561643,-0.06748232589130278,0.6523839355386518,-0.005982842080443695,0.004025831207216112,-0.0015688081499058168,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7694489706352753,-0.46730801898010205,-0.2778506495133849,0.37986030875562915,0.32157578929746206,-0.344239427168458,0.5954971238671044,0.5903461632245058,0.8733477733804893,0.8733477733804893,0.9970199999996091,0,0,-8.298260402948736e-05,8.867947533348965e-05
+39541,1791364217228937054,3168608000000,1791364217226250061,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760806930595031,-0.004746238254076297,0.08950749831767921,0.9999999899712531,9.381160562292198e-05,-2.7933332409683324e-05,4.3811754463764796e-05,0.6761,-0.0048,0.08944579576315227,1.0,0.0,0.0,0.0,-0.09007749530781303,-0.0600157661047005,0.6476084218911189,-0.0033694873320657065,0.0069727851351909734,-0.0002686119449599861,-0.01934900282428885,-0.06764798232466486,0.7096461942052649,-0.0053426489881685515,0.004001510896482751,-0.001606739915925282,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.860924585136721,-0.46160713496258904,-0.33017625764774483,0.3861638865033754,0.3773667483902265,-0.34103679040823437,0.5954971238671044,0.6476084218911189,0.9256733815148492,0.9256733815148492,1.069019999999548,0,0,-8.059884667596518e-05,-2.353407332756348e-05
+39701,1791364218561971722,3169941000000,1791364218554250054,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760893409529086,-0.004750559495221319,0.0894151202018308,0.9999999915575166,8.057868186994222e-05,-1.4019011695293223e-05,4.047683974708848e-05,0.6761,-0.0048,0.08933516781259815,1.0,0.0,0.0,0.0,-0.09825678819393624,-0.05649833032418362,0.7077964650271478,-0.003406147448351892,0.007108332923951138,-0.0003091562591968284,-0.027528295710412057,-0.06413054654414797,0.7698342373412937,-0.005379309104454737,0.004137058685242915,-0.0016472842301621243,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.796528814115832,-0.5084116262760037,-0.3861886332923355,0.4011459746627614,0.38962661786335984,-0.37764999727566545,0.5954971238671044,0.7077964650271478,0.98168575715944,0.98168575715944,1.14899999999948,0,0,-8.196655836986556e-05,-9.999976821462581e-05
+39861,1791364219895923919,3171275000000,1791364219890249996,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760974201799714,-0.004749560360419373,0.08931707707212903,0.9999999913631324,8.410072028303466e-05,-3.1808129988608455e-06,4.041720934046325e-05,0.6761,-0.0048,0.08922521851489326,1.0,0.0,0.0,0.0,-0.09838383508389868,-0.05793725232161472,0.7768266415369262,-0.004421592280640736,0.007976874057829852,-0.00036781658311093863,-0.0276553426003745,-0.06556946854157908,0.8388644138510721,-0.006394753936743581,0.005005599819121629,-0.0017059445540762346,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8327810179888553,-0.4737592998559447,-0.48520737068033826,0.40015120556521516,0.4611725902096532,-0.3478481370619051,0.5954971238671044,0.7768266415369262,1.0807044945474427,1.0807044945474427,1.229039999999412,0,0,-8.38547069313635e-05,-5.198582161432383e-05
+40012,1791364221154008993,3172533000000,1791364221154250187,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6760993713936193,-0.00475376169027261,0.0892094972034142,0.9999999908964311,8.784976305918346e-05,-2.4084356222384136e-07,4.3958653952691716e-05,0.6761,-0.0048,0.089116931096358,1.0,0.0,0.0,0.0,-0.0990609384116121,-0.06337419253937068,0.8393893057292819,-0.0035588137909644355,0.0079476083715539,-0.00041052733426302735,-0.028332445928087927,-0.07100640875933503,0.9014270780434279,-0.0055319754470672805,0.004976334132845678,-0.0017486553052283233,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8459284037250856,-0.451502297611777,-0.5915718426107959,0.40374370747975913,0.5277165629079915,-0.33157604721944295,0.5954971238671044,0.8393893057292819,1.1870689664779004,1.1870689664779004,1.3045199999993478,0,0,-8.578106865522882e-05,9.999994862586731e-05
+40161,1791364222395966648,3173775000000,1791364222394249214,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761006712892238,-0.0047542835867367345,0.08910457674375138,0.9999999893570424,0.00010342621785618372,1.2890711806135114e-06,4.505702264268169e-05,0.6761,-0.0048,0.08900940553089236,1.0,0.0,0.0,0.0,-0.10233008634934744,-0.06368760294784048,0.8979806500840538,-0.004464707799574187,0.007950383479290874,-0.00047147005257853277,-0.03160159386582326,-0.07131981916780483,0.9600184223981998,-0.006437869455677032,0.0049791092405826525,-0.0018095980235438287,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8500508968135213,-0.4361530722834922,-0.6088356028048749,0.3953668732167018,0.5379845725733198,-0.3211307763455179,0.5954971238671044,0.8979806500840538,1.2043327266719794,1.2043327266719794,1.3790399999992844,0,0,-8.562686990984248e-05,-9.685010712712767e-05
+40297,1791364223528954172,3174908000000,1791364223522250114,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761024676973224,-0.004752662091630272,0.08900887945557212,0.9999999894231416,0.00010272515192623693,4.26101144630817e-06,4.501075423141573e-05,0.6761,-0.0048,0.08891112780159723,1.0,0.0,0.0,0.0,-0.10247524867954627,-0.0715417575162878,0.9581509529907958,-0.004476543442503611,0.007938937599411309,-0.0005169086428172852,-0.031746756196022095,-0.07917397373625215,1.0201887253049418,-0.006449705098606456,0.004967663360703086,-0.0018550366137825812,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8900211778686042,-0.3525977831422391,-0.662964169274039,0.37996308817250585,0.5822555186325676,-0.2667134761474457,0.5954971238671044,0.9581509529907958,1.2584612931411434,1.2584612931411434,1.4470199999992266,0,0,-8.68418872327067e-05,-8.685823868337934e-05
+40432,1791364224654020946,3176033000000,1791364224650249995,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761061334889656,-0.004753632127215516,0.08891444766546523,0.99999998976194,9.679051164156545e-05,8.752995818095222e-06,4.9738979817905404e-05,0.6761,-0.0048,0.08881006546114431,1.0,0.0,0.0,0.0,-0.09897213065156309,-0.06973449981978863,1.008328576035006,-0.00448588094138841,0.007927902756938929,-0.0005570024145303606,-0.0282436381680389,-0.07736671603975298,1.0703663483491521,-0.006459042597491255,0.004956628518230706,-0.0018951303854956565,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8523853211293624,-0.525616520469175,-0.7534131448622681,0.4282983862429121,0.6277994526620848,-0.3817183691165641,0.5954971238671044,1.008328576035006,1.3489102687293726,1.3489102687293726,1.5145199999991692,0,0,-9.393312667773401e-05,-5.4875879637817575e-05
+40566,1791364225770953486,3177150000000,1791364225770249736,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761134500997066,-0.00475512248697949,0.08881730061540273,0.9999999896251532,9.401868938877097e-05,2.0780303378841936e-05,5.404833988295599e-05,0.6761,-0.0048,0.08870025160073801,1.0,0.0,0.0,0.0,-0.10830564357467387,-0.07829661194020261,1.0666960438308746,-0.004506907316459851,0.00791086042104495,0.0004036704659825739,-0.037577151091149695,-0.08592882816016696,1.1287338161450207,-0.006480068972562696,0.004939586182336727,-0.0009344575049827221,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8480891580547887,-0.4931802622357744,-0.7536546237164576,0.4359665046745196,0.620753456378726,-0.3560432964071528,0.5954971238671044,1.0666960438308746,1.3491517475835622,1.3491517475835622,1.5815399999991122,0,0,-0.00010245191121446696,-9.999824165796695e-05
+40702,1791364226903997665,3178283000000,1791364226902250144,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761196930919164,-0.00475821059488952,0.08870754798657982,0.9999999894292517,9.485268668636064e-05,2.7092758571786468e-05,5.341639168439715e-05,0.6761,-0.0048,0.08858306862898561,1.0,0.0,0.0,0.0,-0.10843396672963007,-0.07965219145875625,1.1190631439440228,-0.004511246627655012,0.007903048767649181,0.00037951365185533766,-0.03770547424610588,-0.0872844076787206,1.181100916258169,-0.006484408283757857,0.004931774528940959,-0.0009586143191099583,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.834746372517502,-0.3792244832000861,-0.8854030387610631,0.41621470995700455,0.6987599985603231,-0.28166388223030236,0.5954971238671044,1.1190631439440228,1.4809001626281675,1.4809001626281675,1.6495199999990544,0,0,-0.00010300810493146902,1.854750009027133e-05
+40841,1791364228062034920,3179441000000,1791364228062249634,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761216722621904,-0.004754341800895614,0.08858827746211383,0.9999999881965042,0.00010695175307130539,2.939966969811222e-05,5.241028339459938e-05,0.6761,-0.0048,0.08846129575366583,1.0,0.0,0.0,0.0,-0.10980998423012549,-0.08425319805096643,1.17923126508147,-0.0045292176279725345,0.007887066594581603,0.0003307962129437702,-0.039081491746601305,-0.09188541427093078,1.2412690373956161,-0.0065023792840753795,0.004915792355873381,-0.0010073317580215257,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8624511720974483,-0.5056777740257744,-0.9028779043466448,0.4604509536577601,0.7171980473576823,-0.359805721328435,0.5954971238671044,1.17923126508147,1.4983750282137493,1.4983750282137493,1.7189999999989953,0,0,-0.00010991777754240507,-9.999933800320377e-05
+40969,1791364229129037046,3180508000000,1791364229126249863,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761286839399168,-0.004764393432029911,0.08848157681982607,0.999999987634527,0.00010641874289179914,4.220218144738341e-05,5.5388058436309264e-05,0.6761,-0.0048,0.08834270492719498,1.0,0.0,0.0,0.0,-0.11794014030511576,-0.09248303668363224,1.2293972868431147,-0.004539773140089428,0.00787710671802783,0.0002892841133395193,-0.04721164782159159,-0.10011525290359659,1.2914350591572608,-0.006512934796192273,0.004905832479319607,-0.0010488438576257766,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8953462510059121,-0.5392685400671939,-0.9988358810561149,0.48029230796799344,0.7837295380334685,-0.3828080408315642,0.5954971238671044,1.2293972868431147,1.5943330049232194,1.5943330049232194,1.783019999998941,0,0,-0.00011384507312290372,6.392687651220473e-06
+41097,1791364230195953562,3181575000000,1791364230194249714,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761314625960777,-0.004759843070081277,0.08836141811041788,0.9999999866420713,0.0001130557458243711,4.434451372763539e-05,5.8401060551752454e-05,0.6761,-0.0048,0.08821810700145992,1.0,0.0,0.0,0.0,-0.11806278490964583,-0.09286050986026963,1.2795893467091313,-0.004549569610208924,0.007866443547423075,0.00024873178017123325,-0.047334292426121645,-0.10049272608023398,1.3416271190232774,-0.006522731266311769,0.004895169308714852,-0.0010893961907940627,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8306972712520184,-0.45752293081774553,-0.9901377836178117,0.46427200446985495,0.7597722314681771,-0.33186166579126747,0.5954971238671044,1.2795893467091313,1.585634907484916,1.585634907484916,1.8470399999988865,0,0,-0.00011989363439132562,-9.801635478113297e-05
+41226,1791364231271041356,3182650000000,1791364231266250009,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761297470418605,-0.004766857413500905,0.08822303250791759,0.9999999876007523,0.00010421293593877841,4.094350435697377e-05,6.0865861509555495e-05,0.6761,-0.0048,0.08808264951611619,1.0,0.0,0.0,0.0,-0.1182234491036496,-0.10844167414009886,1.33971602502178,-0.004563037770645696,0.007854680118762804,0.00020011798034350655,-0.04749495662012542,-0.11607389036006321,1.4017537973359262,-0.006536199426748541,0.0048834058800545825,-0.0011380099906217894,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8343716179996794,-0.4886306726759836,-1.0789442104243652,0.48674343871260356,0.8164057922594047,-0.34943740493069714,0.5954971238671044,1.33971602502178,1.6744413342914695,1.6744413342914695,1.9115399999988316,0,0,-0.00012988833859447902,-9.999987923692828e-05
+41349,1791364232295948114,3183675000000,1791364232294249696,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761344007947421,-0.004765743682411145,0.08809906107129915,0.9999999869813961,0.00010531816287455195,4.8022471116112574e-05,6.389052276406721e-05,0.6761,-0.0048,0.08794884427574866,1.0,0.0,0.0,0.0,-0.11800596203086394,-0.09974132151152501,1.389472681484628,-0.005618434965122213,0.00887507896089278,0.0001641635327069113,-0.04727746954733975,-0.10737353773148936,1.4515104537987742,-0.007591596621225058,0.005903804722184557,-0.0011739644382583847,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8171714231345265,-0.5757031949051249,-1.194553939116339,0.5171683494560246,0.8831365073878298,-0.4046784680940635,0.5954971238671044,1.389472681484628,1.7900510629834434,1.7900510629834434,1.9730399999987793,0,0,-0.00013340357227634302,9.325401148363994e-05
+41469,1791364233295959431,3184675000000,1791364233294250363,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761369766059767,-0.00476632908525586,0.08796112018753868,0.9999999863526795,0.00010816000121320329,5.020159690641025e-05,6.722141699857094e-05,0.6761,-0.0048,0.08781098648093888,1.0,0.0,0.0,0.0,-0.12005546992115987,-0.10783653157881887,1.4343118655122997,-0.005626720231764312,0.008866210329426322,0.00013133191322068434,-0.04932697743763569,-0.11546874779878322,1.4963496378264458,-0.007599881887867157,0.0058949360907181005,-0.0012067960577446116,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8521499819478595,-0.5011799127500755,-1.2052021686033436,0.4998286192685722,0.899175688211714,-0.358403994727834,0.5954971238671044,1.4343118655122997,1.8006992924704481,1.8006992924704481,2.0330399999987283,0,0,-0.00014006934904580362,6.716409382177227e-06
+41598,1791364234370990190,3185750000000,1791364234370250462,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761386973446484,-0.004773549476333175,0.08780624316265707,0.9999999857373111,0.00011188799956779763,5.3200195631148114e-05,6.796364314386112e-05,0.6761,-0.0048,0.08765028429725376,1.0,0.0,0.0,0.0,-0.1182300950977349,-0.11614624967248091,1.4696898288615352,-0.005635068680147011,0.008859382551556067,0.00010127122281049184,-0.047501602614210714,-0.12377846589244526,1.5317276011756813,-0.007608230336249856,0.005888108312847845,-0.001236856748154804,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8677881953070119,-0.4986096775131696,-1.275382972319592,0.5226557085785987,0.9445459669726882,-0.35076093066660297,0.5954971238671044,1.4696898288615352,1.8708800961866965,1.8708800961866965,2.0975399999986735,0,0,-0.00015872808924591452,9.154832033975708e-05
+41714,1791364235337026054,3186716000000,1791364235334249350,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761424663920238,-0.004769138665872785,0.08765308885335324,0.9999999861867683,0.00010469833326247765,6.036981795557674e-05,6.68062232344644e-05,0.6761,-0.0048,0.08748831537726458,1.0,0.0,0.0,0.0,-0.11937640430347059,-0.10631429818717464,1.479753197351643,-0.005638138033755798,0.008855254789177617,9.105653900830257e-05,-0.048647911819946404,-0.11394651440713899,1.541790969665789,-0.007611299689858643,0.0058839805504693945,-0.0012470714319569934,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8116945719745224,-0.6113224576487266,-1.2307678259009385,0.5594845390078375,0.899773160435595,-0.43292790482226967,0.5954971238671044,1.479753197351643,1.826264949768043,1.826264949768043,2.155499999998624,0,0,-0.0001789053780912583,-9.99979641022108e-05
+41820,1791364236221055595,3187600000000,1791364236214249854,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761400865867176,-0.004778665527375667,0.08748887828537404,0.999999987141725,9.239887103973267e-05,5.713549056650192e-05,7.31942519324944e-05,0.6761,-0.0048,0.08732066606320218,1.0,0.0,0.0,0.0,-0.11871938309275532,-0.11588652150638148,1.4897578692201574,-0.005639811707952446,0.008854823113251772,8.303827506310566e-05,-0.04799089060923113,-0.12351873772634583,1.5517956415343035,-0.0076129733640552906,0.00588354887454355,-0.0012550896959021903,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.836154980659823,-0.5054991944018807,-1.2454464854228473,0.5453891382862992,0.910938251985162,-0.3585113541918975,0.5954971238671044,1.4897578692201574,1.8409436092899516,1.8409436092899516,2.208539999998579,0,0,-0.00020206508954542646,-8.696062900182539e-05
+41916,1791364237021019441,3188400000000,1791364237018249890,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761435537452825,-0.004783200542031804,0.08732255733290278,0.9999999869423059,9.001263419491131e-05,6.13656800972269e-05,7.543362396556129e-05,0.6761,-0.0048,0.08714811958835343,1.0,0.0,0.0,0.0,-0.11828075213354207,-0.11536190837870029,1.499804427149576,-0.005641099130287592,0.00885228825022887,7.498091450052076e-05,-0.047552259650017886,-0.12299412459866464,1.5618421994637222,-0.007614260786390437,0.0058810140115206485,-0.0012631470564647752,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8362624049536489,-0.49728301894525573,-1.2937491750371397,0.5536908150060988,0.9420132812761369,-0.3527453623343908,0.5954971238671044,1.499804427149576,1.889246298904244,1.889246298904244,2.2565399999985383,0,0,-0.00022713711773559913,6.829188968709684e-05
+42014,1791364237836964847,3189216000000,1791364237834250641,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761417426419104,-0.0047841645647233345,0.08712490494559653,0.999999984011835,0.00011702788197455683,6.077963556470368e-05,7.764988662694664e-05,0.6761,-0.0048,0.08695028905528045,1.0,0.0,0.0,0.0,-0.11826829218965725,-0.10548457855548346,1.4998228873114172,-0.005640222088561534,0.008851778711797091,7.49760977355623e-05,-0.04753979970613306,-0.11311679477544781,1.5618606596255633,-0.007613383744664379,0.005880504473088869,-0.0012631518732297336,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7676687232548676,-0.47607412120796094,-1.255048249127322,0.5667225438103898,0.8940305417742903,-0.3305417958449341,0.5954971238671044,1.4998228873114172,1.8505453729944263,1.8505453729944263,2.3054999999984966,0,0,-0.0002567434911990559,-9.990252655545646e-05
+42102,1791364238571048847,3189950000000,1791364238570250268,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761406660344582,-0.004785817228161064,0.08692714543314121,0.9999999850616993,0.000107618591396874,5.883665460547562e-05,7.922090815350516e-05,0.6761,-0.0048,0.08675162100996399,1.0,0.0,0.0,0.0,-0.11826863329284085,-0.10550004688836288,1.4998228419413087,-0.005640224305272218,0.008851780000307365,7.497610878196242e-05,-0.04754014080931666,-0.11313226310832723,1.5618606142554547,-0.007613385961375063,0.005880505761599143,-0.0012631518621833335,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8436519164654404,-0.5928816664687532,-1.2508141444583714,0.6190126349802864,0.9096881612453311,-0.40651866932283387,0.5954971238671044,1.4998228419413087,1.8463112683254757,1.8463112683254757,2.349539999998459,0,0,-0.00028239327643927856,-9.99564140055142e-05
+42174,1791364239171062442,3190550000000,1791364239170250467,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761379132338534,-0.004786286980562527,0.08674928665686078,0.9999999855715055,0.0001040243489077345,5.4028731402849674e-05,8.099187711820613e-05,0.6761,-0.0048,0.0865755752887573,1.0,0.0,0.0,0.0,-0.11811744614447288,-0.11581822814594288,1.4898118415089832,-0.005618251281143998,0.008065778257302342,7.083749409644434e-05,-0.047388953660948696,-0.12345044436590723,1.5518496138231292,-0.007591412937246843,0.00509450401859412,-0.0012672904768688516,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8268097234642128,-0.5898365305939557,-1.2159323802367734,0.6220284352721962,0.8825357061760495,-0.40513672226984276,0.5954971238671044,1.4898118415089832,1.8114295041038777,1.8114295041038777,2.3855399999984286,0,0,-0.0003023886551948004,-9.185991830940594e-05
+42242,1791364239736963196,3191116000000,1791364239730249910,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761374770141921,-0.004789084319690945,0.08657295977229194,0.9999999855112217,0.00010323571979636608,5.2988028697475814e-05,8.339709742311412e-05,0.6761,-0.0048,0.08639797406543875,1.0,0.0,0.0,0.0,-0.1180600144170991,-0.11384667057845702,1.4875961893946543,-0.005617357673613249,0.008059495693334057,7.257488807135381e-05,-0.04733152193357492,-0.12147888679842136,1.5496339617088004,-0.007590519329716094,0.005088221454625835,-0.0012655530828939421,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8597752957373928,-0.5557729244641478,-1.2231844322394323,0.6216119184891025,0.8940901562745154,-0.37844467293098616,0.5954971238671044,1.4875961893946543,1.8186815561065366,1.8186815561065366,2.4194999999983997,0,0,-0.00032644255496957895,-9.999999025923074e-05
+42312,1791364240321067381,3191700000000,1791364240318250311,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.676134447878428,-0.004792942516787871,0.08638022534057137,0.9999999850499312,0.00010774402011698394,5.013814063679442e-05,8.49729057989634e-05,0.6761,-0.0048,0.08620094805953099,1.0,0.0,0.0,0.0,-0.11799200608258441,-0.11601444634670197,1.4797916752572127,-0.005610239202123394,0.00784369524523632,7.546949673203993e-05,-0.047263513599060225,-0.12364666256666632,1.5418294475713588,-0.007583400858226239,0.004872421006528098,-0.001262658474233256,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8755175558621923,-0.5368575032850303,-1.2188482283165567,0.6338206538347989,0.8935017079727295,-0.36401620727831163,0.5954971238671044,1.4797916752572127,1.8143453521836612,1.8143453521836612,2.45453999999837,0,0,-0.0003486653060394681,-9.999999025923074e-05
+42378,1791364240871041602,3192250000000,1791364240866250135,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761342949772449,-0.004791003224237262,0.08618520206817584,0.9999999848146043,0.00010697195730716404,5.212711778009079e-05,8.748382384863477e-05,0.6761,-0.0048,0.08600382618478526,1.0,0.0,0.0,0.0,-0.11796292029112015,-0.10655941673802133,1.469774400483579,-0.0056078928268581745,0.007845597254072334,8.356972664684981e-05,-0.047234427807595965,-0.11419163295798568,1.5318121727977252,-0.0075810544829610195,0.004874323015364111,-0.0012545582443184461,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8827304184283326,-0.5933737356874738,-1.2472258695198195,0.6576485956922585,0.911393319998736,-0.3995198521762007,0.5954971238671044,1.469774400483579,1.842722993386924,1.842722993386924,2.487539999998342,0,0,-0.00036832686675233726,-9.950280463322798e-05
+42438,1791364241371059881,3192750000000,1791364241366249878,DOWN_FORCE_DETACH,9,0.049,0.04900243505835533,0.6761319318405657,-0.004790246187810249,0.08599242995851587,0.9999999859115348,9.718166294983521e-05,5.0362168861955855e-05,8.740235043575163e-05,0.6761,-0.0048,0.0858151729706287,1.0,0.0,0.0,0.0,-0.11788227556909647,-0.10714174128688977,1.467702447184524,-0.005713141490660885,0.007847520355566403,8.319665349368756e-05,-0.04715378308557229,-0.11477395750685412,1.52974021949867,-0.00768630314676373,0.00487624611685818,-0.0012549313174716084,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8693594511274793,-0.545035285887551,-1.1779543236894787,0.6457054786518662,0.863643409083415,-0.3677222298963367,0.5954971238671044,1.467702447184524,1.773451447556583,1.773451447556583,2.5175399999983163,0,0,-0.00038818277666860377,-9.999999025923074e-05
+42498,1791364241870978383,3193250000000,1791364241870250026,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761285126682166,-0.004784825714358904,0.08579265407198994,0.9999999851636596,0.00010844023425278943,4.297730754385931e-05,8.665570734798582e-05,0.6761,-0.0048,0.08561676304726548,1.0,0.0,0.0,0.0,-0.1087042198696547,-0.10980423003441397,1.4597565013309388,-0.005605792093782867,0.007847356085993379,9.278947364218843e-05,-0.03797572738613051,-0.11743644625437832,1.521794273645085,-0.007578953749885712,0.004876081847285156,-0.0012453384973231075,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9104461663704241,-0.5134378375426109,-1.2166674012309857,0.6494243250427799,0.8954969638433918,-0.34147759414890316,0.5954971238671044,1.4597565013309388,1.81216452509809,1.81216452509809,2.547539999998291,0,0,-0.00040570279929571926,-9.999994862586731e-05
+42552,1791364242321032203,3193700000000,1791364242314250067,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.676127331907581,-0.004787991066143987,0.08560291829396703,0.9999999853682908,0.00010418901424351593,4.281657667035238e-05,8.954145727211866e-05,0.6761,-0.0048,0.08543036352586016,1.0,0.0,0.0,0.0,-0.10908914565908817,-0.10725930084101813,1.4509672219732601,-0.005603526441614332,0.007849174179578509,0.00010047920089614683,-0.03836065317556399,-0.11489151706098248,1.5130049942874062,-0.007576688097717177,0.004877899940870287,-0.0012376487700691491,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9305161810622526,-0.5988728863623729,-1.1542602959026576,0.6741411973591784,0.8589274727435217,-0.3983235102730687,0.5954971238671044,1.4509672219732601,1.7497574197697618,1.7497574197697618,2.574539999998268,0,0,-0.00042260674857771816,-9.999999025923074e-05
+42606,1791364242770996245,3194150000000,1791364242766250594,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761246993151738,-0.004792910220650585,0.08541030510900872,0.9999999864570273,9.439208657485412e-05,3.868993968551206e-05,9.01223188422526e-05,0.6761,-0.0048,0.08523703468359967,1.0,0.0,0.0,0.0,-0.10811069404912618,-0.11006267167497177,1.4493643151316333,-0.006621869047079697,0.007868143278243698,8.975866289514622e-05,-0.037382201565602007,-0.11769488789493612,1.5114020874457794,-0.008595030703182542,0.004896869039535476,-0.0012483693080701497,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9797120629366894,-0.5427113437290401,-1.2202208023415395,0.6625635072102477,0.9097082240786005,-0.35933238100485704,0.5954971238671044,1.4493643151316333,1.8157179262086438,1.8157179262086438,2.601539999998245,0,0,-0.0004367155260018559,-9.999996250365512e-05
+42662,1791364243237050729,3194616000000,1791364243230250158,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761276080479738,-0.004792612450289482,0.08521368009009585,0.999999986324497,9.326456274827594e-05,4.874601104451953e-05,8.786021793679605e-05,0.6761,-0.0048,0.0850310261529389,1.0,0.0,0.0,0.0,-0.10811001690651878,-0.10924650823909654,1.4493585068431156,-0.006619661242704833,0.007868021274300495,8.979915116369094e-05,-0.03738152442299459,-0.11687872445906089,1.5113962791572617,-0.008592822898807678,0.004896747035592273,-0.001248328819801605,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9734987964417486,-0.4683780706871216,-1.2510151007515,0.6454205202578982,0.9210156563295969,-0.3079530568015315,0.5954971238671044,1.4493585068431156,1.8465122246186043,1.8465122246186043,2.629499999998221,0,0,-0.0004475489595548706,-9.609231052388196e-05
+42714,1791364243670974752,3195050000000,1791364243670249912,DOWN_FORCE_DETACH,9,0.049,0.0490017794072628,0.6761235553810977,-0.0047908273023150125,0.08501335206411086,0.9999999867517008,9.328722273966814e-05,4.256442526431272e-05,8.616975417413033e-05,0.6761,-0.0048,0.08483377901237091,1.0,0.0,0.0,0.0,-0.11687470535673274,-0.12072015953687168,1.4326405051053215,-0.006621346146858014,0.007873116193284983,0.0001042004132387924,-0.04614621287320855,-0.12835237575683603,1.4946782774194676,-0.008594507802960859,0.004901841954576761,-0.0012339275577265035,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0270956997581906,-0.5952060268175817,-1.2609791270323323,0.6892263769797522,0.9387267034862963,-0.3878098299998226,0.5954971238671044,1.4326405051053215,1.8564762508994366,1.8564762508994366,2.655539999998199,0,0,-0.00046105024753137345,-9.99992131031135e-05
+42771,1791364244139048080,3195518000000,1791364244138249701,DOWN_SETTLE,9,0.049,0.04900243505835533,0.6761284382084104,-0.004796921671363144,0.08480509710087694,0.9999999858731248,9.508330274117403e-05,5.324715976551483e-05,8.843370545447694e-05,0.6761,-0.0048,0.08461659500554433,1.0,0.0,0.0,0.0,-0.11730041294301077,-0.1110663909601221,1.4229063649555356,-0.006618159978565042,0.007874559194044123,0.0001100073345892019,-0.0465719204594866,-0.11869860718008644,1.4849441372696817,-0.008591321634667887,0.004903284955335901,-0.001228120636376094,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0445895556688083,-0.5424354561774584,-1.2148035686814775,0.6765094121257541,0.9089885202710299,-0.3482516142289438,0.5954971238671044,1.4229063649555356,1.8103006925485818,1.8103006925485818,2.674619999998183,0,0,-0.00046079636994014885,9.999999025923074e-05
+42822,1791364244564052627,3195943000000,1791364244558250220,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761254224031878,-0.004800682603529941,0.08461392055179041,0.9999999869078554,8.586825894221942e-05,4.831858696726269e-05,8.89893801438006e-05,0.6761,-0.0048,0.08442526154743799,1.0,0.0,0.0,0.0,-0.11731987051058561,-0.12087230746916186,1.4281970370377524,-0.006620653358016029,0.007873802387114055,0.0001057188924451437,-0.046591378027061425,-0.1285045236891262,1.4902348093518984,-0.008593815014118874,0.0049025281484058325,-0.0012324090785201523,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.124765687190102,-0.4902696983385955,-1.269257588775253,0.6540668850436875,0.9643812403569035,-0.31454859710806304,0.5954971238671044,1.4281970370377524,1.8647547126423576,1.8647547126423576,2.674619999998183,0,0,-0.0004395463740799758,9.999999025923074e-05
+42879,1791364245039033971,3196418000000,1791364245038249579,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761205040335585,-0.0048044434517777405,0.08440435011725811,0.9999999872682261,8.173259304270205e-05,4.0694402988486894e-05,9.257516233819065e-05,0.6761,-0.0048,0.0842221057686488,1.0,0.0,0.0,0.0,-0.10929506987083948,-0.12149904658659064,1.4113788297375207,-0.006618354452510359,0.00787815823333461,0.00012096467629487068,-0.03856657738731529,-0.129131262806555,1.4734166020516668,-0.008591516108613204,0.004906883994626387,-0.0012171632946704253,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.176228333670168,-0.518885813236239,-1.3383823545497802,0.6645546750702757,1.02150362558744,-0.3302961624143205,0.5954971238671044,1.4113788297375207,1.9338794784168845,1.9338794784168845,2.674619999998183,0,0,-0.0004157963787068412,9.999999025923074e-05
+42939,1791364245539118005,3196918000000,1791364245538249313,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761211626154153,-0.004806751383977918,0.08420843946068023,0.9999999875691726,8.082951696451552e-05,4.1701884706412845e-05,8.96217657000337e-05,0.6761,-0.0048,0.08402044507807535,1.0,0.0,0.0,0.0,-0.11672215429865111,-0.12550114837572904,1.408795192255883,-0.007637144433348161,0.007896953340352604,0.00010995206885521468,-0.04599366181512693,-0.1331333645956934,1.470832964570029,-0.009610306089451006,0.004925679101644382,-0.0012281759021100813,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1689594579745066,-0.608804388874039,-1.3091756177005114,0.6993766431542221,0.9976513791276417,-0.3814341778396028,0.5954971238671044,1.408795192255883,1.904672741567616,1.904672741567616,2.674619999998183,0,0,-0.0003907963835772258,9.999999025923074e-05
+42999,1791364246039112379,3197418000000,1791364246038249899,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761177353384485,-0.004805550269132766,0.08402171485747509,0.9999999881848479,7.905387498820542e-05,3.9026716732566704e-05,8.544336481680391e-05,0.6761,-0.0048,0.0838312843850667,1.0,0.0,0.0,0.0,-0.1167074508051765,-0.13106777547896392,1.3987455983697195,-0.007636044382084024,0.007899582622717768,0.00011806534191985255,-0.04597895832165231,-0.13869999169892827,1.4607833706838655,-0.009609206038186869,0.0049283083840095466,-0.0012200626290454434,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1867701104868094,-0.5271956707099483,-1.3793736006833028,0.6688741960851937,1.0430831035108379,-0.3283284782875312,0.5954971238671044,1.3987455983697195,1.9748707245504074,1.9748707245504074,2.674619999998183,0,0,-0.00036579638844761044,9.999999025923074e-05
+43066,1791364246598085702,3197977000000,1791364246598251714,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761154008174682,-0.004812701758893579,0.08382723552441095,0.9999999875322935,8.004772010922625e-05,3.803437686485411e-05,9.232565245102174e-05,0.6761,-0.0048,0.08363460225239987,1.0,0.0,0.0,0.0,-0.12106932646254215,-0.13579397080769198,1.3987239567885608,-0.007636666685545955,0.007900082012272476,0.00011754727589163459,-0.05034083397901796,-0.14342618702765633,1.4607617291027069,-0.0096098283416488,0.004928807773564254,-0.0012205806950736614,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2627005694614284,-0.6176897937690607,-1.3076950762033814,0.694428210022648,1.016648761729035,-0.38565023303743484,0.5954971238671044,1.3987239567885608,1.9031922000704857,1.9031922000704857,2.674619999998183,0,0,-0.00033784639389270046,9.999999025923074e-05
+43134,1791364247164004340,3198543000000,1791364247162249916,DOWN_SETTLE,9,0.049,0.04900243505835533,0.6761157250865781,-0.004811654970265887,0.08364477213864234,0.9999999898709082,6.04735504815589e-05,3.923905724536428e-05,8.064920339264789e-05,0.6761,-0.0048,0.08345137594189359,1.0,0.0,0.0,0.0,-0.11671643713658889,-0.1395141813603088,1.3987318005328835,-0.007636541093428213,0.00790015713663812,0.00011806906454342437,-0.0459879446530647,-0.14714639758027315,1.4607695728470296,-0.009609702749531058,0.004928882897929898,-0.0012200589064218716,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.3521412392350394,-0.6057786831099108,-1.2975046897722051,0.6982317566151274,1.0297569762477294,-0.37287455938028297,0.5954971238671044,1.3987318005328835,1.8930018136393096,1.8930018136393096,2.674619999998183,0,0,-0.00030954639940597586,9.999999025923074e-05
+43210,1791364247798048987,3199177000000,1791364247798250836,DOWN_SETTLE,9,0.049,0.0490017794072628,0.676110614445063,-0.004817895102296576,0.08345131018433662,0.9999999898722004,5.7156643780115954e-05,3.348030314126519e-05,8.550234581615468e-05,0.6761,-0.0048,0.08326515657270943,1.0,0.0,0.0,0.0,-0.11617260888134352,-0.1418726399876108,1.394392628380023,-0.00862606351082163,0.007919449810522826,0.00011046609830039369,-0.04544411639781934,-0.14950485620757514,1.456430400694169,-0.010599225166924475,0.004948175571814604,-0.0012276618726649023,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.423811658513612,-0.5923170667040801,-1.4659125869474954,0.685590028398528,1.1547244189917751,-0.36128713696497217,0.5954971238671044,1.394392628380023,2.0614097108146,2.0614097108146,2.674619999998183,0,0,-0.00027784640558162357,9.999999025923074e-05
+43290,1791364248464048951,3199843000000,1791364248458250081,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761136376387754,-0.0048226640907861225,0.08327808500582287,0.9999999891790092,5.9322387152140274e-05,3.379918395297417e-05,9.177862040548145e-05,0.6761,-0.0048,0.08309118311442854,1.0,0.0,0.0,0.0,-0.1166915311798419,-0.14552869558223822,1.378908051439092,-0.007638399188801855,0.007905132434942301,0.00013414029677209782,-0.04596303869631772,-0.15316091180220257,1.440945823753238,-0.0096115608449047,0.004933858196234079,-0.0012039876741931981,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4306568158693218,-0.49447883165483286,-1.3823924235914071,0.6639533465096794,1.0997586234137322,-0.29540211099004937,0.5954971238671044,1.378908051439092,1.9778895474585116,1.9778895474585116,2.674619999998183,0,0,-0.0002445464120689759,9.999999025923074e-05
+43380,1791364249214094312,3200593000000,1791364249214250045,DOWN_SETTLE,9,0.049,0.0490017794072628,0.6761152325560807,-0.00481782531437302,0.08311174479730853,0.9999999900938801,5.207545129723488e-05,3.880094720596934e-05,8.38912285983347e-05,0.6761,-0.0048,0.08292181705263356,1.0,0.0,0.0,0.0,-0.12224470205875691,-0.13791993674859848,1.3663945115227505,-0.007658145616604621,0.008919898969633782,0.0001572476798171504,-0.05151620957523273,-0.14555215296856283,1.4284322838368966,-0.009631307272707466,0.005948624730925559,-0.0011808802911481456,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4586916904857603,-0.5974209440673625,-1.426250361694258,0.6875180238355115,1.129078722518396,-0.36280145863068786,0.5954971238671044,1.3663945115227505,2.021747485561362,2.021747485561362,2.674619999998183,0,0,-0.0002070464193745528,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78050c7dc97f59fd66e224c321ce730c20b5854b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3719a3c3ad2a1d625c6a5cdf174daef09c082386
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791364199425608900,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.983430281e-09,9.256266587e-11,3.848430463e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258526e-01,1.803946558e-06,8.297807630e-01
+1,9.333333333e-01,DOWN_FORCE_DETACH,1791364200825605169,-1.880324162e-06,8.572598327e-07,-3.447224892e-05,-1.191343487e-06,-1.766861168e-06,-2.082038489e-05,-1.121031098e-06,-1.729789741e-06,-2.061715629e-05,7.015359912e-01,2.408221154e-06,8.407064689e-01,7.015366801e-01,-2.158998473e-07,8.407201208e-01,7.017247285e-01,7.406425439e-08,8.297601455e-01
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+16,1.270000000e+01,DOWN_FORCE_DETACH,1791364218561674732,9.891020229e-05,-1.310723995e-05,-1.455506558e-03,9.785360465e-05,-1.234179895e-05,-1.447951297e-03,9.619491158e-05,-1.216771687e-05,-1.445899314e-03,7.016367817e-01,-1.155627863e-05,8.392854346e-01,7.016357251e-01,-1.079083762e-05,8.392929899e-01,7.018220445e-01,-1.036386288e-05,8.283348633e-01
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+20,1.600000000e+01,DOWN_FORCE_DETACH,1791364223529719747,1.122906215e-04,-1.652847806e-05,-1.860677178e-03,1.128138894e-04,-1.811252527e-05,-1.846508558e-03,1.101970927e-04,-1.790261239e-05,-1.844012427e-03,7.016501621e-01,-1.497751674e-05,8.388802640e-01,7.016506854e-01,-1.656156395e-05,8.388944326e-01,7.018360467e-01,-1.609875840e-05,8.279367502e-01
+21,1.675000000e+01,DOWN_FORCE_DETACH,1791364224650309814,1.161791178e-04,-1.988593561e-05,-1.956313053e-03,1.166073223e-04,-1.618697399e-05,-1.953126087e-03,1.136557298e-04,-1.599397021e-05,-1.950534144e-03,7.016540506e-01,-1.833497429e-05,8.387846281e-01,7.016544788e-01,-1.463601267e-05,8.387878151e-01,7.018395053e-01,-1.419011621e-05,8.278302285e-01
+22,1.750000000e+01,DOWN_FORCE_DETACH,1791364225770518114,1.214238150e-04,-1.842250484e-05,-2.056713793e-03,1.214365264e-04,-1.847667374e-05,-2.056278110e-03,1.182017157e-04,-1.827143382e-05,-2.053640055e-03,7.016592953e-01,-1.687154352e-05,8.386842274e-01,7.016593080e-01,-1.692571242e-05,8.386846631e-01,7.018440513e-01,-1.646757982e-05,8.277271226e-01
+23,1.825000000e+01,DOWN_FORCE_DETACH,1791364226901457609,1.299309037e-04,-2.383628923e-05,-2.159951853e-03,1.280228056e-04,-2.026583652e-05,-2.158289134e-03,1.245809171e-04,-2.003855696e-05,-2.155659727e-03,7.016678024e-01,-2.228532791e-05,8.385809893e-01,7.016658943e-01,-1.871487520e-05,8.385826521e-01,7.018504305e-01,-1.823470296e-05,8.276251029e-01
+24,1.896666667e+01,DOWN_FORCE_DETACH,1791364228061971691,1.317731036e-04,-2.126565416e-05,-2.280861785e-03,1.318888860e-04,-2.666379697e-05,-2.276892801e-03,1.280857465e-04,-2.639016751e-05,-2.274095051e-03,7.016696446e-01,-1.971469283e-05,8.384600794e-01,7.016697604e-01,-2.511283565e-05,8.384640484e-01,7.018539353e-01,-2.458631351e-05,8.275066676e-01
+25,1.968333333e+01,DOWN_FORCE_DETACH,1791364229132239086,1.392434629e-04,-2.882786005e-05,-2.389201643e-03,1.346197515e-04,-2.963710758e-05,-2.378921357e-03,1.305152111e-04,-2.930359115e-05,-2.376183190e-03,7.016771149e-01,-2.727689873e-05,8.383517395e-01,7.016724912e-01,-2.808614625e-05,8.383620198e-01,7.018563648e-01,-2.749973716e-05,8.274045794e-01
+26,2.040000000e+01,DOWN_FORCE_DETACH,1791364230198252833,1.434651758e-04,-2.471894732e-05,-2.505330332e-03,1.427375552e-04,-3.035816100e-05,-2.504541972e-03,1.384556873e-04,-3.003145316e-05,-2.501519449e-03,7.016813367e-01,-2.316798600e-05,8.382356109e-01,7.016806090e-01,-2.880719968e-05,8.382363992e-01,7.018643053e-01,-2.822759917e-05,8.272792432e-01
+27,2.111666667e+01,DOWN_FORCE_DETACH,1791364231268260496,1.395699661e-04,-3.072379993e-05,-2.646524126e-03,1.419305965e-04,-2.879307280e-05,-2.638732381e-03,1.372087204e-04,-2.850920393e-05,-2.635397020e-03,7.016774414e-01,-2.917283861e-05,8.380944171e-01,7.016798021e-01,-2.724211148e-05,8.381022088e-01,7.018630583e-01,-2.670534993e-05,8.271453656e-01
+28,2.180000000e+01,DOWN_FORCE_DETACH,1791364232297707485,1.461321881e-04,-3.374428159e-05,-2.769697728e-03,1.441131745e-04,-3.344431430e-05,-2.757342853e-03,1.390750389e-04,-3.312774726e-05,-2.753933619e-03,7.016840037e-01,-3.219332026e-05,8.379712435e-01,7.016819847e-01,-3.189335298e-05,8.379835983e-01,7.018649246e-01,-3.132389326e-05,8.270268290e-01
+29,2.246666667e+01,DOWN_FORCE_DETACH,1791364233297800036,1.458194661e-04,-3.530481831e-05,-2.909624611e-03,1.474799379e-04,-3.456114916e-05,-2.904454236e-03,1.419593699e-04,-3.420619188e-05,-2.900799727e-03,7.016836909e-01,-3.375385699e-05,8.378313166e-01,7.016853514e-01,-3.301018784e-05,8.378364870e-01,7.018678089e-01,-3.240233788e-05,8.268799629e-01
+30,2.318333333e+01,DOWN_FORCE_DETACH,1791364234367543873,1.485202689e-04,-3.741586277e-05,-3.063313471e-03,1.493859359e-04,-3.730452955e-05,-3.056760427e-03,1.433875713e-04,-3.693700326e-05,-3.053038773e-03,7.016863918e-01,-3.586490145e-05,8.376776277e-01,7.016872574e-01,-3.575356823e-05,8.376841808e-01,7.018692371e-01,-3.513314926e-05,8.267277238e-01
+31,2.383333333e+01,DOWN_FORCE_DETACH,1791364235338858404,1.507497876e-04,-4.021826079e-05,-3.217742105e-03,1.491403575e-04,-3.878650255e-05,-3.212118127e-03,1.426096457e-04,-3.842085586e-05,-3.208213311e-03,7.016886213e-01,-3.866729947e-05,8.375231991e-01,7.016870118e-01,-3.723554122e-05,8.375288231e-01,7.018684592e-01,-3.661700187e-05,8.265725493e-01
+32,2.441666667e+01,DOWN_FORCE_DETACH,1791364236218098968,1.510561575e-04,-4.485202999e-05,-3.383884922e-03,1.484590694e-04,-4.246505999e-05,-3.364555228e-03,1.413796302e-04,-4.211601235e-05,-3.360347695e-03,7.016889276e-01,-4.330106866e-05,8.373570563e-01,7.016863306e-01,-4.091409867e-05,8.373763860e-01,7.018672292e-01,-4.031215836e-05,8.264204149e-01
+33,2.495000000e+01,DOWN_FORCE_DETACH,1791364237020598165,1.527457884e-04,-4.275006660e-05,-3.550780703e-03,1.526321481e-04,-4.273659992e-05,-3.550604742e-03,1.450011794e-04,-4.240388251e-05,-3.545806353e-03,7.016906173e-01,-4.119910528e-05,8.371901605e-01,7.016905036e-01,-4.118563860e-05,8.371903364e-01,7.018708508e-01,-4.060002852e-05,8.262349563e-01
+34,2.550000000e+01,DOWN_FORCE_DETACH,1791364237837982808,1.534174432e-04,-4.391041655e-05,-3.742881939e-03,1.521096970e-04,-4.844131564e-05,-3.733932391e-03,1.437834551e-04,-4.808184780e-05,-3.728850400e-03,7.016912889e-01,-4.235945523e-05,8.369980592e-01,7.016899812e-01,-4.689035431e-05,8.370070088e-01,7.018696330e-01,-4.627799381e-05,8.260519122e-01
+35,2.598333333e+01,DOWN_FORCE_DETACH,1791364238569021284,1.511910106e-04,-4.864219853e-05,-3.939181031e-03,1.512276284e-04,-4.884267242e-05,-3.938789549e-03,1.422440531e-04,-4.847716088e-05,-3.933131110e-03,7.016890625e-01,-4.709123721e-05,8.368017602e-01,7.016890991e-01,-4.729171110e-05,8.368021516e-01,7.018680936e-01,-4.667330688e-05,8.258476315e-01
+36,2.638333333e+01,DOWN_FORCE_DETACH,1791364239168491117,1.490630785e-04,-5.082139791e-05,-4.118685370e-03,1.489297093e-04,-5.075518341e-05,-4.118545682e-03,1.392019261e-04,-5.035914238e-05,-4.112484420e-03,7.016869346e-01,-4.927043659e-05,8.366222558e-01,7.016868012e-01,-4.920422209e-05,8.366223955e-01,7.018650515e-01,-4.855528838e-05,8.256682782e-01
+37,2.676666667e+01,DOWN_FORCE_DETACH,1791364239737383981,1.475345194e-04,-5.633950578e-05,-4.293901817e-03,1.456613284e-04,-5.439208950e-05,-4.284052307e-03,1.352934042e-04,-5.388900214e-05,-4.277767645e-03,7.016854060e-01,-5.478854446e-05,8.364470394e-01,7.016835328e-01,-5.284112818e-05,8.364568889e-01,7.018611430e-01,-5.208514814e-05,8.255029950e-01
+38,2.715000000e+01,DOWN_FORCE_DETACH,1791364240317348790,1.449046180e-04,-5.537831293e-05,-4.489351395e-03,1.470456981e-04,-5.202022557e-05,-4.470051952e-03,1.361218827e-04,-5.153194584e-05,-4.463417243e-03,7.016827761e-01,-5.382735161e-05,8.362515898e-01,7.016849172e-01,-5.046926425e-05,8.362708892e-01,7.018619715e-01,-4.972809184e-05,8.253173454e-01
+39,2.751666667e+01,DOWN_FORCE_DETACH,1791364240868880562,1.446874966e-04,-5.194319048e-05,-4.684690357e-03,1.444953060e-04,-5.179932169e-05,-4.684515103e-03,1.327135922e-04,-5.133313167e-05,-4.677279946e-03,7.016825590e-01,-5.039222916e-05,8.360562508e-01,7.016823668e-01,-5.024836037e-05,8.360564261e-01,7.018585632e-01,-4.952927768e-05,8.251034827e-01
+40,2.785000000e+01,DOWN_FORCE_DETACH,1791364241369815086,1.432204334e-04,-4.828752930e-05,-4.874034664e-03,1.430702482e-04,-5.256542545e-05,-4.854961101e-03,1.307002521e-04,-5.207778028e-05,-4.847459939e-03,7.016810919e-01,-4.673656798e-05,8.358669065e-01,7.016809417e-01,-5.101446413e-05,8.358859801e-01,7.018565498e-01,-5.027392628e-05,8.249333027e-01
+41,2.818333333e+01,DOWN_FORCE_DETACH,1791364241867521576,1.383355924e-04,-4.869210079e-05,-5.076902562e-03,1.382079807e-04,-4.879615946e-05,-5.076768544e-03,1.249673076e-04,-4.829987520e-05,-5.068775558e-03,7.016762071e-01,-4.714113947e-05,8.356640386e-01,7.016760795e-01,-4.724519814e-05,8.356641726e-01,7.018508169e-01,-4.649602121e-05,8.247119871e-01
+42,2.848333333e+01,DOWN_FORCE_DETACH,1791364242317233891,1.378988872e-04,-5.155883333e-05,-5.268331295e-03,1.355994787e-04,-5.164270460e-05,-5.257356681e-03,1.216356272e-04,-5.110860313e-05,-5.249041421e-03,7.016757704e-01,-5.000787201e-05,8.354726099e-01,7.016734710e-01,-5.009174328e-05,8.354835845e-01,7.018474852e-01,-4.930474914e-05,8.245317212e-01
+43,2.878333333e+01,DOWN_FORCE_DETACH,1791364242767577992,1.345222394e-04,-5.677660708e-05,-5.459251525e-03,1.359522626e-04,-5.426033876e-05,-5.442761425e-03,1.213628768e-04,-5.374759650e-05,-5.434165210e-03,7.016723937e-01,-5.522564576e-05,8.352816897e-01,7.016738237e-01,-5.270937744e-05,8.352981798e-01,7.018472124e-01,-5.194374251e-05,8.243465974e-01
+44,2.910000000e+01,DOWN_FORCE_DETACH,1791364243238216700,1.375205482e-04,-5.582546840e-05,-5.655275234e-03,1.372220637e-04,-5.594186088e-05,-5.654996887e-03,1.219760073e-04,-5.540916647e-05,-5.646017608e-03,7.016753920e-01,-5.427450707e-05,8.350856660e-01,7.016750935e-01,-5.439089956e-05,8.350859443e-01,7.018478256e-01,-5.360531248e-05,8.241347450e-01
+45,2.938333333e+01,DOWN_FORCE_DETACH,1791364243668452189,1.339143748e-04,-5.656443356e-05,-5.854785346e-03,1.357744918e-04,-5.729614688e-05,-5.834923049e-03,1.198136933e-04,-5.675170801e-05,-5.825787137e-03,7.016717859e-01,-5.501347224e-05,8.348861558e-01,7.016736460e-01,-5.574518556e-05,8.349060181e-01,7.018456633e-01,-5.494785402e-05,8.239549755e-01
+46,2.970000000e+01,DOWN_SETTLE,1791364244138812976,1.388565737e-04,-6.285628772e-05,-6.059104671e-03,1.368882409e-04,-6.288525713e-05,-6.046502614e-03,1.202377198e-04,-6.231847244e-05,-6.037195919e-03,7.016767281e-01,-6.130532640e-05,8.346818365e-01,7.016747597e-01,-6.133429581e-05,8.346944386e-01,7.018460873e-01,-6.051461844e-05,8.237435667e-01
+47,2.998333333e+01,DOWN_SETTLE,1791364244567786161,1.342021899e-04,-6.309463405e-05,-6.261911902e-03,1.339925876e-04,-6.328765395e-05,-6.261676714e-03,1.164659206e-04,-6.270703895e-05,-6.251937116e-03,7.016720737e-01,-6.154367273e-05,8.344790293e-01,7.016718641e-01,-6.173669263e-05,8.344792645e-01,7.018423155e-01,-6.090318496e-05,8.235288255e-01
+48,3.030000000e+01,DOWN_SETTLE,1791364245038967746,1.314499237e-04,-6.926783544e-05,-6.462115945e-03,1.304882874e-04,-6.648010661e-05,-6.460751666e-03,1.122541486e-04,-6.589457018e-05,-6.451004775e-03,7.016693214e-01,-6.771687412e-05,8.342788252e-01,7.016683598e-01,-6.492914528e-05,8.342801895e-01,7.018381037e-01,-6.409071619e-05,8.233297578e-01
+49,3.063333333e+01,DOWN_SETTLE,1791364245540053511,1.287071177e-04,-7.077135307e-05,-6.662862327e-03,1.275450265e-04,-7.250586929e-05,-6.658988499e-03,1.085227987e-04,-7.185645385e-05,-6.649268868e-03,7.016665786e-01,-6.922039175e-05,8.340780789e-01,7.016654165e-01,-7.095490797e-05,8.340819527e-01,7.018343724e-01,-7.005259985e-05,8.231314937e-01
+50,3.096666667e+01,DOWN_SETTLE,1791364246042141608,1.277310468e-04,-6.924467756e-05,-6.847376094e-03,1.275561467e-04,-7.440741391e-05,-6.830733501e-03,1.079461246e-04,-7.375012967e-05,-6.821295496e-03,7.016656025e-01,-6.769371623e-05,8.338935651e-01,7.016654276e-01,-7.285645259e-05,8.339102077e-01,7.018337957e-01,-7.194627567e-05,8.229594671e-01
+51,3.133333333e+01,DOWN_SETTLE,1791364246597899831,1.264479086e-04,-7.594286973e-05,-7.041800784e-03,1.262181597e-04,-7.595321328e-05,-7.041843210e-03,1.058339925e-04,-7.536501676e-05,-7.032324956e-03,7.016643194e-01,-7.439190841e-05,8.336991404e-01,7.016640896e-01,-7.440225196e-05,8.336990980e-01,7.018316836e-01,-7.356116276e-05,8.227484377e-01
+52,3.171666667e+01,DOWN_SETTLE,1791364247167499965,1.246509443e-04,-7.341039671e-05,-7.226977273e-03,1.244642447e-04,-7.334391973e-05,-7.227012671e-03,1.034102524e-04,-7.274798164e-05,-7.217784027e-03,7.016625224e-01,-7.185943539e-05,8.335139639e-01,7.016623357e-01,-7.179295841e-05,8.335139285e-01,7.018292598e-01,-7.094412765e-05,8.225629786e-01
+53,3.213333333e+01,DOWN_SETTLE,1791364247797845402,1.200143437e-04,-7.473321811e-05,-7.419245565e-03,1.194472043e-04,-8.181448259e-05,-7.402237389e-03,9.761912389e-05,-8.116605497e-05,-7.393500375e-03,7.016578858e-01,-7.318225679e-05,8.333216956e-01,7.016573187e-01,-8.026352127e-05,8.333387038e-01,7.018234687e-01,-7.936220097e-05,8.223872622e-01
+54,3.258333333e+01,DOWN_SETTLE,1791364248467457662,1.198862513e-04,-8.287846292e-05,-7.595926209e-03,1.197793929e-04,-8.301683906e-05,-7.595745299e-03,9.730959029e-05,-8.235565536e-05,-7.587351593e-03,7.016577577e-01,-8.132750160e-05,8.331450150e-01,7.016576509e-01,-8.146587774e-05,8.331451959e-01,7.018231592e-01,-8.055180137e-05,8.221934110e-01
+55,3.308333333e+01,DOWN_SETTLE,1791364249217053870,1.255556490e-04,-8.480294008e-05,-7.759820358e-03,1.235037825e-04,-8.334387536e-05,-7.756201669e-03,1.006196243e-04,-8.269928497e-05,-7.748521283e-03,7.016634271e-01,-8.325197876e-05,8.329811208e-01,7.016613753e-01,-8.179291404e-05,8.329847395e-01,7.018264692e-01,-8.089543098e-05,8.220322413e-01
+56,3.360000000e+01,DOWN_SETTLE,1791364249998012312,1.096848111e-04,-8.751185873e-05,-7.921588919e-03,1.114578647e-04,-8.320409481e-05,-7.913324871e-03,8.775923356e-05,-8.255749697e-05,-7.906131796e-03,7.016475563e-01,-8.596089741e-05,8.328193523e-01,7.016493293e-01,-8.165313349e-05,8.328276163e-01,7.018136088e-01,-8.075364298e-05,8.218746308e-01
+57,3.420000000e+01,DOWN_SETTLE,1791364250898003174,9.662567846e-05,-8.610011129e-05,-8.067296816e-03,9.636449896e-05,-8.584747445e-05,-8.067061504e-03,7.170573251e-05,-8.519834297e-05,-8.060561429e-03,7.016344972e-01,-8.454914997e-05,8.326736444e-01,7.016342360e-01,-8.429651313e-05,8.326738797e-01,7.017975553e-01,-8.339448897e-05,8.217202012e-01
+58,3.495000000e+01,DOWN_SETTLE,1791364252016928359,8.067346178e-05,-8.580476223e-05,-8.190885609e-03,8.361316442e-05,-8.695955242e-05,-8.180415797e-03,5.829690055e-05,-8.635094101e-05,-8.174971324e-03,7.016185449e-01,-8.425380091e-05,8.325500556e-01,7.016214846e-01,-8.540859110e-05,8.325605254e-01,7.017841465e-01,-8.454708701e-05,8.216057913e-01
+59,3.570000000e+01,DOWN_SETTLE,1791364253134127099,7.613294437e-05,-8.272759924e-05,-8.243540184e-03,7.906661649e-05,-8.952689955e-05,-8.243346262e-03,5.337563149e-05,-8.888917453e-05,-8.239013778e-03,7.016140044e-01,-8.117663792e-05,8.324974010e-01,7.016169381e-01,-8.797593823e-05,8.324975949e-01,7.017792252e-01,-8.708532053e-05,8.215417488e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7c5aee97ba1fad481454ce706228dab447b945b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,7.8419e-03,2.4070e-03,2.4584e+00,-3.6925e-02,3.7326e-02,2.5027e-06,7.8511e-05,-4.6729e-07,1.0014e-05,-7.4506e-09,5.6289e-06,5.5137e-08,7.9149e-05,5.6292e-06
+1,9.3333e-01,DOWN_FORCE_DETACH,2.0957e-04,1.5400e-02,3.3524e-03,2.4667e+00,-3.7000e-02,3.7848e-02,1.6110e-05,7.6363e-03,9.4490e-04,8.3027e-03,-7.4435e-05,5.2765e-04,1.3662e-05,1.1320e-02,5.3305e-04
+2,1.7167e+00,DOWN_FORCE_DETACH,4.2084e-04,2.0689e-02,7.2385e-03,2.4965e+00,-3.7273e-02,3.8188e-02,2.9837e-05,1.2926e-02,4.8310e-03,3.8164e-02,-3.4756e-04,8.6750e-04,2.7389e-05,4.0582e-02,9.3494e-04
+3,2.2833e+00,DOWN_FORCE_DETACH,6.3030e-04,8.6562e-03,8.1151e-03,2.5089e+00,-3.7334e-02,3.7315e-02,3.9777e-05,8.9281e-04,5.7076e-03,5.0588e-02,-4.0904e-04,-5.2191e-06,3.7330e-05,5.0917e-02,4.1077e-04
+4,2.7500e+00,DOWN_FORCE_DETACH,8.4058e-04,1.1956e-02,-3.2719e-03,2.5432e+00,-3.6545e-02,3.7513e-02,4.0500e-05,4.1926e-03,-5.6794e-03,8.4871e-02,3.7980e-04,1.9274e-04,3.8052e-05,8.5164e-02,4.2761e-04
+5,3.4500e+00,DOWN_FORCE_DETACH,1.0510e-03,1.6202e-02,4.8543e-03,2.5694e+00,-3.7100e-02,3.7786e-02,5.3485e-05,8.4386e-03,2.4468e-03,1.1108e-01,-1.7520e-04,4.6610e-04,5.1038e-05,1.1142e-01,5.0055e-04
+6,4.2667e+00,DOWN_FORCE_DETACH,1.2594e-03,2.0219e-02,5.4125e-03,2.5757e+00,-3.7139e-02,3.8067e-02,4.9275e-05,1.2456e-02,3.0049e-03,1.1730e-01,-2.1339e-04,7.4684e-04,4.6827e-05,1.1800e-01,7.7814e-04
+7,5.0333e+00,DOWN_FORCE_DETACH,1.4720e-03,2.2335e-02,3.3973e-03,2.5686e+00,-3.6995e-02,3.8227e-02,3.7945e-05,1.4571e-02,9.8980e-04,1.1028e-01,-6.9790e-05,9.0630e-04,3.5498e-05,1.1124e-01,9.0968e-04
+8,5.8333e+00,DOWN_FORCE_DETACH,1.6798e-03,2.5109e-02,1.9608e-03,2.5564e+00,-3.6895e-02,3.8432e-02,3.3106e-05,1.7345e-02,-4.4671e-04,9.8028e-02,2.9676e-05,1.1123e-03,3.0658e-05,9.9552e-02,1.1131e-03
+9,6.7333e+00,DOWN_FORCE_DETACH,1.8925e-03,3.0004e-02,6.1924e-03,2.5512e+00,-3.7196e-02,3.8777e-02,3.8933e-05,2.2241e-02,3.7849e-03,9.2847e-02,-2.7085e-04,1.4566e-03,3.6486e-05,9.5549e-02,1.4821e-03
+10,7.5833e+00,DOWN_FORCE_DETACH,2.0988e-03,3.3067e-02,7.9637e-03,2.5451e+00,-3.7319e-02,3.8994e-02,3.9680e-05,2.5304e-02,5.5562e-03,8.6709e-02,-3.9408e-04,1.6734e-03,3.7232e-05,9.0496e-02,1.7196e-03
+11,8.4667e+00,DOWN_FORCE_DETACH,2.3099e-03,3.6058e-02,6.0551e-03,2.5473e+00,-3.7169e-02,3.9199e-02,3.5014e-05,2.8295e-02,3.6476e-03,8.8977e-02,-2.4429e-04,1.8791e-03,3.2566e-05,9.3439e-02,1.8952e-03
+12,9.2667e+00,DOWN_FORCE_DETACH,2.5171e-03,3.7866e-02,7.9033e-03,2.5512e+00,-3.7271e-02,3.9321e-02,3.1334e-05,3.0103e-02,5.4958e-03,9.2885e-02,-3.4561e-04,2.0005e-03,2.8887e-05,9.7796e-02,2.0303e-03
+13,1.0167e+01,DOWN_FORCE_DETACH,2.7299e-03,3.9069e-02,6.5486e-03,2.5509e+00,-3.7157e-02,3.9406e-02,2.0745e-05,3.1305e-02,4.1410e-03,9.2556e-02,-2.3217e-04,2.0853e-03,1.8297e-05,9.7795e-02,2.0983e-03
+14,1.1017e+01,DOWN_FORCE_DETACH,2.9417e-03,4.0758e-02,7.9000e-03,2.5469e+00,-3.7263e-02,3.9528e-02,5.4128e-06,3.2994e-02,5.4925e-03,8.8564e-02,-3.3834e-04,2.2075e-03,2.9653e-06,9.4670e-02,2.2333e-03
+15,1.1817e+01,DOWN_FORCE_DETACH,3.1495e-03,4.1642e-02,9.4926e-03,2.5524e+00,-3.7415e-02,3.9588e-02,-1.4006e-05,3.3878e-02,7.0851e-03,9.4035e-02,-4.8948e-04,2.2680e-03,-1.6454e-05,1.0020e-01,2.3203e-03
+16,1.2700e+01,DOWN_FORCE_DETACH,3.3613e-03,4.2136e-02,9.0656e-03,2.5498e+00,-3.7418e-02,3.9624e-02,-3.4836e-05,3.4372e-02,6.6581e-03,9.1441e-02,-4.9275e-04,2.3040e-03,-3.7283e-05,9.7914e-02,2.3564e-03
+17,1.3567e+01,DOWN_FORCE_DETACH,3.5720e-03,4.3065e-02,8.6974e-03,2.5497e+00,-3.7393e-02,3.9691e-02,-5.3284e-05,3.5301e-02,6.2899e-03,9.1351e-02,-4.6827e-04,2.3705e-03,-5.5732e-05,9.8136e-02,2.4170e-03
+18,1.4417e+01,DOWN_FORCE_DETACH,3.7815e-03,4.2669e-02,9.8451e-03,2.5639e+00,-3.7459e-02,3.9649e-02,-7.1107e-05,3.4906e-02,7.4376e-03,1.0557e-01,-5.3380e-04,2.3286e-03,-7.3554e-05,1.1144e-01,2.3902e-03
+19,1.5233e+01,DOWN_FORCE_DETACH,3.9908e-03,4.3437e-02,9.7971e-03,2.5716e+00,-3.7436e-02,3.9690e-02,-8.5087e-05,3.5674e-02,7.3896e-03,1.1323e-01,-5.1122e-04,2.3697e-03,-8.7534e-05,1.1895e-01,2.4258e-03
+20,1.6000e+01,DOWN_FORCE_DETACH,4.2010e-03,4.3221e-02,1.1511e-02,2.5681e+00,-3.7540e-02,3.9668e-02,-9.1465e-05,3.5458e-02,9.1035e-03,1.0976e-01,-6.1446e-04,2.3478e-03,-9.3913e-05,1.1571e-01,2.4287e-03
+21,1.6750e+01,DOWN_FORCE_DETACH,4.4119e-03,4.2329e-02,1.0567e-02,2.5725e+00,-3.7481e-02,3.9601e-02,-9.3121e-05,3.4566e-02,8.1596e-03,1.1411e-01,-5.5593e-04,2.2812e-03,-9.5569e-05,1.1951e-01,2.3499e-03
+22,1.7500e+01,DOWN_FORCE_DETACH,4.6223e-03,4.0866e-02,1.2406e-02,2.5673e+00,-3.7611e-02,3.9497e-02,-8.7411e-05,3.3103e-02,9.9985e-03,1.0895e-01,-6.8593e-04,2.1769e-03,-8.9859e-05,1.1431e-01,2.2842e-03
+23,1.8250e+01,DOWN_FORCE_DETACH,4.8290e-03,3.7561e-02,1.2426e-02,2.5758e+00,-3.7605e-02,3.9258e-02,-7.8104e-05,2.9797e-02,1.0018e-02,1.1743e-01,-6.8033e-04,1.9376e-03,-8.0551e-05,1.2156e-01,2.0552e-03
+24,1.8967e+01,DOWN_FORCE_DETACH,5.0426e-03,3.6095e-02,1.6100e-02,2.5815e+00,-3.7830e-02,3.9147e-02,-6.2937e-05,2.8332e-02,1.3692e-02,1.2317e-01,-9.0455e-04,1.8271e-03,-6.5384e-05,1.2713e-01,2.0398e-03
+25,1.9683e+01,DOWN_FORCE_DETACH,5.2507e-03,3.6528e-02,1.7895e-02,2.5808e+00,-3.7945e-02,3.9163e-02,-4.5151e-05,2.8765e-02,1.5488e-02,1.2247e-01,-1.0199e-03,1.8432e-03,-4.7598e-05,1.2675e-01,2.1071e-03
+26,2.0400e+01,DOWN_FORCE_DETACH,5.4628e-03,3.6669e-02,1.8044e-02,2.5907e+00,-3.7955e-02,3.9155e-02,-2.8387e-05,2.8906e-02,1.5636e-02,1.3229e-01,-1.0298e-03,1.8350e-03,-3.0835e-05,1.3632e-01,2.1044e-03
+27,2.1117e+01,DOWN_FORCE_DETACH,5.6721e-03,3.9776e-02,1.6769e-02,2.6037e+00,-3.7846e-02,3.9343e-02,-1.3818e-05,3.2013e-02,1.4361e-02,1.4532e-01,-9.2095e-04,2.0230e-03,-1.6265e-05,1.4949e-01,2.2228e-03
+28,2.1800e+01,DOWN_FORCE_DETACH,5.8817e-03,4.0435e-02,1.8736e-02,2.6091e+00,-3.7940e-02,3.9375e-02,-1.4668e-06,3.2672e-02,1.6329e-02,1.5079e-01,-1.0151e-03,2.0547e-03,-3.9143e-06,1.5515e-01,2.2917e-03
+29,2.2467e+01,DOWN_FORCE_DETACH,6.0942e-03,4.0392e-02,2.0092e-02,2.6190e+00,-3.8013e-02,3.9363e-02,3.9341e-06,3.2629e-02,1.7684e-02,1.6062e-01,-1.0876e-03,2.0424e-03,1.4866e-06,1.6485e-01,2.3139e-03
+30,2.3183e+01,DOWN_FORCE_DETACH,6.3015e-03,4.0822e-02,2.1883e-02,2.6228e+00,-3.8182e-02,3.9389e-02,9.3115e-07,3.3058e-02,1.9476e-02,1.6448e-01,-1.2567e-03,2.0690e-03,-1.5164e-06,1.6890e-01,2.4207e-03
+31,2.3833e+01,DOWN_FORCE_DETACH,6.5109e-03,4.1473e-02,2.1596e-02,2.6323e+00,-3.8216e-02,3.9421e-02,-3.3681e-06,3.3709e-02,1.9189e-02,1.7394e-01,-1.2912e-03,2.1009e-03,-5.8157e-06,1.7821e-01,2.4660e-03
+32,2.4417e+01,DOWN_FORCE_DETACH,6.7265e-03,4.1843e-02,2.2161e-02,2.6449e+00,-3.8264e-02,3.9426e-02,-3.9326e-06,3.4080e-02,1.9754e-02,1.8658e-01,-1.3390e-03,2.1054e-03,-6.3801e-06,1.9069e-01,2.4951e-03
+33,2.4950e+01,DOWN_FORCE_DETACH,6.9318e-03,4.0187e-02,2.1208e-02,2.6588e+00,-3.8175e-02,3.9292e-02,-3.6828e-06,3.2423e-02,1.8801e-02,2.0039e-01,-1.2501e-03,1.9715e-03,-6.1303e-06,2.0387e-01,2.3344e-03
+34,2.5500e+01,DOWN_FORCE_DETACH,7.1408e-03,4.2054e-02,2.4794e-02,2.6835e+00,-3.8385e-02,3.9386e-02,-7.3043e-06,3.4290e-02,2.2386e-02,2.2513e-01,-1.4597e-03,2.0660e-03,-9.7518e-06,2.2883e-01,2.5296e-03
+35,2.5983e+01,DOWN_FORCE_DETACH,7.3548e-03,4.1761e-02,2.6111e-02,2.7005e+00,-3.8463e-02,3.9346e-02,-1.9465e-05,3.3998e-02,2.3704e-02,2.4215e-01,-1.5379e-03,2.0255e-03,-2.1912e-05,2.4567e-01,2.5432e-03
+36,2.6383e+01,DOWN_FORCE_DETACH,7.5601e-03,4.3442e-02,2.6787e-02,2.7170e+00,-3.8482e-02,3.9435e-02,-3.3361e-05,3.5678e-02,2.4380e-02,2.5865e-01,-1.5572e-03,2.1151e-03,-3.5809e-05,2.6224e-01,2.6267e-03
+37,2.6767e+01,DOWN_FORCE_DETACH,7.7688e-03,4.4887e-02,3.0273e-02,2.7368e+00,-3.8688e-02,3.9503e-02,-4.0129e-05,3.7124e-02,2.7865e-02,2.7846e-01,-1.7630e-03,2.1824e-03,-4.2576e-05,2.8230e-01,2.8058e-03
+38,2.7150e+01,DOWN_FORCE_DETACH,7.9834e-03,4.5652e-02,2.9636e-02,2.7525e+00,-3.8644e-02,3.9518e-02,-4.1005e-05,3.7889e-02,2.7228e-02,2.9409e-01,-1.7189e-03,2.1981e-03,-4.3453e-05,2.9777e-01,2.7907e-03
+39,2.7517e+01,DOWN_FORCE_DETACH,8.1972e-03,4.7003e-02,3.1236e-02,2.7676e+00,-3.8724e-02,3.9573e-02,-4.0461e-05,3.9239e-02,2.8829e-02,3.0924e-01,-1.7991e-03,2.2531e-03,-4.2908e-05,3.1305e-01,2.8836e-03
+40,2.7850e+01,DOWN_FORCE_DETACH,8.4024e-03,4.7936e-02,3.0306e-02,2.7857e+00,-3.8626e-02,3.9606e-02,-4.4921e-05,4.0172e-02,2.7898e-02,3.2738e-01,-1.7010e-03,2.2857e-03,-4.7368e-05,3.3102e-01,2.8496e-03
+41,2.8183e+01,DOWN_FORCE_DETACH,8.6179e-03,4.8699e-02,2.9823e-02,2.8033e+00,-3.8583e-02,3.9630e-02,-5.3265e-05,4.0936e-02,2.7416e-02,3.4497e-01,-1.6581e-03,2.3094e-03,-5.5712e-05,3.4847e-01,2.8435e-03
+42,2.8483e+01,DOWN_FORCE_DETACH,8.8260e-03,4.9778e-02,3.0246e-02,2.8201e+00,-3.8621e-02,3.9677e-02,-6.0806e-05,4.2015e-02,2.7839e-02,3.6178e-01,-1.6961e-03,2.3571e-03,-6.3254e-05,3.6527e-01,2.9046e-03
+43,2.8783e+01,DOWN_FORCE_DETACH,9.0305e-03,4.9891e-02,3.1321e-02,2.8352e+00,-3.8676e-02,3.9662e-02,-6.6294e-05,4.2128e-02,2.8914e-02,3.7684e-01,-1.7505e-03,2.3422e-03,-6.8741e-05,3.8028e-01,2.9249e-03
+44,2.9100e+01,DOWN_FORCE_DETACH,9.2365e-03,5.0655e-02,3.2427e-02,2.8455e+00,-3.8709e-02,3.9702e-02,-7.1220e-05,4.2892e-02,3.0020e-02,3.8719e-01,-1.7841e-03,2.3814e-03,-7.3667e-05,3.9071e-01,2.9765e-03
+45,2.9383e+01,DOWN_FORCE_DETACH,9.4466e-03,4.9387e-02,3.3370e-02,2.8552e+00,-3.8733e-02,3.9605e-02,-8.1426e-05,4.1624e-02,3.0963e-02,3.9680e-01,-1.8081e-03,2.2851e-03,-8.3874e-05,4.0017e-01,2.9151e-03
+46,2.9700e+01,DOWN_SETTLE,9.6598e-03,4.8108e-02,3.5851e-02,2.8682e+00,-3.8866e-02,3.9494e-02,-9.0873e-05,4.0344e-02,3.3443e-02,4.0984e-01,-1.9413e-03,2.1738e-03,-9.3320e-05,4.1318e-01,2.9160e-03
+47,2.9983e+01,DOWN_SETTLE,9.8752e-03,4.9121e-02,3.6231e-02,2.8752e+00,-3.8884e-02,3.9541e-02,-8.7956e-05,4.1358e-02,3.3823e-02,4.1681e-01,-1.9584e-03,2.2208e-03,-9.0403e-05,4.2022e-01,2.9624e-03
+48,3.0300e+01,DOWN_SETTLE,1.0083e-02,4.9926e-02,3.7874e-02,2.8833e+00,-3.8972e-02,3.9570e-02,-7.3511e-05,4.2162e-02,3.5466e-02,4.2494e-01,-2.0467e-03,2.2498e-03,-7.5959e-05,4.2849e-01,3.0424e-03
+49,3.0633e+01,DOWN_SETTLE,1.0294e-02,4.9632e-02,4.0409e-02,2.8824e+00,-3.9088e-02,3.9539e-02,-5.9996e-05,4.1868e-02,3.8002e-02,4.2407e-01,-2.1631e-03,2.2189e-03,-6.2444e-05,4.2783e-01,3.0994e-03
+50,3.0967e+01,DOWN_SETTLE,1.0500e-02,4.8761e-02,4.0390e-02,2.8768e+00,-3.9093e-02,3.9481e-02,-5.1755e-05,4.0998e-02,3.7982e-02,4.1845e-01,-2.1677e-03,2.1610e-03,-5.4203e-05,4.2216e-01,3.0614e-03
+51,3.1333e+01,DOWN_SETTLE,1.0712e-02,4.7854e-02,3.8526e-02,2.8682e+00,-3.9002e-02,3.9423e-02,-4.6800e-05,4.0091e-02,3.6119e-02,4.0981e-01,-2.0772e-03,2.1032e-03,-4.9248e-05,4.1334e-01,2.9565e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65503e5eaef5536b29428c2d8a6e92a189146c90
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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+36686,1791364193456834895,3144836000000,1791364193454249944,UP_FORCE_HOLD,9,0.049,0.0490017794072628,0.675969555575717,-0.004694567276566122,0.09116500198995495,0.9999999618947929,0.00011814747953683634,-0.0002292188456397697,-3.395836980286323e-05,0.6761,-0.0048,0.09153391125162133,1.0,0.0,0.0,0.0,-0.019417670287447203,-0.0547443592090404,-0.566628855122621,-0.003955721757791197,0.00016402330392146884,-0.0004306794342434153,0.05131082219607698,-0.06237657542900476,-0.504591082808475,-0.005928883413894042,-0.0028072509347867535,-0.0017688074052087113,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,-1.100894034445047,-0.09079128334253118,2.5850764299330273,-0.11408994861972738,-1.773501838824585,-0.11232328668008129,0.5954971238671044,0.566628855122621,-1.9895793060659228,0.566628855122621,0.6114,0,0,2.3965402435473755e-05,-1.595787875539601e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac6e25bee2e2bed389ed16ec0b4e700b7bd2027b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25fbd2d50188b70cc6165466c55678e8779ce5d1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,8.333333333e-01,UP_FORCE_RAMP,1791364185857557037,-1.398332951e-06,-1.822761914e-06,4.772271145e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.514109644e-07,1.172136728e-08,2.951213418e-08,7.015364731e-01,-2.718005933e-07,8.407457135e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260009e-01,1.815558062e-06,8.297807921e-01
+7,1.000000000e+00,UP_FORCE_RAMP,1791364186099283097,-4.317209042e-06,2.689558311e-07,7.892640738e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.765428719e-07,1.372850894e-08,3.471389931e-08,7.015335543e-01,1.819917152e-06,8.407488338e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260260e-01,1.817565203e-06,8.297807973e-01
+8,1.133333333e+00,UP_FORCE_RAMP,1791364186299151605,-4.310601802e-06,4.088879091e-07,1.483670755e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.957074726e-07,1.526055714e-08,3.870212362e-08,7.015335609e-01,1.959849230e-06,8.407557779e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260452e-01,1.819097251e-06,8.297808013e-01
+9,1.266666667e+00,UP_FORCE_RAMP,1791364186499330680,-5.432325396e-06,3.556501974e-06,2.261672152e-05,-3.787574810e-06,-7.142946556e-07,2.115500764e-05,-3.599904791e-06,-6.579948556e-07,2.102850546e-05,7.015324392e-01,5.107463295e-06,8.407635579e-01,7.015340839e-01,8.366666654e-07,8.407620962e-01,7.017222496e-01,1.145841839e-06,8.298017911e-01
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+41,4.666666667e+00,UP_FORCE_RAMP,1791364191597853935,-5.250024217e-05,-7.805241631e-06,3.651408413e-04,-4.922634070e-05,-1.160635517e-05,3.666725738e-04,-4.866854834e-05,-1.145620367e-05,3.651378831e-04,7.014853712e-01,-6.254280310e-06,8.411060820e-01,7.014886451e-01,-1.005539385e-05,8.411076138e-01,7.016771809e-01,-9.652366972e-06,8.301459005e-01
+42,4.800000000e+00,UP_FORCE_RAMP,1791364191799391665,-5.171121921e-05,-7.306807624e-06,3.714072928e-04,-4.922634070e-05,-1.160635517e-05,3.666725738e-04,-4.866877834e-05,-1.145747806e-05,3.652154068e-04,7.014861603e-01,-5.755846303e-06,8.411123485e-01,7.014886451e-01,-1.005539385e-05,8.411076138e-01,7.016771807e-01,-9.653641366e-06,8.301459780e-01
+43,4.900000000e+00,UP_FORCE_RAMP,1791364191957575725,-5.298042433e-05,-4.167946590e-06,3.770212317e-04,-4.922634070e-05,-1.160635517e-05,3.666725738e-04,-4.866842026e-05,-1.145851321e-05,3.652670515e-04,7.014848911e-01,-2.616985269e-06,8.411179624e-01,7.014886451e-01,-1.005539385e-05,8.411076138e-01,7.016771811e-01,-9.654676516e-06,8.301460297e-01
+44,5.016666667e+00,UP_FORCE_RAMP,1791364192130074204,-5.127358468e-05,-7.975583242e-06,3.829835832e-04,-4.922634070e-05,-1.160635517e-05,3.666725738e-04,-4.866780612e-05,-1.145921596e-05,3.653226395e-04,7.014865979e-01,-6.424621921e-06,8.411239248e-01,7.014886451e-01,-1.005539385e-05,8.411076138e-01,7.016771817e-01,-9.655379262e-06,8.301460853e-01
+45,5.083333333e+00,UP_FORCE_RAMP,1791364192227822413,-5.175903957e-05,-1.100131052e-06,3.846301816e-04,-5.157579829e-05,-1.002530250e-06,3.846131547e-04,-5.098504675e-05,-9.637970114e-07,3.831376881e-04,7.014861124e-01,4.508302693e-07,8.411255714e-01,7.014862957e-01,5.484310711e-07,8.411255543e-01,7.016748644e-01,8.400396829e-07,8.301639003e-01
+46,5.166666667e+00,UP_FORCE_RAMP,1791364192357638992,-4.986000758e-05,-5.764975074e-06,3.923823570e-04,-5.157579829e-05,-1.002530250e-06,3.846131547e-04,-5.098644449e-05,-9.546379140e-07,3.831838992e-04,7.014880115e-01,-4.214013753e-06,8.411333235e-01,7.014862957e-01,5.484310711e-07,8.411255543e-01,7.016748630e-01,8.491987803e-07,8.301639465e-01
+47,5.266666667e+00,UP_FORCE_RAMP,1791364192533030553,-5.061506942e-05,-3.561200309e-06,3.985634488e-04,-5.157579829e-05,-1.002530250e-06,3.846131547e-04,-5.098671398e-05,-9.538685798e-07,3.832328666e-04,7.014872564e-01,-2.010238988e-06,8.411395046e-01,7.014862957e-01,5.484310711e-07,8.411255543e-01,7.016748628e-01,8.499681145e-07,8.301639955e-01
+48,5.383333333e+00,UP_FORCE_RAMP,1791364192731861340,-5.194347377e-05,-5.513924574e-06,4.022638724e-04,-5.157579829e-05,-1.002530250e-06,3.846131547e-04,-5.098662178e-05,-9.533788176e-07,3.832847480e-04,7.014859280e-01,-3.962963253e-06,8.411432051e-01,7.014862957e-01,5.484310711e-07,8.411255543e-01,7.016748629e-01,8.504578767e-07,8.301640474e-01
+49,5.500000000e+00,UP_FORCE_RAMP,1791364192902207944,-5.216081227e-05,-3.831490918e-06,4.084296338e-04,-5.240640077e-05,-4.113968373e-06,4.044101259e-04,-5.176407765e-05,-4.011902249e-06,4.029640150e-04,7.014857107e-01,-2.280529597e-06,8.411493708e-01,7.014854651e-01,-2.563007051e-06,8.411453513e-01,7.016740854e-01,-2.208065555e-06,8.301837266e-01
+50,5.633333333e+00,UP_FORCE_HOLD,1791364193098949464,-5.238369403e-05,-3.168264831e-06,4.111521022e-04,-5.240640077e-05,-4.113968373e-06,4.044101259e-04,-5.176434331e-05,-4.012184858e-06,4.030271229e-04,7.014854878e-01,-1.617303510e-06,8.411520933e-01,7.014854651e-01,-2.563007051e-06,8.411453513e-01,7.016740851e-01,-2.208348163e-06,8.301837898e-01
+51,5.750000000e+00,UP_FORCE_HOLD,1791364193279292728,-5.444722418e-05,-4.334987239e-06,4.134870308e-04,-5.240640077e-05,-4.113968373e-06,4.044101259e-04,-5.176426166e-05,-4.012124053e-06,4.030761535e-04,7.014834243e-01,-2.784025918e-06,8.411544282e-01,7.014854651e-01,-2.563007051e-06,8.411453513e-01,7.016740852e-01,-2.208287359e-06,8.301838388e-01
+52,5.866666667e+00,UP_FORCE_HOLD,1791364193457743590,-5.270977632e-05,1.028511541e-06,4.179055419e-04,-5.240640077e-05,-4.113968373e-06,4.044101259e-04,-5.176407353e-05,-4.011997528e-06,4.031212873e-04,7.014851617e-01,2.579472863e-06,8.411588467e-01,7.014854651e-01,-2.563007051e-06,8.411453513e-01,7.016740854e-01,-2.208160834e-06,8.301838839e-01
+53,5.950000000e+00,UP_FORCE_HOLD,1791364193578297105,-5.581286552e-05,-9.791733556e-07,4.176626110e-04,-5.240640077e-05,-4.113968373e-06,4.044101259e-04,-5.176390264e-05,-4.011887190e-06,4.031515772e-04,7.014820586e-01,5.717879655e-07,8.411586038e-01,7.014854651e-01,-2.563007051e-06,8.411453513e-01,7.016740856e-01,-2.208050496e-06,8.301839142e-01
+54,6.066666667e+00,UP_FORCE_HOLD,1791364193757653091,-5.414386369e-05,-7.387607912e-06,4.243334050e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253610729e-05,8.575573535e-07,4.229684324e-04,7.014837276e-01,-5.836646591e-06,8.411652746e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733134e-01,2.661394048e-06,8.302037311e-01
+55,6.183333333e+00,UP_FORCE_HOLD,1791364193927957327,-5.399686328e-05,-5.643497030e-06,4.284230437e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253637551e-05,8.583444861e-07,4.230179970e-04,7.014838746e-01,-4.092535709e-06,8.411693642e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733131e-01,2.662181180e-06,8.302037806e-01
+56,6.366666667e+00,UP_FORCE_HOLD,1791364194197889542,-5.349864566e-05,-3.431745038e-06,4.338167390e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253613498e-05,8.590998938e-07,4.230846751e-04,7.014843728e-01,-1.880783717e-06,8.411747579e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733133e-01,2.662936588e-06,8.302038473e-01
+57,6.500000000e+00,UP_FORCE_HOLD,1791364194400683079,-5.438368379e-05,-2.985178676e-06,4.364732334e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253589869e-05,8.593782665e-07,4.231280699e-04,7.014834878e-01,-1.434217355e-06,8.411774144e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733136e-01,2.663214961e-06,8.302038907e-01
+58,6.616666667e+00,UP_SETTLE,1791364194578836957,-5.574325654e-05,-5.483428438e-06,4.370771060e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253561963e-05,8.595393199e-07,4.231634244e-04,7.014821282e-01,-3.932467117e-06,8.411780183e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733139e-01,2.663376014e-06,8.302039261e-01
+59,6.700000000e+00,UP_SETTLE,1791364194697620553,-5.478934748e-05,-5.410341786e-06,4.412137209e-04,-5.322474685e-05,8.031561893e-07,4.243861309e-04,-5.253543833e-05,8.596366812e-07,4.231873717e-04,7.014830821e-01,-3.859380465e-06,8.411821549e-01,7.014846467e-01,2.354117510e-06,8.411653273e-01,7.016733140e-01,2.663473375e-06,8.302039500e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57f52a40451f18500f3feefcd4176f5101e10cf2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,7.8419e-03,2.4075e-03,2.4584e+00,-3.6925e-02,3.7326e-02,2.5258e-06,7.9564e-05,-1.0652e-06,8.1062e-06,2.6077e-08,5.5879e-06,4.4660e-08,7.9983e-05,5.5882e-06
+1,1.3333e-01,UP_FORCE_RAMP,2.9633e-05,9.0480e-03,2.4250e-03,2.4586e+00,-3.6928e-02,3.7410e-02,4.2716e-06,1.2857e-03,1.6461e-05,2.2745e-04,-2.5630e-06,8.9772e-05,1.7905e-06,1.3057e-03,8.9826e-05
+2,2.5000e-01,UP_FORCE_RAMP,6.0685e-05,1.0003e-02,2.4419e-03,2.4588e+00,-3.6930e-02,3.7477e-02,5.7785e-06,2.2409e-03,3.3293e-05,4.0865e-04,-4.9062e-06,1.5641e-04,3.2973e-06,2.2781e-03,1.5652e-04
+3,3.6667e-01,UP_FORCE_RAMP,8.9636e-05,1.0924e-02,2.4594e-03,2.4589e+00,-3.6933e-02,3.7541e-02,7.3636e-06,3.1619e-03,5.0828e-05,5.8603e-04,-7.3053e-06,2.2072e-04,4.8825e-06,3.2161e-03,2.2089e-04
+4,5.3333e-01,UP_FORCE_RAMP,1.1970e-04,1.2178e-02,2.4839e-03,2.4592e+00,-3.6936e-02,3.7629e-02,9.7241e-06,4.4158e-03,7.5381e-05,8.3494e-04,-1.0703e-05,3.0839e-04,7.2430e-06,4.4946e-03,3.0867e-04
+5,6.8333e-01,UP_FORCE_RAMP,1.4857e-04,1.3250e-02,2.5047e-03,2.4594e+00,-3.6939e-02,3.7704e-02,1.1903e-05,5.4876e-03,9.6173e-05,1.0519e-03,-1.3620e-05,3.8342e-04,9.4215e-06,5.5883e-03,3.8378e-04
+6,8.3333e-01,UP_FORCE_RAMP,1.7744e-04,1.4271e-02,2.5249e-03,2.4596e+00,-3.6942e-02,3.7775e-02,1.4104e-05,6.5087e-03,1.1632e-04,1.2610e-03,-1.6414e-05,4.5496e-04,1.1622e-05,6.6307e-03,4.5541e-04
+7,1.0000e+00,UP_FORCE_RAMP,2.0760e-04,1.5345e-02,2.5473e-03,2.4598e+00,-3.6945e-02,3.7851e-02,1.6562e-05,7.5826e-03,1.3869e-04,1.4827e-03,-1.9420e-05,5.3034e-04,1.4081e-05,7.7275e-03,5.3089e-04
+8,1.1333e+00,UP_FORCE_RAMP,2.3746e-04,1.6166e-02,2.5639e-03,2.4600e+00,-3.6947e-02,3.7908e-02,1.8508e-05,8.4040e-03,1.5530e-04,1.6534e-03,-2.1659e-05,5.8799e-04,1.6027e-05,8.5665e-03,5.8861e-04
+9,1.2667e+00,UP_FORCE_RAMP,2.6603e-04,1.8171e-02,2.8934e-03,2.4529e+00,-3.6971e-02,3.8058e-02,2.0464e-05,1.0408e-02,4.8479e-04,-5.4922e-03,-4.5497e-05,7.3759e-04,1.7982e-05,1.1779e-02,7.3921e-04
+10,1.3833e+00,UP_FORCE_RAMP,2.9586e-04,1.8735e-02,2.8954e-03,2.4535e+00,-3.6972e-02,3.8097e-02,2.2160e-05,1.0973e-02,4.8685e-04,-4.8604e-03,-4.6741e-05,7.7659e-04,1.9679e-05,1.2011e-02,7.7824e-04
+11,1.4833e+00,UP_FORCE_RAMP,3.2794e-04,1.9223e-02,2.5465e-03,2.4465e+00,-3.6949e-02,3.8139e-02,2.3282e-05,1.1461e-02,1.3797e-04,-1.1890e-02,-2.3410e-05,8.1853e-04,2.0801e-05,1.6515e-02,8.1913e-04
+12,1.6167e+00,UP_FORCE_RAMP,3.5813e-04,1.9851e-02,2.5593e-03,2.4476e+00,-3.6951e-02,3.8182e-02,2.5184e-05,1.2089e-02,1.5074e-04,-1.0782e-02,-2.5582e-05,8.6178e-04,2.2703e-05,1.6200e-02,8.6245e-04
+13,1.7167e+00,UP_FORCE_RAMP,3.8515e-04,2.0778e-02,6.7992e-04,2.4398e+00,-3.6821e-02,3.8256e-02,2.5206e-05,1.3015e-02,-1.7286e-03,-1.8548e-02,1.0404e-04,9.3582e-04,2.2725e-05,2.2724e-02,9.4186e-04
+14,1.8333e+00,UP_FORCE_RAMP,4.1417e-04,2.1267e-02,7.2359e-04,2.4411e+00,-3.6825e-02,3.8290e-02,2.6831e-05,1.3505e-02,-1.6850e-03,-1.7222e-02,9.9976e-05,9.6918e-04,2.4350e-05,2.1951e-02,9.7463e-04
+15,1.9500e+00,UP_FORCE_RAMP,4.4470e-04,2.2218e-02,2.0897e-03,2.4339e+00,-3.6921e-02,3.8365e-02,2.9125e-05,1.4455e-02,-3.1886e-04,-2.4469e-02,4.2468e-06,1.0446e-03,2.6644e-05,2.8422e-02,1.0449e-03
+16,2.0333e+00,UP_FORCE_RAMP,4.7492e-04,2.2540e-02,2.0918e-03,2.4350e+00,-3.6922e-02,3.8387e-02,3.0182e-05,1.4778e-02,-3.1679e-04,-2.3337e-02,3.3975e-06,1.0664e-03,2.7701e-05,2.7624e-02,1.0667e-03
+17,2.1167e+00,UP_FORCE_RAMP,5.0167e-04,2.3545e-02,-1.6424e-03,2.4287e+00,-3.6663e-02,3.8465e-02,2.8971e-05,1.5783e-02,-4.0509e-03,-2.9613e-02,2.6248e-04,1.1450e-03,2.6490e-05,3.3801e-02,1.1750e-03
+18,2.2167e+00,UP_FORCE_RAMP,5.3324e-04,2.2733e-02,-1.4104e-03,2.4226e+00,-3.6679e-02,3.8414e-02,3.0165e-05,1.4971e-02,-3.8189e-03,-3.5779e-02,2.4587e-04,1.0941e-03,2.7684e-05,3.8972e-02,1.1218e-03
+19,2.3167e+00,UP_FORCE_RAMP,5.6541e-04,2.3212e-02,1.0045e-03,2.4166e+00,-3.6842e-02,3.8451e-02,3.2059e-05,1.5449e-02,-1.4041e-03,-4.1736e-02,8.2742e-05,1.1310e-03,2.9578e-05,4.4526e-02,1.1344e-03
+20,2.4333e+00,UP_FORCE_RAMP,5.9291e-04,2.3774e-02,9.8998e-04,2.4191e+00,-3.6848e-02,3.8493e-02,3.4263e-05,1.6012e-02,-1.4186e-03,-3.9264e-02,7.7616e-05,1.1731e-03,3.1782e-05,4.2427e-02,1.1761e-03
+21,2.5500e+00,UP_FORCE_RAMP,6.2758e-04,2.9478e-02,-7.8632e-04,2.4169e+00,-3.6725e-02,3.8900e-02,3.4804e-05,2.1716e-02,-3.1949e-03,-4.1423e-02,2.0032e-04,1.5793e-03,3.2323e-05,4.6879e-02,1.5923e-03
+22,2.6000e+00,UP_FORCE_RAMP,6.5477e-04,3.9300e-02,1.1729e-03,2.4265e+00,-3.6862e-02,3.9592e-02,3.6544e-05,3.1537e-02,-1.2357e-03,-3.1839e-02,6.3337e-05,2.2716e-03,3.4063e-05,4.4832e-02,2.2727e-03
+23,2.6833e+00,UP_FORCE_RAMP,6.8046e-04,3.7294e-02,1.7991e-03,2.4198e+00,-3.6903e-02,3.9458e-02,3.7377e-05,2.9532e-02,-6.0950e-04,-3.8567e-02,2.1912e-05,2.1380e-03,3.4896e-05,4.8579e-02,2.1384e-03
+24,2.8000e+00,UP_FORCE_RAMP,7.1651e-04,3.7161e-02,1.7749e-03,2.4218e+00,-3.6904e-02,3.9447e-02,3.8667e-05,2.9399e-02,-6.3364e-04,-3.6570e-02,2.1279e-05,2.1267e-03,3.6185e-05,4.6926e-02,2.1271e-03
+25,2.9167e+00,UP_FORCE_RAMP,7.4181e-04,3.7041e-02,3.9762e-03,2.4169e+00,-3.7058e-02,3.9445e-02,4.0962e-05,2.9279e-02,1.5676e-03,-4.1436e-02,-1.3264e-04,2.1245e-03,3.8481e-05,5.0761e-02,2.1290e-03
+26,3.0167e+00,UP_FORCE_RAMP,7.7402e-04,3.8561e-02,5.1157e-04,2.4121e+00,-3.6817e-02,3.9560e-02,3.9804e-05,3.0799e-02,-1.8970e-03,-4.6278e-02,1.0800e-04,2.2394e-03,3.7323e-05,5.5622e-02,2.2423e-03
+27,3.1333e+00,UP_FORCE_RAMP,7.9874e-04,3.7708e-02,-2.7413e-04,2.4074e+00,-3.6765e-02,3.9504e-02,4.0466e-05,2.9945e-02,-2.6827e-03,-5.0958e-02,1.6015e-04,2.1838e-03,3.7984e-05,5.9166e-02,2.1900e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f109563f2db9659df58887da65779a9f40b0944a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 3604480
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6eaf7e5e15ba34a27707fcf0f89bcc99b8b99265
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab4443481a837d18a7a942e9394910078190b72d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+46448,1791364274735166307,3226114000000,1791364274734250616,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6759859062237312,-0.004729245502866159,0.09084342140801312,0.999999968987671,0.00013920364427631366,-0.00017345147369721882,6.328074824012337e-05,0.6761,-0.0048,0.0909598994075159,1.0,0.0,0.0,0.0,-0.059177339826800054,-0.053811302900516486,-0.2759968341004831,-0.004122959024521503,0.004155031381135111,-0.0006047218306348212,0.011551152656724128,-0.06144351912048084,-0.2139590617863371,-0.006096120680624348,0.0011837571424268894,-0.0019428498016001172,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.2513777823936184,-0.27384526109761126,0.9977755872149087,0.18176876292964222,-0.5679517279494705,-0.2488823224708911,0.5954971238671044,0.2759968341004831,-0.40227846334780426,-0.40227846334780426,0.07601999999999993,0,0,-6.334998790410851e-05,-9.999999025923074e-05
+46600,1791364276002134059,3227381000000,1791364276002250216,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6759819842919101,-0.004743278491072819,0.09072831299978842,0.9999999670316115,0.00013637053772491627,-0.0001755507010616146,8.924498843064728e-05,0.6761,-0.0048,0.09083953443066595,1.0,0.0,0.0,0.0,-0.06696811724442002,-0.07509961736738834,-0.18615239537279482,-0.005160098686049114,0.0041560887272813745,-0.0006897555614102378,0.0037603752391041634,-0.08273183358735268,-0.12411462305864882,-0.007133260342151959,0.0011848144885731522,-0.0020278835323755337,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.3953110938152802,-0.3552421273116424,0.8418970165600907,0.21619739121915468,-0.43756235724900583,-0.3004012376685131,0.5954971238671044,0.18615239537279482,-0.24639989269298634,-0.24639989269298634,0.15204000000000562,0,0,-0.00012669997556255386,-9.999999025923074e-05
+46698,1791364276818152920,3228197000000,1791364276818250081,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6760420748216819,-0.004742663006763956,0.09067517818589521,0.9999999729806854,0.00014885661297639333,-0.00010336112070303442,0.00011242633240637478,0.6761,-0.0048,0.0907199382672741,1.0,0.0,0.0,0.0,-0.09382390508652247,-0.05307321883691044,-0.14745226327198485,-0.0038800687301183533,0.0061218409481619985,-0.0006707224015351022,-0.023095412602998286,-0.0607054350568748,-0.08541449095783886,-0.005853230386221198,0.0031505667094537766,-0.002008850372500398,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.44942048539761903,-0.3798304021418423,0.8196338798656403,0.22804989541077295,-0.41682272353046995,-0.3166538207486054,0.5954971238671044,0.14745226327198485,-0.22413675599853589,-0.22413675599853589,0.20100000000000928,0,0,-0.00016592462992045943,-9.999999025923074e-05
+46783,1791364277527145845,3228906000000,1791364277522250249,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6760375002452931,-0.0047144791885663714,0.09054955265002478,0.9999999898294418,-3.513560747647318e-05,-9.485288740220518e-05,-3.9400502694462475e-05,0.6761,-0.0048,0.09059354661221279,1.0,0.0,0.0,0.0,-0.08682474819648467,-0.06753873397336091,-0.05550177690472132,-0.0042193626729223385,0.006135647482312573,-0.000754776006458295,-0.01609625571296049,-0.07517095019332526,0.0065359954094246706,-0.006192524329025183,0.003164373243604351,-0.002092903977423591,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.5342620949250295,-0.4493214756979394,0.7764353095150455,0.2584136844074734,-0.370997179265354,-0.365778399520811,0.5954971238671044,0.05550177690472132,-0.18093818564794106,-0.18093818564794106,0.24354000000001247,0,0,-0.00018386655612909054,-9.690846322485953e-05
+46870,1791364278252092281,3229631000000,1791364278246249447,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6760347077451478,-0.004727093825471462,0.09042429541516253,0.9999999910392611,-4.905249059040478e-06,-9.663883025339391e-05,1.1033637716711951e-06,0.6761,-0.0048,0.0904595155374631,1.0,0.0,0.0,0.0,-0.08221852021138468,-0.05146741776711507,0.03947687084325262,-0.003189402411071026,0.005079629276195201,-0.0006190201077425747,-0.011490027727860501,-0.059099633987079424,0.10151464315739861,-0.005162564067173871,0.002108355037486979,-0.0019571480787078707,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6055921752460756,-0.4047960099411606,0.5722615773809931,0.2061449580451863,-0.21512356754462778,-0.3204321749593685,0.5954971238671044,0.03947687084325262,0.023235546486111258,0.023235546486111258,0.2870400000000157,0,0,-0.0001751089607801307,9.220800098320154e-05
+46989,1791364279243115056,3230622000000,1791364279242249209,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760401431075187,-0.004736119956771867,0.09028586839401624,0.99999997800512,0.00016198026169146916,-8.983685504854767e-05,3.3531449220373764e-05,0.6761,-0.0048,0.09031008410622536,1.0,0.0,0.0,0.0,-0.0780203852369025,-0.056857019765133125,0.1453079773515099,-0.004258966042362682,0.00608938434096311,-0.00034379288839721115,-0.0072918927533783115,-0.06448923598509748,0.2073457496656559,-0.006232127698465527,0.0031181101022548876,-0.001681920859362507,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6880242427929576,-0.3366400910997527,0.2962867164651244,0.2718482406405387,-0.037499784275687766,-0.29901625023065964,0.5954971238671044,0.1453079773515099,0.29921040740198,0.29921040740198,0.3465000000000202,0,0,-0.00012655193746127923,9.999999025923074e-05
+47134,1791364280452102914,3231831000000,1791364280450249422,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760430562249136,-0.004736610625915767,0.09017487844808186,0.9999999824971252,0.00013419109446822825,-8.664958158022218e-05,3.054855032931332e-05,0.6761,-0.0048,0.09019111444347515,1.0,0.0,0.0,0.0,-0.08004757873195899,-0.05827302081512655,0.2259116407301675,-0.004279654646489267,0.006069639219176441,3.9064252408032305e-05,-0.009319086248434803,-0.06590523703509091,0.2879494130443135,-0.006252816302592112,0.003098364980468219,-0.0012990637185572636,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6912157544590599,-0.47448656759925495,0.23223514265407383,0.3369367150276565,-0.0021539736463121397,-0.36655412042263374,0.5954971238671044,0.2259116407301675,0.36326198121303055,0.36326198121303055,0.4190400000000256,0,0,-7.430066043393057e-05,9.99999347480795e-05
+47268,1791364281568104453,3232947000000,1791364281566260268,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760455051075697,-0.004736235386206483,0.09010928844264986,0.9999999831905881,0.00012964499082045093,-8.440297684847319e-05,3.3615496849245004e-05,0.6761,-0.0048,0.09012318635101507,1.0,0.0,0.0,0.0,-0.08744251266867423,-0.06657895578918523,0.2660235371756122,-0.004289240553640235,0.006060857680898116,1.2641513109033211e-05,-0.016714020185150044,-0.07421117200914958,0.3280613094897582,-0.00626240220974308,0.0030895834421898936,-0.0013254864578562627,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6806609072782309,-0.49504779163364104,0.22498067418590226,0.3489245553529819,-0.0034911830539842746,-0.3733874007635997,0.5954971238671044,0.2660235371756122,0.3705164496812021,0.3705164496812021,0.48600000000003063,0,0,-5.4881399531884985e-05,-9.826933297508162e-05
+47408,1791364282735218662,3234114000000,1791364282734249801,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760492690579171,-0.004739932236003542,0.0900505716161036,0.9999999845340629,0.00012152770179126188,-7.826066981113947e-05,3.84840684178785e-05,0.6761,-0.0048,0.09005638453575014,1.0,0.0,0.0,0.0,-0.0852587376089889,-0.05569163915666069,0.3019844889658283,-0.004321176011744675,0.00705931989781778,1.3445354514695328e-06,-0.014530245125464714,-0.06332385537662505,0.3640222612799743,-0.00629433766784752,0.004088045659109557,-0.0013367834355138264,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7235717073006062,-0.4374667783325798,0.15046095839088877,0.33835448752481556,0.05131932666092207,-0.33773526283041916,0.5954971238671044,0.3019844889658283,0.4450361654762156,0.4450361654762156,0.5560199999999841,0,0,-6.0424852869435634e-05,-6.227725095783282e-05
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+47872,1791364286602182164,3237981000000,1791364286602249349,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760611013502223,-0.004747880654614932,0.08981713434364537,0.9999999870199725,0.0001088566784852542,-5.872234030623924e-05,4.587842058177118e-05,0.6761,-0.0048,0.08979310384002098,1.0,0.0,0.0,0.0,-0.0974184872661853,-0.07789454512803773,0.44667294403101176,-0.004352711251940339,0.007036332577663942,-0.00011881784167426046,-0.026689994782661115,-0.08552676134800208,0.5087107163451577,-0.006325872908043184,0.00406505833895572,-0.0014569458126395564,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7931292269694805,-0.4602304669226231,-0.09340781167957568,0.35808396945845283,0.22132286665478454,-0.34771525283221866,0.5954971238671044,0.44667294403101176,0.6889049355466801,0.6889049355466801,0.7880399999997868,0,0,-6.733004886580067e-05,7.928293125188526e-05
+48017,1791364287810192284,3239189000000,1791364287806249657,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.676070330714099,-0.004743802550853756,0.08974831265026707,0.9999999878939523,0.00010939236975324922,-4.417096164797549e-05,4.1679673284620275e-05,0.6761,-0.0048,0.08970610072796065,1.0,0.0,0.0,0.0,-0.0906902646809069,-0.05955031226371083,0.49667645871697386,-0.004387301722640198,0.008035633398228749,-0.00014258408748850002,-0.019961772197382717,-0.06718252848367519,0.5587142310311198,-0.006360463378743043,0.005064359159520527,-0.001480712058453796,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7586576867879181,-0.3998822860274827,-0.06150979181144099,0.35003720603632865,0.18554329178089485,-0.3079118923068427,0.5954971238671044,0.49667645871697386,0.6570069156785454,0.6570069156785454,0.8605199999997252,0,0,-7.439246089565999e-05,-9.998150504587073e-05
+48164,1791364289035222577,3240414000000,1791364289034249608,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6760722935936676,-0.004745486725245076,0.08965940068299529,0.9999999889484423,0.00010159320195967673,-4.043856349960458e-05,3.986882764843076e-05,0.6761,-0.0048,0.08961281141680592,1.0,0.0,0.0,0.0,-0.09814870320723348,-0.05682561693347015,0.5568560943198498,-0.0043982303799570705,0.00802409009194441,-0.00019216688889521906,-0.027420210723709308,-0.06445783315343451,0.6188938666339958,-0.0063713920360599155,0.005052815853236188,-0.001530294859860515,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7720374245311846,-0.5135607083109268,-0.20905427968793397,0.38438239548516484,0.280578568553863,-0.3775177924662108,0.5954971238671044,0.5568560943198498,0.8045514035550384,0.8045514035550384,0.9340199999996627,0,0,-7.791395534736404e-05,2.351489702924009e-06
+48311,1791364290260199074,3241639000000,1791364290258249831,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6760770608438523,-0.0047467300717877565,0.0895709629326021,0.9999999892216304,0.00010047114492892445,-3.2021787688807786e-05,4.335617327967659e-05,0.6761,-0.0048,0.0895143606234593,1.0,0.0,0.0,0.0,-0.10630034440374157,-0.0742766158880098,0.6069786936807864,-0.004410165753577006,0.008014929260935328,-0.00023367616414923754,-0.03557185192021739,-0.08190883210797414,0.6690164659949324,-0.006383327409679851,0.005043655022227105,-0.0015718041351145335,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8234019844506911,-0.47946135832384296,-0.24716765963527362,0.3816950272575237,0.316755930105346,-0.3575582242039536,0.5954971238671044,0.6069786936807864,0.8426647835023781,0.8426647835023781,1.0075199999996003,0,0,-8.032797671061876e-05,-8.601874354330902e-05
+48467,1791364291560141482,3242939000000,1791364291554249795,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.676082707388641,-0.004744573005465185,0.08947588116251166,0.9999999904538541,9.004548389536229e-05,-2.5604467862197973e-05,4.208774423342339e-05,0.6761,-0.0048,0.08941027973320502,1.0,0.0,0.0,0.0,-0.10540177262753522,-0.07345089584528117,0.6754641123872566,-0.004423081594379714,0.008000084657721182,-0.0002889053781176879,-0.03467328014401103,-0.08108311206524552,0.7375018847014025,-0.006396243250482559,0.0050288104190129605,-0.0016270333490829838,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7672721389933062,-0.4537360292687228,-0.32211835138031,0.38147147839635837,0.3452457158454835,-0.33873131865048617,0.5954971238671044,0.6754641123872566,0.9176154752474144,0.9176154752474144,1.085519999999534,0,0,-8.189811953193538e-05,-9.948891296763235e-05
+48632,1791364292935161105,3244314000000,1791364292934249352,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.676088997315284,-0.00474685772957375,0.0893768002753425,0.9999999915148483,8.200088180668124e-05,-1.544588524333782e-05,3.8084745897466564e-05,0.6761,-0.0048,0.08929717498093605,1.0,0.0,0.0,0.0,-0.10755621234782498,-0.06968756429346674,0.7374158111024809,-0.004434250389396887,0.007986459003874959,-0.00033920062813500235,-0.03682771986430079,-0.0773197805134311,0.7994535834166269,-0.006407412045499732,0.005015184765166737,-0.0016773285991002983,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7997482293741438,-0.47208395140554826,-0.4336101235932957,0.38994899068396616,0.4227086789252766,-0.3503448794014303,0.5954971238671044,0.7374158111024809,1.0291072474604002,1.0291072474604002,1.1680199999994638,0,0,-8.287263724253294e-05,-4.798124049547981e-06
+48789,1791364294243241513,3245622000000,1791364294238250305,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.676096128261985,-0.004749205023792246,0.08927330285067044,0.9999999916023589,8.078644949638388e-05,-4.5492538546296634e-06,4.1121775553288645e-05,0.6761,-0.0048,0.08918655562958717,1.0,0.0,0.0,0.0,-0.10772393553083898,-0.07249845039897367,0.80763966837208,-0.00444799514366857,0.00797156261691396,-0.0003959557658591423,-0.036995443047314794,-0.08013066661893802,0.869677440686226,-0.006421156799771415,0.005000288378205739,-0.0017340837368244382,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8739119591946531,-0.43817731423515527,-0.5477402647291448,0.38354422949728867,0.5122200839305263,-0.3284248286248783,0.5954971238671044,0.80763966837208,1.1432373885962492,1.1432373885962492,1.246499999999397,0,0,-8.524263317846869e-05,9.97971108792683e-05
+48945,1791364295543246935,3246922000000,1791364295542249660,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761012474156416,-0.004751629998870612,0.08916593186777265,0.9999999899347477,9.806247590520765e-05,1.7647387652996668e-06,4.4204135222560504e-05,0.6761,-0.0048,0.08907460453281048,1.0,0.0,0.0,0.0,-0.10913935423288945,-0.08453987272035347,0.8770256781880941,-0.004462964059017422,0.007957621284520423,-0.00045236206239363517,-0.03841086174936527,-0.09217208894031782,0.93906345050224,-0.006436125715120267,0.004986347045812201,-0.0017904900333589311,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7651479242083774,-0.38173087419842966,-0.5146891249117981,0.3797406889951312,0.45781438975624916,-0.2825231064863323,0.5954971238671044,0.8770256781880941,1.1101862487789025,1.1101862487789025,1.3244999999993308,0,0,-8.647360270483263e-05,-9.991590474290319e-05
+49105,1791364296877175756,3248256000000,1791364296874249398,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761081645673618,-0.004752870750866868,0.08906163457140652,0.9999999890785115,0.00010481656343956839,1.170411589630571e-05,4.650099938324308e-05,0.6761,-0.0048,0.08895934861883656,1.0,0.0,0.0,0.0,-0.11726046270230296,-0.08230286222160452,0.9380293021814502,-0.004473989728683673,0.007944461953532378,-0.000502463058638204,-0.04653197021877878,-0.08993507844156887,1.0000670744955962,-0.006447151384786518,0.004973187714824155,-0.0018405910296035,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8762262721618596,-0.4938619152326944,-0.7241223576174937,0.4124580152778844,0.6174216542663444,-0.35811082180237075,0.5954971238671044,0.9380293021814502,1.319619481484598,1.319619481484598,1.4045399999992627,0,0,-8.562235738887735e-05,9.999688163476179e-05
+49249,1791364298077200614,3249456000000,1791364298070250106,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761079871115121,-0.004753787982803696,0.08896113286682149,0.9999999894452808,0.00010011645588764908,1.056055989978399e-05,4.9167799170548455e-05,0.6761,-0.0048,0.08885792889123056,1.0,0.0,0.0,0.0,-0.117067110688223,-0.09192432227998801,0.9979648241875777,-0.00513724566216084,0.007944211508778387,-0.000558071703574936,-0.04633861820469881,-0.09955653849995236,1.0600025965017237,-0.007110407318263685,0.004972937270070165,-0.001896199674540232,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8090722995284032,-0.474835430160434,-0.6584052616523965,0.41571660502196633,0.555704323634138,-0.3474135314154368,0.5954971238671044,0.9979648241875777,1.2539023855195008,1.2539023855195008,1.4765399999992015,0,0,-8.536948118839505e-05,-9.899811112402119e-05
+49403,1791364299360230581,3250739000000,1791364299358249619,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761142300229976,-0.004757037307363483,0.08885979080638803,0.999999990084087,8.992103222592433e-05,1.986781422846032e-05,5.285989296428362e-05,0.6761,-0.0048,0.08874626041425936,1.0,0.0,0.0,0.0,-0.11724429484234766,-0.09920970590386848,1.0580909152389373,-0.005105650456814717,0.007930785207850002,-0.0005236504148102429,-0.04651580235882347,-0.10684192212383282,1.1201286875530834,-0.007078812112917562,0.00495951096914178,-0.0018617783857755388,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9024954564720139,-0.4363924128772543,-0.9013000367143235,0.4050417333602356,0.7350902781828444,-0.32311377958140663,0.5954971238671044,1.0580909152389373,1.4967971605814279,1.4967971605814279,1.553519999999136,0,0,-9.123963147919666e-05,9.996499047837943e-05
+49543,1791364300527221059,3251906000000,1791364300522249648,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761173967793678,-0.00475545881925373,0.08875875962581224,0.9999999896019609,9.296354117115999e-05,2.6447636964971093e-05,5.382606440363468e-05,0.6761,-0.0048,0.08863492034729838,1.0,0.0,0.0,0.0,-0.11711713160355225,-0.09955261567014793,1.1086032587112564,-0.005536311921128022,0.00792287914057938,0.0002683717970883388,-0.046388639120028066,-0.10718483189011228,1.1706410310254025,-0.007509473577230867,0.004951604901871158,-0.0010697561738769572,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8808340848162274,-0.47413275131386357,-0.8797588121864816,0.4310194480775056,0.7122686944385043,-0.34440568872543437,0.5954971238671044,1.1086032587112564,1.475255936053586,1.475255936053586,1.6235399999990765,0,0,-9.855562226460256e-05,9.450480262097045e-05
+49681,1791364301677245046,3253056000000,1791364301674250529,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761219836084202,-0.004755819287834418,0.08864564188470658,0.9999999889292079,9.830804648982747e-05,3.247666700729224e-05,5.352795931795536e-05,0.6761,-0.0048,0.08852026221473928,1.0,0.0,0.0,0.0,-0.11752217956280617,-0.09706776213744243,1.1787828985234978,-0.005578039954820913,0.008920257348635857,0.00033436148150788503,-0.04679368707928199,-0.10469997835740678,1.240820670837644,-0.007551201610923758,0.005948983109927634,-0.001003766489457411,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9106259158756329,-0.46639788310243346,-0.8855566663382045,0.4386122020875756,0.7210539432804401,-0.3397395978053175,0.5954971238671044,1.1787828985234978,1.481053790205309,1.481053790205309,1.6925399999990178,0,0,-9.834922986703821e-05,-9.999846370257188e-05
+49813,1791364302777245222,3254156000000,1791364302774249743,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761264660282241,-0.004758419831660454,0.0885438670486183,0.9999999875025848,0.00010877377788755873,3.930497029649796e-05,5.532701936782265e-05,0.6761,-0.0048,0.08840895021574638,1.0,0.0,0.0,0.0,-0.11766598590774127,-0.1050138677590845,1.2389539482803535,-0.005589864645630281,0.00890880727469952,0.0002857935960074343,-0.04693749342421709,-0.11264608397904885,1.3009917205944996,-0.007563026301733126,0.005937533035991298,-0.0010523343749578617,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8058802314758325,-0.5718761781683181,-0.9434003867030823,0.4720496208391993,0.7278500203143953,-0.40877747244218743,0.5954971238671044,1.2389539482803535,1.5388975105701868,1.5388975105701868,1.7585399999989617,0,0,-0.00010340640496239584,-9.999999025923074e-05
+49945,1791364303877273762,3255256000000,1791364303874249538,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761330204275425,-0.004762866090769005,0.08843323819769815,0.9999999870599094,0.00010810837541512084,4.92820880716289e-05,5.6629500584180535e-05,0.6761,-0.0048,0.08829059757567707,1.0,0.0,0.0,0.0,-0.1267674988801432,-0.10548821824060389,1.2890961742607503,-0.0055996850781246865,0.008897163443327116,0.00024417339680758926,-0.05603900639661901,-0.11312043446056824,1.3511339465748964,-0.0075728467342275315,0.005925889204618893,-0.0010939545741577067,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8779088871158335,-0.5472185979610721,-1.0433851921970918,0.48290758246565973,0.8097412708632122,-0.3897082523532403,0.5954971238671044,1.2890961742607503,1.6388823160641963,1.6388823160641963,1.8245399999989056,0,0,-0.00011050934428496938,-8.94208157430483e-06
+50077,1791364304977219465,3256356000000,1791364304970249681,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761363834134807,-0.00476525396858849,0.08831661588724984,0.9999999868716866,0.0001062928005064526,5.389550869490893e-05,5.913210528362899e-05,0.6761,-0.0048,0.08816284471299847,1.0,0.0,0.0,0.0,-0.11817796527640997,-0.10482264721649061,1.3392410735766354,-0.005627747186328892,0.009532642852305213,0.0002183871124691835,-0.04744947279288579,-0.11245486343645496,1.4012788458907814,-0.007600908842431737,0.0065613686135969915,-0.0011197408584961125,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8550639614043759,-0.5212902763846274,-1.0845148693642146,0.47402605979559354,0.828895753310784,-0.3724521879227042,0.5954971238671044,1.3392410735766354,1.680011993231319,1.680011993231319,1.8905399999988495,0,0,-0.00012155937693480464,-4.805481945165368e-05
+50216,1791364306135253203,3257514000000,1791364306134249716,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761409722801183,-0.004765994045702496,0.08817863820680137,0.9999999864530132,0.00010728140535583529,5.7123913284316786e-05,6.135467584028239e-05,0.6761,-0.0048,0.0880222618508155,1.0,0.0,0.0,0.0,-0.12757342178150666,-0.10474526632205203,1.4194773068671205,-0.005652381203998497,0.00988248959809844,0.00015446512357854378,-0.05684492929798246,-0.11237748254201638,1.4815150791812666,-0.007625542860101342,0.006911215359390217,-0.0011836628473867522,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8269662672445623,-0.3616263635081573,-1.0864881853504305,0.4466476932890405,0.8214768931374878,-0.26646578278981725,0.5954971238671044,1.4194773068671205,1.6819853092175348,1.6819853092175348,1.9600199999987904,0,0,-0.00012379304667051028,-9.99714991608613e-05
+50342,1791364307185261958,3258564000000,1791364307182249788,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761455900252998,-0.004766554275149575,0.08805464872879981,0.9999999859711348,0.00010534440800217004,6.534608708080503e-05,6.42887180932334e-05,0.6761,-0.0048,0.08789046175836036,1.0,0.0,0.0,0.0,-0.12772662112725236,-0.10663510293719372,1.4694582643609517,-0.005662165798322022,0.00987185136232197,0.00011406600674537695,-0.056998128643728184,-0.11426731915715807,1.5314960366750978,-0.007635327454424867,0.0069005771236137475,-0.001224061964219919,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8585602427235444,-0.5040074828973684,-1.2688072665217225,0.49206878873756876,0.9438615566982755,-0.3614826529030052,0.5954971238671044,1.4694582643609517,1.8643043903888268,1.8643043903888268,2.023019999998737,0,0,-0.00012966206214684727,9.99999208702917e-05
+50477,1791364308310291897,3259689000000,1791364308306250703,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761472880211266,-0.004768466737435923,0.08791076570636601,0.9999999853602982,0.00010936248769003831,6.676358190514687e-05,6.561050382713263e-05,0.6761,-0.0048,0.08774162843120785,1.0,0.0,0.0,0.0,-0.13707423902043958,-0.1147823796892988,1.5197657725466993,-0.005672694739896052,0.009861896336436644,7.227956313206156e-05,-0.0663457465369154,-0.12241459590926315,1.5818035448608454,-0.007645856395998897,0.0068906220977284225,-0.0012658484078332344,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8692832733249818,-0.48856839467038243,-1.2549420962561675,0.513771776460295,0.9346571761072895,-0.34705314949280525,0.5954971238671044,1.5197657725466993,1.8504392201232718,1.8504392201232718,2.0905199999986794,0,0,-0.00013856079246748237,-5.543106522992139e-05
+50609,1791364309410349013,3260789000000,1791364309410249994,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761475375099236,-0.004770804481537034,0.0877634428821903,0.9999999849115964,0.0001124888910948412,6.76024702987769e-05,6.630103170067004e-05,0.6761,-0.0048,0.08758863401800003,1.0,0.0,0.0,0.0,-0.13667237217734052,-0.11550649306878419,1.569586803952372,-0.006621390064570061,0.009948910561192112,2.275277974821653e-05,-0.06594387969381633,-0.12313870928874854,1.631624576266518,-0.008594551720672906,0.006977636322483889,-0.0013153751912170794,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8178770406953804,-0.457529647277893,-1.3081866888039826,0.5147752986432095,0.95571520985736,-0.32617212388293293,0.5954971238671044,1.569586803952372,1.9036838126710869,1.9036838126710869,2.1565199999986233,0,0,-0.00014282272999962953,-7.888120298472074e-05
+50729,1791364310410271283,3261789000000,1791364310410250101,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.67615395923098,-0.004774241237396829,0.08762296126995932,0.9999999854928794,9.735228299866164e-05,7.915925966761223e-05,6.865457124165359e-05,0.6761,-0.0048,0.0874377166523067,1.0,0.0,0.0,0.0,-0.13895610911840556,-0.1144841854260966,1.5996206213534592,-0.006670159775057272,0.010875364712118193,1.373178078144916e-05,-0.06822761663488139,-0.12211640164606095,1.6616583936676053,-0.008643321431160117,0.00790409047340997,-0.0013243961901838468,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8099335699462836,-0.539560192243041,-1.3434210128988326,0.5482564298368503,0.9740674492596971,-0.3820122917092594,0.5954971238671044,1.5996206213534592,1.938918136765937,1.938918136765937,2.2165199999985723,0,0,-0.00015848463554987558,-7.883800143127501e-05
+50838,1791364311318262448,3262697000000,1791364311314249668,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761539143486079,-0.004777895321533398,0.08747472754710887,0.9999999861765695,8.8460198516767e-05,7.798416319048077e-05,7.199297775530487e-05,0.6761,-0.0048,0.08728498441547386,1.0,0.0,0.0,0.0,-0.14099076225730195,-0.11539832895437599,1.6198705383850747,-0.0061235001083624774,0.01086131785737936,2.0899540475673335e-06,-0.07026226977377778,-0.12303054517434034,1.6819083106992208,-0.008096661764465322,0.007890043618671138,-0.0013360380169177286,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8211972681696342,-0.5630899487462471,-1.3669441492203245,0.5646872839178751,0.9894069819068381,-0.3960457472513349,0.5954971238671044,1.6198705383850747,1.9624412730874288,1.9624412730874288,2.270999999998526,0,0,-0.0001771325871942858,-8.083483790275267e-05
+50941,1791364312177303172,3263556000000,1791364312174249523,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761543018123904,-0.004780046963232888,0.08731448546447958,0.9999999853461871,9.508330488411682e-05,7.884525778366791e-05,7.411531974838125e-05,0.6761,-0.0048,0.08712368554754424,1.0,0.0,0.0,0.0,-0.1390341869633318,-0.11354364882764295,1.6298397510583946,-0.00673661151367363,0.010869904574774415,-1.2632382901450181e-05,-0.06830569447980761,-0.1211758650476073,1.6918775233725407,-0.008709773169776475,0.007898630336066192,-0.0013507603538667461,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8266980697479437,-0.5253383651960726,-1.413936543290542,0.5641342997572191,1.0190001218484737,-0.37040600098322446,0.5954971238671044,1.6298397510583946,2.0094336671576465,2.0094336671576465,2.322539999998482,0,0,-0.00019910907373269093,6.862138221397913e-05
+51039,1791364312993277674,3264372000000,1791364312990249534,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761558789169902,-0.00477855318973412,0.08714827792630687,0.999999981887725,0.00012291922607668697,8.163533426115619e-05,7.677206647254446e-05,0.6761,-0.0048,0.08695222367623508,1.0,0.0,0.0,0.0,-0.1412520958856004,-0.11007411775713158,1.6501152447255107,-0.005724397890668994,0.010846809649694018,-1.9048002091301332e-05,-0.0705236034020762,-0.11770633397709593,1.7121530170396568,-0.007697559546771839,0.007875535410985795,-0.0013571759730565973,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8329776483971848,-0.5769991002790106,-1.42002300080257,0.5911693792004384,1.0221552549177957,-0.4009262404531437,0.5954971238671044,1.6501152447255107,2.0155201246696746,2.0155201246696746,2.3714999999984405,0,0,-0.0002218829780922541,8.186373387364938e-05
+51126,1791364313718306951,3265097000000,1791364313714249967,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761563623681426,-0.004778802296710243,0.0869816626442601,0.9999999822644633,0.00011642423496099697,8.47293339303665e-05,7.861472569185511e-05,0.6761,-0.0048,0.08678265714772997,1.0,0.0,0.0,0.0,-0.1373743989707797,-0.11113474299244658,1.6499974391018806,-0.006127387176366501,0.010854149830585982,-2.179625809513308e-05,-0.0666459064872555,-0.11876695921241093,1.7120352114160267,-0.008100548832469346,0.00788287559187776,-0.001359924229060429,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8252860607478923,-0.5761439382231401,-1.4129710998033054,0.6017774768981528,1.0111311781630061,-0.398960998856555,0.5954971238671044,1.6499974391018806,2.00846822367041,2.00846822367041,2.4149999999984035,0,0,-0.0002448769655160188,9.675754739622584e-06
+51201,1791364314343270093,3265722000000,1791364314338249779,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761510571971722,-0.00477778620408325,0.08681781710741347,0.9999999836525797,0.00011000312091295499,7.576201916577171e-05,7.93544874282028e-05,0.6761,-0.0048,0.08662404839707301,1.0,0.0,0.0,0.0,-0.13407833844712247,-0.11988605031499827,1.6502766806872622,-0.005709035620548438,0.009834380861589907,-3.29282680278562e-05,-0.06334984596359827,-0.12751826653496262,1.7123144530014083,-0.007682197276651283,0.0068631066228816845,-0.0013710562389931521,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8290872928045154,-0.5855804380829079,-1.381126830636701,0.6110200335650975,0.9920822251127339,-0.4047366920802507,0.5954971238671044,1.6502766806872622,1.9766239545038053,1.9766239545038053,2.4524999999983716,0,0,-0.0002633200490390327,-9.999999025923074e-05
+51283,1791364315027283412,3266406000000,1791364315026250088,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761505277301818,-0.004778882841605156,0.08663419305649708,0.999999983844431,0.00010852152038838982,7.37269467051413e-05,8.087903989635682e-05,0.6761,-0.0048,0.08643646889072717,1.0,0.0,0.0,0.0,-0.12915841281043644,-0.11228897491879553,1.637727420752022,-0.005695254807939869,0.009836447966888567,-2.2952065101103456e-05,-0.05842992032691225,-0.11992119113875988,1.6997651930661681,-0.007668416464042714,0.006865173728180345,-0.0013610800360663994,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8731372253342684,-0.5306329418106855,-1.3178388401507535,0.6097298728893814,0.9617373369067003,-0.3658301573477425,0.5954971238671044,1.637727420752022,1.913335964017858,1.913335964017858,2.4935399999983368,0,0,-0.0002848221037591011,-9.68798194708242e-05
+51363,1791364315693293223,3267072000000,1791364315686250090,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761512295168628,-0.0047759475539636085,0.0864415650203368,0.9999999821634622,0.00012003051468127938,7.715086643773802e-05,8.219707362157676e-05,0.6761,-0.0048,0.08623847900214951,1.0,0.0,0.0,0.0,-0.12847234398959315,-0.11089198755118114,1.6269632817248476,-0.00569266248389997,0.009838300215097386,-1.3273248607355249e-05,-0.05774385150606897,-0.11852420377114549,1.6890010540389937,-0.007665824140002815,0.006867025976389164,-0.0013514012195726512,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8838745953698542,-0.5106284236314335,-1.3496684510948393,0.6162365175522143,0.9802368399898561,-0.3502881859510898,0.5954971238671044,1.6269632817248476,1.9451655749619436,1.9451655749619436,2.5334999999983028,0,0,-0.00030697620017758185,-9.999695102370083e-05
+51435,1791364316293255196,3267672000000,1791364316290249598,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761503820785036,-0.00478390156940323,0.08625302147755616,0.9999999823335315,0.00011373257651373001,7.80568283080596e-05,8.802177982372532e-05,0.6761,-0.0048,0.08604775931948715,1.0,0.0,0.0,0.0,-0.13124804305477802,-0.11113639357819145,1.6201190641048644,-0.005691343798725777,0.0098398499551901,-8.07847133850242e-06,-0.06051955057125385,-0.1187686097981558,1.6821568364190105,-0.007664505454828622,0.006868575716481878,-0.0013462064423037984,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.877516689105724,-0.4579104847757106,-1.3657830034414093,0.6131616469729472,0.9858153537514341,-0.31429774482407874,0.5954971238671044,1.6201190641048644,1.9612801273085139,1.9612801273085139,2.569499999998272,0,0,-0.0003286374862340998,-9.999999025923074e-05
+51505,1791364316877292636,3268256000000,1791364316874250308,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.676146004874594,-0.00478246993244168,0.08605081732344697,0.9999999842244078,0.00010198145295223976,7.176037117755952e-05,8.628024672965646e-05,0.6761,-0.0048,0.08584962060441441,1.0,0.0,0.0,0.0,-0.12747271735268773,-0.11425151567335856,1.611935229356095,-0.006710445275978012,0.009859553274453021,-1.562833983281397e-05,-0.056744224869163536,-0.12188373189332291,1.673973001670241,-0.008683606932080857,0.006888279035744798,-0.00135375631079811,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9259956771543452,-0.5672751546314105,-1.436756349785294,0.6459823550104273,1.039984869180414,-0.3838858155198587,0.5954971238671044,1.611935229356095,2.0322534736523985,2.0322534736523985,2.6045399999982424,0,0,-0.0003493382091604828,6.026558942400515e-05
+51567,1791364317393349536,3268772000000,1791364317386249745,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761451471025993,-0.004785401814551115,0.08586589936930479,0.9999999840326607,0.00010513892615419254,7.086519078953672e-05,8.54486611683703e-05,0.6761,-0.0048,0.08566534164789437,1.0,0.0,0.0,0.0,-0.1212815292514827,-0.1279193785434447,1.609716981425932,-0.00668984569156884,0.009138447497964655,-1.6540031726933148e-05,-0.05055303676795852,-0.13555159476340906,1.671754753740078,-0.008663007347671685,0.006167173259256433,-0.001354668002692229,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9565612099524463,-0.5803671199064192,-1.4137173050304166,0.6606005715100425,1.032189976994338,-0.3912004440087132,0.5954971238671044,1.609716981425932,2.009214428897521,2.009214428897521,2.635499999998216,0,0,-0.0003641999536216619,-9.869155079134657e-05
+51628,1791364317902328750,3269281000000,1791364317898249644,DOWN_FORCE_DETACH,10,0.0485,0.0485013984143734,0.6761424126371276,-0.004785205086939856,0.08567248015291179,0.9999999843407232,0.00010440418291638619,6.74266955765127e-05,8.552675057278176e-05,0.6761,-0.0048,0.08547532585599532,1.0,0.0,0.0,0.0,-0.12717532360963818,-0.1250431543146612,1.5999734712739584,-0.006681320047692767,0.00885060796451715,-1.854361306700752e-05,-0.056446831126114004,-0.13267537053462555,1.6620112435881045,-0.008654481703795612,0.005879333725808927,-0.0013566715840323035,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9038205926508569,-0.53413691019622,-1.3176825102404603,0.6555469095229551,0.9495313994789517,-0.3564125123406196,0.5954971238671044,1.5999734712739584,1.9131796341075646,1.9131796341075646,2.66603999999819,0,0,-0.0003814950181272022,-9.998675084966208e-05
+51687,1791364318393295327,3269772000000,1791364318390249963,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761397455104062,-0.004791952500116335,0.08547604108769119,0.9999999852222878,9.610327025891568e-05,6.415718483649003e-05,8.74431568380322e-05,0.6761,-0.0048,0.08528337120663393,1.0,0.0,0.0,0.0,-0.12842473123968134,-0.12617035597527465,1.5956348966473661,-0.00667963810714396,0.00885212565258984,-1.1637679352277663e-05,-0.05769623875615717,-0.133802572195239,1.6576726689615122,-0.008652799763246805,0.0058808514138816185,-0.0013497656503175736,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0484461492358752,-0.5085332429528029,-1.4654479823291027,0.6524458700111079,1.0818633452425546,-0.33625910204707216,0.5954971238671044,1.5956348966473661,2.060945106196207,2.060945106196207,2.695499999998165,0,0,-0.0003994884262739377,5.8515979588175073e-05
+51747,1791364318893329711,3270272000000,1791364318886250189,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761420735634592,-0.004796245027519572,0.08528589864485078,0.9999999854550649,8.933185547708039e-05,7.07061685000046e-05,8.690910128954751e-05,0.6761,-0.0048,0.08507979398691012,1.0,0.0,0.0,0.0,-0.1272688059192355,-0.1353901400329531,1.5797126526945893,-0.006679045086369477,0.00885583074926198,-2.1627846147447005e-06,-0.056540313435711316,-0.14302235625291745,1.6417504250087354,-0.008652206742472322,0.005884556510553757,-0.0013402907555800406,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0473762560582833,-0.6161441292858447,-1.40970027581812,0.6838989818097537,1.042380032263167,-0.4065065977550644,0.5954971238671044,1.5797126526945893,2.0051973996852244,2.0051973996852244,2.7254999999981395,0,0,-0.00041546901897590436,-9.999999025923074e-05
+51802,1791364319352240409,3270731000000,1791364319350249306,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761372368130159,-0.004798192294158893,0.08508650868140082,0.9999999861402473,8.853798900701381e-05,6.346715238215425e-05,8.541261426689117e-05,0.6761,-0.0048,0.0848862195364118,1.0,0.0,0.0,0.0,-0.1321868309086771,-0.13820897564590381,1.5791388489615292,-0.007698745254454123,0.008874874564460055,-1.3841972129207325e-05,-0.06145833842515292,-0.14584119186586816,1.6411766212756753,-0.009671906910556968,0.005903600325751832,-0.0013519699430945033,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0229773526787593,-0.5110095409221325,-1.3892056498682965,0.6620773249076234,1.0184435200161361,-0.3303730446396094,0.5954971238671044,1.5791388489615292,1.984702773735401,1.984702773735401,2.753039999998116,0,0,-0.00042795260450231707,-9.953566723475688e-05
+51855,1791364319793281317,3271172000000,1791364319786259714,DOWN_FORCE_DETACH,10,0.0485,0.048502057790756226,0.6761401004063081,-0.004799743484042071,0.08490132158149798,0.9999999855171329,9.098418877916334e-05,6.908224677767055e-05,8.577947932803647e-05,0.6761,-0.0048,0.0846945124712228,1.0,0.0,0.0,0.0,-0.1265838477558323,-0.13893453776620854,1.559244569278317,-0.007684673344233894,0.008879029921535317,2.8775065103834197e-06,-0.05585535527230813,-0.1465667539861729,1.621282341592463,-0.00965783500033674,0.005907755682827094,-0.0013352504644549125,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1108350311733914,-0.5313736983058701,-1.4131386493455318,0.666613632071704,1.055515052893729,-0.3454821608260571,0.5954971238671044,1.559244569278317,2.008635773212636,2.008635773212636,2.7794999999980936,0,0,-0.0004410973125743275,-9.908122519520219e-05
+51911,1791364320255352998,3271634000000,1791364320254250544,DOWN_SETTLE,10,0.0485,0.048502057790756226,0.6761359203668678,-0.004805903966060389,0.08470228285021529,0.9999999865445484,8.108882078221417e-05,6.614717275593933e-05,8.604023540736054e-05,0.6761,-0.0048,0.0844935049732915,1.0,0.0,0.0,0.0,-0.13507998734846846,-0.1389340896859158,1.5591592355521051,-0.007694991028000824,0.0088793073999393,1.943246995427493e-06,-0.06435149486494428,-0.14656630590588016,1.6211970078662512,-0.009668152684103669,0.005908033161231078,-0.0013361847239698685,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1575675616055132,-0.6294582016933028,-1.401087175517719,0.6963719324158953,1.0573526154792452,-0.40615037602426246,0.5954971238671044,1.5591592355521051,1.9965842993848235,1.9965842993848235,2.78369999999809,0,0,-0.00042392531097027044,9.999999025923074e-05
+51965,1791364320705335828,3272084000000,1791364320698259902,DOWN_SETTLE,10,0.0485,0.048502057790756226,0.676130554809809,-0.004804448385040761,0.08450947904246825,0.999999986895321,8.184878240325046e-05,5.6530544086153026e-05,8.807551714232988e-05,0.6761,-0.0048,0.08430778983236643,1.0,0.0,0.0,0.0,-0.12657195566438215,-0.14714411205456374,1.5491155364018294,-0.007694453416951318,0.00888197873943737,1.1077527126328443e-05,-0.05584346318085796,-0.15477632827452809,1.6111533087159755,-0.009667615073054163,0.0059107045007291475,-0.0013270504438389675,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1642447621493144,-0.5317085284073805,-1.4611431147143374,0.6696207591020084,1.0982115837624813,-0.33688480583242925,0.5954971238671044,1.5491155364018294,2.056640238581442,2.056640238581442,2.78369999999809,0,0,-0.0004014253153536166,9.999999025923074e-05
+52025,1791364321205285983,3272584000000,1791364321198259601,DOWN_SETTLE,10,0.0485,0.048502057790756226,0.6761279438629183,-0.004805132297285019,0.08431319747492799,0.9999999872420379,8.137537585137297e-05,5.237028981273808e-05,8.714464673931842e-05,0.6761,-0.0048,0.0841133146734696,1.0,0.0,0.0,0.0,-0.1265369039732544,-0.149845075686789,1.531260795996688,-0.0076914552002614114,0.008886050909312567,2.550189589059764e-05,-0.0558084114897302,-0.15747729190675336,1.593298568310834,-0.009664616856364256,0.005914776670604345,-0.0013126260750746983,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2465455804767636,-0.5521009857932221,-1.4112844545771126,0.6769052970169366,1.0863733200826216,-0.35028988771332475,0.5954971238671044,1.531260795996688,2.006781578444217,2.006781578444217,2.78369999999809,0,0,-0.00037642532022400123,9.999999025923074e-05
+52090,1791364321747237078,3273126000000,1791364321746249371,DOWN_SETTLE,10,0.0485,0.048502057790756226,0.6761305503404772,-0.00480980001243597,0.08412581413201159,0.9999999874806287,7.490998168303115e-05,5.849287252524994e-05,8.630576699298802e-05,0.6761,-0.0048,0.0839166226984748,1.0,0.0,0.0,0.0,-0.1264897181678743,-0.14041230667100718,1.519036184115059,-0.007687766130842141,0.008887899572425702,3.5396529995809214e-05,-0.05576122568435011,-0.14804452289097153,1.5810739564292051,-0.009660927786944986,0.00591662533371748,-0.0013027314409694867,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2476804651446525,-0.5843885147305219,-1.5391794420179223,0.6911805170369519,1.1620162761305197,-0.36272388635559805,0.5954971238671044,1.519036184115059,2.1346765658850266,2.1346765658850266,2.78369999999809,0,0,-0.00034932532550349817,9.999999025923074e-05
+52162,1791364322347339957,3273726000000,1791364322346250407,DOWN_SETTLE,10,0.0485,0.0485013984143734,0.6761287805296611,-0.004809369648392365,0.08393259861664673,0.9999999871250936,7.692847186900912e-05,5.9603494287706094e-05,8.787554145871041e-05,0.6761,-0.0048,0.08371601250141644,1.0,0.0,0.0,0.0,-0.12594839897505716,-0.15347973475966228,1.5099478636685015,-0.00868391137914179,0.008909102255861105,3.1574190568698984e-05,-0.055219906491532966,-0.16111195097962663,1.5719856359826476,-0.010657073035244635,0.0059378280171528824,-0.001306553780396597,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.368958069318115,-0.60367123058498,-1.5034459647209826,0.6874864647974477,1.1678932542569933,-0.37291831128993574,0.5954971238671044,1.5099478636685015,2.098943088588087,2.098943088588087,2.78369999999809,0,0,-0.0003193253313479597,9.999999025923074e-05
+52237,1791364322972254871,3274351000000,1791364322966251000,DOWN_SETTLE,10,0.0485,0.0485013984143734,0.6761247747574506,-0.004810838555941485,0.0837364774886641,0.9999999886057996,6.672188124250472e-05,5.421468288955071e-05,8.270564481961119e-05,0.6761,-0.0048,0.08352618416741843,1.0,0.0,0.0,0.0,-0.13512350158442404,-0.1539315443601911,1.5054000452898353,-0.008706369661072995,0.008910779760235485,3.3838880704874274e-05,-0.06439500910089985,-0.16156376058015545,1.5674378176039814,-0.01067953131717584,0.005939505521527263,-0.0013042890902604217,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.3625257399093376,-0.571482602636691,-1.5116360472082946,0.6853717577643464,1.1678913849868058,-0.3529765305071321,0.5954971238671044,1.5054000452898353,2.107133171075399,2.107133171075399,2.78369999999809,0,0,-0.0002880753374359405,9.999999025923074e-05
+52315,1791364323622355308,3275001000000,1791364323622249968,DOWN_SETTLE,10,0.0485,0.048502057790756226,0.6761233023154452,-0.004811312451727435,0.08355863659166538,0.9999999891147453,5.9495982252613406e-05,5.459950202719827e-05,8.180767836420502e-05,0.6761,-0.0048,0.08334948144602417,1.0,0.0,0.0,0.0,-0.12596214525030514,-0.1536306630528112,1.5077474700087505,-0.008707039266179344,0.008909801092385783,3.252686670378747e-05,-0.055233652766780966,-0.16126287927277555,1.5697852423228966,-0.010680200922282189,0.0059385268536775605,-0.0013056011042615085,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4148559695462368,-0.5747208840137408,-1.545802054608609,0.6790683032205644,1.2059057758044451,-0.35250196642120774,0.5954971238671044,1.5077474700087505,2.1412991784757134,2.1412991784757134,2.78369999999809,0,0,-0.00025557534376744053,9.999999025923074e-05
+52398,1791364324313350136,3275692000000,1791364324306259623,DOWN_SETTLE,10,0.0485,0.0485013984143734,0.6761173314915474,-0.004813898032144606,0.08338501356859883,0.9999999886046578,6.569742675428166e-05,4.472643682900334e-05,8.897720272302406e-05,0.6761,-0.0048,0.08318479863115198,1.0,0.0,0.0,0.0,-0.1279267513292242,-0.1545783431851337,1.4885237995533798,-0.00870345896088752,0.008914259707256393,4.834650209549051e-05,-0.057198258845700026,-0.16221055940509804,1.5505615718675259,-0.010676620616990365,0.00594298546854817,-0.0012897814688698054,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4247200805200702,-0.634393761234546,-1.4338340698922016,0.6920249306401169,1.1354679159567256,-0.38840617636110514,0.5954971238671044,1.4885237995533798,2.029331193759306,2.029331193759306,2.78369999999809,0,0,-0.00022102535049831206,9.999999025923074e-05
+52490,1791364325081283915,3276459000000,1791364325074249407,DOWN_SETTLE,10,0.0485,0.0485013984143734,0.6761127759493437,-0.00481304449719065,0.08322449275436777,0.9999999897632278,5.683339952024841e-05,3.810474253446759e-05,8.50552893254779e-05,0.6761,-0.0048,0.08302996023445085,1.0,0.0,0.0,0.0,-0.12921943672589656,-0.15492206170310283,1.4719448229209078,-0.00870038095404468,0.0089178913799499,6.15248701635162e-05,-0.05849094424237238,-0.16255427792306718,1.5339825952350539,-0.010673542610147526,0.0059466171412416785,-0.0012766031008017798,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4662015288140662,-0.617978215676435,-1.5191154573979386,0.6872519519966704,1.1953230528398857,-0.3760042617110865,0.5954971238671044,1.4719448229209078,2.114612581265043,2.114612581265043,2.78369999999809,0,0,-0.00018267535796948208,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd0eedad00959c81ce80d2a6bd136d9ec4ffff3b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a4384b61a85cbe4b205953ce614cd5ba9a13464
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,1.031666667e+01,DOWN_FORCE_DETACH,1791364289038937182,8.502777872e-05,-1.420630209e-05,-1.209741884e-03,8.614971294e-05,-1.437076713e-05,-1.201812846e-03,8.499538885e-05,-1.420180810e-05,-1.199408432e-03,7.016228993e-01,-1.265534077e-05,8.395311993e-01,7.016240212e-01,-1.281980581e-05,8.395391283e-01,7.018108596e-01,-1.238392673e-05,8.285813681e-01
+15,1.113333333e+01,DOWN_FORCE_DETACH,1791364290259224278,8.973726015e-05,-1.671212957e-05,-1.296904186e-03,8.980911061e-05,-1.671205234e-05,-1.285230668e-03,8.855762570e-05,-1.648843321e-05,-1.282909021e-03,7.016276087e-01,-1.516116824e-05,8.394440370e-01,7.016276806e-01,-1.516109102e-05,8.394557105e-01,7.018144218e-01,-1.467055185e-05,8.284978675e-01
+16,1.200000000e+01,DOWN_FORCE_DETACH,1791364291559902441,9.795652708e-05,-1.317632888e-05,-1.389449729e-03,9.773132122e-05,-1.312913113e-05,-1.389503503e-03,9.637194639e-05,-1.293161297e-05,-1.387087532e-03,7.016358280e-01,-1.162536756e-05,8.393514915e-01,7.016356028e-01,-1.157816980e-05,8.393514377e-01,7.018222362e-01,-1.111373161e-05,8.283936890e-01
+17,1.291666667e+01,DOWN_FORCE_DETACH,1791364292938882252,1.012419207e-04,-1.574788900e-05,-1.491393000e-03,1.027904874e-04,-1.230622641e-05,-1.488720040e-03,1.012078347e-04,-1.209214031e-05,-1.486360164e-03,7.016391134e-01,-1.419692767e-05,8.392495482e-01,7.016406620e-01,-1.075526508e-05,8.392522211e-01,7.018270721e-01,-1.027425895e-05,8.282944164e-01
+18,1.376666667e+01,DOWN_FORCE_DETACH,1791364294241330464,1.083386966e-04,-2.115795759e-05,-1.595184156e-03,1.081624108e-04,-2.134975484e-05,-1.595090863e-03,1.063572515e-04,-2.106931400e-05,-1.592492682e-03,7.016462102e-01,-1.960699627e-05,8.391457570e-01,7.016460339e-01,-1.979879352e-05,8.391458503e-01,7.018322215e-01,-1.925143264e-05,8.281882838e-01
+19,1.461666667e+01,DOWN_FORCE_DETACH,1791364295539487556,1.146075161e-04,-2.077280694e-05,-1.700079332e-03,1.122908516e-04,-1.535113149e-05,-1.699439965e-03,1.102751276e-04,-1.509772299e-05,-1.696718590e-03,7.016524790e-01,-1.922184562e-05,8.390408619e-01,7.016501623e-01,-1.380017017e-05,8.390415012e-01,7.018361394e-01,-1.327984163e-05,8.280840579e-01
+20,1.551666667e+01,DOWN_FORCE_DETACH,1791364296879504634,1.199679182e-04,-2.154320393e-05,-1.806179676e-03,1.178394128e-04,-2.194066826e-05,-1.803543744e-03,1.156164689e-04,-2.167797821e-05,-1.800759554e-03,7.016578394e-01,-1.999224261e-05,8.389347615e-01,7.016557109e-01,-2.038970694e-05,8.389373974e-01,7.018414807e-01,-1.986009685e-05,8.279800170e-01
+21,1.631666667e+01,DOWN_FORCE_DETACH,1791364298079373918,1.216127113e-04,-2.286586082e-05,-1.907643104e-03,1.186736081e-04,-2.217952842e-05,-1.889778214e-03,1.161300402e-04,-2.188018105e-05,-1.887050432e-03,7.016594842e-01,-2.131489950e-05,8.388332981e-01,7.016565451e-01,-2.062856709e-05,8.388511630e-01,7.018419943e-01,-2.006229969e-05,8.278937261e-01
+22,1.716666667e+01,DOWN_FORCE_DETACH,1791364299360124290,1.260633480e-04,-2.693979644e-05,-2.009557137e-03,1.259481284e-04,-2.321630955e-05,-1.999181747e-03,1.232333370e-04,-2.295236404e-05,-1.996397310e-03,7.016639348e-01,-2.538883512e-05,8.387313841e-01,7.016638196e-01,-2.166534823e-05,8.387417594e-01,7.018490976e-01,-2.113448268e-05,8.277843792e-01
+23,1.793333333e+01,DOWN_FORCE_DETACH,1791364300528546958,1.322128723e-04,-2.303890572e-05,-2.108964131e-03,1.274568327e-04,-2.527181118e-05,-2.107538104e-03,1.244013575e-04,-2.495634333e-05,-2.104694295e-03,7.016700844e-01,-2.148794439e-05,8.386319771e-01,7.016653283e-01,-2.372084986e-05,8.386334031e-01,7.018502656e-01,-2.313846197e-05,8.276760822e-01
+24,1.870000000e+01,DOWN_FORCE_DETACH,1791364301677640412,1.343525234e-04,-2.728102875e-05,-2.221915702e-03,1.352927633e-04,-2.677508986e-05,-2.217474582e-03,1.319515771e-04,-2.647838204e-05,-2.214545602e-03,7.016722240e-01,-2.573006743e-05,8.385190255e-01,7.016731642e-01,-2.522412853e-05,8.385234666e-01,7.018578158e-01,-2.466050067e-05,8.275662309e-01
+25,1.943333333e+01,DOWN_FORCE_DETACH,1791364302776598375,1.403192386e-04,-2.623464778e-05,-2.323285426e-03,1.366980763e-04,-2.890433447e-05,-2.309908107e-03,1.330707292e-04,-2.859745849e-05,-2.307057347e-03,7.016781907e-01,-2.468368645e-05,8.384176558e-01,7.016745696e-01,-2.735337315e-05,8.384310331e-01,7.018589350e-01,-2.677957713e-05,8.274737192e-01
+26,2.016666667e+01,DOWN_FORCE_DETACH,1791364303878241709,1.447061433e-04,-3.261393604e-05,-2.433219616e-03,1.426411372e-04,-2.998042990e-05,-2.416275969e-03,1.388114157e-04,-2.967472959e-05,-2.413369836e-03,7.016825776e-01,-3.106297472e-05,8.383077216e-01,7.016805126e-01,-2.842946858e-05,8.383246652e-01,7.018646756e-01,-2.785684823e-05,8.273674067e-01
+27,2.090000000e+01,DOWN_FORCE_DETACH,1791364304977794441,1.527948679e-04,-3.188298696e-05,-2.546424509e-03,1.494063114e-04,-2.980665313e-05,-2.531048255e-03,1.453339267e-04,-2.951816635e-05,-2.527955733e-03,7.016906663e-01,-3.033202564e-05,8.381945167e-01,7.016872778e-01,-2.825569181e-05,8.382098929e-01,7.018711981e-01,-2.770028499e-05,8.272528208e-01
+28,2.165000000e+01,DOWN_FORCE_DETACH,1791364306138965584,1.534560259e-04,-3.427337015e-05,-2.689991516e-03,1.478376036e-04,-3.465301620e-05,-2.685220928e-03,1.432395173e-04,-3.432126022e-05,-2.681713813e-03,7.016913275e-01,-3.272240883e-05,8.380509497e-01,7.016857091e-01,-3.310205488e-05,8.380557203e-01,7.018691037e-01,-3.250337885e-05,8.270990627e-01
+29,2.235000000e+01,DOWN_FORCE_DETACH,1791364307181976814,1.577779899e-04,-3.787805757e-05,-2.814513666e-03,1.575766916e-04,-3.764837014e-05,-2.814471156e-03,1.527472399e-04,-3.731381494e-05,-2.810658612e-03,7.016956495e-01,-3.632709625e-05,8.379264275e-01,7.016954482e-01,-3.609740882e-05,8.379264700e-01,7.018786115e-01,-3.549593358e-05,8.269701179e-01
+30,2.308333333e+01,DOWN_FORCE_DETACH,1791364308307078398,1.586534776e-04,-3.908305074e-05,-2.956849947e-03,1.590444822e-04,-3.805443382e-05,-2.947756175e-03,1.537932884e-04,-3.768890760e-05,-2.943944132e-03,7.016965250e-01,-3.753208942e-05,8.377840912e-01,7.016969160e-01,-3.650347250e-05,8.377931850e-01,7.018796575e-01,-3.587102624e-05,8.268368324e-01
+31,2.381666667e+01,DOWN_FORCE_DETACH,1791364309406912553,1.609918956e-04,-4.803074435e-05,-3.104363847e-03,1.608685042e-04,-4.792160858e-05,-3.103939089e-03,1.551803244e-04,-4.745005319e-05,-3.099933193e-03,7.016988634e-01,-4.647978303e-05,8.376365773e-01,7.016987400e-01,-4.637064726e-05,8.376370021e-01,7.018810445e-01,-4.563217183e-05,8.266808433e-01
+32,2.446666667e+01,DOWN_FORCE_DETACH,1791364310416197630,1.664024901e-04,-4.789953283e-05,-3.245704914e-03,1.635608788e-04,-4.267439647e-05,-3.236322266e-03,1.574998486e-04,-4.227808627e-05,-3.232275139e-03,7.017042740e-01,-4.634857151e-05,8.374952363e-01,7.017014324e-01,-4.112343515e-05,8.375046189e-01,7.018833641e-01,-4.046020491e-05,8.265485014e-01
+33,2.508333333e+01,DOWN_FORCE_DETACH,1791364311319632125,1.648555169e-04,-4.629681208e-05,-3.395120462e-03,1.648091577e-04,-4.645050200e-05,-3.395131969e-03,1.581642535e-04,-4.607187916e-05,-3.390668139e-03,7.017027270e-01,-4.474585076e-05,8.373458207e-01,7.017026806e-01,-4.489954068e-05,8.373458092e-01,7.018840285e-01,-4.425399780e-05,8.263901084e-01
+34,2.565000000e+01,DOWN_FORCE_DETACH,1791364312175437438,1.668272348e-04,-4.647975337e-05,-3.551087965e-03,1.661947921e-04,-4.656173391e-05,-3.534617495e-03,1.591500562e-04,-4.619237859e-05,-3.529926129e-03,7.017046987e-01,-4.492879205e-05,8.371898532e-01,7.017040663e-01,-4.501077259e-05,8.372063237e-01,7.018850143e-01,-4.437449722e-05,8.262508504e-01
+35,2.620000000e+01,DOWN_FORCE_DETACH,1791364312996623739,1.654821580e-04,-4.547715550e-05,-3.724548383e-03,1.670551392e-04,-4.763603458e-05,-3.712989266e-03,1.593901781e-04,-4.721526073e-05,-3.707863484e-03,7.017033536e-01,-4.392619418e-05,8.370163928e-01,7.017049266e-01,-4.608507326e-05,8.370279519e-01,7.018852544e-01,-4.539737937e-05,8.260729130e-01
+36,2.668333333e+01,DOWN_FORCE_DETACH,1791364313717189701,1.670790662e-04,-4.850980637e-05,-3.887418970e-03,1.691728708e-04,-4.989977720e-05,-3.870302694e-03,1.610155035e-04,-4.946444392e-05,-3.864902796e-03,7.017049505e-01,-4.695884505e-05,8.368535222e-01,7.017070444e-01,-4.834881588e-05,8.368706385e-01,7.018868797e-01,-4.764656255e-05,8.259158737e-01
+37,2.710000000e+01,DOWN_FORCE_DETACH,1791364314346980800,1.636060111e-04,-5.018873832e-05,-4.052688329e-03,1.633299214e-04,-5.032338775e-05,-4.052698822e-03,1.544628421e-04,-4.985825393e-05,-4.046670970e-03,7.017014775e-01,-4.863777700e-05,8.366882529e-01,7.017012014e-01,-4.877242643e-05,8.366882424e-01,7.018803271e-01,-4.804037257e-05,8.257341056e-01
+38,2.755000000e+01,DOWN_FORCE_DETACH,1791364315025307219,1.630272354e-04,-4.608765600e-05,-4.232444816e-03,1.641423887e-04,-4.849453891e-05,-4.216099949e-03,1.547241767e-04,-4.800267527e-05,-4.209911715e-03,7.017008987e-01,-4.453669468e-05,8.365084964e-01,7.017020139e-01,-4.694357759e-05,8.365248412e-01,7.018805884e-01,-4.618479391e-05,8.255708648e-01
+39,2.800000000e+01,DOWN_FORCE_DETACH,1791364315695815522,1.644081972e-04,-4.989039720e-05,-4.426643861e-03,1.654061408e-04,-4.978921761e-05,-4.418322112e-03,1.552898133e-04,-4.929651856e-05,-4.411651997e-03,7.017022797e-01,-4.833943588e-05,8.363142973e-01,7.017032776e-01,-4.823825629e-05,8.363226191e-01,7.018811540e-01,-4.747863720e-05,8.253691245e-01
+40,2.840000000e+01,DOWN_FORCE_DETACH,1791364316294988760,1.606599858e-04,-5.110033565e-05,-4.621734044e-03,1.607674326e-04,-5.352825207e-05,-4.612041493e-03,1.498464970e-04,-5.297605794e-05,-4.604888436e-03,7.016985315e-01,-4.954937433e-05,8.361192071e-01,7.016986389e-01,-5.197729075e-05,8.361288997e-01,7.018757107e-01,-5.115817658e-05,8.251758881e-01
+41,2.878333333e+01,DOWN_FORCE_DETACH,1791364316876125862,1.586812909e-04,-5.245199022e-05,-4.817049795e-03,1.584736158e-04,-5.229264463e-05,-4.816902241e-03,1.468325546e-04,-5.175176841e-05,-4.809187643e-03,7.016965528e-01,-5.090102890e-05,8.359238914e-01,7.016963451e-01,-5.074168331e-05,8.359240389e-01,7.018726968e-01,-4.993388705e-05,8.249715889e-01
+42,2.913333333e+01,DOWN_FORCE_DETACH,1791364317395547787,1.580758077e-04,-5.942330837e-05,-5.002896402e-03,1.580763324e-04,-5.316236253e-05,-4.993903552e-03,1.457932550e-04,-5.258081027e-05,-4.985886368e-03,7.016959473e-01,-5.787234705e-05,8.357380448e-01,7.016959478e-01,-5.161140120e-05,8.357470376e-01,7.018716575e-01,-5.076292891e-05,8.247948902e-01
+43,2.946666667e+01,DOWN_FORCE_DETACH,1791364317900378862,1.554272717e-04,-5.846771623e-05,-5.197385065e-03,1.552442466e-04,-5.848246244e-05,-5.197393404e-03,1.421824062e-04,-5.785981261e-05,-5.188874040e-03,7.016932988e-01,-5.691675491e-05,8.355435561e-01,7.016931157e-01,-5.693150112e-05,8.355435478e-01,7.018680466e-01,-5.604193125e-05,8.245919025e-01
+44,2.980000000e+01,DOWN_FORCE_DETACH,1791364318396385213,1.523821389e-04,-6.275622119e-05,-5.389438959e-03,1.541911633e-04,-6.054721864e-05,-5.370042805e-03,1.404619260e-04,-5.991439255e-05,-5.361385361e-03,7.016902536e-01,-6.120525986e-05,8.353515022e-01,7.016920626e-01,-5.899625732e-05,8.353708984e-01,7.018663261e-01,-5.809651119e-05,8.244193912e-01
+45,3.013333333e+01,DOWN_FORCE_DETACH,1791364318895392567,1.534220336e-04,-6.666046205e-05,-5.586548418e-03,1.531390045e-04,-6.647992001e-05,-5.586404544e-03,1.386733281e-04,-6.584647643e-05,-5.577237307e-03,7.016912935e-01,-6.510950073e-05,8.351543928e-01,7.016910105e-01,-6.492895869e-05,8.351545366e-01,7.018645376e-01,-6.402859507e-05,8.242035392e-01
+46,3.043333333e+01,DOWN_FORCE_DETACH,1791364319349383979,1.499132293e-04,-6.817435194e-05,-5.781358437e-03,1.496611836e-04,-6.808621220e-05,-5.781546222e-03,1.344508680e-04,-6.737543730e-05,-5.772003367e-03,7.016877847e-01,-6.662339062e-05,8.349595828e-01,7.016875327e-01,-6.653525088e-05,8.349593950e-01,7.018603151e-01,-6.555755593e-05,8.240087732e-01
+47,3.073333333e+01,DOWN_FORCE_DETACH,1791364319795682101,1.503771379e-04,-6.947492165e-05,-5.966901944e-03,1.500218426e-04,-6.890272902e-05,-5.949834267e-03,1.342435877e-04,-6.822929460e-05,-5.940218607e-03,7.016882486e-01,-6.792396032e-05,8.347740392e-01,7.016878933e-01,-6.735176770e-05,8.347911069e-01,7.018601078e-01,-6.641141324e-05,8.238405579e-01
+48,3.103333333e+01,DOWN_SETTLE,1791364320254116187,1.500003393e-04,-7.178792602e-05,-6.168098907e-03,1.497093180e-04,-7.169851809e-05,-6.168217979e-03,1.331495512e-04,-7.103408064e-05,-6.158031083e-03,7.016878718e-01,-7.023696470e-05,8.345728423e-01,7.016875808e-01,-7.014755677e-05,8.345727232e-01,7.018590138e-01,-6.921619927e-05,8.236227454e-01
+49,3.131666667e+01,DOWN_SETTLE,1791364320707176044,1.456559074e-04,-7.685125494e-05,-6.357445168e-03,1.439320777e-04,-7.466871390e-05,-6.350486012e-03,1.265840365e-04,-7.395274522e-05,-6.340162590e-03,7.016835274e-01,-7.530029362e-05,8.343834960e-01,7.016818036e-01,-7.311775258e-05,8.343904552e-01,7.018524483e-01,-7.213486386e-05,8.234406139e-01
+50,3.165000000e+01,DOWN_SETTLE,1791364321208483342,1.433029849e-04,-7.893130255e-05,-6.552289346e-03,1.407459313e-04,-7.601742453e-05,-6.533875474e-03,1.227267369e-04,-7.529620975e-05,-6.523606035e-03,7.016811745e-01,-7.738034122e-05,8.341886518e-01,7.016786174e-01,-7.446646321e-05,8.342070657e-01,7.018485910e-01,-7.347832839e-05,8.232571705e-01
+51,3.201666667e+01,DOWN_SETTLE,1791364321747210017,1.431763380e-04,-7.939663260e-05,-6.743070624e-03,1.440765310e-04,-7.791250220e-05,-6.727612551e-03,1.254019743e-04,-7.718993471e-05,-6.717436161e-03,7.016810478e-01,-7.784567128e-05,8.339978706e-01,7.016819480e-01,-7.636154087e-05,8.340133286e-01,7.018512662e-01,-7.537205334e-05,8.230633404e-01
+52,3.241666667e+01,DOWN_SETTLE,1791364322343006913,1.422269987e-04,-8.218032153e-05,-6.934622056e-03,1.395855370e-04,-8.259715832e-05,-6.916671739e-03,1.201485168e-04,-8.182448425e-05,-6.906706570e-03,7.016800985e-01,-8.062936021e-05,8.338063191e-01,7.016774570e-01,-8.104619700e-05,8.338242694e-01,7.018460127e-01,-8.000660289e-05,8.228740700e-01
+53,3.283333333e+01,DOWN_SETTLE,1791364322969651734,1.385472581e-04,-8.218780706e-05,-7.126749137e-03,1.386478409e-04,-8.138543506e-05,-7.114600078e-03,1.185054421e-04,-8.067676827e-05,-7.104897186e-03,7.016764187e-01,-8.063684574e-05,8.336141921e-01,7.016765193e-01,-7.983447374e-05,8.336263411e-01,7.018443697e-01,-7.885888690e-05,8.226758793e-01
+54,3.326666667e+01,DOWN_SETTLE,1791364323620524019,1.338243629e-04,-7.957763641e-05,-7.312443115e-03,1.334973536e-04,-8.162554379e-05,-7.297756575e-03,1.125647790e-04,-8.088657792e-05,-7.288349365e-03,7.016716958e-01,-7.802667509e-05,8.334284981e-01,7.016713688e-01,-8.007458247e-05,8.334431846e-01,7.018384290e-01,-7.906869656e-05,8.224924272e-01
+55,3.373333333e+01,DOWN_SETTLE,1791364324314218516,1.296769159e-04,-8.234437802e-05,-7.483624259e-03,1.293041384e-04,-8.121047960e-05,-7.474408417e-03,1.076379120e-04,-8.052406995e-05,-7.465466461e-03,7.016675484e-01,-8.079341670e-05,8.332573169e-01,7.016671756e-01,-7.965951828e-05,8.332665328e-01,7.018335021e-01,-7.870618859e-05,8.223153101e-01
+56,3.425000000e+01,DOWN_SETTLE,1791364325082305384,1.284191585e-04,-8.063005746e-05,-7.641138028e-03,1.259941821e-04,-8.272792637e-05,-7.633405371e-03,1.038181540e-04,-8.199966074e-05,-7.625072844e-03,7.016662906e-01,-7.907909614e-05,8.330998032e-01,7.016638657e-01,-8.117696505e-05,8.331075358e-01,7.018296824e-01,-8.018177938e-05,8.221557037e-01
+57,3.491666667e+01,DOWN_SETTLE,1791364326084210159,1.326975967e-04,-7.937961562e-05,-7.795363916e-03,1.342599628e-04,-7.767173460e-05,-7.788416165e-03,1.116790185e-04,-7.699543021e-05,-7.781023525e-03,7.016705691e-01,-7.782865430e-05,8.329455773e-01,7.016721314e-01,-7.612077328e-05,8.329525250e-01,7.018375432e-01,-7.517754885e-05,8.219997530e-01
+58,3.566666667e+01,DOWN_SETTLE,1791364327214198674,1.162697892e-04,-7.785843693e-05,-7.934486512e-03,1.175921475e-04,-8.027524868e-05,-7.924270034e-03,9.413615178e-05,-7.957992758e-05,-7.917897247e-03,7.016541413e-01,-7.630747561e-05,8.328064547e-01,7.016554636e-01,-7.872428735e-05,8.328166712e-01,7.018200004e-01,-7.776204622e-05,8.218628793e-01
+59,3.650000000e+01,DOWN_SETTLE,1791364328527185881,1.081054104e-04,-7.563341632e-05,-8.010795159e-03,1.077560951e-04,-7.270111174e-05,-8.010778311e-03,8.377700303e-05,-7.207669531e-05,-8.005569792e-03,7.016459769e-01,-7.408245500e-05,8.327301460e-01,7.016456276e-01,-7.115015042e-05,8.327301629e-01,7.018096412e-01,-7.025881395e-05,8.217752067e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e526c8217775294bedbb2edc8b499966f7d60819
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,8.4837e-03,2.8516e-03,2.4590e+00,-3.6948e-02,3.7370e-02,3.2184e-06,2.1223e-04,3.5285e-06,3.7193e-05,-4.3586e-07,1.4894e-05,3.5334e-07,2.1549e-04,1.4904e-05
+1,8.3333e-01,DOWN_FORCE_DETACH,2.0832e-04,1.6772e-02,4.1428e-03,2.4679e+00,-3.7045e-02,3.7942e-02,1.6017e-05,8.5001e-03,1.2947e-03,8.9247e-03,-9.7450e-05,5.8680e-04,1.3152e-05,1.2393e-02,5.9498e-04
+2,1.6833e+00,DOWN_FORCE_DETACH,4.1613e-04,2.3149e-02,9.8449e-03,2.5000e+00,-3.7445e-02,3.8355e-02,3.2254e-05,1.4877e-02,6.9968e-03,4.1010e-02,-4.9804e-04,9.9974e-04,2.9389e-05,4.4182e-02,1.1173e-03
+3,2.2167e+00,DOWN_FORCE_DETACH,6.1778e-04,5.0935e-03,9.1812e-03,2.5123e+00,-3.7400e-02,3.7058e-02,4.1725e-05,-3.1779e-03,6.3332e-03,5.3374e-02,-4.5271e-04,-2.9674e-04,3.8860e-05,5.3843e-02,5.4269e-04
+4,2.6833e+00,DOWN_FORCE_DETACH,8.5189e-04,1.2775e-02,1.2623e-02,2.5405e+00,-3.7638e-02,3.7569e-02,5.0747e-05,4.5037e-03,9.7748e-03,8.1592e-02,-6.9129e-04,2.1403e-04,4.7882e-05,8.2298e-02,7.2524e-04
+5,3.1667e+00,DOWN_FORCE_DETACH,1.0410e-03,1.7133e-02,1.5358e-03,2.5714e+00,-3.6869e-02,3.7844e-02,5.0181e-05,8.8618e-03,-1.3122e-03,1.1250e-01,7.8615e-05,4.8906e-04,4.7316e-05,1.1286e-01,4.9759e-04
+6,3.8333e+00,DOWN_FORCE_DETACH,1.2456e-03,1.9391e-02,5.7045e-03,2.5872e+00,-3.7154e-02,3.7991e-02,5.4933e-05,1.1120e-02,2.8565e-03,1.2826e-01,-2.0698e-04,6.3622e-04,5.2068e-05,1.2877e-01,6.7106e-04
+7,4.6333e+00,DOWN_FORCE_DETACH,1.4538e-03,2.3915e-02,6.7648e-03,2.5891e+00,-3.7224e-02,3.8315e-02,4.5198e-05,1.5643e-02,3.9168e-03,1.3014e-01,-2.7669e-04,9.6048e-04,4.2333e-05,1.3114e-01,1.0004e-03
+8,5.3833e+00,DOWN_FORCE_DETACH,1.6618e-03,2.5808e-02,4.7020e-03,2.5762e+00,-3.7074e-02,3.8463e-02,3.6069e-05,1.7537e-02,1.8540e-03,1.1729e-01,-1.2723e-04,1.1087e-03,3.3204e-05,1.1860e-01,1.1165e-03
+9,6.1500e+00,DOWN_FORCE_DETACH,1.8674e-03,2.8066e-02,7.3379e-03,2.5650e+00,-3.7256e-02,3.8629e-02,3.9332e-05,1.9795e-02,4.4898e-03,1.0608e-01,-3.0890e-04,1.2744e-03,3.6467e-05,1.0801e-01,1.3118e-03
+10,7.0333e+00,DOWN_FORCE_DETACH,2.0742e-03,3.1462e-02,9.0255e-03,2.5611e+00,-3.7381e-02,3.8866e-02,4.6745e-05,2.3191e-02,6.1774e-03,1.0215e-01,-4.3356e-04,1.5107e-03,4.3880e-05,1.0494e-01,1.5723e-03
+11,7.9167e+00,DOWN_FORCE_DETACH,2.2828e-03,3.5693e-02,1.0045e-02,2.5621e+00,-3.7452e-02,3.9158e-02,4.6771e-05,2.7422e-02,7.1969e-03,1.0315e-01,-5.0486e-04,1.8032e-03,4.3906e-05,1.0697e-01,1.8730e-03
+12,8.6833e+00,DOWN_FORCE_DETACH,2.4901e-03,3.8416e-02,9.8867e-03,2.5604e+00,-3.7428e-02,3.9348e-02,4.2082e-05,3.0144e-02,7.0386e-03,1.0150e-01,-4.8079e-04,1.9932e-03,3.9217e-05,1.0612e-01,2.0508e-03
+13,9.5000e+00,DOWN_FORCE_DETACH,2.6990e-03,3.9920e-02,1.0937e-02,2.5626e+00,-3.7478e-02,3.9451e-02,3.5114e-05,3.1648e-02,8.0893e-03,1.0362e-01,-5.3058e-04,2.0963e-03,3.2249e-05,1.0865e-01,2.1626e-03
+14,1.0317e+01,DOWN_FORCE_DETACH,2.9055e-03,4.1617e-02,1.0787e-02,2.5634e+00,-3.7450e-02,3.9572e-02,2.3726e-05,3.3346e-02,7.9390e-03,1.0443e-01,-5.0312e-04,2.2167e-03,2.0861e-05,1.0991e-01,2.2732e-03
+15,1.1133e+01,DOWN_FORCE_DETACH,3.1165e-03,4.3736e-02,1.2152e-02,2.5609e+00,-3.7550e-02,3.9720e-02,8.0118e-06,3.5465e-02,9.3040e-03,1.0194e-01,-6.0306e-04,2.3648e-03,5.1468e-06,1.0834e-01,2.4405e-03
+16,1.2000e+01,DOWN_FORCE_DETACH,3.3184e-03,4.5251e-02,1.3702e-02,2.5556e+00,-3.7691e-02,3.9830e-02,-1.1828e-05,3.6979e-02,1.0854e-02,9.6667e-02,-7.4429e-04,2.4747e-03,-1.4693e-05,1.0407e-01,2.5843e-03
+17,1.2917e+01,DOWN_FORCE_DETACH,3.5263e-03,4.5847e-02,1.0823e-02,2.5634e+00,-3.7527e-02,3.9872e-02,-3.3064e-05,3.7576e-02,7.9745e-03,1.0442e-01,-5.7974e-04,2.5172e-03,-3.5929e-05,1.1126e-01,2.5834e-03
+18,1.3767e+01,DOWN_FORCE_DETACH,3.7355e-03,4.6420e-02,1.3876e-02,2.5649e+00,-3.7736e-02,3.9903e-02,-4.9403e-05,3.8148e-02,1.1028e-02,1.0596e-01,-7.8877e-04,2.5484e-03,-5.2268e-05,1.1315e-01,2.6682e-03
+19,1.4617e+01,DOWN_FORCE_DETACH,3.9440e-03,4.7255e-02,1.1862e-02,2.5798e+00,-3.7587e-02,3.9947e-02,-6.8683e-05,3.8983e-02,9.0141e-03,1.2081e-01,-6.4019e-04,2.5923e-03,-7.1548e-05,1.2726e-01,2.6712e-03
+20,1.5517e+01,DOWN_FORCE_DETACH,4.1508e-03,4.7011e-02,1.4932e-02,2.5820e+00,-3.7771e-02,3.9923e-02,-8.1261e-05,3.8739e-02,1.2084e-02,1.2302e-01,-8.2377e-04,2.5683e-03,-8.4126e-05,1.2954e-01,2.6985e-03
+21,1.6317e+01,DOWN_FORCE_DETACH,4.3573e-03,4.8270e-02,1.5259e-02,2.5787e+00,-3.7779e-02,4.0004e-02,-8.7090e-05,3.9999e-02,1.2411e-02,1.1972e-01,-8.3166e-04,2.6497e-03,-8.9955e-05,1.2683e-01,2.7786e-03
+22,1.7167e+01,DOWN_FORCE_DETACH,4.5661e-03,4.6687e-02,1.6043e-02,2.5808e+00,-3.7836e-02,3.9892e-02,-8.6879e-05,3.8416e-02,1.3195e-02,1.2189e-01,-8.8888e-04,2.5368e-03,-8.9744e-05,1.2848e-01,2.6895e-03
+23,1.7933e+01,DOWN_FORCE_DETACH,4.7749e-03,4.5968e-02,1.6807e-02,2.5847e+00,-3.7893e-02,3.9837e-02,-8.1985e-05,3.7696e-02,1.3959e-02,1.2571e-01,-9.4569e-04,2.4826e-03,-8.4850e-05,1.3198e-01,2.6580e-03
+24,1.8700e+01,DOWN_FORCE_DETACH,4.9817e-03,4.2253e-02,1.7435e-02,2.5879e+00,-3.7917e-02,3.9577e-02,-7.2772e-05,3.3982e-02,1.4587e-02,1.2899e-01,-9.6973e-04,2.2217e-03,-7.5638e-05,1.3419e-01,2.4253e-03
+25,1.9433e+01,DOWN_FORCE_DETACH,5.1888e-03,4.1741e-02,1.8715e-02,2.5847e+00,-3.7987e-02,3.9532e-02,-5.4889e-05,3.3470e-02,1.5867e-02,1.2577e-01,-1.0403e-03,2.1772e-03,-5.7754e-05,1.3111e-01,2.4137e-03
+26,2.0167e+01,DOWN_FORCE_DETACH,5.3968e-03,4.1245e-02,1.9002e-02,2.5879e+00,-3.8010e-02,3.9485e-02,-3.6953e-05,3.2974e-02,1.6154e-02,1.2900e-01,-1.0629e-03,2.1298e-03,-3.9818e-05,1.3412e-01,2.3806e-03
+27,2.0900e+01,DOWN_FORCE_DETACH,5.6025e-03,4.1542e-02,1.8360e-02,2.5949e+00,-3.7971e-02,3.9485e-02,-2.1832e-05,3.3271e-02,1.5512e-02,1.3592e-01,-1.0237e-03,2.1305e-03,-2.4697e-05,1.4079e-01,2.3638e-03
+28,2.1650e+01,DOWN_FORCE_DETACH,5.8111e-03,4.5174e-02,2.0074e-02,2.6150e+00,-3.8068e-02,3.9702e-02,-7.8038e-06,3.6902e-02,1.7226e-02,1.5603e-01,-1.1204e-03,2.3476e-03,-1.0669e-05,1.6126e-01,2.6013e-03
+29,2.2350e+01,DOWN_FORCE_DETACH,6.0163e-03,4.3870e-02,1.9686e-02,2.6162e+00,-3.8009e-02,3.9600e-02,7.6456e-07,3.5598e-02,1.6838e-02,1.5721e-01,-1.0616e-03,2.2449e-03,-2.1005e-06,1.6207e-01,2.4832e-03
+30,2.3083e+01,DOWN_FORCE_DETACH,6.2264e-03,4.5335e-02,2.2165e-02,2.6278e+00,-3.8161e-02,3.9681e-02,1.1224e-06,3.7064e-02,1.9317e-02,1.6889e-01,-1.2138e-03,2.3265e-03,-1.7427e-06,1.7399e-01,2.6241e-03
+31,2.3817e+01,DOWN_FORCE_DETACH,6.4341e-03,4.6535e-02,2.5231e-02,2.6276e+00,-3.8408e-02,3.9766e-02,-5.5957e-06,3.8263e-02,2.2383e-02,1.6867e-01,-1.4607e-03,2.4109e-03,-8.4607e-06,1.7440e-01,2.8189e-03
+32,2.4467e+01,DOWN_FORCE_DETACH,6.6420e-03,4.5733e-02,2.5037e-02,2.6402e+00,-3.8446e-02,3.9699e-02,-8.8529e-06,3.7462e-02,2.2189e-02,1.8127e-01,-1.4991e-03,2.3445e-03,-1.1718e-05,1.8643e-01,2.7829e-03
+33,2.5083e+01,DOWN_FORCE_DETACH,6.8466e-03,4.5508e-02,2.4990e-02,2.6482e+00,-3.8453e-02,3.9671e-02,-7.9984e-06,3.7236e-02,2.2142e-02,1.8927e-01,-1.5057e-03,2.3159e-03,-1.0863e-05,1.9417e-01,2.7624e-03
+34,2.5650e+01,DOWN_FORCE_DETACH,7.0555e-03,4.6785e-02,2.4976e-02,2.6655e+00,-3.8426e-02,3.9732e-02,-5.7376e-06,3.8513e-02,2.2128e-02,2.0653e-01,-1.4786e-03,2.3770e-03,-8.6027e-06,2.1125e-01,2.7994e-03
+35,2.6200e+01,DOWN_FORCE_DETACH,7.2675e-03,4.7842e-02,2.6117e-02,2.6850e+00,-3.8478e-02,3.9778e-02,-6.7276e-06,3.9570e-02,2.3269e-02,2.2609e-01,-1.5308e-03,2.4235e-03,-9.5927e-06,2.3070e-01,2.8665e-03
+36,2.6683e+01,DOWN_FORCE_DETACH,7.4710e-03,4.7120e-02,2.7496e-02,2.6986e+00,-3.8560e-02,3.9712e-02,-1.6714e-05,3.8849e-02,2.4648e-02,2.3970e-01,-1.6129e-03,2.3577e-03,-1.9579e-05,2.4407e-01,2.8566e-03
+37,2.7100e+01,DOWN_FORCE_DETACH,7.6756e-03,4.9466e-02,2.7431e-02,2.7155e+00,-3.8534e-02,3.9848e-02,-3.0782e-05,4.1194e-02,2.4583e-02,2.5652e-01,-1.5872e-03,2.4933e-03,-3.3647e-05,2.6096e-01,2.9559e-03
+38,2.7550e+01,DOWN_FORCE_DETACH,7.8812e-03,4.9632e-02,2.8599e-02,2.7337e+00,-3.8574e-02,3.9833e-02,-4.1853e-05,4.1360e-02,2.5751e-02,2.7475e-01,-1.6271e-03,2.4779e-03,-4.4718e-05,2.7903e-01,2.9647e-03
+39,2.8000e+01,DOWN_FORCE_DETACH,8.0921e-03,5.0456e-02,2.9811e-02,2.7523e+00,-3.8646e-02,3.9851e-02,-4.4797e-05,4.2185e-02,2.6963e-02,2.9336e-01,-1.6993e-03,2.4960e-03,-4.7662e-05,2.9761e-01,3.0200e-03
+40,2.8400e+01,DOWN_FORCE_DETACH,8.3016e-03,5.3074e-02,3.1328e-02,2.7731e+00,-3.8736e-02,3.9979e-02,-4.2443e-05,4.4802e-02,2.8480e-02,3.1411e-01,-1.7890e-03,2.6242e-03,-4.5308e-05,3.1856e-01,3.1763e-03
+41,2.8783e+01,DOWN_FORCE_DETACH,8.5135e-03,5.2835e-02,3.0231e-02,2.7873e+00,-3.8635e-02,3.9928e-02,-4.3693e-05,4.4564e-02,2.7383e-02,3.2840e-01,-1.6878e-03,2.5734e-03,-4.6558e-05,3.3254e-01,3.0778e-03
+42,2.9133e+01,DOWN_FORCE_DETACH,8.7153e-03,5.3700e-02,3.1416e-02,2.8078e+00,-3.8685e-02,3.9950e-02,-4.8825e-05,4.5428e-02,2.8568e-02,3.4889e-01,-1.7381e-03,2.5949e-03,-5.1691e-05,3.5300e-01,3.1237e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e76d096743449cccd5f6646ce3ecf766cd32cf26
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e64e0a603bb8f002927ee9028f03fe7103e98fef
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6dc08791aa8ef4284725c38e101503fa23e368d4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d24212b1e5e8aee89cd912a9eb3f1803e78c3cc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,7.833333333e-01,UP_FORCE_RAMP,1791364260066476303,-5.315547019e-06,-1.243029168e-06,-2.849775985e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.552769355e-07,1.287349769e-08,2.789397946e-08,7.015325559e-01,3.079321532e-07,8.407380914e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260195e-01,1.830755467e-06,8.297808044e-01
+7,8.833333333e-01,UP_FORCE_RAMP,1791364260212340900,-6.507384154e-06,-6.028293752e-06,-1.168368889e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.721257524e-07,1.430250451e-08,3.116365099e-08,7.015313641e-01,-4.477332431e-06,8.407397728e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260363e-01,1.832184474e-06,8.297808077e-01
+8,1.000000000e+00,UP_FORCE_RAMP,1791364260387313162,-6.725548796e-06,-1.089932811e-06,4.938242158e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.911444489e-07,1.594268054e-08,3.487642442e-08,7.015311459e-01,4.610285102e-07,8.407458794e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260554e-01,1.833824650e-06,8.297808114e-01
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+41,4.450000000e+00,UP_FORCE_RAMP,1791364265542041699,-5.361893822e-05,7.210183553e-06,3.278526546e-04,-5.086362668e-05,8.913707970e-06,3.156117833e-04,-5.045801805e-05,8.926585774e-06,3.142367167e-04,7.014842525e-01,8.761144874e-06,8.410687938e-01,7.014870079e-01,1.046466929e-05,8.410565530e-01,7.016754062e-01,1.074446774e-05,8.300950132e-01
+42,4.566666667e+00,UP_FORCE_RAMP,1791364265729687135,-5.359089402e-05,7.106545573e-06,3.362555834e-04,-5.201055573e-05,8.072769013e-06,3.366005243e-04,-5.156945996e-05,8.092975143e-06,3.351852241e-04,7.014842806e-01,8.657506894e-06,8.410771968e-01,7.014858609e-01,9.623730334e-06,8.410775417e-01,7.016742948e-01,9.910857113e-06,8.301159617e-01
+43,4.716666667e+00,UP_FORCE_RAMP,1791364265966103179,-5.231124457e-05,9.051877665e-06,3.456405645e-04,-5.201055573e-05,8.072769013e-06,3.366005243e-04,-5.156825507e-05,8.093550609e-06,3.352661501e-04,7.014855602e-01,1.060283899e-05,8.410865818e-01,7.014858609e-01,9.623730334e-06,8.410775417e-01,7.016742960e-01,9.911432578e-06,8.301160427e-01
+44,4.816666667e+00,UP_FORCE_RAMP,1791364266102113477,-4.965945409e-05,1.333724193e-05,3.538019176e-04,-5.201055573e-05,8.072769013e-06,3.366005243e-04,-5.156716744e-05,8.094185973e-06,3.353140141e-04,7.014882120e-01,1.488820326e-05,8.410947431e-01,7.014858609e-01,9.623730334e-06,8.410775417e-01,7.016742971e-01,9.912067943e-06,8.301160905e-01
+45,4.933333333e+00,UP_FORCE_RAMP,1791364266271906750,-4.998957914e-05,1.204105858e-05,3.583472190e-04,-4.990480439e-05,1.202333667e-05,3.580809759e-04,-4.931350975e-05,1.198841735e-05,3.566107603e-04,7.014878819e-01,1.359201990e-05,8.410992884e-01,7.014879667e-01,1.357429799e-05,8.410990222e-01,7.016765507e-01,1.380629932e-05,8.301373873e-01
+46,5.033333333e+00,UP_FORCE_RAMP,1791364266421792453,-5.247744562e-05,9.068080873e-06,3.601891077e-04,-4.990480439e-05,1.202333667e-05,3.580809759e-04,-4.931104289e-05,1.199195113e-05,3.566723555e-04,7.014853940e-01,1.061904219e-05,8.411011303e-01,7.014879667e-01,1.357429799e-05,8.410990222e-01,7.016765532e-01,1.380983310e-05,8.301374489e-01
+47,5.116666667e+00,UP_FORCE_RAMP,1791364266542460191,-5.220365198e-05,9.595019334e-06,3.648140974e-04,-4.990480439e-05,1.202333667e-05,3.580809759e-04,-4.930916110e-05,1.199294128e-05,3.567130552e-04,7.014856678e-01,1.114598066e-05,8.411057553e-01,7.014879667e-01,1.357429799e-05,8.410990222e-01,7.016765551e-01,1.381082325e-05,8.301374896e-01
+48,5.200000000e+00,UP_FORCE_RAMP,1791364266676447444,-5.217902816e-05,1.138142884e-05,3.676822048e-04,-4.990480439e-05,1.202333667e-05,3.580809759e-04,-4.930751616e-05,1.199385054e-05,3.567508965e-04,7.014856925e-01,1.293239016e-05,8.411086234e-01,7.014879667e-01,1.357429799e-05,8.410990222e-01,7.016765567e-01,1.381173251e-05,8.301375274e-01
+49,5.350000000e+00,UP_FORCE_RAMP,1791364266902158042,-5.278883012e-05,9.017271129e-06,3.754157375e-04,-4.990480439e-05,1.202333667e-05,3.580809759e-04,-4.930460900e-05,1.199523804e-05,3.568137823e-04,7.014850827e-01,1.056823245e-05,8.411163569e-01,7.014879667e-01,1.357429799e-05,8.410990222e-01,7.016765596e-01,1.381312001e-05,8.301375903e-01
+50,5.416666667e+00,UP_FORCE_RAMP,1791364267002198471,-5.750693632e-05,-6.435803589e-06,3.774986727e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688362791e-05,-1.016682884e-05,3.809684933e-04,7.014803645e-01,-4.884842268e-06,8.411184399e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689806e-01,-8.348946871e-06,8.301617450e-01
+51,5.550000000e+00,UP_FORCE_RAMP,1791364267202151399,-5.629036396e-05,-6.281965818e-06,3.830978373e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688629324e-05,-1.017062376e-05,3.810346950e-04,7.014815811e-01,-4.731004497e-06,8.411240390e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689779e-01,-8.352741791e-06,8.301618112e-01
+52,5.683333333e+00,UP_FORCE_RAMP,1791364267402146967,-5.933217122e-05,-6.375590119e-06,3.824903081e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688736892e-05,-1.017186341e-05,3.810916449e-04,7.014785393e-01,-4.824628798e-06,8.411234315e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689769e-01,-8.353981439e-06,8.301618682e-01
+53,5.866666667e+00,UP_FORCE_HOLD,1791364267672940639,-5.625412069e-05,-5.679169907e-06,3.927210869e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688787481e-05,-1.017234206e-05,3.811616975e-04,7.014816174e-01,-4.128208586e-06,8.411336623e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689763e-01,-8.354460091e-06,8.301619382e-01
+54,5.966666667e+00,UP_FORCE_HOLD,1791364267822808525,-5.799045306e-05,-8.257113942e-06,3.940907602e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688792301e-05,-1.017238611e-05,3.811967856e-04,7.014798810e-01,-6.706152621e-06,8.411350319e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689763e-01,-8.354504145e-06,8.301619733e-01
+55,6.083333333e+00,UP_FORCE_HOLD,1791364268003431834,-5.628822515e-05,-8.697072909e-06,3.991706978e-04,-5.739539474e-05,-1.029391652e-05,3.823785629e-04,-5.688786205e-05,-1.017234270e-05,3.812353766e-04,7.014815833e-01,-7.146111587e-06,8.411401119e-01,7.014804761e-01,-8.742955202e-06,8.411233198e-01,7.016689764e-01,-8.354460734e-06,8.301620119e-01
+56,6.233333333e+00,UP_FORCE_HOLD,1791364268222737446,-5.600053101e-05,-3.697279664e-06,4.047878900e-04,-5.573337347e-05,-3.734579948e-06,4.044535877e-04,-5.509478787e-05,-3.654150872e-06,4.031162342e-04,7.014818710e-01,-2.146318343e-06,8.411457291e-01,7.014821381e-01,-2.183618627e-06,8.411453948e-01,7.016707694e-01,-1.836268902e-06,8.301838927e-01
+57,6.316666667e+00,UP_FORCE_HOLD,1791364268342024590,-5.659615294e-05,-2.896568806e-06,4.044267888e-04,-5.573337347e-05,-3.734579948e-06,4.044535877e-04,-5.509381220e-05,-3.648233722e-06,4.031588778e-04,7.014812753e-01,-1.345607485e-06,8.411453680e-01,7.014821381e-01,-2.183618627e-06,8.411453948e-01,7.016707704e-01,-1.830351753e-06,8.301839354e-01
+58,6.450000000e+00,UP_FORCE_HOLD,1791364268543949814,-5.526608841e-05,-4.894729616e-06,4.127422043e-04,-5.573337347e-05,-3.734579948e-06,4.044535877e-04,-5.509235716e-05,-3.647273954e-06,4.032079104e-04,7.014826054e-01,-3.343768295e-06,8.411536834e-01,7.014821381e-01,-2.183618627e-06,8.411453948e-01,7.016707719e-01,-1.829391985e-06,8.301839844e-01
+59,6.583333333e+00,UP_SETTLE,1791364268742175282,-5.794487147e-05,-4.728453587e-06,4.122862040e-04,-5.573337347e-05,-3.734579948e-06,4.044535877e-04,-5.509121243e-05,-3.646791014e-06,4.032514382e-04,7.014799266e-01,-3.177492266e-06,8.411532274e-01,7.014821381e-01,-2.183618627e-06,8.411453948e-01,7.016707730e-01,-1.828909044e-06,8.301840279e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7da37b87f95170040284576f381c8a9e54e4bfc8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,8.4838e-03,2.8518e-03,2.4590e+00,-3.6948e-02,3.7370e-02,3.2115e-06,2.1252e-04,3.6086e-06,3.7193e-05,-4.4331e-07,1.4901e-05,3.5301e-07,2.1578e-04,1.4912e-05
+1,8.3333e-02,UP_FORCE_RAMP,2.6536e-05,9.2788e-03,2.8645e-03,2.4591e+00,-3.6949e-02,3.7425e-02,4.3113e-06,1.0074e-03,1.6246e-05,1.5831e-04,-1.9521e-06,6.9961e-05,1.4529e-06,1.0199e-03,7.0003e-05
+2,2.3333e-01,UP_FORCE_RAMP,5.4447e-05,1.0613e-02,2.8916e-03,2.4593e+00,-3.6952e-02,3.7518e-02,6.4323e-06,2.3413e-03,4.3326e-05,3.8409e-04,-5.1819e-06,1.6310e-04,3.5738e-06,2.3730e-03,1.6322e-04
+3,3.6667e-01,UP_FORCE_RAMP,8.1471e-05,1.1750e-02,2.9161e-03,2.4595e+00,-3.6955e-02,3.7597e-02,8.3791e-06,3.4782e-03,6.7844e-05,5.8699e-04,-8.1807e-06,2.4242e-04,5.5206e-06,3.5280e-03,2.4262e-04
+4,4.6667e-01,UP_FORCE_RAMP,1.1233e-04,1.2561e-02,2.9349e-03,2.4597e+00,-3.6958e-02,3.7654e-02,9.8893e-06,4.2895e-03,8.6718e-05,7.3671e-04,-1.0479e-05,2.9929e-04,7.0309e-06,4.3532e-03,2.9955e-04
+5,6.1667e-01,UP_FORCE_RAMP,1.4207e-04,1.3748e-02,2.9628e-03,2.4599e+00,-3.6961e-02,3.7737e-02,1.2171e-05,5.4765e-03,1.1458e-04,9.5987e-04,-1.3880e-05,3.8222e-04,9.3123e-06,5.5611e-03,3.8258e-04
+6,7.8333e-01,UP_FORCE_RAMP,1.6984e-04,1.5004e-02,2.9931e-03,2.4601e+00,-3.6965e-02,3.7825e-02,1.4723e-05,6.7328e-03,1.4491e-04,1.2002e-03,-1.7568e-05,4.7007e-04,1.1864e-05,6.8404e-03,4.7055e-04
+7,8.8333e-01,UP_FORCE_RAMP,1.9978e-04,1.5728e-02,3.0108e-03,2.4603e+00,-3.6967e-02,3.7876e-02,1.6252e-05,7.4571e-03,1.6261e-04,1.3404e-03,-1.9711e-05,5.2076e-04,1.3394e-05,7.5784e-03,5.2130e-04
+8,1.0000e+00,UP_FORCE_RAMP,2.2496e-04,1.6545e-02,3.0310e-03,2.4604e+00,-3.6969e-02,3.7933e-02,1.8027e-05,8.2735e-03,1.8281e-04,1.5001e-03,-2.2151e-05,5.7793e-04,1.5169e-05,8.4104e-03,5.7855e-04
+9,1.1000e+00,UP_FORCE_RAMP,2.5714e-04,1.7221e-02,3.0487e-03,2.4606e+00,-3.6971e-02,3.7980e-02,1.9539e-05,8.9497e-03,2.0043e-04,1.6329e-03,-2.4222e-05,6.2532e-04,1.6680e-05,9.0997e-03,6.2601e-04
+10,1.1833e+00,UP_FORCE_RAMP,2.8268e-04,1.7768e-02,3.0631e-03,2.4607e+00,-3.6973e-02,3.8018e-02,2.0789e-05,9.4969e-03,2.1492e-04,1.7409e-03,-2.5921e-05,6.6366e-04,1.7930e-05,9.6575e-03,6.6441e-04
+11,1.3000e+00,UP_FORCE_RAMP,3.1345e-04,2.0826e-02,4.7509e-03,2.4539e+00,-3.7091e-02,3.8243e-02,2.3483e-05,1.2555e-02,1.9027e-03,-5.0230e-03,-1.4415e-04,8.8783e-04,2.0625e-05,1.3656e-02,8.9969e-04
+12,1.4000e+00,UP_FORCE_RAMP,3.3779e-04,2.1315e-02,4.7364e-03,2.4544e+00,-3.7091e-02,3.8276e-02,2.4982e-05,1.3044e-02,1.8882e-03,-4.5311e-03,-1.4410e-04,9.2161e-04,2.2123e-05,1.3937e-02,9.3307e-04
+13,1.5000e+00,UP_FORCE_RAMP,3.6803e-04,2.1916e-02,7.5663e-04,2.4467e+00,-3.6816e-02,3.8328e-02,2.3870e-05,1.3645e-02,-2.0916e-03,-1.2219e-02,1.3128e-04,9.7274e-04,2.1012e-05,1.8436e-02,9.8178e-04
+14,1.6167e+00,UP_FORCE_RAMP,3.9653e-04,2.2484e-02,8.0654e-04,2.4477e+00,-3.6820e-02,3.8366e-02,2.5554e-05,1.4212e-02,-2.0417e-03,-1.1281e-02,1.2698e-04,1.0115e-03,2.2695e-05,1.8260e-02,1.0197e-03
+15,1.7333e+00,UP_FORCE_RAMP,4.2583e-04,2.3911e-02,1.3195e-03,2.4410e+00,-3.6857e-02,3.8475e-02,2.7411e-05,1.5640e-02,-1.5287e-03,-1.7897e-02,9.0457e-05,1.1204e-03,2.4553e-05,2.3817e-02,1.1243e-03
+16,1.8167e+00,UP_FORCE_RAMP,4.5113e-04,2.3183e-02,2.1022e-03,2.4346e+00,-3.6910e-02,3.8430e-02,2.8699e-05,1.4912e-02,-7.4603e-04,-2.4332e-02,3.7417e-05,1.0756e-03,2.5841e-05,2.8547e-02,1.0766e-03
+17,1.9333e+00,UP_FORCE_RAMP,4.8071e-04,2.3917e-02,2.0519e-03,2.4361e+00,-3.6909e-02,3.8481e-02,3.0689e-05,1.5645e-02,-7.9634e-04,-2.2848e-02,3.7964e-05,1.1257e-03,2.7830e-05,2.7702e-02,1.1267e-03
+18,2.0333e+00,UP_FORCE_RAMP,5.0994e-04,2.4209e-02,7.1553e-04,2.4299e+00,-3.6817e-02,3.8508e-02,3.1164e-05,1.5937e-02,-2.1327e-03,-2.9001e-02,1.2998e-04,1.1535e-03,2.8306e-05,3.3160e-02,1.1612e-03
+19,2.1333e+00,UP_FORCE_RAMP,5.3765e-04,2.4148e-02,-1.5860e-03,2.4236e+00,-3.6658e-02,3.8511e-02,3.0960e-05,1.5877e-02,-4.4343e-03,-3.5374e-02,2.8906e-04,1.1566e-03,2.8101e-05,3.9026e-02,1.1925e-03
+20,2.2500e+00,UP_FORCE_RAMP,5.6314e-04,2.3814e-02,4.0284e-04,2.4184e+00,-3.6797e-02,3.8494e-02,3.3609e-05,1.5543e-02,-2.4454e-03,-4.0527e-02,1.5009e-04,1.1389e-03,3.0750e-05,4.3474e-02,1.1492e-03
+21,2.3667e+00,UP_FORCE_RAMP,5.9113e-04,2.4394e-02,3.8251e-04,2.4207e+00,-3.6796e-02,3.8533e-02,3.4908e-05,1.6123e-02,-2.4657e-03,-3.8280e-02,1.5074e-04,1.1779e-03,3.2050e-05,4.1610e-02,1.1879e-03
+22,2.4833e+00,UP_FORCE_RAMP,6.2032e-04,2.5962e-02,1.5298e-04,2.4150e+00,-3.6781e-02,3.8651e-02,3.6242e-05,1.7691e-02,-2.6952e-03,-4.3917e-02,1.6622e-04,1.2965e-03,3.3383e-05,4.7423e-02,1.3076e-03
+23,2.6167e+00,UP_FORCE_RAMP,6.4912e-04,2.6899e-02,-1.2755e-03,2.4102e+00,-3.6682e-02,3.8724e-02,3.6875e-05,1.8628e-02,-4.1237e-03,-4.8772e-02,2.6490e-04,1.3695e-03,3.4017e-05,5.2371e-02,1.3953e-03
+24,2.7333e+00,UP_FORCE_RAMP,6.7608e-04,2.7338e-02,-1.2481e-03,2.4128e+00,-3.6685e-02,3.8753e-02,3.8002e-05,1.9067e-02,-4.0963e-03,-4.6144e-02,2.6240e-04,1.3986e-03,3.5144e-05,5.0096e-02,1.4235e-03
+25,2.8167e+00,UP_FORCE_RAMP,7.0318e-04,3.0230e-02,-2.8798e-03,2.4070e+00,-3.6571e-02,3.8965e-02,3.8030e-05,2.1959e-02,-5.7281e-03,-5.1902e-02,3.7612e-04,1.6102e-03,3.5172e-05,5.6647e-02,1.6540e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cadcc463942a9fcce988295274f944f56a43fcb5
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 4864000
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9be93001e06197003cf583ff13ef71d890883935
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/fem_node.csv
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+59,3.043333e+01,256,7.007479e-01,2.857713e-02,8.108081e-01,-3.487301e-05,-1.055719e-04,-9.064018e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,257,6.923675e-01,2.669856e-02,8.183086e-01,-1.713535e-05,-1.011191e-04,-9.037415e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,258,7.054192e-01,2.130318e-02,8.171069e-01,-1.871922e-05,-8.920869e-05,-9.053590e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,259,7.037611e-01,2.677039e-02,8.300491e-01,2.261714e-05,-9.635301e-05,-9.056528e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,260,7.072290e-01,2.544518e-02,8.278338e-01,2.319142e-05,-9.801253e-05,-9.064295e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,261,7.063806e-01,2.110541e-02,8.195358e-01,-8.344780e-06,-8.694352e-05,-9.058834e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,262,7.060075e-01,2.543313e-02,8.128149e-01,-2.866813e-05,-1.042215e-04,-9.072750e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,263,6.963077e-01,2.703401e-02,8.126587e-01,-2.952863e-05,-1.042089e-04,-9.048311e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,264,7.084626e-01,2.540697e-02,8.266260e-01,2.116473e-05,-9.914549e-05,-9.070902e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,265,7.070105e-01,2.181607e-02,8.180071e-01,-1.360437e-05,-9.365902e-05,-9.063670e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.043333e+01,266,6.948398e-01,2.404619e-02,8.254221e-01,-3.028985e-06,-9.694997e-05,-9.028647e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a14e07b9141ff8e1962fccc516c5e686ef0456c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+6386,1791280423708851475,12749955000000,1791280423708676117,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6759942506354627,-0.004765587909568483,0.09059505837707484,0.9999999726397008,0.00010475004442362557,-0.00016011701338705908,9.774166117062274e-05,0.6761,-0.0048,0.09066263534737534,1.0,0.0,0.0,0.0,-0.12484613790747641,-0.17164588075787385,0.15812640590803384,-0.010454832039117347,0.007983059078386767,-0.0007236953579247741,-0.09987568515794587,-0.12983869888929736,0.39488233277982004,-0.01344000716128553,0.004314946007142218,-0.0024222565503227446,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1275618427970673,-0.5196541042807458,0.17144582175375378,0.619086768354247,0.07612900960788972,-0.385067458245125,0.7073295706247651,0.15812640590803384,0.5358837488710113,0.5358837488710113,0.6015474769703325,0,0,-7.494689724799197e-05,9.999695102370083e-05
+6530,1791280424908879284,12751155000000,1791280424908684990,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6759942539083356,-0.004766473291367726,0.09050705987814413,0.9999999725290817,0.00010430654667288024,-0.0001601737330798382,9.924323589171202e-05,0.6761,-0.0048,0.09056619067634353,1.0,0.0,0.0,0.0,-0.13102007789554654,-0.17081499758503169,0.20820737681081897,-0.010495410000307123,0.00890070540107257,-0.00017806180332561607,-0.106049625146016,-0.1290078157164552,0.44496330368260517,-0.013480585122475306,0.00523259232982802,-0.0018766229957235866,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1609817701880902,-0.5648315700908342,0.16707085699857072,0.635471328528881,0.08448452912211034,-0.41436732679911187,0.7073295706247651,0.20820737681081897,0.5402587136261944,0.5402587136261944,0.6735474769702713,0,0,-8.251695461665694e-05,2.5693905153644528e-05
+6694,1791280426275977259,12752522000000,1791280426268686197,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.67601770947176,-0.0047654658686556795,0.09041499509191062,0.9999999741965068,0.00012434823543883635,-0.00012923556662244827,0.00010433376638077542,0.6761,-0.0048,0.09044793355693974,1.0,0.0,0.0,0.0,-0.14025837786542322,-0.16922757678022102,0.2574893244952695,-0.010508042309535233,0.008887772906991286,0.00018616388254003155,-0.1152879251158927,-0.12742039491164453,0.4942452513670557,-0.013493217431703416,0.005219659835746736,-0.001512397309857939,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.167280934036301,-0.5613770535100749,0.04291418513649485,0.6517204887430769,0.1574042499507169,-0.4031628105099602,0.7073295706247651,0.2574893244952695,0.6644153854882703,0.6644153854882703,0.7555674769702015,0,0,-9.080598302871478e-05,9.976484502261513e-05
+6834,1791280427443027839,12753689000000,1791280427440685424,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.676017417201486,-0.004772687155961473,0.09031042055009814,0.9999999749026486,0.0001232249061865291,-0.0001272622199451142,0.00010127939832742195,0.6761,-0.0048,0.09033812956847773,1.0,0.0,0.0,0.0,-0.13730573101476523,-0.17453489870115949,0.30900619834416915,-0.01017486615052687,0.008877286943452564,-0.00033217239644146965,-0.11233527826523469,-0.132727716832583,0.5457621252159554,-0.013160041272695053,0.005209173872208014,-0.00203073358883944,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1601612921130784,-0.5413253768681894,0.022174637730326456,0.6484481634208247,0.16620865034198956,-0.39651813625070026,0.7073295706247651,0.30900619834416915,0.6851549328944386,0.6851549328944386,0.825587476970142,0,0,-9.275410161183194e-05,4.936978190007153e-05
+6975,1791280428618032948,12754864000000,1791280428612685346,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760143623147152,-0.004770845351939571,0.09019881523505797,0.999999973822049,0.00012697429757478867,-0.00012952237377467042,0.00010440425358056572,0.6761,-0.0048,0.090225401636425,1.0,0.0,0.0,0.0,-0.1333933524582014,-0.175260940367698,0.3691527497117791,-0.0105301254748796,0.00886429349106151,9.746225296322088e-05,-0.10842289970867085,-0.1334537584991215,0.6059086765835653,-0.013515300597047784,0.005196180419816961,-0.0016010989394347496,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.2431819165417177,-0.5795842293963722,0.0282422009550697,0.6562632580498692,0.18301061223311238,-0.425453742288182,0.7073295706247651,0.3691527497117791,0.6790873696696954,0.6790873696696954,0.8960874769700821,0,0,-9.960356733426513e-05,-9.999581304510059e-05
+7098,1791280429643077460,12755889000000,1791280429636686252,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760107718142688,-0.00477000858915556,0.09008969276130917,0.9999999727264648,0.00012584816523726665,-0.00013603819139792095,0.00010791563269228105,0.6761,-0.0048,0.09012114445418226,1.0,0.0,0.0,0.0,-0.1406583422355956,-0.18218117754404878,0.41928615626773363,-0.010540647255807715,0.008854264054941705,5.607029120740159e-05,-0.11568788948606505,-0.1403739956754723,0.6560420831395198,-0.013525822377975899,0.005186150983697156,-0.001642490901190569,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.2392488233926446,-0.5251659796951598,-0.1567929634307429,0.6439958101822594,0.2984409687766291,-0.3872589668824704,0.7073295706247651,0.41928615626773363,0.864122534055508,0.864122534055508,0.9575874769700298,0,0,-0.00010293308107670184,9.781264273390206e-05
+7230,1791280430743144833,12756989000000,1791280430736685697,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760216089816832,-0.004769605547904369,0.08998974732084748,0.9999999768674878,0.00011471374310853907,-0.00012030785872946878,0.00010037262957228927,0.6761,-0.0048,0.090005442144496,1.0,0.0,0.0,0.0,-0.14076224478469163,-0.1813071365997464,0.45941948688444406,-0.01054994408467174,0.008916572540679301,2.4740414966528896e-05,-0.1157917920351611,-0.1394999547311699,0.6961754137562303,-0.013535119206839924,0.005248459469434751,-0.0016738207774314416,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1773018680090048,-0.6265462941303657,-0.10793600835388537,0.6747348207103769,0.247242027422892,-0.4553311303774728,0.7073295706247651,0.45941948688444406,0.8152655789786505,0.8152655789786505,1.0235874769699738,0,0,-0.0001087299349125922,-9.912593942751897e-05
+7328,1791280431559167228,12757805000000,1791280431552685018,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760274334720855,-0.0047687625777482,0.08991002871049962,0.9999999783276997,0.0001109706171491488,-0.00011190914524049872,9.97463272683394e-05,0.6761,-0.0048,0.08991505734640662,1.0,0.0,0.0,0.0,-0.1411266391468047,-0.17096407481475978,0.4995095007896598,-0.01058046315381933,0.009799687803119541,6.159174066874135e-06,-0.11615618639727418,-0.1291568929461833,0.736265427661446,-0.013565638275987514,0.006131574731874993,-0.0016924020183310964,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.142728302712574,-0.5129340678051091,-0.16132227870621213,0.6403874020765958,0.27180763362785626,-0.38195158338570473,0.7073295706247651,0.4995095007896598,0.8686518493309772,0.8686518493309772,1.0725474769699321,0,0,-0.00011042664521262869,-7.866212822638658e-05
+7446,1791280432543249279,12758789000000,1791280432540685502,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760332604849615,-0.004775277687689439,0.08980684533087613,0.9999999788522506,0.00010990869944112227,-0.00010387236071471317,0.00010425436863430598,0.6761,-0.0048,0.0898021217136757,1.0,0.0,0.0,0.0,-0.14128707556219122,-0.1790813656097068,0.5396259184778585,-0.01059061211971816,0.00984129747291173,-2.5510322641344053e-05,-0.1163166228126607,-0.13727418374113032,0.7763818453496446,-0.013575787241886343,0.00617318440166718,-0.0017240715150393146,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1446165533009995,-0.4892381906435205,-0.14750302518996475,0.6300754961861056,0.25815175480982205,-0.3679364610526717,0.7073295706247651,0.5396259184778585,0.8548325958147298,0.8548325958147298,1.131587476969882,0,0,-0.00011472525988517746,-9.99999347480795e-05
+7573,1791280433601226630,12759847000000,1791280433600684578,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.676041942526037,-0.004778741343405724,0.08970148912386107,0.9999999772411237,0.0001263398756343884,-8.998088042765574e-05,0.00011358826381711476,0.6761,-0.0048,0.08967495183337927,1.0,0.0,0.0,0.0,-0.15017005556715535,-0.18195132265997416,0.588960844851532,-0.010600241104675678,0.009831073730342862,-6.670671508948495e-05,-0.12519960281762482,-0.14014414079139767,0.8257167717233181,-0.013585416226843861,0.006162960659098313,-0.0017652679074874555,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.139054884561105,-0.5280144573542279,-0.3169366504360937,0.647129417065361,0.3594823818804714,-0.3898346880927697,0.7073295706247651,0.588960844851532,1.0242662210608589,1.0242662210608589,1.195067476969828,0,0,-0.00012597508989156824,9.343531090356123e-05
+7695,1791280434618292875,12760864000000,1791280434616684785,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760427266982443,-0.00477794083463211,0.08957196450818235,0.9999999785102746,0.00012362484098573946,-8.652565008974075e-05,0.00010794686315850108,0.6761,-0.0048,0.08954594455827958,1.0,0.0,0.0,0.0,-0.1435452489304228,-0.18549888808453985,0.6399410101857463,-0.010610577672090173,0.009820229818170222,-0.00010667587106631638,-0.11857479618089228,-0.14369170621596336,0.8766969370575326,-0.013595752794258356,0.006152116746925673,-0.001805237063464287,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.125691345678239,-0.5631088295269676,-0.419136640288793,0.6602116015618807,0.42065924735218324,-0.41515549168463584,0.7073295706247651,0.6399410101857463,1.1264662109135581,1.1264662109135581,1.256087476969776,0,0,-0.0001277564026694059,9.999092806379223e-05
+7827,1791280435718339302,12761964000000,1791280435716685705,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760426269490024,-0.004781747082027126,0.08942997285449002,0.9999999809461387,0.000109341814906844,-8.70125188954399e-05,0.00010011880734040318,0.6761,-0.0048,0.08940256676655278,1.0,0.0,0.0,0.0,-0.14499063381354807,-0.183666125715649,0.6901093798272584,-0.010619785666691342,0.00980931839808824,-0.0001475337679695903,-0.12002018106401754,-0.1418589438470725,0.9268653066990445,-0.013604960788859526,0.006141205326843691,-0.0018460949603675608,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.150893697829922,-0.4926173558828503,-0.3666342419277931,0.6387241069294436,0.3941203402463374,-0.3690476240155116,0.7073295706247651,0.6901093798272584,1.0739638125525581,1.0739638125525581,1.32208747696972,0,0,-0.00013456151473220513,-5.772640285084947e-05
+7932,1791280436593318413,12762839000000,1791280436592675738,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760465126457356,-0.004777440985535051,0.08931135614869579,0.9999999812780316,0.0001080103071896458,-8.379584859410073e-05,0.00010098925707761215,0.6761,-0.0048,0.08928307830893632,1.0,0.0,0.0,0.0,-0.14727886695008516,-0.19203985568424808,0.7341895944012706,-0.010628848680170614,0.009800234160132086,-0.00018538093704454825,-0.12230841420055462,-0.1502326738156716,0.9709455212730568,-0.013614023802338797,0.006132121088887538,-0.0018839421294425188,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1686299696536142,-0.5115836499515753,-0.49701449165280315,0.6462173139187654,0.4797446439580818,-0.38230273711167906,0.7073295706247651,0.7341895944012706,1.2043440622775683,1.2043440622775683,1.3745874769696753,0,0,-0.00013824772915752159,9.935288289154016e-05
+8063,1791280437684297630,12763930000000,1791280437676675880,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760488292323752,-0.0047883644299167635,0.0891584597092162,0.9999999815448389,9.981003212798412e-05,-8.08470988234984e-05,0.00010888016450136423,0.6761,-0.0048,0.08912657525000578,1.0,0.0,0.0,0.0,-0.15157893067309144,-0.18742122243676046,0.7802380733057481,-0.010662414010182312,0.010721657006208453,-0.00020667461691273163,-0.12660847792356092,-0.14561404056818397,1.0169940001775344,-0.013647589132350495,0.007053543934963903,-0.0019052358093107021,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1348267986223206,-0.6107287970167291,-0.4411367303761191,0.673744058106546,0.4306860256438612,-0.45113424845431543,0.7073295706247651,0.7802380733057481,1.1484663010008842,1.1484663010008842,1.4400474769696197,0,0,-0.00014719623110256842,-9.972319778140388e-05
+8191,1791280438751458655,12764997000000,1791280438748676171,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760475435264451,-0.004792204615400893,0.0889824152872294,0.9999999800597836,0.00010873590440906764,-8.647975650212879e-05,0.00010964055623479617,0.6761,-0.0048,0.08896098331486019,1.0,0.0,0.0,0.0,-0.1601623517154868,-0.20427081039787773,0.8201722121974422,-0.010657510444111161,0.009783294719870368,-0.00025475766221713203,-0.13519189896595626,-0.16246362852930124,1.0569281390692284,-0.013642685566279344,0.006115181648625819,-0.0019533188546151025,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.073151055381785,-0.6112763345711231,-0.5031668791520233,0.6792260371979567,0.45412837787337246,-0.45026227127571755,0.7073295706247651,0.8201722121974422,1.2104964497767883,1.2104964497767883,1.5040674769695652,0,0,-0.00016245349264007303,-9.987577018056299e-05
+8300,1791280439659468666,12765905000000,1791280439656675432,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760518430658444,-0.00479719860050222,0.08883179705975001,0.9999999804950687,0.00010967164553689527,-7.923532566924103e-05,0.0001102117057033544,0.6761,-0.0048,0.08880551567740409,1.0,0.0,0.0,0.0,-0.15967089275801633,-0.2004414350081231,0.8389849527095381,-0.011299108769448446,0.009795005030547154,-0.0002800196740104504,-0.1347004400084858,-0.1586342531395466,1.0757408795813244,-0.01428428389161663,0.006126891959302604,-0.001978580866408421,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1064394572699503,-0.5495401393027785,-0.5716944914349635,0.6812895662696954,0.4985322436108028,-0.40172723993683773,0.7073295706247651,0.8389849527095381,1.2790240620597286,1.2790240620597286,1.558547476969519,0,0,-0.00017908672790970114,4.08584930041755e-05
+8405,1791280440534464769,12766780000000,1791280440528676013,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760517414220227,-0.004800524797801076,0.08867218115296803,0.9999999800870273,0.0001104687615350946,-8.028758071054099e-05,0.00011233595403509444,0.6761,-0.0048,0.0886433107729073,1.0,0.0,0.0,0.0,-0.16052137358308546,-0.2047897588456794,0.8605899749079282,-0.010672874421919906,0.009777175133284514,-0.0002873400458747314,-0.13555092083355494,-0.16298257697710292,1.0973459017797145,-0.013658049544088089,0.0061090620620399645,-0.001985901238272702,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.056533910830423,-0.510430518030028,-0.622866438522232,0.664880293505973,0.5183511987090588,-0.38234933303772733,0.7073295706247651,0.8605899749079282,1.330196009146997,1.330196009146997,1.6110474769694743,0,0,-0.00019348617830564218,9.375000361989123e-05
+8507,1791280441384535706,12767630000000,1791280441380685193,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760526756961756,-0.0048059943013124004,0.08850133863161631,0.999999980203309,0.0001072998819048111,-8.007158795886405e-05,0.00011450555388333734,0.6761,-0.0048,0.08847147738729753,1.0,0.0,0.0,0.0,-0.16035650603087215,-0.21001163808945164,0.8902641545098231,-0.011698455000063543,0.010436046540549918,-0.00031250669048460216,-0.13538605328134162,-0.16820445622087515,1.1270200813816094,-0.014683630122231726,0.00676793346930537,-0.0020110678828825727,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.022392828506069,-0.5488971859127281,-0.5137082751346351,0.6719198967975393,0.4355481415539122,-0.41173181051589125,0.7073295706247651,0.8902641545098231,1.2210378457594002,1.2210378457594002,1.662047476969431,0,0,-0.00021035952777889578,-9.999888003620611e-05
+8611,1791280442251568843,12768497000000,1791280442248675488,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760495134599273,-0.004807208885271781,0.08830519529141262,0.9999999798759439,0.00010879226071136123,-8.517201057103303e-05,0.0001122539478919813,0.6761,-0.0048,0.08827692355020479,1.0,0.0,0.0,0.0,-0.16008189122883393,-0.21733477407004353,0.9003116600989229,-0.011684764740292421,0.009815830900951237,-0.0003302661400878058,-0.1351114384793034,-0.17552759220146705,1.1370675869707092,-0.014669939862460605,0.0061477178297066875,-0.0020288273324857763,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.063221703091201,-0.6285352841091602,-0.5773992958800226,0.696032255029804,0.48354919755719045,-0.46198100165141603,0.7073295706247651,0.9003116600989229,1.2847288665047878,1.2847288665047878,1.7140674769693867,0,0,-0.0002387183943672585,-9.958944366251216e-05
+8704,1791280443026554921,12769272000000,1791280443024675534,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760497903720837,-0.004811561913108753,0.08811129379703876,0.9999999795488216,0.00010874954777039192,-8.675225953979261e-05,0.00011398597325801436,0.6761,-0.0048,0.08808463659227393,1.0,0.0,0.0,0.0,-0.16373420046373433,-0.21682999908380512,0.9102492613387627,-0.011685493278825333,0.00978374848520076,-0.0003390556116178746,-0.1387637477142038,-0.17502281721522864,1.147005188210549,-0.014670668400993516,0.006115635413956212,-0.002037616804015845,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9623700578317748,-0.491248300958653,-0.5107846008738227,0.6632205598758492,0.4086233315205488,-0.3707567999226719,0.7073295706247651,0.9102492613387627,1.2181141714985877,1.2181141714985877,1.7605674769693471,0,0,-0.0002596518010003753,-9.999997638144293e-05
+8791,1791280443751626001,12769997000000,1791280443748675978,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760474099213539,-0.004811657319573674,0.08790645250167439,0.9999999788582055,0.00010565857432415377,-9.296446595316001e-05,0.00011798443475004086,0.6761,-0.0048,0.08788748995280338,1.0,0.0,0.0,0.0,-0.16013813940999228,-0.2179140683501711,0.92037999557227,-0.01168769867997263,0.009781447728323261,-0.00034691617089960334,-0.13516768666046175,-0.17610688648159462,1.1571359224440563,-0.014672873802140813,0.006113334657078713,-0.002045477363297574,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.950830197410777,-0.5807390666813234,-0.46683251799388564,0.6896285666876544,0.3775066228464126,-0.4319850460550465,0.7073295706247651,0.92037999557227,1.1741620886186508,1.1741620886186508,1.8040674769693101,0,0,-0.0002859795823026686,-9.999999025923074e-05
+8872,1791280444426602260,12770672000000,1791280444424676023,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760466813993254,-0.004802669212194552,0.08770132100318634,0.9999999775762257,0.00011632416117256177,-9.5285148678516e-05,0.00011696085918447626,0.6761,-0.0048,0.08768567849663596,1.0,0.0,0.0,0.0,-0.15127456639749282,-0.1987687066920561,0.9108755994356863,-0.011683207014203598,0.009781765367237173,-0.00033798911949033486,-0.1263041136479623,-0.1569615248234796,1.1476315263074726,-0.01466838213637178,0.0061136522959926234,-0.0020365503118883054,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.949748113562952,-0.4797662695641318,-0.5215504952550575,0.6688459471966864,0.4110951805368354,-0.3616493315686415,0.7073295706247651,0.9108755994356863,1.2288800658798227,1.2288800658798227,1.8445674769692757,0,0,-0.0003107387030146499,-9.999999025923074e-05
+8950,1791280445076592635,12771322000000,1791280445076675866,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760450803277283,-0.004797337011054735,0.08749829645665953,0.9999999772590219,0.00012070010266081803,-9.589159676187019e-05,0.00011472186831772003,0.6761,-0.0048,0.08747584865958583,1.0,0.0,0.0,0.0,-0.15116527230563312,-0.2049631721442376,0.9108188471425822,-0.010929781151596306,0.008885687621912098,-0.00034192394049252614,-0.1261948195561026,-0.1631559902756611,1.1475747740143685,-0.01391495627376449,0.005217574550667548,-0.0020404851328904967,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9471392213634889,-0.6237465002792898,-0.5757738095924942,0.7105519736971893,0.4435451502959559,-0.4591401362637283,0.7073295706247651,0.9108188471425822,1.2831033802172593,1.2831033802172593,1.8835674769692425,0,0,-0.0003372934909248989,-9.999999025923074e-05
+9016,1791280445626640827,12771872000000,1791280445624675896,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760460564877466,-0.004799106889559057,0.08730982723397625,0.9999999771091492,0.00012070636220916741,-9.523326493826337e-05,0.00011655541560801862,0.6761,-0.0048,0.08728414192235628,1.0,0.0,0.0,0.0,-0.15116242753339437,-0.20066147861984404,0.9195398844630533,-0.010638098237981444,0.00874797510189185,-0.0003493604634222313,-0.12619197478386385,-0.15885429675126755,1.1562958113348396,-0.013623273360149627,0.005079862030647301,-0.002047921655820202,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9895015690868696,-0.6072552103016745,-0.5097280535775777,0.7082814152291441,0.4130012963418509,-0.4490525784771714,0.7073295706247651,0.9195398844630533,1.2170576242023428,1.2170576242023428,1.9165674769692145,0,0,-0.0003604150563233085,-9.999990699250389e-05
+9086,1791280446209620655,12772455000000,1791280446208675652,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760458636455428,-0.004804630363076619,0.0870939711299013,0.9999999778730992,0.0001146088088620985,-9.262072417487366e-05,0.00011824926186759584,0.6761,-0.0048,0.08706714977126993,1.0,0.0,0.0,0.0,-0.15094139519715197,-0.19607350563082546,0.9009593305656958,-0.010644736407986532,0.009152088485368658,-0.0003280870332384538,-0.12597094244762144,-0.15426632376224897,1.137715257437482,-0.013629911530154715,0.0054839754141241094,-0.0020266482256364243,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9928142981861781,-0.5771157666377278,-0.5206677797564767,0.7202005817847221,0.41832397195272414,-0.4233800691559503,0.7073295706247651,0.9009593305656958,1.2279973503812418,1.2279973503812418,1.9515474769691847,0,0,-0.0003825582934977297,-9.55796789200491e-05
+9148,1791280446726702774,12772972000000,1791280446720676189,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760464233942315,-0.004802456663233278,0.08689339939630185,0.9999999783808994,0.00011145230760116027,-9.255316443330831e-05,0.00011701863090838022,0.6761,-0.0048,0.08686389703453207,1.0,0.0,0.0,0.0,-0.15110389660013987,-0.18646540913907478,0.9108912364691946,-0.010634235788297766,0.008748787810196727,-0.0003423473784616379,-0.12613344385060934,-0.1446582272704983,1.1476471633409808,-0.01361941091046595,0.005080674738952178,-0.0020409085708596084,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9215613767133181,-0.5751111089139784,-0.4648168352207785,0.7175730449922393,0.36574534143179377,-0.42365469457604865,0.7073295706247651,0.9108912364691946,1.1721464058455435,1.1721464058455435,1.9825674769691584,0,0,-0.00040223354210863613,-9.975399259254942e-05
+9208,1791280447226666056,12773472000000,1791280447224675828,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760454370019506,-0.004809856856735625,0.08668655478440937,0.9999999782859722,0.00010676977700744361,-9.502307953434467e-05,0.00012017382621119679,0.6761,-0.0048,0.08665830529656943,1.0,0.0,0.0,0.0,-0.15112816236869034,-0.19570536193967153,0.9108632316965448,-0.010635626928871088,0.008749590410127525,-0.0003423409515058396,-0.1261577096191598,-0.15389818007109504,1.147619158568331,-0.013620802051039271,0.005081477338882976,-0.00204090214390381,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.970793494981011,-0.5070131292623252,-0.5132745181725056,0.7003957657587933,0.41152446789816366,-0.3798205467407907,0.7073295706247651,0.9108632316965448,1.2206040887972707,1.2206040887972707,2.012567476969133,0,0,-0.0004202797694266832,-9.998415570334202e-05
+9266,1791280447709678548,12773955000000,1791280447704675308,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760448646842929,-0.004813933441799882,0.08648710410930018,0.9999999782527776,0.00011169247228505445,-9.388644143912846e-05,0.00011682224288839993,0.6761,-0.0048,0.08645045041591527,1.0,0.0,0.0,0.0,-0.14566247860028214,-0.1911412197080361,0.9048185355033107,-0.010630776587250925,0.008750345615313649,-0.0003367555413656897,-0.1206920258507516,-0.14933403783945962,1.141574462375097,-0.013615951709419108,0.0050822325440690996,-0.00203531673376366,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0035139394114931,-0.4976307717602833,-0.7034383287048045,0.6992286935706975,0.5420302623406131,-0.37088820226492114,0.7073295706247651,0.9048185355033107,1.4107678993295696,1.4107678993295696,2.041547476969108,0,0,-0.0004390928667788189,9.566153011253959e-05
+9323,1791280448184669252,12774430000000,1791280448184675575,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.676039707867887,-0.004808730781392672,0.08627133923388655,0.9999999770336871,0.00011339878838475178,-0.00010075666126436292,0.00011985115623771758,0.6761,-0.0048,0.08623813576408416,1.0,0.0,0.0,0.0,-0.14187556155229594,-0.18564797309511588,0.9009035008258894,-0.010551383635145609,0.008749246942081436,-0.0003326015451673395,-0.1169051088027654,-0.1438407912265394,1.1376594276976757,-0.013536558757313792,0.005081133870836888,-0.00203116273756531,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0262960984596756,-0.45556671927137665,-0.5753982846838722,0.6928749451731397,0.46434431504266993,-0.3416541803469635,0.7073295706247651,0.9009035008258894,1.2827278553086372,1.2827278553086372,2.070047476969084,0,0,-0.0004551164543523375,-9.999999025923074e-05
+9376,1791280448626690329,12774872000000,1791280448624675694,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.676044347265224,-0.004804584073332173,0.08607565147910597,0.9999999777920388,0.00011457425913431346,-9.197209983482733e-05,0.00011946823179163604,0.6761,-0.0048,0.08603302071368353,1.0,0.0,0.0,0.0,-0.13519953319603803,-0.17690264089241833,0.9012448889230917,-0.009611693298963237,0.00873107331159901,-0.0003211046768087655,-0.11022908044650749,-0.13509545902384185,1.138000815794878,-0.01259686842113142,0.0050629602403544595,-0.002019665869206736,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9352722705601382,-0.5034656354510424,-0.474833890205776,0.7082377700700193,0.3731131997394075,-0.3741174741233626,0.7073295706247651,0.9012448889230917,1.1821634608305411,1.1821634608305411,2.0965674769690614,0,0,-0.0004727773116983399,-9.999999025923074e-05
+9430,1791280449076808428,12775322000000,1791280449072675299,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.676040790037266,-0.004806491698620481,0.0858557069480405,0.9999999780196269,0.00010743342618554547,-9.69798074097835e-05,0.00012023554399091659,0.6761,-0.0048,0.08581616581636763,1.0,0.0,0.0,0.0,-0.13917405265863092,-0.17559965778705933,0.9019776009581002,-0.00961157499740564,0.008731100455572328,-0.00032172478519473216,-0.11420359990910038,-0.13379247591848284,1.1387335278298865,-0.012596750119573823,0.005062987384327779,-0.0020202859775927027,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0230750489260347,-0.4689306749672205,-0.6085691354346433,0.7037470860107905,0.4807239538800174,-0.3483474739762476,0.7073295706247651,0.9019776009581002,1.3158987060594085,1.3158987060594085,2.1235674769690385,0,0,-0.0004891191900420187,4.563563127515935e-05
+9482,1791280449509712490,12775755000000,1791280449504676128,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760427226033658,-0.004810084691676472,0.08564264001639464,0.9999999794005465,0.00010320898821344845,-9.167879937427746e-05,0.0001165533072760313,0.6761,-0.0048,0.08560134312356897,1.0,0.0,0.0,0.0,-0.13290106515773464,-0.18197525339153586,0.8991826877752023,-0.009588292562513135,0.007854159254965888,-0.000333530794696916,-0.10793061240820412,-0.14016807152295938,1.1359386146469885,-0.012573467684681318,0.00418604618372134,-0.0020320919870948865,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9752130477762637,-0.4599621772622737,-0.516402610759882,0.7093860739204166,0.4069403454214925,-0.337284086767072,0.7073295706247651,0.8991826877752023,1.2237321813846471,1.2237321813846471,2.1495474769690164,0,0,-0.0005031792277385413,-9.999999025923074e-05
+9531,1791280449918789277,12776164000000,1791280449912675628,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760405811363369,-0.0048160028830617554,0.08543438996623118,0.9999999789273634,0.00010347719260535667,-9.291244077991968e-05,0.0001193645102068488,0.6761,-0.0048,0.08539257765338434,1.0,0.0,0.0,0.0,-0.13100905926837136,-0.1732274169527701,0.9013637061455251,-0.009583752919297344,0.007717501778260322,-0.0003363974725247331,-0.10603860651884082,-0.13142023508419362,1.1381196330173113,-0.012568928041465527,0.004049388707015773,-0.0020349586649227036,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0564960053884527,-0.4660794753209566,-0.5360723843964698,0.7195520148781276,0.44373103996564844,-0.33722143657274306,0.7073295706247651,0.9013637061455251,1.243401955021235,1.243401955021235,2.1740874769689955,0,0,-0.0005177581635193704,-9.999999025923074e-05
+9583,1791280450351876213,12776597000000,1791280450344685670,DOWN_FORCE_DETACH,1,0.058,0.0580020546913147,0.6760480683367334,-0.004815074954205939,0.08521867828077095,0.9999999807372945,0.00010006669042350576,-7.607187077995376e-05,0.00011902942123474063,0.6761,-0.0048,0.0851656810183324,1.0,0.0,0.0,0.0,-0.13342911325596693,-0.1704512432899733,0.9025434802503831,-0.00856393628726758,0.0076985786591921845,-0.00032587907287439624,-0.1084586605064364,-0.1286440614213968,1.1392994071221694,-0.011549111409435764,0.0040304655879476355,-0.0020244402652723668,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0911718683411267,-0.5131887472337231,-0.5307228848330351,0.7318918014650496,0.4480140245590376,-0.36985539153507696,0.7073295706247651,0.9025434802503831,1.2380524554578,1.2380524554578,2.2000674769689734,0,0,-0.0005304631086708575,-9.999999025923074e-05
+9634,1791280450776859127,12777022000000,1791280450772675432,DOWN_FORCE_DETACH,1,0.058,0.05800139531493187,0.6760422293374333,-0.004813879227437851,0.08498977241950141,0.9999999802509784,9.75575967618463e-05,-8.738988169996609e-05,0.00011741563462109469,0.6761,-0.0048,0.0849374232546587,1.0,0.0,0.0,0.0,-0.12979182827486532,-0.16619236923455794,0.9100585945671034,-0.008563716555341713,0.007696868826481171,-0.00032822688624980123,-0.1048213755253348,-0.12438518736598143,1.1468145214388896,-0.011548891677509896,0.004028755755236622,-0.0020267880786477717,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0772429329238489,-0.5242671064619581,-0.5931275472894759,0.7328943690701897,0.4835341858342398,-0.37243310374106325,0.7073295706247651,0.9100585945671034,1.300457117914241,1.300457117914241,2.2255674769689517,0,0,-0.0005433601273183416,-9.999999025923074e-05
+9683,1791280451181783767,12777427000000,1791280451180684800,DOWN_SETTLE,1,0.058,0.05800139531493187,0.6760429251980424,-0.004820744343768017,0.08477230947034468,0.9999999802062944,9.930312192478103e-05,-8.429130698071488e-05,0.0001185923296271859,0.6761,-0.0048,0.08471670030617988,1.0,0.0,0.0,0.0,-0.12963463662520078,-0.16468089416763934,0.9017600095142162,-0.008563103379659966,0.007698071975498091,-0.0003250326176804043,-0.10466418387567025,-0.12287371229906285,1.1385159363860025,-0.011548278501828149,0.004029958904253542,-0.002023593810078375,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0837534473849118,-0.48629128972222313,-0.5366266057661724,0.7211634951913928,0.4492579550487161,-0.34814012476505063,0.7073295706247651,0.9017600095142162,1.2439561763909375,1.2439561763909375,2.236847476968942,0,0,-0.0005385045139707792,9.999999025923074e-05
+9733,1791280451598890243,12777844000000,1791280451596675636,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760431322960334,-0.004821138694397431,0.08455033482736077,0.9999999807291311,9.343626309583573e-05,-8.387897343635259e-05,0.00011924170618324554,0.6761,-0.0048,0.08449648072300513,1.0,0.0,0.0,0.0,-0.12487770635230362,-0.15066372930288235,0.8955771710997731,-0.007914257108758873,0.007686748812013582,-0.00031210074447903815,-0.09990725360277308,-0.10885654743430585,1.1323330979715593,-0.010899432230927056,0.0040186357407690325,-0.0020106619368770087,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0895193443338287,-0.5361300275596553,-0.5324387637357425,0.735281441360529,0.44808694791111153,-0.37416681353967784,0.7073295706247651,0.8955771710997731,1.2397683343605075,1.2397683343605075,2.236847476968942,0,0,-0.00051765451803268,9.999999025923074e-05
+9781,1791280451998888782,12778244000000,1791280451996685637,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760372244577788,-0.004821531288215037,0.08434147343484016,0.999999981138142,8.318234945258555e-05,-9.351934051957804e-05,0.00011619556662316075,0.6761,-0.0048,0.08429340891501085,1.0,0.0,0.0,0.0,-0.12297989629875657,-0.15711317970927485,0.8917521026894026,-0.008560589366977645,0.0076996712798057905,-0.00031613391134520104,-0.09800944354922603,-0.11530599784069837,1.128508029561189,-0.011545764489145828,0.004031558208561241,-0.0020146951037431715,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0967028143744533,-0.500512558843029,-0.5811833170079853,0.7331980451585667,0.4778254190103216,-0.34509889480819883,0.7073295706247651,0.8917521026894026,1.2885128876327503,1.2885128876327503,2.236847476968942,0,0,-0.0004976545219289877,9.999999025923074e-05
+9835,1791280452448901795,12778694000000,1791280452444685349,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760292563621008,-0.0048263786412659415,0.08412026724505275,0.9999999790335825,9.391870211796491e-05,-0.00010037112279695272,0.00012033542360005903,0.6761,-0.0048,0.08407451562915436,1.0,0.0,0.0,0.0,-0.12370622372936584,-0.16104487461708616,0.8817160932016026,-0.008558796056513766,0.007701904648527371,-0.0003081144314433751,-0.0987357709798353,-0.11923769274850969,1.1184720200733889,-0.01154397117868195,0.004033791577282822,-0.0020066756238413456,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0999520502438358,-0.5375703248788501,-0.6667506667649057,0.737109293107114,0.5349906551325612,-0.36477879845766076,0.7073295706247651,0.8817160932016026,1.3740802373896708,1.3740802373896708,2.236847476968942,0,0,-0.0004751545263123339,9.999999025923074e-05
+9891,1791280452914882584,12779160000000,1791280452912685652,DOWN_SETTLE,1,0.058,0.05800139531493187,0.676047768042878,-0.004821344914098961,0.08392978054900485,0.9999999839585576,8.03771029758637e-05,-7.450489646367978e-05,0.00010730466319135326,0.6761,-0.0048,0.0838585108688329,1.0,0.0,0.0,0.0,-0.12469592495910779,-0.1484098398532434,0.8798964512501031,-0.007537210097609357,0.007682746036601568,-0.0002952429642178276,-0.09972547220957725,-0.10660265798466693,1.1166523781218893,-0.01052238521977754,0.004014632965357019,-0.001993804156615798,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1031807099824151,-0.5139190594171004,-0.6227404397755382,0.7232716448576592,0.5049205832472271,-0.3492005983566115,0.7073295706247651,0.8798964512501031,1.3300700104003034,1.3300700104003034,2.236847476968942,0,0,-0.0004518545308515324,9.999999025923074e-05
+9952,1791280453423838101,12779669000000,1791280453420686478,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760388060307915,-0.004823022859685765,0.0837000760922044,0.9999999819041123,8.670414565630688e-05,-8.551124784539212e-05,0.0001131585484468268,0.6761,-0.0048,0.08363498121136517,1.0,0.0,0.0,0.0,-0.1156224489212811,-0.13841009295796736,0.8820956182246438,-0.007536350183493934,0.0076812575246463476,-0.00029588837153598775,-0.09065199617175056,-0.09660291108939086,1.11885154509643,-0.010521525305662117,0.0040131444534017985,-0.0019944495639339583,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.077152669943974,-0.4860444162789843,-0.5504689265691073,0.7226469025394616,0.44993242786477633,-0.3238836319402496,0.7073295706247651,0.8820956182246438,1.2577984971938725,1.2577984971938725,2.236847476968942,0,0,-0.00042640453580958395,9.999999025923074e-05
+10011,1791280453914927427,12780160000000,1791280453908686249,DOWN_SETTLE,1,0.058,0.05800139531493187,0.6760397991898031,-0.004825040216605864,0.08349723616369976,0.9999999824320356,8.435164303004488e-05,-8.46192150588505e-05,0.00011091970854251726,0.6761,-0.0048,0.08343163133310612,1.0,0.0,0.0,0.0,-0.11543802321750862,-0.13866443577517878,0.8721276461409111,-0.007534503940107101,0.007683426899512374,-0.00028782784994033756,-0.09046757046797808,-0.09685725390660231,1.1088835730126974,-0.010519679062275284,0.0040153138282678245,-0.001986389042338308,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0991963731538392,-0.5262023107680248,-0.6223867041951889,0.723259220390552,0.4996219932379745,-0.34561687968860505,0.7073295706247651,0.8721276461409111,1.329716274819954,1.329716274819954,2.236847476968942,0,0,-0.00040185454059230165,9.999999025923074e-05
+10075,1791280454448946432,12780694000000,1791280454448685543,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760354808397996,-0.004827956266382772,0.08328632507114594,0.9999999830845822,7.175524261881144e-05,-8.974230431573977e-05,0.00010986902981922854,0.6761,-0.0048,0.08322415655703841,1.0,0.0,0.0,0.0,-0.10690698053015416,-0.1332442687785087,0.862596343438119,-0.007532234217215493,0.0076852162400851114,-0.0002795026658300086,-0.08193652778062362,-0.09143708690993223,1.0993522703099052,-0.010517409339383676,0.004017103168840562,-0.001978063858227979,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1452672578125827,-0.5017906006758887,-0.6397921865257328,0.7180030508729907,0.5210731234407923,-0.32919962763907923,0.7073295706247651,0.862596343438119,1.3471217571504979,1.3471217571504979,2.236847476968942,0,0,-0.00037515454579387244,9.999999025923074e-05
+10141,1791280454998993627,12781244000000,1791280454992685762,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760297182073385,-0.00483176718729844,0.08307834546739398,0.9999999823770063,6.987311050464245e-05,-9.52464556991084e-05,0.00011284818404182597,0.6761,-0.0048,0.08302537030537581,1.0,0.0,0.0,0.0,-0.10643291774736811,-0.12886011374222223,0.8656085551564014,-0.007532711229554118,0.007684651083101155,-0.0002803888405105402,-0.08146246499783757,-0.08705293187364573,1.1023644820281877,-0.010517886351722301,0.004016538011856606,-0.0019789500329085107,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1274799029292961,-0.5057519930628009,-0.6896073096021845,0.715377138223991,0.5441700925528578,-0.32368418754733186,0.7073295706247651,0.8656085551564014,1.3969368802269497,1.3969368802269497,2.236847476968942,0,0,-0.00034765455115129553,9.999999025923074e-05
+10215,1791280455615015615,12781860000000,1791280455612685368,DOWN_SETTLE,1,0.058,0.0580020546913147,0.6760430645135236,-0.004832563292751564,0.08288849138855797,0.9999999839072115,6.972592050371747e-05,-7.997759319415139e-05,0.00011122194867543562,0.6761,-0.0048,0.08282068610001551,1.0,0.0,0.0,0.0,-0.11529668949838091,-0.12932028757725267,0.8520892487510936,-0.007529346174547324,0.0076869664638754805,-0.0002716149800631479,-0.09032623674885037,-0.0875131057086762,1.0888451756228799,-0.010514521296715507,0.004018853392630931,-0.0019701761724611184,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.122597721122896,-0.48389159605335286,-0.553847711146021,0.7093284073515255,0.4512989399411448,-0.30953813005473535,0.7073295706247651,0.8520892487510936,1.2611772817707863,1.2611772817707863,2.236847476968942,0,0,-0.0003168545571516094,9.999999025923074e-05
+10295,1791280456281991062,12782527000000,1791280456280685661,DOWN_SETTLE,1,0.058,0.05800139531493187,0.6760354694666164,-0.004838169871225993,0.08267908918333085,0.9999999839085445,5.490056547277412e-05,-9.160327547653371e-05,0.00011054656554766384,0.6761,-0.0048,0.08262044965822536,1.0,0.0,0.0,0.0,-0.10731643778086332,-0.12906906998211956,0.8599157778182329,-0.007531114364962009,0.007685099585126111,-0.0002776745576454928,-0.08234598503133278,-0.08726188811354307,1.0966717046900192,-0.010516289487130192,0.004016986513881562,-0.0019762357500434633,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1912232406339642,-0.39242746518459887,-0.7524311556347997,0.6669981673762271,0.5977224912861823,-0.2480488300917329,0.7073295706247651,0.8599157778182329,1.4597607262595647,1.4597607262595647,2.236847476968942,0,0,-0.0002835045636487025,9.999999025923074e-05
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+10571,1791280458582140115,12784827000000,1791280458580685408,DOWN_SETTLE,1,0.058,0.05800139531493187,0.676014321769561,-0.004844056160378148,0.08211813974233324,0.9999999798819917,5.158333914298623e-05,-0.00012770392085724306,0.00011273751889678854,0.6761,-0.0048,0.08210058163605781,1.0,0.0,0.0,0.0,-0.10606023196752176,-0.12626071694458177,0.825691022627832,-0.007523255520489857,0.0076922191151468245,-0.00024915735458640436,-0.08108977921799122,-0.08445353507600528,1.0624469494996183,-0.01050843064265804,0.004024106043902275,-0.0019477185469843749,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.1517770599978228,-0.49435264620999037,-0.6243974161568657,0.6928863617508184,0.4966735877908878,-0.3072726851856619,0.7073295706247651,0.825691022627832,1.3317269867816308,1.3317269867816308,2.236847476968942,0,0,-0.00016850458605247175,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c38aa980b0c46f0d91d815b0fb18fe7231a1db9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd63841085e5b074b3138adaf6a2417cf1526e7d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+15,1.040000000e+01,DOWN_FORCE_DETACH,1791280431562964968,4.337861650e-05,-9.062399955e-06,-9.755309953e-04,4.064514919e-05,-1.157173336e-05,-9.663930736e-04,3.832815776e-05,-1.156424154e-05,-9.657614883e-04,7.015812501e-01,-7.511438634e-06,8.397654102e-01,7.015785166e-01,-1.002077204e-05,8.397745481e-01,7.017640492e-01,-9.878070867e-06,8.288148483e-01
+16,1.105000000e+01,DOWN_FORCE_DETACH,1791280432542762494,5.104249423e-05,-1.802707322e-05,-1.072985667e-03,4.958057317e-05,-2.504868943e-05,-1.072927834e-03,4.711664515e-05,-2.497359312e-05,-1.072248863e-03,7.015889140e-01,-1.647611190e-05,8.396679555e-01,7.015874521e-01,-2.349772811e-05,8.396680134e-01,7.017728377e-01,-2.328742244e-05,8.287083609e-01
+17,1.175000000e+01,DOWN_FORCE_DETACH,1791280433604157852,5.821526064e-05,-2.092610111e-05,-1.180686221e-03,5.543112274e-05,-1.832275036e-05,-1.176433560e-03,5.275924059e-05,-1.829375331e-05,-1.175836278e-03,7.015960867e-01,-1.937513978e-05,8.395602550e-01,7.015933026e-01,-1.677178904e-05,8.395645076e-01,7.017784803e-01,-1.660758264e-05,8.286047735e-01
+18,1.241666667e+01,DOWN_FORCE_DETACH,1791280434613906626,5.798581987e-05,-2.046212830e-05,-1.313509624e-03,5.844636279e-05,-1.583022220e-05,-1.311622042e-03,5.537559317e-05,-1.580760783e-05,-1.310963312e-03,7.015958573e-01,-1.891116698e-05,8.394274316e-01,7.015963178e-01,-1.427926087e-05,8.394293191e-01,7.017810966e-01,-1.412143715e-05,8.284696465e-01
+19,1.308333333e+01,DOWN_FORCE_DETACH,1791280435719921602,6.266374744e-05,-2.280360439e-05,-1.449088985e-03,6.062526561e-05,-2.723546548e-05,-1.433394362e-03,5.720452936e-05,-2.717495712e-05,-1.432796314e-03,7.016005352e-01,-2.125264307e-05,8.392918522e-01,7.015984967e-01,-2.568450416e-05,8.393075468e-01,7.017829256e-01,-2.548878645e-05,8.283478135e-01
+20,1.366666667e+01,DOWN_FORCE_DETACH,1791280436594793547,6.416398451e-05,-2.252960035e-05,-1.570845782e-03,6.324391332e-05,-2.097553946e-05,-1.567630548e-03,5.937413561e-05,-2.092412690e-05,-1.566901803e-03,7.016020355e-01,-2.097863903e-05,8.391700954e-01,7.016011154e-01,-1.942457814e-05,8.391733106e-01,7.017850952e-01,-1.923795623e-05,8.282137080e-01
+21,1.440000000e+01,DOWN_FORCE_DETACH,1791280437681659322,6.773769008e-05,-3.066544164e-05,-1.720311824e-03,6.772696651e-05,-3.048822932e-05,-1.720165932e-03,6.335526002e-05,-3.041350359e-05,-1.719299174e-03,7.016056092e-01,-2.911448032e-05,8.390206294e-01,7.016055984e-01,-2.893726800e-05,8.390207753e-01,7.017890763e-01,-2.872733292e-05,8.280613106e-01
+22,1.511666667e+01,DOWN_FORCE_DETACH,1791280438750059297,6.471887650e-05,-3.515587434e-05,-1.899599626e-03,6.426555862e-05,-3.515320272e-05,-1.892657130e-03,5.925609576e-05,-3.505491023e-05,-1.891701066e-03,7.016025904e-01,-3.360491301e-05,8.388413416e-01,7.016021370e-01,-3.360224140e-05,8.388482841e-01,7.017849771e-01,-3.336873956e-05,8.278889087e-01
+23,1.571666667e+01,DOWN_FORCE_DETACH,1791280439661472955,6.804521017e-05,-4.399905894e-05,-2.051357411e-03,6.559650124e-05,-4.348980805e-05,-2.050991466e-03,6.009213781e-05,-4.337253765e-05,-2.049962288e-03,7.016059167e-01,-4.244809762e-05,8.386895838e-01,7.016034680e-01,-4.193884673e-05,8.386899497e-01,7.017858132e-01,-4.168636698e-05,8.277306475e-01
+24,1.630000000e+01,DOWN_FORCE_DETACH,1791280440532240052,7.135663609e-05,-4.472887494e-05,-2.206033429e-03,6.924466892e-05,-3.708845641e-05,-2.196016060e-03,6.331424415e-05,-3.701500039e-05,-2.194987941e-03,7.016092281e-01,-4.317791362e-05,8.385349078e-01,7.016071162e-01,-3.553749509e-05,8.385449251e-01,7.017890353e-01,-3.532882972e-05,8.275856218e-01
+25,1.686666667e+01,DOWN_FORCE_DETACH,1791280441380595014,6.881573345e-05,-4.630257643e-05,-2.380525062e-03,6.574050915e-05,-4.590874610e-05,-2.375602813e-03,5.903790073e-05,-4.578488762e-05,-2.374490773e-03,7.016066872e-01,-4.475161511e-05,8.383604161e-01,7.016036120e-01,-4.435778478e-05,8.383653384e-01,7.017847590e-01,-4.409871695e-05,8.274061190e-01
+26,1.745000000e+01,DOWN_FORCE_DETACH,1791280442248349732,6.714400549e-05,-4.811157456e-05,-2.575795076e-03,6.504352293e-05,-4.706220499e-05,-2.568296128e-03,5.769457150e-05,-4.692614129e-05,-2.567147772e-03,7.016050155e-01,-4.656061324e-05,8.381651461e-01,7.016029150e-01,-4.551124367e-05,8.381726451e-01,7.017834156e-01,-4.523997062e-05,8.272134620e-01
+27,1.796666667e+01,DOWN_FORCE_DETACH,1791280443030201071,6.503436641e-05,-5.539551254e-05,-2.770901315e-03,6.560412252e-05,-5.002462069e-05,-2.760804234e-03,5.756129582e-05,-4.988208713e-05,-2.759618954e-03,7.016029058e-01,-5.384455122e-05,8.379700399e-01,7.016034756e-01,-4.847365937e-05,8.379801370e-01,7.017832823e-01,-4.819591646e-05,8.270209908e-01
+28,1.845000000e+01,DOWN_FORCE_DETACH,1791280443748965894,6.488377868e-05,-5.358615623e-05,-2.973081183e-03,6.467317097e-05,-5.378500499e-05,-2.973357617e-03,5.586054256e-05,-5.369172672e-05,-2.972015977e-03,7.016027553e-01,-5.203519490e-05,8.377678600e-01,7.016025447e-01,-5.223404367e-05,8.377675836e-01,7.017815816e-01,-5.200555605e-05,8.268085938e-01
+29,1.890000000e+01,DOWN_FORCE_DETACH,1791280444430491440,6.422902985e-05,-4.839114936e-05,-3.178813948e-03,6.374376147e-05,-4.721725723e-05,-3.165691876e-03,5.419783445e-05,-4.711982570e-05,-3.164351241e-03,7.016021005e-01,-4.684018804e-05,8.375621272e-01,7.016016152e-01,-4.566629591e-05,8.375752493e-01,7.017799189e-01,-4.543365503e-05,8.266162585e-01
+30,1.933333333e+01,DOWN_FORCE_DETACH,1791280445079821597,6.313822789e-05,-4.337505912e-05,-3.385363641e-03,6.317877236e-05,-4.313466522e-05,-3.385160167e-03,5.278753240e-05,-4.308166741e-05,-3.383626391e-03,7.016010097e-01,-4.182409780e-05,8.373555775e-01,7.016010503e-01,-4.158370390e-05,8.373557810e-01,7.017785086e-01,-4.139549674e-05,8.263969834e-01
+31,1.970000000e+01,DOWN_FORCE_DETACH,1791280445630039705,6.137933456e-05,-4.400236112e-05,-3.579515846e-03,5.843525571e-05,-4.401748786e-05,-3.573633582e-03,4.729693376e-05,-4.392119882e-05,-3.572054622e-03,7.015992508e-01,-4.245139980e-05,8.371614253e-01,7.015963067e-01,-4.246652654e-05,8.371673076e-01,7.017730180e-01,-4.223502815e-05,8.262085552e-01
+32,2.008333333e+01,DOWN_FORCE_DETACH,1791280446211349994,6.322504422e-05,-4.691610767e-05,-3.788116290e-03,6.311252210e-05,-4.684984148e-05,-3.788185497e-03,5.128880694e-05,-4.676487793e-05,-3.786477157e-03,7.016010965e-01,-4.536514635e-05,8.369528249e-01,7.016009840e-01,-4.529888015e-05,8.369527557e-01,7.017770099e-01,-4.507870726e-05,8.259941326e-01
+33,2.043333333e+01,DOWN_FORCE_DETACH,1791280446729863169,6.350073657e-05,-4.762223639e-05,-3.991949704e-03,5.993690951e-05,-4.380601240e-05,-3.978201639e-03,4.732258040e-05,-4.373301718e-05,-3.976436169e-03,7.016013722e-01,-4.607127507e-05,8.367489915e-01,7.015978084e-01,-4.225505108e-05,8.367627395e-01,7.017730436e-01,-4.204684651e-05,8.258041736e-01
+34,2.076666667e+01,DOWN_FORCE_DETACH,1791280447230577953,6.157388975e-05,-5.513764864e-05,-4.198704362e-03,6.143725716e-05,-5.525298517e-05,-4.198492208e-03,4.812624387e-05,-5.514308464e-05,-4.196623097e-03,7.015994454e-01,-5.358668732e-05,8.365422368e-01,7.015993087e-01,-5.370202385e-05,8.365424490e-01,7.017738473e-01,-5.345691397e-05,8.255839867e-01
+35,2.108333333e+01,DOWN_FORCE_DETACH,1791280447711607891,6.210625217e-05,-5.737917339e-05,-4.395041218e-03,6.181289385e-05,-5.714917964e-05,-4.394752074e-03,4.785601749e-05,-5.698317495e-05,-4.392959416e-03,7.015999777e-01,-5.582821207e-05,8.363459000e-01,7.015996844e-01,-5.559821832e-05,8.363461891e-01,7.017735771e-01,-5.529700428e-05,8.253876504e-01
+36,2.140000000e+01,DOWN_FORCE_DETACH,1791280448181462413,5.576201521e-05,-5.720007315e-05,-4.610168972e-03,5.561889936e-05,-5.702982733e-05,-4.610244880e-03,4.071208749e-05,-5.687484708e-05,-4.608426004e-03,7.015936335e-01,-5.564911183e-05,8.361307722e-01,7.015934904e-01,-5.547886601e-05,8.361306963e-01,7.017664331e-01,-5.518867641e-05,8.251721838e-01
+37,2.170000000e+01,DOWN_FORCE_DETACH,1791280448630671027,6.263914046e-05,-4.910560218e-05,-4.809228189e-03,6.117080076e-05,-4.825434377e-05,-4.797178485e-03,4.576195755e-05,-4.815742010e-05,-4.795279685e-03,7.016005106e-01,-4.755464086e-05,8.359317130e-01,7.015990423e-01,-4.670338245e-05,8.359437627e-01,7.017714830e-01,-4.647124943e-05,8.249853301e-01
+38,2.200000000e+01,DOWN_FORCE_DETACH,1791280449079962514,6.057991900e-05,-5.238697238e-05,-5.024813007e-03,5.684269826e-05,-4.961202034e-05,-5.008843954e-03,4.057576041e-05,-4.951892472e-05,-5.006908656e-03,7.015984514e-01,-5.083601106e-05,8.357161282e-01,7.015947142e-01,-4.806105902e-05,8.357320972e-01,7.017662968e-01,-4.783275405e-05,8.247737011e-01
+39,2.228333333e+01,DOWN_FORCE_DETACH,1791280449513011950,6.214059114e-05,-5.861167257e-05,-5.235408300e-03,6.198657107e-05,-5.846780135e-05,-5.235614093e-03,4.506286496e-05,-5.832531277e-05,-5.233477692e-03,7.016000121e-01,-5.706071125e-05,8.355055329e-01,7.015998581e-01,-5.691684003e-05,8.355053271e-01,7.017707839e-01,-5.663914210e-05,8.245471321e-01
+40,2.255000000e+01,DOWN_FORCE_DETACH,1791280449919440496,5.759563383e-05,-5.729323799e-05,-5.447721745e-03,5.740169889e-05,-5.756095839e-05,-5.447695954e-03,3.962972628e-05,-5.744501514e-05,-5.445515811e-03,7.015954671e-01,-5.574227667e-05,8.352932194e-01,7.015952732e-01,-5.600999707e-05,8.352932452e-01,7.017653508e-01,-5.575884447e-05,8.243350940e-01
+41,2.283333333e+01,DOWN_FORCE_DETACH,1791280450348279432,6.559667945e-05,-5.930555665e-05,-5.663478768e-03,6.552922238e-05,-5.916821001e-05,-5.663062318e-03,4.719585650e-05,-5.901680783e-05,-5.660943975e-03,7.016034682e-01,-5.775459533e-05,8.350774624e-01,7.016034007e-01,-5.761724869e-05,8.350778789e-01,7.017729169e-01,-5.733063716e-05,8.241196658e-01
+42,2.311666667e+01,DOWN_FORCE_DETACH,1791280450779658146,5.890816042e-05,-5.849463731e-05,-5.891965401e-03,5.822731908e-05,-5.844340880e-05,-5.878911596e-03,3.901763852e-05,-5.821898517e-05,-5.876768889e-03,7.015967796e-01,-5.694367599e-05,8.348489758e-01,7.015960988e-01,-5.689244748e-05,8.348620296e-01,7.017647387e-01,-5.653281450e-05,8.239038409e-01
+43,2.338333333e+01,DOWN_SETTLE,1791280451179438839,6.012138402e-05,-6.075868565e-05,-6.111716944e-03,5.536863755e-05,-5.890953085e-05,-6.099451036e-03,3.529926244e-05,-5.872195912e-05,-6.097378780e-03,7.015979929e-01,-5.920772433e-05,8.346292242e-01,7.015932401e-01,-5.735856953e-05,8.346414902e-01,7.017610203e-01,-5.703578845e-05,8.236832310e-01
+44,2.366666667e+01,DOWN_SETTLE,1791280451598236459,6.027064912e-05,-6.497496666e-05,-6.325977020e-03,6.189333163e-05,-6.183076047e-05,-6.320963739e-03,4.122022788e-05,-6.168229457e-05,-6.319005349e-03,7.015981421e-01,-6.342400534e-05,8.344149642e-01,7.015997648e-01,-6.027979915e-05,8.344199774e-01,7.017669413e-01,-5.999612390e-05,8.234616044e-01
+45,2.393333333e+01,DOWN_SETTLE,1791280451999011065,5.425261153e-05,-6.718483188e-05,-6.542807589e-03,5.395072191e-05,-6.718629598e-05,-6.542895006e-03,3.231552147e-05,-6.700947798e-05,-6.540819868e-03,7.015921241e-01,-6.563387055e-05,8.341981336e-01,7.015918222e-01,-6.563533466e-05,8.341980462e-01,7.017580366e-01,-6.532330731e-05,8.232397899e-01
+46,2.423333333e+01,DOWN_SETTLE,1791280452449470531,4.663136321e-05,-6.810732261e-05,-6.761693846e-03,4.650524189e-05,-6.820253222e-05,-6.761543277e-03,2.391681118e-05,-6.804525501e-05,-6.759552171e-03,7.015845028e-01,-6.655636129e-05,8.339792473e-01,7.015843767e-01,-6.665157090e-05,8.339793979e-01,7.017496379e-01,-6.635908434e-05,8.230210576e-01
+47,2.455000000e+01,DOWN_SETTLE,1791280452918002308,6.690107778e-05,-6.320744867e-05,-6.953939935e-03,6.492133298e-05,-6.422495509e-05,-6.946210161e-03,4.213686391e-05,-6.410285414e-05,-6.944325352e-03,7.016047726e-01,-6.165648735e-05,8.337870013e-01,7.016027928e-01,-6.267399377e-05,8.337947310e-01,7.017678579e-01,-6.241668347e-05,8.228362844e-01
+48,2.488333333e+01,DOWN_SETTLE,1791280453419986855,5.728245300e-05,-6.769366365e-05,-7.178277577e-03,5.656318635e-05,-6.955157293e-05,-7.162774347e-03,3.287694807e-05,-6.935426419e-05,-7.161013442e-03,7.015951539e-01,-6.614270232e-05,8.335626636e-01,7.015944347e-01,-6.800061161e-05,8.335781668e-01,7.017585980e-01,-6.766809352e-05,8.226195963e-01
+49,2.521666667e+01,DOWN_SETTLE,1791280453918079933,5.847000495e-05,-6.975668669e-05,-7.384939993e-03,5.949325808e-05,-6.970939692e-05,-7.366647931e-03,3.517740926e-05,-6.951721096e-05,-7.365005997e-03,7.015963415e-01,-6.820572537e-05,8.333560012e-01,7.015973647e-01,-6.815843560e-05,8.333742933e-01,7.017608985e-01,-6.783104029e-05,8.224156038e-01
+50,2.556666667e+01,DOWN_SETTLE,1791280454448683012,5.376577146e-05,-7.204446885e-05,-7.595436243e-03,5.348828477e-05,-7.188821967e-05,-7.595365274e-03,2.829250181e-05,-7.173671319e-05,-7.593712266e-03,7.015916373e-01,-7.049350753e-05,8.331455049e-01,7.015913598e-01,-7.033725834e-05,8.331455759e-01,7.017540136e-01,-7.005054252e-05,8.221868975e-01
+51,2.593333333e+01,DOWN_SETTLE,1791280454999410665,4.942873914e-05,-6.986779554e-05,-7.798694172e-03,4.617185880e-05,-7.461097225e-05,-7.796775008e-03,2.002384318e-05,-7.445830891e-05,-7.795178458e-03,7.015873002e-01,-6.831683422e-05,8.329422470e-01,7.015840433e-01,-7.306001093e-05,8.329441662e-01,7.017457449e-01,-7.277213824e-05,8.219854313e-01
+52,2.635000000e+01,DOWN_SETTLE,1791280455617670606,5.859494334e-05,-7.028670389e-05,-7.998612265e-03,5.898625303e-05,-7.504518135e-05,-7.986174078e-03,3.251403243e-05,-7.489911554e-05,-7.984832691e-03,7.015964664e-01,-6.873574257e-05,8.327423289e-01,7.015968577e-01,-7.349422003e-05,8.327547671e-01,7.017582351e-01,-7.321294487e-05,8.217957771e-01
+53,2.678333333e+01,DOWN_SETTLE,1791280456279633833,5.277094887e-05,-7.710023490e-05,-8.203427181e-03,5.109861662e-05,-7.702406170e-05,-8.188777272e-03,2.381844936e-05,-7.683028859e-05,-8.187501846e-03,7.015906424e-01,-7.554927358e-05,8.325375140e-01,7.015889701e-01,-7.547310038e-05,8.325521639e-01,7.017495395e-01,-7.514411792e-05,8.215931079e-01
+54,2.725000000e+01,DOWN_SETTLE,1791280456985192273,5.044818727e-05,-7.986790614e-05,-8.396878416e-03,4.780787246e-05,-7.828981913e-05,-8.396191139e-03,1.975441013e-05,-7.814688160e-05,-8.394895366e-03,7.015883197e-01,-7.831694482e-05,8.323440628e-01,7.015856794e-01,-7.673885781e-05,8.323447500e-01,7.017454755e-01,-7.646071093e-05,8.213857144e-01
+55,2.776666667e+01,DOWN_SETTLE,1791280457749524916,4.100995058e-05,-8.670726538e-05,-8.586824793e-03,4.092700895e-05,-8.670968664e-05,-8.586325354e-03,1.203022463e-05,-8.647559816e-05,-8.585222328e-03,7.015788814e-01,-8.515630405e-05,8.321541164e-01,7.015787985e-01,-8.515872532e-05,8.321546158e-01,7.017377513e-01,-8.478942749e-05,8.211953875e-01
+56,2.831666667e+01,DOWN_SETTLE,1791280458579618752,3.190376193e-05,-9.005413966e-05,-8.764443611e-03,2.995196587e-05,-9.058517187e-05,-8.755068363e-03,2.492206534e-07,-9.034386617e-05,-8.754212426e-03,7.015697752e-01,-8.850317834e-05,8.319764976e-01,7.015678234e-01,-8.903421054e-05,8.319858728e-01,7.017259703e-01,-8.865769550e-05,8.210263974e-01
+57,2.900000000e+01,DOWN_SETTLE,1791280459597863546,2.613167921e-05,-9.565888932e-05,-8.920204964e-03,2.326156564e-05,-9.784235703e-05,-8.913476120e-03,-7.221946373e-06,-9.762565288e-05,-8.912867257e-03,7.015640032e-01,-9.410792800e-05,8.318207362e-01,7.015611330e-01,-9.629139571e-05,8.318274651e-01,7.017184991e-01,-9.593948221e-05,8.208677425e-01
+58,2.980000000e+01,DOWN_SETTLE,1791280460799167012,2.250156642e-05,-9.154857376e-05,-9.036523299e-03,2.206122740e-05,-9.193447224e-05,-9.026780537e-03,-8.977714834e-06,-9.171973127e-05,-9.026608461e-03,7.015603730e-01,-8.999761244e-05,8.317044179e-01,7.015599327e-01,-9.038351092e-05,8.317141607e-01,7.017167433e-01,-9.003356060e-05,8.207540013e-01
+59,3.043333333e+01,DOWN_SETTLE,1791280461749420570,2.293752516e-05,-9.470542064e-05,-9.072865964e-03,2.086400208e-05,-1.024061010e-04,-9.067334744e-03,-1.039026406e-05,-1.022151599e-04,-9.067432720e-03,7.015608090e-01,-9.315445932e-05,8.316680752e-01,7.015587355e-01,-1.008551397e-04,8.316736064e-01,7.017153308e-01,-1.005289892e-04,8.207131771e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0d2936cb2a1cf1a1ec511f294446a9dacc691c4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,2.6376e-03,-2.2955e-03,2.4523e+00,-3.6603e-02,3.6983e-02,-3.0331e-05,6.1853e-05,-2.3027e-07,-1.4067e-05,2.3097e-07,4.4368e-06,-4.3081e-07,6.3433e-05,4.4637e-06
+1,5.8333e-01,DOWN_FORCE_DETACH,2.2426e-04,4.0789e-03,-2.2913e-03,2.4519e+00,-3.6597e-02,3.7086e-02,-4.2453e-05,1.5032e-03,3.9898e-06,-3.3617e-04,5.8524e-06,1.0765e-04,-1.2553e-05,1.5403e-03,1.0854e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,4.5376e-04,4.7421e-03,-2.2827e-03,2.4518e+00,-3.6594e-02,3.7134e-02,-5.0846e-05,2.1663e-03,1.2617e-05,-4.7827e-04,9.2052e-06,1.5503e-04,-2.0946e-05,2.2185e-03,1.5671e-04
+3,2.0500e+00,DOWN_FORCE_DETACH,6.8166e-04,4.2120e-03,-4.1681e-03,2.4549e+00,-3.6460e-02,3.7092e-02,-5.8539e-05,1.6362e-03,-1.8727e-03,2.6321e-03,1.4352e-04,1.1372e-04,-2.8639e-05,3.6211e-03,1.8534e-04
+4,2.7333e+00,DOWN_FORCE_DETACH,9.0911e-04,4.5951e-03,-2.5939e-03,2.4594e+00,-3.6570e-02,3.7114e-02,-6.1041e-05,2.0194e-03,-2.9862e-04,7.1802e-03,3.3308e-05,1.3494e-04,-3.1141e-05,7.4648e-03,1.4243e-04
+5,3.4000e+00,DOWN_FORCE_DETACH,1.1286e-03,4.7554e-03,-2.3461e-03,2.4623e+00,-3.6591e-02,3.7120e-02,-6.3037e-05,2.1797e-03,-5.0812e-05,1.0062e-02,1.2338e-05,1.4137e-04,-3.3137e-05,1.0295e-02,1.4573e-04
+6,4.0833e+00,DOWN_FORCE_DETACH,1.3612e-03,4.2796e-03,-3.2713e-03,2.4672e+00,-3.6536e-02,3.7078e-02,-6.3755e-05,1.7038e-03,-9.7596e-04,1.4976e-02,6.6906e-05,9.9361e-05,-3.3855e-05,1.5104e-02,1.2448e-04
+7,4.6667e+00,DOWN_FORCE_DETACH,1.5925e-03,4.1773e-03,-2.1052e-03,2.4694e+00,-3.6630e-02,3.7066e-02,-6.0948e-05,1.6016e-03,1.9015e-04,1.7085e-02,-2.6960e-05,8.7436e-05,-3.1048e-05,1.7161e-02,9.6622e-05
+8,5.1833e+00,DOWN_FORCE_DETACH,1.8165e-03,4.5942e-03,1.2205e-03,2.4719e+00,-3.6871e-02,3.7092e-02,-5.4305e-05,2.0184e-03,3.5158e-03,1.9635e-02,-2.6777e-04,1.1288e-04,-2.4405e-05,2.0049e-02,2.9161e-04
+9,5.9833e+00,DOWN_FORCE_DETACH,2.0437e-03,5.9995e-03,-8.6597e-04,2.4742e+00,-3.6726e-02,3.7188e-02,-4.4921e-05,3.4237e-03,1.4293e-03,2.1913e-02,-1.2287e-04,2.0969e-04,-1.5021e-05,2.2225e-02,2.4350e-04
+10,6.8833e+00,DOWN_FORCE_DETACH,2.2697e-03,3.5225e-03,8.8671e-04,2.4767e+00,-3.6813e-02,3.7013e-02,-3.4270e-05,9.4676e-04,3.1820e-03,2.4483e-02,-2.0944e-04,3.4332e-05,-4.3705e-06,2.4707e-02,2.1228e-04
+11,7.6667e+00,DOWN_FORCE_DETACH,2.4970e-03,5.9198e-03,3.7740e-04,2.4798e+00,-3.6751e-02,3.7178e-02,-3.3003e-05,3.3441e-03,2.6727e-03,2.7562e-02,-1.4765e-04,1.9935e-04,-3.1026e-06,2.7893e-02,2.4809e-04
+12,8.4500e+00,DOWN_FORCE_DETACH,2.7257e-03,5.8257e-03,6.8781e-04,2.4811e+00,-3.6780e-02,3.7170e-02,-3.7607e-05,3.2499e-03,2.9831e-03,2.8822e-02,-1.7694e-04,1.9110e-04,-7.7073e-06,2.9158e-02,2.6055e-04
+13,9.1333e+00,DOWN_FORCE_DETACH,2.9523e-03,5.4643e-03,2.0489e-03,2.4807e+00,-3.6915e-02,3.7142e-02,-3.8923e-05,2.8886e-03,4.3442e-03,2.8419e-02,-3.1145e-04,1.6324e-04,-9.0230e-06,2.8894e-02,3.5175e-04
+14,9.8667e+00,DOWN_FORCE_DETACH,3.1779e-03,5.0803e-03,6.0849e-04,2.4794e+00,-3.6838e-02,3.7114e-02,-4.7060e-05,2.5046e-03,2.9038e-03,2.7138e-02,-2.3485e-04,1.3561e-04,-1.7160e-05,2.7407e-02,2.7173e-04
+15,1.0400e+01,DOWN_FORCE_DETACH,3.4052e-03,5.2784e-03,8.4698e-04,2.4810e+00,-3.6843e-02,3.7125e-02,-5.1375e-05,2.7027e-03,3.1423e-03,2.8711e-02,-2.3943e-04,1.4685e-04,-2.1475e-05,2.9009e-02,2.8169e-04
+16,1.1050e+01,DOWN_FORCE_DETACH,3.6324e-03,4.8090e-03,5.4678e-03,2.4839e+00,-3.7136e-02,3.7092e-02,-4.5878e-05,2.2333e-03,7.7631e-03,3.1597e-02,-5.3240e-04,1.1329e-04,-1.5978e-05,3.2613e-02,5.4456e-04
+17,1.1750e+01,DOWN_FORCE_DETACH,3.8550e-03,4.7782e-03,3.4325e-03,2.4829e+00,-3.7023e-02,3.7087e-02,-2.5929e-05,2.2025e-03,5.7278e-03,3.0617e-02,-4.1935e-04,1.0828e-04,3.9708e-06,3.1226e-02,4.3312e-04
+18,1.2417e+01,DOWN_FORCE_DETACH,4.0887e-03,5.2515e-03,2.2157e-03,2.4839e+00,-3.6970e-02,3.7124e-02,-5.7741e-06,2.6758e-03,4.5110e-03,3.1639e-02,-3.6640e-04,1.4536e-04,2.4126e-05,3.2070e-02,3.9492e-04
+19,1.3083e+01,DOWN_FORCE_DETACH,4.3109e-03,6.0850e-03,5.9871e-03,2.4814e+00,-3.7202e-02,3.7185e-02,2.9473e-06,3.5093e-03,8.2824e-03,2.9111e-02,-5.9849e-04,2.0608e-04,3.2847e-05,3.0469e-02,6.3383e-04
+20,1.3667e+01,DOWN_FORCE_DETACH,4.5415e-03,5.4443e-03,4.7438e-03,2.4881e+00,-3.7077e-02,3.7136e-02,2.5970e-08,2.8685e-03,7.0391e-03,3.5850e-02,-4.7388e-04,1.5774e-04,2.9926e-05,3.6647e-02,5.0034e-04
+21,1.4400e+01,DOWN_FORCE_DETACH,4.7686e-03,4.2823e-03,8.3013e-03,2.4867e+00,-3.7312e-02,3.7047e-02,-1.0236e-05,1.7066e-03,1.0597e-02,3.4420e-02,-7.0928e-04,6.8225e-05,1.9664e-05,3.6055e-02,7.1283e-04
+22,1.5117e+01,DOWN_FORCE_DETACH,4.9968e-03,6.5996e-03,8.3366e-03,2.4976e+00,-3.7344e-02,3.7191e-02,-2.5925e-05,4.0239e-03,1.0632e-02,4.5320e-02,-7.4117e-04,2.1211e-04,3.9746e-06,4.6724e-02,7.7093e-04
+23,1.5717e+01,DOWN_FORCE_DETACH,5.2213e-03,7.4764e-03,1.0817e-02,2.5013e+00,-3.7474e-02,3.7250e-02,-2.4923e-05,4.9007e-03,1.3112e-02,4.9006e-02,-8.7063e-04,2.7140e-04,4.9775e-06,5.0966e-02,9.1196e-04
+24,1.6300e+01,DOWN_FORCE_DETACH,5.4481e-03,6.6990e-03,1.0003e-02,2.5016e+00,-3.7362e-02,3.7200e-02,-1.0600e-05,4.1233e-03,1.2298e-02,4.9286e-02,-7.5840e-04,2.2107e-04,1.9300e-05,5.0965e-02,7.9020e-04
+25,1.6867e+01,DOWN_FORCE_DETACH,5.6748e-03,7.0295e-03,1.2529e-02,2.5082e+00,-3.7525e-02,3.7213e-02,1.2552e-06,4.4538e-03,1.4824e-02,5.5928e-02,-9.2218e-04,2.3405e-04,3.1155e-05,5.8031e-02,9.5193e-04
+26,1.7450e+01,DOWN_FORCE_DETACH,5.9018e-03,7.9272e-03,1.4416e-02,2.5103e+00,-3.7636e-02,3.7268e-02,-5.9559e-06,5.3514e-03,1.6711e-02,5.8044e-02,-1.0323e-03,2.8895e-04,2.3944e-05,6.0639e-02,1.0723e-03
+27,1.7967e+01,DOWN_FORCE_DETACH,6.1312e-03,7.7960e-03,1.5325e-02,2.5126e+00,-3.7723e-02,3.7256e-02,-1.9455e-05,5.2202e-03,1.7620e-02,6.0315e-02,-1.1196e-03,2.7700e-04,1.0445e-05,6.3052e-02,1.1534e-03
+28,1.8450e+01,DOWN_FORCE_DETACH,6.3585e-03,8.6454e-03,1.4854e-02,2.5117e+00,-3.7716e-02,3.7310e-02,-1.7446e-05,6.0697e-03,1.7149e-02,5.9393e-02,-1.1133e-03,3.3172e-04,1.2454e-05,6.2117e-02,1.1617e-03
+29,1.8900e+01,DOWN_FORCE_DETACH,6.5861e-03,8.0661e-03,1.2673e-02,2.5202e+00,-3.7530e-02,3.7268e-02,-1.7535e-05,5.4904e-03,1.4969e-02,6.7902e-02,-9.2654e-04,2.8984e-04,1.2365e-05,6.9749e-02,9.7089e-04
+30,1.9333e+01,DOWN_FORCE_DETACH,6.8152e-03,6.2807e-03,9.6457e-03,2.5198e+00,-3.7323e-02,3.7137e-02,-1.9283e-05,3.7050e-03,1.1941e-02,6.7535e-02,-7.1955e-04,1.5835e-04,1.0617e-05,6.8682e-02,7.3684e-04
+31,1.9700e+01,DOWN_FORCE_DETACH,7.0394e-03,7.1580e-03,1.1526e-02,2.5292e+00,-3.7439e-02,3.7184e-02,-1.6702e-05,4.5823e-03,1.3822e-02,7.6952e-02,-8.3603e-04,2.0546e-04,1.3198e-05,7.8317e-02,8.6100e-04
+32,2.0083e+01,DOWN_FORCE_DETACH,7.2694e-03,5.8713e-03,1.1558e-02,2.5315e+00,-3.7387e-02,3.7098e-02,-7.7378e-06,3.2956e-03,1.3854e-02,7.9197e-02,-7.8358e-04,1.1943e-04,2.2162e-05,8.0467e-02,7.9294e-04
+33,2.0433e+01,DOWN_FORCE_DETACH,7.4904e-03,6.9007e-03,1.1239e-02,2.5386e+00,-3.7375e-02,3.7155e-02,-4.4790e-06,4.3249e-03,1.3535e-02,8.6297e-02,-7.7146e-04,1.7653e-04,2.5421e-05,8.7458e-02,7.9181e-04
+34,2.0767e+01,DOWN_FORCE_DETACH,7.7231e-03,7.0317e-03,1.3518e-02,2.5391e+00,-3.7540e-02,3.7161e-02,-1.3327e-05,4.4560e-03,1.5813e-02,8.6818e-02,-9.3651e-04,1.8283e-04,1.6573e-05,8.8359e-02,9.5433e-04
+35,2.1083e+01,DOWN_FORCE_DETACH,7.9412e-03,6.5806e-03,1.5394e-02,2.5357e+00,-3.7631e-02,3.7137e-02,-1.5058e-05,4.0049e-03,1.7689e-02,8.3478e-02,-1.0276e-03,1.5803e-04,1.4842e-05,8.5425e-02,1.0398e-03
+36,2.1400e+01,DOWN_FORCE_DETACH,8.1753e-03,7.1913e-03,1.5776e-02,2.5390e+00,-3.7648e-02,3.7179e-02,-1.1590e-05,4.6156e-03,1.8071e-02,8.6739e-02,-1.0448e-03,2.0047e-04,1.8309e-05,8.8721e-02,1.0640e-03
+37,2.1700e+01,DOWN_FORCE_DETACH,8.3995e-03,7.1777e-03,1.3409e-02,2.5439e+00,-3.7490e-02,3.7177e-02,-1.7809e-05,4.6020e-03,1.5705e-02,9.1672e-02,-8.8700e-04,1.9832e-04,1.2091e-05,9.3121e-02,9.0898e-04
+38,2.2000e+01,DOWN_FORCE_DETACH,8.6320e-03,8.2508e-03,1.3256e-02,2.5512e+00,-3.7477e-02,3.7233e-02,-3.1900e-05,5.6751e-03,1.5551e-02,9.8925e-02,-8.7334e-04,2.5477e-04,-1.9998e-06,1.0030e-01,9.0974e-04
+39,2.2283e+01,DOWN_FORCE_DETACH,8.8545e-03,7.8743e-03,1.5421e-02,2.5513e+00,-3.7611e-02,3.7202e-02,-4.6877e-05,5.2985e-03,1.7717e-02,9.8998e-02,-1.0075e-03,2.2302e-04,-1.6977e-05,1.0071e-01,1.0321e-03
+40,2.2550e+01,DOWN_FORCE_DETACH,9.0747e-03,8.5474e-03,1.5198e-02,2.5555e+00,-3.7548e-02,3.7239e-02,-5.1446e-05,5.9717e-03,1.7493e-02,1.0323e-01,-9.4524e-04,2.6000e-04,-2.1546e-05,1.0488e-01,9.8058e-04
+41,2.2833e+01,DOWN_FORCE_DETACH,9.3024e-03,7.1308e-03,1.7359e-02,2.5547e+00,-3.7660e-02,3.7142e-02,-4.3569e-05,4.5550e-03,1.9654e-02,1.0240e-01,-1.0566e-03,1.6306e-04,-1.3669e-05,1.0437e-01,1.0691e-03
+42,2.3117e+01,DOWN_FORCE_DETACH,9.5363e-03,8.8157e-03,1.9284e-02,2.5543e+00,-3.7752e-02,3.7251e-02,-3.7562e-05,6.2400e-03,2.1579e-02,1.0205e-01,-1.1487e-03,2.7242e-04,-7.6622e-06,1.0449e-01,1.1806e-03
+43,2.3383e+01,DOWN_SETTLE,9.7631e-03,8.7922e-03,1.8340e-02,2.5529e+00,-3.7694e-02,3.7252e-02,-3.6829e-05,6.2165e-03,2.0636e-02,1.0066e-01,-1.0908e-03,2.7351e-04,-6.9286e-06,1.0294e-01,1.1245e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..248ff65fc2cccc2198974f5f841aa75182a54aa1
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d42caba96603b1c172c04b7bbbd12532007f54ae
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a0059969ae122bc4ec58afe2e5622ed524341de
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb3132b053a5a7b7bcfb7a844a800e7af71c95
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,6.266666667e+00,UP_FORCE_RAMP,1791280388700096406,-4.527109867e-05,4.249453325e-05,9.233921597e-04,-4.159635329e-05,4.309522608e-05,9.189854483e-04,-3.929078597e-05,4.311358289e-05,9.179826070e-04,7.014926004e-01,4.404549457e-05,8.416643333e-01,7.014962751e-01,4.464618740e-05,8.416599266e-01,7.016864302e-01,4.479975545e-05,8.306985923e-01
+23,6.566666667e+00,UP_FORCE_RAMP,1791280389138252068,-4.602142656e-05,5.001776765e-05,9.759555160e-04,-4.416217109e-05,5.140624899e-05,9.629881159e-04,-4.175876277e-05,5.139561361e-05,9.620888256e-04,7.014918501e-01,5.156872898e-05,8.417168967e-01,7.014937093e-01,5.295721031e-05,8.417039293e-01,7.016839623e-01,5.308178617e-05,8.307426986e-01
+24,6.766666667e+00,UP_FORCE_RAMP,1791280389439072933,-4.926534449e-05,5.035744530e-05,1.004220354e-03,-4.551094771e-05,5.584200242e-05,9.970372396e-04,-4.302550474e-05,5.582161332e-05,9.962411320e-04,7.014886061e-01,5.190840662e-05,8.417451615e-01,7.014923605e-01,5.739296374e-05,8.417379784e-01,7.016826955e-01,5.750778588e-05,8.307768509e-01
+25,7.066666667e+00,UP_FORCE_RAMP,1791280389900129533,-4.830582664e-05,5.159894926e-05,1.050021500e-03,-4.735698733e-05,5.014189821e-05,1.034363206e-03,-4.481634266e-05,5.011361728e-05,1.033678462e-03,7.014895657e-01,5.314991058e-05,8.417909627e-01,7.014905145e-01,5.169285953e-05,8.417753044e-01,7.016809047e-01,5.179978984e-05,8.308142882e-01
+26,7.416666667e+00,UP_FORCE_RAMP,1791280390426354500,-5.038663989e-05,4.636609990e-05,1.096322336e-03,-4.825654875e-05,5.203973519e-05,1.098294490e-03,-4.544917940e-05,5.203019331e-05,1.097644686e-03,7.014874848e-01,4.791706122e-05,8.418372635e-01,7.014896149e-01,5.359069651e-05,8.418392357e-01,7.016802719e-01,5.371636587e-05,8.308782544e-01
+27,7.750000000e+00,UP_FORCE_RAMP,1791280390919179729,-5.134773094e-05,5.484393837e-05,1.136777053e-03,-5.089520231e-05,4.424212932e-05,1.120289339e-03,-4.806340305e-05,4.422693762e-05,1.119840435e-03,7.014865238e-01,5.639489969e-05,8.418777182e-01,7.014869763e-01,4.579309064e-05,8.418612305e-01,7.016776576e-01,4.591311018e-05,8.309004502e-01
+28,8.083333333e+00,UP_FORCE_RAMP,1791280391405226401,-5.118167088e-05,5.969550963e-05,1.173373535e-03,-4.983562403e-05,4.552297208e-05,1.162341472e-03,-4.686955387e-05,4.548017087e-05,1.161911215e-03,7.014866898e-01,6.124647095e-05,8.419143147e-01,7.014880359e-01,4.707393340e-05,8.419032827e-01,7.016788515e-01,4.716634343e-05,8.309425210e-01
+29,8.383333333e+00,UP_FORCE_RAMP,1791280391854743224,-5.447275941e-05,4.916641283e-05,1.201619643e-03,-5.335906641e-05,5.070346139e-05,1.203418301e-03,-5.032157347e-05,5.066299028e-05,1.203020392e-03,7.014833987e-01,5.071737415e-05,8.419425608e-01,7.014845124e-01,5.225442271e-05,8.419443595e-01,7.016753995e-01,5.234916285e-05,8.309836301e-01
+30,8.816666667e+00,UP_FORCE_RAMP,1791280392506583201,-5.841424958e-05,4.924905035e-05,1.241434578e-03,-5.490274636e-05,5.504349928e-05,1.226491637e-03,-5.181427488e-05,5.499658670e-05,1.226201296e-03,7.014794572e-01,5.080001168e-05,8.419823758e-01,7.014829687e-01,5.659446060e-05,8.419674328e-01,7.016739068e-01,5.668275926e-05,8.310068110e-01
+31,9.183333333e+00,UP_FORCE_RAMP,1791280393056011193,-6.224731234e-05,5.101464982e-05,1.268724310e-03,-6.006582510e-05,5.501378870e-05,1.265472430e-03,-5.697088114e-05,5.499534716e-05,1.265172989e-03,7.014756242e-01,5.256561114e-05,8.420096655e-01,7.014778057e-01,5.656475002e-05,8.420064136e-01,7.016687502e-01,5.668151973e-05,8.310457827e-01
+32,9.533333333e+00,UP_FORCE_RAMP,1791280393576584302,-6.445339216e-05,6.310533682e-05,1.296671603e-03,-6.149651657e-05,5.320967455e-05,1.286042247e-03,-5.836227992e-05,5.320181866e-05,1.285722796e-03,7.014734181e-01,6.465629814e-05,8.420376128e-01,7.014763750e-01,5.476063587e-05,8.420269834e-01,7.016673588e-01,5.488799122e-05,8.310663325e-01
+33,9.800000000e+00,UP_FORCE_RAMP,1791280393973359224,-6.792657882e-05,5.219551270e-05,1.313722038e-03,-6.344093224e-05,5.254215609e-05,1.305654640e-03,-6.028287822e-05,5.252929167e-05,1.305386649e-03,7.014699449e-01,5.374647403e-05,8.420546632e-01,7.014744305e-01,5.409311741e-05,8.420465958e-01,7.016654382e-01,5.421546424e-05,8.310859964e-01
+34,1.011666667e+01,UP_FORCE_RAMP,1791280394456297935,-6.847239347e-05,5.029441104e-05,1.338228757e-03,-6.645574776e-05,4.263670135e-05,1.325977122e-03,-6.333915013e-05,4.261989989e-05,1.325744421e-03,7.014693991e-01,5.184537236e-05,8.420791699e-01,7.014714157e-01,4.418766267e-05,8.420669183e-01,7.016623819e-01,4.430607245e-05,8.311063542e-01
+35,1.043333333e+01,UP_FORCE_RAMP,1791280394936440263,-7.040369756e-05,5.166790912e-05,1.360662916e-03,-6.768353924e-05,5.387183612e-05,1.345593720e-03,-6.451382938e-05,5.382876222e-05,1.345277230e-03,7.014674678e-01,5.321887044e-05,8.421016041e-01,7.014701879e-01,5.542279744e-05,8.420865349e-01,7.016612072e-01,5.551493478e-05,8.311258870e-01
+36,1.085000000e+01,UP_FORCE_RAMP,1791280395556992928,-7.379035571e-05,5.503781089e-05,1.383199004e-03,-6.514833756e-05,5.513770003e-05,1.389620924e-03,-6.178747853e-05,5.511402899e-05,1.389252380e-03,7.014640811e-01,5.658877221e-05,8.421241402e-01,7.014727231e-01,5.668866135e-05,8.421305621e-01,7.016639336e-01,5.680020156e-05,8.311698621e-01
+37,1.140000000e+01,UP_FORCE_RAMP,1791280396380726018,-7.223121970e-05,5.241650346e-05,1.418907904e-03,-6.795177598e-05,5.167042034e-05,1.409527790e-03,-6.459046939e-05,5.164263036e-05,1.409255281e-03,7.014656403e-01,5.396746478e-05,8.421598491e-01,7.014699197e-01,5.322138166e-05,8.421504690e-01,7.016611306e-01,5.332880293e-05,8.311898650e-01
+38,1.190000000e+01,UP_FORCE_RAMP,1791280397136629976,-7.045772151e-05,5.300943927e-05,1.449905025e-03,-7.049421137e-05,5.318343276e-05,1.430867655e-03,-6.709137505e-05,5.315964799e-05,1.430662364e-03,7.014674138e-01,5.456040059e-05,8.421908462e-01,7.014673773e-01,5.473439408e-05,8.421718088e-01,7.016586297e-01,5.484582055e-05,8.312112721e-01
+39,1.236666667e+01,UP_FORCE_RAMP,1791280397836832055,-7.213960979e-05,5.808480248e-05,1.471996832e-03,-7.071282977e-05,5.454301872e-05,1.454902183e-03,-6.724573754e-05,5.447432173e-05,1.454730440e-03,7.014657319e-01,5.963576380e-05,8.422129380e-01,7.014671587e-01,5.609398005e-05,8.421958434e-01,7.016584753e-01,5.616049429e-05,8.312353402e-01
+40,1.271666667e+01,UP_FORCE_RAMP,1791280398361492215,-7.226572975e-05,4.904269001e-05,1.490554059e-03,-7.205699340e-05,5.020893379e-05,1.476725216e-03,-6.859212098e-05,5.017983751e-05,1.476536223e-03,7.014656058e-01,5.059365133e-05,8.422314952e-01,7.014658145e-01,5.175989511e-05,8.422176664e-01,7.016571289e-01,5.186601007e-05,8.312571460e-01
+41,1.318333333e+01,UP_FORCE_RAMP,1791280399056131822,-7.304170636e-05,4.917678147e-05,1.512195598e-03,-7.086561446e-05,5.455951959e-05,1.498499630e-03,-6.728320907e-05,5.452558942e-05,1.498319960e-03,7.014648298e-01,5.072774279e-05,8.422531368e-01,7.014670059e-01,5.611048091e-05,8.422394408e-01,7.016584378e-01,5.621176198e-05,8.312789297e-01
+42,1.366666667e+01,UP_FORCE_RAMP,1791280399773198054,-7.485218519e-05,4.990414167e-05,1.534801926e-03,-7.179697654e-05,5.335051581e-05,1.519012338e-03,-6.818312474e-05,5.330604004e-05,1.518816894e-03,7.014630193e-01,5.145510299e-05,8.422757431e-01,7.014660745e-01,5.490147713e-05,8.422599535e-01,7.016575379e-01,5.499221260e-05,8.312994266e-01
+43,1.410000000e+01,UP_FORCE_RAMP,1791280400437811367,-7.637863158e-05,5.428102695e-05,1.550900891e-03,-7.329968876e-05,5.468689374e-05,1.540893270e-03,-6.963589954e-05,5.461704916e-05,1.540739437e-03,7.014614928e-01,5.583198827e-05,8.422918421e-01,7.014645718e-01,5.623785506e-05,8.422818345e-01,7.016560851e-01,5.630322173e-05,8.313213492e-01
+44,1.458333333e+01,UP_FORCE_RAMP,1791280401156400371,-7.433440811e-05,5.512187265e-05,1.574330345e-03,-7.469528613e-05,5.237626414e-05,1.561403073e-03,-7.100495358e-05,5.234003446e-05,1.561183717e-03,7.014635371e-01,5.667283397e-05,8.423152715e-01,7.014631762e-01,5.392722546e-05,8.423023443e-01,7.016547161e-01,5.402620702e-05,8.313417935e-01
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+46,1.545000000e+01,UP_FORCE_RAMP,1791280402456532170,-7.510650077e-05,5.019699534e-05,1.607777623e-03,-7.499432617e-05,5.022997204e-05,1.607505561e-03,-7.118489399e-05,5.016662532e-05,1.607166261e-03,7.014627650e-01,5.174795666e-05,8.423487188e-01,7.014628772e-01,5.178093336e-05,8.423484467e-01,7.016545361e-01,5.185279788e-05,8.313877760e-01
+47,1.595000000e+01,UP_FORCE_RAMP,1791280403207418499,-7.423253247e-05,5.037481752e-05,1.626503758e-03,-7.499432617e-05,5.022997204e-05,1.607505561e-03,-7.118519632e-05,5.016804663e-05,1.607299329e-03,7.014636389e-01,5.192577884e-05,8.423674449e-01,7.014628772e-01,5.178093336e-05,8.423484467e-01,7.016545358e-01,5.185421919e-05,8.313879091e-01
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+56,2.021666667e+01,UP_FORCE_HOLD,1791280409623878130,-8.227563505e-05,4.299726102e-05,1.758081275e-03,-8.258209771e-05,4.315869021e-05,1.753352416e-03,-7.837548180e-05,4.312229539e-05,1.753062198e-03,7.014555958e-01,4.454822234e-05,8.424990225e-01,7.014552894e-01,4.470965153e-05,8.424942936e-01,7.016473456e-01,4.480846795e-05,8.315336719e-01
+57,2.070000000e+01,UP_FORCE_HOLD,1791280410344089775,-8.306724992e-05,4.460739334e-05,1.770701475e-03,-8.258209771e-05,4.315869021e-05,1.753352416e-03,-7.838396798e-05,4.312160277e-05,1.753138500e-03,7.014548042e-01,4.615835466e-05,8.425116427e-01,7.014552894e-01,4.470965153e-05,8.424942936e-01,7.016473371e-01,4.480777533e-05,8.315337482e-01
+58,2.105000000e+01,UP_FORCE_HOLD,1791280410874424604,-8.352324673e-05,4.614319487e-05,1.780425290e-03,-8.146658275e-05,4.382528314e-05,1.773935558e-03,-7.719808789e-05,4.379733736e-05,1.773691602e-03,7.014543482e-01,4.769415619e-05,8.425213665e-01,7.014564049e-01,4.537624446e-05,8.425148767e-01,7.016485229e-01,4.548350992e-05,8.315543013e-01
+59,2.151666667e+01,UP_SETTLE,1791280411575086757,-8.262633654e-05,4.594638796e-05,1.794508186e-03,-8.306797059e-05,4.400382779e-05,1.794443873e-03,-7.875419371e-05,4.396163120e-05,1.794139230e-03,7.014552451e-01,4.749734928e-05,8.425354494e-01,7.014548035e-01,4.555478911e-05,8.425353851e-01,7.016469668e-01,4.564780376e-05,8.315747490e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b785ce433aef335d6998c7b4c540723d79d56a8e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,2.6369e-03,-2.2954e-03,2.4523e+00,-3.6603e-02,3.6983e-02,-3.0368e-05,6.1662e-05,-2.0466e-07,-1.3828e-05,2.3469e-07,4.4256e-06,-4.3029e-07,6.3194e-05,4.4527e-06
+1,4.8333e-01,UP_FORCE_RAMP,1.1093e-04,3.9089e-03,-2.2926e-03,2.4520e+00,-3.6598e-02,3.7074e-02,-4.0758e-05,1.3337e-03,2.6200e-06,-2.9850e-04,5.1185e-06,9.5531e-05,-1.0820e-05,1.3667e-03,9.6278e-05
+2,8.8333e-01,UP_FORCE_RAMP,2.1861e-04,4.4651e-03,-2.2870e-03,2.4518e+00,-3.6596e-02,3.7114e-02,-4.6935e-05,1.8899e-03,8.1416e-06,-4.1819e-04,7.6704e-06,1.3529e-04,-1.6998e-05,1.9356e-03,1.3657e-04
+3,1.2500e+00,UP_FORCE_RAMP,3.3209e-04,4.7633e-03,-2.2822e-03,2.4518e+00,-3.6594e-02,3.7135e-02,-5.1205e-05,2.1881e-03,1.2965e-05,-4.8161e-04,9.3281e-06,1.5658e-04,-2.1267e-05,2.2405e-03,1.5829e-04
+4,1.6333e+00,UP_FORCE_RAMP,4.4180e-04,4.9511e-03,-2.2779e-03,2.4517e+00,-3.6593e-02,3.7149e-02,-5.4599e-05,2.3759e-03,1.7291e-05,-5.2118e-04,1.0576e-05,1.6999e-04,-2.4661e-05,2.4325e-03,1.7209e-04
+5,2.0000e+00,UP_FORCE_RAMP,5.5014e-04,5.2009e-03,-3.6841e-03,2.4422e+00,-3.6496e-02,3.7178e-02,-5.8050e-05,2.6257e-03,-1.3889e-03,-1.0072e-02,1.0749e-04,1.9942e-04,-2.8112e-05,1.0501e-02,2.2828e-04
+6,2.2333e+00,UP_FORCE_RAMP,6.6114e-04,5.3000e-03,-3.2545e-03,2.4349e+00,-3.6522e-02,3.7191e-02,-5.9450e-05,2.7248e-03,-9.5935e-04,-1.7409e-02,8.1554e-05,2.1225e-04,-2.9513e-05,1.7647e-02,2.2929e-04
+7,2.4500e+00,UP_FORCE_RAMP,7.6996e-04,1.1234e-02,-4.8412e-03,2.4337e+00,-3.6408e-02,3.7619e-02,-6.0943e-05,8.6587e-03,-2.5460e-03,-1.8565e-02,1.9494e-04,6.4084e-04,-3.1006e-05,2.0643e-02,6.7055e-04
+8,2.6333e+00,UP_FORCE_RAMP,8.8287e-04,8.5005e-03,-8.2186e-03,2.4279e+00,-3.6177e-02,3.7427e-02,-6.1577e-05,5.9253e-03,-5.9235e-03,-2.4375e-02,4.2611e-04,4.4853e-04,-3.1640e-05,2.5775e-02,6.1948e-04
+9,2.9167e+00,UP_FORCE_RAMP,9.9321e-04,7.2992e-03,-9.4608e-03,2.4272e+00,-3.6079e-02,3.7345e-02,-6.0938e-05,4.7240e-03,-7.1656e-03,-2.5107e-02,5.2377e-04,3.6594e-04,-3.1001e-05,2.6533e-02,6.3969e-04
+10,3.2333e+00,UP_FORCE_RAMP,1.1052e-03,4.9636e-03,-8.7722e-03,2.4173e+00,-3.6124e-02,3.7188e-02,-5.7609e-05,2.3884e-03,-6.4771e-03,-3.4921e-02,4.7912e-04,2.0910e-04,-2.7671e-05,3.5597e-02,5.2349e-04
+11,3.5000e+00,UP_FORCE_RAMP,1.2147e-03,6.1515e-03,-1.0659e-02,2.4194e+00,-3.5992e-02,3.7269e-02,-5.5686e-05,3.5763e-03,-8.3638e-03,-3.2825e-02,6.1097e-04,2.8997e-04,-2.5748e-05,3.4063e-02,6.7678e-04
+12,3.8333e+00,UP_FORCE_RAMP,1.3236e-03,6.6726e-03,-1.2670e-02,2.4180e+00,-3.5861e-02,3.7305e-02,-5.0151e-05,4.0974e-03,-1.0375e-02,-3.4221e-02,7.4246e-04,3.2670e-04,-2.0214e-05,3.5993e-02,8.1141e-04
+13,4.1167e+00,UP_FORCE_RAMP,1.4298e-03,6.2488e-03,-1.1731e-02,2.4155e+00,-3.5937e-02,3.7276e-02,-4.1244e-05,3.6736e-03,-9.4354e-03,-3.6757e-02,6.6622e-04,2.9764e-04,-1.1306e-05,3.8126e-02,7.2977e-04
+14,4.3500e+00,UP_FORCE_RAMP,1.5462e-03,5.8898e-03,-1.3218e-02,2.4123e+00,-3.5845e-02,3.7253e-02,-3.3266e-05,3.3146e-03,-1.0923e-02,-3.9984e-02,7.5850e-04,2.7394e-04,-3.3285e-06,4.1581e-02,8.0646e-04
+15,4.6000e+00,UP_FORCE_RAMP,1.6750e-03,8.3276e-03,-1.1893e-02,2.4128e+00,-3.5930e-02,3.7425e-02,-2.3988e-05,5.7524e-03,-9.5981e-03,-3.9498e-02,6.7365e-04,4.4624e-04,5.9494e-06,4.1053e-02,8.0806e-04
+16,4.7500e+00,UP_FORCE_RAMP,1.7640e-03,1.5954e-02,-1.1326e-02,2.4195e+00,-3.5972e-02,3.7966e-02,-1.7104e-05,1.3379e-02,-9.0305e-03,-3.2806e-02,6.3147e-04,9.8755e-04,1.2833e-05,3.6562e-02,1.1722e-03
+17,5.0667e+00,UP_FORCE_RAMP,1.8764e-03,1.2622e-02,-1.0824e-02,2.4180e+00,-3.5999e-02,3.7731e-02,-7.2516e-06,1.0047e-02,-8.5289e-03,-3.4309e-02,6.0441e-04,7.5248e-04,2.2686e-05,3.6753e-02,9.6543e-04
+18,5.3333e+00,UP_FORCE_RAMP,1.9875e-03,9.6107e-03,-1.3105e-02,2.4092e+00,-3.5824e-02,3.7523e-02,-5.9286e-06,7.0355e-03,-1.0810e-02,-4.3028e-02,7.7935e-04,5.4455e-04,2.4009e-05,4.4919e-02,9.5105e-04
+19,5.6000e+00,UP_FORCE_RAMP,2.1038e-03,8.9330e-03,-1.3996e-02,2.4075e+00,-3.5741e-02,3.7472e-02,-1.0300e-05,6.3578e-03,-1.1701e-02,-4.4717e-02,8.6261e-04,4.9296e-04,1.9638e-05,4.6657e-02,9.9373e-04
+20,5.7667e+00,UP_FORCE_RAMP,2.2068e-03,7.8598e-03,-9.6616e-03,2.4059e+00,-3.6014e-02,3.7403e-02,-1.5143e-05,5.2846e-03,-7.3664e-03,-4.6382e-02,5.8951e-04,4.2443e-04,1.4795e-05,4.7260e-02,7.2656e-04
+21,5.9667e+00,UP_FORCE_RAMP,2.3106e-03,8.2669e-03,-9.7650e-03,2.4079e+00,-3.6005e-02,3.7428e-02,-2.0433e-05,5.6917e-03,-7.4698e-03,-4.4401e-02,5.9855e-04,4.4891e-04,9.5044e-06,4.5383e-02,7.4824e-04
+22,6.2667e+00,UP_FORCE_RAMP,2.4286e-03,7.3492e-03,-1.3395e-02,2.4091e+00,-3.5746e-02,3.7364e-02,-3.1185e-05,4.7739e-03,-1.1099e-02,-4.3145e-02,8.5743e-04,3.8562e-04,-1.2473e-06,4.4805e-02,9.4016e-04
+23,6.5667e+00,UP_FORCE_RAMP,2.5373e-03,7.6283e-03,-1.5889e-02,2.4144e+00,-3.5558e-02,3.7380e-02,-3.9844e-05,5.0531e-03,-1.3594e-02,-3.7915e-02,1.0452e-03,4.0114e-04,-9.9063e-06,4.0594e-02,1.1196e-03
+24,6.7667e+00,UP_FORCE_RAMP,2.6481e-03,7.5448e-03,-1.7242e-02,2.4160e+00,-3.5454e-02,3.7373e-02,-4.2946e-05,4.9696e-03,-1.4947e-02,-3.6305e-02,1.1494e-03,3.9434e-04,-1.3008e-05,3.9575e-02,1.2153e-03
+25,7.0667e+00,UP_FORCE_RAMP,2.7584e-03,7.4983e-03,-1.5960e-02,2.4227e+00,-3.5537e-02,3.7363e-02,-4.3657e-05,4.9231e-03,-1.3665e-02,-2.9585e-02,1.0663e-03,3.8408e-04,-1.3719e-05,3.2958e-02,1.1334e-03
+26,7.4167e+00,UP_FORCE_RAMP,2.8698e-03,7.3024e-03,-1.6651e-02,2.4236e+00,-3.5495e-02,3.7342e-02,-4.5067e-05,4.7272e-03,-1.4356e-02,-2.8616e-02,1.1082e-03,3.6306e-04,-1.5130e-05,3.2362e-02,1.1662e-03
+27,7.7500e+00,UP_FORCE_RAMP,2.9795e-03,7.8435e-03,-1.4438e-02,2.4324e+00,-3.5661e-02,3.7376e-02,-4.4401e-05,5.2683e-03,-1.2143e-02,-1.9894e-02,9.4242e-04,3.9703e-04,-1.4464e-05,2.3895e-02,1.0227e-03
+28,8.0833e+00,UP_FORCE_RAMP,3.0899e-03,7.6231e-03,-1.4618e-02,2.4338e+00,-3.5665e-02,3.7357e-02,-4.5103e-05,5.0479e-03,-1.2323e-02,-1.8425e-02,9.3782e-04,3.7806e-04,-1.5165e-05,2.2733e-02,1.0113e-03
+29,8.3833e+00,UP_FORCE_RAMP,3.2002e-03,8.3534e-03,-1.5942e-02,2.4328e+00,-3.5586e-02,3.7406e-02,-4.5298e-05,5.7782e-03,-1.3647e-02,-1.9420e-02,1.0170e-03,4.2762e-04,-1.5360e-05,2.4429e-02,1.1033e-03
+30,8.8167e+00,UP_FORCE_RAMP,3.3097e-03,8.7014e-03,-1.6955e-02,2.4390e+00,-3.5534e-02,3.7429e-02,-4.2516e-05,6.1262e-03,-1.4660e-02,-1.3275e-02,1.0692e-03,4.5010e-04,-1.2578e-05,2.0705e-02,1.1601e-03
+31,9.1833e+00,UP_FORCE_RAMP,3.4211e-03,9.6109e-03,-1.6874e-02,2.4373e+00,-3.5545e-02,3.7496e-02,-3.9103e-05,7.0357e-03,-1.4578e-02,-1.4943e-02,1.0583e-03,5.1719e-04,-9.1652e-06,2.2030e-02,1.1779e-03
+32,9.5333e+00,UP_FORCE_RAMP,3.5273e-03,9.4864e-03,-1.6326e-02,2.4392e+00,-3.5583e-02,3.7485e-02,-3.5322e-05,6.9112e-03,-1.4031e-02,-1.3059e-02,1.0199e-03,5.0645e-04,-5.3845e-06,2.0376e-02,1.1388e-03
+33,9.8000e+00,UP_FORCE_RAMP,3.6413e-03,9.5667e-03,-1.6152e-02,2.4389e+00,-3.5593e-02,3.7491e-02,-3.3245e-05,6.9915e-03,-1.3857e-02,-1.3348e-02,1.0104e-03,5.1258e-04,-3.3078e-06,2.0471e-02,1.1330e-03
+34,1.0117e+01,UP_FORCE_RAMP,3.7515e-03,9.7247e-03,-1.3361e-02,2.4391e+00,-3.5787e-02,3.7503e-02,-2.9996e-05,7.1495e-03,-1.1066e-02,-1.3150e-02,8.1620e-04,5.2409e-04,-5.8302e-08,1.8614e-02,9.6998e-04
+35,1.0433e+01,UP_FORCE_RAMP,3.8635e-03,9.3405e-03,-1.6672e-02,2.4395e+00,-3.5548e-02,3.7475e-02,-3.1887e-05,6.7653e-03,-1.4377e-02,-1.2761e-02,1.0548e-03,4.9618e-04,-1.9495e-06,2.0379e-02,1.1657e-03
+36,1.0850e+01,UP_FORCE_RAMP,3.9705e-03,7.9315e-03,-1.7157e-02,2.4355e+00,-3.5503e-02,3.7377e-02,-3.3465e-05,5.3563e-03,-1.4862e-02,-1.6812e-02,1.1000e-03,3.9805e-04,-3.5271e-06,2.3070e-02,1.1698e-03
+37,1.1400e+01,UP_FORCE_RAMP,4.0808e-03,7.8486e-03,-1.6278e-02,2.4396e+00,-3.5555e-02,3.7368e-02,-3.5618e-05,5.2734e-03,-1.3982e-02,-1.2669e-02,1.0479e-03,3.8977e-04,-5.6805e-06,1.9591e-02,1.1180e-03
+38,1.1900e+01,UP_FORCE_RAMP,4.1962e-03,7.4455e-03,-1.6839e-02,2.4412e+00,-3.5510e-02,3.7339e-02,-3.9708e-05,4.8703e-03,-1.4544e-02,-1.1020e-02,1.0933e-03,3.6006e-04,-9.7708e-06,1.8886e-02,1.1511e-03
+39,1.2367e+01,UP_FORCE_RAMP,4.3048e-03,6.6712e-03,-1.7301e-02,2.4417e+00,-3.5472e-02,3.7283e-02,-4.3856e-05,4.0960e-03,-1.5006e-02,-1.0588e-02,1.1316e-03,3.0450e-04,-1.3919e-05,1.8816e-02,1.1719e-03
+40,1.2717e+01,UP_FORCE_RAMP,4.4137e-03,6.3975e-03,-1.6122e-02,2.4411e+00,-3.5552e-02,3.7265e-02,-4.6026e-05,3.8223e-03,-1.3827e-02,-1.1178e-02,1.0513e-03,2.8610e-04,-1.6089e-05,1.8187e-02,1.0896e-03
+41,1.3183e+01,UP_FORCE_RAMP,4.5238e-03,5.5601e-03,-1.7435e-02,2.4419e+00,-3.5455e-02,3.7204e-02,-5.0353e-05,2.9849e-03,-1.5140e-02,-1.0412e-02,1.1480e-03,2.2547e-04,-2.0416e-05,1.8615e-02,1.1702e-03
+42,1.3667e+01,UP_FORCE_RAMP,4.6333e-03,5.3316e-03,-1.7142e-02,2.4426e+00,-3.5474e-02,3.7188e-02,-5.3221e-05,2.7564e-03,-1.4847e-02,-9.6369e-03,1.1293e-03,2.0891e-04,-2.3284e-05,1.7914e-02,1.1487e-03
+43,1.4100e+01,UP_FORCE_RAMP,4.7430e-03,5.3118e-03,-1.7545e-02,2.4420e+00,-3.5445e-02,3.7187e-02,-5.5952e-05,2.7366e-03,-1.5250e-02,-1.0291e-02,1.1585e-03,2.0874e-04,-2.6014e-05,1.8600e-02,1.1775e-03
+44,1.4583e+01,UP_FORCE_RAMP,4.8550e-03,5.2868e-03,-1.6918e-02,2.4418e+00,-3.5490e-02,3.7186e-02,-5.7749e-05,2.7116e-03,-1.4623e-02,-1.0427e-02,1.1127e-03,2.0760e-04,-2.7812e-05,1.8163e-02,1.1323e-03
+45,1.5017e+01,UP_FORCE_RAMP,4.9668e-03,5.1765e-03,-1.5935e-02,2.4404e+00,-3.5562e-02,3.7180e-02,-5.9104e-05,2.6013e-03,-1.3640e-02,-1.1884e-02,1.0408e-03,2.0129e-04,-2.9166e-05,1.8277e-02,1.0605e-03
+46,1.5450e+01,UP_FORCE_RAMP,5.0759e-03,5.0752e-03,-1.5967e-02,2.4440e+00,-3.5566e-02,3.7169e-02,-6.0525e-05,2.5000e-03,-1.3672e-02,-8.2204e-03,1.0373e-03,1.9047e-04,-3.0587e-05,1.6147e-02,1.0551e-03
+47,1.5950e+01,UP_FORCE_RAMP,5.1864e-03,4.9904e-03,-1.6358e-02,2.4430e+00,-3.5540e-02,3.7164e-02,-6.2647e-05,2.4151e-03,-1.4062e-02,-9.2888e-03,1.0628e-03,1.8577e-04,-3.2710e-05,1.7025e-02,1.0794e-03
+48,1.6500e+01,UP_FORCE_RAMP,5.2964e-03,4.9903e-03,-1.6116e-02,2.4422e+00,-3.5561e-02,3.7165e-02,-6.4158e-05,2.4150e-03,-1.3821e-02,-1.0092e-02,1.0424e-03,1.8675e-04,-3.4220e-05,1.7283e-02,1.0595e-03
+49,1.6967e+01,UP_FORCE_RAMP,5.4098e-03,5.1322e-03,-1.4502e-02,2.4413e+00,-3.5680e-02,3.7177e-02,-6.4248e-05,2.5570e-03,-1.2207e-02,-1.0938e-02,9.2359e-04,1.9797e-04,-3.4310e-05,1.6589e-02,9.4519e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7be3f798dcfb11811ee87fddf1bed28d6ae393b0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
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+15085,1791280496157191353,12822401000000,1791280496156676753,DOWN_FORCE_DETACH,2,0.0575,0.05753187835216522,0.6759959977952926,-0.004743605838477143,0.09087982689509319,0.9999999762138702,9.91337179352312e-05,-0.00016678734622376564,3.7008250033896516e-05,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,-0.11623276825154148,-0.157951624168385,-0.001969726932652349,-0.010429010820959624,0.0079296590308289,0.0003004640084109966,-0.09126231550201094,-0.11614444229980853,0.23478619993913385,-0.013414185943127807,0.004261545959584352,-0.001398097183986974,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6656933972608674,-0.528951191627151,0.8240591121445477,0.3882427909134081,-0.3873974077433823,-0.39643258007773197,0.7073295706247651,0.001969726932652349,-0.11672954151978265,-0.11672954151978265,0.0010200000000000003,0,0,-8.500000245589333e-07,-9.999924085868912e-05
+15235,1791280497407181792,12823651000000,1791280497404685256,DOWN_FORCE_DETACH,2,0.0575,0.057500358670949936,0.6759995200204512,-0.004741920420923622,0.09086526219957466,0.9999999777783446,9.91839333317921e-05,-0.00015673505836518296,3.850770657897478e-05,0.6761,-0.0048,0.09096273846369451,1.0,0.0,0.0,0.0,-0.12099291076203997,-0.15205995125357125,-0.002328291486282913,-0.010420470563470365,0.007933453454744114,-0.0006438776999691117,-0.09602245801250943,-0.11025276938499476,0.2344276353855033,-0.013405645685638548,0.004265340383499564,-0.002342438892367082,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7027503445211036,-0.45888420292166765,0.7363241163209828,0.3768803120889745,-0.32945271321592967,-0.34757203592865044,0.7073295706247651,0.002328291486282913,-0.028994545696217733,-0.028994545696217733,0.07601999999999993,0,0,-5.4358409783154766e-05,-8.04464231604129e-05
+15357,1791280498424183472,12824668000000,1791280498416685103,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6759977577736964,-0.004748009777638995,0.09080693327540267,0.9999999783661604,9.352659423345018e-05,-0.00015633041215438355,3.903999901420243e-05,0.6761,-0.0048,0.09090062047769833,1.0,0.0,0.0,0.0,-0.11569979415814988,-0.15595240639264815,0.03584409375826708,-0.010428413575493255,0.007926285408261364,-0.0006246716824794163,-0.09072934140861934,-0.11414522452407166,0.2726000206300533,-0.013413588697661438,0.004258172337016815,-0.002323232874877387,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6668944382419931,-0.5131268175251329,0.6898114108044084,0.4119322425047973,-0.31173745811013187,-0.37603476653065804,0.7073295706247651,0.03584409375826708,0.01751815982035665,0.01751815982035665,0.1370400000000045,0,0,-6.522246799048319e-05,-6.556198098288393e-05
+15453,1791280499224267849,12825468000000,1791280499220685471,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760016444334052,-0.0047401085421753565,0.09076478226338662,0.9999999786409642,9.698090992462452e-05,-0.00015275606288783194,3.769912162994551e-05,0.6761,-0.0048,0.09084806945722428,1.0,0.0,0.0,0.0,-0.12117934296431222,-0.15553849380663565,0.06447542744718765,-0.010432911426943237,0.007920264212043043,-0.0006977210415764275,-0.09620889021478168,-0.11373131193805916,0.30123135431897385,-0.01341808654911142,0.004252151140798494,-0.002396282233974398,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7198442069178488,-0.5930406662963271,0.6179315436126376,0.43511826177323887,-0.25413681770858654,-0.4324478604870839,0.7073295706247651,0.06447542744718765,0.08939802701212751,0.08939802701212751,0.1850400000000081,0,0,-6.565697597130248e-05,5.350065809673339e-05
+15592,1791280500382200346,12826626000000,1791280500380685076,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760038051561779,-0.0047438955505190615,0.09069446109727057,0.9999999792488681,9.623018171217222e-05,-0.0001485163996104625,4.0345497063947715e-05,0.6761,-0.0048,0.09076784947580115,1.0,0.0,0.0,0.0,-0.11540774173703336,-0.14806099861677247,0.09799562497969222,-0.01043834370701677,0.007912261449694017,-0.0007239022158908681,-0.09043728898750282,-0.10625381674819599,0.3347515518514784,-0.013423518829184954,0.004244148378449468,-0.0024224634082888386,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7404953287511822,-0.543036126437167,0.5025719317740862,0.4193441286196525,-0.17859669404053058,-0.3990584892339644,0.7073295706247651,0.09799562497969222,0.20475763885067888,0.20475763885067888,0.2545200000000133,0,0,-7.233254538799449e-05,9.687504551181831e-05
+15700,1791280501282321631,12827526000000,1791280501280675621,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760065583421448,-0.004741628231430528,0.0906298252115424,0.9999999793156881,0.00010085549785722822,-0.00014332246109364466,4.580751524075306e-05,0.6761,-0.0048,0.09070175641934389,1.0,0.0,0.0,0.0,-0.12176100182734292,-0.163625491690908,0.13644084899957498,-0.010456584911657416,0.007900187432680195,0.00025223841758410543,-0.09679054907781239,-0.12181830982233152,0.3731967758713612,-0.013441760033825599,0.004232074361435646,-0.001446322774813865,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7388243402029288,-0.5007195023052305,0.5483835948349699,0.41653846764174823,-0.21056994265397752,-0.3721079802915709,0.7073295706247651,0.13644084899957498,0.1589459757897952,0.1589459757897952,0.30852000000001734,0,0,-7.501407264384608e-05,-7.192744597007134e-05
+15801,1791280502124272894,12828368000000,1791280502120685508,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760115607545877,-0.004740289778077927,0.09057931629663853,0.9999999793933918,0.00011010918457826661,-0.00013546048086919029,4.6717298668312345e-05,0.6761,-0.0048,0.09063607647419607,1.0,0.0,0.0,0.0,-0.1219654123029213,-0.14926511652347077,0.1688417346124908,-0.009439624137878768,0.007876890097566706,-0.0001771739580815584,-0.09699495955339076,-0.10745793465489428,0.405597661484277,-0.012424799260046951,0.0042087770263221575,-0.001875735150479529,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7953102287385632,-0.4471970906491857,0.5332779854204155,0.3969935876174801,-0.18571217745408564,-0.33468408361810814,0.7073295706247651,0.1688417346124908,0.1740515852043496,0.1740515852043496,0.3590400000000211,0,0,-8.325132634243027e-05,-9.99985053359353e-05
+15913,1791280503057362350,12829301000000,1791280503052676166,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.676024888362308,-0.004720746103801062,0.09051279722420033,0.999999979544987,0.00012731162692183296,-0.00011930047478013682,4.372683861716919e-05,0.6761,-0.0048,0.09055565065866564,1.0,0.0,0.0,0.0,-0.13128485343401128,-0.15675176422536932,0.20866397467182746,-0.00944210835264291,0.007916453216290292,-0.0007998090992085629,-0.10631440068448075,-0.11494458235679283,0.44541990154361366,-0.012427283474811094,0.0042483401450457425,-0.0024983702916065334,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8580187738221172,-0.5033339176931104,0.45696718789993906,0.41523368555014456,-0.12294664393795478,-0.3743151230046336,0.7073295706247651,0.20866397467182746,0.250362382724826,0.250362382724826,0.4150200000000253,0,0,-8.999077087603076e-05,-8.892726756655353e-05
+16039,1791280504107348665,12830351000000,1791280504100684976,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760256008170509,-0.004729338592357329,0.0904221313878487,0.9999999802862442,0.00012518785506935554,-0.00011452386859041264,4.563616984355206e-05,0.6761,-0.0048,0.09045957491423323,1.0,0.0,0.0,0.0,-0.12220789735376088,-0.14670120372916273,0.25007911135910615,-0.00945772756945336,0.007856381482977483,0.0001908576747368094,-0.09723744460423034,-0.10489402186058625,0.48683503823089236,-0.012442902691621543,0.004188268411732935,-0.0015077035176611611,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7818760659718784,-0.4764325929088397,0.40979566051081456,0.40767116518772634,-0.11497574021312093,-0.3534012522418521,0.7073295706247651,0.25007911135910615,0.29753391011395053,0.29753391011395053,0.47802000000003003,0,0,-9.357320434752315e-05,-9.75486316986462e-05
+16195,1791280505407369075,12831651000000,1791280505404675397,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760230700836816,-0.004729398810644553,0.09030322126433353,0.9999999785481203,0.0001336947908644541,-0.00011666741944041263,5.348868343571146e-05,0.6761,-0.0048,0.09033716955861767,1.0,0.0,0.0,0.0,-0.12552238775047797,-0.15235331177706266,0.3194980160982754,-0.009475215602497165,0.008015703167010103,0.00013726410290329331,-0.10055193500094745,-0.11054612990848617,0.5562539429700616,-0.012460390724665349,0.004347590095765554,-0.0015612970894946772,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8184361806232323,-0.42932625572089755,0.28795202081867716,0.3951956060226565,-0.027188836484839576,-0.32520638936234086,0.7073295706247651,0.3194980160982754,0.41937754980608793,0.41937754980608793,0.5560199999999841,0,0,-9.385896933691994e-05,9.761738225944611e-05
+16327,1791280506507411070,12832751000000,1791280506500676208,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760210739297088,-0.00472929630133976,0.09019911272558508,0.9999999794705078,0.0001247501772612772,-0.00011890305262492201,5.2927362112755664e-05,0.6761,-0.0048,0.09023501227454078,1.0,0.0,0.0,0.0,-0.12927355969878151,-0.1526145483538504,0.3787809263393361,-0.009508745476716231,0.008824121118965456,9.929823043132772e-05,-0.10430310694925099,-0.11080736648527394,0.6155368532111223,-0.012493920598884415,0.005156008047720906,-0.0015992629619666428,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8491360286169878,-0.5422260680209152,0.2501380516573394,0.43320513227624724,0.0024409341333833175,-0.4007460827984031,0.7073295706247651,0.3787809263393361,0.4571915189674257,0.4571915189674257,0.622019999999928,0,0,-9.030582800402213e-05,-8.678041025736587e-05
+16469,1791280507690369652,12833934000000,1791280507688675522,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760277791076179,-0.004740623638632848,0.09010057167152741,0.999999983247931,0.0001034689349172471,-0.0001095592917618929,4.730690346354591e-05,0.6761,-0.0048,0.09012615090371767,1.0,0.0,0.0,0.0,-0.1317997972772999,-0.1580234056590979,0.4298366227584646,-0.009494571145085728,0.007824622268337005,4.446149222575341e-05,-0.10682934452776936,-0.11621622379052142,0.6665925496302508,-0.012479746267253912,0.004156509197092457,-0.001654099700172217,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9600430443856991,-0.446811865591333,0.12617695528438327,0.42052595423790934,0.11212875147426718,-0.3330753634428034,0.7073295706247651,0.4298366227584646,0.5811526153403819,0.5811526153403819,0.6929999999998676,0,0,-9.389600308798573e-05,9.924198548916791e-05
+16587,1791280508674465785,12834918000000,1791280508672675302,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.676035015414176,-0.004738874213744788,0.09001948378242548,0.9999999836145697,0.00010905940597620375,-9.934666775029835e-05,4.9497578907252665e-05,0.6761,-0.0048,0.0900316442860715,1.0,0.0,0.0,0.0,-0.13210165440442634,-0.14921389343347777,0.459900802463116,-0.009524111544071111,0.008823943061231711,3.5849769730187915e-05,-0.10713120165489581,-0.10740671156490128,0.6966567293349022,-0.012509286666239294,0.005155829989987162,-0.0016627114226677826,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8560045619264223,-0.5221015995988083,0.07660993102412075,0.45088007725047324,0.11193165192939589,-0.3830252631942978,0.7073295706247651,0.459900802463116,0.6307196396006444,0.6307196396006444,0.7520399999998174,0,0,-9.865030921732553e-05,9.980114931552037e-05
+16695,1791280509574535851,12835818000000,1791280509568676183,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760400522357846,-0.004734575462519976,0.08993751368736429,0.9999999837501669,0.00011303335336427319,-9.240950684139473e-05,5.1249141480640324e-05,0.6761,-0.0048,0.08994193435093675,1.0,0.0,0.0,0.0,-0.12399014186136541,-0.15816349535395824,0.4956029774049083,-0.009543569859235422,0.008175125405400633,-2.197797570636711e-06,-0.09901968911183487,-0.11635631348538177,0.7323589042766945,-0.012528744981403606,0.004507012334156084,-0.0017007589899686072,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8809594816497948,-0.5346434629268839,0.04409683741963242,0.45346723464809613,0.13922849887972646,-0.3920355231817759,0.7073295706247651,0.4956029774049083,0.6632327332051327,0.6632327332051327,0.8060399999997715,0,0,-9.799755282671884e-05,9.707476075616057e-05
+16789,1791280510357520351,12836601000000,1791280510356675193,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760416743295569,-0.004747996350753399,0.0898664448127186,0.9999999840090503,0.00011004305748005598,-8.707489020368135e-05,6.110034779107897e-05,0.6761,-0.0048,0.08986151984349916,1.0,0.0,0.0,0.0,-0.13229884554379884,-0.16254561504698462,0.530077660961856,-0.00953991420173451,0.008810721290638545,-2.0921458104294867e-05,-0.1073283927942683,-0.12073843317840811,0.7668335878336422,-0.012525089323902693,0.005142608219393997,-0.0017194826505022654,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8781055708336051,-0.5192743495514004,0.13924418694032697,0.46376220135229057,0.07629982080937299,-0.37478215321978575,0.7073295706247651,0.530077660961856,0.5680853836844382,0.5680853836844382,0.8530199999997315,0,0,-0.00010647903061630627,-9.999997638144293e-05
+16812,1791280510549533104,12836793000000,1791280510548675421,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760438979037857,-0.004768160847277902,0.08984511422371926,0.9999999844867536,0.00010143172639445992,-8.508345372154251e-05,7.029770647051307e-05,0.6761,-0.0048,0.08984113439655712,1.0,0.0,0.0,0.0,-0.139461005281483,-0.1483625194093926,0.5397166568323544,-0.008809312493898262,0.008428510670220213,-2.4261924134045577e-05,-0.11449055253195248,-0.10655533754081611,0.7764725837041405,-0.011794487616066445,0.004760397598975665,-0.001722823116532016,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.89916684703146,-0.5722819256379474,0.0002450475287125367,0.48073055840534495,0.16815104343545795,-0.4111304179884645,0.7073295706247651,0.5397166568323544,0.7070845230960525,0.7070845230960525,0.8645399999997218,0,0,-0.0001046402815410311,9.397561481628287e-05
+16842,1791280510799554505,12837043000000,1791280510792675642,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760481655710177,-0.004723103817923836,0.08982673758247475,0.9999999820509317,0.00013183996267481532,-8.03308882812672e-05,5.921295041595349e-05,0.6761,-0.0048,0.0898145201261854,1.0,0.0,0.0,0.0,-0.15047033993549808,-0.1682751789889633,0.5496843849437869,-0.010556386144376935,0.009829744827662076,-3.4712075686830395e-05,-0.12549988718596755,-0.1264679971203868,0.7864403118155731,-0.013541561266545118,0.006161631756417526,-0.001733273268084801,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.89042830016807,-0.4963460456816652,0.06307809731207471,0.45401362999085904,0.12547695482227028,-0.3593052878861982,0.7073295706247651,0.5496843849437869,0.6442514733126904,0.6442514733126904,0.879539999999709,0,0,-0.00010704650766776703,-9.996053570849312e-05
+16889,1791280511190551104,12837434000000,1791280511188675800,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760481917698216,-0.004723267834460119,0.08978470581323804,0.9999999815439653,0.000135713051827322,-7.90124427660789e-05,6.077774881649724e-05,0.6761,-0.0048,0.08977284636219658,1.0,0.0,0.0,0.0,-0.13776754956668052,-0.16217541330293872,0.5697895853391806,-0.010168237776498107,0.00981903357861466,-5.1205225686179294e-05,-0.11279709681715,-0.12036823143436222,0.8065455122109668,-0.01315341289866629,0.00615092050737011,-0.0017497664180841498,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8814255375371233,-0.5667860325754627,0.03336632788542238,0.4725217128735838,0.14408270546559693,-0.4085776954531688,0.7073295706247651,0.5697895853391806,0.6739632427393427,0.6739632427393427,0.902999999999689,0,0,-0.00010687569867581648,-9.925679308875885e-05
+16962,1791280511799469526,12838043000000,1791280511796675659,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.676052437266306,-0.004739452852188565,0.08972621699313849,0.9999999836468969,0.00012475196343617574,-7.052401567623111e-05,6.010308749155387e-05,0.6761,-0.0048,0.08970713733591286,1.0,0.0,0.0,0.0,-0.14192295092336887,-0.16391014418426286,0.5994314558775469,-0.009579040305818137,0.009758887242332419,-6.340212731171017e-05,-0.11695249817383833,-0.12210296231568636,0.836187382749333,-0.01256421542798632,0.006090774171087871,-0.0017619633197096807,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9065256287072674,-0.5729315014992779,-0.04279181045913586,0.484106014785246,0.19752367219561467,-0.4123639783482853,0.7073295706247651,0.5994314558775469,0.7501213810839009,0.7501213810839009,0.939539999999658,0,0,-0.00010884545348783164,-4.85426046628544e-05
+17093,1791280512890505109,12839134000000,1791280512888676023,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760527528185245,-0.004745262420061183,0.08960628290302389,0.9999999849390155,0.00011545630301068465,-7.011541556177797e-05,5.760645461520397e-05,0.6761,-0.0048,0.08958541938274024,1.0,0.0,0.0,0.0,-0.1420497164744523,-0.1622655468174705,0.6504129281956381,-0.009589703324509157,0.009797438439323531,-0.00010357219765143528,-0.11707926372492176,-0.120458364948894,0.8871688550674244,-0.01257487844667734,0.006129325368078982,-0.0018021333900494058,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8573383624004669,-0.5157195729499876,-0.03630463481365202,0.4756169368747397,0.1800896907440615,-0.3719897960056713,0.7073295706247651,0.6504129281956381,0.7436342054384171,0.7436342054384171,1.0049999999996024,0,0,-0.00011459085431517047,-9.999825553575476e-05
+17233,1791280514057581515,12840301000000,1791280514052675441,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.676059820436167,-0.0047475125574063855,0.08948302214892709,0.9999999873290604,0.00010259211359895436,-5.956684783804412e-05,5.207103067183153e-05,0.6761,-0.0048,0.08944996453615643,1.0,0.0,0.0,0.0,-0.15044662805646872,-0.16006442951303143,0.7106051846624739,-0.009600601000253214,0.009784450255684345,-0.00015333192975205317,-0.1254761753069382,-0.11825724764445494,0.9473611115342601,-0.012585776122421398,0.006116337184439796,-0.0018518931221500237,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9159051899182513,-0.4384246218471189,-0.24558710414077042,0.4530984783182223,0.3262171717567742,-0.3223108149746087,0.7073295706247651,0.7106051846624739,0.9529166747655355,0.9529166747655355,1.075019999999543,0,0,-0.00011631640903645023,9.996918157029739e-05
+17397,1791280515424613803,12841668000000,1791280515420676156,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760664611801402,-0.0047546635331685095,0.08932782994899571,0.9999999876331606,0.0001005275652017023,-5.01961083094174e-05,5.9591128870411676e-05,0.6761,-0.0048,0.0892843273464033,1.0,0.0,0.0,0.0,-0.14789876194397317,-0.17846958209252936,0.7705662714128307,-0.010607100360600334,0.009790951265890031,-0.00021284030670110522,-0.12292830919444263,-0.13666240022395287,1.007322198284617,-0.013592275482768517,0.006122838194645483,-0.0019114014990990757,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.93555053577226,-0.5880817111771742,-0.2992446233596997,0.4976777031785893,0.3654703128955037,-0.42579489074963367,0.7073295706247651,0.7705662714128307,1.0065741939844648,1.0065741939844648,1.1570399999994732,0,0,-0.00012695630942774627,9.196672176437488e-05
+17533,1791280516557682867,12842801000000,1791280516556675089,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760672629873805,-0.004755637646313949,0.0891794293022676,0.9999999872582421,0.00010472040437510594,-4.9027829866631966e-05,5.963462737918455e-05,0.6761,-0.0048,0.0891381244497269,1.0,0.0,0.0,0.0,-0.1591539277199213,-0.1785269827512722,0.830460006389053,-0.010645414851448144,0.009778919685134708,-0.00026262735890648036,-0.13418347497039076,-0.13671980088269572,1.0672159332608393,-0.013630589973616327,0.006110806613890159,-0.001961188551304451,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8774137005581177,-0.5295132819260709,-0.3820225403045363,0.4857992909886139,0.3993503573795965,-0.3842298473004124,0.7073295706247651,0.830460006389053,1.0893521109293014,1.0893521109293014,1.2250199999994154,0,0,-0.00012955889576862922,9.981615120414062e-05
+17683,1791280517807664343,12844051000000,1791280517804675968,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760703650744322,-0.004761123308824865,0.08901027569099097,0.9999999864448341,0.0001099933392664549,-4.8363361276857725e-05,6.415330578689874e-05,0.6761,-0.0048,0.08896765922783144,1.0,0.0,0.0,0.0,-0.15128570881909742,-0.18279084704325177,0.8807350992856948,-0.010655738556725261,0.00976828380994187,-0.0003022942291245245,-0.1263152560695669,-0.14098366517467528,1.117491026157481,-0.013640913678893444,0.00610017073869732,-0.002000855421522495,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8733776986995786,-0.6455819113797082,-0.32645238259527104,0.5278624210480581,0.3597325228312552,-0.4604419599047538,0.7073295706247651,0.8807350992856948,1.033781953220036,1.033781953220036,1.3000199999993516,0,0,-0.00014129783373481442,-9.866769487410493e-05
+17815,1791280518907728266,12845151000000,1791280518904676100,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760703737424292,-0.0047580560247708565,0.08884840786063503,0.9999999861791152,0.00011059135244613347,-5.076095608304324e-05,6.54026904084988e-05,0.6761,-0.0048,0.08880679904542474,1.0,0.0,0.0,0.0,-0.15345816279681096,-0.18556511421019767,0.9111176088003097,-0.010671924313014714,0.010131330639559377,-0.0003215283190547019,-0.12848771004728043,-0.14375793234162118,1.147873535672096,-0.013657099435182897,0.006463217568314828,-0.0020200895114526724,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8061347215533229,-0.5808765260624624,-0.33576177816998093,0.5279931727642746,0.3414051985813907,-0.41453403381671544,0.7073295706247651,0.9111176088003097,1.043091348794746,1.043091348794746,1.3660199999992955,0,0,-0.0001540389544210915,-9.999979597020143e-05
+17937,1791280519924768591,12846168000000,1791280519924675157,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.676069899234054,-0.004768735382930094,0.0886833177276866,0.9999999866388224,0.00010319431250775436,-5.104272289514705e-05,7.007705638121655e-05,0.6761,-0.0048,0.08864339773921452,1.0,0.0,0.0,0.0,-0.16067721966226425,-0.19040284179150097,0.9444778556308395,-0.010678047709239248,0.009759143904938358,-0.0003549945084663547,-0.13570676691273373,-0.14859565992292448,1.1812337825026258,-0.013663222831407432,0.00609103083369381,-0.0020535557008643252,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7906155929451077,-0.5131155196860898,-0.34455524063243126,0.5062529142195681,0.3384993479321546,-0.37254915062381616,0.7073295706247651,0.9444778556308395,1.0518848112571964,1.0518848112571964,1.4270399999992436,0,0,-0.00016972479039842193,-9.999999025923074e-05
+18010,1791280520532676979,12846776000000,1791280520524676307,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760697185685556,-0.004769266261954925,0.08857929330450816,0.9999999856580435,0.00010806361481985335,-5.2136662097029814e-05,7.570205323535544e-05,0.6761,-0.0048,0.08853615488104195,1.0,0.0,0.0,0.0,-0.14408495102512311,-0.17363562115503728,0.9613051432607194,-0.009905693936454468,0.008997647843351103,-0.00032191029408060504,-0.11911449827559258,-0.1318284392864608,1.1980610701325056,-0.012890869058622651,0.005329534772106554,-0.0020204714864785756,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8281187213748671,-0.488319779911354,-0.3813400689601538,0.5098912127321726,0.36640040983633515,-0.3556085041086095,0.7073295706247651,0.9613051432607194,1.088669639584919,1.088669639584919,1.4635199999992126,0,0,-0.000182445049883044,-9.999964331453554e-05
+18067,1791280521007745487,12847251000000,1791280521004675929,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760702005660375,-0.004754900316334581,0.08849220535055317,0.9999999844125701,0.00012049592895406675,-5.253346270193408e-05,7.306634238099973e-05,0.6761,-0.0048,0.08844744838123378,1.0,0.0,0.0,0.0,-0.16078033009399562,-0.19020202650436632,0.9649107490698992,-0.010682552224000615,0.010071859035132276,-0.00036740685197702064,-0.1358098773444651,-0.14839484463578984,1.2016666759416854,-0.013667727346168798,0.006403745963887727,-0.002065968044374991,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7748821932193517,-0.5631131542337172,-0.490829659389454,0.5337786947496002,0.41998363771695557,-0.4040825939620517,0.7073295706247651,0.9649107490698992,1.1981592300142192,1.1981592300142192,1.4920199999991883,0,0,-0.00019067969836830822,9.99436186851554e-05
+18145,1791280521657700208,12847901000000,1791280521652676013,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760718246753507,-0.004762219485849367,0.08836467638265574,0.9999999846277731,0.00011962644707225889,-4.809890247877474e-05,7.45877116324926e-05,0.6761,-0.0048,0.08831852353780867,1.0,0.0,0.0,0.0,-0.15738672539736442,-0.19349711751450524,0.9758709094528433,-0.010678220148898526,0.009752901705443368,-0.00037591706113727767,-0.1324162726478339,-0.15168993564592875,1.2126268363246295,-0.013663395271066709,0.006084788634198819,-0.002074478253535248,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8601510476533543,-0.6050137386703746,-0.49655460352431724,0.559611988728476,0.44446446001054146,-0.4272374643379724,0.7073295706247651,0.9758709094528433,1.2038841741490822,1.2038841741490822,1.5310199999991552,0,0,-0.00020516998663714094,8.978273865754735e-05
+18241,1791280522457797333,12848701000000,1791280522452675563,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.676072343913253,-0.004758799124016193,0.08819303769872623,0.9999999842391729,0.00012199416802042041,-5.102219988280797e-05,7.401808050610391e-05,0.6761,-0.0048,0.08814702023950417,1.0,0.0,0.0,0.0,-0.15716728847551542,-0.19273180924084138,0.991685936839547,-0.010744070492829967,0.009958806891314603,-0.0003923097875436737,-0.1321968357259849,-0.1509246273722649,1.2284418637113332,-0.01372924561499815,0.006290693820070054,-0.002090870979941644,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8228202442240131,-0.5290939158180654,-0.5514552539488843,0.5223737546607703,0.46369491459534706,-0.38590792143306196,0.7073295706247651,0.991685936839547,1.2587848245736493,1.2587848245736493,1.5790199999991144,0,0,-0.00022313276557409256,9.947010856515277e-05
+18325,1791280523157826780,12849401000000,1791280523152675525,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.676070266991803,-0.004759869835075746,0.08802499617647198,0.9999999838084409,0.00012030512646850309,-5.708006609003308e-05,7.806743861148364e-05,0.6761,-0.0048,0.0879848859888031,1.0,0.0,0.0,0.0,-0.15201374811735255,-0.19242931324201168,1.0011053370300604,-0.010679987781930906,0.009743154070299291,-0.00039961641484327344,-0.12704329536782202,-0.1506221313734352,1.2378612639018467,-0.013665162904099089,0.006075040999054742,-0.002098177607241244,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7418598972434242,-0.509088227517731,-0.5157347249350122,0.5312113066126821,0.41456182247064716,-0.3700961567308139,0.7073295706247651,1.0011053370300604,1.2230642955597772,1.2230642955597772,1.6210199999990786,0,0,-0.0002403911233173543,1.634041064417659e-05
+18393,1791280523724796761,12849968000000,1791280523720675860,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760687288274968,-0.004768888303409543,0.08787790523705204,0.999999984104623,0.00011277701418299413,-6.013908593471608e-05,8.30557265444011e-05,0.6761,-0.0048,0.08784356471952645,1.0,0.0,0.0,0.0,-0.14237848161177236,-0.19347890590353278,1.001182132926033,-0.010653451099790934,0.008759749037831391,-0.00041394715008217305,-0.11740802886224182,-0.1516717240349563,1.2379380597978193,-0.013638626221959117,0.0050916359665868416,-0.0021125083424801436,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7376696572868499,-0.5129764568074204,-0.4259008756234451,0.5413453751402151,0.35004597710916624,-0.3751276803019832,0.7073295706247651,1.001182132926033,1.1332304462482101,1.1332304462482101,1.6550399999990497,0,0,-0.0002567819056373529,-9.999980984798924e-05
+18467,1791280524340768503,12850584000000,1791280524340685299,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760632781318664,-0.004755045880536608,0.0877096634347087,0.9999999816826433,0.00012877205724305451,-6.916276891757983e-05,8.192585736814744e-05,0.6761,-0.0048,0.08767989569604831,1.0,0.0,0.0,0.0,-0.15158721874302997,-0.19210382560574057,1.0111402552541968,-0.01068174320409288,0.00973693956956577,-0.0004077526124300903,-0.12661676599349944,-0.1502966437371641,1.247896182125983,-0.013666918326261063,0.0060688264983212205,-0.002106313804828061,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7350629860191956,-0.608449268846577,-0.4561271536016703,0.5795675038196961,0.36650053015829587,-0.43465936441583264,0.7073295706247651,1.0111402552541968,1.1634567242264353,1.1634567242264353,1.6919999999990183,0,0,-0.00027466578251675165,-9.946297538221955e-05
+18549,1791280525024831403,12851268000000,1791280525024675081,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760668565117629,-0.004762081973012254,0.08752385078850297,0.9999999822510769,0.00012671144583788113,-6.232849117161383e-05,8.366647458702848e-05,0.6761,-0.0048,0.08748455675727465,1.0,0.0,0.0,0.0,-0.14419751107267384,-0.19172893604185728,1.0204337653646245,-0.010658391971534339,0.008807513322496251,-0.0004285862277908202,-0.11922705832314331,-0.1499217541732808,1.2571896922364107,-0.013643567093702522,0.005139400251251703,-0.0021271474201887907,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6969494526284675,-0.5032303557429395,-0.4235435863876233,0.5532890180265986,0.3329229550155514,-0.3670859504017899,0.7073295706247651,1.0204337653646245,1.1308731570123884,1.1308731570123884,1.7330399999989834,0,0,-0.0002981762008094898,-9.995964753007342e-05
+18623,1791280525641870434,12851884000000,1791280525640685260,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.676060408504628,-0.004769182576811748,0.08732758062080484,0.9999999814793676,0.00012284615300627862,-7.392532909993857e-05,8.903930052539771e-05,0.6761,-0.0048,0.08729286140304321,1.0,0.0,0.0,0.0,-0.14262430217929362,-0.19215821376821163,1.011454445823374,-0.01068089240068449,0.009690965087666172,-0.00040133088342257065,-0.11765384942976308,-0.15035103189963514,1.2482103726951603,-0.013666067522852673,0.006022852016421622,-0.002099892075820541,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6966683782903939,-0.5582028786489793,-0.36614414317043525,0.5807501813678844,0.2942231093143139,-0.4038823600810396,0.7073295706247651,1.011454445823374,1.0734737137952004,1.0734737137952004,1.769999999998952,0,0,-0.00032279752041761,-9.999999025923074e-05
+18701,1791280526290891055,12852534000000,1791280526288685948,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760651210860587,-0.00476579148141319,0.08712110883221985,0.9999999818130394,0.00012772281625730646,-6.233687718024799e-05,8.727990166453614e-05,0.6761,-0.0048,0.08707593661553696,1.0,0.0,0.0,0.0,-0.1437481445776771,-0.19551927845446218,1.004885900283098,-0.010657080362299676,0.00879169399339651,-0.00034245034953758724,-0.11877769182814657,-0.1537120965858857,1.2416418271548844,-0.013642255484467859,0.0051235809221519615,-0.0020410115419355578,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7705697912277787,-0.4296905488165614,-0.5411714926758114,0.5504693850314348,0.4227845872442962,-0.31933795424894734,0.7073295706247651,1.004885900283098,1.2485010633005764,1.2485010633005764,1.8089999999989188,0,0,-0.00034489342000812586,8.031808137876623e-05
+18770,1791280526865905820,12853109000000,1791280526860676328,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760615890390834,-0.004767130518210826,0.08691186882203758,0.9999999820830845,0.00012036372982398529,-7.003721999380106e-05,8.879220394751621e-05,0.6761,-0.0048,0.0868715880468056,1.0,0.0,0.0,0.0,-0.1500908080938148,-0.19239367139112615,1.0013517143018298,-0.010651197655319673,0.008729781725052062,-0.00041529880772047073,-0.12512035534428428,-0.15058648952254966,1.238107641173616,-0.013636372777487856,0.0050616686538075125,-0.0021138600001184412,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7740673354907864,-0.5531256378295455,-0.5337207760793263,0.5893755639393443,0.4184108294610684,-0.4032365000426441,0.7073295706247651,1.0013517143018298,1.2410503467040914,1.2410503467040914,1.8434999999988895,0,0,-0.0003672908286586957,5.8798350321383e-05
+18839,1791280527440882943,12853684000000,1791280527440685201,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760641962350339,-0.004767189790738749,0.08669994684755884,0.9999999823106217,0.00012035455253236206,-6.58306536207843e-05,8.945796397541469e-05,0.6761,-0.0048,0.08665424097116012,1.0,0.0,0.0,0.0,-0.1421266598609657,-0.18522013953743938,1.0034158445480257,-0.01065092137318014,0.008728818387975637,-0.0004147228982019056,-0.11715620711143518,-0.1434129576688629,1.240171771419812,-0.013636096495348323,0.005060705316731089,-0.002113284090599876,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7318073851827257,-0.553015620978915,-0.4542175282847805,0.6033614019691154,0.35450087864283614,-0.4010116035929976,0.7073295706247651,1.0034158445480257,1.1615470989095456,1.1615470989095456,1.8779999999988601,0,0,-0.00038978332738834185,-9.999999025923074e-05
+18901,1791280527957903749,12854201000000,1791280527956685342,DOWN_FORCE_DETACH,2,0.0575,0.05750232934951782,0.6760612211437285,-0.0047739440946921955,0.0864961905198964,0.9999999810397895,0.00012606645692087606,-6.84664828695074e-05,9.37169888521353e-05,0.6761,-0.0048,0.08644823762193851,1.0,0.0,0.0,0.0,-0.14261242261977078,-0.179570967775517,1.0052669836014696,-0.009682401411800233,0.00870933795344846,-0.00041112348292682657,-0.11764196987024025,-0.13776378590694052,1.2420229104732559,-0.012667576533968416,0.005041224882203912,-0.002109684675324797,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6794377435724733,-0.5832254794543684,-0.43383555305274507,0.6228828223261211,0.32706221268731495,-0.4180210353513746,0.7073295706247651,1.0052669836014696,1.1411651236775102,1.1411651236775102,1.9090199999988338,0,0,-0.0004076911746073427,-9.999946290329404e-05
+18969,1791280528524922591,12854768000000,1791280528524685595,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.676060641120317,-0.0047741676407874155,0.08626932561362376,0.999999980599569,0.00012791588781810038,-6.729114015568266e-05,9.67117066865305e-05,0.6761,-0.0048,0.08621133423856067,1.0,0.0,0.0,0.0,-0.14246861373827507,-0.17793912854052207,1.011787131462463,-0.009929238443307299,0.00871158840817056,0.00023676896688241554,-0.11749816098874455,-0.1361319466719456,1.2485430583342492,-0.012914413565475482,0.005043475336926012,-0.001461792225515555,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7583022794141453,-0.5048328032561366,-0.47380458995736274,0.6148400169304997,0.3712224389789357,-0.3651398495529474,0.7073295706247651,1.011787131462463,1.1811341605821277,1.1811341605821277,1.9430399999988048,0,0,-0.0004277569234476238,-9.724919067111699e-05
+19029,1791280529024933215,12855268000000,1791280529020686118,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760609614036354,-0.004779811550344323,0.08605097904282075,0.9999999822844123,0.00011519856897025508,-6.482550229615528e-05,9.695866821612737e-05,0.6761,-0.0048,0.08599358562398873,1.0,0.0,0.0,0.0,-0.14261980407773328,-0.16976826690958038,1.0120323588363325,-0.009639564376502442,0.008702148628933877,0.00048219365599288665,-0.11764935132820276,-0.1279610850410039,1.2487882857081187,-0.012624739498670625,0.005034035557689327,-0.0012163675364050839,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7412179817019614,-0.47864298628146235,-0.5395848670123049,0.6153980952977802,0.4042149415127726,-0.3495708166805187,0.7073295706247651,1.0120323588363325,1.24691443763707,1.24691443763707,1.9730399999987793,0,0,-0.0004442167439437557,8.627683360333473e-05
+19089,1791280529524917934,12855768000000,1791280529524685677,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760653779276619,-0.004783632539024095,0.08583408868104592,0.999999983811625,0.0001064493706757721,-5.782920506210882e-05,9.562389109435448e-05,0.6761,-0.0048,0.08576753939549882,1.0,0.0,0.0,0.0,-0.13546158821250692,-0.17488789850521266,1.0119542224944749,-0.009633937207192207,0.0087061699578167,-0.0003671413011048024,-0.11049113546297638,-0.13308071663663618,1.2487101493662611,-0.01261911232936039,0.0050380568865721525,-0.002065702493502773,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8189611544032995,-0.5076164414393552,-0.49563476343033414,0.6353746013135317,0.39525438500327337,-0.36709919693220794,0.7073295706247651,1.0119542224944749,1.2029643340550993,1.2029643340550993,2.003039999998754,0,0,-0.0004603252888965833,-9.999999025923074e-05
+19145,1791280529990967486,12856234000000,1791280529984685420,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760566948151768,-0.004787205635532743,0.08560530980642965,0.9999999817715618,0.0001157669322337735,-7.132427262378329e-05,9.700827837616334e-05,0.6761,-0.0048,0.08555121057740955,1.0,0.0,0.0,0.0,-0.14059472459796601,-0.1697503269281385,1.0124454173498245,-0.009639028817978958,0.008702106761261479,-5.465986503861526e-06,-0.11562427184843549,-0.127943145059562,1.2492013442216108,-0.012624203940147141,0.0050339936900169295,-0.001704027178901832,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7649460138292437,-0.549240069676826,-0.48945019086843095,0.65849161117839,0.373796711819309,-0.3900621555339866,0.7073295706247651,1.0124454173498245,1.196779761493196,1.196779761493196,2.03099999999873,0,0,-0.0004716315291322922,-9.999999025923074e-05
+19201,1791280530457954741,12856701000000,1791280530456684967,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760569401085474,-0.004791311163838658,0.08538350477721686,0.9999999829450799,0.00010650587034575987,-7.011671670821328e-05,9.639942951615223e-05,0.6761,-0.0048,0.08532790958533759,1.0,0.0,0.0,0.0,-0.1405870858123713,-0.16921206660934027,1.0116672550635117,-0.009631994579642525,0.008706833653227422,-0.00041085010926766104,-0.11561663306284078,-0.12740488474076378,1.248423181935298,-0.012617169701810708,0.005038720581982873,-0.0021094113016656315,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8111942604816617,-0.5126856476111854,-0.50647767026489,0.6578055668765082,0.39237579973363756,-0.3648322323537088,0.7073295706247651,1.0116672550635117,1.213807240889655,1.213807240889655,2.059019999998706,0,0,-0.00048615298439277774,-9.999999025923074e-05
+19257,1791280530924947446,12857168000000,1791280530920685200,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760583533964029,-0.0047998906888098,0.08516056860081103,0.9999999840775248,9.893259248406965e-05,-6.390850897108736e-05,9.703534993423404e-05,0.6761,-0.0048,0.0850975053128327,1.0,0.0,0.0,0.0,-0.13750211251890607,-0.16349817240962367,1.0118572675193884,-0.009634548449864696,0.00870408925188833,-0.00041010413471256955,-0.11253165976937553,-0.12169099054104716,1.2486131943911747,-0.012619723572032879,0.0050359761806437805,-0.00210866532711054,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7865789974968893,-0.5839277800104924,-0.5133908081236821,0.6834344636611605,0.3860628494180349,-0.41033444630663446,0.7073295706247651,1.0118572675193884,1.2207203787484473,1.2207203787484473,2.0870399999986824,0,0,-0.0005000933474094957,-9.986676349627572e-05
+19311,1791280531374970534,12857618000000,1791280531368685344,DOWN_FORCE_DETACH,2,0.0575,0.05750167369842529,0.6760539783091551,-0.00480501493017087,0.0849329376170093,0.9999999835489551,9.784755865089754e-05,-6.967704607185242e-05,9.957870526864297e-05,0.6761,-0.0048,0.08486990033824852,1.0,0.0,0.0,0.0,-0.13337990297536542,-0.15958721689111272,1.0134300493444757,-0.009630736829898253,0.008705524025557848,-0.00041174299757170785,-0.1084094502258349,-0.11778003502253624,1.250185976216262,-0.012615911952066437,0.005037410954313299,-0.0021103041899696784,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8418409732523368,-0.5860646538183991,-0.5554459101489655,0.6822923748965323,0.4284849349171198,-0.40943013455453087,0.7073295706247651,1.0134300493444757,1.2627754807737306,1.2627754807737306,2.1140399999986594,0,0,-0.0005105877756903134,-1.7266246933730564e-06
+19369,1791280531856992430,12858100000000,1791280531856676955,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760590847921987,-0.0048101297673031175,0.08469734141533411,0.9999999849020684,9.279488937658611e-05,-6.072738431858845e-05,9.664378283077403e-05,0.6761,-0.0048,0.08462611831614003,1.0,0.0,0.0,0.0,-0.13390348781776606,-0.156733488676924,1.0028570294425998,-0.008608828717710267,0.008688970721045165,-0.0003922119285651581,-0.10893303506823554,-0.1149263068083475,1.239612956314386,-0.01159400383987845,0.005020857649800616,-0.0020907731209631286,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8406624338058619,-0.48143491732197535,-0.5383947609368908,0.6505436332906022,0.4099362141014333,-0.33823385496792113,0.7073295706247651,1.0028570294425998,1.245724331561656,1.245724331561656,2.1199199999986544,0,0,-0.0004944511252144304,9.999999025923074e-05
+19426,1791280532332017580,12858575000000,1791280532324685867,DOWN_SETTLE,2,0.0575,0.05750232934951782,0.6760533655514539,-0.004812569727725007,0.08445927492312144,0.9999999848404258,8.346943715303699e-05,-6.958032289966734e-05,9.976694913265087e-05,0.6761,-0.0048,0.08439688278056198,1.0,0.0,0.0,0.0,-0.12567026341878554,-0.16623358635093521,1.0028379684249984,-0.008582887449796486,0.007684985595186588,-0.0004044453651640891,-0.10069981066925501,-0.12442640448235871,1.2395938952967847,-0.011568062571964669,0.0040168725239420385,-0.0021030065575620596,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9125532838582352,-0.49772416549549764,-0.5703149746679294,0.6625739783762197,0.44722504443154465,-0.344746195051153,0.7073295706247651,1.0028379684249984,1.2776445452926946,1.2776445452926946,2.1199199999986544,0,0,-0.0004707011298412959,9.999999025923074e-05
+19482,1791280532797971237,12859041000000,1791280532796675784,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760511779496787,-0.004812605481010886,0.08424710530816132,0.9999999835050247,9.347609786631558e-05,-7.122943550287764e-05,0.0001030601829180049,0.6761,-0.0048,0.08418295330299604,1.0,0.0,0.0,0.0,-0.1334683548783989,-0.15923230382548478,0.9931302258959114,-0.008580588830608494,0.007677193767587575,0.00021213759485550713,-0.10849790212886837,-0.1174251219569083,1.2298861527676976,-0.011565763952776677,0.004009080696343026,-0.0014864235975424634,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.880238277409032,-0.48974752916520253,-0.5894171944368546,0.664657273823445,0.4471842560959506,-0.3345993290001224,0.7073295706247651,0.9931302258959114,1.2967467650616196,1.2967467650616196,2.1199199999986544,0,0,-0.00044740113438049436,9.999999025923074e-05
+19552,1791280533382012711,12859625000000,1791280533380685388,DOWN_SETTLE,2,0.0575,0.05750232934951782,0.6760605339684775,-0.004812502123859591,0.08401467839506715,0.9999999862764601,8.339162711989632e-05,-5.5653891291243485e-05,9.401289732901184e-05,0.6761,-0.0048,0.08393018283885391,1.0,0.0,0.0,0.0,-0.13360848374974438,-0.1572483570650976,0.9820420524184326,-0.00857782939204734,0.0077035993815558635,-0.0003891409802918909,-0.10863803100021384,-0.11544117519652113,1.2187979792902188,-0.011563004514215523,0.004035486310311314,-0.0020877021726898614,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9301554023256738,-0.47981841663344166,-0.6265564038476487,0.6601589591190843,0.4772590494185682,-0.3290869332657071,0.7073295706247651,0.9820420524184326,1.3338859744724139,1.3338859744724139,2.1199199999986544,0,0,-0.0004182011400691036,9.999999025923074e-05
+19618,1791280533932048474,12860175000000,1791280533924685353,DOWN_SETTLE,2,0.0575,0.05750232934951782,0.6760577117207403,-0.004804155098473631,0.08379487864957477,0.9999999853030664,8.999771886806914e-05,-5.799299521462012e-05,9.68191846205296e-05,0.6761,-0.0048,0.08370772096033993,1.0,0.0,0.0,0.0,-0.124587292309185,-0.14363712536066148,0.9822429469800438,-0.008167078490462268,0.007671508522901157,-0.00036150268790824066,-0.09961683955965446,-0.10182994349208498,1.21899887385183,-0.01115225361263045,0.004003395451656608,-0.002060063880306211,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9675981104524272,-0.5508667484686548,-0.5451492707191777,0.6787767617630239,0.4328402665187225,-0.3729762003289463,0.7073295706247651,0.9822429469800438,1.252478841343943,1.252478841343943,2.1199199999986544,0,0,-0.0003907011454265267,9.999999025923074e-05
+19690,1791280534531960613,12860775000000,1791280534524685500,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.676054696144678,-0.004799247995337684,0.08356768047108852,0.9999999845053194,9.686742617691913e-05,-6.087100177667883e-05,9.66625485231755e-05,0.6761,-0.0048,0.08348228527132776,1.0,0.0,0.0,0.0,-0.12051308809806781,-0.13470203189333244,0.9746816009949462,-0.007554582502736499,0.007659643847927181,-0.0003689727423620414,-0.09554263534853727,-0.09289485002475595,1.2114375278667324,-0.010539757624904682,0.003991530776682632,-0.002067533934760012,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0107094163089891,-0.4739606553006219,-0.6217095212443791,0.6444702322742801,0.49102130623934737,-0.32427752671910426,0.7073295706247651,0.9746816009949462,1.3290390918691442,1.3290390918691442,2.1199199999986544,0,0,-0.00036070115127098825,9.999999025923074e-05
+19755,1791280535073003662,12861316000000,1791280535072675603,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760532141885621,-0.0048045652214739306,0.08337612013691782,0.9999999848375812,9.089554892719614e-05,-6.268505247691203e-05,9.785849529165755e-05,0.6761,-0.0048,0.08329444944706205,1.0,0.0,0.0,0.0,-0.11561524941554713,-0.13394991275599652,0.9725447528526079,-0.007553580231629048,0.007661805407342474,-0.00036892084203592646,-0.09064479666601659,-0.09214273088742003,1.2093006797243941,-0.010538755353797231,0.003993692336097925,-0.002067482034433897,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0133273293694236,-0.42261194837482574,-0.72575329565502,0.6340182310505372,0.5541621303747181,-0.2881027896415207,0.7073295706247651,0.9725447528526079,1.433082866279785,1.433082866279785,2.1199199999986544,0,0,-0.0003336511565407444,9.999999025923074e-05
+19828,1791280535682058054,12861925000000,1791280535680675997,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760474981998711,-0.004802754107515025,0.08317557532751221,0.9999999844811129,8.910991587319353e-05,-7.210040833797352e-05,9.665191254791823e-05,0.6761,-0.0048,0.08310051269091943,1.0,0.0,0.0,0.0,-0.10835955752966915,-0.13152795749162222,0.9624598221052758,-0.007550311635539049,0.007663104477344775,0.0004349224562803665,-0.08338910478013861,-0.08972077562304574,1.199215748977062,-0.010535486757707232,0.003994991406100226,-0.001263638736117604,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0683955853352074,-0.47295871472897527,-0.6377490835965592,0.6538791591934068,0.5069832613159355,-0.31230134529561826,0.7073295706247651,0.9624598221052758,1.3450786542213242,1.3450786542213242,2.1199199999986544,0,0,-0.0003032011624728729,9.999999025923074e-05
+19909,1791280536357060714,12862600000000,1791280536356676578,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760464667563825,-0.004813734911252593,0.08298192383828264,0.9999999846144872,8.088896176124106e-05,-7.372101975564599e-05,0.00010117349893003628,0.6761,-0.0048,0.08290722565402789,1.0,0.0,0.0,0.0,-0.11559792021829281,-0.13573958096256583,0.9523884607937259,-0.00754931816144221,0.007665887407904726,-0.0003526858381191192,-0.09062746746876227,-0.09393239909398934,1.1891443876655121,-0.010534493283610393,0.003997774336660177,-0.0020512470305170897,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0458670401355832,-0.3858333308840546,-0.667491300394724,0.625936940296862,0.518349252084801,-0.25368953609433154,0.7073295706247651,0.9523884607937259,1.3748208710194891,1.3748208710194891,2.1199199999986544,0,0,-0.00026945116904789215,9.999999025923074e-05
+20002,1791280537132013433,12863375000000,1791280537128685220,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760467131371395,-0.004817793300477376,0.08278450602821535,0.9999999857068731,6.899377507936017e-05,-7.496256677695858e-05,9.823233060895184e-05,0.6761,-0.0048,0.08271339724508672,1.0,0.0,0.0,0.0,-0.11193639680275931,-0.13593941205513238,0.9476901633272461,-0.00754929819097282,0.007666671139656282,-0.00034960471787714195,-0.08696594405322877,-0.09413223018655589,1.1844460901990324,-0.010534473313141004,0.003998558068411733,-0.0020481659102751125,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0722105930569186,-0.4600989723577464,-0.7631401587644459,0.6417746269799637,0.5851591210658954,-0.29866097664781477,0.7073295706247651,0.9476901633272461,1.4704697293892108,1.4704697293892108,2.1199199999986544,0,0,-0.0002307011765969883,9.999999025923074e-05
+20110,1791280538032087576,12864275000000,1791280538028684822,DOWN_SETTLE,2,0.0575,0.05750167369842529,0.6760424097154815,-0.004825014574088046,0.08259296198469933,0.9999999852564564,6.658446842639348e-05,-8.12910998059832e-05,9.943951514186499e-05,0.6761,-0.0048,0.08252599368220004,1.0,0.0,0.0,0.0,-0.11514183288273622,-0.13644812028055542,0.9365317595114042,-0.007549710379868452,0.007667134752874266,-4.894309792966771e-05,-0.09017138013320568,-0.09464093841197894,1.1732876863831905,-0.010534885502036635,0.003999021681629717,-0.0017475042903276382,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0586757501937538,-0.3527494963125647,-0.6617429991511913,0.6119849806170877,0.5097769468577286,-0.2258954598494441,0.7073295706247651,0.9365317595114042,1.3690725697759563,1.3690725697759563,2.1199199999986544,0,0,-0.00018570118536368063,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81b8e4bd7e184c416c1146812a2f02b3d9215590
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66db60cc2a19f2b598496bdc62a03576e5f15a39
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,9.416666667e+00,DOWN_FORCE_DETACH,1791280510353480993,4.776151646e-05,-1.003590638e-05,-1.012277706e-03,4.754200544e-05,3.505482180e-06,-1.000593308e-03,4.526151069e-05,3.516002770e-06,-9.998254008e-04,7.015856330e-01,-8.484945056e-06,8.397286635e-01,7.015854135e-01,5.056443502e-06,8.397403479e-01,7.017710221e-01,5.227054725e-06,8.287807884e-01
+15,9.550000000e+00,DOWN_FORCE_DETACH,1791280510553459887,4.978493590e-05,-2.604423367e-05,-1.030280248e-03,5.078172796e-05,-1.697265029e-05,-1.028251541e-03,4.848071772e-05,-1.690170444e-05,-1.027453656e-03,7.015876564e-01,-2.449327235e-05,8.397106609e-01,7.015886532e-01,-1.542168897e-05,8.397126896e-01,7.017742413e-01,-1.519065248e-05,8.287531601e-01
+16,9.716666667e+00,DOWN_FORCE_DETACH,1791280510795064577,5.168135105e-05,2.193438032e-05,-1.055546164e-03,5.171851548e-05,2.184197064e-05,-1.055382988e-03,4.936879262e-05,2.180153788e-05,-1.054583831e-03,7.015895528e-01,2.348534164e-05,8.396853950e-01,7.015895900e-01,2.339293196e-05,8.396855582e-01,7.017751294e-01,2.351258983e-05,8.287260300e-01
+17,9.983333333e+00,DOWN_FORCE_DETACH,1791280511194400249,5.227284167e-05,1.974509243e-05,-1.095496755e-03,5.457779922e-05,1.965016364e-05,-1.091570097e-03,5.217755416e-05,1.963483832e-05,-1.090752176e-03,7.015901443e-01,2.129605375e-05,8.396454444e-01,7.015924493e-01,2.120112496e-05,8.396493711e-01,7.017779381e-01,2.134589027e-05,8.286898616e-01
+18,1.038333333e+01,DOWN_FORCE_DETACH,1791280511795327522,5.399197657e-05,1.359044488e-06,-1.155711721e-03,5.312435403e-05,-3.359506982e-06,-1.142509147e-03,5.049337374e-05,-3.286281872e-06,-1.141714720e-03,7.015918635e-01,2.910005809e-06,8.395852295e-01,7.015909958e-01,-1.808545661e-06,8.395984320e-01,7.017762539e-01,-1.575229917e-06,8.286388991e-01
+19,1.111666667e+01,DOWN_FORCE_DETACH,1791280512893249986,5.882746175e-05,9.790674191e-07,-1.270291642e-03,5.582080978e-05,4.147618044e-06,-1.266964133e-03,5.283091338e-05,4.200933811e-06,-1.266189567e-03,7.015966989e-01,2.530028740e-06,8.394706495e-01,7.015936923e-01,5.698579365e-06,8.394739771e-01,7.017785915e-01,5.911985766e-06,8.285144242e-01
+20,1.188333333e+01,DOWN_FORCE_DETACH,1791280514053631440,6.440145146e-05,-5.648025896e-06,-1.396706335e-03,6.110855796e-05,-1.689988843e-06,-1.379000709e-03,5.789934087e-05,-1.659294651e-06,-1.378288596e-03,7.016022729e-01,-4.097064575e-06,8.393442349e-01,7.015989800e-01,-1.390275224e-07,8.393619405e-01,7.017836599e-01,5.175730345e-08,8.284023252e-01
+21,1.280000000e+01,DOWN_FORCE_DETACH,1791280515425453314,6.573228863e-05,-8.573232441e-06,-1.561606692e-03,6.766977670e-05,-8.807681094e-06,-1.554130626e-03,6.400651333e-05,-8.755375715e-06,-1.553218389e-03,7.016036038e-01,-7.022271120e-06,8.391793345e-01,7.016055413e-01,-7.256719773e-06,8.391868106e-01,7.017897671e-01,-7.044323760e-06,8.282273954e-01
+22,1.355000000e+01,DOWN_FORCE_DETACH,1791280516553683138,7.582265871e-05,-1.313350035e-05,-1.694455571e-03,7.015703095e-05,-1.513008084e-05,-1.689678241e-03,6.601965836e-05,-1.506745347e-05,-1.688730432e-03,7.016136941e-01,-1.158253902e-05,8.390464856e-01,7.016080285e-01,-1.357911952e-05,8.390512629e-01,7.017917802e-01,-1.335640151e-05,8.280918834e-01
+23,1.440000000e+01,DOWN_FORCE_DETACH,1791280517808586216,7.223296412e-05,-1.462917301e-05,-1.875533425e-03,7.202227296e-05,-1.462651954e-05,-1.875682532e-03,6.726939733e-05,-1.454589936e-05,-1.874461942e-03,7.016101044e-01,-1.307821169e-05,8.388654078e-01,7.016098938e-01,-1.307555822e-05,8.388652587e-01,7.017930300e-01,-1.283484741e-05,8.279061518e-01
+24,1.513333333e+01,DOWN_FORCE_DETACH,1791280518909211029,7.336133581e-05,-1.906819614e-05,-2.035207051e-03,7.414627819e-05,-1.605065550e-05,-2.029301983e-03,6.893506608e-05,-1.600940064e-05,-2.028109059e-03,7.016112328e-01,-1.751723482e-05,8.387057341e-01,7.016120178e-01,-1.449969418e-05,8.387116392e-01,7.017946956e-01,-1.429834869e-05,8.277525047e-01
+25,1.581666667e+01,DOWN_FORCE_DETACH,1791280519928646987,7.390143876e-05,-2.512954445e-05,-2.196509167e-03,7.389078705e-05,-2.513537254e-05,-2.196231786e-03,6.813529053e-05,-2.503822160e-05,-2.194927658e-03,7.016117729e-01,-2.357858313e-05,8.385444320e-01,7.016117623e-01,-2.358441121e-05,8.385447094e-01,7.017938959e-01,-2.332716965e-05,8.275856861e-01
+26,1.621666667e+01,DOWN_FORCE_DETACH,1791280520530206368,7.381695895e-05,-2.560354792e-05,-2.300637576e-03,7.379215368e-05,-2.547129207e-05,-2.300658468e-03,6.764026354e-05,-2.536882735e-05,-2.299251022e-03,7.016116884e-01,-2.405258660e-05,8.384403036e-01,7.016116636e-01,-2.392033075e-05,8.384402827e-01,7.017934008e-01,-2.365777539e-05,8.274813628e-01
+27,1.653333333e+01,DOWN_FORCE_DETACH,1791280521009252976,7.477733962e-05,-1.215421127e-05,-2.386433962e-03,7.231169882e-05,-1.851537790e-05,-2.380461590e-03,6.584841607e-05,-1.842252887e-05,-2.379050077e-03,7.016126488e-01,-1.060324995e-05,8.383545072e-01,7.016101832e-01,-1.696441658e-05,8.383604796e-01,7.017916090e-01,-1.671147691e-05,8.274015637e-01
+28,1.696666667e+01,DOWN_FORCE_DETACH,1791280521659942298,7.322306316e-05,-2.084804807e-05,-2.518829989e-03,7.623558005e-05,-3.050874257e-05,-2.506936369e-03,6.939393168e-05,-3.036507489e-05,-2.505442072e-03,7.016110945e-01,-1.929708674e-05,8.382221112e-01,7.016141071e-01,-2.895778125e-05,8.382340048e-01,7.017951545e-01,-2.865402293e-05,8.272751717e-01
+29,1.750000000e+01,DOWN_FORCE_DETACH,1791280522459266509,7.617942286e-05,-1.610881538e-05,-2.689679673e-03,7.674011658e-05,-2.169941333e-05,-2.679406798e-03,6.931103200e-05,-2.152546959e-05,-2.677804749e-03,7.016140509e-01,-1.455785406e-05,8.380512615e-01,7.016146116e-01,-2.014845201e-05,8.380615344e-01,7.017950716e-01,-1.981441763e-05,8.271028090e-01
+30,1.796666667e+01,DOWN_FORCE_DETACH,1791280523160779158,7.396600090e-05,-2.438887000e-05,-2.855837556e-03,7.285940994e-05,-2.691339151e-05,-2.840685477e-03,6.471840809e-05,-2.675966147e-05,-2.839077687e-03,7.016118375e-01,-2.283790868e-05,8.378851036e-01,7.016107309e-01,-2.536243019e-05,8.379002557e-01,7.017904790e-01,-2.504860952e-05,8.269415361e-01
+31,1.831666667e+01,DOWN_FORCE_DETACH,1791280523722579154,7.330977633e-05,-2.167000869e-05,-2.997293125e-03,7.283710949e-05,-2.278280460e-05,-2.978985065e-03,6.425794750e-05,-2.266467054e-05,-2.977341652e-03,7.016111813e-01,-2.011904737e-05,8.377436481e-01,7.016107086e-01,-2.123184328e-05,8.377619561e-01,7.017900185e-01,-2.095361858e-05,8.268032721e-01
+32,1.873333333e+01,DOWN_FORCE_DETACH,1791280524342575281,6.520917412e-05,-1.196588823e-05,-3.174291744e-03,6.507492308e-05,-1.203511363e-05,-3.174035230e-03,5.562398893e-05,-1.197225300e-05,-3.172085102e-03,7.016030807e-01,-1.041492691e-05,8.375666494e-01,7.016029464e-01,-1.048415230e-05,8.375669060e-01,7.017813846e-01,-1.026120105e-05,8.266085287e-01
+33,1.918333333e+01,DOWN_FORCE_DETACH,1791280525023948711,6.873365295e-05,-2.125226379e-05,-3.358918213e-03,6.854526868e-05,-2.128339933e-05,-3.359073342e-03,5.844952713e-05,-2.118437891e-05,-3.357056509e-03,7.016066051e-01,-1.970130246e-05,8.373820230e-01,7.016064168e-01,-1.973243801e-05,8.373818678e-01,7.017842101e-01,-1.947332696e-05,8.264235573e-01
+34,1.960000000e+01,DOWN_FORCE_DETACH,1791280525642350764,6.793547961e-05,-2.349937111e-05,-3.546467281e-03,6.507587279e-05,-2.400935737e-05,-3.536568746e-03,5.424358769e-05,-2.391616599e-05,-3.534548804e-03,7.016058070e-01,-2.194840978e-05,8.371944739e-01,7.016029474e-01,-2.245839605e-05,8.372043724e-01,7.017800042e-01,-2.220511403e-05,8.262460650e-01
+35,2.003333333e+01,DOWN_FORCE_DETACH,1791280526292414980,6.932545041e-05,-2.389027198e-05,-3.761400777e-03,6.719854232e-05,-2.891351409e-05,-3.749521919e-03,5.563252812e-05,-2.878747712e-05,-3.747342984e-03,7.016071969e-01,-2.233931066e-05,8.369795404e-01,7.016050700e-01,-2.736255277e-05,8.369914193e-01,7.017813931e-01,-2.707642516e-05,8.260332708e-01
+36,2.041666667e+01,DOWN_FORCE_DETACH,1791280526862031726,6.514580300e-05,-2.809049309e-05,-3.965761654e-03,6.600638355e-05,-3.334576895e-05,-3.950980154e-03,5.368604974e-05,-3.322729931e-05,-3.948701616e-03,7.016030173e-01,-2.653953177e-05,8.367751795e-01,7.016038779e-01,-3.179480763e-05,8.367899610e-01,7.017794466e-01,-3.151624736e-05,8.258319122e-01
+37,2.080000000e+01,DOWN_FORCE_DETACH,1791280527441470773,6.789721574e-05,-2.909343247e-05,-4.182048094e-03,6.717148657e-05,-2.523891997e-05,-4.172523195e-03,5.416875635e-05,-2.512484122e-05,-4.170057771e-03,7.016057687e-01,-2.754247115e-05,8.365588931e-01,7.016050430e-01,-2.368795864e-05,8.365684180e-01,7.017799293e-01,-2.341378927e-05,8.256105560e-01
+38,2.115000000e+01,DOWN_FORCE_DETACH,1791280527960382413,6.656603224e-05,-2.913629068e-05,-4.381965392e-03,6.716889565e-05,-2.281169833e-05,-4.366042680e-03,5.345413958e-05,-2.267058210e-05,-4.363631074e-03,7.016044375e-01,-2.758532936e-05,8.363589758e-01,7.016050404e-01,-2.126073701e-05,8.363748985e-01,7.017792147e-01,-2.095953015e-05,8.254169827e-01
+39,2.153333333e+01,DOWN_FORCE_DETACH,1791280528527133665,6.717134305e-05,-2.737688385e-05,-4.609049096e-03,6.585221595e-05,-3.326276623e-05,-4.596421970e-03,5.131730351e-05,-3.309200587e-05,-4.594014988e-03,7.016050428e-01,-2.582592252e-05,8.361318921e-01,7.016037237e-01,-3.171180491e-05,8.361445192e-01,7.017770779e-01,-3.138095391e-05,8.251865988e-01
+40,2.186666667e+01,DOWN_FORCE_DETACH,1791280529028805569,6.486425552e-05,-3.606365156e-05,-4.830595189e-03,6.434385046e-05,-3.627550147e-05,-4.830618349e-03,4.896643980e-05,-3.614112341e-05,-4.827987315e-03,7.016027357e-01,-3.451269023e-05,8.359103460e-01,7.016022153e-01,-3.472454015e-05,8.359103228e-01,7.017747270e-01,-3.443007146e-05,8.249526265e-01
+41,2.220000000e+01,DOWN_FORCE_DETACH,1791280529528603356,7.070697841e-05,-4.150535327e-05,-5.046263320e-03,6.534659475e-05,-3.688828208e-05,-5.041425628e-03,4.926650613e-05,-3.675159695e-05,-5.038685414e-03,7.016085785e-01,-3.995439195e-05,8.356946779e-01,7.016032181e-01,-3.533732075e-05,8.356995156e-01,7.017750271e-01,-3.504054500e-05,8.247419284e-01
+42,2.250000000e+01,DOWN_FORCE_DETACH,1791280529987206768,5.996104893e-05,-4.234963477e-05,-5.274418969e-03,5.986610662e-05,-4.241034056e-05,-5.274086549e-03,4.282601678e-05,-4.225712332e-05,-5.271133282e-03,7.015978325e-01,-4.079867345e-05,8.354665222e-01,7.015977376e-01,-4.085937923e-05,8.354668546e-01,7.017685866e-01,-4.054607136e-05,8.245094805e-01
+43,2.281666667e+01,DOWN_FORCE_DETACH,1791280530458978442,6.176147302e-05,-4.863809914e-05,-5.493710435e-03,6.244084184e-05,-5.183422909e-05,-5.479696687e-03,4.469016475e-05,-5.167285226e-05,-5.476793351e-03,7.015996330e-01,-4.708713782e-05,8.352472308e-01,7.016003123e-01,-5.028326777e-05,8.352612445e-01,7.017704507e-01,-4.996180031e-05,8.243038204e-01
+44,2.313333333e+01,DOWN_FORCE_DETACH,1791280530928019469,6.311441152e-05,-5.694050876e-05,-5.719790110e-03,6.298586721e-05,-5.698396486e-05,-5.720023112e-03,4.442045594e-05,-5.680880723e-05,-5.717012277e-03,7.016009859e-01,-5.538954744e-05,8.350211511e-01,7.016008573e-01,-5.543300354e-05,8.350209181e-01,7.017701810e-01,-5.509775528e-05,8.240636015e-01
+45,2.343333333e+01,DOWN_FORCE_DETACH,1791280531378270958,5.931446615e-05,-6.098065736e-05,-5.949871440e-03,5.838450414e-05,-6.098153947e-05,-5.938006679e-03,3.900406130e-05,-6.069261054e-05,-5.935084104e-03,7.015971859e-01,-5.942969604e-05,8.347910697e-01,7.015962560e-01,-5.943057815e-05,8.348029345e-01,7.017647646e-01,-5.898155859e-05,8.238455297e-01
+46,2.375000000e+01,DOWN_SETTLE,1791280531858840722,6.281663377e-05,-6.574000209e-05,-6.182908277e-03,6.256900589e-05,-6.576369746e-05,-6.182667499e-03,4.241286064e-05,-6.549449112e-05,-6.179664280e-03,7.016006881e-01,-6.418904077e-05,8.345580329e-01,7.016004405e-01,-6.421273614e-05,8.345582737e-01,7.017681734e-01,-6.378343916e-05,8.236009495e-01
+47,2.406666667e+01,DOWN_SETTLE,1791280532328586452,5.735140707e-05,-6.878727312e-05,-6.418501894e-03,5.703285040e-05,-6.888976720e-05,-6.418604147e-03,3.594080823e-05,-6.861572503e-05,-6.415718047e-03,7.015952229e-01,-6.723631180e-05,8.343224393e-01,7.015949043e-01,-6.733880588e-05,8.343223370e-01,7.017617014e-01,-6.690467307e-05,8.233648957e-01
+48,2.438333333e+01,DOWN_SETTLE,1791280532797622542,5.598550090e-05,-6.991242703e-05,-6.627406024e-03,5.484160798e-05,-7.147914567e-05,-6.611588478e-03,3.299536839e-05,-7.121869992e-05,-6.608996971e-03,7.015938570e-01,-6.836146571e-05,8.341135352e-01,7.015927131e-01,-6.992818435e-05,8.341293527e-01,7.017587559e-01,-6.950764796e-05,8.231716168e-01
+49,2.476666667e+01,DOWN_SETTLE,1791280533378038490,6.290947945e-05,-6.973866487e-05,-6.868857527e-03,6.278049505e-05,-6.973062630e-05,-6.868813638e-03,4.027806764e-05,-6.949893246e-05,-6.866065828e-03,7.016007810e-01,-6.818770355e-05,8.338720837e-01,7.016006520e-01,-6.817966498e-05,8.338721275e-01,7.017660386e-01,-6.778788050e-05,8.229145480e-01
+50,2.513333333e+01,DOWN_SETTLE,1791280533928785428,6.043470728e-05,-6.435741223e-05,-7.085195754e-03,6.012098557e-05,-6.432385002e-05,-7.085412954e-03,3.677745668e-05,-6.412414135e-05,-7.082786922e-03,7.015983062e-01,-6.280645091e-05,8.336557454e-01,7.015979925e-01,-6.277288870e-05,8.336555282e-01,7.017625380e-01,-6.241308940e-05,8.226978269e-01
+51,2.553333333e+01,DOWN_SETTLE,1791280534531932739,5.930732832e-05,-5.210324827e-05,-7.313231731e-03,6.056630905e-05,-5.894549281e-05,-7.294723839e-03,3.652232426e-05,-5.864175369e-05,-7.292379428e-03,7.015971788e-01,-5.055228695e-05,8.334277095e-01,7.015984378e-01,-5.739453149e-05,8.334462173e-01,7.017622829e-01,-5.693070173e-05,8.224882344e-01
+52,2.590000000e+01,DOWN_SETTLE,1791280535077315565,5.531465491e-05,-5.792524252e-05,-7.510627313e-03,6.022684204e-05,-6.411372915e-05,-7.495092862e-03,3.554553484e-05,-6.386764890e-05,-7.492791732e-03,7.015931861e-01,-5.637428120e-05,8.332303139e-01,7.015980983e-01,-6.256276783e-05,8.332458483e-01,7.017613061e-01,-6.215659695e-05,8.222878221e-01
+53,2.630000000e+01,DOWN_SETTLE,1791280535679184240,5.309713120e-05,-6.023006295e-05,-7.701809915e-03,4.776244611e-05,-6.409420600e-05,-7.701592645e-03,2.208267238e-05,-6.385297331e-05,-7.699414878e-03,7.015909686e-01,-5.867910163e-05,8.330391313e-01,7.015856339e-01,-6.254324468e-05,8.330393485e-01,7.017478432e-01,-6.214192135e-05,8.220811989e-01
+54,2.675000000e+01,DOWN_SETTLE,1791280536358802852,5.023734426e-05,-7.009875047e-05,-7.898043427e-03,5.267749737e-05,-6.517897521e-05,-7.889832672e-03,2.637791295e-05,-6.494007395e-05,-7.887866286e-03,7.015881088e-01,-6.854778915e-05,8.328428978e-01,7.015905490e-01,-6.362801389e-05,8.328511085e-01,7.017521385e-01,-6.322902199e-05,8.218927475e-01
+55,2.726666667e+01,DOWN_SETTLE,1791280537130364783,5.102329430e-05,-7.415959413e-05,-8.095434362e-03,5.066304499e-05,-7.411139870e-05,-8.095572721e-03,2.363959216e-05,-7.386973120e-05,-8.093748030e-03,7.015888948e-01,-7.260863281e-05,8.326455068e-01,7.015885345e-01,-7.256043738e-05,8.326453685e-01,7.017494002e-01,-7.215867924e-05,8.216868658e-01
+56,2.781666667e+01,DOWN_SETTLE,1791280538032091714,4.402182280e-05,-7.949883648e-05,-8.288334117e-03,4.520819736e-05,-7.941035353e-05,-8.277712083e-03,1.743212095e-05,-7.918112910e-05,-8.276185540e-03,7.015818933e-01,-7.794787515e-05,8.324526071e-01,7.015830797e-01,-7.785939221e-05,8.324632291e-01,7.017431927e-01,-7.747007715e-05,8.215044283e-01
+57,2.845000000e+01,DOWN_SETTLE,1791280538990854025,3.739987540e-05,-8.878540803e-05,-8.457624268e-03,3.529798672e-05,-8.510509130e-05,-8.455156648e-03,6.719255680e-06,-8.481881110e-05,-8.453778468e-03,7.015752714e-01,-8.723444671e-05,8.322833169e-01,7.015731695e-01,-8.355412998e-05,8.322857845e-01,7.017324798e-01,-8.310775915e-05,8.213268353e-01
+58,2.910000000e+01,DOWN_SETTLE,1791280539946623976,2.711132581e-05,-8.851907279e-05,-8.580614678e-03,2.658894354e-05,-8.860173218e-05,-8.580478424e-03,-2.599689292e-06,-8.829226958e-05,-8.579467557e-03,7.015649828e-01,-8.696811147e-05,8.321603265e-01,7.015644604e-01,-8.705077086e-05,8.321604628e-01,7.017231609e-01,-8.658121762e-05,8.212011462e-01
+59,3.015000000e+01,DOWN_SETTLE,1791280541526836071,2.431064429e-05,-9.253131712e-05,-8.674581750e-03,2.163580161e-05,-9.311028667e-05,-8.663565385e-03,-8.054948315e-06,-9.280498322e-05,-8.663234643e-03,7.015621821e-01,-9.098035580e-05,8.320663594e-01,7.015595073e-01,-9.155932535e-05,8.320773758e-01,7.017177056e-01,-9.109393126e-05,8.211173791e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecfc844abb52f3b5e5cdec346dcfab2e4ccb5d94
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,3.0424e-03,-1.3078e-03,2.4524e+00,-3.6673e-02,3.7013e-02,-2.9647e-05,7.1665e-05,7.7300e-08,-1.4782e-05,7.4506e-08,5.1558e-06,-3.3752e-07,7.3174e-05,5.1674e-06
+1,8.3333e-01,DOWN_FORCE_DETACH,2.3938e-04,5.0149e-03,-6.2123e-03,2.4574e+00,-3.6339e-02,3.7153e-02,-4.4129e-05,2.0441e-03,-4.9044e-03,4.9987e-03,3.3400e-04,1.4467e-04,-1.4820e-05,7.2951e-03,3.6428e-04
+2,1.5167e+00,DOWN_FORCE_DETACH,4.8436e-04,5.9219e-03,-1.4340e-03,2.4640e+00,-3.6656e-02,3.7205e-02,-4.9601e-05,2.9511e-03,-1.2616e-04,1.1615e-02,1.7304e-05,1.9627e-04,-2.0291e-05,1.1985e-02,1.9807e-04
+3,2.0500e+00,DOWN_FORCE_DETACH,7.2548e-04,6.5639e-03,-4.1055e-03,2.4717e+00,-3.6470e-02,3.7240e-02,-5.5479e-05,3.5931e-03,-2.7976e-03,1.9336e-02,2.0279e-04,2.3210e-04,-2.6170e-05,1.9865e-02,3.0932e-04
+4,2.8167e+00,DOWN_FORCE_DETACH,9.6665e-04,5.6351e-03,-2.0713e-03,2.4734e+00,-3.6616e-02,3.7168e-02,-5.7740e-05,2.6643e-03,-7.6342e-04,2.1005e-02,5.6911e-05,1.6012e-04,-2.8431e-05,2.1187e-02,1.7230e-04
+5,3.4167e+00,DOWN_FORCE_DETACH,1.2106e-03,5.2867e-03,-1.5045e-03,2.4767e+00,-3.6665e-02,3.7137e-02,-5.7953e-05,2.3159e-03,-1.9656e-04,2.4271e-02,8.1100e-06,1.2874e-04,-2.8643e-05,2.4382e-02,1.3214e-04
+6,3.9833e+00,DOWN_FORCE_DETACH,1.4533e-03,5.9505e-03,-3.0679e-04,2.4776e+00,-3.6758e-02,3.7182e-02,-5.5266e-05,2.9797e-03,1.0011e-03,2.5184e-02,-8.4966e-05,1.7333e-04,-2.5956e-05,2.5379e-02,1.9477e-04
+7,4.6000e+00,DOWN_FORCE_DETACH,1.6871e-03,5.5466e-03,-4.3602e-03,2.4840e+00,-3.6482e-02,3.7146e-02,-5.2629e-05,2.5759e-03,-3.0523e-03,3.1582e-02,1.9122e-04,1.3811e-04,-2.3320e-05,3.1833e-02,2.3703e-04
+8,5.2667e+00,DOWN_FORCE_DETACH,1.9306e-03,7.2954e-03,-5.0607e-03,2.4874e+00,-3.6429e-02,3.7266e-02,-4.6168e-05,4.3246e-03,-3.7528e-03,3.5017e-02,2.4459e-04,2.5780e-04,-1.6859e-05,3.5482e-02,3.5577e-04
+9,6.1333e+00,DOWN_FORCE_DETACH,2.1697e-03,8.7935e-03,-7.6120e-03,2.4882e+00,-3.6235e-02,3.7371e-02,-4.3996e-05,5.8227e-03,-6.3041e-03,3.5788e-02,4.3851e-04,3.6236e-04,-1.4686e-05,3.6802e-02,5.6904e-04
+10,6.8667e+00,DOWN_FORCE_DETACH,2.4150e-03,9.1124e-03,-6.5248e-03,2.4929e+00,-3.6313e-02,3.7390e-02,-4.6660e-05,6.1417e-03,-5.2169e-03,4.0493e-02,3.6044e-04,3.8127e-04,-1.7350e-05,4.1287e-02,5.2496e-04
+11,7.6667e+00,DOWN_FORCE_DETACH,2.6593e-03,6.0022e-03,-1.0820e-02,2.4916e+00,-3.6052e-02,3.7170e-02,-5.3278e-05,3.0314e-03,-9.5124e-03,3.9189e-02,6.2171e-04,1.6128e-04,-2.3969e-05,4.0441e-02,6.4274e-04
+12,8.3000e+00,DOWN_FORCE_DETACH,2.8973e-03,5.7191e-03,-8.6360e-03,2.4909e+00,-3.6224e-02,3.7151e-02,-5.6746e-05,2.7483e-03,-7.3281e-03,3.8551e-02,4.4926e-04,1.4245e-04,-2.7436e-05,3.9338e-02,4.7210e-04
+13,8.9000e+00,DOWN_FORCE_DETACH,3.1451e-03,6.2422e-03,-9.1370e-03,2.4912e+00,-3.6182e-02,3.7182e-02,-5.9934e-05,3.2714e-03,-7.8292e-03,3.8789e-02,4.9127e-04,1.7391e-04,-3.0625e-05,3.9706e-02,5.2204e-04
+14,9.4167e+00,DOWN_FORCE_DETACH,3.3668e-03,5.5767e-03,-3.0188e-03,2.4871e+00,-3.6577e-02,3.7139e-02,-5.9288e-05,2.6060e-03,-1.7109e-03,3.4682e-02,9.6172e-05,1.3034e-04,-2.9978e-05,3.4822e-02,1.6473e-04
+15,9.5500e+00,DOWN_FORCE_DETACH,3.6018e-03,5.1152e-03,3.4575e-03,2.4896e+00,-3.7007e-02,3.7103e-02,-5.8031e-05,2.1445e-03,4.7654e-03,3.7154e-02,-3.3421e-04,9.5155e-05,-2.8721e-05,3.7520e-02,3.4868e-04
+16,9.7167e+00,DOWN_FORCE_DETACH,3.8659e-03,5.0042e-03,-2.4875e-04,2.4882e+00,-3.6758e-02,3.7095e-02,-5.6064e-05,2.0334e-03,1.0591e-03,3.5769e-02,-8.4471e-05,8.7064e-05,-2.6754e-05,3.5842e-02,1.2422e-04
+17,9.9833e+00,DOWN_FORCE_DETACH,4.1004e-03,5.1616e-03,-7.1824e-03,2.4902e+00,-3.6278e-02,3.7106e-02,-5.5169e-05,2.1909e-03,-5.8745e-03,3.7780e-02,3.9529e-04,9.7189e-05,-2.5859e-05,3.8297e-02,4.0788e-04
+18,1.0383e+01,DOWN_FORCE_DETACH,4.3496e-03,6.2835e-03,1.6111e-04,2.4883e+00,-3.6780e-02,3.7185e-02,-4.3677e-05,3.3128e-03,1.4690e-03,3.5874e-02,-1.0704e-04,1.7633e-04,-1.4367e-05,3.6056e-02,2.0678e-04
+19,1.1117e+01,DOWN_FORCE_DETACH,4.5892e-03,6.5358e-03,-2.5097e-03,2.4904e+00,-3.6631e-02,3.7202e-02,-2.2296e-05,3.5650e-03,-1.2018e-03,3.7969e-02,4.2237e-05,1.9385e-04,7.0140e-06,3.8155e-02,1.9852e-04
+20,1.1883e+01,DOWN_FORCE_DETACH,4.8289e-03,7.2886e-03,-8.4133e-04,2.4856e+00,-3.6762e-02,3.7262e-02,-5.3455e-06,4.3179e-03,4.6656e-04,3.3174e-02,-8.8509e-05,2.5371e-04,2.3964e-05,3.3457e-02,2.6977e-04
+21,1.2800e+01,DOWN_FORCE_DETACH,5.0732e-03,6.9370e-03,1.8926e-03,2.4939e+00,-3.6905e-02,3.7233e-02,5.9950e-07,3.9662e-03,3.2005e-03,4.1476e-02,-2.3213e-04,2.2483e-04,2.9909e-05,4.1788e-02,3.2454e-04
+22,1.3550e+01,DOWN_FORCE_DETACH,5.3105e-03,5.8026e-03,3.7905e-03,2.4980e+00,-3.7019e-02,3.7142e-02,-5.7774e-06,2.8319e-03,5.0984e-03,4.5568e-02,-3.4606e-04,1.3389e-04,2.3532e-05,4.5939e-02,3.7180e-04
+23,1.4400e+01,DOWN_FORCE_DETACH,5.5584e-03,6.6544e-03,3.3830e-03,2.4996e+00,-3.7024e-02,3.7190e-02,-2.3325e-05,3.6836e-03,4.6909e-03,4.7159e-02,-3.5067e-04,1.8204e-04,5.9845e-06,4.7535e-02,3.9515e-04
+24,1.5133e+01,DOWN_FORCE_DETACH,5.7940e-03,7.7120e-03,4.0531e-03,2.5090e+00,-3.7070e-02,3.7257e-02,-2.6696e-05,4.7413e-03,5.3610e-03,5.6575e-02,-3.9676e-04,2.4882e-04,2.6141e-06,5.7026e-02,4.6833e-04
+25,1.5817e+01,DOWN_FORCE_DETACH,6.0357e-03,8.9306e-03,6.0035e-03,2.5084e+00,-3.7135e-02,3.7340e-02,-1.3426e-05,5.9599e-03,7.3114e-03,5.6042e-02,-4.6191e-04,3.3155e-04,1.5884e-05,5.6830e-02,5.6881e-04
+26,1.6217e+01,DOWN_FORCE_DETACH,6.2869e-03,8.4037e-03,-2.4855e-03,2.5160e+00,-3.6542e-02,3.7296e-02,-9.1303e-06,5.4329e-03,-1.1776e-03,6.3605e-02,1.3153e-04,2.8815e-04,2.0179e-05,6.3848e-02,3.1739e-04
+27,1.6533e+01,DOWN_FORCE_DETACH,6.5203e-03,8.3872e-03,5.1335e-03,2.5189e+00,-3.7061e-02,3.7295e-02,-1.4461e-06,5.4165e-03,6.4414e-03,6.6497e-02,-3.8811e-04,2.8700e-04,2.7863e-05,6.7028e-02,4.8350e-04
+28,1.6967e+01,DOWN_FORCE_DETACH,6.7579e-03,7.7488e-03,9.5517e-03,2.5218e+00,-3.7354e-02,3.7244e-02,1.5645e-06,4.7780e-03,1.0860e-02,6.9403e-02,-6.8078e-04,2.3574e-04,3.0874e-05,7.0410e-02,7.2110e-04
+29,1.7500e+01,DOWN_FORCE_DETACH,7.0037e-03,8.6968e-03,8.2276e-03,2.5252e+00,-3.7260e-02,3.7301e-02,-5.5774e-06,5.7260e-03,9.5355e-03,7.2798e-02,-5.8628e-04,2.9273e-04,2.3732e-05,7.3642e-02,6.5572e-04
+30,1.7967e+01,DOWN_FORCE_DETACH,7.2413e-03,9.7430e-03,9.5228e-03,2.5285e+00,-3.7382e-02,3.7362e-02,-1.1961e-05,6.7722e-03,1.0831e-02,7.6128e-02,-7.0851e-04,3.5343e-04,1.7349e-05,7.7192e-02,7.9196e-04
+31,1.8317e+01,DOWN_FORCE_DETACH,7.4816e-03,1.0347e-02,6.8768e-03,2.5335e+00,-3.7236e-02,3.7396e-02,-1.2676e-05,7.3762e-03,8.1847e-03,8.1113e-02,-5.6264e-04,3.8797e-04,1.6634e-05,8.1858e-02,6.8363e-04
+32,1.8733e+01,DOWN_FORCE_DETACH,7.7327e-03,1.2450e-02,7.2939e-03,2.5393e+00,-3.7257e-02,3.7536e-02,-7.1474e-06,9.4796e-03,8.6018e-03,8.6905e-02,-5.8354e-04,5.2810e-04,2.2162e-05,8.7843e-02,7.8734e-04
+33,1.9183e+01,DOWN_FORCE_DETACH,7.9717e-03,9.3325e-03,6.7610e-03,2.5419e+00,-3.7205e-02,3.7321e-02,-3.8234e-06,6.3617e-03,8.0689e-03,8.9471e-02,-5.3178e-04,3.1247e-04,2.5486e-05,9.0059e-02,6.1731e-04
+34,1.9600e+01,DOWN_FORCE_DETACH,8.2065e-03,9.6719e-03,6.0513e-03,2.5502e+00,-3.7159e-02,3.7326e-02,-8.3852e-06,6.7012e-03,7.3592e-03,9.7767e-02,-4.8539e-04,3.1722e-04,2.0924e-05,9.8273e-02,5.8024e-04
+35,2.0033e+01,DOWN_FORCE_DETACH,8.4530e-03,8.3442e-03,8.7038e-03,2.5552e+00,-3.7290e-02,3.7235e-02,-8.5139e-06,5.3734e-03,1.0012e-02,1.0275e-01,-6.1712e-04,2.2652e-04,2.0796e-05,1.0338e-01,6.5771e-04
+36,2.0417e+01,DOWN_FORCE_DETACH,8.6916e-03,8.7083e-03,9.8782e-03,2.5613e+00,-3.7331e-02,3.7249e-02,-2.0032e-06,5.7376e-03,1.1186e-02,1.0888e-01,-6.5790e-04,2.4110e-04,2.7306e-05,1.0961e-01,7.0122e-04
+37,2.0800e+01,DOWN_FORCE_DETACH,8.9358e-03,9.1927e-03,6.6333e-03,2.5676e+00,-3.7153e-02,3.7276e-02,-7.4345e-06,6.2220e-03,7.9412e-03,1.1516e-01,-4.7950e-04,2.6790e-04,2.1875e-05,1.1560e-01,5.4970e-04
+38,2.1150e+01,DOWN_FORCE_DETACH,9.1692e-03,9.1850e-03,7.3541e-03,2.5673e+00,-3.7188e-02,3.7273e-02,-1.2786e-05,6.2142e-03,8.6620e-03,1.1491e-01,-5.1484e-04,2.6449e-04,1.6524e-05,1.1540e-01,5.7904e-04
+39,2.1533e+01,DOWN_FORCE_DETACH,9.4201e-03,9.3809e-03,1.1195e-02,2.5638e+00,-3.7416e-02,3.7289e-02,-8.6878e-06,6.4101e-03,1.2503e-02,1.1142e-01,-7.4251e-04,2.8095e-04,2.0622e-05,1.1230e-01,7.9415e-04
+40,2.1867e+01,DOWN_FORCE_DETACH,9.6612e-03,9.8914e-03,1.0736e-02,2.5704e+00,-3.7387e-02,3.7323e-02,-9.6135e-06,6.9207e-03,1.2044e-02,1.1800e-01,-7.1410e-04,3.1463e-04,1.9696e-05,1.1881e-01,7.8059e-04
+41,2.2200e+01,DOWN_FORCE_DETACH,9.8971e-03,1.0262e-02,1.0310e-02,2.5795e+00,-3.7351e-02,3.7334e-02,-1.8251e-05,7.2910e-03,1.1618e-02,1.2713e-01,-6.7739e-04,3.2611e-04,1.1059e-05,1.2787e-01,7.5188e-04
+42,2.2500e+01,DOWN_FORCE_DETACH,1.0144e-02,1.0951e-02,1.4301e-02,2.5856e+00,-3.7595e-02,3.7367e-02,-3.2289e-05,7.9798e-03,1.5609e-02,1.3317e-01,-9.2153e-04,3.5882e-04,-2.9796e-06,1.3432e-01,9.8893e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..92ff6817379f3cf74d437c14b418f3c819edd373
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:085df6d1bb5aea86ec2145158c317539ac708e04a33a7f3ca949485066ee2a61
+size 4894720
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8d692190b88a87be34b89719107e058217cd93d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/fem_node.csv
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+59,1.653333e+01,264,7.083633e-01,2.539726e-02,8.371987e-01,-8.822319e-05,3.784647e-05,1.493869e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.653333e+01,265,7.069500e-01,2.181068e-02,8.285611e-01,-7.911036e-05,3.393885e-05,1.492417e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.653333e+01,266,6.947533e-01,2.403522e-02,8.359452e-01,-8.126812e-05,3.573230e-05,1.487263e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c53af30647e265fba383a53c0af6b825b2545ac2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d932caf6b27e0839762cf9ec14411ebbfd6fdfdc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fafdfb0622f967ba3a1486ca1e9ea35427616615
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,1.496666667e+01,UP_FORCE_HOLD,1791280489255216360,-8.993453652e-05,1.928036001e-05,1.469794555e-03,-8.633858098e-05,2.654082265e-05,1.475641680e-03,-8.329226000e-05,2.651526124e-05,1.475374845e-03,7.014479369e-01,2.083132133e-05,8.422107357e-01,7.014515329e-01,2.809178397e-05,8.422165829e-01,7.016424683e-01,2.822631176e-05,8.312559886e-01
+53,1.506666667e+01,UP_FORCE_HOLD,1791280489417501962,-8.630624319e-05,5.844940401e-05,1.477509310e-03,-8.634959184e-05,5.842407521e-05,1.477490348e-03,-8.326622511e-05,5.829963674e-05,1.477235000e-03,7.014515652e-01,6.000036533e-05,8.422184505e-01,7.014515219e-01,5.997503653e-05,8.422184315e-01,7.016424943e-01,6.001068726e-05,8.312578488e-01
+54,1.525000000e+01,UP_FORCE_HOLD,1791280489687935017,-8.990441097e-05,4.621490125e-05,1.478396249e-03,-9.006463142e-05,3.626238858e-05,1.475026456e-03,-8.714858985e-05,3.624204592e-05,1.474807604e-03,7.014479671e-01,4.776586257e-05,8.422193374e-01,7.014478069e-01,3.781334990e-05,8.422159676e-01,7.016386120e-01,3.795309644e-05,8.312554214e-01
+55,1.546666667e+01,UP_FORCE_HOLD,1791280490016774248,-8.822621393e-05,4.135967603e-05,1.486291694e-03,-9.006463142e-05,3.626238858e-05,1.475026456e-03,-8.715549536e-05,3.624071212e-05,1.474844198e-03,7.014496453e-01,4.291063735e-05,8.422272329e-01,7.014478069e-01,3.781334990e-05,8.422159676e-01,7.016386051e-01,3.795176264e-05,8.312554580e-01
+56,1.575000000e+01,UP_FORCE_HOLD,1791280490437822662,-8.757137480e-05,3.904403634e-05,1.493111256e-03,-9.006463142e-05,3.626238858e-05,1.475026456e-03,-8.716289835e-05,3.623953967e-05,1.474881558e-03,7.014503001e-01,4.059499766e-05,8.422340524e-01,7.014478069e-01,3.781334990e-05,8.422159676e-01,7.016385977e-01,3.795059018e-05,8.312554953e-01
+57,1.606666667e+01,UP_FORCE_HOLD,1791280490916861632,-8.870044204e-05,3.691298716e-05,1.499675452e-03,-8.763392931e-05,3.802991076e-05,1.494661050e-03,-8.453829475e-05,3.795591986e-05,1.494438492e-03,7.014491710e-01,3.846394849e-05,8.422406166e-01,7.014502376e-01,3.958087208e-05,8.422356022e-01,7.016412223e-01,3.966697038e-05,8.312750523e-01
+58,1.630000000e+01,UP_FORCE_HOLD,1791280491256298036,-8.734588591e-05,4.880997257e-05,1.504032703e-03,-8.763392931e-05,3.802991076e-05,1.494661050e-03,-8.454016229e-05,3.795540541e-05,1.494474820e-03,7.014505256e-01,5.036093389e-05,8.422449739e-01,7.014502376e-01,3.958087208e-05,8.422356022e-01,7.016412204e-01,3.966645593e-05,8.312750886e-01
+59,1.653333333e+01,UP_SETTLE,1791280491616843592,-8.860079766e-05,3.753441010e-05,1.509468212e-03,-8.763392931e-05,3.802991076e-05,1.494661050e-03,-8.454206464e-05,3.795491266e-05,1.494503385e-03,7.014492707e-01,3.908537142e-05,8.422504094e-01,7.014502376e-01,3.958087208e-05,8.422356022e-01,7.016412185e-01,3.966596318e-05,8.312751172e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e51c370aae0635016083be4213282b91bc79bde3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,3.0424e-03,-1.3078e-03,2.4524e+00,-3.6673e-02,3.7013e-02,-2.9645e-05,7.1701e-05,8.4052e-08,-1.4544e-05,7.8231e-08,5.1670e-06,-3.3751e-07,7.3161e-05,5.1786e-06
+1,3.0000e-01,UP_FORCE_RAMP,9.1036e-05,4.1289e-03,-1.3020e-03,2.4522e+00,-3.6672e-02,3.7091e-02,-3.5176e-05,1.1582e-03,5.9304e-06,-2.3079e-04,1.0692e-06,8.3089e-05,-5.8682e-06,1.1810e-03,8.3303e-05
+2,6.5000e-01,UP_FORCE_RAMP,1.7726e-04,5.0127e-03,-1.2925e-03,2.4520e+00,-3.6671e-02,3.7155e-02,-4.0471e-05,2.0420e-03,1.5434e-05,-3.9744e-04,1.8291e-06,1.4624e-04,-1.1164e-05,2.0804e-03,1.4668e-04
+3,1.0000e+00,UP_FORCE_RAMP,2.6413e-04,5.3237e-03,-3.9347e-03,2.4466e+00,-3.6488e-02,3.7183e-02,-4.6500e-05,2.3530e-03,-2.6267e-03,-5.8331e-03,1.8496e-04,1.7500e-04,-1.7193e-05,6.8163e-03,2.5520e-04
+4,1.2500e+00,UP_FORCE_RAMP,3.4938e-04,6.0938e-03,-2.7680e-04,2.4426e+00,-3.6732e-02,3.7238e-02,-4.8165e-05,3.1231e-03,1.0311e-03,-9.8133e-03,-5.8770e-05,2.2925e-04,-1.8858e-05,1.0350e-02,2.3742e-04
+5,1.5667e+00,UP_FORCE_RAMP,4.4033e-04,6.5419e-03,-2.2533e-03,2.4401e+00,-3.6604e-02,3.7277e-02,-5.0761e-05,3.5712e-03,-9.4535e-04,-1.2322e-02,6.9629e-05,2.6907e-04,-2.1453e-05,1.2864e-02,2.7876e-04
+6,1.8500e+00,UP_FORCE_RAMP,5.3295e-04,7.4999e-03,-2.5815e-03,2.4330e+00,-3.6580e-02,3.7354e-02,-5.3128e-05,4.5292e-03,-1.2736e-03,-1.9389e-02,9.3121e-05,3.4573e-04,-2.3820e-05,1.9951e-02,3.5885e-04
+7,2.1667e+00,UP_FORCE_RAMP,6.1772e-04,8.3737e-03,-3.2762e-03,2.4276e+00,-3.6531e-02,3.7423e-02,-5.4754e-05,5.4030e-03,-1.9683e-03,-2.4793e-02,1.4182e-04,4.1483e-04,-2.5447e-05,2.5451e-02,4.3914e-04
+8,2.5333e+00,UP_FORCE_RAMP,7.0727e-04,8.3975e-03,-3.7326e-03,2.4252e+00,-3.6498e-02,3.7428e-02,-5.5399e-05,5.4268e-03,-2.4247e-03,-2.7200e-02,1.7485e-04,4.1994e-04,-2.6092e-05,2.7842e-02,4.5564e-04
+9,2.8333e+00,UP_FORCE_RAMP,7.9470e-04,1.1651e-02,-3.3778e-03,2.4234e+00,-3.6524e-02,3.7663e-02,-5.4435e-05,8.6808e-03,-2.0698e-03,-2.8955e-02,1.4943e-04,6.5453e-04,-2.5128e-05,3.0299e-02,6.7184e-04
+10,3.1167e+00,UP_FORCE_RAMP,8.8145e-04,1.1845e-02,-6.8787e-03,2.4145e+00,-3.6286e-02,3.7684e-02,-5.3850e-05,8.8747e-03,-5.5707e-03,-3.7847e-02,3.8717e-04,6.7586e-04,-2.4542e-05,3.9271e-02,7.7929e-04
+11,3.3833e+00,UP_FORCE_RAMP,9.6782e-04,1.0742e-02,-4.4107e-03,2.4135e+00,-3.6462e-02,3.7606e-02,-5.0593e-05,7.7716e-03,-3.1028e-03,-3.8859e-02,2.1121e-04,5.9781e-04,-2.1286e-05,3.9750e-02,6.3438e-04
+12,3.6833e+00,UP_FORCE_RAMP,1.0587e-03,1.0293e-02,-5.0150e-03,2.4135e+00,-3.6432e-02,3.7572e-02,-4.7980e-05,7.3222e-03,-3.7071e-03,-3.8855e-02,2.4124e-04,5.6322e-04,-1.8673e-05,3.9712e-02,6.1299e-04
+13,3.9500e+00,UP_FORCE_RAMP,1.1460e-03,1.0499e-02,-4.4440e-03,2.4082e+00,-3.6486e-02,3.7589e-02,-4.3959e-05,7.5278e-03,-3.1361e-03,-4.4239e-02,1.8761e-04,5.8045e-04,-1.4651e-05,4.4985e-02,6.1019e-04
+14,4.2500e+00,UP_FORCE_RAMP,1.2398e-03,9.4870e-03,-4.2552e-03,2.4031e+00,-3.6514e-02,3.7523e-02,-3.7658e-05,6.5163e-03,-2.9473e-03,-4.9329e-02,1.5917e-04,5.1510e-04,-8.3500e-06,4.9845e-02,5.3920e-04
+15,4.5167e+00,UP_FORCE_RAMP,1.3218e-03,9.0419e-03,-2.8657e-03,2.4053e+00,-3.6620e-02,3.7489e-02,-2.9719e-05,6.0712e-03,-1.5578e-03,-4.7146e-02,5.3335e-05,4.8041e-04,-4.1188e-07,4.7561e-02,4.8336e-04
+16,4.7833e+00,UP_FORCE_RAMP,1.4147e-03,8.5171e-03,-4.5181e-03,2.4008e+00,-3.6506e-02,3.7454e-02,-2.2531e-05,5.5464e-03,-3.2102e-03,-5.1558e-02,1.6697e-04,4.4588e-04,6.7767e-06,5.1955e-02,4.7616e-04
+17,5.0667e+00,UP_FORCE_RAMP,1.4957e-03,1.0029e-02,-4.0376e-03,2.3989e+00,-3.6531e-02,3.7557e-02,-1.4891e-05,7.0580e-03,-2.7297e-03,-5.3503e-02,1.4181e-04,5.4876e-04,1.4416e-05,5.4035e-02,5.6697e-04
+18,5.2000e+00,UP_FORCE_RAMP,1.5859e-03,1.7775e-02,-1.9029e-03,2.4091e+00,-3.6671e-02,3.8115e-02,-1.1415e-05,1.4804e-02,-5.9495e-04,-4.3321e-02,1.9707e-06,1.1070e-03,1.7892e-05,4.5785e-02,1.1071e-03
+19,5.4667e+00,UP_FORCE_RAMP,1.6817e-03,1.5954e-02,-2.3862e-03,2.4026e+00,-3.6624e-02,3.7986e-02,-8.7035e-06,1.2983e-02,-1.0782e-03,-4.9765e-02,4.8988e-05,9.7808e-04,2.0604e-05,5.1442e-02,9.7952e-04
+20,5.7167e+00,UP_FORCE_RAMP,1.7640e-03,1.3876e-02,-2.4900e-03,2.4034e+00,-3.6602e-02,3.7840e-02,-9.8288e-06,1.0905e-02,-1.1820e-03,-4.9042e-02,7.0881e-05,8.3150e-04,1.9479e-05,5.0254e-02,8.3474e-04
+21,6.0000e+00,UP_FORCE_RAMP,1.8539e-03,1.2086e-02,-1.9621e-03,2.4006e+00,-3.6627e-02,3.7713e-02,-1.4879e-05,9.1152e-03,-6.5417e-04,-5.1801e-02,4.6540e-05,7.0496e-04,1.4429e-05,5.2601e-02,7.0664e-04
+22,6.2833e+00,UP_FORCE_RAMP,1.9453e-03,1.1086e-02,-4.5282e-03,2.3970e+00,-3.6442e-02,3.7641e-02,-2.4561e-05,8.1152e-03,-3.2202e-03,-5.5407e-02,2.3104e-04,6.3298e-04,4.7469e-06,5.6090e-02,6.7384e-04
+23,6.5667e+00,UP_FORCE_RAMP,2.0304e-03,1.0606e-02,-4.2053e-03,2.4002e+00,-3.6453e-02,3.7605e-02,-3.3774e-05,7.6349e-03,-2.8973e-03,-5.2186e-02,2.2039e-04,5.9653e-04,-4.4663e-06,5.2821e-02,6.3596e-04
+24,6.8500e+00,UP_FORCE_RAMP,2.1199e-03,9.8931e-03,-4.0378e-03,2.4032e+00,-3.6459e-02,3.7554e-02,-4.1295e-05,6.9224e-03,-2.7299e-03,-4.9234e-02,2.1450e-04,5.4536e-04,-1.1987e-05,4.9794e-02,5.8615e-04
+25,7.1333e+00,UP_FORCE_RAMP,2.2069e-03,1.0430e-02,-4.8771e-03,2.4109e+00,-3.6396e-02,3.7587e-02,-4.6907e-05,7.4595e-03,-3.5692e-03,-4.1519e-02,2.7766e-04,5.7869e-04,-1.7599e-05,4.2335e-02,6.4210e-04
+26,7.3667e+00,UP_FORCE_RAMP,2.2997e-03,9.7026e-03,-7.0549e-03,2.4101e+00,-3.6246e-02,3.7533e-02,-5.0710e-05,6.7319e-03,-5.7470e-03,-4.2248e-02,4.2739e-04,5.2470e-04,-2.1403e-05,4.3165e-02,6.7707e-04
+27,7.5833e+00,UP_FORCE_RAMP,2.3847e-03,9.9353e-03,-5.9033e-03,2.4153e+00,-3.6331e-02,3.7546e-02,-5.1706e-05,6.9647e-03,-4.5954e-03,-3.7079e-02,3.4198e-04,5.3754e-04,-2.2399e-05,3.8007e-02,6.3750e-04
+28,7.8667e+00,UP_FORCE_RAMP,2.4687e-03,1.0595e-02,-5.1691e-03,2.4219e+00,-3.6386e-02,3.7586e-02,-5.2793e-05,7.6247e-03,-3.8611e-03,-3.0492e-02,2.8708e-04,5.7777e-04,-2.3485e-05,3.1667e-02,6.4558e-04
+29,8.2167e+00,UP_FORCE_RAMP,2.5614e-03,1.0587e-02,-5.0715e-03,2.4243e+00,-3.6401e-02,3.7581e-02,-5.3149e-05,7.6159e-03,-3.7636e-03,-2.8092e-02,2.7244e-04,5.7288e-04,-2.3842e-05,2.9348e-02,6.3480e-04
+30,8.5667e+00,UP_FORCE_RAMP,2.6486e-03,1.1203e-02,-4.8531e-03,2.4308e+00,-3.6430e-02,3.7619e-02,-5.1612e-05,8.2321e-03,-3.5452e-03,-2.1618e-02,2.4316e-04,6.1038e-04,-2.2304e-05,2.3402e-02,6.5741e-04
+31,8.9167e+00,UP_FORCE_RAMP,2.7361e-03,1.0953e-02,-5.9218e-03,2.4299e+00,-3.6367e-02,3.7600e-02,-4.9719e-05,7.9822e-03,-4.6138e-03,-2.2457e-02,3.0655e-04,5.9181e-04,-2.0411e-05,2.4276e-02,6.6681e-04
+32,9.3500e+00,UP_FORCE_RAMP,2.8227e-03,1.1425e-02,-6.6132e-03,2.4354e+00,-3.6323e-02,3.7629e-02,-4.5931e-05,8.4544e-03,-5.3053e-03,-1.6950e-02,3.5047e-04,6.2023e-04,-1.6623e-05,1.9670e-02,7.1260e-04
+33,9.8167e+00,UP_FORCE_RAMP,2.9127e-03,1.1845e-02,-5.9861e-03,2.4332e+00,-3.6366e-02,3.7661e-02,-4.0839e-05,8.8747e-03,-4.6782e-03,-1.9148e-02,3.0756e-04,6.5263e-04,-1.1532e-05,2.1617e-02,7.2157e-04
+34,1.0250e+01,UP_FORCE_RAMP,2.9998e-03,1.1944e-02,-3.4094e-03,2.4359e+00,-3.6540e-02,3.7665e-02,-3.5700e-05,8.9731e-03,-2.1015e-03,-1.6478e-02,1.3326e-04,6.5702e-04,-6.3926e-06,1.8880e-02,6.7043e-04
+35,1.0550e+01,UP_FORCE_RAMP,3.0867e-03,1.2304e-02,-6.3966e-03,2.4353e+00,-3.6324e-02,3.7692e-02,-3.5896e-05,9.3331e-03,-5.0887e-03,-1.7066e-02,3.4919e-04,6.8374e-04,-6.5881e-06,2.0106e-02,7.6777e-04
+36,1.0817e+01,UP_FORCE_RAMP,3.1794e-03,1.1940e-02,-6.3672e-03,2.4390e+00,-3.6319e-02,3.7662e-02,-3.4714e-05,8.9691e-03,-5.0593e-03,-1.3408e-02,3.5397e-04,6.5356e-04,-5.4065e-06,1.6906e-02,7.4328e-04
+37,1.1167e+01,UP_FORCE_RAMP,3.2672e-03,1.1804e-02,-4.7226e-03,2.4376e+00,-3.6428e-02,3.7654e-02,-3.2965e-05,8.8331e-03,-3.4147e-03,-1.4796e-02,2.4543e-04,6.4523e-04,-3.6577e-06,1.7568e-02,6.9034e-04
+38,1.1433e+01,UP_FORCE_RAMP,3.3523e-03,1.2874e-02,-7.8203e-03,2.4349e+00,-3.6207e-02,3.7733e-02,-3.4512e-05,9.9031e-03,-6.5124e-03,-1.7511e-02,4.6658e-04,7.2451e-04,-5.2045e-06,2.1145e-02,8.6177e-04
+39,1.1683e+01,UP_FORCE_RAMP,3.4415e-03,1.2143e-02,-7.6256e-03,2.4387e+00,-3.6212e-02,3.7678e-02,-3.4449e-05,9.1727e-03,-6.3176e-03,-1.3732e-02,4.6085e-04,6.6930e-04,-5.1413e-06,1.7681e-02,8.1263e-04
+40,1.1950e+01,UP_FORCE_RAMP,3.5304e-03,1.3100e-02,-1.3083e-02,2.4388e+00,-3.5820e-02,3.7747e-02,-3.7832e-05,1.0129e-02,-1.1776e-02,-1.3603e-02,8.5304e-04,7.3915e-04,-8.5245e-06,2.0647e-02,1.1288e-03
+41,1.2300e+01,UP_FORCE_RAMP,3.6191e-03,1.2138e-02,-1.3050e-02,2.4420e+00,-3.5813e-02,3.7675e-02,-3.7472e-05,9.1675e-03,-1.1742e-02,-1.0399e-02,8.6069e-04,6.6665e-04,-8.1641e-06,1.8167e-02,1.0887e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/fem_node.csv
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+59,3.088333e+01,265,7.070505e-01,2.161132e-02,8.185478e-01,1.657259e-05,-3.380948e-05,-8.519455e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.088333e+01,266,6.948475e-01,2.382521e-02,8.259695e-01,2.209275e-05,-3.092837e-05,-8.496488e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0790b40e7656accc8541f2116c07d71947c5ad0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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
+24291,1791280572830689977,12899073000000,1791280572828675607,DOWN_FORCE_DETACH,3,0.057,0.057033471763134,0.6759973952838524,-0.004734493146051744,0.09087889082732799,0.9999999761865369,0.00010608647358029292,-0.00016387611521776654,3.098497744739064e-05,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,-0.1210508182519023,-0.16668301001094943,-0.0024403938011332837,-0.010421856233297742,0.007935571237485851,-0.0006437828447848771,-0.09608036550237176,-0.12487582814237295,0.23431553307065292,-0.013407031355465926,0.004267458166241302,-0.0023423440371828476,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6315006632318898,-0.5035620136329181,0.8896988311654855,0.3663745335659023,-0.43192314118739,-0.37928576648645146,0.7073295706247651,0.0024403938011332837,-0.18236926054072045,-0.18236926054072045,0.0010200000000000003,0,0,-8.500000245589333e-07,-9.999924085868912e-05
+24439,1791280574063764631,12900306000000,1791280574056685038,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6759983801974108,-0.004733604911496045,0.09085965427469635,0.9999999773683387,0.00010318067115757239,-0.00015823748820242695,3.1950477871138437e-05,0.6761,-0.0048,0.09096288047338529,1.0,0.0,0.0,0.0,-0.12823640491611812,-0.15454495178722522,0.005431209800151826,-0.010421655282530161,0.00793333702295952,-0.0006509986879393392,-0.1032659521665876,-0.11273776991864874,0.24218713667193803,-0.013406830404698344,0.004265223951714971,-0.0023495598803373098,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.6446059683260209,-0.5561634555434426,0.7647589746951491,0.3938746599674879,-0.36216902871126505,-0.4107613679576568,0.7073295706247651,0.005431209800151826,-0.057429404070383994,-0.057429404070383994,0.07499999999999986,0,0,-5.668471623618133e-05,-9.999999025923074e-05
+24583,1791280575263769430,12901506000000,1791280575260685208,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760000704543933,-0.0047432986783746,0.09079129867445292,0.9999999787178303,9.515184488391928e-05,-0.00015355938339677784,3.705192833497307e-05,0.6761,-0.0048,0.09088406831158596,1.0,0.0,0.0,0.0,-0.1299460755789963,-0.1667061760615884,0.03809154901006395,-0.010444332186000183,0.007942448461610786,-0.00027870967803753674,-0.10497562282946576,-0.12489899419301193,0.27484747588185016,-0.013429507308168366,0.004274335390366236,-0.0019772708704355072,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7452330374294123,-0.5039141919218534,0.6877238200729884,0.3869134434027801,-0.2861228577087413,-0.3775449088838323,0.7073295706247651,0.03809154901006395,0.019605750551776713,0.019605750551776713,0.14700000000000524,0,0,-6.786392093112495e-05,-8.659220947285017e-05
+24723,1791280576430746846,12902673000000,1791280576428675959,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760004422348784,-0.004735489785093919,0.09071896174580929,0.99999997820573,9.991586827065777e-05,-0.00015456417325624786,3.403145252615816e-05,0.6761,-0.0048,0.09080296021299725,1.0,0.0,0.0,0.0,-0.12652461217681582,-0.16751770777245875,0.08715815464996246,-0.011486135766625584,0.008948219339676565,-0.0007126228880803859,-0.1015541594272853,-0.12571052590388226,0.32391408152174866,-0.014471310888793767,0.005280106268432015,-0.0024111840804783564,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7798577552086143,-0.5168651457253265,0.6420033178871946,0.39575923007526825,-0.2502030825016682,-0.3839509823106947,0.7073295706247651,0.08715815464996246,0.06532625273757053,0.06532625273757053,0.21702000000001048,0,0,-7.073589780168111e-05,-9.998261526889535e-05
+24849,1791280577480806167,12903723000000,1791280577480676127,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760099028149176,-0.004736995047005478,0.09065636844070404,0.9999999802232795,0.00010147756114039934,-0.0001387543547735964,3.802418234570306e-05,0.6761,-0.0048,0.09072556013629106,1.0,0.0,0.0,0.0,-0.1320393122599211,-0.17413291176839096,0.11752904926752156,-0.011490767150892495,0.00894184563613906,-0.00073301132207985,-0.10706885951039057,-0.13232572989981448,0.35428497613930776,-0.014475942273060679,0.005273732564894511,-0.0024315725144778205,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7233929383889501,-0.46078947394107483,0.5662766190722951,0.38259554044833133,-0.22351081389381716,-0.348713425456159,0.7073295706247651,0.11752904926752156,0.14105295155247,0.14105295155247,0.2800200000000152,0,0,-7.516720689912238e-05,-3.726273042759516e-05
+24996,1791280578705712983,12904948000000,1791280578704675981,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760172714770221,-0.004739184702464504,0.09057239987764391,0.9999999803232418,0.00011089073185800044,-0.00012835753661981844,4.498853980291763e-05,0.6761,-0.0048,0.0906270859723046,1.0,0.0,0.0,0.0,-0.13959882245073593,-0.17388176340860345,0.1681041271332872,-0.01150881861926525,0.008926291720002873,0.00021828505831386277,-0.1146283697012054,-0.13207458154002696,0.4048600540050734,-0.014493993741433434,0.0052581786487583245,-0.0014802761340841077,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7391132787231308,-0.5097359349089865,0.469599557334927,0.39660489815933425,-0.15580694526140798,-0.38056559433461595,0.7073295706247651,0.1681041271332872,0.23773001328983812,0.23773001328983812,0.3535200000000207,0,0,-8.223773529239675e-05,9.999983760356485e-05
+25128,1791280579805818747,12906048000000,1791280579804676394,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760223663142431,-0.0047269703576005165,0.09048741730511407,0.9999999796011855,0.0001268534323350463,-0.00011972948570561374,4.258579475706507e-05,0.6761,-0.0048,0.09053259338655473,1.0,0.0,0.0,0.0,-0.13099357399977593,-0.15103728544082987,0.21866863646756418,-0.010497294328396951,0.008895163766697241,-0.00015425309833483618,-0.1060231212502454,-0.10923010357225338,0.4554245633393504,-0.013482469450565134,0.0052270506954526915,-0.0018528142907328067,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7801415750068249,-0.4875927818852238,0.5336207768437364,0.39021169907197634,-0.191354976720463,-0.36629758907157006,0.7073295706247651,0.21866863646756418,0.17370879378102866,0.17370879378102866,0.41952000000002565,0,0,-8.956242783106217e-05,-9.999999025923074e-05
+25267,1791280580963749345,12907206000000,1791280580956685908,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760255855808447,-0.0047265652349965295,0.09039283101707975,0.9999999803120887,0.00012736513698369636,-0.00011208675649132139,4.509287621819538e-05,0.6761,-0.0048,0.09042810987320003,1.0,0.0,0.0,0.0,-0.13112593387325627,-0.158496810127236,0.26896392914946216,-0.010507163879437053,0.008885548719914711,9.74969912969758e-08,-0.10615548112372575,-0.11668962825865951,0.5057198560212484,-0.013492339001605236,0.005217435648670162,-0.0016984636954066735,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7783187067265165,-0.5162312028062938,0.3594769626899204,0.4017529596163815,-0.08174602908895832,-0.3841252022945292,0.7073295706247651,0.26896392914946216,0.3478526079348447,0.3478526079348447,0.48900000000003085,0,0,-9.20763928477245e-05,3.290504954479019e-05
+25408,1791280582138822926,12908381000000,1791280582132675600,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760242256530059,-0.004727535476408067,0.09028896486528187,0.9999999786372048,0.00013473141563423476,-0.00011498805376897682,5.285496749913877e-05,0.6761,-0.0048,0.09032032579879785,1.0,0.0,0.0,0.0,-0.1302079313542172,-0.16274184689879262,0.33907056642539485,-0.010522091521602932,0.008869294074287184,0.00012217571004101207,-0.10523747860468667,-0.12093466503021615,0.575826493297181,-0.013507266643771115,0.005201181003042636,-0.0015763854823569584,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7906765932835917,-0.5110139793403796,0.29005701647746646,0.3982003064652795,-0.03386509402006848,-0.38257392388901945,0.7073295706247651,0.33907056642539485,0.41727255414729864,0.41727255414729864,0.5594999999999811,0,0,-9.017597100005747e-05,3.417990476617945e-05
+25572,1791280583505843943,12909748000000,1791280583500685014,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760253181016698,-0.0047297916545865236,0.09017036459455562,0.9999999813158931,0.00011994868873973682,-0.00011084081974072455,4.6235294818760964e-05,0.6761,-0.0048,0.09019845478796931,1.0,0.0,0.0,0.0,-0.13145157879065322,-0.1637538642159806,0.40902647907265705,-0.010536099332127001,0.008854664406321674,6.539406412807316e-05,-0.1064811260411227,-0.12194668234740409,0.6457824059444432,-0.013521274454295185,0.005186551335077125,-0.0016331671282698973,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8006371191692043,-0.5537520615586407,0.19047549278102066,0.4285140564894277,0.031685771090952074,-0.40570607763618427,0.7073295706247651,0.40902647907265705,0.5168540778437445,0.5168540778437445,0.6415199999999114,0,0,-8.939350103623488e-05,9.9741530339098e-05
+25719,1791280584730865664,12910973000000,1791280584728676044,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760332436339321,-0.004732083030868297,0.09006804789130342,0.9999999834294294,0.00011136288170460513,-0.00010048842410994704,4.565512515889877e-05,0.6761,-0.0048,0.0900865230140675,1.0,0.0,0.0,0.0,-0.13192273845363986,-0.1659118565758339,0.45948269300287264,-0.010545951694358475,0.008844019894192357,2.4669727015502003e-05,-0.10695228570410932,-0.1241046747072574,0.6962386198746588,-0.013531126816526658,0.005175906822947808,-0.0016738914653824685,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8217656164039333,-0.4435426460873935,0.20014670738233273,0.3978002939933222,0.03160574339803345,-0.3360721856930966,0.7073295706247651,0.45948269300287264,0.5071828632424323,0.5071828632424323,0.7150199999998489,0,0,-9.209906009641079e-05,-9.999999025923074e-05
+25863,1791280585930847081,12912173000000,1791280585928684833,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760360068165826,-0.004735618717442737,0.08996041114719538,0.9999999847934018,0.00010303688057273709,-9.581599329548332e-05,4.537353058826261e-05,0.6761,-0.0048,0.08997057197219159,1.0,0.0,0.0,0.0,-0.1330396278036176,-0.16047082397065576,0.49956491209772896,-0.010580474834817102,0.009848207454784364,7.939980926565011e-06,-0.10806917505408709,-0.11866364210207928,0.7363208389695152,-0.013565649956985285,0.006180094383539814,-0.0016906212114714055,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8493932939872411,-0.5021573206468695,0.058834872342391556,0.41870157499798,0.12673815013670706,-0.37236688906770515,0.7073295706247651,0.49956491209772896,0.6484946982823735,0.6484946982823735,0.7870199999997877,0,0,-9.569508769150114e-05,9.999999025923074e-05
+26015,1791280587197859701,12913440000000,1791280587196685019,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760482968537439,-0.004740326475971228,0.08985522744276067,0.9999999844501523,0.00011533063598611065,-7.888965301586389e-05,5.493474911348871e-05,0.6761,-0.0048,0.08984642517689365,1.0,0.0,0.0,0.0,-0.14110679235706702,-0.1686675767172129,0.5501453668762877,-0.010591033353145698,0.009838171297803918,-3.371901035141263e-05,-0.1161363396075365,-0.12686039484863643,0.7869012937480738,-0.013576208475313881,0.006170058226559369,-0.0017322802027493831,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8438447555588513,-0.5201398490823604,-0.005852115741272691,0.4254276680939572,0.16622384504567522,-0.3833857063921853,0.7073295706247651,0.5501453668762877,0.7131816863660377,0.7131816863660377,0.863039999999723,0,0,-0.00010429490466115775,4.750134593856643e-05
+26140,1791280588238947800,12914481000000,1791280588232685890,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.676051025053315,-0.004740992314125723,0.08975167908894097,0.9999999837107463,0.000123320680849268,-7.527901962537531e-05,5.6093230379682826e-05,0.6761,-0.0048,0.08973714950649363,1.0,0.0,0.0,0.0,-0.1414221100391816,-0.17519964683874378,0.6098054581034074,-0.010603513313198492,0.009825913120817872,-8.225784552194399e-05,-0.11645165728965107,-0.1333924649701673,0.8465613849751935,-0.013588688435366675,0.006157800049573323,-0.0017808190379199145,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8595771684958027,-0.5827298784877951,0.04270717670666809,0.4565119575473505,0.13572920412466202,-0.4235287597360103,0.7073295706247651,0.6098054581034074,0.664622393918097,0.664622393918097,0.9254999999996699,0,0,-0.00010676346213630972,-9.999986535914047e-05
+26270,1791280589322933007,12915565000000,1791280589320685148,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760597875632008,-0.004738183834553426,0.08964881192944169,0.9999999850625915,0.00012183151224270665,-6.043089810761958e-05,5.3130691464691224e-05,0.6761,-0.0048,0.08962131164228027,1.0,0.0,0.0,0.0,-0.15076488341259972,-0.17434184544167933,0.6663895055761728,-0.010614241218457185,0.009813286033532782,-0.00013103748577880246,-0.1257944306630692,-0.13253466357310284,0.9031454324479591,-0.013599416340625368,0.006145172962288233,-0.001829598678176773,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8928174517655355,-0.5405465451107098,-0.0882185860842007,0.4536387818322934,0.22274662943559673,-0.3937624547935608,0.7073295706247651,0.6663895055761728,0.7955481567089658,0.7955481567089658,0.9905399999996146,0,0,-0.00010840869434393758,-8.673143061062294e-05
+26384,1791280590272973637,12916515000000,1791280590272685548,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760630368820596,-0.004738606495756682,0.08955143659143286,0.9999999868112883,0.00011218092317641072,-5.560088760978521e-05,4.630625538389439e-05,0.6761,-0.0048,0.08951806846822755,1.0,0.0,0.0,0.0,-0.1508807533459054,-0.17287334729986414,0.710187727329862,-0.01062411404079427,0.009885941974255704,-0.00016339520192591608,-0.12591030059637487,-0.13106616543128766,0.9469436542016482,-0.013609289162962453,0.006217828903011155,-0.0018619563943238866,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8637757816394536,-0.5811214696293813,-0.07718613986181871,0.47965734919403025,0.20832915746986744,-0.41666609227385765,0.7073295706247651,0.710187727329862,0.7845157104865839,0.7845157104865839,1.0475399999995663,0,0,-0.00010980772807286788,-9.9998671869389e-05
+26500,1791280591238974081,12917481000000,1791280591236685695,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760645625890166,-0.004747684883446462,0.0894450063119424,0.999999987291798,0.00010549638250670912,-5.448058142781739e-05,5.255138332596149e-05,0.6761,-0.0048,0.08940952604028844,1.0,0.0,0.0,0.0,-0.15123959166740195,-0.1709299204789918,0.7601987944107276,-0.010658841336095804,0.010806533783802592,-0.0001891871968040977,-0.12626913891787142,-0.12912273861041532,0.9969547212825138,-0.013644016458263988,0.007138420712558043,-0.0018877483892020682,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8476665208293254,-0.5698078347069008,-0.12770609190999876,0.4808322234182522,0.23482313160357077,-0.4078571578354901,0.7073295706247651,0.7601987944107276,0.8350356625347639,0.8350356625347639,1.105499999999517,0,0,-0.00011370784519101752,-9.999468894428815e-05
+26636,1791280592373006687,12918615000000,1791280592372685816,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760698166047646,-0.004745726053038178,0.08932738815629598,0.9999999878737593,0.00010379828947743963,-4.6781830460182004e-05,5.2275433585614607e-05,0.6761,-0.0048,0.08928104386296996,1.0,0.0,0.0,0.0,-0.15137078446704816,-0.17864618563823498,0.8144696441039949,-0.010669531683185228,0.010796374673008716,-0.00022982558863994594,-0.12640033171751763,-0.1368390037696585,1.0512255709757812,-0.013654706805353412,0.0071282616017641675,-0.0019283867810379164,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9029962179920114,-0.5446280882793133,-0.3831556925124727,0.4722295552118891,0.41308793088308404,-0.3933929717639634,0.7073295706247651,0.8144696441039949,1.090485263137238,1.090485263137238,1.1735399999994591,0,0,-0.00011401142064185332,9.972505740497013e-05
+26756,1791280593372985994,12919615000000,1791280593372685232,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760769732842833,-0.004748509813359615,0.08921982404499115,0.9999999884626899,0.00010285675036510236,-3.404816077055648e-05,5.2713338207335274e-05,0.6761,-0.0048,0.08916560171252202,1.0,0.0,0.0,0.0,-0.1530734485935678,-0.17745212073820216,0.8606128040024601,-0.010678811720056202,0.010785489396890162,-0.00027057359721577756,-0.12810299584403728,-0.13564493886962567,1.0973687308742464,-0.013663986842224385,0.007117376325645612,-0.001969134789613748,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9290279539240728,-0.6647191812078207,-0.38519131917942484,0.5141256921465932,0.41881805202494804,-0.47155062552379756,0.7073295706247651,0.8606128040024601,1.0925208898041898,1.0925208898041898,1.233539999999408,0,0,-0.00011849732494265274,9.974111400546377e-05
+26883,1791280594431043267,12920673000000,1791280594424685460,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760746011063439,-0.004757020738924923,0.08908382953371934,0.9999999869211634,0.00011078349675532943,-4.266838800951306e-05,5.9219615010748264e-05,0.6761,-0.0048,0.089039565042726,1.0,0.0,0.0,0.0,-0.15486055662572493,-0.18693237868657406,0.9105751604459598,-0.011169805642428664,0.010784253613832905,-0.0003136175444845106,-0.1298901038761944,-0.14512519681799757,1.147331087317746,-0.014154980764596847,0.007116140542588356,-0.002012178736882481,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9092966730161252,-0.5135441008434364,-0.3917010745442211,0.4751642084171756,0.41574685736128203,-0.3712431202170984,0.7073295706247651,0.9105751604459598,1.0990306451689862,1.0990306451689862,1.2970199999993541,0,0,-0.00011862382099929718,-1.715069686096662e-06
+27016,1791280595539042937,12921781000000,1791280595532685752,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760770965066322,-0.0047602381311459595,0.0889514963076694,0.9999999869947465,0.00011053732362933308,-3.910055644902339e-05,6.087707210329688e-05,0.6761,-0.0048,0.08890369109233141,1.0,0.0,0.0,0.0,-0.16038477502137757,-0.1868185191295632,0.9544710633315705,-0.01171734929147948,0.010784774084075603,-0.0003587699874331707,-0.13541432227184705,-0.14501133726098672,1.1912269902033568,-0.014702524413647663,0.007116661012831054,-0.002057331179831141,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8847568035791236,-0.5811248991372501,-0.4858644199235124,0.49872598159011744,0.4661562495119729,-0.4171739461736318,0.7073295706247651,0.9544710633315705,1.1931939905482776,1.1931939905482776,1.3634999999992976,0,0,-0.00012675725408609206,9.999999025923074e-05
+27131,1791280596498023613,12922740000000,1791280596496685361,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.676079250457472,-0.004760324087417251,0.08883020099595487,0.9999999879448268,0.00010324678448316097,-3.593634579157223e-05,6.0015757559092904e-05,0.6761,-0.0048,0.08877724168508801,1.0,0.0,0.0,0.0,-0.16044746568046922,-0.18941924121052212,0.981652101196842,-0.01172258685193674,0.010778920971413766,-0.0003808303964266391,-0.1354770129309387,-0.14761205934194563,1.2184080280686282,-0.014707761974104923,0.007110807900169217,-0.0020793915888246096,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8513748049724428,-0.5572880903224163,-0.4734154065611862,0.49976583859022145,0.4462955768634053,-0.4026706937764824,0.7073295706247651,0.981652101196842,1.1807449771859513,1.1807449771859513,1.4210399999992487,0,0,-0.0001382698047519461,-5.9668777131639665e-05
+27254,1791280597522962155,12923765000000,1791280597516685203,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.676078194525289,-0.0047604761025053085,0.0886793756092902,0.9999999873389516,0.00010489698993081268,-3.880101534628048e-05,6.523851370394962e-05,0.6761,-0.0048,0.0886279485134898,1.0,0.0,0.0,0.0,-0.16178464386376085,-0.1944559245025169,1.0207153978571586,-0.01173101558003006,0.010771160225414049,-0.00041235746855526763,-0.13681419111423032,-0.1526487426339404,1.2574713247289449,-0.014716190702198243,0.0071030471541695,-0.002110918660953238,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.863388749673035,-0.6017451463433084,-0.43569201782018535,0.5213759536016556,0.42116357842550817,-0.430710457572747,0.7073295706247651,1.0207153978571586,1.1430215884449504,1.1430215884449504,1.4825399999991964,0,0,-0.00015172344522004633,-9.973985112677326e-05
+27364,1791280598439080718,12924681000000,1791280598432685343,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760779336334394,-0.004758869926850089,0.08853902738548816,0.9999999863208778,0.00011423393562449471,-3.73708437807043e-05,6.599345754485585e-05,0.6761,-0.0048,0.08848288001077027,1.0,0.0,0.0,0.0,-0.16086809543426941,-0.19420531803795948,1.0412981592245047,-0.011734788113172858,0.01076677048191603,-0.0004285664621106434,-0.1358976426847389,-0.152398136169383,1.278054086096291,-0.014719963235341041,0.007098657410671481,-0.002127127654508614,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8998482032642872,-0.625366110763171,-0.5089846647708676,0.5318040881910265,0.4713531819180102,-0.44324179424856924,0.7073295706247651,1.0412981592245047,1.2163142353956327,1.2163142353956327,1.5374999999991497,0,0,-0.0001655032870432046,-7.961758616137899e-05
+27472,1791280599339063392,12925581000000,1791280599332685771,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760790691935363,-0.004751895758675442,0.08838390860154716,0.9999999856506859,0.00012147441565117318,-3.893085470449308e-05,6.220809597005062e-05,0.6761,-0.0048,0.08832561138696453,1.0,0.0,0.0,0.0,-0.1602463961050327,-0.1930485554453931,1.06088981595761,-0.011739186174853988,0.010761921924502206,-0.00036556643157661787,-0.13527594335550217,-0.1512413735768166,1.2976457428293962,-0.01472436129702217,0.007093808853257657,-0.0020641276239745884,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8085999228212672,-0.5673062332599487,-0.4906439433854378,0.5248546132331168,0.4316663370587068,-0.4092847161968649,0.7073295706247651,1.06088981595761,1.197973514010203,1.197973514010203,1.5914999999991037,0,0,-0.00018453488371680671,-9.999871350275242e-05
+27566,1791280600123003827,12926365000000,1791280600120685768,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760832699678208,-0.004761004654908406,0.08823612329581551,0.9999999854183887,0.0001206214563764917,-2.926269797086118e-05,7.211272785119036e-05,0.6761,-0.0048,0.08817497838847782,1.0,0.0,0.0,0.0,-0.1606677439413366,-0.19440879332686123,1.071295780810043,-0.011742985429883246,0.010757582202085097,0.00014627649511821084,-0.13569729119180607,-0.15260161145828474,1.3080517076818292,-0.01472816055205143,0.007089469130840547,-0.0015522846972797597,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8331388065961038,-0.559362417729002,-0.5904005766467942,0.5246139465764815,0.4954933067219937,-0.40119790455652893,0.7073295706247651,1.071295780810043,1.2977301472715594,1.2977301472715594,1.6385399999990637,0,0,-0.00020179265497385617,-2.7204612754003915e-05
+27662,1791280600923121221,12927165000000,1791280600920675769,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.676083155406489,-0.004753817194698138,0.0880637987604902,0.9999999851942615,0.00012074356916434985,-3.374814366596986e-05,7.305062992454045e-05,0.6761,-0.0048,0.08800511944483622,1.0,0.0,0.0,0.0,-0.15920973252417042,-0.1918984107674487,1.0909581420860255,-0.011744005137486177,0.010755783034196328,-0.0004688396134804368,-0.1342392797746399,-0.15009122889887222,1.3277140689578117,-0.01472918025965436,0.0070876699629517795,-0.0021674008058784073,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8171052289634978,-0.5570090637980881,-0.5625511613563947,0.5254482561040946,0.46971017990254754,-0.4035102828065345,0.7073295706247651,1.0909581420860255,1.2698807319811598,1.2698807319811598,1.686539999999023,0,0,-0.00022273594045138368,-9.996307534366195e-05
+27746,1791280601623089394,12927865000000,1791280601620685321,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760758768316385,-0.004756372159936684,0.08789127935341526,0.99999998486612,0.00011655851283737722,-4.826281354845246e-05,7.612777481072696e-05,0.6761,-0.0048,0.08784332496580509,1.0,0.0,0.0,0.0,-0.1604466087181499,-0.2019268506050548,1.1048437634051094,-0.011734620704066213,0.009735029547879324,0.0005305564109872301,-0.13547615596861937,-0.16011966873647832,1.3415996902768956,-0.014719795826234396,0.0060669164766347745,-0.0011680047814107404,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7873689439278712,-0.5457965365693298,-0.49319790460839996,0.5306672612763326,0.4154269941429436,-0.39747677840564466,0.7073295706247651,1.1048437634051094,1.200527475233165,1.200527475233165,1.7285399999989872,0,0,-0.00024134520354021494,-9.998451652582502e-05
+27828,1791280602306102744,12928548000000,1791280602304675576,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760756496788314,-0.004756326919661423,0.0877209908714444,0.9999999836800719,0.0001262661786613611,-4.834569973691426e-05,7.617260420496253e-05,0.6761,-0.0048,0.087671057613579,1.0,0.0,0.0,0.0,-0.15984569837437676,-0.20162467865292097,1.1010640595661392,-0.011720348756440492,0.009740703276744202,-0.0004121123975462501,-0.13487524562484624,-0.15981749678434448,1.3378199864379254,-0.014705523878608675,0.006072590205499653,-0.0021106735899442206,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7342893435024551,-0.5566363682330059,-0.5720007291638182,0.5417017663093388,0.4470196999711505,-0.40286078168894385,0.7073295706247651,1.1010640595661392,1.2793302997885831,1.2793302997885831,1.7695199999989524,0,0,-0.00026480572301176695,-9.996737745788237e-05
+27907,1791280602964133929,12929206000000,1791280602956685579,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760741176088395,-0.004758421402819597,0.08754171049116174,0.9999999838640926,0.0001236973740403845,-5.071430434269902e-05,7.643100042747896e-05,0.6761,-0.0048,0.08749048018578115,1.0,0.0,0.0,0.0,-0.1512642871277853,-0.1916525784275616,1.1116334497199842,-0.011726148025023567,0.009722928864815798,0.00023721857670779218,-0.12629383437825478,-0.1498453965589851,1.3483893765917705,-0.01471132314719175,0.006054815793571248,-0.0014613426156901783,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7820662465711884,-0.5404532513937795,-0.5836103050168958,0.5462404067767858,0.4624050049687426,-0.3907257738793992,0.7073295706247651,1.1116334497199842,1.2909398756416608,1.2909398756416608,1.8089999999989188,0,0,-0.00028460877282285155,-9.999986535914047e-05
+27982,1791280603589100306,12929831000000,1791280603588675618,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760732106480964,-0.0047592927785521525,0.08736070363403267,0.9999999832691372,0.00012545600823959908,-5.206239934690547e-05,8.034230600195295e-05,0.6761,-0.0048,0.08730652438214934,1.0,0.0,0.0,0.0,-0.1518620937107167,-0.19766063933973974,1.1214821075051593,-0.010703700043721181,0.009718203884436586,-0.0004791413558760378,-0.1268916409611862,-0.15585345747116325,1.3582380343769456,-0.013688875165889364,0.006050090813192037,-0.0021777025482740083,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7357475287159565,-0.5251437878450288,-0.5615911696114909,0.5521022954084459,0.43672612444710734,-0.38217849464572673,0.7073295706247651,1.1214821075051593,1.268920740236256,1.268920740236256,1.846499999998887,0,0,-0.00030516023572932225,-9.999999025923074e-05
+28056,1791280604206088084,12930448000000,1791280604204685622,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760772908910408,-0.004761995619946402,0.08717455085594006,0.9999999829848035,0.00012998139876568601,-4.574598647715419e-05,8.053196705559029e-05,0.6761,-0.0048,0.08711249807313123,1.0,0.0,0.0,0.0,-0.15184312230106783,-0.18804219503774416,1.1215175881176591,-0.010702221292370607,0.009716836166143168,-0.0004968422289099537,-0.1268726695515373,-0.14623501316916768,1.3582735149894454,-0.01368739641453879,0.006048723094898619,-0.002195403421307924,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7303673649090804,-0.5155555510935398,-0.553393404027141,0.5560825502666655,0.42668464177273413,-0.3766383653890113,0.7073295706247651,1.1215175881176591,1.2607229746519062,1.2607229746519062,1.8835199999988554,0,0,-0.0003243135346900613,-9.999781144654491e-05
+28126,1791280604789157429,12931031000000,1791280604788676846,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760766580024704,-0.004756873813280251,0.08698214956378267,0.99999998321074,0.00012771956589294645,-4.6801126572239345e-05,8.073878285848595e-05,0.6761,-0.0048,0.08691769544845915,1.0,0.0,0.0,0.0,-0.15183015725915472,-0.18868192956408242,1.1218756717221923,-0.010711091077273941,0.009711558469976275,0.0004996663462565321,-0.1268597045096242,-0.14687474769550593,1.3586315985939785,-0.013696266199442125,0.006043445398731726,-0.0011988948461414384,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7395399070040678,-0.45845610703922907,-0.5731017385183919,0.5425088107868851,0.4409602286692323,-0.3414716099074383,0.7073295706247651,1.1218756717221923,1.280431309143157,1.280431309143157,1.9184999999988257,0,0,-0.00034552370127147034,-9.999999025923074e-05
+28188,1791280605306164729,12931548000000,1791280605304685272,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760772575872276,-0.004762667150106387,0.08679794581570438,0.9999999832981669,0.00012340939076493156,-4.551246135073596e-05,8.686350487036893e-05,0.6761,-0.0048,0.08673390406875987,1.0,0.0,0.0,0.0,-0.15209523547463838,-0.18804426099077332,1.1215251937206552,-0.010702326831728774,0.00971674715123159,-0.0004924092245616491,-0.12712478272510785,-0.14623707912219683,1.3582811205924414,-0.013687501953896957,0.00604863407998704,-0.0021909704169596196,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7607949364504718,-0.529823849873893,-0.6369842600017576,0.5780003001150799,0.4872605235698051,-0.38407212451897366,0.7073295706247651,1.1215251937206552,1.3443138306265228,1.3443138306265228,1.9495199999987993,0,0,-0.00036634293035656276,9.740769260256025e-12
+28248,1791280605806165564,12932048000000,1791280605804686087,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760712346828844,-0.004765978332646173,0.08660751028654749,0.9999999822820221,0.0001281539481861056,-5.419708736583145e-05,8.670675247833507e-05,0.6761,-0.0048,0.0865465054507618,1.0,0.0,0.0,0.0,-0.1506190033486199,-0.18804879958538193,1.1215242422269096,-0.010702305941984552,0.009716778839069828,-0.0004869713153098406,-0.1256485505990894,-0.14624161771680544,1.3582801690986959,-0.013687481064152735,0.006048665767825279,-0.002185532507707811,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7839540481228501,-0.5449005841635725,-0.5912613900519863,0.592626925381521,0.46096246417005554,-0.39277441834980625,0.7073295706247651,1.1215242422269096,1.2985909606767514,1.2985909606767514,1.9795199999987738,0,0,-0.0003842300436388265,-9.999999025923074e-05
+28310,1791280606323175825,12932565000000,1791280606320685992,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760747943138488,-0.004769826789355778,0.08641319589539212,0.9999999828107817,0.00012633397479758213,-4.5063411517762384e-05,8.84890753170164e-05,0.6761,-0.0048,0.08634345749952653,1.0,0.0,0.0,0.0,-0.15241175635099674,-0.1885035417273788,1.1219160860983413,-0.010707485555168705,0.009711849849945643,0.00015691491961416495,-0.12744130360146622,-0.1466963598588023,1.3586720129701275,-0.013692660677336889,0.006043736778701094,-0.0015416462727838056,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7596640462382307,-0.5634871183187695,-0.6603895051625391,0.605070475756626,0.4973232244297112,-0.4059465031631897,0.7073295706247651,1.1219160860983413,1.3677190757873041,1.3677190757873041,2.0105399999987474,0,0,-0.00040074862467790053,9.399000608223957e-05
+28366,1791280606789171823,12933031000000,1791280606784685593,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760726748109369,-0.004776809750220091,0.08622593446224884,0.9999999835892797,0.00011945105442440076,-4.838350408141768e-05,8.749163977363954e-05,0.6761,-0.0048,0.08615240252277143,1.0,0.0,0.0,0.0,-0.14464131227214028,-0.1880970683173078,1.1315599586760499,-0.010707115432292523,0.009713215674683862,-9.105522617211754e-05,-0.11967085952260974,-0.1462898864487313,1.3683158855478361,-0.013692290554460706,0.006045102603439313,-0.001789616418570088,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7870375237853513,-0.5303510493028467,-0.6628024364169111,0.6098352849238756,0.5048824201357249,-0.3810511729837029,0.7073295706247651,1.1315599586760499,1.370132007041676,1.370132007041676,2.0384999999987237,0,0,-0.00041765327728618553,9.997699476483319e-05
+28423,1791280607264183049,12933506000000,1791280607260685605,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760774430083435,-0.004784083085478398,0.08603450042973379,0.999999985159143,0.00010713675906238548,-3.757366618889469e-05,9.074421556798189e-05,0.6761,-0.0048,0.08595036173095671,1.0,0.0,0.0,0.0,-0.1517927001034445,-0.17886443040052338,1.1219017998399385,-0.010706961633673656,0.009714637960586664,0.00033332877297504067,-0.12682224735391398,-0.1370572485319469,1.3586577267117248,-0.01369213675584184,0.006046524889342115,-0.0013652324194229298,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7685674424080253,-0.45510911792941716,-0.616567360537313,0.5940896737159875,0.4646878351469868,-0.33306820035221374,0.7073295706247651,1.1219017998399385,1.323896931162078,1.323896931162078,2.0669999999986994,0,0,-0.00043404895949258746,-9.999999025923074e-05
+28474,1791280607689156718,12933931000000,1791280607688685493,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760726351308014,-0.004785170374083523,0.08583970201180678,0.9999999852511245,0.00010335405511824924,-4.585919116026192e-05,9.030774610653974e-05,0.6761,-0.0048,0.08576327142579515,1.0,0.0,0.0,0.0,-0.1518490927632894,-0.1876237871542667,1.1319866953219326,-0.010713441491290037,0.009707235921212514,0.0005163243316826233,-0.12687864001375887,-0.1458166052856902,1.368742622193719,-0.01369861661345822,0.006039122849967965,-0.0011822368607153472,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7876109397754262,-0.4981879597388679,-0.5392724383808852,0.61795872703963,0.41931123121437996,-0.3580776828997122,0.7073295706247651,1.1319866953219326,1.2466020090056502,1.2466020090056502,2.0924999999986778,0,0,-0.00044684549894566237,-9.997348368451781e-05
+28524,1791280608106138832,12934348000000,1791280608104676177,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.676072986051876,-0.004784818900317528,0.08565131439068406,0.9999999846374903,0.00011014154656198557,-4.4709320528572226e-05,8.965377760161083e-05,0.6761,-0.0048,0.08557509619346529,1.0,0.0,0.0,0.0,-0.14814845861427148,-0.17792892611916358,1.142053798735288,-0.010713702410280086,0.009706080647754422,0.0005142270702711167,-0.12317800586474095,-0.1361217442505871,1.3788097256070742,-0.01369887753244827,0.006037967576509873,-0.0011843341221268538,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7730424282559832,-0.5223862622532063,-0.627227358259769,0.6357815323543266,0.47025916733415807,-0.3686375932920272,0.7073295706247651,1.142053798735288,1.3345569288845343,1.3345569288845343,2.1175199999986565,0,0,-0.0004574570949781017,-9.999999025923074e-05
+28576,1791280608539199392,12934781000000,1791280608536685153,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760716955561825,-0.0047894925132852045,0.08545018301499052,0.9999999843690064,0.00010864993894568575,-4.752812118590771e-05,9.295762447162331e-05,0.6761,-0.0048,0.08537477888656997,1.0,0.0,0.0,0.0,-0.1515830491635319,-0.17907410923296962,1.1417117307064655,-0.010712663954164139,0.00970694604757888,0.0003875022125883478,-0.12661259641400138,-0.13726692736439314,1.3784676575782517,-0.013697839076332322,0.00603883297633433,-0.0013110589798096227,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7889981376730064,-0.48805715660241716,-0.6381709599986881,0.6257422731890679,0.4783245572288703,-0.3488678400766524,0.7073295706247651,1.1417117307064655,1.345500530623453,1.345500530623453,2.1434999999986344,0,0,-0.00046883399311001126,-6.858220521899767e-05
+28627,1791280608964172797,12935206000000,1791280608956685318,DOWN_FORCE_DETACH,3,0.057,0.057002607733011246,0.6760747904986678,-0.004794200237026293,0.08525736710462303,0.999999986324224,9.77287075588934e-05,-3.7602349413879066e-05,8.848490986317917e-05,0.6761,-0.0048,0.08517227780354326,1.0,0.0,0.0,0.0,-0.14263191897566743,-0.17829136669022158,1.1320234717982733,-0.010711866780955785,0.009708218890103537,0.0005118697996248139,-0.11766146622613691,-0.1364841848216451,1.3687793986700596,-0.013697041903123968,0.006040105818858989,-0.0011866913927731566,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8489095418116319,-0.4723346565420621,-0.7156938535389392,0.6278121978031259,0.5380994612396321,-0.3363097202594332,0.7073295706247651,1.1320234717982733,1.4230234241637043,1.4230234241637043,2.1689999999986127,0,0,-0.00048434382735465666,9.950635734690678e-05
+28678,1791280609389107009,12935631000000,1791280609388685528,DOWN_FORCE_DETACH,3,0.057,0.05700194835662842,0.6760715243619224,-0.0047951506075520865,0.08505218358549746,0.9999999859255578,9.81730340132046e-05,-4.134769341860859e-05,9.079742383272494e-05,0.6761,-0.0048,0.084964246521777,1.0,0.0,0.0,0.0,-0.14263756801575936,-0.18700829635366917,1.1317582174444833,-0.010691517111145729,0.009711607941746709,-0.0004700559077767325,-0.11766711526622882,-0.14520111448509268,1.3685141443162696,-0.013676692233313912,0.006043494870502161,-0.002168617100174703,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8657447004285018,-0.5835964079591214,-0.6552128288987789,0.672085222538547,0.5009181683805385,-0.4026350985854866,0.7073295706247651,1.1317582174444833,1.362542399523544,1.362542399523544,2.194499999998591,0,0,-0.0004951058673925812,-4.109790800451568e-05
+28727,1791280609792142114,12936034000000,1791280609788685759,DOWN_SETTLE,3,0.057,0.057002607733011246,0.676070715256398,-0.004800494151004129,0.08485030082645285,0.9999999856780672,0.00010068717028963953,-4.239757252004782e-05,9.028437985961913e-05,0.6761,-0.0048,0.08476265421728325,1.0,0.0,0.0,0.0,-0.14334242174307987,-0.17369429462262642,1.1321292283610875,-0.009690236450754676,0.009694395367603163,-0.00011739741666480443,-0.11837196899354935,-0.13188711275404993,1.3688851552328738,-0.01267541157292286,0.006026282296358614,-0.001815958609062775,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8220196438875559,-0.5295250151522966,-0.6333427923524638,0.6561728663774957,0.46984154473468204,-0.3671063700187302,0.7073295706247651,1.1321292283610875,1.3406723629772288,1.3406723629772288,2.214659999998574,0,0,-0.0004994063677918062,9.999999025923074e-05
+28774,1791280610184217499,12936426000000,1791280610180685331,DOWN_SETTLE,3,0.057,0.057002607733011246,0.67606933909179,-0.004808108668844193,0.08465614558537321,0.9999999862146257,9.175342459072963e-05,-4.3970248582649596e-05,9.306739078543042e-05,0.6761,-0.0048,0.08457071872035855,1.0,0.0,0.0,0.0,-0.15209787760481927,-0.1656482492789388,1.1322230423493163,-0.009687388684293082,0.009683141548089354,-9.026041928362778e-07,-0.12712742485528875,-0.1238410674103623,1.3689789692211025,-0.012672563806461265,0.006015028476844805,-0.0016994637965908068,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8582906608646741,-0.43859645510372314,-0.6491812680381421,0.6290223990312219,0.4895435987226415,-0.3064375159636747,0.7073295706247651,1.1322230423493163,1.3565108386629072,1.3565108386629072,2.214659999998574,0,0,-0.0004798063716101878,9.999999025923074e-05
+28825,1791280610609200597,12936851000000,1791280610604686256,DOWN_SETTLE,3,0.057,0.057002607733011246,0.6760680196658625,-0.004800307278185339,0.08445643295880101,0.9999999863290626,9.084148330148308e-05,-4.678869789011564e-05,9.134211404464556e-05,0.6761,-0.0048,0.08437130601154244,1.0,0.0,0.0,0.0,-0.141518449663759,-0.16590994360660383,1.1224017491470424,-0.009688649461121043,0.00968395440509182,0.000512768302945318,-0.11654799691422847,-0.12410276173802733,1.3591576760188286,-0.012673824583289226,0.006015841333847271,-0.0011857928894526526,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8777329925144495,-0.5694845314176212,-0.6021230323601638,0.6674497523633661,0.46124964745553537,-0.3910686369186406,0.7073295706247651,1.1224017491470424,1.309452602984929,1.309452602984929,2.214659999998574,0,0,-0.00045855637575001475,9.999999025923074e-05
+28876,1791280611034211734,12937276000000,1791280611032685850,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760677820333243,-0.004801902675005233,0.08427087836346454,0.9999999859241618,9.509158568201726e-05,-4.4709608845121226e-05,9.24834128882127e-05,0.6761,-0.0048,0.0841809245509669,1.0,0.0,0.0,0.0,-0.13392358966307125,-0.17533133701386613,1.1221420917697058,-0.00965638951758307,0.008682643281125273,7.113440149942012e-05,-0.10895313691354071,-0.13352415514528965,1.358898018641492,-0.012641564639751253,0.005014530209880723,-0.0016274267908985504,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8843584359931904,-0.49082135785092046,-0.7238210814804691,0.6473880167761802,0.5373820887385553,-0.33627000581055577,0.7073295706247651,1.1221420917697058,1.4311506521052342,1.4311506521052342,2.214659999998574,0,0,-0.0004373063798898417,9.999999025923074e-05
+28933,1791280611509193502,12937751000000,1791280611504685694,DOWN_SETTLE,3,0.057,0.057002607733011246,0.676070795180592,-0.004794570268072833,0.08407714953227774,0.9999999864772524,9.606016738411031e-05,-4.037449595537145e-05,8.73538990939366e-05,0.6761,-0.0048,0.08397883276941803,1.0,0.0,0.0,0.0,-0.1336188250404941,-0.16479773645927276,1.1116127536603186,-0.009641030550973572,0.008679164940079798,0.0005356777589007771,-0.10864837229096358,-0.12299055459069627,1.348368680532105,-0.012626205673141756,0.005011051868835249,-0.0011628834334971934,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9259601290196035,-0.513823114936514,-0.7552896041479462,0.6529582543025384,0.563736983971578,-0.35126561764318537,0.7073295706247651,1.1116127536603186,1.4626191747727113,1.4626191747727113,2.214659999998574,0,0,-0.0004135563845167071,9.999999025923074e-05
+28993,1791280612009157372,12938251000000,1791280612004685182,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760682125613616,-0.004793586322483131,0.08388015926373613,0.99999998624561,9.614805697291856e-05,-4.2086781547016235e-05,8.908365893724209e-05,0.6761,-0.0048,0.08377829207593965,1.0,0.0,0.0,0.0,-0.13076184818080527,-0.1578354933350398,1.0930783873382768,-0.008631711385294043,0.008661851522255688,1.668926901014561e-05,-0.10579139543127473,-0.11602831146646331,1.329834314210063,-0.011616886507462227,0.004993738451011139,-0.001681871923387825,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8368642633342952,-0.4828084078979757,-0.665967181058922,0.6398596187432605,0.4808510456009964,-0.32780240187164744,0.7073295706247651,1.0930783873382768,1.3732967516836871,1.3732967516836871,2.214659999998574,0,0,-0.0003885563893870917,9.999999025923074e-05
+29053,1791280612509258262,12938751000000,1791280612508685535,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760612620025541,-0.004789410548111884,0.08368999856165517,0.9999999867037478,9.167324079585259e-05,-4.90216341525185e-05,8.501920449319092e-05,0.6761,-0.0048,0.08359025138002607,1.0,0.0,0.0,0.0,-0.12467409099389624,-0.1598722789039581,1.0924040908170112,-0.008600437460592428,0.007789482134356398,-0.0004775855146512246,-0.0997036382443657,-0.11806509703538161,1.3291600176887974,-0.011585612582760611,0.004121369063111849,-0.002176146707049195,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0117804760842242,-0.3937896794927153,-0.7181067610093489,0.6147123169086902,0.5598577384097168,-0.266334576750331,0.7073295706247651,1.0924040908170112,1.4254363316341139,1.4254363316341139,2.214659999998574,0,0,-0.00036355639425747634,9.999999025923074e-05
+29116,1791280613034251591,12939276000000,1791280613032684829,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760613380473027,-0.004794371748764064,0.08350331070093425,0.9999999851377571,9.869380646842915e-05,-5.003572633228968e-05,9.446326638138206e-05,0.6761,-0.0048,0.08340626177169594,1.0,0.0,0.0,0.0,-0.1246232414412842,-0.1638009204329246,1.0845228241119267,-0.00859754990796966,0.007658824142342316,-0.00047040382050354845,-0.09965278869175366,-0.12199373856434813,1.321278750983713,-0.011582725030137844,0.003990711071097767,-0.002168965012901519,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9833668052716346,-0.5531051753963343,-0.679001041448133,0.670115885277793,0.5229540574619832,-0.36305874093612595,0.7073295706247651,1.0845228241119267,1.3863306120728982,1.3863306120728982,2.214659999998574,0,0,-0.0003373063993713802,9.999999025923074e-05
+29185,1791280613609267658,12939851000000,1791280613608685613,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760630233038085,-0.0047948846293135285,0.08332017369403023,0.9999999866759893,8.922601453945845e-05,-4.8566521905340656e-05,8.815269158282129e-05,0.6761,-0.0048,0.08322056184044432,1.0,0.0,0.0,0.0,-0.11611348690999022,-0.15385375627814407,1.0824127066189495,-0.008596132467911903,0.007657974759476791,-0.00046889387655294694,-0.09114303416045968,-0.1120465744095676,1.3191686334907358,-0.011581307590080086,0.003989861688232242,-0.0021674550689509174,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9899855172770657,-0.4539444035219699,-0.6844134469611459,0.6337876183663573,0.5268326085509044,-0.3006893695898049,0.7073295706247651,1.0824127066189495,1.391743017585911,1.391743017585911,2.214659999998574,0,0,-0.0003085564049723225,9.999999025923074e-05
+29256,1791280614200200609,12940442000000,1791280614192685242,DOWN_SETTLE,3,0.057,0.057002607733011246,0.6760594815703252,-0.004799136055655109,0.08313877601294495,0.9999999863400997,8.80658948055782e-05,-5.278127030813544e-05,9.067083549790769e-05,0.6761,-0.0048,0.08304692225340167,1.0,0.0,0.0,0.0,-0.11737421488382842,-0.1550400400944986,1.0640361121370026,-0.008601182038596162,0.007657883557083219,0.0001998653910158612,-0.09240376213429788,-0.1132328582259221,1.3007920390087888,-0.011586357160764345,0.00398977048583867,-0.0014986958013821093,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0099366731965087,-0.5036862836821148,-0.6750077222313535,0.6513963037419003,0.5202487895341056,-0.3284255376982751,0.7073295706247651,1.0640361121370026,1.3823372928561186,1.3823372928561186,2.214659999998574,0,0,-0.00027900641072911716,9.999999025923074e-05
+29332,1791280614834256285,12941076000000,1791280614828685273,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760591734051811,-0.0047965231440290365,0.0829751744658998,0.999999986420166,8.729269790708952e-05,-5.357266186005324e-05,9.006934648664647e-05,0.6761,-0.0048,0.08288006523703864,1.0,0.0,0.0,0.0,-0.12453409066904826,-0.14883050040184753,1.060181700391312,-0.008590220800995146,0.007663752313674103,-0.0004530663955367206,-0.09956363791951772,-0.10702331853327103,1.2969376272630984,-0.01157539592316333,0.003995639242429554,-0.002151627587934691,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0561777043446583,-0.4535514377964975,-0.7598267319266019,0.6393383607602703,0.582422173642126,-0.29472715923635084,0.7073295706247651,1.060181700391312,1.467156302551367,1.467156302551367,2.214659999998574,0,0,-0.00024730641690476487,9.999999025923074e-05
+29420,1791280615567231837,12941809000000,1791280615564685419,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760547182296771,-0.004797790591294187,0.08279740214443214,0.9999999869263961,7.768137025915173e-05,-6.04281066883154e-05,8.890512158757508e-05,0.6761,-0.0048,0.08271220353082707,1.0,0.0,0.0,0.0,-0.12455641879524049,-0.15457413725128172,1.062151046717502,-0.008591348218612073,0.007662529492074379,-0.00045403342840822486,-0.09958596604570995,-0.11276695538270522,1.2989069735892882,-0.011576523340780256,0.00399441642082983,-0.0021525946208061954,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0869725406954511,-0.4752066108009794,-0.8065707875516845,0.6355450046368182,0.6216619228048751,-0.3106062324901509,0.7073295706247651,1.062151046717502,1.5139003581764496,1.5139003581764496,2.214659999998574,0,0,-0.0002106564240447487,9.999999025923074e-05
+29516,1791280616367282267,12942609000000,1791280616364685013,DOWN_SETTLE,3,0.057,0.057002607733011246,0.6760433143673771,-0.004805114958048288,0.08263627205680826,0.999999985689164,7.326522501806852e-05,-7.579062746678729e-05,9.461777707514108e-05,0.6761,-0.0048,0.08255965838847033,1.0,0.0,0.0,0.0,-0.11571673207239004,-0.15517758216752525,1.0502675666703776,-0.00858963726226273,0.007665736843265198,-0.0003956861059400726,-0.0907462793228595,-0.11337040029894876,1.2870234935421638,-0.011574812384430913,0.003997623772020649,-0.002094247298338043,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.096730998192086,-0.37395338902061925,-0.7763241934171464,0.6108283662662137,0.5976555824409089,-0.23610965425431224,0.7073295706247651,1.0502675666703776,1.4836537640419114,1.4836537640419114,2.214659999998574,0,0,-0.0001706564318373641,9.999999025923074e-05
+29633,1791280617342287190,12943584000000,1791280617340685564,DOWN_SETTLE,3,0.057,0.057002607733011246,0.6760543134667871,-0.004809761330486961,0.082497049761735,0.9999999846215417,8.889859184225432e-05,-6.53221737544437e-05,0.00010014906319387901,0.6761,-0.0048,0.08241700961279425,1.0,0.0,0.0,0.0,-0.12444381082592701,-0.15603406955054316,1.022196411992324,-0.008584960166596812,0.007671185842901262,-0.000420984110608769,-0.09947335807639647,-0.11422688768196668,1.2589523388641102,-0.011570135288764995,0.004003072771656713,-0.0021195453030067395,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.046652228091233,-0.45801977628672697,-0.7260886885985826,0.6296112026423817,0.5507072740950429,-0.29052228500730576,0.7073295706247651,1.022196411992324,1.4334182592233478,1.4334182592233478,2.214659999998574,0,0,-0.00012190644133461414,9.999999025923074e-05
+29749,1791280618309305935,12944551000000,1791280618304685467,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760423175396227,-0.004804656431137946,0.0823863505221129,0.9999999872570985,6.408429812429041e-05,-8.21526824466863e-05,7.792821601886771e-05,0.6761,-0.0048,0.08232247912946472,1.0,0.0,0.0,0.0,-0.11559348739781787,-0.13516677415396944,1.00249545416408,-0.007783766973793179,0.00765984374363597,-0.0003917341503248365,-0.09062303464828733,-0.09335959228539295,1.2392513810358663,-0.010768942095961362,0.003991730672391421,-0.002090295342722807,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0902819676754414,-0.5065472171438897,-0.805595709001111,0.6356262916957985,0.6105229275788999,-0.32323584445754056,0.7073295706247651,1.00249545416408,1.512925279625876,1.512925279625876,2.214659999998574,0,0,-7.355645075393801e-05,9.999999025923074e-05
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+29901,1791280619575210399,12945817000000,1791280619572685022,DOWN_SETTLE,3,0.057,0.05700194835662842,0.6760420701215495,-0.004790112504899928,0.08232028069344513,0.9999999846372813,8.229908466371632e-05,-8.591291945333474e-05,8.952168688395446e-05,0.6761,-0.0048,0.08226939390499803,1.0,0.0,0.0,0.0,-0.10632637131401199,-0.11919770677642047,0.9537260974950794,-0.007547130873125557,0.0076638089146532345,-0.00032250262589708233,-0.08135591856448145,-0.07739052490784398,1.1904820243668657,-0.01053230599529374,0.003995695843408685,-0.002021063818295053,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0072723703313096,-0.39890192216479015,-0.685055390558226,0.5931612976977526,0.5123963891466996,-0.25399417704307375,0.7073295706247651,0.9537260974950794,1.392384961182991,1.392384961182991,2.214659999998574,0,0,-1.0256463085751894e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e82a75ab1a7fa63272aa57c7df9b929a8d0245e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c51159213ffbc710a3dd633d552371348be1682
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,1.085000000e+01,DOWN_FORCE_DETACH,1791280589319617418,6.401670102e-05,-1.275724927e-06,-1.229815630e-03,6.166473855e-05,-4.390238054e-06,-1.231809703e-03,5.896635980e-05,-4.337303226e-06,-1.230745972e-03,7.016018882e-01,2.752363938e-07,8.395111256e-01,7.015995362e-01,-2.839276733e-06,8.395091315e-01,7.017847341e-01,-2.588835686e-06,8.285498784e-01
+15,1.148333333e+01,DOWN_FORCE_DETACH,1791280590269943085,6.445307995e-05,-2.996527044e-06,-1.331799624e-03,6.353233981e-05,-3.138973674e-06,-1.314818251e-03,6.063018031e-05,-3.062617022e-06,-1.313888541e-03,7.016023246e-01,-1.445565722e-06,8.394091416e-01,7.016014038e-01,-1.588012353e-06,8.394261229e-01,7.017863980e-01,-1.314149482e-06,8.284667358e-01
+16,1.213333333e+01,DOWN_FORCE_DETACH,1791280591243175886,6.648507526e-05,-6.148831092e-06,-1.435881933e-03,6.764659406e-05,-9.086981623e-06,-1.430916671e-03,6.441012859e-05,-9.040594461e-06,-1.429828891e-03,7.016043566e-01,-4.597869771e-06,8.393050593e-01,7.016055181e-01,-7.536020302e-06,8.393100245e-01,7.017901779e-01,-7.292126922e-06,8.283507955e-01
+17,1.288333333e+01,DOWN_FORCE_DETACH,1791280592369305403,7.252701524e-05,-8.011888945e-06,-1.554567869e-03,7.267984072e-05,-7.933019923e-06,-1.554584377e-03,6.915039976e-05,-7.857881412e-06,-1.553496083e-03,7.016103985e-01,-6.460927624e-06,8.391863733e-01,7.016105513e-01,-6.382058602e-06,8.391863568e-01,7.017949182e-01,-6.109413872e-06,8.282271283e-01
+18,1.355000000e+01,DOWN_FORCE_DETACH,1791280593369793195,7.968369475e-05,-1.079564927e-05,-1.662131980e-03,7.667285115e-05,-1.262991986e-05,-1.662750255e-03,7.283229670e-05,-1.253746641e-05,-1.661529623e-03,7.016175552e-01,-9.244687945e-06,8.390788092e-01,7.016145443e-01,-1.107895854e-05,8.390781909e-01,7.017986001e-01,-1.078899887e-05,8.281190948e-01
+19,1.423333333e+01,DOWN_FORCE_DETACH,1791280594431991987,7.731151682e-05,-1.930657483e-05,-1.798126491e-03,7.514859659e-05,-2.011900019e-05,-1.791756579e-03,7.081700979e-05,-2.002957840e-05,-1.790416148e-03,7.016151830e-01,-1.775561351e-05,8.389428147e-01,7.016130201e-01,-1.856803887e-05,8.389491846e-01,7.017965848e-01,-1.828111086e-05,8.279902082e-01
+20,1.496666667e+01,DOWN_FORCE_DETACH,1791280595536613177,7.924152103e-05,-1.411636941e-05,-1.929646373e-03,7.964748409e-05,-1.989875607e-05,-1.924551445e-03,7.498652319e-05,-1.983897006e-05,-1.923180052e-03,7.016171130e-01,-1.256540808e-05,8.388112948e-01,7.016175190e-01,-1.834779475e-05,8.388163897e-01,7.018007543e-01,-1.809050252e-05,8.278574443e-01
+21,1.560000000e+01,DOWN_FORCE_DETACH,1791280596499832715,8.184399921e-05,-2.231913193e-05,-2.051977184e-03,7.850720721e-05,-2.028700065e-05,-2.033993711e-03,7.342070702e-05,-2.017607993e-05,-2.032638725e-03,7.016197155e-01,-2.076817061e-05,8.386889640e-01,7.016163787e-01,-1.873603933e-05,8.387069475e-01,7.017991885e-01,-1.842761239e-05,8.277479857e-01
+22,1.628333333e+01,DOWN_FORCE_DETACH,1791280597520352032,7.941732745e-05,-2.043461109e-05,-2.201971685e-03,7.944521061e-05,-2.152989608e-05,-2.189526187e-03,7.384997751e-05,-2.140496128e-05,-2.188046176e-03,7.016172888e-01,-1.888364977e-05,8.385389695e-01,7.016173167e-01,-1.997893476e-05,8.385514150e-01,7.017996178e-01,-1.965649374e-05,8.275925782e-01
+23,1.690000000e+01,DOWN_FORCE_DETACH,1791280598441039595,8.174619333e-05,-2.709360684e-05,-2.342849170e-03,8.031308032e-05,-2.306380555e-05,-2.332177078e-03,7.421571163e-05,-2.295244237e-05,-2.330575963e-03,7.016196177e-01,-2.554264552e-05,8.383980920e-01,7.016181846e-01,-2.151284423e-05,8.384087641e-01,7.017999835e-01,-2.120397483e-05,8.274500484e-01
+24,1.750000000e+01,DOWN_FORCE_DETACH,1791280599339715500,8.416510578e-05,-1.850934679e-05,-2.493248043e-03,8.189258720e-05,-1.927412079e-05,-2.493968789e-03,7.530962740e-05,-1.914452926e-05,-2.492171454e-03,7.016220366e-01,-1.695838547e-05,8.382476931e-01,7.016197641e-01,-1.772315946e-05,8.382469724e-01,7.018010774e-01,-1.739606172e-05,8.272884529e-01
+25,1.801666667e+01,DOWN_FORCE_DETACH,1791280600119152946,8.848582309e-05,-2.241243759e-05,-2.643751590e-03,8.842422789e-05,-2.244843281e-05,-2.643928985e-03,8.143286647e-05,-2.225937012e-05,-2.642005542e-03,7.016263573e-01,-2.086147627e-05,8.380971896e-01,7.016262957e-01,-2.089747149e-05,8.380970122e-01,7.018072007e-01,-2.051090258e-05,8.271386188e-01
+26,1.855000000e+01,DOWN_FORCE_DETACH,1791280600919450807,8.420454230e-05,-1.838268337e-05,-2.817673017e-03,8.424137053e-05,-1.760035053e-05,-2.813140319e-03,7.659303487e-05,-1.739807623e-05,-2.811126263e-03,7.016220760e-01,-1.683172205e-05,8.379232682e-01,7.016221129e-01,-1.604938921e-05,8.379278009e-01,7.018023608e-01,-1.564960869e-05,8.269694981e-01
+27,1.901666667e+01,DOWN_FORCE_DETACH,1791280601620706012,7.858724211e-05,-1.865799584e-05,-2.990676672e-03,8.005839230e-05,-2.197534741e-05,-2.982053180e-03,7.169497896e-05,-2.181666107e-05,-2.979912417e-03,7.016164587e-01,-1.710703452e-05,8.377502645e-01,7.016179299e-01,-2.042438609e-05,8.377588880e-01,7.017974628e-01,-2.006819353e-05,8.268007120e-01
+28,1.946666667e+01,DOWN_FORCE_DETACH,1791280602306430456,7.607922858e-05,-1.817810051e-05,-3.163483841e-03,7.605647000e-05,-1.709913972e-05,-3.161222397e-03,6.699945663e-05,-1.696806684e-05,-3.158945790e-03,7.016139507e-01,-1.662713919e-05,8.375774573e-01,7.016139280e-01,-1.554817840e-05,8.375797188e-01,7.017927672e-01,-1.521959930e-05,8.266216786e-01
+29,1.990000000e+01,DOWN_FORCE_DETACH,1791280602967948755,7.809492010e-05,-2.314210077e-05,-3.339955403e-03,7.773903211e-05,-2.336161864e-05,-3.339888787e-03,6.805637035e-05,-2.325486388e-05,-3.337385558e-03,7.016159664e-01,-2.159113945e-05,8.374009858e-01,7.016156105e-01,-2.181065732e-05,8.374010524e-01,7.017938242e-01,-2.150639634e-05,8.264432388e-01
+30,2.031666667e+01,DOWN_FORCE_DETACH,1791280603589042140,7.768094827e-05,-2.220217465e-05,-3.518737776e-03,7.630561461e-05,-2.004070433e-05,-3.503241564e-03,6.596517913e-05,-1.993432748e-05,-3.500720307e-03,7.016155524e-01,-2.065121333e-05,8.372222034e-01,7.016141771e-01,-1.848974301e-05,8.372376996e-01,7.017917330e-01,-1.818585994e-05,8.262799041e-01
+31,2.073333333e+01,DOWN_FORCE_DETACH,1791280604206879976,7.982754470e-05,-2.033814277e-05,-3.708953669e-03,7.907754539e-05,-2.109120882e-05,-3.700090324e-03,6.812422026e-05,-2.098408673e-05,-3.697413043e-03,7.016176990e-01,-1.878718145e-05,8.370319875e-01,7.016169490e-01,-1.954024750e-05,8.370408509e-01,7.017938920e-01,-1.923561919e-05,8.260832113e-01
+32,2.111666667e+01,DOWN_FORCE_DETACH,1791280604787433464,7.936841294e-05,-1.915964919e-05,-3.899806461e-03,7.761166884e-05,-2.446196628e-05,-3.883122060e-03,6.590248902e-05,-2.431051551e-05,-3.880371102e-03,7.016172399e-01,-1.760868787e-05,8.368411347e-01,7.016154832e-01,-2.291100496e-05,8.368578191e-01,7.017916703e-01,-2.256204797e-05,8.259002533e-01
+33,2.146666667e+01,DOWN_FORCE_DETACH,1791280605310045789,7.917510220e-05,-2.667471476e-05,-4.088417095e-03,7.663108348e-05,-2.695789881e-05,-4.074022967e-03,6.425303605e-05,-2.680031928e-05,-4.071042885e-03,7.016170466e-01,-2.512375344e-05,8.366525241e-01,7.016145026e-01,-2.540693749e-05,8.366669182e-01,7.017900208e-01,-2.505185174e-05,8.257095815e-01
+34,2.180000000e+01,DOWN_FORCE_DETACH,1791280605806913393,7.466863298e-05,-2.836028456e-05,-4.275871231e-03,6.902710031e-05,-3.182318634e-05,-4.265727835e-03,5.581935014e-05,-3.165928421e-05,-4.262602408e-03,7.016125401e-01,-2.680932324e-05,8.364650700e-01,7.016068986e-01,-3.027222502e-05,8.364752134e-01,7.017815871e-01,-2.991081667e-05,8.255180220e-01
+35,2.213333333e+01,DOWN_FORCE_DETACH,1791280606326025920,7.630517414e-05,-3.035616372e-05,-4.467080071e-03,7.760615010e-05,-3.650782189e-05,-4.457180920e-03,6.395501751e-05,-3.633724075e-05,-4.453960445e-03,7.016141767e-01,-2.880520240e-05,8.362738611e-01,7.016154776e-01,-3.495686057e-05,8.362837603e-01,7.017897228e-01,-3.458877321e-05,8.253266639e-01
+36,2.245000000e+01,DOWN_FORCE_DETACH,1791280606787677729,7.538522141e-05,-3.909558613e-05,-4.656021563e-03,7.493604730e-05,-3.704185339e-05,-4.637114613e-03,6.060270845e-05,-3.686349339e-05,-4.633963495e-03,7.016132567e-01,-3.754462481e-05,8.360849196e-01,7.016128075e-01,-3.549089207e-05,8.361038266e-01,7.017863705e-01,-3.511502585e-05,8.251466609e-01
+37,2.276666667e+01,DOWN_FORCE_DETACH,1791280607268260712,7.948720510e-05,-4.129644825e-05,-4.852228601e-03,7.782907866e-05,-4.016177798e-05,-4.835867607e-03,6.286886141e-05,-3.995831346e-05,-4.832587672e-03,7.016173587e-01,-3.974548692e-05,8.358887126e-01,7.016157006e-01,-3.861081666e-05,8.359050736e-01,7.017886366e-01,-3.820984592e-05,8.249480367e-01
+38,2.305000000e+01,DOWN_FORCE_DETACH,1791280607689583142,7.651719437e-05,-4.227081812e-05,-5.038495957e-03,7.607954469e-05,-4.199110504e-05,-5.021163556e-03,6.044253398e-05,-4.181642847e-05,-5.017773842e-03,7.016143887e-01,-4.071985680e-05,8.357024452e-01,7.016139510e-01,-4.044014372e-05,8.357197776e-01,7.017862103e-01,-4.006796093e-05,8.247628505e-01
+39,2.333333333e+01,DOWN_FORCE_DETACH,1791280608106801919,7.481914825e-05,-4.354854488e-05,-5.230817381e-03,7.247483039e-05,-4.892640339e-05,-5.215650410e-03,5.600689597e-05,-4.872124627e-05,-5.212060031e-03,7.016126906e-01,-4.199758356e-05,8.355101238e-01,7.016103463e-01,-4.737544207e-05,8.355252908e-01,7.017817747e-01,-4.697277873e-05,8.245685644e-01
+40,2.361666667e+01,DOWN_FORCE_DETACH,1791280608538490848,7.352639148e-05,-5.311336214e-05,-5.432997290e-03,7.347334257e-05,-5.302909701e-05,-5.432657809e-03,5.630448416e-05,-5.281254636e-05,-5.428885318e-03,7.016113979e-01,-5.156240082e-05,8.353079439e-01,7.016113448e-01,-5.147813569e-05,8.353082834e-01,7.017820723e-01,-5.106407882e-05,8.243517391e-01
+41,2.390000000e+01,DOWN_FORCE_DETACH,1791280608968093752,7.814113483e-05,-5.860031092e-05,-5.624089312e-03,7.388164803e-05,-5.586231496e-05,-5.616868269e-03,5.610961004e-05,-5.564746481e-05,-5.613086857e-03,7.016160126e-01,-5.704934960e-05,8.351168519e-01,7.016117531e-01,-5.431135364e-05,8.351240729e-01,7.017818774e-01,-5.389899727e-05,8.241675375e-01
+42,2.418333333e+01,DOWN_FORCE_DETACH,1791280609387420370,7.336743511e-05,-6.227560859e-05,-5.827243240e-03,7.228441927e-05,-6.233464883e-05,-5.808422311e-03,5.374825856e-05,-6.208736045e-05,-5.804664145e-03,7.016112389e-01,-6.072464727e-05,8.349136979e-01,7.016101559e-01,-6.078368751e-05,8.349325189e-01,7.017795160e-01,-6.033889291e-05,8.239759602e-01
+43,2.445000000e+01,DOWN_SETTLE,1791280609788390780,7.412671767e-05,-6.574107508e-05,-6.030735179e-03,7.338751457e-05,-6.592637384e-05,-6.012189096e-03,5.413261368e-05,-6.560904242e-05,-6.008328314e-03,7.016119982e-01,-6.419011376e-05,8.347102060e-01,7.016112590e-01,-6.437541252e-05,8.347287521e-01,7.017799004e-01,-6.386057488e-05,8.237722961e-01
+44,2.471666667e+01,DOWN_SETTLE,1791280610187392023,7.271368717e-05,-6.198631284e-05,-6.231417550e-03,7.252212241e-05,-6.182904081e-05,-6.231407714e-03,5.255681150e-05,-6.152807376e-05,-6.227439696e-03,7.016105852e-01,-6.043535151e-05,8.345095236e-01,7.016103936e-01,-6.027807949e-05,8.345095335e-01,7.017783246e-01,-5.977960622e-05,8.235531847e-01
+45,2.500000000e+01,DOWN_SETTLE,1791280610608625116,6.886289099e-05,-6.610103291e-05,-6.424351284e-03,6.968165783e-05,-6.800216133e-05,-6.418074535e-03,4.900209569e-05,-6.766787204e-05,-6.414267999e-03,7.016067344e-01,-6.455007159e-05,8.343165899e-01,7.016075531e-01,-6.645120001e-05,8.343228667e-01,7.017747699e-01,-6.591940451e-05,8.233663564e-01
+46,2.528333333e+01,DOWN_SETTLE,1791280611037890554,6.930329603e-05,-6.446781228e-05,-6.615489477e-03,6.917529339e-05,-6.428839239e-05,-6.615226667e-03,4.776488079e-05,-6.401515276e-05,-6.611503141e-03,7.016071748e-01,-6.291685096e-05,8.341254517e-01,7.016070468e-01,-6.273743107e-05,8.341257145e-01,7.017735327e-01,-6.226668522e-05,8.231691212e-01
+47,2.560000000e+01,DOWN_SETTLE,1791280611507302817,7.329559597e-05,-5.657767204e-05,-6.803029558e-03,7.316120376e-05,-5.657830586e-05,-6.803235133e-03,5.119508725e-05,-5.624512397e-05,-6.799736508e-03,7.016111671e-01,-5.502671072e-05,8.339379116e-01,7.016110327e-01,-5.502734454e-05,8.339377061e-01,7.017769629e-01,-5.449665643e-05,8.229808879e-01
+48,2.593333333e+01,DOWN_SETTLE,1791280612009212306,7.189421142e-05,-5.553934887e-05,-6.998193131e-03,6.755187783e-05,-5.645295629e-05,-6.982039621e-03,4.487143061e-05,-5.620940414e-05,-6.978692954e-03,7.016097657e-01,-5.398838755e-05,8.337427481e-01,7.016054234e-01,-5.490199497e-05,8.337589016e-01,7.017706392e-01,-5.446093660e-05,8.228019314e-01
+49,2.620000000e+01,DOWN_SETTLE,1791280612505031479,6.440922760e-05,-5.169687863e-05,-7.191487023e-03,6.706016838e-05,-5.420863852e-05,-7.178772220e-03,4.367494111e-05,-5.398237941e-05,-7.175238050e-03,7.016022807e-01,-5.014591731e-05,8.335494542e-01,7.016049316e-01,-5.265767720e-05,8.335621690e-01,7.017694427e-01,-5.223391187e-05,8.226053863e-01
+50,2.655000000e+01,DOWN_SETTLE,1791280613036204583,6.647984143e-05,-5.356831518e-05,-7.375028547e-03,6.563927595e-05,-5.679764594e-05,-7.356425227e-03,4.160657225e-05,-5.651198371e-05,-7.353132448e-03,7.016043513e-01,-5.201735386e-05,8.333659126e-01,7.016035108e-01,-5.524668462e-05,8.333845160e-01,7.017673744e-01,-5.476351617e-05,8.224274919e-01
+51,2.693333333e+01,DOWN_SETTLE,1791280613605573460,6.554352891e-05,-5.695206344e-05,-7.562281577e-03,6.191279015e-05,-5.741336256e-05,-7.546491306e-03,3.717040531e-05,-5.713603773e-05,-7.543533482e-03,7.016034150e-01,-5.540110212e-05,8.331786596e-01,7.015997843e-01,-5.586240124e-05,8.331944499e-01,7.017629382e-01,-5.538757019e-05,8.222370909e-01
+52,2.731666667e+01,DOWN_SETTLE,1791280614200450032,6.194206050e-05,-6.247309218e-05,-7.743918772e-03,6.159766654e-05,-6.249325681e-05,-7.744115015e-03,3.617094169e-05,-6.224698019e-05,-7.741169293e-03,7.015998135e-01,-6.092213086e-05,8.329970224e-01,7.015994691e-01,-6.094229549e-05,8.329968262e-01,7.017619387e-01,-6.049851265e-05,8.220394551e-01
+53,2.775000000e+01,DOWN_SETTLE,1791280614836914865,6.008835011e-05,-5.950130122e-05,-7.910134573e-03,5.978362784e-05,-5.814615121e-05,-7.902327503e-03,3.375262015e-05,-5.792278060e-05,-7.899638798e-03,7.015979598e-01,-5.795033990e-05,8.328308066e-01,7.015976551e-01,-5.659518989e-05,8.328386137e-01,7.017595204e-01,-5.617431306e-05,8.218809856e-01
+54,2.823333333e+01,DOWN_SETTLE,1791280615568484381,5.742864015e-05,-6.007642720e-05,-8.084553881e-03,5.735147181e-05,-6.244002737e-05,-8.070202972e-03,3.062963198e-05,-6.220491938e-05,-8.067851391e-03,7.015953001e-01,-5.852546588e-05,8.326563873e-01,7.015952230e-01,-6.088906605e-05,8.326707382e-01,7.017563974e-01,-6.045645184e-05,8.217127730e-01
+55,2.875000000e+01,DOWN_SETTLE,1791280616369106114,4.687272013e-05,-6.897377547e-05,-8.243966771e-03,4.663132431e-05,-7.254590267e-05,-8.231373292e-03,1.916454215e-05,-7.224214426e-05,-8.229312378e-03,7.015847442e-01,-6.742281415e-05,8.324969744e-01,7.015845028e-01,-7.099494135e-05,8.325095679e-01,7.017449323e-01,-7.049367672e-05,8.215513120e-01
+56,2.940000000e+01,DOWN_SETTLE,1791280617345476425,5.437880822e-05,-7.429994354e-05,-8.387927082e-03,5.475746145e-05,-7.351501417e-05,-8.381315214e-03,2.695034496e-05,-7.321471955e-05,-8.379622025e-03,7.015922503e-01,-7.274898222e-05,8.323530141e-01,7.015926289e-01,-7.196405285e-05,8.323596260e-01,7.017527181e-01,-7.146625201e-05,8.214010024e-01
+57,3.003333333e+01,DOWN_SETTLE,1791280618310251421,4.724880837e-05,-6.627958143e-05,-8.491626152e-03,4.601520653e-05,-6.813481067e-05,-8.487256920e-03,1.763895539e-05,-6.780065827e-05,-8.485841744e-03,7.015851203e-01,-6.472862011e-05,8.322493150e-01,7.015838867e-01,-6.658384935e-05,8.322536843e-01,7.017434067e-01,-6.605219073e-05,8.212947826e-01
+58,3.053333333e+01,DOWN_SETTLE,1791280619056078923,4.345128714e-05,-2.832929961e-05,-8.543264454e-03,4.083468339e-05,-3.638796611e-05,-8.538979056e-03,1.217846424e-05,-3.613857061e-05,-8.538003681e-03,7.015813228e-01,-2.677833829e-05,8.321976767e-01,7.015787062e-01,-3.483700479e-05,8.322019621e-01,7.017379463e-01,-3.439010307e-05,8.212426207e-01
+59,3.088333333e+01,DOWN_SETTLE,1791280619577978885,4.602034619e-05,-5.155802277e-05,-8.560148388e-03,4.162627833e-05,-3.544222399e-05,-8.553227779e-03,1.287930773e-05,-3.519562791e-05,-8.552551820e-03,7.015838918e-01,-5.000706145e-05,8.321807928e-01,7.015794978e-01,-3.389126266e-05,8.321877134e-01,7.017386471e-01,-3.344716037e-05,8.212280726e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce622fa4ec58e36f6ec3a5d6485f4aa5faced18b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,3.3355e-03,3.2094e-04,2.4528e+00,-3.6784e-02,3.7034e-02,-2.7818e-05,7.8645e-05,1.3281e-06,-1.1444e-05,-7.4506e-08,5.6624e-06,-2.3501e-07,7.9484e-05,5.6678e-06
+1,8.1667e-01,DOWN_FORCE_DETACH,2.0817e-04,6.0553e-03,3.7161e-04,2.4525e+00,-3.6786e-02,3.7229e-02,-3.7339e-05,2.7985e-03,5.2002e-05,-3.5167e-04,-2.6785e-06,2.0048e-04,-9.7551e-06,2.8210e-03,2.0074e-04
+2,1.6167e+00,DOWN_FORCE_DETACH,4.1293e-04,6.8144e-03,4.8828e-04,2.4705e+00,-3.6789e-02,3.7261e-02,-4.3820e-05,3.5576e-03,1.6867e-04,1.7660e-02,-5.3905e-06,2.3214e-04,-1.6236e-05,1.8015e-02,2.3277e-04
+3,2.4000e+00,DOWN_FORCE_DETACH,6.2321e-04,8.4661e-03,2.0376e-03,2.4771e+00,-3.6895e-02,3.7368e-02,-4.8201e-05,5.2093e-03,1.7180e-03,2.4255e-02,-1.1133e-04,3.3980e-04,-2.0618e-05,2.4868e-02,3.5816e-04
+4,3.1000e+00,DOWN_FORCE_DETACH,8.2451e-04,6.5826e-03,8.8255e-04,2.4809e+00,-3.6818e-02,3.7226e-02,-5.1670e-05,3.3258e-03,5.6294e-04,2.8054e-02,-3.4340e-05,1.9776e-04,-2.4086e-05,2.8256e-02,2.0216e-04
+5,3.9167e+00,DOWN_FORCE_DETACH,1.0345e-03,6.5047e-03,2.2751e-03,2.4857e+00,-3.6921e-02,3.7212e-02,-5.1667e-05,3.2479e-03,1.9555e-03,3.2934e-02,-1.3732e-04,1.8371e-04,-2.4083e-05,3.3152e-02,2.3062e-04
+6,4.6500e+00,DOWN_FORCE_DETACH,1.2401e-03,7.9588e-03,9.6397e-05,2.4898e+00,-3.6774e-02,3.7310e-02,-4.9552e-05,4.7020e-03,-2.2321e-04,3.7023e-02,9.2424e-06,2.8128e-04,-2.1969e-05,3.7321e-02,2.8229e-04
+7,5.4167e+00,DOWN_FORCE_DETACH,1.4497e-03,1.0153e-02,-2.3064e-03,2.4968e+00,-3.6604e-02,3.7457e-02,-4.3257e-05,6.8966e-03,-2.6261e-03,4.3963e-02,1.8000e-04,4.2872e-04,-1.5674e-05,4.4578e-02,4.6524e-04
+8,6.1833e+00,DOWN_FORCE_DETACH,1.6561e-03,1.1111e-02,-1.6332e-03,2.4957e+00,-3.6647e-02,3.7526e-02,-3.7414e-05,7.8546e-03,-1.9528e-03,4.2885e-02,1.3677e-04,4.9745e-04,-9.8310e-06,4.3642e-02,5.1600e-04
+9,6.9833e+00,DOWN_FORCE_DETACH,1.8608e-03,1.0696e-02,-3.6164e-03,2.5015e+00,-3.6524e-02,3.7490e-02,-3.9989e-05,7.4394e-03,-3.9360e-03,4.8717e-02,2.5917e-04,4.6201e-04,-1.2406e-05,4.9438e-02,5.2988e-04
+10,7.8000e+00,DOWN_FORCE_DETACH,2.0681e-03,8.9029e-03,-4.0290e-03,2.5031e+00,-3.6525e-02,3.7364e-02,-4.4705e-05,5.6461e-03,-4.3486e-03,5.0345e-02,2.5874e-04,3.3564e-04,-1.7122e-05,5.0847e-02,4.2414e-04
+11,8.6000e+00,DOWN_FORCE_DETACH,2.2758e-03,7.5917e-03,-2.9150e-03,2.5021e+00,-3.6596e-02,3.7272e-02,-4.9944e-05,4.3348e-03,-3.2346e-03,4.9302e-02,1.8709e-04,2.4364e-04,-2.2361e-05,4.9598e-02,3.0800e-04
+12,9.4333e+00,DOWN_FORCE_DETACH,2.4830e-03,7.7280e-03,-8.4256e-05,2.4993e+00,-3.6757e-02,3.7274e-02,-5.1002e-05,4.4711e-03,-4.0386e-04,4.6484e-02,2.6446e-05,2.4572e-04,-2.3418e-05,4.6701e-02,2.4824e-04
+13,1.0133e+01,DOWN_FORCE_DETACH,2.6898e-03,7.4024e-03,2.7265e-03,2.5020e+00,-3.6925e-02,3.7247e-02,-4.5274e-05,4.1456e-03,2.4069e-03,4.9169e-02,-1.4177e-04,2.1889e-04,-1.7690e-05,4.9402e-02,2.6139e-04
+14,1.0850e+01,DOWN_FORCE_DETACH,2.8978e-03,6.7845e-03,2.7737e-03,2.5025e+00,-3.6937e-02,3.7206e-02,-2.9641e-05,3.5276e-03,2.4540e-03,4.9677e-02,-1.5344e-04,1.7747e-04,-2.0576e-06,4.9863e-02,2.3461e-04
+15,1.1483e+01,DOWN_FORCE_DETACH,3.1052e-03,7.3590e-03,1.5676e-03,2.4974e+00,-3.6890e-02,3.7248e-02,-1.1999e-05,4.1021e-03,1.2480e-03,4.4613e-02,-1.0625e-04,2.1994e-04,1.5584e-05,4.4818e-02,2.4476e-04
+16,1.2133e+01,DOWN_FORCE_DETACH,3.3138e-03,8.4705e-03,3.3962e-03,2.5012e+00,-3.7030e-02,3.7329e-02,1.6456e-06,5.2136e-03,3.0766e-03,4.8427e-02,-2.4636e-04,3.0044e-04,2.9229e-05,4.8804e-02,3.8963e-04
+17,1.2883e+01,DOWN_FORCE_DETACH,3.5193e-03,8.3081e-03,5.3425e-03,2.4973e+00,-3.7144e-02,3.7321e-02,8.3249e-06,5.0513e-03,5.0229e-03,4.4533e-02,-3.6016e-04,2.9231e-04,3.5908e-05,4.5099e-02,4.6524e-04
+18,1.3550e+01,DOWN_FORCE_DETACH,3.7272e-03,6.9658e-03,4.7914e-03,2.5069e+00,-3.7088e-02,3.7216e-02,5.0860e-06,3.7090e-03,4.4718e-03,5.4142e-02,-3.0453e-04,1.8799e-04,3.2669e-05,5.4453e-02,3.5937e-04
+19,1.4233e+01,DOWN_FORCE_DETACH,3.9318e-03,7.6187e-03,6.9965e-03,2.5144e+00,-3.7240e-02,3.7245e-02,-3.8930e-06,4.3618e-03,6.6769e-03,6.1630e-02,-4.5626e-04,2.1654e-04,2.3690e-05,6.2144e-02,5.0559e-04
+20,1.4967e+01,DOWN_FORCE_DETACH,4.1434e-03,7.7281e-03,6.8008e-03,2.5158e+00,-3.7248e-02,3.7248e-02,-1.7556e-05,4.4713e-03,6.4812e-03,6.2990e-02,-4.6447e-04,2.1958e-04,1.0027e-05,6.3480e-02,5.1385e-04
+21,1.5600e+01,DOWN_FORCE_DETACH,4.3456e-03,8.9905e-03,7.3343e-03,2.5143e+00,-3.7285e-02,3.7332e-02,-1.8851e-05,5.7336e-03,7.0147e-03,6.1543e-02,-5.0110e-04,3.0327e-04,8.7320e-06,6.2206e-02,5.8579e-04
+22,1.6283e+01,DOWN_FORCE_DETACH,4.5539e-03,9.8613e-03,8.3869e-03,2.5203e+00,-3.7305e-02,3.7388e-02,-5.0379e-06,6.6045e-03,8.0673e-03,6.7490e-02,-5.2128e-04,3.5946e-04,2.2546e-05,6.8290e-02,6.3360e-04
+23,1.6900e+01,DOWN_FORCE_DETACH,4.7570e-03,1.0014e-02,8.7452e-03,2.5253e+00,-3.7302e-02,3.7393e-02,6.8168e-06,6.7575e-03,8.4256e-03,7.2452e-02,-5.1799e-04,3.6498e-04,3.4400e-05,7.3253e-02,6.3459e-04
+24,1.7500e+01,DOWN_FORCE_DETACH,4.9652e-03,1.0403e-02,8.1070e-03,2.5341e+00,-3.7253e-02,3.7408e-02,1.5053e-05,7.1460e-03,7.7873e-03,8.1339e-02,-4.6942e-04,3.7985e-04,4.2637e-05,8.2023e-02,6.0536e-04
+25,1.8017e+01,DOWN_FORCE_DETACH,5.1737e-03,1.0381e-02,8.6211e-03,2.5352e+00,-3.7265e-02,3.7400e-02,1.8507e-05,7.1241e-03,8.3015e-03,8.2370e-02,-4.8135e-04,3.7201e-04,4.6090e-05,8.3093e-02,6.1009e-04
+26,1.8550e+01,DOWN_FORCE_DETACH,5.3817e-03,1.1270e-02,9.6410e-03,2.5455e+00,-3.7340e-02,3.7448e-02,1.4044e-05,8.0134e-03,9.3213e-03,9.2674e-02,-5.5665e-04,4.1973e-04,4.1627e-05,9.3485e-02,6.9840e-04
+27,1.9017e+01,DOWN_FORCE_DETACH,5.5906e-03,1.2983e-02,9.3480e-03,2.5504e+00,-3.7372e-02,3.7548e-02,1.1123e-05,9.7262e-03,9.0284e-03,9.7594e-02,-5.8819e-04,5.1958e-04,3.8706e-05,9.8492e-02,7.8577e-04
+28,1.9467e+01,DOWN_FORCE_DETACH,5.7951e-03,1.4926e-02,5.9107e-03,2.5581e+00,-3.7169e-02,3.7674e-02,1.4465e-05,1.1669e-02,5.5911e-03,1.0529e-01,-3.8512e-04,6.4579e-04,4.2048e-05,1.0608e-01,7.5309e-04
+29,1.9900e+01,DOWN_FORCE_DETACH,6.0067e-03,1.2971e-02,4.9933e-03,2.5584e+00,-3.7094e-02,3.7546e-02,2.0307e-05,9.7143e-03,4.6737e-03,1.0557e-01,-3.1004e-04,5.1730e-04,4.7890e-05,1.0612e-01,6.0500e-04
+30,2.0317e+01,DOWN_FORCE_DETACH,6.2086e-03,1.2495e-02,6.3353e-03,2.5702e+00,-3.7172e-02,3.7494e-02,1.9663e-05,9.2380e-03,6.0157e-03,1.1741e-01,-3.8824e-04,4.6551e-04,4.7246e-05,1.1792e-01,6.0800e-04
+31,2.0733e+01,DOWN_FORCE_DETACH,6.4170e-03,1.1447e-02,7.7490e-03,2.5746e+00,-3.7253e-02,3.7415e-02,1.3118e-05,8.1898e-03,7.4294e-03,1.2181e-01,-4.6958e-04,3.8674e-04,4.0701e-05,1.2231e-01,6.0969e-04
+32,2.1117e+01,DOWN_FORCE_DETACH,6.6266e-03,1.1287e-02,9.4707e-03,2.5815e+00,-3.7319e-02,3.7396e-02,1.1932e-05,8.0298e-03,9.1511e-03,1.2873e-01,-5.3561e-04,3.6732e-04,3.9515e-05,1.2931e-01,6.5067e-04
+33,2.1467e+01,DOWN_FORCE_DETACH,6.8300e-03,1.1540e-02,9.7429e-03,2.5908e+00,-3.7324e-02,3.7399e-02,1.5265e-05,8.2831e-03,9.4233e-03,1.3799e-01,-5.4022e-04,3.7053e-04,4.2848e-05,1.3856e-01,6.5648e-04
+34,2.1800e+01,DOWN_FORCE_DETACH,7.0353e-03,1.4490e-02,1.1799e-02,2.5996e+00,-3.7473e-02,3.7587e-02,1.2894e-05,1.1233e-02,1.1480e-02,1.4678e-01,-6.8942e-04,5.5894e-04,4.0477e-05,1.4765e-01,8.8846e-04
+35,2.2133e+01,DOWN_FORCE_DETACH,7.2461e-03,1.2510e-02,1.3426e-02,2.6005e+00,-3.7563e-02,3.7452e-02,1.1113e-05,9.2532e-03,1.3106e-02,1.4772e-01,-7.7974e-04,4.2376e-04,3.8697e-05,1.4859e-01,8.8830e-04
+36,2.2450e+01,DOWN_FORCE_DETACH,7.4493e-03,1.3067e-02,1.4099e-02,2.6005e+00,-3.7582e-02,3.7485e-02,1.4803e-05,9.8104e-03,1.3779e-02,1.4765e-01,-7.9862e-04,4.5688e-04,4.2386e-05,1.4862e-01,9.2104e-04
+37,2.2767e+01,DOWN_FORCE_DETACH,7.6649e-03,1.2959e-02,1.3967e-02,2.6013e+00,-3.7577e-02,3.7480e-02,1.5994e-05,9.7020e-03,1.3647e-02,1.4852e-01,-7.9338e-04,4.5120e-04,4.3577e-05,1.4946e-01,9.1375e-04
+38,2.3050e+01,DOWN_FORCE_DETACH,7.8629e-03,1.3111e-02,1.3800e-02,2.6122e+00,-3.7567e-02,3.7483e-02,1.0766e-05,9.8544e-03,1.3481e-02,1.5938e-01,-7.8317e-04,4.5441e-04,3.8350e-05,1.6025e-01,9.0627e-04
+39,2.3333e+01,DOWN_FORCE_DETACH,8.0681e-03,1.4019e-02,1.6907e-02,2.6193e+00,-3.7748e-02,3.7529e-02,3.1614e-06,1.0762e-02,1.6587e-02,1.6646e-01,-9.6441e-04,5.0093e-04,3.0745e-05,1.6763e-01,1.0872e-03
+40,2.3617e+01,DOWN_FORCE_DETACH,8.2775e-03,1.3311e-02,1.9179e-02,2.6225e+00,-3.7873e-02,3.7475e-02,-7.9416e-06,1.0054e-02,1.8860e-02,1.6968e-01,-1.0889e-03,4.4624e-04,1.9642e-05,1.7102e-01,1.1770e-03
+41,2.3900e+01,DOWN_FORCE_DETACH,8.4817e-03,1.3040e-02,1.9463e-02,2.6244e+00,-3.7853e-02,3.7450e-02,-1.0985e-05,9.7831e-03,1.9143e-02,1.7158e-01,-1.0698e-03,4.2149e-04,1.6599e-05,1.7292e-01,1.1499e-03
+42,2.4183e+01,DOWN_FORCE_DETACH,8.6934e-03,1.2995e-02,2.1848e-02,2.6283e+00,-3.7953e-02,3.7435e-02,-5.0722e-06,9.7379e-03,2.1528e-02,1.7546e-01,-1.1692e-03,4.0672e-04,2.2511e-05,1.7704e-01,1.2381e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34b46e18b8943680965fa7ff551ae0b5344376bd
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16fb48649b2d1f8feb91bff69ce0eb780fa5c0a7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..553e2f623d048e2c56e7620882df09a0a11e9e1a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..029a8cc22cb84a77ccb20f9321c8263a048ab143
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,4.150000000e+00,UP_FORCE_RAMP,1791280552847396573,-2.081082631e-05,2.433275355e-06,4.795112109e-04,-2.061114572e-05,2.662684637e-06,4.795908885e-04,-1.924456309e-05,2.707341821e-06,4.781843989e-04,7.015170607e-01,3.984236676e-06,8.412204524e-01,7.015172603e-01,4.213645958e-06,8.412205321e-01,7.017065232e-01,4.455809831e-06,8.302588088e-01
+18,4.300000000e+00,UP_FORCE_RAMP,1791280553069572186,-1.962734122e-05,2.123761847e-06,5.110314062e-04,-1.489265243e-05,7.418803554e-06,5.040112897e-04,-1.328086054e-05,7.441034598e-06,5.025862211e-04,7.015182441e-01,3.674723168e-06,8.412519726e-01,7.015229788e-01,8.969764875e-06,8.412449525e-01,7.017124869e-01,9.189502608e-06,8.302832106e-01
+19,4.466666667e+00,UP_FORCE_RAMP,1791280553327154267,-1.684780787e-05,8.662801892e-06,5.499299290e-04,-1.679017571e-05,2.996304074e-06,5.467058756e-04,-1.509945468e-05,3.042793715e-06,5.452425314e-04,7.015210237e-01,1.021376321e-05,8.412908711e-01,7.015210813e-01,4.547265395e-06,8.412876471e-01,7.017106683e-01,4.791261725e-06,8.303258669e-01
+20,4.683333333e+00,UP_FORCE_RAMP,1791280553647364469,-1.922519920e-05,5.219505745e-06,5.883831955e-04,-1.633281608e-05,9.205067915e-06,5.898871192e-04,-1.451392696e-05,9.205586046e-06,5.883874986e-04,7.015186463e-01,6.770467066e-06,8.413293244e-01,7.015215387e-01,1.075602924e-05,8.413308283e-01,7.017112539e-01,1.095405406e-05,8.303690119e-01
+21,4.866666667e+00,UP_FORCE_RAMP,1791280553926990342,-1.634834206e-05,1.111307518e-05,6.322057715e-04,-1.625772205e-05,1.117529778e-05,6.322930944e-04,-1.423599090e-05,1.116531345e-05,6.307411532e-04,7.015215231e-01,1.266403651e-05,8.413731470e-01,7.015216138e-01,1.272625910e-05,8.413732343e-01,7.017115318e-01,1.291378146e-05,8.304113655e-01
+22,5.016666667e+00,UP_FORCE_RAMP,1791280554146980419,-4.996057441e-05,6.518830459e-06,6.428018447e-04,-4.979974460e-05,6.563386513e-06,6.426880380e-04,-4.846276738e-05,6.606059876e-06,6.412523503e-04,7.014879109e-01,8.069791780e-06,8.413837430e-01,7.014880717e-01,8.114347834e-06,8.413836292e-01,7.016773050e-01,8.354527886e-06,8.304218767e-01
+23,5.133333333e+00,UP_FORCE_RAMP,1791280554326761848,-5.858995262e-05,4.519040543e-06,6.584610078e-04,-6.013838229e-05,5.651856809e-07,6.533147551e-04,-5.911114566e-05,6.240830870e-07,6.519768159e-04,7.014792815e-01,6.070001864e-06,8.413994022e-01,7.014777331e-01,2.116147002e-06,8.413942559e-01,7.016666566e-01,2.372551097e-06,8.304326012e-01
+24,5.316666667e+00,UP_FORCE_RAMP,1791280554598017819,-5.999844521e-05,-3.591761852e-06,6.966035929e-04,-5.978765547e-05,-3.646531365e-06,6.963172607e-04,-5.864875159e-05,-3.580301596e-06,6.948124412e-04,7.014778730e-01,-2.040800531e-06,8.414375448e-01,7.014780838e-01,-2.095570044e-06,8.414372584e-01,7.016671190e-01,-1.831833586e-06,8.304754368e-01
+25,5.533333333e+00,UP_FORCE_RAMP,1791280554927094082,-5.974836087e-05,2.030461842e-06,7.422096403e-04,-5.972304801e-05,1.985373255e-06,7.422406331e-04,-5.841000226e-05,2.033258471e-06,7.406938682e-04,7.014781231e-01,3.581423163e-06,8.414831508e-01,7.014781484e-01,3.536334576e-06,8.414831818e-01,7.016673578e-01,3.781726481e-06,8.305213182e-01
+26,5.750000000e+00,UP_FORCE_RAMP,1791280555247732838,-5.854532323e-05,6.949521836e-06,7.899121246e-04,-5.760515513e-05,2.447896690e-06,7.837013329e-04,-5.612799483e-05,2.504004329e-06,7.821963705e-04,7.014793262e-01,8.500483157e-06,8.415308533e-01,7.014802663e-01,3.998858011e-06,8.415246425e-01,7.016696398e-01,4.252472339e-06,8.305628207e-01
+27,5.983333333e+00,UP_FORCE_RAMP,1791280555597301625,-5.614721439e-05,3.931365296e-06,8.403103487e-04,-5.739643924e-05,1.591228630e-06,8.287907206e-04,-5.580031284e-05,1.640231088e-06,8.272377482e-04,7.014817243e-01,5.482326617e-06,8.415812515e-01,7.014804750e-01,3.142189951e-06,8.415697319e-01,7.016699675e-01,3.388699098e-06,8.306078621e-01
+28,6.216666667e+00,UP_FORCE_RAMP,1791280555953096610,-5.545760675e-05,5.108924035e-06,8.813368328e-04,-5.736029742e-05,1.722776468e-06,8.692875975e-04,-5.562503514e-05,1.761067774e-06,8.677395331e-04,7.014824139e-01,6.659885356e-06,8.416222780e-01,7.014805112e-01,3.273737790e-06,8.416102288e-01,7.016701428e-01,3.509535784e-06,8.306483639e-01
+29,6.433333333e+00,UP_FORCE_RAMP,1791280556307490573,-5.665474917e-05,6.808564868e-06,9.164942516e-04,-5.649430585e-05,6.867262555e-06,9.161693328e-04,-5.453566178e-05,6.856333492e-06,9.146252407e-04,7.014812167e-01,8.359526189e-06,8.416574354e-01,7.014813772e-01,8.418223876e-06,8.416571105e-01,7.016712321e-01,8.604801502e-06,8.306952496e-01
+30,6.650000000e+00,UP_FORCE_RAMP,1791280556614306673,-5.646281079e-05,5.990297869e-06,9.485794234e-04,-5.612480353e-05,1.037000396e-05,9.384175386e-04,-5.412504859e-05,1.032151570e-05,9.369284756e-04,7.014814087e-01,7.541259190e-06,8.416895206e-01,7.014817467e-01,1.192096528e-05,8.416793587e-01,7.016716427e-01,1.206998371e-05,8.307175529e-01
+31,6.916666667e+00,UP_FORCE_RAMP,1791280557019859398,-5.785352936e-05,3.304386248e-06,9.802670631e-04,-5.583758570e-05,6.853461009e-06,9.628717537e-04,-5.374941350e-05,6.842987692e-06,9.615743047e-04,7.014800180e-01,4.855347569e-06,8.417212083e-01,7.014820339e-01,8.404422330e-06,8.417038129e-01,7.016720184e-01,8.591455702e-06,8.307421987e-01
+32,7.100000000e+00,UP_FORCE_RAMP,1791280557295036942,-5.877846730e-05,5.431018249e-06,1.004586457e-03,-5.892288659e-05,-2.197147467e-07,1.004367142e-03,-5.677581234e-05,-2.246686301e-07,1.002993570e-03,7.014790930e-01,6.981979570e-06,8.417455276e-01,7.014789486e-01,1.331246574e-06,8.417453083e-01,7.016689920e-01,1.523799380e-06,8.307836179e-01
+33,7.316666667e+00,UP_FORCE_RAMP,1791280557618999420,-5.847841578e-05,3.882458878e-07,1.032660945e-03,-6.119193681e-05,5.935172976e-06,1.023739621e-03,-5.900757418e-05,5.912874977e-06,1.022467246e-03,7.014793931e-01,1.939207209e-06,8.417736021e-01,7.014766795e-01,7.486134297e-06,8.417646808e-01,7.016667602e-01,7.661342987e-06,8.308030916e-01
+34,7.566666667e+00,UP_FORCE_RAMP,1791280557995100152,-6.473281847e-05,3.164941120e-06,1.051502356e-03,-5.953417923e-05,7.543403714e-06,1.046352304e-03,-5.725343372e-05,7.523248285e-06,1.045216011e-03,7.014731387e-01,4.715902441e-06,8.417924435e-01,7.014783373e-01,9.094365036e-06,8.417872935e-01,7.016685144e-01,9.271716295e-06,8.308258404e-01
+35,7.850000000e+00,UP_FORCE_RAMP,1791280558415501548,-6.463539029e-05,7.936393100e-06,1.080226204e-03,-6.219364838e-05,3.217096057e-06,1.067213285e-03,-5.989108674e-05,3.211634378e-06,1.066187600e-03,7.014732361e-01,9.487354421e-06,8.418211674e-01,7.014756778e-01,4.768057378e-06,8.418081545e-01,7.016658767e-01,4.960102388e-06,8.308468120e-01
+36,8.100000000e+00,UP_FORCE_RAMP,1791280558795314483,-6.692250671e-05,1.401982122e-05,1.101765060e-03,-6.491291046e-05,6.654202496e-06,1.086882180e-03,-6.264049818e-05,6.607550279e-06,1.085997824e-03,7.014709490e-01,1.557078254e-05,8.418427062e-01,7.014729586e-01,8.205163817e-06,8.418278234e-01,7.016631273e-01,8.356018289e-06,8.308666222e-01
+37,8.366666667e+00,UP_FORCE_RAMP,1791280559197830606,-6.916756791e-05,4.373295315e-06,1.121094406e-03,-6.476336942e-05,7.153758328e-06,1.107458705e-03,-6.239635155e-05,7.131469208e-06,1.106674984e-03,7.014687039e-01,5.924256636e-06,8.418620356e-01,7.014731081e-01,8.704719649e-06,8.418483999e-01,7.016633714e-01,8.879937218e-06,8.308872994e-01
+38,8.566666667e+00,UP_FORCE_RAMP,1791280559527636512,-7.037871194e-05,1.124621237e-05,1.138159232e-03,-6.689082097e-05,9.401189855e-06,1.128442960e-03,-6.451077489e-05,9.372366617e-06,1.127689696e-03,7.014674928e-01,1.279717369e-05,8.418791004e-01,7.014709807e-01,1.095215118e-05,8.418693841e-01,7.016612570e-01,1.112083463e-05,8.309083141e-01
+39,8.816666667e+00,UP_FORCE_RAMP,1791280559896068497,-7.217492541e-05,6.107970218e-06,1.155761995e-03,-6.918246873e-05,9.240375423e-06,1.149425399e-03,-6.677790803e-05,9.232162327e-06,1.148760996e-03,7.014656966e-01,7.658931539e-06,8.418967032e-01,7.014686890e-01,1.079133674e-05,8.418903666e-01,7.016589899e-01,1.098063034e-05,8.309293854e-01
+40,9.100000000e+00,UP_FORCE_RAMP,1791280560327818905,-7.341861346e-05,6.716247826e-06,1.174026681e-03,-7.263533623e-05,7.154518814e-06,1.170044544e-03,-7.018897474e-05,7.143189256e-06,1.169445150e-03,7.014644529e-01,8.267209147e-06,8.419149679e-01,7.014652361e-01,8.705480135e-06,8.419109857e-01,7.016555788e-01,8.891657266e-06,8.309500695e-01
+41,9.383333333e+00,UP_FORCE_RAMP,1791280560746824589,-7.334379859e-05,7.436159710e-06,1.194276183e-03,-7.328509072e-05,8.692175395e-06,1.190677155e-03,-7.085136248e-05,8.682954776e-06,1.190090956e-03,7.014645277e-01,8.987121031e-06,8.419352174e-01,7.014645864e-01,1.024313672e-05,8.419316183e-01,7.016549164e-01,1.043142279e-05,8.309707153e-01
+42,9.700000000e+00,UP_FORCE_RAMP,1791280561227234059,-7.596166245e-05,7.815348363e-06,1.211663812e-03,-7.578655417e-05,7.583805580e-06,1.211539846e-03,-7.330355862e-05,7.583199460e-06,1.211007800e-03,7.014619098e-01,9.366309684e-06,8.419526050e-01,7.014620849e-01,9.134766901e-06,8.419524810e-01,7.016524642e-01,9.331667470e-06,8.309916322e-01
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+52,1.256666667e+01,UP_FORCE_HOLD,1791280565506016904,-9.116866426e-05,1.062099725e-05,1.318972668e-03,-8.940917005e-05,9.960567693e-06,1.309525183e-03,-8.693883434e-05,9.916770079e-06,1.309257333e-03,7.014467028e-01,1.217195857e-05,8.420599139e-01,7.014484623e-01,1.151152901e-05,8.420504664e-01,7.016388290e-01,1.166523809e-05,8.310898817e-01
+53,1.288333333e+01,UP_FORCE_HOLD,1791280565984478591,-9.046232020e-05,6.476954127e-06,1.328893181e-03,-8.940917005e-05,9.960567693e-06,1.309525183e-03,-8.694637319e-05,9.917454131e-06,1.309314236e-03,7.014474092e-01,8.027915448e-06,8.420698344e-01,7.014484623e-01,1.151152901e-05,8.420504664e-01,7.016388214e-01,1.166592214e-05,8.310899386e-01
+54,1.318333333e+01,UP_FORCE_HOLD,1791280566433873634,-9.259401832e-05,7.816873615e-06,1.334408044e-03,-9.116040186e-05,7.418849709e-06,1.330867383e-03,-8.864860783e-05,7.409769665e-06,1.330575715e-03,7.014452775e-01,9.367834936e-06,8.420753492e-01,7.014467111e-01,8.969811030e-06,8.420718086e-01,7.016371192e-01,9.158237675e-06,8.311112001e-01
+55,1.341666667e+01,UP_FORCE_HOLD,1791280566784341249,-9.203163962e-05,-4.619075515e-08,1.340466263e-03,-9.116040186e-05,7.418849709e-06,1.330867383e-03,-8.865469521e-05,7.409779987e-06,1.330621077e-03,7.014458398e-01,1.504770566e-06,8.420814075e-01,7.014467111e-01,8.969811030e-06,8.420718086e-01,7.016371131e-01,9.158247997e-06,8.311112455e-01
+56,1.365000000e+01,UP_FORCE_HOLD,1791280567133513492,-9.293319975e-05,9.576458639e-06,1.345864686e-03,-9.116040186e-05,7.418849709e-06,1.330867383e-03,-8.866048553e-05,7.409743015e-06,1.330657703e-03,7.014449383e-01,1.112741996e-05,8.420868059e-01,7.014467111e-01,8.969811030e-06,8.420718086e-01,7.016371073e-01,9.158211025e-06,8.311112821e-01
+57,1.391666667e+01,UP_FORCE_HOLD,1791280567533391260,-9.030668505e-05,3.263720064e-06,1.355610718e-03,-9.005307493e-05,8.434890278e-06,1.351329951e-03,-8.747733575e-05,8.433733646e-06,1.351029238e-03,7.014475648e-01,4.814681385e-06,8.420965519e-01,7.014478184e-01,9.985851599e-06,8.420922711e-01,7.016382905e-01,1.018220166e-05,8.311316536e-01
+58,1.415000000e+01,UP_FORCE_HOLD,1791280567887750806,-9.235753528e-05,6.140727772e-06,1.358405398e-03,-9.005307493e-05,8.434890278e-06,1.351329951e-03,-8.748115130e-05,8.433643634e-06,1.351073473e-03,7.014455139e-01,7.691689093e-06,8.420993466e-01,7.014478184e-01,9.985851599e-06,8.420922711e-01,7.016382866e-01,1.018211164e-05,8.311316979e-01
+59,1.445000000e+01,UP_SETTLE,1791280568333457207,-9.217506419e-05,4.312044930e-06,1.365943641e-03,-9.005307493e-05,8.434890278e-06,1.351329951e-03,-8.748649041e-05,8.433313595e-06,1.351118658e-03,7.014456964e-01,5.863006251e-06,8.421068848e-01,7.014478184e-01,9.985851599e-06,8.420922711e-01,7.016382813e-01,1.018178160e-05,8.311317430e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b541e7f891fa0f3a14f1e7cd39de7f6e7e527aff
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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+00,3.3357e-03,3.2094e-04,2.4528e+00,-3.6784e-02,3.7034e-02,-2.7818e-05,7.8666e-05,1.3383e-06,-1.1444e-05,-7.4506e-08,5.6699e-06,-2.3488e-07,7.9506e-05,5.6752e-06
+1,2.6667e-01,UP_FORCE_RAMP,6.6324e-05,4.4494e-03,3.4016e-04,2.4526e+00,-3.6785e-02,3.7114e-02,-3.1367e-05,1.1924e-03,2.0563e-05,-1.6332e-04,-1.1250e-06,8.5682e-05,-3.7838e-06,1.2037e-03,8.5773e-05
+2,4.5000e-01,UP_FORCE_RAMP,1.4062e-04,5.0748e-03,3.5180e-04,2.4526e+00,-3.6785e-02,3.7159e-02,-3.3549e-05,1.8178e-03,3.2202e-05,-2.4128e-04,-1.7174e-06,1.3045e-04,-5.9663e-06,1.8340e-03,1.3060e-04
+3,7.3333e-01,UP_FORCE_RAMP,2.0740e-04,5.8600e-03,3.6753e-04,2.4525e+00,-3.6786e-02,3.7215e-02,-3.6539e-05,2.6029e-03,4.7931e-05,-3.3069e-04,-2.4885e-06,1.8653e-04,-8.9556e-06,2.6243e-03,1.8676e-04
+4,1.0167e+00,UP_FORCE_RAMP,2.7711e-04,6.4697e-03,3.8051e-04,2.4524e+00,-3.6787e-02,3.7258e-02,-3.9127e-05,3.2126e-03,6.0906e-05,-3.9244e-04,-3.0845e-06,2.3001e-04,-1.1544e-05,3.2371e-03,2.3032e-04
+5,1.3167e+00,UP_FORCE_RAMP,3.4517e-04,7.1550e-03,-2.7968e-04,2.4417e+00,-3.6742e-02,3.7318e-02,-4.1940e-05,3.8979e-03,-5.9928e-04,-1.1078e-02,4.1503e-05,2.8998e-04,-1.4356e-05,1.1759e-02,2.9329e-04
+6,1.5500e+00,UP_FORCE_RAMP,4.1465e-04,7.6248e-03,-2.4802e-04,2.4436e+00,-3.6744e-02,3.7351e-02,-4.3364e-05,4.3677e-03,-5.6762e-04,-9.2378e-03,3.9306e-05,3.2257e-04,-1.5781e-05,1.0234e-02,3.2534e-04
+7,1.8667e+00,UP_FORCE_RAMP,4.8350e-04,9.1286e-03,-8.5824e-04,2.4354e+00,-3.6704e-02,3.7468e-02,-4.5461e-05,5.8715e-03,-1.1778e-03,-1.7387e-02,7.9803e-05,4.3985e-04,-1.7878e-05,1.8389e-02,4.4739e-04
+8,2.1333e+00,UP_FORCE_RAMP,5.5500e-04,9.6647e-03,-1.5139e-03,2.4264e+00,-3.6660e-02,3.7517e-02,-4.6884e-05,6.4076e-03,-1.8335e-03,-2.6399e-02,1.2388e-04,4.8905e-04,-1.9300e-05,2.7227e-02,5.0486e-04
+9,2.3833e+00,UP_FORCE_RAMP,6.2335e-04,1.0027e-02,-1.0003e-03,2.4259e+00,-3.6695e-02,3.7544e-02,-4.7118e-05,6.7702e-03,-1.3199e-03,-2.6892e-02,8.8207e-05,5.1591e-04,-1.9535e-05,2.7763e-02,5.2376e-04
+10,2.6667e+00,UP_FORCE_RAMP,6.9098e-04,1.1974e-02,-1.1937e-03,2.4208e+00,-3.6684e-02,3.7690e-02,-4.7380e-05,8.7172e-03,-1.5133e-03,-3.2041e-02,1.0001e-04,6.6134e-04,-1.9797e-05,3.3240e-02,6.6916e-04
+11,2.9000e+00,UP_FORCE_RAMP,7.6019e-04,1.4424e-02,-2.3073e-03,2.4150e+00,-3.6608e-02,3.7871e-02,-4.7727e-05,1.1167e-02,-2.6269e-03,-3.7846e-02,1.7542e-04,8.4287e-04,-2.0144e-05,3.9547e-02,8.6117e-04
+12,3.1000e+00,UP_FORCE_RAMP,8.2801e-04,1.3753e-02,-4.3011e-03,2.4142e+00,-3.6470e-02,3.7824e-02,-4.8247e-05,1.0496e-02,-4.6207e-03,-3.8612e-02,3.1323e-04,7.9577e-04,-2.0664e-05,4.0279e-02,8.5545e-04
+13,3.3333e+00,UP_FORCE_RAMP,8.9907e-04,1.2950e-02,-3.2782e-03,2.4078e+00,-3.6544e-02,3.7773e-02,-4.6512e-05,9.6932e-03,-3.5978e-03,-4.4974e-02,2.3936e-04,7.4501e-04,-1.8929e-05,4.6147e-02,7.8275e-04
+14,3.5167e+00,UP_FORCE_RAMP,9.7215e-04,1.1792e-02,-4.2758e-03,2.4011e+00,-3.6477e-02,3.7698e-02,-4.6241e-05,8.5351e-03,-4.5954e-03,-5.1678e-02,3.0682e-04,6.6970e-04,-1.8658e-05,5.2579e-02,7.3688e-04
+15,3.7167e+00,UP_FORCE_RAMP,1.0368e-03,1.2904e-02,-1.1108e-03,2.4034e+00,-3.6703e-02,3.7772e-02,-4.3095e-05,9.6467e-03,-1.4304e-03,-4.9398e-02,8.0280e-05,7.4407e-04,-1.5512e-05,5.0351e-02,7.4855e-04
+16,3.9333e+00,UP_FORCE_RAMP,1.1078e-03,1.1961e-02,-2.0428e-03,2.4010e+00,-3.6649e-02,3.7707e-02,-4.2142e-05,8.7043e-03,-2.3624e-03,-5.1829e-02,1.3503e-04,6.7862e-04,-1.4559e-05,5.2608e-02,6.9207e-04
+17,4.1500e+00,UP_FORCE_RAMP,1.1807e-03,1.3870e-02,-2.5007e-03,2.3998e+00,-3.6627e-02,3.7842e-02,-4.1258e-05,1.0613e-02,-2.8203e-03,-5.3020e-02,1.5666e-04,8.1381e-04,-1.3675e-05,5.4145e-02,8.2886e-04
+18,4.3000e+00,UP_FORCE_RAMP,1.2418e-03,1.1737e-02,-1.8887e-03,2.3936e+00,-3.6680e-02,3.7698e-02,-3.8702e-05,8.4801e-03,-2.2083e-03,-5.9212e-02,1.0314e-04,6.6974e-04,-1.1119e-05,5.9857e-02,6.7773e-04
+19,4.4667e+00,UP_FORCE_RAMP,1.3169e-03,1.1968e-02,-3.3758e-04,2.3901e+00,-3.6798e-02,3.7721e-02,-3.5698e-05,8.7105e-03,-6.5718e-04,-6.2745e-02,-1.4842e-05,6.9209e-04,-8.1146e-06,6.3350e-02,6.9229e-04
+20,4.6833e+00,UP_FORCE_RAMP,1.3856e-03,1.1717e-02,-2.2924e-03,2.3891e+00,-3.6671e-02,3.7702e-02,-3.3016e-05,8.4600e-03,-2.6120e-03,-6.3698e-02,1.1272e-04,6.7347e-04,-5.4329e-06,6.4310e-02,6.8286e-04
+21,4.8667e+00,UP_FORCE_RAMP,1.4497e-03,1.2052e-02,-1.6717e-03,2.3926e+00,-3.6714e-02,3.7720e-02,-2.9060e-05,8.7949e-03,-1.9913e-03,-6.0194e-02,7.0021e-05,6.9148e-04,-1.4771e-06,6.0866e-02,6.9502e-04
+22,5.0167e+00,UP_FORCE_RAMP,1.5194e-03,1.3722e-02,-1.8693e-03,2.3885e+00,-3.6697e-02,3.7834e-02,-2.5628e-05,1.0465e-02,-2.1889e-03,-6.4282e-02,8.6330e-05,8.0600e-04,1.9556e-06,6.5165e-02,8.1062e-04
+23,5.1333e+00,UP_FORCE_RAMP,1.5934e-03,2.2434e-02,6.7074e-04,2.3940e+00,-3.6873e-02,3.8466e-02,-2.2375e-05,1.9177e-02,3.5114e-04,-5.8840e-02,-8.9519e-05,1.4377e-03,5.2086e-06,6.1888e-02,1.4405e-03
+24,5.3167e+00,UP_FORCE_RAMP,1.6590e-03,2.0075e-02,-2.9627e-04,2.3968e+00,-3.6802e-02,3.8295e-02,-1.6903e-05,1.6818e-02,-6.1588e-04,-5.5996e-02,-1.8802e-05,1.2661e-03,1.0680e-05,5.8471e-02,1.2663e-03
+25,5.5333e+00,UP_FORCE_RAMP,1.7315e-03,1.8932e-02,4.2952e-04,2.3946e+00,-3.6847e-02,3.8216e-02,-1.1378e-05,1.5675e-02,1.0992e-04,-5.8244e-02,-6.3289e-05,1.1878e-03,1.6205e-05,6.0316e-02,1.1896e-03
+26,5.7500e+00,UP_FORCE_RAMP,1.7970e-03,1.6494e-02,-3.9377e-04,2.3866e+00,-3.6781e-02,3.8049e-02,-7.6523e-06,1.3237e-02,-7.1337e-04,-6.6189e-02,2.8051e-06,1.0204e-03,1.9931e-05,6.7503e-02,1.0206e-03
+27,5.9833e+00,UP_FORCE_RAMP,1.8706e-03,1.5311e-02,-3.0532e-04,2.3868e+00,-3.6768e-02,3.7962e-02,-6.7791e-06,1.2054e-02,-6.2492e-04,-6.6036e-02,1.5218e-05,9.3362e-04,2.0804e-05,6.7130e-02,9.3398e-04
+28,6.2167e+00,UP_FORCE_RAMP,1.9365e-03,1.4390e-02,-5.3803e-04,2.3875e+00,-3.6738e-02,3.7893e-02,-8.7784e-06,1.1133e-02,-8.5763e-04,-6.5312e-02,4.5761e-05,8.6487e-04,1.8805e-05,6.6260e-02,8.6628e-04
+29,6.4333e+00,UP_FORCE_RAMP,2.0079e-03,1.2953e-02,-1.9694e-03,2.3916e+00,-3.6629e-02,3.7788e-02,-1.3173e-05,9.6956e-03,-2.2890e-03,-6.1225e-02,1.5486e-04,7.5917e-04,1.4410e-05,6.2031e-02,7.7494e-04
+30,6.6500e+00,UP_FORCE_RAMP,2.0747e-03,1.2875e-02,-3.6095e-03,2.3894e+00,-3.6508e-02,3.7783e-02,-1.9603e-05,9.6181e-03,-3.9291e-03,-6.3404e-02,2.7606e-04,7.5413e-04,7.9799e-06,6.4250e-02,8.0310e-04
+31,6.9167e+00,UP_FORCE_RAMP,2.1451e-03,1.2335e-02,-2.6003e-03,2.3955e+00,-3.6568e-02,3.7738e-02,-2.7238e-05,9.0775e-03,-2.9199e-03,-5.7314e-02,2.1525e-04,7.0974e-04,3.4506e-07,5.8102e-02,7.4166e-04
+32,7.1000e+00,UP_FORCE_RAMP,2.2151e-03,1.2582e-02,-4.0787e-04,2.3927e+00,-3.6714e-02,3.7756e-02,-3.2989e-05,9.3245e-03,-7.2747e-04,-6.0063e-02,6.9831e-05,7.2778e-04,-5.4063e-06,6.0787e-02,7.3114e-04
+33,7.3167e+00,UP_FORCE_RAMP,2.2808e-03,1.2745e-02,-2.5247e-03,2.3966e+00,-3.6571e-02,3.7765e-02,-3.9170e-05,9.4878e-03,-2.8443e-03,-5.6241e-02,2.1223e-04,7.3619e-04,-1.1587e-05,5.7106e-02,7.6626e-04
+34,7.5667e+00,UP_FORCE_RAMP,2.3505e-03,1.1831e-02,-3.2076e-03,2.4020e+00,-3.6515e-02,3.7698e-02,-4.6022e-05,8.5738e-03,-3.5272e-03,-5.0755e-02,2.6863e-04,6.6967e-04,-1.8439e-05,5.1595e-02,7.2178e-04
+35,7.8500e+00,UP_FORCE_RAMP,2.4208e-03,1.2107e-02,-1.9827e-03,2.4076e+00,-3.6600e-02,3.7713e-02,-4.9087e-05,8.8501e-03,-2.3023e-03,-4.5169e-02,1.8384e-04,6.8434e-04,-2.1504e-05,4.6086e-02,7.0893e-04
+36,8.1000e+00,UP_FORCE_RAMP,2.4858e-03,1.2485e-02,-3.2874e-03,2.4127e+00,-3.6512e-02,3.7735e-02,-5.1829e-05,9.2280e-03,-3.6070e-03,-4.0100e-02,2.7123e-04,7.0650e-04,-2.4246e-05,4.1306e-02,7.5716e-04
+37,8.3667e+00,UP_FORCE_RAMP,2.5582e-03,1.2239e-02,-3.5363e-03,2.4170e+00,-3.6501e-02,3.7712e-02,-5.2790e-05,8.9823e-03,-3.8559e-03,-3.5780e-02,2.8306e-04,6.8406e-04,-2.5207e-05,3.7092e-02,7.4074e-04
+38,8.5667e+00,UP_FORCE_RAMP,2.6266e-03,1.2686e-02,-4.2840e-03,2.4187e+00,-3.6454e-02,3.7742e-02,-5.3280e-05,9.4293e-03,-4.6036e-03,-3.4124e-02,3.2928e-04,7.1382e-04,-2.5697e-05,3.5701e-02,7.8652e-04
+39,8.8167e+00,UP_FORCE_RAMP,2.7004e-03,1.3171e-02,-4.1982e-03,2.4213e+00,-3.6468e-02,3.7774e-02,-5.2741e-05,9.9140e-03,-4.5178e-03,-3.1533e-02,3.1549e-04,7.4516e-04,-2.5158e-05,3.3362e-02,8.0959e-04
+40,9.1000e+00,UP_FORCE_RAMP,2.7679e-03,1.3976e-02,-3.4272e-03,2.4239e+00,-3.6533e-02,3.7829e-02,-5.0707e-05,1.0719e-02,-3.7468e-03,-2.8871e-02,2.5077e-04,8.0019e-04,-2.3124e-05,3.1024e-02,8.3888e-04
+41,9.3833e+00,UP_FORCE_RAMP,2.8382e-03,1.3987e-02,-3.8989e-03,2.4260e+00,-3.6511e-02,3.7826e-02,-4.8785e-05,1.0729e-02,-4.2185e-03,-2.6832e-02,2.7281e-04,7.9711e-04,-2.1202e-05,2.9204e-02,8.4277e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/fem_node.csv
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+59,3.185000e+01,233,7.035892e-01,2.025384e-02,8.186197e-01,2.076297e-05,-4.445211e-05,-8.242382e-03,1.282998e-04,6.498737e-05,-1.966029e-04
+59,3.185000e+01,234,6.959819e-01,2.467158e-02,8.283581e-01,2.657615e-05,-5.605757e-05,-8.280752e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.185000e+01,237,7.010697e-01,2.000862e-02,8.232555e-01,4.063027e-05,-2.246382e-05,-8.208422e-03,5.809278e-04,2.351628e-02,4.363924e-03
+59,3.185000e+01,238,7.003096e-01,2.029007e-02,8.248107e-01,3.575925e-05,-4.334206e-05,-8.228821e-03,1.349902e-05,1.263012e-03,1.238530e-05
+59,3.185000e+01,239,6.968390e-01,2.799336e-02,8.301529e-01,4.026979e-05,-5.401960e-05,-8.317100e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,240,7.036226e-01,2.028824e-02,8.245838e-01,5.210355e-05,-4.008062e-05,-8.249020e-03,8.855753e-07,-8.168124e-06,-5.091556e-05
+59,3.185000e+01,241,6.930182e-01,2.481793e-02,8.239915e-01,2.275173e-05,-6.210201e-05,-8.294123e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,242,7.095863e-01,2.647042e-02,8.160167e-01,8.469343e-06,-7.125149e-05,-8.350053e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,243,6.961914e-01,2.615943e-02,8.292940e-01,3.252058e-05,-5.389481e-05,-8.295544e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,244,6.922349e-01,2.631531e-02,8.233041e-01,2.454480e-05,-6.329130e-05,-8.305163e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,245,7.005338e-01,2.812126e-02,8.313419e-01,4.717219e-05,-5.025065e-05,-8.325084e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,246,6.977444e-01,2.598815e-02,8.128335e-01,1.123415e-05,-7.820120e-05,-8.299504e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,247,7.054560e-01,2.629745e-02,8.126778e-01,-2.475280e-06,-7.687387e-05,-8.327464e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,248,6.940341e-01,2.284812e-02,8.215723e-01,3.066471e-05,-6.293142e-05,-8.280501e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,249,7.021591e-01,2.613747e-02,8.119543e-01,-8.744169e-08,-7.839079e-05,-8.311511e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,250,7.114506e-01,2.794673e-02,8.229929e-01,3.339805e-05,-6.132138e-05,-8.365494e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,251,7.114941e-01,2.796781e-02,8.201707e-01,2.395855e-05,-6.555335e-05,-8.367398e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,252,6.960560e-01,2.351079e-02,8.274621e-01,2.456164e-05,-5.818620e-05,-8.269642e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,253,6.977003e-01,2.508857e-02,8.297011e-01,3.358482e-05,-5.320662e-05,-8.281125e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,254,7.094990e-01,2.495645e-02,8.260006e-01,6.012875e-05,-5.816756e-05,-8.328742e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,255,6.920183e-01,2.643282e-02,8.216163e-01,2.444329e-05,-6.608966e-05,-8.306803e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,256,7.007811e-01,2.816374e-02,8.115250e-01,-1.212551e-06,-7.939306e-05,-8.331555e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,257,6.923760e-01,2.629180e-02,8.190326e-01,2.437790e-05,-7.030677e-05,-8.304577e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,258,7.054575e-01,2.096416e-02,8.178867e-01,1.488322e-05,-5.619320e-05,-8.274022e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,259,7.038005e-01,2.637803e-02,8.308284e-01,5.432873e-05,-5.066319e-05,-8.308825e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,260,7.072972e-01,2.505066e-02,8.286206e-01,6.457618e-05,-5.462949e-05,-8.310705e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,261,7.064292e-01,2.077535e-02,8.203092e-01,3.192550e-05,-5.425266e-05,-8.283771e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.185000e+01,263,6.963344e-01,2.662224e-02,8.133768e-01,1.249762e-05,-7.766258e-05,-8.305163e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.185000e+01,265,7.070599e-01,2.145425e-02,8.187718e-01,2.094437e-05,-6.000684e-05,-8.294159e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.185000e+01,266,6.948377e-01,2.365350e-02,8.261979e-01,2.204024e-05,-6.008457e-05,-8.276816e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d11e65d14d5edee1912f39e53dd7b97ea70641e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/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
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+34325,1791280656380630205,12982622000000,1791280656380675641,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760207621148344,-0.004721415631286979,0.0904884130379415,0.9999999792354947,0.0001281324099071234,-0.00012247858050801067,3.940757969902982e-05,0.6761,-0.0048,0.09053825526073085,1.0,0.0,0.0,0.0,-0.1310146629475504,-0.1670623318194874,0.2099915703656397,-0.010499787757540633,0.008897422415506982,0.0002026423578353378,-0.10604421019801986,-0.12525514995091092,0.4467474972374259,-0.013484962879708816,0.0052293093442624325,-0.0014959188345626327,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7328639343809744,-0.4599049983554171,0.4364111758710143,0.3782704252233466,-0.13999150008751735,-0.34530560319228865,0.7073295706247651,0.2099915703656397,0.2709183947537508,0.2709183947537508,0.39252000000002363,0,0,-8.837035553735528e-05,6.643495062264577e-05
+34440,1791280657338540654,12983580000000,1791280657332676030,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760264235675447,-0.0047208793594032935,0.09041476053335544,0.9999999795249878,0.00013260303043205295,-0.00011362274606441775,4.357976883017457e-05,0.6761,-0.0048,0.09045384711632158,1.0,0.0,0.0,0.0,-0.13114377989471462,-0.1675596524588211,0.26884484185743035,-0.01051018905779243,0.00888522847195622,0.00017560153032704037,-0.10617332714518408,-0.1257524705902446,0.5056007687292166,-0.013495364179960613,0.005217115400711672,-0.0015229596620709301,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7645047395259588,-0.5356517189503202,0.38313007888151823,0.4070453403459246,-0.09928293100135839,-0.39408808455936806,0.7073295706247651,0.26884484185743035,0.32419949174324686,0.32419949174324686,0.45000000000002793,0,0,-8.924486555731003e-05,7.255505504589194e-05
+34575,1791280658463605785,12984705000000,1791280658456675916,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760216758679952,-0.004721439782607617,0.09031738572137343,0.9999999779459027,0.00013807723290659065,-0.00011881191921073288,4.867714208907636e-05,0.6761,-0.0048,0.09035530734609706,1.0,0.0,0.0,0.0,-0.1404912097007443,-0.1722798467784737,0.3188922002451415,-0.010519176648467599,0.00888911002573542,-7.385648037149862e-05,-0.11552075695121378,-0.1304726649098972,0.5556481271169277,-0.013504351770635782,0.00522099695449087,-0.0017724176727694691,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7460599881151294,-0.5024173567841623,0.3942590969634163,0.39265352682414506,-0.1116334465201678,-0.3755974229718327,0.7073295706247651,0.3188922002451415,0.31307047366134877,0.31307047366134877,0.5175000000000168,0,0,-8.858722804902375e-05,-9.999378688808064e-05
+34707,1791280659563649093,12985805000000,1791280659560675278,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760218053742485,-0.004722929608772211,0.09022219845131393,0.9999999791700092,0.00013103673783956512,-0.00011705830930115332,4.721833576479625e-05,0.6761,-0.0048,0.09025860190337763,1.0,0.0,0.0,0.0,-0.13084735207683085,-0.17808563028450716,0.3788132762865953,-0.011551894589090438,0.008880991620408531,7.845725415742241e-05,-0.10587689932730032,-0.13627844841593068,0.6155692031583815,-0.014537069711258621,0.005212878549163982,-0.001620103938240548,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8078568500031855,-0.5280418521533169,0.17367508757488717,0.4049183235053011,0.04800060620667412,-0.39164078755819837,0.7073295706247651,0.3788132762865953,0.533654483049878,0.533654483049878,0.5834999999999607,0,0,-8.763644345347187e-05,9.999990699250389e-05
+34857,1791280660813665634,12987055000000,1791280660812675301,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760270165846668,-0.004723554669784811,0.09012285692155501,0.9999999819884001,0.0001180281406163925,-0.0001085486930901625,4.186410286419265e-05,0.6761,-0.0048,0.09015096975348558,1.0,0.0,0.0,0.0,-0.1408556465755749,-0.17944005684212103,0.42931132882401485,-0.010554143573123505,0.009222026626279928,4.9614662014742846e-05,-0.11588519382604436,-0.13763287497354454,0.666067255695801,-0.013539318695291689,0.00555391355503538,-0.0016489465303832277,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8467575698965459,-0.5247097980606416,0.28446758010421175,0.4112383114085952,-0.015742802193525883,-0.38530392225773935,0.7073295706247651,0.42931132882401485,0.42286199052055334,0.42286199052055334,0.658499999999897,0,0,-8.62972743085041e-05,-9.957784183190483e-05
+35009,1791280662080665436,12988322000000,1791280662080675355,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760319512326928,-0.004724854332997386,0.09001997036567956,0.9999999831276898,0.00011369895803070157,-0.00010215973721448443,4.2701518439800086e-05,0.6761,-0.0048,0.0900375002121469,1.0,0.0,0.0,0.0,-0.14906079859509788,-0.17291493656543827,0.4792956264399178,-0.011596498026240198,0.009872054974929299,1.806650288492008e-05,-0.12409034584556736,-0.13110775469686178,0.716051553311704,-0.014581673148408381,0.0062039419036847504,-0.0016804946895130504,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8079324509546916,-0.5227326989134028,0.1238808841657128,0.4224040692351826,0.07430021109354012,-0.3846403735571337,0.7073295706247651,0.4792956264399178,0.5834486864590522,0.5834486864590522,0.7345199999998323,0,0,-9.124076825297296e-05,6.04020331823149e-06
+35151,1791280663263653856,12989505000000,1791280663256677602,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760425496506322,-0.004728843640034718,0.08992542078747867,0.9999999849460426,0.00011135185572955429,-8.454619997212129e-05,4.476028601453844e-05,0.6761,-0.0048,0.0899268832340684,1.0,0.0,0.0,0.0,-0.14725552844922857,-0.1690387408102268,0.5396489038724148,-0.010589159113069261,0.009840574659214809,-2.6239857940472955e-05,-0.12228507569969803,-0.1272315589416503,0.776404830744201,-0.013574334235237445,0.006172461587970259,-0.0017248010503384435,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8034838292593094,-0.5330099689863405,0.06228880877155526,0.43269523316661423,0.10712412636055471,-0.38570189217827877,0.7073295706247651,0.5396489038724148,0.6450407618532098,0.6450407618532098,0.805499999999772,0,0,-9.401831619587632e-05,-2.2800269616777484e-05
+35289,1791280664413606039,12990655000000,1791280664408676336,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760495001975373,-0.004733538107403197,0.08982988417283627,0.9999999843724376,0.00011928383852220346,-7.623997697402528e-05,5.154435745504496e-05,0.6761,-0.0048,0.08981911152125434,1.0,0.0,0.0,0.0,-0.1504006468555711,-0.17725863236604553,0.5897814267955819,-0.010599762778125752,0.009830516291073975,-6.713377867797739e-05,-0.1254301941060406,-0.13545145049746904,0.826537353667368,-0.013584937900293935,0.006162403219829426,-0.001765694971075948,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8195152810426732,-0.4747948957710545,0.011295066447364204,0.4129440630364662,0.14619409934833474,-0.3509136414246024,0.7073295706247651,0.5897814267955819,0.6960345041774009,0.6960345041774009,0.8744999999997133,0,0,-9.50817570747039e-05,-9.999999025923074e-05
+35429,1791280665580666037,12991822000000,1791280665580675495,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760577269201621,-0.004738628741155521,0.0897289024167002,0.999999985324416,0.00011826696184155391,-6.419049969987559e-05,5.1831820080663444e-05,0.6761,-0.0048,0.08970541492900981,1.0,0.0,0.0,0.0,-0.150980112931872,-0.1753824434943487,0.6415970404129965,-0.010636961354180298,0.010832474595289934,-9.334883564853088e-05,-0.12600966018234147,-0.1335752616257722,0.8783529672847827,-0.013622136476348481,0.007164361524045385,-0.0017919100280465014,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8357131217265398,-0.46568945784344906,-0.07031025850973706,0.4147120357283354,0.20281573178623982,-0.34241373971988953,0.7073295706247651,0.6415970404129965,0.7776398291345021,0.7776398291345021,0.9445199999996537,0,0,-9.937282106896437e-05,-7.629105556834152e-06
+35587,1791280666897692985,12993139000000,1791280666896676332,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760623341040339,-0.004742019704073969,0.08960261786421939,0.9999999866077757,0.00011309156833799265,-5.600624084871971e-05,4.79678124280478e-05,0.6761,-0.0048,0.08957044439909073,1.0,0.0,0.0,0.0,-0.16033070158897716,-0.173360265664745,0.7101073911855951,-0.010649410428222232,0.010817724134390083,-0.00014982414131928918,-0.13536024883944664,-0.1315530837961685,0.9468633180573813,-0.013634585550390415,0.007149611063145533,-0.0018483853337172597,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8471305723321483,-0.5776519064564393,-0.08848414242975773,0.4604338367019978,0.21595172902855425,-0.41444846413185416,0.7073295706247651,0.7101073911855951,0.7958137130545229,0.7958137130545229,1.0235399999995867,0,0,-0.00010431577921884839,-9.308782497464136e-05
+35719,1791280667997605178,12994239000000,1791280667992676148,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760666264676257,-0.004742366320842967,0.08949249978088868,0.9999999878361007,0.00010545764338016855,-4.966428973128462e-05,4.672051565966979e-05,0.6761,-0.0048,0.08945198934765534,1.0,0.0,0.0,0.0,-0.15756997125081504,-0.18109652071434454,0.7602620654273933,-0.010660171718779395,0.010807530638138278,-0.0001900239483367146,-0.1325995185012845,-0.13928933884576805,0.9970179922991794,-0.013645346840947578,0.0071394175668937285,-0.001888585140734685,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8978830490704904,-0.5613681007286377,-0.12231315249841634,0.4707094290024603,0.25077319387318237,-0.40067392675209806,0.7073295706247651,0.7602620654273933,0.8296427231231814,0.8296427231231814,1.0895399999995306,0,0,-0.00011000606293529026,-9.991013158317514e-05
+35857,1791280669148168663,12995389000000,1791280669140676067,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.676071696540864,-0.004742219425187058,0.08937818561316037,0.9999999885366463,0.00010147880189975272,-4.160927452881769e-05,4.837657087608745e-05,0.6761,-0.0048,0.08932892636522972,1.0,0.0,0.0,0.0,-0.1518483835102268,-0.18815099173264782,0.8204434814361232,-0.010672740227686259,0.010795106470123777,-0.00023839748792117504,-0.12687793076069628,-0.14634380986407133,1.0571994083079095,-0.013657915349854442,0.007126993398879228,-0.0019369586803191455,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8329527198981472,-0.5143525034432375,-0.2450148738564589,0.45765830707265626,0.30759604385590167,-0.3727425245514397,0.7073295706247651,0.8204434814361232,0.952344444481224,0.952344444481224,1.1585399999994719,0,0,-0.00010591615774299535,-9.998949865164803e-05
+36001,1791280670347715904,12996589000000,1791280670340676245,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760743826490763,-0.004744510431735316,0.08924801945869737,0.9999999885039621,0.00010185301567959102,-3.925642462312642e-05,5.019797128711327e-05,0.6761,-0.0048,0.08919658726897563,1.0,0.0,0.0,0.0,-0.15226153984830804,-0.1841106274042927,0.8845796165353024,-0.010745911449212896,0.010782146308885528,-0.0002861454244899094,-0.1272910870987775,-0.14230344553571622,1.1213355434070886,-0.01373108657138108,0.007114033237640979,-0.00198470661688788,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9032878397678353,-0.644008141378682,-0.35141754484504,0.5079964075159243,0.3943055643208171,-0.4550020041170231,0.7073295706247651,0.8845796165353024,1.0587471154698052,1.0587471154698052,1.2305399999994107,0,0,-0.00011312101104857396,9.734540537398857e-05
+36127,1791280671397615378,12997639000000,1791280671396677846,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760832389460136,-0.00474526347271409,0.08913378456777654,0.9999999871950054,0.0001150987571933755,-2.7756612846482305e-05,5.508811142103808e-05,0.6761,-0.0048,0.08907316627031187,1.0,0.0,0.0,0.0,-0.16078940738996783,-0.17882474339250742,0.9308473385537965,-0.011368290448403866,0.011788882064779155,-0.00031530490577264653,-0.1358189546404373,-0.13701756152393094,1.1676032654255828,-0.014353465570572049,0.008120768993534606,-0.002013866098170617,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8941476502977461,-0.45424457675082075,-0.4401460006610827,0.45649511478211485,0.44451226653447196,-0.32758425323459417,0.7073295706247651,0.9308473385537965,1.1474755712858478,1.1474755712858478,1.293539999999357,0,0,-0.00011834696095750085,9.998594593796923e-05
+36214,1791280672122692563,12998364000000,1791280672116675789,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760797142793787,-0.00474036354292548,0.08903983309080563,0.9999999863444341,0.00012067285770092015,-3.4041952586768216e-05,5.5074521700076444e-05,0.6761,-0.0048,0.08898714879469735,1.0,0.0,0.0,0.0,-0.16967393008342083,-0.19450834395193825,0.9802211499605131,-0.011730437463479317,0.011792124067163,-0.0003649198163160358,-0.1447034773338903,-0.15270116208336176,1.2169770768322994,-0.0147156125856475,0.008124010995918451,-0.0020634810087140063,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8866610461393801,-0.5755112802421525,-0.5460431544270149,0.4975545721552533,0.5078551796666293,-0.4067778814221042,0.7073295706247651,0.9802211499605131,1.25337272505178,1.25337272505178,1.33703999999932,0,0,-0.00011700306143805494,9.99999208702917e-05
+36331,1791280673097733628,12999339000000,1791280673096675969,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760846930112874,-0.004743882494966934,0.0889328665833202,0.9999999871925042,0.00011536062926259125,-2.7186646503842506e-05,5.4869548142606926e-05,0.6761,-0.0048,0.08887212622211588,1.0,0.0,0.0,0.0,-0.1608025228987401,-0.19418742467954486,1.0203541427320657,-0.011758677831636071,0.011784452027510267,-0.0003963449093377198,-0.1358320701492096,-0.15238024281096837,1.257110069603852,-0.014743852953804254,0.008116338956265718,-0.0020949061017356903,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8401434413400315,-0.5034092231529612,-0.5653675910135321,0.478524919161367,0.5062400933596035,-0.36268797201868685,0.7073295706247651,1.0203541427320657,1.2726971616382972,1.2726971616382972,1.3955399999992704,0,0,-0.00012068366245646255,9.957048660436669e-05
+36457,1791280674147740366,13000389000000,1791280674140676654,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760866618749372,-0.004748595534786207,0.0888080934155324,0.9999999880256083,0.0001073923589187405,-2.3505554894798705e-05,5.749797985048218e-05,0.6761,-0.0048,0.08874131923507253,1.0,0.0,0.0,0.0,-0.1642281629308768,-0.19337258894183815,1.0507536033591778,-0.011764252405001443,0.011777889495197374,-0.0004211555395322896,-0.13925771018134628,-0.15156540707326166,1.287509530230964,-0.014749427527169626,0.008109776423952825,-0.00211971673193026,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8617746675282684,-0.5506827253729711,-0.4870715428451455,0.4919877958601565,0.45807251529553084,-0.3954018584560413,0.7073295706247651,1.0507536033591778,1.1944011134699106,1.1944011134699106,1.4585399999992168,0,0,-0.00013028672469636427,-9.999986535914047e-05
+36559,1791280674997697399,13001239000000,1791280674992676027,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760863389414892,-0.004747733004145797,0.08869393707917199,0.9999999877716889,0.00010795838191173992,-2.590275355347096e-05,5.977893999005033e-05,0.6761,-0.0048,0.08862659657556532,1.0,0.0,0.0,0.0,-0.16170549663659647,-0.19191246048572913,1.0908901360048338,-0.011771687659981208,0.01176909156933383,-0.0004533150869305924,-0.13673504388706595,-0.15010527861715264,1.32764606287662,-0.014756862782149391,0.008100978498089282,-0.002151876279328563,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8483573579882243,-0.6468337661810089,-0.56530658547159,0.5280508234617611,0.4998578233461894,-0.45604353583916685,0.7073295706247651,1.0908901360048338,1.272636156096355,1.272636156096355,1.5095399999991734,0,0,-0.00013993809891782233,-2.226472145321919e-05
+36677,1791280675980742412,13002222000000,1791280675976676046,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760888706035035,-0.004746165029280395,0.08855603808054323,0.9999999860280978,0.00012250588444899063,-2.335419281247745e-05,6.191573696747387e-05,0.6761,-0.0048,0.08848410929539484,1.0,0.0,0.0,0.0,-0.16171182183030766,-0.19086624813552502,1.1217875455181665,-0.011777788095730457,0.011762146340471926,-0.0004278409673993727,-0.13674136908077714,-0.14905906626694854,1.3585434723899528,-0.01476296321789864,0.008094033269227377,-0.0021264021597973432,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8113659615286166,-0.5692647111360308,-0.6630534949557092,0.5143579276856024,0.5486025401409157,-0.40442326683826707,0.7073295706247651,1.1217875455181665,1.3703830655804743,1.3703830655804743,1.5685199999991233,0,0,-0.000149911983886282,9.999999025923074e-05
+36787,1791280676897750059,13003139000000,1791280676896675538,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.676089694290081,-0.0047431670606093625,0.08841428612251076,0.9999999847887961,0.00013195652599497609,-1.9978337812839633e-05,6.366799082449775e-05,0.6761,-0.0048,0.08834067745501074,1.0,0.0,0.0,0.0,-0.17063107814243428,-0.19662540145374974,1.151479601414214,-0.010963728543837743,0.010775261870272147,-0.0005012652265377288,-0.14566062539290375,-0.15481821958517325,1.3882355282860002,-0.013948903666005926,0.007107148799027598,-0.0021998264189356993,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7959931161394149,-0.43677859209062453,-0.6295954490752521,0.48206518264195497,0.5187974063968678,-0.320225168417287,0.7073295706247651,1.151479601414214,1.336925019700017,1.336925019700017,1.6235399999990765,0,0,-0.0001632781461061643,-8.778628356839735e-05
+36898,1791280677822755197,13004064000000,1791280677820675327,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760962291898972,-0.004742640444036213,0.08826437859141435,0.9999999846865328,0.0001325418818202355,-1.0679562717533854e-05,6.624496146992958e-05,0.6761,-0.0048,0.08818189135315112,1.0,0.0,0.0,0.0,-0.17037350034444876,-0.19893257718932156,1.1713578136627485,-0.011793301137443328,0.011749247227992456,3.71786202773177e-05,-0.14540304759491823,-0.15712539532074507,1.4081137405345348,-0.014778476259611512,0.008081134156747907,-0.0016613825721206528,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7559015622866857,-0.5353119589833635,-0.6108891973391757,0.5096840396447715,0.4935166213618127,-0.38622250102675126,0.7073295706247651,1.1713578136627485,1.3182187679639408,1.3182187679639408,1.6790399999990293,0,0,-0.00018174738735807073,-9.999999025923074e-05
+36989,1791280678580723342,13004822000000,1791280678576685541,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760929439132457,-0.004742171817310618,0.08811215268293837,0.9999999852065253,0.00012740816700655463,-1.842165116679847e-05,6.67653739751279e-05,0.6761,-0.0048,0.08803715081532289,1.0,0.0,0.0,0.0,-0.16819278791442563,-0.20144585941839818,1.1916645926102831,-0.011778005288658437,0.010954107797682845,-1.0717807912982106e-06,-0.1432223351648951,-0.1596386775498217,1.4284205194820694,-0.01476318041082662,0.007285994726438295,-0.0016996329731892687,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7862865768094291,-0.5374105042503241,-0.7424044976325784,0.5155281141731568,0.5823540719311829,-0.3918710554233066,0.7073295706247651,1.1916645926102831,1.4497340682573436,1.4497340682573436,1.7245199999989906,0,0,-0.0001980038576196178,9.999967107011116e-05
+37081,1791280679347760216,13005589000000,1791280679344675586,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760893960669598,-0.004745096920317407,0.0879450192911067,0.9999999855036669,0.00012115726711613641,-2.6026997215184717e-05,7.126740019525757e-05,0.6761,-0.0048,0.08787817644533237,1.0,0.0,0.0,0.0,-0.16295832572366545,-0.1982244479303848,1.2117012056167793,-0.01177693303173154,0.010724974109649347,0.0004595387582172303,-0.13798787297413492,-0.1564172660618083,1.4484571324885656,-0.014762108153899724,0.007056861038404799,-0.0012390224341807402,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7854467820074104,-0.5626400318555769,-0.6563924883998568,0.53561590652809,0.5209714316684859,-0.40687899905559677,0.7073295706247651,1.2117012056167793,1.3637220590246217,1.3637220590246217,1.7705399999989515,0,0,-0.00021504650651457536,-9.998651492726935e-05
+37170,1791280680088772827,13006330000000,1791280680088676115,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.676086375188011,-0.0047532387020788975,0.08777590244937901,0.99999998509063,0.00012149999810099478,-3.255145858917775e-05,7.375470760828177e-05,0.6761,-0.0048,0.08771155468773896,1.0,0.0,0.0,0.0,-0.16143563235738143,-0.20708525873718084,1.2216863177308386,-0.011779307864781074,0.010723889777479382,0.00022913227582293367,-0.1364651796078509,-0.16527807686860435,1.4584422446026248,-0.014764482986949257,0.0070557767062348325,-0.0014694289165750368,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7378177612636888,-0.48614483702467864,-0.663317866310096,0.5207177616989976,0.5110583522866353,-0.351287563202286,0.7073295706247651,1.2216863177308386,1.3706474369348611,1.3706474369348611,1.8149999999989137,0,0,-0.00023348401599207336,-9.999983760356485e-05
+37255,1791280680797736150,13007039000000,1791280680796675386,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760888777424926,-0.00475036463797941,0.08760784637634274,0.9999999842145585,0.00012954982870398522,-2.8617922210404332e-05,7.356360167806542e-05,0.6761,-0.0048,0.08753794796736204,1.0,0.0,0.0,0.0,-0.1610193324706546,-0.20133398799345212,1.221397542417793,-0.011770870479602387,0.010728025982467224,-0.0004913006553834401,-0.1360488797211241,-0.15952680612487563,1.4581534692895792,-0.01475604560177057,0.007059912911222676,-0.0021898618477814106,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7168215024723211,-0.5626860875935767,-0.6720116252908752,0.5602650677069023,0.507143360467699,-0.40197188968561065,0.7073295706247651,1.221397542417793,1.3793411959156403,1.3793411959156403,1.8575399999988775,0,0,-0.0002538947382294251,-9.84184775606522e-05
+37339,1791280681497772545,13007739000000,1791280681492675744,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760895225769336,-0.004757964425454978,0.08743028241400982,0.9999999852432792,0.00012049386500837253,-2.614481171167116e-05,7.585501399380583e-05,0.6761,-0.0048,0.08735345741483545,1.0,0.0,0.0,0.0,-0.1610191664512682,-0.20784835523526143,1.2217761751537777,-0.01178014751773587,0.010723510918364574,0.000452419905943389,-0.13604871370173768,-0.16604117336668495,1.458532102025564,-0.014765322639904052,0.007055397847120025,-0.0012461412864545815,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7750393863842578,-0.5924768660798365,-0.6928872906340219,0.5742414878856565,0.5316480635704675,-0.42179989423957,0.7073295706247651,1.2217761751537777,1.4002168612587869,1.4002168612587869,1.8995399999988418,0,0,-0.0002735313607796482,-9.999999025923074e-05
+37415,1791280682131770919,13008372000000,1791280682124676784,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760868370830234,-0.004757367644397767,0.08725243253645501,0.9999999837584671,0.00013064255029040164,-3.125750313372723e-05,7.669043188767024e-05,0.6761,-0.0048,0.08717400515391564,1.0,0.0,0.0,0.0,-0.1625586101649952,-0.20786806137973363,1.221788222189352,-0.0117801205033387,0.010723538002282706,0.0004522280362154313,-0.13758815741546468,-0.16606087951115714,1.4585441490611382,-0.014765295625506884,0.007055424931038157,-0.0012463331561825392,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7237940100401222,-0.5572303763995091,-0.6832046199356006,0.5768165389335203,0.5103166494127795,-0.3955346331465921,0.7073295706247651,1.221788222189352,1.3905341905603656,1.3905341905603656,1.9375199999988095,0,0,-0.0002945425079628735,-9.999999025923074e-05
+37485,1791280682713748782,13008955000000,1791280682712676015,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760915208046862,-0.004758091955612657,0.08708051199633678,0.9999999845290599,0.0001277625188967692,-2.097172122559094e-05,7.497779532955194e-05,0.6761,-0.0048,0.08699576528181681,1.0,0.0,0.0,0.0,-0.16032197069594664,-0.20010519071564767,1.2311710206494524,-0.011772522602046066,0.01072637875961327,-0.0004991646965493348,-0.13535151794641612,-0.15829800884707118,1.4679269475212386,-0.01475769772421425,0.00705826568836872,-0.0021977258889473053,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7272661695671842,-0.6020753049199521,-0.6131250922110685,0.596213779363636,0.46326056433910207,-0.43025889880766216,0.7073295706247651,1.2311710206494524,1.3204546628358336,1.3204546628358336,1.9724999999987798,0,0,-0.00031635002805815846,-9.999999025923074e-05
+37553,1791280683280779989,13009522000000,1791280683280675713,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760888828296249,-0.0047662404841084345,0.086892829312176,0.9999999849573207,0.00011838211920241245,-2.7614891662829134e-05,8.216638283984428e-05,0.6761,-0.0048,0.08681097340214715,1.0,0.0,0.0,0.0,-0.16104095891332432,-0.20736616447565867,1.231835093280524,-0.011781980755026402,0.010721299950292633,0.00044429221568634096,-0.1360705061637938,-0.16555898260708218,1.4685910201523102,-0.014767155877194585,0.007053186879048083,-0.0012542689767116295,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.692354324642602,-0.5948343917507604,-0.6426773495486533,0.6047403915420135,0.473438234125896,-0.42116273889070355,0.7073295706247651,1.231835093280524,1.3500069201734184,1.3500069201734184,2.006519999998751,0,0,-0.00033527453302126107,-9.999983760356485e-05
+37617,1791280683813778757,13010055000000,1791280683808675745,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760831456764193,-0.004766433539198538,0.08670327960154071,0.9999999850293066,0.00011642387952514474,-3.6060792112143507e-05,8.080439644249474e-05,0.6761,-0.0048,0.08662658682478377,1.0,0.0,0.0,0.0,-0.163067495934465,-0.20079410108959167,1.2418641419988188,-0.011782569316449552,0.010718421293774465,0.0004360514212470041,-0.1380970431849345,-0.15898691922101518,1.478620068870605,-0.014767744438617735,0.007050308222529916,-0.0012625097711509664,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7426672810555762,-0.510868779952115,-0.669208056085069,0.5923723718715102,0.5046100918403399,-0.36704599589055525,0.7073295706247651,1.2418641419988188,1.3765376267098342,1.3765376267098342,2.0384999999987237,0,0,-0.00035447505175176106,-9.999999025923074e-05
+37675,1791280684297712789,13010539000000,1791280684292676103,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760802034359571,-0.004777453745466616,0.08653287790349208,0.9999999846111236,0.00011727254630307126,-4.0761818047213504e-05,8.249994524864316e-05,0.6761,-0.0048,0.08645148016034855,1.0,0.0,0.0,0.0,-0.1610951084361691,-0.1974237604396939,1.2417186131512672,-0.011782409154796811,0.010718329712673861,0.00043602199554689707,-0.13612465568663856,-0.1556165785711174,1.4784745400230535,-0.014767584276964995,0.007050216641429312,-0.0012625391968510734,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7531035986346508,-0.5593458676724294,-0.6724848180234326,0.6015430074066873,0.508836391899328,-0.3998797473863289,0.7073295706247651,1.2417186131512672,1.3798143886481977,1.3798143886481977,2.067539999998699,0,0,-0.0003691349500886939,-9.999929636984035e-05
+37735,1791280684797784039,13011039000000,1791280684796675615,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.676087551760856,-0.004774570441250244,0.08635620500496978,0.9999999840409984,0.00012412841639195836,-2.4076377229757798e-05,8.586810549252377e-05,0.6761,-0.0048,0.08626237467966605,1.0,0.0,0.0,0.0,-0.16101889813330966,-0.1887767249223684,1.232024861949887,-0.01178046317780799,0.010720328757131338,0.0004437399670782613,-0.13604844538377914,-0.14696954305379192,1.4687807888216733,-0.014765638299976173,0.00705221568588679,-0.0012548212253197092,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8124072871796202,-0.5829481493398136,-0.6758108860641611,0.6237104988220528,0.5256659042139874,-0.4128022163505515,0.7073295706247651,1.232024861949887,1.3831404566889263,1.3831404566889263,2.0975399999986735,0,0,-0.0003873938160217901,-9.999999025923074e-05
+37793,1791280685280787518,13011522000000,1791280685280675797,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760879658322887,-0.004776823995340438,0.08616920579330305,0.9999999847667397,0.00011872801286489413,-2.3771443009486127e-05,8.513496396682597e-05,0.6761,-0.0048,0.08607125650514635,1.0,0.0,0.0,0.0,-0.16103446077513928,-0.19315316854821485,1.2418865033785953,-0.011781826867296216,0.010717949755383462,0.0004361921154034552,-0.13606400802560875,-0.15134598667963836,1.4786424302503816,-0.0147670019894644,0.0070498366841389125,-0.0012623690769945153,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7633541278497826,-0.5849608714246729,-0.5938211788962504,0.6350261121347401,0.4536070604634621,-0.41140168008757383,0.7073295706247651,1.2418865033785953,1.3011507495210155,1.3011507495210155,2.126519999998649,0,0,-0.00040253093302608365,-9.999674285688371e-05
+37846,1791280685722791304,13011964000000,1791280685716675840,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760849369028987,-0.004780495268515054,0.08598457586013508,0.9999999856515756,0.00010837183561732194,-2.6552315261616488e-05,8.769397377118627e-05,0.6761,-0.0048,0.08588989850358698,1.0,0.0,0.0,0.0,-0.161512614615786,-0.19498614253067834,1.2521519119963995,-0.011119513157596624,0.010703963639606046,0.0004368306149149031,-0.13654216186625548,-0.15317896066210185,1.4889078388681858,-0.014104688279764807,0.007035850568361496,-0.0012617305774830674,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7306543870705186,-0.5227529537467072,-0.6140473982416874,0.6204049698337265,0.4566788681030543,-0.37348029611625566,0.7073295706247651,1.2521519119963995,1.3213769688664525,1.3213769688664525,2.1530399999986263,0,0,-0.00041845828209072087,-9.999488323331746e-05
+37901,1791280686180791682,13012422000000,1791280686176675666,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760830816324376,-0.004784808564955596,0.08578936342417826,0.9999999863651948,0.0001020543048243708,-2.8399873380131905e-05,8.65496428428981e-05,0.6761,-0.0048,0.08569534387059533,1.0,0.0,0.0,0.0,-0.1524508560799588,-0.18552176518555616,1.2423439107602607,-0.010760312785452053,0.010699164731671745,0.00031760559469940614,-0.1274804033304283,-0.14371458331697967,1.479099837632047,-0.013745487907620237,0.0070310516604271955,-0.0013809555976985644,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8006133158772077,-0.5344495771658342,-0.7397495085518037,0.6334327131004265,0.552952751322393,-0.378574486381624,0.7073295706247651,1.2423439107602607,1.4470790791765689,1.4470790791765689,2.180519999998603,0,0,-0.00043192565631192657,-8.22110725383216e-05
+37953,1791280686613762679,13012855000000,1791280686612676046,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760840984309989,-0.004780270611672856,0.08560032284832543,0.9999999847224552,0.00011661788855853635,-2.7309028416716153e-05,8.74782182744033e-05,0.6761,-0.0048,0.08550550493579315,1.0,0.0,0.0,0.0,-0.15258060876210858,-0.19389670715901075,1.2523657725611894,-0.01073737159099248,0.00970155162023377,0.0004248599294816289,-0.12761015601257805,-0.15208952529043426,1.4891216994329757,-0.013722546713160663,0.00603343854898922,-0.0012737012629163416,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.7987880463639957,-0.5298358216499871,-0.6802037782654522,0.6359120138236278,0.5122625831539308,-0.37215375345446283,0.7073295706247651,1.2523657725611894,1.3875333488902173,1.3875333488902173,2.206499999998581,0,0,-0.0004458275199528946,-9.999999025923074e-05
+38005,1791280687047764019,13013289000000,1791280687044675745,DOWN_FORCE_DETACH,4,0.0565,0.05650157108902931,0.6760821084164427,-0.004778887645676167,0.08540406558656845,0.9999999853946375,0.00010973662242190229,-2.9596425436408866e-05,8.795177280612535e-05,0.6761,-0.0048,0.08531000866614494,1.0,0.0,0.0,0.0,-0.15213736141386772,-0.19381974776411193,1.2541002370787315,-0.010737017587816733,0.009683216404302078,0.00042320258224182584,-0.1271669086643372,-0.15201256589553544,1.4908561639505178,-0.013722192709984916,0.0060151033330575285,-0.0012753586101561447,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8059651468396948,-0.5881441250234885,-0.7639272776837025,0.6508332736123001,0.5681639600995555,-0.4141165380545842,0.7073295706247651,1.2541002370787315,1.4712568483084676,1.4712568483084676,2.2325399999985587,0,0,-0.0004546906965114449,-2.1001964672825437e-05
+38053,1791280687447772077,13013689000000,1791280687440686350,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760870377372552,-0.004775305283691336,0.08522954230347381,0.9999999861726399,0.00010792012374306846,-1.7651175186266997e-05,8.449418537451874e-05,0.6761,-0.0048,0.08512535819512584,1.0,0.0,0.0,0.0,-0.15209681952981333,-0.18426359725142594,1.2436378286480634,-0.010733795946885538,0.009684815774614946,0.00042642344659810615,-0.1271263667802828,-0.14245641538284945,1.4803937555198496,-0.013718971069053721,0.006016702703370397,-0.0012721377457998644,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9075660536488607,-0.5503776853251134,-0.7139188661885839,0.6504032406591723,0.5586734090512004,-0.3852594474785136,0.7073295706247651,1.2436378286480634,1.421248436813349,1.421248436813349,2.2565399999985383,0,0,-0.00046697675539916626,-9.999999025923074e-05
+38105,1791280687880798246,13014122000000,1791280687880675755,DOWN_FORCE_DETACH,4,0.0565,0.05650222674012184,0.6760851707030054,-0.00478169774592389,0.0850292396279685,0.9999999852765478,0.00011067741511304066,-2.1510217650605105e-05,9.043002273830096e-05,0.6761,-0.0048,0.08492141778911512,1.0,0.0,0.0,0.0,-0.15156761532685073,-0.17299507167743114,1.2425754543658427,-0.010326757851213371,0.00967327279423694,0.0004352310432464044,-0.1265971625773202,-0.13118788980885465,1.479331381237629,-0.013311932973381554,0.00600515972299239,-0.001263330149151566,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.83078791487338,-0.508184008261598,-0.731652731823849,0.645923095268535,0.5438616524275082,-0.34784697365026224,0.7073295706247651,1.2425754543658427,1.4389823024486141,1.4389823024486141,2.282519999998516,0,0,-0.0004757511588668591,-9.710973278143626e-05
+38153,1791280688278729369,13014520000000,1791280688272675632,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.676080495500028,-0.004781836393497204,0.08483306799577113,0.9999999850359524,0.00011329357371452675,-2.865306468928347e-05,8.783238099077662e-05,0.6761,-0.0048,0.08473088600563829,1.0,0.0,0.0,0.0,-0.14341547419091366,-0.17152560835771807,1.2491677835089723,-0.00971399559467256,0.009663456020043946,0.00043859860952720096,-0.11844502144138312,-0.1297184264891416,1.4859237103807585,-0.012699170716840744,0.0059953429487993965,-0.0012599625828707695,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8537158235355046,-0.44447525140518124,-0.6901585335903803,0.6350298278214028,0.5178848781233669,-0.3075020409801982,0.7073295706247651,1.2491677835089723,1.3974881042151455,1.3974881042151455,2.300399999998501,0,0,-0.0004773954623046598,9.999999025923074e-05
+38198,1791280688653764176,13014895000000,1791280688652675941,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760794599970098,-0.004782181801919956,0.08465713074997681,0.9999999855223601,0.00010840004186397236,-2.8428344800527878e-05,8.854040887743332e-05,0.6761,-0.0048,0.08455536895658732,1.0,0.0,0.0,0.0,-0.1353985794014983,-0.17151447738795705,1.2431787143355442,-0.009712756962524207,0.009664885213910634,0.00044567198905197457,-0.11042812665196776,-0.12970729551938057,1.4799346412073304,-0.01269793208469239,0.005996772142666085,-0.001252889203345996,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8436587734921785,-0.39924009338670513,-0.7289436095637207,0.6219882719311683,0.5374603692483222,-0.27385409726704285,0.7073295706247651,1.2431787143355442,1.4362731801884858,1.4362731801884858,2.300399999998501,0,0,-0.0004586454659574483,9.999999025923074e-05
+38250,1791280689087785095,13015329000000,1791280689084675902,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760753309649872,-0.0047842258613769485,0.08445940423976261,0.9999999854966712,0.00010355295897873105,-3.4477941951150064e-05,9.239901450488226e-05,0.6761,-0.0048,0.0843610148734423,1.0,0.0,0.0,0.0,-0.13537622834394297,-0.17152845224429003,1.2427959427715063,-0.009712662624148934,0.009664094413780758,0.00044598089029476923,-0.11040577559441245,-0.12972127037571354,1.4795518696432925,-0.012697837746317117,0.005995981342536209,-0.0012525803021032013,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.8862822136520233,-0.531702325125036,-0.7266347540061366,0.6534420190825752,0.5469820748469368,-0.3656269593949323,0.7073295706247651,1.2427959427715063,1.4339643246309017,1.4339643246309017,2.300399999998501,0,0,-0.00043694547018494214,9.999999025923074e-05
+38305,1791280689545777144,13015787000000,1791280689540676650,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.676076750385714,-0.004790319164417797,0.08427100277466613,0.9999999847781127,0.00010868272850886222,-3.141322993661574e-05,9.533054306542208e-05,0.6761,-0.0048,0.08416612649707374,1.0,0.0,0.0,0.0,-0.1429728392332658,-0.18047621057894275,1.2423344518795396,-0.009687513294514612,0.008734540143771551,0.00043288683573084884,-0.11800238648373529,-0.13866902871036627,1.4790903787513259,-0.012672688416682796,0.005066427072527002,-0.0012656743566671217,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.858126730775331,-0.49875855069289016,-0.7774415581224132,0.647221466532947,0.56594931968667,-0.33912322301440284,0.7073295706247651,1.2423344518795396,1.4847711287471783,1.4847711287471783,2.300399999998501,0,0,-0.00041404547464621446,9.999999025923074e-05
+38365,1791280690045736223,13016287000000,1791280690040676716,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760793730763808,-0.004788227670966496,0.08407864254414182,0.9999999873100551,9.709739473200873e-05,-2.5065072789755433e-05,8.225929728856417e-05,0.6761,-0.0048,0.0839653412585306,1.0,0.0,0.0,0.0,-0.1340271276417954,-0.15479555273608261,1.2227822240598654,-0.009700152293090007,0.009447744732575104,0.00042893808912054104,-0.10905667489226485,-0.11298837086750613,1.4595381509316516,-0.01268532741525819,0.005779631661330555,-0.0012696231032774295,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.950615058425653,-0.5777330136419809,-0.7694493686435087,0.6807751478646857,0.5814739390420215,-0.3838572296623753,0.7073295706247651,1.2227822240598654,1.4767789392682737,1.4767789392682737,2.300399999998501,0,0,-0.0003890454795165991,9.999999025923074e-05
+38421,1791280690512773445,13016754000000,1791280690512675952,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760787143662705,-0.004795161835630555,0.08390836464371645,0.9999999877421375,9.084521987154435e-05,-2.4993208122667808e-05,8.414912214381155e-05,0.6761,-0.0048,0.0837890975685319,1.0,0.0,0.0,0.0,-0.13413080227704846,-0.1622092878038763,1.2227576866530743,-0.009707527903725524,0.009668176216267602,0.00046224932268218053,-0.10916034952751794,-0.12040210593529982,1.4595136135248605,-0.012692703025893707,0.006000063145023053,-0.00123631186971579,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9417579150874409,-0.4341885524106276,-0.8678967844779641,0.6368995414141472,0.6399824157893825,-0.2910598212949267,0.7073295706247651,1.2227576866530743,1.5752263551027292,1.5752263551027292,2.300399999998501,0,0,-0.00036569548406553833,9.999999025923074e-05
+38487,1791280691062769549,13017304000000,1791280691060675284,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760779380597389,-0.004800842537439795,0.08371703151841865,0.9999999881890769,8.573455922118485e-05,-2.4204110814545823e-05,8.443019058219915e-05,0.6761,-0.0048,0.08359551380081988,1.0,0.0,0.0,0.0,-0.14280805119864437,-0.1652055457551989,1.2127163062222097,-0.009699763556487113,0.009446794106553035,0.00046581230929607434,-0.11783759844911385,-0.12339836388662241,1.449472233093996,-0.012684938678655297,0.005778681035308485,-0.0012327488831018962,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,0.9555916258404186,-0.5228966033397388,-0.7847444062949454,0.6659919949109666,0.5837947692839336,-0.34358155858124206,0.7073295706247651,1.2127163062222097,1.4920739769197104,1.4920739769197104,2.300399999998501,0,0,-0.0003381954894229614,9.999999025923074e-05
+38557,1791280691645826610,13017887000000,1791280691640676061,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760770415298063,-0.00480410205664906,0.08352810572478282,0.9999999873368303,8.890000602590846e-05,-2.7441932744062296e-05,9.007182083035903e-05,0.6761,-0.0048,0.08340682847882806,1.0,0.0,0.0,0.0,-0.14319610457312731,-0.16664225887650158,1.2023674009509104,-0.009676042492701967,0.009273785393591891,-0.0003344767456708159,-0.11822565182359678,-0.1248350770079251,1.4391233278226967,-0.01266121761487015,0.0056056723223473414,-0.0020330379380687864,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0204022685037673,-0.5307750768456623,-0.8698556325154416,0.6589475049581363,0.6566845218972488,-0.3508824980432532,0.7073295706247651,1.2023674009509104,1.5771852031402067,1.5771852031402067,2.300399999998501,0,0,-0.0003090454951018299,9.999999025923074e-05
+38625,1791280692212817696,13018454000000,1791280692212675328,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760700925321306,-0.004802519036709635,0.08335115359696496,0.9999999881805531,8.159756615908188e-05,-3.6521146186214546e-05,8.420095687261956e-05,0.6761,-0.0048,0.08323962273153679,1.0,0.0,0.0,0.0,-0.13390658782287104,-0.17269362926306514,1.1925612234867993,-0.009666887682811999,0.008667881510166939,-0.00047345871940683766,-0.10893613507334052,-0.13088644739448865,1.4293171503585855,-0.012652062804980182,0.0049997684389223905,-0.002172019911804808,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0066532399209007,-0.5144059697867731,-0.8121596632089151,0.6569020166684483,0.6145515082635944,-0.33740247352872155,0.7073295706247651,1.1925612234867993,1.51948923383368,1.51948923383368,2.300399999998501,0,0,-0.00028069550062484607,9.999999025923074e-05
+38701,1791280692845774232,13019087000000,1791280692844675567,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760692702499566,-0.0048067881296117825,0.08317815687913056,0.9999999878774035,8.164493606901835e-05,-3.8667726496479784e-05,8.675810410701967e-05,0.6761,-0.0048,0.08307194387768667,1.0,0.0,0.0,0.0,-0.13933502671512604,-0.16323829353457975,1.1822816151494566,-0.00966346067917096,0.008669406773631014,-0.0005006275865500232,-0.11436457396559552,-0.12143111166600325,1.4190375420212429,-0.012648635801339143,0.0050012937023864645,-0.0021991887789479937,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0445384319745423,-0.4736477230302213,-0.8238003061751563,0.6435948889993006,0.6277914627121165,-0.3091018697403854,0.7073295706247651,1.1822816151494566,1.5311298767999215,1.5311298767999215,2.300399999998501,0,0,-0.000249045506790753,9.999999025923074e-05
+38793,1791280693612779311,13019854000000,1791280693612675325,DOWN_SETTLE,4,0.0565,0.05650222674012184,0.6760722392217188,-0.004801012631842831,0.08300750872029203,0.9999999880602641,8.109323377986719e-05,-3.506401424743428e-05,8.669912435239648e-05,0.6761,-0.0048,0.08289561402110923,1.0,0.0,0.0,0.0,-0.14278144156119352,-0.16126142949063632,1.1725244851036893,-0.008650502665249702,0.008647520407604591,0.0004968278042569905,-0.11781098881166299,-0.11945424762205983,1.4092804119754756,-0.011635677787417885,0.004979407336360042,-0.00120173338814098,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0470215583972482,-0.5280069038369203,-0.7728615910264713,0.6569622344449352,0.5928638472455782,-0.3417161660587518,0.7073295706247651,1.1725244851036893,1.4801911616512364,1.4801911616512364,2.300399999998501,0,0,-0.000210695514261923,9.999999025923074e-05
+38885,1791280694378790715,13020620000000,1791280694376675811,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760627487118925,-0.004798025009380703,0.08284760646674555,0.9999999885653212,7.059232948242087e-05,-4.576332554452783e-05,8.505682207340694e-05,0.6761,-0.0048,0.08274887100432314,1.0,0.0,0.0,0.0,-0.13341939581042545,-0.16135030032113595,1.1528407009198427,-0.008638110046578785,0.008654541289767437,-0.0004299204126448264,-0.1084489430608949,-0.11954311845255945,1.389596627791629,-0.011623285168746968,0.004986428218522888,-0.002128481605042797,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0700468457490144,-0.5261597667282938,-0.8638258205155184,0.6574589669906401,0.6515544121085578,-0.33547593071173337,0.7073295706247651,1.1528407009198427,1.5711553911402834,1.5711553911402834,2.300399999998501,0,0,-0.00017239552172335226,9.999999025923074e-05
+38997,1791280695312765196,13021554000000,1791280695308675532,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760488943664106,-0.004803282549457313,0.08269644151552837,0.9999999866108937,7.082425958765833e-05,-6.624745736557989e-05,9.389502288600007e-05,0.6761,-0.0048,0.08260963913278027,1.0,0.0,0.0,0.0,-0.1221321083885622,-0.16523609275800913,1.1394561262346636,-0.009637235953950503,0.007659611194304516,0.0004983096462730246,-0.09716165563903166,-0.12342891088943264,1.37621205310645,-0.012622411076118686,0.003991498123059967,-0.0012002515461249459,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0717539628378423,-0.4876795792592074,-0.8625171955225572,0.6416886063205852,0.6491244951225046,-0.3067470923267251,0.7073295706247651,1.1394561262346636,1.5698467661473223,1.5698467661473223,2.300399999998501,0,0,-0.00012569553082123074,9.999999025923074e-05
+39129,1791280696412808238,13022654000000,1791280696412675969,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760422838775059,-0.004801611341976426,0.08257741196927915,0.9999999811898982,0.0001108052842019406,-7.635790085086798e-05,0.00010466483391563453,0.6761,-0.0048,0.0825015965429784,1.0,0.0,0.0,0.0,-0.1151539493544635,-0.16614184001508786,1.1124845552393812,-0.00963092259216687,0.007666397638323301,0.000385554703692095,-0.09018349660493297,-0.12433465814651136,1.3492404821111674,-0.012616097714335053,0.0039982845670787515,-0.0013130064887058755,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0525280842436344,-0.5194654850022038,-0.8643476646334751,0.64721903994073,0.6443450871249727,-0.3217284027052957,0.7073295706247651,1.1124845552393812,1.5716772352582402,1.5716772352582402,2.300399999998501,0,0,-7.069554153607693e-05,9.999999025923074e-05
+39273,1791280697612766121,13023854000000,1791280697608685776,DOWN_SETTLE,4,0.0565,0.05650157108902931,0.6760559076031633,-0.004797159746522821,0.08253063872596399,0.9999999812379791,0.00011464742517250572,-6.600882630476857e-05,0.00010707804865633515,0.6761,-0.0048,0.0824527318861159,1.0,0.0,0.0,0.0,-0.12453439555247187,-0.14586203089935912,1.0623563312667483,-0.008590991237099298,0.007661800705005043,-0.00045412722067299217,-0.09956394280294133,-0.10405484903078262,1.2991122581385346,-0.011576166359267481,0.003993687633760494,-0.0021526884130709627,0.024970452749530535,0.04180718186857649,0.2367559268717862,-0.0029851751221681828,-0.003668113071244549,-0.0016985611923979705,1,1.0726586163398568,-0.5121444533193076,-0.8013011984124138,0.6334192229033974,0.6071683473855826,-0.327598339876634,0.7073295706247651,1.0623563312667483,1.508630769037179,1.508630769037179,2.300399999998501,0,0,-1.0695553225000038e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5bf244072b37d717b6ce02fc6bc0695a3c84f62
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8531b2775c5594ed9dda4ddd5f6567ffb9cf28e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,3.050000000e+00,DOWN_FORCE_DETACH,1791280654410617162,1.287493478e-05,-2.574360716e-06,-2.415202131e-04,1.257565467e-05,-2.656585426e-06,-2.414834638e-04,1.201933357e-05,-2.613890952e-06,-2.405652705e-04,7.015507464e-01,-1.023399395e-06,8.404994210e-01,7.015504471e-01,-1.105624105e-06,8.404994577e-01,7.017377986e-01,-8.213845933e-07,8.295400711e-01
+5,3.666666667e+00,DOWN_FORCE_DETACH,1791280655341305435,1.543518056e-05,-1.884469972e-06,-3.152609809e-04,1.412414904e-05,-4.183104523e-07,-3.058880479e-04,1.346216913e-05,-3.559089180e-07,-3.049319877e-04,7.015533067e-01,-3.335086511e-07,8.404256802e-01,7.015519956e-01,1.132650869e-06,8.404350531e-01,7.017392414e-01,1.436597440e-06,8.294757044e-01
+6,4.366666667e+00,DOWN_FORCE_DETACH,1791280656381252061,2.260158767e-05,6.733022548e-06,-3.909551571e-04,1.912558034e-05,9.706198795e-06,-3.931767781e-04,1.833800002e-05,9.737908451e-06,-3.920898927e-04,7.015604731e-01,8.283983870e-06,8.403499860e-01,7.015569971e-01,1.125716012e-05,8.403477644e-01,7.017441172e-01,1.153041481e-05,8.293885465e-01
+7,5.000000000e+00,DOWN_FORCE_DETACH,1791280657342411576,2.416283097e-05,4.415159907e-06,-4.706860127e-04,2.291413639e-05,1.708181567e-05,-4.573311128e-04,2.202954350e-05,1.710457958e-05,-4.562509854e-04,7.015620343e-01,5.966121228e-06,8.402702552e-01,7.015607856e-01,1.863277699e-05,8.402836101e-01,7.017478088e-01,1.889708594e-05,8.293243854e-01
+8,5.750000000e+00,DOWN_FORCE_DETACH,1791280658461819611,2.225731661e-05,5.682289901e-06,-5.637599012e-04,2.162581136e-05,7.831671062e-06,-5.622442873e-04,2.036144779e-05,7.906801685e-06,-5.609773725e-04,7.015601288e-01,7.233251222e-06,8.401771813e-01,7.015594973e-01,9.382632383e-06,8.401786969e-01,7.017461407e-01,9.699308043e-06,8.292196590e-01
+9,6.483333333e+00,DOWN_FORCE_DETACH,1791280659561932005,2.390477663e-05,9.071699481e-06,-6.574990995e-04,2.159886858e-05,3.670667575e-06,-6.478280349e-04,2.002424427e-05,3.736923203e-06,-6.466322238e-04,7.015617763e-01,1.062266080e-05,8.400834421e-01,7.015594704e-01,5.221628896e-06,8.400931132e-01,7.017458035e-01,5.529429562e-06,8.291340041e-01
+10,7.316666667e+00,DOWN_FORCE_DETACH,1791280660810623084,2.618931535e-05,4.911494490e-06,-7.598375422e-04,2.598229249e-05,4.971018082e-06,-7.598700967e-04,2.408356327e-05,4.963789807e-06,-7.585229300e-04,7.015640608e-01,6.462455811e-06,8.399811036e-01,7.015638538e-01,6.521979403e-06,8.399810711e-01,7.017498628e-01,6.756296165e-06,8.290221134e-01
+11,8.166666667e+00,DOWN_FORCE_DETACH,1791280662081921652,3.465021129e-05,5.395977084e-06,-8.578692629e-04,3.059948078e-05,3.709145361e-06,-8.464448498e-04,2.850629029e-05,3.713138443e-06,-8.452431620e-04,7.015725217e-01,6.946938405e-06,8.398830719e-01,7.015684710e-01,5.260106682e-06,8.398944963e-01,7.017542855e-01,5.505644801e-06,8.289353932e-01
+12,8.950000000e+00,DOWN_FORCE_DETACH,1791280663260446179,4.000733312e-05,1.708631554e-06,-9.600255634e-04,3.823212182e-05,-3.936940975e-06,-9.510175737e-04,3.596636697e-05,-3.854012651e-06,-9.497425974e-04,7.015778788e-01,3.259592875e-06,8.397809156e-01,7.015761036e-01,-2.385979653e-06,8.397899236e-01,7.017617456e-01,-2.061506293e-06,8.288308938e-01
+13,9.716666667e+00,DOWN_FORCE_DETACH,1791280664411367285,5.142599402e-05,-3.855916172e-06,-1.049028172e-03,4.494978239e-05,-4.805115531e-06,-1.052432579e-03,4.247878886e-05,-4.689078699e-06,-1.051156450e-03,7.015892975e-01,-2.304954851e-06,8.396919130e-01,7.015828213e-01,-3.254154210e-06,8.396885086e-01,7.017682580e-01,-2.896572341e-06,8.287294799e-01
+14,1.050000000e+01,DOWN_FORCE_DETACH,1791280665577315812,5.530629175e-05,-3.987061523e-06,-1.154223240e-03,5.412711920e-05,-5.407100433e-06,-1.138031929e-03,5.163619825e-05,-5.303290391e-06,-1.136861315e-03,7.015931778e-01,-2.436100202e-06,8.395867179e-01,7.015919986e-01,-3.856139111e-06,8.396029093e-01,7.017774154e-01,-3.510784033e-06,8.286437750e-01
+15,1.138333333e+01,DOWN_FORCE_DETACH,1791280666897015539,6.321146543e-05,-6.522526339e-06,-1.280581185e-03,6.239310657e-05,-7.241576895e-06,-1.268782472e-03,5.962098707e-05,-7.183401257e-06,-1.267577714e-03,7.016010829e-01,-4.971565018e-06,8.394603600e-01,7.016002646e-01,-5.690615574e-06,8.394721587e-01,7.017854002e-01,-5.390894898e-06,8.285130586e-01
+16,1.211666667e+01,DOWN_FORCE_DETACH,1791280667996924230,6.779953596e-05,-1.220596371e-05,-1.390679233e-03,6.631001345e-05,-1.165900477e-05,-1.375040446e-03,6.331059282e-05,-1.158744190e-05,-1.373900860e-03,7.016056710e-01,-1.065500239e-05,8.393502620e-01,7.016041815e-01,-1.010804345e-05,8.393659007e-01,7.017890898e-01,-9.794935539e-06,8.284067355e-01
+17,1.288333333e+01,DOWN_FORCE_DETACH,1791280669146969876,7.018474776e-05,-1.143442692e-05,-1.506276568e-03,7.027448539e-05,-1.141572647e-05,-1.506049523e-03,6.692299311e-05,-1.134665657e-05,-1.504765305e-03,7.016080562e-01,-9.883465598e-06,8.392346646e-01,7.016081460e-01,-9.864765153e-06,8.392348917e-01,7.017927022e-01,-9.554150212e-06,8.282758711e-01
+18,1.368333333e+01,DOWN_FORCE_DETACH,1791280670347239518,7.521438213e-05,-1.886449215e-05,-1.633008173e-03,7.368190111e-05,-1.906889699e-05,-1.615172927e-03,6.998966325e-05,-1.895825184e-05,-1.613894923e-03,7.016130859e-01,-1.731353083e-05,8.391079330e-01,7.016115534e-01,-1.751793567e-05,8.391257683e-01,7.017957689e-01,-1.716574548e-05,8.281667414e-01
+19,1.438333333e+01,DOWN_FORCE_DETACH,1791280671397268132,8.180999777e-05,-2.082880456e-05,-1.749626295e-03,8.015797861e-05,-2.335460178e-05,-1.743307654e-03,7.618278801e-05,-2.323616217e-05,-1.741842256e-03,7.016196815e-01,-1.927784324e-05,8.389913149e-01,7.016180295e-01,-2.180364046e-05,8.389976335e-01,7.018019620e-01,-2.144365581e-05,8.280387941e-01
+20,1.486666667e+01,DOWN_FORCE_DETACH,1791280672118455974,8.117615297e-05,-1.953841433e-05,-1.841565815e-03,8.066894116e-05,-1.680450356e-05,-1.829661525e-03,7.635491971e-05,-1.672864222e-05,-1.828079520e-03,7.016190476e-01,-1.798745301e-05,8.388993754e-01,7.016185404e-01,-1.525354223e-05,8.389112797e-01,7.018021341e-01,-1.493613586e-05,8.279525568e-01
+21,1.551666667e+01,DOWN_FORCE_DETACH,1791280673098455763,8.574546216e-05,-2.083869435e-05,-1.948503582e-03,8.217564262e-05,-2.052651005e-05,-1.938495533e-03,7.757765049e-05,-2.041313682e-05,-1.936955263e-03,7.016236169e-01,-1.928773302e-05,8.387924376e-01,7.016200471e-01,-1.897554873e-05,8.388024457e-01,7.018033569e-01,-1.862063046e-05,8.278436811e-01
+22,1.621666667e+01,DOWN_FORCE_DETACH,1791280674146644634,8.644709386e-05,-2.096108029e-05,-2.075250373e-03,8.609295408e-05,-2.092216125e-05,-2.075169329e-03,8.112504814e-05,-2.080763729e-05,-2.073505453e-03,7.016243186e-01,-1.941011897e-05,8.386656908e-01,7.016239644e-01,-1.937119993e-05,8.386657719e-01,7.018069043e-01,-1.901513094e-05,8.277071309e-01
+23,1.678333333e+01,DOWN_FORCE_DETACH,1791280674995880178,8.581437521e-05,-1.946528427e-05,-2.190640624e-03,8.653475375e-05,-1.975863954e-05,-2.178640544e-03,8.117517464e-05,-1.963122785e-05,-2.176934308e-03,7.016236859e-01,-1.791432295e-05,8.385503006e-01,7.016244062e-01,-1.820767822e-05,8.385623006e-01,7.018069544e-01,-1.783872149e-05,8.276037020e-01
+24,1.743333333e+01,DOWN_FORCE_DETACH,1791280675977735819,8.680034835e-05,-1.792150715e-05,-2.330727965e-03,8.890668012e-05,-1.515434873e-05,-2.311086049e-03,8.319955532e-05,-1.503629464e-05,-2.309354542e-03,7.016246718e-01,-1.637054583e-05,8.384102132e-01,7.016267782e-01,-1.360338741e-05,8.384298551e-01,7.018089788e-01,-1.324378828e-05,8.274712818e-01
+25,1.805000000e+01,DOWN_FORCE_DETACH,1791280676895852793,9.036461363e-05,-1.890861358e-05,-2.468017442e-03,9.033993297e-05,-1.840238452e-05,-2.468048412e-03,8.411735915e-05,-1.823728305e-05,-2.466015897e-03,7.016282361e-01,-1.735765226e-05,8.382729237e-01,7.016282114e-01,-1.685142320e-05,8.382728928e-01,7.018098966e-01,-1.644477669e-05,8.273146205e-01
+26,1.866666667e+01,DOWN_FORCE_DETACH,1791280677825126048,9.721765771e-05,-1.843853707e-05,-2.618055516e-03,9.626915372e-05,-1.571812086e-05,-2.605426324e-03,8.969371935e-05,-1.555314937e-05,-2.603321610e-03,7.016350891e-01,-1.688757575e-05,8.381228857e-01,7.016341406e-01,-1.416715954e-05,8.381355149e-01,7.018154729e-01,-1.376064301e-05,8.271773147e-01
+27,1.916666667e+01,DOWN_FORCE_DETACH,1791280678578370956,9.218393249e-05,-1.922661948e-05,-2.769667829e-03,9.290840984e-05,-1.609864975e-05,-2.763423594e-03,8.572071552e-05,-1.589827430e-05,-2.761153161e-03,7.016300554e-01,-1.767565815e-05,8.379712734e-01,7.016307799e-01,-1.454768843e-05,8.379775176e-01,7.018114999e-01,-1.410576794e-05,8.270194832e-01
+28,1.968333333e+01,DOWN_FORCE_DETACH,1791280679346560368,8.918128588e-05,-1.746246582e-05,-2.938324497e-03,9.170101969e-05,-1.917055373e-05,-2.922364251e-03,8.387974054e-05,-1.898018277e-05,-2.919989003e-03,7.016270528e-01,-1.591150450e-05,8.378026167e-01,7.016295725e-01,-1.761959241e-05,8.378185769e-01,7.018096590e-01,-1.718767641e-05,8.268606474e-01
+29,2.016666667e+01,DOWN_FORCE_DETACH,1791280680085595572,8.634111536e-05,-2.495126734e-05,-3.108065835e-03,8.621369277e-05,-2.488200899e-05,-3.107742370e-03,7.765272523e-05,-2.467967182e-05,-3.105113735e-03,7.016242126e-01,-2.340030602e-05,8.376328754e-01,7.016240852e-01,-2.333104767e-05,8.376331988e-01,7.018034319e-01,-2.288716546e-05,8.266755226e-01
+30,2.065000000e+01,DOWN_FORCE_DETACH,1791280680796303007,8.782106007e-05,-2.561082870e-05,-3.276561620e-03,8.837445955e-05,-2.663312060e-05,-3.263505272e-03,7.936052854e-05,-2.649817518e-05,-3.260886918e-03,7.016256925e-01,-2.405986738e-05,8.374643796e-01,7.016262459e-01,-2.508215928e-05,8.374774359e-01,7.018051397e-01,-2.470566882e-05,8.265197494e-01
+31,2.111666667e+01,DOWN_FORCE_DETACH,1791280681497213985,8.946252944e-05,-2.864546147e-05,-3.454779988e-03,8.920835273e-05,-2.853091962e-05,-3.454579323e-03,7.954653968e-05,-2.838693543e-05,-3.451631439e-03,7.016273340e-01,-2.709450015e-05,8.372861612e-01,7.016270798e-01,-2.697995830e-05,8.372863619e-01,7.018053258e-01,-2.659442907e-05,8.263290049e-01
+32,2.153333333e+01,DOWN_FORCE_DETACH,1791280682128505649,8.431136486e-05,-3.252373269e-05,-3.636174076e-03,8.396721814e-05,-3.181637124e-05,-3.619737430e-03,7.351981390e-05,-3.164284441e-05,-3.616704218e-03,7.016221828e-01,-3.097277137e-05,8.371047671e-01,7.016218387e-01,-3.026540992e-05,8.371212038e-01,7.017992990e-01,-2.985033805e-05,8.261639321e-01
+33,2.193333333e+01,DOWN_FORCE_DETACH,1791280682714420471,8.844302782e-05,-3.308576584e-05,-3.806351689e-03,9.205911516e-05,-3.590784044e-05,-3.790323310e-03,8.115461491e-05,-3.569830490e-05,-3.787172542e-03,7.016263145e-01,-3.153480452e-05,8.369345895e-01,7.016299306e-01,-3.435687912e-05,8.369506179e-01,7.018069338e-01,-3.390579855e-05,8.259934638e-01
+34,2.230000000e+01,DOWN_FORCE_DETACH,1791280683277725076,8.765854891e-05,-3.893125648e-05,-3.991123333e-03,8.737535754e-05,-3.871677747e-05,-3.991140213e-03,7.570498112e-05,-3.849103085e-05,-3.987677563e-03,7.016255300e-01,-3.738029516e-05,8.367498179e-01,7.016252468e-01,-3.716581614e-05,8.367498010e-01,7.018014842e-01,-3.669852449e-05,8.257929588e-01
+35,2.266666667e+01,DOWN_FORCE_DETACH,1791280683815233215,8.562478673e-05,-3.535317145e-05,-4.174977035e-03,8.552495415e-05,-3.759515779e-05,-4.163676727e-03,7.319038305e-05,-3.738596679e-05,-4.160116168e-03,7.016234963e-01,-3.380221013e-05,8.365659642e-01,7.016233964e-01,-3.604419647e-05,8.365772645e-01,7.017989696e-01,-3.559346043e-05,8.256205202e-01
+36,2.298333333e+01,DOWN_FORCE_DETACH,1791280684296668671,8.125787205e-05,-4.336408244e-05,-4.350248063e-03,7.928079523e-05,-3.970834384e-05,-4.333429201e-03,6.624813771e-05,-3.944481197e-05,-4.329682383e-03,7.016191294e-01,-4.181312112e-05,8.363906931e-01,7.016171523e-01,-3.815738252e-05,8.364075120e-01,7.017920274e-01,-3.765230562e-05,8.254509540e-01
+37,2.331666667e+01,DOWN_FORCE_DETACH,1791280684797029213,8.678958333e-05,-4.593114625e-05,-4.527762682e-03,8.706493014e-05,-4.578900735e-05,-4.519578758e-03,7.354080003e-05,-4.554000829e-05,-4.515714723e-03,7.016246611e-01,-4.438018493e-05,8.362131785e-01,7.016249364e-01,-4.423804603e-05,8.362213624e-01,7.017993200e-01,-4.374750193e-05,8.252649216e-01
+38,2.363333333e+01,DOWN_FORCE_DETACH,1791280685277365091,8.649385727e-05,-4.842871863e-05,-4.714587162e-03,8.626285410e-05,-4.847483939e-05,-4.714412382e-03,7.203805460e-05,-4.822893726e-05,-4.710418022e-03,7.016243653e-01,-4.687775731e-05,8.360263540e-01,7.016241343e-01,-4.692387807e-05,8.360265288e-01,7.017978173e-01,-4.643643090e-05,8.250702183e-01
+39,2.393333333e+01,DOWN_FORCE_DETACH,1791280685718578084,8.636402920e-05,-4.880828795e-05,-4.891578939e-03,8.428111267e-05,-5.242057484e-05,-4.891599591e-03,6.940471769e-05,-5.218460380e-05,-4.887552396e-03,7.016242355e-01,-4.725732663e-05,8.358493622e-01,7.016221526e-01,-5.086961352e-05,8.358493416e-01,7.017951839e-01,-5.039209745e-05,8.248930840e-01
+40,2.423333333e+01,DOWN_FORCE_DETACH,1791280686178774000,8.395268055e-05,-5.391288483e-05,-5.093384428e-03,8.139336328e-05,-5.437145062e-05,-5.084354615e-03,6.579906072e-05,-5.412755254e-05,-5.080088219e-03,7.016218242e-01,-5.236192351e-05,8.356475568e-01,7.016192648e-01,-5.282048930e-05,8.356565866e-01,7.017915783e-01,-5.233504618e-05,8.247005481e-01
+41,2.453333333e+01,DOWN_FORCE_DETACH,1791280686617108440,8.250028707e-05,-5.574163473e-05,-5.284917848e-03,8.225811516e-05,-5.597791488e-05,-5.284665942e-03,6.595497548e-05,-5.573017783e-05,-5.280198134e-03,7.016203718e-01,-5.419067340e-05,8.354560233e-01,7.016201296e-01,-5.442695356e-05,8.354562752e-01,7.017917342e-01,-5.393767147e-05,8.245004382e-01
+42,2.481666667e+01,DOWN_FORCE_DETACH,1791280687046711270,8.100684835e-05,-5.324098275e-05,-5.480304627e-03,8.105332506e-05,-5.326442035e-05,-5.479976323e-03,6.404089568e-05,-5.300275604e-05,-5.475298696e-03,7.016188783e-01,-5.169002143e-05,8.352606366e-01,7.016189248e-01,-5.171345903e-05,8.352609649e-01,7.017898201e-01,-5.121024969e-05,8.243053377e-01
+43,2.508333333e+01,DOWN_FORCE_DETACH,1791280687446746238,8.506060947e-05,-5.192570810e-05,-5.654932427e-03,8.521568192e-05,-5.199211962e-05,-5.654568305e-03,6.769782248e-05,-5.171702365e-05,-5.649951813e-03,7.016229321e-01,-5.037474678e-05,8.350860088e-01,7.016230872e-01,-5.044115830e-05,8.350863729e-01,7.017934770e-01,-4.992451730e-05,8.241306845e-01
+44,2.536666667e+01,DOWN_FORCE_DETACH,1791280687877457534,8.248644510e-05,-4.987277986e-05,-5.856391663e-03,8.226821912e-05,-4.952067562e-05,-5.855669025e-03,6.396698612e-05,-4.927581123e-05,-5.850923346e-03,7.016203579e-01,-4.832181854e-05,8.348845495e-01,7.016201397e-01,-4.796971430e-05,8.348852722e-01,7.017897462e-01,-4.748330487e-05,8.239297130e-01
+45,2.563333333e+01,DOWN_SETTLE,1791280688277552024,8.030666813e-05,-5.340744306e-05,-6.048197047e-03,8.432030178e-05,-5.467818876e-05,-6.028838607e-03,6.545815088e-05,-5.438547973e-05,-6.024060975e-03,7.016181781e-01,-5.185648174e-05,8.346927441e-01,7.016221918e-01,-5.312722744e-05,8.347121026e-01,7.017912374e-01,-5.259297337e-05,8.237565754e-01
+46,2.590000000e+01,DOWN_SETTLE,1791280688652930772,7.924521593e-05,-5.454734742e-05,-6.226213039e-03,7.795730940e-05,-5.256702760e-05,-6.218204822e-03,5.823955843e-05,-5.225292670e-05,-6.213428035e-03,7.016171167e-01,-5.299638610e-05,8.345147281e-01,7.016158288e-01,-5.101606628e-05,8.345227364e-01,7.017840188e-01,-5.046042034e-05,8.235672083e-01
+47,2.616666667e+01,DOWN_SETTLE,1791280689084872974,7.420060724e-05,-5.446482550e-05,-6.422793958e-03,7.600432603e-05,-5.601858244e-05,-6.412262853e-03,5.563591800e-05,-5.568666681e-05,-6.407461450e-03,7.016120721e-01,-5.291386418e-05,8.343181472e-01,7.016138758e-01,-5.446762112e-05,8.343286783e-01,7.017814151e-01,-5.389416046e-05,8.233731749e-01
+48,2.646666667e+01,DOWN_SETTLE,1791280689545685211,7.310347407e-05,-6.149076897e-05,-6.616525918e-03,7.279009059e-05,-6.169248461e-05,-6.616522920e-03,5.163665218e-05,-6.137843698e-05,-6.611827295e-03,7.016109750e-01,-5.993980765e-05,8.341244153e-01,7.016106616e-01,-6.014152329e-05,8.341244183e-01,7.017774159e-01,-5.958593062e-05,8.231688091e-01
+49,2.680000000e+01,DOWN_SETTLE,1791280690045453929,7.960811981e-05,-6.312949316e-05,-6.802982760e-03,7.955031274e-05,-6.323822256e-05,-6.802671467e-03,5.790241604e-05,-6.290054277e-05,-6.798251290e-03,7.016174796e-01,-6.157853184e-05,8.339379584e-01,7.016174218e-01,-6.168726124e-05,8.339382697e-01,7.017836816e-01,-6.110803642e-05,8.229823851e-01
+50,2.711666667e+01,DOWN_SETTLE,1791280690514556273,7.714841731e-05,-6.678179490e-05,-6.978802714e-03,7.685533065e-05,-6.697604708e-05,-6.978363261e-03,5.449288081e-05,-6.660148138e-05,-6.974058324e-03,7.016150199e-01,-6.523083358e-05,8.337621385e-01,7.016147268e-01,-6.542508576e-05,8.337625779e-01,7.017802721e-01,-6.480897502e-05,8.228065780e-01
+51,2.748333333e+01,DOWN_SETTLE,1791280691064984098,7.587237376e-05,-7.323006735e-05,-7.168822422e-03,7.602018183e-05,-7.430122185e-05,-7.164005765e-03,5.305168880e-05,-7.398868200e-05,-7.159818554e-03,7.016137439e-01,-7.167910602e-05,8.335721188e-01,7.016138917e-01,-7.275026053e-05,8.335769354e-01,7.017788309e-01,-7.219617564e-05,8.226208178e-01
+52,2.786666667e+01,DOWN_SETTLE,1791280691645502117,7.466640053e-05,-7.399022209e-05,-7.357259682e-03,7.460765997e-05,-7.400272737e-05,-7.357043947e-03,5.090124958e-05,-7.365292174e-05,-7.353033554e-03,7.016125379e-01,-7.243926077e-05,8.333836815e-01,7.016124791e-01,-7.245176605e-05,8.333838972e-01,7.017766805e-01,-7.186041539e-05,8.224276028e-01
+53,2.825000000e+01,DOWN_SETTLE,1791280692214534168,6.948927564e-05,-7.491641782e-05,-7.533090262e-03,7.136781773e-05,-7.664234891e-05,-7.519915247e-03,4.702549643e-05,-7.625577481e-05,-7.516177497e-03,7.016073608e-01,-7.336545650e-05,8.332078509e-01,7.016092393e-01,-7.509138759e-05,8.332210259e-01,7.017728047e-01,-7.446326845e-05,8.222644589e-01
+54,2.866666667e+01,DOWN_SETTLE,1791280692845512678,6.710612081e-05,-8.327968835e-05,-7.707143033e-03,6.691166617e-05,-8.317620502e-05,-7.707061536e-03,4.181066526e-05,-8.280027774e-05,-7.703550758e-03,7.016049776e-01,-8.172872703e-05,8.330337982e-01,7.016047831e-01,-8.162524370e-05,8.330338797e-01,7.017675899e-01,-8.100777138e-05,8.220770856e-01
+55,2.918333333e+01,DOWN_SETTLE,1791280693614534927,7.202444064e-05,-7.337817734e-05,-7.875835068e-03,7.246324715e-05,-8.023789714e-05,-7.869298594e-03,4.702586220e-05,-7.988572316e-05,-7.866170437e-03,7.016098959e-01,-7.182721602e-05,8.328651061e-01,7.016103347e-01,-7.868693582e-05,8.328716426e-01,7.017728051e-01,-7.809321680e-05,8.219144659e-01
+56,2.970000000e+01,DOWN_SETTLE,1791280694382942307,6.191832848e-05,-7.394340229e-05,-8.035565232e-03,6.179006640e-05,-7.426567278e-05,-8.035360154e-03,3.544356604e-05,-7.394528975e-05,-8.032473386e-03,7.015997898e-01,-7.239244097e-05,8.327053760e-01,7.015996615e-01,-7.271471146e-05,8.327055810e-01,7.017612228e-01,-7.215278339e-05,8.217481630e-01
+57,3.031666667e+01,DOWN_SETTLE,1791280695314453955,5.078709625e-05,-7.384081106e-05,-8.185809254e-03,4.957129742e-05,-7.325428023e-05,-8.169999745e-03,2.247992696e-05,-7.290685777e-05,-8.167644317e-03,7.015886586e-01,-7.228984974e-05,8.325551319e-01,7.015874428e-01,-7.170331891e-05,8.325709414e-01,7.017482591e-01,-7.111435141e-05,8.216129920e-01
+58,3.105000000e+01,DOWN_SETTLE,1791280696414293393,3.871279144e-05,-7.683805652e-05,-8.310607742e-03,3.857109216e-05,-7.684499899e-05,-8.310419165e-03,1.069891986e-05,-7.648176120e-05,-8.308521031e-03,7.015765843e-01,-7.528709520e-05,8.324303334e-01,7.015764426e-01,-7.529403767e-05,8.324305220e-01,7.017364781e-01,-7.468925484e-05,8.214721153e-01
+59,3.185000000e+01,DOWN_SETTLE,1791280697614811990,5.449960462e-05,-7.025297165e-05,-8.353672020e-03,4.800625767e-05,-6.653728854e-05,-8.348783475e-03,2.015847338e-05,-6.619750338e-05,-8.347601247e-03,7.015923711e-01,-6.870201033e-05,8.323872692e-01,7.015858777e-01,-6.498632722e-05,8.323921577e-01,7.017459377e-01,-6.440499702e-05,8.214330351e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfff41ac3ac3424901b2a5b851f343a0b305185a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,3.8110e-03,2.0529e-03,2.4533e+00,-3.6904e-02,3.7066e-02,-2.6557e-05,8.3906e-05,2.3069e-06,-6.6757e-06,-1.6764e-07,6.0461e-06,-1.2570e-07,8.4202e-05,6.0498e-06
+1,9.1667e-01,DOWN_FORCE_DETACH,2.0025e-04,8.2504e-03,1.5737e-03,2.4586e+00,-3.6869e-02,3.7377e-02,-3.3087e-05,4.5234e-03,-4.7697e-04,5.3682e-03,3.4790e-05,3.1680e-04,-6.6556e-06,7.0361e-03,3.1878e-04
+2,1.6500e+00,DOWN_FORCE_DETACH,4.0107e-04,8.1348e-03,4.3480e-03,2.4705e+00,-3.7057e-02,3.7354e-02,-3.4990e-05,4.4077e-03,2.2973e-03,1.7268e-02,-1.5388e-04,2.9377e-04,-8.5588e-06,1.7970e-02,3.3174e-04
+3,2.3667e+00,DOWN_FORCE_DETACH,6.0288e-04,9.6102e-03,4.5766e-03,2.4880e+00,-3.7069e-02,3.7438e-02,-3.8864e-05,5.8832e-03,2.5260e-03,3.4682e-02,-1.6538e-04,3.7776e-04,-1.2433e-05,3.5268e-02,4.1256e-04
+4,3.0500e+00,DOWN_FORCE_DETACH,8.0302e-04,8.0021e-03,6.2677e-03,2.4852e+00,-3.7186e-02,3.7322e-02,-4.0624e-05,4.2751e-03,4.2171e-03,3.1920e-02,-2.8254e-04,2.6149e-04,-1.4193e-05,3.2480e-02,3.8524e-04
+5,3.6667e+00,DOWN_FORCE_DETACH,1.0001e-03,7.9940e-03,3.2562e-03,2.4956e+00,-3.6977e-02,3.7306e-02,-4.4363e-05,4.2670e-03,1.2056e-03,4.2335e-02,-7.3247e-05,2.4565e-04,-1.7932e-05,4.2566e-02,2.5696e-04
+6,4.3667e+00,DOWN_FORCE_DETACH,1.2046e-03,8.9700e-03,7.7441e-07,2.5023e+00,-3.6756e-02,3.7368e-02,-4.5321e-05,5.2429e-03,-2.0499e-03,4.9015e-02,1.4750e-04,3.0744e-04,-1.8890e-05,4.9337e-02,3.4151e-04
+7,5.0000e+00,DOWN_FORCE_DETACH,1.4026e-03,1.0150e-02,-2.2954e-03,2.5012e+00,-3.6596e-02,3.7451e-02,-4.1688e-05,6.4230e-03,-4.3460e-03,4.7915e-02,3.0724e-04,3.9082e-04,-1.5257e-05,4.8539e-02,4.9736e-04
+8,5.7500e+00,DOWN_FORCE_DETACH,1.6045e-03,1.3104e-02,1.1913e-03,2.5083e+00,-3.6834e-02,3.7654e-02,-3.0364e-05,9.3767e-03,-8.5934e-04,5.4984e-02,6.9093e-05,5.9322e-04,-3.9326e-06,5.5785e-02,5.9724e-04
+9,6.4833e+00,DOWN_FORCE_DETACH,1.8090e-03,1.3462e-02,1.9970e-03,2.5077e+00,-3.6898e-02,3.7678e-02,-2.5064e-05,9.7347e-03,-5.3647e-05,5.4409e-02,5.0738e-06,6.1767e-04,1.3667e-06,5.5273e-02,6.1769e-04
+10,7.3167e+00,DOWN_FORCE_DETACH,2.0067e-03,1.2526e-02,8.3958e-04,2.5052e+00,-3.6852e-02,3.7615e-02,-2.4882e-05,8.7985e-03,-1.2110e-03,5.1919e-02,5.1439e-05,5.5464e-04,1.5489e-06,5.2674e-02,5.5702e-04
+11,8.1667e+00,DOWN_FORCE_DETACH,2.2074e-03,1.1505e-02,-5.7943e-05,2.5065e+00,-3.6807e-02,3.7541e-02,-2.7977e-05,7.7776e-03,-2.1086e-03,5.3189e-02,9.6101e-05,4.8080e-04,-1.5460e-06,5.3796e-02,4.9031e-04
+12,8.9500e+00,DOWN_FORCE_DETACH,2.4090e-03,1.0760e-02,3.6256e-03,2.5091e+00,-3.7033e-02,3.7482e-02,-2.8670e-05,7.0328e-03,1.5750e-03,5.5836e-02,-1.2942e-04,4.2159e-04,-2.2391e-06,5.6299e-02,4.4101e-04
+13,9.7167e+00,DOWN_FORCE_DETACH,2.6092e-03,1.0793e-02,5.3252e-03,2.5099e+00,-3.7111e-02,3.7477e-02,-2.8924e-05,7.0662e-03,3.2745e-03,5.6653e-02,-2.0740e-04,4.1646e-04,-2.4931e-06,5.7186e-02,4.6525e-04
+14,1.0500e+01,DOWN_FORCE_DETACH,2.8065e-03,9.5403e-03,5.9522e-03,2.5056e+00,-3.7136e-02,3.7388e-02,-2.7607e-05,5.8133e-03,3.9016e-03,5.2325e-02,-2.3228e-04,3.2726e-04,-1.1758e-06,5.2791e-02,4.0131e-04
+15,1.1383e+01,DOWN_FORCE_DETACH,3.0078e-03,8.6731e-03,5.6132e-03,2.5077e+00,-3.7129e-02,3.7325e-02,-1.3686e-05,4.9461e-03,3.5626e-03,5.4461e-02,-2.2566e-04,2.6491e-04,1.2745e-05,5.4801e-02,3.4823e-04
+16,1.2117e+01,DOWN_FORCE_DETACH,3.2129e-03,9.3464e-03,6.3214e-03,2.5067e+00,-3.7215e-02,3.7375e-02,4.6897e-06,5.6193e-03,4.2708e-03,5.3466e-02,-3.1194e-04,3.1421e-04,3.1121e-05,5.3930e-02,4.4385e-04
+17,1.2883e+01,DOWN_FORCE_DETACH,3.4123e-03,9.6610e-03,7.0466e-03,2.5050e+00,-3.7270e-02,3.7402e-02,1.4832e-05,5.9339e-03,4.9959e-03,5.1736e-02,-3.6696e-04,3.4170e-04,4.1263e-05,5.2315e-02,5.0312e-04
+18,1.3683e+01,DOWN_FORCE_DETACH,3.6102e-03,9.3312e-03,9.2288e-03,2.5104e+00,-3.7399e-02,3.7375e-02,1.5498e-05,5.6041e-03,7.1781e-03,5.7096e-02,-4.9558e-04,3.1438e-04,4.1929e-05,5.7817e-02,5.8838e-04
+19,1.4383e+01,DOWN_FORCE_DETACH,3.8128e-03,7.8022e-03,1.0658e-02,2.5198e+00,-3.7485e-02,3.7253e-02,8.8435e-06,4.0752e-03,8.6075e-03,6.6515e-02,-5.8171e-04,1.9310e-04,3.5275e-05,6.7194e-02,6.1393e-04
+20,1.4867e+01,DOWN_FORCE_DETACH,4.0093e-03,7.9706e-03,8.1392e-03,2.5239e+00,-3.7320e-02,3.7255e-02,8.3908e-07,4.2436e-03,6.0886e-03,7.0595e-02,-4.1708e-04,1.9512e-04,2.7270e-05,7.0984e-02,4.6127e-04
+21,1.5517e+01,DOWN_FORCE_DETACH,4.2137e-03,8.3995e-03,9.4809e-03,2.5236e+00,-3.7425e-02,3.7280e-02,-8.6758e-06,4.6724e-03,7.4303e-03,7.0331e-02,-5.2166e-04,2.2008e-04,1.7755e-05,7.0876e-02,5.6646e-04
+22,1.6217e+01,DOWN_FORCE_DETACH,4.4141e-03,9.5293e-03,1.0112e-02,2.5219e+00,-3.7467e-02,3.7357e-02,-9.8680e-06,5.8023e-03,8.0615e-03,6.8608e-02,-5.6320e-04,2.9640e-04,1.6563e-05,6.9324e-02,6.3665e-04
+23,1.6783e+01,DOWN_FORCE_DETACH,4.6138e-03,9.8716e-03,9.7070e-03,2.5289e+00,-3.7407e-02,3.7373e-02,1.2029e-06,6.1445e-03,7.6564e-03,7.5644e-02,-5.0392e-04,3.1256e-04,2.7634e-05,7.6279e-02,5.9363e-04
+24,1.7433e+01,DOWN_FORCE_DETACH,4.8175e-03,1.0585e-02,8.2252e-03,2.5326e+00,-3.7272e-02,3.7419e-02,1.5228e-05,6.8584e-03,6.1746e-03,7.9288e-02,-3.6896e-04,3.5836e-04,4.1659e-05,7.9823e-02,5.1603e-04
+25,1.8050e+01,DOWN_FORCE_DETACH,5.0149e-03,1.0820e-02,8.4426e-03,2.5370e+00,-3.7275e-02,3.7431e-02,2.7647e-05,7.0926e-03,6.3920e-03,8.3726e-02,-3.7124e-04,3.7077e-04,5.4078e-05,8.4269e-02,5.2746e-04
+26,1.8667e+01,DOWN_FORCE_DETACH,5.2133e-03,1.0966e-02,1.0757e-02,2.5468e+00,-3.7402e-02,3.7428e-02,4.0698e-05,7.2391e-03,8.7061e-03,9.3504e-02,-4.9842e-04,3.6805e-04,6.7129e-05,9.4187e-02,6.2321e-04
+27,1.9167e+01,DOWN_FORCE_DETACH,5.4125e-03,1.3377e-02,1.2191e-02,2.5578e+00,-3.7479e-02,3.7574e-02,4.4518e-05,9.6499e-03,1.0140e-02,1.0451e-01,-5.7596e-04,5.1377e-04,7.0949e-05,1.0545e-01,7.7507e-04
+28,1.9683e+01,DOWN_FORCE_DETACH,5.6138e-03,1.4017e-02,1.2429e-02,2.5626e+00,-3.7530e-02,3.7604e-02,4.2215e-05,1.0290e-02,1.0379e-02,1.0937e-01,-6.2649e-04,5.4353e-04,6.8646e-05,1.1034e-01,8.3225e-04
+29,2.0167e+01,DOWN_FORCE_DETACH,5.8140e-03,1.6943e-02,1.2478e-02,2.5692e+00,-3.7585e-02,3.7788e-02,4.1160e-05,1.3216e-02,1.0427e-02,1.1595e-01,-6.8184e-04,7.2729e-04,6.7591e-05,1.1716e-01,9.9921e-04
+30,2.0650e+01,DOWN_FORCE_DETACH,6.0194e-03,1.6762e-02,1.1710e-02,2.5755e+00,-3.7543e-02,3.7775e-02,4.5258e-05,1.3035e-02,9.6594e-03,1.2226e-01,-6.3942e-04,7.1510e-04,7.1689e-05,1.2333e-01,9.6195e-04
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+54,2.8667e+01,DOWN_SETTLE,1.0832e-02,1.7482e-02,3.0978e-02,2.6172e+00,-3.8391e-02,3.7709e-02,1.2020e-05,1.3755e-02,2.8927e-02,1.6394e-01,-1.4873e-03,6.4910e-04,3.8451e-05,1.6704e-01,1.6233e-03
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+56,2.9700e+01,DOWN_SETTLE,1.1234e-02,1.6389e-02,2.7913e-02,2.5897e+00,-3.8249e-02,3.7675e-02,4.9075e-06,1.2662e-02,2.5863e-02,1.3647e-01,-1.3457e-03,6.1454e-04,3.1339e-05,1.3948e-01,1.4797e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..26bf9d3ffbb9ba9a82e657736d6db5474db6d151
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5010d1c750655ce916489edaad1ed56565344b0db4a63079204f699c520e61c0
+size 4423680
diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6368d94c901db157274a0439b472e0d8145180a6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af4342e0d34df6222242951d6ee725eed593ed33
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_20/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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