diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..363fe2d6539b3181ed644060717e97174fd8f598
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/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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+14172,1791619557441668131,24741289000000,1791619557437024594,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759419666291608,-0.00492378159112117,0.09065229532665343,0.9999999615881306,-4.6089186742214376e-05,-0.00025614028282497917,2.3120210132230764e-05,0.6761,-0.0048,0.09095409256587887,1.0,0.0,0.0,0.0,0.8122285791758581,0.6971114269628799,-0.880651341180993,0.05194476039760305,-0.05903439629021685,0.00320634912823055,0.7712844574576058,0.7603333677825774,-1.0096817236442215,0.050967945661186155,-0.059009580068703105,0.002606029721463098,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.4907906365137592,0.8771909352696341,2.4592094918910625,-0.10413604079827499,-1.6140352775325497,0.5443646582984241,0.6137136141712698,0.880651341180993,-1.8454958777197927,0.880651341180993,0.558,0,0,-9.391435548264238e-05,-9.999999025923074e-05
+14272,1791619558274652758,24742122000000,1791619558269025393,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759524022938974,-0.0049215153415246475,0.09064181935215909,0.9999999673170376,-3.888098147139355e-05,-0.00023308097559930486,3.114990226888649e-05,0.6761,-0.0048,0.09085908533837392,1.0,0.0,0.0,0.0,0.8329026314869362,0.7656210843979614,-0.7974846972064578,0.056307265923843566,-0.05923626593521049,0.0031929764310094167,0.7919585097686839,0.828843025217659,-0.9265150796696863,0.055330451187426674,-0.05921144971369674,0.002592657024241965,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.0434536197878957,0.8462518610679799,2.0361959651410495,-0.04064216180381764,-1.2604371336113658,0.5235703900598894,0.6137136141712698,0.7974846972064578,-1.4224823509697797,0.7974846972064578,0.558,0,0,-0.0001264949030790607,6.82076209679983e-05
+14376,1791619559141719915,24742989000000,1791619559137033989,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759623095012174,-0.004933359085404635,0.09059351162081979,0.9999999710096428,-3.482817200509406e-05,-0.00021391586979595365,4.9503304231532236e-05,0.6761,-0.0048,0.09076774129157925,1.0,0.0,0.0,0.0,0.7484463212935787,0.7408735739693536,-0.39541214285084003,0.055411821044559356,-0.05467527861046493,0.003955753417766275,0.7075021995753263,0.8040955147890512,-0.5244425253140685,0.054435006308142464,-0.05465046238895118,0.0033554340109988234,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2193868828210415,0.7995063844514086,1.4971605293765005,0.047095066989903164,-0.8656081925358015,0.47913258646367046,0.6137136141712698,0.39541214285084003,-0.8834469152052307,0.39541214285084003,0.558,0,0,-8.366656744221578e-05,9.999999025923074e-05
+14515,1791619560299709771,24744147000000,1791619560297024474,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759879419816721,-0.004945350542516204,0.09056313153817702,0.9999999798067926,-3.350558895139229e-05,-0.00016081295850781943,6.961211736253673e-05,0.6761,-0.0048,0.09070435054994451,1.0,0.0,0.0,0.0,0.6839388899649435,0.7740016152243169,-0.11563025342482741,0.05833066203089574,-0.05005378465199308,0.0038250499566506993,0.6429947682466911,0.8372235560440144,-0.2446606358880559,0.05735384729447885,-0.05002896843047933,0.0032247305498832477,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2564431020165324,0.6688068728052272,1.1643588818398527,0.1324775810008923,-0.6716976132278012,0.383292321181869,0.6137136141712698,0.11563025342482741,-0.5506452676685829,0.11563025342482741,0.558,0,0,-2.5766578722026583e-05,9.999999025923074e-05
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+15370,1791619567424672369,24751272000000,1791619567421034131,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759172195685129,-0.004957714908074696,0.0906744868613095,0.9999999477862868,-6.105197726128701e-05,-0.0003010853662548628,3.860759808550051e-05,0.6761,-0.0048,0.09107638786254468,1.0,0.0,0.0,0.0,0.7841337566165419,0.5616903561453908,-1.0933245958023068,0.04310797680535914,-0.05726293987295308,0.00330831167076452,0.7431896348982896,0.6249122969650883,-1.2223549782655352,0.04213116206894225,-0.05723812365143933,0.0027079922639970683,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.9701178666126141,0.9124995801061203,2.9679619814022047,-0.19651339618740035,-2.037730398291757,0.5564958032298206,0.6137136141712698,1.0933245958023068,-2.3542483672309347,1.0933245958023068,0.558,0,0,-4.727652029165442e-05,-9.999999025923074e-05
+15473,1791619568282612026,24752130000000,1791619568281033740,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759193621074006,-0.004955319125938454,0.09067401796113513,0.9999999497432273,-6.233988695177816e-05,-0.000294267436266525,3.8429441457919314e-05,0.6761,-0.0048,0.09101744196172402,1.0,0.0,0.0,0.0,0.7738256753457324,0.588051927826103,-1.0766617291917089,0.044593100661277356,-0.05629257828293399,0.0023008988958000253,0.7328815536274801,0.6512738686458006,-1.2056921116549373,0.043616285924860464,-0.05626776206142024,0.0017005794890325738,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.6362792145461854,0.8474245966419035,2.808428462223776,-0.14555808424713468,-1.874247083898921,0.5218923509738621,0.6137136141712698,1.0766617291917089,-2.194714848052506,1.0766617291917089,0.558,0,0,-9.01765119340744e-05,-9.999999025923074e-05
+15613,1791619569449618465,24753297000000,1791619569449033606,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759407010842686,-0.004954053156824232,0.09065600853615305,0.9999999623632506,-4.9969560233413916e-05,-0.0002479407459752699,5.2390757111228656e-05,0.6761,-0.0048,0.09087818792893557,1.0,0.0,0.0,0.0,0.694457813278467,0.6177442639015588,-0.9216282458574446,0.046431321622357066,-0.0503287057624044,0.0033087002265624697,0.6535136915602147,0.6809662047212564,-1.0506586283206731,0.045454506885940174,-0.05030388954089065,0.0027083808197950177,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.01938771867669268,0.6699636438717459,2.097365759468701,-0.01889551905140068,-1.305182576042719,0.3962787217360097,0.6137136141712698,0.9216282458574446,-1.4836521452974314,0.9216282458574446,0.558,0,0,-0.00014852650056659667,-9.999999025923074e-05
+15773,1791619570782638957,24754630000000,1791619570781033890,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759857266927365,-0.004969833051945026,0.09056540968935674,0.9999999778163932,-3.859983060549752e-05,-0.0001612350450736742,9.12326202500063e-05,0.6761,-0.0048,0.09070857698455899,1.0,0.0,0.0,0.0,0.5491426150953753,0.6971899335617222,-0.10054722125871463,0.05301525277830778,-0.040476887786223444,0.002863542427866991,0.508198493377123,0.7604118743814198,-0.2295776037219431,0.052038438041890886,-0.040452071564709695,0.0022632230210995396,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3067111981144183,0.6683992476003467,1.0969955507841678,0.08836791105283423,-0.6300106683374115,0.37481868484738945,0.6137136141712698,0.10054722125871463,-0.483281936612898,0.10054722125871463,0.558,0,0,-9.453408259388484e-05,9.999999025923074e-05
+15968,1791619572407633313,24756255000000,1791619572405024029,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760044687388367,-0.0049769994800460205,0.09052749865463919,0.9999999812156618,-3.7696054844669394e-05,-0.00013011063870981365,0.00010325584480513523,0.6761,-0.0048,0.09062093408747515,1.0,0.0,0.0,0.0,0.4981948064815731,0.6854781684156428,0.21370450798098278,0.051978337503537295,-0.03715482133217561,0.003663793906649341,0.4572506847633207,0.7487001092353404,0.0846741255177543,0.0510015227671204,-0.03713000511066186,0.0030634744998818894,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.38023453943385555,0.6229801678648623,0.7641858810690222,0.10138140206064725,-0.40068103814283884,0.33888292053498675,0.6137136141712698,0.21370450798098278,-0.1504722668977524,0.21370450798098278,0.558,0,0,-1.3284098422634888e-05,9.999999025923074e-05
+16184,1791619574207626037,24758055000000,1791619574205024477,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760074736447642,-0.004975263882795323,0.09052988031869598,0.9999999812857238,-3.6097404438003524e-05,-0.0001318156249620583,0.00010096056120129622,0.6761,-0.0048,0.0906779776945256,1.0,0.0,0.0,0.0,0.503527173110447,0.6927380395028852,0.16510079529407623,0.05302358817435099,-0.037522266508976346,0.002900938727858608,0.46258305139219463,0.7559599803225827,0.03607041283084776,0.052046773437934096,-0.0374974502874626,0.002300619321091156,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.1820814934664516,0.684424824356747,1.0399171079396117,0.06865047686350416,-0.6136913877954806,0.3748932574417583,0.6137136141712698,0.16510079529407623,-0.4262034937683419,0.16510079529407623,0.558,0,0,7.671588404398045e-05,9.999999025923074e-05
+16371,1791619575766586454,24759614000000,1791619575765033626,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6759858498620368,-0.004970015155423576,0.0905645944760506,0.9999999758580432,-4.662065083853045e-05,-0.0001755490932037613,8.207197036020276e-05,0.6761,-0.0048,0.09085830079590519,1.0,0.0,0.0,0.0,0.5814623871360224,0.6485423106275005,-0.09116718217770883,0.049128294392856243,-0.042448304173474075,0.0027844060422798885,0.54051826541777,0.711764251447198,-0.22019756464093732,0.04815147965643935,-0.042423487951960326,0.0021840866355124365,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.6400503083905694,0.7980021873097041,1.8104735416770263,-0.06674734574209533,-1.2732770281070491,0.45241575259622857,0.6137136141712698,0.09116718217770883,-1.1967599275057565,0.09116718217770883,0.558,0,0,0.00015466586885812118,9.999999025923074e-05
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+17808,1791619587741587586,24771589000000,1791619587737034839,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6760282088476698,-0.0049794686847601756,0.09051585214007866,0.9999999831427389,-3.4248350445010496e-05,-0.00010403846639509116,0.00011471893724123106,0.6761,-0.0048,0.09063074490918228,1.0,0.0,0.0,0.0,0.4362610424067575,0.7277681637996722,0.32334883497076283,0.0549005134558122,-0.03253514048166804,0.003685449668757856,0.3953169206885051,0.7909901046193698,0.19431845250753438,0.053923698719395306,-0.032510324260154294,0.003085130261990404,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.31946487793437267,0.6616527958148369,0.8313073629048836,0.07040036817213804,-0.458498932668504,0.3611769716696461,0.6137136141712698,0.32334883497076283,-0.2175937487336138,0.32334883497076283,0.558,0,0,7.687043323686827e-05,9.999999025923074e-05
+18012,1791619589441493050,24773289000000,1791619589441034357,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.676004178415166,-0.004970618804912042,0.09055789468426267,0.9999999786954404,-4.081202778731254e-05,-0.0001550138023207953,9.141708030576163e-05,0.6761,-0.0048,0.09083143284843483,1.0,0.0,0.0,0.0,0.5239950806479139,0.6743800130349191,0.0062525274010687,0.051070750855776975,-0.03946975028354764,0.0027689821372607346,0.4830509589296615,0.7376019538546167,-0.12277785506215978,0.05009393611936008,-0.03944493406203389,0.002168662730493283,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.4374625426528109,0.8081461864975273,1.6480894252110008,-0.0774090838229359,-1.1288769138033172,0.46874344401140045,0.6137136141712698,0.0062525274010687,-1.034375811039731,0.0062525274010687,0.558,0,0,0.00015938559074921,9.999999025923074e-05
+18140,1791619590507585095,24774355000000,1791619590505024122,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.675943523179383,-0.004960556264996403,0.09064021319291546,0.9999999612585561,-5.598265400665089e-05,-0.00025127220083739487,5.151673817109633e-05,0.6761,-0.0048,0.09099534151967789,1.0,0.0,0.0,0.0,0.6919624943513243,0.5489540327996165,-0.8026582003237039,0.04157437267664172,-0.05126402293880253,0.0021134950874450074,0.6510183726330719,0.6121759736193141,-0.9316885827869325,0.04059755794022483,-0.05123920671728878,0.0015131756806775556,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.8179796528175748,0.7857857437782263,2.6267200033343965,-0.16734986804990365,-1.7986760904801762,0.4715009874498529,0.6137136141712698,0.8026582003237039,-2.0130063891631265,0.8026582003237039,0.558,0,0,0.00012974096769560883,-9.999999025923074e-05
+18339,1791619592166504121,24776014000000,1791619592161033990,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759000116744182,-0.004952553656437184,0.0906979887362544,0.9999999391551954,-5.810204908254194e-05,-0.00032924144124668516,3.683334391683169e-05,0.6761,-0.0048,0.09114181624849765,1.0,0.0,0.0,0.0,0.7849157533096838,0.4762766181690889,-1.2765405760173691,0.03652274928907776,-0.05815708604792522,0.002338287501872244,0.7439716315914314,0.5394985589887865,-1.4055709584805975,0.03554593455266087,-0.058132269826411474,0.001737968095104792,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-1.0964698140270284,0.8599229482659113,3.325352334930533,-0.19811779424947212,-2.2949268144817756,0.5221674960887404,0.6137136141712698,1.2765405760173691,-2.7116387207592636,1.2765405760173691,0.558,0,0,4.6790983855545025e-05,-9.999999025923074e-05
+18551,1791619593932509416,24777780000000,1791619593929034144,UP_FORCE_HOLD,10,0.044,0.04400191828608513,0.6758922972667591,-0.004946926227402222,0.09070849561820467,0.9999999360194607,-5.826472769099208e-05,-0.00033877240048307936,3.5247997328698213e-05,0.6761,-0.0048,0.09114652439118469,1.0,0.0,0.0,0.0,0.7897232954269593,0.46403000905959163,-1.2970287995052465,0.035505181698693926,-0.05813311845155202,0.002343957253208233,0.748779173708707,0.5272519498792893,-1.426059181968475,0.034528366962277034,-0.058108302230038274,0.0017436378464407813,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-1.0522050253096604,0.7492627224013837,3.1753984115348897,-0.16727482334034643,-2.193784340505814,0.4479626023167333,0.6137136141712698,1.2970287995052465,-2.56168479736362,1.2970287995052465,0.558,0,0,-4.1508998942256465e-05,-9.999999025923074e-05
+18738,1791619595491529912,24779339000000,1791619595489024944,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759014987623869,-0.004954668069876537,0.09070338650441191,0.9999999428956223,-6.044263456347341e-05,-0.00031643983938110044,4.317560104673489e-05,0.6761,-0.0048,0.09102108882367868,1.0,0.0,0.0,0.0,0.7509691248362165,0.5035209274077067,-1.2759612691405744,0.038547337799326314,-0.05515733177696789,0.002404741400456393,0.7100250031179641,0.5667428682274043,-1.4049916516038028,0.03757052306290942,-0.05513251555545414,0.001804421993688941,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.27057068593073985,0.7377026779498501,2.620056366327312,-0.10209575575302618,-1.6714781880119773,0.4511081446163165,0.6137136141712698,1.2759612691405744,-2.0063427521560424,1.2759612691405744,0.558,0,0,-0.00011945898375639719,-9.999999025923074e-05
+18882,1791619596691462835,24780539000000,1791619596689024371,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759381089622505,-0.004961926729617517,0.09063127255389966,0.9999999614801299,-4.201030876962827e-05,-0.0002465641931930929,7.696645740381335e-05,0.6761,-0.0048,0.09084289197862552,1.0,0.0,0.0,0.0,0.6328266967091549,0.5747594147331734,-0.6332316558896036,0.04425890909206869,-0.04730905209639117,0.0030921460008194145,0.5918825749909026,0.6379813555528709,-0.7622620383528321,0.0432820943556518,-0.04728423587487742,0.002491826594051963,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.13901986563042898,0.7129955985115034,1.7263363284806568,0.03091312707248735,-1.0510393538953946,0.4110899545042747,0.6137136141712698,0.6332316558896036,-1.112622714309387,0.6332316558896036,0.558,0,0,-0.00016443164184834635,9.999999025923074e-05
+19018,1791619597824488041,24781672000000,1791619597817033941,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6759859593454903,-0.004974032692121155,0.09056285431324486,0.9999999781764851,-3.579879262183825e-05,-0.00015035844336377382,0.0001058332592066865,0.6761,-0.0048,0.09068865482215377,1.0,0.0,0.0,0.0,0.4761604759226142,0.6860944164285295,-0.05766085399462814,0.05199330044803253,-0.03542885587757991,0.0028891159380164946,0.4352163542043618,0.7493163572482271,-0.18669123645785662,0.051016485711615635,-0.03540403965606616,0.0022887965312490426,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.40617125870673787,0.6148466066485325,0.9708251130278306,0.11034514981349079,-0.5373231237828405,0.34105806778432723,0.6137136141712698,0.05766085399462814,-0.3571114988565608,0.05766085399462814,0.558,0,0,-0.00010778165288463792,9.999999025923074e-05
+19230,1791619599591406124,24783439000000,1791619599589034036,UP_FORCE_HOLD,10,0.044,0.04400257766246796,0.6760296976202254,-0.004978920087456918,0.09051969023157069,0.9999999830324559,-2.9442312133758927e-05,-0.00010079999627829029,0.0001197934201204567,0.6761,-0.0048,0.09057621767629126,1.0,0.0,0.0,0.0,0.3928578132966491,0.7571972339120808,0.3557052311693628,0.05787745587931758,-0.029554190219821058,0.0027386318488583977,0.3519136915783967,0.8204191747317784,0.22667484870613433,0.056900641142900686,-0.02952937399830731,0.002138312442090946,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6123492895196277,0.6004045204989351,0.4846654995422574,0.1053942131149805,-0.18617329983933695,0.32601997251266157,0.6137136141712698,0.3557052311693628,0.1290481146290124,0.3557052311693628,0.558,0,0,-1.9431670096577196e-05,9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f955c42ee9f1e26c5ecbb7c2bb31d88ace15a185
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f74f2ab8bf2b67e7e96a225695682b67ebe643e3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+59,4.210000000e+01,UP_SETTLE,1791619627163146126,8.883375360e-05,-8.534866599e-05,-1.670962666e-04,8.460970110e-05,-9.045341240e-05,-1.659905673e-04,8.690374803e-05,-9.016837355e-05,-1.645665265e-04,7.016267052e-01,-8.379770467e-05,8.405738449e-01,7.016224812e-01,-8.890245108e-05,8.405749506e-01,7.018158374e-01,-8.844923650e-05,8.294080121e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eea037a8551588e58c59f81768f36716c53d7dad
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-3.6356e-02,-3.1573e-04,2.4425e+00,-3.6755e-02,3.4191e-02,3.4908e-06,6.9375e-04,4.8783e-06,3.2139e-04,-2.5332e-07,4.6194e-05,1.1240e-07,7.6459e-04,4.6194e-05
+1,8.5000e-01,UP_FORCE_HOLD,2.0223e-04,-1.3955e-03,2.2201e-02,2.4573e+00,-3.8359e-02,3.6645e-02,6.1119e-05,3.5654e-02,2.2522e-02,1.5052e-02,-1.6044e-03,2.5000e-03,5.7740e-05,4.4778e-02,2.9711e-03
+2,1.7833e+00,UP_FORCE_HOLD,4.0704e-04,6.6839e-03,2.7903e-02,2.5069e+00,-3.8701e-02,3.7199e-02,8.8004e-05,4.3734e-02,2.8224e-02,6.4652e-02,-1.9465e-03,3.0533e-03,8.4625e-05,8.3001e-02,3.6220e-03
+3,2.6333e+00,UP_FORCE_HOLD,6.1086e-04,8.1648e-03,2.8562e-02,2.5064e+00,-3.8713e-02,3.7293e-02,1.0858e-04,4.5215e-02,2.8883e-02,6.4216e-02,-1.9583e-03,3.1475e-03,1.0520e-04,8.3679e-02,3.7085e-03
+4,3.4500e+00,UP_FORCE_HOLD,8.1311e-04,2.0317e-02,2.8526e-02,2.4817e+00,-3.8686e-02,3.8186e-02,1.4367e-04,5.7367e-02,2.8847e-02,3.9446e-02,-1.9310e-03,4.0406e-03,1.4029e-04,7.5360e-02,4.4805e-03
+5,4.2167e+00,UP_FORCE_HOLD,1.0162e-03,4.8340e-02,2.5832e-02,2.4404e+00,-3.8500e-02,4.0190e-02,1.6026e-04,8.5390e-02,2.6153e-02,-1.8272e-03,-1.7454e-03,6.0444e-03,1.5688e-04,8.9324e-02,6.2933e-03
+6,5.1000e+00,UP_FORCE_HOLD,1.2193e-03,5.0964e-02,2.1043e-02,2.4264e+00,-3.8174e-02,4.0399e-02,1.5879e-04,8.8014e-02,2.1364e-02,-1.5810e-02,-1.4192e-03,6.2536e-03,1.5541e-04,9.1939e-02,6.4145e-03
+7,6.0167e+00,UP_FORCE_HOLD,1.4247e-03,4.3422e-02,2.0731e-02,2.4501e+00,-3.8153e-02,3.9855e-02,1.5722e-04,8.0472e-02,2.1051e-02,7.8995e-03,-1.3976e-03,5.7096e-03,1.5384e-04,8.3555e-02,5.8802e-03
+8,6.4667e+00,UP_FORCE_HOLD,1.6280e-03,3.1330e-02,2.8775e-02,2.4593e+00,-3.8745e-02,3.8974e-02,1.6794e-04,6.8380e-02,2.9096e-02,1.7049e-02,-1.9898e-03,4.8290e-03,1.6457e-04,7.6244e-02,5.2255e-03
+9,6.9167e+00,UP_FORCE_HOLD,1.8323e-03,2.9369e-02,2.5424e-02,2.4972e+00,-3.8493e-02,3.8814e-02,1.5919e-04,6.6419e-02,2.5745e-02,5.4971e-02,-1.7380e-03,4.6691e-03,1.5581e-04,8.9978e-02,4.9845e-03
+10,7.5333e+00,UP_FORCE_HOLD,2.0311e-03,1.7217e-02,2.9091e-02,2.5083e+00,-3.8724e-02,3.7953e-02,1.6601e-04,5.4267e-02,2.9412e-02,6.6055e-02,-1.9695e-03,3.8074e-03,1.6263e-04,9.0406e-02,4.2897e-03
+11,8.2333e+00,UP_FORCE_HOLD,2.2392e-03,1.6892e-02,3.3533e-02,2.4963e+00,-3.9023e-02,3.7926e-02,1.7711e-04,5.3942e-02,3.3853e-02,5.4058e-02,-2.2680e-03,3.7809e-03,1.7373e-04,8.3535e-02,4.4124e-03
+12,8.9667e+00,UP_FORCE_HOLD,2.4389e-03,2.3247e-02,3.3899e-02,2.4771e+00,-3.9049e-02,3.8387e-02,1.8632e-04,6.0297e-02,3.4220e-02,3.4857e-02,-2.2944e-03,4.2413e-03,1.8294e-04,7.7600e-02,4.8256e-03
+13,9.6667e+00,UP_FORCE_HOLD,2.6467e-03,5.1717e-02,3.5997e-02,2.4079e+00,-3.9225e-02,4.0457e-02,1.9932e-04,8.8767e-02,3.6318e-02,-3.4285e-02,-2.4701e-03,6.3115e-03,1.9594e-04,1.0185e-01,6.7804e-03
+14,1.0400e+01,UP_FORCE_HOLD,2.8479e-03,5.6965e-02,3.2335e-02,2.4061e+00,-3.8992e-02,4.0821e-02,1.9260e-04,9.4015e-02,3.2656e-02,-3.6173e-02,-2.2371e-03,6.6754e-03,1.8922e-04,1.0589e-01,7.0428e-03
+15,1.1200e+01,UP_FORCE_HOLD,3.0573e-03,4.8770e-02,3.1935e-02,2.4380e+00,-3.8966e-02,4.0248e-02,1.8094e-04,8.5820e-02,3.2256e-02,-4.2772e-03,-2.2115e-03,6.1031e-03,1.7757e-04,9.1782e-02,6.4938e-03
+16,1.1650e+01,UP_FORCE_HOLD,3.2582e-03,4.4717e-02,3.1797e-02,2.4490e+00,-3.8957e-02,3.9948e-02,1.7260e-04,8.1767e-02,3.2117e-02,6.7821e-03,-2.2025e-03,5.8024e-03,1.6922e-04,8.8110e-02,6.2086e-03
+17,1.2267e+01,UP_FORCE_HOLD,3.4567e-03,4.0583e-02,3.1691e-02,2.4574e+00,-3.8951e-02,3.9631e-02,1.4512e-04,7.7633e-02,3.2012e-02,1.5129e-02,-2.1958e-03,5.4858e-03,1.4174e-04,8.5326e-02,5.9106e-03
+18,1.2950e+01,UP_FORCE_HOLD,3.6611e-03,-2.3199e-03,4.0863e-02,2.5251e+00,-3.9571e-02,3.6531e-02,1.5483e-04,3.4730e-02,4.1184e-02,8.2878e-02,-2.8156e-03,2.3853e-03,1.5146e-04,9.8849e-02,3.6933e-03
+19,1.3767e+01,UP_FORCE_HOLD,3.8652e-03,3.8727e-03,4.6009e-02,2.5246e+00,-3.9892e-02,3.6992e-02,1.6779e-04,4.0923e-02,4.6329e-02,8.2365e-02,-3.1370e-03,2.8470e-03,1.6441e-04,1.0298e-01,4.2394e-03
+20,1.4683e+01,UP_FORCE_HOLD,4.0694e-03,1.6370e-02,4.6466e-02,2.4853e+00,-3.9914e-02,3.7887e-02,1.8412e-04,5.3420e-02,4.6787e-02,4.3096e-02,-3.1591e-03,3.7414e-03,1.8074e-04,8.3066e-02,4.9000e-03
+21,1.5517e+01,UP_FORCE_HOLD,4.2699e-03,3.3152e-02,4.4339e-02,2.4497e+00,-3.9778e-02,3.9126e-02,1.9617e-04,7.0201e-02,4.4660e-02,7.5226e-03,-3.0227e-03,4.9808e-03,1.9279e-04,8.3542e-02,5.8294e-03
+22,1.6133e+01,UP_FORCE_HOLD,4.4776e-03,6.1155e-02,3.8405e-02,2.3839e+00,-3.9400e-02,4.1143e-02,1.8663e-04,9.8205e-02,3.8725e-02,-5.8350e-02,-2.6447e-03,6.9978e-03,1.8325e-04,1.2062e-01,7.4831e-03
+23,1.6950e+01,UP_FORCE_HOLD,4.6789e-03,6.7117e-02,3.4920e-02,2.3959e+00,-3.9181e-02,4.1560e-02,1.7259e-04,1.0417e-01,3.5241e-02,-4.6338e-02,-2.4261e-03,7.4143e-03,1.6921e-04,1.1933e-01,7.8030e-03
+24,1.7817e+01,UP_FORCE_HOLD,4.8833e-03,5.7749e-02,3.4189e-02,2.4308e+00,-3.9147e-02,4.0897e-02,1.5667e-04,9.4799e-02,3.4510e-02,-1.1429e-02,-2.3916e-03,6.7521e-03,1.5330e-04,1.0153e-01,7.1648e-03
+25,1.8750e+01,UP_FORCE_HOLD,5.0841e-03,4.5015e-02,3.4253e-02,2.4542e+00,-3.9167e-02,3.9934e-02,9.2092e-05,8.2065e-02,3.4574e-02,1.1960e-02,-2.4120e-03,5.7886e-03,8.8713e-05,8.9850e-02,6.2717e-03
+26,1.9483e+01,UP_FORCE_HOLD,5.2884e-03,1.7072e-02,4.1168e-02,2.5318e+00,-3.9627e-02,3.7941e-02,9.3231e-05,5.4121e-02,4.1488e-02,8.9527e-02,-2.8721e-03,3.7954e-03,8.9853e-05,1.1254e-01,4.7605e-03
+27,2.0100e+01,UP_FORCE_HOLD,5.4925e-03,-1.2106e-03,4.8292e-02,2.5473e+00,-4.0080e-02,3.6597e-02,1.0749e-04,3.5839e-02,4.8613e-02,1.0508e-01,-3.3250e-03,2.4513e-03,1.0411e-04,1.2120e-01,4.1322e-03
+28,2.0817e+01,UP_FORCE_HOLD,5.6972e-03,-1.5817e-02,4.8340e-02,2.5209e+00,-4.0049e-02,3.5634e-02,1.2675e-04,2.1233e-02,4.8661e-02,7.8691e-02,-3.2940e-03,1.4891e-03,1.2337e-04,9.4926e-02,3.6171e-03
+29,2.1717e+01,UP_FORCE_HOLD,5.8967e-03,4.1441e-03,4.8619e-02,2.4828e+00,-4.0058e-02,3.7015e-02,1.5874e-04,4.1194e-02,4.8940e-02,4.0586e-02,-3.3033e-03,2.8699e-03,1.5536e-04,7.5758e-02,4.3786e-03
+30,2.2567e+01,UP_FORCE_HOLD,6.1050e-03,3.8274e-02,4.4680e-02,2.4376e+00,-3.9821e-02,3.9466e-02,2.1059e-04,7.5324e-02,4.5001e-02,-4.6268e-03,-3.0660e-03,5.3210e-03,2.0721e-04,8.7865e-02,6.1446e-03
+31,2.3117e+01,UP_FORCE_HOLD,6.3073e-03,7.1183e-02,4.0756e-02,2.3901e+00,-3.9563e-02,4.1807e-02,1.9799e-04,1.0823e-01,4.1076e-02,-5.2142e-02,-2.8085e-03,7.6620e-03,1.9462e-04,1.2697e-01,8.1628e-03
+32,2.4000e+01,UP_FORCE_HOLD,6.5078e-03,7.9335e-02,3.4760e-02,2.3853e+00,-3.9181e-02,4.2429e-02,1.7772e-04,1.1639e-01,3.5081e-02,-5.6947e-02,-2.4256e-03,8.2833e-03,1.7434e-04,1.3424e-01,8.6329e-03
+33,2.4917e+01,UP_FORCE_HOLD,6.7096e-03,6.6973e-02,3.2688e-02,2.4230e+00,-3.9046e-02,4.1548e-02,1.5699e-04,1.0402e-01,3.3008e-02,-1.9244e-02,-2.2908e-03,7.4029e-03,1.5362e-04,1.1082e-01,7.7507e-03
+34,2.5733e+01,UP_FORCE_HOLD,6.9146e-03,5.1929e-02,3.2349e-02,2.4492e+00,-3.9032e-02,4.0449e-02,1.2024e-04,8.8979e-02,3.2670e-02,6.9654e-03,-2.2769e-03,6.3033e-03,1.1686e-04,9.5042e-02,6.7030e-03
+35,2.6333e+01,UP_FORCE_HOLD,7.1180e-03,1.7665e-02,4.0278e-02,2.5247e+00,-3.9570e-02,3.7969e-02,8.2399e-05,5.4715e-02,4.0599e-02,8.2450e-02,-2.8150e-03,3.8239e-03,7.9021e-05,1.0696e-01,4.7489e-03
+36,2.6900e+01,UP_FORCE_HOLD,7.3252e-03,-9.8788e-03,4.3259e-02,2.5531e+00,-3.9755e-02,3.6087e-02,8.6514e-05,2.7171e-02,4.3580e-02,1.1090e-01,-2.9996e-03,1.9419e-03,8.3135e-05,1.2221e-01,3.5743e-03
+37,2.7817e+01,UP_FORCE_HOLD,7.5270e-03,-9.7119e-03,4.6952e-02,2.5247e+00,-3.9958e-02,3.6026e-02,1.1089e-04,2.7338e-02,4.7273e-02,8.2517e-02,-3.2028e-03,1.8812e-03,1.0751e-04,9.8950e-02,3.7159e-03
+38,2.8700e+01,UP_FORCE_HOLD,7.7309e-03,2.5463e-03,4.7577e-02,2.4902e+00,-3.9984e-02,3.6895e-02,1.4611e-04,3.9596e-02,4.7898e-02,4.7958e-02,-3.2290e-03,2.7499e-03,1.4273e-04,7.8498e-02,4.2436e-03
+39,2.9633e+01,UP_FORCE_HOLD,7.9319e-03,3.0402e-02,4.5172e-02,2.4537e+00,-3.9835e-02,3.8925e-02,1.9802e-04,6.7452e-02,4.5492e-02,1.1503e-02,-3.0797e-03,4.7799e-03,1.9464e-04,8.2168e-02,5.6894e-03
+40,3.0017e+01,UP_FORCE_HOLD,8.1336e-03,7.8919e-02,3.7241e-02,2.3999e+00,-3.9325e-02,4.2244e-02,1.9664e-04,1.1597e-01,3.7562e-02,-4.2373e-02,-2.5697e-03,8.0992e-03,1.9327e-04,1.2905e-01,8.4993e-03
+41,3.0533e+01,UP_FORCE_HOLD,8.3391e-03,6.7550e-02,4.0017e-02,2.3771e+00,-3.9517e-02,4.1600e-02,1.8871e-04,1.0460e-01,4.0338e-02,-6.5142e-02,-2.7623e-03,7.4552e-03,1.8533e-04,1.2966e-01,7.9526e-03
+42,3.1067e+01,UP_FORCE_HOLD,8.5414e-03,8.7472e-02,3.4673e-02,2.3730e+00,-3.9179e-02,4.2985e-02,1.7737e-04,1.2452e-01,3.4994e-02,-6.9240e-02,-2.4239e-03,8.8396e-03,1.7400e-04,1.4671e-01,9.1675e-03
+43,3.2033e+01,UP_FORCE_HOLD,8.7449e-03,6.1039e-02,3.4395e-02,2.4297e+00,-3.9157e-02,4.1143e-02,1.6087e-04,9.8089e-02,3.4716e-02,-1.2550e-02,-2.4021e-03,6.9976e-03,1.5749e-04,1.0481e-01,7.4000e-03
+44,3.2967e+01,UP_FORCE_HOLD,8.9400e-03,4.6553e-02,3.4073e-02,2.4544e+00,-3.9135e-02,4.0057e-02,1.3252e-04,8.3603e-02,3.4393e-02,1.2167e-02,-2.3800e-03,5.9121e-03,1.2914e-04,9.1216e-02,6.3745e-03
+45,3.3283e+01,UP_FORCE_HOLD,9.1549e-03,2.0912e-02,3.1965e-02,2.4998e+00,-3.8978e-02,3.8233e-02,1.2388e-04,5.7962e-02,3.2286e-02,5.7525e-02,-2.2234e-03,4.0880e-03,1.2050e-04,8.7813e-02,4.6551e-03
+46,3.3800e+01,UP_FORCE_HOLD,9.3588e-03,2.5851e-02,3.4808e-02,2.5393e+00,-3.9150e-02,3.8523e-02,1.1980e-04,6.2901e-02,3.5129e-02,9.7027e-02,-2.3948e-03,4.3781e-03,1.1642e-04,1.2085e-01,4.9917e-03
+47,3.4517e+01,UP_FORCE_HOLD,9.5598e-03,4.6228e-03,3.8577e-02,2.5009e+00,-3.9395e-02,3.7067e-02,1.2670e-04,4.1673e-02,3.8897e-02,5.8631e-02,-2.6396e-03,2.9214e-03,1.2332e-04,8.1775e-02,3.9392e-03
+48,3.5417e+01,UP_FORCE_HOLD,9.7647e-03,1.1690e-02,4.0583e-02,2.4831e+00,-3.9525e-02,3.7553e-02,1.4694e-04,4.8740e-02,4.0904e-02,4.0877e-02,-2.7698e-03,3.4079e-03,1.4357e-04,7.5629e-02,4.3939e-03
+49,3.6050e+01,UP_FORCE_HOLD,9.9631e-03,7.1011e-02,3.7225e-02,2.4729e+00,-3.9290e-02,4.1649e-02,1.7133e-04,1.0806e-01,3.7546e-02,3.0624e-02,-2.5354e-03,7.5041e-03,1.6795e-04,1.1843e-01,7.9226e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33521de0ed3f953c444836e8e2d285d78bc28bde
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
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+5193,1792668052000456208,36592400000000,1792668051997853823,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6759891262968245,-0.004553474831049003,0.09079190366053391,0.9999999795671746,6.470593320942671e-05,-0.0001491718961270494,7.661202595887538e-05,0.6761,-0.00453,0.09086190457382233,1.0,0.0,0.0,0.0,0.10035035007430905,0.19065658616280845,0.36142606333884597,0.01198736262327614,-0.005566508463680551,-0.0002303699663076744,0.2124488175723484,0.10940353399932018,0.5296794551367013,0.004256464449454509,-0.010340970457753037,0.0005107678249943573,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,0.9494555862444006,-0.09064015199730265,0.24382191477050705,0.42480611500824683,0.027710784910535097,-0.08461774525973957,0.7250918013638956,0.36142606333884597,0.48126988659338854,0.48126988659338854,0.49119000000002727,0,0,-1.4061890017654006e-05,2.9122117244045856e-05
+5321,1792668053067372678,36593467000000,1792668053065853690,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6759932612743614,-0.004557439745399276,0.09078682619629921,0.9999999802022261,6.270502161800538e-05,-0.00014319109907209792,8.125762205730572e-05,0.6761,-0.00453,0.09084754663062011,1.0,0.0,0.0,0.0,0.09933061731157304,0.19825566794005645,0.4071294993188149,0.013015818559533241,-0.006169337740207574,-0.00026609380883028347,0.2114290848096124,0.11700261577656819,0.5753828911166703,0.005284920385711608,-0.01094379973428006,0.00047504398247174824,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,0.9640430682392938,-0.13252509760476247,0.23594147376080235,0.4617687898298501,0.03200648340725162,-0.11004270333711938,0.7250918013638956,0.4071294993188149,0.4891503276030933,0.4891503276030933,0.5658800000000427,0,0,-1.537803441117725e-05,-8.922803748501735e-05
+5480,1792668054392450019,36594792000000,1792668054389863213,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6759920124097639,-0.004564569827732737,0.09076723115369228,0.9999999795462134,6.121873083550868e-05,-0.0001445403668069185,8.78110840895426e-05,0.6761,-0.00453,0.09082040916116278,1.0,0.0,0.0,0.0,0.0897262361993625,0.19769002640762584,0.47741297747131484,0.012986812927342077,-0.0056086847873793874,-0.00031046771972993687,0.20182470369740185,0.11643697424413756,0.6456663692691702,0.005255914753520444,-0.010383146781451873,0.00043067007157209484,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0389887555111548,-0.027118387019571526,0.10769128922455325,0.4569348398986317,0.1293640080704917,-0.05106330119448719,0.7250918013638956,0.47741297747131484,0.6174005121393423,0.6174005121393423,0.6586300000000619,0,0,-2.3198993378834242e-05,-5.718836488555003e-05
+5608,1792668055458460194,36595858000000,1792668055453853673,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760264144983636,-0.004558521050000511,0.09077751322067791,0.9999999832806028,7.148108103396269e-05,-0.0001067900213420246,9.14768004641263e-05,0.6761,-0.00453,0.09079741601512628,1.0,0.0,0.0,0.0,0.07022783796652392,0.23771013278614253,0.4730543348354561,0.01564463810978555,-0.0038478739639983993,-0.00023798217968449393,0.18232630546456327,0.15645708062265426,0.6413077266333115,0.007913739935963917,-0.008622335958070885,0.0005031556116175378,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0186369676878637,-0.11270322219818858,0.15776480765347764,0.501446926200027,0.08104195052227096,-0.11312344259407714,0.7250918013638956,0.4730543348354561,0.567326993710418,0.567326993710418,0.7332500000000773,0,0,-2.3909360750999593e-05,-9.999990699250389e-05
+5724,1792668056425467600,36596825000000,1792668056421862792,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760256384231729,-0.004565285652992111,0.09074644181638779,0.9999999824219711,6.98367560063357e-05,-0.00010733594656263574,0.0001009987326535055,0.6761,-0.00453,0.09075848343237376,1.0,0.0,0.0,0.0,0.04928142264927919,0.2596903857477335,0.5577102281645429,0.016948568717797194,-0.0016517592263531385,-0.0002647285349743788,0.16137989014731854,0.17843733358424527,0.7259636199623982,0.009217670543975562,-0.006426221220425624,0.0004764092563276529,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1424938448365867,-0.1519860008286876,-0.11916298528690479,0.547353319765299,0.2763625772700276,-0.1396764821552105,0.7250918013638956,0.5577102281645429,0.8442547866508004,0.8442547866508004,0.8009400000000914,0,0,-4.374019015454677e-05,9.9999754336838e-05
+5876,1792668057692463136,36598092000000,1792668057685853363,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760290550622374,-0.004563899408841308,0.09072324994820291,0.9999999817650994,7.838344083667329e-05,-9.995428126303027e-05,0.00010852577110669946,0.6761,-0.00453,0.09072539682996061,1.0,0.0,0.0,0.0,0.03979140967121743,0.25377309320463026,0.6776243742210378,0.016916090239504335,-0.0016821409772681132,0.0006630863104864757,0.15188987716925678,0.17252004104114202,0.8458777660188932,0.009185192065682702,-0.006456602971340599,0.0014042241017885075,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0937405304075256,-0.04665525570427367,-0.18097079908795763,0.5501571275822705,0.30066449983278665,-0.08013350835759114,0.7250918013638956,0.6776243742210378,0.9060626004518533,0.9060626004518533,0.8896300000001097,0,0,-1.0654005751205337e-05,9.99880276061404e-05
+6003,1792668058750402300,36599150000000,1792668058745853450,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760292955692974,-0.004565565334970441,0.0907118338348376,0.9999999816776123,7.903898768916425e-05,-9.781842765364521e-05,0.0001107792085412613,0.6761,-0.00453,0.09071006220800407,1.0,0.0,0.0,0.0,0.033920103136635,0.2553711893917948,0.7091217011292105,0.017314180512457554,-0.001689090435891015,0.0006012760201300979,0.14601857063467436,0.17411813722830657,0.8773750929270658,0.009583282338635922,-0.006463552429963501,0.0013424138114321296,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1390898544347496,-0.09464706820039812,-0.19073763790914475,0.5567445429773173,0.32120270036813486,-0.11278005843458505,0.7250918013638956,0.7091217011292105,0.9158294392730404,0.9158294392730404,0.9636900000001251,0,0,-1.9823668619160746e-05,-9.78631440037347e-05
+6147,1792668059950432706,36600350000000,1792668059945862826,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760344419370118,-0.004567925575668079,0.09069427884515198,0.999999982495436,7.623107349968927e-05,-8.639323524894306e-05,0.0001147912223795381,0.6761,-0.00453,0.09067848749104301,1.0,0.0,0.0,0.0,0.03672204708179873,0.2588017312195027,0.7802195699717271,0.017889518186152316,-0.0007104147181345105,0.000602000359776792,0.14882051457983808,0.1775486790560144,0.9484729617695825,0.010158620012330685,-0.005484876712206996,0.0013431381510788237,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.125671664906283,-0.07729109699192797,-0.32363805148350333,0.5474062769446211,0.3995876172106667,-0.09908547882632951,0.7250918013638956,0.7802195699717271,1.048729852847399,1.048729852847399,1.0476900000001423,0,0,-2.8689139706912552e-05,9.999695102370083e-05
+6299,1792668061217478116,36601617000000,1792668061213853511,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760366798474876,-0.004573304373518938,0.09066668043402694,0.999999982384851,7.409838833242302e-05,-8.14153656039846e-05,0.0001206404960000355,0.6761,-0.00453,0.09064640273155868,1.0,0.0,0.0,0.0,0.02013947039319723,0.246715759889165,0.8506001107973408,0.017874369204579008,-0.0007238633891185949,0.0005430143326696981,0.13223793789123658,0.16546270772567673,1.0188535025951961,0.010143471030757375,-0.0054983253831910805,0.0012841521239717298,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1625103705812005,-0.11904553728269655,-0.39543441505385296,0.5575048216223105,0.45848910792924935,-0.13071683900880882,0.7250918013638956,0.8506001107973408,1.1205262164177485,1.1205262164177485,1.1363800000001607,0,0,-2.744251390432583e-05,9.740503822819874e-05
+6435,1792668062350484842,36602750000000,1792668062345853786,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760396452620779,-0.0045761044877036345,0.09063979642777258,0.9999999827944758,7.003772912714235e-05,-7.358861914940543e-05,0.00012463283759052985,0.6761,-0.00453,0.09061165817447542,1.0,0.0,0.0,0.0,0.010080704774095423,0.25576937345834205,0.9098776235328913,0.018882862965224068,-0.0007552558031226377,0.0005054171795671699,0.12217917227213478,0.17451632129485375,1.0781310153307466,0.011151964791402433,-0.005529717797195123,0.0012465549708692016,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.138789790551032,-0.1179375246749305,-0.5213558487374893,0.5502891626953983,0.5281038661258725,-0.13139872029136332,0.7250918013638956,0.9098776235328913,1.246447650101385,1.246447650101385,1.2156900000001771,0,0,-3.393558647005334e-05,9.999667346794467e-05
+6574,1792668063508424738,36603908000000,1792668063505853613,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.67604138172263,-0.004582229944056116,0.09060684414398057,0.999999982121489,6.963167526790142e-05,-6.832950537979115e-05,0.00013297516571072365,0.6761,-0.00453,0.09057201213886754,1.0,0.0,0.0,0.0,0.0005714021022172194,0.2573418511853435,0.9613488985553061,0.018847051102233166,0.0002464423239263835,0.00047840618646823345,0.11266986960025657,0.17608879902185523,1.1296022903531615,0.011116152928411534,-0.004528019670146102,0.0012195439777702652,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.1808537013872409,-0.1516554839959156,-0.5100632778145664,0.5599398212757859,0.5324670322956981,-0.1495497862825242,0.7250918013638956,0.9613488985553061,1.235155079178462,1.235155079178462,1.296750000000194,0,0,-3.5832529744787796e-05,-6.113183156764563e-05
+6734,1792668064842437230,36605242000000,1792668064841862816,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760430292536309,-0.0045777050903116345,0.09056180608638074,0.9999999814424356,7.390926669093668e-05,-6.26568165990066e-05,0.00013845409546168368,0.6761,-0.00453,0.09051755804206263,1.0,0.0,0.0,0.0,-0.010619365733082656,0.262467114849135,1.0285077876291364,0.019854453988473155,0.00023884068709443835,0.0004473064175080819,0.1014791017649567,0.18121406268564674,1.1967611794269917,0.012123555814651523,-0.004535621306978047,0.0011884442088101136,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.202364999561841,-0.1954755719076653,-0.5835725883264965,0.5773708821218486,0.5795223254394668,-0.17816499477539643,0.7250918013638956,1.0285077876291364,1.3086643896903922,1.3086643896903922,1.3901300000002133,0,0,-4.890692784240563e-05,-8.20100946916069e-05
+6810,1792668065475424685,36605875000000,1792668065473862485,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760768790374644,-0.004578365931964953,0.0905576043699328,0.999999982205756,7.466339199588527e-05,-2.6703013947434497e-05,0.00014402666051599588,0.6761,-0.00453,0.09048152341191344,1.0,0.0,0.0,0.0,-0.04967427944472744,0.31887847413433434,0.9934944112883651,0.024655999969896224,0.003299319179309401,0.0005628809213817938,0.062424188053311916,0.23762542197084605,1.1617478030862205,0.016925101796074593,-0.0014751428147630847,0.0013040187126838255,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2588043732753922,-0.13591223680685188,-0.6121341787815607,0.5629075349854128,0.5925225190233281,-0.14057812416054322,0.7250918013638956,0.9934944112883651,1.3372259801454565,1.3372259801454565,1.4344400000002224,0,0,-6.945270516065567e-05,1.4170618811307976e-05
+6942,1792668066575459439,36606975000000,1792668066573857093,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760768228584741,-0.004584371923301985,0.09049049436009252,0.9999999819837938,6.635554582595885e-05,-2.5641286663549964e-05,0.0001497155382934358,0.6761,-0.00453,0.09040581162944358,1.0,0.0,0.0,0.0,-0.04975954929775931,0.3111539226488414,1.1234703994609703,0.023812967184911764,0.004151190925525564,0.0003351908204618126,0.06233891820028004,0.22990087048535313,1.2917237912588255,0.01608206901109013,-0.0006232710685469217,0.0010763286117638443,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3119759098816584,-0.12239152075199705,-0.7114015680596285,0.5660300583347677,0.673147466407607,-0.1307197229809559,0.7250918013638956,1.1234703994609703,1.4364933694235242,1.4364933694235242,1.5114400000002384,0,0,-5.973024281727762e-05,7.341011528866393e-05
+7049,1792668067467479317,36607867000000,1792668067465853327,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760791287051041,-0.004574684963443768,0.0904435598040418,0.999999991825351,-4.038634782903835e-06,-1.4865945122486483e-05,8.69186712402646e-05,0.6761,-0.00453,0.09035455599605335,1.0,0.0,0.0,0.0,-0.022081249398400518,0.33335516986643027,1.1542409248701853,0.02488251644931129,0.002156933463084272,0.0004210182844854645,0.09001721809963883,0.252102117702942,1.3224943166680405,0.017151618275489656,-0.0026175285309882135,0.0011621560757874962,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3031280638462686,-0.1239508541918798,-0.7192275045923437,0.5468099765699677,0.6777777641499224,-0.12403527858295509,0.7250918013638956,1.1542409248701853,1.4443193059562394,1.4443193059562394,1.5738800000002513,0,0,-5.981297608178971e-05,-9.95650048781826e-05
+7173,1792668068500466072,36608900000000,1792668068497853127,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760817428550475,-0.004578045745806095,0.09037974326547132,0.9999999905674251,1.586890835224171e-05,-1.1067726629795807e-05,9.966793630511823e-05,0.6761,-0.00453,0.09028711353389779,1.0,0.0,0.0,0.0,-0.03898641643712303,0.32410457518428926,1.1777980631103573,0.024849587107184004,0.0031353817034014634,0.0004067461151038116,0.07311205106091632,0.24285152302080096,1.3460514549082125,0.01711868893336237,-0.001639080290671022,0.0011478839064058433,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3326472768383402,-0.04750742755344721,-0.7976869962755817,0.5263135864004176,0.7282155229192968,-0.07251188862728511,0.7250918013638956,1.1777980631103573,1.5227787976394773,1.5227787976394773,1.6461900000002663,0,0,-6.993148391895432e-05,-7.835573442716565e-05
+7289,1792668069467433255,36609867000000,1792668069465853802,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760850957252089,-0.004581235181030844,0.09030462260414711,0.9999999827329547,0.00011487759397326157,-1.1563503531502021e-05,0.00011245611901523897,0.6761,-0.00453,0.09020619816198845,1.0,0.0,0.0,0.0,-0.05942023890847526,0.3166682316257807,1.18017096810774,0.024830425946739842,0.004142468932664451,-0.000600866064064688,0.05267822858956409,0.23541517946229243,1.3484243599055952,0.017099527772918212,-0.000631993061408035,0.00014027172723734364,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.340086531816803,-0.009628955928337943,-0.856308887114458,0.49269060247457785,0.7617578015028744,-0.08005677775612947,0.7250918013638956,1.18017096810774,1.5814006884783536,1.5814006884783536,1.7138800000002803,0,0,-9.611334130252972e-05,3.411942663819208e-05
+7409,1792668070467522646,36610867000000,1792668070465853685,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.676086962868598,-0.004590173432750111,0.09020778260172864,0.9999999814210663,0.00010949277467351985,-1.0263138656150788e-05,0.00012847852588491847,0.6761,-0.00453,0.09010422343116097,1.0,0.0,0.0,0.0,-0.05891537017288373,0.3105435684463963,1.2330215220637524,0.023324800128615264,0.00416338708909324,-0.0006625215177627129,0.05318309732515562,0.22929051628290806,1.4012749138616076,0.015593901954793633,-0.0006110749049792457,7.861627353931881e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3185154031517852,-0.10208474086287425,-0.9466256139504085,0.5410108550267837,0.8044758526726192,-0.11449336216945291,0.7250918013638956,1.2330215220637524,1.671717415314304,1.671717415314304,1.7838800000002948,0,0,-0.00010777177542467686,7.594843784287093e-05
+7516,1792668071358445468,36611758000000,1792668071353853326,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.676089535884576,-0.0045885777765466255,0.0901209604562047,0.999999979340473,0.00011282713682458963,-6.9915668360147e-06,0.00014136149835096572,0.6761,-0.00453,0.09000817012798176,1.0,0.0,0.0,0.0,-0.06065719275282904,0.296918384622394,1.253085389065317,0.02277456101525138,0.004165720907200742,-0.0006830267064711936,0.05144127474521031,0.21566533245890573,1.4213387808631723,0.015043662841429746,-0.0006087410868717435,5.811108483083807e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3516103027699846,-0.16589500772421117,-1.0118292050910493,0.5549160064772496,0.8458376633905414,-0.15912459681774105,0.7250918013638956,1.253085389065317,1.736921006454945,1.736921006454945,1.8462500000003077,0,0,-0.00010945664856845815,9.961217547894136e-05
+7612,1792668072158464111,36612558000000,1792668072157853658,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760891964806601,-0.004581856572706998,0.09003111473293668,0.9999999852714108,8.04943852718458e-05,-7.234368542266115e-06,0.00011986809626970937,0.6761,-0.00453,0.08991678340578567,1.0,0.0,0.0,0.0,-0.049441050061727734,0.3115956814060725,1.2531121764794757,0.02277671477134935,0.0041640514730764125,-0.0006817007455612692,0.06265741743631162,0.23034262924258425,1.421365568277331,0.015045816597527715,-0.0006104105209960735,5.9437045740762476e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.315184858074665,-0.1785188782435784,-1.0018810692951496,0.5790099068710154,0.8178935078509296,-0.16573724561261255,0.7250918013638956,1.2531121764794757,1.7269728706590453,1.7269728706590453,1.9022500000003193,0,0,-0.00012417651645642915,1.4975009268053689e-05
+7712,1792668072992559057,36613392000000,1792668072985853785,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760924147325083,-0.004578117589778163,0.08992585281538981,0.9999999882399787,5.403125111483358e-05,-1.5768302821204346e-06,0.00010973169204163355,0.6761,-0.00453,0.0898042568409674,1.0,0.0,0.0,0.0,-0.04051022674498864,0.31710237410537,1.2636583664153218,0.023822436509908798,0.0031293756143634765,-0.0006932979300841103,0.07158824075305072,0.2358493219418817,1.431911758213177,0.016091538336087164,-0.001645086379709009,4.7839861217921414e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3180931794767758,-0.05134597796973337,-0.9751436414385523,0.5194669622425001,0.799508110991314,-0.08504972837859187,0.7250918013638956,1.2636583664153218,1.7002354428024478,1.7002354428024478,1.9606300000003314,0,0,-0.00014737072739498392,-9.998843006198683e-05
+7796,1792668073692523476,36614092000000,1792668073685863018,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760952596988851,-0.004578173770307535,0.08981955789737171,0.999999987207227,4.983898011106368e-05,3.053951931968055e-06,0.00012056185021194531,0.6761,-0.00453,0.08969714308300548,1.0,0.0,0.0,0.0,-0.03143894074635421,0.3242331376067107,1.293761958576589,0.02380017497174905,0.0037327593494414237,-0.000710658107217017,0.08065952675168514,0.24298008544322242,1.4620153503744442,0.016069276797927416,-0.0010417026446310619,3.0479684085014713e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3197836806679024,-0.011725191737856043,-0.9650150309494259,0.5099240019891573,0.7847957084295005,-0.06353655739396494,0.7250918013638956,1.293761958576589,1.6901068323133215,1.6901068323133215,2.0096300000003415,0,0,-0.00015650766758554114,-9.996311697702537e-05
+7876,1792668074358455091,36614758000000,1792668074357863133,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760906780491898,-0.004582642947481768,0.08971198812476788,0.9999999868032768,4.010838582994879e-05,-5.872048421662187e-06,0.00012725229696841235,0.6761,-0.00453,0.08959133514835302,1.0,0.0,0.0,0.0,-0.03476401363940215,0.3061275150215646,1.3170370225328945,0.02280942979900453,0.0031372661139557273,-0.0007478562861357992,0.0773344538586372,0.22487446285807633,1.4852904143307497,0.015078531625182896,-0.0016371958801167585,-6.718494833767439e-06,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.318643522551949,-0.07012526271483994,-1.1821482754175576,0.5252576425618815,0.9179363034725684,-0.09600176099251712,0.7250918013638956,1.3170370225328945,1.9072400767814532,1.9072400767814532,2.056250000000351,0,0,-0.00016096077077168568,9.99993796365672e-05
+7959,1792668075050460780,36615450000000,1792668075049853403,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760926792547096,-0.004584097927323096,0.0895998393268343,0.9999999857649882,6.860263663441996e-05,-1.1134592314672852e-06,0.000123309879091424,0.6761,-0.00453,0.0894753787774702,1.0,0.0,0.0,0.0,-0.04010840174542518,0.3141742957047098,1.3230137026481075,0.022791167884659846,0.0031378487625322833,-0.0007526724114944975,0.07199006575261417,0.23292124354122148,1.4912670944459627,0.015060269710838214,-0.0016366132315402022,-1.1534620192465716e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2991205765338751,-0.05994860589344386,-1.1352910848230444,0.5424635268768757,0.8731257535991033,-0.07657061581799143,0.7250918013638956,1.3230137026481075,1.86038288618694,1.86038288618694,2.104690000000361,0,0,-0.00017294935010242786,1.9539095283162007e-05
+8039,1792668075717506596,36616117000000,1792668075709862842,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760920063104825,-0.004579631685115383,0.08947706438828455,0.9999999874004216,8.378549178605163e-05,-4.117785170023835e-06,9.800538896351738e-05,0.6761,-0.00453,0.08935633478005288,1.0,0.0,0.0,0.0,-0.022026902167489107,0.3053560173606712,1.323249604901299,0.022143020782410438,0.003147573631406456,-0.0007579456378758698,0.09007156533055025,0.22410296519718292,1.4915029966991542,0.014412122608588806,-0.0016268883626660295,-1.680784657383816e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2846025684229159,-0.036253361647335704,-1.0640820057120743,0.5279177576622232,0.8234101540492201,-0.07081681514600596,0.7250918013638956,1.323249604901299,1.78917380707597,1.78917380707597,2.151380000000371,0,0,-0.00018856540123376864,-9.999999025923074e-05
+8107,1792668076283495582,36616683000000,1792668076281853772,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760922333621303,-0.00458946243676562,0.08936579738952573,0.999999985667746,8.533316098195173e-05,-5.081057621119904e-06,0.00011313623100124992,0.6761,-0.00453,0.08924623565081811,1.0,0.0,0.0,0.0,-0.032696089756300326,0.293821917024885,1.351973310295392,0.021736593721587406,0.004161761208460482,-0.000771229459237217,0.07940237774173903,0.21256886486139673,1.5202267020932472,0.014005695547765774,-0.000612700785612003,-3.0091667935185192e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.303415855048858,-0.013180293316072646,-1.191635955214639,0.5074677284069682,0.9099811902840014,-0.05845176116213927,0.7250918013638956,1.351973310295392,1.9167277565785346,1.9167277565785346,2.191000000000379,0,0,-0.00020024940230037457,4.352322255230519e-05
+8175,1792668076850537933,36617250000000,1792668076845863426,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676089249676343,-0.004591189327465962,0.08924582313149107,0.9999999830537393,8.95817925191241e-05,-1.2006143125853427e-05,0.0001310203824766634,0.6761,-0.00453,0.08912886667433938,1.0,0.0,0.0,0.0,-0.03938904228628941,0.28245074227482664,1.3640609971714184,0.020712064908347955,0.004179668794458982,-0.0007931317446195137,0.07270942521174995,0.20119769011133837,1.5323143889692736,0.012981166734526322,-0.0005947931996135032,-5.1993953317482e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3206816223241786,-0.00921692265323413,-1.121468268071947,0.514299712454252,0.8686881402698896,-0.055964418490932075,0.7250918013638956,1.3640609971714184,1.8465600694358426,1.8465600694358426,2.2306900000003873,0,0,-0.00021625779026843007,-9.939748610155447e-05
+8239,1792668077383547422,36617783000000,1792668077381853454,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760853413581525,-0.004596256374973247,0.08911511715307216,0.9999999812816327,8.539376985157667e-05,-2.2583960545417122e-05,0.00014518080937617027,0.6761,-0.00453,0.08901025582660121,1.0,0.0,0.0,0.0,-0.049855991622183835,0.26062187947869897,1.3722656679817418,0.019695292694790742,0.00420261999553041,-0.0016124280755888062,0.06224247587585552,0.17936882731521073,1.540519059779597,0.01196439452096911,-0.0005718419985420753,-0.0008712902842867745,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2751508069230162,-0.1808061316241593,-1.2016479386551568,0.5611953539301006,0.9083685247843486,-0.1713544022141575,0.7250918013638956,1.3722656679817418,1.9267397400190525,1.9267397400190525,2.268000000000395,0,0,-0.00023120385448801984,-4.657748772641242e-05
+8299,1792668077883532937,36618283000000,1792668077881853536,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760879238069584,-0.004589019164331298,0.08899863102088174,0.9999999897658922,3.263718257480637e-05,-1.553167245061e-05,0.00010297893729059962,0.6761,-0.00453,0.0888913794504171,1.0,0.0,0.0,0.0,-0.039196792427256266,0.2835431099939897,1.3964363451007402,0.020713039353436633,0.0041722772449835095,-0.0008192002535481174,0.07290167507078309,0.20229005783050139,1.5646897368985955,0.012982141179615,-0.0006021847490889759,-7.806246224608562e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2564239266960398,-0.08440655118680002,-1.1018962610564282,0.5454163339029425,0.8364628545419587,-0.10177166580720713,0.7250918013638956,1.3964363451007402,1.8269880624203239,1.8269880624203239,2.3030000000004023,0,0,-0.00024386646589188844,-9.999999025923074e-05
+8359,1792668078383564655,36618783000000,1792668078381853794,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760845990023382,-0.0045957889558098566,0.08887008362617467,0.9999999868161069,5.625280987839526e-05,-2.095656321504051e-05,0.00011919351602207714,0.6761,-0.00453,0.08876509118790828,1.0,0.0,0.0,0.0,-0.04774395462708997,0.2821404522044181,1.3856054655952479,0.020338460911400694,0.0041908617798922815,-0.0018427473883683488,0.06435451287094938,0.20088740004092984,1.5538588573931031,0.012607562737579063,-0.0005836002141802045,-0.001101609597066317,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2840747724250796,-0.08063260286101688,-1.1020983486742972,0.5441555949095259,0.8437448021914793,-0.09907890507372893,0.7250918013638956,1.3856054655952479,1.8271901500381929,1.8271901500381929,2.3380000000004095,0,0,-0.0002630920921911902,-9.999999025923074e-05
+8414,1792668078842509393,36619242000000,1792668078841862993,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760865402429636,-0.004602352395501339,0.08874712103265113,0.9999999835587939,7.88139197836065e-05,-1.972449187603623e-05,0.0001331337174822918,0.6761,-0.00453,0.08863965205908451,1.0,0.0,0.0,0.0,-0.05696568233175293,0.2709077454040121,1.3818893903772314,0.019733492467150754,0.005213772496874424,-0.0018318567036489626,0.055132785166286426,0.1896546932405238,1.5501427821750866,0.012002594293329123,0.0004393105028019383,-0.001090718912346931,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.302354978180929,-0.10962884571974482,-1.1597506329150393,0.5549247010905022,0.881793756258726,-0.11635967972326253,0.7250918013638956,1.3818893903772314,1.884842434278935,1.884842434278935,2.370130000000416,0,0,-0.00028343055521603953,-9.999999025923074e-05
+8466,1792668079275492543,36619675000000,1792668079269862972,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760835613545974,-0.004599959279716028,0.08861641157654535,0.9999999844527668,7.269688650006555e-05,-2.323806589728523e-05,0.00012927677885279446,0.6761,-0.00453,0.08851285945735335,1.0,0.0,0.0,0.0,-0.049326065870190755,0.28119274213302237,1.4019245581089261,0.0199647622901786,0.005200596928604441,-0.0012409078849491145,0.0627724016278486,0.19993968996953407,1.5701779499067814,0.01223386411635697,0.00042613493453195507,-0.0004997700936470828,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2930460088002962,-0.07592110555544314,-1.2117017351513635,0.5473280882156958,0.9156821192294253,-0.10057701498423295,0.7250918013638956,1.4019245581089261,1.936793536515259,1.936793536515259,2.4004400000004225,0,0,-0.00030184441384836633,-9.999999025923074e-05
+8514,1792668079675571656,36620075000000,1792668079669853538,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760828283842555,-0.004604653259260139,0.0884878321088533,0.9999999853531398,6.155198152223206e-05,-2.513292751311036e-05,0.0001277351718676873,0.6761,-0.00453,0.08838863579557267,1.0,0.0,0.0,0.0,-0.05737069752131131,0.27728866502009386,1.3919637760422179,0.019667521094375987,0.0052108854498385745,-0.0016319637513029035,0.05472776997672804,0.1960356128566056,1.5602171678400731,0.011936622920554356,0.0004364234557660885,-0.0008908259600008718,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.276862913028076,-0.1329280313520234,-1.1225934747947548,0.5749174609459062,0.8565823695669127,-0.1355948893163681,0.7250918013638956,1.3919637760422179,1.8476852761586504,1.8476852761586504,2.4284400000004283,0,0,-0.0003199517730853848,-9.999983760356485e-05
+8562,1792668080075498350,36620475000000,1792668080073862822,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760859286785162,-0.004604971866340152,0.08835854930550002,0.9999999851232887,6.579319467973896e-05,-2.1744360545209994e-05,0.000128041888194309,0.6761,-0.00453,0.08825703244963204,1.0,0.0,0.0,0.0,-0.05768498256895104,0.271302479671658,1.4055817280897367,0.019664343933193898,0.005209803957855117,-0.0010390990972686059,0.05441348492908831,0.1900494275081697,1.573835119887592,0.011933445759372264,0.0004353419637826313,-0.00029796130596657403,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3618691417963498,-0.06489830602108591,-1.1472547466441931,0.5572299355202149,0.9016367753805788,-0.09085046418396803,0.7250918013638956,1.4055817280897367,1.8723465480080888,1.8723465480080888,2.456440000000434,0,0,-0.0003379421589053396,-9.999999025923074e-05
+8608,1792668080458474401,36620858000000,1792668080453853576,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760887010367117,-0.004608158899002954,0.08823086001678764,0.9999999839514853,7.815257777434022e-05,-1.653124675265742e-05,0.00013099154956555312,0.6761,-0.00453,0.08812474439449128,1.0,0.0,0.0,0.0,-0.0580417908889622,0.27252538677562665,1.4319858318597518,0.01963193017082983,0.006216154857277431,-0.0017782814201839985,0.054056676609077155,0.19127233461213838,1.600239223657607,0.011901031997008198,0.001441692863204946,-0.0010371436288819668,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3356466036037942,-0.03905288896468032,-1.1193564745726128,0.5645246587678393,0.8804791561546962,-0.06882735610813226,0.7250918013638956,1.4319858318597518,1.8444482759365084,1.8444482759365084,2.4832500000004396,0,0,-0.0003531021042877099,-9.999999025923074e-05
+8650,1792668080809565873,36621208000000,1792668080801853179,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760818838184606,-0.004614963396797222,0.0880947017005288,0.9999999835800788,7.407165250779416e-05,-2.8152311048798098e-05,0.0001341772864090555,0.6761,-0.00453,0.08799832329083983,1.0,0.0,0.0,0.0,-0.0667671620588347,0.26993711299977674,1.4520971332430788,0.018624856156672268,0.005929534743209473,-0.0014768711364088927,0.04533130543920464,0.18868406083628847,1.620350525040934,0.010893957982850633,0.001155072749136988,-0.0007357333451068609,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.315653465088545,-0.0803872363645075,-1.1766876513451285,0.5699739108060495,0.9147948212037164,-0.10285510141329068,0.7250918013638956,1.4520971332430788,1.9017794527090242,1.9017794527090242,2.5077500000004447,0,0,-0.00036962153777550375,-9.999999025923074e-05
+8686,1792668081108540800,36621508000000,1792668081101853583,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676082700521264,-0.004615213497514379,0.08797318500746357,0.9999999836583041,6.66834770164615e-05,-2.9062328529594327e-05,0.0001372404859316375,0.6761,-0.00453,0.08788527246765933,1.0,0.0,0.0,0.0,-0.06092681611386792,0.256734544662933,1.4773244137856405,0.0186111300955453,0.006222046363362768,-0.0009663731478930377,0.051171651384171436,0.1754814924994447,1.6455778055834958,0.010880231921723669,0.0014475843692902824,-0.00022523535659100603,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3483352048995874,-0.09992547210602326,-1.1932620848527529,0.5849315296433376,0.9362877625987268,-0.11513101134880069,0.7250918013638956,1.4773244137856405,1.9183538862166485,1.9183538862166485,2.528750000000449,0,0,-0.00038397450264768116,-9.999999025923074e-05
+8730,1792668081475574182,36621875000000,1792668081473852881,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760825136420981,-0.0046189312858504975,0.08783406428250638,0.9999999843230701,5.6562668154813105e-05,-2.8340811775456083e-05,0.00013709189180726507,0.6761,-0.00453,0.08774127286418808,1.0,0.0,0.0,0.0,-0.06609740424217954,0.2546743829810276,1.4520196815960187,0.018603032832316936,0.006230953665356514,-0.0008696835371314993,0.046001063255859814,0.17342133081753935,1.620273073393874,0.010872134658495302,0.0014564916712840282,-0.0001285457458294676,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2872016748463178,-0.09678182222631496,-1.1692977791546253,0.5921033126721642,0.9061080284133949,-0.11167428637708335,0.7250918013638956,1.4520196815960187,1.894389580518521,1.894389580518521,2.5544400000004543,0,0,-0.00040085544237708346,-9.999999025923074e-05
+8766,1792668081775475776,36622175000000,1792668081773853653,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760802891157778,-0.004623337143394938,0.08771049311891069,0.9999999847670789,4.728316285891949e-05,-3.133292428449445e-05,0.00013671597128846807,0.6761,-0.00453,0.0876187744830335,1.0,0.0,0.0,0.0,-0.07253779040645532,0.259236117691822,1.433116186143021,0.01860154183599564,0.006231053516930025,-0.0008455941753557448,0.039560677091584034,0.17798306552833373,1.6013695779408763,0.010870643662174006,0.001456591522857539,-0.000104456384053713,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3236319001010626,-0.11558903654311806,-1.1326110937579696,0.6049928738911676,0.896010174818755,-0.12506651260715168,0.7250918013638956,1.433116186143021,1.8577028951218653,1.8577028951218653,2.5754400000004587,0,0,-0.00041581967196865764,-9.999997638144293e-05
+8806,1792668082108569406,36622508000000,1792668082105853919,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760785418329706,-0.004621005147621402,0.08756643423287358,0.9999999850677737,5.104624682960796e-05,-3.5347406006826994e-05,0.0001321066173419887,0.6761,-0.00453,0.08747754263280501,1.0,0.0,0.0,0.0,-0.06826820034282344,0.2558872224377405,1.4209988931669781,0.018612822025772434,0.006239209305738155,-0.001861446763271221,0.04383026715521592,0.1746341702742522,1.5892522849648334,0.0108819238519508,0.0014647473116656696,-0.0011203089719691894,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3544898316533047,-0.0549260109787854,-1.0937360238735307,0.6056556154936802,0.88232812145076,-0.07832655677112278,0.7250918013638956,1.4209988931669781,1.8188278252374264,1.8188278252374264,2.5987500000004635,0,0,-0.00043246966873885926,-9.999999025923074e-05
+8842,1792668082408585383,36622808000000,1792668082405853715,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760779634070406,-0.004617432928415743,0.08743581625136677,0.9999999808165135,0.00010295440115572905,-3.350111495623403e-05,0.0001344912763037031,0.6761,-0.00453,0.08734555923262315,1.0,0.0,0.0,0.0,-0.06870999228381819,0.253407594440727,1.435297879597817,0.018600773600830442,0.006230888145732866,-0.0008463894282921167,0.04338847521422116,0.17215454227723878,1.6035512713956723,0.01086987542700881,0.0014564261516603807,-0.00010525163699008507,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3570343568615217,-0.08083222767714712,-1.1003851371383473,0.6066899173297179,0.8934652906429111,-0.10537240049503396,0.7250918013638956,1.435297879597817,1.825476938502243,1.825476938502243,2.619750000000468,0,0,-0.0004474696658166285,-9.999999025923074e-05
+8877,1792668082700572458,36623100000000,1792668082697854345,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760753351015351,-0.0046218288023495546,0.08730335962806686,0.9999999826550523,7.990390328471307e-05,-3.86323859103807e-05,0.00013511352448603885,0.6761,-0.00453,0.08721277379062138,1.0,0.0,0.0,0.0,-0.06297331038317255,0.26078178800146845,1.4318096229411443,0.01960747920092632,0.005204878237737841,-0.0018240388380547777,0.04912515711486679,0.17952873583798018,1.6000630147389996,0.011876581027104687,0.0004304162436653555,-0.001082901046752746,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3547952180516272,-0.09111600130637128,-1.0858477567576847,0.6149494201042791,0.8818222513003243,-0.10993272014772938,0.7250918013638956,1.4318096229411443,1.8109395581215804,1.8109395581215804,2.640190000000472,0,0,-0.00046206966297232386,-9.999999025923074e-05
+8913,1792668083000578996,36623400000000,1792668082993854118,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760757688360208,-0.004622904008429797,0.0871668049648617,0.9999999836608174,6.452465467870884e-05,-3.6320103451044685e-05,0.0001365234347503377,0.6761,-0.00453,0.08707191039216948,1.0,0.0,0.0,0.0,-0.058790654482715005,0.2614737584072657,1.4220135024412879,0.019651365158610927,0.005201009194051152,-0.0008383275996130279,0.05330781301532435,0.18022070624377748,1.5902668942391431,0.011920466984789295,0.0004265471999786663,-9.718980831099612e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3077494325351484,-0.11855834869854896,-0.9911794245590774,0.6228306102204698,0.8104025053125004,-0.1315306969224299,0.7250918013638956,1.4220135024412879,1.716271225922973,1.716271225922973,2.6611900000004765,0,0,-0.0004770696600500931,-9.999999025923074e-05
+8949,1792668083300468209,36623700000000,1792668083297863171,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760768972267985,-0.004623752198058495,0.08702117968476984,0.9999999841035832,4.8778632426747134e-05,-3.572837989379238e-05,0.0001399279308385191,0.6761,-0.00453,0.08692654699459425,1.0,0.0,0.0,0.0,-0.05800090860469913,0.27894118089087455,1.4502492885759959,0.019621137496319135,0.0062069009201043196,-0.0008714824382413238,0.054097558893340225,0.19768812872738628,1.6185026803738511,0.011890239322497501,0.001432438926031834,-0.00013034464693929208,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3135668269128118,0.04528217990690332,-1.0815708564957018,0.5810066854116718,0.869204160548888,-0.019290950576453754,0.7250918013638956,1.4502492885759959,1.8066626578595975,1.8066626578595975,2.682190000000481,0,0,-0.0004920696571278624,-9.999999025923074e-05
+8981,1792668083567548850,36623967000000,1792668083565853289,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676077198848534,-0.004620596583171449,0.0868887459366529,0.9999999851890348,3.786630520431115e-05,-3.499240046824488e-05,0.00013567044450040565,0.6761,-0.00453,0.08679338884648961,1.0,0.0,0.0,0.0,-0.06006982038496697,0.2729886768564812,1.4523501166167556,0.01962076032743147,0.006209020830671664,-0.0008493981080665557,0.05202864711307238,0.1917356246929929,1.6206035084146109,0.011889862153609836,0.0014345588365991787,-0.000108260316764524,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.2887469926804638,-0.11725918700264515,-1.053953906509491,0.6287739253976763,0.846307612514915,-0.12671185843532198,0.7250918013638956,1.4523501166167556,1.7790457078733866,1.7790457078733866,2.7008800000004847,0,0,-0.000505419654527077,-9.999999025923074e-05
+9013,1792668083833506019,36624233000000,1792668083829853632,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760762996562953,-0.004617429211270646,0.08675261996861232,0.9999999853922739,3.395137977156766e-05,-3.280926669288244e-05,0.00013575408845311343,0.6761,-0.00453,0.08665718496873132,1.0,0.0,0.0,0.0,-0.06772761418717668,0.2746182656573095,1.422688222644278,0.020508494766591216,0.006195701462765929,-0.0008130966616252841,0.04437085331086267,0.19336521349382127,1.5909416144421333,0.012777596592769586,0.0014212394686934438,-7.19588703232524e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.327105986659773,-0.03310949104012146,-0.9863866773877913,0.6021006824697364,0.8127670761836677,-0.0696712716812605,0.7250918013638956,1.422688222644278,1.7114784787516868,1.7114784787516868,2.7195000000004885,0,0,-0.0005187196519360323,-9.999999025923074e-05
+9045,1792668084100580286,36624500000000,1792668084097853958,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760759560614582,-0.004623862800986335,0.08661648250027519,0.9999999833955656,5.2416615376738046e-05,-3.600626973190576e-05,0.00014355410126524622,0.6761,-0.00453,0.0865169112720129,1.0,0.0,0.0,0.0,-0.06723152779244605,0.2720044166468568,1.430155784940776,0.019623527199561796,0.006211779837486776,-0.0008307142268345083,0.0448669397055933,0.19075136448336852,1.5984091767386313,0.011892629025740164,0.0014373178434142905,-8.957643553247658e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3350240173882992,-0.034284562999000054,-1.0153220582782114,0.6131605023302009,0.8398542121378122,-0.06342293406539473,0.7250918013638956,1.430155784940776,1.740413859642107,1.740413859642107,2.7381900000004924,0,0,-0.000532069649335247,-9.999999025923074e-05
+9073,1792668084333525976,36624733000000,1792668084329853372,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760731230164778,-0.004628129724196436,0.08648981500162647,0.9999999783028993,0.0001065733580090259,-3.669844015212673e-05,0.00014876965093896016,0.6761,-0.00453,0.08639158764398333,1.0,0.0,0.0,0.0,-0.0706686333445006,0.2735558651580196,1.4593769118768911,0.01962448301637879,0.006334863291352786,-0.0017978539290111747,0.04142983415353874,0.19230281299453134,1.6276303036747464,0.011893584842557156,0.0015604012972803007,-0.001056716137709143,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3569685856807743,-0.05716575792619751,-1.0335655149242473,0.6139664514861758,0.8549866439462614,-0.0852207497004271,0.7250918013638956,1.4593769118768911,1.758657316288143,1.758657316288143,2.7545000000004958,0,0,-0.0005437196470656477,-9.999999025923074e-05
+9105,1792668084600585353,36625000000000,1792668084597853765,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760692568697613,-0.004625104349301221,0.08634159335890704,0.9999999854490043,6.35849746217563e-05,-3.862833873185396e-05,0.00012251390973544457,0.6761,-0.00453,0.08624463894856531,1.0,0.0,0.0,0.0,-0.05777578205175613,0.27411100102663566,1.432421498597716,0.019649487968186524,0.005415903566467852,-0.000917360369704778,0.05432268544628322,0.19285794886314742,1.6006748903955712,0.011918589794364894,0.0006414415723953668,-0.00017622257840274627,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3446225564119978,-0.082754181355701,-0.94285039258693,0.6161203884050331,0.7982918897632547,-0.10161165801042668,0.7250918013638956,1.432421498597716,1.6679421939508257,1.6679421939508257,2.7731900000004996,0,0,-0.0005570696444648623,-9.999999025923074e-05
+9133,1792668084833581308,36625233000000,1792668084829853499,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760680605369671,-0.004631027858357239,0.08620919920216089,0.9999999834594239,6.054654444158175e-05,-4.109838847804192e-05,0.00013845235582788488,0.6761,-0.00453,0.08611349032167054,1.0,0.0,0.0,0.0,-0.0666219840975787,0.259359403158519,1.4115715952834427,0.018616218922818284,0.006240422987017503,-0.0017161059342962672,0.04547648340046065,0.17810635099503072,1.579824987081298,0.010885320748996652,0.001465960992945017,-0.0009749681429942355,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.331721459782952,-0.13631204862936055,-0.9431284793950432,0.6273847396578925,0.797260014985539,-0.13576398346010587,0.7250918013638956,1.4115715952834427,1.6682202807589388,1.6682202807589388,2.789500000000503,0,0,-0.0005687196421952631,-9.999999025923074e-05
+9161,1792668085067535602,36625467000000,1792668085065853596,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760807175300175,-0.004632180535753989,0.0860872998421502,0.9999999847553871,4.586419605543355e-05,-2.62535717931077e-05,0.00013834491533446544,0.6761,-0.00453,0.08597904687566467,1.0,0.0,0.0,0.0,-0.08565443806825604,0.28365396702882484,1.4026002735295733,0.02062328110811113,0.007211579705819555,-0.0007827389567489507,0.026444029429783307,0.2024009148653366,1.5708536653274285,0.012892382934289499,0.002437117711747069,-4.160116544691906e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3353210131346334,0.01968956305347541,-0.9294412744653435,0.581601261972606,0.7829418547872595,-0.03391388640930179,0.7250918013638956,1.4026002735295733,1.6545330758292391,1.6545330758292391,2.8058800000005064,0,0,-0.0005804196399159231,-9.999999025923074e-05
+9189,1792668085300591698,36625700000000,1792668085297863216,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760786479289123,-0.004634993523579511,0.08595128290719609,0.99999998356981,3.948447767903403e-05,-3.066721108137655e-05,0.00014766090377666929,0.6761,-0.00453,0.0858424576998298,1.0,0.0,0.0,0.0,-0.07695169421923634,0.27163224541649733,1.42207611545383,0.01959768691983181,0.007227254346564145,-0.0008086644084652374,0.03514677327880302,0.19037919325300903,1.5903295072516852,0.011866788746010177,0.0024527923524916596,-6.752661716320566e-05,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.4037812924949746,-0.059825569846390245,-0.9604941451155298,0.609381550456197,0.8229318311737566,-0.08444105691881451,0.7250918013638956,1.42207611545383,1.6855859464794254,1.6855859464794254,2.82219000000051,0,0,-0.0005920696376463238,-9.999999025923074e-05
+9218,1792668085535549845,36625935000000,1792668085533853202,DOWN_SETTLE,1,0.053,0.053002193570137024,0.676074883001659,-0.004633280085137144,0.08580892119706046,0.9999999860218712,4.558986629348693e-05,-3.328248080416044e-05,0.00012733013137955067,0.6761,-0.00453,0.08571011109530159,1.0,0.0,0.0,0.0,-0.0766767960030117,0.2836221768801594,1.4136947205445383,0.019984506946625354,0.006850629938996618,-0.0008667556956834361,0.03542167149502765,0.20236912471667112,1.5819481123423935,0.012253608772803723,0.0020761679449241323,-0.00012561790438140441,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.3533968006531578,-0.04441955303938679,-0.8685064332621197,0.6084300653172917,0.7547963276815832,-0.06296505280074666,0.7250918013638956,1.4136947205445383,1.5935982346260154,0.0,0.0,0,0,-0.00036519436065029863,0.0036888319257605924
+9317,1792668086361589266,36626761000000,1792668086357853072,DOWN_PEAK_HOLD,1,0.053,0.053002193570137024,0.676045519991325,-0.004622252900020706,0.08569606343501195,0.99999998017533,7.554063195006281e-05,-8.519390849149426e-05,0.00013463957452384366,0.6761,-0.00453,0.08567475913343577,1.0,0.0,0.0,0.0,-0.06486156661573197,0.23874852532531582,0.9695177535752809,0.017223906572292193,0.00535305115898462,-0.0015243423063721374,0.047236900882307385,0.15749547316182755,1.1377711453731363,0.009493008398470561,0.0005785891649121339,-0.0007832045150701056,0.11209846749803935,-0.08125305216348827,0.16825339179785534,-0.007730898173821632,-0.004774461994072486,0.0007411377913020317,1,1.0792510876318733,-0.05596877706863415,-0.41365050002535425,0.5682732887741366,0.40345334089764534,-0.08245969788618074,0.7250918013638956,0.9695177535752809,1.13874230138925,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fca0a853a655e66bd265b7a48d8c0eadd1c4325
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0409b3d6fc09b162da3cb4f1d2348d956f51c0c0
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.050000000e+00,DOWN_FORCE_DETACH,1792668050570104926,2.046591570e-05,-2.626196357e-05,-5.065126014e-05,1.545115818e-05,-2.407853859e-05,-4.930848972e-05,1.572695255e-05,-2.407874096e-05,-4.919378901e-05,7.015583374e-01,-2.471100225e-05,8.406902899e-01,7.015533226e-01,-2.252757727e-05,8.406916327e-01,7.017449913e-01,-2.231825247e-05,8.295234705e-01
+6,3.766666667e+00,DOWN_FORCE_DETACH,1792668052001043918,1.906310510e-05,-2.646946943e-05,-7.145700031e-05,1.883635752e-05,-2.677234218e-05,-7.147856071e-05,1.914240638e-05,-2.676698517e-05,-7.112311282e-05,7.015569346e-01,-2.491850810e-05,8.406694842e-01,7.015567078e-01,-2.522138086e-05,8.406694626e-01,7.017484068e-01,-2.500649668e-05,8.295015412e-01
+7,4.333333333e+00,DOWN_FORCE_DETACH,1792668053064107020,2.177989016e-05,-3.187645910e-05,-7.904042485e-05,1.883635752e-05,-2.677234218e-05,-7.147856071e-05,1.918476860e-05,-2.676667868e-05,-7.144817929e-05,7.015596514e-01,-3.032549778e-05,8.406619008e-01,7.015567078e-01,-2.522138086e-05,8.406694626e-01,7.017484492e-01,-2.500619019e-05,8.295012161e-01
+8,5.033333333e+00,DOWN_FORCE_DETACH,1792668054396033868,2.326975932e-05,-3.606653697e-05,-9.538873887e-05,2.410996942e-05,-3.647264912e-05,-8.874909883e-05,2.444675923e-05,-3.641865581e-05,-8.867013854e-05,7.015611412e-01,-3.451557565e-05,8.406455524e-01,7.015619815e-01,-3.492168780e-05,8.406521921e-01,7.017537112e-01,-3.465816732e-05,8.294839941e-01
+9,5.583333333e+00,DOWN_FORCE_DETACH,1792668055460698591,5.759428629e-05,-2.840772006e-05,-8.254422867e-05,4.818235127e-05,-3.712671117e-05,-9.370389812e-05,4.893013300e-05,-3.711574946e-05,-9.368875761e-05,7.015954658e-01,-2.685675874e-05,8.406583970e-01,7.015860538e-01,-3.557574985e-05,8.406472373e-01,7.017781945e-01,-3.535526097e-05,8.294789755e-01
+10,6.100000000e+00,DOWN_FORCE_DETACH,1792668056424145734,5.804840789e-05,-2.753138372e-05,-1.132004379e-04,5.528255888e-05,-3.255644043e-05,-1.138871476e-04,5.632836492e-05,-3.254868708e-05,-1.136872413e-04,7.015959199e-01,-2.598042240e-05,8.406277407e-01,7.015931540e-01,-3.100547910e-05,8.406270540e-01,7.017855928e-01,-3.078819859e-05,8.294589770e-01
+11,6.750000000e+00,DOWN_FORCE_DETACH,1792668057690158163,6.007636047e-05,-3.294426422e-05,-1.386794613e-04,5.918340865e-05,-3.369031321e-05,-1.328337721e-04,6.044391878e-05,-3.367475656e-05,-1.327792541e-04,7.015979478e-01,-3.139330290e-05,8.406022617e-01,7.015970549e-01,-3.213935189e-05,8.406081074e-01,7.017897083e-01,-3.191426807e-05,8.294398850e-01
+12,7.283333333e+00,DOWN_FORCE_DETACH,1792668058754099278,6.119770898e-05,-3.718963239e-05,-1.484426937e-04,5.918340865e-05,-3.369031321e-05,-1.328337721e-04,6.049118615e-05,-3.367376489e-05,-1.329139233e-04,7.015990692e-01,-3.563867107e-05,8.405924985e-01,7.015970549e-01,-3.213935189e-05,8.406081074e-01,7.017897556e-01,-3.191327640e-05,8.294397504e-01
+13,7.883333333e+00,DOWN_FORCE_DETACH,1792668059952146643,6.597664433e-05,-3.879279325e-05,-1.693102049e-04,5.930322054e-05,-3.979049270e-05,-1.525156261e-04,6.053637845e-05,-3.975255092e-05,-1.525462418e-04,7.016038481e-01,-3.724183193e-05,8.405716310e-01,7.015971747e-01,-3.823953138e-05,8.405884256e-01,7.017898008e-01,-3.799206243e-05,8.294201180e-01
+14,8.533333333e+00,DOWN_FORCE_DETACH,1792668061216278070,6.455290517e-05,-4.069159917e-05,-1.985634937e-04,6.588196649e-05,-4.295923609e-05,-1.917268766e-04,6.717566572e-05,-4.293675126e-05,-1.915796265e-04,7.016024244e-01,-3.914063785e-05,8.405423777e-01,7.016037534e-01,-4.140827477e-05,8.405492143e-01,7.017964401e-01,-4.117626277e-05,8.293810847e-01
+15,9.133333333e+00,DOWN_FORCE_DETACH,1792668062348198343,6.857302792e-05,-4.920783181e-05,-2.232431886e-04,6.451391214e-05,-4.402459182e-05,-2.136818858e-04,6.565265546e-05,-4.399986281e-05,-2.136394759e-04,7.016064445e-01,-4.765687048e-05,8.405176980e-01,7.016023854e-01,-4.247363050e-05,8.405272593e-01,7.017949170e-01,-4.223937432e-05,8.293590248e-01
+16,9.750000000e+00,DOWN_FORCE_DETACH,1792668063510341398,6.779470290e-05,-5.196252899e-05,-2.601964124e-04,6.755437149e-05,-5.215576063e-05,-2.600070025e-04,6.865081770e-05,-5.214138024e-05,-2.595905496e-04,7.016056662e-01,-5.041156767e-05,8.404807448e-01,7.016054259e-01,-5.060479931e-05,8.404809342e-01,7.017979152e-01,-5.038089175e-05,8.293130737e-01
+17,1.045000000e+01,DOWN_FORCE_DETACH,1792668064842801433,7.273330315e-05,-4.828602158e-05,-3.017258961e-04,7.225705678e-05,-5.034874466e-05,-3.020910678e-04,7.336039255e-05,-5.032328664e-05,-3.016908997e-04,7.016106048e-01,-4.673506025e-05,8.404392153e-01,7.016101285e-01,-4.879778334e-05,8.404388501e-01,7.018026248e-01,-4.856279815e-05,8.292709734e-01
+18,1.078333333e+01,DOWN_FORCE_DETACH,1792668065474209836,1.022894334e-04,-4.763950373e-05,-3.126589129e-04,1.030843191e-04,-5.262935810e-05,-3.078476616e-04,1.048514822e-04,-5.259417940e-05,-3.076347261e-04,7.016401609e-01,-4.608854241e-05,8.404282823e-01,7.016409558e-01,-5.107839678e-05,8.404330935e-01,7.018341159e-01,-5.083369091e-05,8.292650296e-01
+19,1.133333333e+01,DOWN_FORCE_DETACH,1792668066572257472,1.057402962e-04,-5.508795321e-05,-3.728551581e-04,1.063509118e-04,-5.523477014e-05,-3.723617392e-04,1.081934804e-04,-5.523718515e-05,-3.717955027e-04,7.016436118e-01,-5.353699188e-05,8.403680860e-01,7.016442224e-01,-5.368380882e-05,8.403685794e-01,7.018374579e-01,-5.347669666e-05,8.292008688e-01
+20,1.178333333e+01,DOWN_FORCE_DETACH,1792668067470238292,1.070103665e-04,-4.212017024e-05,-4.249598558e-04,1.062902071e-04,-4.301851536e-05,-4.141107738e-04,1.080492090e-04,-4.297126384e-05,-4.136789939e-04,7.016448818e-01,-4.056920892e-05,8.403159813e-01,7.016441617e-01,-4.146755404e-05,8.403268304e-01,7.018373136e-01,-4.121077535e-05,8.291589853e-01
+21,1.230000000e+01,DOWN_FORCE_DETACH,1792668068500206521,1.103776966e-04,-4.938384717e-05,-4.860302833e-04,1.080710776e-04,-4.628136655e-05,-4.798867297e-04,1.096579427e-04,-4.627165658e-05,-4.794119657e-04,7.016482492e-01,-4.783288585e-05,8.402549109e-01,7.016459426e-01,-4.473040523e-05,8.402610545e-01,7.018389223e-01,-4.451116809e-05,8.290932523e-01
+22,1.280000000e+01,DOWN_FORCE_DETACH,1792668069464213154,1.148052726e-04,-5.480599175e-05,-5.568339093e-04,1.141571973e-04,-4.780995957e-05,-5.448053331e-04,1.156214034e-04,-4.780868282e-05,-5.442303667e-04,7.016526768e-01,-5.325503042e-05,8.401841073e-01,7.016520287e-01,-4.625899824e-05,8.401961359e-01,7.018448858e-01,-4.604819433e-05,8.290284339e-01
+23,1.333333333e+01,DOWN_FORCE_DETACH,1792668070464393607,1.176542141e-04,-5.618174562e-05,-6.551689723e-04,1.174641483e-04,-5.623557893e-05,-6.553036201e-04,1.186105966e-04,-5.623416545e-05,-6.544153911e-04,7.016555257e-01,-5.463078430e-05,8.400857722e-01,7.016553356e-01,-5.468461761e-05,8.400856376e-01,7.018478750e-01,-5.447367696e-05,8.289182489e-01
+24,1.380000000e+01,DOWN_FORCE_DETACH,1792668071360527670,1.182168615e-04,-6.453508531e-05,-7.435781934e-04,1.179345137e-04,-6.499551688e-05,-7.438668905e-04,1.188469062e-04,-6.501503240e-05,-7.429255226e-04,7.016560883e-01,-6.298412399e-05,8.399973630e-01,7.016558060e-01,-6.344455556e-05,8.399970743e-01,7.018481113e-01,-6.325454391e-05,8.288297388e-01
+25,1.423333333e+01,DOWN_FORCE_DETACH,1792668072161206229,1.191831776e-04,-5.722381951e-05,-8.328826268e-04,1.170483723e-04,-5.925812727e-05,-8.290374980e-04,1.175981350e-04,-5.927122193e-05,-8.281907794e-04,7.016570547e-01,-5.567285819e-05,8.399080586e-01,7.016549199e-01,-5.770716595e-05,8.399119037e-01,7.018468625e-01,-5.751073344e-05,8.287444735e-01
+26,1.466666667e+01,DOWN_FORCE_DETACH,1792668072992268969,1.234822610e-04,-4.509511560e-05,-9.366266221e-04,1.232706869e-04,-4.495030841e-05,-9.366582597e-04,1.236239931e-04,-4.496663805e-05,-9.355227448e-04,7.016613537e-01,-4.354415428e-05,8.398043146e-01,7.016611422e-01,-4.339934709e-05,8.398042829e-01,7.018528884e-01,-4.320614956e-05,8.286371415e-01
+27,1.503333333e+01,DOWN_FORCE_DETACH,1792668073688644971,1.236562661e-04,-5.311530666e-05,-1.041724323e-03,1.234493391e-04,-5.043689065e-05,-1.022598593e-03,1.235139375e-04,-5.042817085e-05,-1.021696394e-03,7.016615277e-01,-5.156434533e-05,8.396992169e-01,7.016613208e-01,-4.888592933e-05,8.397183426e-01,7.018527783e-01,-4.866768236e-05,8.285509679e-01
+28,1.536666667e+01,DOWN_FORCE_DETACH,1792668074356306924,1.218469701e-04,-4.806270732e-05,-1.149014410e-03,1.200691297e-04,-5.407245055e-05,-1.142372049e-03,1.196467325e-04,-5.404265541e-05,-1.141208264e-03,7.016597185e-01,-4.651174600e-05,8.395919268e-01,7.016579406e-01,-5.252148923e-05,8.395985691e-01,7.018489111e-01,-5.228216692e-05,8.284314560e-01
+29,1.571666667e+01,DOWN_FORCE_DETACH,1792668075054320198,1.230696595e-04,-5.217097630e-05,-1.264590565e-03,1.238854773e-04,-5.411012230e-05,-1.256504108e-03,1.230176908e-04,-5.407014442e-05,-1.255250099e-03,7.016609411e-01,-5.062001498e-05,8.394763506e-01,7.016617570e-01,-5.255916098e-05,8.394844371e-01,7.018522821e-01,-5.230965593e-05,8.283174142e-01
+30,1.605000000e+01,DOWN_FORCE_DETACH,1792668075718524288,1.216969898e-04,-5.021354873e-05,-1.386504766e-03,1.217484823e-04,-5.068477876e-05,-1.368755991e-03,1.204094173e-04,-5.065433121e-05,-1.367509382e-03,7.016595685e-01,-4.866258740e-05,8.393544364e-01,7.016596200e-01,-4.913381744e-05,8.393721852e-01,7.018496738e-01,-4.889384272e-05,8.282051549e-01
+31,1.633333333e+01,DOWN_FORCE_DETACH,1792668076284324748,1.219374116e-04,-6.004336803e-05,-1.497734593e-03,1.192805204e-04,-5.225794989e-05,-1.481307270e-03,1.174080138e-04,-5.223341265e-05,-1.479980878e-03,7.016598089e-01,-5.849240671e-05,8.392432066e-01,7.016571520e-01,-5.070698857e-05,8.392596339e-01,7.018466724e-01,-5.047292416e-05,8.280926834e-01
+32,1.661666667e+01,DOWN_FORCE_DETACH,1792668076850330837,1.189537259e-04,-6.177025873e-05,-1.617708851e-03,1.187347435e-04,-6.192988748e-05,-1.617585778e-03,1.162445278e-04,-6.191557695e-05,-1.616021757e-03,7.016568252e-01,-6.021929741e-05,8.391232323e-01,7.016566062e-01,-6.037892616e-05,8.391233554e-01,7.018455089e-01,-6.015508846e-05,8.279566425e-01
+33,1.690000000e+01,DOWN_FORCE_DETACH,1792668077380404066,1.167792830e-04,-6.704047714e-05,-1.742766711e-03,1.131538751e-04,-6.962705793e-05,-1.732596733e-03,1.101754377e-04,-6.957199428e-05,-1.731235708e-03,7.016546508e-01,-6.548951582e-05,8.389981745e-01,7.016510254e-01,-6.807609661e-05,8.390083445e-01,7.018394398e-01,-6.781150579e-05,8.278414286e-01
+34,1.715000000e+01,DOWN_FORCE_DETACH,1792668077881360079,1.172411724e-04,-6.032180161e-05,-1.863743598e-03,1.172517168e-04,-5.997151645e-05,-1.863604603e-03,1.139156066e-04,-5.994187242e-05,-1.861911004e-03,7.016551127e-01,-5.877084029e-05,8.388771976e-01,7.016551232e-01,-5.842055513e-05,8.388773366e-01,7.018431800e-01,-5.818138393e-05,8.277107533e-01
+35,1.741666667e+01,DOWN_FORCE_DETACH,1792668078380362573,1.168225025e-04,-6.753068551e-05,-1.989104065e-03,1.135405248e-04,-6.591687201e-05,-1.970375280e-03,1.097422752e-04,-6.586169942e-05,-1.968960830e-03,7.016546940e-01,-6.597972419e-05,8.387518371e-01,7.016514120e-01,-6.436591069e-05,8.387705659e-01,7.018390067e-01,-6.410121092e-05,8.276037035e-01
+36,1.766666667e+01,DOWN_FORCE_DETACH,1792668078844489702,1.160367513e-04,-7.295677140e-05,-2.116495099e-03,1.146879053e-04,-7.330245139e-05,-2.100382065e-03,1.103840554e-04,-7.323155199e-05,-2.098940227e-03,7.016539082e-01,-7.140581008e-05,8.386244461e-01,7.016525594e-01,-7.175149007e-05,8.386405591e-01,7.018396484e-01,-7.147106350e-05,8.274737241e-01
+37,1.790000000e+01,DOWN_FORCE_DETACH,1792668079276373035,1.132654041e-04,-7.054021098e-05,-2.247120406e-03,1.141537925e-04,-7.235086656e-05,-2.227533856e-03,1.094578419e-04,-7.232124951e-05,-2.225979806e-03,7.016511369e-01,-6.898924966e-05,8.384938208e-01,7.016520253e-01,-7.079990524e-05,8.385134073e-01,7.018387222e-01,-7.056076102e-05,8.273466845e-01
+38,1.810000000e+01,DOWN_FORCE_DETACH,1792668079676581613,1.125324338e-04,-7.523419052e-05,-2.375699874e-03,1.124634024e-04,-7.528579919e-05,-2.375624934e-03,1.071520405e-04,-7.526416041e-05,-2.373691160e-03,7.016504039e-01,-7.368322920e-05,8.383652413e-01,7.016503349e-01,-7.373483787e-05,8.383653163e-01,7.018364164e-01,-7.350367192e-05,8.271989731e-01
+39,1.831666667e+01,DOWN_FORCE_DETACH,1792668080076386371,1.159803564e-04,-7.940699759e-05,-2.504299229e-03,1.157005592e-04,-7.945450142e-05,-2.504010891e-03,1.100018940e-04,-7.942873668e-05,-2.502128228e-03,7.016538518e-01,-7.785603627e-05,8.382366420e-01,7.016535720e-01,-7.790354010e-05,8.382369303e-01,7.018392663e-01,-7.766824819e-05,8.270705361e-01
+40,1.851666667e+01,DOWN_FORCE_DETACH,1792668080458473715,1.184050862e-04,-7.873983027e-05,-2.632671966e-03,1.182882760e-04,-8.005628705e-05,-2.625244076e-03,1.122021187e-04,-7.998753119e-05,-2.623538015e-03,7.016562766e-01,-7.718886895e-05,8.381082692e-01,7.016561598e-01,-7.850532573e-05,8.381156971e-01,7.018414665e-01,-7.822704270e-05,8.269491263e-01
+41,1.870000000e+01,DOWN_FORCE_DETACH,1792668080808388270,1.119175213e-04,-8.552694083e-05,-2.768265425e-03,1.125345942e-04,-7.851145988e-05,-2.755163120e-03,1.058605270e-04,-7.842906545e-05,-2.753397069e-03,7.016497890e-01,-8.397597951e-05,8.379726758e-01,7.016504061e-01,-7.696049856e-05,8.379857781e-01,7.018351249e-01,-7.666857696e-05,8.268192672e-01
+42,1.886666667e+01,DOWN_FORCE_DETACH,1792668081108380377,1.121381749e-04,-8.603645856e-05,-2.890144673e-03,1.126173348e-04,-8.364756992e-05,-2.880640708e-03,1.054438419e-04,-8.354902347e-05,-2.878746547e-03,7.016500097e-01,-8.448549724e-05,8.378507965e-01,7.016504888e-01,-8.209660860e-05,8.378603005e-01,7.018347082e-01,-8.178853498e-05,8.266939177e-01
+43,1.905000000e+01,DOWN_FORCE_DETACH,1792668081474452894,1.113366884e-04,-8.884032984e-05,-3.030698375e-03,1.122257524e-04,-9.283975915e-05,-3.014828187e-03,1.044402291e-04,-9.277216942e-05,-3.013043014e-03,7.016492082e-01,-8.728936852e-05,8.377102428e-01,7.016500972e-01,-9.128879783e-05,8.377261130e-01,7.018337046e-01,-9.101168093e-05,8.265596213e-01
+44,1.921666667e+01,DOWN_FORCE_DETACH,1792668081773727038,1.110012956e-04,-9.017027132e-05,-3.149942470e-03,1.107710976e-04,-9.009408240e-05,-3.149496059e-03,1.024980470e-04,-8.997894959e-05,-3.147828064e-03,7.016488728e-01,-8.861931000e-05,8.375909987e-01,7.016486426e-01,-8.854312108e-05,8.375914451e-01,7.018317624e-01,-8.821846110e-05,8.264248362e-01
+45,1.938333333e+01,DOWN_FORCE_DETACH,1792668082106435802,1.094672515e-04,-9.662571234e-05,-3.294201617e-03,1.092922651e-04,-9.650770820e-05,-3.294004682e-03,1.005029273e-04,-9.639743336e-05,-3.292206975e-03,7.016473387e-01,-9.507475102e-05,8.374467396e-01,7.016471637e-01,-9.495674688e-05,8.374469365e-01,7.018297673e-01,-9.463694487e-05,8.262804573e-01
+46,1.953333333e+01,DOWN_FORCE_DETACH,1792668082405245055,1.066775492e-04,-9.204262547e-05,-3.425441977e-03,1.049543545e-04,-9.252829009e-05,-3.414014544e-03,9.557773527e-05,-9.237814678e-05,-3.412352336e-03,7.016445490e-01,-9.049166415e-05,8.373154992e-01,7.016428258e-01,-9.097732877e-05,8.373269266e-01,7.018248421e-01,-9.061765829e-05,8.261603119e-01
+47,1.968333333e+01,DOWN_FORCE_DETACH,1792668082704471330,1.064264689e-04,-8.972201750e-05,-3.560986662e-03,1.065534930e-04,-8.968467534e-05,-3.544791671e-03,9.677266979e-05,-8.956865974e-05,-3.542976483e-03,7.016442980e-01,-8.817105618e-05,8.371799545e-01,7.016444250e-01,-8.813371402e-05,8.371961495e-01,7.018260371e-01,-8.780817125e-05,8.260296878e-01
+48,1.983333333e+01,DOWN_FORCE_DETACH,1792668083004417094,1.052588867e-04,-9.084340201e-05,-3.699795097e-03,1.049083867e-04,-9.099614843e-05,-3.699735964e-03,9.454372429e-05,-9.088928912e-05,-3.698000484e-03,7.016431304e-01,-8.929244069e-05,8.370411461e-01,7.016427799e-01,-8.944518711e-05,8.370412052e-01,7.018238081e-01,-8.912880063e-05,8.258746638e-01
+49,1.998333333e+01,DOWN_FORCE_DETACH,1792668083302451990,1.066565410e-04,-9.011735897e-05,-3.843001191e-03,1.064646678e-04,-9.013511837e-05,-3.842618928e-03,9.563289116e-05,-9.006204323e-05,-3.840968446e-03,7.016445280e-01,-8.856639765e-05,8.368979400e-01,7.016443361e-01,-8.858415705e-05,8.368983223e-01,7.018248973e-01,-8.830155474e-05,8.257316958e-01
+50,2.011666667e+01,DOWN_FORCE_DETACH,1792668083570449592,1.073108769e-04,-8.691644341e-05,-3.976870419e-03,1.073464970e-04,-9.359582780e-05,-3.958966419e-03,9.605767136e-05,-9.351227536e-05,-3.957463708e-03,7.016451824e-01,-8.536548209e-05,8.367640708e-01,7.016452180e-01,-9.204486648e-05,8.367819748e-01,7.018253221e-01,-9.175178687e-05,8.256152006e-01
+51,2.025000000e+01,DOWN_FORCE_DETACH,1792668083837321879,1.091010702e-04,-9.274290143e-05,-4.110530492e-03,1.112165543e-04,-9.207082481e-05,-4.092595176e-03,9.952934488e-05,-9.200993428e-05,-4.091161852e-03,7.016469726e-01,-9.119194011e-05,8.366304107e-01,7.016490880e-01,-9.051986349e-05,8.366483460e-01,7.018287937e-01,-9.024944579e-05,8.254815024e-01
+52,2.038333333e+01,DOWN_FORCE_DETACH,1792668084102442212,1.042316083e-04,-9.227071515e-05,-4.251268017e-03,1.037593275e-04,-9.833421906e-05,-4.233072274e-03,9.141420987e-05,-9.823558931e-05,-4.231786578e-03,7.016421031e-01,-9.071975383e-05,8.364896732e-01,7.016416308e-01,-9.678325774e-05,8.365078689e-01,7.018206786e-01,-9.647510082e-05,8.253408777e-01
+53,2.050000000e+01,DOWN_FORCE_DETACH,1792668084332462208,1.045973705e-04,-9.915961543e-05,-4.371760014e-03,1.051489930e-04,-1.016258122e-04,-4.353948735e-03,9.234179335e-05,-1.015086425e-04,-4.352651597e-03,7.016424689e-01,-9.760865411e-05,8.363691812e-01,7.016430205e-01,-1.000748509e-04,8.363869925e-01,7.018216062e-01,-9.974815398e-05,8.252200127e-01
+54,2.063333333e+01,DOWN_FORCE_DETACH,1792668084600427265,9.618391805e-05,-9.809175094e-05,-4.523320621e-03,9.586747796e-05,-9.817938578e-05,-4.523356758e-03,8.218025909e-05,-9.806531554e-05,-4.522032559e-03,7.016340554e-01,-9.654078962e-05,8.362176206e-01,7.016337390e-01,-9.662842446e-05,8.362175844e-01,7.018114447e-01,-9.630482705e-05,8.250506317e-01
+55,2.075000000e+01,DOWN_FORCE_DETACH,1792668084834433407,9.732636032e-05,-1.018210950e-04,-4.655410947e-03,9.696299555e-05,-1.017706802e-04,-4.655385430e-03,8.282596994e-05,-1.016156079e-04,-4.654204975e-03,7.016351978e-01,-1.002701337e-04,8.360855302e-01,7.016348345e-01,-1.002197189e-04,8.360855558e-01,7.018120904e-01,-9.985511940e-05,8.249184593e-01
+56,2.086666667e+01,DOWN_FORCE_DETACH,1792668085064430900,1.074699190e-04,-1.075857372e-04,-4.777494145e-03,1.074275970e-04,-1.077232960e-04,-4.777533696e-03,9.311052245e-05,-1.075957390e-04,-4.776327852e-03,7.016453414e-01,-1.060347758e-04,8.359634470e-01,7.016452991e-01,-1.061723347e-04,8.359634075e-01,7.018223749e-01,-1.058352505e-04,8.247963364e-01
+57,2.098333333e+01,DOWN_FORCE_DETACH,1792668085298445234,1.060462903e-04,-1.081344914e-04,-4.915959257e-03,1.058746360e-04,-1.079205493e-04,-4.915657327e-03,9.110277592e-05,-1.077895864e-04,-4.914495709e-03,7.016439178e-01,-1.065835301e-04,8.358249819e-01,7.016437461e-01,-1.063695880e-04,8.358252839e-01,7.018203672e-01,-1.060290979e-04,8.246581686e-01
+58,2.110000000e+01,DOWN_SETTLE,1792668085532453408,1.035889325e-04,-1.063307812e-04,-5.055893476e-03,1.033761775e-04,-1.062062572e-04,-5.055692633e-03,8.807709420e-05,-1.061154363e-04,-5.054666971e-03,7.016414604e-01,-1.047798199e-04,8.356850477e-01,7.016412477e-01,-1.046552959e-04,8.356852486e-01,7.018173415e-01,-1.043549478e-04,8.245179973e-01
+59,2.155000000e+01,DOWN_PEAK_HOLD,1792668086362522443,7.477469037e-05,-9.414923837e-05,-5.166253697e-03,7.652506810e-05,-9.598577958e-05,-5.163512157e-03,6.001656179e-05,-9.594496099e-05,-5.163547511e-03,7.016126462e-01,-9.259827705e-05,8.355746875e-01,7.016143965e-01,-9.443481826e-05,8.355774290e-01,7.017892810e-01,-9.418447250e-05,8.244091168e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8eaa74334bb56e81fac9bad9c29f789980cdb9e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.1142e-03,1.6889e-03,2.4552e+00,-3.6941e-02,3.6717e-02,-4.5194e-05,1.2687e-04,-4.0278e-05,4.0293e-05,3.2745e-06,7.5847e-06,-8.3499e-08,1.3908e-04,8.2618e-06
+1,5.6667e-01,DOWN_FORCE_DETACH,1.3731e-04,1.0506e-03,1.0585e-03,2.4567e+00,-3.6888e-02,3.6857e-02,-5.8559e-05,2.2917e-03,-6.7070e-04,1.4734e-03,5.5924e-05,1.4750e-04,-1.3448e-05,2.8059e-03,1.5832e-04
+2,1.1500e+00,DOWN_FORCE_DETACH,2.7933e-04,2.5056e-04,5.9907e-03,2.4655e+00,-3.7218e-02,3.6803e-02,-5.7053e-05,1.4916e-03,4.2615e-03,1.0327e-02,-2.7363e-04,9.2737e-05,-1.1943e-05,1.1271e-02,2.8916e-04
+3,1.8500e+00,DOWN_FORCE_DETACH,4.1488e-04,-1.6215e-03,8.4908e-03,2.4682e+00,-3.7395e-02,3.6671e-02,-5.3330e-05,-3.8040e-04,6.7616e-03,1.3030e-02,-4.5026e-04,-3.8464e-05,-8.2194e-06,1.4685e-02,4.5197e-04
+4,2.5333e+00,DOWN_FORCE_DETACH,5.5671e-04,4.6715e-04,8.5558e-03,2.4574e+00,-3.7397e-02,3.6813e-02,-5.0986e-05,1.7082e-03,6.8266e-03,2.2094e-03,-4.5264e-04,1.0274e-04,-5.8757e-06,7.3757e-03,4.6419e-04
+5,3.0500e+00,DOWN_FORCE_DETACH,6.9384e-04,-1.4441e-03,9.2429e-03,2.4665e+00,-3.7439e-02,3.6682e-02,-4.9452e-05,-2.0307e-04,7.5138e-03,1.1274e-02,-4.9477e-04,-2.8238e-05,-4.3415e-06,1.3550e-02,4.9559e-04
+6,3.7667e+00,DOWN_FORCE_DETACH,8.3501e-04,2.6022e-04,9.1309e-03,2.4555e+00,-3.7426e-02,3.6800e-02,-4.7487e-05,1.5013e-03,7.4017e-03,3.4189e-04,-4.8136e-04,9.0372e-05,-2.3764e-06,7.5602e-03,4.8978e-04
+7,4.3333e+00,DOWN_FORCE_DETACH,9.7237e-04,-2.3157e-04,1.0148e-02,2.4577e+00,-3.7486e-02,3.6763e-02,-4.5593e-05,1.0095e-03,8.4189e-03,2.5008e-03,-5.4201e-04,5.3491e-05,-4.8194e-07,8.8403e-03,5.4465e-04
+8,5.0333e+00,DOWN_FORCE_DETACH,1.1126e-03,-1.7312e-03,1.3288e-02,2.4616e+00,-3.7695e-02,3.6659e-02,-4.1728e-05,-4.9013e-04,1.1559e-02,6.3460e-03,-7.5102e-04,-5.0414e-05,3.3825e-06,1.3196e-02,7.5272e-04
+9,5.5833e+00,DOWN_FORCE_DETACH,1.2589e-03,-1.7165e-03,1.3433e-02,2.4544e+00,-3.7708e-02,3.6665e-02,-3.8974e-05,-4.7541e-04,1.1704e-02,-8.3613e-04,-7.6388e-04,-4.4957e-05,6.1363e-06,1.1743e-02,7.6522e-04
+10,6.1000e+00,DOWN_FORCE_DETACH,1.3919e-03,-6.4189e-03,1.3138e-02,2.4588e+00,-3.7690e-02,3.6330e-02,-3.3747e-05,-5.1779e-03,1.1409e-02,3.5753e-03,-7.4526e-04,-3.8029e-04,1.1364e-05,1.3029e-02,8.3675e-04
+11,6.7500e+00,DOWN_FORCE_DETACH,1.5299e-03,-3.3642e-03,1.2918e-02,2.4605e+00,-3.7661e-02,3.6531e-02,-2.7317e-05,-2.1231e-03,1.1189e-02,5.2578e-03,-7.1611e-04,-1.7910e-04,1.7794e-05,1.2543e-02,7.3838e-04
+12,7.2833e+00,DOWN_FORCE_DETACH,1.6685e-03,-8.7329e-05,1.2888e-02,2.4518e+00,-3.7664e-02,3.6786e-02,-1.3050e-05,1.1537e-03,1.1159e-02,-3.3615e-03,-7.1947e-04,7.6655e-05,3.2061e-05,1.1711e-02,7.2425e-04
+13,7.8833e+00,DOWN_FORCE_DETACH,1.8082e-03,4.3610e-04,1.4809e-02,2.4529e+00,-3.7793e-02,3.6812e-02,-9.4791e-06,1.6772e-03,1.3079e-02,-2.2743e-03,-8.4868e-04,1.0209e-04,3.5632e-05,1.3381e-02,8.5554e-04
+14,8.5333e+00,DOWN_FORCE_DETACH,1.9466e-03,-9.4651e-05,1.5731e-02,2.4605e+00,-3.7856e-02,3.6769e-02,-6.7237e-06,1.1464e-03,1.4001e-02,5.2650e-03,-9.1131e-04,5.9277e-05,3.8387e-05,1.5002e-02,9.1404e-04
+15,9.1333e+00,DOWN_FORCE_DETACH,2.0859e-03,1.9214e-03,1.6324e-02,2.4593e+00,-3.7902e-02,3.6907e-02,-4.3279e-06,3.1624e-03,1.4595e-02,4.0805e-03,-9.5805e-04,1.9681e-04,4.0783e-05,1.5481e-02,9.7891e-04
+16,9.7500e+00,DOWN_FORCE_DETACH,2.2219e-03,1.4922e-03,1.6904e-02,2.4570e+00,-3.7955e-02,3.6882e-02,-3.0294e-06,2.7332e-03,1.5175e-02,1.7467e-03,-1.0108e-03,1.7204e-04,4.2081e-05,1.5517e-02,1.0262e-03
+17,1.0450e+01,DOWN_FORCE_DETACH,2.3606e-03,2.8735e-03,1.8771e-02,2.4625e+00,-3.8096e-02,3.6976e-02,-1.6237e-06,4.1146e-03,1.7042e-02,7.2997e-03,-1.1514e-03,2.6600e-04,4.3487e-05,1.8991e-02,1.1825e-03
+18,1.0783e+01,DOWN_FORCE_DETACH,2.5056e-03,-9.1780e-03,1.7932e-02,2.4575e+00,-3.8048e-02,3.6152e-02,-4.5873e-07,-7.9369e-03,1.6202e-02,2.2902e-03,-1.1035e-03,-5.5823e-04,4.4652e-05,1.8187e-02,1.2374e-03
+19,1.1333e+01,DOWN_FORCE_DETACH,2.6426e-03,6.6849e-04,1.9137e-02,2.4714e+00,-3.8129e-02,3.6795e-02,5.4609e-06,1.9096e-03,1.7408e-02,1.6165e-02,-1.1843e-03,8.4769e-05,5.0572e-05,2.3833e-02,1.1884e-03
+20,1.1783e+01,DOWN_FORCE_DETACH,2.7809e-03,4.0163e-03,1.6803e-02,2.4781e+00,-3.7975e-02,3.7030e-02,8.7559e-06,5.2574e-03,1.5073e-02,2.2918e-02,-1.0301e-03,3.1979e-04,5.3867e-05,2.7930e-02,1.0799e-03
+21,1.2300e+01,DOWN_FORCE_DETACH,2.9218e-03,5.4792e-03,1.6129e-02,2.4800e+00,-3.7919e-02,3.7137e-02,1.1526e-05,6.7202e-03,1.4400e-02,2.4750e-02,-9.7448e-04,4.2763e-04,5.6636e-05,2.9412e-02,1.0657e-03
+22,1.2800e+01,DOWN_FORCE_DETACH,3.0574e-03,4.9205e-03,1.6794e-02,2.4814e+00,-3.7944e-02,3.7103e-02,1.4950e-05,6.1616e-03,1.5064e-02,2.6232e-02,-9.9935e-04,3.9335e-04,6.0060e-05,3.0871e-02,1.0757e-03
+23,1.3333e+01,DOWN_FORCE_DETACH,3.1976e-03,5.9159e-03,1.8993e-02,2.4874e+00,-3.8043e-02,3.7164e-02,1.7953e-05,7.1570e-03,1.7264e-02,3.2211e-02,-1.0991e-03,4.5398e-04,6.3064e-05,3.7240e-02,1.1908e-03
+24,1.3800e+01,DOWN_FORCE_DETACH,3.3342e-03,7.5113e-03,1.9071e-02,2.4905e+00,-3.8026e-02,3.7267e-02,1.5952e-05,8.7524e-03,1.7342e-02,3.5298e-02,-1.0816e-03,5.5746e-04,6.1063e-05,4.0290e-02,1.2183e-03
+25,1.4233e+01,DOWN_FORCE_DETACH,3.4739e-03,8.0798e-03,2.0250e-02,2.4951e+00,-3.8105e-02,3.7307e-02,1.1456e-05,9.3209e-03,1.8521e-02,3.9857e-02,-1.1602e-03,5.9683e-04,5.6567e-05,4.4928e-02,1.3059e-03
+26,1.4667e+01,DOWN_FORCE_DETACH,3.6183e-03,6.9516e-03,1.6103e-02,2.4997e+00,-3.7836e-02,3.7230e-02,5.3805e-06,8.1927e-03,1.4374e-02,4.4477e-02,-8.9174e-04,5.1982e-04,5.0491e-05,4.7455e-02,1.0334e-03
+27,1.5033e+01,DOWN_FORCE_DETACH,3.7539e-03,7.0500e-03,1.7491e-02,2.5062e+00,-3.7909e-02,3.7232e-02,3.9896e-06,8.2911e-03,1.5762e-02,5.1039e-02,-9.6434e-04,5.2192e-04,4.9100e-05,5.4057e-02,1.0976e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..bf074f3a65757266c641a822bfc614933f67b83a
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 24412160
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c3e5d250f324d78927bdccccb05d28570ecd3e2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0427c07f9f834de4b6c6dc211f1c62973b346f78
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d1b67146b8b34865c419254029e7f30bb6850c7
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96c604344d0644325fc8bb1b2b193bb93a54b234
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+59,7.733333333e+00,UP_FORCE_HOLD,1792668038464288846,-2.314218349e-05,-9.687890693e-06,1.321611706e-04,-2.240959751e-05,-1.615149710e-05,1.173248253e-04,-2.251157172e-05,-1.612333431e-05,1.173508790e-04,7.015147293e-01,-8.136929372e-06,8.408731024e-01,7.015154619e-01,-1.460053578e-05,8.408582660e-01,7.017067528e-01,-1.436284584e-05,8.296900152e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f5188ef5ef2ebb915809188d6fe4fc47f393df4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.1142e-03,1.6889e-03,2.4552e+00,-3.6941e-02,3.6717e-02,-4.5194e-05,1.2687e-04,-4.0279e-05,4.0054e-05,3.2783e-06,7.5810e-06,-8.3492e-08,1.3901e-04,8.2598e-06
+1,1.6667e-01,WAIT_W2,3.2800e-05,-2.3167e-04,1.4233e-03,2.4558e+00,-3.6919e-02,3.6772e-02,-4.6036e-05,1.0094e-03,-3.0590e-04,5.4884e-04,2.4986e-05,6.1784e-05,-9.2557e-07,1.1890e-03,6.6651e-05
+2,2.8333e-01,WAIT_W2,6.2124e-05,5.1824e-04,1.0840e-03,2.4563e+00,-3.6890e-02,3.6822e-02,-5.8602e-05,1.7593e-03,-6.4517e-04,1.1117e-03,5.4732e-05,1.1258e-04,-1.3492e-05,2.1788e-03,1.2591e-04
+3,4.5000e-01,WAIT_W2,9.1989e-05,8.2623e-04,1.0729e-03,2.4565e+00,-3.6889e-02,3.6843e-02,-5.8645e-05,2.0673e-03,-6.5625e-04,1.3151e-03,5.5198e-05,1.3281e-04,-1.3535e-05,2.5365e-03,1.4446e-04
+4,5.8333e-01,WAIT_W2,1.2238e-04,1.0576e-03,1.0613e-03,2.4567e+00,-3.6889e-02,3.6858e-02,-5.8700e-05,2.2987e-03,-6.6788e-04,1.4746e-03,5.5686e-05,1.4823e-04,-1.3589e-05,2.8115e-03,1.5893e-04
+5,7.3333e-01,WAIT_W2,1.5052e-04,4.7080e-04,-5.2776e-03,2.4555e+00,-3.6449e-02,3.6820e-02,-7.9170e-05,1.7119e-03,-7.0068e-03,2.7657e-04,4.9556e-04,1.0976e-04,-3.4059e-05,7.2182e-03,5.0871e-04
+6,8.5000e-01,WAIT_W2,1.8166e-04,5.8215e-04,-7.3304e-03,2.4565e+00,-3.6299e-02,3.6826e-02,-8.1667e-05,1.8232e-03,-9.0596e-03,1.3399e-03,6.4544e-04,1.1634e-04,-3.6556e-05,9.3379e-03,6.5686e-04
+7,9.5000e-01,WAIT_W2,2.1373e-04,1.6840e-03,-1.4596e-02,2.4593e+00,-3.5774e-02,3.6901e-02,-9.5103e-05,2.9251e-03,-1.6326e-02,4.0708e-03,1.1706e-03,1.9161e-04,-4.9993e-05,1.7078e-02,1.1873e-03
+8,1.0333e+00,WAIT_W2,2.4426e-04,1.6321e-03,-1.4358e-02,2.4592e+00,-3.5793e-02,3.6898e-02,-9.5327e-05,2.8731e-03,-1.6087e-02,3.9682e-03,1.1515e-03,1.8815e-04,-5.0216e-05,1.6816e-02,1.1679e-03
+9,1.1667e+00,WAIT_W2,2.7338e-04,1.5258e-03,-1.3782e-02,2.4581e+00,-3.5847e-02,3.6891e-02,-9.5335e-05,2.7668e-03,-1.5511e-02,2.8615e-03,1.0973e-03,1.8097e-04,-5.0225e-05,1.6014e-02,1.1133e-03
+10,1.3167e+00,UP_FORCE_RAMP,3.0273e-04,1.5194e-03,-1.3817e-02,2.4581e+00,-3.5850e-02,3.6891e-02,-8.9125e-05,2.7604e-03,-1.5547e-02,2.8663e-03,1.0942e-03,1.8077e-04,-4.4015e-05,1.6048e-02,1.1099e-03
+11,1.4167e+00,UP_FORCE_RAMP,3.3649e-04,1.5303e-03,-1.3709e-02,2.4579e+00,-3.5857e-02,3.6891e-02,-8.9032e-05,2.7714e-03,-1.5438e-02,2.7208e-03,1.0874e-03,1.8149e-04,-4.3922e-05,1.5919e-02,1.1033e-03
+12,1.5167e+00,UP_FORCE_RAMP,3.6586e-04,-2.1622e-05,-5.8346e-03,2.4547e+00,-3.6424e-02,3.6785e-02,-7.6306e-05,1.2194e-03,-7.5638e-03,-5.5122e-04,5.2010e-04,7.5433e-05,-3.1195e-05,7.6813e-03,5.2646e-04
+13,1.6167e+00,UP_FORCE_RAMP,3.9276e-04,3.2023e-04,-6.4034e-03,2.4545e+00,-3.6384e-02,3.6808e-02,-7.5567e-05,1.5613e-03,-8.1326e-03,-6.7520e-04,5.6069e-04,9.7863e-05,-3.0456e-05,8.3086e-03,5.6998e-04
+14,1.7333e+00,UP_FORCE_RAMP,4.2618e-04,6.9247e-04,-7.2699e-03,2.4552e+00,-3.6305e-02,3.6837e-02,-7.0641e-05,1.9335e-03,-8.9991e-03,-1.5736e-05,6.3941e-04,1.2764e-04,-2.5530e-05,9.2045e-03,6.5253e-04
+15,1.8833e+00,UP_FORCE_RAMP,4.5745e-04,1.0504e-03,-7.2461e-03,2.4558e+00,-3.6308e-02,3.6860e-02,-7.0325e-05,2.2914e-03,-8.9753e-03,6.3992e-04,6.3598e-04,1.5004e-04,-2.5215e-05,9.2853e-03,6.5392e-04
+16,2.0333e+00,UP_FORCE_RAMP,4.8899e-04,1.2253e-03,-7.2179e-03,2.4563e+00,-3.6311e-02,3.6871e-02,-7.0175e-05,2.4664e-03,-8.9471e-03,1.0819e-03,6.3325e-04,1.6128e-04,-2.5065e-05,9.3437e-03,6.5394e-04
+17,2.1167e+00,UP_FORCE_RAMP,5.1675e-04,3.4782e-03,-1.5912e-04,2.4629e+00,-3.6828e-02,3.7031e-02,-6.1231e-05,4.7192e-03,-1.8883e-03,7.7033e-03,1.1664e-04,3.2077e-04,-1.6121e-05,9.2292e-03,3.4170e-04
+18,2.3000e+00,UP_FORCE_RAMP,5.4827e-04,3.2648e-03,3.2360e-04,2.4602e+00,-3.6852e-02,3.7015e-02,-5.9916e-05,4.5058e-03,-1.4056e-03,5.0275e-03,9.2216e-05,3.0560e-04,-1.4805e-05,6.8960e-03,3.1955e-04
+19,2.4000e+00,UP_FORCE_RAMP,5.8116e-04,2.8971e-03,-2.0828e-04,2.4589e+00,-3.6803e-02,3.6985e-02,-5.6729e-05,4.1382e-03,-1.9375e-03,3.7415e-03,1.4177e-04,2.7479e-04,-1.1618e-05,5.9057e-03,3.0942e-04
+20,2.5333e+00,UP_FORCE_RAMP,6.0996e-04,2.6184e-03,-9.7822e-05,2.4586e+00,-3.6810e-02,3.6967e-02,-5.6619e-05,3.8595e-03,-1.8270e-03,3.3996e-03,1.3394e-04,2.5767e-04,-1.1509e-05,5.4581e-03,2.9063e-04
+21,2.7000e+00,UP_FORCE_RAMP,6.4000e-04,2.3856e-03,-3.5592e-05,2.4581e+00,-3.6815e-02,3.6953e-02,-5.6672e-05,3.6267e-03,-1.7648e-03,2.8768e-03,1.2976e-04,2.4296e-04,-1.1562e-05,4.9541e-03,2.7568e-04
+22,2.8333e+00,UP_FORCE_RAMP,6.7131e-04,2.2680e-03,-1.2572e-05,2.4578e+00,-3.6816e-02,3.6945e-02,-5.6780e-05,3.5091e-03,-1.7418e-03,2.5854e-03,1.2839e-04,2.3533e-04,-1.1669e-05,4.6938e-03,2.6833e-04
+23,2.9167e+00,UP_FORCE_RAMP,6.9976e-04,2.1935e-03,-1.3054e-06,2.4576e+00,-3.6817e-02,3.6940e-02,-5.6886e-05,3.4346e-03,-1.7305e-03,2.4037e-03,1.2783e-04,2.3044e-04,-1.1776e-05,4.5353e-03,2.6378e-04
+24,3.0500e+00,UP_FORCE_RAMP,7.3011e-04,2.9804e-03,7.4712e-03,2.4532e+00,-3.7356e-02,3.7000e-02,-5.0328e-05,4.2215e-03,5.7421e-03,-2.0351e-03,-4.1120e-04,2.9009e-04,-5.2174e-06,7.4118e-03,5.0326e-04
+25,3.2000e+00,UP_FORCE_RAMP,7.6095e-04,2.6878e-03,7.0198e-03,2.4552e+00,-3.7306e-02,3.6974e-02,-4.3197e-05,3.9289e-03,5.2906e-03,-2.5272e-05,-3.6165e-04,2.6466e-04,1.9131e-06,6.5900e-03,4.4815e-04
+26,3.3500e+00,UP_FORCE_RAMP,7.9096e-04,2.5323e-03,7.2229e-03,2.4556e+00,-3.7321e-02,3.6965e-02,-4.3202e-05,3.7734e-03,5.4937e-03,4.2391e-04,-3.7635e-04,2.5512e-04,1.9085e-06,6.6783e-03,4.5467e-04
+27,3.4333e+00,UP_FORCE_RAMP,8.2206e-04,2.4632e-03,7.2861e-03,2.4559e+00,-3.7326e-02,3.6961e-02,-4.3302e-05,3.7043e-03,5.5569e-03,6.8998e-04,-3.8112e-04,2.5070e-04,1.8083e-06,6.7139e-03,4.5619e-04
+28,3.5500e+00,UP_FORCE_RAMP,8.5493e-04,2.3862e-03,7.5399e-03,2.4564e+00,-3.7349e-02,3.6953e-02,-4.7137e-05,3.6273e-03,5.8107e-03,1.1878e-03,-4.0433e-04,2.4268e-04,-2.0268e-06,6.9521e-03,4.7157e-04
+29,3.6500e+00,UP_FORCE_RAMP,8.8680e-04,2.2786e-03,7.5429e-03,2.4565e+00,-3.7348e-02,3.6946e-02,-4.7282e-05,3.5196e-03,5.8137e-03,1.2965e-03,-4.0335e-04,2.3630e-04,-2.1713e-06,6.9187e-03,4.6748e-04
+30,3.7667e+00,UP_FORCE_RAMP,9.1189e-04,2.2409e-03,7.5318e-03,2.4566e+00,-3.7346e-02,3.6944e-02,-4.7448e-05,3.4819e-03,5.8026e-03,1.4124e-03,-4.0181e-04,2.3408e-04,-2.3380e-06,6.9129e-03,4.6502e-04
+31,3.8833e+00,UP_FORCE_RAMP,9.4520e-04,3.4157e-03,9.5834e-03,2.4436e+00,-3.7482e-02,3.7030e-02,-4.7092e-05,4.6568e-03,7.8542e-03,-1.1625e-02,-5.3783e-04,3.1969e-04,-1.9811e-06,1.4782e-02,6.2567e-04
+32,4.0333e+00,UP_FORCE_RAMP,9.7686e-04,3.2764e-03,9.5415e-03,2.4478e+00,-3.7485e-02,3.7023e-02,-4.7069e-05,4.5175e-03,7.8123e-03,-7.4086e-03,-5.4094e-04,3.1279e-04,-1.9588e-06,1.1676e-02,6.2487e-04
+33,4.1833e+00,UP_FORCE_RAMP,1.0031e-03,3.1660e-03,9.6376e-03,2.4513e+00,-3.7496e-02,3.7015e-02,-4.7162e-05,4.4070e-03,7.9084e-03,-3.9344e-03,-5.5131e-04,3.0545e-04,-2.0515e-06,9.8714e-03,6.3028e-04
+34,4.3000e+00,UP_FORCE_RAMP,1.0387e-03,3.0381e-03,8.4560e-03,2.4451e+00,-3.7421e-02,3.7010e-02,-4.7648e-05,4.2791e-03,6.7268e-03,-1.0135e-02,-4.7666e-04,3.0024e-04,-2.5371e-06,1.2895e-02,5.6334e-04
+35,4.4333e+00,UP_FORCE_RAMP,1.0689e-03,3.1241e-03,8.0545e-03,2.4462e+00,-3.7396e-02,3.7016e-02,-4.8106e-05,4.3652e-03,6.3253e-03,-9.0055e-03,-4.5198e-04,3.0634e-04,-2.9955e-06,1.1839e-02,5.4602e-04
+36,4.6167e+00,UP_FORCE_RAMP,1.0968e-03,3.2770e-03,7.9865e-03,2.4508e+00,-3.7394e-02,3.7025e-02,-4.8622e-05,4.5181e-03,6.2573e-03,-4.3931e-03,-4.4918e-04,3.1487e-04,-3.5110e-06,8.8807e-03,5.4856e-04
+37,4.7333e+00,UP_FORCE_RAMP,1.1282e-03,2.4912e-03,8.2373e-03,2.4467e+00,-3.7411e-02,3.6975e-02,-4.8841e-05,3.7323e-03,6.5081e-03,-8.4600e-03,-4.6644e-04,2.6529e-04,-3.7300e-06,1.1307e-02,5.3662e-04
+38,4.8667e+00,UP_FORCE_RAMP,1.1603e-03,2.4044e-03,8.3793e-03,2.4464e+00,-3.7423e-02,3.6969e-02,-4.8885e-05,3.6454e-03,6.6501e-03,-8.7581e-03,-4.7848e-04,2.5906e-04,-3.7745e-06,1.1585e-02,5.4412e-04
+39,5.0000e+00,UP_FORCE_RAMP,1.1903e-03,2.8087e-03,8.4766e-03,2.4498e+00,-3.7432e-02,3.6993e-02,-4.8880e-05,4.0498e-03,6.7474e-03,-5.3663e-03,-4.8760e-04,2.8341e-04,-3.7691e-06,9.5250e-03,5.6399e-04
+40,5.1333e+00,UP_FORCE_RAMP,1.2219e-03,3.1833e-03,8.5748e-03,2.4530e+00,-3.7440e-02,3.7016e-02,-4.8857e-05,4.4243e-03,6.8456e-03,-2.2297e-03,-4.9575e-04,3.0630e-04,-3.7466e-06,8.4504e-03,5.8275e-04
+41,5.2667e+00,UP_FORCE_RAMP,1.2481e-03,3.4798e-03,8.6578e-03,2.4553e+00,-3.7446e-02,3.7035e-02,-4.8831e-05,4.7209e-03,6.9286e-03,7.2002e-05,-5.0193e-04,3.2468e-04,-3.7202e-06,8.3844e-03,5.9780e-04
+42,5.3833e+00,UP_FORCE_RAMP,1.2790e-03,3.6842e-03,8.7123e-03,2.4567e+00,-3.7450e-02,3.7047e-02,-4.8810e-05,4.9253e-03,6.9831e-03,1.5013e-03,-5.0559e-04,3.3754e-04,-3.6994e-06,8.6762e-03,6.0792e-04
+43,5.5500e+00,UP_FORCE_RAMP,1.3099e-03,3.8996e-03,8.7612e-03,2.4580e+00,-3.7453e-02,3.7061e-02,-4.8790e-05,5.1407e-03,7.0320e-03,2.8248e-03,-5.0835e-04,3.5135e-04,-3.6793e-06,9.1573e-03,6.1796e-04
+44,5.7000e+00,UP_FORCE_RAMP,1.3431e-03,7.5197e-03,8.1857e-03,2.4461e+00,-3.7414e-02,3.7308e-02,-4.9051e-05,8.7607e-03,6.4565e-03,-9.0675e-03,-4.6980e-04,5.9784e-04,-3.9408e-06,1.4165e-02,7.6036e-04
+45,5.8000e+00,UP_FORCE_RAMP,1.3737e-03,7.0362e-03,8.1917e-03,2.4489e+00,-3.7415e-02,3.7281e-02,-4.9264e-05,8.2773e-03,6.4625e-03,-6.2866e-03,-4.7059e-04,5.7097e-04,-4.1532e-06,1.2239e-02,7.3992e-04
+46,5.9000e+00,UP_FORCE_RAMP,1.4035e-03,6.6743e-03,8.2225e-03,2.4517e+00,-3.7417e-02,3.7259e-02,-4.9454e-05,7.9154e-03,6.4933e-03,-3.5157e-03,-4.7291e-04,5.4941e-04,-4.3432e-06,1.0825e-02,7.2492e-04
+47,6.0500e+00,UP_FORCE_RAMP,1.4328e-03,6.2786e-03,8.2803e-03,2.4549e+00,-3.7421e-02,3.7234e-02,-4.9688e-05,7.5197e-03,6.5511e-03,-3.4690e-04,-4.7664e-04,5.2385e-04,-4.5771e-06,9.9792e-03,7.0826e-04
+48,6.1833e+00,UP_FORCE_RAMP,1.4630e-03,6.0221e-03,8.3238e-03,2.4568e+00,-3.7423e-02,3.7216e-02,-4.9853e-05,7.2632e-03,6.5946e-03,1.5588e-03,-4.7895e-04,5.0600e-04,-4.7423e-06,9.9334e-03,6.9674e-04
+49,6.3500e+00,UP_FORCE_RAMP,1.4938e-03,5.7984e-03,8.3629e-03,2.4583e+00,-3.7425e-02,3.7199e-02,-5.0009e-05,7.0394e-03,6.6337e-03,3.0532e-03,-4.8045e-04,4.8957e-04,-4.8984e-06,1.0143e-02,6.8596e-04
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fcfcf5142d302fa054dcdedfb3911ef502fa4c6
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
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+13132,1792668118072644343,36658472000000,1792668118065853853,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.676037861936081,-0.004551696689371745,0.09073853627873482,0.9999999882662584,6.034325282940808e-05,-8.722881880461463e-05,6.0499360803074034e-05,0.6761,-0.00453,0.09077794851738946,1.0,0.0,0.0,0.0,0.08882498524386659,0.17750746222738745,0.5758725518602805,0.011647902361901344,-0.005431225555614427,0.0006253024051787006,0.22028058747229748,0.11758786681312142,0.7050931904309492,0.005263163112533785,-0.011415104534818483,0.0013964577011097953,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.1621301412618077,0.12708851089858125,0.6501525515304497,0.11107586558261133,-0.3524894494790237,0.0009942839006885917,0.7250918013638956,0.5758725518602805,0.07493924983344591,0.07493924983344591,0.2106299999999848,0,0,-0.00012389260708037397,9.918239426832116e-05
+13243,1792668118997674635,36659397000000,1792668118993854173,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760477459178124,-0.004560120897067613,0.09067513224598187,0.9999999890428828,5.9595584437428894e-05,-6.279081825770278e-05,7.656877937263367e-05,0.6761,-0.00453,0.09068443550054996,1.0,0.0,0.0,0.0,0.06578867929436186,0.19084728270764262,0.8580755030324236,0.012560799576735492,-0.0034847779627357744,0.00043707663506687994,0.19724428152279275,0.1309276872933766,0.9872961416030923,0.006176060327367934,-0.00946865694193983,0.0012082319309979746,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.22069753769235803,0.13937012871522472,0.28851558730108356,0.12279159461720004,-0.10819957716742462,0.004787597782716521,0.7250918013638956,0.8580755030324236,0.43657621406281205,0.43657621406281205,0.2753799999999826,0,0,-7.796736867651954e-05,9.999999025923074e-05
+13311,1792668119563607550,36659963000000,1792668119557853598,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760811771470724,-0.004564821484743238,0.09066830592325624,0.9999999893215858,6.564126911776638e-05,-2.840921665544403e-05,8.765747364818421e-05,0.6761,-0.00453,0.09064830071831603,1.0,0.0,0.0,0.0,0.037510449926136946,0.24475280872894867,0.8625593112354654,0.017310139965216097,-0.00045208473709129615,0.0005229290697083872,0.16896605215456784,0.18483321331468264,0.991779949806134,0.010925400715848537,-0.006435963716295352,0.0012940843656394818,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.27062190131624403,0.25332357477122935,0.28048298505700214,0.09401885653453967,-0.10867330993170926,0.0803198382002699,0.7250918013638956,0.8625593112354654,0.4446088163068935,0.4446088163068935,0.3149999999999908,0,0,-4.966737418979494e-05,9.999999025923074e-05
+13414,1792668120422583656,36660822000000,1792668120417854048,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676084419575156,-0.004565044405946038,0.09064947817018949,0.9999999895274327,6.469903775095244e-05,-2.1873117034452783e-05,8.788401557111539e-05,0.6761,-0.00453,0.0906240515612532,1.0,0.0,0.0,0.0,0.01894805992389831,0.24591946946735438,0.887945205450104,0.017578355581770344,-0.0005480228837162985,0.0005123841709441159,0.1504036621523292,0.18599987405308838,1.0171658440207727,0.011193616332402786,-0.006531901862920355,0.0012835394668752106,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.30262811003926576,0.0596398106414959,0.271290183926924,0.15256595771468937,-0.09618462800892053,-0.050600888005542514,0.7250918013638956,0.887945205450104,0.4538016174369716,0.4538016174369716,0.37513000000000324,0,0,-7.195655788716504e-06,7.268339180521721e-05
+13526,1792668121355646327,36661755000000,1792668121353853202,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760852681408505,-0.004567247528979452,0.0906449230480815,0.9999999893077377,6.484635012025167e-05,-2.1098756602218953e-05,9.042777311967656e-05,0.6761,-0.00453,0.09062252649820479,1.0,0.0,0.0,0.0,0.02378813633225027,0.23584842209228163,0.8788593092820778,0.01757978230549121,-0.0005459094702697656,0.0005198996439106187,0.15524373856068116,0.17592882667801563,1.0080799478527465,0.011195043056123653,-0.006529788449473822,0.0012910549398417134,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.33561910516090754,0.15664959097833994,0.21555912866682544,0.12612932396466356,-0.04633301111914009,0.017630815475236372,0.7250918013638956,0.8788593092820778,0.5095326726970701,0.5095326726970701,0.44044000000001676,0,0,-7.13045547606761e-07,7.2024802788561715e-06
+13646,1792668122355626035,36662755000000,1792668122353853900,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760804937693385,-0.0045672865629181976,0.0906342568048883,0.9999999890177663,6.570724635295911e-05,-2.876243521512892e-05,9.089890921602747e-05,0.6761,-0.00453,0.09061779539818185,1.0,0.0,0.0,0.0,0.019560901215569027,0.25039640165377774,0.8601735688990156,0.017595575841098148,-0.0009537960025733294,0.0005285589196875101,0.15101650344399992,0.19047680623951171,0.9893942074696843,0.01121083659173059,-0.0069376749817773855,0.0012997142156186048,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.34815624868920175,0.2077856948505336,0.32272320548297573,0.11514780231038241,-0.11545962147840005,0.047874866017606876,0.7250918013638956,0.8601735688990156,0.4023685958809199,0.4023685958809199,0.5104400000000312,0,0,-1.2556441507409427e-05,-9.999999025923074e-05
+13782,1792668123488658411,36663888000000,1792668123481853996,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760818990339488,-0.0045637186079661145,0.0906208411051427,0.9999999888944079,6.916869883083092e-05,-2.506546037352624e-05,9.078249974710496e-05,0.6761,-0.00453,0.09059668182649883,1.0,0.0,0.0,0.0,0.018913815506162335,0.24584771419091944,0.8902228202860838,0.017577915331675062,-0.0005485064782454717,0.0005105498076736598,0.15036941773459322,0.18592811877665344,1.0194434588567525,0.011193176082307505,-0.006532385457449528,0.0012817051036047545,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.3174035547144843,0.09185830593702224,0.19517693152587742,0.1456441071818549,-0.04573224679675357,-0.03542445297415078,0.7250918013638956,0.8902228202860838,0.5299148698380182,0.5299148698380182,0.5897500000000476,0,0,-2.568387485610136e-05,-9.876339609882762e-05
+13874,1792668124255683050,36664655000000,1792668124253853717,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760891824370344,-0.004544486008548036,0.09060620532313342,0.9999999952962557,-2.857088668339656e-05,-5.833420501099218e-06,1.6877737772896602e-07,0.6761,-0.00453,0.09057429650748812,1.0,0.0,0.0,0.0,0.03636324915654257,0.2928079308540292,0.9557205748504858,0.02068079232654759,-0.0018671795315496533,0.00047329539072170205,0.16781885138497346,0.23288833543976317,1.0849412134211545,0.014296053077180034,-0.00785105851075371,0.0012444506866527967,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.3100153512790804,0.1935141257849708,0.2525251813315372,-0.020122625686573192,-0.05248935436680595,0.07018648104020314,0.7250918013638956,0.9557205748504858,0.47256662003235844,0.47256662003235844,0.6434400000000587,0,0,-3.380825051443737e-05,-9.999999025923074e-05
+14001,1792668125313626548,36665713000000,1792668125309853416,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760949498878724,-0.004554808764922306,0.09057743540393864,0.9999999955750412,-9.108991866227645e-06,7.271838294960779e-06,1.2527117217893356e-05,0.6761,-0.00453,0.090519357336624,1.0,0.0,0.0,0.0,0.017259015631543334,0.26977666687281115,1.0420415058720325,0.020636881251128045,-0.0016467544761265534,0.0005838644742032374,0.14871461785997422,0.20985707145854512,1.1712621444427012,0.014252142001760486,-0.0076306334553306095,0.001355019770134332,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4258789387384714,0.23529380484735246,0.029742237446924277,-0.00341656885078008,0.10944524702618026,0.10894003716563083,0.7250918013638956,1.0420415058720325,0.6953495639169713,0.6953495639169713,0.7175000000000741,0,0,-5.874579982603911e-05,9.968589428777647e-05
+14133,1792668126413682242,36666813000000,1792668126409853655,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760993394080171,-0.004556678798606426,0.09053424363987357,0.9999999911482189,9.129276776753681e-05,1.0379912906709507e-05,2.653892490887188e-05,0.6761,-0.00453,0.09046490853500895,1.0,0.0,0.0,0.0,-0.002240646843572641,0.2795440574436883,1.132073386506599,0.021615212908179783,-0.0006774329923031732,0.0003584214543186127,0.12921495538485825,0.2196244620294223,1.2612940250772677,0.015230473658812223,-0.006661311971507229,0.0011295767502497074,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4796171958978987,0.23478409780941445,-0.03341149667602951,0.014109005359766546,0.1542674330725897,0.045227854099618076,0.7250918013638956,1.132073386506599,0.7585032980399251,0.7585032980399251,0.79450000000009,0,0,-3.686915688441849e-05,9.791585184182878e-05
+14265,1792668127513706331,36667913000000,1792668127513853750,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761031342992164,-0.0045650771942257265,0.090502386706106,0.9999999905111218,9.396944259560122e-05,1.2343218572368069e-05,3.792109615101401e-05,0.6761,-0.00453,0.09043332568006751,1.0,0.0,0.0,0.0,-0.0027251506315801866,0.28664155235867866,1.1522868660516707,0.021584735176454907,0.00033088024870224844,0.00035784673786403505,0.1287304515968507,0.22672195694441263,1.2815075046223394,0.015199995927087347,-0.005652998730501808,0.0011290020337951297,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.47240978917176973,0.20516403280399587,-0.028733373200276,0.060103986105383665,0.14051916503641237,0.03339806187591708,0.7250918013638956,1.1522868660516707,0.7538251745641716,0.7538251745641716,0.871500000000106,0,0,-3.0726355802783385e-05,-9.961078770016058e-05
+14376,1792668128438644227,36668838000000,1792668128437853925,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761056475632172,-0.004562629354840901,0.09047347680110648,0.9999999902003457,9.35491543673749e-05,1.6501389709177865e-05,4.4926971820463536e-05,0.6761,-0.00453,0.09039870697428011,1.0,0.0,0.0,0.0,-0.01308693749821388,0.2865032004688321,1.152507211642292,0.021559411265456442,0.001262780128134292,0.00037107097086028305,0.11836866473021701,0.2265836050545661,1.2817278502129608,0.015174672016088886,-0.004721098851069764,0.0011422262667913777,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5464412634936204,0.16840959593254903,-0.10784549276659305,0.10839046765143372,0.20038911927499026,0.013095481813339069,0.7250918013638956,1.152507211642292,0.8329372941304887,0.8329372941304887,0.9362500000001194,0,0,-4.361725356868818e-05,-8.250981428504218e-05
+14476,1792668129272696603,36669672000000,1792668129269853958,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761064066210792,-0.004568563750576028,0.09043795762378465,0.999999990056925,9.012293707063782e-05,1.8475877509871443e-05,5.3530480789227615e-05,0.6761,-0.00453,0.09035942454754266,1.0,0.0,0.0,0.0,-0.012130356065443423,0.2840614290154096,1.182586081670271,0.021550781708237134,0.0013383009160578595,0.0003480866257997285,0.11932524616298747,0.2241418336011436,1.3118067202409396,0.015166042458869574,-0.004645578063146197,0.0011192419217308232,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.4966478298000271,0.1408333647005191,-0.2097595247790649,0.14614194723752583,0.24407512894026615,0.015230935603182463,0.7250918013638956,1.182586081670271,0.9348513261429605,0.9348513261429605,0.9946300000001315,0,0,-5.125896036670796e-05,9.508978451200302e-05
+14600,1792668130305678879,36670705000000,1792668130305853439,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676105271252644,-0.00456946905725819,0.09038324905792909,0.9999999893489201,9.218748126554988e-05,1.6465720183157904e-05,6.305055464323848e-05,0.6761,-0.00453,0.09030104290887829,1.0,0.0,0.0,0.0,-0.021303421041416373,0.27794481850683006,1.2025016683567273,0.021351154083306723,0.001338031575168026,0.0003286571232752613,0.11015218118701452,0.21802522309256403,1.331722306927396,0.014966414833939165,-0.00464584740403603,0.001099812419206356,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5360933214138311,0.13086867611769934,-0.21253955394679316,0.16617618754521857,0.25016856032986406,0.01707658075696046,0.7250918013638956,1.2025016683567273,0.9376313553106888,0.9376313553106888,1.0669400000001463,0,0,-6.33762801918999e-05,-9.794506458516423e-05
+14712,1792668131238680095,36671638000000,1792668131233854016,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761081648963738,-0.0045731051052697105,0.09032730073218963,0.9999999886383796,9.27323049571425e-05,2.113383451725208e-05,7.155547364122179e-05,0.6761,-0.00453,0.09023781432187619,1.0,0.0,0.0,0.0,-0.02150759727411014,0.27989077235414467,1.2423401940882197,0.02153934404245641,0.0013257358913383753,0.00029867635210925115,0.10994800495432075,0.21997117693987867,1.3715608326588884,0.015154604793088852,-0.004658143087865681,0.0010698316480403458,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5623946941074985,0.09917917572768192,-0.2918059261279039,0.17592732594339644,0.3043668961118702,-0.004865951126933277,0.7250918013638956,1.2423401940882197,1.0168977274917994,1.0168977274917994,1.1322500000001599,0,0,-7.239393464165022e-05,-8.437026377981912e-05
+14815,1792668132097716648,36672497000000,1792668132097853767,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761088966057528,-0.0045741525811845716,0.0902656931528301,0.9999999898246547,7.868782917048698e-05,2.2940482177781647e-05,7.124264828699598e-05,0.6761,-0.00453,0.09017278086880709,1.0,0.0,0.0,0.0,-0.030885843379557062,0.2791592212706947,1.2709172708726029,0.02152302879534928,0.001721324999182118,0.00028713658141255385,0.10056975884887383,0.2192396258564287,1.4001379094432715,0.015138289545981723,-0.004262553980021938,0.0010582918773436485,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.5747012134801716,0.1307927538614813,-0.4314550422666741,0.1733041481714691,0.3915050557936892,0.011569242776187635,0.7250918013638956,1.2709172708726029,1.1565468436305697,1.1565468436305697,1.1923800000001723,0,0,-7.853213936506875e-05,9.984077039971168e-05
+14911,1792668132897721767,36673297000000,1792668132893853726,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761065840356871,-0.004575361354571961,0.09019997549684333,0.9999999940082452,3.222261922339545e-05,2.2247147260552255e-05,4.3510242346344065e-05,0.6761,-0.00453,0.09010849825899583,1.0,0.0,0.0,0.0,-0.0030779831135750446,0.2910466301089698,1.2729301397268498,0.02153477963078114,0.0013178421107412647,0.0002762145936990963,0.12837761911485585,0.2311270346947038,1.4021507782975184,0.015150040381413581,-0.004666036868462791,0.001047369889630191,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6379866988468145,0.16009424363257138,-0.41746107515231123,0.17204648634601039,0.39497528985999714,0.027439664972297093,0.7250918013638956,1.2729301397268498,1.142552876516207,1.142552876516207,1.248380000000184,0,0,-8.477308376522862e-05,9.429988320620026e-05
+15023,1792668133831686755,36674230000000,1792668133825853594,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761099876573965,-0.004574979102491872,0.09012269364758874,0.9999999934534539,3.3697915128503594e-05,2.5768423625808845e-05,5.231056840521835e-05,0.6761,-0.00453,0.0900223459203773,1.0,0.0,0.0,0.0,-0.01262350389728277,0.28388914025903195,1.324363605669284,0.021533029061733933,0.0013130522616016816,-0.0007094421480296812,0.11883209833114812,0.22396954484476594,1.4535842442399527,0.015148289812366374,-0.0046708267176023745,6.17131479014135e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6120103811417275,0.15291155037315704,-0.381810145237759,0.17792523738685462,0.3574629048531864,0.022793341779771645,0.7250918013638956,1.324363605669284,1.1069019466016545,1.1069019466016545,1.3136900000001974,0,0,-9.721890289612756e-05,-9.538340536708318e-05
+15123,1792668134663682877,36675063000000,1792668134657853844,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761099527500388,-0.004565821797462186,0.09004213414289221,0.9999999930220068,3.696895321606876e-05,2.3572164663248e-05,5.896185497609882e-05,0.6761,-0.00453,0.08993814333138951,1.0,0.0,0.0,0.0,-0.010991260246756687,0.2971937089487538,1.3390196785731903,0.022548387786167065,0.0012908825710046092,-0.0007877111087063489,0.1204643419816742,0.2372741135344878,1.468240317143859,0.016163648536799507,-0.004692996408199447,-1.655581277525426e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6169202930428159,0.18796610810278158,-0.5172523514806413,0.17261833527009382,0.4407437762947225,0.04808232093753931,0.7250918013638956,1.3390196785731903,1.242344152844537,1.242344152844537,1.3720000000002095,0,0,-0.0001074023242883263,8.701251805043881e-05
+15219,1792668135463700125,36675863000000,1792668135461853410,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761108378426417,-0.0045648340386594925,0.08995836325173864,0.9999999927486478,3.115899147365708e-05,2.750030414348406e-05,6.494935958368e-05,0.6761,-0.00453,0.0898462268395578,1.0,0.0,0.0,0.0,-0.007188799201726673,0.3072412171232331,1.3471187345860751,0.022551269692476675,0.0012869981628459478,-0.0008025738238956507,0.12426680302670422,0.2473216217089671,1.4763393731567438,0.016166530443109117,-0.004696880816358108,-3.1418527964556e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6652688496350287,0.036773223435460536,-0.5419374298942382,0.21321445611525885,0.46214611585146254,-0.05515964239146119,0.7250918013638956,1.3471187345860751,1.267029231258134,1.267029231258134,1.428000000000221,0,0,-0.00012372942028296562,7.594578718539963e-05
+15295,1792668136097625641,36676497000000,1792668136089853781,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761123957285812,-0.0045720283738493375,0.08988045867003719,0.9999999921007456,2.6073361177103432e-05,3.0093633241968798e-05,7.520589197327506e-05,0.6761,-0.00453,0.08976525488419011,1.0,0.0,0.0,0.0,-0.013348460039068588,0.30769259701403434,1.3594605519926277,0.022520656427593613,0.002297822400113915,-0.0007949380555397898,0.1181071421893623,0.2477730015997683,1.4886811905632964,0.016135917178226055,-0.0036860565790901413,-2.3782759608695165e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6485496482768351,0.2407830385885558,-0.570982682201581,0.16476959866054913,0.4712214468101238,0.08258023307013702,0.7250918013638956,1.3594605519926277,1.2960744835654765,1.2960744835654765,1.4723800000002303,0,0,-0.00013055138419064858,7.209618875071651e-05
+15379,1792668136797722941,36677197000000,1792668136797854009,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761090157441199,-0.004571967141874868,0.08978227002571461,0.9999999911409844,5.153381247162541e-05,2.2756846112776272e-05,7.737756668924612e-05,0.6761,-0.00453,0.08967094861683637,1.0,0.0,0.0,0.0,-0.030000858262266186,0.3040917769216286,1.3728042164453955,0.021499998556069592,0.002314826411504108,-0.0008169237601416894,0.1014547439661647,0.24417218150736258,1.5020248550160642,0.015115259306702034,-0.003669052567699948,-4.5768464210594714e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7099363259002283,0.13391892473840478,-0.6630237271763358,0.20721260285190266,0.5368795277128614,0.020844068490238052,0.7250918013638956,1.3728042164453955,1.3881155285402316,1.3881155285402316,1.5213800000002404,0,0,-0.00013843565934282408,9.999999025923074e-05
+15462,1792668137488665334,36677888000000,1792668137485853156,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761081866930349,-0.004570818280268506,0.08968867186038916,0.9999999938070968,3.8473041686851585e-05,2.4186890099166213e-05,4.199393006727633e-05,0.6761,-0.00453,0.08957404863634076,1.0,0.0,0.0,0.0,-0.013330095920776927,0.30250595915056044,1.383314506456496,0.022522986624619396,0.002068789084239404,-0.0008163083411834301,0.11812550630765396,0.24258636373629444,1.5125351450271647,0.016138247375251838,-0.003915089894964652,-4.5153045252335393e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.6987037154553362,0.18771882308287055,-0.6306716571494149,0.21452339753030572,0.5049543295192456,0.06205439094347455,0.7250918013638956,1.383314506456496,1.3557634585133105,1.3557634585133105,1.5697500000002504,0,0,-0.00014096246018643755,-8.793214353731144e-05
+15546,1792668138188740582,36678588000000,1792668138185853653,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.676110020915332,-0.004579096129825149,0.08958138527042908,0.9999999917321106,6.276433299155426e-05,2.30021044607891e-05,5.92468127498744e-05,0.6761,-0.00453,0.08946881042953381,1.0,0.0,0.0,0.0,-0.02208327493370396,0.29386460579419266,1.3920187180411925,0.02149414401415104,0.0023110468895805266,-0.0008338241622925873,0.10937232729472693,0.23394501037992663,1.5212393566118612,0.015109404764783481,-0.0036728320896235295,-6.26688663614926e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.696899379680782,0.12378843178528727,-0.5769659653679488,0.2288991073155651,0.46590267863103335,0.017014901068124158,0.7250918013638956,1.3920187180411925,1.3020577667318443,1.3020577667318443,1.6187500000002606,0,0,-0.0001554974115816884,-9.999398117710995e-05
+15622,1792668138822641491,36679222000000,1792668138821853083,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761077397931597,-0.004575031148160326,0.0894771532015735,0.999999990566128,7.11519565115119e-05,1.7343002330036188e-05,7.033653301472171e-05,0.6761,-0.00453,0.08936509073483069,1.0,0.0,0.0,0.0,-0.030894409463469177,0.2832195858126028,1.4023860110811397,0.02044546006300811,0.003311968045505722,-0.0008450484359969436,0.10056119276496171,0.22329999039833678,1.5316066496518084,0.014060720813640555,-0.0026719109336983344,-7.389314006584893e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7496406564927756,0.0976908733939575,-0.7335646993349817,0.24632276631149744,0.577347477859725,0.0074834027206014606,0.7250918013638956,1.4023860110811397,1.4586565006988774,1.4586565006988774,1.6631300000002698,0,0,-0.0001706250238084087,9.23746870925612e-05
+15694,1792668139422644196,36679822000000,1792668139421853374,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761088972105953,-0.004583940564143159,0.08937416791871992,0.9999999891624287,7.151010598749811e-05,1.843409723552506e-05,8.754710534289736e-05,0.6761,-0.00453,0.089260655963002,1.0,0.0,0.0,0.0,-0.03372566655509385,0.2719986198621959,1.4241554080327978,0.019524385294718016,0.0033553247463193026,-0.0008654785840989294,0.09772993567333704,0.21207902444792992,1.5533760466034665,0.013139646045350457,-0.0026285542328847535,-9.432328816783477e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7874527174549377,0.036540527457525174,-0.6996001542273279,0.2616231096247523,0.5622467551500628,-0.03444801613292892,0.7250918013638956,1.4241554080327978,1.4246919555912236,1.4246919555912236,1.7051300000002785,0,0,-0.0001788902222424601,-9.984387902418063e-05
+15762,1792668139988676196,36680388000000,1792668139985853308,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761043173630444,-0.00459173386038132,0.08926669725796982,0.9999999894147699,5.9760060660160045e-05,8.262031899051846e-06,9.473013539832285e-05,0.6761,-0.00453,0.08915991917679937,1.0,0.0,0.0,0.0,-0.036320937279384624,0.2681116972676507,1.4408595215422102,0.01859718199080563,0.0041620308472167375,-0.0008692099565685878,0.09513466494904627,0.2081921018533847,1.5700801601128789,0.012212442741438071,-0.001821848131987319,-9.805466063749319e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.761911881175327,0.028648128675239713,-0.7064750358278622,0.2684042357309597,0.5538520523329079,-0.0409968577407287,0.7250918013638956,1.4408595215422102,1.4315668371917578,1.4315668371917578,1.7447500000002867,0,0,-0.00017880034659387001,-9.999528568916389e-05
+15834,1792668140588665278,36680988000000,1792668140581854122,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6761073755832506,-0.004584131189626833,0.08915745344824698,0.9999999940345482,5.220579450752854e-06,1.712432769036573e-05,5.5256410895294854e-05,0.6761,-0.00453,0.08905022294903774,1.0,0.0,0.0,0.0,-0.030797203405409382,0.28305046433705716,1.451400543495236,0.01978804166878243,0.0033473153935119422,-0.0008883509428033947,0.10065839882302151,0.22313086892279113,1.5806211820659046,0.013403302419414875,-0.002636563585692114,-0.00011719564687230003,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.747349269059966,0.06795681978827926,-0.7668485003836834,0.2808382358588923,0.580489910620411,-0.011316804459695781,0.7250918013638956,1.451400543495236,1.491940301747579,1.491940301747579,1.7867500000002954,0,0,-0.00018621203618926353,-9.449678125961753e-05
+15901,1792668141147742432,36681547000000,1792668141145853427,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760997437439186,-0.004589345563080177,0.08904103544521887,0.9999999929865163,2.416153769078432e-05,1.811013506545211e-06,6.987683480748402e-05,0.6761,-0.00453,0.08894263011492563,1.0,0.0,0.0,0.0,-0.04911136983582981,0.2625121835887842,1.4573204762477565,0.018980476412881607,0.00436674375833955,-0.0008888125674109977,0.08234423239260108,0.2025925881745182,1.5865411148184252,0.01259573716351405,-0.001617135220864506,-0.00011765727147990307,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7885637320650757,0.08849392799368576,-0.80854031400809,0.2815601599000209,0.6123847227699455,0.005862319391300101,0.7250918013638956,1.4573204762477565,1.5336321153719856,1.5336321153719856,1.8258800000003035,0,0,-0.00019724207243114374,-7.405501826948229e-05
+15969,1792668141713706561,36682113000000,1792668141709853799,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760985338234295,-0.004598171724184758,0.0889281491415988,0.9999999906286553,4.955541807461788e-05,3.878834040789327e-07,8.791850782605415e-05,0.6761,-0.00453,0.08882846852917227,1.0,0.0,0.0,0.0,-0.0524289234387815,0.25973613670651,1.4477729806870068,0.018337708783185983,0.005398056755230869,-0.0008759195611705253,0.07902667878964939,0.199816541292244,1.5769936192576754,0.011952969533818426,-0.000585822223973187,-0.00010476426523943061,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7771283072185905,0.032541065868890655,-0.8332735660403073,0.30503739027702076,0.6183508188667968,-0.02544485745406978,0.7250918013638956,1.4477729806870068,1.5583653674042028,1.5583653674042028,1.8655000000003117,0,0,-0.00020871677038714328,-6.340881242558496e-05
+16033,1792668142247712853,36682647000000,1792668142245853383,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6761001332864867,-0.004599186652873697,0.08881638418580141,0.9999999894935263,6.138946795869735e-05,-5.271557423416607e-07,9.320336488011601e-05,0.6761,-0.00453,0.08871260752446064,1.0,0.0,0.0,0.0,-0.058599761993633065,0.2506079059441712,1.4497821675063105,0.018344330693953814,0.00540286431930556,-0.0019004206190135473,0.07285584023479783,0.1906883105299052,1.5790028060769792,0.011959591444586255,-0.000581014659898496,-0.0011292653230824527,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8177224018552741,0.03027477057112059,-0.8013995931650888,0.31513306166258764,0.603678397507614,-0.02812083683849487,0.7250918013638956,1.4497821675063105,1.5264913945289844,1.5264913945289844,1.9028800000003194,0,0,-0.00022437591798016155,-9.999944902550623e-05
+16093,1792668142747741536,36683147000000,1792668142745853743,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760975509672387,-0.004601374702501584,0.08869885832991542,0.999999990663608,4.6430012157721574e-05,-2.0543800621024157e-06,8.919462965206981e-05,0.6761,-0.00453,0.08859743321373238,1.0,0.0,0.0,0.0,-0.06870055548655694,0.2498327182070852,1.4351521412641663,0.01834466563522926,0.005405134332423305,-0.0015655581852265779,0.06275504674187395,0.18991312279281916,1.564372779834835,0.011959926385861705,-0.0005787446467807514,-0.0007944028892954833,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8368697023489123,-0.013962379992128578,-0.8051169067980184,0.34065306336415485,0.6046835521646747,-0.05950215436788701,0.7250918013638956,1.4351521412641663,1.530208708161914,1.530208708161914,1.9378800000003267,0,0,-0.00023811274700166608,-9.999999025923074e-05
+16149,1792668143213726205,36683613000000,1792668143213852964,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.676095581176383,-0.00460544171614982,0.08858156771020696,0.9999999909595512,3.873449404159689e-05,-5.755425602381643e-06,8.938834421189809e-05,0.6761,-0.00453,0.08848389120747037,1.0,0.0,0.0,0.0,-0.06757032040374698,0.2398486735284609,1.4514530166944661,0.01833436802341775,0.005399197663085052,-0.0008748209398701384,0.0638852818246839,0.17992907811419487,1.5806736552651348,0.011949628774050194,-0.0005846813161190048,-0.00010366564393904379,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.7846925443188988,0.020827032203693877,-0.7688469583724691,0.3464071414953158,0.5646253589211232,-0.03361194679809981,0.7250918013638956,1.4514530166944661,1.4939387597363647,1.4939387597363647,1.9705000000003334,0,0,-0.0002488126897390571,-9.999987923692828e-05
+16209,1792668143713704066,36684113000000,1792668143713852617,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760952542365058,-0.004606716685634305,0.0884560497759563,0.9999999908424665,4.06674138924451e-05,-7.877108708706671e-06,8.967744532530397e-05,0.6761,-0.00453,0.08835600501527477,1.0,0.0,0.0,0.0,-0.07654980321979639,0.24943368970127316,1.4512607091828147,0.01790500038217168,0.006413168753162015,-0.0008646870991223382,0.0549057990086345,0.18951409428700716,1.5804813477534834,0.011520261132804124,0.00042928977395795904,-9.353180319124357e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9112436176261652,-0.006941653036254543,-0.8821699819536744,0.3614095803671679,0.6679692238065684,-0.050853773987186414,0.7250918013638956,1.4512607091828147,1.60726178331757,1.60726178331757,2.0055000000003407,0,0,-0.0002647089192245585,-9.999843594699626e-05
+16256,1792668144105724016,36684505000000,1792668144105853862,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760943071098863,-0.00460546911008348,0.08834587898282671,0.9999999900043935,5.075681433337851e-05,-1.0451118206579974e-05,9.353393643912362e-05,0.6761,-0.00453,0.088250584173548,1.0,0.0,0.0,0.0,-0.06748237257743629,0.2422461503242308,1.4806461471137204,0.017282575175605913,0.0064242309970245215,-0.0008958436988815357,0.0639732296509946,0.1823265549099648,1.6098667856843891,0.010897835926238355,0.00044035201782046546,-0.00012468840295044102,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.8654602646774332,-0.007969649890026355,-0.9030464548184649,0.37135104624870097,0.6660503297611454,-0.05125560538823604,0.7250918013638956,1.4806461471137204,1.6281382561823605,1.6281382561823605,2.0329400000003464,0,0,-0.00027341511440601005,-7.327203707519487e-05
+16308,1792668144538671026,36684938000000,1792668144537853083,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760922028091122,-0.00460923517769954,0.0882265285555476,0.999999989257855,5.6961937133830984e-05,-1.459035492912631e-05,9.731193845619058e-05,0.6761,-0.00453,0.08813078818693883,1.0,0.0,0.0,0.0,-0.07659534298738374,0.2391333905512561,1.4811121154185138,0.017275713559424886,0.006645110296208093,-0.0008922588347542203,0.054860259241047156,0.1792137951369901,1.6103327539891825,0.010890974310057328,0.0006612313170040369,-0.0001211035388231257,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9557709895010053,-0.05570360752383776,-0.9392193929873726,0.39533169736668805,0.708146410703024,-0.07884300966271851,0.7250918013638956,1.4811121154185138,1.664311194351268,1.664311194351268,2.0632500000003526,0,0,-0.00027900479593603953,-2.5491719022187158e-06
+16356,1792668144938645378,36685338000000,1792668144937853093,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760911239779546,-0.004615872924060095,0.08810991917020346,0.9999999893064505,4.709606503093462e-05,-1.6565633847825458e-05,0.00010167351555474633,0.6761,-0.00453,0.0880173556491705,1.0,0.0,0.0,0.0,-0.08199350567379261,0.23844272041559672,1.4969772420824874,0.01725115278174618,0.007385710264321443,-0.0008937411493179309,0.04946209655463828,0.17852312500133072,1.626197880653156,0.010866413532378624,0.0014018312851173868,-0.00012258585338683627,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9056341704866084,-0.022750200208096184,-0.9721733856558668,0.39721382528275956,0.7144756149660462,-0.05934960021259168,0.7250918013638956,1.4969772420824874,1.6972651870197624,1.6972651870197624,2.0912500000003584,0,0,-0.00028553612254203644,6.028789553547682e-05
+16404,1792668145338674989,36685738000000,1792668145333853489,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760882425874388,-0.004622220153481957,0.08798502517341751,0.9999999894034349,3.481452966448814e-05,-2.283421370352239e-05,0.00010441523678783613,0.6761,-0.00453,0.0879003218103346,1.0,0.0,0.0,0.0,-0.0852452428505584,0.2392209998309867,1.5110703906219594,0.016454538654891323,0.007413980049656561,-0.0009446127060853577,0.04621035937787249,0.17930140441672068,1.640291029192628,0.010069799405523765,0.0014301010704525043,-0.00017345741015426297,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9566426700534016,-0.09935838799524697,-0.8778880968439478,0.4318934668265925,0.6678223737808355,-0.10861955445408243,0.7250918013638956,1.5110703906219594,1.6029798982078434,1.6029798982078434,2.1192500000003642,0,0,-0.000297712903742113,-9.99898039629798e-05
+16444,1792668145672724479,36686072000000,1792668145669853611,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760851676555041,-0.004621470331012333,0.08787442040818945,0.9999999887714349,3.399163393364915e-05,-2.950321737027078e-05,0.00010896845228392616,0.6761,-0.00453,0.08779912536117207,1.0,0.0,0.0,0.0,-0.08595357879702467,0.2406052298814219,1.5112662328166668,0.01725458485884202,0.0074422507752161145,-0.001448589670733913,0.045502023431406226,0.1806856344671559,1.6404868713873355,0.010869845609474462,0.0014583717960120585,-0.0006774343748028183,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9328455102202925,-0.009261983600017076,-0.9652505492385547,0.41461122707017745,0.7141419051057132,-0.04637726341231961,0.7250918013638956,1.5112662328166668,1.6903423506024504,1.6903423506024504,2.142630000000369,0,0,-0.00031008479135467544,-6.582387094815822e-05
+16492,1792668146072685420,36686472000000,1792668146069853856,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760872779204858,-0.00462432738795841,0.08775711000609458,0.999999989336958,2.661500352573901e-05,-2.4880990375760773e-05,0.00010696507050700215,0.6761,-0.00453,0.08767268821404858,1.0,0.0,0.0,0.0,-0.08272651793905393,0.24822764187461888,1.4906159367021072,0.017253328833937473,0.007435624277857254,-0.0008888590056353184,0.04872908428937696,0.18830804646035287,1.619836575272776,0.010868589584569916,0.0014517452986531976,-0.00011770370970422367,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9405555477063228,-0.023368745672137682,-0.9490945517628282,0.4365517826927657,0.7024627085984941,-0.054683029108536584,0.7250918013638956,1.4906159367021072,1.6741863531267238,1.6741863531267238,2.170630000000375,0,0,-0.0003221179750254307,-9.998167157932442e-05
+16540,1792668146472712362,36686872000000,1792668146469852885,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760850514148544,-0.004624888862564377,0.08762800672589817,0.9999999893883791,2.5097214620483254e-05,-2.739788908744433e-05,0.00010623366576281829,0.6761,-0.00453,0.08754108526855886,1.0,0.0,0.0,0.0,-0.08675478498957154,0.23737811214848498,1.4605502752784492,0.017257714446781487,0.007442947142911069,-0.0008646492909923714,0.044700817238859346,0.17745851673421895,1.5897709138491178,0.010872975197413929,0.001459068163707013,-9.349399506127666e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,0.9813514014317686,-0.09088440770693121,-0.9450920611922942,0.4629748168553486,0.707334380709218,-0.09521465272296101,0.7250918013638956,1.4605502752784492,1.6701838625561898,1.6701838625561898,2.1986300000003807,0,0,-0.000337669902299191,-9.999999025923074e-05
+16580,1792668146805664376,36687205000000,1792668146801853443,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760853430611607,-0.004627337575879239,0.08751688766451808,0.9999999863628515,7.98696323309159e-05,-2.4959257162457656e-05,0.00010823603210866772,0.6761,-0.00453,0.08742627823931433,1.0,0.0,0.0,0.0,-0.0952923456173545,0.23687081327256587,1.4808558568696186,0.01725509779975631,0.007439460551903197,-0.001001687091566993,0.036163256611076396,0.17695121785829984,1.6100764954402873,0.010870358550388752,0.0014555815726991406,-0.0002305317956358982,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0081496863738755,-0.049714979168957424,-0.8706769234173511,0.4625743323192797,0.6657687997826658,-0.07492943361615517,0.7250918013638956,1.4808558568696186,1.5957687247812467,1.5957687247812467,2.2219400000003855,0,0,-0.0003512980786227456,-9.999999025923074e-05
+16620,1792668147138725875,36687538000000,1792668147133853700,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760831006489537,-0.004626705321815518,0.08739661332056527,0.9999999878603026,5.9029833910731226e-05,-2.7848885662009794e-05,0.00010706155863571859,0.6761,-0.00453,0.08730681311879751,1.0,0.0,0.0,0.0,-0.09409890349960998,0.23776641867377574,1.4710432964043274,0.01725538736788159,0.007441143083882261,-0.000873952039549251,0.037356698728820914,0.1778468232595097,1.600263934974996,0.01087064811851403,0.0014572641046782051,-0.00010279674361815633,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0553537477858335,-0.0748904829882686,-0.9317568142161364,0.4763432624956833,0.7155358629325206,-0.09083010704610264,0.7250918013638956,1.4710432964043274,1.656848615580032,1.656848615580032,2.2452500000003903,0,0,-0.0003644765192948026,-9.999980984798924e-05
+16664,1792668147506663633,36687905000000,1792668147505852994,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760816351524849,-0.004630736186185214,0.08726182999639136,0.9999999875812537,4.810775722062437e-05,-3.086990160025379e-05,0.00011407475500762701,0.6761,-0.00453,0.08717036578127126,1.0,0.0,0.0,0.0,-0.0945798081635906,0.22829077807239545,1.4850051043280066,0.01725120181133511,0.0074377334494714065,-0.0008882560364343939,0.03687579406484028,0.16837118265812942,1.6142257428986753,0.010866462561967554,0.0014538544702673503,-0.00011710074050329926,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.01873977207303,-0.03731970370746806,-0.883488198357462,0.4766513947206713,0.6724908063985994,-0.0672808264054554,0.7250918013638956,1.4850051043280066,1.6085799997213575,1.6085799997213575,2.2709400000003956,0,0,-0.0003793948869748861,-9.999924085868912e-05
+16700,1792668147805694065,36688205000000,1792668147805853387,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760852789911826,-0.004629357942630642,0.08715527195999336,0.9999999882571012,3.850820327335323e-05,-2.627461136618724e-05,0.00011293991709617843,0.6761,-0.00453,0.0870545945332002,1.0,0.0,0.0,0.0,-0.09489105458575417,0.23414943570982222,1.5010770220410259,0.017249788391644053,0.007434626500959443,-0.0008983211282655145,0.03656454764267673,0.1742298402955562,1.6302976606116946,0.010865049142276493,0.0014507475217553868,-0.00012716583233441986,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0636023490011137,0.01476466316210525,-0.9373204144052144,0.4726229237743193,0.7206660791972189,-0.030633165493135665,0.7250918013638956,1.5010770220410259,1.66241221576911,1.66241221576911,2.2919400000004,0,0,-0.00039170186455081266,-9.999979597020143e-05
+16740,1792668148138660261,36688538000000,1792668148137853709,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760835077642393,-0.004628846235709566,0.08702027233341902,0.9999999883750187,2.426929846587904e-05,-2.779173283971901e-05,0.00011546188827831323,0.6761,-0.00453,0.08692227061766569,1.0,0.0,0.0,0.0,-0.09559619506372494,0.23883419649419263,1.513105524836698,0.0172232370737032,0.008363193712370324,-0.0008925397454361049,0.035859407164705946,0.17891460107992663,1.6423261634073667,0.010838497824335642,0.002379314733166267,-0.00012138444950501019,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0754111235733954,0.0037511929817909268,-1.0578587453472792,0.4791311088100276,0.8007692968944965,-0.03755695722918623,0.7250918013638956,1.513105524836698,1.7829505467111748,1.7829505467111748,2.315250000000405,0,0,-0.0004032466746808642,9.226051453226631e-05
+16776,1792668148438664067,36688838000000,1792668148437853568,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760859462914326,-0.004623146975155145,0.08690248227366144,0.9999999885200688,1.8194905822542814e-05,-2.3607126965398213e-05,0.00011625134691137767,0.6761,-0.00453,0.08680018814281558,1.0,0.0,0.0,0.0,-0.10309890699874202,0.26810462457570094,1.5014848278718491,0.01824661387491739,0.008426315644670833,-0.0008715314134615706,0.02835669522968887,0.20818502916143491,1.6307054664425178,0.01186187462554983,0.002442436665466777,-0.0001003761175304759,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0907180869233306,-0.04962301057785506,-0.9812643544498629,0.5055959122576391,0.7534925942725301,-0.07511796693700096,0.7250918013638956,1.5014848278718491,1.7063561558137585,1.7063561558137585,2.336250000000409,0,0,-0.00041109701654914863,-9.98793506498174e-05
+16807,1792668148697665690,36689097000000,1792668148697853826,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760827442672102,-0.004624988590549961,0.08678985415299448,0.9999999880896868,1.7303614940379017e-05,-2.783936991090101e-05,0.00011911777834382771,0.6761,-0.00453,0.08669209819096259,1.0,0.0,0.0,0.0,-0.0898457250063164,0.26037962568560585,1.5015107235972631,0.018271686820165146,0.007414288839865333,-0.0008865237342866922,0.0416098772221145,0.20046003027133985,1.6307313621679318,0.01188694757079759,0.0014304098606612776,-0.00011536843835559756,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.0939240382605413,-0.02095495911403208,-0.9764812314481769,0.5061206643187796,0.752460565093542,-0.051552138656302524,0.7250918013638956,1.5015107235972631,1.7015730328120724,1.7015730328120724,2.354380000000413,0,0,-0.00042354698523014287,-9.999999025923074e-05
+16843,1792668148997655410,36689397000000,1792668148993853705,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760831615089591,-0.00462325724013514,0.08666559863258749,0.9999999861641882,4.0383234798506256e-05,-2.5793349141208625e-05,0.0001296857183318185,0.6761,-0.00453,0.08656294040420992,1.0,0.0,0.0,0.0,-0.08705688630470566,0.2733384062124618,1.472155643136634,0.01929980632783168,0.0074003259489029815,-0.0008503611041797774,0.04439871592372523,0.2134188107981958,1.6013762817073027,0.012915067078464121,0.0014164469696989258,-7.92058082486828e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1226026969339136,-0.01881479499681055,-0.9623212040353598,0.517267530588399,0.7535684089900516,-0.04514115439105352,0.7250918013638956,1.472155643136634,1.6874130053992555,1.6874130053992555,2.3753800000004173,0,0,-0.0004379965842058172,-9.999999025923074e-05
+16879,1792668149297704749,36689697000000,1792668149297853961,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760838793933965,-0.004620540116628892,0.0865325345578908,0.9999999820376245,9.643725040800741e-05,-2.3817641156901767e-05,0.0001322882904990831,0.6761,-0.00453,0.08642929892938797,1.0,0.0,0.0,0.0,-0.0952934457459606,0.28703079545719795,1.5022712393308373,0.020281700120280008,0.008383550235727706,-0.0008493120502102872,0.036162156482470294,0.22711120004293192,1.631491877901506,0.01389696087091245,0.0023996712565236508,-7.815675427919249e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1337286437011378,-0.06667150225414685,-0.8749683515672765,0.5350698795779983,0.7009192037350912,-0.08459749728614467,0.7250918013638956,1.5022712393308373,1.6000601529311722,1.6000601529311722,2.3963800000004216,0,0,-0.0004529965812835864,-9.999999025923074e-05
+16911,1792668149563726289,36689963000000,1792668149561853665,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760777073108463,-0.004618276091571353,0.08640889609418435,0.9999999877234905,5.787756603019841e-05,-2.985765977093823e-05,0.0001084185899379036,0.6761,-0.00453,0.08630717716156751,1.0,0.0,0.0,0.0,-0.07845726007743553,0.2878329140684649,1.5024017933848721,0.020315373388329755,0.00737379894380037,-0.0008628083975352478,0.052998342150995366,0.22791331865419887,1.6316224319555408,0.013930634138962198,0.0013899199645963142,-9.165310160415314e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1640164435930351,0.03472188866479104,-0.9969790084957905,0.5159323469317697,0.7858740345171517,-0.014891687600542502,0.7250918013638956,1.5024017933848721,1.722070809859686,1.722070809859686,2.4150000000004255,0,0,-0.00046438639908083355,-8.889097377474115e-05
+16943,1792668149830699506,36690230000000,1792668149825853820,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760738416052828,-0.004620536021925503,0.08627802852022808,0.9999999857957005,5.831915563818774e-05,-3.489045518754087e-05,0.00012342202210980662,0.6761,-0.00453,0.08618145646508646,1.0,0.0,0.0,0.0,-0.07811242033966599,0.2743633698233492,1.4855783376322687,0.01930306092870363,0.007400666113058504,-0.001268974807798798,0.0533431818887649,0.2144437744090832,1.6147989762029373,0.012918321679336075,0.0014167871338544474,-0.0004978195118677034,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.1183020054619968,-0.00024241284119638299,-0.8826494055194463,0.5254823560388459,0.7030746795793831,-0.037810846740108935,0.7250918013638956,1.4855783376322687,1.6077412068833419,1.6077412068833419,2.4336900000004293,0,0,-0.0004773382722797744,-9.999999025923074e-05
+16975,1792668150097682751,36690497000000,1792668150093853964,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760741051723129,-0.004622785450094229,0.08615255063095238,0.9999999855424307,5.022199505895708e-05,-3.545559848494823e-05,0.00012875812400596902,0.6761,-0.00453,0.0860523809910003,1.0,0.0,0.0,0.0,-0.09435039215258567,0.2641812825697527,1.4932121809010364,0.019294373873068066,0.0073964416020830745,-0.0008708258452169124,0.03710521007584522,0.2042616871554867,1.622432819471705,0.012909634623700508,0.0014125626228790186,-9.967054928581773e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2246691167945623,-0.06019386125741645,-0.9277484514450632,0.5493913178220098,0.7588131590472103,-0.08049337667155171,0.7250918013638956,1.4932121809010364,1.652840252808959,1.652840252808959,2.452380000000433,0,0,-0.0004895208021119243,-9.999999025923074e-05
+17007,1792668150363723014,36690763000000,1792668150357853415,DOWN_FORCE_DETACH,2,0.0528,0.052801910787820816,0.6760846258351011,-0.004626846048763208,0.08602997778523863,0.9999999840155748,4.7174198987520816e-05,-2.435685669138267e-05,0.0001435027982470381,0.6761,-0.00453,0.08592043379958499,1.0,0.0,0.0,0.0,-0.10276086575065171,0.2856266489274042,1.4650268166874751,0.020293523821637037,0.0083962557094272,-0.0008191813649773744,0.028694736477779183,0.2257070535131382,1.5942474552581438,0.01390878457226948,0.0024123767302231427,-4.8026069046279745e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.264154279783144,-0.00366259398310095,-0.9644729455541069,0.5337093578949589,0.7948263390790696,-0.039827566162803696,0.7250918013638956,1.4650268166874751,1.6895647469180024,1.6895647469180024,2.471000000000437,0,0,-0.0005026793683069172,-9.999999025923074e-05
+17035,1792668150597716107,36690997000000,1792668150593854679,DOWN_FORCE_DETACH,2,0.0528,0.052802566438913345,0.6760843676520782,-0.004615982317310207,0.08591032422691963,0.9999999904859802,-4.4555638362773294e-06,-2.0791572536726607e-05,0.00010009376774441555,0.6761,-0.00453,0.08580144377766899,1.0,0.0,0.0,0.0,-0.10559876504815027,0.27911516525958646,1.4575363694776204,0.020295196066189243,0.008394604881634564,-0.0008172275118850234,0.025856837180280624,0.21919556984532043,1.5867570080482891,0.013910456816821683,0.002410725902430508,-4.607221595392873e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2239974578922392,-0.10978710229355264,-0.8645222348249572,0.5848420508405938,0.7155017289216659,-0.10837118511215788,0.7250918013638956,1.4575363694776204,1.5896140361888529,1.5896140361888529,2.4873800000004405,0,0,-0.0005143793660275772,-9.999999025923074e-05
+17064,1792668150832767549,36691232000000,1792668150825853519,DOWN_SETTLE,2,0.0528,0.052802566438913345,0.6760849037787307,-0.00462912235938094,0.08579560721931727,0.9999999859717595,5.707588389886966e-05,-2.1252901421489236e-05,0.0001256582784308501,0.6761,-0.00453,0.08569374164048413,1.0,0.0,0.0,0.0,-0.09774898317659778,0.2985887646337377,1.4725728896174195,0.021314887992549374,0.008374358744949201,-0.0008138176891621037,0.03370661905183311,0.23866916921947165,1.6017935281880882,0.014930148743181814,0.0023904797657451444,-4.2662393231008986e-05,0.1314556022284309,-0.059919595414266016,0.12922063857066865,-0.006384739249367558,-0.005983878979204056,0.0007711552959310947,1,1.2392800633462357,-0.041670075103493215,-0.9297254671783763,0.54731082582776,0.7713829608564488,-0.05923183611561624,0.7250918013638956,1.4725728896174195,1.654817268542272,0.0,0.0,0,0,-0.00023298342542651292,0.0023533679336011407
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efec1eea929da93b521235d15547f9868efac91b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e2bcab79816998fac071d9b045dad427717242e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792668114773324993,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.751085442e-09,-1.691724712e-11,2.438383606e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292350e-01,1.763464662e-06,8.295726893e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1792668115969412989,2.432360169e-06,-8.350657265e-06,-4.733752465e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.148477926e-08,-3.050731195e-10,5.345535958e-08,7.015403038e-01,-6.799695944e-06,8.407362074e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293127e-01,1.763176506e-06,8.295727403e-01
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+3,1.650000000e+00,DOWN_FORCE_DETACH,1792668118068496677,2.143870871e-05,-3.487487755e-05,-1.179838169e-04,2.200168928e-05,-2.684206533e-05,-1.069493520e-04,2.219994433e-05,-2.684315461e-05,-1.061371640e-04,7.015593102e-01,-3.332391623e-05,8.406229574e-01,7.015598732e-01,-2.529110401e-05,8.406339918e-01,7.017514312e-01,-2.507967303e-05,8.294665497e-01
+4,2.150000000e+00,DOWN_FORCE_DETACH,1792668118995969812,3.423476112e-05,-3.429774768e-05,-1.769464428e-04,3.173558116e-05,-3.685349600e-05,-1.672597338e-04,3.197439042e-05,-3.682839335e-05,-1.665951874e-04,7.015721062e-01,-3.274678636e-05,8.405639947e-01,7.015696071e-01,-3.530253468e-05,8.405736815e-01,7.017612056e-01,-3.506491177e-05,8.294060917e-01
+5,2.450000000e+00,DOWN_FORCE_DETACH,1792668119561298606,6.746696747e-05,-4.291090108e-05,-1.858692073e-04,6.241722914e-05,-3.937567298e-05,-1.860183227e-04,6.322187533e-05,-3.934882906e-05,-1.856372353e-04,7.016053384e-01,-4.135993976e-05,8.405550720e-01,7.016002887e-01,-3.782471166e-05,8.405549229e-01,7.017924531e-01,-3.758534748e-05,8.293870496e-01
+6,2.900000000e+00,DOWN_FORCE_DETACH,1792668120425324320,6.928851989e-05,-3.529040998e-05,-2.066084554e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.801710599e-05,-4.374243981e-05,-2.047936051e-04,7.016071600e-01,-3.373944866e-05,8.405343327e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017972484e-01,-4.197895823e-05,8.293678932e-01
+7,3.383333333e+00,DOWN_FORCE_DETACH,1792668121357530739,6.725401192e-05,-4.352287178e-05,-2.170181284e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.818813688e-05,-4.374282751e-05,-2.050778647e-04,7.016051255e-01,-4.197191046e-05,8.405239231e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017974194e-01,-4.197934593e-05,8.293676090e-01
+8,3.916666667e+00,DOWN_FORCE_DETACH,1792668122355847839,6.557928795e-05,-4.418043659e-05,-2.207322760e-04,6.691397716e-05,-4.379057924e-05,-2.050214722e-04,6.826282143e-05,-4.374389386e-05,-2.051714312e-04,7.016034508e-01,-4.262947527e-05,8.405202089e-01,7.016047855e-01,-4.223961791e-05,8.405359197e-01,7.017974941e-01,-4.198041228e-05,8.293675154e-01
+9,4.516666667e+00,DOWN_FORCE_DETACH,1792668123487443657,6.708576016e-05,-4.020422869e-05,-2.340239836e-04,6.557444380e-05,-4.251363063e-05,-2.250069817e-04,6.688011439e-05,-4.250066430e-05,-2.250030439e-04,7.016049572e-01,-3.865326736e-05,8.405069172e-01,7.016034459e-01,-4.096266931e-05,8.405159342e-01,7.017961114e-01,-4.073718272e-05,8.293476838e-01
+10,4.900000000e+00,DOWN_FORCE_DETACH,1792668124253697452,7.248295777e-05,-2.377663327e-05,-2.502130076e-04,6.848468072e-05,-3.811473065e-05,-2.460465745e-04,6.973549252e-05,-3.809273843e-05,-2.459210027e-04,7.016103544e-01,-2.222567195e-05,8.404907282e-01,7.016063562e-01,-3.656376933e-05,8.404948946e-01,7.017989668e-01,-3.632925685e-05,8.293267658e-01
+11,5.433333333e+00,DOWN_FORCE_DETACH,1792668125317233938,7.849119796e-05,-3.347828298e-05,-2.785415032e-04,7.758644610e-05,-2.774082976e-05,-2.608534949e-04,7.898269306e-05,-2.771991555e-05,-2.608137449e-04,7.016163627e-01,-3.192732166e-05,8.404623997e-01,7.016154579e-01,-2.618986844e-05,8.404800877e-01,7.018082140e-01,-2.595643397e-05,8.293118731e-01
+12,5.983333333e+00,DOWN_FORCE_DETACH,1792668126415686199,8.571756789e-05,-3.630544431e-05,-3.192474955e-04,7.962405010e-05,-3.632410752e-05,-3.042619342e-04,8.097672547e-05,-3.630775375e-05,-3.040822838e-04,7.016235890e-01,-3.475448299e-05,8.404216937e-01,7.016174955e-01,-3.477314620e-05,8.404366793e-01,7.018102080e-01,-3.454427217e-05,8.292686046e-01
+13,6.550000000e+00,DOWN_FORCE_DETACH,1792668127511255935,8.768736481e-05,-3.655349198e-05,-3.554773195e-04,8.776665824e-05,-3.487433801e-05,-3.438829751e-04,8.928776503e-05,-3.485379955e-05,-3.436355520e-04,7.016255588e-01,-3.500253066e-05,8.403854639e-01,7.016256381e-01,-3.332337669e-05,8.403970582e-01,7.018185190e-01,-3.309031797e-05,8.292290513e-01
+14,7.033333333e+00,DOWN_FORCE_DETACH,1792668128441349403,8.895715154e-05,-4.116279601e-05,-3.837827989e-04,8.887320526e-05,-4.125665807e-05,-3.837188550e-04,9.027501717e-05,-4.123069964e-05,-3.832000652e-04,7.016268286e-01,-3.961183469e-05,8.403571584e-01,7.016267447e-01,-3.970569675e-05,8.403572223e-01,7.018195063e-01,-3.946721806e-05,8.291894868e-01
+15,7.483333333e+00,DOWN_FORCE_DETACH,1792668129276355124,9.213092817e-05,-4.427996316e-05,-4.157980767e-04,9.146082024e-05,-4.560136874e-05,-4.037455897e-04,9.283656996e-05,-4.558865412e-05,-4.034275719e-04,7.016300024e-01,-4.272900184e-05,8.403251431e-01,7.016293323e-01,-4.405040742e-05,8.403371956e-01,7.018220678e-01,-4.382517254e-05,8.291692593e-01
+16,8.016666667e+00,DOWN_FORCE_DETACH,1792668130305447617,9.035677126e-05,-4.636293093e-05,-4.717400230e-04,9.024379825e-05,-5.028541001e-05,-4.696533056e-04,9.138195939e-05,-5.026898593e-05,-4.689581995e-04,7.016282283e-01,-4.481196961e-05,8.402692012e-01,7.016281153e-01,-4.873444869e-05,8.402712879e-01,7.018206132e-01,-4.850550435e-05,8.291037286e-01
+17,8.516666667e+00,DOWN_FORCE_DETACH,1792668131237264122,9.303180727e-05,-5.095537883e-05,-5.277799772e-04,9.027341923e-05,-5.052059157e-05,-5.116997138e-04,9.132905678e-05,-5.054008813e-05,-5.111954435e-04,7.016309033e-01,-4.940441751e-05,8.402131612e-01,7.016281449e-01,-4.896963025e-05,8.402292415e-01,7.018205603e-01,-4.877660655e-05,8.290614914e-01
+18,8.966666667e+00,DOWN_FORCE_DETACH,1792668132101297207,9.242324488e-05,-5.118222427e-05,-5.929564350e-04,9.231360613e-05,-5.109961503e-05,-5.930401763e-04,9.307393301e-05,-5.108342250e-05,-5.921578614e-04,7.016302947e-01,-4.963126295e-05,8.401479848e-01,7.016301851e-01,-4.954865371e-05,8.401479010e-01,7.018223052e-01,-4.931994092e-05,8.289805290e-01
+19,9.366666667e+00,DOWN_FORCE_DETACH,1792668132901470714,9.287830055e-05,-5.078027910e-05,-6.553102479e-04,8.956065564e-05,-4.514784918e-05,-6.385586239e-04,9.011150463e-05,-4.516253920e-05,-6.379014683e-04,7.016307498e-01,-4.922931778e-05,8.400856309e-01,7.016274321e-01,-4.359688786e-05,8.401023826e-01,7.018193428e-01,-4.339905762e-05,8.289347854e-01
+20,9.833333333e+00,DOWN_FORCE_DETACH,1792668133833562335,9.602570404e-05,-4.730160279e-05,-7.308435175e-04,9.471858357e-05,-5.457612650e-05,-7.256084509e-04,9.508935955e-05,-5.459049273e-05,-7.246226613e-04,7.016338972e-01,-4.575064147e-05,8.400100977e-01,7.016325901e-01,-5.302516518e-05,8.400153327e-01,7.018243206e-01,-5.282701115e-05,8.288480642e-01
+21,1.025000000e+01,DOWN_FORCE_DETACH,1792668134663323022,9.503826865e-05,-4.271567113e-05,-8.128549380e-04,9.487025212e-05,-4.297486120e-05,-8.129211655e-04,9.490843892e-05,-4.296586884e-05,-8.117150923e-04,7.016329098e-01,-4.116470981e-05,8.399280862e-01,7.016327417e-01,-4.142389988e-05,8.399280200e-01,7.018241397e-01,-4.120238726e-05,8.287609717e-01
+22,1.065000000e+01,DOWN_FORCE_DETACH,1792668135461342605,9.709689593e-05,-4.268286466e-05,-8.953562614e-04,9.543884786e-05,-4.552304792e-05,-8.785820261e-04,9.523904300e-05,-4.556860260e-05,-8.775682075e-04,7.016349684e-01,-4.113190334e-05,8.398455849e-01,7.016333103e-01,-4.397208659e-05,8.398623592e-01,7.018244703e-01,-4.380512102e-05,8.286951186e-01
+23,1.098333333e+01,DOWN_FORCE_DETACH,1792668136093291094,9.864808705e-05,-4.742141285e-05,-9.732197632e-04,9.565440592e-05,-4.722449424e-05,-9.684585279e-04,9.515650255e-05,-4.724624915e-05,-9.671679557e-04,7.016365196e-01,-4.587045153e-05,8.397677214e-01,7.016335259e-01,-4.567353292e-05,8.397724827e-01,7.018243878e-01,-4.548276757e-05,8.286055189e-01
+24,1.136666667e+01,DOWN_FORCE_DETACH,1792668136793387257,9.200074420e-05,-4.687666524e-05,-1.074914953e-03,9.296427701e-05,-5.496567245e-05,-1.063656748e-03,9.205795243e-05,-5.495505389e-05,-1.062394272e-03,7.016298722e-01,-4.532570392e-05,8.396660262e-01,7.016308358e-01,-5.341471113e-05,8.396772844e-01,7.018212892e-01,-5.319157231e-05,8.285102926e-01
+25,1.173333333e+01,DOWN_FORCE_DETACH,1792668137489450526,9.327221165e-05,-4.771215394e-05,-1.166317221e-03,9.401572455e-05,-4.381043404e-05,-1.148936373e-03,9.276098427e-05,-4.377840165e-05,-1.147854049e-03,7.016311437e-01,-4.616119262e-05,8.395746240e-01,7.016318872e-01,-4.225947272e-05,8.395920048e-01,7.018219922e-01,-4.201492007e-05,8.284248328e-01
+26,1.210000000e+01,DOWN_FORCE_DETACH,1792668138189544660,9.510643395e-05,-5.599000349e-05,-1.273603810e-03,9.568056126e-05,-4.759576654e-05,-1.266179899e-03,9.404404775e-05,-4.755687957e-05,-1.264730116e-03,7.016329779e-01,-5.443904217e-05,8.394673374e-01,7.016335520e-01,-4.604480522e-05,8.394747613e-01,7.018232753e-01,-4.579339799e-05,8.283079567e-01
+27,1.243333333e+01,DOWN_FORCE_DETACH,1792668138821389678,9.108240535e-05,-5.327180666e-05,-1.380579625e-03,9.092991160e-05,-5.345585678e-05,-1.380412340e-03,8.876570500e-05,-5.340894795e-05,-1.378624801e-03,7.016289539e-01,-5.172084534e-05,8.393603616e-01,7.016288014e-01,-5.190489546e-05,8.393605288e-01,7.018179970e-01,-5.164546637e-05,8.281940620e-01
+28,1.275000000e+01,DOWN_FORCE_DETACH,1792668139419445799,9.368241834e-05,-5.904120941e-05,-1.479760024e-03,9.153984174e-05,-5.599617197e-05,-1.463844328e-03,8.898271401e-05,-5.595669085e-05,-1.462348209e-03,7.016315539e-01,-5.749024809e-05,8.392611812e-01,7.016294113e-01,-5.444521064e-05,8.392770969e-01,7.018182140e-01,-5.419320927e-05,8.281103386e-01
+29,1.305000000e+01,DOWN_FORCE_DETACH,1792668139985883700,8.811885261e-05,-6.261031314e-05,-1.588986193e-03,8.885832458e-05,-6.307007399e-05,-1.578722261e-03,8.578524618e-05,-6.301761499e-05,-1.577038769e-03,7.016259903e-01,-6.105935182e-05,8.391519550e-01,7.016267298e-01,-6.151911267e-05,8.391622189e-01,7.018150165e-01,-6.125413341e-05,8.279956481e-01
+30,1.335000000e+01,DOWN_FORCE_DETACH,1792668140585821240,8.948415494e-05,-5.854125554e-05,-1.700854078e-03,8.950188046e-05,-5.852525168e-05,-1.700919562e-03,8.591330742e-05,-5.848238872e-05,-1.699030964e-03,7.016273556e-01,-5.699029422e-05,8.390400871e-01,7.016273734e-01,-5.697429036e-05,8.390400216e-01,7.018151446e-01,-5.671890714e-05,8.278736559e-01
+31,1.363333333e+01,DOWN_FORCE_DETACH,1792668141149516340,8.459906861e-05,-6.631233392e-05,-1.814478522e-03,8.455977612e-05,-6.634997604e-05,-1.814316893e-03,8.056846385e-05,-6.629981626e-05,-1.812269706e-03,7.016224706e-01,-6.476137260e-05,8.389264627e-01,7.016224313e-01,-6.479901472e-05,8.389266243e-01,7.018097997e-01,-6.453633468e-05,8.277604171e-01
+32,1.391666667e+01,DOWN_FORCE_DETACH,1792668141716160808,8.471666623e-05,-6.985108866e-05,-1.926764309e-03,8.376050389e-05,-7.568202814e-05,-1.919881338e-03,7.939356028e-05,-7.560427281e-05,-1.917990048e-03,7.016225881e-01,-6.830012734e-05,8.388141769e-01,7.016216320e-01,-7.413106682e-05,8.388210598e-01,7.018086248e-01,-7.384079123e-05,8.276546968e-01
+33,1.418333333e+01,DOWN_FORCE_DETACH,1792668142247783421,8.521880510e-05,-7.608052654e-05,-2.038604895e-03,8.217414233e-05,-7.814173487e-05,-2.020379458e-03,7.735558925e-05,-7.806795989e-05,-2.018595248e-03,7.016230903e-01,-7.452956522e-05,8.387023363e-01,7.016200456e-01,-7.659077355e-05,8.387205617e-01,7.018065868e-01,-7.630447831e-05,8.275540916e-01
+34,1.443333333e+01,DOWN_FORCE_DETACH,1792668142745529831,8.136007336e-05,-8.272258209e-05,-2.155082282e-03,8.034120572e-05,-7.878722170e-05,-2.140738808e-03,7.499807504e-05,-7.871895149e-05,-2.138921890e-03,7.016192316e-01,-8.117162076e-05,8.385858589e-01,7.016182127e-01,-7.723626038e-05,8.386002024e-01,7.018042293e-01,-7.695546991e-05,8.274337650e-01
+35,1.466666667e+01,DOWN_FORCE_DETACH,1792668143213402814,8.070711771e-05,-8.314299692e-05,-2.273265900e-03,8.070129790e-05,-7.669252129e-05,-2.263533054e-03,7.496224131e-05,-7.661587163e-05,-2.261409618e-03,7.016185786e-01,-8.159203560e-05,8.384676753e-01,7.016185728e-01,-7.514155997e-05,8.384774081e-01,7.018041935e-01,-7.485239005e-05,8.273112772e-01
+36,1.491666667e+01,DOWN_FORCE_DETACH,1792668143711347983,7.720141753e-05,-8.700902580e-05,-2.401598093e-03,7.716532352e-05,-8.711894833e-05,-2.401611901e-03,7.082683829e-05,-8.707519432e-05,-2.399267224e-03,7.016150729e-01,-8.545806448e-05,8.383393431e-01,7.016150368e-01,-8.556798701e-05,8.383393293e-01,7.018000581e-01,-8.531171274e-05,8.271734196e-01
+37,1.513333333e+01,DOWN_FORCE_DETACH,1792668144109563153,7.969129467e-05,-8.678759619e-05,-2.507342750e-03,7.972376557e-05,-8.666177396e-05,-2.507219075e-03,7.305728830e-05,-8.660774996e-05,-2.504997558e-03,7.016175628e-01,-8.523663487e-05,8.382335984e-01,7.016175952e-01,-8.511081264e-05,8.382337221e-01,7.018022885e-01,-8.484426838e-05,8.270676893e-01
+38,1.536666667e+01,DOWN_FORCE_DETACH,1792668144541357467,7.633752397e-05,-9.037124084e-05,-2.630221126e-03,7.742858609e-05,-9.282186398e-05,-2.617917523e-03,7.033659519e-05,-9.272072771e-05,-2.615917919e-03,7.016142090e-01,-8.882027952e-05,8.381107201e-01,7.016153001e-01,-9.127090265e-05,8.381230237e-01,7.017995679e-01,-9.095724613e-05,8.269567689e-01
+39,1.556666667e+01,DOWN_FORCE_DETACH,1792668144941756260,7.543121898e-05,-9.003211726e-05,-2.746192650e-03,7.364756586e-05,-9.212100589e-05,-2.733453491e-03,6.600414729e-05,-9.202739275e-05,-2.731357149e-03,7.016133027e-01,-8.848115594e-05,8.379947485e-01,7.016115190e-01,-9.057004457e-05,8.380074877e-01,7.017952354e-01,-9.026391117e-05,8.268413297e-01
+40,1.578333333e+01,DOWN_FORCE_DETACH,1792668145341420491,7.383728033e-05,-9.693363870e-05,-2.869762207e-03,7.386201051e-05,-9.676254415e-05,-2.869784368e-03,6.573237283e-05,-9.662626843e-05,-2.867458000e-03,7.016117088e-01,-9.538267738e-05,8.378711790e-01,7.016117335e-01,-9.521158283e-05,8.378711568e-01,7.017949636e-01,-9.486278685e-05,8.267052288e-01
+41,1.595000000e+01,DOWN_FORCE_DETACH,1792668145673292651,7.003450785e-05,-9.842427836e-05,-2.980779102e-03,6.975622174e-05,-9.844166161e-05,-2.981086433e-03,6.109900573e-05,-9.828234839e-05,-2.978513854e-03,7.016079060e-01,-9.687331704e-05,8.377601621e-01,7.016076277e-01,-9.689070029e-05,8.377598548e-01,7.017903303e-01,-9.651886681e-05,8.265941730e-01
+42,1.616666667e+01,DOWN_FORCE_DETACH,1792668146073660460,7.236343910e-05,-1.012212616e-04,-3.097879075e-03,7.218723173e-05,-1.012003611e-04,-3.097905609e-03,6.307467570e-05,-1.010485789e-04,-3.095547944e-03,7.016102349e-01,-9.967030031e-05,8.376430621e-01,7.016100587e-01,-9.964939979e-05,8.376430356e-01,7.017923059e-01,-9.928509737e-05,8.264771389e-01
+43,1.638333333e+01,DOWN_FORCE_DETACH,1792668146471362213,7.240346592e-05,-1.013280223e-04,-3.223700590e-03,7.219186823e-05,-1.015663804e-04,-3.223501788e-03,6.264889760e-05,-1.014199990e-04,-3.221265261e-03,7.016102749e-01,-9.977706100e-05,8.375172406e-01,7.016100633e-01,-1.000154190e-04,8.375174394e-01,7.017918802e-01,-9.965651737e-05,8.263514216e-01
+44,1.655000000e+01,DOWN_FORCE_DETACH,1792668146805428821,7.042857978e-05,-1.042314495e-04,-3.338101416e-03,6.803225435e-05,-1.011267317e-04,-3.318999251e-03,5.800527764e-05,-1.009629284e-04,-3.316999470e-03,7.016083001e-01,-1.026804882e-04,8.374028398e-01,7.016059037e-01,-9.957577043e-05,8.374219419e-01,7.017872365e-01,-9.919944678e-05,8.262556874e-01
+45,1.673333333e+01,DOWN_FORCE_DETACH,1792668147137588178,6.838298654e-05,-1.030873153e-04,-3.458331125e-03,6.827512087e-05,-1.035927104e-04,-3.446681243e-03,5.779331101e-05,-1.034204295e-04,-3.444563659e-03,7.016062545e-01,-1.015363540e-04,8.372826101e-01,7.016061466e-01,-1.020417491e-04,8.372942599e-01,7.017870246e-01,-1.016569479e-04,8.261281232e-01
+46,1.691666667e+01,DOWN_FORCE_DETACH,1792668147503365497,6.744007673e-05,-1.016739550e-04,-3.592475182e-03,6.729973390e-05,-1.017738658e-04,-3.592319868e-03,5.630905298e-05,-1.016172413e-04,-3.589777253e-03,7.016053116e-01,-1.001229937e-04,8.371484660e-01,7.016051712e-01,-1.002229045e-04,8.371486213e-01,7.017855403e-01,-9.985375968e-05,8.259829096e-01
+47,1.708333333e+01,DOWN_FORCE_DETACH,1792668147803365424,6.642705169e-05,-1.064533623e-04,-3.705477696e-03,6.691747256e-05,-1.084242601e-04,-3.688455732e-03,5.561574627e-05,-1.082738930e-04,-3.686268534e-03,7.016042985e-01,-1.049024010e-04,8.370354635e-01,7.016047890e-01,-1.068732988e-04,8.370524855e-01,7.017848470e-01,-1.065104114e-04,8.258864183e-01
+48,1.725000000e+01,DOWN_FORCE_DETACH,1792668148135303986,6.924475772e-05,-1.057159838e-04,-3.830862756e-03,6.498406974e-05,-1.076931043e-04,-3.822228847e-03,5.312956364e-05,-1.075474317e-04,-3.820074461e-03,7.016071162e-01,-1.041650224e-04,8.369100784e-01,7.016028556e-01,-1.061421429e-04,8.369187123e-01,7.017823608e-01,-1.057839501e-04,8.257526124e-01
+49,1.741666667e+01,DOWN_FORCE_DETACH,1792668148435367184,7.020958740e-05,-1.008896934e-04,-3.955561422e-03,6.996156534e-05,-1.011864227e-04,-3.955196405e-03,5.767832193e-05,-1.010286744e-04,-3.952945410e-03,7.016080811e-01,-9.933873211e-05,8.367853798e-01,7.016078330e-01,-9.963546133e-05,8.367857448e-01,7.017869096e-01,-9.926519278e-05,8.256197414e-01
+50,1.755000000e+01,DOWN_FORCE_DETACH,1792668148701383638,6.374828335e-05,-9.777221674e-05,-4.072049233e-03,6.360557190e-05,-9.775333684e-05,-4.072172235e-03,5.080257964e-05,-9.762545552e-05,-4.069778699e-03,7.016016198e-01,-9.622125541e-05,8.366688920e-01,7.016014771e-01,-9.620237552e-05,8.366687690e-01,7.017800338e-01,-9.586197394e-05,8.255029081e-01
+51,1.770000000e+01,DOWN_FORCE_DETACH,1792668149001448590,6.793496019e-05,-9.742823493e-05,-4.193277793e-03,6.783494311e-05,-9.751547747e-05,-4.193214367e-03,5.461788127e-05,-9.735714689e-05,-4.190898691e-03,7.016058064e-01,-9.587727361e-05,8.365476634e-01,7.016057064e-01,-9.596451615e-05,8.365477268e-01,7.017838491e-01,-9.559366531e-05,8.253817882e-01
+52,1.785000000e+01,DOWN_FORCE_DETACH,1792668149299414445,6.883832820e-05,-9.740911397e-05,-4.321392611e-03,6.709535512e-05,-9.591033908e-05,-4.307540397e-03,5.342701333e-05,-9.573660900e-05,-4.305548980e-03,7.016067098e-01,-9.585815265e-05,8.364195486e-01,7.016049668e-01,-9.435937776e-05,8.364334008e-01,7.017826583e-01,-9.397312742e-05,8.252671379e-01
+53,1.798333333e+01,DOWN_FORCE_DETACH,1792668149565611302,6.244672585e-05,-9.495406900e-05,-4.447458863e-03,6.370880747e-05,-9.472695751e-05,-4.432612491e-03,4.953452881e-05,-9.452658087e-05,-4.430697138e-03,7.016003182e-01,-9.340310768e-05,8.362934823e-01,7.016015803e-01,-9.317599619e-05,8.363083287e-01,7.017787658e-01,-9.276309929e-05,8.251419897e-01
+54,1.811666667e+01,DOWN_FORCE_DETACH,1792668149831437413,5.955390237e-05,-9.916230557e-05,-4.577055786e-03,5.985196420e-05,-9.920056963e-05,-4.560309646e-03,4.512820650e-05,-9.900895033e-05,-4.558435500e-03,7.015974254e-01,-9.761134425e-05,8.361638854e-01,7.015977234e-01,-9.764960831e-05,8.361806315e-01,7.017743595e-01,-9.724546875e-05,8.250142513e-01
+55,1.825000000e+01,DOWN_FORCE_DETACH,1792668150099330746,5.939027015e-05,-1.008393040e-04,-4.702058750e-03,5.922562472e-05,-1.010158759e-04,-4.701888603e-03,4.397003190e-05,-1.007781084e-04,-4.699946068e-03,7.015972618e-01,-9.928834263e-05,8.360388824e-01,7.015970971e-01,-9.946491463e-05,8.360390526e-01,7.017732013e-01,-9.901462679e-05,8.248727408e-01
+56,1.838333333e+01,DOWN_FORCE_DETACH,1792668150363433512,6.971135372e-05,-1.037399224e-04,-4.825011296e-03,6.673485082e-05,-1.055175621e-04,-4.811286578e-03,5.123518748e-05,-1.052785909e-04,-4.809483804e-03,7.016075828e-01,-1.021889611e-04,8.359159299e-01,7.016046063e-01,-1.039666007e-04,8.359296546e-01,7.017804664e-01,-1.035151093e-04,8.247632030e-01
+57,1.850000000e+01,DOWN_FORCE_DETACH,1792668150597432873,6.947859962e-05,-9.316072411e-05,-4.946099739e-03,6.919282057e-05,-9.346815590e-05,-4.945992262e-03,5.331643985e-05,-9.326266405e-05,-4.943997654e-03,7.016073501e-01,-9.160976279e-05,8.357948414e-01,7.016070643e-01,-9.191719457e-05,8.357949489e-01,7.017825477e-01,-9.149918247e-05,8.246286892e-01
+58,1.861666667e+01,DOWN_SETTLE,1792668150829344953,6.980739039e-05,-1.032031317e-04,-5.056987115e-03,7.100934730e-05,-1.026701721e-04,-5.044562197e-03,5.482554453e-05,-1.024641004e-04,-5.042897708e-03,7.016076789e-01,-1.016521704e-04,8.356839541e-01,7.016088808e-01,-1.011192108e-04,8.356963790e-01,7.017840568e-01,-1.007006188e-04,8.245297891e-01
+59,1.901666667e+01,DOWN_PEAK_HOLD,1792668151627465149,4.458620340e-05,-9.483564277e-05,-5.142829162e-03,4.792707395e-05,-9.965423840e-05,-5.133221502e-03,3.080490533e-05,-9.952794862e-05,-5.133003393e-03,7.015824577e-01,-9.328468145e-05,8.355981120e-01,7.015857986e-01,-9.810327708e-05,8.356077197e-01,7.017600362e-01,-9.776446704e-05,8.244396834e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d62e91d96d76259059c633a1dae97b7e3270b404
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.7095e-03,2.1405e-03,2.4559e+00,-3.6985e-02,3.6539e-02,-6.0697e-05,2.0002e-04,-6.1868e-05,2.4557e-05,4.9472e-06,1.2126e-05,-7.8806e-08,2.1081e-04,1.3096e-05
+1,6.1667e-01,DOWN_FORCE_DETACH,1.2604e-04,3.2902e-04,1.0618e-03,2.4586e+00,-3.6896e-02,3.6813e-02,-7.1646e-05,4.2385e-03,-1.1405e-03,2.6643e-03,9.4045e-05,2.8674e-04,-1.1028e-05,5.1346e-03,3.0197e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,2.5285e-04,-2.5854e-03,7.0705e-03,2.4747e+00,-3.7306e-02,3.6604e-02,-6.9808e-05,1.3241e-03,4.8681e-03,1.8767e-02,-3.1608e-04,7.7259e-05,-9.1905e-06,1.9433e-02,3.2551e-04
+3,1.6500e+00,DOWN_FORCE_DETACH,3.7915e-04,-3.5820e-03,9.8747e-03,2.4907e+00,-3.7482e-02,3.6516e-02,-6.7262e-05,3.2750e-04,7.6724e-03,3.4788e-02,-4.9255e-04,-1.0896e-05,-6.6438e-06,3.5626e-02,4.9271e-04
+4,2.1500e+00,DOWN_FORCE_DETACH,5.0799e-04,-6.0864e-03,1.4556e-02,2.4938e+00,-3.7762e-02,3.6328e-02,-6.1674e-05,-2.1769e-03,1.2354e-02,3.7957e-02,-7.7217e-04,-1.9876e-04,-1.0557e-06,3.9976e-02,7.9735e-04
+5,2.4500e+00,DOWN_FORCE_DETACH,6.4114e-04,-1.2442e-02,1.5586e-02,2.4831e+00,-3.7817e-02,3.5914e-02,-5.7340e-05,-8.5320e-03,1.3384e-02,2.7164e-02,-8.2717e-04,-6.1223e-04,3.2777e-06,3.1461e-02,1.0291e-03
+6,2.9000e+00,DOWN_FORCE_DETACH,7.6208e-04,-1.0520e-02,1.6266e-02,2.4678e+00,-3.7865e-02,3.6022e-02,-4.7966e-05,-6.6103e-03,1.4064e-02,1.1889e-02,-8.7513e-04,-5.0440e-04,1.2652e-05,1.9566e-02,1.0102e-03
+7,3.3833e+00,DOWN_FORCE_DETACH,8.8930e-04,-3.2073e-03,1.6462e-02,2.4546e+00,-3.7902e-02,3.6529e-02,-3.6216e-05,7.0217e-04,1.4260e-02,-1.2710e-03,-9.1229e-04,2.4959e-06,2.4402e-05,1.4334e-02,9.1262e-04
+8,3.9167e+00,DOWN_FORCE_DETACH,1.0161e-03,1.8333e-03,1.6958e-02,2.4486e+00,-3.7972e-02,3.6915e-02,-1.0521e-05,5.7428e-03,1.4756e-02,-7.3125e-03,-9.8217e-04,3.8881e-04,5.0097e-05,1.7441e-02,1.0575e-03
+9,4.5167e+00,DOWN_FORCE_DETACH,1.1415e-03,3.9826e-03,1.6583e-02,2.4560e+00,-3.7953e-02,3.7058e-02,5.4347e-06,7.8921e-03,1.4380e-02,1.5545e-04,-9.6367e-04,5.3188e-04,6.6053e-05,1.6404e-02,1.1027e-03
+10,4.9000e+00,DOWN_FORCE_DETACH,1.2722e-03,3.6078e-03,1.5620e-02,2.4589e+00,-3.7894e-02,3.7036e-02,4.4359e-06,7.5173e-03,1.3417e-02,3.0582e-03,-9.0466e-04,5.0948e-04,6.5054e-05,1.5681e-02,1.0403e-03
+11,5.4333e+00,DOWN_FORCE_DETACH,1.3938e-03,8.5926e-04,1.1851e-02,2.4601e+00,-3.7643e-02,3.6846e-02,1.5552e-06,4.7688e-03,9.6490e-03,4.1673e-03,-6.5371e-04,3.1918e-04,6.2173e-05,1.1542e-02,7.3012e-04
+12,5.9833e+00,DOWN_FORCE_DETACH,1.5240e-03,3.2483e-03,1.3836e-02,2.4680e+00,-3.7775e-02,3.6995e-02,1.8914e-06,7.1578e-03,1.1634e-02,1.2074e-02,-7.8564e-04,4.6843e-04,6.2509e-05,1.8231e-02,9.1682e-04
+13,6.5500e+00,DOWN_FORCE_DETACH,1.6493e-03,3.2864e-03,1.3220e-02,2.4706e+00,-3.7747e-02,3.6997e-02,2.9201e-06,7.1960e-03,1.1018e-02,1.4720e-02,-7.5676e-04,4.7063e-04,6.3538e-05,1.9744e-02,8.9342e-04
+14,7.0333e+00,DOWN_FORCE_DETACH,1.7757e-03,6.0762e-03,1.3972e-02,2.4672e+00,-3.7807e-02,3.7189e-02,5.2935e-06,9.9857e-03,1.1770e-02,1.1298e-02,-8.1696e-04,6.6241e-04,6.5911e-05,1.9129e-02,1.0538e-03
+15,7.4833e+00,DOWN_FORCE_DETACH,1.9045e-03,6.0389e-03,1.5963e-02,2.4736e+00,-3.7948e-02,3.7189e-02,8.8761e-06,9.9484e-03,1.3761e-02,1.7701e-02,-9.5805e-04,6.6254e-04,6.9494e-05,2.4529e-02,1.1669e-03
+16,8.0167e+00,DOWN_FORCE_DETACH,2.0304e-03,8.3684e-03,1.6772e-02,2.4791e+00,-3.8008e-02,3.7341e-02,1.3619e-05,1.2278e-02,1.4570e-02,2.3190e-02,-1.0185e-03,8.1493e-04,7.4237e-05,3.0014e-02,1.3065e-03
+17,8.5167e+00,DOWN_FORCE_DETACH,2.1583e-03,8.1356e-03,1.7591e-02,2.4837e+00,-3.8050e-02,3.7327e-02,1.7325e-05,1.2045e-02,1.5389e-02,2.7776e-02,-1.0602e-03,8.0015e-04,7.7943e-05,3.3962e-02,1.3305e-03
+18,8.9667e+00,DOWN_FORCE_DETACH,2.2864e-03,7.5843e-03,1.7267e-02,2.4882e+00,-3.8002e-02,3.7283e-02,1.9789e-05,1.1494e-02,1.5064e-02,3.2280e-02,-1.0124e-03,7.5627e-04,8.0407e-05,3.7430e-02,1.2662e-03
+19,9.3667e+00,DOWN_FORCE_DETACH,2.4096e-03,8.9104e-03,1.6588e-02,2.4942e+00,-3.7920e-02,3.7365e-02,2.0067e-05,1.2820e-02,1.4386e-02,3.8268e-02,-9.2980e-04,8.3851e-04,8.0685e-05,4.2846e-02,1.2546e-03
+20,9.8333e+00,DOWN_FORCE_DETACH,2.5373e-03,7.4756e-03,1.6719e-02,2.4962e+00,-3.7891e-02,3.7269e-02,1.6107e-05,1.1385e-02,1.4517e-02,4.0284e-02,-9.0117e-04,7.4197e-04,7.6725e-05,4.4308e-02,1.1698e-03
+21,1.0250e+01,DOWN_FORCE_DETACH,2.6656e-03,9.0376e-03,1.4672e-02,2.5032e+00,-3.7754e-02,3.7366e-02,9.3671e-06,1.2947e-02,1.2470e-02,4.7343e-02,-7.6376e-04,8.3991e-04,6.9985e-05,5.0640e-02,1.1374e-03
+22,1.0650e+01,DOWN_FORCE_DETACH,2.7921e-03,9.2240e-03,1.3759e-02,2.5105e+00,-3.7700e-02,3.7377e-02,2.1542e-06,1.3134e-02,1.1557e-02,5.4577e-02,-7.1063e-04,8.5089e-04,6.2772e-05,5.7312e-02,1.1104e-03
+23,1.0983e+01,DOWN_FORCE_DETACH,2.9165e-03,9.3750e-03,1.4021e-02,2.5165e+00,-3.7719e-02,3.7385e-02,-1.2832e-06,1.3285e-02,1.1819e-02,6.0606e-02,-7.2908e-04,8.5865e-04,5.9335e-05,6.3161e-02,1.1280e-03
+24,1.1367e+01,DOWN_FORCE_DETACH,3.0496e-03,1.0535e-02,1.7080e-02,2.5214e+00,-3.7895e-02,3.7456e-02,-8.3458e-07,1.4445e-02,1.4878e-02,6.5464e-02,-9.0550e-04,9.2957e-04,5.9783e-05,6.8670e-02,1.2991e-03
+25,1.1733e+01,DOWN_FORCE_DETACH,3.1702e-03,9.8422e-03,1.6464e-02,2.5198e+00,-3.7824e-02,3.7412e-02,7.8299e-07,1.3752e-02,1.4261e-02,6.3908e-02,-8.3457e-04,8.8497e-04,6.1401e-05,6.6908e-02,1.2180e-03
+26,1.2100e+01,DOWN_FORCE_DETACH,3.2964e-03,8.9356e-03,1.7407e-02,2.5220e+00,-3.7861e-02,3.7349e-02,2.4738e-06,1.2845e-02,1.5204e-02,6.6090e-02,-8.7115e-04,8.2218e-04,6.3092e-05,6.9022e-02,1.1995e-03
+27,1.2433e+01,DOWN_FORCE_DETACH,3.4274e-03,8.9960e-03,1.9245e-02,2.5308e+00,-3.7966e-02,3.7345e-02,3.8253e-06,1.2905e-02,1.7043e-02,7.4954e-02,-9.7659e-04,8.1852e-04,6.4443e-05,7.7943e-02,1.2759e-03
+28,1.2750e+01,DOWN_FORCE_DETACH,3.5539e-03,7.4415e-03,2.0525e-02,2.5384e+00,-3.8052e-02,3.7236e-02,4.4551e-06,1.1351e-02,1.8322e-02,8.2497e-02,-1.0627e-03,7.0993e-04,6.5073e-05,8.5266e-02,1.2797e-03
+29,1.3050e+01,DOWN_FORCE_DETACH,3.6793e-03,5.0795e-03,2.2363e-02,2.5421e+00,-3.8181e-02,3.7072e-02,4.1301e-06,8.9891e-03,2.0161e-02,8.6188e-02,-1.1907e-03,5.4515e-04,6.4748e-05,8.8969e-02,1.3112e-03
+30,1.3350e+01,DOWN_FORCE_DETACH,3.8103e-03,2.5117e-03,2.3098e-02,2.5397e+00,-3.8226e-02,3.6894e-02,1.9537e-06,6.4212e-03,2.0895e-02,8.3840e-02,-1.2364e-03,3.6751e-04,6.2572e-05,8.6643e-02,1.2914e-03
+31,1.3633e+01,DOWN_FORCE_DETACH,3.9355e-03,4.6975e-03,2.4120e-02,2.5413e+00,-3.8280e-02,3.7027e-02,-1.0045e-06,8.6070e-03,2.1917e-02,8.5373e-02,-1.2905e-03,5.0047e-04,5.9613e-05,8.8561e-02,1.3854e-03
+32,1.3917e+01,DOWN_FORCE_DETACH,4.0659e-03,8.0825e-03,2.7360e-02,2.5455e+00,-3.8478e-02,3.7250e-02,-2.9784e-06,1.1992e-02,2.5158e-02,8.9617e-02,-1.4880e-03,7.2324e-04,5.7640e-05,9.3851e-02,1.6554e-03
+33,1.4183e+01,DOWN_FORCE_DETACH,4.1870e-03,8.4437e-03,2.9199e-02,2.5485e+00,-3.8581e-02,3.7278e-02,-5.3432e-06,1.2353e-02,2.6996e-02,9.2603e-02,-1.5917e-03,7.5192e-04,5.5275e-05,9.7246e-02,1.7612e-03
+34,1.4433e+01,DOWN_FORCE_DETACH,4.3119e-03,9.2457e-03,2.9111e-02,2.5533e+00,-3.8564e-02,3.7330e-02,-7.8097e-06,1.3155e-02,2.6908e-02,9.7398e-02,-1.5741e-03,8.0376e-04,5.2808e-05,1.0190e-01,1.7682e-03
+35,1.4667e+01,DOWN_FORCE_DETACH,4.4400e-03,1.0191e-02,2.8375e-02,2.5569e+00,-3.8517e-02,3.7391e-02,-9.0666e-06,1.4100e-02,2.6173e-02,1.0097e-01,-1.5273e-03,8.6452e-04,5.1551e-05,1.0526e-01,1.7558e-03
+36,1.4917e+01,DOWN_FORCE_DETACH,4.5746e-03,1.1653e-02,2.8716e-02,2.5614e+00,-3.8538e-02,3.7489e-02,-9.7239e-06,1.5562e-02,2.6513e-02,1.0551e-01,-1.5478e-03,9.6204e-04,5.0894e-05,1.0990e-01,1.8232e-03
+37,1.5133e+01,DOWN_FORCE_DETACH,4.6928e-03,1.1243e-02,2.9810e-02,2.5592e+00,-3.8595e-02,3.7467e-02,-1.0388e-05,1.5152e-02,2.7608e-02,1.0332e-01,-1.6052e-03,9.4058e-04,5.0230e-05,1.0801e-01,1.8612e-03
+38,1.5367e+01,DOWN_FORCE_DETACH,4.8240e-03,1.0687e-02,3.2191e-02,2.5601e+00,-3.8720e-02,3.7433e-02,-1.0528e-05,1.4596e-02,2.9988e-02,1.0418e-01,-1.7302e-03,9.0600e-04,5.0089e-05,1.0939e-01,1.9537e-03
+39,1.5567e+01,DOWN_FORCE_DETACH,4.9482e-03,1.2095e-02,3.4775e-02,2.5631e+00,-3.8858e-02,3.7523e-02,-9.5026e-06,1.6004e-02,3.2573e-02,1.0725e-01,-1.8681e-03,9.9597e-04,5.1115e-05,1.1323e-01,2.1177e-03
+40,1.5783e+01,DOWN_FORCE_DETACH,5.0810e-03,1.1167e-02,3.5603e-02,2.5628e+00,-3.8883e-02,3.7463e-02,-7.8648e-06,1.5076e-02,3.3400e-02,1.0693e-01,-1.8932e-03,9.3689e-04,5.2753e-05,1.1304e-01,2.1130e-03
+41,1.5950e+01,DOWN_FORCE_DETACH,5.2018e-03,9.9866e-03,3.7556e-02,2.5629e+00,-3.8989e-02,3.7386e-02,-6.2290e-06,1.3896e-02,3.5354e-02,1.0706e-01,-1.9988e-03,8.5908e-04,5.4389e-05,1.1360e-01,2.1763e-03
+42,1.6167e+01,DOWN_FORCE_DETACH,5.3315e-03,8.2808e-03,3.9497e-02,2.5650e+00,-3.9090e-02,3.7269e-02,-4.5920e-06,1.2190e-02,3.7295e-02,1.0910e-01,-2.1006e-03,7.4233e-04,5.6026e-05,1.1594e-01,2.2286e-03
+43,1.6383e+01,DOWN_FORCE_DETACH,5.4620e-03,7.9409e-03,3.9504e-02,2.5635e+00,-3.9077e-02,3.7240e-02,-4.2070e-06,1.1850e-02,3.7302e-02,1.0758e-01,-2.0877e-03,7.1318e-04,5.6411e-05,1.1447e-01,2.2069e-03
+44,1.6550e+01,DOWN_FORCE_DETACH,5.5792e-03,9.5245e-03,4.0061e-02,2.5647e+00,-3.9102e-02,3.7337e-02,-4.6493e-06,1.3434e-02,3.7859e-02,1.0886e-01,-2.1126e-03,8.1064e-04,5.5969e-05,1.1603e-01,2.2635e-03
+45,1.6733e+01,DOWN_FORCE_DETACH,5.7068e-03,9.8400e-03,4.0481e-02,2.5656e+00,-3.9116e-02,3.7356e-02,-5.8782e-06,1.3749e-02,3.8278e-02,1.0970e-01,-2.1264e-03,8.2932e-04,5.4740e-05,1.1700e-01,2.2831e-03
+46,1.6917e+01,DOWN_FORCE_DETACH,5.8454e-03,1.1508e-02,4.0005e-02,2.5714e+00,-3.9077e-02,3.7462e-02,-7.5589e-06,1.5418e-02,3.7802e-02,1.1554e-01,-2.0873e-03,9.3541e-04,5.3059e-05,1.2254e-01,2.2880e-03
+47,1.7083e+01,DOWN_FORCE_DETACH,5.9628e-03,1.2115e-02,3.9571e-02,2.5715e+00,-3.9046e-02,3.7503e-02,-9.1246e-06,1.6024e-02,3.7368e-02,1.1559e-01,-2.0559e-03,9.7685e-04,5.1493e-05,1.2254e-01,2.2767e-03
+48,1.7250e+01,DOWN_FORCE_DETACH,6.0933e-03,1.2754e-02,3.9838e-02,2.5740e+00,-3.9052e-02,3.7547e-02,-1.1688e-05,1.6664e-02,3.7636e-02,1.1815e-01,-2.0624e-03,1.0203e-03,4.8930e-05,1.2512e-01,2.3015e-03
+49,1.7417e+01,DOWN_FORCE_DETACH,6.2223e-03,1.0820e-02,3.8961e-02,2.5671e+00,-3.8979e-02,3.7426e-02,-1.5757e-05,1.4729e-02,3.6759e-02,1.1118e-01,-1.9896e-03,8.9984e-04,4.4861e-05,1.1802e-01,2.1841e-03
+50,1.7550e+01,DOWN_FORCE_DETACH,6.3439e-03,1.1007e-02,3.8899e-02,2.5712e+00,-3.8964e-02,3.7436e-02,-1.9187e-05,1.4917e-02,3.6697e-02,1.1528e-01,-1.9746e-03,9.0952e-04,4.1431e-05,1.2190e-01,2.1744e-03
+51,1.7700e+01,DOWN_FORCE_DETACH,6.4674e-03,1.0196e-02,3.7583e-02,2.5713e+00,-3.8872e-02,3.7383e-02,-2.1505e-05,1.4106e-02,3.5381e-02,1.1538e-01,-1.8818e-03,8.5669e-04,3.9113e-05,1.2150e-01,2.0680e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cda18a251c422337422bd9a18a668f46bfb113fc
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ad26b4490a8093a0e7262d9b7b20bbf1cde4b5d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d71bfe5644fb24af4964fa05566a6e1898a1e32
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67a02e718335aab75bb95a338627e64dabfc6926
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+59,8.616666667e+00,UP_FORCE_HOLD,1792668108285387304,-5.480650923e-05,-4.618478124e-05,1.366475882e-04,-4.911607855e-05,-4.505993735e-05,1.293044007e-04,-4.985922552e-05,-4.503931241e-05,1.292931515e-04,7.014830650e-01,-4.463381992e-05,8.408775888e-01,7.014887554e-01,-4.350897603e-05,8.408702456e-01,7.016793720e-01,-4.327583080e-05,8.297019800e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b7fd3e207aedb146959d1b98c969464bf8dc303
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.7095e-03,2.1405e-03,2.4559e+00,-3.6985e-02,3.6539e-02,-6.0695e-05,2.0003e-04,-6.1871e-05,2.4796e-05,4.9509e-06,1.2130e-05,-7.8791e-08,2.1084e-04,1.3101e-05
+1,1.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,3.4840e-05,-2.5150e-03,1.7776e-03,2.4565e+00,-3.6956e-02,3.6612e-02,-6.1423e-05,1.3945e-03,-4.2487e-04,5.8270e-04,3.4209e-05,8.5920e-05,-8.0692e-07,1.5699e-03,9.2483e-05
+2,3.0000e-01,WAIT_W2,6.8782e-05,-1.5316e-03,1.5276e-03,2.4573e+00,-3.6936e-02,3.6676e-02,-6.2396e-05,2.3779e-03,-6.7486e-04,1.3716e-03,5.4259e-05,1.4937e-04,-1.7795e-06,2.8269e-03,1.5893e-04
+3,4.5000e-01,WAIT_W2,1.0456e-04,-2.4394e-04,1.2158e-03,2.4582e+00,-3.6909e-02,3.6768e-02,-7.7028e-05,3.6656e-03,-9.8665e-04,2.3053e-03,8.0608e-05,2.4185e-04,-1.6412e-05,4.4412e-03,2.5545e-04
+4,6.3333e-01,WAIT_W2,1.3697e-04,1.3521e-04,1.2000e-03,2.4585e+00,-3.6909e-02,3.6793e-02,-7.7058e-05,4.0447e-03,-1.0024e-03,2.6131e-03,8.1219e-05,2.6663e-04,-1.6442e-05,4.9186e-03,2.7921e-04
+5,8.6667e-01,WAIT_W2,1.7385e-04,3.3938e-04,-6.3794e-03,2.4595e+00,-3.6374e-02,3.6806e-02,-1.0601e-04,4.2489e-03,-8.5818e-03,3.6407e-03,6.1604e-04,2.7942e-04,-4.5392e-05,1.0245e-02,6.7796e-04
+6,9.6667e-01,WAIT_W2,2.0550e-04,-1.2963e-03,-1.3577e-02,2.4539e+00,-3.5900e-02,3.6703e-02,-1.0799e-04,2.6132e-03,-1.5780e-02,-2.0032e-03,1.0895e-03,1.7622e-04,-4.7378e-05,1.6119e-02,1.1047e-03
+7,1.1000e+00,WAIT_W2,2.4501e-04,-5.2895e-04,-1.2570e-02,2.4555e+00,-3.5955e-02,3.6751e-02,-1.0888e-04,3.3806e-03,-1.4772e-02,-4.2725e-04,1.0352e-03,2.2412e-04,-4.8259e-05,1.5160e-02,1.0603e-03
+8,1.2333e+00,WAIT_W2,2.7908e-04,-2.3946e-05,-1.2600e-02,2.4567e+00,-3.5948e-02,3.6783e-02,-1.0928e-04,3.8856e-03,-1.4803e-02,8.1968e-04,1.0419e-03,2.5654e-04,-4.8668e-05,1.5326e-02,1.0741e-03
+9,1.4167e+00,UP_FORCE_RAMP,3.1434e-04,5.1753e-04,-1.2770e-02,2.4580e+00,-3.5935e-02,3.6819e-02,-1.0926e-04,4.4270e-03,-1.4972e-02,2.0647e-03,1.0552e-03,2.9234e-04,-4.8645e-05,1.5749e-02,1.0960e-03
+10,1.5667e+00,UP_FORCE_RAMP,3.4862e-04,8.2632e-04,-1.2850e-02,2.4586e+00,-3.5929e-02,3.6840e-02,-1.0896e-04,4.7358e-03,-1.5052e-02,2.6970e-03,1.0605e-03,3.1316e-04,-4.8347e-05,1.6008e-02,1.1068e-03
+11,1.6833e+00,UP_FORCE_RAMP,3.8736e-04,3.5186e-03,-6.5098e-03,2.4621e+00,-3.6374e-02,3.7026e-02,-7.7754e-05,7.4281e-03,-8.7122e-03,6.1684e-03,6.1595e-04,4.9926e-04,-1.7137e-05,1.3005e-02,7.9306e-04
+12,1.7667e+00,UP_FORCE_RAMP,4.1568e-04,3.4910e-03,-6.3796e-03,2.4621e+00,-3.6384e-02,3.7025e-02,-7.7686e-05,7.4005e-03,-8.5820e-03,6.1769e-03,6.0586e-04,4.9821e-04,-1.7069e-05,1.2906e-02,7.8458e-04
+13,1.9167e+00,UP_FORCE_RAMP,4.5242e-04,3.2920e-03,-6.2772e-03,2.4618e+00,-3.6393e-02,3.7013e-02,-7.7662e-05,7.2015e-03,-8.4796e-03,5.8837e-03,5.9705e-04,4.8625e-04,-1.7046e-05,1.2585e-02,7.7019e-04
+14,2.0333e+00,UP_FORCE_RAMP,4.8781e-04,3.0970e-03,-6.2205e-03,2.4615e+00,-3.6398e-02,3.7001e-02,-7.7710e-05,7.0065e-03,-8.4229e-03,5.5685e-03,5.9206e-04,4.7402e-04,-1.7094e-05,1.2290e-02,7.5863e-04
+15,2.1667e+00,UP_FORCE_RAMP,5.2091e-04,2.1643e-03,2.3404e-03,2.4607e+00,-3.7017e-02,3.6935e-02,-6.9871e-05,6.0738e-03,1.3803e-04,4.8084e-03,-2.7321e-05,4.0827e-04,-9.2544e-06,7.7480e-03,4.0928e-04
+16,2.3667e+00,UP_FORCE_RAMP,5.5702e-04,2.1831e-03,1.7463e-03,2.4604e+00,-3.6961e-02,3.6938e-02,-5.9609e-05,6.0926e-03,-4.5616e-04,4.5009e-03,2.8308e-05,4.1097e-04,1.0073e-06,7.5885e-03,4.1195e-04
+17,2.5167e+00,UP_FORCE_RAMP,5.9050e-04,2.1737e-03,1.6578e-03,2.4604e+00,-3.6955e-02,3.6937e-02,-5.9756e-05,6.0833e-03,-5.4465e-04,4.5376e-03,3.4291e-05,4.1040e-04,8.6053e-07,7.6087e-03,4.1183e-04
+18,2.6667e+00,UP_FORCE_RAMP,6.2383e-04,2.1210e-03,1.5928e-03,2.4604e+00,-3.6948e-02,3.6934e-02,-6.5940e-05,6.0305e-03,-6.0967e-04,4.5133e-03,4.2018e-05,4.0720e-04,-5.3240e-06,7.5570e-03,4.0940e-04
+19,2.8167e+00,UP_FORCE_RAMP,6.6087e-04,2.1451e-03,1.5802e-03,2.4603e+00,-3.6947e-02,3.6935e-02,-6.6059e-05,6.0546e-03,-6.2219e-04,4.4508e-03,4.3042e-05,4.0871e-04,-5.4427e-06,7.5402e-03,4.1101e-04
+20,3.0000e+00,UP_FORCE_RAMP,6.9286e-04,2.1446e-03,1.5836e-03,2.4603e+00,-3.6946e-02,3.6935e-02,-6.6350e-05,6.0541e-03,-6.1885e-04,4.3755e-03,4.3444e-05,4.0868e-04,-5.7335e-06,7.4953e-03,4.1102e-04
+21,3.1500e+00,UP_FORCE_RAMP,7.3032e-04,8.8019e-03,8.2518e-03,2.4534e+00,-3.7385e-02,3.7377e-02,-6.4761e-05,1.2711e-02,6.0494e-03,-2.4600e-03,-3.9518e-04,8.5017e-04,-4.1444e-06,1.4291e-02,9.3753e-04
+22,3.2333e+00,UP_FORCE_RAMP,7.6342e-04,7.5162e-03,7.4116e-03,2.4547e+00,-3.7338e-02,3.7301e-02,-6.4412e-05,1.1426e-02,5.2092e-03,-1.2317e-03,-3.4842e-04,7.7440e-04,-3.7962e-06,1.2617e-02,8.4918e-04
+23,3.3667e+00,UP_FORCE_RAMP,8.0077e-04,6.4159e-03,7.2538e-03,2.4562e+00,-3.7335e-02,3.7235e-02,-6.4093e-05,1.0325e-02,5.0514e-03,2.9516e-04,-3.4501e-04,7.0838e-04,-3.4766e-06,1.1499e-02,7.8794e-04
+24,3.5167e+00,UP_FORCE_RAMP,8.3310e-04,5.5987e-03,7.3725e-03,2.4574e+00,-3.7347e-02,3.7183e-02,-6.4050e-05,9.5082e-03,5.1701e-03,1.4777e-03,-3.5677e-04,6.5657e-04,-3.4334e-06,1.0923e-02,7.4725e-04
+25,3.5667e+00,UP_FORCE_RAMP,8.7354e-04,5.4049e-03,7.4034e-03,2.4576e+00,-3.7349e-02,3.7170e-02,-6.4084e-05,9.3145e-03,5.2010e-03,1.7333e-03,-3.5945e-04,6.4388e-04,-3.4678e-06,1.0808e-02,7.3743e-04
+26,3.6167e+00,UP_FORCE_RAMP,9.0353e-04,1.4699e-02,9.1858e-03,2.4574e+00,-3.7467e-02,3.7777e-02,-6.3460e-05,1.8608e-02,6.9834e-03,1.4586e-03,-4.7692e-04,1.2506e-03,-2.8434e-06,1.9929e-02,1.3385e-03
+27,3.7167e+00,UP_FORCE_RAMP,9.3961e-04,1.8140e-02,1.0128e-02,2.4575e+00,-3.7532e-02,3.8015e-02,-6.3340e-05,2.2050e-02,7.9251e-03,1.6160e-03,-5.4242e-04,1.4880e-03,-2.7235e-06,2.3487e-02,1.5838e-03
+28,3.8667e+00,UP_FORCE_RAMP,9.7375e-04,1.6740e-02,1.0681e-02,2.4580e+00,-3.7574e-02,3.7942e-02,-6.3892e-05,2.0650e-02,8.4782e-03,2.1491e-03,-5.8410e-04,1.4152e-03,-3.2760e-06,2.2426e-02,1.5310e-03
+29,3.9833e+00,UP_FORCE_RAMP,1.0069e-03,1.4733e-02,1.1125e-02,2.4568e+00,-3.7606e-02,3.7819e-02,-6.4566e-05,1.8642e-02,8.9222e-03,9.4557e-04,-6.1617e-04,1.2926e-03,-3.9501e-06,2.0689e-02,1.4320e-03
+30,4.1333e+00,UP_FORCE_RAMP,1.0401e-03,1.2842e-02,1.2347e-02,2.4486e+00,-3.7692e-02,3.7704e-02,-6.5292e-05,1.6751e-02,1.0144e-02,-7.3123e-03,-7.0204e-04,1.1774e-03,-4.6753e-06,2.0904e-02,1.3708e-03
+31,4.3167e+00,UP_FORCE_RAMP,1.0770e-03,1.0651e-02,1.2755e-02,2.4507e+00,-3.7727e-02,3.7559e-02,-6.6376e-05,1.4561e-02,1.0553e-02,-5.2280e-03,-7.3677e-04,1.0326e-03,-5.7600e-06,1.8727e-02,1.2685e-03
+32,4.5000e+00,UP_FORCE_RAMP,1.1119e-03,9.2763e-03,1.2694e-02,2.4457e+00,-3.7728e-02,3.7466e-02,-6.7622e-05,1.3186e-02,1.0491e-02,-1.0142e-02,-7.3859e-04,9.3934e-04,-7.0059e-06,1.9667e-02,1.1950e-03
+33,4.6333e+00,UP_FORCE_RAMP,1.1483e-03,8.6518e-03,1.2627e-02,2.4453e+00,-3.7728e-02,3.7423e-02,-6.8396e-05,1.2561e-02,1.0424e-02,-1.0557e-02,-7.3775e-04,8.9610e-04,-7.7798e-06,1.9440e-02,1.1607e-03
+34,4.8000e+00,UP_FORCE_RAMP,1.1834e-03,7.8992e-03,1.2710e-02,2.4492e+00,-3.7737e-02,3.7368e-02,-6.9295e-05,1.1809e-02,1.0508e-02,-6.7081e-03,-7.4705e-04,8.4106e-04,-8.6785e-06,1.7172e-02,1.1250e-03
+35,4.9667e+00,UP_FORCE_RAMP,1.2157e-03,7.3366e-03,1.2838e-02,2.4528e+00,-3.7748e-02,3.7324e-02,-7.0052e-05,1.1246e-02,1.0636e-02,-3.0818e-03,-7.5786e-04,7.9767e-04,-9.4361e-06,1.5783e-02,1.1003e-03
+36,5.1000e+00,UP_FORCE_RAMP,1.2513e-03,7.0085e-03,1.2925e-02,2.4550e+00,-3.7754e-02,3.7298e-02,-7.0541e-05,1.0918e-02,1.0722e-02,-9.2840e-04,-7.6456e-04,7.7141e-04,-9.9251e-06,1.5331e-02,1.0861e-03
+37,5.2667e+00,UP_FORCE_RAMP,1.2882e-03,6.7270e-03,1.3002e-02,2.4568e+00,-3.7760e-02,3.7275e-02,-7.0997e-05,1.0637e-02,1.0800e-02,9.1624e-04,-7.7004e-04,7.4822e-04,-1.0381e-05,1.5186e-02,1.0737e-03
+38,5.3833e+00,UP_FORCE_RAMP,1.3224e-03,6.5934e-03,1.3039e-02,2.4577e+00,-3.7762e-02,3.7263e-02,-7.1228e-05,1.0503e-02,1.0837e-02,1.8039e-03,-7.7238e-04,7.3696e-04,-1.0612e-05,1.5199e-02,1.0676e-03
+39,5.5167e+00,UP_FORCE_RAMP,1.3564e-03,6.3408e-03,1.3085e-02,2.4590e+00,-3.7765e-02,3.7241e-02,-7.1781e-05,1.0250e-02,1.0882e-02,3.1562e-03,-7.7481e-04,7.1485e-04,-1.1164e-05,1.5279e-02,1.0543e-03
+40,5.6333e+00,UP_FORCE_RAMP,1.3891e-03,5.1660e-03,1.4769e-02,2.4444e+00,-3.7877e-02,3.7170e-02,-7.1515e-05,9.0755e-03,1.2566e-02,-1.1539e-02,-8.8683e-04,6.4301e-04,-1.0899e-05,1.9324e-02,1.0955e-03
+41,5.8167e+00,UP_FORCE_RAMP,1.4239e-03,5.6528e-03,1.4734e-02,2.4493e+00,-3.7880e-02,3.7199e-02,-7.1221e-05,9.5623e-03,1.2532e-02,-6.6004e-03,-8.9008e-04,6.7250e-04,-1.0605e-05,1.7090e-02,1.1156e-03
+42,5.9667e+00,UP_FORCE_RAMP,1.4617e-03,5.9314e-03,1.4843e-02,2.4529e+00,-3.7890e-02,3.7215e-02,-7.0986e-05,9.8409e-03,1.2641e-02,-2.9812e-03,-9.0003e-04,6.8892e-04,-1.0370e-05,1.6295e-02,1.1335e-03
+43,6.0833e+00,UP_FORCE_RAMP,1.4908e-03,6.1129e-03,1.4927e-02,2.4550e+00,-3.7897e-02,3.7226e-02,-7.0815e-05,1.0022e-02,1.2724e-02,-8.5688e-04,-9.0672e-04,6.9962e-04,-1.0199e-05,1.6220e-02,1.1453e-03
+44,6.2500e+00,UP_FORCE_RAMP,1.5313e-03,6.3267e-03,1.5023e-02,2.4572e+00,-3.7903e-02,3.7239e-02,-7.0597e-05,1.0236e-02,1.2820e-02,1.3471e-03,-9.1358e-04,7.1235e-04,-9.9812e-06,1.6461e-02,1.1585e-03
+45,6.3833e+00,UP_FORCE_RAMP,1.5631e-03,6.4673e-03,1.5076e-02,2.4585e+00,-3.7907e-02,3.7247e-02,-7.0446e-05,1.0377e-02,1.2873e-02,2.5907e-03,-9.1685e-04,7.2087e-04,-9.8301e-06,1.6737e-02,1.1663e-03
+46,6.5500e+00,UP_FORCE_RAMP,1.5982e-03,5.3389e-03,1.5295e-02,2.4491e+00,-3.7922e-02,3.7178e-02,-7.0235e-05,9.2484e-03,1.3092e-02,-6.7430e-03,-9.3212e-04,6.5118e-04,-9.6186e-06,1.7390e-02,1.1371e-03
+47,6.7167e+00,UP_FORCE_RAMP,1.6361e-03,5.7525e-03,1.5375e-02,2.4512e+00,-3.7929e-02,3.7204e-02,-6.9933e-05,9.6620e-03,1.3173e-02,-4.7116e-03,-9.3945e-04,6.7700e-04,-9.3166e-06,1.7002e-02,1.1580e-03
+48,6.9000e+00,UP_FORCE_RAMP,1.6697e-03,6.2946e-03,1.5497e-02,2.4548e+00,-3.7938e-02,3.7238e-02,-6.9601e-05,1.0204e-02,1.3295e-02,-1.0684e-03,-9.4823e-04,7.1106e-04,-8.9851e-06,1.6793e-02,1.1853e-03
+49,7.0333e+00,UP_FORCE_RAMP,1.7044e-03,6.6161e-03,1.5571e-02,2.4569e+00,-3.7942e-02,3.7258e-02,-6.9394e-05,1.0526e-02,1.3369e-02,9.9611e-04,-9.5261e-04,7.3153e-04,-8.7775e-06,1.7044e-02,1.2011e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/fem_node.csv
new file mode 100644
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+59,2.250000e+01,2833,6.984866e-01,2.177119e-02,8.161117e-01,3.544321e-05,-1.540526e-04,-5.074640e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2834,6.943553e-01,2.315678e-02,8.193507e-01,6.803514e-05,-1.503331e-04,-5.075612e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2835,6.970333e-01,2.156643e-02,8.312403e-01,6.545512e-05,-9.013319e-05,-5.099957e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2836,6.953002e-01,2.216075e-02,8.300087e-01,5.517205e-05,-1.134506e-04,-5.097446e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2837,6.977309e-01,2.325496e-02,8.147525e-01,3.414821e-05,-1.453055e-04,-5.067401e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2838,6.987596e-01,2.240619e-02,8.149949e-01,3.291088e-05,-1.457787e-04,-5.068430e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2839,6.927662e-01,2.456066e-02,8.254455e-01,5.619352e-05,-1.408868e-04,-5.103137e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2840,7.004978e-01,2.443952e-02,8.363824e-01,5.389935e-05,-1.185786e-04,-5.076816e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2841,6.962413e-01,2.210169e-02,8.177780e-01,5.466715e-05,-1.521128e-04,-5.068633e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2842,6.933268e-01,2.316748e-02,8.242259e-01,7.101478e-05,-1.430550e-04,-5.098385e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2843,6.997933e-01,2.262430e-02,8.142803e-01,2.594702e-05,-1.458357e-04,-5.070569e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.250000e+01,2844,6.998022e-01,2.337642e-02,8.135953e-01,2.285440e-05,-1.474436e-04,-5.071983e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9023941506f34bdb5f0037a3153273bef52aa432
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+4231,1792668898569524295,37438969000000,1792668898568196183,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0526,0.05260096862912178,0.6760304546731208,-0.004510368008839099,0.09092288961583055,0.9999999844284793,9.22156923275391e-05,-0.00011866701676688715,5.574310378084285e-07,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04782836841488056,0.0600498694115075,0.014300389818795362,0.003598089883649468,-0.0029904886208737946,-1.1457161818616973e-05,0.19011187916740077,0.042648184876068,0.10185394503610966,0.0002518281465838622,-0.010166924444410577,0.0008105941101773184,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.17135250287444448,0.1320562476024141,1.413795922807653,0.09721804245221863,-0.9050629093754554,-0.006696420037479389,1.1241334081111165,0.014300389818795362,-0.2896625146965366,0.0,0.0,0,0,0.0,0.0
+4348,1792668899536511569,37439936000000,1792668899532205730,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760270186135834,-0.004519372260823089,0.0909123220375098,0.9999999843248426,8.659523975720266e-05,-0.00012359429464017823,4.346688220215374e-06,0.6761,-0.00453,0.09098687745238804,1.0,0.0,0.0,0.0,0.08972096953858058,0.10958385763780797,0.06211626310158512,0.006109735353918067,-0.0057235510350851695,-5.563552659789946e-05,0.2320044802911008,0.09218217310236847,0.14966981831889942,0.0027634736168524617,-0.012899986858621952,0.0007664157453980359,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.024538541361221387,0.08230826333873739,1.3741833296534791,0.12968359680182023,-0.8403210143203667,-0.03555428775632592,1.1241334081111165,0.06211626310158512,-0.2500499215423626,-0.2500499215423626,0.050750000000000364,0,0,-3.624999318360545e-05,-9.999999025923074e-05
+4432,1792668900237475150,37440636000000,1792668900232196559,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760117727923711,-0.004527525551611017,0.09085062351104074,0.9999999797763043,8.52686515463097e-05,-0.00015577099394736125,1.8839054966321693e-05,0.6761,-0.00453,0.09096719624911546,1.0,0.0,0.0,0.0,0.11680815859019072,0.10848515249815086,0.36669399506206607,0.005686193121679214,-0.007165782580844521,-0.0003272372358139081,0.25909166934271094,0.09108346796271136,0.45424755027938035,0.0023399313846136087,-0.014342218404381303,0.0004948140361820273,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.03387849880690805,0.008675990042629991,0.937394970558271,0.16237571590823002,-0.552644160953321,-0.08422196273811275,1.1241334081111165,0.36669399506206607,0.18673843755284547,0.18673843755284547,0.0997500000000008,0,0,-1.5424411765858952e-05,9.989676727351621e-05
+4532,1792668901070418712,37441470000000,1792668901064196214,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760452249663631,-0.004535836509389853,0.09085435029578205,0.9999999895171187,8.051699904879393e-05,-7.066669703398787e-05,3.0526344969156795e-05,0.6761,-0.00453,0.0909612839656282,1.0,0.0,0.0,0.0,0.040372690220368934,0.1726493410191611,0.2968626131748648,0.011009443593001154,-0.0021706925962433708,-0.00014813483570844718,0.18265620097288915,0.1552476564837216,0.38441616839217907,0.007663181855935548,-0.009347128419780153,0.0006739164362874882,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,-0.10958379283898613,0.21044464714557867,1.1377552616586508,0.1075654114867307,-0.732573339594632,0.05798863498811463,1.1241334081111165,0.2968626131748648,-0.013621853547534313,-0.013621853547534313,0.15812999999999475,0,0,-8.12529976221133e-06,-9.999999025923074e-05
+4691,1792668902395451767,37442795000000,1792668902392196316,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760452324948805,-0.004537419727328136,0.09084290274149188,0.999999988833467,8.487526675157014e-05,-7.357571249406017e-05,3.404018072440739e-05,0.6761,-0.00453,0.09092421866390316,1.0,0.0,0.0,0.0,0.06819579430651543,0.16417472364877242,0.37839279245353047,0.010707169787895538,-0.004220980517642968,-0.00023777083607973083,0.21047930505903564,0.14677303911333292,0.46594634767084475,0.007360908050829932,-0.01139741634117975,0.0005842804359162046,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.08908431005645986,0.15774409650469215,0.8124086720870024,0.1560473086129676,-0.47793456797996353,0.02501848385720787,1.1241334081111165,0.37839279245353047,0.3117247360241141,0.3117247360241141,0.2508799999999775,0,0,-3.270263867064115e-05,9.999999025923074e-05
+4843,1792668903661465249,37444061000000,1792668903660196158,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760438817822675,-0.004538446206197394,0.09082750969196814,0.9999999886315967,8.196484508143844e-05,-7.820249635650406e-05,3.668521179051797e-05,0.6761,-0.00453,0.09090113705467678,1.0,0.0,0.0,0.0,0.07403124958367954,0.16604501214517225,0.4791272200043281,0.010651368629662122,-0.0042456550224927135,0.00035301665405974045,0.21631476033619976,0.14864332760973276,0.5666807752216424,0.007305106892596516,-0.011422090846029496,0.0011750679260556758,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.09617028214025382,0.15027735251371716,0.8583532445792026,0.1555826935789799,-0.5037082607067628,0.015883683700458104,1.1241334081111165,0.4791272200043281,0.2657801635319139,0.2657801635319139,0.33949999999999586,0,0,-6.03220498138069e-06,-9.695856203884574e-05
+4994,1792668904920454989,37445320000000,1792668904916196620,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760433162983548,-0.004540244530689875,0.09081801442964134,0.9999999886251572,7.959557779969905e-05,-8.010194925340214e-05,3.795749772612076e-05,0.6761,-0.00453,0.0908872673503166,1.0,0.0,0.0,0.0,0.07720879685622262,0.16735829299840912,0.5093800168686536,0.010688174195444445,-0.004257849833043481,0.0002676142779226374,0.21949230760874283,0.14995660846296963,0.596933572085968,0.007341912458378839,-0.011434285656580263,0.0010896655499185728,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.1156568319579431,0.10837819165391195,0.7313535579283702,0.1730611476242907,-0.41514516979656374,-0.011378719775790011,1.1241334081111165,0.5093800168686536,0.3927798501827463,0.3927798501827463,0.4276300000000141,0,0,-1.9955501490612974e-05,-4.484447860075241e-05
+5148,1792668906203500565,37446603000000,1792668906196196450,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760426758415091,-0.00454521703705445,0.09080206088148303,0.9999999881040409,8.187251438813498e-05,-8.169432872322276e-05,4.310116689451542e-05,0.6761,-0.00453,0.09086673388794936,1.0,0.0,0.0,0.0,0.09518127767114773,0.15633016643028247,0.6101525510964957,0.010676491482018333,-0.00528938367048796,0.0005897140770135397,0.23746478842366794,0.13892848189484297,0.69770610631381,0.007330229744952728,-0.012465819494024743,0.0014117653490094751,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.16539683076125042,0.07917826139522596,0.622248134851978,0.18456073926022826,-0.3301121495115482,-0.0325001825508075,1.1241334081111165,0.6101525510964957,0.5018852732591385,0.5018852732591385,0.5174400000000327,0,0,-9.990899665968998e-06,-9.064737905625668e-06
+5302,1792668907486386627,37447886000000,1792668907480196730,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760411111185882,-0.0045416926473714515,0.09078840852556261,0.9999999879450718,8.138214801938675e-05,-8.410296741999527e-05,4.3085467517139116e-05,0.6761,-0.00453,0.09084535251298388,1.0,0.0,0.0,0.0,0.07661636598630564,0.15564431242321464,0.6410476311578884,0.010312815557649603,-0.005291975821813257,0.000561102586410088,0.21889987673882585,0.13824262788777514,0.7286011863752028,0.006966553820583997,-0.01246841164535004,0.0013831538584060234,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.1664843697237908,0.13599777124872228,0.5697014741687161,0.16754810025149566,-0.2992877364317031,0.008695978229248905,1.1241334081111165,0.6410476311578884,0.5544319339424004,0.5544319339424004,0.6072500000000512,0,0,-2.6831929188257615e-05,-9.471065184752376e-05
+5414,1792668908420384026,37448820000000,1792668908420207213,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676043551936033,-0.0045459931896069655,0.0907761767067459,0.9999999884048106,8.097508476285237e-05,-7.628938378886258e-05,4.7499563318197014e-05,0.6761,-0.00453,0.09081489480479879,1.0,0.0,0.0,0.0,0.06756214204385436,0.1540900294895942,0.7034911074984005,0.010635070152621138,-0.004295771001483685,0.0005267436370800646,0.20984565279637457,0.1366883449541547,0.7910446627157148,0.007288808415555533,-0.011472206825020467,0.001348794909076,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.12194902453850034,0.08444825844582612,0.4866090873519908,0.19329291470677734,-0.26139568383065787,-0.019644423205889633,1.1241334081111165,0.7034911074984005,0.6375243207591257,0.6375243207591257,0.6726300000000648,0,0,-3.551678779270683e-05,9.998292058022713e-05
+5558,1792668909620443130,37450020000000,1792668909620196365,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.67604812196791,-0.00455447290654427,0.09075628139440346,0.9999999893918406,7.494940631300474e-05,-6.475827004117947e-05,5.3367929693685744e-05,0.6761,-0.00453,0.09077954557356592,1.0,0.0,0.0,0.0,0.06415074632956341,0.1518817298578311,0.7902224718437275,0.010743141565532629,-0.003917021324370839,0.0004612789444476467,0.20643425708208363,0.1344800453223916,0.8777760270610419,0.007396879828467023,-0.011093457147907621,0.001283330216443582,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.20895892425316792,0.11081646568314013,0.2827111245242783,0.18280960332695279,-0.10825622414424167,-0.008960724463688327,1.1241334081111165,0.7902224718437275,0.8414222835868381,0.8414222835868381,0.7566300000000822,0,0,-2.262767396091358e-05,9.999997638144293e-05
+5685,1792668910678394901,37451078000000,1792668910676196200,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760497128713483,-0.004549506297534698,0.09073843773114112,0.9999999889370111,7.963313132071841e-05,-6.338015291966431e-05,5.6660060434775405e-05,0.6761,-0.00453,0.09076286801418905,1.0,0.0,0.0,0.0,0.06635661124740519,0.153171053754822,0.8772534645654642,0.0116220217475594,-0.004352040592904741,0.00039774536067718877,0.2086401219999254,0.1357693692193825,0.9648070197827785,0.008275760010493793,-0.011528476416441523,0.0012197966326731242,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.2071588253508419,0.15352795320072282,0.3127867045799923,0.17061933070307747,-0.12695461715240278,0.020579792080690162,1.1241334081111165,0.8772534645654642,0.8113467035311241,0.8113467035311241,0.8306900000000975,0,0,-9.916430882969895e-06,-3.660481459910568e-05
+5813,1792668911745471442,37452145000000,1792668911744196420,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760469950192456,-0.004550130886146104,0.09072318956718627,0.9999999885284572,7.932617464022282e-05,-6.722174068511091e-05,5.9787502542653245e-05,0.6761,-0.00453,0.09074968237862875,1.0,0.0,0.0,0.0,0.06131425410050817,0.15369049461663953,0.9008734334720945,0.011435910634975666,-0.004147029182252874,0.00037929640291132984,0.20359776485302838,0.13628881008120003,0.9884269886894088,0.00808964889791006,-0.011323465005789657,0.0012013476749072652,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.21765800383630973,0.10235093902946778,0.21923179430166756,0.1835078075755001,-0.06487613871326615,-0.016511715035925995,1.1241334081111165,0.9008734334720945,0.904901613809449,0.904901613809449,0.905380000000113,0,0,-1.8621681811799344e-05,9.99837532474956e-05
+5985,1792668913178380820,37453578000000,1792668913172196765,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760526213905095,-0.00455213398283743,0.09070410595589151,0.9999999896590125,7.37994564981917e-05,-5.3710041483066635e-05,6.159310990788633e-05,0.6761,-0.00453,0.09070390433417104,1.0,0.0,0.0,0.0,0.04717913086335432,0.16788391584721923,0.9509200805669888,0.012468344304165364,-0.003372021282613911,0.0003665204778364123,0.18946264161587453,0.15048223131177973,1.0384736357843032,0.009122082567099758,-0.010548457106150693,0.0011885717498323477,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.2524629417734905,0.04182240042393958,0.22793851750761535,0.20649409543389974,-0.06489718080253408,-0.054154736497147776,1.1241334081111165,0.9509200805669888,0.8961948906035011,0.8961948906035011,1.0056900000001336,0,0,-4.4051059393283805e-05,-9.99983249246938e-05
+6112,1792668914236450554,37454636000000,1792668914236196955,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760556193836038,-0.00455914570757374,0.09066931993642453,0.9999999898941382,6.917537180185492e-05,-4.698885759494899e-05,6.82744698189894e-05,0.6761,-0.00453,0.09066009151495585,1.0,0.0,0.0,0.0,0.037440693212905274,0.17255253718212427,1.0617344714233585,0.01255503087846105,-0.0023845785396083286,0.0002881363297704833,0.1797242039654255,0.15515085264668477,1.1492880266406729,0.009208769141395444,-0.00956101436314511,0.0011101876017664187,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.342949706165764,0.0786235802402553,0.03834207133211335,0.19312431861718912,0.08259256492494511,-0.029241048466283094,1.1241334081111165,1.0617344714233585,1.085791336779003,1.085791336779003,1.079750000000149,0,0,-3.071513253874591e-05,9.999999025923074e-05
+6184,1792668914836409630,37455236000000,1792668914836196508,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760918843075294,-0.004553261330093429,0.09067861761685699,0.9999999901831581,7.7104326426393e-05,-1.2981090827654978e-05,7.04482949442349e-05,0.6761,-0.00453,0.09064317957394338,1.0,0.0,0.0,0.0,-0.0033485225409320696,0.2341951479431088,0.9947754225122922,0.01759136546079094,0.00058278148178502,0.00044433684900413244,0.13893498821158815,0.2167934634076693,1.0823289777296066,0.014245103723725335,-0.006593654341751762,0.0012663881210000678,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.2938647322744635,0.1600313139144785,0.21559844546856416,0.17080979029789428,-0.06269681287835793,0.02811558498376425,1.1241334081111165,0.9947754225122922,0.9085349626425523,0.9085349626425523,1.1217500000001577,0,0,-3.673619089070013e-05,-9.999999025923074e-05
+6304,1792668915836466546,37456236000000,1792668915832196455,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760964495527095,-0.004556508754523474,0.09064891511494855,0.9999999900093534,7.430317654476275e-05,-4.444766469581288e-07,7.683097118269447e-05,0.6761,-0.00453,0.09059032788887895,1.0,0.0,0.0,0.0,-0.022350065381448292,0.23924390328372203,1.0736399727208825,0.0185201547912661,0.0015501428732234146,0.0004030303503343756,0.11993344537107192,0.22184221874828253,1.1611935279381969,0.015173893054200496,-0.005626292950313368,0.001225081622330311,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5048450745528673,0.11300238900461128,-0.026776619530264178,0.18830223837640434,0.14482463035335943,-0.0044204201305261814,1.1241334081111165,1.0736399727208825,1.1509100276413806,1.1509100276413806,1.1917500000001722,0,0,-5.89342044373956e-05,9.891957672281677e-05
+6456,1792668917103473796,37457503000000,1792668917100197526,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761007456133439,-0.004560716263859054,0.09060275809188666,0.9999999888475475,7.616597519243563e-05,9.976543994222238e-06,8.85831923447854e-05,0.6761,-0.00453,0.09053400446632903,1.0,0.0,0.0,0.0,-0.0318606556004566,0.22336860698735556,1.1740941540573397,0.018547400522411186,0.0015298602843449652,0.00032090282174440155,0.11042285515206361,0.20596692245191606,1.261647709274654,0.015201138785345581,-0.005646575539191817,0.001142954093740337,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5176669137506803,0.04581974864615387,-0.1960659367517956,0.19927658582278376,0.2529987963154427,-0.049752920866457585,1.1241334081111165,1.1740941540573397,1.3201993448629121,1.3201993448629121,1.2804400000001905,0,0,-3.209804135398541e-05,9.960937216580418e-05
+6596,1792668918270393239,37458670000000,1792668918268196412,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760992985247956,-0.004566066689637184,0.0905644924695797,0.9999999882712097,7.400037554370214e-05,8.025817972383354e-06,9.6746965907443e-05,0.6761,-0.00453,0.09049534367501588,1.0,0.0,0.0,0.0,-0.03718611688487017,0.2242323671799352,1.1949301965805326,0.018542324561203857,0.0015261131672114408,0.0003041228197465174,0.10509739386765005,0.2068306826444957,1.282483751797847,0.015196062824138252,-0.0056503226563253415,0.0011261740917424528,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.4897776687877275,0.1513345480076059,-0.09940660381771059,0.16558619410444206,0.18141383253234247,0.017831763198258202,1.1241334081111165,1.1949301965805326,1.223540011928827,1.223540011928827,1.3621300000002075,0,0,-4.235973761620849e-05,-9.631092731521846e-05
+6715,1792668919261450240,37459661000000,1792668919256197128,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761048985823795,-0.004565390519225645,0.09052906666512692,0.9999999866205765,8.117819352754252e-05,1.529249322353693e-05,0.00010666748122681518,0.6761,-0.00453,0.0904477605976803,1.0,0.0,0.0,0.0,-0.040244903662088494,0.23462968546238389,1.2442732521371702,0.01850816924166842,0.0025272314757663235,0.0002789171182005731,0.10203860709043172,0.2172280009269444,1.3318268073544846,0.015161907504602815,-0.004649204347770459,0.0011009683901965085,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.5556932899585033,0.06810738421070273,-0.21205423401857407,0.1970852638960752,0.27156416390072924,-0.031144131116938,1.1241334081111165,1.2442732521371702,1.3361876421296905,1.3361876421296905,1.4315000000002218,0,0,-5.467706142989049e-05,-9.927720731462415e-05
+6865,1792668920511388848,37460911000000,1792668920508196746,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761118678868255,-0.004569718270382095,0.09047391462749853,0.9999999848508533,8.242289052673074e-05,2.551727383817374e-05,0.00011956794455671025,0.6761,-0.00453,0.09037824264768576,1.0,0.0,0.0,0.0,-0.042463346859554815,0.2500995764144729,1.2947927542532522,0.01949265185422815,0.003509771049861756,0.00026507162724238105,0.0998201638929654,0.2326978918790334,1.3823463094705666,0.016146390117162544,-0.0036666647736750264,0.0010871228992383165,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6145172121574735,0.16616960528395333,-0.26867683682538746,0.15875536326019327,0.31723284212461095,0.025123760909510046,1.1241334081111165,1.2947927542532522,1.3928102449365038,1.3928102449365038,1.51900000000024,0,0,-5.874994434970494e-05,-8.98180793892422e-05
+6993,1792668921578367518,37461978000000,1792668921576196649,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761101716067055,-0.004579861196173338,0.09040579045590004,0.9999999825531998,8.722256417956179e-05,2.1845525781467987e-05,0.0001350979709294279,0.6761,-0.00453,0.09031208476930194,1.0,0.0,0.0,0.0,-0.060419188435542934,0.2292185094301375,1.3349148780176077,0.01845152243393517,0.00392221984104541,0.00022915677374368295,0.08186432231697728,0.211816824894698,1.422468433234922,0.015105260696869564,-0.003254215982491372,0.0010512080457396183,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.594018701884863,0.12183517381350271,-0.2697368564454867,0.1712086839516705,0.3067676017702651,0.0007577264641331211,1.1241334081111165,1.3349148780176077,1.3938702645566032,1.3938702645566032,1.5936900000002554,0,0,-6.289659496980094e-05,-9.999990699250389e-05
+7106,1792668922520348137,37462920000000,1792668922520196331,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.676110708296082,-0.004581341422243656,0.09034539334290095,0.9999999795714526,0.00010093355388999273,2.0755961644351508e-05,0.00014724661810878274,0.6761,-0.00453,0.09024514137888431,1.0,0.0,0.0,0.0,-0.053869033465568206,0.22901146044233006,1.3343272303458065,0.018435727704624698,0.00451705294068754,0.00023493405734552873,0.08841447728695201,0.21160977590689056,1.4218807855631208,0.015089465967559092,-0.0026593828828492426,0.0010569853293414641,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6441202234165324,0.04664889436159264,-0.4411869541059637,0.19426803324983405,0.42297414315773085,-0.043897488109608904,1.1241334081111165,1.3343272303458065,1.5653203622170802,1.5653203622170802,1.659630000000269,0,0,-8.03244000937856e-05,9.999259339832917e-05
+7220,1792668923470356120,37463870000000,1792668923468196002,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676113116426611,-0.004586476395571685,0.09026290881603634,0.9999999540346054,0.0002354047356753784,2.2254446898763364e-05,0.00016571964603484125,0.6761,-0.00453,0.09015483789337622,1.0,0.0,0.0,0.0,-0.06024780107216404,0.2219250260280913,1.3841840162136871,0.017423437632033533,0.004543469970315572,0.000183481471312356,0.08203570968035617,0.2045233414926518,1.4717375714310015,0.014077175894967929,-0.0026329658532212095,0.0010055327433082914,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6501944454106641,0.08636703524377745,-0.4716076673864312,0.15649447613087963,0.446020293637311,-0.06315445436557617,1.1241334081111165,1.3841840162136871,1.5957410754975476,1.5957410754975476,1.7261300000002828,0,0,-0.00010507931110373547,9.989604562855021e-05
+7334,1792668924420406601,37464820000000,1792668924420195904,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761106911744127,-0.004591067176288135,0.09016614025153992,0.999999955886885,0.00022022660755395548,1.876121456294244e-05,0.00017554871208077825,0.6761,-0.00453,0.09005694329562575,1.0,0.0,0.0,0.0,-0.06956639490383237,0.21004239761313917,1.404220748325223,0.017408217748918965,0.004595324177547176,-0.0008422635764567633,0.07271711584868784,0.19264071307769967,1.4917743035425373,0.01406195601185336,-0.0025811116459896056,-2.021230446082788e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.6418192839465472,0.06857119603618612,-0.5051943608803394,0.17804901002965862,0.45472742082468565,-0.04221548831168518,1.1241334081111165,1.404220748325223,1.6293277689914558,1.6293277689914558,1.7926300000002966,0,0,-0.00010374816631772277,-9.997673108686484e-05
+7366,1792668924686428523,37465086000000,1792668924684196419,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761190645431837,-0.004555627673541292,0.09014115314846165,0.9999999944944519,6.955048350232069e-06,4.780231292707695e-05,-1.097847186342031e-05,0.6761,-0.00453,0.09002812461197106,1.0,0.0,0.0,0.0,-0.015546294838614944,0.2935707443330324,1.4065699657670145,0.022587904773845455,0.0017366186761212064,0.00018651087662976832,0.12673721591390527,0.2761690597975929,1.4941235209843289,0.01924164303677985,-0.005439817147415576,0.0010085621486257037,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.715132487004027,0.12090343409212181,-0.42935846046596626,0.052230159937009676,0.45026247455180346,0.039920435442312906,1.1241334081111165,1.4065699657670145,1.5534918685770829,1.5534918685770829,1.8112500000003005,0,0,-0.00011458275793049667,-9.999999025923074e-05
+7474,1792668925586419987,37465986000000,1792668925584196700,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761193772064162,-0.004561340585272971,0.09003592308621862,0.9999999943141425,2.0240505460868442e-05,4.493271604064179e-05,1.9645671372566434e-05,0.6761,-0.00453,0.08991319545558277,1.0,0.0,0.0,0.0,-0.02717293724822352,0.27099190624349506,1.4560565111688304,0.020899454187910754,0.0030455180829881447,0.0001448586404566701,0.1151105735042967,0.25359022170805556,1.5436100663861447,0.017553192450845148,-0.004130917740548638,0.0009669099124526055,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.73208695844682,0.10459385631435952,-0.6221395825520534,0.1391310898756402,0.5523508027712754,0.031404318853654835,1.1241334081111165,1.4560565111688304,1.74627299066317,1.74627299066317,1.8742500000003135,0,0,-0.00013295898443757703,9.921875407237763e-05
+7577,1792668926445426544,37466845000000,1792668926444198321,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761154518693901,-0.004573219431619288,0.08992472129891842,0.9999999932547334,3.117179323036647e-05,3.7332980827087024e-05,5.067509626278908e-05,0.6761,-0.00453,0.08980341172059335,1.0,0.0,0.0,0.0,-0.04270860636011119,0.2558341934804618,1.4453569792802443,0.019465896674041007,0.003476134791649587,0.00011301274916866906,0.09957490439240903,0.23843250894502235,1.5329105344975587,0.0161196349369754,-0.003700301031887195,0.0009350640211646045,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7219862712753815,0.0568372007327268,-0.6135900635378841,0.2407068017068464,0.5174482289484897,-0.028471788396658593,1.1241334081111165,1.4453569792802443,1.7377234716490007,1.7377234716490007,1.934380000000326,0,0,-0.00012469868240358307,-9.622849325564004e-05
+7681,1792668927311336869,37467711000000,1792668927308196475,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761125268712088,-0.004563712390383854,0.08981364227820919,0.999999992181475,4.240911183401613e-05,2.9694734076937265e-05,6.632951475712394e-05,0.6761,-0.00453,0.08969811570626773,1.0,0.0,0.0,0.0,-0.042014844574258844,0.2565006978270685,1.4448809179294644,0.019474080906724797,0.003482333472848384,-0.0008833896430281664,0.10026866617826137,0.23909901329162905,1.5324344731467787,0.01612781916965919,-0.0036941023506883983,-6.133837103223098e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7242170664712585,0.10059907466868945,-0.6707930802184112,0.2340487633923344,0.5486192158463925,-0.0012530701169824465,1.1241334081111165,1.4448809179294644,1.7949264883295277,1.7949264883295277,1.9950000000003385,0,0,-0.00012490920360127967,-8.63033908490351e-05
+7789,1792668928211333868,37468611000000,1792668928208196550,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761150834832758,-0.00457117411404062,0.08969828796272583,0.9999999916571412,3.189960489198518e-05,3.09383844817231e-05,7.84462460782328e-05,0.6761,-0.00453,0.08957475175298008,1.0,0.0,0.0,0.0,-0.04275769778596926,0.25592901841668486,1.4549103981049751,0.019471386752875994,0.003479306914467569,-0.0008915450518950284,0.09952581296655096,0.2385273338812454,1.5424639533222895,0.01612512501581039,-0.003697128909069213,-6.949377989909297e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7496267963242207,0.027981923658202342,-0.6874111687739609,0.27098701435354616,0.5549878624334956,-0.04283445119082351,1.1241334081111165,1.4549103981049751,1.8115445768850775,1.8115445768850775,2.0580000000003515,0,0,-0.00014858358991373522,-9.994943347824687e-05
+7885,1792668929011408328,37469411000000,1792668929004196657,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761142399333991,-0.004572331818290612,0.08957499337415235,0.9999999901898312,5.6595596444917554e-05,2.796438269849174e-05,8.413164659748242e-05,0.6761,-0.00453,0.08945055790413771,1.0,0.0,0.0,0.0,-0.05205651083897704,0.23763824754503593,1.4749728063569139,0.01946578574688923,0.0034775850045373883,-0.0009089087214642219,0.09022699991354317,0.22023656300959643,1.5625263615742282,0.016119524009823624,-0.003698850818999394,-8.685744946828645e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7541878366041753,0.0477791014051512,-0.7092308895798757,0.27479652745212946,0.5624207059485634,-0.02392106921293398,1.1241334081111165,1.4749728063569139,1.8333642976909923,1.8333642976909923,2.114000000000363,0,0,-0.00016170125726885776,-9.999999025923074e-05
+7969,1792668929712182961,37470111000000,1792668929708196754,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761125263159136,-0.004567341353052506,0.0894558999080054,0.9999999930671148,4.847446215364485e-05,2.84262058603676e-05,4.6376847975086834e-05,0.6761,-0.00453,0.0893352645344698,1.0,0.0,0.0,0.0,-0.033577614853124924,0.2581803905091488,1.4850302982524104,0.019466485054496167,0.0034733438043845293,-0.000914762612679529,0.10870589589939529,0.24077870597370932,1.5725838534697247,0.01612022331743056,-0.003703092019152253,-9.271134068359367e-05,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.7905085166602184,0.11727156626700799,-0.7391159309603026,0.2684803081020539,0.5841580983545808,0.027636985948118198,1.1241334081111165,1.4850302982524104,1.863249339071419,1.863249339071419,2.1630000000003733,0,0,-0.00016856828038566552,-9.999960168117212e-05
+8048,1792668930370341395,37470770000000,1792668930364196734,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761104358336106,-0.004574571860972094,0.08934196907060085,0.9999999911592716,6.497923605685404e-05,2.1549807030015172e-05,6.661550755388366e-05,0.6761,-0.00453,0.08922281494952569,1.0,0.0,0.0,0.0,-0.03513110753797298,0.24404982936448147,1.5048532625675184,0.018440847774468347,0.0035064143800105506,-0.0009422756662598095,0.10715240321454723,0.22664814482904197,1.5924068177848327,0.01509458603740274,-0.0036700214435262317,-0.0001202243942638741,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.82076004060031,0.07171433396537555,-0.8284877187105558,0.2879416212442656,0.6459079791165495,-0.0005542102310824581,1.1241334081111165,1.5048532625675184,1.9526211268216724,1.9526211268216724,2.209130000000383,0,0,-0.00017291238780629082,-6.71093274626916e-05
+8120,1792668930970369547,37471370000000,1792668930964196392,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761121736911495,-0.0045820000421459926,0.08923622863143522,0.9999999895669848,7.028862584745111e-05,2.1288811505164326e-05,8.315762347993314e-05,0.6761,-0.00453,0.08911625047353049,1.0,0.0,0.0,0.0,-0.05195718748746041,0.23222444135224551,1.5220424554821852,0.017390760291121122,0.004518333738037131,-0.0009553617343351886,0.09032632326505981,0.21482275681680602,1.6095960106994995,0.014044498554055517,-0.0026581020854996515,-0.00013331046233925318,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8065779571339866,0.0514341202914316,-0.7686945864230922,0.2979402573906514,0.6021594202715397,-0.0137215562638065,1.1241334081111165,1.5220424554821852,1.8928279945342088,1.8928279945342088,2.2511300000003915,0,0,-0.0001841007913852818,-9.987800450440005e-05
+8196,1792668931603431812,37472003000000,1792668931600196600,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761094915125552,-0.004583722110192643,0.08911333246794927,0.9999999883769255,7.172624330831125e-05,1.4684516861838799e-05,9.658532130619028e-05,0.6761,-0.00453,0.0889967526480566,1.0,0.0,0.0,0.0,-0.0602913311686164,0.22173300350014855,1.537838651407275,0.01633970458570623,0.005547829671154979,-0.0009637590576571419,0.08199217958390381,0.20433131896470905,1.6253922066245894,0.012993442848640624,-0.0016286061523818035,-0.00014170778566120645,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8294355514226479,0.06286386624122656,-0.8504574104514967,0.2959947886383777,0.6542162844217911,-0.006403835706341787,1.1241334081111165,1.537838651407275,1.9745908185626133,1.9745908185626133,2.2954400000004007,0,0,-0.00019246618702536823,-9.999997638144293e-05
+8276,1792668932270365478,37472670000000,1792668932264205518,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761071843745228,-0.004584711763537219,0.08897957809494042,0.9999999922068599,3.221629872310646e-05,1.5581011349580694e-05,7.58187766986483e-05,0.6761,-0.00453,0.08886485988288391,1.0,0.0,0.0,0.0,-0.07056023117569853,0.23181311504926164,1.524569718555298,0.01733379153347222,0.006543445949405576,-0.0009269779427902937,0.07172327957682169,0.21441143051382214,1.6121232737726123,0.013987529796406613,-0.0006329898741312064,-0.00010492667079435831,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8637094363671949,0.033304185730792024,-0.9269100778542101,0.3243320464858247,0.7034430346360846,-0.02597803776108974,1.1241334081111165,1.524569718555298,2.0510434859653266,2.0510434859653266,2.3421300000004104,0,0,-0.00020289940097961408,-8.698574191359299e-06
+8340,1792668932803424252,37473203000000,1792668932800196053,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676106210790604,-0.004583699172581072,0.08886093112121957,0.9999999934053093,1.352408628111663e-05,1.1134174757757743e-05,6.576758372365918e-05,0.6761,-0.00453,0.08875181554082641,1.0,0.0,0.0,0.0,-0.07000732858004162,0.22164237111231772,1.5442331866089398,0.017357673883763823,0.005528101014664732,-0.0009586384925618944,0.0722761821724786,0.20424068657687822,1.6317867418262542,0.014011412146698217,-0.001648334808872051,-0.000136587220565959,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8722983330693164,-0.10212375263972404,-0.9297546707733192,0.36733017680779495,0.7057118017535009,-0.10717488885975399,1.1241334081111165,1.5442331866089398,2.0538880788844356,2.0538880788844356,2.379440000000418,0,0,-0.0002203756353863537,-7.586575146297035e-05
+8403,1792668933328421445,37473728000000,1792668933324196419,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761047049883162,-0.004590180676816653,0.08874313129769476,0.9999999912917137,4.3297543397701316e-05,7.13989262911345e-06,8.326933321532567e-05,0.6761,-0.00453,0.0886314679919003,1.0,0.0,0.0,0.0,-0.07954027981911681,0.22435721415096793,1.5239144640642301,0.017332028177433886,0.006545594988845444,-0.0009277812813798331,0.06274323093340341,0.20695552961552843,1.6114680192815445,0.013985766440368282,-0.0006308408346913381,-0.00010573000938389769,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9300158511135922,0.0011950111267786537,-0.926162926256589,0.35234722345888636,0.7136712206389065,-0.033435085816058356,1.1241334081111165,1.5239144640642301,2.0502963343677054,2.0502963343677054,2.4161900000004257,0,0,-0.00023842024328010603,-9.999965719232335e-05
+8471,1792668933895356629,37474295000000,1792668933888197046,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6761026028271147,-0.004598118888058756,0.08860151153282023,0.9999999887898118,6.658660807691947e-05,3.7045759948885e-06,9.703473821255748e-05,0.6761,-0.00453,0.08849144181336852,1.0,0.0,0.0,0.0,-0.09153508042894656,0.2044168070116314,1.5336411796173446,0.0163089836347818,0.006564090591816231,-0.0009485299770061976,0.05074843032357365,0.1870151224761919,1.621194734834659,0.012962721897716195,-0.0006123452317205512,-0.0001264787050102622,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.8811248089104872,0.04402900952781921,-0.889002818206952,0.3460874829511498,0.6720165796666338,-0.008512773306024332,1.1241334081111165,1.5336411796173446,2.0131362263180685,2.0131362263180685,2.455880000000434,0,0,-0.0002561262745046352,-9.999999025923074e-05
+8531,1792668934395318749,37474795000000,1792668934388197539,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761045776444039,-0.004600897331244879,0.08847239884867454,0.9999999904243415,4.8059923411410055e-05,6.59666346596691e-06,9.077945346447549e-05,0.6761,-0.00453,0.08835994689662452,1.0,0.0,0.0,0.0,-0.08845817520967098,0.21228785104980172,1.5537602569086608,0.016306245978455827,0.006559036343447707,-0.0009643842083187439,0.05382533554284925,0.19488616651436222,1.6413138121259752,0.012959984241390221,-0.0006173994800890752,-0.00014233293632280846,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9015520758471399,0.05264213816448484,-0.985653082725739,0.366193785323008,0.7335735555724399,-0.003127321107179719,1.1241334081111165,1.5537602569086608,2.1097864908368553,2.1097864908368553,2.490880000000441,0,0,-0.0002677059439807699,9.499874406664315e-06
+8591,1792668934895331995,37475295000000,1792668934892196971,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761028781249823,-0.004598268817958758,0.08833209858306933,0.9999999902311827,4.8203179029025206e-05,1.7803448629140369e-06,9.302571154255679e-05,0.6761,-0.00453,0.08822198229512136,1.0,0.0,0.0,0.0,-0.08859911049175556,0.2133295451200845,1.5776999299237287,0.016274140204156205,0.0075670662434131186,-0.0009680464078441878,0.05368440026076466,0.195927860584645,1.665253485141043,0.0129278784670906,0.00039063041987633584,-0.00014599513584825233,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9270561466281736,0.012111062116680818,-0.9611316292913722,0.3814560364566939,0.7235170246813665,-0.03361013094167933,1.1241334081111165,1.5776999299237287,2.085265037402489,2.085265037402489,2.5258800000004484,0,0,-0.00028209923722963124,-9.675866638326198e-05
+8647,1792668935361373821,37475761000000,1792668935360205901,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6761021354178225,-0.004600573117285722,0.08819734638438469,0.9999999897932005,5.081799338681867e-05,2.235232501854493e-06,9.62756396639195e-05,0.6761,-0.00453,0.0880893454114606,1.0,0.0,0.0,0.0,-0.08860194734739446,0.21931760420664165,1.5715818267936021,0.01627635190256922,0.007567754791586738,-0.0009637893621566509,0.053681563405125754,0.20191591967120215,1.6591353820109165,0.012930090165503614,0.00039131896804995604,-0.00014173809016071549,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9129198123494384,0.011138926270610134,-0.9576066269593719,0.40425104026520065,0.7132885642913258,-0.02590345564016478,1.1241334081111165,1.5715818267936021,2.0817400350704887,2.0817400350704887,2.558500000000455,0,0,-0.0002877139990517793,-9.941907993938343e-05
+8699,1792668935795395783,37476195000000,1792668935792196378,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760994740087362,-0.004599939294920258,0.08806788378419803,0.9999999877060137,7.282656712970572e-05,-4.394773849677333e-06,0.00010347856775464621,0.6761,-0.00453,0.08796227877929658,1.0,0.0,0.0,0.0,-0.08872797007973254,0.21887165888080945,1.593821852493653,0.016272604803748626,0.007564004459313602,-0.0009810743088548583,0.05355554067278768,0.20146997434536995,1.6813754077109673,0.012926343066683022,0.00038756863577681924,-0.00015902303685892292,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9395874869410358,-0.053812062547388274,-0.9850152461546212,0.43371596248738087,0.7340114921848124,-0.06388356464570127,1.1241334081111165,1.593821852493653,2.109148654265738,2.109148654265738,2.5888800000004615,0,0,-0.00029694461761295275,-8.907431322947019e-05
+8755,1792668936261369941,37476661000000,1792668936256196109,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760978351105005,-0.0046037328932089045,0.08792748675903281,0.99999998838979,5.916570832061397e-05,-7.244805223055315e-06,0.00010540500938613389,0.6761,-0.00453,0.08782089502573774,1.0,0.0,0.0,0.0,-0.09785346600911227,0.20666514622398374,1.5741970201588613,0.016274020275465373,0.007568558475626619,-0.0009663482589199624,0.04443004474340794,0.18926346168854424,1.6617505753761757,0.012927758538399767,0.0003921226520898373,-0.00014429698692402696,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9462632591084043,-0.022260576631283953,-0.9563454132839276,0.4346516953609611,0.7128008142619542,-0.04995078056471224,1.1241334081111165,1.5741970201588613,2.0804788213950443,2.0804788213950443,2.6215000000004682,0,0,-0.0003105641701403857,-9.999999025923074e-05
+8803,1792668936661390758,37477061000000,1792668936660196158,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.676094347777441,-0.004607121227829906,0.08778951012603753,0.9999999887424972,4.8694253545009415e-05,-1.3256334948207348e-05,0.00010682232575914722,0.6761,-0.00453,0.08769332102330091,1.0,0.0,0.0,0.0,-0.09792633717165361,0.20124814716457762,1.5730223461642237,0.01525440101102524,0.007587889106620521,-0.0009768217902205666,0.04435717358086661,0.18384646262913812,1.660575901381538,0.011908139273959634,0.0004114532830837391,-0.00015477051822463116,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.907500793318416,-0.08417115294661733,-0.9359811651344195,0.4638299787886066,0.6864609443863885,-0.08922607132316174,1.1241334081111165,1.5730223461642237,2.060114573245536,2.060114573245536,2.649500000000474,0,0,-0.00032732572636670474,-9.999999025923074e-05
+8851,1792668937061414039,37477461000000,1792668937056205831,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760938053015757,-0.004608937086117734,0.08765987644325,0.9999999887529369,4.573695020290543e-05,-1.3606471995684024e-05,0.00010798141371233958,0.6761,-0.00453,0.08755860175828048,1.0,0.0,0.0,0.0,-0.10672988131199623,0.19974328421245177,1.5632035999958926,0.015230701737421507,0.008592527964379149,-0.0009544875626870625,0.03555362944052399,0.18234159967701227,1.650757155213207,0.0118844400003559,0.0014160921408423656,-0.00013243629069112703,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9412412805953312,-0.07220773510849879,-0.9773769261048192,0.4696075840492963,0.7189047070553207,-0.08257913780284398,1.1241334081111165,1.5632035999958926,2.1015103342159356,2.1015103342159356,2.67750000000048,0,0,-0.00034558120421831893,-9.999958780338431e-05
+8899,1792668937461394548,37477861000000,1792668937460196912,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760939980643698,-0.004614918750200071,0.08752352908896319,0.9999999893381324,3.3155146839007e-05,-1.1063911613610682e-05,0.00010744731577104346,0.6761,-0.00453,0.08741659699137207,1.0,0.0,0.0,0.0,-0.10682476200090411,0.20061034388045032,1.5830840348932753,0.01525431051715546,0.008598927442755288,-0.0009704220561144799,0.0354587487516161,0.18320865934501082,1.6706375901105897,0.011908048780089853,0.0014224916192185062,-0.00014837078411854455,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9794976454687775,-0.06456110620140663,-1.0378484434748143,0.479308275907878,0.7670976247736069,-0.0753301357739567,1.1241334081111165,1.5830840348932753,2.1619818515859306,2.1619818515859306,2.7055000000004856,0,0,-0.00036305168050618084,-6.498882962192027e-05
+8942,1792668937820369113,37478220000000,1792668937816197727,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760926138666398,-0.004616464342813262,0.08738845215819431,0.9999999881938236,5.191601202407847e-05,-1.4220014801131747e-05,0.00011026212350081587,0.6761,-0.00453,0.08728369620359404,1.0,0.0,0.0,0.0,-0.10682377608223914,0.19404949114240785,1.5839558100737363,0.015223314557407795,0.00859954458643454,-0.000971190984897325,0.035459734670281066,0.17664780660696836,1.6715093652910507,0.011877052820342189,0.0014231087628977573,-0.00014913971290138954,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,0.9977315081310227,-0.08135828956284126,-1.0429332762213248,0.5004850693966062,0.772960194144908,-0.07917799210306989,1.1241334081111165,1.5839558100737363,2.1670666843324415,2.1670666843324415,2.730630000000491,0,0,-0.0003775095264405267,-9.999876901390365e-05
+8986,1792668938186325924,37478586000000,1792668938184197095,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760918078975984,-0.004620751718065805,0.08725329524839025,0.9999999872148493,7.262192262755534e-05,-1.47667764705919e-05,0.00010733668712389816,0.6761,-0.00453,0.08714303399739654,1.0,0.0,0.0,0.0,-0.09712134734305075,0.18874415920593668,1.6007465367525167,0.014249309868959614,0.008613796422784913,-0.0009959023177898859,0.045162163409469464,0.17134247467049718,1.688300091969831,0.010903048131894008,0.0014373605992481313,-0.00017385104579395046,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0325638019578023,-0.1718249748507077,-1.0384209673527558,0.5398262847966743,0.7786367586596104,-0.14002034231532265,1.1241334081111165,1.6007465367525167,2.1625543754638725,2.1625543754638725,2.756250000000496,0,0,-0.00039138096700616485,-9.999999025923074e-05
+9030,1792668938553343623,37478953000000,1792668938552195862,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760947285823793,-0.004622183910904849,0.08711078303802182,0.9999999880545523,5.6780137548230254e-05,-1.1126715657687074e-05,0.000109480463598932,0.6761,-0.00453,0.08699759677306482,1.0,0.0,0.0,0.0,-0.11587114658080838,0.19172760270713293,1.6133299512301438,0.01521756134033947,0.00859359826631568,-0.0009959994393888667,0.02641236417171183,0.17432591817169343,1.7008835064474581,0.011871299603273863,0.0014171624427788986,-0.00017394816739293133,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.077689715161853,-0.10447816340071754,-0.9861414403539173,0.5363600301993835,0.7573571004730116,-0.09471797652029576,1.1241334081111165,1.6133299512301438,2.1102748484650338,2.1102748484650338,2.7819400000005015,0,0,-0.000401908146301115,-9.998219893526112e-05
+9070,1792668938886383873,37479286000000,1792668938880196371,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760947913654456,-0.004629968063988206,0.08697814877147962,0.9999999880164933,3.947657747668989e-05,-1.1486337582141982e-05,0.00011713044733573594,0.6761,-0.00453,0.0868620036183293,1.0,0.0,0.0,0.0,-0.11673664742965904,0.19389502188358482,1.61424608870065,0.01518987813466324,0.009606455144470803,-0.0009811030897321367,0.02554686332286117,0.17649333734814532,1.7017996439179643,0.011843616397597633,0.002430019320934021,-0.00015905181773620135,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0809459746075698,-0.06217656803218057,-1.0082884461751416,0.5262601202677929,0.771836938064473,-0.07157303989022909,1.1241334081111165,1.61424608870065,2.132421854286258,2.132421854286258,2.8052500000005063,0,0,-0.0004133733589276308,-9.999999025923074e-05
+9110,1792668939220407543,37479620000000,1792668939216196533,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760954739247675,-0.004634263627838259,0.08683693134410278,0.9999999885709333,2.1367592141959032e-05,-4.428145608202127e-06,0.0001175789742647001,0.6761,-0.00453,0.08672260471558305,1.0,0.0,0.0,0.0,-0.12538970894023635,0.20094944745027302,1.5932767143874857,0.015195207804079574,0.00961061349855355,-0.0009651935293831899,0.016893801812283855,0.18354776291483352,1.6808302696048,0.011848946067013968,0.0024341776750167674,-0.0001431422573872545,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0905227713617334,-0.14412268526262184,-1.0418072105981104,0.5573014869577233,0.7932409930077632,-0.1240768900978505,1.1241334081111165,1.5932767143874857,2.165940618709227,2.165940618709227,2.828630000000511,0,0,-0.00042329295516926733,-9.999999025923074e-05
+9146,1792668939520378351,37479920000000,1792668939520196508,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760869179260709,-0.00463533620796583,0.0867005014743739,0.9999999885761748,8.619431712074224e-06,-1.7421562144943508e-05,0.00011795214848909637,0.6761,-0.00453,0.08659384014808906,1.0,0.0,0.0,0.0,-0.1259423246064493,0.19122607528650995,1.601870225540972,0.015192129023910605,0.009609573753467151,-0.000972911367901985,0.01634118614607091,0.17382439075107045,1.6894237807582864,0.011845867286844999,0.002433137929930369,-0.00015086009590604968,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.0698892043763277,-0.1691264457840886,-1.024768698835735,0.5826739430489443,0.7798871919545057,-0.143074256827031,1.1241334081111165,1.601870225540972,2.1489021069468515,2.1489021069468515,2.8496300000005155,0,0,-0.0004358137097135436,-9.999999025923074e-05
+9190,1792668939886315795,37480286000000,1792668939880196381,DOWN_FORCE_DETACH,3,0.0526,0.05260162800550461,0.6760956224599546,-0.004640706369864077,0.08655133829302163,0.9999999876769229,1.559999259186575e-05,-4.834713077904718e-06,0.00012578666228132808,0.6761,-0.00453,0.08643151044179084,1.0,0.0,0.0,0.0,-0.1380266256851397,0.20986386082970374,1.6030412724928067,0.01618631110897223,0.010574555241461905,-0.0009482040972550231,0.004256885067380512,0.19246217629426424,1.690594827710121,0.012840049371906625,0.003398119417925123,-0.00012615282525908766,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1535295521596662,-0.18213772450366464,-1.031715090819717,0.5927608799169926,0.8050230836277011,-0.14192302171815255,1.1241334081111165,1.6030412724928067,2.1558484989308333,2.1558484989308333,2.875250000000521,0,0,-0.00045114527826991955,-9.975596323841813e-05
+9226,1792668940186322510,37480586000000,1792668940184196647,DOWN_FORCE_DETACH,3,0.0526,0.05260228365659714,0.6760946284142044,-0.004641672428131368,0.08641601204595387,0.999999983006488,8.864812310300583e-05,-9.48756485484932e-06,0.00013221718690049195,0.6761,-0.00453,0.08629407900676525,1.0,0.0,0.0,0.0,-0.1441242947681054,0.20404361895931364,1.601331238457196,0.016186009478873983,0.01060335088073135,-0.000947916186406858,-0.0018407840155851723,0.18664193442387414,1.6888847936745104,0.012839747741808377,0.0034269150571945685,-0.00012586491441092255,0.14228351075252021,-0.017401684535439495,0.0875535552173143,-0.0033462617370656057,-0.007176435823536782,0.0008220512719959354,1,1.1338823476593693,-0.20610500286540057,-0.9438416054689899,0.6097875411820824,0.743645452204325,-0.15296124867302177,1.1241334081111165,1.601331238457196,2.0679750135801065,2.0679750135801065,2.896250000000525,0,0,-0.0004650964316136027,-9.999883840284269e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b9cf2af701e4764c1fd3507fe90bace7fa88a39
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3dcec8a6bfa63f9dd439ff4963b504abf9546bcb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+15,8.400000000e+00,DOWN_FORCE_DETACH,1792668914838247134,6.535766889e-05,-3.967692939e-05,-2.422746530e-04,5.289161892e-05,-4.088632730e-05,-2.514895796e-04,5.340571270e-05,-4.085449542e-05,-2.514310442e-04,7.016032292e-01,-3.812596807e-05,8.404986665e-01,7.015907631e-01,-3.933536598e-05,8.404894516e-01,7.017826368e-01,-3.908118922e-05,8.293212755e-01
+16,8.933333333e+00,DOWN_FORCE_DETACH,1792668915836593871,6.778095995e-05,-4.525483366e-05,-2.744496754e-04,6.501431442e-05,-4.989945043e-05,-2.658642879e-04,6.595106088e-05,-4.985549721e-05,-2.658141661e-04,7.016056524e-01,-4.370387234e-05,8.404664915e-01,7.016028858e-01,-4.834848910e-05,8.404750769e-01,7.017951821e-01,-4.808219100e-05,8.293068924e-01
+17,9.583333333e+00,DOWN_FORCE_DETACH,1792668917100078312,7.498488182e-05,-4.685816374e-05,-3.175419422e-04,7.191583356e-05,-4.732361795e-05,-3.054327538e-04,7.307681101e-05,-4.726453473e-05,-3.052121765e-04,7.016128564e-01,-4.530720242e-05,8.404233992e-01,7.016097873e-01,-4.577265663e-05,8.404355084e-01,7.018023079e-01,-4.549122853e-05,8.292674944e-01
+18,1.016666667e+01,DOWN_FORCE_DETACH,1792668918266161235,7.457818036e-05,-5.022911157e-05,-3.547659056e-04,6.974048551e-05,-5.021533526e-05,-3.466539260e-04,7.079010848e-05,-5.020127124e-05,-3.463105632e-04,7.016124497e-01,-4.867815025e-05,8.403861753e-01,7.016076120e-01,-4.866437393e-05,8.403942873e-01,7.018000212e-01,-4.842796503e-05,8.292263960e-01
+19,1.066666667e+01,DOWN_FORCE_DETACH,1792668919262388878,7.692197502e-05,-5.713889885e-05,-3.925830260e-04,7.416997060e-05,-5.103457520e-05,-3.907075868e-04,7.515405319e-05,-5.098569761e-05,-3.901880291e-04,7.016147935e-01,-5.558793752e-05,8.403483582e-01,7.016120415e-01,-4.948361388e-05,8.403502336e-01,7.018043851e-01,-4.921239141e-05,8.291825185e-01
+20,1.130000000e+01,DOWN_FORCE_DETACH,1792668920509934674,8.134067109e-05,-5.953200518e-05,-4.522764396e-04,8.119126095e-05,-5.958486716e-05,-4.521632520e-04,8.217658024e-05,-5.956716035e-05,-4.513524687e-04,7.016192122e-01,-5.798104386e-05,8.402886647e-01,7.016190627e-01,-5.803390584e-05,8.402887779e-01,7.018114077e-01,-5.779385415e-05,8.291213541e-01
+21,1.186666667e+01,DOWN_FORCE_DETACH,1792668921574823489,8.437232367e-05,-6.086086297e-05,-5.115099656e-04,8.215808685e-05,-6.568780043e-05,-4.967092070e-04,8.308860921e-05,-6.567865168e-05,-4.961076921e-04,7.016222438e-01,-5.930990165e-05,8.402294312e-01,7.016200296e-01,-6.413683911e-05,8.402442320e-01,7.018123197e-01,-6.390534547e-05,8.290765989e-01
+22,1.236666667e+01,DOWN_FORCE_DETACH,1792668922522091099,8.329073553e-05,-6.623901113e-05,-5.781940428e-04,8.132322185e-05,-6.584702896e-05,-5.624375469e-04,8.195717050e-05,-6.582542691e-05,-5.616848061e-04,7.016211622e-01,-6.468804981e-05,8.401627471e-01,7.016191947e-01,-6.429606764e-05,8.401785036e-01,7.018111882e-01,-6.405212071e-05,8.290110218e-01
+23,1.286666667e+01,DOWN_FORCE_DETACH,1792668923470125406,8.444783385e-05,-7.522247471e-05,-6.604559743e-04,8.220872379e-05,-7.719671893e-05,-6.503429609e-04,8.252972426e-05,-7.717183572e-05,-6.493229559e-04,7.016223193e-01,-7.367151339e-05,8.400804852e-01,7.016200802e-01,-7.564575761e-05,8.400905982e-01,7.018117608e-01,-7.539852952e-05,8.289233836e-01
+24,1.336666667e+01,DOWN_FORCE_DETACH,1792668924418123792,8.454547473e-05,-7.645431680e-05,-7.533424910e-04,8.323178365e-05,-7.413948373e-05,-7.389632587e-04,8.321731645e-05,-7.413336633e-05,-7.378994873e-04,7.016224170e-01,-7.490335548e-05,8.399875987e-01,7.016211033e-01,-7.258852240e-05,8.400019779e-01,7.018124484e-01,-7.236006013e-05,8.288348071e-01
+25,1.350000000e+01,DOWN_FORCE_DETACH,1792668924684127750,8.907323263e-05,-4.621729733e-05,-7.820678841e-04,8.930020353e-05,-3.578942494e-05,-7.756728032e-04,8.930235371e-05,-3.583827687e-05,-7.744005696e-04,7.016269447e-01,-4.466633601e-05,8.399588733e-01,7.016271717e-01,-3.423846362e-05,8.399652684e-01,7.018185334e-01,-3.406497067e-05,8.287983060e-01
+26,1.396666667e+01,DOWN_FORCE_DETACH,1792668925582707421,9.203364612e-05,-5.085060184e-05,-8.825117148e-04,8.966415640e-05,-5.060255022e-05,-8.840960806e-04,8.932195052e-05,-5.061181474e-05,-8.824854885e-04,7.016299051e-01,-4.929964052e-05,8.398584295e-01,7.016275356e-01,-4.905158890e-05,8.398568451e-01,7.018185530e-01,-4.883850853e-05,8.286902211e-01
+27,1.440000000e+01,DOWN_FORCE_DETACH,1792668926448502912,9.001742290e-05,-5.771193649e-05,-9.944362604e-04,8.988654990e-05,-5.782109058e-05,-9.945482007e-04,8.916590397e-05,-5.783169513e-05,-9.927111084e-04,7.016278889e-01,-5.616097517e-05,8.397465049e-01,7.016277580e-01,-5.627012926e-05,8.397463930e-01,7.018183970e-01,-5.605838893e-05,8.285799955e-01
+28,1.483333333e+01,DOWN_FORCE_DETACH,1792668927312851656,8.438156320e-05,-5.678927589e-05,-1.107825639e-03,8.449233264e-05,-5.689494066e-05,-1.107174552e-03,8.321142924e-05,-5.691684719e-05,-1.105321254e-03,7.016222530e-01,-5.523831457e-05,8.396331155e-01,7.016223638e-01,-5.534397934e-05,8.396337666e-01,7.018124425e-01,-5.514354099e-05,8.284673853e-01
+29,1.528333333e+01,DOWN_FORCE_DETACH,1792668928212183448,8.641489052e-05,-5.992019318e-05,-1.225076828e-03,8.435261486e-05,-5.757518898e-05,-1.215420034e-03,8.268020931e-05,-5.753544067e-05,-1.213745632e-03,7.016242864e-01,-5.836923186e-05,8.395158644e-01,7.016222241e-01,-5.602422766e-05,8.395255212e-01,7.018119113e-01,-5.576213446e-05,8.283589609e-01
+30,1.570000000e+01,DOWN_FORCE_DETACH,1792668929010131859,8.608782435e-05,-5.847465009e-05,-1.346979670e-03,8.445162719e-05,-6.321535615e-05,-1.329211629e-03,8.232474908e-05,-6.314774194e-05,-1.327502966e-03,7.016239593e-01,-5.692368877e-05,8.393939615e-01,7.016223231e-01,-6.166439483e-05,8.394117296e-01,7.018115558e-01,-6.137443574e-05,8.282452036e-01
+31,1.606666667e+01,DOWN_FORCE_DETACH,1792668929708243262,8.770863504e-05,-5.820173054e-05,-1.460142442e-03,8.616375329e-05,-5.595242297e-05,-1.452060918e-03,8.356383132e-05,-5.590788846e-05,-1.450031681e-03,7.016255801e-01,-5.665076922e-05,8.392807987e-01,7.016240352e-01,-5.440146165e-05,8.392888803e-01,7.018127949e-01,-5.413458225e-05,8.281226749e-01
+32,1.641666667e+01,DOWN_FORCE_DETACH,1792668930372159428,7.959298407e-05,-6.565401388e-05,-1.585731588e-03,7.954527653e-05,-6.568779137e-05,-1.585683786e-03,7.628696344e-05,-6.559972606e-05,-1.583256918e-03,7.016174645e-01,-6.410305256e-05,8.391552096e-01,7.016174168e-01,-6.413683005e-05,8.391552574e-01,7.018055180e-01,-6.382641986e-05,8.279894497e-01
+33,1.673333333e+01,DOWN_FORCE_DETACH,1792668930972160940,8.383737176e-05,-7.089888560e-05,-1.687222453e-03,8.394493065e-05,-6.494486309e-05,-1.679773156e-03,8.034844505e-05,-6.485603374e-05,-1.677678298e-03,7.016217089e-01,-6.934792428e-05,8.390537187e-01,7.016218164e-01,-6.339390176e-05,8.390611680e-01,7.018095795e-01,-6.308272754e-05,8.278950283e-01
+34,1.706666667e+01,DOWN_FORCE_DETACH,1792668931604194689,7.968720880e-05,-7.561805265e-05,-1.812859511e-03,7.945116530e-05,-7.549978413e-05,-1.812848434e-03,7.529708015e-05,-7.541700497e-05,-1.810499198e-03,7.016175587e-01,-7.406709133e-05,8.389280817e-01,7.016173226e-01,-7.394882281e-05,8.389280928e-01,7.018045282e-01,-7.364369876e-05,8.277622074e-01
+35,1.741666667e+01,DOWN_FORCE_DETACH,1792668932268431266,7.888274382e-05,-7.604026485e-05,-1.943569745e-03,7.748695608e-05,-7.997587600e-05,-1.931837361e-03,7.288886664e-05,-7.987606956e-05,-1.929580782e-03,7.016167542e-01,-7.448930353e-05,8.387973714e-01,7.016153584e-01,-7.842491468e-05,8.388091038e-01,7.018021199e-01,-7.810276336e-05,8.276431258e-01
+36,1.770000000e+01,DOWN_FORCE_DETACH,1792668932802159445,7.753262984e-05,-7.277976051e-05,-2.062435130e-03,7.764353854e-05,-7.902443493e-05,-2.053559384e-03,7.258724721e-05,-7.892499137e-05,-2.051184612e-03,7.016154041e-01,-7.122879918e-05,8.386785061e-01,7.016155150e-01,-7.747347361e-05,8.386873818e-01,7.018018183e-01,-7.715168516e-05,8.275215220e-01
+37,1.798333333e+01,DOWN_FORCE_DETACH,1792668933332342980,7.257387976e-05,-8.042384594e-05,-2.186956388e-03,7.240988787e-05,-8.038293981e-05,-2.186875650e-03,6.678781240e-05,-8.028320143e-05,-2.184225774e-03,7.016104454e-01,-7.887288462e-05,8.385539848e-01,7.016102814e-01,-7.883197849e-05,8.385540655e-01,7.017960189e-01,-7.850989522e-05,8.273884808e-01
+38,1.826666667e+01,DOWN_FORCE_DETACH,1792668933898840138,7.405637195e-05,-8.405290933e-05,-2.322919660e-03,7.426205263e-05,-8.673419041e-05,-2.305606712e-03,6.823680932e-05,-8.664890617e-05,-2.303077320e-03,7.016119279e-01,-8.250194801e-05,8.384180215e-01,7.016121335e-01,-8.518322909e-05,8.384353345e-01,7.017974679e-01,-8.487559997e-05,8.272696293e-01
+39,1.851666667e+01,DOWN_FORCE_DETACH,1792668934397045871,7.483448424e-05,-8.409832086e-05,-2.450959352e-03,7.169377125e-05,-9.330798368e-05,-2.438075436e-03,6.512500214e-05,-9.323958522e-05,-2.435447857e-03,7.016127060e-01,-8.254735954e-05,8.382899818e-01,7.016095653e-01,-9.175702236e-05,8.383028658e-01,7.017943561e-01,-9.146627902e-05,8.271372587e-01
+40,1.876666667e+01,DOWN_FORCE_DETACH,1792668934898227767,7.559378449e-05,-8.867432694e-05,-2.589092937e-03,7.141286276e-05,-8.796698987e-05,-2.575065650e-03,6.431983956e-05,-8.786404521e-05,-2.572389188e-03,7.016134653e-01,-8.712336562e-05,8.381518483e-01,7.016092843e-01,-8.641602855e-05,8.381658755e-01,7.017935509e-01,-8.609073900e-05,8.270003174e-01
+41,1.900000000e+01,DOWN_FORCE_DETACH,1792668935362343792,7.177566497e-05,-9.033194698e-05,-2.729046446e-03,7.144439015e-05,-9.033420612e-05,-2.729288963e-03,6.384897537e-05,-9.020634909e-05,-2.726192187e-03,7.016096471e-01,-8.878098566e-05,8.380118947e-01,7.016093159e-01,-8.878324480e-05,8.380116522e-01,7.017930801e-01,-8.843304289e-05,8.268465144e-01
+42,1.921666667e+01,DOWN_FORCE_DETACH,1792668935796243800,7.080541598e-05,-8.868537406e-05,-2.855481006e-03,6.997745950e-05,-9.243465167e-05,-2.846185985e-03,6.186705770e-05,-9.231140446e-05,-2.843278923e-03,7.016086769e-01,-8.713441274e-05,8.378854602e-01,7.016078489e-01,-9.088369035e-05,8.378947552e-01,7.017910981e-01,-9.053809825e-05,8.267294276e-01
+43,1.945000000e+01,DOWN_FORCE_DETACH,1792668936260351403,6.834983936e-05,-9.047298211e-05,-2.994825877e-03,6.862992615e-05,-9.253449997e-05,-2.980019299e-03,5.996356201e-05,-9.240010338e-05,-2.977207878e-03,7.016062213e-01,-8.892202078e-05,8.377461153e-01,7.016065014e-01,-9.098353865e-05,8.377609219e-01,7.017891946e-01,-9.062679718e-05,8.265954987e-01
+44,1.965000000e+01,DOWN_FORCE_DETACH,1792668936660399140,6.510583161e-05,-9.873070236e-05,-3.132744899e-03,6.509387441e-05,-9.702987822e-05,-3.113682984e-03,5.578410528e-05,-9.685497826e-05,-3.110858432e-03,7.016029773e-01,-9.717974104e-05,8.376081963e-01,7.016029654e-01,-9.547891690e-05,8.376272582e-01,7.017850152e-01,-9.508167206e-05,8.264618481e-01
+45,1.986666667e+01,DOWN_FORCE_DETACH,1792668937058338562,6.383699923e-05,-9.559163934e-05,-3.265210691e-03,6.375260491e-05,-9.562411182e-05,-3.264928961e-03,5.389513868e-05,-9.542129458e-05,-3.261823766e-03,7.016017085e-01,-9.404067802e-05,8.374757305e-01,7.016016241e-01,-9.407315050e-05,8.374760122e-01,7.017831262e-01,-9.364798838e-05,8.263108828e-01
+46,2.006666667e+01,DOWN_FORCE_DETACH,1792668937458223101,6.841751002e-05,-1.028559392e-04,-3.395561326e-03,6.703477367e-05,-1.002189912e-04,-3.385083431e-03,5.676337531e-05,-1.000209079e-04,-3.382189455e-03,7.016062890e-01,-1.013049779e-04,8.373453799e-01,7.016049063e-01,-9.866802988e-05,8.373558578e-01,7.017859945e-01,-9.824760167e-05,8.261905171e-01
+47,2.026666667e+01,DOWN_FORCE_DETACH,1792668937824210220,6.364323357e-05,-1.102297839e-04,-3.534722898e-03,6.357299690e-05,-1.104505163e-04,-3.534608639e-03,5.278561927e-05,-1.102494991e-04,-3.531470389e-03,7.016015147e-01,-1.086788225e-04,8.372062183e-01,7.016014445e-01,-1.088995550e-04,8.372063325e-01,7.017820167e-01,-1.084761929e-04,8.260412362e-01
+48,2.045000000e+01,DOWN_FORCE_DETACH,1792668938188226984,6.257750635e-05,-1.077007748e-04,-3.671257605e-03,5.948813033e-05,-1.129337889e-04,-3.663264666e-03,4.814691421e-05,-1.127417896e-04,-3.660124085e-03,7.016004490e-01,-1.061498135e-04,8.370696836e-01,7.015973596e-01,-1.113828276e-04,8.370776765e-01,7.017773780e-01,-1.109684834e-04,8.259125825e-01
+49,2.065000000e+01,DOWN_FORCE_DETACH,1792668938556233345,6.548541826e-05,-1.165017952e-04,-3.813116385e-03,6.544007477e-05,-1.164010547e-04,-3.813343290e-03,5.370439469e-05,-1.161792629e-04,-3.810095910e-03,7.016033569e-01,-1.149508339e-04,8.369278248e-01,7.016033116e-01,-1.148500934e-04,8.369275979e-01,7.017829355e-01,-1.144059567e-04,8.257626107e-01
+50,2.083333333e+01,DOWN_FORCE_DETACH,1792668938889146294,6.719188481e-05,-1.205963868e-04,-3.943521403e-03,6.698190321e-05,-1.205241715e-04,-3.943403223e-03,5.474361181e-05,-1.203253548e-04,-3.940354845e-03,7.016050634e-01,-1.190454255e-04,8.367974198e-01,7.016048534e-01,-1.189732102e-04,8.367975380e-01,7.017839747e-01,-1.185520486e-04,8.256323517e-01
+51,2.100000000e+01,DOWN_FORCE_DETACH,1792668939222469886,6.805309816e-05,-1.243464605e-04,-4.086091732e-03,6.776346727e-05,-1.242933087e-04,-4.086169032e-03,5.502015419e-05,-1.240763401e-04,-4.082957961e-03,7.016059246e-01,-1.227954992e-04,8.366548495e-01,7.016056349e-01,-1.227423474e-04,8.366547722e-01,7.017842512e-01,-1.223030339e-04,8.254897486e-01
+52,2.116666667e+01,DOWN_FORCE_DETACH,1792668939520530297,5.824933331e-05,-1.240822871e-04,-4.222863316e-03,5.804178488e-05,-1.241130439e-04,-4.223137213e-03,4.465277897e-05,-1.238640868e-04,-4.220049502e-03,7.015961208e-01,-1.225313258e-04,8.365180779e-01,7.015959133e-01,-1.225620826e-04,8.365178040e-01,7.017738839e-01,-1.220907806e-04,8.253526571e-01
+53,2.135000000e+01,DOWN_FORCE_DETACH,1792668939888247032,6.910400693e-05,-1.321959341e-04,-4.367297599e-03,6.599291100e-05,-1.262617552e-04,-4.354540492e-03,5.220420537e-05,-1.259848270e-04,-4.351739462e-03,7.016069755e-01,-1.306449728e-04,8.363736436e-01,7.016038644e-01,-1.247107939e-04,8.363864007e-01,7.017814353e-01,-1.242115208e-04,8.252209671e-01
+54,2.151666667e+01,DOWN_FORCE_DETACH,1792668940184257302,6.669575500e-05,-1.295523845e-04,-4.505088476e-03,6.678056865e-05,-1.275936181e-04,-4.491640330e-03,5.248640944e-05,-1.273022487e-04,-4.488900359e-03,7.016045672e-01,-1.280014231e-04,8.362358527e-01,7.016046521e-01,-1.260426567e-04,8.362493009e-01,7.017817175e-01,-1.255289425e-04,8.250838062e-01
+55,2.165000000e+01,DOWN_FORCE_DETACH,1792668940452474797,5.816140238e-05,-1.309712614e-04,-4.637489254e-03,5.872110106e-05,-1.271257674e-04,-4.622695511e-03,4.379190910e-05,-1.268229829e-04,-4.619989586e-03,7.015960329e-01,-1.294203001e-04,8.361034519e-01,7.015965926e-01,-1.255748061e-04,8.361182457e-01,7.017730230e-01,-1.250496767e-04,8.249527170e-01
+56,2.181666667e+01,DOWN_FORCE_DETACH,1792668940752181177,5.390923008e-05,-1.363186351e-04,-4.783364443e-03,5.587182966e-05,-1.327976892e-04,-4.773288957e-03,4.032876240e-05,-1.324430700e-04,-4.770811684e-03,7.015917807e-01,-1.347676738e-04,8.359575767e-01,7.015937433e-01,-1.312467278e-04,8.359676522e-01,7.017695598e-01,-1.306697638e-04,8.248018949e-01
+57,2.195000000e+01,DOWN_FORCE_DETACH,1792668941016236345,3.660142649e-05,-1.336905675e-04,-4.924170474e-03,3.682834820e-05,-1.349255891e-04,-4.908864259e-03,2.044148152e-05,-1.345844476e-04,-4.906231607e-03,7.015744729e-01,-1.321396062e-04,8.358167707e-01,7.015746998e-01,-1.333746278e-04,8.358320769e-01,7.017496726e-01,-1.328111414e-04,8.246664750e-01
+58,2.206666667e+01,DOWN_SETTLE,1792668941250367425,7.045077913e-05,-1.340555444e-04,-5.023065317e-03,7.016893608e-05,-1.341910167e-04,-5.023098931e-03,5.390371102e-05,-1.338528433e-04,-5.020604044e-03,7.016083223e-01,-1.325045831e-04,8.357178759e-01,7.016080404e-01,-1.326400554e-04,8.357178423e-01,7.017831348e-01,-1.320795371e-04,8.245521025e-01
+59,2.250000000e+01,DOWN_PEAK_HOLD,1792668942082846557,4.423717426e-05,-1.286298723e-04,-5.117198343e-03,4.675778204e-05,-1.344226260e-04,-5.110209021e-03,2.980895967e-05,-1.341977055e-04,-5.109527272e-03,7.015821087e-01,-1.270789109e-04,8.356237428e-01,7.015846293e-01,-1.328716646e-04,8.356307322e-01,7.017590400e-01,-1.324243993e-04,8.244631793e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..504327a2d403a6b236a3a7a7413ec360ea4e2123
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-6.8319e-03,1.1299e-03,2.4555e+00,-3.6882e-02,3.6302e-02,-1.7515e-05,2.1973e-04,1.1460e-06,2.0504e-04,-6.3330e-07,1.4421e-05,-5.0226e-07,3.0054e-04,1.4443e-05
+1,5.0000e-01,DOWN_FORCE_DETACH,1.3945e-04,-1.3233e-03,1.7229e-03,2.4596e+00,-3.6945e-02,3.6692e-02,-7.1406e-05,5.7283e-03,5.9410e-04,4.3631e-03,-6.3241e-05,4.0455e-04,-5.4393e-05,7.2252e-03,4.1306e-04
+2,8.6667e-01,DOWN_FORCE_DETACH,2.8713e-04,9.3703e-03,5.8565e-03,2.4933e+00,-3.7215e-02,3.7394e-02,-7.1285e-05,1.6422e-02,4.7278e-03,3.8075e-02,-3.3388e-04,1.1063e-03,-5.4272e-05,4.1734e-02,1.1568e-03
+3,1.2833e+00,DOWN_FORCE_DETACH,4.3164e-04,-2.7321e-02,9.7907e-03,2.4655e+00,-3.7463e-02,3.5018e-02,-7.4452e-05,-2.0270e-02,8.6620e-03,1.0197e-02,-5.8159e-04,-1.2698e-03,-5.7439e-05,2.4287e-02,1.3979e-03
+4,1.9500e+00,DOWN_FORCE_DETACH,5.7404e-04,-9.0628e-03,9.3850e-03,2.4597e+00,-3.7437e-02,3.6130e-02,-7.1727e-05,-2.0112e-03,8.2563e-03,4.4236e-03,-5.5500e-04,-1.5714e-04,-5.4715e-05,9.5802e-03,5.7940e-04
+5,2.5833e+00,DOWN_FORCE_DETACH,7.1750e-04,-1.7278e-03,1.0896e-02,2.4651e+00,-3.7527e-02,3.6641e-02,-6.6905e-05,5.3238e-03,9.7673e-03,9.8410e-03,-6.4577e-04,3.5367e-04,-4.9893e-05,1.4852e-02,7.3796e-04
+6,3.2500e+00,DOWN_FORCE_DETACH,8.6099e-04,2.7477e-03,1.1554e-02,2.4726e+00,-3.7560e-02,3.6962e-02,-5.6545e-05,9.7993e-03,1.0425e-02,1.7385e-02,-6.7883e-04,6.7483e-04,-3.9532e-05,2.2515e-02,9.5800e-04
+7,3.9333e+00,DOWN_FORCE_DETACH,1.0019e-03,1.3348e-03,1.1515e-02,2.4575e+00,-3.7555e-02,3.6877e-02,-5.4110e-05,8.3865e-03,1.0386e-02,2.2824e-03,-6.7379e-04,5.9003e-04,-3.7097e-05,1.3543e-02,8.9638e-04
+8,4.6167e+00,DOWN_FORCE_DETACH,1.1495e-03,1.1357e-03,1.3306e-02,2.4587e+00,-3.7676e-02,3.6861e-02,-5.0250e-05,8.1873e-03,1.2178e-02,3.4370e-03,-7.9415e-04,5.7368e-04,-3.3237e-05,1.5071e-02,9.8025e-04
+9,5.1000e+00,DOWN_FORCE_DETACH,1.2907e-03,5.2869e-04,1.5185e-02,2.4700e+00,-3.7801e-02,3.6820e-02,-4.7585e-05,7.5803e-03,1.4056e-02,1.4779e-02,-9.1920e-04,5.3246e-04,-3.0573e-05,2.1759e-02,1.0627e-03
+10,5.7000e+00,DOWN_FORCE_DETACH,1.4322e-03,6.5839e-04,1.4629e-02,2.4603e+00,-3.7769e-02,3.6828e-02,-4.4210e-05,7.7100e-03,1.3500e-02,5.0468e-03,-8.8784e-04,5.4087e-04,-2.7197e-05,1.6346e-02,1.0400e-03
+11,6.2333e+00,DOWN_FORCE_DETACH,1.5762e-03,1.3100e-03,1.5267e-02,2.4659e+00,-3.7806e-02,3.6865e-02,-4.1586e-05,8.3616e-03,1.4139e-02,1.0684e-02,-9.2477e-04,5.7765e-04,-2.4574e-05,1.9595e-02,1.0906e-03
+12,6.7667e+00,DOWN_FORCE_DETACH,1.7218e-03,2.6653e-03,1.5870e-02,2.4556e+00,-3.7857e-02,3.6965e-02,-3.7460e-05,9.7169e-03,1.4742e-02,3.9291e-04,-9.7504e-04,6.7797e-04,-2.0447e-05,1.7660e-02,1.1878e-03
+13,7.5167e+00,DOWN_FORCE_DETACH,1.8639e-03,3.0472e-03,1.7141e-02,2.4589e+00,-3.7959e-02,3.6995e-02,-3.1781e-05,1.0099e-02,1.6013e-02,3.6316e-03,-1.0775e-03,7.0754e-04,-1.4768e-05,1.9276e-02,1.2891e-03
+14,8.0833e+00,DOWN_FORCE_DETACH,2.0067e-03,3.2191e-03,1.7193e-02,2.4660e+00,-3.7973e-02,3.7004e-02,-2.9087e-05,1.0271e-02,1.6064e-02,1.0697e-02,-1.0912e-03,7.1696e-04,-1.2074e-05,2.1863e-02,1.3057e-03
+15,8.4000e+00,DOWN_FORCE_DETACH,2.1495e-03,-6.6434e-03,1.6479e-02,2.4636e+00,-3.7934e-02,3.6354e-02,-2.8092e-05,4.0819e-04,1.5350e-02,8.3513e-03,-1.0523e-03,6.6493e-05,-1.1079e-05,1.7479e-02,1.0545e-03
+16,8.9333e+00,DOWN_FORCE_DETACH,2.2944e-03,-5.7563e-03,1.8332e-02,2.4609e+00,-3.8074e-02,3.6385e-02,-2.4253e-05,1.2953e-03,1.7204e-02,5.6624e-03,-1.1924e-03,9.7293e-05,-7.2407e-06,1.8158e-02,1.1964e-03
+17,9.5833e+00,DOWN_FORCE_DETACH,2.4349e-03,2.7678e-04,1.8167e-02,2.4700e+00,-3.8091e-02,3.6776e-02,-1.8632e-05,7.3284e-03,1.7039e-02,1.4716e-02,-1.2092e-03,4.8850e-04,-1.6191e-06,2.3677e-02,1.3041e-03
+18,1.0167e+01,DOWN_FORCE_DETACH,2.5827e-03,6.9449e-03,1.8840e-02,2.4752e+00,-3.8154e-02,3.7232e-02,-1.4144e-05,1.3997e-02,1.7711e-02,1.9987e-02,-1.2722e-03,9.4449e-04,2.8687e-06,3.0151e-02,1.5845e-03
+19,1.0667e+01,DOWN_FORCE_DETACH,2.7214e-03,7.9959e-03,1.9072e-02,2.4800e+00,-3.8185e-02,3.7317e-02,-1.0528e-05,1.5048e-02,1.7943e-02,2.4717e-02,-1.3030e-03,1.0297e-03,6.4848e-06,3.4049e-02,1.6608e-03
+20,1.1300e+01,DOWN_FORCE_DETACH,2.8699e-03,6.9691e-03,2.0501e-02,2.4822e+00,-3.8291e-02,3.7249e-02,-4.0711e-06,1.4021e-02,1.9372e-02,2.6958e-02,-1.4098e-03,9.6112e-04,1.2942e-05,3.6037e-02,1.7063e-03
+21,1.1867e+01,DOWN_FORCE_DETACH,3.0101e-03,9.1858e-03,2.3248e-02,2.4908e+00,-3.8470e-02,3.7390e-02,3.7821e-06,1.6237e-02,2.2119e-02,3.5536e-02,-1.5883e-03,1.1022e-03,2.0795e-05,4.4897e-02,1.9334e-03
+22,1.2367e+01,DOWN_FORCE_DETACH,3.1546e-03,1.0266e-02,2.3876e-02,2.4960e+00,-3.8489e-02,3.7460e-02,9.7303e-06,1.7318e-02,2.2747e-02,4.0724e-02,-1.6076e-03,1.1724e-03,2.6743e-05,4.9757e-02,1.9899e-03
+23,1.2867e+01,DOWN_FORCE_DETACH,3.3002e-03,9.8700e-03,2.7293e-02,2.5057e+00,-3.8666e-02,3.7429e-02,1.4215e-05,1.6922e-02,2.6164e-02,5.0433e-02,-1.7849e-03,1.1418e-03,3.1228e-05,5.9282e-02,2.1191e-03
+24,1.3367e+01,DOWN_FORCE_DETACH,3.4434e-03,9.6956e-03,2.7241e-02,2.5144e+00,-3.8613e-02,3.7408e-02,1.3147e-05,1.6747e-02,2.6112e-02,5.9193e-02,-1.7316e-03,1.1204e-03,3.0159e-05,6.6829e-02,2.0626e-03
+25,1.3500e+01,DOWN_FORCE_DETACH,3.5848e-03,7.3421e-03,1.8383e-02,2.5221e+00,-3.8027e-02,3.7248e-02,8.8213e-06,1.4394e-02,1.7255e-02,6.6886e-02,-1.1455e-03,9.6089e-04,2.5834e-05,7.0559e-02,1.4953e-03
+26,1.3967e+01,DOWN_FORCE_DETACH,3.7259e-03,8.8907e-03,1.6477e-02,2.5260e+00,-3.7883e-02,3.7340e-02,-7.3538e-07,1.5942e-02,1.5348e-02,7.0739e-02,-1.0018e-03,1.0525e-03,1.6277e-05,7.4120e-02,1.4531e-03
+27,1.4400e+01,DOWN_FORCE_DETACH,3.8725e-03,1.0925e-02,1.8023e-02,2.5359e+00,-3.7987e-02,3.7468e-02,-3.5502e-06,1.7976e-02,1.6894e-02,8.0619e-02,-1.1059e-03,1.1807e-03,1.3462e-05,8.4309e-02,1.6178e-03
+28,1.4833e+01,DOWN_FORCE_DETACH,4.0216e-03,1.2156e-02,2.0290e-02,2.5379e+00,-3.8107e-02,3.7549e-02,-1.6085e-06,1.9207e-02,1.9161e-02,8.2672e-02,-1.2253e-03,1.2618e-03,1.5404e-05,8.7010e-02,1.7589e-03
+29,1.5283e+01,DOWN_FORCE_DETACH,4.1605e-03,1.2488e-02,2.0819e-02,2.5369e+00,-3.8090e-02,3.7576e-02,1.8437e-06,1.9540e-02,1.9690e-02,8.1676e-02,-1.2087e-03,1.2885e-03,1.8856e-05,8.6258e-02,1.7668e-03
+30,1.5700e+01,DOWN_FORCE_DETACH,4.3055e-03,1.1618e-02,2.3441e-02,2.5439e+00,-3.8229e-02,3.7512e-02,4.7115e-06,1.8670e-02,2.2312e-02,8.8669e-02,-1.3476e-03,1.2249e-03,2.1724e-05,9.3320e-02,1.8213e-03
+31,1.6067e+01,DOWN_FORCE_DETACH,4.4448e-03,1.0333e-02,2.1051e-02,2.5553e+00,-3.8071e-02,3.7420e-02,4.3190e-06,1.7385e-02,1.9923e-02,1.0004e-01,-1.1898e-03,1.1326e-03,2.1332e-05,1.0348e-01,1.6429e-03
+32,1.6417e+01,DOWN_FORCE_DETACH,4.5935e-03,7.5618e-03,2.1797e-02,2.5614e+00,-3.8132e-02,3.7226e-02,2.2564e-06,1.4613e-02,2.0669e-02,1.0619e-01,-1.2505e-03,9.3822e-04,1.9269e-05,1.0917e-01,1.5634e-03
+33,1.6733e+01,DOWN_FORCE_DETACH,4.7333e-03,5.3008e-03,2.4935e-02,2.5592e+00,-3.8337e-02,3.7070e-02,-1.8353e-07,1.2352e-02,2.3806e-02,1.0390e-01,-1.4555e-03,7.8266e-04,1.6829e-05,1.0731e-01,1.6527e-03
+34,1.7067e+01,DOWN_FORCE_DETACH,4.8791e-03,6.2609e-03,2.8845e-02,2.5613e+00,-3.8578e-02,3.7120e-02,-3.4059e-06,1.3312e-02,2.7716e-02,1.0606e-01,-1.6967e-03,8.3298e-04,1.3607e-05,1.1043e-01,1.8902e-03
+35,1.7417e+01,DOWN_FORCE_DETACH,5.0194e-03,8.3285e-03,3.0619e-02,2.5645e+00,-3.8679e-02,3.7255e-02,-7.7308e-06,1.5380e-02,2.9490e-02,1.0925e-01,-1.7972e-03,9.6733e-04,9.2819e-06,1.1420e-01,2.0410e-03
+36,1.7700e+01,DOWN_FORCE_DETACH,5.1596e-03,9.7181e-03,2.9471e-02,2.5683e+00,-3.8594e-02,3.7348e-02,-1.2553e-05,1.6770e-02,2.8343e-02,1.1301e-01,-1.7128e-03,1.0602e-03,4.4600e-06,1.1771e-01,2.0144e-03
+37,1.7983e+01,DOWN_FORCE_DETACH,5.3040e-03,1.0679e-02,2.9757e-02,2.5726e+00,-3.8609e-02,3.7410e-02,-1.6822e-05,1.7730e-02,2.8628e-02,1.1731e-01,-1.7274e-03,1.1221e-03,1.9046e-07,1.2205e-01,2.0599e-03
+38,1.8267e+01,DOWN_FORCE_DETACH,5.4486e-03,1.1901e-02,3.0849e-02,2.5823e+00,-3.8688e-02,3.7487e-02,-1.9766e-05,1.8953e-02,2.9720e-02,1.2701e-01,-1.8066e-03,1.1993e-03,-2.7529e-06,1.3181e-01,2.1685e-03
+39,1.8517e+01,DOWN_FORCE_DETACH,5.5925e-03,1.2997e-02,3.1483e-02,2.5891e+00,-3.8729e-02,3.7558e-02,-2.1092e-05,2.0048e-02,3.0354e-02,1.3386e-01,-1.8474e-03,1.2708e-03,-4.0789e-06,1.3872e-01,2.2422e-03
+40,1.8767e+01,DOWN_FORCE_DETACH,5.7382e-03,1.2595e-02,3.3424e-02,2.5921e+00,-3.8830e-02,3.7534e-02,-2.2047e-05,1.9647e-02,3.2296e-02,1.3689e-01,-1.9484e-03,1.2462e-03,-5.0342e-06,1.4201e-01,2.3128e-03
+41,1.9000e+01,DOWN_FORCE_DETACH,5.8883e-03,1.2690e-02,3.5698e-02,2.5950e+00,-3.8938e-02,3.7538e-02,-2.2605e-05,1.9741e-02,3.4569e-02,1.3975e-01,-2.0561e-03,1.2508e-03,-5.5921e-06,1.4531e-01,2.4067e-03
+42,1.9217e+01,DOWN_FORCE_DETACH,6.0212e-03,1.3251e-02,3.6855e-02,2.5982e+00,-3.8975e-02,3.7572e-02,-2.2230e-05,2.0303e-02,3.5726e-02,1.4291e-01,-2.0937e-03,1.2843e-03,-5.2177e-06,1.4870e-01,2.4562e-03
+43,1.9450e+01,DOWN_FORCE_DETACH,6.1689e-03,1.3872e-02,3.7508e-02,2.6027e+00,-3.8981e-02,3.7608e-02,-2.0879e-05,2.0924e-02,3.6379e-02,1.4745e-01,-2.0994e-03,1.3207e-03,-3.8662e-06,1.5331e-01,2.4803e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cff41c289e3a0a0e2c55a8ba6058ef8395283f85
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d29e7a2fca612eacbf55cdbcaee3862b982bed5
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c82339c48829a732d42c6de9c3820c7a8d1c8091
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5062b425a49c858de7d4b3eec368efb8028a7875
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e528a211762bbcf8b3b00974b8b7b5b1753d1585
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,6.666666667e-01,WAIT_W2,1792668879712204215,1.496139767e-06,1.631844738e-05,1.622985677e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.266230916e-07,-2.756807144e-10,8.757638204e-08,7.015393676e-01,1.786940871e-05,8.407425642e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293577e-01,1.773030511e-06,8.295727941e-01
+7,7.666666667e-01,WAIT_W2,1792668879912094320,1.533818431e-06,2.093723379e-05,2.585772261e-07,1.360212152e-06,2.088910472e-05,3.646213137e-07,1.494105679e-06,2.087322419e-05,4.181225394e-07,7.015394053e-01,2.248819511e-05,8.407411998e-01,7.015392317e-01,2.244006604e-05,8.407413058e-01,7.017307252e-01,2.264653038e-05,8.295731247e-01
+8,8.500000000e-01,WAIT_W2,1792668880044280728,4.172374497e-07,2.325850129e-05,2.645802754e-07,1.360212152e-06,2.088910472e-05,3.646213137e-07,1.506956314e-06,2.088752519e-05,4.244570664e-07,7.015382887e-01,2.480946262e-05,8.407412058e-01,7.015392317e-01,2.244006604e-05,8.407413058e-01,7.017307380e-01,2.266083138e-05,8.295731310e-01
+9,9.833333333e-01,WAIT_W2,1792668880310294415,2.440275706e-06,3.691983924e-05,2.224778124e-06,1.360212152e-06,2.088910472e-05,3.646213137e-07,1.519750571e-06,2.088992137e-05,4.319604445e-07,7.015403118e-01,3.847080056e-05,8.407431660e-01,7.015392317e-01,2.244006604e-05,8.407413058e-01,7.017307508e-01,2.266322756e-05,8.295731385e-01
+10,1.083333333e+00,WAIT_W2,1792668880510221049,3.085542357e-06,3.918895250e-05,3.416940215e-06,1.360212152e-06,2.088910472e-05,3.646213137e-07,1.526448614e-06,2.089036948e-05,4.358488308e-07,7.015409570e-01,4.073991382e-05,8.407443581e-01,7.015392317e-01,2.244006604e-05,8.407413058e-01,7.017307575e-01,2.266367567e-05,8.295731424e-01
+11,1.216666667e+00,WAIT_W2,1792668880742252536,1.013878399e-06,3.176740914e-05,-1.061768898e-07,3.280544767e-07,4.162442378e-05,-1.251110979e-06,4.468978512e-07,4.161345861e-05,-1.152329692e-06,7.015388854e-01,3.331837046e-05,8.407408350e-01,7.015381995e-01,4.317538510e-05,8.407396901e-01,7.017296780e-01,4.338676480e-05,8.295715542e-01
+12,1.333333333e+00,WAIT_W2,1792668880976326931,2.527539904e-06,1.837166287e-05,4.834518451e-06,2.453313495e-06,1.816781366e-05,4.782857963e-06,2.621477228e-06,1.819000243e-05,4.797262144e-06,7.015403990e-01,1.992262419e-05,8.407457757e-01,7.015403248e-01,1.971877498e-05,8.407457240e-01,7.017318526e-01,1.996330862e-05,8.295775038e-01
+13,1.450000000e+00,WAIT_W2,1792668881208740242,-1.671002938e-06,1.811587981e-05,-2.154958533e-06,2.453313495e-06,1.816781366e-05,4.782857963e-06,2.630952047e-06,1.817414902e-05,4.827624574e-06,7.015362005e-01,1.966684113e-05,8.407387862e-01,7.015403248e-01,1.971877498e-05,8.407457240e-01,7.017318620e-01,1.994745521e-05,8.295775342e-01
+14,1.533333333e+00,WAIT_W2,1792668881340203418,-3.333933529e-07,1.577802881e-05,7.156087768e-07,2.453313495e-06,1.816781366e-05,4.782857963e-06,2.636667959e-06,1.817311390e-05,4.840204786e-06,7.015375381e-01,1.732899013e-05,8.407416568e-01,7.015403248e-01,1.971877498e-05,8.407457240e-01,7.017318677e-01,1.994642009e-05,8.295775468e-01
+15,1.683333333e+00,UP_FORCE_RAMP,1792668881642636967,-9.724532046e-08,8.684543518e-06,3.959480822e-07,2.453313495e-06,1.816781366e-05,4.782857963e-06,2.645485505e-06,1.817274185e-05,4.858214992e-06,7.015377742e-01,1.023550484e-05,8.407413371e-01,7.015403248e-01,1.971877498e-05,8.407457240e-01,7.017318766e-01,1.994604804e-05,8.295775648e-01
+16,1.833333333e+00,UP_FORCE_RAMP,1792668881908213490,3.668323492e-07,1.162104817e-06,2.178244993e-06,2.453313495e-06,1.816781366e-05,4.782857963e-06,2.652613507e-06,1.817267449e-05,4.872033797e-06,7.015382383e-01,2.713066138e-06,8.407431194e-01,7.015403248e-01,1.971877498e-05,8.407457240e-01,7.017318837e-01,1.994598069e-05,8.295775786e-01
+17,1.916666667e+00,UP_FORCE_RAMP,1792668882074136875,3.810917043e-06,-2.413162764e-06,6.815049052e-06,4.013465609e-06,-2.104466398e-06,6.877346355e-06,4.271106304e-06,-2.076828648e-06,6.904083996e-06,7.015416824e-01,-8.622014427e-07,8.407477562e-01,7.015418849e-01,-5.535050766e-07,8.407478185e-01,7.017335022e-01,-3.035224562e-07,8.295796107e-01
+18,2.016666667e+00,UP_FORCE_RAMP,1792668882274242199,2.590626640e-06,-7.307182942e-06,5.564226492e-06,4.013465609e-06,-2.104466398e-06,6.877346355e-06,4.277926547e-06,-2.090978355e-06,6.919756723e-06,7.015404621e-01,-5.756221621e-06,8.407465054e-01,7.015418849e-01,-5.535050766e-07,8.407478185e-01,7.017335090e-01,-3.176721627e-07,8.295796263e-01
+19,2.133333333e+00,UP_FORCE_RAMP,1792668882504169397,5.491247498e-07,-7.760865169e-06,1.456780080e-06,4.013465609e-06,-2.104466398e-06,6.877346355e-06,4.285627235e-06,-2.092804392e-06,6.932453155e-06,7.015384206e-01,-6.209903848e-06,8.407423980e-01,7.015418849e-01,-5.535050766e-07,8.407478185e-01,7.017335167e-01,-3.194982006e-07,8.295796390e-01
+20,2.266666667e+00,UP_FORCE_RAMP,1792668882740129547,4.818319022e-07,-1.720017005e-05,1.773444937e-06,4.013465609e-06,-2.104466398e-06,6.877346355e-06,4.292555309e-06,-2.093227617e-06,6.943831585e-06,7.015383533e-01,-1.564920873e-05,8.407427146e-01,7.015418849e-01,-5.535050766e-07,8.407478185e-01,7.017335236e-01,-3.199214247e-07,8.295796504e-01
+21,2.350000000e+00,UP_FORCE_RAMP,1792668882906133468,-1.553315738e-06,-2.077394787e-05,2.374014385e-08,-9.610258339e-07,-2.270437533e-05,9.494489085e-07,-7.809617935e-07,-2.267078628e-05,1.128686468e-06,7.015363182e-01,-1.922298655e-05,8.407409649e-01,7.015369105e-01,-2.115341401e-05,8.407418906e-01,7.017284501e-01,-2.089748009e-05,8.295738353e-01
+22,2.450000000e+00,UP_FORCE_RAMP,1792668883104213228,2.511375219e-06,-2.170511199e-05,3.852872902e-06,-9.610258339e-07,-2.270437533e-05,9.494489085e-07,-7.899423652e-07,-2.267660135e-05,1.114505295e-06,7.015403829e-01,-2.015415067e-05,8.407447941e-01,7.015369105e-01,-2.115341401e-05,8.407418906e-01,7.017284411e-01,-2.090329516e-05,8.295738211e-01
+23,2.550000000e+00,UP_FORCE_RAMP,1792668883270142623,-1.955168354e-06,-2.498371085e-05,-1.362874024e-06,-9.610258339e-07,-2.270437533e-05,9.494489085e-07,-7.953708554e-07,-2.267777118e-05,1.106535080e-06,7.015359163e-01,-2.343274953e-05,8.407395783e-01,7.015369105e-01,-2.115341401e-05,8.407418906e-01,7.017284357e-01,-2.090446498e-05,8.295738131e-01
+24,2.716666667e+00,UP_FORCE_RAMP,1792668883604115975,-5.470840994e-07,-3.041153426e-05,3.370194970e-06,-9.610258339e-07,-2.270437533e-05,9.494489085e-07,-8.046145161e-07,-2.267826567e-05,1.093504444e-06,7.015373244e-01,-2.886057294e-05,8.407443114e-01,7.015369105e-01,-2.115341401e-05,8.407418906e-01,7.017284265e-01,-2.090495948e-05,8.295738001e-01
+25,2.833333333e+00,UP_FORCE_RAMP,1792668883858641155,2.583339808e-06,-3.190531486e-05,9.128980503e-06,-9.610258339e-07,-2.270437533e-05,9.494489085e-07,-8.097747592e-07,-2.267853178e-05,1.086945428e-06,7.015404548e-01,-3.035435354e-05,8.407500702e-01,7.015369105e-01,-2.115341401e-05,8.407418906e-01,7.017284213e-01,-2.090522558e-05,8.295737935e-01
+26,3.000000000e+00,UP_FORCE_RAMP,1792668884168247040,2.655834735e-06,-3.493931909e-05,1.640476571e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.538277899e-06,-3.498823829e-05,1.622097509e-05,7.015405273e-01,-3.338835777e-05,8.407573460e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017337694e-01,-3.321493209e-05,8.295889275e-01
+27,3.100000000e+00,UP_FORCE_RAMP,1792668884368125861,5.165079226e-06,-4.157660804e-05,2.216049461e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.549460814e-06,-3.499210879e-05,1.627638088e-05,7.015430366e-01,-4.002564672e-05,8.407631017e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017337805e-01,-3.321880260e-05,8.295889830e-01
+28,3.183333333e+00,UP_FORCE_RAMP,1792668884534248475,5.185066796e-06,-3.537436771e-05,2.380581661e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.556432680e-06,-3.499275612e-05,1.630688400e-05,7.015430565e-01,-3.382340639e-05,8.407647470e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017337875e-01,-3.321944993e-05,8.295890135e-01
+29,3.266666667e+00,UP_FORCE_RAMP,1792668884700376890,4.195486418e-06,-3.566778129e-05,2.438417097e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.562710599e-06,-3.499299557e-05,1.633229991e-05,7.015420670e-01,-3.411681997e-05,8.407653254e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017337938e-01,-3.321968937e-05,8.295890389e-01
+30,3.383333333e+00,UP_FORCE_RAMP,1792668884934641019,6.571354306e-06,-3.484584424e-05,3.047734956e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.570509439e-06,-3.499317292e-05,1.636180220e-05,7.015444428e-01,-3.329488292e-05,8.407714185e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017338016e-01,-3.321986673e-05,8.295890684e-01
+31,3.516666667e+00,UP_FORCE_RAMP,1792668885200104045,6.570548131e-06,-4.129955301e-05,3.142653462e-05,4.301743418e-06,-3.500972569e-05,1.636145792e-05,4.578164450e-06,-3.499329826e-05,1.638866863e-05,7.015444420e-01,-3.974859169e-05,8.407723677e-01,7.015421732e-01,-3.345876437e-05,8.407573026e-01,7.017338092e-01,-3.321999207e-05,8.295890952e-01
+32,3.616666667e+00,UP_FORCE_RAMP,1792668885400090794,5.882993918e-06,-3.764118048e-05,3.504478913e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.897139547e-06,-3.908846035e-05,3.618988371e-05,7.015437545e-01,-3.609021916e-05,8.407759860e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371282e-01,-3.731515415e-05,8.296088965e-01
+33,3.766666667e+00,UP_FORCE_RAMP,1792668885700660261,6.316547546e-06,-3.951954775e-05,3.799721044e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.915505613e-06,-3.908948731e-05,3.630442560e-05,7.015441880e-01,-3.796858643e-05,8.407789384e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371466e-01,-3.731618112e-05,8.296090110e-01
+34,3.883333333e+00,UP_FORCE_RAMP,1792668885932116862,8.805600785e-06,-3.434980946e-05,3.979412679e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.927412489e-06,-3.908949991e-05,3.636651097e-05,7.015466771e-01,-3.279884814e-05,8.407807353e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371585e-01,-3.731619372e-05,8.296090731e-01
+35,4.016666667e+00,UP_FORCE_RAMP,1792668886198145357,7.131484251e-06,-3.994714463e-05,3.934878611e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.939364574e-06,-3.908949269e-05,3.642232734e-05,7.015450030e-01,-3.839618331e-05,8.407802900e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371704e-01,-3.731618650e-05,8.296091289e-01
+36,4.133333333e+00,UP_FORCE_RAMP,1792668886432353826,7.299249074e-06,-4.077240676e-05,4.158777871e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.948474279e-06,-3.908947567e-05,3.646094833e-05,7.015451707e-01,-3.922144544e-05,8.407825290e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371796e-01,-3.731616948e-05,8.296091675e-01
+37,4.266666667e+00,UP_FORCE_RAMP,1792668886696055725,1.059942699e-05,-3.868086929e-05,4.810135890e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.957504479e-06,-3.908944215e-05,3.649595836e-05,7.015484709e-01,-3.712990797e-05,8.407890425e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371886e-01,-3.731613596e-05,8.296092025e-01
+38,4.416666667e+00,UP_FORCE_RAMP,1792668886997309153,1.138837631e-05,-3.681958888e-05,4.950443985e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.966087771e-06,-3.908939523e-05,3.652626013e-05,7.015492599e-01,-3.526862756e-05,8.407904456e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017371972e-01,-3.731608904e-05,8.296092328e-01
+39,4.516666667e+00,UP_FORCE_RAMP,1792668887162155111,8.262129156e-06,-4.140854304e-05,4.937127050e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.970995069e-06,-3.908936378e-05,3.654225442e-05,7.015461336e-01,-3.985758172e-05,8.407903125e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017372021e-01,-3.731605759e-05,8.296092488e-01
+40,4.633333333e+00,UP_FORCE_RAMP,1792668887396085210,8.866736305e-06,-3.773456339e-05,4.981024964e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.975993654e-06,-3.908932793e-05,3.655753527e-05,7.015467382e-01,-3.618360207e-05,8.407907514e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017372071e-01,-3.731602174e-05,8.296092641e-01
+41,4.800000000e+00,UP_FORCE_RAMP,1792668887696225897,9.408412444e-06,-3.939731545e-05,5.242203092e-05,7.435180618e-06,-3.912003965e-05,3.647539394e-05,7.981897534e-06,-3.908928242e-05,3.657425034e-05,7.015472799e-01,-3.784635413e-05,8.407933632e-01,7.015453067e-01,-3.756907833e-05,8.407774166e-01,7.017372130e-01,-3.731597622e-05,8.296092808e-01
+42,4.900000000e+00,UP_FORCE_RAMP,1792668887896088236,1.074175228e-05,-3.959245918e-05,5.712983557e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.145061314e-05,-3.944173150e-05,5.696598242e-05,7.015486132e-01,-3.804149786e-05,8.407980710e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017406817e-01,-3.766842531e-05,8.296296726e-01
+43,5.000000000e+00,UP_FORCE_RAMP,1792668888096204664,8.602757060e-06,-4.112646214e-05,5.664142900e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.146536983e-05,-3.944121933e-05,5.707087492e-05,7.015464742e-01,-3.957550082e-05,8.407975826e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017406964e-01,-3.766791314e-05,8.296297774e-01
+44,5.083333333e+00,UP_FORCE_RAMP,1792668888260121176,6.590218027e-06,-3.805916215e-05,5.447994195e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.147368932e-05,-3.944103975e-05,5.712160373e-05,7.015444617e-01,-3.650820083e-05,8.407954211e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407048e-01,-3.766773356e-05,8.296298282e-01
+45,5.183333333e+00,UP_FORCE_RAMP,1792668888426185894,8.533429868e-06,-3.989570197e-05,5.833598190e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.148283667e-05,-3.944083995e-05,5.717077518e-05,7.015464049e-01,-3.834474065e-05,8.407992772e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407139e-01,-3.766753376e-05,8.296298773e-01
+46,5.333333333e+00,UP_FORCE_RAMP,1792668888728464256,7.010932899e-06,-4.071108981e-05,5.881619353e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.149504115e-05,-3.944059277e-05,5.722840809e-05,7.015448824e-01,-3.916012849e-05,8.407997574e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407261e-01,-3.766728658e-05,8.296299350e-01
+47,5.533333333e+00,UP_FORCE_RAMP,1792668889092568835,7.521313615e-06,-3.931962196e-05,6.392884698e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.150860696e-05,-3.944032170e-05,5.728342005e-05,7.015453928e-01,-3.776866064e-05,8.408048700e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407397e-01,-3.766701551e-05,8.296299900e-01
+48,5.633333333e+00,UP_FORCE_RAMP,1792668889292585674,5.906787557e-06,-4.066146436e-05,6.513401388e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.151432974e-05,-3.944020588e-05,5.730397980e-05,7.015437783e-01,-3.911050303e-05,8.408060752e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407454e-01,-3.766689969e-05,8.296300106e-01
+49,5.750000000e+00,UP_FORCE_RAMP,1792668889524176301,6.440760924e-06,-3.980399560e-05,7.090151555e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.152017080e-05,-3.944008698e-05,5.732341091e-05,7.015443122e-01,-3.825303428e-05,8.408118427e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407512e-01,-3.766678079e-05,8.296300300e-01
+50,5.866666667e+00,UP_FORCE_RAMP,1792668889724254656,8.653802082e-06,-3.967174865e-05,7.699618197e-05,1.080513784e-05,-3.946986366e-05,5.718741519e-05,1.152526447e-05,-3.943998207e-05,5.733904697e-05,7.015465253e-01,-3.812078733e-05,8.408179374e-01,7.015486766e-01,-3.791890234e-05,8.407981286e-01,7.017407563e-01,-3.766667587e-05,8.296300456e-01
+51,6.000000000e+00,UP_FORCE_RAMP,1792668889992155289,6.991418199e-06,-4.003242117e-05,7.887776963e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.629939447e-06,-4.333650268e-05,7.703566397e-05,7.015448629e-01,-3.848145985e-05,8.408198190e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388610e-01,-4.156319649e-05,8.296497422e-01
+52,6.100000000e+00,UP_FORCE_RAMP,1792668890188122662,6.240680941e-06,-3.744355487e-05,7.754849682e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.630248180e-06,-4.333646422e-05,7.709334479e-05,7.015441122e-01,-3.589259355e-05,8.408184897e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388613e-01,-4.156315803e-05,8.296497999e-01
+53,6.183333333e+00,UP_FORCE_RAMP,1792668890324338143,5.590053972e-06,-3.745295928e-05,8.073974679e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.631062415e-06,-4.333635733e-05,7.713230937e-05,7.015434615e-01,-3.590199795e-05,8.408216809e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388621e-01,-4.156305113e-05,8.296498389e-01
+54,6.283333333e+00,UP_FORCE_RAMP,1792668890522153211,7.338829448e-06,-4.130490516e-05,8.777461743e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.632426376e-06,-4.333623256e-05,7.717095321e-05,7.015452103e-01,-3.975394384e-05,8.408287158e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388635e-01,-4.156292637e-05,8.296498775e-01
+55,6.383333333e+00,UP_FORCE_RAMP,1792668890722494831,5.945954985e-06,-3.824047193e-05,8.685980225e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.634018403e-06,-4.333611516e-05,7.720243960e-05,7.015438174e-01,-3.668951060e-05,8.408278010e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388651e-01,-4.156280897e-05,8.296499090e-01
+56,6.550000000e+00,UP_FORCE_RAMP,1792668891022388115,6.798434828e-06,-4.193612600e-05,9.329757963e-05,8.854401383e-06,-4.340130856e-05,7.709769450e-05,9.636864485e-06,-4.333594204e-05,7.724258546e-05,7.015446699e-01,-4.038516468e-05,8.408342388e-01,7.015467259e-01,-4.185034724e-05,8.408180389e-01,7.017388679e-01,-4.156263585e-05,8.296499492e-01
+57,6.683333333e+00,UP_FORCE_HOLD,1792668891288693292,9.622690269e-06,-3.728169662e-05,1.041991203e-04,9.645002513e-06,-4.187325194e-05,9.946712063e-05,1.054552159e-05,-4.186259054e-05,9.929974667e-05,7.015474942e-01,-3.573073530e-05,8.408451403e-01,7.015475165e-01,-4.032229062e-05,8.408404083e-01,7.017397766e-01,-4.008928435e-05,8.296720063e-01
+58,6.816666667e+00,UP_FORCE_HOLD,1792668891520259096,1.268437514e-05,-3.858167882e-05,1.125373370e-04,9.645002513e-06,-4.187325194e-05,9.946712063e-05,1.055104616e-05,-4.186208838e-05,9.939120076e-05,7.015505559e-01,-3.703071750e-05,8.408534785e-01,7.015475165e-01,-4.032229062e-05,8.408404083e-01,7.017397821e-01,-4.008878219e-05,8.296720978e-01
+59,6.833333333e+00,UP_FORCE_HOLD,1792668891552342378,8.552423817e-06,-6.667843547e-05,1.154225873e-04,8.580870103e-06,-6.698974701e-05,1.149685974e-04,9.543126150e-06,-6.693397493e-05,1.146205993e-04,7.015464239e-01,-6.512747415e-05,8.408563638e-01,7.015464524e-01,-6.543878568e-05,8.408559098e-01,7.017387742e-01,-6.516066873e-05,8.296873272e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d449da3cb060bf3fde352e37d0666e038dab93a
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-6.8321e-03,1.1299e-03,2.4555e+00,-3.6882e-02,3.6302e-02,-1.7518e-05,2.1974e-04,1.1461e-06,2.0504e-04,-6.3330e-07,1.4424e-05,-5.0226e-07,3.0055e-04,1.4447e-05
+1,1.3333e-01,WAIT_W2,2.8879e-05,-4.0955e-03,2.3335e-03,2.4577e+00,-3.6993e-02,3.6525e-02,-6.9349e-05,2.9563e-03,1.2047e-03,2.4068e-03,-1.1170e-04,2.3710e-04,-5.2334e-05,3.9980e-03,2.6727e-04
+2,2.5000e-01,WAIT_W2,5.5246e-05,-2.9549e-03,2.0446e-03,2.4582e+00,-3.6970e-02,3.6591e-02,-6.9958e-05,4.0969e-03,9.1580e-04,2.8939e-03,-8.8822e-05,3.0368e-04,-5.2943e-05,5.0988e-03,3.2080e-04
+3,3.6667e-01,WAIT_W2,8.2613e-05,-2.1260e-03,1.8618e-03,2.4589e+00,-3.6956e-02,3.6641e-02,-7.0619e-05,4.9259e-03,7.3306e-04,3.5954e-03,-7.4215e-05,3.5388e-04,-5.3604e-05,6.1423e-03,3.6553e-04
+4,4.8333e-01,WAIT_W2,1.1033e-04,-1.5051e-03,1.7499e-03,2.4594e+00,-3.6947e-02,3.6680e-02,-7.1217e-05,5.5467e-03,6.2114e-04,4.1919e-03,-6.5356e-05,3.9291e-04,-5.4202e-05,6.9802e-03,4.0198e-04
+5,5.8333e-01,WAIT_W2,1.3711e-04,-9.1804e-04,1.6719e-03,2.4600e+00,-3.6941e-02,3.6718e-02,-7.1759e-05,6.1338e-03,5.4311e-04,4.7369e-03,-5.9377e-05,4.3091e-04,-5.4744e-05,7.7690e-03,4.3841e-04
+6,6.6667e-01,WAIT_W2,1.6421e-04,-4.8518e-04,1.6212e-03,2.4604e+00,-3.6937e-02,3.6747e-02,-7.2252e-05,6.5667e-03,4.9241e-04,5.1432e-03,-5.5522e-05,4.5954e-04,-5.5236e-05,8.3556e-03,4.6616e-04
+7,7.6667e-01,WAIT_W2,1.9179e-04,-8.5727e-05,1.5832e-03,2.4608e+00,-3.6934e-02,3.6774e-02,-7.2720e-05,6.9661e-03,4.5440e-04,5.5003e-03,-5.2702e-05,4.8634e-04,-5.5705e-05,8.8875e-03,4.9235e-04
+8,8.5000e-01,WAIT_W2,2.1647e-04,-2.7118e-04,-6.2239e-03,2.4614e+00,-3.6396e-02,3.6765e-02,-9.6505e-05,6.7807e-03,-7.3527e-03,6.1376e-03,4.8510e-04,4.7786e-04,-7.9489e-05,1.1735e-02,6.8555e-04
+9,9.8333e-01,WAIT_W2,2.4726e-04,1.7353e-04,-5.8245e-03,2.4614e+00,-3.6418e-02,3.6794e-02,-9.7211e-05,7.2254e-03,-6.9532e-03,6.0971e-03,4.6394e-04,5.0685e-04,-8.0195e-05,1.1736e-02,6.9179e-04
+10,1.0833e+00,WAIT_W2,2.7095e-04,5.0764e-04,-5.8098e-03,2.4615e+00,-3.6417e-02,3.6816e-02,-9.7536e-05,7.5595e-03,-6.9385e-03,6.2623e-03,4.6464e-04,5.2906e-04,-8.0521e-05,1.2021e-02,7.0872e-04
+11,1.2167e+00,WAIT_W2,2.9979e-04,1.7795e-03,-1.3706e-02,2.4629e+00,-3.5848e-02,3.6909e-02,-1.2345e-04,8.8313e-03,-1.4835e-02,7.5989e-03,1.0334e-03,6.2120e-04,-1.0644e-04,1.8863e-02,1.2104e-03
+12,1.3333e+00,WAIT_W2,3.3135e-04,1.9480e-03,-1.3684e-02,2.4629e+00,-3.5852e-02,3.6919e-02,-1.2339e-04,8.9999e-03,-1.4813e-02,7.6423e-03,1.0298e-03,6.3198e-04,-1.0638e-04,1.8943e-02,1.2129e-03
+13,1.4500e+00,WAIT_W2,3.5488e-04,1.0003e-03,-6.3825e-03,2.4588e+00,-3.6367e-02,3.6860e-02,-9.5288e-05,8.0521e-03,-7.5113e-03,3.5691e-03,5.1458e-04,5.7212e-04,-7.8273e-05,1.1576e-02,7.7346e-04
+14,1.5333e+00,WAIT_W2,3.8438e-04,1.1892e-03,-5.7542e-03,2.4592e+00,-3.6411e-02,3.6871e-02,-9.4903e-05,8.2411e-03,-6.8830e-03,3.9039e-03,4.7084e-04,5.8367e-04,-7.7888e-05,1.1425e-02,7.5394e-04
+15,1.6833e+00,UP_FORCE_RAMP,4.1095e-04,1.5436e-03,-5.3947e-03,2.4600e+00,-3.6439e-02,3.6893e-02,-9.4241e-05,8.5955e-03,-6.5234e-03,4.7724e-03,4.4225e-04,6.0606e-04,-7.7226e-05,1.1799e-02,7.5422e-04
+16,1.8333e+00,UP_FORCE_RAMP,4.4019e-04,1.8663e-03,-4.7551e-03,2.4610e+00,-3.6498e-02,3.6917e-02,-9.0632e-05,8.9181e-03,-5.8839e-03,5.7530e-03,3.8338e-04,6.2975e-04,-7.3617e-05,1.2135e-02,7.4093e-04
+17,1.9167e+00,UP_FORCE_RAMP,4.6273e-04,2.0414e-03,-4.7970e-03,2.4612e+00,-3.6495e-02,3.6928e-02,-9.0437e-05,9.0932e-03,-5.9257e-03,5.9810e-03,3.8680e-04,6.4079e-04,-7.3422e-05,1.2392e-02,7.5207e-04
+18,2.0167e+00,UP_FORCE_RAMP,4.9363e-04,1.2903e-03,3.2124e-03,2.4598e+00,-3.7075e-02,3.6874e-02,-7.8378e-05,8.3422e-03,2.0837e-03,4.5338e-03,-1.9385e-04,5.8654e-04,-6.1363e-05,9.7205e-03,6.2079e-04
+19,2.1333e+00,UP_FORCE_RAMP,5.2090e-04,1.5482e-03,2.0288e-03,2.4607e+00,-3.6966e-02,3.6896e-02,-7.0163e-05,8.6001e-03,9.0007e-04,5.4421e-03,-8.4739e-05,6.0825e-04,-5.3148e-05,1.0217e-02,6.1642e-04
+20,2.2667e+00,UP_FORCE_RAMP,5.4932e-04,1.8932e-03,2.0540e-03,2.4613e+00,-3.6971e-02,3.6917e-02,-6.9850e-05,8.9451e-03,9.2525e-04,6.0668e-03,-8.9169e-05,6.2998e-04,-5.2835e-05,1.0848e-02,6.3845e-04
+21,2.3500e+00,UP_FORCE_RAMP,5.7862e-04,5.1421e-03,9.4144e-03,2.4694e+00,-3.7514e-02,3.7149e-02,-6.0846e-05,1.2194e-02,8.2856e-03,1.4152e-02,-6.3226e-04,8.6199e-04,-4.3831e-05,2.0436e-02,1.0699e-03
+22,2.4500e+00,UP_FORCE_RAMP,6.0329e-04,5.6822e-03,1.0354e-02,2.4663e+00,-3.7567e-02,3.7181e-02,-5.8516e-05,1.2734e-02,9.2251e-03,1.0999e-02,-6.8512e-04,8.9356e-04,-4.1500e-05,1.9190e-02,1.1267e-03
+23,2.5500e+00,UP_FORCE_RAMP,6.3044e-04,5.3033e-03,1.0067e-02,2.4660e+00,-3.7546e-02,3.7156e-02,-5.8048e-05,1.2355e-02,8.9380e-03,1.0767e-02,-6.6487e-04,8.6866e-04,-4.1032e-05,1.8667e-02,1.0947e-03
+24,2.7167e+00,UP_FORCE_RAMP,6.5814e-04,4.9225e-03,9.9520e-03,2.4655e+00,-3.7536e-02,3.7131e-02,-5.7856e-05,1.1974e-02,8.8232e-03,1.0277e-02,-6.5492e-04,8.4322e-04,-4.0840e-05,1.8079e-02,1.0685e-03
+25,2.8333e+00,UP_FORCE_RAMP,6.8577e-04,4.6403e-03,9.9019e-03,2.4651e+00,-3.7531e-02,3.7112e-02,-5.7939e-05,1.1692e-02,8.7732e-03,9.8643e-03,-6.4947e-04,8.2410e-04,-4.0923e-05,1.7635e-02,1.0501e-03
+26,3.0000e+00,UP_FORCE_RAMP,7.1035e-04,3.8565e-03,1.0015e-02,2.4634e+00,-3.7526e-02,3.7053e-02,-6.0186e-05,1.0908e-02,8.8866e-03,8.0996e-03,-6.4445e-04,7.6529e-04,-4.3171e-05,1.6235e-02,1.0014e-03
+27,3.1000e+00,UP_FORCE_RAMP,7.3921e-04,6.8236e-04,1.3565e-02,2.4525e+00,-3.7766e-02,3.6849e-02,-5.9089e-05,7.7342e-03,1.2437e-02,-2.7423e-03,-8.8449e-04,5.6138e-04,-4.2074e-05,1.4900e-02,1.0484e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1f3feb5d807ad3e23f4f3f4c612ccad2e28e61d6
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 72673280
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87c02312ea3408ff2df449f7b3a82cba3ba79140
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/fem_node.csv
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+59,2.320000e+01,2838,6.987786e-01,2.224152e-02,8.149837e-01,5.380721e-05,-1.628378e-04,-5.071474e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2839,6.927693e-01,2.440077e-02,8.254331e-01,7.530961e-05,-1.560218e-04,-5.117577e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2840,7.005147e-01,2.428533e-02,8.363897e-01,7.074550e-05,-1.259655e-04,-5.077017e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2841,6.962586e-01,2.193878e-02,8.177660e-01,7.876492e-05,-1.701833e-04,-5.073026e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2842,6.933314e-01,2.300742e-02,8.242140e-01,9.401468e-05,-1.586919e-04,-5.110504e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2843,6.998122e-01,2.245929e-02,8.142689e-01,4.545142e-05,-1.630949e-04,-5.073697e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.320000e+01,2844,6.998209e-01,2.321079e-02,8.135826e-01,4.188376e-05,-1.654822e-04,-5.075991e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63a06063077b58c8740c729e7e029e577a383b0e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+12944,1792668971093346404,37511493000000,1792668971088196597,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.0524,0.05240003019571304,0.6760182207709557,-0.004498094819962703,0.09086402174859516,0.9999999753979754,-7.585204867675393e-05,-0.0001361714952681819,-0.00012786986973957172,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.05789350340653071,0.06614530990033352,-0.005458316776969341,0.0034568307858099025,-0.0029258712628143467,0.00017723095583208775,0.30804598369167546,0.061869023514695275,0.37385359107732036,0.0003852895479400983,-0.017327309844833008,0.0014990875536721232,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,-0.1127940444470864,0.16643467325781763,1.1743435935491617,-0.0607505924545884,-0.6819435170629344,0.07182489385097665,1.1241334081111165,0.005458316776969341,-0.05021018543804523,0.0,0.0,0,0,0.0,0.0
+13080,1792668972219263975,37512619000000,1792668972216195727,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760156209454584,-0.004506995549421519,0.0908589503860362,0.9999999750572092,-8.242137687101111e-05,-0.000138250955800658,-0.00012418468234134792,0.6761,-0.00453,0.09098502493143323,1.0,0.0,0.0,0.0,0.08453173335700281,0.11493743716559379,0.0060036349196760375,0.0065749386888976965,-0.005015319337709916,1.7226548052275397e-05,0.33468421364214757,0.11066115077995556,0.38531554277396574,0.0035033974510278927,-0.019416757919728578,0.0013390831458923108,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,-0.05721728112491577,0.22474423010905525,1.1154881339220764,-0.0682743618546327,-0.634857568653458,0.11244798208735515,1.1241334081111165,0.0060036349196760375,0.008645274189040153,0.008645274189040153,0.06188000000000046,0,0,-3.167567026315788e-05,-1.3788373484146656e-06
+13196,1792668973185329623,37513585000000,1792668973180196166,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760550257655451,-0.004510960719983346,0.09085884709262113,0.9999999858771258,-7.62913400548053e-05,-4.474327596363394e-05,-0.00010893247127945657,0.6761,-0.00453,0.0909461668739568,1.0,0.0,0.0,0.0,0.016031232929086592,0.1776110746318809,0.02809514989233225,0.011540134675109797,-5.0589436501664864e-05,0.000308102499472595,0.26618371321423134,0.17333478824624265,0.40740705774662195,0.008468593437239992,-0.014452028018520326,0.0016299590973126304,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.04652125499945416,0.23561630581222665,0.9825908955007364,-0.050872486140575345,-0.5554837715837024,0.11717756549420782,1.1241334081111165,0.02809514989233225,0.1415425126103801,0.1415425126103801,0.12950000000000017,0,0,-4.9498687708345084e-05,9.954064936057989e-05
+13327,1792668974277323362,37514677000000,1792668974276195818,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760501843789891,-0.004515836265105965,0.09083248378174423,0.9999999865558526,-7.1992447206319e-05,-5.630835593818977e-05,-9.98880153563592e-05,0.6761,-0.00453,0.09090438030181275,1.0,0.0,0.0,0.0,0.025333945645859612,0.17451141736521933,0.15817342499603992,0.011542414658705955,-0.0010918880520897206,0.00018845768920949628,0.27548642593100436,0.1702351309795811,0.5374853328503296,0.008470873420836151,-0.015493326634108382,0.0015103142870495317,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.002715827939920502,0.26100109944473043,0.9345517977341354,-0.03371391753331018,-0.5380059322613235,0.13269538334749892,1.1241334081111165,0.15817342499603992,0.18958161037698107,0.18958161037698107,0.2059399999999857,0,0,-1.92467340313915e-05,7.874607368978048e-05
+13460,1792668975385279394,37515785000000,1792668975384196244,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760478703892706,-0.004520480806880454,0.09082341316032415,0.9999999865201987,-7.373369504491917e-05,-5.980299888990009e-05,-9.689896935742424e-05,0.6761,-0.00453,0.09089318887544418,1.0,0.0,0.0,0.0,0.032495853851652545,0.1759150330744333,0.19727798565610843,0.011535077398743914,-0.0011005490313518787,0.00015783330864218323,0.2826483341367973,0.17163874668879506,0.5765898935103981,0.00846353616087411,-0.01550198761337054,0.0014796899064822187,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.054385651918362726,0.21868392140161713,0.7729355710848212,-0.021865745049378115,-0.4215092342882099,0.10019931922825304,1.1241334081111165,0.19727798565610843,0.35119783702629526,0.35119783702629526,0.28349999999998426,0,0,-9.839920637050303e-06,9.939313774798286e-05
+13615,1792668976677340169,37517077000000,1792668976676196135,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760473137770137,-0.004522179352193305,0.0908121540117816,0.9999999867110168,-7.464123598132325e-05,-6.108591465145996e-05,-9.337037850338243e-05,0.6761,-0.00453,0.09087170970899142,1.0,0.0,0.0,0.0,0.025121540261216324,0.1779356100389566,0.2585178140528257,0.01152387756642076,-0.001113812868325707,0.00010737261719365263,0.2752740205463611,0.17365932365331838,0.6378297219071154,0.008452336328550955,-0.015515251450344368,0.001429229215033688,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.0826213742970849,0.16104310590346022,0.7363677925709847,0.010413966019235638,-0.39157375556725255,0.06088513776789479,1.1241334081111165,0.2585178140528257,0.3877656155401318,0.3877656155401318,0.373940000000003,0,0,-2.107834750211956e-05,9.999999025923074e-05
+13767,1792668977945313947,37518344000000,1792668977940196310,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760456508116244,-0.004524556556680545,0.09079493321908548,0.9999999870260953,-7.259462563354604e-05,-6.439554943276154e-05,-8.929673575077233e-05,0.6761,-0.00453,0.09085056918782569,1.0,0.0,0.0,0.0,0.026155721292852485,0.17092935347627783,0.3352687799952264,0.011507902307024467,-0.0011303751774527897,4.430795278566346e-05,0.27630820157799724,0.1666530670906396,0.7145806878495161,0.008436361069154663,-0.015531813759471451,0.001366164550625699,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.11062172604564205,0.3067357812719229,0.6547093306309265,-0.014538872645803273,-0.3348179452208409,0.1557397912098495,1.1241334081111165,0.3352687799952264,0.46942407748019,0.46942407748019,0.46263000000002136,0,0,-1.488913194539065e-05,9.723722801802665e-05
+13887,1792668978944242981,37519344000000,1792668978940196161,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760468486288774,-0.004523974619686972,0.09078364934693287,0.9999999874784825,-6.986216229543877e-05,-6.343022177094387e-05,-8.707344300539357e-05,0.6761,-0.00453,0.09083479511320582,1.0,0.0,0.0,0.0,0.024836550091491327,0.17240616998082145,0.3788911693812137,0.011500197695717716,-0.0011392749131560811,1.0086278462770283e-05,0.2749890303766361,0.16812988359518322,0.7582030772355034,0.008428656457847912,-0.015540713495174743,0.0013319428763028057,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.10530336161228547,0.16182402204442328,0.6831682016452888,0.027319703402559382,-0.35413247279991344,0.05864802134932972,1.1241334081111165,0.3788911693812137,0.4409652064658277,0.4409652064658277,0.5326300000000358,0,0,-2.00095916600126e-05,-9.999999025923074e-05
+14030,1792668980135294694,37520535000000,1792668980132196270,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760494020896144,-0.004525183903630125,0.09076984203690679,0.9999999886603844,-6.69030660609812e-05,-5.6552545146021576e-05,-8.029872163870868e-05,0.6761,-0.00453,0.09080884810600347,1.0,0.0,0.0,0.0,0.024595115215360286,0.16500620389035756,0.44910889334705695,0.011485792610873688,-0.0011537879196358257,-4.667845311230644e-05,0.27474759550050504,0.16072991750471932,0.8284208012013466,0.008414251373003884,-0.015555226501654487,0.001275178144727729,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.037929096639614565,0.23792855691607687,0.596193615179426,0.013812722869028824,-0.32219666653916873,0.10143161995369723,1.1241334081111165,0.44910889334705695,0.5279397929316905,0.5279397929316905,0.6160000000000531,0,0,-2.184155826620427e-05,-9.999999025923074e-05
+14174,1792668981335232326,37521735000000,1792668981328196437,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760529123094723,-0.004530569673361668,0.09075662784082178,0.9999999895217526,-6.814795970118763e-05,-4.8338954444173866e-05,-7.361086956508204e-05,0.6761,-0.00453,0.0907830004120376,1.0,0.0,0.0,0.0,0.014405442607239805,0.17148627914465003,0.5054233699597388,0.01233223693943207,-0.00016826790547500373,-6.772772235353339e-05,0.26455792289238456,0.1672099927590118,0.8847352778140285,0.009260695701562266,-0.014569706487493665,0.001254128875486502,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.11679411112032427,0.3091898678144349,0.5337651695022201,0.013053020308116937,-0.26633825037805603,0.14848096335360683,1.1241334081111165,0.5054233699597388,0.5903682386088964,0.5903682386088964,0.7000000000000705,0,0,-2.0589853054502012e-05,-8.128780567962508e-05
+14306,1792668982435276554,37522835000000,1792668982428196442,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760554100272738,-0.004533239937858196,0.09074190288313827,0.9999999903765286,-6.593855926565904e-05,-4.211103044125025e-05,-6.759123004907365e-05,0.6761,-0.00453,0.09076029322095062,1.0,0.0,0.0,0.0,0.005469751966431402,0.16972058619811137,0.5596130705742219,0.01181062658032119,-0.00017156618182664549,-0.00011827447231781878,0.25562223225157615,0.16544429981247313,0.9389249784285116,0.008739085342451386,-0.014573004763845307,0.0012035821255222167,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.17726976864208288,0.11824949310193021,0.2861429182231577,0.0768921162226034,-0.09434491632313194,0.018563368563984252,1.1241334081111165,0.5596130705742219,0.8379904898879589,0.8379904898879589,0.7770000000000864,0,0,-2.106856998998629e-05,9.951422605259381e-05
+14481,1792668983894202120,37524294000000,1792668983892196232,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760561949986231,-0.004533892288816916,0.09071914315734289,0.9999999911662301,-6.269619130564794e-05,-3.760299221520746e-05,-6.136454008026137e-05,0.6761,-0.00453,0.09072150398261687,1.0,0.0,0.0,0.0,-0.004514958836807165,0.1743630139465433,0.6299283698435325,0.012417458210213735,0.0008149853965020333,-0.00015335036301472116,0.2456375214483376,0.17008672756090507,1.0092402776978222,0.00934591697234393,-0.013586453185516628,0.0011685062348253143,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.20460268832219775,0.20351163963819519,0.2562125900098629,0.07218078163250624,-0.07329343398822379,0.07197292769555323,1.1241334081111165,0.6299283698435325,0.8679208181012537,0.8679208181012537,0.8791300000001075,0,0,-2.5666316201518373e-05,9.670833164688303e-05
+14605,1792668984927292263,37525327000000,1792668984920196562,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760579661821504,-0.004537190664238831,0.09070005057478846,0.9999999914355192,-6.490301474694454e-05,-3.423290696177802e-05,-5.645823786958237e-05,0.6761,-0.00453,0.09069726741590685,1.0,0.0,0.0,0.0,-0.02259979999883996,0.15988849791531914,0.6903978248587952,0.012421203810689093,0.0008020953667644583,0.0005956227179713686,0.2275526802863048,0.1556122115296809,1.069709732713085,0.009349662572819288,-0.013599343215254203,0.001917479315811404,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.21125633787965947,0.1463813424673443,0.21091117446326552,0.10241133164706571,-0.04540924977496455,0.03492229999426409,1.1241334081111165,0.6903978248587952,0.913222233647851,0.913222233647851,0.9514400000001225,0,0,-2.0134392761105547e-05,-6.684892611600491e-05
+14737,1792668986027191459,37526427000000,1792668986024195598,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6760620404896772,-0.004538940048796503,0.09068566803463289,0.9999999921374444,-6.122610757497524e-05,-2.8501656429203502e-05,-5.105874133984062e-05,0.6761,-0.00453,0.09067567697791262,1.0,0.0,0.0,0.0,-0.023899430663057275,0.17048305926006418,0.7403897412807048,0.013091850866979778,0.0017929496887570447,-0.00022177303616648688,0.22625304962208748,0.16620677287442595,1.1197016491349945,0.010020309629109974,-0.012608488893261617,0.0011000835616735486,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.2620445666105233,0.18993757478000858,0.08081965933955444,0.09145016242680284,0.051011694993170154,0.054249552696204045,1.1241334081111165,0.7403897412807048,1.043313748771562,1.043313748771562,1.0284400000001384,0,0,-1.9828951512675157e-05,9.998834679525998e-05
+14861,1792668987061289405,37527460000000,1792668987056196325,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760639373513506,-0.004537761543437522,0.09066838516665893,0.9999999928439897,-5.677547686847008e-05,-2.36363009529995e-05,-4.441571508094408e-05,0.6761,-0.00453,0.09065045269949908,1.0,0.0,0.0,0.0,-0.03388397539318366,0.17436657215332846,0.7709470480798599,0.014176494719044112,0.0017649343592687425,-0.0002386585684218791,0.2162685048919611,0.17009028576769022,1.1502589559341496,0.011104953481174308,-0.012636504222749919,0.0010831980294181563,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.2781568937956721,0.21938454594519155,0.11885766610650926,0.09167661449563907,0.02320239112631698,0.06753610333361484,1.1241334081111165,0.7709470480798599,1.0052757420046072,1.0052757420046072,1.1007500000001533,0,0,-2.9896517562992504e-05,-9.75479100536802e-05
+14920,1792668987552254735,37527952000000,1792668987548196292,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760992833844808,-0.004532454373740463,0.09067798639738614,0.9999999935677104,-4.978673428486399e-05,1.0389110665978729e-05,-4.1482419776753614e-05,0.6761,-0.00453,0.09063080321909263,1.0,0.0,0.0,0.0,-0.08332896302869819,0.23411588675387887,0.7119609461401382,0.01839052835135538,0.005748485778119854,-8.152628127802708e-05,0.16682351725644656,0.22983960036824064,1.0912728539944279,0.015318987113485576,-0.008652952803898807,0.0012403303165620084,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.35028219873335487,0.1936245043608268,0.17038741264656973,0.1058798495684201,-0.006194243424773873,0.0565779548475404,1.1241334081111165,0.7119609461401382,0.9537459954645467,0.9537459954645467,1.1351900000001605,0,0,-5.2079773170425565e-05,-9.999999025923074e-05
+15048,1792668988619221817,37529019000000,1792668988612198071,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761040090364627,-0.004542744182849334,0.09063550920350033,0.9999999939051777,-4.929312917664005e-05,2.28031725814236e-05,-2.6128752861370906e-05,0.6761,-0.00453,0.09056704154504504,1.0,0.0,0.0,0.0,-0.10218081087971623,0.22992433542712298,0.8617548644587096,0.018384128553294604,0.006727813739453684,-0.00018783603392355454,0.14797166940542852,0.22564804904148475,1.2410667723129993,0.015312587315424802,-0.007673624842564977,0.001134020563916481,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.4160353483424409,0.1747850638049725,0.03912889278798191,0.13493497422102002,0.0892236521604035,0.03463024149490933,1.1241334081111165,0.8617548644587096,1.0850045153231347,1.0850045153231347,1.209880000000176,0,0,-5.018221840433069e-05,-9.643213591393191e-05
+15188,1792668989785295834,37530185000000,1792668989784195582,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761053616237631,-0.004545150209255445,0.09059828303867312,0.9999999940797566,-4.722710453779216e-05,2.665045419726435e-05,-1.851229411126917e-05,0.6761,-0.00453,0.09052755901747372,1.0,0.0,0.0,0.0,-0.10302963562505815,0.2338654339203497,0.9235548164384337,0.019333496551193863,0.006692731033122973,0.000799623218256025,0.1471228446600866,0.22958914753471146,1.3028667242927234,0.01626195531332406,-0.007708707548895689,0.0021214798160960604,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.44688037220174115,0.10072601100999519,-0.1742135297093912,0.1526557097065715,0.22974344399607338,-0.01502435870612967,1.1241334081111165,0.9235548164384337,1.2983469378205077,1.2983469378205077,1.2915000000001928,0,0,-2.1895497363784482e-05,9.704464595661761e-05
+15359,1792668991210200519,37531610000000,1792668991204196474,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761075367528784,-0.004545018727533711,0.09056400811444727,0.9999999943056813,-4.2636041899695915e-05,3.014760602641796e-05,-1.0236782082667323e-05,0.6761,-0.00453,0.0904848664619784,1.0,0.0,0.0,0.0,-0.1122036116254275,0.22553263490924488,0.9597872632690163,0.019325291259642365,0.0066852047084950215,0.0007651460689411882,0.13794886865971726,0.22125634852360665,1.339099171123306,0.01625375002177256,-0.00771623387352364,0.0020870026667812237,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.4898714067283264,0.1480765214767913,-0.16241062675700044,0.14666494250754156,0.23317825650097793,0.01930376580905581,1.1241334081111165,0.9597872632690163,1.286544034868117,1.286544034868117,1.3912500000002135,0,0,-4.068820401023488e-05,-9.999985148135266e-05
+15515,1792668992510193024,37532910000000,1792668992508196264,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676116813348511,-0.004550877918007732,0.09052236415677584,0.9999999939703395,-4.194456891725144e-05,4.1726947903680265e-05,1.30403798976164e-06,0.6761,-0.00453,0.09042754293778095,1.0,0.0,0.0,0.0,-0.12236714860303627,0.24110444820846189,1.020056285631119,0.020317304499059278,0.007671768923000998,-0.00028000409206410215,0.12778533168210848,0.23682816182282365,1.3993681934854088,0.017245763261189474,-0.006729669659017663,0.0010418525057759333,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5004968660254926,0.18744215870703,-0.287658527285382,0.13648926035406833,0.30670877387058604,0.04751126372251206,1.1241334081111165,1.020056285631119,1.4117919353964985,1.4117919353964985,1.4822500000002323,0,0,-4.76027054465061e-05,-1.7352927031389715e-05
+15683,1792668993910248883,37534310000000,1792668993908195817,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761223288840483,-0.004555847077078893,0.09046061413858074,0.9999999935536625,-4.128027843047779e-05,4.8888941314336194e-05,1.5535417193968827e-05,0.6761,-0.00453,0.090353407518922,1.0,0.0,0.0,0.0,-0.132080670774307,0.25574753203764394,1.0839375687717185,0.02025537079877142,0.009069494272383065,-8.222659430386211e-05,0.11807180951083776,0.2514712456520057,1.4632494766260082,0.017183829560901615,-0.005331944309635596,0.0012396300035361733,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5831755621543139,0.1090560751324481,-0.40505180876218805,0.1682505324248908,0.39840999413849965,-0.0009932126767667887,1.1241334081111165,1.0839375687717185,1.5291852168733047,1.5291852168733047,1.5802500000002526,0,0,-5.8657883332509424e-05,9.829135702433262e-05
+15814,1792668995002175076,37535402000000,1792668994996196058,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761203182006195,-0.004559575130333191,0.0903963182727529,0.9999999935773091,-3.931671205022078e-05,4.592716553185859e-05,2.516223327329151e-05,0.6761,-0.00453,0.09028895220898077,1.0,0.0,0.0,0.0,-0.14130283972731658,0.23781033500608462,1.1039023627233633,0.02027355023349039,0.008667622937281015,-0.0003350302705628814,0.10884964055782817,0.23353404862044638,1.483214270577653,0.017202008995620587,-0.005733815644737647,0.000986826327277154,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5401442375368306,0.29416989936684296,-0.4232939346344573,0.1012063074350564,0.3956187063248031,0.11287784854821796,1.1241334081111165,1.1039023627233633,1.5474273427455738,1.5474273427455738,1.6566900000002684,0,0,-6.44946648961905e-05,-9.999999025923074e-05
+15938,1792668996035237021,37536435000000,1792668996032196015,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761213949923691,-0.004563500529172248,0.09032566041766674,0.9999999936014178,-2.2126506367525633e-05,4.750361201193024e-05,3.865039900066782e-05,0.6761,-0.00453,0.09020997379645586,1.0,0.0,0.0,0.0,-0.14155607086480856,0.24867756813850192,1.114063205355491,0.020245542911077132,0.009677704844316844,-0.00032746135841891654,0.10859640942033619,0.24440128175286369,1.4933751132097808,0.017174001673207328,-0.004723733737701818,0.000994395239421119,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.5877344875619871,0.17962520443407995,-0.5806424194252218,0.1372299262755351,0.5001210465283291,0.0496022088300236,1.1241334081111165,1.114063205355491,1.7047758275363383,1.7047758275363383,1.7290000000002834,0,0,-8.77948059016268e-05,9.863287550449513e-05
+16050,1792668996969277639,37537369000000,1792668996964195910,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761202016753736,-0.004562680326829924,0.09023575474566657,0.9999999874159802,0.00010892505634858039,4.515059188829067e-05,5.2035179817094915e-05,0.6761,-0.00453,0.09011990225259252,1.0,0.0,0.0,0.0,-0.13322900429047874,0.246774170487298,1.183631997094463,0.02023186486540021,0.009662781712821648,-0.000382846082164673,0.11692347599466603,0.24249788410165976,1.5629439049487528,0.017160323627530404,-0.004738656869197015,0.0009390105156753624,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6359105512637334,0.12706021244719692,-0.5024528500743999,0.12372495965914813,0.4676332254495257,-0.0353643442824851,1.1241334081111165,1.183631997094463,1.6265862581855164,1.6265862581855164,1.794380000000297,0,0,-0.00010045519035636741,-8.018374439278659e-05
+16162,1792668997902235647,37538302000000,1792668997900195926,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761217374125471,-0.004563064556064536,0.09014786607262548,0.999999987041506,0.00010440219015413711,4.46677139332354e-05,6.681938306693447e-05,0.6761,-0.00453,0.09002414618116118,1.0,0.0,0.0,0.0,-0.1325671479325498,0.2575519720841704,1.2041845741184958,0.02022955069272403,0.009657493769347877,-0.00039926995881152134,0.11758533235259493,0.25327568569853215,1.5834964819727855,0.017158009454854226,-0.004743944812670784,0.0009225866390285141,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6474746894485297,0.25275910776758326,-0.5717929559020195,0.10318210089056642,0.5031157417542577,0.07396233787702429,1.1241334081111165,1.2041845741184958,1.6959263640131361,1.6959263640131361,1.8596900000003105,0,0,-0.00010585348225319725,-8.449963925650223e-05
+16273,1792668998827233765,37539227000000,1792668998824195764,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761183573884934,-0.004562738565705311,0.09004976665937574,0.9999999869835036,9.823846937836356e-05,4.003235708386197e-05,7.888263802147741e-05,0.6761,-0.00453,0.08992359895661044,1.0,0.0,0.0,0.0,-0.14152488115262285,0.24793260554520163,1.2150267380759898,0.02022637146452328,0.009656198086180193,-0.0004086602756676942,0.1086275991325219,0.2436563191595634,1.5943386459302795,0.017154830226653477,-0.004745240495838468,0.0009131963221723412,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6524342150075599,0.19399036288857835,-0.6068288412740127,0.14933779890812793,0.515974999206723,0.06804603460359086,1.1241334081111165,1.2150267380759898,1.7309622493851293,1.7309622493851293,1.924440000000324,0,0,-0.00011140616613533461,-9.997798008776754e-05
+16365,1792668999594167265,37539994000000,1792668999592196073,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761204239599428,-0.004550798921119911,0.08996300517049316,0.9999999941284443,2.118015516621046e-05,4.748443442860119e-05,2.1968279555932718e-05,0.6761,-0.00453,0.0898338294006356,1.0,0.0,0.0,0.0,-0.1279012087154271,0.27132820025554555,1.2247342306246738,0.02127756640740375,0.009551093466780913,-0.0004048665160988168,0.12225127156971764,0.2670519138699073,1.6040461384789635,0.018206025169533947,-0.00485034511523775,0.0009169900817412186,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6621194441579231,0.2383748266762238,-0.709927708756606,0.09021042929205077,0.586619955333703,0.1149765856354504,1.1241334081111165,1.2247342306246738,1.8340611168677226,1.8340611168677226,1.978130000000335,0,0,-0.0001240276801719745,9.916388129938553e-05
+16465,1792669000427241088,37540827000000,1792669000420196404,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761229394764922,-0.0045615582224992285,0.08985864381239556,0.9999999926690153,3.171730688898375e-05,4.985427514540533e-05,5.112139994075434e-05,0.6761,-0.00453,0.08972498577477787,1.0,0.0,0.0,0.0,-0.1328425591247841,0.2694387693278945,1.258328975243605,0.020193585229271425,0.01065841735441747,-0.00042609928411586374,0.11730992116036067,0.26516248294225625,1.6376408830978948,0.01712204399140162,-0.003743021227601192,0.0008957573137241717,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.6815223245124078,0.13776604486556004,-0.6961929719124806,0.180037006267954,0.565211975227526,0.03481381596778004,1.1241334081111165,1.258328975243605,1.8203263800235971,1.8203263800235971,2.036440000000347,0,0,-0.0001339369449335478,-6.881929334590637e-05
+16561,1792669001227260222,37541627000000,1792669001220196031,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761228119029932,-0.004568246267311091,0.08975108532282787,0.9999999922550317,2.7900471302602658e-05,4.4100065996668343e-05,6.488103767530116e-05,0.6761,-0.00453,0.08961596910852665,1.0,0.0,0.0,0.0,-0.15010579453494646,0.2597779514900721,1.25382754925079,0.020199856536208947,0.01074626555929616,-0.001451919965054912,0.10004668575019829,0.25550166510443384,1.6331394571050797,0.017128315298339143,-0.0036551730227225017,-0.00013006336721487649,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7195713078178023,0.16537691799355494,-0.7879159695157708,0.1857439677141827,0.6223615018899834,0.05108656737299508,1.1241334081111165,1.25382754925079,1.9120493776268872,1.9120493776268872,2.0924400000003587,0,0,-0.0001398166804597326,9.981617895971624e-05
+16653,1792669001994187838,37542394000000,1792669001988196446,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761242402671874,-0.004575663439955008,0.08964364232899937,0.9999999915692491,2.3508158480056683e-05,4.6636731813363474e-05,7.467762629581186e-05,0.6761,-0.00453,0.08950388629540942,1.0,0.0,0.0,0.0,-0.1550193740788831,0.2582891208975899,1.2686041703382378,0.020169664728748204,0.01167546849389638,-0.0014517806483962824,0.09513310620626164,0.2540128345119516,1.6479160781925275,0.0170981234908784,-0.0027259700881222815,-0.000129924050556247,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7653534189598016,0.09284048941815196,-0.8302115462067295,0.21268033389968963,0.6556036341207454,0.00533082934940729,1.1241334081111165,1.2686041703382378,1.954344954317846,1.954344954317846,2.14613000000037,0,0,-0.0001485295330102846,9.843442313884338e-05
+16748,1792669002785179982,37543185000000,1792669002784195648,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761220870602059,-0.004570535448047509,0.08951666458676028,0.9999999937008484,2.5221971268686526e-05,4.34303865681851e-05,3.897205988534342e-05,0.6761,-0.00453,0.0893822137215244,1.0,0.0,0.0,0.0,-0.142101595759704,0.2524136166973097,1.2831649751201348,0.02020616654899056,0.010248737669901108,-0.0014816945490325776,0.10805088452544076,0.24813733031167146,1.6624768829744245,0.017134625311120755,-0.004152700912117554,-0.0001598379511925423,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.7643543849050114,0.06829490845599023,-0.8835450460024035,0.24682548662324738,0.6816337520674405,-0.0052275957044525465,1.1241334081111165,1.2831649751201348,2.00767845411352,2.00767845411352,2.2015000000003813,0,0,-0.00016062877212089243,9.645424322990976e-05
+16836,1792669003519157334,37543919000000,1792669003512196006,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761240744344291,-0.004573287250918573,0.08939753824619479,0.9999999915037433,5.7784292078417856e-05,4.419417395912424e-05,5.606450163246008e-05,0.6761,-0.00453,0.089260268015919,1.0,0.0,0.0,0.0,-0.15816409826066533,0.23905281889085322,1.291264552496415,0.019166558061999225,0.01089835259158504,-0.0014923753814082394,0.09198838202447943,0.234776532505215,1.6705764603507047,0.01609501682412942,-0.0035030859904336222,-0.00017051878356820406,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.817951744267988,0.0280084563302856,-0.9167610871289525,0.2645122428978239,0.7109545322317803,-0.029073078764765538,1.1241334081111165,1.291264552496415,2.040894495240069,2.040894495240069,2.252880000000392,0,0,-0.00016881718938458056,9.98125707348862e-05
+16924,1792669004252212659,37544652000000,1792669004248196046,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761182905354085,-0.0045831002337775135,0.08926462258766697,0.9999999905483951,6.27357395343003e-05,3.154816943417586e-05,7.358677932016799e-05,0.6761,-0.00453,0.08913321373961466,1.0,0.0,0.0,0.0,-0.15986862956267767,0.2276090554322196,1.3024881932890935,0.018121587678786334,0.011708549013239271,-0.0015008564396756525,0.09028385072246707,0.22333276904658136,1.6818001011433832,0.015050046440916528,-0.0026928895687793907,-0.000178999841835617,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.850055077804229,0.021101845663333348,-0.9151319135187596,0.284756138946792,0.7129079697281616,-0.026962782147256496,1.1241334081111165,1.3024881932890935,2.039265321629876,2.039265321629876,2.3041900000004025,0,0,-0.0001768987605219397,-8.634862967099892e-05
+17000,1792669004885222751,37545285000000,1792669004880196387,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676117342966495,-0.004589012063887252,0.08914529353518805,0.9999999896093851,5.8178079920912645e-05,2.7207132480712112e-05,8.999542854690464e-05,0.6761,-0.00453,0.08901869860651587,1.0,0.0,0.0,0.0,-0.16167882506570688,0.22217087477561925,1.3227386755343205,0.01706993071491166,0.012736408190038096,-0.001513140200719097,0.08847365521943787,0.21789458838998102,1.7020505833886101,0.013998389477041856,-0.001665030391980565,-0.0001912836028790616,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.8235200470671311,-0.010323403754324726,-0.9569445894449634,0.291749351525916,0.7286800578376978,-0.04849522220271015,1.1241334081111165,1.3227386755343205,2.08107799755608,2.08107799755608,2.3485000000004117,0,0,-0.00018586458008080514,-1.3442642729565924e-05
+17080,1792669005552222200,37545952000000,1792669005544197099,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761175293677141,-0.004592905217348021,0.08901971901262253,0.9999999908314441,3.71439703265126e-05,3.013235180043983e-05,8.655832137396529e-05,0.6761,-0.00453,0.08888897900765537,1.0,0.0,0.0,0.0,-0.1783224209163346,0.22228083150504152,1.3266356742006382,0.017046970931651168,0.013530753514361006,-0.0015091694040214525,0.07183005936881015,0.2180045451194033,1.705947582054928,0.013975429693781362,-0.0008706850676576553,-0.000187312806181417,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.876807455899404,0.06190245196427949,-1.0047476911740034,0.28742608256318825,0.7640937142333419,0.0006439947361885842,1.1241334081111165,1.3266356742006382,2.12888109928512,2.12888109928512,2.3951900000004214,0,0,-0.0002020443218050686,9.105139839172267e-05
+17148,1792669006119242571,37546519000000,1792669006116196064,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761151012238531,-0.004584568626993168,0.0888935785278846,0.9999999935765873,8.905411046879473e-06,2.4542539385865084e-05,6.0067022344729765e-05,0.6761,-0.00453,0.08877040435202208,1.0,0.0,0.0,0.0,-0.17748466978833508,0.23427886128724654,1.3531580031731036,0.018058672595756532,0.0137169638391788,-0.0015127137502398704,0.07266781049680968,0.2300025749016083,1.7324699110273933,0.014987131357886728,-0.0006844747428398613,-0.00019085715239983492,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.8978744287763714,-0.02589288129795041,-0.9073474528470057,0.3309223346544565,0.7034794413425698,-0.05502191254218887,1.1241334081111165,1.3531580031731036,2.0314808609581223,2.0314808609581223,2.4348800000004296,0,0,-0.00021430478344272442,-9.999999025923074e-05
+17215,1792669006677202762,37547077000000,1792669006676196447,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761125166513894,-0.00459715876269058,0.08877325881105401,0.9999999918908287,2.8825366052565727e-05,1.9876209533852635e-05,8.021995851176625e-05,0.6761,-0.00453,0.08864767894201923,1.0,0.0,0.0,0.0,-0.18760385620615092,0.21734576180268658,1.322614617493167,0.01704197194920329,0.013750694906085124,-0.0015005811665798649,0.06254862407899384,0.21306947541704835,1.7019265253474567,0.013970430711333486,-0.000650743675933537,-0.00017872456873982935,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9040683037166086,-0.05751596193944822,-0.8754453832528205,0.35233900204394114,0.679069843831613,-0.0703063173921444,1.1241334081111165,1.322614617493167,1.9995787913639371,1.9995787913639371,2.4739400000004377,0,0,-0.0002290014246106572,-9.9999393514355e-05
+17283,1792669007244196592,37547644000000,1792669007236196298,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761125627114427,-0.004594613848373979,0.08863683338621074,0.9999999895681237,6.31454392463644e-05,1.9036821613253e-05,8.920128750267063e-05,0.6761,-0.00453,0.0885124821331827,1.0,0.0,0.0,0.0,-0.19750150161785573,0.20288235196943408,1.3423186423601434,0.016241887990879333,0.013780502379426861,-0.0015282096682458948,0.052650978667289,0.19860606558379584,1.7216305502144331,0.01317034675300953,-0.0006209362025918007,-0.00020635307040585941,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9140060681435478,-0.005943979008302178,-1.0049462673053453,0.3449684886030314,0.7583494604925973,-0.036378255924746146,1.1241334081111165,1.3423186423601434,2.129079675416462,2.129079675416462,2.513630000000446,0,0,-0.0002483863704258723,-9.999999025923074e-05
+17347,1792669007777151200,37548177000000,1792669007776195840,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761125708171326,-0.004602662317852015,0.08850234103033555,0.9999999910748084,4.0734359955099676e-05,1.845654169123222e-05,8.54009102901284e-05,0.6761,-0.00453,0.08837670555341214,1.0,0.0,0.0,0.0,-0.1982141679635599,0.21489289119040011,1.347156920966662,0.017010319866142883,0.014760073051943944,-0.0015023003929145959,0.05193831232158486,0.21061660480476188,1.7264688288209518,0.013938778628273078,0.000358634469925282,-0.0001804437950745605,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9084759159131488,0.021370475800032325,-1.0740742698382437,0.3508421533107159,0.7954856286643398,-0.01905913610986565,1.1241334081111165,1.347156920966662,2.1982076779493602,2.1982076779493602,2.5509400000004536,0,0,-0.0002620687548679238,9.959826993555793e-05
+17407,1792669008277203978,37548677000000,1792669008276196039,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761101888457751,-0.004603033759782656,0.08836553570727348,0.999999991066546,3.810073855612285e-05,1.4144444977397449e-05,8.751023267500121e-05,0.6761,-0.00453,0.0882421900067418,1.0,0.0,0.0,0.0,-0.19681177093377195,0.2028031088441614,1.362116457564918,0.015985094545822455,0.014775124224764466,-0.0015294264722591397,0.053340709351372806,0.19852682245852316,1.7414283654192078,0.01291355330795265,0.0003736856427458055,-0.0002075698744191044,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.964824514442259,-0.01584591501999231,-1.0863041949635337,0.3762716683124926,0.8172344698969556,-0.043019746418866946,1.1241334081111165,1.362116457564918,2.2104376030746504,2.2104376030746504,2.585940000000461,0,0,-0.00027485454200529426,6.83535270315005e-05
+17464,1792669008752241806,37549152000000,1792669008744196537,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761115705561687,-0.004605549527376844,0.08823419941977649,0.999999990678885,4.100493010731139e-05,1.8318419529037483e-05,8.98227453565738e-05,0.6761,-0.00453,0.08810968252240574,1.0,0.0,0.0,0.0,-0.206136254278779,0.20315835853478156,1.3714104391762096,0.015957382690248153,0.015786865334361338,-0.0015223509564977879,0.044016226006365754,0.19888207214914333,1.7507223470304993,0.012885841452378349,0.0013854267523426757,-0.00020049435865775235,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9510732826878935,-0.11403593343305557,-1.1396743220805654,0.41492317681326224,0.8429557782738033,-0.1059204318182003,1.1241334081111165,1.3714104391762096,2.263807730191682,2.263807730191682,2.6191900000004678,0,0,-0.00028339142663505603,9.977902812175472e-05
+17519,1792669009210221866,37549610000000,1792669009208196372,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761067920443229,-0.0046124847448347555,0.08809719743079163,0.999999989605481,5.4318910114024594e-05,7.94214515630614e-06,9.601187825820191e-05,0.6761,-0.00453,0.08797861243765835,1.0,0.0,0.0,0.0,-0.21452006261689324,0.19616579069280665,1.3918726681453726,0.01493261136113369,0.015801835608228215,-0.0015514516551618095,0.0356324176682515,0.19188950430716842,1.7711845759996623,0.011861070123263887,0.0014003970262095522,-0.00022959505732177404,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9508373844850511,-0.14100504280604315,-1.1465383024691005,0.44377436286985805,0.8441623421622955,-0.1165074313129892,1.1241334081111165,1.3918726681453726,2.270671710580217,2.270671710580217,2.6512500000004744,0,0,-0.0002888424572619356,9.229046279835557e-05
+17575,1792669009677132410,37550077000000,1792669009676205194,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761068750352051,-0.004616562079592501,0.08795874995812811,0.9999999895731567,4.7137026748461864e-05,8.22313120564779e-06,0.00010003515352821496,0.6761,-0.00453,0.08784050610371591,1.0,0.0,0.0,0.0,-0.21459745531806831,0.190789944481249,1.387939872318885,0.014933287178261397,0.015803807285167032,-0.001547972262225091,0.03555502496707644,0.18651365809561077,1.7672517801731746,0.011861745940391593,0.0014023687031483718,-0.00022611566438505537,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9555760826769052,-0.10695332390550212,-1.073086214255609,0.44223562480761197,0.7962471632515367,-0.10319053698012906,1.1241334081111165,1.387939872318885,2.1972196223667257,2.1972196223667257,2.683940000000481,0,0,-0.000302885205384655,-9.999996250365512e-05
+17623,1792669010077231619,37550477000000,1792669010072196497,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.676104376402292,-0.004622352641121038,0.0878290465889924,0.999999989950008,3.340669079539835e-05,3.3163962352719744e-06,0.00010205803661777698,0.6761,-0.00453,0.0877168695193336,1.0,0.0,0.0,0.0,-0.2148552510935261,0.19149625954062682,1.3729534793458036,0.015338231458720965,0.01579972368855817,-0.0015280158792624315,0.03529722919161865,0.1872199731549886,1.7522653872000933,0.01226669022085116,0.0013982851065395105,-0.000206159281422396,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.003429283041425,-0.04647018155401099,-1.0978004936638965,0.43784339231611197,0.8184687340929523,-0.05960899244292073,1.1241334081111165,1.3729534793458036,2.221933901775013,2.221933901775013,2.711940000000487,0,0,-0.00031500349667176595,-9.999999025923074e-05
+17678,1792669010535136806,37550935000000,1792669010532196690,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761025995936987,-0.004619678051882314,0.08768491661309738,0.9999999899192211,3.0085868131888768e-05,9.546823834506138e-07,0.00010343283468927482,0.6761,-0.00453,0.08756834487183925,1.0,0.0,0.0,0.0,-0.22411821055606504,0.18042840775767124,1.3722416908628072,0.014951329495237083,0.015807253262813285,-0.0015362924996246382,0.02603426972907971,0.176152121372033,1.751553598717097,0.011879788257367279,0.0014058146807946253,-0.00021443590178460274,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9866874074742136,-0.07663022378377686,-1.1460680508563554,0.4583746916069813,0.8409783806828903,-0.08172095049538738,1.1241334081111165,1.3722416908628072,2.270201458967472,2.270201458967472,2.7440000000004936,0,0,-0.00033322073559131416,1.5775321901001504e-05
+17726,1792669010935226816,37551335000000,1792669010932195709,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761029053913495,-0.004620051798051595,0.08755104026629797,0.999999990154966,2.5477144932447124e-05,2.9484684934120982e-06,0.00010234820024729312,0.6761,-0.00453,0.08743195976806782,1.0,0.0,0.0,0.0,-0.22465552191452165,0.19422535772408886,1.4019334059205832,0.01584317999213993,0.015783467737554856,-0.001550455920190801,0.02549695837062311,0.18994907133845063,1.781245313774873,0.012771638754270127,0.0013820291555361947,-0.00022859932235076553,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.0228454789606334,-0.13502571186181442,-1.0407256836622807,0.4937473984839299,0.7820925510797085,-0.1160496488058845,1.1241334081111165,1.4019334059205832,2.164859091773397,2.164859091773397,2.7720000000004994,0,0,-0.00034793521489914623,-9.999999025923074e-05
+17774,1792669011335179087,37551735000000,1792669011328196619,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761008979682391,-0.004626146546339086,0.08741014598481538,0.999999989566977,2.9579399387596426e-05,6.297700275350566e-07,0.00010692788571351164,0.6761,-0.00453,0.08728975984366732,1.0,0.0,0.0,0.0,-0.2149340171610828,0.18115337029770368,1.3896187650602343,0.014945703362604684,0.015802110408004878,-0.0015501780499564072,0.03521846312406195,0.17687708391206544,1.768930672914524,0.01187416212473488,0.0014006718259862165,-0.00022832145211637174,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.995031232873312,-0.09131472269865973,-1.108064293331294,0.4925098189784714,0.8149490700558112,-0.08248189220102597,1.1241334081111165,1.3896187650602343,2.2321977014424106,2.2321977014424106,2.800000000000505,0,0,-0.0003631044790633738,-9.989583746173309e-05
+17818,1792669011702122005,37552102000000,1792669011696196608,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760973715650214,-0.004625414407662722,0.08727612546159881,0.9999999884939978,6.323395782190028e-05,-5.116795105975005e-06,0.00010212812330089717,0.6761,-0.00453,0.08715422298590818,1.0,0.0,0.0,0.0,-0.22216500562627386,0.18333819195195095,1.397874936533602,0.014923294046452535,0.01602026272375782,-0.0015498688355665875,0.027987474658870876,0.1790619055663127,1.7771868443878918,0.01185175280858273,0.0016188241417391615,-0.00022801223772655197,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,0.9950301562594672,-0.058147299440190175,-1.0300778559249615,0.49973211259330397,0.761317296005105,-0.06083514167389298,1.1241334081111165,1.397874936533602,2.154211264036078,2.154211264036078,2.8256900000005105,0,0,-0.0003757188162631638,-9.999990699250389e-05
+17862,1792669012069131038,37552469000000,1792669012068196307,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.676106475386846,-0.004629275776148335,0.08714603278726293,0.9999999887026823,4.962260738143123e-05,7.3272133418661165e-06,0.00010733782515482036,0.6761,-0.00453,0.08701397345054615,1.0,0.0,0.0,0.0,-0.2250117739823744,0.18948872917044682,1.41245907164996,0.01591814279916797,0.016791981792423534,-0.0015421310900353192,0.02514070630277034,0.18521244278480858,1.7917709795042498,0.012846601561298169,0.0023905432104048717,-0.0002202744921952838,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.0375693416640384,-0.0015421699346008996,-1.179889400100308,0.4942804738850078,0.8670625628637036,-0.02434054239852477,1.1241334081111165,1.41245907164996,2.3040228082114247,2.3040228082114247,2.851380000000516,0,0,-0.00038938719167516824,2.588007172311109e-05
+17906,1792669012435189791,37552835000000,1792669012432196835,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761019575829549,-0.004632059834067251,0.08699976932652295,0.9999999891935003,3.098877599931135e-05,1.3060215510157178e-06,0.00010997205871378927,0.6761,-0.00453,0.08686979655305466,1.0,0.0,0.0,0.0,-0.22472217311011958,0.19147153108763243,1.4417245207768028,0.015119839294351447,0.016800765335555197,-0.001574832707194346,0.025430307175025174,0.1871952447019942,1.8210364286310925,0.012048298056481643,0.002399326753536536,-0.0002529761093543106,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1071863989991344,-0.1580580399360119,-1.1683803661310384,0.544867328301805,0.8820602632474225,-0.12937789675189992,1.1241334081111165,1.4417245207768028,2.292513774242155,2.292513774242155,2.877000000000521,0,0,-0.00039825201437612554,-9.999996250365512e-05
+17950,1792669012802146344,37553202000000,1792669012796196331,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.676102989545211,-0.004633429143120034,0.08685207967202573,0.9999999894265704,1.4627093444731822e-05,8.002905994017514e-06,0.00011095821313541945,0.6761,-0.00453,0.08672172083179737,1.0,0.0,0.0,0.0,-0.23424802992206137,0.2030655509618061,1.393452283429061,0.01589913389534766,0.017727111162729414,-0.0015137071751505618,0.01590445036308338,0.19878926457616786,1.7727641912833507,0.012827592657477854,0.0033256725807107525,-0.00019185057731052634,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.142815830782005,-0.14540523485809875,-1.2429884473107775,0.5580610626064414,0.9356284445701956,-0.11850995602217215,1.1241334081111165,1.393452283429061,2.3671218554218942,2.3671218554218942,2.9026900000005265,0,0,-0.0004087573457253483,8.679714866144934e-05
+17986,1792669013102120700,37553502000000,1792669013100196266,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761018989177573,-0.004635382674562953,0.08672723109771388,0.9999999895483509,2.7526840608597017e-06,4.720482794159358e-06,0.00011097883780172544,0.6761,-0.00453,0.08659723237295358,1.0,0.0,0.0,0.0,-0.22860636864575187,0.19788961529025895,1.402129009546737,0.01589452048351042,0.017807669847586735,-0.0015184852890624077,0.02154611163939289,0.1936133289046207,1.7814409174010266,0.012822979245640619,0.0034062312655680745,-0.00019662869122237222,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1576257017738647,-0.12505376533260862,-1.1240035900835808,0.5605318376453596,0.866497713445001,-0.10560210473482015,1.1241334081111165,1.402129009546737,2.2481369981946973,2.2481369981946973,2.923690000000531,0,0,-0.00042178382845678284,-9.999997638144293e-05
+18030,1792669013469145832,37553869000000,1792669013464205509,DOWN_FORCE_DETACH,4,0.0524,0.05240200087428093,0.6761057375973998,-0.004638659949192806,0.08657754350407287,0.9999999886300309,6.354260023655443e-06,1.205799829577669e-05,0.00011830904662126507,0.6761,-0.00453,0.0864392762101891,1.0,0.0,0.0,0.0,-0.25322078232584216,0.20532662431339946,1.395917613387077,0.01651816464307451,0.018728299753376743,-0.0014941910033589934,-0.0030683020406974204,0.20105033792776122,1.7752295212413667,0.013446623405204704,0.004326861171358081,-0.00017233440551895783,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1730181687779344,-0.24066902656050895,-1.1555251489899554,0.6053403002490421,0.8882387524072611,-0.17896117640488587,1.1241334081111165,1.395917613387077,2.279658557101072,2.279658557101072,2.949380000000536,0,0,-0.00043944775022650005,-9.999999025923074e-05
+18066,1792669013769151607,37554169000000,1792669013768196688,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6761000889619483,-0.004646742764780048,0.0864407956482879,0.9999999871346406,2.4379866516617257e-05,1.2126747068287415e-06,0.0001287545519028405,0.6761,-0.00453,0.08630565786277891,1.0,0.0,0.0,0.0,-0.25322006574242517,0.19715206589838785,1.420421779355244,0.015874613655041843,0.018817375457740933,-0.001520616595851421,-0.0030675854572804464,0.19287577951274962,1.7997336872095338,0.012803072417172039,0.004415936875722272,-0.0001987599980113854,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.1817356162068724,-0.09296115072599247,-1.2261216367364831,0.5686034407728789,0.9362237134774934,-0.07778429347471141,1.1241334081111165,1.420421779355244,2.3502550448475996,2.3502550448475996,2.9703800000005405,0,0,-0.00045227688947183244,8.18442494595672e-05
+18102,1792669014069202045,37554469000000,1792669014064196319,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760957322577883,-0.0046446777143633105,0.08630091774256889,0.9999999886915825,4.763930774282278e-05,4.911843434001503e-07,0.00010858155678592254,0.6761,-0.00453,0.08616796104820743,1.0,0.0,0.0,0.0,-0.24349052621270895,0.2110142884389294,1.4025083389711568,0.016915846860532296,0.017799227377461365,-0.0015089518019226747,0.006661954072435807,0.20673800205329115,1.7818202468254465,0.01384430562266249,0.003397788795442704,-0.0001870952040826391,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.18637510376811,-0.09059398434361192,-1.0889407149176733,0.5856346565172132,0.8514971408536045,-0.08642060899593046,1.1241334081111165,1.4025083389711568,2.2130741230287896,2.2130741230287896,2.991380000000545,0,0,-0.00046606729453144,-9.999999025923074e-05
+18138,1792669014369221184,37554769000000,1792669014368195933,DOWN_FORCE_DETACH,4,0.0524,0.0524013414978981,0.6760881004067619,-0.004641970693922614,0.08615376598936456,0.9999999875563427,4.3269459822498e-05,-5.644489346844672e-06,0.00012010858672589735,0.6761,-0.00453,0.08602603577677784,1.0,0.0,0.0,0.0,-0.24334814256934767,0.19161865354923852,1.4308431795058774,0.01588843447153708,0.017801701785067573,-0.001544167054029698,0.006804337715797088,0.18734236716360028,1.810155087360167,0.012816893233667276,0.0034002632030489103,-0.00022231045618966257,0.25015248028514475,-0.004276286385638238,0.3793119078542897,-0.0030715412378698043,-0.014401438582018661,0.0013218565978400354,1,1.2032848782251426,-0.15818662919796775,-1.1900842662216577,0.59650313436107,0.9258298910346212,-0.12629404668466376,1.1241334081111165,1.4308431795058774,2.3142176743327743,2.3142176743327743,3.012380000000549,0,0,-0.00048042478031832826,-8.372573382943644e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc19d27391aa08c297e016b74d505624a5d312ac
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beded7b25b1ae454a3bfa716db225254fe5b44fc
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+15,8.516666667e+00,DOWN_FORCE_DETACH,1792668987553238617,7.851687576e-05,-3.622046933e-05,-1.893835551e-04,7.494441405e-05,-3.965035908e-05,-1.888205536e-04,7.635961895e-05,-3.959626709e-05,-1.887958145e-04,7.016163884e-01,-3.466950801e-05,8.405515576e-01,7.016128159e-01,-3.809939776e-05,8.405521206e-01,7.018055699e-01,-3.783017107e-05,8.293839199e-01
+16,9.066666667e+00,DOWN_FORCE_DETACH,1792668988621734758,8.744515927e-05,-4.586601007e-05,-2.285466792e-04,8.717060433e-05,-4.603516296e-05,-2.283032881e-04,8.895028712e-05,-4.598795679e-05,-2.278146908e-04,7.016253166e-01,-4.431504875e-05,8.405123945e-01,7.016250421e-01,-4.448420164e-05,8.405126379e-01,7.018181606e-01,-4.422186077e-05,8.293449010e-01
+17,9.683333333e+00,DOWN_FORCE_DETACH,1792668989784583784,9.169153046e-05,-4.751633778e-05,-2.627198111e-04,8.957767794e-05,-4.811798679e-05,-2.486887102e-04,9.153021053e-05,-4.805862505e-05,-2.485190666e-04,7.016295630e-01,-4.596537646e-05,8.404782214e-01,7.016274492e-01,-4.656702547e-05,8.404922525e-01,7.018207405e-01,-4.629252903e-05,8.293241966e-01
+18,1.043333333e+01,DOWN_FORCE_DETACH,1792668991213057509,8.923435055e-05,-4.755693893e-05,-3.020001011e-04,8.923113033e-05,-5.063929073e-05,-2.886493805e-04,9.120697144e-05,-5.059940996e-05,-2.884418314e-04,7.016271058e-01,-4.600597761e-05,8.404389411e-01,7.016271026e-01,-4.908832941e-05,8.404522918e-01,7.018204172e-01,-4.883331394e-05,8.292842739e-01
+19,1.110000000e+01,DOWN_FORCE_DETACH,1792668992510925127,9.880728116e-05,-5.600474362e-05,-3.435229698e-04,9.628068503e-05,-4.989015418e-05,-3.300660911e-04,9.826632224e-05,-4.981139053e-05,-3.296941503e-04,7.016366788e-01,-5.445378229e-05,8.403974182e-01,7.016341522e-01,-4.833919286e-05,8.404108751e-01,7.018274766e-01,-4.804529451e-05,8.292430216e-01
+20,1.180000000e+01,DOWN_FORCE_DETACH,1792668993906938906,1.074100373e-04,-6.076665605e-05,-4.013208658e-04,1.048802656e-04,-5.953895172e-05,-3.899633167e-04,1.069022119e-04,-5.951566657e-05,-3.893284510e-04,7.016452815e-01,-5.921569473e-05,8.403396203e-01,7.016427517e-01,-5.798799040e-05,8.403509779e-01,7.018361125e-01,-5.774957055e-05,8.291833873e-01
+21,1.235000000e+01,DOWN_FORCE_DETACH,1792668995005370793,1.032270082e-04,-6.481129315e-05,-4.663209330e-04,9.929809029e-05,-6.113693618e-05,-4.575629328e-04,1.010680263e-04,-6.111106241e-05,-4.566765983e-04,7.016410985e-01,-6.326033183e-05,8.402746203e-01,7.016371696e-01,-5.958597486e-05,8.402833783e-01,7.018302783e-01,-5.934496639e-05,8.291160391e-01
+22,1.290000000e+01,DOWN_FORCE_DETACH,1792668996036866189,1.029066337e-04,-5.914627279e-05,-5.420506293e-04,1.026060747e-04,-5.911625532e-05,-5.419975260e-04,1.041208736e-04,-5.909089747e-05,-5.407076495e-04,7.016407781e-01,-5.759531146e-05,8.401988906e-01,7.016404776e-01,-5.756529400e-05,8.401989437e-01,7.018333311e-01,-5.732480145e-05,8.290320081e-01
+23,1.338333333e+01,DOWN_FORCE_DETACH,1792668996968819757,1.030667891e-04,-6.532807796e-05,-6.283606722e-04,1.029141518e-04,-6.540281307e-05,-6.277601176e-04,1.040515893e-04,-6.537300141e-05,-6.262055730e-04,7.016409383e-01,-6.377711664e-05,8.401125805e-01,7.016407856e-01,-6.385185175e-05,8.401131811e-01,7.018332619e-01,-6.360690539e-05,8.289465101e-01
+24,1.388333333e+01,DOWN_FORCE_DETACH,1792668997900790436,1.029798821e-04,-6.830642747e-05,-7.176618768e-04,1.025892866e-04,-6.373515386e-05,-7.114371025e-04,1.033643431e-04,-6.368440862e-05,-7.099364633e-04,7.016408514e-01,-6.675546615e-05,8.400232793e-01,7.016404608e-01,-6.218419253e-05,8.400295041e-01,7.018325746e-01,-6.191831260e-05,8.288627793e-01
+25,1.436666667e+01,DOWN_FORCE_DETACH,1792668998830747555,1.032582723e-04,-6.932620239e-05,-8.121254986e-04,1.025951700e-04,-6.728834718e-05,-8.027448700e-04,1.030037314e-04,-6.725443729e-05,-8.011928846e-04,7.016411298e-01,-6.777524107e-05,8.399288157e-01,7.016404667e-01,-6.573738586e-05,8.399381963e-01,7.018322140e-01,-6.548834127e-05,8.287715228e-01
+26,1.478333333e+01,DOWN_FORCE_DETACH,1792668999597159179,1.056893982e-04,-5.523666534e-05,-9.007875879e-04,1.033613276e-04,-6.557225492e-05,-8.875507971e-04,1.035118797e-04,-6.554016614e-05,-8.858419417e-04,7.016435609e-01,-5.368570402e-05,8.398401536e-01,7.016412328e-01,-6.402129360e-05,8.398533904e-01,7.018327221e-01,-6.377407012e-05,8.286868738e-01
+27,1.520000000e+01,DOWN_FORCE_DETACH,1792669000427012097,1.058768733e-04,-6.410874813e-05,-1.005401523e-03,1.056693957e-04,-6.430639685e-05,-1.005507143e-03,1.054668182e-04,-6.427631437e-05,-1.003313668e-03,7.016437484e-01,-6.255778681e-05,8.397355397e-01,7.016435409e-01,-6.275543553e-05,8.397354340e-01,7.018346771e-01,-6.251021835e-05,8.285694020e-01
+28,1.560000000e+01,DOWN_FORCE_DETACH,1792669001226985419,1.057492998e-04,-7.079679294e-05,-1.112960012e-03,1.042923606e-04,-7.311768959e-05,-1.099744601e-03,1.037375932e-04,-7.312175318e-05,-1.097719888e-03,7.016436208e-01,-6.924583162e-05,8.396279812e-01,7.016421638e-01,-7.156672827e-05,8.396411966e-01,7.018329479e-01,-7.135565716e-05,8.284749958e-01
+29,1.598333333e+01,DOWN_FORCE_DETACH,1792669001992801437,1.083803499e-04,-7.474158431e-05,-1.220442868e-03,1.081191538e-04,-7.435917063e-05,-1.220377363e-03,1.072098319e-04,-7.429253984e-05,-1.218047993e-03,7.016462518e-01,-7.319062299e-05,8.395204983e-01,7.016459906e-01,-7.280820931e-05,8.395205638e-01,7.018364201e-01,-7.252644383e-05,8.283546677e-01
+30,1.638333333e+01,DOWN_FORCE_DETACH,1792669002788801752,1.058979865e-04,-7.308833406e-05,-1.347036169e-03,1.060253320e-04,-7.199311091e-05,-1.331019053e-03,1.046702912e-04,-7.192787453e-05,-1.328742733e-03,7.016437695e-01,-7.153737274e-05,8.393939050e-01,7.016438968e-01,-7.044214959e-05,8.394099221e-01,7.018338806e-01,-7.016177851e-05,8.282439730e-01
+31,1.676666667e+01,DOWN_FORCE_DETACH,1792669003522075258,1.048068846e-04,-7.873589184e-05,-1.466795377e-03,1.048361738e-04,-7.891668902e-05,-1.466585190e-03,1.029174313e-04,-7.882879595e-05,-1.463869360e-03,7.016426784e-01,-7.718493052e-05,8.392741458e-01,7.016427077e-01,-7.736572769e-05,8.392743560e-01,7.018321277e-01,-7.706269993e-05,8.281088464e-01
+32,1.715000000e+01,DOWN_FORCE_DETACH,1792669004253899836,1.005761388e-04,-8.674869009e-05,-1.600486263e-03,1.045449561e-04,-8.476241931e-05,-1.590874678e-03,1.020526167e-04,-8.468818803e-05,-1.588113976e-03,7.016384476e-01,-8.519772877e-05,8.391404549e-01,7.016424164e-01,-8.321145799e-05,8.391500665e-01,7.018312629e-01,-8.292209201e-05,8.279846017e-01
+33,1.748333333e+01,DOWN_FORCE_DETACH,1792669004884892730,9.948089222e-05,-9.032521716e-05,-1.716776324e-03,1.001698203e-04,-9.030620107e-05,-1.698365023e-03,9.710409335e-05,-9.018122782e-05,-1.695881831e-03,7.016373524e-01,-8.877425584e-05,8.390241649e-01,7.016380413e-01,-8.875523975e-05,8.390425762e-01,7.018263144e-01,-8.841513180e-05,8.278768339e-01
+34,1.783333333e+01,DOWN_FORCE_DETACH,1792669005550948556,9.932016886e-05,-9.225111482e-05,-1.846789251e-03,9.922961601e-05,-9.232393917e-05,-1.846931114e-03,9.566085577e-05,-9.220666053e-05,-1.844073575e-03,7.016371917e-01,-9.070015350e-05,8.388941519e-01,7.016371011e-01,-9.077297785e-05,8.388940101e-01,7.018248711e-01,-9.044056451e-05,8.277286421e-01
+35,1.813333333e+01,DOWN_FORCE_DETACH,1792669006114927802,9.879458582e-05,-8.997125766e-05,-1.968784541e-03,9.868951808e-05,-8.998924835e-05,-1.968656178e-03,9.472586495e-05,-8.986159472e-05,-1.965605626e-03,7.016366661e-01,-8.842029634e-05,8.387721566e-01,7.016365610e-01,-8.843828703e-05,8.387722850e-01,7.018239361e-01,-8.809549870e-05,8.276071101e-01
+36,1.843333333e+01,DOWN_FORCE_DETACH,1792669006680884369,9.388682581e-05,-9.248958644e-05,-2.093647163e-03,9.306531782e-05,-9.887770024e-05,-2.085633854e-03,8.849122527e-05,-9.874738478e-05,-2.082716449e-03,7.016317583e-01,-9.093862512e-05,8.386472940e-01,7.016309368e-01,-9.732673892e-05,8.386553073e-01,7.018177015e-01,-9.698128876e-05,8.274899993e-01
+37,1.871666667e+01,DOWN_FORCE_DETACH,1792669007245044769,9.550010821e-05,-9.716437400e-05,-2.227211949e-03,9.532205197e-05,-1.032128278e-04,-2.212236229e-03,9.030658746e-05,-1.031031798e-04,-2.209229144e-03,7.016333716e-01,-9.561341268e-05,8.385137292e-01,7.016331935e-01,-1.016618665e-04,8.385287050e-01,7.018195169e-01,-1.013370838e-04,8.273634866e-01
+38,1.900000000e+01,DOWN_FORCE_DETACH,1792669007779567449,9.402295472e-05,-1.031238016e-04,-2.363433666e-03,9.356394993e-05,-1.059760260e-04,-2.356987342e-03,8.794072215e-05,-1.058644659e-04,-2.353740547e-03,7.016318944e-01,-1.015728403e-04,8.383775075e-01,7.016314354e-01,-1.044250647e-04,8.383839538e-01,7.018171510e-01,-1.040983699e-04,8.272189752e-01
+39,1.926666667e+01,DOWN_FORCE_DETACH,1792669008278982386,9.307080097e-05,-1.116429510e-04,-2.497820091e-03,9.305878103e-05,-1.094217096e-04,-2.480559755e-03,8.703760055e-05,-1.092894135e-04,-2.477373446e-03,7.016309423e-01,-1.100919897e-04,8.382431211e-01,7.016309303e-01,-1.078707482e-04,8.382603814e-01,7.018162479e-01,-1.075233175e-04,8.270953423e-01
+40,1.950000000e+01,DOWN_FORCE_DETACH,1792669008749085818,9.460152366e-05,-1.107919150e-04,-2.628615029e-03,9.448591395e-05,-1.108528274e-04,-2.628456179e-03,8.794160502e-05,-1.107374861e-04,-2.624830432e-03,7.016324730e-01,-1.092409537e-04,8.381123262e-01,7.016323574e-01,-1.093018661e-04,8.381124850e-01,7.018171519e-01,-1.089713900e-04,8.269478853e-01
+41,1.973333333e+01,DOWN_FORCE_DETACH,1792669009208875691,9.165784931e-05,-1.154434302e-04,-2.762585008e-03,9.026915615e-05,-1.140754633e-04,-2.746439380e-03,8.318561958e-05,-1.138921530e-04,-2.743094516e-03,7.016295293e-01,-1.138924689e-04,8.379783562e-01,7.016281406e-01,-1.125245020e-04,8.379945018e-01,7.018123959e-01,-1.121260570e-04,8.268296212e-01
+42,1.996666667e+01,DOWN_FORCE_DETACH,1792669009675162546,9.049261947e-05,-1.212242256e-04,-2.902101639e-03,8.763124621e-05,-1.174948873e-04,-2.889283826e-03,8.001803062e-05,-1.173035146e-04,-2.885734926e-03,7.016283641e-01,-1.196732643e-04,8.378388395e-01,7.016255027e-01,-1.159439259e-04,8.378516574e-01,7.018092283e-01,-1.155374186e-04,8.266869808e-01
+43,2.016666667e+01,DOWN_FORCE_DETACH,1792669010075629832,8.790928590e-05,-1.221231753e-04,-3.032654192e-03,8.572039988e-05,-1.182872173e-04,-3.016082443e-03,7.750588291e-05,-1.180896753e-04,-3.012474479e-03,7.016257808e-01,-1.205722140e-04,8.377082870e-01,7.016235919e-01,-1.167362560e-04,8.377248587e-01,7.018067162e-01,-1.163235793e-04,8.265602412e-01
+44,2.040000000e+01,DOWN_FORCE_DETACH,1792669010539497016,8.436183023e-05,-1.237041228e-04,-3.183523467e-03,8.775996285e-05,-1.234567266e-04,-3.167075176e-03,7.897346919e-05,-1.232662808e-04,-3.163380576e-03,7.016222333e-01,-1.221531615e-04,8.375574177e-01,7.016256314e-01,-1.219057653e-04,8.375738660e-01,7.018081837e-01,-1.215001848e-04,8.264093351e-01
+45,2.060000000e+01,DOWN_FORCE_DETACH,1792669010938810834,8.353850147e-05,-1.238129975e-04,-3.316106906e-03,8.450754154e-05,-1.233459764e-04,-3.304733528e-03,7.517322748e-05,-1.231287242e-04,-3.300972957e-03,7.016214100e-01,-1.222620362e-04,8.374248343e-01,7.016223790e-01,-1.217950151e-04,8.374362077e-01,7.018043835e-01,-1.213626282e-04,8.262717428e-01
+46,2.080000000e+01,DOWN_FORCE_DETACH,1792669011338936827,8.205107179e-05,-1.242156960e-04,-3.457163690e-03,8.198656406e-05,-1.254815072e-04,-3.447336562e-03,7.208520783e-05,-1.252678645e-04,-3.443527086e-03,7.016199226e-01,-1.226647347e-04,8.372837775e-01,7.016198580e-01,-1.239305459e-04,8.372936046e-01,7.018012955e-01,-1.235017685e-04,8.261291886e-01
+47,2.098333333e+01,DOWN_FORCE_DETACH,1792669011704887332,8.282382699e-05,-1.332484458e-04,-3.584204898e-03,8.327151682e-05,-1.236491397e-04,-3.572450259e-03,7.290504035e-05,-1.234034178e-04,-3.568660787e-03,7.016206953e-01,-1.316974845e-04,8.371567363e-01,7.016211430e-01,-1.220981784e-04,8.371684909e-01,7.018021153e-01,-1.216373217e-04,8.260040549e-01
+48,2.118333333e+01,DOWN_FORCE_DETACH,1792669012070103830,8.783829007e-05,-1.301811320e-04,-3.718216596e-03,8.629697999e-05,-1.329609229e-04,-3.709481622e-03,7.556917110e-05,-1.327146399e-04,-3.705634993e-03,7.016257098e-01,-1.286301707e-04,8.370227246e-01,7.016241685e-01,-1.314099616e-04,8.370314596e-01,7.018047794e-01,-1.309485439e-04,8.258670807e-01
+49,2.138333333e+01,DOWN_FORCE_DETACH,1792669012436870896,8.490308664e-05,-1.335456807e-04,-3.866901313e-03,8.460649293e-05,-1.333624671e-04,-3.867288019e-03,7.332466786e-05,-1.331483047e-04,-3.863248484e-03,7.016227746e-01,-1.319947193e-04,8.368740399e-01,7.016224780e-01,-1.318115058e-04,8.368736532e-01,7.018025349e-01,-1.313822086e-04,8.257094672e-01
+50,2.156666667e+01,DOWN_FORCE_DETACH,1792669012802845666,8.584401557e-05,-1.354600217e-04,-4.012450754e-03,8.568784625e-05,-1.364377582e-04,-3.993832104e-03,7.390397742e-05,-1.362161524e-04,-3.990001749e-03,7.016237155e-01,-1.339090604e-04,8.367284904e-01,7.016235593e-01,-1.348867969e-04,8.367471091e-01,7.018031142e-01,-1.344500564e-04,8.255827140e-01
+51,2.173333333e+01,DOWN_FORCE_DETACH,1792669013101275133,8.136605824e-05,-1.434053004e-04,-4.140862220e-03,8.106289693e-05,-1.432616482e-04,-4.141035201e-03,6.867188475e-05,-1.429771026e-04,-4.137072094e-03,7.016192375e-01,-1.418543390e-04,8.366000790e-01,7.016189344e-01,-1.417106869e-04,8.365999060e-01,7.017978822e-01,-1.412110066e-04,8.254356436e-01
+52,2.191666667e+01,DOWN_FORCE_DETACH,1792669013469084997,8.736035792e-05,-1.426055166e-04,-4.288388264e-03,8.546907053e-05,-1.404314336e-04,-4.273170560e-03,7.263976761e-05,-1.401022966e-04,-4.269382803e-03,7.016252318e-01,-1.410545553e-04,8.364525529e-01,7.016233406e-01,-1.388804722e-04,8.364677706e-01,7.018018500e-01,-1.383362005e-04,8.253033329e-01
+53,2.208333333e+01,DOWN_FORCE_DETACH,1792669013768331252,8.302635872e-05,-1.492932904e-04,-4.423249687e-03,8.430857119e-05,-1.476375997e-04,-4.410100135e-03,7.100250111e-05,-1.472624076e-04,-4.406426363e-03,7.016208978e-01,-1.477423291e-04,8.363176915e-01,7.016221801e-01,-1.460866384e-04,8.363308411e-01,7.018002128e-01,-1.454963115e-04,8.251662894e-01
+54,2.223333333e+01,DOWN_FORCE_DETACH,1792669014068296520,7.865126192e-05,-1.512895800e-04,-4.562643153e-03,7.848766792e-05,-1.511273603e-04,-4.562555212e-03,6.454145401e-05,-1.507276298e-04,-4.558637360e-03,7.016165227e-01,-1.497386187e-04,8.361782980e-01,7.016163591e-01,-1.495763989e-04,8.361783860e-01,7.017937517e-01,-1.489615338e-04,8.250140784e-01
+55,2.240000000e+01,DOWN_FORCE_DETACH,1792669014365077136,7.219450722e-05,-1.488287188e-04,-4.706631796e-03,7.088022861e-05,-1.480364766e-04,-4.686869889e-03,5.626634256e-05,-1.476251951e-04,-4.683495795e-03,7.016100660e-01,-1.472777575e-04,8.360343094e-01,7.016087517e-01,-1.464855152e-04,8.360540713e-01,7.017854766e-01,-1.458590991e-04,8.248892199e-01
+56,2.253333333e+01,DOWN_FORCE_DETACH,1792669014630847130,5.462978628e-05,-1.523515410e-04,-4.845624695e-03,5.434441121e-05,-1.523441402e-04,-4.845394509e-03,3.886799384e-05,-1.519110879e-04,-4.841621407e-03,7.015925013e-01,-1.508005797e-04,8.358953165e-01,7.015922159e-01,-1.507931789e-04,8.358955467e-01,7.017680783e-01,-1.501449919e-04,8.247310943e-01
+57,2.265000000e+01,DOWN_FORCE_DETACH,1792669014865255469,9.408391739e-05,-1.490100080e-04,-4.945505183e-03,9.364235461e-05,-1.489955422e-04,-4.945350507e-03,7.828344029e-05,-1.486078767e-04,-4.941832360e-03,7.016319554e-01,-1.474590467e-04,8.357954360e-01,7.016315138e-01,-1.474445809e-04,8.357955907e-01,7.018074937e-01,-1.468417807e-04,8.246308834e-01
+58,2.280000000e+01,DOWN_SETTLE,1792669015137631926,8.167920934e-05,-1.546199971e-04,-5.062191877e-03,8.157938539e-05,-1.547120317e-04,-5.062050910e-03,6.583756683e-05,-1.543293202e-04,-5.058487328e-03,7.016195507e-01,-1.530690358e-04,8.356787493e-01,7.016194509e-01,-1.531610704e-04,8.356788903e-01,7.017950478e-01,-1.525632242e-04,8.245142284e-01
+59,2.320000000e+01,DOWN_PEAK_HOLD,1792669015894890033,5.467424364e-05,-1.453889836e-04,-5.142321329e-03,6.287377477e-05,-1.489412899e-04,-5.125346436e-03,4.652579488e-05,-1.486271910e-04,-5.124097350e-03,7.015925457e-01,-1.438380223e-04,8.355986199e-01,7.016007453e-01,-1.473903286e-04,8.356155948e-01,7.017757361e-01,-1.468610950e-04,8.244486184e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cdb54ffb1407734dd3924ea29e18d2a4ec94da24
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-9.2736e-03,1.1115e-03,2.4551e+00,-3.6876e-02,3.6131e-02,-1.8632e-05,2.7088e-04,-1.7189e-06,2.4486e-04,-2.8312e-07,1.7662e-05,-4.9123e-07,3.6515e-04,1.7671e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.4282e-04,-9.9433e-04,1.5283e-03,2.4609e+00,-3.6920e-02,3.6721e-02,-7.3431e-05,8.5501e-03,4.1510e-04,6.0675e-03,-4.5002e-05,6.0761e-04,-5.5290e-05,1.0492e-02,6.1178e-04
+2,1.1000e+00,DOWN_FORCE_DETACH,2.8523e-04,-1.3854e-02,6.3681e-03,2.4630e+00,-3.7249e-02,3.5836e-02,-7.4185e-05,-4.3097e-03,5.2549e-03,8.1825e-03,-3.7318e-04,-2.7708e-04,-5.6044e-05,1.0637e-02,4.6816e-04
+3,1.6833e+00,DOWN_FORCE_DETACH,4.3102e-04,-6.1167e-03,8.5346e-03,2.4761e+00,-3.7403e-02,3.6322e-02,-6.9444e-05,3.4278e-03,7.4214e-03,2.1277e-02,-5.2794e-04,2.0912e-04,-5.1303e-05,2.2793e-02,5.7016e-04
+4,2.2500e+00,DOWN_FORCE_DETACH,5.7322e-04,3.4088e-04,8.8188e-03,2.4834e+00,-3.7420e-02,3.6770e-02,-6.3020e-05,9.8854e-03,7.7056e-03,2.8538e-02,-5.4436e-04,6.5723e-04,-4.4879e-05,3.1169e-02,8.5457e-04
+5,2.9000e+00,DOWN_FORCE_DETACH,7.1545e-04,2.5009e-03,8.8610e-03,2.4701e+00,-3.7413e-02,3.6938e-02,-5.6330e-05,1.2045e-02,7.7478e-03,1.5227e-02,-5.3706e-04,8.2518e-04,-3.8189e-05,2.0904e-02,9.8530e-04
+6,3.5333e+00,DOWN_FORCE_DETACH,8.6029e-04,4.1020e-03,1.1612e-02,2.4742e+00,-3.7590e-02,3.7058e-02,-3.5912e-05,1.3646e-02,1.0499e-02,1.9388e-02,-7.1416e-04,9.4493e-04,-1.7770e-05,2.5930e-02,1.1846e-03
+7,4.0500e+00,DOWN_FORCE_DETACH,1.0012e-03,4.9515e-03,1.1816e-02,2.4759e+00,-3.7600e-02,3.7113e-02,-3.2775e-05,1.4496e-02,1.0702e-02,2.1020e-02,-7.2437e-04,9.9982e-04,-1.4633e-05,2.7686e-02,1.2347e-03
+8,4.6833e+00,DOWN_FORCE_DETACH,1.1475e-03,4.2099e-03,1.1776e-02,2.4666e+00,-3.7588e-02,3.7070e-02,-2.9718e-05,1.3754e-02,1.0663e-02,1.1762e-02,-7.1214e-04,9.5747e-04,-1.1577e-05,2.1005e-02,1.1933e-03
+9,5.3167e+00,DOWN_FORCE_DETACH,1.2854e-03,2.6855e-03,1.1403e-02,2.4677e+00,-3.7552e-02,3.6964e-02,-2.7463e-05,1.2230e-02,1.0290e-02,1.2847e-02,-6.7692e-04,8.5059e-04,-9.3219e-06,2.0506e-02,1.0871e-03
+10,5.9000e+00,DOWN_FORCE_DETACH,1.4307e-03,3.7486e-04,1.4512e-02,2.4694e+00,-3.7756e-02,3.6802e-02,-2.2579e-05,9.9193e-03,1.3399e-02,1.4575e-02,-8.8002e-04,6.8896e-04,-4.4380e-06,2.2144e-02,1.1176e-03
+11,6.6500e+00,DOWN_FORCE_DETACH,1.5743e-03,2.0793e-03,1.4294e-02,2.4696e+00,-3.7738e-02,3.6916e-02,-1.7460e-05,1.1624e-02,1.3180e-02,1.4794e-02,-8.6248e-04,8.0326e-04,6.8100e-07,2.2972e-02,1.1786e-03
+12,7.1667e+00,DOWN_FORCE_DETACH,1.7160e-03,2.4788e-03,1.4146e-02,2.4693e+00,-3.7723e-02,3.6947e-02,-1.5200e-05,1.2023e-02,1.3033e-02,1.4489e-02,-8.4747e-04,8.3388e-04,2.9410e-06,2.2899e-02,1.1889e-03
+13,7.7167e+00,DOWN_FORCE_DETACH,1.8589e-03,3.0669e-03,1.5756e-02,2.4649e+00,-3.7825e-02,3.6993e-02,-1.2291e-05,1.2611e-02,1.4643e-02,1.0061e-02,-9.4911e-04,8.8052e-04,5.8501e-06,2.1787e-02,1.2947e-03
+14,8.2500e+00,DOWN_FORCE_DETACH,2.0007e-03,4.4033e-03,1.6578e-02,2.4557e+00,-3.7889e-02,3.7089e-02,-8.4495e-06,1.3948e-02,1.5465e-02,8.2040e-04,-1.0139e-03,9.7576e-04,9.6916e-06,2.0842e-02,1.4072e-03
+15,8.5167e+00,DOWN_FORCE_DETACH,2.1444e-03,-9.6263e-03,1.6122e-02,2.4582e+00,-3.7865e-02,3.6152e-02,-7.2081e-06,-8.1872e-05,1.5009e-02,3.3214e-03,-9.8977e-04,3.8970e-05,1.0933e-05,1.5373e-02,9.9060e-04
+16,9.0667e+00,DOWN_FORCE_DETACH,2.2889e-03,-5.6926e-03,1.7382e-02,2.4592e+00,-3.7961e-02,3.6380e-02,-2.5302e-06,3.8519e-03,1.6268e-02,4.3564e-03,-1.0852e-03,2.6694e-04,1.5611e-05,1.7277e-02,1.1176e-03
+17,9.6833e+00,DOWN_FORCE_DETACH,2.4327e-03,1.3242e-03,1.8559e-02,2.4673e+00,-3.8062e-02,3.6845e-02,2.9294e-06,1.0869e-02,1.7446e-02,1.2450e-02,-1.1863e-03,7.3160e-04,2.1071e-05,2.4031e-02,1.3939e-03
+18,1.0433e+01,DOWN_FORCE_DETACH,2.5743e-03,9.1298e-03,1.9070e-02,2.4689e+00,-3.8129e-02,3.7394e-02,5.1497e-06,1.8674e-02,1.7957e-02,1.4002e-02,-1.2537e-03,1.2807e-03,2.3291e-05,2.9449e-02,1.7923e-03
+19,1.1100e+01,DOWN_FORCE_DETACH,2.7177e-03,9.9060e-03,1.9192e-02,2.4751e+00,-3.8171e-02,3.7461e-02,5.5014e-06,1.9450e-02,1.8078e-02,2.0217e-02,-1.2954e-03,1.3483e-03,2.3643e-05,3.3375e-02,1.8699e-03
+20,1.1800e+01,DOWN_FORCE_DETACH,2.8598e-03,1.0222e-02,2.1834e-02,2.4859e+00,-3.8367e-02,3.7475e-02,7.6803e-06,1.9766e-02,2.0720e-02,3.1095e-02,-1.4913e-03,1.3618e-03,2.5821e-05,4.2272e-02,2.0197e-03
+21,1.2350e+01,DOWN_FORCE_DETACH,3.0050e-03,1.5594e-02,2.2959e-02,2.5017e+00,-3.8452e-02,3.7822e-02,1.2214e-05,2.5138e-02,2.1846e-02,4.6843e-02,-1.5769e-03,1.7086e-03,3.0355e-05,5.7476e-02,2.3252e-03
+22,1.2900e+01,DOWN_FORCE_DETACH,3.1435e-03,1.5856e-02,2.5152e-02,2.5067e+00,-3.8596e-02,3.7845e-02,1.8158e-05,2.5401e-02,2.4039e-02,5.1826e-02,-1.7203e-03,1.7321e-03,3.6299e-05,6.2522e-02,2.4415e-03
+23,1.3383e+01,DOWN_FORCE_DETACH,3.2927e-03,1.4401e-02,2.5844e-02,2.5178e+00,-3.8617e-02,3.7740e-02,2.3134e-05,2.3945e-02,2.4731e-02,6.2993e-02,-1.7418e-03,1.6270e-03,4.1275e-05,7.1785e-02,2.3838e-03
+24,1.3883e+01,DOWN_FORCE_DETACH,3.4339e-03,1.3556e-02,2.6182e-02,2.5265e+00,-3.8593e-02,3.7669e-02,2.6488e-05,2.3100e-02,2.5068e-02,7.1605e-02,-1.7176e-03,1.5565e-03,4.4629e-05,7.9306e-02,2.3184e-03
+25,1.4367e+01,DOWN_FORCE_DETACH,3.5795e-03,1.3134e-02,2.5608e-02,2.5316e+00,-3.8520e-02,3.7634e-02,2.4514e-05,2.2679e-02,2.4495e-02,7.6738e-02,-1.6445e-03,1.5209e-03,4.2655e-05,8.3684e-02,2.2403e-03
+26,1.4783e+01,DOWN_FORCE_DETACH,3.7175e-03,1.2224e-02,2.4597e-02,2.5393e+00,-3.8445e-02,3.7564e-02,2.0638e-05,2.1769e-02,2.3484e-02,8.4484e-02,-1.5693e-03,1.4513e-03,3.8779e-05,9.0349e-02,2.1379e-03
+27,1.5200e+01,DOWN_FORCE_DETACH,3.8620e-03,1.1845e-02,2.3255e-02,2.5481e+00,-3.8353e-02,3.7530e-02,1.8288e-05,2.1389e-02,2.2142e-02,9.3226e-02,-1.4778e-03,1.4175e-03,3.6429e-05,9.8178e-02,2.0481e-03
+28,1.5600e+01,DOWN_FORCE_DETACH,4.0037e-03,1.3956e-02,2.6204e-02,2.5589e+00,-3.8514e-02,3.7658e-02,2.1996e-05,2.3500e-02,2.5090e-02,1.0401e-01,-1.6385e-03,1.5446e-03,4.0137e-05,1.0954e-01,2.2521e-03
+29,1.5983e+01,DOWN_FORCE_DETACH,4.1500e-03,1.3645e-02,2.8823e-02,2.5593e+00,-3.8630e-02,3.7635e-02,2.7945e-05,2.3190e-02,2.7710e-02,1.0447e-01,-1.7543e-03,1.5223e-03,4.6086e-05,1.1054e-01,2.3232e-03
+30,1.6383e+01,DOWN_FORCE_DETACH,4.2941e-03,1.5308e-02,2.8955e-02,2.5684e+00,-3.8587e-02,3.7738e-02,3.1346e-05,2.4852e-02,2.7842e-02,1.1350e-01,-1.7112e-03,1.6251e-03,4.9487e-05,1.1948e-01,2.3605e-03
+31,1.6767e+01,DOWN_FORCE_DETACH,4.4328e-03,1.4398e-02,2.8583e-02,2.5799e+00,-3.8545e-02,3.7672e-02,3.0663e-05,2.3942e-02,2.7469e-02,1.2503e-01,-1.6690e-03,1.5586e-03,4.8804e-05,1.3024e-01,2.2842e-03
+32,1.7150e+01,DOWN_FORCE_DETACH,4.5824e-03,1.2189e-02,3.0948e-02,2.5874e+00,-3.8700e-02,3.7517e-02,2.8027e-05,2.1734e-02,2.9834e-02,1.3254e-01,-1.8247e-03,1.4037e-03,4.6168e-05,1.3758e-01,2.3026e-03
+33,1.7483e+01,DOWN_FORCE_DETACH,4.7187e-03,9.7920e-03,3.3740e-02,2.5868e+00,-3.8880e-02,3.7351e-02,2.5026e-05,1.9336e-02,3.2627e-02,1.3197e-01,-2.0041e-03,1.2385e-03,4.3167e-05,1.3732e-01,2.3563e-03
+34,1.7833e+01,DOWN_FORCE_DETACH,4.8701e-03,9.6043e-03,3.5979e-02,2.5840e+00,-3.9014e-02,3.7334e-02,2.0321e-05,1.9149e-02,3.4865e-02,1.2918e-01,-2.1386e-03,1.2216e-03,3.8462e-05,1.3516e-01,2.4632e-03
+35,1.8133e+01,DOWN_FORCE_DETACH,5.0059e-03,1.0587e-02,3.4569e-02,2.5904e+00,-3.8913e-02,3.7393e-02,1.3254e-05,2.0132e-02,3.3455e-02,1.3554e-01,-2.0377e-03,1.2796e-03,3.1395e-05,1.4105e-01,2.4064e-03
+36,1.8433e+01,DOWN_FORCE_DETACH,5.1458e-03,1.2681e-02,3.7191e-02,2.5988e+00,-3.9067e-02,3.7526e-02,5.6770e-06,2.2225e-02,3.6077e-02,1.4392e-01,-2.1918e-03,1.4129e-03,2.3818e-05,1.5003e-01,2.6079e-03
+37,1.8717e+01,DOWN_FORCE_DETACH,5.2911e-03,1.2307e-02,3.7991e-02,2.6022e+00,-3.9115e-02,3.7501e-02,-2.0898e-06,2.1852e-02,3.6878e-02,1.4733e-01,-2.2393e-03,1.3884e-03,1.6051e-05,1.5344e-01,2.6349e-03
+38,1.9000e+01,DOWN_FORCE_DETACH,5.4372e-03,1.2871e-02,3.8131e-02,2.6086e+00,-3.9134e-02,3.7531e-02,-8.9321e-06,2.2416e-02,3.7018e-02,1.5371e-01,-2.2590e-03,1.4185e-03,9.2091e-06,1.5968e-01,2.6675e-03
+39,1.9267e+01,DOWN_FORCE_DETACH,5.5811e-03,1.3190e-02,3.9265e-02,2.6145e+00,-3.9207e-02,3.7549e-02,-1.3114e-05,2.2735e-02,3.8151e-02,1.5960e-01,-2.3319e-03,1.4365e-03,5.0275e-06,1.6567e-01,2.7389e-03
+40,1.9500e+01,DOWN_FORCE_DETACH,5.7198e-03,1.2994e-02,4.2210e-02,2.6211e+00,-3.9372e-02,3.7534e-02,-1.5130e-05,2.2538e-02,4.1097e-02,1.6623e-01,-2.4963e-03,1.4211e-03,3.0109e-06,1.7271e-01,2.8724e-03
+41,1.9733e+01,DOWN_FORCE_DETACH,5.8619e-03,1.4170e-02,4.5274e-02,2.6274e+00,-3.9522e-02,3.7605e-02,-1.6725e-05,2.3715e-02,4.4161e-02,1.7255e-01,-2.6461e-03,1.4924e-03,1.4166e-06,1.7969e-01,3.0380e-03
+42,1.9967e+01,DOWN_FORCE_DETACH,6.0054e-03,1.5757e-02,4.8380e-02,2.6343e+00,-3.9669e-02,3.7703e-02,-1.7597e-05,2.5301e-02,4.7267e-02,1.7943e-01,-2.7932e-03,1.5901e-03,5.4398e-07,1.8727e-01,3.2141e-03
+43,2.0167e+01,DOWN_FORCE_DETACH,6.1474e-03,1.5994e-02,4.9805e-02,2.6427e+00,-3.9714e-02,3.7712e-02,-1.7655e-05,2.5539e-02,4.8692e-02,1.8780e-01,-2.8385e-03,1.5990e-03,4.8659e-07,1.9568e-01,3.2579e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b14b17fc6e0421ee6fb0cedb3c3841cd13078d5b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4cd65ed512b7e20414a470d4f06cadf25d2f60ad
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81ac6d28cfa56a342ee1da7aa57def7de50b4e5d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dbbd3fdcca890c4386165f36fd1ac45a0203551
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81bdb995be883f7f733744708fe29fdb8a13a02c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+59,8.133333333e+00,UP_FORCE_HOLD,1792668963704946820,-6.086047039e-05,-3.478895586e-05,1.169977468e-04,-5.803680496e-05,-3.180628314e-05,1.188252055e-04,-5.895135738e-05,-3.179429436e-05,1.185816055e-04,7.014770110e-01,-3.323799454e-05,8.408579389e-01,7.014798347e-01,-3.025532182e-05,8.408597664e-01,7.016702589e-01,-3.002819827e-05,8.296912973e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a043baf72c0e6c7a7182b96106843dc809313d59
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-9.2734e-03,1.1115e-03,2.4551e+00,-3.6876e-02,3.6131e-02,-1.8631e-05,2.7087e-04,-1.7202e-06,2.4462e-04,-2.7940e-07,1.7658e-05,-4.9120e-07,3.6498e-04,1.7667e-05
+1,1.3333e-01,WAIT_W2,3.3621e-05,-7.2421e-03,1.1141e-03,2.4569e+00,-3.6879e-02,3.6265e-02,-2.2604e-05,2.3022e-03,9.3807e-07,2.0163e-03,-3.3714e-06,1.5225e-04,-4.4647e-06,3.0603e-03,1.5235e-04
+2,2.8333e-01,WAIT_W2,6.4784e-05,-3.5420e-03,1.8553e-03,2.4592e+00,-3.6946e-02,3.6575e-02,-7.1448e-05,6.0023e-03,7.4211e-04,4.3366e-03,-7.0527e-05,4.6159e-04,-5.3308e-05,7.4421e-03,4.6998e-04
+3,4.6667e-01,WAIT_W2,9.8217e-05,-1.8399e-03,1.6161e-03,2.4601e+00,-3.6927e-02,3.6670e-02,-7.2633e-05,7.7044e-03,5.0286e-04,5.2803e-03,-5.1890e-05,5.5708e-04,-5.4493e-05,9.3537e-03,5.6214e-04
+4,6.3333e-01,WAIT_W2,1.2797e-04,-7.7132e-04,1.5070e-03,2.4611e+00,-3.6919e-02,3.6734e-02,-7.3694e-05,8.7730e-03,3.9382e-04,6.2902e-03,-4.3306e-05,6.2123e-04,-5.5554e-05,1.0802e-02,6.2521e-04
+5,7.8333e-01,WAIT_W2,1.6097e-04,2.9804e-04,-5.2100e-03,2.4639e+00,-3.6448e-02,3.6805e-02,-1.0488e-04,9.8424e-03,-6.3232e-03,9.0845e-03,4.2773e-04,6.9230e-04,-8.6735e-05,1.4812e-02,8.1838e-04
+6,9.3333e-01,WAIT_W2,1.9141e-04,9.7648e-04,-6.1975e-03,2.4633e+00,-3.6380e-02,3.6849e-02,-1.0563e-04,1.0521e-02,-7.3107e-03,8.4045e-03,4.9584e-04,7.3633e-04,-8.7490e-05,1.5322e-02,8.9202e-04
+7,1.0500e+00,WAIT_W2,2.2619e-04,1.4198e-03,-1.5817e-02,2.4637e+00,-3.5674e-02,3.6882e-02,-1.1713e-04,1.0964e-02,-1.6930e-02,8.8980e-03,1.2014e-03,7.6932e-04,-9.8990e-05,2.2046e-02,1.4301e-03
+8,1.1833e+00,WAIT_W2,2.5812e-04,2.0677e-03,-1.4003e-02,2.4638e+00,-3.5826e-02,3.6925e-02,-1.2529e-04,1.1612e-02,-1.5116e-02,8.9900e-03,1.0492e-03,8.1224e-04,-1.0715e-04,2.1075e-02,1.3312e-03
+9,1.3000e+00,WAIT_W2,2.9053e-04,2.1989e-03,-1.4254e-02,2.4640e+00,-3.5808e-02,3.6934e-02,-1.2543e-04,1.1743e-02,-1.5367e-02,9.1093e-03,1.0671e-03,8.2140e-04,-1.0730e-04,2.1378e-02,1.3509e-03
+10,1.5000e+00,WAIT_W2,3.2437e-04,2.9547e-03,-1.3229e-02,2.4645e+00,-3.5873e-02,3.6985e-02,-1.2478e-04,1.2499e-02,-1.4342e-02,9.6397e-03,1.0022e-03,8.7173e-04,-1.0664e-04,2.1327e-02,1.3325e-03
+11,1.6500e+00,UP_FORCE_RAMP,3.5537e-04,5.2586e-03,-6.5477e-03,2.4666e+00,-3.6355e-02,3.7151e-02,-8.4507e-05,1.4803e-02,-7.6609e-03,1.1746e-02,5.2029e-04,1.0376e-03,-6.6367e-05,2.0391e-02,1.1626e-03
+12,1.7667e+00,UP_FORCE_RAMP,3.8802e-04,5.2204e-03,-6.6688e-03,2.4664e+00,-3.6347e-02,3.7148e-02,-8.4522e-05,1.4765e-02,-7.7820e-03,1.1529e-02,5.2828e-04,1.0351e-03,-6.6383e-05,2.0285e-02,1.1640e-03
+13,1.9167e+00,UP_FORCE_RAMP,4.1985e-04,5.1796e-03,-6.7394e-03,2.4661e+00,-3.6342e-02,3.7145e-02,-8.4528e-05,1.4724e-02,-7.8526e-03,1.1243e-02,5.3313e-04,1.0325e-03,-6.6388e-05,2.0121e-02,1.1639e-03
+14,2.0333e+00,UP_FORCE_RAMP,4.5231e-04,4.8716e-03,3.9723e-04,2.4650e+00,-3.6853e-02,3.7123e-02,-5.5474e-05,1.4416e-02,-7.1597e-04,1.0142e-02,2.2445e-05,1.0102e-03,-3.7334e-05,1.7640e-02,1.0111e-03
+15,2.1333e+00,UP_FORCE_RAMP,4.8448e-04,4.7856e-03,7.0447e-04,2.4651e+00,-3.6872e-02,3.7118e-02,-5.5623e-05,1.4330e-02,-4.0873e-04,1.0239e-02,3.5949e-06,1.0048e-03,-3.7484e-05,1.7617e-02,1.0055e-03
+16,2.2667e+00,UP_FORCE_RAMP,5.1500e-04,4.8085e-03,5.4935e-04,2.4652e+00,-3.6855e-02,3.7120e-02,-6.0122e-05,1.4353e-02,-5.6385e-04,1.0331e-02,2.0340e-05,1.0072e-03,-4.1983e-05,1.7694e-02,1.0082e-03
+17,2.3833e+00,UP_FORCE_RAMP,5.5082e-04,5.0951e-03,9.7576e-03,2.4622e+00,-3.7521e-02,3.7143e-02,-5.1747e-05,1.4639e-02,8.6444e-03,7.3946e-03,-6.4599e-04,1.0299e-03,-3.3608e-05,1.8540e-02,1.2162e-03
+18,2.5000e+00,UP_FORCE_RAMP,5.8026e-04,4.9746e-03,8.7467e-03,2.4633e+00,-3.7430e-02,3.7133e-02,-4.3253e-05,1.4519e-02,7.6335e-03,8.4407e-03,-5.5443e-04,1.0199e-03,-2.5113e-05,1.8448e-02,1.1612e-03
+19,2.5833e+00,UP_FORCE_RAMP,6.1149e-04,4.9839e-03,8.7330e-03,2.4635e+00,-3.7430e-02,3.7133e-02,-4.3312e-05,1.4528e-02,7.6198e-03,8.6894e-03,-5.5498e-04,1.0206e-03,-2.5173e-05,1.8564e-02,1.1620e-03
+20,2.7500e+00,UP_FORCE_RAMP,6.4789e-04,4.9546e-03,9.1505e-03,2.4640e+00,-3.7469e-02,3.7131e-02,-4.9599e-05,1.4499e-02,8.0373e-03,9.1650e-03,-5.9326e-04,1.0181e-03,-3.1460e-05,1.8942e-02,1.1787e-03
+21,2.8833e+00,UP_FORCE_RAMP,6.8156e-04,4.9554e-03,8.7856e-03,2.4642e+00,-3.7435e-02,3.7131e-02,-5.1792e-05,1.4500e-02,7.6724e-03,9.3472e-03,-5.5924e-04,1.0183e-03,-3.3652e-05,1.8881e-02,1.1623e-03
+22,3.0167e+00,UP_FORCE_RAMP,7.1085e-04,4.8668e-03,8.7993e-03,2.4645e+00,-3.7433e-02,3.7125e-02,-5.8995e-05,1.4411e-02,7.6861e-03,9.6009e-03,-5.5791e-04,1.0125e-03,-4.0856e-05,1.8946e-02,1.1568e-03
+23,3.1500e+00,UP_FORCE_RAMP,7.4402e-04,8.2799e-03,1.3826e-02,2.4583e+00,-3.7791e-02,3.7371e-02,-5.5305e-05,1.7824e-02,1.2713e-02,3.4897e-03,-9.1567e-04,1.2580e-03,-3.7166e-05,2.2170e-02,1.5564e-03
+24,3.3167e+00,UP_FORCE_RAMP,7.7489e-04,8.4510e-03,1.4715e-02,2.4592e+00,-3.7851e-02,3.7382e-02,-5.4855e-05,1.7995e-02,1.3602e-02,4.3721e-03,-9.7578e-04,1.2695e-03,-3.6715e-05,2.2977e-02,1.6016e-03
+25,3.4667e+00,UP_FORCE_RAMP,8.0860e-04,8.0286e-03,1.4873e-02,2.4605e+00,-3.7864e-02,3.7354e-02,-5.4973e-05,1.7573e-02,1.3760e-02,5.6541e-03,-9.8820e-04,1.2415e-03,-3.6834e-05,2.3024e-02,1.5872e-03
+26,3.6333e+00,UP_FORCE_RAMP,8.3567e-04,8.5533e-03,1.2728e-02,2.4453e+00,-3.7726e-02,3.7394e-02,-5.6578e-05,1.8098e-02,1.1615e-02,-9.5274e-03,-8.5014e-04,1.2813e-03,-3.8439e-05,2.3520e-02,1.5381e-03
+27,3.7667e+00,UP_FORCE_RAMP,8.7411e-04,8.2913e-03,1.2917e-02,2.4486e+00,-3.7736e-02,3.7379e-02,-5.7654e-05,1.7836e-02,1.1804e-02,-6.2163e-03,-8.6084e-04,1.2660e-03,-3.9515e-05,2.2273e-02,1.5315e-03
+28,3.8000e+00,UP_FORCE_RAMP,9.2024e-04,8.2183e-03,1.2925e-02,2.4495e+00,-3.7737e-02,3.7374e-02,-5.7940e-05,1.7763e-02,1.1812e-02,-5.3182e-03,-8.6119e-04,1.2614e-03,-3.9801e-05,2.1984e-02,1.5278e-03
+29,3.8333e+00,UP_FORCE_RAMP,9.3650e-04,1.6913e-02,1.3553e-02,2.4562e+00,-3.7777e-02,3.7938e-02,-5.7873e-05,2.6457e-02,1.2440e-02,1.3478e-03,-9.0155e-04,1.8254e-03,-3.9733e-05,2.9267e-02,2.0363e-03
+30,3.9000e+00,UP_FORCE_RAMP,9.6824e-04,1.9914e-02,1.5996e-02,2.4535e+00,-3.7939e-02,3.8199e-02,-5.9861e-05,2.9458e-02,1.4883e-02,-1.3797e-03,-1.0640e-03,2.0860e-03,-4.1721e-05,3.3033e-02,2.3421e-03
+31,3.9667e+00,UP_FORCE_RAMP,1.0003e-03,2.0379e-02,1.5955e-02,2.4537e+00,-3.7939e-02,3.8229e-02,-6.0177e-05,2.9923e-02,1.4842e-02,-1.1361e-03,-1.0636e-03,2.1163e-03,-4.2037e-05,3.3421e-02,2.3689e-03
+32,4.0167e+00,UP_FORCE_RAMP,1.0341e-03,4.4844e-02,1.4403e-02,2.4638e+00,-3.7842e-02,3.9826e-02,-6.1113e-05,5.4388e-02,1.3290e-02,8.9381e-03,-9.6668e-04,3.7133e-03,-4.2973e-05,5.6697e-02,3.8373e-03
+33,4.1333e+00,UP_FORCE_RAMP,1.0667e-03,3.8728e-02,1.4603e-02,2.4634e+00,-3.7855e-02,3.9459e-02,-6.2787e-05,4.8272e-02,1.3490e-02,8.5676e-03,-9.7912e-04,3.3461e-03,-4.4648e-05,5.0848e-02,3.4867e-03
+34,4.2667e+00,UP_FORCE_RAMP,1.0969e-03,3.3860e-02,1.4677e-02,2.4635e+00,-3.7859e-02,3.9158e-02,-6.4760e-05,4.3404e-02,1.3563e-02,8.6634e-03,-9.8360e-04,3.0449e-03,-4.6620e-05,4.6292e-02,3.2002e-03
+35,4.4000e+00,UP_FORCE_RAMP,1.1301e-03,2.2402e-02,1.4619e-02,2.4452e+00,-3.7855e-02,3.8423e-02,-6.9213e-05,3.1947e-02,1.3505e-02,-9.6557e-03,-9.7989e-04,2.3098e-03,-5.1074e-05,3.6003e-02,2.5096e-03
+36,4.5500e+00,UP_FORCE_RAMP,1.1612e-03,2.1886e-02,1.4643e-02,2.4483e+00,-3.7858e-02,3.8376e-02,-7.1451e-05,3.1430e-02,1.3530e-02,-6.5277e-03,-9.8255e-04,2.2629e-03,-5.3311e-05,3.4836e-02,2.4676e-03
+37,4.7500e+00,UP_FORCE_RAMP,1.1970e-03,1.9063e-02,1.4662e-02,2.4531e+00,-3.7861e-02,3.8174e-02,-7.4871e-05,2.8608e-02,1.3549e-02,-1.7593e-03,-9.8517e-04,2.0612e-03,-5.6731e-05,3.1703e-02,2.2852e-03
+38,4.9000e+00,UP_FORCE_RAMP,1.2280e-03,1.7135e-02,1.4673e-02,2.4558e+00,-3.7862e-02,3.8034e-02,-7.7457e-05,2.6680e-02,1.3560e-02,9.0098e-04,-9.8663e-04,1.9215e-03,-5.9318e-05,2.9941e-02,2.1608e-03
+39,5.0667e+00,UP_FORCE_RAMP,1.2573e-03,1.3823e-02,1.4751e-02,2.4580e+00,-3.7869e-02,3.7758e-02,-9.2733e-05,2.3368e-02,1.3638e-02,3.1326e-03,-9.9317e-04,1.6449e-03,-7.4593e-05,2.7237e-02,1.9229e-03
+40,5.2500e+00,UP_FORCE_RAMP,1.2905e-03,1.3073e-02,1.4521e-02,2.4439e+00,-3.7855e-02,3.7724e-02,-9.5436e-05,2.2618e-02,1.3408e-02,-1.0903e-02,-9.7984e-04,1.6106e-03,-7.7296e-05,2.8464e-02,1.8868e-03
+41,5.3667e+00,UP_FORCE_RAMP,1.3213e-03,1.2738e-02,1.4535e-02,2.4474e+00,-3.7857e-02,3.7702e-02,-9.6360e-05,2.2283e-02,1.3421e-02,-7.4675e-03,-9.8157e-04,1.5890e-03,-7.8221e-05,2.7063e-02,1.8694e-03
+42,5.5500e+00,UP_FORCE_RAMP,1.3581e-03,1.2177e-02,1.4564e-02,2.4520e+00,-3.7860e-02,3.7663e-02,-9.7682e-05,2.1722e-02,1.3450e-02,-2.8517e-03,-9.8454e-04,1.5502e-03,-7.9542e-05,2.5708e-02,1.8382e-03
+43,5.7167e+00,UP_FORCE_RAMP,1.3890e-03,1.1754e-02,1.4598e-02,2.4552e+00,-3.7863e-02,3.7632e-02,-9.8719e-05,2.1298e-02,1.3485e-02,3.1447e-04,-9.8729e-04,1.5192e-03,-8.0580e-05,2.5210e-02,1.8136e-03
+44,5.8667e+00,UP_FORCE_RAMP,1.4169e-03,1.1373e-02,1.4484e-02,2.4561e+00,-3.7856e-02,3.7604e-02,-9.9571e-05,2.0917e-02,1.3370e-02,1.2510e-03,-9.8006e-04,1.4914e-03,-8.1432e-05,2.4857e-02,1.7864e-03
+45,5.9833e+00,UP_FORCE_RAMP,1.4523e-03,1.0037e-02,1.3355e-02,2.4425e+00,-3.7781e-02,3.7520e-02,-1.0117e-04,1.9581e-02,1.2242e-02,-1.2396e-02,-9.0553e-04,1.4070e-03,-8.3031e-05,2.6210e-02,1.6753e-03
+46,6.1333e+00,UP_FORCE_RAMP,1.4869e-03,1.0251e-02,1.3394e-02,2.4470e+00,-3.7783e-02,3.7531e-02,-1.0192e-04,1.9795e-02,1.2281e-02,-7.8151e-03,-9.0733e-04,1.4180e-03,-8.3784e-05,2.4571e-02,1.6855e-03
+47,6.2333e+00,UP_FORCE_RAMP,1.5173e-03,1.0342e-02,1.3402e-02,2.4498e+00,-3.7783e-02,3.7535e-02,-1.0233e-04,1.9886e-02,1.2289e-02,-5.0290e-03,-9.0742e-04,1.4220e-03,-8.4191e-05,2.3912e-02,1.6889e-03
+48,6.4333e+00,UP_FORCE_RAMP,1.5514e-03,1.0504e-02,1.3422e-02,2.4543e+00,-3.7783e-02,3.7542e-02,-1.0295e-04,2.0049e-02,1.2309e-02,-5.7530e-04,-9.0759e-04,1.4290e-03,-8.4807e-05,2.3533e-02,1.6950e-03
+49,6.5667e+00,UP_FORCE_RAMP,1.5794e-03,7.6937e-03,1.4655e-02,2.4408e+00,-3.7863e-02,3.7361e-02,-1.0310e-04,1.7238e-02,1.3542e-02,-1.4045e-02,-9.8789e-04,1.2483e-03,-8.4963e-05,2.6034e-02,1.5941e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09ff7454435209807e128e40a1a706d7fedf20bf
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
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+21589,1792669043042062116,37583442000000,1792669043036206240,XJC_ZERO_HOLD_BEFORE_DOWN,5,0.0522,0.05220171809196472,0.6760109148545743,-0.004520795353831027,0.09086490990455838,0.9999999778457181,9.246946079613226e-05,-0.0001633789114060329,2.2542354074997436e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.058612425297446036,0.05617561781128899,0.06407154364458079,0.003963168205299396,-0.004079039994673265,0.00014888343552956753,0.2807407343965424,0.026909096106742674,0.3325726954725335,-0.0006555999090838339,-0.01628133597260512,0.0011828080345060307,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,-0.20252982081522428,0.06604942889905904,1.148446563303173,0.13858420849591774,-0.7211505522272337,-0.03649766917228426,1.1241334081111165,0.06407154364458079,-0.024313155192056568,0.0,0.0,0,0,0.0,0.0
+21741,1792669044301076349,37584701000000,1792669044296205819,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760081316148511,-0.004528666940644832,0.09085453245591174,0.9999999778693567,8.650040443409423e-05,-0.00016582806015825083,2.688652176280981e-05,0.6761,-0.00453,0.09097573463480936,1.0,0.0,0.0,0.0,0.07731597932206619,0.10157671616368386,0.09496101702542165,0.005066015436795794,-0.005130379948042408,-0.0003963109555129321,0.29944428842116255,0.07231019445913754,0.36346216885337435,0.0004472473224125645,-0.01733267592597426,0.000637613643463531,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,-0.044863267672192605,0.19710297432251628,1.0382727563154728,0.12641410649014337,-0.6127292480694988,0.05324979162287678,1.1241334081111165,0.09496101702542165,0.08586065179564373,0.08586065179564373,0.15998835385019045,0,0,-4.230375767330508e-05,-2.7191286748556822e-05
+21825,1792669045001149055,37585401000000,1792669044996196590,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.676049171828728,-0.00454312829602231,0.0908471094870565,0.9999999892484859,8.032459124611049e-05,-6.693557955232368e-05,4.487182575243961e-05,0.6761,-0.00453,0.0909427097731632,1.0,0.0,0.0,0.0,0.010908991382407751,0.17690899111067704,0.13621621109881477,0.010984074349552366,-0.00018254391546157142,0.0006018449082128684,0.23303730048150412,0.1476424694061307,0.40471736292676747,0.006365306235169136,-0.012384839893393425,0.0016357695071893316,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,-0.03265022731606993,0.23101561964279874,0.9704295136475435,0.0904719515936834,-0.5971126537857935,0.077771223745792,1.1241334081111165,0.13621621109881477,0.15370389446357302,0.15370389446357302,0.20898835385018116,0,0,-5.5098035221774804e-05,9.986758228575638e-05
+21965,1792669046168071655,37586568000000,1792669046164205916,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760436193873519,-0.004544409756979926,0.09081744811883653,0.9999999875573672,8.471514141383009e-05,-8.030978095869126e-05,5.1978973950593775e-05,0.6761,-0.00453,0.09089200211047001,1.0,0.0,0.0,0.0,0.03514997682265658,0.1647232028128236,0.2880207602415786,0.010989609400598115,-0.0013456584252334054,0.00046524331517237686,0.25727828592175295,0.13545668110827727,0.5565219120695313,0.0063708412862148855,-0.013547954403165259,0.00149916791414884,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.04473087109012255,0.1286844798041564,0.841451474548634,0.16898673237943865,-0.49864561430842086,0.0064580966031245884,1.1241334081111165,0.2880207602415786,0.2826819335624825,0.2826819335624825,0.2906783538501818,0,0,-2.150946474124981e-05,9.997836866582616e-05
+22092,1792669047226112692,37587626000000,1792669047220206171,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760402371428147,-0.004543934691871654,0.09080956647856345,0.9999999872677123,8.483605382538669e-05,-8.451387776559673e-05,5.067235851205181e-05,0.6761,-0.00453,0.09088328345765018,1.0,0.0,0.0,0.0,0.0355055013766703,0.15332877826725844,0.3286536298346127,0.009996823988947683,-0.002230740736354842,0.0004072097021453223,0.25763381047576667,0.12406225656271212,0.5971547816625654,0.0053780558745644535,-0.014433036714286696,0.0014411343011217854,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.03860235918930618,0.08521879597863331,0.6893432067386407,0.18353773887944913,-0.4019470616892496,-0.024031362613056544,1.1241334081111165,0.3286536298346127,0.4347902013724758,0.4347902013724758,0.36473835385019715,0,0,-6.041655164906734e-06,6.102681984754277e-05
+22272,1792669048726039139,37589126000000,1792669048724196800,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.676040128523149,-0.004544763559797701,0.09079754789639038,0.9999999868962076,8.579916827988692e-05,-8.615321035668776e-05,5.354041541709355e-05,0.6761,-0.00453,0.09086326249393502,1.0,0.0,0.0,0.0,0.031095716412010643,0.15542078752637095,0.38584393127928834,0.010005093094209185,-0.002243849444286728,0.00035982942432373206,0.253224025511107,0.12615426582182465,0.654345083107241,0.005386324979825956,-0.014446145422218582,0.0013937540233001952,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.05803582805439208,0.13642508922159244,0.7004506805060267,0.1685373737553073,-0.40349235769982356,0.005796699507349651,1.1241334081111165,0.38584393127928834,0.42368272760508985,0.42368272760508985,0.4697383538502189,0,0,-1.9791005469198215e-05,-8.140819548885787e-05
+22420,1792669049960105147,37590360000000,1792669049956196146,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760391881942898,-0.004546979404984738,0.09078115560979721,0.9999999865774771,8.473574961811959e-05,-8.819060206133503e-05,5.7707715738631044e-05,0.6761,-0.00453,0.09084228786222247,1.0,0.0,0.0,0.0,0.043821861953842745,0.1562024053024606,0.46814440746323976,0.009959169083283526,-0.00226083885517318,0.0002954638147885261,0.2659501710529391,0.1269358835979143,0.7366455592911925,0.005340400968900296,-0.014463134833105034,0.0013293884137649892,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.0690367544966351,0.10167477801124263,0.6694755756808418,0.18061156316422464,-0.37960933461208374,-0.01570553579717668,1.1241334081111165,0.46814440746323976,0.4546578324302747,0.4546578324302747,0.5561183538502368,0,0,-1.572006703562246e-05,-9.712120971195332e-05
+22591,1792669051385118772,37591785000000,1792669051384196104,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6760409290829997,-0.0045495749651172325,0.09076706858691214,0.9999999867137425,8.454161396794073e-05,-8.444258901755953e-05,6.113545621247131e-05,0.6761,-0.00453,0.09081390728920372,1.0,0.0,0.0,0.0,0.0348347483826662,0.15895465094232497,0.5366295055762458,0.010939640455612987,-0.0013307265194357765,0.0002640937395679342,0.25696305748176257,0.12968812923777864,0.8051306574041984,0.006320872341229757,-0.01353302249736763,0.0012980183385443973,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.09906675970473382,0.1107321409716995,0.41489381193983743,0.18261748339237224,-0.21176886154025856,-0.008455243221391628,1.1241334081111165,0.5366295055762458,0.7092395961712791,0.7092395961712791,0.6558683538502574,0,0,-2.373278281256474e-05,9.856354207660729e-05
+22727,1792669052518049749,37592918000000,1792669052516205927,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.676046680672302,-0.0045519656602992465,0.09075375442352611,0.9999999869228849,8.942122117354544e-05,-7.143342468350588e-05,6.706866113503466e-05,0.6761,-0.00453,0.09078644019267673,1.0,0.0,0.0,0.0,0.02178588097339082,0.1597128044971824,0.6029775638841892,0.0109262375970934,-0.0012958155787411128,0.00021109478774218983,0.24391419007248719,0.13044628279263606,0.871478715712142,0.006307469482710171,-0.013498111556672967,0.001245019386718653,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.11435662916379281,0.18983088816628393,0.39707155403921585,0.15971864176835038,-0.20036576362034889,0.03882230678835748,1.1241334081111165,0.6029775638841892,0.7270618540719007,0.7270618540719007,0.7351783538502739,0,0,-2.4523665893812268e-05,9.999181624221194e-05
+22871,1792669053718028960,37594118000000,1792669053716196570,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760478248677841,-0.004553269133530413,0.09073472685836219,0.999999987464969,8.522340354030132e-05,-6.611788216252837e-05,6.98449965115508e-05,0.6761,-0.00453,0.09075754928359742,1.0,0.0,0.0,0.0,0.01614405128396898,0.16875209804413566,0.669274348249745,0.011015655277274997,-0.00029933498180082993,0.00017306218010549983,0.23827236038306535,0.13948557633958933,0.9377755000776976,0.006396887162891768,-0.012501630959732684,0.001206986779081963,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.14056168733955243,0.17321244225230648,0.37358952101704923,0.1606191465716044,-0.1768595285427359,0.026515180124690993,1.1241334081111165,0.669274348249745,0.7505438870940673,0.7505438870940673,0.8191783538502913,0,0,-2.5243223993080772e-05,-9.963379707234594e-05
+23031,1792669055051030809,37595451000000,1792669055044206009,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760531471557207,-0.004557984914724518,0.0907178973255551,0.9999999879890092,8.279707021322614e-05,-5.6436421116260556e-05,7.365067133287407e-05,0.6761,-0.00453,0.09072261826002236,1.0,0.0,0.0,0.0,0.005722914769854454,0.17324228440376,0.739793241963868,0.011868305155762713,0.0006325884383283787,0.0001408000085669197,0.22785122386895082,0.1439757626992137,1.0082943937918207,0.007249537041379483,-0.011569707539603475,0.0011747246075433828,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.1424879587153526,0.22004533583297756,0.3064290929432929,0.1547538626668716,-0.13738834107837233,0.059721747514134504,1.1241334081111165,0.739793241963868,0.8177043151678236,0.8177043151678236,0.9124883538503106,0,0,-2.455710688550739e-05,-9.999695102370083e-05
+23154,1792669056076090733,37596476000000,1792669056072205808,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.676054341950305,-0.00455840392060726,0.09070351381211168,0.9999999879868096,8.33463133915196e-05,-5.169100575205016e-05,7.64897191960562e-05,0.6761,-0.00453,0.09069832012073809,1.0,0.0,0.0,0.0,-0.0033253329774181606,0.1658910205257802,0.7999482724720879,0.011861292326385092,0.0006665385838985054,0.00013546655778627582,0.2188029761216782,0.1366244988212339,1.0684494243000406,0.007242524212001861,-0.011535757394033348,0.001169391156762739,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.1918963282516371,0.1370171221482794,0.18305818110099747,0.17370980832639163,-0.04611162720010884,0.0024125844743927843,1.1241334081111165,0.7999482724720879,0.941075227010119,0.941075227010119,0.9842383538503254,0,0,-2.400793518873587e-05,-6.268943029705664e-05
+23310,1792669057376110889,37597776000000,1792669057372205806,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760569864018998,-0.004553616424611429,0.09067844618456897,0.9999999878714133,8.613379223508814e-05,-4.68018054746644e-05,7.804228613219222e-05,0.6761,-0.00453,0.09066677938248188,1.0,0.0,0.0,0.0,-0.0140336935086523,0.17030298775939468,0.8797806073476384,0.012491532447391759,0.0016476106353825928,0.0006615067619028592,0.20809461559044407,0.14103646605484838,1.1482817591755912,0.00787276433300853,-0.010554685342549261,0.0016954313608793224,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.17863572580019518,0.122423575138853,-0.014925934722512071,0.1788969960174291,0.07457869962437563,-0.004063922817763577,1.1241334081111165,0.8797806073476384,1.1390593428336286,1.1390593428336286,1.0752383538503443,0,0,-2.05172230357834e-05,9.994051006068644e-05
+23446,1792669058510019544,37598910000000,1792669058504205888,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760633276966408,-0.004563683593710181,0.0906635173584628,0.999999988317589,8.038481064397767e-05,-3.74483919358219e-05,8.332818555936683e-05,0.6761,-0.00453,0.09063981000788157,1.0,0.0,0.0,0.0,-0.023851623824949347,0.1838692725891657,0.9178463935639172,0.013837162670261062,0.001613638331615307,0.001058932666888123,0.19827668527414702,0.15460275088461936,1.18634754539187,0.009218394555877833,-0.010588657646316547,0.002092857265864586,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.25543367943447576,0.08523831552587549,0.0731730924367795,0.18552583255501073,0.03744633750973654,-0.03087846868448809,1.1241334081111165,0.9178463935639172,1.050960315674337,1.050960315674337,1.1546183538503607,0,0,-3.0497238300035374e-05,-9.999996250365512e-05
+23502,1792669058976079231,37599376000000,1792669058972206429,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6760954985757969,-0.004558095525730673,0.09067004523106321,0.999999988960369,8.113945047393768e-05,-7.337192266362847e-06,8.297397984390922e-05,0.6761,-0.00453,0.09062119042962138,1.0,0.0,0.0,0.0,-0.06770773283430509,0.24658127020260345,0.8427797406818371,0.01885061538968384,0.0055604871066116555,0.00021285658444043028,0.15442057626479128,0.21731474849805713,1.11128089250979,0.014231847275300608,-0.006641808871320198,0.0012467811834168934,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.3652509266776257,0.06674171207782022,-0.04603202359917285,0.19587246195389413,0.12125510018314303,-0.04063966390567311,1.1241334081111165,0.8427797406818371,1.1701654317102894,1.1701654317102894,1.1872383538503675,0,0,-5.062020308890946e-05,9.965501620990409e-05
+23645,1792669060168069606,37600568000000,1792669060164205771,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.676103914038352,-0.004563324648051274,0.09062712612014559,0.9999999886333683,7.634924819879838e-05,1.3550777028491615e-05,9.035096240783382e-05,0.6761,-0.00453,0.09055389998394613,1.0,0.0,0.0,0.0,-0.0908112132273525,0.24004874049328828,1.0134531884589242,0.019156407815808504,0.006481709052879627,0.0011105191030429987,0.13131709587174387,0.21078221878874198,1.281954340286877,0.014537639701425274,-0.005720586925052226,0.002144443702019462,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.4478421661642823,0.03845518116208754,-0.08659304627001187,0.1954491162542097,0.16970557778541623,-0.061309294638638795,1.1241334081111165,1.0134531884589242,1.2107264543811285,1.2107264543811285,1.2706783538503847,0,0,-4.50918050083114e-05,3.1570458382141486e-05
+23785,1792669061335105436,37601735000000,1792669061328198691,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761039256597052,-0.004568890449221861,0.09059183221867127,0.9999999878863066,7.472681968968574e-05,1.3622379660953722e-05,9.950167842765145e-05,0.6761,-0.00453,0.09051684953985087,1.0,0.0,0.0,0.0,-0.11128864102132466,0.23461428030078224,1.0832655055082023,0.01874735212192379,0.007532883574830826,0.0010674261042078997,0.11083966807777171,0.20534775859623594,1.351766657336155,0.014128584007540558,-0.004669412403101028,0.002101350703184363,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.41986892492923655,0.19626459462516924,-0.21706105173030107,0.14197897225596667,0.2434482980804725,0.04110911898177204,1.1241334081111165,1.0832655055082023,1.3411944598414176,1.3411944598414176,1.3523683538504017,0,0,-2.4399036892248975e-05,9.985760415632256e-05
+23921,1792669062468019600,37602868000000,1792669062464205889,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.676109591669578,-0.004575132882370575,0.09056813180940744,0.9999999873160698,7.239932665502415e-05,2.251832525744891e-05,0.00010517598221121839,0.6761,-0.00453,0.09048267812456194,1.0,0.0,0.0,0.0,-0.12105748798703334,0.22909548630799648,1.1135572372451428,0.019038029859547726,0.00755015260434437,0.00104616885863904,0.10107082111206303,0.19982896460345018,1.3820583890730955,0.014419261745164495,-0.004652143373587484,0.002080093457615503,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.4904660387918117,0.1448033088177057,-0.26828035659600113,0.1596529430740144,0.2947085121973121,0.009741782774243063,1.1241334081111165,1.1135572372451428,1.3924137647071175,1.3924137647071175,1.431678353850418,0,0,-3.8617200594200145e-05,9.980499346274314e-05
+24060,1792669063626016196,37604026000000,1792669063624205907,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761169255493439,-0.004573938723779463,0.09052898414537221,0.9999999854488069,7.802171672461666e-05,3.2192976700840837e-05,0.00011585108814939458,0.6761,-0.00453,0.09042956999532838,1.0,0.0,0.0,0.0,-0.13116697019660528,0.23888652202698657,1.1741902524315702,0.019772550358374368,0.008529652847247876,0.0010241545502623222,0.0909613389024911,0.20962000032244024,1.442691404259523,0.015153782243991137,-0.0036726431306839777,0.0020580791492387854,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.5262110946986264,0.11416134879515223,-0.31130001338228436,0.1676721799102584,0.3260272751970015,-0.011315880936151074,1.1241334081111165,1.1741902524315702,1.4354334214934008,1.4354334214934008,1.5127383538504349,0,0,-4.804629536781497e-05,-6.128441699099876e-05
+24180,1792669064626002737,37605026000000,1792669064624206294,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761190794142825,-0.004580224226697123,0.09048998988943083,0.999999984273409,7.690059571409832e-05,3.5677577828347884e-05,0.00012533736523997495,0.6761,-0.00453,0.09038354187678144,1.0,0.0,0.0,0.0,-0.14189187538436135,0.26407734592477144,1.2223795694198751,0.02062692823983319,0.009568982098168626,0.0010052205227703947,0.08023643371473502,0.23481082422022514,1.490880721247828,0.01600816012544996,-0.0026333138797632267,0.002039145121746858,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.5710227113198628,0.15773646558755167,-0.4120386878501355,0.1594373407376902,0.39840932738259593,0.021319233307682317,1.1241334081111165,1.2223795694198751,1.536172095961252,1.536172095961252,1.5827383538504494,0,0,-4.6132448421028254e-05,9.998697289426701e-05
+24336,1792669065926004838,37606326000000,1792669065920205599,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761228513808607,-0.0045869265472125624,0.09043861798963347,0.9999999822080519,7.859239898048971e-05,3.8988223674425756e-05,0.00013903205959937113,0.6761,-0.00453,0.09032371766271982,1.0,0.0,0.0,0.0,-0.141479345584779,0.2515977288567151,1.274611805412476,0.020697976279043656,0.009516732515808883,0.0008870717697350512,0.08064896351431736,0.2223312071521688,1.5431129572404287,0.016079208164660425,-0.0026855634621229707,0.0019209963687115143,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.6329046015010877,0.14927330127660604,-0.4158795977095781,0.15744140845414095,0.4135864138346142,0.009431935490553989,1.1241334081111165,1.274611805412476,1.5400130058206947,1.5400130058206947,1.6737383538504682,0,0,-4.9071672124394123e-05,-9.996522640077216e-05
+24480,1792669067125997323,37607526000000,1792669067120205709,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761210286011337,-0.004587339197268006,0.09037212934261585,0.9999999797203334,8.760437872807653e-05,3.603459051358292e-05,0.00015175367613753533,0.6761,-0.00453,0.09025414913834172,1.0,0.0,0.0,0.0,-0.15087477986811065,0.24884561295051183,1.2941710816816683,0.020674609070946308,0.010507713704559832,-6.463637644247796e-05,0.0712535292309857,0.21957909124596553,1.562672233509621,0.016055840956563077,-0.0016945822733720219,0.0009692882225339852,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.6231977011554258,0.106890371520758,-0.604260668659029,0.1709011125106694,0.5239982677951334,-0.009104419058430971,1.1241334081111165,1.2941710816816683,1.7283940767701456,1.7283940767701456,1.7577383538504856,0,0,-7.117513501212069e-05,9.999999025923074e-05
+24619,1792669068285035520,37608685000000,1792669068280205836,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761227952455496,-0.004589966681599082,0.09029069762695037,0.9999999511155977,0.00024203989629081462,4.0470753565282044e-05,0.00017026588881309166,0.6761,-0.00453,0.0901629152464778,1.0,0.0,0.0,0.0,-0.16018524395042413,0.24082122959722385,1.3243278374358274,0.020667363983736947,0.010519369715454252,-8.998134323464572e-05,0.061943065148672226,0.21155470789267752,1.5928289892637801,0.016048595869353716,-0.001682926262477601,0.0009439432557418174,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.6502226489565405,0.2255479215933664,-0.4883277436808526,0.09424259716845707,0.45924708280426574,0.0062260289871652885,1.1241334081111165,1.3243278374358274,1.6124611517919691,1.6124611517919691,1.8388683538505024,0,0,-8.788753638330616e-05,-9.932818042924225e-05
+24739,1792669069284989000,37609685000000,1792669069280206625,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761262443278405,-0.004591355228605033,0.0902001990069295,0.9999999502862307,0.00023719602567311919,4.16761159637152e-05,0.00018130512130367144,0.6761,-0.00453,0.09006735971945844,1.0,0.0,0.0,0.0,-0.1603103604874944,0.24201425402497995,1.3744593926112483,0.020658083539646793,0.010508426909812936,-0.00013055966931069338,0.06181794861160197,0.21274773232043365,1.642960544439201,0.016039315425263562,-0.001693869068118917,0.0009033649296657697,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.6785291737145179,0.08892352893220429,-0.6259192000255953,0.15296987355293848,0.5476179082851309,-0.060214551565375724,1.1241334081111165,1.3744593926112483,1.7500526081367118,1.7500526081367118,1.908868353850517,0,0,-9.863839285226129e-05,-6.216121647829027e-05
+24819,1792669069951055287,37610351000000,1792669069948205811,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761338522755382,-0.0045724041845680175,0.09013565894455416,0.9999999931058821,1.0820046098343648e-05,7.116936835336269e-05,6.996292193320433e-06,0.6761,-0.00453,0.08999314304366719,1.0,0.0,0.0,0.0,-0.12266327050005393,0.3102646528154929,1.3963732713475672,0.02482530534909515,0.008378537323576669,-0.00013024227014982377,0.09946503859904243,0.2809981311109466,1.66487442317552,0.02020653723471192,-0.0038237586543551846,0.0009036823288266394,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.6918494978567145,0.19247983551876088,-0.6157105475089265,0.0389308960366211,0.558858277821468,0.07096416980857984,1.1241334081111165,1.3963732713475672,1.7398439556200431,1.7398439556200431,1.9554883538505266,0,0,-0.00012161996781476082,-9.483508009300862e-05
+24923,1792669070818003320,37611218000000,1792669070812206295,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.676134865996598,-0.004574601226691709,0.09003539000212886,0.9999999925040157,2.1871395233722836e-05,6.96916387419087e-05,3.315947381529546e-05,0.6761,-0.00453,0.08988504525940405,1.0,0.0,0.0,0.0,-0.13407797838196645,0.29276606166975977,1.4355335327859513,0.023739489637681896,0.009421413578070411,-0.00015783705962847498,0.08805033071712991,0.26349953996521347,1.704034684613904,0.019120721523298665,-0.002780882399861443,0.0008760875393479881,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7205899430412991,0.10686674654376518,-0.7337467454688583,0.15918316744154262,0.6133902670218774,0.014684849997990024,1.1241334081111165,1.4355335327859513,1.8578801535799747,1.8578801535799747,2.016178353850539,0,0,-0.0001195941892087341,4.9846761467026115e-05
+25030,1792669071709972860,37612110000000,1792669071708205732,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761314793793785,-0.004579874815721127,0.08993335617584801,0.9999999915879676,3.1487290811733166e-05,6.274721046881854e-05,5.7777740345809986e-05,0.6761,-0.00453,0.0897852442604281,1.0,0.0,0.0,0.0,-0.14100752271652328,0.28465926647391787,1.4272081962590104,0.022708761646001056,0.009846177481116181,-0.00015829208209839794,0.0811207863825731,0.25539274476937157,1.6957093480869632,0.018089993531617825,-0.002356118496815673,0.0008756325168780652,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7335160150618558,0.07288456735901348,-0.8213573847060345,0.23886754175538769,0.6516894014159283,-0.019140549047195768,1.1241334081111165,1.4272081962590104,1.945490792817151,1.945490792817151,2.078618353850552,0,0,-0.00010732490080403589,7.40977099386086e-05
+25128,1792669072525980322,37612926000000,1792669072524205721,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761306319979218,-0.004580865669741374,0.08984158584820053,0.9999999905890748,3.4944305048269694e-05,5.930336852102439e-05,7.434191768932413e-05,0.6761,-0.00453,0.08969314035349399,1.0,0.0,0.0,0.0,-0.1424347817315894,0.28646737326135835,1.4169471832613778,0.02167557965803068,0.010476955241959079,-0.0003602161827711202,0.07969352736750694,0.25720085155681205,1.6854483350893306,0.017056811543647448,-0.0017253407359727744,0.0006737084162053429,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7308701582613795,0.07576421410933722,-0.8273742822024553,0.2417850872456163,0.6490471017586966,-0.020221867961110807,1.1241334081111165,1.4169471832613778,1.951507690313572,1.951507690313572,2.135738353850564,0,0,-0.0001209771103808085,-6.029520912965154e-05
+25238,1792669073443076106,37613843000000,1792669073440205811,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761315565028596,-0.00458978927712527,0.08972532161167207,0.9999999894604977,3.0953693437846525e-05,5.898056448050449e-05,8.991679830959844e-05,0.6761,-0.00453,0.08957317197994312,1.0,0.0,0.0,0.0,-0.15189018320937353,0.2773419359862513,1.445076528612783,0.021646066547898163,0.011115880877016909,-0.00026882360963756304,0.07023812588972282,0.24807541428170496,1.7135776804407357,0.017027298433514932,-0.0010864151009149449,0.0007651009893389001,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7467772638197189,0.16709647331338429,-0.8352036420586945,0.21818594676783895,0.6500728041052906,0.042956444607536406,1.1241334081111165,1.445076528612783,1.959337050169811,1.959337050169811,2.199928353850577,0,0,-0.00013944318974087733,-9.958664034937498e-05
+25330,1792669074209976901,37614610000000,1792669074208196258,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761321034418308,-0.004589674442358482,0.08961715791841882,0.9999999892616159,3.399112115947847e-05,5.705347084431952e-05,9.224498717983073e-05,0.6761,-0.00453,0.08946318804213677,1.0,0.0,0.0,0.0,-0.15732945223952088,0.27836412404893923,1.4560551392945702,0.02164863527338948,0.011487936998047055,-0.0011931509024961965,0.06479885685957548,0.24909760234439293,1.724556291122523,0.01702986715900625,-0.0007143589798847979,-0.0001592263035197334,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7847774620547809,0.16646315905995712,-0.9217481529714316,0.23043364773813332,0.7061465032097004,0.05095722529037991,1.1241334081111165,1.4560551392945702,2.045881561082548,2.045881561082548,2.2536183538505883,0,0,-0.00014636677710469704,9.606284515847083e-06
+25422,1792669074976020973,37615376000000,1792669074972206010,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761280503788263,-0.004587091152624906,0.08949561315268352,0.9999999920611694,3.529796492578602e-05,5.412876857856501e-05,5.6077228519547075e-05,0.6761,-0.00453,0.08934792171027413,1.0,0.0,0.0,0.0,-0.13411393962935697,0.28229180017078637,1.4849635751817123,0.0227155031015295,0.009462885933304993,-0.0010090352542737448,0.0880143694697394,0.25302527846624007,1.753464727009665,0.01809673498714627,-0.00273941004462686,2.4889344702718353e-05,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7832215871954763,0.057002100257507494,-0.9784817466299959,0.27351322176460335,0.739586169648421,-0.01675858943417137,1.1241334081111165,1.4849635751817123,2.1026151547411125,2.1026151547411125,2.3072383538505994,0,0,-0.0001550142322462048,8.97177568611795e-05
+25513,1792669075735039276,37616135000000,1792669075732205921,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761285251004397,-0.004586491988894926,0.08937146696343928,0.9999999902109448,5.7189082298983354e-05,5.0858738347704726e-05,7.185939359185373e-05,0.6761,-0.00453,0.0892226170651829,1.0,0.0,0.0,0.0,-0.14274234607929487,0.2683069577347659,1.4887934306883814,0.021531720453087003,0.010470833767531018,-0.0012287375211810858,0.0793859630198015,0.23904043603021963,1.7572945825163342,0.016912952338703772,-0.0017314622104008354,-0.00019481292220462282,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7988310599886935,0.07021863181660556,-0.9974287426739514,0.2788151964489639,0.7499205430106985,-0.004053241517222229,1.1241334081111165,1.4887934306883814,2.121562150785068,2.121562150785068,2.3603683538506104,0,0,-0.00017273153612842388,5.62342826519613e-05
+25597,1792669076434962358,37616835000000,1792669076432206248,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761284348907152,-0.004597260753693089,0.08924817867567439,0.9999999886431897,5.9746987092693296e-05,4.829167854094134e-05,9.085535805316795e-05,0.6761,-0.00453,0.08909883063391948,1.0,0.0,0.0,0.0,-0.1601206360066718,0.2560334325175821,1.5007373558591384,0.020000712614457197,0.011509971256129336,-0.0012441365940005931,0.06200767309242456,0.2267669108130358,1.7692385076870911,0.015381944500073968,-0.0006923247218025181,-0.0002102119950241301,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.7857684332169187,0.12587158554762787,-0.9719341513225197,0.27222187996911706,0.7263966348168338,0.03187115581517455,1.1241334081111165,1.5007373558591384,2.096067559433636,2.096067559433636,2.4093683538506205,0,0,-0.0001828826526148727,-9.999999025923074e-05
+25677,1792669077101037232,37617501000000,1792669077100205716,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761265150286914,-0.0045994235970155325,0.08912200549226972,0.9999999870540751,6.538690327615332e-05,4.25061043068199e-05,0.00010607779176296211,0.6761,-0.00453,0.08897564790392112,1.0,0.0,0.0,0.0,-0.15073301046441134,0.23536069291349343,1.5316289014254882,0.01874514174450697,0.011527683975993836,-0.00127799090715019,0.07139529863468504,0.20609417120894713,1.800130053253441,0.01412637363012374,-0.0006746120019380165,-0.00024406630817372672,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8242127620291546,0.039074797479570524,-1.0841604036523214,0.30532201186808655,0.806488553835988,-0.023499044973827488,1.1241334081111165,1.5316289014254882,2.208293811763438,2.208293811763438,2.45598835385063,0,0,-0.00018769047959302376,9.984017365483595e-05
+25757,1792669077767959100,37618168000000,1792669077764205843,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761279162388328,-0.004590844076023551,0.08899242554173821,0.9999999930086606,-1.2182907068468335e-05,5.0714417002773664e-05,5.201122846791851e-05,0.6761,-0.00453,0.08884455374433012,1.0,0.0,0.0,0.0,-0.15182622491034076,0.25850507709923215,1.5248429346678416,0.020692615577244243,0.011493442520153255,-0.0012361748870053956,0.07030208418875561,0.22923855539468582,1.7933440864957944,0.016073847462861012,-0.000708853457778598,-0.00020225028802893242,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8668159029859246,-0.01830772828054245,-1.035624791646612,0.3142081479238916,0.7814789665940288,-0.05964205806655767,1.1241334081111165,1.5248429346678416,2.1597581997577286,2.1597581997577286,2.50267835385064,0,0,-0.00020326762013442157,-9.999999025923074e-05
+25829,1792669078368007373,37618768000000,1792669078364206346,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761224333113307,-0.00460465948347741,0.08886255837565767,0.9999999917908181,1.4487769772891886e-05,3.611566442652876e-05,7.966800682030055e-05,0.6761,-0.00453,0.08871856285443631,1.0,0.0,0.0,0.0,-0.1698202566802199,0.25567157477048824,1.5276849468777856,0.019565195464463853,0.012525006363406803,-0.0012628177809965457,0.05230805241887646,0.2264050530659419,1.7961860987057383,0.014946427350080622,0.00032271038547495,-0.00022889318202008255,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8285464932279352,0.013708890820209815,-1.0110236312678993,0.33373667586022143,0.7420893209248102,-0.03834103506116225,1.1241334081111165,1.5276849468777856,2.135157039379016,2.135157039379016,2.5446783538506486,0,0,-0.00021604678574901748,-9.991984603464061e-05
+25896,1792669078925970812,37619326000000,1792669078920206078,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761232018731373,-0.004610288961546202,0.08873561470847431,0.9999999889124593,5.3436293430359954e-05,3.705724624583086e-05,9.689823880287464e-05,0.6761,-0.00453,0.08859362341004406,1.0,0.0,0.0,0.0,-0.1859569035441479,0.2425651299788949,1.5272729830459544,0.01851712918365562,0.013547724143943802,-0.0012585702916546868,0.036171405554948466,0.2132986082743486,1.7957741348739071,0.01389836106927239,0.001345428166011949,-0.0002246456926782237,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9008386945347816,0.00806369057410835,-1.1004279742610352,0.3451998029439488,0.8160727826850722,-0.032646696306846884,1.1241334081111165,1.5272729830459544,2.2245613823721517,2.2245613823721517,2.5837383538506566,0,0,-0.00022983160776898626,-9.891805016615791e-05
+25965,1792669079500966156,37619901000000,1792669079500205603,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761209605761702,-0.0046146660073087585,0.08860082840388948,0.9999999884696461,5.3596348982047666e-05,3.319155058199083e-05,0.00010261249629891413,0.6761,-0.00453,0.0884570913007308,1.0,0.0,0.0,0.0,-0.18632976982344746,0.23423839951423742,1.5614384471242002,0.018508774390287322,0.013551733244919761,-0.0012878906883517648,0.035798539275648925,0.20497187780969112,1.829939598952153,0.013890006275904091,0.0013494372669879072,-0.0002539660893753017,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9406969535668523,-0.051002162208376375,-1.1387520491826224,0.36670249426778123,0.8476624799197364,-0.07603666749572195,1.1241334081111165,1.5614384471242002,2.2628854572937387,2.2628854572937387,2.623988353850665,0,0,-0.0002443857174056226,-8.47102038810686e-05
+26029,1792669080035017894,37620435000000,1792669080032205609,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761231222942162,-0.004612398617489333,0.08847045888703996,0.9999999894208979,4.116413905060921e-05,3.7513104945019077e-05,9.746460462381701e-05,0.6761,-0.00453,0.08832241813931455,1.0,0.0,0.0,0.0,-0.19524754111444384,0.22771361317892153,1.5425722098879344,0.01851856141370364,0.013557015837423747,-0.0012749113742476354,0.026880767984652516,0.19844709147437523,1.8110733617158872,0.01389979329932041,0.0013547198594918925,-0.00024098677527117224,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9159436234618974,-0.012525148910804494,-1.099113784115263,0.37184477930468235,0.8101089599754374,-0.05139361912027922,1.1241334081111165,1.5425722098879344,2.2232471922263795,2.2232471922263795,2.6613683538506727,0,0,-0.00026045561702800333,-9.99926350316926e-05
+26084,1792669080493014401,37620893000000,1792669080488206098,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761188446610262,-0.0046191825353043715,0.08833766501198899,0.9999999893098559,3.6835577715064584e-05,2.82657739933941e-05,0.00010328280948541341,0.6761,-0.00453,0.08819984504112621,1.0,0.0,0.0,0.0,-0.18812492637025202,0.2259799132388266,1.5636270251045543,0.018507033606165728,0.013552076423522262,-0.0012899028169108043,0.03400338272884435,0.19671339153428027,1.832128176932507,0.013888265491782499,0.0013497804455904088,-0.0002559782179343412,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9279704904467295,-0.04108612024041082,-1.0722735728663961,0.3940515570012971,0.794456519306255,-0.06510740929984232,1.1241334081111165,1.5636270251045543,2.1964069809775126,2.1964069809775126,2.6934283538506794,0,0,-0.000273462508799975,-9.843808687482464e-05
+26148,1792669081025959896,37621426000000,1792669081024206715,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761173170568272,-0.004620393821347653,0.08818772252899792,0.9999999890199145,4.329503948019526e-05,2.6293772570592533e-05,0.00010410193291276371,0.6761,-0.00453,0.0880508991710689,1.0,0.0,0.0,0.0,-0.18771469807434085,0.2225071921318858,1.6034250329296313,0.017479675100290696,0.01356225680210765,-0.0013335117441017072,0.03441361102475552,0.19324067042733947,1.871926184757584,0.012860906985907467,0.0013599608241757948,-0.0002995871451252442,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8895989767418457,-0.005352832533564357,-1.1364002166311824,0.4040036359818501,0.8212662724627298,-0.03883670649908185,1.1241334081111165,1.6034250329296313,2.260533624742299,2.260533624742299,2.730738353850687,0,0,-0.000284768479640067,-9.999999025923074e-05
+26204,1792669081493021019,37621893000000,1792669081492205954,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761199665449407,-0.004620373627657459,0.08805557535053044,0.9999999877326446,5.815681056667394e-05,2.8844357518265525e-05,0.0001084590402768662,0.6761,-0.00453,0.08791623279323742,1.0,0.0,0.0,0.0,-0.19710542239670573,0.23211636517761597,1.5933340485678253,0.01745494723729391,0.014575965579075641,-0.00131545919287118,0.025022886702390633,0.20284984347306964,1.861835200395778,0.01283617912291068,0.002373669601143788,-0.00028153459389471683,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9080753735958673,-0.0811748211907159,-1.146247999139553,0.4366610447304306,0.8239615486465097,-0.08722416745446973,1.1241334081111165,1.5933340485678253,2.2703814072506696,2.2703814072506696,2.763428353850694,0,0,-0.0002917079372458372,-9.9994772211015e-05
+26260,1792669081960005968,37622360000000,1792669081956205352,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761286085143611,-0.004630770179419639,0.08792176590693446,0.9999999880761039,3.6880433454912994e-05,3.6856659373366645e-05,0.00011212527282492486,0.6761,-0.00453,0.08777703526483575,1.0,0.0,0.0,0.0,-0.19759567843832374,0.23377982822769489,1.567531872503154,0.018451503939909204,0.01456332861017258,-0.001281525594628157,0.024532630660772634,0.20451330652314859,1.8360330243311067,0.013832735825525973,0.0023610326322407267,-0.00024760099565169385,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.1594925986583773,-0.09372117484396102,-1.269567456943729,0.4377375520465477,0.9704900572777523,-0.09875262054736514,1.1241334081111165,1.567531872503154,2.3937008650548455,2.3937008650548455,2.7961183538507006,0,0,-0.0003059448816969138,9.999389791038311e-05
+26296,1792669082260056246,37622660000000,1792669082256205867,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761339715744075,-0.004625883346184524,0.08783526451767798,0.9999999876321907,3.8521975670191224e-05,4.166464762613759e-05,0.00011383583541466065,0.6761,-0.00453,0.08768404875295058,1.0,0.0,0.0,0.0,-0.18190027407661816,0.2446312528211368,1.6133568317092348,0.019237522007260057,0.013806827806984905,-0.0013186758519217272,0.04022803502247821,0.21536473111659046,1.8818579835371876,0.014618753892876826,0.001604531829053051,-0.0002847512529452641,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.170821541431505,-0.09009921644320473,-1.304697086704461,0.46452182432433103,0.9902004237497265,-0.09109995514302717,1.1241334081111165,1.6133568317092348,2.4288304948155774,2.4288304948155774,2.817118353850705,0,0,-0.00031313474086328154,9.999996250365512e-05
+26336,1792669082593019090,37622993000000,1792669082588205827,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761270399136803,-0.004618341977385472,0.0877254995689399,0.9999999876181485,4.235520754286e-05,3.434238500069318e-05,0.00011503566509808025,0.6761,-0.00453,0.0875780532063335,1.0,0.0,0.0,0.0,-0.2063409995197455,0.23905670406870216,1.59768144993518,0.018688247565681534,0.014754758128518355,-0.0013021165273618145,0.015787309579350883,0.20979018236415584,1.8661826017631327,0.014069479451298304,0.002552462150586502,-0.0002681919283853513,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8846512851626398,-0.011725640483562326,-1.1749395846342743,0.45727302772644823,0.8297805620571046,-0.036049752602498174,1.1241334081111165,1.59768144993518,2.2990729927453906,2.2990729927453906,2.84042835385071,0,0,-0.0003237084368154771,-9.999999025923074e-05
+26376,1792669082925994326,37623326000000,1792669082920206178,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.676120770891271,-0.004629611624100625,0.08761284669561599,0.9999999883560577,2.860127703600081e-05,2.8994423516372702e-05,0.00011433301929019878,0.6761,-0.00453,0.08746832077964628,1.0,0.0,0.0,0.0,-0.183370310868765,0.24305060373475562,1.604800690072651,0.019486706312271316,0.013530319806479112,-0.0013095555320703622,0.038757998230331346,0.21378408203020932,1.8733018419006038,0.014867938197888087,0.0013280238285472588,-0.00027563093309389915,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.8775893643737535,-0.04383247925698424,-1.196463101492885,0.4697840590900226,0.8422292378827829,-0.06466450278205901,1.1241334081111165,1.604800690072651,2.3205965096040018,2.3205965096040018,2.8637383538507146,0,0,-0.0003347013029189868,-9.93005636315047e-05
+26420,1792669083293005452,37623693000000,1792669083288205965,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761129321939771,-0.004628953437513276,0.08748452470379364,0.9999999884815718,3.062367176194997e-05,1.9791070650283123e-05,0.00011467443039136668,0.6761,-0.00453,0.08734298096416428,1.0,0.0,0.0,0.0,-0.1916669052784024,0.23446806071850756,1.6240486464458135,0.018265723805225387,0.013766791303689406,-0.0013367834472560037,0.030461403820693955,0.20520153901396126,1.8925497982737662,0.013646955690842158,0.001564495325757552,-0.0003028588482795406,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.0605175980422834,-0.07266949606343633,-1.1939695589984523,0.4901431630026123,0.8861867853604625,-0.07682549685782704,1.1241334081111165,1.6240486464458135,2.318102967109569,2.318102967109569,2.88942835385072,0,0,-0.0003486004057876287,-9.999999025923074e-05
+26468,1792669083693041674,37624093000000,1792669083688205889,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761096441736946,-0.00463700959938054,0.08734166878850645,0.9999999865248377,6.991133232155179e-05,1.3589713275954497e-05,0.00011541626499736438,0.6761,-0.00453,0.08720160100501372,1.0,0.0,0.0,0.0,-0.1972822917687425,0.2234418603616034,1.6215071040220828,0.018022664510291022,0.014204288507824162,-0.0013406802582254568,0.024846017330353857,0.19417533865705708,1.8900082558500355,0.013403896395907791,0.0020019925298923077,-0.0003067556592489937,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.975415948921735,-0.09158202049503784,-1.1792537521654196,0.5081666299349678,0.8524711960576933,-0.09104362521827733,1.1241334081111165,1.6215071040220828,2.303387160276536,2.303387160276536,2.9174283538507257,0,0,-0.0003614071446098307,-9.999999025923074e-05
+26515,1792669084085015277,37624485000000,1792669084084206003,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761139364093399,-0.004635573868250204,0.08720550044471416,0.9999999873889516,5.417761069032546e-05,2.0662880173325557e-05,0.00011533773465093924,0.6761,-0.00453,0.08705792331163578,1.0,0.0,0.0,0.0,-0.20637674121993602,0.22649636573650272,1.603475037936873,0.01785439430809378,0.014584907080118361,-0.0013180855643122062,0.015751567879160353,0.1972298440319564,1.8719761897648257,0.013235626193710548,0.002382611102186508,-0.0002841609653357431,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,0.9878832338384873,-0.08616273595142257,-1.2321661419658156,0.5162806875885609,0.8878649776934241,-0.08668157117780739,1.1241334081111165,1.603475037936873,2.3562995500769324,2.3562995500769324,2.9448683538507314,0,0,-0.0003735468918867043,-9.999785307990833e-05
+26559,1792669084451047970,37624851000000,1792669084448196401,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6761112307353815,-0.004640466570097388,0.08706849212493308,0.9999999876667721,3.738848657814167e-05,1.7444978579303545e-05,0.00012002955372479154,0.6761,-0.00453,0.08691865012265738,1.0,0.0,0.0,0.0,-0.2066132444396092,0.21699838097277324,1.626946356279705,0.01743393900880225,0.015554400805006672,-0.001323516957882887,0.015515064659487142,0.18773185926822694,1.8954475081076578,0.01281517089441902,0.003352104827074819,-0.0002895923589064239,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.0719150951476768,-0.142186123413739,-1.1669297466589188,0.5355646385299953,0.8719979860703937,-0.12629214827701793,1.1241334081111165,1.626946356279705,2.2910631547700353,2.2910631547700353,2.9704883538507367,0,0,-0.00038640515915708127,-9.999980984798924e-05
+26603,1792669084817978443,37625218000000,1792669084816205524,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761109017404398,-0.004638348342632773,0.08692299061694808,0.9999999879555093,2.57409102905956e-05,1.4999135891189247e-05,0.00012101354158814339,0.6761,-0.00453,0.08677472006240812,1.0,0.0,0.0,0.0,-0.21635586877092697,0.23332993891584836,1.6272055949588276,0.018214800254266784,0.015618690521689047,-0.0013139133915891416,0.005772440328169409,0.20406341721130206,1.8957067467867803,0.013596032139883555,0.0034163945437571926,-0.00027998879261267856,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.0936843136596148,-0.18954298006653214,-1.2653822173342102,0.5601343513935563,0.9380397307092108,-0.15921821188417573,1.1241334081111165,1.6272055949588276,2.389515625445327,2.389515625445327,2.996178353850742,0,0,-0.0003991583582649546,-9.999999025923074e-05
+26647,1792669085185008674,37625585000000,1792669085184196684,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761107599712101,-0.004644519798796953,0.08677433033968489,0.9999999881625413,4.207368534428437e-06,2.0906224591890505e-05,0.0001210909135976513,0.6761,-0.00453,0.08662583402325401,1.0,0.0,0.0,0.0,-0.22598038771339599,0.22974353490344823,1.6258005846305534,0.018412851544029545,0.01657893119155341,-0.0012975914670991854,-0.003852078614299615,0.2004770131989019,1.8943017364585062,0.013794083429646314,0.0043766352136215565,-0.0002636668681227222,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.072107630556995,-0.09386088913354011,-1.2152960142515834,0.5492803359561022,0.9006428858067065,-0.09069215107058826,1.1241334081111165,1.6258005846305534,2.3394294223627,2.3394294223627,3.0218683538507474,0,0,-0.00041323898258424494,-9.999999025923074e-05
+26687,1792669085517945897,37625918000000,1792669085516205900,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.676108602516208,-0.004646219129076552,0.08663913618002428,0.9999999878169815,2.6037661717935815e-06,1.560672484734031e-05,0.00012473392423768834,0.6761,-0.00453,0.08648567234725839,1.0,0.0,0.0,0.0,-0.22915353867526772,0.22331306854241478,1.6192297358132792,0.017422859038434085,0.01659891512168849,-0.0013012132634668287,-0.007025229576171363,0.19404654683786846,1.887730887641232,0.012804090924050854,0.004396619143756639,-0.0002672886644903656,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.1456652475003846,-0.20838977139226775,-1.1259760895857112,0.591626417689523,0.8606031670486982,-0.16090948828947843,1.1241334081111165,1.6192297358132792,2.250109497696828,2.250109497696828,3.045178353850752,0,0,-0.0004281514811258199,-9.999507752234677e-05
+26731,1792669085885007807,37626285000000,1792669085884206918,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761138007758866,-0.004655164745128119,0.08648767191541731,0.9999999861118911,1.7849859106635256e-05,2.3391822713288507e-05,0.00013547430494476577,0.6761,-0.00453,0.08632547350069501,1.0,0.0,0.0,0.0,-0.24017939064935112,0.23858665605331564,1.6202456573717745,0.01935775822361839,0.017574688123305614,-0.0012681470018538626,-0.01805108155025477,0.20932013434876934,1.8887468091997273,0.014738990109235161,0.005372392145373759,-0.00023422240287739949,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.1845974691062662,-0.21287232000499093,-1.2659455600210716,0.6054789756460478,0.9602922134577795,-0.1593283660200604,1.1241334081111165,1.6202456573717745,2.390078968132188,2.390078968132188,3.0708683538507575,0,0,-0.0004451133069169596,-9.503016015622307e-05
+26767,1792669086185069555,37626585000000,1792669086184206629,DOWN_FORCE_DETACH,5,0.0522,0.05220237374305725,0.6761074778595594,-0.004647316468486482,0.08634282905868215,0.9999999874561462,4.9845201069099685e-05,1.882519176482836e-05,0.00011701128221195072,0.6761,-0.00453,0.08619003411787629,1.0,0.0,0.0,0.0,-0.24580326427495572,0.23467374405980673,1.6536070625365562,0.0183819696420423,0.01758588981914258,-0.0013067365509179213,-0.023674955175859352,0.2054072223552604,1.922108214364509,0.013763201527659068,0.0053835938412107286,-0.0002728119519414581,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.148519669742532,-0.10347158913703475,-1.2084719865780624,0.5802239491399842,0.9151611460975181,-0.09946026927560213,1.1241334081111165,1.6536070625365562,2.332605394689179,2.332605394689179,3.091868353850762,0,0,-0.0004577312358547677,-9.879613380026626e-05
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+26835,1792669086750959068,37627151000000,1792669086744206093,DOWN_FORCE_DETACH,5,0.0522,0.05220171809196472,0.6760877869718045,-0.004664269970835692,0.08606609235101982,0.9999999850853092,3.070712842718294e-05,-9.720731322260739e-06,0.0001422491672667382,0.6761,-0.00453,0.08592412825012405,1.0,0.0,0.0,0.0,-0.23808537210818698,0.1926673806419511,1.6523379190629646,0.015317357396410228,0.017645541699660962,-0.0013396191685878054,-0.015957063009090618,0.1634008589374048,1.9208390708909173,0.010698589282026999,0.005443245721729108,-0.00030569456961134216,0.22212830909909637,-0.029266521704546314,0.2685011518279527,-0.00461876811438323,-0.012202295977931854,0.0010339245989764631,1,1.1683494000733678,-0.1711828630750789,-1.239016638733435,0.5975239298274788,0.9495166903936787,-0.13759558950363646,1.1241334081111165,1.6523379190629646,2.3631500468445514,2.3631500468445514,3.13148835385077,0,0,-0.00048166397604717934,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f81c70f981537e92f59302d039920285618065e2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c90254a6a2679f64b60ab4658909743fc84b0c4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792669043041029582,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.811667091e-09,8.137582101e-11,4.494150163e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291888e-01,1.756181309e-06,8.295727121e-01
+1,6.333333333e-01,DOWN_FORCE_DETACH,1792669044305080128,9.753615275e-07,-9.629420155e-06,-5.690567166e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.141545177e-07,2.724170075e-09,1.222176216e-07,7.015388468e-01,-8.078458834e-06,8.407352506e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293951e-01,1.758824103e-06,8.295728299e-01
+2,9.833333333e-01,DOWN_FORCE_DETACH,1792669045001491109,4.072489886e-05,-2.384219461e-05,-1.386123394e-05,4.574092323e-05,-1.930377588e-05,-1.135079343e-05,4.666813911e-05,-1.928568590e-05,-1.107627928e-05,7.015785964e-01,-2.229123329e-05,8.407270800e-01,7.015836124e-01,-1.775281456e-05,8.407295904e-01,7.017758491e-01,-1.752958597e-05,8.295616314e-01
+3,1.600000000e+00,DOWN_FORCE_DETACH,1792669046165035408,3.292696823e-05,-2.709886726e-05,-4.551090744e-05,3.587140679e-05,-2.464329229e-05,-2.982778209e-05,3.691972625e-05,-2.459382050e-05,-2.936388354e-05,7.015707984e-01,-2.554790594e-05,8.406954303e-01,7.015737429e-01,-2.309233097e-05,8.407111134e-01,7.017661007e-01,-2.283772057e-05,8.295433438e-01
+4,2.166666667e+00,DOWN_FORCE_DETACH,1792669047229109705,3.427689456e-05,-2.462908906e-05,-4.891378953e-05,3.167954171e-05,-2.503107023e-05,-5.036391344e-05,3.273818593e-05,-2.496927139e-05,-4.982806882e-05,7.015721484e-01,-2.307812774e-05,8.406920274e-01,7.015695510e-01,-2.348010891e-05,8.406905773e-01,7.017619191e-01,-2.321317146e-05,8.295228796e-01
+5,2.950000000e+00,DOWN_FORCE_DETACH,1792669048727084547,3.325580513e-05,-2.651523697e-05,-6.331370290e-05,3.167954171e-05,-2.503107023e-05,-5.036391344e-05,3.278061052e-05,-2.496830029e-05,-5.008780878e-05,7.015711273e-01,-2.496427565e-05,8.406776275e-01,7.015695510e-01,-2.348010891e-05,8.406905773e-01,7.017619616e-01,-2.321220036e-05,8.295226198e-01
+6,3.600000000e+00,DOWN_FORCE_DETACH,1792669049957063480,3.234967771e-05,-2.805384065e-05,-7.696437167e-05,3.111490129e-05,-2.630942228e-05,-7.052511739e-05,3.209386661e-05,-2.626591403e-05,-7.014494732e-05,7.015702212e-01,-2.650287933e-05,8.406639768e-01,7.015689864e-01,-2.475846096e-05,8.406704161e-01,7.017612748e-01,-2.450981409e-05,8.295025627e-01
+7,4.316666667e+00,DOWN_FORCE_DETACH,1792669051389119744,3.442366997e-05,-3.485683114e-05,-9.161734299e-05,2.947555629e-05,-3.038487307e-05,-9.283928138e-05,3.034856719e-05,-3.034493463e-05,-9.240668917e-05,7.015722952e-01,-3.330586982e-05,8.406493238e-01,7.015673470e-01,-2.883391175e-05,8.406481019e-01,7.017595295e-01,-2.858883469e-05,8.294803009e-01
+8,4.883333333e+00,DOWN_FORCE_DETACH,1792669052519117324,3.633728164e-05,-2.989938268e-05,-1.088635579e-04,2.947555629e-05,-3.038487307e-05,-9.283928138e-05,3.033862052e-05,-3.034636215e-05,-9.266408381e-05,7.015742088e-01,-2.834842136e-05,8.406320776e-01,7.015673470e-01,-2.883391175e-05,8.406481019e-01,7.017595196e-01,-2.859026221e-05,8.294800436e-01
+9,5.500000000e+00,DOWN_FORCE_DETACH,1792669053717677308,3.937793792e-05,-3.398303212e-05,-1.262438626e-04,3.637874595e-05,-3.326364651e-05,-1.120692348e-04,3.736270454e-05,-3.320127870e-05,-1.118134406e-04,7.015772494e-01,-3.243207079e-05,8.406146973e-01,7.015742502e-01,-3.171268519e-05,8.406288720e-01,7.017665437e-01,-3.144517876e-05,8.294608942e-01
+10,6.200000000e+00,DOWN_FORCE_DETACH,1792669055049119951,4.246049329e-05,-3.924411826e-05,-1.446147767e-04,4.332930736e-05,-4.117856811e-05,-1.295708460e-04,4.435504600e-05,-4.111771381e-05,-1.293536118e-04,7.015803320e-01,-3.769315694e-05,8.405963264e-01,7.015812008e-01,-3.962760679e-05,8.406113703e-01,7.017735360e-01,-3.936161387e-05,8.294433540e-01
+11,6.750000000e+00,DOWN_FORCE_DETACH,1792669056079179218,4.514370594e-05,-4.118953692e-05,-1.610180676e-04,4.414318150e-05,-3.582210887e-05,-1.490094929e-04,4.521247644e-05,-3.574792439e-05,-1.488123219e-04,7.015830152e-01,-3.963857560e-05,8.405799231e-01,7.015820147e-01,-3.427114755e-05,8.405919317e-01,7.017743934e-01,-3.399182446e-05,8.294238953e-01
+12,7.433333333e+00,DOWN_FORCE_DETACH,1792669057377836768,4.853947204e-05,-3.433032320e-05,-1.825245364e-04,4.481575014e-05,-4.068932109e-05,-1.701194952e-04,4.589968677e-05,-4.062724237e-05,-1.700162230e-04,7.015864110e-01,-3.277936188e-05,8.405584167e-01,7.015826872e-01,-3.913835977e-05,8.405708217e-01,7.017750806e-01,-3.887114244e-05,8.294026914e-01
+13,8.016666667e+00,DOWN_FORCE_DETACH,1792669058507552619,5.476011048e-05,-4.086369404e-05,-1.996624275e-04,4.688978429e-05,-4.499221137e-05,-1.930705648e-04,4.793175391e-05,-4.490425656e-05,-1.929437496e-04,7.015926316e-01,-3.931273272e-05,8.405412788e-01,7.015847613e-01,-4.344125005e-05,8.405478706e-01,7.017771127e-01,-4.314815662e-05,8.293797639e-01
+14,8.250000000e+00,DOWN_FORCE_DETACH,1792669058973476395,8.672456319e-05,-3.768197179e-05,-1.915519506e-04,8.025882035e-05,-3.466059534e-05,-1.927306116e-04,8.192651370e-05,-3.459355472e-05,-1.926842463e-04,7.016245960e-01,-3.613101047e-05,8.405493892e-01,7.016181303e-01,-3.310963402e-05,8.405482106e-01,7.018111075e-01,-3.283745479e-05,8.293800234e-01
+15,8.850000000e+00,DOWN_FORCE_DETACH,1792669060171853680,9.527739614e-05,-4.708117925e-05,-2.343705040e-04,9.247674641e-05,-4.874239746e-05,-2.280986768e-04,9.453514940e-05,-4.865323529e-05,-2.277811657e-04,7.016331489e-01,-4.553021793e-05,8.405065707e-01,7.016303482e-01,-4.719143614e-05,8.405128425e-01,7.018237161e-01,-4.689713536e-05,8.293449265e-01
+16,9.433333333e+00,DOWN_FORCE_DETACH,1792669061333682667,9.593746636e-05,-5.072469912e-05,-2.689295294e-04,9.538100483e-05,-4.784855047e-05,-2.497940195e-04,9.759056179e-05,-4.775253311e-05,-2.495815065e-04,7.016338089e-01,-4.917373780e-05,8.404720117e-01,7.016332525e-01,-4.629758915e-05,8.404911472e-01,7.018267715e-01,-4.599643317e-05,8.293231261e-01
+17,1.003333333e+01,DOWN_FORCE_DETACH,1792669062466029373,9.969379080e-05,-4.806956016e-05,-2.931303272e-04,9.642153913e-05,-5.330710291e-05,-2.908817661e-04,9.865181677e-05,-5.321682635e-05,-2.904965306e-04,7.016375653e-01,-4.651859884e-05,8.404478109e-01,7.016342930e-01,-5.175614159e-05,8.404500594e-01,7.018278328e-01,-5.146072642e-05,8.292822111e-01
+18,1.065000000e+01,DOWN_FORCE_DETACH,1792669063629832771,1.071221765e-04,-5.631875964e-05,-3.328659011e-04,1.042931236e-04,-5.865062357e-05,-3.302063285e-04,1.066785930e-04,-5.857801251e-05,-3.296369023e-04,7.016449937e-01,-5.476779831e-05,8.404080753e-01,7.016421646e-01,-5.709966225e-05,8.404107349e-01,7.018358595e-01,-5.682191258e-05,8.292430707e-01
+19,1.116666667e+01,DOWN_FORCE_DETACH,1792669064629656205,1.139382291e-04,-6.388225833e-05,-3.676113628e-04,1.113032063e-04,-5.666670394e-05,-3.493171289e-04,1.138476421e-04,-5.658944045e-05,-3.488785666e-04,7.016518097e-01,-6.233129701e-05,8.403733298e-01,7.016491747e-01,-5.511574262e-05,8.403916241e-01,7.018430286e-01,-5.483334051e-05,8.292238291e-01
+20,1.185000000e+01,DOWN_FORCE_DETACH,1792669065925720783,1.144044510e-04,-6.764044580e-05,-4.223527314e-04,1.116804990e-04,-6.277035962e-05,-4.128924628e-04,1.140635687e-04,-6.270847001e-05,-4.121490593e-04,7.016522759e-01,-6.608948448e-05,8.403185885e-01,7.016495520e-01,-6.121939830e-05,8.403280487e-01,7.018432445e-01,-6.095237008e-05,8.291605586e-01
+21,1.246666667e+01,DOWN_FORCE_DETACH,1792669067122931752,1.144351372e-04,-6.586749004e-05,-4.857164102e-04,1.109668026e-04,-6.496451013e-05,-4.744445988e-04,1.131762636e-04,-6.492211188e-05,-4.734854507e-04,7.016523066e-01,-6.431652872e-05,8.402552248e-01,7.016488383e-01,-6.341354881e-05,8.402664966e-01,7.018423572e-01,-6.316601194e-05,8.290992222e-01
+22,1.305000000e+01,DOWN_FORCE_DETACH,1792669068287921378,1.141477446e-04,-7.012146127e-05,-5.709390854e-04,1.182928377e-04,-7.250542595e-05,-5.632741261e-04,1.202064615e-04,-7.245548663e-05,-5.618205104e-04,7.016520192e-01,-6.857049995e-05,8.401700021e-01,7.016561643e-01,-7.095446463e-05,8.401776671e-01,7.018493874e-01,-7.069938669e-05,8.290108871e-01
+23,1.355000000e+01,DOWN_FORCE_DETACH,1792669069285721068,1.168756610e-04,-6.935886853e-05,-6.617746684e-04,1.161901821e-04,-7.193095137e-05,-6.503588566e-04,1.178041023e-04,-7.185403527e-05,-6.486708588e-04,7.016547471e-01,-6.780790721e-05,8.400791665e-01,7.016540617e-01,-7.037999004e-05,8.400905823e-01,7.018469851e-01,-7.009793534e-05,8.289240368e-01
+24,1.388333333e+01,DOWN_FORCE_DETACH,1792669069951039988,1.254053457e-04,-5.311808315e-05,-7.253117764e-04,1.224730551e-04,-4.400411082e-05,-7.149791339e-04,1.239420680e-04,-4.391859668e-05,-7.132329673e-04,7.016632768e-01,-5.156712183e-05,8.400156294e-01,7.016603445e-01,-4.245314950e-05,8.400259621e-01,7.018531230e-01,-4.216249675e-05,8.288594747e-01
+25,1.435000000e+01,DOWN_FORCE_DETACH,1792669070815799335,1.268035001e-04,-5.688203659e-05,-8.231199370e-04,1.238812205e-04,-5.912725347e-05,-8.243528744e-04,1.250025816e-04,-5.903488946e-05,-8.222370930e-04,7.016646750e-01,-5.533107527e-05,8.399178213e-01,7.016617527e-01,-5.757629215e-05,8.399165883e-01,7.018541835e-01,-5.727878953e-05,8.287504705e-01
+26,1.481666667e+01,DOWN_FORCE_DETACH,1792669071713706258,1.256726225e-04,-6.126648125e-05,-9.255979424e-04,1.223436733e-04,-5.751923294e-05,-9.157890135e-04,1.230898064e-04,-5.742561545e-05,-9.137037558e-04,7.016635441e-01,-5.971551992e-05,8.398153432e-01,7.016602152e-01,-5.596827162e-05,8.398251522e-01,7.018522708e-01,-5.566951551e-05,8.286590039e-01
+27,1.525000000e+01,DOWN_FORCE_DETACH,1792669072527755880,1.215373942e-04,-6.191999885e-05,-1.021120610e-03,1.212523099e-04,-6.559903716e-05,-1.001795396e-03,1.216928725e-04,-6.549352815e-05,-9.997718273e-04,7.016594089e-01,-6.036903753e-05,8.397198206e-01,7.016591238e-01,-6.404807584e-05,8.397391458e-01,7.018508738e-01,-6.373742821e-05,8.285729358e-01
+28,1.573333333e+01,DOWN_FORCE_DETACH,1792669073441648107,1.235078483e-04,-7.197095914e-05,-1.134773733e-03,1.233449354e-04,-7.041818429e-05,-1.128878015e-03,1.233356276e-04,-7.032101159e-05,-1.126570604e-03,7.016613793e-01,-7.041999782e-05,8.396061675e-01,7.016612164e-01,-6.886722297e-05,8.396120632e-01,7.018525166e-01,-6.856491166e-05,8.284461370e-01
+29,1.613333333e+01,DOWN_FORCE_DETACH,1792669074209678580,1.242349454e-04,-6.948716703e-05,-1.242651152e-03,1.239142464e-04,-6.842094755e-05,-1.236167246e-03,1.236052514e-04,-6.832005171e-05,-1.233746171e-03,7.016621064e-01,-6.793620571e-05,8.394982900e-01,7.016617857e-01,-6.686998623e-05,8.395047739e-01,7.018527862e-01,-6.656395177e-05,8.283389615e-01
+30,1.653333333e+01,DOWN_FORCE_DETACH,1792669074973744156,1.205515851e-04,-6.568227403e-05,-1.362581232e-03,1.240149372e-04,-6.660252380e-05,-1.347991237e-03,1.232176346e-04,-6.643871308e-05,-1.345385701e-03,7.016584231e-01,-6.413131271e-05,8.393783600e-01,7.016618864e-01,-6.505156248e-05,8.393929500e-01,7.018523986e-01,-6.468261315e-05,8.282273219e-01
+31,1.691666667e+01,DOWN_FORCE_DETACH,1792669075737702064,1.193381812e-04,-7.346154581e-05,-1.489699093e-03,1.189277363e-04,-7.332065371e-05,-1.489480078e-03,1.175645567e-04,-7.316978428e-05,-1.486189836e-03,7.016572097e-01,-7.191058449e-05,8.392512421e-01,7.016567992e-01,-7.176969239e-05,8.392514611e-01,7.018467455e-01,-7.141368435e-05,8.280865178e-01
+32,1.726666667e+01,DOWN_FORCE_DETACH,1792669076437662221,1.212878553e-04,-7.671764767e-05,-1.612833253e-03,1.172630732e-04,-7.456381275e-05,-1.593439525e-03,1.154054590e-04,-7.438795212e-05,-1.590338945e-03,7.016591593e-01,-7.516668635e-05,8.391281079e-01,7.016551346e-01,-7.301285143e-05,8.391475017e-01,7.018445864e-01,-7.263185219e-05,8.279823687e-01
+33,1.760000000e+01,DOWN_FORCE_DETACH,1792669077102569126,1.180680988e-04,-8.013749560e-05,-1.738965229e-03,1.165097390e-04,-8.145376243e-05,-1.728346394e-03,1.140548606e-04,-8.129305195e-05,-1.725111791e-03,7.016559396e-01,-7.858653428e-05,8.390019760e-01,7.016543812e-01,-7.990280111e-05,8.390125948e-01,7.018432358e-01,-7.953695202e-05,8.278475958e-01
+34,1.793333333e+01,DOWN_FORCE_DETACH,1792669077765638952,1.228810240e-04,-7.116173285e-05,-1.865284211e-03,1.226813916e-04,-7.135493769e-05,-1.865130142e-03,1.197849018e-04,-7.124075553e-05,-1.861686758e-03,7.016607525e-01,-6.961077153e-05,8.388756570e-01,7.016605529e-01,-6.980397637e-05,8.388758110e-01,7.018489659e-01,-6.948465560e-05,8.277110209e-01
+35,1.825000000e+01,DOWN_FORCE_DETACH,1792669078365851073,1.172393010e-04,-7.850538125e-05,-1.993992361e-03,1.178092418e-04,-8.044158009e-05,-1.981747126e-03,1.144760445e-04,-8.028638155e-05,-1.978445057e-03,7.016551108e-01,-7.695441993e-05,8.387469488e-01,7.016556807e-01,-7.889061877e-05,8.387591941e-01,7.018436570e-01,-7.853028162e-05,8.275942626e-01
+36,1.853333333e+01,DOWN_FORCE_DETACH,1792669078929739727,1.157270331e-04,-9.306422905e-05,-2.122943416e-03,1.142528119e-04,-8.808055912e-05,-2.116606771e-03,1.103763257e-04,-8.792677628e-05,-2.112965595e-03,7.016535985e-01,-9.151326773e-05,8.386179978e-01,7.016521243e-01,-8.652959780e-05,8.386243344e-01,7.018395573e-01,-8.617067635e-05,8.274597420e-01
+37,1.883333333e+01,DOWN_FORCE_DETACH,1792669079498171304,1.127100168e-04,-9.506290916e-05,-2.260704037e-03,1.141855865e-04,-9.497930796e-05,-2.251092041e-03,1.097274071e-04,-9.484952905e-05,-2.247458999e-03,7.016505815e-01,-9.351194784e-05,8.384802372e-01,7.016520571e-01,-9.342834664e-05,8.384898491e-01,7.018389084e-01,-9.309342912e-05,8.273252486e-01
+38,1.911666667e+01,DOWN_FORCE_DETACH,1792669080033038197,1.158245076e-04,-9.151331376e-05,-2.388984607e-03,1.157374387e-04,-9.074200304e-05,-2.373105706e-03,1.108307262e-04,-9.058981807e-05,-2.369468068e-03,7.016536960e-01,-8.996235244e-05,8.383519566e-01,7.016536089e-01,-8.919104172e-05,8.383678355e-01,7.018400117e-01,-8.883371813e-05,8.272032396e-01
+39,1.936666667e+01,DOWN_FORCE_DETACH,1792669080493882957,1.103977312e-04,-9.989643389e-05,-2.523305709e-03,1.101487784e-04,-9.991890661e-05,-2.523300879e-03,1.046025414e-04,-9.974435877e-05,-2.519068169e-03,7.016482692e-01,-9.834547257e-05,8.382176355e-01,7.016480203e-01,-9.836794529e-05,8.382176403e-01,7.018337835e-01,-9.798825884e-05,8.270536395e-01
+40,1.965000000e+01,DOWN_FORCE_DETACH,1792669081027818781,1.095781784e-04,-9.722268037e-05,-2.674160600e-03,1.092393730e-04,-9.726332307e-05,-2.673951305e-03,1.031303122e-04,-9.706201057e-05,-2.669669255e-03,7.016474497e-01,-9.567171904e-05,8.380667806e-01,7.016471109e-01,-9.571236174e-05,8.380669899e-01,7.018323113e-01,-9.530591064e-05,8.269030384e-01
+41,1.990000000e+01,DOWN_FORCE_DETACH,1792669081493986486,1.115196151e-04,-1.010875262e-04,-2.805395370e-03,1.105690167e-04,-1.042178046e-04,-2.786660863e-03,1.040728559e-04,-1.039927412e-04,-2.782779620e-03,7.016493911e-01,-9.953656492e-05,8.379355458e-01,7.016484405e-01,-1.026668432e-04,8.379542803e-01,7.018332538e-01,-1.022366412e-04,8.267899280e-01
+42,2.013333333e+01,DOWN_FORCE_DETACH,1792669081957656324,1.196208706e-04,-1.107332470e-04,-2.935989091e-03,1.193121780e-04,-1.105969676e-04,-2.935953445e-03,1.123257876e-04,-1.103520545e-04,-2.931535922e-03,7.016574924e-01,-1.091822857e-04,8.378049521e-01,7.016571837e-01,-1.090460063e-04,8.378049877e-01,7.018415067e-01,-1.085959546e-04,8.266411717e-01
+43,2.030000000e+01,DOWN_FORCE_DETACH,1792669082257656017,1.256589334e-04,-1.063722099e-04,-3.025950513e-03,1.139563438e-04,-1.016148050e-04,-3.028715037e-03,1.065707210e-04,-1.014107657e-04,-3.024326746e-03,7.016635304e-01,-1.048212486e-04,8.377149907e-01,7.016518278e-01,-1.000638436e-04,8.377122262e-01,7.018357517e-01,-9.965466578e-05,8.265483809e-01
+44,2.046666667e+01,DOWN_FORCE_DETACH,1792669082589608989,1.183009649e-04,-9.961394256e-05,-3.136220662e-03,1.191595644e-04,-1.086680154e-04,-3.127033131e-03,1.114529718e-04,-1.084585557e-04,-3.122696315e-03,7.016561724e-01,-9.806298124e-05,8.376047205e-01,7.016570310e-01,-1.071170541e-04,8.376139081e-01,7.018406339e-01,-1.067024557e-04,8.264500113e-01
+45,2.065000000e+01,DOWN_FORCE_DETACH,1792669082924631325,1.122509203e-04,-1.141172872e-04,-3.247207897e-03,1.108509802e-04,-1.079220844e-04,-3.234538741e-03,1.026482628e-04,-1.077005381e-04,-3.230264210e-03,7.016501224e-01,-1.125663259e-04,8.374937333e-01,7.016487225e-01,-1.063711230e-04,8.375064024e-01,7.018318292e-01,-1.059444382e-04,8.263424434e-01
+46,2.083333333e+01,DOWN_FORCE_DETACH,1792669083289973774,1.033502660e-04,-1.130698494e-04,-3.377444659e-03,1.057427597e-04,-1.081315955e-04,-3.364750755e-03,9.698363551e-05,-1.078672224e-04,-3.360225209e-03,7.016412217e-01,-1.115188881e-04,8.373634965e-01,7.016436142e-01,-1.065806342e-04,8.373761904e-01,7.018261646e-01,-1.061111225e-04,8.262124824e-01
+47,2.103333333e+01,DOWN_FORCE_DETACH,1792669083689950244,1.019747199e-04,-1.159249577e-04,-3.515912494e-03,1.036042152e-04,-1.141432692e-04,-3.503357168e-03,9.429554241e-05,-1.138501233e-04,-3.498833438e-03,7.016398462e-01,-1.143739964e-04,8.372250287e-01,7.016414757e-01,-1.125923079e-04,8.372375840e-01,7.018234765e-01,-1.120940233e-04,8.260738742e-01
+48,2.123333333e+01,DOWN_FORCE_DETACH,1792669084087786554,1.054894795e-04,-1.162877668e-04,-3.655470276e-03,1.054829741e-04,-1.095133263e-04,-3.642601229e-03,9.562574752e-05,-1.092609848e-04,-3.638037730e-03,7.016433610e-01,-1.147368055e-04,8.370854709e-01,7.016433545e-01,-1.079623650e-04,8.370983400e-01,7.018248067e-01,-1.075048848e-04,8.259346699e-01
+49,2.141666667e+01,DOWN_FORCE_DETACH,1792669084453839410,1.028967201e-04,-1.183867316e-04,-3.793338207e-03,1.006336818e-04,-1.178583213e-04,-3.773705140e-03,9.026047041e-05,-1.176062122e-04,-3.769130058e-03,7.016407682e-01,-1.168357703e-04,8.369476030e-01,7.016385052e-01,-1.163073599e-04,8.369672360e-01,7.018194414e-01,-1.158501122e-04,8.258035776e-01
+50,2.160000000e+01,DOWN_FORCE_DETACH,1792669084817657048,1.028569989e-04,-1.190358252e-04,-3.937178821e-03,1.025930944e-04,-1.188380493e-04,-3.937459400e-03,9.172392544e-05,-1.185972826e-04,-3.932383520e-03,7.016407285e-01,-1.174848639e-04,8.368037624e-01,7.016404646e-01,-1.172870880e-04,8.368034818e-01,7.018209049e-01,-1.168411826e-04,8.256403241e-01
+51,2.178333333e+01,DOWN_FORCE_DETACH,1792669085187520352,1.015082296e-04,-1.225298725e-04,-4.085436217e-03,1.047556675e-04,-1.239477936e-04,-4.072883578e-03,9.339890090e-05,-1.236648404e-04,-4.068010541e-03,7.016393797e-01,-1.209789112e-04,8.366555050e-01,7.016426271e-01,-1.223968323e-04,8.366680576e-01,7.018225799e-01,-1.219087404e-04,8.255046971e-01
+52,2.195000000e+01,DOWN_FORCE_DETACH,1792669085517887196,1.001555863e-04,-1.269330277e-04,-4.221834541e-03,9.914185657e-05,-1.280380136e-04,-4.209894065e-03,8.716709792e-05,-1.276764614e-04,-4.205125868e-03,7.016380271e-01,-1.253820663e-04,8.365191066e-01,7.016370133e-01,-1.264870523e-04,8.365310471e-01,7.018163481e-01,-1.259203615e-04,8.253675818e-01
+53,2.213333333e+01,DOWN_FORCE_DETACH,1792669085885785010,1.053538460e-04,-1.358786437e-04,-4.373298806e-03,1.050018418e-04,-1.360358644e-04,-4.373271457e-03,9.250774840e-05,-1.356474526e-04,-4.368241574e-03,7.016432253e-01,-1.343276824e-04,8.363676424e-01,7.016428733e-01,-1.344849031e-04,8.363676697e-01,7.018216887e-01,-1.338913527e-04,8.252044661e-01
+54,2.228333333e+01,DOWN_FORCE_DETACH,1792669086183825051,9.989378498e-05,-1.329140332e-04,-4.517755114e-03,9.977849724e-05,-1.327727486e-04,-4.517733331e-03,8.670123321e-05,-1.323318816e-04,-4.513223385e-03,7.016377653e-01,-1.313630719e-04,8.362231861e-01,7.016376500e-01,-1.312217873e-04,8.362232079e-01,7.018158822e-01,-1.305757817e-04,8.250594842e-01
+55,2.243333333e+01,DOWN_FORCE_DETACH,1792669086481639819,9.155632375e-05,-1.419387857e-04,-4.661375735e-03,9.398793364e-05,-1.424322968e-04,-4.642994069e-03,8.030594744e-05,-1.419884063e-04,-4.638459779e-03,7.016294278e-01,-1.403878243e-04,8.360795655e-01,7.016318594e-01,-1.408813355e-04,8.360979471e-01,7.018094869e-01,-1.402323063e-04,8.249342479e-01
+56,2.258333333e+01,DOWN_FORCE_DETACH,1792669086747859943,7.842965525e-05,-1.446052941e-04,-4.795441858e-03,7.810762639e-05,-1.442863335e-04,-4.795255337e-03,6.359477476e-05,-1.438140739e-04,-4.790488526e-03,7.016163011e-01,-1.430543328e-04,8.359454993e-01,7.016159791e-01,-1.427353721e-04,8.359456859e-01,7.017927757e-01,-1.420579740e-04,8.247822191e-01
+57,2.271666667e+01,DOWN_FORCE_DETACH,1792669087015784000,1.071602137e-04,-1.391800526e-04,-4.912574220e-03,1.069638484e-04,-1.391862628e-04,-4.912132756e-03,9.240930952e-05,-1.387288485e-04,-4.907503889e-03,7.016450317e-01,-1.376290913e-04,8.358283670e-01,7.016448353e-01,-1.376353015e-04,8.358288084e-01,7.018215903e-01,-1.369727486e-04,8.246652037e-01
+58,2.290000000e+01,DOWN_SETTLE,1792669087345685321,9.813385002e-05,-1.500583251e-04,-5.069448771e-03,1.008182990e-04,-1.487589216e-04,-5.057909980e-03,8.571514468e-05,-1.483289411e-04,-5.053545378e-03,7.016360053e-01,-1.485073637e-04,8.356714924e-01,7.016386898e-01,-1.472079603e-04,8.356830312e-01,7.018148961e-01,-1.465728412e-04,8.245191623e-01
+59,2.330000000e+01,DOWN_PEAK_HOLD,1792669088113834247,7.329892437e-05,-1.352058878e-04,-5.156417680e-03,7.591937448e-05,-1.479019270e-04,-5.146935526e-03,6.011847842e-05,-1.475386523e-04,-5.144848658e-03,7.016111704e-01,-1.336549265e-04,8.355845235e-01,7.016137909e-01,-1.463509657e-04,8.355940057e-01,7.017892994e-01,-1.457825524e-04,8.244278590e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b0ed296cd571edd7aa4c976f4bb53b08bf9b906
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.2448e-02,7.5079e-04,2.4539e+00,-3.6847e-02,3.5908e-02,-1.9239e-05,3.4417e-04,-1.8193e-06,2.8133e-04,-1.2666e-07,2.2281e-05,-4.5297e-07,4.4453e-04,2.2286e-05
+1,6.3333e-01,DOWN_FORCE_DETACH,1.4940e-04,-1.1588e-03,1.1083e-03,2.4610e+00,-3.6883e-02,3.6721e-02,-6.2893e-05,1.1634e-02,3.5568e-04,7.3514e-03,-3.6135e-05,8.3471e-04,-4.4107e-05,1.3766e-02,8.3666e-04
+2,9.8333e-01,DOWN_FORCE_DETACH,2.9930e-04,-1.8824e-02,7.5784e-03,2.4732e+00,-3.7319e-02,3.5540e-02,-6.3182e-05,-6.0314e-03,6.8258e-03,1.9529e-02,-4.7186e-04,-3.4606e-04,-4.4396e-05,2.1549e-02,5.8684e-04
+3,1.6000e+00,DOWN_FORCE_DETACH,4.5105e-04,-6.2685e-03,1.0349e-02,2.4804e+00,-3.7521e-02,3.6301e-02,-5.6160e-05,6.5242e-03,9.5965e-03,2.6736e-02,-6.7431e-04,4.1458e-04,-3.7374e-05,2.9146e-02,7.9244e-04
+4,2.1667e+00,DOWN_FORCE_DETACH,5.9592e-04,2.3901e-03,1.0901e-02,2.4858e+00,-3.7558e-02,3.6904e-02,-4.8194e-05,1.5183e-02,1.0149e-02,3.2144e-02,-7.1101e-04,1.0175e-03,-2.9408e-05,3.6970e-02,1.2417e-03
+5,2.9500e+00,DOWN_FORCE_DETACH,7.4393e-04,5.9741e-03,1.0724e-02,2.4700e+00,-3.7533e-02,3.7202e-02,-2.3974e-05,1.8767e-02,9.9715e-03,1.6366e-02,-6.8646e-04,1.3163e-03,-5.1883e-06,2.6823e-02,1.4846e-03
+6,3.6000e+00,DOWN_FORCE_DETACH,8.9364e-04,6.4828e-03,1.1368e-02,2.4766e+00,-3.7573e-02,3.7222e-02,-1.9510e-05,1.9275e-02,1.0615e-02,2.2992e-02,-7.2635e-04,1.3360e-03,-7.2422e-07,3.1825e-02,1.5207e-03
+7,4.3167e+00,DOWN_FORCE_DETACH,1.0447e-03,7.6960e-03,1.2820e-02,2.4827e+00,-3.7663e-02,3.7302e-02,-1.3652e-05,2.0489e-02,1.2067e-02,2.9100e-02,-8.1593e-04,1.4156e-03,5.1346e-06,3.7580e-02,1.6339e-03
+8,4.8833e+00,DOWN_FORCE_DETACH,1.1957e-03,7.0248e-03,1.2750e-02,2.4678e+00,-3.7655e-02,3.7266e-02,-1.0174e-05,1.9817e-02,1.1998e-02,1.4143e-02,-8.0814e-04,1.3801e-03,8.6119e-06,2.7142e-02,1.5993e-03
+9,5.5000e+00,DOWN_FORCE_DETACH,1.3427e-03,4.0167e-03,1.3808e-02,2.4686e+00,-3.7721e-02,3.7054e-02,-5.4265e-06,1.6809e-02,1.3056e-02,1.5010e-02,-8.7358e-04,1.1680e-03,1.3360e-05,2.6044e-02,1.4586e-03
+10,6.2000e+00,DOWN_FORCE_DETACH,1.4907e-03,2.5688e-03,1.6670e-02,2.4675e+00,-3.7907e-02,3.6953e-02,1.3091e-06,1.5361e-02,1.5917e-02,1.3820e-02,-1.0602e-03,1.0669e-03,2.0095e-05,2.6083e-02,1.5042e-03
+11,6.7500e+00,DOWN_FORCE_DETACH,1.6404e-03,4.7981e-03,1.5033e-02,2.4677e+00,-3.7791e-02,3.7104e-02,4.1671e-06,1.7591e-02,1.4280e-02,1.4076e-02,-9.4420e-04,1.2184e-03,2.2953e-05,2.6674e-02,1.5416e-03
+12,7.4333e+00,DOWN_FORCE_DETACH,1.7874e-03,7.0280e-03,1.6504e-02,2.4644e+00,-3.7880e-02,3.7265e-02,7.9457e-06,1.9821e-02,1.5751e-02,1.0717e-02,-1.0329e-03,1.3788e-03,2.6732e-05,2.7492e-02,1.7230e-03
+13,8.0167e+00,DOWN_FORCE_DETACH,1.9365e-03,8.0313e-03,1.7925e-02,2.4654e+00,-3.7978e-02,3.7340e-02,1.0739e-05,2.0824e-02,1.7172e-02,1.1762e-02,-1.1311e-03,1.4537e-03,2.9526e-05,2.9443e-02,1.8422e-03
+14,8.2500e+00,DOWN_FORCE_DETACH,2.0863e-03,-9.3203e-03,1.4475e-02,2.4594e+00,-3.7754e-02,3.6140e-02,1.0315e-05,3.4723e-03,1.3723e-02,5.7902e-03,-9.0688e-04,2.5352e-04,2.9102e-05,1.5294e-02,9.4210e-04
+15,8.8500e+00,DOWN_FORCE_DETACH,2.2368e-03,-4.3667e-03,1.8186e-02,2.4683e+00,-3.8007e-02,3.6461e-02,1.2793e-05,8.4259e-03,1.7434e-02,1.4641e-02,-1.1599e-03,5.7492e-04,3.1579e-05,2.4275e-02,1.2950e-03
+16,9.4333e+00,DOWN_FORCE_DETACH,2.3848e-03,3.2409e-03,1.9000e-02,2.4675e+00,-3.8090e-02,3.6976e-02,1.6479e-05,1.6034e-02,1.8247e-02,1.3824e-02,-1.2432e-03,1.0904e-03,3.5265e-05,2.7949e-02,1.6540e-03
+17,1.0033e+01,DOWN_FORCE_DETACH,2.5308e-03,1.0329e-02,2.0879e-02,2.4734e+00,-3.8242e-02,3.7472e-02,1.8899e-05,2.3121e-02,2.0126e-02,1.9720e-02,-1.3955e-03,1.5864e-03,3.7685e-05,3.6449e-02,2.1132e-03
+18,1.0650e+01,DOWN_FORCE_DETACH,2.6827e-03,1.1447e-02,2.2682e-02,2.4781e+00,-3.8394e-02,3.7566e-02,2.0545e-05,2.4240e-02,2.1930e-02,2.4497e-02,-1.5467e-03,1.6799e-03,3.9331e-05,4.0848e-02,2.2838e-03
+19,1.1167e+01,DOWN_FORCE_DETACH,2.8328e-03,1.1791e-02,2.2723e-02,2.4785e+00,-3.8423e-02,3.7591e-02,2.1683e-05,2.4583e-02,2.1971e-02,2.4909e-02,-1.5758e-03,1.7053e-03,4.0469e-05,4.1322e-02,2.3222e-03
+20,1.1850e+01,DOWN_FORCE_DETACH,2.9806e-03,1.6706e-02,2.5192e-02,2.4938e+00,-3.8612e-02,3.7910e-02,2.5542e-05,2.9499e-02,2.4439e-02,4.0118e-02,-1.7649e-03,2.0240e-03,4.4328e-05,5.5470e-02,2.6857e-03
+21,1.2467e+01,DOWN_FORCE_DETACH,3.1308e-03,1.9554e-02,2.5754e-02,2.5041e+00,-3.8658e-02,3.8103e-02,2.9322e-05,3.2347e-02,2.5002e-02,5.0435e-02,-1.8115e-03,2.2174e-03,4.8108e-05,6.4923e-02,2.8637e-03
+22,1.3050e+01,DOWN_FORCE_DETACH,3.2822e-03,1.8656e-02,2.7765e-02,2.5166e+00,-3.8782e-02,3.8040e-02,3.4315e-05,3.1449e-02,2.7012e-02,6.2916e-02,-1.9349e-03,2.1542e-03,5.3101e-05,7.5346e-02,2.8960e-03
+23,1.3550e+01,DOWN_FORCE_DETACH,3.4293e-03,1.8013e-02,3.0135e-02,2.5350e+00,-3.8902e-02,3.7978e-02,3.9267e-05,3.0805e-02,2.9382e-02,8.1364e-02,-2.0549e-03,2.0918e-03,5.8053e-05,9.1828e-02,2.9329e-03
+24,1.3883e+01,DOWN_FORCE_DETACH,3.5790e-03,1.4987e-02,2.1523e-02,2.5421e+00,-3.8306e-02,3.7765e-02,3.7201e-05,2.7780e-02,2.0771e-02,8.8504e-02,-1.4592e-03,1.8793e-03,5.5987e-05,9.5058e-02,2.3799e-03
+25,1.4350e+01,DOWN_FORCE_DETACH,3.7248e-03,1.3247e-02,2.3551e-02,2.5491e+00,-3.8396e-02,3.7632e-02,3.4649e-05,2.6040e-02,2.2799e-02,9.5464e-02,-1.5490e-03,1.7460e-03,5.3436e-05,1.0154e-01,2.3347e-03
+26,1.4817e+01,DOWN_FORCE_DETACH,3.8787e-03,1.4548e-02,2.3802e-02,2.5585e+00,-3.8399e-02,3.7702e-02,3.1309e-05,2.7341e-02,2.3050e-02,1.0486e-01,-1.5518e-03,1.8158e-03,5.0095e-05,1.1079e-01,2.3891e-03
+27,1.5250e+01,DOWN_FORCE_DETACH,4.0269e-03,1.6050e-02,2.5608e-02,2.5612e+00,-3.8509e-02,3.7795e-02,3.1081e-05,2.8843e-02,2.4856e-02,1.0752e-01,-1.6623e-03,1.9086e-03,4.9867e-05,1.1406e-01,2.5315e-03
+28,1.5733e+01,DOWN_FORCE_DETACH,4.1768e-03,1.6955e-02,2.7223e-02,2.5627e+00,-3.8582e-02,3.7858e-02,3.7388e-05,2.9748e-02,2.6470e-02,1.0908e-01,-1.7346e-03,1.9721e-03,5.6174e-05,1.1612e-01,2.6270e-03
+29,1.6133e+01,DOWN_FORCE_DETACH,4.3237e-03,1.7930e-02,2.9262e-02,2.5689e+00,-3.8665e-02,3.7918e-02,4.4824e-05,3.0723e-02,2.8509e-02,1.1522e-01,-1.8178e-03,2.0322e-03,6.3610e-05,1.2261e-01,2.7273e-03
+30,1.6533e+01,DOWN_FORCE_DETACH,4.4747e-03,1.8365e-02,2.8607e-02,2.5780e+00,-3.8576e-02,3.7945e-02,4.7851e-05,3.1158e-02,2.7854e-02,1.2440e-01,-1.7289e-03,2.0589e-03,6.6637e-05,1.3123e-01,2.6894e-03
+31,1.6917e+01,DOWN_FORCE_DETACH,4.6183e-03,1.9049e-02,2.8855e-02,2.5984e+00,-3.8571e-02,3.7977e-02,4.6679e-05,3.1842e-02,2.8103e-02,1.4479e-01,-1.7240e-03,2.0913e-03,6.5466e-05,1.5089e-01,2.7111e-03
+32,1.7267e+01,DOWN_FORCE_DETACH,4.7730e-03,1.8227e-02,3.0588e-02,2.6126e+00,-3.8681e-02,3.7912e-02,4.4547e-05,3.1019e-02,2.9835e-02,1.5898e-01,-1.8340e-03,2.0255e-03,6.3334e-05,1.6470e-01,2.7332e-03
+33,1.7600e+01,DOWN_FORCE_DETACH,4.9226e-03,1.5969e-02,3.2756e-02,2.6167e+00,-3.8821e-02,3.7755e-02,4.2407e-05,2.8762e-02,3.2004e-02,1.6309e-01,-1.9736e-03,1.8686e-03,6.1193e-05,1.6867e-01,2.7185e-03
+34,1.7933e+01,DOWN_FORCE_DETACH,5.0710e-03,1.3916e-02,3.3195e-02,2.6124e+00,-3.8844e-02,3.7617e-02,3.8577e-05,2.6708e-02,3.2442e-02,1.5873e-01,-1.9967e-03,1.7312e-03,5.7363e-05,1.6420e-01,2.6433e-03
+35,1.8250e+01,DOWN_FORCE_DETACH,5.2192e-03,1.4957e-02,3.2227e-02,2.6195e+00,-3.8770e-02,3.7674e-02,3.1401e-05,2.7750e-02,3.1475e-02,1.6589e-01,-1.9229e-03,1.7881e-03,5.0187e-05,1.7112e-01,2.6263e-03
+36,1.8533e+01,DOWN_FORCE_DETACH,5.3659e-03,1.6880e-02,3.5713e-02,2.6269e+00,-3.8982e-02,3.7795e-02,2.4280e-05,2.9673e-02,3.4960e-02,1.7329e-01,-2.1350e-03,1.9085e-03,4.3066e-05,1.7925e-01,2.8640e-03
+37,1.8833e+01,DOWN_FORCE_DETACH,5.5156e-03,1.6109e-02,3.6176e-02,2.6311e+00,-3.9008e-02,3.7741e-02,1.4715e-05,2.8902e-02,3.5423e-02,1.7742e-01,-2.1610e-03,1.8550e-03,3.3501e-05,1.8321e-01,2.8482e-03
+38,1.9117e+01,DOWN_FORCE_DETACH,5.6667e-03,1.4470e-02,3.5833e-02,2.6345e+00,-3.8994e-02,3.7627e-02,5.9227e-06,2.7263e-02,3.5081e-02,1.8087e-01,-2.1474e-03,1.7411e-03,2.4709e-05,1.8625e-01,2.7647e-03
+39,1.9367e+01,DOWN_FORCE_DETACH,5.8118e-03,1.4670e-02,3.7042e-02,2.6406e+00,-3.9073e-02,3.7632e-02,1.6898e-07,2.7462e-02,3.6290e-02,1.8695e-01,-2.2265e-03,1.7459e-03,1.8955e-05,1.9241e-01,2.8294e-03
+40,1.9650e+01,DOWN_FORCE_DETACH,5.9694e-03,1.5406e-02,4.0527e-02,2.6505e+00,-3.9271e-02,3.7672e-02,-3.5285e-06,2.8198e-02,3.9775e-02,1.9689e-01,-2.4244e-03,1.7861e-03,1.5258e-05,2.0284e-01,3.0113e-03
+41,1.9900e+01,DOWN_FORCE_DETACH,6.1109e-03,1.5448e-02,4.3889e-02,2.6552e+00,-3.9441e-02,3.7670e-02,-6.1794e-06,2.8241e-02,4.3137e-02,2.0152e-01,-2.5942e-03,1.7844e-03,1.2607e-05,2.0801e-01,3.1487e-03
+42,2.0133e+01,DOWN_FORCE_DETACH,6.2618e-03,1.5528e-02,4.6241e-02,2.6590e+00,-3.9545e-02,3.7669e-02,-8.1668e-06,2.8321e-02,4.5488e-02,2.0539e-01,-2.6978e-03,1.7833e-03,1.0619e-05,2.1227e-01,3.2339e-03
+43,2.0300e+01,DOWN_FORCE_DETACH,6.4107e-03,1.0844e-02,4.6933e-02,2.6651e+00,-3.9558e-02,3.7358e-02,-9.2039e-06,2.3637e-02,4.6181e-02,2.1143e-01,-2.7111e-03,1.4714e-03,9.5823e-06,2.1770e-01,3.0846e-03
+44,2.0467e+01,DOWN_FORCE_DETACH,6.5619e-03,1.0208e-02,4.5791e-02,2.6699e+00,-3.9459e-02,3.7302e-02,-1.0110e-05,2.3000e-02,4.5039e-02,2.1626e-01,-2.6124e-03,1.4158e-03,8.6760e-06,2.2210e-01,2.9714e-03
+45,2.0650e+01,DOWN_FORCE_DETACH,6.7144e-03,1.1152e-02,4.7239e-02,2.6689e+00,-3.9533e-02,3.7355e-02,-1.0533e-05,2.3944e-02,4.6487e-02,2.1528e-01,-2.6863e-03,1.4689e-03,8.2536e-06,2.2154e-01,3.0617e-03
+46,2.0833e+01,DOWN_FORCE_DETACH,6.8604e-03,1.3951e-02,4.7014e-02,2.6721e+00,-3.9503e-02,3.7533e-02,-1.1633e-05,2.6743e-02,4.6262e-02,2.1849e-01,-2.6561e-03,1.6465e-03,7.1526e-06,2.2493e-01,3.1251e-03
+47,2.1033e+01,DOWN_FORCE_DETACH,7.0068e-03,1.5739e-02,4.9378e-02,2.6776e+00,-3.9631e-02,3.7648e-02,-1.3155e-05,2.8532e-02,4.8626e-02,2.2397e-01,-2.7842e-03,1.7622e-03,5.6315e-06,2.3096e-01,3.2950e-03
+48,2.1233e+01,DOWN_FORCE_DETACH,7.1598e-03,1.5628e-02,4.8738e-02,2.6819e+00,-3.9578e-02,3.7643e-02,-1.5708e-05,2.8421e-02,4.7985e-02,2.2825e-01,-2.7311e-03,1.7570e-03,3.0778e-06,2.3496e-01,3.2474e-03
+49,2.1417e+01,DOWN_FORCE_DETACH,7.3044e-03,1.5876e-02,4.8786e-02,2.6868e+00,-3.9578e-02,3.7659e-02,-1.7820e-05,2.8669e-02,4.8033e-02,2.3315e-01,-2.7309e-03,1.7727e-03,9.6590e-07,2.3977e-01,3.2558e-03
+50,2.1600e+01,DOWN_FORCE_DETACH,7.4522e-03,1.6933e-02,4.9680e-02,2.6925e+00,-3.9632e-02,3.7726e-02,-1.9144e-05,2.9726e-02,4.8927e-02,2.3882e-01,-2.7855e-03,1.8403e-03,-3.5745e-07,2.4559e-01,3.3386e-03
+51,2.1783e+01,DOWN_FORCE_DETACH,7.6087e-03,1.6594e-02,5.1662e-02,2.6959e+00,-3.9744e-02,3.7704e-02,-2.0394e-05,2.9386e-02,5.0909e-02,2.4228e-01,-2.8975e-03,1.8175e-03,-1.6083e-06,2.4931e-01,3.4203e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d67ad1d8689af5be9072ba33d47158b9aff9ea9a
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58b41a0a1850e1a72f522dd0ad20e349ca5470ea
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c6a34748c56d113c167b4a1a940af5f10328e90
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b485c9ef5950d7d44625ba9fc3aee2a6eae64c9
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9d44530e48aafef6ab4d774bb2e43bb0aa59394
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,6.966666667e+00,UP_FORCE_RAMP,1792669035388965793,-5.883662626e-05,-2.068781673e-05,1.002563056e-04,-5.895701876e-05,-2.598245702e-05,8.244058451e-05,-5.993246880e-05,-2.595191341e-05,8.250395039e-05,7.014790349e-01,-1.913685541e-05,8.408411975e-01,7.014789145e-01,-2.443149570e-05,8.408233818e-01,7.016692485e-01,-2.419581327e-05,8.296552116e-01
+58,7.083333333e+00,UP_FORCE_HOLD,1792669035621050652,-5.888273347e-05,-3.019759143e-05,1.029157702e-04,-5.794014692e-05,-2.756616556e-05,1.030810835e-04,-5.885683991e-05,-2.755037364e-05,1.028260133e-04,7.014789887e-01,-2.864663011e-05,8.408438570e-01,7.014799313e-01,-2.601520424e-05,8.408440223e-01,7.016703241e-01,-2.579427349e-05,8.296755336e-01
+59,7.216666667e+00,UP_FORCE_HOLD,1792669035887007056,-5.764767516e-05,-2.683050182e-05,1.065030009e-04,-5.794014692e-05,-2.756616556e-05,1.030810835e-04,-5.885490572e-05,-2.755100257e-05,1.029151764e-04,7.014802238e-01,-2.527954050e-05,8.408474442e-01,7.014799313e-01,-2.601520424e-05,8.408440223e-01,7.016703260e-01,-2.579490243e-05,8.296756228e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff53ab16e3ee32bb91dbef2b5feada13a2d7e100
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.2437e-02,7.5142e-04,2.4539e+00,-3.6847e-02,3.5909e-02,-1.9318e-05,3.4107e-04,-1.7313e-06,2.7800e-04,-1.3039e-07,2.2098e-05,-4.5239e-07,4.4002e-04,2.2103e-05
+1,1.6667e-01,WAIT_W2,2.8917e-05,-9.3450e-03,7.6030e-04,2.4564e+00,-3.6850e-02,3.6114e-02,-2.3821e-05,3.4328e-03,7.1482e-06,2.7027e-03,-3.0659e-06,2.2653e-04,-4.9548e-06,4.3691e-03,2.2660e-04
+2,2.8333e-01,WAIT_W2,6.0171e-05,-7.4452e-03,7.8240e-04,2.4578e+00,-3.6853e-02,3.6242e-02,-2.6913e-05,5.3327e-03,2.9247e-05,4.0975e-03,-5.9977e-06,3.5547e-04,-8.0466e-06,6.7252e-03,3.5562e-04
+3,4.5000e-01,WAIT_W2,8.9474e-05,-3.6020e-03,1.2267e-03,2.4602e+00,-3.6892e-02,3.6582e-02,-6.1425e-05,9.1759e-03,4.7357e-04,6.4974e-03,-4.5031e-05,6.9507e-04,-4.2559e-05,1.1253e-02,6.9782e-04
+4,6.0000e-01,WAIT_W2,1.1895e-04,-1.4430e-03,1.1204e-03,2.4608e+00,-3.6884e-02,3.6705e-02,-6.2641e-05,1.1335e-02,3.6725e-04,7.1421e-03,-3.7014e-05,8.1759e-04,-4.3775e-05,1.3402e-02,8.1960e-04
+5,6.8333e-01,WAIT_W2,1.4854e-04,-3.0495e-03,-1.3222e-02,2.4550e+00,-3.5943e-02,3.6590e-02,-6.8865e-05,9.7284e-03,-1.3975e-02,1.3607e-03,9.0367e-04,7.0255e-04,-4.9999e-05,1.7082e-02,1.1457e-03
+6,8.1667e-01,WAIT_W2,1.7812e-04,-1.5312e-03,-7.7228e-03,2.4582e+00,-3.6261e-02,3.6678e-02,-7.5352e-05,1.1247e-02,-8.4759e-03,4.5791e-03,5.8600e-04,7.9140e-04,-5.6486e-05,1.4809e-02,9.8636e-04
+7,8.8333e-01,WAIT_W2,2.0709e-04,-2.4172e-03,-1.9071e-02,2.4609e+00,-3.5402e-02,3.6607e-02,-1.0516e-04,1.0361e-02,-1.9824e-02,7.2317e-03,1.4450e-03,7.2038e-04,-8.6297e-05,2.3508e-02,1.6170e-03
+8,1.0167e+00,WAIT_W2,2.3403e-04,-1.5233e-03,-1.8548e-02,2.4609e+00,-3.5453e-02,3.6668e-02,-1.0726e-04,1.1255e-02,-1.9302e-02,7.2155e-03,1.3936e-03,7.8108e-04,-8.8396e-05,2.3479e-02,1.6000e-03
+9,1.1500e+00,WAIT_W2,2.6374e-04,-3.6013e-04,-1.8015e-02,2.4616e+00,-3.5501e-02,3.6747e-02,-1.0849e-04,1.2418e-02,-1.8768e-02,7.9679e-03,1.3463e-03,8.5995e-04,-8.9628e-05,2.3873e-02,1.6000e-03
+10,1.2833e+00,WAIT_W2,2.9480e-04,7.3068e-04,-1.7649e-02,2.4624e+00,-3.5534e-02,3.6822e-02,-1.0904e-04,1.3509e-02,-1.8402e-02,8.7800e-03,1.3131e-03,9.3478e-04,-9.0170e-05,2.4458e-02,1.6143e-03
+11,1.4500e+00,WAIT_W2,3.2426e-04,1.8518e-03,-1.7349e-02,2.4633e+00,-3.5561e-02,3.6900e-02,-1.0898e-04,1.4630e-02,-1.8102e-02,9.6154e-03,1.2855e-03,1.0126e-03,-9.0115e-05,2.5183e-02,1.6389e-03
+12,1.5667e+00,WAIT_W2,3.5259e-04,3.4033e-03,-1.6778e-02,2.4644e+00,-3.5614e-02,3.7014e-02,-1.0781e-04,1.6181e-02,-1.7532e-02,1.0699e-02,1.2328e-03,1.1274e-03,-8.8939e-05,2.6147e-02,1.6729e-03
+13,1.7167e+00,UP_FORCE_RAMP,3.8214e-04,3.8761e-03,-1.6730e-02,2.4646e+00,-3.5619e-02,3.7047e-02,-1.0687e-04,1.6654e-02,-1.7483e-02,1.0925e-02,1.2281e-03,1.1602e-03,-8.8006e-05,2.6502e-02,1.6918e-03
+14,1.8833e+00,UP_FORCE_RAMP,4.1260e-04,7.6479e-03,-8.1396e-03,2.4694e+00,-3.6234e-02,3.7315e-02,-5.3212e-05,2.0426e-02,-8.8928e-03,1.5700e-02,6.1313e-04,1.4282e-03,-3.4346e-05,2.7254e-02,1.5546e-03
+15,2.0167e+00,UP_FORCE_RAMP,4.4042e-04,7.6870e-03,-8.3619e-03,2.4690e+00,-3.6220e-02,3.7318e-02,-5.3235e-05,2.0465e-02,-9.1151e-03,1.5374e-02,6.2748e-04,1.4307e-03,-3.4368e-05,2.7171e-02,1.5627e-03
+16,2.1500e+00,UP_FORCE_RAMP,4.7053e-04,7.7828e-03,-7.3184e-03,2.4686e+00,-3.6287e-02,3.7324e-02,-5.3012e-05,2.0561e-02,-8.0716e-03,1.4917e-02,5.6031e-04,1.4372e-03,-3.4146e-05,2.6654e-02,1.5429e-03
+17,2.3167e+00,UP_FORCE_RAMP,4.9987e-04,8.0073e-03,5.1685e-04,2.4675e+00,-3.6854e-02,3.7341e-02,-1.7430e-05,2.0785e-02,-2.3630e-04,1.3869e-02,-7.0706e-06,1.4541e-03,1.4359e-06,2.4988e-02,1.4541e-03
+18,2.4500e+00,UP_FORCE_RAMP,5.2984e-04,8.0625e-03,2.2634e-04,2.4677e+00,-3.6827e-02,3.7346e-02,-2.3850e-05,2.0840e-02,-5.2682e-04,1.4034e-02,1.9640e-05,1.4589e-03,-4.9838e-06,2.5131e-02,1.4590e-03
+19,2.6000e+00,UP_FORCE_RAMP,5.6087e-04,7.9608e-03,6.3866e-04,2.4677e+00,-3.6859e-02,3.7339e-02,-2.8669e-05,2.0739e-02,-1.1450e-04,1.4084e-02,-1.2293e-05,1.4516e-03,-9.8030e-06,2.5069e-02,1.4517e-03
+20,2.7000e+00,UP_FORCE_RAMP,5.8939e-04,1.1259e-02,1.0464e-02,2.4691e+00,-3.7568e-02,3.7572e-02,-1.6119e-05,2.4037e-02,9.7108e-03,1.5403e-02,-7.2090e-04,1.6853e-03,2.7474e-06,3.0155e-02,1.8330e-03
+21,2.7833e+00,UP_FORCE_RAMP,6.1547e-04,1.0935e-02,1.0033e-02,2.4692e+00,-3.7537e-02,3.7551e-02,-1.5637e-05,2.3713e-02,9.2798e-03,1.5574e-02,-6.8989e-04,1.6635e-03,3.2296e-06,2.9849e-02,1.8009e-03
+22,2.9000e+00,UP_FORCE_RAMP,6.4706e-04,1.0532e-02,9.6547e-03,2.4691e+00,-3.7508e-02,3.7523e-02,-1.5360e-05,2.3310e-02,8.9016e-03,1.5398e-02,-6.6124e-04,1.6362e-03,3.5061e-06,2.9321e-02,1.7648e-03
+23,3.0167e+00,UP_FORCE_RAMP,6.7399e-04,1.0186e-02,9.4512e-03,2.4688e+00,-3.7491e-02,3.7499e-02,-1.5417e-05,2.2964e-02,8.6980e-03,1.5113e-02,-6.4427e-04,1.6124e-03,3.4496e-06,2.8834e-02,1.7364e-03
+24,3.1333e+00,UP_FORCE_RAMP,7.0453e-04,9.4838e-03,8.9699e-03,2.4681e+00,-3.7448e-02,3.7448e-02,-1.6373e-05,2.2262e-02,8.2168e-03,1.4471e-02,-6.0105e-04,1.5610e-03,2.4926e-06,2.7794e-02,1.6728e-03
+25,3.2833e+00,UP_FORCE_RAMP,7.3154e-04,8.0589e-03,9.0871e-03,2.4496e+00,-3.7455e-02,3.7362e-02,-1.7423e-05,2.0837e-02,8.3340e-03,-4.0827e-03,-6.0794e-04,1.4748e-03,1.4430e-06,2.2810e-02,1.5952e-03
+26,3.4000e+00,UP_FORCE_RAMP,7.6270e-04,8.1916e-03,9.0595e-03,2.4520e+00,-3.7454e-02,3.7370e-02,-1.8086e-05,2.0969e-02,8.3064e-03,-1.6928e-03,-6.0665e-04,1.4828e-03,7.7980e-07,2.2618e-02,1.6021e-03
+27,3.6000e+00,UP_FORCE_RAMP,7.9012e-04,8.2290e-03,9.0403e-03,2.4561e+00,-3.7453e-02,3.7370e-02,-1.9727e-05,2.1007e-02,8.2871e-03,2.4180e-03,-6.0581e-04,1.4834e-03,-8.6075e-07,2.2712e-02,1.6024e-03
+28,3.8000e+00,UP_FORCE_RAMP,8.2504e-04,8.2283e-03,9.0236e-03,2.4592e+00,-3.7452e-02,3.7368e-02,-2.1731e-05,2.1006e-02,8.2705e-03,5.5070e-03,-6.0476e-04,1.4812e-03,-2.8649e-06,2.3238e-02,1.5999e-03
+29,3.9000e+00,UP_FORCE_RAMP,8.5023e-04,8.2307e-03,9.0154e-03,2.4604e+00,-3.7451e-02,3.7367e-02,-2.2845e-05,2.1009e-02,8.2622e-03,6.7487e-03,-6.0412e-04,1.4803e-03,-3.9791e-06,2.3562e-02,1.5988e-03
+30,4.0333e+00,UP_FORCE_RAMP,8.8368e-04,7.7989e-03,8.9583e-03,2.4621e+00,-3.7444e-02,3.7328e-02,-4.6614e-05,2.0577e-02,8.2051e-03,8.4724e-03,-5.9717e-04,1.4405e-03,-2.7748e-05,2.3717e-02,1.5597e-03
+31,4.1500e+00,UP_FORCE_RAMP,9.0900e-04,1.2122e-02,1.1165e-02,2.4449e+00,-3.7593e-02,3.7627e-02,-4.5758e-05,2.4900e-02,1.0411e-02,-8.7233e-03,-7.4603e-04,1.7397e-03,-2.6892e-05,2.8364e-02,1.8931e-03
+32,4.2167e+00,UP_FORCE_RAMP,9.4153e-04,3.7003e-02,8.6278e-03,2.4581e+00,-3.7433e-02,3.9262e-02,-4.5415e-05,4.9781e-02,7.8746e-03,4.4451e-03,-5.8589e-04,3.3750e-03,-2.6549e-05,5.0595e-02,3.4256e-03
+33,4.3500e+00,UP_FORCE_RAMP,9.6744e-04,3.1079e-02,9.0583e-03,2.4583e+00,-3.7459e-02,3.8914e-02,-4.6408e-05,4.3857e-02,8.3052e-03,4.6744e-03,-6.1223e-04,3.0273e-03,-2.7542e-05,4.4881e-02,3.0887e-03
+34,4.4667e+00,UP_FORCE_RAMP,1.0011e-03,2.8274e-02,9.1384e-03,2.4594e+00,-3.7464e-02,3.8747e-02,-4.7268e-05,4.1052e-02,8.3853e-03,5.7473e-03,-6.1711e-04,2.8604e-03,-2.8402e-05,4.2292e-02,2.9264e-03
+35,4.4833e+00,UP_FORCE_RAMP,1.0362e-03,2.7940e-02,9.1423e-03,2.4596e+00,-3.7464e-02,3.8727e-02,-4.7398e-05,4.0718e-02,8.3891e-03,5.9190e-03,-6.1733e-04,2.8403e-03,-2.8532e-05,4.1993e-02,2.9067e-03
+36,4.5167e+00,UP_FORCE_RAMP,1.0591e-03,5.0703e-02,1.1556e-02,2.4718e+00,-3.7622e-02,4.0226e-02,-4.7236e-05,6.3481e-02,1.0802e-02,1.8164e-02,-7.7472e-04,4.3388e-03,-2.8370e-05,6.6907e-02,4.4075e-03
+37,4.5667e+00,UP_FORCE_RAMP,1.0912e-03,4.7098e-02,1.1267e-02,2.4699e+00,-3.7604e-02,4.0007e-02,-4.7751e-05,5.9875e-02,1.0514e-02,1.6222e-02,-7.5744e-04,4.1201e-03,-2.8885e-05,6.2919e-02,4.1893e-03
+38,4.6000e+00,UP_FORCE_RAMP,1.1199e-03,3.3120e-02,1.0564e-02,2.4525e+00,-3.7562e-02,3.9138e-02,-4.9443e-05,4.5898e-02,9.8105e-03,-1.1830e-03,-7.1511e-04,3.2509e-03,-3.0577e-05,4.6950e-02,3.3288e-03
+39,4.7000e+00,UP_FORCE_RAMP,1.1466e-03,3.2684e-02,1.0595e-02,2.4532e+00,-3.7565e-02,3.9108e-02,-5.0207e-05,4.5462e-02,9.8420e-03,-5.0211e-04,-7.1837e-04,3.2214e-03,-3.1341e-05,4.6518e-02,3.3007e-03
+40,4.8000e+00,UP_FORCE_RAMP,1.1726e-03,3.1139e-02,1.0602e-02,2.4546e+00,-3.7567e-02,3.9006e-02,-5.1168e-05,4.3917e-02,9.8485e-03,9.6154e-04,-7.1990e-04,3.1188e-03,-3.2302e-05,4.5018e-02,3.2010e-03
+41,4.9833e+00,UP_FORCE_RAMP,1.2049e-03,2.7768e-02,1.0607e-02,2.4574e+00,-3.7569e-02,3.8778e-02,-5.3264e-05,4.0546e-02,9.8540e-03,3.7813e-03,-7.2186e-04,2.8913e-03,-3.4397e-05,4.1897e-02,2.9803e-03
+42,5.1000e+00,UP_FORCE_RAMP,1.2334e-03,2.5683e-02,1.0608e-02,2.4590e+00,-3.7570e-02,3.8635e-02,-5.4820e-05,3.8461e-02,9.8545e-03,5.3620e-03,-7.2268e-04,2.7477e-03,-3.5954e-05,4.0064e-02,2.8413e-03
+43,5.2000e+00,UP_FORCE_RAMP,1.2628e-03,2.3895e-02,1.0608e-02,2.4603e+00,-3.7570e-02,3.8509e-02,-5.6515e-05,3.6673e-02,9.8550e-03,6.6209e-03,-7.2328e-04,2.6219e-03,-3.7649e-05,3.8547e-02,2.7201e-03
+44,5.3667e+00,UP_FORCE_RAMP,1.2937e-03,2.3621e-02,1.0956e-02,2.4426e+00,-3.7594e-02,3.8480e-02,-6.0662e-05,3.6398e-02,1.0203e-02,-1.1076e-02,-7.4736e-04,2.5932e-03,-4.1795e-05,3.9391e-02,2.6991e-03
+45,5.5000e+00,UP_FORCE_RAMP,1.3249e-03,2.2132e-02,1.0906e-02,2.4464e+00,-3.7593e-02,3.8379e-02,-6.2603e-05,3.4910e-02,1.0152e-02,-7.2074e-03,-7.4580e-04,2.4924e-03,-4.3737e-05,3.7064e-02,2.6019e-03
+46,5.6667e+00,UP_FORCE_RAMP,1.3516e-03,2.0327e-02,1.0914e-02,2.4510e+00,-3.7595e-02,3.8253e-02,-6.5355e-05,3.3105e-02,1.0161e-02,-2.6073e-03,-7.4784e-04,2.3662e-03,-4.6489e-05,3.4727e-02,2.4820e-03
+47,5.7667e+00,UP_FORCE_RAMP,1.3834e-03,1.9382e-02,1.0928e-02,2.4533e+00,-3.7596e-02,3.8186e-02,-6.7038e-05,3.2160e-02,1.0175e-02,-3.6001e-04,-7.4929e-04,2.2985e-03,-4.8172e-05,3.3733e-02,2.4181e-03
+48,5.9000e+00,UP_FORCE_RAMP,1.4134e-03,1.6666e-02,1.1017e-02,2.4566e+00,-3.7602e-02,3.7941e-02,-8.7488e-05,2.9443e-02,1.0263e-02,2.9299e-03,-7.5513e-04,2.0537e-03,-6.8622e-05,3.1318e-02,2.1893e-03
+49,5.9500e+00,UP_FORCE_RAMP,1.4380e-03,1.6294e-02,1.0993e-02,2.4570e+00,-3.7601e-02,3.7921e-02,-8.7908e-05,2.9071e-02,1.0240e-02,3.3672e-03,-7.5368e-04,2.0336e-03,-6.9041e-05,3.1006e-02,2.1699e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1146cf198c578c21ca28aa4fce2fff276a82760e
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14c58662bde1789887fccb1dfdd7c99f0bb081d3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+30905,1792669120574849076,37660975000000,1792669120572206189,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6760448777524021,-0.0045231671258236465,0.09079130139990356,0.9999999864706627,-7.78363945865007e-05,-6.863072216610987e-05,-8.793667345378791e-05,0.6761,-0.00453,0.09086245925905692,1.0,0.0,0.0,0.0,0.009841653139825102,0.15505097134773974,0.37635710562083907,0.009766087561971993,0.00034345272786535583,-0.00011777544382390111,0.3116779237230467,0.1675104597534613,0.6577074456353943,0.007477690372479044,-0.017479175241210617,0.0013755038304563466,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.002731948657231665,0.2192948237432325,0.85140136115945,-0.03331298468798078,-0.47331029862435015,0.09924227303585047,1.1241334081111165,0.37635710562083907,0.27273204695166653,0.27273204695166653,0.3686900000000019,0,0,-1.5019687434085443e-05,-9.999947678108185e-05
+31017,1792669121507948280,37661908000000,1792669121504206064,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.676043049793583,-0.004531502208259192,0.09078225926346857,0.9999999865962645,-8.10154147597581e-05,-6.958193847191968e-05,-8.273567266040836e-05,0.6761,-0.00453,0.0908469113165897,1.0,0.0,0.0,0.0,0.0007005962183035397,0.16232584096972136,0.43554919477497805,0.010686464204051865,0.00029358311065750056,-0.00015698113447115214,0.30253686680152514,0.17478532937544292,0.7168995347895333,0.008398067014558915,-0.017529044858418472,0.0013362981398090956,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.007576728803997446,0.2916125255532125,0.6574775318626792,-0.04655367196771856,-0.35251431618074136,0.14543641653971037,1.1241334081111165,0.43554919477497805,0.4666558762484373,0.4666558762484373,0.43400000000001543,0,0,-1.6934642067785492e-05,9.999906044744761e-05
+31181,1792669122874916023,37663275000000,1792669122872206271,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6760457912604709,-0.004534007092350754,0.09077328233390819,0.999999987099493,-8.188811926377488e-05,-6.520149728405451e-05,-7.929047099867194e-05,0.6761,-0.00453,0.09082410613889955,1.0,0.0,0.0,0.0,-0.007601298226378117,0.14324026721193256,0.486591033431832,0.00972257210812855,0.0012370319619679562,-0.00019485678513539635,0.2942349723568435,0.15569975561765412,0.7679413734463872,0.007434174918635601,-0.016585596007108017,0.0012984224891448514,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.02079021616912217,0.24519638485116324,0.6831703102497306,-0.025878234342603966,-0.36690245309214414,0.10700442886355321,1.1241334081111165,0.486591033431832,0.4409630978613859,0.4409630978613859,0.5296900000000352,0,0,-2.0016326980647154e-05,-9.999588243403962e-05
+31309,1792669123941872779,37664342000000,1792669123940205851,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6760485058867604,-0.00452887644402193,0.09075979357391387,0.9999999884295634,-7.4254966506734e-05,-5.800267904874662e-05,-7.553559795829899e-05,0.6761,-0.00453,0.09079925371384956,1.0,0.0,0.0,0.0,-0.022189509180359168,0.14551947615976454,0.5467683225244997,0.009710453137455843,0.0012729325330001276,-0.0002445186705571274,0.27964676140286243,0.1579789645654861,0.828118662539055,0.007422055947962893,-0.016549695436075845,0.0012487606037231203,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.13279293550426222,0.22175507061654934,0.5982289138730719,-0.007808667001178342,-0.28374744238572913,0.093971648705408,1.1241334081111165,0.5467683225244997,0.5259044942380446,0.5259044942380446,0.6043800000000507,0,0,-2.1065305814997555e-05,-7.557708211892162e-05
+31464,1792669125232853721,37665633000000,1792669125232206061,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760519549810172,-0.0045305354850616805,0.09074513220170748,0.9999999892116166,-7.380885427240986e-05,-4.860414685515452e-05,-7.217701232097426e-05,0.6761,-0.00453,0.09077101758268262,1.0,0.0,0.0,0.0,-0.025405270923261336,0.15082685583470667,0.6173158299048234,0.010689643223192003,0.0022520158278648422,-0.00027464259468242013,0.27643099965996026,0.16328634424042823,0.8986661699193786,0.008401246033699053,-0.01557061214121113,0.0012186366795978276,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.1270452083610137,0.23502098204717256,0.452506360674142,0.004162919115682301,-0.20099423900998853,0.0995360227266372,1.1241334081111165,0.6173158299048234,0.6716270474369745,0.6716270474369745,0.6947500000000694,0,0,-2.3409091072486337e-05,4.318402166270659e-05
+31604,1792669126399912388,37666800000000,1792669126396206270,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760525391204287,-0.004539031952478951,0.09072779540158266,0.9999999898632129,-7.593390145265706e-05,-4.5534790599382966e-05,-6.22660752306864e-05,0.6761,-0.00453,0.09074445523602558,1.0,0.0,0.0,0.0,-0.03639170064191061,0.15191367720671695,0.6775525625654575,0.010676227911624762,0.002249172598616395,-0.00011612463162959607,0.265444569941311,0.1643731656124385,0.9589029025800128,0.008387830722131812,-0.015573455370459578,0.0013771546426506517,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.12832136092462715,0.36848032456331115,0.3278953352376686,-0.015354125292546528,-0.12496769497685445,0.18154689820924538,1.1241334081111165,0.6775525625654575,0.7962380728734479,0.7962380728734479,0.7764400000000863,0,0,-2.3067101691227936e-05,9.99619234872739e-05
+31748,1792669127599931256,37668000000000,1792669127596205351,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760563554191769,-0.004544047315313492,0.09071274056271346,0.9999999909167824,-7.206721505416485e-05,-3.793976767662052e-05,-5.455447242272837e-05,0.6761,-0.00453,0.09071657383889008,1.0,0.0,0.0,0.0,-0.052837539232100134,0.14354417579893106,0.7378171207457722,0.010227853257643643,0.0032430777817011053,0.0005385106108799396,0.24899873135112147,0.15600366420465261,1.0191674607603274,0.007939456068150693,-0.014579550187374868,0.0020317898851601873,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.1613523242655152,0.16339934450761165,0.3416717475291323,0.055296382280593685,-0.1289621546661681,0.0440321232255864,1.1241334081111165,0.7378171207457722,0.7824616605819842,0.7824616605819842,0.8604400000001037,0,0,-2.2420495622592303e-05,-9.992066482412127e-05
+31903,1792669128891910860,37669292000000,1792669128884205883,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760607392647541,-0.004548810791978031,0.09069760196090827,0.9999999915325727,-7.199460582893398e-05,-3.1063962620451114e-05,-4.7217857125212906e-05,0.6761,-0.00453,0.09068977357110908,1.0,0.0,0.0,0.0,-0.05926985547080085,0.13349958819112573,0.8079726687174065,0.010188403529715432,0.004236307576907482,0.000621289873122408,0.24256641511242075,0.1459590765968473,1.0893230087319616,0.007900006340222481,-0.013586320392168491,0.002114569147402656,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.13265246598625074,0.2824256807733635,0.24015913771613512,0.0272656276678439,-0.07816572859075638,0.1178781477839273,1.1241334081111165,0.8079726687174065,0.8839742703949813,0.8839742703949813,0.9508800000001224,0,0,-2.272738587191648e-05,-9.86947981936936e-05
+32055,1792669130157831351,37670558000000,1792669130156206000,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760631179982713,-0.004556694420206002,0.09067969003381618,0.9999999920642582,-7.269902445122151e-05,-2.4436318038084235e-05,-3.7842651780213996e-05,0.6761,-0.00453,0.09066167092299955,1.0,0.0,0.0,0.0,-0.07977116144946911,0.12222651848431737,0.8728702040350764,0.0095302936581185,0.005255493079185556,0.0002514388489506924,0.2220651091337525,0.13468600689003893,1.1542205440496316,0.007241896468625548,-0.012567134889890417,0.0017447181232309401,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.11469620112866623,0.19656080058193723,0.1583367629061383,0.06525685265625952,-0.037789276839235116,0.05345923740689071,1.1241334081111165,0.8728702040350764,0.9657966452049782,0.9657966452049782,1.0395000000001406,0,0,-2.214436254785313e-05,-9.997741109846742e-05
+32167,1792669131091857676,37671492000000,1792669131084206451,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6760988765976071,-0.004555640846462767,0.09068959295326005,0.9999999930939834,-6.397208141838816e-05,1.214496506513358e-05,-3.18585983842607e-05,0.6761,-0.00453,0.09064008551051779,1.0,0.0,0.0,0.0,-0.08690449444194592,0.14248940104465954,0.9008014691406805,0.011453022568710343,0.006227498751919714,0.0005908219800499178,0.21493177614127568,0.1549488894503811,1.1821518091552357,0.009164625379217393,-0.01159512921715626,0.0020841012543301655,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.16206481261333464,0.16213950964211715,0.3043540217772669,0.09066910626990962,-0.13149059810560443,0.032737973277909976,1.1241334081111165,0.9008014691406805,0.8197793863338496,0.8197793863338496,1.1048800000001542,0,0,-2.256918861106983e-05,-9.999695102370083e-05
+32255,1792669131824874053,37672225000000,1792669131824205875,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761027025727228,-0.004556651908157216,0.09067094378568082,0.9999999932995881,-6.208883453661462e-05,1.8438046561900442e-05,-2.5469655464485737e-05,0.6761,-0.00453,0.0906102858111238,1.0,0.0,0.0,0.0,-0.14482943874802842,0.20633544519229774,0.8564330889937268,0.01616795102925398,0.010194015102390248,0.0007363307606589335,0.15700683183519318,0.2187949335980193,1.137783429008282,0.01387955383976103,-0.007628612866685725,0.0022296100349391812,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.3720781793458945,0.14703549854961814,0.061479565541847726,0.11000403913346898,0.0704496170878878,0.023424305424277272,1.1241334081111165,0.8564330889937268,1.0626538425692689,1.0626538425692689,1.1561900000001648,0,0,-5.740208887869639e-05,-8.154769013061377e-05
+32398,1792669133016830461,37673417000000,1792669133016206015,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761091846519399,-0.00456609916693171,0.09062611897593992,0.9999999930684625,-6.514256913959729e-05,3.102470284615373e-05,-9.99263538403916e-06,0.6761,-0.00453,0.0905520585053651,1.0,0.0,0.0,0.0,-0.1595692691995407,0.20828360345870095,1.030668864849523,0.01647653322831929,0.01116343407961213,0.0006128782098001734,0.1422670013836809,0.2207430918644225,1.3120192048640782,0.01418813603882634,-0.006659193889463843,0.002106157484080421,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.38641864669007014,0.1886339435514519,-0.09265710314950365,0.12001091097197158,0.1653808246664003,0.04353651588123869,1.1241334081111165,1.030668864849523,1.21679051126062,1.21679051126062,1.239630000000182,0,0,-2.9362420041174946e-05,6.092818890935377e-05
+32530,1792669134116916520,37674517000000,1792669134116205992,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761101751192463,-0.0045623373976092195,0.090608891515199,0.9999999935883832,-5.61953460378818e-05,3.274070735809985e-05,-6.018894181360737e-06,0.6761,-0.00453,0.09053106129627271,1.0,0.0,0.0,0.0,-0.17227549794163527,0.19297550951219677,1.0607326065627294,0.01647226887374619,0.01115737816752133,0.0005841106478330241,0.12956077264158633,0.20543499791791833,1.3420829465772846,0.014183871684253242,-0.006665249801554643,0.002077389922113272,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.376480822948194,0.16721133832235516,-0.1476625571701102,0.12291220443525878,0.19602057683628016,0.024523865007075804,1.1241334081111165,1.0607326065627294,1.2717959652812267,1.2717959652812267,1.316630000000198,0,0,-1.9672647659534033e-05,-7.925089337413311e-05
+32698,1792669135516910570,37675917000000,1792669135512206053,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761144472803688,-0.004565802038515448,0.09058312289935415,0.9999999932740188,-5.7545462055856174e-05,3.976912483799312e-05,1.3279679802104766e-06,0.6761,-0.00453,0.09049294338361173,1.0,0.0,0.0,0.0,-0.1729822335930375,0.19603127933142311,1.1110125639374082,0.016787687218742492,0.01122246618499552,0.0005507439151666061,0.1288540369901841,0.20849076773714467,1.3923629039519634,0.01449929002924954,-0.0066001617840804536,0.002044023189446854,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.49320289059409156,0.19581425825179327,-0.2330598106972744,0.12376323781467664,0.2804037764699757,0.04447856876041113,1.1241334081111165,1.1110125639374082,1.3571932188083908,1.3571932188083908,1.4146300000002183,0,0,-3.33653660510547e-05,-6.909475538610657e-05
+32833,1792669136641813525,37677042000000,1792669136636206679,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761198518113917,-0.004567120012849609,0.09055318938824902,0.9999999930336806,-5.508296211594511e-05,4.762243504563797e-05,8.571706060402895e-06,0.6761,-0.00453,0.09045412212008548,1.0,0.0,0.0,0.0,-0.18333399065204609,0.21183052001852157,1.1516668082107129,0.01844247264099985,0.013120056474564934,0.0005665909367148544,0.1185022799311755,0.22429000842424313,1.433017148225268,0.016154075451506898,-0.004702571494511038,0.002059870210995102,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.5366282503430373,0.147932976652019,-0.21952364336947283,0.14760532645715407,0.2777491479100898,0.013748902943330643,1.1241334081111165,1.1516668082107129,1.3436570514805894,1.3436570514805894,1.4933800000002346,0,0,-3.75008862671652e-05,-9.71732097828692e-05
+32985,1792669137907870908,37678308000000,1792669137904205948,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761302804538337,-0.004569272814653028,0.0905169176467764,0.9999999921142428,-5.4858904438756557e-05,6.230996498011725e-05,1.7954040742975398e-05,0.6761,-0.00453,0.0904013755637873,1.0,0.0,0.0,0.0,-0.20271149721903198,0.23753396968794616,1.2322814541515956,0.019423357305847915,0.014072258879405724,0.0005262788529893658,0.09912477336418964,0.24999345809366771,1.5136317941661508,0.017134960116354965,-0.003750369089670249,0.0020195581272696135,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.5149657409638456,0.11301298245580378,-0.3873629468893847,0.15431578648267835,0.3717400960138998,-0.010484065066879447,1.1241334081111165,1.2322814541515956,1.5114963550005012,1.5114963550005012,1.582000000000253,0,0,-4.017877184711439e-05,-7.694688916449195e-05
+33129,1792669139107870968,37679508000000,1792669139104207099,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761327235564504,-0.004571951565691756,0.09047193552572155,0.9999999917947633,-5.333284285279103e-05,6.624649148737986e-05,2.49067878191944e-05,0.6761,-0.00453,0.09034807927495227,1.0,0.0,0.0,0.0,-0.20288721291200945,0.23881903882481634,1.2864123671117567,0.01941078231386652,0.014089595814796785,0.0004828744346676713,0.09894905767121215,0.2512785272305379,1.5677627071263118,0.01712238512437357,-0.0037330321542791882,0.001976153708947919,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.5692001874626654,0.11560440033755881,-0.5157959131605027,0.14970143961838747,0.46548894007383,-0.008737481364626834,1.1241334081111165,1.2864123671117567,1.639929321271619,1.639929321271619,1.6660000000002704,0,0,-4.4331569461182656e-05,9.785589979849902e-05
+33274,1792669140316796147,37680717000000,1792669140316205565,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761300479653851,-0.004578658741782579,0.09041400077535068,0.9999999917356672,-5.4163602118376876e-05,6.137976150139758e-05,3.564209613150028e-05,0.6761,-0.00453,0.09029001852866235,1.0,0.0,0.0,0.0,-0.20846430969899404,0.23124761076440506,1.332575961500665,0.01940070996770358,0.014081696063003777,0.00044542291058526215,0.09337196088422757,0.24370709917012662,1.61392630151522,0.01711231277821063,-0.003740931906072195,0.0019387021848655099,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.5723334164379333,0.22540904361677291,-0.5077022793659076,0.11533805744308682,0.45968372269452157,0.05970950464488092,1.1241334081111165,1.332575961500665,1.6318356874770241,1.6318356874770241,1.750630000000288,0,0,-5.0957820570156305e-05,-9.645248075085817e-05
+33396,1792669141332837329,37681733000000,1792669141328206210,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761339605137688,-0.004565977372965055,0.09036422920672198,0.999999991767345,-4.028627626585566e-05,6.702420174158382e-05,4.2343203233895544e-05,0.6761,-0.00453,0.09023028108527072,1.0,0.0,0.0,0.0,-0.21247827925368734,0.2320678110653467,1.3619889120645885,0.01937093872037257,0.015058130757216919,0.00043535591819602584,0.08935799132953427,0.24452729947106827,1.6433392520791437,0.01708254153087962,-0.0027644972118590536,0.0019286351924762736,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.5832668318861445,0.23003477726183064,-0.6424537425273089,0.11409771087489944,0.5443639231083571,0.06799168131576833,1.1241334081111165,1.3619889120645885,1.7665871506384254,1.7665871506384254,1.8217500000003026,0,0,-6.515673496990259e-05,9.999965719232335e-05
+33540,1792669142532891274,37682933000000,1792669142532206273,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761369654688844,-0.004575920407903948,0.09028385288826658,0.9999999855745643,0.00010872031738506454,7.122226685922127e-05,5.831823866525976e-05,0.6761,-0.00453,0.09014028639860815,1.0,0.0,0.0,0.0,-0.22182366150391683,0.23428075887051156,1.3930873930857033,0.019373610471342173,0.015086910709613318,-0.0006170335630154522,0.08001260907930477,0.24674024727623312,1.6744377331002585,0.017085213281849223,-0.002735717259462655,0.0008762457112647955,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.6332153282662426,0.24496977387778043,-0.5772800787731662,0.0751595355978722,0.5141306536313032,0.022005558225467126,1.1241334081111165,1.3930873930857033,1.7014134868842827,1.7014134868842827,1.90575000000032,0,0,-8.438888025460856e-05,-9.999924085868912e-05
+33676,1792669143666870704,37684067000000,1792669143660206386,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761344269833719,-0.004584121169781946,0.09018178235695481,0.999999985042064,0.00010377526104032015,6.772915430004949e-05,7.747382078333252e-05,0.6761,-0.00453,0.09003562845457624,1.0,0.0,0.0,0.0,-0.22290875684022182,0.23554879928495015,1.4320710252498512,0.01933859984751253,0.01609169040122469,-0.0006331443551011508,0.07892751374299976,0.2480082876906717,1.7134213652644064,0.01705020265801958,-0.0017309375678512826,0.0008601349191790969,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.6239284107979759,0.2785317592364726,-0.6616408143015268,0.07919030203460975,0.5540898722468445,0.07518011428974931,1.1241334081111165,1.4320710252498512,1.7857742224126434,1.7857742224126434,1.9851300000003365,0,0,-9.925186672118803e-05,-9.999714531273014e-05
+33799,1792669144691855838,37685092000000,1792669144684206276,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761349255654033,-0.004586844812199116,0.09008541392536086,0.9999999850483656,9.373318884939517e-05,6.520169236870766e-05,9.115350467132295e-05,0.6761,-0.00453,0.0899321045221607,1.0,0.0,0.0,0.0,-0.2208585040241955,0.2229095275272017,1.4726784379786315,0.01839123643789081,0.01610028517008015,-0.0006803244935589052,0.08097776655902612,0.23536901593292325,1.7540287779931867,0.01610283924839786,-0.0017223427989958232,0.0008129547807213426,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.7115272016886823,0.18460298716692913,-0.801122737845079,0.13824912867257438,0.6561527018357161,0.05161760792528934,1.1241334081111165,1.4726784379786315,1.9252561459561957,1.9252561459561957,2.0568800000003513,0,0,-0.00010261068670161665,9.998951252943584e-05
+33895,1792669145491884266,37685892000000,1792669145488205961,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761364111086883,-0.004588915245701914,0.09000617603180469,0.9999999851014016,8.485419542664002e-05,6.676442883548148e-05,9.788941493824088e-05,0.6761,-0.00453,0.08984735363272724,1.0,0.0,0.0,0.0,-0.2281165703869451,0.21515041521842412,1.4807753846599239,0.018532532575035145,0.01609915071561378,-0.000683422857080686,0.0737197001962765,0.22760990362414568,1.762125724674479,0.016244135385542195,-0.0017234772534621922,0.0008098564171995618,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.7112785420994254,0.11787980481733429,-0.7865432264255001,0.16909784060540736,0.6395283090005435,0.01362113865237112,1.1241334081111165,1.4807753846599239,1.9106766345366166,1.9106766345366166,2.112880000000363,0,0,-0.00011339102721638484,-9.017208787843173e-05
+33991,1792669146291781857,37686692000000,1792669146288205724,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.676146014237971,-0.004579935062744309,0.089917472532059,0.9999999907468412,1.4818761877596384e-05,8.601952505113155e-05,4.8272432006143486e-05,0.6761,-0.00453,0.08974799609256029,1.0,0.0,0.0,0.0,-0.23066598289486068,0.24593160450613202,1.5133667078729005,0.021362453240258757,0.01603624307744199,-0.0006769129858883638,0.07117028768836094,0.2583910929118536,1.7947170478874557,0.019074056050765807,-0.0017863848916339843,0.000816366288391884,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.7712706549842024,0.15058531024110072,-0.9032776094680062,0.11345947938994103,0.7332798323094983,0.047922552625386854,1.1241334081111165,1.5133667078729005,2.027411017579123,2.027411017579123,2.1688800000003745,0,0,-0.00013196034346210783,9.999999025923074e-05
+34095,1792669147157790437,37687558000000,1792669147152205923,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761440141350179,-0.004585182632808324,0.08980413704427646,0.9999999899466361,2.1142234029309964e-05,7.71199080675576e-05,7.179914948230267e-05,0.6761,-0.00453,0.0896353146969317,1.0,0.0,0.0,0.0,-0.23205043520415483,0.23921585864082504,1.5326027933601905,0.019292512712341222,0.01708317698231315,-0.000699817571418028,0.06978583537906677,0.2516753470465466,1.8139531333747456,0.017004115522848272,-0.0007394509867628224,0.0007934617028622198,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.7518640266057943,0.11013027981980299,-0.907473412299472,0.18622986122599333,0.712036621210139,0.013094076584398567,1.1241334081111165,1.5326027933601905,2.0316068204105884,2.0316068204105884,2.229500000000387,0,0,-0.00013125558786400836,-7.343068534192631e-05
+34191,1792669147957793635,37688358000000,1792669147952206345,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761449145452437,-0.004595480948899604,0.08969892135283786,0.9999999889993193,1.5256974684906528e-05,7.759015533632808e-05,8.480105087403544e-05,0.6761,-0.00453,0.0895269161394114,1.0,0.0,0.0,0.0,-0.24406178387139058,0.2397338886943912,1.5464546338883411,0.01926204171164456,0.01809365756578262,-0.0006986926114151171,0.05777448671183102,0.25219337710011275,1.8278049739028963,0.01697364452215161,0.00027102959670664996,0.0007945866628651306,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8044945241895336,0.15475927004730822,-1.0047890921069202,0.19106890579080588,0.7782522257778621,0.041439661373627465,1.1241334081111165,1.5464546338883411,2.128922500218037,2.128922500218037,2.2855000000003987,0,0,-0.00013751063456382694,9.999972658126239e-05
+34290,1792669148782772270,37689183000000,1792669148776205957,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761435502456875,-0.004587862668500221,0.0895854736317787,0.9999999913570254,1.0417449569934174e-05,7.641214717201634e-05,5.273968115596441e-05,0.6761,-0.00453,0.08941382871886898,1.0,0.0,0.0,0.0,-0.23394886699415518,0.24589757078778465,1.5342957043593497,0.02030258808216539,0.017064109160536266,-0.0007075843366758139,0.06788740358906643,0.2583570591935062,1.8156460443739049,0.01801419089267244,-0.0007585188085397081,0.0007856949376044338,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8020144622667457,0.06578184653115547,-1.0834431661361075,0.2503455651451844,0.8136450101070564,-0.0036498709007427507,1.1241334081111165,1.5342957043593497,2.207576574247224,2.207576574247224,2.3432500000004106,0,0,-0.00013881488348102688,9.583267099178556e-05
+34378,1792669149516882365,37689917000000,1792669149516206111,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761382882477426,-0.0045887495950811446,0.0894718680781105,0.9999999911534335,3.690820245182951e-05,6.90990829456676e-05,5.476402821772142e-05,0.6761,-0.00453,0.08930609887810421,1.0,0.0,0.0,0.0,-0.23479710466014148,0.2392459065949887,1.5325871435872618,0.01929228738121452,0.017082910110381874,-0.0007171644773351633,0.06703916592308011,0.25170539500071026,1.813937483601817,0.01700389019172157,-0.0007397178586941005,0.0007761147969450844,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8244032408704182,0.09045903635680826,-1.0149482413846744,0.24370880826647895,0.7732369029926579,0.012383778432475727,1.1241334081111165,1.5325871435872618,2.139081649495791,2.139081649495791,2.3946300000004213,0,0,-0.00015443235916043208,-5.000210942374679e-05
+34474,1792669150316871583,37690717000000,1792669150316205709,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761395059413884,-0.004599656245984741,0.0893409512361135,0.9999999891915993,5.051102341079537e-05,6.778987864475042e-05,7.689495700761066e-05,0.6761,-0.00453,0.08917437437418636,1.0,0.0,0.0,0.0,-0.24067759251293502,0.21805930965822612,1.5753345708818547,0.018263389451588702,0.017095590184653085,-0.001238482046848846,0.061158678070286576,0.23051879806394768,1.8566849108964099,0.01597499226209575,-0.0007270377844228858,0.0002547972274314019,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8120598877080756,0.09766381191726596,-1.0054488649779962,0.2450617751534359,0.7627380595718631,0.01870449757733477,1.1241334081111165,1.5753345708818547,2.1295822730891127,2.1295822730891127,2.450630000000433,0,0,-0.00017155985603953117,-9.986011603591578e-05
+34558,1792669151016802150,37691417000000,1792669151012205596,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761371728637813,-0.004603497759966758,0.08921494310990441,0.9999999879180671,5.437638601802922e-05,6.16863696938518e-05,9.40464281339417e-05,0.6761,-0.00453,0.08905151107421745,1.0,0.0,0.0,0.0,-0.24899830182544228,0.19844303437711783,1.6018097914617464,0.017214017143826664,0.018088153229366834,-0.001177832331199005,0.05283796875777933,0.21090252278283939,1.8831601314763016,0.014925619954333716,0.00026552526029086055,0.0003154469430812428,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8227923810699106,0.10818115266931173,-1.076123266573463,0.24857233776207566,0.8051182334033661,0.023922765335925272,1.1241334081111165,1.6018097914617464,2.2002566746845797,2.2002566746845797,2.499630000000443,0,0,-0.0001774384184125274,-9.943161158177389e-05
+34646,1792669151749823503,37692150000000,1792669151748205486,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761328215797909,-0.004612562297414848,0.0890767982582099,0.9999999877178152,4.2587670434151294e-05,5.371884304306145e-05,0.00010633818771919321,0.6761,-0.00453,0.08891762535002624,1.0,0.0,0.0,0.0,-0.258342929931736,0.1939139992656289,1.6010939844187264,0.016195509856117576,0.018146743678769336,-0.0017212642588238704,0.04349334065148555,0.20637348767135047,1.8824443244332816,0.013907112666624626,0.00032411570969336195,-0.00022798498454362282,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8578447362514555,0.011803855165643678,-1.0364562477636867,0.28963902902111566,0.7838939668162447,-0.03795762237558643,1.1241334081111165,1.6010939844187264,2.1605896558748032,2.1605896558748032,2.5509400000004536,0,0,-0.00018982148692755908,-9.997022240438298e-05
+34722,1792669152382830598,37692783000000,1792669152380206177,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761350724390315,-0.004602577673352739,0.08895501871067109,0.999999991924325,-9.379510604480082e-06,6.11830213122588e-05,6.13422946878084e-05,0.6761,-0.00453,0.08879237971742628,1.0,0.0,0.0,0.0,-0.25028338965133523,0.2263112061651345,1.6119473868271323,0.01823759168008186,0.018104685145860774,-0.001789111046341056,0.05155288093188636,0.23877069457085606,1.8932977268416875,0.01594919449058891,0.00028205717678479915,-0.0002958317720608082,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8299602316312534,0.05684765497482229,-1.1174287302354187,0.2797595586615411,0.8215219571130535,-0.007733625626147496,1.1241334081111165,1.6119473868271323,2.241562138346535,2.241562138346535,2.595250000000463,0,0,-0.00020432952975021757,-9.997835478803836e-05
+34801,1792669153041783769,37693442000000,1792669153036206199,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761330488637132,-0.004612320941255953,0.08881368787148229,0.9999999902283283,2.3545391371807764e-05,5.2415378563353725e-05,8.76609978262406e-05,0.6761,-0.00453,0.08865412836142625,1.0,0.0,0.0,0.0,-0.2720724842481904,0.2041988004096011,1.63147381237801,0.01718394831313831,0.019134155831129106,-0.001804828888126836,0.02976378633503119,0.21665828881532265,1.912824152392565,0.01489555112364536,0.0013115278620531336,-0.00031154961384658825,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.9187590576708623,-0.011686594367700946,-1.2077541504594167,0.3144490368838294,0.8976996569696168,-0.047126467063891474,1.1241334081111165,1.63147381237801,2.331887558570533,2.331887558570533,2.6413800000004724,0,0,-0.00021596056199538972,-6.9105758138164955e-06
+34869,1792669153607878245,37694008000000,1792669153600206601,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761300123600751,-0.004614233743667236,0.08868542427238611,0.999999988315716,5.2577820881145097e-05,4.775552917302292e-05,9.882517084709143e-05,0.6761,-0.00453,0.0885287511402721,1.0,0.0,0.0,0.0,-0.2681873049477197,0.2034500134412291,1.620510826768686,0.016140509709958582,0.02011963287972776,-0.001787904533427657,0.03364896563550191,0.21590950184695065,1.9018611667832412,0.013852112520465632,0.002297004910651789,-0.0002946252591474091,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.8672544659852474,-0.0006438388620915121,-1.177986795596405,0.32455769732102,0.8566470415385437,-0.03941522886752191,1.1241334081111165,1.620510826768686,2.3021202037075215,2.3021202037075215,2.6810000000004806,0,0,-0.00022849826409740282,-9.886888116395482e-05
+34933,1792669154141767160,37694542000000,1792669154136206621,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761296398490836,-0.004618287921939498,0.08855723546998873,0.9999999893263556,3.7740067632956637e-05,4.600039009417021e-05,9.617590459358821e-05,0.6761,-0.00453,0.0884022930962338,1.0,0.0,0.0,0.0,-0.2717501417575867,0.19556316482503136,1.6310699714039425,0.016161979976289216,0.01920377000392143,-0.0018138029238336558,0.0300861288256349,0.20802265323075292,1.9124203114184977,0.013873582786796266,0.001381142034845458,-0.00032052364955340804,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.9705219241894791,0.018624861913543414,-1.2193022573065868,0.34182430886739607,0.9062264587243442,-0.02432416308264908,1.1241334081111165,1.6310699714039425,2.3434356654177035,2.3434356654177035,2.7183800000004883,0,0,-0.0002451098516612334,-9.999982372577704e-05
+35001,1792669154707827920,37695108000000,1792669154700206021,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761279713387871,-0.0046210269903791314,0.08841795420780427,0.9999999898135031,2.738233664838262e-05,4.435257335347569e-05,9.53882328512992e-05,0.6761,-0.00453,0.08825973535017083,1.0,0.0,0.0,0.0,-0.2775180140181694,0.18611580997918262,1.6375229180264192,0.016132633751797618,0.020166292306895095,-0.0018047919444524319,0.024318256565052192,0.19857529838490418,1.9188732580409744,0.01384423656230467,0.0023436643378191213,-0.00031151267017218414,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.9672754360619464,-0.00759483890142012,-1.216052452471285,0.3560688874562543,0.9010948598377261,-0.04311104796597664,1.1241334081111165,1.6375229180264192,2.3401858605824017,2.3401858605824017,2.7580000000004965,0,0,-0.0002609071332135545,-9.728213653937274e-05
+35061,1792669155207769896,37695608000000,1792669155204206016,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761288412191129,-0.004626467691142072,0.08828172509846674,0.9999999889122937,3.20704916954688e-05,4.679080774368216e-05,0.0001019822564957176,0.6761,-0.00453,0.08812602943701557,1.0,0.0,0.0,0.0,-0.277564164718319,0.18610980818117662,1.661234715254828,0.016128656250251224,0.020161811120666995,-0.0018152226281957723,0.024272105864902572,0.19856929658689818,1.942585055269383,0.013840259060758274,0.002339183151591024,-0.0003219433539155246,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.9712151130486614,-0.05914782198090238,-1.2831464725002792,0.38906541283862417,0.9391669650076131,-0.06969249660628091,1.1241334081111165,1.661234715254828,2.4072798806113958,2.4072798806113958,2.7930000000005037,0,0,-0.000271776768978277,1.7905913190923188e-05
+35121,1792669155707857265,37696108000000,1792669155704206502,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761281592784365,-0.004625136132787439,0.08814276929507066,0.9999999879052995,5.1986289940628594e-05,4.3173181646614554e-05,0.00010519394946461875,0.6761,-0.00453,0.08798787948162354,1.0,0.0,0.0,0.0,-0.28045438512712273,0.19332044815780292,1.680798608459488,0.015082845373497444,0.02110681192154679,-0.001836988486311388,0.021381885456098846,0.20577993656352447,1.962148948474043,0.012794448184004494,0.0032841839524708183,-0.00034370921203114024,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.966977519938576,-0.12368813780513085,-1.4191813703299487,0.42406741307028767,1.02119323027804,-0.11083001058245148,1.1241334081111165,1.680798608459488,2.543314778441065,2.543314778441065,2.828000000000511,0,0,-0.000278877453023492,9.999980984798924e-05
+35181,1792669156207853362,37696608000000,1792669156200206115,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761264620987718,-0.0046289752012923435,0.08799731283537174,0.9999999876377702,4.785144732753366e-05,3.979996052486924e-05,0.00011087617405783013,0.6761,-0.00453,0.08784618921779186,1.0,0.0,0.0,0.0,-0.2839579664413295,0.19192540034788794,1.7203467284417406,0.015075910670507871,0.021051442976253595,-0.0018691678722283311,0.017878304141892138,0.2043848887536095,2.001697068456296,0.012787513481014921,0.003228815007177621,-0.00037588859794808336,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,0.9611131052532297,-0.0513742869350609,-1.2857383461792482,0.4086449869603227,0.9327178590784774,-0.06865073938299174,1.1241334081111165,1.7203467284417406,2.4098717542903647,2.4098717542903647,2.8630000000005182,0,0,-0.00028653569402878185,-9.999999025923074e-05
+35241,1792669156707815745,37697108000000,1792669156704205728,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761286875934773,-0.004627047824546984,0.08785665351889109,0.9999999881333096,3.4777804621160873e-05,4.078381419439245e-05,0.00011092082786842087,0.6761,-0.00453,0.08769987280577078,1.0,0.0,0.0,0.0,-0.28710805564176406,0.19762997356863574,1.7009969460808603,0.016095227119758138,0.021165713134330185,-0.0018415059777994723,0.014728214941457516,0.2100894619743573,1.9823472860954154,0.013806829930265186,0.003343085165254213,-0.0003482267035192245,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.0134490724453344,-0.11349801142995668,-1.2392851107002156,0.4433132785947413,0.9134679032804496,-0.1114549715287364,1.1241334081111165,1.7009969460808603,2.363418518811332,2.363418518811332,2.8980000000005255,0,0,-0.0002979146634760329,-9.999999025923074e-05
+35296,1792669157166844777,37697567000000,1792669157160205969,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761252107836525,-0.004631840231161871,0.08771467646979333,0.9999999886374262,2.2929726861533287e-05,3.896447526033894e-05,0.00011010907832008247,0.6761,-0.00453,0.08755936039420682,1.0,0.0,0.0,0.0,-0.2864185685931008,0.19155557738490667,1.6933389367314489,0.01609668737845621,0.021167708425831055,-0.0018346925384127774,0.015417701990120816,0.20401506579062822,1.974689276746004,0.013808290188963257,0.0033450804567550833,-0.0003414132641325297,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.0006087471072076,-0.03286969538732187,-1.3326947978013168,0.4309465735000937,0.9638802110845546,-0.05785503193106639,1.1241334081111165,1.6933389367314489,2.4568282059124336,2.4568282059124336,2.930130000000532,0,0,-0.0003127162116992307,-9.999999025923074e-05
+35352,1792669157632853088,37698033000000,1792669157632206240,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761223604650546,-0.0046349973668793065,0.08756594818722215,0.999999988474406,1.936182713215169e-05,3.467233406412583e-05,0.00011365298564598763,0.6761,-0.00453,0.08741050059064168,1.0,0.0,0.0,0.0,-0.293431006806196,0.18722931874031912,1.6915851009905507,0.016094066867378964,0.02116710673339027,-0.0018409801478617997,0.008405263777025631,0.19968880714604068,1.9729354410051059,0.013805669677886014,0.0033444787643142973,-0.0003477008735815519,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.0053795445966893,-0.12221426994954868,-1.350940208657983,0.4756166842025285,0.9758469376988395,-0.11235990274719768,1.1241334081111165,1.6915851009905507,2.4750736167690994,2.4750736167690994,2.962750000000539,0,0,-0.0003278631946171658,-9.440148249074127e-05
+35400,1792669158032790975,37698433000000,1792669158032206164,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761161783766076,-0.00463565423216064,0.08742633562613253,0.9999999868682087,6.272564645490096e-05,2.6058409404049995e-05,0.00011442420888951362,0.6761,-0.00453,0.0872760842394232,1.0,0.0,0.0,0.0,-0.295804275326138,0.17970488489372985,1.6909889763158912,0.015075287967350276,0.02118810024874914,-0.0018460132889785773,0.006031995257083565,0.1921643732994514,1.9723393163304463,0.012786890777857326,0.0033654722796731666,-0.0003527340146983295,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.0081648193391448,-0.02166552446666901,-1.3286827284777647,0.46215931241136743,0.9580665232893119,-0.03817217969671975,1.1241334081111165,1.6909889763158912,2.452816136588881,2.452816136588881,2.9907500000005447,0,0,-0.0003444013526268926,-9.999999025923074e-05
+35452,1792669158466778814,37698867000000,1792669158464206210,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761216654323308,-0.00463740726854165,0.08728427933610944,0.9999999878051805,5.1030855415916545e-05,3.356050083149988e-05,0.00011000930791599887,0.6761,-0.00453,0.08712262073677349,1.0,0.0,0.0,0.0,-0.30529716443490873,0.18428920082645858,1.7006882583981606,0.015125966179843811,0.022133290672330913,-0.0018395868066912247,-0.003460893851687141,0.19674868923218014,1.9820385984127158,0.012837568990350861,0.004310662703254939,-0.000346307532410977,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.0458021348026831,-0.08891857852196493,-1.3501319056836816,0.4946853634325112,0.9835862671003698,-0.08473403844851411,1.1241334081111165,1.7006882583981606,2.474265313794798,2.474265313794798,3.021130000000551,0,0,-0.0003619510302546854,-9.999999025923074e-05
+35500,1792669158866807031,37699267000000,1792669158864207096,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761224723839356,-0.00464756213075301,0.08713995627221417,0.9999999874805791,3.632974859722428e-05,3.526256751681626e-05,0.00011797629807884139,0.6761,-0.00453,0.08697467130715476,1.0,0.0,0.0,0.0,-0.30587334346507383,0.1870509557552009,1.7114777162136716,0.016055688385479737,0.02217269684993455,-0.0008924801345412361,-0.004037072881852258,0.19951044416092245,1.9928280562282268,0.013767291195986789,0.004350068880858575,0.0006007991397390117,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.1212432823989158,-0.05447336050765086,-1.3739514638516603,0.4975675347530132,1.0160977573001633,-0.06386205646195647,1.1241334081111165,1.7114777162136716,2.498084871962777,2.498084871962777,3.049130000000557,0,0,-0.00037608920418887124,-9.739783270277342e-05
+35548,1792669159266827343,37699667000000,1792669159264197491,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761214058789784,-0.004644611693696479,0.08698645939480909,0.999999987785367,2.115951462205579e-05,3.425918975117097e-05,0.00011937635032696926,0.6761,-0.00453,0.08682086464148613,1.0,0.0,0.0,0.0,-0.3197266822266958,0.19558710316350533,1.7180390689627114,0.016036170684082807,0.02318741397136374,-0.001456444791611542,-0.0178904116434742,0.2080465915692269,1.9993894089772666,0.013747773494589857,0.005364786002287768,3.683448266870564e-05,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.210893181224858,-0.19328637509546603,-1.3911674090473767,0.5397112181088821,1.050791223773386,-0.16155093732971432,1.1241334081111165,1.7180390689627114,2.515300817158493,2.515300817158493,3.0771300000005626,0,0,-0.000390190535960759,-2.302829735090768e-05
+35592,1792669159632847296,37700033000000,1792669159628197111,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761239375162067,-0.00464877200180538,0.08684067457704221,0.9999999876487267,1.4572639596695158e-06,4.218112360736584e-05,0.00011985007401135794,0.6761,-0.00453,0.08667594037003978,1.0,0.0,0.0,0.0,-0.33263477988696705,0.17897337656679566,1.7176734939624612,0.016027939459266574,0.02318679953616518,-0.0009432054745918409,-0.030798509303745423,0.1914328649725172,1.9990238339770163,0.013739542269773622,0.005364171567089206,0.0005500737996884068,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.1603427598601517,-0.08577441786354796,-1.3500169412009975,0.5300497681662316,1.0075676841427406,-0.08196951842172144,1.1241334081111165,1.7176734939624612,2.474150349312114,2.474150349312114,3.102750000000568,0,0,-0.0004035278720019005,-9.952051269047075e-05
+35636,1792669159999833999,37700400000000,1792669159996205978,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761190757356318,-0.004654544724850632,0.08669087292469828,0.9999999876716951,-3.7828873904399765e-06,3.0224791266604007e-05,0.00012317315436802855,0.6761,-0.00453,0.08652574142148904,1.0,0.0,0.0,0.0,-0.32467759702307253,0.17861928682568212,1.7350346844917628,0.016030607285508675,0.02318702912154236,-0.0017027133578881876,-0.02284132643985094,0.19107877523140368,2.016385024506318,0.013742210096015724,0.005364401152466389,-0.0002094340836079399,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.2071632931080958,-0.202789304325873,-1.3566079865743916,0.5706925257962258,1.0291993766531422,-0.1626822230137527,1.1241334081111165,1.7350346844917628,2.4807413946855084,2.4807413946855084,3.128440000000573,0,0,-0.0004151561755025553,-9.999999025923074e-05
+35680,1792669160366806324,37700767000000,1792669160364205677,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761232664191744,-0.004651000704888605,0.08654663629236603,0.9999999864205281,1.6087063955453584e-05,4.011491889309653e-05,0.0001293592199151298,0.6761,-0.00453,0.08637009717603679,1.0,0.0,0.0,0.0,-0.34017235786674554,0.18762327777548596,1.7412141810906896,0.01703605893011157,0.023569919773139512,-0.0017546648705613751,-0.03833608728352393,0.20008276618120752,2.0225645211052448,0.014747661740618622,0.005747291804063539,-0.0002613855962811273,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.2084503839888616,-0.17414755139162158,-1.3106300041751269,0.5735237699014177,0.9975018529946247,-0.13608831287687795,1.1241334081111165,1.7412141810906896,2.4347634122862436,2.4347634122862436,3.1541300000005785,0,0,-0.00043270891327970427,-9.999999025923074e-05
+35720,1792669160699850837,37701100000000,1792669160696206315,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761203682274419,-0.004659320867426,0.08639737179753224,0.9999999857771599,5.06387684721642e-05,3.793635548413279e-05,0.00012603607678762037,0.6761,-0.00453,0.08622387182658686,1.0,0.0,0.0,0.0,-0.3429981573326739,0.17499362198082438,1.733298949204064,0.016031994418186386,0.02318849128181826,-0.0018423000143144627,-0.04116188674945231,0.18745311038654594,2.014649289218619,0.013743597228693435,0.005365863312742285,-0.00034902074003421486,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.2239150974022874,-0.2515584105807506,-1.4159749824223606,0.6150280798709893,1.0699969487872953,-0.18800523097253544,1.1241334081111165,1.733298949204064,2.540108390533477,2.540108390533477,3.1774400000005834,0,0,-0.00044440765700686836,-1.7418885051575595e-05
+35759,1792669161024818014,37701425000000,1792669161024206202,DOWN_FORCE_DETACH,6,0.052,0.052001431584358215,0.6761070863306278,-0.0046617839091247625,0.08624051441273271,0.9999999874463873,2.5357264662306168e-05,2.2178941101273012e-05,0.00012415793724663491,0.6761,-0.00453,0.08607756221335512,1.0,0.0,0.0,0.0,-0.3334150906048698,0.15617543242748633,1.740594927499236,0.015007820139976251,0.023206693719763815,-0.0018592610280511025,-0.03157882002164821,0.16863492083320789,2.0219452675137912,0.0127194229504833,0.005384065750687841,-0.00036598175377085474,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.2550557937727103,-0.1692212418223793,-1.35377740873814,0.5841478112066255,1.0410508425844036,-0.14027002688683177,1.1241334081111165,1.740594927499236,2.4779108168492563,2.4779108168492563,3.200190000000588,0,0,-0.0004563670753341117,-9.999999025923074e-05
+35795,1792669161324840851,37701725000000,1792669161320205935,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6760941720839598,-0.0046649675496437245,0.08609478094801463,0.9999999861601476,1.9602345664820358e-05,4.7114321113244064e-06,0.0001368068688561145,0.6761,-0.00453,0.08593888571944487,1.0,0.0,0.0,0.0,-0.3416317565242801,0.13166007420787865,1.7399702930506293,0.013094179481316116,0.023239049668314166,-0.0009912704096418173,-0.03979548594105847,0.1441195626136002,2.0213206330651845,0.010805782291823166,0.0054164216992381945,0.0005020088646384305,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.2270813840883024,-0.140853653090093,-1.3460312082731203,0.581314577626757,1.0375420944212985,-0.11518767697642249,1.1241334081111165,1.7399702930506293,2.4701646163842366,2.4701646163842366,3.2211900000005924,0,0,-0.0004673547840769717,-9.999999025923074e-05
+35827,1792669161591812687,37701992000000,1792669161584206076,DOWN_FORCE_DETACH,6,0.052,0.05200209096074104,0.6761280342307283,-0.004655704969161128,0.08599181018707255,0.9999999860865717,5.501310526143649e-06,4.270287082065712e-05,0.00013196939517531493,0.6761,-0.00453,0.0858123565923743,1.0,0.0,0.0,0.0,-0.34266223748765245,0.1544320826624455,1.6953441461429593,0.015003865920708744,0.023602740903450346,-0.0007904798848464466,-0.040825966904430876,0.16689157106816707,1.9766944861575144,0.012715468731215793,0.005780112934374372,0.0007027993894338011,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.3703755580393233,-0.23439693718287985,-1.3348664648762973,0.6134050261102976,1.0586829377179516,-0.1789464764998225,1.1241334081111165,1.6953441461429593,2.458999872987414,2.458999872987414,3.2398800000005963,0,0,-0.0004805769083751895,-9.999999025923074e-05
+35863,1792669161890771200,37702291000000,1792669161888205580,DOWN_SETTLE,6,0.052,0.052001431584358215,0.6761225799540087,-0.004669363004139486,0.08584246673975746,0.9999999816498258,1.4379603473789604e-05,4.12893750958908e-05,0.00016196180683873739,0.6761,-0.00453,0.08566744592220674,1.0,0.0,0.0,0.0,-0.3812784851083691,0.17710741848012118,1.6710679907450707,0.0169809195674059,0.026223457594975946,-0.0017385446496774662,-0.07944221452514749,0.18956690688584274,1.952418330759626,0.01469252237791295,0.008400829625899973,-0.00024526537539721846,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.3662646077859404,-0.19768844011288453,-1.238332600641939,0.6047917685083767,0.9925061628746465,-0.14982965343156657,1.1241334081111165,1.6710679907450707,2.3624660087530556,0.0,0.0,0,0,-0.0004342769054626996,0.002400000009740769
+35967,1792669162757754535,37703158000000,1792669162752206429,DOWN_PEAK_HOLD,6,0.052,0.05200209096074104,0.6760862703122291,-0.004661803348258173,0.08571304307758452,0.9999999750516055,0.00011724815873804404,-2.3771221009633036e-05,0.00016440027672638176,0.6761,-0.00453,0.08562282551535219,1.0,0.0,0.0,0.0,-0.34038229414137716,0.13340839905954127,1.2182303074181233,0.013067281614976991,0.023358458740520817,-0.0014611306795718501,-0.03854602355815555,0.14586788746526283,1.4995806474326785,0.010778884425484041,0.005535830771444843,3.214859470839771e-05,0.3018362705832216,0.012459488405721562,0.2813503400145552,-0.00228839718949295,-0.017822627969075973,0.0014932792742802477,1,1.1264041180400637,-0.08012370499289453,-0.6706813283481493,0.5254398278215224,0.5910682967851548,-0.14660464316621577,1.1241334081111165,1.2182303074181233,1.7948147364592657,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa4d2f712c1b0f238a94ea0cb9498f1c7ccb93ba
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63366331dab368eb9b97e7344a014d2e3dcdd41c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.283333333e+00,DOWN_FORCE_DETACH,1792669119579665100,2.878835676e-05,-2.658232591e-05,-7.092655686e-05,2.890576211e-05,-2.678282704e-05,-7.095368420e-05,2.993294135e-05,-2.675439281e-05,-7.009097953e-05,7.015666598e-01,-2.503136459e-05,8.406700146e-01,7.015667772e-01,-2.523186571e-05,8.406699875e-01,7.017590710e-01,-2.500155162e-05,8.295026041e-01
+5,2.816666667e+00,DOWN_FORCE_DETACH,1792669120577727524,3.266291753e-05,-3.088481091e-05,-7.099196244e-05,2.890576211e-05,-2.678282704e-05,-7.095368420e-05,2.995990139e-05,-2.675493392e-05,-7.045722046e-05,7.015705344e-01,-2.933384959e-05,8.406699492e-01,7.015667772e-01,-2.523186571e-05,8.406699875e-01,7.017590980e-01,-2.500209273e-05,8.295022379e-01
+6,3.300000000e+00,DOWN_FORCE_DETACH,1792669121509628193,3.033707128e-05,-3.806802157e-05,-8.245293180e-05,2.890576211e-05,-2.678282704e-05,-7.095368420e-05,2.997625452e-05,-2.675482598e-05,-7.061865134e-05,7.015682086e-01,-3.651706025e-05,8.406584883e-01,7.015667772e-01,-2.523186571e-05,8.406699875e-01,7.017591143e-01,-2.500198480e-05,8.295020764e-01
+7,4.016666667e+00,DOWN_FORCE_DETACH,1792669122873793774,3.145797789e-05,-3.303700416e-05,-9.462610517e-05,2.925748653e-05,-3.294964505e-05,-9.021530344e-05,3.032137473e-05,-3.286809158e-05,-8.981013111e-05,7.015693295e-01,-3.148604284e-05,8.406463151e-01,7.015671290e-01,-3.139868373e-05,8.406507259e-01,7.017594594e-01,-3.111525039e-05,8.294828849e-01
+8,4.583333333e+00,DOWN_FORCE_DETACH,1792669123937672602,3.470163157e-05,-3.595446083e-05,-1.085093298e-04,2.925748653e-05,-3.294964505e-05,-9.021530344e-05,3.033072323e-05,-3.286889412e-05,-8.999212572e-05,7.015725731e-01,-3.440349951e-05,8.406324319e-01,7.015671290e-01,-3.139868373e-05,8.406507259e-01,7.017594688e-01,-3.111605293e-05,8.294827029e-01
+9,5.250000000e+00,DOWN_FORCE_DETACH,1792669125235667322,3.629366071e-05,-3.804492559e-05,-1.254133909e-04,3.195847335e-05,-3.659423636e-05,-1.095268852e-04,3.300716940e-05,-3.653241430e-05,-1.092722781e-04,7.015741651e-01,-3.649396427e-05,8.406155278e-01,7.015698300e-01,-3.504327504e-05,8.406314143e-01,7.017621452e-01,-3.477957311e-05,8.294634228e-01
+10,5.833333333e+00,DOWN_FORCE_DETACH,1792669126403364537,4.243725288e-05,-3.902125898e-05,-1.338129993e-04,3.821044656e-05,-4.340920113e-05,-1.282244161e-04,3.929014947e-05,-4.337105263e-05,-1.278922818e-04,7.015803087e-01,-3.747029766e-05,8.406071282e-01,7.015760819e-01,-4.185823981e-05,8.406127168e-01,7.017684282e-01,-4.161821144e-05,8.294448028e-01
+11,6.433333333e+00,DOWN_FORCE_DETACH,1792669127597672093,4.304862545e-05,-5.192121771e-05,-1.526123229e-04,4.298451517e-05,-4.861046475e-05,-1.474047130e-04,4.414086306e-05,-4.855887629e-05,-1.470530572e-04,7.015809201e-01,-5.037025639e-05,8.405883289e-01,7.015808560e-01,-4.705950343e-05,8.405935365e-01,7.017732789e-01,-4.680603510e-05,8.294256420e-01
+12,7.116666667e+00,DOWN_FORCE_DETACH,1792669128893723713,4.720956978e-05,-5.037597610e-05,-1.667926878e-04,4.602843181e-05,-5.162939500e-05,-1.668337052e-04,4.725136347e-05,-5.155085631e-05,-1.664507283e-04,7.015850811e-01,-4.882501478e-05,8.405741485e-01,7.015838999e-01,-5.007843367e-05,8.405741075e-01,7.017763894e-01,-4.979801512e-05,8.294062443e-01
+13,7.783333333e+00,DOWN_FORCE_DETACH,1792669130157714120,5.019578565e-05,-6.098463401e-05,-1.852426644e-04,4.676673711e-05,-6.151976601e-05,-1.853775198e-04,4.799344304e-05,-6.146131539e-05,-1.850773464e-04,7.015880673e-01,-5.943367269e-05,8.405556985e-01,7.015846382e-01,-5.996880469e-05,8.405555637e-01,7.017771315e-01,-5.970847420e-05,8.293876177e-01
+14,8.266666667e+00,DOWN_FORCE_DETACH,1792669131089688753,8.917204691e-05,-5.522584509e-05,-1.740316560e-04,8.909722141e-05,-5.533410835e-05,-1.732466133e-04,9.094539456e-05,-5.527974247e-05,-1.734155244e-04,7.016270435e-01,-5.367488377e-05,8.405669095e-01,7.016269687e-01,-5.378314703e-05,8.405676946e-01,7.018200835e-01,-5.352690128e-05,8.293992795e-01
+15,8.650000000e+00,DOWN_FORCE_DETACH,1792669131821761262,8.991226137e-05,-5.848502683e-05,-1.946013392e-04,8.187248494e-05,-6.286916285e-05,-1.915301849e-04,8.380017480e-05,-6.278338527e-05,-1.915119855e-04,7.016277837e-01,-5.693406550e-05,8.405463398e-01,7.016197440e-01,-6.131820153e-05,8.405494110e-01,7.018129382e-01,-6.103054409e-05,8.293811831e-01
+16,9.283333333e+00,DOWN_FORCE_DETACH,1792669133019706801,9.680150351e-05,-7.171264012e-05,-2.353067874e-04,9.828446877e-05,-6.633804073e-05,-2.300989719e-04,1.006459143e-04,-6.622184363e-05,-2.296895820e-04,7.016346730e-01,-7.016167880e-05,8.405056344e-01,7.016361560e-01,-6.478707941e-05,8.405108422e-01,7.018297840e-01,-6.446900244e-05,8.293430055e-01
+17,9.833333333e+00,DOWN_FORCE_DETACH,1792669134119017155,9.725290663e-05,-6.662761142e-05,-2.560411830e-04,9.639429433e-05,-6.611751754e-05,-2.521154901e-04,9.885137702e-05,-6.599346217e-05,-2.517629904e-04,7.016351244e-01,-6.507665009e-05,8.404849000e-01,7.016342658e-01,-6.456655622e-05,8.404888257e-01,7.018279895e-01,-6.424062099e-05,8.293209321e-01
+18,1.053333333e+01,DOWN_FORCE_DETACH,1792669135513731685,9.830723010e-05,-7.122801535e-05,-2.872479986e-04,9.706476418e-05,-6.685071687e-05,-2.757896212e-04,9.959265855e-05,-6.675343912e-05,-2.754679258e-04,7.016361787e-01,-6.967705403e-05,8.404536932e-01,7.016349362e-01,-6.529975555e-05,8.404651516e-01,7.018287307e-01,-6.500059794e-05,8.292972271e-01
+19,1.111666667e+01,DOWN_FORCE_DETACH,1792669136643963528,1.089478616e-04,-6.806766179e-05,-3.065856716e-04,1.029979044e-04,-6.948928051e-05,-2.951440668e-04,1.056146657e-04,-6.939491205e-05,-2.948640919e-04,7.016468193e-01,-6.651670046e-05,8.404343555e-01,7.016408694e-01,-6.793831918e-05,8.404457971e-01,7.018347527e-01,-6.764207087e-05,8.292778310e-01
+20,1.178333333e+01,DOWN_FORCE_DETACH,1792669137908030889,1.173582412e-04,-7.356302846e-05,-3.480150514e-04,1.138144730e-04,-7.359368765e-05,-3.354690834e-04,1.165396294e-04,-7.348986514e-05,-3.349897869e-04,7.016552297e-01,-7.201206714e-05,8.403929261e-01,7.016516860e-01,-7.204272633e-05,8.404054721e-01,7.018456777e-01,-7.173702395e-05,8.292377053e-01
+21,1.241666667e+01,DOWN_FORCE_DETACH,1792669139105791853,1.196320588e-04,-7.470276551e-05,-3.913710221e-04,1.178183734e-04,-7.758182798e-05,-3.749909070e-04,1.206474922e-04,-7.745876790e-05,-3.743800178e-04,7.016575035e-01,-7.315180418e-05,8.403495702e-01,7.016556899e-01,-7.603086666e-05,8.403659503e-01,7.018497856e-01,-7.570592671e-05,8.291983151e-01
+22,1.305000000e+01,DOWN_FORCE_DETACH,1792669140319880178,1.195337650e-04,-7.484612562e-05,-4.460168796e-04,1.169833519e-04,-7.880040804e-05,-4.416732709e-04,1.196140758e-04,-7.869378791e-05,-4.406043341e-04,7.016574052e-01,-7.329516430e-05,8.402949243e-01,7.016548548e-01,-7.724944672e-05,8.402992679e-01,7.018487522e-01,-7.694094672e-05,8.291320907e-01
+23,1.358333333e+01,DOWN_FORCE_DETACH,1792669141335801680,1.196636791e-04,-7.484498828e-05,-5.004408552e-04,1.190927319e-04,-7.952050481e-05,-4.853795655e-04,1.215673614e-04,-7.938342080e-05,-4.843096201e-04,7.016575352e-01,-7.329402696e-05,8.402405003e-01,7.016569642e-01,-7.796954349e-05,8.402555616e-01,7.018507054e-01,-7.763057961e-05,8.290883855e-01
+24,1.418333333e+01,DOWN_FORCE_DETACH,1792669142531805529,1.240952996e-04,-8.060668741e-05,-5.806515392e-04,1.238539803e-04,-7.923423217e-05,-5.718948672e-04,1.261308091e-04,-7.912751961e-05,-5.703204300e-04,7.016619668e-01,-7.905572609e-05,8.401602896e-01,7.016617255e-01,-7.768327085e-05,8.401690463e-01,7.018552689e-01,-7.737467842e-05,8.290023746e-01
+25,1.475000000e+01,DOWN_FORCE_DETACH,1792669143663814725,1.254562561e-04,-8.676318554e-05,-6.786602947e-04,1.234799433e-04,-8.900309175e-05,-6.775793533e-04,1.253584695e-04,-8.886772920e-05,-6.755097244e-04,7.016633277e-01,-8.521222422e-05,8.400622809e-01,7.016613514e-01,-8.745213043e-05,8.400633618e-01,7.018544965e-01,-8.711488802e-05,8.288971853e-01
+26,1.526666667e+01,DOWN_FORCE_DETACH,1792669144693813984,1.220975074e-04,-9.083674111e-05,-7.794674544e-04,1.209641680e-04,-8.621987664e-05,-7.625787934e-04,1.224299802e-04,-8.605107744e-05,-7.606420397e-04,7.016599690e-01,-8.928577979e-05,8.399614737e-01,7.016588356e-01,-8.466891532e-05,8.399783624e-01,7.018515681e-01,-8.429823625e-05,8.288120530e-01
+27,1.570000000e+01,DOWN_FORCE_DETACH,1792669145494384262,1.204008411e-04,-8.878930074e-05,-8.620389742e-04,1.232060997e-04,-9.116729675e-05,-8.477345687e-04,1.243528807e-04,-9.100203189e-05,-8.456226645e-04,7.016582723e-01,-8.723833942e-05,8.398789022e-01,7.016610776e-01,-8.961633542e-05,8.398932066e-01,7.018534910e-01,-8.924919070e-05,8.287270724e-01
+28,1.611666667e+01,DOWN_FORCE_DETACH,1792669146291812038,1.330920254e-04,-8.422527655e-05,-9.474601662e-04,1.291097479e-04,-8.764170451e-05,-9.342444064e-04,1.300844105e-04,-8.747366306e-05,-9.320038106e-04,7.016709635e-01,-8.267431523e-05,8.397934810e-01,7.016669812e-01,-8.609074319e-05,8.398066968e-01,7.018592225e-01,-8.572082188e-05,8.286406913e-01
+29,1.656666667e+01,DOWN_FORCE_DETACH,1792669147157801518,1.307895573e-04,-8.962737006e-05,-1.061063680e-03,1.253740479e-04,-9.241941016e-05,-1.051215609e-03,1.259213434e-04,-9.228275516e-05,-1.048564954e-03,7.016686610e-01,-8.807640874e-05,8.396798775e-01,7.016632455e-01,-9.086844884e-05,8.396897256e-01,7.018550594e-01,-9.052991397e-05,8.285241301e-01
+30,1.698333333e+01,DOWN_FORCE_DETACH,1792669147953821722,1.309377036e-04,-1.008223516e-04,-1.164902775e-03,1.282243492e-04,-9.724134055e-05,-1.160344268e-03,1.284484923e-04,-9.705130136e-05,-1.157460261e-03,7.016688092e-01,-9.927139024e-05,8.395760384e-01,7.016660958e-01,-9.569037923e-05,8.395805969e-01,7.018575866e-01,-9.529846017e-05,8.284152348e-01
+31,1.743333333e+01,DOWN_FORCE_DETACH,1792669148785902272,1.269496661e-04,-9.490214495e-05,-1.284926432e-03,1.282638776e-04,-9.759617146e-05,-1.274017186e-03,1.281192272e-04,-9.739297208e-05,-1.271125068e-03,7.016648211e-01,-9.335118363e-05,8.394560148e-01,7.016661354e-01,-9.604521014e-05,8.394669240e-01,7.018572573e-01,-9.564013089e-05,8.283015700e-01
+32,1.781666667e+01,DOWN_FORCE_DETACH,1792669149517831947,1.251128035e-04,-9.283706714e-05,-1.393355822e-03,1.270389239e-04,-9.580259690e-05,-1.376961343e-03,1.264190914e-04,-9.558673254e-05,-1.374008831e-03,7.016629843e-01,-9.128610582e-05,8.393475854e-01,7.016649104e-01,-9.425163558e-05,8.393639798e-01,7.018555572e-01,-9.383389135e-05,8.281986862e-01
+33,1.821666667e+01,DOWN_FORCE_DETACH,1792669150316109823,1.246288404e-04,-1.013736353e-04,-1.524412523e-03,1.249026195e-04,-9.824892854e-05,-1.515394669e-03,1.236793611e-04,-9.800985816e-05,-1.511829753e-03,7.016625003e-01,-9.982267393e-05,8.392165287e-01,7.016627741e-01,-9.669796722e-05,8.392255465e-01,7.018528174e-01,-9.625701697e-05,8.280608653e-01
+34,1.856666667e+01,DOWN_FORCE_DETACH,1792669151013884327,1.222571943e-04,-1.099357200e-04,-1.650646153e-03,1.247016039e-04,-1.045083309e-04,-1.644335989e-03,1.230191268e-04,-1.042978719e-04,-1.640447861e-03,7.016601287e-01,-1.083847587e-04,8.390902950e-01,7.016625731e-01,-1.029573695e-04,8.390966052e-01,7.018521572e-01,-1.025450307e-04,8.279322472e-01
+35,1.893333333e+01,DOWN_FORCE_DETACH,1792669151746521126,1.199570890e-04,-1.122947967e-04,-1.786436246e-03,1.197518410e-04,-1.091813344e-04,-1.781410152e-03,1.174493514e-04,-1.089777016e-04,-1.777596526e-03,7.016578286e-01,-1.107438353e-04,8.389545049e-01,7.016576233e-01,-1.076303731e-04,8.389595310e-01,7.018465874e-01,-1.072248604e-04,8.277950985e-01
+36,1.925000000e+01,DOWN_FORCE_DETACH,1792669152380442347,1.227859183e-04,-1.056274351e-04,-1.909082336e-03,1.226684408e-04,-1.055523970e-04,-1.909143600e-03,1.199403680e-04,-1.053426822e-04,-1.905126971e-03,7.016606574e-01,-1.040764738e-04,8.388318589e-01,7.016605399e-01,-1.040014356e-04,8.388317976e-01,7.018490784e-01,-1.035898410e-04,8.276675681e-01
+37,1.958333333e+01,DOWN_FORCE_DETACH,1792669153043869105,1.214095537e-04,-1.143777392e-04,-2.049528519e-03,1.213128257e-04,-1.145278305e-04,-2.049360938e-03,1.180519483e-04,-1.142931988e-04,-2.045058688e-03,7.016592810e-01,-1.128267779e-04,8.386914127e-01,7.016591843e-01,-1.129768692e-04,8.386915802e-01,7.018471900e-01,-1.125403576e-04,8.275276364e-01
+38,1.988333333e+01,DOWN_FORCE_DETACH,1792669153610464558,1.211184594e-04,-1.162004898e-04,-2.174641554e-03,1.201543888e-04,-1.212672443e-04,-2.170432666e-03,1.163575052e-04,-1.210048811e-04,-2.166193540e-03,7.016589899e-01,-1.146495285e-04,8.385662996e-01,7.016580259e-01,-1.197162829e-04,8.385705085e-01,7.018454956e-01,-1.192520399e-04,8.274065015e-01
+39,2.016666667e+01,DOWN_FORCE_DETACH,1792669154142629663,1.167176365e-04,-1.225781357e-04,-2.307697228e-03,1.179805321e-04,-1.245395741e-04,-2.294849068e-03,1.136310869e-04,-1.242809606e-04,-2.290506125e-03,7.016545891e-01,-1.210271744e-04,8.384332440e-01,7.016558520e-01,-1.229886127e-04,8.384460921e-01,7.018427692e-01,-1.225281195e-04,8.272821889e-01
+40,2.046666667e+01,DOWN_FORCE_DETACH,1792669154706443684,1.169571282e-04,-1.250472380e-04,-2.445753283e-03,1.167997483e-04,-1.249584018e-04,-2.445561148e-03,1.118562281e-04,-1.246566770e-04,-2.440935962e-03,7.016548286e-01,-1.234962767e-04,8.382951879e-01,7.016546712e-01,-1.234074405e-04,8.382953800e-01,7.018409943e-01,-1.229038358e-04,8.271317591e-01
+41,2.073333333e+01,DOWN_FORCE_DETACH,1792669155206505746,1.143832851e-04,-1.218822266e-04,-2.585674888e-03,1.143508536e-04,-1.220875336e-04,-2.585483792e-03,1.088419770e-04,-1.217982980e-04,-2.580584465e-03,7.016522548e-01,-1.203312652e-04,8.381552663e-01,7.016522223e-01,-1.205365722e-04,8.381554574e-01,7.018379801e-01,-1.200454568e-04,8.269921106e-01
+42,2.100000000e+01,DOWN_FORCE_DETACH,1792669155706426291,1.137578137e-04,-1.276708184e-04,-2.724138894e-03,1.130507210e-04,-1.292516559e-04,-2.720391178e-03,1.069985114e-04,-1.288880003e-04,-2.715559955e-03,7.016516293e-01,-1.261198571e-04,8.380168023e-01,7.016509222e-01,-1.277006946e-04,8.380205500e-01,7.018361366e-01,-1.271351591e-04,8.268571351e-01
+43,2.125000000e+01,DOWN_FORCE_DETACH,1792669156204414808,1.122202134e-04,-1.340647460e-04,-2.869982906e-03,1.118470031e-04,-1.309843408e-04,-2.860843916e-03,1.052016328e-04,-1.306554949e-04,-2.855813464e-03,7.016500917e-01,-1.325137847e-04,8.378709583e-01,7.016497185e-01,-1.294333795e-04,8.378800973e-01,7.018343397e-01,-1.289026537e-04,8.267168816e-01
+44,2.151666667e+01,DOWN_FORCE_DETACH,1792669156704384651,1.141080374e-04,-1.386557550e-04,-3.012629783e-03,1.139809754e-04,-1.388186284e-04,-3.012433641e-03,1.068470700e-04,-1.384494534e-04,-3.007076549e-03,7.016519795e-01,-1.371047937e-04,8.377283114e-01,7.016518525e-01,-1.372676671e-04,8.377285075e-01,7.018359851e-01,-1.366966122e-04,8.265656185e-01
+45,2.176666667e+01,DOWN_FORCE_DETACH,1792669157169875793,1.107224385e-04,-1.346143268e-04,-3.153802214e-03,1.105743481e-04,-1.345211202e-04,-3.153671492e-03,1.028635519e-04,-1.341668801e-04,-3.148355475e-03,7.016485939e-01,-1.330633654e-04,8.375871390e-01,7.016484458e-01,-1.329701589e-04,8.375872697e-01,7.018320016e-01,-1.324140389e-04,8.264243396e-01
+46,2.201666667e+01,DOWN_FORCE_DETACH,1792669157634498886,1.090600996e-04,-1.406788345e-04,-3.300072567e-03,1.089559749e-04,-1.408407924e-04,-3.300029147e-03,1.005840851e-04,-1.404600355e-04,-3.294817240e-03,7.016469316e-01,-1.391278732e-04,8.374408686e-01,7.016468275e-01,-1.392898311e-04,8.374409120e-01,7.018297222e-01,-1.387071943e-04,8.262778778e-01
+47,2.221666667e+01,DOWN_FORCE_DETACH,1792669158034565871,1.078333681e-04,-1.424305821e-04,-3.433627630e-03,1.076884560e-04,-1.422250713e-04,-3.433443709e-03,9.888455737e-05,-1.418444169e-04,-3.428034539e-03,7.016457048e-01,-1.408796208e-04,8.373073136e-01,7.016455599e-01,-1.406741099e-04,8.373074975e-01,7.018280226e-01,-1.400915757e-04,8.261446605e-01
+48,2.243333333e+01,DOWN_FORCE_DETACH,1792669158466352362,1.059810232e-04,-1.425807525e-04,-3.583732424e-03,1.057659216e-04,-1.427258688e-04,-3.583380133e-03,9.631924677e-05,-1.423144332e-04,-3.577792920e-03,7.016438525e-01,-1.410297911e-04,8.371572088e-01,7.016436374e-01,-1.411749075e-04,8.371575611e-01,7.018254573e-01,-1.405615920e-04,8.259949022e-01
+49,2.263333333e+01,DOWN_FORCE_DETACH,1792669158866392902,1.087253746e-04,-1.473817650e-04,-3.726141227e-03,1.087360592e-04,-1.473091017e-04,-3.725779935e-03,9.879874626e-05,-1.469122279e-04,-3.720054906e-03,7.016465969e-01,-1.458308037e-04,8.370148000e-01,7.016466075e-01,-1.457581404e-04,8.370151613e-01,7.018279368e-01,-1.451593867e-04,8.258526402e-01
+50,2.283333333e+01,DOWN_FORCE_DETACH,1792669159266414876,1.078856441e-04,-1.501613365e-04,-3.879271452e-03,1.076825454e-04,-1.499182561e-04,-3.878932011e-03,9.718750501e-05,-1.494720028e-04,-3.872954858e-03,7.016457571e-01,-1.486103752e-04,8.368616697e-01,7.016455540e-01,-1.483672948e-04,8.368620092e-01,7.018263256e-01,-1.477191616e-04,8.256997402e-01
+51,2.301666667e+01,DOWN_FORCE_DETACH,1792669159630398806,1.093401204e-04,-1.561834994e-04,-4.023306351e-03,1.107984142e-04,-1.529893122e-04,-4.005764620e-03,9.992218696e-05,-1.525617391e-04,-4.000004563e-03,7.016472116e-01,-1.546325381e-04,8.367176348e-01,7.016486699e-01,-1.514383509e-04,8.367351766e-01,7.018290603e-01,-1.508088979e-04,8.255726905e-01
+52,2.320000000e+01,DOWN_FORCE_DETACH,1792669159998392715,1.070151723e-04,-1.559522807e-04,-4.171456300e-03,1.036377469e-04,-1.537808131e-04,-4.165026959e-03,9.210019911e-05,-1.533070005e-04,-4.159155114e-03,7.016448867e-01,-1.544013194e-04,8.365694849e-01,7.016415092e-01,-1.522298518e-04,8.365759142e-01,7.018212383e-01,-1.515541593e-04,8.254135400e-01
+53,2.338333333e+01,DOWN_FORCE_DETACH,1792669160362400770,1.106489948e-04,-1.557308252e-04,-4.317295521e-03,1.106830429e-04,-1.557400367e-04,-4.317127856e-03,9.867079678e-05,-1.552092771e-04,-4.311192319e-03,7.016485205e-01,-1.541798639e-04,8.364236457e-01,7.016485545e-01,-1.541890754e-04,8.364238133e-01,7.018278089e-01,-1.534564359e-04,8.252615028e-01
+54,2.355000000e+01,DOWN_FORCE_DETACH,1792669160696395808,1.050743514e-04,-1.635415161e-04,-4.468809967e-03,1.049894802e-04,-1.633738767e-04,-4.468450025e-03,9.235130563e-05,-1.628216942e-04,-4.462177860e-03,7.016429458e-01,-1.619905547e-04,8.362721312e-01,7.016428610e-01,-1.618229153e-04,8.362724912e-01,7.018214894e-01,-1.610688530e-04,8.251105172e-01
+55,2.371666667e+01,DOWN_FORCE_DETACH,1792669161028418623,9.556944433e-05,-1.666162368e-04,-4.623617838e-03,9.535647395e-05,-1.667235815e-04,-4.623606443e-03,8.196690854e-05,-1.661566763e-04,-4.618041048e-03,7.016334409e-01,-1.650652754e-04,8.361173234e-01,7.016332280e-01,-1.651726201e-04,8.361173347e-01,7.018111050e-01,-1.644038351e-04,8.249546540e-01
+56,2.386666667e+01,DOWN_FORCE_DETACH,1792669161326475599,8.138917864e-05,-1.733527443e-04,-4.772524824e-03,8.166235576e-05,-1.679927206e-04,-4.757192107e-03,6.753783428e-05,-1.674138124e-04,-4.751591194e-03,7.016192607e-01,-1.718017830e-04,8.359684164e-01,7.016195338e-01,-1.664417593e-04,8.359837491e-01,7.017966759e-01,-1.656609712e-04,8.248211039e-01
+57,2.401666667e+01,DOWN_FORCE_DETACH,1792669161592484577,1.152404473e-04,-1.595216087e-04,-4.873312768e-03,1.147541440e-04,-1.594344037e-04,-4.873096846e-03,1.005293860e-04,-1.588689908e-04,-4.867837244e-03,7.016531119e-01,-1.579706474e-04,8.358676284e-01,7.016526256e-01,-1.578834424e-04,8.358678443e-01,7.018296675e-01,-1.571161496e-04,8.247048578e-01
+58,2.416666667e+01,DOWN_SETTLE,1792669161894457019,1.082578336e-04,-1.731582473e-04,-5.023423216e-03,1.074080373e-04,-1.713839773e-04,-5.011782395e-03,9.269651364e-05,-1.707676896e-04,-5.006357209e-03,7.016461293e-01,-1.716072860e-04,8.357175180e-01,7.016452795e-01,-1.698330160e-04,8.357291588e-01,7.018218346e-01,-1.690148484e-04,8.245663379e-01
+59,2.463333333e+01,DOWN_PEAK_HOLD,1792669162758555783,7.334809961e-05,-1.660935621e-04,-5.151889621e-03,7.491472188e-05,-1.648388731e-04,-5.147059209e-03,5.926553607e-05,-1.643638676e-04,-5.144227645e-03,7.016112196e-01,-1.645426007e-04,8.355890516e-01,7.016127862e-01,-1.632879118e-04,8.355938820e-01,7.017884036e-01,-1.626110264e-04,8.244284674e-01
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb322963bc5be38c80a0462802157e586cd5f911
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/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,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.6660e-02,2.6883e-04,2.4522e+00,-3.6813e-02,3.5619e-02,-1.8315e-05,3.9560e-04,-2.7943e-06,2.8896e-04,-3.7253e-09,2.5336e-05,-3.0876e-07,4.8990e-04,2.5338e-05
+1,7.5000e-01,DOWN_FORCE_DETACH,1.5298e-04,-2.4144e-03,1.2869e-03,2.4628e+00,-3.6888e-02,3.6585e-02,-3.1252e-05,1.4641e-02,1.0153e-03,1.0898e-02,-7.4774e-05,9.9161e-04,-1.3246e-05,1.8280e-02,9.9452e-04
+2,1.1500e+00,DOWN_FORCE_DETACH,3.0742e-04,-2.3898e-02,8.5573e-03,2.4794e+00,-3.7396e-02,3.5133e-02,-3.1723e-05,-6.8424e-03,8.2857e-03,2.7486e-02,-5.8273e-04,-4.6015e-04,-1.3717e-05,2.9512e-02,7.4263e-04
+3,1.7000e+00,DOWN_FORCE_DETACH,4.6002e-04,-5.4005e-03,1.0980e-02,2.4924e+00,-3.7567e-02,3.6340e-02,-2.6746e-05,1.1655e-02,1.0708e-02,4.0501e-02,-7.5376e-04,7.4615e-04,-8.7400e-06,4.3484e-02,1.0607e-03
+4,2.2833e+00,DOWN_FORCE_DETACH,6.0888e-04,3.5609e-03,1.1254e-02,2.4738e+00,-3.7585e-02,3.7004e-02,-1.6811e-05,2.0616e-02,1.0982e-02,2.1841e-02,-7.7211e-04,1.4105e-03,1.1948e-06,3.1979e-02,1.6080e-03
+5,2.8167e+00,DOWN_FORCE_DETACH,7.6251e-04,8.0648e-03,1.1492e-02,2.4812e+00,-3.7597e-02,3.7317e-02,-1.0468e-05,2.5120e-02,1.1220e-02,2.9267e-02,-7.8390e-04,1.7239e-03,7.5381e-06,4.0168e-02,1.8938e-03
+6,3.3000e+00,DOWN_FORCE_DETACH,9.1730e-04,9.0840e-03,1.1449e-02,2.4714e+00,-3.7590e-02,3.7402e-02,-5.1355e-06,2.6139e-02,1.1177e-02,1.9494e-02,-7.7708e-04,1.8085e-03,1.2870e-05,3.4470e-02,1.9684e-03
+7,4.0167e+00,DOWN_FORCE_DETACH,1.0665e-03,1.0087e-02,1.3656e-02,2.4778e+00,-3.7735e-02,3.7479e-02,1.7514e-05,2.7142e-02,1.3384e-02,2.5867e-02,-9.2215e-04,1.8857e-03,3.5520e-05,3.9812e-02,2.0994e-03
+8,4.5833e+00,DOWN_FORCE_DETACH,1.2202e-03,1.0301e-02,1.3704e-02,2.4670e+00,-3.7738e-02,3.7498e-02,2.0883e-05,2.7356e-02,1.3432e-02,1.5019e-02,-9.2452e-04,1.9046e-03,3.8889e-05,3.3976e-02,2.1175e-03
+9,5.2500e+00,DOWN_FORCE_DETACH,1.3746e-03,9.5563e-03,1.5068e-02,2.4695e+00,-3.7826e-02,3.7443e-02,2.5923e-05,2.6612e-02,1.4796e-02,1.7561e-02,-1.0129e-03,1.8495e-03,4.3929e-05,3.5150e-02,2.1092e-03
+10,5.8333e+00,DOWN_FORCE_DETACH,1.5261e-03,7.2098e-03,1.7612e-02,2.4733e+00,-3.7993e-02,3.7281e-02,3.1273e-05,2.4265e-02,1.7340e-02,2.1396e-02,-1.1802e-03,1.6870e-03,4.9279e-05,3.6705e-02,2.0594e-03
+11,6.4333e+00,DOWN_FORCE_DETACH,1.6807e-03,6.6685e-03,1.9685e-02,2.4765e+00,-3.8126e-02,3.7244e-02,3.6678e-05,2.3724e-02,1.9413e-02,2.4526e-02,-1.3131e-03,1.6507e-03,5.4684e-05,3.9258e-02,2.1100e-03
+12,7.1167e+00,DOWN_FORCE_DETACH,1.8297e-03,8.4943e-03,2.0570e-02,2.4708e+00,-3.8179e-02,3.7371e-02,4.0839e-05,2.5550e-02,2.0298e-02,1.8898e-02,-1.3656e-03,1.7771e-03,5.8844e-05,3.7708e-02,2.2420e-03
+13,7.7833e+00,DOWN_FORCE_DETACH,1.9814e-03,1.0874e-02,2.3730e-02,2.4688e+00,-3.8384e-02,3.7536e-02,4.4406e-05,2.7929e-02,2.3458e-02,1.6826e-02,-1.5710e-03,1.9426e-03,6.2412e-05,4.0168e-02,2.4991e-03
+14,8.2667e+00,DOWN_FORCE_DETACH,2.1505e-03,1.2424e-02,2.4279e-02,2.4577e+00,-3.8431e-02,3.7652e-02,4.6368e-05,2.9479e-02,2.4008e-02,5.7931e-03,-1.6180e-03,2.0583e-03,6.4374e-05,3.8457e-02,2.6189e-03
+15,8.6500e+00,DOWN_FORCE_DETACH,2.2870e-03,-4.5544e-03,2.4969e-02,2.4574e+00,-3.8485e-02,3.6468e-02,4.7567e-05,1.2501e-02,2.4697e-02,5.4717e-03,-1.6719e-03,8.7401e-04,6.5573e-05,2.8216e-02,1.8877e-03
+16,9.2833e+00,DOWN_FORCE_DETACH,2.4439e-03,-8.6738e-04,2.6352e-02,2.4657e+00,-3.8592e-02,3.6711e-02,5.0116e-05,1.6188e-02,2.6081e-02,1.3772e-02,-1.7786e-03,1.1170e-03,6.8121e-05,3.3644e-02,2.1013e-03
+17,9.8333e+00,DOWN_FORCE_DETACH,2.5946e-03,7.6343e-03,2.6674e-02,2.4727e+00,-3.8625e-02,3.7279e-02,5.2112e-05,2.4690e-02,2.6403e-02,2.0777e-02,-1.8117e-03,1.6856e-03,7.0118e-05,4.1693e-02,2.4756e-03
+18,1.0533e+01,DOWN_FORCE_DETACH,2.7481e-03,1.4837e-02,2.6947e-02,2.4698e+00,-3.8666e-02,3.7798e-02,5.2752e-05,3.1892e-02,2.6675e-02,1.7894e-02,-1.8525e-03,2.2048e-03,7.0758e-05,4.5264e-02,2.8806e-03
+19,1.1117e+01,DOWN_FORCE_DETACH,2.8967e-03,1.5445e-02,2.7914e-02,2.4689e+00,-3.8750e-02,3.7854e-02,5.2844e-05,3.2500e-02,2.7643e-02,1.6924e-02,-1.9372e-03,2.2603e-03,7.0850e-05,4.5900e-02,2.9777e-03
+20,1.1783e+01,DOWN_FORCE_DETACH,3.0520e-03,1.4454e-02,2.9441e-02,2.4785e+00,-3.8878e-02,3.7784e-02,5.2923e-05,3.1509e-02,2.9169e-02,2.6522e-02,-2.0652e-03,2.1905e-03,7.0929e-05,5.0469e-02,3.0113e-03
+21,1.2417e+01,DOWN_FORCE_DETACH,3.2029e-03,1.6738e-02,3.0992e-02,2.4861e+00,-3.9005e-02,3.7928e-02,5.3565e-05,3.3793e-02,3.0720e-02,3.4108e-02,-2.1919e-03,2.3344e-03,7.1571e-05,5.7001e-02,3.2030e-03
+22,1.3050e+01,DOWN_FORCE_DETACH,3.3583e-03,2.0637e-02,3.1357e-02,2.5021e+00,-3.9043e-02,3.8183e-02,5.4559e-05,3.7692e-02,3.1086e-02,5.0180e-02,-2.2300e-03,2.5894e-03,7.2564e-05,7.0036e-02,3.4180e-03
+23,1.3583e+01,DOWN_FORCE_DETACH,3.5089e-03,2.1750e-02,3.2760e-02,2.5090e+00,-3.9143e-02,3.8264e-02,5.7362e-05,3.8805e-02,3.2488e-02,5.7040e-02,-2.3295e-03,2.6708e-03,7.5368e-05,7.6255e-02,3.5447e-03
+24,1.4183e+01,DOWN_FORCE_DETACH,3.6621e-03,2.1032e-02,3.4283e-02,2.5272e+00,-3.9225e-02,3.8204e-02,6.1049e-05,3.8087e-02,3.4012e-02,7.5261e-02,-2.4118e-03,2.6107e-03,7.9055e-05,9.0948e-02,3.5551e-03
+25,1.4750e+01,DOWN_FORCE_DETACH,3.8115e-03,2.1778e-02,3.7863e-02,2.5425e+00,-3.9411e-02,3.8236e-02,6.6263e-05,3.8833e-02,3.7591e-02,9.0575e-02,-2.5982e-03,2.6429e-03,8.4268e-05,1.0548e-01,3.7071e-03
+26,1.5267e+01,DOWN_FORCE_DETACH,3.9634e-03,2.0815e-02,3.9054e-02,2.5547e+00,-3.9444e-02,3.8159e-02,6.7019e-05,3.7870e-02,3.8783e-02,1.0276e-01,-2.6308e-03,2.5652e-03,8.5025e-05,1.1618e-01,3.6754e-03
+27,1.5700e+01,DOWN_FORCE_DETACH,4.1173e-03,1.8252e-02,3.9719e-02,2.5588e+00,-3.9462e-02,3.7979e-02,6.3500e-05,3.5307e-02,3.9447e-02,1.0689e-01,-2.6489e-03,2.3854e-03,8.1506e-05,1.1928e-01,3.5656e-03
+28,1.6117e+01,DOWN_FORCE_DETACH,4.2696e-03,1.4367e-02,3.7284e-02,2.5667e+00,-3.9294e-02,3.7703e-02,5.7863e-05,3.1422e-02,3.7013e-02,1.1475e-01,-2.4811e-03,2.1099e-03,7.5868e-05,1.2460e-01,3.2578e-03
+29,1.6567e+01,DOWN_FORCE_DETACH,4.4215e-03,1.6468e-02,3.8897e-02,2.5837e+00,-3.9384e-02,3.7810e-02,5.7300e-05,3.3523e-02,3.8626e-02,1.3176e-01,-2.5703e-03,2.2169e-03,7.5306e-05,1.4134e-01,3.3952e-03
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+54,2.3550e+01,DOWN_FORCE_DETACH,8.2359e-03,1.6527e-02,7.8051e-02,2.7416e+00,-4.1204e-02,3.7657e-02,-7.5549e-06,3.3582e-02,7.7779e-02,2.8970e-01,-4.3910e-03,2.0633e-03,1.0451e-05,3.0183e-01,4.8516e-03
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+56,2.3867e+01,DOWN_FORCE_DETACH,8.5468e-03,2.4264e-02,7.8540e-02,2.7327e+00,-4.1144e-02,3.8159e-02,-2.3594e-06,4.1320e-02,7.8269e-02,2.8080e-01,-4.3309e-03,2.5654e-03,1.5646e-05,2.9441e-01,5.0337e-03
+57,2.4017e+01,DOWN_FORCE_DETACH,8.6865e-03,2.5470e-02,7.9894e-02,2.7322e+00,-4.1197e-02,3.8246e-02,-1.8231e-07,4.2525e-02,7.9622e-02,2.8029e-01,-4.3842e-03,2.6526e-03,1.7823e-05,2.9446e-01,5.1242e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cc1a734f84fbd688fff78baa9cf3c45db1469a31
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:c5e591778d9b3cfdd56953bff52f9f6e9a9002dc68e6723a923316703c1a7f79
+size 22312960
diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25a3f5f38bcecc737a744b0109f5a4199444dc8b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ae2116831b18be49df49917d778eeb9e832cdeb
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52992fc715a7ef227c613c565964983ddea6f8ff
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8db40cb8b4fd58aa54a98164323cce38657f68e0
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,7.833333333e-01,WAIT_W2,1792669095579640156,3.475040181e-06,6.147083659e-05,2.543103287e-06,3.473968812e-06,5.003288257e-05,3.535442991e-06,3.805004698e-06,4.999606166e-05,3.606648754e-06,7.015413465e-01,6.302179791e-05,8.407434843e-01,7.015413455e-01,5.158384389e-05,8.407444766e-01,7.017329431e-01,5.174890277e-05,8.295763017e-01
+7,9.000000000e-01,WAIT_W2,1792669095797649570,2.051900899e-06,6.854692970e-05,-1.542101819e-06,3.473968812e-06,5.003288257e-05,3.535442991e-06,3.839778899e-06,4.999977399e-05,3.629078993e-06,7.015399234e-01,7.009789102e-05,8.407393991e-01,7.015413455e-01,5.158384389e-05,8.407444766e-01,7.017329779e-01,5.175261510e-05,8.295763242e-01
+8,1.100000000e+00,WAIT_W2,1792669096194495617,2.965698097e-06,7.121825145e-05,-3.176879310e-07,4.104431926e-06,7.016005412e-05,2.346044002e-06,4.588533610e-06,7.010112451e-05,2.489450590e-06,7.015408372e-01,7.276921277e-05,8.407406235e-01,7.015419759e-01,7.171101544e-05,8.407432872e-01,7.017337266e-01,7.185396563e-05,8.295751845e-01
+9,1.233333333e+00,WAIT_W2,1792669096430689206,3.547910374e-06,6.340864549e-05,2.730280609e-06,4.104431926e-06,7.016005412e-05,2.346044002e-06,4.619141244e-06,7.010476724e-05,2.503839547e-06,7.015414194e-01,6.495960682e-05,8.407436715e-01,7.015419759e-01,7.171101544e-05,8.407432872e-01,7.017337572e-01,7.185760835e-05,8.295751989e-01
+10,1.383333333e+00,WAIT_W2,1792669096728202841,-1.586477388e-06,5.248765587e-05,-2.419123450e-06,4.104431926e-06,7.016005412e-05,2.346044002e-06,4.649132288e-06,7.010691182e-05,2.517867698e-06,7.015362850e-01,5.403861719e-05,8.407385221e-01,7.015419759e-01,7.171101544e-05,8.407432872e-01,7.017337872e-01,7.185975293e-05,8.295752129e-01
+11,1.533333333e+00,WAIT_W2,1792669096994811963,-2.284507901e-07,5.159041851e-05,-3.511790474e-06,-2.082499813e-06,4.808166976e-05,-5.556351542e-06,-1.702737146e-06,4.807793002e-05,-5.239954087e-06,7.015376430e-01,5.314137984e-05,8.407374294e-01,7.015357890e-01,4.963263108e-05,8.407353848e-01,7.017274353e-01,4.983077113e-05,8.295674551e-01
+12,1.716666667e+00,UP_FORCE_RAMP,1792669097359582541,1.578526574e-07,3.615659139e-05,1.346616291e-07,-2.082499813e-06,4.808166976e-05,-5.556351542e-06,-1.697695749e-06,4.806622327e-05,-5.265615861e-06,7.015380293e-01,3.770755271e-05,8.407410758e-01,7.015357890e-01,4.963263108e-05,8.407353848e-01,7.017274404e-01,4.981906439e-05,8.295674295e-01
+13,1.916666667e+00,UP_FORCE_RAMP,1792669097725630609,1.201027820e-06,2.224657560e-05,1.432259631e-06,1.269516049e-06,2.791328465e-05,1.079357812e-06,1.771355280e-06,2.793128867e-05,1.294901848e-06,7.015390725e-01,2.379753693e-05,8.407423734e-01,7.015391410e-01,2.946424597e-05,8.407420205e-01,7.017309094e-01,2.968412978e-05,8.295739900e-01
+14,2.050000000e+00,UP_FORCE_RAMP,1792669097991665659,8.557328746e-08,1.206235401e-05,1.204766436e-07,1.269516049e-06,2.791328465e-05,1.079357812e-06,1.782355010e-06,2.792848957e-05,1.305219280e-06,7.015379571e-01,1.361331534e-05,8.407410617e-01,7.015391410e-01,2.946424597e-05,8.407420205e-01,7.017309204e-01,2.968133068e-05,8.295740003e-01
+15,2.183333333e+00,UP_FORCE_RAMP,1792669098223614631,1.554428901e-06,1.034270186e-05,4.617836783e-07,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.724987743e-07,7.279706555e-06,-2.672813630e-06,7.015394259e-01,1.189366318e-05,8.407414030e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283656e-01,9.032547666e-06,8.295700223e-01
+16,2.350000000e+00,UP_FORCE_RAMP,1792669098557794436,1.201888483e-06,2.907434406e-06,1.437850613e-06,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.712066212e-07,7.267913443e-06,-2.682553796e-06,7.015390734e-01,4.458395727e-06,8.407423790e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283669e-01,9.020754555e-06,8.295700125e-01
+17,2.533333333e+00,UP_FORCE_RAMP,1792669098889653201,-1.499349245e-06,-2.321393723e-06,-2.121712847e-06,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.690599708e-07,7.266386454e-06,-2.689095150e-06,7.015363721e-01,-7.704324019e-07,8.407388195e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283690e-01,9.019227566e-06,8.295700060e-01
+18,2.666666667e+00,UP_FORCE_RAMP,1792669099157753559,-2.973935350e-06,-4.292454826e-06,-5.327531857e-06,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.678116569e-07,7.265980758e-06,-2.692809873e-06,7.015348975e-01,-2.741493504e-06,8.407356137e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283703e-01,9.018821870e-06,8.295700023e-01
+19,2.850000000e+00,UP_FORCE_RAMP,1792669099487643061,-2.309011501e-06,-2.491994923e-06,3.142884019e-07,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.665252569e-07,7.265680561e-06,-2.696903811e-06,7.015355625e-01,-9.410336016e-07,8.407412555e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283715e-01,9.018521673e-06,8.295699982e-01
+20,3.016666667e+00,UP_FORCE_RAMP,1792669099821777124,-1.288253091e-06,-3.766919248e-06,8.101750616e-06,-1.255561719e-06,7.232416131e-06,-2.988457244e-06,-7.656029271e-07,7.265349400e-06,-2.699827977e-06,7.015365832e-01,-2.215957927e-06,8.407490429e-01,7.015366159e-01,8.783377452e-06,8.407379527e-01,7.017283725e-01,9.018190512e-06,8.295699952e-01
+21,3.200000000e+00,UP_FORCE_RAMP,1792669100185663096,-2.308075572e-06,-5.086714568e-06,1.486240528e-05,-9.062633073e-07,-1.030264166e-05,1.269863422e-05,-3.550681005e-07,-1.022491318e-05,1.268243838e-05,7.015355634e-01,-3.535753247e-06,8.407558036e-01,7.015369652e-01,-8.751680335e-06,8.407536398e-01,7.017287830e-01,-8.472072069e-06,8.295853775e-01
+22,3.366666667e+00,UP_FORCE_RAMP,1792669100521558008,-4.750984896e-06,-1.049769305e-05,2.006671385e-05,-9.062633073e-07,-1.030264166e-05,1.269863422e-05,-3.542121163e-07,-1.022972602e-05,1.274072402e-05,7.015331205e-01,-8.946731727e-06,8.407610079e-01,7.015369652e-01,-8.751680335e-06,8.407536398e-01,7.017287839e-01,-8.476884908e-06,8.295854358e-01
+23,3.516666667e+00,UP_FORCE_RAMP,1792669100819642366,-2.382148434e-06,-9.170444519e-06,2.542011236e-05,-9.062633073e-07,-1.030264166e-05,1.269863422e-05,-3.529479653e-07,-1.023047975e-05,1.278004195e-05,7.015354893e-01,-7.619483198e-06,8.407663613e-01,7.015369652e-01,-8.751680335e-06,8.407536398e-01,7.017287851e-01,-8.477638634e-06,8.295854751e-01
+24,3.616666667e+00,UP_FORCE_RAMP,1792669101019553073,-2.140402966e-06,-3.781138257e-06,3.000636323e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.602971036e-07,-3.634053114e-06,3.134746990e-05,7.015357311e-01,-2.230176936e-06,8.407709476e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281778e-01,-1.881212003e-06,8.296040425e-01
+25,3.800000000e+00,UP_FORCE_RAMP,1792669101385678440,-1.133055113e-06,-1.469254166e-05,3.808397181e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.616668777e-07,-3.630854958e-06,3.147361630e-05,7.015367384e-01,-1.314158034e-05,8.407790252e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281764e-01,-1.878013846e-06,8.296041687e-01
+26,3.950000000e+00,UP_FORCE_RAMP,1792669101683505453,-4.279310869e-06,-7.607917781e-06,3.363495856e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.608035092e-07,-3.630599922e-06,3.154744409e-05,7.015335922e-01,-6.056956460e-06,8.407745761e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281773e-01,-1.877758810e-06,8.296042425e-01
+27,4.133333333e+00,UP_FORCE_RAMP,1792669102049606653,-5.272188605e-06,-4.201783407e-06,3.767364058e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.589385559e-07,-3.630551822e-06,3.161892222e-05,7.015325993e-01,-2.650822086e-06,8.407786148e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281791e-01,-1.877710711e-06,8.296043140e-01
+28,4.250000000e+00,UP_FORCE_RAMP,1792669102283570722,-4.004029952e-06,-4.081843422e-06,4.288356983e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.574398709e-07,-3.630556389e-06,3.165598047e-05,7.015338675e-01,-2.530882101e-06,8.407838248e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281806e-01,-1.877715278e-06,8.296043511e-01
+29,4.316666667e+00,UP_FORCE_RAMP,1792669102415803514,-7.381245315e-06,-8.239961786e-06,3.726809399e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.565329169e-07,-3.630557879e-06,3.167471455e-05,7.015304902e-01,-6.689000465e-06,8.407782093e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281815e-01,-1.877716767e-06,8.296043698e-01
+30,4.416666667e+00,UP_FORCE_RAMP,1792669102615893268,-9.508857236e-06,-9.741254365e-06,4.157770163e-05,-1.527460687e-06,-3.687166312e-06,3.160207338e-05,-9.551210775e-07,-3.630561577e-06,3.169986556e-05,7.015283626e-01,-8.190293044e-06,8.407825189e-01,7.015363440e-01,-2.136204991e-06,8.407725433e-01,7.017281830e-01,-1.877720465e-06,8.296043949e-01
+31,4.466666667e+00,UP_FORCE_RAMP,1792669102713782812,-4.573184437e-05,-1.462867832e-05,1.784032673e-05,-4.543803214e-05,-1.453846388e-05,1.773509576e-05,-4.540044340e-05,-1.447596162e-05,1.815780837e-05,7.014921396e-01,-1.307771700e-05,8.407587815e-01,7.014924334e-01,-1.298750256e-05,8.407586763e-01,7.016837376e-01,-1.272312051e-05,8.295908529e-01
+32,4.500000000e+00,UP_FORCE_RAMP,1792669102781963565,-3.862078846e-05,-2.000008911e-05,2.954614109e-05,-4.543803214e-05,-1.453846388e-05,1.773509576e-05,-4.545767198e-05,-1.448491890e-05,1.814168367e-05,7.014992507e-01,-1.844912779e-05,8.407704873e-01,7.014924334e-01,-1.298750256e-05,8.407586763e-01,7.016836804e-01,-1.273207779e-05,8.295908368e-01
+33,4.550000000e+00,UP_FORCE_RAMP,1792669102882053326,-4.336748985e-05,-2.336272907e-05,2.640314606e-05,-3.427166434e-05,-9.416396498e-06,3.526254937e-05,-3.411896173e-05,-9.367444902e-06,3.526235381e-05,7.014945040e-01,-2.181176775e-05,8.407673443e-01,7.015035998e-01,-7.865435177e-06,8.407762037e-01,7.016950191e-01,-7.614603791e-06,8.296079574e-01
+34,4.583333333e+00,UP_FORCE_RAMP,1792669102948147355,-6.569695388e-05,-1.095351741e-05,2.319910734e-05,-6.540250291e-05,-1.089686818e-05,2.300843377e-05,-6.567950677e-05,-1.083732779e-05,2.328184358e-05,7.014721745e-01,-9.402556092e-06,8.407641403e-01,7.014724690e-01,-9.345906855e-06,8.407639496e-01,7.016634586e-01,-9.084486674e-06,8.295959769e-01
+35,4.650000000e+00,UP_FORCE_RAMP,1792669103082507607,-6.446704654e-05,-2.302838977e-05,2.838138285e-05,-6.540250291e-05,-1.089686818e-05,2.300843377e-05,-6.578156473e-05,-1.084055310e-05,2.327193733e-05,7.014734044e-01,-2.147742845e-05,8.407693226e-01,7.014724690e-01,-9.345906855e-06,8.407639496e-01,7.016633565e-01,-9.087711984e-06,8.295959670e-01
+36,4.683333333e+00,UP_FORCE_RAMP,1792669103148161166,-6.478599982e-05,1.717725549e-06,2.660903257e-05,-6.540250291e-05,-1.089686818e-05,2.300843377e-05,-6.581960915e-05,-1.084125458e-05,2.327091278e-05,7.014730855e-01,3.268686870e-06,8.407675502e-01,7.014724690e-01,-9.345906855e-06,8.407639496e-01,7.016633185e-01,-9.088413469e-06,8.295959660e-01
+37,4.733333333e+00,UP_FORCE_RAMP,1792669103245824955,-6.235131037e-05,-3.865808973e-06,3.027066305e-05,-6.540250291e-05,-1.089686818e-05,2.300843377e-05,-6.587113484e-05,-1.084218327e-05,2.326979942e-05,7.014755202e-01,-2.314847652e-06,8.407712119e-01,7.014724690e-01,-9.345906855e-06,8.407639496e-01,7.016632669e-01,-9.089342154e-06,8.295959649e-01
+38,4.783333333e+00,UP_FORCE_RAMP,1792669103314644214,-6.564740621e-05,-2.949118424e-05,3.097804530e-05,-6.545993005e-05,-2.951531212e-05,3.111874060e-05,-6.596322175e-05,-2.941386006e-05,3.120924677e-05,7.014722241e-01,-2.794022292e-05,8.407719192e-01,7.014724116e-01,-2.796435080e-05,8.407720599e-01,7.016631749e-01,-2.766101895e-05,8.296039043e-01
+39,4.833333333e+00,UP_FORCE_RAMP,1792669103413745185,-6.261279106e-05,-2.820140584e-05,3.568813366e-05,-6.250081156e-05,-2.796618015e-05,3.584434453e-05,-6.298517175e-05,-2.790322964e-05,3.588063634e-05,7.014752587e-01,-2.665044452e-05,8.407766293e-01,7.014753707e-01,-2.641521883e-05,8.407767855e-01,7.016661529e-01,-2.615038853e-05,8.296085757e-01
+40,4.900000000e+00,UP_FORCE_RAMP,1792669103545801404,-6.420864375e-05,-1.613447517e-05,3.374324350e-05,-6.250081156e-05,-2.796618015e-05,3.584434453e-05,-6.303507877e-05,-2.791763017e-05,3.590911003e-05,7.014736628e-01,-1.458351385e-05,8.407746844e-01,7.014753707e-01,-2.641521883e-05,8.407767855e-01,7.016661030e-01,-2.616478906e-05,8.296086042e-01
+41,5.050000000e+00,UP_FORCE_RAMP,1792669103845707674,-6.220490077e-05,-1.187982131e-05,4.505492530e-05,-6.250081156e-05,-2.796618015e-05,3.584434453e-05,-6.313575220e-05,-2.792500237e-05,3.594909980e-05,7.014756666e-01,-1.032885999e-05,8.407859961e-01,7.014753707e-01,-2.641521883e-05,8.407767855e-01,7.016660023e-01,-2.617216126e-05,8.296086442e-01
+42,5.200000000e+00,UP_FORCE_RAMP,1792669104113635470,-6.042284227e-05,-1.611533555e-05,5.490240251e-05,-6.036613608e-05,-1.351035500e-05,4.981087737e-05,-6.103467657e-05,-1.345270504e-05,4.968677635e-05,7.014774486e-01,-1.456437423e-05,8.407958436e-01,7.014775053e-01,-1.195939368e-05,8.407907521e-01,7.016681034e-01,-1.169986393e-05,8.296223819e-01
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+55,7.000000000e+00,UP_FORCE_HOLD,1792669107537629304,-5.622959771e-05,-2.932145144e-05,1.008142081e-04,-5.507774851e-05,-1.913232044e-05,1.028558738e-04,-5.577507465e-05,-1.911143966e-05,1.025345324e-04,7.014816419e-01,-2.777049012e-05,8.408417554e-01,7.014827937e-01,-1.758135912e-05,8.408437971e-01,7.016733630e-01,-1.735859855e-05,8.296752296e-01
+56,7.033333333e+00,UP_FORCE_HOLD,1792669107605712873,-5.803876959e-05,-1.538961436e-05,1.000393352e-04,-5.884885270e-05,2.036413173e-06,9.747091891e-05,-5.961007390e-05,2.014671608e-06,9.729397583e-05,7.014798327e-01,-1.383865304e-05,8.408409805e-01,7.014790226e-01,3.587374494e-06,8.408384121e-01,7.016695280e-01,3.767512719e-06,8.296699891e-01
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