diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..912697baacd34e6252070517cafce0b9615cf786
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f745a262da7380aba8917f85474234259de6dca
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+39405,1791629297706578811,34481540000000,1791629297705822239,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.676003848172015,-0.0047590941983456925,0.09080105917745769,0.9999999797227304,9.581731744772835e-05,-0.00014029824223086654,5.597185080613028e-05,0.6761,-0.0048,0.09088534942183296,1.0,0.0,0.0,0.0,0.11093583145171743,0.07147236582877202,0.0662423898882803,0.0053049919184999204,-0.007861852936678616,-7.694542019449717e-05,0.13517131233464474,0.05966120398446619,0.12030945595536419,0.003317994460969535,-0.009859331156801165,-0.0012266482912066847,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.22850014770943236,-0.1726784331435534,0.7745534149821393,0.23353909809671233,-0.43654848196717466,-0.1893582368844069,0.5629484540759943,0.0662423898882803,-0.211604960906145,-0.211604960906145,0.17135999999999438,0,0,-0.00010709997938093541,-9.999999025923074e-05
+39588,1791629299231597227,34483065000000,1791629299229831128,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.676034604298167,-0.004761402784012377,0.09063246964077507,0.9999999918098789,7.912441577046096e-06,-8.659869623135359e-05,1.6160620643016585e-05,0.6761,-0.0048,0.0906650518726213,1.0,0.0,0.0,0.0,0.13049537799978653,0.12695338174877416,0.27867030328348186,0.009387329828229917,-0.009351609002065858,-0.00021913943180450657,0.15473085888271385,0.11514221990446832,0.33273736935056575,0.007400332370699531,-0.011349087222188406,-0.0013688423028166941,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.36961467912362694,-0.13395953762239188,0.39039798647026275,0.23891617601395826,-0.16505838105448506,-0.1601591229434402,0.5629484540759943,0.27867030328348186,0.1725504676057315,0.1725504676057315,0.29336000000000445,0,0,-0.00017553081857882435,9.98970864626358e-05
+39756,1791629300631552778,34484464999999,1791629300625831396,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760659794624059,-0.004775747390483511,0.09045760178921938,0.9999999820578047,0.00015074071852059178,-4.777141297277484e-05,4.819110360474906e-05,0.6761,-0.0048,0.09044141002335863,1.0,0.0,0.0,0.0,0.1133628405905375,0.14968069893852176,0.4785947731458523,0.011330155159004473,-0.0074153415119902295,-0.00032847365851810194,0.13759832147346482,0.13786953709421593,0.5326618392129362,0.009343157701474087,-0.009412819732112778,-0.0014781765295302895,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.5565673693155175,-0.09899022773677085,0.13057176747596239,0.24411920451899896,0.04127443301861763,-0.1610997915757599,0.5629484540759943,0.4785947731458523,0.43237668660003187,0.43237668660003187,0.40536000000003874,1,0,-0.00012923659455513358,9.999999025923074e-05
+39999,1791629302656480376,34486489999999,1791629302649831330,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760703667960358,-0.004777431682830257,0.09030517468131238,0.9999999888317009,0.00010374489744635371,-3.785372529751413e-05,3.979389457692581e-05,0.6761,-0.0048,0.09028087320923996,1.0,0.0,0.0,0.0,0.10959709078203983,0.14536389439120415,0.6531862997223478,0.011294184215817281,-0.007458116473813497,0.0005572206859355995,0.13383257166496715,0.1335527325468983,0.7072533657894317,0.009307186758286895,-0.009455594693936045,-0.000592482185076588,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.49578842485716385,-0.15138596682221472,-0.04917859934041151,0.29895494778358006,0.13103530634666694,-0.1637509022126286,0.5629484540759943,0.6531862997223478,0.6121270534164057,0.6121270534164057,0.5673600000000416,1,0,-3.263420849245057e-05,9.999999025923074e-05
+40279,1791629304989568358,34488822999999,1791629304985831365,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760756129700642,-0.00478571135774743,0.0902494079331328,0.9999999894593762,9.744784238611628e-05,-2.8417236516253864e-05,4.712208220864245e-05,0.6761,-0.0048,0.0902110135633436,1.0,0.0,0.0,0.0,0.11529499999575721,0.14797777655872385,0.719471512477756,0.011280366430556016,-0.007429747318871963,0.0005038890458795756,0.13953048087868453,0.13616661471441802,0.7735385785448399,0.00929336897302563,-0.009427225538994511,-0.0006458138251326119,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.552564565378155,-0.0954003645376095,-0.12468442757693593,0.29570161630108976,0.19080252840841144,-0.12146703923943447,0.5629484540759943,0.719471512477756,0.6876328816529302,0.6876328816529302,0.7539999999999693,1,0,-5.100442486002799e-05,-1.1607460852164311e-05
+40523,1791629307023556983,34490857000000,1791629307017831794,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760816486578375,-0.004791708686403978,0.09013373788751003,0.9999999907477726,8.31603437788575e-05,-2.020990096027285e-05,5.121754049419621e-05,0.6761,-0.0048,0.0900784096199003,1.0,0.0,0.0,0.0,0.10964335754386531,0.1524909688606234,0.8498274387515444,0.011230078304275986,-0.006487777286271053,0.00041419064902207007,0.13387883842679263,0.14067980701631758,0.9038945048186283,0.0092430808467456,-0.008485255506393601,-0.0007355122219901175,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.5644297889657185,-0.14807996248754196,-0.23413573847541622,0.3200900703035546,0.2600048055202112,-0.15152596613387187,0.5629484540759943,0.8498274387515444,0.7970841925514105,0.7970841925514105,0.9167199999999062,1,0,-6.856391540219076e-05,-9.999695102370083e-05
+40790,1791629309248446525,34493082000000,1791629309245822153,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760990123007479,-0.004790873647867425,0.09001794240287346,0.9999999904264917,8.673996460853486e-05,9.502721754311212e-06,5.4550507777737275e-05,0.6761,-0.0048,0.08993087362819281,1.0,0.0,0.0,0.0,0.09921611110012754,0.16078456090606216,0.9845419314774526,0.012197621664884674,-0.0055225694657509315,0.00033131176389066984,0.12345159198305487,0.14897339906175633,1.0386089975445365,0.010210624207354288,-0.00752004768587348,-0.0008183911071215177,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6166836296738444,-0.10396838677013853,-0.44825931234112676,0.3131859676626183,0.4055556412037306,-0.11932608769626478,0.5629484540759943,0.9845419314774526,1.011207766417121,1.011207766417121,1.0947199999999686,1,0,-6.827237987613459e-05,1.477366676622794e-05
+41053,1791629311439447133,34495273000000,1791629311437821438,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761168744711032,-0.004797665906947043,0.08989742925788456,0.9999999907003455,7.495600045938106e-05,3.6274701773337465e-05,5.5748699192499094e-05,0.6761,-0.0048,0.08977769653676826,1.0,0.0,0.0,0.0,0.08897523915257408,0.16907419991680356,1.123643492317637,0.012145686030698153,-0.004540403732956597,0.0002333894147861878,0.11321072003550141,0.15726303807249772,1.177710558384721,0.010158688573167768,-0.006537881953079145,-0.0009163134562259998,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6890467467243587,-0.07870612574690555,-0.5036906753504145,0.31514053053341967,0.4535592557154028,-0.10356437512060049,0.5629484540759943,1.123643492317637,1.0666391294264086,1.0666391294264086,1.270000000000144,1,0,-7.587009049766914e-05,-9.999908820302323e-05
+41301,1791629313506493108,34497339999999,1791629313505831555,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761295825413085,-0.0047964290476029126,0.08977097958380877,0.9999999902684108,7.231064270086722e-05,5.5319309207381755e-05,5.115650433374196e-05,0.6761,-0.0048,0.0896265609624296,1.0,0.0,0.0,0.0,0.0828053347319021,0.1671590620594519,1.2457305170523643,0.013141674244315626,-0.004584892378826943,0.0001456335334028907,0.10704081561482943,0.15534790021514608,1.2997975831194482,0.01115467678678524,-0.006582370598949491,-0.0010040693376092969,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7466531431907166,-0.15264931871880255,-0.7983640525157528,0.3396318168203677,0.6545706542912514,-0.1500242346685024,0.5629484540759943,1.2457305170523643,1.361312506591747,1.361312506591747,1.4353600000003093,1,0,-7.239212781032377e-05,9.994474278596783e-05
+41544,1791629315531502267,34499364999999,1791629315525822003,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761448988917564,-0.004800895518451627,0.08964209673130961,0.9999999883190024,7.347142288162735e-05,7.91157861589096e-05,5.610260182447972e-05,0.6761,-0.0048,0.08947050747366361,1.0,0.0,0.0,0.0,0.07813664882405,0.1771223286979447,1.3778810925232152,0.013088295282098943,-0.0036013283351529375,0.00023101372583257543,0.10237212970697733,0.16531116685363886,1.4319481585902991,0.011101297824568557,-0.005598806555275486,-0.0009186891451796121,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8202308144443012,-0.22448378390118914,-0.9174404932527455,0.3668003321998141,0.7455119110646442,-0.19585156891995625,0.5629484540759943,1.3778810925232152,1.4803889473287397,1.4803889473287397,1.5973600000004713,1,0,-7.9724521313855e-05,-8.525829628259202e-05
+41804,1791629317698442523,34501532000000,1791629317697822067,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761562465814223,-0.004805559862151013,0.08949351024318478,0.9999999876246003,6.441398544460888e-05,9.579459666895384e-05,5.355275253323345e-05,0.6761,-0.0048,0.08929952296849124,1.0,0.0,0.0,0.0,0.07728439774248122,0.1749153338032245,1.5169818202014729,0.014081412994700648,-0.0036494955027786876,9.052050370207784e-05,0.10151987862540855,0.16310417195891866,1.5710488862685568,0.012094415537170262,-0.005646973722901236,-0.0010591823673101097,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8165017955503686,-0.14737452661793723,-1.1160244915270854,0.35426232963038906,0.8650356963019062,-0.1455868668175064,0.5629484540759943,1.5169818202014729,1.6789729456030797,1.6789729456030797,1.7707200000006447,1,0,-7.84744413057043e-05,5.12807857338621e-05
+42063,1791629319856400443,34503690000000,1791629319849822281,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761670476070432,-0.004807121433487672,0.08933292052596846,0.9999999849339637,6.947799999491672e-05,0.000113356544862402,6.24342703222326e-05,0.6761,-0.0048,0.08911906816610048,1.0,0.0,0.0,0.0,0.07089514635681765,0.17531574578234674,1.6413132885354322,0.014022394190457721,-0.0026668095850210377,0.0008724203118129356,0.09513062723974497,0.1635045839380409,1.6953803546025161,0.012035396732927335,-0.004664287805143586,-0.00027728255919925207,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8079123702288163,-0.15368107093324074,-1.196082327388793,0.3555057930266855,0.9095631335996183,-0.1497747072151614,0.5629484540759943,1.6413132885354322,1.7590307814647872,1.7590307814647872,1.9433600000008173,1,0,-9.0854922581178e-05,-9.990759194800631e-05
+42315,1791629321956469176,34505790000000,1791629321949830841,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761781973433587,-0.004818382168082818,0.08914823303682393,0.9999999829489703,6.89693906086956e-05,0.00012636204328794913,6.943184313139068e-05,0.6761,-0.0048,0.08892380902832057,1.0,0.0,0.0,0.0,0.05857898618709833,0.17054204261674955,1.777685173411034,0.012952529570440482,-0.0018001260747372103,0.0007851425438746506,0.08281446707002565,0.1587308807724437,1.8317522394781178,0.010965532112910096,-0.0037976042948597586,-0.00036456032713753705,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9472404551380325,-0.16024618143649105,-1.450211028854659,0.3685450161314888,1.1084348576990426,-0.15307203094909408,0.5629484540759943,1.777685173411034,2.013159482930653,2.013159482930653,2.1113600000009853,1,0,-9.242004804924241e-05,7.548034006011334e-05
+42534,1791629323781381145,34507614999999,1791629323777821867,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.676185817723863,-0.004829313269477476,0.0889728211132051,0.9999999807683376,7.03074016622244e-05,0.00013846209715646243,7.610062885600546e-05,0.6761,-0.0048,0.08873316784129216,1.0,0.0,0.0,0.0,0.049876623788769496,0.154547300084173,1.8766112503775676,0.012928001575883835,-0.0016843215618278506,0.0007062534760658071,0.07411210467169682,0.14273613823986717,1.9306783164446515,0.01094100411835345,-0.003681799781950399,-0.00044344939494638045,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9122089843690212,-0.13066211191032706,-1.6216153690940966,0.3631559572585848,1.2000452361892808,-0.1295751952538189,0.5629484540759943,1.8766112503775676,2.184563823170091,2.184563823170091,2.2573600000011314,1,0,-0.00011881479343858891,9.994489544163371e-05
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+42909,1791629326906452382,34510739999999,1791629326905821937,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761980848772902,-0.00484690295505936,0.08853390946138172,0.9999999781764121,5.808298044434745e-05,0.00015626183834003716,8.543210790773848e-05,0.6761,-0.0048,0.08827364147163212,1.0,0.0,0.0,0.0,0.048304561547885226,0.13429201475886157,1.9873977765383322,0.010837349541295074,-0.000656023842116514,0.0006092049945856576,0.07254004243081255,0.12248085291455575,2.041464842605416,0.008850352083764688,-0.0026535020622390623,-0.00054049787642653,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9126675347099288,-0.1643974669137308,-1.7384269036745712,0.39288730592767573,1.270524869046034,-0.15079932177850924,0.5629484540759943,1.9873977765383322,2.3013753577505653,2.3013753577505653,2.5073600000013814,1,0,-0.00018554612451063412,9.175050583032913e-05
+43065,1791629328206414090,34512040000000,1791629328205822178,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761996472408679,-0.004850287001477588,0.08827845104853006,0.9999999784984389,5.692057360546974e-05,0.00015518586216211588,8.440013407865048e-05,0.6761,-0.0048,0.08801275018791402,1.0,0.0,0.0,0.0,0.04952410453218573,0.12540058622833147,2.0471875191319975,0.009836561017030994,-0.001239692266343607,0.0005561903912578511,0.07375958541511306,0.11358942438402565,2.1012545851990816,0.007849563559500608,-0.0032371704864661553,-0.0005935124797543364,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9247081034406184,-0.2829036269367924,-1.7306713588775173,0.4443253597934251,1.2669025502209723,-0.22838182508606614,0.5629484540759943,2.0471875191319975,2.2936198129535117,2.2936198129535117,2.6113600000014854,1,0,-0.00022055690133557094,-9.999999025923074e-05
+43189,1791629329239454236,34513072999999,1791629329233831710,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761972405993545,-0.004859736162179421,0.08802975075125534,0.9999999786623353,5.1572432432585556e-05,0.0001509232701024869,9.316997503642702e-05,0.6761,-0.0048,0.08777055248618602,1.0,0.0,0.0,0.0,0.05050189546648182,0.10884156187247582,2.087179535852716,0.009176407520518836,-0.0016583411078100784,0.0004917425360017978,0.07473737634940915,0.09703040002817,2.1412466019198,0.00718941006298845,-0.0036558193279326266,-0.0006579603350103897,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8427494145950306,-0.26131150389841573,-1.7338084564463598,0.4545327865560017,1.2449368505716925,-0.209961618155154,0.5629484540759943,2.087179535852716,2.296756910522354,2.296756910522354,2.694000000001568,1,0,-0.00025043353290707247,-9.999999025923074e-05
+43313,1791629330273684616,34514107000000,1791629330269821857,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761984145414367,-0.00486053110128122,0.08775531830175044,0.9999999779632204,5.9463783117629944e-05,0.00015153150909376286,9.496674830373878e-05,0.6761,-0.0048,0.08748993236491837,1.0,0.0,0.0,0.0,0.04962537623609949,0.10094976211665532,2.086954227625511,0.008774585426529726,-0.0006375355073979052,0.0005059059346410972,0.07386085711902682,0.0891386002723495,2.141021293692595,0.00678758796899934,-0.0026350137275204535,-0.0006437969363710903,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8471306884242429,-0.23394745043840356,-1.7320598223918153,0.456888212261717,1.2464261193457342,-0.19291632520279642,0.5629484540759943,2.086954227625511,2.2950082764678097,2.2950082764678097,2.7767200000016508,1,0,-0.0002941585052027281,-9.999999025923074e-05
+43416,1791629331131423249,34514964999999,1791629331129831788,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6762010141768705,-0.004863901142754132,0.08749450107384298,0.9999999766518821,6.761931918996217e-05,0.0001560837395641087,9.594057418767139e-05,0.6761,-0.0048,0.08721946784967996,1.0,0.0,0.0,0.0,0.04186997939275091,0.08918512201720577,2.114664956750846,0.007775840448289906,-0.0016372259027995569,0.000454689277553887,0.06610546027567824,0.07737396017289995,2.16873202281793,0.00578884299075952,-0.003634704122922105,-0.0006950135934583006,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7723819194749902,-0.2238229379467825,-1.7100130251199201,0.46433968369413575,1.213824655252058,-0.18742071717558134,0.5629484540759943,2.114664956750846,2.2729614791959145,2.2729614791959145,2.8453600000017194,1,0,-0.0003359936606814592,-9.999999025923074e-05
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+43676,1791629333298434108,34517131999999,1791629333297821737,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761982578435142,-0.004871555299688546,0.0866542560548225,0.9999999762583344,5.915772213365001e-05,0.00015692475840486443,0.00010392872254433094,0.6761,-0.0048,0.08637429672737279,1.0,0.0,0.0,0.0,0.051464232946562306,0.07638036636016761,2.116313324396342,0.0067541318376672975,-0.0016179333256051988,0.00044365570104922794,0.07569971382948963,0.06456920451586179,2.1703803904634262,0.004767134380136912,-0.003615411545727747,-0.0007060471699629596,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7559060163093597,-0.1397122915667606,-1.6646387253539607,0.4677329652535511,1.192180104770396,-0.1375374333320107,0.5629484540759943,2.116313324396342,2.227587179429955,2.227587179429955,3.018720000001893,1,0,-0.00044421273667358117,-9.999999025923074e-05
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+44059,1791629336489418219,34520322999999,1791629336485831118,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761931719401041,-0.004872024485203774,0.08498789535678396,0.9999999755345734,5.26887083474171e-05,0.00015806898739536814,0.00011230232504420964,0.6761,-0.0048,0.08470233168425553,1.0,0.0,0.0,0.0,0.052192019971288965,0.06157385466112231,2.045673056398148,0.005747352615464088,-0.0015889759055843626,0.0004891818496432901,0.07642750085421629,0.04976269281681649,2.099740122465232,0.003760355157933703,-0.003586454125706911,-0.0006605210213688975,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7907741823845161,-0.2066299636124311,-1.628200939035588,0.5235731940286081,1.1766933558344395,-0.16193372868099967,0.5629484540759943,2.045673056398148,2.191149393111582,2.191149393111582,3.274000000002148,1,0,-0.0006037627055907865,-9.999999025923074e-05
+44115,1791629336956329704,34520790000000,1791629336953831709,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761855387286005,-0.004871567919795191,0.08469140739116715,0.9999999779045948,5.341405219501025e-05,0.000145587751403432,0.00010763280197791676,0.6761,-0.0048,0.08441493395180909,1.0,0.0,0.0,0.0,0.058345822538568744,0.06007023954640109,2.018504280862031,0.005778422584869345,-0.0025903061787715103,0.000496270245231832,0.08258130342149607,0.04825907770209526,2.072571346929115,0.003791425127338959,-0.0045877843988940585,-0.0006534326257803556,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9156724588079412,-0.27445541652997196,-1.5551425476211118,0.5436746897234217,1.1662256768699024,-0.21204689213804695,0.5629484540759943,2.018504280862031,2.118091001697106,2.118091001697106,3.3113600000021854,1,0,-0.0006271127010418473,-9.999999025923074e-05
+44167,1791629337389402396,34521223000000,1791629337381831318,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761786712575943,-0.0048747662908119995,0.08440963559424902,0.999999979186472,4.574243668097417e-05,0.00013729963068494298,0.00011011975765638572,0.6761,-0.0048,0.08413871775317322,1.0,0.0,0.0,0.0,0.06235017442896471,0.05606715093325648,1.9853205535470038,0.004764543929575175,-0.0025642500438635037,0.0005120985442038256,0.08658565531189204,0.04425598908895066,2.0393876196140877,0.002777546472044789,-0.004561728263986052,-0.000637604326808362,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8977772144537735,-0.19417504252179377,-1.6191116076488374,0.520798118329588,1.1980409105128198,-0.1546665386541818,0.5629484540759943,1.9853205535470038,2.182060061724832,2.182060061724832,3.34600000000222,1,0,-0.0006487626968240942,-9.999999025923074e-05
+44219,1791629337823305268,34521657000000,1791629337817831642,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761811328102154,-0.0048704843764145744,0.08413469846233773,0.9999999788499544,4.772218457000697e-05,0.00014146493928814176,0.00010701971436039038,0.6761,-0.0048,0.08385245669367104,1.0,0.0,0.0,0.0,0.04418981191833419,0.052497880244883124,1.94408702840383,0.004750436083239042,-0.0017554959780203723,0.000557841401328826,0.06842529280126151,0.040686718400577304,1.998154094470914,0.002763438625708656,-0.0037529741981429205,-0.0005918614696833616,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.974014813134651,-0.2335839112711576,-1.5701933842409872,0.5345340718780837,1.1830085270283865,-0.17777518464911646,0.5629484540759943,1.94408702840383,2.1331418383169813,2.1331418383169813,3.380720000002255,1,0,-0.0006704626925966003,-9.999999025923074e-05
+44270,1791629338248375200,34522082000000,1791629338245831681,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761747430788316,-0.004870837038349598,0.08384034408365283,0.9999999790692704,5.2719630706461695e-05,0.00013441425308243027,0.00011161439183217014,0.6761,-0.0048,0.08356300505019927,1.0,0.0,0.0,0.0,0.05912430644166452,0.04314348666703943,1.90535194652264,0.004777778249566033,-0.0025461182568740403,0.0005759947387032337,0.08335978732459184,0.031332324822733605,1.959419012589724,0.0027907807920356472,-0.0045435964769965885,-0.0005737081323089539,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0216022678335652,-0.23584903031926596,-1.498985033844218,0.5381930047937485,1.1492575220972445,-0.18045770116560056,0.5629484540759943,1.90535194652264,2.0619334879202125,2.0619334879202125,3.414720000002289,1,0,-0.0006917126884567734,-9.999999025923074e-05
+44315,1791629338623400355,34522457000000,1791629338621831366,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761644847564974,-0.004878634742194298,0.08356117641475869,0.9999999807709786,4.5154421646457104e-05,0.00012061305977059282,0.00011538836535302236,0.6761,-0.0048,0.0833001065427147,1.0,0.0,0.0,0.0,0.0463936261184243,0.04929143940065732,1.8743269771437139,0.003737822607261809,-0.0015081065235432443,0.0006038026554147709,0.07062910700135162,0.03748027755635149,1.9283940432107978,0.0017508251497314231,-0.0035055847436657925,-0.0005459002155974166,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0990143526844882,-0.26423170512624833,-1.6324330006604924,0.5316173278356433,1.252699224402453,-0.2017939537954934,0.5629484540759943,1.8743269771437139,2.1953814547364865,2.1953814547364865,3.444720000002319,1,0,-0.0007104626848039849,-9.999999025923074e-05
+44358,1791629338981395746,34522815000000,1791629338977831878,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761592467405048,-0.004873440573557562,0.08329161029619353,0.999999982332888,4.350612694838741e-05,0.00010978194523591486,0.00011327943173375837,0.6761,-0.0048,0.08304256575218083,1.0,0.0,0.0,0.0,0.04488117278780474,0.026951902442254264,1.8241491616485477,0.003760924620010137,-0.0025041830574751974,0.000626000438373245,0.06911665367073207,0.01514074059794844,1.8782162277156316,0.0017739271624797512,-0.004501661277597746,-0.0005237024326389426,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0332839751469869,-0.25145404876213134,-1.445293040796454,0.5314488944613998,1.1137710783744965,-0.19003723026386105,0.5629484540759943,1.8241491616485477,2.0082414948724483,2.0082414948724483,3.4733600000023475,1,0,-0.0007283626813167895,-9.999999025923074e-05
+44402,1791629339348362806,34523182000000,1791629339345831640,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761522686230791,-0.004871014195451323,0.08301577902280992,0.999999983586795,4.2534699304689076e-05,0.00010196055693650055,0.00010983678096491928,0.6761,-0.0048,0.08277189859879534,1.0,0.0,0.0,0.0,0.04519590141055168,0.022688828219997785,1.7713578882776522,0.0027357516350389657,-0.001463573473296175,0.0006806060253247673,0.069431382293479,0.010877666375691961,1.825424954344736,0.0007487541775085796,-0.003461051693418723,-0.0004690968456874202,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1200194055881147,-0.20679963721868772,-1.4654570143338614,0.5201588863493103,1.1469906986965044,-0.15943465901159654,0.5629484540759943,1.7713578882776522,2.0284054684098556,2.0284054684098556,3.502720000002377,1,0,-0.0007467126777419272,-9.999999025923074e-05
+44446,1791629339714349284,34523548000000,1791629339709831033,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761451293198186,-0.004872564855201839,0.08272569090877165,0.9999999841833277,4.305020018373077e-05,9.242770115695398e-05,0.00011260554694066506,0.6761,-0.0048,0.082495262009396,1.0,0.0,0.0,0.0,0.039149979909113876,0.021042422784045434,1.7233885579844936,0.002743720440640351,-0.0014537490404774736,0.0005944559693888431,0.0633854607920412,0.00923126093973961,1.7774556240515775,0.0007567229831099649,-0.003451227260600022,-0.0005552469016233445,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1477225420665378,-0.27737044897756585,-1.4520499458388016,0.5368615079465227,1.1439695148135913,-0.2066234988739333,0.5629484540759943,1.7233885579844936,2.014998399914796,2.014998399914796,3.532000000002406,1,0,-0.0007650126741768057,-9.999999025923074e-05
+44488,1791629340064389114,34523898000000,1791629340061831898,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761289727355433,-0.004872999550894525,0.0824281776409507,0.9999999867562072,3.4529229511800916e-05,6.669408730555536e-05,0.00011086063780690316,0.6761,-0.0048,0.08222445382403244,1.0,0.0,0.0,0.0,0.030919685843035075,0.004856717904112991,1.653621208610336,0.0017368086429181446,-0.0015009313999830081,0.0007560507135110917,0.0551551667259624,-0.006954443940192833,1.7076882746774198,-0.00025018881461224125,-0.0034984096201055564,-0.00039365215750109596,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1934935243064977,-0.10702980108431821,-1.3197728653035248,0.48321011251064844,1.068469412587554,-0.09501810359935631,0.5629484540759943,1.653621208610336,1.882721319379519,1.882721319379519,3.560000000002434,1,0,-0.0007825126707675364,-9.999999025923074e-05
+44526,1791629340381393060,34524214999999,1791629340377822079,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761176544102393,-0.00487786846923444,0.08215534799263124,0.9999999872557936,3.793799704297915e-05,4.53241190839517e-05,0.00011592113572399405,0.6761,-0.0048,0.0819738930078901,1.0,0.0,0.0,0.0,0.029405322903095985,-0.0025396247633602837,1.6022496820776992,0.0007241271386500001,-0.0013887327582970486,0.0007869028529592743,0.05364080378602331,-0.014350786607666107,1.6563167481447831,-0.0012628703188803858,-0.003386210978419597,-0.00036280001805291326,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2262627688437047,-0.22130845053372727,-1.2776995914648803,0.5136731774393383,1.0468828302282451,-0.16988269906538378,0.5629484540759943,1.6022496820776992,1.8406480455408745,1.8406480455408745,3.5853600000024595,1,0,-0.0007983626676797126,-9.999999025923074e-05
+44568,1791629340731390660,34524565000000,1791629340725822366,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761088769866852,-0.00486983928391499,0.08185769908671699,0.9999999884861042,3.823376455548927e-05,3.0800504249134984e-05,0.00010981877846939223,0.6761,-0.0048,0.08169141232480052,1.0,0.0,0.0,0.0,0.03209285465785811,-0.011337860379293612,1.5214597489337338,0.0007453020566040955,-0.0013663923734710762,-0.00010011999682010462,0.05632833554078544,-0.023149022223599436,1.5755268150008177,-0.0012416954009262903,-0.0033638705935936245,-0.0012498228678322922,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.323558700905001,-0.25212718808193707,-1.3921078851636064,0.5170892668444602,1.1430502100894213,-0.19082161032293393,0.5629484540759943,1.5214597489337338,1.9550563392396008,1.9550563392396008,3.6133600000024875,1,0,-0.0008158626642704433,-9.999999025923074e-05
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+44753,1791629342273277600,34526107000000,1791629342269831975,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760595267350896,-0.0048640075821384686,0.08045235878169976,0.9999999882638374,3.648004045945268e-05,-4.3820026579058586e-05,0.00010800093348212708,0.6761,-0.0048,0.08037394655808364,1.0,0.0,0.0,0.0,0.0017479896975209977,-0.03846030197833683,1.1317835859244976,-0.00022854755460905438,-0.0002449659543096311,0.00014074457851196375,0.025983470580448323,-0.05027146382264265,1.1858506519915815,-0.0022155450121394402,-0.0022424441744321793,-0.0010089582925002238,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5545954690334305,-0.23334785523791168,-1.2199373602813892,0.4918123341795636,1.0717895168971066,-0.1808134033740815,0.5629484540759943,1.1317835859244976,1.7828858143573836,1.7828858143573836,3.736720000002611,1,0,-0.0008929626492501771,-9.999999025923074e-05
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+44861,1791629343173373161,34527006999999,1791629343169822368,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760371438118316,-0.004865751264960814,0.07960505586077705,0.9999999888396398,1.3030197122811635e-05,-7.066287756430724e-05,9.273918450193617e-05,0.6761,-0.0048,0.07955005267770787,1.0,0.0,0.0,0.0,-0.017441824462192945,-0.04210194628641989,0.9123452956496926,-0.00023336125325720564,0.0014638945971248772,0.0003414713408728819,0.00679365642073438,-0.05391310813072571,0.9664123617167765,-0.0022203587107875915,-0.0005335836229976712,-0.0008082315301393057,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.6803928907070522,-0.22299616887324702,-0.9034002718617967,0.47801067406910486,0.8869972754843277,-0.18068366048294843,0.5629484540759943,0.9123452956496926,1.466348725937791,1.466348725937791,3.808720000002683,1,0,-0.0009379626404834848,-9.999999025923074e-05
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+44997,1791629344306323937,34528140000000,1791629344305831372,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760111165590424,-0.004864315738211072,0.07846473391731154,0.9999999829878529,3.353271094423989e-05,-0.00011373338701532094,0.00010680558271443926,0.6761,-0.0048,0.07845527711229766,1.0,0.0,0.0,0.0,-0.07933626519811285,-0.1049891114607479,0.6262948757529438,-0.003283407811739107,0.00296536046689939,0.0005517976332892823,-0.05510078431518552,-0.11680027330505371,0.6803619418200277,-0.005270405269269493,0.0009678822467768416,-0.0005979052377229053,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.630187327753921,-0.1974140865051209,-0.541902242535176,0.4343413145771351,0.6300117207847769,-0.17159419902976306,0.5629484540759943,0.6262948757529438,1.1048506966111704,1.1048506966111704,3.8993600000027735,1,0,-0.0009946126294471931,-9.999999025923074e-05
+45033,1791629344606320029,34528440000000,1791629344601831414,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760044392092974,-0.004859574035339371,0.07815462298837439,0.9999999822146051,2.760307498799393e-05,-0.00012437895506446628,0.00010383448237920813,0.6761,-0.0048,0.0781546508239033,1.0,0.0,0.0,0.0,-0.08816818195890902,-0.10994443410540063,0.5656044888418378,-0.004318808155626564,0.004011799931178657,0.000607137635040095,-0.06393270107598169,-0.12175559594970645,0.6196715549089217,-0.00630580561315695,0.002014321711056109,-0.0005425652359720925,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.666623113023658,-0.2423498184331135,-0.6024644327905088,0.43344299641827627,0.6762272872685344,-0.20533839986624772,0.5629484540759943,0.5656044888418378,1.165412886866503,1.165412886866503,3.9233600000027975,1,0,-0.0010096126265249623,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b7df84ee34257cad6c8e05f19b6daf58830ef30
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fdf6d0189811949af20133c3adfe4c2049260651
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+20,1.841666667e+01,DOWN_FORCE_DETACH,1791629331135132509,1.964280555e-04,-1.500415492e-04,-3.390570962e-03,1.963963300e-04,-1.502175053e-04,-3.390215970e-03,1.901903178e-04,-1.501524817e-04,-3.386706673e-03,7.017342995e-01,-1.484905879e-04,8.373503702e-01,7.017342678e-01,-1.486665440e-04,8.373507252e-01,7.019194905e-01,-1.483768701e-04,8.261859710e-01
+21,1.883333333e+01,DOWN_FORCE_DETACH,1791629331933181482,1.971854020e-04,-1.547811049e-04,-3.672588311e-03,1.959986881e-04,-1.523212679e-04,-3.661151892e-03,1.888008376e-04,-1.522385046e-04,-3.657434268e-03,7.017350569e-01,-1.532301436e-04,8.370683529e-01,7.017338702e-01,-1.507703065e-04,8.370797893e-01,7.019181010e-01,-1.504628931e-04,8.259152434e-01
+22,1.920000000e+01,DOWN_FORCE_DETACH,1791629332631147630,1.950186529e-04,-1.558541303e-04,-3.949580010e-03,1.948800505e-04,-1.560662855e-04,-3.949682154e-03,1.866021586e-04,-1.559733321e-04,-3.945651262e-03,7.017328901e-01,-1.543031690e-04,8.367913612e-01,7.017327515e-01,-1.545153242e-04,8.367912590e-01,7.019159024e-01,-1.541977205e-04,8.256270264e-01
+23,1.955000000e+01,DOWN_FORCE_DETACH,1791629333295096215,1.936317564e-04,-1.554756954e-04,-4.226771179e-03,1.934014917e-04,-1.555190400e-04,-4.226643365e-03,1.841135238e-04,-1.553389029e-04,-4.222532403e-03,7.017315032e-01,-1.539247341e-04,8.365141700e-01,7.017312730e-01,-1.539680786e-04,8.365142978e-01,7.019134137e-01,-1.535632914e-04,8.253501453e-01
+24,1.986666667e+01,DOWN_FORCE_DETACH,1791629333897139596,1.956083852e-04,-1.613927823e-04,-4.498270693e-03,1.953116998e-04,-1.613576153e-04,-4.498160490e-03,1.850640460e-04,-1.611569954e-04,-4.493880335e-03,7.017334799e-01,-1.598418210e-04,8.362426705e-01,7.017331832e-01,-1.598066539e-04,8.362427807e-01,7.019143642e-01,-1.593813838e-04,8.250787973e-01
+25,2.015000000e+01,DOWN_FORCE_DETACH,1791629334459310627,1.944462821e-04,-1.495455112e-04,-4.770240810e-03,1.951334806e-04,-1.570228060e-04,-4.754657595e-03,1.840171876e-04,-1.567967419e-04,-4.750342425e-03,7.017323178e-01,-1.479945498e-04,8.359707004e-01,7.017330050e-01,-1.554718446e-04,8.359862836e-01,7.019133174e-01,-1.550211303e-04,8.248223352e-01
+26,2.041666667e+01,DOWN_FORCE_DETACH,1791629334991138939,1.919357558e-04,-1.559662513e-04,-5.052569925e-03,1.908724134e-04,-1.546798649e-04,-5.036160276e-03,1.786265719e-04,-1.544307332e-04,-5.031734939e-03,7.017298072e-01,-1.544152900e-04,8.356883713e-01,7.017287439e-01,-1.531289036e-04,8.357047809e-01,7.019079268e-01,-1.526551217e-04,8.245409427e-01
+27,2.068333333e+01,DOWN_FORCE_DETACH,1791629335527097183,1.922167004e-04,-1.562149756e-04,-5.340315827e-03,1.922753029e-04,-1.549145538e-04,-5.323419818e-03,1.790281450e-04,-1.546529894e-04,-5.319049947e-03,7.017300882e-01,-1.546640143e-04,8.354006254e-01,7.017301468e-01,-1.533635924e-04,8.354175214e-01,7.019083283e-01,-1.528773779e-04,8.242536277e-01
+28,2.093333333e+01,DOWN_FORCE_DETACH,1791629336025115717,1.870666682e-04,-1.629515309e-04,-5.623821102e-03,1.870119661e-04,-1.630797617e-04,-5.623588793e-03,1.725174001e-04,-1.627208105e-04,-5.619132654e-03,7.017249381e-01,-1.614005696e-04,8.351171201e-01,7.017248834e-01,-1.615288004e-04,8.351173524e-01,7.019018176e-01,-1.609451990e-04,8.239535450e-01
+29,2.116666667e+01,DOWN_FORCE_DETACH,1791629336489945429,1.888871785e-04,-1.587066255e-04,-5.894946004e-03,1.888066251e-04,-1.588739892e-04,-5.894861698e-03,1.734286787e-04,-1.586040902e-04,-5.890636609e-03,7.017267587e-01,-1.571556642e-04,8.348459952e-01,7.017266781e-01,-1.573230279e-04,8.348460795e-01,7.019027289e-01,-1.568284786e-04,8.236820410e-01
+30,2.140000000e+01,DOWN_FORCE_DETACH,1791629336955188729,1.815686423e-04,-1.582080759e-04,-6.190893200e-03,1.814324540e-04,-1.580769359e-04,-6.191100629e-03,1.648617327e-04,-1.577831827e-04,-6.186951601e-03,7.017194401e-01,-1.566571146e-04,8.345500480e-01,7.017193039e-01,-1.565259746e-04,8.345498406e-01,7.018941619e-01,-1.560075711e-04,8.233857261e-01
+31,2.161666667e+01,DOWN_FORCE_DETACH,1791629337387121169,1.758813812e-04,-1.605120204e-04,-6.467685716e-03,1.738952299e-04,-1.635719635e-04,-6.449589760e-03,1.561048806e-04,-1.632359578e-04,-6.445630206e-03,7.017137529e-01,-1.589610591e-04,8.342732555e-01,7.017117667e-01,-1.620210022e-04,8.342913514e-01,7.018854051e-01,-1.614603462e-04,8.231270475e-01
+32,2.185000000e+01,DOWN_FORCE_DETACH,1791629337819115584,1.771492552e-04,-1.578468984e-04,-6.742931909e-03,1.768309319e-04,-1.582292014e-04,-6.742739576e-03,1.580645110e-04,-1.578935459e-04,-6.739111382e-03,7.017150207e-01,-1.562959371e-04,8.339980093e-01,7.017147024e-01,-1.566782401e-04,8.339982016e-01,7.018873647e-01,-1.561179343e-04,8.228335663e-01
+33,2.208333333e+01,DOWN_FORCE_DETACH,1791629338251227450,1.698075909e-04,-1.624385902e-04,-7.043225023e-03,1.700200680e-04,-1.624545867e-04,-7.042967202e-03,1.500087828e-04,-1.620400439e-04,-7.039692627e-03,7.017076791e-01,-1.608876289e-04,8.336977162e-01,7.017078915e-01,-1.609036254e-04,8.336979740e-01,7.018793090e-01,-1.602644324e-04,8.225329850e-01
+34,2.226666667e+01,DOWN_FORCE_DETACH,1791629338619142563,1.638863007e-04,-1.615551385e-04,-7.314089460e-03,1.637363529e-04,-1.616439791e-04,-7.313730879e-03,1.425687921e-04,-1.612695353e-04,-7.310573426e-03,7.017017578e-01,-1.600041772e-04,8.334268517e-01,7.017016078e-01,-1.600930177e-04,8.334272103e-01,7.018718690e-01,-1.594939237e-04,8.222621042e-01
+35,2.246666667e+01,DOWN_FORCE_DETACH,1791629338985248776,1.535863577e-04,-1.593331330e-04,-7.595163920e-03,1.532380954e-04,-1.593439831e-04,-7.595065773e-03,1.308208753e-04,-1.590117885e-04,-7.592187475e-03,7.016914578e-01,-1.577821716e-04,8.331457773e-01,7.016911096e-01,-1.577930217e-04,8.331458754e-01,7.018601211e-01,-1.572361769e-04,8.219804902e-01
+36,2.265000000e+01,DOWN_FORCE_DETACH,1791629339351173168,1.461868513e-04,-1.607427782e-04,-7.869941142e-03,1.459537290e-04,-1.607611379e-04,-7.869766277e-03,1.223542637e-04,-1.604222471e-04,-7.867183411e-03,7.016840583e-01,-1.591918169e-04,8.328710000e-01,7.016838252e-01,-1.592101766e-04,8.328711749e-01,7.018516545e-01,-1.586466355e-04,8.217054942e-01
+37,2.285000000e+01,DOWN_FORCE_DETACH,1791629339715369632,1.408445582e-04,-1.592469955e-04,-8.157150452e-03,1.408271821e-04,-1.591698911e-04,-8.157218237e-03,1.160459815e-04,-1.587984896e-04,-8.154980246e-03,7.016787160e-01,-1.576960342e-04,8.325837907e-01,7.016786987e-01,-1.576189298e-04,8.325837230e-01,7.018453462e-01,-1.570228781e-04,8.214176974e-01
+38,2.303333333e+01,DOWN_FORCE_DETACH,1791629340065208969,1.246788581e-04,-1.607951230e-04,-8.457056855e-03,1.244785621e-04,-1.607350100e-04,-8.456938458e-03,9.814345823e-05,-1.603693636e-04,-8.455218100e-03,7.016625503e-01,-1.592441617e-04,8.322838843e-01,7.016623500e-01,-1.591840487e-04,8.322840027e-01,7.018274437e-01,-1.585937520e-04,8.211174596e-01
+39,2.320000000e+01,DOWN_FORCE_DETACH,1791629340381234481,1.133696486e-04,-1.645506096e-04,-8.727493369e-03,1.128826748e-04,-1.647066706e-04,-8.727417610e-03,8.526335830e-05,-1.644063592e-04,-8.725833730e-03,7.016512411e-01,-1.629996482e-04,8.320134478e-01,7.016507542e-01,-1.631557092e-04,8.320135236e-01,7.018145636e-01,-1.626307476e-04,8.208468439e-01
+40,2.338333333e+01,DOWN_FORCE_DETACH,1791629340732442146,1.065695295e-04,-1.541661044e-04,-9.018067540e-03,1.062889842e-04,-1.543467771e-04,-9.017911470e-03,7.743580028e-05,-1.540792289e-04,-9.016756894e-03,7.016444410e-01,-1.526151430e-04,8.317228736e-01,7.016441605e-01,-1.527958157e-04,8.317230297e-01,7.018067360e-01,-1.523036173e-04,8.205559208e-01
+41,2.355000000e+01,DOWN_FORCE_DETACH,1791629341047249263,9.229340680e-05,-1.544190239e-04,-9.310516389e-03,9.214504764e-05,-1.545087892e-04,-9.310520927e-03,6.179130614e-05,-1.542214694e-04,-9.309794392e-03,7.016301649e-01,-1.528680625e-04,8.314304248e-01,7.016300165e-01,-1.529578279e-04,8.314304203e-01,7.017910915e-01,-1.524458579e-04,8.202628833e-01
+42,2.371666667e+01,DOWN_FORCE_DETACH,1791629341347126904,7.699303148e-05,-1.553947081e-04,-9.588150363e-03,7.679882586e-05,-1.553791588e-04,-9.587866689e-03,4.501025675e-05,-1.552791923e-04,-9.587570822e-03,7.016148645e-01,-1.538437468e-04,8.311527908e-01,7.016146703e-01,-1.538281975e-04,8.311530745e-01,7.017743105e-01,-1.535035808e-04,8.199851068e-01
+43,2.386666667e+01,DOWN_FORCE_DETACH,1791629341645182465,6.540802917e-05,-1.531764756e-04,-9.867475762e-03,6.504644098e-05,-1.531304015e-04,-9.867522539e-03,3.195127332e-05,-1.531656691e-04,-9.867394689e-03,7.016032795e-01,-1.516255143e-04,8.308734654e-01,7.016029179e-01,-1.515794402e-04,8.308734186e-01,7.017612515e-01,-1.513900575e-04,8.197052830e-01
+44,2.403333333e+01,DOWN_FORCE_DETACH,1791629341961405143,6.023629751e-05,-1.504475286e-04,-1.014269562e-02,5.852831198e-05,-1.515254107e-04,-1.012938649e-02,2.426898152e-05,-1.518012968e-04,-1.012958378e-02,7.015981078e-01,-1.488965672e-04,8.305982456e-01,7.015963998e-01,-1.499744494e-04,8.306115547e-01,7.017535692e-01,-1.500256852e-04,8.194430939e-01
+45,2.420000000e+01,DOWN_FORCE_DETACH,1791629342277178325,5.297397375e-05,-1.524783024e-04,-1.043472214e-02,5.281008222e-05,-1.526738251e-04,-1.043459669e-02,1.734904120e-05,-1.531698948e-04,-1.043497305e-02,7.015908455e-01,-1.509273411e-04,8.303062190e-01,7.015906816e-01,-1.511228638e-04,8.303063445e-01,7.017466492e-01,-1.513942833e-04,8.191377046e-01
+46,2.435000000e+01,DOWN_FORCE_DETACH,1791629342579224316,4.526836527e-05,-1.566338185e-04,-1.071360381e-02,4.501402355e-05,-1.565783897e-04,-1.071351666e-02,8.404447656e-06,-1.573543378e-04,-1.071406449e-02,7.015831398e-01,-1.550828572e-04,8.300273374e-01,7.015828855e-01,-1.550274284e-04,8.300274245e-01,7.017377046e-01,-1.555787263e-04,8.188586132e-01
+47,2.450000000e+01,DOWN_FORCE_DETACH,1791629342877725544,3.610557644e-05,-1.544050678e-04,-1.100216380e-02,3.588631155e-05,-1.544256455e-04,-1.100239799e-02,-1.980931090e-06,-1.552828714e-04,-1.100305783e-02,7.015739771e-01,-1.528541065e-04,8.297387774e-01,7.015737578e-01,-1.528746842e-04,8.297385432e-01,7.017273193e-01,-1.535072598e-04,8.185696198e-01
+48,2.465000000e+01,DOWN_FORCE_DETACH,1791629343175149128,3.443302737e-05,-1.500015356e-04,-1.127766038e-02,3.401019091e-05,-1.500600175e-04,-1.127753512e-02,-4.839431708e-06,-1.509631333e-04,-1.127824744e-02,7.015723045e-01,-1.484505743e-04,8.294632808e-01,7.015718817e-01,-1.485090562e-04,8.294634061e-01,7.017244608e-01,-1.491875218e-04,8.182944302e-01
+49,2.480000000e+01,DOWN_FORCE_DETACH,1791629343479335470,2.724996007e-05,-1.549934640e-04,-1.157581653e-02,2.708355372e-05,-1.547124079e-04,-1.157576653e-02,-1.294250103e-05,-1.556236335e-04,-1.157652991e-02,7.015651214e-01,-1.534425026e-04,8.291651247e-01,7.015649550e-01,-1.531614466e-04,8.291651747e-01,7.017163577e-01,-1.538480220e-04,8.179961477e-01
+50,2.493333333e+01,DOWN_FORCE_DETACH,1791629343741170418,1.793270574e-05,-1.516931163e-04,-1.183942803e-02,1.765727242e-05,-1.517369173e-04,-1.183930286e-02,-2.356004699e-05,-1.526586490e-04,-1.184011887e-02,7.015558042e-01,-1.501421549e-04,8.289015132e-01,7.015555288e-01,-1.501859560e-04,8.289016383e-01,7.017057402e-01,-1.508830375e-04,8.177325588e-01
+51,2.508333333e+01,DOWN_FORCE_DETACH,1791629344039162740,1.163588534e-05,-1.527723232e-04,-1.214528602e-02,1.147230894e-05,-1.529285911e-04,-1.214510066e-02,-3.084973240e-05,-1.538456489e-04,-1.214585056e-02,7.015495074e-01,-1.512213619e-04,8.285956552e-01,7.015493438e-01,-1.513776298e-04,8.285958405e-01,7.016984505e-01,-1.520700373e-04,8.174268271e-01
+52,2.521666667e+01,DOWN_FORCE_DETACH,1791629344307297857,6.831797434e-06,-1.509978785e-04,-1.241810744e-02,6.624641050e-06,-1.509192911e-04,-1.241791825e-02,-3.675443703e-05,-1.518080639e-04,-1.241875815e-02,7.015447033e-01,-1.494469172e-04,8.283228337e-01,7.015444961e-01,-1.493683298e-04,8.283230229e-01,7.016925458e-01,-1.500324524e-04,8.171539195e-01
+53,2.536666667e+01,DOWN_FORCE_DETACH,1791629344605189945,1.696630769e-07,-1.466544591e-04,-1.272798043e-02,2.200056747e-07,-1.472274984e-04,-1.272788837e-02,-4.433713485e-05,-1.481168442e-04,-1.272869067e-02,7.015380411e-01,-1.451034978e-04,8.280129608e-01,7.015380915e-01,-1.456765371e-04,8.280130528e-01,7.016849631e-01,-1.463412326e-04,8.168439870e-01
+54,2.548333333e+01,DOWN_FORCE_DETACH,1791629344839192308,-1.059229655e-05,-1.535425371e-04,-1.297584128e-02,-1.077242999e-05,-1.534145057e-04,-1.297550302e-02,-5.645376835e-05,-1.543088410e-04,-1.297630564e-02,7.015272792e-01,-1.519915758e-04,8.277650999e-01,7.015270991e-01,-1.518635444e-04,8.277654382e-01,7.016728464e-01,-1.525332295e-04,8.165963720e-01
+55,2.561666667e+01,DOWN_FORCE_DETACH,1791629345107186991,-6.539673982e-06,-1.408550410e-04,-1.325463223e-02,-6.810436090e-06,-1.407513308e-04,-1.325442632e-02,-5.324787749e-05,-1.415654073e-04,-1.325524445e-02,7.015313318e-01,-1.393040797e-04,8.274863090e-01,7.015310610e-01,-1.392003694e-04,8.274865149e-01,7.016760523e-01,-1.397897958e-04,8.163174332e-01
+56,2.575000000e+01,DOWN_FORCE_DETACH,1791629345371166439,-1.833418769e-05,-1.440976857e-04,-1.354372469e-02,-1.855033271e-05,-1.438566322e-04,-1.354372017e-02,-6.625121434e-05,-1.446937920e-04,-1.354456286e-02,7.015195373e-01,-1.425467244e-04,8.271972165e-01,7.015193211e-01,-1.423056709e-04,8.271972210e-01,7.016630490e-01,-1.429181805e-04,8.160281148e-01
+57,2.588333333e+01,DOWN_FORCE_DETACH,1791629345639180398,-1.470030897e-05,-1.374930781e-04,-1.382014244e-02,-1.484916199e-05,-1.374162864e-04,-1.382001906e-02,-6.337581475e-05,-1.382347687e-04,-1.382084792e-02,7.015231712e-01,-1.359421168e-04,8.269207987e-01,7.015230223e-01,-1.358653251e-04,8.269209221e-01,7.016659244e-01,-1.364591571e-04,8.157518297e-01
+58,2.603333333e+01,DOWN_FORCE_DETACH,1791629345903167179,-1.784081264e-05,-1.390530202e-04,-1.411047756e-02,-1.826846964e-05,-1.392875361e-04,-1.411059211e-02,-6.780816972e-05,-1.400781530e-04,-1.411141645e-02,7.015200307e-01,-1.375020588e-04,8.266304636e-01,7.015196030e-01,-1.377365747e-04,8.266303491e-01,7.016614920e-01,-1.383025414e-04,8.154612612e-01
+59,2.633333333e+01,DOWN_SETTLE,1791629346485192052,-3.004477034e-05,-1.245713220e-04,-1.438632952e-02,-2.720597882e-05,-1.283272933e-04,-1.437083429e-02,-7.781239061e-05,-1.290439868e-04,-1.437172904e-02,7.015078267e-01,-1.230203607e-04,8.263546117e-01,7.015106655e-01,-1.267763319e-04,8.263701069e-01,7.016514878e-01,-1.272683753e-04,8.152009486e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e67130be27848f8d24f6a605a7e04ab3d71c93e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/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,-3.6359e-03,1.8854e-03,2.4543e+00,-3.6945e-02,3.6533e-02,-2.2662e-05,1.2499e-04,-3.8735e-06,8.3447e-05,-1.3784e-07,8.8587e-06,-2.6316e-07,1.5034e-04,8.8637e-06
+1,1.1167e+00,DOWN_FORCE_DETACH,2.8694e-04,3.5002e-03,1.4300e-02,2.4801e+00,-3.7826e-02,3.7016e-02,-2.3501e-05,7.2611e-03,1.2410e-02,2.5902e-02,-8.8169e-04,4.9154e-04,-1.1022e-06,2.9625e-02,1.0095e-03
+2,1.9333e+00,DOWN_FORCE_DETACH,5.6576e-04,-7.2155e-04,1.5283e-02,2.5142e+00,-3.7886e-02,3.6687e-02,-2.6306e-05,3.0393e-03,1.3394e-02,5.9927e-02,-9.4169e-04,1.6281e-04,-3.9074e-06,6.1481e-02,9.5567e-04
+3,2.6667e+00,DOWN_FORCE_DETACH,8.5604e-04,-5.1702e-03,1.9630e-02,2.5398e+00,-3.8156e-02,3.6349e-02,-2.1537e-05,-1.4093e-03,1.7741e-02,8.5518e-02,-1.2115e-03,-1.7460e-04,8.6196e-07,8.7350e-02,1.2240e-03
+4,3.6833e+00,DOWN_FORCE_DETACH,1.1411e-03,3.3512e-03,2.4241e-02,2.5272e+00,-3.8450e-02,3.6955e-02,-9.2136e-06,7.1121e-03,2.2352e-02,7.3007e-02,-1.5054e-03,4.3046e-04,1.3185e-05,7.6682e-02,1.5658e-03
+5,4.8833e+00,DOWN_FORCE_DETACH,1.4290e-03,1.0960e-02,2.4257e-02,2.5003e+00,-3.8481e-02,3.7512e-02,5.9986e-06,1.4720e-02,2.2368e-02,4.6024e-02,-1.5363e-03,9.8826e-04,2.8397e-05,5.3247e-02,1.8270e-03
+6,5.9500e+00,DOWN_FORCE_DETACH,1.7166e-03,1.3127e-02,2.4007e-02,2.5040e+00,-3.8460e-02,3.7661e-02,1.2253e-05,1.6888e-02,2.2118e-02,4.9763e-02,-1.5150e-03,1.1370e-03,3.4652e-05,5.7016e-02,1.8945e-03
+7,7.1167e+00,DOWN_FORCE_DETACH,2.0021e-03,1.1230e-02,2.5712e-02,2.5056e+00,-3.8542e-02,3.7527e-02,1.3678e-05,1.4990e-02,2.3823e-02,5.1327e-02,-1.5976e-03,1.0027e-03,3.6076e-05,5.8538e-02,1.8866e-03
+8,8.2167e+00,DOWN_FORCE_DETACH,2.2852e-03,1.2567e-02,2.9134e-02,2.5073e+00,-3.8738e-02,3.7622e-02,1.5562e-05,1.6328e-02,2.7244e-02,5.3109e-02,-1.7934e-03,1.0976e-03,3.7961e-05,6.1883e-02,2.1030e-03
+9,9.2833e+00,DOWN_FORCE_DETACH,2.5712e-03,1.2885e-02,3.0267e-02,2.5048e+00,-3.8803e-02,3.7646e-02,2.0279e-05,1.6646e-02,2.8377e-02,5.0592e-02,-1.8584e-03,1.1221e-03,4.2677e-05,6.0348e-02,2.1713e-03
+10,1.0350e+01,DOWN_FORCE_DETACH,2.8585e-03,1.2634e-02,3.0322e-02,2.5073e+00,-3.8825e-02,3.7626e-02,2.2556e-05,1.6395e-02,2.8433e-02,5.3086e-02,-1.8800e-03,1.1015e-03,4.4955e-05,6.2413e-02,2.1794e-03
+11,1.1483e+01,DOWN_FORCE_DETACH,3.1409e-03,1.3336e-02,2.9318e-02,2.5124e+00,-3.8770e-02,3.7667e-02,1.6368e-05,1.7097e-02,2.7429e-02,5.8149e-02,-1.8253e-03,1.1434e-03,3.8767e-05,6.6528e-02,2.1542e-03
+12,1.2567e+01,DOWN_FORCE_DETACH,3.4313e-03,1.3937e-02,3.0227e-02,2.5234e+00,-3.8828e-02,3.7699e-02,1.2734e-05,1.7698e-02,2.8338e-02,6.9213e-02,-1.8838e-03,1.1747e-03,3.5133e-05,7.6855e-02,2.2203e-03
+13,1.3650e+01,DOWN_FORCE_DETACH,3.7179e-03,1.5450e-02,3.3479e-02,2.5254e+00,-3.9044e-02,3.7809e-02,1.3541e-05,1.9210e-02,3.1590e-02,7.1155e-02,-2.0996e-03,1.2853e-03,3.5940e-05,8.0188e-02,2.4620e-03
+14,1.4617e+01,DOWN_FORCE_DETACH,4.0019e-03,1.4461e-02,3.7947e-02,2.5240e+00,-3.9314e-02,3.7738e-02,1.2320e-05,1.8222e-02,3.6057e-02,6.9765e-02,-2.3693e-03,1.2141e-03,3.4719e-05,8.0618e-02,2.6625e-03
+15,1.5483e+01,DOWN_FORCE_DETACH,4.2867e-03,1.4685e-02,4.0105e-02,2.5372e+00,-3.9460e-02,3.7728e-02,1.1515e-06,1.8446e-02,3.8216e-02,8.3007e-02,-2.5149e-03,1.2035e-03,2.3550e-05,9.3224e-02,2.7881e-03
+16,1.6233e+01,DOWN_FORCE_DETACH,4.5689e-03,1.6062e-02,4.2582e-02,2.5603e+00,-3.9609e-02,3.7803e-02,-5.2036e-06,1.9823e-02,4.0693e-02,1.0609e-01,-2.6643e-03,1.2791e-03,1.7195e-05,1.1535e-01,2.9555e-03
+17,1.6883e+01,DOWN_FORCE_DETACH,4.8618e-03,1.5498e-02,4.5493e-02,2.5801e+00,-3.9750e-02,3.7749e-02,-2.0229e-05,1.9258e-02,4.3604e-02,1.2591e-01,-2.8057e-03,1.2248e-03,2.1698e-06,1.3464e-01,3.0614e-03
+18,1.7417e+01,DOWN_FORCE_DETACH,5.1428e-03,1.8189e-02,5.1084e-02,2.6035e+00,-4.0068e-02,3.7913e-02,-2.5134e-05,2.1950e-02,4.9195e-02,1.4929e-01,-3.1237e-03,1.3887e-03,-2.7350e-06,1.5871e-01,3.4185e-03
+19,1.7950e+01,DOWN_FORCE_DETACH,5.4336e-03,1.7408e-02,4.8158e-02,2.6117e+00,-3.9841e-02,3.7843e-02,-2.9613e-05,2.1169e-02,4.6269e-02,1.5749e-01,-2.8963e-03,1.3192e-03,-7.2140e-06,1.6550e-01,3.1826e-03
+20,1.8417e+01,DOWN_FORCE_DETACH,5.7123e-03,1.7253e-02,5.1091e-02,2.6235e+00,-3.9994e-02,3.7823e-02,-3.2439e-05,2.1014e-02,4.9202e-02,1.6925e-01,-3.0495e-03,1.2990e-03,-1.0041e-05,1.7751e-01,3.3146e-03
+21,1.8833e+01,DOWN_FORCE_DETACH,6.0041e-03,1.7791e-02,5.2906e-02,2.6446e+00,-4.0055e-02,3.7840e-02,-3.8417e-05,2.1552e-02,5.1017e-02,1.9033e-01,-3.1100e-03,1.3157e-03,-1.6019e-05,1.9822e-01,3.3769e-03
+22,1.9200e+01,DOWN_FORCE_DETACH,6.2923e-03,1.7974e-02,5.4388e-02,2.6495e+00,-4.0115e-02,3.7838e-02,-4.4222e-05,2.1735e-02,5.2499e-02,1.9528e-01,-3.1709e-03,1.3140e-03,-2.1823e-05,2.0338e-01,3.4324e-03
+23,1.9550e+01,DOWN_FORCE_DETACH,6.5761e-03,1.8432e-02,5.6619e-02,2.6570e+00,-4.0202e-02,3.7861e-02,-5.2931e-05,2.2193e-02,5.4730e-02,2.0280e-01,-3.2575e-03,1.3371e-03,-3.0532e-05,2.1123e-01,3.5214e-03
+24,1.9867e+01,DOWN_FORCE_DETACH,6.8572e-03,1.8614e-02,5.7810e-02,2.6633e+00,-4.0234e-02,3.7864e-02,-5.9998e-05,2.2375e-02,5.5920e-02,2.0909e-01,-3.2889e-03,1.3397e-03,-3.7599e-05,2.1759e-01,3.5515e-03
+25,2.0150e+01,DOWN_FORCE_DETACH,7.1365e-03,1.8837e-02,5.8670e-02,2.6787e+00,-4.0251e-02,3.7865e-02,-5.7082e-05,2.2598e-02,5.6781e-02,2.2448e-01,-3.3067e-03,1.3407e-03,-3.4683e-05,2.3265e-01,3.5683e-03
+26,2.0417e+01,DOWN_FORCE_DETACH,7.4255e-03,2.0358e-02,5.9047e-02,2.6873e+00,-4.0210e-02,3.7967e-02,-5.2997e-05,2.4118e-02,5.7158e-02,2.3311e-01,-3.2652e-03,1.4434e-03,-3.0598e-05,2.4123e-01,3.5702e-03
+27,2.0683e+01,DOWN_FORCE_DETACH,7.7165e-03,1.9436e-02,5.8445e-02,2.6861e+00,-4.0149e-02,3.7897e-02,-5.2530e-05,2.3197e-02,5.6555e-02,2.3188e-01,-3.2048e-03,1.3729e-03,-3.0132e-05,2.3980e-01,3.4866e-03
+28,2.0933e+01,DOWN_FORCE_DETACH,8.0056e-03,2.0090e-02,5.9491e-02,2.6719e+00,-4.0167e-02,3.7956e-02,-6.6656e-05,2.3851e-02,5.7602e-02,2.1770e-01,-3.2226e-03,1.4315e-03,-4.4257e-05,2.2645e-01,3.5265e-03
+29,2.1167e+01,DOWN_FORCE_DETACH,8.2801e-03,1.9439e-02,6.0974e-02,2.6745e+00,-4.0236e-02,3.7912e-02,-6.1900e-05,2.3200e-02,5.9084e-02,2.2028e-01,-3.2918e-03,1.3875e-03,-3.9502e-05,2.2924e-01,3.5725e-03
+30,2.1400e+01,DOWN_FORCE_DETACH,8.5810e-03,2.0740e-02,6.0208e-02,2.6686e+00,-4.0179e-02,3.7999e-02,-6.0631e-05,2.4500e-02,5.8319e-02,2.1442e-01,-3.2345e-03,1.4751e-03,-3.8233e-05,2.2355e-01,3.5552e-03
+31,2.1617e+01,DOWN_FORCE_DETACH,8.8600e-03,2.1450e-02,6.2898e-02,2.6608e+00,-4.0312e-02,3.8054e-02,-5.6167e-05,2.5211e-02,6.1009e-02,2.0659e-01,-3.3671e-03,1.5300e-03,-3.3768e-05,2.1688e-01,3.6985e-03
+32,2.1850e+01,DOWN_FORCE_DETACH,9.1375e-03,1.9361e-02,6.1330e-02,2.6420e+00,-4.0217e-02,3.7927e-02,-5.5823e-05,2.3122e-02,5.9441e-02,1.8776e-01,-3.2726e-03,1.4028e-03,-3.3424e-05,1.9830e-01,3.5607e-03
+33,2.2083e+01,DOWN_FORCE_DETACH,9.4396e-03,1.7989e-02,6.2470e-02,2.6302e+00,-4.0261e-02,3.7846e-02,-6.4417e-05,2.1750e-02,6.0581e-02,1.7594e-01,-3.3160e-03,1.3224e-03,-4.2018e-05,1.8734e-01,3.5702e-03
+34,2.2267e+01,DOWN_FORCE_DETACH,9.7119e-03,1.9713e-02,6.4594e-02,2.6277e+00,-4.0409e-02,3.7963e-02,-6.4629e-05,2.3474e-02,6.2705e-02,1.7347e-01,-3.4641e-03,1.4392e-03,-4.2230e-05,1.8594e-01,3.7514e-03
+35,2.2467e+01,DOWN_FORCE_DETACH,9.9971e-03,1.9066e-02,6.1910e-02,2.6138e+00,-4.0227e-02,3.7929e-02,-6.2272e-05,2.2827e-02,6.0021e-02,1.5959e-01,-3.2823e-03,1.4048e-03,-3.9873e-05,1.7202e-01,3.5705e-03
+36,2.2650e+01,DOWN_FORCE_DETACH,1.0276e-02,1.7780e-02,6.1815e-02,2.6009e+00,-4.0210e-02,3.7852e-02,-3.7488e-05,2.1541e-02,5.9925e-02,1.4664e-01,-3.2653e-03,1.3282e-03,-1.5089e-05,1.5987e-01,3.5251e-03
+37,2.2850e+01,DOWN_FORCE_DETACH,1.0565e-02,1.4392e-02,6.2345e-02,2.5787e+00,-4.0220e-02,3.7644e-02,-5.5165e-05,1.8153e-02,6.0455e-02,1.2446e-01,-3.2754e-03,1.1195e-03,-3.2766e-05,1.3955e-01,3.4616e-03
+38,2.3033e+01,DOWN_FORCE_DETACH,1.0867e-02,1.5602e-02,6.1112e-02,2.5644e+00,-4.0165e-02,3.7741e-02,-5.6835e-05,1.9363e-02,5.9222e-02,1.1017e-01,-3.2206e-03,1.2165e-03,-3.4436e-05,1.2656e-01,3.4429e-03
+39,2.3200e+01,DOWN_FORCE_DETACH,1.1140e-02,1.4864e-02,5.6940e-02,2.5549e+00,-3.9942e-02,3.7697e-02,-5.3330e-05,1.8625e-02,5.5051e-02,1.0065e-01,-2.9974e-03,1.1730e-03,-3.0931e-05,1.1622e-01,3.2189e-03
+40,2.3383e+01,DOWN_FORCE_DETACH,1.1434e-02,1.2470e-02,5.4769e-02,2.5297e+00,-3.9822e-02,3.7555e-02,-3.0692e-05,1.6231e-02,5.2880e-02,7.5509e-02,-2.8772e-03,1.0313e-03,-8.2936e-06,9.3602e-02,3.0565e-03
+41,2.3550e+01,DOWN_FORCE_DETACH,1.1729e-02,8.1306e-03,5.5833e-02,2.5186e+00,-3.9863e-02,3.7271e-02,-4.1721e-05,1.1891e-02,5.3944e-02,6.4346e-02,-2.9185e-03,7.4707e-04,-1.9322e-05,8.4804e-02,3.0126e-03
+42,2.3717e+01,DOWN_FORCE_DETACH,1.2008e-02,7.4653e-03,4.6609e-02,2.4927e+00,-3.9397e-02,3.7249e-02,-4.9349e-05,1.1226e-02,4.4720e-02,3.8476e-02,-2.4524e-03,7.2442e-04,-2.6950e-05,6.0052e-02,2.5573e-03
+43,2.3867e+01,DOWN_FORCE_DETACH,1.2290e-02,5.9246e-03,4.2606e-02,2.4876e+00,-3.9159e-02,3.7148e-02,-3.7797e-05,9.6855e-03,4.0717e-02,3.3340e-02,-2.2140e-03,6.2430e-04,-1.5399e-05,5.3509e-02,2.3004e-03
+44,2.4033e+01,DOWN_FORCE_DETACH,1.2567e-02,3.5193e-03,3.1706e-02,2.4773e+00,-3.8568e-02,3.7003e-02,-2.4432e-05,7.2802e-03,2.9817e-02,2.3062e-02,-1.6232e-03,4.7922e-04,-2.0329e-06,3.8391e-02,1.6924e-03
+45,2.4200e+01,DOWN_FORCE_DETACH,1.2861e-02,1.6765e-03,2.1171e-02,2.4689e+00,-3.7970e-02,3.6885e-02,-4.5812e-06,5.4374e-03,1.9282e-02,1.4668e-02,-1.0255e-03,3.6089e-04,1.7818e-05,2.4829e-02,1.0873e-03
+46,2.4350e+01,DOWN_FORCE_DETACH,1.3143e-02,1.4728e-03,9.4540e-03,2.4578e+00,-3.7344e-02,3.6882e-02,-1.1830e-05,5.2336e-03,7.5647e-03,3.5713e-03,-3.9889e-04,3.5821e-04,1.0569e-05,9.8676e-03,5.3623e-04
+47,2.4500e+01,DOWN_FORCE_DETACH,1.3434e-02,5.3145e-04,2.9408e-03,2.4553e+00,-3.6947e-02,3.6820e-02,-3.4795e-06,4.2923e-03,1.0515e-03,1.0905e-03,-1.9185e-06,2.9590e-04,1.8919e-05,4.5518e-03,2.9651e-04
+48,2.4650e+01,DOWN_FORCE_DETACH,1.3710e-02,3.2685e-07,2.9980e-06,2.4525e+00,-3.6788e-02,3.6787e-02,-5.7001e-09,3.7612e-03,-1.8862e-03,-1.7359e-03,1.5682e-04,2.6341e-04,2.2393e-05,4.5517e-03,3.0738e-04
+49,2.4800e+01,DOWN_FORCE_DETACH,1.4010e-02,0.0000e+00,5.9961e-13,2.4525e+00,-3.6788e-02,3.6787e-02,4.4759e-15,3.7609e-03,-1.8892e-03,-1.7326e-03,1.5714e-04,2.6339e-04,2.2399e-05,4.5514e-03,3.0752e-04
+50,2.4933e+01,DOWN_FORCE_DETACH,1.4275e-02,0.0000e+00,4.7325e-15,2.4525e+00,-3.6788e-02,3.6787e-02,6.3089e-18,3.7609e-03,-1.8892e-03,-1.7326e-03,1.5714e-04,2.6339e-04,2.2399e-05,4.5514e-03,3.0752e-04
+51,2.5083e+01,DOWN_FORCE_DETACH,1.4582e-02,0.0000e+00,4.7199e-15,2.4525e+00,-3.6788e-02,3.6787e-02,6.3417e-18,3.7609e-03,-1.8892e-03,-1.7326e-03,1.5714e-04,2.6339e-04,2.2399e-05,4.5514e-03,3.0752e-04
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c8dee94ba0ee18239a5a5763192268faf4cf139
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dfb9c9b763e9487de51a50f5a4772fec12ea3b7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe141f6d0903ced1df710d542b40c2c77e4aadda
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+54,4.033333333e+00,UP_FORCE_HOLD,1791629290553299287,-6.744035999e-05,-7.523833572e-05,3.257268837e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.784286340e-05,-7.229225420e-05,3.184870125e-04,7.014704311e-01,-7.368737440e-05,8.410666681e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614573e-01,-7.051664770e-05,8.298911646e-01
+55,4.083333333e+00,UP_FORCE_HOLD,1791629290651223329,-7.052846381e-05,-7.217852226e-05,3.229409100e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.784458373e-05,-7.229222638e-05,3.185153713e-04,7.014673430e-01,-7.062756094e-05,8.410638821e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614556e-01,-7.051661988e-05,8.298911930e-01
+56,4.183333333e+00,UP_FORCE_HOLD,1791629290819429974,-7.107086495e-05,-7.177434330e-05,3.255235158e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.784805690e-05,-7.229206636e-05,3.185670628e-04,7.014668006e-01,-7.022338198e-05,8.410664647e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614521e-01,-7.051645987e-05,8.298912447e-01
+57,4.316666667e+00,UP_FORCE_HOLD,1791629291083309971,-7.164995718e-05,-7.672870318e-05,3.283295662e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.785268786e-05,-7.229201025e-05,3.186286816e-04,7.014662215e-01,-7.517774186e-05,8.410692708e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614475e-01,-7.051640376e-05,8.298913063e-01
+58,4.383333333e+00,UP_FORCE_HOLD,1791629291219326301,-6.915191091e-05,-7.294060245e-05,3.354332668e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.785493710e-05,-7.229198774e-05,3.186569557e-04,7.014687196e-01,-7.138964113e-05,8.410763745e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614452e-01,-7.051638124e-05,8.298913346e-01
+59,4.466666667e+00,UP_SETTLE,1791629291383255878,-7.160469133e-05,-6.934455664e-05,3.346968166e-04,-6.757330151e-05,-7.226866939e-05,3.191709722e-04,-6.785770777e-05,-7.229198183e-05,3.186902439e-04,7.014662668e-01,-6.779359532e-05,8.410756380e-01,7.014702982e-01,-7.071770807e-05,8.410601122e-01,7.016614424e-01,-7.051637534e-05,8.298913678e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..334e5588df2160663a96ec7ac317d9db1eefd527
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_06/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,-3.6388e-03,1.8853e-03,2.4543e+00,-3.6945e-02,3.6533e-02,-2.2653e-05,1.3064e-04,-6.0545e-06,7.9632e-05,3.7253e-08,9.2126e-06,-2.4457e-07,1.5311e-04,9.2160e-06
+1,5.0000e-02,UP_FORCE_RAMP,1.8873e-05,-3.2541e-03,1.8687e-03,2.4545e+00,-3.6945e-02,3.6560e-02,-2.3371e-05,5.1536e-04,-2.2705e-05,3.1567e-04,4.8429e-08,3.6325e-05,-9.6257e-07,6.0478e-04,3.6338e-05
+2,1.5000e-01,UP_FORCE_RAMP,4.0402e-05,-2.5103e-03,1.8385e-03,2.4550e+00,-3.6945e-02,3.6612e-02,-2.4720e-05,1.2591e-03,-5.2827e-05,7.7415e-04,-4.0978e-08,8.8625e-05,-2.3107e-06,1.4790e-03,8.8655e-05
+3,2.5000e-01,UP_FORCE_RAMP,5.5626e-05,-1.8127e-03,1.8150e-03,2.4555e+00,-3.6945e-02,3.6661e-02,-2.5996e-05,1.9567e-03,-7.6322e-05,1.2236e-03,-4.9919e-07,1.3766e-04,-3.5874e-06,2.3090e-03,1.3771e-04
+4,3.0000e-01,UP_FORCE_RAMP,7.6841e-05,-1.4783e-03,1.8046e-03,2.4557e+00,-3.6946e-02,3.6685e-02,-2.6600e-05,2.2912e-03,-8.6812e-05,1.4427e-03,-7.7114e-07,1.6115e-04,-4.1914e-06,2.7089e-03,1.6121e-04
+5,3.6667e-01,UP_FORCE_RAMP,9.2490e-05,2.6904e-05,8.4578e-03,2.4568e+00,-3.7411e-02,3.6790e-02,-2.1637e-05,3.7963e-03,6.5664e-03,2.5322e-03,-4.6569e-04,2.6648e-04,7.7206e-07,7.9964e-03,5.3654e-04
+6,5.1667e-01,UP_FORCE_RAMP,1.1233e-04,8.0379e-04,8.2166e-03,2.4573e+00,-3.7397e-02,3.6845e-02,-2.3524e-05,4.5732e-03,6.3252e-03,3.0358e-03,-4.5202e-04,3.2114e-04,-1.1147e-06,8.3749e-03,5.5449e-04
+7,6.1667e-01,UP_FORCE_RAMP,1.3188e-04,1.3113e-03,8.1526e-03,2.4576e+00,-3.7394e-02,3.6880e-02,-2.4627e-05,5.0807e-03,6.2613e-03,3.3717e-03,-4.4947e-04,3.5673e-04,-2.2177e-06,8.7399e-03,5.7383e-04
+8,7.1667e-01,UP_FORCE_RAMP,1.5053e-04,1.7950e-03,8.1132e-03,2.4579e+00,-3.7393e-02,3.6914e-02,-2.5645e-05,5.5645e-03,6.2218e-03,3.6988e-03,-4.4851e-04,3.9063e-04,-3.2358e-06,9.1299e-03,5.9478e-04
+9,8.1667e-01,UP_FORCE_RAMP,1.6688e-04,2.7473e-03,1.4357e-02,2.4543e+00,-3.7831e-02,3.6984e-02,-2.1298e-05,6.5168e-03,1.2466e-02,8.5831e-05,-8.8619e-04,4.6081e-04,1.1111e-06,1.4067e-02,9.9884e-04
+10,9.0000e-01,UP_FORCE_RAMP,1.8866e-04,3.0968e-03,1.4237e-02,2.4549e+00,-3.7824e-02,3.7009e-02,-2.2307e-05,6.8662e-03,1.2346e-02,6.6280e-04,-8.7933e-04,4.8518e-04,1.0193e-07,1.4143e-02,1.0043e-03
+11,9.8333e-01,UP_FORCE_RAMP,2.0589e-04,3.0210e-03,1.5957e-02,2.4476e+00,-3.7947e-02,3.7009e-02,-2.1441e-05,6.7905e-03,1.4065e-02,-6.6526e-03,-1.0018e-03,4.8536e-04,9.6820e-07,1.6976e-02,1.1132e-03
+12,1.0500e+00,UP_FORCE_RAMP,2.2487e-04,3.3025e-03,1.5860e-02,2.4488e+00,-3.7941e-02,3.7028e-02,-2.2370e-05,7.0720e-03,1.3968e-02,-5.4750e-03,-9.9634e-04,5.0488e-04,3.8453e-08,1.6586e-02,1.1170e-03
+13,1.1167e+00,UP_FORCE_RAMP,2.4245e-04,3.5863e-03,1.5817e-02,2.4496e+00,-3.7939e-02,3.7048e-02,-2.3094e-05,7.3557e-03,1.3926e-02,-4.6773e-03,-9.9437e-04,5.2443e-04,-6.8550e-07,1.6429e-02,1.1242e-03
+14,1.2167e+00,UP_FORCE_RAMP,2.6225e-04,4.2165e-03,1.8188e-02,2.4432e+00,-3.8108e-02,3.7097e-02,-2.2034e-05,7.9860e-03,1.6296e-02,-1.1057e-02,-1.1628e-03,5.7394e-04,3.7478e-07,2.1251e-02,1.2968e-03
+15,1.3000e+00,UP_FORCE_RAMP,2.8024e-04,4.5218e-03,1.8109e-02,2.4447e+00,-3.8104e-02,3.7118e-02,-2.3022e-05,8.2912e-03,1.6218e-02,-9.5797e-03,-1.1587e-03,5.9477e-04,-6.1289e-07,2.0580e-02,1.3024e-03
+16,1.3833e+00,UP_FORCE_RAMP,2.9733e-04,4.8139e-03,1.8078e-02,2.4459e+00,-3.8103e-02,3.7138e-02,-2.3770e-05,8.5834e-03,1.6187e-02,-8.3613e-03,-1.1577e-03,6.1460e-04,-1.3615e-06,2.0139e-02,1.3107e-03
+17,1.4500e+00,UP_FORCE_RAMP,3.1792e-04,5.5079e-03,1.7039e-02,2.4386e+00,-3.8033e-02,3.7193e-02,-2.5030e-05,9.2774e-03,1.5147e-02,-1.5637e-02,-1.0879e-03,6.6930e-04,-2.6212e-06,2.3665e-02,1.2773e-03
+18,1.5333e+00,UP_FORCE_RAMP,3.3350e-04,5.7565e-03,1.7043e-02,2.4404e+00,-3.8034e-02,3.7209e-02,-2.5960e-05,9.5260e-03,1.5152e-02,-1.3844e-02,-1.0892e-03,6.8593e-04,-3.5508e-06,2.2627e-02,1.2872e-03
+19,1.6500e+00,UP_FORCE_RAMP,3.5597e-04,5.9724e-03,1.8944e-02,2.4358e+00,-3.8170e-02,3.7229e-02,-2.5370e-05,9.7419e-03,1.7053e-02,-1.8453e-02,-1.2249e-03,7.0528e-04,-2.9610e-06,2.6949e-02,1.4135e-03
+20,1.7000e+00,UP_FORCE_RAMP,3.7293e-04,6.1425e-03,1.8929e-02,2.4369e+00,-3.8169e-02,3.7240e-02,-2.5820e-05,9.9120e-03,1.7038e-02,-1.7323e-02,-1.2244e-03,7.1657e-04,-3.4109e-06,2.6241e-02,1.4187e-03
+21,1.8000e+00,UP_FORCE_RAMP,3.9397e-04,6.0493e-03,2.0309e-02,2.4308e+00,-3.8269e-02,3.7239e-02,-2.5444e-05,9.8187e-03,1.8418e-02,-2.3471e-02,-1.3242e-03,7.1537e-04,-3.0351e-06,3.1409e-02,1.5050e-03
+22,1.8667e+00,UP_FORCE_RAMP,4.0733e-04,6.3043e-03,2.0287e-02,2.4325e+00,-3.8268e-02,3.7256e-02,-2.6042e-05,1.0074e-02,1.8396e-02,-2.1700e-02,-1.3232e-03,7.3221e-04,-3.6334e-06,3.0179e-02,1.5123e-03
+23,1.9667e+00,UP_FORCE_RAMP,4.3025e-04,7.8878e-03,1.8472e-02,2.4277e+00,-3.8144e-02,3.7372e-02,-2.8583e-05,1.1657e-02,1.6580e-02,-2.6486e-02,-1.1990e-03,8.4809e-04,-6.1740e-06,3.3351e-02,1.4687e-03
+24,2.0167e+00,UP_FORCE_RAMP,4.5442e-04,8.0097e-03,1.8489e-02,2.4292e+00,-3.8145e-02,3.7379e-02,-2.9027e-05,1.1779e-02,1.6597e-02,-2.5017e-02,-1.2004e-03,8.5581e-04,-6.6180e-06,3.2250e-02,1.4742e-03
+25,2.0333e+00,UP_FORCE_RAMP,4.7569e-04,8.0527e-03,1.8493e-02,2.4297e+00,-3.8146e-02,3.7382e-02,-2.9155e-05,1.1822e-02,1.6602e-02,-2.4555e-02,-1.2007e-03,8.5853e-04,-6.7457e-06,3.1911e-02,1.4761e-03
+26,2.0667e+00,UP_FORCE_RAMP,4.8524e-04,1.9987e-02,2.1824e-02,2.4354e+00,-3.8377e-02,3.8220e-02,-2.8096e-05,2.3757e-02,1.9933e-02,-1.8868e-02,-1.4319e-03,1.6960e-03,-5.6871e-06,3.6300e-02,2.2197e-03
+27,2.1500e+00,UP_FORCE_RAMP,5.0586e-04,1.8975e-02,2.1746e-02,2.4369e+00,-3.8373e-02,3.8147e-02,-2.9239e-05,2.2744e-02,1.9854e-02,-1.7319e-02,-1.4277e-03,1.6239e-03,-6.8304e-06,3.4806e-02,2.1622e-03
+28,2.2167e+00,UP_FORCE_RAMP,5.2491e-04,1.8573e-02,2.1742e-02,2.4382e+00,-3.8373e-02,3.8118e-02,-2.9866e-05,2.2343e-02,1.9851e-02,-1.6065e-02,-1.4279e-03,1.5946e-03,-7.4574e-06,3.3931e-02,2.1405e-03
+29,2.2667e+00,UP_FORCE_RAMP,5.3905e-04,2.2552e-02,2.2551e-02,2.4324e+00,-3.8431e-02,3.8403e-02,-2.9981e-05,2.6321e-02,2.0659e-02,-2.1800e-02,-1.4857e-03,1.8798e-03,-7.5726e-06,3.9936e-02,2.3960e-03
+30,2.3333e+00,UP_FORCE_RAMP,5.6131e-04,2.1963e-02,2.2519e-02,2.4344e+00,-3.8429e-02,3.8361e-02,-3.1110e-05,2.5732e-02,2.0628e-02,-1.9862e-02,-1.4839e-03,1.8373e-03,-8.7008e-06,3.8499e-02,2.3617e-03
+31,2.4000e+00,UP_FORCE_RAMP,5.7765e-04,2.1540e-02,2.2519e-02,2.4359e+00,-3.8429e-02,3.8330e-02,-3.1879e-05,2.5310e-02,2.0628e-02,-1.8350e-02,-1.4839e-03,1.8066e-03,-9.4697e-06,3.7454e-02,2.3379e-03
+32,2.4833e+00,UP_FORCE_RAMP,5.9920e-04,2.2388e-02,2.1488e-02,2.4293e+00,-3.8359e-02,3.8396e-02,-3.3852e-05,2.6158e-02,1.9597e-02,-2.4940e-02,-1.4142e-03,1.8721e-03,-1.1443e-05,4.1113e-02,2.3463e-03
+33,2.5500e+00,UP_FORCE_RAMP,6.1786e-04,2.2154e-02,2.1672e-02,2.4223e+00,-3.8373e-02,3.8383e-02,-3.4323e-05,2.5923e-02,1.9780e-02,-3.1918e-02,-1.4279e-03,1.8600e-03,-1.1914e-05,4.5629e-02,2.3449e-03
+34,2.6000e+00,UP_FORCE_RAMP,6.3252e-04,2.1958e-02,2.1651e-02,2.4243e+00,-3.8371e-02,3.8370e-02,-3.5054e-05,2.5728e-02,1.9759e-02,-2.9887e-02,-1.4267e-03,1.8464e-03,-1.2645e-05,4.4109e-02,2.3334e-03
+35,2.6667e+00,UP_FORCE_RAMP,6.5464e-04,2.1667e-02,2.1649e-02,2.4265e+00,-3.8371e-02,3.8348e-02,-3.5817e-05,2.5436e-02,1.9758e-02,-2.7727e-02,-1.4257e-03,1.8246e-03,-1.3409e-05,4.2499e-02,2.3156e-03
+36,2.7333e+00,UP_FORCE_RAMP,6.7031e-04,2.2201e-02,2.3158e-02,2.4206e+00,-3.8477e-02,3.8391e-02,-3.5247e-05,2.5971e-02,2.1267e-02,-3.3596e-02,-1.5325e-03,1.8673e-03,-1.2838e-05,4.7492e-02,2.4156e-03
+37,2.7833e+00,UP_FORCE_RAMP,6.8999e-04,2.1987e-02,2.3133e-02,2.4224e+00,-3.8475e-02,3.8375e-02,-3.5850e-05,2.5757e-02,2.1242e-02,-3.1821e-02,-1.5300e-03,1.8512e-03,-1.3442e-05,4.6121e-02,2.4017e-03
+38,2.8667e+00,UP_FORCE_RAMP,7.1100e-04,2.2785e-02,2.4078e-02,2.4166e+00,-3.8542e-02,3.8435e-02,-3.5889e-05,2.6555e-02,2.2187e-02,-3.7647e-02,-1.5970e-03,1.9119e-03,-1.3481e-05,5.1134e-02,2.4912e-03
+39,2.9333e+00,UP_FORCE_RAMP,7.2813e-04,2.2476e-02,2.4005e-02,2.4194e+00,-3.8536e-02,3.8412e-02,-3.6737e-05,2.6246e-02,2.2113e-02,-3.4858e-02,-1.5909e-03,1.8888e-03,-1.4328e-05,4.8917e-02,2.4696e-03
+40,3.0000e+00,UP_FORCE_RAMP,7.4594e-04,2.2226e-02,2.3986e-02,2.4216e+00,-3.8533e-02,3.8393e-02,-3.7441e-05,2.5996e-02,2.2094e-02,-3.2586e-02,-1.5883e-03,1.8695e-03,-1.5033e-05,4.7178e-02,2.4532e-03
+41,3.0500e+00,UP_FORCE_RAMP,7.6591e-04,2.2491e-02,2.3691e-02,2.4153e+00,-3.8514e-02,3.8417e-02,-3.8020e-05,2.6261e-02,2.1800e-02,-3.8901e-02,-1.5691e-03,1.8931e-03,-1.5612e-05,5.1751e-02,2.4589e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..caf6058b974a902774798d056ec3915d7c9400d3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1888516ab49fc825f068ad79fa3362cfb5fae3b9
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/fem_node.csv
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+59,2.816667e+01,2829,6.949366e-01,1.752919e-02,8.216160e-01,1.348040e-05,-1.514061e-04,-1.481878e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2830,6.939167e-01,1.673386e-02,8.138392e-01,1.780918e-05,-1.814762e-04,-1.474107e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2831,6.968650e-01,1.512773e-02,8.108930e-01,-1.493483e-04,-3.503494e-04,-1.478706e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2832,6.932498e-01,1.869055e-02,8.110792e-01,-7.098307e-09,-1.696768e-04,-1.470442e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2833,6.983431e-01,1.616483e-02,8.064478e-01,-1.135949e-04,-1.754253e-04,-1.472983e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2834,6.942477e-01,1.755203e-02,8.097130e-01,-2.059529e-05,-1.649540e-04,-1.469839e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2835,6.969352e-01,1.588868e-02,8.215485e-01,-3.833567e-05,-1.862535e-04,-1.479759e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2836,6.952363e-01,1.652045e-02,8.203131e-01,-2.698457e-06,-1.642638e-04,-1.480494e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2837,6.975875e-01,1.765598e-02,8.050996e-01,-1.095138e-04,-1.480742e-04,-1.470063e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2838,6.986146e-01,1.680556e-02,8.053354e-01,-1.149549e-04,-1.520274e-04,-1.471091e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2839,6.927097e-01,1.894352e-02,8.157976e-01,2.605297e-05,-1.682694e-04,-1.475499e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2840,7.004218e-01,1.880850e-02,8.266455e-01,-2.727567e-05,-1.554034e-04,-1.482778e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2841,6.961130e-01,1.649635e-02,8.081288e-01,-6.923441e-05,-1.707937e-04,-1.470357e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2842,6.932640e-01,1.755052e-02,8.145787e-01,3.616621e-05,-1.720920e-04,-1.474564e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.816667e+01,2843,6.996455e-01,1.702393e-02,8.046181e-01,-1.269297e-04,-1.512773e-04,-1.471469e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3dfdf8d7972fe1d7e43b120a820cff8732d1b543
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/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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+47775,1791629367395244315,34551229000000,1791629367389831603,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6760068902352923,-0.0047661586587390515,0.09076756820971475,0.9999999811817732,8.460250859805113e-05,-0.00013536373578571336,5.998659837042512e-05,0.6761,-0.0048,0.09084580567945601,1.0,0.0,0.0,0.0,0.1313710828901982,0.09234142209030988,0.10911968270114855,0.006356205151688834,-0.009260925675521517,-0.0001164087606858996,0.1556065637731255,0.08053026024600406,0.16318674876823244,0.0043692076941584486,-0.011258403895644066,-0.0012661116316980872,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.23196891760333352,-0.1386020357651215,0.7617844259002627,0.23970660912169225,-0.4270942284986543,-0.1664154300932467,0.5629484540759943,0.10911968270114855,-0.1988359718242685,-0.1988359718242685,0.19871999999999326,0,0,-0.00012419997604959233,-9.999999025923074e-05
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+49491,1791629381695243771,34565529000000,1791629381689831570,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761215275036019,-0.004798299670801989,0.08988428855894927,0.9999999908976861,6.889846984769847e-05,4.48734557373284e-05,5.3729563313933694e-05,0.6761,-0.0048,0.08975479706354084,1.0,0.0,0.0,0.0,0.10651180061594798,0.1727986417578283,1.1956643150321862,0.013178198280277713,-0.005569819585940459,0.00017347350591466373,0.1307472814988753,0.16098747991352247,1.24973138109927,0.011191200822747327,-0.007567297806063007,-0.0009762293650975238,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6941353030544023,-0.20333689171931746,-0.7098566586706305,0.35543028548798994,0.587210787950606,-0.1871514841582529,0.5629484540759943,1.1956643150321862,1.272805112746625,1.272805112746625,1.3427200000002166,1,0,-7.048822753677608e-05,8.11702885724685e-05
+49746,1791629383820243112,34567654000000,1791629383817822172,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761347725767851,-0.004803252050831787,0.08975777044987684,0.9999999897282988,7.167371553857539e-05,6.368427419417731e-05,5.285317818503943e-05,0.6761,-0.0048,0.0896044188448566,1.0,0.0,0.0,0.0,0.08724350603892486,0.18448374676287516,1.326404408811057,0.01414768812661857,-0.004621982236105027,9.246331014685924e-05,0.11147898692185218,0.17267258491856932,1.3804714748781408,0.012160690669088184,-0.0066194604562275754,-0.0010572395608653283,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7192268392118943,-0.09632726174907955,-0.8244543248551889,0.33448309638909585,0.6605074573907452,-0.11082866196555849,0.5629484540759943,1.326404408811057,1.3874027789311831,1.3874027789311831,1.5127200000003866,1,0,-7.235769505373047e-05,-9.999969882568677e-05
+50018,1791629386086244342,34569920000000,1791629386081831429,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761523245929839,-0.004799839486125331,0.0896245234864478,0.9999999872849403,7.619888061052405e-05,9.112160931226354e-05,5.256963524476208e-05,0.6761,-0.0048,0.08943907857066029,1.0,0.0,0.0,0.0,0.077120930274644,0.19639222688975957,1.477214602047539,0.015112620097471727,-0.0036606773247971503,1.4320557738094816e-05,0.10135641115757134,0.18458106504545374,1.5312816681146229,0.013125622639941341,-0.0056581555449196986,-0.0011353823132740927,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7759891514722876,-0.06846929602590672,-1.0590269857435366,0.3222383269569265,0.8196316795335065,-0.09562220439228056,0.5629484540759943,1.477214602047539,1.621975439819531,1.621975439819531,1.694000000000568,1,0,-7.071014713058853e-05,9.999999025923074e-05
+50258,1791629388086243330,34571920000000,1791629388081831259,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761608830476874,-0.004799520395176404,0.0894952339543545,0.9999999871267375,6.514821405053588e-05,0.0001020281020982446,5.035241557586876e-05,0.6761,-0.0048,0.08929475222369264,1.0,0.0,0.0,0.0,0.08567255361867357,0.20075218066089276,1.598081216913225,0.01508013521469348,-0.0036925290505195,0.000921660681582697,0.10990803450160089,0.18894101881658693,1.652148282980309,0.013093137757163094,-0.005690007270642048,-0.00022804218942949056,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8199215255530613,-0.06340767584628552,-1.2802169346556744,0.3261447927337786,0.9713779722138054,-0.09161573679731339,0.5629484540759943,1.598081216913225,1.8431653887316686,1.8431653887316686,1.854000000000728,1,0,-7.593257682761567e-05,9.520675500607751e-05
+50525,1791629390311243731,34574144999999,1791629390309821659,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761752105463775,-0.004802567116484801,0.08934953902578524,0.9999999836587283,6.967452414495033e-05,0.00012565590008767514,5.90039224966653e-05,0.6761,-0.0048,0.08912150754241986,1.0,0.0,0.0,0.0,0.07272168538495596,0.19775071498591337,1.7483750770826665,0.01502453528722384,-0.0027110095188780632,0.000820102307438209,0.0969571662678833,0.18593955314160754,1.8024421431497504,0.013037537829693455,-0.0047084877390006115,-0.0003296005635739786,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8690800584087036,-0.16042138876120302,-1.3682243528105065,0.3626269407309943,1.0356406609112125,-0.15212848997390743,0.5629484540759943,1.7483750770826665,1.9311728068865008,1.9311728068865008,2.032000000000906,1,0,-7.773780654786972e-05,-2.9534827713680723e-05
+50789,1791629392511244267,34576345000000,1791629392509831492,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761877798533021,-0.00480694980814404,0.08917867793078797,0.9999999810238266,7.278897891925547e-05,0.0001427875126733381,6.089910993894696e-05,0.6761,-0.0048,0.08893675807941454,1.0,0.0,0.0,0.0,0.06587082636614058,0.19339042751428842,1.88929192114281,0.016016986476771543,-0.00275966369335166,0.0007168112184074325,0.09010630724906792,0.1815792656699826,1.943358987209894,0.014029989019241159,-0.004757141913474208,-0.0004328916526047551,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9036472936725604,-0.18044439891675754,-1.5837374843194054,0.3766259271965251,1.1764268840931527,-0.16460384884195967,0.5629484540759943,1.88929192114281,2.1466859383954,2.1466859383954,2.208000000001082,1,0,-8.569385715331978e-05,7.9951485736035e-05
+51040,1791629394603253339,34578437000000,1791629394597831340,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761973786764155,-0.004815625045261867,0.08899647135076752,0.9999999785692814,7.560198443759637e-05,0.00015547351516897198,6.645771029769001e-05,0.6761,-0.0048,0.08873835146734824,1.0,0.0,0.0,0.0,0.06487123532640085,0.19809209186384824,2.0117586891042616,0.015966790747657948,-0.0017731565351839498,0.0006334582194448345,0.08910671620932818,0.1862809300195424,2.0658257551713457,0.013979793290127562,-0.003770634755306498,-0.000516244651567353,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9153525962318666,-0.2215094997417153,-1.6786988599857189,0.40000072174703283,1.2372006335963714,-0.18724959813394734,0.5629484540759943,2.0117586891042616,2.241647314061713,2.241647314061713,2.3753600000012494,1,0,-0.00010274212798421246,-4.270728047895569e-05
+51263,1791629396461243585,34580295000000,1791629396457831383,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762058477170676,-0.0048209239933103285,0.0888135340076979,0.9999999762492504,7.35577224737396e-05,0.00017067617938951616,6.63571118963033e-05,0.6761,-0.0048,0.08853661962145475,1.0,0.0,0.0,0.0,0.051032489751279296,0.1977988794077703,2.119177649968625,0.015946668474168015,-0.0017960141101201442,0.0005450135011750402,0.07526797063420662,0.18598771756346447,2.173244716035709,0.013959671016637627,-0.0037934923302426924,-0.0006046893698371474,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9382490652910711,-0.1023679172957361,-1.749904480023002,0.37793416789953177,1.2849069311063066,-0.10930600686123941,0.5629484540759943,2.119177649968625,2.3128529340989963,2.3128529340989963,2.524000000001398,1,0,-0.00011975273350314642,-9.894641636443708e-05
+51470,1791629398186243993,34582019999999,1791629398185831318,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762107554345429,-0.004826050786606855,0.08859475975410666,0.999999974817942,7.475809230755765e-05,0.00017628705207932164,7.170134397269745e-05,0.6761,-0.0048,0.08831017095439142,1.0,0.0,0.0,0.0,0.05626193380159313,0.19156629745849688,2.1898445297901064,0.014912651790177043,-0.00179233746641213,0.00047704416466238305,0.08049741468452046,0.17975513561419104,2.2439115958571905,0.012925654332646657,-0.0037898156865346783,-0.0006726587063498045,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9330927596178602,-0.11785755936500172,-1.8007214274188905,0.394844465936099,1.3153530421561925,-0.11781348408940111,0.5629484540759943,2.1898445297901064,2.363669881494885,2.363669881494885,2.662000000001536,1,0,-0.00014642350037594033,-9.99993796365672e-05
+51639,1791629399595244148,34583428999999,1791629399593831133,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762145537149088,-0.004832925731409244,0.08837557728555519,0.9999999743233493,6.892959377228188e-05,0.00018162172822518472,7.112259868992954e-05,0.6761,-0.0048,0.08808269144353824,1.0,0.0,0.0,0.0,0.05641063565109664,0.17983499937261713,2.258324547095225,0.01387990825738499,-0.0017872973780486499,0.00041422138020071574,0.08064611653402397,0.1680238375283113,2.3123916131623092,0.011892910799854604,-0.003784775598171198,-0.0007354814908114718,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8581235971013378,-0.13305403318986897,-1.9698098814860436,0.41070950462003525,1.4001166613389942,-0.12609455596377098,0.5629484540759943,2.258324547095225,2.532758335562038,2.532758335562038,2.7747200000016488,1,0,-0.00017789625350181216,-8.231713507911848e-05
+51794,1791629400886245076,34584720000000,1791629400885821210,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762169571261198,-0.004838646547499313,0.08812563235997208,0.9999999741898421,6.0301488491617915e-05,0.00018329883732028638,7.634426149954058e-05,0.6761,-0.0048,0.08783210701306213,1.0,0.0,0.0,0.0,0.0477171479630508,0.17341826038985114,2.3198381508522607,0.01385748429653666,-0.0017998176851279283,0.00035936279085415105,0.07195262884597813,0.1616070985455453,2.373905216919345,0.011870486839006274,-0.0037972959052504766,-0.0007903400801580365,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9293268807406674,-0.10426195656376377,-2.066153044026284,0.40978164140228784,1.4807032392987123,-0.10652868637829752,0.5629484540759943,2.3198381508522607,2.629101498102278,2.629101498102278,2.878000000001752,1,0,-0.0002072928209264927,5.770596086940856e-05
+51942,1791629402120244234,34585953999999,1791629402117821571,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762174642830449,-0.004839804407601247,0.08784145007164677,0.9999999746277213,5.758461710786368e-05,0.00018081374515061723,7.859912707833051e-05,0.6761,-0.0048,0.08754933748042461,1.0,0.0,0.0,0.0,0.05816744300211491,0.16136925918711956,2.3395206935541513,0.012840906012606427,-0.0017848249878954824,0.0003333043559535932,0.08240292388504224,0.14955809734281372,2.3935877596212354,0.010853908555076041,-0.0037823032080180306,-0.0008163985150585944,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8790602465517194,-0.2745476338307049,-1.9743300595441031,0.47517225558520365,1.4069760732535113,-0.22018221729427795,0.5629484540759943,2.3395206935541513,2.5372785136200973,2.5372785136200973,2.9767200000018508,1,0,-0.0002530664218000896,-9.999942126993062e-05
+52066,1791629403153243501,34586987000000,1791629403145821844,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762195834037888,-0.004842825171437298,0.08756811718899643,0.9999999719804283,8.011937594866259e-05,0.00018434843358778992,8.413410511132144e-05,0.6761,-0.0048,0.08726292099330467,1.0,0.0,0.0,0.0,0.061852950373485795,0.15901540043403567,2.368906482247959,0.011806686178204346,-0.0017778000539864936,0.0012423738464986955,0.08608843125641312,0.14720423858972984,2.422973548315043,0.00981968872067396,-0.003775278274109042,9.267097548650791e-05,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8343520162627391,-0.15067658694859026,-1.9194215554087968,0.45928267825159735,1.3649536648840583,-0.134900803303606,0.5629484540759943,2.368906482247959,2.482370009484791,2.482370009484791,3.0593600000019334,1,0,-0.00030186647098226347,-9.999999025923074e-05
+52173,1791629404045243821,34587879000000,1791629404041831639,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762281084940965,-0.004846263106924689,0.08729371566228104,0.9999999698022696,6.079900150496526e-05,0.00020099568940163288,8.799169671882209e-05,0.6761,-0.0048,0.08697462087956404,1.0,0.0,0.0,0.0,0.05742878861192303,0.16020463042580063,2.381497449973099,0.011811197070776203,-0.001776586008541498,0.00028979641259561863,0.08166426949485035,0.1483934685814948,2.4355645160401833,0.009824199613245817,-0.003774064228664046,-0.0008599064584165689,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.809330348433328,-0.2041043908655741,-1.9769053801941667,0.48884493188759354,1.3969903587395902,-0.16956127369485693,0.5629484540759943,2.381497449973099,2.539853834270161,2.539853834270161,3.130720000002005,1,0,-0.0003453015353330465,-9.999999025923074e-05
+52266,1791629404820243252,34588654000000,1791629404817821802,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762253364786207,-0.0048496871529766904,0.08700847349150538,0.9999999667416986,9.940950322809541e-05,0.0001993691767860044,9.126416664292778e-05,0.6761,-0.0048,0.0866921900019197,1.0,0.0,0.0,0.0,0.05853230996977967,0.14463727644324853,2.3949117870245833,0.01180714752387293,-0.002137265038884887,0.0010712225537770246,0.082767790852707,0.1328261145989427,2.4489788530916674,0.009820150066342544,-0.004134743259007435,-7.848031723516296e-05,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8075167375484557,-0.23369931851629377,-2.046837060451396,0.5044028120637668,1.444003868666285,-0.1854236841926196,0.5629484540759943,2.3949117870245833,2.60978551452739,2.60978551452739,3.192720000002067,1,0,-0.00038379201787039206,-9.999999025923074e-05
+52353,1791629405545243173,34589379000000,1791629405541831392,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762232751463697,-0.004847704776682441,0.08671780636984258,0.9999999695590129,7.70506149753277e-05,0.00019521490419830372,9.099000861539354e-05,0.6761,-0.0048,0.0864008182915272,1.0,0.0,0.0,0.0,0.05866735964756493,0.1303968662840526,2.399759375340388,0.010796830871291447,-0.0021606457991294467,0.0002434006026401734,0.08290284053049225,0.11858570443974677,2.453826441407472,0.008809833413761061,-0.004158124019251995,-0.0009063022683720142,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7686735385004537,-0.12566658481880055,-1.9211675271483954,0.48078822816049605,1.3569787860400928,-0.11795733077516501,0.5629484540759943,2.399759375340388,2.48411598122439,2.48411598122439,3.250720000002125,1,0,-0.00042004201080833434,-9.999999025923074e-05
+52437,1791629406245245809,34590078999999,1791629406241831503,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762295180713229,-0.004850313240897469,0.08642716373105282,0.9999999688201601,5.3736684814989325e-05,0.000206922066605821,8.998983468783675e-05,0.6761,-0.0048,0.08609455638635126,1.0,0.0,0.0,0.0,0.07459725769532138,0.13783312100272913,2.401853612767209,0.010814411969424344,-0.0027718995331454197,0.0007275117635245224,0.09883273857824872,0.1260219591584233,2.455920678834293,0.008827414511893958,-0.004769377753267968,-0.0004221911074876652,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7944987285265034,-0.16201086259685737,-1.9893202894874642,0.5026034485499903,1.4111227552796162,-0.1425020314016154,0.5629484540759943,2.401853612767209,2.5522687435634586,2.5522687435634586,3.306720000002181,1,0,-0.00045504200398979586,-9.999999025923074e-05
+52513,1791629406878244140,34590712000000,1791629406877831144,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.676230083891399,-0.004850081680625556,0.08613177568355014,0.9999999670091542,7.261206615342101e-05,0.00020958085959022903,9.070780709439193e-05,0.6761,-0.0048,0.08579651339978031,1.0,0.0,0.0,0.0,0.07106643104344953,0.13790793640626536,2.3990102891951612,0.010813407813661738,-0.00277211251070192,0.00024344346803617707,0.09530191192637685,0.12609677456195953,2.4530773552622454,0.008826410356131352,-0.004769590730824468,-0.0009062594029760105,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8188625480184792,-0.16186159705420397,-1.9239556173353751,0.503808512344954,1.380280675939663,-0.14277033744904116,0.5629484540759943,2.3990102891951612,2.4869040714113693,2.4869040714113693,3.3573600000022314,1,0,-0.0004866919978238889,-9.999999025923074e-05
+52581,1791629407445243144,34591279000000,1791629407437831186,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762262959158859,-0.004849855386415145,0.08583953482648862,0.9999999689197896,5.703684699325995e-05,0.0002049606812700469,9.133017941859303e-05,0.6761,-0.0048,0.0855125359885827,1.0,0.0,0.0,0.0,0.076597358573056,0.13429928364299573,2.4093282716441826,0.010812076158328923,-0.0027740604393393003,0.00024057604566576853,0.10083283945598333,0.12248812179868991,2.4633953377112667,0.008825078700798537,-0.0047715386594618485,-0.000909126825346419,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.833347773043892,-0.12467332198205289,-1.9574357166099972,0.5017963862636733,1.4084058676813178,-0.11380779658522289,0.5629484540759943,2.4093282716441826,2.5203841706859915,2.5203841706859915,3.402720000002277,1,0,-0.0005150419923008728,-9.999999025923074e-05
+52649,1791629408011243812,34591845000000,1791629408009821840,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762278681357843,-0.00485194862066755,0.08554388663663667,0.999999966029043,7.476658973516113e-05,0.0002115180281839441,9.515701837088004e-05,0.6761,-0.0048,0.08521302747250342,1.0,0.0,0.0,0.0,0.0681223499170219,0.13438725375314384,2.3788195532673004,0.009798331651708224,-0.0027488875597508266,0.000295981991424136,0.09235783079994923,0.122576091908838,2.4328866193343845,0.007811334194177838,-0.004746365779873375,-0.0008537208795880516,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8068922684746647,-0.1479281355466504,-1.8091394594846946,0.513891742765804,1.3053125559633942,-0.12826500925317108,0.5629484540759943,2.3788195532673004,2.372087913560689,2.372087913560689,3.448000000002322,1,0,-0.0005433419867875974,-9.999999025923074e-05
+52712,1791629408536243651,34592370000000,1791629408533831108,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762243417398047,-0.004855502583595969,0.08525407899937619,0.9999999681418816,6.0070241844351205e-05,0.000206240841223748,9.494936232331363e-05,0.6761,-0.0048,0.08492089543078489,1.0,0.0,0.0,0.0,0.06803920765046426,0.1282704807688207,2.3684914783331883,0.009799164455738064,-0.002745827859484443,0.00026097823275788906,0.09227468853339157,0.11645931892451487,2.4225585444002724,0.0078121669982076794,-0.004743306079606991,-0.0008887246382542985,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8771970044832289,-0.1855326628598727,-2.009554125480169,0.5237010527034144,1.4527392066107896,-0.15547809702439694,0.5629484540759943,2.3684914783331883,2.572502579556163,2.572502579556163,3.490000000002364,1,0,-0.0005695919816736935,-9.999999025923074e-05
+52768,1791629409003243126,34592837000000,1791629408997831447,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762202715119098,-0.004858305932943813,0.08498103167999833,0.999999968180682,6.604403344573783e-05,0.00020227448376523328,9.901877676659864e-05,0.6761,-0.0048,0.08464945542640773,1.0,0.0,0.0,0.0,0.07756009219152188,0.11325861709734444,2.34451075852836,0.009829650297581021,-0.003753066525655822,0.00026873940455894303,0.1017955730744492,0.10144745525303862,2.3985778245954443,0.007842652840050635,-0.00575054474577837,-0.0008809634664532445,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8965238624132613,-0.15371056157494906,-1.8458414880716323,0.5246025773740516,1.3541446293160324,-0.1276420187509975,0.5629484540759943,2.34451075852836,2.4087899421476267,2.4087899421476267,3.5273600000024015,1,0,-0.0005929419771247543,-9.999999025923074e-05
+52828,1791629409503246031,34593337000000,1791629409501831553,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762167880826887,-0.004857234839620738,0.08467387078338517,0.9999999701593335,6.116102417729318e-05,0.00019582211271908966,9.506432391859141e-05,0.6761,-0.0048,0.08434674693906538,1.0,0.0,0.0,0.0,0.07812579611031858,0.11008741999218409,2.338058159947965,0.00881079076102368,-0.0037327940522206672,0.0002593931803366239,0.1023612769932459,0.09827625814787827,2.392125226015049,0.006823793303493295,-0.0057302722723432155,-0.0008903096906755637,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9144913702178616,-0.1418297045296488,-1.917830727991083,0.5227253989994021,1.4040489083781853,-0.11489050058504303,0.5629484540759943,2.338058159947965,2.480779182067077,2.480779182067077,3.5673600000024415,1,0,-0.0006179419722543697,-9.999999025923074e-05
+52884,1791629409970249532,34593803999999,1791629409969831497,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762125071238813,-0.004856255168415533,0.0843776518804364,0.9999999714511194,5.3803719300166914e-05,0.00019168512425587767,9.435357744431857e-05,0.6761,-0.0048,0.08405272748908704,1.0,0.0,0.0,0.0,0.0782628722787796,0.10826667713290863,2.2879101521226834,0.008820009635477818,-0.0037218700976523987,0.0002999241657805875,0.10249835316170691,0.09645551528860281,2.3419772181897676,0.006833012177947432,-0.005719348317774947,-0.0008497787052316,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.933938235810868,-0.2627963503341299,-1.8173968227462547,0.5596301499283853,1.3399205486708945,-0.19499611955985435,0.5629484540759943,2.2879101521226834,2.380345276822249,2.380345276822249,3.604720000002479,1,0,-0.0006412919677054304,-9.999999025923074e-05
+52940,1791629410436245911,34594269999999,1791629410433831154,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.676207650967264,-0.004862187723438627,0.0840727550794895,0.9999999722023231,5.40752754831314e-05,0.0001856348424017911,9.825368943011472e-05,0.6761,-0.0048,0.08374846818319621,1.0,0.0,0.0,0.0,0.06974912215834675,0.09735019609803881,2.240740902542227,0.00780813077948616,-0.0036916049065591075,0.0003252774741637839,0.09398460304127407,0.08553903425373299,2.294807968609311,0.005821133321955774,-0.005689083126681656,-0.0008244253968484037,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.004076512214193,-0.11673963040828549,-1.8465327608506514,0.5127383350024612,1.375166830251159,-0.09948529712741767,0.5629484540759943,2.240740902542227,2.409481214926646,2.409481214926646,3.642000000002516,1,0,-0.000664591963166232,-9.999999025923074e-05
+52992,1791629410870247846,34594703999999,1791629410869831314,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762015945330164,-0.0048598680403150905,0.0837756471295086,0.9999999740250851,5.182878268821533e-05,0.00017754550061184235,9.583353282644039e-05,0.6761,-0.0048,0.08345533722210155,1.0,0.0,0.0,0.0,0.06972243527512789,0.09290266821728023,2.2172647994942727,0.007811942489125839,-0.003686579129995201,0.00034444440177481173,0.09395791615805522,0.08109150637297441,2.271331865561357,0.0058249450315954535,-0.005684057350117749,-0.0008052584692373758,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.020220174116663,-0.11600123698968809,-1.8959639823087044,0.5096305461611872,1.4134218369246772,-0.09951286917472536,0.5629484540759943,2.2172647994942727,2.458912436384699,2.458912436384699,3.676720000002551,1,0,-0.0006862919589387381,-9.999999025923074e-05
+53040,1791629411270245901,34595104000000,1791629411269822375,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761982764989043,-0.004852752336405729,0.08349068926352446,0.9999999748119138,5.212595239333418e-05,0.00017264022563353882,9.642237246292912e-05,0.6761,-0.0048,0.08317683043930726,1.0,0.0,0.0,0.0,0.07466861594168314,0.07873230736186607,2.1780378576941706,0.006797967508268811,-0.00365843716104806,0.00036519717350978016,0.09890409682461047,0.06692114551756025,2.2321049237612547,0.004810970050738425,-0.005655915381170608,-0.0007845056975024074,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0789580058635715,-0.25812704726719565,-1.9088856617019385,0.5515397064035695,1.433317063545747,-0.191274954067448,0.5629484540759943,2.1780378576941706,2.471834115777933,2.471834115777933,3.708720000002583,1,0,-0.0007062919550424304,-9.999999025923074e-05
+53088,1791629411670248024,34595504000000,1791629411665831484,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.676187735615719,-0.0048578550529435795,0.08318734049268278,0.9999999771662053,4.932772592848981e-05,0.00015798888388693204,9.857353273529344e-05,0.6761,-0.0048,0.0828903236580715,1.0,0.0,0.0,0.0,0.07101514584656615,0.07366980397767209,2.116208948715539,0.005789302917185216,-0.0036260196705275036,0.0004031819535350665,0.09525062672949348,0.06185864213336626,2.170276014782623,0.0038023054596548304,-0.005623497890650052,-0.000746520917477121,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0811999575466966,-0.09515835736445181,-1.7287256085131817,0.506409253823243,1.3129531936906649,-0.08106342170235556,0.5629484540759943,2.116208948715539,2.291674062589176,2.291674062589176,3.740720000002615,1,0,-0.0007262919511461227,-9.999999025923074e-05
+53136,1791629412070252701,34595904000000,1791629412069821861,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761796489053077,-0.004863684583492871,0.08288104748862155,0.9999999785175008,5.020306685778469e-05,0.0001459478416151064,0.00010289189494783993,0.6761,-0.0048,0.08259581687839426,1.0,0.0,0.0,0.0,0.06222002039628747,0.06229241361559944,2.0658843619111957,0.0057973414773046395,-0.0036140191947359925,0.00044275522278329634,0.0864555012792148,0.05048125177129361,2.11995142797828,0.0038103440197742536,-0.005611497414858541,-0.0007069476482288912,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1460699467052675,-0.10718061727204399,-1.703929860909034,0.5019323940752273,1.3133786487061627,-0.09182228670759857,0.5629484540759943,2.0658843619111957,2.2668783149850285,2.2668783149850285,3.772720000002647,1,0,-0.000746291947249815,-9.999999025923074e-05
+53179,1791629412428253363,34596262000000,1791629412425831793,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761726002219998,-0.004857642535106496,0.08259931542175548,0.9999999810444831,4.6240262198294676e-05,0.00013331087257680216,9.717997385507075e-05,0.6761,-0.0048,0.08232544921190478,1.0,0.0,0.0,0.0,0.06255960840217645,0.05617709589559458,2.006120349042851,0.004788895520248694,-0.003582207116672762,0.00047956778914714495,0.08679508928510378,0.044365934051288754,2.0601874151099353,0.002801898062718309,-0.00557968533679531,-0.0006701350818650426,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1381202690031476,-0.13734776121220604,-1.6856431210627978,0.4991137146734313,1.296876859051778,-0.1142175556485851,0.5629484540759943,2.006120349042851,2.248591575138792,2.248591575138792,3.8013600000026755,1,0,-0.0007641919437626196,-9.999999025923074e-05
+53220,1791629412770243880,34596604000000,1791629412769821527,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761551535978271,-0.004861275508690472,0.08230240936372517,0.9999999840447411,4.4797674421556374e-05,0.00010461357755701035,0.00010199289006731883,0.6761,-0.0048,0.08206118001770929,1.0,0.0,0.0,0.0,0.06388510407422188,0.044967402264792206,1.955124990285081,0.004796389383313129,-0.0035701589384839576,0.0005208457843353173,0.0881205849571492,0.03315624042048638,2.009192056352165,0.0028093919257827435,-0.005567637158606506,-0.0006288570866768702,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2168301522390768,-0.1871837494643445,-1.7222436148278133,0.5178069130343651,1.3395525938158779,-0.14340307523765566,0.5629484540759943,1.955124990285081,2.2851920689038074,2.2851920689038074,3.828720000002703,1,0,-0.0007812919404312765,-9.999999025923074e-05
+53259,1791629413095243377,34596928999999,1791629413089831428,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761430819844287,-0.004857391716658187,0.08202446822289877,0.999999986222903,4.245377762280779e-05,8.529481923352789e-05,9.959683204956208e-05,0.6761,-0.0048,0.08180462763758514,1.0,0.0,0.0,0.0,0.05619475822221839,0.02895893333010702,1.8667102362854928,0.0037918660251509808,-0.003531222039805628,0.0005795111392757472,0.08043023910514571,0.017147771485801197,1.9207773023525767,0.001804868567620595,-0.005528700259928176,-0.0005701917317364404,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2951749344059376,-0.21432006642205884,-1.6833416511109087,0.516930215497611,1.332429626640972,-0.1622644941589634,0.5629484540759943,1.8667102362854928,2.246290105186903,2.246290105186903,3.854720000002729,1,0,-0.0007975419372655265,-9.999999025923074e-05
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+53339,1791629413761243511,34597595000000,1791629413753831382,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761154960760194,-0.004860553503702864,0.08143343088619545,0.9999999886508888,3.864802969410995e-05,3.956862830871027e-05,0.00010526984421374052,0.6761,-0.0048,0.08126239245952983,1.0,0.0,0.0,0.0,0.046342592562909755,-0.0026042160441396775,1.6943173882972784,0.0017800481380620156,-0.0034238326892742105,0.000695359772882616,0.07057807344583708,-0.014415377888445501,1.7483844543643623,-0.00020694931946837024,-0.005421310909396759,-0.00045434309812957164,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.342087707913394,-0.11477348252129618,-1.5094785721798656,0.4873487915956825,1.2259313201494384,-0.09686425453202317,0.5629484540759943,1.6943173882972784,2.07242702625586,2.07242702625586,3.908000000002782,1,0,-0.0008308419307781742,-9.999999025923074e-05
+53379,1791629414095244163,34597928999999,1791629414089831371,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761043394391285,-0.004856413003951463,0.08112787362270917,0.9999999892823324,4.0985183457540054e-05,1.931820584004274e-05,0.00010404432274881885,0.6761,-0.0048,0.08098211070519487,1.0,0.0,0.0,0.0,0.04353170006545639,-0.008220321855863286,1.6024061670577205,0.0007502894756529204,-0.0024017397738083264,0.0007734329673722594,0.06776718094838372,-0.02003148370016911,1.6564732331248044,-0.0012367079818774655,-0.004399217993930875,-0.00037626990363992817,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4010166418769987,-0.28230750669191096,-1.4637570289916841,0.5248224570584779,1.2086936939910717,-0.20939942062453706,0.5629484540759943,1.6024061670577205,2.0267054830676785,2.0267054830676785,3.934720000002809,1,0,-0.0008475419275247572,-9.999999025923074e-05
+53419,1791629414428244364,34598262000000,1791629414425831350,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6760962954611267,-0.004858954443850469,0.0808322578990448,0.9999999897770533,3.3559390564475165e-05,9.657246770898745e-06,0.00010329212387543937,0.6761,-0.0048,0.08069711534387082,1.0,0.0,0.0,0.0,0.02869377477012785,-0.023163400154991746,1.5010311453840899,0.00041638489804005823,-0.001727048370822019,-0.00016126734984397962,0.052929255653055174,-0.03497456199929757,1.5550982114511738,-0.0015706125594903276,-0.0037245265909445673,-0.0013109702208561672,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4738714129576456,-0.12121483081621703,-1.4159159811562299,0.4760037387311809,1.1924989742666625,-0.1046359462085277,0.5629484540759943,1.5010311453840899,1.9788644352322242,1.9788644352322242,3.9613600000028355,1,0,-0.0008641919242810811,-9.999999025923074e-05
+53459,1791629414761243644,34598595000000,1791629414757831502,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6760861173717507,-0.004860634220699664,0.0805293407635837,0.9999999899627231,3.5407191508777764e-05,-1.591548967964669e-06,0.00010129765941244932,0.6761,-0.0048,0.08040657553362691,1.0,0.0,0.0,0.0,0.01987370548580203,-0.028402095739059375,1.4006868045745833,-0.0002521161506196133,-0.0013187986060810334,-7.90936144048275e-05,0.044109186368729354,-0.0402132575833652,1.4547538706416672,-0.002239113608149999,-0.0033162768262035816,-0.001228796485417015,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5700129472377615,-0.2851537051607092,-1.369651494308669,0.5176526981665727,1.1866595925530687,-0.21291780235356833,0.5629484540759943,1.4006868045745833,1.9325999483846634,1.9325999483846634,3.988000000002862,1,0,-0.0008808419210374049,-9.999999025923074e-05
+53497,1791629415078243869,34598911999999,1791629415073831076,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6760807609404675,-0.004858564854964735,0.08024076777416603,0.9999999896145289,3.717077927754593e-05,-8.505522508773032e-06,0.000103729436864421,0.6761,-0.0048,0.08012484434514902,1.0,0.0,0.0,0.0,0.010531211902247706,-0.02194210520610793,1.3039561529959176,-0.0002597958785891209,-0.0002844825344306273,4.626105931000496e-06,0.03476669278517503,-0.03375326705041375,1.3580232190630015,-0.0022467933361195068,-0.0022819607545531756,-0.001145076765081187,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5623333311181218,-0.306810840808589,-1.2023955039773717,0.5147563826663317,1.0711001536553082,-0.22897450025271246,0.5629484540759943,1.3039561529959176,1.765343958053366,1.765343958053366,4.013360000002813,1,0,-0.0008966919179495811,-9.999999025923074e-05
+53535,1791629415395243662,34599229000000,1791629415393821620,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6760686427378964,-0.004854459656810397,0.07993446041365168,0.9999999891855622,4.194297748846255e-05,-2.593061928740164e-05,0.00010315100277777455,0.6761,-0.0048,0.07983808870764997,1.0,0.0,0.0,0.0,-0.007680878129330833,-0.04169337271156576,1.2112377291953447,-0.000245464637058484,-0.000262809989605913,7.54120236169404e-05,0.016554602753596492,-0.05350453455587158,1.2653047952624286,-0.00223246209458887,-0.002260288209728461,-0.0010742908473952472,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.6441499288244605,-0.18764167705325757,-1.138231599238618,0.47935642449441257,1.043202318525814,-0.1511065820134607,0.5629484540759943,1.2112377291953447,1.7011800533146122,1.7011800533146122,4.038720000002698,1,0,-0.0009125419148617572,-9.999999025923074e-05
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+53610,1791629416020243797,34599854000000,1791629416013831828,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6760542038122314,-0.004864057368048872,0.07933741501198492,0.9999999884120007,3.43272828731061e-05,-4.561913572256318e-05,0.00010658046290149124,0.6761,-0.0048,0.07925800001276691,1.0,0.0,0.0,0.0,-0.02599568262132751,-0.050704196429210355,1.0251240406605966,-0.0002391815940344694,0.0007911691617906538,0.0002458923543855988,-0.0017602017384001833,-0.06251535827351618,1.0791911067276805,-0.0022261790515648553,-0.0012063090583318945,-0.0009038105166265887,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.619448886453546,-0.2616209779947619,-0.9775759571036066,0.4820626936902207,0.9242377036378653,-0.20508141698125607,0.5629484540759943,1.0251240406605966,1.5405244111796008,1.5405244111796008,4.08872000000247,1,0,-0.0009437919087737764,-9.999999025923074e-05
+53646,1791629416320243714,34600154000000,1791629416317831351,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6760439506885431,-0.004865690256984411,0.07903768718857694,0.9999999872466285,3.8500901173749895e-05,-6.133490192999048e-05,0.00010819111548876419,0.6761,-0.0048,0.07897261994057457,1.0,0.0,0.0,0.0,-0.03548591214841249,-0.05940027302201055,0.948357990499066,-0.0012718827050332317,0.0018406672117390764,0.0003043014992593448,-0.011250431265485167,-0.07121143486631637,1.0024250565661499,-0.0032588801625636175,-0.00015681100838347192,-0.0008454013717528428,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.6074350517093225,-0.2234067329934724,-0.9426476474020989,0.46576026364488293,0.893309195353418,-0.1827567785173386,0.5629484540759943,0.948357990499066,1.5055961014780932,1.5055961014780932,4.112720000002361,1,0,-0.0009587919058515456,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46d7c98b5303f97342bbc524fcb4e317bd4d971e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af36e558b013e528541a03cbc953249853161b3e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,9.800000000e+00,DOWN_FORCE_DETACH,1791629383823281932,1.270363394e-04,-9.028808796e-05,-1.127484394e-03,1.273689879e-04,-9.588774874e-05,-1.125577802e-03,1.273844689e-04,-9.582155662e-05,-1.124327864e-03,7.016649078e-01,-8.873712664e-05,8.396134568e-01,7.016652405e-01,-9.433678742e-05,8.396153634e-01,7.018566945e-01,-9.405772969e-05,8.284483622e-01
+10,1.093333333e+01,DOWN_FORCE_DETACH,1791629386087953284,1.467539682e-04,-9.419192051e-05,-1.258452608e-03,1.424078409e-04,-8.904541794e-05,-1.252419241e-03,1.423977655e-04,-8.899978047e-05,-1.251180266e-03,7.016846254e-01,-9.264095919e-05,8.394824886e-01,7.016802793e-01,-8.749445662e-05,8.394885219e-01,7.018717078e-01,-8.723595354e-05,8.283215098e-01
+11,1.196666667e+01,DOWN_FORCE_DETACH,1791629388083878526,1.565404850e-04,-8.967689526e-05,-1.383728580e-03,1.564336780e-04,-9.042376205e-05,-1.381412539e-03,1.564354725e-04,-9.035770039e-05,-1.380116946e-03,7.016944120e-01,-8.812593394e-05,8.393572126e-01,7.016943052e-01,-8.887280073e-05,8.393595286e-01,7.018857455e-01,-8.859387346e-05,8.281925731e-01
+12,1.313333333e+01,DOWN_FORCE_DETACH,1791629390312033816,1.685490277e-04,-9.461774317e-05,-1.535215036e-03,1.681501643e-04,-9.579399127e-05,-1.529502463e-03,1.679138689e-04,-9.575804968e-05,-1.528101057e-03,7.017064205e-01,-9.306678185e-05,8.392057262e-01,7.017060216e-01,-9.424302994e-05,8.392114387e-01,7.018972239e-01,-9.399422275e-05,8.280445890e-01
+13,1.428333333e+01,DOWN_FORCE_DETACH,1791629392507635395,1.813373354e-04,-9.698782687e-05,-1.704995961e-03,1.779786271e-04,-9.683526299e-05,-1.701872460e-03,1.774871583e-04,-9.681098082e-05,-1.700348953e-03,7.017192088e-01,-9.543686555e-05,8.390359452e-01,7.017158501e-01,-9.528430167e-05,8.390390687e-01,7.019067972e-01,-9.504715389e-05,8.278723411e-01
+14,1.533333333e+01,DOWN_FORCE_DETACH,1791629394604228371,1.907171578e-04,-1.076756719e-04,-1.888282711e-03,1.905199291e-04,-1.077866817e-04,-1.888186266e-03,1.897081542e-04,-1.077009106e-04,-1.886524098e-03,7.017285886e-01,-1.061247106e-04,8.388526585e-01,7.017283914e-01,-1.062357204e-04,8.388527549e-01,7.019190182e-01,-1.059370836e-04,8.276861660e-01
+15,1.630000000e+01,DOWN_FORCE_DETACH,1791629396464102558,1.999502033e-04,-1.123846703e-04,-2.072985540e-03,1.978413495e-04,-1.107584611e-04,-2.063014099e-03,1.966444777e-04,-1.107175597e-04,-2.061320013e-03,7.017378217e-01,-1.108337090e-04,8.386679556e-01,7.017357128e-01,-1.092074997e-04,8.386779271e-01,7.019259545e-01,-1.089537327e-04,8.275113701e-01
+16,1.718333333e+01,DOWN_FORCE_DETACH,1791629398182675081,2.039766555e-04,-1.223704165e-04,-2.289633531e-03,2.038055058e-04,-1.223245417e-04,-2.289674278e-03,2.019500157e-04,-1.223181724e-04,-2.287541627e-03,7.017418481e-01,-1.208194552e-04,8.384513077e-01,7.017416770e-01,-1.207735804e-04,8.384512669e-01,7.019312600e-01,-1.205543454e-04,8.272851484e-01
+17,1.795000000e+01,DOWN_FORCE_DETACH,1791629399593647082,2.070192424e-04,-1.182788589e-04,-2.509166416e-03,2.097895090e-04,-1.219764190e-04,-2.494028599e-03,2.073286767e-04,-1.219358729e-04,-2.491741035e-03,7.017448907e-01,-1.167278976e-04,8.382317748e-01,7.017476610e-01,-1.204254577e-04,8.382469126e-01,7.019366387e-01,-1.201720460e-04,8.270809490e-01
+18,1.861666667e+01,DOWN_FORCE_DETACH,1791629400890458068,2.110949733e-04,-1.254984091e-04,-2.759299249e-03,2.083929684e-04,-1.256110703e-04,-2.742191339e-03,2.050139406e-04,-1.254844905e-04,-2.739509933e-03,7.017489665e-01,-1.239474478e-04,8.379816419e-01,7.017462644e-01,-1.240601090e-04,8.379987498e-01,7.019343240e-01,-1.237206635e-04,8.268331801e-01
+19,1.923333333e+01,DOWN_FORCE_DETACH,1791629402119730598,2.130224755e-04,-1.273765213e-04,-3.038621383e-03,2.139779157e-04,-1.324218460e-04,-3.029980330e-03,2.096955112e-04,-1.323189696e-04,-3.026827221e-03,7.017508940e-01,-1.258255600e-04,8.377023198e-01,7.017518494e-01,-1.308708846e-04,8.377109609e-01,7.019390055e-01,-1.305551427e-04,8.265458628e-01
+20,1.975000000e+01,DOWN_FORCE_DETACH,1791629403152036387,2.158954552e-04,-1.359217965e-04,-3.312930630e-03,2.138596823e-04,-1.342961232e-04,-3.297815679e-03,2.086350460e-04,-1.341654042e-04,-3.294212795e-03,7.017537669e-01,-1.343708351e-04,8.374280106e-01,7.017517312e-01,-1.327451619e-04,8.374431255e-01,7.019379451e-01,-1.324015773e-04,8.262784773e-01
+21,2.020000000e+01,DOWN_FORCE_DETACH,1791629404047859726,2.192361402e-04,-1.399125750e-04,-3.594046726e-03,2.188673638e-04,-1.399758887e-04,-3.593893954e-03,2.127302009e-04,-1.398191942e-04,-3.589862954e-03,7.017571076e-01,-1.383616137e-04,8.371468945e-01,7.017567388e-01,-1.384249274e-04,8.371470472e-01,7.019420402e-01,-1.380553672e-04,8.259828271e-01
+22,2.061666667e+01,DOWN_FORCE_DETACH,1791629404822992417,2.189654994e-04,-1.391840108e-04,-3.878110603e-03,2.207444709e-04,-1.379044631e-04,-3.864580488e-03,2.136352952e-04,-1.377760524e-04,-3.860296092e-03,7.017568370e-01,-1.376330495e-04,8.368628306e-01,7.017586160e-01,-1.363535018e-04,8.368763607e-01,7.019429453e-01,-1.360122255e-04,8.257123940e-01
+23,2.100000000e+01,DOWN_FORCE_DETACH,1791629405547968054,2.178152853e-04,-1.421117754e-04,-4.165179201e-03,2.194081387e-04,-1.412005214e-04,-4.150725261e-03,2.112868668e-04,-1.410716112e-04,-4.146272902e-03,7.017556868e-01,-1.405608141e-04,8.365757620e-01,7.017572796e-01,-1.396495601e-04,8.365902159e-01,7.019405969e-01,-1.393077843e-04,8.254264172e-01
+24,2.136666667e+01,DOWN_FORCE_DETACH,1791629406243964040,2.202347477e-04,-1.446390089e-04,-4.460803958e-03,2.207924403e-04,-1.445255805e-04,-4.446517643e-03,2.116183034e-04,-1.443060665e-04,-4.441782972e-03,7.017581062e-01,-1.430880476e-04,8.362801372e-01,7.017586639e-01,-1.429746192e-04,8.362944235e-01,7.019409283e-01,-1.425422396e-04,8.251309071e-01
+25,2.170000000e+01,DOWN_FORCE_DETACH,1791629406875877372,2.208967689e-04,-1.424260424e-04,-4.755297128e-03,2.213775966e-04,-1.428200942e-04,-4.739868674e-03,2.111577655e-04,-1.425693906e-04,-4.734964569e-03,7.017587683e-01,-1.408750811e-04,8.359856441e-01,7.017592491e-01,-1.412691329e-04,8.360010725e-01,7.019404678e-01,-1.408055637e-04,8.248377255e-01
+26,2.200000000e+01,DOWN_FORCE_DETACH,1791629407444024344,2.182537229e-04,-1.444383758e-04,-5.046528119e-03,2.191594404e-04,-1.437387751e-04,-5.026967056e-03,2.078643541e-04,-1.434488697e-04,-5.021925461e-03,7.017561252e-01,-1.428874145e-04,8.356944131e-01,7.017570309e-01,-1.421878138e-04,8.357139741e-01,7.019371744e-01,-1.416850427e-04,8.245507646e-01
+27,2.230000000e+01,DOWN_FORCE_DETACH,1791629408007878067,2.207459284e-04,-1.480842090e-04,-5.338372494e-03,2.204454307e-04,-1.475884931e-04,-5.338261287e-03,2.080667569e-04,-1.472408907e-04,-5.333066990e-03,7.017586174e-01,-1.465332477e-04,8.354025687e-01,7.017583169e-01,-1.460375318e-04,8.354026799e-01,7.019373768e-01,-1.454770638e-04,8.242396231e-01
+28,2.258333333e+01,DOWN_FORCE_DETACH,1791629408540305369,2.163431128e-04,-1.496988704e-04,-5.634785308e-03,2.163573588e-04,-1.498482358e-04,-5.634371632e-03,2.027743590e-04,-1.494822925e-04,-5.629362658e-03,7.017542146e-01,-1.481479091e-04,8.351061559e-01,7.017542288e-01,-1.482972744e-04,8.351065696e-01,7.019320844e-01,-1.477184656e-04,8.239433274e-01
+29,2.281666667e+01,DOWN_FORCE_DETACH,1791629409007200658,2.139231573e-04,-1.471840442e-04,-5.907588731e-03,2.136084075e-04,-1.470926586e-04,-5.907692640e-03,1.990009588e-04,-1.466840935e-04,-5.902477521e-03,7.017517946e-01,-1.456330829e-04,8.348333525e-01,7.017514799e-01,-1.455416972e-04,8.348332485e-01,7.019283110e-01,-1.449202665e-04,8.236702125e-01
+30,2.306666667e+01,DOWN_FORCE_DETACH,1791629409504105215,2.101265640e-04,-1.492854663e-04,-6.210883278e-03,2.099150823e-04,-1.494313797e-04,-6.210654777e-03,1.941627195e-04,-1.490158061e-04,-6.205652888e-03,7.017479980e-01,-1.477345050e-04,8.345300579e-01,7.017477866e-01,-1.478804184e-04,8.345302864e-01,7.019234728e-01,-1.472519792e-04,8.233670372e-01
+31,2.330000000e+01,DOWN_FORCE_DETACH,1791629409972059914,2.058939504e-04,-1.479718089e-04,-6.507534812e-03,2.056211133e-04,-1.479335591e-04,-6.507714074e-03,1.886732573e-04,-1.474716163e-04,-6.502918432e-03,7.017437654e-01,-1.464208476e-04,8.342334064e-01,7.017434926e-01,-1.463825978e-04,8.342332271e-01,7.019179833e-01,-1.457077894e-04,8.230697716e-01
+32,2.353333333e+01,DOWN_FORCE_DETACH,1791629410435894601,2.014493762e-04,-1.545023413e-04,-6.811143398e-03,2.013029908e-04,-1.544718574e-04,-6.810974232e-03,1.831554827e-04,-1.540403078e-04,-6.806362882e-03,7.017393209e-01,-1.529513800e-04,8.339297978e-01,7.017391745e-01,-1.529208961e-04,8.339299670e-01,7.019124655e-01,-1.522764809e-04,8.227663272e-01
+33,2.375000000e+01,DOWN_FORCE_DETACH,1791629410870859275,1.948938462e-04,-1.516418070e-04,-7.109303067e-03,1.946110816e-04,-1.514863559e-04,-7.109113502e-03,1.752782640e-04,-1.510166165e-04,-7.104763039e-03,7.017327653e-01,-1.500908457e-04,8.336316381e-01,7.017324826e-01,-1.499353945e-04,8.336318277e-01,7.019045883e-01,-1.492527895e-04,8.224679270e-01
+34,2.395000000e+01,DOWN_FORCE_DETACH,1791629411267981365,1.911787463e-04,-1.490803991e-04,-7.393373277e-03,1.903002397e-04,-1.508940070e-04,-7.373488970e-03,1.699090228e-04,-1.504099649e-04,-7.369385370e-03,7.017290502e-01,-1.475294378e-04,8.333475679e-01,7.017281717e-01,-1.493430456e-04,8.333674522e-01,7.018992191e-01,-1.486461380e-04,8.222033047e-01
+35,2.415000000e+01,DOWN_FORCE_DETACH,1791629411668229134,1.815426111e-04,-1.505302670e-04,-7.694496102e-03,1.814446221e-04,-1.506368071e-04,-7.694235294e-03,1.596485968e-04,-1.501661442e-04,-7.690430602e-03,7.017194141e-01,-1.489793057e-04,8.330464451e-01,7.017193161e-01,-1.490858458e-04,8.330467059e-01,7.018889586e-01,-1.484023172e-04,8.218822595e-01
+36,2.435000000e+01,DOWN_FORCE_DETACH,1791629412066211436,1.751075293e-04,-1.543664854e-04,-7.995647297e-03,1.750217779e-04,-1.541955772e-04,-7.995589008e-03,1.519742214e-04,-1.537567915e-04,-7.992132683e-03,7.017129790e-01,-1.528155240e-04,8.327452939e-01,7.017128933e-01,-1.526446159e-04,8.327453522e-01,7.018812843e-01,-1.519929646e-04,8.215805574e-01
+37,2.455000000e+01,DOWN_FORCE_DETACH,1791629412432226284,1.621779129e-04,-1.457347355e-04,-8.293057382e-03,1.619344176e-04,-1.457280876e-04,-8.293032322e-03,1.374516205e-04,-1.452481814e-04,-8.290134647e-03,7.017000494e-01,-1.441837742e-04,8.324478838e-01,7.016998059e-01,-1.441771263e-04,8.324479089e-01,7.018667617e-01,-1.434843545e-04,8.212825554e-01
+38,2.471666667e+01,DOWN_FORCE_DETACH,1791629412765957225,1.499802017e-04,-1.523380617e-04,-8.577851063e-03,1.499421922e-04,-1.522561472e-04,-8.577648926e-03,1.241431185e-04,-1.517447712e-04,-8.575012582e-03,7.016878517e-01,-1.507871004e-04,8.321630901e-01,7.016878137e-01,-1.507051858e-04,8.321632923e-01,7.018534531e-01,-1.499809443e-04,8.209976775e-01
+39,2.490000000e+01,DOWN_FORCE_DETACH,1791629413096305303,1.366226270e-04,-1.510380570e-04,-8.861825573e-03,1.364559012e-04,-1.510388201e-04,-8.861791672e-03,1.091838397e-04,-1.506274206e-04,-8.859549717e-03,7.016744941e-01,-1.494870957e-04,8.318791156e-01,7.016743274e-01,-1.494878588e-04,8.318791495e-01,7.018384939e-01,-1.488635937e-04,8.207131404e-01
+40,2.506666667e+01,DOWN_FORCE_DETACH,1791629413432020537,1.243485556e-04,-1.460097653e-04,-9.153111379e-03,1.241409225e-04,-1.459624528e-04,-9.153084011e-03,9.548547706e-05,-1.455656523e-04,-9.151207709e-03,7.016622200e-01,-1.444588040e-04,8.315878298e-01,7.016620124e-01,-1.444114915e-04,8.315878572e-01,7.018247955e-01,-1.438018253e-04,8.204214824e-01
+41,2.525000000e+01,DOWN_FORCE_DETACH,1791629413762648746,1.097382039e-04,-1.475142287e-04,-9.450982891e-03,1.097875491e-04,-1.477487864e-04,-9.450762976e-03,7.959280905e-05,-1.473332158e-04,-9.449441669e-03,7.016476097e-01,-1.459632673e-04,8.312899583e-01,7.016476590e-01,-1.461978250e-04,8.312901782e-01,7.018089028e-01,-1.455693889e-04,8.201232484e-01
+42,2.541666667e+01,DOWN_FORCE_DETACH,1791629414095876065,9.701264120e-05,-1.485879866e-04,-9.757815879e-03,9.699619465e-05,-1.487807576e-04,-9.757676223e-03,6.539302347e-05,-1.484919357e-04,-9.756798054e-03,7.016348841e-01,-1.470370253e-04,8.309831253e-01,7.016348677e-01,-1.472297963e-04,8.309832650e-01,7.017947031e-01,-1.467281087e-04,8.198158920e-01
+43,2.560000000e+01,DOWN_FORCE_DETACH,1791629414427922810,8.886117483e-05,-1.504426050e-04,-1.004980750e-02,8.867409759e-05,-1.504398401e-04,-1.004972095e-02,5.572055764e-05,-1.502700182e-04,-1.004923103e-02,7.016267327e-01,-1.488916437e-04,8.306911337e-01,7.016265456e-01,-1.488888788e-04,8.306912202e-01,7.017850306e-01,-1.485061913e-04,8.195234590e-01
+44,2.576666667e+01,DOWN_FORCE_DETACH,1791629414760322192,7.954838880e-05,-1.502186017e-04,-1.035692634e-02,7.945216234e-05,-1.503047669e-04,-1.035703337e-02,4.513670417e-05,-1.501948770e-04,-1.035688386e-02,7.016174199e-01,-1.486676404e-04,8.303840149e-01,7.016173236e-01,-1.487538056e-04,8.303839078e-01,7.017744467e-01,-1.484310501e-04,8.192158062e-01
+45,2.593333333e+01,DOWN_FORCE_DETACH,1791629415077114657,7.424792979e-05,-1.517419813e-04,-1.063898570e-02,7.414465415e-05,-1.518887978e-04,-1.063880643e-02,3.870683448e-05,-1.520308672e-04,-1.063888896e-02,7.016121194e-01,-1.501910200e-04,8.301019555e-01,7.016120161e-01,-1.503378365e-04,8.301021348e-01,7.017680169e-01,-1.502670403e-04,8.189338011e-01
+46,2.610000000e+01,DOWN_FORCE_DETACH,1791629415391926749,5.905725007e-05,-1.535636829e-04,-1.094841291e-02,5.875757726e-05,-1.531758614e-04,-1.094804707e-02,2.176982542e-05,-1.536798600e-04,-1.094846106e-02,7.015969287e-01,-1.520127215e-04,8.297925283e-01,7.015966291e-01,-1.516249000e-04,8.297928941e-01,7.017510799e-01,-1.519160330e-04,8.186242290e-01
+47,2.626666667e+01,DOWN_FORCE_DETACH,1791629415691855653,5.458051652e-05,-1.482666403e-04,-1.123140313e-02,5.446725137e-05,-1.482767400e-04,-1.123148263e-02,1.641866704e-05,-1.489437961e-04,-1.123203652e-02,7.015924520e-01,-1.467156790e-04,8.295095381e-01,7.015923387e-01,-1.467257786e-04,8.295094586e-01,7.017457287e-01,-1.471799692e-04,8.183406535e-01
+48,2.643333333e+01,DOWN_FORCE_DETACH,1791629416023866094,4.663949905e-05,-1.567065591e-04,-1.155127641e-02,4.654404231e-05,-1.567164266e-04,-1.155130443e-02,7.202781700e-06,-1.576081359e-04,-1.155207264e-02,7.015845110e-01,-1.551555978e-04,8.291896648e-01,7.015844155e-01,-1.551654653e-04,8.291896368e-01,7.017365128e-01,-1.558443090e-04,8.180206174e-01
+49,2.660000000e+01,DOWN_FORCE_DETACH,1791629416323871371,3.725155571e-05,-1.570633868e-04,-1.184995167e-02,3.698079581e-05,-1.570551637e-04,-1.184990365e-02,-3.656369342e-06,-1.579618228e-04,-1.185064498e-02,7.015751230e-01,-1.555124255e-04,8.288909895e-01,7.015748523e-01,-1.555042023e-04,8.288910375e-01,7.017256537e-01,-1.561979959e-04,8.177220451e-01
+50,2.673333333e+01,DOWN_FORCE_DETACH,1791629416592265335,3.167574631e-05,-1.585855904e-04,-1.212447691e-02,3.128863606e-05,-1.586832932e-04,-1.212463416e-02,-1.037609118e-05,-1.596112073e-04,-1.212537416e-02,7.015695472e-01,-1.570346291e-04,8.286164643e-01,7.015691601e-01,-1.571323318e-04,8.286163070e-01,7.017189339e-01,-1.578473804e-04,8.174473159e-01
+51,2.690000000e+01,DOWN_FORCE_DETACH,1791629416888337411,2.429075468e-05,-1.591153938e-04,-1.242805619e-02,2.393860456e-05,-1.590387868e-04,-1.242805089e-02,-1.899922238e-05,-1.599679947e-04,-1.242884395e-02,7.015621622e-01,-1.575644325e-04,8.283128850e-01,7.015618101e-01,-1.574878254e-04,8.283128903e-01,7.017103108e-01,-1.582041678e-04,8.171438461e-01
+52,2.705000000e+01,DOWN_FORCE_DETACH,1791629417189845807,1.237478241e-05,-1.586658174e-04,-1.274476168e-02,1.222163087e-05,-1.587061113e-04,-1.274465969e-02,-3.203113978e-05,-1.596413780e-04,-1.274546406e-02,7.015502463e-01,-1.571148561e-04,8.279961795e-01,7.015500931e-01,-1.571551500e-04,8.279962815e-01,7.016972789e-01,-1.578775511e-04,8.168272260e-01
+53,2.720000000e+01,DOWN_FORCE_DETACH,1791629417487893120,1.739644990e-05,-1.587625972e-04,-1.304021603e-02,1.737632895e-05,-1.589441478e-04,-1.303979865e-02,-2.768063838e-05,-1.598669616e-04,-1.304067724e-02,7.015552679e-01,-1.572116359e-04,8.277007252e-01,7.015552478e-01,-1.573931865e-04,8.277011425e-01,7.017016294e-01,-1.581031347e-04,8.165320128e-01
+54,2.731666667e+01,DOWN_FORCE_DETACH,1791629417721897664,-4.660058762e-06,-1.534966307e-04,-1.330879728e-02,-5.070793379e-06,-1.534431419e-04,-1.330903869e-02,-5.160642924e-05,-1.542948205e-04,-1.330986292e-02,7.015332114e-01,-1.519456694e-04,8.274321439e-01,7.015328007e-01,-1.518921806e-04,8.274319025e-01,7.016777036e-01,-1.525309935e-04,8.162628271e-01
+55,2.746666667e+01,DOWN_FORCE_DETACH,1791629418019864515,3.843046332e-06,-1.480635848e-04,-1.360948438e-02,3.490918352e-06,-1.481326732e-04,-1.360988731e-02,-4.379578646e-05,-1.489600097e-04,-1.361073397e-02,7.015417145e-01,-1.465126235e-04,8.271314568e-01,7.015413624e-01,-1.465817119e-04,8.271310539e-01,7.016855142e-01,-1.471961828e-04,8.159619561e-01
+56,2.760000000e+01,DOWN_FORCE_DETACH,1791629418287901017,-1.740500503e-05,-1.479405815e-04,-1.391302595e-02,-1.753345418e-05,-1.477164467e-04,-1.391286844e-02,-6.635920996e-05,-1.485532195e-04,-1.391371916e-02,7.015204665e-01,-1.463896201e-04,8.268279152e-01,7.015203380e-01,-1.461654854e-04,8.268280727e-01,7.016629508e-01,-1.467893926e-04,8.156589709e-01
+57,2.773333333e+01,DOWN_FORCE_DETACH,1791629418551904168,-1.045780997e-06,-1.424326639e-04,-1.418450484e-02,-1.002871178e-06,-1.422708719e-04,-1.418446799e-02,-5.020410789e-05,-1.430976118e-04,-1.418529657e-02,7.015368257e-01,-1.408817025e-04,8.265564363e-01,7.015368686e-01,-1.407199106e-04,8.265564732e-01,7.016791059e-01,-1.413337849e-04,8.153873935e-01
+58,2.786666667e+01,DOWN_FORCE_DETACH,1791629418819901837,-2.127480762e-05,-1.446734691e-04,-1.450367215e-02,-2.125232872e-05,-1.446610926e-04,-1.450354205e-02,-7.208308583e-05,-1.454815073e-04,-1.450440680e-02,7.015165967e-01,-1.431225078e-04,8.262372690e-01,7.015166192e-01,-1.431101313e-04,8.262373991e-01,7.016572269e-01,-1.437176803e-04,8.150682833e-01
+59,2.816666667e+01,DOWN_SETTLE,1791629419415976443,-3.244127852e-05,-1.291820826e-04,-1.479002433e-02,-3.225513531e-05,-1.338698409e-04,-1.478119998e-02,-8.428990248e-05,-1.346237361e-04,-1.478209067e-02,7.015054302e-01,-1.276311213e-04,8.259509169e-01,7.015056163e-01,-1.323188796e-04,8.259597412e-01,7.016450201e-01,-1.328599092e-04,8.147905994e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca77803b8a41219d1c0110e622a34fa11d4225
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-4.7106e-03,1.3377e-03,2.4545e+00,-3.6907e-02,3.6456e-02,-2.4667e-05,1.5496e-04,-8.8927e-06,8.8453e-05,2.1979e-07,1.0937e-05,-2.5936e-07,1.7865e-04,1.0943e-05
+1,1.3000e+00,DOWN_FORCE_DETACH,3.0039e-04,4.1928e-03,1.8881e-02,2.4933e+00,-3.8148e-02,3.7054e-02,-2.4648e-05,9.0584e-03,1.7534e-02,3.8872e-02,-1.2412e-03,6.0957e-04,-2.4032e-07,4.3595e-02,1.3828e-03
+2,1.9833e+00,DOWN_FORCE_DETACH,6.0187e-04,-1.1639e-02,1.8451e-02,2.5232e+00,-3.8109e-02,3.5910e-02,-2.6841e-05,-6.7739e-03,1.7105e-02,6.8777e-02,-1.2023e-03,-5.3446e-04,-2.4332e-06,7.1195e-02,1.3157e-03
+3,2.8500e+00,DOWN_FORCE_DETACH,8.9563e-04,-2.5692e-03,2.4383e-02,2.5516e+00,-3.8475e-02,3.6524e-02,-2.0659e-05,2.2964e-03,2.3037e-02,9.7210e-02,-1.5674e-03,7.9114e-05,3.7492e-06,9.9929e-02,1.5694e-03
+4,4.0167e+00,DOWN_FORCE_DETACH,1.1953e-03,8.1134e-03,2.6578e-02,2.5184e+00,-3.8613e-02,3.7293e-02,-5.7978e-06,1.2979e-02,2.5231e-02,6.4030e-02,-1.7056e-03,8.4768e-04,1.8610e-05,7.0035e-02,1.9047e-03
+5,5.2333e+00,DOWN_FORCE_DETACH,1.4941e-03,1.3787e-02,2.7287e-02,2.5017e+00,-3.8699e-02,3.7705e-02,1.1430e-05,1.8652e-02,2.5941e-02,4.7284e-02,-1.7920e-03,1.2606e-03,3.5838e-05,5.7066e-02,2.1913e-03
+6,6.3833e+00,DOWN_FORCE_DETACH,1.7930e-03,1.5115e-02,3.0388e-02,2.5107e+00,-3.8909e-02,3.7794e-02,2.7414e-05,1.9981e-02,2.9041e-02,5.6272e-02,-2.0018e-03,1.3491e-03,5.1822e-05,6.6401e-02,2.4145e-03
+7,7.5833e+00,DOWN_FORCE_DETACH,2.0911e-03,1.3431e-02,3.2336e-02,2.5110e+00,-3.9002e-02,3.7677e-02,3.1554e-05,1.8297e-02,3.0989e-02,5.6624e-02,-2.0953e-03,1.2326e-03,5.5962e-05,6.7092e-02,2.4316e-03
+8,8.6833e+00,DOWN_FORCE_DETACH,2.3916e-03,1.2940e-02,3.5606e-02,2.5112e+00,-3.9181e-02,3.7646e-02,3.2159e-05,1.7805e-02,3.4259e-02,5.6836e-02,-2.2734e-03,1.2009e-03,5.6567e-05,6.8710e-02,2.5717e-03
+9,9.8000e+00,DOWN_FORCE_DETACH,2.6903e-03,1.3496e-02,3.5967e-02,2.5159e+00,-3.9190e-02,3.7681e-02,3.4959e-05,1.8362e-02,3.4620e-02,6.1487e-02,-2.2829e-03,1.2366e-03,5.9367e-05,7.2914e-02,2.5970e-03
+10,1.0933e+01,DOWN_FORCE_DETACH,2.9904e-03,1.4232e-02,3.3190e-02,2.5162e+00,-3.9022e-02,3.7731e-02,3.2249e-05,1.9098e-02,3.1843e-02,6.1779e-02,-2.1146e-03,1.2860e-03,5.6656e-05,7.2079e-02,2.4756e-03
+11,1.1967e+01,DOWN_FORCE_DETACH,3.2883e-03,1.4815e-02,3.2548e-02,2.5186e+00,-3.8999e-02,3.7767e-02,2.3445e-05,1.9681e-02,3.1202e-02,6.4160e-02,-2.0915e-03,1.3221e-03,4.7853e-05,7.4010e-02,2.4748e-03
+12,1.3133e+01,DOWN_FORCE_DETACH,3.5870e-03,1.6629e-02,3.3142e-02,2.5228e+00,-3.9043e-02,3.7886e-02,1.6187e-05,2.1495e-02,3.1796e-02,6.8403e-02,-2.1359e-03,1.4413e-03,4.0595e-05,7.8435e-02,2.5770e-03
+13,1.4283e+01,DOWN_FORCE_DETACH,3.8862e-03,1.9097e-02,3.3434e-02,2.5323e+00,-3.9057e-02,3.8058e-02,1.5963e-05,2.3963e-02,3.2088e-02,7.7920e-02,-2.1497e-03,1.6134e-03,4.0371e-05,8.7610e-02,2.6881e-03
+14,1.5333e+01,DOWN_FORCE_DETACH,4.1855e-03,1.9069e-02,3.6841e-02,2.5295e+00,-3.9255e-02,3.8060e-02,1.7181e-05,2.3935e-02,3.5494e-02,7.5154e-02,-2.3474e-03,1.6148e-03,4.1589e-05,8.6492e-02,2.8495e-03
+15,1.6300e+01,DOWN_FORCE_DETACH,4.4833e-03,1.9619e-02,3.8612e-02,2.5374e+00,-3.9377e-02,3.8073e-02,7.9575e-06,2.4485e-02,3.7266e-02,8.2995e-02,-2.4700e-03,1.6285e-03,3.2365e-05,9.4215e-02,2.9587e-03
+16,1.7183e+01,DOWN_FORCE_DETACH,4.7768e-03,1.9993e-02,3.8134e-02,2.5496e+00,-3.9350e-02,3.8087e-02,1.4927e-06,2.4858e-02,3.6787e-02,9.5186e-02,-2.4425e-03,1.6420e-03,2.5901e-05,1.0503e-01,2.9433e-03
+17,1.7950e+01,DOWN_FORCE_DETACH,5.0862e-03,1.9447e-02,4.1734e-02,2.5679e+00,-3.9561e-02,3.8039e-02,-9.2395e-06,2.4312e-02,4.0388e-02,1.1356e-01,-2.6538e-03,1.5944e-03,1.5168e-05,1.2295e-01,3.0959e-03
+18,1.8617e+01,DOWN_FORCE_DETACH,5.3768e-03,2.1287e-02,4.5760e-02,2.5902e+00,-3.9769e-02,3.8141e-02,-2.0112e-05,2.6152e-02,4.4414e-02,1.3581e-01,-2.8616e-03,1.6959e-03,4.2955e-06,1.4526e-01,3.3264e-03
+19,1.9233e+01,DOWN_FORCE_DETACH,5.6784e-03,2.0947e-02,4.6965e-02,2.6176e+00,-3.9823e-02,3.8089e-02,-2.4207e-05,2.5813e-02,4.5618e-02,1.6320e-01,-2.9159e-03,1.6446e-03,2.0089e-07,1.7141e-01,3.3477e-03
+20,1.9750e+01,DOWN_FORCE_DETACH,5.9768e-03,2.1879e-02,4.7331e-02,2.6352e+00,-3.9809e-02,3.8136e-02,-2.2444e-05,2.6745e-02,4.5985e-02,1.8078e-01,-2.9014e-03,1.6907e-03,1.9640e-06,1.8844e-01,3.3581e-03
+21,2.0200e+01,DOWN_FORCE_DETACH,6.2786e-03,2.2021e-02,4.9924e-02,2.6534e+00,-3.9916e-02,3.8132e-02,-2.6692e-05,2.6887e-02,4.8577e-02,1.9903e-01,-3.0091e-03,1.6872e-03,-2.2842e-06,2.0663e-01,3.4498e-03
+22,2.0617e+01,DOWN_FORCE_DETACH,6.5749e-03,2.2193e-02,4.8665e-02,2.6742e+00,-3.9802e-02,3.8114e-02,-3.3709e-05,2.7059e-02,4.7319e-02,2.1984e-01,-2.8948e-03,1.6689e-03,-9.3014e-06,2.2650e-01,3.3415e-03
+23,2.1000e+01,DOWN_FORCE_DETACH,6.8695e-03,2.2232e-02,5.1007e-02,2.6862e+00,-3.9906e-02,3.8105e-02,-4.2090e-05,2.7098e-02,4.9660e-02,2.3185e-01,-2.9990e-03,1.6606e-03,-1.7683e-05,2.3865e-01,3.4282e-03
+24,2.1367e+01,DOWN_FORCE_DETACH,7.1718e-03,2.1955e-02,5.5041e-02,2.6986e+00,-4.0111e-02,3.8067e-02,-4.9868e-05,2.6821e-02,5.3694e-02,2.4424e-01,-3.2042e-03,1.6218e-03,-2.5460e-05,2.5151e-01,3.5914e-03
+25,2.1700e+01,DOWN_FORCE_DETACH,7.4705e-03,2.1988e-02,5.4202e-02,2.7082e+00,-4.0016e-02,3.8056e-02,-5.8512e-05,2.6853e-02,5.2855e-02,2.5385e-01,-3.1090e-03,1.6112e-03,-3.4104e-05,2.6068e-01,3.5019e-03
+26,2.2000e+01,DOWN_FORCE_DETACH,7.7756e-03,2.2748e-02,5.5897e-02,2.7159e+00,-4.0079e-02,3.8102e-02,-5.4811e-05,2.7614e-02,5.4550e-02,2.6146e-01,-3.1718e-03,1.6575e-03,-3.0403e-05,2.6852e-01,3.5789e-03
+27,2.2300e+01,DOWN_FORCE_DETACH,8.0759e-03,2.2446e-02,5.7563e-02,2.7056e+00,-4.0164e-02,3.8083e-02,-5.2096e-05,2.7311e-02,5.6216e-02,2.5117e-01,-3.2571e-03,1.6377e-03,-2.7688e-05,2.5883e-01,3.6458e-03
+28,2.2583e+01,DOWN_FORCE_DETACH,8.3775e-03,2.2968e-02,5.9005e-02,2.7000e+00,-4.0201e-02,3.8122e-02,-6.7613e-05,2.7834e-02,5.7658e-02,2.4559e-01,-3.2935e-03,1.6767e-03,-4.3205e-05,2.5380e-01,3.6960e-03
+29,2.2817e+01,DOWN_FORCE_DETACH,8.6553e-03,2.2386e-02,5.7607e-02,2.7065e+00,-4.0072e-02,3.8076e-02,-7.0516e-05,2.7251e-02,5.6261e-02,2.5214e-01,-3.1653e-03,1.6313e-03,-4.6108e-05,2.5978e-01,3.5612e-03
+30,2.3067e+01,DOWN_FORCE_DETACH,8.9652e-03,2.4927e-02,6.0941e-02,2.7052e+00,-4.0267e-02,3.8245e-02,-7.0035e-05,2.9793e-02,5.9594e-02,2.5080e-01,-3.3602e-03,1.7998e-03,-4.5627e-05,2.5950e-01,3.8121e-03
+31,2.3300e+01,DOWN_FORCE_DETACH,9.2652e-03,2.3701e-02,6.3020e-02,2.7046e+00,-4.0345e-02,3.8164e-02,-6.0639e-05,2.8566e-02,6.1674e-02,2.5020e-01,-3.4377e-03,1.7196e-03,-3.6231e-05,2.5927e-01,3.8440e-03
+32,2.3533e+01,DOWN_FORCE_DETACH,9.5716e-03,2.3673e-02,6.1831e-02,2.6957e+00,-4.0266e-02,3.8168e-02,-6.1983e-05,2.8539e-02,6.0484e-02,2.4131e-01,-3.3585e-03,1.7230e-03,-3.7575e-05,2.5041e-01,3.7748e-03
+33,2.3750e+01,DOWN_FORCE_DETACH,9.8738e-03,2.3903e-02,6.2285e-02,2.6837e+00,-4.0241e-02,3.8195e-02,-7.8913e-05,2.8769e-02,6.0938e-02,2.2930e-01,-3.3343e-03,1.7505e-03,-5.4505e-05,2.3900e-01,3.7662e-03
+34,2.3950e+01,DOWN_FORCE_DETACH,1.0163e-02,2.3916e-02,6.2410e-02,2.6773e+00,-4.0242e-02,3.8200e-02,-8.4615e-05,2.8782e-02,6.1063e-02,2.2292e-01,-3.3353e-03,1.7552e-03,-6.0207e-05,2.3292e-01,3.7694e-03
+35,2.4150e+01,DOWN_FORCE_DETACH,1.0467e-02,2.4439e-02,6.2053e-02,2.6595e+00,-4.0220e-02,3.8245e-02,-8.6040e-05,2.9305e-02,6.0707e-02,2.0515e-01,-3.3129e-03,1.8002e-03,-6.1633e-05,2.1594e-01,3.7710e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8a953eac50508348c411356ed92685822d3d71c1
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 13629440
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2b2be479a57f164124de82aeb43bc94544515b5
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38160f0a55d443c15c85f598604a9582357d7d3f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79f7671b4b4623c6c395f64b3e1cf3b62ff9359d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0afc71ec5e703af2b2bce12ec9a8882cb2b28693
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+54,3.966666667e+00,UP_FORCE_HOLD,1791629359875216832,-6.833785723e-05,-8.975890065e-05,3.049021993e-04,-6.708142896e-05,-8.673348471e-05,2.860137880e-04,-6.741349663e-05,-8.673548208e-05,2.853831491e-04,7.014695336e-01,-8.820793933e-05,8.410458434e-01,7.014707901e-01,-8.518252339e-05,8.410269550e-01,7.016618965e-01,-8.497166187e-05,8.298580731e-01
+55,4.050000000e+00,UP_FORCE_HOLD,1791629360041249755,-6.817217624e-05,-8.754140667e-05,3.092688687e-04,-6.799814760e-05,-8.784178501e-05,3.087329361e-04,-6.825767241e-05,-8.787759513e-05,3.079473462e-04,7.014696993e-01,-8.599044535e-05,8.410502101e-01,7.014698733e-01,-8.629082369e-05,8.410496741e-01,7.016610523e-01,-8.611377492e-05,8.298806373e-01
+56,4.100000000e+00,UP_FORCE_HOLD,1791629360139365874,-6.846446272e-05,-8.778492244e-05,3.101804423e-04,-6.799814760e-05,-8.784178501e-05,3.087329361e-04,-6.826218026e-05,-8.787750012e-05,3.079911847e-04,7.014694070e-01,-8.623396112e-05,8.410511216e-01,7.014698733e-01,-8.629082369e-05,8.410496741e-01,7.016610478e-01,-8.611367991e-05,8.298806812e-01
+57,4.150000000e+00,UP_FORCE_HOLD,1791629360241612851,-7.287962793e-05,-9.009261598e-05,3.053707914e-04,-6.799814760e-05,-8.784178501e-05,3.087329361e-04,-6.826386899e-05,-8.787750670e-05,3.080221667e-04,7.014649919e-01,-8.854165466e-05,8.410463120e-01,7.014698733e-01,-8.629082369e-05,8.410496741e-01,7.016610461e-01,-8.611368649e-05,8.298807122e-01
+58,4.233333333e+00,UP_FORCE_HOLD,1791629360407206203,-6.896830527e-05,-8.982051587e-05,3.124342836e-04,-6.799814760e-05,-8.784178501e-05,3.087329361e-04,-6.826654912e-05,-8.787731577e-05,3.080675351e-04,7.014689032e-01,-8.826955455e-05,8.410533755e-01,7.014698733e-01,-8.629082369e-05,8.410496741e-01,7.016610434e-01,-8.611349556e-05,8.298807575e-01
+59,4.300000000e+00,UP_SETTLE,1791629360539226902,-6.921339846e-05,-9.233710430e-05,3.154040196e-04,-6.799814760e-05,-8.784178501e-05,3.087329361e-04,-6.826868650e-05,-8.787709053e-05,3.081006415e-04,7.014686581e-01,-9.078614298e-05,8.410563452e-01,7.014698733e-01,-8.629082369e-05,8.410496741e-01,7.016610413e-01,-8.611327032e-05,8.298807906e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ebed10b5a84225311c83b5b1c582a1a95518d56
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-4.7133e-03,1.3374e-03,2.4545e+00,-3.6907e-02,3.6456e-02,-2.4663e-05,1.5498e-04,-8.8681e-06,8.8215e-05,2.2352e-07,1.0934e-05,-2.5943e-07,1.7855e-04,1.0939e-05
+1,6.6667e-02,UP_FORCE_RAMP,1.6805e-05,-4.1088e-03,1.3051e-03,2.4548e+00,-3.6906e-02,3.6498e-02,-2.5671e-05,7.5951e-04,-4.1188e-05,4.3821e-04,9.0897e-07,5.3566e-05,-1.2670e-06,8.7783e-04,5.3589e-05
+2,1.6667e-01,UP_FORCE_RAMP,3.2788e-05,-3.2445e-03,1.2639e-03,2.4553e+00,-3.6906e-02,3.6559e-02,-2.7100e-05,1.6238e-03,-8.2326e-05,9.5081e-04,1.4976e-06,1.1445e-04,-2.6957e-06,1.8835e-03,1.1449e-04
+3,2.5000e-01,UP_FORCE_RAMP,5.4057e-05,-2.5655e-03,8.4481e-03,2.4549e+00,-3.7408e-02,3.6607e-02,-2.2089e-05,2.3028e-03,7.1019e-03,5.1379e-04,-5.0117e-04,1.6262e-04,2.3147e-06,7.4836e-03,5.2690e-04
+4,3.3333e-01,UP_FORCE_RAMP,6.8988e-05,-1.9008e-03,8.2421e-03,2.4554e+00,-3.7396e-02,3.6654e-02,-2.3295e-05,2.9675e-03,6.8959e-03,1.0083e-03,-4.8883e-04,2.0947e-04,1.1093e-06,7.5747e-03,5.3182e-04
+5,4.6667e-01,UP_FORCE_RAMP,8.8330e-05,-9.0439e-04,8.1078e-03,2.4561e+00,-3.7390e-02,3.6724e-02,-2.5160e-05,3.9639e-03,6.7615e-03,1.7138e-03,-4.8245e-04,2.7946e-04,-7.5602e-07,8.0229e-03,5.5754e-04
+6,5.8333e-01,UP_FORCE_RAMP,1.0793e-04,6.0222e-04,1.4692e-02,2.4565e+00,-3.7851e-02,3.6830e-02,-2.0909e-05,5.4705e-03,1.3345e-02,2.1224e-03,-9.4382e-04,3.8553e-04,3.4946e-06,1.4578e-02,1.0195e-03
+7,6.1667e-01,UP_FORCE_RAMP,1.2161e-04,8.0689e-04,1.4635e-02,2.4567e+00,-3.7848e-02,3.6845e-02,-2.1390e-05,5.6752e-03,1.3289e-02,2.2888e-03,-9.4066e-04,3.9991e-04,3.0144e-06,1.4630e-02,1.0221e-03
+8,7.1667e-01,UP_FORCE_RAMP,1.3786e-04,1.4107e-03,1.4528e-02,2.4572e+00,-3.7843e-02,3.6887e-02,-2.2745e-05,6.2790e-03,1.3182e-02,2.7678e-03,-9.3538e-04,4.4222e-04,1.6590e-06,1.4861e-02,1.0346e-03
+9,7.6667e-01,UP_FORCE_RAMP,1.6109e-04,1.7043e-03,1.4493e-02,2.4574e+00,-3.7841e-02,3.6907e-02,-2.3379e-05,6.5726e-03,1.3147e-02,2.9979e-03,-9.3397e-04,4.6276e-04,1.0250e-06,1.5001e-02,1.0423e-03
+10,8.3333e-01,UP_FORCE_RAMP,1.7590e-04,2.3470e-03,1.8673e-02,2.4511e+00,-3.8133e-02,3.6956e-02,-2.1535e-05,7.2153e-03,1.7327e-02,-3.2711e-03,-1.2261e-03,5.1165e-04,2.8688e-06,1.9052e-02,1.3286e-03
+11,9.0000e-01,UP_FORCE_RAMP,1.9351e-04,2.7162e-03,1.8622e-02,2.4520e+00,-3.8133e-02,3.6983e-02,-2.1370e-05,7.5845e-03,1.7276e-02,-2.3451e-03,-1.2255e-03,5.3809e-04,3.0342e-06,1.9012e-02,1.3385e-03
+12,1.0167e+00,UP_FORCE_RAMP,2.1319e-04,3.3233e-03,1.8507e-02,2.4531e+00,-3.8127e-02,3.7025e-02,-2.2969e-05,8.1916e-03,1.7161e-02,-1.2460e-03,-1.2200e-03,5.8049e-04,1.4347e-06,1.9056e-02,1.3510e-03
+13,1.0500e+00,UP_FORCE_RAMP,2.2508e-04,3.4916e-03,1.8487e-02,2.4534e+00,-3.8126e-02,3.7037e-02,-2.3376e-05,8.3599e-03,1.7141e-02,-9.7346e-04,-1.2193e-03,5.9220e-04,1.0283e-06,1.9096e-02,1.3555e-03
+14,1.1500e+00,UP_FORCE_RAMP,2.4513e-04,3.2715e-03,2.2510e-02,2.4468e+00,-3.8410e-02,3.7026e-02,-2.0960e-05,8.1398e-03,2.1164e-02,-7.5634e-03,-1.5030e-03,5.8172e-04,3.4435e-06,2.3903e-02,1.6116e-03
+15,1.2000e+00,UP_FORCE_RAMP,2.6051e-04,3.5450e-03,2.2456e-02,2.4475e+00,-3.8407e-02,3.7045e-02,-2.1653e-05,8.4133e-03,2.1110e-02,-6.8622e-03,-1.5003e-03,6.0070e-04,2.7511e-06,2.3738e-02,1.6161e-03
+16,1.3167e+00,UP_FORCE_RAMP,2.7966e-04,5.9074e-03,2.3263e-02,2.4410e+00,-3.8467e-02,3.7215e-02,-2.2337e-05,1.0776e-02,2.1917e-02,-1.3380e-02,-1.5595e-03,7.7035e-04,2.0672e-06,2.7848e-02,1.7394e-03
+17,1.4000e+00,UP_FORCE_RAMP,3.0047e-04,6.2922e-03,2.3242e-02,2.4429e+00,-3.8468e-02,3.7243e-02,-2.3402e-05,1.1160e-02,2.1896e-02,-1.1517e-02,-1.5605e-03,7.9830e-04,1.0014e-06,2.7141e-02,1.7529e-03
+18,1.4500e+00,UP_FORCE_RAMP,3.1491e-04,6.4572e-03,2.3221e-02,2.4437e+00,-3.8467e-02,3.7254e-02,-2.4052e-05,1.1325e-02,2.1874e-02,-1.0682e-02,-1.5600e-03,8.0958e-04,3.5188e-07,2.6849e-02,1.7575e-03
+19,1.5167e+00,UP_FORCE_RAMP,3.3671e-04,6.2096e-03,2.5664e-02,2.4363e+00,-3.8640e-02,3.7242e-02,-2.2571e-05,1.1078e-02,2.4318e-02,-1.8134e-02,-1.7328e-03,7.9736e-04,1.8333e-06,3.2294e-02,1.9074e-03
+20,1.5833e+00,UP_FORCE_RAMP,3.4973e-04,6.4683e-03,2.5559e-02,2.4381e+00,-3.8634e-02,3.7260e-02,-2.3324e-05,1.1337e-02,2.4213e-02,-1.6311e-02,-1.7271e-03,8.1498e-04,1.0804e-06,3.1318e-02,1.9098e-03
+21,1.7000e+00,UP_FORCE_RAMP,3.7065e-04,6.9188e-03,2.5507e-02,2.4403e+00,-3.8632e-02,3.7290e-02,-2.4746e-05,1.1787e-02,2.4161e-02,-1.4040e-02,-1.7253e-03,8.4555e-04,-3.4210e-07,3.0329e-02,1.9213e-03
+22,1.7667e+00,UP_FORCE_RAMP,3.8524e-04,7.9076e-03,2.4384e-02,2.4326e+00,-3.8557e-02,3.7366e-02,-2.6214e-05,1.2776e-02,2.3037e-02,-2.1755e-02,-1.6495e-03,9.2085e-04,-1.8102e-06,3.4165e-02,1.8891e-03
+23,1.8167e+00,UP_FORCE_RAMP,4.0464e-04,8.0548e-03,2.4390e-02,2.4340e+00,-3.8558e-02,3.7375e-02,-2.6937e-05,1.2923e-02,2.3044e-02,-2.0400e-02,-1.6507e-03,9.3070e-04,-2.5336e-06,3.3380e-02,1.8950e-03
+24,1.8667e+00,UP_FORCE_RAMP,4.2103e-04,8.2151e-03,2.4392e-02,2.4352e+00,-3.8559e-02,3.7386e-02,-2.7545e-05,1.3083e-02,2.3046e-02,-1.9235e-02,-1.6514e-03,9.4142e-04,-3.1411e-06,3.2745e-02,1.9009e-03
+25,1.9667e+00,UP_FORCE_RAMP,4.3961e-04,8.3568e-03,2.5074e-02,2.4285e+00,-3.8609e-02,3.7401e-02,-2.7799e-05,1.3225e-02,2.3728e-02,-2.5861e-02,-1.7017e-03,9.5659e-04,-3.3950e-06,3.7506e-02,1.9521e-03
+26,2.0333e+00,UP_FORCE_RAMP,4.5609e-04,8.5961e-03,2.5059e-02,2.4304e+00,-3.8608e-02,3.7417e-02,-2.8632e-05,1.3464e-02,2.3712e-02,-2.3983e-02,-1.7012e-03,9.7258e-04,-4.2283e-06,3.6315e-02,1.9596e-03
+27,2.1167e+00,UP_FORCE_RAMP,4.7531e-04,8.8892e-03,2.5051e-02,2.4325e+00,-3.8608e-02,3.7437e-02,-2.9526e-05,1.3758e-02,2.3705e-02,-2.1935e-02,-1.7011e-03,9.9202e-04,-5.1226e-06,3.5105e-02,1.9692e-03
+28,2.1333e+00,UP_FORCE_RAMP,5.0693e-04,1.3520e-02,2.6135e-02,2.4262e+00,-3.8684e-02,3.7765e-02,-2.9259e-05,1.8388e-02,2.4789e-02,-2.8159e-02,-1.7773e-03,1.3203e-03,-4.8547e-06,4.1780e-02,2.2141e-03
+29,2.1333e+00,UP_FORCE_RAMP,5.0693e-04,1.3520e-02,2.6135e-02,2.4262e+00,-3.8684e-02,3.7765e-02,-2.9259e-05,1.8388e-02,2.4789e-02,-2.8159e-02,-1.7773e-03,1.3203e-03,-4.8547e-06,4.1780e-02,2.2141e-03
+30,2.2167e+00,UP_FORCE_RAMP,5.2738e-04,2.1564e-02,2.6168e-02,2.4372e+00,-3.8686e-02,3.8327e-02,-3.1622e-05,2.6433e-02,2.4821e-02,-1.7215e-02,-1.7787e-03,1.8826e-03,-7.2179e-06,4.0139e-02,2.5900e-03
+31,2.2833e+00,UP_FORCE_RAMP,5.4275e-04,2.1097e-02,2.6165e-02,2.4383e+00,-3.8686e-02,3.8294e-02,-3.2480e-05,2.5965e-02,2.4818e-02,-1.6056e-02,-1.7788e-03,1.8492e-03,-8.0761e-06,3.9344e-02,2.5658e-03
+32,2.3667e+00,UP_FORCE_RAMP,5.6253e-04,2.3805e-02,2.7132e-02,2.4326e+00,-3.8755e-02,3.8489e-02,-3.2842e-05,2.8673e-02,2.5786e-02,-2.1822e-02,-1.8480e-03,2.0444e-03,-8.4386e-06,4.4309e-02,2.7558e-03
+33,2.4333e+00,UP_FORCE_RAMP,5.8165e-04,2.3351e-02,2.7110e-02,2.4342e+00,-3.8754e-02,3.8456e-02,-3.3845e-05,2.8219e-02,2.5764e-02,-2.0168e-02,-1.8468e-03,2.0117e-03,-9.4410e-06,4.3207e-02,2.7309e-03
+34,2.4833e+00,UP_FORCE_RAMP,5.9551e-04,2.4279e-02,2.7355e-02,2.4268e+00,-3.8772e-02,3.8526e-02,-3.4217e-05,2.9147e-02,2.6009e-02,-2.7618e-02,-1.8649e-03,2.0813e-03,-9.8131e-06,4.7841e-02,2.7946e-03
+35,2.5667e+00,UP_FORCE_RAMP,6.1490e-04,2.3973e-02,2.7339e-02,2.4296e+00,-3.8772e-02,3.8504e-02,-3.5340e-05,2.8842e-02,2.5993e-02,-2.4813e-02,-1.8643e-03,2.0598e-03,-1.0936e-05,4.6078e-02,2.7782e-03
+36,2.6333e+00,UP_FORCE_RAMP,6.3260e-04,2.5237e-02,2.7549e-02,2.4229e+00,-3.8787e-02,3.8597e-02,-3.5922e-05,3.0105e-02,2.6203e-02,-3.1518e-02,-1.8799e-03,2.1525e-03,-1.1518e-05,5.0856e-02,2.8579e-03
+37,2.7000e+00,UP_FORCE_RAMP,6.4872e-04,2.5019e-02,2.7518e-02,2.4254e+00,-3.8785e-02,3.8582e-02,-3.6883e-05,2.9888e-02,2.6172e-02,-2.9022e-02,-1.8781e-03,2.1374e-03,-1.2479e-05,4.9199e-02,2.8453e-03
+38,2.7667e+00,UP_FORCE_RAMP,6.6688e-04,2.5238e-02,2.7453e-02,2.4189e+00,-3.8781e-02,3.8601e-02,-3.7615e-05,3.0106e-02,2.6106e-02,-3.5510e-02,-1.8741e-03,2.1568e-03,-1.3211e-05,5.3375e-02,2.8573e-03
+39,2.8333e+00,UP_FORCE_RAMP,6.8324e-04,2.5027e-02,2.7437e-02,2.4216e+00,-3.8780e-02,3.8586e-02,-3.8570e-05,2.9896e-02,2.6091e-02,-3.2805e-02,-1.8729e-03,2.1416e-03,-1.4166e-05,5.1485e-02,2.8451e-03
+40,2.9000e+00,UP_FORCE_RAMP,7.0452e-04,2.4744e-02,2.7430e-02,2.4237e+00,-3.8779e-02,3.8565e-02,-3.9395e-05,2.9613e-02,2.6084e-02,-3.0727e-02,-1.8715e-03,2.1206e-03,-1.4991e-05,5.0014e-02,2.8284e-03
+41,2.9500e+00,UP_FORCE_RAMP,7.1846e-04,2.5637e-02,2.9125e-02,2.4164e+00,-3.8898e-02,3.8634e-02,-3.8412e-05,3.0505e-02,2.7779e-02,-3.8028e-02,-1.9910e-03,2.1889e-03,-1.4009e-05,5.6110e-02,2.9590e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e307705610486642f714b5c66414a8789219185
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbf7cccf7183e51df8faa4552669ce62becec66d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
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+3754,1791629490384546262,34674218999999,1791629490377232388,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6760609937893676,-0.004775959629574994,0.09056275123141756,0.999999993515629,-3.7176274692998034e-07,-5.5810974094432634e-05,3.6008380005865226e-05,0.6761,-0.0048,0.09055868260639874,1.0,0.0,0.0,0.0,0.14816609380123483,0.17082762004595867,0.38656540802558037,0.012494864337244959,-0.009361446001782372,0.0007291952428720141,0.15260359243827745,0.1467542931576717,0.43612446395334836,0.010481906707982155,-0.010432284126839116,-0.0003743393538348123,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.5470973002636176,-0.07504862007694076,0.2539013800879519,0.27346785178462396,-0.046968501612406684,-0.12562385283844676,1.2800290702230983,0.38656540802558037,1.0261276901351464,1.0261276901351464,1.033901647990478,1,0,-5.810786814633572e-05,9.999980984798924e-05
+4039,1791629492759580024,34676593999999,1791629492757222283,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6760665165436106,-0.004788009562928614,0.0904562798642287,0.9999999933229445,2.3098163618358016e-06,-4.5536796164082794e-05,5.213482790439089e-05,0.6761,-0.0048,0.09043699900502519,1.0,0.0,0.0,0.0,0.14647602419136152,0.17535050669972901,0.5184826057935707,0.012368224247004067,-0.008375126559615793,0.0006372875344794756,0.15091352282840415,0.15127717981144204,0.5680416617213387,0.010355266617741263,-0.009445964684672537,-0.0004662470622273509,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.525089173866285,-0.1354347161849902,0.09486044976516746,0.29558052424062237,0.04498459883322861,-0.16122290841111436,1.2800290702230983,0.5184826057935707,1.1851686204579308,1.1851686204579308,1.223901647990668,1,0,-5.2750822922249856e-05,7.641969976124869e-05
+4382,1791629495618596653,34679453000000,1791629495617222230,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6760767116296178,-0.004791686740135583,0.0903159582709836,0.9999999846007778,0.0001356549524895435,-2.8146990247807044e-05,5.519773019523037e-05,0.6761,-0.0048,0.09027384171503741,1.0,0.0,0.0,0.0,0.13739984205072256,0.17020216265559363,0.7086304918557699,0.013350358828681033,-0.008433691221943514,0.0004940067994284597,0.14183734068776518,0.14612883576730665,0.7581895477835379,0.011337401199418229,-0.009504529347000258,-0.0006095277972783668,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.598366769809722,-0.12962288967673027,-0.13565869055842883,0.30983076209755117,0.2066165551852817,-0.15216794363029928,1.2800290702230983,0.7086304918557699,1.4156877607815272,1.4156877607815272,1.4526216479908967,1,0,-5.188847948947727e-05,9.999999025923074e-05
+4678,1791629498084476284,34681919000000,1791629498081231907,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760884345258189,-0.004795275345705966,0.09020622842577092,0.9999999877707002,0.00011190080924724443,-8.121455444820313e-06,5.7564874523938996e-05,0.6761,-0.0048,0.09013755021896691,1.0,0.0,0.0,0.0,0.1368388766277374,0.18024116539026838,0.8493633389808027,0.013296582688641796,-0.007452566499709873,0.0003959745686766456,0.14127637526478,0.1561678385019814,0.8989223949085707,0.011283625059378992,-0.008523404624766617,-0.0007075600280301809,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.6417402861617925,-0.18154549008878101,-0.2774756374882893,0.3399242348767184,0.30464308696883363,-0.1774821666276724,1.2800290702230983,0.8493633389808027,1.5575047077113875,1.5575047077113875,1.649901647991094,1,0,-5.9829431807460705e-05,-9.600854419667399e-05
+4949,1791629500343566599,34684178000000,1791629500337232677,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761018653960041,-0.004800567267924731,0.09009306812589703,0.9999999893954238,9.352084184736985e-05,1.1404039691048845e-05,6.144767439065161e-05,0.6761,-0.0048,0.08999948358464918,1.0,0.0,0.0,0.0,0.12727664128304508,0.18530958733032094,0.9995086315856133,0.013242786257238634,-0.006471303777948854,0.00028922457847049864,0.1317141399200877,0.16123626044203396,1.0490676875133813,0.01122982862797583,-0.007542141903005598,-0.0008143100182363279,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.7128855430735628,-0.12981701157888886,-0.5254086288887452,0.3330910226791359,0.4778527260811809,-0.13744577818886913,1.2800290702230983,0.9995086315856133,1.8054376991118435,1.8054376991118435,1.8306216479912747,1,0,-6.299688504599198e-05,9.999031744112869e-05
+5245,1791629502809522414,34686644000000,1791629502809232238,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761195437959713,-0.004798932294892212,0.08996004978975808,0.9999999911293159,6.8383078627866e-05,4.1402847364832904e-05,5.2856329378831423e-05,0.6761,-0.0048,0.08983394665787166,1.0,0.0,0.0,0.0,0.11643781445505638,0.1911320052123327,1.1667097515363707,0.01460122734982797,-0.005523543904366483,0.0007992453608587947,0.12087531309209901,0.16705867832404572,1.2162688074641388,0.012588269720565166,-0.006594382029423227,-0.00030428923584803176,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.7447312242200576,-0.17117018857135696,-0.6936257715008659,0.35636038555193333,0.5885871242655374,-0.16276616962594698,1.2800290702230983,1.1667097515363707,1.973654841723964,1.973654841723964,2.027901647991472,1,0,-6.567374740276832e-05,9.999999025923074e-05
+5528,1791629505168442913,34689002999999,1791629505161232553,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761363492412368,-0.004809841628633897,0.08983828075476623,0.9999999903786712,5.691353306259378e-05,6.551483766996072e-05,5.616206974633761e-05,0.6761,-0.0048,0.08968231896814399,1.0,0.0,0.0,0.0,0.10627319882606504,0.20830344089227587,1.3116211225526453,0.01516172443799696,-0.0045568237598518175,0.001116186744200031,0.11071069746310766,0.1842301140039889,1.3611801784804134,0.013148766808734155,-0.005627661884908561,1.2652147493204394e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.756051647961735,-0.1040706604669385,-0.8858804598669205,0.34710597763964607,0.7088126712703609,-0.11550610248345711,1.2800290702230983,1.3116211225526453,2.165909530090019,2.165909530090019,2.2166216479916607,1,0,-6.819264911498012e-05,9.999986535914047e-05
+5819,1791629507593424698,34691428000000,1791629507593231745,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.67615106810285,-0.004809165359845402,0.0896940621456519,0.9999999875650234,7.295541064337393e-05,8.799773831709705e-05,5.6980026486875254e-05,0.6761,-0.0048,0.08951111282614907,1.0,0.0,0.0,0.0,0.09587441007231476,0.22075946979693362,1.4811602915432907,0.01612343141833362,-0.00359882585316195,0.0010052650821944322,0.10031190870935738,0.19668614290864664,1.5307193474710588,0.014110473789070812,-0.004669663978218694,-9.826951451239423e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8084335125507708,-0.12343672429732017,-1.0549010086583193,0.35757892484289033,0.826765311861104,-0.1265066946792276,1.2800290702230983,1.4811602915432907,2.334930078881418,2.334930078881418,2.4106216479918547,1,0,-7.300079972874662e-05,9.992882496335227e-05
+6115,1791629510059516995,34693894000000,1791629510053232085,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676164556490066,-0.004809921986695811,0.08955041237557197,0.9999999860616433,6.470121496696957e-05,0.00010966598651275365,5.573779540337835e-05,0.6761,-0.0048,0.08934235142099267,1.0,0.0,0.0,0.0,0.08627581894515261,0.21662052778848478,1.643028200905015,0.016093200246871997,-0.0036337112847830994,0.000873329297026686,0.09071331758219524,0.1925472009001978,1.692587256832783,0.014080242617609193,-0.004704549409839843,-0.0002302052996801406,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8772943139317034,-0.12902293041680987,-1.2989181504591194,0.3681833041619121,0.9953255434512039,-0.12627177508195092,1.2800290702230983,1.643028200905015,2.5789472206822177,2.5789472206822177,2.607901647992052,1,0,-6.714209962036121e-05,9.689057475637525e-05
+6418,1791629512584456537,34696419000000,1791629512581222159,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761785458106477,-0.0048152589470634366,0.08940143468772146,0.9999999840948695,5.476417250448757e-05,0.0001309765142072512,5.5670130870494347e-05,0.6761,-0.0048,0.08916682763461249,1.0,0.0,0.0,0.0,0.075906084181094,0.23522828773570784,1.8016631476579696,0.01705652294102053,-0.002674207325177193,0.0007700479801110802,0.08034358281813662,0.21115496084742086,1.8512222035857377,0.015043565311757724,-0.003745045450233937,-0.0003334866165957463,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9396844961027355,-0.10725826617718985,-1.4533341757390204,0.3676007397861032,1.1074232649039162,-0.11375648693371646,1.2800290702230983,1.8016631476579696,2.733363245962119,2.733363245962119,2.809901647992254,1,0,-7.338093463840766e-05,8.355306310570682e-05
+6722,1791629515118503959,34698953000000,1791629515117223402,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761945273097419,-0.004820476811833095,0.08923215993350184,0.9999999797194492,6.0866656630125886e-05,0.00015564461633645163,6.38276519063631e-05,0.6761,-0.0048,0.08897305490770939,1.0,0.0,0.0,0.0,0.06964894256647965,0.2314241271120643,1.973870810512893,0.016995992063034992,-0.001697443635669891,0.0006469750755698771,0.07408644120352227,0.20735080022377733,2.023429866440661,0.014983034433772188,-0.002768281760726635,-0.0004565595211369494,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9771941592110406,-0.14597732659863802,-1.7081480669488505,0.3851088167359024,1.2750896110960115,-0.13652796982414325,1.2800290702230983,1.973870810512893,2.9881771371719488,2.9881771371719488,3.012621647992457,1,0,-7.935356111513225e-05,9.999978209241362e-05
+6997,1791629517409467826,34701244000000,1791629517409221954,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762043105890475,-0.004823035073905217,0.08906606566588496,0.9999999772671323,6.454689749929171e-05,0.00016685854229797156,7.000374478122153e-05,0.6761,-0.0048,0.08879388990518902,1.0,0.0,0.0,0.0,0.07242020862026982,0.2393273440182997,2.1152194915053095,0.017989872799159767,-0.001747146529861543,0.0005446282111353416,0.07685770725731245,0.21525401713001271,2.1647785474330776,0.015976915169896962,-0.002817984654918287,-0.0005589063855714849,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9663591943240413,-0.15648020897147033,-1.8049487948433316,0.39253276343734445,1.3303849575285813,-0.14392396579450373,1.2800290702230983,2.1152194915053095,3.08497786506643,3.08497786506643,3.19590164799264,1,0,-8.290120385007183e-05,-5.8967903948447745e-05
+7260,1791629519601464931,34703436000000,1791629519601232224,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762160168908637,-0.00481670093349891,0.08888834103019284,0.9999999727085713,7.940834992241161e-05,0.00018725903912724263,6.822087056231059e-05,0.6761,-0.0048,0.08859269901142733,1.0,0.0,0.0,0.0,0.05684222324775183,0.24388935137633175,2.245641291652611,0.01796576710793719,-0.0017754408928130812,0.0004835697911105602,0.06127972188479445,0.21981602448804477,2.295200347580379,0.015952809478674387,-0.002846279017869825,-0.0006199648055962663,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0076610159418973,-0.13182063543731742,-1.9910323976661786,0.3965868635645501,1.4516544788667745,-0.12376873542353577,1.2800290702230983,2.245641291652611,3.271061467889277,3.271061467889277,3.3712616479928155,1,0,-0.00010006949130861453,8.878360133047209e-05
+7516,1791629521734387486,34705569000000,1791629521733231754,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762272428685498,-0.004829031183089708,0.08868085970094194,0.9999999699280271,6.96529887543323e-05,0.0002034019960251608,7.32318134642819e-05,0.6761,-0.0048,0.08836625697294707,1.0,0.0,0.0,0.0,0.06429286076792291,0.2440376400158725,2.370359339473818,0.01791756694708291,-0.0011941894058890878,0.001238201141970392,0.06873035940496554,0.21996431312758552,2.419918395401586,0.015904609317820107,-0.0022650275309458318,0.00013466654526356545,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0178898050104945,-0.11269070417499075,-2.1717327693320367,0.3981167534889058,1.568227303636223,-0.11146581315966171,1.2800290702230983,2.370359339473818,3.451761839555135,3.451761839555135,3.541901647992986,1,0,-0.000114820078268825,8.93350352290156e-05
+7745,1791629523643377856,34707478000000,1791629523637231997,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762370114703642,-0.004831726404891682,0.08844413383144596,0.9999999669486122,7.071825063939319e-05,0.00021701003672637025,7.383232483063396e-05,0.6761,-0.0048,0.08811449792852226,1.0,0.0,0.0,0.0,0.06977697812938902,0.23759435243690175,2.462506454285202,0.017896723132641467,-0.0011547417122461788,0.0013023871019642184,0.07421447676643164,0.21352102554861477,2.5120655102129703,0.015883765503378663,-0.002225579837302923,0.000198852505257392,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.021475442556478,-0.1427844636641443,-2.277323576966292,0.41689786319279143,1.6323657904589428,-0.13089663717718086,1.2800290702230983,2.462506454285202,3.5573526471893904,3.5573526471893904,3.694621647993139,1,0,-0.00014755714475703374,9.999464731092473e-05
+7939,1791629525259392995,34709093999999,1791629525253231627,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762381370538998,-0.004836199195082378,0.08817707526577287,0.9999999671689247,6.381371483095297e-05,0.00021707805052453982,7.687615830073408e-05,0.6761,-0.0048,0.08784654612546253,1.0,0.0,0.0,0.0,0.06833753068103228,0.2214631443376816,2.5466453428607974,0.01687629594649051,-0.001825052057032017,0.0012113092207969474,0.0727750293180749,0.19738981744939463,2.5962043987885655,0.014863338317227704,-0.002895890182088761,0.00010777462409012084,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0302330108575202,-0.1403806985686902,-2.3342328404450536,0.4349970470780926,1.6715558140665048,-0.12942409404280095,1.2800290702230983,2.5466453428607974,3.614261910668152,3.614261910668152,3.823901647993268,1,0,-0.00018361776670386553,8.033481799086246e-05
+8115,1791629526726414399,34710561000000,1791629526725222388,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762438399968743,-0.0048476081485680275,0.08788954923385403,0.9999999655269475,5.45790184484328e-05,0.0002246275918554463,8.33819166832903e-05,0.6761,-0.0048,0.08754855650456092,1.0,0.0,0.0,0.0,0.0648254553169924,0.21119922355305598,2.6164250679882333,0.015814923742014472,-0.0008077039815542505,0.0011587127279973654,0.06926295395403502,0.187125896664769,2.6659841239160014,0.013801966112751668,-0.0018785421066109945,5.5178131290539e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9583378471476736,-0.14314294212653206,-2.2336863055075695,0.4501190035971896,1.5902510027414611,-0.1315509499975222,1.2800290702230983,2.6164250679882333,3.513715375730668,3.513715375730668,3.9412616479933855,1,0,-0.00022238807779603598,-9.999999025923074e-05
+8262,1791629527951380496,34711786000000,1791629527949222470,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762497631369506,-0.004845344142396643,0.08760360333002043,0.9999999605244004,8.88165915650563e-05,0.00023339403521014718,8.962644298656683e-05,0.6761,-0.0048,0.08724797002115287,1.0,0.0,0.0,0.0,0.06551011807157535,0.18984211460716532,2.6560220895562905,0.01481237538037757,-0.001805144487981395,0.0010994933338901018,0.06994761670861797,0.16576878771887835,2.7055811454840586,0.012799417751114766,-0.002875982613038139,-4.0412628167248005e-06,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9617058479736476,-0.21818991620398945,-2.3949833471963844,0.4847747030898321,1.7005053104730372,-0.17755512749024005,1.2800290702230983,2.6560220895562905,3.6750124174194827,3.6750124174194827,4.039261647993266,1,0,-0.0002726032357028548,-9.999999025923074e-05
+8390,1791629529018398252,34712853000000,1791629529013222025,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676254109093207,-0.004850093867552913,0.08729710513875859,0.9999999602031664,5.532383820930608e-05,0.000245920609563,8.659594040522584e-05,0.6761,-0.0048,0.08693103689240778,1.0,0.0,0.0,0.0,0.055957381004943074,0.1908808784472285,2.6861887498456967,0.014778970034132116,-0.0008022118811544094,0.0010897363753282201,0.06039487964198569,0.16680755155894153,2.7357478057734648,0.012766012404869312,-0.0018730500062111534,-1.3798221378606485e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9257054282416411,-0.1663146616978562,-2.3453907389025472,0.4893201254710689,1.6647491491199902,-0.140500698758808,1.2800290702230983,2.6861887498456967,3.6254198091256455,3.6254198091256455,4.1246216479928774,1,0,-0.0003224468143700739,-9.999999025923074e-05
+8494,1791629529884373079,34713718999999,1791629529877231559,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762531347038392,-0.004855805725959478,0.0869964984286114,0.9999999560034957,0.00010656488577480091,0.0002425481301825497,9.617796389577705e-05,0.6761,-0.0048,0.08663307070482008,1.0,0.0,0.0,0.0,0.06589543948989572,0.17955786087689699,2.7260175384309067,0.01378047059966754,-0.0018048149208379765,0.0010315581099451024,0.07033293812693835,0.15548453398861,2.7755765943586748,0.011767512970404737,-0.0028756530458947205,-7.197648676172419e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9120985621508921,-0.1154913624378465,-2.33582328895495,0.4911720654109943,1.6584741353251815,-0.10783496597137993,1.2800290702230983,2.7260175384309067,3.6158523591780485,3.6158523591780485,4.193901647992562,1,0,-0.00036574680593456774,-9.999999025923074e-05
+8594,1791629530718407567,34714553000000,1791629530717222430,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762553522839965,-0.0048606703010663655,0.08668342926834821,0.999999957502472,6.860968229357093e-05,0.0002500843575851435,9.585637351688056e-05,0.6761,-0.0048,0.08631067692882542,1.0,0.0,0.0,0.0,0.0603110690246803,0.16914282081005208,2.715955545235879,0.013778708583486649,-0.0018016454490793257,0.0010389793737755014,0.06474856766172292,0.1450694939217651,2.765514601163647,0.011765750954223844,-0.0028724835741360697,-6.45552229313251e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8518393840461086,-0.07979873281563017,-2.3410173220575823,0.4861213367836556,1.653429203824169,-0.08504280835004277,1.2800290702230983,2.715955545235879,3.6210463922806806,3.6210463922806806,4.2606216479922585,1,0,-0.0004073933318152464,-9.999999025923074e-05
+8681,1791629531443372372,34715278000000,1791629531437231723,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762619658308421,-0.004852964249129248,0.08638969871441858,0.999999955802855,5.883025303246659e-05,0.00026082179750985167,9.136817784994531e-05,0.6761,-0.0048,0.0860021942658229,1.0,0.0,0.0,0.0,0.06597535262564694,0.17022872280538567,2.7460663622874746,0.013773055756369857,-0.0018083374193630152,0.0010153430163375302,0.07041285126268956,0.1461553959170987,2.7956254182152427,0.011760098127107052,-0.002879175544419759,-8.819158036929633e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8598335131438131,-0.12648386021709665,-2.286875593231648,0.5116991144862026,1.6259875471788825,-0.11336550240435957,1.2800290702230983,2.7460663622874746,3.5669046634547463,3.5669046634547463,4.3186216479919945,1,0,-0.00044364332475318866,-9.999999025923074e-05
+8765,1791629532143369451,34715978000000,1791629532137231697,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762606074877019,-0.004858728022671268,0.08606703183019603,0.9999999551809465,6.327012981977365e-05,0.0002613790380321182,9.358877339681594e-05,0.6761,-0.0048,0.08567941144088556,1.0,0.0,0.0,0.0,0.07553205889657981,0.16696676862219223,2.745704780712717,0.012753007689395315,-0.001789596618020834,0.0010052838782683927,0.07996955753362243,0.14289344173390525,2.795263836640485,0.010740050060132511,-0.002860434743077578,-9.825071843843384e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9176207001507293,-0.1944377437726169,-2.3141434982994173,0.533517170437011,1.660865223853252,-0.15912017689059113,1.2800290702230983,2.745704780712717,3.5941725685225157,3.5941725685225157,4.37462164799174,1,0,-0.0004786433179346502,-9.999999025923074e-05
+8841,1791629532776394793,34716610999999,1791629532773222982,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762561644872904,-0.004860260665983709,0.08574519060588137,0.9999999567762483,5.541270510234767e-05,0.00025601526468888,9.631190140081699e-05,0.6761,-0.0048,0.08536642882258752,1.0,0.0,0.0,0.0,0.08504928145288229,0.15804772001907694,2.7636049713748214,0.01277579853696979,-0.0028061527470662623,0.000976268687922819,0.08948678008992492,0.13397439313078996,2.8131640273025895,0.010762840907706985,-0.0038769908721230065,-0.00012726590878400746,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8562621582442299,-0.12105210387540245,-2.3064038084724943,0.5208746102145743,1.6399735388871746,-0.10880922627056795,1.2800290702230983,2.7636049713748214,3.5864328786955926,3.5864328786955926,4.425261647991509,1,0,-0.0005102933117687433,-9.999999025923074e-05
+8913,1791629533376391120,34717211000000,1791629533373222185,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762571536181387,-0.004863149433380632,0.08543920836297578,0.9999999550058586,6.627614633911852e-05,0.0002603903207741785,9.610150178592301e-05,0.6761,-0.0048,0.08505126783728253,1.0,0.0,0.0,0.0,0.08008399891207643,0.1442237120790984,2.7352991853820448,0.011759725598591706,-0.0027802540482047902,0.0009870001087289868,0.08452149754911906,0.12015038519081142,2.784858241309813,0.009746767969328902,-0.0038510921732615344,-0.00011653448797783971,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8899865671765976,-0.20251342132432898,-2.3184202527495823,0.5395830541735926,1.6613786107778288,-0.1640795852287437,1.2800290702230983,2.7352991853820448,3.5984493229726806,3.5984493229726806,4.473261647991291,1,0,-0.0005402933059242817,-9.999999025923074e-05
+8981,1791629533943358693,34717778000000,1791629533937222983,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762595677526346,-0.004863869536649082,0.08513110989137918,0.9999999545712085,5.559843738539428e-05,0.00026307013200099094,0.0001000168236744441,0.6761,-0.0048,0.084736898484392,1.0,0.0,0.0,0.0,0.08570919645181926,0.1434871709878628,2.7152522606196223,0.011763373579269949,-0.0027759095572216586,0.0010038721084713745,0.09014669508886189,0.11941384409957581,2.7648113165473904,0.009750415950007144,-0.003846747682278403,-9.966248823545191e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9260512363676212,-0.14851062203673007,-2.2596224458360434,0.5330491553032852,1.6287523046495784,-0.12430799667638885,1.2800290702230983,2.7152522606196223,3.5396515160591417,3.5396515160591417,4.518621647991084,1,0,-0.0005686433004012656,-9.999999025923074e-05
+9044,1791629534468344939,34718303000000,1791629534465222461,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762506845272953,-0.00487265439037754,0.08481672403214735,0.9999999581951199,5.671045189497076e-05,0.00024892172829098637,9.937062344386308e-05,0.6761,-0.0048,0.0844314832530263,1.0,0.0,0.0,0.0,0.07909453779929183,0.13026271689305274,2.701150980877932,0.01074446338603146,-0.0027539736349250056,0.0010017800940003516,0.08353203643633446,0.10618939000476575,2.7507100368057,0.008731505756768655,-0.00382481175998175,-0.00010175450270647497,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.908757019142957,-0.07951738497061117,-2.2383208333292446,0.5153910982501363,1.611418791964779,-0.07604619652520585,1.2800290702230983,2.701150980877932,3.518349903552343,3.518349903552343,4.560621647990893,1,0,-0.0005948932952873617,-9.999999025923074e-05
+9104,1791629534968341627,34718803000000,1791629534961222259,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762492820351416,-0.004867444390778527,0.08451314706164631,0.9999999588277925,5.017450906346142e-05,0.00024862248141337774,9.724535052982372e-05,0.6761,-0.0048,0.08412779910660265,1.0,0.0,0.0,0.0,0.08654016610489626,0.11163072438062632,2.6835274342946995,0.010774689478386949,-0.003760739254970523,0.0010023456751723754,0.09097766474193889,0.08755739749233933,2.7330864902224676,0.008761731849124144,-0.004831577380027267,-0.00010118892153445106,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9879632247232127,-0.33199221690040726,-2.349801675218557,0.586551360557927,1.704540069222512,-0.24121785864366996,1.2800290702230983,2.6835274342946995,3.629830745441655,3.629830745441655,4.600621647990711,1,0,-0.0006198932904169771,-9.999999025923074e-05
+9164,1791629535468347703,34719303000000,1791629535465222610,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762467800419278,-0.004868794185758169,0.08420023455140073,0.99999995862527,4.98664625033514e-05,0.00024881992647090033,9.896617036219722e-05,0.6761,-0.0048,0.08381161496261419,1.0,0.0,0.0,0.0,0.08640704599798486,0.12725769864191128,2.6245137470393844,0.010757811636995927,-0.0027359747850146552,0.0010656538787029368,0.09084454463502749,0.1031843717536243,2.6740728029671526,0.008744854007733123,-0.003806812910071399,-3.788071800388974e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.994272406131144,-0.08173695607011769,-2.1568853030888033,0.517884295839264,1.580318672366777,-0.07411659040003084,1.2800290702230983,2.6245137470393844,3.4369143733119016,3.4369143733119016,4.640621647990529,1,0,-0.0006448932855465925,-9.999999025923074e-05
+9220,1791629535934342658,34719769000000,1791629535933222643,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762411826777156,-0.004863972344249922,0.08389132161747097,0.9999999597024685,5.728409045966229e-05,0.0002424555460492799,9.985873627901503e-05,0.6761,-0.0048,0.08350567744260938,1.0,0.0,0.0,0.0,0.0931352093643511,0.10871455704247554,2.5944637145759635,0.009769523078896752,-0.0037230631549814127,0.0010635798607429433,0.09757270800139373,0.08464123015418856,2.6440227705037316,0.007756565449633947,-0.0047939012800381564,-3.995473596388325e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.03052236969507,-0.2102997901772892,-2.1657647149278962,0.5517897548326005,1.5929112327647184,-0.16045946402211367,1.2800290702230983,2.5944637145759635,3.4457937851509945,3.4457937851509945,4.6779016479903595,1,0,-0.000668193281007394,-9.999999025923074e-05
+9276,1791629536401279413,34720235999999,1791629536401222757,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762357617038566,-0.004867268566187833,0.0835652987680003,0.9999999624394637,4.566098840583877e-05,0.00023336404314042684,0.00010010111513710373,0.6761,-0.0048,0.08318819063144338,1.0,0.0,0.0,0.0,0.08790125983480117,0.09950876965573022,2.5635827346983047,0.008754964911775787,-0.0036971158608697695,0.0010763764576873216,0.0923387584718438,0.07543544276744323,2.6131417906260728,0.006742007282512983,-0.004767953985926513,-2.715813901950495e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.128997252310547,-0.15277202977768722,-2.290949576399883,0.5294280960914685,1.6986271681933396,-0.12060895415684608,1.2800290702230983,2.5635827346983047,3.570978646622981,3.570978646622981,4.715261647990189,1,0,-0.0006915432764584547,-9.999999025923074e-05
+9328,1791629536834277404,34720669000000,1791629536829222756,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762277490900297,-0.004868457131544824,0.0832425525686267,0.9999999650308707,4.524667813699239e-05,0.00022181811017741443,0.00010065081168228967,0.6761,-0.0048,0.08288407599365212,1.0,0.0,0.0,0.0,0.08012405229240088,0.0842107937329396,2.493104219792631,0.007746654012007276,-0.0036620388907781243,0.0011216768484715186,0.08456155092944351,0.060137466844652626,2.542663275720399,0.005733696382744471,-0.004732877015834868,1.8142251764692065e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.1216062883580311,-0.13032271395641604,-2.12033734043182,0.52215875044025,1.5821090136534965,-0.10625574420940924,1.2800290702230983,2.493104219792631,3.4003664106549185,3.4003664106549185,4.749901647990032,1,0,-0.0007131932722407016,-9.999999025923074e-05
+9376,1791629537234374392,34721069000000,1791629537229222300,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762187482319683,-0.004868744050353682,0.08294305155263385,0.9999999676112828,4.557529259330332e-05,0.00020861012794948168,0.00010307766387764997,0.6761,-0.0048,0.08259480868553705,1.0,0.0,0.0,0.0,0.08004364714606768,0.0770877695754314,2.4323532188948636,0.006744694667825318,-0.0036298088494285553,0.0011584431561975353,0.0844811457831103,0.05301444268714441,2.4819122748226317,0.004731737038562514,-0.004700646974485299,5.490855949070877e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2226889651652912,-0.19465630718265883,-2.1972489352665634,0.5302126323897441,1.6606257468400756,-0.14724550925055963,1.2800290702230983,2.4323532188948636,3.4772780054896617,3.4772780054896617,4.781901647989886,1,0,-0.0007331932683443939,-9.999999025923074e-05
+9424,1791629537634371681,34721468999999,1791629537633222431,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762074762402615,-0.0048666162990636695,0.08262842210656039,0.9999999719644641,3.778554642364583e-05,0.0001904058904404195,9.915535678072077e-05,0.6761,-0.0048,0.0822975413789805,1.0,0.0,0.0,0.0,0.08017129684563527,0.06702975843141945,2.373468125671917,0.006748588923514692,-0.003616463816306226,0.0012061421085517285,0.0846087954826779,0.04295643154313246,2.423027181599685,0.004735631294251887,-0.00468730194136297,0.00010260751184490194,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2514509231397035,-0.28385425895448796,-2.0806210412873964,0.5547969750145471,1.5898195537162993,-0.20755794752072595,1.2800290702230983,2.373468125671917,3.3606501115104948,3.3606501115104948,4.8139016479897405,1,0,-0.0007531932644480862,-9.999999025923074e-05
+9472,1791629538034305101,34721869000000,1791629538029222760,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761915555948735,-0.004864869360565151,0.0822913011846015,0.9999999757361344,4.504846486568717e-05,0.00016410658689794245,0.00010492978075149175,0.6761,-0.0048,0.08199227407398248,1.0,0.0,0.0,0.0,0.08098566150988624,0.056735976573522515,2.3115901744942735,0.005752970911401641,-0.004120891834624803,0.0012357675754614862,0.08542316014692887,0.03266264968523553,2.3611492304220416,0.003740013282138836,-0.005191729959681547,0.00013223297875465982,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2435470531849355,-0.16472105279247531,-2.052233698841582,0.521053260235269,1.5667056835032143,-0.12446126647296278,1.2800290702230983,2.3115901744942735,3.3322627690646804,3.3322627690646804,4.845901647989595,1,0,-0.0007731932605517785,-9.999999025923074e-05
+9516,1791629538401272654,34722235999999,1791629538401222770,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761783370969017,-0.004865139662157388,0.08198187750582482,0.9999999797769838,3.911669421513141e-05,0.0001412188267935287,0.00010205892213489449,0.6761,-0.0048,0.08170515409801775,1.0,0.0,0.0,0.0,0.07259289589038967,0.044386947125359774,2.190742260086705,0.004420230666658413,-0.003536103523317495,0.0007118055003604393,0.0770303945274323,0.020313620237072786,2.240301316014473,0.002407273037395609,-0.004606941648374239,-0.0003917290963463872,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.307368240192784,-0.20796173630372247,-1.9810425919496564,0.5222636934307754,1.5351149604653769,-0.15550946766464216,1.2800290702230983,2.190742260086705,3.2610716621727547,3.2610716621727547,4.875261647989461,1,0,-0.0007915432569769162,-9.999999025923074e-05
+9560,1791629538768365052,34722603000000,1791629538765222247,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761623798380991,-0.004863369880554944,0.08165552081678643,0.999999982742255,4.0272363842641125e-05,0.0001138294983235137,0.00010667397165336816,0.6761,-0.0048,0.081411299673365,1.0,0.0,0.0,0.0,0.07364215653302354,0.022996229921560144,2.106306381115869,0.002805708007707159,-0.0034752401497993935,0.00034887705295445705,0.07807965517006617,-0.001077096966726841,2.155865437043637,0.0007927503784443542,-0.004546078274856137,-0.0007546575437523695,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3824484717716217,-0.3057231214019308,-1.8419272119361048,0.549059676694994,1.4632967404617663,-0.22087576631740488,1.2800290702230983,2.106306381115869,3.121956282159203,3.121956282159203,4.904621647989328,1,0,-0.0008098932534020539,-9.999999025923074e-05
+9599,1791629539093362821,34722928000000,1791629539093222197,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761501960142741,-0.004864159217876819,0.08136703051888115,0.9999999845219114,3.933609170303619e-05,9.441220308562146e-05,0.00010926137992013438,0.6761,-0.0048,0.08114545186652534,1.0,0.0,0.0,0.0,0.06465237919192403,0.00519108088196173,2.000105388373503,0.002740643794531329,-0.003450291912034123,0.0004323594898859479,0.06908987782896665,-0.018882246006325255,2.0496644443012713,0.0007276861652685241,-0.004521130037090867,-0.0006711751068208786,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3819523138703433,-0.18477634781071586,-1.7911060190090529,0.5046459810212096,1.4261935485734711,-0.1438233227225009,1.2800290702230983,2.000105388373503,3.0711350892321514,3.0711350892321514,4.930621647989209,1,0,-0.0008261432502363039,-9.999999025923074e-05
+9643,1791629539459311370,34723294000000,1791629539453222738,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761358470240714,-0.004863712839672034,0.08103445920449108,0.9999999872277748,3.0348777256384666e-05,7.240085892008677e-05,0.0001040402905585434,0.6761,-0.0048,0.08083974368759306,1.0,0.0,0.0,0.0,0.056062552943224084,-0.0059339489274667714,1.8893154910073628,0.0017302207042844866,-0.0030056123644440352,0.0005224803719144089,0.0605000515802667,-0.030007275815753756,1.938874546935131,-0.0002827369249783181,-0.004076450489500779,-0.0005810542247924177,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4514018461454319,-0.17493204210374083,-1.8021803045904325,0.5053353000994155,1.449211026924619,-0.13504858171804346,1.2800290702230983,1.8893154910073628,3.082209374813531,3.082209374813531,4.959901647989076,1,0,-0.0008444432466711823,-9.999999025923074e-05
+9683,1791629539793325601,34723627999999,1791629539789222370,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761267026010545,-0.004861125895683046,0.08073895937679366,0.9999999876138611,3.836250254960098e-05,6.0645362205263036e-05,0.00010519315815844304,0.6761,-0.0048,0.08055491909374983,1.0,0.0,0.0,0.0,0.047506093588682234,-0.010967014359963903,1.7679381969654668,0.0007161611889939079,-0.0023481799228574508,0.0006105192323331276,0.05194359222572485,-0.03504034124825089,1.817497252893235,-0.0012967964402688969,-0.003419018047914195,-0.0004930153643736989,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.506060822962386,-0.1856645548370139,-1.6858149895044539,0.49911446241684937,1.38251307879122,-0.14568849034915618,1.2800290702230983,1.7679381969654668,2.9658440597275524,2.9658440597275524,4.9866216479889545,1,0,-0.0008611432434177654,-9.999999025923074e-05
+9727,1791629540159348379,34723994000000,1791629540157222564,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761117572320217,-0.004859550396121688,0.08040160424584104,0.9999999890789643,3.418438584460146e-05,4.1201308649639776e-05,0.00010207260050742251,0.6761,-0.0048,0.08023640091731313,1.0,0.0,0.0,0.0,0.029900590109325314,-0.0173324023391113,1.6373933225670474,0.0007226712971099229,-0.0019128141378749435,0.0007296930167393826,0.034338088746367935,-0.04140572922739828,1.6869523784948155,-0.0012902863321528819,-0.0029836522629316875,-0.00037384157996744394,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5163386774719914,-0.26572058605996834,-1.5624120992202812,0.5101141980434865,1.2979522093222644,-0.20261557734575497,1.2800290702230983,1.6373933225670474,2.8424411694433793,2.8424411694433793,5.015901647988821,1,0,-0.0008794432398526439,-9.999999025923074e-05
+9767,1791629540493353673,34724328000000,1791629540493222496,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761065997338308,-0.004867034185015532,0.08009338520351696,0.9999999888605074,3.520363606659182e-05,3.431928915317429e-05,0.00010632375049233583,0.6761,-0.0048,0.07993988632574729,1.0,0.0,0.0,0.0,0.020684086290218517,-0.0327743666456338,1.5197298928827978,-0.0002865334906256359,-0.0012604703639474792,0.000811957735891853,0.02512158492726114,-0.05684769353392079,1.569288948810566,-0.0022994911198884406,-0.002331308489004223,-0.0002915768608149735,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5547211503038751,-0.20143441099234838,-1.4111695921997731,0.5008869936048278,1.2062009949131114,-0.15327555251099662,1.2800290702230983,1.5197298928827978,2.691198662422871,2.691198662422871,5.0426216479887,1,0,-0.0008961432365992269,-9.999999025923074e-05
+9807,1791629540826351494,34724661000000,1791629540821222846,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760904328167961,-0.004862431687851196,0.07977372796457509,0.9999999885885104,4.1269599934783846e-05,1.0728631697095712e-05,0.00011156863392079692,0.6761,-0.0048,0.07963870672850144,1.0,0.0,0.0,0.0,0.01144771724892181,-0.03692945846375888,1.4054057075837212,-0.00029185145050291024,-0.00022219713597233684,0.0009188545070393742,0.01588521588596443,-0.06100278535204586,1.4549647635114893,-0.002304809079765715,-0.0012930352610290808,-0.00018468008966745226,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5970217837113156,-0.24885874348070258,-1.416391386674903,0.49737891293384046,1.2141767685104332,-0.19445741775400754,1.2800290702230983,1.4054057075837212,2.696420456898001,2.696420456898001,5.069261647988578,1,0,-0.0009127932333555508,-9.999999025923074e-05
+9847,1791629541159318707,34724994000000,1791629541157221847,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760826484621312,-0.004861689928742375,0.07945602015818487,0.9999999899195152,3.2052941038369506e-05,-4.973066613599758e-07,0.00010284063247193265,0.6761,-0.0048,0.07933198268233574,1.0,0.0,0.0,0.0,-0.00692659594640314,-0.03418244476382469,1.2852548310843974,-0.0002823683009893969,0.0006092341258626671,1.9357806659145308e-05,-0.002489097309360519,-0.058255771652111675,1.3348138870121655,-0.0022953259302522016,-0.00046160399919407686,-0.0010841767900476812,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6172763840080453,-0.22038871733053808,-1.3473029485548065,0.48339460193500466,1.1708891904239032,-0.1709695817599349,1.2800290702230983,1.2852548310843974,2.6273320187779046,2.6273320187779046,5.095901647988457,1,0,-0.0009294432301118746,-9.999999025923074e-05
+9887,1791629541493303292,34725328000000,1791629541493221739,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6760692724587881,-0.004865028552077895,0.07912566640526639,0.9999999894798552,3.052889823603777e-05,-2.0305909692027456e-05,0.00010554056258921081,0.6761,-0.0048,0.07901876809402332,1.0,0.0,0.0,0.0,-0.014900178185583784,-0.05215417109566171,1.1740915747210205,-0.0006415766055850943,0.000855085195103284,8.95058704768381e-05,-0.010462679548541163,-0.07622749798394869,1.2236506306487887,-0.002654534234847899,-0.00021575292995346004,-0.0010140287262299884,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6640219906623483,-0.2961789811489936,-1.1613290275922776,0.49979802690904956,1.0583881497033252,-0.22553817292515496,1.2800290702230983,1.1740915747210205,2.441358097815376,2.441358097815376,5.1226216479883355,1,0,-0.0009461432268584577,-9.999999025923074e-05
+9923,1791629541793314579,34725627999999,1791629541793222145,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676061382628489,-0.004868775286701195,0.07882090073877061,0.9999999883866276,2.6978445392059312e-05,-3.4267761540596326e-05,0.00011299333176146604,0.6761,-0.0048,0.07873268262640558,1.0,0.0,0.0,0.0,-0.024735604725667323,-0.0511292195860674,1.0734667336319181,-0.001297178057086389,0.0019017688116491878,0.0001753171309300134,-0.0202981060886247,-0.07520254647435438,1.1230257895596862,-0.0033101356863491937,0.0008309306865924437,-0.0009282174657768131,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6437412223745682,-0.23389779394067925,-1.0998857590583444,0.4715611762311275,1.0097827673262219,-0.18752715662671388,1.2800290702230983,1.0734667336319181,2.379914829281443,2.379914829281443,5.146621647988226,1,0,-0.0009611432239362269,-9.999999025923074e-05
+9959,1791629542093350591,34725928000000,1791629542093222380,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760521722685072,-0.004869464047715264,0.07851444887907962,0.9999999879112951,3.261224462369721e-05,-4.956649366735499e-05,0.00010999944636364912,0.6761,-0.0048,0.0784420971596645,1.0,0.0,0.0,0.0,-0.03249024025445228,-0.0677918210865315,0.9632559959137076,-0.002161570952882393,0.001945385549296625,0.0002524059775966017,-0.028052741617409664,-0.0918651479748185,1.0128150518414756,-0.004174528582145198,0.0008745474242398809,-0.0008511286191102248,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6265875575825424,-0.2745774103202966,-0.958180811157608,0.4753597948249322,0.909244811825899,-0.21749494982185796,1.2800290702230983,0.9632559959137076,2.2382098813807065,2.2382098813807065,5.170621647988117,1,0,-0.0009761432210139961,-9.999999025923074e-05
+9999,1791629542426247282,34726261000000,1791629542425222486,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6760402021969463,-0.004869606131127991,0.07817311754379154,0.9999999876287924,1.937690944941092e-05,-6.505363137396381e-05,0.00010760037111867389,0.6761,-0.0048,0.07811427756760854,1.0,0.0,0.0,0.0,-0.04967367997571165,-0.09748489187617396,0.8615862763011688,-0.003300676028737471,0.0019906400565848185,0.00032040073635808115,-0.04523618133866903,-0.12155821876446095,0.9111453322289368,-0.005313633658000276,0.0009198019315280747,-0.0007831338603487454,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.63391845661943,-0.2559724369576764,-0.9494092941853722,0.45780741503023525,0.9000013712671346,-0.2090390955897339,1.2800290702230983,0.8615862763011688,2.2294383644084705,2.2294383644084705,5.197261647987996,1,0,-0.0009927932177703198,-9.999999025923074e-05
+10035,1791629542726341894,34726561000000,1791629542725223112,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760359909271694,-0.004871771783296111,0.07786267207901305,0.9999999867523035,1.485990758008961e-05,-7.51068506573352e-05,0.00010989268094154119,0.6761,-0.0048,0.07781419710271724,1.0,0.0,0.0,0.0,-0.06856626882177837,-0.11091268670534682,0.7719800566797387,-0.0032864555979896033,0.002010131779776502,0.0003906808691236717,-0.06412877018473574,-0.1349860135936338,0.8215391126075067,-0.005299413227252408,0.0009392936547197579,-0.0007128537275831548,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5977633314129498,-0.2683243420134135,-0.7631442892926469,0.4561146917707131,0.7649324922475578,-0.2205239096548075,1.2800290702230983,0.7719800566797387,2.043173359515745,2.043173359515745,5.221261647987887,1,0,-0.001007793214848089,-9.999999025923074e-05
+10067,1791629542993338343,34726828000000,1791629542993222074,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760127718562038,-0.00487077429137179,0.07755608595767702,0.9999999832284997,3.227258159962756e-05,-0.0001077155313166662,0.00011109324620087262,0.6761,-0.0048,0.0775433407647013,1.0,0.0,0.0,0.0,-0.06893636656101429,-0.12648566262580493,0.6903436644619422,-0.0053400597808532235,0.0030790376728273075,0.0004490887843650014,-0.06449886792397166,-0.1505589895140919,0.7399027203897102,-0.007353017410116028,0.0020081995477705637,-0.0006544458123418251,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.620077298372715,-0.27016843483566544,-0.7171536530564069,0.44563762129850265,0.7422126527482437,-0.2230886156191993,1.2800290702230983,0.6903436644619422,1.9971827232795052,1.9971827232795052,5.242621647987789,1,0,-0.0010211432122473037,-9.999999025923074e-05
+10106,1791629543318252153,34727153000000,1791629543313222361,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760195113587485,-0.004867002711301551,0.07723167440621093,0.9999999845432671,3.405903505822457e-05,-9.758966578302739e-05,0.00010803966516451734,0.6761,-0.0048,0.07720883672123695,1.0,0.0,0.0,0.0,-0.09595257128151594,-0.1298045707635795,0.5918046239391536,-0.005348626903029948,0.004114669848960794,0.0005422005276268327,-0.09151507264447331,-0.1538778976518665,0.6413636798669216,-0.007361584532292753,0.0030438317239040494,-0.0005613340690799938,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.555320897239843,-0.1968840659596091,-0.6276352355055678,0.4174644620221642,0.6601277499944329,-0.17317988454418648,1.2800290702230983,0.5918046239391536,1.907664305728666,1.907664305728666,5.268621647987671,1,0,-0.0010373932090815537,-9.999999025923074e-05
+10138,1791629543584305709,34727419000000,1791629543581222435,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6760089747682684,-0.004868309636024552,0.07693749500200758,0.9999999834987726,1.9377019442171446e-05,-0.00011195870264470009,0.00010740157742859194,0.6761,-0.0048,0.07693112787796716,1.0,0.0,0.0,0.0,-0.09522450659873938,-0.14678147703637065,0.5102595168022747,-0.006355365900102897,0.004152373015662439,0.0005955029972970151,-0.09078700796169675,-0.17085480392465763,0.5598185727300427,-0.008368323529365701,0.003081534890605695,-0.0005080315994098114,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5422876750871073,-0.16615338233915725,-0.5403725067979157,0.3912644267482067,0.6029424171392657,-0.16193699363502603,1.2800290702230983,0.5102595168022747,1.820401577021014,1.820401577021014,5.289901647987574,1,0,-0.001050693206490509,-9.999999025923074e-05
+10174,1791629543884237425,34727718999999,1791629543881222249,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6759977661045867,-0.004866857828962788,0.07660204356415383,0.9999999805476949,2.9882841449215958e-05,-0.00013208011528290407,0.00010958710270688215,0.6761,-0.0048,0.0766136774164598,1.0,0.0,0.0,0.0,-0.11323734679212065,-0.15001667058893906,0.44791554968391223,-0.007365822943669113,0.005202257959704691,-0.0001519196417456715,-0.10879984815507802,-0.17408999747722603,0.4974746056116802,-0.009378780572931917,0.004131419834647947,-0.001255454238452498,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4601532624588134,-0.2353045853598357,-0.396892297643358,0.4077993441958807,0.4867289813898998,-0.21158120670684885,1.2800290702230983,0.44791554968391223,1.6769213678664563,1.6769213678664563,5.313901647987465,1,0,-0.0010656932035682783,-9.999999025923074e-05
+10206,1791629544151305007,34727985999999,1791629544149222364,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676007096129923,-0.00486231480077657,0.0763190005457206,0.9999999798971044,4.605035521570977e-05,-0.00012419594075967056,0.00011875768701016875,0.6761,-0.0048,0.07632736178145558,1.0,0.0,0.0,0.0,-0.13199078774577586,-0.14753117534047505,0.36384135880567203,-0.006994463282740029,0.006222732314937718,-0.00021014547497656363,-0.12755328910873323,-0.17160450222876203,0.41340041473344,-0.009007420912002833,0.005151894189880974,-0.0013136800716833901,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4616232876674553,-0.3187970842233943,-0.31356483793883394,0.4279924426669856,0.42713522107534124,-0.26255149605328365,1.2800290702230983,0.36384135880567203,1.5935939081619321,1.5935939081619321,5.335261647987368,1,0,-0.0010790432009674929,-9.999999025923074e-05
+10242,1791629544451281788,34728286000000,1791629544445222171,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6759856808206924,-0.004858405558644196,0.07596586890036308,0.9999999767125833,3.4384431498408844e-05,-0.00015565146926091073,0.00011228547638588107,0.6761,-0.0048,0.07600140632160512,1.0,0.0,0.0,0.0,-0.13115625408813494,-0.16783146453999545,0.31266295238287484,-0.008406222068202006,0.006264250422835854,-0.0002649533108769501,-0.12671875545109232,-0.19190479142828243,0.36222200831064283,-0.01041917969746481,0.00519341229777911,-0.0013684879075837766,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4016822179803141,-0.2536506323886758,-0.21344977740058235,0.4062202398436945,0.344442922016967,-0.2264648196728368,1.2800290702230983,0.31266295238287484,1.4934788476236807,1.4934788476236807,5.359261647987259,1,0,-0.001094043198045262,-9.999999025923074e-05
+10314,1791629545050341250,34728885000000,1791629545045222561,DOWN_SETTLE,8,0.042,0.04200171306729317,0.6759793522169492,-0.004845948512291046,0.07567905512993521,0.9999999750828924,4.563782658358333e-05,-0.00016966021135757516,0.0001020278425074881,0.6761,-0.0048,0.07574804733641143,1.0,0.0,0.0,0.0,-0.14005746226925547,-0.17285581542580447,0.16713925608577418,-0.008378708350766994,0.006298463244106526,-0.00015093144599023604,-0.13561996363221285,-0.19692914231409145,0.21669831201354217,-0.010391665980029798,0.005227625119049782,-0.0012544660426970626,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2225161616037437,-0.2351253620784609,-0.019805888231219225,0.37461596974090844,0.18571482208742954,-0.22408921428086948,1.2800290702230983,0.16713925608577418,1.2998349584543176,0.0,0.0,1,1,-1.0642110499867678e-05,0.00010749606565522906
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a1bbe7503ea0272fc434de125b32e6bd880aaf5
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47d5b3f5c76a768755859b35b462cbc650e89fe5
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,6.333333333e+00,DOWN_FORCE_DETACH,1791629492759277996,6.647058485e-05,-6.808691439e-05,-4.253861759e-04,6.532014031e-05,-7.048718072e-05,-4.186614050e-04,6.611555772e-05,-7.043915495e-05,-4.176290107e-04,7.016043421e-01,-6.653595307e-05,8.403155550e-01,7.016031916e-01,-6.893621939e-05,8.403222798e-01,7.017954284e-01,-6.868011244e-05,8.291550689e-01
+6,7.800000000e+00,DOWN_FORCE_DETACH,1791629495619855578,7.830197003e-05,-7.429827762e-05,-5.649903085e-04,7.812147604e-05,-7.452927191e-05,-5.650762103e-04,7.889011371e-05,-7.446666817e-05,-5.638357066e-04,7.016161735e-01,-7.274731630e-05,8.401759509e-01,7.016159930e-01,-7.297831059e-05,8.401758650e-01,7.018082029e-01,-7.270762566e-05,8.290088622e-01
+7,9.066666667e+00,DOWN_FORCE_DETACH,1791629498083833296,8.898348914e-05,-7.637969920e-05,-6.775093192e-04,8.890427720e-05,-7.873456312e-05,-6.668306290e-04,8.961949216e-05,-7.866497507e-05,-6.656661438e-04,7.016268550e-01,-7.482873788e-05,8.400634319e-01,7.016267758e-01,-7.718360180e-05,8.400741106e-01,7.018189323e-01,-7.690593255e-05,8.289070317e-01
+8,1.025000000e+01,DOWN_FORCE_DETACH,1791629500345239297,1.028545787e-04,-8.477920103e-05,-7.886026029e-04,9.914427989e-05,-8.215442973e-05,-7.754458172e-04,9.975124174e-05,-8.209218618e-05,-7.742696624e-04,7.016407261e-01,-8.322823971e-05,8.399523386e-01,7.016370158e-01,-8.060346841e-05,8.399654954e-01,7.018290640e-01,-8.033314367e-05,8.287984282e-01
+9,1.153333333e+01,DOWN_FORCE_DETACH,1791629502807588189,1.212554526e-04,-8.781676404e-05,-9.205593860e-04,1.177305715e-04,-8.753789850e-05,-9.062679643e-04,1.183986262e-04,-8.748006249e-05,-9.050496741e-04,7.016591269e-01,-8.626580272e-05,8.398203818e-01,7.016556021e-01,-8.598693718e-05,8.398346732e-01,7.018477114e-01,-8.572101998e-05,8.286676482e-01
+10,1.271666667e+01,DOWN_FORCE_DETACH,1791629505167839248,1.390984220e-04,-8.624984014e-05,-1.041152148e-03,1.366698108e-04,-8.822650712e-05,-1.025039835e-03,1.373947933e-04,-8.813824822e-05,-1.023892125e-03,7.016769699e-01,-8.469887882e-05,8.396997890e-01,7.016745413e-01,-8.667554580e-05,8.397159014e-01,7.018667076e-01,-8.637920571e-05,8.285488058e-01
+11,1.398333333e+01,DOWN_FORCE_DETACH,1791629507595942629,1.566237430e-04,-9.581521151e-05,-1.180727209e-03,1.552193634e-04,-9.362214720e-05,-1.173932014e-03,1.559699570e-04,-9.355129353e-05,-1.172594816e-03,7.016944952e-01,-9.426425019e-05,8.395602140e-01,7.016930908e-01,-9.207118588e-05,8.395670092e-01,7.018852828e-01,-9.179225101e-05,8.284001031e-01
+12,1.528333333e+01,DOWN_FORCE_DETACH,1791629510057126768,1.666634152e-04,-9.419650909e-05,-1.327712494e-03,1.646320445e-04,-9.407671464e-05,-1.322867414e-03,1.651438525e-04,-9.401434314e-05,-1.321457802e-03,7.017045349e-01,-9.264554777e-05,8.394132287e-01,7.017025035e-01,-9.252575332e-05,8.394180738e-01,7.018944567e-01,-9.225530062e-05,8.282512401e-01
+13,1.656666667e+01,DOWN_FORCE_DETACH,1791629512587133658,1.801916296e-04,-9.502220364e-05,-1.479310429e-03,1.801522157e-04,-9.200202363e-05,-1.469686535e-03,1.806331564e-04,-9.194764136e-05,-1.468298181e-03,7.017180631e-01,-9.347124232e-05,8.392616308e-01,7.017180237e-01,-9.045106231e-05,8.392712547e-01,7.019099460e-01,-9.018859884e-05,8.281043997e-01
+14,1.786666667e+01,DOWN_FORCE_DETACH,1791629515115440432,1.938126780e-04,-9.937762856e-05,-1.651327907e-03,1.927119659e-04,-1.017929667e-04,-1.645444132e-03,1.929529264e-04,-1.017332079e-04,-1.643868853e-03,7.017316842e-01,-9.782666723e-05,8.390896133e-01,7.017305834e-01,-1.002420054e-04,8.390954971e-01,7.019222657e-01,-9.997416540e-05,8.279288290e-01
+15,1.908333333e+01,DOWN_FORCE_DETACH,1791629517409151903,2.059009295e-04,-1.056466114e-04,-1.814882914e-03,2.010952794e-04,-1.032144579e-04,-1.800169452e-03,2.011386543e-04,-1.031389989e-04,-1.798656726e-03,7.017437724e-01,-1.040956501e-04,8.389260583e-01,7.017389668e-01,-1.016634966e-04,8.389407717e-01,7.019304515e-01,-1.013799564e-04,8.277740412e-01
+16,2.021666667e+01,DOWN_FORCE_DETACH,1791629519605132443,2.204828622e-04,-9.724957405e-05,-1.989101249e-03,2.146248637e-04,-1.006197728e-04,-1.979143284e-03,2.143879629e-04,-1.005380065e-04,-1.977529456e-03,7.017583543e-01,-9.569861273e-05,8.387518399e-01,7.017524963e-01,-9.906881146e-05,8.387617979e-01,7.019437008e-01,-9.877896399e-05,8.275951684e-01
+17,2.128333333e+01,DOWN_FORCE_DETACH,1791629521733253750,2.284282004e-04,-1.061996399e-04,-2.201872698e-03,2.281859765e-04,-1.056491191e-04,-2.196463595e-03,2.275469538e-04,-1.055690511e-04,-2.194519656e-03,7.017662997e-01,-1.046486785e-04,8.385390685e-01,7.017660575e-01,-1.040981578e-04,8.385444776e-01,7.019568598e-01,-1.038100086e-04,8.273781782e-01
+18,2.228333333e+01,DOWN_FORCE_DETACH,1791629523645196623,2.395219669e-04,-1.127315852e-04,-2.435609160e-03,2.367702177e-04,-1.157431550e-04,-2.422513854e-03,2.355631394e-04,-1.156581436e-04,-2.420278691e-03,7.017773934e-01,-1.111806238e-04,8.383053320e-01,7.017746417e-01,-1.141921937e-04,8.383184273e-01,7.019648759e-01,-1.138991011e-04,8.271524192e-01
+19,2.313333333e+01,DOWN_FORCE_DETACH,1791629525259118329,2.382586986e-04,-1.219820959e-04,-2.706083839e-03,2.347840707e-04,-1.199272132e-04,-2.686723047e-03,2.325766211e-04,-1.197960641e-04,-2.684013572e-03,7.017761302e-01,-1.204311346e-04,8.380348573e-01,7.017726556e-01,-1.183762518e-04,8.380542181e-01,7.019618894e-01,-1.180370216e-04,8.268886843e-01
+20,2.390000000e+01,DOWN_FORCE_DETACH,1791629526723156176,2.454068250e-04,-1.286314827e-04,-2.989287877e-03,2.453014332e-04,-1.284568999e-04,-2.989102137e-03,2.422204804e-04,-1.283050230e-04,-2.985847436e-03,7.017832783e-01,-1.270805214e-04,8.377516533e-01,7.017831729e-01,-1.269059386e-04,8.377518391e-01,7.019715333e-01,-1.265459805e-04,8.265868505e-01
+21,2.453333333e+01,DOWN_FORCE_DETACH,1791629527955142585,2.507472579e-04,-1.324513470e-04,-3.278838591e-03,2.510586385e-04,-1.312739981e-04,-3.260309344e-03,2.471512465e-04,-1.311330755e-04,-3.256727812e-03,7.017886187e-01,-1.309003856e-04,8.374621026e-01,7.017889301e-01,-1.297230368e-04,8.374806318e-01,7.019764641e-01,-1.293740330e-04,8.263159701e-01
+22,2.506666667e+01,DOWN_FORCE_DETACH,1791629529019422387,2.556994336e-04,-1.327054050e-04,-3.583843441e-03,2.572030404e-04,-1.341369139e-04,-3.572366532e-03,2.523633889e-04,-1.339353467e-04,-3.568122729e-03,7.017935709e-01,-1.311544437e-04,8.371570977e-01,7.017950745e-01,-1.325859526e-04,8.371685747e-01,7.019816762e-01,-1.321763041e-04,8.260045752e-01
+23,2.550000000e+01,DOWN_FORCE_DETACH,1791629529883128651,2.553915505e-04,-1.376120707e-04,-3.882094055e-03,2.551743946e-04,-1.376849015e-04,-3.881956186e-03,2.492035982e-04,-1.374785483e-04,-3.877157856e-03,7.017932630e-01,-1.360611094e-04,8.368588471e-01,7.017930459e-01,-1.361339402e-04,8.368589850e-01,7.019785164e-01,-1.357195057e-04,8.256955400e-01
+24,2.593333333e+01,DOWN_FORCE_DETACH,1791629530716467622,2.564812613e-04,-1.408699542e-04,-4.195359041e-03,2.574716779e-04,-1.391755899e-04,-4.182399136e-03,2.505164226e-04,-1.389629115e-04,-4.177366704e-03,7.017943527e-01,-1.393189929e-04,8.365455821e-01,7.017953432e-01,-1.376246286e-04,8.365585421e-01,7.019798292e-01,-1.372038690e-04,8.253953312e-01
+25,2.631666667e+01,DOWN_FORCE_DETACH,1791629531445160272,2.623827044e-04,-1.414165422e-04,-4.494655809e-03,2.622122174e-04,-1.414872621e-04,-4.494458295e-03,2.542421695e-04,-1.412230335e-04,-4.489102379e-03,7.018002542e-01,-1.398655809e-04,8.362462854e-01,7.018000837e-01,-1.399363007e-04,8.362464829e-01,7.019835550e-01,-1.394639910e-04,8.250835955e-01
+26,2.668333333e+01,DOWN_FORCE_DETACH,1791629532145242160,2.615633434e-04,-1.416856423e-04,-4.817902132e-03,2.609744319e-04,-1.388840715e-04,-4.801295029e-03,2.518752272e-04,-1.386071993e-04,-4.795731527e-03,7.017994348e-01,-1.401346810e-04,8.359230391e-01,7.017988459e-01,-1.373331102e-04,8.359396462e-01,7.019811880e-01,-1.368481568e-04,8.247769664e-01
+27,2.701666667e+01,DOWN_FORCE_DETACH,1791629532777247459,2.580605176e-04,-1.426112722e-04,-5.135758910e-03,2.579353336e-04,-1.425479530e-04,-5.135450990e-03,2.476080897e-04,-1.421860357e-04,-5.129635337e-03,7.017959320e-01,-1.410603109e-04,8.356051823e-01,7.017958068e-01,-1.409969917e-04,8.356054902e-01,7.019769209e-01,-1.404269932e-04,8.244430626e-01
+28,2.733333333e+01,DOWN_FORCE_DETACH,1791629533375148395,2.572267380e-04,-1.437152067e-04,-5.442504158e-03,2.575359047e-04,-1.426831040e-04,-5.425165472e-03,2.461047569e-04,-1.423205158e-04,-5.419427185e-03,7.017950982e-01,-1.421642454e-04,8.352984370e-01,7.017954074e-01,-1.411321427e-04,8.353157757e-01,7.019754176e-01,-1.405614733e-04,8.241532707e-01
+29,2.763333333e+01,DOWN_FORCE_DETACH,1791629533939156537,2.605465595e-04,-1.498564934e-04,-5.747327549e-03,2.606100999e-04,-1.498961549e-04,-5.747543057e-03,2.480878333e-04,-1.495012068e-04,-5.741799773e-03,7.017984180e-01,-1.483055320e-04,8.349936136e-01,7.017984816e-01,-1.483451936e-04,8.349933981e-01,7.019774006e-01,-1.477421643e-04,8.238308981e-01
+30,2.790000000e+01,DOWN_FORCE_DETACH,1791629534471229058,2.535950968e-04,-1.503765466e-04,-6.062388845e-03,2.531434353e-04,-1.458644704e-04,-6.044143889e-03,2.393977795e-04,-1.453996110e-04,-6.038317396e-03,7.017914666e-01,-1.488255853e-04,8.346785523e-01,7.017910149e-01,-1.443135091e-04,8.346967973e-01,7.019687106e-01,-1.436405685e-04,8.235343805e-01
+31,2.816666667e+01,DOWN_FORCE_DETACH,1791629534972316466,2.509086318e-04,-1.463954014e-04,-6.369623824e-03,2.470703711e-04,-1.492875988e-04,-6.354393401e-03,2.320016192e-04,-1.487821598e-04,-6.348732921e-03,7.017887801e-01,-1.448444400e-04,8.343713174e-01,7.017849419e-01,-1.477366375e-04,8.343865478e-01,7.019613144e-01,-1.470231173e-04,8.232239650e-01
+32,2.843333333e+01,DOWN_FORCE_DETACH,1791629535471160398,2.485256726e-04,-1.481692078e-04,-6.681831621e-03,2.482188848e-04,-1.482177406e-04,-6.681842976e-03,2.320555419e-04,-1.476936996e-04,-6.676138642e-03,7.017863972e-01,-1.466182465e-04,8.340591096e-01,7.017860904e-01,-1.466667793e-04,8.340590982e-01,7.019613683e-01,-1.459346571e-04,8.228965593e-01
+33,2.866666667e+01,DOWN_FORCE_DETACH,1791629535935700640,2.428509300e-04,-1.468451664e-04,-6.989935010e-03,2.428383137e-04,-1.468991336e-04,-6.989878501e-03,2.254694000e-04,-1.464232924e-04,-6.984467419e-03,7.017807224e-01,-1.452942051e-04,8.337510062e-01,7.017807098e-01,-1.453481722e-04,8.337510627e-01,7.019547822e-01,-1.446642499e-04,8.225882305e-01
+34,2.890000000e+01,DOWN_FORCE_DETACH,1791629536403177811,2.339979191e-04,-1.529463362e-04,-7.322418510e-03,2.338720108e-04,-1.529396420e-04,-7.322258203e-03,2.150705329e-04,-1.524400805e-04,-7.317076936e-03,7.017718694e-01,-1.513953749e-04,8.334185227e-01,7.017717435e-01,-1.513886806e-04,8.334186830e-01,7.019443833e-01,-1.506810380e-04,8.222556210e-01
+35,2.911666667e+01,DOWN_FORCE_DETACH,1791629536835221749,2.296575175e-04,-1.511279359e-04,-7.638594109e-03,2.295661100e-04,-1.510274900e-04,-7.638396316e-03,2.095049084e-04,-1.505404134e-04,-7.633518832e-03,7.017675290e-01,-1.495769746e-04,8.331023471e-01,7.017674376e-01,-1.494765287e-04,8.331025449e-01,7.019388177e-01,-1.487813709e-04,8.219391791e-01
+36,2.931666667e+01,DOWN_FORCE_DETACH,1791629537233171586,2.205620280e-04,-1.523347761e-04,-7.936489105e-03,2.204408596e-04,-1.524381942e-04,-7.936184757e-03,1.990698474e-04,-1.519262635e-04,-7.931678373e-03,7.017584335e-01,-1.507838147e-04,8.328044521e-01,7.017583123e-01,-1.508872329e-04,8.328047564e-01,7.019283827e-01,-1.501672210e-04,8.216410195e-01
+37,2.951666667e+01,DOWN_FORCE_DETACH,1791629537633246612,2.084543598e-04,-1.494673753e-04,-8.252613028e-03,2.082230319e-04,-1.494188199e-04,-8.253007121e-03,1.854306976e-04,-1.489085107e-04,-8.248803943e-03,7.017463258e-01,-1.479164139e-04,8.324883282e-01,7.017460945e-01,-1.478678586e-04,8.324879341e-01,7.019147435e-01,-1.471494681e-04,8.213238940e-01
+38,2.971666667e+01,DOWN_FORCE_DETACH,1791629538033176600,1.941051891e-04,-1.523754322e-04,-8.587645121e-03,1.939609474e-04,-1.523200148e-04,-8.587248527e-03,1.695784798e-04,-1.517595297e-04,-8.583553358e-03,7.017319767e-01,-1.508244708e-04,8.321532961e-01,7.017318324e-01,-1.507690535e-04,8.321536927e-01,7.018988913e-01,-1.500004872e-04,8.209891445e-01
+39,2.990000000e+01,DOWN_FORCE_DETACH,1791629538399173049,1.831480165e-04,-1.490475820e-04,-8.891902303e-03,1.829800789e-04,-1.490263625e-04,-8.891717000e-03,1.571889571e-04,-1.485108280e-04,-8.888343220e-03,7.017210195e-01,-1.474966206e-04,8.318490389e-01,7.017208516e-01,-1.474754012e-04,8.318492242e-01,7.018865018e-01,-1.467517855e-04,8.206843547e-01
+40,3.008333333e+01,DOWN_FORCE_DETACH,1791629538765223835,1.645490091e-04,-1.485664529e-04,-9.219765401e-03,1.644309545e-04,-1.483356009e-04,-9.219352386e-03,1.369703440e-04,-1.477782069e-04,-9.216419520e-03,7.017024205e-01,-1.470154916e-04,8.315211758e-01,7.017023024e-01,-1.467846395e-04,8.315215888e-01,7.018662832e-01,-1.460191644e-04,8.203562784e-01
+41,3.026666667e+01,DOWN_FORCE_DETACH,1791629539095181909,1.536289181e-04,-1.426658347e-04,-9.512578889e-03,1.533100544e-04,-1.426507216e-04,-9.512128328e-03,1.243634367e-04,-1.421263872e-04,-9.510028564e-03,7.016915004e-01,-1.411148734e-04,8.312283623e-01,7.016911815e-01,-1.410997603e-04,8.312288129e-01,7.018536762e-01,-1.403673447e-04,8.200626693e-01
+42,3.045000000e+01,DOWN_FORCE_DETACH,1791629539463233229,1.384237738e-04,-1.492278283e-04,-9.849263052e-03,1.383512445e-04,-1.492977850e-04,-9.849225376e-03,1.076824402e-04,-1.488743660e-04,-9.847613954e-03,7.016762953e-01,-1.476768670e-04,8.308916781e-01,7.016762227e-01,-1.477468237e-04,8.308917158e-01,7.018369952e-01,-1.471153234e-04,8.197250839e-01
+43,3.063333333e+01,DOWN_FORCE_DETACH,1791629539795225912,1.276815798e-04,-1.439202461e-04,-1.014493700e-02,1.275486295e-04,-1.439777425e-04,-1.014497727e-02,9.554487822e-05,-1.437181662e-04,-1.014366113e-02,7.016655531e-01,-1.423692847e-04,8.305960042e-01,7.016654201e-01,-1.424267812e-04,8.305959639e-01,7.018248577e-01,-1.419591237e-04,8.194290368e-01
+44,3.081666667e+01,DOWN_FORCE_DETACH,1791629540161204642,1.161697898e-04,-1.458130136e-04,-1.047934056e-02,1.160007920e-04,-1.457016737e-04,-1.047919335e-02,8.245495706e-05,-1.454226248e-04,-1.047845755e-02,7.016540413e-01,-1.442620523e-04,8.302616006e-01,7.016538723e-01,-1.441507124e-04,8.302617478e-01,7.018117678e-01,-1.436635823e-04,8.190942403e-01
+45,3.100000000e+01,DOWN_FORCE_DETACH,1791629540495187869,1.054754815e-04,-1.461730021e-04,-1.079001507e-02,1.051904160e-04,-1.464076639e-04,-1.078973015e-02,7.020436349e-05,-1.462419780e-04,-1.078955812e-02,7.016433470e-01,-1.446220407e-04,8.299509261e-01,7.016430619e-01,-1.448567026e-04,8.299512110e-01,7.017995172e-01,-1.444829354e-04,8.187831398e-01
+46,3.116666667e+01,DOWN_FORCE_DETACH,1791629540827223623,9.202315721e-05,-1.450432253e-04,-1.110722061e-02,9.205780039e-05,-1.452201692e-04,-1.110701230e-02,5.562076520e-05,-1.453114914e-04,-1.110713775e-02,7.016298946e-01,-1.434922640e-04,8.296337206e-01,7.016299293e-01,-1.436692079e-04,8.296339289e-01,7.017849336e-01,-1.435524489e-04,8.184655601e-01
+47,3.135000000e+01,DOWN_FORCE_DETACH,1791629541159702463,8.423880254e-05,-1.443014662e-04,-1.142492842e-02,8.412443409e-05,-1.444262511e-04,-1.142468931e-02,4.633266913e-05,-1.448164463e-04,-1.142507497e-02,7.016221103e-01,-1.427505049e-04,8.293160128e-01,7.016219959e-01,-1.428752898e-04,8.293162519e-01,7.017756455e-01,-1.430574038e-04,8.181476229e-01
+48,3.151666667e+01,DOWN_FORCE_DETACH,1791629541491243552,6.903343613e-05,-1.493491227e-04,-1.175623893e-02,6.884457299e-05,-1.496506836e-04,-1.175622673e-02,2.951001478e-05,-1.503445653e-04,-1.175681806e-02,7.016069049e-01,-1.477981613e-04,8.289847023e-01,7.016067161e-01,-1.480997223e-04,8.289847145e-01,7.017588228e-01,-1.485855228e-04,8.178158798e-01
+49,3.168333333e+01,DOWN_FORCE_DETACH,1791629541791217733,6.265880728e-05,-1.516802651e-04,-1.206023018e-02,6.253236535e-05,-1.515620185e-04,-1.206023904e-02,2.200765772e-05,-1.524453199e-04,-1.206098283e-02,7.016005303e-01,-1.501293038e-04,8.286807110e-01,7.016004038e-01,-1.500110572e-04,8.286807021e-01,7.017513205e-01,-1.506862774e-04,8.175117151e-01
+50,3.183333333e+01,DOWN_FORCE_DETACH,1791629542091200812,5.507680390e-05,-1.516669706e-04,-1.236198735e-02,5.480006267e-05,-1.517722071e-04,-1.236163067e-02,1.303288711e-05,-1.526955312e-04,-1.236243405e-02,7.015929483e-01,-1.501160093e-04,8.283789538e-01,7.015926715e-01,-1.502212457e-04,8.283793105e-01,7.017423457e-01,-1.509364887e-04,8.172102638e-01
+51,3.201666667e+01,DOWN_FORCE_DETACH,1791629542423204434,4.188374878e-05,-1.550309726e-04,-1.270442688e-02,4.162026761e-05,-1.551115723e-04,-1.270448224e-02,-1.644082177e-06,-1.560423196e-04,-1.270526046e-02,7.015797552e-01,-1.534800113e-04,8.280365143e-01,7.015794917e-01,-1.535606110e-04,8.280364589e-01,7.017276687e-01,-1.542832771e-04,8.168674374e-01
+52,3.216666667e+01,DOWN_FORCE_DETACH,1791629542723221231,3.817651265e-05,-1.507629614e-04,-1.301482015e-02,3.814404266e-05,-1.506026527e-04,-1.301462099e-02,-6.194029909e-06,-1.515079336e-04,-1.301542760e-02,7.015760480e-01,-1.492120000e-04,8.277261210e-01,7.015760155e-01,-1.490516914e-04,8.277263202e-01,7.017231188e-01,-1.497488911e-04,8.165572703e-01
+53,3.231666667e+01,DOWN_FORCE_DETACH,1791629542989203658,1.657479426e-05,-1.498068244e-04,-1.331742471e-02,1.629955613e-05,-1.497864232e-04,-1.331731166e-02,-2.971843682e-05,-1.506758197e-04,-1.331817735e-02,7.015544463e-01,-1.482558631e-04,8.274235165e-01,7.015541710e-01,-1.482354619e-04,8.274236295e-01,7.016995944e-01,-1.489167772e-04,8.162545205e-01
+54,3.248333333e+01,DOWN_FORCE_DETACH,1791629543321219428,2.209585864e-05,-1.494335107e-04,-1.365002734e-02,2.211443254e-05,-1.492816367e-04,-1.364989119e-02,-2.473490209e-05,-1.501616101e-04,-1.365073979e-02,7.015599673e-01,-1.478825494e-04,8.270909138e-01,7.015599859e-01,-1.477306754e-04,8.270910500e-01,7.017045779e-01,-1.484025676e-04,8.159219581e-01
+55,3.263333333e+01,DOWN_FORCE_DETACH,1791629543587280249,1.181705432e-05,-1.453634579e-04,-1.394401712e-02,1.161567463e-05,-1.454550473e-04,-1.394377127e-02,-3.647314168e-05,-1.462885861e-04,-1.394464179e-02,7.015496885e-01,-1.438124966e-04,8.267969241e-01,7.015494872e-01,-1.439040859e-04,8.267971699e-01,7.016928397e-01,-1.445295436e-04,8.156280561e-01
+56,3.278333333e+01,DOWN_FORCE_DETACH,1791629543887219629,-5.909381328e-07,-1.503711670e-04,-1.428127625e-02,-9.990350242e-07,-1.502777267e-04,-1.428142296e-02,-5.051972554e-05,-1.511583989e-04,-1.428233535e-02,7.015372805e-01,-1.488202057e-04,8.264596649e-01,7.015368724e-01,-1.487267654e-04,8.264595182e-01,7.016787931e-01,-1.493993564e-04,8.152903625e-01
+57,3.291666667e+01,DOWN_FORCE_DETACH,1791629544153297546,8.175438155e-06,-1.436082008e-04,-1.456561486e-02,7.952784768e-06,-1.437403067e-04,-1.456539155e-02,-4.216949353e-05,-1.446060658e-04,-1.456629664e-02,7.015460469e-01,-1.420572395e-04,8.261753263e-01,7.015458243e-01,-1.421893453e-04,8.261755496e-01,7.016871433e-01,-1.428470233e-04,8.150064013e-01
+58,3.306666667e+01,DOWN_FORCE_DETACH,1791629544451208120,-1.307906504e-05,-1.434778712e-04,-1.491457772e-02,-1.332176812e-05,-1.431611058e-04,-1.491451867e-02,-6.518291521e-05,-1.439894342e-04,-1.491545473e-02,7.015247924e-01,-1.419269098e-04,8.258263635e-01,7.015245497e-01,-1.416101445e-04,8.258264225e-01,7.016641299e-01,-1.422303917e-04,8.146572432e-01
+59,3.335000000e+01,DOWN_SETTLE,1791629545051521718,-1.843606028e-05,-1.313767136e-04,-1.520310902e-02,-1.859508073e-05,-1.314677542e-04,-1.520318609e-02,-7.153353401e-05,-1.322122188e-04,-1.520406217e-02,7.015194354e-01,-1.298257522e-04,8.255378322e-01,7.015192764e-01,-1.299167929e-04,8.255377551e-01,7.016577793e-01,-1.304531763e-04,8.143686357e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d944e3232062a4d9102e547097485dd63e1448fb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-6.2035e-03,1.2143e-03,2.4544e+00,-3.6897e-02,3.6349e-02,-2.6289e-05,1.8080e-04,-8.1892e-06,9.2506e-05,1.4901e-07,1.2767e-05,-2.6096e-07,2.0326e-04,1.2770e-05
+1,1.2833e+00,DOWN_FORCE_DETACH,3.1760e-04,4.7292e-03,1.8608e-02,2.4695e+00,-3.8135e-02,3.7111e-02,-2.6453e-05,1.1113e-02,1.7385e-02,1.5179e-02,-1.2377e-03,7.7472e-04,-4.2413e-07,2.5615e-02,1.4602e-03
+2,2.6500e+00,DOWN_FORCE_DETACH,6.3784e-04,2.3608e-03,2.1136e-02,2.4887e+00,-3.8321e-02,3.6926e-02,-3.2777e-05,8.7451e-03,1.9913e-02,3.4430e-02,-1.4234e-03,5.8968e-04,-6.7491e-06,4.0724e-02,1.5408e-03
+3,3.9000e+00,DOWN_FORCE_DETACH,9.5721e-04,7.5482e-03,1.9678e-02,2.5023e+00,-3.8209e-02,3.7278e-02,-3.4246e-05,1.3932e-02,1.8456e-02,4.8039e-02,-1.3109e-03,9.4199e-04,-8.2174e-06,5.3315e-02,1.6143e-03
+4,5.0833e+00,DOWN_FORCE_DETACH,1.2748e-03,5.3340e-03,2.1650e-02,2.5110e+00,-3.8310e-02,3.7117e-02,-2.3498e-05,1.1718e-02,2.0427e-02,5.6717e-02,-1.4128e-03,7.8020e-04,2.5305e-06,6.1412e-02,1.6140e-03
+5,6.3333e+00,DOWN_FORCE_DETACH,1.5929e-03,1.3739e-02,2.6094e-02,2.5077e+00,-3.8576e-02,3.7708e-02,-4.4803e-06,2.0123e-02,2.4871e-02,5.3427e-02,-1.6786e-03,1.3712e-03,2.1548e-05,6.2273e-02,2.1676e-03
+6,7.8000e+00,DOWN_FORCE_DETACH,1.9149e-03,1.7932e-02,2.6821e-02,2.5079e+00,-3.8636e-02,3.7987e-02,1.1239e-05,2.4316e-02,2.5599e-02,5.3613e-02,-1.7382e-03,1.6511e-03,3.7267e-05,6.4195e-02,2.3977e-03
+7,9.0667e+00,DOWN_FORCE_DETACH,2.2301e-03,1.9210e-02,2.9695e-02,2.5142e+00,-3.8866e-02,3.8070e-02,2.9878e-05,2.5595e-02,2.8472e-02,5.9880e-02,-1.9682e-03,1.7337e-03,5.5906e-05,7.1073e-02,2.6235e-03
+8,1.0250e+01,DOWN_FORCE_DETACH,2.5498e-03,1.9847e-02,3.0191e-02,2.5141e+00,-3.8903e-02,3.8122e-02,4.7602e-05,2.6231e-02,2.8969e-02,5.9797e-02,-2.0055e-03,1.7853e-03,7.3631e-05,7.1435e-02,2.6860e-03
+9,1.1533e+01,DOWN_FORCE_DETACH,2.8687e-03,1.8337e-02,3.2156e-02,2.5147e+00,-3.8994e-02,3.8020e-02,5.2251e-05,2.4722e-02,3.0934e-02,6.0367e-02,-2.0965e-03,1.6841e-03,7.8279e-05,7.2196e-02,2.6903e-03
+10,1.2717e+01,DOWN_FORCE_DETACH,3.1892e-03,1.5638e-02,3.3484e-02,2.5126e+00,-3.9030e-02,3.7834e-02,4.5665e-05,2.2022e-02,3.2262e-02,5.8327e-02,-2.1320e-03,1.4973e-03,7.1693e-05,7.0199e-02,2.6063e-03
+11,1.3983e+01,DOWN_FORCE_DETACH,3.5074e-03,1.4274e-02,3.6022e-02,2.5204e+00,-3.9198e-02,3.7731e-02,4.5036e-05,2.0658e-02,3.4800e-02,6.6052e-02,-2.3000e-03,1.3942e-03,7.1065e-05,7.7464e-02,2.6905e-03
+12,1.5283e+01,DOWN_FORCE_DETACH,3.8269e-03,1.7743e-02,3.5205e-02,2.5226e+00,-3.9181e-02,3.7972e-02,3.2341e-05,2.4127e-02,3.3982e-02,6.8342e-02,-2.2834e-03,1.6354e-03,5.8369e-05,8.0047e-02,2.8093e-03
+13,1.6567e+01,DOWN_FORCE_DETACH,4.1446e-03,1.8359e-02,3.3162e-02,2.5238e+00,-3.9057e-02,3.8006e-02,1.3797e-05,2.4744e-02,3.1940e-02,6.9541e-02,-2.1597e-03,1.6700e-03,3.9825e-05,8.0426e-02,2.7303e-03
+14,1.7867e+01,DOWN_FORCE_DETACH,4.4635e-03,2.1556e-02,3.6232e-02,2.5335e+00,-3.9263e-02,3.8224e-02,1.3339e-05,2.7940e-02,3.5009e-02,7.9163e-02,-2.3654e-03,1.8871e-03,3.9367e-05,9.0957e-02,3.0262e-03
+15,1.9083e+01,DOWN_FORCE_DETACH,4.7781e-03,2.6049e-02,3.7621e-02,2.5286e+00,-3.9331e-02,3.8553e-02,1.7582e-05,3.2433e-02,3.6399e-02,7.4314e-02,-2.4336e-03,2.2163e-03,4.3610e-05,8.8878e-02,3.2918e-03
+16,2.0217e+01,DOWN_FORCE_DETACH,5.0994e-03,2.5966e-02,3.7577e-02,2.5324e+00,-3.9314e-02,3.8527e-02,1.0135e-05,3.2350e-02,3.6354e-02,7.8117e-02,-2.4164e-03,2.1909e-03,3.6164e-05,9.2035e-02,3.2620e-03
+17,2.1283e+01,DOWN_FORCE_DETACH,5.4189e-03,2.5163e-02,3.8002e-02,2.5509e+00,-3.9366e-02,3.8446e-02,4.4909e-06,3.1547e-02,3.6780e-02,9.6598e-02,-2.4688e-03,2.1092e-03,3.0519e-05,1.0807e-01,3.2472e-03
+18,2.2283e+01,DOWN_FORCE_DETACH,5.7401e-03,2.4657e-02,4.0959e-02,2.5656e+00,-3.9557e-02,3.8406e-02,4.0469e-06,3.1041e-02,3.9736e-02,1.1129e-01,-2.6593e-03,2.0696e-03,3.0075e-05,1.2218e-01,3.3699e-03
+19,2.3133e+01,DOWN_FORCE_DETACH,6.0590e-03,2.6173e-02,4.5060e-02,2.5885e+00,-3.9756e-02,3.8485e-02,-1.0934e-05,3.2558e-02,4.3837e-02,1.3420e-01,-2.8579e-03,2.1484e-03,1.5094e-05,1.4489e-01,3.5754e-03
+20,2.3900e+01,DOWN_FORCE_DETACH,6.3749e-03,2.4199e-02,4.6295e-02,2.6075e+00,-3.9813e-02,3.8323e-02,-1.8406e-05,3.0583e-02,4.5073e-02,1.5322e-01,-2.9158e-03,1.9867e-03,7.6225e-06,1.6262e-01,3.5283e-03
+21,2.4533e+01,DOWN_FORCE_DETACH,6.6975e-03,2.4572e-02,4.8267e-02,2.6347e+00,-3.9906e-02,3.8325e-02,-1.2836e-05,3.0956e-02,4.7045e-02,1.8041e-01,-3.0086e-03,1.9887e-03,1.3192e-05,1.8900e-01,3.6065e-03
+22,2.5067e+01,DOWN_FORCE_DETACH,7.0183e-03,2.5446e-02,5.1816e-02,2.6694e+00,-4.0077e-02,3.8367e-02,-7.8339e-06,3.1830e-02,5.0594e-02,2.1514e-01,-3.1796e-03,2.0301e-03,1.8195e-05,2.2329e-01,3.7725e-03
+23,2.5500e+01,DOWN_FORCE_DETACH,7.3336e-03,2.7370e-02,5.1748e-02,2.6854e+00,-4.0052e-02,3.8464e-02,-1.0645e-05,3.3754e-02,5.0525e-02,2.3114e-01,-3.1539e-03,2.1279e-03,1.5383e-05,2.3899e-01,3.8046e-03
+24,2.5933e+01,DOWN_FORCE_DETACH,7.6525e-03,2.7435e-02,5.2016e-02,2.7078e+00,-4.0006e-02,3.8440e-02,-1.4320e-05,3.3819e-02,5.0794e-02,2.5353e-01,-3.1085e-03,2.1033e-03,1.1708e-05,2.6077e-01,3.7533e-03
+25,2.6317e+01,DOWN_FORCE_DETACH,7.9641e-03,2.6145e-02,5.5021e-02,2.7172e+00,-4.0135e-02,3.8337e-02,-2.1613e-05,3.2529e-02,5.3799e-02,2.6294e-01,-3.2375e-03,2.0002e-03,4.4151e-06,2.7035e-01,3.8056e-03
+26,2.6683e+01,DOWN_FORCE_DETACH,8.2958e-03,2.7298e-02,5.3610e-02,2.7392e+00,-3.9989e-02,3.8394e-02,-2.9256e-05,3.3682e-02,5.2388e-02,2.8487e-01,-3.0914e-03,2.0577e-03,-3.2271e-06,2.9160e-01,3.7136e-03
+27,2.7017e+01,DOWN_FORCE_DETACH,8.6185e-03,2.7451e-02,5.8399e-02,2.7394e+00,-4.0255e-02,3.8401e-02,-2.8623e-05,3.3835e-02,5.7176e-02,2.8507e-01,-3.3572e-03,2.0642e-03,-2.5945e-06,2.9270e-01,3.9410e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fa625a4a1aa073a3d27b5f68c4ef1045b81db7f7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809724c0fa038b578f7892956a80c196ae672d2a4d15221e6f3ace0b3789c303
+size 13465600
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72a38c4839a2eb58c42d7b2346f36133c5341ea6
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b70da1203f5c65b8ce130ed6a8d07f137087332
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38098f9c99633d63947a1a588620be1ac6cd468b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d53997c72801d8a29f6dc45808b19fdbd959cdb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+48,3.433333333e+00,UP_FORCE_RAMP,1791629474531319541,-3.154826412e-05,-4.649937380e-05,2.612336062e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.773693813e-05,-4.518867020e-05,2.644808764e-04,7.015063232e-01,-4.494841248e-05,8.410021748e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015759e-01,-4.342963758e-05,8.298371788e-01
+49,3.533333333e+00,UP_FORCE_RAMP,1791629474731330268,-3.127041583e-05,-4.622041773e-05,2.659003069e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.773528231e-05,-4.518808407e-05,2.645533276e-04,7.015066011e-01,-4.466945641e-05,8.410068415e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015775e-01,-4.342905144e-05,8.298372512e-01
+50,3.616666667e+00,UP_FORCE_RAMP,1791629474897265874,-3.222180809e-05,-4.236612748e-05,2.722872993e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.773331098e-05,-4.518690827e-05,2.646062040e-04,7.015056497e-01,-4.081516616e-05,8.410132285e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015795e-01,-4.342787565e-05,8.298373041e-01
+51,3.700000000e+00,UP_FORCE_HOLD,1791629475031184606,-3.147702110e-05,-4.730524171e-05,2.739367169e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.773117665e-05,-4.518576844e-05,2.646547612e-04,7.015063945e-01,-4.575428039e-05,8.410148779e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015816e-01,-4.342673582e-05,8.298373526e-01
+52,3.766666667e+00,UP_FORCE_HOLD,1791629475163589263,-3.125251804e-05,-4.159788233e-05,2.768451567e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.772943909e-05,-4.518492514e-05,2.646911773e-04,7.015066190e-01,-4.004692101e-05,8.410177863e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015834e-01,-4.342589251e-05,8.298373891e-01
+53,3.833333333e+00,UP_FORCE_HOLD,1791629475295571816,-3.328718708e-05,-4.603514939e-05,2.787278915e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.772766232e-05,-4.518411563e-05,2.647257493e-04,7.015045843e-01,-4.448418807e-05,8.410196691e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015851e-01,-4.342508300e-05,8.298374236e-01
+54,3.883333333e+00,UP_FORCE_HOLD,1791629475397953314,-3.337192268e-05,-4.934340908e-05,2.822774596e-04,-2.845168892e-05,-4.520612042e-05,2.654426168e-04,-2.772633422e-05,-4.518352448e-05,2.647505396e-04,7.015044996e-01,-4.779244776e-05,8.410232186e-01,7.015094198e-01,-4.365515910e-05,8.410063838e-01,7.017015865e-01,-4.342449186e-05,8.298374484e-01
+55,3.983333333e+00,UP_FORCE_HOLD,1791629475595687033,-3.398158133e-05,-4.737658330e-05,2.836839042e-04,-3.347450651e-05,-4.520067938e-05,2.848026125e-04,-3.284275050e-05,-4.516115143e-05,2.839771429e-04,7.015038899e-01,-4.582562198e-05,8.410246251e-01,7.015043970e-01,-4.364971806e-05,8.410257438e-01,7.016964701e-01,-4.340211880e-05,8.298566750e-01
+56,4.066666667e+00,UP_FORCE_HOLD,1791629475727484229,-3.552682666e-05,-4.924389820e-05,2.831902964e-04,-3.347450651e-05,-4.520067938e-05,2.848026125e-04,-3.284432564e-05,-4.516055633e-05,2.840276690e-04,7.015023447e-01,-4.769293687e-05,8.410241315e-01,7.015043970e-01,-4.364971806e-05,8.410257438e-01,7.016964685e-01,-4.340152370e-05,8.298567255e-01
+57,4.166666667e+00,UP_FORCE_HOLD,1791629475927423061,-3.532808013e-05,-4.764169605e-05,2.869881851e-04,-3.347450651e-05,-4.520067938e-05,2.848026125e-04,-3.284425074e-05,-4.515948110e-05,2.840803006e-04,7.015025434e-01,-4.609073473e-05,8.410279294e-01,7.015043970e-01,-4.364971806e-05,8.410257438e-01,7.016964686e-01,-4.340044847e-05,8.298567782e-01
+58,4.233333333e+00,UP_FORCE_HOLD,1791629476063657604,-3.450101331e-05,-4.753578830e-05,2.922798303e-04,-3.347450651e-05,-4.520067938e-05,2.848026125e-04,-3.284396970e-05,-4.515881830e-05,2.841123502e-04,7.015033705e-01,-4.598482698e-05,8.410332210e-01,7.015043970e-01,-4.364971806e-05,8.410257438e-01,7.016964688e-01,-4.339978568e-05,8.298568102e-01
+59,4.300000000e+00,UP_SETTLE,1791629476195596105,-3.574373334e-05,-4.894317555e-05,2.922693155e-04,-3.347450651e-05,-4.520067938e-05,2.848026125e-04,-3.284365687e-05,-4.515816571e-05,2.841426211e-04,7.015021277e-01,-4.739221423e-05,8.410332105e-01,7.015043970e-01,-4.364971806e-05,8.410257438e-01,7.016964692e-01,-4.339913309e-05,8.298568405e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..595098995e2c97a9ec9075a616c9c72df594224d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_08/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-6.2034e-03,1.2140e-03,2.4544e+00,-3.6897e-02,3.6349e-02,-2.6312e-05,1.8078e-04,-8.1799e-06,9.2745e-05,1.4901e-07,1.2755e-05,-2.6061e-07,2.0334e-04,1.2759e-05
+1,1.3333e-01,UP_FORCE_RAMP,1.6798e-05,-4.8178e-03,1.1599e-03,2.4551e+00,-3.6897e-02,3.6447e-02,-2.8319e-05,1.5663e-03,-6.2268e-05,8.2326e-04,6.6310e-07,1.1046e-04,-2.2676e-06,1.7706e-03,1.1049e-04
+2,2.5000e-01,UP_FORCE_RAMP,3.7111e-05,-3.8577e-03,8.4783e-03,2.4545e+00,-3.7409e-02,3.6515e-02,-2.5280e-05,2.5265e-03,7.2561e-03,2.1648e-04,-5.1103e-04,1.7897e-04,7.7196e-07,7.6864e-03,5.4146e-04
+3,3.3333e-01,UP_FORCE_RAMP,5.6016e-05,-3.0509e-03,8.2813e-03,2.4551e+00,-3.7398e-02,3.6572e-02,-2.4748e-05,3.3333e-03,7.0592e-03,8.3971e-04,-5.0011e-04,2.3560e-04,1.3031e-06,7.8516e-03,5.5283e-04
+4,3.8333e-01,UP_FORCE_RAMP,7.5685e-05,-2.5939e-03,8.1905e-03,2.4554e+00,-3.7393e-02,3.6604e-02,-2.5443e-05,3.7903e-03,6.9684e-03,1.1442e-03,-4.9506e-04,2.6778e-04,6.0814e-07,8.0146e-03,5.6284e-04
+5,4.5000e-01,UP_FORCE_RAMP,9.1797e-05,-2.0051e-03,8.1150e-03,2.4558e+00,-3.7389e-02,3.6646e-02,-2.6363e-05,4.3790e-03,6.8929e-03,1.5304e-03,-4.9142e-04,3.0917e-04,-3.1113e-07,8.3084e-03,5.8058e-04
+6,5.3333e-01,UP_FORCE_RAMP,1.0899e-04,-1.2989e-03,8.0535e-03,2.4563e+00,-3.7387e-02,3.6695e-02,-2.7468e-05,5.0852e-03,6.8313e-03,1.9929e-03,-4.8906e-04,3.5877e-04,-1.4167e-06,8.7464e-03,6.0654e-04
+7,5.8333e-01,UP_FORCE_RAMP,1.2874e-04,-8.8806e-04,8.0268e-03,2.4566e+00,-3.7386e-02,3.6724e-02,-2.8101e-05,5.4961e-03,6.8047e-03,2.2619e-03,-4.8830e-04,3.8760e-04,-2.0495e-06,9.0348e-03,6.2344e-04
+8,7.0000e-01,UP_FORCE_RAMP,1.4587e-04,6.7794e-04,1.5086e-02,2.4582e+00,-3.7880e-02,3.6833e-02,-2.3469e-05,7.0621e-03,1.3864e-02,3.8626e-03,-9.8263e-04,4.9706e-04,2.5822e-06,1.6031e-02,1.1012e-03
+9,8.0000e-01,UP_FORCE_RAMP,1.6376e-04,1.3834e-03,1.4952e-02,2.4586e+00,-3.7873e-02,3.6883e-02,-2.4744e-05,7.7676e-03,1.3730e-02,4.2813e-03,-9.7560e-04,5.4655e-04,1.3078e-06,1.6345e-02,1.1183e-03
+10,8.8333e-01,UP_FORCE_RAMP,1.8100e-04,1.9511e-03,1.4889e-02,2.4589e+00,-3.7871e-02,3.6923e-02,-2.5758e-05,8.3352e-03,1.3666e-02,4.6284e-03,-9.7298e-04,5.8633e-04,2.9324e-07,1.6663e-02,1.1360e-03
+11,1.0167e+00,UP_FORCE_RAMP,2.0191e-04,2.8200e-03,1.4824e-02,2.4595e+00,-3.7869e-02,3.6984e-02,-2.7275e-05,9.2042e-03,1.3602e-02,5.1696e-03,-9.7117e-04,6.4719e-04,-1.2238e-06,1.7218e-02,1.1671e-03
+12,1.1000e+00,UP_FORCE_RAMP,2.1800e-04,3.3380e-03,1.4796e-02,2.4598e+00,-3.7868e-02,3.7020e-02,-2.8165e-05,9.7222e-03,1.3573e-02,5.4972e-03,-9.7075e-04,6.8345e-04,-2.1134e-06,1.7578e-02,1.1872e-03
+13,1.2167e+00,UP_FORCE_RAMP,2.3488e-04,6.6413e-03,2.1472e-02,2.4600e+00,-3.8335e-02,3.7252e-02,-2.5279e-05,1.3025e-02,2.0250e-02,5.6643e-03,-1.4373e-03,9.1537e-04,7.7301e-07,2.4735e-02,1.7040e-03
+14,1.2833e+00,UP_FORCE_RAMP,2.5531e-04,6.8625e-03,2.1362e-02,2.4602e+00,-3.8329e-02,3.7268e-02,-2.4428e-05,1.3247e-02,2.0140e-02,5.9483e-03,-1.4314e-03,9.3162e-04,1.6233e-06,2.4829e-02,1.7079e-03
+15,1.3667e+00,UP_FORCE_RAMP,2.7462e-04,7.1665e-03,2.1230e-02,2.4606e+00,-3.8321e-02,3.7289e-02,-2.5399e-05,1.3551e-02,2.0008e-02,6.2597e-03,-1.4238e-03,9.5287e-04,6.5220e-07,2.4962e-02,1.7133e-03
+16,1.4500e+00,UP_FORCE_RAMP,2.9351e-04,7.4880e-03,2.1161e-02,2.4609e+00,-3.8318e-02,3.7312e-02,-2.6330e-05,1.3872e-02,1.9939e-02,6.5567e-03,-1.4206e-03,9.7534e-04,-2.7822e-07,2.5159e-02,1.7232e-03
+17,1.5333e+00,UP_FORCE_RAMP,3.0802e-04,7.8118e-03,2.1117e-02,2.4611e+00,-3.8317e-02,3.7334e-02,-2.7209e-05,1.4196e-02,1.9895e-02,6.8426e-03,-1.4189e-03,9.9793e-04,-1.1572e-06,2.5381e-02,1.7347e-03
+18,1.6167e+00,UP_FORCE_RAMP,3.2951e-04,8.1312e-03,2.1087e-02,2.4614e+00,-3.8316e-02,3.7357e-02,-2.8045e-05,1.4515e-02,1.9865e-02,7.1182e-03,-1.4181e-03,1.0202e-03,-1.9930e-06,2.5612e-02,1.7470e-03
+19,1.7167e+00,UP_FORCE_RAMP,3.4633e-04,9.4591e-03,2.1607e-02,2.4534e+00,-3.8355e-02,3.7456e-02,-2.8478e-05,1.5843e-02,2.0385e-02,-9.2959e-04,-1.4573e-03,1.1193e-03,-2.4268e-06,2.5835e-02,1.8376e-03
+20,1.7833e+00,UP_FORCE_RAMP,3.6872e-04,9.6526e-03,2.1586e-02,2.4541e+00,-3.8355e-02,3.7469e-02,-2.9246e-05,1.6037e-02,2.0364e-02,-1.5903e-04,-1.4570e-03,1.1327e-03,-3.1940e-06,2.5921e-02,1.8455e-03
+21,1.8500e+00,UP_FORCE_RAMP,3.8261e-04,9.8518e-03,2.1573e-02,2.4547e+00,-3.8355e-02,3.7483e-02,-2.9933e-05,1.6236e-02,2.0351e-02,4.4608e-04,-1.4571e-03,1.1466e-03,-3.8820e-06,2.6038e-02,1.8541e-03
+22,1.9167e+00,UP_FORCE_RAMP,4.0247e-04,1.1499e-02,2.1030e-02,2.4465e+00,-3.8319e-02,3.7605e-02,-3.1013e-05,1.7883e-02,1.9808e-02,-7.7755e-03,-1.4215e-03,1.2684e-03,-4.9618e-06,2.7796e-02,1.9051e-03
+23,1.9667e+00,UP_FORCE_RAMP,4.2288e-04,1.1583e-02,2.1035e-02,2.4474e+00,-3.8320e-02,3.7611e-02,-3.1595e-05,1.7967e-02,1.9813e-02,-6.9368e-03,-1.4226e-03,1.2741e-03,-5.5434e-06,2.7631e-02,1.9098e-03
+24,2.0333e+00,UP_FORCE_RAMP,4.3940e-04,1.2053e-02,1.9204e-02,2.4399e+00,-3.8195e-02,3.7649e-02,-3.3631e-05,1.8437e-02,1.7982e-02,-1.4403e-02,-1.2973e-03,1.3128e-03,-7.5800e-06,2.9508e-02,1.8456e-03
+25,2.0833e+00,UP_FORCE_RAMP,4.5519e-04,1.2145e-02,1.9234e-02,2.4410e+00,-3.8198e-02,3.7655e-02,-3.4187e-05,1.8529e-02,1.8012e-02,-1.3340e-02,-1.3001e-03,1.3189e-03,-8.1351e-06,2.9081e-02,1.8519e-03
+26,2.1500e+00,UP_FORCE_RAMP,4.7575e-04,1.4715e-02,1.8452e-02,2.4338e+00,-3.8145e-02,3.7842e-02,-3.5509e-05,2.1099e-02,1.7230e-02,-2.0479e-02,-1.2473e-03,1.5053e-03,-9.4572e-06,3.4080e-02,1.9549e-03
+27,2.2000e+00,UP_FORCE_RAMP,4.9261e-04,1.4701e-02,1.8480e-02,2.4351e+00,-3.8147e-02,3.7840e-02,-3.6076e-05,2.1085e-02,1.7258e-02,-1.9226e-02,-1.2499e-03,1.5039e-03,-1.0024e-05,3.3348e-02,1.9555e-03
+28,2.2667e+00,UP_FORCE_RAMP,5.1284e-04,1.5059e-02,1.9909e-02,2.4263e+00,-3.8249e-02,3.7872e-02,-3.5320e-05,2.1443e-02,1.8687e-02,-2.8045e-02,-1.3516e-03,1.5356e-03,-9.2684e-06,3.9944e-02,2.0457e-03
+29,2.3333e+00,UP_FORCE_RAMP,5.3097e-04,1.5095e-02,1.9906e-02,2.4282e+00,-3.8250e-02,3.7874e-02,-3.6048e-05,2.1479e-02,1.8684e-02,-2.6054e-02,-1.3522e-03,1.5374e-03,-9.9962e-06,3.8591e-02,2.0475e-03
+30,2.3833e+00,UP_FORCE_RAMP,5.4531e-04,1.6103e-02,1.7307e-02,2.4219e+00,-3.8070e-02,3.7949e-02,-3.8273e-05,2.2487e-02,1.6085e-02,-3.2405e-02,-1.1726e-03,1.6130e-03,-1.2222e-05,4.2597e-02,1.9942e-03
+31,2.4667e+00,UP_FORCE_RAMP,5.6458e-04,1.6081e-02,1.7436e-02,2.4248e+00,-3.8079e-02,3.7947e-02,-3.9360e-05,2.2466e-02,1.6214e-02,-2.9505e-02,-1.1817e-03,1.6101e-03,-1.3308e-05,4.0474e-02,1.9973e-03
+32,2.5000e+00,UP_FORCE_RAMP,5.8228e-04,1.6093e-02,1.7459e-02,2.4257e+00,-3.8081e-02,3.7947e-02,-3.9651e-05,2.2477e-02,1.6236e-02,-2.8574e-02,-1.1833e-03,1.6105e-03,-1.3599e-05,3.9816e-02,1.9985e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2dc28a0d55b426a8d57e75595cf23a7c19119499
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0b016dc4a5051077e86a211bf42522d6f4f83e7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/fem_node.csv
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+59,3.553333e+01,2817,6.990137e-01,1.493760e-02,8.210660e-01,-7.647420e-05,-2.908681e-04,-1.563671e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.553333e+01,2821,6.979693e-01,1.543543e-02,8.214682e-01,-5.254704e-05,-2.295232e-04,-1.566881e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2822,6.939793e-01,1.710707e-02,8.183886e-01,4.091752e-05,-1.939213e-04,-1.567668e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2823,7.006177e-01,1.708229e-02,8.031333e-01,-1.457826e-04,-1.782706e-04,-1.556882e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2824,6.956835e-01,1.831552e-02,8.053507e-01,-7.772296e-05,-1.871826e-04,-1.553626e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2825,6.995855e-01,1.589060e-02,8.048321e-01,-1.343354e-04,-1.997348e-04,-1.559244e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2826,6.992704e-01,1.836355e-02,8.254373e-01,-2.667730e-05,-1.818170e-04,-1.570494e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.553333e+01,2828,6.983007e-01,1.417921e-02,8.106125e-01,-2.504842e-04,-8.013649e-04,-1.574168e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2829,6.949322e-01,1.720674e-02,8.207521e-01,2.560382e-05,-1.782549e-04,-1.569992e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.553333e+01,2830,6.939104e-01,1.641132e-02,8.129756e-01,3.275250e-05,-2.177931e-04,-1.560386e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4335b300588e3d9e1c01fd57618ebfd4dbdda260
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+14474,1791629579651167796,34763485999999,1791629579645222795,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760884098490246,-0.004792341355999303,0.09026935980162028,0.9999999865834054,0.00012501645097798058,-7.77656344863015e-06,5.0857304328189505e-05,0.6761,-0.0048,0.09020944778806003,1.0,0.0,0.0,0.0,0.1312376742672309,0.19146925734699172,0.8094012637727198,0.01435461334107636,-0.008476051150456326,0.0004233945158801987,0.13567517290427353,0.16739593045870474,0.8589603197004878,0.012341655711813556,-0.00954688927551307,-0.0006801400808266278,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.5380899283168371,-0.17966678420196455,-0.2077852904991587,0.3411700851262781,0.2412089705410946,-0.17581826519692784,1.2800290702230983,0.8094012637727198,1.487814360722257,1.487814360722257,1.550079110122476,1,0,-5.21484543228049e-05,1.181751504842339e-05
+14837,1791629582676099899,34766511000000,1791629582673222783,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761008020232822,-0.004795243047213836,0.09012594569535133,0.999999988824726,0.00010183835273795259,1.0834806581008228e-05,5.748886152547935e-05,0.6761,-0.0048,0.09003847322402976,1.0,0.0,0.0,0.0,0.13597688556489462,0.1919881473144766,0.9991787696057953,0.01429083407097593,-0.007503823741596416,0.00028636614807724895,0.14041438420193725,0.16791482042618963,1.0487378255335633,0.012277876441713126,-0.00857466186665316,-0.0008171684486295776,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.5978345208559853,-0.008971143460906201,-0.36642261345894944,0.3033198583726449,0.34970684042595973,-0.059252402852249766,1.2800290702230983,0.9991787696057953,1.6464516836820478,1.6464516836820478,1.792079110122718,1,0,-6.357753598171113e-05,-9.999883840284269e-05
+15148,1791629585268092220,34769103000000,1791629585265222026,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761206266394344,-0.004799840502674508,0.09000373912731893,0.9999999906992543,7.328634782081581e-05,4.280964193300205e-05,5.329917026703315e-05,0.6761,-0.0048,0.08987928266505528,1.0,0.0,0.0,0.0,0.12453799707836485,0.21069453217561349,1.1713153971417187,0.015243931695281982,-0.006552993611532612,0.0012001307725236492,0.12897549571540748,0.1866212052873265,1.2208744530694868,0.013230974066019177,-0.007623831736589356,9.659617581682275e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.6684033333045406,-0.13098899922114576,-0.5549839664769398,0.3554010444956619,0.4856661015071176,-0.13638385189334296,1.2800290702230983,1.1713153971417187,1.8350130367000381,1.8350130367000381,1.9994391101229254,1,0,-5.738571620258893e-05,-9.959629928968922e-05
+15475,1791629587993115638,34771828000000,1791629587989222031,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761384264847257,-0.004802360377145111,0.08987282827342953,0.9999999903837052,5.617724562446599e-05,7.018561298200635e-05,5.0926914423991314e-05,0.6761,-0.0048,0.08971528792767339,1.0,0.0,0.0,0.0,0.11520258126439023,0.22557115900052438,1.3382490351190877,0.016206766015017138,-0.005594834459938078,0.0010916406406701953,0.11964007990143286,0.2014978321122374,1.3878080910468558,0.014193808385754332,-0.006665672584994822,-1.1893956036631237e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.7448769622775441,-0.13875827833655702,-0.8637858408853859,0.36506566544246793,0.6928300599884304,-0.13803269664202633,1.2800290702230983,1.3382490351190877,2.143814911108484,2.143814911108484,2.217439110123143,1,0,-6.100118435578183e-05,2.123055701065186e-05
+15763,1791629590393010729,34774228000000,1791629590389222831,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761518481916312,-0.004803762330850161,0.08974725946510187,0.9999999874758575,7.519718999302627e-05,8.896156308109942e-05,5.405896872840575e-05,0.6761,-0.0048,0.08956519207039632,1.0,0.0,0.0,0.0,0.1050257712452862,0.2241588442329714,1.493061567495367,0.017195923130728145,-0.005629713924946314,0.0009771133080305064,0.10946326988232882,0.2000855173446844,1.542620623423135,0.015182965501465341,-0.0067005520500030575,-0.0001264212886763202,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.7537842147715458,-0.07176429669207668,-0.9990456061908174,0.3508290620205679,0.7778929910458132,-0.0910526303746812,1.2800290702230983,1.493061567495367,2.2790746764139156,2.2790746764139156,2.4094391101233352,1,0,-6.295644075090945e-05,-9.987926738309056e-05
+16078,1791629593018038340,34776853000000,1791629593017222467,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761700889801509,-0.0048060849269797035,0.08961276825111344,0.9999999847949537,7.057671715512425e-05,0.00011880649788593048,5.250618931715051e-05,0.6761,-0.0048,0.08939685742834257,1.0,0.0,0.0,0.0,0.09516705662251643,0.2301655451164082,1.6635647772514506,0.017137370226998582,-0.004670778020310296,0.0008536248662927277,0.09960455525955905,0.2060922182281212,1.7131238331792187,0.015124412597735778,-0.00574161614536704,-0.0002499097304140987,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8510168641693396,-0.1535538492971696,-1.3067984449938406,0.37258549043171657,0.9940682210684517,-0.1446594545799737,1.2800290702230983,1.6635647772514506,2.586827515216939,2.586827515216939,2.6194391101235452,1,0,-6.347106053653106e-05,9.383850227274166e-05
+16409,1791629595776072112,34779610999999,1791629595769222381,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6761869969392456,-0.004804157142011024,0.08946104775302328,0.999999981886364,6.518395953901045e-05,0.00014417138483987968,5.134003623384614e-05,0.6761,-0.0048,0.0892131923255077,1.0,0.0,0.0,0.0,0.09358019917416348,0.25231776769102077,1.8449295124804406,0.019141055941455182,-0.004743945972117011,0.000736153002309814,0.0980176978112061,0.2282444408027338,1.8944885684082087,0.017128098312192377,-0.005814784097173755,-0.0003673815943970125,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.902241896757113,-0.0359096789139354,-1.5495455766497597,0.35267491637137516,1.1567499301700923,-0.06531784335643194,1.2800290702230983,1.8449295124804406,2.829574646872858,2.829574646872858,2.840079110123766,1,0,-7.092338108885687e-05,9.999950453665746e-05
+16689,1791629598109052314,34781944000000,1791629598105222848,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6761961603444581,-0.004806631832262789,0.08931826309692666,0.99999997929789,6.708407306947993e-05,0.00015826453582681798,5.743820928355009e-05,0.6761,-0.0048,0.08905323453968032,1.0,0.0,0.0,0.0,0.08383916092120203,0.25143205186916784,1.9953792703219224,0.0190889370999381,-0.003767760531162465,0.000622942849536652,0.08827665955824465,0.22735872498088086,2.0449383262496905,0.017075979470675295,-0.004838598656219209,-0.0004805917471701745,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9478996096681105,-0.12944234973357407,-1.6668777773463292,0.3797104618665668,1.2399098742128365,-0.12847217545080813,1.2800290702230983,1.9953792703219224,2.9469068475694273,2.9469068475694273,3.0267191101239526,1,0,-7.25523863872482e-05,8.790481155179815e-05
+16992,1791629600633965803,34784468999999,1791629600633222717,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762087413119449,-0.004803367870520246,0.08915840937209084,0.999999975580144,7.233544045029474e-05,0.0001778681664119624,5.842153153943212e-05,0.6761,-0.0048,0.08887498822114506,1.0,0.0,0.0,0.0,0.07466698814939862,0.266731672338115,2.1663131530049196,0.020049971525236604,-0.0028114322316076723,0.000590063267830582,0.07910448678644125,0.242658345449828,2.2158722089326877,0.0180370138959738,-0.0038822703566644165,-0.0005134713288762445,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9549153657784194,-0.12141481602600644,-1.8093161175469425,0.3890958908875801,1.3247582369026538,-0.12049930338355759,1.2800290702230983,2.1663131530049196,3.089345187770041,3.089345187770041,3.2287191101241546,1,0,-7.015191062362115e-05,-8.750000310276391e-05
+17284,1791629603067996386,34786903000000,1791629603061222367,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762233032934916,-0.004812394154357565,0.08899589784459665,0.99999997095617,7.569819749190169e-05,0.00019931539187027222,6.38253959048107e-05,0.6761,-0.0048,0.08869078619154322,1.0,0.0,0.0,0.0,0.06361239120294002,0.26968057688166364,2.317241151431847,0.019986028751305174,-0.0018357885795353605,0.0014306709488768293,0.06804988983998264,0.24560724999337663,2.3668002073596153,0.01797307112204237,-0.0029066267045921045,0.00032713635217000286,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9633990215814514,-0.08598119899374888,-1.9782125954849696,0.38572752319972764,1.4293540967125542,-0.09247781634506752,1.2800290702230983,2.317241151431847,3.258241665708068,3.258241665708068,3.4234391101243493,1,0,-7.883207508582591e-05,-9.669745146124171e-05
+17555,1791629605325949828,34789161000000,1791629605321222595,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.676238748152448,-0.004814040710413603,0.08882563019873227,0.9999999660921199,7.351862802685506e-05,0.00022377142755979632,6.14815657195313e-05,0.6761,-0.0048,0.08849063280617603,1.0,0.0,0.0,0.0,0.05378489722295717,0.2759689984114412,2.4679591829686065,0.019930907280424685,-0.000855265082729602,0.0013234280399419724,0.05822239585999979,0.2518956715231542,2.5175182388963746,0.01791794965116188,-0.001926103207786346,0.00021989344323514588,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.050366226405485,-0.17279392458149548,-2.18264334984498,0.41665839009593186,1.5805892899849336,-0.15047839728323292,1.2800290702230983,2.4679591829686065,3.4626724200680785,3.4626724200680785,3.60407911012453,1,0,-9.278814763344213e-05,-9.998657043842058e-05
+17830,1791629607617977174,34791453000000,1791629607617222185,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762499602846871,-0.004840589042835236,0.0886169721867931,0.9999999617983664,6.204225394901033e-05,0.00024173256148137508,7.458054355258769e-05,0.6761,-0.0048,0.08826007669072727,1.0,0.0,0.0,0.0,0.01654191682147374,0.24955271921192757,2.6152811235359,0.01882472522999689,0.0011610583015750318,0.0012197698927304897,0.02097941545851636,0.2254793923236406,2.6648401794636682,0.016811767600734086,9.022017651828787e-05,0.00011623529602366312,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0588621252288097,-0.1414203497696117,-2.2538152689475774,0.4070665197614378,1.626789075406967,-0.13098034138262388,1.2800290702230983,2.6152811235359,3.5338443391706758,3.5338443391706758,3.7874391101247133,1,0,-0.00011123330396631127,-9.986908108683962e-05
+18086,1791629609750990693,34793586000000,1791629609749221829,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762635090425289,-0.0048523676104004826,0.08837628752596265,0.9999999575228115,5.518924316263242e-05,0.00025977956859806736,7.658957380099502e-05,0.6761,-0.0048,0.087997916889216,1.0,0.0,0.0,0.0,0.02225325822749658,0.24536778487063987,2.737824641577985,0.018800732364583534,0.0011350042902323325,0.0011214512603577133,0.0266907568645392,0.2212944579823529,2.7873836975057533,0.01678777473532073,6.416616517558847e-05,1.7916663650886747e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0385491024435634,-0.17561764237237523,-2.4738081185057155,0.42837077835768733,1.7599339003411325,-0.15333461993767186,1.2800290702230983,2.737824641577985,3.753837188728814,3.753837188728814,3.958079110124884,1,0,-0.00013644638637985563,-9.970504563495126e-05
+18297,1791629611508979946,34795343999999,1791629611505222816,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762665679441464,-0.0048559398620869765,0.08810323370507162,0.9999999562566875,4.919481864361268e-05,0.0002628676920770499,8.608097384885539e-05,0.6761,-0.0048,0.08772415963091292,1.0,0.0,0.0,0.0,0.03298705273234157,0.23483684355143333,2.8377169318665,0.01776051819963461,0.0011326130005409828,0.0010305207862958338,0.03742455136938419,0.21076351666314636,2.887275987794268,0.015747560570371806,6.177487548423877e-05,-7.30138104109927e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.040219463992494,-0.18303443451415333,-2.5292333427164664,0.44601173429514346,1.7997686542289013,-0.16052322371838249,1.2800290702230983,2.8377169318665,3.8092624129395647,3.8092624129395647,4.098719110124477,1,0,-0.0001729301709843797,-9.998404468103956e-05
+18485,1791629613075930569,34796911000000,1791629613073222780,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762708035084695,-0.0048620900914381985,0.08781311123247285,0.9999999535667058,6.0510884820461666e-05,0.0002693238564318982,9.006966119474596e-05,0.6761,-0.0048,0.08741973609854872,1.0,0.0,0.0,0.0,0.026350207365289157,0.22532736851724816,2.92766633063865,0.016722697209042365,0.001132743667825286,0.0009455512015291225,0.03078770600233178,0.20125404162896118,2.977225386566418,0.01470973957977956,6.190554276854204e-05,-0.00015798339517770406,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0281862671486306,-0.18420509793075177,-2.6153886056231257,0.4534289080501412,1.8573098277029132,-0.1605643144779311,1.2800290702230983,2.92766633063865,3.895417675846224,3.895417675846224,4.224079110123906,1,0,-0.0002173726849311316,-9.999999025923074e-05
+18645,1791629614408878632,34798244000000,1791629614401231753,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762824056026482,-0.004861775206947261,0.08751619483899975,0.9999999479780861,5.7838633653056686e-05,0.00028994935145521114,8.983738403863065e-05,0.6761,-0.0048,0.08710111317831143,1.0,0.0,0.0,0.0,0.027245516838989122,0.22077873934317233,2.9781189406329522,0.01671213589195728,0.0011224661120016648,0.000905043918631132,0.031683015476031744,0.19670541245488535,3.0276779965607203,0.014699178262694472,5.162798694492084e-05,-0.00019849067807569453,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9424010679212743,-0.13116160538743163,-2.715428906058159,0.4579776695214225,1.9043967137495692,-0.1255792119367356,1.2800290702230983,2.9781189406329522,3.995457976281257,3.995457976281257,4.330719110123421,1,0,-0.00026380628348924787,-4.447094529780847e-05
+18777,1791629615508961262,34799343999999,1791629615501222210,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762834094970592,-0.0048647002812947215,0.08720026986030835,0.9999999475239889,4.771999939220117e-05,0.0002918316017921633,9.461501798677695e-05,0.6761,-0.0048,0.08678371787052372,1.0,0.0,0.0,0.0,0.035420662827371364,0.2061581225278578,3.0174556771781402,0.015683116343841893,0.0011334238489371417,0.0008626023997133282,0.03985816146441398,0.18208479563957083,3.0670147331059083,0.013670158714579087,6.258572388039775e-05,-0.00024093219699349838,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.890783172885088,-0.14226923898842775,-2.6647406428739915,0.46877895087029003,1.865223570479873,-0.1343346810047121,1.2800290702230983,3.0174556771781402,3.94476971309709,3.94476971309709,4.41871911012302,1,0,-0.0003143825311982803,-9.999999025923074e-05
+18888,1791629616433915189,34800269000000,1791629616429231729,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762866160213109,-0.004867127955049722,0.08689685050577238,0.999999943339152,8.162050578823276e-05,0.00029821027761563234,9.577724414425175e-05,0.6761,-0.0048,0.0864728424450813,1.0,0.0,0.0,0.0,0.03489754539682722,0.2075604028134408,3.0676924247112423,0.015673876107316423,0.0011224506480261964,0.000821997027827751,0.03933504403386984,0.18348707592515381,3.1172514806390104,0.013660918478053619,5.161252296945247e-05,-0.00028153756887907546,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9096297617419516,-0.20551188735990364,-2.7304737436902293,0.49501854800568973,1.9198163460345097,-0.1767082241795446,1.2800290702230983,3.0676924247112423,4.010502813913328,4.010502813913328,4.4927191101226835,1,0,-0.0003583824303529922,-9.649469698136954e-05
+18992,1791629617300857861,34801136000000,1791629617293231761,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762955300013891,-0.00486854043508595,0.0865866213561954,0.9999999406270211,4.818310632975125e-05,0.00031413836798669086,9.583471522423523e-05,0.6761,-0.0048,0.08614353131126798,1.0,0.0,0.0,0.0,0.028289399733674076,0.1978857404161364,3.0777283570025444,0.01567067977277619,0.00112124363665582,0.0008130137943084836,0.0327268983707167,0.17381241352784943,3.1272874129303125,0.013657722143513386,5.040551159907594e-05,-0.0002905208023983429,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9147115087172019,-0.17010552464061146,-2.640132726831433,0.501841926457498,1.868930735353552,-0.148183765245231,1.2800290702230983,3.0777283570025444,3.9201617970545315,3.9201617970545315,4.562079110122368,1,0,-0.00040146486455647077,-9.999999025923074e-05
+19084,1791629618067903343,34801903000000,1791629618061222058,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762961042900947,-0.004874561032037964,0.08626846740722076,0.9999999387261984,6.137222265456904e-05,0.0003177398261665834,9.625651710553674e-05,0.6761,-0.0048,0.0858209197130221,1.0,0.0,0.0,0.0,0.03603333037519018,0.17641481024683667,3.1074741464222866,0.014669976657356332,0.00012179222571889032,0.000762678248595897,0.0404708290122328,0.1523414833585497,3.1570332023500547,0.012657019028093528,-0.0009490458993378537,-0.0003408563481109294,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8303570532624948,-0.13233416999383085,-2.6055975217099543,0.5031526390840407,1.8315796588912079,-0.12075610885544386,1.2800290702230983,3.1074741464222866,3.8856265919330526,3.8856265919330526,4.623439110122089,1,0,-0.00043981485708530075,-9.999999025923074e-05
+19168,1791629618767933099,34802603000000,1791629618765231673,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762938671261985,-0.004876604223097224,0.08594559806946557,0.9999999405259938,4.3724298214223745e-05,0.0003142668727170624,9.856668681746041e-05,0.6761,-0.0048,0.08550081681545228,1.0,0.0,0.0,0.0,0.04529311502517998,0.18683596810972455,3.127294025837967,0.014667524212000993,0.0001164673096131592,0.0007477113396388618,0.049730613662222596,0.16276264122143758,3.176853081765735,0.012654566582738188,-0.0009543708154435848,-0.00035582325706796464,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.870661325079781,-0.188632222075634,-2.670367564213488,0.5201446877336624,1.8868657078917834,-0.1613128175847386,1.2800290702230983,3.127294025837967,3.9503966344365864,3.9503966344365864,4.679439110121834,1,0,-0.00047481485026676227,-9.999999025923074e-05
+19248,1791629619433908146,34803269000000,1791629619433222808,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762976549418173,-0.004880081594918056,0.08562141014722797,0.9999999365014103,5.8733193349549846e-05,0.0003237501869242996,0.00010087749174536977,0.6761,-0.0048,0.08517351787733815,1.0,0.0,0.0,0.0,0.036930487389850816,0.16448154894582112,3.1171046527490107,0.013646904363364385,0.00013928776359198227,0.000743484242837884,0.041367986026893434,0.14040822205753414,3.166663708676779,0.01163394673410158,-0.0009315503614647617,-0.0003600503538689425,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9271028322245699,-0.16062525017058815,-2.6250596915266984,0.5278043911965322,1.8711722606882495,-0.13818780743225423,1.2800290702230983,3.1171046527490107,3.9050887617497967,3.9050887617497967,4.732719110121591,1,0,-0.00050811484377941,-9.999999025923074e-05
+19323,1791629620058869446,34803894000000,1791629620057231849,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762976142187518,-0.00487982752346181,0.08530503416737371,0.9999999371531216,4.248292186860488e-05,0.0003251584264430503,9.799906260049926e-05,0.6761,-0.0048,0.08484619610188156,1.0,0.0,0.0,0.0,0.03802218411214786,0.16332312831144633,3.107069925886953,0.013648620516473106,0.00014152542394933298,0.0007517217166833458,0.04245968274919048,0.13924980142315935,3.156628981814721,0.011635662887210301,-0.000929312701107411,-0.00035181288002348075,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.951657545309556,-0.17955076431488018,-2.686629178420374,0.5298248171831018,1.91920516799279,-0.14885046244269456,1.2800290702230983,3.107069925886953,3.9666582486434723,3.9666582486434723,4.782719110121364,1,0,-0.0005393648376914292,-9.999999025923074e-05
+19395,1791629620658864865,34804494000000,1791629620657231836,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762893388963211,-0.0048817313925282445,0.08496357587954949,0.9999999402027229,4.995981713138217e-05,0.00031441224256635114,9.8419375780434e-05,0.6761,-0.0048,0.08451359220102296,1.0,0.0,0.0,0.0,0.04817408598980836,0.1501117653636588,3.09659333691335,0.01265670388905425,-0.0008500181638913583,0.0007344322328279112,0.05261158462685098,0.12603843847537183,3.146152392841118,0.010643746259791446,-0.0019208562889481023,-0.0003691023638789154,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0073153341450556,-0.23096951942730143,-2.7081436713560447,0.5469964528764053,1.9460780672240492,-0.18009921960841754,1.2800290702230983,3.09659333691335,3.988172741579143,3.988172741579143,4.830719110121145,1,0,-0.0005693648318469677,-9.999999025923074e-05
+19459,1791629621192928705,34805028000000,1791629621185232193,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762876238617578,-0.004882741977803328,0.08464924108325433,0.9999999421758161,4.0479047154871814e-05,0.00030929285758986535,9.894748016688531e-05,0.6761,-0.0048,0.0842024358322081,1.0,0.0,0.0,0.0,0.05539598941584417,0.13692533717057123,3.086241446571506,0.011637122351055226,-0.0008282104965563453,0.0007318976930943083,0.05983348805288679,0.11285201028228424,3.135800502499274,0.009624164721792422,-0.0018990486216130893,-0.00037163690361251826,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9746253198867366,-0.13649610933497355,-2.6620418785313356,0.5166147422249602,1.9107317831416801,-0.1180606428535785,1.2800290702230983,3.086241446571506,3.942070948754434,3.942070948754434,4.873439110120951,1,0,-0.0005960648266453969,-9.999999025923074e-05
+19523,1791629621725869716,34805561000000,1791629621725231858,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762891562217335,-0.00487571822907905,0.08433618469199462,0.9999999398977832,4.558194485900294e-05,0.0003157840078890361,9.924737239157174e-05,0.6761,-0.0048,0.08387764438099232,1.0,0.0,0.0,0.0,0.05298484062132576,0.14167150313476937,3.0461474601844496,0.0116457973382554,-0.0008179680606243782,0.0007688783387695592,0.05742233925836838,0.11759817624648239,3.0957065161122177,0.009632839708992596,-0.0018888061856811222,-0.0003346562579372672,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.066876611423339,-0.26068862191657916,-2.6847443319122197,0.5588726433584758,1.9452725440517022,-0.19375761051256243,1.2800290702230983,3.0461474601844496,3.964773402135318,3.964773402135318,4.916079110120757,1,0,-0.0006227148214535669,-9.999999025923074e-05
+19583,1791629622225897853,34806061000000,1791629622225222193,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762828573723232,-0.004884474799596269,0.08401717073410468,0.9999999418069545,4.600349050362905e-05,0.0003080686712307874,0.00010395347460206986,0.6761,-0.0048,0.08356004947148557,1.0,0.0,0.0,0.0,0.048123391539606396,0.1314177140129498,3.0100740158010315,0.010631441261534853,-0.0007925963171199432,0.0007810339215892435,0.052560890176649014,0.10734438712466282,3.0596330717287996,0.008618483632272049,-0.0018634344421766872,-0.00032250067511758307,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.073885529763588,-0.24894403618697225,-2.5199744326526714,0.5538989662949446,1.8376465054571995,-0.18609671935033217,1.2800290702230983,3.0100740158010315,3.8000035028757697,3.8000035028757697,4.956079110120575,1,0,-0.0006477148165831822,-9.999999025923074e-05
+19643,1791629622725878781,34806561000000,1791629622725232276,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762774104026434,-0.00488965344655767,0.08367629882566564,0.9999999448708135,3.676997318037356e-05,0.0002985101884091363,0.00010602297353111817,0.6761,-0.0048,0.08322995456441401,1.0,0.0,0.0,0.0,0.04874929888706766,0.11673236958607161,2.966417097954672,0.00961809345465063,-0.0007633810454616744,0.0008048514754288849,0.05318679752411028,0.09265904269778462,3.01597615388244,0.0076051358253878265,-0.0018342191705184184,-0.0002986831212779416,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0844096781895491,-0.24240161675369343,-2.5005336344794777,0.5471299187990561,1.8286269610658834,-0.1832301208336785,1.2800290702230983,2.966417097954672,3.780562704702576,3.780562704702576,4.996079110120393,1,0,-0.0006727148117127976,-9.999999025923074e-05
+19699,1791629623192929802,34807028000000,1791629623189222686,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762712079598674,-0.004879538301535673,0.08334583877843489,0.9999999473017327,4.0202815179407137e-05,0.0002908603426970516,0.000103069835217341,0.6761,-0.0048,0.08291035619840859,1.0,0.0,0.0,0.0,0.058125171912314456,0.09239676814541778,2.9158893244575324,0.008632426906228547,-0.0017453043545721332,0.0008202582390112853,0.06256267054935707,0.0683234412571308,2.9654483803853005,0.006619469276965743,-0.002816142479628877,-0.00028327635769554116,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.124747081979766,-0.21409620955943812,-2.4457242400545267,0.5400313360322357,1.8009754603994785,-0.16209974040114886,1.2800290702230983,2.9158893244575324,3.725753310277625,3.725753310277625,5.033439110120223,1,0,-0.0006960648071638584,-9.999999025923074e-05
+19750,1791629623617919359,34807453000000,1791629623617231446,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6762624390973425,-0.004880936803887875,0.08303019512528867,0.9999999508212191,3.4357330198453856e-05,0.00027908362138243765,0.00010359695911590344,0.6761,-0.0048,0.08261002365624573,1.0,0.0,0.0,0.0,0.05599489504198536,0.09181851987216175,2.8602667114464104,0.0086190094164321,-0.0017257105559362986,0.0008585751402216417,0.06043239367902798,0.06774519298387477,2.9098257673741785,0.006606051787169294,-0.0027965486809930426,-0.0002449594564851848,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.1811396519389283,-0.17098245640596108,-2.5369687613483807,0.5211803521857147,1.872957011050822,-0.1329687643119041,1.2800290702230983,2.8602667114464104,3.816997831571479,3.816997831571479,5.067439110120068,1,0,-0.0007173148030240314,-9.999999025923074e-05
+19802,1791629624050822214,34807886000000,1791629624045231679,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762515072355588,-0.004877477144805026,0.08269959768421672,0.9999999562164374,3.397687639496084e-05,0.00025976665180322503,0.00010186680631218492,0.6761,-0.0048,0.08229474994745158,1.0,0.0,0.0,0.0,0.051004415295559304,0.07219834884705562,2.7835230934314845,0.0066981331688788,-0.0016792873997679436,0.0009035185122366256,0.05544191393260192,0.04812502195876864,2.8330821493592526,0.004685175539615995,-0.0027501255248246876,-0.0002000160844702009,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2308634881893448,-0.2397201556972577,-2.5202903587352874,0.5351956184684383,1.8750809385458185,-0.17832580037992876,1.2800290702230983,2.7835230934314845,3.8003194289583857,3.8003194289583857,5.10207911011991,1,0,-0.0007389647988062783,-9.999999025923074e-05
+19846,1791629624417852333,34808252999999,1791629624413231831,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.676237727664513,-0.004879641013534419,0.0823961634560519,0.9999999615580618,3.540931097228944e-05,0.00023673656766276673,0.00010501770157905248,0.6761,-0.0048,0.08202019181694745,1.0,0.0,0.0,0.0,0.052955566743500264,0.05664191494264139,2.7140067448563694,0.0056070817653266665,-0.0016429315482619593,0.00094779003889595,0.05739306538054288,0.032568588054354405,2.7635658007841375,0.0035941241360638618,-0.0027137696733187033,-0.00015574455781087646,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2734847588225253,-0.17183766772913706,-2.5250604671722394,0.509187161563103,1.8878410951831965,-0.13259320526159293,1.2800290702230983,2.7140067448563694,3.8050895373953377,3.8050895373953377,5.131439110119777,1,0,-0.000757314795231416,-9.999999025923074e-05
+19894,1791629624817913318,34808653000000,1791629624817231827,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762245519667226,-0.004877549081974121,0.08206449449996904,0.9999999666648663,3.152850182544552e-05,0.00021548260377753236,0.00010337471416478184,0.6761,-0.0048,0.08171327589963609,1.0,0.0,0.0,0.0,0.05242285952024719,0.040874965073971696,2.6320470081283,0.0046190184563406995,-0.001605485421417248,0.0010021521149906501,0.056860358157289806,0.01680163818568471,2.681606064056068,0.0026060608270778948,-0.002676323546473992,-0.00010138248171617647,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3694649721991885,-0.2595711244015654,-2.39264737366221,0.5272329211961332,1.830020480938384,-0.19261768189112918,1.2800290702230983,2.6320470081283,3.672676443885308,3.672676443885308,5.163439110119631,1,0,-0.0007773147913351083,-9.999999025923074e-05
+19938,1791629625183869740,34809019000000,1791629625181231462,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6762053350371243,-0.004877520511481706,0.08174295231992107,0.9999999725414573,3.120782042177313e-05,0.00018383732367778982,0.000107656209504105,0.6761,-0.0048,0.08142543893666164,1.0,0.0,0.0,0.0,0.043962087454301704,0.013982177880533759,2.5212174114551087,0.0035985752817905598,-0.001560473939136034,0.0010790403114587137,0.04839958609134432,-0.010091149007753226,2.570776467382877,0.001585617652527755,-0.002631312064192778,-2.449428524811286e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.376343678833463,-0.1657623941337587,-2.341493375326424,0.4920044517054147,1.7958110436671462,-0.13199506519647317,1.2800290702230983,2.5212174114551087,3.6215224455495223,3.6215224455495223,5.192719110119498,1,0,-0.0007956147877699868,-9.999999025923074e-05
+19986,1791629625583869539,34809419000000,1791629625577232067,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761893414513332,-0.004877316335899893,0.08138945549311315,0.9999999766949166,3.1578763098109545e-05,0.00015788162196619265,0.0001101326740737365,0.6761,-0.0048,0.08110320302233485,1.0,0.0,0.0,0.0,0.035406327318788705,0.005674487301255613,2.3904918623401614,0.0026028735706721258,-0.001512842428731778,0.0011720928772002875,0.03984382595583132,-0.01839883958703137,2.4400509182679295,0.0005899159414093211,-0.002583680553788522,6.855828049346101e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4229104239123576,-0.2218993394974859,-2.2863448957480337,0.5007651236087608,1.765535594214559,-0.1676713744458423,1.2800290702230983,2.3904918623401614,3.566373965971132,3.566373965971132,5.224719110119352,1,0,-0.0008156147838736791,-9.999999025923074e-05
+20026,1791629625917864825,34809752999999,1791629625913231799,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761746474942973,-0.004875389937746968,0.08108808160614446,0.9999999802856505,2.7058085192320033e-05,0.00013530361775019743,0.0001087766244390481,0.6761,-0.0048,0.080828007135066,1.0,0.0,0.0,0.0,0.027572191876114576,-0.022445852334726756,2.2707381590103495,0.0016025897565439943,-0.0014541530554290523,0.0012498354279066807,0.0320096905131572,-0.04651917922301374,2.3202972149381176,-0.00041036787271881033,-0.0025249911804857963,0.00014630083119985418,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4713805892648855,-0.3068894836264598,-2.1726504477551405,0.5217175500570884,1.7032524560152704,-0.2267310171904338,1.2800290702230983,2.2707381590103495,3.452679517978239,3.452679517978239,5.251439110119231,1,0,-0.0008323147806202621,-9.999999025923074e-05
+20074,1791629626317860196,34810153000000,1791629626317231534,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.676163976812689,-0.004874723533102634,0.08073696946602048,0.9999999822286986,2.601500729626096e-05,0.00012130792457529505,0.00010767113797657551,0.6761,-0.0048,0.0804910912235991,1.0,0.0,0.0,0.0,0.01811885645629898,-0.029003347151512197,2.1144562141175265,0.0005877248216426072,-0.0004038421702557513,0.0010297925859381058,0.022556355093341602,-0.05307667403979918,2.1640152700452946,-0.0014252328076201975,-0.0014746802953124953,-7.374201076872065e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5264182533660664,-0.24874926825168026,-1.9824724362206771,0.5028880290576784,1.5873463455276036,-0.18698768311093886,1.2800290702230983,2.1144562141175265,3.2625015064437752,3.2625015064437752,5.283439110119085,1,0,-0.0008523147767239544,-9.999999025923074e-05
+20114,1791629626650967122,34810485999999,1791629626649231921,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761527145672986,-0.004875473046375087,0.08043836830434765,0.9999999840944366,2.465118890372844e-05,0.00010561099335810286,0.00010720367456545973,0.6761,-0.0048,0.08020450650349172,1.0,0.0,0.0,0.0,0.009660743229667694,-0.045863151716120286,1.9877159032667082,-0.0004048082051368645,-0.00034674882361754723,0.00044826123000811914,0.014098241866710316,-0.06993647860440727,2.0372749591944763,-0.0024177658343996693,-0.0014175869486742912,-0.0006552733666987074,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5467146643892173,-0.27692822994312505,-1.8848617224202135,0.4986062681526614,1.5239645769356398,-0.21004011474897588,1.2800290702230983,1.9877159032667082,3.1648907926433116,3.1648907926433116,5.310079110118964,1,0,-0.0008689647734802783,-9.999999025923074e-05
+20158,1791629627017883988,34810853000000,1791629627017231742,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761378110256443,-0.004879338924226068,0.08009030432897092,0.9999999857098323,2.459378927397721e-05,8.420872554490336e-05,0.00011102808443289902,0.6761,-0.0048,0.07988223838228223,1.0,0.0,0.0,0.0,0.0009162960554096444,-0.04449527324507476,1.8489641580697642,-0.000405491880845247,0.0006966302864227232,0.0005761511992775588,0.005353794692452265,-0.06856860013336175,1.8985232139975323,-0.0024184495101080518,-0.00037420783863402083,-0.0005273833974292677,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5802150980146157,-0.2073410859959082,-1.8275717038700037,0.4753213478526807,1.492230373572254,-0.16435654324092044,1.2800290702230983,1.8489641580697642,3.107600774093102,3.107600774093102,5.33943911011883,1,0,-0.000887314769905416,-9.999999025923074e-05
+20198,1791629627350871750,34811186000000,1791629627349231908,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6761252399028217,-0.0048722401807971836,0.07977140346994192,0.9999999887981024,1.1654561541068336e-05,6.75408878632947e-05,9.565071422936903e-05,0.6761,-0.0048,0.07958399866444542,1.0,0.0,0.0,0.0,-0.01762647066830047,-0.06609685716175606,1.7035056974484257,-0.0003797322734687249,0.000730335735612803,0.0006946333500038584,-0.013188972031257849,-0.09017018405004304,1.7530647533761938,-0.0023926899027315296,-0.000340502389443941,-0.00040890124670296815,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.629304099128225,-0.21091476855007982,-1.685328097022019,0.47690445672535436,1.4064314039721122,-0.1707495255682082,1.2800290702230983,1.7035056974484257,2.9653571672451173,2.9653571672451173,5.366079110118709,1,0,-0.0009039647666617398,-9.999999025923074e-05
+20237,1791629627675859790,34811511000000,1791629627673232062,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6761127773719664,-0.004863588368452971,0.07945969148017364,0.9999999883329208,3.513854777223484e-05,4.793326301005583e-05,0.00010604106449896717,0.6761,-0.0048,0.07928757761579637,1.0,0.0,0.0,0.0,-0.015952267644603845,-0.051340831011933076,1.565999277543483,-0.0003526949227164234,0.0007583936389174042,0.000801516819249968,-0.011514769007561224,-0.07541415790022006,1.615558333471251,-0.002365652551979228,-0.00031244448613933977,-0.00030201777745685846,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5939268883111406,-0.26256039841371065,-1.5480894771016742,0.4870372846232685,1.304600153017848,-0.20320895765257097,1.2800290702230983,1.565999277543483,2.8281185473247725,2.8281185473247725,5.3920791101185905,1,0,-0.0009202147634959898,-9.999999025923074e-05
+20277,1791629628008803299,34811843999999,1791629628005231567,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760983965467866,-0.0048618773756809236,0.07912772083868412,0.9999999891453056,3.6593947360086775e-05,2.524637500499988e-05,0.00010571545054995445,0.6761,-0.0048,0.0789783822000939,1.0,0.0,0.0,0.0,-0.008467327203042229,-0.05608382869787009,1.4353391310762778,-0.0003270046666114957,0.0007882065850972649,0.0009079608449336505,-0.004029828565999609,-0.08015715558615708,1.4848981870040459,-0.0023399622958743004,-0.00028263153995947913,-0.000195573751773176,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6615984202392537,-0.2158225252180618,-1.4266270720320795,0.4711609356149384,1.2393806527489586,-0.17066214459670265,1.2800290702230983,1.4353391310762778,2.706656142255178,2.706656142255178,5.418719110118469,1,0,-0.0009368647602523136,-9.999999025923074e-05
+20317,1791629628342890436,34812178000000,1791629628341231909,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6760853552241664,-0.004863362812067546,0.07878463465057757,0.999999990232901,2.13769027699724e-05,2.6668533006276254e-06,0.000102532816686973,0.6761,-0.0048,0.07866268882071457,1.0,0.0,0.0,0.0,-0.024976254319862636,-0.06409572721923695,1.2857647769233862,-0.001320641840233728,0.0008386044434561829,0.001015285112335599,-0.020538755682820015,-0.08816905410752394,1.3353238328511543,-0.003333599469496533,-0.00023223368160056116,-8.824948437122755e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6285840108810719,-0.2537391644129784,-1.3029296409426345,0.4745981886437096,1.1439498792750729,-0.19901218277567306,1.2800290702230983,1.2857647769233862,2.582958711165733,2.582958711165733,5.445439110118348,1,0,-0.0009535647569988967,-9.999999025923074e-05
+20353,1791629628642894130,34812478000000,1791629628641231776,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760714301835243,-0.004861194396447131,0.07848203537342031,0.9999999897547204,3.431888891844324e-05,-1.6172410903376375e-05,0.00010244066923338959,0.6761,-0.0048,0.0783743768940547,1.0,0.0,0.0,0.0,-0.028341617888908505,-0.07395641311778098,1.1752405963202581,-0.001464386797730471,0.0018686132335051552,0.0011127820110016172,-0.023904119251865884,-0.09802974000606797,1.2247996522480262,-0.0034773444269932756,0.0007977751084484112,9.247414294790836e-06,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.575413383701363,-0.22983885460153045,-1.164756498837917,0.4605485145416638,1.0382174329453244,-0.18762943151232003,1.2800290702230983,1.1752405963202581,2.4447855690610156,2.4447855690610156,5.4694391101182385,1,0,-0.0009685647540766659,-9.999999025923074e-05
+20393,1791629628975863257,34812811000000,1791629628973232553,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.676057770455032,-0.004868962231610445,0.07813399733418015,0.9999999894122819,1.4337020495040466e-05,-3.72421617952082e-05,0.00010500367509817692,0.6761,-0.0048,0.07804908093148887,1.0,0.0,0.0,0.0,-0.03703780305446558,-0.0860116793758702,1.035622842568596,-0.0023224254718212903,0.0019273233154934273,0.0009819941299602857,-0.03260030441742296,-0.11008500626415718,1.0851818984963642,-0.004335383101084095,0.0008564851904366834,-0.00012154046674654078,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.640183678876886,-0.22055381281356168,-1.1140667778596742,0.4581055133042934,1.0149897304476432,-0.17903543099342742,1.2800290702230983,1.035622842568596,2.3940958480827725,2.3940958480827725,5.496079110118117,1,0,-0.0009852147508329896,-9.999999025923074e-05
+20429,1791629629275887359,34813110999999,1791629629273221810,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760499182222698,-0.004870535536264139,0.0778225430727545,0.9999999886410612,2.026635645621622e-05,-5.036688425577122e-05,0.00010589236763559775,0.6761,-0.0048,0.07775127400667876,1.0,0.0,0.0,0.0,-0.05158835939942801,-0.11156416627891988,0.9421982433702338,-0.0033197569897120446,0.0019728881599936055,0.0005467077374292296,-0.047150860762385394,-0.13563749316720686,0.9917572992980018,-0.005332714618974849,0.0009020500349368614,-0.000556826859277597,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6305827195148388,-0.19080299511360915,-0.9485612970203939,0.44107037808819083,0.9015988034583898,-0.16192088992746234,1.2800290702230983,0.9421982433702338,2.228590367243492,2.228590367243492,5.520079110118008,1,0,-0.0010002147479107589,-9.999999025923074e-05
+20465,1791629629575851658,34813411000000,1791629629569232070,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760391063893791,-0.004867606865798272,0.07749781363416211,0.9999999874730007,2.4613087150756924e-05,-6.966503595055028e-05,0.0001050611340629056,0.6761,-0.0048,0.07744896708274533,1.0,0.0,0.0,0.0,-0.06873798334035082,-0.1293555145700792,0.8332571864760481,-0.004392004051493495,0.002018492484336156,0.0003306032049562208,-0.0643004847033082,-0.1534288414583662,0.8828162424038161,-0.0064049616807563,0.000947654359279412,-0.0007729313917506057,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6304033674925744,-0.32555186411170833,-0.863551720186279,0.4678216936297274,0.8442663925174234,-0.25710709918397884,1.2800290702230983,0.8332571864760481,2.143580790409377,2.143580790409377,5.544079110117899,1,0,-0.001015214744988528,-9.999999025923074e-05
+20505,1791629629908847525,34813744000000,1791629629905221972,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6760277572881855,-0.00486668289389726,0.0771468100141651,0.9999999867996634,2.6314278669166883e-05,-8.281114233554987e-05,0.0001014564476602961,0.6761,-0.0048,0.07710813667320585,1.0,0.0,0.0,0.0,-0.09351783261006497,-0.15785463671796962,0.7164832188343342,-0.0063389275092733625,0.003095225111523929,0.0004212583244989459,-0.08908033397302234,-0.1819279636062566,0.7660422747621022,-0.008351885138536167,0.0020243869864671853,-0.0006822762722078806,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5680254747951066,-0.28192881443546375,-0.6806000583253642,0.44068481023025124,0.7079680179501603,-0.23179462671935283,1.2800290702230983,0.7164832188343342,1.9606291285484625,1.9606291285484625,5.5707191101177775,1,0,-0.001031864741744852,-9.999999025923074e-05
+20541,1791629630208782029,34814044000000,1791629630205222310,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6760246649556892,-0.004867729266579468,0.07682478018248935,0.9999999856222419,2.8481989341190562e-05,-9.056628283579759e-05,0.0001057587119649827,0.6761,-0.0048,0.07679633475112219,1.0,0.0,0.0,0.0,-0.10453527821897929,-0.1540425890113341,0.6100260703428959,-0.006375219775619185,0.004131406989442362,0.0005137680838929144,-0.10009777958193666,-0.17811591589962109,0.6595851262706639,-0.00838817740488199,0.0030605688643856183,-0.0005897665128139121,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5219074438959368,-0.1773069997557773,-0.6219120350194083,0.4023179563811235,0.6532105224278181,-0.16309184469230897,1.2800290702230983,0.6100260703428959,1.9019411052425066,1.9019411052425066,5.594719110117668,1,0,-0.0010468647388226211,-9.999999025923074e-05
+20575,1791629630492813760,34814328000000,1791629630489231459,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760117625849132,-0.004862649894740097,0.0764990641385826,0.9999999831280153,3.207047729491862e-05,-0.00011114622995156886,0.00010865005130492149,0.6761,-0.0048,0.07649701586569077,1.0,0.0,0.0,0.0,-0.10394967482943533,-0.16797238778019846,0.5212116515430663,-0.00737975870226624,0.004170398736884942,0.0005754586996277447,-0.0995121761923927,-0.19204571466848544,0.5707707074708342,-0.009392716331529044,0.003099560611828198,-0.0005280758970790818,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.480846220622523,-0.1796636163195488,-0.42180318722617965,0.38576402741358573,0.5143699476671885,-0.17232343456499358,1.2800290702230983,0.5212116515430663,1.701832257449278,1.701832257449278,5.617439110117565,1,0,-0.0010610647360562427,-9.999999025923074e-05
+20608,1791629630767887390,34814603000000,1791629630765232260,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6759955308782155,-0.004854188875122063,0.0761863276356818,0.9999999794021829,4.0063312741272176e-05,-0.00013979448105781294,0.00010719576654151464,0.6761,-0.0048,0.07620333931364497,1.0,0.0,0.0,0.0,-0.10894715260315106,-0.1768053073431459,0.44507112445754576,-0.007365867521184297,0.0041881563116291706,0.0006352115004515826,-0.10450965396610844,-0.20087863423143287,0.49463018038531376,-0.009378825150447101,0.0031173181865724263,-0.0004683230962552439,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3915083552870182,-0.24411300979758993,-0.42886532577265235,0.40216373693667234,0.49453617558592144,-0.2181285843204511,1.2800290702230983,0.44507112445754576,1.7088943959957508,1.7088943959957508,5.639439110117465,1,0,-0.0010748147333775311,-9.999999025923074e-05
+20644,1791629631067833726,34814903000000,1791629631065231335,DOWN_FORCE_DETACH,9,0.0415,0.04150199145078659,0.6760053191350631,-0.004853185045823161,0.07586504435605305,0.9999999796670341,5.0469396927751485e-05,-0.00013154127948429413,0.00011071823535095118,0.6761,-0.0048,0.0758786523940715,1.0,0.0,0.0,0.0,-0.13106538325094555,-0.16441653984926233,0.35193579610637,-0.007405057108050228,0.006184144197113746,0.0007381373879773196,-0.12662788461390292,-0.1884898667375493,0.401494852034138,-0.009418014737313032,0.0051133060720570025,-0.0003653972087295069,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.346836034392909,-0.21496385666745538,-0.22280628724697366,0.39831562003654086,0.3407721831542176,-0.19739291819780147,1.2800290702230983,0.35193579610637,1.502835357470072,1.502835357470072,5.663439110117356,1,0,-0.0010898147304553003,-9.999999025923074e-05
+20677,1791629631342869243,34815178000000,1791629631337232301,DOWN_FORCE_DETACH,9,0.0415,0.04150133207440376,0.6759849888898088,-0.004858118509167206,0.07553594781868479,0.9999999762731858,3.538744218200841e-05,-0.00015893181004911146,0.00011128747005992248,0.6761,-0.0048,0.07557706959356596,1.0,0.0,0.0,0.0,-0.14036608295711547,-0.1884983158823567,0.30799207908613263,-0.008416755955535132,0.006263927198929279,0.0007617787802905358,-0.13592858432007285,-0.21257164277064367,0.3575511350139006,-0.010429713584797936,0.005193089073872535,-0.00034175581641629065,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3248810418102481,-0.28745652887369116,-0.16814393634586466,0.4109664396562625,0.3004499472662922,-0.2512523381095343,1.2800290702230983,0.30799207908613263,1.4481730065689629,1.4481730065689629,5.6854391101172554,1,0,-0.0011035647277765888,-9.999999025923074e-05
+20748,1791629631934817547,34815769999999,1791629631933222730,DOWN_SETTLE,9,0.0415,0.04150199145078659,0.6759702950221589,-0.004836984736236229,0.07522423735706503,0.9999999711197826,5.406092249279747e-05,-0.00018858319986838552,0.00010352338839624606,0.6761,-0.0048,0.07531998906299431,1.0,0.0,0.0,0.0,-0.13197377701464497,-0.17526074791653073,0.1567232028723881,-0.00838471507347165,0.0062963909423173784,0.0008810381849007772,-0.12753627837760234,-0.1993340748048177,0.2062822588001561,-0.010397672702734454,0.005225552817260635,-0.0002224964118060493,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.1070426709303185,-0.11937933527652733,0.01566961729235686,0.326311621001583,0.1368500008473031,-0.1525907578687724,1.2800290702230983,0.1567232028723881,1.2643594529307414,0.0,0.0,1,1,-1.1685010691215676e-05,0.00011803041102238057
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc28cef108bf8f50f608c0203326287bd6b8af9c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0279dcfeaae7c907f4c5e068accc6bdea08331ad
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,5.500000000e+00,DOWN_FORCE_DETACH,1791629573857813282,5.620309792e-05,-8.149415896e-05,-3.576862761e-04,5.416635659e-05,-8.418744644e-05,-3.427323608e-04,5.493223701e-05,-8.416817595e-05,-3.415557938e-04,7.015940746e-01,-7.994319764e-05,8.403832549e-01,7.015920378e-01,-8.263648512e-05,8.403982088e-01,7.017842781e-01,-8.239526639e-05,8.292311487e-01
+5,7.100000000e+00,DOWN_FORCE_DETACH,1791629576886241547,6.846341776e-05,-9.186450990e-05,-4.874185784e-04,6.852561310e-05,-9.068270314e-05,-4.870536943e-04,6.930849764e-05,-9.061357972e-05,-4.858527058e-04,7.016063349e-01,-9.031354858e-05,8.402535226e-01,7.016063971e-01,-8.913174182e-05,8.402538875e-01,7.017986544e-01,-8.884067015e-05,8.290868518e-01
+6,8.483333333e+00,DOWN_FORCE_DETACH,1791629579647750926,8.006901653e-05,-9.675642946e-05,-6.155112587e-04,7.972568875e-05,-9.589664816e-05,-6.136755075e-04,8.044201820e-05,-9.581229249e-05,-6.123238256e-04,7.016179405e-01,-9.520546814e-05,8.401254299e-01,7.016175972e-01,-9.434568683e-05,8.401272657e-01,7.018097879e-01,-9.403938292e-05,8.289603807e-01
+7,1.006666667e+01,DOWN_FORCE_DETACH,1791629582673771374,9.339933559e-05,-1.029804872e-04,-7.572097096e-04,9.314382582e-05,-1.028613116e-04,-7.572844041e-04,9.373959348e-05,-1.027617810e-04,-7.558010328e-04,7.016312708e-01,-1.014295259e-04,8.399837315e-01,7.016310153e-01,-1.013103502e-04,8.399836568e-01,7.018230855e-01,-1.009888715e-04,8.288169035e-01
+8,1.143333333e+01,DOWN_FORCE_DETACH,1791629585267970165,1.117043120e-04,-1.027870502e-04,-8.820285088e-04,1.090249539e-04,-1.020960841e-04,-8.658734093e-04,1.096910867e-04,-1.020423888e-04,-8.645506856e-04,7.016495758e-01,-1.012360889e-04,8.398589127e-01,7.016468964e-01,-1.005451228e-04,8.398750678e-01,7.018390370e-01,-1.002694792e-04,8.287081538e-01
+9,1.280000000e+01,DOWN_FORCE_DETACH,1791629587995967817,1.305252247e-04,-1.095029984e-04,-1.011023001e-03,1.305624703e-04,-1.096141437e-04,-1.010636383e-03,1.312496926e-04,-1.095239370e-04,-1.009276772e-03,7.016683967e-01,-1.079520371e-04,8.397299182e-01,7.016684340e-01,-1.080631824e-04,8.397303048e-01,7.018605956e-01,-1.077510275e-04,8.285634277e-01
+10,1.405000000e+01,DOWN_FORCE_DETACH,1791629590391775818,1.439293638e-04,-1.087202585e-04,-1.136340747e-03,1.437310768e-04,-1.087254869e-04,-1.136473098e-03,1.443165998e-04,-1.086130860e-04,-1.135036642e-03,7.016818008e-01,-1.071692971e-04,8.396046004e-01,7.016816026e-01,-1.071745256e-04,8.396044681e-01,7.018736625e-01,-1.068401764e-04,8.284376679e-01
+11,1.543333333e+01,DOWN_FORCE_DETACH,1791629593017835053,1.624365361e-04,-1.129573239e-04,-1.271286933e-03,1.576789379e-04,-1.113927650e-04,-1.260635688e-03,1.582456132e-04,-1.112985991e-04,-1.259277304e-03,7.017003080e-01,-1.114063626e-04,8.394696543e-01,7.016955504e-01,-1.098418037e-04,8.394803055e-01,7.018875915e-01,-1.095256896e-04,8.283134272e-01
+12,1.683333333e+01,DOWN_FORCE_DETACH,1791629595779663300,1.788939755e-04,-1.129452804e-04,-1.420393001e-03,1.748044944e-04,-1.091085124e-04,-1.424563456e-03,1.753177997e-04,-1.090459364e-04,-1.423032345e-03,7.017167655e-01,-1.113943191e-04,8.393205482e-01,7.017126760e-01,-1.075575510e-04,8.393163777e-01,7.019046637e-01,-1.072730269e-04,8.281496722e-01
+13,1.803333333e+01,DOWN_FORCE_DETACH,1791629598107634525,1.904607137e-04,-1.080589082e-04,-1.564610779e-03,1.882754142e-04,-1.108954458e-04,-1.548788711e-03,1.887824523e-04,-1.108210602e-04,-1.547317271e-03,7.017283322e-01,-1.065079469e-04,8.391763304e-01,7.017261469e-01,-1.093444845e-04,8.391921525e-01,7.019181283e-01,-1.090481506e-04,8.280253872e-01
+14,1.936666667e+01,DOWN_FORCE_DETACH,1791629600635661439,2.016410721e-04,-1.126784708e-04,-1.724341335e-03,2.032126758e-04,-1.105584744e-04,-1.722150019e-03,2.035919567e-04,-1.104396269e-04,-1.720477828e-03,7.017395126e-01,-1.111275095e-04,8.390165999e-01,7.017410842e-01,-1.090075130e-04,8.390187912e-01,7.019329378e-01,-1.086667173e-04,8.278522267e-01
+15,2.061666667e+01,DOWN_FORCE_DETACH,1791629603063965531,2.172128070e-04,-1.147656935e-04,-1.886690133e-03,2.148925567e-04,-1.173425296e-04,-1.888488767e-03,2.150764049e-04,-1.171838420e-04,-1.886750209e-03,7.017550843e-01,-1.132147322e-04,8.388542511e-01,7.017527640e-01,-1.157915683e-04,8.388524524e-01,7.019444223e-01,-1.154109324e-04,8.276859543e-01
+16,2.175000000e+01,DOWN_FORCE_DETACH,1791629605327573168,2.293612701e-04,-1.258104925e-04,-2.061197507e-03,2.291638914e-04,-1.257034322e-04,-2.061136927e-03,2.291035193e-04,-1.255486062e-04,-2.059257233e-03,7.017672328e-01,-1.242595312e-04,8.386797437e-01,7.017670354e-01,-1.241524708e-04,8.386798043e-01,7.019584494e-01,-1.237756967e-04,8.275134473e-01
+17,2.296666667e+01,DOWN_FORCE_DETACH,1791629607621554425,2.421051839e-04,-1.501141840e-04,-2.267310467e-03,2.422046923e-04,-1.486103176e-04,-2.248401989e-03,2.418744043e-04,-1.484468238e-04,-2.246461741e-03,7.017799767e-01,-1.485632227e-04,8.384736307e-01,7.017800762e-01,-1.470593563e-04,8.384925392e-01,7.019712203e-01,-1.466739142e-04,8.273262428e-01
+18,2.408333333e+01,DOWN_FORCE_DETACH,1791629609751849487,2.558565985e-04,-1.592400074e-04,-2.507767659e-03,2.556086360e-04,-1.546564175e-04,-2.503772924e-03,2.546750813e-04,-1.544788212e-04,-2.501365785e-03,7.017937281e-01,-1.576890460e-04,8.382331735e-01,7.017934801e-01,-1.531054562e-04,8.382371683e-01,7.019840210e-01,-1.527059117e-04,8.270713387e-01
+19,2.498333333e+01,DOWN_FORCE_DETACH,1791629611511849357,2.576169319e-04,-1.636149136e-04,-2.782929088e-03,2.548000849e-04,-1.656061892e-04,-2.775013887e-03,2.528485169e-04,-1.654025266e-04,-2.772056791e-03,7.017954884e-01,-1.620639523e-04,8.379580121e-01,7.017926716e-01,-1.640552279e-04,8.379659273e-01,7.019821944e-01,-1.636296171e-04,8.268006477e-01
+20,2.576666667e+01,DOWN_FORCE_DETACH,1791629613077693045,2.666602839e-04,-1.670270961e-04,-3.067508671e-03,2.668621953e-04,-1.663974152e-04,-3.053529345e-03,2.642886201e-04,-1.661893901e-04,-3.050085162e-03,7.018045318e-01,-1.654761348e-04,8.376734325e-01,7.018047337e-01,-1.648464539e-04,8.376874118e-01,7.019936345e-01,-1.644164805e-04,8.265226194e-01
+21,2.645000000e+01,DOWN_FORCE_DETACH,1791629614407550476,2.744973799e-04,-1.737095745e-04,-3.366564131e-03,2.758791994e-04,-1.719726489e-04,-3.356509400e-03,2.724588892e-04,-1.717504574e-04,-3.352492662e-03,7.018123689e-01,-1.721586132e-04,8.373743771e-01,7.018137507e-01,-1.704216876e-04,8.373844318e-01,7.020018048e-01,-1.699775478e-04,8.262202119e-01
+22,2.703333333e+01,DOWN_FORCE_DETACH,1791629615505842386,2.789959817e-04,-1.753479045e-04,-3.677371094e-03,2.786574163e-04,-1.723327777e-04,-3.665720261e-03,2.742241315e-04,-1.720482782e-04,-3.661198763e-03,7.018168675e-01,-1.737969431e-04,8.370635701e-01,7.018165289e-01,-1.707818164e-04,8.370752209e-01,7.020035700e-01,-1.702753687e-04,8.259115058e-01
+23,2.753333333e+01,DOWN_FORCE_DETACH,1791629616435782162,2.820965676e-04,-1.742039804e-04,-3.982661758e-03,2.820255000e-04,-1.741862888e-04,-3.982261698e-03,2.766054421e-04,-1.738913218e-04,-3.977214380e-03,7.018199680e-01,-1.726530191e-04,8.367582794e-01,7.018198970e-01,-1.726353275e-04,8.367586795e-01,7.020059513e-01,-1.721184123e-04,8.255954901e-01
+24,2.798333333e+01,DOWN_FORCE_DETACH,1791629617299700567,2.873809325e-04,-1.790096826e-04,-4.297035643e-03,2.872799852e-04,-1.788588451e-04,-4.296884415e-03,2.807927120e-04,-1.785612201e-04,-4.291377581e-03,7.018252524e-01,-1.774587213e-04,8.364439055e-01,7.018251515e-01,-1.773078838e-04,8.364440568e-01,7.020101386e-01,-1.767883105e-04,8.252813269e-01
+25,2.838333333e+01,DOWN_FORCE_DETACH,1791629618067647542,2.890171856e-04,-1.793835853e-04,-4.614065220e-03,2.888310103e-04,-1.801181619e-04,-4.598999290e-03,2.813348456e-04,-1.797285684e-04,-4.593097452e-03,7.018268887e-01,-1.778326240e-04,8.361268760e-01,7.018267025e-01,-1.785672006e-04,8.361419419e-01,7.020106807e-01,-1.779556589e-04,8.249796071e-01
+26,2.875000000e+01,DOWN_FORCE_DETACH,1791629618763550705,2.846648136e-04,-1.787151939e-04,-4.938822489e-03,2.843925368e-04,-1.785357397e-04,-4.939068913e-03,2.756009917e-04,-1.781493194e-04,-4.932709067e-03,7.018225363e-01,-1.771642325e-04,8.358021187e-01,7.018222640e-01,-1.769847783e-04,8.358018723e-01,7.020049469e-01,-1.763764098e-04,8.246399954e-01
+27,2.908333333e+01,DOWN_FORCE_DETACH,1791629619434937059,2.891880148e-04,-1.845136552e-04,-5.265001071e-03,2.888929571e-04,-1.845220663e-04,-5.265080791e-03,2.790355328e-04,-1.840433034e-04,-5.258464149e-03,7.018270595e-01,-1.829626939e-04,8.354759401e-01,7.018267644e-01,-1.829711050e-04,8.354758604e-01,7.020083814e-01,-1.822703938e-04,8.243142404e-01
+28,2.940000000e+01,DOWN_FORCE_DETACH,1791629620061784052,2.889765750e-04,-1.859604850e-04,-5.580641379e-03,2.886767606e-04,-1.859194779e-04,-5.580616871e-03,2.777661282e-04,-1.854200119e-04,-5.573859316e-03,7.018268481e-01,-1.844095237e-04,8.351602998e-01,7.018265482e-01,-1.843685166e-04,8.351603243e-01,7.020071120e-01,-1.836471023e-04,8.239988452e-01
+29,2.970000000e+01,DOWN_FORCE_DETACH,1791629620661686832,2.830322493e-04,-1.889545620e-04,-5.920151034e-03,2.829268555e-04,-1.889285986e-04,-5.919970172e-03,2.706404138e-04,-1.883287723e-04,-5.913141458e-03,7.018209037e-01,-1.874036007e-04,8.348207902e-01,7.018207983e-01,-1.873776373e-04,8.348209710e-01,7.019999863e-01,-1.865558627e-04,8.236595631e-01
+30,2.996666667e+01,DOWN_FORCE_DETACH,1791629621193664243,2.810127916e-04,-1.900393595e-04,-6.234659814e-03,2.794388217e-04,-1.897393977e-04,-6.216433182e-03,2.659840070e-04,-1.890382766e-04,-6.209511494e-03,7.018188843e-01,-1.884883982e-04,8.345062814e-01,7.018173103e-01,-1.881884364e-04,8.345245080e-01,7.019953299e-01,-1.872653671e-04,8.233631930e-01
+31,3.023333333e+01,DOWN_FORCE_DETACH,1791629621726054498,2.815037777e-04,-1.825906260e-04,-6.547870493e-03,2.812572972e-04,-1.826377577e-04,-6.547816870e-03,2.666459619e-04,-1.819098260e-04,-6.541147522e-03,7.018193753e-01,-1.810396647e-04,8.341930707e-01,7.018191288e-01,-1.810867964e-04,8.341931243e-01,7.019959918e-01,-1.801369165e-04,8.230315570e-01
+32,3.050000000e+01,DOWN_FORCE_DETACH,1791629622223678853,2.750980157e-04,-1.871669090e-04,-6.866944327e-03,2.749254880e-04,-1.871309597e-04,-6.866592927e-03,2.590248692e-04,-1.864511318e-04,-6.859971223e-03,7.018129695e-01,-1.856159477e-04,8.338739969e-01,7.018127970e-01,-1.855799984e-04,8.338743483e-01,7.019883708e-01,-1.846782223e-04,8.227127333e-01
+33,3.075000000e+01,DOWN_FORCE_DETACH,1791629622723509228,2.691489867e-04,-1.926505214e-04,-7.207904839e-03,2.690953933e-04,-1.924717220e-04,-7.207906068e-03,2.518782332e-04,-1.917093775e-04,-7.201404412e-03,7.018070205e-01,-1.910995601e-04,8.335330363e-01,7.018069669e-01,-1.909207607e-04,8.335330351e-01,7.019812241e-01,-1.899364679e-04,8.223713001e-01
+34,3.100000000e+01,DOWN_FORCE_DETACH,1791629623189537312,2.634881462e-04,-1.887596459e-04,-7.536231857e-03,2.633181197e-04,-1.887713164e-04,-7.535738919e-03,2.447273487e-04,-1.880580999e-04,-7.529687657e-03,7.018013596e-01,-1.872086846e-04,8.332047093e-01,7.018011896e-01,-1.872203551e-04,8.332052023e-01,7.019740732e-01,-1.862851903e-04,8.220430169e-01
+35,3.123333333e+01,DOWN_FORCE_DETACH,1791629623621777653,2.543165927e-04,-1.897849229e-04,-7.855723540e-03,2.541627048e-04,-1.899123717e-04,-7.855176727e-03,2.342422988e-04,-1.891340456e-04,-7.849605010e-03,7.017921881e-01,-1.882339615e-04,8.328852176e-01,7.017920342e-01,-1.883614104e-04,8.328857645e-01,7.019635882e-01,-1.873611361e-04,8.217230995e-01
+36,3.145000000e+01,DOWN_FORCE_DETACH,1791629624051624943,2.438547915e-04,-1.843495418e-04,-8.184457500e-03,2.438336327e-04,-1.841217636e-04,-8.183919178e-03,2.224370259e-04,-1.834077923e-04,-8.178576074e-03,7.017817263e-01,-1.827985804e-04,8.325564837e-01,7.017817051e-01,-1.825708023e-04,8.325570220e-01,7.019517829e-01,-1.816348827e-04,8.213941284e-01
+37,3.165000000e+01,DOWN_FORCE_DETACH,1791629624419755239,2.277742548e-04,-1.864135527e-04,-8.489752147e-03,2.275919785e-04,-1.864062911e-04,-8.489964124e-03,2.046695182e-04,-1.856097248e-04,-8.485073008e-03,7.017656457e-01,-1.848625914e-04,8.322511890e-01,7.017654635e-01,-1.848553297e-04,8.322509771e-01,7.019340154e-01,-1.838368152e-04,8.210876315e-01
+38,3.186666667e+01,DOWN_FORCE_DETACH,1791629624817669605,2.168995227e-04,-1.844214789e-04,-8.819560685e-03,2.166464479e-04,-1.844560948e-04,-8.819419485e-03,1.922638516e-04,-1.837147851e-04,-8.814972054e-03,7.017547710e-01,-1.828705176e-04,8.319213805e-01,7.017545179e-01,-1.829051335e-04,8.319215217e-01,7.019216097e-01,-1.819418755e-04,8.207577325e-01
+39,3.205000000e+01,DOWN_FORCE_DETACH,1791629625183574144,1.981705062e-04,-1.865951510e-04,-9.140655387e-03,1.979349326e-04,-1.865660585e-04,-9.140557723e-03,1.719022252e-04,-1.858037211e-04,-9.136556178e-03,7.017360420e-01,-1.850441897e-04,8.316002858e-01,7.017358064e-01,-1.850150972e-04,8.316003835e-01,7.019012481e-01,-1.840308116e-04,8.204361483e-01
+40,3.226666667e+01,DOWN_FORCE_DETACH,1791629625583651980,1.816890073e-04,-1.841887329e-04,-9.494599691e-03,1.814617396e-04,-1.841574220e-04,-9.494539746e-03,1.537356045e-04,-1.834477957e-04,-9.490974881e-03,7.017195605e-01,-1.826377715e-04,8.312463415e-01,7.017193332e-01,-1.826064606e-04,8.312464014e-01,7.018830815e-01,-1.816748862e-04,8.200817296e-01
+41,3.243333333e+01,DOWN_FORCE_DETACH,1791629625915550391,1.693370638e-04,-1.803054044e-04,-9.791220325e-03,1.690605982e-04,-1.803403135e-04,-9.791673717e-03,1.398015269e-04,-1.796106807e-04,-9.788923863e-03,7.017072085e-01,-1.787544431e-04,8.309497209e-01,7.017069321e-01,-1.787893522e-04,8.309492675e-01,7.018691474e-01,-1.778377711e-04,8.197837807e-01
+42,3.265000000e+01,DOWN_FORCE_DETACH,1791629626315512214,1.573008497e-04,-1.814251113e-04,-1.014217331e-02,1.569602347e-04,-1.813836692e-04,-1.014175722e-02,1.260522101e-04,-1.808382698e-04,-1.013952000e-02,7.016951723e-01,-1.798741500e-04,8.305987679e-01,7.016948317e-01,-1.798327079e-04,8.305991840e-01,7.018553981e-01,-1.790653603e-04,8.194331845e-01
+43,3.283333333e+01,DOWN_FORCE_DETACH,1791629626647520541,1.445786715e-04,-1.811603052e-04,-1.044646250e-02,1.443435671e-04,-1.809388698e-04,-1.044652035e-02,1.119662042e-04,-1.803645950e-04,-1.044483095e-02,7.016824502e-01,-1.796093439e-04,8.302944787e-01,7.016822150e-01,-1.793879085e-04,8.302944208e-01,7.018413121e-01,-1.785916854e-04,8.191278736e-01
+44,3.301666667e+01,DOWN_FORCE_DETACH,1791629627015862780,1.313149663e-04,-1.849350775e-04,-1.078915233e-02,1.311846184e-04,-1.850390310e-04,-1.078855246e-02,9.713251528e-05,-1.844406846e-04,-1.078746147e-02,7.016691864e-01,-1.833841162e-04,8.299517889e-01,7.016690561e-01,-1.834880697e-04,8.299523887e-01,7.018264784e-01,-1.826677751e-04,8.187852430e-01
+45,3.318333333e+01,DOWN_FORCE_DETACH,1791629627347514802,1.192801846e-04,-1.836508846e-04,-1.110729602e-02,1.191145620e-04,-1.837157579e-04,-1.110726292e-02,8.356645941e-05,-1.834294990e-04,-1.110676329e-02,7.016571517e-01,-1.820999233e-04,8.296336452e-01,7.016569860e-01,-1.821647966e-04,8.296336783e-01,7.018129123e-01,-1.816565895e-04,8.184659412e-01
+46,3.335000000e+01,DOWN_FORCE_DETACH,1791629627679595229,1.023593972e-04,-1.704244002e-04,-1.142983497e-02,1.024451527e-04,-1.703602759e-04,-1.142962672e-02,6.536942413e-05,-1.702518225e-04,-1.142950699e-02,7.016402309e-01,-1.688734389e-04,8.293111062e-01,7.016403166e-01,-1.688093146e-04,8.293113145e-01,7.017947153e-01,-1.684789130e-04,8.181431975e-01
+47,3.351666667e+01,DOWN_FORCE_DETACH,1791629628011750516,9.002932256e-05,-1.671494970e-04,-1.175722628e-02,8.969075072e-05,-1.670782733e-04,-1.175715964e-02,5.098998162e-05,-1.673815295e-04,-1.175739486e-02,7.016279008e-01,-1.655985357e-04,8.289837149e-01,7.016275622e-01,-1.655273120e-04,8.289837816e-01,7.017803359e-01,-1.656086199e-04,8.178153097e-01
+48,3.368333333e+01,DOWN_FORCE_DETACH,1791629628343636207,7.770278011e-05,-1.702352090e-04,-1.209942053e-02,7.750594193e-05,-1.701072050e-04,-1.209911870e-02,3.728559480e-05,-1.708546913e-04,-1.209966752e-02,7.016155743e-01,-1.686842477e-04,8.286415207e-01,7.016153774e-01,-1.685562436e-04,8.286418225e-01,7.017666315e-01,-1.690817818e-04,8.174730370e-01
+49,3.383333333e+01,DOWN_FORCE_DETACH,1791629628643539337,6.325916414e-05,-1.712875678e-04,-1.240453275e-02,6.306813009e-05,-1.712354824e-04,-1.240447136e-02,2.142108878e-05,-1.721829113e-04,-1.240515766e-02,7.016011306e-01,-1.697366065e-04,8.283364084e-01,7.016009396e-01,-1.696845211e-04,8.283364698e-01,7.017507670e-01,-1.704100018e-04,8.171675469e-01
+50,3.400000000e+01,DOWN_FORCE_DETACH,1791629628977787893,4.927734537e-05,-1.766812895e-04,-1.275498084e-02,4.890458213e-05,-1.764959667e-04,-1.275519841e-02,5.657804447e-06,-1.775592694e-04,-1.275598754e-02,7.015871488e-01,-1.751303282e-04,8.279859603e-01,7.015867761e-01,-1.749450054e-04,8.279857428e-01,7.017350037e-01,-1.757863598e-04,8.168167170e-01
+51,3.415000000e+01,DOWN_FORCE_DETACH,1791629629275529276,4.125606215e-05,-1.787217794e-04,-1.306071766e-02,4.094199142e-05,-1.787277519e-04,-1.306070158e-02,-3.510032601e-06,-1.798860815e-04,-1.306154228e-02,7.015791275e-01,-1.771708180e-04,8.276802235e-01,7.015788135e-01,-1.771767906e-04,8.276802396e-01,7.017258359e-01,-1.781131719e-04,8.165111622e-01
+52,3.430000000e+01,DOWN_FORCE_DETACH,1791629629575668228,3.145394533e-05,-1.744792627e-04,-1.338624155e-02,3.125138864e-05,-1.743377691e-04,-1.338606590e-02,-1.453078264e-05,-1.753863100e-04,-1.338686393e-02,7.015693254e-01,-1.729283014e-04,8.273546996e-01,7.015691229e-01,-1.727868077e-04,8.273548753e-01,7.017148151e-01,-1.736134005e-04,8.161858406e-01
+53,3.446666667e+01,DOWN_FORCE_DETACH,1791629629907566152,2.194762542e-05,-1.776408717e-04,-1.373313371e-02,2.177692130e-05,-1.774405992e-04,-1.373301205e-02,-2.542484723e-05,-1.785153401e-04,-1.373385175e-02,7.015598191e-01,-1.760899104e-04,8.270078075e-01,7.015596484e-01,-1.758896379e-04,8.270079291e-01,7.017039210e-01,-1.767424305e-04,8.158388528e-01
+54,3.461666667e+01,DOWN_FORCE_DETACH,1791629630207541808,1.666922949e-05,-1.795723775e-04,-1.405828605e-02,1.636703421e-05,-1.794673366e-04,-1.405847590e-02,-3.195859357e-05,-1.805864406e-04,-1.405936942e-02,7.015545407e-01,-1.780214162e-04,8.266826551e-01,7.015542385e-01,-1.779163752e-04,8.266824653e-01,7.016973873e-01,-1.788135310e-04,8.155133351e-01
+55,3.476666667e+01,DOWN_FORCE_DETACH,1791629630489550709,2.293876126e-06,-1.705101101e-04,-1.438322477e-02,2.169529739e-06,-1.707985679e-04,-1.438307515e-02,-4.760515002e-05,-1.718231693e-04,-1.438395170e-02,7.015401654e-01,-1.689591488e-04,8.263577164e-01,7.015400410e-01,-1.692476066e-04,8.263578660e-01,7.016817407e-01,-1.700502597e-04,8.151887528e-01
+56,3.491666667e+01,DOWN_FORCE_DETACH,1791629630771543370,-1.189837271e-05,-1.602702950e-04,-1.470003566e-02,-1.234236754e-05,-1.602258805e-04,-1.469992127e-02,-6.352315904e-05,-1.611962647e-04,-1.470080992e-02,7.015259731e-01,-1.587193337e-04,8.260409055e-01,7.015255291e-01,-1.586749192e-04,8.260410199e-01,7.016658227e-01,-1.594233551e-04,8.148718946e-01
+57,3.506666667e+01,DOWN_FORCE_DETACH,1791629631071561320,-1.667805334e-06,-1.590174943e-04,-1.502241838e-02,-1.947346625e-06,-1.588894096e-04,-1.502234279e-02,-5.381940984e-05,-1.598677206e-04,-1.502319223e-02,7.015362037e-01,-1.574665330e-04,8.257185228e-01,7.015359241e-01,-1.573384482e-04,8.257185984e-01,7.016755265e-01,-1.580948111e-04,8.145495123e-01
+58,3.521666667e+01,DOWN_FORCE_DETACH,1791629631339533515,-2.633925808e-05,-1.676423685e-04,-1.534907254e-02,-2.654933930e-05,-1.677417223e-04,-1.534870123e-02,-8.021753440e-05,-1.687657575e-04,-1.534964050e-02,7.015115322e-01,-1.660914072e-04,8.253918686e-01,7.015113221e-01,-1.661907610e-04,8.253922400e-01,7.016491284e-01,-1.669928479e-04,8.142230640e-01
+59,3.553333333e+01,DOWN_SETTLE,1791629631937590717,-3.887819444e-05,-1.474200035e-04,-1.566170801e-02,-3.612967648e-05,-1.564166536e-04,-1.564638439e-02,-9.099083076e-05,-1.573582886e-04,-1.564738130e-02,7.014989933e-01,-1.458690422e-04,8.250792332e-01,7.015017418e-01,-1.548656923e-04,8.250945568e-01,7.016383551e-01,-1.555853790e-04,8.139253232e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7408e68f29a227df33ee8351ad15d150b79f0450
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-7.7476e-03,1.6169e-03,2.4543e+00,-3.6929e-02,3.6239e-02,-2.9765e-05,2.0583e-04,-8.3207e-06,9.7752e-05,1.4156e-07,1.4517e-05,-2.7414e-07,2.2802e-04,1.4521e-05
+1,1.4667e+00,DOWN_FORCE_DETACH,3.2744e-04,6.7417e-03,2.4335e-02,2.4750e+00,-3.8543e-02,3.7247e-02,-2.7591e-05,1.4695e-02,2.2710e-02,2.0874e-02,-1.6133e-03,1.0226e-03,1.8998e-06,3.4168e-02,1.9101e-03
+2,3.0000e+00,DOWN_FORCE_DETACH,6.5789e-04,6.4235e-03,2.9753e-02,2.4981e+00,-3.8926e-02,3.7205e-02,-3.0887e-05,1.4377e-02,2.8128e-02,4.3952e-02,-1.9960e-03,9.8035e-04,-1.3964e-06,5.4126e-02,2.2238e-03
+3,4.2833e+00,DOWN_FORCE_DETACH,9.8310e-04,4.1282e-03,2.7697e-02,2.5179e+00,-3.8762e-02,3.7026e-02,-2.5999e-05,1.2082e-02,2.6072e-02,6.3777e-02,-1.8323e-03,8.0143e-04,3.4910e-06,6.9952e-02,1.9999e-03
+4,5.5000e+00,DOWN_FORCE_DETACH,1.3140e-03,1.2733e-02,3.0909e-02,2.5133e+00,-3.8936e-02,3.7639e-02,-7.6061e-06,2.0686e-02,2.9284e-02,5.9165e-02,-2.0068e-03,1.4138e-03,2.1884e-05,6.9181e-02,2.4549e-03
+5,7.1000e+00,DOWN_FORCE_DETACH,1.6431e-03,1.8215e-02,3.4248e-02,2.5169e+00,-3.9126e-02,3.8013e-02,1.4668e-05,2.6169e-02,3.2623e-02,6.2723e-02,-2.1962e-03,1.7879e-03,4.4158e-05,7.5387e-02,2.8323e-03
+6,8.4833e+00,DOWN_FORCE_DETACH,1.9735e-03,2.1415e-02,3.6991e-02,2.5235e+00,-3.9335e-02,3.8215e-02,2.7203e-05,2.9368e-02,3.5365e-02,6.9386e-02,-2.4050e-03,1.9902e-03,5.6693e-05,8.3232e-02,3.1222e-03
+7,1.0067e+01,DOWN_FORCE_DETACH,2.3024e-03,2.4495e-02,4.0168e-02,2.5185e+00,-3.9591e-02,3.8439e-02,5.0706e-05,3.2449e-02,3.8542e-02,6.4308e-02,-2.6609e-03,2.2139e-03,8.0196e-05,8.1694e-02,3.4624e-03
+8,1.1433e+01,DOWN_FORCE_DETACH,2.6284e-03,2.2524e-02,3.7800e-02,2.5176e+00,-3.9411e-02,3.8313e-02,6.1176e-05,3.0478e-02,3.6175e-02,6.3488e-02,-2.4813e-03,2.0882e-03,9.0667e-05,7.9172e-02,3.2443e-03
+9,1.2800e+01,DOWN_FORCE_DETACH,2.9592e-03,2.0730e-02,3.9836e-02,2.5136e+00,-3.9486e-02,3.8194e-02,5.3309e-05,2.8683e-02,3.8211e-02,5.9475e-02,-2.5567e-03,1.9697e-03,8.2799e-05,7.6290e-02,3.2285e-03
+10,1.4050e+01,DOWN_FORCE_DETACH,3.2864e-03,1.7600e-02,4.2626e-02,2.5159e+00,-3.9644e-02,3.7970e-02,4.5162e-05,2.5553e-02,4.1000e-02,6.1755e-02,-2.7149e-03,1.7458e-03,7.4653e-05,7.8407e-02,3.2286e-03
+11,1.5433e+01,DOWN_FORCE_DETACH,3.6161e-03,1.8217e-02,4.2534e-02,2.5211e+00,-3.9671e-02,3.8010e-02,3.4788e-05,2.6171e-02,4.0909e-02,6.6914e-02,-2.7414e-03,1.7856e-03,6.4279e-05,8.2680e-02,3.2723e-03
+12,1.6833e+01,DOWN_FORCE_DETACH,3.9451e-03,1.9648e-02,4.0285e-02,2.5294e+00,-3.9551e-02,3.8097e-02,1.1907e-05,2.7602e-02,3.8660e-02,7.5240e-02,-2.6210e-03,1.8722e-03,4.1397e-05,8.8980e-02,3.2212e-03
+13,1.8033e+01,DOWN_FORCE_DETACH,4.2738e-03,2.1643e-02,4.0594e-02,2.5269e+00,-3.9575e-02,3.8232e-02,2.4633e-06,2.9597e-02,3.8969e-02,7.2758e-02,-2.6457e-03,2.0072e-03,3.1954e-05,8.7683e-02,3.3211e-03
+14,1.9367e+01,DOWN_FORCE_DETACH,4.6004e-03,2.5721e-02,4.1414e-02,2.5363e+00,-3.9615e-02,3.8523e-02,7.4790e-06,3.3674e-02,3.9789e-02,8.2187e-02,-2.6858e-03,2.2984e-03,3.6969e-05,9.7324e-02,3.5352e-03
+15,2.0617e+01,DOWN_FORCE_DETACH,4.9292e-03,2.8301e-02,4.5351e-02,2.5382e+00,-3.9845e-02,3.8703e-02,1.6092e-05,3.6255e-02,4.3726e-02,8.4090e-02,-2.9157e-03,2.4780e-03,4.5583e-05,1.0148e-01,3.8267e-03
+16,2.1750e+01,DOWN_FORCE_DETACH,5.2598e-03,2.8847e-02,4.6620e-02,2.5366e+00,-3.9942e-02,3.8721e-02,8.9673e-06,3.6800e-02,4.4995e-02,8.2412e-02,-3.0128e-03,2.4963e-03,3.8458e-05,1.0085e-01,3.9128e-03
+17,2.2967e+01,DOWN_FORCE_DETACH,5.5886e-03,2.7668e-02,5.5936e-02,2.5482e+00,-4.0601e-02,3.8626e-02,1.6671e-05,3.5622e-02,5.4311e-02,9.4064e-02,-3.6718e-03,2.4018e-03,4.6162e-05,1.1431e-01,4.3878e-03
+18,2.4083e+01,DOWN_FORCE_DETACH,5.9147e-03,2.4983e-02,5.7809e-02,2.5732e+00,-4.0682e-02,3.8423e-02,1.1847e-05,3.2937e-02,5.6184e-02,1.1905e-01,-3.7524e-03,2.1986e-03,4.1337e-05,1.3570e-01,4.3493e-03
+19,2.4983e+01,DOWN_FORCE_DETACH,6.2462e-03,2.7791e-02,6.3611e-02,2.6011e+00,-4.0985e-02,3.8585e-02,-1.3468e-06,3.5745e-02,6.1986e-02,1.4699e-01,-4.0551e-03,2.3605e-03,2.8144e-05,1.6348e-01,4.6922e-03
+20,2.5767e+01,DOWN_FORCE_DETACH,6.5698e-03,2.5969e-02,6.3113e-02,2.6223e+00,-4.0927e-02,3.8435e-02,-9.5617e-06,3.3922e-02,6.1487e-02,1.6811e-01,-3.9974e-03,2.2108e-03,1.9929e-05,1.8218e-01,4.5681e-03
+21,2.6450e+01,DOWN_FORCE_DETACH,6.9002e-03,2.6306e-02,6.6178e-02,2.6534e+00,-4.1069e-02,3.8439e-02,3.1220e-06,3.4259e-02,6.4553e-02,1.9926e-01,-4.1399e-03,2.2143e-03,3.2612e-05,2.1224e-01,4.6950e-03
+22,2.7033e+01,DOWN_FORCE_DETACH,7.2336e-03,2.9640e-02,6.8289e-02,2.6826e+00,-4.1145e-02,3.8650e-02,6.4996e-06,3.7593e-02,6.6664e-02,2.2842e-01,-4.2152e-03,2.4251e-03,3.5990e-05,2.4090e-01,4.8632e-03
+23,2.7533e+01,DOWN_FORCE_DETACH,7.5560e-03,3.0587e-02,6.8792e-02,2.6989e+00,-4.1148e-02,3.8673e-02,1.0383e-05,3.8540e-02,6.7166e-02,2.4476e-01,-4.2182e-03,2.4487e-03,3.9873e-05,2.5672e-01,4.8776e-03
+24,2.7983e+01,DOWN_FORCE_DETACH,7.8858e-03,2.8613e-02,6.9791e-02,2.7224e+00,-4.1140e-02,3.8511e-02,5.2567e-06,3.6566e-02,6.8166e-02,2.6822e-01,-4.2106e-03,2.2866e-03,3.4747e-05,2.7915e-01,4.7915e-03
+25,2.8383e+01,DOWN_FORCE_DETACH,8.2106e-03,2.9264e-02,7.3606e-02,2.7542e+00,-4.1319e-02,3.8526e-02,-1.2626e-06,3.7217e-02,7.1981e-02,3.0008e-01,-4.3897e-03,2.3009e-03,2.8228e-05,3.1083e-01,4.9563e-03
+26,2.8750e+01,DOWN_FORCE_DETACH,8.5442e-03,3.1885e-02,7.3966e-02,2.7631e+00,-4.1265e-02,3.8688e-02,-2.0827e-07,3.9839e-02,7.2341e-02,3.0890e-01,-4.3354e-03,2.4632e-03,2.9282e-05,3.1975e-01,4.9864e-03
+27,2.9083e+01,DOWN_FORCE_DETACH,8.8761e-03,3.0427e-02,7.9855e-02,2.7780e+00,-4.1567e-02,3.8577e-02,-1.9302e-06,3.8380e-02,7.8230e-02,3.2381e-01,-4.6373e-03,2.3520e-03,2.7560e-05,3.3532e-01,5.1997e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e484b5bda2adf68c978b0d51ed1b725f7aba3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:5fbcfb72e930194a4a3a2281c4d914cbbe63c0afdfe2605edc5764410bbaa420
+size 12810240
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d7754e7cd6b11925a389fd5919f2dc1aa1ede2d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c391161a945ecc6ccb75bce1b95479f3a2b0f754
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81b5b55a6ef209272596b3548012dfa686fafefe
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26a58b424e3f41ed396281cf0071c4e36f700ee2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+51,3.583333333e+00,UP_FORCE_HOLD,1791629557891288078,-6.877062505e-05,-8.970594566e-05,2.754292484e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.991617283e-05,-8.964306862e-05,2.680839396e-04,7.014691009e-01,-8.815498434e-05,8.410163704e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594297e-01,-8.787014759e-05,8.298407883e-01
+52,3.666666667e+00,UP_FORCE_HOLD,1791629558057278620,-6.886649956e-05,-8.779324353e-05,2.816376749e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.991957035e-05,-8.964219803e-05,2.681315771e-04,7.014690050e-01,-8.624228221e-05,8.410225789e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594263e-01,-8.786927700e-05,8.298408360e-01
+53,3.750000000e+00,UP_FORCE_HOLD,1791629558191261599,-7.089865229e-05,-9.081557038e-05,2.800646145e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.992253973e-05,-8.964126863e-05,2.681749092e-04,7.014669728e-01,-8.926460905e-05,8.410210058e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594234e-01,-8.786834760e-05,8.298408793e-01
+54,3.800000000e+00,UP_FORCE_HOLD,1791629558289804734,-6.930079695e-05,-8.775040672e-05,2.836236491e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.992417884e-05,-8.964069966e-05,2.681994326e-04,7.014685707e-01,-8.619944540e-05,8.410245648e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594217e-01,-8.786777863e-05,8.298409038e-01
+55,3.866666667e+00,UP_FORCE_HOLD,1791629558423273832,-7.203154057e-05,-8.768614302e-05,2.828443197e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.992626719e-05,-8.963999632e-05,2.682306683e-04,7.014658399e-01,-8.613518169e-05,8.410237855e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594196e-01,-8.786707529e-05,8.298409351e-01
+56,3.950000000e+00,UP_FORCE_HOLD,1791629558591271907,-7.071698498e-05,-8.684726967e-05,2.851006009e-04,-6.963526555e-05,-8.968767973e-05,2.690032657e-04,-6.992874156e-05,-8.963915368e-05,2.682676738e-04,7.014671545e-01,-8.529630835e-05,8.410260418e-01,7.014682362e-01,-8.813671841e-05,8.410099445e-01,7.016594172e-01,-8.786623265e-05,8.298409721e-01
+57,4.000000000e+00,UP_FORCE_HOLD,1791629558690281808,-7.312523352e-05,-8.630969159e-05,2.853720874e-04,-6.850319802e-05,-9.356112459e-05,2.907176386e-04,-6.876503836e-05,-9.351520086e-05,2.898123346e-04,7.014647462e-01,-8.475873026e-05,8.410263133e-01,7.014693683e-01,-9.201016327e-05,8.410316588e-01,7.016605809e-01,-9.174227983e-05,8.298625167e-01
+58,4.066666667e+00,UP_FORCE_HOLD,1791629558805653801,-7.181619055e-05,-8.978739435e-05,2.893928947e-04,-6.850319802e-05,-9.356112459e-05,2.907176386e-04,-6.876587656e-05,-9.351563658e-05,2.898522417e-04,7.014660553e-01,-8.823643303e-05,8.410303341e-01,7.014693683e-01,-9.201016327e-05,8.410316588e-01,7.016605800e-01,-9.174271555e-05,8.298625566e-01
+59,4.133333333e+00,UP_SETTLE,1791629558921657831,-7.034223253e-05,-9.062213298e-05,2.934525712e-04,-6.850319802e-05,-9.356112459e-05,2.907176386e-04,-6.876711144e-05,-9.351542110e-05,2.898880609e-04,7.014675292e-01,-8.907117166e-05,8.410343938e-01,7.014693683e-01,-9.201016327e-05,8.410316588e-01,7.016605788e-01,-9.174250007e-05,8.298625925e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb6903073218ff8524e51b6c39732e0344ee0292
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-7.7467e-03,1.6172e-03,2.4543e+00,-3.6929e-02,3.6239e-02,-2.9737e-05,2.0575e-04,-8.2791e-06,9.7513e-05,1.3411e-07,1.4514e-05,-2.7401e-07,2.2784e-04,1.4517e-05
+1,8.3333e-02,UP_FORCE_RAMP,1.7194e-05,-6.7435e-03,1.5805e-03,2.4547e+00,-3.6929e-02,3.6310e-02,-3.1078e-05,1.2089e-03,-4.4891e-05,5.8031e-04,5.2899e-07,8.5238e-05,-1.6153e-06,1.3417e-03,8.5255e-05
+2,1.5000e-01,UP_FORCE_RAMP,3.4153e-05,-5.9703e-03,1.5542e-03,2.4551e+00,-3.6929e-02,3.6364e-02,-3.2114e-05,1.9821e-03,-7.1239e-05,9.6083e-04,6.7800e-07,1.3970e-04,-2.6514e-06,2.2039e-03,1.3973e-04
+3,2.1667e-01,UP_FORCE_RAMP,5.2929e-05,-4.9992e-03,9.9286e-03,2.4555e+00,-3.7513e-02,3.6433e-02,-2.8024e-05,2.9533e-03,8.3032e-03,1.3351e-03,-5.8331e-04,2.0799e-04,1.4389e-06,8.9133e-03,6.1928e-04
+4,3.0000e-01,UP_FORCE_RAMP,7.5386e-05,-4.0906e-03,9.6162e-03,2.4559e+00,-3.7494e-02,3.6497e-02,-2.7207e-05,3.8619e-03,7.9908e-03,1.7929e-03,-5.6433e-04,2.7202e-04,2.2553e-06,9.0543e-03,6.2648e-04
+5,3.5000e-01,UP_FORCE_RAMP,9.1772e-05,-3.5682e-03,9.5118e-03,2.4562e+00,-3.7488e-02,3.6534e-02,-2.7888e-05,4.3842e-03,7.8863e-03,2.0623e-03,-5.5843e-04,3.0880e-04,1.5748e-06,9.2557e-03,6.3813e-04
+6,4.3333e-01,UP_FORCE_RAMP,1.1057e-04,-2.7289e-03,9.4035e-03,2.4567e+00,-3.7483e-02,3.6593e-02,-2.9028e-05,5.2236e-03,7.7781e-03,2.5020e-03,-5.5312e-04,3.6786e-04,4.3437e-07,9.6976e-03,6.6427e-04
+7,5.1667e-01,UP_FORCE_RAMP,1.2788e-04,-1.3885e-03,1.7738e-02,2.4561e+00,-3.8064e-02,3.6687e-02,-2.5127e-05,6.5639e-03,1.6113e-02,1.9464e-03,-1.1347e-03,4.6268e-04,4.3351e-06,1.7507e-02,1.2254e-03
+8,6.0000e-01,UP_FORCE_RAMP,1.4745e-04,-6.2924e-04,1.7443e-02,2.4567e+00,-3.8047e-02,3.6741e-02,-2.4254e-05,7.3232e-03,1.5817e-02,2.4967e-03,-1.1171e-03,5.1617e-04,5.2085e-06,1.7608e-02,1.2306e-03
+9,7.0000e-01,UP_FORCE_RAMP,1.6796e-04,2.3887e-04,1.7251e-02,2.4572e+00,-3.8036e-02,3.6802e-02,-2.5534e-05,8.1913e-03,1.5625e-02,3.0456e-03,-1.1065e-03,5.7716e-04,3.9287e-06,1.7903e-02,1.2480e-03
+10,7.8333e-01,UP_FORCE_RAMP,1.8349e-04,9.3387e-04,1.7162e-02,2.4576e+00,-3.8032e-02,3.6851e-02,-2.6584e-05,8.8863e-03,1.5536e-02,3.4761e-03,-1.1024e-03,6.2594e-04,2.8788e-06,1.8232e-02,1.2677e-03
+11,8.5000e-01,UP_FORCE_RAMP,2.0400e-04,2.6093e-03,2.3195e-02,2.4506e+00,-3.8455e-02,3.6974e-02,-2.2240e-05,1.0562e-02,2.1569e-02,-3.5081e-03,-1.5251e-03,7.4905e-04,7.2225e-06,2.4271e-02,1.6991e-03
+12,9.0000e-01,UP_FORCE_RAMP,2.2104e-04,2.9495e-03,2.2946e-02,2.4515e+00,-3.8439e-02,3.6997e-02,-2.2621e-05,1.0902e-02,2.1320e-02,-2.6698e-03,-1.5093e-03,7.7226e-04,6.8415e-06,2.4094e-02,1.6954e-03
+13,9.5000e-01,UP_FORCE_RAMP,2.4199e-04,3.3029e-03,2.2850e-02,2.4520e+00,-3.8434e-02,3.7022e-02,-2.3261e-05,1.1255e-02,2.1225e-02,-2.1219e-03,-1.5040e-03,7.9686e-04,6.2013e-06,2.4118e-02,1.7021e-03
+14,1.0500e+00,UP_FORCE_RAMP,2.6120e-04,5.0932e-03,2.6300e-02,2.4453e+00,-3.8677e-02,3.7153e-02,-2.1715e-05,1.3046e-02,2.4674e-02,-8.8303e-03,-1.7479e-03,9.2801e-04,7.7474e-06,2.9274e-02,1.9790e-03
+15,1.1167e+00,UP_FORCE_RAMP,2.8050e-04,5.4697e-03,2.6139e-02,2.4466e+00,-3.8668e-02,3.7178e-02,-2.2422e-05,1.3422e-02,2.4514e-02,-7.5436e-03,-1.7387e-03,9.5365e-04,7.0406e-06,2.8948e-02,1.9831e-03
+16,1.1667e+00,UP_FORCE_RAMP,2.9414e-04,5.7652e-03,2.6084e-02,2.4473e+00,-3.8666e-02,3.7199e-02,-2.3064e-05,1.3718e-02,2.4458e-02,-6.8626e-03,-1.7362e-03,9.7414e-04,6.3989e-06,2.8870e-02,1.9908e-03
+17,1.2500e+00,UP_FORCE_RAMP,3.1519e-04,6.2568e-03,2.6026e-02,2.4483e+00,-3.8664e-02,3.7233e-02,-2.4095e-05,1.4209e-02,2.4400e-02,-5.8718e-03,-1.7343e-03,1.0083e-03,5.3671e-06,2.8840e-02,2.0061e-03
+18,1.3167e+00,UP_FORCE_RAMP,3.3088e-04,6.8234e-03,2.6675e-02,2.4407e+00,-3.8712e-02,3.7278e-02,-2.4164e-05,1.4776e-02,2.5049e-02,-1.3420e-02,-1.7825e-03,1.0536e-03,5.2990e-06,3.2029e-02,2.0706e-03
+19,1.4000e+00,UP_FORCE_RAMP,3.5073e-04,7.2935e-03,2.6638e-02,2.4422e+00,-3.8712e-02,3.7311e-02,-2.5137e-05,1.5246e-02,2.5012e-02,-1.1934e-02,-1.7820e-03,1.0858e-03,4.3254e-06,3.1630e-02,2.0868e-03
+20,1.4667e+00,UP_FORCE_RAMP,3.7170e-04,7.7126e-03,2.7803e-02,2.4332e+00,-3.8796e-02,3.7347e-02,-2.4945e-05,1.5665e-02,2.6178e-02,-2.0989e-02,-1.8663e-03,1.1220e-03,4.5176e-06,3.7030e-02,2.1776e-03
+21,1.5333e+00,UP_FORCE_RAMP,3.9210e-04,8.0623e-03,2.7750e-02,2.4351e+00,-3.8794e-02,3.7370e-02,-2.5569e-05,1.6015e-02,2.6125e-02,-1.9054e-02,-1.8643e-03,1.1454e-03,3.8935e-06,3.6084e-02,2.1880e-03
+22,1.6000e+00,UP_FORCE_RAMP,4.0753e-04,8.4182e-03,2.7731e-02,2.4365e+00,-3.8794e-02,3.7394e-02,-2.6330e-05,1.6371e-02,2.6106e-02,-1.7699e-02,-1.8645e-03,1.1697e-03,3.1321e-06,3.5535e-02,2.2010e-03
+23,1.6833e+00,UP_FORCE_RAMP,4.2834e-04,9.2313e-03,2.7990e-02,2.4286e+00,-3.8815e-02,3.7457e-02,-2.6825e-05,1.7184e-02,2.6365e-02,-2.5594e-02,-1.8858e-03,1.2328e-03,2.6379e-06,4.0564e-02,2.2530e-03
+24,1.7667e+00,UP_FORCE_RAMP,4.4579e-04,9.6095e-03,2.7975e-02,2.4310e+00,-3.8816e-02,3.7483e-02,-2.7740e-05,1.7562e-02,2.6350e-02,-2.3144e-02,-1.8865e-03,1.2580e-03,1.7230e-06,3.9222e-02,2.2674e-03
+25,1.8500e+00,UP_FORCE_RAMP,4.6335e-04,1.0615e-02,2.8927e-02,2.4237e+00,-3.8885e-02,3.7558e-02,-2.8018e-05,1.8567e-02,2.7301e-02,-3.0487e-02,-1.9550e-03,1.3329e-03,1.4448e-06,4.4940e-02,2.3662e-03
+26,1.9333e+00,UP_FORCE_RAMP,4.8309e-04,1.1036e-02,2.8928e-02,2.4263e+00,-3.8887e-02,3.7587e-02,-2.8621e-05,1.8988e-02,2.7302e-02,-2.7895e-02,-1.9572e-03,1.3623e-03,8.4157e-07,4.3406e-02,2.3847e-03
+27,1.9667e+00,UP_FORCE_RAMP,5.0810e-04,1.1177e-02,2.8925e-02,2.4271e+00,-3.8887e-02,3.7597e-02,-2.9015e-05,1.9129e-02,2.7300e-02,-2.7040e-02,-1.9575e-03,1.3718e-03,4.4744e-07,4.2923e-02,2.3904e-03
+28,1.9833e+00,UP_FORCE_RAMP,5.1783e-04,1.9229e-02,2.9136e-02,2.4276e+00,-3.8902e-02,3.8162e-02,-2.9359e-05,2.7181e-02,2.7511e-02,-2.6525e-02,-1.9726e-03,1.9368e-03,1.0355e-07,4.6896e-02,2.7645e-03
+29,2.0500e+00,UP_FORCE_RAMP,5.3646e-04,1.9178e-02,2.9171e-02,2.4291e+00,-3.8905e-02,3.8160e-02,-3.0779e-05,2.7131e-02,2.7546e-02,-2.5010e-02,-1.9758e-03,1.9348e-03,-1.3161e-06,4.6047e-02,2.7654e-03
+30,2.1333e+00,UP_FORCE_RAMP,5.5636e-04,1.9019e-02,2.9185e-02,2.4309e+00,-3.8907e-02,3.8148e-02,-3.1909e-05,2.6971e-02,2.7559e-02,-2.3271e-02,-1.9776e-03,1.9228e-03,-2.4467e-06,4.5039e-02,2.7583e-03
+31,2.2167e+00,UP_FORCE_RAMP,5.7449e-04,2.1912e-02,3.1177e-02,2.4240e+00,-3.9049e-02,3.8357e-02,-3.1298e-05,2.9864e-02,2.9551e-02,-3.0184e-02,-2.1191e-03,2.1318e-03,-1.8358e-06,5.1732e-02,3.0058e-03
+32,2.3000e+00,UP_FORCE_RAMP,5.9488e-04,2.1742e-02,3.1149e-02,2.4262e+00,-3.9048e-02,3.8343e-02,-3.2483e-05,2.9694e-02,2.9524e-02,-2.7993e-02,-2.1180e-03,2.1187e-03,-3.0206e-06,5.0369e-02,2.9958e-03
+33,2.3500e+00,UP_FORCE_RAMP,6.1324e-04,2.4666e-02,3.2771e-02,2.4189e+00,-3.9162e-02,3.8553e-02,-3.2153e-05,3.2618e-02,3.1146e-02,-3.5231e-02,-2.2324e-03,2.3286e-03,-2.6902e-06,5.7229e-02,3.2258e-03
+34,2.4000e+00,UP_FORCE_RAMP,6.2890e-04,2.4710e-02,3.2806e-02,2.4207e+00,-3.9166e-02,3.8557e-02,-3.2718e-05,3.2662e-02,3.1181e-02,-3.3477e-02,-2.2361e-03,2.3321e-03,-3.2560e-06,5.6212e-02,3.2310e-03
+35,2.4667e+00,UP_FORCE_RAMP,6.4755e-04,2.4507e-02,3.2783e-02,2.4226e+00,-3.9165e-02,3.8542e-02,-3.3725e-05,3.2459e-02,3.1158e-02,-3.1583e-02,-2.2350e-03,2.3169e-03,-4.2627e-06,5.4972e-02,3.2192e-03
+36,2.5500e+00,UP_FORCE_RAMP,6.6971e-04,2.8267e-02,3.1327e-02,2.4167e+00,-3.9065e-02,3.8811e-02,-3.6031e-05,3.6219e-02,2.9702e-02,-3.7464e-02,-2.1352e-03,2.5866e-03,-6.5684e-06,5.9980e-02,3.3540e-03
+37,2.6000e+00,UP_FORCE_RAMP,6.8559e-04,2.7978e-02,3.1392e-02,2.4185e+00,-3.9069e-02,3.8790e-02,-3.7077e-05,3.5931e-02,2.9766e-02,-3.5608e-02,-2.1397e-03,2.5650e-03,-7.6145e-06,5.8694e-02,3.3403e-03
+38,2.6667e+00,UP_FORCE_RAMP,7.0316e-04,2.7702e-02,3.1429e-02,2.4204e+00,-3.9072e-02,3.8769e-02,-3.8079e-05,3.5654e-02,2.9804e-02,-3.3709e-02,-2.1421e-03,2.5447e-03,-8.6168e-06,5.7409e-02,3.3263e-03
+39,2.7333e+00,UP_FORCE_RAMP,7.2557e-04,2.9133e-02,3.2317e-02,2.4123e+00,-3.9136e-02,3.8876e-02,-3.8305e-05,3.7085e-02,3.0691e-02,-4.1875e-02,-2.2060e-03,2.6516e-03,-8.8424e-06,6.3803e-02,3.4493e-03
+40,2.7833e+00,UP_FORCE_RAMP,7.4048e-04,2.8922e-02,3.2312e-02,2.4141e+00,-3.9135e-02,3.8860e-02,-3.9063e-05,3.6874e-02,3.0687e-02,-4.0071e-02,-2.2056e-03,2.6357e-03,-9.6004e-06,6.2507e-02,3.4368e-03
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57f248430f44a82da53112dd10d2ae0496376dee
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7b90cee4942a934621adfcf0c0cb7a7b15ddbc3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/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
+22916,1791629649930781430,34833766000000,1791629649929232188,DOWN_FORCE_DETACH,10,0.041,0.041037727147340775,0.6760112606255801,-0.004688426084504884,0.09088510317015154,0.9999999814008544,9.729409997031445e-05,-0.00013838313953534203,5.011982973709231e-06,0.6761,-0.0048,0.09099999373032136,1.0,0.0,0.0,0.0,-0.21735006803738902,-0.25916067632296313,0.02272929941498856,-0.01673379072817913,0.01360658485144576,0.0009994826396310453,-0.2129125694003464,-0.28323400321125014,0.07228835534275656,-0.018746748357441934,0.012535746726389017,-0.00010405195707578119,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,-0.11999178912955817,-0.4376492832210448,1.1057676180386116,0.18109272584761713,-0.7209572095166329,-0.3717449185789021,1.2800290702230983,0.02272929941498856,0.17426145218448674,0.17426145218448674,0.27041275988527386,0,0,-8.137299542784248e-07,-9.99986857471768e-05
+23275,1791629652922727443,34836758000000,1791629652921222404,DOWN_FORCE_DETACH,10,0.041,0.04100095480680466,0.6760085259760613,-0.004760532839579958,0.09080170168006793,0.9999999837191178,6.111146681311299e-05,-0.00013544663599038216,4.386600142026719e-05,0.6761,-0.0048,0.09088923527588959,1.0,0.0,0.0,0.0,0.19377588698087692,0.1438135084748844,0.07582212446182923,0.01057464742304148,-0.014320788757156087,0.0008830637646130631,0.19821338561791954,0.11974018158659741,0.12538118038959722,0.008561689793778676,-0.01539162688221283,-0.00022047083209376348,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.18098249465242652,-0.07171102778762943,0.8377080149338283,0.24252778643756714,-0.4878988633156416,-0.11563598671655458,1.2800290702230983,0.07582212446182923,0.44232105528927,0.44232105528927,0.5097727598853403,0,0,-4.251886420311569e-05,-6.38139361061107e-05
+23603,1791629655655707010,34839491000000,1791629655649232124,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6760518668231639,-0.004768394505772862,0.09073046273819935,0.999999987962543,6.669911184631555e-05,-8.245872438828257e-05,6.534191192920534e-05,0.6761,-0.0048,0.09076365801713467,1.0,0.0,0.0,0.0,0.175693260863345,0.19395562277689815,0.1679186760996373,0.014585026457595279,-0.012392194195082097,0.0008841757952707207,0.18013075950038762,0.16988229588861117,0.21747773202740528,0.012572068828332474,-0.01346303232013884,-0.00021935880143610583,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.31523444518619986,-0.10039859536770117,0.6830499050877281,0.27584313302135666,-0.367742568990638,-0.13496255733990214,1.2800290702230983,0.1679186760996373,0.5969791651353702,0.5969791651353702,0.7284127598852556,0,0,-5.683330017300226e-05,-9.970560074646357e-05
+23918,1791629658280734521,34842116000000,1791629658277222302,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6760599614855614,-0.004765731406423773,0.09060059981056452,0.9999999938961422,-3.2099772544319792e-06,-5.6577007099901556e-05,2.095992225658104e-05,0.6761,-0.0048,0.0906065732639674,1.0,0.0,0.0,0.0,0.17302116704768936,0.20852942488560813,0.37504914613691265,0.015568644364168528,-0.012456380217339207,0.0007262683343081536,0.17745866568473198,0.18445609799732116,0.42460820206468064,0.013555686734905724,-0.01352721834239595,-0.00037726626239867285,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.39638003962247764,-0.038648541061532184,0.40238267647874987,0.26667081363174144,-0.1756757308800168,-0.09532628325840206,1.2800290702230983,0.37504914613691265,0.8776463937443484,0.8776463937443484,0.9384127598851741,1,0,-4.783725629731569e-05,-7.836733488332501e-06
+24253,1791629661072719582,34844908000000,1791629661065223106,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6760654338586003,-0.004776222262854448,0.0904922036225698,0.999999993982302,-3.106158287897939e-06,-4.468294494407614e-05,3.836726047723948e-05,0.6761,-0.0048,0.09047698578072047,1.0,0.0,0.0,0.0,0.15600925826646583,0.1936418630382315,0.5096507215180022,0.01551411512646013,-0.011470416886855071,0.0006329384578453065,0.16044675690350846,0.16956853614994452,0.5592097774457702,0.013501157497197326,-0.012541255011911815,-0.00047059613886152004,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.4869921082994184,-0.05850516375255144,0.2010624973349326,0.2861228242670901,-0.022876363218416615,-0.10722436544795869,1.2800290702230983,0.5096507215180022,1.0789665728881657,1.0789665728881657,1.161772759885312,1,0,-5.3347251750850095e-05,-4.293927299692797e-05
+24605,1791629664005635447,34847841000000,1791629664005232400,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6760844330118613,-0.004784094387601103,0.09035996903185599,0.9999999819681359,0.00015731349322343452,-1.8299765488999173e-05,4.923591777719075e-05,0.6761,-0.0048,0.09031340224786046,1.0,0.0,0.0,0.0,0.14599621713575764,0.21549843185891016,0.715998215790355,0.015434075891856724,-0.009897297464980763,0.0004825241665633343,0.15043371577280026,0.19142510497062318,0.765557271718123,0.01342111826259392,-0.010968135590037507,-0.0006210104301434922,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.49590940026814667,-0.010980519994035634,-0.11941719280220126,0.27522706438949873,0.1763996317048533,-0.08493149499668069,1.2800290702230983,0.715998215790355,1.3994462630252995,1.3994462630252995,1.3964127598855467,1,0,-5.102385120384222e-05,9.999421709950269e-05
+24916,1791629666597592045,34850432999999,1791629666597222450,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676091737055026,-0.004786501953836441,0.09025210749171168,0.9999999864142158,0.00012841877611300824,-3.0271646574416117e-06,4.597702477290756e-05,0.6761,-0.0048,0.09018602993080302,1.0,0.0,0.0,0.0,0.13617613774641685,0.2095409403160152,0.860863050295145,0.01640493221535815,-0.009544540674697791,0.0014170042834019615,0.14061363638345947,0.18546761342772822,0.910422106222913,0.014391974586095342,-0.010615378799754535,0.000313469686695135,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.5519978103674701,-0.08473286825946584,-0.18800196898401356,0.32595167616479287,0.2297212483462786,-0.11170693085187869,1.2800290702230983,0.860863050295145,1.4680310392071119,1.4680310392071119,1.603772759885754,1,0,-5.4830490407746464e-05,-9.991937418985514e-05
+25251,1791629669388679575,34853224000000,1791629669385222188,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6761072997870189,-0.0047880587055917885,0.09012308663669638,0.9999999884177252,0.00010687388468552615,2.017219314691986e-05,5.271118641150544e-05,0.6761,-0.0048,0.0900256933956794,1.0,0.0,0.0,0.0,0.1258083926468549,0.21516856130519438,1.0503860596934567,0.016342201670920365,-0.008572692831552847,0.0012774948938388839,0.13024589128389752,0.1910952344169074,1.0999451156212248,0.014329244041657559,-0.009643530956609591,0.0001739602971320574,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.607225479203578,-0.07000685558935522,-0.43262780670523027,0.33714493199207174,0.3952763840426963,-0.09383009922315352,1.2800290702230983,1.0503860596934567,1.7126568769283286,1.7126568769283286,1.8270527598859774,1,0,-6.165365197127593e-05,-9.999999025923074e-05
+25591,1791629672222619120,34856057999999,1791629672221232333,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676126173720797,-0.004790935016099445,0.08999753722730314,0.9999999905017685,7.482607122966719e-05,5.1195111511518464e-05,4.711100852198011e-05,0.6761,-0.0048,0.0898647375452658,1.0,0.0,0.0,0.0,0.11491172628280018,0.22450949655539773,1.2322801729098696,0.01730120256740013,-0.0076175632671498395,0.0011572805683268972,0.1193492249198428,0.20043616966711075,1.2818392288376377,0.015288244938137322,-0.008688401392206583,5.374597162007067e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.6491871302836947,-0.160335029493894,-0.6586920604892129,0.37517515426688386,0.5428516570988259,-0.15387497028692365,1.2800290702230983,1.2322801729098696,1.9387211307123113,1.9387211307123113,2.053772759886204,1,0,-6.094743379011914e-05,-9.947697807011763e-05
+25926,1791629675013629906,34858849000000,1791629675009232043,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6761467004759834,-0.004794768761585102,0.0898660301869988,0.9999999896075852,5.856520972865734e-05,8.144423023775955e-05,4.652577345534828e-05,0.6761,-0.0048,0.08969571228586641,1.0,0.0,0.0,0.0,0.0983385383870909,0.23350429487793467,1.403250182872235,0.01826234472153459,-0.006660946030907331,0.0010422513212672508,0.10277603702413353,0.2094309679896477,1.4528092388000031,0.016249387092271785,-0.007731784155964074,-6.128327543957577e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.7360793815025939,-0.11836769319976778,-0.9256539749404431,0.3683217936915066,0.7291165928896165,-0.12243464248877041,1.2800290702230983,1.403250182872235,2.2056830451635414,2.2056830451635414,2.2770527598864274,1,0,-5.8691957942902876e-05,1.612309257165731e-05
+26249,1791629677705633876,34861540999999,1791629677705232251,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6761587319289414,-0.004796649178507261,0.08973516722145838,0.9999999866203608,7.456190248666219e-05,0.00010261125208997412,4.597386455060664e-05,0.6761,-0.0048,0.08953847225656786,1.0,0.0,0.0,0.0,0.08532539832979848,0.24232563238898083,1.5740607345589357,0.01914447826783205,-0.00570132854890594,0.0009311544226401801,0.0897628969668411,0.21825230550069386,1.6236197904867038,0.017131520638569247,-0.006772166673962684,-0.00017238017406664635,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.8076203971754556,-0.15201431713549607,-1.1153317548639115,0.3795324168813236,0.8659636583316702,-0.1427751645446252,1.2800290702230983,1.5740607345589357,2.3953608250870095,2.3953608250870095,2.492412759886643,1,0,-5.93886951380781e-05,-9.871318626253895e-05
+26571,1791629680388604236,34864224000000,1791629680385232260,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676175554482038,-0.004795531727675934,0.08960520808294334,0.9999999834892603,7.702914068525344e-05,0.00012829765035203206,4.550349276480835e-05,0.6761,-0.0048,0.08937705045083981,1.0,0.0,0.0,0.0,0.08259025941937703,0.25660602065685945,1.750365804474399,0.020166951607060158,-0.004749845697051688,0.0012231591653344724,0.08702775805641966,0.23253269376857247,1.7999248604021671,0.018153993977797354,-0.005820683822108432,0.00011962456862764582,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.888701275708886,-0.061871989392458276,-1.3631476235565143,0.35387856425747577,1.041224501225373,-0.08378374003977851,1.2800290702230983,1.750365804474399,2.643176693779613,2.643176693779613,2.7070527598868575,1,0,-6.318243610661944e-05,3.159382064155665e-05
+26880,1791629682963615800,34866799000000,1791629682957231814,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.676194807977421,-0.004798302951935289,0.08947210311220789,0.9999999798688869,6.721403133768739e-05,0.0001580201435058482,4.7085013673287614e-05,0.6761,-0.0048,0.08921162730587419,1.0,0.0,0.0,0.0,0.07394203375015673,0.26198478227985417,1.9263694581171722,0.02111173182751853,-0.004809344261397319,0.0017116766282515156,0.07837953238719936,0.2379114553915672,1.9759285140449403,0.019098774198255727,-0.005880182386454063,0.000608142031544689,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9544740513452591,-0.11904702982316243,-1.5591262146371476,0.3700008322800388,1.1808756461325132,-0.1223223237786433,1.2800290702230983,1.9263694581171722,2.839155284860246,2.839155284860246,2.9130527598870635,1,0,-6.329661039940596e-05,4.2208387656080115e-05
+27219,1791629685788589716,34869624000000,1791629685785231916,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762077520201303,-0.004803552301176048,0.08931601132783681,0.9999999756181447,7.349623098678272e-05,0.00017796565363615094,5.5974141715106904e-05,0.6761,-0.0048,0.08902710052190989,1.0,0.0,0.0,0.0,0.05455810463927033,0.2770962338267462,2.113242911486246,0.02107271295274594,-0.002824562299951326,0.0015882893385915891,0.058995603276312945,0.2530229069384592,2.162801967414014,0.019059755323483137,-0.0038954004250080702,0.0004847547418847626,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9440896850373187,-0.09272740382897726,-1.7853647450206807,0.36764089884118506,1.3133417263552223,-0.10376952042207414,1.2800290702230983,2.113242911486246,3.065393815243779,3.065393815243779,3.1390527598872895,1,0,-6.711952593153983e-05,8.275121431041828e-05
+27547,1791629688522476145,34872358000000,1791629688521231796,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762242489476787,-0.004824463651455912,0.08915257353925347,0.9999999709832418,6.454610154714449e-05,0.00020147796441921537,6.867904070337167e-05,0.6761,-0.0048,0.08884342066369633,1.0,0.0,0.0,0.0,0.016986043221072156,0.2610157724422213,2.306822934574963,0.01970890500315633,0.00019621036990441097,0.0014642346661804207,0.021423541858114778,0.2369424455539343,2.3563819905027312,0.017695947373893527,-0.000874627755152333,0.0003607000694735941,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9974818014797439,-0.10806442667646905,-1.9537463386577125,0.3680164141877867,1.428651576582752,-0.1152496938972439,1.2800290702230983,2.306822934574963,3.2337754088808106,3.2337754088808106,3.3577727598875082,1,0,-7.089597411499694e-05,-9.999237135372425e-05
+27854,1791629691080559688,34874915999999,1791629691073233242,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6762404300094902,-0.0048340101552095845,0.08898682165946419,0.9999999654432866,6.13148835121948e-05,0.00022747255149138334,7.108455015094624e-05,0.6761,-0.0048,0.08864769671974503,1.0,0.0,0.0,0.0,-0.0021707449873307073,0.2602850055314026,2.4773415818261095,0.01987239415240602,0.0011716405744088194,0.001340456836956726,0.0022667536497119134,0.2362116786431156,2.5269006377538776,0.017859436523143216,0.0001008024493520754,0.00023692224024989946,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9954489592241385,-0.13141109005825,-2.1892116459866706,0.373579086633997,1.5731244809168137,-0.13008193916928373,1.2800290702230983,2.4773415818261095,3.469240716209769,3.469240716209769,3.562412759887713,1,0,-8.16794794341894e-05,7.155876865916894e-05
+28137,1791629693438523096,34877273999999,1791629693437222392,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762533214164849,-0.004844866344930562,0.08881613382405266,0.9999999614555548,4.92601555461289e-05,0.00024641116765207835,7.339432456814907e-05,0.6761,-0.0048,0.08845274782102071,1.0,0.0,0.0,0.0,-0.021063727252192774,0.2438163517440072,2.647796797586851,0.019837956301536633,0.0011366729960546685,0.0012004386873807936,-0.016626228615150153,0.21974302485572023,2.697355853514619,0.01782499867227383,6.583487099792444e-05,9.690409067396715e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0437977041943467,-0.11892833786078945,-2.3177468201254237,0.3748819664319274,1.6674086796210326,-0.1215020069354524,1.2800290702230983,2.647796797586851,3.597775890348522,3.597775890348522,3.7510527598879015,1,0,-8.571715334334951e-05,-9.42607200890066e-05
+28441,1791629695972437309,34879807999999,1791629695969222368,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762700126289817,-0.004850141180900639,0.08861819008262489,0.9999999535938027,5.898025106557373e-05,0.00027326354462717755,7.812568089042576e-05,0.6761,-0.0048,0.08822810378962685,1.0,0.0,0.0,0.0,-0.03089823428355279,0.24939029876367355,2.808592992249947,0.01978081227038321,0.002112626054562982,0.0010851784274017956,-0.026460735646510167,0.22531697187538657,2.858152048177715,0.017767854641120406,0.001041787929506238,-1.835616930503088e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.027373468361152,-0.22871672336762475,-2.4659363584996377,0.4241522594110502,1.7555625378214461,-0.18812873362770988,1.2800290702230983,2.808592992249947,3.745965428722736,3.745965428722736,3.9537727598881043,1,0,-9.181324276827241e-05,-9.982182721935402e-05
+28728,1791629698363435582,34882199000000,1791629698361221792,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762824957414666,-0.0048547313959812835,0.08839551293864457,0.999999948977513,5.4045479530450154e-05,0.00029050361954779475,7.85784267128452e-05,0.6761,-0.0048,0.08798368258445813,1.0,0.0,0.0,0.0,-0.03179273841653061,0.25826914901118153,2.979009432150801,0.020704899491367144,0.0020591513273090136,0.0009584768103904912,-0.027355239779487988,0.23419582212289453,3.028568488078569,0.01869194186210434,0.0009883132022522694,-0.0001450577863163352,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.1026037480297848,-0.24510256890360926,-2.699707356663976,0.4356867124637747,1.9235524370815318,-0.20332520513023414,1.2800290702230983,2.979009432150801,3.9797364268870745,3.9797364268870745,4.1450527598874904,1,0,-0.00010823941761914225,-8.922927260813224e-05
+28980,1791629700463480987,34884299000000,1791629700461222062,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762912396964945,-0.004864950889006555,0.08814607661560027,0.9999999450560259,4.129621006768292e-05,0.0003041805452847462,8.425929370379243e-05,0.6761,-0.0048,0.08771934218911243,1.0,0.0,0.0,0.0,-0.02300627673229562,0.2492912444909132,3.09970753980183,0.019720341561753934,0.002046696439723777,0.001875646789018485,-0.018568778095252998,0.22521791760262622,3.149266595729598,0.01770738393249113,0.0009758583146670333,0.0007721121923116585,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0605484040525994,-0.09774506124803327,-2.8949399310758865,0.4044501128154687,2.036686636976025,-0.10631634925098263,1.2800290702230983,3.09970753980183,4.174969001298985,4.174969001298985,4.313052759886726,1,0,-0.00014198694856385063,8.762000433393808e-05
+29195,1791629702255404174,34886091000000,1791629702253222735,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6762997772360689,-0.004867196734115933,0.08787197848449224,0.9999999405862046,5.532186561944554e-05,0.0003153806631632262,8.800557039277812e-05,0.6761,-0.0048,0.08743108441676882,1.0,0.0,0.0,0.0,-0.013111760457529074,0.23393253563661237,3.1991837573008883,0.019729844877449845,0.0010678415270207943,0.0008399190082074467,-0.008674261820486454,0.2098592087483254,3.2487428132286564,0.01771688724818704,-2.996598035949717e-06,-0.0002636155884993798,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.046413079857727,-0.18273201753182094,-2.91063025080643,0.452570164477188,2.0490491119246084,-0.15719220977829257,1.2800290702230983,3.1991837573008883,4.190659321029528,4.190659321029528,4.456412759886073,1,0,-0.00018212640893608268,-9.715240697894529e-05
+29379,1791629703788495340,34887624000000,1791629703781231842,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6763113400583821,-0.004872121438842356,0.08758516360028223,0.9999999338906472,5.086278055253879e-05,0.00033572592483374067,9.144750637535225e-05,0.6761,-0.0048,0.0871189546864152,1.0,0.0,0.0,0.0,-0.009440863347597937,0.22775896527101772,3.30040401853042,0.01970311825547502,0.0009914620924499633,0.0017018554553916865,-0.0050033647105553174,0.20368563838273074,3.3499630744581883,0.017690160626212217,-7.937603260678065e-05,0.0005983208586848601,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0138875426067726,-0.14927748308604674,-2.949409974442537,0.45651467602913115,2.0712999530695617,-0.13872722038943142,1.2800290702230983,3.30040401853042,4.229439044665636,4.229439044665636,4.579052759885515,1,0,-0.0002248905986671198,-9.999980984798924e-05
+29535,1791629705088491224,34888924000000,1791629705081232495,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763195481842686,-0.004869329654624501,0.08727835971663712,0.9999999293137415,4.047932445464946e-05,0.0003499128374375157,9.347623705624822e-05,0.6761,-0.0048,0.08679886223579349,1.0,0.0,0.0,0.0,-0.004209788899070516,0.23890955934012556,3.36488536154416,0.019691280684414926,0.0009762601093718017,0.0016504121671003878,0.00022770973797210447,0.21483623245183858,3.414444417471928,0.01767832305515212,-9.457801568494229e-05,0.0005468775703935614,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9948191154796154,-0.121307366890442,-2.962144606090525,0.4625114759930034,2.0811815760528205,-0.11997863720276813,1.2800290702230983,3.36488536154416,4.242173676313623,4.242173676313623,4.683052759885042,1,0,-0.0002711211293207879,-9.999999025923074e-05
+29662,1791629706147493195,34889983000000,1791629706145222137,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6763215173980404,-0.004874032322124535,0.08696967049065665,0.9999999245194094,8.531573665278298e-05,0.0003544149731373751,9.754635624328969e-05,0.6761,-0.0048,0.08648803751678293,1.0,0.0,0.0,0.0,-0.002062052495703083,0.22196788379212762,3.4204250583566163,0.018659868833319396,0.0009845643994830307,0.0015942751225422687,0.0023754461413395375,0.19789455690384064,3.4699841142843844,0.01664691120405659,-8.627372557371337e-05,0.0004907405258354422,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9402549589100536,-0.20371703922871395,-2.961672151966214,0.49299625061437297,2.079671913840009,-0.17752570864642342,1.2800290702230983,3.4204250583566163,4.241701222189312,4.241701222189312,4.767772759884656,1,0,-0.00031644407346850665,-9.998705616099385e-05
+29782,1791629707147430574,34890983000000,1791629707141231856,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6763287653138323,-0.004876836142000957,0.08665008218649026,0.9999999232810558,3.891597142510186e-05,0.00036745159976920883,9.135434196830791e-05,0.6761,-0.0048,0.08614854258216167,1.0,0.0,0.0,0.0,-0.003906583325911145,0.2194545529360649,3.460538166768385,0.018651245808366048,0.0009763706059295116,0.0015616417297854858,0.0005309153111314753,0.1953812260477779,3.510097222696153,0.016638288179103244,-9.446751912723241e-05,0.00045810713307865923,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9476645199459861,-0.09597550260764831,-3.1181659195226406,0.47296197682740804,2.1823603581392104,-0.1048622444829879,1.2800290702230983,3.460538166768385,4.398194989745739,4.398194989745739,4.847772759884292,1,0,-0.0003623249647870664,2.689645127498569e-05
+29886,1791629708014446306,34891849000000,1791629708009231948,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.676332734800346,-0.0048757248547955335,0.08632649491979535,0.9999999183226325,6.348786798586794e-05,0.0003763412522453968,9.557272257991908e-05,0.6761,-0.0048,0.08581712974274137,1.0,0.0,0.0,0.0,-0.0034331535976604515,0.20773711639884482,3.490240303565657,0.017624400065436488,0.0009895308168926676,0.0015261805865906665,0.0010043450393821692,0.18366378951055784,3.539799359493425,0.015611442436173684,-8.13073081640763e-05,0.0004226459898838401,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9792626791901041,-0.2230082744259709,-3.036232449027359,0.5208873963457767,2.148068942242184,-0.1854725915685888,1.2800290702230983,3.490240303565657,4.316261519250457,4.316261519250457,4.917052759883977,1,0,-0.0004037361368933442,-9.999999025923074e-05
+29977,1791629708772428055,34892608000000,1791629708765222786,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763315380518974,-0.004882391364755505,0.08600635521630551,0.9999999191183155,3.9950015026966374e-05,0.00037684643404063895,9.796421927545352e-05,0.6761,-0.0048,0.085496589570748,1.0,0.0,0.0,0.0,-0.003485552418584295,0.20063781806460454,3.510288968222371,0.017619553329350966,0.0009858021944144687,0.001509968784601008,0.0009519462184583258,0.17656449117631756,3.559848024150139,0.015606595700088162,-8.503593064227527e-05,0.0004064341878941816,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9655676126165665,-0.1551045639568151,-3.0980238824149495,0.5177811023868502,2.1853398959249004,-0.13407234129894552,1.2800290702230983,3.510288968222371,4.378052952638048,4.378052952638048,4.977772759883701,1,0,-0.0004408953962989611,-9.999999025923074e-05
+30066,1791629709513459545,34893349000000,1791629709513232438,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6763389568189853,-0.004881468642978746,0.08567548573712684,0.9999999133112825,5.918540605227005e-05,0.0003894143334812443,9.835576520164385e-05,0.6761,-0.0048,0.08515681272903199,1.0,0.0,0.0,0.0,0.00629464687758527,0.20555974643240404,3.5196937652559708,0.016602881747426215,0.0010016779856804026,0.0014921056080727882,0.010732145514627891,0.18148641954411707,3.569252821183739,0.014589924118163409,-6.916013937634133e-05,0.0003885710113659617,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9489687733490983,-0.10732165016206961,-3.0488636392012283,0.504572476881019,2.154872270174305,-0.10259012333199742,1.2800290702230983,3.5196937652559708,4.328892709424327,4.328892709424327,5.037052759883431,1,0,-0.00047677864962600145,-9.999999025923074e-05
+30149,1791629710205437384,34894040999999,1791629710205231708,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763364127945056,-0.0048874594996476,0.08534095228452585,0.9999999144680325,3.739939586054614e-05,0.00038873928201082504,9.99492266102426e-05,0.6761,-0.0048,0.08481494029637311,1.0,0.0,0.0,0.0,0.006582936388452704,0.19472944604944087,3.52976595578147,0.01600878729247344,0.0010115391875477513,0.0014770657870138834,0.011020435025495325,0.1706561191611539,3.579325011709238,0.013995829663210635,-5.929893750899277e-05,0.0003735311903070569,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0110182902050122,-0.1387255900834945,-3.187942790983743,0.5205286507166469,2.261398666586295,-0.12420621234503994,1.2800290702230983,3.52976595578147,4.467971861206841,4.467971861206841,5.092412759883179,1,0,-0.0005108288515839624,6.174256525349193e-05
+30225,1791629710838420464,34894674000000,1791629710833222306,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763334119775438,-0.004885415718423717,0.08500686345241483,0.9999999161837888,4.784601218848373e-05,0.00038385414069501135,9.717014793258424e-05,0.6761,-0.0048,0.08448178528954539,1.0,0.0,0.0,0.0,0.00695989586934304,0.1834771533626437,3.5188049032089044,0.015576147188336446,0.0010222802802970713,0.0014812818525383473,0.01139739450638566,0.15940382647435672,3.5683639591366725,0.013563189559073641,-4.855784475967271e-05,0.00037774725583152074,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,0.9986258909099424,-0.11091208456139605,-2.9714250452558426,0.5136391116048781,2.1218494853794723,-0.10102383124883793,1.2800290702230983,3.5188049032089044,4.251454115478941,4.251454115478941,5.1430527598829485,1,0,-0.0005420287676846921,-9.999999025923074e-05
+30297,1791629711438469531,34895273999999,1791629711437222217,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763258564695951,-0.004887996192769225,0.08466048209953948,0.9999999208540671,3.836065583583588e-05,0.0003716745411895175,0.00010060427310639925,0.6761,-0.0048,0.08414762262182184,1.0,0.0,0.0,0.0,0.007426064277174737,0.16960354187584406,3.4968936968057878,0.014558903531693285,0.001046845672710105,0.0014875761632125242,0.011863562914217357,0.14553021498755708,3.546452752733556,0.01254594590243048,-2.39924523466388e-05,0.0003840415665056977,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.0849175177309698,-0.2120119048965042,-3.089142880966655,0.5332094407378635,2.2220146015373516,-0.16901531375070472,1.2800290702230983,3.4968936968057878,4.369171951189753,4.369171951189753,5.19105275988273,1,0,-0.000571904037303976,-9.999999025923074e-05
+30365,1791629712005356016,34895841000000,1791629712005232313,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763257306802108,-0.004885979144260083,0.08433736795022036,0.999999919353448,4.331268203520292e-05,0.00037540592726639495,9.965120887209437e-05,0.6761,-0.0048,0.08381533622839006,1.0,0.0,0.0,0.0,0.008465697224247021,0.16576796531418056,3.468119363023249,0.013544297700258317,0.001071941684816548,0.0014994119481563047,0.012903195861289641,0.14169463842589358,3.517678418951017,0.011531340070995513,1.1035597598040377e-06,0.0003958773514494782,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.162565806211128,-0.17644861922111052,-3.09257470282472,0.5349308025419298,2.2398033374727264,-0.1412902732063564,1.2800290702230983,3.468119363023249,4.372603773047818,4.372603773047818,5.236412759882524,1,0,-0.0005998888335204386,-9.999634040103728e-05
+30433,1791629712572463536,34896408000000,1791629712569222295,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763283559578442,-0.004884731368783384,0.08399670742824285,0.9999999169436943,4.432431702391712e-05,0.0003812019363158081,0.00010137015224669953,0.6761,-0.0048,0.08346717621131937,1.0,0.0,0.0,0.0,0.008838549653978883,0.1650105194118044,3.4398387377050232,0.01354975761873463,0.0010782073594913294,0.0015227319783060462,0.013276048291021502,0.1409371925235174,3.4893977936327913,0.011536799989471826,7.369234434585342e-06,0.00041919738159921984,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.083713508906662,-0.1805654481173897,-3.035793586874291,0.5274653066182519,2.1809215125327746,-0.14334489106427106,1.2800290702230983,3.4398387377050232,4.315822657097389,4.315822657097389,5.281772759882317,1,0,-0.0006282388280529336,-9.999999025923074e-05
+30493,1791629713072376619,34896908000000,1791629713065223699,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6763197533476861,-0.004889796954459985,0.08366430800896364,0.9999999223255746,3.281406371961021e-05,0.0003682185567399612,0.00010064810493332496,0.6761,-0.0048,0.08314681929851293,1.0,0.0,0.0,0.0,0.016560219116317495,0.1420677544209339,3.4097787192729694,0.012556865854744647,0.0002165370760799926,0.0015225260694400051,0.020997717753360116,0.1179944275326469,3.4593377752007375,0.010543908225481843,-0.0008543010489767514,0.0004189914727331785,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.1061098389111972,-0.1710242367936378,-3.0326801513848345,0.5202055281019559,2.1820315232648126,-0.13635916278381288,1.2800290702230983,3.4097787192729694,4.312709221607933,4.312709221607933,5.321772759882135,1,0,-0.0006532388231825489,-9.999999025923074e-05
+30553,1791629713572440416,34897408000000,1791629713565232943,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676314007717982,-0.004889703894946398,0.08332110232468022,0.9999999250708148,3.386506103131024e-05,0.0003600461869587648,0.00010257256085649877,0.6761,-0.0048,0.08281396238814169,1.0,0.0,0.0,0.0,0.023701985240327825,0.12614077624637937,3.358826313009578,0.011548387694993768,0.00012218821067819317,0.0015512193142068838,0.028139483877370447,0.1020674493580924,3.408385368937346,0.009535430065730963,-0.0009486499143785508,0.0004476847175000573,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.236095539218416,-0.19817814165797293,-3.0082635668866455,0.5181013200352715,2.2007457911379076,-0.1562798452631007,1.2800290702230983,3.358826313009578,4.288292637109744,4.288292637109744,5.361772759881953,1,0,-0.0006782388183121643,-9.999999025923074e-05
+30608,1791629714030411851,34897866000000,1791629714025222691,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6763086067265638,-0.004886657584799785,0.08299588938952639,0.9999999274095313,3.23949417393033e-05,0.00035351247591842614,0.00010297229562254481,0.6761,-0.0048,0.08249809636037858,1.0,0.0,0.0,0.0,0.028267462314779283,0.12149530508772527,3.3069637287210867,0.010537266378086243,0.00015244780214696246,0.0015815978790529354,0.032704960951821904,0.09742197819943829,3.356522784648855,0.008524308748823439,-0.0009183903229097815,0.0004780632823461088,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.27278760441766,-0.12173241458585514,-3.001172014841558,0.4960263310765654,2.20403321967222,-0.10433104568224041,1.2800290702230983,3.3069637287210867,4.281201085064657,4.281201085064657,5.398412759881786,1,0,-0.000701138813850892,-9.999999025923074e-05
+30660,1791629714463435040,34898299000000,1791629714457222687,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6762946228865415,-0.00488332295556793,0.08266371237417908,0.9999999354392317,2.8716997813790263e-05,0.00033135262849981267,9.9725456160031e-05,0.6761,-0.0048,0.0821898268548964,1.0,0.0,0.0,0.0,0.029529181403292273,0.09799985339623757,3.229940585929063,0.009553425885662178,-0.00069142686357942,0.0016207484037213157,0.033966680040334894,0.07392652650795058,3.279499641856831,0.007540468256399374,-0.001762264988636164,0.0005172138070144892,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.235075587822577,-0.22328635590498466,-2.9586915383853096,0.5170759583624849,2.1696264474887283,-0.17099816820014865,1.2800290702230983,3.229940585929063,4.238720608608408,4.238720608608408,5.433052759881629,1,0,-0.0007227888096331389,-9.999999025923074e-05
+30712,1791629714897337321,34898733000000,1791629714897222184,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762782636636145,-0.004882207220302157,0.0823089230818579,0.9999999454810784,2.6034719589957623e-05,0.0002997891192273062,9.964628469798557e-05,0.6761,-0.0048,0.0818714384624351,1.0,0.0,0.0,0.0,0.023756751657395866,0.07131538907706735,3.1454965564971786,0.007531125687438639,-0.0007651074066128496,0.0016614115937133157,0.028194250294438488,0.04724206218878036,3.1950556124249467,0.0055181680581758335,-0.0018359455316695936,0.0005578769970064891,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.2887426983097992,-0.12065509716065023,-2.8663823468191443,0.4854487701776864,2.1228138746545087,-0.1043383334447637,1.2800290702230983,3.1454965564971786,4.146411417042243,4.146411417042243,5.467772759881471,1,0,-0.000744488805405645,-9.999999025923074e-05
+30760,1791629715297377395,34899133000000,1791629715297231881,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.676265203414282,-0.00488536931541945,0.08198337992206615,0.9999999509399317,2.4904010179813468e-05,0.0002798444008197873,0.00010310140903804427,0.6761,-0.0048,0.08156965294105405,1.0,0.0,0.0,0.0,0.024590623369210866,0.06086157855993012,3.048006113447533,0.006526842131059127,-0.0007248955676207032,0.0017302672968026675,0.029028122006253487,0.03678825167164314,3.0975651693753012,0.004513884501796322,-0.0017957336926774472,0.000626732700095841,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3494912075400023,-0.07184723978868642,-2.831435504701162,0.46596293161523233,2.1141202231760508,-0.07186159814367615,1.2800290702230983,3.048006113447533,4.111464574924261,4.111464574924261,5.499772759881325,1,0,-0.0007644888015093373,-9.999999025923074e-05
+30808,1791629715697438368,34899533000000,1791629715693222346,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762488902996274,-0.004889213998829708,0.08164618950693892,0.9999999578444678,2.30695750867114e-05,0.0002515899560960841,0.00010919805750573067,0.6761,-0.0048,0.08125986742123152,1.0,0.0,0.0,0.0,0.023658334405041535,0.04123516501499257,2.9246982624251165,0.004596274495886291,-0.000658418845217204,0.0018023325428372073,0.028095833042084156,0.017161838126705582,2.9742573183528846,0.0025833168666234865,-0.001729256970273948,0.0006987979461303808,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.3937110795744883,-0.20212053988438508,-2.7119157929578726,0.4908208688011466,2.046522842515132,-0.15890873008396414,1.2800290702230983,2.9246982624251165,3.991944863180971,3.991944863180971,5.5317727598811794,1,0,-0.0007844887976130296,-9.999999025923074e-05
+30856,1791629716097431434,34899932999999,1791629716097221930,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6762294537650761,-0.0048793260981295425,0.08129139714946725,0.9999999657706744,2.4537371371827288e-05,0.00022054969890814824,0.00010323401677098988,0.6761,-0.0048,0.08094208190296752,1.0,0.0,0.0,0.0,0.021557964435448072,0.023550608457155633,2.7859509186038993,0.0035228566447151376,-0.0006042709853384825,0.0008925829735202864,0.025995463072490694,-0.0005227184311313523,2.8355099745316674,0.001509899015452333,-0.0016751091103952265,-0.00021095162318654018,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4068727597982327,-0.2653123991235432,-2.5996965990552354,0.5157808261849071,1.9752714418540258,-0.1978732712489824,1.2800290702230983,2.7859509186038993,3.8797256692783337,3.8797256692783337,5.563772759881034,1,0,-0.0008044887937167219,-9.999999025923074e-05
+30900,1791629716463404337,34900299000000,1791629716457231969,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6762148602762261,-0.004880723836697458,0.08097104769406428,0.9999999702255155,2.3491815376532974e-05,0.00019843532998440667,0.00010518263677448046,0.6761,-0.0048,0.0806442992551214,1.0,0.0,0.0,0.0,0.007056487665843028,0.005107870815609903,2.635008354170346,0.0025292436309563597,-0.0005516462184092287,0.0009869230785814137,0.011493986302885648,-0.01896545607267708,2.684567410098114,0.000516286001693555,-0.0016224843434659727,-0.00011661151812541272,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4749541605966676,-0.23620435057254313,-2.581473177857544,0.4915905739256933,1.975129220207148,-0.18182379526158995,1.2800290702230983,2.635008354170346,3.8615022480806425,3.8615022480806425,5.593052759880901,1,0,-0.0008227887901516004,-9.999999025923074e-05
+30948,1791629716863424112,34900699000000,1791629716857232188,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6761999054333414,-0.004871353858700108,0.08061437128042744,0.9999999746996527,2.61166651586823e-05,0.00017774396610011474,9.883602915460715e-05,0.6761,-0.0048,0.08031119373984197,1.0,0.0,0.0,0.0,0.013846865748420364,-0.0036084471132682983,2.463940406663265,0.0015408078043904953,-0.0004956076943304856,0.0011143306912181408,0.018284364385462985,-0.027681774001555283,2.513499462591033,-0.00047214982487230934,-0.0015664458193872296,1.0796094511314332e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4971044944166298,-0.2097239865542257,-2.431614643836002,0.48645718325045223,1.8789660222677589,-0.16312105736647264,1.2800290702230983,2.463940406663265,3.7116437140591003,3.7116437140591003,5.625052759880755,1,0,-0.0008427887862552927,-9.999999025923074e-05
+30992,1791629717230387306,34901066000000,1791629717229222176,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6761866757701451,-0.0048758687648963765,0.08028407515795784,0.9999999772590236,2.450179649289723e-05,0.00016127985902237346,0.00010155434981798645,0.6761,-0.0048,0.07999853220594405,1.0,0.0,0.0,0.0,-0.0013425523039706047,-0.01412229413444279,2.311347774174274,0.000521448028683749,0.000570496342111579,0.0012409277000323053,0.003094946333072016,-0.038195621022729775,2.360906830102042,-0.0014915096005790557,-0.000500341782945165,0.0001373931033254788,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5564692216364642,-0.22354975070825436,-2.28482653873996,0.48397307788848715,1.7934605799096561,-0.17496976108733622,1.2800290702230983,2.311347774174274,3.5648556089630583,3.5648556089630583,5.654412759880621,1,0,-0.0008611387826804303,-9.999999025923074e-05
+31035,1791629717588397967,34901424000000,1791629717585223052,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6761691218127354,-0.004877617792711714,0.0799450653299205,0.9999999793875409,3.5802240453956836e-05,0.00013398984347545666,0.00011589954134029586,0.6761,-0.0048,0.07968704937237041,1.0,0.0,0.0,0.0,-0.027182086382908886,-0.05058155653067068,2.1485661447331923,-0.00047194669874966403,0.0006275866599586577,0.001357010651921584,-0.022744587745866265,-0.07465488341895767,2.1981252006609604,-0.0024849043280124688,-0.00044325146509808627,0.00025347605521475755,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6102177444469958,-0.22576476451012026,-2.1225227613867768,0.47339813219340443,1.6971279562859591,-0.17652059601596884,1.2800290702230983,2.1485661447331923,3.402551831609875,3.402551831609875,5.683052759880491,1,0,-0.000879038779193235,-9.999999025923074e-05
+31075,1791629717922418823,34901758000000,1791629717921221984,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6761561708186439,-0.0048748645037147475,0.07963159372934862,0.9999999834469814,2.4535682160173917e-05,0.00011693618177494736,0.0001013549758204567,0.6761,-0.0048,0.07939066987066482,1.0,0.0,0.0,0.0,-0.03655180228685153,-0.04671822590181499,1.9797419173262467,-0.0004669079068270704,0.0016769971252298056,0.0015077588595713142,-0.03211430364980891,-0.07079155279010198,2.029300973254015,-0.002479865536089875,0.0006061590001730618,0.0004042242628644876,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5771686551358437,-0.22045039764877183,-1.8921261793454156,0.4646557261445537,1.534618591473305,-0.17532130206606117,1.2800290702230983,1.9797419173262467,3.172155249568514,3.172155249568514,5.709772759880369,1,0,-0.000895738775939818,-9.999999025923074e-05
+31119,1791629718288415540,34902124000000,1791629718285222310,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676139966143698,-0.004879326284001902,0.07927622021772912,0.9999999855602223,2.2621160231692507e-05,8.98654454102599e-05,0.00010832776410873278,0.6761,-0.0048,0.07905948972932504,1.0,0.0,0.0,0.0,-0.05410245556413017,-0.07629536452211533,1.7999958184593055,-0.001453484376230739,0.001739917739825552,0.0013201629620381134,-0.04966495692708755,-0.10036869141040232,1.8495548743870736,-0.0034664420054935437,0.0006690796147688082,0.00021662836533128683,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.624544194462819,-0.30620846187787243,-1.7658012528913436,0.4803247318241351,1.461017722124017,-0.23344890048648786,1.2800290702230983,1.7999958184593055,3.045830323114442,3.045830323114442,5.739052759880236,1,0,-0.0009140387723746965,-9.999999025923074e-05
+31159,1791629718622313404,34902458000000,1791629718617222538,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6761228076192299,-0.004875794840576673,0.07893231674527444,0.999999987497875,1.9324319583787754e-05,6.229256229277557e-05,0.00011042337381555364,0.6761,-0.0048,0.07875142022989684,1.0,0.0,0.0,0.0,-0.07156884623487628,-0.09424980506133887,1.6352672280439966,-0.0024086480109391122,0.001797301036077376,0.0008626236743676295,-0.06713134759783365,-0.11832313194962586,1.6848262839717647,-0.004421605640201917,0.000726462911020632,-0.00024091092233919698,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5792227461978605,-0.2936811781426679,-1.5577252419899208,0.4695479267675241,1.3101752485446228,-0.22838524775464783,1.2800290702230983,1.6352672280439966,2.8377543122130193,2.8377543122130193,5.7657727598801145,1,0,-0.0009307387691212795,-9.999999025923074e-05
+31199,1791629718955376881,34902790999999,1791629718949222436,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.676102312416173,-0.0048813404543537955,0.07859373746179873,0.9999999885922954,2.384036618402559e-05,3.203638591691e-05,0.00011253257391882905,0.6761,-0.0048,0.07843872032032115,1.0,0.0,0.0,0.0,-0.07926331089994647,-0.11687684174152421,1.4661908668796226,-0.00342652047600877,0.0018573674699193148,0.0008569207686175692,-0.07482581226290384,-0.1409501686298112,1.5157499228073907,-0.005439478105271575,0.0007865293448625709,-0.00024661382808925734,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6637719726508908,-0.31410777639323756,-1.474057208689333,0.47558619906723865,1.2751116443271244,-0.23901447517820545,1.2800290702230983,1.4661908668796226,2.7540862789124314,2.7540862789124314,5.792412759879993,1,0,-0.0009473887658776034,-9.999999025923074e-05
+31235,1791629719255402079,34903091000000,1791629719253222093,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6760867462301225,-0.0048792608602485354,0.07828363962677042,0.9999999896515801,1.2564444462863131e-05,6.388881946488586e-06,0.00010927498044385758,0.6761,-0.0048,0.07815226119099766,1.0,0.0,0.0,0.0,-0.07332283578327868,-0.13110752766482667,1.3254079524617899,-0.004419104787300317,0.0019056295035980776,0.0009586696191600902,-0.06888533714623606,-0.15518085455311365,1.374967008389558,-0.006432062416563121,0.0008347913785413336,-0.00014486497754673632,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.6222744603469286,-0.2734573767731099,-1.306858676235318,0.44811399117244405,1.149267064477131,-0.220944609760615,1.2800290702230983,1.3254079524617899,2.5868877464584163,2.5868877464584163,5.816412759879884,1,0,-0.0009623887629553726,-9.999999025923074e-05
+31275,1791629719588398289,34903424000000,1791629719581222606,DOWN_FORCE_DETACH,10,0.041,0.041001610457897186,0.6760777826819608,-0.004882986030161677,0.07794304396010865,0.9999999892167177,8.705026271190697e-06,-6.281702371496037e-06,0.00011355259350629882,0.6761,-0.0048,0.07782902183347522,1.0,0.0,0.0,0.0,-0.07884266899453422,-0.12627644516250647,1.1827148770962976,-0.004395050701307352,0.0019361133092560979,0.0010731107869989904,-0.0744051703574916,-0.15034977205079345,1.2322739330240657,-0.006408008330570157,0.000865275184199354,-3.0423809707836143e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.628303490268648,-0.2363141968958708,-1.2159369088904273,0.44082237188491735,1.082934277375876,-0.19332021610917677,1.2800290702230983,1.1827148770962976,2.4959659791135254,2.4959659791135254,5.843052759879763,1,0,-0.0009790387597116963,-9.999999025923074e-05
+31315,1791629719922322653,34903758000000,1791629719921221894,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6760633822475719,-0.00487648535760444,0.07758830262836158,0.9999999888125326,2.0526503081448268e-05,-3.0303170032612682e-05,0.00011170577279271936,0.6761,-0.0048,0.07749924233827646,1.0,0.0,0.0,0.0,-0.08721055151706997,-0.14453009963734142,1.0324228394752875,-0.0053886700044097745,0.0019887870507884916,0.0011819728513719748,-0.08277305288002734,-0.1686034265256284,1.0819818954030556,-0.00740162763367258,0.0009179489257317475,7.843825466514834e-05,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.61553889228745,-0.26920104930261424,-1.0812405206445526,0.4394322265556449,0.9916732121820225,-0.22187631695438903,1.2800290702230983,1.0324228394752875,2.361269590867651,2.361269590867651,5.869772759879641,1,0,-0.0009957387564582794,-9.999999025923074e-05
+31355,1791629720255362674,34904091000000,1791629720253222603,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6760472664550727,-0.004881450500002459,0.07723290385446027,0.9999999875199835,2.4863180984074365e-05,-5.30279519912679e-05,0.00011389800561298295,0.6761,-0.0048,0.07716489743291755,1.0,0.0,0.0,0.0,-0.10394965944154326,-0.15285033677310889,0.8940920537212518,-0.006402272216714831,0.003056710272253309,0.0004972651304005904,-0.09951216080450064,-0.17692366366139586,0.9436511096490198,-0.008415229845977635,0.001985872147196565,-0.0006062694663062361,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5679617144896372,-0.2658526759493614,-0.8185225731502546,0.428882925794015,0.8037780115775416,-0.2206788523272057,1.2800290702230983,0.8940920537212518,2.098551643373353,2.098551643373353,5.89641275987952,1,0,-0.0010123887532146032,-9.999999025923074e-05
+31391,1791629720555475427,34904391000000,1791629720549222518,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.6760382882980306,-0.004859055832050746,0.07691002674605453,0.9999999879413166,2.8349975874875824e-05,-6.851280573136953e-05,0.00010031204028421335,0.6761,-0.0048,0.07685893830739296,1.0,0.0,0.0,0.0,-0.11447416843229608,-0.15601429994932395,0.7799097307412841,-0.006408511692541611,0.004094801173830196,0.00045865513363800613,-0.11003666979525345,-0.18008762683761093,0.8294687866690521,-0.008421469321804416,0.0030239630487734525,-0.0006448794630688204,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.4801590376073333,-0.2976471491120363,-0.7229421190227925,0.44814709347654186,0.7129823542639305,-0.24016643078588698,1.2800290702230983,0.7799097307412841,2.0029711892458906,2.0029711892458906,5.920412759879411,1,0,-0.0010273887502923725,-9.999999025923074e-05
+31427,1791629720855399335,34904691000000,1791629720849222048,DOWN_FORCE_DETACH,10,0.041,0.041002266108989716,0.676027597346332,-0.004857787720731463,0.07657719871095232,0.9999999862091502,3.21367844464052e-05,-8.591313961468067e-05,0.00010300836488710432,0.6761,-0.0048,0.07654847918274504,1.0,0.0,0.0,0.0,-0.10148947440834673,-0.14696888769769856,0.6704638646989171,-0.005321362288018482,0.0024726898836006195,0.00045217982576708593,-0.0970519757713041,-0.17104221458598554,0.720022920626685,-0.007334319917281286,0.0014018517585438755,-0.0006513547709397406,0.004437498637042621,-0.024073326888286985,0.049559055927768,-0.0020129576292628047,-0.001070838125056744,-0.0011035345967068265,1,1.5168458602771713,-0.19106517897254724,-0.7381459047564666,0.4016347550110773,0.7295816167848619,-0.1757069183562508,1.2800290702230983,0.6704638646989171,2.0181749749795648,2.0181749749795648,5.9444127598793015,1,0,-0.0010423887473701417,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea677ca24d00f97f2e5c63ffe9992d27378e256d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97ad988dc1f1eda648673cc3577b57d5a5509b93
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791629649931631948,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.045345364e-09,-1.501056657e-10,1.961629081e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293485e-01,1.780346430e-06,8.295727102e-01
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+7,1.006666667e+01,DOWN_FORCE_DETACH,1791629669391682207,9.647725198e-05,-1.060977928e-04,-7.601695600e-04,9.364741950e-05,-1.011495873e-04,-7.617563397e-04,9.438594695e-05,-1.010387144e-04,-7.601319871e-04,7.016343487e-01,-1.045468314e-04,8.399807716e-01,7.016315189e-01,-9.959862596e-05,8.399791848e-01,7.018237294e-01,-9.925821788e-05,8.288125763e-01
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+9,1.296666667e+01,DOWN_FORCE_DETACH,1791629675016249569,1.333355199e-04,-1.052696881e-04,-1.022709582e-03,1.299004437e-04,-1.085243607e-04,-1.004199192e-03,1.307559459e-04,-1.084418843e-04,-1.002839180e-03,7.016712070e-01,-1.037187268e-04,8.397182316e-01,7.016677719e-01,-1.069733994e-04,8.397367420e-01,7.018600994e-01,-1.066613877e-04,8.285698691e-01
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+12,1.708333333e+01,DOWN_FORCE_DETACH,1791629682964540292,1.833626589e-04,-1.099336204e-04,-1.413187169e-03,1.800050235e-04,-1.052173857e-04,-1.399252027e-03,1.807963149e-04,-1.051203620e-04,-1.397778276e-03,7.017212341e-01,-1.083826591e-04,8.393277540e-01,7.017178765e-01,-1.036664244e-04,8.393416892e-01,7.019101397e-01,-1.033398654e-04,8.281749300e-01
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+14,1.991666667e+01,DOWN_FORCE_DETACH,1791629688520199281,2.111573250e-04,-1.394371379e-04,-1.732292708e-03,2.078059989e-04,-1.400412031e-04,-1.723559979e-03,2.084571521e-04,-1.399091183e-04,-1.721779633e-03,7.017490288e-01,-1.378861766e-04,8.390086485e-01,7.017456775e-01,-1.384902418e-04,8.390173812e-01,7.019378006e-01,-1.381286218e-04,8.278509286e-01
+15,2.126666667e+01,DOWN_FORCE_DETACH,1791629691080113791,2.298181618e-04,-1.452888751e-04,-1.897904795e-03,2.298471193e-04,-1.466121557e-04,-1.888536647e-03,2.305331292e-04,-1.464342103e-04,-1.886781351e-03,7.017676896e-01,-1.437379138e-04,8.388430364e-01,7.017677186e-01,-1.450611944e-04,8.388524045e-01,7.019598766e-01,-1.446537137e-04,8.276859269e-01
+16,2.251666667e+01,DOWN_FORCE_DETACH,1791629693442224756,2.427625896e-04,-1.563114513e-04,-2.068941623e-03,2.410359504e-04,-1.561682465e-04,-2.057681155e-03,2.415103666e-04,-1.559816997e-04,-2.055805830e-03,7.017806341e-01,-1.547604900e-04,8.386719996e-01,7.017789074e-01,-1.546172852e-04,8.386832600e-01,7.019708538e-01,-1.542012032e-04,8.275169024e-01
+17,2.378333333e+01,DOWN_FORCE_DETACH,1791629695970134281,2.581890979e-04,-1.645604245e-04,-2.267917636e-03,2.582811986e-04,-1.629609077e-04,-2.249995927e-03,2.584906183e-04,-1.627262860e-04,-2.247920709e-03,7.017960606e-01,-1.630094631e-04,8.384730236e-01,7.017961527e-01,-1.614099463e-04,8.384909453e-01,7.019878341e-01,-1.609457895e-04,8.273247876e-01
+18,2.503333333e+01,DOWN_FORCE_DETACH,1791629698364148662,2.712351159e-04,-1.663053115e-04,-2.489590232e-03,2.701432540e-04,-1.682633557e-04,-2.486587419e-03,2.698392989e-04,-1.680643478e-04,-2.484169216e-03,7.018091066e-01,-1.647543502e-04,8.382513510e-01,7.018080147e-01,-1.667123944e-04,8.382543538e-01,7.019991827e-01,-1.662838513e-04,8.270885391e-01
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+20,2.706666667e+01,DOWN_FORCE_DETACH,1791629702256148142,2.885166105e-04,-1.787706496e-04,-3.013124686e-03,2.853542901e-04,-1.807382532e-04,-3.004240589e-03,2.835800756e-04,-1.804930975e-04,-3.001062654e-03,7.018263881e-01,-1.772196883e-04,8.377278165e-01,7.018232258e-01,-1.791872919e-04,8.377367006e-01,7.020129235e-01,-1.787126009e-04,8.265716456e-01
+21,2.783333333e+01,DOWN_FORCE_DETACH,1791629703788078156,3.002555919e-04,-1.796761023e-04,-3.301328746e-03,3.000019103e-04,-1.796132474e-04,-3.301231150e-03,2.975780609e-04,-1.793157308e-04,-3.297364649e-03,7.018381271e-01,-1.781251410e-04,8.374396124e-01,7.018378734e-01,-1.780622861e-04,8.374397100e-01,7.020269215e-01,-1.775352343e-04,8.262753436e-01
+22,2.848333333e+01,DOWN_FORCE_DETACH,1791629705086055507,3.086488016e-04,-1.823041488e-04,-3.605565148e-03,3.073335314e-04,-1.860240844e-04,-3.588713329e-03,3.040990522e-04,-1.856854883e-04,-3.584259208e-03,7.018465203e-01,-1.807531875e-04,8.371353760e-01,7.018452050e-01,-1.844731231e-04,8.371522279e-01,7.020334425e-01,-1.839049918e-04,8.259884491e-01
+23,2.905000000e+01,DOWN_FORCE_DETACH,1791629706150068198,3.103148024e-04,-1.843716466e-04,-3.914844881e-03,3.093349463e-04,-1.873160334e-04,-3.895481519e-03,3.051214367e-04,-1.869221428e-04,-3.890449397e-03,7.018481863e-01,-1.828206853e-04,8.368260963e-01,7.018472064e-01,-1.857650721e-04,8.368454597e-01,7.020344649e-01,-1.851416463e-04,8.256822589e-01
+24,2.956666667e+01,DOWN_FORCE_DETACH,1791629707149576115,3.199776083e-04,-1.878453538e-04,-4.232556043e-03,3.167699704e-04,-1.921756152e-04,-4.224109678e-03,3.116403029e-04,-1.917487507e-04,-4.218460738e-03,7.018578491e-01,-1.862943925e-04,8.365083851e-01,7.018546415e-01,-1.906246539e-04,8.365168315e-01,7.020409837e-01,-1.899682542e-04,8.253542475e-01
+25,3.003333333e+01,DOWN_FORCE_DETACH,1791629708011975213,3.206434404e-04,-1.925365854e-04,-4.558166790e-03,3.205308385e-04,-1.924724894e-04,-4.558061239e-03,3.142403044e-04,-1.919715530e-04,-4.551879365e-03,7.018585149e-01,-1.909856241e-04,8.361827744e-01,7.018584023e-01,-1.909215281e-04,8.361828799e-01,7.020435837e-01,-1.901910564e-04,8.250208289e-01
+26,3.043333333e+01,DOWN_FORCE_DETACH,1791629708776077312,3.229802458e-04,-1.905903435e-04,-4.876570700e-03,3.223859162e-04,-1.928985545e-04,-4.863752365e-03,3.151137115e-04,-1.923957557e-04,-4.857167215e-03,7.018608517e-01,-1.890393822e-04,8.358643705e-01,7.018602574e-01,-1.913475932e-04,8.358771888e-01,7.020444571e-01,-1.906152592e-04,8.247155411e-01
+27,3.081666667e+01,DOWN_FORCE_DETACH,1791629709510066945,3.248921587e-04,-1.938161851e-04,-5.214458208e-03,3.252138805e-04,-1.922048613e-04,-5.196273129e-03,3.168412909e-04,-1.916414818e-04,-5.189367028e-03,7.018627636e-01,-1.922652238e-04,8.355264830e-01,7.018630854e-01,-1.906539000e-04,8.355446681e-01,7.020461847e-01,-1.898609853e-04,8.243833412e-01
+28,3.118333333e+01,DOWN_FORCE_DETACH,1791629710208106439,3.238583720e-04,-1.951177753e-04,-5.549081343e-03,3.226471343e-04,-1.943018068e-04,-5.532693752e-03,3.130460665e-04,-1.937284110e-04,-5.525536094e-03,7.018617299e-01,-1.935668140e-04,8.351918598e-01,7.018605186e-01,-1.927508455e-04,8.352082474e-01,7.020423895e-01,-1.919479145e-04,8.240471722e-01
+29,3.150000000e+01,DOWN_FORCE_DETACH,1791629710840116781,3.215605280e-04,-1.966120794e-04,-5.878936749e-03,3.223572356e-04,-1.991501278e-04,-5.862422734e-03,3.115416088e-04,-1.985289931e-04,-5.855044747e-03,7.018594320e-01,-1.950611181e-04,8.348620044e-01,7.018602287e-01,-1.975991665e-04,8.348785185e-01,7.020408850e-01,-1.967484965e-04,8.237176635e-01
+30,3.180000000e+01,DOWN_FORCE_DETACH,1791629711440424544,3.143530509e-04,-1.993004864e-04,-6.225306563e-03,3.137819290e-04,-2.026833343e-04,-6.206499483e-03,3.015479847e-04,-2.019452978e-04,-6.198779684e-03,7.018522245e-01,-1.977495250e-04,8.345156346e-01,7.018516534e-01,-2.011323730e-04,8.345344417e-01,7.020308914e-01,-2.001648012e-04,8.233739286e-01
+31,3.208333333e+01,DOWN_FORCE_DETACH,1791629712004196076,3.154470400e-04,-2.024271323e-04,-6.544642647e-03,3.152800625e-04,-2.023999170e-04,-6.544386098e-03,3.018462171e-04,-2.015792307e-04,-6.536828078e-03,7.018533185e-01,-2.008761710e-04,8.341962985e-01,7.018531515e-01,-2.008489557e-04,8.341965551e-01,7.020311896e-01,-1.997987341e-04,8.230358802e-01
+32,3.236666667e+01,DOWN_FORCE_DETACH,1791629712568058900,3.178025573e-04,-1.967866695e-04,-6.881220902e-03,3.151130737e-04,-2.011407142e-04,-6.865818840e-03,3.005591204e-04,-2.002837795e-04,-6.858440659e-03,7.018556740e-01,-1.952357082e-04,8.338597203e-01,7.018529846e-01,-1.995897529e-04,8.338751223e-01,7.020299026e-01,-1.985032830e-04,8.227142676e-01
+33,3.261666667e+01,DOWN_FORCE_DETACH,1791629713068140063,3.066990795e-04,-2.031966732e-04,-7.220309856e-03,3.064472716e-04,-2.032519562e-04,-7.219550304e-03,2.904302265e-04,-2.023272558e-04,-7.211969424e-03,7.018445706e-01,-2.016457119e-04,8.335206313e-01,7.018443188e-01,-2.017009949e-04,8.335213909e-01,7.020197737e-01,-2.005467592e-04,8.223607388e-01
+34,3.286666667e+01,DOWN_FORCE_DETACH,1791629713568013528,3.016270729e-04,-1.985416683e-04,-7.560733661e-03,3.014453617e-04,-1.986479327e-04,-7.560976962e-03,2.840290128e-04,-1.977081730e-04,-7.553866703e-03,7.018394986e-01,-1.969907069e-04,8.331802075e-01,7.018393168e-01,-1.970969714e-04,8.331799642e-01,7.020133724e-01,-1.959276765e-04,8.220188416e-01
+35,3.311666667e+01,DOWN_FORCE_DETACH,1791629714034040895,2.950731863e-04,-1.951680960e-04,-7.895866511e-03,2.948484695e-04,-1.951693412e-04,-7.896148050e-03,2.761350360e-04,-1.942086939e-04,-7.889395768e-03,7.018329447e-01,-1.936171347e-04,8.328450747e-01,7.018327200e-01,-1.936183799e-04,8.328447931e-01,7.020054785e-01,-1.924281973e-04,8.216833125e-01
+36,3.335000000e+01,DOWN_FORCE_DETACH,1791629714466246407,2.834635289e-04,-1.990860069e-04,-8.224496799e-03,2.832124766e-04,-1.990427568e-04,-8.224361608e-03,2.629873159e-04,-1.980923324e-04,-8.218042694e-03,7.018213350e-01,-1.975350456e-04,8.325164444e-01,7.018210840e-01,-1.974917955e-04,8.325165796e-01,7.019923307e-01,-1.963118358e-04,8.213546656e-01
+37,3.356666667e+01,DOWN_FORCE_DETACH,1791629714896068236,2.649675342e-04,-1.981609294e-04,-8.575360448e-03,2.649166614e-04,-1.982122485e-04,-8.575200213e-03,2.429857343e-04,-1.972578918e-04,-8.569180719e-03,7.018028390e-01,-1.966099681e-04,8.321655807e-01,7.018027881e-01,-1.966612872e-04,8.321657410e-01,7.019723292e-01,-1.954773953e-04,8.210035276e-01
+38,3.378333333e+01,DOWN_FORCE_DETACH,1791629715298082430,2.548408520e-04,-1.965198141e-04,-8.897876110e-03,2.547169778e-04,-1.966066122e-04,-8.897498222e-03,2.313060805e-04,-1.956856956e-04,-8.891914506e-03,7.017927123e-01,-1.949688527e-04,8.318430651e-01,7.017925885e-01,-1.950556509e-04,8.318434430e-01,7.019606495e-01,-1.939051991e-04,8.206807938e-01
+39,3.400000000e+01,DOWN_FORCE_DETACH,1791629715696251478,2.377471143e-04,-1.943295207e-04,-9.236994323e-03,2.375654556e-04,-1.942559430e-04,-9.236639035e-03,2.125328833e-04,-1.932727234e-04,-9.231721357e-03,7.017756186e-01,-1.927785593e-04,8.315039469e-01,7.017754369e-01,-1.927049817e-04,8.315043022e-01,7.019418763e-01,-1.914922269e-04,8.203409869e-01
+40,3.420000000e+01,DOWN_FORCE_DETACH,1791629716096164293,2.204181315e-04,-1.925471860e-04,-9.590116532e-03,2.200955129e-04,-1.926885785e-04,-9.590148695e-03,1.933139079e-04,-1.917925224e-04,-9.585647737e-03,7.017582896e-01,-1.909962246e-04,8.311508247e-01,7.017579670e-01,-1.911376171e-04,8.311507925e-01,7.019226573e-01,-1.900120259e-04,8.199870605e-01
+41,3.440000000e+01,DOWN_FORCE_DETACH,1791629716460147908,2.030453698e-04,-1.843428009e-04,-9.912303730e-03,2.029087639e-04,-1.842869708e-04,-9.912051021e-03,1.744162549e-04,-1.832633105e-04,-9.908496922e-03,7.017409169e-01,-1.827918395e-04,8.308286375e-01,7.017407802e-01,-1.827360095e-04,8.308288902e-01,7.019037597e-01,-1.814828140e-04,8.196642114e-01
+42,3.461666667e+01,DOWN_FORCE_DETACH,1791629716860201502,1.917136113e-04,-1.871644765e-04,-1.026232586e-02,1.916387210e-04,-1.870784318e-04,-1.026207233e-02,1.614890982e-04,-1.862787565e-04,-1.025901860e-02,7.017295851e-01,-1.856135152e-04,8.304786153e-01,7.017295102e-01,-1.855274705e-04,8.304788689e-01,7.018908325e-01,-1.844982600e-04,8.193136897e-01
+43,3.480000000e+01,DOWN_FORCE_DETACH,1791629717229354305,1.776811474e-04,-1.875530586e-04,-1.059641564e-02,1.776639698e-04,-1.876069015e-04,-1.059600054e-02,1.459459145e-04,-1.868289574e-04,-1.059355062e-02,7.017155526e-01,-1.860020973e-04,8.301445255e-01,7.017155355e-01,-1.860559402e-04,8.301449406e-01,7.018752893e-01,-1.850484609e-04,8.189791576e-01
+44,3.500000000e+01,DOWN_FORCE_DETACH,1791629717592075267,1.585272240e-04,-1.870233999e-04,-1.094203190e-02,1.584551708e-04,-1.869850440e-04,-1.094175445e-02,1.248569245e-04,-1.861964691e-04,-1.093991277e-02,7.016963987e-01,-1.854724386e-04,8.297989093e-01,7.016963267e-01,-1.854340827e-04,8.297991867e-01,7.018542004e-01,-1.844159725e-04,8.186327955e-01
+45,3.516666667e+01,DOWN_FORCE_DETACH,1791629717924400066,1.455271696e-04,-1.886202313e-04,-1.125265294e-02,1.451909412e-04,-1.887483619e-04,-1.125295595e-02,1.101557755e-04,-1.881741154e-04,-1.125190896e-02,7.016833987e-01,-1.870692700e-04,8.294882883e-01,7.016830624e-01,-1.871974005e-04,8.294879852e-01,7.018394992e-01,-1.863936189e-04,8.183207993e-01
+46,3.536666667e+01,DOWN_FORCE_DETACH,1791629718292208968,1.276380896e-04,-1.869296330e-04,-1.161270755e-02,1.273736351e-04,-1.870208331e-04,-1.161247295e-02,9.050711693e-05,-1.866354948e-04,-1.161197240e-02,7.016655096e-01,-1.853786717e-04,8.291282336e-01,7.016652451e-01,-1.854698717e-04,8.291284682e-01,7.018198505e-01,-1.848549983e-04,8.179607359e-01
+47,3.553333333e+01,DOWN_FORCE_DETACH,1791629718623944228,1.121141462e-04,-1.862957447e-04,-1.195263144e-02,1.119108183e-04,-1.863307403e-04,-1.195241968e-02,7.334918081e-05,-1.862023986e-04,-1.195233794e-02,7.016499856e-01,-1.847447834e-04,8.287883097e-01,7.016497823e-01,-1.847797790e-04,8.287885215e-01,7.018026926e-01,-1.844219021e-04,8.176203703e-01
+48,3.570000000e+01,DOWN_FORCE_DETACH,1791629718957178896,9.104907797e-05,-1.946935478e-04,-1.229218521e-02,9.071273785e-05,-1.947521932e-04,-1.229208662e-02,5.035583352e-05,-1.952359268e-04,-1.229239920e-02,7.016289206e-01,-1.931425865e-04,8.284487560e-01,7.016285842e-01,-1.932012319e-04,8.284488546e-01,7.017796993e-01,-1.934554303e-04,8.172803091e-01
+49,3.585000000e+01,DOWN_FORCE_DETACH,1791629719256116696,7.345146914e-05,-1.900933807e-04,-1.260626952e-02,7.338548153e-05,-1.902441037e-04,-1.260603607e-02,3.142622132e-05,-1.909664472e-04,-1.260660577e-02,7.016113230e-01,-1.885424194e-04,8.281346717e-01,7.016112570e-01,-1.886931423e-04,8.281349051e-01,7.017607697e-01,-1.891859506e-04,8.169661025e-01
+50,3.601666667e+01,DOWN_FORCE_DETACH,1791629719588384087,6.652205638e-05,-1.945599457e-04,-1.294205921e-02,6.643458487e-05,-1.943378774e-04,-1.294170834e-02,2.313284727e-05,-1.954635558e-04,-1.294247363e-02,7.016043935e-01,-1.930089843e-04,8.277988820e-01,7.016043061e-01,-1.927869161e-04,8.277992329e-01,7.017524763e-01,-1.936830593e-04,8.166302346e-01
+51,3.618333333e+01,DOWN_FORCE_DETACH,1791629719922870992,5.056307695e-05,-1.906531010e-04,-1.329910344e-02,5.011297347e-05,-1.907658386e-04,-1.329911862e-02,5.205264546e-06,-1.918761054e-04,-1.330002532e-02,7.015884346e-01,-1.891021397e-04,8.274418378e-01,7.015879845e-01,-1.892148773e-04,8.274418226e-01,7.017345487e-01,-1.900956089e-04,8.162726829e-01
+52,3.635000000e+01,DOWN_FORCE_DETACH,1791629720254181280,3.838914257e-05,-1.909848008e-04,-1.364676459e-02,3.835316276e-05,-1.910291027e-04,-1.364666982e-02,-7.990497764e-06,-1.921545438e-04,-1.364749565e-02,7.015762606e-01,-1.894338395e-04,8.270941766e-01,7.015762246e-01,-1.894781413e-04,8.270942714e-01,7.017213529e-01,-1.903740473e-04,8.159252126e-01
+53,3.650000000e+01,DOWN_FORCE_DETACH,1791629720551995569,3.076391801e-05,-1.692172285e-04,-1.396591489e-02,3.056133577e-05,-1.692170726e-04,-1.396576297e-02,-1.705978672e-05,-1.701473472e-04,-1.396660273e-02,7.015686354e-01,-1.676662671e-04,8.267750263e-01,7.015684328e-01,-1.676661113e-04,8.267751782e-01,7.017122836e-01,-1.683668507e-04,8.156061055e-01
+54,3.665000000e+01,DOWN_FORCE_DETACH,1791629720852162844,1.642456878e-05,-1.623908667e-04,-1.430755439e-02,1.613192844e-05,-1.620643583e-04,-1.430753598e-02,-3.298872905e-05,-1.629674013e-04,-1.430842187e-02,7.015542961e-01,-1.608399053e-04,8.264333868e-01,7.015540034e-01,-1.605133970e-04,8.264334052e-01,7.016963547e-01,-1.611869048e-04,8.152642864e-01
+55,3.680000000e+01,DOWN_FORCE_DETACH,1791629721152080911,-2.045387782e-06,-1.681334618e-04,-1.464826147e-02,-2.481416949e-06,-1.680191869e-04,-1.464836706e-02,-5.324848051e-05,-1.690100139e-04,-1.464928663e-02,7.015358261e-01,-1.665825005e-04,8.260926797e-01,7.015353901e-01,-1.664682255e-04,8.260925741e-01,7.016760950e-01,-1.672295174e-04,8.149234216e-01
+56,3.695000000e+01,DOWN_FORCE_DETACH,1791629721450079621,2.510703837e-06,-1.639581910e-04,-1.496660542e-02,2.274635834e-06,-1.638920333e-04,-1.496651570e-02,-4.928681696e-05,-1.648249198e-04,-1.496741832e-02,7.015403822e-01,-1.624072297e-04,8.257743358e-01,7.015401461e-01,-1.623410720e-04,8.257744255e-01,7.016800566e-01,-1.630444233e-04,8.146052899e-01
+57,3.710000000e+01,DOWN_FORCE_DETACH,1791629721752149180,-2.868677818e-05,-1.672777862e-04,-1.533055396e-02,-2.905094788e-05,-1.670046013e-04,-1.533034228e-02,-8.269177704e-05,-1.679345202e-04,-1.533128577e-02,7.015091847e-01,-1.657268248e-04,8.254103872e-01,7.015088205e-01,-1.654536399e-04,8.254105989e-01,7.016466517e-01,-1.661540237e-04,8.142414225e-01
+58,3.726666667e+01,DOWN_FORCE_DETACH,1791629722048110542,-2.896657246e-05,-1.620410053e-04,-1.566950801e-02,-2.914248926e-05,-1.618486839e-04,-1.566925419e-02,-8.384437539e-05,-1.627714563e-04,-1.567020200e-02,7.015089049e-01,-1.604900439e-04,8.250714332e-01,7.015087290e-01,-1.602977226e-04,8.250716870e-01,7.016454991e-01,-1.609909598e-04,8.139025063e-01
+59,3.758333333e+01,DOWN_SETTLE,1791629722648006898,-4.226386563e-05,-1.436724325e-04,-1.598429207e-02,-4.054355387e-05,-1.459497958e-04,-1.597749614e-02,-9.653637481e-05,-1.467932549e-04,-1.597849829e-02,7.014956076e-01,-1.421214712e-04,8.247566491e-01,7.014973279e-01,-1.443988345e-04,8.247634450e-01,7.016328071e-01,-1.450127584e-04,8.135942100e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b3b5d2318c599d811e460609ecef88a63fcd426
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-9.7208e-03,2.2682e-03,2.4540e+00,-3.6982e-02,3.6100e-02,-3.3878e-05,2.2642e-04,-8.6862e-06,1.0037e-04,1.3411e-07,1.5989e-05,-2.8574e-07,2.4782e-04,1.5992e-05
+1,1.5500e+00,DOWN_FORCE_DETACH,3.3982e-04,7.3706e-03,2.7173e-02,2.4822e+00,-3.8749e-02,3.7287e-02,-3.0264e-05,1.7318e-02,2.4896e-02,2.8327e-02,-1.7674e-03,1.2024e-03,3.3285e-06,4.1499e-02,2.1376e-03
+2,2.9333e+00,DOWN_FORCE_DETACH,6.8273e-04,-1.1062e-03,3.0808e-02,2.5016e+00,-3.9008e-02,3.6672e-02,-3.1672e-05,8.8410e-03,2.8531e-02,4.7678e-02,-2.0265e-03,5.8767e-04,1.9206e-06,5.6262e-02,2.1100e-03
+3,4.3167e+00,DOWN_FORCE_DETACH,1.0231e-03,8.4184e-03,2.9164e-02,2.5262e+00,-3.8871e-02,3.7323e-02,-2.1642e-05,1.8366e-02,2.6887e-02,7.2294e-02,-1.8890e-03,1.2394e-03,1.1951e-05,7.9288e-02,2.2593e-03
+4,5.7667e+00,DOWN_FORCE_DETACH,1.3617e-03,1.6803e-02,3.2723e-02,2.5213e+00,-3.9055e-02,3.7921e-02,5.7447e-06,2.6750e-02,3.0446e-02,6.7444e-02,-2.0730e-03,1.8369e-03,3.9337e-05,7.8684e-02,2.7700e-03
+5,7.2500e+00,DOWN_FORCE_DETACH,1.7034e-03,2.0744e-02,3.7226e-02,2.5221e+00,-3.9327e-02,3.8186e-02,2.5789e-05,3.0691e-02,3.4949e-02,6.8241e-02,-2.3451e-03,2.1019e-03,5.9382e-05,8.2584e-02,3.1498e-03
+6,8.6167e+00,DOWN_FORCE_DETACH,2.0444e-03,2.3933e-02,3.8936e-02,2.5206e+00,-3.9461e-02,3.8395e-02,3.4971e-05,3.3881e-02,3.6659e-02,6.6751e-02,-2.4792e-03,2.3112e-03,6.8563e-05,8.3352e-02,3.3901e-03
+7,1.0067e+01,DOWN_FORCE_DETACH,2.3865e-03,2.6293e-02,4.0437e-02,2.5343e+00,-3.9604e-02,3.8551e-02,5.2525e-05,3.6240e-02,3.8160e-02,8.0445e-02,-2.6219e-03,2.4667e-03,8.6117e-05,9.6130e-02,3.6009e-03
+8,1.1500e+01,DOWN_FORCE_DETACH,2.7272e-03,2.5716e-02,4.0757e-02,2.5230e+00,-3.9632e-02,3.8535e-02,6.7040e-05,3.5663e-02,3.8480e-02,6.9138e-02,-2.6498e-03,2.4511e-03,1.0063e-04,8.6791e-02,3.6110e-03
+9,1.2967e+01,DOWN_FORCE_DETACH,3.0665e-03,2.2898e-02,4.1706e-02,2.5218e+00,-3.9634e-02,3.8345e-02,5.7517e-05,3.2845e-02,3.9429e-02,6.7915e-02,-2.6523e-03,2.2613e-03,9.1109e-05,8.5123e-02,3.4866e-03
+10,1.4367e+01,DOWN_FORCE_DETACH,3.4078e-03,1.9545e-02,4.2250e-02,2.5212e+00,-3.9622e-02,3.8107e-02,3.8793e-05,2.9493e-02,3.9973e-02,6.7273e-02,-2.6401e-03,2.0233e-03,7.2386e-05,8.3626e-02,3.3270e-03
+11,1.5717e+01,DOWN_FORCE_DETACH,3.7500e-03,1.9067e-02,4.2210e-02,2.5284e+00,-3.9649e-02,3.8065e-02,2.4072e-05,2.9014e-02,3.9933e-02,7.4553e-02,-2.6667e-03,1.9814e-03,5.7665e-05,8.9412e-02,3.3228e-03
+12,1.7083e+01,DOWN_FORCE_DETACH,4.0866e-03,2.0231e-02,4.0451e-02,2.5232e+00,-3.9572e-02,3.8144e-02,5.0862e-07,3.0178e-02,3.8174e-02,6.9306e-02,-2.5903e-03,2.0595e-03,3.4101e-05,8.4683e-02,3.3094e-03
+13,1.8550e+01,DOWN_FORCE_DETACH,4.4298e-03,2.2774e-02,4.2478e-02,2.5282e+00,-3.9713e-02,3.8311e-02,-8.9879e-06,3.2722e-02,4.0201e-02,7.4334e-02,-2.7313e-03,2.2266e-03,2.4605e-05,9.0622e-02,3.5240e-03
+14,1.9917e+01,DOWN_FORCE_DETACH,4.7714e-03,2.8986e-02,5.3991e-02,2.5380e+00,-4.0476e-02,3.8752e-02,1.2739e-05,3.8933e-02,5.1714e-02,8.4081e-02,-3.4944e-03,2.6680e-03,4.6332e-05,1.0611e-01,4.3967e-03
+15,2.1267e+01,DOWN_FORCE_DETACH,5.1117e-03,2.9120e-02,5.8497e-02,2.5394e+00,-4.0742e-02,3.8761e-02,2.9215e-05,3.9067e-02,5.6220e-02,8.5552e-02,-3.7596e-03,2.6772e-03,6.2808e-05,1.0957e-01,4.6158e-03
+16,2.2517e+01,DOWN_FORCE_DETACH,5.4508e-03,3.1364e-02,6.2462e-02,2.5438e+00,-4.1018e-02,3.8896e-02,2.2211e-05,4.1311e-02,6.0185e-02,8.9863e-02,-4.0363e-03,2.8114e-03,5.5804e-05,1.1578e-01,4.9193e-03
+17,2.3783e+01,DOWN_FORCE_DETACH,5.7915e-03,2.9941e-02,6.4198e-02,2.5526e+00,-4.1159e-02,3.8786e-02,2.2588e-05,3.9889e-02,6.1921e-02,9.8710e-02,-4.1772e-03,2.7022e-03,5.6181e-05,1.2316e-01,4.9753e-03
+18,2.5033e+01,DOWN_FORCE_DETACH,6.1356e-03,2.8098e-02,6.5658e-02,2.5713e+00,-4.1229e-02,3.8642e-02,2.3121e-05,3.8046e-02,6.3381e-02,1.1738e-01,-4.2465e-03,2.5576e-03,5.6714e-05,1.3872e-01,4.9576e-03
+19,2.6133e+01,DOWN_FORCE_DETACH,6.4720e-03,2.7481e-02,6.9418e-02,2.5825e+00,-4.1394e-02,3.8582e-02,8.8466e-06,3.7428e-02,6.7141e-02,1.2862e-01,-4.4119e-03,2.4977e-03,4.2439e-05,1.4984e-01,5.0700e-03
+20,2.7067e+01,DOWN_FORCE_DETACH,6.8177e-03,2.8920e-02,7.0958e-02,2.6108e+00,-4.1481e-02,3.8654e-02,-1.2720e-06,3.8867e-02,6.8681e-02,1.5693e-01,-4.4994e-03,2.5698e-03,3.2321e-05,1.7565e-01,5.1816e-03
+21,2.7833e+01,DOWN_FORCE_DETACH,7.1558e-03,2.8403e-02,6.9573e-02,2.6348e+00,-4.1333e-02,3.8599e-02,8.4759e-06,3.8350e-02,6.7296e-02,1.8092e-01,-4.3506e-03,2.5152e-03,4.2069e-05,1.9680e-01,5.0255e-03
+22,2.8483e+01,DOWN_FORCE_DETACH,7.4994e-03,2.9778e-02,7.6140e-02,2.6729e+00,-4.1707e-02,3.8669e-02,2.2239e-05,3.9725e-02,7.3863e-02,2.1905e-01,-4.7249e-03,2.5844e-03,5.5832e-05,2.3456e-01,5.3858e-03
+23,2.9050e+01,DOWN_FORCE_DETACH,7.8417e-03,3.2452e-02,7.7090e-02,2.7025e+00,-4.1739e-02,3.8806e-02,2.9399e-05,4.2399e-02,7.4813e-02,2.4861e-01,-4.7574e-03,2.7218e-03,6.2992e-05,2.6307e-01,5.4814e-03
+24,2.9567e+01,DOWN_FORCE_DETACH,8.1787e-03,3.1084e-02,8.0346e-02,2.7380e+00,-4.1899e-02,3.8671e-02,3.0280e-05,4.1031e-02,7.8069e-02,2.8414e-01,-4.9165e-03,2.5867e-03,6.3873e-05,2.9751e-01,5.5559e-03
+25,3.0033e+01,DOWN_FORCE_DETACH,8.5223e-03,3.0091e-02,7.9892e-02,2.7539e+00,-4.1768e-02,3.8581e-02,1.9834e-05,4.0038e-02,7.7615e-02,2.9998e-01,-4.7864e-03,2.4969e-03,5.3427e-05,3.1243e-01,5.3988e-03
+26,3.0433e+01,DOWN_FORCE_DETACH,8.8553e-03,3.2434e-02,8.2316e-02,2.7844e+00,-4.1856e-02,3.8716e-02,2.1584e-05,4.2382e-02,8.0039e-02,3.3056e-01,-4.8739e-03,2.6318e-03,5.5176e-05,3.4274e-01,5.5393e-03
+27,3.0817e+01,DOWN_FORCE_DETACH,9.1993e-03,3.2912e-02,8.4127e-02,2.8039e+00,-4.1883e-02,3.8727e-02,2.6455e-05,4.2860e-02,8.1850e-02,3.5001e-01,-4.9010e-03,2.6432e-03,6.0047e-05,3.6200e-01,5.5687e-03
+28,3.1183e+01,DOWN_FORCE_DETACH,9.5395e-03,3.4863e-02,8.4443e-02,2.8172e+00,-4.1840e-02,3.8840e-02,7.6571e-06,4.4810e-02,8.2166e-02,3.6335e-01,-4.8583e-03,2.7557e-03,4.1250e-05,3.7521e-01,5.5856e-03
+29,3.1500e+01,DOWN_FORCE_DETACH,9.8790e-03,3.3669e-02,8.6944e-02,2.8309e+00,-4.1929e-02,3.8731e-02,-4.5634e-06,4.3617e-02,8.4667e-02,3.7702e-01,-4.9471e-03,2.6473e-03,2.9029e-05,3.8886e-01,5.6109e-03
+30,3.1800e+01,DOWN_FORCE_DETACH,1.0232e-02,3.5603e-02,9.2221e-02,2.8399e+00,-4.2172e-02,3.8844e-02,-1.4654e-05,4.5551e-02,8.9944e-02,3.8599e-01,-5.1897e-03,2.7598e-03,1.8939e-05,3.9894e-01,5.8779e-03
+31,3.2083e+01,DOWN_FORCE_DETACH,1.0558e-02,3.5566e-02,9.4237e-02,2.8364e+00,-4.2219e-02,3.8841e-02,-1.4966e-05,4.5513e-02,9.1960e-02,3.8253e-01,-5.2370e-03,2.7569e-03,1.8626e-05,3.9605e-01,5.9184e-03
+32,3.2367e+01,DOWN_FORCE_DETACH,1.0898e-02,3.4764e-02,9.6144e-02,2.8352e+00,-4.2290e-02,3.8787e-02,-1.9628e-05,4.4711e-02,9.3867e-02,3.8126e-01,-5.3081e-03,2.7025e-03,1.3965e-05,3.9519e-01,5.9564e-03
+33,3.2617e+01,DOWN_FORCE_DETACH,1.1243e-02,3.6609e-02,9.5124e-02,2.8264e+00,-4.2195e-02,3.8919e-02,-2.6688e-05,4.6556e-02,9.2847e-02,3.7251e-01,-5.2132e-03,2.8344e-03,6.9044e-06,3.8672e-01,5.9339e-03
+34,3.2867e+01,DOWN_FORCE_DETACH,1.1586e-02,3.5305e-02,9.6784e-02,2.8183e+00,-4.2214e-02,3.8821e-02,-3.9105e-05,4.5253e-02,9.4507e-02,3.6443e-01,-5.2323e-03,2.7367e-03,-5.5123e-06,3.7920e-01,5.9048e-03
+35,3.3117e+01,DOWN_FORCE_DETACH,1.1927e-02,3.7161e-02,9.8975e-02,2.8016e+00,-4.2314e-02,3.8957e-02,-4.4155e-05,4.7109e-02,9.6698e-02,3.4771e-01,-5.3323e-03,2.8732e-03,-1.0562e-05,3.6397e-01,6.0571e-03
+36,3.3350e+01,DOWN_FORCE_DETACH,1.2260e-02,3.7760e-02,9.6249e-02,2.7819e+00,-4.2124e-02,3.9014e-02,-4.2834e-05,4.7707e-02,9.3972e-02,3.2796e-01,-5.1417e-03,2.9303e-03,-9.2418e-06,3.4448e-01,5.9181e-03
+37,3.3567e+01,DOWN_FORCE_DETACH,1.2614e-02,3.7828e-02,9.6574e-02,2.7665e+00,-4.2123e-02,3.9031e-02,-5.2977e-05,4.7775e-02,9.4297e-02,3.1258e-01,-5.1411e-03,2.9466e-03,-1.9384e-05,3.2997e-01,5.9257e-03
+38,3.3783e+01,DOWN_FORCE_DETACH,1.2942e-02,3.7454e-02,9.5469e-02,2.7477e+00,-4.2057e-02,3.9018e-02,-7.1034e-05,4.7401e-02,9.3192e-02,2.9381e-01,-5.0750e-03,2.9339e-03,-3.7441e-05,3.1186e-01,5.8621e-03
+39,3.4000e+01,DOWN_FORCE_DETACH,1.3283e-02,3.6880e-02,9.5591e-02,2.7163e+00,-4.2030e-02,3.9002e-02,-8.0499e-05,4.6827e-02,9.3314e-02,2.6244e-01,-5.0484e-03,2.9182e-03,-4.6907e-05,2.8244e-01,5.8313e-03
+40,3.4200e+01,DOWN_FORCE_DETACH,1.3638e-02,3.7058e-02,9.3237e-02,2.6967e+00,-4.1939e-02,3.9037e-02,-7.2697e-05,4.7005e-02,9.0960e-02,2.4277e-01,-4.9571e-03,2.9531e-03,-3.9105e-05,2.6348e-01,5.7702e-03
+41,3.4400e+01,DOWN_FORCE_DETACH,1.3967e-02,3.3106e-02,9.3863e-02,2.6557e+00,-4.1964e-02,3.8807e-02,-9.3210e-05,4.3054e-02,9.1586e-02,2.0179e-01,-4.9824e-03,2.7232e-03,-5.9617e-05,2.2575e-01,5.6783e-03
+42,3.4617e+01,DOWN_FORCE_DETACH,1.4321e-02,2.8559e-02,8.3836e-02,2.6248e+00,-4.1439e-02,3.8527e-02,-1.0908e-04,3.8507e-02,8.1559e-02,1.7095e-01,-4.4569e-03,2.4430e-03,-7.5483e-05,1.9328e-01,5.0831e-03
+43,3.4800e+01,DOWN_FORCE_DETACH,1.4658e-02,2.8226e-02,8.6497e-02,2.6048e+00,-4.1590e-02,3.8525e-02,-8.4861e-05,3.8174e-02,8.4220e-02,1.5089e-01,-4.6083e-03,2.4408e-03,-5.1268e-05,1.7697e-01,5.2150e-03
+44,3.5000e+01,DOWN_FORCE_DETACH,1.5007e-02,1.9102e-02,8.6288e-02,2.5676e+00,-4.1580e-02,3.7952e-02,-8.8261e-05,2.9050e-02,8.4011e-02,1.1366e-01,-4.5982e-03,1.8682e-03,-5.4668e-05,1.4429e-01,4.9635e-03
+45,3.5167e+01,DOWN_FORCE_DETACH,1.5322e-02,1.5519e-02,7.4921e-02,2.5364e+00,-4.0954e-02,3.7735e-02,-8.7385e-05,2.5466e-02,7.2644e-02,8.2533e-02,-3.9722e-03,1.6513e-03,-5.3792e-05,1.1286e-01,4.3021e-03
+46,3.5367e+01,DOWN_FORCE_DETACH,1.5685e-02,1.2643e-02,6.8397e-02,2.5141e+00,-4.0578e-02,3.7561e-02,-5.3248e-05,2.2590e-02,6.6120e-02,6.0173e-02,-3.5958e-03,1.4768e-03,-1.9655e-05,9.2212e-02,3.8873e-03
+47,3.5533e+01,DOWN_FORCE_DETACH,1.6026e-02,6.2968e-03,5.6143e-02,2.4943e+00,-3.9914e-02,3.7159e-02,-2.8679e-05,1.6244e-02,5.3866e-02,4.0381e-02,-2.9320e-03,1.0750e-03,4.9135e-06,6.9253e-02,3.1229e-03
+48,3.5700e+01,DOWN_FORCE_DETACH,1.6369e-02,5.0592e-03,3.1646e-02,2.4737e+00,-3.8575e-02,3.7101e-02,-3.9784e-05,1.5006e-02,2.9369e-02,1.9849e-02,-1.5926e-03,1.0168e-03,-6.1915e-06,3.8493e-02,1.8895e-03
+49,3.5850e+01,DOWN_FORCE_DETACH,1.6685e-02,3.4364e-03,2.0312e-02,2.4680e+00,-3.7921e-02,3.6999e-02,-2.5336e-05,1.3384e-02,1.8035e-02,1.4137e-02,-9.3907e-04,9.1513e-04,8.2563e-06,2.6538e-02,1.3113e-03
+50,3.6017e+01,DOWN_FORCE_DETACH,1.7023e-02,2.8944e-04,2.3292e-03,2.4546e+00,-3.6914e-02,3.6805e-02,-1.5255e-06,1.0237e-02,5.2264e-05,7.3338e-04,6.8150e-05,7.2054e-04,3.2067e-05,1.0263e-02,7.2446e-04
+51,3.6183e+01,DOWN_FORCE_DETACH,1.7381e-02,-3.0346e-10,-4.0170e-09,2.4525e+00,-3.6788e-02,3.6787e-02,-2.7772e-12,9.9472e-03,-2.2769e-03,-1.3888e-03,1.9452e-04,7.0335e-04,3.3593e-05,1.0299e-02,7.3053e-04
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d00d81ab59067ccae2c756900e871743ffb3d2ad
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c852b9ea7e28c17246bc3bbe7db46eeb7fd27cf3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..481a384c4786fd2b7ef1e2e78d0e80bcf39c4a4a
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88abaca3131d52a466682b6971f1c4cfb064cff4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,3.450000000e+00,UP_FORCE_HOLD,1791629644543608109,-6.245044987e-05,-1.030624118e-04,2.714264819e-04,-6.420957109e-05,-9.895146471e-05,2.555519606e-04,-6.438179339e-05,-9.887966046e-05,2.546510994e-04,7.014754210e-01,-1.015114505e-04,8.410123677e-01,7.014736619e-01,-9.740050338e-05,8.409964931e-01,7.016649617e-01,-9.709919004e-05,8.298273592e-01
+53,3.516666667e+00,UP_FORCE_HOLD,1791629644677587944,-6.561491686e-05,-1.005423689e-04,2.685144439e-04,-6.420957109e-05,-9.895146471e-05,2.555519606e-04,-6.438318963e-05,-9.887923515e-05,2.546862380e-04,7.014722566e-01,-9.899140760e-05,8.410094556e-01,7.014736619e-01,-9.740050338e-05,8.409964931e-01,7.016649603e-01,-9.709876473e-05,8.298273943e-01
+54,3.583333333e+00,UP_FORCE_HOLD,1791629644809581802,-6.606234187e-05,-1.008167209e-04,2.713328943e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444585481e-05,-1.011298505e-04,2.749918487e-04,7.014718091e-01,-9.926575954e-05,8.410122741e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648976e-01,-9.934938010e-05,8.298476999e-01
+55,3.650000000e+00,UP_FORCE_HOLD,1791629644943600871,-6.327248362e-05,-1.011017493e-04,2.792132898e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444647969e-05,-1.011299602e-04,2.750351891e-04,7.014745990e-01,-9.955078802e-05,8.410201545e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648970e-01,-9.934948980e-05,8.298477433e-01
+56,3.716666667e+00,UP_FORCE_HOLD,1791629645077582930,-6.454750662e-05,-9.787857502e-05,2.793864978e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444725188e-05,-1.011298006e-04,2.750742198e-04,7.014733240e-01,-9.632761370e-05,8.410203277e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648962e-01,-9.934933022e-05,8.298477823e-01
+57,3.783333333e+00,UP_FORCE_HOLD,1791629645209588665,-6.494338936e-05,-1.025169340e-04,2.797375525e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444802390e-05,-1.011294686e-04,2.751099668e-04,7.014729281e-01,-1.009659727e-04,8.410206787e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648954e-01,-9.934899820e-05,8.298478181e-01
+58,3.833333333e+00,UP_FORCE_HOLD,1791629645307594640,-6.348627038e-05,-1.001887850e-04,2.857899544e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444854543e-05,-1.011291962e-04,2.751353165e-04,7.014743852e-01,-9.863782367e-05,8.410267311e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648949e-01,-9.934872582e-05,8.298478434e-01
+59,3.950000000e+00,UP_SETTLE,1791629645541644152,-6.743390475e-05,-1.021360859e-04,2.841104810e-04,-6.439091835e-05,-1.011898264e-04,2.760671003e-04,-6.444963365e-05,-1.011285103e-04,2.751907213e-04,7.014704376e-01,-1.005851246e-04,8.410250517e-01,7.014734806e-01,-9.963886507e-05,8.410170083e-01,7.016648938e-01,-9.934803984e-05,8.298478988e-01
diff --git a/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe35d88d1dbc580e5fb53603d86cd4d669d41061
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_15/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-9.7194e-03,2.2670e-03,2.4540e+00,-3.6982e-02,3.6100e-02,-3.3913e-05,2.2641e-04,-8.6306e-06,1.0061e-04,1.3039e-07,1.5993e-05,-2.8577e-07,2.4791e-04,1.5996e-05
+1,8.3333e-02,UP_FORCE_RAMP,1.8936e-05,-8.6178e-03,2.2248e-03,2.4545e+00,-3.6981e-02,3.6178e-02,-3.5289e-05,1.3280e-03,-5.0808e-05,5.8365e-04,7.5623e-07,9.3680e-05,-1.6621e-06,1.4515e-03,9.3698e-05
+2,1.3333e-01,UP_FORCE_RAMP,3.2209e-05,-7.9730e-03,2.2028e-03,2.4548e+00,-3.6981e-02,3.6223e-02,-3.6090e-05,1.9728e-03,-7.2807e-05,8.8000e-04,9.0152e-07,1.3917e-04,-2.4631e-06,2.1614e-03,1.3920e-04
+3,1.6667e-01,UP_FORCE_RAMP,4.6708e-05,-7.5512e-03,2.1895e-03,2.4550e+00,-3.6981e-02,3.6253e-02,-3.6611e-05,2.3946e-03,-8.6111e-05,1.0757e-03,9.0525e-07,1.6892e-04,-2.9839e-06,2.6266e-03,1.6895e-04
+4,2.3333e-01,UP_FORCE_RAMP,6.6264e-05,-6.8675e-03,1.0446e-02,2.4542e+00,-3.7558e-02,3.6302e-02,-3.0762e-05,3.0783e-03,8.1706e-03,3.5691e-04,-5.7562e-04,2.1794e-04,2.8655e-06,8.7386e-03,6.1550e-04
+5,3.0000e-01,UP_FORCE_RAMP,7.9051e-05,-6.0328e-03,1.0193e-02,2.4547e+00,-3.7542e-02,3.6361e-02,-3.1541e-05,3.9131e-03,7.9178e-03,8.0442e-04,-5.6010e-04,2.7667e-04,2.0860e-06,8.8685e-03,6.2471e-04
+6,3.5000e-01,UP_FORCE_RAMP,9.4271e-05,-5.4378e-03,1.0105e-02,2.4550e+00,-3.7537e-02,3.6403e-02,-3.2232e-05,4.5080e-03,7.8292e-03,1.1170e-03,-5.5544e-04,3.1850e-04,1.3954e-06,9.1031e-03,6.4028e-04
+7,3.8333e-01,UP_FORCE_RAMP,1.1021e-04,-4.6212e-03,1.9925e-02,2.4549e+00,-3.8221e-02,3.6460e-02,-2.6808e-05,5.3246e-03,1.7650e-02,1.0200e-03,-1.2388e-03,3.7590e-04,6.8190e-06,1.8463e-02,1.2946e-03
+8,4.8333e-01,UP_FORCE_RAMP,1.2685e-04,-3.4865e-03,1.9380e-02,2.4555e+00,-3.8187e-02,3.6540e-02,-2.5743e-05,6.4594e-03,1.7105e-02,1.6558e-03,-1.2051e-03,4.5601e-04,7.8840e-06,1.8359e-02,1.2885e-03
+9,5.3333e-01,UP_FORCE_RAMP,1.4033e-04,-2.9511e-03,1.9260e-02,2.4558e+00,-3.8180e-02,3.6578e-02,-2.6426e-05,6.9947e-03,1.6984e-02,1.9517e-03,-1.1983e-03,4.9361e-04,7.2007e-06,1.8471e-02,1.2960e-03
+10,6.1667e-01,UP_FORCE_RAMP,1.5826e-04,-2.0873e-03,1.9132e-02,2.4563e+00,-3.8174e-02,3.6638e-02,-2.7581e-05,7.8585e-03,1.6857e-02,2.4304e-03,-1.1919e-03,5.5426e-04,6.0464e-06,1.8757e-02,1.3145e-03
+11,6.6667e-01,UP_FORCE_RAMP,1.7161e-04,-5.9171e-04,2.7268e-02,2.4534e+00,-3.8742e-02,3.6746e-02,-2.1624e-05,9.3541e-03,2.4992e-02,-5.2166e-04,-1.7599e-03,6.6165e-04,1.2003e-05,2.6690e-02,1.8802e-03
+12,7.0000e-01,UP_FORCE_RAMP,1.8526e-04,-3.0992e-04,2.6987e-02,2.4538e+00,-3.8723e-02,3.6766e-02,-2.1822e-05,9.6359e-03,2.4712e-02,-1.2875e-04,-1.7415e-03,6.8142e-04,1.1805e-05,2.6524e-02,1.8701e-03
+13,7.5000e-01,UP_FORCE_RAMP,2.0647e-04,1.5013e-04,2.6816e-02,2.4542e+00,-3.8713e-02,3.6798e-02,-2.2427e-05,1.0096e-02,2.4541e-02,2.8515e-04,-1.7312e-03,7.1358e-04,1.1200e-05,2.6538e-02,1.8725e-03
+14,8.1667e-01,UP_FORCE_RAMP,2.2169e-04,7.4769e-04,2.6690e-02,2.4547e+00,-3.8706e-02,3.6840e-02,-2.3296e-05,1.0694e-02,2.4415e-02,7.7295e-04,-1.7245e-03,7.5541e-04,1.0331e-05,2.6665e-02,1.8827e-03
+15,8.6667e-01,UP_FORCE_RAMP,2.3545e-04,1.1865e-03,2.6626e-02,2.4550e+00,-3.8703e-02,3.6870e-02,-2.3944e-05,1.1132e-02,2.4350e-02,1.1148e-03,-1.7215e-03,7.8615e-04,9.6835e-06,2.6797e-02,1.8925e-03
+16,9.5000e-01,UP_FORCE_RAMP,2.5369e-04,2.3492e-03,3.0842e-02,2.4482e+00,-3.9001e-02,3.6957e-02,-2.1334e-05,1.2295e-02,2.8566e-02,-5.6896e-03,-2.0187e-03,8.7284e-04,1.2293e-05,3.1616e-02,2.1993e-03
+17,1.0167e+00,UP_FORCE_RAMP,2.6860e-04,2.8974e-03,3.0732e-02,2.4490e+00,-3.8995e-02,3.6995e-02,-2.2143e-05,1.2843e-02,2.8457e-02,-4.8590e-03,-2.0132e-03,9.1092e-04,1.1484e-05,3.1597e-02,2.2097e-03
+18,1.0667e+00,UP_FORCE_RAMP,2.8441e-04,2.8288e-03,3.1197e-02,2.4401e+00,-3.9030e-02,3.6996e-02,-2.2306e-05,1.2775e-02,2.8921e-02,-1.3736e-02,-2.0481e-03,9.1143e-04,1.1321e-05,3.4472e-02,2.2418e-03
+19,1.1000e+00,UP_FORCE_RAMP,2.9641e-04,3.1030e-03,3.1183e-02,2.4409e+00,-3.9031e-02,3.7016e-02,-2.2622e-05,1.3049e-02,2.8908e-02,-1.3013e-02,-2.0487e-03,9.3129e-04,1.1005e-05,3.4282e-02,2.2505e-03
+20,1.1667e+00,UP_FORCE_RAMP,3.1608e-04,3.6686e-03,3.1134e-02,2.4422e+00,-3.9029e-02,3.7054e-02,-2.3387e-05,1.3614e-02,2.8858e-02,-1.1728e-02,-2.0474e-03,9.7010e-04,1.0240e-05,3.3996e-02,2.2656e-03
+21,1.2333e+00,UP_FORCE_RAMP,3.3354e-04,4.1980e-03,3.1101e-02,2.4432e+00,-3.9029e-02,3.7091e-02,-2.4151e-05,1.4144e-02,2.8826e-02,-1.0715e-02,-2.0471e-03,1.0068e-03,9.4761e-06,3.3849e-02,2.2813e-03
+22,1.2833e+00,UP_FORCE_RAMP,3.4733e-04,5.2437e-03,3.3681e-02,2.4342e+00,-3.9211e-02,3.7169e-02,-2.3125e-05,1.5190e-02,3.1406e-02,-1.9686e-02,-2.2286e-03,1.0852e-03,1.0502e-05,4.0057e-02,2.4788e-03
+23,1.3833e+00,UP_FORCE_RAMP,3.6266e-04,6.0352e-03,3.3618e-02,2.4365e+00,-3.9210e-02,3.7225e-02,-2.3475e-05,1.5981e-02,3.1343e-02,-1.7363e-02,-2.2283e-03,1.1411e-03,1.0152e-05,3.9233e-02,2.5035e-03
+24,1.4667e+00,UP_FORCE_RAMP,3.7766e-04,6.6059e-03,3.3576e-02,2.4380e+00,-3.9210e-02,3.7265e-02,-2.4412e-05,1.6552e-02,3.1301e-02,-1.5884e-02,-2.2277e-03,1.1804e-03,9.2153e-06,3.8807e-02,2.5211e-03
+25,1.5167e+00,UP_FORCE_RAMP,3.9428e-04,8.4712e-03,3.5127e-02,2.4294e+00,-3.9320e-02,3.7400e-02,-2.4105e-05,1.8417e-02,3.2852e-02,-2.4480e-02,-2.3380e-03,1.3161e-03,9.5221e-06,4.4919e-02,2.6830e-03
+26,1.5667e+00,UP_FORCE_RAMP,4.0915e-04,8.8932e-03,3.5132e-02,2.4308e+00,-3.9322e-02,3.7431e-02,-2.4320e-05,1.8839e-02,3.2857e-02,-2.3127e-02,-2.3405e-03,1.3468e-03,9.3073e-06,4.4377e-02,2.7004e-03
+27,1.6500e+00,UP_FORCE_RAMP,4.2511e-04,9.3236e-03,3.5098e-02,2.4326e+00,-3.9322e-02,3.7460e-02,-2.5279e-05,1.9269e-02,3.2823e-02,-2.1252e-02,-2.3402e-03,1.3761e-03,8.3483e-06,4.3592e-02,2.7148e-03
+28,1.7500e+00,UP_FORCE_RAMP,4.4381e-04,1.1074e-02,3.3873e-02,2.4261e+00,-3.9240e-02,3.7588e-02,-2.7473e-05,2.1019e-02,3.1597e-02,-2.7790e-02,-2.2586e-03,1.5042e-03,6.1544e-06,4.7037e-02,2.7136e-03
+29,1.8500e+00,UP_FORCE_RAMP,4.6028e-04,1.1538e-02,3.3909e-02,2.4285e+00,-3.9245e-02,3.7620e-02,-2.8663e-05,2.1483e-02,3.1634e-02,-2.5392e-02,-2.2631e-03,1.5354e-03,4.9642e-06,4.5902e-02,2.7348e-03
+30,1.8833e+00,UP_FORCE_RAMP,4.7347e-04,1.9224e-02,3.5449e-02,2.4275e+00,-3.9353e-02,3.8160e-02,-2.8240e-05,2.9170e-02,3.3174e-02,-2.6427e-02,-2.3709e-03,2.0754e-03,5.3870e-06,5.1476e-02,3.1510e-03
+31,1.9667e+00,UP_FORCE_RAMP,4.8959e-04,1.9282e-02,3.5506e-02,2.4293e+00,-3.9359e-02,3.8165e-02,-2.9419e-05,2.9228e-02,3.3230e-02,-2.4595e-02,-2.3766e-03,2.0810e-03,4.2078e-06,5.0630e-02,3.1590e-03
+32,2.0333e+00,UP_FORCE_RAMP,5.0476e-04,1.9247e-02,3.5500e-02,2.4306e+00,-3.9359e-02,3.8162e-02,-3.0352e-05,2.9193e-02,3.3224e-02,-2.3296e-02,-2.3772e-03,2.0779e-03,3.2749e-06,4.9988e-02,3.1574e-03
+33,2.1000e+00,UP_FORCE_RAMP,5.2082e-04,2.2091e-02,3.6781e-02,2.4226e+00,-3.9451e-02,3.8368e-02,-3.0321e-05,3.2036e-02,3.4505e-02,-3.1260e-02,-2.4693e-03,2.2842e-03,3.3061e-06,5.6517e-02,3.3638e-03
+34,2.1833e+00,UP_FORCE_RAMP,5.3537e-04,2.1998e-02,3.6752e-02,2.4248e+00,-3.9451e-02,3.8360e-02,-3.1519e-05,3.1943e-02,3.4477e-02,-2.9046e-02,-2.4686e-03,2.2763e-03,2.1080e-06,5.5251e-02,3.3579e-03
+35,2.2500e+00,UP_FORCE_RAMP,5.5423e-04,2.1994e-02,3.6747e-02,2.4263e+00,-3.9451e-02,3.8359e-02,-3.2452e-05,3.1940e-02,3.4471e-02,-2.7555e-02,-2.4690e-03,2.2752e-03,1.1752e-06,5.4476e-02,3.3575e-03
+36,2.3333e+00,UP_FORCE_RAMP,5.6685e-04,2.4669e-02,3.6558e-02,2.4193e+00,-3.9440e-02,3.8553e-02,-3.3902e-05,3.4615e-02,3.4282e-02,-3.4534e-02,-2.4583e-03,2.4689e-03,-2.7500e-07,5.9717e-02,3.4841e-03
+37,2.4000e+00,UP_FORCE_RAMP,5.8287e-04,2.4589e-02,3.6568e-02,2.4211e+00,-3.9441e-02,3.8547e-02,-3.4893e-05,3.4535e-02,3.4293e-02,-3.2760e-02,-2.4596e-03,2.4623e-03,-1.2660e-06,5.8667e-02,3.4803e-03
+38,2.4833e+00,UP_FORCE_RAMP,5.9987e-04,2.7837e-02,3.7362e-02,2.4144e+00,-3.9499e-02,3.8781e-02,-3.5693e-05,3.7782e-02,3.5086e-02,-3.9460e-02,-2.5170e-03,2.6963e-03,-2.0659e-06,6.4928e-02,3.6885e-03
+39,2.5667e+00,UP_FORCE_RAMP,6.1594e-04,2.7594e-02,3.7354e-02,2.4169e+00,-3.9499e-02,3.8762e-02,-3.7049e-05,3.7540e-02,3.5079e-02,-3.6933e-02,-2.5171e-03,2.6778e-03,-3.4214e-06,6.3276e-02,3.6751e-03
+40,2.6333e+00,UP_FORCE_RAMP,6.3239e-04,2.9100e-02,3.9348e-02,2.4099e+00,-3.9640e-02,3.8874e-02,-3.6558e-05,3.9046e-02,3.7072e-02,-4.4028e-02,-2.6578e-03,2.7894e-03,-2.9313e-06,6.9551e-02,3.8529e-03
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/fem_node.csv
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index 0000000000000000000000000000000000000000..2819b712d6280ff8057683259edb97d727fdd3e4
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df9376da268f1f6ca9814683a4d779f90be5ac02
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/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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+3768,1791620710217575502,25894024000000,1791620710214684453,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760295785321985,-0.004800951007263167,0.09051741432515296,0.9999999796767358,0.00011884603773090124,-0.00010355985790062488,8.509034996498412e-05,0.6761,-0.0048,0.09052913299944194,1.0,0.0,0.0,0.0,0.07754712881051043,0.08688756073832718,0.34443915854357243,0.005187302882963117,-0.005279916695813595,-3.250791302551216e-05,0.06376256389202761,0.1396117124073712,0.20127913273317194,0.004242198390287824,-0.006203855958726642,-0.00122647498240033,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9323986896269705,-0.15430417596881785,0.031670802010741184,0.3449139114842768,0.1500594482750968,-0.16616598481238148,0.6955959986629165,0.34443915854357243,0.6639251966521753,0.6639251966521753,0.7499663785231316,0,0,-9.349544987238977e-05,9.992548041649058e-05
+3964,1791620711850611792,25895657000000,1791620711846674726,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760384462567537,-0.004801147010072344,0.0903831750514818,0.9999999830385705,0.00010106760014705064,-8.849221580360427e-05,8.555811496006174e-05,0.6761,-0.0048,0.09037573015578997,1.0,0.0,0.0,0.0,0.08265215505074207,0.08933341837826891,0.46644188888945565,0.006163859515558867,-0.004843844541281632,-0.00011330623147922888,0.06886759013225925,0.14205757004731293,0.32328186307905515,0.005218755022883574,-0.005767783804194679,-0.0013072733008540468,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9717035237204004,-0.13573441677352827,-0.011978413781992232,0.3422402975865831,0.1910022227121162,-0.1538445277282428,0.6955959986629165,0.46644188888945565,0.7075744124449088,0.7075744124449088,0.880606378523081,1,0,-8.897823147310658e-05,-9.995531766027738e-05
+4156,1791620713450619389,25897257000000,1791620713446675130,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760460066623196,-0.004804605593063212,0.09024697263220834,0.9999999846855744,8.938093141330351e-05,-7.660897672296627e-05,9.063017752085341e-05,0.6761,-0.0048,0.09022854830541897,1.0,0.0,0.0,0.0,0.0762277224355298,0.10190116712596714,0.5769095408108322,0.006129075864038484,-0.00433906158333608,-0.00019689919396593722,0.06244315751704699,0.15462531879501115,0.4337495150004317,0.005183971371363191,-0.005263000846249127,-0.0013908662633407552,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0203797914258317,-0.07256165265840243,-0.23117664107983868,0.31924336169039275,0.3401985847714342,-0.11474697999376507,0.6955959986629165,0.5769095408108322,0.9267726397427553,0.9267726397427553,1.0086063785230432,1,0,-9.27343604864309e-05,9.979110179714751e-05
+4327,1791620714875673173,25898682000000,1791620714874675098,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760549719439893,-0.004803728917569116,0.0901285659263381,0.9999999870876035,7.336837703517945e-05,-6.243757336819168e-05,8.936603341521151e-05,0.6761,-0.0048,0.09009514912829092,1.0,0.0,0.0,0.0,0.08397776044550315,0.10398653711087172,0.6675613283196105,0.007084645452968419,-0.004375967668119904,-0.00026183535483741724,0.07019319552702033,0.15671068877991573,0.52440130250921,0.006139540960293126,-0.0052999069310329504,-0.0014558024242122352,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9993013042259967,-0.1486875760974237,-0.31501534983212404,0.3485696061747258,0.3899020561217356,-0.16248459421852474,0.6955959986629165,0.6675613283196105,1.0106113484950405,1.0106113484950405,1.1226063785231573,1,0,-9.775156323691003e-05,6.580105490894823e-05
+4509,1791620716392650375,25900199000000,1791620716390674764,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760687658215975,-0.004808808154550556,0.08999727247220769,0.999999988497905,7.096426567866808e-05,-4.0972752824170034e-05,8.793384381060658e-05,0.6761,-0.0048,0.08993817187534157,1.0,0.0,0.0,0.0,0.07228814243114332,0.09893009119220944,0.7681417793355978,0.0071114877303464115,-0.004391080547171406,0.00026262667179340537,0.05850357751266049,0.15165424286125345,0.6249817535251972,0.006166383237671118,-0.0053150198100844525,-0.0009313403975814126,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.036880807254219,-0.0732975185965511,-0.4430512113402965,0.32798089088148075,0.4797284435316708,-0.1132128714545718,0.6955959986629165,0.7681417793355978,1.138647210003213,1.138647210003213,1.2439663785232786,1,0,-0.00011011937727370557,9.999915759196227e-05
+4690,1791620717900723676,25901707000000,1791620717898675697,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760775752473944,-0.004818124264180097,0.0898431314775916,0.9999999878554289,8.006947629719104e-05,-2.4740328391542858e-05,9.332096038355837e-05,0.6761,-0.0048,0.08976543894141303,1.0,0.0,0.0,0.0,0.06553231928866786,0.10167914980505313,0.8585053556224211,0.0070605402062456765,-0.0034082952012817,0.0005455915784210646,0.05174775437018504,0.15440330147409714,0.7153453298120207,0.006115435713570383,-0.004332234464194747,-0.0006483754909537533,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.037993470609943,-0.07432675213958308,-0.5287869497099655,0.3302564545379829,0.5355171790629772,-0.11394761233905212,0.6955959986629165,0.8585053556224211,1.224382948372882,1.224382948372882,1.3646063785233993,1,0,-0.0001226250206279048,9.999999025923074e-05
+4866,1791620719367735876,25903174000000,1791620719362675216,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760902942089455,-0.00481807864714511,0.08967326147434916,0.9999999882631971,7.873236137440049e-05,-7.889951624546416e-06,9.303458435658128e-05,0.6761,-0.0048,0.08957649598028958,1.0,0.0,0.0,0.0,0.06533273666860515,0.10389617772157686,0.9552225544244668,0.007041849829534181,-0.003429805519886549,0.0005506058844268376,0.05154817175012232,0.15662032939062087,0.8120625286140664,0.006096745336858888,-0.004353744782799596,-0.0006433611849479804,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0368393828160276,-0.10238930692796613,-0.6006056270982062,0.34529035347728954,0.5802408883981335,-0.1337882927191316,0.6955959986629165,0.9552225544244668,1.2962016257611229,1.2962016257611229,1.4819663785235166,1,0,-0.00013778098951619378,-8.701255968380223e-05
+5014,1791620720600754463,25904407000000,1791620720594675369,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760959774341743,-0.00481804778549849,0.08950091817354759,0.999999990494943,6.064537610092232e-05,2.511640175561167e-06,8.22727685352351e-05,0.6761,-0.0048,0.08939641422647696,1.0,0.0,0.0,0.0,0.06588748314635277,0.10586968714475828,1.0112119175949001,0.007031737673478016,-0.003441760641548713,0.0005066626857167264,0.05210291822786995,0.1585938388138023,0.8680518917844996,0.006086633180802723,-0.00436569990446176,-0.0006873043836580915,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0224388360770036,-0.09529987128381326,-0.6501095005042172,0.34778106193366276,0.6068182175085844,-0.12830872530312093,0.6955959986629165,1.0112119175949001,1.3457054991671338,1.3457054991671338,1.5806063785236153,1,0,-0.00015554375977086388,-9.999997638144293e-05
+5145,1791620721692820224,25905499000000,1791620721686675274,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760953306224018,-0.004827763596987849,0.08931335871161578,0.9999999898443125,6.164775563912542e-05,-2.0191324145460317e-06,8.916118421231441e-05,0.6761,-0.0048,0.08921247091338223,1.0,0.0,0.0,0.0,0.07484948986181109,0.0949237169814541,1.0608975627496828,0.0060007654663135155,-0.00343345397604393,0.0004547672073572851,0.06106492494332827,0.14764786865049812,0.9177375369392823,0.005055660973638222,-0.004357393238956977,-0.0007391998620175328,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.026704511967114,-0.01771074815831976,-0.7345288508576823,0.326573509340781,0.6621131449994967,-0.07670943482198411,0.6955959986629165,1.0608975627496828,1.430124849520599,1.430124849520599,1.6679663785237027,1,0,-0.00017929404432934082,-9.99972563350326e-05
+5261,1791620722658883084,25906465000000,1791620722658674757,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760959013025686,-0.00483150855190827,0.08912584896876351,0.9999999885352558,7.682021021820718e-05,-2.2730139433476896e-06,9.20100066665486e-05,0.6761,-0.0048,0.08902399625968184,1.0,0.0,0.0,0.0,0.07535325597777971,0.08317401187165188,1.0829539601490614,0.0049757630563147075,-0.003418580261891571,0.00042575228405422724,0.06156869105929689,0.1358981635406959,0.9397939343386609,0.004030658563639414,-0.004342519524804618,-0.0007682147853205907,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9777557031810045,-0.065621654278789,-0.7523988462811956,0.33771358798023754,0.655583907938933,-0.10890912506709922,0.6955959986629165,1.0829539601490614,1.447994844944112,1.447994844944112,1.74524637852378,1,0,-0.00021099318451708727,-9.94715796106604e-05
+5361,1791620723492907603,25907299000000,1791620723486674976,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760921879680979,-0.004834576807523948,0.08892530608289652,0.9999999889627061,7.054998962563282e-05,-9.180541593881515e-06,9.195579662400977e-05,0.6761,-0.0048,0.088833629474822,1.0,0.0,0.0,0.0,0.07500740961704398,0.07306673598427715,1.0785320680741428,0.005001693324801447,-0.004400078361902596,0.00041038932725702935,0.06122284469856116,0.12579088765332117,0.9353720422637423,0.004056588832126153,-0.005324017624815643,-0.0007835777421177886,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.901276397598225,-0.13870326362031765,-0.6601866140345045,0.36296446987645675,0.5725662394190955,-0.15757038357236453,0.6955959986629165,1.0785320680741428,1.355782612697421,1.355782612697421,1.8119663785238467,1,0,-0.0002464092276708004,-9.999999025923074e-05
+5453,1791620724258824130,25908065000000,1791620724254675461,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760910445618535,-0.004838294760950744,0.0887208783881391,0.9999999888557172,6.533780193146751e-05,-1.1741968954548423e-05,9.656359455696515e-05,0.6761,-0.0048,0.08863132384798668,1.0,0.0,0.0,0.0,0.0753607635919817,0.08284308804911919,1.078442095746296,0.004977331304383211,-0.0034169274671004574,0.00029418962979984664,0.06157619867349888,0.1355672397181632,0.9352820699358955,0.004032226811707918,-0.004340866730013504,-0.0008997774395749713,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9389050522107548,0.05670870002181315,-0.7232599403276766,0.3068524521618916,0.6179051311640318,-0.032537903945978004,0.6955959986629165,1.078442095746296,1.418855938990593,1.418855938990593,1.873246378523908,1,0,-0.00028277532290318783,-9.999999025923074e-05
+5541,1791620724992936898,25908799000000,1791620724990674670,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760913350956371,-0.004842367669629978,0.0885060702348082,0.9999999887069776,6.766398185329469e-05,-1.1982929358020164e-05,9.647229690769008e-05,0.6761,-0.0048,0.08841070091657441,1.0,0.0,0.0,0.0,0.07613335089444971,0.05992019956942998,1.0781281163098255,0.003981098130470238,-0.004408860193150216,0.00040235622732071334,0.06234878597596689,0.112644351238474,0.934968090499425,0.0030359936377949447,-0.005332799456063263,-0.0007916108420541046,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8422760654316411,-0.05020238384666749,-0.7263944988635961,0.33807799878858047,0.5842863584957904,-0.10189076378320308,0.6955959986629165,1.0781281163098255,1.4219904975265125,1.4219904975265125,1.9319663785239667,1,0,-0.000318667485298156,-9.999999025923074e-05
+5609,1791620725558928993,25909365000000,1791620725558675149,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760914437665781,-0.004842637267314515,0.08831352447692595,0.9999999891357242,6.418924854958684e-05,-1.4782526774658733e-05,9.398208908681519e-05,0.6761,-0.0048,0.08822252380510226,1.0,0.0,0.0,0.0,0.07590027025588211,0.06790982776236076,1.0781200717153345,0.003954815015303095,-0.0033992892561967155,0.0004180434909612634,0.06211570533739929,0.12063397943140478,0.934960045904934,0.003009710522627802,-0.004323228519109762,-0.0007759235784135546,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8192952402616006,-0.058560309766516785,-0.7361182457291551,0.3442279993435056,0.5805185219595321,-0.10381583291773867,0.6955959986629165,1.0781200717153345,1.4317142443920716,1.4317142443920716,1.977246378524012,1,0,-0.0003466202015231775,-9.999999025923074e-05
+5676,1791620726117966270,25909924000000,1791620726110674893,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760843121518093,-0.004842552342313422,0.08809925980544206,0.9999999883764401,6.678637773080397e-05,-2.8610407401737104e-05,9.701035253882716e-05,0.6761,-0.0048,0.08802106033484741,1.0,0.0,0.0,0.0,0.07667269302781615,0.05309415758939558,1.0837370840052898,0.002959769905367544,-0.004392305350217734,0.00038946361062312774,0.06288812810933334,0.10581830925843959,0.9405770581948892,0.0020146654126922507,-0.005316244613130781,-0.0008045034587516902,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8954658413633751,0.024308771418384945,-0.7899278807124085,0.3238838694707485,0.6354628511774767,-0.051802455509187426,0.6955959986629165,1.0837370840052898,1.4855238793753252,1.4855238793753252,2.0219663785240565,1,0,-0.00037425766682561,-9.999999025923074e-05
+5740,1791620726650912735,25910457000000,1791620726650674410,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760834356925671,-0.004848526647131966,0.087889557030077,0.9999999882061978,6.606310564696306e-05,-3.218801183610205e-05,9.813290138094685e-05,0.6761,-0.0048,0.08781449209981558,1.0,0.0,0.0,0.0,0.07648674100503017,0.04677544795380437,1.0636395151241165,0.0029686459794406794,-0.004383534326836769,-3.2124831969133037e-06,0.06270217608654735,0.09949959962284838,0.920479489313716,0.002023541486765386,-0.005307473589749816,-0.0011971795525717312,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8491599821142309,-0.10392748078347129,-0.7668453412762024,0.36094509936544406,0.6049580478674571,-0.13561349234856196,0.6955959986629165,1.0636395151241165,1.462441339939119,1.462441339939119,2.064606378524099,1,0,-0.00040090766163378,-9.999999025923074e-05
+5804,1791620727183962703,25910990000000,1791620727178676072,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760825583229627,-0.004852774199990819,0.08767160703011213,0.9999999877882043,7.009529077540342e-05,-3.298379657607962e-05,9.932358694604896e-05,0.6761,-0.0048,0.087593719417551,1.0,0.0,0.0,0.0,0.0767157168773622,0.04633680516278682,1.0576489376062834,0.0029635493010931983,-0.004386202734328005,0.0004074244440964125,0.06293115195887938,0.09906095683183083,0.9144889117958829,0.002018444808417905,-0.005310141997241052,-0.0007865426252784054,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8103993782059156,-0.08053769495403962,-0.7687825343795147,0.3591917591515212,0.5951471250344409,-0.1233097821185441,0.6955959986629165,1.0576489376062834,1.4643785330424313,1.4643785330424313,2.1072463785241418,1,0,-0.00042755765644194996,-9.999999025923074e-05
+5864,1791620727683999479,25911490000000,1791620727678675307,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760792871705211,-0.004859347703062887,0.08744859552716573,0.9999999882347105,5.901097657169999e-05,-3.790918173628994e-05,0.00010026984634512648,0.6761,-0.0048,0.08737370309055005,1.0,0.0,0.0,0.0,0.07667565202251007,0.04277179929562892,1.0478378864746716,0.0029650003221925935,-0.004383689592536958,0.0003994276776351981,0.06289108710402726,0.09549595096467293,0.904677860664271,0.0020198958295173,-0.005307628855450005,-0.0007945393917396198,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7431729272866999,-0.0695990551435617,-0.6718677496681529,0.35184272094971286,0.5133555324331379,-0.11647250781694463,0.6955959986629165,1.0478378864746716,1.3674637483310694,1.3674637483310694,2.1472463785241818,1,0,-0.00045255765157156534,-9.999999025923074e-05
+5920,1791620728150992821,25911957000000,1791620728146675190,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760803846985227,-0.004857647513012651,0.08723661328303926,0.9999999877442344,6.675094960259759e-05,-3.693494658202684e-05,0.00010067033358695288,0.6761,-0.0048,0.08715691811833058,1.0,0.0,0.0,0.0,0.07094413859268535,0.03682834835669031,1.0475301940282533,0.002827747918574761,-0.004380583582338371,0.00041309020970040967,0.057159573674202525,0.08955250002573432,0.9043701682178528,0.001882643425899468,-0.005304522845251417,-0.0007808768596744083,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7775791592091741,-0.1336219145151339,-0.5543687967752788,0.37935397049556496,0.44775410478633815,-0.15584015619440872,0.6955959986629165,1.0475301940282533,1.2499647954381954,1.2499647954381954,2.184606378524219,1,0,-0.0004759076470226261,-9.999999025923074e-05
+5972,1791620728583988142,25912390000000,1791620728582675337,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760800091348176,-0.004856176394015337,0.08702950104372137,0.9999999889524085,5.733694083935328e-05,-3.394255775061381e-05,9.538566569830812e-05,0.6761,-0.0048,0.08694617370808504,1.0,0.0,0.0,0.0,0.07523972621924223,0.03283721842035599,1.037334594073103,0.0019761003229697934,-0.004362179403188605,0.00041339450732876286,0.061455161300759405,0.0855613700894,0.8941745682627024,0.0010309958302945003,-0.0052861186661016515,-0.0007805725620460551,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.766239346922902,-0.15915067622473694,-0.5774016805181855,0.3901892171248982,0.463568719164183,-0.17633574927074291,0.6955959986629165,1.037334594073103,1.2729976791811022,1.2729976791811022,2.2192463785242538,1,0,-0.0004975576428048731,-9.999999025923074e-05
+6024,1791620729017938687,25912824000000,1791620729010675855,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760768976011,-0.004859569541410113,0.08680457261679936,0.9999999881477479,5.830539432988859e-05,-3.993855033176531e-05,0.00010076091301426511,0.6761,-0.0048,0.0867255356420272,1.0,0.0,0.0,0.0,0.0680864961620415,0.03236256784347859,1.0271687406380576,0.0019479854428527967,-0.004359382135796023,0.0004195060392185747,0.054301931243558685,0.0850867195125226,0.8840087148276572,0.0010028809501775036,-0.00528332139870907,-0.0007744610301562432,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7384818938770326,-0.05353931194874579,-0.5729523825568014,0.3602369601095431,0.4543347680113838,-0.10602190087486937,0.6955959986629165,1.0271687406380576,1.268548381219718,1.268548381219718,2.2539663785242885,1,0,-0.0005192576385773792,-9.999999025923074e-05
+6072,1791620729417976062,25913224000000,1791620729414675061,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760802285127946,-0.004856695057122179,0.08659955250934795,0.9999999890889218,5.630204538917458e-05,-3.3116116875993915e-05,9.486001880986393e-05,0.6761,-0.0048,0.08651384258737746,1.0,0.0,0.0,0.0,0.06262071059920644,0.04466186644279706,1.0073065274525759,0.0029472546202371844,-0.0033605116002291867,0.0002464153334172861,0.04883614568072362,0.09738601811184107,0.8641465016421753,0.0020021501275618915,-0.0042844508631422334,-0.0009475517359575318,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7251325042835879,-0.008545439958965093,-0.5102854877031857,0.3559585806618674,0.41180185674793884,-0.07263197277665036,0.6955959986629165,1.0073065274525759,1.2058814863661023,1.2058814863661023,2.2859663785243205,1,0,-0.0005392576346810715,-9.999999025923074e-05
+6119,1791620729809014280,25913615000000,1791620729806675346,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760774880488898,-0.004858742206909101,0.08638689410144003,0.9999999885471795,6.112302352883557e-05,-3.686900098218533e-05,9.619333616983872e-05,0.6761,-0.0048,0.08629918060296365,1.0,0.0,0.0,0.0,0.06790987830275375,0.04179416915208005,0.9968141754405606,0.001939152778376017,-0.0033377471304447282,-3.5020048700165835e-05,0.05412531338427092,0.09451832082112406,0.8536541496301602,0.000994048285700724,-0.004261686393357775,-0.0012289871180749838,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7394224095048535,-0.07943797128853206,-0.48827921749933584,0.3750487980360786,0.40294667156294356,-0.12123297440949891,0.6955959986629165,0.9968141754405606,1.1838752161622523,1.1838752161622523,2.317246378524352,1,0,-0.0005588076308724307,-9.999999025923074e-05
+6167,1791620730209042522,25914015000000,1791620730206675254,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760754734164611,-0.004863303086236649,0.0861600524812767,0.9999999883766537,5.8180360357817685e-05,-3.7846401101783294e-05,9.935920840476334e-05,0.6761,-0.0048,0.08607166755139589,1.0,0.0,0.0,0.0,0.05889739055829589,0.04219829440172712,0.9872437103184815,0.0022907263989503206,-0.0033460408585429613,0.00046733018144461396,0.045112825639813066,0.09492244607077113,0.844083684508081,0.0013456219062750276,-0.004269980121456008,-0.000726636887930204,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7585572471658392,-0.1831372876564342,-0.5796130711346245,0.40381805029685314,0.4650104884228003,-0.19005046005268156,0.6955959986629165,0.9872437103184815,1.275209069797541,1.275209069797541,2.349246378524384,1,0,-0.000578807626976123,-9.999999025923074e-05
+6211,1791620730576084190,25914382000000,1791620730570675016,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760773435306932,-0.004865705956390601,0.08594836295547006,0.999999988369453,5.8093618978148286e-05,-3.58903696380868e-05,0.00010020464637253235,0.6761,-0.0048,0.08585588710295343,1.0,0.0,0.0,0.0,0.051109533060078274,0.042829029763298165,0.9771885448149058,0.00272544575151508,-0.0033506757119348574,0.0004823631635838757,0.03732496814159545,0.09555318143234218,0.8340285190045054,0.0017803412588397868,-0.004274614974847904,-0.0007116039057909422,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.765114825732537,-0.07481606534039846,-0.5520555956012617,0.3797524056342527,0.4512319262603291,-0.11716931186657055,0.6955959986629165,0.9771885448149058,1.2476515942641782,1.2476515942641782,2.378606378524413,1,0,-0.0005971576234012607,-9.999999025923074e-05
+6255,1791620730943045725,25914749000000,1791620730942674366,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760761490362461,-0.004864290548996384,0.0857208453505712,0.9999999886909688,5.828402272623964e-05,-3.374541961075128e-05,9.759685441668289e-05,0.6761,-0.0048,0.08563337220582294,1.0,0.0,0.0,0.0,0.05695353198382269,0.030271805785021214,0.9668440618042424,0.0019316195660971356,-0.0033330677977714543,0.0004827606126583743,0.04316896706533987,0.08299595745406523,0.8236840359938419,0.0009865150734218425,-0.004257007060684501,-0.0007112064567164437,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7522563838128173,-0.024386928436719763,-0.47761039640826214,0.3598450737622498,0.3973803497763536,-0.08882307609594971,0.6955959986629165,0.9668440618042424,1.1732063950711786,1.1732063950711786,2.4079663785244425,1,0,-0.0006155076198263984,-9.999999025923074e-05
+6295,1791620731276053216,25915082000000,1791620731270675322,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760725844366001,-0.004869281070544623,0.0855115030081165,0.9999999883989441,5.6671446521455255e-05,-3.874054634324318e-05,9.966189505891925e-05,0.6761,-0.0048,0.08542564426896244,1.0,0.0,0.0,0.0,0.05874382387686519,0.029836080458511785,0.946337166006811,0.0019441687766374406,-0.0033230594354896397,-0.00034985488104574583,0.04495925895838237,0.0825602321275558,0.8031771401964105,0.0009990642839621474,-0.0042469986984026865,-0.0015438219504205638,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7814347681544042,-0.06023511828403011,-0.5176750116116888,0.36328118977972323,0.435518480312925,-0.11288821818518516,0.6955959986629165,0.946337166006811,1.2132710102746054,1.2132710102746054,2.434606378524469,1,0,-0.0006321576165827222,-9.999999025923074e-05
+6335,1791620731609098769,25915415000000,1791620731602674718,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.676074032010698,-0.004866603585218677,0.08530337946033911,0.9999999894094237,4.890473913301752e-05,-3.445357382988438e-05,9.510675341020199e-05,0.6761,-0.0048,0.08521237188318209,1.0,0.0,0.0,0.0,0.057311429660166946,0.03140535565938067,0.9359339345510735,0.0019104158797132566,-0.0023127041743503116,0.00045132372341488973,0.04352686474168412,0.08412950732842468,0.792773908740673,0.0009653113870379635,-0.0032366434372633583,-0.0007426433459599282,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8179663779804361,-0.13135059546889166,-0.5703293310190478,0.38743667976558666,0.476735719493422,-0.15320715024807122,0.6955959986629165,0.9359339345510735,1.2659253296819644,1.2659253296819644,2.461246378524496,1,0,-0.000648807613339046,-9.999999025923074e-05
+6375,1791620731943047625,25915749000000,1791620731942674814,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.676070496051253,-0.004870083729703335,0.08508503977565227,0.9999999890573743,4.673992588025697e-05,-3.88962913118382e-05,9.813548505076623e-05,0.6761,-0.0048,0.0849928895908718,1.0,0.0,0.0,0.0,0.04931726315801317,0.02946689608000326,0.9261928923079228,0.00192067429105418,-0.0023053670758800358,-0.0004970436914655731,0.03553269823953035,0.08219104774904727,0.7830328664975222,0.0009755697983788868,-0.0032293063387930825,-0.001691010760840391,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8306644237730935,0.0048861668988915445,-0.41337087770476894,0.3471335142023978,0.3827082507563325,-0.0649610157567973,0.6955959986629165,0.9261928923079228,1.1089668763676854,1.1089668763676854,2.4879663785245225,1,0,-0.0006655076100856291,-9.999999025923074e-05
+6415,1791620732276117999,25916082000000,1791620732274674935,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760722161401861,-0.004874768686174301,0.08486302614237984,0.9999999894610346,4.4028935087122065e-05,-3.620976412244225e-05,9.628655599136819e-05,0.6761,-0.0048,0.08476851165725498,1.0,0.0,0.0,0.0,0.04936116976233588,0.028649374787381457,0.9040131948572843,0.001924613655340033,-0.002300703174202042,-0.0004794708442566113,0.035576604843853055,0.08137352645642547,0.7608531690468838,0.00097950916266474,-0.0032246424371150887,-0.0016734379136314293,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8483387005263124,-0.06653072062474046,-0.5525169862107764,0.36814795748947854,0.47070389700140286,-0.11122791906390148,0.6955959986629165,0.9040131948572843,1.248112984873693,1.248112984873693,2.514606378524549,1,0,-0.000682157606841953,-9.999999025923074e-05
+6451,1791620732576095429,25916382000000,1791620732574675169,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760672204363041,-0.004877344266839108,0.08464893302996689,0.9999999886832418,4.4538629180015914e-05,-4.313999931650914e-05,0.00010115152831768121,0.6761,-0.0048,0.08456162187564219,1.0,0.0,0.0,0.0,0.04738394914349031,0.030915943235640356,0.8762890915067223,0.0019210799957051475,-0.0022961488572894396,0.000548695617383426,0.03359938422500749,0.08364009490468437,0.7331290656963217,0.0009759755030298543,-0.003220088120202486,-0.0006452714519913919,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.833181620195406,-0.07334351408043906,-0.46970457634921225,0.36573935004356134,0.41309150272555895,-0.11691111522371683,0.6955959986629165,0.8762890915067223,1.1653005750121288,1.1653005750121288,2.538606378524573,1,0,-0.0006971576039197222,-9.999999025923074e-05
+6491,1791620732909097581,25916715000000,1791620732906675138,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760608518558577,-0.004874364887944296,0.08440746543617149,0.9999999884030408,4.373665504563822e-05,-5.440923630484252e-05,9.881053862406242e-05,0.6761,-0.0048,0.08432670449407861,1.0,0.0,0.0,0.0,0.04083463098839862,0.018116122684862512,0.8555208956776621,0.0009138765521267493,-0.0022692501723340797,-0.0004524846234954113,0.027050066069915793,0.07084027435390652,0.7123608698672617,-3.122794054854388e-05,-0.0031931894352471265,-0.0016464516928702292,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8519467692376358,0.0008243558085810574,-0.491586075970462,0.3365255805356924,0.4320587233270992,-0.07133847350899217,0.6955959986629165,0.8555208956776621,1.1871820746333785,1.1871820746333785,2.5652463785246,1,0,-0.000713807600676046,-9.999999025923074e-05
+6527,1791620733209137356,25917015000000,1791620733206684755,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760594903667286,-0.00487517667618287,0.08419872953350095,0.9999999881417916,4.5485583215144163e-05,-5.4685012048467376e-05,0.00010049821944505823,0.6761,-0.0048,0.0841103197143156,1.0,0.0,0.0,0.0,0.040779575917514084,0.007773929920352182,0.8359590374035086,0.000914903300143668,-0.0022656101032965184,-0.0003865315098474486,0.026995010999031264,0.060498081589396194,0.6927990115931082,-3.0201192531625162e-05,-0.0031895493662095647,-0.0015804985792222666,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8985355885992633,-0.13708797273673448,-0.45582108044967035,0.3749160066409923,0.41922556124510313,-0.16030095889960205,0.6955959986629165,0.8359590374035086,1.1514170791125868,1.1514170791125868,2.589246378524624,1,0,-0.0007288075977538152,-9.999999025923074e-05
+6562,1791620733501108127,25917307000000,1791620733498674723,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760622519259142,-0.004874593589760799,0.08399130751998725,0.9999999890557035,4.016273565610356e-05,-4.791413396751955e-05,9.707032308950506e-05,0.6761,-0.0048,0.08389538359618817,1.0,0.0,0.0,0.0,0.0321784640840199,0.016348336528929322,0.8157794867932164,0.000899819100056044,-0.001848822099495556,0.0006189379308690393,0.018393899165537075,0.06907248819797333,0.6726194609828159,-4.528539261924916e-05,-0.0027727613624086026,-0.0005750291385057787,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.8531577484868741,-0.05503164170232234,-0.3832764891465834,0.35327482759332207,0.35913940581052933,-0.10569041239543644,0.6955959986629165,0.8157794867932164,1.0788724878095,1.0788724878095,2.612606378524647,1,0,-0.0007434075949095106,-9.999999025923074e-05
+6598,1791620733801056515,25917607000000,1791620733798674349,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760612738876279,-0.00487906078529479,0.08376856613363734,0.9999999889730091,3.9174353953676205e-05,-4.80081065767634e-05,9.827226244771621e-05,0.6761,-0.0048,0.08367011881815511,1.0,0.0,0.0,0.0,0.023344924587780563,0.020363058781685303,0.7955022857633458,0.0008926247059818384,-0.0012471257557517686,0.00018054074456286544,0.00956035966929774,0.07308721045072931,0.6523422599529453,-5.2479786693454714e-05,-0.002171065018664815,-0.0010134263248119525,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9521626809817769,-0.0038291577955314048,-0.42726637277604956,0.3346691274774423,0.41067564667093126,-0.06938777089666495,0.6955959986629165,0.7955022857633458,1.122862371438966,1.122862371438966,2.636606378524671,1,0,-0.0007584075919872798,-9.999999025923074e-05
+6630,1791620734068098206,25917874000000,1791620734066684328,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760565736106043,-0.004878146705951981,0.08355383075481432,0.9999999889575079,3.4225132628306915e-05,-5.42210242672844e-05,9.703900921003687e-05,0.6761,-0.0048,0.08346584844144302,1.0,0.0,0.0,0.0,0.022325147819142244,0.013363012199522531,0.7751695690899105,0.0009001846143280044,-0.0012390460785188923,-0.0003722198873484131,0.008540582900659422,0.06608716386856654,0.63200954327951,-4.49198783472887e-05,-0.002162985341431939,-0.001566186956723231,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9579279693937296,-0.03058016791982702,-0.5565563422056087,0.3411286932006395,0.49169624811169194,-0.08557234986028332,0.6955959986629165,0.7751695690899105,1.2521523408685251,1.2521523408685251,2.6579663785246925,1,0,-0.0007717575893864944,-9.999999025923074e-05
+6662,1791620734334137680,25918140000000,1791620734330684740,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760528790937218,-0.004878971711198656,0.08334189672401932,0.999999988969876,3.0886297284254385e-05,-5.81962548663215e-05,9.572013877068673e-05,0.6761,-0.0048,0.08325879867301211,1.0,0.0,0.0,0.0,0.025924624997457762,0.010557522963681593,0.7551013603605434,0.0009036718751112892,-0.0012345821371818162,-0.0003574894816020075,0.01214006007897494,0.0632816746327256,0.611941334550143,-4.1432617564003976e-05,-0.0021585214000948627,-0.0015514565509768255,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0495506799084104,-0.15815704540322736,-0.39487607431290755,0.3748670674325592,0.4143347317300703,-0.16760265070937125,0.6955959986629165,0.7551013603605434,1.0904720729758242,1.0904720729758242,2.679246378524714,1,0,-0.0007850575867954498,-9.999999025923074e-05
+6694,1791620734601114562,25918407000000,1791620734598684174,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760472759598025,-0.004876387667007432,0.08312115706590134,0.9999999881773789,3.43277794528247e-05,-6.579611590173648e-05,9.788044365178143e-05,0.6761,-0.0048,0.08304741274768623,1.0,0.0,0.0,0.0,0.02289310876342924,0.006385072033469212,0.7352804066132426,-0.00011954447710117071,-0.0012154895295261971,0.00044658689552757387,0.009108543844946417,0.059109223702513224,0.5921203808028421,-0.0010646489697764638,-0.0021394287924392436,-0.0007473801738472441,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9885601194584808,-0.04559529199274359,-0.4320809282304393,0.33778407624235013,0.41910879219559716,-0.09782294614288597,0.6955959986629165,0.7352804066132426,1.127676926893356,1.127676926893356,2.700606378524735,1,0,-0.0007984075841946644,-9.999999025923074e-05
+6726,1791620734868145367,25918674000000,1791620734862684776,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760438117250156,-0.004876512074000836,0.08290137222719814,0.9999999883322669,2.7469632840255443e-05,-7.131410285494021e-05,9.45412528925913e-05,0.6761,-0.0048,0.08283246237305476,1.0,0.0,0.0,0.0,0.022877278484905228,-0.0037837577303607914,0.7145494142309199,-0.0001101301971959184,-0.00120599775773532,-0.00033662877008140907,0.009092713566422404,0.04894039393868322,0.5713893884205193,-0.0010552346898712115,-0.0021299370206483664,-0.001530595839456227,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.034121408759087,-0.049741995255054225,-0.3979869408976877,0.33476476688911905,0.41010034350578456,-0.09930600080663245,0.6955959986629165,0.7145494142309199,1.0935829395606043,1.0935829395606043,2.7219663785247565,1,0,-0.000811757581593879,-9.999999025923074e-05
+6758,1791620735134088774,25918940000000,1791620735126684493,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760376984751337,-0.0048767899764660064,0.08267432681656395,0.9999999875567674,2.8096026436701437e-05,-8.171223871854696e-05,9.414378783472794e-05,0.6761,-0.0048,0.0826147726066967,1.0,0.0,0.0,0.0,0.019165489533824225,-0.0033431600580799137,0.6848167321193968,-0.0001121595443339706,-0.0012041618343786138,0.0005766342740976897,0.005380924615341404,0.0493809916109641,0.5416567063089963,-0.0010572640370092637,-0.0021281010972916603,-0.0006173327952771283,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0751607268516914,-0.06628840312478707,-0.3980210871206919,0.3357163695019907,0.41798272373948747,-0.11179477131709234,0.6955959986629165,0.6848167321193968,1.0936170857836085,1.0936170857836085,2.743246378524778,1,0,-0.0008250575790028344,-9.999999025923074e-05
+6786,1791620735368192981,25919174000000,1791620735366675205,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760284987295352,-0.004875965950871914,0.08246408878148483,0.9999999860730141,2.8327077106433937e-05,-9.675901672084578e-05,9.55620511203373e-05,0.6761,-0.0048,0.08242034608347786,1.0,0.0,0.0,0.0,0.012889966488474841,-0.005935083370867053,0.65567089027652,-9.906110076899764e-05,-0.0011929315116094746,-0.0002902779441775619,-0.0008945984300079806,0.04678906829817696,0.5125108644661196,-0.0010441655934442908,-0.002116870774522521,-0.0014842450135523798,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0874759203036664,-0.07655164168475355,-0.3023608712645531,0.3398061327106226,0.35688016995142485,-0.11113843446892421,0.6955959986629165,0.65567089027652,0.9979568699274697,0.9979568699274697,2.7619663785247965,1,0,-0.0008367575767234944,-9.999999025923074e-05
+6814,1791620735601210515,25919407000000,1791620735598684734,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6760232487517966,-0.004881121927235554,0.08225866125742988,0.9999999856973999,1.833774769122281e-05,-0.0001040961364674105,9.421138964489149e-05,0.6761,-0.0048,0.08222403016836682,1.0,0.0,0.0,0.0,0.013578007817273106,-0.006584951264702869,0.6406910286564531,-0.00012371152099974517,-0.0001770145495126811,-0.0002634658275685747,-0.00020655710120971596,0.04613920040434114,0.49753100284605256,-0.0010688160136750383,-0.0011009538124257276,-0.0014574328969433926,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.1052245969898629,-0.1036820286475772,-0.35446445126304765,0.3394898563888662,0.3947844180556907,-0.13662730740849433,0.6955959986629165,0.6406910286564531,1.0500604499259643,1.0500604499259643,2.780606378524815,1,0,-0.0008484075744538952,-9.999999025923074e-05
+6842,1791620735834168214,25919640000000,1791620735830684806,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760136752853636,-0.004873849991883598,0.0820360962813064,0.9999999832289299,2.5727402989799252e-05,-0.0001226515292913493,9.633123918101748e-05,0.6761,-0.0048,0.08202499980378461,1.0,0.0,0.0,0.0,0.012455711772938487,-0.016525587996060367,0.6054060393947283,-0.00011873870908717132,-0.0001677876608289744,-0.00023354178853946276,-0.001328853145544335,0.036198563672983644,0.4622460135843278,-0.0010638432017624645,-0.001091726923742021,-0.0014275088579142807,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.147684489936391,-0.130190361781981,-0.39395339720551376,0.34775339685746737,0.4290778345761952,-0.1498982461579086,0.6955959986629165,0.6054060393947283,1.0895493958684304,1.0895493958684304,2.799246378524834,1,0,-0.0008600575721842959,-9.999999025923074e-05
+6874,1791620736101136100,25919907000000,1791620736098684281,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6760078404663503,-0.004875932231395027,0.08179947017133535,0.9999999823450211,2.1054594066970613e-05,-0.00013029762742835683,9.660255929370672e-05,0.6761,-0.0048,0.08179358888235991,1.0,0.0,0.0,0.0,0.004426923712063026,-0.01911080455682619,0.5736478932543423,-0.00011296387182917786,-0.0001607386441969858,-0.00020934881659868086,-0.009357641206419796,0.03361334711221782,0.4304878674439418,-0.001058068364504471,-0.0010846779071100323,-0.0014033158859734988,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.180612893561466,-0.06369066275038936,-0.42098188894911986,0.3250998975246851,0.4524954415736433,-0.10837055142805363,0.6955959986629165,0.5736478932543423,1.1165778876120365,1.1165778876120365,2.820606378524855,1,0,-0.0008734075695835105,-9.999999025923074e-05
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+6930,1791620736568219005,25920374000000,1791620736566674728,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6759966078146081,-0.004881078914666419,0.08136094695946848,0.9999999794323471,1.524348362904729e-05,-0.00014855501923983014,0.00010137658647090397,0.6761,-0.0048,0.08138026699842886,1.0,0.0,0.0,0.0,-0.0097057672893957,-0.01234157913740265,0.5133394159527993,-0.0003239675933242091,0.0008690708568087791,-0.0001484408357075287,-0.023490332207878523,0.04038257253164136,0.3701793901423988,-0.0012690720859995022,-5.4868406104267406e-05,-0.0013424079050823466,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.251627322184641,-0.17621954482049504,-0.3393768013752167,0.34694434142867436,0.4162518584900789,-0.1821983304824343,0.6955959986629165,0.5133394159527993,1.0349728000381333,1.0349728000381333,2.8579663785248925,1,0,-0.0008967575650345713,-9.999999025923074e-05
+6958,1791620736801228969,25920607000000,1791620736794684629,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.675988241585682,-0.004882860233430642,0.08113536512277139,0.9999999771978799,1.7272837788495797e-05,-0.00016323865532383587,0.00010050818267570771,0.6761,-0.0048,0.08116997108604135,1.0,0.0,0.0,0.0,-0.013525140307616612,-0.03460374055193362,0.4944861002671072,-0.0011469067727283737,0.0008898578159080917,-0.0001429673001436386,-0.027309705226099434,0.018120411117110394,0.3513260744567067,-0.002092011265403667,-3.4081447004954835e-05,-0.0013369343695184565,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.283951148289302,-0.07079998893084606,-0.4000084835724123,0.31270347006715393,0.45985033549743726,-0.11003877611468699,0.6955959986629165,0.4944861002671072,1.0956044822353288,1.0956044822353288,2.876606378524911,1,0,-0.0009084075627649721,-9.999999025923074e-05
+6982,1791620737001163417,25920807000000,1791620736998684276,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6759839658737167,-0.004883499126803698,0.08094344847088757,0.999999975975274,1.729439214504564e-05,-0.00017001645419041699,0.00010142793049386111,0.6761,-0.0048,0.08098729457368414,1.0,0.0,0.0,0.0,-0.013764358039881032,-0.037070757418078526,0.4690680699753234,-0.001165668807325725,0.0017755080967486233,-0.00010545211779024524,-0.027548922958363854,0.015653394250965482,0.3259080441649229,-0.002110773300001018,0.0008515688338355767,-0.0012994191871650632,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.280387454110383,-0.13997240844739395,-0.3057594244008597,0.32853705801044486,0.4000737431396635,-0.1586367638275164,0.6955959986629165,0.4690680699753234,1.0013554230637762,1.0013554230637762,2.892606378524927,1,0,-0.0009184075608168182,-9.999999025923074e-05
+7014,1791620737268238798,25921074000000,1791620737266675064,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6759848944977285,-0.004884387616863533,0.08070226517538853,0.9999999768210951,1.4054944527008769e-05,-0.00016741976460004932,9.784556652382963e-05,0.6761,-0.0048,0.08074030420529456,1.0,0.0,0.0,0.0,-0.028924913786128922,-0.0368622962167546,0.43297966389524717,-0.0011637185596937345,0.0019169184797295416,-8.012110640603573e-05,-0.042709478704611746,0.015861855452289405,0.2898196380848467,-0.0021088230523690276,0.000992979216816495,-0.0012740881757808537,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.313354268020808,-0.05657308845440849,-0.3722276125594421,0.30313076120978966,0.4462492139137632,-0.10678020066038671,0.6955959986629165,0.43297966389524717,1.0678236112223587,1.0678236112223587,2.9139663785249486,1,0,-0.0009317575582160328,-9.999999025923074e-05
+7041,1791620737493220193,25921299000000,1791620737490684264,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6759821990208985,-0.004889199633863932,0.08048941760177157,0.9999999764918597,1.2355037455276281e-05,-0.00016771735454535155,0.00010088303464485758,0.6761,-0.0048,0.08052939875494361,1.0,0.0,0.0,0.0,-0.04115128539779947,-0.04071200227228315,0.40260113647785206,-0.0022047474858334698,0.0029544071752776605,-5.254250641808806e-05,-0.05493585031628229,0.01201214939676086,0.25944111066745157,-0.0031498519785087627,0.0020304679123646138,-0.001246509575792906,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3052360371279625,-0.06981247643708674,-0.27718205359174336,0.30400629667975226,0.3799835454847436,-0.11179647270153363,0.6955959986629165,0.40260113647785206,0.9727780522546599,0.9727780522546599,2.9319663785249666,1,0,-0.0009430075560243597,-9.999999025923074e-05
+7069,1791620737726217768,25921532000000,1791620737722675508,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6759840597487926,-0.004888717081359689,0.0802720600456614,0.9999999765930868,1.5264973093115413e-05,-0.00016524599292708407,0.00010352503476336063,0.6761,-0.0048,0.08030832659465548,1.0,0.0,0.0,0.0,-0.054534217129384575,-0.051711019799944795,0.3758461932047733,-0.002199682050393735,0.002962692156392716,-3.0223258166650396e-05,-0.0683187820478674,0.0010131318690992169,0.2326861673943728,-0.003144786543069028,0.0020387528934796696,-0.0012241903275414683,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.4154998293480823,-0.06861523001703115,-0.26281834905247586,0.29886258601290444,0.39526007232099103,-0.11109815411693016,0.6955959986629165,0.3758461932047733,0.9584143477153924,0.9584143477153924,2.950606378524985,1,0,-0.0009546575537547605,-9.999999025923074e-05
+7093,1791620737926252382,25921732000000,1791620737922684764,DOWN_FORCE_DETACH,1,0.0505,0.05050226300954819,0.6759791787941138,-0.0048901789896098865,0.08007560367154762,0.9999999764201303,3.621204546594704e-06,-0.0001706421005164012,9.731784871033101e-05,0.6761,-0.0048,0.08011640008410031,1.0,0.0,0.0,0.0,-0.05869382083593482,-0.06102746624076649,0.36080603551342705,-0.0021996437638157843,0.0029667965995433133,-2.1400146963864016e-05,-0.07247838575441765,-0.008303314571722483,0.21764600970302653,-0.0031447482564910772,0.0020428573366302666,-0.001215367216338682,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3752340234812535,-0.06656372251013463,-0.2574362317778046,0.2962382303640076,0.3832319483250748,-0.1124778920144939,0.6955959986629165,0.36080603551342705,0.9530322304407212,0.9530322304407212,2.966606378525001,1,0,-0.0009646575518066067,-9.999999025923074e-05
+7121,1791620738159256395,25921965000000,1791620738158685025,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.675973162056596,-0.004900072650268429,0.07983926967217655,0.9999999743418023,5.45170185756834e-06,-0.0001773563536217212,0.0001061803269971264,0.6761,-0.0048,0.07989028347479492,1.0,0.0,0.0,0.0,-0.05934061994935568,-0.05733764132784217,0.3319812928090654,-0.0021940124767106713,0.002973119660884458,2.2019640978506675e-06,-0.0731251848678385,-0.0046134896587981585,0.18882126699866492,-0.0031391169693859647,0.0020491803979714117,-0.0011917651052769673,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3956515334029804,-0.052030875944103265,-0.26258760532718345,0.28412802386098995,0.38680007176407466,-0.10392284894236507,0.6955959986629165,0.3319812928090654,0.9581836039900999,0.9581836039900999,2.98524637852502,1,0,-0.0009763075495370074,-9.999999025923074e-05
+7149,1791620738393218514,25922199000000,1791620738386684515,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.6759755409023507,-0.004894626173120741,0.0796143468842119,0.9999999758307198,4.459612420706535e-06,-0.00017165300777139206,0.00010147305589651505,0.6761,-0.0048,0.07966046445847108,1.0,0.0,0.0,0.0,-0.05930962792401435,-0.06408815437506296,0.31190594043912623,-0.002190614822149821,0.002977706003825043,1.8419449742494752e-05,-0.07309419284249717,-0.011364002706018957,0.1687459146287257,-0.0031357193148251142,0.002053766740911996,-0.0011755476196323232,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.4012718842940461,-0.01912699527698284,-0.28639971473856746,0.276970183875186,0.40326440227060806,-0.08321077616892952,0.6955959986629165,0.31190594043912623,0.9819957134014841,0.9819957134014841,3.0039663785250386,1,0,-0.0009880075472576673,-9.999999025923074e-05
+7173,1791620738593203840,25922399000000,1791620738590674684,DOWN_FORCE_DETACH,1,0.0505,0.05050160735845566,0.675977819793254,-0.004895389115915778,0.07942154316879492,0.9999999766629228,1.686634059989517e-06,-0.00016681064663123007,0.00010143166069516618,0.6761,-0.0048,0.07946186794921534,1.0,0.0,0.0,0.0,-0.059273752205404755,-0.06463013135007005,0.29318127730381527,-0.002187137946870206,0.0029817861700367097,3.354958849007819e-05,-0.07305831712388758,-0.011905979681026038,0.1500212514934148,-0.0031322424395454993,0.0020578469071236634,-0.0011604174808847398,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.4390417556425057,-0.11951786959466347,-0.27979843866884435,0.29403522225238576,0.4087689083466776,-0.15317527603456244,0.6955959986629165,0.29318127730381527,0.9753944373317609,0.9753944373317609,3.0199663785250546,1,1,-0.0009980075453095134,-9.999999025923074e-05
+7237,1791620739126241423,25922932000000,1791620739122684575,DOWN_SETTLE,1,0.0505,0.05050226300954819,0.6759748617730861,-0.004869549759913907,0.07921080379077469,0.9999999760835979,2.2077458622473866e-05,-0.0001726938706766272,9.468411045926698e-05,0.6761,-0.0048,0.07927693161900116,1.0,0.0,0.0,0.0,-0.05052623656441212,-0.05770205371044164,0.21209781734937616,-0.0021708376570525392,0.0029985805896613838,0.00010015698273362875,-0.06431080148289495,-0.0049779020413976294,0.06893779153897567,-0.0031159421497278326,0.0020746413267483375,-0.0010938100866411892,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.326744460126258,-0.023047092830917583,-0.10369988154935816,0.24262402674442984,0.27836366669281243,-0.09608859606538772,0.6955959986629165,0.21209781734937616,0.7992958802122747,0.0,0.0,1,1,-1.1897562637318239e-05,0.0001201774003769519
diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1dfd4775de6fa18401136e1dbca7707b1cabdfa4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f8b8bc01f529f991ba385c90a336f2ee43b59eb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,4.333333333e+00,DOWN_FORCE_DETACH,1791620711849187648,4.739578111e-05,-3.476195712e-05,-5.224725411e-04,4.630427152e-05,-3.405697701e-05,-5.120301077e-04,4.578351751e-05,-3.410696328e-05,-5.115909319e-04,7.015852673e-01,-3.321099580e-05,8.402184686e-01,7.015841758e-01,-3.250601569e-05,8.402289111e-01,7.017751045e-01,-3.236777310e-05,8.290610342e-01
+6,5.150000000e+00,DOWN_FORCE_DETACH,1791620713447213377,5.780558823e-05,-3.172370971e-05,-6.516242749e-04,5.494807864e-05,-3.228739484e-05,-6.428393125e-04,5.418194141e-05,-3.233223695e-05,-6.423269725e-04,7.015956771e-01,-3.017274839e-05,8.400893169e-01,7.015928196e-01,-3.073643352e-05,8.400981019e-01,7.017835029e-01,-3.059304678e-05,8.289302982e-01
+7,5.900000000e+00,DOWN_FORCE_DETACH,1791620714877356311,6.602834537e-05,-3.793526627e-05,-7.728424998e-04,6.527099444e-05,-3.544816224e-05,-7.689283567e-04,6.435706751e-05,-3.549771244e-05,-7.684329161e-04,7.016038998e-01,-3.638430495e-05,8.399680987e-01,7.016031425e-01,-3.389720092e-05,8.399720128e-01,7.017936780e-01,-3.375852226e-05,8.288041922e-01
+8,6.700000000e+00,DOWN_FORCE_DETACH,1791620716389666509,7.877363332e-05,-3.858004733e-05,-9.034230177e-04,7.359829447e-05,-3.858005962e-05,-8.925821979e-04,7.250996914e-05,-3.866261136e-05,-8.921470219e-04,7.016166451e-01,-3.702908601e-05,8.398375182e-01,7.016114698e-01,-3.702909830e-05,8.398483590e-01,7.018018309e-01,-3.692342118e-05,8.286804781e-01
+9,7.500000000e+00,DOWN_FORCE_DETACH,1791620717903380778,8.841717593e-05,-4.268942271e-05,-1.059195036e-03,8.745840941e-05,-4.429883206e-05,-1.050680564e-03,8.614075527e-05,-4.435972987e-05,-1.050136498e-03,7.016262887e-01,-4.113846139e-05,8.396817462e-01,7.016253299e-01,-4.274787074e-05,8.396902606e-01,7.018154617e-01,-4.262053969e-05,8.285224886e-01
+10,8.233333333e+00,DOWN_FORCE_DETACH,1791620719367364587,1.000043085e-04,-4.713757710e-05,-1.230185427e-03,9.630669472e-05,-5.140926598e-05,-1.225382496e-03,9.465646847e-05,-5.147751055e-05,-1.224765959e-03,7.016378758e-01,-4.558661578e-05,8.395107558e-01,7.016341782e-01,-4.985830465e-05,8.395155587e-01,7.018239774e-01,-4.973832038e-05,8.283478592e-01
+11,8.850000000e+00,DOWN_FORCE_DETACH,1791620720599545315,1.051906742e-04,-5.177582532e-05,-1.401175734e-03,1.051096955e-04,-5.255239195e-05,-1.396745197e-03,1.030502025e-04,-5.264609369e-05,-1.395996573e-03,7.016430622e-01,-5.022486400e-05,8.393397655e-01,7.016429812e-01,-5.100143062e-05,8.393441960e-01,7.018323712e-01,-5.090690352e-05,8.281766286e-01
+12,9.416666667e+00,DOWN_FORCE_DETACH,1791620721695870126,1.052009307e-04,-5.353095496e-05,-1.589720913e-03,1.064328189e-04,-5.932935152e-05,-1.583170947e-03,1.036951429e-04,-5.940313701e-05,-1.582293226e-03,7.016430724e-01,-5.197999364e-05,8.391512203e-01,7.016443043e-01,-5.777839020e-05,8.391577702e-01,7.018330161e-01,-5.766394684e-05,8.279903319e-01
+13,9.916666667e+00,DOWN_FORCE_DETACH,1791620722659921246,1.067528442e-04,-5.927275324e-05,-1.779100841e-03,1.041574877e-04,-5.972488446e-05,-1.774861991e-03,1.006995560e-04,-5.978368775e-05,-1.773915289e-03,7.016446243e-01,-5.772179192e-05,8.389618403e-01,7.016420290e-01,-5.817392314e-05,8.389660792e-01,7.018300205e-01,-5.804449758e-05,8.277987099e-01
+14,1.036666667e+01,DOWN_FORCE_DETACH,1791620723491637588,1.033601301e-04,-6.694483377e-05,-1.974618061e-03,1.028131781e-04,-6.142361982e-05,-1.964102130e-03,9.859764579e-05,-6.148707037e-05,-1.963150173e-03,7.016412316e-01,-6.539387245e-05,8.387663231e-01,7.016406847e-01,-5.987265850e-05,8.387768391e-01,7.018279186e-01,-5.974788020e-05,8.276094750e-01
+15,1.076666667e+01,DOWN_FORCE_DETACH,1791620724257802434,1.006304025e-04,-6.697295362e-05,-2.182658186e-03,1.002878528e-04,-6.677275090e-05,-2.182450566e-03,9.522777903e-05,-6.683740184e-05,-2.181349056e-03,7.016385019e-01,-6.542199230e-05,8.385582830e-01,7.016381593e-01,-6.522178958e-05,8.385584906e-01,7.018245487e-01,-6.509821167e-05,8.273912761e-01
+16,1.101666667e+01,DOWN_FORCE_DETACH,1791620724988627397,9.995058449e-05,-6.999975482e-05,-2.395599257e-03,1.004315430e-04,-6.828251383e-05,-2.385220994e-03,9.464837484e-05,-6.832833426e-05,-2.383730226e-03,7.016378221e-01,-6.844879350e-05,8.383453419e-01,7.016383030e-01,-6.673155251e-05,8.383557202e-01,7.018239693e-01,-6.658914409e-05,8.271888949e-01
+17,1.133333333e+01,DOWN_FORCE_DETACH,1791620725555975325,1.014279444e-04,-7.134103042e-05,-2.591184693e-03,1.013499712e-04,-7.125831586e-05,-2.591087450e-03,9.484725683e-05,-7.131966753e-05,-2.589711884e-03,7.016392994e-01,-6.979006910e-05,8.381497565e-01,7.016392215e-01,-6.970735454e-05,8.381498537e-01,7.018241682e-01,-6.958047736e-05,8.269829133e-01
+18,1.163333333e+01,DOWN_FORCE_DETACH,1791620726119575642,9.330271181e-05,-7.115005670e-05,-2.804868329e-03,9.525878223e-05,-7.732460732e-05,-2.788218673e-03,8.783030788e-05,-7.738041742e-05,-2.786968357e-03,7.016311742e-01,-6.959909538e-05,8.379360729e-01,7.016331303e-01,-7.577364600e-05,8.379527225e-01,7.018171513e-01,-7.564122725e-05,8.267856568e-01
+19,1.190000000e+01,DOWN_FORCE_DETACH,1791620726652826658,9.244880853e-05,-7.887043907e-05,-3.014250145e-03,9.018500539e-05,-8.351631489e-05,-3.004250659e-03,8.179894544e-05,-8.359111557e-05,-3.002934470e-03,7.016303203e-01,-7.731947775e-05,8.377266910e-01,7.016280565e-01,-8.196535357e-05,8.377366905e-01,7.018111199e-01,-8.185192540e-05,8.265696907e-01
+20,1.216666667e+01,DOWN_FORCE_DETACH,1791620727183541439,9.226212199e-05,-8.184157349e-05,-3.231793229e-03,8.906323013e-05,-8.291697309e-05,-3.223542388e-03,7.979467073e-05,-8.294106026e-05,-3.222213831e-03,7.016301336e-01,-8.029061217e-05,8.375091480e-01,7.016269347e-01,-8.136601176e-05,8.375173988e-01,7.018091156e-01,-8.120187008e-05,8.263504113e-01
+21,1.241666667e+01,DOWN_FORCE_DETACH,1791620727683834268,8.899727003e-05,-8.840663301e-05,-3.454851374e-03,8.882309618e-05,-8.857661886e-05,-3.454638360e-03,7.874521881e-05,-8.863680776e-05,-3.453240898e-03,7.016268688e-01,-8.685567169e-05,8.372860898e-01,7.016266946e-01,-8.702565754e-05,8.372863028e-01,7.018080662e-01,-8.689761759e-05,8.261193842e-01
+22,1.265000000e+01,DOWN_FORCE_DETACH,1791620728149860454,9.129852939e-05,-8.726816530e-05,-3.664162000e-03,9.112454520e-05,-8.715131330e-05,-3.664012961e-03,8.036758999e-05,-8.720886821e-05,-3.662676358e-03,7.016291700e-01,-8.571720398e-05,8.370767792e-01,7.016289960e-01,-8.560035198e-05,8.370769282e-01,7.018096886e-01,-8.546967804e-05,8.259099488e-01
+23,1.286666667e+01,DOWN_FORCE_DETACH,1791620728582621163,9.125154128e-05,-8.498158684e-05,-3.875878303e-03,9.084715673e-05,-8.488368840e-05,-3.875904258e-03,7.928832090e-05,-8.492485448e-05,-3.874549044e-03,7.016291230e-01,-8.343062552e-05,8.368650629e-01,7.016287186e-01,-8.333272708e-05,8.368650369e-01,7.018086093e-01,-8.318566431e-05,8.256980761e-01
+24,1.308333333e+01,DOWN_FORCE_DETACH,1791620729013663847,8.624541324e-05,-8.900243125e-05,-4.097664203e-03,8.607740459e-05,-8.907730697e-05,-4.097774192e-03,7.362475402e-05,-8.911417453e-05,-4.096497385e-03,7.016241169e-01,-8.745146993e-05,8.366432770e-01,7.016239489e-01,-8.752634565e-05,8.366431670e-01,7.018029457e-01,-8.737498436e-05,8.254761278e-01
+25,1.328333333e+01,DOWN_FORCE_DETACH,1791620729413621730,8.540081867e-05,-8.949137854e-05,-4.307768887e-03,8.510710534e-05,-8.947464673e-05,-4.307996040e-03,7.186053710e-05,-8.950170400e-05,-4.306812861e-03,7.016232723e-01,-8.794041722e-05,8.364331723e-01,7.016229786e-01,-8.792368541e-05,8.364329451e-01,7.018011815e-01,-8.776251383e-05,8.252658123e-01
+26,1.348333333e+01,DOWN_FORCE_DETACH,1791620729811756794,8.833614683e-05,-8.708837927e-05,-4.517735860e-03,8.811950488e-05,-8.703258272e-05,-4.517603532e-03,7.411144592e-05,-8.703685728e-05,-4.516490270e-03,7.016262076e-01,-8.553741795e-05,8.362232053e-01,7.016259910e-01,-8.548162140e-05,8.362233377e-01,7.018034324e-01,-8.529766711e-05,8.250561349e-01
+27,1.370000000e+01,DOWN_FORCE_DETACH,1791620730211723600,8.749247496e-05,-9.077766802e-05,-4.742547384e-03,8.496105912e-05,-9.684529881e-05,-4.726045440e-03,7.018491433e-05,-9.686328172e-05,-4.725109018e-03,7.016253640e-01,-8.922670670e-05,8.359983938e-01,7.016228325e-01,-9.529433748e-05,8.360148957e-01,7.017995059e-01,-9.512409154e-05,8.248475161e-01
+28,1.390000000e+01,DOWN_FORCE_DETACH,1791620730575758438,8.340498065e-05,-9.044679082e-05,-4.957652431e-03,8.325746752e-05,-9.055574924e-05,-4.957678235e-03,6.760784923e-05,-9.060610471e-05,-4.956824209e-03,7.016212765e-01,-8.889582950e-05,8.357832888e-01,7.016211289e-01,-8.900478792e-05,8.357832630e-01,7.017969288e-01,-8.886691453e-05,8.246158009e-01
+29,1.408333333e+01,DOWN_FORCE_DETACH,1791620730943697684,8.585440375e-05,-9.316681104e-05,-5.183109229e-03,8.544407865e-05,-9.340473213e-05,-5.182910966e-03,6.901676796e-05,-9.341497702e-05,-5.182088654e-03,7.016237259e-01,-9.161584972e-05,8.355578320e-01,7.016233156e-01,-9.185377081e-05,8.355580302e-01,7.017983377e-01,-9.167578684e-05,8.243905365e-01
+30,1.426666667e+01,DOWN_FORCE_DETACH,1791620731275672079,8.134862172e-05,-9.829339732e-05,-5.393977836e-03,8.091263487e-05,-9.821079078e-05,-5.393861097e-03,6.360231025e-05,-9.829000496e-05,-5.393201707e-03,7.016192201e-01,-9.674243599e-05,8.353469634e-01,7.016187841e-01,-9.665982946e-05,8.353470801e-01,7.017929233e-01,-9.655081478e-05,8.241794234e-01
+31,1.443333333e+01,DOWN_FORCE_DETACH,1791620731607750896,8.421347523e-05,-9.639891792e-05,-5.597093294e-03,8.087293719e-05,-9.501901725e-05,-5.580578408e-03,6.290699787e-05,-9.508979486e-05,-5.580096863e-03,7.016220850e-01,-9.484795660e-05,8.351438479e-01,7.016187444e-01,-9.346805593e-05,8.351603628e-01,7.017922280e-01,-9.335060469e-05,8.239925283e-01
+32,1.461666667e+01,DOWN_FORCE_DETACH,1791620731941917658,8.024567895e-05,-1.014740866e-04,-5.817420050e-03,8.004497199e-05,-1.013879339e-04,-5.817213189e-03,6.116274425e-05,-1.014906473e-04,-5.816694991e-03,7.016181172e-01,-9.992312526e-05,8.349235211e-01,7.016179165e-01,-9.983697254e-05,8.349237280e-01,7.017904837e-01,-9.975145712e-05,8.237559302e-01
+33,1.478333333e+01,DOWN_FORCE_DETACH,1791620732273693120,8.318231478e-05,-1.035827774e-04,-6.033711404e-03,7.884826153e-05,-9.838737663e-05,-6.017292487e-03,5.923036079e-05,-9.843321568e-05,-6.016972244e-03,7.016210538e-01,-1.020318161e-04,8.347072298e-01,7.016167197e-01,-9.683641531e-05,8.347236487e-01,7.017885513e-01,-9.669402551e-05,8.235556529e-01
+34,1.495000000e+01,DOWN_FORCE_DETACH,1791620732573751591,7.778561578e-05,-1.003401595e-04,-6.250955815e-03,7.732363563e-05,-1.001865071e-04,-6.251243637e-03,5.687368502e-05,-1.002867577e-04,-6.251016722e-03,7.016156571e-01,-9.878919821e-05,8.344899854e-01,7.016151951e-01,-9.863554581e-05,8.344896976e-01,7.017861946e-01,-9.854756748e-05,8.233216084e-01
+35,1.511666667e+01,DOWN_FORCE_DETACH,1791620732905711769,7.036149681e-05,-1.034397622e-04,-6.493458523e-03,7.023002746e-05,-1.034649153e-04,-6.493090489e-03,4.866404932e-05,-1.035782757e-04,-6.493006643e-03,7.016082330e-01,-1.018888009e-04,8.342474827e-01,7.016081015e-01,-1.019139540e-04,8.342478507e-01,7.017779850e-01,-1.018390856e-04,8.230796185e-01
+36,1.528333333e+01,DOWN_FORCE_DETACH,1791620733205884697,7.032555069e-05,-9.900679854e-05,-6.701415821e-03,7.011643177e-05,-9.869560156e-05,-6.701391638e-03,4.782354926e-05,-9.880618480e-05,-6.701419234e-03,7.016081970e-01,-9.745583722e-05,8.340395254e-01,7.016079879e-01,-9.714464024e-05,8.340395495e-01,7.017771445e-01,-9.706699463e-05,8.228712059e-01
+37,1.543333333e+01,DOWN_FORCE_DETACH,1791620733503705335,7.416217362e-05,-1.031637672e-04,-6.911638452e-03,7.419351058e-05,-1.032059778e-04,-6.911821637e-03,5.125820484e-05,-1.034360702e-04,-6.911935502e-03,7.016120337e-01,-1.016128059e-04,8.338293027e-01,7.016120650e-01,-1.016550165e-04,8.338291196e-01,7.017805792e-01,-1.016968800e-04,8.226606896e-01
+38,1.560000000e+01,DOWN_FORCE_DETACH,1791620733803774523,7.165364964e-05,-1.069760805e-04,-7.137197875e-03,7.139849907e-05,-1.068467202e-04,-7.136770439e-03,4.763282079e-05,-1.071995704e-04,-7.136976941e-03,7.016095251e-01,-1.054251192e-04,8.336037433e-01,7.016092700e-01,-1.052957588e-04,8.336041707e-01,7.017769538e-01,-1.054603802e-04,8.224356482e-01
+39,1.573333333e+01,DOWN_FORCE_DETACH,1791620734071658581,6.725374431e-05,-1.071052083e-04,-7.351277794e-03,6.715453187e-05,-1.068615539e-04,-7.351049675e-03,4.247435426e-05,-1.072447475e-04,-7.351262832e-03,7.016051252e-01,-1.055542470e-04,8.333896634e-01,7.016050260e-01,-1.053105926e-04,8.333898915e-01,7.017717953e-01,-1.055055573e-04,8.222213623e-01
+40,1.588333333e+01,DOWN_FORCE_DETACH,1791620734335761829,6.154500806e-05,-1.063513971e-04,-7.566302440e-03,6.142276045e-05,-1.064769459e-04,-7.566229413e-03,3.583780589e-05,-1.069370430e-04,-7.566600167e-03,7.015994165e-01,-1.048004358e-04,8.331746387e-01,7.015992942e-01,-1.049259846e-04,8.331747118e-01,7.017651588e-01,-1.051978528e-04,8.220060250e-01
+41,1.601666667e+01,DOWN_FORCE_DETACH,1791620734601988224,5.580552902e-05,-1.046542973e-04,-7.783815584e-03,5.553292732e-05,-1.045537320e-04,-7.784092123e-03,2.903410116e-05,-1.051064886e-04,-7.784458146e-03,7.015936770e-01,-1.031033360e-04,8.329571256e-01,7.015934044e-01,-1.030027707e-04,8.329568491e-01,7.017583551e-01,-1.033672984e-04,8.217881670e-01
+42,1.615000000e+01,DOWN_FORCE_DETACH,1791620734869825288,5.401745315e-05,-1.041974370e-04,-8.003645725e-03,5.396232174e-05,-1.042737604e-04,-8.003605130e-03,2.664268937e-05,-1.048641784e-04,-8.004098890e-03,7.015918889e-01,-1.026464757e-04,8.327372955e-01,7.015918338e-01,-1.027227991e-04,8.327373361e-01,7.017559637e-01,-1.031249882e-04,8.215685263e-01
+43,1.628333333e+01,DOWN_FORCE_DETACH,1791620735133959422,4.740857464e-05,-1.058489064e-04,-8.229120085e-03,4.710242014e-05,-1.059085708e-04,-8.229103114e-03,1.879793094e-05,-1.064964842e-04,-8.229619295e-03,7.015852801e-01,-1.042979451e-04,8.325118211e-01,7.015849739e-01,-1.043576095e-04,8.325118381e-01,7.017481189e-01,-1.047572941e-04,8.213430058e-01
+44,1.640000000e+01,DOWN_FORCE_DETACH,1791620735367869965,3.844404409e-05,-1.051228017e-04,-8.436184649e-03,3.803729866e-05,-1.052117932e-04,-8.436361282e-03,8.779757372e-06,-1.058168497e-04,-8.436907336e-03,7.015763155e-01,-1.035718404e-04,8.323047565e-01,7.015759088e-01,-1.036608319e-04,8.323045799e-01,7.017381007e-01,-1.040776595e-04,8.211357178e-01
+45,1.651666667e+01,DOWN_FORCE_DETACH,1791620735599924570,3.419437194e-05,-1.070901697e-04,-8.642538104e-03,3.378690782e-05,-1.071075485e-04,-8.642704116e-03,3.695175433e-06,-1.077225789e-04,-8.643258281e-03,7.015720659e-01,-1.055392083e-04,8.320984031e-01,7.015716584e-01,-1.055565871e-04,8.320982371e-01,7.017330161e-01,-1.059833887e-04,8.209293669e-01
+46,1.663333333e+01,DOWN_FORCE_DETACH,1791620735831793251,2.270156569e-05,-1.087178716e-04,-8.865358624e-03,2.272650459e-05,-1.085807209e-04,-8.865174949e-03,-8.502904280e-06,-1.091972311e-04,-8.865721311e-03,7.015605730e-01,-1.071669103e-04,8.318755826e-01,7.015605980e-01,-1.070297596e-04,8.318757662e-01,7.017208181e-01,-1.074580410e-04,8.207069038e-01
+47,1.676666667e+01,DOWN_FORCE_DETACH,1791620736099794539,1.667112132e-05,-1.061828349e-04,-9.100932803e-03,1.656961744e-05,-1.062234310e-04,-9.100385525e-03,-1.562912702e-05,-1.068104267e-04,-9.100963270e-03,7.015545426e-01,-1.046318736e-04,8.316400084e-01,7.015544411e-01,-1.046724697e-04,8.316405557e-01,7.017136918e-01,-1.050712365e-04,8.204716619e-01
+48,1.688333333e+01,DOWN_FORCE_DETACH,1791620736331826687,1.380484750e-05,-1.107959699e-04,-9.317248499e-03,1.381957160e-05,-1.110242174e-04,-9.317214946e-03,-1.915867342e-05,-1.116685947e-04,-9.317832027e-03,7.015516763e-01,-1.092450086e-04,8.314236927e-01,7.015516911e-01,-1.094732561e-04,8.314237262e-01,7.017101623e-01,-1.099294045e-04,8.202547931e-01
+49,1.700000000e+01,DOWN_FORCE_DETACH,1791620736563842062,6.362704155e-06,-1.104198272e-04,-9.536560004e-03,6.153984148e-06,-1.105306768e-04,-9.536388151e-03,-2.778029514e-05,-1.111433466e-04,-9.536948166e-03,7.015442342e-01,-1.088688659e-04,8.312043812e-01,7.015440255e-01,-1.089797155e-04,8.312045530e-01,7.017015407e-01,-1.094041564e-04,8.200356770e-01
+50,1.711666667e+01,DOWN_FORCE_DETACH,1791620736798067304,-1.712121604e-06,-1.122369110e-04,-9.764516231e-03,-1.809731226e-06,-1.120725322e-04,-9.764148663e-03,-3.680746835e-05,-1.127270348e-04,-9.764737607e-03,7.015361594e-01,-1.106859497e-04,8.309764250e-01,7.015360618e-01,-1.105215708e-04,8.309767925e-01,7.016925135e-01,-1.109878446e-04,8.198078875e-01
+51,1.721666667e+01,DOWN_FORCE_DETACH,1791620736997897829,-5.527193807e-06,-1.172838375e-04,-9.958794883e-03,-5.922643694e-06,-1.174922809e-04,-9.958678145e-03,-4.164965564e-05,-1.181702300e-04,-9.959279824e-03,7.015323443e-01,-1.157328762e-04,8.307821463e-01,7.015319488e-01,-1.159413196e-04,8.307822630e-01,7.016876713e-01,-1.164310398e-04,8.196133453e-01
+52,1.735000000e+01,DOWN_FORCE_DETACH,1791620737263864505,-5.390357500e-06,-1.152869992e-04,-1.019754467e-02,-5.493124908e-06,-1.153201156e-04,-1.019725730e-02,-4.201866024e-05,-1.159800302e-04,-1.019790498e-02,7.015324811e-01,-1.137360378e-04,8.305433965e-01,7.015323784e-01,-1.137691543e-04,8.305436839e-01,7.016873023e-01,-1.142408401e-04,8.193747202e-01
+53,1.746666667e+01,DOWN_FORCE_DETACH,1791620737495847468,-7.993235415e-06,-1.158895583e-04,-1.041770254e-02,-8.200054703e-06,-1.155968604e-04,-1.041765950e-02,-4.548469398e-05,-1.162739708e-04,-1.041831893e-02,7.015298782e-01,-1.143385970e-04,8.303232386e-01,7.015296714e-01,-1.140458991e-04,8.303232817e-01,7.016838363e-01,-1.145347806e-04,8.191543062e-01
+54,1.758333333e+01,DOWN_FORCE_DETACH,1791620737730014884,-5.840354677e-06,-1.197558859e-04,-1.063488558e-02,-5.960754133e-06,-1.195590132e-04,-1.063470366e-02,-4.391634475e-05,-1.202863828e-04,-1.063538365e-02,7.015320311e-01,-1.182049246e-04,8.301060556e-01,7.015319107e-01,-1.180080519e-04,8.301062375e-01,7.016854046e-01,-1.185471927e-04,8.189372415e-01
+55,1.768333333e+01,DOWN_FORCE_DETACH,1791620737929866700,-1.256106375e-05,-1.183987325e-04,-1.083386761e-02,-1.296898087e-05,-1.184940948e-04,-1.083365386e-02,-5.184444487e-05,-1.191456534e-04,-1.083434363e-02,7.015253104e-01,-1.168477711e-04,8.299070736e-01,7.015249025e-01,-1.169431334e-04,8.299072873e-01,7.016774765e-01,-1.174064632e-04,8.187382815e-01
+56,1.780000000e+01,DOWN_FORCE_DETACH,1791620738160052775,-1.712784390e-05,-1.291315802e-04,-1.106417723e-02,-1.745946670e-05,-1.291977037e-04,-1.106425734e-02,-5.717747080e-05,-1.299671333e-04,-1.106492581e-02,7.015207436e-01,-1.275806189e-04,8.296767640e-01,7.015204120e-01,-1.276467423e-04,8.296766838e-01,7.016721435e-01,-1.282279431e-04,8.185076993e-01
+57,1.793333333e+01,DOWN_FORCE_DETACH,1791620738396043776,-1.312584549e-05,-1.202033578e-04,-1.128817598e-02,-1.357612941e-05,-1.203184531e-04,-1.128832908e-02,-5.393913644e-05,-1.210248103e-04,-1.128896325e-02,7.015247456e-01,-1.186523965e-04,8.294527652e-01,7.015242954e-01,-1.187674917e-04,8.294526121e-01,7.016753818e-01,-1.192856201e-04,8.182836619e-01
+58,1.803333333e+01,DOWN_FORCE_DETACH,1791620738596065752,-1.455995681e-05,-1.191844007e-04,-1.148732633e-02,-1.486353124e-05,-1.192371280e-04,-1.148707713e-02,-5.587866150e-05,-1.199167042e-04,-1.148779224e-02,7.015233115e-01,-1.176334394e-04,8.292536149e-01,7.015230080e-01,-1.176861666e-04,8.292538641e-01,7.016734423e-01,-1.181775141e-04,8.180848329e-01
+59,1.831666667e+01,DOWN_SETTLE,1791620739125967450,-1.542812741e-05,-9.860868987e-05,-1.169264311e-02,-1.649632865e-05,-1.054066943e-04,-1.168827085e-02,-5.818923559e-05,-1.060076662e-04,-1.168894595e-02,7.015224434e-01,-9.705772854e-05,8.290482981e-01,7.015213752e-01,-1.038557330e-04,8.290526703e-01,7.016711317e-01,-1.042684760e-04,8.178836792e-01
diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aadfd1ad2fef196e6ea4943de2f17561d70ffbe
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.0730e-03,6.3859e-06,2.4539e+00,-3.6792e-02,3.6861e-02,3.4412e-06,5.7932e-05,1.0915e-06,3.6001e-05,-1.1176e-07,4.0606e-06,7.7751e-08,6.8216e-05,4.0628e-06
+1,8.8333e-01,DOWN_FORCE_DETACH,2.1953e-04,1.7685e-03,2.8545e-03,2.4648e+00,-3.6992e-02,3.6900e-02,9.4371e-06,7.5343e-04,2.8492e-03,1.0887e-02,-2.0047e-04,4.3109e-05,6.0737e-06,1.1279e-02,2.0515e-04
+2,1.7667e+00,DOWN_FORCE_DETACH,4.4014e-04,8.7302e-04,5.9264e-03,2.4722e+00,-3.7199e-02,3.6829e-02,1.0302e-05,-1.4201e-04,5.9211e-03,1.8288e-02,-4.0750e-04,-2.7869e-05,6.9384e-06,1.9224e-02,4.0851e-04
+3,2.6000e+00,DOWN_FORCE_DETACH,6.6056e-04,1.9335e-03,7.0511e-03,2.4726e+00,-3.7270e-02,3.6902e-02,2.9828e-06,9.1850e-04,7.0458e-03,1.8729e-02,-4.7846e-04,4.5259e-05,-3.8060e-07,2.0032e-02,4.8059e-04
+4,3.5167e+00,DOWN_FORCE_DETACH,8.7955e-04,1.3401e-03,7.3621e-03,2.4755e+00,-3.7291e-02,3.6857e-02,4.6455e-06,3.2512e-04,7.3568e-03,2.1617e-02,-4.9955e-04,3.7253e-08,1.2820e-06,2.2837e-02,4.9956e-04
+5,4.3333e+00,DOWN_FORCE_DETACH,1.1002e-03,3.3860e-03,8.2666e-03,2.4789e+00,-3.7350e-02,3.6998e-02,1.2284e-05,2.3710e-03,8.2613e-03,2.5023e-02,-5.5834e-04,1.4123e-04,8.9203e-06,2.6458e-02,5.7600e-04
+6,5.1500e+00,DOWN_FORCE_DETACH,1.3204e-03,4.6511e-03,7.5242e-03,2.4802e+00,-3.7284e-02,3.7086e-02,1.1155e-05,3.6361e-03,7.5189e-03,2.6301e-02,-4.9217e-04,2.2846e-04,7.7912e-06,2.7595e-02,5.4267e-04
+7,5.9000e+00,DOWN_FORCE_DETACH,1.5431e-03,5.1652e-03,8.4056e-03,2.4820e+00,-3.7330e-02,3.7122e-02,4.9106e-06,4.1502e-03,8.4003e-03,2.8101e-02,-5.3781e-04,2.6482e-04,1.5472e-06,2.9622e-02,5.9947e-04
+8,6.7000e+00,DOWN_FORCE_DETACH,1.7623e-03,6.1403e-03,9.3703e-03,2.4791e+00,-3.7405e-02,3.7192e-02,-5.1913e-06,5.1252e-03,9.3651e-03,2.5193e-02,-6.1327e-04,3.3511e-04,-8.5547e-06,2.7362e-02,6.9891e-04
+9,7.5000e+00,DOWN_FORCE_DETACH,1.9810e-03,4.7616e-03,1.1156e-02,2.4844e+00,-3.7528e-02,3.7092e-02,-9.0882e-06,3.7466e-03,1.1151e-02,3.0493e-02,-7.3617e-04,2.3505e-04,-1.2452e-05,3.2684e-02,7.7289e-04
+10,8.2333e+00,DOWN_FORCE_DETACH,2.2017e-03,4.0655e-03,1.3007e-02,2.4897e+00,-3.7641e-02,3.7037e-02,-1.9631e-06,3.0505e-03,1.3002e-02,3.5815e-02,-8.4934e-04,1.7982e-04,-5.3265e-06,3.8223e-02,8.6818e-04
+11,8.8500e+00,DOWN_FORCE_DETACH,2.4206e-03,2.7437e-03,1.3414e-02,2.4964e+00,-3.7665e-02,3.6941e-02,8.1067e-06,1.7286e-03,1.3409e-02,4.2485e-02,-8.7287e-04,8.4281e-05,4.7433e-06,4.4585e-02,8.7695e-04
+12,9.4167e+00,DOWN_FORCE_DETACH,2.6460e-03,2.9466e-03,1.5380e-02,2.5008e+00,-3.7770e-02,3.6951e-02,1.9767e-05,1.9316e-03,1.5375e-02,4.6909e-02,-9.7786e-04,9.3572e-05,1.6403e-05,4.9402e-02,9.8246e-04
+13,9.9167e+00,DOWN_FORCE_DETACH,2.8628e-03,4.4939e-03,1.5478e-02,2.5045e+00,-3.7758e-02,3.7053e-02,1.5130e-05,3.4789e-03,1.5472e-02,5.0574e-02,-9.6570e-04,1.9550e-04,1.1766e-05,5.3002e-02,9.8536e-04
+14,1.0367e+01,DOWN_FORCE_DETACH,3.0803e-03,5.6441e-03,1.6032e-02,2.5077e+00,-3.7785e-02,3.7130e-02,1.2354e-05,4.6291e-03,1.6027e-02,5.3839e-02,-9.9363e-04,2.7300e-04,8.9903e-06,5.6364e-02,1.0305e-03
+15,1.0767e+01,DOWN_FORCE_DETACH,3.3035e-03,5.5245e-03,1.6865e-02,2.5085e+00,-3.7819e-02,3.7120e-02,8.7386e-06,4.5094e-03,1.6860e-02,5.4608e-02,-1.0276e-03,2.6236e-04,5.3752e-06,5.7329e-02,1.0606e-03
+16,1.1017e+01,DOWN_FORCE_DETACH,3.5254e-03,6.6753e-03,1.8058e-02,2.5366e+00,-3.7860e-02,3.7180e-02,5.0218e-06,5.6603e-03,1.8053e-02,8.2685e-02,-1.0684e-03,3.2316e-04,1.6584e-06,8.4822e-02,1.1162e-03
+17,1.1333e+01,DOWN_FORCE_DETACH,3.7406e-03,7.0554e-03,1.8760e-02,2.5237e+00,-3.7891e-02,3.7215e-02,-2.1947e-06,6.0403e-03,1.8755e-02,6.9828e-02,-1.0990e-03,3.5736e-04,-5.5581e-06,7.2555e-02,1.1557e-03
+18,1.1633e+01,DOWN_FORCE_DETACH,3.9633e-03,7.5451e-03,2.0172e-02,2.5271e+00,-3.7963e-02,3.7245e-02,-2.5975e-06,6.5301e-03,2.0166e-02,7.3148e-02,-1.1715e-03,3.8769e-04,-5.9610e-06,7.6157e-02,1.2340e-03
+19,1.1900e+01,DOWN_FORCE_DETACH,4.1829e-03,7.0107e-03,2.1451e-02,2.5324e+00,-3.8026e-02,3.7203e-02,9.4771e-07,5.9956e-03,2.1446e-02,7.8495e-02,-1.2339e-03,3.4540e-04,-2.4157e-06,8.1593e-02,1.2814e-03
+20,1.2167e+01,DOWN_FORCE_DETACH,4.4056e-03,5.1197e-03,2.2031e-02,2.5294e+00,-3.8031e-02,3.7072e-02,5.7984e-07,4.1046e-03,2.2025e-02,7.5450e-02,-1.2391e-03,2.1523e-04,-2.7836e-06,7.8706e-02,1.2576e-03
+21,1.2417e+01,DOWN_FORCE_DETACH,4.6325e-03,5.0875e-03,2.2363e-02,2.5254e+00,-3.8047e-02,3.7068e-02,-5.9905e-06,4.0724e-03,2.2358e-02,7.1525e-02,-1.2554e-03,2.1088e-04,-9.3539e-06,7.5049e-02,1.2730e-03
+22,1.2650e+01,DOWN_FORCE_DETACH,4.8464e-03,4.5700e-03,2.3177e-02,2.5243e+00,-3.8083e-02,3.7034e-02,-1.0134e-05,3.5550e-03,2.3171e-02,7.0378e-02,-1.2912e-03,1.7723e-04,-1.3498e-05,7.4179e-02,1.3034e-03
+23,1.2867e+01,DOWN_FORCE_DETACH,5.0634e-03,5.6059e-03,2.3969e-02,2.5241e+00,-3.8105e-02,3.7106e-02,-1.6272e-05,4.5908e-03,2.3963e-02,7.0177e-02,-1.3131e-03,2.4837e-04,-1.9635e-05,7.4297e-02,1.3365e-03
+24,1.3083e+01,DOWN_FORCE_DETACH,5.2894e-03,5.8714e-03,2.3750e-02,2.5224e+00,-3.8096e-02,3.7127e-02,-2.3067e-05,4.8563e-03,2.3745e-02,6.8502e-02,-1.3037e-03,2.6955e-04,-2.6430e-05,7.2663e-02,1.3315e-03
+25,1.3283e+01,DOWN_FORCE_DETACH,5.5033e-03,5.0431e-03,2.3381e-02,2.5242e+00,-3.8055e-02,3.7067e-02,-2.2663e-05,4.0281e-03,2.3376e-02,7.0319e-02,-1.2627e-03,2.0981e-04,-2.6026e-05,7.4212e-02,1.2803e-03
+26,1.3483e+01,DOWN_FORCE_DETACH,5.7183e-03,3.9057e-03,2.4617e-02,2.5166e+00,-3.8123e-02,3.6992e-02,-2.0491e-05,2.8906e-03,2.4612e-02,6.2668e-02,-1.3307e-03,1.3437e-04,-2.3855e-05,6.7390e-02,1.3377e-03
+27,1.3700e+01,DOWN_FORCE_DETACH,5.9484e-03,4.2000e-03,2.6412e-02,2.5160e+00,-3.8250e-02,3.7013e-02,-1.4773e-05,3.1850e-03,2.6407e-02,6.2096e-02,-1.4579e-03,1.5608e-04,-1.8137e-05,6.7553e-02,1.4663e-03
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8e62ff5a7525ffc7059f18f308b2952156ecd8dd
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ae788fa79fc28c630f98a75d60c57bab0caeb584e053c770bc25a6a556e8cb
+size 19230720
diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/fem_node.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32b279808e73ee46daf20d780df6b2f948402f54
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/franka_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b237ab0e1576757af3c8ffddbf9d4e3216181c31
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5625100e7c075d139ec662c4b8c9b50128b1817
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b8cbbaefad13b36a48ebd97b2ba05b7718b67b2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,1.616666667e+00,UP_FORCE_RAMP,1791620690992032398,-6.599683752e-06,-1.265665785e-05,2.939199178e-05,-6.452779891e-06,-7.856718563e-06,1.750307796e-05,-6.523757642e-06,-7.854589534e-06,1.739653359e-05,7.015312718e-01,-1.110569653e-05,8.407703332e-01,7.015314187e-01,-6.305757242e-06,8.407584443e-01,7.017227972e-01,-6.115392519e-06,8.295900217e-01
+18,1.716666667e+00,UP_FORCE_RAMP,1791620691192493451,-8.369081652e-06,-7.248270019e-06,4.255556724e-05,-8.448457509e-06,-1.132531628e-05,3.860670963e-05,-8.518801002e-06,-1.133788980e-05,3.845563753e-05,7.015295024e-01,-5.697308697e-06,8.407834968e-01,7.015294230e-01,-9.774354961e-06,8.407795479e-01,7.017208021e-01,-9.598692781e-06,8.296110808e-01
+19,1.816666667e+00,UP_FORCE_RAMP,1791620691390112641,-7.261934245e-06,-2.884263814e-06,6.808059576e-05,-7.102899874e-06,-6.825244586e-06,5.835379159e-05,-7.123054512e-06,-6.816931193e-06,5.808927261e-05,7.015306095e-01,-1.333302493e-06,8.408090218e-01,7.015307686e-01,-5.274283264e-06,8.407992950e-01,7.017221979e-01,-5.077734178e-06,8.296307144e-01
+20,1.900000000e+00,UP_FORCE_RAMP,1791620691522072327,-9.399682849e-06,-5.280030350e-06,7.996223833e-05,-6.384273222e-06,-3.005926037e-06,8.072295852e-05,-6.220497516e-06,-3.010324338e-06,8.039243122e-05,7.015284718e-01,-3.729069029e-06,8.408209034e-01,7.015314872e-01,-1.454964716e-06,8.408216641e-01,7.017231004e-01,-1.271127323e-06,8.296530176e-01
+21,1.983333333e+00,UP_FORCE_RAMP,1791620691690078722,-9.911639052e-06,2.322199183e-06,1.010373489e-04,-9.652224632e-06,2.425638999e-06,1.008058194e-04,-9.565320851e-06,2.430717521e-06,1.003717249e-04,7.015279598e-01,3.873160505e-06,8.408419785e-01,7.015282193e-01,3.976600320e-06,8.408417470e-01,7.017197556e-01,4.169914536e-06,8.296729969e-01
+22,2.100000000e+00,UP_FORCE_RAMP,1791620691922171049,-1.051601742e-05,1.047921371e-06,1.236111550e-04,-1.047881397e-05,8.331994993e-07,1.235851440e-04,-1.028414294e-05,8.419933624e-07,1.231531288e-04,7.015273555e-01,2.598882692e-06,8.408645523e-01,7.015273927e-01,2.384160820e-06,8.408645263e-01,7.017190368e-01,2.581190377e-06,8.296957783e-01
+23,2.216666667e+00,UP_FORCE_RAMP,1791620692122345696,-1.226732897e-05,8.749668946e-07,1.392380319e-04,-1.047881397e-05,8.331994993e-07,1.235851440e-04,-1.028923717e-05,8.432588943e-07,1.232526573e-04,7.015256042e-01,2.425928216e-06,8.408801792e-01,7.015273927e-01,2.384160820e-06,8.408645263e-01,7.017190317e-01,2.582455909e-06,8.296958778e-01
+24,2.316666667e+00,UP_FORCE_RAMP,1791620692322091648,-1.509420521e-05,2.767760886e-07,1.520424633e-04,-1.356582698e-05,1.289937570e-06,1.450995687e-04,-1.337225208e-05,1.318397586e-06,1.446589583e-04,7.015227773e-01,1.827737410e-06,8.408929837e-01,7.015243057e-01,2.840898891e-06,8.408860408e-01,7.017159487e-01,3.057594600e-06,8.297172841e-01
+25,2.416666667e+00,UP_FORCE_RAMP,1791620692522369489,-1.469722168e-05,3.843566369e-06,1.725180260e-04,-1.464098664e-05,2.350591974e-06,1.660289367e-04,-1.442016757e-05,2.380165803e-06,1.655428250e-04,7.015231743e-01,5.394527691e-06,8.409134592e-01,7.015232305e-01,3.901553295e-06,8.409069701e-01,7.017149008e-01,4.119362818e-06,8.297381680e-01
+26,2.500000000e+00,UP_FORCE_RAMP,1791620692686108562,-1.608742119e-05,4.633609437e-06,1.829188540e-04,-1.464098664e-05,2.350591974e-06,1.660289367e-04,-1.442256810e-05,2.380233040e-06,1.656111376e-04,7.015217841e-01,6.184570758e-06,8.409238600e-01,7.015232305e-01,3.901553295e-06,8.409069701e-01,7.017148984e-01,4.119430055e-06,8.297382363e-01
+27,2.600000000e+00,UP_FORCE_RAMP,1791620692854118145,-1.519159938e-05,-1.779524325e-07,2.003263667e-04,-1.388546908e-05,3.599101383e-06,1.898292644e-04,-1.352653924e-05,3.626414597e-06,1.893553544e-04,7.015226799e-01,1.373008889e-06,8.409412676e-01,7.015239860e-01,5.150062704e-06,8.409307705e-01,7.017157944e-01,5.365611611e-06,8.297619805e-01
+28,2.700000000e+00,UP_FORCE_RAMP,1791620693054120970,-1.424010497e-05,1.051556283e-05,2.258451813e-04,-1.241226263e-05,2.300455625e-06,2.095775470e-04,-1.194667801e-05,2.307378726e-06,2.091638782e-04,7.015236314e-01,1.206652415e-05,8.409667864e-01,7.015254592e-01,3.851416946e-06,8.409505187e-01,7.017173743e-01,4.046575740e-06,8.297817890e-01
+29,2.766666667e+00,UP_FORCE_RAMP,1791620693186108311,-1.282309427e-05,-2.830535546e-06,2.399068376e-04,-1.409156094e-05,4.010994365e-06,2.294298119e-04,-1.357175115e-05,4.055176694e-06,2.288768897e-04,7.015250484e-01,-1.279574225e-06,8.409808480e-01,7.015237799e-01,5.561955687e-06,8.409703710e-01,7.017157492e-01,5.794373708e-06,8.298015020e-01
+30,2.883333333e+00,UP_FORCE_RAMP,1791620693420126613,-1.641558858e-05,7.949591310e-06,2.601896864e-04,-1.385170448e-05,4.412820055e-06,2.549570046e-04,-1.326164279e-05,4.462296541e-06,2.543658777e-04,7.015214559e-01,9.500552631e-06,8.410011309e-01,7.015240198e-01,5.963781376e-06,8.409958982e-01,7.017160593e-01,6.201493556e-06,8.298269910e-01
+31,3.000000000e+00,UP_FORCE_RAMP,1791620693654141789,-1.749265218e-05,5.188787732e-06,2.810806103e-04,-1.593795249e-05,7.550810925e-06,2.761197284e-04,-1.532051321e-05,7.591495132e-06,2.755801226e-04,7.015203788e-01,6.739749053e-06,8.410220218e-01,7.015219335e-01,9.101772246e-06,8.410170609e-01,7.017140004e-01,9.330692146e-06,8.298482052e-01
+32,3.066666667e+00,UP_FORCE_RAMP,1791620693786922756,-1.544332421e-05,7.590418722e-06,2.967219829e-04,-1.513903761e-05,7.922191010e-06,2.970567390e-04,-1.441246185e-05,7.970554608e-06,2.964488478e-04,7.015224282e-01,9.141380043e-06,8.410376632e-01,7.015227324e-01,9.473152331e-06,8.410379979e-01,7.017149085e-01,9.709751622e-06,8.298690740e-01
+33,3.150000000e+00,UP_FORCE_RAMP,1791620693952152385,-1.812367994e-05,3.381617635e-06,3.115848507e-04,-1.513903761e-05,7.922191010e-06,2.970567390e-04,-1.441091654e-05,7.970189976e-06,2.965450378e-04,7.015197478e-01,4.932578956e-06,8.410525260e-01,7.015227324e-01,9.473152331e-06,8.410379979e-01,7.017149100e-01,9.709386991e-06,8.298691702e-01
+34,3.233333333e+00,UP_FORCE_RAMP,1791620694118170247,-1.793328276e-05,1.905098617e-06,3.273835971e-04,-1.460724204e-05,4.302408217e-06,3.196036096e-04,-1.377656519e-05,4.335455606e-06,3.190459001e-04,7.015199382e-01,3.456059939e-06,8.410683248e-01,7.015232642e-01,5.853369538e-06,8.410605448e-01,7.017155444e-01,6.074652621e-06,8.298916710e-01
+35,3.350000000e+00,UP_FORCE_RAMP,1791620694352485676,-1.715765521e-05,5.264772614e-06,3.524099805e-04,-1.491791622e-05,7.810369332e-06,3.417290242e-04,-1.402271818e-05,7.852889915e-06,3.411927000e-04,7.015207138e-01,6.815733935e-06,8.410933512e-01,7.015229536e-01,9.361330654e-06,8.410826702e-01,7.017152982e-01,9.592086930e-06,8.299138178e-01
+36,3.450000000e+00,UP_FORCE_RAMP,1791620694552195358,-1.637221368e-05,4.698697132e-06,3.724132756e-04,-2.027174124e-05,6.263772387e-06,3.628755233e-04,-1.946931720e-05,6.297173338e-06,3.622902038e-04,7.015214993e-01,6.249658453e-06,8.411133545e-01,7.015175997e-01,7.814733708e-06,8.411038167e-01,7.017098516e-01,8.036370352e-06,8.299349153e-01
+37,3.600000000e+00,UP_FORCE_RAMP,1791620694850185321,-1.978353386e-05,7.875312763e-06,3.903526713e-04,-1.930014341e-05,5.057238160e-06,3.856632635e-04,-1.832182618e-05,5.096209363e-06,3.850894034e-04,7.015180879e-01,9.426274084e-06,8.411312939e-01,7.015185713e-01,6.608199481e-06,8.411266045e-01,7.017109991e-01,6.835406378e-06,8.299577145e-01
+38,3.700000000e+00,UP_FORCE_RAMP,1791620695050195050,-1.951272920e-05,7.528857596e-06,4.068538887e-04,-1.928218865e-05,7.738947615e-06,4.066567235e-04,-1.822358825e-05,7.760278812e-06,4.060709739e-04,7.015183588e-01,9.079818917e-06,8.411477951e-01,7.015185893e-01,9.289908936e-06,8.411475979e-01,7.017110974e-01,9.499475827e-06,8.299786961e-01
+39,3.783333333e+00,UP_FORCE_RAMP,1791620695216201664,-1.761921990e-05,6.467117621e-06,4.209199264e-04,-1.928218865e-05,7.738947615e-06,4.066567235e-04,-1.822626100e-05,7.759848062e-06,4.061610627e-04,7.015202523e-01,8.018078942e-06,8.411618611e-01,7.015185893e-01,9.289908936e-06,8.411475979e-01,7.017110947e-01,9.499045077e-06,8.299787862e-01
+40,3.900000000e+00,UP_FORCE_RAMP,1791620695450794196,-1.737311846e-05,7.772175700e-06,4.366291667e-04,-2.019671395e-05,4.405720031e-06,4.266917387e-04,-1.910728174e-05,4.435625748e-06,4.262103493e-04,7.015204984e-01,9.323137021e-06,8.411775704e-01,7.015176748e-01,5.956681352e-06,8.411676329e-01,7.017102137e-01,6.174822763e-06,8.299988355e-01
+41,3.983333333e+00,UP_FORCE_RAMP,1791620695616529082,-1.875658501e-05,9.575907630e-06,4.461665366e-04,-1.860892534e-05,9.613584256e-06,4.462026296e-04,-1.744385342e-05,9.685572974e-06,4.456327763e-04,7.015191149e-01,1.112686895e-05,8.411871077e-01,7.015192626e-01,1.116454558e-05,8.411871438e-01,7.017118771e-01,1.142476999e-05,8.300182579e-01
+42,4.116666667e+00,UP_FORCE_RAMP,1791620695882527930,-1.722380696e-05,8.759615521e-06,4.613256816e-04,-1.860892534e-05,9.613584256e-06,4.462026296e-04,-1.744323976e-05,9.684304598e-06,4.457572536e-04,7.015206477e-01,1.031057684e-05,8.412022669e-01,7.015192626e-01,1.116454558e-05,8.411871438e-01,7.017118777e-01,1.142350161e-05,8.300183824e-01
+43,4.233333333e+00,UP_FORCE_RAMP,1791620696114200649,-2.117341424e-05,7.584134120e-06,4.680608561e-04,-1.840147092e-05,5.583243428e-06,4.656455331e-04,-1.713275634e-05,5.597756945e-06,4.652308576e-04,7.015166981e-01,9.135095441e-06,8.412090020e-01,7.015194700e-01,7.134204749e-06,8.412065867e-01,7.017121882e-01,7.336953960e-06,8.300378560e-01
+44,4.316666667e+00,UP_FORCE_RAMP,1791620696280811027,-2.974946949e-05,6.055386199e-06,4.691311753e-04,-1.840147092e-05,5.583243428e-06,4.656455331e-04,-1.713303201e-05,5.597265838e-06,4.652932042e-04,7.015081220e-01,7.606347520e-06,8.412100724e-01,7.015194700e-01,7.134204749e-06,8.412065867e-01,7.017121879e-01,7.336462853e-06,8.300379183e-01
+45,4.350000000e+00,UP_FORCE_RAMP,1791620696348489044,-4.305365930e-05,-2.624764914e-06,4.575589561e-04,-4.199075214e-05,7.361734036e-06,4.579580449e-04,-4.133600574e-05,7.397245027e-06,4.576363079e-04,7.014948178e-01,-1.073803593e-06,8.411985001e-01,7.014958807e-01,8.912695357e-06,8.411988992e-01,7.016879849e-01,9.136442042e-06,8.300302614e-01
+46,4.483333333e+00,UP_FORCE_RAMP,1791620696596236298,-4.571946879e-05,4.662865526e-06,4.651453144e-04,-4.199075214e-05,7.361734036e-06,4.579580449e-04,-4.136279372e-05,7.396356148e-06,4.577009102e-04,7.014921520e-01,6.213826847e-06,8.412060865e-01,7.014958807e-01,8.912695357e-06,8.411988992e-01,7.016879581e-01,9.135553163e-06,8.300303260e-01
+47,4.600000000e+00,UP_FORCE_RAMP,1791620696814245468,-4.298950540e-05,3.361019721e-06,4.776148747e-04,-4.302075038e-05,3.210720265e-06,4.771576149e-04,-4.234465769e-05,3.196180393e-06,4.768234615e-04,7.014948820e-01,4.911981043e-06,8.412185561e-01,7.014948507e-01,4.761681586e-06,8.412180988e-01,7.016869763e-01,4.935377407e-06,8.300494486e-01
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+50,4.933333333e+00,UP_FORCE_RAMP,1791620697446807216,-4.488827557e-05,2.686745284e-06,5.037255074e-04,-4.296587302e-05,3.910278575e-06,4.975556357e-04,-4.223759112e-05,3.947079431e-06,4.972992379e-04,7.014929832e-01,4.237706605e-06,8.412446667e-01,7.014949056e-01,5.461239896e-06,8.412384968e-01,7.016870833e-01,5.686276446e-06,8.300699244e-01
+51,5.000000000e+00,UP_FORCE_RAMP,1791620697578259692,-4.192641741e-05,-1.691801426e-07,5.093216847e-04,-4.296587302e-05,3.910278575e-06,4.975556357e-04,-4.224238182e-05,3.946744748e-06,4.973291080e-04,7.014959451e-01,1.381781179e-06,8.412502629e-01,7.014949056e-01,5.461239896e-06,8.412384968e-01,7.016870786e-01,5.685941763e-06,8.300699542e-01
+52,5.066666667e+00,UP_FORCE_RAMP,1791620697710258241,-4.365132231e-05,7.870076314e-06,5.122963088e-04,-4.296587302e-05,3.910278575e-06,4.975556357e-04,-4.224643925e-05,3.946444575e-06,4.973554890e-04,7.014942202e-01,9.421037635e-06,8.412532375e-01,7.014949056e-01,5.461239896e-06,8.412384968e-01,7.016870745e-01,5.685641590e-06,8.300699806e-01
+53,5.150000000e+00,UP_FORCE_RAMP,1791620697860622648,-4.005807122e-05,2.885048629e-06,5.218378029e-04,-3.987754467e-05,2.793684027e-06,5.215452042e-04,-3.901464793e-05,2.795145356e-06,5.212413963e-04,7.014978134e-01,4.436009950e-06,8.412627790e-01,7.014979939e-01,4.344645349e-06,8.412624864e-01,7.016903063e-01,4.534342370e-06,8.300938665e-01
+54,5.316666667e+00,UP_FORCE_RAMP,1791620698176332681,-4.588450532e-05,3.331304150e-06,5.232889929e-04,-3.987754467e-05,2.793684027e-06,5.215452042e-04,-3.901305694e-05,2.795201794e-06,5.213361502e-04,7.014919870e-01,4.882265471e-06,8.412642302e-01,7.014979939e-01,4.344645349e-06,8.412624864e-01,7.016903079e-01,4.534398809e-06,8.300939613e-01
+55,5.416666667e+00,UP_FORCE_HOLD,1791620698382685216,-4.289172430e-05,6.316515743e-06,5.320940304e-04,-3.987754467e-05,2.793684027e-06,5.215452042e-04,-3.901383880e-05,2.794791065e-06,5.213751506e-04,7.014949798e-01,7.867477064e-06,8.412730352e-01,7.014979939e-01,4.344645349e-06,8.412624864e-01,7.016903071e-01,4.533988080e-06,8.300940003e-01
+56,5.500000000e+00,UP_FORCE_HOLD,1791620698510281496,-4.579924172e-05,6.550574465e-07,5.302247121e-04,-3.987754467e-05,2.793684027e-06,5.215452042e-04,-3.901416708e-05,2.794513005e-06,5.214028722e-04,7.014920722e-01,2.206018768e-06,8.412711659e-01,7.014979939e-01,4.344645349e-06,8.412624864e-01,7.016903068e-01,4.533710020e-06,8.300940280e-01
+57,5.666666667e+00,UP_FORCE_HOLD,1791620698842839159,-4.705071230e-05,9.840448534e-07,5.356820613e-04,-3.987754467e-05,2.793684027e-06,5.215452042e-04,-3.901428589e-05,2.794069834e-06,5.214478702e-04,7.014908208e-01,2.535006174e-06,8.412766232e-01,7.014979939e-01,4.344645349e-06,8.412624864e-01,7.016903067e-01,4.533266849e-06,8.300940730e-01
+58,5.850000000e+00,UP_FORCE_HOLD,1791620699174931966,-4.516974470e-05,4.175657380e-06,5.455542032e-04,-4.587008472e-05,-3.947678592e-07,5.404229226e-04,-4.509676162e-05,-3.736589464e-07,5.402285236e-04,7.014927017e-01,5.726618701e-06,8.412864954e-01,7.014920014e-01,1.156193462e-06,8.412813641e-01,7.016842242e-01,1.365538068e-06,8.301128536e-01
+59,5.983333333e+00,UP_SETTLE,1791620699440479414,-4.408854059e-05,9.053868676e-07,5.535306564e-04,-4.587008472e-05,-3.947678592e-07,5.404229226e-04,-4.510146215e-05,-3.740073875e-07,5.402668874e-04,7.014937829e-01,2.456348189e-06,8.412944718e-01,7.014920014e-01,1.156193462e-06,8.412813641e-01,7.016842195e-01,1.365189627e-06,8.301128920e-01
diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa1a6ae323b5b3541e564686edfb09b2ae8219f2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,1.0718e-03,6.4999e-06,2.4539e+00,-3.6792e-02,3.6861e-02,3.4232e-06,5.7954e-05,1.0884e-06,3.5763e-05,-1.1548e-07,4.0606e-06,7.7953e-08,6.8109e-05,4.0630e-06
+1,1.0000e-01,UP_FORCE_RAMP,2.8186e-05,1.3902e-03,1.2635e-05,2.4541e+00,-3.6793e-02,3.6883e-02,3.8844e-06,3.7634e-04,7.2232e-06,2.3460e-04,-7.6741e-07,2.6383e-05,5.3918e-07,4.4354e-04,2.6399e-05
+2,2.5000e-01,UP_FORCE_RAMP,5.6795e-05,1.7856e-03,2.0565e-05,2.4544e+00,-3.6793e-02,3.6911e-02,4.5542e-06,7.7173e-04,1.5153e-05,4.8518e-04,-1.6317e-06,5.4099e-05,1.2089e-06,9.1170e-04,5.4137e-05
+3,3.6667e-01,UP_FORCE_RAMP,8.5529e-05,2.0368e-03,2.5800e-05,2.4545e+00,-3.6794e-02,3.6929e-02,5.0538e-06,1.0229e-03,2.0389e-05,6.4707e-04,-2.2203e-06,7.1716e-05,1.7086e-06,1.2106e-03,7.1770e-05
+4,4.3333e-01,UP_FORCE_RAMP,1.1796e-04,2.1618e-03,2.8480e-05,2.4546e+00,-3.6794e-02,3.6938e-02,5.3296e-06,1.1479e-03,2.3068e-05,7.2885e-04,-2.5257e-06,8.0474e-05,1.9844e-06,1.3600e-03,8.0538e-05
+5,5.0000e-01,UP_FORCE_RAMP,1.4712e-04,2.2750e-03,3.0941e-05,2.4547e+00,-3.6795e-02,3.6946e-02,5.5978e-06,1.2611e-03,2.5529e-05,8.0347e-04,-2.8089e-06,8.8405e-05,2.2526e-06,1.4955e-03,8.8478e-05
+6,5.8333e-01,UP_FORCE_RAMP,1.7689e-04,2.4014e-03,3.3677e-05,2.4548e+00,-3.6795e-02,3.6954e-02,5.9232e-06,1.3875e-03,2.8265e-05,8.8644e-04,-3.1330e-06,9.7271e-05,2.5780e-06,1.6468e-03,9.7356e-05
+7,6.3333e-01,UP_FORCE_RAMP,2.0785e-04,2.4702e-03,3.5214e-05,2.4548e+00,-3.6795e-02,3.6959e-02,6.1119e-06,1.4563e-03,2.9802e-05,9.3269e-04,-3.3192e-06,1.0209e-04,2.7667e-06,1.7296e-03,1.0218e-04
+8,6.8333e-01,UP_FORCE_RAMP,2.3262e-04,2.5340e-03,3.6652e-05,2.4549e+00,-3.6795e-02,3.6964e-02,6.2961e-06,1.5202e-03,3.1240e-05,9.7561e-04,-3.4943e-06,1.0657e-04,2.9508e-06,1.8066e-03,1.0666e-04
+9,7.6667e-01,UP_FORCE_RAMP,2.6564e-04,2.6305e-03,3.8856e-05,2.4549e+00,-3.6796e-02,3.6970e-02,6.5929e-06,1.6166e-03,3.3445e-05,1.0414e-03,-3.7588e-06,1.1333e-04,3.2477e-06,1.9233e-03,1.1344e-04
+10,8.5000e-01,UP_FORCE_RAMP,2.9403e-04,2.7162e-03,4.0672e-05,2.4550e+00,-3.6796e-02,3.6976e-02,6.8781e-06,1.7024e-03,3.5261e-05,1.0996e-03,-3.9861e-06,1.1934e-04,3.5329e-06,2.0269e-03,1.1946e-04
+11,9.8333e-01,UP_FORCE_RAMP,3.2336e-04,2.8331e-03,4.3475e-05,2.4551e+00,-3.6796e-02,3.6985e-02,7.3078e-06,1.8192e-03,3.8063e-05,1.1806e-03,-4.3474e-06,1.2752e-04,3.9626e-06,2.1690e-03,1.2766e-04
+12,1.0500e+00,UP_FORCE_RAMP,3.5233e-04,2.8833e-03,4.4670e-05,2.4551e+00,-3.6796e-02,3.6988e-02,7.5101e-06,1.8694e-03,3.9259e-05,1.2164e-03,-4.5002e-06,1.3104e-04,4.1649e-06,2.2306e-03,1.3118e-04
+13,1.1500e+00,UP_FORCE_RAMP,3.7820e-04,2.9502e-03,4.6322e-05,2.4552e+00,-3.6797e-02,3.6993e-02,7.7998e-06,1.9363e-03,4.0910e-05,1.2641e-03,-4.7199e-06,1.3573e-04,4.4545e-06,2.3128e-03,1.3589e-04
+14,1.2667e+00,UP_FORCE_RAMP,4.1342e-04,4.3242e-03,5.0258e-03,2.4551e+00,-3.7143e-02,3.7090e-02,1.2380e-05,3.3103e-03,5.0203e-03,1.2445e-03,-3.5164e-04,2.3286e-04,9.0345e-06,6.1409e-03,4.2184e-04
+15,1.3667e+00,UP_FORCE_RAMP,4.4066e-04,4.1629e-03,5.0056e-03,2.4552e+00,-3.7143e-02,3.7079e-02,1.2371e-05,3.1490e-03,5.0002e-03,1.2870e-03,-3.5082e-04,2.2152e-04,9.0258e-06,6.0477e-03,4.1500e-04
+16,1.4833e+00,UP_FORCE_RAMP,4.7084e-04,4.0124e-03,4.9981e-03,2.4552e+00,-3.7143e-02,3.7068e-02,1.2357e-05,2.9985e-03,4.9927e-03,1.3242e-03,-3.5086e-04,2.1092e-04,9.0119e-06,5.9726e-03,4.0948e-04
+17,1.6167e+00,UP_FORCE_RAMP,5.0155e-04,4.0655e-03,2.0170e-03,2.4510e+00,-3.6935e-02,3.7076e-02,9.6975e-06,3.0516e-03,2.0116e-03,-2.9354e-03,-1.4358e-04,2.1873e-04,6.3523e-06,4.6878e-03,2.6172e-04
+18,1.7167e+00,UP_FORCE_RAMP,5.2960e-04,4.5327e-03,2.9595e-03,2.4454e+00,-3.7001e-02,3.7114e-02,1.0452e-05,3.5188e-03,2.9541e-03,-8.5282e-03,-2.0910e-04,2.5691e-04,7.1063e-06,9.6871e-03,3.3133e-04
+19,1.8167e+00,UP_FORCE_RAMP,5.5832e-04,3.9913e-03,1.7647e-03,2.4415e+00,-3.6919e-02,3.7080e-02,9.5363e-06,2.9774e-03,1.7593e-03,-1.2402e-02,-1.2683e-04,2.2255e-04,6.1911e-06,1.2875e-02,2.5623e-04
+20,1.9000e+00,UP_FORCE_RAMP,5.8663e-04,3.6787e-03,7.9878e-04,2.4369e+00,-3.6853e-02,3.7061e-02,9.0089e-06,2.6648e-03,7.9336e-04,-1.7008e-02,-6.0804e-05,2.0340e-04,5.6637e-06,1.7234e-02,2.1237e-04
+21,1.9833e+00,UP_FORCE_RAMP,6.1724e-04,3.7027e-03,8.7473e-04,2.4398e+00,-3.6858e-02,3.7061e-02,8.8890e-06,2.6888e-03,8.6931e-04,-1.4128e-02,-6.5699e-05,2.0373e-04,5.5437e-06,1.4408e-02,2.1413e-04
+22,2.1000e+00,UP_FORCE_RAMP,6.4689e-04,4.5088e-03,-4.7885e-04,2.4379e+00,-3.6763e-02,3.7120e-02,8.2347e-06,3.4949e-03,-4.8426e-04,-1.5981e-02,2.9124e-05,2.6242e-04,4.8894e-06,1.6366e-02,2.6408e-04
+23,2.2167e+00,UP_FORCE_RAMP,6.7481e-04,4.6135e-03,-4.4354e-05,2.4358e+00,-3.6793e-02,3.7129e-02,9.1259e-06,3.5996e-03,-4.9766e-05,-1.8114e-02,-8.2701e-07,2.7198e-04,5.7807e-06,1.8468e-02,2.7204e-04
+24,2.3167e+00,UP_FORCE_RAMP,7.0409e-04,5.4114e-03,-1.4237e-04,2.4332e+00,-3.6785e-02,3.7188e-02,9.4416e-06,4.3975e-03,-1.4778e-04,-2.0731e-02,6.5826e-06,3.3107e-04,6.0964e-06,2.1193e-02,3.3120e-04
+25,2.4167e+00,UP_FORCE_RAMP,7.3637e-04,5.5881e-03,-3.9809e-04,2.4308e+00,-3.6767e-02,3.7203e-02,9.5180e-06,4.5742e-03,-4.0350e-04,-2.3132e-02,2.4680e-05,3.4561e-04,6.1728e-06,2.3583e-02,3.4654e-04
+26,2.5000e+00,UP_FORCE_RAMP,7.6215e-04,5.4743e-03,-3.8525e-04,2.4346e+00,-3.6769e-02,3.7191e-02,9.7119e-06,4.4604e-03,-3.9066e-04,-1.9294e-02,2.3205e-05,3.3414e-04,6.3667e-06,1.9807e-02,3.3500e-04
+27,2.6000e+00,UP_FORCE_RAMP,7.8993e-04,5.2382e-03,-6.6380e-04,2.4321e+00,-3.6748e-02,3.7177e-02,9.6405e-06,4.2243e-03,-6.6921e-04,-2.1798e-02,4.3627e-05,3.1997e-04,6.2952e-06,2.2214e-02,3.2299e-04
+28,2.7000e+00,UP_FORCE_RAMP,8.2361e-04,4.9272e-03,-3.1025e-04,2.4312e+00,-3.6772e-02,3.7156e-02,9.9372e-06,3.9133e-03,-3.1567e-04,-2.2656e-02,1.9431e-05,2.9893e-04,6.5919e-06,2.2994e-02,2.9964e-04
+29,2.7667e+00,UP_FORCE_RAMP,8.4883e-04,5.4486e-03,-7.3300e-04,2.4288e+00,-3.6742e-02,3.7195e-02,9.6598e-06,4.4347e-03,-7.3841e-04,-2.5147e-02,4.9755e-05,3.3813e-04,6.3146e-06,2.5546e-02,3.4183e-04
+30,2.8833e+00,UP_FORCE_RAMP,8.8103e-04,5.4939e-03,-8.1773e-04,2.4272e+00,-3.6735e-02,3.7200e-02,9.3514e-06,4.4800e-03,-8.2314e-04,-2.6730e-02,5.6829e-05,3.4270e-04,6.0061e-06,2.7115e-02,3.4743e-04
+31,3.0000e+00,UP_FORCE_RAMP,9.1287e-04,6.1570e-03,-1.6164e-03,2.4265e+00,-3.6678e-02,3.7246e-02,8.3416e-06,5.1431e-03,-1.6218e-03,-2.7435e-02,1.1364e-04,3.8924e-04,4.9964e-06,2.7960e-02,4.0552e-04
+32,3.0667e+00,UP_FORCE_RAMP,9.3957e-04,6.1553e-03,-1.6131e-03,2.4302e+00,-3.6678e-02,3.7243e-02,7.8851e-06,5.1415e-03,-1.6185e-03,-2.3746e-02,1.1365e-04,3.8604e-04,4.5398e-06,2.4350e-02,4.0245e-04
+33,3.1500e+00,UP_FORCE_RAMP,9.6849e-04,6.0071e-03,-1.7164e-03,2.4287e+00,-3.6670e-02,3.7234e-02,7.2950e-06,4.9932e-03,-1.7218e-03,-2.5180e-02,1.2207e-04,3.7705e-04,3.9498e-06,2.5728e-02,3.9633e-04
+34,3.2333e+00,UP_FORCE_RAMP,9.9601e-04,5.9024e-03,-7.8151e-04,2.4265e+00,-3.6734e-02,3.7228e-02,7.2160e-06,4.8885e-03,-7.8692e-04,-2.7387e-02,5.7742e-05,3.7131e-04,3.8708e-06,2.7831e-02,3.7579e-04
+35,3.3500e+00,UP_FORCE_RAMP,1.0319e-03,6.0748e-03,-1.6765e-03,2.4266e+00,-3.6671e-02,3.7241e-02,5.4967e-06,5.0609e-03,-1.6819e-03,-2.7252e-02,1.2084e-04,3.8347e-04,2.1515e-06,2.7769e-02,4.0207e-04
+36,3.4500e+00,UP_FORCE_RAMP,1.0578e-03,7.4102e-03,-1.2462e-03,2.4247e+00,-3.6699e-02,3.7333e-02,4.7874e-06,6.3963e-03,-1.2517e-03,-2.9212e-02,9.2648e-05,4.7618e-04,1.4422e-06,2.9930e-02,4.8511e-04
+37,3.6000e+00,UP_FORCE_RAMP,1.0881e-03,6.9863e-03,-9.3089e-04,2.4264e+00,-3.6721e-02,3.7305e-02,4.0837e-06,5.9724e-03,-9.3630e-04,-2.7540e-02,7.1004e-05,4.4814e-04,7.3848e-07,2.8196e-02,4.5373e-04
+38,3.7000e+00,UP_FORCE_RAMP,1.1176e-03,6.8250e-03,-9.2204e-04,2.4311e+00,-3.6722e-02,3.7289e-02,3.1860e-06,5.8111e-03,-9.2746e-04,-2.2843e-02,6.9939e-05,4.3215e-04,-1.5919e-07,2.3589e-02,4.3777e-04
+39,3.7833e+00,UP_FORCE_RAMP,1.1459e-03,6.7304e-03,-1.5805e-03,2.4292e+00,-3.6675e-02,3.7285e-02,2.1022e-06,5.7165e-03,-1.5859e-03,-2.4689e-02,1.1647e-04,4.2778e-04,-1.2430e-06,2.5391e-02,4.4336e-04
+40,3.9000e+00,UP_FORCE_RAMP,1.1771e-03,6.8615e-03,-7.1539e-04,2.4286e+00,-3.6735e-02,3.7295e-02,1.8441e-06,5.8476e-03,-7.2080e-04,-2.5329e-02,5.6770e-05,4.3806e-04,-1.5011e-06,2.6006e-02,4.4173e-04
+41,3.9833e+00,UP_FORCE_RAMP,1.2032e-03,6.7351e-03,-7.1190e-04,2.4321e+00,-3.6736e-02,3.7283e-02,9.4577e-07,5.7212e-03,-7.1731e-04,-2.1763e-02,5.5887e-05,4.2582e-04,-2.3995e-06,2.2514e-02,4.2948e-04
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/fem_node.csv
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+59,2.041667e+01,2836,6.952452e-01,1.980542e-02,8.226616e-01,-2.056163e-05,-1.104255e-04,-1.242777e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2837,6.976068e-01,2.094129e-02,8.074497e-01,-9.783049e-05,-1.051989e-04,-1.238828e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2838,6.986337e-01,2.009090e-02,8.076862e-01,-9.928764e-05,-1.064666e-04,-1.239366e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2839,6.927216e-01,2.222847e-02,8.181444e-01,-2.185315e-05,-1.126724e-04,-1.240017e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2840,7.004263e-01,2.209355e-02,8.289975e-01,-1.957784e-05,-1.077046e-04,-1.244597e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2841,6.961302e-01,1.978155e-02,8.104779e-01,-7.374828e-05,-1.129888e-04,-1.238479e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2842,6.932768e-01,2.083551e-02,8.169259e-01,-1.866643e-05,-1.142862e-04,-1.239770e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2843,6.996651e-01,2.030933e-02,8.069696e-01,-1.057597e-04,-1.063611e-04,-1.239773e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.041667e+01,2844,6.996735e-01,2.106208e-02,8.062865e-01,-1.088233e-04,-1.069357e-04,-1.239774e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4df950a3c1adeddaf81cca3f7d5c3db1253cb469
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/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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+11454,1791620774252112085,25958057000000,1791620774250675414,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761032277167187,-0.004795022000373523,0.0897537560118383,0.9999999907554296,8.083731169740549e-05,1.2166586262084028e-05,5.7002705634628725e-05,0.6761,-0.0048,0.08965778141380054,1.0,0.0,0.0,0.0,0.10069600744859313,0.15280598618426564,0.9691903270588871,0.010159322601067475,-0.005519917949788906,0.0005424664332615253,0.08691144253011031,0.20553013785330965,0.8260303012484866,0.009214218108392182,-0.006443857212701953,-0.0006515006361132926,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.681748302711192,-0.013286175815449346,-0.4012036155199811,0.19419535642142818,0.39509287730283116,-0.08228697738309561,0.6955959986629165,0.9691903270588871,1.0967996141828977,1.0967996141828977,1.2313600000001053,1,0,-9.540220278633627e-05,-9.997557923047679e-05
+11642,1791620775819120083,25959624000000,1791620775814684682,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761140307537519,-0.004796490808243914,0.08962032884761816,0.9999999916677359,6.816165250902248e-05,2.83092936758474e-05,5.15748545443425e-05,0.6761,-0.0048,0.08950112943032842,1.0,0.0,0.0,0.0,0.10094469330961454,0.146507978190143,1.0495523797438941,0.010143058040070551,-0.005536891975188587,0.0004818816091370293,0.08716012839113173,0.199232129859187,0.9063923539334937,0.009197953547395258,-0.006460831238101634,-0.0007120854602377886,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6653697699656808,-0.028396639422551835,-0.5425984391963468,0.20722675385605133,0.47839990538470645,-0.09048830452561496,0.6955959986629165,1.0495523797438941,1.2381944378592633,1.2381944378592633,1.3567200000002306,1,0,-0.00010689811106159996,9.462856473264054e-05
+11809,1791620777211117018,25961016000000,1791620777210684073,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761189672493937,-0.004795603013719888,0.08946756318632948,0.9999999912566963,7.031050143935407e-05,3.5007928471475835e-05,5.2539035967819265e-05,0.6761,-0.0048,0.08934425634552186,1.0,0.0,0.0,0.0,0.1010528596189429,0.14685514630109212,1.1206382389500367,0.009649301166662419,-0.005542323942653001,0.00041843702256223834,0.08726829470046009,0.19957929797013613,0.9774782131396361,0.008704196673987126,-0.0064662632055660476,-0.0007755300468125796,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7334757928600526,-0.07383698777317645,-0.6204681978718276,0.2318356326227166,0.5388553843046641,-0.1166844983129554,0.6955959986629165,1.1206382389500367,1.3160641965347442,1.3160641965347442,1.468080000000342,1,0,-0.0001177601971192847,-3.891359245650081e-05
+11973,1791620778577215798,25962382000000,1791620778570684650,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.676119640748245,-0.004804498233938871,0.0892977430482956,0.9999999901949249,7.895181374005293e-05,3.4955402842800425e-05,5.998120985333147e-05,0.6761,-0.0048,0.08917213759583326,1.0,0.0,0.0,0.0,0.10121761325169111,0.14219889242829878,1.1753469334018165,0.0090993011907006,-0.00554488181689493,0.00036877751948401715,0.0874330483332083,0.1949230440973428,1.032186907591416,0.008154196698025307,-0.006468821079807977,-0.0008251895498908008,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6682420309812281,-0.020177131270285663,-0.6396747794873139,0.21822648129446032,0.5293970039638696,-0.08269614311697186,0.6955959986629165,1.1753469334018165,1.3352707781502304,1.3352707781502304,1.5773600000004513,1,0,-0.00013528384051472576,-9.998694513869139e-05
+12129,1791620779877243117,25963682000000,1791620779870684687,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761159281499453,-0.004813938072065735,0.08910194463503221,0.999999990509317,7.485048811572188e-05,2.828699235728686e-05,6.341514743911378e-05,0.6761,-0.0048,0.08898298337892896,1.0,0.0,0.0,0.0,0.11090816986016466,0.1295147493404956,1.2103554573123776,0.008070798678557287,-0.005532779318974253,0.0003301441119450116,0.09712360494168185,0.1822389010095396,1.0671954315019772,0.007125694185881994,-0.0064567185818873,-0.0008638229574298063,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7393151838599523,-0.015309034162363403,-0.6669785872198043,0.23358700962091017,0.5588147474283663,-0.07537029657156329,0.6955959986629165,1.2103554573123776,1.362574585882721,1.362574585882721,1.6813600000005553,1,0,-0.00015734927531349386,-9.996857094763385e-05
+12267,1791620781027169951,25964832000000,1791620781026684575,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761156719382738,-0.004817781583809804,0.08890514064600255,0.9999999909257902,6.732825129942604e-05,2.6623766416665733e-05,6.594972130580408e-05,0.6761,-0.0048,0.08878360535209628,1.0,0.0,0.0,0.0,0.11088337823273553,0.12626978979570885,1.2203869578482638,0.008068752429328222,-0.005534858920107954,0.00032203599562647994,0.09709881331425271,0.17899394146475286,1.0772269320378633,0.00712364793665293,-0.006458798183021001,-0.000871931073748338,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7596213370946479,-0.027330384231867257,-0.8038119872784433,0.24592402974580785,0.6447604513310264,-0.0803134201797286,0.6955959986629165,1.2203869578482638,1.4994079859413598,1.4994079859413598,1.7733600000006473,1,0,-0.0001924448040744028,-9.999999025923074e-05
+12393,1791620782077233447,25965882000000,1791620782074684756,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761172746643523,-0.004824292519985663,0.08868397919792528,0.9999999901580748,7.42608363982309e-05,2.780537726049505e-05,6.956223086746998e-05,0.6761,-0.0048,0.08855883474643866,1.0,0.0,0.0,0.0,0.10583657650116435,0.1134789312742143,1.2200178947576272,0.0070475058215086,-0.005515085634691222,0.0003106276000560661,0.09205201158268153,0.1662030829432583,1.0768578689472268,0.006102401328833306,-0.0064390248976042685,-0.0008833394693187519,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6798100847805852,-0.029071329236128783,-0.6866824754846113,0.2537033020468093,0.5407559157405147,-0.08268706094141606,0.6955959986629165,1.2200178947576272,1.3822784741475278,1.3822784741475278,1.8573600000007313,1,0,-0.00023657352307279578,-9.999999025923074e-05
+12492,1791620782902321649,25966707000000,1791620782898674903,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761216669221108,-0.004826193404863337,0.08847671242608536,0.9999999903037107,6.969882566999709e-05,3.194245671199815e-05,7.040735928538384e-05,0.6761,-0.0048,0.0883492915025378,1.0,0.0,0.0,0.0,0.1116448273945567,0.10477350363306076,1.2396447617163449,0.006022647864522256,-0.005499806161952957,0.00028352515479291933,0.09786026247607388,0.15749765530210477,1.0964847359059444,0.005077543371846962,-0.006423745424866003,-0.0009104419145818986,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6913670352162861,-0.1028446483116551,-0.7511783093837718,0.2856104304939234,0.5809515707834766,-0.13093487422128047,0.6955959986629165,1.2396447617163449,1.4467743080466884,1.4467743080466884,1.9233600000007973,1,0,-0.0002719352200461752,-9.999999025923074e-05
+12576,1791620783602298080,25967407000000,1791620783598684488,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761157471759747,-0.004834227279343067,0.08826257321610814,0.9999999906333678,6.262401073388686e-05,1.8612647479621328e-05,7.68630702173952e-05,0.6761,-0.0048,0.08814737448381318,1.0,0.0,0.0,0.0,0.1038446794620932,0.0940004245336847,1.2475491941340568,0.006019870384380507,-0.005502533695594002,0.00027619215856207956,0.09006011454361039,0.14672457620272872,1.1043891683236564,0.005074765891705213,-0.006426472958507049,-0.0009177749108127384,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7019948905198271,-0.011822790101850394,-0.9180966618817374,0.2672756510712176,0.6874245371427983,-0.0694549302105746,0.6955959986629165,1.2475491941340568,1.613692660544654,1.613692660544654,1.9793600000008533,1,0,-0.00030430373539472457,5.934587129908238e-05
+12660,1791620784302345579,25968107000000,1791620784298675349,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761124836820598,-0.004837023359369875,0.08803450292867782,0.9999999903658333,6.667241748696517e-05,1.1816801879205736e-05,7.82710024953107e-05,0.6761,-0.0048,0.08792230312329544,1.0,0.0,0.0,0.0,0.10343250965430276,0.07892685350418804,1.2492952777537685,0.005025747719670039,-0.006493662308239838,0.00024749834052374936,0.08964794473581994,0.13165100517323206,1.106135251943368,0.004080643226994746,-0.007417601571152885,-0.0009464687288510686,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6377208678362514,-0.14265361098526516,-0.7935870723873454,0.31452403880416835,0.589614359951095,-0.15603961903478997,0.6955959986629165,1.2492952777537685,1.4891830710502618,1.4891830710502618,2.0353600000009093,1,0,-0.00033904221384137143,-9.999999025923074e-05
+12736,1791620784936342271,25968741000000,1791620784934675262,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761082022615982,-0.004840999860516581,0.08780359678987627,0.9999999890413573,7.811227340904538e-05,5.530092212104225e-06,8.501788314485918e-05,0.6761,-0.0048,0.08769735448060517,1.0,0.0,0.0,0.0,0.11223295567525955,0.0787613415378727,1.2384693696303866,0.005026699433989741,-0.00646243191914927,0.0002573684574045422,0.09844839075677674,0.13148549320691671,1.0953093438199861,0.004081594941314447,-0.007386371182062317,-0.0009365986119702757,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6222471826183095,-0.09831568740517001,-0.7940536267897947,0.31465331414514464,0.5832094481492058,-0.1240023591837058,0.6955959986629165,1.2384693696303866,1.4896496254527114,1.4896496254527114,2.08608000000096,1,0,-0.0003704879471780594,-9.999999025923074e-05
+12807,1791620785527367979,25969332000000,1791620785526684576,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761063600841118,-0.004841897667545136,0.08757599441057795,0.9999999902592854,6.412770168255297e-05,3.200170532555298e-06,8.247236062602331e-05,0.6761,-0.0048,0.08746967885552695,1.0,0.0,0.0,0.0,0.10859214712778939,0.06868639862867766,1.2287709777720934,0.005026998110561903,-0.0064394970152358375,0.00026561139507174747,0.09480758220930657,0.12141055029772167,1.085610951961693,0.0040818936178866096,-0.007363436278148884,-0.0009283556743030705,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5466895391795348,-0.06765605219624446,-0.7392923425123727,0.30486072760638944,0.5299480920382074,-0.10805274590153818,0.6955959986629165,1.2287709777720934,1.4348883411752893,1.4348883411752893,2.1333600000010073,1,0,-0.0004000379414212648,-9.999999025923074e-05
+12875,1791620786094291350,25969899000000,1791620786090675604,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761063351363739,-0.004849368170518361,0.08734445743375412,0.9999999899253201,6.46075737593584e-05,3.627021387547533e-06,8.605190550052055e-05,0.6761,-0.0048,0.08723483429430963,1.0,0.0,0.0,0.0,0.10327113580626504,0.07740934498129337,1.223108875593553,0.005005533839977109,-0.005612100511250386,0.00027924036906531405,0.08948657088778222,0.13013349665033738,1.0799488497831526,0.004060429347301816,-0.006536039774163433,-0.0009147267003095039,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5483533857035983,-0.027057432559049376,-0.6659648023974702,0.30180658035915786,0.4828798354386009,-0.07838220491309555,0.6955959986629165,1.223108875593553,1.3615608010603868,1.3615608010603868,2.1787200000010527,1,0,-0.0004283879358982486,-9.999999025923074e-05
+12939,1791620786627401866,25970432000000,1791620786622675462,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761051027574604,-0.004847988900718053,0.08711324553078338,0.9999999904747745,5.983980835497143e-05,2.634319879722854e-06,8.309977806905344e-05,0.6761,-0.0048,0.08699941462586208,1.0,0.0,0.0,0.0,0.10354596413845987,0.0774807673575238,1.2171310512597022,0.005028033957326297,-0.006486996589218827,0.0002735543468135456,0.08976139921997706,0.1302049190265678,1.0739710254493018,0.004082929464651003,-0.007410935852131873,-0.0009204127225612723,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5642953897511082,-0.09723050258311242,-0.6887372101719029,0.3312146805158368,0.5071518604506536,-0.12580133281897765,0.6955959986629165,1.2171310512597022,1.3843332088348195,1.3843332088348195,2.2213600000010953,1,0,-0.0004550379307064186,-9.999999025923074e-05
+12999,1791620787127361138,25970932000000,1791620787126675761,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761035636329613,-0.004853895455634914,0.08687551376448477,0.9999999903229561,5.396103510208296e-05,2.3233766358162343e-07,8.879811351227533e-05,0.6761,-0.0048,0.0867656581617289,1.0,0.0,0.0,0.0,0.10379595098884016,0.07464964981687228,1.2031367303713605,0.003985797666756213,-0.005453337975348852,0.0002890181506088991,0.09001138607035734,0.1273738014859163,1.05997670456096,0.00304069317408092,-0.006377277238261899,-0.0009049489187659189,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5441062789597633,-0.08902698629287535,-0.6356038432650757,0.3351006085757825,0.47036684309698024,-0.1199459045909585,0.6955959986629165,1.2031367303713605,1.3311998419279922,1.3311998419279922,2.2613600000011354,1,0,-0.000480037925836034,-9.999999025923074e-05
+13055,1791620787594368210,25971399000000,1791620787590675607,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6761047507105107,-0.004854901535004603,0.08664916499343972,0.9999999904135246,5.7288213530382847e-05,5.1884547946391e-06,8.548073279709949e-05,0.6761,-0.0048,0.08653603990142793,1.0,0.0,0.0,0.0,0.10259572835448003,0.0642966552727386,1.1997012011388308,0.003986752417375807,-0.005450823790372942,0.0002915376764347032,0.08881116343599721,0.11702080694178262,1.0565411753284304,0.0030416479247005143,-0.006374763053285989,-0.0009024293929401147,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5131073706110685,-0.1765671616277079,-0.6117519596723374,0.3682021801429061,0.4479262424144279,-0.17364423930840803,0.6955959986629165,1.1997012011388308,1.3073479583352539,1.3073479583352539,2.2987200000011727,1,0,-0.0005033879212870948,-9.999999025923074e-05
+13111,1791620788061391201,25971866000000,1791620788058684629,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761047634108741,-0.004856328901853712,0.08641554113187165,0.99999999029864,5.781789849147716e-05,6.1798206225678655e-06,8.639725041754056e-05,0.6761,-0.0048,0.0862955171932513,1.0,0.0,0.0,0.0,0.09463709756174757,0.06354520048380606,1.1785627569865185,0.003989932463997868,-0.005445916514888568,0.0003077418088308768,0.08085253264326475,0.11626935215285007,1.035402731176118,0.003044827971322575,-0.006369855777801615,-0.0008862252605439412,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5030947672160817,-0.05107825452879717,-0.6378443507032862,0.33742681300786337,0.459889698715622,-0.09362324678701381,0.6955959986629165,1.1785627569865185,1.3334403493662026,1.3334403493662026,2.33608000000121,1,0,-0.0005267379167381555,-9.999999025923074e-05
+13163,1791620788494456925,25972299000000,1791620788486684801,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761038896510977,-0.004856025718287112,0.08618438691018383,0.999999990178665,5.710144529448283e-05,5.802530596371534e-06,8.826828315565513e-05,0.6761,-0.0048,0.08606276327621894,1.0,0.0,0.0,0.0,0.08624683097863411,0.06916180278276772,1.1706804159536355,0.003964831479953033,-0.004448481872910504,0.00032983317429552254,0.0724622660601513,0.12188595445181173,1.027520390143235,0.0030197269872777404,-0.005372421135823551,-0.0008641338950792954,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5497539902754202,-0.011528917679256899,-0.6753272541074743,0.3315136910582615,0.4974148435565049,-0.06358995870590334,0.6955959986629165,1.1706804159536355,1.3709232527703907,1.3709232527703907,2.3707200000012447,1,0,-0.0005483879125204025,-9.999999025923074e-05
+13215,1791620788927451413,25972732000000,1791620788922684602,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6761007148370551,-0.004861049238056093,0.08593888287214008,0.9999999899493152,5.759528147797517e-05,1.4021153208212935e-06,9.069207016120202e-05,0.6761,-0.0048,0.08582063491101286,1.0,0.0,0.0,0.0,0.08497808282892051,0.07244570616008308,1.167434466622762,0.003965696151516771,-0.004431065133582397,0.0003312818112601795,0.0711935179104377,0.1251698578291271,1.0242744408123616,0.0030205916588414775,-0.005355004396495444,-0.0008626852581146385,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5787702179088388,-0.07803557345520415,-0.5860424246650091,0.3445819329736606,0.448431907516357,-0.11313148410429599,0.6955959986629165,1.167434466622762,1.2816384233279257,1.2816384233279257,2.4053600000012794,1,0,-0.0005700379083026494,-9.999999025923074e-05
+13258,1791620789286370688,25973091000000,1791620789278675311,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760983055637407,-0.00486534836771689,0.08572851163433111,0.9999999901322093,5.3315330237541455e-05,-1.4029046872807913e-06,9.129048844262596e-05,0.6761,-0.0048,0.08561277825256165,1.0,0.0,0.0,0.0,0.07988860385675484,0.059575784183588415,1.1441819328235376,0.0029495664967399467,-0.0044145245638954975,0.000339944180724892,0.06610403893827202,0.11229993585263243,1.0010219070131372,0.002004462004064654,-0.005338463826808544,-0.000854022888649926,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.5731111766345235,-0.07197485862588929,-0.5955760738243142,0.3528416088140682,0.4520430502630911,-0.10732045856583776,0.6955959986629165,1.1441819328235376,1.2911720724872309,1.2911720724872309,2.434080000001308,1,0,-0.0005879879048057132,-9.999999025923074e-05
+13306,1791620789686469755,25973491000000,1791620789678675279,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.676096451585959,-0.004867073799548641,0.08548726164572687,0.9999999901403259,4.9043153842956635e-05,2.3406060133917423e-07,9.357845318981547e-05,0.6761,-0.0048,0.08537359309142058,1.0,0.0,0.0,0.0,0.07656291147511092,0.048922027744660035,1.1279320769612406,0.002950579504852423,-0.00440156338636971,0.0003506336354482053,0.0627783465566281,0.10164617941370405,0.9847720511508402,0.00200547501217713,-0.005325502649282757,-0.0008433334339266127,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6118589271525854,-0.12425154663377491,-0.5788933805151775,0.37074516014704567,0.45200279168695373,-0.13809196901335122,0.6955959986629165,1.1279320769612406,1.274489379178094,1.274489379178094,2.46608000000134,1,0,-0.0006079879009094055,-9.999999025923074e-05
+13354,1791620790086452408,25973891000000,1791620790078684964,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760919657031703,-0.004866063890243211,0.08523870053340606,0.9999999902858552,4.518755482913319e-05,-7.130242846599096e-06,9.369310760955598e-05,0.6761,-0.0048,0.08512640793183802,1.0,0.0,0.0,0.0,0.07582416890049755,0.052827728951560404,1.1079703792762774,0.0033239733145702674,-0.004404299633211785,0.0003708406517498814,0.062039603982014725,0.10555188062060442,0.964810353465877,0.0023788688218949745,-0.005328238896124831,-0.0008231264176249366,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6398692986244958,-0.15643220827382606,-0.5218696554235444,0.38058775343154905,0.42261808428217357,-0.15796955264234025,0.6955959986629165,1.1079703792762774,1.2174656540864608,1.2174656540864608,2.498080000001372,1,0,-0.0006279878970130978,-9.999999025923074e-05
+13398,1791620790452395130,25974257000000,1791620790446685090,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760917348160131,-0.00486828479823407,0.08501087214011767,0.9999999905075865,4.501366604891211e-05,-6.825423971918922e-06,9.140500395115372e-05,0.6761,-0.0048,0.08489322461218543,1.0,0.0,0.0,0.0,0.0766361574673594,0.04769983215687999,1.0941773370999786,0.0029569361253495323,-0.004394062747537547,0.00037720060532382054,0.06285159254887658,0.100423983825924,0.951017311289578,0.0020118316326742393,-0.005318002010450594,-0.0008167664640509974,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6681866295925085,-0.05209626824899411,-0.5284663235356836,0.3572354075445345,0.4309237169896543,-0.08893546809372954,0.6955959986629165,1.0941773370999786,1.2240623221986002,1.2240623221986002,2.5273600000014014,1,0,-0.0006462878934479762,-9.999999025923074e-05
+13442,1791620790819503295,25974624000000,1791620790818685125,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760889080073519,-0.004870291693041641,0.08476775138158091,0.9999999902573509,4.423526158000516e-05,-1.0135328273933224e-05,9.417366631042523e-05,0.6761,-0.0048,0.0846526789059478,1.0,0.0,0.0,0.0,0.06726243151127187,0.055050876178691824,1.077546290118168,0.002949797136423382,-0.003986723613663452,0.0003964592233528802,0.053477866592789046,0.10777502784773584,0.9343862643077675,0.0020046926437480884,-0.0049106628765764986,-0.0007975078460219378,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.6853455977080694,-0.11385310134801419,-0.534709291916222,0.3820925821491863,0.4375030990807686,-0.12888115631555852,0.6955959986629165,1.077546290118168,1.2303052905791385,1.2303052905791385,2.5567200000014307,1,0,-0.0006646378898731139,-9.999999025923074e-05
+13482,1791620791152447636,25974957000000,1791620791150684794,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760857357920622,-0.0048706422123831715,0.08454152150438989,0.9999999899354732,4.71291722085221e-05,-1.5580792915064136e-05,9.543583154033063e-05,0.6761,-0.0048,0.08442859058916174,1.0,0.0,0.0,0.0,0.06227848770160747,0.045453504339437484,1.0397368534339524,0.0029454179240291593,-0.0035899454592078954,0.00043283756418957954,0.04849392278312464,0.0981776560084815,0.896576827623552,0.002000313431353866,-0.004513884722120942,-0.0007611295051852384,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.667340368490876,-0.08251878303469365,-0.46060895695057025,0.3653473702791357,0.38241889697459464,-0.11019843641085839,0.6955959986629165,1.0397368534339524,1.1562049556134868,1.1562049556134868,2.5833600000014574,1,0,-0.0006812878866294378,-9.999999025923074e-05
+13522,1791620791486424011,25975291000000,1791620791482675893,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760782322856917,-0.004873148379173653,0.08430292589239669,0.9999999899745915,4.095717338350653e-05,-2.5806008857178632e-05,9.565689401902632e-05,0.6761,-0.0048,0.08419825988557246,1.0,0.0,0.0,0.0,0.05863997634882573,0.04091728902310614,1.017042548028656,0.0019237062620307236,-0.003344819152858943,0.00044223497889760545,0.044855411430342905,0.09364144069215015,0.8738825222182555,0.0009786017693554304,-0.00426875841577199,-0.0007517320904772125,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7268222742561306,-0.04372507508592814,-0.5119362698846988,0.358737618415313,0.4287267408883361,-0.08086221220537664,0.6955959986629165,1.017042548028656,1.2075322685476153,1.2075322685476153,2.610080000001484,1,0,-0.0006979878833760208,-9.999999025923074e-05
+13562,1791620791819519807,25975624000000,1791620791818684505,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760808542690702,-0.004872210057914494,0.08407827101946316,0.9999999901228264,4.075659105943347e-05,-1.8540583098280122e-05,9.587678975369911e-05,0.6761,-0.0048,0.08396306602094994,1.0,0.0,0.0,0.0,0.058123245120106644,0.041978985257477744,0.9972162457918075,0.0029467593183069296,-0.0033592318841959984,0.0004697201212203934,0.04433868020162382,0.09470313692652176,0.8540562199814069,0.0020016548256316367,-0.004283171147109045,-0.0007242469481544246,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7540013846344312,-0.01289840716704075,-0.48480152211501654,0.34506194249597694,0.4166411824367127,-0.0640418326927407,0.6955959986629165,0.9972162457918075,1.1803975207779331,1.1803975207779331,2.6367200000015107,1,0,-0.0007146378801323447,-9.999999025923074e-05
+13602,1791620792152493086,25975957000000,1791620792146675170,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760795053941242,-0.004873193656029732,0.08383922235075685,0.9999999901467288,3.958803899718237e-05,-2.0900187021851432e-05,9.563145991937908e-05,0.6761,-0.0048,0.08372232770740756,1.0,0.0,0.0,0.0,0.05869972072106556,0.04021068248286691,0.9673495685087217,0.0019331841747781081,-0.0033356252546988714,0.0004835898045961219,0.044915155802582735,0.09293483415191092,0.8241895426983212,0.000988079682102815,-0.004259564517611918,-0.000710377264778696,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.7415536965647362,-0.08893418019709952,-0.42550399472453987,0.36941660527225434,0.37325796559125685,-0.11144756843956279,0.6955959986629165,0.9673495685087217,1.1210999933874564,1.1210999933874564,2.6633600000015374,1,0,-0.0007312878768886685,-9.999999025923074e-05
+13641,1791620792477494527,25976282000000,1791620792474684448,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760774088032244,-0.004872503317731712,0.08359548679834712,0.9999999900863654,3.844476061071351e-05,-2.2079883360109744e-05,9.646041986614632e-05,0.6761,-0.0048,0.08348202664793476,1.0,0.0,0.0,0.0,0.04953912359815739,0.02955641500752454,0.9467603664172008,0.0019355087457757123,-0.003328501785155446,0.0004978925040905168,0.035754558679674565,0.08228056667656855,0.8036003406068004,0.0009904042531004192,-0.004252441048068493,-0.0006960745652843011,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.877445346227955,-0.040535072180910556,-0.5267927135491667,0.3506020609451454,0.47019737509325177,-0.07775059887708813,0.6955959986629165,0.9467603664172008,1.2223887122120831,1.2223887122120831,2.6893600000015634,1,0,-0.0007475378737229185,-9.999999025923074e-05
+13674,1791620792752501225,25976557000000,1791620792746675404,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760683662567952,-0.004868705021591907,0.08337526192254831,0.9999999903018195,3.3984847191589165e-05,-3.53911814254741e-05,9.182439705105552e-05,0.6761,-0.0048,0.08327456998303062,1.0,0.0,0.0,0.0,0.04958026483458624,0.02807899214507767,0.9266074965673865,0.001939123057951753,-0.003323889630900893,0.00031723140149862825,0.035795699916103416,0.08080314381412168,0.7834474707569861,0.00099401856527646,-0.00424782889381394,-0.0008767356678761897,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.861655343709885,-0.02583777472100575,-0.4902970531843804,0.3429355205050091,0.444603614199101,-0.07043064304714108,0.6955959986629165,0.9266074965673865,1.185893051847297,1.185893051847297,2.7113600000015854,1,0,-0.000761287871044207,-9.999999025923074e-05
+13710,1791620793052526158,25976857000000,1791620793050684516,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760659071279508,-0.004873807070817581,0.08314222074281251,0.9999999901536196,3.2705838017940746e-05,-3.677230173038499e-05,9.334747623888966e-05,0.6761,-0.0048,0.08304394112215716,1.0,0.0,0.0,0.0,0.05888951844355714,0.027964605824129157,0.8875379558721999,0.0019541187991400292,-0.0033110964709267233,-0.0003429737966085596,0.045104953525074314,0.08068875749317317,0.7443779300617994,0.001009014306464736,-0.00423503573383977,-0.0015369408659833775,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9076382472989654,-0.07854650878323843,-0.517184465385393,0.3569239367437234,0.4696811351110765,-0.10561702235617892,0.6955959986629165,0.8875379558721999,1.2127804640483095,1.2127804640483095,2.7353600000016094,1,0,-0.0007762878681219762,-9.999999025923074e-05
+13745,1791620793344503207,25977149000000,1791620793342675151,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760634824869883,-0.004866872963764805,0.0829078165718269,0.999999990167284,3.1329596809386075e-05,-4.148729146003451e-05,9.168182725775245e-05,0.6761,-0.0048,0.08281514076508223,1.0,0.0,0.0,0.0,0.04948349833417518,0.03664856901254643,0.8664452631070729,0.0019241022897541755,-0.002298522653329225,0.0005720766543044748,0.03569893341569236,0.08937272068159044,0.7232852372966725,0.0009789977970788824,-0.003222461916242271,-0.0006218904150703432,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9365104202988999,-0.12524803971765539,-0.484357556577528,0.3579267052138266,0.4526673736799834,-0.13754239752056607,0.6955959986629165,0.8664452631070729,1.1799535552404445,1.1799535552404445,2.7587200000016328,1,0,-0.0007908878652776716,-9.999999025923074e-05
+13782,1791620793652566817,25977457000000,1791620793650684938,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760566545705557,-0.004869256748914404,0.0826513571230788,0.9999999896990494,3.226793548103198e-05,-5.1620264302835664e-05,9.131754630201348e-05,0.6761,-0.0048,0.08256918340304023,1.0,0.0,0.0,0.0,0.04085244249228265,0.023300005918695355,0.8362220880694253,0.0009196810156318251,-0.0022721457853063284,0.0005847214315039506,0.027067877573799828,0.07602415758773937,0.6930620622590249,-2.542347704346799e-05,-0.0031960850482193747,-0.0006092456378708674,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.937834303256874,-0.09153389066312552,-0.4263087218960857,0.35038817111080467,0.4153069299801519,-0.11302016996689383,0.6955959986629165,0.8362220880694253,1.1219047205590023,1.1219047205590023,2.7833600000016574,1,0,-0.0008062878622775146,-9.999999025923074e-05
+13813,1791620793911529399,25977716000000,1791620793910685269,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760434347894095,-0.004872641829130432,0.08242287471062369,0.9999999881621141,3.140023155675656e-05,-7.087804062444187e-05,9.544089702728322e-05,0.6761,-0.0048,0.08235868429703833,1.0,0.0,0.0,0.0,0.04998957289748213,0.02166227123039076,0.8058409077173772,0.0009139121012934039,-0.002265612959001494,0.0006159580562305932,0.03620500797899931,0.07438642289943477,0.6626808819069767,-3.119239138188926e-05,-0.00318955222191454,-0.0005780090131442247,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,0.9641339870921933,-0.07693360318272008,-0.4649379072692535,0.3483127362243209,0.4418264856999137,-0.1020930156741446,0.6955959986629165,0.8058409077173772,1.16053390593217,1.16053390593217,2.804080000001678,1,0,-0.0008192378597546554,-9.999999025923074e-05
+13845,1791620794177555680,25977982000000,1791620794174675166,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760343506416744,-0.004869836574103797,0.08218014473795239,0.9999999869890425,2.932585309571731e-05,-8.871571147022692e-05,9.345745619775196e-05,0.6761,-0.0048,0.08213900477668949,1.0,0.0,0.0,0.0,0.040876205532031994,0.019902095450737636,0.7753266439342148,0.0009287592552958771,-0.0022533385050301632,-0.000280456660948031,0.027091640613549173,0.07262624711978165,0.6321666181238144,-1.6345237379416e-05,-0.00317727776794321,-0.001474423730322849,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0268599857730543,-0.013128864376345736,-0.3898920033601903,0.3250500483985583,0.41276049337126747,-0.06129793427085555,0.6955959986629165,0.7753266439342148,1.0854880020231068,1.0854880020231068,2.8253600000016994,1,0,-0.0008325378571636108,-9.999999025923074e-05
+13877,1791620794444579832,25978249000000,1791620794438675131,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760252068284819,-0.004874387365170941,0.08194194799579882,0.9999999859509038,1.8682496544937734e-05,-0.00010340376844833612,9.219371934648982e-05,0.6761,-0.0048,0.08191494161917531,1.0,0.0,0.0,0.0,0.032342528161369656,-0.0030478453669163658,0.7355169822425598,-8.639110148260824e-05,-0.002223927295855247,-0.0003663004523140696,0.018557963242886836,0.049676306302127646,0.5923569564321594,-0.0010314955941579014,-0.0031478665587682934,-0.0015602675216888876,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.0798378102507624,-0.028296966701529536,-0.41860011046593687,0.3214580282941198,0.438869754066795,-0.07408223829079005,0.6955959986629165,0.7355169822425598,1.1141961091288535,1.1141961091288535,2.8467200000017208,1,0,-0.0008458878545628254,-9.999999025923074e-05
+13905,1791620794677587848,25978482000000,1791620794674674902,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760231838665731,-0.004878879312646067,0.0817401063150919,0.9999999853318172,1.9399002983323155e-05,-0.00010582342221803181,9.593910432055862e-05,0.6761,-0.0048,0.08171649834932772,1.0,0.0,0.0,0.0,0.022949365757618335,0.005451080696136611,0.6982587025751488,-0.00010832681849947583,-0.0012036079596791773,-9.579646269159987e-05,0.009164800839135512,0.05817523236518062,0.5550986767647482,-0.001053431311174769,-0.0021275472225922238,-0.0012897635320664178,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.130395325656976,-0.08660233563248021,-0.41843538481022996,0.33521168684826685,0.4512877176327183,-0.11354587591496691,0.6955959986629165,0.6982587025751488,1.1140313834731466,1.1140313834731466,2.8653600000017394,1,0,-0.0008575378522932261,-9.999999025923074e-05
+13937,1791620794944555782,25978749000000,1791620794942674855,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760149519613675,-0.004877013630206834,0.08149441516801195,0.9999999839439643,1.1951923467255615e-05,-0.00011964607095589907,9.5377696151354e-05,0.6761,-0.0048,0.08148576019311393,1.0,0.0,0.0,0.0,0.015304526024988446,-0.014956022332492457,0.6812299254579834,-0.00010554102805347926,-0.0011980557485753625,-0.00030991083063385645,0.0015199611065056236,0.037768129336551555,0.5380698996475829,-0.0010506455207287724,-0.002121995011488409,-0.0015038779000086744,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.13494020473096,-0.06419949019139715,-0.40608586623665655,0.3176001967204702,0.44392645060049063,-0.09799579330745642,0.6955959986629165,0.6812299254579834,1.101681864899573,1.101681864899573,2.8867200000017608,1,0,-0.0008708878496924407,-9.999999025923074e-05
+13969,1791620795211501761,25979016000000,1791620795210676457,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6760082087621445,-0.004881115722258799,0.08124554238804281,0.9999999820715734,1.67459971821383e-05,-0.0001306461690353062,9.975403498133577e-05,0.6761,-0.0048,0.08125145758759456,1.0,0.0,0.0,0.0,0.011527187341863511,-0.01660292531924184,0.6341618453830999,-0.00012420926987783548,-0.00017411780940304383,-0.0002573727874280035,-0.002257377576619312,0.03612122634980217,0.4910018195726994,-0.0010693137625531286,-0.0010980570723160903,-0.0014513398568028215,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.18906374497426,-0.18109421567613632,-0.43919457739536355,0.3528530281371668,0.4764348818265437,-0.1691405224635016,0.6955959986629165,0.6341618453830999,1.1347905760582802,1.1347905760582802,2.908080000001782,1,0,-0.0008842378470916553,-9.999999025923074e-05
+13997,1791620795444544037,25979249000000,1791620795442674763,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6760024687661795,-0.004881643490752344,0.08102472032160318,0.9999999807824195,1.636613560627132e-05,-0.00014220541275308812,9.689063695299416e-05,0.6761,-0.0048,0.08104407876948774,1.0,0.0,0.0,0.0,0.00438185830730173,-0.017802688261175453,0.6143863414351047,-0.0001246431960224407,-0.00017208514787746482,0.00024113877805820522,-0.009402706611181092,0.03492146340786856,0.4712263156247042,-0.0010697476886977338,-0.0010960244107905113,-0.0009528282913166127,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.2194404070522866,0.03389859011150694,-0.3991270434893495,0.28781335015108106,0.4559114407654093,-0.030711723226408305,0.6955959986629165,0.6143863414351047,1.094723042152266,1.094723042152266,2.9267200000018008,1,0,-0.0008958878448220561,-9.999999025923074e-05
+14029,1791620795711622086,25979516000000,1791620795710674419,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6759974002225498,-0.004886588347869042,0.08077908571065757,0.9999999801245666,7.180731618595543e-06,-0.00014802782324149717,9.607253299787321e-05,0.6761,-0.0048,0.08080310116526876,1.0,0.0,0.0,0.0,-0.0050259202501091085,-0.01911630072252698,0.5738850742005754,-0.0001404701251383571,0.0008512656677145283,-0.00019499541258980466,-0.01881048516859193,0.03360785094651703,0.43072504839017495,-0.0010855746178136502,-7.267359519851813e-05,-0.0013889624819646226,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.2625111539315295,-0.12905915130742582,-0.38923778162484374,0.3194767397466535,0.4592673140456866,-0.14313352384429007,0.6955959986629165,0.5738850742005754,1.0848337802877603,1.0848337802877603,2.948080000001822,1,0,-0.0009092378422212707,-9.999999025923074e-05
+14061,1791620795977572695,25979782000000,1791620795974684637,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6759925852039946,-0.0048862031803997555,0.08053176351791963,0.9999999791749568,1.2808623688682253e-05,-0.00015206436743800373,9.90218050435954e-05,0.6761,-0.0048,0.0805594816495838,1.0,0.0,0.0,0.0,-0.013641998692215636,-0.033089606320037296,0.5369757729975468,-0.001154424902288179,0.0008805658234654551,-0.00017772828932378828,-0.027426563610698458,0.019634545349006716,0.3938157471871464,-0.0020995293949634722,-4.337343944759136e-05,-0.0013716953586986062,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.2300201445012908,-0.11276274423887504,-0.43178410487988017,0.30369503459026737,0.4761006025838338,-0.13174779000904108,0.6955959986629165,0.5369757729975468,1.1273801035427966,1.1273801035427966,2.9693600000018434,1,0,-0.0009225378396302261,-9.999999025923074e-05
+14093,1791620796244576718,25980049000000,1791620796242675873,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6759941293008118,-0.004889785876274503,0.08028876619958122,0.9999999802185583,8.085267973894722e-06,-0.00014623073525226414,9.775964497593784e-05,0.6761,-0.0048,0.08031138849675104,1.0,0.0,0.0,0.0,-0.030699803711632098,-0.034307062863340565,0.5031227054296098,-0.0011759709022096914,0.0019015812458401781,-0.00013674754914304505,-0.04448436863011492,0.018417088805703443,0.3599626796192093,-0.0021210753948849846,0.0009776419829271316,-0.001330714618517863,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3247468401088338,-0.21751253663569578,-0.3804628902058046,0.3342052764029122,0.46490522184041266,-0.19787691992621204,0.6955959986629165,0.5031227054296098,1.076058888868721,1.076058888868721,2.9907200000018648,1,0,-0.0009358878370294407,-9.999999025923074e-05
+14120,1791620796469634021,25980274000000,1791620796466675409,DOWN_FORCE_DETACH,2,0.05,0.05000188201665878,0.6759922807682089,-0.004887820918784223,0.0800727807211164,0.9999999800236465,3.5744563043788572e-06,-0.00015017620628726447,9.396755405492304e-05,0.6761,-0.0048,0.08009955373366708,1.0,0.0,0.0,0.0,-0.0402399126914838,-0.04176667819241672,0.47298956171722245,-0.0011710977232634613,0.0019086074530188677,-0.00011355653117053107,-0.05402447760996663,0.010957473476627289,0.32982953590682196,-0.0021162022159387545,0.0009846681901058212,-0.001307523600545349,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3077145197413291,-0.044902958846324975,-0.3256875810993125,0.28518818787685263,0.42393971102905975,-0.08443741945539882,0.6955959986629165,0.47298956171722245,1.021283579762229,1.021283579762229,3.0087200000018828,1,0,-0.0009471378348377676,-9.999999025923074e-05
+14149,1791620796711640258,25980516000000,1791620796710684606,DOWN_FORCE_DETACH,2,0.05,0.05000254139304161,0.6759838864833884,-0.0048828157611800396,0.07982932785586294,0.9999999770527357,2.1051337586187956e-05,-0.00016112703902546928,0.00010455769168513026,0.6761,-0.0048,0.07986888832792274,1.0,0.0,0.0,0.0,-0.03261687057230476,-0.039329751260576404,0.4385088818592384,-0.002161597446129578,0.002946994565110689,-8.062306633998552e-05,-0.04640143549078758,0.013394400408467606,0.2953488560488379,-0.003106701938804871,0.0020230553021976425,-0.0012745901357148035,-0.013784564918482822,0.05272415166904401,-0.1431600258104005,-0.0009451044926752931,-0.0009239392629130465,-0.001193967069374818,1,1.3397871920507756,-0.10536961926095285,-0.22280823300154162,0.28876810811909315,0.3669186855389871,-0.12920436054610335,0.6955959986629165,0.4385088818592384,0.9184042316644582,0.9184042316644582,3.028080000001902,1,0,-0.0009592378324805015,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..071501db26976aadb1959eaf3614501f5e5e781f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_0050_17.5/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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