diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5102a2df084de01f5f4e701007a444e9eaac0177
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e104d2119b0d908317d9a50a698a143bc30fbf82
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,7.000000000e-01,UP_FORCE_RAMP,1791455355604786781,3.373467817e-06,3.549975137e-08,1.207146194e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.836747441e-07,7.207184103e-08,9.634484033e-08,7.015412449e-01,1.586461072e-06,8.407530126e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262696e-01,1.927493406e-06,8.297807863e-01
+7,8.166666667e-01,UP_FORCE_RAMP,1791455355785500633,2.259147498e-06,1.983627828e-06,1.591451480e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.640818757e-07,8.154723562e-08,1.084648255e-07,7.015401306e-01,3.534589149e-06,8.407568557e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263500e-01,1.936968800e-06,8.297807984e-01
+8,9.000000000e-01,UP_FORCE_RAMP,1791455355904922439,4.558254590e-07,-3.279900104e-06,1.805329744e-05,2.040151009e-06,1.487095216e-06,2.082472854e-05,2.803120558e-06,1.587057111e-06,2.059251540e-05,7.015383273e-01,-1.728938783e-06,8.407589945e-01,7.015399116e-01,3.038056537e-06,8.407617659e-01,7.017284890e-01,3.442478675e-06,8.298012825e-01
+9,9.833333333e-01,UP_FORCE_RAMP,1791455356025833886,3.913394545e-06,1.687402973e-06,2.855446951e-05,2.040151009e-06,1.487095216e-06,2.082472854e-05,2.858016061e-06,1.593749658e-06,2.061931232e-05,7.015417849e-01,3.238364294e-06,8.407694957e-01,7.015399116e-01,3.038056537e-06,8.407617659e-01,7.017285439e-01,3.449171223e-06,8.298013093e-01
+10,1.083333333e+00,UP_FORCE_RAMP,1791455356184206499,4.171297479e-07,7.173870953e-06,3.461813000e-05,2.040151009e-06,1.487095216e-06,2.082472854e-05,2.921152605e-06,1.601210916e-06,2.064452176e-05,7.015382886e-01,8.724832274e-06,8.407755593e-01,7.015399116e-01,3.038056537e-06,8.407617659e-01,7.017286071e-01,3.456632480e-06,8.298013345e-01
+11,1.150000000e+00,UP_FORCE_RAMP,1791455356306034974,2.400330014e-06,-5.212913958e-07,4.783344609e-05,2.510485991e-06,-4.360922651e-07,4.724787190e-05,3.559437094e-06,-3.191993484e-07,4.674756916e-05,7.015402718e-01,1.029669925e-06,8.407887746e-01,7.015403820e-01,1.114869056e-06,8.407881891e-01,7.017292454e-01,1.536222216e-06,8.298274375e-01
+12,1.266666667e+00,UP_FORCE_RAMP,1791455356472724872,2.421316914e-06,6.882407136e-06,5.711710437e-05,2.510485991e-06,-4.360922651e-07,4.724787190e-05,3.626575841e-06,-3.175143630e-07,4.681955073e-05,7.015402928e-01,8.433368457e-06,8.407980583e-01,7.015403820e-01,1.114869056e-06,8.407881891e-01,7.017293125e-01,1.537907202e-06,8.298275095e-01
+13,1.350000000e+00,UP_FORCE_RAMP,1791455356592413371,5.936886179e-07,5.848091073e-06,6.228630331e-05,2.510485991e-06,-4.360922651e-07,4.724787190e-05,3.673168669e-06,-3.129757370e-07,4.685390838e-05,7.015384652e-01,7.399052394e-06,8.408032275e-01,7.015403820e-01,1.114869056e-06,8.407881891e-01,7.017293591e-01,1.542445828e-06,8.298275439e-01
+14,1.433333333e+00,UP_FORCE_RAMP,1791455356721968322,2.489566799e-06,5.661192560e-06,7.616734894e-05,4.260987212e-07,5.536411780e-06,6.644162727e-05,1.638471354e-06,5.603714749e-06,6.574245170e-05,7.015403610e-01,7.212153881e-06,8.408171085e-01,7.015382976e-01,7.087373101e-06,8.408073828e-01,7.017273244e-01,7.459136313e-06,8.298464324e-01
+15,1.516666667e+00,UP_FORCE_RAMP,1791455356852138394,4.047597746e-06,4.669010676e-06,8.436551171e-05,4.260987212e-07,5.536411780e-06,6.644162727e-05,1.679355228e-06,5.610000343e-06,6.578671939e-05,7.015419191e-01,6.219971997e-06,8.408253067e-01,7.015382976e-01,7.087373101e-06,8.408073828e-01,7.017273653e-01,7.465421907e-06,8.298464767e-01
+16,1.600000000e+00,UP_FORCE_RAMP,1791455356972331389,5.050002886e-06,7.833331357e-06,9.688319246e-05,1.555944937e-06,1.217177006e-05,8.541325490e-05,2.960738390e-06,1.220633845e-05,8.448333661e-05,7.015429215e-01,9.384292678e-06,8.408378244e-01,7.015394274e-01,1.372273138e-05,8.408263544e-01,7.017286467e-01,1.406176001e-05,8.298651733e-01
+17,1.716666667e+00,UP_FORCE_RAMP,1791455357152085690,6.255794845e-06,1.024736646e-05,1.133992958e-04,4.857988745e-06,8.244395958e-06,1.064817346e-04,6.439029661e-06,8.323521410e-06,1.053531085e-04,7.015441273e-01,1.179832778e-05,8.408543405e-01,7.015427295e-01,9.795357279e-06,8.408474229e-01,7.017321249e-01,1.017894297e-05,8.298860431e-01
+18,1.816666667e+00,UP_FORCE_RAMP,1791455357306773433,7.611354669e-06,1.141909408e-05,1.280449342e-04,7.728207823e-06,1.149561258e-05,1.281450194e-04,9.454449535e-06,1.153200191e-05,1.267748124e-04,7.015454828e-01,1.297005540e-05,8.408689861e-01,7.015455997e-01,1.304657390e-05,8.408690862e-01,7.017351404e-01,1.338742347e-05,8.299074648e-01
+19,1.900000000e+00,UP_FORCE_RAMP,1791455357421204802,8.782742013e-06,1.000662341e-05,1.399400175e-04,7.728207823e-06,1.149561258e-05,1.281450194e-04,9.496440469e-06,1.153906339e-05,1.268638796e-04,7.015466542e-01,1.155758473e-05,8.408808812e-01,7.015455997e-01,1.304657390e-05,8.408690862e-01,7.017351824e-01,1.339448496e-05,8.299075538e-01
+20,2.016666667e+00,UP_FORCE_RAMP,1791455357590894002,5.043517075e-06,9.246568730e-06,1.412282991e-04,7.728207823e-06,1.149561258e-05,1.281450194e-04,9.549427755e-06,1.154447774e-05,1.269600944e-04,7.015429150e-01,1.079753005e-05,8.408821695e-01,7.015455997e-01,1.304657390e-05,8.408690862e-01,7.017352353e-01,1.339989930e-05,8.299076501e-01
+21,2.100000000e+00,UP_FORCE_RAMP,1791455357721428093,6.562307701e-06,1.225585280e-05,1.518772548e-04,6.519528981e-06,6.296976025e-06,1.482982726e-04,8.418151854e-06,6.391692472e-06,1.468495896e-04,7.015444338e-01,1.380681412e-05,8.408928184e-01,7.015443910e-01,7.847937346e-06,8.408892395e-01,7.017341041e-01,8.247114037e-06,8.299275395e-01
+22,2.200000000e+00,UP_FORCE_RAMP,1791455357871867720,7.032416117e-06,9.522191204e-06,1.603281591e-04,6.519528981e-06,6.296976025e-06,1.482982726e-04,8.456295395e-06,6.391423088e-06,1.469409954e-04,7.015449039e-01,1.107315252e-05,8.409012693e-01,7.015443910e-01,7.847937346e-06,8.408892395e-01,7.017341422e-01,8.246844652e-06,8.299276310e-01
+23,2.283333333e+00,UP_FORCE_RAMP,1791455358002340321,4.359500398e-06,1.416743854e-05,1.641232490e-04,6.519528981e-06,6.296976025e-06,1.482982726e-04,8.486982200e-06,6.392726548e-06,1.470100702e-04,7.015422310e-01,1.571839986e-05,8.409050644e-01,7.015443910e-01,7.847937346e-06,8.408892395e-01,7.017341729e-01,8.248148112e-06,8.299277000e-01
+24,2.366666667e+00,UP_FORCE_RAMP,1791455358122711477,5.043830717e-06,1.555887222e-05,1.695275998e-04,5.267586747e-06,1.567765535e-05,1.695832919e-04,7.332126334e-06,1.568475368e-05,1.680232444e-04,7.015429153e-01,1.710983354e-05,8.409104688e-01,7.015431391e-01,1.722861667e-05,8.409105245e-01,7.017330180e-01,1.754017525e-05,8.299487132e-01
+25,2.466666667e+00,UP_FORCE_RAMP,1791455358271121851,1.441597363e-06,1.315434266e-05,1.743556500e-04,5.267586747e-06,1.567765535e-05,1.695832919e-04,7.362884691e-06,1.570005244e-05,1.681310552e-04,7.015393131e-01,1.470530399e-05,8.409152968e-01,7.015431391e-01,1.722861667e-05,8.409105245e-01,7.017330488e-01,1.755547400e-05,8.299488210e-01
+26,2.600000000e+00,UP_FORCE_RAMP,1791455358471340770,2.962960696e-06,1.046831317e-05,1.829832070e-04,5.267586747e-06,1.567765535e-05,1.695832919e-04,7.402886803e-06,1.570459296e-05,1.682464014e-04,7.015408344e-01,1.201927449e-05,8.409239244e-01,7.015431391e-01,1.722861667e-05,8.409105245e-01,7.017330888e-01,1.756001453e-05,8.299489364e-01
+27,2.716666667e+00,UP_FORCE_RAMP,1791455358652105320,1.601980442e-06,1.454550447e-05,1.875559107e-04,5.267586747e-06,1.567765535e-05,1.695832919e-04,7.435456110e-06,1.570661159e-05,1.683385091e-04,7.015394735e-01,1.609646579e-05,8.409284971e-01,7.015431391e-01,1.722861667e-05,8.409105245e-01,7.017331214e-01,1.756203315e-05,8.299490285e-01
+28,2.833333333e+00,UP_FORCE_RAMP,1791455358822274834,-8.927169370e-07,1.318650504e-05,1.920541779e-04,2.655009596e-06,1.390482950e-05,1.928313236e-04,4.919140339e-06,1.393426337e-05,1.913405020e-04,7.015369788e-01,1.473746636e-05,8.409329954e-01,7.015405265e-01,1.545579082e-05,8.409337725e-01,7.017306051e-01,1.578968494e-05,8.299720305e-01
+29,2.933333333e+00,UP_FORCE_RAMP,1791455358972647123,4.461450529e-07,1.571360121e-05,2.006915291e-04,2.655009596e-06,1.390482950e-05,1.928313236e-04,4.940820816e-06,1.393436591e-05,1.914295396e-04,7.015383176e-01,1.726456253e-05,8.409416327e-01,7.015405265e-01,1.545579082e-05,8.409337725e-01,7.017306267e-01,1.578978747e-05,8.299721195e-01
+30,3.033333333e+00,UP_FORCE_RAMP,1791455359123160633,7.034047934e-07,1.622924377e-05,2.062355787e-04,2.655009596e-06,1.390482950e-05,1.928313236e-04,4.961754479e-06,1.393505012e-05,1.915107154e-04,7.015385749e-01,1.778020509e-05,8.409471768e-01,7.015405265e-01,1.545579082e-05,8.409337725e-01,7.017306477e-01,1.579047168e-05,8.299722007e-01
+31,3.133333333e+00,UP_FORCE_RAMP,1791455359275976660,-6.695612081e-07,1.803173773e-05,2.089136773e-04,2.655009596e-06,1.390482950e-05,1.928313236e-04,4.981443804e-06,1.393586389e-05,1.915864983e-04,7.015372019e-01,1.958269905e-05,8.409498549e-01,7.015405265e-01,1.545579082e-05,8.409337725e-01,7.017306674e-01,1.579128545e-05,8.299722765e-01
+32,3.250000000e+00,UP_FORCE_RAMP,1791455359452093560,2.774872211e-06,1.571844918e-05,2.195382550e-04,2.480013563e-06,1.688700550e-05,2.124526045e-04,4.887636262e-06,1.691639705e-05,2.110379980e-04,7.015406464e-01,1.726941050e-05,8.409604794e-01,7.015403515e-01,1.843796682e-05,8.409533938e-01,7.017305736e-01,1.877181861e-05,8.299917280e-01
+33,3.366666667e+00,UP_FORCE_RAMP,1791455359623300955,-1.605903156e-06,1.724993880e-05,2.206679738e-04,2.480013563e-06,1.688700550e-05,2.124526045e-04,4.907530530e-06,1.691856460e-05,2.111332813e-04,7.015362656e-01,1.880090012e-05,8.409616092e-01,7.015403515e-01,1.843796682e-05,8.409533938e-01,7.017305934e-01,1.877398616e-05,8.299918232e-01
+34,3.466666667e+00,UP_FORCE_RAMP,1791455359773090444,2.700468255e-06,1.768731024e-05,2.285054907e-04,2.480013563e-06,1.688700550e-05,2.124526045e-04,4.923348581e-06,1.692006748e-05,2.112079782e-04,7.015405719e-01,1.923827156e-05,8.409694467e-01,7.015403515e-01,1.843796682e-05,8.409533938e-01,7.017306093e-01,1.877548905e-05,8.299918979e-01
+35,3.566666667e+00,UP_FORCE_RAMP,1791455359922195573,-1.315239606e-06,1.507630294e-05,2.290212527e-04,2.480013563e-06,1.688700550e-05,2.124526045e-04,4.938063971e-06,1.692145096e-05,2.112778208e-04,7.015365562e-01,1.662726426e-05,8.409699624e-01,7.015403515e-01,1.843796682e-05,8.409533938e-01,7.017306240e-01,1.877687252e-05,8.299919678e-01
+36,3.633333333e+00,UP_FORCE_HOLD,1791455360023411924,-1.089463232e-06,2.323676288e-05,2.318286581e-04,1.203577726e-06,1.528267176e-05,2.329623297e-04,3.748283361e-06,1.527494155e-05,2.314895857e-04,7.015367820e-01,2.478772420e-05,8.409727698e-01,7.015390751e-01,1.683363308e-05,8.409739035e-01,7.017294342e-01,1.713036311e-05,8.300121795e-01
+37,3.733333333e+00,UP_FORCE_HOLD,1791455360172633367,-5.706321789e-06,1.749145630e-05,2.334538196e-04,1.203577726e-06,1.528267176e-05,2.329623297e-04,3.758354887e-06,1.527405649e-05,2.315767606e-04,7.015321652e-01,1.904241762e-05,8.409743950e-01,7.015390751e-01,1.683363308e-05,8.409739035e-01,7.017294443e-01,1.712947805e-05,8.300122667e-01
+38,3.766666667e+00,UP_FORCE_HOLD,1791455360222706784,-3.723452246e-05,1.107693114e-05,2.095089237e-04,-3.690820962e-05,1.101362186e-05,2.095197300e-04,-3.483879105e-05,1.111821492e-05,2.085249550e-04,7.015006370e-01,1.262789246e-05,8.409504501e-01,7.015009633e-01,1.256458318e-05,8.409504609e-01,7.016908471e-01,1.297363649e-05,8.299892149e-01
+39,3.783333333e+00,UP_FORCE_HOLD,1791455360252270853,-4.166166275e-05,1.210852220e-05,2.076964084e-04,-3.690820962e-05,1.101362186e-05,2.095197300e-04,-3.486349843e-05,1.111166947e-05,2.085250706e-04,7.014962098e-01,1.365948352e-05,8.409486376e-01,7.015009633e-01,1.256458318e-05,8.409504609e-01,7.016908224e-01,1.296709103e-05,8.299892150e-01
+40,3.800000000e+00,UP_FORCE_HOLD,1791455360272441547,-2.379007752e-05,9.940155175e-06,2.278207477e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.176436797e-05,1.012521295e-05,2.268191435e-04,7.015140814e-01,1.149111650e-05,8.409687619e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017039215e-01,1.198063452e-05,8.300075091e-01
+41,3.850000000e+00,UP_FORCE_HOLD,1791455360352117110,-3.198787215e-05,8.988444389e-06,2.196630256e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.177078462e-05,1.012095676e-05,2.268607117e-04,7.015058836e-01,1.053940571e-05,8.409606042e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017039151e-01,1.197637833e-05,8.300075507e-01
+42,3.966666667e+00,UP_FORCE_HOLD,1791455360522602744,-3.284629034e-05,8.926589474e-06,2.243270926e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.178739612e-05,1.011811346e-05,2.269362034e-04,7.015050252e-01,1.047755080e-05,8.409652683e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017038985e-01,1.197353502e-05,8.300076262e-01
+43,4.083333333e+00,UP_FORCE_HOLD,1791455360691240674,-3.302096262e-05,1.298039566e-05,2.268077979e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.179919694e-05,1.011755296e-05,2.270047872e-04,7.015048505e-01,1.453135698e-05,8.409677490e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017038867e-01,1.197297452e-05,8.300076947e-01
+44,4.200000000e+00,UP_FORCE_HOLD,1791455360871287879,-3.823595043e-05,1.194545058e-05,2.270839484e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.180920130e-05,1.011750236e-05,2.270682802e-04,7.014996355e-01,1.349641191e-05,8.409680251e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017038767e-01,1.197292392e-05,8.300077582e-01
+45,4.266666667e+00,UP_FORCE_HOLD,1791455360972130485,-3.531987626e-05,1.297975308e-05,2.349040391e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.181447964e-05,1.011757246e-05,2.271024782e-04,7.015025516e-01,1.453071440e-05,8.409758452e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017038714e-01,1.197299402e-05,8.300077924e-01
+46,4.416666667e+00,UP_FORCE_HOLD,1791455361193139179,-3.680773691e-05,1.361323248e-05,2.409500457e-04,-2.394541984e-05,1.005435722e-05,2.280711447e-04,-2.182567465e-05,1.011784178e-05,2.271742437e-04,7.015010637e-01,1.516419380e-05,8.409818912e-01,7.015139261e-01,1.160531855e-05,8.409690123e-01,7.017038602e-01,1.197326335e-05,8.300078642e-01
+47,4.433333333e+00,UP_FORCE_HOLD,1791455361222671843,-4.024582013e-05,-1.864182882e-05,2.462971913e-04,-3.988366227e-05,-1.856549910e-05,2.463636115e-04,-3.786414033e-05,-1.811274378e-05,2.452105469e-04,7.014976257e-01,-1.709086750e-05,8.409872384e-01,7.014979878e-01,-1.701453778e-05,8.409873048e-01,7.016878218e-01,-1.625732222e-05,8.300259005e-01
+48,4.500000000e+00,UP_FORCE_HOLD,1791455361322617938,-3.951122369e-05,-1.616218997e-05,2.558436063e-04,-3.988366227e-05,-1.856549910e-05,2.463636115e-04,-3.790131812e-05,-1.816438057e-05,2.452729252e-04,7.014983603e-01,-1.461122865e-05,8.409967848e-01,7.014979878e-01,-1.701453778e-05,8.409873048e-01,7.016877846e-01,-1.630895901e-05,8.300259629e-01
+49,4.650000000e+00,UP_FORCE_HOLD,1791455361552364680,-3.979684216e-05,-1.089654798e-05,2.599640673e-04,-3.988366227e-05,-1.856549910e-05,2.463636115e-04,-3.793807645e-05,-1.817907731e-05,2.453565502e-04,7.014980746e-01,-9.345586654e-06,8.410009053e-01,7.014979878e-01,-1.701453778e-05,8.409873048e-01,7.016877478e-01,-1.632365574e-05,8.300260465e-01
+50,4.733333333e+00,UP_FORCE_HOLD,1791455361671639451,-3.937156724e-05,-1.377975866e-05,2.644817622e-04,-3.988366227e-05,-1.856549910e-05,2.463636115e-04,-3.795439615e-05,-1.818165586e-05,2.453973904e-04,7.014984999e-01,-1.222879734e-05,8.410054229e-01,7.014979878e-01,-1.701453778e-05,8.409873048e-01,7.016877315e-01,-1.632623430e-05,8.300260874e-01
+51,4.816666667e+00,UP_FORCE_HOLD,1791455361794217412,-3.915322292e-05,-1.274610736e-05,2.681870540e-04,-3.620182580e-05,-1.080014474e-05,2.678516602e-04,-3.417753965e-05,-1.051174078e-05,2.665697664e-04,7.014987183e-01,-1.119514604e-05,8.410091282e-01,7.015016697e-01,-9.249183422e-06,8.410087928e-01,7.016915084e-01,-8.656319216e-06,8.300472597e-01
+52,4.950000000e+00,UP_FORCE_HOLD,1791455361992455703,-4.043610658e-05,-1.576051278e-05,2.712028681e-04,-3.620182580e-05,-1.080014474e-05,2.678516602e-04,-3.419467309e-05,-1.050887010e-05,2.666508090e-04,7.014974354e-01,-1.420955145e-05,8.410121441e-01,7.015016697e-01,-9.249183422e-06,8.410087928e-01,7.016914912e-01,-8.653448534e-06,8.300473408e-01
+53,5.100000000e+00,UP_FORCE_HOLD,1791455362222374754,-3.892971237e-05,-6.778102153e-06,2.780962216e-04,-3.620182580e-05,-1.080014474e-05,2.678516602e-04,-3.421397277e-05,-1.050835737e-05,2.667290071e-04,7.014989418e-01,-5.227140831e-06,8.410190374e-01,7.015016697e-01,-9.249183422e-06,8.410087928e-01,7.016914719e-01,-8.652935804e-06,8.300474190e-01
+54,5.200000000e+00,UP_FORCE_HOLD,1791455362371948329,-3.809392000e-05,-8.054631825e-06,2.828641006e-04,-3.620182580e-05,-1.080014474e-05,2.678516602e-04,-3.422662770e-05,-1.050845192e-05,2.667763423e-04,7.014997776e-01,-6.503670504e-06,8.410238053e-01,7.015016697e-01,-9.249183422e-06,8.410087928e-01,7.016914593e-01,-8.653030351e-06,8.300474663e-01
+55,5.283333333e+00,UP_FORCE_HOLD,1791455362491764501,-3.946410179e-05,-1.009033618e-05,2.831812246e-04,-3.620182580e-05,-1.080014474e-05,2.678516602e-04,-3.423697808e-05,-1.050854799e-05,2.668132353e-04,7.014984074e-01,-8.539374854e-06,8.410241224e-01,7.015016697e-01,-9.249183422e-06,8.410087928e-01,7.016914489e-01,-8.653126423e-06,8.300475032e-01
+56,5.366666667e+00,UP_FORCE_HOLD,1791455362621995980,-4.037578876e-05,-9.114436338e-06,2.858754866e-04,-3.695438502e-05,-1.155648927e-05,2.886622295e-04,-3.488924961e-05,-1.124503576e-05,2.873839609e-04,7.014974957e-01,-7.563475017e-06,8.410268167e-01,7.015009171e-01,-1.000552795e-05,8.410296034e-01,7.016907967e-01,-9.389614195e-06,8.300680739e-01
+57,5.483333333e+00,UP_FORCE_HOLD,1791455362793393021,-4.039965849e-05,-9.438929803e-06,2.910937037e-04,-3.695438502e-05,-1.155648927e-05,2.886622295e-04,-3.490415008e-05,-1.124495243e-05,2.874501114e-04,7.014974718e-01,-7.887968482e-06,8.410320349e-01,7.015009171e-01,-1.000552795e-05,8.410296034e-01,7.016907818e-01,-9.389530866e-06,8.300681401e-01
+58,5.583333333e+00,UP_FORCE_HOLD,1791455362952124396,-4.008047056e-05,-7.657368108e-06,2.930299256e-04,-3.695438502e-05,-1.155648927e-05,2.886622295e-04,-3.491611407e-05,-1.124479842e-05,2.874995761e-04,7.014977910e-01,-6.106406787e-06,8.410339711e-01,7.015009171e-01,-1.000552795e-05,8.410296034e-01,7.016907698e-01,-9.389376853e-06,8.300681895e-01
+59,5.700000000e+00,UP_SETTLE,1791455363123334915,-3.855495254e-05,-6.950920290e-06,2.990419671e-04,-3.695438502e-05,-1.155648927e-05,2.886622295e-04,-3.492977610e-05,-1.124476338e-05,2.875523068e-04,7.014993165e-01,-5.399958969e-06,8.410399832e-01,7.015009171e-01,-1.000552795e-05,8.410296034e-01,7.016907561e-01,-9.389341813e-06,8.300682423e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a14e87dea22ce7c1ebdecdf4a102738d75668d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-6.6714e-03,4.1507e-03,2.4547e+00,-3.7028e-02,3.6313e-02,-1.2505e-05,4.5334e-04,5.1635e-05,4.7684e-05,-3.4571e-06,2.9650e-05,2.6019e-07,4.5876e-04,2.9852e-05
+1,1.0000e-01,UP_FORCE_RAMP,2.4871e-05,-3.8331e-03,4.4409e-03,2.4550e+00,-3.7048e-02,3.6500e-02,-1.0690e-05,3.2916e-03,3.4184e-04,4.0293e-04,-2.2948e-05,2.1592e-04,2.0752e-06,3.3337e-03,2.1715e-04
+2,2.1667e-01,UP_FORCE_RAMP,4.9150e-05,-3.5020e-04,4.7446e-03,2.4555e+00,-3.7068e-02,3.6730e-02,-8.0421e-06,6.7745e-03,6.4559e-04,9.2316e-04,-4.3478e-05,4.4588e-04,4.7230e-06,6.8675e-03,4.4802e-04
+3,3.6667e-01,UP_FORCE_RAMP,7.3788e-05,4.2335e-03,5.0912e-03,2.4563e+00,-3.7092e-02,3.7034e-02,-3.8877e-06,1.1358e-02,9.9215e-04,1.6809e-03,-6.7074e-05,7.5081e-04,8.8774e-06,1.1525e-02,7.5385e-04
+4,4.6667e-01,UP_FORCE_RAMP,9.8987e-05,7.2956e-03,5.3013e-03,2.4568e+00,-3.7106e-02,3.7240e-02,-6.9453e-07,1.4420e-02,1.2023e-03,2.2097e-03,-8.1461e-05,9.5591e-04,1.2071e-05,1.4638e-02,9.5945e-04
+5,6.0000e-01,UP_FORCE_RAMP,1.2023e-04,1.1334e-02,5.5632e-03,2.4575e+00,-3.7124e-02,3.7512e-02,4.0363e-06,1.8459e-02,1.4641e-03,2.9178e-03,-9.9473e-05,1.2281e-03,1.6801e-05,1.8745e-02,1.2323e-03
+6,7.0000e-01,UP_FORCE_RAMP,1.4592e-04,1.4308e-02,5.7486e-03,2.4581e+00,-3.7137e-02,3.7714e-02,7.9009e-06,2.1433e-02,1.6496e-03,3.4399e-03,-1.1226e-04,1.4299e-03,2.0666e-05,2.1770e-02,1.4345e-03
+7,8.1667e-01,UP_FORCE_RAMP,1.7004e-04,1.7701e-02,5.9547e-03,2.4586e+00,-3.7151e-02,3.7945e-02,1.2711e-05,2.4826e-02,1.8557e-03,4.0302e-03,-1.2651e-04,1.6614e-03,2.5476e-05,2.5219e-02,1.6664e-03
+8,9.0000e-01,UP_FORCE_RAMP,1.8995e-04,2.9479e-02,4.9250e-03,2.4359e+00,-3.7087e-02,3.8776e-02,4.1899e-05,3.6604e-02,8.2599e-04,-1.8686e-02,-6.2224e-05,2.4921e-03,5.4664e-05,4.1106e-02,2.4934e-03
+9,9.8333e-01,UP_FORCE_RAMP,2.1702e-04,2.9180e-02,5.2784e-03,2.4390e+00,-3.7111e-02,3.8769e-02,4.4398e-05,3.6304e-02,1.1794e-03,-1.5601e-02,-8.6211e-05,2.4854e-03,5.7163e-05,3.9532e-02,2.4876e-03
+10,1.0833e+00,UP_FORCE_RAMP,2.3980e-04,2.9631e-02,5.5257e-03,2.4420e+00,-3.7127e-02,3.8809e-02,4.7533e-05,3.6756e-02,1.4266e-03,-1.2619e-02,-1.0228e-04,2.5253e-03,6.0298e-05,3.8888e-02,2.5281e-03
+11,1.1500e+00,UP_FORCE_RAMP,2.6507e-04,3.0325e-02,5.6546e-03,2.4436e+00,-3.7136e-02,3.8860e-02,4.9717e-05,3.7449e-02,1.5556e-03,-1.0967e-02,-1.1064e-04,2.5765e-03,6.2482e-05,3.9053e-02,2.5797e-03
+12,1.2667e+00,UP_FORCE_RAMP,2.9132e-04,3.1923e-02,6.3113e-03,2.4404e+00,-3.7179e-02,3.8977e-02,5.4663e-05,3.9048e-02,2.2123e-03,-1.4190e-02,-1.5421e-04,2.6937e-03,6.7428e-05,4.1605e-02,2.6990e-03
+13,1.3500e+00,UP_FORCE_RAMP,3.1441e-04,3.3246e-02,6.5269e-03,2.4394e+00,-3.7193e-02,3.9071e-02,5.7679e-05,4.0371e-02,2.4279e-03,-1.5180e-02,-1.6845e-04,2.7876e-03,7.0444e-05,4.3199e-02,2.7936e-03
+14,1.4333e+00,UP_FORCE_RAMP,3.3867e-04,4.1850e-02,2.1283e-03,2.4187e+00,-3.6905e-02,3.9684e-02,7.6555e-05,4.8975e-02,-1.9707e-03,-3.5910e-02,1.2019e-04,3.4007e-03,8.9321e-05,6.0762e-02,3.4040e-03
+15,1.5167e+00,UP_FORCE_RAMP,3.6333e-04,4.1822e-02,2.8531e-03,2.4211e+00,-3.6952e-02,3.9690e-02,7.8693e-05,4.8946e-02,-1.2459e-03,-3.3530e-02,7.3314e-05,3.4063e-03,9.1458e-05,5.9342e-02,3.4083e-03
+16,1.6000e+00,UP_FORCE_RAMP,3.8877e-04,4.2189e-02,2.2995e-03,2.4216e+00,-3.6912e-02,3.9722e-02,8.0959e-05,4.9314e-02,-1.7995e-03,-3.3002e-02,1.1317e-04,3.4385e-03,9.3724e-05,5.9365e-02,3.4417e-03
+17,1.7167e+00,UP_FORCE_RAMP,4.1354e-04,4.3070e-02,1.9850e-03,2.4204e+00,-3.6890e-02,3.9790e-02,8.4123e-05,5.0195e-02,-2.1140e-03,-3.4199e-02,1.3446e-04,3.5064e-03,9.6888e-05,6.0775e-02,3.5104e-03
+18,1.8167e+00,UP_FORCE_RAMP,4.3513e-04,4.3528e-02,2.2806e-03,2.4174e+00,-3.6909e-02,3.9828e-02,8.6788e-05,5.0653e-02,-1.8184e-03,-3.7222e-02,1.1626e-04,3.5446e-03,9.9553e-05,6.2885e-02,3.5479e-03
+19,1.9000e+00,UP_FORCE_RAMP,4.6099e-04,4.3740e-02,1.7142e-03,2.4126e+00,-3.6869e-02,3.9849e-02,8.9171e-05,5.0865e-02,-2.3849e-03,-4.2028e-02,1.5564e-04,3.5657e-03,1.0194e-04,6.6025e-02,3.5706e-03
+20,2.0167e+00,UP_FORCE_RAMP,4.8437e-04,4.4771e-02,1.4014e-03,2.4095e+00,-3.6848e-02,3.9927e-02,9.2168e-05,5.1895e-02,-2.6976e-03,-4.5141e-02,1.7729e-04,3.6431e-03,1.0493e-04,6.8834e-02,3.6489e-03
+21,2.1000e+00,UP_FORCE_RAMP,5.0897e-04,4.6021e-02,2.0223e-03,2.4065e+00,-3.6889e-02,4.0017e-02,9.4722e-05,5.3146e-02,-2.0768e-03,-4.8072e-02,1.3598e-04,3.7334e-03,1.0749e-04,7.1692e-02,3.7374e-03
+22,2.2000e+00,UP_FORCE_RAMP,5.3534e-04,4.7451e-02,2.5237e-03,2.4039e+00,-3.6921e-02,4.0119e-02,9.7434e-05,5.4576e-02,-1.5753e-03,-5.0731e-02,1.0391e-04,3.8356e-03,1.1020e-04,7.4529e-02,3.8386e-03
+23,2.2833e+00,UP_FORCE_RAMP,5.5564e-04,4.8672e-02,2.7681e-03,2.4031e+00,-3.6937e-02,4.0206e-02,9.9632e-05,5.5797e-02,-1.3309e-03,-5.1483e-02,8.8211e-05,3.9223e-03,1.1240e-04,7.5931e-02,3.9249e-03
+24,2.3667e+00,UP_FORCE_RAMP,5.8318e-04,4.9901e-02,2.9236e-03,2.4033e+00,-3.6947e-02,4.0293e-02,1.0175e-04,5.7026e-02,-1.1754e-03,-5.1317e-02,7.7933e-05,4.0095e-03,1.1452e-04,7.6726e-02,4.0119e-03
+25,2.4667e+00,UP_FORCE_RAMP,6.0617e-04,5.1700e-02,8.6079e-04,2.4004e+00,-3.6809e-02,4.0421e-02,1.0404e-04,5.8825e-02,-3.2382e-03,-5.4217e-02,2.1555e-04,4.1377e-03,1.1681e-04,8.0064e-02,4.1449e-03
+26,2.6000e+00,UP_FORCE_RAMP,6.2843e-04,5.3674e-02,-2.5230e-04,2.3996e+00,-3.6737e-02,4.0562e-02,1.0669e-04,6.0799e-02,-4.3513e-03,-5.5045e-02,2.8814e-04,4.2787e-03,1.1946e-04,8.2131e-02,4.2901e-03
+27,2.7167e+00,UP_FORCE_RAMP,6.5366e-04,5.5305e-02,-8.2518e-04,2.4006e+00,-3.6699e-02,4.0679e-02,1.0883e-04,6.2430e-02,-4.9242e-03,-5.4036e-02,3.2609e-04,4.3955e-03,1.2160e-04,8.2714e-02,4.4093e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6c6c73df27dd0de169f1610a4e4ad9b693525e6e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e1ce9037ff13cb5ebc62f3882dfe6e0ddebaad41e0a9a8832f8bcb21a46e15
+size 1894400
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6006e020b15b31b1b302656822005b7d6fca3e83
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,3.105000e+01,266,6.947342e-01,1.277615e-02,8.265470e-01,2.929447e-05,-1.206760e-04,-8.029310e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7ece83859b8a12439035fbe682c19f713d51dcc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+66407,1791455431601493345,10409990000000,1791455431599337070,DOWN_FORCE_DETACH,10,0.0335,0.03356945514678955,0.675996685258614,-0.004712926154835015,0.09085530509682463,0.9999999756728524,0.00010267847295680501,-0.00014815877521983167,-8.719671769809267e-05,0.6761,-0.0048,0.09099999815009753,1.0,0.0,0.0,0.0,0.08014259509363439,-0.2199605365709449,-0.127826095937632,-0.018195871602497596,-0.005703723682996843,0.0003059952560078858,0.11387165998804778,-0.3093726509704468,-0.24912204770159355,-0.021151893016970874,-0.008646109376985626,-0.0011956010277273936,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,-0.2049516619811362,-0.12901886986050154,1.4510874877944717,0.04905014410593218,-0.922856658981017,-0.1720804500523882,0.721557885649919,0.127826095937632,-0.7295296021445528,-0.7295296021445528,0.00054,0,0,-4.500000192183606e-07,-9.980468815141136e-05
+66594,1791455433159504415,10411548000000,1791455433155337118,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760035858141088,-0.004718340946696477,0.09083126754684442,0.9999999788143746,0.00010178336741085956,-0.0001324585562457842,-7.686996560169741e-05,0.6761,-0.0048,0.09093865191158447,1.0,0.0,0.0,0.0,0.05204274954647888,-0.18730920810883972,0.011002376165852479,-0.01626176227670121,-0.0027330343171570104,0.00025989195273740887,0.08577181444089228,-0.27672132250834164,-0.11029357559810907,-0.019217783691174488,-0.005675420011145793,-0.0012417043309978705,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,-0.08167372815411868,-0.16392725931692448,1.0928250151361427,0.08579604952257729,-0.6783193735755007,-0.19076670820826025,0.721557885649919,0.011002376165852479,-0.37126712948622376,-0.37126712948622376,0.09402000000000128,0,0,-7.834998498187774e-05,-9.999999025923074e-05
+66727,1791455434267526216,10412656000000,1791455434263337098,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.676002094041771,-0.004726054856357574,0.09072379089229864,0.9999999803865206,0.00010706426928494476,-0.00012917694281222163,-5.020340938119472e-05,0.6761,-0.0048,0.0908212511871639,1.0,0.0,0.0,0.0,0.05265658190613146,-0.21491886955037587,0.2495423865238055,-0.018323129473764382,-0.0037464720985949714,2.9279140757582133e-05,0.08638564680054486,-0.3043309839498778,0.12824643475984396,-0.02127915088823766,-0.006688857792583754,-0.0014723171429776973,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.05639371448514101,-0.2642408299040955,0.8626588252350743,0.13224084935027922,-0.4938643563166379,-0.26167655018793157,0.721557885649919,0.2495423865238055,-0.14110093958515535,-0.14110093958515535,0.16050000000000625,0,0,-0.00013277303039935096,-9.999999025923074e-05
+66845,1791455435251498138,10413640000000,1791455435247337103,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760092874677579,-0.004736980542571128,0.0906269370481772,0.9999999838843654,0.00010798888672323302,-0.00010662285740985324,-2.5379126527744393e-05,0.6761,-0.0048,0.09069158014426072,1.0,0.0,0.0,0.0,0.04356196190743047,-0.23118967513637484,0.41325350777906045,-0.019402044607024,-0.0027598207556070323,-9.995927036947393e-05,0.07729102680184387,-0.32060178953587676,0.29195755601509893,-0.02235806602149728,-0.005702206449595815,-0.0016015555541047533,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.12405806583084812,-0.19579570442457309,0.5939391687700689,0.12142071062797802,-0.3024236854963592,-0.21891809165801673,0.721557885649919,0.41325350777906045,0.12761871687985005,0.12761871687985005,0.21954000000001067,0,0,-0.0001174379117882277,9.999997638144293e-05
+66926,1791455435926579102,10414315000000,1791455435919337468,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760631350651086,-0.004734167865877249,0.09060535525150248,0.9999999879376991,0.00011276019327939519,-5.210224211056234e-05,-1.17456949727077e-05,0.6761,-0.0048,0.0906182203215896,1.0,0.0,0.0,0.0,0.013680478210628469,-0.20523354143674205,0.4217012204876527,-0.017444665175690908,0.00023835832573241384,-4.0236801630589084e-05,0.04740954310504187,-0.29464565583624397,0.3004052687236911,-0.020400686590164186,-0.002704027368256369,-0.0015418330853658685,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.28285955561653175,-0.1171397799718949,0.588443144303504,0.10022672435633209,-0.265224401253696,-0.16758746345157172,0.721557885649919,0.4217012204876527,0.133114741346415,0.133114741346415,0.2600400000000137,0,0,-0.00010260195191094811,9.998390590316148e-05
+67070,1791455437126581688,10415515000000,1791455437123337612,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760699022883653,-0.004734748624836329,0.09052870320830829,0.9999999883606654,0.00011592469698414498,-3.579075787155119e-05,1.421113123443699e-06,0.6761,-0.0048,0.09052178986773222,1.0,0.0,0.0,0.0,-0.023252402798532513,-0.2236425737339673,0.5436281805090344,-0.018543991378167788,0.002260521307963422,-0.0001233314984812005,0.010476662095880888,-0.3130546881334692,0.42233222874507287,-0.021500012792641066,-0.0006818643860253611,-0.00162492778221648,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.33320662958784764,-0.2719231627613113,0.4418131416691832,0.13587085059166712,-0.1574980516568287,-0.2746476143699329,0.721557885649919,0.5436281805090344,0.2797447439807358,0.2797447439807358,0.3320400000000191,0,0,-5.795184577076095e-05,9.999999025923074e-05
+67229,1791455438451483864,10416840000000,1791455438451336898,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760716879323214,-0.00473986743104365,0.09047496406126587,0.999999989181127,0.00010863684675297311,-3.482221103542641e-05,8.127698123860769e-06,0.6761,-0.0048,0.09046613175900738,1.0,0.0,0.0,0.0,-0.032860224635392905,-0.22233922547860235,0.6039815260587167,-0.018590289330229576,0.0032561096915393905,0.0006582424121396022,0.0008688402590204939,-0.31175133987810427,0.48268557429475517,-0.021546310744702854,0.00031372399755060795,-0.0008433538715956772,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.38379264938409635,-0.22103750134562564,0.43228706139724565,0.13612983666272307,-0.14096317206251643,-0.2384408666718068,0.721557885649919,0.6039815260587167,0.2892708242526733,0.2892708242526733,0.41154000000002505,0,0,-3.7069705648178026e-05,-9.887677762521747e-05
+67379,1791455439701509971,10418090000000,1791455439699336794,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760756120739988,-0.0047378166696697595,0.09043869911590792,0.9999999891873211,0.00010967112567014215,-3.0264441950830448e-05,1.115928972811024e-05,0.6761,-0.0048,0.09041686193724581,1.0,0.0,0.0,0.0,-0.05158458260232623,-0.230092882078144,0.6337971004930393,-0.018616934702743212,0.0042687333221406425,-0.00016825010144892348,-0.017855517707912827,-0.3195049964776459,0.5125011487290777,-0.02157295611721649,0.0013263476281518594,-0.001669846385184203,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.39112121898931296,-0.28143567352788973,0.16767334927960928,0.1406620997983608,0.02759933058930504,-0.28084891508633464,0.721557885649919,0.6337971004930393,0.5538845363703097,0.5538845363703097,0.48654000000003067,0,0,-4.5559125809420446e-05,9.998094993435842e-05
+67526,1791455440926569898,10419315000000,1791455440919337161,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760798566935372,-0.004740396494496889,0.0903906225268041,0.999999989669077,0.00010580500706467595,-2.352322934309506e-05,1.8885672421548546e-05,0.6761,-0.0048,0.0903589034157537,1.0,0.0,0.0,0.0,-0.06126838780676104,-0.22921242609747966,0.6838242662052394,-0.01866233289006639,0.005266195371387275,0.0006966002814096902,-0.027539322912347636,-0.3186245404969816,0.5625283144412778,-0.021618354304539667,0.002323809677398492,-0.0008049960023255893,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.43300139022941053,-0.20821167631964876,0.20597949012660494,0.11838049866099809,0.010335867362473316,-0.23041968612267819,0.721557885649919,0.6838242662052394,0.515578395523314,0.515578395523314,0.5599799999999807,0,0,-4.723800734321581e-05,9.796357755409985e-05
+67687,1791455442267502481,10420656000000,1791455442267336840,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760850050803309,-0.00474433061168969,0.09033254145296682,0.999999989428224,0.00010618928689525755,-1.639219414525918e-05,3.2273014215829334e-05,0.6761,-0.0048,0.09029285268357812,1.0,0.0,0.0,0.0,-0.0708985274923972,-0.22672660003363354,0.7527464844935572,-0.018696893189383924,0.006267212009066677,-0.00015275563078980827,-0.03716946259798379,-0.31613871443313546,0.6314505327295956,-0.021652914603857203,0.003324826315077895,-0.0016543519145250877,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4632003166910222,-0.2159913529538065,0.15115276971374353,0.11890777562430468,0.05070417353114006,-0.2405560102114429,0.721557885649919,0.7527464844935572,0.5704051159361754,0.5704051159361754,0.6404399999999123,0,0,-5.151762006297555e-05,6.897547396989551e-05
+67841,1791455443551495327,10421940000000,1791455443547336756,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760877445056795,-0.004747884667135584,0.0902731987804825,0.9999999892631672,0.00010567602030578942,-1.0656263779644248e-05,4.044196552918452e-05,0.6761,-0.0048,0.0902291100832395,1.0,0.0,0.0,0.0,-0.07155943684999813,-0.22243022454054245,0.7949902995719341,-0.017690918539608896,0.0062362899843339415,0.0007678749314711021,-0.03783037195558474,-0.3118423389400444,0.6736943478079725,-0.020646939954082174,0.0032939042903451583,-0.0007337213522641774,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4745238183749636,-0.1854881530366474,0.13365071342633217,0.11902035029542332,0.06264009363839358,-0.21996589290347013,0.721557885649919,0.7949902995719341,0.5879071722235868,0.5879071722235868,0.7174799999998468,0,0,-5.1725426382402635e-05,-9.901139216695327e-05
+67991,1791455444801566636,10423190000000,1791455444799337103,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.676085335503132,-0.004749525891159354,0.0902068552117526,0.9999999926297443,7.56357066190709e-05,-1.0097345020553858e-05,1.8991036655947366e-05,0.6761,-0.0048,0.09016193978947994,1.0,0.0,0.0,0.0,-0.06254469926501546,-0.2028076906403879,0.845963461567073,-0.015631445505279732,0.005173128146675922,0.0007365258826759468,-0.02881563437060207,-0.2922198050398898,0.7246675098031115,-0.01858746691975301,0.0022307424526871395,-0.0007650704010593326,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5086264938429399,-0.18730572144984328,0.03238273779899677,0.13533143300931996,0.13238582835078613,-0.22019604122761915,0.721557885649919,0.845963461567073,0.6891751478509222,0.6891751478509222,0.792479999999783,0,0,-5.320626477636404e-05,-8.8652995080328e-05
+68138,1791455446026559553,10424415000000,1791455446023336477,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760860026643739,-0.004750714902069918,0.09014127367088032,0.999999991828579,8.298878871458405e-05,-1.1204567644794365e-05,2.780332881268765e-05,0.6761,-0.0048,0.09009155883612086,1.0,0.0,0.0,0.0,-0.06288422867583132,-0.19265038133171092,0.8802225397565203,-0.015636281334228865,0.005164936065768677,0.0006784249804357567,-0.029155163781417925,-0.28206249573121284,0.7589265879925587,-0.018592302748702143,0.002222550371779894,-0.0008231713032995227,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5116563859989753,-0.27323756082213535,0.011311004091262773,0.1623131299296062,0.14308609257767851,-0.2708711216998502,0.721557885649919,0.8802225397565203,0.7102468815586562,0.7102468815586562,0.8659799999997205,0,0,-6.0936162805973144e-05,-9.375000361989123e-05
+68287,1791455447267488192,10425656000000,1791455447267336346,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760893589390063,-0.004756681314829362,0.09006522107724739,0.9999999913206343,8.421542051072928e-05,-7.263404845927309e-06,4.070137315013406e-05,0.6761,-0.0048,0.09000638439293293,1.0,0.0,0.0,0.0,-0.06419213229747567,-0.17925039567565282,0.9264232949739722,-0.014651313616338523,0.006148379242543383,0.0006984390096707528,-0.03046306740306227,-0.26866251007515474,0.8051273432100107,-0.017607335030811803,0.0032059935485546,-0.0008031572740645266,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.511647845484929,-0.23035476544095737,-0.013773626155394729,0.15579491984094485,0.15429288326323584,-0.24637439676933684,0.721557885649919,0.9264232949739722,0.7353315118053136,0.7353315118053136,0.9404399999996572,0,0,-7.280681396246014e-05,-9.999924085868912e-05
+68436,1791455448509586440,10426898000000,1791455448503337328,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760952130212788,-0.0047578548746278655,0.08997788724866924,0.9999999952836859,2.840764951868626e-05,4.8670615206826845e-06,6.69401448016527e-06,0.6761,-0.0048,0.08990899949362059,1.0,0.0,0.0,0.0,-0.05590589551765489,-0.15220597096336358,0.9654791338651979,-0.012585964123968158,0.005086913536222777,0.0006747170476054609,-0.022176830623241488,-0.2416180853628655,0.8441831821012363,-0.015541985538441438,0.0021445278422339946,-0.0008268792361298185,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5496909811895279,-0.1583475556087117,-0.14952562870813246,0.14847983515303034,0.24393292165722316,-0.19342390062184128,0.721557885649919,0.9654791338651979,0.8710835143580514,0.8710835143580514,1.014959999999594,0,0,-8.175072762439357e-05,-4.621377535890864e-05
+68577,1791455449684590646,10428073000000,1791455449683336622,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.676095082807716,-0.004761793329045926,0.08987876735564669,0.9999999948672045,3.183928788164064e-05,3.4782044768217864e-06,2.6126942968426454e-05,0.6761,-0.0048,0.08980683462869832,1.0,0.0,0.0,0.0,-0.06546177329684047,-0.1513305594480088,0.9974263903576022,-0.012621703423129635,0.006093633911639912,0.000664151629673547,-0.03173270840242706,-0.24074267384751072,0.8761304385936406,-0.015577724837602915,0.0031512482176511295,-0.0008374446540617324,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6217054989390662,-0.21938712889699533,-0.19190092464126254,0.175369272484143,0.28477106402330715,-0.23933119796426067,0.721557885649919,0.9974263903576022,0.9134588102911815,0.9134588102911815,1.085459999999534,0,0,-9.092821085940195e-05,-7.672875809572872e-05
+68707,1791455450767514478,10429156000000,1791455450763336952,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760982236793903,-0.004764997607592846,0.08978323215217365,0.9999999945981063,2.8882594028674055e-05,4.3774466540459116e-06,3.732674273576095e-05,0.6761,-0.0048,0.08970277317582201,1.0,0.0,0.0,0.0,-0.07472111915246504,-0.15068480115577335,1.0084866694294092,-0.012651136248166703,0.0071047611886005295,0.0006702215557295527,-0.040992054258051636,-0.24009691555527526,0.8871907176654477,-0.015607157662639983,0.004162375494611747,-0.0008313747280057267,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6739234441771248,-0.19002419509845722,-0.2311554847731803,0.17659607523246665,0.31724285046593426,-0.22175981737733355,0.721557885649919,1.0084866694294092,0.9527133704230992,0.9527133704230992,1.1504399999994788,0,0,-0.00010113699281807798,-9.9999032691872e-05
+68842,1791455451892587799,10430281000000,1791455451891337383,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6761026829169127,-0.004772452863318095,0.08966876467111869,0.9999999949126508,1.0622540327451712e-05,1.1146738412017017e-05,3.715473941001447e-05,0.6761,-0.0048,0.08958181873280571,1.0,0.0,0.0,0.0,-0.07865189267587157,-0.14781123365753343,1.0280319681440782,-0.011860328755143753,0.007085775509925398,0.000662652886023406,-0.04492282778145817,-0.23722334805703535,0.9067360163801166,-0.014816350169617033,0.004143389815936615,-0.0008389433977118734,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6692993987440122,-0.1803193072289925,-0.26178733697756246,0.1890668466670798,0.32530886068638576,-0.2105481407062735,0.721557885649919,1.0280319681440782,0.9833452226274815,0.9833452226274815,1.2179399999994214,0,0,-0.0001133162800218398,-8.476748056119305e-05
+68976,1791455453009528392,10431398000000,1791455453007337131,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6761072221593547,-0.004771231750140292,0.08953932501583892,0.9999999838460033,0.00014918640723427917,1.4991235849837431e-05,3.563055398981894e-05,0.6761,-0.0048,0.08944437396059238,1.0,0.0,0.0,0.0,-0.08507985978640237,-0.15513008741066414,1.0420755498962644,-0.011649023074132485,0.00730451941393606,0.0006261613664359527,-0.051350794891988974,-0.24454220181016606,0.9207795981323028,-0.014605044488605765,0.004362133719947277,-0.0008754349172993267,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7012354041636727,-0.18844609151512748,-0.27778499710948046,0.19790733396202714,0.33960388568780636,-0.22800632890728556,0.721557885649919,1.0420755498962644,0.9993428827593994,0.9993428827593994,1.2849599999993644,0,0,-0.0001332747363816652,-9.299285927267249e-05
+69096,1791455454009590385,10432398000000,1791455454007336896,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6761088729982777,-0.004772848518439533,0.08940310547552686,0.999999987268478,0.0001230376123522455,1.5976575788869638e-05,3.8889625076945865e-05,0.6761,-0.0048,0.08930602870135533,1.0,0.0,0.0,0.0,-0.08449620627799478,-0.15071489072134941,1.0677997533293282,-0.012689807338057078,0.008104907260455443,0.0006364024617288327,-0.05076714138358139,-0.24012700512085133,0.9465038015653666,-0.015645828752530358,0.005162521566466661,-0.0008651938220064467,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6955770753788617,-0.19519238453759305,-0.4119985606633859,0.22264384381801278,0.416915072998566,-0.20176540944053784,0.721557885649919,1.0677997533293282,1.133556446313305,1.133556446313305,1.3449599999993134,0,0,-0.00014017809939617797,9.999999025923074e-05
+69203,1791455454901567860,10433290000000,1791455454899336894,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6761064052084431,-0.00477771138182631,0.0892705626507341,0.9999999902925468,9.610023348872596e-05,1.1429930048217672e-05,3.862476497789371e-05,0.6761,-0.0048,0.08917678687136987,1.0,0.0,0.0,0.0,-0.07464192828019431,-0.17004578299905954,1.086960240559101,-0.013678220637585973,0.007112590781492733,-0.0002947742348933795,-0.0409128633857809,-0.25945789739856145,0.9656642887951395,-0.016634242052059253,0.00417020508750395,-0.001796370518628659,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6751149322191045,-0.35053910210356204,-0.45033229537825603,0.26040998622948475,0.43046459871265147,-0.30573412596542954,0.721557885649919,1.086960240559101,1.171890181028175,1.171890181028175,1.3984799999992679,0,0,-0.00015002815377943157,9.994597790908272e-05
+69312,1791455455809563034,10434198000000,1791455455803345822,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6761049310718594,-0.004781616304371957,0.0891222620431298,0.9999999925306078,6.79667930338152e-05,9.761238251203224e-06,4.082747045578895e-05,0.6761,-0.0048,0.08903232873834566,1.0,0.0,0.0,0.0,-0.06538998292026074,-0.16467070754768331,1.0875579840120397,-0.013688687981006835,0.007106321262004436,0.0005954692362938212,-0.031660918025847334,-0.25408282194718523,0.9662620322480782,-0.016644709395480115,0.004163935568015653,-0.0009061270474414583,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6627339610212235,-0.3275245665845425,-0.42088854947324006,0.2760133831573661,0.4064109965965379,-0.2876206064362718,0.721557885649919,1.0875579840120397,1.142446435123159,1.142446435123159,1.4529599999992215,0,0,-0.00016657882738055208,-9.999997638144293e-05
+69407,1791455456601610176,10434990000000,1791455456599346088,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760996018403919,-0.004781064039359485,0.08897774974347337,0.9999999930738042,5.743694578427714e-05,-1.6781823540574757e-06,4.4647923103403254e-05,0.6761,-0.0048,0.08889588915070264,1.0,0.0,0.0,0.0,-0.05618053404535536,-0.17065673768067957,1.0978209210770966,-0.0137455752654286,0.0060928074042551,0.0005724841761610712,-0.02245146915094196,-0.2600688520801815,0.9765249693131351,-0.01670159667990188,0.0031504217102663176,-0.0009291121075742082,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6646879280983916,-0.3170051579462655,-0.36026412649520717,0.27877223426704917,0.3645725715373964,-0.2795036394350155,0.721557885649919,1.0978209210770966,1.081822012145126,1.081822012145126,1.5004799999991811,0,0,-0.00017854566322225563,-9.987049662119602e-05
+69495,1791455457334552253,10435723000000,1791455457327346097,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.676097264659613,-0.004776161597916961,0.08883880411403733,0.999999992360494,6.57525149396173e-05,-3.991255695611779e-06,4.8811403709848656e-05,0.6761,-0.0048,0.08875879291789997,1.0,0.0,0.0,0.0,-0.06482505639093637,-0.17045873860844335,1.1007624527311277,-0.014208518151985193,0.007070290510342333,-0.0003718042946719597,-0.031095991496522975,-0.25987085300794527,0.9794665009671661,-0.017164539566458473,0.004127904816353551,-0.001873400578407239,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6667116094433047,-0.2881269066095952,-0.4753223064935409,0.2720368087544621,0.4317462411542534,-0.2592314417835979,0.721557885649919,1.1007624527311277,1.19688019214346,1.19688019214346,1.5444599999991437,0,0,-0.00019573552846183085,-5.0807687250414804e-05
+69585,1791455458084589422,10436473000000,1791455458083336530,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760980464512454,-0.004782825950259578,0.0886887872907338,0.9999999923791226,6.228760762983991e-05,-5.333347002574932e-06,5.269182644402456e-05,0.6761,-0.0048,0.0886062812433558,1.0,0.0,0.0,0.0,-0.04797907317864153,-0.16903688321724347,1.1173790340347778,-0.013659599431458015,0.006091894703316954,-0.00011003774836323478,-0.014250008284228125,-0.2584489976167454,0.9960830822708163,-0.016615620845931295,0.0031495090093281715,-0.0016116340320985142,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7409330966973272,-0.23497800535314034,-0.4640157108591487,0.2744587947297463,0.4411188984344328,-0.21889574551708307,0.721557885649919,1.1173790340347778,1.1855735965090677,1.1855735965090677,1.5894599999991055,0,0,-0.00020985908571610613,-9.999999025923074e-05
+69679,1791455458867523264,10437256000000,1791455458863336782,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760972203352662,-0.004782788384136614,0.08851673321702966,0.9999999825537844,0.00015134516995848757,-5.462113615970592e-06,5.831037728963797e-05,0.6761,-0.0048,0.08843635179062449,1.0,0.0,0.0,0.0,-0.06547749422060994,-0.16894999044874232,1.1275100559698819,-0.013691557907065359,0.00705147534739761,0.0001868996250762112,-0.031748429326196544,-0.25836210484824423,1.0062141042059203,-0.01664757932153864,0.004109089653408827,-0.0013146966586590682,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7252658099518902,-0.2301967537039837,-0.5650206522441265,0.2641689421090627,0.4995653985102678,-0.24373264153599528,0.721557885649919,1.1275100559698819,1.2865785378940453,1.2865785378940453,1.6364399999990655,0,0,-0.00022498311147836769,9.853199786492012e-05
+69759,1791455459534481895,10437923000000,1791455459531337267,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760995889571629,-0.004787542490019347,0.08836172240655589,0.9999999874759306,0.00011333300108891186,-4.395658696937394e-06,6.022717086937954e-05,0.6761,-0.0048,0.08828031655667735,1.0,0.0,0.0,0.0,-0.06563305004324176,-0.16442409797190166,1.1374718926439829,-0.013688651627695466,0.007083293164254785,-0.0003891329635261746,-0.031903985148828355,-0.2538362123714036,1.0161759408800213,-0.016644673042168746,0.0041409074702660024,-0.001890729247261454,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6813369903202181,-0.25063538569508614,-0.4552465750705455,0.3002602785545645,0.41266509431992726,-0.22624522369371883,0.721557885649919,1.1374718926439829,1.1768044607204644,1.1768044607204644,1.6764599999990315,0,0,-0.00024406194224921152,-9.999999025923074e-05
+69843,1791455460234558457,10438623000000,1791455460227336732,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760962205022928,-0.0047919159689771736,0.08818278225770565,0.9999999900371958,8.56098539988435e-05,-7.716734299277165e-06,6.308627111318951e-05,0.6761,-0.0048,0.08810329111602179,1.0,0.0,0.0,0.0,-0.06555109868079279,-0.17483655148660365,1.1477087688670637,-0.013700858424945507,0.007095068796786374,0.0005468932215932722,-0.03182203378637938,-0.26424866588610557,1.0264128171031022,-0.016656879839418787,0.0041526831027975915,-0.0009547030621420072,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6987766554043296,-0.2879625781991128,-0.5152328738105271,0.3203973466527602,0.4515675357048254,-0.25186022615847875,0.721557885649919,1.1477087688670637,1.2367907594604461,1.2367907594604461,1.7184599999989958,0,0,-0.0002617055036111245,-7.79203743458467e-05
+69915,1791455460834590126,10439223000000,1791455460831337223,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760933000151912,-0.004795431510286142,0.08800751080558515,0.9999999908876651,6.731980029510491e-05,-1.713985966591888e-05,6.958307112394869e-05,0.6761,-0.0048,0.08794143979374008,1.0,0.0,0.0,0.0,-0.07115610270324423,-0.1777722997306338,1.1672333126454075,-0.013705616116321045,0.00709121123977797,0.0005272451386394166,-0.037427037808830825,-0.2671844141301357,1.045937360881446,-0.016661637530794325,0.004148825545789187,-0.0009743511450958628,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6532006809609632,-0.23405474874957458,-0.5295313144201942,0.3158913163606185,0.4425976883587606,-0.21779053037699603,0.721557885649919,1.1672333126454075,1.2510892000701133,1.2510892000701133,1.7544599999989652,0,0,-0.00027785290935697225,-9.996396352208165e-05
+69995,1791455461501559732,10439890000000,1791455461495337291,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760935902284718,-0.004797782117788908,0.08782492750297605,0.9999999909150586,6.301068208901599e-05,-1.6927723870032836e-05,7.318369523877767e-05,0.6761,-0.0048,0.0877509398781121,1.0,0.0,0.0,0.0,-0.06508804524815805,-0.18116103037543968,1.158668316264545,-0.014722695417825357,0.00711232393158246,0.00020101302532750842,-0.031358980353744646,-0.2705731447749416,1.0373723645005835,-0.017678716832298637,0.004169938237593677,-0.001300583258407771,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6341789431086537,-0.34400614508757854,-0.5618858578707034,0.3696162885402583,0.45643199466580925,-0.28259627074234706,0.721557885649919,1.158668316264545,1.2834437435206225,1.2834437435206225,1.7944799999989312,0,0,-0.00029490717162325284,-5.4102287953777764e-05
+70059,1791455462034587444,10440423000000,1791455462031337016,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760895909130883,-0.0048013528463264074,0.08766222516586653,0.9999999845414931,0.00012894217422780644,-2.2488854628341185e-05,7.230522153836557e-05,0.6761,-0.0048,0.08758956266649655,1.0,0.0,0.0,0.0,-0.06500521971058526,-0.18614796112518645,1.1774356558374064,-0.014721289216886915,0.006894680691822731,0.0005079254312923553,-0.03127615481617187,-0.27556007552468836,1.0561397040734448,-0.017677310631360195,0.003952294997833949,-0.000993670852442924,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.658275064063898,-0.27217986885731676,-0.4884327810405853,0.36619721010771117,0.41382041956798904,-0.23374797704564262,0.721557885649919,1.1774356558374064,1.2099906666905043,1.2099906666905043,1.826459999998904,0,0,-0.0003095946762940712,-9.999847758035969e-05
+70128,1791455462609549109,10440998000000,1791455462603337007,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760875257713185,-0.00480203341674622,0.08748063706330853,0.9999999865805771,0.0001091364857382628,-2.6624357965545567e-05,7.524680000558901e-05,0.6761,-0.0048,0.08740585606729463,1.0,0.0,0.0,0.0,-0.06180886375396509,-0.17111049673430578,1.1874221656722195,-0.014727686994053751,0.007104972936446251,0.0005037494862468982,-0.028079798859551686,-0.2605226111338077,1.066126213908258,-0.01768370840852703,0.004162587242457468,-0.0009978467974883813,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6583127964972032,-0.344028301293242,-0.4828938080912167,0.3947367629857627,0.4083178133551708,-0.2843582473165533,0.721557885649919,1.1874221656722195,1.2044516937411356,1.2044516937411356,1.8609599999988746,0,0,-0.000328615085194743,-9.999949065886966e-05
+70191,1791455463134588437,10441523000000,1791455463131336927,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760892865810981,-0.004803023352646519,0.08730800022718078,0.9999999891496599,8.184010845898648e-05,-2.4443506611144883e-05,7.647389123681158e-05,0.6761,-0.0048,0.08722806663452727,1.0,0.0,0.0,0.0,-0.07488978534687293,-0.17716218070423212,1.1978612686195214,-0.013710487140723102,0.007084612031746704,0.000505252116154225,-0.04116072045245954,-0.26657429510373404,1.0765653168555598,-0.016666508555196382,0.004142226337757921,-0.0009963441675810544,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6738076935010415,-0.2828544567965399,-0.5339666597686219,0.39077750588287496,0.44474828783343806,-0.2445437629929041,0.721557885649919,1.1978612686195214,1.2555245454185409,1.2555245454185409,1.8924599999988478,0,0,-0.00034858883119911886,-9.999999025923074e-05
+70255,1791455463667494014,10442056000000,1791455463667336619,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760892646228072,-0.0048009351440487435,0.0871230204268649,0.9999999896602748,7.181716949160023e-05,-2.3082963426267648e-05,8.019841461928654e-05,0.6761,-0.0048,0.08703731209103463,1.0,0.0,0.0,0.0,-0.07487981364017568,-0.17893224935124996,1.208664894390966,-0.01371588137315143,0.007163274927643222,0.0004972463977633624,-0.04115074874576228,-0.2683443637507519,1.0873689426270043,-0.01667190278762471,0.004220889233654439,-0.001004349885971917,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7326337326049268,-0.30702721349756956,-0.5737064620454629,0.4097524372125273,0.48230787840963274,-0.2581363131772506,0.721557885649919,1.208664894390966,1.2952643476953818,1.2952643476953818,1.9244399999988206,0,0,-0.0003659429182692727,-9.931834107768651e-05
+70317,1791455464184590223,10442573000000,1791455464183336160,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760923085451002,-0.004807269051219339,0.08693185613034764,0.9999999865778424,0.00010251966271848346,-1.8727191189599216e-05,8.617534782372587e-05,0.6761,-0.0048,0.08684470119643924,1.0,0.0,0.0,0.0,-0.08473432894766415,-0.1631326482872721,1.218254843273889,-0.01272290940792981,0.008073965497052893,0.0005107138591540895,-0.05100526405325075,-0.252544762686774,1.0969588915099275,-0.01567893082240309,0.00513157980306411,-0.0009908824245811899,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7069960219047458,-0.3404404901828168,-0.5439239291469424,0.4346113963724863,0.45367152792892546,-0.27575519640998425,0.721557885649919,1.218254843273889,1.2654818147968614,1.2654818147968614,1.9554599999987943,0,0,-0.0003812584950066685,-9.999259339832917e-05
+70375,1791455464667533908,10443056000000,1791455464667336947,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760875849427272,-0.0048118805898364325,0.08674134508032515,0.9999999872297021,9.010735156917568e-05,-2.482326358271643e-05,9.081811945653517e-05,0.6761,-0.0048,0.0866570154154642,1.0,0.0,0.0,0.0,-0.0751441241203556,-0.16551910413198545,1.2343096091514234,-0.01373646669219736,0.008088963470009425,0.00048204865129620154,-0.04141505922594219,-0.25493121853148737,1.1130136573874618,-0.01669248810667064,0.005146577776020643,-0.0010195476324390779,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7118536928220772,-0.36637129050132106,-0.6042103877866439,0.4523069746925101,0.4932221863018875,-0.29578500595060303,0.721557885649919,1.2343096091514234,1.3257682734365628,1.3257682734365628,1.9844399999987696,0,0,-0.0003952338318988403,3.110703183451316e-07
+70431,1791455465134492704,10443523000000,1791455465127337053,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760879269144299,-0.004809581234743616,0.08656159142407686,0.9999999883770598,7.651267342413642e-05,-2.2922476447871812e-05,9.115434953571147e-05,0.6761,-0.0048,0.0864698132895071,1.0,0.0,0.0,0.0,-0.07499560689747659,-0.17416581077859167,1.230097651026808,-0.013719904082988467,0.007214110241321375,0.00048159805541333946,-0.04126654200306319,-0.2635779251780936,1.1088016992628464,-0.016675925497461747,0.004271724547332593,-0.00101999822832194,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7489596504898473,-0.2231624548039679,-0.560766212988472,0.42473382984942193,0.4708979699246432,-0.20445130486836047,0.721557885649919,1.230097651026808,1.2823240986383908,1.2823240986383908,2.012459999998746,0,0,-0.0004073673881929959,-9.999999025923074e-05
+70485,1791455465584559519,10443973000000,1791455465583336694,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760886720187473,-0.00481869606584493,0.08637938687708181,0.9999999892494891,6.672919074227297e-05,-1.911952977728097e-05,9.014180445351539e-05,0.6761,-0.0048,0.08628364698460445,1.0,0.0,0.0,0.0,-0.07199111123090696,-0.17198829687223316,1.23834780248001,-0.012709087288821934,0.007457026218267123,0.0004966284377882697,-0.03826204633649356,-0.2614004112717351,1.1170518507160485,-0.015665108703295214,0.004514640524278341,-0.0010049678459470098,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7815689700306665,-0.21810570568905263,-0.581578898597613,0.43989002817423417,0.4928751548742938,-0.19530793429809085,0.721557885649919,1.23834780248001,1.303136784247532,1.303136784247532,2.039459999998723,0,0,-0.00041914948469975864,-9.999996250365512e-05
+70539,1791455466034575848,10444423000000,1791455466027337291,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760878156584403,-0.004818219045300471,0.08619489107255357,0.9999999852298145,0.0001108376677252384,-2.0315714721259553e-05,9.102482377985023e-05,0.6761,-0.0048,0.08609376903811929,1.0,0.0,0.0,0.0,-0.07577198394091983,-0.16222978929514298,1.2383389642809373,-0.012724255896640052,0.00806936444153452,0.0004996784004506411,-0.042042919046506436,-0.2516419036946449,1.1170430125169757,-0.015680277311113332,0.005126978747545737,-0.0010019178832846383,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8331718499821678,-0.26586827163254284,-0.6688594661012945,0.46325707304076547,0.5586232339539404,-0.22050543239282275,0.721557885649919,1.2383389642809373,1.3904173517512135,1.3904173517512135,2.0664599999987,0,0,-0.0004270261654739941,9.930165997674151e-05
+70593,1791455466484528225,10444873000000,1791455466483337040,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760876340206536,-0.004819120458200876,0.08599918516325888,0.9999999869538243,9.272150474421238e-05,-1.770842097161633e-05,9.286737873170818e-05,0.6761,-0.0048,0.08589870284397119,1.0,0.0,0.0,0.0,-0.07576841114833122,-0.152129756662997,1.2404091517884022,-0.01272419752344628,0.00806690866877472,0.0004969892049436315,-0.04203934625391782,-0.24154187106249891,1.1191132000244406,-0.01568021893791956,0.005124522974785937,-0.001004607078791648,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7867286094621946,-0.2749897049333451,-0.5589413884069576,0.47718332940368335,0.472660152109484,-0.23132684438920834,0.721557885649919,1.2404091517884022,1.2804992740568766,1.2804992740568766,2.093459999998677,0,0,-0.000438803407300263,-9.998078340090472e-05
+70644,1791455466909555698,10445298000000,1791455466903337314,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760848304133016,-0.004819287993895917,0.08580487309648306,0.9999999878490908,7.705586988306707e-05,-2.110068534333222e-05,9.675658385235671e-05,0.6761,-0.0048,0.08571081308136044,1.0,0.0,0.0,0.0,-0.07031722666559742,-0.15977691259567325,1.2575019232004396,-0.011681112342738807,0.007033313475998909,0.0004762267294853447,-0.036588161771184013,-0.24918902699517517,1.136205971436478,-0.014637133757212087,0.004090927782010126,-0.0010253695542499347,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8606828641300996,-0.33418626753675235,-0.59566884384249,0.5015912936893103,0.5173246019215472,-0.2668501553739353,0.721557885649919,1.2575019232004396,1.317226729492409,1.317226729492409,2.1189599999986553,0,0,-0.00044678604379652507,-9.999999025923074e-05
+70692,1791455467309499374,10445698000000,1791455467303337026,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760821180355043,-0.0048221717582672945,0.08562398758775804,0.999999988335395,7.019370703167176e-05,-2.5723526637669743e-05,9.582910717675957e-05,0.6761,-0.0048,0.0855311235026402,1.0,0.0,0.0,0.0,-0.06661117169559239,-0.15565865363596212,1.2488183859795838,-0.012126896970845904,0.00704279264287816,0.0003495173357672787,-0.03288210680117898,-0.24507076803546404,1.1275224342156223,-0.015082918385319184,0.004100406948889378,-0.0011520789479680007,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9050996855219697,-0.15830729660616616,-0.6667436358747829,0.46243177326667034,0.5702612399445185,-0.14544702788273203,0.721557885649919,1.2488183859795838,1.3883015215247019,1.3883015215247019,2.142959999998635,0,0,-0.0004516355642236032,-1.1712352128853622e-05
+70743,1791455467734545450,10446123000000,1791455467727337140,DOWN_FORCE_DETACH,10,0.0335,0.033502478152513504,0.6760821376915078,-0.004826532337989611,0.08543446648760306,0.9999999873644317,8.236032508941921e-05,-2.4191911354928612e-05,9.667227678822897e-05,0.6761,-0.0048,0.08533709449923006,1.0,0.0,0.0,0.0,-0.06610566427773673,-0.14923677536498348,1.248861061006315,-0.011677354850949607,0.007033955983668994,0.0004881687189084399,-0.03237659938332332,-0.2386488897644854,1.1275651092423535,-0.014633376265422887,0.004091570289680211,-0.0010134275648268395,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9504052494951171,-0.3811542424703332,-0.7097094682705718,0.5300681448669141,0.6061115796169079,-0.2886159528163812,0.721557885649919,1.248861061006315,1.4312673539204908,1.4312673539204908,2.168459999998613,0,0,-0.0004596628688416108,9.999953229223308e-05
+70793,1791455468151519366,10446540000000,1791455468151336742,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760825737102965,-0.004829933394217186,0.08524639155500817,0.9999999878610293,7.845025918226439e-05,-1.8384514495141544e-05,9.606441666039642e-05,0.6761,-0.0048,0.08514396666876618,1.0,0.0,0.0,0.0,-0.0668624010956925,-0.1434504564897976,1.2488911322978065,-0.011637604814497127,0.007032772077535748,0.0004884997665744995,-0.033133336201279104,-0.2328625708892995,1.1275951805338449,-0.014593626228970407,0.0040903863835469656,-0.00101309651716078,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9700188726333611,-0.21532368179717287,-0.7168037219037722,0.49123588329794926,0.609400532984329,-0.17745994772903542,0.721557885649919,1.2488911322978065,1.4383616075536911,1.4383616075536911,2.193479999998592,0,0,-0.00046490238516242046,9.988309765252552e-05
+70841,1791455468551520950,10446940000000,1791455468551336834,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760801602257495,-0.0048264294066391,0.08506222542789982,0.9999999870140102,8.572027524924892e-05,-2.4620181916746117e-05,9.726625792693808e-05,0.6761,-0.0048,0.08495760934939103,1.0,0.0,0.0,0.0,-0.06777382294683863,-0.1487547160059618,1.2589326105681773,-0.011678904214359418,0.007030909691867655,0.0004798285723741306,-0.03404475805242523,-0.23816683040546371,1.1376366588042157,-0.014634925628832698,0.004088523997878873,-0.0010217677113611488,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0432360457634167,-0.3683119983409533,-0.7591570621807094,0.5369829908338969,0.6568067866660928,-0.27713192149566657,0.721557885649919,1.2589326105681773,1.4807149478306285,1.4807149478306285,2.2174799999985715,0,0,-0.0004661745343539651,9.901272443458282e-05
+70889,1791455468951493530,10447340000000,1791455468951336304,DOWN_FORCE_DETACH,10,0.0335,0.033501818776130676,0.6760800775490741,-0.004827879115861531,0.0848763530009692,0.9999999877130619,7.529333910623677e-05,-2.3548486163630596e-05,9.896020695059517e-05,0.6761,-0.0048,0.08477030586823306,1.0,0.0,0.0,0.0,-0.06351884118896173,-0.144053195585666,1.271000199071212,-0.011650047932039592,0.007028223048835974,0.00047124546045339993,-0.029789776294548324,-0.23346530998516793,1.1497042473072505,-0.014606069346512872,0.004085837354847191,-0.0010303508232818795,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0017828358939997,-0.3121089189823462,-0.7805863727121962,0.5270519692809118,0.6540807760905223,-0.23682370857352722,0.721557885649919,1.271000199071212,1.5021442583621152,1.5021442583621152,2.241479999998551,0,0,-0.00046987585345240204,9.723277324814034e-05
+70940,1791455469373493359,10447762000000,1791455469371337084,DOWN_SETTLE,10,0.0335,0.033501818776130676,0.6760792589234347,-0.004836316782476726,0.08468578646292733,0.9999999883885886,6.981625573953527e-05,-2.1049090154285134e-05,9.66866758257244e-05,0.6761,-0.0048,0.08457498139162539,1.0,0.0,0.0,0.0,-0.06740619959785091,-0.13604888437675397,1.259300792740988,-0.010657900656041915,0.007012037939285784,0.0004911014609622825,-0.0336771347034375,-0.2254609987762559,1.1380048409770265,-0.013613922070515195,0.0040696522452970015,-0.0010104948227729969,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0176706679741632,-0.2800744166619733,-0.7017620976178051,0.5218201334817267,0.6032975514953144,-0.2105629823569387,0.721557885649919,1.259300792740988,1.423319983267724,1.423319983267724,2.2442999999985487,0,0,-0.00045250725700243945,9.999999025923074e-05
+70992,1791455469807520054,10448196000000,1791455469803337309,DOWN_SETTLE,10,0.0335,0.033501818776130676,0.6760769086148539,-0.004837985215954861,0.08449242095496522,0.9999999881612294,7.237657708535806e-05,-2.713876706070523e-05,9.563223284185616e-05,0.6761,-0.0048,0.08438329129116685,1.0,0.0,0.0,0.0,-0.05814957941704427,-0.14101255553001457,1.2514946691680908,-0.010663217567382465,0.006534781248196034,0.0004991498588960274,-0.024420514522630866,-0.2304246699295165,1.1301987174041292,-0.013619238981855745,0.0035923955542072512,-0.001002446424839252,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0570747126168936,-0.2965264128143789,-0.7206563732990727,0.5239269928847627,0.6208843008232533,-0.2202463110969765,0.721557885649919,1.2514946691680908,1.4422142589489917,1.4422142589489917,2.2442999999985487,0,0,-0.0004308072612299333,9.999999025923074e-05
+71043,1791455470232597155,10448621000000,1791455470231336840,DOWN_SETTLE,10,0.0335,0.033501818776130676,0.6760738956115762,-0.004842971455559804,0.08430798762988526,0.999999987982556,6.619132365483575e-05,-3.083082993186114e-05,0.00010072696231422953,0.6761,-0.0048,0.08420470320426235,1.0,0.0,0.0,0.0,-0.05770210759519244,-0.15478486335037012,1.2566864440779784,-0.011660416673398394,0.006391236079856146,0.000475597264700349,-0.023973042700779042,-0.24419697774987204,1.1353904923140168,-0.014616438087871674,0.0034488503858673635,-0.0010259990190349304,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1200091411235387,-0.3081784658628784,-0.7187791217788351,0.5263610098474626,0.6361865692793126,-0.2275550375586583,0.721557885649919,1.2566864440779784,1.440337007428754,1.440337007428754,2.2442999999985487,0,0,-0.00040955726536976025,9.999999025923074e-05
+71103,1791455470732488122,10449121000000,1791455470727336450,DOWN_SETTLE,10,0.0335,0.033502478152513504,0.6760762344262988,-0.004846216438390705,0.08412156296506033,0.9999999891656198,5.337664391154451e-05,-2.5091018871923576e-05,9.814784302865929e-05,0.6761,-0.0048,0.08400616207035744,1.0,0.0,0.0,0.0,-0.07558578090167978,-0.15037297822433232,1.2287761538527224,-0.011673517067523833,0.007038566660735578,0.0005032170608224923,-0.041856716007266384,-0.23978509262383424,1.1074802020887609,-0.014629538481997113,0.004096180966746795,-0.0009983792229127872,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1814562283811436,-0.23025423679882911,-0.7734075160824616,0.5090251354236509,0.6817161274020235,-0.16971461259093862,0.721557885649919,1.2287761538527224,1.4949654017323806,1.4949654017323806,2.2442999999985487,0,0,-0.0003845572702401449,9.999999025923074e-05
+71160,1791455471207499420,10449596000000,1791455471207336193,DOWN_SETTLE,10,0.0335,0.033501818776130676,0.6760721749687584,-0.00484418677721105,0.08394171058169922,0.9999999893094238,5.5509631365637445e-05,-2.9459867747426462e-05,9.420622984715938e-05,0.6761,-0.0048,0.08382912611589217,1.0,0.0,0.0,0.0,-0.06670751314613418,-0.1607540665490727,1.2203912856564223,-0.011996788802609713,0.0070442753642840986,0.0005083113321809308,-0.032978448251720784,-0.2501661809485746,1.0990953338924607,-0.014952810217082993,0.004101889670295316,-0.0009932849515543486,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2136017952769123,-0.31984919666901784,-0.7912510709061041,0.5379454169570507,0.6989197285040721,-0.22399213768465956,0.721557885649919,1.2203912856564223,1.512808956556023,1.512808956556023,2.2442999999985487,0,0,-0.0003608072748670103,9.999999025923074e-05
+71224,1791455471740520130,10450129000000,1791455471735336868,DOWN_SETTLE,10,0.0335,0.033502478152513504,0.6760682669882059,-0.004848830720581859,0.08375544278246438,0.9999999886962294,5.444652685139443e-05,-3.424638431429858e-05,9.956488467091421e-05,0.6761,-0.0048,0.08364390473700184,1.0,0.0,0.0,0.0,-0.07545486301276232,-0.16547308432422675,1.208070018230327,-0.012689417029272619,0.007063983171813447,0.00031170413826959163,-0.041725798118348915,-0.25488519872372867,1.0867740664663654,-0.0156454384437459,0.004121597477824665,-0.0011898921454656878,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.248381760272975,-0.34284518043656687,-0.7695651143938227,0.5401553246942329,0.6926842029070017,-0.24131497788088296,0.721557885649919,1.208070018230327,1.4911230000437417,1.4911230000437417,2.2442999999985487,0,0,-0.0003341572800588403,9.999999025923074e-05
+71291,1791455472298558017,10450687000000,1791455472295337115,DOWN_SETTLE,10,0.0335,0.033502478152513504,0.676062648138516,-0.004857847234485202,0.08357201961164759,0.9999999879106423,5.1839498560523394e-05,-4.160331973929596e-05,0.00010584616193563712,0.6761,-0.0048,0.08346521512320983,1.0,0.0,0.0,0.0,-0.07563730733887637,-0.16460532148840712,1.1781325440007797,-0.012712959913009978,0.008076127345039093,0.0005482317334379961,-0.04190824244446297,-0.25401743588790904,1.0568365922368181,-0.015668981327483258,0.005133741651050312,-0.0009533645502972833,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.347445221306847,-0.2983466665661865,-0.7589176471513028,0.528758644532069,0.7085943660668548,-0.20743519891117865,0.721557885649919,1.1781325440007797,1.4804755328012218,1.4804755328012218,2.2442999999985487,0,0,-0.00030625728549418953,9.999999025923074e-05
+71360,1791455472873533598,10451262000000,1791455472871336837,DOWN_SETTLE,10,0.0335,0.033501818776130676,0.676056159774551,-0.004857652435183877,0.08339394689271959,0.9999999893931583,3.4362265197529485e-05,-5.1152622250156824e-05,9.412328039206352e-05,0.6761,-0.0048,0.0832973684324376,1.0,0.0,0.0,0.0,-0.06537820075313608,-0.17776132032435876,1.1698378974410886,-0.013704939782318364,0.007090978650530396,0.0004868641693996094,-0.031649135858722685,-0.2671734347238607,1.048541945677127,-0.016660961196791644,0.004148592956541614,-0.00101473211433567,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2892381869382472,-0.24335754137514615,-0.7714156108066924,0.5086521699038409,0.7019512176300997,-0.17120951350957292,0.721557885649919,1.1698378974410886,1.4929734964566115,1.4929734964566115,2.2442999999985487,0,0,-0.00027750729109513186,9.999999025923074e-05
+71435,1791455473498573181,10451887000000,1791455473495336920,DOWN_SETTLE,10,0.0335,0.033502478152513504,0.6760586841528894,-0.004855738873013132,0.08322472873341036,0.999999988917141,3.548947147556712e-05,-5.302885532515473e-05,9.765766837007785e-05,0.6761,-0.0048,0.0831336763735976,1.0,0.0,0.0,0.0,-0.08480789412876119,-0.16556715462340849,1.147909260775781,-0.012705416612753954,0.00809050053932801,0.00035504684328397664,-0.05107882923434778,-0.2549792690229104,1.0266133090118195,-0.015661438027227234,0.005148114845339228,-0.0011465494404513028,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.351232766216552,-0.4030200626680645,-0.7905112715753562,0.5590787663228908,0.7215601150157925,-0.27008107442614016,0.721557885649919,1.147909260775781,1.5120691572252751,1.5120691572252751,2.2442999999985487,0,0,-0.00024625729718311264,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9b488bcb249d160fbf4ddf0b3a44d9710464c25
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b8ebe3387d05f9a7706292968e4019b3fb33c2d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,1.126666667e+01,DOWN_FORCE_DETACH,1791455448505598491,9.611364175e-05,-4.496044844e-05,-8.789917061e-04,9.392637361e-05,-4.327350202e-05,-8.794846285e-04,9.536866127e-05,-4.255526632e-05,-8.766827243e-04,7.016339851e-01,-4.340948712e-05,8.398619495e-01,7.016317979e-01,-4.172254070e-05,8.398614566e-01,7.018210160e-01,-4.069643781e-05,8.289040184e-01
+15,1.205000000e+01,DOWN_FORCE_DETACH,1791455449687616486,9.711766596e-05,-5.135438091e-05,-9.791395270e-04,9.524945348e-05,-5.125113594e-05,-9.689382048e-04,9.644899478e-05,-5.050157354e-05,-9.656857211e-04,7.016349891e-01,-4.980341959e-05,8.397618017e-01,7.016331209e-01,-4.970017462e-05,8.397720030e-01,7.018220963e-01,-4.864274503e-05,8.288150154e-01
+16,1.276666667e+01,DOWN_FORCE_DETACH,1791455450770926091,9.877917851e-05,-5.785111051e-05,-1.076363681e-03,9.864656569e-05,-5.782296275e-05,-1.075975284e-03,9.957659548e-05,-5.705788991e-05,-1.072095402e-03,7.016366507e-01,-5.630014919e-05,8.396645775e-01,7.016365180e-01,-5.627200143e-05,8.396649659e-01,7.018252239e-01,-5.519906140e-05,8.287086057e-01
+17,1.351666667e+01,DOWN_FORCE_DETACH,1791455451891141162,1.043301422e-04,-5.647035313e-05,-1.190997000e-03,1.050457129e-04,-5.267420404e-05,-1.177153436e-03,1.058356453e-04,-5.202733839e-05,-1.173059349e-03,7.016422016e-01,-5.491939181e-05,8.395499442e-01,7.016429172e-01,-5.112324272e-05,8.395637878e-01,7.018314830e-01,-5.016850988e-05,8.286076418e-01
+18,1.426666667e+01,DOWN_FORCE_DETACH,1791455453006287481,1.089317069e-04,-6.141808980e-05,-1.316999688e-03,1.087722582e-04,-5.621558090e-05,-1.311623192e-03,1.092800586e-04,-5.551244102e-05,-1.307144441e-03,7.016468032e-01,-5.986712848e-05,8.394239415e-01,7.016466437e-01,-5.466461958e-05,8.394293180e-01,7.018349274e-01,-5.365361251e-05,8.284735567e-01
+19,1.493333333e+01,DOWN_FORCE_DETACH,1791455454011231419,1.114051686e-04,-6.515096745e-05,-1.451793538e-03,1.111132891e-04,-6.219653034e-05,-1.436974566e-03,1.113363964e-04,-6.129916292e-05,-1.432359406e-03,7.016492767e-01,-6.360000613e-05,8.392891476e-01,7.016489848e-01,-6.064556902e-05,8.393039666e-01,7.018369837e-01,-5.944033441e-05,8.283483417e-01
+20,1.553333333e+01,DOWN_FORCE_DETACH,1791455454904456667,1.085211042e-04,-6.611307742e-05,-1.586549438e-03,1.065973044e-04,-6.434328947e-05,-1.584125869e-03,1.063007811e-04,-6.340276204e-05,-1.578876453e-03,7.016463926e-01,-6.456211610e-05,8.391543917e-01,7.016444688e-01,-6.279232815e-05,8.391568153e-01,7.018319481e-01,-6.154393354e-05,8.282018247e-01
+21,1.613333333e+01,DOWN_FORCE_DETACH,1791455455806370224,1.063439005e-04,-6.415632349e-05,-1.735008993e-03,1.053340241e-04,-6.824512905e-05,-1.717007627e-03,1.046391586e-04,-6.734132116e-05,-1.711380645e-03,7.016442154e-01,-6.260536217e-05,8.390059322e-01,7.016432055e-01,-6.669416773e-05,8.390239336e-01,7.018302865e-01,-6.548249266e-05,8.280693205e-01
+22,1.666666667e+01,DOWN_FORCE_DETACH,1791455456604595354,1.012157922e-04,-7.244057874e-05,-1.878268824e-03,1.014778042e-04,-6.852295372e-05,-1.870775294e-03,1.002054508e-04,-6.764098266e-05,-1.864404175e-03,7.016390873e-01,-7.088961742e-05,8.388626724e-01,7.016393493e-01,-6.697199240e-05,8.388701659e-01,7.018258528e-01,-6.578215416e-05,8.279162970e-01
+23,1.715000000e+01,DOWN_FORCE_DETACH,1791455457335811988,9.919427937e-05,-6.487001895e-05,-2.018453265e-03,9.861578030e-05,-6.943834893e-05,-2.007838641e-03,9.691615354e-05,-6.849909333e-05,-2.001053423e-03,7.016370658e-01,-6.331905763e-05,8.387224879e-01,7.016364873e-01,-6.788738761e-05,8.387331025e-01,7.018225635e-01,-6.664026483e-05,8.277796477e-01
+24,1.765000000e+01,DOWN_FORCE_DETACH,1791455458085155569,9.753468231e-05,-7.066061875e-05,-2.171725045e-03,9.962377714e-05,-6.841707424e-05,-2.164921972e-03,9.734270117e-05,-6.741851532e-05,-2.157630736e-03,7.016354062e-01,-6.910965743e-05,8.385692161e-01,7.016374953e-01,-6.686611292e-05,8.385760192e-01,7.018229900e-01,-6.555968682e-05,8.276230704e-01
+25,1.816666667e+01,DOWN_FORCE_DETACH,1791455458865259286,1.004296327e-04,-7.637018045e-05,-2.339326951e-03,9.811866691e-05,-7.108942283e-05,-2.326727851e-03,9.523023674e-05,-6.998510892e-05,-2.318918246e-03,7.016383011e-01,-7.481921913e-05,8.384016142e-01,7.016359901e-01,-6.953846150e-05,8.384142133e-01,7.018208776e-01,-6.812628042e-05,8.274617829e-01
+26,1.861666667e+01,DOWN_FORCE_DETACH,1791455459533994766,9.923153142e-05,-7.535122062e-05,-2.500323827e-03,9.814630406e-05,-7.533868771e-05,-2.483755425e-03,9.457511074e-05,-7.416689274e-05,-2.475544846e-03,7.016371030e-01,-7.380025930e-05,8.382406174e-01,7.016360178e-01,-7.378772639e-05,8.382571858e-01,7.018202224e-01,-7.230806423e-05,8.273051563e-01
+27,1.908333333e+01,DOWN_FORCE_DETACH,1791455460234867991,1.004059389e-04,-8.006553727e-05,-2.674633589e-03,9.972202971e-05,-7.659715768e-05,-2.664452687e-03,9.528723005e-05,-7.540857252e-05,-2.655714479e-03,7.016382774e-01,-7.851457595e-05,8.380663076e-01,7.016375935e-01,-7.504619636e-05,8.380764885e-01,7.018209346e-01,-7.354974401e-05,8.271249867e-01
+28,1.948333333e+01,DOWN_FORCE_DETACH,1791455460835546168,9.590800730e-05,-8.435091060e-05,-2.850866737e-03,9.579039180e-05,-8.429468386e-05,-2.850719710e-03,9.042737202e-05,-8.318237522e-05,-2.840973222e-03,7.016337795e-01,-8.279994928e-05,8.378900745e-01,7.016336619e-01,-8.274372254e-05,8.378902215e-01,7.018160747e-01,-8.132354672e-05,8.269397279e-01
+29,1.993333333e+01,DOWN_FORCE_DETACH,1791455461505242186,9.535465537e-05,-8.695399576e-05,-3.032116392e-03,9.508086627e-05,-8.660780989e-05,-3.032081986e-03,8.889715359e-05,-8.560268809e-05,-3.021923188e-03,7.016332261e-01,-8.540303444e-05,8.377088248e-01,7.016329523e-01,-8.505684857e-05,8.377088592e-01,7.018145445e-01,-8.374385959e-05,8.267587780e-01
+30,2.028333333e+01,DOWN_FORCE_DETACH,1791455462033867997,9.152053284e-05,-9.006126736e-05,-3.195032213e-03,9.137456603e-05,-9.010164709e-05,-3.194789828e-03,8.453451709e-05,-8.914554327e-05,-3.184180437e-03,7.016293920e-01,-8.851030603e-05,8.375459090e-01,7.016292460e-01,-8.855068577e-05,8.375461514e-01,7.018101819e-01,-8.728671477e-05,8.265965207e-01
+31,2.066666667e+01,DOWN_FORCE_DETACH,1791455462606749651,8.817292813e-05,-9.092816100e-05,-3.374936539e-03,8.813538561e-05,-9.074989486e-05,-3.374730913e-03,8.055630083e-05,-8.971975063e-05,-3.363817756e-03,7.016260444e-01,-8.937719968e-05,8.373660046e-01,7.016260069e-01,-8.919893353e-05,8.373662103e-01,7.018062036e-01,-8.786092212e-05,8.264168834e-01
+32,2.101666667e+01,DOWN_FORCE_DETACH,1791455463135279139,9.097189845e-05,-9.303634742e-05,-3.551454487e-03,9.092939493e-05,-9.306840534e-05,-3.551243933e-03,8.271903033e-05,-9.207326669e-05,-3.539924822e-03,7.016288434e-01,-9.148538610e-05,8.371894867e-01,7.016288009e-01,-9.151744402e-05,8.371896973e-01,7.018083664e-01,-9.021443818e-05,8.262407763e-01
+33,2.136666667e+01,DOWN_FORCE_DETACH,1791455463665424142,9.104785125e-05,-9.504164596e-05,-3.733534708e-03,9.125535192e-05,-9.796279125e-05,-3.724606698e-03,8.251810245e-05,-9.692565679e-05,-3.712971734e-03,7.016289193e-01,-9.349068464e-05,8.370074065e-01,7.016291268e-01,-9.641182992e-05,8.370163345e-01,7.018081654e-01,-9.506682829e-05,8.260677294e-01
+34,2.171666667e+01,DOWN_FORCE_DETACH,1791455464184605687,9.405258864e-05,-9.332417002e-05,-3.921317868e-03,9.658140611e-05,-9.403996541e-05,-3.913630913e-03,8.728190448e-05,-9.296327775e-05,-3.901554669e-03,7.016319241e-01,-9.177320870e-05,8.368196233e-01,7.016344529e-01,-9.248900409e-05,8.368273103e-01,7.018129292e-01,-9.110444924e-05,8.258791465e-01
+35,2.203333333e+01,DOWN_FORCE_DETACH,1791455464665399874,9.090458344e-05,-9.772478304e-05,-4.112582275e-03,9.070566748e-05,-9.747413716e-05,-4.112188345e-03,8.073022064e-05,-9.625459324e-05,-4.099364581e-03,7.016287761e-01,-9.617382172e-05,8.366283589e-01,7.016285771e-01,-9.592317584e-05,8.366287528e-01,7.018063776e-01,-9.439576473e-05,8.256813366e-01
+36,2.235000000e+01,DOWN_FORCE_DETACH,1791455465135671326,8.750287503e-05,-1.004248980e-04,-4.297391174e-03,9.175278036e-05,-1.009796577e-04,-4.282146808e-03,8.109145164e-05,-9.964386829e-05,-4.269296605e-03,7.016253744e-01,-9.887393670e-05,8.364435500e-01,7.016296243e-01,-9.942869641e-05,8.364587944e-01,7.018067388e-01,-9.778503978e-05,8.255114045e-01
+37,2.265000000e+01,DOWN_FORCE_DETACH,1791455465586075552,8.892116038e-05,-1.036506570e-04,-4.478910490e-03,9.048617535e-05,-1.040791826e-04,-4.459332156e-03,7.904561129e-05,-1.027692772e-04,-4.446199900e-03,7.016267926e-01,-1.020996957e-04,8.362620307e-01,7.016283577e-01,-1.025282212e-04,8.362816090e-01,7.018046929e-01,-1.009104487e-04,8.253345012e-01
+38,2.295000000e+01,DOWN_FORCE_DETACH,1791455466036840423,8.951666482e-05,-1.055530340e-04,-4.664030796e-03,8.930830011e-05,-1.035571253e-04,-4.652497327e-03,7.715573968e-05,-1.023327898e-04,-4.638990032e-03,7.016273881e-01,-1.040020726e-04,8.360769104e-01,7.016271798e-01,-1.020061640e-04,8.360884439e-01,7.018028031e-01,-1.004739613e-04,8.251417111e-01
+39,2.325000000e+01,DOWN_FORCE_DETACH,1791455466485211027,8.934436555e-05,-1.087479361e-04,-4.862990721e-03,8.863784883e-05,-1.077596006e-04,-4.848701412e-03,7.574458119e-05,-1.066238669e-04,-4.834782059e-03,7.016272158e-01,-1.071969747e-04,8.358779505e-01,7.016265093e-01,-1.062086392e-04,8.358922398e-01,7.018013919e-01,-1.047650384e-04,8.249459191e-01
+40,2.353333333e+01,DOWN_FORCE_DETACH,1791455466905580773,8.612277251e-05,-1.079691671e-04,-5.047498839e-03,8.643618823e-05,-1.076960405e-04,-5.028513513e-03,7.293083181e-05,-1.065076877e-04,-5.014395375e-03,7.016239943e-01,-1.064182058e-04,8.356934423e-01,7.016243077e-01,-1.061450792e-04,8.357124277e-01,7.017985782e-01,-1.046488592e-04,8.247663058e-01
+41,2.380000000e+01,DOWN_FORCE_DETACH,1791455467307840577,8.529342761e-05,-1.138233948e-04,-5.229485869e-03,8.473382799e-05,-1.092006566e-04,-5.212495292e-03,7.061581140e-05,-1.080141734e-04,-5.198068055e-03,7.016231649e-01,-1.122724335e-04,8.355114553e-01,7.016226053e-01,-1.076496953e-04,8.355284459e-01,7.017962631e-01,-1.061553448e-04,8.245826331e-01
+42,2.406666667e+01,DOWN_FORCE_DETACH,1791455467733226714,8.627813558e-05,-1.095480806e-04,-5.417929697e-03,8.598508128e-05,-1.094583952e-04,-5.418171319e-03,7.124461592e-05,-1.083105998e-04,-5.403138079e-03,7.016241496e-01,-1.079971193e-04,8.353230115e-01,7.016238566e-01,-1.079074339e-04,8.353227699e-01,7.017968919e-01,-1.064517713e-04,8.243775631e-01
+43,2.435000000e+01,DOWN_FORCE_DETACH,1791455468153634068,8.672565352e-05,-1.156480519e-04,-5.610287556e-03,8.653519688e-05,-1.156675328e-04,-5.610193553e-03,7.114908256e-05,-1.143497121e-04,-5.595007515e-03,7.016245971e-01,-1.140970906e-04,8.351306536e-01,7.016244067e-01,-1.141165714e-04,8.351307476e-01,7.017967964e-01,-1.124908836e-04,8.241856936e-01
+44,2.461666667e+01,DOWN_FORCE_DETACH,1791455468553101259,8.160387281e-05,-1.156976166e-04,-5.801550231e-03,8.308388720e-05,-1.179382022e-04,-5.785237450e-03,6.708069986e-05,-1.164324385e-04,-5.770092888e-03,7.016194754e-01,-1.141466552e-04,8.349393910e-01,7.016209554e-01,-1.163872408e-04,8.349557037e-01,7.017927280e-01,-1.145736100e-04,8.240106083e-01
+45,2.488333333e+01,DOWN_FORCE_DETACH,1791455468953805889,8.108349058e-05,-1.193408199e-04,-5.985444931e-03,8.074071532e-05,-1.191512394e-04,-5.985499556e-03,6.393875244e-05,-1.175769101e-04,-5.969955972e-03,7.016189550e-01,-1.177898586e-04,8.347554963e-01,7.016186122e-01,-1.176002780e-04,8.347554416e-01,7.017895861e-01,-1.157180815e-04,8.238107452e-01
+46,2.516666667e+01,DOWN_SETTLE,1791455469374518081,8.307782534e-05,-1.239671968e-04,-6.169331908e-03,8.363114565e-05,-1.243050549e-04,-6.150436083e-03,6.619163319e-05,-1.227484174e-04,-6.135295409e-03,7.016209493e-01,-1.224162354e-04,8.345716093e-01,7.016215026e-01,-1.227540936e-04,8.345905051e-01,7.017918390e-01,-1.208895889e-04,8.236454057e-01
+47,2.545000000e+01,DOWN_SETTLE,1791455469807011876,7.615985206e-05,-1.277840554e-04,-6.371285640e-03,7.598229446e-05,-1.277796743e-04,-6.371056249e-03,5.756059645e-05,-1.263173759e-04,-6.355476663e-03,7.016140313e-01,-1.262330941e-04,8.343696555e-01,7.016138538e-01,-1.262287130e-04,8.343698849e-01,7.017832079e-01,-1.244585473e-04,8.234252245e-01
+48,2.571666667e+01,DOWN_SETTLE,1791455470236177134,7.390322897e-05,-1.336424084e-04,-6.554223589e-03,7.367985044e-05,-1.337221781e-04,-6.554023687e-03,5.461327490e-05,-1.322855773e-04,-6.538343103e-03,7.016117747e-01,-1.320914471e-04,8.341867176e-01,7.016115513e-01,-1.321712168e-04,8.341869175e-01,7.017802606e-01,-1.304267488e-04,8.232423580e-01
+49,2.605000000e+01,DOWN_SETTLE,1791455470735118156,7.958197709e-05,-1.345757845e-04,-6.735408880e-03,7.936939066e-05,-1.345230655e-04,-6.734988490e-03,5.972815103e-05,-1.330957687e-04,-6.719905004e-03,7.016174535e-01,-1.330248232e-04,8.340055323e-01,7.016172409e-01,-1.329721042e-04,8.340059527e-01,7.017853755e-01,-1.312369402e-04,8.230607961e-01
+50,2.636666667e+01,DOWN_SETTLE,1791455471205793313,7.410821302e-05,-1.352171805e-04,-6.912795502e-03,7.671513743e-05,-1.338403147e-04,-6.894519747e-03,5.656778883e-05,-1.324542444e-04,-6.880116281e-03,7.016119797e-01,-1.336662192e-04,8.338281457e-01,7.016145866e-01,-1.322893534e-04,8.338464214e-01,7.017822151e-01,-1.305954159e-04,8.229005849e-01
+51,2.671666667e+01,DOWN_SETTLE,1791455471744278060,7.012687670e-05,-1.369929508e-04,-7.101000299e-03,6.976032361e-05,-1.368137830e-04,-7.093724608e-03,4.892584127e-05,-1.352681805e-04,-7.079477277e-03,7.016079984e-01,-1.354419895e-04,8.336399409e-01,7.016076318e-01,-1.352628217e-04,8.336472166e-01,7.017745732e-01,-1.334093519e-04,8.227012239e-01
+52,2.710000000e+01,DOWN_SETTLE,1791455472301346074,6.632436702e-05,-1.442513028e-04,-7.284120077e-03,6.370549390e-05,-1.404371506e-04,-7.277897653e-03,4.206497469e-05,-1.387287087e-04,-7.264156777e-03,7.016041958e-01,-1.427003414e-04,8.334568211e-01,7.016015770e-01,-1.388861893e-04,8.334630435e-01,7.017677123e-01,-1.368698802e-04,8.225165444e-01
+53,2.748333333e+01,DOWN_SETTLE,1791455472872033415,5.747038031e-05,-1.489562837e-04,-7.465955381e-03,5.731150444e-05,-1.488269559e-04,-7.465708386e-03,3.477547371e-05,-1.470240434e-04,-7.452186808e-03,7.015953419e-01,-1.474053224e-04,8.332749858e-01,7.015951830e-01,-1.472759946e-04,8.332752328e-01,7.017604228e-01,-1.451652149e-04,8.223285143e-01
+54,2.790000000e+01,DOWN_SETTLE,1791455473501534955,6.330235957e-05,-1.456697322e-04,-7.630317393e-03,6.017280781e-05,-1.472239977e-04,-7.626526714e-03,3.698762351e-05,-1.456618851e-04,-7.613827154e-03,7.016011738e-01,-1.441187708e-04,8.331106238e-01,7.015980443e-01,-1.456730364e-04,8.331144145e-01,7.017626350e-01,-1.438030566e-04,8.221668740e-01
+55,2.836666667e+01,DOWN_SETTLE,1791455474201154843,5.223171075e-05,-1.474761029e-04,-7.796323145e-03,5.310848776e-05,-1.498916516e-04,-7.790068011e-03,2.918807068e-05,-1.484149615e-04,-7.778178823e-03,7.015901032e-01,-1.459251416e-04,8.329446180e-01,7.015909800e-01,-1.483406903e-04,8.329508732e-01,7.017548354e-01,-1.465561330e-04,8.220025223e-01
+56,2.888333333e+01,DOWN_SETTLE,1791455474972124138,3.845803736e-05,-1.480647336e-04,-7.960079537e-03,3.766604932e-05,-1.539150247e-04,-7.950543105e-03,1.288126963e-05,-1.523292552e-04,-7.939657339e-03,7.015763295e-01,-1.465137723e-04,8.327808617e-01,7.015755375e-01,-1.523640634e-04,8.327903981e-01,7.017385286e-01,-1.504704267e-04,8.218410438e-01
+57,2.948333333e+01,DOWN_SETTLE,1791455475871642465,2.724934538e-05,-1.513587360e-04,-8.105858814e-03,2.679759110e-05,-1.522902396e-04,-8.098177381e-03,1.304057846e-06,-1.507862510e-04,-8.088449424e-03,7.015651208e-01,-1.498077746e-04,8.326350824e-01,7.015646691e-01,-1.507392782e-04,8.326427638e-01,7.017269514e-01,-1.489274225e-04,8.216922517e-01
+58,3.020000000e+01,DOWN_SETTLE,1791455476941849216,3.365273566e-05,-1.414496343e-04,-8.215681852e-03,3.374088126e-05,-1.406043613e-04,-8.205606298e-03,8.059139961e-06,-1.390892775e-04,-8.197765861e-03,7.015715242e-01,-1.398986730e-04,8.325252593e-01,7.015716124e-01,-1.390534000e-04,8.325353349e-01,7.017337065e-01,-1.372304490e-04,8.215829353e-01
+59,3.105000000e+01,DOWN_SETTLE,1791455478222467822,2.426129342e-05,-1.356168613e-04,-8.289878005e-03,2.585080724e-05,-1.406864218e-04,-8.272664711e-03,-3.009929498e-07,-1.390702055e-04,-8.266919308e-03,7.015621328e-01,-1.340659000e-04,8.324510632e-01,7.015637223e-01,-1.391354605e-04,8.324682765e-01,7.017253463e-01,-1.372113770e-04,8.215137818e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..791468df99574825c6aee48f6dc130144666f710
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-8.6656e-03,4.6080e-03,2.4551e+00,-3.7056e-02,3.6175e-02,-1.4742e-05,4.6385e-04,4.5926e-05,5.3883e-05,-3.0249e-06,3.0279e-05,2.1170e-07,4.6923e-04,3.0431e-05
+1,1.0333e+00,DOWN_FORCE_DETACH,1.9773e-04,2.8182e-02,8.4465e-03,2.4753e+00,-3.7352e-02,3.8786e-02,8.2903e-05,3.7311e-02,3.8845e-03,2.0286e-02,-2.9851e-04,2.6419e-03,9.7856e-05,4.2646e-02,2.6605e-03
+2,1.7667e+00,DOWN_FORCE_DETACH,4.0086e-04,4.8185e-02,1.6230e-02,2.5243e+00,-3.7861e-02,4.0103e-02,1.0789e-04,5.7314e-02,1.1668e-02,6.9332e-02,-8.0753e-04,3.9583e-03,1.2284e-04,9.0708e-02,4.0417e-03
+3,2.4167e+00,DOWN_FORCE_DETACH,5.9869e-04,5.6026e-02,2.2189e-02,2.5496e+00,-3.8254e-02,4.0633e-02,1.2398e-04,6.5156e-02,1.7627e-02,9.4618e-02,-1.2009e-03,4.4890e-03,1.3894e-04,1.1623e-01,4.6489e-03
+4,2.8667e+00,DOWN_FORCE_DETACH,7.9848e-04,4.2255e-02,2.2238e-02,2.5544e+00,-3.8253e-02,3.9720e-02,1.3382e-04,5.1384e-02,1.7676e-02,9.9383e-02,-1.2005e-03,3.5758e-03,1.4877e-04,1.1327e-01,3.7748e-03
+5,3.6667e+00,DOWN_FORCE_DETACH,9.9611e-04,4.9968e-02,2.4828e-02,2.5642e+00,-3.8405e-02,4.0208e-02,1.4682e-04,5.9098e-02,2.0266e-02,1.0915e-01,-1.3520e-03,4.0635e-03,1.6177e-04,1.2577e-01,4.2856e-03
+6,4.5500e+00,DOWN_FORCE_DETACH,1.1942e-03,6.1834e-02,2.8451e-02,2.5568e+00,-3.8629e-02,4.1027e-02,1.4822e-04,7.0963e-02,2.3889e-02,1.0174e-01,-1.5759e-03,4.8823e-03,1.6318e-04,1.2633e-01,5.1329e-03
+7,5.3833e+00,DOWN_FORCE_DETACH,1.3908e-03,6.9751e-02,2.7502e-02,2.5460e+00,-3.8563e-02,4.1611e-02,1.3472e-04,7.8880e-02,2.2940e-02,9.0947e-02,-1.5098e-03,5.4667e-03,1.4967e-04,1.2255e-01,5.6734e-03
+8,6.2000e+00,DOWN_FORCE_DETACH,1.5948e-03,7.4232e-02,2.8360e-02,2.5411e+00,-3.8628e-02,4.1957e-02,1.1437e-04,8.3361e-02,2.3798e-02,8.6137e-02,-1.5750e-03,5.8127e-03,1.2932e-04,1.2221e-01,6.0237e-03
+9,7.1000e+00,DOWN_FORCE_DETACH,1.7906e-03,7.7670e-02,2.9372e-02,2.5395e+00,-3.8715e-02,4.2224e-02,9.2500e-05,8.6800e-02,2.4810e-02,8.4502e-02,-1.6620e-03,6.0795e-03,1.0745e-04,1.2365e-01,6.3035e-03
+10,7.9500e+00,DOWN_FORCE_DETACH,1.9898e-03,8.0084e-02,3.3859e-02,2.5389e+00,-3.9042e-02,4.2406e-02,8.0631e-05,8.9213e-02,2.9297e-02,8.3879e-02,-1.9892e-03,6.2617e-03,9.5584e-05,1.2591e-01,6.5708e-03
+11,8.7833e+00,DOWN_FORCE_DETACH,2.1881e-03,8.2395e-02,3.4161e-02,2.5386e+00,-3.9097e-02,4.2570e-02,7.8359e-05,9.1524e-02,2.9598e-02,8.3577e-02,-2.0439e-03,6.4257e-03,9.3313e-05,1.2743e-01,6.7436e-03
+12,9.6000e+00,DOWN_FORCE_DETACH,2.3883e-03,8.4903e-02,3.4764e-02,2.5409e+00,-3.9170e-02,4.2740e-02,8.4685e-05,9.4032e-02,3.0202e-02,8.5876e-02,-2.1174e-03,6.5953e-03,9.9638e-05,1.3088e-01,6.9276e-03
+13,1.0433e+01,DOWN_FORCE_DETACH,2.5886e-03,8.5251e-02,3.8295e-02,2.5492e+00,-3.9445e-02,4.2759e-02,9.7349e-05,9.4381e-02,3.3733e-02,9.4228e-02,-2.3923e-03,6.6149e-03,1.1230e-04,1.3757e-01,7.0350e-03
+14,1.1267e+01,DOWN_FORCE_DETACH,2.7844e-03,8.4025e-02,3.7629e-02,2.5654e+00,-3.9440e-02,4.2660e-02,1.0788e-04,9.3155e-02,3.3067e-02,1.1038e-01,-2.3871e-03,6.5155e-03,1.2284e-04,1.4817e-01,6.9401e-03
+15,1.2050e+01,DOWN_FORCE_DETACH,2.9831e-03,8.4722e-02,3.9323e-02,2.5852e+00,-3.9566e-02,4.2675e-02,1.1219e-04,9.3852e-02,3.4761e-02,1.3020e-01,-2.5135e-03,6.5310e-03,1.2715e-04,1.6422e-01,6.9991e-03
+16,1.2767e+01,DOWN_FORCE_DETACH,3.1836e-03,8.5604e-02,4.0353e-02,2.6042e+00,-3.9631e-02,4.2702e-02,1.1118e-04,9.4734e-02,3.5791e-02,1.4924e-01,-2.5775e-03,6.5574e-03,1.2613e-04,1.8035e-01,7.0469e-03
+17,1.3517e+01,DOWN_FORCE_DETACH,3.3839e-03,8.7290e-02,4.0838e-02,2.6244e+00,-3.9634e-02,4.2779e-02,1.0636e-04,9.6419e-02,3.6276e-02,1.6938e-01,-2.5807e-03,6.6350e-03,1.2131e-04,1.9825e-01,7.1202e-03
+18,1.4267e+01,DOWN_FORCE_DETACH,3.5826e-03,9.0903e-02,4.2622e-02,2.6376e+00,-3.9698e-02,4.2995e-02,1.0146e-04,1.0003e-01,3.8060e-02,1.8262e-01,-2.6453e-03,6.8508e-03,1.1641e-04,2.1167e-01,7.3447e-03
+19,1.4933e+01,DOWN_FORCE_DETACH,3.7828e-03,9.4565e-02,4.6688e-02,2.6504e+00,-3.9939e-02,4.3229e-02,1.0354e-04,1.0369e-01,4.2126e-02,1.9543e-01,-2.8857e-03,7.0852e-03,1.1849e-04,2.2521e-01,7.6512e-03
+20,1.5533e+01,DOWN_FORCE_DETACH,3.9804e-03,9.9895e-02,4.6517e-02,2.6650e+00,-3.9950e-02,4.3585e-02,1.1426e-04,1.0902e-01,4.1955e-02,2.1003e-01,-2.8968e-03,7.4407e-03,1.2921e-04,2.4033e-01,7.9857e-03
+21,1.6133e+01,DOWN_FORCE_DETACH,4.1800e-03,1.0339e-01,4.6818e-02,2.6870e+00,-4.0003e-02,4.3824e-02,1.3370e-04,1.1252e-01,4.2256e-02,2.3204e-01,-2.9499e-03,7.6801e-03,1.4866e-04,2.6132e-01,8.2285e-03
+22,1.6667e+01,DOWN_FORCE_DETACH,4.3798e-03,1.0848e-01,4.8226e-02,2.7123e+00,-4.0100e-02,4.4158e-02,1.5487e-04,1.1761e-01,4.3664e-02,2.5730e-01,-3.0468e-03,8.0139e-03,1.6982e-04,2.8626e-01,8.5752e-03
+23,1.7150e+01,DOWN_FORCE_DETACH,4.5796e-03,1.1222e-01,4.9806e-02,2.7332e+00,-4.0184e-02,4.4397e-02,1.7448e-04,1.2135e-01,4.5244e-02,2.7819e-01,-3.1311e-03,8.2528e-03,1.8943e-04,3.0686e-01,8.8289e-03
+24,1.7650e+01,DOWN_FORCE_DETACH,4.7769e-03,1.1616e-01,5.3878e-02,2.7534e+00,-4.0417e-02,4.4642e-02,1.9353e-04,1.2529e-01,4.9316e-02,2.9834e-01,-3.3635e-03,8.4977e-03,2.0848e-04,3.2732e-01,9.1415e-03
+25,1.8167e+01,DOWN_FORCE_DETACH,4.9773e-03,1.1540e-01,5.7089e-02,2.7756e+00,-4.0600e-02,4.4580e-02,2.0391e-04,1.2453e-01,5.2527e-02,3.2063e-01,-3.5467e-03,8.4356e-03,2.1887e-04,3.4795e-01,9.1535e-03
+26,1.8617e+01,DOWN_FORCE_DETACH,5.1758e-03,1.1291e-01,6.0510e-02,2.7979e+00,-4.0812e-02,4.4399e-02,2.0434e-04,1.2204e-01,5.5948e-02,3.4292e-01,-3.7594e-03,8.2544e-03,2.1930e-04,3.6826e-01,9.0728e-03
+27,1.9083e+01,DOWN_FORCE_DETACH,5.3705e-03,1.0680e-01,6.0926e-02,2.8173e+00,-4.0846e-02,4.3960e-02,1.9569e-04,1.1593e-01,5.6364e-02,3.6232e-01,-3.7932e-03,7.8160e-03,2.1064e-04,3.8456e-01,8.6904e-03
+28,1.9483e+01,DOWN_FORCE_DETACH,5.5692e-03,1.0030e-01,5.9970e-02,2.8385e+00,-4.0805e-02,4.3479e-02,1.7783e-04,1.0943e-01,5.5408e-02,3.8353e-01,-3.7518e-03,7.3352e-03,1.9279e-04,4.0266e-01,8.2413e-03
+29,1.9933e+01,DOWN_FORCE_DETACH,5.7731e-03,9.7120e-02,5.7882e-02,2.8695e+00,-4.0676e-02,4.3190e-02,1.4488e-04,1.0625e-01,5.3320e-02,4.1448e-01,-3.6233e-03,7.0457e-03,1.5983e-04,4.3119e-01,7.9244e-03
+30,2.0283e+01,DOWN_FORCE_DETACH,5.9679e-03,9.4263e-02,5.7067e-02,2.8883e+00,-4.0602e-02,4.2935e-02,1.1194e-04,1.0339e-01,5.2505e-02,4.3330e-01,-3.5487e-03,6.7907e-03,1.2690e-04,4.4855e-01,7.6631e-03
+31,2.0667e+01,DOWN_FORCE_DETACH,6.1701e-03,9.1743e-02,5.9210e-02,2.9042e+00,-4.0716e-02,4.2710e-02,7.8195e-05,1.0087e-01,5.4648e-02,4.4922e-01,-3.6626e-03,6.5657e-03,9.3148e-05,4.6364e-01,7.5187e-03
+32,2.1017e+01,DOWN_FORCE_DETACH,6.3659e-03,8.9627e-02,6.0277e-02,2.9186e+00,-4.0778e-02,4.2540e-02,5.5767e-05,9.8756e-02,5.5715e-02,4.6357e-01,-3.7253e-03,6.3961e-03,7.0720e-05,4.7723e-01,7.4023e-03
+33,2.1367e+01,DOWN_FORCE_DETACH,6.5638e-03,8.8918e-02,6.0004e-02,2.9365e+00,-4.0747e-02,4.2469e-02,4.1915e-05,9.8048e-02,5.5442e-02,4.8150e-01,-3.6939e-03,6.3248e-03,5.6869e-05,4.9450e-01,7.3247e-03
+34,2.1717e+01,DOWN_FORCE_DETACH,6.7648e-03,8.9621e-02,6.2746e-02,2.9541e+00,-4.0895e-02,4.2487e-02,3.6013e-05,9.8750e-02,5.8184e-02,4.9909e-01,-3.8418e-03,6.3427e-03,5.0966e-05,5.1208e-01,7.4156e-03
+35,2.2033e+01,DOWN_FORCE_DETACH,6.9691e-03,9.2425e-02,6.7344e-02,2.9746e+00,-4.1158e-02,4.2650e-02,3.2885e-05,1.0155e-01,6.2782e-02,5.1963e-01,-4.1052e-03,6.5062e-03,4.7838e-05,5.3317e-01,7.6932e-03
+36,2.2350e+01,DOWN_FORCE_DETACH,7.1707e-03,9.2213e-02,7.1874e-02,2.9952e+00,-4.1419e-02,4.2621e-02,2.7186e-05,1.0134e-01,6.7312e-02,5.4023e-01,-4.3655e-03,6.4771e-03,4.2140e-05,5.5376e-01,7.8110e-03
+37,2.2650e+01,DOWN_FORCE_DETACH,7.3627e-03,9.0063e-02,7.3532e-02,3.0103e+00,-4.1508e-02,4.2464e-02,1.9280e-05,9.9193e-02,6.8970e-02,5.5533e-01,-4.4554e-03,6.3196e-03,3.4233e-05,5.6832e-01,7.7323e-03
+38,2.2950e+01,DOWN_FORCE_DETACH,7.5556e-03,8.7425e-02,7.2265e-02,3.0248e+00,-4.1420e-02,4.2264e-02,1.0931e-05,9.6555e-02,6.7703e-02,5.6982e-01,-4.3667e-03,6.1196e-03,2.5885e-05,5.8189e-01,7.5179e-03
+39,2.3250e+01,DOWN_FORCE_DETACH,7.7667e-03,8.7196e-02,7.0256e-02,3.0411e+00,-4.1271e-02,4.2208e-02,8.9002e-07,9.6326e-02,6.5694e-02,5.8605e-01,-4.2184e-03,6.0634e-03,1.5843e-05,5.9754e-01,7.3865e-03
+40,2.3533e+01,DOWN_FORCE_DETACH,7.9638e-03,8.8403e-02,7.0529e-02,3.0543e+00,-4.1261e-02,4.2243e-02,-7.9198e-06,9.7532e-02,6.5967e-02,5.9928e-01,-4.2084e-03,6.0992e-03,7.0335e-06,6.1074e-01,7.4101e-03
+41,2.3800e+01,DOWN_FORCE_DETACH,8.1514e-03,9.0910e-02,7.0486e-02,3.0682e+00,-4.1244e-02,4.2374e-02,-1.0861e-05,1.0004e-01,6.5924e-02,6.1318e-01,-4.1909e-03,6.2298e-03,4.0925e-06,6.2478e-01,7.5083e-03
+42,2.4067e+01,DOWN_FORCE_DETACH,8.3579e-03,9.2840e-02,7.0637e-02,3.0786e+00,-4.1240e-02,4.2478e-02,-6.9554e-06,1.0197e-01,6.6075e-02,6.2363e-01,-4.1872e-03,6.3333e-03,7.9979e-06,6.3536e-01,7.5923e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6f2ac14b1ed166fe1f15e63d58bf0c6df2e62322
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598d913112afad38de6fda300e819dc2f53bb3c09eb5006adaf2dc5cac90fda0
+size 2068480
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9f729692204fcb67ddc90cbba6cca2d0b142787
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bb8931e7c2cd1c7e8921ef6bef2d3fb1ba33645
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f3d8cccf1ec228ce514ce450baef2dec4c29c72
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ceb7537717ea91b37a7c76c1cb3573d86d603cb7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,5.666666667e-01,UP_FORCE_RAMP,1791455419401318948,1.705627016e-06,-1.059846562e-06,4.698672960e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.099682143e-07,5.581598134e-08,8.625125603e-08,7.015395771e-01,4.911147594e-07,8.407456399e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261573e-01,1.914644489e-06,8.297807874e-01
+7,6.500000000e-01,UP_FORCE_RAMP,1791455419531350098,4.962240350e-06,-7.578526757e-07,1.334936894e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.752840622e-07,6.260910014e-08,9.612401197e-08,7.015428337e-01,7.931086454e-07,8.407542906e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262226e-01,1.921437607e-06,8.297807973e-01
+8,7.000000000e-01,UP_FORCE_RAMP,1791455419600589849,1.893247993e-06,1.638788500e-06,1.188218040e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.135526918e-07,6.654699897e-08,1.018147677e-07,7.015397647e-01,3.189749821e-06,8.407528234e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262609e-01,1.925375506e-06,8.297808030e-01
+9,8.333333333e-01,UP_FORCE_RAMP,1791455419799302688,5.848371407e-07,2.036168634e-06,1.676569355e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.122063798e-07,7.648174373e-08,1.161958403e-07,7.015384563e-01,3.587129955e-06,8.407577069e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263595e-01,1.935310251e-06,8.297808173e-01
+10,9.666666667e-01,UP_FORCE_RAMP,1791455420002197373,1.533091079e-06,8.053470434e-07,2.914501133e-05,1.078783062e-06,-3.178202536e-07,2.201259991e-05,1.907726495e-06,-2.290679704e-07,2.181906497e-05,7.015394046e-01,2.356308364e-06,8.407700862e-01,7.015389503e-01,1.233141067e-06,8.407629538e-01,7.017275551e-01,1.629760537e-06,8.298025202e-01
+11,1.066666667e+00,UP_FORCE_RAMP,1791455420160395957,9.279914592e-08,1.817991442e-06,3.456097095e-05,1.078783062e-06,-3.178202536e-07,2.201259991e-05,1.975749432e-06,-2.231530260e-07,2.184546771e-05,7.015379643e-01,3.368952763e-06,8.407755022e-01,7.015389503e-01,1.233141067e-06,8.407629538e-01,7.017276231e-01,1.635675481e-06,8.298025466e-01
+12,1.166666667e+00,UP_FORCE_RAMP,1791455420301985001,4.290686878e-07,1.790565886e-06,4.758031124e-05,-3.356084914e-07,-5.169981271e-08,4.287961162e-05,6.782503400e-07,4.598459002e-08,4.244889516e-05,7.015383006e-01,3.341527207e-06,8.407885215e-01,7.015375359e-01,1.499261508e-06,8.407838208e-01,7.017263256e-01,1.904813097e-06,8.298231500e-01
+13,1.283333333e+00,UP_FORCE_RAMP,1791455420480354489,-3.546614768e-06,2.309314048e-06,5.548481884e-05,-3.356084914e-07,-5.169981271e-08,4.287961162e-05,7.481763868e-07,5.088502293e-08,4.249779616e-05,7.015343249e-01,3.860275369e-06,8.407964260e-01,7.015375359e-01,1.499261508e-06,8.407838208e-01,7.017263955e-01,1.909713530e-06,8.298231989e-01
+14,1.350000000e+00,UP_FORCE_RAMP,1791455420580560075,-3.590602812e-07,8.175214177e-06,6.769722756e-05,9.129140388e-08,3.114771901e-06,6.369611144e-05,1.332968853e-06,3.185953732e-06,6.298919167e-05,7.015375124e-01,9.726175498e-06,8.408086384e-01,7.015379628e-01,4.665733222e-06,8.408046373e-01,7.017269803e-01,5.044782240e-06,8.298436903e-01
+15,1.450000000e+00,UP_FORCE_RAMP,1791455420732333638,-5.963065588e-07,6.751266830e-06,7.527508361e-05,9.129140388e-08,3.114771901e-06,6.369611144e-05,1.389658808e-06,3.191482718e-06,6.304285386e-05,7.015372752e-01,8.302228152e-06,8.408162163e-01,7.015379628e-01,4.665733222e-06,8.408046373e-01,7.017270370e-01,5.050311225e-06,8.298437440e-01
+16,1.516666667e+00,UP_FORCE_RAMP,1791455420830439304,-3.388943561e-07,9.441262983e-06,8.222944446e-05,2.377938615e-06,3.642265210e-06,8.523728605e-05,3.839350270e-06,3.730247211e-06,8.427540691e-05,7.015375326e-01,1.099222430e-05,8.408231706e-01,7.015402494e-01,5.193226531e-06,8.408261785e-01,7.017294867e-01,5.589075718e-06,8.298649766e-01
+17,1.600000000e+00,UP_FORCE_RAMP,1791455420960396610,2.341774753e-06,7.472978720e-06,9.772349778e-05,2.377938615e-06,3.642265210e-06,8.523728605e-05,3.885520668e-06,3.732625520e-06,8.433260946e-05,7.015402133e-01,9.023940041e-06,8.408386647e-01,7.015402494e-01,5.193226531e-06,8.408261785e-01,7.017295329e-01,5.591454027e-06,8.298650338e-01
+18,1.683333333e+00,UP_FORCE_RAMP,1791455421080010031,3.258169912e-06,4.955086520e-06,1.117431416e-04,3.419387823e-06,4.867092164e-06,1.117823088e-04,5.049950677e-06,4.923866786e-06,1.104946878e-04,7.015411297e-01,6.506047841e-06,8.408526843e-01,7.015412909e-01,6.418053485e-06,8.408527235e-01,7.017306973e-01,6.782695293e-06,8.298911958e-01
+19,1.766666667e+00,UP_FORCE_RAMP,1791455421202288578,5.514644780e-06,1.222518212e-05,1.234043160e-04,3.419387823e-06,4.867092164e-06,1.117823088e-04,5.093458534e-06,4.925268386e-06,1.105780735e-04,7.015433861e-01,1.377614344e-05,8.408643455e-01,7.015412909e-01,6.418053485e-06,8.408527235e-01,7.017307408e-01,6.784096893e-06,8.298912792e-01
+20,1.866666667e+00,UP_FORCE_RAMP,1791455421361077654,6.973897448e-06,8.169825718e-06,1.371174145e-04,5.539415895e-06,1.215061128e-05,1.350522705e-04,7.416320076e-06,1.217207166e-05,1.336129933e-04,7.015448454e-01,9.720787039e-06,8.408780586e-01,7.015434109e-01,1.370157260e-05,8.408759935e-01,7.017330637e-01,1.403090017e-05,8.299143141e-01
+21,1.966666667e+00,UP_FORCE_RAMP,1791455421499241990,5.414425971e-06,1.187118904e-05,1.424225319e-04,5.539415895e-06,1.215061128e-05,1.350522705e-04,7.466565364e-06,1.217967721e-05,1.337042393e-04,7.015432859e-01,1.342215036e-05,8.408833637e-01,7.015434109e-01,1.370157260e-05,8.408759935e-01,7.017331139e-01,1.403850572e-05,8.299144054e-01
+22,2.050000000e+00,UP_FORCE_RAMP,1791455421632116567,4.301656445e-06,1.485138218e-05,1.496234410e-04,5.539415895e-06,1.215061128e-05,1.350522705e-04,7.506555765e-06,1.218323212e-05,1.337705375e-04,7.015421731e-01,1.640234350e-05,8.408905646e-01,7.015434109e-01,1.370157260e-05,8.408759935e-01,7.017331539e-01,1.404206063e-05,8.299144717e-01
+23,2.133333333e+00,UP_FORCE_RAMP,1791455421760351635,5.223116262e-06,1.336322194e-05,1.589468263e-04,4.246505248e-06,1.107096143e-05,1.550858943e-04,6.250691860e-06,1.109507392e-05,1.535622973e-04,7.015430946e-01,1.491418327e-05,8.408998880e-01,7.015421180e-01,1.262192275e-05,8.408960271e-01,7.017318980e-01,1.295390243e-05,8.299342634e-01
+24,2.250000000e+00,UP_FORCE_RAMP,1791455421929916300,4.596928064e-06,1.453470258e-05,1.659911725e-04,4.246505248e-06,1.107096143e-05,1.550858943e-04,6.298429415e-06,1.109536604e-05,1.536676283e-04,7.015424684e-01,1.608566390e-05,8.409069324e-01,7.015421180e-01,1.262192275e-05,8.408960271e-01,7.017319458e-01,1.295419455e-05,8.299343688e-01
+25,2.333333333e+00,UP_FORCE_RAMP,1791455422060388201,3.456362803e-06,1.415515285e-05,1.718221477e-04,4.246505248e-06,1.107096143e-05,1.550858943e-04,6.331748194e-06,1.109655081e-05,1.537351691e-04,7.015413278e-01,1.570611417e-05,8.409127633e-01,7.015421180e-01,1.262192275e-05,8.408960271e-01,7.017319791e-01,1.295537932e-05,8.299344363e-01
+26,2.466666667e+00,UP_FORCE_RAMP,1791455422260484777,6.647841534e-07,1.465609782e-05,1.795898543e-04,1.743063701e-06,1.282142896e-05,1.753514756e-04,3.946045592e-06,1.283632137e-05,1.738380611e-04,7.015385363e-01,1.620705914e-05,8.409205310e-01,7.015396145e-01,1.437239028e-05,8.409162927e-01,7.017295934e-01,1.469514988e-05,8.299545392e-01
+27,2.583333333e+00,UP_FORCE_RAMP,1791455422429407711,2.075189053e-06,1.719215164e-05,1.887795706e-04,1.743063701e-06,1.282142896e-05,1.753514756e-04,3.984505501e-06,1.283784544e-05,1.739396979e-04,7.015399467e-01,1.874311296e-05,8.409297208e-01,7.015396145e-01,1.437239028e-05,8.409162927e-01,7.017296318e-01,1.469667394e-05,8.299546408e-01
+28,2.700000000e+00,UP_FORCE_RAMP,1791455422600432800,-8.778319479e-07,1.669593030e-05,1.921156376e-04,1.743063701e-06,1.282142896e-05,1.753514756e-04,4.021299281e-06,1.283933394e-05,1.740329325e-04,7.015369936e-01,1.824689162e-05,8.409330568e-01,7.015396145e-01,1.437239028e-05,8.409162927e-01,7.017296686e-01,1.469816245e-05,8.299547341e-01
+29,2.783333333e+00,UP_FORCE_RAMP,1791455422729657533,9.842306096e-07,1.733264314e-05,2.020782063e-04,2.842031081e-06,1.700222458e-05,2.000477331e-04,5.223720320e-06,1.693423720e-05,1.983922661e-04,7.015388557e-01,1.888360447e-05,8.409430194e-01,7.015407135e-01,1.855318590e-05,8.409409889e-01,7.017308711e-01,1.879306571e-05,8.299790934e-01
+30,2.883333333e+00,UP_FORCE_RAMP,1791455422887403112,3.614888168e-07,1.753692056e-05,2.070585002e-04,2.842031081e-06,1.700222458e-05,2.000477331e-04,5.253205405e-06,1.693683541e-05,1.984851827e-04,7.015382330e-01,1.908788188e-05,8.409479997e-01,7.015407135e-01,1.855318590e-05,8.409409889e-01,7.017309005e-01,1.879566392e-05,8.299791863e-01
+31,2.966666667e+00,UP_FORCE_RAMP,1791455423002238974,2.739277968e-06,1.592312897e-05,2.152221272e-04,2.842031081e-06,1.700222458e-05,2.000477331e-04,5.276868911e-06,1.693841786e-05,1.985561524e-04,7.015406108e-01,1.747409029e-05,8.409561633e-01,7.015407135e-01,1.855318590e-05,8.409409889e-01,7.017309242e-01,1.879724637e-05,8.299792573e-01
+32,3.083333333e+00,UP_FORCE_RAMP,1791455423182660960,-8.187237155e-07,1.822269726e-05,2.152667922e-04,2.842031081e-06,1.700222458e-05,2.000477331e-04,5.308011854e-06,1.694025571e-05,1.986492184e-04,7.015370528e-01,1.977365858e-05,8.409562080e-01,7.015407135e-01,1.855318590e-05,8.409409889e-01,7.017309553e-01,1.879908422e-05,8.299793504e-01
+33,3.233333333e+00,UP_FORCE_RAMP,1791455423400654783,1.379464717e-06,1.905616834e-05,2.285988470e-04,1.369669899e-07,1.771846056e-05,2.205523640e-04,2.661372939e-06,1.765845066e-05,2.189740214e-04,7.015392509e-01,2.060712967e-05,8.409695400e-01,7.015380084e-01,1.926942189e-05,8.409614936e-01,7.017283087e-01,1.951727917e-05,8.299996752e-01
+34,3.350000000e+00,UP_FORCE_RAMP,1791455423579780926,-2.425831959e-06,2.021073137e-05,2.306521591e-04,1.369669899e-07,1.771846056e-05,2.205523640e-04,2.685636567e-06,1.766043917e-05,2.190715877e-04,7.015354456e-01,2.176169269e-05,8.409715933e-01,7.015380084e-01,1.926942189e-05,8.409614936e-01,7.017283330e-01,1.951926768e-05,8.299997727e-01
+35,3.466666667e+00,UP_FORCE_RAMP,1791455423760518108,1.504336551e-07,1.506591061e-05,2.389920415e-04,1.369669899e-07,1.771846056e-05,2.205523640e-04,2.708884436e-06,1.766239164e-05,2.191614399e-04,7.015380219e-01,1.661687193e-05,8.409799332e-01,7.015380084e-01,1.926942189e-05,8.409614936e-01,7.017283562e-01,1.952122015e-05,8.299998626e-01
+36,3.600000000e+00,UP_FORCE_RAMP,1791455423960687921,-1.416153349e-06,1.959513899e-05,2.439194215e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.484240949e-06,2.013627203e-05,2.411499811e-04,7.015364553e-01,2.114610031e-05,8.409848606e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017291316e-01,2.199510054e-05,8.300218511e-01
+37,3.683333333e+00,UP_FORCE_RAMP,1791455424080231078,-2.032836477e-06,1.802945595e-05,2.477172023e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.499585910e-06,2.013870132e-05,2.412202783e-04,7.015358386e-01,1.958041727e-05,8.409886584e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017291469e-01,2.199752983e-05,8.300219214e-01
+38,3.800000000e+00,UP_FORCE_RAMP,1791455424263142643,-6.939438754e-07,1.927170420e-05,2.539290045e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.520155463e-06,2.014190063e-05,2.413106725e-04,7.015371775e-01,2.082266552e-05,8.409948702e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017291675e-01,2.200072914e-05,8.300220118e-01
+39,3.916666667e+00,UP_FORCE_RAMP,1791455424431496318,-1.743264567e-06,1.829022089e-05,2.600068590e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.539316655e-06,2.014506796e-05,2.413942385e-04,7.015361282e-01,1.984118222e-05,8.410009480e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017291866e-01,2.200389647e-05,8.300220954e-01
+40,3.983333333e+00,UP_FORCE_RAMP,1791455424533929628,-3.119802603e-06,2.636035797e-05,2.582022559e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.549663446e-06,2.014684043e-05,2.414392829e-04,7.015347517e-01,2.791131929e-05,8.409991434e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017291970e-01,2.200566893e-05,8.300221404e-01
+41,4.100000000e+00,UP_FORCE_RAMP,1791455424700360878,-7.025752942e-06,1.484294001e-05,2.592580418e-04,7.448898672e-07,2.021183151e-05,2.427408899e-04,3.566770701e-06,2.014986666e-05,2.415138109e-04,7.015308457e-01,1.639390133e-05,8.410001992e-01,7.015386164e-01,2.176279283e-05,8.409836821e-01,7.017292141e-01,2.200869517e-05,8.300222150e-01
+42,4.116666667e+00,UP_FORCE_RAMP,1791455424730380368,-1.010102480e-05,1.625152328e-05,2.598633702e-04,-9.966068436e-06,1.645516051e-05,2.595086816e-04,-7.235272831e-06,1.644318440e-05,2.580125802e-04,7.015277705e-01,1.780248460e-05,8.410008046e-01,7.015279054e-01,1.800612183e-05,8.410004499e-01,7.017184121e-01,1.830201291e-05,8.300387137e-01
+43,4.133333333e+00,UP_FORCE_RAMP,1791455424760399858,-4.465067738e-05,2.151398677e-05,2.361385403e-04,-4.438500878e-05,2.124793169e-05,2.357259799e-04,-4.213317713e-05,2.124107598e-05,2.345881042e-04,7.014932208e-01,2.306494809e-05,8.409770797e-01,7.014934865e-01,2.279889301e-05,8.409766672e-01,7.016835142e-01,2.309990449e-05,8.300152893e-01
+44,4.166666667e+00,UP_FORCE_RAMP,1791455424801020683,-3.915842453e-05,1.255394322e-05,2.432821212e-04,-4.438500878e-05,2.124793169e-05,2.357259799e-04,-4.217027915e-05,2.124046524e-05,2.345969772e-04,7.014987131e-01,1.410490454e-05,8.409842233e-01,7.014934865e-01,2.279889301e-05,8.409766672e-01,7.016834771e-01,2.309929375e-05,8.300152981e-01
+45,4.216666667e+00,UP_FORCE_RAMP,1791455424880340985,-3.318901574e-05,1.512197632e-05,2.501931055e-04,-4.438500878e-05,2.124793169e-05,2.357259799e-04,-4.219399308e-05,2.123922840e-05,2.346226634e-04,7.015046825e-01,1.667293764e-05,8.409911343e-01,7.014934865e-01,2.279889301e-05,8.409766672e-01,7.016834533e-01,2.309805691e-05,8.300153238e-01
+46,4.300000000e+00,UP_FORCE_RAMP,1791455425000335594,-3.842664799e-05,1.616765455e-05,2.482426716e-04,-4.438500878e-05,2.124793169e-05,2.357259799e-04,-4.222093448e-05,2.123802364e-05,2.346644442e-04,7.014994448e-01,1.771861587e-05,8.409891839e-01,7.014934865e-01,2.279889301e-05,8.409766672e-01,7.016834264e-01,2.309685215e-05,8.300153656e-01
+47,4.466666667e+00,UP_FORCE_RAMP,1791455425260392870,-3.688698333e-05,2.280305382e-05,2.584023002e-04,-3.745589498e-05,1.985162179e-05,2.555598338e-04,-3.512755512e-05,1.986297072e-05,2.542988483e-04,7.015009845e-01,2.435401514e-05,8.409993435e-01,7.015004156e-01,2.140258311e-05,8.409965010e-01,7.016905198e-01,2.172179923e-05,8.300350000e-01
+48,4.550000000e+00,UP_FORCE_RAMP,1791455425381232030,-3.824931998e-05,2.224918084e-05,2.629717524e-04,-3.745589498e-05,1.985162179e-05,2.555598338e-04,-3.513796943e-05,1.986318508e-05,2.543484190e-04,7.014996222e-01,2.380014216e-05,8.410039129e-01,7.015004156e-01,2.140258311e-05,8.409965010e-01,7.016905094e-01,2.172201359e-05,8.300350496e-01
+49,4.633333333e+00,UP_FORCE_RAMP,1791455425500082271,-3.737431907e-05,2.722898511e-05,2.673819928e-04,-3.745589498e-05,1.985162179e-05,2.555598338e-04,-3.514789517e-05,1.986372107e-05,2.543938802e-04,7.015004972e-01,2.877994643e-05,8.410083232e-01,7.015004156e-01,2.140258311e-05,8.409965010e-01,7.016904994e-01,2.172254958e-05,8.300350950e-01
+50,4.750000000e+00,UP_FORCE_RAMP,1791455425686898668,-3.586789804e-05,2.903229584e-05,2.773109735e-04,-3.618657915e-05,2.684058720e-05,2.766785631e-04,-3.381853072e-05,2.676494409e-05,2.752689291e-04,7.015020036e-01,3.058325716e-05,8.410182522e-01,7.015016849e-01,2.839154852e-05,8.410176198e-01,7.016918288e-01,2.862377259e-05,8.300559701e-01
+51,4.850000000e+00,UP_FORCE_HOLD,1791455425830386821,-3.673606768e-05,2.456937381e-05,2.816738301e-04,-3.618657915e-05,2.684058720e-05,2.766785631e-04,-3.382891204e-05,2.677128796e-05,2.753392151e-04,7.015011354e-01,2.612033513e-05,8.410226150e-01,7.015016849e-01,2.839154852e-05,8.410176198e-01,7.016918184e-01,2.863011646e-05,8.300560404e-01
+52,4.916666667e+00,UP_FORCE_HOLD,1791455425929875317,-3.667082015e-05,2.719553993e-05,2.831922558e-04,-3.618657915e-05,2.684058720e-05,2.766785631e-04,-3.383524140e-05,2.677355420e-05,2.753793017e-04,7.015012007e-01,2.874650125e-05,8.410241334e-01,7.015016849e-01,2.839154852e-05,8.410176198e-01,7.016918121e-01,2.863238270e-05,8.300560804e-01
+53,5.016666667e+00,UP_FORCE_HOLD,1791455426080328372,-3.467778982e-05,3.110693201e-05,2.893296247e-04,-3.618657915e-05,2.684058720e-05,2.766785631e-04,-3.384449861e-05,2.677601141e-05,2.754347766e-04,7.015031937e-01,3.265789333e-05,8.410302708e-01,7.015016849e-01,2.839154852e-05,8.410176198e-01,7.016918028e-01,2.863483992e-05,8.300561359e-01
+54,5.116666667e+00,UP_FORCE_HOLD,1791455426230532508,-3.534625250e-05,2.712574447e-05,2.951634114e-04,-3.618657915e-05,2.684058720e-05,2.766785631e-04,-3.385367893e-05,2.677788821e-05,2.754861228e-04,7.015025252e-01,2.867670579e-05,8.410361046e-01,7.015016849e-01,2.839154852e-05,8.410176198e-01,7.016917937e-01,2.863671672e-05,8.300561873e-01
+55,5.250000000e+00,UP_FORCE_HOLD,1791455426429709833,-3.488875729e-05,3.357676117e-05,2.991332436e-04,-3.413606432e-05,3.072100646e-05,2.970256111e-04,-3.171553694e-05,3.060001990e-05,2.955622760e-04,7.015029827e-01,3.512772249e-05,8.410400744e-01,7.015037354e-01,3.227196778e-05,8.410379668e-01,7.016939318e-01,3.245884841e-05,8.300762634e-01
+56,5.350000000e+00,UP_FORCE_HOLD,1791455426581491233,-3.282299441e-05,3.577181672e-05,3.052386363e-04,-3.413606432e-05,3.072100646e-05,2.970256111e-04,-3.172246277e-05,3.060341053e-05,2.956220124e-04,7.015050485e-01,3.732277804e-05,8.410461798e-01,7.015037354e-01,3.227196778e-05,8.410379668e-01,7.016939249e-01,3.246223903e-05,8.300763232e-01
+57,5.416666667e+00,UP_FORCE_HOLD,1791455426680884494,-3.672341531e-05,2.950137944e-05,3.017861367e-04,-3.413606432e-05,3.072100646e-05,2.970256111e-04,-3.172704460e-05,3.060512905e-05,2.956583336e-04,7.015011481e-01,3.105234076e-05,8.410427273e-01,7.015037354e-01,3.227196778e-05,8.410379668e-01,7.016939203e-01,3.246395756e-05,8.300763595e-01
+58,5.516666667e+00,UP_SETTLE,1791455426831067099,-3.692289372e-05,3.460669532e-05,3.045653101e-04,-3.413606432e-05,3.072100646e-05,2.970256111e-04,-3.173398787e-05,3.060732819e-05,2.957092519e-04,7.015009486e-01,3.615765664e-05,8.410455065e-01,7.015037354e-01,3.227196778e-05,8.410379668e-01,7.016939133e-01,3.246615670e-05,8.300764104e-01
+59,5.616666667e+00,UP_SETTLE,1791455426980432243,-3.585066758e-05,3.277560079e-05,3.097110806e-04,-3.413606432e-05,3.072100646e-05,2.970256111e-04,-3.174102516e-05,3.060908856e-05,2.957567026e-04,7.015020208e-01,3.432656211e-05,8.410506523e-01,7.015037354e-01,3.227196778e-05,8.410379668e-01,7.016939063e-01,3.246791707e-05,8.300764579e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d267581d38e682ecd25c4f267d058aec7b2a9e7b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-8.6656e-03,4.6080e-03,2.4551e+00,-3.7056e-02,3.6175e-02,-1.4742e-05,4.6385e-04,4.5926e-05,5.3883e-05,-3.0249e-06,3.0279e-05,2.1170e-07,4.6923e-04,3.0431e-05
+1,1.0000e-01,UP_FORCE_RAMP,2.7095e-05,-5.7555e-03,4.8601e-03,2.4555e+00,-3.7073e-02,3.6365e-02,-1.3232e-05,3.3740e-03,2.9810e-04,4.4465e-04,-1.9677e-05,2.2094e-04,1.7211e-06,3.4162e-03,2.2182e-04
+2,1.6667e-01,UP_FORCE_RAMP,5.0126e-05,-3.7264e-03,5.0084e-03,2.4558e+00,-3.7083e-02,3.6499e-02,-1.2006e-05,5.4030e-03,4.4637e-04,7.5364e-04,-2.9501e-05,3.5452e-04,2.9475e-06,5.4736e-03,3.5576e-04
+3,2.3333e-01,UP_FORCE_RAMP,7.0945e-05,-1.6516e-03,5.1437e-03,2.4561e+00,-3.7092e-02,3.6636e-02,-1.0611e-05,7.4779e-03,5.8169e-04,1.0891e-03,-3.8479e-05,4.9163e-04,4.3419e-06,7.5791e-03,4.9316e-04
+4,3.6667e-01,UP_FORCE_RAMP,9.3297e-05,2.5734e-03,5.3855e-03,2.4568e+00,-3.7108e-02,3.6917e-02,-7.3466e-06,1.1703e-02,8.2346e-04,1.8091e-03,-5.4583e-05,7.7241e-04,7.6067e-06,1.1870e-02,7.7438e-04
+5,4.6667e-01,UP_FORCE_RAMP,1.1736e-04,5.7634e-03,5.5486e-03,2.4574e+00,-3.7119e-02,3.7130e-02,-4.5146e-06,1.4893e-02,9.8659e-04,2.3694e-03,-6.5479e-05,9.8578e-04,1.0439e-05,1.5112e-02,9.8801e-04
+6,5.6667e-01,UP_FORCE_RAMP,1.4222e-04,8.9403e-03,5.7058e-03,2.4579e+00,-3.7129e-02,3.7344e-02,-1.3918e-06,1.8070e-02,1.1437e-03,2.9311e-03,-7.5981e-05,1.1994e-03,1.3561e-05,1.8342e-02,1.2019e-03
+7,6.5000e-01,UP_FORCE_RAMP,1.6630e-04,1.1561e-02,5.8289e-03,2.4584e+00,-3.7137e-02,3.7521e-02,1.4084e-06,2.0691e-02,1.2669e-03,3.3946e-03,-8.4203e-05,1.3765e-03,1.6362e-05,2.1006e-02,1.3792e-03
+8,7.0000e-01,UP_FORCE_RAMP,1.8790e-04,1.3120e-02,5.9002e-03,2.4587e+00,-3.7142e-02,3.7626e-02,3.1703e-06,2.2249e-02,1.3382e-03,3.6683e-03,-8.8967e-05,1.4822e-03,1.8124e-05,2.2589e-02,1.4850e-03
+9,8.3333e-01,UP_FORCE_RAMP,2.1148e-04,1.7218e-02,6.0823e-03,2.4594e+00,-3.7154e-02,3.7906e-02,8.1460e-06,2.6347e-02,1.5202e-03,4.3786e-03,-1.0112e-04,1.7614e-03,2.3099e-05,2.6752e-02,1.7644e-03
+10,9.6667e-01,UP_FORCE_RAMP,2.3753e-04,2.9842e-02,6.8970e-03,2.4386e+00,-3.7209e-02,3.8801e-02,3.5474e-05,3.8972e-02,2.3350e-03,-1.6442e-02,-1.5594e-04,2.6572e-03,5.0427e-05,4.2362e-02,2.6623e-03
+11,1.0667e+00,UP_FORCE_RAMP,2.5888e-04,3.0052e-02,6.8383e-03,2.4416e+00,-3.7206e-02,3.8827e-02,3.8422e-05,3.9181e-02,2.2763e-03,-1.3451e-02,-1.5263e-04,2.6829e-03,5.3376e-05,4.1488e-02,2.6877e-03
+12,1.1667e+00,UP_FORCE_RAMP,2.8226e-04,3.1482e-02,6.7705e-03,2.4424e+00,-3.7201e-02,3.8934e-02,4.2358e-05,4.0611e-02,2.2085e-03,-1.2597e-02,-1.4845e-04,2.7898e-03,5.7312e-05,4.2577e-02,2.7943e-03
+13,1.2833e+00,UP_FORCE_RAMP,3.0990e-04,3.3436e-02,6.7026e-03,2.4410e+00,-3.7197e-02,3.9074e-02,4.6213e-05,4.2565e-02,2.1405e-03,-1.3992e-02,-1.4427e-04,2.9295e-03,6.1167e-05,4.4857e-02,2.9337e-03
+14,1.3500e+00,UP_FORCE_RAMP,3.3119e-04,4.0539e-02,3.3701e-03,2.4181e+00,-3.6977e-02,3.9592e-02,6.3947e-05,4.9669e-02,-1.1919e-03,-3.6929e-02,7.5813e-05,3.4475e-03,7.8900e-05,6.1905e-02,3.4492e-03
+15,1.4500e+00,UP_FORCE_RAMP,3.5510e-04,4.0814e-02,4.0948e-03,2.4211e+00,-3.7025e-02,3.9620e-02,6.6374e-05,4.9943e-02,-4.6727e-04,-3.3903e-02,2.8044e-05,3.4758e-03,8.1327e-05,6.0365e-02,3.4769e-03
+16,1.5167e+00,UP_FORCE_RAMP,3.7762e-04,4.1340e-02,4.3308e-03,2.4224e+00,-3.7039e-02,3.9661e-02,6.8302e-05,5.0469e-02,-2.3127e-04,-3.2588e-02,1.3821e-05,3.5168e-03,8.3255e-05,6.0076e-02,3.5178e-03
+17,1.6000e+00,UP_FORCE_RAMP,4.0216e-04,4.1859e-02,4.4165e-03,2.4213e+00,-3.7044e-02,3.9702e-02,7.0408e-05,5.0988e-02,-1.4551e-04,-3.3690e-02,9.1977e-06,3.5581e-03,8.5362e-05,6.1114e-02,3.5591e-03
+18,1.6833e+00,UP_FORCE_RAMP,4.2646e-04,4.2818e-02,4.4715e-03,2.4210e+00,-3.7047e-02,3.9772e-02,7.2558e-05,5.1947e-02,-9.0574e-05,-3.3973e-02,6.3665e-06,3.6281e-03,8.7512e-05,6.2070e-02,3.6291e-03
+19,1.7667e+00,UP_FORCE_RAMP,4.4924e-04,4.3880e-02,4.1903e-03,2.4164e+00,-3.7027e-02,3.9851e-02,7.5321e-05,5.3010e-02,-3.7172e-04,-3.8648e-02,2.6088e-05,3.7072e-03,9.0274e-05,6.5604e-02,3.7084e-03
+20,1.8667e+00,UP_FORCE_RAMP,4.7137e-04,4.5273e-02,3.3597e-03,2.4129e+00,-3.6970e-02,3.9952e-02,7.8024e-05,5.4402e-02,-1.2023e-03,-4.2107e-02,8.3219e-05,3.8081e-03,9.2977e-05,6.8804e-02,3.8101e-03
+21,1.9667e+00,UP_FORCE_RAMP,4.9471e-04,4.6320e-02,2.0453e-03,2.4081e+00,-3.6883e-02,4.0030e-02,8.0271e-05,5.5450e-02,-2.5167e-03,-4.6895e-02,1.7035e-04,3.8861e-03,9.5224e-05,7.2664e-02,3.8910e-03
+22,2.0500e+00,UP_FORCE_RAMP,5.1981e-04,4.7482e-02,1.3885e-03,2.4061e+00,-3.6839e-02,4.0114e-02,8.2117e-05,5.6612e-02,-3.1735e-03,-4.8908e-02,2.1408e-04,3.9700e-03,9.7071e-05,7.4879e-02,3.9770e-03
+23,2.1333e+00,UP_FORCE_RAMP,5.4151e-04,4.9033e-02,9.9847e-04,2.4037e+00,-3.6812e-02,4.0225e-02,8.4191e-05,5.8162e-02,-3.5636e-03,-5.1292e-02,2.4060e-04,4.0809e-03,9.9145e-05,7.7630e-02,4.0892e-03
+24,2.2500e+00,UP_FORCE_RAMP,5.6583e-04,5.1088e-02,6.8176e-04,2.4004e+00,-3.6790e-02,4.0372e-02,8.6761e-05,6.0218e-02,-3.8803e-03,-5.4617e-02,2.6301e-04,4.2273e-03,1.0171e-04,8.1389e-02,4.2367e-03
+25,2.3333e+00,UP_FORCE_RAMP,5.9129e-04,5.2535e-02,5.0071e-04,2.3996e+00,-3.6777e-02,4.0474e-02,8.8530e-05,6.1664e-02,-4.0613e-03,-5.5378e-02,2.7608e-04,4.3302e-03,1.0348e-04,8.2980e-02,4.3402e-03
+26,2.4667e+00,UP_FORCE_RAMP,6.1382e-04,5.5406e-02,-1.4765e-04,2.3969e+00,-3.6732e-02,4.0678e-02,9.1404e-05,6.4536e-02,-4.7097e-03,-5.8125e-02,3.2105e-04,4.5341e-03,1.0636e-04,8.6980e-02,4.5467e-03
+27,2.5833e+00,UP_FORCE_RAMP,6.3693e-04,5.7541e-02,-5.7591e-04,2.3956e+00,-3.6703e-02,4.0830e-02,9.3565e-05,6.6671e-02,-5.1379e-03,-5.9454e-02,3.5031e-04,4.6860e-03,1.0852e-04,8.9477e-02,4.7004e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..880cf38fe11ad43a5ae95e3c20c1921a059431fe
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b5d3571ebc65e0e1930657dd1f7f86db2b32b765f986225852dc11298be837
+size 3655680
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..625c21e03195e3626ef4469463f647c92b2cee32
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,3.118333e+01,259,7.037568e-01,1.932959e-02,8.294524e-01,9.422139e-06,-4.215290e-05,-9.666782e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,260,7.072346e-01,1.800521e-02,8.272383e-01,1.250660e-05,-4.266199e-05,-9.674067e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,261,7.063934e-01,1.368232e-02,8.189245e-01,-7.027572e-06,-3.519198e-05,-9.673537e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,262,7.060069e-01,1.799343e-02,8.121934e-01,-4.185420e-05,-4.777192e-05,-9.686430e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,263,6.962927e-01,1.959111e-02,8.120449e-01,-4.540612e-05,-5.081122e-05,-9.654692e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,264,7.084711e-01,1.796673e-02,8.260277e-01,1.123386e-05,-4.339518e-05,-9.680613e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,265,7.070216e-01,1.438472e-02,8.173933e-01,-1.490109e-05,-4.031414e-05,-9.679273e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.118333e+01,266,6.948305e-01,1.660689e-02,8.248213e-01,-6.962950e-06,-4.456810e-05,-9.642338e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ef92919c13fe536701814ee1ec960a53c735e11
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+2615,1791447332954567058,2311344000000,1791447332946838601,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6759793245751827,-0.004827784012544848,0.09087233642210145,0.99999997062202,7.910134660753465e-05,-0.00018019294331450385,0.00010710884147464974,0.6761,-0.0048,0.09096973002125698,1.0,0.0,0.0,0.0,-0.04069267274230233,-0.22213461867598397,-0.08659914209604044,-0.01744879118112569,0.0038854520219389534,-7.566638576150663e-05,-0.08305313394591293,-0.335120298522852,-0.24067901535728128,-0.02041920142818015,0.001468073328300989,-3.0053231038316898e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2205263748442823,-0.26242728256226266,0.4017426762476015,0.4747490831594389,-0.007305918763656234,-0.2539924023384731,0.5024368616808691,0.08659914209604044,0.10069418543326758,0.10069418543326758,0.08154000000000035,0,0,-3.5123688392453605e-05,9.781459950198296e-05
+2802,1791447334512671935,2312902000000,1791447334510837242,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6759845791433344,-0.00483005746392966,0.09083247428213928,0.9999999716201409,7.990104901989809e-05,-0.00017075024396202035,0.00011252892220573882,0.6761,-0.0048,0.09091678477745986,1.0,0.0,0.0,0.0,-0.04350445784301714,-0.20059207326300096,-0.02468665327092001,-0.016456885405375883,0.004493692959047029,-0.00010528177946073009,-0.08586491904662774,-0.313577753109869,-0.17876652653216085,-0.019427295652430343,0.002076314265409064,-5.966862473754036e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.247156244154442,-0.23527329626949503,0.36033885926487824,0.47666299057167855,0.02221365779842315,-0.23467912465343102,0.5024368616808691,0.02468665327092001,0.14209800241599085,0.14209800241599085,0.17502000000000734,0,0,-3.433211430839555e-05,9.74930372806881e-05
+2978,1791447335979643627,2314369000000,1791447335978837666,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6759899804088686,-0.004830775378094424,0.09078826727301048,0.9999999734923017,7.648942172097645e-05,-0.00016151552606849607,0.0001118944301458596,0.6761,-0.0048,0.09085882642594173,1.0,0.0,0.0,0.0,-0.046269739656710704,-0.2020132376975697,0.04583541716207758,-0.015597189478671095,0.004833170140988401,-0.00015144260826373783,-0.0886302008603213,-0.31499891754443776,-0.10824445609916326,-0.018567599725725553,0.002415791447350436,-0.0001058294535405481,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2334393897390852,-0.29320517117764094,0.3631109652641079,0.4939764100196658,0.013177608952965656,-0.2738672615834842,0.5024368616808691,0.04583541716207758,0.13932589641676119,0.13932589641676119,0.26304000000001393,0,0,-4.20111404373077e-05,-9.592677627091035e-05
+3131,1791447337254578079,2315644000000,1791447337250838220,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6759944234998233,-0.004832338994148015,0.09074308057623336,0.9999999746300864,7.485746531307115e-05,-0.00015352362970538964,0.00011405939743360782,0.6761,-0.0048,0.09080385739552944,1.0,0.0,0.0,0.0,-0.05218335674737465,-0.19920724226035416,0.11245426031630132,-0.01547338506086878,0.0048160527359186,-0.00020127488072970578,-0.09454381795098525,-0.3121929221072222,-0.04162561294493952,-0.018443795307923238,0.0023986740422806347,-0.00015566172600651605,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3148718990651853,-0.24739426597161887,0.253697409195656,0.4846585500303338,0.10766749044318005,-0.2447631136912608,0.5024368616808691,0.11245426031630132,0.24873945248521312,0.24873945248521312,0.33954000000001966,0,0,-4.501151699562301e-05,-6.853883713209825e-05
+3302,1791447338679652345,2317069000000,1791447338678837737,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6759996169410891,-0.004833626677608426,0.09068896668912164,0.9999999755298247,7.453814056540924e-05,-0.0001461101698642632,0.00011609951929057147,0.6761,-0.0048,0.09074362539502683,1.0,0.0,0.0,0.0,-0.06032939586165162,-0.1867139378973016,0.18382034240568232,-0.014492695859144858,0.00579454860065102,-0.00023099730528577004,-0.10268985706526222,-0.29969961774416964,0.029740469144441485,-0.017463106106199316,0.003377169907013056,-0.0001853841505625803,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.30234037720604,-0.18802469389934068,0.11558588836512333,0.47440806195611235,0.1880099280456639,-0.20270252445086673,0.5024368616808691,0.18382034240568232,0.38685097331574575,0.38685097331574575,0.42504000000002606,0,0,-4.223385562521364e-05,8.640848733610369e-05
+3491,1791447340254592658,2318644000000,1791447340246837942,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760062170969189,-0.0048348879940939525,0.09063064299334454,0.9999999773375354,7.462077962567999e-05,-0.00013445737779196749,0.00011454582402307809,0.6761,-0.0048,0.09067118360986284,1.0,0.0,0.0,0.0,-0.06192846455807924,-0.1686458491340582,0.25716415881173543,-0.013511566656113293,0.006741946864127183,-0.00026330418432238126,-0.10428892576168984,-0.28163152898092625,0.10308428555049458,-0.01648197690316775,0.004324568170489218,-0.0002176910295991915,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.322104303842701,-0.2879789142299542,0.049011584968774814,0.49473695874541285,0.22973276387677882,-0.2718528413611132,0.5024368616808691,0.25716415881173543,0.45342527671209426,0.45342527671209426,0.5195400000000151,0,0,-4.5460206990112017e-05,5.84987173470658e-05
+3668,1791447341729608546,2320119000000,1791447341726838267,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.676016355015295,-0.004833246369663422,0.09057579610980622,0.9999999792610031,7.508050010398372e-05,-0.0001212878900030685,0.00011212949679637099,0.6761,-0.0048,0.09060085379889411,1.0,0.0,0.0,0.0,-0.0743147500314903,-0.1712032425166837,0.3277686472518785,-0.012733019655254816,0.006741428334102411,-0.00031263588895197975,-0.1166752112351009,-0.28418892236355175,0.17368877399063762,-0.015703429902309274,0.004324049640464446,-0.00026702273422879,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.333847884671384,-0.2295931064522612,0.00746034235160554,0.4850064467854801,0.2549696534137761,-0.22944936616691614,0.5024368616808691,0.3277686472518785,0.49497651932926356,0.49497651932926356,0.6080399999999399,0,0,-5.039867296693779e-05,-9.531140740393624e-05
+3830,1791447343079651589,2321469000000,1791447343078837833,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760244278189742,-0.0048326494510378855,0.09051833237893628,0.9999999799177525,8.070003080374136e-05,-0.000110052585724961,0.00011394425119383782,0.6761,-0.0048,0.09052977079091122,1.0,0.0,0.0,0.0,-0.08084347549057788,-0.15725048689103302,0.38482753455140084,-0.012543236673667954,0.0077380803690901105,-0.00034256989740933595,-0.12320393669418848,-0.2702361667379011,0.23074766129016003,-0.015513646920722412,0.005320701675452146,-0.0002969567426861462,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3845549927334677,-0.20750568413454012,-0.11453054293721897,0.482706696881868,0.34147597163450183,-0.21774889911932654,0.5024368616808691,0.38482753455140084,0.6169674046180881,0.6169674046180881,0.689039999999871,0,0,-5.3526050804138296e-05,9.999999025923074e-05
+4004,1791447344529664396,2322919000000,1791447344526838322,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760307163904856,-0.004834289067642498,0.09044937086340096,0.9999999807495384,8.072840791105097e-05,-0.00010055962105367188,0.0001153883613937959,0.6761,-0.0048,0.0904504289727851,1.0,0.0,0.0,0.0,-0.08951847799926883,-0.14623139527328963,0.44888670391105717,-0.011539525505691551,0.007701743429820943,0.0002991738419229095,-0.13187893920287944,-0.2592170751201577,0.29480683064981633,-0.01450993575274601,0.005284364736182979,0.00034478699664609923,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.39597281063543,-0.17493830176945058,-0.2684190676700591,0.4677905237525967,0.4373671543476289,-0.1988727079063673,0.5024368616808691,0.44888670391105717,0.7708559293509282,0.7708559293509282,0.776039999999797,0,0,-5.652107242373893e-05,9.999994862586731e-05
+4175,1791447345954608589,2324344000000,1791447345946838234,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760366067569539,-0.004837506826191775,0.0903793374627873,0.9999999817022485,7.772172522057349e-05,-9.176369266176969e-05,0.0001165209222179565,0.6761,-0.0048,0.09036921485698865,1.0,0.0,0.0,0.0,-0.09143277957659389,-0.1410011851329153,0.5194511174758986,-0.010581774343797687,0.007668832507963215,0.00018571728772296607,-0.1337932407802045,-0.25398686497978334,0.3653712442146577,-0.013552184590852145,0.00525145381432525,0.0002313304424461558,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4047736547490697,-0.30374579403606106,-0.23175612065587492,0.5150140250439497,0.4112819223870955,-0.28028200985969187,0.5024368616808691,0.5194511174758986,0.734192982336744,0.734192982336744,0.8615399999997243,0,0,-5.998114096658481e-05,-9.992115054669454e-05
+4343,1791447347354597473,2325744000000,1791447347350838287,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760393719330606,-0.0048381310307885,0.09029899423707109,0.9999999824648528,7.550816378931215e-05,-8.592555491936491e-05,0.00011588129592584735,0.6761,-0.0048,0.0902831948520922,1.0,0.0,0.0,0.0,-0.09149584486012248,-0.14650574243509543,0.5683284138229125,-0.010546163551765875,0.0076558984729338565,0.0005592140179309076,-0.13385630606373308,-0.2594914222819635,0.41424854056167176,-0.013516573798820333,0.005238519779295891,0.0006048271726540973,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3936618893018948,-0.23051759519065718,-0.3276220202018666,0.4932909096057008,0.46446312110003607,-0.23305903831768016,0.5024368616808691,0.5683284138229125,0.8300588818827357,0.8300588818827357,0.9455399999996529,0,0,-6.397658746839908e-05,-5.3657408098497166e-05
+4496,1791447348629678494,2327019000000,1791447348626838143,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760396701622452,-0.00483599283901828,0.09021500335005256,0.9999999822292758,7.56515852403666e-05,-8.625723579313812e-05,0.00011756206653642906,0.6761,-0.0048,0.09019539278328735,1.0,0.0,0.0,0.0,-0.0916736960924348,-0.1478860217876237,0.60990581454563,-0.010553680642382808,0.007646897915775401,0.00045366509388691405,-0.1340341572960454,-0.26087170163449175,0.4558259412843891,-0.013524090889437266,0.005229519222137436,0.0004992782486101038,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3879881728521861,-0.23070096610653093,-0.3421985828540764,0.49722655467033217,0.4633182070023127,-0.23480281662299785,0.5024368616808691,0.60990581454563,0.8446354445349455,0.8446354445349455,1.022039999999588,0,0,-7.260049030985283e-05,-9.999994862586731e-05
+4662,1791447350012666020,2328402000000,1791447350010837699,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760437515900356,-0.004840289511669855,0.0901140631257161,0.9999999829459792,6.850004846020401e-05,-8.14546460110484e-05,0.00011926353098960625,0.6761,-0.0048,0.09008780308450273,1.0,0.0,0.0,0.0,-0.09177281101427391,-0.156991488871195,0.6436303018233249,-0.010639508154445641,0.007642376899545786,0.000500234177570202,-0.1341332722178845,-0.26997716871806304,0.48955042856208403,-0.0136099184015001,0.005224998205907821,0.0005458473322933918,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.439647521617826,-0.17223814620277456,-0.43036913124544,0.4869485672201107,0.5295559979984205,-0.19394822453772728,0.5024368616808691,0.6436303018233249,0.9328059929263091,0.9328059929263091,1.1050199999995174,0,0,-8.551016659616296e-05,-9.820026322516213e-05
+4820,1791447351329705946,2329719000000,1791447351326837141,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760437883979716,-0.004839474598500052,0.08999269351395606,0.9999999848448844,5.617426024382706e-05,-8.093907776767777e-05,0.00010975615458674308,0.6761,-0.0048,0.08996245492949335,1.0,0.0,0.0,0.0,-0.0923886937755979,-0.1456957981688176,0.6701276786977026,-0.01056489429111407,0.007633694774249614,0.0004769871782276274,-0.1347491549792085,-0.25868147801568564,0.5160478054364618,-0.013535304538168529,0.00521631608061165,0.0005226003329508171,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4206641069743318,-0.21913680846723296,-0.4382954009654048,0.501209114965781,0.5185838445210399,-0.21906823232992945,0.5024368616808691,0.6701276786977026,0.940732262646274,0.940732262646274,1.1840399999994502,0,0,-0.00010519876462586198,-9.869726843992339e-05
+4955,1791447352454634411,2330844000000,1791447352450837805,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760454266477514,-0.004833626525296146,0.08987183768604648,0.9999999832963209,7.815380684676779e-05,-7.90296278008164e-05,0.00011178784720639134,0.6761,-0.0048,0.08983398672025153,1.0,0.0,0.0,0.0,-0.10107260230945013,-0.14560237667197737,0.6901614060489278,-0.010615472987064483,0.007676002902799371,0.00045994029931128235,-0.14343306351306073,-0.2585880565188454,0.536081532787687,-0.013585883234118941,0.005258624209161406,0.0005055534540344721,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3736447245277477,-0.17543156081885997,-0.44405014246671504,0.48669475268893375,0.5040019743032468,-0.19354798494523934,0.5024368616808691,0.6901614060489278,0.9464870041475841,0.9464870041475841,1.2515399999993928,0,0,-0.00012347881323956778,-9.999554936713224e-05
+5087,1791447353554644244,2331944000000,1791447353550838381,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760458601398941,-0.004842673657763187,0.08972384675125918,0.9999999824771281,8.23293711987815e-05,-7.839029376121936e-05,0.00011647078772827116,0.6761,-0.0048,0.08968577598551374,1.0,0.0,0.0,0.0,-0.09771643586644276,-0.1437281760384044,0.7164502596328829,-0.010170466629236288,0.007616278375818778,0.00044346726340818975,-0.14007689707005336,-0.25671385588527246,0.562370386371642,-0.013140876876290746,0.0051988996821808135,0.0004890804181313795,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4229881276292362,-0.24222603110281926,-0.47016618279235517,0.5097629437276808,0.5290230890230684,-0.23981663848965434,0.5024368616808691,0.7164502596328829,0.9726030444732243,0.9726030444732243,1.3175399999993367,0,0,-0.00014654841022229548,-9.999999025923074e-05
+5213,1791447354604689985,2332994000000,1791447354598838040,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760439325594486,-0.004841591047009494,0.08955967090370344,0.9999999831720165,7.797260141788787e-05,-8.080848363222222e-05,0.00011175461272115287,0.6761,-0.0048,0.08952056486114088,1.0,0.0,0.0,0.0,-0.10159497525471474,-0.14308407888115562,0.7203506179168682,-0.010246309527752406,0.008580922871308289,0.00045473632226774484,-0.14395543645832534,-0.2560697587280237,0.5662707446556273,-0.013216719774806865,0.006163544177670324,0.0005003494769909346,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3911078530835608,-0.20706276753445646,-0.5964767572473024,0.5005336696170005,0.593811497219797,-0.21753337721678137,0.5024368616808691,0.7203506179168682,1.0989136189281714,1.0989136189281714,1.3805399999992831,0,0,-0.00016941460827640196,4.43211751247405e-06
+5327,1791447355554630949,2333944000000,1791447355550837920,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760434974615516,-0.004843679688765564,0.0893877387271216,0.9999999824461879,8.246428560101765e-05,-8.310780669943605e-05,0.00011332794220342797,0.6761,-0.0048,0.0893482054583187,1.0,0.0,0.0,0.0,-0.10126097434326016,-0.15142985641768555,0.7403176693876469,-0.010583732166436847,0.007795294517221772,0.0004222328180551892,-0.14362143554687076,-0.2644155362645536,0.586237796126406,-0.013554142413491305,0.005377915823583807,0.00046784597277837894,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.399485840260447,-0.28270653553461583,-0.601305065823481,0.5242591686901609,0.5995851564250615,-0.263231432216721,0.5024368616808691,0.7403176693876469,1.10374192750435,1.10374192750435,1.4375399999992347,0,0,-0.0001937084956008236,-6.313427144822299e-05
+5426,1791447356379719385,2334769000000,1791447356374838292,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760449645153994,-0.004843462929479882,0.08921998148846629,0.9999999838629066,7.224165756119517e-05,-8.023170769801686e-05,0.00010982288981947272,0.6761,-0.0048,0.08917906709267032,1.0,0.0,0.0,0.0,-0.10126086839124486,-0.1524378134231564,0.7608842113437803,-0.0105828681248966,0.007614937152387789,0.0004025818951129611,-0.14362132959485546,-0.26542349327002446,0.6068043380825394,-0.013553278371951059,0.005197558458749824,0.0004481950498361508,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3525433611799915,-0.1954051592792301,-0.5720040787504697,0.4986308867391546,0.5667405323638105,-0.20646863144036398,0.5024368616808691,0.7608842113437803,1.0744409404313386,1.0744409404313386,1.4870399999991926,0,0,-0.00021601233472365167,-9.999999025923074e-05
+5520,1791447357162626278,2335552000000,1791447357158838138,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760414383950639,-0.004847269040271949,0.08903020319207282,0.9999999831228804,6.639734942719761e-05,-8.688167918629263e-05,0.00011506549991576719,0.6761,-0.0048,0.0890011983930683,1.0,0.0,0.0,0.0,-0.10131260085489428,-0.1525415097487682,0.7905102799443583,-0.01058718793202461,0.007609131285231198,0.00037865228461478475,-0.14367306205850489,-0.26552718959563626,0.6364304066831175,-0.013557598179079068,0.005191752591593233,0.0004242654393379745,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.372234835107896,-0.25100940026821483,-0.6106459590812637,0.5152917698193672,0.6013276925964705,-0.24357219414961262,0.5024368616808691,0.7905102799443583,1.1130828207621328,1.1130828207621328,1.5340199999991526,0,0,-0.0002409780530218938,-9.999999025923074e-05
+5607,1791447357887700006,2336277000000,1791447357886838249,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760368192594882,-0.00485006217486572,0.08883417895028839,0.9999999813167013,6.957969417359798e-05,-9.835057730077129e-05,0.00011956291790938837,0.6761,-0.0048,0.08881802934794028,1.0,0.0,0.0,0.0,-0.09213329938814614,-0.150997668220229,0.800550618398264,-0.010590439978467767,0.007606020815007769,0.00037165163784647504,-0.13449376059175674,-0.26398334806709706,0.6464707451370232,-0.013560850225522225,0.005188642121369804,0.0004172647925696648,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2760145801801261,-0.22856219849011566,-0.6190071312273737,0.5205109697433227,0.5820661627807433,-0.2250598362741695,0.5024368616808691,0.800550618398264,1.121443992908243,1.121443992908243,1.5775199999991156,0,0,-0.00026634867850339693,-7.370632071845092e-05
+5689,1791447358570656291,2336960000000,1791447358566838135,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760421954389534,-0.004851864433015375,0.08865080203287218,0.9999999813357067,7.91457048875452e-05,-9.028741203637034e-05,0.00011981482097879574,0.6761,-0.0048,0.08862657592877565,1.0,0.0,0.0,0.0,-0.10190873770272187,-0.14821290887200314,0.8009068811444636,-0.009570416420838331,0.007587309486316399,0.00038168321784195916,-0.14426919890633247,-0.2611985887188712,0.6468270078832228,-0.01254082666789279,0.005169930792678435,0.0004272963725651489,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3299214345516055,-0.2623776253289428,-0.5667591455560593,0.5293547422921057,0.559842504092879,-0.24745714304897753,0.5024368616808691,0.8009068811444636,1.0691960072369284,1.0691960072369284,1.6184999999990808,0,0,-0.00029467492916187963,-9.999699265706425e-05
+5767,1791447359220726227,2337610000000,1791447359218837783,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760368763156457,-0.004846187227514764,0.08843846536252183,0.9999999806785603,7.810300528011145e-05,-9.905135318741117e-05,0.00011905668112692983,0.6761,-0.0048,0.08842595585563638,1.0,0.0,0.0,0.0,-0.10120640217057945,-0.14743087565831184,0.8238359465611568,-0.00957413214119262,0.007582906776963345,0.00036324549098205313,-0.14356686337419006,-0.2604165555051799,0.6697560732999159,-0.012544542388247077,0.0051655280833253795,0.00040885864570524286,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2747637380910002,-0.27661060706739454,-0.5346493664967855,0.5356873433532241,0.5283645343049901,-0.2585727970166551,0.5024368616808691,0.8238359465611568,1.0370862281776545,1.0370862281776545,1.6574999999990476,0,0,-0.00032209545882819066,-9.999999025923074e-05
+5842,1791447359845618292,2338235000000,1791447359842837975,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760398735254054,-0.004854532504815136,0.08823324043020078,0.9999999810244783,7.30340165797321e-05,-9.713762875600078e-05,0.000120930644706989,0.6761,-0.0048,0.08821597299821649,1.0,0.0,0.0,0.0,-0.10199707624308303,-0.14060384446625027,0.8432316135016407,-0.009577907501647961,0.007577876144211055,0.0003474854981097591,-0.14435753744669363,-0.2535895243131183,0.6891517402403998,-0.01254831774870242,0.00516049745057309,0.0003930986528329488,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2702521129650517,-0.15517094405428503,-0.5577922005291083,0.508175112114291,0.5451778111872768,-0.1778243784633457,0.5024368616808691,0.8432316135016407,1.0602290622099773,1.0602290622099773,1.6949999999990157,0,0,-0.00035051392972415405,-9.999999025923074e-05
+5909,1791447360404730013,2338794000000,1791447360398837912,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760399156622874,-0.004854673582509213,0.0880265320144904,0.9999999781668963,9.751348359273164e-05,-9.915291172443322e-05,0.0001255742490615936,0.6761,-0.0048,0.08801300337277201,1.0,0.0,0.0,0.0,-0.10176885143276386,-0.14379318772577285,0.8639748496465777,-0.009581502232080069,0.007573985998697961,0.00033033913565375057,-0.14412931263637446,-0.2567788675726409,0.7098949763853368,-0.012551912479134527,0.005156607305059997,0.0003759522903769403,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1983658314805594,-0.23437156068637247,-0.4950847413209254,0.5378048493293544,0.4843596195154594,-0.2306004921853341,0.5024368616808691,0.8639748496465777,0.9975216030017945,0.9975216030017945,1.7285399999989872,0,0,-0.00037590537458750815,-9.999999025923074e-05
+5974,1791447360945632526,2339335000000,1791447360942838432,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760384891676819,-0.0048605551492405955,0.08781544314926486,0.9999999783988704,8.97741105775158e-05,-0.00010197993189024064,0.0001272235260249214,0.6761,-0.0048,0.08780286066030595,1.0,0.0,0.0,0.0,-0.0999587527825563,-0.1362616463847396,0.8533328977039106,-0.00957849826738718,0.007574992041964828,0.00034019599457205693,-0.1423192139861669,-0.24924732623160764,0.6992530244426698,-0.012548908514441638,0.005157613348326864,0.00038580914929524666,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2014204556361836,-0.22081633925153848,-0.5060034020954493,0.5376157213577809,0.4942900876192552,-0.21918026080514547,0.5024368616808691,0.8533328977039106,1.0084402637763183,1.0084402637763183,1.7609999999989596,0,0,-0.0004012311602921966,-9.999999025923074e-05
+6031,1791447361420731391,2339810000000,1791447361414838067,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760347182230012,-0.0048614086651643075,0.08761338015719385,0.9999999786372532,8.163778750286366e-05,-0.00010747415432160741,0.0001263049298863384,0.6761,-0.0048,0.08760725020786178,1.0,0.0,0.0,0.0,-0.09278453356418499,-0.13598333925630984,0.8611972654165215,-0.00958027309452001,0.007573116786687924,0.0003341014477825012,-0.1351449947677956,-0.2489690191031779,0.7071173921552807,-0.012550683341574468,0.00515573809304996,0.0003797146025056909,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2097034979448302,-0.23378213165546805,-0.4565522195001422,0.5530120300959209,0.46149717760868236,-0.22781197217513166,0.5024368616808691,0.8611972654165215,0.9589890811810113,0.9589890811810113,1.7894999999989354,0,0,-0.0004227251008917784,-9.999971270347458e-05
+6091,1791447361920687751,2340310000000,1791447361918838090,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760340544758201,-0.004860574258711713,0.08740278192127002,0.999999978761598,7.901803625951313e-05,-0.00010858652223542138,0.00012603485632582432,0.6761,-0.0048,0.08738973933299364,1.0,0.0,0.0,0.0,-0.10198743033461523,-0.13663472019565093,0.8712861338126887,-0.00957582791446833,0.007571000189064292,0.0003249487278566029,-0.14434789153822583,-0.24962040004251898,0.7172062605514479,-0.012546238161522788,0.005153621495426327,0.0003705618825797926,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1599005609275617,-0.17388617645054158,-0.39070824264570264,0.5271112140296235,0.4082745877631352,-0.18994962844421087,0.5024368616808691,0.8712861338126887,0.8931451043265717,0.8931451043265717,1.8194999999989099,0,0,-0.0004469338072785308,-9.999999025923074e-05
+6147,1791447362387736272,2340777000000,1791447362386838046,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760378471405072,-0.004863296816795381,0.0872001270386938,0.999999979153605,8.125826867567108e-05,-0.00010167821614173927,0.00012725678069052884,0.6761,-0.0048,0.08717649806117768,1.0,0.0,0.0,0.0,-0.09669182205491116,-0.12327276060450518,0.871703193178982,-0.008560887823688206,0.007551223431015705,0.00033698130423016236,-0.13905228325852176,-0.23625844045137323,0.7176233199177412,-0.011531298070742664,0.00513384473737774,0.0003825944589533521,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1461002763996613,-0.14864351717521837,-0.47381021188886535,0.5315385012155409,0.4529483693314523,-0.17156136565526178,0.5024368616808691,0.871703193178982,0.9762470735697344,0.9762470735697344,1.847519999998886,0,0,-0.0004674460470047422,-9.999999025923074e-05
+6202,1791447362845718010,2341235000000,1791447362838838736,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760394672590042,-0.004863389102965062,0.08698570312208316,0.9999999793222638,8.062138423475652e-05,-9.841772049407533e-05,0.00012888941379235927,0.6761,-0.0048,0.08695815287083919,1.0,0.0,0.0,0.0,-0.10294750080138258,-0.12477030744968215,0.8807883269697956,-0.007951944218735128,0.007538097498361519,0.0003346648726918944,-0.14530796200499319,-0.2377559872965502,0.7267084537085547,-0.010922354465789586,0.005120718804723554,0.00038027802741508415,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1580011673988666,-0.1295080344142876,-0.611912267882857,0.5307817217200521,0.5420913173895787,-0.15733903317243247,0.5024368616808691,0.8807883269697956,1.1143491295637262,1.1143491295637262,1.8749999999988627,0,0,-0.0004843819553554133,9.98084906652707e-05
+6253,1791447363270658956,2341660000000,1791447363270838535,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760382614963826,-0.0048635247832483465,0.08677331660834021,0.9999999799646431,7.342120232628705e-05,-9.886150749785234e-05,0.00012786440941831367,0.6761,-0.0048,0.0867485251149373,1.0,0.0,0.0,0.0,-0.1031769305112742,-0.11945309316382141,0.8880545153493361,-0.007543851514129538,0.00752889339340432,0.00033462236616516305,-0.1455373917148848,-0.23243877301068946,0.7339746420880953,-0.010514261761183996,0.005111514699766355,0.0003802355208883528,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0798020485178612,-0.17614073038268657,-0.48294371305531214,0.548507053507214,0.4387977672181168,-0.18855400223154162,0.5024368616808691,0.8880545153493361,0.9853805747361812,0.9853805747361812,1.900499999998841,0,0,-0.0005025926106780584,-9.999999025923074e-05
+6303,1791447363687734678,2342077000000,1791447363686838376,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760362577821051,-0.004857224599966986,0.08656213228622137,0.9999999783602607,8.67617543626639e-05,-0.00010267158683722197,0.0001290476109891398,0.6761,-0.0048,0.0865361174988917,1.0,0.0,0.0,0.0,-0.09390918746177569,-0.11044356972459357,0.8820353308637983,-0.007541512275372076,0.007529329687177122,0.00034017943468880836,-0.1362696486653863,-0.22342924957146162,0.7279554576025574,-0.010511922522426534,0.005111950993539157,0.0003857925894119981,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1590906800485234,-0.1755625044073034,-0.5493634631791073,0.5493707892671064,0.5011691364606213,-0.18663570579868666,0.5024368616808691,0.8820353308637983,1.0518003248599763,1.0518003248599763,1.9255199999988197,0,0,-0.0005176386642124308,-6.659738253409365e-05
+6352,1791447364095698211,2342485000000,1791447364090838859,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760359925430572,-0.004859001334344612,0.08635305644271107,0.9999999786513005,8.734424327841144e-05,-0.00010285104516553273,0.0001262256257159806,0.6761,-0.0048,0.08632136165728982,1.0,0.0,0.0,0.0,-0.09392762454828661,-0.11919055056039127,0.8820213178359328,-0.007542805682405994,0.007530078912156223,0.0003401758786220624,-0.13628808575189721,-0.23217623040725932,0.727941444574692,-0.010513215929460452,0.005112700218518259,0.0003857890333452521,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2033618224364044,-0.24503076502716864,-0.4343600610536848,0.5745156008530043,0.43868434309904847,-0.23034691565073895,0.5024368616808691,0.8820213178359328,0.9367969227345538,0.9367969227345538,1.949999999998799,0,0,-0.0005344045913250037,-9.997006974871709e-05
+6400,1791447364495634724,2342885000000,1791447364490847108,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760353012703574,-0.004861001338970986,0.08613593723157623,0.9999999794570619,7.748133422879691e-05,-0.0001018156246128961,0.00012711790513882803,0.6761,-0.0048,0.08610463020657683,1.0,0.0,0.0,0.0,-0.10322692265528151,-0.10782754674709452,0.8923515789046321,-0.006604865745268727,0.007509823032038662,0.0003418054581915336,-0.1455873838588921,-0.22081322659396257,0.7382717056433913,-0.009575275992323185,0.005092444338400698,0.0003874186129147233,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2057251868091048,-0.15457531978577266,-0.5293730816306825,0.5463782999531042,0.49653527238117695,-0.17143127740618871,0.5024368616808691,0.8923515789046321,1.0318099433115515,1.0318099433115515,1.9739999999987785,0,0,-0.0005476226483766819,-7.748155869536361e-05
+6447,1791447364887716292,2343277000000,1791447364886838415,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760362699564318,-0.004861241362160895,0.08592851060077411,0.9999999806419332,7.504156069190958e-05,-9.701414796612422e-05,0.00012294721283764685,0.6761,-0.0048,0.08588751963830016,1.0,0.0,0.0,0.0,-0.09392976791280723,-0.10926244553982317,0.892072206236504,-0.007542918217767956,0.007527062525714945,0.00033207339609720555,-0.13629022911641783,-0.22224812538669123,0.7379923329752631,-0.010513328464822414,0.0051096838320769805,0.0003776865508203953,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1620316287723806,-0.18424339715368923,-0.4962814261586484,0.5577399973980229,0.4635340267852762,-0.1888403828603209,0.5024368616808691,0.892072206236504,0.9987182878395175,0.9987182878395175,1.9975199999987585,0,0,-0.0005606125145871374,-9.999999025923074e-05
+6493,1791447365270680241,2343660000000,1791447365270838219,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760340165403346,-0.004871421134165216,0.08570694756137948,0.9999999806484704,6.797558390579425e-05,-0.00010121936495939403,0.0001236118259168237,0.6761,-0.0048,0.0856705172829544,1.0,0.0,0.0,0.0,-0.09394864998453441,-0.10829622181778475,0.8960472270859668,-0.007533547584701978,0.0075251516207071375,0.00032713313841953957,-0.136309111188145,-0.2212819016646528,0.741967353824726,-0.010503957831756436,0.005107772927069173,0.0003727462931427293,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2110930865866902,-0.24708988268520105,-0.47389861653649884,0.582866797198491,0.4608008486194961,-0.22738230127673198,0.5024368616808691,0.8960472270859668,0.9763354782173679,0.9763354782173679,2.020499999998739,0,0,-0.0005723432983204254,-9.999999025923074e-05
+6538,1791447365645714233,2344035000000,1791447365638838124,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760300165514067,-0.00487536608362163,0.08548885546913303,0.9999999800970286,6.286987199279711e-05,-0.00010652930544215553,0.00012628417614648455,0.6761,-0.0048,0.08545468449351032,1.0,0.0,0.0,0.0,-0.09391695961288428,-0.10926117421413714,0.8921809204346536,-0.0075432529129406956,0.007527053475932554,0.0003320391678497829,-0.13627742081649488,-0.2222468540610052,0.7381010471734127,-0.010513663159995154,0.00510967478229459,0.00037765232257297264,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2506485843365411,-0.19077803180950104,-0.5676875814214571,0.5626277729027993,0.5319033957536246,-0.1896839071491209,0.5024368616808691,0.8921809204346536,1.0701244431023262,1.0701244431023262,2.04299999999872,0,0,-0.0005793429784614876,-3.503175113739872e-05
+6579,1791447365987701061,2344377000000,1791447365982837912,DOWN_FORCE_DETACH,1,0.042,0.04200171306729317,0.6760340109131975,-0.004871746047141851,0.0852980731716103,0.9999999802432858,7.184917394827147e-05,-0.0001002080017760423,0.0001255083459523803,0.6761,-0.0048,0.08525484581132844,1.0,0.0,0.0,0.0,-0.09828065636572987,-0.10923765397993448,0.8920684921387071,-0.007536467321281097,0.007527031139129966,0.00033159146200607766,-0.14064111756934047,-0.22222333382680254,0.7379886188774663,-0.010506877568335555,0.005109652445492002,0.0003772046167292674,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.285795006808634,-0.1612690308058253,-0.5664108296976231,0.5567608097067225,0.5355887682171541,-0.16931048974309323,0.5024368616808691,0.8920684921387071,1.0688476913784921,1.0688476913784921,2.0635199999987024,0,0,-0.0005883530883246938,-8.535653381244778e-05
+6625,1791447366370660001,2344760000000,1791447366362838869,DOWN_FORCE_DETACH,1,0.042,0.042002368718385696,0.6760360536576069,-0.004877043849462703,0.08508031875026731,0.9999999814545503,6.538797007488983e-05,-9.342377991050504e-05,0.00012462011989947884,0.6761,-0.0048,0.08502827260272279,1.0,0.0,0.0,0.0,-0.08731512029619574,-0.10614255982449577,0.9016829629895694,-0.006525281920249596,0.007505985774086484,0.00033677555600275207,-0.12967558149980635,-0.21912823967136383,0.7476030897283286,-0.009495692167304054,0.00508860708044852,0.0003823887107259418,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.293092191728866,-0.17003195110800323,-0.5818799194032352,0.5669046653945664,0.5452868278862355,-0.16738159741578007,0.5024368616808691,0.9016829629895694,1.0843167810841043,1.0843167810841043,2.086499999998683,0,0,-0.0005953047150593502,-6.0658750397948316e-05
+6671,1791447366751696993,2345141000000,1791447366750838142,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760363012176512,-0.004870445301040221,0.08485246361007003,0.9999999817829479,6.663059276377284e-05,-9.377356091362377e-05,0.0001210117832796215,0.6761,-0.0048,0.08480093567155939,1.0,0.0,0.0,0.0,-0.09160351163163967,-0.08340199853468472,0.8994312506043236,-0.005501952534472667,0.007486117154208367,0.00034954727863287146,-0.13396397283525027,-0.19638767838155277,0.7453513773430828,-0.008472362781527125,0.005068738460570403,0.0003951604333560612,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3018822164670274,-0.2715925174924107,-0.6158365050299162,0.5921554125004094,0.5706894622861165,-0.233647032090871,0.5024368616808691,0.8994312506043236,1.1182733667107851,1.1182733667107851,2.106359999998666,0,0,-0.0005967515440310781,9.999999025923074e-05
+6715,1791447367118668768,2345508000000,1791447367118838298,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760377369162208,-0.00487338596179286,0.08464276211480683,0.9999999819894142,6.805636586341308e-05,-8.732132722114832e-05,0.0001233180946083247,0.6761,-0.0048,0.0845852859042422,1.0,0.0,0.0,0.0,-0.0858167005409811,-0.08291461823165491,0.9129578156002928,-0.00550454384572467,0.007483038611549919,0.00033938291036350344,-0.1281771617445917,-0.19590029807852297,0.7588779423390519,-0.008474954092779128,0.005065659917911955,0.00038499606508669317,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.264363252424546,-0.1715883903416828,-0.6393481426945653,0.5562161953039655,0.5722538383664414,-0.16428430518921264,0.5024368616808691,0.9129578156002928,1.1417850043754343,1.1417850043754343,2.106359999998666,0,0,-0.0005784015476059404,9.999999025923074e-05
+6759,1791447367485686951,2345875000000,1791447367482838535,DOWN_SETTLE,1,0.042,0.042002368718385696,0.676030946508059,-0.004869601285766163,0.08442804873867041,0.9999999815004839,6.395471195821386e-05,-9.811289536001637e-05,0.00012134888102834928,0.6761,-0.0048,0.08437637058561305,1.0,0.0,0.0,0.0,-0.07655393035673833,-0.07298791555495329,0.9118468332654199,-0.0055030710429090825,0.007482276819365398,0.0003412643703393976,-0.11891439156034893,-0.18597359540182135,0.7577669600041791,-0.00847348128996354,0.005064898125727434,0.0003868775250625873,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3239024853140073,-0.194164289938148,-0.6501461238485832,0.5701919549887149,0.5939503561143777,-0.17816451196521393,0.5024368616808691,0.9118468332654199,1.1525829855294523,1.1525829855294523,2.106359999998666,0,0,-0.0005600515511808027,9.999999025923074e-05
+6807,1791447367885717442,2346275000000,1791447367882838288,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760328422547803,-0.004869068823250267,0.08421194959501266,0.9999999813007487,6.935491838185616e-05,-9.484582802051483e-05,0.0001226194549114621,0.6761,-0.0048,0.08415633996435952,1.0,0.0,0.0,0.0,-0.06707674680007143,-0.07325252357214629,0.9077585827475675,-0.005474813789411219,0.006471044512399382,0.000330003344240138,-0.10943720800368203,-0.18623820341901434,0.7536787094863266,-0.008445224036465677,0.004053665818761418,0.00037561649896332774,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.3468334755682063,-0.1704511519857893,-0.6678755795188217,0.564240822122461,0.6097817807253092,-0.15871137143113626,0.5024368616808691,0.9077585827475675,1.1703124411996908,1.1703124411996908,2.106359999998666,0,0,-0.0005400515550771104,9.999999025923074e-05
+6855,1791447368285703479,2346675000000,1791447368282838591,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760328527192377,-0.004871042949455773,0.08400889874370235,0.9999999823490349,6.047042111786258e-05,-9.277498300191891e-05,0.00012033671600370829,0.6761,-0.0048,0.08394430934154747,1.0,0.0,0.0,0.0,-0.06748536880267278,-0.07959426924941229,0.8961945034059973,-0.005473204137559655,0.006473058142214992,0.0003393028804613444,-0.10984583000628338,-0.19257994909628035,0.7421146301447564,-0.008443614384614113,0.0040556794485770275,0.0003849160351845341,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4029277752270046,-0.1451148803671427,-0.6842237176468556,0.5587030990266715,0.6321217390827762,-0.14282478381099278,0.5024368616808691,0.8961945034059973,1.1866605793277247,1.1866605793277247,2.106359999998666,0,0,-0.0005200515589734181,9.999999025923074e-05
+6908,1791447368726670313,2347116000000,1791447368722837920,DOWN_SETTLE,1,0.042,0.042002368718385696,0.676039607531892,-0.004869384801927675,0.08379681137184525,0.9999999837871973,5.877702144794469e-05,-8.204024824586116e-05,0.00011697490658664516,0.6761,-0.0048,0.08371981760309084,1.0,0.0,0.0,0.0,-0.07704731630055643,-0.06081386445684678,0.8928693653140076,-0.0044777259843666265,0.0074663276115010755,0.0003678208248953416,-0.11940777750416703,-0.17379954430371483,0.7387894920527668,-0.007448136231421085,0.005048948917863111,0.0004134339796185313,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4089071880215767,-0.17492326469096733,-0.5810167614550852,0.5620832331631361,0.563752922239972,-0.1598574514133801,0.5024368616808691,0.8928693653140076,1.0834536231359544,1.0834536231359544,2.106359999998666,0,0,-0.0004980015632690974,9.999999025923074e-05
+6960,1791447369160679546,2347550000000,1791447369154838020,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760321846666488,-0.004871727132849616,0.08357512319067681,0.9999999824234108,5.845900705410266e-05,-9.102838934359688e-05,0.00012203450081412496,0.6761,-0.0048,0.08350838297371257,1.0,0.0,0.0,0.0,-0.06759145423446374,-0.07005266206952515,0.8934020782026616,-0.004452134694118827,0.006453953536450079,0.0003530542199241815,-0.10995191543807434,-0.1830383419163932,0.7393222049414208,-0.007422544941173285,0.004036574842812115,0.00039866737464737124,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4057930699165184,-0.1729501532511768,-0.6490124891396905,0.5641922922499188,0.6074189200032936,-0.154701093866914,0.5024368616808691,0.8934020782026616,1.1514493508205597,1.1514493508205597,2.106359999998666,0,0,-0.00047630156749659127,9.999999025923074e-05
+7015,1791447369618647278,2348008000000,1791447369614838599,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760361269083757,-0.00487206225273859,0.0833628081782732,0.9999999833864737,5.201892332736618e-05,-8.848998172922511e-05,0.00011888427817499128,0.6761,-0.0048,0.08329546950477527,1.0,0.0,0.0,0.0,-0.06770483825380275,-0.05875596042123088,0.8934218023036523,-0.004466234777290347,0.007054632694010557,0.00035635786737634324,-0.11006529945741335,-0.17174164026809893,0.7393419290424115,-0.007436645024344805,0.004637254000372592,0.00040197102209953297,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4573102631607233,-0.182743812114162,-0.7300600253398226,0.562292111849989,0.6706893851135939,-0.15793288444063364,0.5024368616808691,0.8934218023036523,1.2324968870206918,1.2324968870206918,2.106359999998666,0,0,-0.0004534015719578636,9.999999025923074e-05
+7071,1791447370085668358,2348475000000,1791447370078838326,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760286379409705,-0.004876645867373694,0.08314905574484341,0.9999999825685785,4.927361290320182e-05,-9.518298041549628e-05,0.00012172928438226956,0.6761,-0.0048,0.0830891715196065,1.0,0.0,0.0,0.0,-0.05776188804343563,-0.07335705269486353,0.8869685378509887,-0.005471137607818793,0.006474035286841881,0.0003479249850349641,-0.10012234924704623,-0.1863427325417316,0.7328886645897479,-0.008441547854873251,0.004056656593203916,0.0003935381397581538,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4404876889196874,-0.13091277982631153,-0.6899646695922215,0.5462174966418706,0.6386919676824055,-0.12009549721843138,0.5024368616808691,0.8869685378509887,1.1924015312730907,1.1924015312730907,2.106359999998666,0,0,-0.00043005157650680283,9.999999025923074e-05
+7131,1791447370585751148,2348975000000,1791447370578838190,DOWN_SETTLE,1,0.042,0.04200171306729317,0.676022165098554,-0.004873230431768716,0.08293781939709445,0.9999999821156997,4.8096409867038145e-05,-0.00010265071938913777,0.00011983751550029715,0.6761,-0.0048,0.08288038323013307,1.0,0.0,0.0,0.0,-0.05632979352241177,-0.08417041027160532,0.8790771165861558,-0.005443455821872537,0.005463318699543693,0.0003387566368508263,-0.09869025472602237,-0.19715609011847338,0.724997243324915,-0.008413866068926995,0.003045940005905728,0.00038436979157401604,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4316224060104281,-0.13814177895841054,-0.629387125260846,0.53796816315609,0.5970025445867985,-0.12499551236023446,0.5024368616808691,0.8790771165861558,1.131823986941715,1.131823986941715,2.106359999998666,0,0,-0.00040505158137718746,9.999999025923074e-05
+7195,1791447371118680524,2349508000000,1791447371114838101,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760278192926588,-0.004875462369122935,0.08272852012678257,0.9999999826834224,4.4719388355338824e-05,-9.751909647011679e-05,0.00012069060263135878,0.6761,-0.0048,0.08267157963587281,1.0,0.0,0.0,0.0,-0.07115215756410266,-0.06185920282799179,0.8641335499231486,-0.004445316352173522,0.006459634514018887,0.00037627845625954405,-0.11351261876771326,-0.17484488267485984,0.7100536766619078,-0.00741572659922798,0.004042255820380922,0.0004218916109827338,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4449847379677867,-0.22730977712969946,-0.6589180900802382,0.5719475660370125,0.6126651518193,-0.1781451852280983,0.5024368616808691,0.8641335499231486,1.1613549517611073,1.1613549517611073,2.106359999998666,0,0,-0.0003784015865690175,9.999999025923074e-05
+7257,1791447371635750666,2350025000000,1791447371634838434,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760226818506995,-0.004873853312599854,0.08253005192799338,0.9999999820156675,4.3082853674414374e-05,-0.00010538978676964118,0.00012020145497814855,0.6761,-0.0048,0.08248261531431231,1.0,0.0,0.0,0.0,-0.0575146220652578,-0.07068592469935128,0.8730154715059186,-0.005450621090102284,0.005834129127731954,0.00034906753494884233,-0.0998750832688684,-0.18367160454621934,0.7189355982446778,-0.008421031337156742,0.0034167504340939887,0.00039468068967203206,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4687856491858962,-0.24459984913823002,-0.7810475491551371,0.5747552887761385,0.698364626433437,-0.18428639811609093,0.5024368616808691,0.8730154715059186,1.2834844108360062,1.2834844108360062,2.106359999998666,0,0,-0.0003525515916049952,9.999999025923074e-05
+7327,1791447372218656147,2350608000000,1791447372218837670,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6760175923802885,-0.0048756398025977706,0.08232334069671153,0.9999999815743784,3.480831922882417e-05,-0.0001153680713079463,0.00011735713220302714,0.6761,-0.0048,0.08228556038474837,1.0,0.0,0.0,0.0,-0.05770014118666922,-0.06475308911547162,0.862965514078363,-0.005465257506512692,0.006478122203862468,0.0003672911053874283,-0.10006060239027982,-0.17773876896233967,0.7088856408171221,-0.00843566775356715,0.004060743510224504,0.000412904260110618,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.5089182592531483,-0.13548175729686976,-0.7616953717533788,0.5460958885785208,0.6912595834022889,-0.10617458834553145,0.5024368616808691,0.862965514078363,1.264132233434248,1.264132233434248,2.106359999998666,0,0,-0.00032340159728386366,9.999999025923074e-05
+7401,1791447372835754484,2351225000000,1791447372834838385,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760151313779548,-0.004871686845596965,0.08212293708398254,0.9999999794636512,4.994336436492643e-05,-0.0001246675440987584,0.00012032965361002521,0.6761,-0.0048,0.08209552339736712,1.0,0.0,0.0,0.0,-0.05744110959095189,-0.07495510214164317,0.8429314530036063,-0.005436588890775794,0.005519460031482867,0.00036860173036590673,-0.09980157079456249,-0.18794078198851122,0.6888515797423654,-0.008406999137830252,0.0031020813378449023,0.00041421488508909646,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4914521204492754,-0.20365236416684668,-0.693870093887335,0.560610486615873,0.6380660506459316,-0.14826729503549366,0.5024368616808691,0.8429314530036063,1.196306955568204,1.196306955568204,2.106359999998666,0,0,-0.0002925516032939183,9.999999025923074e-05
+7483,1791447373518696796,2351908000000,1791447373518838333,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760126338362631,-0.004874009230671187,0.08192584920923264,0.9999999804666515,3.7291508941366846e-05,-0.00012676100420805226,0.00011423901374436154,0.6761,-0.0048,0.08190735580004206,1.0,0.0,0.0,0.0,-0.05250205909412245,-0.07588460793220897,0.8297117866534522,-0.005433450094326294,0.005472758804688315,0.00037723690548249517,-0.09486252029773305,-0.18887028777907702,0.6756319133922114,-0.008403860341380753,0.0030553801110503502,0.0004228500602056849,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.5052675949112588,-0.2009071056626016,-0.7732988043853065,0.5630595481175203,0.6906190136020537,-0.14460760322360391,0.5024368616808691,0.8297117866534522,1.2757356660661756,1.2757356660661756,2.106359999998666,0,0,-0.0002584016099468637,9.999999025923074e-05
+7583,1791447374351755459,2352741000000,1791447374350838147,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6760045281097533,-0.004879080001302961,0.08171704455607537,0.9999999782116267,3.078169963582643e-05,-0.00013910762444941524,0.00012133081415047629,0.6761,-0.0048,0.08170943365557276,1.0,0.0,0.0,0.0,-0.05734304831265544,-0.07016725507523774,0.8126846843192587,-0.005428480607053244,0.005476256869665491,0.00039229923610173775,-0.09970350951626604,-0.1831529349221058,0.6586048110580178,-0.008398890854107702,0.003058878176027527,0.0004379123908249275,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4973290514248476,-0.1409171337851703,-0.7090701454596422,0.5451944088978115,0.6440662163336464,-0.09996993936752865,0.5024368616808691,0.8126846843192587,1.2115070071405114,1.2115070071405114,2.106359999998666,0,0,-0.00021675161806092446,9.999999025923074e-05
+7691,1791447375251767210,2353641000000,1791447375246838217,DOWN_SETTLE,1,0.042,0.042002368718385696,0.675995728580801,-0.004876091323356359,0.08152649456320184,0.9999999764138898,3.3248644267194916e-05,-0.00015243327010009135,0.00011947263247656103,0.6761,-0.0048,0.08153458469536853,1.0,0.0,0.0,0.0,-0.04806349684525456,-0.06728123173717823,0.7929798453015904,-0.005424810757636171,0.005480315260006738,0.00040933683888561977,-0.09042395804886516,-0.18026691158404629,0.6388999720403495,-0.00839522100469063,0.0030629365663687735,0.0004549499936088095,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.504318379605276,-0.22474143612172462,-0.7687828767518249,0.569227772406709,0.6807505649650365,-0.152544904555837,0.5024368616808691,0.7929798453015904,1.271219738432694,1.271219738432694,2.106359999998666,0,0,-0.0001717516268276168,9.999999025923074e-05
+7811,1791447376251717716,2354641000000,1791447376250838056,DOWN_SETTLE,1,0.042,0.042002368718385696,0.6759922913344998,-0.0048756531247740615,0.08136800732316102,0.9999999756987779,2.837720590623224e-05,-0.00015894064133213556,0.00011822823211692627,0.6761,-0.0048,0.08138780806366566,1.0,0.0,0.0,0.0,-0.04732726413764654,-0.06873471306668594,0.7526699950600362,-0.005417400662339309,0.005489083498495949,0.00044199013139411696,-0.08968772534125714,-0.181720392913554,0.5985901217987953,-0.008387810909393768,0.0030717048048579843,0.0004876032861173067,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.4857031239113418,-0.16559392512149812,-0.7192212167734229,0.5473562885212631,0.6399100902579091,-0.1142698851075136,0.5024368616808691,0.7526699950600362,1.221658078454292,1.221658078454292,2.106359999998666,0,0,-0.00012175163656838605,9.999999025923074e-05
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+8079,1791447378485675852,2356875000000,1791447378482838316,DOWN_SETTLE,1,0.042,0.04200171306729317,0.6759837362526562,-0.004878419207755825,0.0811968321941279,0.9999999728126902,2.5369017728610728e-05,-0.0001772708222074641,0.00011725592476165691,0.6761,-0.0048,0.0812405279332541,1.0,0.0,0.0,0.0,-0.03736738652088402,-0.07822963555530202,0.6660924106222399,-0.005374690597613051,0.004495199578150777,0.0004992993886370587,-0.07972784772449462,-0.19121531540217007,0.512012537360999,-0.008345100844667509,0.002077820884512812,0.0005449125433602483,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.425549958398493,-0.19615749289412096,-0.5164435032669046,0.5547655450787673,0.4887478157756079,-0.13374442695455976,0.5024368616808691,0.6660924106222399,1.0188803649477736,1.0188803649477736,2.106359999998666,0,0,-1.0051658329264574e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26ee8a944cded3012fb60a208833af3b87097d74
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44ca40f3dbd7203b8e397ddd0a8bad814cdf588b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.316666667e+01,DOWN_FORCE_DETACH,1791447351332722725,6.568529222e-05,-7.601993594e-06,-8.992331175e-04,6.418151182e-05,-6.475606291e-06,-8.839790582e-04,6.296324623e-05,-6.296338421e-06,-8.832757421e-04,7.016035568e-01,-6.051032273e-06,8.398417081e-01,7.016020530e-01,-4.924644970e-06,8.398569621e-01,7.017887879e-01,-4.687607601e-06,8.288974249e-01
+15,1.390000000e+01,DOWN_FORCE_DETACH,1791447352454075671,6.696000316e-05,-6.688478139e-06,-1.020324626e-03,6.612604296e-05,-6.082373136e-06,-1.018934608e-03,6.438320781e-05,-5.865722107e-06,-1.017891518e-03,7.016048315e-01,-5.137516818e-06,8.397206166e-01,7.016039975e-01,-4.531411815e-06,8.397220066e-01,7.017902079e-01,-4.256991287e-06,8.287628091e-01
+16,1.460000000e+01,DOWN_FORCE_DETACH,1791447353551486554,6.765779619e-05,-1.245036719e-05,-1.166803923e-03,6.767647037e-05,-1.244875141e-05,-1.166535879e-03,6.535218941e-05,-1.217598253e-05,-1.165380906e-03,7.016055293e-01,-1.089940586e-05,8.395741373e-01,7.016055480e-01,-1.089779009e-05,8.395744053e-01,7.017911769e-01,-1.056725171e-05,8.286153197e-01
+17,1.530000000e+01,DOWN_FORCE_DETACH,1791447354600723163,6.546421742e-05,-1.286793806e-05,-1.331655946e-03,6.708559219e-05,-1.257366903e-05,-1.320289206e-03,6.425018456e-05,-1.239999984e-05,-1.319207639e-03,7.016033357e-01,-1.131697674e-05,8.394092852e-01,7.016049571e-01,-1.102270770e-05,8.394206520e-01,7.017900749e-01,-1.079126902e-05,8.284614930e-01
+18,1.593333333e+01,DOWN_FORCE_DETACH,1791447355551069291,6.714966807e-05,-1.045567209e-05,-1.502275027e-03,6.718572019e-05,-1.040573536e-05,-1.502009251e-03,6.368777788e-05,-1.024746273e-05,-1.500461250e-03,7.016050211e-01,-8.904710768e-06,8.392386662e-01,7.016050572e-01,-8.854774037e-06,8.392389319e-01,7.017895124e-01,-8.638731906e-06,8.282802394e-01
+19,1.648333333e+01,DOWN_FORCE_DETACH,1791447356381382685,6.748458888e-05,-1.645568108e-05,-1.670467335e-03,6.672273136e-05,-1.849488380e-05,-1.665482368e-03,6.264481892e-05,-1.825925002e-05,-1.663738244e-03,7.016053561e-01,-1.490471976e-05,8.390704739e-01,7.016045942e-01,-1.694392248e-05,8.390754588e-01,7.017884695e-01,-1.665051920e-05,8.281169624e-01
+20,1.700000000e+01,DOWN_FORCE_DETACH,1791447357159543930,6.459191742e-05,-1.719776725e-05,-1.856239506e-03,6.300660937e-05,-2.046462461e-05,-1.850498873e-03,5.813944229e-05,-2.017702584e-05,-1.848569442e-03,7.016024634e-01,-1.564680593e-05,8.388847017e-01,7.016008781e-01,-1.891366329e-05,8.388904423e-01,7.017839641e-01,-1.856829501e-05,8.279321312e-01
+21,1.748333333e+01,DOWN_FORCE_DETACH,1791447357891364302,5.913155837e-05,-2.323172456e-05,-2.055789021e-03,6.212512691e-05,-2.684526073e-05,-2.050232691e-03,5.658099147e-05,-2.646253495e-05,-2.048166681e-03,7.015970030e-01,-2.168076324e-05,8.386851522e-01,7.015999966e-01,-2.529429941e-05,8.386907085e-01,7.017824057e-01,-2.485380413e-05,8.277325340e-01
+22,1.793333333e+01,DOWN_FORCE_DETACH,1791447358568506383,6.344404381e-05,-2.116175287e-05,-2.241908535e-03,6.422863129e-05,-2.605042684e-05,-2.227349147e-03,5.810691145e-05,-2.572424801e-05,-2.225292273e-03,7.016013155e-01,-1.961079155e-05,8.384990327e-01,7.016021001e-01,-2.449946552e-05,8.385135920e-01,7.017839316e-01,-2.411551719e-05,8.275554084e-01
+23,1.836666667e+01,DOWN_FORCE_DETACH,1791447359219384344,5.927246691e-05,-2.244219227e-05,-2.449593574e-03,5.918392535e-05,-2.236015269e-05,-2.449524734e-03,5.220754864e-05,-2.207257911e-05,-2.447049759e-03,7.015971439e-01,-2.089123095e-05,8.382913476e-01,7.015970554e-01,-2.080919137e-05,8.382914165e-01,7.017780322e-01,-2.046384829e-05,8.273336509e-01
+24,1.878333333e+01,DOWN_FORCE_DETACH,1791447359849455224,6.401247765e-05,-2.820154974e-05,-2.656786908e-03,6.374592022e-05,-2.841481544e-05,-2.656864634e-03,5.605879848e-05,-2.796265946e-05,-2.654266422e-03,7.016018840e-01,-2.665058842e-05,8.380841543e-01,7.016016174e-01,-2.686385412e-05,8.380840766e-01,7.017818835e-01,-2.635392864e-05,8.271264342e-01
+25,1.915000000e+01,DOWN_FORCE_DETACH,1791447360408510649,6.118582535e-05,-2.859754817e-05,-2.865806635e-03,5.940978461e-05,-2.804529800e-05,-2.860129776e-03,5.093579317e-05,-2.766876593e-05,-2.857523871e-03,7.015990573e-01,-2.704658685e-05,8.378751346e-01,7.015972813e-01,-2.649433668e-05,8.378808114e-01,7.017767605e-01,-2.606003511e-05,8.269231768e-01
+26,1.951666667e+01,DOWN_FORCE_DETACH,1791447360949547315,5.851690960e-05,-3.271514359e-05,-3.079210066e-03,5.785798897e-05,-3.537384192e-05,-3.068093637e-03,4.859385330e-05,-3.506058291e-05,-3.065583251e-03,7.015963884e-01,-3.116418227e-05,8.376617311e-01,7.015957295e-01,-3.382288060e-05,8.376728476e-01,7.017744185e-01,-3.345185209e-05,8.267151174e-01
+27,1.983333333e+01,DOWN_FORCE_DETACH,1791447361419741342,5.711176528e-05,-3.621134377e-05,-3.278442815e-03,5.574310897e-05,-3.480682089e-05,-3.265800557e-03,4.568680051e-05,-3.448479273e-05,-3.263044155e-03,7.015949832e-01,-3.466038245e-05,8.374624984e-01,7.015936146e-01,-3.325585957e-05,8.374751406e-01,7.017715115e-01,-3.287606191e-05,8.265176565e-01
+28,2.016666667e+01,DOWN_FORCE_DETACH,1791447361921327028,5.737711985e-05,-3.381730840e-05,-3.487282708e-03,5.638013878e-05,-3.646564932e-05,-3.471903372e-03,4.560695637e-05,-3.606809328e-05,-3.469109904e-03,7.015952486e-01,-3.226634708e-05,8.372536585e-01,7.015942516e-01,-3.491468800e-05,8.372690378e-01,7.017714316e-01,-3.445936246e-05,8.263115907e-01
+29,2.048333333e+01,DOWN_FORCE_DETACH,1791447362389685361,5.853882946e-05,-3.353071301e-05,-3.692790114e-03,5.793767680e-05,-3.703137991e-05,-3.684024433e-03,4.646868451e-05,-3.662261500e-05,-3.681166394e-03,7.015964103e-01,-3.197975169e-05,8.370481511e-01,7.015958092e-01,-3.548041859e-05,8.370569168e-01,7.017722934e-01,-3.501388418e-05,8.260995342e-01
+30,2.078333333e+01,DOWN_FORCE_DETACH,1791447362849515527,6.127821980e-05,-3.344104179e-05,-3.906452304e-03,6.153161617e-05,-3.738861763e-05,-3.892915761e-03,4.936561739e-05,-3.700231671e-05,-3.889969749e-03,7.015991497e-01,-3.189008047e-05,8.368344889e-01,7.015994031e-01,-3.583765631e-05,8.368480254e-01,7.017751903e-01,-3.539358589e-05,8.258907309e-01
+31,2.106666667e+01,DOWN_FORCE_DETACH,1791447363270641378,5.999659285e-05,-3.272356060e-05,-4.116536262e-03,5.992065064e-05,-3.275760366e-05,-4.116320431e-03,4.695947838e-05,-3.236181175e-05,-4.113086494e-03,7.015978681e-01,-3.117259928e-05,8.366244049e-01,7.015977921e-01,-3.120664234e-05,8.366246208e-01,7.017727841e-01,-3.075308093e-05,8.256676141e-01
+32,2.135000000e+01,DOWN_FORCE_DETACH,1791447363690697560,5.731556222e-05,-3.604526417e-05,-4.329080480e-03,5.955242533e-05,-3.205737504e-05,-4.324989063e-03,4.575755887e-05,-3.160319227e-05,-4.321795288e-03,7.015951870e-01,-3.449430284e-05,8.364118607e-01,7.015974239e-01,-3.050641372e-05,8.364159521e-01,7.017715822e-01,-2.999446145e-05,8.254589053e-01
+33,2.161666667e+01,DOWN_FORCE_DETACH,1791447364100046949,5.871170816e-05,-3.197056525e-05,-4.537200321e-03,5.745365905e-05,-3.164317592e-05,-4.522392910e-03,4.290494626e-05,-3.131406063e-05,-4.519434900e-03,7.015965832e-01,-3.041960393e-05,8.362037409e-01,7.015953251e-01,-3.009221460e-05,8.362185483e-01,7.017687296e-01,-2.970532981e-05,8.252612657e-01
+34,2.188333333e+01,DOWN_FORCE_DETACH,1791447364491807250,5.696848447e-05,-3.982443466e-05,-4.752786765e-03,5.694865643e-05,-3.968879037e-05,-4.752529773e-03,4.162713455e-05,-3.933637810e-05,-4.749134407e-03,7.015948400e-01,-3.827347334e-05,8.359881544e-01,7.015948201e-01,-3.813782905e-05,8.359884114e-01,7.017674518e-01,-3.772764728e-05,8.250315662e-01
+35,2.215000000e+01,DOWN_FORCE_DETACH,1791447364889722759,5.724123911e-05,-3.762294297e-05,-4.961148831e-03,5.714334061e-05,-3.557821183e-05,-4.958868183e-03,4.115593918e-05,-3.519521073e-05,-4.955600342e-03,7.015951127e-01,-3.607198165e-05,8.357797924e-01,7.015950148e-01,-3.402725051e-05,8.357820730e-01,7.017669806e-01,-3.358647991e-05,8.248251003e-01
+36,2.240000000e+01,DOWN_FORCE_DETACH,1791447365269951545,5.673570544e-05,-4.439036507e-05,-5.183309203e-03,5.659900431e-05,-4.440573261e-05,-5.183277873e-03,3.974123984e-05,-4.392207482e-05,-5.179732386e-03,7.015946072e-01,-4.283940375e-05,8.355576320e-01,7.015944705e-01,-4.285477129e-05,8.355576633e-01,7.017655659e-01,-4.231334400e-05,8.246009682e-01
+37,2.265000000e+01,DOWN_FORCE_DETACH,1791447365649528632,5.758496811e-05,-4.335377439e-05,-5.397104540e-03,5.682039447e-05,-4.422680282e-05,-5.378104760e-03,3.932281341e-05,-4.380188746e-05,-5.374807050e-03,7.015954564e-01,-4.180281307e-05,8.353438366e-01,7.015946919e-01,-4.267584150e-05,8.353628364e-01,7.017651475e-01,-4.219315663e-05,8.244058936e-01
+38,2.288333333e+01,DOWN_FORCE_DETACH,1791447365990094809,5.438404350e-05,-4.573213659e-05,-5.597439428e-03,5.414248508e-05,-4.545494442e-05,-5.597452384e-03,3.582764996e-05,-4.495527091e-05,-5.593966887e-03,7.015922555e-01,-4.418117527e-05,8.351435018e-01,7.015920140e-01,-4.390398309e-05,8.351434888e-01,7.017616523e-01,-4.334654009e-05,8.241867337e-01
+39,2.313333333e+01,DOWN_FORCE_DETACH,1791447366370449163,5.876081754e-05,-5.075912454e-05,-5.805638389e-03,5.775278981e-05,-5.192623382e-05,-5.785703675e-03,3.885595050e-05,-5.132965957e-05,-5.782570507e-03,7.015966323e-01,-4.920816322e-05,8.349353028e-01,7.015956243e-01,-5.037527250e-05,8.349552375e-01,7.017646806e-01,-4.972092875e-05,8.239981301e-01
+40,2.338333333e+01,DOWN_SETTLE,1791447366749530955,5.894917711e-05,-4.319884944e-05,-6.035398521e-03,6.076337414e-05,-4.733891996e-05,-6.018443603e-03,4.112951084e-05,-4.689564832e-05,-6.015269355e-03,7.015968207e-01,-4.164788812e-05,8.347055427e-01,7.015986349e-01,-4.578795864e-05,8.347224976e-01,7.017669542e-01,-4.528691750e-05,8.237654313e-01
+41,2.361666667e+01,DOWN_SETTLE,1791447367121994445,6.344830507e-05,-4.323980927e-05,-6.243730710e-03,6.002948430e-05,-4.728382209e-05,-6.224602899e-03,3.963793496e-05,-4.688585539e-05,-6.221384425e-03,7.016013198e-01,-4.168884795e-05,8.344972105e-01,7.015979010e-01,-4.573286077e-05,8.345163383e-01,7.017654626e-01,-4.527712457e-05,8.235593162e-01
+42,2.386666667e+01,DOWN_SETTLE,1791447367487035421,5.632311099e-05,-3.945700466e-05,-6.463713958e-03,5.634477967e-05,-3.925519561e-05,-6.463512294e-03,3.512371938e-05,-3.886454980e-05,-6.460013946e-03,7.015941946e-01,-3.790604334e-05,8.342772272e-01,7.015942163e-01,-3.770423429e-05,8.342774289e-01,7.017609484e-01,-3.725581898e-05,8.233206867e-01
+43,2.413333333e+01,DOWN_SETTLE,1791447367887732706,5.742996541e-05,-4.167518101e-05,-6.677977974e-03,5.736570951e-05,-4.180899912e-05,-6.677891979e-03,3.537180560e-05,-4.135678785e-05,-6.674530005e-03,7.015953014e-01,-4.012421969e-05,8.340629632e-01,7.015952372e-01,-4.025803780e-05,8.340630492e-01,7.017611965e-01,-3.974805703e-05,8.231061706e-01
+44,2.440000000e+01,DOWN_SETTLE,1791447368287304130,5.427858435e-05,-4.286239020e-05,-6.886150248e-03,5.505928447e-05,-4.401686549e-05,-6.869085766e-03,3.239935725e-05,-4.360040670e-05,-6.865975801e-03,7.015921501e-01,-4.131142888e-05,8.338547909e-01,7.015929308e-01,-4.246590417e-05,8.338718554e-01,7.017582240e-01,-4.199167588e-05,8.229147248e-01
+45,2.468333333e+01,DOWN_SETTLE,1791447368727688485,6.098565315e-05,-4.105416051e-05,-7.094877014e-03,5.841875445e-05,-3.943633573e-05,-7.080651347e-03,3.512459017e-05,-3.898503875e-05,-7.077754499e-03,7.015988571e-01,-3.950319919e-05,8.336460642e-01,7.015962902e-01,-3.788537441e-05,8.336602898e-01,7.017609493e-01,-3.737630793e-05,8.227029461e-01
+46,2.498333333e+01,DOWN_SETTLE,1791447369159000306,5.716248808e-05,-4.305592357e-05,-7.310856949e-03,5.691874408e-05,-4.310046917e-05,-7.310722081e-03,3.280561606e-05,-4.263384322e-05,-7.307753983e-03,7.015950340e-01,-4.150496225e-05,8.334300842e-01,7.015947902e-01,-4.154950785e-05,8.334302191e-01,7.017586303e-01,-4.102511240e-05,8.224729466e-01
+47,2.528333333e+01,DOWN_SETTLE,1791447369617534187,5.932443740e-05,-4.639547441e-05,-7.523802480e-03,5.886623883e-05,-4.718835897e-05,-7.510544496e-03,3.409516696e-05,-4.680697296e-05,-7.507888382e-03,7.015971959e-01,-4.484451309e-05,8.332171387e-01,7.015967377e-01,-4.563739765e-05,8.332303967e-01,7.017599198e-01,-4.519824214e-05,8.222728122e-01
+48,2.560000000e+01,DOWN_SETTLE,1791447370087614536,5.050675584e-05,-4.564613625e-05,-7.743209280e-03,5.018790575e-05,-4.556479457e-05,-7.743326738e-03,2.448961877e-05,-4.521604188e-05,-7.740452585e-03,7.015883782e-01,-4.409517492e-05,8.329977319e-01,7.015880594e-01,-4.401383325e-05,8.329976144e-01,7.017503143e-01,-4.360731106e-05,8.220402480e-01
+49,2.593333333e+01,DOWN_SETTLE,1791447370586765803,4.556390837e-05,-5.273933685e-05,-7.953452277e-03,4.255493758e-05,-4.637042651e-05,-7.938057945e-03,1.597135063e-05,-4.592148100e-05,-7.935519876e-03,7.015834354e-01,-5.118837553e-05,8.327874889e-01,7.015804264e-01,-4.481946518e-05,8.328028832e-01,7.017417960e-01,-4.431275018e-05,8.218451808e-01
+50,2.628333333e+01,DOWN_SETTLE,1791447371117581730,5.291993593e-05,-4.854753730e-05,-8.158682296e-03,5.363500244e-05,-4.648369592e-05,-8.144936861e-03,2.660261448e-05,-4.600868376e-05,-8.142416689e-03,7.015907914e-01,-4.699657598e-05,8.325822589e-01,7.015915065e-01,-4.493273460e-05,8.325960043e-01,7.017524273e-01,-4.439995294e-05,8.216382839e-01
+51,2.663333333e+01,DOWN_SETTLE,1791447371636739968,4.500740641e-05,-4.822106587e-05,-8.364651210e-03,4.482678448e-05,-4.805395659e-05,-8.364359697e-03,1.691859329e-05,-4.758154708e-05,-8.361634941e-03,7.015828789e-01,-4.667010455e-05,8.323762900e-01,7.015826983e-01,-4.650299526e-05,8.323765815e-01,7.017427433e-01,-4.597281626e-05,8.214190657e-01
+52,2.701666667e+01,DOWN_SETTLE,1791447372217575488,4.135620112e-05,-4.689307636e-05,-8.565320111e-03,3.897145202e-05,-4.795424830e-05,-8.558186658e-03,1.020999400e-05,-4.737614290e-05,-8.555848735e-03,7.015792277e-01,-4.534211504e-05,8.321756211e-01,7.015768429e-01,-4.640328698e-05,8.321827545e-01,7.017360347e-01,-4.576741208e-05,8.212248519e-01
+53,2.743333333e+01,DOWN_SETTLE,1791447372836264867,3.689771825e-05,-4.689507798e-05,-8.774016212e-03,4.056132300e-05,-4.848975747e-05,-8.759437060e-03,1.103658234e-05,-4.794313397e-05,-8.757385006e-03,7.015747692e-01,-4.534411666e-05,8.319669250e-01,7.015784328e-01,-4.693879615e-05,8.319815041e-01,7.017368613e-01,-4.633440315e-05,8.210233156e-01
+54,2.788333333e+01,DOWN_SETTLE,1791447373518577110,3.193925551e-05,-4.864734251e-05,-8.966969404e-03,3.251291326e-05,-4.453739757e-05,-8.950409510e-03,2.168539057e-06,-4.415558571e-05,-8.948687239e-03,7.015698107e-01,-4.709638119e-05,8.317739718e-01,7.015703844e-01,-4.298643625e-05,8.317905317e-01,7.017279932e-01,-4.254685489e-05,8.208320134e-01
+55,2.841666667e+01,DOWN_SETTLE,1791447374349594851,2.734802188e-05,-5.373290339e-05,-9.172919356e-03,2.728478104e-05,-5.384808226e-05,-9.172437604e-03,-3.913313865e-06,-5.343412634e-05,-9.170616675e-03,7.015652195e-01,-5.218194207e-05,8.315680218e-01,7.015651563e-01,-5.229712094e-05,8.315685036e-01,7.017219114e-01,-5.182539552e-05,8.206100840e-01
+56,2.901666667e+01,DOWN_SETTLE,1791447375249605800,1.894272124e-05,-4.927626536e-05,-9.361455074e-03,2.040759584e-05,-4.939738992e-05,-9.354280213e-03,-1.162705086e-05,-4.885686140e-05,-9.352979299e-03,7.015568142e-01,-4.772530404e-05,8.313794861e-01,7.015582791e-01,-4.784642860e-05,8.313866610e-01,7.017141976e-01,-4.724813058e-05,8.204277213e-01
+57,2.968333333e+01,DOWN_SETTLE,1791447376249648280,1.770753294e-05,-5.256972993e-05,-9.515292266e-03,1.308413687e-05,-5.006568109e-05,-9.508693593e-03,-1.962453226e-05,-4.958006357e-05,-9.507868926e-03,7.015555790e-01,-5.101876860e-05,8.312256489e-01,7.015509556e-01,-4.851471977e-05,8.312322476e-01,7.017062001e-01,-4.797133275e-05,8.202728317e-01
+58,3.041666667e+01,DOWN_SETTLE,1791447377350689216,9.578129113e-06,-5.229196946e-05,-9.634666843e-03,9.415846194e-06,-5.227107262e-05,-9.635006461e-03,-2.378105027e-05,-5.180394870e-05,-9.634435582e-03,7.015474496e-01,-5.074100814e-05,8.311062743e-01,7.015472873e-01,-5.072011130e-05,8.311059347e-01,7.017020436e-01,-5.019521788e-05,8.201462650e-01
+59,3.118333333e+01,DOWN_SETTLE,1791447378485689868,6.557964389e-06,-5.115560666e-05,-9.693198111e-03,6.816881483e-06,-4.811471018e-05,-9.676519475e-03,-2.663868804e-05,-4.770377846e-05,-9.676523258e-03,7.015444294e-01,-4.960464534e-05,8.310477431e-01,7.015446884e-01,-4.656374886e-05,8.310644217e-01,7.016991860e-01,-4.609504764e-05,8.201041774e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c9d15dcfcee23f2c51baa03fda10e389e31b394
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,5.2209e-03,-5.6088e-03,2.4563e+00,-3.6341e-02,3.7170e-02,1.4057e-05,6.5379e-05,1.0117e-05,-1.3828e-05,-7.6741e-07,4.1686e-06,8.5303e-08,6.7587e-05,4.2395e-06
+1,9.1667e-01,DOWN_FORCE_DETACH,2.2229e-04,1.1669e-02,-4.6910e-03,2.4577e+00,-3.6408e-02,3.7625e-02,5.7250e-05,6.5140e-03,9.2793e-04,1.4374e-03,-6.8080e-05,4.5913e-04,4.3278e-05,6.7349e-03,4.6616e-04
+2,1.9500e+00,DOWN_FORCE_DETACH,4.4325e-04,1.2624e-02,-1.5154e-03,2.4669e+00,-3.6619e-02,3.7681e-02,6.1377e-05,7.4690e-03,4.1035e-03,1.0579e-02,-2.7961e-04,5.1479e-04,4.7405e-05,1.3584e-02,5.8774e-04
+3,2.9333e+00,DOWN_FORCE_DETACH,6.6462e-04,1.1600e-02,-1.4209e-03,2.4700e+00,-3.6619e-02,3.7606e-02,6.5454e-05,6.4449e-03,4.1980e-03,1.3722e-02,-2.7883e-04,4.3977e-04,5.1482e-05,1.5731e-02,5.2325e-04
+4,3.7833e+00,DOWN_FORCE_DETACH,8.8704e-04,1.1363e-02,3.1278e-05,2.4691e+00,-3.6704e-02,3.7584e-02,6.9144e-05,6.2079e-03,5.6502e-03,1.2807e-02,-3.6380e-04,4.1796e-04,5.5172e-05,1.5313e-02,5.5685e-04
+5,4.7333e+00,DOWN_FORCE_DETACH,1.1042e-03,1.2648e-02,1.6335e-04,2.4670e+00,-3.6704e-02,3.7665e-02,7.2352e-05,7.4921e-03,5.7823e-03,1.0668e-02,-3.6451e-04,4.9842e-04,5.8380e-05,1.4261e-02,6.2024e-04
+6,5.7833e+00,DOWN_FORCE_DETACH,1.3274e-03,1.3429e-02,1.1407e-03,2.4680e+00,-3.6775e-02,3.7716e-02,7.1631e-05,8.2730e-03,6.7596e-03,1.1658e-02,-4.3483e-04,5.4977e-04,5.7659e-05,1.5813e-02,7.0331e-04
+7,6.7667e+00,DOWN_FORCE_DETACH,1.5508e-03,1.3651e-02,6.2071e-04,2.4684e+00,-3.6763e-02,3.7731e-02,6.3580e-05,8.4960e-03,6.2396e-03,1.2075e-02,-4.2306e-04,5.6455e-04,4.9608e-05,1.6029e-02,7.0721e-04
+8,7.6667e+00,DOWN_FORCE_DETACH,1.7733e-03,1.4528e-02,4.6117e-04,2.4697e+00,-3.6781e-02,3.7790e-02,4.8082e-05,9.3722e-03,6.0801e-03,1.3402e-02,-4.4089e-04,6.2352e-04,3.4110e-05,1.7447e-02,7.6442e-04
+9,8.6333e+00,DOWN_FORCE_DETACH,1.9928e-03,1.4851e-02,9.2413e-04,2.4710e+00,-3.6842e-02,3.7813e-02,2.4717e-05,9.6951e-03,6.5430e-03,1.4689e-02,-5.0195e-04,6.4722e-04,1.0745e-05,1.8777e-02,8.1912e-04
+10,9.5833e+00,DOWN_FORCE_DETACH,2.2143e-03,1.5925e-02,1.4011e-03,2.4702e+00,-3.6894e-02,3.7889e-02,-1.4549e-07,1.0769e-02,7.0200e-03,1.3890e-02,-5.5451e-04,7.2304e-04,-1.4117e-05,1.8926e-02,9.1130e-04
+11,1.0517e+01,DOWN_FORCE_DETACH,2.4349e-03,1.6659e-02,1.5958e-03,2.4729e+00,-3.6921e-02,3.7940e-02,-1.8396e-05,1.1504e-02,7.2147e-03,1.6552e-02,-5.8157e-04,7.7406e-04,-3.2368e-05,2.1409e-02,9.6873e-04
+12,1.1367e+01,DOWN_FORCE_DETACH,2.6586e-03,1.5785e-02,-1.5460e-05,2.4768e+00,-3.6831e-02,3.7882e-02,-2.7809e-05,1.0630e-02,5.6034e-03,2.0463e-02,-4.9129e-04,7.1564e-04,-4.1781e-05,2.3731e-02,8.6905e-04
+13,1.2283e+01,DOWN_FORCE_DETACH,2.8777e-03,1.4201e-02,1.0213e-03,2.4829e+00,-3.6904e-02,3.7769e-02,-3.0376e-05,9.0453e-03,6.6402e-03,2.6544e-02,-5.6394e-04,6.0242e-04,-4.4348e-05,2.8818e-02,8.2638e-04
+14,1.3167e+01,DOWN_FORCE_DETACH,3.1005e-03,1.2608e-02,1.9913e-03,2.4902e+00,-3.6944e-02,3.7650e-02,-2.8447e-05,7.4528e-03,7.6102e-03,3.3856e-02,-6.0383e-04,4.8386e-04,-4.2419e-05,3.5492e-02,7.7494e-04
+15,1.3900e+01,DOWN_FORCE_DETACH,3.3178e-03,1.1424e-02,5.6655e-03,2.4953e+00,-3.7146e-02,3.7559e-02,-2.3584e-05,6.2681e-03,1.1284e-02,3.9031e-02,-8.0585e-04,3.9329e-04,-3.7556e-05,4.1110e-02,8.9749e-04
+16,1.4600e+01,DOWN_FORCE_DETACH,3.5410e-03,1.0609e-02,5.6405e-03,2.4997e+00,-3.7146e-02,3.7495e-02,-1.4192e-05,5.4540e-03,1.1259e-02,4.3356e-02,-8.0634e-04,3.2882e-04,-2.8164e-05,4.5125e-02,8.7126e-04
+17,1.5300e+01,DOWN_FORCE_DETACH,3.7693e-03,1.0017e-02,3.4626e-03,2.5017e+00,-3.7048e-02,3.7450e-02,-8.5209e-07,4.8618e-03,9.0815e-03,4.5419e-02,-7.0785e-04,2.8437e-04,-1.4824e-05,4.6572e-02,7.6298e-04
+18,1.5933e+01,DOWN_FORCE_DETACH,3.9854e-03,1.0413e-02,2.7620e-03,2.5104e+00,-3.7014e-02,3.7474e-02,1.4946e-05,5.2570e-03,8.3809e-03,5.4115e-02,-6.7379e-04,3.0798e-04,9.7405e-07,5.5012e-02,7.4084e-04
+19,1.6483e+01,DOWN_FORCE_DETACH,4.2055e-03,1.1013e-02,4.6935e-03,2.5237e+00,-3.7120e-02,3.7506e-02,3.7799e-05,5.8577e-03,1.0312e-02,6.7351e-02,-7.8001e-04,3.4032e-04,2.3827e-05,6.8387e-02,8.5135e-04
+20,1.7000e+01,DOWN_FORCE_DETACH,4.4271e-03,1.2966e-02,9.0881e-03,2.5342e+00,-3.7366e-02,3.7621e-02,6.0340e-05,7.8105e-03,1.4707e-02,7.7877e-02,-1.0265e-03,4.5484e-04,4.6368e-05,7.9637e-02,1.1237e-03
+21,1.7483e+01,DOWN_FORCE_DETACH,4.6512e-03,1.4038e-02,1.2224e-02,2.5438e+00,-3.7547e-02,3.7680e-02,6.9095e-05,8.8825e-03,1.7843e-02,8.7462e-02,-1.2069e-03,5.1393e-04,5.5123e-05,8.9705e-02,1.3129e-03
+22,1.7933e+01,DOWN_FORCE_DETACH,4.8715e-03,1.4978e-02,1.0987e-02,2.5454e+00,-3.7468e-02,3.7738e-02,6.0214e-05,9.8225e-03,1.6606e-02,8.9050e-02,-1.1286e-03,5.7159e-04,4.6242e-05,9.1116e-02,1.2659e-03
+23,1.8367e+01,DOWN_FORCE_DETACH,5.0937e-03,1.8384e-02,9.0326e-03,2.5518e+00,-3.7359e-02,3.7958e-02,4.2089e-05,1.3229e-02,1.4652e-02,9.5484e-02,-1.0195e-03,7.9167e-04,2.8117e-05,9.7503e-02,1.2911e-03
+24,1.8783e+01,DOWN_FORCE_DETACH,5.3130e-03,1.8110e-02,1.3753e-02,2.5600e+00,-3.7649e-02,3.7937e-02,2.5153e-05,1.2954e-02,1.9372e-02,1.0367e-01,-1.3095e-03,7.7125e-04,1.1181e-05,1.0625e-01,1.5198e-03
+25,1.9150e+01,DOWN_FORCE_DETACH,5.5382e-03,1.7282e-02,1.5074e-02,2.5643e+00,-3.7732e-02,3.7880e-02,1.4960e-05,1.2127e-02,2.0693e-02,1.0804e-01,-1.3918e-03,7.1428e-04,9.8759e-07,1.1067e-01,1.5644e-03
+26,1.9517e+01,DOWN_FORCE_DETACH,5.7608e-03,1.7013e-02,1.1721e-02,2.5655e+00,-3.7535e-02,3.7863e-02,1.2551e-05,1.1857e-02,1.7340e-02,1.0920e-01,-1.1953e-03,6.9693e-04,-1.4210e-06,1.1120e-01,1.3837e-03
+27,1.9833e+01,DOWN_FORCE_DETACH,5.9777e-03,1.7125e-02,1.1945e-02,2.5724e+00,-3.7545e-02,3.7869e-02,1.6865e-05,1.1969e-02,1.7564e-02,1.1606e-01,-1.2055e-03,7.0301e-04,2.8929e-06,1.1799e-01,1.3955e-03
+28,2.0167e+01,DOWN_FORCE_DETACH,6.1987e-03,1.6745e-02,1.4351e-02,2.5758e+00,-3.7677e-02,3.7837e-02,2.1448e-05,1.1589e-02,1.9970e-02,1.1945e-01,-1.3375e-03,6.7079e-04,7.4760e-06,1.2166e-01,1.4963e-03
+29,2.0483e+01,DOWN_FORCE_DETACH,6.4221e-03,1.6425e-02,1.7223e-02,2.5804e+00,-3.7842e-02,3.7805e-02,2.1315e-05,1.1270e-02,2.2841e-02,1.2408e-01,-1.5018e-03,6.3910e-04,7.3429e-06,1.2667e-01,1.6322e-03
+30,2.0783e+01,DOWN_FORCE_DETACH,6.6468e-03,1.6034e-02,1.6055e-02,2.5843e+00,-3.7761e-02,3.7770e-02,1.7387e-05,1.0879e-02,2.1674e-02,1.2803e-01,-1.4216e-03,6.0350e-04,3.4149e-06,1.3031e-01,1.5444e-03
+31,2.1067e+01,DOWN_FORCE_DETACH,6.8629e-03,1.5675e-02,1.6315e-02,2.5884e+00,-3.7776e-02,3.7737e-02,1.2688e-05,1.0519e-02,2.1934e-02,1.3207e-01,-1.4363e-03,5.7121e-04,-1.2839e-06,1.3429e-01,1.5457e-03
+32,2.1350e+01,DOWN_FORCE_DETACH,7.0890e-03,1.5480e-02,1.8999e-02,2.5928e+00,-3.7932e-02,3.7715e-02,9.6448e-06,1.0325e-02,2.4618e-02,1.3653e-01,-1.5920e-03,5.4853e-04,-4.3272e-06,1.3912e-01,1.6839e-03
+33,2.1617e+01,DOWN_FORCE_DETACH,7.3055e-03,1.4268e-02,1.5210e-02,2.5921e+00,-3.7694e-02,3.7632e-02,1.0333e-05,9.1123e-03,2.0829e-02,1.3579e-01,-1.3544e-03,4.6596e-04,-3.6391e-06,1.3768e-01,1.4323e-03
+34,2.1883e+01,DOWN_FORCE_DETACH,7.5257e-03,1.3058e-02,1.2441e-02,2.5933e+00,-3.7525e-02,3.7553e-02,1.5408e-05,7.9021e-03,1.8060e-02,1.3696e-01,-1.1850e-03,3.8710e-04,1.4358e-06,1.3837e-01,1.2467e-03
+35,2.2150e+01,DOWN_FORCE_DETACH,7.7428e-03,1.4073e-02,1.4436e-02,2.5975e+00,-3.7637e-02,3.7613e-02,2.1677e-05,8.9177e-03,2.0055e-02,1.4115e-01,-1.2969e-03,4.4692e-04,7.7054e-06,1.4284e-01,1.3717e-03
+36,2.2400e+01,DOWN_FORCE_DETACH,7.9727e-03,1.4562e-02,1.8753e-02,2.6023e+00,-3.7890e-02,3.7636e-02,2.4032e-05,9.4064e-03,2.4372e-02,1.4603e-01,-1.5504e-03,4.6955e-04,1.0060e-05,1.4835e-01,1.6199e-03
+37,2.2650e+01,DOWN_FORCE_DETACH,8.1910e-03,1.5001e-02,2.0529e-02,2.6054e+00,-3.7987e-02,3.7656e-02,2.3432e-05,9.8450e-03,2.6148e-02,1.4909e-01,-1.6474e-03,4.8967e-04,9.4603e-06,1.5169e-01,1.7186e-03
+38,2.2883e+01,DOWN_FORCE_DETACH,8.4097e-03,1.5592e-02,2.1354e-02,2.6064e+00,-3.8033e-02,3.7687e-02,2.0156e-05,1.0437e-02,2.6973e-02,1.5008e-01,-1.6935e-03,5.2062e-04,6.1838e-06,1.5285e-01,1.7717e-03
+39,2.3133e+01,DOWN_FORCE_DETACH,8.6319e-03,1.4950e-02,2.6100e-02,2.6071e+00,-3.8315e-02,3.7639e-02,1.6466e-05,9.7944e-03,3.1719e-02,1.5075e-01,-1.9752e-03,4.7262e-04,2.4940e-06,1.5437e-01,2.0310e-03
+40,2.3383e+01,DOWN_SETTLE,8.8662e-03,1.3492e-02,2.3572e-02,2.6044e+00,-3.8153e-02,3.7544e-02,1.6016e-05,8.3370e-03,2.9191e-02,1.4807e-01,-1.8129e-03,3.7755e-04,2.0440e-06,1.5115e-01,1.8518e-03
+41,2.3617e+01,DOWN_SETTLE,9.0791e-03,1.3120e-02,1.9161e-02,2.6061e+00,-3.7877e-02,3.7521e-02,1.8549e-05,7.9646e-03,2.4779e-02,1.4977e-01,-1.5373e-03,3.5459e-04,4.5771e-06,1.5202e-01,1.5777e-03
+42,2.3867e+01,DOWN_SETTLE,9.3057e-03,1.4201e-02,1.9246e-02,2.6063e+00,-3.7869e-02,3.7587e-02,2.2897e-05,9.0453e-03,2.4864e-02,1.4997e-01,-1.5289e-03,4.2097e-04,8.9250e-06,1.5229e-01,1.5858e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f49910a48d7be260e5ec517e3872451d1d14b334
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e97b9535cba64d797a46bbfc96d97e1ea1b51cfa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ecd286d87358df254af486a5cd9e1e99a91ab9d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3934b86603c53f524b7318de6692816c8387ed85
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,5.000000000e-01,UP_FORCE_RAMP,1791447321097459404,1.644486252e-07,-4.916523546e-06,-1.521920695e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.013030063e-07,1.487987789e-08,2.817335132e-08,7.015380359e-01,-3.365562225e-06,8.407394193e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259260e-01,1.623610698e-06,8.297807288e-01
+7,6.000000000e-01,UP_FORCE_RAMP,1791447321251862985,-1.592012479e-06,-3.649325093e-06,-1.068121789e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.126809269e-07,1.666801346e-08,3.120047243e-08,7.015362795e-01,-2.098363772e-06,8.407398731e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259373e-01,1.625398834e-06,8.297807318e-01
+8,7.166666667e-01,UP_FORCE_RAMP,1791447321424365250,-2.092627298e-06,-2.063132235e-06,-1.364537050e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.237251449e-07,1.843575129e-08,3.411201355e-08,7.015357789e-01,-5.121709137e-07,8.407395767e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259484e-01,1.627166572e-06,8.297807347e-01
+9,8.166666667e-01,UP_FORCE_RAMP,1791447321577278639,2.978496172e-08,-1.287151589e-06,1.510153103e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.316699166e-07,1.973271872e-08,3.615331534e-08,7.015379013e-01,2.638097326e-07,8.407424513e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259563e-01,1.628463539e-06,8.297807368e-01
+10,9.000000000e-01,UP_FORCE_RAMP,1791447321697298779,-5.048906601e-06,-3.729055207e-06,-5.303698488e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.373950783e-07,2.067856273e-08,3.759685085e-08,7.015328226e-01,-2.178093886e-06,8.407356375e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259621e-01,1.629409383e-06,8.297807382e-01
+11,9.833333333e-01,UP_FORCE_RAMP,1791447321816082536,-3.389973493e-06,2.458938198e-06,-1.669072599e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.413403774e-07,2.153117629e-08,3.862142828e-08,7.015344815e-01,4.009899519e-06,8.407392721e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259660e-01,1.630261997e-06,8.297807393e-01
+12,1.050000000e+00,UP_FORCE_RAMP,1791447321924680013,-4.256162303e-06,-3.624156400e-06,-3.659431994e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.458782504e-07,2.209999956e-08,3.970993867e-08,7.015336153e-01,-2.073195079e-06,8.407372818e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259705e-01,1.630830820e-06,8.297807403e-01
+13,1.116666667e+00,UP_FORCE_RAMP,1791447322017986860,-4.952756380e-06,-1.471931894e-07,-4.176613896e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.490353142e-07,2.264091566e-08,4.047177127e-08,7.015329187e-01,1.403768132e-06,8.407367646e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259737e-01,1.631371736e-06,8.297807411e-01
+14,1.200000000e+00,UP_FORCE_RAMP,1791447322146670632,-3.441816680e-06,3.129232366e-06,-2.674312313e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.525440532e-07,2.324274683e-08,4.130931375e-08,7.015344297e-01,4.680193687e-06,8.407382669e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259772e-01,1.631973567e-06,8.297807419e-01
+15,1.283333333e+00,UP_FORCE_RAMP,1791447322277197443,-3.617618606e-06,-1.175125257e-06,-8.549088807e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.549741795e-07,2.379000094e-08,4.190150471e-08,7.015342539e-01,3.758360644e-07,8.407400863e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259796e-01,1.632520821e-06,8.297807425e-01
+16,1.350000000e+00,UP_FORCE_RAMP,1791447322377383594,-5.111710137e-06,-1.090662782e-06,-1.307878398e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.577990753e-07,2.415796512e-08,4.252744579e-08,7.015327598e-01,4.602985396e-07,8.407396333e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259825e-01,1.632888786e-06,8.297807432e-01
+17,1.433333333e+00,UP_FORCE_RAMP,1791447322496043712,-7.201146654e-06,7.211805863e-07,-3.601282136e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.596854952e-07,2.459654587e-08,4.297532641e-08,7.015306703e-01,2.272141907e-06,8.407373399e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259844e-01,1.633327366e-06,8.297807436e-01
+18,1.500000000e+00,UP_FORCE_RAMP,1791447322596198655,-7.655087851e-06,-1.821310273e-07,-1.453406013e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.619502181e-07,2.488543891e-08,4.345611981e-08,7.015302164e-01,1.368830294e-06,8.407394878e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259866e-01,1.633616259e-06,8.297807441e-01
+19,1.566666667e+00,UP_FORCE_RAMP,1791447322696639025,-8.231224506e-06,-1.063884710e-07,-7.061657622e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.630630694e-07,2.516918217e-08,4.372009388e-08,7.015296403e-01,1.444572850e-06,8.407402350e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259877e-01,1.633900003e-06,8.297807444e-01
+20,1.683333333e+00,UP_FORCE_RAMP,1791447322877621040,-1.298825065e-05,1.484385283e-06,-2.770522856e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.657790255e-07,2.557973135e-08,4.428612899e-08,7.015248832e-01,3.035346604e-06,8.407381707e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259904e-01,1.634310552e-06,8.297807449e-01
+21,1.800000000e+00,UP_FORCE_RAMP,1791447323046192762,-1.156657992e-05,2.978190744e-06,6.844967917e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.677206567e-07,2.593413754e-08,4.468850334e-08,7.015263049e-01,4.529152065e-06,8.407477862e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259924e-01,1.634664958e-06,8.297807453e-01
+22,1.883333333e+00,UP_FORCE_RAMP,1791447323177702333,-1.028174716e-05,7.079603924e-06,1.377328559e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.689342211e-07,2.615595958e-08,4.493060479e-08,7.015275897e-01,8.630565245e-06,8.407547145e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259936e-01,1.634886780e-06,8.297807456e-01
+23,1.983333333e+00,UP_FORCE_RAMP,1791447323315888445,-1.192848880e-05,3.663273711e-06,1.943657996e-05,-1.357754473e-05,3.454754437e-06,1.532210439e-05,-1.362414151e-05,3.492923353e-06,1.518435982e-05,7.015259430e-01,5.214235032e-06,8.407603778e-01,7.015242939e-01,5.005715758e-06,8.407562633e-01,7.017122005e-01,5.101654173e-06,8.297958850e-01
+24,2.066666667e+00,UP_FORCE_RAMP,1791447323449885746,-1.004663616e-05,2.731134117e-06,3.253908988e-05,-1.357754473e-05,3.454754437e-06,1.532210439e-05,-1.364796028e-05,3.490926978e-06,1.521061954e-05,7.015278248e-01,4.282095438e-06,8.407734803e-01,7.015242939e-01,5.005715758e-06,8.407562633e-01,7.017121767e-01,5.099657798e-06,8.297959113e-01
+25,2.116666667e+00,UP_FORCE_RAMP,1791447323517697669,-1.032957462e-05,9.786479343e-06,3.621399737e-05,-9.005808094e-06,6.430830183e-06,3.550284659e-05,-8.964127034e-06,6.432178553e-06,3.517835107e-05,7.015275419e-01,1.133744066e-05,8.407771552e-01,7.015288657e-01,7.981791504e-06,8.407764440e-01,7.017168605e-01,8.040909374e-06,8.298158790e-01
+26,2.183333333e+00,UP_FORCE_RAMP,1791447323635086117,-1.037835561e-05,4.837972213e-06,4.585709236e-05,-9.005808094e-06,6.430830183e-06,3.550284659e-05,-8.971393700e-06,6.431972476e-06,3.522404294e-05,7.015274931e-01,6.388933534e-06,8.407867983e-01,7.015288657e-01,7.981791504e-06,8.407764440e-01,7.017168533e-01,8.040703296e-06,8.298159247e-01
+27,2.233333333e+00,UP_FORCE_RAMP,1791447323697094717,-8.265281379e-06,1.793354583e-06,5.733254680e-05,-8.072911533e-06,1.811391526e-06,5.709671799e-05,-7.973240939e-06,1.869254055e-06,5.653036777e-05,7.015296062e-01,3.344315904e-06,8.407982737e-01,7.015297986e-01,3.362352847e-06,8.407980379e-01,7.017178514e-01,3.477984875e-06,8.298372310e-01
+28,2.283333333e+00,UP_FORCE_RAMP,1791447323778133605,-7.716552545e-06,1.008581677e-05,6.511607784e-05,-8.072911533e-06,1.811391526e-06,5.709671799e-05,-7.975511474e-06,1.867174086e-06,5.659023415e-05,7.015301549e-01,1.163677810e-05,8.408060573e-01,7.015297986e-01,3.362352847e-06,8.407980379e-01,7.017178492e-01,3.475904906e-06,8.298372909e-01
+29,2.333333333e+00,UP_FORCE_RAMP,1791447323848202743,-1.157512630e-05,6.214732290e-06,6.559139711e-05,-8.072911533e-06,1.811391526e-06,5.709671799e-05,-7.978883440e-06,1.866848729e-06,5.663843497e-05,7.015262964e-01,7.765693611e-06,8.408065326e-01,7.015297986e-01,3.362352847e-06,8.407980379e-01,7.017178458e-01,3.475579550e-06,8.298373391e-01
+30,2.416666667e+00,UP_FORCE_RAMP,1791447323977354544,-1.384930500e-05,9.900570200e-06,7.984484722e-05,-1.362232827e-05,9.863419962e-06,7.985334678e-05,-1.348850282e-05,9.870327899e-06,7.914369190e-05,7.015240222e-01,1.145153152e-05,8.408207860e-01,7.015242492e-01,1.141438128e-05,8.408207945e-01,7.017123362e-01,1.147905872e-05,8.298598443e-01
+31,2.483333333e+00,UP_FORCE_RAMP,1791447324077446898,-3.206473647e-05,1.364304685e-05,7.994453687e-05,-1.362232827e-05,9.863419962e-06,7.985334678e-05,-1.350185200e-05,9.875171215e-06,7.923607707e-05,7.015058067e-01,1.519400817e-05,8.408208857e-01,7.015242492e-01,1.141438128e-05,8.408207945e-01,7.017123228e-01,1.148390204e-05,8.298599367e-01
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+34,2.700000000e+00,UP_FORCE_RAMP,1791447324397001920,-3.063682595e-05,1.683311497e-05,1.069683314e-04,-2.630217851e-05,1.711129614e-05,9.613431850e-05,-2.638971329e-05,1.709643511e-05,9.558911920e-05,7.015072347e-01,1.838407629e-05,8.408479095e-01,7.015115693e-01,1.866225746e-05,8.408370755e-01,7.016994350e-01,1.870516593e-05,8.298762898e-01
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+36,2.866666667e+00,UP_FORCE_RAMP,1791447324647327273,-2.949277419e-05,1.714337548e-05,1.263828652e-04,-3.091197173e-05,1.997740510e-05,1.155549063e-04,-3.110333679e-05,1.990888204e-05,1.149583906e-04,7.015083787e-01,1.869433680e-05,8.408673241e-01,7.015069595e-01,2.152836643e-05,8.408564961e-01,7.016947213e-01,2.151761286e-05,8.298956590e-01
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+42,3.350000000e+00,UP_FORCE_RAMP,1791447325377228201,-2.766740509e-05,2.279994630e-05,1.701797575e-04,-2.817958491e-05,1.863534829e-05,1.573167195e-04,-2.827630531e-05,1.858116032e-05,1.567776049e-04,7.015102041e-01,2.435090762e-05,8.409111209e-01,7.015096919e-01,2.018630961e-05,8.408982579e-01,7.016975484e-01,2.018989114e-05,8.299374782e-01
+43,3.433333333e+00,UP_FORCE_RAMP,1791447325497301437,-2.564631588e-05,2.525129871e-05,1.791858162e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.533193837e-05,2.508135801e-05,1.782530707e-04,7.015122252e-01,2.680226003e-05,8.409201270e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004927e-01,2.669008883e-05,8.299589537e-01
+44,3.483333333e+00,UP_FORCE_RAMP,1791447325577237038,-2.920997547e-05,2.202392553e-05,1.761053724e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532955499e-05,2.508680862e-05,1.783279176e-04,7.015086615e-01,2.357488685e-05,8.409170466e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004951e-01,2.669553944e-05,8.299590285e-01
+45,3.550000000e+00,UP_FORCE_RAMP,1791447325678177613,-2.807698185e-05,2.136762910e-05,1.802937079e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532811394e-05,2.508920727e-05,1.784076424e-04,7.015097945e-01,2.291859042e-05,8.409212349e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004966e-01,2.669793809e-05,8.299591083e-01
+46,3.616666667e+00,UP_FORCE_RAMP,1791447325777288033,-2.798422591e-05,2.785505967e-05,1.853380983e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532688282e-05,2.509114070e-05,1.784765703e-04,7.015098873e-01,2.940602099e-05,8.409262793e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004978e-01,2.669987152e-05,8.299591772e-01
+47,3.666666667e+00,UP_FORCE_RAMP,1791447325847025060,-2.907279455e-05,2.737656098e-05,1.858296710e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532605926e-05,2.509243712e-05,1.785222132e-04,7.015087987e-01,2.892752230e-05,8.409267709e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004986e-01,2.670116794e-05,8.299592228e-01
+48,3.733333333e+00,UP_FORCE_RAMP,1791447325946353036,-2.650628272e-05,2.448495197e-05,1.917322171e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532508148e-05,2.509397757e-05,1.785760804e-04,7.015113652e-01,2.603591329e-05,8.409326734e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017004996e-01,2.670270839e-05,8.299592767e-01
+49,3.800000000e+00,UP_FORCE_RAMP,1791447326048130505,-2.671030324e-05,2.600855022e-05,1.961937512e-04,-2.537107648e-05,2.518998772e-05,1.789788436e-04,-2.532423886e-05,2.509533300e-05,1.786229567e-04,7.015111612e-01,2.755951154e-05,8.409371349e-01,7.015125004e-01,2.674094904e-05,8.409199200e-01,7.017005004e-01,2.670406382e-05,8.299593236e-01
+50,3.883333333e+00,UP_FORCE_RAMP,1791447326177282392,-2.600222534e-05,2.633234554e-05,2.002163237e-04,-2.356517654e-05,2.993611314e-05,2.005774803e-04,-2.341020120e-05,2.980067571e-05,1.999740187e-04,7.015118693e-01,2.788330686e-05,8.409411575e-01,7.015143063e-01,3.148707447e-05,8.409415187e-01,7.017024145e-01,3.140940653e-05,8.299806747e-01
+51,3.983333333e+00,UP_FORCE_RAMP,1791447326318998737,-2.666434756e-05,2.402872628e-05,2.047660697e-04,-2.356517654e-05,2.993611314e-05,2.005774803e-04,-2.340531587e-05,2.980461824e-05,2.000696836e-04,7.015112071e-01,2.557968760e-05,8.409457073e-01,7.015143063e-01,3.148707447e-05,8.409415187e-01,7.017024194e-01,3.141334906e-05,8.299807703e-01
+52,4.066666667e+00,UP_FORCE_HOLD,1791447326446650912,-2.353964614e-05,2.764416673e-05,2.117540841e-04,-2.356517654e-05,2.993611314e-05,2.005774803e-04,-2.340199511e-05,2.980706635e-05,2.001347345e-04,7.015143318e-01,2.919512805e-05,8.409526953e-01,7.015143063e-01,3.148707447e-05,8.409415187e-01,7.017024227e-01,3.141579717e-05,8.299808354e-01
+53,4.183333333e+00,UP_FORCE_HOLD,1791447326615994336,-2.453067936e-05,2.872441002e-05,2.151719787e-04,-2.356517654e-05,2.993611314e-05,2.005774803e-04,-2.339819480e-05,2.980988822e-05,2.002084335e-04,7.015133408e-01,3.027537135e-05,8.409561132e-01,7.015143063e-01,3.148707447e-05,8.409415187e-01,7.017024265e-01,3.141861904e-05,8.299809091e-01
+54,4.250000000e+00,UP_FORCE_HOLD,1791447326716796960,-2.658004523e-05,2.959378374e-05,2.133713084e-04,-2.356517654e-05,2.993611314e-05,2.005774803e-04,-2.339641913e-05,2.981123477e-05,2.002430821e-04,7.015112914e-01,3.114474506e-05,8.409543125e-01,7.015143063e-01,3.148707447e-05,8.409415187e-01,7.017024282e-01,3.141996559e-05,8.299809437e-01
+55,4.383333333e+00,UP_FORCE_HOLD,1791447326916512192,-2.320321425e-05,2.866374808e-05,2.215985856e-04,-2.326346997e-05,2.910795429e-05,2.204997963e-04,-2.297549650e-05,2.896694713e-05,2.199687522e-04,7.015146683e-01,3.021470940e-05,8.409625398e-01,7.015146080e-01,3.065891562e-05,8.409614410e-01,7.017028492e-01,3.057567795e-05,8.300006694e-01
+56,4.500000000e+00,UP_FORCE_HOLD,1791447327098224220,-2.325809039e-05,2.740745554e-05,2.252364156e-04,-2.326346997e-05,2.910795429e-05,2.204997963e-04,-2.297306357e-05,2.897034368e-05,2.200559754e-04,7.015146134e-01,2.895841686e-05,8.409661776e-01,7.015146080e-01,3.065891562e-05,8.409614410e-01,7.017028516e-01,3.057907451e-05,8.300007566e-01
+57,4.600000000e+00,UP_FORCE_HOLD,1791447327248019754,-2.545731571e-05,2.974722348e-05,2.248681995e-04,-2.326346997e-05,2.910795429e-05,2.204997963e-04,-2.297156143e-05,2.897279890e-05,2.201147132e-04,7.015124142e-01,3.129818480e-05,8.409658094e-01,7.015146080e-01,3.065891562e-05,8.409614410e-01,7.017028531e-01,3.058152972e-05,8.300008153e-01
+58,4.666666667e+00,UP_FORCE_HOLD,1791447327347505167,-2.437095158e-05,2.610556246e-05,2.272247577e-04,-2.326346997e-05,2.910795429e-05,2.204997963e-04,-2.297074191e-05,2.897420290e-05,2.201473798e-04,7.015135005e-01,2.765652378e-05,8.409681659e-01,7.015146080e-01,3.065891562e-05,8.409614410e-01,7.017028539e-01,3.058293372e-05,8.300008480e-01
+59,4.766666667e+00,UP_SETTLE,1791447327500090567,-2.460543508e-05,3.051547303e-05,2.292378665e-04,-2.326346997e-05,2.910795429e-05,2.204997963e-04,-2.296976348e-05,2.897596164e-05,2.201884522e-04,7.015132660e-01,3.206643435e-05,8.409701791e-01,7.015146080e-01,3.065891562e-05,8.409614410e-01,7.017028549e-01,3.058469246e-05,8.300008891e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65362032b9a9bf5b3671d981dccd02b8c01ee75d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,5.2209e-03,-5.6088e-03,2.4563e+00,-3.6341e-02,3.7170e-02,1.4057e-05,6.5379e-05,1.0117e-05,-1.3828e-05,-7.6741e-07,4.1686e-06,8.5303e-08,6.7587e-05,4.2395e-06
+1,8.3333e-02,UP_FORCE_RAMP,1.8363e-05,5.6548e-03,-5.5456e-03,2.4563e+00,-3.6345e-02,3.7198e-02,1.4571e-05,4.9935e-04,7.3320e-05,-2.1935e-05,-5.3719e-06,3.2116e-05,5.9922e-07,5.0518e-04,3.2567e-05
+2,1.8333e-01,UP_FORCE_RAMP,3.8855e-05,6.3218e-03,-5.4526e-03,2.4564e+00,-3.6352e-02,3.7242e-02,1.5380e-05,1.1663e-03,1.6635e-04,6.7234e-05,-1.1899e-05,7.5422e-05,1.4085e-06,1.1800e-03,7.6368e-05
+3,2.8333e-01,UP_FORCE_RAMP,5.6066e-05,8.6403e-03,-4.9448e-03,2.4572e+00,-3.6394e-02,3.7418e-02,3.6179e-05,3.4848e-03,6.7412e-04,8.9669e-04,-5.4616e-05,2.5175e-04,2.2207e-05,3.6609e-03,2.5856e-04
+4,3.6667e-01,UP_FORCE_RAMP,7.6434e-05,8.8608e-03,-4.9226e-03,2.4571e+00,-3.6395e-02,3.7431e-02,3.6399e-05,3.7053e-03,6.9628e-04,8.2827e-04,-5.5656e-05,2.6524e-04,2.2427e-05,3.8601e-03,2.7195e-04
+5,4.3333e-01,UP_FORCE_RAMP,9.6092e-05,9.0931e-03,-4.8996e-03,2.4571e+00,-3.6397e-02,3.7446e-02,3.6644e-05,3.9376e-03,7.1926e-04,8.1921e-04,-5.6814e-05,2.7977e-04,2.2672e-05,4.0857e-03,2.8638e-04
+6,5.0000e-01,UP_FORCE_RAMP,1.1453e-04,9.3533e-03,-4.8743e-03,2.4571e+00,-3.6398e-02,3.7462e-02,3.6947e-05,4.1978e-03,7.4460e-04,8.3923e-04,-5.8129e-05,2.9624e-04,2.2975e-05,4.3451e-03,3.0276e-04
+7,6.0000e-01,UP_FORCE_RAMP,1.3402e-04,1.0498e-02,-5.0364e-03,2.4576e+00,-3.6379e-02,3.7542e-02,5.0388e-05,5.3421e-03,5.8254e-04,1.2927e-03,-3.9648e-05,3.7574e-04,3.6416e-05,5.5270e-03,3.7957e-04
+8,7.1667e-01,UP_FORCE_RAMP,1.5277e-04,1.0635e-02,-5.0008e-03,2.4576e+00,-3.6382e-02,3.7551e-02,5.0502e-05,5.4794e-03,6.1815e-04,1.2398e-03,-4.2275e-05,3.8447e-04,3.6530e-05,5.6519e-03,3.8851e-04
+9,8.1667e-01,UP_FORCE_RAMP,1.7374e-04,1.1116e-02,-4.7321e-03,2.4575e+00,-3.6405e-02,3.7583e-02,5.4152e-05,5.9609e-03,8.8678e-04,1.1802e-03,-6.5595e-05,4.1700e-04,4.0180e-05,6.1410e-03,4.2403e-04
+10,9.0000e-01,UP_FORCE_RAMP,1.9012e-04,1.1235e-02,-4.7225e-03,2.4575e+00,-3.6406e-02,3.7591e-02,5.4274e-05,6.0794e-03,8.9639e-04,1.2205e-03,-6.6001e-05,4.2475e-04,4.0302e-05,6.2651e-03,4.3173e-04
+11,9.8333e-01,UP_FORCE_RAMP,2.0992e-04,1.1383e-02,-4.7098e-03,2.4576e+00,-3.6406e-02,3.7601e-02,5.4448e-05,6.2277e-03,9.0912e-04,1.2679e-03,-6.6604e-05,4.3450e-04,4.0476e-05,6.4202e-03,4.4143e-04
+12,1.0500e+00,UP_FORCE_RAMP,2.2808e-04,1.1919e-02,-4.7999e-03,2.4579e+00,-3.6397e-02,3.7643e-02,5.9248e-05,6.7634e-03,8.1901e-04,1.5593e-03,-5.7068e-05,4.7680e-04,4.5276e-05,6.9890e-03,4.8233e-04
+13,1.1167e+00,UP_FORCE_RAMP,2.4797e-04,1.1977e-02,-4.7882e-03,2.4578e+00,-3.6398e-02,3.7646e-02,5.9309e-05,6.8218e-03,8.3070e-04,1.5340e-03,-5.7902e-05,4.8040e-04,4.5337e-05,7.0414e-03,4.8600e-04
+14,1.2000e+00,UP_FORCE_RAMP,2.6760e-04,1.2210e-02,-4.6527e-03,2.4578e+00,-3.6409e-02,3.7660e-02,6.2782e-05,7.0546e-03,9.6622e-04,1.4570e-03,-6.9521e-05,4.9395e-04,4.8810e-05,7.2680e-03,5.0121e-04
+15,1.2833e+00,UP_FORCE_RAMP,2.8436e-04,1.2239e-02,-4.6511e-03,2.4578e+00,-3.6409e-02,3.7662e-02,6.2808e-05,7.0836e-03,9.6777e-04,1.4727e-03,-6.9529e-05,4.9592e-04,4.8837e-05,7.2995e-03,5.0314e-04
+16,1.3500e+00,UP_FORCE_RAMP,3.0309e-04,1.2279e-02,-4.6476e-03,2.4578e+00,-3.6409e-02,3.7665e-02,6.2847e-05,7.1239e-03,9.7127e-04,1.4873e-03,-6.9678e-05,4.9860e-04,4.8875e-05,7.3421e-03,5.0581e-04
+17,1.4333e+00,UP_FORCE_RAMP,3.2408e-04,1.2331e-02,-4.6429e-03,2.4578e+00,-3.6410e-02,3.7668e-02,6.2902e-05,7.1751e-03,9.7596e-04,1.5042e-03,-6.9905e-05,5.0199e-04,4.8930e-05,7.3957e-03,5.0919e-04
+18,1.5000e+00,UP_FORCE_RAMP,3.4499e-04,1.2651e-02,-4.6843e-03,2.4580e+00,-3.6405e-02,3.7693e-02,6.5194e-05,7.4955e-03,9.3462e-04,1.6644e-03,-6.5353e-05,5.2737e-04,5.1222e-05,7.7348e-03,5.3387e-04
+19,1.5667e+00,UP_FORCE_RAMP,3.6003e-04,1.2670e-02,-4.6802e-03,2.4580e+00,-3.6405e-02,3.7695e-02,6.5218e-05,7.5147e-03,9.3872e-04,1.6532e-03,-6.5647e-05,5.2855e-04,5.1246e-05,7.7515e-03,5.3507e-04
+20,1.6833e+00,UP_FORCE_RAMP,3.8248e-04,1.2716e-02,-4.6719e-03,2.4580e+00,-3.6406e-02,3.7698e-02,6.5276e-05,7.5603e-03,9.4704e-04,1.6446e-03,-6.6217e-05,5.3141e-04,5.1305e-05,7.7948e-03,5.3797e-04
+21,1.8000e+00,UP_FORCE_RAMP,3.9987e-04,1.2765e-02,-4.6636e-03,2.4580e+00,-3.6407e-02,3.7701e-02,6.5346e-05,7.6090e-03,9.5531e-04,1.6432e-03,-6.6791e-05,5.3451e-04,5.1375e-05,7.8428e-03,5.4111e-04
+22,1.8833e+00,UP_FORCE_RAMP,4.2432e-04,1.2804e-02,-4.6571e-03,2.4580e+00,-3.6407e-02,3.7703e-02,6.5411e-05,7.6485e-03,9.6185e-04,1.6446e-03,-6.7234e-05,5.3703e-04,5.1439e-05,7.8822e-03,5.4367e-04
+23,1.9833e+00,UP_FORCE_RAMP,4.4032e-04,2.0412e-02,-6.2110e-03,2.4493e+00,-3.6305e-02,3.8204e-02,6.5668e-05,1.5257e-02,-5.9211e-04,-7.0310e-03,3.4839e-05,1.0381e-03,5.1696e-05,1.6809e-02,1.0400e-03
+24,2.0667e+00,UP_FORCE_RAMP,4.6060e-04,1.9663e-02,-6.1275e-03,2.4498e+00,-3.6309e-02,3.8160e-02,6.5681e-05,1.4507e-02,-5.0861e-04,-6.4940e-03,3.0342e-05,9.9391e-04,5.1709e-05,1.5903e-02,9.9571e-04
+25,2.1167e+00,UP_FORCE_RAMP,4.7560e-04,1.8855e-02,-6.3299e-03,2.4491e+00,-3.6295e-02,3.8109e-02,6.5648e-05,1.3700e-02,-7.1102e-04,-7.2145e-03,4.4517e-05,9.4315e-04,5.1676e-05,1.5500e-02,9.4561e-04
+26,2.1833e+00,UP_FORCE_RAMP,4.9807e-04,1.7827e-02,-6.5824e-03,2.4476e+00,-3.6278e-02,3.8045e-02,6.5612e-05,1.2671e-02,-9.6352e-04,-8.7183e-03,6.1668e-05,8.7908e-04,5.1640e-05,1.5411e-02,8.8275e-04
+27,2.2333e+00,UP_FORCE_RAMP,5.1544e-04,1.7252e-02,-6.7273e-03,2.4470e+00,-3.6268e-02,3.8009e-02,6.5595e-05,1.2097e-02,-1.1083e-03,-9.2835e-03,7.1626e-05,8.4339e-04,5.1623e-05,1.5289e-02,8.4800e-04
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4bc973ae1b34ab51c2658576b1f110dfef37d017
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:776b89d1d4666cfe2429b0096797522dde793cbf35522009970f6a84d60fc8fd
+size 3420160
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1418502243a4fb13e02dad5e8f1aab066dbd1e2a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a98aca379fd9ea5bc0a646d41cab9c815e36260
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+10038,1791447394751760872,2373141000000,1791447394746838241,DOWN_FORCE_DETACH,2,0.0415,0.04153548181056976,0.6760063892882417,-0.004752282531243749,0.09085531596182343,0.9999999832521275,6.172719270594707e-05,-0.00014482277667594035,-1.2438905715440927e-05,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,0.027621153167052676,-0.20096505441488186,-0.13455914491720544,-0.016281064011916056,-0.0011931076205486156,-9.601573825455697e-05,-0.014739308036557926,-0.3139507342617499,-0.2886390181784463,-0.019251474258970516,-0.0036104863141865804,-5.040258353136724e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.030560043716674687,-0.1738107487070645,1.351228494146312,0.0008577724943161655,-0.7972931384275,-0.1789912433146847,0.5024368616808691,0.13455914491720544,-0.8487916324654429,-0.8487916324654429,0.0,0,0,0.0,0.0
+10175,1791447395893759747,2374283000000,1791447395890838854,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760038388196371,-0.0047600439471744355,0.09083055530995118,0.9999999829548981,6.084192145037768e-05,-0.00014769105078963496,-4.322274709491048e-06,0.6761,-0.0048,0.09096742440950471,1.0,0.0,0.0,0.0,0.02592894941890298,-0.18973793987114898,-0.09977006794242127,-0.01631301267023086,-0.00018783595193066875,-0.00010913232062107926,-0.01643151178470762,-0.30272361971801703,-0.2538499412036621,-0.01928342291728532,-0.0026052146455686335,-6.351916589788953e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.0024381995555502454,-0.116884733021604,1.395252651434898,0.011142936521505605,-0.8317168002897259,-0.1396518783366506,0.5024368616808691,0.09977006794242127,-0.8928157897540289,-0.8928157897540289,0.06851999999999937,0,0,-5.709998608246914e-05,-9.999999025923074e-05
+10323,1791447397126734602,2375516000000,1791447397126838318,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760049525254012,-0.004764185339519033,0.0907535770527182,0.999999983174885,6.925212445028506e-05,-0.00014161239031898514,1.5593853582588365e-05,0.6761,-0.0048,0.09085904373407543,1.0,0.0,0.0,0.0,0.02558082607634239,-0.202841768986484,0.03224492975334929,-0.0163409410664445,-0.00021589766100921877,-0.0002154251565642936,-0.01677963512726821,-0.31582744883335206,-0.12183494350789155,-0.019311351313498957,-0.0026332763546471835,-0.00016981200184110388,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.08677642058493538,-0.19210922127508676,1.0732743502418776,0.09556529213720892,-0.6200481944969567,-0.19986118771231653,0.5024368616808691,0.03224492975334929,-0.5708374885610085,-0.5708374885610085,0.1425000000000049,0,0,-0.00011874997407210065,-9.999999025923074e-05
+10435,1791447398060764134,2376450000000,1791447398054837698,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760270762509278,-0.004775328434060079,0.09066096455384633,0.9999999859574067,8.061579602403263e-05,-0.0001060007869863613,4.234356447855533e-05,0.6761,-0.0048,0.09072634571254534,1.0,0.0,0.0,0.0,-0.013282540216397763,-0.1740560030538633,0.1768954150943494,-0.014406520236826858,0.0027242080183511336,-0.0002672711065574176,-0.055643001420008366,-0.28704168290073134,0.022815541833108556,-0.017376930483881316,0.0003068293247131691,-0.00022165795183422786,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.27613073717960757,-0.11086469644540675,0.8809637182530903,0.10798511713528747,-0.46289901084688967,-0.1470553962858772,0.5024368616808691,0.1768954150943494,-0.3785268565722212,-0.3785268565722212,0.1985400000000091,0,0,-0.00016544996497422216,-9.999999025923074e-05
+10539,1791447398926721404,2377316000000,1791447398922838496,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.676042041216717,-0.00477308329324253,0.09053107420287797,0.999999988974914,7.652069842517808e-05,-7.965275792710357e-05,3.5959100837560164e-05,0.6761,-0.0048,0.09056556422038818,1.0,0.0,0.0,0.0,-0.024063561656479812,-0.1617004342077518,0.36467906645279724,-0.012402822017598842,0.0026754560848028606,-0.00039796054638722474,-0.06642402286009041,-0.27468611405461985,0.21059919319155643,-0.0153732322646533,0.0002580773911648957,-0.000352347391664035,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.37076382029100496,-0.19156816219560802,0.6482285622232914,0.1496626845341028,-0.2960822972466408,-0.20107854401778713,0.5024368616808691,0.36467906645279724,-0.1457917005424223,-0.1457917005424223,0.250500000000013,0,0,-0.00019993866431508434,-9.99933566766586e-05
+10654,1791447399885778534,2378275000000,1791447399882837683,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760537874788797,-0.004779604154349666,0.09038003603244886,0.9999999908299683,6.665164615084813e-05,-6.104918047888785e-05,4.016818980564858e-05,0.6761,-0.0048,0.09038759420930827,1.0,0.0,0.0,0.0,-0.026026765366469584,-0.1425573309449523,0.5434953455540228,-0.011445093798205326,0.0036278659741849685,0.0005109214847031755,-0.06838722657008019,-0.25554301079182035,0.3894154722927819,-0.014415504045259785,0.0012104872805470037,0.0005565346394263653,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.514011612521255,-0.12016751565987283,0.3305105550185091,0.14025392380595975,-0.06047298799645044,-0.15499429734813172,0.5024368616808691,0.5434953455540228,0.17192630666235997,0.17192630666235997,0.3080400000000173,0,0,-0.00016408998525643958,9.999999025923074e-05
+10766,1791447400818721725,2379208000000,1791447400818838445,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760684434566498,-0.004776518591475595,0.09026847671319206,0.9999999923278897,6.426697182984545e-05,-4.1244854458169204e-05,3.0914451650907845e-05,0.6761,-0.0048,0.09025598913821141,1.0,0.0,0.0,0.0,-0.02684343127068463,-0.11372293036668879,0.6466654600318502,-0.009454470105622526,0.004576385083955426,0.0004683164674103833,-0.06920389247429523,-0.22670861021355684,0.4925855867706093,-0.012424880352676984,0.002159006390317461,0.0005139296221335731,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5310425385524975,-0.191872994708423,0.2054416774405471,0.18237639125099833,0.013045096630963376,-0.19705437970086817,0.5024368616808691,0.6466654600318502,0.296995184240322,0.296995184240322,0.3640200000000215,0,0,-0.00011868055114075548,9.997685598695511e-05
+10891,1791447401860817663,2380250000000,1791447401854837697,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760722492772971,-0.004774510155884091,0.09017498697475608,0.9999999913307571,7.754865985024711e-05,-3.798579080779186e-05,3.639553736813757e-05,0.6761,-0.0048,0.09015829389770048,1.0,0.0,0.0,0.0,-0.03617394531262627,-0.12248630358532989,0.6806011487849789,-0.009462009556285872,0.004569982748578112,0.00043975595444030707,-0.07853440651623687,-0.23547198343219794,0.5265212755237381,-0.01243241980334033,0.0021526040549401473,0.0004853691091634968,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5875882927514023,-0.14982463404622803,0.14225204391943286,0.17446202059564694,0.06293196871484581,-0.16859751896773645,0.5024368616808691,0.6806011487849789,0.36018481776143624,0.36018481776143624,0.4265400000000262,0,0,-7.16167084010858e-05,9.999919922532569e-05
+11045,1791447403143815835,2381533000000,1791447403138837779,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760715034528049,-0.0047743355575744694,0.09009344835686216,0.9999999906887785,8.232205941507295e-05,-4.1260231277587774e-05,3.982435437658478e-05,0.6761,-0.0048,0.09007488072621246,1.0,0.0,0.0,0.0,-0.03736108407350207,-0.11301635610899455,0.6771523725000979,-0.009551002692957741,0.005583688202514904,0.0004519791944655101,-0.07972154527711267,-0.2260020359558626,0.523072499238857,-0.0125214129400122,0.0031663095088769397,0.0004975923491886998,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5611920914734547,-0.12282920494761898,0.21838853983128803,0.18003012628279635,0.0017711175666687692,-0.14668397309940465,0.5024368616808691,0.6771523725000979,0.28404832184958106,0.28404832184958106,0.5035200000000287,0,0,-6.832754062133096e-05,-9.96830909746393e-05
+11189,1791447404343790537,2382733000000,1791447404342838329,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760753478303022,-0.004777880431896535,0.09001401812056087,0.9999999907031367,8.355129579359653e-05,-3.448258962130202e-05,4.320558793515543e-05,0.6761,-0.0048,0.0899849228880171,1.0,0.0,0.0,0.0,-0.03721078178189527,-0.11240520022673026,0.6908814054027175,-0.009490219434716797,0.005580228712199983,0.0004470489625070457,-0.07957124298550587,-0.2253908800735983,0.5368015321414766,-0.012460629681771255,0.0031628500185620174,0.0004926621172302354,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6392913270249211,-0.16488056921272412,0.13556119944273987,0.19314280966422487,0.06874701973677749,-0.17641408691681038,0.5024368616808691,0.6908814054027175,0.36687566223812923,0.36687566223812923,0.5755199999999675,0,0,-8.266520101360276e-05,-9.999999025923074e-05
+11330,1791447405518718024,2383908000000,1791447405514837870,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760754326591356,-0.0047790643701932645,0.08991641858249393,0.9999999911245108,7.916146653461673e-05,-3.196702029494414e-05,4.365105578541231e-05,0.6761,-0.0048,0.089879796996473,1.0,0.0,0.0,0.0,-0.04593587170510045,-0.112584592741314,0.6908691659859498,-0.009490012978477338,0.005580385577101565,0.0004460015367585809,-0.08829633290871106,-0.22557027258818205,0.536789292724709,-0.012460423225531796,0.0031630068834635995,0.0004916146914817706,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.698315955270596,-0.2352699361855442,0.059948707760125446,0.22382673967050398,0.1259828977535779,-0.2207967590105664,0.5024368616808691,0.6908691659859498,0.44248815392074364,0.44248815392074364,0.6460199999999076,0,0,-9.680482888493736e-05,-9.161467004326624e-05
+11452,1791447406535799100,2384925000000,1791447406534838186,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760766351310082,-0.00478129431467857,0.08981593064149748,0.9999999913945314,7.545851445833781e-05,-3.0817671910575064e-05,4.483397546666629e-05,0.6761,-0.0048,0.08977521340757688,1.0,0.0,0.0,0.0,-0.04896940052723843,-0.12104519432197389,0.7208989502668768,-0.009496904422637975,0.00557470336622473,0.0004213613390644098,-0.09132986173084903,-0.23403087416884194,0.5668190770056359,-0.012467314669692434,0.003157324672586765,0.0004669744937875995,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6497408405729934,-0.2589096828315202,-0.040927891776084614,0.23763257759369388,0.17081356025789143,-0.23442570173008492,0.5024368616808691,0.7208989502668768,0.5433647534569537,0.5433647534569537,0.7070399999998557,0,0,-0.00011039044258279317,8.880849808179931e-05
+11555,1791447407393793453,2385783000000,1791447407390838396,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760718724872583,-0.004784996731737331,0.08971398934588642,0.9999999908183198,7.684957660205371e-05,-3.9207822110283684e-05,4.861187234006344e-05,0.6761,-0.0048,0.08967697045581349,1.0,0.0,0.0,0.0,-0.05525939915156669,-0.11249145009824246,0.7408882185398785,-0.009527046157428333,0.006583072564816423,0.00042017334172802275,-0.0976198603551773,-0.22547712994511052,0.5868083452786377,-0.012497456404482792,0.004165693871178459,0.0004657864964512125,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.695076772005034,-0.17158662120985982,0.04211393620725858,0.22028331104700952,0.12561066354842462,-0.17327994228722024,0.5024368616808691,0.7408882185398785,0.46032292547361053,0.46032292547361053,0.7585199999998119,0,0,-0.00011864167593775144,-9.999999025923074e-05
+11673,1791447408376832127,2386766000000,1791447408370837984,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760714426055137,-0.004790575394430408,0.08960138462433148,0.999999990628439,7.981780005079005e-05,-3.6666220836804895e-05,4.9706068956038695e-05,0.6761,-0.0048,0.08955868960817914,1.0,0.0,0.0,0.0,-0.055475198267782314,-0.10935673326710305,0.740973892900148,-0.009516370247527895,0.006182772308020529,0.0004277162703866178,-0.09783565947139292,-0.2223424131139711,0.5868940196389072,-0.012486780494582354,0.0037653936143825636,0.0004733294251098075,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7525332006663207,-0.3037986533388015,-0.06196070169423596,0.2634899978230899,0.19802747141776914,-0.2589062832823141,0.5024368616808691,0.740973892900148,0.564397563375105,0.564397563375105,0.8174999999997618,0,0,-0.0001214577350736309,-9.961431265826377e-05
+11787,1791447409326735381,2387716000000,1791447409326838306,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760696791630736,-0.0047891686123432255,0.08947851613424546,0.9999999910637754,7.350874554384823e-05,-4.188494049937484e-05,4.644814176028026e-05,0.6761,-0.0048,0.08943645019532546,1.0,0.0,0.0,0.0,-0.06117301936160177,-0.12776784330021648,0.7509464970424596,-0.009530625782342832,0.0065819341045098585,0.00041084483980579495,-0.10353348056521237,-0.24075352314708454,0.5968666237812188,-0.01250103602939729,0.004164555410871893,0.0004564579945289847,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.739412014242097,-0.19936599312008962,-0.13210040523997685,0.23474492820556894,0.2377105035551073,-0.19043975502608662,0.5024368616808691,0.7509464970424596,0.634537266920846,0.634537266920846,0.8744999999997133,0,0,-0.00013715258311983026,-6.371250335502338e-05
+11889,1791447410176790060,2388566000000,1791447410174838265,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760693595007475,-0.004791403913910504,0.0893594260884126,0.9999999906568341,7.499225920315826e-05,-4.348110548778121e-05,5.1134631935680476e-05,0.6761,-0.0048,0.08931712759035641,1.0,0.0,0.0,0.0,-0.0609281202722531,-0.12033144963814066,0.7723261816590832,-0.009534628971281671,0.00657740419657777,0.0003940669079227924,-0.1032885814758637,-0.2333171294850087,0.6182463083978423,-0.01250503921833613,0.004160025502939805,0.0004396800626459821,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8010858910952577,-0.23391259738885586,-0.16327574275616824,0.25414593820861153,0.26336391764871286,-0.21052993616791915,0.5024368616808691,0.7723261816590832,0.6657126044370374,0.6657126044370374,0.9254999999996699,0,0,-0.0001432244722085737,-9.377183338011292e-05
+11998,1791447411085834536,2389475000000,1791447411082838642,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760657751594941,-0.004792326786434437,0.08921922477476808,0.9999999907135706,6.926251836830087e-05,-5.0125308617049714e-05,5.2018075969834375e-05,0.6761,-0.0048,0.08918023461231052,1.0,0.0,0.0,0.0,-0.056963300706811104,-0.11885192887375207,0.781064495317013,-0.009535565959331613,0.006574983017204331,0.0003874961816892912,-0.0993237619104217,-0.23183760872062012,0.6269846220557722,-0.012505976206386072,0.004157604323566366,0.0004331093364124809,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7491600132759634,-0.2312419377094341,-0.18562345046288298,0.26282466504849983,0.2580182373972874,-0.20792083300045205,0.5024368616808691,0.781064495317013,0.6880603121437521,0.6880603121437521,0.9800399999996235,0,0,-0.0001562884763509339,-9.999990699250389e-05
+12099,1791447411926733715,2390316000000,1791447411922838372,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760636554653214,-0.00479953774570681,0.08907525990822485,0.9999999904998601,6.519896802371118e-05,-5.4899960706141224e-05,5.637582117780154e-05,0.6761,-0.0048,0.08904407935465507,1.0,0.0,0.0,0.0,-0.0646053225024311,-0.12558806273120263,0.7908791899583176,-0.01001479313404195,0.006584518258450408,0.00037788519138767573,-0.1069657837060417,-0.23857374257807068,0.6367993166970768,-0.012985203381096409,0.004167139564812443,0.00042349834611086546,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7791329226692552,-0.17500227527357443,-0.23628961685067337,0.25203426161397435,0.2953773818712331,-0.17037209616928906,0.5024368616808691,0.7908791899583176,0.7387264785315425,0.7387264785315425,1.0304999999995808,0,0,-0.00016974208763489656,-5.3757830766933145e-05
+12196,1791447412735776216,2391125000000,1791447412730838356,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760627700633695,-0.0048010254942336674,0.08893064562580733,0.9999999896696281,7.014755673778129e-05,-5.827029482271518e-05,6.154267889835966e-05,0.6761,-0.0048,0.08890074281494616,1.0,0.0,0.0,0.0,-0.06467177300205028,-0.12816066581977092,0.8010909307663797,-0.009540567826495708,0.006571593794494802,0.00037037079557860817,-0.10703223420566088,-0.24114634566663898,0.6470110575051389,-0.012510978073550167,0.004154215100856838,0.0004159839503017979,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8286830033686583,-0.15298952918136194,-0.21860297177983454,0.2520836964016094,0.2951200026555732,-0.15342471041084133,0.5024368616808691,0.8010909307663797,0.7210398334607037,0.7210398334607037,1.0790399999995395,0,0,-0.00018611563728651437,-9.999999025923074e-05
+12287,1791447413493794764,2391883000000,1791447413486838234,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760664785387136,-0.004805502220360762,0.08878850646626121,0.9999999894694648,7.493549646341624e-05,-5.476726803625876e-05,6.236307153542713e-05,0.6761,-0.0048,0.0887557362116699,1.0,0.0,0.0,0.0,-0.06513996467333606,-0.11545303924153738,0.805022689720498,-0.008656017805518395,0.006554092561099192,0.00037895888163366737,-0.10750042587694666,-0.22843871908840543,0.6509428164592571,-0.011626428052572853,0.004136713867461227,0.0004245720363568571,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8232329844726788,-0.26035103459225695,-0.22958687382643175,0.29546103927198036,0.2936133259310193,-0.22349917265848626,0.5024368616808691,0.805022689720498,0.7320237355073008,0.7320237355073008,1.1245199999995008,0,0,-0.00019699600686404051,-9.997725844280154e-05
+12375,1791447414226751040,2392616000000,1791447414226838294,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760607423151896,-0.004810181006113683,0.0886336139333845,0.9999999894373577,6.580494126786303e-05,-6.172921495267508e-05,6.653843016896882e-05,0.6761,-0.0048,0.08860547534702314,1.0,0.0,0.0,0.0,-0.07211993980294062,-0.11348909432096271,0.8189140770593819,-0.009568845852654068,0.007579627848479717,0.0003699963713221889,-0.11448040100655123,-0.22647477416783077,0.6648342037981411,-0.012539256099708527,0.005162249154841753,0.00041560952604537864,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8280812267190869,-0.12439868386931922,-0.2936779053376527,0.2652958885526164,0.3302705760876779,-0.13589564882360622,0.5024368616808691,0.8189140770593819,0.7961147670185218,0.7961147670185218,1.1684999999994634,0,0,-0.00021411663341938526,-9.034440836964137e-05
+12463,1791447414960792022,2393350000000,1791447414954838145,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760571058812678,-0.0048136838042065816,0.08846558486973394,0.9999999886012888,6.622522913865557e-05,-6.99580504148529e-05,7.042994325902675e-05,0.6761,-0.0048,0.08844197325082376,1.0,0.0,0.0,0.0,-0.07420186435602648,-0.11769574083827217,0.8210834600724517,-0.009571490175939924,0.0075805377141862414,0.00036877521978763254,-0.11656232555963708,-0.23068142068514022,0.6670035868112109,-0.012541900422994382,0.005163159020548276,0.0004143883745108223,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7860048999924619,-0.26268475324026436,-0.29760373374506016,0.32066130684157346,0.31568582695735936,-0.2236964220604009,0.5024368616808691,0.8210834600724517,0.8000405954259293,0.8000405954259293,1.212539999999426,0,0,-0.00023282162806978336,-9.999999025923074e-05
+12539,1791447415593815372,2393983000000,1791447415590838514,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760626908843402,-0.004813072382183253,0.08832203923668674,0.9999999887375224,7.369391508356525e-05,-6.128587479014861e-05,6.914526592684588e-05,0.6761,-0.0048,0.08828912601166783,1.0,0.0,0.0,0.0,-0.07476540825638871,-0.11427154495286604,0.8315187823870595,-0.008552888957345106,0.007558764362412679,0.0003717931962586231,-0.11712586945999931,-0.2272572247997341,0.6774389091258186,-0.011523299204399564,0.0051413856687747145,0.00041740635098181284,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8282005911944931,-0.2693863844316613,-0.38027221468101785,0.33575829999144574,0.37666785816149534,-0.22418470441153096,0.5024368616808691,0.8315187823870595,0.882709076361887,0.882709076361887,1.2505199999993937,0,0,-0.000247956775629972,9.999801961336203e-05
+12613,1791447416210752401,2394600000000,1791447416206837772,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760628512271745,-0.0048183676493352545,0.08816221468572481,0.9999999873275791,8.283629692449448e-05,-6.281048442315323e-05,7.733496550627704e-05,0.6761,-0.0048,0.0881320558567318,1.0,0.0,0.0,0.0,-0.07480967227335843,-0.11342346893678859,0.8515993298205066,-0.008556033201548456,0.0075543585699201984,0.0003555727093257998,-0.11717013347696903,-0.22640914878365664,0.6975194565592657,-0.011526443448602914,0.005136979876282233,0.0004011858640489895,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7718684011124074,-0.23810129210324138,-0.2926283466449973,0.3333588568543653,0.30225061231972955,-0.20823627477583317,0.5024368616808691,0.8515993298205066,0.7950652083258665,0.7950652083258665,1.2875399999993622,0,0,-0.0002609866820532921,-9.981792756098002e-05
+12685,1791447416810743195,2395200000000,1791447416810837904,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760586703231117,-0.004821715649854945,0.08799358867403777,0.9999999862350644,8.508414491016987e-05,-7.133546470285006e-05,8.15148778755137e-05,0.6761,-0.0048,0.08797026060970899,1.0,0.0,0.0,0.0,-0.07483628844194233,-0.11317864818763348,0.8617268239123042,-0.008568983438402617,0.007552355710167243,0.0003472629631279665,-0.11719674964555293,-0.22616432803450154,0.7076469506510633,-0.011539393685457075,0.005134977016529278,0.00039287611785115625,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7833853455155001,-0.21716938027413324,-0.28581679442659075,0.3396421162043289,0.3009322755251028,-0.19228882158404398,0.5024368616808691,0.8617268239123042,0.7882536561074598,0.7882536561074598,1.3235399999993316,0,0,-0.000279340481783323,-9.999999025923074e-05
+12747,1791447417326778340,2395716000000,1791447417322837702,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760568796952524,-0.004816838308979378,0.08783955094337459,0.999999985619049,8.694723535316664e-05,-7.615597231078922e-05,8.273579832413628e-05,0.6761,-0.0048,0.08782191635869331,1.0,0.0,0.0,0.0,-0.07426783161870708,-0.12474699167303702,0.8817832884342891,-0.00958290876261291,0.007567366797458572,0.0003197353417818481,-0.11662829282231768,-0.23773267151990507,0.7277034151730483,-0.012553319009667368,0.005149988103820607,0.0003653484965050378,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7516216818487838,-0.3049804141993089,-0.37289912871352054,0.37167284905273007,0.3456360792075206,-0.2499638520418111,0.5024368616808691,0.8817832884342891,0.8753359903943896,0.8753359903943896,1.3544999999993053,0,0,-0.00029559407179150204,8.177440432881517e-05
+12815,1791447417893847507,2396283000000,1791447417886838448,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760564097597748,-0.004823111085516148,0.0876697778420896,0.99999998616763,7.766920861283805e-05,-7.605341359901524e-05,8.538721592782076e-05,0.6761,-0.0048,0.08764989273923222,1.0,0.0,0.0,0.0,-0.07485427665944373,-0.11264888753229077,0.8757666060501194,-0.00856056007736313,0.007549042886521071,0.0003360479560844651,-0.11721473786305434,-0.22563456737915882,0.7216867327888785,-0.011530970324417588,0.0051316641928831055,0.0003816611108076548,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7403908420126782,-0.27338694215179393,-0.1976923013158575,0.3798730198943839,0.22800250851631784,-0.23106587504621628,0.5024368616808691,0.8757666060501194,0.7001291629967266,0.7001291629967266,1.3885199999992763,0,0,-0.0003131771702067062,-9.996628111264556e-05
+12879,1791447418426775706,2396816000000,1791447418422838295,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.676053828836169,-0.004823837735574831,0.08750318622545175,0.9999999858025712,7.708225586058405e-05,-7.929176702707996e-05,8.72287980600484e-05,0.6761,-0.0048,0.08747701858775424,1.0,0.0,0.0,0.0,-0.07487137819171469,-0.11243084162165609,0.8815877809892617,-0.00856129201121769,0.007547918184545102,0.0003313496415403314,-0.11723183939532529,-0.22541652146852414,0.7275079077280209,-0.011531702258272148,0.005130539490907137,0.00037696279626352116,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7385953012727776,-0.20000689398847288,-0.280029556427076,0.37018034807637,0.2819816990117984,-0.1819244360420902,0.5024368616808691,0.8815877809892617,0.782466418107945,0.782466418107945,1.4204999999992491,0,0,-0.00033513688404570994,-9.999999025923074e-05
+12939,1791447418926753254,2397316000000,1791447418926837763,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760554062156715,-0.004823360252114417,0.08733244514477703,0.9999999855193104,8.094540873684848e-05,-7.550902487902179e-05,9.027996195780449e-05,0.6761,-0.0048,0.08730411677097108,1.0,0.0,0.0,0.0,-0.07541631761657126,-0.09953032461629224,0.892130432285204,-0.0075421949482050755,0.007525871334363424,0.0003342782550431614,-0.11777677882018187,-0.2125160044631603,0.7380505590239631,-0.010512605195259534,0.005108492640725459,0.00037989140976635115,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7529987222416826,-0.21967265323920476,-0.3686763673326633,0.3829079229102401,0.34086579101636705,-0.19588866947315633,0.5024368616808691,0.892130432285204,0.8711132290135324,0.8711132290135324,1.4504999999992236,0,0,-0.00035483770610755523,7.278427794081348e-05
+12995,1791447419393781973,2397783000000,1791447419390837846,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760566071670989,-0.0048296258427412775,0.08716933246920265,0.9999999856576943,7.952483961580072e-05,-7.335440565832944e-05,9.177367019233527e-05,0.6761,-0.0048,0.08713426025272601,1.0,0.0,0.0,0.0,-0.07545932939303922,-0.09889847693023762,0.9021651267926877,-0.007544023355533145,0.00752366445456837,0.00032617001649772677,-0.11781979059664982,-0.21188415677710568,0.7480852535314468,-0.010514433602587603,0.005106285760930405,0.0003717831712209165,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7523671779551382,-0.23190541358032682,-0.3096983243610681,0.39854194901880874,0.29924354820226184,-0.20315280897043275,0.5024368616808691,0.9021651267926877,0.8121351860419372,0.8121351860419372,1.4785199999991998,0,0,-0.0003721633431527912,-9.66787858366402e-05
+13051,1791447419860754546,2398250000000,1791447419854838310,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760594270457839,-0.004829548107311117,0.08699539901910387,0.9999999860604746,7.51562739087999e-05,-6.984496071592475e-05,9.378236011028348e-05,0.6761,-0.0048,0.08695629429166914,1.0,0.0,0.0,0.0,-0.07308677437442049,-0.08900521596585795,0.9022000361298227,-0.007542641120298784,0.007522790005637717,0.00032644354655731334,-0.11544723557803109,-0.201990895812726,0.7481201628685819,-0.010513051367353242,0.005105411311999753,0.00037205670128050307,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7510958997673822,-0.17411827929531465,-0.28221091777827484,0.4007061675242416,0.28011920638465887,-0.16207097235909762,0.5024368616808691,0.9022000361298227,0.784647779459144,0.784647779459144,1.506539999999176,0,0,-0.0003894795944190107,-9.999999025923074e-05
+13103,1791447420293760300,2398683000000,1791447420290837824,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760595326323301,-0.0048298910183795455,0.08682565075493631,0.9999999862744022,7.187003937015991e-05,-6.784297632344628e-05,9.553055923124267e-05,0.6761,-0.0048,0.08678466572372218,1.0,0.0,0.0,0.0,-0.07562087479809496,-0.09851842399783536,0.9121917476816821,-0.007545139933807761,0.007522341454134064,0.0003212492577023654,-0.11798133600170556,-0.21150410384470342,0.7581118744204413,-0.01051555018086222,0.005104962760496099,0.0003668624124255551,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6822984879606679,-0.31164963607328344,-0.26739986557808687,0.4477991753098051,0.24913687998390255,-0.25147430253996306,0.5024368616808691,0.9121917476816821,0.7698367272589559,0.7698367272589559,1.532519999999154,0,0,-0.00040401498036943116,-9.999999025923074e-05
+13155,1791447420726781823,2399116000000,1791447420726838109,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760558068313948,-0.004833351444260153,0.08664322592477612,0.9999999847555027,7.875637811328229e-05,-7.596928911997574e-05,9.978957305273648e-05,0.6761,-0.0048,0.08660637135291914,1.0,0.0,0.0,0.0,-0.07914103727334378,-0.10330985383332117,0.9121420213547892,-0.007546484082301005,0.007521946628140161,0.00031763314498558826,-0.12150149847695438,-0.21629553368018922,0.7580621480935483,-0.010516894329355464,0.005104567934502196,0.000363246299708778,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7458512268676095,-0.23970132466243535,-0.19894020154377673,0.43519559980136885,0.2221845211164801,-0.20380722198766116,0.5024368616808691,0.9121420213547892,0.7013770632246459,0.7013770632246459,1.5584999999991318,0,0,-0.0004205887183070508,-9.999999025923074e-05
+13205,1791447421143856298,2399533000000,1791447421138837886,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760557640056877,-0.004839262959152997,0.08647160951548999,0.9999999850921432,7.611805771535844e-05,-7.358807458120214e-05,0.00010024676795215868,0.6761,-0.0048,0.0864281752494504,1.0,0.0,0.0,0.0,-0.08346705477509204,-0.10638130943778004,0.9082172498793541,-0.007544546614976026,0.007523360534975265,0.0003207478324196665,-0.12582751597870265,-0.2193669892846481,0.7541373766181133,-0.010514956862030484,0.005105981841337301,0.0003663609871428562,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7463827229750493,-0.2664684888209173,-0.28199458037261144,0.4571740203017864,0.2746376194681543,-0.21683940168666105,0.5024368616808691,0.9082172498793541,0.7844314420534806,0.7844314420534806,1.5835199999991105,0,0,-0.0004343346970789571,-9.999999025923074e-05
+13255,1791447421560863857,2399950000000,1791447421558838474,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760584623643906,-0.0048392432602631305,0.08629498978491652,0.999999985468881,7.549780892084155e-05,-7.016663420573028e-05,9.940737684744689e-05,0.6761,-0.0048,0.08624320902653716,1.0,0.0,0.0,0.0,-0.08404798834993511,-0.09576172583411535,0.9126676363474884,-0.0065369526893773264,0.007502916681691483,0.00032803022489456796,-0.12640844955354572,-0.2087474056809834,0.7585877630862475,-0.009507362936431785,0.005085537988053518,0.0003736433796177577,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7766171497807756,-0.1736046770804062,-0.3918034212207729,0.43765828890619857,0.3515061961919129,-0.1575195028583401,0.5024368616808691,0.9126676363474884,0.894240282901642,0.894240282901642,1.6085399999990893,0,0,-0.00045120812439539284,9.620258342580285e-05
+13301,1791447421943786452,2400333000000,1791447421938838053,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760553803695275,-0.0048411229549677375,0.08611832897015884,0.9999999857293117,6.791790307254461e-05,-7.190072903863122e-05,0.0001010033893676039,0.6761,-0.0048,0.08606787721742012,1.0,0.0,0.0,0.0,-0.08528461379057907,-0.09578912198912201,0.9133735996045486,-0.006527264935845756,0.00750259064715115,0.0003227322007634584,-0.12764507499418967,-0.20877480183599006,0.7592937263433077,-0.009497675182900215,0.005085211953513186,0.0003683453554866481,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7677088274585289,-0.2182713272999463,-0.38186797899535363,0.4577834350137715,0.33769732531979935,-0.18754105470304328,0.5024368616808691,0.9133735996045486,0.8843048406762227,0.8843048406762227,1.6315199999990697,0,0,-0.000463092555279239,9.989267332611291e-05
+13346,1791447422318787417,2400708000000,1791447422314838193,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760525979553178,-0.0048444605260101435,0.08594016386661738,0.9999999859209474,6.276695888972682e-05,-7.445264537455387e-05,0.00010058867648812842,0.6761,-0.0048,0.08589256703015205,1.0,0.0,0.0,0.0,-0.08531232646958671,-0.09550661251333473,0.9326035872542394,-0.006559715380548172,0.007498968490877497,0.0003116875280283581,-0.1276727876731973,-0.20849229236020278,0.7785237139929986,-0.00953012562760263,0.005081589797239532,0.00035730068275154785,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.765687657062632,-0.2366356033953239,-0.3743529889254279,0.46440192990205775,0.33303185429565785,-0.19977447870765475,0.5024368616808691,0.9326035872542394,0.876789850606297,0.876789850606297,1.6540199999990506,0,0,-0.00047398902357795157,7.728216103332797e-05
+13391,1791447422693861589,2401083000000,1791447422690837301,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760528161524915,-0.0048482299543104405,0.08576217637906741,0.9999999857894606,6.534948505996213e-05,-7.320344070582456e-05,0.00010116641767554703,0.6761,-0.0048,0.08571272067388393,1.0,0.0,0.0,0.0,-0.08204970060094194,-0.09868362440341302,0.9330907386189892,-0.006532630103463834,0.0074986126291506465,0.00031186972644403746,-0.12441016180455254,-0.21166930425028108,0.7790108653577483,-0.009503040350518292,0.005081233935512682,0.0003574828811672272,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7992742779268573,-0.2982358068130234,-0.25582257680416787,0.49194279563044424,0.26365597898892673,-0.23728435330491823,0.5024368616808691,0.9330907386189892,0.758259438485037,0.758259438485037,1.6765199999990315,0,0,-0.00048487847057884635,-9.999972658126239e-05
+13435,1791447423060841284,2401450000000,1791447423058838284,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760527139291842,-0.004849685387524822,0.08558211643607168,0.9999999853399528,6.313338365941764e-05,-7.624998406807295e-05,0.00010470470074511611,0.6761,-0.0048,0.08553359133193514,1.0,0.0,0.0,0.0,-0.0853101614208956,-0.0950082402016999,0.932653067104523,-0.0065300805765553405,0.007498411991585092,0.0003116167031964622,-0.1276706226245062,-0.20799392004856795,0.7785731938432822,-0.009500490823609799,0.005081033297947127,0.0003572298579196519,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8268266104872822,-0.2933319592938656,-0.31117661932671675,0.4965422183561746,0.30578193679512466,-0.23411437798498394,0.5024368616808691,0.932653067104523,0.8136134810075859,0.8136134810075859,1.6985399999990127,0,0,-0.0004905563996502035,-9.946880405309883e-05
+13478,1791447423418764997,2401808000000,1791447423418838115,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760521622883745,-0.004851658098424077,0.08540922245129746,0.9999999854382954,6.478100132051994e-05,-7.46626530358466e-05,0.00010389987233728824,0.6761,-0.0048,0.0853567337679106,1.0,0.0,0.0,0.0,-0.08410918616106407,-0.09477122586894601,0.9368935385597982,-0.006531000516420778,0.0074966994896924,0.00030858025352512443,-0.12646964736467467,-0.20775690571581407,0.7828136652985573,-0.009501410763475236,0.005079320796054436,0.00035419340824831416,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8031838147536271,-0.21516389520424797,-0.32214860675061413,0.47861389682941524,0.3025083681367717,-0.18023308823332554,0.5024368616808691,0.9368935385597982,0.8245854684314833,0.8245854684314833,1.7200199999989945,0,0,-0.0004956747734860808,-9.981046131113942e-05
+13523,1791447423793860630,2402183000000,1791447423790837885,DOWN_FORCE_DETACH,2,0.0415,0.04150199145078659,0.6760490482671639,-0.004852008793882679,0.08521888818056193,0.9999999851839502,6.419892431990458e-05,-7.692326209955157e-05,0.00010505367151449936,0.6761,-0.0048,0.08516890086168957,1.0,0.0,0.0,0.0,-0.08529978587904548,-0.08809699879420546,0.939020940724587,-0.006529767083537129,0.007496421648932834,0.00030672462073388077,-0.12766024708265608,-0.20108267864107351,0.7849410674633461,-0.009500177330591587,0.005079042955294869,0.0003523377754570705,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8620471672523885,-0.24568736529388596,-0.2755074908322661,0.49057155801952174,0.2855365910775332,-0.20071037896027594,0.5024368616808691,0.939020940724587,0.7779443525131352,0.7779443525131352,1.7425199999989753,0,0,-0.0005032039052208212,-9.950860554853164e-05
+13567,1791447424160871715,2402550000000,1791447424158837836,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760547491426061,-0.004854099094821694,0.08504650066014006,0.9999999860187623,6.367301482312427e-05,-6.67356225908537e-05,0.00010439082165009573,0.6761,-0.0048,0.08498356921441468,1.0,0.0,0.0,0.0,-0.08091878812739743,-0.08457297277670953,0.9431466401180097,-0.006529390092183875,0.00749602333915602,0.000307088872222026,-0.12327924933100803,-0.19755865262357758,0.7890667668567689,-0.009499800339238333,0.005078644645518056,0.00035270202694521574,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8937988938378367,-0.20644045024910607,-0.3904577234720673,0.4929933856908197,0.363822196944591,-0.17205177109628372,0.5024368616808691,0.9431466401180097,0.8928945851529364,0.8928945851529364,1.7645399999989566,0,0,-0.0005069091817647406,-9.51456511063597e-05
+13611,1791447424526792902,2402916000000,1791447424526838328,DOWN_FORCE_DETACH,2,0.0415,0.04150133207440376,0.6760527019227878,-0.004852918357289994,0.0848614146165515,0.9999999855425048,6.691820913391125e-05,-6.883553646630018e-05,0.00010555319400527822,0.6761,-0.0048,0.08479698901762205,1.0,0.0,0.0,0.0,-0.07662523931638687,-0.08102464968830456,0.9430870716680846,-0.005510285272811657,0.007476241136762218,0.0003160158364534497,-0.11898570051999748,-0.1940103295351726,0.7890071984068437,-0.008480695519866115,0.0050588624431242525,0.0003616289911766394,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8913990754729886,-0.33430528041058216,-0.3715903118282181,0.5331908226352047,0.3478854942802442,-0.2536872336965097,0.5024368616808691,0.9430870716680846,0.8740271735090872,0.8740271735090872,1.786499999998938,0,0,-0.0005117610553204407,-9.999999025923074e-05
+13654,1791447424880874152,2403270000000,1791447424878838069,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.6760517947586443,-0.004857022655888308,0.08468386617954635,0.9999999857433989,6.266073490629667e-05,-6.840069235089632e-05,0.0001065412793427917,0.6761,-0.0048,0.08461863843419908,1.0,0.0,0.0,0.0,-0.07665925065011188,-0.07932841002117819,0.9517823627640276,-0.0055118960329680385,0.007474174019161792,0.00030897856082080934,-0.11901971185372248,-0.19231408986804624,0.7977024895027868,-0.008482306280022497,0.005056795325523828,0.0003545917155439991,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9263923403083211,-0.17273599267604267,-0.40878017540115863,0.4878054670889917,0.3754985790443225,-0.14674742484360337,0.5024368616808691,0.9517823627640276,0.9112170370820277,0.9112170370820277,1.7872199999989373,0,0,-0.0004949537496287418,9.999999025923074e-05
+13696,1791447425230772829,2403620000000,1791447425230838342,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760459281736432,-0.004860741344364463,0.08450490914474659,0.9999999853149368,5.659200780674921e-05,-7.760018955469256e-05,0.00010765010838103922,0.6761,-0.0048,0.08444845837123069,1.0,0.0,0.0,0.0,-0.07663098780418148,-0.0821131590061876,0.947677572954199,-0.005511025292213338,0.007482124739836603,0.0003073548154608185,-0.11899144900779209,-0.19509883885305565,0.7935976996929581,-0.008481435539267796,0.005064746046198638,0.00035296797018400826,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.894325790735133,-0.29353343184673575,-0.43262254416947526,0.5225122979689183,0.3834164788220587,-0.22734752643497674,0.5024368616808691,0.947677572954199,0.9350594058503443,0.9350594058503443,1.7872199999989373,0,0,-0.0004774537530380111,9.999999025923074e-05
+13744,1791447425630788747,2404020000000,1791447425626847278,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760462315804506,-0.004859323334205999,0.08432127271361227,0.9999999854954266,5.6350404813990835e-05,-7.825585230582668e-05,0.0001056061771357165,0.6761,-0.0048,0.08426146686923427,1.0,0.0,0.0,0.0,-0.06727277431144962,-0.07310831278792304,0.9429622072520908,-0.005941994402842973,0.007454128693751616,0.00031191534855695864,-0.10963323551506023,-0.1860939926347911,0.78888233399085,-0.008912404649897432,0.005036750000113651,0.0003575285032801484,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9849033258319244,-0.2285962689407443,-0.4164746495182584,0.5074848330613527,0.39504085010496354,-0.18140147440400328,0.5024368616808691,0.9429622072520908,0.9189115111991275,0.9189115111991275,1.7872199999989373,0,0,-0.0004574537569343188,9.999999025923074e-05
+13792,1791447426030765852,2404420000000,1791447426030837547,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760456140527786,-0.00485905667144834,0.08414905232233946,0.9999999855437056,5.7916902844640445e-05,-7.734375707165681e-05,0.00010497156054628599,0.6761,-0.0048,0.08408247536567934,1.0,0.0,0.0,0.0,-0.07273343696044901,-0.07216372189365403,0.9329011562272891,-0.005507953432145206,0.007477640240182567,0.0003202285237546381,-0.11509389816405961,-0.18514940174052208,0.7788212829660482,-0.008478363679199664,0.005060261546544603,0.00036584167847782784,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9931259642388367,-0.2537004921347052,-0.47725615559785484,0.5220371232806034,0.43064621769630906,-0.19457230418778407,0.5024368616808691,0.9329011562272891,0.9796930172787239,0.9796930172787239,1.7872199999989373,0,0,-0.0004374537608306265,9.999999025923074e-05
+13843,1791447426455867448,2404845000000,1791447426454837995,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.6760460971050171,-0.004863487560835698,0.08397330435565278,0.9999999861612219,5.021455147682099e-05,-7.432340421463208e-05,0.0001052375926806765,0.6761,-0.0048,0.08390106251644454,1.0,0.0,0.0,0.0,-0.07644119199424791,-0.07280366709684277,0.9150966652386601,-0.005508912071240345,0.007481529362984025,0.0003385416701921305,-0.11880165319785851,-0.18578934694371083,0.7610167919774192,-0.008479322318294803,0.005064150669346061,0.00038415482491532024,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0163791010732093,-0.2298463502170391,-0.4347966250130473,0.5097948243123024,0.4017768973545258,-0.1816559333755556,0.5024368616808691,0.9150966652386601,0.9372334866939164,0.9372334866939164,1.7872199999989373,0,0,-0.00041620376497045344,9.999999025923074e-05
+13891,1791447426855773699,2405245000000,1791447426854838124,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.6760460140325565,-0.0048630532217090175,0.08381559966712562,0.9999999864973956,4.86455878667894e-05,-7.351505881110311e-05,0.00010333061410980279,0.6761,-0.0048,0.08373857100967515,1.0,0.0,0.0,0.0,-0.07654548809898322,-0.07294545907179298,0.911281210666456,-0.00550294193797163,0.007482412025122433,0.00034172191915939136,-0.11890594930259382,-0.18593113891866103,0.7572013374052151,-0.008473352185026088,0.005065033331484468,0.0003873350738825811,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0500557665281276,-0.13054209364990038,-0.47041861907713484,0.48437606306952546,0.43439119674822413,-0.11416365391944158,0.5024368616808691,0.911281210666456,0.9728554807580039,0.9728554807580039,1.7872199999989373,0,0,-0.00039620376886676114,9.999999025923074e-05
+13942,1791447427281834005,2405670000000,1791447427278838150,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760454406001944,-0.0048636876113607305,0.08364883460131256,0.9999999859356565,5.229028141665325e-05,-7.370390921188396e-05,0.00010679424865411583,0.6761,-0.0048,0.08357468940702499,1.0,0.0,0.0,0.0,-0.06739454932304476,-0.07030542924296815,0.923066496848985,-0.005505016893474501,0.007479429820465976,0.0003333146237121955,-0.10975501052665536,-0.1832911090898362,0.7689866235877442,-0.008475427140528959,0.005062051126828011,0.00037892777843538526,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.082980965853848,-0.2290008311010646,-0.5336790675834288,0.5154642970917799,0.4797397710927056,-0.17768360456624682,0.5024368616808691,0.923066496848985,1.0361159292642979,1.0361159292642979,1.7872199999989373,0,0,-0.0003749537730065881,9.999999025923074e-05
+13999,1791447427755769511,2406145000000,1791447427754837391,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760407004583399,-0.004868975865845977,0.08346972265483689,0.9999999856277084,4.559901347303319e-05,-8.059888185377902e-05,0.00010775897915732546,0.6761,-0.0048,0.08340221511374567,1.0,0.0,0.0,0.0,-0.06709248921151317,-0.07259656115835195,0.9209723844579876,-0.005477495957145171,0.00646649394112659,0.00031819517771748473,-0.10945295041512378,-0.18558224100522,0.7668925111967467,-0.00844790620419963,0.004049115247488625,0.00036380833244067446,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1318228902398093,-0.23868612957192636,-0.543906508937664,0.5204804378118568,0.49398832860660874,-0.18307275100678888,0.5024368616808691,0.9209723844579876,1.046343370618533,1.046343370618533,1.7872199999989373,0,0,-0.00035120377763345347,9.999999025923074e-05
+14061,1791447428272844029,2406662000000,1791447428266839024,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760403497610715,-0.004869582639662285,0.08329191202915509,0.9999999856855514,4.41199200007117e-05,-8.222599262748469e-05,0.00010660244097804941,0.6761,-0.0048,0.08322731205940485,1.0,0.0,0.0,0.0,-0.059822114015371824,-0.069282724659395,0.9030428154704107,-0.005472067814508505,0.006470058680226466,0.0003347006343153804,-0.10218257521898243,-0.18226840450626305,0.7489629422091698,-0.008442478061562963,0.004052679986588502,0.0003803137890385701,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.159982948609858,-0.14686867483625443,-0.5362160590700592,0.501442569222485,0.4912696425837026,-0.11937782341877369,0.5024368616808691,0.9030428154704107,1.0386529207509283,1.0386529207509283,1.7872199999989373,0,0,-0.0003253537826694312,9.999999025923074e-05
+14124,1791447428797872920,2407187000000,1791447428790838051,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760338765867222,-0.004864252156285963,0.08312256149526663,0.9999999842900011,4.91594135213168e-05,-8.99098151168276e-05,0.00011118650657360628,0.6761,-0.0048,0.08306337882215845,1.0,0.0,0.0,0.0,-0.05386434993835637,-0.07395476519525543,0.8830885807407057,-0.005442951706754868,0.005465518138640943,0.00033589527847043845,-0.09622481114196697,-0.18694044504212348,0.7290087074794649,-0.008413361953809326,0.0030481394450029785,0.0003815084331936282,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1712580063517066,-0.2492981730698503,-0.5350700324907645,0.5189006289867731,0.49078496531610394,-0.1905925913833735,0.5024368616808691,0.8830885807407057,1.0375068941716337,1.0375068941716337,1.7872199999989373,0,0,-0.00029910378778333504,9.999999025923074e-05
+14191,1791447429355829068,2407745000000,1791447429354837647,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.6760315517993177,-0.0048531097423428465,0.08296291996273233,0.9999999839524214,5.3334386184131394e-05,-9.312466055556443e-05,0.00010964151714448364,0.6761,-0.0048,0.08290424905705616,1.0,0.0,0.0,0.0,-0.04616140830381121,-0.05679132459716138,0.8637078499144601,-0.005436551766089395,0.005464045653429643,0.00035228977853944254,-0.08852186950742182,-0.16977700444402943,0.7096279766532193,-0.008406962013143853,0.0030466669597916784,0.00039790293326263227,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2058928580152597,-0.13680835790773263,-0.6055691040539515,0.4870204066475687,0.5399310772116224,-0.11376156962953846,0.5024368616808691,0.8637078499144601,1.1080059657348205,1.1080059657348205,1.7872199999989373,0,0,-0.0002712037932186843,9.999999025923074e-05
+14268,1791447429997876533,2408387000000,1791447429994838388,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760275981144495,-0.004844730368601675,0.08279018519146358,0.9999999828572048,5.9210356000326146e-05,-9.960754036492634e-05,0.00011090954036820128,0.6761,-0.0048,0.08274042426979925,1.0,0.0,0.0,0.0,-0.039465091501360114,-0.04385009611853605,0.8441776828121925,-0.004411595186396166,0.005448534510368806,0.0003805385995151515,-0.08182555270497072,-0.1568357759654041,0.6900978095509517,-0.007382005433450624,0.0030311558167308416,0.0004261517542383412,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1917154186971235,-0.1687871511381501,-0.5446173758189621,0.4924755083302127,0.4931085734304022,-0.1364086712483103,0.5024368616808691,0.8441776828121925,1.047054237499831,1.047054237499831,1.7872199999989373,0,0,-0.00023910379947225812,9.999999025923074e-05
+14354,1791447430713883330,2409103000000,1791447430706838243,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760265898692034,-0.004844567019638709,0.08262812275966605,0.9999999829557851,5.55378274999466e-05,-0.00010287199796273598,0.00010892288924745955,0.6761,-0.0048,0.08258202444687679,1.0,0.0,0.0,0.0,-0.03901688601030302,-0.055948017591063715,0.8329879520987424,-0.0054304690785822365,0.005452699283797672,0.0003778510579220874,-0.08137734721391363,-0.16893369743793177,0.6789080788375016,-0.008400879325636695,0.0030353205901597073,0.0004234642126452771,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.246805096239831,-0.14353064627021772,-0.6263807983192906,0.486333643054659,0.5543372314872955,-0.11555369626825235,0.5024368616808691,0.8329879520987424,1.1288176600001596,1.1288176600001596,1.7872199999989373,0,0,-0.0002033038064466489,9.999999025923074e-05
+14443,1791447431455845546,2409845000000,1791447431450838245,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.67602142483059,-0.004848992219526661,0.0824830084036146,0.9999999820829305,5.209675965635444e-05,-0.00011008233656832908,0.00011155630877500437,0.6761,-0.0048,0.0824449185698083,1.0,0.0,0.0,0.0,-0.03329234071674664,-0.0668784158226926,0.8030270005817155,-0.0053998498990769014,0.0044651749383529836,0.0003873268620866836,-0.07565280192035724,-0.17986409566956066,0.6489471273204747,-0.00837026014613136,0.002047796244715019,0.00043294001680987336,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2593233881616703,-0.23423759724417886,-0.5957977715652961,0.5161853648297571,0.5345530153045507,-0.17232714281458536,0.5024368616808691,0.8030270005817155,1.0982346332461652,1.0982346332461652,1.7872199999989373,0,0,-0.0001662038136742997,9.999999025923074e-05
+14546,1791447432313794979,2410703000000,1791447432306837988,DOWN_SETTLE,2,0.0415,0.04150133207440376,0.6760171834725408,-0.004852072526228763,0.08235183448595353,0.9999999818559018,5.016335736037741e-05,-0.00011640288048687437,0.0001080049429248186,0.6761,-0.0048,0.08232069834408617,1.0,0.0,0.0,0.0,-0.03131594685215579,-0.06877497396984994,0.782836898629715,-0.005395569004993923,0.004469099245235067,0.0004033159952131307,-0.07367640805576639,-0.181760653816718,0.6287570253684741,-0.008365979252048381,0.002051720551597102,0.00044892914993632045,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2420670438726886,-0.1773958973161481,-0.5690642487338736,0.4993421418994368,0.5061264632015049,-0.13492181501491707,0.5024368616808691,0.782836898629715,1.0715011104147427,1.0715011104147427,1.7872199999989373,0,0,-0.00012330382203187972,9.999999025923074e-05
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+14816,1791447434563857189,2412953000000,1791447434562838025,DOWN_SETTLE,2,0.0415,0.04150199145078659,0.6760004032830399,-0.004853445677009872,0.0821590292886359,0.999999977538446,5.459370601608875e-05,-0.00014580639862259414,0.0001101180876655024,0.6761,-0.0048,0.08216977096984716,1.0,0.0,0.0,0.0,-0.03779866016550154,-0.08361647812917,0.681819381189112,-0.006391445532906036,0.00451426403316202,-0.00019321177264369633,-0.08015912136911214,-0.19660215797603806,0.5277395079278712,-0.009361855779960494,0.002096885339524055,-0.0001475986179205066,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2986984339979402,-0.16753821209243744,-0.41675180456646344,0.4804339785368125,0.42631747393226044,-0.12916435414194002,0.5024368616808691,0.681819381189112,0.9191886662473325,0.9191886662473325,1.7872199999989373,0,0,-1.0803843948610554e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8bb9824ccc3ccfbe5b15ad7bd3d2d772477f372
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ee759572b63f8b2761862d4810e3584e12c8182
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,9.683333333e+00,DOWN_FORCE_DETACH,1791447409325447781,6.298993244e-05,-2.965421035e-05,-1.374773729e-03,5.948965306e-05,-3.132574217e-05,-1.374416344e-03,5.640003770e-05,-3.100237856e-05,-1.373076592e-03,7.016008614e-01,-2.810324903e-05,8.393661675e-01,7.015973611e-01,-2.977478085e-05,8.393665248e-01,7.017821876e-01,-2.938351242e-05,8.284076139e-01
+15,1.025000000e+01,DOWN_FORCE_DETACH,1791447410174528531,6.125178505e-05,-2.838925363e-05,-1.495280145e-03,6.266676986e-05,-2.987402166e-05,-1.483541653e-03,5.926823138e-05,-2.960528825e-05,-1.482068477e-03,7.015991233e-01,-2.683829231e-05,8.392456610e-01,7.016005383e-01,-2.832306034e-05,8.392573995e-01,7.017850558e-01,-2.798642211e-05,8.282986220e-01
+16,1.085000000e+01,DOWN_FORCE_DETACH,1791447411081515645,5.865453793e-05,-3.954177826e-05,-1.634463073e-03,5.803981159e-05,-3.550857496e-05,-1.621687608e-03,5.403844491e-05,-3.519902785e-05,-1.619940024e-03,7.015965260e-01,-3.799081694e-05,8.391064781e-01,7.015959113e-01,-3.395761364e-05,8.391192536e-01,7.017798260e-01,-3.358016172e-05,8.281607504e-01
+17,1.141666667e+01,DOWN_FORCE_DETACH,1791447411924236671,5.752615865e-05,-4.179054649e-05,-1.777833450e-03,5.736279453e-05,-4.191920564e-05,-1.778004399e-03,5.276178700e-05,-4.156137263e-05,-1.775846509e-03,7.015953976e-01,-4.023958517e-05,8.389631077e-01,7.015952343e-01,-4.036824432e-05,8.389629368e-01,7.017785493e-01,-3.994250650e-05,8.280048439e-01
+18,1.196666667e+01,DOWN_FORCE_DETACH,1791447412732297961,5.740887149e-05,-4.441731793e-05,-1.920727127e-03,5.441448808e-05,-4.296937044e-05,-1.912323908e-03,4.930971733e-05,-4.253432332e-05,-1.910277416e-03,7.015952804e-01,-4.286635661e-05,8.388202141e-01,7.015922860e-01,-4.141840912e-05,8.388286173e-01,7.017750972e-01,-4.091545718e-05,8.278704130e-01
+19,1.246666667e+01,DOWN_FORCE_DETACH,1791447413490444892,5.875973203e-05,-4.441647196e-05,-2.066996233e-03,5.469283708e-05,-4.597147857e-05,-2.058378196e-03,4.897093897e-05,-4.546629408e-05,-2.056179916e-03,7.015966312e-01,-4.286551064e-05,8.386739450e-01,7.015925643e-01,-4.442051725e-05,8.386825630e-01,7.017747585e-01,-4.384742794e-05,8.277245105e-01
+20,1.296666667e+01,DOWN_FORCE_DETACH,1791447414230424222,5.425218427e-05,-5.193666988e-05,-2.220959429e-03,5.499386628e-05,-5.082054569e-05,-2.213078486e-03,4.882859782e-05,-5.038539666e-05,-2.210765646e-03,7.015921237e-01,-5.038570856e-05,8.385199818e-01,7.015928653e-01,-4.926958437e-05,8.385278627e-01,7.017746161e-01,-4.876653052e-05,8.275699248e-01
+21,1.345000000e+01,DOWN_FORCE_DETACH,1791447414960603972,5.381012071e-05,-5.360557027e-05,-2.385281554e-03,5.405579340e-05,-5.341306960e-05,-2.372615130e-03,4.735611353e-05,-5.296846265e-05,-2.370191666e-03,7.015916816e-01,-5.205460895e-05,8.383556596e-01,7.015919273e-01,-5.186210828e-05,8.383683261e-01,7.017731436e-01,-5.134959651e-05,8.274104988e-01
+22,1.386666667e+01,DOWN_FORCE_DETACH,1791447415590466812,5.651059860e-05,-5.838892287e-05,-2.532120544e-03,5.631938639e-05,-5.836978087e-05,-2.531718831e-03,4.915756444e-05,-5.783553417e-05,-2.529019509e-03,7.015943821e-01,-5.683796155e-05,8.382088206e-01,7.015941909e-01,-5.681881955e-05,8.382092224e-01,7.017749451e-01,-5.621666803e-05,8.272516709e-01
+23,1.428333333e+01,DOWN_FORCE_DETACH,1791447416209566302,5.552334017e-05,-6.166621548e-05,-2.693297898e-03,5.535223334e-05,-5.901341349e-05,-2.680579307e-03,4.759169780e-05,-5.842026082e-05,-2.677793376e-03,7.015933948e-01,-6.011525416e-05,8.380476433e-01,7.015932237e-01,-5.746245217e-05,8.380603619e-01,7.017733792e-01,-5.680139469e-05,8.271028971e-01
+24,1.468333333e+01,DOWN_FORCE_DETACH,1791447416812373923,5.412766147e-05,-6.324283260e-05,-2.857744646e-03,5.286509363e-05,-6.133667057e-05,-2.855269244e-03,4.443886089e-05,-6.076488909e-05,-2.852358072e-03,7.015919991e-01,-6.169187128e-05,8.378831965e-01,7.015907366e-01,-5.978570925e-05,8.378856719e-01,7.017702264e-01,-5.914602295e-05,8.269283324e-01
+25,1.503333333e+01,DOWN_FORCE_DETACH,1791447417330652232,5.097866682e-05,-6.029983522e-05,-3.016759718e-03,4.836964222e-05,-6.334390500e-05,-3.001044396e-03,3.928397693e-05,-6.281785770e-05,-2.998265277e-03,7.015888501e-01,-5.874887390e-05,8.377241815e-01,7.015862411e-01,-6.179294368e-05,8.377398968e-01,7.017650715e-01,-6.119899156e-05,8.267824252e-01
+26,1.540000000e+01,DOWN_FORCE_DETACH,1791447417890597283,4.776246838e-05,-6.600938180e-05,-3.187127532e-03,4.702270640e-05,-6.492637675e-05,-3.178590551e-03,3.728574757e-05,-6.442681090e-05,-3.175533714e-03,7.015856339e-01,-6.445842048e-05,8.375538137e-01,7.015848942e-01,-6.337541543e-05,8.375623506e-01,7.017630733e-01,-6.280794477e-05,8.266051567e-01
+27,1.576666667e+01,DOWN_FORCE_DETACH,1791447418431120857,4.733870525e-05,-6.559339934e-05,-3.351387137e-03,4.687357235e-05,-6.656069092e-05,-3.334124788e-03,3.660093012e-05,-6.602512326e-05,-3.331111260e-03,7.015852102e-01,-6.404243802e-05,8.373895541e-01,7.015847451e-01,-6.500972960e-05,8.374068164e-01,7.017623885e-01,-6.440625713e-05,8.264495792e-01
+28,1.610000000e+01,DOWN_FORCE_DETACH,1791447418929943876,4.741807389e-05,-6.435792376e-05,-3.523845618e-03,4.741349075e-05,-6.412408665e-05,-3.523589574e-03,3.641412979e-05,-6.355202800e-05,-3.520065074e-03,7.015852896e-01,-6.280696244e-05,8.372170956e-01,7.015852850e-01,-6.257312533e-05,8.372173516e-01,7.017622017e-01,-6.193316186e-05,8.262606254e-01
+29,1.640000000e+01,DOWN_FORCE_DETACH,1791447419390436258,5.027157053e-05,-7.008797990e-05,-3.684507977e-03,5.112968302e-05,-6.685890385e-05,-3.672246836e-03,3.956027676e-05,-6.624891998e-05,-3.668749395e-03,7.015881431e-01,-6.853701858e-05,8.370564332e-01,7.015890012e-01,-6.530794253e-05,8.370686944e-01,7.017653478e-01,-6.463005385e-05,8.261119410e-01
+30,1.671666667e+01,DOWN_FORCE_DETACH,1791447419861631987,5.209667654e-05,-6.544768864e-05,-3.858452881e-03,5.281418479e-05,-7.065553484e-05,-3.846795342e-03,4.066763352e-05,-7.006869589e-05,-3.843190702e-03,7.015899682e-01,-6.389672732e-05,8.368824883e-01,7.015906857e-01,-6.910457351e-05,8.368941458e-01,7.017664552e-01,-6.844982976e-05,8.259374997e-01
+31,1.700000000e+01,DOWN_FORCE_DETACH,1791447420290440674,5.462926939e-05,-7.251269143e-05,-4.026971049e-03,5.433013550e-05,-7.263506864e-05,-4.026652027e-03,4.158734002e-05,-7.207961696e-05,-4.022723787e-03,7.015925008e-01,-7.096173010e-05,8.367139701e-01,7.015922016e-01,-7.108410732e-05,8.367142892e-01,7.017673749e-01,-7.046075083e-05,8.257579667e-01
+32,1.730000000e+01,DOWN_FORCE_DETACH,1791447420731052955,4.828239256e-05,-7.753934811e-05,-4.213024749e-03,4.972411806e-05,-7.522777132e-05,-4.203554409e-03,3.621419918e-05,-7.455853022e-05,-4.199625812e-03,7.015861539e-01,-7.598838679e-05,8.365279164e-01,7.015875956e-01,-7.367681000e-05,8.365373868e-01,7.017620017e-01,-7.293966408e-05,8.255810646e-01
+33,1.755000000e+01,DOWN_FORCE_DETACH,1791447421141892096,4.719784323e-05,-7.683960190e-05,-4.389364357e-03,4.546520917e-05,-7.887424072e-05,-4.378783751e-03,3.124582008e-05,-7.813301916e-05,-4.374693097e-03,7.015850693e-01,-7.528864058e-05,8.363515768e-01,7.015833367e-01,-7.732327940e-05,8.363621574e-01,7.017570333e-01,-7.651415302e-05,8.254059973e-01
+34,1.783333333e+01,DOWN_FORCE_DETACH,1791447421561604394,4.778508481e-05,-8.495114138e-05,-4.560599174e-03,5.055877476e-05,-8.551479738e-05,-4.556714140e-03,3.583264080e-05,-8.481124105e-05,-4.552772416e-03,7.015856566e-01,-8.340018006e-05,8.361803420e-01,7.015884303e-01,-8.396383606e-05,8.361842270e-01,7.017616202e-01,-8.319237491e-05,8.252279180e-01
+35,1.808333333e+01,DOWN_FORCE_DETACH,1791447421942512413,4.895826227e-05,-8.812852628e-05,-4.739297294e-03,5.159973444e-05,-8.586103119e-05,-4.720469679e-03,3.630374732e-05,-8.520816299e-05,-4.716514428e-03,7.015868297e-01,-8.657756496e-05,8.360016439e-01,7.015894712e-01,-8.431006987e-05,8.360204715e-01,7.017620913e-01,-8.358929685e-05,8.250641760e-01
+36,1.833333333e+01,DOWN_FORCE_DETACH,1791447422322464357,4.720398270e-05,-8.737159864e-05,-4.915280295e-03,4.886795528e-05,-9.028959384e-05,-4.896645395e-03,3.293079205e-05,-8.958641159e-05,-4.892588747e-03,7.015850755e-01,-8.582063732e-05,8.358256609e-01,7.015867394e-01,-8.873863252e-05,8.358442958e-01,7.017587183e-01,-8.796754545e-05,8.248881017e-01
+37,1.858333333e+01,DOWN_FORCE_DETACH,1791447422691568296,4.632602157e-05,-8.998561808e-05,-5.092396983e-03,4.626153527e-05,-8.991501079e-05,-5.092081259e-03,2.959234313e-05,-8.918233410e-05,-5.087612357e-03,7.015841975e-01,-8.843465675e-05,8.356485442e-01,7.015841330e-01,-8.836404947e-05,8.356488599e-01,7.017553799e-01,-8.756346797e-05,8.246930781e-01
+38,1.883333333e+01,DOWN_FORCE_DETACH,1791447423060109072,4.522334813e-05,-8.933511618e-05,-5.273407752e-03,4.390359673e-05,-9.237874042e-05,-5.256983167e-03,2.658802908e-05,-9.164280016e-05,-5.252716898e-03,7.015830948e-01,-8.778415486e-05,8.354675334e-01,7.015817751e-01,-9.082777910e-05,8.354839580e-01,7.017523756e-01,-9.002393402e-05,8.245279735e-01
+39,1.906666667e+01,DOWN_FORCE_DETACH,1791447423422454611,4.470460882e-05,-9.364259801e-05,-5.449883400e-03,4.400335362e-05,-9.438997977e-05,-5.437735651e-03,2.602704973e-05,-9.369304711e-05,-5.433299345e-03,7.015825761e-01,-9.209163669e-05,8.352910578e-01,7.015818748e-01,-9.283901845e-05,8.353032055e-01,7.017518146e-01,-9.207418097e-05,8.243473911e-01
+40,1.933333333e+01,DOWN_FORCE_DETACH,1791447423796398150,4.380505114e-05,-9.021994749e-05,-5.635497384e-03,4.717960987e-05,-9.239392839e-05,-5.620800801e-03,2.865009364e-05,-9.167219748e-05,-5.616484148e-03,7.015816765e-01,-8.866898617e-05,8.351054438e-01,7.015850511e-01,-9.084296707e-05,8.351201404e-01,7.017544376e-01,-9.005333134e-05,8.241642063e-01
+41,1.956666667e+01,DOWN_FORCE_DETACH,1791447424158726155,4.638673787e-05,-9.237891854e-05,-5.810052336e-03,4.600765022e-05,-9.253334644e-05,-5.809906777e-03,2.680135404e-05,-9.169011625e-05,-5.805325715e-03,7.015842582e-01,-9.082795722e-05,8.349308889e-01,7.015838791e-01,-9.098238512e-05,8.349310344e-01,7.017525889e-01,-9.007125011e-05,8.239753647e-01
+42,1.981666667e+01,DOWN_FORCE_DETACH,1791447424527377916,4.669685261e-05,-9.735419524e-05,-5.993058186e-03,4.631090938e-05,-9.754262416e-05,-5.992803655e-03,2.644192360e-05,-9.670227603e-05,-5.988319943e-03,7.015845683e-01,-9.580323392e-05,8.347478830e-01,7.015841824e-01,-9.599166284e-05,8.347481375e-01,7.017522294e-01,-9.508340989e-05,8.237923705e-01
+43,2.005000000e+01,DOWN_SETTLE,1791447424876908758,4.705817944e-05,-9.709671753e-05,-6.167225680e-03,4.865850286e-05,-9.946458484e-05,-6.154103970e-03,2.830838057e-05,-9.871297382e-05,-6.149903533e-03,7.015849297e-01,-9.554575621e-05,8.345737155e-01,7.015865300e-01,-9.791362352e-05,8.345868372e-01,7.017540959e-01,-9.709410769e-05,8.236307869e-01
+44,2.028333333e+01,DOWN_SETTLE,1791447425227333121,4.174814482e-05,-1.004518743e-04,-6.346186053e-03,4.164214676e-05,-1.007091828e-04,-6.345738571e-03,2.051436842e-05,-9.997098165e-05,-6.341262796e-03,7.015796196e-01,-9.890091298e-05,8.343947551e-01,7.015795136e-01,-9.915822150e-05,8.343952026e-01,7.017463019e-01,-9.835211551e-05,8.234394276e-01
+45,2.055000000e+01,DOWN_SETTLE,1791447425627803532,3.974144953e-05,-1.010789980e-04,-6.533300649e-03,3.866747566e-05,-1.015064048e-04,-6.516960001e-03,1.696078765e-05,-1.006822650e-04,-6.512795320e-03,7.015776129e-01,-9.952803665e-05,8.342076405e-01,7.015765390e-01,-9.995544349e-05,8.342239812e-01,7.017427483e-01,-9.906339884e-05,8.232678951e-01
+46,2.081666667e+01,DOWN_SETTLE,1791447426027461691,3.945823455e-05,-1.041044976e-04,-6.706517165e-03,4.120847011e-05,-1.075625565e-04,-6.689409802e-03,1.884898299e-05,-1.067020928e-04,-6.685419262e-03,7.015773297e-01,-1.025535363e-04,8.340344240e-01,7.015790800e-01,-1.060115952e-04,8.340515314e-01,7.017446365e-01,-1.050832267e-04,8.230952712e-01
+47,2.110000000e+01,DOWN_SETTLE,1791447426458505908,4.210857110e-05,-1.009667071e-04,-6.879582351e-03,4.183045034e-05,-1.011478713e-04,-6.879757078e-03,1.876009878e-05,-1.003976721e-04,-6.875657679e-03,7.015799801e-01,-9.941574580e-05,8.338613588e-01,7.015797019e-01,-9.959690999e-05,8.338611841e-01,7.017445476e-01,-9.877880594e-05,8.229050328e-01
+48,2.136666667e+01,DOWN_SETTLE,1791447426858443859,3.946913469e-05,-1.063603195e-04,-7.039660749e-03,3.919459524e-05,-1.065030410e-04,-7.039644814e-03,1.563870271e-05,-1.057386495e-04,-7.035676895e-03,7.015773406e-01,-1.048093582e-04,8.337012804e-01,7.015770661e-01,-1.049520797e-04,8.337012964e-01,7.017414262e-01,-1.041197833e-04,8.227450135e-01
+49,2.165000000e+01,DOWN_SETTLE,1791447427277538567,3.649367787e-05,-1.059327594e-04,-7.209266616e-03,3.624269177e-05,-1.058383743e-04,-7.209312992e-03,1.203746666e-05,-1.050082585e-04,-7.205395121e-03,7.015743652e-01,-1.043817981e-04,8.335316746e-01,7.015741142e-01,-1.042874130e-04,8.335316282e-01,7.017378250e-01,-1.033893924e-04,8.225752953e-01
+50,2.196666667e+01,DOWN_SETTLE,1791447427759779008,3.338534104e-05,-1.092860490e-04,-7.385480996e-03,3.315096017e-05,-1.094892810e-04,-7.385421928e-03,8.244383198e-06,-1.085790932e-04,-7.381632918e-03,7.015712568e-01,-1.077350877e-04,8.333554602e-01,7.015710224e-01,-1.079383197e-04,8.333555193e-01,7.017340319e-01,-1.069602271e-04,8.223990575e-01
+51,2.230000000e+01,DOWN_SETTLE,1791447428268959958,3.538352671e-05,-1.127016669e-04,-7.557636288e-03,3.400241062e-05,-1.082904264e-04,-7.547142715e-03,8.553897039e-06,-1.074658823e-04,-7.543779754e-03,7.015732550e-01,-1.111507056e-04,8.331833049e-01,7.015718739e-01,-1.067394651e-04,8.331937985e-01,7.017343414e-01,-1.058470162e-04,8.222369107e-01
+52,2.263333333e+01,DOWN_SETTLE,1791447428800050179,2.760443066e-05,-1.044890363e-04,-7.733528615e-03,2.704698938e-05,-1.043662492e-04,-7.715155966e-03,8.955455600e-07,-1.036386292e-04,-7.711941274e-03,7.015654759e-01,-1.029380750e-04,8.330074126e-01,7.015649185e-01,-1.028152879e-04,8.330257852e-01,7.017266831e-01,-1.020197630e-04,8.220687492e-01
+53,2.300000000e+01,DOWN_SETTLE,1791447429358528403,2.389138552e-05,-8.986693018e-05,-7.896425404e-03,2.179706218e-05,-9.219501397e-05,-7.891331403e-03,-5.071461747e-06,-9.146304674e-05,-7.888279569e-03,7.015617629e-01,-8.831596886e-05,8.328445158e-01,7.015596685e-01,-9.064405265e-05,8.328496098e-01,7.017207161e-01,-8.984418060e-05,8.218924109e-01
+54,2.343333333e+01,DOWN_SETTLE,1791447430000091944,2.297610642e-05,-8.754554969e-05,-8.060658214e-03,2.640733483e-05,-8.448630278e-05,-8.054943786e-03,-9.902060629e-07,-8.376075984e-05,-8.052151644e-03,7.015608476e-01,-8.599458837e-05,8.326802830e-01,7.015642788e-01,-8.293534146e-05,8.326859974e-01,7.017247973e-01,-8.214189370e-05,8.217285388e-01
+55,2.390000000e+01,DOWN_SETTLE,1791447430710814768,1.926382304e-05,-8.881956717e-05,-8.224885966e-03,1.973719069e-05,-8.612568934e-05,-8.208821832e-03,-8.339619262e-06,-8.543771961e-05,-8.206376497e-03,7.015571353e-01,-8.726860585e-05,8.325160552e-01,7.015576087e-01,-8.457472802e-05,8.325321194e-01,7.017174479e-01,-8.381885347e-05,8.215743139e-01
+56,2.440000000e+01,DOWN_SETTLE,1791447431458576550,1.424756410e-05,-9.106036643e-05,-8.372256719e-03,1.413418092e-05,-9.120553404e-05,-8.372355469e-03,-1.460301674e-05,-9.052123676e-05,-8.370028154e-03,7.015521190e-01,-8.950940511e-05,8.323686845e-01,7.015520057e-01,-8.965457271e-05,8.323685857e-01,7.017111845e-01,-8.890237063e-05,8.214106623e-01
+57,2.495000000e+01,DOWN_SETTLE,1791447432311597050,8.552609903e-06,-9.380404554e-05,-8.508934125e-03,8.384067033e-06,-9.050007034e-05,-8.492298321e-03,-2.086436538e-05,-8.971842696e-05,-8.490558371e-03,7.015464241e-01,-9.225308422e-05,8.322320071e-01,7.015462555e-01,-8.894910902e-05,8.322486429e-01,7.017049232e-01,-8.809956082e-05,8.212901321e-01
+58,2.566666667e+01,DOWN_SETTLE,1791447433390706727,8.006026054e-07,-9.563403393e-05,-8.628892044e-03,1.292482040e-06,-9.502848816e-05,-8.614153805e-03,-2.862208969e-05,-9.418634093e-05,-8.613089802e-03,7.015386721e-01,-9.408307261e-05,8.321120491e-01,7.015391640e-01,-9.347752683e-05,8.321267874e-01,7.016971654e-01,-9.256747479e-05,8.211676006e-01
+59,2.645000000e+01,DOWN_SETTLE,1791447434561615793,-7.172142835e-06,-9.278518792e-05,-8.697944872e-03,-7.682694569e-06,-9.825472457e-05,-8.694453951e-03,-3.815406380e-05,-9.744235055e-05,-8.694070503e-03,7.015306993e-01,-9.123422660e-05,8.320429963e-01,7.015301888e-01,-9.670376325e-05,8.320464872e-01,7.016876335e-01,-9.582348442e-05,8.210866199e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1f0bcda4bbdb488198bb183fc266021de96d961
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.4797e-03,-3.4691e-03,2.4552e+00,-3.6533e-02,3.6885e-02,2.3036e-06,3.0589e-04,-1.5177e-05,3.6716e-05,1.8813e-06,2.0213e-05,3.0173e-07,3.0846e-04,2.0303e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.8754e-04,1.4049e-02,-4.4494e-03,2.4578e+00,-3.6416e-02,3.7803e-02,8.8298e-05,1.2875e-02,-9.9549e-04,2.6641e-03,1.1847e-04,9.3819e-04,8.6296e-05,1.3186e-02,9.4957e-04
+2,1.5833e+00,DOWN_FORCE_DETACH,3.7078e-04,1.7430e-02,-2.5757e-03,2.4795e+00,-3.6542e-02,3.8013e-02,9.5648e-05,1.6257e-02,8.7825e-04,2.4371e-02,-7.7933e-06,1.1481e-03,9.3646e-05,2.9308e-02,1.1520e-03
+3,2.2000e+00,DOWN_FORCE_DETACH,5.6017e-04,1.5670e-02,1.8168e-03,2.4965e+00,-3.6831e-02,3.7887e-02,1.0262e-04,1.4497e-02,5.2707e-03,4.1313e-02,-2.9649e-04,1.0222e-03,1.0062e-04,4.4099e-02,1.0691e-03
+4,2.7833e+00,DOWN_FORCE_DETACH,7.4559e-04,1.3547e-02,5.0626e-03,2.5125e+00,-3.7041e-02,3.7726e-02,1.0858e-04,1.2373e-02,8.5165e-03,5.7350e-02,-5.0632e-04,8.6157e-04,1.0658e-04,5.9284e-02,1.0050e-03
+5,3.4000e+00,DOWN_FORCE_DETACH,9.3367e-04,1.3605e-02,7.5891e-03,2.5271e+00,-3.7213e-02,3.7704e-02,1.0854e-04,1.2431e-02,1.1043e-02,7.1946e-02,-6.7814e-04,8.3936e-04,1.0654e-04,7.3843e-02,1.0843e-03
+6,4.0333e+00,DOWN_FORCE_DETACH,1.1209e-03,1.3805e-02,6.4147e-03,2.5248e+00,-3.7164e-02,3.7703e-02,9.5631e-05,1.2631e-02,9.8686e-03,6.9622e-02,-6.2932e-04,8.3894e-04,9.3629e-05,7.1443e-02,1.0529e-03
+7,4.7333e+00,DOWN_FORCE_DETACH,1.3041e-03,1.6093e-02,2.7419e-03,2.5114e+00,-3.6964e-02,3.7855e-02,7.2823e-05,1.4919e-02,6.1958e-03,5.6223e-02,-4.2934e-04,9.9050e-04,7.0821e-05,5.8498e-02,1.0819e-03
+8,5.5833e+00,DOWN_FORCE_DETACH,1.4932e-03,1.7485e-02,2.4267e-03,2.4984e+00,-3.6979e-02,3.7960e-02,4.7390e-05,1.6311e-02,5.8806e-03,4.3218e-02,-4.4484e-04,1.0957e-03,4.5388e-05,4.6567e-02,1.1834e-03
+9,6.3833e+00,DOWN_FORCE_DETACH,1.6804e-03,1.5778e-02,4.9016e-03,2.4972e+00,-3.7145e-02,3.7853e-02,3.1271e-05,1.4605e-02,8.3556e-03,4.2029e-02,-6.1020e-04,9.8871e-04,2.9269e-05,4.5272e-02,1.1622e-03
+10,7.1667e+00,DOWN_FORCE_DETACH,1.8645e-03,1.4607e-02,7.7783e-03,2.5015e+00,-3.7306e-02,3.7770e-02,2.2729e-05,1.3433e-02,1.1232e-02,4.6325e-02,-7.7158e-04,9.0573e-04,2.0727e-05,4.9524e-02,1.1900e-03
+11,7.8167e+00,DOWN_FORCE_DETACH,2.0531e-03,1.4740e-02,1.2133e-02,2.5087e+00,-3.7558e-02,3.7770e-02,2.0777e-05,1.3566e-02,1.5587e-02,5.3521e-02,-1.0234e-03,9.0508e-04,1.8775e-05,5.7372e-02,1.3663e-03
+12,8.4000e+00,DOWN_FORCE_DETACH,2.2360e-03,1.3471e-02,1.3430e-02,2.5104e+00,-3.7634e-02,3.7680e-02,2.3450e-05,1.2297e-02,1.6884e-02,5.5197e-02,-1.0995e-03,8.1573e-04,2.1449e-05,5.9017e-02,1.3692e-03
+13,9.0500e+00,DOWN_FORCE_DETACH,2.4258e-03,1.2933e-02,1.2407e-02,2.5089e+00,-3.7601e-02,3.7642e-02,3.0610e-05,1.1759e-02,1.5861e-02,5.3728e-02,-1.0660e-03,7.7728e-04,2.8608e-05,5.7241e-02,1.3196e-03
+14,9.6833e+00,DOWN_FORCE_DETACH,2.6127e-03,1.4031e-02,1.0407e-02,2.5087e+00,-3.7517e-02,3.7717e-02,4.0383e-05,1.2858e-02,1.3861e-02,5.3551e-02,-9.8226e-04,8.5219e-04,3.8381e-05,5.6790e-02,1.3010e-03
+15,1.0250e+01,DOWN_FORCE_DETACH,2.7951e-03,1.4729e-02,1.0842e-02,2.5152e+00,-3.7561e-02,3.7765e-02,5.4176e-05,1.3555e-02,1.4296e-02,6.0049e-02,-1.0262e-03,9.0076e-04,5.2175e-05,6.3198e-02,1.3665e-03
+16,1.0850e+01,DOWN_FORCE_DETACH,2.9820e-03,1.6076e-02,1.4313e-02,2.5268e+00,-3.7777e-02,3.7851e-02,7.7090e-05,1.4903e-02,1.7766e-02,7.1635e-02,-1.2424e-03,9.8686e-04,7.5088e-05,7.5295e-02,1.5884e-03
+17,1.1417e+01,DOWN_FORCE_DETACH,3.1686e-03,1.7311e-02,1.8324e-02,2.5371e+00,-3.8006e-02,3.7924e-02,1.0315e-04,1.6137e-02,2.1778e-02,8.1959e-02,-1.4716e-03,1.0596e-03,1.0115e-04,8.6325e-02,1.8162e-03
+18,1.1967e+01,DOWN_FORCE_DETACH,3.3545e-03,1.8003e-02,2.1896e-02,2.5437e+00,-3.8199e-02,3.7959e-02,1.2214e-04,1.6829e-02,2.5350e-02,8.8569e-02,-1.6642e-03,1.0941e-03,1.2014e-04,9.3650e-02,1.9952e-03
+19,1.2467e+01,DOWN_FORCE_DETACH,3.5451e-03,1.8141e-02,2.3325e-02,2.5502e+00,-3.8273e-02,3.7960e-02,1.2625e-04,1.6967e-02,2.6779e-02,9.5054e-02,-1.7386e-03,1.0950e-03,1.2425e-04,1.0020e-01,2.0585e-03
+20,1.2967e+01,DOWN_FORCE_DETACH,3.7290e-03,1.9547e-02,2.3079e-02,2.5534e+00,-3.8261e-02,3.8047e-02,1.1486e-04,1.8373e-02,2.6533e-02,9.8184e-02,-1.7260e-03,1.1822e-03,1.1285e-04,1.0335e-01,2.0951e-03
+21,1.3450e+01,DOWN_FORCE_DETACH,3.9212e-03,2.3140e-02,2.2028e-02,2.5587e+00,-3.8212e-02,3.8279e-02,9.2126e-05,2.1967e-02,2.5482e-02,1.0348e-01,-1.6775e-03,1.4143e-03,9.0124e-05,1.0881e-01,2.1960e-03
+22,1.3867e+01,DOWN_FORCE_DETACH,4.1012e-03,2.3469e-02,2.5054e-02,2.5645e+00,-3.8408e-02,3.8299e-02,7.0013e-05,2.2295e-02,2.8508e-02,1.0936e-01,-1.8734e-03,1.4349e-03,6.8011e-05,1.1520e-01,2.3608e-03
+23,1.4283e+01,DOWN_FORCE_DETACH,4.2922e-03,2.3580e-02,2.9912e-02,2.5729e+00,-3.8694e-02,3.8303e-02,4.9045e-05,2.2406e-02,3.3366e-02,1.1776e-01,-2.1599e-03,1.4382e-03,4.7043e-05,1.2443e-01,2.5954e-03
+24,1.4683e+01,DOWN_FORCE_DETACH,4.4766e-03,2.4251e-02,3.1838e-02,2.5776e+00,-3.8807e-02,3.8344e-02,3.3755e-05,2.3078e-02,3.5292e-02,1.2246e-01,-2.2724e-03,1.4795e-03,3.1753e-05,1.2952e-01,2.7118e-03
+25,1.5033e+01,DOWN_FORCE_DETACH,4.6580e-03,2.4458e-02,2.9019e-02,2.5784e+00,-3.8641e-02,3.8359e-02,2.6084e-05,2.3284e-02,3.2473e-02,1.2317e-01,-2.1060e-03,1.4944e-03,2.4082e-05,1.2949e-01,2.5824e-03
+26,1.5400e+01,DOWN_FORCE_DETACH,4.8485e-03,2.4420e-02,2.8320e-02,2.5826e+00,-3.8605e-02,3.8358e-02,2.6408e-05,2.3246e-02,3.1774e-02,1.2744e-01,-2.0706e-03,1.4932e-03,2.4406e-05,1.3339e-01,2.5530e-03
+27,1.5767e+01,DOWN_FORCE_DETACH,5.0337e-03,2.4082e-02,3.0104e-02,2.5893e+00,-3.8706e-02,3.8331e-02,3.2894e-05,2.2908e-02,3.3558e-02,1.3413e-01,-2.1715e-03,1.4669e-03,3.0892e-05,1.4015e-01,2.6207e-03
+28,1.6100e+01,DOWN_FORCE_DETACH,5.2230e-03,2.3767e-02,3.2626e-02,2.5956e+00,-3.8842e-02,3.8300e-02,3.8144e-05,2.2593e-02,3.6080e-02,1.4047e-01,-2.3075e-03,1.4358e-03,3.6142e-05,1.4678e-01,2.7179e-03
+29,1.6400e+01,DOWN_FORCE_DETACH,5.4096e-03,2.3141e-02,3.4924e-02,2.6021e+00,-3.8965e-02,3.8249e-02,3.8813e-05,2.1967e-02,3.8378e-02,1.4690e-01,-2.4308e-03,1.3841e-03,3.6811e-05,1.5341e-01,2.7975e-03
+30,1.6717e+01,DOWN_FORCE_DETACH,5.5965e-03,2.1604e-02,3.4441e-02,2.6080e+00,-3.8920e-02,3.8137e-02,3.5824e-05,2.0430e-02,3.7895e-02,1.5286e-01,-2.3850e-03,1.2727e-03,3.3823e-05,1.5880e-01,2.7035e-03
+31,1.7000e+01,DOWN_FORCE_DETACH,5.7785e-03,2.1067e-02,3.2709e-02,2.6142e+00,-3.8805e-02,3.8091e-02,3.1327e-05,1.9893e-02,3.6163e-02,1.5897e-01,-2.2704e-03,1.2260e-03,2.9325e-05,1.6425e-01,2.5804e-03
+32,1.7300e+01,DOWN_FORCE_DETACH,5.9720e-03,2.1015e-02,3.5946e-02,2.6204e+00,-3.8996e-02,3.8074e-02,2.5951e-05,1.9841e-02,3.9400e-02,1.6525e-01,-2.4610e-03,1.2091e-03,2.3949e-05,1.7104e-01,2.7421e-03
+33,1.7550e+01,DOWN_FORCE_DETACH,6.1542e-03,2.0522e-02,4.0197e-02,2.6277e+00,-3.9244e-02,3.8031e-02,2.3311e-05,1.9348e-02,4.3651e-02,1.7251e-01,-2.7096e-03,1.1665e-03,2.1309e-05,1.7899e-01,2.9501e-03
+34,1.7833e+01,DOWN_FORCE_DETACH,6.3374e-03,1.8762e-02,4.0462e-02,2.6287e+00,-3.9250e-02,3.7910e-02,2.3809e-05,1.7589e-02,4.3916e-02,1.7357e-01,-2.7156e-03,1.0456e-03,2.1808e-05,1.7990e-01,2.9100e-03
+35,1.8083e+01,DOWN_FORCE_DETACH,6.5265e-03,1.7914e-02,3.9025e-02,2.6295e+00,-3.9157e-02,3.7853e-02,2.7933e-05,1.6740e-02,4.2479e-02,1.7436e-01,-2.6221e-03,9.8876e-04,2.5931e-05,1.8024e-01,2.8025e-03
+36,1.8333e+01,DOWN_FORCE_DETACH,6.7092e-03,1.8628e-02,4.0122e-02,2.6329e+00,-3.9213e-02,3.7894e-02,3.4746e-05,1.7455e-02,4.3576e-02,1.7774e-01,-2.6786e-03,1.0294e-03,3.2744e-05,1.8384e-01,2.8698e-03
+37,1.8583e+01,DOWN_FORCE_DETACH,6.8991e-03,1.9922e-02,4.2681e-02,2.6376e+00,-3.9352e-02,3.7969e-02,3.9879e-05,1.8748e-02,4.6135e-02,1.8239e-01,-2.8170e-03,1.1049e-03,3.7877e-05,1.8907e-01,3.0262e-03
+38,1.8833e+01,DOWN_FORCE_DETACH,7.0856e-03,1.9720e-02,4.6114e-02,2.6435e+00,-3.9540e-02,3.7948e-02,4.1841e-05,1.8547e-02,4.9568e-02,1.8833e-01,-3.0050e-03,1.0830e-03,3.9839e-05,1.9563e-01,3.1945e-03
+39,1.9067e+01,DOWN_FORCE_DETACH,7.2699e-03,1.8961e-02,4.6126e-02,2.6482e+00,-3.9518e-02,3.7890e-02,4.1710e-05,1.7787e-02,4.9580e-02,1.9298e-01,-2.9838e-03,1.0254e-03,3.9708e-05,2.0004e-01,3.1553e-03
+40,1.9333e+01,DOWN_FORCE_DETACH,7.4627e-03,1.8833e-02,4.4725e-02,2.6485e+00,-3.9413e-02,3.7872e-02,3.8864e-05,1.7660e-02,4.8179e-02,1.9327e-01,-2.8782e-03,1.0074e-03,3.6862e-05,1.9997e-01,3.0497e-03
+41,1.9567e+01,DOWN_FORCE_DETACH,7.6515e-03,1.8993e-02,4.7734e-02,2.6499e+00,-3.9581e-02,3.7875e-02,3.5133e-05,1.7819e-02,5.1188e-02,1.9467e-01,-3.0466e-03,1.0105e-03,3.3131e-05,2.0208e-01,3.2100e-03
+42,1.9817e+01,DOWN_FORCE_DETACH,7.8389e-03,1.8424e-02,4.9296e-02,2.6503e+00,-3.9660e-02,3.7832e-02,3.3028e-05,1.7251e-02,5.2750e-02,1.9509e-01,-3.1256e-03,9.6752e-04,3.1026e-05,2.0283e-01,3.2721e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd93952e9f7251f82a853c60e46d967e625531ee
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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+8791,1791447384388719082,2362778000000,1791447384386837951,UP_FORCE_RAMP,2,0.0415,0.04150199145078659,0.6760081878208045,-0.004737338493091693,0.09073597026571571,0.999999980629224,5.423755387592158e-05,-0.000158386777704387,-4.643632620227682e-05,0.6761,-0.0048,0.09100074071946625,1.0,0.0,0.0,0.0,0.03519753226310322,-0.18909691426443329,-0.14018820579943053,-0.015253631885673294,-0.0014366623037607579,-8.57081720029115e-05,-0.007162928940507376,-0.30208259411130134,-0.2942680790606714,-0.01822404213272775,-0.0038540409973987226,-4.009501727972177e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.0180134989237324,0.08092660058437802,2.1980625796554523,-0.2584404039494593,-1.5308261480052883,-0.01035585590473545,0.5024368616808691,0.14018820579943053,-1.695625717974583,0.14018820579943053,0.1710593056505158,0,0,6.6033681319198234e-06,8.921395751134152e-05
+8805,1791447384505687319,2362895000000,1791447384498838432,UP_FORCE_RAMP,2,0.0415,0.04150199145078659,0.6760080153372499,-0.004738115630199383,0.09073648103940338,0.9999999805906343,5.2583635154286074e-05,-0.00015883769590514893,-4.7614524997837055e-05,0.6761,-0.0048,0.09100178810370096,1.0,0.0,0.0,0.0,0.03712173671823338,-0.17857636944583907,-0.14414452877168465,-0.01525534487949363,-0.0012612901134313702,-7.598823191113638e-05,-0.005238724485377227,-0.2915620492927071,-0.2982244020329255,-0.018225755126548088,-0.003678668807069335,-3.0375077187946643e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.9398953136485034,0.006724839663048611,2.237881528283358,-0.2383016445295726,-1.5340159396712494,-0.05815740110450762,0.5024368616808691,0.14414452877168465,-1.735444666602489,0.14414452877168465,0.1815893056505166,0,0,1.1162432242776664e-05,7.636319390544753e-05
+8817,1791447384605750209,2362995000000,1791447384602838062,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.676008159079929,-0.004734242661842446,0.09073760152891149,0.9999999805974681,5.522016336740178e-05,-0.00015788281003679963,-4.7662141500623405e-05,0.6761,-0.0048,0.09100310460141799,1.0,0.0,0.0,0.0,0.0441044324602481,-0.17866029975285777,-0.14389981549166236,-0.015256072242442341,-0.001241342380500961,-7.54948229640339e-05,0.0017439712566375,-0.2916459795997258,-0.2979796887529032,-0.0182264824894968,-0.0036587210741389257,-2.9881668240844167e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.9636889249263658,-0.026477481327270968,2.149354489844423,-0.23050637728391352,-1.4842907108888632,-0.08174714336941281,0.5024368616808691,0.14389981549166236,-1.6469176281635538,0.14389981549166236,0.19058930565051727,0,0,1.534432030129322e-05,8.081237149630536e-05
+8831,1791447384721775797,2363111000000,1791447384718838262,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.6760082772838479,-0.0047396567223887565,0.09073896654398289,0.9999999807895025,5.234352166723577e-05,-0.00015812668683325831,-4.604308632610133e-05,0.6761,-0.0048,0.09100515667213092,1.0,0.0,0.0,0.0,0.038745517636733416,-0.16977455761185514,-0.14380801045811453,-0.015255617000564261,-0.0012143359027856158,-7.635853348398004e-05,-0.0036149435668771856,-0.2827602374587232,-0.2978878837193554,-0.01822602724761872,-0.0036317145964235805,-3.0745378760790314e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.9916811988395681,0.045773949799576046,2.1582356163487844,-0.2504745717845313,-1.4961837329671674,-0.03327148590827325,0.5024368616808691,0.14380801045811453,-1.6557987546679152,0.14380801045811453,0.20102930565051805,0,0,2.0122380859029137e-05,8.574006805224867e-05
+8843,1791447384821726816,2363211000000,1791447384818838374,UP_FORCE_RAMP,2,0.0415,0.041500676423311234,0.6760070555451361,-0.004741033324842328,0.09073599213129042,0.9999999807261825,4.922667133288077e-05,-0.00015905036330003946,-4.7646783681857334e-05,0.6761,-0.0048,0.09100738579147753,1.0,0.0,0.0,0.0,0.04259257653141889,-0.18601605250615363,-0.1405500769304237,-0.015236508803644187,-0.002007232062063415,-8.914363556768019e-05,0.00023211532780828634,-0.2990017323530217,-0.29462995019166455,-0.018206919050698645,-0.00442461075570138,-4.353048084449045e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.9761011644622614,0.04319012663748363,2.143718953317743,-0.24671140082872342,-1.4818953572400368,-0.03259349040234598,0.5024368616808691,0.1405500769304237,-1.641282091636874,0.1405500769304237,0.21002930565051872,0,0,2.4666487098727548e-05,9.999999025923074e-05
+8863,1791447384988758844,2363378000000,1791447384986838970,UP_FORCE_RAMP,2,0.0415,0.041500676423311234,0.6760071021879706,-0.004734558075451183,0.09073717971893179,0.9999999804116865,5.486817874706821e-05,-0.00015932210195173768,-4.7174587527959083e-05,0.6761,-0.0048,0.09101210757467679,1.0,0.0,0.0,0.0,0.044110873012162204,-0.1763420732987017,-0.14375291905371435,-0.014346163427854183,-0.0022411126090645553,-8.089569733241096e-05,0.0017504118085515986,-0.28932775314556974,-0.2978327923149552,-0.01731657367490864,-0.00465849130270252,-3.528254260922124e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.992286321719457,0.1352836434138338,2.1949581839667323,-0.2758646466729404,-1.5185147322218007,0.026477388105572285,0.5024368616808691,0.14375291905371435,-1.692521322285863,0.14375291905371435,0.22505930565051985,0,0,3.190886693982843e-05,8.832652887448809e-05
+8875,1791447385088744408,2363478000000,1791447385086838080,UP_FORCE_RAMP,2,0.0415,0.041500676423311234,0.6760071603021175,-0.004735133892077628,0.09073718338192287,0.9999999803798973,5.175695213461852e-05,-0.00016014015343113287,-4.857384664876177e-05,0.6761,-0.0048,0.09101552629041594,1.0,0.0,0.0,0.0,0.039129840477956,-0.17813389459295884,-0.1438216641413192,-0.01453979024383512,-0.0022373304397217604,-8.36221928460278e-05,-0.0032306207256546002,-0.2911195744398269,-0.29790153740256003,-0.01751020049088958,-0.004654709133359725,-3.800903812283807e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.0718909743429155,0.029525326672276073,2.254873627409645,-0.24478758432521225,-1.5755441628784683,-0.041489083428879574,0.5024368616808691,0.1438216641413192,-1.7524367657287758,0.1438216641413192,0.23405930565052052,0,0,3.651241241178841e-05,8.693341760416421e-05
+8883,1791447385155784119,2363545000000,1791447385154838084,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.6760064966889794,-0.004732734474960719,0.09073895502221634,0.999999980080702,5.430221781950414e-05,-0.0001607997911831485,-4.976099332464935e-05,0.6761,-0.0048,0.09101806956583466,1.0,0.0,0.0,0.0,0.03554107667401534,-0.17532147701462478,-0.1358877788422853,-0.014211334920746539,-0.0022280281975251086,-8.760450862923779e-05,-0.006819384529595264,-0.28830715686149283,-0.28996765210352615,-0.017181745167800997,-0.004645406891163073,-4.1991353906048054e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.0630291023846994,0.03628820111399701,2.275438590323934,-0.24871844469956503,-1.586209491587823,-0.03963261930973871,0.5024368616808691,0.1358877788422853,-1.7730017286430648,0.1358877788422853,0.24008930565052097,0,0,3.948994034139031e-05,9.98168312157432e-05
+8892,1791447385230711779,2363620000000,1791447385230837877,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.6760075405204982,-0.004736747775105769,0.09074119633563263,0.9999999803604142,5.48138243569654e-05,-0.0001597883148003006,-4.674585368717415e-05,0.6761,-0.0048,0.09102116147684414,1.0,0.0,0.0,0.0,0.039656548328324305,-0.17914380316636805,-0.1373478436343647,-0.014214811498752285,-0.0022425868961958926,-8.525925488485719e-05,-0.0027039128752862976,-0.2921294830132361,-0.29142771689560554,-0.017185221745806743,-0.004659965589833857,-3.964610016166746e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.03566033367769,-0.006285591870672235,2.2556199676521382,-0.2404879562124799,-1.564483624683864,-0.0697020875355562,0.5024368616808691,0.1373478436343647,-1.753183105971269,0.1373478436343647,0.24683930565052148,0,0,4.2911227220192256e-05,9.370052930635637e-05
+8908,1791447385363702126,2363753000000,1791447385358838226,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.6760070478042509,-0.004739215084245385,0.09074211046226936,0.9999999804061456,5.02016383756436e-05,-0.0001610871769439097,-4.6489676091089826e-05,0.6761,-0.0048,0.09102727508266092,1.0,0.0,0.0,0.0,0.04402291630914378,-0.1757380930855819,-0.14368938720885782,-0.014209276486027924,-0.002244013733309354,-7.941370793198668e-05,0.0016624551055331822,-0.28872377293244994,-0.29776926047009866,-0.017179686733082383,-0.004661392426947319,-3.380055320879695e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.0664850906673984,0.0023214102337593846,2.269142911861804,-0.24072609401709577,-1.5811865195361132,-0.060195400419863994,0.5024368616808691,0.14368938720885782,-1.7667060501809346,0.14368938720885782,0.2588093056505197,0,0,4.8908103085411924e-05,8.739248621635363e-05
+8919,1791447385455779755,2363845000000,1791447385454838288,UP_FORCE_RAMP,2,0.0415,0.04150133207440376,0.6760081687493503,-0.004737994138050828,0.09074603946326514,0.9999999804308647,5.3587629587447863e-05,-0.00015975863574231556,-4.676193936701339e-05,0.6761,-0.0048,0.09103189589855705,1.0,0.0,0.0,0.0,0.04366062844256922,-0.17592524717121635,-0.1537350633998738,-0.014208575850974398,-0.0022410277114478477,-7.523625880185562e-05,0.001300167238958616,-0.2889109270180844,-0.30781493666111465,-0.017178986098028856,-0.0046584064050858125,-2.962310407866589e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-1.0632036933552993,0.049622826007224445,2.264193550617973,-0.2529141149139478,-1.5736826025724393,-0.029535479672205524,0.5024368616808691,0.1537350633998738,-1.761756688937104,0.1537350633998738,0.26708930565051775,0,0,5.138020406140849e-05,5.350421276680283e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b45b81f79039e65b15cb18fa7a27b10f77e3269
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79e1ace4d3d651216e0cc3a5ed06ae7f642ab99e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,1.283333333e+00,UP_FORCE_RAMP,1791447385986499482,-4.908867652e-06,-1.056378131e-06,2.557579697e-05,-2.478537059e-06,2.106881632e-09,2.062363300e-05,-2.199865600e-06,6.885166309e-08,2.047373141e-05,7.015329626e-01,4.945831899e-07,8.407665170e-01,7.015353929e-01,1.553068203e-06,8.407615648e-01,7.017235877e-01,1.687717799e-06,8.298011642e-01
+18,1.333333333e+00,UP_FORCE_RAMP,1791447386056470876,-3.586984496e-06,2.091521074e-06,3.301871841e-05,-2.478537059e-06,2.106881632e-09,2.062363300e-05,-2.197296954e-06,6.979755127e-08,2.048978431e-05,7.015342845e-01,3.642482395e-06,8.407739599e-01,7.015353929e-01,1.553068203e-06,8.407615648e-01,7.017235902e-01,1.688663687e-06,8.298011802e-01
+19,1.400000000e+00,UP_FORCE_RAMP,1791447386155887356,-2.279676459e-06,-2.662426048e-07,4.109269418e-05,-2.172901778e-06,-1.246692950e-07,4.054499201e-05,-1.774920116e-06,-7.072731454e-08,4.015552893e-05,7.015355918e-01,1.284718716e-06,8.407820339e-01,7.015356986e-01,1.426292026e-06,8.407814862e-01,7.017240126e-01,1.548138821e-06,8.298208460e-01
+20,1.450000000e+00,UP_FORCE_RAMP,1791447386230965730,-3.495304469e-06,5.067748304e-06,4.434474005e-05,-2.172901778e-06,-1.246692950e-07,4.054499201e-05,-1.770629098e-06,-6.928554466e-08,4.019681783e-05,7.015343762e-01,6.618709625e-06,8.407852859e-01,7.015356986e-01,1.426292026e-06,8.407814862e-01,7.017240169e-01,1.549580591e-06,8.298208873e-01
+21,1.550000000e+00,UP_FORCE_RAMP,1791447386385765982,-5.869652286e-06,3.896077925e-06,4.997342362e-05,-2.172901778e-06,-1.246692950e-07,4.054499201e-05,-1.765331675e-06,-6.703721992e-08,4.025368587e-05,7.015320018e-01,5.447039246e-06,8.407909146e-01,7.015356986e-01,1.426292026e-06,8.407814862e-01,7.017240222e-01,1.551828916e-06,8.298209441e-01
+22,1.616666667e+00,UP_FORCE_RAMP,1791447386486692953,-6.108104068e-06,4.649287682e-07,5.698770879e-05,-2.172901778e-06,-1.246692950e-07,4.054499201e-05,-1.762089515e-06,-6.571494674e-08,4.028722179e-05,7.015317634e-01,2.015890089e-06,8.407979289e-01,7.015356986e-01,1.426292026e-06,8.407814862e-01,7.017240254e-01,1.553151189e-06,8.298209777e-01
+23,1.683333333e+00,UP_FORCE_RAMP,1791447386586680992,-8.794547685e-06,5.347739539e-06,5.953379964e-05,-8.455468557e-06,5.412503399e-06,5.971889897e-05,-8.137324687e-06,5.475105685e-06,5.918168252e-05,7.015290769e-01,6.898700860e-06,8.408004750e-01,7.015294160e-01,6.963464720e-06,8.408006601e-01,7.017176502e-01,7.093971821e-06,8.298398721e-01
+24,1.800000000e+00,UP_FORCE_RAMP,1791447386757026409,-1.026638782e-05,4.681226807e-06,6.484845314e-05,-8.455468557e-06,5.412503399e-06,5.971889897e-05,-8.147454131e-06,5.480937786e-06,5.927696970e-05,7.015276051e-01,6.232188128e-06,8.408057896e-01,7.015294160e-01,6.963464720e-06,8.408006601e-01,7.017176401e-01,7.099803922e-06,8.298399674e-01
+25,1.850000000e+00,UP_FORCE_RAMP,1791447386826216294,-9.376952751e-06,6.193743813e-06,7.269542956e-05,-8.455468557e-06,5.412503399e-06,5.971889897e-05,-8.150271958e-06,5.481545306e-06,5.930964788e-05,7.015284945e-01,7.744705134e-06,8.408136366e-01,7.015294160e-01,6.963464720e-06,8.408006601e-01,7.017176372e-01,7.100411442e-06,8.298400001e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1791447386905639328,-1.125269634e-05,5.553023532e-06,7.532612990e-05,-8.455468557e-06,5.412503399e-06,5.971889897e-05,-8.152791079e-06,5.481993938e-06,5.934010581e-05,7.015266188e-01,7.103984853e-06,8.408162673e-01,7.015294160e-01,6.963464720e-06,8.408006601e-01,7.017176347e-01,7.100860074e-06,8.298400305e-01
+27,1.950000000e+00,UP_FORCE_RAMP,1791447386986570097,-1.223993349e-05,6.811839467e-06,7.648284609e-05,-8.630430405e-06,2.953743695e-06,7.975735461e-05,-8.241911536e-06,2.999036712e-06,7.915277948e-05,7.015256315e-01,8.362800788e-06,8.408174240e-01,7.015292411e-01,4.504705016e-06,8.408206985e-01,7.017175456e-01,4.617902848e-06,8.298598432e-01
+28,2.016666667e+00,UP_FORCE_RAMP,1791447387085766151,-1.186248623e-05,2.955608399e-06,8.670155905e-05,-8.630430405e-06,2.953743695e-06,7.975735461e-05,-8.244714487e-06,2.999506596e-06,7.921108532e-05,7.015260090e-01,4.506569720e-06,8.408276427e-01,7.015292411e-01,4.504705016e-06,8.408206985e-01,7.017175428e-01,4.618372732e-06,8.298599015e-01
+29,2.066666667e+00,UP_FORCE_RAMP,1791447387156262231,-1.484882063e-05,4.103492510e-06,8.733084345e-05,-8.630430405e-06,2.953743695e-06,7.975735461e-05,-8.246800308e-06,2.999943557e-06,7.925069960e-05,7.015230227e-01,5.654453831e-06,8.408282720e-01,7.015292411e-01,4.504705016e-06,8.408206985e-01,7.017175407e-01,4.618809693e-06,8.298599411e-01
+30,2.116666667e+00,UP_FORCE_RAMP,1791447387224813802,-1.415154351e-05,1.013867346e-05,9.314162387e-05,-8.630430405e-06,2.953743695e-06,7.975735461e-05,-8.248735454e-06,3.000377244e-06,7.928751164e-05,7.015237199e-01,1.168963478e-05,8.408340828e-01,7.015292411e-01,4.504705016e-06,8.408206985e-01,7.017175388e-01,4.619243380e-06,8.298599780e-01
+31,2.166666667e+00,UP_FORCE_RAMP,1791447387305119651,-1.356167296e-05,6.728890691e-06,9.857110313e-05,-8.630430405e-06,2.953743695e-06,7.975735461e-05,-8.250519684e-06,3.000799968e-06,7.932176410e-05,7.015243098e-01,8.279852012e-06,8.408395123e-01,7.015292411e-01,4.504705016e-06,8.408206985e-01,7.017175370e-01,4.619666104e-06,8.298600122e-01
+32,2.216666667e+00,UP_FORCE_RAMP,1791447387385787345,-1.802800012e-05,2.465715353e-06,9.592116434e-05,-1.503215725e-05,5.949090038e-06,9.881205548e-05,-1.469066859e-05,5.991136034e-06,9.817280652e-05,7.015198435e-01,4.016676674e-06,8.408368624e-01,7.015228393e-01,7.500051359e-06,8.408397532e-01,7.017110969e-01,7.610002170e-06,8.298788632e-01
+33,2.283333333e+00,UP_FORCE_RAMP,1791447387485785833,-1.799184148e-05,3.584988318e-06,1.047470334e-04,-1.503215725e-05,5.949090038e-06,9.881205548e-05,-1.470071595e-05,5.992136221e-06,9.823539943e-05,7.015198796e-01,5.135949639e-06,8.408456882e-01,7.015228393e-01,7.500051359e-06,8.408397532e-01,7.017110868e-01,7.611002357e-06,8.298789258e-01
+34,2.383333333e+00,UP_FORCE_RAMP,1791447387625331434,-1.770837181e-05,6.212959581e-06,1.152645261e-04,-1.503215725e-05,5.949090038e-06,9.881205548e-05,-1.471359372e-05,5.992579869e-06,9.831664789e-05,7.015201631e-01,7.763920902e-06,8.408562057e-01,7.015228393e-01,7.500051359e-06,8.408397532e-01,7.017110739e-01,7.611446005e-06,8.298790071e-01
+35,2.483333333e+00,UP_FORCE_RAMP,1791447387785792700,-2.022660272e-05,5.856809193e-06,1.211655777e-04,-1.870896014e-05,3.122793000e-06,1.186545948e-04,-1.837950790e-05,3.196520407e-06,1.179970329e-04,7.015176449e-01,7.407770514e-06,8.408621068e-01,7.015191625e-01,4.673754321e-06,8.408595958e-01,7.017074080e-01,4.815386543e-06,8.298986875e-01
+36,2.550000000e+00,UP_FORCE_RAMP,1791447387885787351,-1.943663146e-05,3.918540172e-06,1.320508773e-04,-1.870896014e-05,3.122793000e-06,1.186545948e-04,-1.839037368e-05,3.196367600e-06,1.180597061e-04,7.015184348e-01,5.469501493e-06,8.408729921e-01,7.015191625e-01,4.673754321e-06,8.408595958e-01,7.017073971e-01,4.815233736e-06,8.298987501e-01
+37,2.633333333e+00,UP_FORCE_RAMP,1791447388005608924,-2.033934402e-05,5.551819712e-06,1.351822927e-04,-1.870896014e-05,3.122793000e-06,1.186545948e-04,-1.840244464e-05,3.196319319e-06,1.181294636e-04,7.015175321e-01,7.102781033e-06,8.408761235e-01,7.015191625e-01,4.673754321e-06,8.408595958e-01,7.017073851e-01,4.815185455e-06,8.298988199e-01
+38,2.683333333e+00,UP_FORCE_RAMP,1791447388086327223,-1.968923189e-05,6.293481905e-06,1.418888842e-04,-1.743735125e-05,3.275587363e-06,1.413837010e-04,-1.703060955e-05,3.324655990e-06,1.406045722e-04,7.015181822e-01,7.844443226e-06,8.408828301e-01,7.015204341e-01,4.826548684e-06,8.408823249e-01,7.017087569e-01,4.943522126e-06,8.299212950e-01
+39,2.750000000e+00,UP_FORCE_RAMP,1791447388186263063,-2.037182808e-05,9.971775863e-06,1.466975420e-04,-1.743735125e-05,3.275587363e-06,1.413837010e-04,-1.703682953e-05,3.325352509e-06,1.406776706e-04,7.015174997e-01,1.152273718e-05,8.408876387e-01,7.015204341e-01,4.826548684e-06,8.408823249e-01,7.017087507e-01,4.944218645e-06,8.299213681e-01
+40,2.866666667e+00,UP_FORCE_RAMP,1791447388354928564,-2.113493303e-05,8.549594590e-06,1.524289566e-04,-1.743735125e-05,3.275587363e-06,1.413837010e-04,-1.704684056e-05,3.326439922e-06,1.407871633e-04,7.015167365e-01,1.010055591e-05,8.408933701e-01,7.015204341e-01,4.826548684e-06,8.408823249e-01,7.017087407e-01,4.945306058e-06,8.299214776e-01
+41,2.933333333e+00,UP_FORCE_RAMP,1791447388455448196,-2.370908624e-05,2.340880575e-06,1.567006099e-04,-1.743735125e-05,3.275587363e-06,1.413837010e-04,-1.705174034e-05,3.326967120e-06,1.408415703e-04,7.015141624e-01,3.891841896e-06,8.408976418e-01,7.015204341e-01,4.826548684e-06,8.408823249e-01,7.017087358e-01,4.945833256e-06,8.299215320e-01
+42,3.033333333e+00,UP_FORCE_RAMP,1791447388604901221,-2.325220448e-05,7.013096099e-06,1.609831514e-04,-2.166712688e-05,7.594241580e-06,1.615219452e-04,-2.131237484e-05,7.637103943e-06,1.608399542e-04,7.015146193e-01,8.564057420e-06,8.409019243e-01,7.015162044e-01,9.145202901e-06,8.409024631e-01,7.017044751e-01,9.255970079e-06,8.299415304e-01
+43,3.166666667e+00,UP_FORCE_RAMP,1791447388805900129,-2.593209905e-05,6.881594104e-06,1.672656995e-04,-2.166712688e-05,7.594241580e-06,1.615219452e-04,-2.132882447e-05,7.638795963e-06,1.609630569e-04,7.015119394e-01,8.432555425e-06,8.409082069e-01,7.015162044e-01,9.145202901e-06,8.409024631e-01,7.017044587e-01,9.257662099e-06,8.299416535e-01
+44,3.233333333e+00,UP_FORCE_RAMP,1791447388906271110,-2.489860559e-05,7.722829176e-06,1.727393930e-04,-2.166712688e-05,7.594241580e-06,1.615219452e-04,-2.133567715e-05,7.639276021e-06,1.610155283e-04,7.015129729e-01,9.273790497e-06,8.409136806e-01,7.015162044e-01,9.145202901e-06,8.409024631e-01,7.017044518e-01,9.258142157e-06,8.299417060e-01
+45,3.283333333e+00,UP_FORCE_RAMP,1791447388986094225,-2.735127754e-05,4.858838160e-06,1.715067681e-04,-2.166712688e-05,7.594241580e-06,1.615219452e-04,-2.134035150e-05,7.639607001e-06,1.610514863e-04,7.015105202e-01,6.409799481e-06,8.409124480e-01,7.015162044e-01,9.145202901e-06,8.409024631e-01,7.017044472e-01,9.258473137e-06,8.299417419e-01
+46,3.333333333e+00,UP_FORCE_RAMP,1791447389056901562,-2.300078953e-05,1.577621249e-06,1.808683795e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.251968345e-05,1.318480240e-06,1.799621450e-04,7.015148707e-01,3.128582570e-06,8.409218096e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032678e-01,2.937346376e-06,8.299606526e-01
+47,3.416666667e+00,UP_FORCE_RAMP,1791447389186946175,-2.512097322e-05,6.764692877e-06,1.817614483e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.252748042e-05,1.314506588e-06,1.800498975e-04,7.015127505e-01,8.315654198e-06,8.409227026e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032600e-01,2.933372724e-06,8.299607403e-01
+48,3.500000000e+00,UP_FORCE_HOLD,1791447389306454436,-2.822470954e-05,6.294593081e-06,1.815246407e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.253541659e-05,1.314722731e-06,1.801183585e-04,7.015096468e-01,7.845554402e-06,8.409224658e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032521e-01,2.933588867e-06,8.299608088e-01
+49,3.566666667e+00,UP_FORCE_HOLD,1791447389407495277,-2.601779117e-05,8.372839372e-06,1.882199849e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.254121615e-05,1.315034066e-06,1.801670061e-04,7.015118537e-01,9.923800693e-06,8.409291612e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032463e-01,2.933900202e-06,8.299608574e-01
+50,3.633333333e+00,UP_FORCE_HOLD,1791447389506927918,-2.809662484e-05,7.424828877e-06,1.870721119e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.254657227e-05,1.315333298e-06,1.802108528e-04,7.015097749e-01,8.975790198e-06,8.409280133e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032409e-01,2.934199434e-06,8.299609013e-01
+51,3.683333333e+00,UP_FORCE_HOLD,1791447389585811339,-3.078437311e-05,8.918896830e-06,1.860971274e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.255034750e-05,1.315513661e-06,1.802407849e-04,7.015070871e-01,1.046985815e-05,8.409270383e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032372e-01,2.934379797e-06,8.299609312e-01
+52,3.750000000e+00,UP_FORCE_HOLD,1791447389687277888,-2.775327139e-05,8.363640073e-06,1.928853404e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.255504241e-05,1.315729277e-06,1.802773576e-04,7.015101182e-01,9.914601394e-06,8.409338265e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032325e-01,2.934595413e-06,8.299609678e-01
+53,3.833333333e+00,UP_FORCE_HOLD,1791447389806037260,-2.694924090e-05,6.496101377e-06,1.972796490e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.256045566e-05,1.315917704e-06,1.803180689e-04,7.015109222e-01,8.047062698e-06,8.409382208e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032271e-01,2.934783840e-06,8.299610085e-01
+54,3.900000000e+00,UP_FORCE_HOLD,1791447389906346295,-2.790552797e-05,4.804014183e-06,1.938840984e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.256445294e-05,1.316002196e-06,1.803470654e-04,7.015099660e-01,6.354975504e-06,8.409348253e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032231e-01,2.934868332e-06,8.299610375e-01
+55,3.983333333e+00,UP_FORCE_HOLD,1791447390025089598,-2.945794088e-05,6.396875138e-06,1.973822467e-04,-2.294345313e-05,1.232065923e-06,1.807203372e-04,-2.256908243e-05,1.316073114e-06,1.803793737e-04,7.015084135e-01,7.947836459e-06,8.409383234e-01,7.015149280e-01,2.783027244e-06,8.409216615e-01,7.017032184e-01,2.934939250e-06,8.299610698e-01
+56,4.033333333e+00,UP_FORCE_HOLD,1791447390106009157,-3.145342285e-05,4.054093347e-06,1.967172325e-04,-2.734778282e-05,5.628431001e-06,2.010960522e-04,-2.699739345e-05,5.674322034e-06,2.005739023e-04,7.015064181e-01,5.605054668e-06,8.409376584e-01,7.015105237e-01,7.179392322e-06,8.409420372e-01,7.016987901e-01,7.293188170e-06,8.299812643e-01
+57,4.116666667e+00,UP_FORCE_HOLD,1791447390225475139,-3.190901862e-05,2.525183783e-06,1.985638876e-04,-2.734778282e-05,5.628431001e-06,2.010960522e-04,-2.700834544e-05,5.675751767e-06,2.006303687e-04,7.015059625e-01,4.076145104e-06,8.409395051e-01,7.015105237e-01,7.179392322e-06,8.409420372e-01,7.016987792e-01,7.294617903e-06,8.299813208e-01
+58,4.183333333e+00,UP_SETTLE,1791447390337396741,-3.127645708e-05,2.743667852e-06,2.036431430e-04,-2.734778282e-05,5.628431001e-06,2.010960522e-04,-2.701632485e-05,5.676119647e-06,2.006695265e-04,7.015065950e-01,4.294629173e-06,8.409445843e-01,7.015105237e-01,7.179392322e-06,8.409420372e-01,7.016987712e-01,7.294985783e-06,8.299813600e-01
+59,4.250000000e+00,UP_SETTLE,1791447390445993057,-3.095715036e-05,2.782039703e-06,2.050055456e-04,-2.734778282e-05,5.628431001e-06,2.010960522e-04,-2.702366698e-05,5.676277540e-06,2.007047276e-04,7.015069143e-01,4.333001024e-06,8.409459467e-01,7.015105237e-01,7.179392322e-06,8.409420372e-01,7.016987639e-01,7.295143676e-06,8.299813952e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d3e7b65224f184d7b47e38fb7dac54806736d32
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,1.4797e-03,-3.4691e-03,2.4552e+00,-3.6533e-02,3.6885e-02,2.3036e-06,3.0589e-04,-1.5177e-05,3.6716e-05,1.8813e-06,2.0213e-05,3.0173e-07,3.0846e-04,2.0303e-05
+1,1.1667e-01,UP_FORCE_RAMP,1.4447e-05,6.5123e-03,-5.5190e-03,2.4561e+00,-3.6337e-02,3.7274e-02,3.0149e-05,5.3385e-03,-2.0651e-03,9.3079e-04,1.9793e-04,4.0942e-04,2.8147e-05,5.7992e-03,4.5563e-04
+2,2.1667e-01,UP_FORCE_RAMP,3.3007e-05,7.2387e-03,-5.3804e-03,2.4561e+00,-3.6347e-02,3.7320e-02,3.1090e-05,6.0649e-03,-1.9264e-03,9.4390e-04,1.8757e-04,4.5540e-04,2.9088e-05,6.4331e-03,4.9337e-04
+3,3.0000e-01,UP_FORCE_RAMP,5.0045e-05,7.9772e-03,-5.2486e-03,2.4562e+00,-3.6357e-02,3.7367e-02,3.2146e-05,6.8034e-03,-1.7946e-03,1.0195e-03,1.7785e-04,5.0269e-04,3.0144e-05,7.1096e-03,5.3407e-04
+4,3.6667e-01,UP_FORCE_RAMP,6.7118e-05,1.0628e-02,-3.9322e-03,2.4570e+00,-3.6472e-02,3.7562e-02,6.5778e-05,9.4541e-03,-4.7827e-04,1.8458e-03,6.2969e-05,6.9736e-04,6.3776e-05,9.6445e-03,7.0309e-04
+5,4.5000e-01,UP_FORCE_RAMP,8.4348e-05,1.0841e-02,-3.9483e-03,2.4569e+00,-3.6470e-02,3.7575e-02,6.6028e-05,9.6674e-03,-4.9430e-04,1.7567e-03,6.5040e-05,7.1052e-04,6.4026e-05,9.8382e-03,7.1636e-04
+6,5.1667e-01,UP_FORCE_RAMP,9.7472e-05,1.1120e-02,-3.9436e-03,2.4569e+00,-3.6469e-02,3.7593e-02,6.6316e-05,9.9465e-03,-4.8966e-04,1.7300e-03,6.5535e-05,7.2818e-04,6.4315e-05,1.0108e-02,7.3395e-04
+7,6.1667e-01,UP_FORCE_RAMP,1.1531e-04,1.1647e-02,-3.9201e-03,2.4569e+00,-3.6469e-02,3.7626e-02,6.6927e-05,1.0474e-02,-4.6613e-04,1.7459e-03,6.5167e-05,7.6194e-04,6.4926e-05,1.0628e-02,7.6748e-04
+8,6.8333e-01,UP_FORCE_RAMP,1.2935e-04,1.2048e-02,-3.8973e-03,2.4570e+00,-3.6470e-02,3.7652e-02,6.7465e-05,1.0874e-02,-4.4331e-04,1.7834e-03,6.4451e-05,7.8787e-04,6.5463e-05,1.1029e-02,7.9321e-04
+9,7.3333e-01,UP_FORCE_RAMP,1.4666e-04,1.2363e-02,-3.8777e-03,2.4570e+00,-3.6471e-02,3.7673e-02,6.7940e-05,1.1190e-02,-4.2379e-04,1.8215e-03,6.3751e-05,8.0840e-04,6.5938e-05,1.1345e-02,8.1358e-04
+10,7.8333e-01,UP_FORCE_RAMP,1.6322e-04,1.4016e-02,-4.3390e-03,2.4574e+00,-3.6424e-02,3.7800e-02,8.8329e-05,1.2843e-02,-8.8500e-04,2.2178e-03,1.1089e-04,9.3590e-04,8.6327e-05,1.3063e-02,9.4639e-04
+11,8.6667e-01,UP_FORCE_RAMP,1.8058e-04,1.4200e-02,-4.2971e-03,2.4574e+00,-3.6427e-02,3.7812e-02,8.8547e-05,1.3026e-02,-8.4310e-04,2.1830e-03,1.0761e-04,9.4724e-04,8.6545e-05,1.3235e-02,9.5725e-04
+12,9.3333e-01,UP_FORCE_RAMP,1.9146e-04,1.4405e-02,-4.2556e-03,2.4574e+00,-3.6430e-02,3.7825e-02,8.8802e-05,1.3231e-02,-8.0165e-04,2.1806e-03,1.0449e-04,9.6012e-04,8.6800e-05,1.3433e-02,9.6968e-04
+13,1.0167e+00,UP_FORCE_RAMP,2.1155e-04,1.4708e-02,-4.1971e-03,2.4574e+00,-3.6434e-02,3.7844e-02,8.9226e-05,1.3534e-02,-7.4313e-04,2.2004e-03,1.0015e-04,9.7945e-04,8.7224e-05,1.3732e-02,9.8842e-04
+14,1.0833e+00,UP_FORCE_RAMP,2.2766e-04,1.4976e-02,-4.1465e-03,2.4574e+00,-3.6438e-02,3.7861e-02,8.9656e-05,1.3802e-02,-6.9259e-04,2.2302e-03,9.6444e-05,9.9670e-04,8.7655e-05,1.3998e-02,1.0052e-03
+15,1.1667e+00,UP_FORCE_RAMP,2.4582e-04,1.5972e-02,-3.5698e-03,2.4577e+00,-3.6489e-02,3.7935e-02,1.0465e-04,1.4799e-02,-1.1585e-04,2.4858e-03,4.5810e-05,1.0703e-03,1.0265e-04,1.5006e-02,1.0762e-03
+16,1.2167e+00,UP_FORCE_RAMP,2.5819e-04,1.7451e-02,-3.5810e-03,2.4463e+00,-3.6486e-02,3.8033e-02,1.0523e-04,1.6277e-02,-1.2705e-04,-8.8396e-03,4.8343e-05,1.1688e-03,1.0323e-04,1.8523e-02,1.1744e-03
+17,1.2833e+00,UP_FORCE_RAMP,2.7901e-04,1.7437e-02,-3.5885e-03,2.4466e+00,-3.6485e-02,3.8033e-02,1.0539e-04,1.6263e-02,-1.3457e-04,-8.5611e-03,4.9088e-05,1.1686e-03,1.0338e-04,1.8379e-02,1.1742e-03
+18,1.3333e+00,UP_FORCE_RAMP,2.9348e-04,1.7471e-02,-3.5890e-03,2.4469e+00,-3.6485e-02,3.8036e-02,1.0553e-04,1.6298e-02,-1.3505e-04,-8.2474e-03,4.9300e-05,1.1715e-03,1.0353e-04,1.8266e-02,1.1771e-03
+19,1.4000e+00,UP_FORCE_RAMP,3.1114e-04,1.7546e-02,-3.5860e-03,2.4474e+00,-3.6485e-02,3.8042e-02,1.0577e-04,1.6372e-02,-1.3203e-04,-7.7322e-03,4.9304e-05,1.1771e-03,1.0377e-04,1.8107e-02,1.1827e-03
+20,1.4500e+00,UP_FORCE_RAMP,3.2506e-04,1.7526e-02,-3.5654e-03,2.4459e+00,-3.6486e-02,3.8041e-02,1.0602e-04,1.6352e-02,-1.1145e-04,-9.2936e-03,4.8116e-05,1.1769e-03,1.0402e-04,1.8809e-02,1.1825e-03
+21,1.5500e+00,UP_FORCE_RAMP,3.4167e-04,1.7589e-02,-3.5324e-03,2.4444e+00,-3.6488e-02,3.8047e-02,1.0646e-04,1.6415e-02,-7.8491e-05,-1.0828e-02,4.6145e-05,1.1827e-03,1.0446e-04,1.9664e-02,1.1882e-03
+22,1.6167e+00,UP_FORCE_RAMP,3.5691e-04,1.7674e-02,-3.5178e-03,2.4441e+00,-3.6489e-02,3.8054e-02,1.0678e-04,1.6500e-02,-6.3810e-05,-1.1122e-02,4.5206e-05,1.1893e-03,1.0478e-04,1.9899e-02,1.1948e-03
+23,1.6833e+00,UP_FORCE_RAMP,3.7171e-04,1.7780e-02,-3.5071e-03,2.4441e+00,-3.6490e-02,3.8062e-02,1.0713e-04,1.6606e-02,-5.3151e-05,-1.1040e-02,4.4446e-05,1.1971e-03,1.0513e-04,1.9941e-02,1.2025e-03
+24,1.8000e+00,UP_FORCE_RAMP,3.8885e-04,1.9147e-02,-4.5382e-03,2.4414e+00,-3.6422e-02,3.8154e-02,1.0768e-04,1.7973e-02,-1.0842e-03,-1.3803e-02,1.1218e-04,1.2899e-03,1.0567e-04,2.2688e-02,1.2990e-03
+25,1.8500e+00,UP_FORCE_RAMP,4.0717e-04,1.9492e-02,-4.7893e-03,2.4409e+00,-3.6406e-02,3.8178e-02,1.0792e-04,1.8318e-02,-1.3354e-03,-1.4269e-02,1.2862e-04,1.3134e-03,1.0591e-04,2.3259e-02,1.3239e-03
+26,1.9000e+00,UP_FORCE_RAMP,4.1926e-04,1.9752e-02,-4.9878e-03,2.4408e+00,-3.6393e-02,3.8196e-02,1.0816e-04,1.8578e-02,-1.5338e-03,-1.4404e-02,1.4167e-04,1.3315e-03,1.0616e-04,2.3558e-02,1.3432e-03
+27,1.9500e+00,UP_FORCE_RAMP,4.3554e-04,1.9944e-02,-4.9648e-03,2.4398e+00,-3.6395e-02,3.8210e-02,1.0846e-04,1.8771e-02,-1.5109e-03,-1.5412e-02,1.4003e-04,1.3455e-03,1.0646e-04,2.4334e-02,1.3570e-03
+28,2.0167e+00,UP_FORCE_RAMP,4.5848e-04,2.0102e-02,-4.8997e-03,2.4381e+00,-3.6399e-02,3.8222e-02,1.0885e-04,1.8929e-02,-1.4457e-03,-1.7060e-02,1.3599e-04,1.3579e-03,1.0684e-04,2.5523e-02,1.3689e-03
+29,2.0667e+00,UP_FORCE_RAMP,4.7302e-04,2.0188e-02,-4.8750e-03,2.4375e+00,-3.6400e-02,3.8229e-02,1.0913e-04,1.9015e-02,-1.4211e-03,-1.7654e-02,1.3441e-04,1.3649e-03,1.0713e-04,2.5986e-02,1.3757e-03
+30,2.1167e+00,UP_FORCE_RAMP,4.8735e-04,2.0254e-02,-4.8628e-03,2.4373e+00,-3.6401e-02,3.8235e-02,1.0941e-04,1.9081e-02,-1.4089e-03,-1.7851e-02,1.3354e-04,1.3706e-03,1.0741e-04,2.6167e-02,1.3813e-03
+31,2.1667e+00,UP_FORCE_RAMP,5.0556e-04,2.0305e-02,-4.8595e-03,2.4374e+00,-3.6401e-02,3.8240e-02,1.0968e-04,1.9131e-02,-1.4055e-03,-1.7748e-02,1.3315e-04,1.3752e-03,1.0768e-04,2.6134e-02,1.3858e-03
+32,2.2167e+00,UP_FORCE_RAMP,5.1994e-04,2.0516e-02,-4.9953e-03,2.4374e+00,-3.6392e-02,3.8255e-02,1.0996e-04,1.9342e-02,-1.5413e-03,-1.7802e-02,1.4212e-04,1.3910e-03,1.0796e-04,2.6332e-02,1.4024e-03
+33,2.2833e+00,UP_FORCE_RAMP,5.3481e-04,2.1299e-02,-5.2977e-03,2.4359e+00,-3.6373e-02,3.8309e-02,1.1028e-04,2.0125e-02,-1.8438e-03,-1.9303e-02,1.6147e-04,1.4446e-03,1.0827e-04,2.7947e-02,1.4576e-03
+34,2.3833e+00,UP_FORCE_RAMP,5.5091e-04,2.1885e-02,-5.6013e-03,2.4353e+00,-3.6354e-02,3.8350e-02,1.1069e-04,2.0711e-02,-2.1474e-03,-1.9864e-02,1.8066e-04,1.4856e-03,1.0869e-04,2.8777e-02,1.5004e-03
+35,2.4833e+00,UP_FORCE_RAMP,5.6972e-04,2.2496e-02,-5.4771e-03,2.4340e+00,-3.6363e-02,3.8394e-02,1.1108e-04,2.1323e-02,-2.0231e-03,-2.1189e-02,1.7161e-04,1.5293e-03,1.0908e-04,3.0129e-02,1.5427e-03
+36,2.5500e+00,UP_FORCE_RAMP,5.8470e-04,2.2737e-02,-5.3900e-03,2.4334e+00,-3.6369e-02,3.8411e-02,1.1126e-04,2.1563e-02,-1.9361e-03,-2.1827e-02,1.6553e-04,1.5464e-03,1.0925e-04,3.0743e-02,1.5591e-03
+37,2.6333e+00,UP_FORCE_RAMP,6.0208e-04,2.2891e-02,-5.3217e-03,2.4333e+00,-3.6374e-02,3.8423e-02,1.1144e-04,2.1717e-02,-1.8677e-03,-2.1885e-02,1.6034e-04,1.5583e-03,1.0943e-04,3.0888e-02,1.5704e-03
+38,2.6833e+00,UP_FORCE_RAMP,6.1613e-04,2.2811e-02,-5.2948e-03,2.4324e+00,-3.6377e-02,3.8419e-02,1.1155e-04,2.1637e-02,-1.8409e-03,-2.2827e-02,1.5787e-04,1.5547e-03,1.0955e-04,3.1506e-02,1.5666e-03
+39,2.7500e+00,UP_FORCE_RAMP,6.3289e-04,2.2672e-02,-5.2798e-03,2.4312e+00,-3.6378e-02,3.8412e-02,1.1163e-04,2.1498e-02,-1.8259e-03,-2.3969e-02,1.5609e-04,1.5475e-03,1.0963e-04,3.2250e-02,1.5592e-03
+40,2.8667e+00,UP_FORCE_RAMP,6.5065e-04,2.2450e-02,-5.2768e-03,2.4308e+00,-3.6380e-02,3.8400e-02,1.1168e-04,2.1276e-02,-1.8229e-03,-2.4392e-02,1.5420e-04,1.5358e-03,1.0968e-04,3.2419e-02,1.5474e-03
+41,2.9333e+00,UP_FORCE_RAMP,6.6504e-04,2.2335e-02,-5.2835e-03,2.4312e+00,-3.6381e-02,3.8394e-02,1.1167e-04,2.1161e-02,-1.8295e-03,-2.4004e-02,1.5355e-04,1.5295e-03,1.0966e-04,3.2052e-02,1.5411e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/fem_node.csv
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4919c3fdceff91e704a3d20cfc953ab4eed70532
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
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+16824,1791447451235853897,2429625000000,1791447451230838080,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.67600519307849,-0.004744875275267548,0.09081716100879185,0.9999999828269316,7.005413287510651e-05,-0.0001441908066836321,-9.509514476457282e-06,0.6761,-0.0048,0.09095159315916171,1.0,0.0,0.0,0.0,0.031159932584684615,-0.21508091433468915,-0.10535051064003248,-0.018195256694198754,-0.0011635802935332762,-0.0001407891179296308,-0.011200528618925988,-0.3280665941815572,-0.2594303839012733,-0.02116566694125321,-0.003580958987171241,-9.517596320644106e-05,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,-0.012783967033469117,-0.14443693908631727,1.3088981961314394,0.0009125046896234549,-0.7723508110742024,-0.15568573380306688,0.5024368616808691,0.10535051064003248,-0.8064613344505703,-0.8064613344505703,0.0835200000000005,0,0,-6.959998664487899e-05,-9.999999025923074e-05
+16968,1791447452435887383,2430825000000,1791447452434838232,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760068844315003,-0.004754131184156738,0.09072854868812315,0.9999999830304822,8.061037282916465e-05,-0.0001366690129445506,1.4333469781354571e-05,0.6761,-0.0048,0.09083210318220705,1.0,0.0,0.0,0.0,0.03213363684411552,-0.20723802579908365,0.045508352598185906,-0.01736743830218756,-0.00019963469209648057,-0.0002366818070960709,-0.01022682435949508,-0.3202237056459517,-0.10857152066305494,-0.020337848549242015,-0.0026170133857344453,-0.00019106865237288116,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.06923547815373358,-0.13419692459481977,1.0742474146640657,0.06560584568780241,-0.6202625899875388,-0.163215420883643,0.5024368616808691,0.045508352598185906,-0.5718105529831966,-0.5718105529831966,0.15552000000000588,0,0,-0.00012959997495595588,-9.999999025923074e-05
+17083,1791447453393892447,2431783000000,1791447453390838312,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.676028573246708,-0.004758754587753567,0.0906261674500999,0.9999999860418647,8.736626443045632e-05,-0.00010103199562681712,3.897186826496681e-05,0.6761,-0.0048,0.09068502626067378,1.0,0.0,0.0,0.0,-0.003089234267122473,-0.20340448871519087,0.21618715437124555,-0.016058082382423476,0.0017651153061457262,-0.0003319577359480244,-0.045449695470733076,-0.3163901685620589,0.06210728111000472,-0.019028492629477933,-0.0006522633874922386,-0.00028634458122483465,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.2647084793307574,-0.1168917681238704,0.7780101825821623,0.0901391191556083,-0.3920318935651274,-0.15964078229403417,0.5024368616808691,0.21618715437124555,-0.27557332090129316,-0.27557332090129316,0.21300000000001018,0,0,-0.00017749996562429893,-9.999999025923074e-05
+17184,1791447454235896568,2432625000000,1791447454234838321,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760426036212657,-0.00475539525319346,0.09049463512010446,0.9999999892851468,8.014965965005109e-05,-7.477876987801714e-05,2.9270094297348307e-05,0.6761,-0.0048,0.09052193160825399,1.0,0.0,0.0,0.0,-0.008011720487075664,-0.1763725429445185,0.4068080825188704,-0.014460534821640695,0.0026992719799741978,0.0005740144548612432,-0.05037218169068627,-0.28935822279138657,0.25272820925762957,-0.017430945068695154,0.00028189328633623317,0.0006196276095844328,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.385394391434862,-0.19083469193645095,0.5534643297441416,0.13373497706701482,-0.2274067573501856,-0.20003092443102882,0.5024368616808691,0.4068080825188704,-0.05102746806327252,-0.05102746806327252,0.26352000000001397,0,0,-0.00019751506432902596,8.875336859650592e-05
+17280,1791447455035934321,2433425000000,1791447455034837972,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760579056249317,-0.004757673894673401,0.09037406939748292,0.9999999908279495,7.619522149683078e-05,-5.633302962889459e-05,2.842258690286937e-05,0.6761,-0.0048,0.09037812547786665,1.0,0.0,0.0,0.0,-0.02530142218167601,-0.14297689781922526,0.5497149062214881,-0.011501563173376736,0.003624516511209044,0.0005074979587857426,-0.06766188338528661,-0.2559625776660933,0.3956350329602472,-0.014471973420431194,0.0012071378175710792,0.0005531111135089324,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5277641250982565,-0.17998636797556344,0.31063053766017107,0.15138937195769278,-0.0429751095080818,-0.1918852801061372,0.5024368616808691,0.5497149062214881,0.19180632402069803,0.19180632402069803,0.31152000000001756,0,0,-0.00016097484083624358,9.999999025923074e-05
+17386,1791447455918883954,2434308000000,1791447455918838248,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760759742438109,-0.004758208848413762,0.0902768684835056,0.9999999918199979,7.95797098232627e-05,-3.087020627805671e-05,2.273694786815667e-05,0.6761,-0.0048,0.09025545483960656,1.0,0.0,0.0,0.0,-0.03578560224735955,-0.12514331398245612,0.6497822081847033,-0.010023381444473975,0.004587114146189533,0.00045804951015059313,-0.07814606345097015,-0.23812899382932418,0.49570233492346244,-0.012993791691528433,0.0021697354525515686,0.0005036626648737829,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5820968227287343,-0.15877062223613764,0.23065076184716102,0.15678607809368234,0.014502357232168403,-0.1761192638358454,0.5024368616808691,0.6497822081847033,0.27178609983370805,0.27178609983370805,0.36450000000002153,0,0,-0.00011682484943734283,9.999999025923074e-05
+17515,1791447456993870985,2435383000000,1791447456990838050,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760805563735349,-0.004764376994487862,0.09018349021236739,0.9999999915698521,8.282657170157625e-05,-2.5661311436082907e-05,2.800743395327432e-05,0.6761,-0.0048,0.09015811882574028,1.0,0.0,0.0,0.0,-0.038251078100668204,-0.11213708548092599,0.6908780156821088,-0.009496782717098166,0.005580336451990237,0.0004468501376857984,-0.0806115393042788,-0.22512276532779404,0.536798142420868,-0.012467192964152624,0.003162957758352272,0.0004924632924089881,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5405110884659176,-0.10607184171811919,0.15640520063880237,0.14626888872547986,0.045530916725919426,-0.14045488633167774,0.5024368616808691,0.6908780156821088,0.34603166104206673,0.34603166104206673,0.42900000000002636,0,0,-6.602238535460968e-05,9.999999025923074e-05
+17644,1791447458068831685,2436458000000,1791447458062838393,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760815753418838,-0.00476305421053627,0.09012683204840748,0.9999999909989377,8.865470334135077e-05,-2.5450700994826956e-05,3.0620164527233276e-05,0.6761,-0.0048,0.09009622567175658,1.0,0.0,0.0,0.0,-0.0358525448849952,-0.12449832449581599,0.690490324278922,-0.01050660520331439,0.005425233709269325,0.000433298132432725,-0.0782130060886058,-0.23748400434268405,0.5364104510176811,-0.013477015450368848,0.003007855015631361,0.0004789112871559147,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6069179348294841,-0.21833544896898896,0.07526306875313106,0.19004685202572655,0.11472065093108624,-0.2121966386317499,0.5024368616808691,0.690490324278922,0.42717379292773805,0.42717379292773805,0.4935000000000312,0,0,-5.751216610308673e-05,9.814108833794961e-05
+17784,1791447459235878793,2437625000000,1791447459230838529,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760784869258892,-0.004768290729284485,0.09005083623776114,0.9999999908142977,8.733775839328312e-05,-3.0652784538697717e-05,3.530993945133443e-05,0.6761,-0.0048,0.09001936182413725,1.0,0.0,0.0,0.0,-0.04396862321510635,-0.12417909174033415,0.7105336809067159,-0.01051498230523331,0.00559569534678073,0.00041882950174357053,-0.08632908441871695,-0.2371647715872022,0.556453807645475,-0.013485392552287768,0.0031783166531427656,0.00046444265646676026,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6047967371944574,-0.121650350965955,0.08996681601846734,0.1724792207674795,0.09806670051704461,-0.1457364128001636,0.5024368616808691,0.7105336809067159,0.41247004566240175,0.41247004566240175,0.5635199999999777,0,0,-7.156355427281736e-05,-9.901691552650078e-05
+17919,1791447460360897234,2438750000000,1791447460358837807,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760796809668188,-0.004770974803431451,0.08997110316654634,0.9999999909906281,8.54364310570009e-05,-2.6987674328998216e-05,3.7866735743383345e-05,0.6761,-0.0048,0.08993412298199055,1.0,0.0,0.0,0.0,-0.05323677258171611,-0.12379014623789764,0.720550483369714,-0.010520213942109275,0.005729257716841565,0.000411721329622672,-0.09559723378532671,-0.2367758260847657,0.5664706101084731,-0.013490624189163733,0.0033118790232036,0.00045733448434586175,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6328451203812191,-0.222252399073578,0.083588441970442,0.20442669287536375,0.10418646860610761,-0.21194364146799743,0.5024368616808691,0.720550483369714,0.4188484197104271,0.4188484197104271,0.6310199999999203,0,0,-8.159731560849893e-05,-9.998254587995631e-05
+18039,1791447461360942508,2439750000000,1791447461358838557,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760796802339136,-0.004773361425036841,0.08988800252160298,0.9999999911016683,8.34863042059428e-05,-2.6223493336405845e-05,3.9773021335894396e-05,0.6761,-0.0048,0.08984720025308034,1.0,0.0,0.0,0.0,-0.04909128046561828,-0.129185274231194,0.7505102078086109,-0.010533340337788532,0.00595826788833806,0.00039165186202077645,-0.09145174166922888,-0.24217095407806205,0.59643033454737,-0.01350375058484299,0.003540889194700095,0.0004372650167439662,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.684634377655344,-0.3045129697645163,0.009723640360869855,0.22885524838185328,0.1623476607783978,-0.2656972087997904,0.5024368616808691,0.7505102078086109,0.49271322131999923,0.49271322131999923,0.6910199999998693,0,0,-9.177391078615672e-05,-9.999266278726821e-05
+18162,1791447462385920360,2440775000000,1791447462378848262,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760794582950775,-0.004774610529284778,0.08979488516080716,0.9999999916277597,7.771993908363635e-05,-2.4688181681548713e-05,3.9210328316726866e-05,0.6761,-0.0048,0.08974601614189895,1.0,0.0,0.0,0.0,-0.054739299399603314,-0.122618164573574,0.7506029531267364,-0.01054584135820258,0.006596202478486987,0.0004008591540840853,-0.09709976060321392,-0.23560384442044205,0.5965230798654956,-0.013516251605257039,0.0041788237848490225,0.00044647230880727506,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6844520051755664,-0.22438768511671903,-0.10931510093762146,0.212582147666786,0.22909070276182225,-0.2116468064055536,0.5024368616808691,0.7506029531267364,0.6117519626184905,0.6117519626184905,0.752519999999817,0,0,-0.0001045687827757894,9.996481006713793e-05
+18282,1791447463385917764,2441775000000,1791447463382837891,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760770724200744,-0.004775731111131786,0.08968005649617873,0.999999991357573,7.805417143379775e-05,-2.9559243957562098e-05,4.19704156749013e-05,0.6761,-0.0048,0.08963484547026251,1.0,0.0,0.0,0.0,-0.06327841687483945,-0.12273956214669782,0.7706619520998752,-0.01055352302359325,0.00659627016723092,0.00038362224611529055,-0.10563887807845006,-0.23572524199356587,0.6165820788386344,-0.013523933270647708,0.004178891473592955,0.0004292354008384803,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6876483976528598,-0.21448338536911288,-0.0846053012809069,0.21617041090376402,0.20916670403662208,-0.20351998224999848,0.5024368616808691,0.7706619520998752,0.587042162961776,0.587042162961776,0.812519999999766,0,0,-0.0001173028266424333,-9.984457291357102e-05
+18392,1791447464302880857,2442692000000,1791447464302838206,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760744847139732,-0.004774251589841989,0.08957081690051445,0.9999999909658245,8.277591460090972e-05,-3.2834795227529515e-05,3.976480566596897e-05,0.6761,-0.0048,0.08952359320514096,1.0,0.0,0.0,0.0,-0.05482607345023384,-0.11808594613413165,0.7907298533777931,-0.010556709457744314,0.006591386755560586,0.00036844293986450775,-0.09718653465384444,-0.2310716259809997,0.6366499801165523,-0.013527119704798772,0.004174008061922621,0.0004140560945876975,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7144311038814396,-0.29567122354598846,-0.1762347999108926,0.2505243525877344,0.26678468432074737,-0.2535996119052817,0.5024368616808691,0.7907298533777931,0.6786716615917617,0.6786716615917617,0.8675399999997192,0,0,-0.0001267907269633398,9.239625317481454e-05
+18504,1791447465235952834,2443625000000,1791447465234838551,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760724155713166,-0.004781586912129216,0.0894480972747718,0.9999999907929616,8.165065090590209e-05,-3.467539554377746e-05,4.4583957155563755e-05,0.6761,-0.0048,0.08940010701622066,1.0,0.0,0.0,0.0,-0.0640825421556889,-0.12464958768378792,0.7975413466046909,-0.010559008287406729,0.006590532272068095,0.0003625028242221472,-0.1064430033592995,-0.23763526753065597,0.64346147334345,-0.013529418534461187,0.00417315357843013,0.0004081159789453369,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6983327580071185,-0.17103844710121713,-0.19309093122517348,0.21903982556285762,0.26753751360120015,-0.1715103197205483,0.5024368616808691,0.7975413466046909,0.6955277929060426,0.6955277929060426,0.9235199999996716,0,0,-0.00013912928112404775,2.357532189768062e-05
+18603,1791447466060921194,2444450000000,1791447466058838282,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760692640172671,-0.004783955970276141,0.0893260355551445,0.9999999908977893,7.664907767537612e-05,-4.0220648849407144e-05,4.641663401740424e-05,0.6761,-0.0048,0.08928187480879049,1.0,0.0,0.0,0.0,-0.05705812226753745,-0.1243722579571821,0.8211720718089529,-0.010563726308582006,0.0065856642124214,0.00034347175219103974,-0.09941858347114806,-0.23735793780405015,0.6670921985477121,-0.013534136555636464,0.004168285518783435,0.00038908490691422947,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.826927907289474,-0.24268944884644136,-0.2335014714428186,0.25458458227549996,0.3223677486617917,-0.21311618773194835,0.5024368616808691,0.8211720718089529,0.7359383331236877,0.7359383331236877,0.9730199999996295,0,0,-0.000147269120809916,5.070828974091849e-05
+18702,1791447466885954105,2445275000000,1791447466878847231,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760684661199393,-0.004788282008474561,0.08919949769014213,0.9999999907347272,7.462307568939295e-05,-4.533278721547902e-05,4.8474167400746094e-05,0.6761,-0.0048,0.08915652981582572,1.0,0.0,0.0,0.0,-0.06211582224496959,-0.13001292628051678,0.8212771955092799,-0.010564636832600111,0.006603639589957199,0.00034338827412463816,-0.10447628344858019,-0.24299860612738483,0.6671973222480391,-0.013535047079654569,0.004186260896319234,0.0003890014288478279,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8131306773069502,-0.22691784565473644,-0.1772082511748906,0.25715679719834783,0.27534708991789925,-0.20171333809707817,0.5024368616808691,0.8212771955092799,0.6796451128557597,0.6796451128557597,1.0225199999995875,0,0,-0.0001568282221129077,-9.999999025923074e-05
+18804,1791447467735886523,2446125000000,1791447467730838525,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760694873587391,-0.004793464789425049,0.08905561980178915,0.9999999906924701,6.992118115099217e-05,-4.671211455921938e-05,5.465282167626231e-05,0.6761,-0.0048,0.0890186698884533,1.0,0.0,0.0,0.0,-0.06473528664412197,-0.11656520330490747,0.8404837368610227,-0.010582315867340332,0.0071933665644081865,0.00033678808845889947,-0.10709574784773257,-0.22955088315177552,0.6864038635997819,-0.01355272611439479,0.004775987870770221,0.0003824012431820892,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.812506676392765,-0.2014074785890602,-0.2998244754567214,0.26056938051885414,0.34747968518212263,-0.18387754918418983,0.5024368616808691,0.8404837368610227,0.8022613371375905,0.8022613371375905,1.0735199999995442,0,0,-0.00016675359143787186,4.0387815360602784e-05
+18906,1791447468585965958,2446975000000,1791447468578847001,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760704374047273,-0.00479432027655854,0.08890533597792089,0.9999999902779779,7.288315664800938e-05,-4.7665919722990724e-05,5.7470984877680777e-05,0.6761,-0.0048,0.08886841197571403,1.0,0.0,0.0,0.0,-0.07251431309429797,-0.11905090497775406,0.8507986210697496,-0.010594248868207885,0.007592120542241185,0.0003334765889167801,-0.11487477429790857,-0.2320365848246221,0.6967187478085087,-0.013564659115262343,0.00517474184860322,0.00037908974363996985,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7618634515198608,-0.2449286680569821,-0.32201662384755125,0.27790691443888055,0.3417940599072761,-0.21505123800789286,0.5024368616808691,0.8507986210697496,0.8244534855284203,0.8244534855284203,1.1245199999995008,0,0,-0.0001873320058708827,7.365754735590358e-05
+18992,1791447469302888469,2447692000000,1791447469298837894,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.676070451310277,-0.004797336922899637,0.08876763161812883,0.9999999899306086,7.561507102673407e-05,-4.82737628350419e-05,5.9444528461161606e-05,0.6761,-0.0048,0.08873085127480836,1.0,0.0,0.0,0.0,-0.06577043302768922,-0.11592894692118363,0.8612353747987402,-0.009577911746764194,0.00757090509052283,0.0003373417063103627,-0.10813089423129982,-0.2289146267680517,0.7071555015374994,-0.012548321993818652,0.0051535263968848655,0.0003829548610335524,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7971849583559152,-0.2069331724526431,-0.26309930736053744,0.2805002046168642,0.30915537818473365,-0.18776925431193384,0.5024368616808691,0.8612353747987402,0.7655361690414065,0.7655361690414065,1.1675399999994642,0,0,-0.00019847062250197135,-9.999986535914047e-05
+19085,1791447470077974250,2448467000000,1791447470074838250,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760673074882423,-0.00480348804025946,0.08860274025958441,0.9999999896743718,7.074409807045814e-05,-5.366494216686978e-05,6.488040949840108e-05,0.6761,-0.0048,0.08857001665492478,1.0,0.0,0.0,0.0,-0.07376103166737337,-0.11810328398062761,0.8709527707998459,-0.010462873199934379,0.00758526968744421,0.0003176347756369529,-0.11612149287098397,-0.23108896382749566,0.7168728975386051,-0.013433283446988837,0.005167890993806244,0.00036324793036014263,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8471990275176656,-0.16762412316551364,-0.39366124162865246,0.2779352156176553,0.40183731583935656,-0.15947156227066064,0.5024368616808691,0.8709527707998459,0.8960981033095216,0.8960981033095216,1.2140399999994247,0,0,-0.0002160603420383892,9.231028027934513e-05
+19170,1791447470785864032,2449175000000,1791447470782837810,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760668206511761,-0.0048027643449226895,0.08844775038942147,0.9999999894063242,7.267902001624302e-05,-5.5861664057374904e-05,6.501884647917657e-05,0.6761,-0.0048,0.08840957694314797,1.0,0.0,0.0,0.0,-0.06920099061581517,-0.12407625355121138,0.8812846340095218,-0.009582968101953613,0.007567413738198667,0.0003207484938803779,-0.11156145181942577,-0.23706193339807943,0.727204760748281,-0.012553378349008071,0.005150035044560702,0.0003663616486035676,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7558569458423834,-0.22814431962641873,-0.30184339771148955,0.308863545491458,0.3143000255076574,-0.20056065685987168,0.5024368616808691,0.8812846340095218,0.8042802593923586,0.8042802593923586,1.2565199999993886,0,0,-0.0002371610884163974,-9.999999025923074e-05
+19248,1791447471435865284,2449825000000,1791447471430838617,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760672012071834,-0.00480566209170301,0.088283042767568,0.9999999884992782,8.236711395904773e-05,-5.5854832236700755e-05,6.738103630076523e-05,0.6761,-0.0048,0.08825002051699271,1.0,0.0,0.0,0.0,-0.07437203643602693,-0.12442306198800948,0.9013282831429249,-0.009586023917295744,0.0075628111828887675,0.00030393619589776035,-0.11673249763963753,-0.23740874183487753,0.7472484098816841,-0.012556434164350202,0.005145432489250802,0.0003495493506209501,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7959064929800079,-0.26355972391419136,-0.36078807643485616,0.33017000867638574,0.36120824972779264,-0.22168127897638937,0.5024368616808691,0.9013282831429249,0.8632249381157253,0.8632249381157253,1.2955199999993554,0,0,-0.00025263507681745444,-6.810060921943052e-05
+19323,1791447472060885557,2450450000000,1791447472058837962,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760661888510552,-0.004804520313001792,0.08811969722719169,0.9999999873005693,9.168876020913133e-05,-5.769910558555782e-05,7.145425098295856e-05,0.6761,-0.0048,0.08808711075515728,1.0,0.0,0.0,0.0,-0.07438160706278645,-0.11410714716954609,0.9113089814957267,-0.009586994498817733,0.007560124894582918,0.0002958325458380001,-0.11674206826639705,-0.22709282701641414,0.7572291082344859,-0.012557404745872192,0.005142746200944953,0.00034144570056118985,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7832673260885299,-0.2905059860917038,-0.3188845050061277,0.3463570131163849,0.3310937352751663,-0.24208621069824193,0.5024368616808691,0.9113089814957267,0.8213213666869967,0.8213213666869967,1.3330199999993235,0,0,-0.00026851269370051076,-9.799359520912815e-05
+19398,1791447472685896732,2451075000000,1791447472682838109,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760630141808439,-0.004808960649151456,0.0879452778853539,0.9999999869607684,8.71203163273927e-05,-6.342312928286927e-05,7.686926882489671e-05,0.6761,-0.0048,0.08791448110283547,1.0,0.0,0.0,0.0,-0.07440228030876407,-0.12365275592481592,0.9118815731432903,-0.00958852542414889,0.007560733537478008,0.00029530133260423944,-0.11676274151237467,-0.23663843577168397,0.7578016998820495,-0.012558935671203348,0.005143354843840044,0.00034091448732742917,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7600224179665621,-0.2223533945791742,-0.26605065242347,0.3438588888305078,0.28955834510239614,-0.19239076577390743,0.5024368616808691,0.9118815731432903,0.768487514104339,0.768487514104339,1.3705199999992916,0,0,-0.00028517807459524223,-9.999978209241362e-05
+19464,1791447473235969456,2451625000000,1791447473234838000,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760629049852825,-0.004810111476461145,0.08777996002110502,0.9999999866740703,8.644887867068338e-05,-6.750735204191957e-05,7.787215488422456e-05,0.6761,-0.0048,0.08775338253496909,1.0,0.0,0.0,0.0,-0.0698581491769129,-0.11231788212600669,0.9216578211631387,-0.009054640390960364,0.007547919324865019,0.0002941005207701707,-0.1122186103805235,-0.22530356197287474,0.7675779479018978,-0.012025050638014822,0.005130540631227054,0.0003397136754933604,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7684770329895145,-0.1611828976286264,-0.3268143190464932,0.34062277957419507,0.3286957734457579,-0.15346902852778854,0.5024368616808691,0.9216578211631387,0.8292511807273624,0.8292511807273624,1.4035199999992636,0,0,-0.00030251751635265576,-9.999906044744761e-05
+19530,1791447473785966387,2452175000000,1791447473782837752,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760615684640184,-0.004812860369576654,0.08761128573520999,0.9999999868093261,8.053696625424154e-05,-6.766909082539383e-05,8.221254930995236e-05,0.6761,-0.0048,0.08758182916704417,1.0,0.0,0.0,0.0,-0.07494008574595411,-0.11081466886014454,0.9316610857513093,-0.008653442796872276,0.0075383937828212375,0.00028995045191750816,-0.11730054694956471,-0.2238003487070126,0.7775812124900685,-0.011623853043926734,0.005121015089183272,0.0003355636066406979,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7622160190024203,-0.22250156033751695,-0.35519374423473987,0.3677375937795059,0.34415287666670613,-0.19531644985969387,0.5024368616808691,0.9316610857513093,0.8576306059156089,0.8576306059156089,1.4365199999992355,0,0,-0.0003225783358443409,-9.999999025923074e-05
+19596,1791447474335871976,2452725000000,1791447474334838716,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.676058852997083,-0.0048150737854393945,0.08742918888630556,0.9999999859745939,8.340646943672904e-05,-7.143315628527356e-05,8.622262671570264e-05,0.6761,-0.0048,0.0873981027172482,1.0,0.0,0.0,0.0,-0.07499353791807642,-0.11027916646266031,0.9379302046845902,-0.00857151803149238,0.007536008583398009,0.0002858119200966173,-0.11735399912168702,-0.22326484630952836,0.7838503314233494,-0.011541928278546838,0.005118629889760044,0.000331425074819807,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8036264028707116,-0.21483081263262216,-0.35771282139430705,0.3737282187316614,0.3556613947914798,-0.18955947921415003,0.5024368616808691,0.9379302046845902,0.8601496830751761,0.8601496830751761,1.4695199999992075,0,0,-0.00034459916093829,-9.999999025923074e-05
+19652,1791447474802870544,2453192000000,1791447474802837902,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760631577382893,-0.0048191159955031935,0.08727225682697004,0.9999999860954766,8.470161952665585e-05,-6.665609142131364e-05,8.737569488066536e-05,0.6761,-0.0048,0.08723326189893396,1.0,0.0,0.0,0.0,-0.07501266413530829,-0.0998473045595058,0.9519620780145704,-0.00856791759942906,0.007531504712423634,0.00027455704045468076,-0.11737312533891889,-0.21283298440637385,0.7978822047533296,-0.011538327846483518,0.005114126018785668,0.0003201701951778705,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.746795305943463,-0.1982056112587811,-0.33846321144911484,0.38585714271948063,0.32457004590512983,-0.17794533209667804,0.5024368616808691,0.9519620780145704,0.8409000731299839,0.8409000731299839,1.4975399999991836,0,0,-0.0003612672329858776,-9.999999025923074e-05
+19710,1791447475285896572,2453675000000,1791447475282838550,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760633739388098,-0.004821146499709487,0.0871000062439251,0.9999999861156711,8.362153388825826e-05,-6.446846087646619e-05,8.979297628945059e-05,0.6761,-0.0048,0.08705548863087113,1.0,0.0,0.0,0.0,-0.07559210386667484,-0.09668183425517626,0.9623661820666587,-0.0075551357604210344,0.007510508890749055,0.00027752161890090397,-0.11795256507028544,-0.20966751410204432,0.8082863088054179,-0.010525546007475493,0.00509313019711109,0.0003231347736240937,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7705903546087529,-0.302503308834296,-0.2991105905908336,0.4312314914060222,0.30495545664930357,-0.2460022539324136,0.5024368616808691,0.9623661820666587,0.8015474522717028,0.8015474522717028,1.526519999999159,0,0,-0.00037622805145884195,-9.999999025923074e-05
+19764,1791447475735890755,2454125000000,1791447475730838459,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760607016848911,-0.004822864285212914,0.08692143578871905,0.9999999862346026,7.669226445590711e-05,-6.715819313704596e-05,9.263764223801617e-05,0.6761,-0.0048,0.08688262885714369,1.0,0.0,0.0,0.0,-0.0841330435319071,-0.10303643903238136,0.9623438747427758,-0.007555304021530963,0.00751098836771388,0.00027607314049114286,-0.1264935047355177,-0.2160221188792494,0.808264001481535,-0.010525714268585422,0.0050936096740759156,0.0003216862952143326,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7632831074674981,-0.21221095523678035,-0.29269265890822094,0.4097392485665708,0.30140295397396566,-0.18686911082977628,0.5024368616808691,0.9623438747427758,0.79512952058909,0.79512952058909,1.553519999999136,0,0,-0.00039078540497591705,-9.730442426659209e-05
+19818,1791447476185973305,2454575000000,1791447476178838368,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760622964178457,-0.004823946660448601,0.08674690471546558,0.9999999859626733,7.957920388640467e-05,-6.47837185972729e-05,9.480368046806726e-05,0.6761,-0.0048,0.08670342827298894,1.0,0.0,0.0,0.0,-0.0809456377223547,-0.10743558261929995,0.9783667466847844,-0.008572831163928036,0.00752607768085089,0.00025250655038115504,-0.12330609892596531,-0.220421262466168,0.8242868734235436,-0.011543241410982494,0.005108698987212925,0.00029811970510434477,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7809904027483195,-0.24315737363299278,-0.4248982779748727,0.43307065810993556,0.3873981085768361,-0.20155290422529637,0.5024368616808691,0.9783667466847844,0.9273351396557418,0.9273351396557418,1.580519999999113,0,0,-0.00040404336624080974,9.935801767302905e-05
+19872,1791447476635919528,2455025000000,1791447476630838067,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760587996616233,-0.0048271597874478284,0.08656195457307574,0.9999999853310718,8.502414268875506e-05,-6.914017966660513e-05,9.365495970411444e-05,0.6761,-0.0048,0.08651807241674646,1.0,0.0,0.0,0.0,-0.08461198025951171,-0.0985260603211705,0.9723805321930875,-0.007557126699088711,0.0075086814249621155,0.00026833536296262136,-0.1269724414631223,-0.21151174016803856,0.8183006589318467,-0.01052753694614317,0.00509130273132415,0.0003139485176858111,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8010531092024418,-0.2961706347179816,-0.3451057749076543,0.44976875170020586,0.34084288270521707,-0.23722903152776215,0.5024368616808691,0.9723805321930875,0.8475426365885235,0.8475426365885235,1.6075199999990901,0,0,-0.0004186675095455269,-9.999999025923074e-05
+19923,1791447477060950234,2455450000000,1791447477054837977,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760606771912495,-0.004832087477613124,0.08638487623867028,0.9999999853308355,8.251918751029957e-05,-6.595973907282288e-05,9.808715466925083e-05,0.6761,-0.0048,0.08633668068893452,1.0,0.0,0.0,0.0,-0.08484835826956917,-0.09631090363754713,0.9719006198533817,-0.007556742757549509,0.007508519689620968,0.00026844830475699906,-0.12720881947317977,-0.20929658348441518,0.8178207465921409,-0.010527153004603967,0.005091140995983004,0.0003140614594801888,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7455976943729363,-0.22994382488534948,-0.32772905521891127,0.445268882809748,0.3057571064598508,-0.1927414563811878,0.5024368616808691,0.9719006198533817,0.8301659168997804,0.8301659168997804,1.6330199999990684,0,0,-0.00043489056966303084,-9.999947678108185e-05
+19971,1791447477460884413,2455850000000,1791447477458838501,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760619686840496,-0.004831936891196903,0.08621624510021923,0.9999999862523069,7.490095219179769e-05,-6.216395156556476e-05,9.728176065795637e-05,0.6761,-0.0048,0.08615969509711155,1.0,0.0,0.0,0.0,-0.07563876347772659,-0.09665584448847472,0.982432785363316,-0.007558942557835173,0.007506182315194589,0.0002613061896604531,-0.1179992246813372,-0.20964152433534278,0.8283529121020752,-0.010529352804889631,0.005088803621556624,0.0003069193443836428,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7821557510430185,-0.2904679748472432,-0.3559961571759454,0.4650269648103926,0.33785866089974853,-0.23406711516773615,0.5024368616808691,0.982432785363316,0.8584330188568146,0.8584330188568146,1.657019999999048,0,0,-0.0004507700666442612,-9.900699290821819e-05
+20019,1791447477860916977,2456250000000,1791447477858838283,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760589204980519,-0.00483148415636885,0.08603295650291844,0.9999999868260063,6.832858170495984e-05,-6.490692150830523e-05,9.438828376638443e-05,0.6761,-0.0048,0.08597678021352313,1.0,0.0,0.0,0.0,-0.08454085623600217,-0.09563802543922192,0.9920730274267461,-0.00756049203876861,0.007504128254797767,0.0002524416632358257,-0.12690131743961278,-0.20862370528608998,0.8379931541655052,-0.010530902285823068,0.0050867495611598024,0.0002980548179590154,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8081995897013436,-0.22577419260234807,-0.37559845673865944,0.46133328098208565,0.3515831710355206,-0.18850939674140485,0.5024368616808691,0.9920730274267461,0.8780353184195285,0.8780353184195285,1.6810199999990276,0,0,-0.0004633777945753633,-9.737706060797819e-05
+20063,1791447478227979192,2456617000000,1791447478226837847,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.676060846114809,-0.004836773467092409,0.08586555686717762,0.9999999865526014,7.411195576664163e-05,-6.079716136383167e-05,9.564927958787286e-05,0.6761,-0.0048,0.08580511865036423,1.0,0.0,0.0,0.0,-0.08491699404974946,-0.1020785312076316,0.9934799551831665,-0.007562002986071252,0.00750460506909161,0.000251245915526653,-0.12727745525336007,-0.21506421105449966,0.8394000819219256,-0.01053241323312571,0.005087226375453646,0.00029685907024984274,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7933971635399493,-0.18058467039591306,-0.4719545561034841,0.4531057877710553,0.4073324013219092,-0.15835678134081915,0.5024368616808691,0.9934799551831665,0.9743914177843531,0.9743914177843531,1.703039999999009,0,0,-0.00047100675433922747,9.962437405442443e-05
+20107,1791447478593979011,2456983000000,1791447478586847501,DOWN_FORCE_DETACH,3,0.041,0.041002266108989716,0.6760593292657402,-0.004839968101564306,0.08568491276647677,0.9999999864073047,6.89206860380576e-05,-6.413864766830352e-05,9.881511930655402e-05,0.6761,-0.0048,0.08563126050280338,1.0,0.0,0.0,0.0,-0.08303806301915083,-0.10246779304042253,1.0020323303972143,-0.00654391503626423,0.0074838656243050306,0.0002559025363574376,-0.12539852422276143,-0.21545347288729058,0.8479524571359734,-0.009514325283318689,0.005066486930667066,0.0003015156910806273,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8588408708287261,-0.293811999253493,-0.49821301054780537,0.48900334230006115,0.44111784047601077,-0.23242140445672757,0.5024368616808691,1.0020323303972143,1.0006498722286745,1.0006498722286745,1.7249999999989902,0,0,-0.000478591818027481,8.977622398121383e-05
+20147,1791447478927984444,2457317000000,1791447478926837870,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760557391267311,-0.00483941929762562,0.08552285234048822,0.9999999854932224,7.316876655505442e-05,-7.108986076353594e-05,0.00010024461450187318,0.6761,-0.0048,0.08547049409325044,1.0,0.0,0.0,0.0,-0.076076228343717,-0.09517530301436258,1.0025124783278396,-0.007552210094486242,0.00750153915182456,0.00024263407510397104,-0.1184366895473276,-0.20816098286123064,0.8484326050665988,-0.0105226203415407,0.005084160458186595,0.00028824722982716077,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8100947248243026,-0.22837104231636937,-0.4823910432542254,0.4807260677708578,0.41386097736832556,-0.1852142219303868,0.5024368616808691,1.0025124783278396,0.9848279049350945,0.9848279049350945,1.7450399999989732,0,0,-0.0004843130745932082,9.921875407237763e-05
+20196,1791447479335990427,2457725000000,1791447479334838263,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760584518715572,-0.004842062575633445,0.08533479986387842,0.9999999860076673,7.122356624796646e-05,-6.609870510843266e-05,9.992844658300954e-05,0.6761,-0.0048,0.08527144333835192,1.0,0.0,0.0,0.0,-0.0690300278603183,-0.0928090629921825,0.9950830145048966,-0.006541180809675732,0.007484687459604723,0.0002634006677088757,-0.1113904890639289,-0.20579474283905055,0.8410031412436557,-0.00951159105673019,0.0050673087659667574,0.00030901382243206545,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8220963136747778,-0.20354561337645805,-0.367966845040789,0.4746669301547908,0.3410433836191918,-0.17119130134542326,0.5024368616808691,0.9950830145048966,0.8704037067216581,0.8704037067216581,1.7695199999989524,0,0,-0.0004907160148323861,-9.999999025923074e-05
+20238,1791447479685983185,2458075000000,1791447479682837518,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760608790009237,-0.004842678220044695,0.08516755466821851,0.9999999873029927,6.314603199560484e-05,-5.6443525804041855e-05,9.830353947462286e-05,0.6761,-0.0048,0.08509859983613498,1.0,0.0,0.0,0.0,-0.07825758340615595,-0.08913775000768573,0.9929191256222293,-0.006540676664343669,0.007484902322317464,0.0002642091117865906,-0.12061804460976655,-0.20212342985455378,0.8388392523609884,-0.009511086911398127,0.0050675236286795,0.00030982226650978035,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9237094614600602,-0.22112173405107766,-0.477675623373183,0.4788265106241214,0.4327072838588773,-0.18034834847160153,0.5024368616808691,0.9929191256222293,0.9801124850540521,0.9801124850540521,1.7905199999989345,0,0,-0.0004963857759040805,9.99741636961204e-05
+20279,1791447480027906161,2458417000000,1791447480026837695,DOWN_FORCE_DETACH,3,0.041,0.041001610457897186,0.6760577133331995,-0.004844455319427752,0.08499727731146833,0.9999999866375529,6.860190794367214e-05,-6.294893411905904e-05,9.746265164839087e-05,0.6761,-0.0048,0.08492825078294403,1.0,0.0,0.0,0.0,-0.07669227878181564,-0.0886822551667941,1.0129143902497217,-0.006542965181481465,0.007480573494783711,0.0002500141949326842,-0.11905273998542625,-0.20166793501366215,0.8588345169884808,-0.009513375428535923,0.005063194801145747,0.00029562734965587394,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8893959498827714,-0.2150371210302112,-0.5144290528110356,0.484309174596371,0.4429716374148133,-0.17648104587080435,0.5024368616808691,1.0129143902497217,1.0168659144919046,1.0168659144919046,1.811039999998917,0,0,-0.0004986963615435672,9.997587066402076e-05
+20324,1791447480396950497,2458786000000,1791447480390838221,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760559889244806,-0.004849801355761302,0.08481557802586896,0.9999999871756091,6.041549095298968e-05,-6.18421523090489e-05,9.806713405674949e-05,0.6761,-0.0048,0.0847435201801692,1.0,0.0,0.0,0.0,-0.08532706259874352,-0.09025637551924165,1.0028774344387883,-0.006542203610528329,0.007482836651550711,0.0002551319886947023,-0.12768752380235412,-0.2032420553661097,0.8487975611775475,-0.009512613857582787,0.005065457957912746,0.00030074514341789203,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9399575994840619,-0.23610142998227618,-0.6063221401187011,0.49767649593049734,0.5105517578917577,-0.1856783953877249,0.5024368616808691,1.0028774344387883,1.1087590017995703,1.1087590017995703,1.8301799999989008,0,0,-0.0005000315350847398,9.999999025923074e-05
+20368,1791447480763982656,2459153000000,1791447480762837374,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760586655114968,-0.004854937982167459,0.08463764303932238,0.9999999872325256,5.965592254002312e-05,-5.6957580561092754e-05,0.00010087030315469711,0.6761,-0.0048,0.08456336665613533,1.0,0.0,0.0,0.0,-0.08545793656983709,-0.09238270082822933,1.004212160077349,-0.006542616259076879,0.007482795010827863,0.00025475591532264966,-0.1278183977734477,-0.20536838067509738,0.8501322868161082,-0.009513026506131337,0.005065416317189898,0.0003003690700458394,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9845610127367624,-0.21891246616976004,-0.5170576966376786,0.49614293259171455,0.4604355525236474,-0.17264812776848595,0.5024368616808691,1.004212160077349,1.0194945583185477,1.0194945583185477,1.8301799999989008,0,0,-0.0004816815386596022,9.999999025923074e-05
+20413,1791447481138897983,2459528000000,1791447481138837709,DOWN_SETTLE,3,0.041,0.041002266108989716,0.676055902349714,-0.0048538955575835015,0.08445880530030193,0.9999999870744375,5.609028415421776e-05,-6.208871035290858e-05,0.00010145374066387675,0.6761,-0.0048,0.08438624232845125,1.0,0.0,0.0,0.0,-0.07694963736829354,-0.09233906379683499,1.002894025185157,-0.00654266775942286,0.007482826417650891,0.00025613112925479257,-0.11931009857190414,-0.20532474364370304,0.8488141519239162,-0.009513078006477318,0.005065447724012926,0.0003017442839779823,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9699351631399118,-0.1995308550669126,-0.4945756870727839,0.49220273461303954,0.44341369074535314,-0.16040652359836544,0.5024368616808691,1.002894025185157,0.997012548753653,0.997012548753653,1.8301799999989008,0,0,-0.00046293154231239066,9.999999025923074e-05
+20461,1791447481538892967,2459928000000,1791447481538838073,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760506582173796,-0.004857183289452246,0.08427149353917426,0.9999999864731252,5.734575735373164e-05,-7.090416116365588e-05,0.00010089934592276148,0.6761,-0.0048,0.08420505971074509,1.0,0.0,0.0,0.0,-0.07639146689922247,-0.09278823852538928,0.9926706500921826,-0.006540842316741445,0.0074850454378756325,0.00026347645926722685,-0.11875192810283307,-0.20577391837225734,0.8385907768309417,-0.009511252563795904,0.005067666744237668,0.0003090896139904166,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9979014630695697,-0.3635151131261517,-0.5303206087126285,0.5396975190303485,0.47082405963400203,-0.2652557570804468,0.5024368616808691,0.9926706500921826,1.0327574703934976,1.0327574703934976,1.8301799999989008,0,0,-0.00044293154620869837,9.999999025923074e-05
+20513,1791447481971994266,2460361000000,1791447481970837944,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760489132823849,-0.004862717768189027,0.08409169893983508,0.9999999870616773,5.0444373266851795e-05,-6.968530086626605e-05,9.9593341438428e-05,0.6761,-0.0048,0.08401794675032147,1.0,0.0,0.0,0.0,-0.07616755208921215,-0.08313577190138288,0.982846454449898,-0.00653755202256423,0.0074863824255843,0.0002724340885585872,-0.11852801329282275,-0.19612145174825094,0.8287665811886572,-0.009507962269618688,0.005069003731946336,0.00031804724328177695,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0330053447559489,-0.24596302718115562,-0.5991830173624509,0.5115336505403889,0.5165993459881308,-0.1870969503161236,0.5024368616808691,0.982846454449898,1.10161987904332,1.10161987904332,1.8301799999989008,0,0,-0.00042128155042645145,9.999999025923074e-05
+20564,1791447482396985759,2460786000000,1791447482390837845,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760497476196271,-0.004859886937296544,0.08391960920320696,0.999999987357355,4.799773684968464e-05,-6.953021230643016e-05,9.79281425581773e-05,0.6761,-0.0048,0.08384340709050844,1.0,0.0,0.0,0.0,-0.07499556160836644,-0.08333898975314133,0.9798458627280436,-0.006537017832936318,0.007488007176848438,0.00027498405978491387,-0.11735602281197705,-0.19632466960000938,0.8257659894668028,-0.009507428079990776,0.005070628483210473,0.0003205972145081036,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0916867799406178,-0.22248906410635177,-0.5403381917718815,0.5048260106170941,0.48988429788218024,-0.1717061963676501,0.5024368616808691,0.9798458627280436,1.0427750534527505,1.0427750534527505,1.8301799999989008,0,0,-0.0004000315545662784,9.999999025923074e-05
+20617,1791447482838883501,2461228000000,1791447482838837835,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760494522979109,-0.004862576498893426,0.08375181642262057,0.9999999870060134,4.9601120782523294e-05,-6.777059331928198e-05,0.00010187106104995512,0.6761,-0.0048,0.0836714661924365,1.0,0.0,0.0,0.0,-0.07617406564994741,-0.08315316127920494,0.9823688832050574,-0.006537462546962424,0.007486488256504871,0.00027282368204632567,-0.11853452685355802,-0.196138841126073,0.8282890099438166,-0.009507872794016882,0.005069109562866906,0.0003184368367695154,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0494875456448405,-0.15245810534967152,-0.583614945262221,0.48443271751541694,0.5022229516493498,-0.12227880463927737,0.5024368616808691,0.9823688832050574,1.08605180694309,1.08605180694309,1.8301799999989008,0,0,-0.0003779315588716984,9.999999025923074e-05
+20674,1791447483313958303,2461703000000,1791447483310837593,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760441020320395,-0.004858852012146234,0.08357431735892214,0.9999999865424529,5.156457291638659e-05,-7.473476598044984e-05,0.00010056723080314031,0.6761,-0.0048,0.08349757745087125,1.0,0.0,0.0,0.0,-0.07585728777639958,-0.08369558111953385,0.9627813096112561,-0.006533825802598264,0.007490749462054308,0.00028868059490259434,-0.11821774898001018,-0.1966812609664019,0.8087014363500152,-0.009504236049652722,0.005073370768416343,0.0003342937496257841,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.103417734379674,-0.20697746376947873,-0.5398604637517161,0.5006709837109046,0.4865958561234786,-0.15786096079825224,0.5024368616808691,0.9627813096112561,1.0422973254325854,1.0422973254325854,1.8301799999989008,0,0,-0.0003541815634985638,9.999999025923074e-05
+20735,1791447483821889950,2462211000000,1791447483814847477,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760467379496039,-0.004856789871739059,0.08339859953333714,0.9999999866532011,4.953873903400655e-05,-7.269805488793059e-05,0.00010196748580701391,0.6761,-0.0048,0.08332409211535463,1.0,0.0,0.0,0.0,-0.06724283058251754,-0.08341206047932723,0.9528224364663451,-0.006505997496162293,0.0065614903646594325,0.0002877243372086413,-0.10960329178612814,-0.19639774032619528,0.7987425632051043,-0.009476407743216751,0.004144111671021468,0.00033333749193183106,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.143710487634654,-0.2646146852861141,-0.5786598103655015,0.5181167505502564,0.5153853743823454,-0.19457125770219844,0.5024368616808691,0.9528224364663451,1.0810966720463706,1.0810966720463706,1.8301799999989008,0,0,-0.0003287815684468746,9.999999025923074e-05
+20795,1791447484321913401,2462711000000,1791447484318837715,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760386567557456,-0.004848558569069568,0.08323039411602724,0.9999999851487102,5.75711293102721e-05,-8.337386035353913e-05,0.00010430631930164545,0.6761,-0.0048,0.08316593882991116,1.0,0.0,0.0,0.0,-0.04717266436470033,-0.07214284628555623,0.9354286961754315,-0.005452447169975845,0.005449975236459572,0.00029506954019605425,-0.08953312556831093,-0.18512852613242428,0.7813488229141906,-0.008422857417030303,0.0030325965428216074,0.000340682694919244,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1215772092010292,-0.20277974114765132,-0.5245921224243132,0.49120132739679656,0.4761140859014793,-0.15634584894582024,0.5024368616808691,0.9354286961754315,1.0270289841051823,1.0270289841051823,1.8301799999989008,0,0,-0.0003037815733172592,9.999999025923074e-05
+20867,1791447484921896689,2463311000000,1791447484914838427,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760389411680473,-0.004838896197245706,0.08305975089676611,0.9999999851334263,6.081116533952675e-05,-8.150864819714874e-05,0.00010408820397504864,0.6761,-0.0048,0.08299265488416455,1.0,0.0,0.0,0.0,-0.02964625272634326,-0.0634970712122524,0.9169465443921385,-0.005420738526421148,0.0044406720234307405,0.0002960096170803902,-0.07200671392995386,-0.17648275105912045,0.7628666711308977,-0.008391148773475606,0.0020232933297927758,0.00034162277180357995,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1718008443976067,-0.2266771966919174,-0.6243965780974713,0.5049596133741399,0.5470973627688774,-0.16647463295303427,0.5024368616808691,0.9169465443921385,1.1268334397783404,1.1268334397783404,1.8301799999989008,0,0,-0.00027378157916172077,9.999999025923074e-05
+20933,1791447485471997036,2463861000000,1791447485470837838,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760344920454554,-0.004841006499236409,0.08291054891165171,0.9999999846667091,5.601834113713105e-05,-8.879935477215026e-05,0.00010529038900213475,0.6761,-0.0048,0.08284962376414963,1.0,0.0,0.0,0.0,-0.038760412408962344,-0.05445752692187311,0.8931942730279334,-0.005439956685245304,0.005375561488461493,0.0003283122946855047,-0.08112087361257295,-0.16744320676874117,0.7391143997666926,-0.008410366932299762,0.0029581827948235283,0.00037392544940869444,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2223392288943065,-0.15941743474797662,-0.6353173565141325,0.48481547103616757,0.5631070916524276,-0.11892258530925698,0.5024368616808691,0.8931942730279334,1.1377542181950016,1.1377542181950016,1.8301799999989008,0,0,-0.00024628158451914386,9.999999025923074e-05
+21017,1791447486171995407,2464561000000,1791447486170838303,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760271717914105,-0.004843409346990448,0.08274036676823543,0.9999999836847387,5.495176896914164e-05,-9.661780890481646e-05,0.00010825289290689335,0.6761,-0.0048,0.08268945915259633,1.0,0.0,0.0,0.0,-0.039004228687322895,-0.06457920972316936,0.8731342484503442,-0.005439840933439877,0.005462608648939521,0.0003456872390633256,-0.0813646898909335,-0.1775648895700374,0.7190543751891033,-0.008410251180494335,0.0030452299553015566,0.00039130039378651536,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1943225922169016,-0.1882908778313635,-0.5936339753421788,0.49025816420363727,0.5263298840630635,-0.1408154716893986,0.5024368616808691,0.8731342484503442,1.0960708370230479,1.0960708370230479,1.8301799999989008,0,0,-0.0002112815913376823,9.999999025923074e-05
+21107,1791447486921962690,2465311000000,1791447486914838243,DOWN_SETTLE,3,0.041,0.041001610457897186,0.6760221954486085,-0.0048458221373376955,0.08258950831174355,0.9999999831278625,4.9708311694591455e-05,-0.0001041325441231436,0.00010896162671019264,0.6761,-0.0048,0.08254504170634983,1.0,0.0,0.0,0.0,-0.03870253213086945,-0.07213631506066123,0.8467105047128504,-0.005408214112871993,0.004455657071027543,0.0003513514583919538,-0.08106299333448005,-0.18512199490752929,0.6926306314516095,-0.008378624359926451,0.002038278377389579,0.00039696461311514354,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2265639106582544,-0.1358252286737218,-0.45002143698395075,0.47564459859646385,0.4370194440714173,-0.10266279677792017,0.5024368616808691,0.8467105047128504,0.9524582986648198,0.9524582986648198,1.8301799999989008,0,0,-0.00017378159864325925,9.999999025923074e-05
+21217,1791447487838927590,2466228000000,1791447487834838192,DOWN_SETTLE,3,0.041,0.041002266108989716,0.6760235503215617,-0.004843201349389542,0.0824437548549622,0.9999999812076082,5.8941922142290055e-05,-0.00011223706584671887,0.00011382591279237442,0.6761,-0.0048,0.08240668327629404,1.0,0.0,0.0,0.0,-0.0480000556091479,-0.06359987108123438,0.8129084350142728,-0.005427991984636423,0.005475640455673015,0.00039325257637632424,-0.0903605168127585,-0.17658555092810244,0.658828561753032,-0.008398402231690881,0.0030582617620350506,0.00043886573109951397,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2866858870345959,-0.1183756608079129,-0.5114745035273546,0.4705243049553546,0.48782049904784197,-0.08723776329090097,0.5024368616808691,0.8129084350142728,1.0139113652082237,1.0139113652082237,1.8301799999989008,0,0,-0.00012793160757554466,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff4ef51fef1bd400f497e34da574712d4918bb4f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3b593cf91e0942eb0b880c3bfdf1c99fc64ac7b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,9.616666667e+00,DOWN_FORCE_DETACH,1791447464301199424,6.906972850e-05,-3.641959214e-05,-1.270346803e-03,6.800566447e-05,-4.441562709e-05,-1.257484839e-03,6.561967491e-05,-4.391331103e-05,-1.255896758e-03,7.016069412e-01,-3.486863082e-05,8.394705944e-01,7.016058771e-01,-4.286466577e-05,8.394834563e-01,7.017913930e-01,-4.226148210e-05,8.285247856e-01
+15,1.023333333e+01,DOWN_FORCE_DETACH,1791447465236343070,6.798397477e-05,-4.142913638e-05,-1.393350872e-03,6.728305274e-05,-4.260692865e-05,-1.390245334e-03,6.441811127e-05,-4.215736827e-05,-1.388425394e-03,7.016058555e-01,-3.987817506e-05,8.393475903e-01,7.016051545e-01,-4.105596733e-05,8.393506959e-01,7.017901914e-01,-4.050553934e-05,8.283922570e-01
+16,1.078333333e+01,DOWN_FORCE_DETACH,1791447466062730939,6.595435145e-05,-4.953996486e-05,-1.512485616e-03,6.555467956e-05,-4.556540207e-05,-1.493607372e-03,6.234511542e-05,-4.509700906e-05,-1.491765440e-03,7.016038258e-01,-4.798900354e-05,8.392284556e-01,7.016034262e-01,-4.401444075e-05,8.392473338e-01,7.017881184e-01,-4.344518013e-05,8.282889169e-01
+17,1.133333333e+01,DOWN_FORCE_DETACH,1791447466882532637,6.324901745e-05,-5.354047926e-05,-1.642699281e-03,6.246262984e-05,-4.602175299e-05,-1.625126503e-03,5.876418077e-05,-4.555951592e-05,-1.622906832e-03,7.016011205e-01,-5.198951794e-05,8.390982419e-01,7.016003341e-01,-4.447079167e-05,8.391158147e-01,7.017845375e-01,-4.390768699e-05,8.281577755e-01
+18,1.190000000e+01,DOWN_FORCE_DETACH,1791447467732425530,6.407237326e-05,-5.563279172e-05,-1.785543902e-03,6.392282305e-05,-5.580574405e-05,-1.785607851e-03,5.962105910e-05,-5.527823503e-05,-1.782906292e-03,7.016019439e-01,-5.408183040e-05,8.389553973e-01,7.016017943e-01,-5.425478273e-05,8.389553333e-01,7.017853944e-01,-5.362640610e-05,8.279977761e-01
+19,1.246666667e+01,DOWN_FORCE_DETACH,1791447468582423056,6.645018474e-05,-5.496897199e-05,-1.934844732e-03,6.644281162e-05,-5.854593414e-05,-1.923421531e-03,6.174523151e-05,-5.796867821e-05,-1.920728740e-03,7.016043217e-01,-5.341801067e-05,8.388060965e-01,7.016043143e-01,-5.699497282e-05,8.388175197e-01,7.017875186e-01,-5.631684928e-05,8.278599536e-01
+20,1.295000000e+01,DOWN_FORCE_DETACH,1791447469300724375,6.316468756e-05,-5.992692448e-05,-2.075872859e-03,6.694304317e-05,-6.007482820e-05,-2.061065046e-03,6.170671996e-05,-5.946891634e-05,-2.058183844e-03,7.016010362e-01,-5.837596316e-05,8.386650683e-01,7.016048145e-01,-5.852386688e-05,8.386798761e-01,7.017874800e-01,-5.781708741e-05,8.277224985e-01
+21,1.346666667e+01,DOWN_FORCE_DETACH,1791447470081185390,6.627711381e-05,-6.271165597e-05,-2.234210934e-03,6.238612348e-05,-6.058878185e-05,-2.229504684e-03,5.649990746e-05,-6.002755844e-05,-2.226442953e-03,7.016041486e-01,-6.116069465e-05,8.385067303e-01,7.016002576e-01,-5.903782053e-05,8.385114365e-01,7.017822732e-01,-5.837572951e-05,8.275542394e-01
+22,1.393333333e+01,DOWN_FORCE_DETACH,1791447470782226451,6.029466584e-05,-6.543676259e-05,-2.399340028e-03,6.025849104e-05,-6.537151193e-05,-2.399304178e-03,5.380617158e-05,-6.482474279e-05,-2.395904950e-03,7.015981661e-01,-6.388580127e-05,8.383416012e-01,7.015981300e-01,-6.382055061e-05,8.383416370e-01,7.017795795e-01,-6.317291386e-05,8.273847774e-01
+23,1.436666667e+01,DOWN_FORCE_DETACH,1791447471433217181,6.178622171e-05,-6.783009400e-05,-2.558120936e-03,6.123337727e-05,-6.746899640e-05,-2.548514155e-03,5.428044817e-05,-6.689297020e-05,-2.544976636e-03,7.015996577e-01,-6.627913268e-05,8.381828203e-01,7.015991049e-01,-6.591803508e-05,8.381924270e-01,7.017800538e-01,-6.524114127e-05,8.272357057e-01
+24,1.478333333e+01,DOWN_FORCE_DETACH,1791447472062809057,6.100102546e-05,-6.895135394e-05,-2.720701299e-03,6.205465457e-05,-7.180378921e-05,-2.711739381e-03,5.458027559e-05,-7.109656187e-05,-2.707951860e-03,7.015988725e-01,-6.740039262e-05,8.380202399e-01,7.015999261e-01,-7.025282789e-05,8.380292018e-01,7.017803536e-01,-6.944473294e-05,8.270727305e-01
+25,1.520000000e+01,DOWN_FORCE_DETACH,1791447472682981384,5.764542263e-05,-7.280314468e-05,-2.896428620e-03,5.844536954e-05,-6.994734257e-05,-2.888343367e-03,5.022061225e-05,-6.925274350e-05,-2.884503124e-03,7.015955169e-01,-7.125218336e-05,8.378445126e-01,7.015963169e-01,-6.839638125e-05,8.378525978e-01,7.017759939e-01,-6.760091457e-05,8.268961792e-01
+26,1.556666667e+01,DOWN_FORCE_DETACH,1791447473232449668,5.792792709e-05,-7.369192214e-05,-3.059419256e-03,5.653494160e-05,-7.379801375e-05,-3.042276260e-03,4.774012314e-05,-7.316165250e-05,-3.038612682e-03,7.015957994e-01,-7.214096082e-05,8.376815219e-01,7.015944064e-01,-7.224705243e-05,8.376986649e-01,7.017735135e-01,-7.150982357e-05,8.267420697e-01
+27,1.593333333e+01,DOWN_FORCE_DETACH,1791447473782914522,5.647624970e-05,-7.547676365e-05,-3.229324026e-03,5.638040514e-05,-7.527678645e-05,-3.229239999e-03,4.686734887e-05,-7.461877700e-05,-3.225112335e-03,7.015943477e-01,-7.392580233e-05,8.375116172e-01,7.015942519e-01,-7.372582513e-05,8.375117012e-01,7.017726407e-01,-7.296694807e-05,8.265555700e-01
+28,1.630000000e+01,DOWN_FORCE_DETACH,1791447474333419417,5.343801161e-05,-7.724178773e-05,-3.411974817e-03,5.339198524e-05,-7.752853322e-05,-3.411385516e-03,4.321495237e-05,-7.688023987e-05,-3.406956891e-03,7.015913095e-01,-7.569082641e-05,8.373289664e-01,7.015912635e-01,-7.597757190e-05,8.373295557e-01,7.017689883e-01,-7.522841094e-05,8.263737255e-01
+29,1.661666667e+01,DOWN_FORCE_DETACH,1791447474801120751,5.763205497e-05,-7.234817669e-05,-3.564615944e-03,5.897019992e-05,-8.403688226e-05,-3.562539422e-03,4.832861979e-05,-8.330529282e-05,-3.558110810e-03,7.015955035e-01,-7.079721537e-05,8.371763252e-01,7.015968417e-01,-8.248592094e-05,8.371784018e-01,7.017741019e-01,-8.165346388e-05,8.262225715e-01
+30,1.693333333e+01,DOWN_FORCE_DETACH,1791447475283146862,6.099189115e-05,-7.942286246e-05,-3.739964768e-03,5.575706470e-05,-7.950598406e-05,-3.735799106e-03,4.445564647e-05,-7.876257242e-05,-3.731141598e-03,7.015988634e-01,-7.787190114e-05,8.370009764e-01,7.015936285e-01,-7.795502274e-05,8.370051421e-01,7.017702290e-01,-7.711074349e-05,8.260495408e-01
+31,1.723333333e+01,DOWN_FORCE_DETACH,1791447475733519109,5.715480622e-05,-8.570754498e-05,-3.914708949e-03,5.528130782e-05,-8.240625319e-05,-3.895209175e-03,4.331882154e-05,-8.171309797e-05,-3.890562465e-03,7.015950263e-01,-8.415658366e-05,8.368262322e-01,7.015931528e-01,-8.085529187e-05,8.368457320e-01,7.017690921e-01,-8.006126903e-05,8.258901199e-01
+32,1.753333333e+01,DOWN_FORCE_DETACH,1791447476182549423,5.467640934e-05,-8.628104207e-05,-4.094330724e-03,5.476887409e-05,-8.737954716e-05,-4.075254143e-03,4.216098851e-05,-8.667372272e-05,-4.070352202e-03,7.015925479e-01,-8.473008075e-05,8.366466105e-01,7.015926404e-01,-8.582858584e-05,8.366656870e-01,7.017679343e-01,-8.502189379e-05,8.257103301e-01
+33,1.783333333e+01,DOWN_FORCE_DETACH,1791447476632645674,5.359239820e-05,-8.931780385e-05,-4.279119651e-03,5.633221324e-05,-9.001786512e-05,-4.261491172e-03,4.297877129e-05,-8.919207994e-05,-4.256402811e-03,7.015914639e-01,-8.776684253e-05,8.364618215e-01,7.015942037e-01,-8.846690380e-05,8.364794500e-01,7.017687521e-01,-8.754025101e-05,8.255242795e-01
+34,1.811666667e+01,DOWN_FORCE_DETACH,1791447477062846353,5.635619282e-05,-8.887254598e-05,-4.453635602e-03,5.470388136e-05,-9.028226983e-05,-4.442075384e-03,4.066996242e-05,-8.945310677e-05,-4.436906036e-03,7.015942277e-01,-8.732158466e-05,8.362873056e-01,7.015925754e-01,-8.873130851e-05,8.362988658e-01,7.017664433e-01,-8.780127784e-05,8.253437763e-01
+35,1.838333333e+01,DOWN_FORCE_DETACH,1791447477462827250,5.520079370e-05,-9.616865534e-05,-4.628058591e-03,5.483248923e-05,-9.539345305e-05,-4.615078626e-03,4.018126443e-05,-9.455795499e-05,-4.609940760e-03,7.015930723e-01,-9.461769402e-05,8.361128826e-01,7.015927040e-01,-9.384249173e-05,8.361258626e-01,7.017659546e-01,-9.290612605e-05,8.251707416e-01
+36,1.865000000e+01,DOWN_FORCE_DETACH,1791447477862938402,5.623276143e-05,-9.528950499e-05,-4.806531272e-03,5.308914519e-05,-9.986127649e-05,-4.795126509e-03,3.784398783e-05,-9.902346827e-05,-4.789840309e-03,7.015941042e-01,-9.373854367e-05,8.359344099e-01,7.015909606e-01,-9.831031517e-05,8.359458147e-01,7.017636173e-01,-9.737163934e-05,8.249908420e-01
+37,1.890000000e+01,DOWN_FORCE_DETACH,1791447478231947421,5.464978660e-05,-9.995571714e-05,-4.979369195e-03,5.496634089e-05,-9.800984467e-05,-4.960248842e-03,3.916981524e-05,-9.716403262e-05,-4.954941048e-03,7.015925213e-01,-9.840475582e-05,8.357615720e-01,7.015928378e-01,-9.645888334e-05,8.357806923e-01,7.017649431e-01,-9.551220369e-05,8.248257413e-01
+38,1.913333333e+01,DOWN_FORCE_DETACH,1791447478594406087,5.120880412e-05,-1.022451068e-04,-5.159630724e-03,5.091159427e-05,-1.019780385e-04,-5.159448401e-03,3.439376390e-05,-1.010269004e-04,-5.153518809e-03,7.015890803e-01,-1.006941455e-04,8.355813105e-01,7.015887831e-01,-1.004270772e-04,8.355814928e-01,7.017601671e-01,-9.937507150e-05,8.246271635e-01
+39,1.936666667e+01,DOWN_FORCE_DETACH,1791447478931545946,4.978114072e-05,-1.026063563e-04,-5.323645788e-03,4.963206044e-05,-1.024972749e-04,-5.323867788e-03,3.243940707e-05,-1.015560424e-04,-5.317947980e-03,7.015876526e-01,-1.010553950e-04,8.354172954e-01,7.015875035e-01,-1.009463136e-04,8.354170734e-01,7.017582127e-01,-9.990421346e-05,8.244627344e-01
+40,1.963333333e+01,DOWN_FORCE_DETACH,1791447479332913515,5.296338989e-05,-1.036016957e-04,-5.506054187e-03,4.910294090e-05,-9.920077177e-05,-5.489774594e-03,3.129169453e-05,-9.839086610e-05,-5.484177660e-03,7.015908349e-01,-1.020507344e-04,8.352348870e-01,7.015869744e-01,-9.764981045e-05,8.352511666e-01,7.017570650e-01,-9.673903717e-05,8.242965047e-01
+41,1.986666667e+01,DOWN_FORCE_DETACH,1791447479686649061,5.249426061e-05,-1.075396233e-04,-5.682994533e-03,5.222601336e-05,-1.076035081e-04,-5.683097124e-03,3.378319106e-05,-1.067394267e-04,-5.677112806e-03,7.015903657e-01,-1.059886620e-04,8.350579467e-01,7.015900975e-01,-1.060525467e-04,8.350578441e-01,7.017595565e-01,-1.050875978e-04,8.241035695e-01
+42,2.010000000e+01,DOWN_FORCE_DETACH,1791447480031399494,5.211882974e-05,-1.077086937e-04,-5.846158592e-03,5.210356869e-05,-1.078965290e-04,-5.845781173e-03,3.309267272e-05,-1.069301941e-04,-5.839794430e-03,7.015899903e-01,-1.061577324e-04,8.348947826e-01,7.015899751e-01,-1.063455676e-04,8.348951600e-01,7.017588660e-01,-1.052783652e-04,8.239408879e-01
+43,2.035000000e+01,DOWN_SETTLE,1791447480401081214,5.057393900e-05,-1.119693581e-04,-6.025585678e-03,5.266768418e-05,-1.106053844e-04,-6.010786310e-03,3.310176563e-05,-1.095621525e-04,-6.005024401e-03,7.015884454e-01,-1.104183967e-04,8.347153555e-01,7.015905392e-01,-1.090544230e-04,8.347301549e-01,7.017588751e-01,-1.079103236e-04,8.237756579e-01
+44,2.058333333e+01,DOWN_SETTLE,1791447480762869134,5.689026565e-05,-1.130039692e-04,-6.198239798e-03,5.360363488e-05,-1.150473620e-04,-6.186762770e-03,3.344997413e-05,-1.140593917e-04,-6.181142911e-03,7.015947617e-01,-1.114530079e-04,8.345427014e-01,7.015914751e-01,-1.134964007e-04,8.345541784e-01,7.017592233e-01,-1.124075627e-04,8.235995394e-01
+45,2.085000000e+01,DOWN_SETTLE,1791447481137340053,4.990607706e-05,-1.198284555e-04,-6.378976086e-03,4.795386157e-05,-1.184947146e-04,-6.378569934e-03,2.711928993e-05,-1.175088881e-04,-6.372953612e-03,7.015877776e-01,-1.182774941e-04,8.343619651e-01,7.015858253e-01,-1.169437533e-04,8.343623713e-01,7.017528926e-01,-1.158570592e-04,8.234077287e-01
+46,2.111666667e+01,DOWN_SETTLE,1791447481537393727,4.524323190e-05,-1.193512917e-04,-6.569670164e-03,4.698930868e-05,-1.215682690e-04,-6.561112925e-03,2.549988415e-05,-1.205505651e-04,-6.555581243e-03,7.015831147e-01,-1.178003304e-04,8.341712710e-01,7.015848608e-01,-1.200173077e-04,8.341798283e-01,7.017512732e-01,-1.188987361e-04,8.232251011e-01
+47,2.140000000e+01,DOWN_SETTLE,1791447481972653365,4.495178732e-05,-1.192653933e-04,-6.749331681e-03,4.490254452e-05,-1.220259186e-04,-6.734834811e-03,2.273468571e-05,-1.209975808e-04,-6.729472310e-03,7.015828233e-01,-1.177144320e-04,8.339916095e-01,7.015827740e-01,-1.204749573e-04,8.340061064e-01,7.017485080e-01,-1.193457519e-04,8.230512100e-01
+48,2.168333333e+01,DOWN_SETTLE,1791447482398967519,4.523262396e-05,-1.261668977e-04,-6.921270959e-03,4.519160990e-05,-1.262508505e-04,-6.921128549e-03,2.229880346e-05,-1.252811937e-04,-6.915667923e-03,7.015831041e-01,-1.246159364e-04,8.338196702e-01,7.015830631e-01,-1.246998892e-04,8.338198126e-01,7.017480721e-01,-1.236293648e-04,8.228650144e-01
+49,2.198333333e+01,DOWN_SETTLE,1791447482838816705,4.617336593e-05,-1.252710201e-04,-7.086736478e-03,4.554555351e-05,-1.264995479e-04,-7.073788820e-03,2.218516570e-05,-1.255618980e-04,-7.068812833e-03,7.015840448e-01,-1.237200588e-04,8.336542047e-01,7.015834170e-01,-1.249485866e-04,8.336671524e-01,7.017479585e-01,-1.239100691e-04,8.227118695e-01
+50,2.230000000e+01,DOWN_SETTLE,1791447483317746307,3.982243486e-05,-1.257948398e-04,-7.266925848e-03,4.013800773e-05,-1.252198279e-04,-7.261178434e-03,1.599621080e-05,-1.241780175e-04,-7.256227518e-03,7.015776939e-01,-1.242438785e-04,8.334740153e-01,7.015780095e-01,-1.236688665e-04,8.334797628e-01,7.017417695e-01,-1.225261886e-04,8.225244548e-01
+51,2.263333333e+01,DOWN_SETTLE,1791447483818251898,4.013300105e-05,-1.206700308e-04,-7.441578146e-03,4.060949128e-05,-1.217279292e-04,-7.434231796e-03,1.579722554e-05,-1.206533206e-04,-7.429474878e-03,7.015780045e-01,-1.191190695e-04,8.332993630e-01,7.015784810e-01,-1.201769679e-04,8.333067094e-01,7.017415706e-01,-1.190014917e-04,8.223512075e-01
+52,2.296666667e+01,DOWN_SETTLE,1791447484319093002,3.437806143e-05,-1.063515011e-04,-7.610317820e-03,3.595965258e-05,-1.100787920e-04,-7.600864253e-03,1.050489146e-05,-1.091718329e-04,-7.596471251e-03,7.015722495e-01,-1.048005397e-04,8.331306234e-01,7.015738311e-01,-1.085278307e-04,8.331400769e-01,7.017362782e-01,-1.075200039e-04,8.221842111e-01
+53,2.336666667e+01,DOWN_SETTLE,1791447484920055048,3.388575918e-05,-1.025488899e-04,-7.780677058e-03,2.932483684e-05,-1.029382748e-04,-7.764285782e-03,3.266554100e-06,-1.020938391e-04,-7.760317766e-03,7.015717572e-01,-1.009979286e-04,8.329602641e-01,7.015671963e-01,-1.013873134e-04,8.329766554e-01,7.017290399e-01,-1.004420102e-04,8.220203646e-01
+54,2.373333333e+01,DOWN_SETTLE,1791447485469924554,2.860030640e-05,-1.031448777e-04,-7.932608145e-03,2.856525924e-05,-1.031918400e-04,-7.932273181e-03,1.910580974e-06,-1.022745693e-04,-7.928274952e-03,7.015664718e-01,-1.015939164e-04,8.328083330e-01,7.015664367e-01,-1.016408787e-04,8.328086680e-01,7.017276839e-01,-1.006227404e-04,8.218524074e-01
+55,2.420000000e+01,DOWN_SETTLE,1791447486168167036,2.162442303e-05,-1.036524534e-04,-8.101559195e-03,2.169838362e-05,-1.033976930e-04,-8.101477989e-03,-5.685654236e-06,-1.024573603e-04,-8.097753221e-03,7.015594959e-01,-1.021014921e-04,8.326393820e-01,7.015595699e-01,-1.018467317e-04,8.326394632e-01,7.017200877e-01,-1.008055313e-04,8.216829291e-01
+56,2.470000000e+01,DOWN_SETTLE,1791447486919765868,1.778869253e-05,-1.056635950e-04,-8.250477643e-03,1.803652467e-05,-1.070730151e-04,-8.239182671e-03,-1.000691365e-05,-1.062034117e-04,-8.236081614e-03,7.015556602e-01,-1.041126337e-04,8.324904635e-01,7.015559080e-01,-1.055220538e-04,8.325017585e-01,7.017157664e-01,-1.045515828e-04,8.215446007e-01
+57,2.531666667e+01,DOWN_SETTLE,1791447487840946641,2.117405926e-05,-1.084983519e-04,-8.391087298e-03,1.834536764e-05,-1.093020654e-04,-8.387128192e-03,-1.022446689e-05,-1.084346580e-04,-8.384579028e-03,7.015590455e-01,-1.069473906e-04,8.323498539e-01,7.015562168e-01,-1.077511040e-04,8.323538130e-01,7.017155489e-01,-1.067828291e-04,8.213961033e-01
+58,2.600000000e+01,DOWN_SETTLE,1791447488869510472,1.536164369e-05,-1.032608687e-04,-8.511194507e-03,1.407472305e-05,-1.024482160e-04,-8.496212018e-03,-1.496814910e-05,-1.015124110e-04,-8.494280213e-03,7.015532331e-01,-1.017099074e-04,8.322297467e-01,7.015519462e-01,-1.008972547e-04,8.322447292e-01,7.017108052e-01,-9.986058204e-05,8.212864021e-01
+59,2.680000000e+01,DOWN_SETTLE,1791447490169633023,3.011988895e-06,-1.073006105e-04,-8.593488924e-03,6.300063405e-06,-1.052216459e-04,-8.578893149e-03,-2.332736873e-05,-1.042623216e-04,-8.577845387e-03,7.015408835e-01,-1.057496492e-04,8.321474523e-01,7.015441715e-01,-1.036706845e-04,8.321620480e-01,7.017024460e-01,-1.026104927e-04,8.212028370e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfed40fbaef5665455613d5325089dc3fe91e140
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.5905e-05,-2.3535e-03,2.4551e+00,-3.6605e-02,3.6785e-02,2.4573e-06,2.2217e-04,7.5393e-06,7.3910e-06,-9.3132e-08,1.4618e-05,2.2370e-07,2.2242e-04,1.4620e-05
+1,9.1667e-01,DOWN_FORCE_DETACH,1.8682e-04,1.8505e-02,1.1645e-03,2.4686e+00,-3.6818e-02,3.8088e-02,1.0948e-04,1.8743e-02,3.5255e-03,1.3470e-02,-2.1296e-04,1.3175e-03,1.0725e-04,2.3349e-02,1.3389e-03
+2,1.7167e+00,DOWN_FORCE_DETACH,3.7384e-04,2.2280e-02,3.4433e-03,2.4846e+00,-3.6977e-02,3.8362e-02,1.5098e-04,2.2518e-02,5.8043e-03,2.9444e-02,-3.7182e-04,1.5915e-03,1.4874e-04,3.7519e-02,1.6411e-03
+3,2.3500e+00,DOWN_FORCE_DETACH,5.6112e-04,2.1305e-02,8.4463e-03,2.5063e+00,-3.7303e-02,3.8282e-02,1.5995e-04,2.1543e-02,1.0807e-02,5.1173e-02,-6.9799e-04,1.5117e-03,1.5772e-04,5.6565e-02,1.6725e-03
+4,2.9167e+00,DOWN_FORCE_DETACH,7.5360e-04,2.0037e-02,1.1512e-02,2.5292e+00,-3.7499e-02,3.8173e-02,1.6737e-04,2.0275e-02,1.3873e-02,7.4099e-02,-8.9383e-04,1.4032e-03,1.6514e-04,7.8066e-02,1.6719e-03
+5,3.4500e+00,DOWN_FORCE_DETACH,9.4188e-04,1.8965e-02,1.3681e-02,2.5438e+00,-3.7637e-02,3.8077e-02,1.6850e-04,1.9203e-02,1.6042e-02,8.8639e-02,-1.0321e-03,1.3070e-03,1.6627e-04,9.2103e-02,1.6736e-03
+6,4.0333e+00,DOWN_FORCE_DETACH,1.1321e-03,1.5354e-02,1.2922e-02,2.5410e+00,-3.7602e-02,3.7820e-02,1.5883e-04,1.5592e-02,1.5283e-02,8.5911e-02,-9.9662e-04,1.0501e-03,1.5660e-04,8.8642e-02,1.4562e-03
+7,4.7500e+00,DOWN_FORCE_DETACH,1.3180e-03,1.8386e-02,1.1009e-02,2.5284e+00,-3.7514e-02,3.8009e-02,1.3522e-04,1.8624e-02,1.3370e-02,7.3309e-02,-9.0908e-04,1.2385e-03,1.3299e-04,7.6810e-02,1.5420e-03
+8,5.4667e+00,DOWN_FORCE_DETACH,1.5056e-03,2.1149e-02,9.0546e-03,2.5122e+00,-3.7430e-02,3.8199e-02,1.0822e-04,2.1387e-02,1.1416e-02,5.7105e-02,-8.2460e-04,1.4292e-03,1.0599e-04,6.2038e-02,1.6534e-03
+9,6.2333e+00,DOWN_FORCE_DETACH,1.6933e-03,2.1964e-02,1.0242e-02,2.5066e+00,-3.7531e-02,3.8266e-02,8.1732e-05,2.2202e-02,1.2603e-02,5.1445e-02,-9.2618e-04,1.4959e-03,7.9498e-05,5.7431e-02,1.7612e-03
+10,6.9833e+00,DOWN_FORCE_DETACH,1.8816e-03,1.9951e-02,1.2446e-02,2.5101e+00,-3.7667e-02,3.8135e-02,6.2228e-05,2.0189e-02,1.4807e-02,5.4983e-02,-1.0623e-03,1.3650e-03,5.9995e-05,6.0415e-02,1.7307e-03
+11,7.6500e+00,DOWN_FORCE_DETACH,2.0704e-03,1.9300e-02,1.6638e-02,2.5163e+00,-3.7907e-02,3.8083e-02,5.1385e-05,1.9538e-02,1.8999e-02,6.1218e-02,-1.3023e-03,1.3132e-03,4.9151e-05,6.7010e-02,1.8501e-03
+12,8.3333e+00,DOWN_FORCE_DETACH,2.2596e-03,1.8309e-02,2.0112e-02,2.5224e+00,-3.8087e-02,3.8005e-02,4.5783e-05,1.8547e-02,2.2473e-02,6.7329e-02,-1.4824e-03,1.2353e-03,4.3550e-05,7.3363e-02,1.9301e-03
+13,9.0000e+00,DOWN_FORCE_DETACH,2.4463e-03,1.7890e-02,2.1674e-02,2.5278e+00,-3.8161e-02,3.7967e-02,4.6166e-05,1.8129e-02,2.4035e-02,7.2694e-02,-1.5556e-03,1.1966e-03,4.3932e-05,7.8681e-02,1.9631e-03
+14,9.6167e+00,DOWN_FORCE_DETACH,2.6339e-03,1.7301e-02,2.1827e-02,2.5278e+00,-3.8191e-02,3.7924e-02,5.1912e-05,1.7539e-02,2.4188e-02,7.2667e-02,-1.5861e-03,1.1544e-03,4.9679e-05,7.8569e-02,1.9624e-03
+15,1.0233e+01,DOWN_FORCE_DETACH,2.8227e-03,1.7636e-02,2.0014e-02,2.5273e+00,-3.8123e-02,3.7949e-02,6.1332e-05,1.7874e-02,2.2375e-02,7.2138e-02,-1.5176e-03,1.1786e-03,5.9098e-05,7.7614e-02,1.9224e-03
+16,1.0783e+01,DOWN_FORCE_DETACH,3.0092e-03,1.9304e-02,2.1454e-02,2.5329e+00,-3.8245e-02,3.8061e-02,7.4914e-05,1.9542e-02,2.3815e-02,7.7755e-02,-1.6402e-03,1.2909e-03,7.2681e-05,8.3635e-02,2.0886e-03
+17,1.1333e+01,DOWN_FORCE_DETACH,3.2000e-03,2.1582e-02,2.3974e-02,2.5449e+00,-3.8415e-02,3.8210e-02,9.5806e-05,2.1820e-02,2.6335e-02,8.9783e-02,-1.8103e-03,1.4402e-03,9.3573e-05,9.6076e-02,2.3152e-03
+18,1.1900e+01,DOWN_FORCE_DETACH,3.3889e-03,2.2293e-02,2.7775e-02,2.5570e+00,-3.8646e-02,3.8251e-02,1.2298e-04,2.2531e-02,3.0136e-02,1.0193e-01,-2.0412e-03,1.4811e-03,1.2075e-04,1.0865e-01,2.5249e-03
+19,1.2467e+01,DOWN_FORCE_DETACH,3.5770e-03,2.2799e-02,2.9792e-02,2.5662e+00,-3.8745e-02,3.8272e-02,1.4678e-04,2.3037e-02,3.2153e-02,1.1105e-01,-2.1401e-03,1.5016e-03,1.4455e-04,1.1789e-01,2.6183e-03
+20,1.2950e+01,DOWN_FORCE_DETACH,3.7644e-03,2.3388e-02,3.1906e-02,2.5753e+00,-3.8855e-02,3.8299e-02,1.5675e-04,2.3626e-02,3.4267e-02,1.2014e-01,-2.2498e-03,1.5292e-03,1.5452e-04,1.2714e-01,2.7247e-03
+21,1.3467e+01,DOWN_FORCE_DETACH,3.9526e-03,2.4871e-02,3.2347e-02,2.5824e+00,-3.8876e-02,3.8389e-02,1.5296e-04,2.5109e-02,3.4708e-02,1.2726e-01,-2.2710e-03,1.6190e-03,1.5073e-04,1.3428e-01,2.7931e-03
+22,1.3933e+01,DOWN_FORCE_DETACH,4.1403e-03,2.7604e-02,3.0953e-02,2.5887e+00,-3.8802e-02,3.8564e-02,1.3500e-04,2.7842e-02,3.3314e-02,1.3356e-01,-2.1964e-03,1.7936e-03,1.3277e-04,1.4044e-01,2.8388e-03
+23,1.4367e+01,DOWN_FORCE_DETACH,4.3262e-03,2.9313e-02,3.2133e-02,2.5985e+00,-3.8879e-02,3.8671e-02,1.1003e-04,2.9551e-02,3.4494e-02,1.4338e-01,-2.2735e-03,1.9007e-03,1.0779e-04,1.5040e-01,2.9653e-03
+24,1.4783e+01,DOWN_FORCE_DETACH,4.5126e-03,3.0280e-02,3.7774e-02,2.6095e+00,-3.9210e-02,3.8727e-02,8.5235e-05,3.0518e-02,4.0135e-02,1.5436e-01,-2.6050e-03,1.9564e-03,8.3002e-05,1.6238e-01,3.2589e-03
+25,1.5200e+01,DOWN_FORCE_DETACH,4.7086e-03,3.1563e-02,4.0696e-02,2.6169e+00,-3.9369e-02,3.8806e-02,6.3090e-05,3.1801e-02,4.3057e-02,1.6177e-01,-2.7634e-03,2.0358e-03,6.0856e-05,1.7040e-01,3.4329e-03
+26,1.5567e+01,DOWN_FORCE_DETACH,4.8969e-03,3.2932e-02,3.8454e-02,2.6191e+00,-3.9228e-02,3.8895e-02,4.9028e-05,3.3170e-02,4.0815e-02,1.6397e-01,-2.6227e-03,2.1254e-03,4.6795e-05,1.7220e-01,3.3761e-03
+27,1.5933e+01,DOWN_FORCE_DETACH,5.0800e-03,3.3051e-02,3.7149e-02,2.6219e+00,-3.9153e-02,3.8906e-02,4.4188e-05,3.3289e-02,3.9510e-02,1.6680e-01,-2.5478e-03,2.1361e-03,4.1954e-05,1.7462e-01,3.3251e-03
+28,1.6300e+01,DOWN_FORCE_DETACH,5.2752e-03,3.2729e-02,3.7445e-02,2.6300e+00,-3.9165e-02,3.8881e-02,4.8224e-05,3.2967e-02,3.9806e-02,1.7492e-01,-2.5596e-03,2.1111e-03,4.5991e-05,1.8240e-01,3.3182e-03
+29,1.6617e+01,DOWN_FORCE_DETACH,5.4565e-03,3.2485e-02,4.0455e-02,2.6373e+00,-3.9339e-02,3.8855e-02,5.3161e-05,3.2724e-02,4.2816e-02,1.8214e-01,-2.7337e-03,2.0850e-03,5.0927e-05,1.8994e-01,3.4385e-03
+30,1.6933e+01,DOWN_FORCE_DETACH,5.6478e-03,3.0972e-02,4.3131e-02,2.6458e+00,-3.9486e-02,3.8745e-02,5.4905e-05,3.1211e-02,4.5492e-02,1.9067e-01,-2.8809e-03,1.9753e-03,5.2671e-05,1.9849e-01,3.4934e-03
+31,1.7233e+01,DOWN_FORCE_DETACH,5.8329e-03,2.9991e-02,4.3427e-02,2.6531e+00,-3.9490e-02,3.8669e-02,5.3087e-05,3.0229e-02,4.5788e-02,1.9803e-01,-2.8844e-03,1.8987e-03,5.0853e-05,2.0549e-01,3.4537e-03
+32,1.7533e+01,DOWN_FORCE_DETACH,6.0214e-03,2.8923e-02,4.2244e-02,2.6614e+00,-3.9407e-02,3.8585e-02,4.8628e-05,2.9161e-02,4.4605e-02,2.0631e-01,-2.8021e-03,1.8146e-03,4.6395e-05,2.1308e-01,3.3386e-03
+33,1.7833e+01,DOWN_FORCE_DETACH,6.2187e-03,2.8751e-02,4.5535e-02,2.6703e+00,-3.9594e-02,3.8556e-02,4.2591e-05,2.8989e-02,4.7896e-02,2.1522e-01,-2.9892e-03,1.7856e-03,4.0357e-05,2.2238e-01,3.4822e-03
+34,1.8117e+01,DOWN_FORCE_DETACH,6.4043e-03,2.6993e-02,5.0082e-02,2.6757e+00,-3.9851e-02,3.8427e-02,3.8358e-05,2.7231e-02,5.2443e-02,2.2056e-01,-3.2462e-03,1.6571e-03,3.6125e-05,2.2834e-01,3.6449e-03
+35,1.8383e+01,DOWN_FORCE_DETACH,6.5895e-03,2.5070e-02,5.0685e-02,2.6770e+00,-3.9873e-02,3.8294e-02,3.7925e-05,2.5309e-02,5.3046e-02,2.2192e-01,-3.2674e-03,1.5240e-03,3.5691e-05,2.2957e-01,3.6056e-03
+36,1.8650e+01,DOWN_FORCE_DETACH,6.7778e-03,2.5034e-02,4.9956e-02,2.6799e+00,-3.9821e-02,3.8286e-02,4.2224e-05,2.5272e-02,5.2317e-02,2.2477e-01,-3.2157e-03,1.5156e-03,3.9990e-05,2.3216e-01,3.5552e-03
+37,1.8900e+01,DOWN_FORCE_DETACH,6.9567e-03,2.5768e-02,5.0436e-02,2.6849e+00,-3.9840e-02,3.8325e-02,4.9825e-05,2.6006e-02,5.2797e-02,2.2978e-01,-3.2344e-03,1.5550e-03,4.7591e-05,2.3720e-01,3.5891e-03
+38,1.9133e+01,DOWN_FORCE_DETACH,7.1535e-03,2.6499e-02,5.3396e-02,2.6904e+00,-4.0007e-02,3.8362e-02,5.6933e-05,2.6737e-02,5.5757e-02,2.3533e-01,-3.4020e-03,1.5922e-03,5.4699e-05,2.4332e-01,3.7566e-03
+39,1.9367e+01,DOWN_FORCE_DETACH,7.3360e-03,2.6850e-02,5.6590e-02,2.6969e+00,-4.0184e-02,3.8375e-02,6.1174e-05,2.7088e-02,5.8951e-02,2.4180e-01,-3.5788e-03,1.6050e-03,5.8941e-05,2.5035e-01,3.9227e-03
+40,1.9633e+01,DOWN_FORCE_DETACH,7.5329e-03,2.6026e-02,5.5259e-02,2.7021e+00,-4.0074e-02,3.8312e-02,6.2367e-05,2.6264e-02,5.7620e-02,2.4703e-01,-3.4689e-03,1.5414e-03,6.0133e-05,2.5501e-01,3.7964e-03
+41,1.9867e+01,DOWN_FORCE_DETACH,7.7175e-03,2.4906e-02,5.3678e-02,2.7043e+00,-3.9959e-02,3.8229e-02,6.0945e-05,2.5144e-02,5.6039e-02,2.4923e-01,-3.3544e-03,1.4593e-03,5.8711e-05,2.5668e-01,3.6585e-03
+42,2.0100e+01,DOWN_FORCE_DETACH,7.8972e-03,2.3674e-02,5.7524e-02,2.7054e+00,-4.0176e-02,3.8141e-02,5.7697e-05,2.3913e-02,5.9885e-02,2.5026e-01,-3.5706e-03,1.3706e-03,5.5463e-05,2.5843e-01,3.8250e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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+oid sha256:f9ee1e56ea3119ab6d00d88937089c33545485ea02819a1417f83331055d9814
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b744af1e6e04af3e67b5ef0c18525678ecce6b51
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b356d7c1757ee8793ffe60b101746fad066aa641
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c86cf832c679520f93ada3861538b21e3b6e5688
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a10f50464554f19fc05a95cd831364d70f2a4fac
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.833333333e-01,UP_FORCE_RAMP,1791447440547727251,-4.018387281e-07,3.173413703e-06,2.033453942e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.931653064e-07,3.353668382e-08,3.070984245e-08,7.015374696e-01,4.724375024e-06,8.407429746e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259665e-01,1.685365614e-06,8.297807131e-01
+7,5.500000000e-01,UP_FORCE_RAMP,1791447440645727765,1.865486292e-06,5.326136350e-06,2.211794593e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.136143428e-07,3.721764756e-08,3.383781433e-08,7.015397370e-01,6.877097671e-06,8.407431530e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259869e-01,1.689046578e-06,8.297807162e-01
+8,6.333333333e-01,UP_FORCE_RAMP,1791447440765165775,-7.764004554e-07,7.572413900e-06,1.789795541e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.375418569e-07,4.169118038e-08,3.750280819e-08,7.015370951e-01,9.123375221e-06,8.407427310e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260109e-01,1.693520111e-06,8.297807199e-01
+9,7.333333333e-01,UP_FORCE_RAMP,1791447440926562249,-2.177260474e-06,6.600749458e-06,6.973263639e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.641953685e-07,4.678476666e-08,4.157187816e-08,7.015356942e-01,8.151710779e-06,8.407416385e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260375e-01,1.698613697e-06,8.297807239e-01
+10,8.000000000e-01,UP_FORCE_RAMP,1791447441026769542,1.083428176e-06,8.367903629e-06,6.944783224e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.807564055e-07,4.997124811e-08,4.407541820e-08,7.015389549e-01,9.918864950e-06,8.407478860e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260541e-01,1.701800179e-06,8.297807264e-01
+11,8.333333333e-01,UP_FORCE_RAMP,1791447441066715838,3.561190750e-07,8.702342380e-06,9.691105478e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.887301715e-07,5.151265551e-08,4.526958963e-08,7.015382276e-01,1.025330370e-05,8.407506323e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260621e-01,1.703341586e-06,8.297807276e-01
+12,9.333333333e-01,UP_FORCE_RAMP,1791447441226438713,-4.100334753e-06,8.310838029e-06,7.640074604e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.114837828e-07,5.593334815e-08,4.865680192e-08,7.015337711e-01,9.861799350e-06,8.407485813e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260848e-01,1.707762279e-06,8.297807310e-01
+13,1.000000000e+00,UP_FORCE_RAMP,1791447441326658961,-1.922624567e-06,8.400836105e-06,1.417386572e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.256356320e-07,5.872820501e-08,5.074147924e-08,7.015359489e-01,9.951797426e-06,8.407551151e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260990e-01,1.710557136e-06,8.297807331e-01
+14,1.066666667e+00,UP_FORCE_RAMP,1791447441426827812,-1.347487595e-06,7.755319449e-06,2.137133563e-05,-1.159473212e-06,7.866772369e-06,2.152499392e-05,-7.764471344e-07,7.906640332e-06,2.127209404e-05,7.015365240e-01,9.306280770e-06,8.407623125e-01,7.015367120e-01,9.417733690e-06,8.407624662e-01,7.017249969e-01,9.558469262e-06,8.298019544e-01
+15,1.133333333e+00,UP_FORCE_RAMP,1791447441526791586,-4.121790975e-06,6.643160443e-06,2.255753654e-05,-1.159473212e-06,7.866772369e-06,2.152499392e-05,-7.647046704e-07,7.915768457e-06,2.130899679e-05,7.015337497e-01,8.194121764e-06,8.407634987e-01,7.015367120e-01,9.417733690e-06,8.407624662e-01,7.017250086e-01,9.567597388e-06,8.298019913e-01
+16,1.183333333e+00,UP_FORCE_RAMP,1791447441595476939,-4.826047752e-06,8.276562062e-06,2.591254930e-05,-1.159473212e-06,7.866772369e-06,2.152499392e-05,-7.562457781e-07,7.918465097e-06,2.132492198e-05,7.015330454e-01,9.827523383e-06,8.407668537e-01,7.015367120e-01,9.417733690e-06,8.407624662e-01,7.017250171e-01,9.570294027e-06,8.298020073e-01
+17,1.283333333e+00,UP_FORCE_RAMP,1791447441746235059,-4.475930244e-06,7.860679117e-06,3.329833139e-05,-1.159473212e-06,7.866772369e-06,2.152499392e-05,-7.404551829e-07,7.922611356e-06,2.135323358e-05,7.015333956e-01,9.411640438e-06,8.407742395e-01,7.015367120e-01,9.417733690e-06,8.407624662e-01,7.017250329e-01,9.574440287e-06,8.298020356e-01
+18,1.350000000e+00,UP_FORCE_RAMP,1791447441847411296,-1.124461388e-05,1.080987329e-05,2.990985704e-05,-1.159473212e-06,7.866772369e-06,2.152499392e-05,-7.306551275e-07,7.925023491e-06,2.137032597e-05,7.015266269e-01,1.236083461e-05,8.407708510e-01,7.015367120e-01,9.417733690e-06,8.407624662e-01,7.017250427e-01,9.576852421e-06,8.298020527e-01
+19,1.383333333e+00,UP_FORCE_RAMP,1791447441897460781,-7.293153833e-06,1.269324838e-05,4.046641620e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.715027326e-06,1.257395980e-05,3.958696259e-05,7.015305783e-01,1.424420970e-05,8.407814076e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190583e-01,1.422578873e-05,8.298202693e-01
+20,1.433333333e+00,UP_FORCE_RAMP,1791447441964931793,-6.463438651e-06,8.947682566e-06,4.555925907e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.715811039e-06,1.257899389e-05,3.962401049e-05,7.015314080e-01,1.049864389e-05,8.407865004e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190575e-01,1.423082282e-05,8.298203064e-01
+21,1.466666667e+00,UP_FORCE_RAMP,1791447442026678725,-1.123705256e-05,8.683207852e-06,4.181345629e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.714483132e-06,1.258040376e-05,3.964044739e-05,7.015266344e-01,1.023416917e-05,8.407827546e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190588e-01,1.423223269e-05,8.298203228e-01
+22,1.500000000e+00,UP_FORCE_RAMP,1791447442067662279,-7.801836435e-06,6.876587899e-06,4.842813954e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.713058828e-06,1.258151745e-05,3.965579079e-05,7.015300696e-01,8.427549220e-06,8.407893693e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190603e-01,1.423334638e-05,8.298203381e-01
+23,1.533333333e+00,UP_FORCE_RAMP,1791447442126604588,-1.171502197e-05,1.162922316e-05,4.647832398e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.711604789e-06,1.258248628e-05,3.967044900e-05,7.015261565e-01,1.318018448e-05,8.407874195e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190617e-01,1.423431521e-05,8.298203528e-01
+24,1.583333333e+00,UP_FORCE_RAMP,1791447442195802138,-1.269703735e-05,1.071699127e-05,5.013479654e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.709423620e-06,1.258381486e-05,3.969137589e-05,7.015251744e-01,1.226795259e-05,8.407910760e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190639e-01,1.423564379e-05,8.298203737e-01
+25,1.633333333e+00,UP_FORCE_RAMP,1791447442265362192,-1.054085926e-05,1.059304407e-05,5.741458488e-05,-7.148138163e-06,1.257470748e-05,4.004420351e-05,-6.707271620e-06,1.258503406e-05,3.971114474e-05,7.015273306e-01,1.214400539e-05,8.407983558e-01,7.015307233e-01,1.412566880e-05,8.407809854e-01,7.017190661e-01,1.423686299e-05,8.298203935e-01
+26,1.733333333e+00,UP_FORCE_RAMP,1791447442426592853,-1.276801260e-05,9.483775363e-06,6.308591632e-05,-1.406775658e-05,9.471815832e-06,5.939418586e-05,-1.369294940e-05,9.522284254e-06,5.882121956e-05,7.015251035e-01,1.103473668e-05,8.408040271e-01,7.015238037e-01,1.102277715e-05,8.408003354e-01,7.017120804e-01,1.117411318e-05,8.298395036e-01
+27,1.833333333e+00,UP_FORCE_RAMP,1791447442565252082,-1.367242963e-05,1.022589450e-05,6.980280210e-05,-1.406775658e-05,9.471815832e-06,5.939418586e-05,-1.370017506e-05,9.523053452e-06,5.888380303e-05,7.015241991e-01,1.177685582e-05,8.408107440e-01,7.015238037e-01,1.102277715e-05,8.408003354e-01,7.017120732e-01,1.117488238e-05,8.298395662e-01
+28,1.883333333e+00,UP_FORCE_RAMP,1791447442658437863,-1.431760867e-05,1.003423583e-05,7.522398654e-05,-1.059930442e-05,1.402231644e-05,7.825700874e-05,-1.013622625e-05,1.400648693e-05,7.757007440e-05,7.015235539e-01,1.158519716e-05,8.408161652e-01,7.015272722e-01,1.557327776e-05,8.408191982e-01,7.017156371e-01,1.565831586e-05,8.298582524e-01
+29,1.950000000e+00,UP_FORCE_RAMP,1791447442750092774,-1.286324057e-05,9.293353545e-06,8.352680157e-05,-1.059930442e-05,1.402231644e-05,7.825700874e-05,-1.013480097e-05,1.400890318e-05,7.762560348e-05,7.015250082e-01,1.084431487e-05,8.408244680e-01,7.015272722e-01,1.557327776e-05,8.408191982e-01,7.017156385e-01,1.566073211e-05,8.298583080e-01
+30,2.050000000e+00,UP_FORCE_RAMP,1791447442897913630,-1.464774885e-05,8.914764060e-06,9.091412036e-05,-1.059930442e-05,1.402231644e-05,7.825700874e-05,-1.013466406e-05,1.401136438e-05,7.769622482e-05,7.015232237e-01,1.046572538e-05,8.408318553e-01,7.015272722e-01,1.557327776e-05,8.408191982e-01,7.017156387e-01,1.566319331e-05,8.298583786e-01
+31,2.100000000e+00,UP_FORCE_RAMP,1791447442964198373,-1.606703585e-05,1.157327001e-05,9.333808730e-05,-1.059930442e-05,1.402231644e-05,7.825700874e-05,-1.013465116e-05,1.401240064e-05,7.772849041e-05,7.015218044e-01,1.312423133e-05,8.408342793e-01,7.015272722e-01,1.557327776e-05,8.408191982e-01,7.017156387e-01,1.566422957e-05,8.298584108e-01
+32,2.166666667e+00,UP_FORCE_RAMP,1791447443069038190,-1.630960171e-05,1.168373109e-05,9.806757856e-05,-1.430696292e-05,7.875018821e-06,9.726454877e-05,-1.376667778e-05,7.949437138e-06,9.656875932e-05,7.015215619e-01,1.323469241e-05,8.408390088e-01,7.015235645e-01,9.425980142e-06,8.408382057e-01,7.017120066e-01,9.601266069e-06,8.298772511e-01
+33,2.250000000e+00,UP_FORCE_RAMP,1791447443197105828,-1.560931810e-05,9.077649125e-06,1.077187626e-04,-1.430696292e-05,7.875018821e-06,9.726454877e-05,-1.377119778e-05,7.949873361e-06,9.663722739e-05,7.015222622e-01,1.062861045e-05,8.408486600e-01,7.015235645e-01,9.425980142e-06,8.408382057e-01,7.017120021e-01,9.601702291e-06,8.298773196e-01
+34,2.316666667e+00,UP_FORCE_RAMP,1791447443296595242,-1.410149738e-05,1.307939950e-05,1.142636342e-04,-1.430696292e-05,7.875018821e-06,9.726454877e-05,-1.377456576e-05,7.950615576e-06,9.668681938e-05,7.015237700e-01,1.463036082e-05,8.408552048e-01,7.015235645e-01,9.425980142e-06,8.408382057e-01,7.017119988e-01,9.602444507e-06,8.298773692e-01
+35,2.366666667e+00,UP_FORCE_RAMP,1791447443364679611,-1.666382253e-05,1.128184362e-05,1.149772265e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190222801e-05,8.897851601e-06,1.191205803e-04,7.015212077e-01,1.283280494e-05,8.408559184e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138711e-01,1.054968053e-05,8.298998029e-01
+36,2.433333333e+00,UP_FORCE_RAMP,1791447443465745606,-1.720047995e-05,1.473416866e-05,1.226171746e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190259255e-05,8.899302158e-06,1.191874784e-04,7.015206710e-01,1.628512998e-05,8.408635584e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138707e-01,1.055113109e-05,8.298998698e-01
+37,2.500000000e+00,UP_FORCE_RAMP,1791447443564160456,-1.543408414e-05,1.231074321e-05,1.302024738e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190364629e-05,8.900587038e-06,1.192472504e-04,7.015224374e-01,1.386170453e-05,8.408711437e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138697e-01,1.055241597e-05,8.298999296e-01
+38,2.533333333e+00,UP_FORCE_RAMP,1791447443626544722,-1.588497276e-05,8.502645915e-06,1.323933101e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190417854e-05,8.901183399e-06,1.192753569e-04,7.015219865e-01,1.005360724e-05,8.408733345e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138691e-01,1.055301233e-05,8.298999577e-01
+39,2.583333333e+00,UP_FORCE_RAMP,1791447443695472738,-1.611418876e-05,1.384719783e-05,1.339212561e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190494361e-05,8.902030032e-06,1.193155034e-04,7.015217573e-01,1.539815916e-05,8.408748624e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138684e-01,1.055385896e-05,8.298999979e-01
+40,2.650000000e+00,UP_FORCE_RAMP,1791447443795768308,-1.910438291e-05,9.774947091e-06,1.373675756e-04,-1.251127865e-05,8.838968028e-06,1.199369099e-04,-1.190589449e-05,8.903081117e-06,1.193655225e-04,7.015187671e-01,1.132590841e-05,8.408783088e-01,7.015253602e-01,1.038992935e-05,8.408608781e-01,7.017138674e-01,1.055491005e-05,8.299000479e-01
+41,2.716666667e+00,UP_FORCE_RAMP,1791447443896882524,-1.691114655e-05,1.338604495e-05,1.439527025e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.689660282e-05,1.484094473e-05,1.381199450e-04,7.015209603e-01,1.493700627e-05,8.408848939e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088767e-01,1.649277366e-05,8.299188023e-01
+42,2.750000000e+00,UP_FORCE_RAMP,1791447443946188966,-1.652442165e-05,1.432406210e-05,1.475161133e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.689952944e-05,1.484198082e-05,1.381513614e-04,7.015213471e-01,1.587502342e-05,8.408884573e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088738e-01,1.649380975e-05,8.299188337e-01
+43,2.800000000e+00,UP_FORCE_RAMP,1791447444026451927,-1.841917398e-05,1.195778567e-05,1.465692012e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.690358973e-05,1.484303366e-05,1.381954642e-04,7.015194523e-01,1.350874699e-05,8.408875104e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088697e-01,1.649486259e-05,8.299188778e-01
+44,2.850000000e+00,UP_FORCE_RAMP,1791447444097186037,-1.982204691e-05,1.108547073e-05,1.487427927e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.690739320e-05,1.484374475e-05,1.382368729e-04,7.015180494e-01,1.263643205e-05,8.408896840e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088659e-01,1.649557368e-05,8.299189192e-01
+45,2.900000000e+00,UP_FORCE_RAMP,1791447444166794613,-1.770843577e-05,1.320744076e-05,1.544459900e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.691089304e-05,1.484440557e-05,1.382758897e-04,7.015201630e-01,1.475840209e-05,8.408953872e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088624e-01,1.649623450e-05,8.299189582e-01
+46,2.933333333e+00,UP_FORCE_RAMP,1791447444227590781,-2.052677872e-05,1.696642723e-05,1.520359287e-04,-1.749509542e-05,1.479100370e-05,1.389379160e-04,-1.691310720e-05,1.484479924e-05,1.383006540e-04,7.015173447e-01,1.851738856e-05,8.408929771e-01,7.015203764e-01,1.634196502e-05,8.408798791e-01,7.017088602e-01,1.649662818e-05,8.299189830e-01
+47,3.000000000e+00,UP_FORCE_RAMP,1791447444326631132,-1.859771053e-05,1.015968561e-05,1.606469932e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.782190504e-05,1.021802352e-05,1.597147770e-04,7.015192738e-01,1.171064693e-05,8.409015882e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079514e-01,1.186985245e-05,8.299403971e-01
+48,3.083333333e+00,UP_FORCE_RAMP,1791447444462922743,-2.025285205e-05,1.515358899e-05,1.634333982e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.782751342e-05,1.021567674e-05,1.598093995e-04,7.015176186e-01,1.670455032e-05,8.409043746e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079458e-01,1.186750567e-05,8.299404917e-01
+49,3.166666667e+00,UP_FORCE_HOLD,1791447444600524265,-1.953975423e-05,1.433108248e-05,1.699314769e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.783320027e-05,1.021624214e-05,1.598816478e-04,7.015183317e-01,1.588204380e-05,8.409108727e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079401e-01,1.186807107e-05,8.299405640e-01
+50,3.233333333e+00,UP_FORCE_HOLD,1791447444702300080,-2.239470291e-05,1.356526716e-05,1.674790700e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.783748547e-05,1.021686403e-05,1.599342529e-04,7.015154768e-01,1.511622848e-05,8.409084203e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079358e-01,1.186869296e-05,8.299406166e-01
+51,3.316666667e+00,UP_FORCE_HOLD,1791447444829283316,-2.151267762e-05,1.545004317e-05,1.720356746e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.784246653e-05,1.021753796e-05,1.599943345e-04,7.015163588e-01,1.700100449e-05,8.409129769e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079309e-01,1.186936689e-05,8.299406767e-01
+52,3.383333333e+00,UP_FORCE_HOLD,1791447444928998631,-1.958696137e-05,1.327663785e-05,1.778483546e-04,-1.847377187e-05,1.014687722e-05,1.606427631e-04,-1.784617171e-05,1.021811321e-05,1.600382290e-04,7.015182845e-01,1.482759917e-05,8.409187895e-01,7.015193977e-01,1.169783854e-05,8.409015840e-01,7.017079272e-01,1.186994214e-05,8.299407206e-01
+53,3.450000000e+00,UP_FORCE_HOLD,1791447445028422000,-2.078314646e-05,1.517600473e-05,1.778504352e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.802351751e-05,1.271821335e-05,1.800881332e-04,7.015170883e-01,1.672696605e-05,8.409187916e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077498e-01,1.437004228e-05,8.299607705e-01
+54,3.533333333e+00,UP_FORCE_HOLD,1791447445158843671,-1.914405070e-05,1.486984216e-05,1.834944071e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.802743212e-05,1.271989994e-05,1.801596826e-04,7.015187274e-01,1.642080348e-05,8.409244356e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077459e-01,1.437172887e-05,8.299608420e-01
+55,3.583333333e+00,UP_FORCE_HOLD,1791447445229302417,-1.978300732e-05,1.744959226e-05,1.858625831e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.802991302e-05,1.272066874e-05,1.801980382e-04,7.015180885e-01,1.900055358e-05,8.409268038e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077434e-01,1.437249767e-05,8.299608804e-01
+56,3.700000000e+00,UP_FORCE_HOLD,1791447445397774616,-2.023265159e-05,1.912431364e-05,1.871070405e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.803534079e-05,1.272219785e-05,1.802784997e-04,7.015176388e-01,2.067527496e-05,8.409280482e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077380e-01,1.437402678e-05,8.299609608e-01
+57,3.783333333e+00,UP_FORCE_HOLD,1791447445528556016,-1.985032401e-05,9.921502257e-06,1.908135588e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.803891696e-05,1.272312076e-05,1.803291250e-04,7.015180212e-01,1.147246358e-05,8.409317547e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077344e-01,1.437494969e-05,8.299610115e-01
+58,3.833333333e+00,UP_FORCE_HOLD,1791447445597997211,-2.167672868e-05,1.456631763e-05,1.885826932e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.804095695e-05,1.272361272e-05,1.803570392e-04,7.015161948e-01,1.611727895e-05,8.409295239e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077324e-01,1.437544165e-05,8.299610394e-01
+59,3.900000000e+00,UP_SETTLE,1791447445701614330,-1.940640199e-05,1.715427058e-05,1.948426477e-04,-1.869804192e-05,1.266169931e-05,1.808591990e-04,-1.804360274e-05,1.272420080e-05,1.803915743e-04,7.015184651e-01,1.870523190e-05,8.409357838e-01,7.015191734e-01,1.421266063e-05,8.409218004e-01,7.017077297e-01,1.437602973e-05,8.299610739e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0139b5a5ac962fd00bb4089c0d8d9340b14758c5
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.5905e-05,-2.3535e-03,2.4551e+00,-3.6605e-02,3.6785e-02,2.4573e-06,2.2217e-04,7.5393e-06,7.3910e-06,-9.3132e-08,1.4618e-05,2.2370e-07,2.2242e-04,1.4620e-05
+1,6.6667e-02,UP_FORCE_RAMP,1.4293e-05,8.9837e-04,-2.3205e-03,2.4552e+00,-3.6606e-02,3.6845e-02,3.4195e-06,1.1364e-03,4.0524e-05,5.6505e-05,-6.7800e-07,7.4856e-05,1.1859e-06,1.1386e-03,7.4868e-05
+2,1.5000e-01,UP_FORCE_RAMP,2.8690e-05,8.5059e-03,-3.6929e-03,2.4562e+00,-3.6464e-02,3.7436e-02,5.4179e-05,8.7440e-03,-1.3319e-03,1.0746e-03,1.4075e-04,6.6562e-04,5.1946e-05,8.9099e-03,6.8232e-04
+3,2.1667e-01,UP_FORCE_RAMP,4.5242e-05,8.7132e-03,-3.6428e-03,2.4561e+00,-3.6468e-02,3.7448e-02,5.4570e-05,8.9513e-03,-1.2818e-03,1.0169e-03,1.3670e-04,6.7759e-04,5.2336e-05,9.0996e-03,6.9322e-04
+4,3.0000e-01,UP_FORCE_RAMP,6.1777e-05,9.1623e-03,-3.5634e-03,2.4561e+00,-3.6475e-02,3.7475e-02,5.5169e-05,9.4004e-03,-1.2024e-03,9.8896e-04,1.3057e-04,7.0521e-04,5.2935e-05,9.5284e-03,7.1915e-04
+5,3.8333e-01,UP_FORCE_RAMP,7.7796e-05,9.7426e-03,-3.4709e-03,2.4561e+00,-3.6482e-02,3.7512e-02,5.5919e-05,9.9807e-03,-1.1099e-03,1.0071e-03,1.2362e-04,7.4158e-04,5.3685e-05,1.0093e-02,7.5373e-04
+6,4.8333e-01,UP_FORCE_RAMP,9.2076e-05,1.0648e-02,-3.3328e-03,2.4562e+00,-3.6492e-02,3.7569e-02,5.7149e-05,1.0886e-02,-9.7180e-04,1.0829e-03,1.1339e-04,7.9892e-04,5.4915e-05,1.0982e-02,8.0879e-04
+7,5.5000e-01,UP_FORCE_RAMP,1.0790e-04,1.3563e-02,-1.5924e-03,2.4571e+00,-3.6645e-02,3.7767e-02,1.0368e-04,1.3801e-02,7.6864e-04,1.9608e-03,-3.9846e-05,9.9694e-04,1.0145e-04,1.3961e-02,1.0029e-03
+8,6.3333e-01,UP_FORCE_RAMP,1.2430e-04,1.3801e-02,-1.6056e-03,2.4570e+00,-3.6643e-02,3.7782e-02,1.0391e-04,1.4039e-02,7.5544e-04,1.8928e-03,-3.8020e-05,1.0124e-03,1.0167e-04,1.4186e-02,1.0182e-03
+9,7.3333e-01,UP_FORCE_RAMP,1.4117e-04,1.4277e-02,-1.6001e-03,2.4570e+00,-3.6642e-02,3.7813e-02,1.0437e-04,1.4515e-02,7.6095e-04,1.8618e-03,-3.7227e-05,1.0434e-03,1.0214e-04,1.4654e-02,1.0490e-03
+10,8.0000e-01,UP_FORCE_RAMP,1.5690e-04,1.4736e-02,-1.5832e-03,2.4570e+00,-3.6643e-02,3.7843e-02,1.0487e-04,1.4974e-02,7.7779e-04,1.8704e-03,-3.7462e-05,1.0733e-03,1.0263e-04,1.5111e-02,1.0789e-03
+11,8.3333e-01,UP_FORCE_RAMP,1.6955e-04,1.5021e-02,-1.5714e-03,2.4570e+00,-3.6643e-02,3.7862e-02,1.0521e-04,1.5259e-02,7.8962e-04,1.8842e-03,-3.7722e-05,1.0919e-03,1.0298e-04,1.5395e-02,1.0974e-03
+12,9.3333e-01,UP_FORCE_RAMP,1.8325e-04,1.8135e-02,-2.1228e-03,2.4574e+00,-3.6585e-02,3.8101e-02,1.3139e-04,1.8373e-02,2.3822e-04,2.2924e-03,2.0213e-05,1.3310e-03,1.2916e-04,1.8517e-02,1.3374e-03
+13,1.0000e+00,UP_FORCE_RAMP,2.0188e-04,1.8264e-02,-2.0960e-03,2.4574e+00,-3.6587e-02,3.8109e-02,1.3157e-04,1.8502e-02,2.6500e-04,2.2752e-03,1.8083e-05,1.3388e-03,1.2934e-04,1.8644e-02,1.3452e-03
+14,1.0667e+00,UP_FORCE_RAMP,2.1961e-04,1.8459e-02,-2.0611e-03,2.4574e+00,-3.6590e-02,3.8121e-02,1.3181e-04,1.8697e-02,2.9993e-04,2.2733e-03,1.5430e-05,1.3510e-03,1.2958e-04,1.8837e-02,1.3573e-03
+15,1.1333e+00,UP_FORCE_RAMP,2.3370e-04,1.9913e-02,-5.7685e-03,2.4455e+00,-3.6349e-02,3.8216e-02,1.3316e-04,2.0152e-02,-3.4075e-03,-9.6414e-03,2.5564e-04,1.4457e-03,1.3093e-04,2.2598e-02,1.4740e-03
+16,1.1833e+00,UP_FORCE_RAMP,2.5021e-04,1.9984e-02,-5.6195e-03,2.4457e+00,-3.6358e-02,3.8221e-02,1.3340e-04,2.0222e-02,-3.2585e-03,-9.4473e-03,2.4671e-04,1.4508e-03,1.3116e-04,2.2556e-02,1.4774e-03
+17,1.2833e+00,UP_FORCE_RAMP,2.6489e-04,2.0278e-02,-5.4082e-03,2.4463e+00,-3.6370e-02,3.8241e-02,1.3404e-04,2.0516e-02,-3.0472e-03,-8.8356e-03,2.3464e-04,1.4709e-03,1.3181e-04,2.2544e-02,1.4953e-03
+18,1.3500e+00,UP_FORCE_RAMP,2.7860e-04,2.0542e-02,-5.3032e-03,2.4468e+00,-3.6376e-02,3.8259e-02,1.3459e-04,2.0780e-02,-2.9422e-03,-8.3115e-03,2.2877e-04,1.4887e-03,1.3236e-04,2.2573e-02,1.5120e-03
+19,1.3833e+00,UP_FORCE_RAMP,2.9612e-04,2.0687e-02,-5.2592e-03,2.4471e+00,-3.6379e-02,3.8269e-02,1.3491e-04,2.0925e-02,-2.8982e-03,-8.0235e-03,2.2635e-04,1.4985e-03,1.3267e-04,2.2597e-02,1.5213e-03
+20,1.4333e+00,UP_FORCE_RAMP,3.1267e-04,2.5518e-02,-7.6394e-03,2.4374e+00,-3.6218e-02,3.8592e-02,1.3825e-04,2.5756e-02,-5.2784e-03,-1.7679e-02,3.8663e-04,1.8221e-03,1.3602e-04,3.1682e-02,1.8676e-03
+21,1.4667e+00,UP_FORCE_RAMP,3.2567e-04,2.5391e-02,-7.5554e-03,2.4378e+00,-3.6223e-02,3.8586e-02,1.3851e-04,2.5629e-02,-5.1944e-03,-1.7337e-02,3.8197e-04,1.8156e-03,1.3627e-04,3.1375e-02,1.8603e-03
+22,1.5000e+00,UP_FORCE_RAMP,3.3833e-04,2.5287e-02,-7.4800e-03,2.4382e+00,-3.6227e-02,3.8580e-02,1.3879e-04,2.5525e-02,-5.1190e-03,-1.6950e-02,3.7779e-04,1.8103e-03,1.3655e-04,3.1065e-02,1.8543e-03
+23,1.5333e+00,UP_FORCE_RAMP,3.5526e-04,2.5213e-02,-7.4148e-03,2.4386e+00,-3.6231e-02,3.8577e-02,1.3909e-04,2.5451e-02,-5.0538e-03,-1.6528e-02,3.7423e-04,1.8068e-03,1.3685e-04,3.0764e-02,1.8502e-03
+24,1.5833e+00,UP_FORCE_RAMP,3.6973e-04,2.5147e-02,-7.3343e-03,2.4393e+00,-3.6235e-02,3.8575e-02,1.3958e-04,2.5385e-02,-4.9733e-03,-1.5843e-02,3.6993e-04,1.8044e-03,1.3734e-04,3.0334e-02,1.8471e-03
+25,1.6333e+00,UP_FORCE_RAMP,3.8762e-04,2.5127e-02,-7.2711e-03,2.4400e+00,-3.6238e-02,3.8575e-02,1.4011e-04,2.5366e-02,-4.9100e-03,-1.5115e-02,3.6666e-04,1.8049e-03,1.3788e-04,2.9933e-02,1.8469e-03
+26,1.7333e+00,UP_FORCE_RAMP,4.0403e-04,2.5365e-02,-7.0296e-03,2.4411e+00,-3.6253e-02,3.8594e-02,1.4134e-04,2.5603e-02,-4.6686e-03,-1.3989e-02,3.5201e-04,1.8243e-03,1.3910e-04,2.9547e-02,1.8631e-03
+27,1.8333e+00,UP_FORCE_RAMP,4.1696e-04,2.6641e-02,-6.4890e-03,2.4393e+00,-3.6287e-02,3.8682e-02,1.4270e-04,2.6879e-02,-4.1280e-03,-1.5855e-02,3.1777e-04,1.9116e-03,1.4046e-04,3.1479e-02,1.9429e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e8397912970dc9add33a5653e3299e56e13cd5af
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20aa766c2a01e74dacd393ac24c73fd54bb2ae9e71be92505f12980b1f61c613
+size 2662400
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..107ca3c6a54b944f0a634ab4b06620c3c3cbf535
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,2.740000e+01,237,7.010757e-01,1.281400e-02,8.232113e-01,4.369956e-05,2.988492e-05,-8.239123e-03,-4.002031e-03,6.097901e-02,1.900757e-02
+59,2.740000e+01,238,7.003102e-01,1.295172e-02,8.247513e-01,3.050916e-05,-3.272634e-05,-8.272926e-03,6.005777e-06,1.306328e-03,1.355672e-05
+59,2.740000e+01,239,6.968054e-01,2.047380e-02,8.300906e-01,7.438799e-06,-8.389016e-05,-8.394296e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,240,7.036207e-01,1.288864e-02,8.245307e-01,5.081848e-05,-5.418087e-05,-8.294910e-03,-1.671456e-06,-1.404001e-06,-1.645532e-05
+59,2.740000e+01,241,6.929566e-01,1.729639e-02,8.239300e-01,-7.170512e-06,-9.620163e-05,-8.366342e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,242,7.095878e-01,1.894258e-02,8.159194e-01,-1.314799e-05,-1.059975e-04,-8.436799e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,243,6.961473e-01,1.864143e-02,8.292538e-01,-1.004871e-06,-8.389521e-05,-8.361737e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,244,6.921786e-01,1.879226e-02,8.232322e-01,-7.108047e-06,-9.873965e-05,-8.383227e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,245,7.005080e-01,2.060335e-02,8.312795e-01,1.696088e-05,-7.803301e-05,-8.402439e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,246,6.977124e-01,1.845922e-02,8.127315e-01,-1.630920e-05,-1.179733e-04,-8.376038e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,247,7.054455e-01,1.876972e-02,8.125722e-01,-2.931049e-05,-1.136712e-04,-8.412570e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,248,6.940003e-01,1.534900e-02,8.215110e-01,1.856848e-05,-9.098710e-05,-8.345430e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,249,7.021398e-01,1.860692e-02,8.118485e-01,-2.846871e-05,-1.171713e-04,-8.392597e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,250,7.114432e-01,2.042427e-02,8.229083e-01,8.978253e-06,-9.174314e-05,-8.451575e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,251,7.114860e-01,2.044323e-02,8.200824e-01,-1.261074e-06,-9.737547e-05,-8.455069e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,252,6.960100e-01,1.600011e-02,8.274368e-01,-4.670338e-06,-8.815997e-05,-8.324363e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,253,6.976606e-01,1.757331e-02,8.296785e-01,2.313344e-06,-8.222403e-05,-8.337586e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,254,7.095266e-01,1.743383e-02,8.259479e-01,5.439612e-05,-8.892189e-05,-8.396804e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,255,6.919617e-01,1.890581e-02,8.215380e-01,-5.876747e-06,-1.036645e-04,-8.386209e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,256,7.007537e-01,2.063164e-02,8.114265e-01,-3.397821e-05,-1.194677e-04,-8.418025e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,257,6.923235e-01,1.876435e-02,8.189454e-01,-3.149616e-06,-1.091152e-04,-8.383339e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,258,7.054544e-01,1.349471e-02,8.178277e-01,3.181004e-06,-7.497565e-05,-8.333413e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,259,7.037894e-01,1.885984e-02,8.307898e-01,3.187700e-05,-7.826241e-05,-8.372922e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,260,7.073143e-01,1.753014e-02,8.285863e-01,5.555122e-05,-8.392176e-05,-8.370900e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,261,7.064400e-01,1.330867e-02,8.202466e-01,3.046879e-05,-7.736424e-05,-8.345054e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,262,7.060542e-01,1.749993e-02,8.134329e-01,-2.437985e-05,-1.103496e-04,-8.399020e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,263,6.962989e-01,1.909109e-02,8.132770e-01,-1.606368e-05,-1.184212e-04,-8.383859e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,264,7.085622e-01,1.748645e-02,8.273577e-01,5.742461e-05,-8.760457e-05,-8.385376e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,265,7.070693e-01,1.396015e-02,8.187017e-01,1.370495e-05,-8.732319e-05,-8.360386e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.740000e+01,266,6.947870e-01,1.613997e-02,8.261597e-01,-6.907924e-06,-9.122185e-05,-8.337731e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fc0cc017ae2c6ee5535f3c116131a0ecdc8eefc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+23778,1791447509134974568,2487524000000,1791447509130837890,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760249084778707,-0.004757896494123105,0.0906326609317648,0.999999985408538,8.943381026546573e-05,-0.00010534222672186017,3.9120289937771035e-05,0.6761,-0.0048,0.09069958445771024,1.0,0.0,0.0,0.0,-0.0017634237671662056,-0.2344042818066234,0.2053636030132653,-0.01852195270882738,0.00181492718612898,-0.0003507866239855206,-0.04412388497077681,-0.34738996165349145,0.05128372975202448,-0.02149236295588184,-0.0006024515075089846,-0.00030517346926233087,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.18288887034454884,-0.24016919001319492,0.8669131501923395,0.1065114715844374,-0.46510808595421366,-0.23732682413599926,0.5024368616808691,0.2053636030132653,-0.3644762885114704,-0.3644762885114704,0.2080200000000098,0,0,-0.00017334996647441615,-9.999999025923074e-05
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+24234,1791447512934954426,2491324000000,1791447512934838217,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760878808640574,-0.004762118328228343,0.0901873583096064,0.9999999919994762,8.08205280941875e-05,-1.70720350676311e-05,2.4909832547842348e-05,0.6761,-0.0048,0.09015066795094963,1.0,0.0,0.0,0.0,-0.05106675393464599,-0.1342371073454949,0.7100154641319589,-0.010516377797160394,0.005603241677304744,0.0004184691934986172,-0.0934272151382566,-0.24722278719236296,0.5559355908707181,-0.013486788044214852,0.0031858629836667793,0.0004640823482218069,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5907458367526488,-0.2181531608000707,0.07064977608135546,0.17507106083266805,0.1164278380375408,-0.21333583581127624,0.5024368616808691,0.7100154641319589,0.4317870855995136,0.4317870855995136,0.4360200000000269,0,0,-5.929766543480574e-05,9.999999025923074e-05
+24374,1791447514102034678,2492491000000,1791447514098837443,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760847634788245,-0.004764849529038585,0.09012911410926241,0.9999999916295416,8.3172826536042e-05,-2.2222013468847394e-05,2.778928331496307e-05,0.6761,-0.0048,0.0900975573417649,1.0,0.0,0.0,0.0,-0.052061094183071505,-0.14615941608293828,0.7200939184449505,-0.011540686741851217,0.005663810815207809,0.00039934935393743997,-0.09442155538668211,-0.25914509592980634,0.5660140451837097,-0.014511096988905675,0.003246432121569844,0.0004449625086606297,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6114123747412584,-0.3016548482065846,0.07764362272357216,0.2045449825958285,0.11467934837495941,-0.26905826488611256,0.5024368616808691,0.7200939184449505,0.4247932389572969,0.4247932389572969,0.5060400000000266,0,0,-4.302997271033839e-05,-5.775842338686261e-05
+24522,1791447515334994314,2493724000000,1791447515334847326,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760813301106846,-0.004767158643341423,0.09006755830459473,0.9999999910943671,8.660423403133356e-05,-2.6470693466781214e-05,3.2452106593033926e-05,0.6761,-0.0048,0.09003167351368627,1.0,0.0,0.0,0.0,-0.05418436488153491,-0.13589445101148803,0.7400820290645858,-0.011569297600952044,0.006622371688126828,0.0003979050009435966,-0.09654482608514552,-0.24888013085835609,0.5860021558033449,-0.014539707848006502,0.004204992994488864,0.0004435181556667863,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5884015455173264,-0.18569150647698726,0.09279009802471254,0.17696323230079794,0.093333311149434,-0.19268962393634265,0.5024368616808691,0.7400820290645858,0.40964676365615654,0.40964676365615654,0.5800199999999637,0,0,-6.427222467716843e-05,-9.992672941739329e-05
+24668,1791447516552031888,2494941000000,1791447516550837563,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760834676624121,-0.004765290207865118,0.08999088708709602,0.9999999910833619,8.765711950322755e-05,-2.2234873091981865e-05,3.31357876564474e-05,0.6761,-0.0048,0.08994696570443307,1.0,0.0,0.0,0.0,-0.05431833335857708,-0.14557798318955087,0.7502180789538959,-0.011572627041324278,0.00662099532457406,0.00038969183929181986,-0.09667879456218768,-0.2585636630364189,0.5961382056926551,-0.014543037288378736,0.004203616630936095,0.0004353049940150096,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6154199933502646,-0.19549149523339973,0.06725194940928546,0.18970208772432742,0.11111657536943473,-0.19540421441513553,0.5024368616808691,0.7502180789538959,0.4351849122715836,0.4351849122715836,0.6530399999999016,0,0,-7.581929419994549e-05,-9.923605967377398e-05
+24786,1791447517535004138,2495924000000,1791447517530837503,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760854414267242,-0.004768516635627355,0.08991622735217632,0.9999999913867053,8.408629208938359e-05,-1.7492088093477257e-05,3.595797922146687e-05,0.6761,-0.0048,0.08986630367494769,1.0,0.0,0.0,0.0,-0.06377166627489612,-0.1408041591156183,0.7801636892890799,-0.011604160468226325,0.007624637375649983,0.0003800193845047691,-0.10613212747850673,-0.25378983896248636,0.626083816027839,-0.014574570715280783,0.005207258682012019,0.00042563253922795884,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6724880446578478,-0.11212825497403531,-0.11590419497461153,0.16945056771524103,0.235788369294364,-0.14055390147361393,0.5024368616808691,0.7801636892890799,0.6183410566554807,0.6183410566554807,0.7120199999998514,0,0,-8.431166896996777e-05,9.987334156769662e-05
+24914,1791447518602062887,2496991000000,1791447518594838751,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760842009586365,-0.004774474175841785,0.08982514860738125,0.9999999917295384,7.955768659655649e-05,-1.7460056412232127e-05,3.673565802987152e-05,0.6761,-0.0048,0.08976870282167475,1.0,0.0,0.0,0.0,-0.0638209694097067,-0.13341545408047828,0.8080863567052544,-0.011609375284113427,0.00762097045529184,0.00035751172940716956,-0.1061814306133173,-0.24640113392734633,0.6540064834440136,-0.014579785531167885,0.005203591761653876,0.0004031248841303593,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6977104162889909,-0.21738652501726163,-0.10546306881391661,0.2005828632551108,0.23214425652615367,-0.20809695366893033,0.5024368616808691,0.8080863567052544,0.6078999304947857,0.6078999304947857,0.776039999999797,0,0,-9.710610228626801e-05,-3.8161004209482144e-05
+25046,1791447519701969724,2498091000000,1791447519694847221,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760772356883631,-0.004778977086089538,0.08970707602676083,0.9999999917323195,7.521672575195179e-05,-2.7012020459718997e-05,3.9887598760504055e-05,0.6761,-0.0048,0.08965700958638213,1.0,0.0,0.0,0.0,-0.05802981210477119,-0.14301462017444125,0.82038715935173,-0.011585508143183449,0.006605758138337138,0.0003325551431057734,-0.1003902733083818,-0.2560003000213093,0.6663072860904892,-0.014555918390237907,0.004188379444699174,0.0003781682978289631,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6764166628055986,-0.23023524642354282,-0.10518193530976093,0.21238518938123246,0.22338939953043918,-0.21785178973926672,0.5024368616808691,0.82038715935173,0.60761879699063,0.60761879699063,0.8420399999997409,0,0,-0.00010774866778947979,-9.998007563372652e-05
+25163,1791447520677073373,2499066000000,1791447520674837473,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760759743687416,-0.004778670080199163,0.08959560433379789,0.9999999911841135,8.067466981835233e-05,-2.9695096360979373e-05,4.10418836848215e-05,0.6761,-0.0048,0.08954606078387242,1.0,0.0,0.0,0.0,-0.05590851930223521,-0.14225100386263814,0.8404845928021193,-0.011615895729772431,0.007613945425173687,0.0003323592705994691,-0.09826898050584582,-0.2552366837095062,0.6864047195408784,-0.01458630597682689,0.0051965667315357214,0.00037797242532265884,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6964916249531959,-0.25181000985353114,-0.16655595730418826,0.22966654319228313,0.25847989659296133,-0.22705453544088858,0.5024368616808691,0.8404845928021193,0.6689928189850574,0.6689928189850574,0.9005399999996911,0,0,-0.00011801276334907763,-9.872043046777463e-05
+25280,1791447521652029324,2500041000000,1791447521650846972,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760804722663113,-0.004781918056413116,0.08948279217604992,0.9999999916839092,7.773994282267006e-05,-2.2579636239390916e-05,3.900906503163712e-05,0.6761,-0.0048,0.08942325872505977,1.0,0.0,0.0,0.0,-0.06448452553769453,-0.12911034903055824,0.850781848465773,-0.010597356411448077,0.007592827248291025,0.0003344307481427635,-0.10684498674130513,-0.2420960288774263,0.6967019752045321,-0.013567766658502536,0.00517544855465306,0.0003800439028659532,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6899301907667957,-0.3029494946203022,-0.23378267452435442,0.2506470723452195,0.29025740831868835,-0.2577081322047242,0.5024368616808691,0.850781848465773,0.7362195362052235,0.7362195362052235,0.9590399999996414,0,0,-0.0001314127964237389,-2.302506922133155e-05
+25400,1791447522652046096,2501041000000,1791447522646846602,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.676077557661289,-0.004785745262477167,0.08934435130887225,0.999999991396991,7.669168739556235e-05,-2.863715204880422e-05,4.412687391011723e-05,0.6761,-0.0048,0.08928717100700326,1.0,0.0,0.0,0.0,-0.06981539836424001,-0.13371698429097126,0.8606986508475427,-0.011620661803979332,0.007608984839006681,0.0003091447408690397,-0.11217585956785062,-0.2467026641378393,0.7066187775863019,-0.01459107205103379,0.005191606145368717,0.0003547578955922294,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7127172246272812,-0.2640063123173577,-0.17688265821232743,0.25365340050479734,0.2551782184996341,-0.22755293454141742,0.5024368616808691,0.8606986508475427,0.6793195198931965,0.6793195198931965,1.0190399999995905,0,0,-0.00014127254424209224,-9.895965577400573e-05
+25502,1791447523501986517,2501891000000,1791447523498847322,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760753126013311,-0.00478957566288771,0.08921310811280038,0.9999999915119717,7.147851214747952e-05,-3.365943229439119e-05,4.665603791369821e-05,0.6761,-0.0048,0.08915944389458375,1.0,0.0,0.0,0.0,-0.06576809355687181,-0.1408265913244313,0.880521500588705,-0.011624136386797776,0.007605940626545064,0.0002987869855158592,-0.10812855476048241,-0.25381227117129934,0.7264416273274642,-0.014594546633852234,0.0051885619329071,0.0003444001402390489,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7596270488503511,-0.2554570577145823,-0.2566882562486203,0.25988551409011096,0.3135909299942924,-0.22253763779205307,0.5024368616808691,0.880521500588705,0.7591251179294893,0.7591251179294893,1.0700399999995471,0,0,-0.00015794990609471616,-7.500595563947882e-05
+25602,1791447524334971486,2502724000000,1791447524334837744,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760772684995111,-0.004785606862884078,0.0890746916061317,0.999999991076442,7.500308910842947e-05,-3.45781719375585e-05,4.968769510529885e-05,0.6761,-0.0048,0.08902426091630351,1.0,0.0,0.0,0.0,-0.07354655703500156,-0.13791657791205628,0.8909132258651983,-0.010606077732561033,0.0075850930076288,0.00030092019846763316,-0.11590701823861216,-0.25090225775892433,0.7368333526039574,-0.013576487979615491,0.005167714313990835,0.0003465333531908229,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7373111763594239,-0.27315079103154016,-0.26427158334425926,0.26922086473408735,0.30827322833373355,-0.23463221575222487,0.5024368616808691,0.8909132258651983,0.7667084450251284,0.7667084450251284,1.1200199999995046,0,0,-0.0001686494074351882,-9.998103320108526e-05
+25703,1791447525177051432,2503566000000,1791447525174847793,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760787161331108,-0.004792350179195915,0.08892773488304762,0.9999999909940237,7.256297559805433e-05,-3.4258690948473475e-05,5.491605908461929e-05,0.6761,-0.0048,0.08887764228438524,1.0,0.0,0.0,0.0,-0.07384067549413402,-0.13731965613008698,0.900925049044334,-0.010607882510388838,0.007582885725436667,0.00029279677123335046,-0.11620113669774462,-0.25030533597695503,0.7468451757830932,-0.013578292757443296,0.005165507031798701,0.0003384099259565402,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7689703978389845,-0.25023833594695366,-0.3499416024895152,0.26529304725652847,0.3675192663033545,-0.2209743580988261,0.5024368616808691,0.900925049044334,0.8523784641703843,0.8523784641703843,1.1705399999994617,0,0,-0.00017957582878622003,-9.974677614288936e-05
+25796,1791447525952086966,2504341000000,1791447525946837989,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760760960099499,-0.004794030072992786,0.08877978311146127,0.9999999906561731,7.335312462085625e-05,-3.953965625985625e-05,5.64486771506738e-05,0.6761,-0.0048,0.08873250198412574,1.0,0.0,0.0,0.0,-0.07974089115098013,-0.13657775609584122,0.9210029093831437,-0.010611469649785873,0.007578614903254311,0.00027586248148572356,-0.12210135235459073,-0.24956343594270927,0.7669230361219028,-0.013581879896840331,0.005161236209616346,0.0003214756362089133,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8665378106031079,-0.23902120235005367,-0.37522525088588793,0.2783142721547891,0.40259924694216365,-0.20994091219004846,0.5024368616808691,0.9210029093831437,0.877662112566757,0.877662112566757,1.2170399999994221,0,0,-0.00019171531584069446,-6.43628720028488e-05
+25885,1791447526693044149,2505082000000,1791447526690847943,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760748247727348,-0.00479554321667252,0.08862973432211546,0.999999990375342,7.332676809274478e-05,-4.169918457760344e-05,5.980420814452628e-05,0.6761,-0.0048,0.08858282074399376,1.0,0.0,0.0,0.0,-0.07391767561995817,-0.13622900465166884,0.9310232851641259,-0.010613634816024784,0.007576064927251722,0.000266847503335969,-0.11627813682356877,-0.2492146844985369,0.7769434119028851,-0.013584045063079243,0.005158686233613757,0.00031246065805915873,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.804073990637255,-0.20427545216852053,-0.30853003682802377,0.28344995910626725,0.3407103981154933,-0.18598834057506414,0.5024368616808691,0.9310232851641259,0.8109668985088929,0.8109668985088929,1.2614999999993843,0,0,-0.0002108059832487116,-9.991763946637917e-05
+25966,1791447527368038500,2505757000000,1791447527362838025,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760762744500152,-0.004797820357811004,0.08848227878546726,0.9999999899503081,7.537431814312339e-05,-4.17251465483224e-05,6.418701045261706e-05,0.6761,-0.0048,0.08843444664602593,1.0,0.0,0.0,0.0,-0.08193157126717936,-0.14222226143181518,0.9410433295035355,-0.01061423302760306,0.007575680169385696,0.00025939568825454515,-0.12429203247078996,-0.25520794127868324,0.7869634562422947,-0.013584643274657518,0.005158301475747732,0.0003050088429777349,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7928929402097221,-0.20977491799734774,-0.37938376521934947,0.28379414336844194,0.3798690675375601,-0.19127075875154692,0.5024368616808691,0.9410433295035355,0.8818206269002186,0.8818206269002186,1.30199999999935,0,0,-0.0002286283460426183,-9.999756164636437e-05
+26043,1791447528009990306,2506399000000,1791447528006847414,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760750207409396,-0.00480040155639056,0.08832778322587204,0.9999999889784695,8.54781311448095e-05,-4.3100015163233866e-05,6.574042118294706e-05,0.6761,-0.0048,0.08828219738668391,1.0,0.0,0.0,0.0,-0.0831143754434915,-0.13933971430349287,0.9410601266513828,-0.010615630722654557,0.007574600803774057,0.00025924300961795187,-0.1254748366471021,-0.2523253941503609,0.786980253390142,-0.013586040969709015,0.005157222110136092,0.0003048561643411416,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7369615133520137,-0.32053073278795396,-0.3432707441038218,0.3390242552355069,0.337495086976457,-0.25937773775765766,0.5024368616808691,0.9410601266513828,0.8457076057846908,0.8457076057846908,1.3405199999993171,0,0,-0.00024789510699316084,-9.999999025923074e-05
+26119,1791447528642991880,2507032000000,1791447528642847327,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760759716700673,-0.0048015775490587095,0.0881670774050258,0.9999999873899227,9.731203009095626e-05,-4.3490154555021896e-05,7.281479348030831e-05,0.6761,-0.0048,0.08811997602797139,1.0,0.0,0.0,0.0,-0.077366289648539,-0.13478789583091044,0.9703724382429545,-0.010620928761723014,0.007567752306660491,0.00023541398148245685,-0.11972675085214961,-0.2477735756777785,0.8162925649817137,-0.013591339008777473,0.005150373613022527,0.0002810271362056466,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.760151607332693,-0.17520897268124863,-0.385324249868432,0.30265716016826416,0.3695478481130637,-0.1671998619604113,0.5024368616808691,0.9703724382429545,0.8877611115493012,0.8877611115493012,1.3784999999992849,0,0,-0.00026485594020328316,-7.196624826478199e-05
+26191,1791447529242995241,2507632000000,1791447529242838244,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760731095491012,-0.004799760738901579,0.08800026038781729,0.9999999869290858,9.844804047736045e-05,-4.954318920367136e-05,7.374380166618606e-05,0.6761,-0.0048,0.08795650162023391,1.0,0.0,0.0,0.0,-0.07356608948595944,-0.1316346692307291,0.979303640804478,-0.010622535963388764,0.007565408451127837,0.00022907878756357937,-0.11592655068957004,-0.24462034907759717,0.8252237675432371,-0.013592946210443222,0.005148029757489872,0.0002746919422867691,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7600799663030394,-0.25614920389567214,-0.3470674697166383,0.3369589863638487,0.34484857948056546,-0.22129786086448333,0.5024368616808691,0.979303640804478,0.8495043313975075,0.8495043313975075,1.4144999999992542,0,0,-0.000281253422686227,-9.999999025923074e-05
+26254,1791447529768057415,2508157000000,1791447529766837372,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760662687937353,-0.004809104069927287,0.08783189252741233,0.999999986799783,8.725782964447902e-05,-6.151134067421666e-05,8.028526962293897e-05,0.6761,-0.0048,0.0878046490810017,1.0,0.0,0.0,0.0,-0.07411856718188922,-0.12696676655184921,1.0107133978898992,-0.010626475604201236,0.007558236929085239,0.00020409142249652593,-0.11647902838549982,-0.23995244639871727,0.8566335246286583,-0.013596885851255694,0.0051408582354472735,0.00024970457721971566,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7361646429146004,-0.273270134098366,-0.35337829010719457,0.35152186702331206,0.34061641682032473,-0.23067571482716442,0.5024368616808691,1.0107133978898992,0.8558151517880637,0.8558151517880637,1.4459999999992275,0,0,-0.00029698315961587527,-9.994848978867594e-05
+26319,1791447530310029666,2508699000000,1791447530306837981,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760686971509904,-0.0048052671675947786,0.08767590867062951,0.9999999874069958,8.509216834325748e-05,-5.801574344578501e-05,7.760392412815728e-05,0.6761,-0.0048,0.08763955248982408,1.0,0.0,0.0,0.0,-0.074097649766904,-0.13326231310017236,1.0013206878512626,-0.01048989385623098,0.007559410080464166,0.0002125993083732114,-0.1164581109705146,-0.24624799294704042,0.8472408145900218,-0.013460304103285439,0.005142031386826201,0.00025821246309640114,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7381565814269238,-0.2476730298240611,-0.3811332147478968,0.3580258812795367,0.3580795601226578,-0.21401829749644952,0.5024368616808691,1.0013206878512626,0.883570076428766,0.883570076428766,1.4785199999991998,0,0,-0.00031497906159280573,-9.999999025923074e-05
+26383,1791447530842997090,2509232000000,1791447530842838070,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760684161580118,-0.004810243567996146,0.08750937506901851,0.9999999874019246,8.121580373504148e-05,-5.7272899211748366e-05,8.223638607256438e-05,0.6761,-0.0048,0.08746685439123114,1.0,0.0,0.0,0.0,-0.0779054977166398,-0.12338183386845528,0.994507512939212,-0.009603372996420802,0.007543490263143236,0.00022822583860290156,-0.1202659589202504,-0.23636751371532333,0.8404276396779712,-0.01257378324347526,0.005126111569505271,0.0002738389933260913,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7563213321604852,-0.24339615236520834,-0.41255182985925937,0.3733170503895497,0.38321464826014345,-0.21052839029531725,0.5024368616808691,0.994507512939212,0.9149886915401284,0.9149886915401284,1.5104999999991726,0,0,-0.00033425718145715786,-9.969488709427594e-05
+26446,1791447531368101364,2509757000000,1791447531366847106,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760678697337581,-0.004813922763351538,0.08732980339681358,0.999999987162628,8.173159484491362e-05,-5.754053064912999e-05,8.441944142532426e-05,0.6761,-0.0048,0.08728609877216162,1.0,0.0,0.0,0.0,-0.07462439252957488,-0.12059128982051551,1.0117314356858829,-0.00960698968587812,0.007539032370475674,0.00021471469779559124,-0.11698485373318548,-0.23357696966738356,0.857651562424642,-0.012577399932932578,0.005121653676837709,0.00026032785251878097,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7026709908130861,-0.2579740942913591,-0.34118377879494705,0.38794955373342455,0.31796867641721666,-0.21782341773771838,0.5024368616808691,1.0117314356858829,0.8436206404758162,0.8436206404758162,1.5419999999991458,0,0,-0.0003528548430484487,-9.999539671146635e-05
+26503,1791447531842993595,2510232000000,1791447531842837210,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760715410479162,-0.004815621646171935,0.08717087177802152,0.9999999864943734,9.087920664401083e-05,-5.225850968414596e-05,8.639522770533963e-05,0.6761,-0.0048,0.0871153827480445,1.0,0.0,0.0,0.0,-0.07542037572170009,-0.11735668454166057,1.0221366037802797,-0.008588970587861013,0.007517951745284234,0.00021772146846094195,-0.11778083692531069,-0.23034236438852862,0.8680567305190388,-0.011559380834915471,0.005100573051646269,0.0002633346231841317,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7329315670604473,-0.26430426013159997,-0.45542874802349914,0.4039562393304605,0.39698684812673146,-0.22088889900571806,0.5024368616808691,1.0221366037802797,0.9578656097043683,0.9578656097043683,1.5704999999991216,0,0,-0.0003653782134873828,-2.2246673631001095e-05
+26563,1791447532342990460,2510732000000,1791447532342837902,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760721187730815,-0.004813973937891784,0.08698508601401041,0.9999999875675363,8.065271367475882e-05,-4.869589127258236e-05,8.62069700251446e-05,0.6761,-0.0048,0.08692856317805041,1.0,0.0,0.0,0.0,-0.0841097951403083,-0.11176167221625138,1.0324687536327324,-0.008187121151320755,0.007500671503413917,0.00021737638355379569,-0.1264702563439189,-0.22474735206311944,0.8783888803714914,-0.011157531398375213,0.005083292809775952,0.0002629895382769854,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.733248231192811,-0.23806352528778152,-0.3430773761997048,0.41059370064123224,0.3249949295793584,-0.20368145037670987,0.5024368616808691,1.0324687536327324,0.8455142378805739,0.8455142378805739,1.600499999999096,0,0,-0.0003812590912380661,-9.999999025923074e-05
+26617,1791447532793096499,2511182000000,1791447532790837876,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760728730234133,-0.004815679862747174,0.08681559091562815,0.9999999870510651,8.2429533130305e-05,-4.652362006814172e-05,9.155140081857621e-05,0.6761,-0.0048,0.08675431496596411,1.0,0.0,0.0,0.0,-0.09311221956646214,-0.11659464810291492,1.0391203546430547,-0.008301580761068857,0.007508881891007652,0.00020546785644343107,-0.13547268077007274,-0.22958032794978298,0.8850404813818139,-0.011271991008123315,0.005091503197369687,0.0002510810111666208,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7151601780734033,-0.18437531290455172,-0.44035850386296677,0.4002583495657286,0.37751320319659826,-0.16649741424288717,0.5024368616808691,1.0391203546430547,0.9427953655438359,0.9427953655438359,1.6274999999990731,0,0,-0.00039474717114104516,-9.999999025923074e-05
+26667,1791447533209995702,2511599000000,1791447533202837602,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760668695245933,-0.0048234817858966135,0.08663915488150126,0.9999999859234605,8.592394670801241e-05,-5.6613918654611855e-05,9.490986582456943e-05,0.6761,-0.0048,0.08658698582776478,1.0,0.0,0.0,0.0,-0.07520298279294706,-0.11811111596653703,1.041690130561802,-0.007993447296377664,0.007502293833600834,0.00020843579192226337,-0.11756344399655766,-0.2310967958134051,0.8876102573005612,-0.010963857543432123,0.00508491513996287,0.0002540489466454531,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7794570771828685,-0.2282071099100101,-0.4057559257060749,0.43132875723934944,0.3727958826176074,-0.19218571618347974,0.5024368616808691,1.041690130561802,0.908192787386944,0.908192787386944,1.6525199999990519,0,0,-0.0004067318784925763,-9.999882452505488e-05
+26722,1791447533668097242,2512057000000,1791447533666847313,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760695152307605,-0.004824632795276088,0.08646154319623281,0.9999999862870655,8.638229763212556e-05,-5.2683616917534287e-05,9.290461944798622e-05,0.6761,-0.0048,0.0863971957703064,1.0,0.0,0.0,0.0,-0.08447813503106939,-0.11692606876435052,1.0374583304656082,-0.008592209552191317,0.007515099584819567,0.00020424319622764844,-0.12683859623468,-0.22991174861121857,0.8833784572043673,-0.011562619799245775,0.0050977208911816025,0.0002498563509508382,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7349696698092176,-0.28669542010952137,-0.46650199772188883,0.45644168681362207,0.3952275417986861,-0.22946823105635497,0.5024368616808691,1.0374583304656082,0.9689388594027579,0.9689388594027579,1.6799999999990285,0,0,-0.00042156829225983004,-5.1195879777093164e-05
+26773,1791447534093103407,2512482000000,1791447534086847839,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760715509582756,-0.004828320114686302,0.08628349668081528,0.9999999868223464,7.723783602917295e-05,-4.994188448850378e-05,9.663486077216074e-05,0.6761,-0.0048,0.08621532461172783,1.0,0.0,0.0,0.0,-0.08491354041714551,-0.10452582787894743,1.04251608662302,-0.007797102246442559,0.007498253737631791,0.00020908607206293042,-0.1272740016207561,-0.21751150772581548,0.8884362133617792,-0.010767512493497017,0.005080875043993826,0.00025469922678612015,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7537041965263048,-0.3129804604869804,-0.44164301548067814,0.46662358036279533,0.38189840566259886,-0.24967535885799347,0.5024368616808691,1.04251608662302,0.9440798771615473,0.9440798771615473,1.7054999999990068,0,0,-0.00043520913991654107,-9.978480128148277e-05
+26821,1791447534493064009,2512882000000,1791447534486837687,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760693655630208,-0.0048285714913402136,0.08610730969751289,0.9999999874709999,7.023855952514932e-05,-5.1728147014019655e-05,9.429532304578702e-05,0.6761,-0.0048,0.08603823935736366,1.0,0.0,0.0,0.0,-0.08566606525860444,-0.11333852208854736,1.056569942999233,-0.0075752449200188095,0.0074917907202854545,0.00020017619851827294,-0.12802652646221505,-0.22632420193541541,0.9024900697379923,-0.010545655167073268,0.005074412026647489,0.00024578935324146267,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7599862612756142,-0.2842596948864307,-0.46315127150829166,0.47240142561941356,0.396587817398889,-0.22763252322628985,0.5024368616808691,1.056569942999233,0.9655881331891607,0.9655881331891607,1.7294999999989864,0,0,-0.0004504497408395484,-7.977150753885824e-05
+26869,1791447534893047655,2513282000000,1791447534890847683,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760677194274068,-0.004833340280850397,0.0859276891869057,0.9999999873644239,7.145274131749245e-05,-5.0690304598212746e-05,9.507373628545394e-05,0.6761,-0.0048,0.08585679495616956,1.0,0.0,0.0,0.0,-0.0846625496853484,-0.11193965921245169,1.0726524912459467,-0.007578188190390569,0.007488234674740312,0.0001873061460196871,-0.127023010888959,-0.22492533905931975,0.9185726179847059,-0.010548598437445027,0.005070855981102348,0.00023291930074287683,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8085286860092729,-0.24309019810133362,-0.473155233303248,0.45735868979853933,0.4153296073973819,-0.20059797884163558,0.5024368616808691,1.0726524912459467,0.975592094984117,0.975592094984117,1.753499999998966,0,0,-0.00045874064573543275,-8.084946740885448e-05
+26914,1791447535268072152,2513657000000,1791447535266837722,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760686358835911,-0.004836172615086451,0.08575456527056483,0.9999999873237612,7.081564671128882e-05,-4.995591101627758e-05,9.635815023858594e-05,0.6761,-0.0048,0.08568370502562103,1.0,0.0,0.0,0.0,-0.08495342672155089,-0.11275231355321269,1.0726753557898658,-0.0075782313457883246,0.007488258767191194,0.0001872521421921151,-0.1273138879251615,-0.22573799340008074,0.9185954825286251,-0.010548641592842783,0.005070880073553229,0.00023286529691530483,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.80750602231392,-0.1783708236042609,-0.5173811091824617,0.44284283356806303,0.4365709586542066,-0.1592013792647369,0.5024368616808691,1.0726753557898658,1.0198179708633308,1.0198179708633308,1.7759999999989469,0,0,-0.0004645478240458426,9.99237318152268e-05
+26959,1791447535643010958,2514032000000,1791447535638837601,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.676064542677769,-0.0048411198571392195,0.08557261567653239,0.9999999867247382,6.898586530356875e-05,-5.687673951730634e-05,9.99968737277179e-05,0.6761,-0.0048,0.08550797027389406,1.0,0.0,0.0,0.0,-0.084406527427605,-0.11239449314253389,1.0825313502350506,-0.0075800109394889605,0.007486070621851797,0.00017932200999934525,-0.1267669886312156,-0.22538017298940194,0.9284514769738099,-0.010550421186543419,0.005068691928213832,0.00022493516472253498,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8613184170529965,-0.3130109346101893,-0.5522949919105621,0.49031361555577346,0.47698822754033743,-0.24553345306544577,0.5024368616808691,1.0825313502350506,1.0547318535914312,1.0547318535914312,1.7984999999989277,0,0,-0.0004708455088916778,9.999918534753788e-05
+27003,1791447536010109375,2514399000000,1791447536002846927,DOWN_FORCE_DETACH,4,0.0405,0.04050254449248314,0.6760636944778626,-0.004838735343957783,0.08540306351275502,0.9999999868207774,7.066628112928572e-05,-5.744564229360513e-05,9.750684221695352e-05,0.6761,-0.0048,0.08533477138863517,1.0,0.0,0.0,0.0,-0.08507274903331323,-0.10614634246785651,1.0728779098829646,-0.00757710590461378,0.007487548897280772,0.00018708552855932375,-0.12743321023692383,-0.21913202231472456,0.9187980366217237,-0.010547516151668239,0.005070170203642807,0.00023269868328251348,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8134011959933273,-0.23366233868104377,-0.5126282038495913,0.48073410056246235,0.43010956748108636,-0.18859599044040548,0.5024368616808691,1.0728779098829646,1.0150650655304605,1.0150650655304605,1.820519999998909,0,0,-0.000472428617666358,-9.921811569413847e-05
+27051,1791447536410072873,2514799000000,1791447536402847355,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760642805360565,-0.004839851138819559,0.0852167639076278,0.9999999871995503,6.874041168436577e-05,-5.3789181591054974e-05,9.70836926995202e-05,0.6761,-0.0048,0.08514413142404656,1.0,0.0,0.0,0.0,-0.09037471073016952,-0.11113500337845023,1.0779445794338074,-0.007578269246910404,0.00748729710120122,0.00018428476334888866,-0.13273517193378012,-0.22412068322531828,0.9238647061725666,-0.010548679493964862,0.0050699184075632545,0.00022989791807207839,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8162296327291595,-0.21895510427253242,-0.5326245623160422,0.4791047508581102,0.43799953229201166,-0.17685989177371866,0.5024368616808691,1.0779445794338074,1.0350614239969111,1.0350614239969111,1.8445199999988886,0,0,-0.0004787159413696936,-5.348046591547302e-05
+27094,1791447536768039494,2515157000000,1791447536766837355,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760659857745654,-0.004847661605643823,0.08505023105214977,0.999999987619448,6.504157013301783e-05,-4.8677391284347556e-05,9.800037756726269e-05,0.6761,-0.0048,0.08497162427834584,1.0,0.0,0.0,0.0,-0.08624465509165709,-0.11140413370095256,1.0726774962569612,-0.0075780123543033005,0.0074881694139419305,0.00018709594486024454,-0.1286051162952677,-0.22438981354782062,0.9185976229957203,-0.010548422601357759,0.005070790720303966,0.00023270909958343427,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8340021072078496,-0.20679787175592537,-0.5596666854168871,0.48391960728134215,0.45611580542910357,-0.16738543528069671,0.5024368616808691,1.0726774962569612,1.0621035470977562,1.0621035470977562,1.8659999999988703,0,0,-0.000484516578257017,2.2007136528773524e-05
+27139,1791447537143031450,2515532000000,1791447537142837524,DOWN_FORCE_DETACH,4,0.0405,0.04050188511610031,0.6760623732811311,-0.004847121612215206,0.08486813362665069,0.9999999870939738,6.937535063721709e-05,-5.182352628722786e-05,9.877398231129616e-05,0.6761,-0.0048,0.08478969487642093,1.0,0.0,0.0,0.0,-0.08510455130820153,-0.10254702620536849,1.0768509984178043,-0.007577983542861613,0.007485986447551754,0.00018194039427474757,-0.12746501251181214,-0.21553270605223654,0.9227711251565635,-0.010548393789916071,0.005068607753913789,0.0002275535489979373,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8662536235030228,-0.24419963978641884,-0.5267301654769402,0.49443764092158415,0.441189261455135,-0.19112819358072247,0.5024368616808691,1.0768509984178043,1.0291670271578093,1.0291670271578093,1.8884999999988512,0,0,-0.0004863623791165602,-9.99999347480795e-05
+27184,1791447537513074545,2515902000000,1791447537506847221,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760674975699504,-0.004847211691214829,0.084698381850349,0.999999987448671,6.844083627513768e-05,-4.349015041773162e-05,9.984979222550037e-05,0.6761,-0.0048,0.08461116510690785,1.0,0.0,0.0,0.0,-0.08548027836816617,-0.10024637433141481,1.0844034612965865,-0.006932230266450111,0.007468718291062505,0.00018767900794090586,-0.12784073957177677,-0.21323205417828286,0.9303235880353456,-0.00990264051350457,0.00505133959742454,0.0002332921626640956,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9425784309926183,-0.24976910176503817,-0.5832901501686156,0.49810781224916023,0.4950325697269681,-0.19260534854440128,0.5024368616808691,1.0844034612965865,1.0857270118494848,1.0857270118494848,1.8931799999988472,0,0,-0.00047382728270564813,9.999999025923074e-05
+27229,1791447537888083102,2516277000000,1791447537882847811,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760608088651886,-0.004851467112575484,0.08451413516787533,0.9999999875440921,5.7338614088698585e-05,-5.518584268628892e-05,0.00010010737359162107,0.6761,-0.0048,0.0844369861252065,1.0,0.0,0.0,0.0,-0.08146337888690827,-0.10272233260611136,1.0827452499829673,-0.007578703205711659,0.007485150342579308,0.00017955469548483106,-0.12382384009051887,-0.2157080124529794,0.9286653767217264,-0.010549113452766117,0.005067771648941344,0.0002251678502080208,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.973348269465911,-0.26251560291163983,-0.5820343945184099,0.5004395406647664,0.5016712979397605,-0.2027028440321835,0.5024368616808691,1.0827452499829673,1.0844712561992789,1.0844712561992789,1.8931799999988472,0,0,-0.0004550772863584366,9.999999025923074e-05
+27277,1791447538288050658,2516677000000,1791447538286837388,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760613307579617,-0.004856076143056503,0.08434070384166582,0.9999999876174799,5.7440762847857175e-05,-5.4157297463337426e-05,9.987717624781203e-05,0.6761,-0.0048,0.08425894520988192,1.0,0.0,0.0,0.0,-0.08073850229981845,-0.10842157105751754,1.082728246250479,-0.007579596601990169,0.00748564672766259,0.00017964548197392182,-0.12309896350342905,-0.2214072509043856,0.9286483729892383,-0.010550006849044627,0.005068268034024626,0.00022525863669711155,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9604368559384452,-0.28331072962542597,-0.6688497775276993,0.5138356766968469,0.5495737093599495,-0.21373076871993718,0.5024368616808691,1.082728246250479,1.1712866392085683,1.1712866392085683,1.8931799999988472,0,0,-0.0004350772902547443,9.999999025923074e-05
+27328,1791447538713077081,2517102000000,1791447538706838626,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760605530140735,-0.004856284338495835,0.08416554567247227,0.9999999876703449,5.640368065611945e-05,-5.42545056159754e-05,9.988617510942959e-05,0.6761,-0.0048,0.08407854236064187,1.0,0.0,0.0,0.0,-0.08507163887392459,-0.1030960445908719,1.0621797623999896,-0.007574834040167167,0.007489716227847741,0.00019573054232048916,-0.1274321000775352,-0.21608172443773996,0.9080998891387487,-0.010545244287221625,0.005072337534209777,0.0002413436970436789,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.023855960096112,-0.27626145112867456,-0.6314660021973846,0.5154084532602409,0.5355114815532848,-0.20777143190899883,0.5024368616808691,1.0621797623999896,1.1339028638782538,1.1339028638782538,1.8931799999988472,0,0,-0.00041382729439457124,9.999999025923074e-05
+27380,1791447539146111769,2517535000000,1791447539138846967,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.67605639116345,-0.004859188681286359,0.0839912444455982,0.9999999879949083,4.956792198172922e-05,-5.687791620649785e-05,9.879762844997776e-05,0.6761,-0.0048,0.08390403154125377,1.0,0.0,0.0,0.0,-0.08502485416168777,-0.10378316317640093,1.0429231554454916,-0.007571279197463631,0.0074939229158440725,0.00021128892479290736,-0.12738531536529837,-0.216768843023269,0.8888432821842508,-0.010541689444518089,0.005076544222206108,0.0002569020795160971,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0763278871046271,-0.30217466805558096,-0.5670141039926105,0.5316157889807481,0.5034278199365154,-0.2209067179834847,0.5024368616808691,1.0429231554454916,1.0694509656734796,1.0694509656734796,1.8931799999988472,0,0,-0.00039217729861232433,9.999999025923074e-05
+27436,1791447539613039579,2518002000000,1791447539610837162,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760556904591769,-0.004857570650426378,0.08381731114175979,0.9999999880315376,4.9750791997690964e-05,-5.8640510296683525e-05,9.729305425603599e-05,0.6761,-0.0048,0.08372632529173736,1.0,0.0,0.0,0.0,-0.08380427208105627,-0.1030227570100698,1.0418566179290916,-0.007570788069764068,0.007494044806362394,0.00021227877289180843,-0.12616473328466687,-0.21600843685693785,0.8877767446678506,-0.010541198316818526,0.005076666112724429,0.00025789192761499816,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.076134712009017,-0.294475912938134,-0.6222358440522541,0.5231926189186702,0.536031359649887,-0.21463796191780246,0.5024368616808691,1.0418566179290916,1.1246727057331232,1.1246727057331232,1.8931799999988472,0,0,-0.0003688273031612636,9.999999025923074e-05
+27491,1791447540071016915,2518460000000,1791447540070837767,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760510320598502,-0.004857404933366638,0.08364678559033935,0.9999999872201146,5.0920049833281416e-05,-6.427691542103363e-05,0.00010138176234057416,0.6761,-0.0048,0.08356263503586564,1.0,0.0,0.0,0.0,-0.0714302819558283,-0.09151885263831858,1.0329707231617187,-0.00663088616670459,0.007477025859687861,0.0002322132758757296,-0.1137907431594389,-0.20450453248518663,0.8788908499004777,-0.009601296413759048,0.0050596471660498965,0.0002778264305989193,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1007234342654753,-0.2018900199255758,-0.6647579714651102,0.49419769805121505,0.5658566452546344,-0.15166011667326196,0.5024368616808691,1.0329707231617187,1.1671948331459792,1.1671948331459792,1.8931799999988472,0,0,-0.0003459273076225359,9.999999025923074e-05
+27551,1791447540571008030,2518960000000,1791447540570837889,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760519455799141,-0.0048551674982817185,0.08348192945657287,0.9999999870217651,5.2333431712961436e-05,-6.355845919848657e-05,0.00010305759750543749,0.6761,-0.0048,0.08339590888083434,1.0,0.0,0.0,0.0,-0.06705341088083427,-0.0824806578825529,1.0129862973417365,-0.006543369849474045,0.007479654906453272,0.00024920518645277435,-0.10941387208444488,-0.19546633772942096,0.8589064240804957,-0.009513780096528503,0.005062276212815307,0.0002948183411759641,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1662900968334522,-0.13914988473408438,-0.6210117904829385,0.48128072272155065,0.5528925849609014,-0.11230968679200987,0.5024368616808691,1.0129862973417365,1.1234486521638076,1.1234486521638076,1.8931799999988472,0,0,-0.0003209273124929205,9.999999025923074e-05
+27611,1791447541071040352,2519460000000,1791447541066847278,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760475166622466,-0.004845830874286368,0.08332098689010588,0.9999999863682627,5.544648705341814e-05,-7.152520045666833e-05,0.00010254838679164822,0.6761,-0.0048,0.08324168272336785,1.0,0.0,0.0,0.0,-0.05740142933672003,-0.08107829013690576,1.0030130437380311,-0.006513821891965345,0.006468267411011117,0.00024271233191443058,-0.09976189054033063,-0.19406396998377382,0.8489331704767902,-0.009484232139019803,0.004050888717373153,0.0002883254866376203,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.183728020895957,-0.24878657062974505,-0.6655960223626803,0.5091340379359329,0.5838113541498658,-0.18275275305243033,0.5024368616808691,1.0030130437380311,1.1680328840435494,1.1680328840435494,1.8931799999988472,0,0,-0.00029592731736330515,9.999999025923074e-05
+27686,1791447541696132528,2520085000000,1791447541694847293,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760422200073153,-0.004845228609654744,0.08313951035856595,0.9999999857274331,5.491338516964285e-05,-7.698345601411988e-05,0.00010510026540643336,0.6761,-0.0048,0.08306647814811025,1.0,0.0,0.0,0.0,-0.04781239763115391,-0.08009580759620988,0.9742183549800172,-0.0064809299327121764,0.0054610994650087005,0.000251374312745005,-0.09017285883476452,-0.19308148744307793,0.8201384817187763,-0.009451340179766635,0.0030437207713707357,0.0002969874674681947,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1494555057947289,-0.18675733266665606,-0.6717100682796893,0.48783414227116506,0.5745903002647869,-0.14063204341525423,0.5024368616808691,0.9742183549800172,1.1741469299605582,1.1741469299605582,1.8931799999988472,0,0,-0.00026467732345128594,9.999999025923074e-05
+27758,1791447542296121664,2520685000000,1791447542290837580,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760414588198399,-0.004845352489852417,0.08298771796342023,0.9999999858527762,5.064430383213634e-05,-7.880952474411403e-05,0.00010469730309382779,0.6761,-0.0048,0.08291665675228321,1.0,0.0,0.0,0.0,-0.03916978947332608,-0.07186371389870524,0.9432766013034383,-0.0055365077624865144,0.005449570907376135,0.00028875527075732256,-0.08153025067693669,-0.1848493937455733,0.7891967280421974,-0.008506918009540973,0.003032192213738171,0.0003343684254805123,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1565098227510733,-0.21206515522707114,-0.5537697463488224,0.5012509052169511,0.4969717816937443,-0.15391441098386743,0.5024368616808691,0.9432766013034383,1.0562066080296915,1.0562066080296915,1.8931799999988472,0,0,-0.00023467732929574747,9.999999025923074e-05
+27839,1791447542971024074,2521360000000,1791447542966846970,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760347134921576,-0.004842123156135317,0.08283403292869214,0.9999999850308139,4.912604008743667e-05,-8.812615131741712e-05,0.00010583784786886917,0.6761,-0.0048,0.08276962330278623,1.0,0.0,0.0,0.0,-0.03861884901377059,-0.08504264065072195,0.9316275498937336,-0.006473410633284032,0.005470310887112982,0.00028700173556402066,-0.0809793102173812,-0.19802832049759,0.7775476766324928,-0.00944382088033849,0.003052932193475017,0.0003326148902872104,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2115395935533804,-0.1898062934644565,-0.66172192223901,0.49269484480739145,0.5780940848374508,-0.13701524051895364,0.5024368616808691,0.9316275498937336,1.1641587839198793,1.1641587839198793,1.8931799999988472,0,0,-0.00020092733587076671,9.999999025923074e-05
+27932,1791447543746127428,2522135000000,1791447543742838150,DOWN_SETTLE,4,0.0405,0.04050254449248314,0.6760263941046378,-0.004842250600905529,0.08268197608250856,0.9999999844530376,4.6901127035345876e-05,-9.679339198972796e-05,0.00010472875737983794,0.6761,-0.0048,0.08262890086455733,1.0,0.0,0.0,0.0,-0.03826657717439126,-0.08495983696449325,0.8927984516446564,-0.006438099370158311,0.0045482263584716316,0.0003039164071082384,-0.08062703837800186,-0.1979455168113613,0.7387185783834156,-0.00940850961721277,0.0021308476648336664,0.0003495295618314281,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2680015698123352,-0.2256523718827764,-0.6653850913619392,0.49957965509646324,0.5882276747038988,-0.15859513343814458,0.5024368616808691,0.8927984516446564,1.1678219530428082,1.1678219530428082,1.8931799999988472,0,0,-0.0001621773434198629,9.999999025923074e-05
+28042,1791447544663026373,2523052000000,1791447544662846955,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760199218843304,-0.004843699657049641,0.08254535574847988,0.9999999817443074,5.7758724599487696e-05,-0.00010899145951318277,0.00011286735916360893,0.6761,-0.0048,0.0825011835365414,1.0,0.0,0.0,0.0,-0.029226669750433157,-0.08797673247804969,0.8527751330459571,-0.006431349764795013,0.0044746148184101,0.00033609896779920656,-0.07158713095404376,-0.20096241232491774,0.6986952597847162,-0.009401760011849471,0.0020572361247721354,0.0003817121225223963,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.191185478410523,-0.14478309353911575,-0.6336555012163343,0.4704818719726762,0.544757666103269,-0.10148778221201689,0.5024368616808691,0.8527751330459571,1.1360923628972035,1.1360923628972035,1.8931799999988472,0,0,-0.0001163273523521483,9.999999025923074e-05
+28159,1791447545638098387,2524027000000,1791447545630847321,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760185832337992,-0.004845021679932978,0.08244340523308194,0.9999999797573668,6.634509537119676e-05,-0.00011801207729135784,0.00011661735940614116,0.6761,-0.0048,0.0824115056133634,1.0,0.0,0.0,0.0,-0.04754572439970696,-0.07968372097530013,0.8024350291306603,-0.00644793109945729,0.0054978704578387706,0.000390237775149356,-0.08990618560331756,-0.19266940082216819,0.6483551558694195,-0.009418341346511748,0.003080491764200806,0.0004358509298725457,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2904285061308802,-0.12697397935015584,-0.5813230193424278,0.4729595281674637,0.5321495629781102,-0.08743213171156859,0.5024368616808691,0.8024350291306603,1.083759881023297,1.083759881023297,1.8931799999988472,0,0,-6.757736184939833e-05,9.999999025923074e-05
+28296,1791447546780134506,2525169000000,1791447546774847577,DOWN_SETTLE,4,0.0405,0.04050188511610031,0.6760176802428965,-0.004839674516427977,0.08238515016382353,0.9999999843621264,3.555498183695678e-05,-0.0001191085274625092,8.525029779470973e-05,0.6761,-0.0048,0.08236690780977404,1.0,0.0,0.0,0.0,-0.03788988797793333,-0.08040390416551313,0.7230537379058531,-0.006411438855448159,0.004720391266270867,0.0004410301317012688,-0.08025034918154393,-0.19338958401238118,0.5689738646446123,-0.009381849102502617,0.0023030125726329026,0.0004866432864244585,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2243756684034743,-0.18140848558864228,-0.5039576611667365,0.4917596439506355,0.46223056801532636,-0.1255235943315149,0.5024368616808691,0.7230537379058531,1.0063945228476054,1.0063945228476054,1.8931799999988472,0,0,-1.047737297335682e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..148aafd749509a402f2a49ad9720d1218c2a399e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..181d47dbf8b68d62be3e8e897d5ae232ba5080cb
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.400000000e+00,DOWN_FORCE_DETACH,1791447510774807922,6.923471911e-05,-1.958535648e-05,-4.300102808e-04,6.479316740e-05,-1.615531569e-05,-4.268938658e-04,6.526683574e-05,-1.591244848e-05,-4.244365276e-04,7.016071062e-01,-1.803439515e-05,8.403109309e-01,7.016026646e-01,-1.460435437e-05,8.403140473e-01,7.017910340e-01,-1.415553417e-05,8.293562451e-01
+6,4.083333333e+00,DOWN_FORCE_DETACH,1791447511804556169,8.036285975e-05,-1.922704504e-05,-5.552172062e-04,7.854745168e-05,-1.752671703e-05,-5.535642109e-04,7.911913168e-05,-1.725536526e-05,-5.511617875e-04,7.016182343e-01,-1.767608372e-05,8.401857240e-01,7.016164189e-01,-1.597575571e-05,8.401873770e-01,7.018048863e-01,-1.549845095e-05,8.292295199e-01
+7,4.833333333e+00,DOWN_FORCE_DETACH,1791447512935779614,8.444614947e-05,-2.542301528e-05,-6.456446852e-04,8.107316856e-05,-2.678412245e-05,-6.366915397e-04,8.162768088e-05,-2.653101808e-05,-6.348834828e-04,7.016223176e-01,-2.387205396e-05,8.400952965e-01,7.016189446e-01,-2.523316113e-05,8.401042496e-01,7.018073949e-01,-2.477410376e-05,8.291457982e-01
+8,5.616666667e+00,DOWN_FORCE_DETACH,1791447514105872081,7.848748240e-05,-2.413538367e-05,-7.086353621e-04,8.037345731e-05,-2.214913873e-05,-6.963347012e-04,8.066169810e-05,-2.193156732e-05,-6.949471926e-04,7.016163590e-01,-2.258442235e-05,8.400323058e-01,7.016182449e-01,-2.059817741e-05,8.400446065e-01,7.018064289e-01,-2.017465300e-05,8.290857345e-01
+9,6.433333333e+00,DOWN_FORCE_DETACH,1791447515335771160,7.789539609e-05,-3.046333040e-05,-7.654446902e-04,7.983432483e-05,-3.043305725e-05,-7.586007325e-04,7.984272314e-05,-3.015553207e-05,-7.572527140e-04,7.016157669e-01,-2.891236907e-05,8.399754965e-01,7.016177058e-01,-2.888209593e-05,8.399823405e-01,7.018056099e-01,-2.839861775e-05,8.290234289e-01
+10,7.250000000e+00,DOWN_FORCE_DETACH,1791447516555347040,8.060488143e-05,-3.141684193e-05,-8.458701683e-04,7.864192249e-05,-3.220722379e-05,-8.426396577e-04,7.831346732e-05,-3.192492413e-05,-8.409363950e-04,7.016184764e-01,-2.986588061e-05,8.398950710e-01,7.016165134e-01,-3.065626246e-05,8.398983015e-01,7.018040806e-01,-3.016800981e-05,8.289397453e-01
+11,7.900000000e+00,DOWN_FORCE_DETACH,1791447517535730990,8.200671213e-05,-3.182132268e-05,-9.167756426e-04,7.981306233e-05,-3.565206084e-05,-9.112209225e-04,7.918083682e-05,-3.530444327e-05,-9.093944437e-04,7.016198782e-01,-3.027036136e-05,8.398241655e-01,7.016176845e-01,-3.410109952e-05,8.398297203e-01,7.018049480e-01,-3.354752895e-05,8.288712872e-01
+12,8.616666667e+00,DOWN_FORCE_DETACH,1791447518605788177,8.193878359e-05,-3.359295634e-05,-1.008194287e-03,7.963378785e-05,-3.577304901e-05,-9.991905446e-04,7.866238217e-05,-3.537295602e-05,-9.972589324e-04,7.016198103e-01,-3.204199501e-05,8.397327469e-01,7.016175053e-01,-3.422208769e-05,8.397417506e-01,7.018044296e-01,-3.361604170e-05,8.287834227e-01
+13,9.350000000e+00,DOWN_FORCE_DETACH,1791447519705078466,7.480365507e-05,-3.767831500e-05,-1.126261764e-03,7.463456385e-05,-3.769138569e-05,-1.126246485e-03,7.309847589e-05,-3.723196289e-05,-1.123969266e-03,7.016126751e-01,-3.612735368e-05,8.396146794e-01,7.016125060e-01,-3.614042437e-05,8.396146947e-01,7.017988657e-01,-3.547504857e-05,8.286567124e-01
+14,1.000000000e+01,DOWN_FORCE_DETACH,1791447520674207093,7.452480227e-05,-3.863394013e-05,-1.234668565e-03,7.292497926e-05,-4.511597903e-05,-1.227999309e-03,7.092894695e-05,-4.462183895e-05,-1.225842755e-03,7.016123963e-01,-3.708297881e-05,8.395062726e-01,7.016107965e-01,-4.356501771e-05,8.395129419e-01,7.017966961e-01,-4.286492464e-05,8.285548389e-01
+15,1.065000000e+01,DOWN_FORCE_DETACH,1791447521655239798,7.281110306e-05,-4.488495300e-05,-1.357812675e-03,7.260880692e-05,-4.474096978e-05,-1.357895053e-03,7.014867315e-05,-4.424458797e-05,-1.355620066e-03,7.016106826e-01,-4.333399168e-05,8.393831285e-01,7.016104803e-01,-4.319000846e-05,8.393830461e-01,7.017959159e-01,-4.248767365e-05,8.284250616e-01
+16,1.131666667e+01,DOWN_FORCE_DETACH,1791447522655076094,7.536463973e-05,-4.698234625e-05,-1.487644231e-03,7.213255914e-05,-4.711722212e-05,-1.484810048e-03,6.928756794e-05,-4.661598852e-05,-1.482537629e-03,7.016132361e-01,-4.543138492e-05,8.392532970e-01,7.016100040e-01,-4.556626079e-05,8.392561311e-01,7.017950547e-01,-4.485907421e-05,8.282981440e-01
+17,1.188333333e+01,DOWN_FORCE_DETACH,1791447523505155388,7.285241668e-05,-4.793306618e-05,-1.619367968e-03,7.270027095e-05,-4.816785676e-05,-1.619413329e-03,6.935623149e-05,-4.764668715e-05,-1.616609033e-03,7.016107239e-01,-4.638210486e-05,8.391215732e-01,7.016105718e-01,-4.661689544e-05,8.391215279e-01,7.017951234e-01,-4.588977283e-05,8.281640726e-01
+18,1.243333333e+01,DOWN_FORCE_DETACH,1791447524335898646,7.383378492e-05,-4.891154994e-05,-1.758311389e-03,7.228589420e-05,-5.355628273e-05,-1.745611635e-03,6.855268300e-05,-5.299599580e-05,-1.742689287e-03,7.016117053e-01,-4.736058862e-05,8.389826298e-01,7.016101574e-01,-5.200532141e-05,8.389953296e-01,7.017943199e-01,-5.123908148e-05,8.280379924e-01
+19,1.300000000e+01,DOWN_FORCE_DETACH,1791447525173983341,7.595427620e-05,-5.518897894e-05,-1.905059371e-03,7.340049140e-05,-5.386251129e-05,-1.898817966e-03,6.910874356e-05,-5.335570223e-05,-1.895585555e-03,7.016138258e-01,-5.363801762e-05,8.388358818e-01,7.016112720e-01,-5.231154997e-05,8.388421232e-01,7.017948759e-01,-5.159878791e-05,8.278850961e-01
+20,1.351666667e+01,DOWN_FORCE_DETACH,1791447525955480045,7.676373841e-05,-5.475036098e-05,-2.051431955e-03,7.658479134e-05,-5.463368375e-05,-2.051418370e-03,7.181421332e-05,-5.410040096e-05,-2.047788307e-03,7.016146352e-01,-5.319939966e-05,8.386895092e-01,7.016144563e-01,-5.308272243e-05,8.386895228e-01,7.017975814e-01,-5.234348664e-05,8.277328934e-01
+21,1.401666667e+01,DOWN_FORCE_DETACH,1791447526695305511,7.075936097e-05,-5.522722528e-05,-2.205070549e-03,7.161236556e-05,-5.852860625e-05,-2.192963636e-03,6.629519173e-05,-5.794468929e-05,-2.189349878e-03,7.016086308e-01,-5.367626396e-05,8.385358706e-01,7.016094838e-01,-5.697764493e-05,8.385479776e-01,7.017920624e-01,-5.618777497e-05,8.275913318e-01
+22,1.446666667e+01,DOWN_FORCE_DETACH,1791447527371735769,7.266108749e-05,-5.818186084e-05,-2.351005360e-03,7.241869468e-05,-6.004227145e-05,-2.335496227e-03,6.662749637e-05,-5.948855001e-05,-2.331730825e-03,7.016105326e-01,-5.663089952e-05,8.383899358e-01,7.016102902e-01,-5.849131013e-05,8.384054450e-01,7.017923947e-01,-5.773163569e-05,8.274489508e-01
+23,1.490000000e+01,DOWN_FORCE_DETACH,1791447528012001192,7.166540687e-05,-5.979389292e-05,-2.503938620e-03,7.083738684e-05,-6.075937372e-05,-2.500522225e-03,6.443165018e-05,-6.019885954e-05,-2.496357833e-03,7.016095369e-01,-5.824293159e-05,8.382370026e-01,7.016087089e-01,-5.920841240e-05,8.382404190e-01,7.017901988e-01,-5.844194522e-05,8.272843238e-01
+24,1.531666667e+01,DOWN_FORCE_DETACH,1791447528641211078,7.253695548e-05,-6.488223611e-05,-2.665925590e-03,7.238400035e-05,-6.491458159e-05,-2.665593291e-03,6.543910934e-05,-6.427609486e-05,-2.660987102e-03,7.016104084e-01,-6.333127479e-05,8.380750156e-01,7.016102555e-01,-6.336362027e-05,8.380753479e-01,7.017912063e-01,-6.251918054e-05,8.271196946e-01
+25,1.571666667e+01,DOWN_FORCE_DETACH,1791447529240608621,6.967483451e-05,-6.306542596e-05,-2.832742607e-03,6.961088016e-05,-6.328157529e-05,-2.832412624e-03,6.202657208e-05,-6.263759526e-05,-2.827541462e-03,7.016075463e-01,-6.151446463e-05,8.379081986e-01,7.016074824e-01,-6.173061397e-05,8.379085286e-01,7.017877937e-01,-6.088068094e-05,8.269531402e-01
+26,1.606666667e+01,DOWN_FORCE_DETACH,1791447529771829434,6.551687622e-05,-6.995648990e-05,-2.997980829e-03,6.457310213e-05,-6.718576567e-05,-2.989760243e-03,5.642281684e-05,-6.650050068e-05,-2.984839570e-03,7.016033884e-01,-6.840552857e-05,8.377429604e-01,7.016024446e-01,-6.563480435e-05,8.377511809e-01,7.017821900e-01,-6.474358636e-05,8.267958421e-01
+27,1.643333333e+01,DOWN_FORCE_DETACH,1791447530308936693,6.526243640e-05,-6.857185465e-05,-3.157094324e-03,6.387327252e-05,-7.274968061e-05,-3.148219781e-03,5.516877851e-05,-7.209095533e-05,-3.143407472e-03,7.016031339e-01,-6.702089333e-05,8.375838469e-01,7.016017448e-01,-7.119871929e-05,8.375927214e-01,7.017809360e-01,-7.033404102e-05,8.266372742e-01
+28,1.678333333e+01,DOWN_FORCE_DETACH,1791447530843024958,6.478314701e-05,-7.078296249e-05,-3.325707001e-03,6.454865332e-05,-7.060363243e-05,-3.325577498e-03,5.517964755e-05,-6.996603128e-05,-3.320271361e-03,7.016026546e-01,-6.923200117e-05,8.374152342e-01,7.016024201e-01,-6.905267111e-05,8.374153637e-01,7.017809468e-01,-6.820911697e-05,8.264604103e-01
+29,1.713333333e+01,DOWN_FORCE_DETACH,1791447531371687022,6.698265445e-05,-7.814366159e-05,-3.497332159e-03,6.718455388e-05,-7.828475242e-05,-3.497022576e-03,5.720588759e-05,-7.758706206e-05,-3.491569721e-03,7.016048541e-01,-7.659270027e-05,8.372436090e-01,7.016050560e-01,-7.673379110e-05,8.372439186e-01,7.017829731e-01,-7.583014775e-05,8.262891119e-01
+30,1.745000000e+01,DOWN_FORCE_DETACH,1791447531841614382,6.613671396e-05,-7.566669643e-05,-3.665818144e-03,6.594001538e-05,-8.011843926e-05,-3.648744132e-03,5.539401848e-05,-7.936208110e-05,-3.643271629e-03,7.016040082e-01,-7.411573511e-05,8.370751230e-01,7.016038115e-01,-7.856747794e-05,8.370921971e-01,7.017811612e-01,-7.760516679e-05,8.261374100e-01
+31,1.778333333e+01,DOWN_FORCE_DETACH,1791447532341963101,6.753681961e-05,-8.146665839e-05,-3.849843890e-03,6.752206967e-05,-8.132718830e-05,-3.849414758e-03,5.629199477e-05,-8.056481218e-05,-3.843484183e-03,7.016054083e-01,-7.991569707e-05,8.368910973e-01,7.016053936e-01,-7.977622698e-05,8.368915264e-01,7.017820592e-01,-7.880789786e-05,8.259371975e-01
+32,1.808333333e+01,DOWN_FORCE_DETACH,1791447532791559793,6.937802155e-05,-8.160515562e-05,-4.019348198e-03,6.919396419e-05,-8.162609216e-05,-4.019192166e-03,5.730255494e-05,-8.092990867e-05,-4.013063580e-03,7.016072495e-01,-8.005419430e-05,8.367215930e-01,7.016070654e-01,-8.007513084e-05,8.367217490e-01,7.017830697e-01,-7.917299435e-05,8.257676181e-01
+33,1.836666667e+01,DOWN_FORCE_DETACH,1791447533213587461,6.704838424e-05,-8.304062299e-05,-4.187462583e-03,6.688527445e-05,-8.333780411e-05,-4.187317269e-03,5.435703055e-05,-8.260489536e-05,-4.180991925e-03,7.016049199e-01,-8.148966167e-05,8.365534786e-01,7.016047568e-01,-8.178684279e-05,8.365536239e-01,7.017801242e-01,-8.084798105e-05,8.255996897e-01
+34,1.866666667e+01,DOWN_FORCE_DETACH,1791447533671682369,6.545425744e-05,-8.765081569e-05,-4.375545370e-03,6.502487991e-05,-8.739921228e-05,-4.375715588e-03,5.177462966e-05,-8.657798249e-05,-4.369171544e-03,7.016033257e-01,-8.609985436e-05,8.363653958e-01,7.016028964e-01,-8.584825096e-05,8.363652256e-01,7.017775418e-01,-8.482106817e-05,8.254115101e-01
+35,1.895000000e+01,DOWN_FORCE_DETACH,1791447534091547861,6.561441789e-05,-9.432991974e-05,-4.550059467e-03,6.541670090e-05,-9.439327091e-05,-4.549791595e-03,5.151194584e-05,-9.346577608e-05,-4.543210526e-03,7.016034859e-01,-9.277895841e-05,8.361908817e-01,7.016032882e-01,-9.284230959e-05,8.361911496e-01,7.017772791e-01,-9.170886177e-05,8.252374711e-01
+36,1.921666667e+01,DOWN_FORCE_DETACH,1791447534491781443,6.356932532e-05,-9.223729235e-05,-4.729317006e-03,6.354779139e-05,-9.251095239e-05,-4.729601486e-03,4.897533862e-05,-9.169599534e-05,-4.722929813e-03,7.016014408e-01,-9.068633103e-05,8.360116242e-01,7.016014193e-01,-9.095999107e-05,8.360113397e-01,7.017747425e-01,-8.993908103e-05,8.250577519e-01
+37,1.948333333e+01,DOWN_FORCE_DETACH,1791447534894518396,6.420480230e-05,-9.684677110e-05,-4.905550633e-03,6.224207643e-05,-9.789178614e-05,-4.900820927e-03,4.707446902e-05,-9.699989000e-05,-4.894160218e-03,7.016020763e-01,-9.529580977e-05,8.358353906e-01,7.016001136e-01,-9.634082481e-05,8.358401203e-01,7.017728416e-01,-9.524297569e-05,8.248865214e-01
+38,1.973333333e+01,DOWN_FORCE_DETACH,1791447535271693076,6.496480658e-05,-9.811804026e-05,-5.082340731e-03,6.426545829e-05,-1.035662338e-04,-5.069282502e-03,4.856036626e-05,-1.026038522e-04,-5.062520560e-03,7.016028363e-01,-9.656707894e-05,8.356586005e-01,7.016021369e-01,-1.020152725e-04,8.356716587e-01,7.017743275e-01,-1.008469379e-04,8.247181611e-01
+39,1.998333333e+01,DOWN_FORCE_DETACH,1791447535641449700,6.133873696e-05,-1.058937545e-04,-5.258280711e-03,6.122527697e-05,-1.060368967e-04,-5.258041872e-03,4.479323262e-05,-1.049866761e-04,-5.250927967e-03,7.015992102e-01,-1.043427932e-04,8.354826605e-01,7.015990968e-01,-1.044859354e-04,8.354828993e-01,7.017705604e-01,-1.032297618e-04,8.245297537e-01
+40,2.023333333e+01,DOWN_FORCE_DETACH,1791447536010769601,6.193120170e-05,-1.032581975e-04,-5.426530655e-03,6.084189658e-05,-1.007200663e-04,-5.422993959e-03,4.378211820e-05,-9.974929257e-05,-5.416011327e-03,7.015998027e-01,-1.017072362e-04,8.353144105e-01,7.015987134e-01,-9.916910497e-05,8.353179472e-01,7.017695493e-01,-9.799237825e-05,8.243646703e-01
+41,2.050000000e+01,DOWN_FORCE_DETACH,1791447536410789726,6.284831039e-05,-1.121413723e-04,-5.607336069e-03,6.279153355e-05,-1.122048805e-04,-5.607077754e-03,4.505502480e-05,-1.112475857e-04,-5.600029610e-03,7.016007198e-01,-1.105904110e-04,8.351336051e-01,7.016006630e-01,-1.106539192e-04,8.351338634e-01,7.017708222e-01,-1.094906714e-04,8.241806521e-01
+42,2.073333333e+01,DOWN_FORCE_DETACH,1791447536771774804,6.509161927e-05,-1.048058949e-04,-5.778997974e-03,6.294451618e-05,-1.081707396e-04,-5.771907289e-03,4.463213413e-05,-1.072846395e-04,-5.764829993e-03,7.016029631e-01,-1.032549335e-04,8.349619432e-01,7.016008160e-01,-1.066197783e-04,8.349690339e-01,7.017703993e-01,-1.055277252e-04,8.240158517e-01
+43,2.098333333e+01,DOWN_FORCE_DETACH,1791447537141677604,5.843625452e-05,-1.077146926e-04,-5.966483835e-03,5.824201296e-05,-1.074470476e-04,-5.966335632e-03,3.920416123e-05,-1.064367674e-04,-5.958955363e-03,7.015963077e-01,-1.061637313e-04,8.347744574e-01,7.015961135e-01,-1.058960863e-04,8.347746056e-01,7.017649713e-01,-1.046798531e-04,8.238217263e-01
+44,2.123333333e+01,DOWN_SETTLE,1791447537512228608,6.298589600e-05,-1.166003153e-04,-6.135038150e-03,6.120837947e-05,-1.109883081e-04,-6.133895179e-03,4.160046977e-05,-1.099528810e-04,-6.126746484e-03,7.016008574e-01,-1.150493540e-04,8.346059030e-01,7.015990799e-01,-1.094373468e-04,8.346070460e-01,7.017673676e-01,-1.081959667e-04,8.236539352e-01
+45,2.148333333e+01,DOWN_SETTLE,1791447537890974609,5.990337825e-05,-1.137069042e-04,-6.309664110e-03,5.766459108e-05,-1.147432453e-04,-6.295817714e-03,3.745072262e-05,-1.137327049e-04,-6.289034597e-03,7.015977749e-01,-1.121559428e-04,8.344312771e-01,7.015955361e-01,-1.131922840e-04,8.344451235e-01,7.017632179e-01,-1.119757905e-04,8.234916471e-01
+46,2.175000000e+01,DOWN_SETTLE,1791447538290808047,5.795739954e-05,-1.141627835e-04,-6.493354027e-03,5.369336942e-05,-1.204241383e-04,-6.481773343e-03,3.288961131e-05,-1.193400788e-04,-6.474961728e-03,7.015958289e-01,-1.126118222e-04,8.342475872e-01,7.015915649e-01,-1.188731769e-04,8.342591678e-01,7.017586568e-01,-1.175831645e-04,8.233057199e-01
+47,2.203333333e+01,DOWN_SETTLE,1791447538711715611,5.683107271e-05,-1.218558273e-04,-6.666511390e-03,5.829782869e-05,-1.160438433e-04,-6.660595145e-03,3.692459515e-05,-1.149677716e-04,-6.653904257e-03,7.015947026e-01,-1.203048660e-04,8.340744298e-01,7.015961693e-01,-1.144928820e-04,8.340803460e-01,7.017626918e-01,-1.132108573e-04,8.231267774e-01
+48,2.231666667e+01,DOWN_SETTLE,1791447539144645662,5.574200613e-05,-1.260965811e-04,-6.838771776e-03,5.559254360e-05,-1.259489651e-04,-6.838792173e-03,3.354437684e-05,-1.248117149e-04,-6.832070486e-03,7.015936135e-01,-1.245456198e-04,8.339021694e-01,7.015934640e-01,-1.243980038e-04,8.339021490e-01,7.017593116e-01,-1.230548006e-04,8.229486112e-01
+49,2.263333333e+01,DOWN_SETTLE,1791447539610802286,5.381023970e-05,-1.191151877e-04,-7.011614474e-03,5.362871711e-05,-1.194542370e-04,-7.011736978e-03,3.089677204e-05,-1.185028829e-04,-7.005348793e-03,7.015916817e-01,-1.175642264e-04,8.337293267e-01,7.015915002e-01,-1.179032756e-04,8.337292042e-01,7.017566639e-01,-1.167459685e-04,8.227753329e-01
+50,2.293333333e+01,DOWN_SETTLE,1791447540073015207,4.784616806e-05,-1.220346459e-04,-7.185522441e-03,4.896270381e-05,-1.213846981e-04,-7.174137909e-03,2.552242622e-05,-1.204085745e-04,-7.167944038e-03,7.015857176e-01,-1.204836846e-04,8.335554187e-01,7.015868342e-01,-1.198337368e-04,8.335668033e-01,7.017512896e-01,-1.186516602e-04,8.226127376e-01
+51,2.326666667e+01,DOWN_SETTLE,1791447540572323823,4.838151259e-05,-1.180698898e-04,-7.351102585e-03,4.805339119e-05,-1.181477931e-04,-7.351192297e-03,2.393149359e-05,-1.171037979e-04,-7.345128049e-03,7.015862530e-01,-1.165189285e-04,8.333898386e-01,7.015859249e-01,-1.165968318e-04,8.333897489e-01,7.017496987e-01,-1.153468836e-04,8.224355536e-01
+52,2.360000000e+01,DOWN_SETTLE,1791447541073197644,4.321829369e-05,-1.067305616e-04,-7.514332294e-03,4.482339736e-05,-1.119898940e-04,-7.504223856e-03,2.012026352e-05,-1.109658303e-04,-7.498577561e-03,7.015810898e-01,-1.051796002e-04,8.332266089e-01,7.015826949e-01,-1.104389327e-04,8.332367173e-01,7.017458874e-01,-1.092089160e-04,8.222821041e-01
+53,2.401666667e+01,DOWN_SETTLE,1791447541692561027,4.135415861e-05,-1.112440728e-04,-7.689701918e-03,4.103717789e-05,-1.112025311e-04,-7.689518197e-03,1.564379055e-05,-1.102315305e-04,-7.684236696e-03,7.015792256e-01,-1.096931115e-04,8.330512393e-01,7.015789087e-01,-1.096515698e-04,8.330514230e-01,7.017414110e-01,-1.084746162e-04,8.220964450e-01
+54,2.441666667e+01,DOWN_SETTLE,1791447542292343904,3.824445422e-05,-1.045611405e-04,-7.844269886e-03,3.703030815e-05,-1.018170136e-04,-7.833785443e-03,1.110768638e-05,-1.008747083e-04,-7.829055085e-03,7.015761159e-01,-1.030101792e-04,8.328966713e-01,7.015749018e-01,-1.002660523e-04,8.329071557e-01,7.017368749e-01,-9.911779400e-05,8.219516266e-01
+55,2.486666667e+01,DOWN_SETTLE,1791447542972109062,3.127877757e-05,-1.054278432e-04,-7.998970066e-03,2.942316967e-05,-1.054713225e-04,-7.980154568e-03,2.868508655e-06,-1.044474869e-04,-7.975889317e-03,7.015691503e-01,-1.038768819e-04,8.327419711e-01,7.015672947e-01,-1.039203612e-04,8.327607866e-01,7.017286357e-01,-1.026905726e-04,8.218047923e-01
+56,2.538333333e+01,DOWN_SETTLE,1791447543743423645,2.307460927e-05,-1.044315290e-04,-8.153483234e-03,2.305104703e-05,-1.059040619e-04,-8.135403721e-03,-4.205221492e-06,-1.049121906e-04,-8.131557862e-03,7.015609461e-01,-1.028805677e-04,8.325874580e-01,7.015609225e-01,-1.043531006e-04,8.326055375e-01,7.017215620e-01,-1.031552763e-04,8.216491238e-01
+57,2.598333333e+01,DOWN_SETTLE,1791447544662344105,1.605367102e-05,-1.073135514e-04,-8.288446036e-03,1.405689997e-05,-1.121091936e-04,-8.286309054e-03,-1.402930084e-05,-1.111760207e-04,-8.282869454e-03,7.015539252e-01,-1.057625901e-04,8.324524952e-01,7.015519284e-01,-1.105582322e-04,8.324546321e-01,7.017117379e-01,-1.094191063e-04,8.214978122e-01
+58,2.663333333e+01,DOWN_SETTLE,1791447545639997071,1.412233051e-05,-1.061467020e-04,-8.391464291e-03,1.492346587e-05,-1.110888182e-04,-8.372771595e-03,-1.350600596e-05,-1.101182064e-04,-8.370306523e-03,7.015519938e-01,-1.045957407e-04,8.323494769e-01,7.015527949e-01,-1.095378568e-04,8.323681696e-01,7.017122612e-01,-1.083612921e-04,8.214103751e-01
+59,2.740000000e+01,DOWN_SETTLE,1791447546779558930,1.397076998e-05,-1.038166403e-04,-8.448228770e-03,1.491440570e-05,-1.031623990e-04,-8.438307424e-03,-1.384308009e-05,-1.022315680e-04,-8.436692104e-03,7.015518423e-01,-1.022656789e-04,8.322927124e-01,7.015527859e-01,-1.016114377e-04,8.323026338e-01,7.017119241e-01,-1.004746537e-04,8.213439896e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f922f683654bb0ad1a6caf6002e9d7a3b22581d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-8.0995e-04,3.4024e-04,2.4552e+00,-3.6781e-02,3.6730e-02,3.0286e-06,2.4139e-04,3.9443e-05,-4.7684e-07,-2.3581e-06,1.5825e-05,2.5135e-07,2.4459e-04,1.6002e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,1.8653e-04,1.8138e-02,2.4682e-03,2.4574e+00,-3.6928e-02,3.8079e-02,1.4679e-04,1.9189e-02,2.1674e-03,2.1820e-03,-1.4971e-04,1.3645e-03,1.4401e-04,1.9434e-02,1.3802e-03
+2,1.6667e+00,DOWN_FORCE_DETACH,3.7311e-04,2.4835e-02,3.7516e-03,2.4835e+00,-3.7006e-02,3.8522e-02,1.5911e-04,2.5886e-02,3.4508e-03,2.8268e-02,-2.2774e-04,1.8078e-03,1.5633e-04,3.8485e-02,1.8288e-03
+3,2.3000e+00,DOWN_FORCE_DETACH,5.6198e-04,2.6079e-02,9.8006e-03,2.5092e+00,-3.7403e-02,3.8598e-02,1.7149e-04,2.7130e-02,9.4998e-03,5.4024e-02,-6.2416e-04,1.8836e-03,1.6871e-04,6.1195e-02,1.9915e-03
+4,2.8667e+00,DOWN_FORCE_DETACH,7.5109e-04,2.5334e-02,1.3647e-02,2.5363e+00,-3.7654e-02,3.8530e-02,1.8339e-04,2.6386e-02,1.3347e-02,8.1089e-02,-8.7576e-04,1.8160e-03,1.8062e-04,8.6312e-02,2.0242e-03
+5,3.4000e+00,DOWN_FORCE_DETACH,9.3625e-04,2.2337e-02,1.5597e-02,2.5563e+00,-3.7776e-02,3.8305e-02,1.9024e-04,2.3388e-02,1.5296e-02,1.0108e-01,-9.9754e-04,1.5908e-03,1.8746e-04,1.0487e-01,1.8870e-03
+6,4.0833e+00,DOWN_FORCE_DETACH,1.1256e-03,1.7380e-02,1.4908e-02,2.5565e+00,-3.7737e-02,3.7950e-02,1.8521e-04,1.8431e-02,1.4607e-02,1.0126e-01,-9.5820e-04,1.2356e-03,1.8243e-04,1.0395e-01,1.5742e-03
+7,4.8333e+00,DOWN_FORCE_DETACH,1.3123e-03,2.2650e-02,1.3592e-02,2.5449e+00,-3.7684e-02,3.8284e-02,1.6409e-04,2.3702e-02,1.3291e-02,8.9701e-02,-9.0521e-04,1.5696e-03,1.6131e-04,9.3727e-02,1.8191e-03
+8,5.6167e+00,DOWN_FORCE_DETACH,1.4989e-03,2.5727e-02,1.2292e-02,2.5229e+00,-3.7647e-02,3.8502e-02,1.3404e-04,2.6779e-02,1.1991e-02,6.7684e-02,-8.6877e-04,1.7873e-03,1.3126e-04,7.3770e-02,1.9916e-03
+9,6.4333e+00,DOWN_FORCE_DETACH,1.6859e-03,2.5330e-02,1.3715e-02,2.5107e+00,-3.7772e-02,3.8495e-02,1.0265e-04,2.6382e-02,1.3414e-02,5.5477e-02,-9.9339e-04,1.7812e-03,9.9875e-05,6.2878e-02,2.0419e-03
+10,7.2500e+00,DOWN_FORCE_DETACH,1.8759e-03,2.3986e-02,1.6519e-02,2.5155e+00,-3.7954e-02,3.8411e-02,7.6451e-05,2.5037e-02,1.6218e-02,6.0297e-02,-1.1758e-03,1.6968e-03,7.3674e-05,6.7272e-02,2.0657e-03
+11,7.9000e+00,DOWN_FORCE_DETACH,2.0613e-03,2.3437e-02,1.9860e-02,2.5257e+00,-3.8148e-02,3.8366e-02,6.1208e-05,2.4489e-02,1.9559e-02,7.0501e-02,-1.3692e-03,1.6516e-03,5.8431e-05,7.7153e-02,2.1461e-03
+12,8.6167e+00,DOWN_FORCE_DETACH,2.2514e-03,2.2856e-02,2.4310e-02,2.5357e+00,-3.8390e-02,3.8310e-02,5.0356e-05,2.3907e-02,2.4009e-02,8.0452e-02,-1.6108e-03,1.5960e-03,4.7578e-05,8.7296e-02,2.2681e-03
+13,9.3500e+00,DOWN_FORCE_DETACH,2.4353e-03,2.1899e-02,2.7120e-02,2.5416e+00,-3.8517e-02,3.8230e-02,4.4738e-05,2.2950e-02,2.6819e-02,8.6398e-02,-1.7384e-03,1.5156e-03,4.1961e-05,9.3331e-02,2.3067e-03
+14,1.0000e+01,DOWN_FORCE_DETACH,2.6255e-03,2.1442e-02,2.7735e-02,2.5457e+00,-3.8540e-02,3.8190e-02,4.5376e-05,2.2493e-02,2.7434e-02,9.0491e-02,-1.7618e-03,1.4753e-03,4.2599e-05,9.7197e-02,2.2983e-03
+15,1.0650e+01,DOWN_FORCE_DETACH,2.8107e-03,2.1295e-02,2.5269e-02,2.5443e+00,-3.8415e-02,3.8178e-02,5.1717e-05,2.2346e-02,2.4968e-02,8.9105e-02,-1.6367e-03,1.4640e-03,4.8940e-05,9.5197e-02,2.1964e-03
+16,1.1317e+01,DOWN_FORCE_DETACH,2.9998e-03,2.3037e-02,2.5674e-02,2.5479e+00,-3.8494e-02,3.8297e-02,6.4392e-05,2.4089e-02,2.5373e-02,9.2737e-02,-1.7152e-03,1.5826e-03,6.1615e-05,9.9117e-02,2.3346e-03
+17,1.1883e+01,DOWN_FORCE_DETACH,3.1858e-03,2.5278e-02,2.8475e-02,2.5588e+00,-3.8699e-02,3.8447e-02,8.1667e-05,2.6329e-02,2.8174e-02,1.0364e-01,-1.9201e-03,1.7322e-03,7.8889e-05,1.1058e-01,2.5872e-03
+18,1.2433e+01,DOWN_FORCE_DETACH,3.3757e-03,2.7625e-02,3.1391e-02,2.5752e+00,-3.8889e-02,3.8597e-02,1.0520e-04,2.8676e-02,3.1090e-02,1.1995e-01,-2.1100e-03,1.8824e-03,1.0242e-04,1.2719e-01,2.8295e-03
+19,1.3000e+01,DOWN_FORCE_DETACH,3.5659e-03,2.8248e-02,3.2731e-02,2.5873e+00,-3.8960e-02,3.8628e-02,1.3056e-04,2.9299e-02,3.2430e-02,1.3206e-01,-2.1813e-03,1.9136e-03,1.2779e-04,1.3910e-01,2.9046e-03
+20,1.3517e+01,DOWN_FORCE_DETACH,3.7497e-03,2.9359e-02,3.3800e-02,2.5974e+00,-3.9004e-02,3.8688e-02,1.4659e-04,3.0410e-02,3.3499e-02,1.4218e-01,-2.2248e-03,1.9735e-03,1.4382e-04,1.4920e-01,2.9775e-03
+21,1.4017e+01,DOWN_FORCE_DETACH,3.9380e-03,2.9893e-02,3.4830e-02,2.6064e+00,-3.9051e-02,3.8714e-02,1.5176e-04,3.0944e-02,3.4529e-02,1.5121e-01,-2.2720e-03,1.9993e-03,1.4899e-04,1.5816e-01,3.0301e-03
+22,1.4467e+01,DOWN_FORCE_DETACH,4.1268e-03,3.1464e-02,3.3678e-02,2.6124e+00,-3.8983e-02,3.8810e-02,1.4373e-04,3.2515e-02,3.3377e-02,1.5722e-01,-2.2039e-03,2.0960e-03,1.4095e-04,1.6398e-01,3.0447e-03
+23,1.4900e+01,DOWN_FORCE_DETACH,4.3119e-03,3.3568e-02,3.2507e-02,2.6228e+00,-3.8919e-02,3.8943e-02,1.2461e-04,3.4619e-02,3.2207e-02,1.6760e-01,-2.1400e-03,2.2285e-03,1.2183e-04,1.7414e-01,3.0920e-03
+24,1.5317e+01,DOWN_FORCE_DETACH,4.4991e-03,3.5018e-02,3.6296e-02,2.6354e+00,-3.9149e-02,3.9030e-02,1.0165e-04,3.6069e-02,3.5995e-02,1.8019e-01,-2.3700e-03,2.3153e-03,9.8877e-05,1.8725e-01,3.3147e-03
+25,1.5717e+01,DOWN_FORCE_DETACH,4.6867e-03,3.6948e-02,4.1618e-02,2.6488e+00,-3.9454e-02,3.9145e-02,7.7976e-05,3.7999e-02,4.1317e-02,1.9357e-01,-2.6753e-03,2.4306e-03,7.5199e-05,2.0155e-01,3.6153e-03
+26,1.6067e+01,DOWN_FORCE_DETACH,4.8749e-03,3.8559e-02,4.2365e-02,2.6562e+00,-3.9479e-02,3.9245e-02,5.7666e-05,3.9611e-02,4.2064e-02,2.0097e-01,-2.6999e-03,2.5309e-03,5.4888e-05,2.0911e-01,3.7011e-03
+27,1.6433e+01,DOWN_FORCE_DETACH,5.0598e-03,4.1104e-02,4.0131e-02,2.6598e+00,-3.9336e-02,3.9411e-02,4.2192e-05,4.2155e-02,3.9830e-02,2.0463e-01,-2.5572e-03,2.6963e-03,3.9415e-05,2.1269e-01,3.7163e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..69517c71f5617bd4bc60c5972ad01733d030cd71
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89113e6863de7f4e11b100b835e7b4f24015a29bbd130bf407939217c6fc56e
+size 2908160
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9bfe50749bc4adac8ee7e3c3538b5774a185011
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cdd371f8977712b2a4ed1e4a631f118f167e0db
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..261f6fe4a98610c4cd2827978bd90949d65226f3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12c30869d7cca19ce413d069d7695a219322ab54
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.666666667e-01,UP_FORCE_RAMP,1791447496270145411,-1.178899976e-06,-1.576997117e-07,-2.157086410e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.242924864e-07,3.794427734e-08,3.263666171e-08,7.015366926e-01,1.393261609e-06,8.407387841e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259915e-01,1.794858594e-06,8.297807143e-01
+7,5.500000000e-01,UP_FORCE_RAMP,1791447496399615397,5.631451344e-07,-1.748826794e-06,1.378323608e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.560673675e-07,4.345372672e-08,3.696946205e-08,7.015384346e-01,-1.978654726e-07,8.407423195e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260232e-01,1.800368044e-06,8.297807186e-01
+8,6.500000000e-01,UP_FORCE_RAMP,1791447496540209189,-4.222368850e-07,3.226246077e-06,2.577415139e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.917862575e-07,4.965994636e-08,4.166891521e-08,7.015374492e-01,4.777207398e-06,8.407435186e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260590e-01,1.806574263e-06,8.297807233e-01
+9,7.333333333e-01,UP_FORCE_RAMP,1791447496669206082,-1.718242228e-06,2.285005409e-07,4.216393748e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.196505055e-07,5.445459131e-08,4.513004193e-08,7.015361532e-01,1.779461862e-06,8.407451576e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260868e-01,1.811368908e-06,8.297807268e-01
+10,8.166666667e-01,UP_FORCE_RAMP,1791447496799578903,-1.813605158e-07,7.080779114e-08,1.057960139e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.458728380e-07,5.909476487e-08,4.835741718e-08,7.015376901e-01,1.621769112e-06,8.407515208e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261131e-01,1.816009082e-06,8.297807300e-01
+11,8.833333333e-01,UP_FORCE_RAMP,1791447496900277214,-1.663303072e-06,-2.058612422e-06,1.329195778e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.657262974e-07,6.259271245e-08,5.068729070e-08,7.015362082e-01,-5.076511012e-07,8.407542331e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261329e-01,1.819507029e-06,8.297807324e-01
+12,9.166666667e-01,UP_FORCE_RAMP,1791447496941969846,-2.651405250e-06,-4.077280289e-06,1.300770270e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.752945265e-07,6.428365594e-08,5.178205842e-08,7.015352201e-01,-2.526318968e-06,8.407539489e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261425e-01,1.821197973e-06,8.297807334e-01
+13,9.500000000e-01,UP_FORCE_RAMP,1791447496999541419,-5.865295584e-07,2.614713221e-06,1.583168307e-05,7.990701487e-07,-2.003720604e-06,1.992368506e-05,1.225451321e-06,-1.937182009e-06,1.969615897e-05,7.015372850e-01,4.165674542e-06,8.407567729e-01,7.015386706e-01,-4.527592830e-07,8.407608649e-01,7.017269926e-01,-1.802676918e-07,8.298003778e-01
+14,1.000000000e+00,UP_FORCE_RAMP,1791447497070159476,-2.537981617e-06,-1.036906539e-06,1.862695936e-05,7.990701487e-07,-2.003720604e-06,1.992368506e-05,1.240819336e-06,-1.935024064e-06,1.971453406e-05,7.015353335e-01,5.140547817e-07,8.407595681e-01,7.015386706e-01,-4.527592830e-07,8.407608649e-01,7.017270080e-01,-1.781097474e-07,8.298003962e-01
+15,1.066666667e+00,UP_FORCE_RAMP,1791447497170468868,-3.192090348e-08,1.375849493e-06,2.586375037e-05,7.990701487e-07,-2.003720604e-06,1.992368506e-05,1.259264194e-06,-1.931965131e-06,1.973248250e-05,7.015378396e-01,2.926810814e-06,8.407668049e-01,7.015386706e-01,-4.527592830e-07,8.407608649e-01,7.017270264e-01,-1.750508143e-07,8.298004141e-01
+16,1.133333333e+00,UP_FORCE_RAMP,1791447497269334240,-5.164717232e-07,3.796506744e-06,3.095764317e-05,7.990701487e-07,-2.003720604e-06,1.992368506e-05,1.276380448e-06,-1.928851242e-06,1.974822449e-05,7.015373550e-01,5.347468065e-06,8.407718988e-01,7.015386706e-01,-4.527592830e-07,8.407608649e-01,7.017270436e-01,-1.719369251e-07,8.298004299e-01
+17,1.233333333e+00,UP_FORCE_RAMP,1791447497419679908,-2.945045163e-06,1.082737678e-06,3.572337493e-05,7.990701487e-07,-2.003720604e-06,1.992368506e-05,1.300293092e-06,-1.924451341e-06,1.976973891e-05,7.015349264e-01,2.633698999e-06,8.407766646e-01,7.015386706e-01,-4.527592830e-07,8.407608649e-01,7.017270675e-01,-1.675370241e-07,8.298004514e-01
+18,1.300000000e+00,UP_FORCE_RAMP,1791447497519393090,-8.192726479e-07,-7.513566796e-07,4.655378538e-05,-4.591168598e-07,2.407289893e-06,3.989726473e-05,1.514656517e-07,2.475735046e-06,3.946264635e-05,7.015370522e-01,7.996046415e-07,8.407874950e-01,7.015374124e-01,3.958251214e-06,8.407808385e-01,7.017259186e-01,4.232649363e-06,8.298201443e-01
+19,1.366666667e+00,UP_FORCE_RAMP,1791447497619430279,-2.633463337e-06,2.971083416e-07,4.770200830e-05,-4.591168598e-07,2.407289893e-06,3.989726473e-05,1.649617765e-07,2.479344437e-06,3.949222556e-05,7.015352380e-01,1.848069663e-06,8.407886432e-01,7.015374124e-01,3.958251214e-06,8.407808385e-01,7.017259321e-01,4.236258754e-06,8.298201739e-01
+20,1.416666667e+00,UP_FORCE_RAMP,1791447497699578604,-4.666288380e-06,4.441146987e-06,4.909227211e-05,-4.591168598e-07,2.407289893e-06,3.989726473e-05,1.744890795e-07,2.481575914e-06,3.951202628e-05,7.015332052e-01,5.992108308e-06,8.407900335e-01,7.015374124e-01,3.958251214e-06,8.407808385e-01,7.017259417e-01,4.238490230e-06,8.298201937e-01
+21,1.466666667e+00,UP_FORCE_RAMP,1791447497769985577,3.471737954e-07,1.027796160e-06,6.120518958e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.382070593e-06,9.830969051e-07,6.027685017e-05,7.015382187e-01,2.578757481e-06,8.408021464e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271492e-01,2.740011222e-06,8.298409585e-01
+22,1.550000000e+00,UP_FORCE_RAMP,1791447497899806251,-7.266909766e-07,4.916556286e-06,6.410830908e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.400044561e-06,9.859537283e-07,6.034434493e-05,7.015371448e-01,6.467517607e-06,8.408050495e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271672e-01,2.742868045e-06,8.298410260e-01
+23,1.616666667e+00,UP_FORCE_RAMP,1791447497999838255,-2.458992139e-06,1.039978624e-06,6.667893612e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.412044945e-06,9.884094291e-07,6.038249499e-05,7.015354125e-01,2.590939945e-06,8.408076201e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271792e-01,2.745323746e-06,8.298410642e-01
+24,1.666666667e+00,UP_FORCE_RAMP,1791447498070574394,-4.205587945e-06,4.965178063e-06,6.957797551e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.420387410e-06,9.902314154e-07,6.040908272e-05,7.015336659e-01,6.516139384e-06,8.408105192e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271876e-01,2.747145732e-06,8.298410907e-01
+25,1.700000000e+00,UP_FORCE_RAMP,1791447498120137441,-4.603996026e-06,2.953130204e-06,6.980036800e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.425711560e-06,9.914100970e-07,6.042607757e-05,7.015332675e-01,4.504091525e-06,8.408107416e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271929e-01,2.748324414e-06,8.298411077e-01
+26,1.733333333e+00,UP_FORCE_RAMP,1791447498170276486,-4.112374708e-06,6.909586638e-06,7.651602528e-05,6.359442728e-07,8.918338834e-07,6.095545942e-05,1.430867308e-06,9.925573572e-07,6.044253886e-05,7.015337591e-01,8.460547960e-06,8.408174572e-01,7.015385074e-01,2.442795205e-06,8.408018966e-01,7.017271980e-01,2.749471674e-06,8.298411242e-01
+27,1.766666667e+00,UP_FORCE_RAMP,1791447498220290214,-4.151888618e-06,4.170846299e-06,7.863065759e-05,-8.853460882e-07,2.386897532e-06,8.170347742e-05,-9.547486779e-08,2.481451791e-06,8.094912377e-05,7.015337196e-01,5.721807620e-06,8.408195718e-01,7.015369861e-01,3.937858853e-06,8.408226447e-01,7.017256717e-01,4.238366108e-06,8.298616308e-01
+28,1.850000000e+00,UP_FORCE_RAMP,1791447498340269948,-6.261495063e-06,2.456022070e-07,8.268870751e-05,-8.853460882e-07,2.386897532e-06,8.170347742e-05,-8.464306789e-08,2.484877430e-06,8.101365692e-05,7.015316100e-01,1.796563528e-06,8.408236299e-01,7.015369861e-01,3.937858853e-06,8.408226447e-01,7.017256825e-01,4.241791747e-06,8.298616953e-01
+29,1.883333333e+00,UP_FORCE_RAMP,1791447498399780009,-5.668929570e-07,3.902416151e-06,9.428643595e-05,-8.853460882e-07,2.386897532e-06,8.170347742e-05,-8.069964419e-08,2.486022745e-06,8.103604540e-05,7.015373046e-01,5.453377472e-06,8.408352276e-01,7.015369861e-01,3.937858853e-06,8.408226447e-01,7.017256865e-01,4.242937062e-06,8.298617177e-01
+30,1.950000000e+00,UP_FORCE_RAMP,1791447498499553405,-2.137362954e-06,2.506156622e-06,9.681797767e-05,-8.853460882e-07,2.386897532e-06,8.170347742e-05,-7.325292739e-08,2.488138351e-06,8.107830244e-05,7.015357341e-01,4.057117943e-06,8.408377592e-01,7.015369861e-01,3.937858853e-06,8.408226447e-01,7.017256939e-01,4.245052667e-06,8.298617600e-01
+31,2.016666667e+00,UP_FORCE_RAMP,1791447498599709423,-2.238578389e-06,4.138024642e-06,1.040916125e-04,-8.918566855e-07,6.443643574e-06,1.021600378e-04,7.445569716e-08,6.528874506e-06,1.013250124e-04,7.015356329e-01,5.688985963e-06,8.408450328e-01,7.015369796e-01,7.994604895e-06,8.408431012e-01,7.017258416e-01,8.285788823e-06,8.298820067e-01
+32,2.083333333e+00,UP_FORCE_RAMP,1791447498699760443,-2.229621172e-06,6.915171527e-06,1.083787188e-04,-8.918566855e-07,6.443643574e-06,1.021600378e-04,8.172733357e-08,6.531939130e-06,1.013818584e-04,7.015356419e-01,8.466132848e-06,8.408493199e-01,7.015369796e-01,7.994604895e-06,8.408431012e-01,7.017258489e-01,8.288853447e-06,8.298820635e-01
+33,2.150000000e+00,UP_FORCE_RAMP,1791447498799689523,-3.016704689e-06,7.377967918e-06,1.119402644e-04,-8.918566855e-07,6.443643574e-06,1.021600378e-04,8.806947605e-08,6.534193674e-06,1.014322878e-04,7.015348548e-01,8.928929239e-06,8.408528815e-01,7.015369796e-01,7.994604895e-06,8.408431012e-01,7.017258552e-01,8.291107991e-06,8.298821140e-01
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+41,2.700000000e+00,UP_FORCE_RAMP,1791447499659455225,-8.186622388e-06,6.877280832e-06,1.463758088e-04,-4.737661511e-06,3.970116189e-06,1.417431245e-04,-3.682747342e-06,4.077457817e-06,1.408287585e-04,7.015296849e-01,8.428242153e-06,8.408873170e-01,7.015331338e-01,5.521077510e-06,8.408826843e-01,7.017220844e-01,5.834372134e-06,8.299215104e-01
+42,2.750000000e+00,UP_FORCE_RAMP,1791447499732756046,-6.830899421e-06,7.818999102e-06,1.519628795e-04,-4.737661511e-06,3.970116189e-06,1.417431245e-04,-3.681863221e-06,4.078292428e-06,1.408697009e-04,7.015310406e-01,9.369960423e-06,8.408929041e-01,7.015331338e-01,5.521077510e-06,8.408826843e-01,7.017220853e-01,5.835206745e-06,8.299215514e-01
+43,2.816666667e+00,UP_FORCE_RAMP,1791447499840807646,-5.235439019e-06,9.184946476e-06,1.580411490e-04,-4.737661511e-06,3.970116189e-06,1.417431245e-04,-3.680978377e-06,4.079313937e-06,1.409211371e-04,7.015326360e-01,1.073590780e-05,8.408989823e-01,7.015331338e-01,5.521077510e-06,8.408826843e-01,7.017220862e-01,5.836228254e-06,8.299216028e-01
+44,2.866666667e+00,UP_FORCE_RAMP,1791447499929375983,-4.669208921e-06,1.706479386e-06,1.623790189e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.252008118e-06,1.976666327e-06,1.616725427e-04,7.015332023e-01,3.257440707e-06,8.409033202e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225152e-01,3.733580644e-06,8.299423542e-01
+45,2.950000000e+00,UP_FORCE_RAMP,1791447500045872503,-6.755380249e-06,9.060511112e-06,1.659457596e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.249543010e-06,1.976680466e-06,1.617681208e-04,7.015311161e-01,1.061147243e-05,8.409068869e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225176e-01,3.733594783e-06,8.299424498e-01
+46,3.000000000e+00,UP_FORCE_RAMP,1791447500122738422,-4.498083691e-06,8.872469386e-06,1.700699344e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.248712320e-06,1.977293771e-06,1.618127963e-04,7.015333734e-01,1.042343071e-05,8.409110111e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225185e-01,3.734208088e-06,8.299424945e-01
+47,3.066666667e+00,UP_FORCE_HOLD,1791447500220353830,-5.560776227e-06,5.469430045e-06,1.725803629e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.247956260e-06,1.978257413e-06,1.618683555e-04,7.015323107e-01,7.020391366e-06,8.409135216e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225192e-01,3.735171730e-06,8.299425500e-01
+48,3.116666667e+00,UP_FORCE_HOLD,1791447500299738619,-7.952302850e-06,6.765552992e-06,1.714671488e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.247524425e-06,1.978984650e-06,1.619075689e-04,7.015299192e-01,8.316514313e-06,8.409124083e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225197e-01,3.735898966e-06,8.299425892e-01
+49,3.166666667e+00,UP_FORCE_HOLD,1791447500370759526,-6.702337166e-06,7.058710929e-06,1.740883531e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.247145835e-06,1.979745361e-06,1.619448489e-04,7.015311691e-01,8.609672250e-06,8.409150295e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225200e-01,3.736659678e-06,8.299426265e-01
+50,3.216666667e+00,UP_FORCE_HOLD,1791447500441833153,-4.522857885e-06,8.421756185e-06,1.803303782e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.246820529e-06,1.980397081e-06,1.619803318e-04,7.015333486e-01,9.972717506e-06,8.409212716e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225204e-01,3.737311398e-06,8.299426620e-01
+51,3.266666667e+00,UP_FORCE_HOLD,1791447500519128874,-4.706096170e-06,5.304529450e-06,1.810745391e-04,-4.353659089e-06,1.833352277e-06,1.626781089e-04,-3.246576307e-06,1.981014853e-06,1.620140762e-04,7.015331654e-01,6.855490771e-06,8.409220157e-01,7.015335178e-01,3.384313599e-06,8.409036193e-01,7.017225206e-01,3.737929170e-06,8.299426957e-01
+52,3.333333333e+00,UP_FORCE_HOLD,1791447500620210449,-7.867525042e-06,9.244622501e-06,1.784291211e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.623813286e-06,6.032736388e-06,1.810484202e-04,7.015300040e-01,1.079558382e-05,8.409193703e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211434e-01,7.789650705e-06,8.299617301e-01
+53,3.400000000e+00,UP_FORCE_HOLD,1791447500719523215,-8.064662864e-06,7.351625615e-06,1.824214532e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.624619239e-06,6.034899884e-06,1.811090334e-04,7.015298068e-01,8.902586936e-06,8.409233626e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211426e-01,7.791814201e-06,8.299617907e-01
+54,3.450000000e+00,UP_FORCE_HOLD,1791447500799703731,-7.617919631e-06,3.586999752e-06,1.847831245e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.625340414e-06,6.035812734e-06,1.811485545e-04,7.015302536e-01,5.137961073e-06,8.409257243e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211418e-01,7.792727051e-06,8.299618302e-01
+55,3.516666667e+00,UP_FORCE_HOLD,1791447500899737088,-6.734437204e-06,6.006071624e-06,1.860554272e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.626384409e-06,6.036748674e-06,1.811975923e-04,7.015311370e-01,7.557032945e-06,8.409269966e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211408e-01,7.793662991e-06,8.299618793e-01
+56,3.566666667e+00,UP_FORCE_HOLD,1791447500970688333,-7.694440232e-06,7.013476613e-06,1.877610468e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.627235949e-06,6.037294635e-06,1.812321085e-04,7.015301770e-01,8.564437934e-06,8.409287022e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211399e-01,7.794208952e-06,8.299619138e-01
+57,3.633333333e+00,UP_FORCE_HOLD,1791447501070062440,-7.439110429e-06,1.046305748e-05,1.893855967e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.628320050e-06,6.037984580e-06,1.812753915e-04,7.015304324e-01,1.201401880e-05,8.409303268e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211389e-01,7.794898897e-06,8.299619571e-01
+58,3.683333333e+00,UP_FORCE_HOLD,1791447501140335231,-6.521226646e-06,7.316052330e-06,1.926678503e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.629140960e-06,6.038441547e-06,1.813059232e-04,7.015313503e-01,8.867013651e-06,8.409336090e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211380e-01,7.795355864e-06,8.299619876e-01
+59,3.750000000e+00,UP_SETTLE,1791447501240568275,-7.007920697e-06,1.323172700e-05,1.901424671e-04,-5.809147027e-06,5.926625883e-06,1.819957324e-04,-4.630245541e-06,6.038980569e-06,1.813442202e-04,7.015308636e-01,1.478268832e-05,8.409310837e-01,7.015320623e-01,7.477587204e-06,8.409229369e-01,7.017211369e-01,7.795894886e-06,8.299620259e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c476dbbfc69e67aab1456bf5dae76cb3655758d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/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,UP_FORCE_RAMP,0.0000e+00,-8.0995e-04,3.4024e-04,2.4552e+00,-3.6781e-02,3.6730e-02,3.0286e-06,2.4139e-04,3.9443e-05,-4.7684e-07,-2.3581e-06,1.5825e-05,2.5135e-07,2.4459e-04,1.6002e-05
+1,1.0000e-01,UP_FORCE_RAMP,1.7020e-05,7.0960e-04,5.5815e-04,2.4552e+00,-3.6794e-02,3.6830e-02,4.6954e-06,1.7609e-03,2.5735e-04,4.2439e-05,-1.5486e-05,1.1574e-04,1.9182e-06,1.7802e-03,1.1679e-04
+2,1.8333e-01,UP_FORCE_RAMP,3.1736e-05,2.0401e-03,7.2001e-04,2.4553e+00,-3.6804e-02,3.6918e-02,6.2866e-06,3.0914e-03,4.1921e-04,1.2636e-04,-2.5325e-05,2.0358e-04,3.5094e-06,3.1223e-03,2.0518e-04
+3,2.3333e-01,UP_FORCE_RAMP,4.9614e-05,2.8533e-03,8.1021e-04,2.4554e+00,-3.6810e-02,3.6972e-02,7.3254e-06,3.9047e-03,5.0941e-04,1.9264e-04,-3.0853e-05,2.5745e-04,4.5482e-06,3.9425e-03,2.5934e-04
+4,3.3333e-01,UP_FORCE_RAMP,6.4186e-05,1.2801e-02,1.2367e-03,2.4569e+00,-3.6833e-02,3.7761e-02,8.5138e-05,1.3853e-02,9.3593e-04,1.7087e-03,-5.3879e-05,1.0467e-03,8.2361e-05,1.3989e-02,1.0513e-03
+5,4.1667e-01,UP_FORCE_RAMP,8.0376e-05,1.3110e-02,1.2923e-03,2.4568e+00,-3.6836e-02,3.7778e-02,8.5695e-05,1.4162e-02,9.9150e-04,1.5974e-03,-5.7530e-05,1.0637e-03,8.2918e-05,1.4286e-02,1.0684e-03
+6,4.6667e-01,UP_FORCE_RAMP,9.4738e-05,1.3398e-02,1.3324e-03,2.4568e+00,-3.6839e-02,3.7795e-02,8.6095e-05,1.4450e-02,1.0316e-03,1.5531e-03,-6.0197e-05,1.0808e-03,8.3317e-05,1.4569e-02,1.0856e-03
+7,5.5000e-01,UP_FORCE_RAMP,1.1032e-04,1.3985e-02,1.4061e-03,2.4567e+00,-3.6844e-02,3.7831e-02,8.6886e-05,1.5037e-02,1.1054e-03,1.5197e-03,-6.5133e-05,1.1165e-03,8.4109e-05,1.5154e-02,1.1215e-03
+8,6.5000e-01,UP_FORCE_RAMP,1.2932e-04,1.4813e-02,1.5028e-03,2.4567e+00,-3.6850e-02,3.7882e-02,8.8029e-05,1.5864e-02,1.2020e-03,1.5321e-03,-7.1649e-05,1.1678e-03,8.5252e-05,1.5983e-02,1.1731e-03
+9,7.3333e-01,UP_FORCE_RAMP,1.4197e-04,1.5566e-02,1.5853e-03,2.4568e+00,-3.6856e-02,3.7929e-02,8.9132e-05,1.6617e-02,1.2845e-03,1.5726e-03,-7.7236e-05,1.2150e-03,8.6355e-05,1.6741e-02,1.2205e-03
+10,8.1667e-01,UP_FORCE_RAMP,1.5819e-04,1.7955e-02,2.4595e-03,2.4574e+00,-3.6928e-02,3.8066e-02,1.4666e-04,1.9007e-02,2.1587e-03,2.2049e-03,-1.4935e-04,1.3521e-03,1.4388e-04,1.9255e-02,1.3680e-03
+11,8.8333e-01,UP_FORCE_RAMP,1.7432e-04,1.8209e-02,2.4722e-03,2.4574e+00,-3.6929e-02,3.8084e-02,1.4685e-04,1.9261e-02,2.1714e-03,2.1770e-03,-1.4990e-04,1.3693e-03,1.4407e-04,1.9504e-02,1.3850e-03
+12,9.1667e-01,UP_FORCE_RAMP,1.9155e-04,1.8367e-02,2.4817e-03,2.4574e+00,-3.6929e-02,3.8094e-02,1.4697e-04,1.9418e-02,2.1809e-03,2.1703e-03,-1.5039e-04,1.3798e-03,1.4420e-04,1.9661e-02,1.3955e-03
+13,9.5000e-01,UP_FORCE_RAMP,2.0637e-04,1.8564e-02,2.5903e-03,2.4569e+00,-3.6936e-02,3.8107e-02,1.4718e-04,1.9615e-02,2.2895e-03,1.7281e-03,-1.5754e-04,1.3930e-03,1.4441e-04,1.9824e-02,1.4093e-03
+14,1.0000e+00,UP_FORCE_RAMP,2.2226e-04,1.9715e-02,3.6939e-03,2.4452e+00,-3.7007e-02,3.8189e-02,1.4976e-04,2.0767e-02,3.3931e-03,-9.9957e-03,-2.2824e-04,1.4748e-03,1.4699e-04,2.3296e-02,1.4996e-03
+15,1.0667e+00,UP_FORCE_RAMP,2.3995e-04,1.9967e-02,3.6358e-03,2.4456e+00,-3.7003e-02,3.8207e-02,1.5035e-04,2.1018e-02,3.3350e-03,-9.5923e-03,-2.2470e-04,1.4929e-03,1.4757e-04,2.3343e-02,1.5169e-03
+16,1.1333e+00,UP_FORCE_RAMP,2.5582e-04,2.0342e-02,3.6167e-03,2.4461e+00,-3.7002e-02,3.8233e-02,1.5106e-04,2.1393e-02,3.3159e-03,-9.1045e-03,-2.2373e-04,1.5189e-03,1.4828e-04,2.3485e-02,1.5424e-03
+17,1.2333e+00,UP_FORCE_RAMP,2.6892e-04,2.1063e-02,3.6317e-03,2.4469e+00,-3.7004e-02,3.8283e-02,1.5236e-04,2.2114e-02,3.3309e-03,-8.2722e-03,-2.2510e-04,1.5683e-03,1.4959e-04,2.3845e-02,1.5915e-03
+18,1.3000e+00,UP_FORCE_RAMP,2.8697e-04,2.4993e-02,1.5774e-03,2.4377e+00,-3.6876e-02,3.8592e-02,1.7987e-04,2.6044e-02,1.2766e-03,-1.7505e-02,-9.6999e-05,1.8775e-03,1.7710e-04,3.1406e-02,1.8883e-03
+19,1.3667e+00,UP_FORCE_RAMP,3.0300e-04,2.5016e-02,1.6839e-03,2.4379e+00,-3.6882e-02,3.8593e-02,1.8005e-04,2.6068e-02,1.3831e-03,-1.7267e-02,-1.0348e-04,1.8791e-03,1.7728e-04,3.1298e-02,1.8903e-03
+20,1.4167e+00,UP_FORCE_RAMP,3.1654e-04,2.5101e-02,1.7454e-03,2.4382e+00,-3.6886e-02,3.8599e-02,1.8023e-04,2.6152e-02,1.4446e-03,-1.6991e-02,-1.0699e-04,1.8847e-03,1.7745e-04,3.1221e-02,1.8961e-03
+21,1.4667e+00,UP_FORCE_RAMP,3.3333e-04,2.5223e-02,1.8006e-03,2.4386e+00,-3.6889e-02,3.8607e-02,1.8043e-04,2.6274e-02,1.4998e-03,-1.6651e-02,-1.1009e-04,1.8928e-03,1.7765e-04,3.1143e-02,1.9043e-03
+22,1.5500e+00,UP_FORCE_RAMP,3.5104e-04,2.5300e-02,2.0934e-03,2.4369e+00,-3.6907e-02,3.8613e-02,1.8098e-04,2.6351e-02,1.7926e-03,-1.8266e-02,-1.2854e-04,1.8984e-03,1.7820e-04,3.2113e-02,1.9110e-03
+23,1.6167e+00,UP_FORCE_RAMP,3.6781e-04,2.5443e-02,2.2315e-03,2.4362e+00,-3.6916e-02,3.8623e-02,1.8138e-04,2.6494e-02,1.9307e-03,-1.8989e-02,-1.3706e-04,1.9082e-03,1.7860e-04,3.2653e-02,1.9215e-03
+24,1.6667e+00,UP_FORCE_RAMP,3.7824e-04,2.5588e-02,2.3211e-03,2.4359e+00,-3.6921e-02,3.8632e-02,1.8170e-04,2.6640e-02,2.0203e-03,-1.9295e-02,-1.4260e-04,1.9181e-03,1.7893e-04,3.2955e-02,1.9317e-03
+25,1.7000e+00,UP_FORCE_RAMP,3.9467e-04,2.5699e-02,2.3752e-03,2.4358e+00,-3.6925e-02,3.8640e-02,1.8193e-04,2.6750e-02,2.0744e-03,-1.9405e-02,-1.4595e-04,1.9256e-03,1.7916e-04,3.3113e-02,1.9394e-03
+26,1.7333e+00,UP_FORCE_RAMP,4.1450e-04,2.5819e-02,2.4252e-03,2.4358e+00,-3.6928e-02,3.8648e-02,1.8217e-04,2.6870e-02,2.1244e-03,-1.9449e-02,-1.4905e-04,1.9336e-03,1.7940e-04,3.3238e-02,1.9476e-03
+27,1.7667e+00,UP_FORCE_RAMP,4.2749e-04,2.6013e-02,2.4058e-03,2.4353e+00,-3.6926e-02,3.8661e-02,1.8251e-04,2.7065e-02,2.1050e-03,-1.9891e-02,-1.4744e-04,1.9469e-03,1.7973e-04,3.3654e-02,1.9607e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..45bc798eaded93aec3e14c025eafcfcce4cd5097
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b492b701c13a04887bb3157005ab3fc2412795b93815f701bfb1484888dcd9f
+size 2478080
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3a945c2e06a7712b260446ef979b5f59c64baef
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,2.793333e+01,238,7.003201e-01,1.289633e-02,8.249198e-01,3.714836e-05,-4.552333e-05,-8.092135e-03,-2.374297e-04,5.865705e-03,5.044691e-04
+59,2.793333e+01,239,6.967982e-01,2.032632e-02,8.302585e-01,4.322053e-06,-8.803013e-05,-8.235864e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,240,7.036256e-01,1.281142e-02,8.247020e-01,6.137982e-05,-6.788281e-05,-8.115134e-03,-6.008230e-07,-6.113434e-07,-5.366925e-05
+59,2.793333e+01,241,6.929358e-01,1.714728e-02,8.240981e-01,-5.178329e-06,-1.025973e-04,-8.203960e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,242,7.095981e-01,1.879100e-02,8.160717e-01,-1.620542e-05,-1.129236e-04,-8.276114e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,243,6.961347e-01,1.849468e-02,8.294319e-01,-3.180098e-06,-8.832934e-05,-8.199698e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,244,6.921606e-01,1.864284e-02,8.233953e-01,-6.413608e-06,-1.055284e-04,-8.223388e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,245,7.005045e-01,2.045698e-02,8.314480e-01,1.405591e-05,-8.103293e-05,-8.243850e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,246,6.977070e-01,1.830671e-02,8.128814e-01,-1.440869e-05,-1.278367e-04,-8.208339e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,247,7.054498e-01,1.861765e-02,8.127213e-01,-3.293521e-05,-1.227170e-04,-8.247799e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,248,6.939909e-01,1.520946e-02,8.216793e-01,2.472420e-05,-9.699976e-05,-8.178191e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,249,7.021402e-01,1.845342e-02,8.119977e-01,-3.026286e-05,-1.266821e-04,-8.225372e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,250,7.114501e-01,2.027589e-02,8.230670e-01,7.139938e-06,-9.600534e-05,-8.293829e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,251,7.114927e-01,2.029347e-02,8.202392e-01,-3.533759e-06,-1.025533e-04,-8.297687e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,252,6.959965e-01,1.585660e-02,8.276211e-01,-4.685323e-06,-9.431483e-05,-8.156900e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,253,6.976499e-01,1.742811e-02,8.298649e-01,6.202193e-07,-8.656727e-05,-8.172232e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,254,7.095502e-01,1.728579e-02,8.261228e-01,5.834362e-05,-9.290335e-05,-8.232369e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.793333e+01,256,7.007512e-01,2.047766e-02,8.115782e-01,-3.617938e-05,-1.291998e-04,-8.257726e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,257,6.923071e-01,1.861296e-02,8.191012e-01,-1.892316e-07,-1.172315e-04,-8.221930e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.793333e+01,260,7.073322e-01,1.738304e-02,8.287704e-01,5.884013e-05,-8.721879e-05,-8.204494e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,261,7.064477e-01,1.319501e-02,8.204179e-01,3.647357e-05,-8.659785e-05,-8.172865e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.793333e+01,263,6.962919e-01,1.893773e-02,8.134274e-01,-1.426176e-05,-1.281432e-04,-8.219021e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.793333e+01,265,7.070780e-01,1.382957e-02,8.188697e-01,1.629120e-05,-9.535431e-05,-8.189816e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.793333e+01,266,6.947716e-01,1.599468e-02,8.263381e-01,-6.188350e-06,-9.759456e-05,-8.171810e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..338a7cd00d4721b604ebf6e382e41c27510551a1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+31107,1791447570144184242,2548533000000,1791447570142847539,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760850352387752,-0.004760053102121207,0.09016386131413875,0.999999991582433,8.434232096145027e-05,-1.9769321015856736e-05,2.781268181442773e-05,0.6761,-0.0048,0.0901310403776024,1.0,0.0,0.0,0.0,-0.053664571096722374,-0.15478724567273752,0.7397896588497324,-0.012591481849334615,0.006642598297985858,0.00038670693917073414,-0.09602503230033298,-0.2677729255196056,0.5857097855884915,-0.015561892096389073,0.004225219604347893,0.00043232009389392387,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6116279323403787,-0.2564013942738511,0.014631472774854503,0.17999930003794282,0.1599678514459914,-0.2420933926715328,0.5024368616808691,0.7397896588497324,0.4878053889060146,0.4878053889060146,0.48600000000003063,0,0,-3.440569458915276e-05,9.99976171575156e-05
+31227,1791447571144163692,2549533000000,1791447571142846966,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.676084570810655,-0.004764248524005189,0.09012521922800353,0.9999999915342588,8.353060345921727e-05,-2.1497069888716607e-05,3.0575500416233704e-05,0.6761,-0.0048,0.09009083327907638,1.0,0.0,0.0,0.0,-0.0616274950920334,-0.1713062294771038,0.7414235184609735,-0.013613308596127164,0.0066623629983212935,0.00037392875027303927,-0.103987956295644,-0.28429190932397186,0.5873436451997327,-0.016583718843181623,0.004244984304683328,0.000419541904996229,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5724943520536623,-0.24863598784125,-0.007734896359798103,0.18527250570340675,0.16144440724813122,-0.23607895733554152,0.5024368616808691,0.7414235184609735,0.5101717580406672,0.5101717580406672,0.5459999999999926,0,0,-4.898223704832982e-05,9.988080781753723e-05
+31365,1791447572294113943,2550683000000,1791447572290847348,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760826001606078,-0.004762354150639018,0.09006681249011178,0.9999999911225645,8.796508502734292e-05,-2.2449550997416233e-05,3.091757963057561e-05,0.6761,-0.0048,0.09002380593769657,1.0,0.0,0.0,0.0,-0.06265844531219525,-0.16036620159953083,0.7693581809397593,-0.013644928349921372,0.007668041270953852,0.0003658772631707051,-0.10501890651580585,-0.2733518814463989,0.6152783076785184,-0.01661533859697583,0.0052506625773158875,0.0004114904178938948,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.5917651768488672,-0.2242472177943076,0.0882926758415981,0.19013032416036812,0.09764422048149193,-0.2143237300187876,0.5024368616808691,0.7693581809397593,0.414144185839271,0.414144185839271,0.6149999999999339,0,0,-6.466282535397128e-05,-9.886061000242136e-05
+31519,1791447573578116562,2551967000000,1791447573574847221,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760858015559615,-0.004763377987864074,0.08998450440113212,0.9999999910365119,8.92421899668567e-05,-1.6160806812549835e-05,3.383046634994952e-05,0.6761,-0.0048,0.0899364051787972,1.0,0.0,0.0,0.0,-0.06481238257437365,-0.16845684747149262,0.8115447195111041,-0.013653879733306529,0.007660672772152167,0.0003322297217442148,-0.10717284377798425,-0.28144252731836067,0.6574648462498632,-0.016624289980360987,0.005243294078514203,0.00037784287646740455,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6320146481967404,-0.2656830916357884,-0.028054501606668232,0.20841146910323796,0.1775781647902366,-0.23932266998211144,0.5024368616808691,0.8115447195111041,0.5304913632875373,0.5304913632875373,0.6920399999998684,0,0,-7.070370845327213e-05,-6.978463226581794e-05
+31646,1791447574636175204,2553025000000,1791447574630837489,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760864563228274,-0.0047636990000172125,0.08991189362913017,0.999999991070323,8.890446737541235e-05,-1.2618226851776948e-05,3.5199350299741525e-05,0.6761,-0.0048,0.08985774757738056,1.0,0.0,0.0,0.0,-0.08104674478038192,-0.16786595545945873,0.8358724572027368,-0.013640639753072887,0.007654470953915695,0.000310108904906128,-0.12340720598399252,-0.2808516353063268,0.681792583941496,-0.016611050000127345,0.0052370922602777295,0.00035572205962931775,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.647262594903743,-0.19313921334574574,-0.15364512494862556,0.1827845552278913,0.25844996605214393,-0.19578120651214326,0.5024368616808691,0.8358724572027368,0.6560819866294947,0.6560819866294947,0.7555199999998145,0,0,-7.849718679645156e-05,9.375000361989123e-05
+31779,1791447575744134941,2554133000000,1791447575742847441,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760804571297766,-0.004768803668214093,0.089817570631405,0.9999999917172495,7.982695049545856e-05,-2.0785894743331023e-05,3.4698270002989414e-05,0.6761,-0.0048,0.08976366641992604,1.0,0.0,0.0,0.0,-0.08134448427954287,-0.1671814977651684,0.8595237533762684,-0.013662683595732401,0.007650232511525317,0.000290773253498827,-0.12370494548315347,-0.28016717761203647,0.7054438801150276,-0.01663309384278686,0.0052328538178873524,0.0003363864082220167,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.6978528696530898,-0.22038006038801675,-0.176873965152569,0.20343581366708027,0.2831130370531327,-0.2085165319364944,0.5024368616808691,0.8595237533762684,0.6793108268334381,0.6793108268334381,0.8219999999997579,0,0,-9.454317070836324e-05,9.019865463203398e-05
+31899,1791447576744137896,2555133000000,1791447576742847290,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.676081692920322,-0.00477511585360777,0.08972283849430385,0.9999999914952807,8.160952599750213e-05,-1.8701463891891354e-05,3.79795120069401e-05,0.6761,-0.0048,0.08966529866852847,1.0,0.0,0.0,0.0,-0.08066588741630036,-0.17647728460006482,0.8796485057769723,-0.013667828124858923,0.007646654993510898,0.00027458533174846137,-0.12302634861991096,-0.28946296444693287,0.7255686325157314,-0.01663823837191338,0.005229276299872933,0.0003201984864716511,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7093564138761708,-0.22070739856980862,-0.1965299457598322,0.20497147475150754,0.2914383042187046,-0.21040953082755365,0.5024368616808691,0.8796485057769723,0.6989668074407013,0.6989668074407013,0.8819999999997069,0,0,-0.00010051615742619613,-9.397735463845686e-05
+32031,1791447577844143300,2556233000000,1791447577842846622,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760817796965497,-0.0047740379245480346,0.08960999481082217,0.9999999917684271,7.952494580854022e-05,-1.8389617788695366e-05,3.526492847747276e-05,0.6761,-0.0048,0.08954888523300088,1.0,0.0,0.0,0.0,-0.08143335021706574,-0.1748311033756387,0.8897098732094381,-0.013669540781033896,0.007644342482085302,0.000266366296487718,-0.12379381142067634,-0.28781678322250676,0.7356299999481972,-0.016639951028088355,0.005226963788447338,0.0003119794512109077,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7247983804879236,-0.3474515196418745,-0.34465280755405725,0.25157764437216246,0.38308232266192066,-0.2882680655318862,0.5024368616808691,0.8897098732094381,0.8470896692349263,0.8470896692349263,0.9479999999996508,0,0,-0.00011322234966662658,9.999695102370083e-05
+32155,1791447578878098468,2557267000000,1791447578874837403,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760801952221265,-0.004776822661388241,0.08948447714296952,0.9999999913825904,8.2368994745924e-05,-2.2867933373680977e-05,3.701472507985387e-05,0.6761,-0.0048,0.08942512516253384,1.0,0.0,0.0,0.0,-0.08206036178784988,-0.1723890657622961,0.9164930021230816,-0.012655281355642376,0.007619182091117052,0.00025499464300139776,-0.12442082299146048,-0.28537474560916415,0.7624131288618408,-0.015625691602696834,0.005201803397479087,0.0003006077977245875,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7192691964961686,-0.257845514333187,-0.2760674247167147,0.23250492532150766,0.33081924711077737,-0.22769911316120295,0.5024368616808691,0.9164930021230816,0.7785042863975837,0.7785042863975837,1.0100399999995981,0,0,-0.00012444731707225565,-9.979403001037496e-05
+32271,1791447579844167474,2558233000000,1791447579842846862,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760835889804576,-0.004781533501950306,0.08936437834873324,0.9999999918121105,7.762178457814992e-05,-1.7323105653655533e-05,3.8644690593663206e-05,0.6761,-0.0048,0.08929694493974114,1.0,0.0,0.0,0.0,-0.08208375313740679,-0.1629333465121475,0.930092342702262,-0.01265708978654037,0.007616687246104174,0.00024517728814352875,-0.12444421434101739,-0.27591902635901555,0.7760124694410212,-0.015627500033594827,0.00519930855246621,0.0002907904428667185,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7687427347228217,-0.27189321390773485,-0.38803110237720745,0.24337724987345202,0.40959517556480945,-0.23889288494986669,0.5024368616808691,0.930092342702262,0.8904679640580766,0.8904679640580766,1.0679999999995489,0,0,-0.00013890269344865735,9.99999208702917e-05
+32386,1791447580803118887,2559192000000,1791447580802847204,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760867645862452,-0.004780283316737928,0.08922734631323076,0.9999999918244743,7.529247533662816e-05,-1.723069020533098e-05,4.275584442735902e-05,0.6761,-0.0048,0.08915700555135805,1.0,0.0,0.0,0.0,-0.09125268549372258,-0.17017682214408467,0.9402160007690328,-0.012658755293921268,0.007614691479604998,0.00023588614961902722,-0.13361314669733318,-0.2831625019909527,0.7861361275077919,-0.015629165540975726,0.005197312785967033,0.00028149930434221695,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7943123858754237,-0.2155647288384181,-0.33025755469295603,0.23984641179678698,0.37130108352936586,-0.19425882439839837,0.5024368616808691,0.9402160007690328,0.8326944163738251,0.8326944163738251,1.1255399999995,0,0,-0.00015242778572263494,-8.240407941973444e-05
+32492,1791447581686098868,2560075000000,1791447581678847000,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760874152856478,-0.004785759350062278,0.08908341132170762,0.9999999914011795,7.629716755282889e-05,-1.9077712315497633e-05,4.9550869630404e-05,0.6761,-0.0048,0.08901806141855104,1.0,0.0,0.0,0.0,-0.08314543431577186,-0.1677735822723441,0.9547091204872201,-0.011647133085518938,0.007592729237821432,0.00023665489700056398,-0.12550589551938246,-0.28075926211921215,0.8006292472259793,-0.014617543332573396,0.005175350544183467,0.0002822680517237537,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8100506002738738,-0.267488354949784,-0.35393616593564375,0.2617224361293085,0.384690063233052,-0.23166051357088477,0.5024368616808691,0.9547091204872201,0.8563730276165129,0.8563730276165129,1.178519999999455,0,0,-0.0001619048055998259,-9.989172963654198e-05
+32592,1791447582519102721,2560908000000,1791447582518847218,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760893260314118,-0.004783191448143666,0.08894358525825134,0.9999999910976031,7.949839244769734e-05,-1.8962199202615692e-05,5.067641463815045e-05,0.6761,-0.0048,0.08887832420806341,1.0,0.0,0.0,0.0,-0.09201805908533263,-0.1654945211891383,0.9706860385895816,-0.011650307492832244,0.007806801862598826,0.00022606450659506402,-0.13437852028894323,-0.27848020103600635,0.8166061653283407,-0.014620717739886702,0.005389423168960861,0.00027167766131825375,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7562936650453511,-0.26511626629523605,-0.36496081527113183,0.266492350960256,0.3737736015301994,-0.22835261069627535,0.5024368616808691,0.9706860385895816,0.8673976769520009,0.8673976769520009,1.2284999999994124,0,0,-0.00017550323442724747,-9.998934599598214e-05
+32681,1791447583261208899,2561650000000,1791447583254837644,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760836038061286,-0.004782248679498122,0.0888006168525255,0.9999999905472394,8.123979713879533e-05,-2.8509810253220198e-05,5.418183784086155e-05,0.6761,-0.0048,0.08874294009421341,1.0,0.0,0.0,0.0,-0.08221752949813182,-0.1697066523280137,0.9899102368427748,-0.012668086165845858,0.007603720353658999,0.00019683758634057435,-0.12457799070174243,-0.28269233217488177,0.835830363581534,-0.015638496412900316,0.005186341660021035,0.00024245074106376408,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7643340663611633,-0.21831012089247273,-0.35735948002331347,0.26496748973377826,0.368082790711936,-0.19460098350975968,0.5024368616808691,0.9899102368427748,0.8597963417041825,0.8597963417041825,1.2730199999993745,0,0,-0.00018828553982194596,-9.999951841444527e-05
+32771,1791447584011110421,2562400000000,1791447584010837446,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760841507192643,-0.004787321284028228,0.08865918910483492,0.9999999910744843,7.542015903120542e-05,-2.69002361473339e-05,5.3684938072823125e-05,0.6761,-0.0048,0.0885959173213179,1.0,0.0,0.0,0.0,-0.08783476480862178,-0.16994852896809878,1.0004090832671062,-0.012670801850997613,0.00760196060982468,0.00018766509532494453,-0.13019522601223238,-0.28293420881496684,0.8463292100058654,-0.01564121209805207,0.005184581916186715,0.00023327825004813426,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7817787139481197,-0.16705794962351028,-0.35948995289695646,0.25881920773423944,0.3704072164035232,-0.16224220672519063,0.5024368616808691,1.0004090832671062,0.8619268145778256,0.8619268145778256,1.3180199999993363,0,0,-0.0002042837732266475,-9.999999025923074e-05
+32855,1791447584711111268,2563100000000,1791447584710837751,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760810194559236,-0.004788382533622278,0.08850483585316264,0.9999999900159527,8.19876106217817e-05,-3.163676672226826e-05,6.0729774713621156e-05,0.6761,-0.0048,0.08844759412591632,1.0,0.0,0.0,0.0,-0.09153709108001891,-0.17868411496985023,1.0191163813280855,-0.012675053978821951,0.007598398255958113,0.00017167129599427486,-0.1338975522836295,-0.2916697948167183,0.8650365080668446,-0.01564546422587641,0.005181019562320148,0.0002172844507174646,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8018812724467022,-0.27614059632711707,-0.5052597486312332,0.3033300345604719,0.4664789463540609,-0.23169443153724917,0.5024368616808691,1.0191163813280855,1.0076966103121023,1.0076966103121023,1.3600199999993006,0,0,-0.0002193513493920618,8.037692504790807e-05
+32936,1791447585386124171,2563775000000,1791447585382847286,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760816575811555,-0.004793599242461583,0.08834915773016537,0.9999999892362013,8.946676168695465e-05,-3.100346108855197e-05,6.328463925193653e-05,0.6761,-0.0048,0.08829259767987592,1.0,0.0,0.0,0.0,-0.09230863001514773,-0.1559702762145541,1.020651719603593,-0.01168015151892815,0.00859032988158538,0.00019800566911982925,-0.13466909121875834,-0.26895595606142214,0.8665718463423521,-0.014650561765982608,0.006172951187947415,0.00024361882384301898,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7631359587900755,-0.3016386491494585,-0.37752423444424904,0.32122785011992455,0.3694927375265299,-0.24654659945998786,0.5024368616808691,1.020651719603593,0.8799610961251181,0.8799610961251181,1.4005199999992661,0,0,-0.00023897296113769973,-9.997834091025055e-05
+33011,1791447586011120871,2564400000000,1791447586010837687,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760820695498397,-0.0047976166361887234,0.08819373246506275,0.9999999885987584,9.300286432762004e-05,-3.306412889716174e-05,6.710125221509575e-05,0.6761,-0.0048,0.0881370382164434,1.0,0.0,0.0,0.0,-0.10120844994246751,-0.16549478637488393,1.030006529484242,-0.011683181454461065,0.008587435721500473,0.00018491177628808544,-0.14356891114607812,-0.278480466221752,0.875926656223001,-0.014653591701515523,0.006170057027862508,0.00023052493101127517,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7322367715182738,-0.2309801051056182,-0.3502532094398905,0.3098126647160657,0.3410377787361111,-0.19975063836534668,0.5024368616808691,1.030006529484242,0.8526900711207597,0.8526900711207597,1.4380199999992342,0,0,-0.0002587515644900381,-9.999999025923074e-05
+33080,1791447586586176721,2564975000000,1791447586578838070,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760794725356783,-0.004797412739821436,0.08803648338036031,0.9999999874714831,9.879739501365556e-05,-3.860032895382873e-05,7.244989487082653e-05,0.6761,-0.0048,0.0879830307882035,1.0,0.0,0.0,0.0,-0.09238329633506571,-0.16779538055175755,1.050787650477317,-0.011686786713910092,0.008573957564541374,0.00017337541611414322,-0.13474375753867632,-0.2807810603986256,0.8967077772160763,-0.01465719696096455,0.0061565788709034095,0.00021898857083733295,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7895110858041638,-0.27879842879403627,-0.5062624940407698,0.3346854221354409,0.4582525551160819,-0.23460365644775275,0.5024368616808691,1.050787650477317,1.0086993557216388,1.0086993557216388,1.472519999999205,0,0,-0.00027561710205557225,-2.7023075868357104e-05
+33152,1791447587186175209,2565575000000,1791447587178847438,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760795926251603,-0.004794898510733857,0.08786576657714033,0.9999999876389216,9.61375016296311e-05,-4.029990764031862e-05,7.279092844346001e-05,0.6761,-0.0048,0.08781258772963878,1.0,0.0,0.0,0.0,-0.10162628302619901,-0.1636620832789161,1.0508909292987667,-0.011686842621664324,0.008585174690119185,0.0001724424568839951,-0.14398674422980962,-0.27664776312578415,0.8968110560375258,-0.014657252868718782,0.00616779599648122,0.00021805561160718483,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7459720333976311,-0.22950046549048034,-0.44942227358950976,0.3392245315563862,0.40316181710140264,-0.19962162936560013,0.5024368616808691,1.0508909292987667,0.9518591352703789,0.9518591352703789,1.5085199999991743,0,0,-0.0002927912132147644,-9.999999025923074e-05
+33215,1791447587711113604,2566100000000,1791447587710837593,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760745563978255,-0.004799777892411062,0.08770129964611807,0.9999999881823908,8.487449105560796e-05,-4.895404442831147e-05,7.401286999437233e-05,0.6761,-0.0048,0.08765579052162913,1.0,0.0,0.0,0.0,-0.08932667380938676,-0.15446349973966975,1.0773892110497374,-0.011689898910101651,0.008528310141154691,0.0001507193880893837,-0.13168713501299736,-0.2674491795865378,0.9233093377884966,-0.01466030915715611,0.006110931447516727,0.00019633254281257342,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7607235174973699,-0.3196113805831368,-0.5017216044699931,0.36942715627614164,0.44334720195516847,-0.25869547269276233,0.5024368616808691,1.0773892110497374,1.0041584661508622,1.0041584661508622,1.5400199999991475,0,0,-0.0003063182676358008,-7.016919964376029e-05
+33283,1791447588278223827,2566667000000,1791447588274846893,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.676076785028735,-0.004801179996753663,0.08753460680859991,0.9999999880758674,8.572918160917315e-05,-4.375680013553829e-05,7.763362106245683e-05,0.6761,-0.0048,0.08747686632468946,1.0,0.0,0.0,0.0,-0.09220947731938632,-0.16364678269235902,1.0805803035758093,-0.011664953458940962,0.007565316678464074,0.0001338905145741249,-0.13456993852299692,-0.2766324625392271,0.9265004303145684,-0.01463536370599542,0.005147937984826109,0.00017950366929731464,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7054429157709161,-0.29191182704798535,-0.5532577862347997,0.38830913277920015,0.46011020056321617,-0.23852542897020634,0.5024368616808691,1.0805803035758093,1.0556946479156688,1.0556946479156688,1.5740399999991186,0,0,-0.00032466215499763065,8.647088187008762e-05
+33347,1791447588811126965,2567200000000,1791447588810847778,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760765982206687,-0.004808559175031762,0.08735870460982773,0.9999999876049057,8.726021707799173e-05,-4.4113830337325084e-05,8.168645684014838e-05,0.6761,-0.0048,0.08729883970536464,1.0,0.0,0.0,0.0,-0.09223409578103912,-0.16319755029727426,1.091104935177325,-0.011667067243898103,0.007569643935088341,0.00012548768985941701,-0.13459455698464973,-0.2761832301441423,0.9370250619160841,-0.014637477490952561,0.005152265241450377,0.00017110084458260674,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7292372310913962,-0.2746715454132546,-0.48697803101700166,0.38740711905947206,0.4208634460290822,-0.22856992035650767,0.5024368616808691,1.091104935177325,0.9894148926978708,0.9894148926978708,1.6060199999990914,0,0,-0.0003428679751602256,-9.999999025923074e-05
+33410,1791447589336222467,2567725000000,1791447589334837874,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.67608174032691,-0.004809101063088675,0.0871848511533169,0.9999999872118343,9.398522150623367e-05,-3.628871155546161e-05,8.288005285498572e-05,0.6761,-0.0048,0.08711398279375106,1.0,0.0,0.0,0.0,-0.10219662006059728,-0.15013752877621708,1.10012862466855,-0.010674385419318462,0.00855465736671216,0.00014412355989888424,-0.14455708126420788,-0.26312320862308514,0.946048751407309,-0.01364479566637292,0.006137278673074195,0.00018973671462207397,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7288982663136458,-0.24538879065728542,-0.5390004316882834,0.3944705087615528,0.45032591841975556,-0.206566276197625,0.5024368616808691,1.10012862466855,1.0414372933691525,1.0414372933691525,1.6375199999990646,0,0,-0.0003613332107115536,3.7207946804104775e-05
+33467,1791447589811127358,2568200000000,1791447589810837681,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760773579298248,-0.004811615799490639,0.0870054505463137,0.9999999879599415,8.272977960208799e-05,-4.2159279454527655e-05,8.307442328472087e-05,0.6761,-0.0048,0.08693921738145487,1.0,0.0,0.0,0.0,-0.09613672816904408,-0.14102303736116525,1.1115338146863225,-0.01067557109193219,0.008551395242703097,0.0001356237468843726,-0.13849718937265468,-0.2540087172080333,0.9574539414250817,-0.013645981338986648,0.006134016549065133,0.00018123690160756233,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7679320153434427,-0.2977348749555426,-0.5484306295497542,0.424110688197878,0.4624070284416857,-0.23864427664162088,0.5024368616808691,1.1115338146863225,1.0508674912306233,1.0508674912306233,1.6660199999990404,0,0,-0.00037324039551561,4.190798236929083e-05
+33524,1791447590286219993,2568675000000,1791447590282847026,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.676079462636432,-0.004816298650999887,0.08682980151595125,0.9999999873044845,8.559708609998004e-05,-3.605341612982369e-05,9.05935174489043e-05,0.6761,-0.0048,0.08675851675533602,1.0,0.0,0.0,0.0,-0.10284299255603908,-0.14670699337324153,1.1223828843616757,-0.009741540710718817,0.008532098510421384,0.00013700946516819251,-0.1452034537596497,-0.2596926732201096,0.9683030111004348,-0.012711950957773275,0.00611471981678342,0.00018262261989138224,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7650714243193935,-0.27068780289432864,-0.5259474214834636,0.42205389796656967,0.44871174948978965,-0.22233807545376782,0.5024368616808691,1.1223828843616757,1.0283842831643328,1.0283842831643328,1.6945199999990161,0,0,-0.00038537555816928047,-9.62488380925663e-05
+33575,1791447590711122265,2569100000000,1791447590710847055,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760782405614008,-0.004816334490333015,0.08666280066918121,0.9999999866819886,9.081094247025106e-05,-3.8297131280405854e-05,9.146359612413033e-05,0.6761,-0.0048,0.08659241274570068,1.0,0.0,0.0,0.0,-0.10030512907250767,-0.1489980374131307,1.1251432173634965,-0.01068020439140873,0.00854795415133923,0.00012532347131715394,-0.14266559027611828,-0.26198371725999875,0.9710633441022556,-0.013650614638463189,0.006130575457701265,0.00017093662604034367,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7358025079249784,-0.3157014313330884,-0.5361694730045504,0.4438127660213996,0.445187477260505,-0.2500409776574419,0.5024368616808691,1.1251432173634965,1.0386063346854195,1.0386063346854195,1.7200199999989945,0,0,-0.00039793155638265097,-9.999999025923074e-05
+33628,1791447591153227106,2569542000000,1791447591146837456,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.676076709450621,-0.004819990205038262,0.08648663100016021,0.9999999864002956,9.11380272341611e-05,-4.264652595590598e-05,9.228979688320117e-05,0.6761,-0.0048,0.08641376760540564,1.0,0.0,0.0,0.0,-0.09911101154023276,-0.14727435056689994,1.1316380239165844,-0.01054343504292157,0.008544967310067281,0.0001204384348568572,-0.14147147274384336,-0.260260030413768,0.9775581506553437,-0.013513845289976028,0.006127588616429316,0.00016605158958004693,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7577267320116694,-0.32499114189537226,-0.4819810898045928,0.4622805596593331,0.4144444115302983,-0.25619729227111204,0.5024368616808691,1.1316380239165844,0.9844179514854619,0.9844179514854619,1.746539999998972,0,0,-0.00040990712931873583,-9.608396997340946e-05
+33683,1791447591612192912,2570000000000,1791447591610837644,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760816292093792,-0.00482155207980913,0.08630842153638146,0.9999999870749554,8.689872196841639e-05,-3.297527367859215e-05,9.302793504446227e-05,0.6761,-0.0048,0.08622273403201342,1.0,0.0,0.0,0.0,-0.10292700002703929,-0.14561362523182034,1.1397610195735342,-0.00966225451801936,0.008527163415226628,0.00012352916481092743,-0.1452874612306499,-0.2585993050786884,0.9856811463122933,-0.012632664765073819,0.006109784721588663,0.00016914231953411716,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.722428093453055,-0.26175151732207,-0.5718122174365144,0.4480716568962946,0.45773966874796357,-0.21557864157584256,0.5024368616808691,1.1397610195735342,1.0742490791173835,1.0742490791173835,1.7740199999989485,0,0,-0.000425023907198148,4.894366442543259e-05
+33731,1791447592011131449,2570400000000,1791447592010837504,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760783671840419,-0.004824840455209433,0.0861330657312972,0.9999999875176316,7.786159676740579e-05,-3.7375080819435536e-05,9.459532790102824e-05,0.6761,-0.0048,0.08605109247264578,1.0,0.0,0.0,0.0,-0.10290781636851969,-0.13570142094703103,1.1319739676311746,-0.009662795712655995,0.008659804919265863,0.0001318686527003801,-0.1452682775721303,-0.24868710079389908,0.9778940943699338,-0.012633205959710453,0.006242426225627898,0.00017748180742356982,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7821455607170025,-0.3162313562169279,-0.5305865497326919,0.4826118902056693,0.44491511788185173,-0.24618091991554447,0.5024368616808691,1.1319739676311746,1.033023411413561,1.033023411413561,1.7980199999989281,0,0,-0.0004334488020965851,-9.999999025923074e-05
+33779,1791447592411142831,2570800000000,1791447592410847353,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.676078696318371,-0.004826683843276289,0.08596282427365085,0.9999999880868506,7.592989068206816e-05,-3.520633888904629e-05,9.090835116494714e-05,0.6761,-0.0048,0.0858759512111924,1.0,0.0,0.0,0.0,-0.09417007862129882,-0.13524568819735266,1.1607475216743857,-0.009664919548765206,0.008521785430565625,0.00010682578751633479,-0.13653053982490942,-0.24823136804422072,1.006667648413145,-0.012635329795819664,0.00610440673692766,0.00015243894223952452,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7703956101028907,-0.31616822704467235,-0.5141434287679079,0.4842766073895238,0.4258337188069114,-0.2443645148110171,0.5024368616808691,1.1607475216743857,1.0165802904487768,1.0165802904487768,1.8220199999989077,0,0,-0.0004397395709191106,-9.995120983508627e-05
+33827,1791447592811154213,2571200000000,1791447592810847083,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760788258627987,-0.004829495981732116,0.08578474504930282,0.9999999876603175,7.903484010732594e-05,-3.357578449278025e-05,9.353282917655192e-05,0.6761,-0.0048,0.08569871584657152,1.0,0.0,0.0,0.0,-0.10221758044126818,-0.13512392091496125,1.160739645549588,-0.009664662988347032,0.008521827219713755,0.00010625193516104086,-0.14457804164487878,-0.2481096007618293,1.006659772288347,-0.01263507323540149,0.006104448526075791,0.0001518650898842306,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.7583032336358556,-0.26020203870622516,-0.5507025176344524,0.47363315760140207,0.44536051442684643,-0.20898957378668287,0.5024368616808691,1.160739645549588,1.0531393793153216,1.0531393793153216,1.8460199999988873,0,0,-0.00044659619957285033,-8.123673542049232e-05
+33875,1791447593211154354,2571600000000,1791447593206847656,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760752447695808,-0.004832664138998491,0.08560278774940505,0.9999999874413681,7.458212495260333e-05,-4.062758936025929e-05,9.66800590896793e-05,0.6761,-0.0048,0.08551934121509318,1.0,0.0,0.0,0.0,-0.09374374856834931,-0.13519619273168798,1.1727553794131964,-0.009666862342228834,0.008519303279684497,9.85107207895569e-05,-0.13610420977195992,-0.24818187257855603,1.0186755061519557,-0.012637272589283292,0.006101924586046532,0.00014412387551274663,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8506554116823994,-0.22219150258647893,-0.5571554872580071,0.4733319128870522,0.4710248683974508,-0.18192875749991655,0.5024368616808691,1.1727553794131964,1.0595923489388763,1.0595923489388763,1.870019999998867,0,0,-0.0004491299305062465,-9.999770042424245e-05
+33923,1791447593611178380,2572000000000,1791447593610847045,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760710612184396,-0.0048365940430328425,0.08541983329496948,0.9999999872571218,7.360577842400159e-05,-4.5568446857531536e-05,9.713046259202321e-05,0.6761,-0.0048,0.08533910184545548,1.0,0.0,0.0,0.0,-0.09862286276122338,-0.13434915529204247,1.170817234370105,-0.009666574419290905,0.008519456758011364,9.828650969917287e-05,-0.14098332396483398,-0.24733483513891052,1.0167373611088644,-0.012636984666345363,0.0061020780643733985,0.0001438996644223626,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8113636803287965,-0.27806182341292335,-0.5270235430526121,0.49746340133103273,0.43763807121715004,-0.2161718090233815,0.5024368616808691,1.170817234370105,1.0294604047334812,1.0294604047334812,1.8940199999988465,0,0,-0.00045292422970052835,-9.997387226257643e-05
+33971,1791447594011165326,2572400000000,1791447594010837197,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760751285852822,-0.004838354193325878,0.08524588349784938,0.9999999879576867,6.84815477624721e-05,-3.667940861862969e-05,9.742889372119582e-05,0.6761,-0.0048,0.08515663112160807,1.0,0.0,0.0,0.0,-0.09709723889952827,-0.1351697729709786,1.1620775421578786,-0.00966491375879765,0.00852155498085912,0.00010621970182367218,-0.13945770010313888,-0.24815545281784665,1.0079976688966379,-0.012635324005852109,0.006104176287221155,0.00015183285654686191,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8192126638632733,-0.3100879159209446,-0.6179131589877391,0.509461107598257,0.4906022599668387,-0.2359150078919931,0.5024368616808691,1.1620775421578786,1.1203500206686083,1.1203500206686083,1.918019999998826,0,0,-0.0004601934772794066,-9.998325364713451e-05
+34016,1791447594386185078,2572775000000,1791447594382846737,DOWN_FORCE_DETACH,5,0.04,0.040001507848501205,0.6760763384474262,-0.0048392894132159355,0.08508016349429032,0.9999999885709427,6.817892827725966e-05,-3.271877998749811e-05,9.263959234903831e-05,0.6761,-0.0048,0.08498282419333689,1.0,0.0,0.0,0.0,-0.10349444711792884,-0.12450167728291403,1.1617586477881208,-0.008644483558336767,0.008502606525085183,0.0001172169717279132,-0.14585490832153944,-0.23748735712978208,1.00767877452688,-0.011614893805391225,0.006085227831447219,0.00016283012645110294,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.8819930577808015,-0.23718316692958943,-0.6508425641307791,0.49517309306781604,0.5254920192993806,-0.18366341899516658,0.5024368616808691,1.1617586477881208,1.153279425811648,1.153279425811648,1.940519999998807,0,0,-0.00046629586321677826,-6.109577066178823e-05
+34064,1791447594786172034,2573175000000,1791447594778847890,DOWN_FORCE_DETACH,5,0.04,0.040002163499593735,0.6760754856898811,-0.004841551675524807,0.0848958265236418,0.9999999879167444,7.31811374297135e-05,-3.207123683504262e-05,9.604859371323229e-05,0.6761,-0.0048,0.08479588750984746,1.0,0.0,0.0,0.0,-0.10351179674407583,-0.1323028351684412,1.1627505658606743,-0.008645030010017566,0.00850270464118758,0.00011640953852149448,-0.14587225794768643,-0.24528851501530927,1.0086706925994335,-0.011615440257072025,0.006085325947549615,0.0001620226932446842,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9249882303112604,-0.18675503251510422,-0.6650069479954563,0.47560211039158345,0.5407877081688757,-0.1539911025664743,0.5024368616808691,1.1627505658606743,1.1674438096763256,1.1674438096763256,1.9645199999987866,0,0,-0.0004694881809135982,-8.845993211998378e-05
+34108,1791447595153187849,2573542000000,1791447595146837563,DOWN_SETTLE,5,0.04,0.040002163499593735,0.676074138556293,-0.004844207215278647,0.08472293086542616,0.9999999879098204,6.909343814228504e-05,-3.4034053234996035e-05,9.844289471451935e-05,0.6761,-0.0048,0.08462461132466535,1.0,0.0,0.0,0.0,-0.09432656510164668,-0.13029581774620302,1.1820445867869935,-0.008648797280625137,0.008498471651104548,0.0001017801543852375,-0.13668702630525728,-0.24328149759307108,1.0279647135257528,-0.011619207527679596,0.006081092957466582,0.00014739330910842723,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9893207376965886,-0.34467998098249164,-0.7012325016412373,0.5299654389813717,0.5808032049790699,-0.2551854549614319,0.5024368616808691,1.1820445867869935,1.2036693633221063,1.2036693633221063,1.9724999999987798,0,0,-0.00045905149508443523,9.999999025923074e-05
+34159,1791447595578157168,2573967000000,1791447595574837252,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760751756746759,-0.0048475455026626875,0.08453601085528195,0.9999999886279571,6.029565132441007e-05,-3.262876841385473e-05,9.739993795037555e-05,0.6761,-0.0048,0.08443401943837268,1.0,0.0,0.0,0.0,-0.0943798871108124,-0.12202110421024978,1.1725311945586503,-0.008645550237757238,0.0084995754175149,0.00010968565857139324,-0.136740348314423,-0.23500678405711783,1.0184513212974096,-0.011615960484811696,0.006082196723876935,0.00015529881329458297,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,0.9818057852273353,-0.2874915233842345,-0.7298439223170747,0.5154535028972966,0.5951002282207919,-0.2167032303766472,0.5024368616808691,1.1725311945586503,1.2322807839979437,1.2322807839979437,1.9724999999987798,0,0,-0.00043780149922426217,9.999999025923074e-05
+34208,1791447595986203727,2574375000000,1791447595982847362,DOWN_SETTLE,5,0.04,0.040002163499593735,0.6760693118346596,-0.0048496296559636,0.08435636500596175,0.9999999882139353,6.09969016166802e-05,-4.200870672757068e-05,9.761987671451818e-05,0.6761,-0.0048,0.08425954782587645,1.0,0.0,0.0,0.0,-0.09541462163635826,-0.12331012329594643,1.1624643545226019,-0.008725865758836653,0.008503345140985864,0.00011676397531367223,-0.13777508283996887,-0.23629580314281448,1.008384481261361,-0.01169627600589111,0.006085966447347899,0.00016237713003686196,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0088514001261697,-0.23823733288899251,-0.7647147075698916,0.5093724725124952,0.6212496416927018,-0.17881456725182882,0.5024368616808691,1.1624643545226019,1.2671515692507607,1.2671515692507607,1.9724999999987798,0,0,-0.000417401503198496,9.999999025923074e-05
+34259,1791447596411151856,2574800000000,1791447596406847211,DOWN_SETTLE,5,0.04,0.040002163499593735,0.6760704657526032,-0.004849085918179811,0.08419101668115096,0.999999988378462,6.11162474267037e-05,-3.81067772559366e-05,9.746085369378674e-05,0.6761,-0.0048,0.08408665718613531,1.0,0.0,0.0,0.0,-0.09472947001481576,-0.12432488266511757,1.1522974157201813,-0.009008508151207554,0.008510860283539066,0.00012174227693205264,-0.13708993121842636,-0.23731056251198562,0.9982175424589406,-0.011978918398262012,0.006093481589901101,0.00016735543165524237,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0068315704136641,-0.23581253355341408,-0.7149671770156493,0.5063616788817972,0.5867428091131957,-0.17993842631797474,0.5024368616808691,1.1522974157201813,1.2174040386965184,1.2174040386965184,1.9724999999987798,0,0,-0.00039615150733832296,9.999999025923074e-05
+34316,1791447596886234742,2575275000000,1791447596882847148,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760689091724722,-0.004854084122719301,0.08401317236754442,0.9999999887025924,5.34597323370945e-05,-3.757348268839231e-05,9.883304066861115e-05,0.6761,-0.0048,0.08390411396904841,1.0,0.0,0.0,0.0,-0.09403763181336715,-0.13370995771551836,1.1260150517263638,-0.008611464523491383,0.007497590797169017,0.00013774129022297202,-0.13639809301697775,-0.2466956375623864,0.9719351784651229,-0.011581874770545841,0.005080212103531052,0.00018335444494616175,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.069927547891717,-0.3195644842539948,-0.6953373028140846,0.5298414673987837,0.5861901515232738,-0.2313738617425407,0.5024368616808691,1.1260150517263638,1.1977741644949536,1.1977741644949536,1.9724999999987798,0,0,-0.00037240151196518836,9.999999025923074e-05
+34376,1791447597386207978,2575775000000,1791447597382847184,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760633543507053,-0.004845383845777168,0.0838257186484137,0.9999999883226535,5.7862798994031686e-05,-4.588794073715798e-05,9.666307812795641e-05,0.6761,-0.0048,0.08372415071184579,1.0,0.0,0.0,0.0,-0.0938792779947074,-0.1341375828897534,1.112362595049151,-0.008608192882347356,0.007500255252636116,0.0001425724135157004,-0.136239739198318,-0.24712326273662144,0.9582827217879102,-0.011578603129401814,0.005082876558998151,0.00018818556823889013,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.0855467525212046,-0.28067117855286583,-0.753864328021998,0.5159083834754482,0.6228286733144026,-0.20417262033408556,0.5024368616808691,1.112362595049151,1.256301189702867,1.256301189702867,1.9724999999987798,0,0,-0.000347401516835573,9.999999025923074e-05
+34430,1791447597836198453,2576225000000,1791447597834846982,DOWN_SETTLE,5,0.04,0.040002163499593735,0.6760641426297066,-0.00484941344856962,0.08367764123462047,0.9999999884450989,5.6599518634914405e-05,-4.325228540565565e-05,9.735707904404931e-05,0.6761,-0.0048,0.08357287127828134,1.0,0.0,0.0,0.0,-0.08462973580557605,-0.1248247629291275,1.092644658506115,-0.008604429907902295,0.007502184246525255,0.00015459888881611935,-0.12699019700918665,-0.23781044277599556,0.938564785244874,-0.011574840154956753,0.005084805552887291,0.00020021204353930908,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1360175987628347,-0.28916017924040244,-0.7227939852195348,0.5249241341657699,0.6134704384074973,-0.20931751214294392,0.5024368616808691,1.092644658506115,1.2252308469004038,1.2252308469004038,1.9724999999987798,0,0,-0.00032490152121891915,9.999999025923074e-05
+34496,1791447598386160230,2576775000000,1791447598378847017,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760585990933005,-0.0048469618197279135,0.08349902044372808,0.9999999878671172,5.486608393729623e-05,-5.181745215965004e-05,0.0001000664493922698,0.6761,-0.0048,0.08340172419013496,1.0,0.0,0.0,0.0,-0.0845335662039778,-0.11493593612154579,1.0883525442818685,-0.008601029259929442,0.007503648030232029,0.00016312960965733704,-0.1268940274075884,-0.22792161596841384,0.9342726710206275,-0.0115714395069839,0.005086269336594063,0.00020874276438052677,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1304062692260455,-0.2309295814573082,-0.7735535686537073,0.503113770138087,0.6425355347804161,-0.16906305955337517,0.5024368616808691,1.0883525442818685,1.2759904303345764,1.2759904303345764,1.9724999999987798,0,0,-0.00029740152657634224,9.999999025923074e-05
+34564,1791447598953237802,2577342000000,1791447598950847130,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760513310550808,-0.004844711731689831,0.08332904558060347,0.9999999871827729,5.620343432426575e-05,-6.194192413432266e-05,0.00010040762078450166,0.6761,-0.0048,0.08324112057299764,1.0,0.0,0.0,0.0,-0.06605803553802846,-0.10549055362683607,1.0723573609004577,-0.008596991676133748,0.007505940026250086,0.0001783043746645294,-0.10841849674163906,-0.21847623347370412,0.9182774876392168,-0.011567401923188206,0.005088561332612121,0.00022391752938771912,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1606077144847864,-0.19305900941046847,-0.7984547707669726,0.4895571772353568,0.6635236837148811,-0.14432082488795026,0.5024368616808691,1.0723573609004577,1.3008916324478417,1.3008916324478417,1.9724999999987798,0,0,-0.0002690515320993584,9.999999025923074e-05
+34636,1791447599553180886,2577942000000,1791447599550837673,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760459979533231,-0.004845790300405594,0.08316846927464326,0.9999999860318293,5.677809175939733e-05,-6.98399524689663e-05,0.00010619715121471839,0.6761,-0.0048,0.08308867465198176,1.0,0.0,0.0,0.0,-0.057505497607931,-0.1063964024419479,1.0500632453907632,-0.00859271008231746,0.0075112449251553155,0.00019620662713162984,-0.0998659588115416,-0.21938208228881595,0.8959833721295224,-0.011563120329371918,0.00509386623151735,0.00024181978185481957,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1741746327068674,-0.2547243495464134,-0.6691389662507324,0.5105857274017124,0.5812055190254917,-0.18184344980017628,0.5024368616808691,1.0500632453907632,1.1715758279316015,1.1715758279316015,1.9724999999987798,0,0,-0.00023905153794381994,9.999999025923074e-05
+34717,1791447600228248014,2578617000000,1791447600226838483,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760522411265679,-0.004835654242689837,0.08302618353463305,0.999999986901861,5.8440037510069916e-05,-6.207737047090438e-05,0.00010183469083353202,0.6761,-0.0048,0.08293868861164733,1.0,0.0,0.0,0.0,-0.057178662516861975,-0.08525538499358506,1.002568272424948,-0.007560186584522699,0.007501374373535838,0.00024729776375336204,-0.09953912372047258,-0.19824106484045312,0.8484883991637072,-0.010530596831577158,0.005083995679897873,0.00029291091847655177,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.1791086778208917,-0.2849567755534223,-0.6867948613425245,0.5162448799734688,0.5862907346563012,-0.19952712119124344,0.5024368616808691,1.002568272424948,1.1892317230233935,1.1892317230233935,1.9724999999987798,0,0,-0.0002053015445188392,9.999999025923074e-05
+34816,1791447601053212535,2579442000000,1791447601050847121,DOWN_SETTLE,5,0.04,0.040002163499593735,0.676040200498068,-0.004832587404598026,0.0828591331231955,0.999999985693459,5.690223390454918e-05,-7.929096119653463e-05,0.00010262078445240584,0.6761,-0.0048,0.08278630983410036,1.0,0.0,0.0,0.0,-0.04709923941490557,-0.09672478379808128,0.9724474604207427,-0.008549734461507008,0.006497259663266846,0.00024868222001351377,-0.08945970061851617,-0.20971046364494933,0.8183675871595019,-0.011520144708561466,0.004079880969628881,0.0002942953747367035,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.21379317514688,-0.21133992446004102,-0.8227360290299992,0.49417061080338975,0.6830591310045544,-0.15098047233553674,0.5024368616808691,0.9724474604207427,1.3251728907108684,1.3251728907108684,1.9724999999987798,0,0,-0.00016405155255497383,9.999999025923074e-05
+34924,1791447601953221159,2580342000000,1791447601950837570,DOWN_SETTLE,5,0.04,0.040001507848501205,0.6760287972094344,-0.0048370193980751975,0.08271595557578316,0.9999999846665062,4.9286136344361815e-05,-9.302665855614266e-05,0.00010500842518269495,0.6761,-0.0048,0.08265889093285149,1.0,0.0,0.0,0.0,-0.046729686526649494,-0.11097313088979247,0.9220829068853977,-0.008514201384551324,0.005511864802693839,0.00027062609281070985,-0.0890901477302601,-0.22395881073666052,0.7680030336241569,-0.011484611631605782,0.0030944861090558746,0.0003162392475338996,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2391590607247789,-0.16728298410418518,-0.7143665900288503,0.48208694057146506,0.6132727970281139,-0.1192017331381572,0.5024368616808691,0.9220829068853977,1.2168034517097195,1.2168034517097195,1.9724999999987798,0,0,-0.00011905156132166616,9.999999025923074e-05
+35048,1791447602986209526,2581375000000,1791447602982847661,DOWN_SETTLE,5,0.04,0.040001507848501205,0.676021858025074,-0.004843160581509162,0.08260957114601554,0.999999982591811,5.447257322058158e-05,-0.0001056903284415512,0.00011009784475152057,0.6761,-0.0048,0.08256256206480404,1.0,0.0,0.0,0.0,-0.04649460442365366,-0.11439324809131524,0.8517364455180578,-0.008583744173421799,0.005528805240725659,0.0003269668201078396,-0.08885506562726427,-0.2273789279381833,0.697656572256817,-0.011554154420476257,0.003111426547087695,0.0003725799748310293,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.224174485382845,-0.22136941600490684,-0.6809443265316499,0.4891992725199901,0.5871462705522024,-0.1520387927235439,0.5024368616808691,0.8517364455180578,1.1833811882125191,1.1833811882125191,1.9724999999987798,0,0,-6.74015713838808e-05,9.999999025923074e-05
+35183,1791447604111156591,2582500000000,1791447604110847508,DOWN_SETTLE,5,0.04,0.040002163499593735,0.6760152740060765,-0.004836906722783719,0.08254384812652231,0.9999999801373646,6.760546744934948e-05,-0.00011878698847941648,0.00011174652995350425,0.6761,-0.0048,0.08251834779082762,1.0,0.0,0.0,0.0,-0.045929702787331564,-0.11805394425754454,0.7945443004348125,-0.009505363787623712,0.005562290052282183,0.0003533460474531566,-0.08829016399094217,-0.2310396241044126,0.6404644271735717,-0.01247577403467817,0.0031449113586442183,0.00039895920217634636,-0.0423604612036106,-0.11298567984686805,-0.15407987326124084,-0.002970410247054458,-0.0024173786936379647,4.561315472318973e-05,1,1.2246183382675875,-0.23597434787632884,-0.555899316383397,0.49732576055022015,0.5047163719919562,-0.15974858038057865,0.5024368616808691,0.7945443004348125,1.0583361780642662,1.0583361780642662,1.9724999999987798,0,0,-1.115158234224622e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbf35acaa10fa221f31aa1daf9d090d6e675ba01
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62eeeca33ad87e6c09084c1def45f828161330a0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.333333333e+00,DOWN_FORCE_DETACH,1791447567076001788,8.463386729e-05,-2.018950112e-05,-3.982702747e-04,8.107214207e-05,-1.917108592e-05,-3.980700554e-04,8.182930451e-05,-1.891387894e-05,-3.955051515e-04,7.016225053e-01,-1.863853980e-05,8.403426709e-01,7.016189436e-01,-1.762012460e-05,8.403428711e-01,7.018076146e-01,-1.707534818e-05,8.293851875e-01
+6,3.916666667e+00,DOWN_FORCE_DETACH,1791447567949017083,8.137552342e-05,-2.555940330e-05,-5.169420041e-04,8.160900947e-05,-2.476012754e-05,-5.069110542e-04,8.238834768e-05,-2.441925975e-05,-5.041508699e-04,7.016192470e-01,-2.400844198e-05,8.402239992e-01,7.016194805e-01,-2.320916622e-05,8.402340301e-01,7.018081737e-01,-2.258072899e-05,8.292765418e-01
+7,4.650000000e+00,DOWN_FORCE_DETACH,1791447569045883867,8.265332612e-05,-3.462176241e-05,-6.148029595e-04,8.242295478e-05,-3.479398078e-05,-6.146177509e-04,8.309485630e-05,-3.438629750e-05,-6.121593741e-04,7.016205248e-01,-3.307080109e-05,8.401261382e-01,7.016202944e-01,-3.324301946e-05,8.401263234e-01,7.018088802e-01,-3.254776674e-05,8.291685333e-01
+8,5.383333333e+00,DOWN_FORCE_DETACH,1791447570145221936,8.071405063e-05,-2.944516931e-05,-6.687667111e-04,7.822543559e-05,-3.176095900e-05,-6.557892998e-04,7.876795630e-05,-3.144126012e-05,-6.541197548e-04,7.016185855e-01,-2.789420799e-05,8.400721745e-01,7.016160969e-01,-3.020999768e-05,8.400851519e-01,7.018045533e-01,-2.960272936e-05,8.291265729e-01
+9,6.050000000e+00,DOWN_FORCE_DETACH,1791447571147181337,7.627317449e-05,-2.799048970e-05,-7.132391070e-04,7.635425362e-05,-3.359247816e-05,-6.971889806e-04,7.672558839e-05,-3.328229417e-05,-6.958582675e-04,7.016141447e-01,-2.643952838e-05,8.400277021e-01,7.016142257e-01,-3.204151684e-05,8.400437522e-01,7.018025109e-01,-3.144376341e-05,8.290848344e-01
+10,6.816666667e+00,DOWN_FORCE_DETACH,1791447572298167559,7.951514797e-05,-3.536760396e-05,-7.649371500e-04,7.555804622e-05,-3.259507520e-05,-7.624385898e-04,7.556568188e-05,-3.228559358e-05,-7.609479653e-04,7.016173866e-01,-3.381664264e-05,8.399760040e-01,7.016134295e-01,-3.104411388e-05,8.399785026e-01,7.018013510e-01,-3.044706282e-05,8.290197447e-01
+11,7.666666667e+00,DOWN_FORCE_DETACH,1791447573576054871,7.949641056e-05,-3.708355003e-05,-8.513928949e-04,7.742787398e-05,-4.068811463e-05,-8.473569303e-04,7.704476998e-05,-4.030566880e-05,-8.454807196e-04,7.016173679e-01,-3.553258871e-05,8.398895483e-01,7.016152994e-01,-3.913715330e-05,8.398935843e-01,7.018028301e-01,-3.846713804e-05,8.289352120e-01
+12,8.366666667e+00,DOWN_FORCE_DETACH,1791447574636944125,8.048649583e-05,-3.545375903e-05,-9.208978133e-04,7.830069936e-05,-4.169158739e-05,-9.093786330e-04,7.768855751e-05,-4.131502571e-05,-9.074474615e-04,7.016183580e-01,-3.390279771e-05,8.398200434e-01,7.016161722e-01,-4.014062607e-05,8.398315626e-01,7.018034739e-01,-3.947649495e-05,8.288732452e-01
+13,9.050000000e+00,DOWN_FORCE_DETACH,1791447575745454637,7.798177599e-05,-4.370321623e-05,-1.015299525e-03,7.374662611e-05,-3.854719882e-05,-1.014843202e-03,7.265601486e-05,-3.817005152e-05,-1.012424168e-03,7.016158533e-01,-4.215225491e-05,8.397256417e-01,7.016116181e-01,-3.699623750e-05,8.397260980e-01,7.017984413e-01,-3.633152076e-05,8.287682685e-01
+14,9.716666667e+00,DOWN_FORCE_DETACH,1791447576746836775,7.366287660e-05,-4.077585133e-05,-1.116122462e-03,7.396404190e-05,-4.329379007e-05,-1.098576030e-03,7.251800237e-05,-4.280708776e-05,-1.096226697e-03,7.016115344e-01,-3.922489001e-05,8.396248187e-01,7.016118355e-01,-4.174282875e-05,8.396423652e-01,7.017983033e-01,-4.096855700e-05,8.286844660e-01
+15,1.045000000e+01,DOWN_FORCE_DETACH,1791447577846831098,7.164791399e-05,-4.192479792e-05,-1.231550396e-03,7.125403420e-05,-4.182321584e-05,-1.232002935e-03,6.927534538e-05,-4.131582751e-05,-1.229340297e-03,7.016095194e-01,-4.037383660e-05,8.395093908e-01,7.016091255e-01,-4.027225452e-05,8.395089383e-01,7.017950607e-01,-3.947729674e-05,8.285513524e-01
+16,1.113333333e+01,DOWN_FORCE_DETACH,1791447578877946221,7.398707498e-05,-5.130956267e-05,-1.348128236e-03,7.370191575e-05,-4.756796744e-05,-1.339043549e-03,7.133813980e-05,-4.703900535e-05,-1.336521140e-03,7.016118586e-01,-4.975860134e-05,8.393928130e-01,7.016115734e-01,-4.601700612e-05,8.394018976e-01,7.017971235e-01,-4.520047459e-05,8.284441715e-01
+17,1.178333333e+01,DOWN_FORCE_DETACH,1791447579846711096,7.622257106e-05,-4.520386675e-05,-1.474188911e-03,7.526020361e-05,-5.121412372e-05,-1.465173553e-03,7.258189218e-05,-5.070623455e-05,-1.462614319e-03,7.016140941e-01,-4.365290543e-05,8.392667523e-01,7.016131317e-01,-4.966316240e-05,8.392757676e-01,7.017983672e-01,-4.886770379e-05,8.283180784e-01
+18,1.241666667e+01,DOWN_FORCE_DETACH,1791447580806326120,7.925656848e-05,-4.881190141e-05,-1.610950842e-03,7.685533121e-05,-5.256617414e-05,-1.602276055e-03,7.382367102e-05,-5.198066270e-05,-1.599277715e-03,7.016171280e-01,-4.726094009e-05,8.391299903e-01,7.016147268e-01,-5.101521282e-05,8.391386651e-01,7.017996090e-01,-5.014213194e-05,8.281814150e-01
+19,1.300000000e+01,DOWN_FORCE_DETACH,1791447581682256004,7.975950305e-05,-5.336994019e-05,-1.752062467e-03,7.972308193e-05,-5.344341048e-05,-1.751837400e-03,7.628418017e-05,-5.285464787e-05,-1.748354725e-03,7.016176310e-01,-5.181897887e-05,8.389888787e-01,7.016175946e-01,-5.189244916e-05,8.389891038e-01,7.018020695e-01,-5.101611711e-05,8.280323380e-01
+20,1.355000000e+01,DOWN_FORCE_DETACH,1791447582519395864,8.093576212e-05,-5.562603360e-05,-1.891832865e-03,8.079239025e-05,-5.551255861e-05,-1.891625565e-03,7.685163882e-05,-5.495648034e-05,-1.887782595e-03,7.016188072e-01,-5.407507227e-05,8.388491083e-01,7.016186639e-01,-5.396159728e-05,8.388493156e-01,7.018026370e-01,-5.311794958e-05,8.278929101e-01
+21,1.405000000e+01,DOWN_FORCE_DETACH,1791447583264266370,7.952949520e-05,-5.662562309e-05,-2.035534172e-03,7.715771521e-05,-5.460728688e-05,-2.026187125e-03,7.275121690e-05,-5.405312030e-05,-2.022189277e-03,7.016174010e-01,-5.507466177e-05,8.387054070e-01,7.016150292e-01,-5.305632556e-05,8.387147541e-01,7.017985365e-01,-5.221458954e-05,8.277585034e-01
+22,1.455000000e+01,DOWN_FORCE_DETACH,1791447584013969812,7.516683666e-05,-6.195113647e-05,-2.180588548e-03,7.524317923e-05,-6.505667707e-05,-2.165392721e-03,7.022143177e-05,-6.443713630e-05,-2.161277726e-03,7.016130383e-01,-6.040017515e-05,8.385603526e-01,7.016131147e-01,-6.350571575e-05,8.385755485e-01,7.017960068e-01,-6.259860554e-05,8.276194150e-01
+23,1.501666667e+01,DOWN_FORCE_DETACH,1791447584714151741,7.674271391e-05,-6.506235430e-05,-2.330742621e-03,7.688615677e-05,-6.339827608e-05,-2.319907879e-03,7.140359638e-05,-6.277687476e-05,-2.315526246e-03,7.016146142e-01,-6.351139298e-05,8.384101986e-01,7.016147576e-01,-6.184731476e-05,8.384210333e-01,7.017971889e-01,-6.093834399e-05,8.274651664e-01
+24,1.546666667e+01,DOWN_FORCE_DETACH,1791447585382654913,7.442239883e-05,-6.114444598e-05,-2.482485416e-03,7.649443805e-05,-6.220227281e-05,-2.469840280e-03,7.045407865e-05,-6.164161250e-05,-2.465257002e-03,7.016122939e-01,-5.959348466e-05,8.382584558e-01,7.016143659e-01,-6.065131149e-05,8.382711009e-01,7.017962394e-01,-5.980308174e-05,8.273154357e-01
+25,1.588333333e+01,DOWN_FORCE_DETACH,1791447586013745315,7.610326186e-05,-6.104173455e-05,-2.642936954e-03,7.679737725e-05,-6.756697620e-05,-2.628058776e-03,7.020200253e-05,-6.699113418e-05,-2.622964494e-03,7.016139747e-01,-5.949077323e-05,8.380980042e-01,7.016146689e-01,-6.601601488e-05,8.381128824e-01,7.017959873e-01,-6.515260342e-05,8.271577282e-01
+26,1.626666667e+01,DOWN_FORCE_DETACH,1791447586586462430,7.430351926e-05,-7.010612929e-05,-2.796986314e-03,7.362787378e-05,-6.836797464e-05,-2.793330163e-03,6.641039191e-05,-6.769301835e-05,-2.787782204e-03,7.016121750e-01,-6.855516797e-05,8.379439549e-01,7.016114994e-01,-6.681701332e-05,8.379476110e-01,7.017921957e-01,-6.585448759e-05,8.269929105e-01
+27,1.665000000e+01,DOWN_FORCE_DETACH,1791447587182335381,7.274449415e-05,-6.995774202e-05,-2.970856882e-03,7.259777658e-05,-7.018132085e-05,-2.970876877e-03,6.473042857e-05,-6.950691075e-05,-2.964887528e-03,7.016106160e-01,-6.840678070e-05,8.377700843e-01,7.016104693e-01,-6.863035953e-05,8.377700643e-01,7.017905158e-01,-6.766837999e-05,8.268158052e-01
+28,1.700000000e+01,DOWN_FORCE_DETACH,1791447587712769449,7.122059926e-05,-7.460608112e-05,-3.129553184e-03,7.115197211e-05,-7.436864031e-05,-3.129339985e-03,6.279978619e-05,-7.369905083e-05,-3.123344186e-03,7.016090921e-01,-7.305511980e-05,8.376113880e-01,7.016090235e-01,-7.281767899e-05,8.376116012e-01,7.017885851e-01,-7.186052007e-05,8.266573485e-01
+29,1.738333333e+01,DOWN_FORCE_DETACH,1791447588281666194,6.999074408e-05,-7.014773039e-05,-3.304620319e-03,6.975356463e-05,-7.459251318e-05,-3.293527927e-03,6.078848277e-05,-7.391781195e-05,-3.287587935e-03,7.016078622e-01,-6.859676907e-05,8.374363209e-01,7.016076250e-01,-7.304155186e-05,8.374474133e-01,7.017865738e-01,-7.207928119e-05,8.264931048e-01
+30,1.773333333e+01,DOWN_FORCE_DETACH,1791447588812361175,6.991744351e-05,-7.505061595e-05,-3.478593014e-03,6.903542166e-05,-7.179866585e-05,-3.463139156e-03,5.946121135e-05,-7.113884683e-05,-3.456962227e-03,7.016077889e-01,-7.349965463e-05,8.372623482e-01,7.016069069e-01,-7.024770453e-05,8.372778020e-01,7.017852465e-01,-6.930031607e-05,8.263237305e-01
+31,1.808333333e+01,DOWN_FORCE_DETACH,1791447589332904610,7.279116671e-05,-7.777645696e-05,-3.652674836e-03,7.339356849e-05,-7.949801713e-05,-3.646263800e-03,6.319006253e-05,-7.882011741e-05,-3.639717119e-03,7.016106626e-01,-7.622549564e-05,8.370882664e-01,7.016112650e-01,-7.794705581e-05,8.370946774e-01,7.017889754e-01,-7.698158665e-05,8.261409756e-01
+32,1.840000000e+01,DOWN_FORCE_DETACH,1791447589812195163,7.125106556e-05,-8.277097677e-05,-3.829802682e-03,7.113858083e-05,-8.286879656e-05,-3.829716833e-03,6.025547256e-05,-8.212421268e-05,-3.822727271e-03,7.016091225e-01,-8.122001545e-05,8.369111385e-01,7.016090101e-01,-8.131783524e-05,8.369112244e-01,7.017860408e-01,-8.028568192e-05,8.259579654e-01
+33,1.871666667e+01,DOWN_FORCE_DETACH,1791447590282730100,7.430738286e-05,-8.746735388e-05,-4.003223387e-03,7.400877385e-05,-8.728604318e-05,-4.002888827e-03,6.253683626e-05,-8.647032248e-05,-3.995770063e-03,7.016121789e-01,-8.591639256e-05,8.367377178e-01,7.016118803e-01,-8.573508186e-05,8.367380524e-01,7.017883222e-01,-8.463179172e-05,8.257849226e-01
+34,1.900000000e+01,DOWN_FORCE_DETACH,1791447590712233192,7.213369714e-05,-8.748966761e-05,-4.172452559e-03,7.183774543e-05,-8.762815631e-05,-4.172563476e-03,5.970666855e-05,-8.683346259e-05,-4.165155904e-03,7.016100052e-01,-8.593870629e-05,8.365684886e-01,7.016097092e-01,-8.607719499e-05,8.365683777e-01,7.017854920e-01,-8.499493183e-05,8.256155368e-01
+35,1.930000000e+01,DOWN_FORCE_DETACH,1791447591151960756,7.060258636e-05,-9.114538232e-05,-4.348622228e-03,7.048890162e-05,-9.114187620e-05,-4.348317614e-03,5.763334212e-05,-9.034392256e-05,-4.340671946e-03,7.016084741e-01,-8.959442100e-05,8.363923190e-01,7.016083604e-01,-8.959091488e-05,8.363926236e-01,7.017834187e-01,-8.850539180e-05,8.254400207e-01
+36,1.960000000e+01,DOWN_FORCE_DETACH,1791447591612271590,7.239026113e-05,-9.443703486e-05,-4.531554210e-03,7.306883095e-05,-9.469911678e-05,-4.518984303e-03,5.961770515e-05,-9.380360315e-05,-4.511406653e-03,7.016102617e-01,-9.288607354e-05,8.362093870e-01,7.016109403e-01,-9.314815546e-05,8.362219569e-01,7.017854030e-01,-9.196507239e-05,8.252692860e-01
+37,1.986666667e+01,DOWN_FORCE_DETACH,1791447592012248818,7.397232464e-05,-9.579378147e-05,-4.699995074e-03,7.372575881e-05,-9.587997295e-05,-4.699618155e-03,5.965342445e-05,-9.497591908e-05,-4.691752654e-03,7.016118438e-01,-9.424282014e-05,8.360409461e-01,7.016115972e-01,-9.432901163e-05,8.360413230e-01,7.017854387e-01,-9.313738832e-05,8.250889400e-01
+38,2.013333333e+01,DOWN_FORCE_DETACH,1791447592413062464,7.270199669e-05,-1.004630309e-04,-4.873324644e-03,7.404320072e-05,-9.664294235e-05,-4.860156197e-03,5.941369969e-05,-9.576838873e-05,-4.852448884e-03,7.016105735e-01,-9.891206956e-05,8.358676165e-01,7.016119147e-01,-9.509198103e-05,8.358807850e-01,7.017851990e-01,-9.392985797e-05,8.249282438e-01
+39,2.040000000e+01,DOWN_FORCE_DETACH,1791447592812808826,7.316934853e-05,-1.009586411e-04,-5.052765477e-03,7.213338888e-05,-1.021326656e-04,-5.040263317e-03,5.688566317e-05,-1.011810007e-04,-5.032326480e-03,7.016110408e-01,-9.940767976e-05,8.356881757e-01,7.016100049e-01,-1.005817042e-04,8.357006779e-01,7.017826710e-01,-9.934246994e-05,8.247483662e-01
+40,2.066666667e+01,DOWN_FORCE_DETACH,1791447593214144979,6.913790532e-05,-1.038193163e-04,-5.232465479e-03,6.573756708e-05,-1.044254722e-04,-5.223729535e-03,4.978835782e-05,-1.033865157e-04,-5.215569314e-03,7.016070094e-01,-1.022683550e-04,8.355084757e-01,7.016036090e-01,-1.028745109e-04,8.355172117e-01,7.017755737e-01,-1.015479849e-04,8.245651234e-01
+41,2.093333333e+01,DOWN_FORCE_DETACH,1791447593613772957,6.934934825e-05,-1.080465615e-04,-5.408593857e-03,6.923024995e-05,-1.079926422e-04,-5.408702384e-03,5.267736514e-05,-1.069222518e-04,-5.400405520e-03,7.016072208e-01,-1.064956002e-04,8.353323473e-01,7.016071017e-01,-1.064416808e-04,8.353322388e-01,7.017784627e-01,-1.050837211e-04,8.243802872e-01
+42,2.120000000e+01,DOWN_FORCE_DETACH,1791447594013153389,6.737690145e-05,-1.084199962e-04,-5.591322888e-03,6.921291302e-05,-1.119524075e-04,-5.575083771e-03,5.203253694e-05,-1.109050913e-04,-5.566921773e-03,7.016052484e-01,-1.068690349e-04,8.351496183e-01,7.016070844e-01,-1.104014461e-04,8.351658574e-01,7.017778179e-01,-1.090665606e-04,8.242137709e-01
+43,2.145000000e+01,DOWN_FORCE_DETACH,1791447594382263902,7.047713509e-05,-1.106331689e-04,-5.754777888e-03,7.020464989e-05,-1.106475404e-04,-5.754877835e-03,5.233687809e-05,-1.096954475e-04,-5.746445119e-03,7.016083486e-01,-1.090822076e-04,8.349861633e-01,7.016080761e-01,-1.090965791e-04,8.349860634e-01,7.017781222e-01,-1.078569167e-04,8.240342476e-01
+44,2.171666667e+01,DOWN_FORCE_DETACH,1791447594784058630,6.837588139e-05,-1.141681367e-04,-5.942334696e-03,6.822093266e-05,-1.143721624e-04,-5.942318323e-03,4.963648253e-05,-1.133696959e-04,-5.933730369e-03,7.016062474e-01,-1.126171753e-04,8.347986065e-01,7.016060924e-01,-1.128212011e-04,8.347986229e-01,7.017754218e-01,-1.115311652e-04,8.238469623e-01
+45,2.196666667e+01,DOWN_SETTLE,1791447595150706085,6.837577525e-05,-1.178037553e-04,-6.109922102e-03,6.617896475e-05,-1.178986080e-04,-6.101491153e-03,4.700930778e-05,-1.167934149e-04,-6.093070764e-03,7.016062473e-01,-1.162527940e-04,8.346310191e-01,7.016040504e-01,-1.163476466e-04,8.346394500e-01,7.017727946e-01,-1.149548841e-04,8.236876219e-01
+46,2.225000000e+01,DOWN_SETTLE,1791447595581218291,6.619821467e-05,-1.195729962e-04,-6.305167243e-03,6.591979046e-05,-1.193467569e-04,-6.304784827e-03,4.609098733e-05,-1.182669729e-04,-6.296369842e-03,7.016040697e-01,-1.180220349e-04,8.344357739e-01,7.016037913e-01,-1.177957956e-04,8.344361564e-01,7.017718763e-01,-1.164284422e-04,8.234843228e-01
+47,2.251666667e+01,DOWN_SETTLE,1791447595984955430,6.455089718e-05,-1.211111431e-04,-6.479289788e-03,6.180217246e-05,-1.206545412e-04,-6.469571427e-03,4.137053117e-05,-1.195516006e-04,-6.461481991e-03,7.016024224e-01,-1.195601818e-04,8.342616514e-01,7.015996737e-01,-1.191035799e-04,8.342713698e-01,7.017671559e-01,-1.177130699e-04,8.233192107e-01
+48,2.280000000e+01,DOWN_SETTLE,1791447596412246622,6.297058806e-05,-1.177221983e-04,-6.647131807e-03,6.373494832e-05,-1.220607950e-04,-6.636120936e-03,4.280648049e-05,-1.209462975e-04,-6.628194223e-03,7.016008421e-01,-1.161712370e-04,8.340938094e-01,7.016016064e-01,-1.205098336e-04,8.341048203e-01,7.017685918e-01,-1.191077667e-04,8.231524985e-01
+49,2.311666667e+01,DOWN_SETTLE,1791447596883227962,6.130929222e-05,-1.205175172e-04,-6.822267104e-03,6.047881146e-05,-1.196518181e-04,-6.812173497e-03,3.885607676e-05,-1.185472775e-04,-6.804554141e-03,7.015991808e-01,-1.189665559e-04,8.339186741e-01,7.015983503e-01,-1.181008568e-04,8.339287677e-01,7.017646414e-01,-1.167087467e-04,8.229761385e-01
+50,2.345000000e+01,DOWN_SETTLE,1791447597382835552,5.724748644e-05,-1.165390231e-04,-7.009534580e-03,5.726619985e-05,-1.166983612e-04,-7.009693399e-03,3.486256010e-05,-1.156824022e-04,-7.002087742e-03,7.015951190e-01,-1.149880617e-04,8.337314066e-01,7.015951377e-01,-1.151473998e-04,8.337312478e-01,7.017606479e-01,-1.138438714e-04,8.227786049e-01
+51,2.375000000e+01,DOWN_SETTLE,1791447597833295173,5.626599034e-05,-1.143324977e-04,-7.161254440e-03,5.553236969e-05,-1.182408323e-04,-7.154012630e-03,3.254913356e-05,-1.172287400e-04,-7.146733471e-03,7.015941375e-01,-1.127815364e-04,8.335796867e-01,7.015934039e-01,-1.166898710e-04,8.335869286e-01,7.017583345e-01,-1.153902092e-04,8.226339592e-01
+52,2.411666667e+01,DOWN_SETTLE,1791447598383450610,5.410824785e-05,-1.166075875e-04,-7.332666559e-03,5.075118753e-05,-1.175830192e-04,-7.328221195e-03,2.704156276e-05,-1.165591183e-04,-7.321257903e-03,7.015919797e-01,-1.150566262e-04,8.334082746e-01,7.015886227e-01,-1.160320578e-04,8.334127200e-01,7.017528269e-01,-1.147205875e-04,8.224594348e-01
+53,2.450000000e+01,DOWN_SETTLE,1791447598955625869,4.762283840e-05,-1.157179768e-04,-7.502265609e-03,4.665627500e-05,-1.139785689e-04,-7.485430917e-03,2.224647287e-05,-1.129266269e-04,-7.478959880e-03,7.015854943e-01,-1.141670155e-04,8.332386756e-01,7.015845278e-01,-1.124276076e-04,8.332555103e-01,7.017480318e-01,-1.110880961e-04,8.223017328e-01
+54,2.490000000e+01,DOWN_SETTLE,1791447599552995667,4.434222866e-05,-1.120990628e-04,-7.659617672e-03,4.162640363e-05,-1.124641256e-04,-7.646519573e-03,1.651549560e-05,-1.114884646e-04,-7.640593687e-03,7.015822137e-01,-1.105481014e-04,8.330813235e-01,7.015794979e-01,-1.109131643e-04,8.330944216e-01,7.017423008e-01,-1.096499338e-04,8.221400990e-01
+55,2.535000000e+01,DOWN_SETTLE,1791447600231900192,4.473879932e-05,-1.044587254e-04,-7.813351434e-03,4.354025176e-05,-1.076993256e-04,-7.805194257e-03,1.799839580e-05,-1.067228035e-04,-7.799723416e-03,7.015826103e-01,-1.029077641e-04,8.329275898e-01,7.015814117e-01,-1.061483643e-04,8.329357469e-01,7.017437837e-01,-1.048842728e-04,8.219809693e-01
+56,2.590000000e+01,DOWN_SETTLE,1791447601054533318,3.618095870e-05,-1.066880845e-04,-7.972534030e-03,3.421728819e-05,-1.076992705e-04,-7.965464372e-03,8.007178281e-06,-1.066519079e-04,-7.960597283e-03,7.015740524e-01,-1.051371231e-04,8.327684072e-01,7.015720888e-01,-1.061483091e-04,8.327754768e-01,7.017337925e-01,-1.048133771e-04,8.218200954e-01
+57,2.650000000e+01,DOWN_SETTLE,1791447601952902688,2.402863315e-05,-1.099611945e-04,-8.117782541e-03,2.327045144e-05,-1.062510897e-04,-8.105586025e-03,-3.698302031e-06,-1.052202070e-04,-8.101432293e-03,7.015619001e-01,-1.084102332e-04,8.326231586e-01,7.015611419e-01,-1.047001284e-04,8.326353552e-01,7.017220870e-01,-1.033816763e-04,8.216792604e-01
+58,2.718333333e+01,DOWN_SETTLE,1791447602985992597,1.328960930e-05,-1.094008818e-04,-8.229242072e-03,1.358723255e-05,-1.052211124e-04,-8.219164722e-03,-1.408869162e-05,-1.042558063e-04,-8.215941753e-03,7.015511611e-01,-1.078499205e-04,8.325116991e-01,7.015514587e-01,-1.036701511e-04,8.325217765e-01,7.017116966e-01,-1.024172755e-04,8.215647509e-01
+59,2.793333333e+01,DOWN_SETTLE,1791447604112860187,9.167141815e-06,-1.080619001e-04,-8.291405102e-03,1.084487339e-05,-1.089146541e-04,-8.282921858e-03,-1.728911868e-05,-1.079737063e-04,-8.280648667e-03,7.015470386e-01,-1.065109387e-04,8.324495361e-01,7.015487164e-01,-1.073636927e-04,8.324580193e-01,7.017084962e-01,-1.061351756e-04,8.215000440e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d6d4f8bf170a0aa907e62cde69cab4db9e45661
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/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,DOWN_FORCE_DETACH,0.0000e+00,-1.6942e-03,2.4675e-03,2.4556e+00,-3.6926e-02,3.6669e-02,3.3878e-06,2.5669e-04,5.7751e-05,1.6689e-06,-3.8333e-06,1.6771e-05,2.6735e-07,2.6311e-04,1.7206e-05
+1,8.0000e-01,DOWN_FORCE_DETACH,1.8530e-04,1.8522e-02,5.8693e-03,2.4580e+00,-3.7194e-02,3.8150e-02,1.1009e-04,2.0473e-02,3.4595e-03,2.4166e-03,-2.7183e-04,1.4976e-03,1.0697e-04,2.0903e-02,1.5258e-03
+2,1.4667e+00,DOWN_FORCE_DETACH,3.7323e-04,2.7735e-02,1.0506e-02,2.4823e+00,-3.7521e-02,3.8718e-02,1.7757e-04,2.9686e-02,8.0960e-03,2.6758e-02,-5.9950e-04,2.0659e-03,1.7445e-04,4.0777e-02,2.1582e-03
+3,2.1667e+00,DOWN_FORCE_DETACH,5.6460e-04,2.9224e-02,1.6423e-02,2.5060e+00,-3.7903e-02,3.8815e-02,1.8961e-04,3.1175e-02,1.4013e-02,5.0376e-02,-9.8114e-04,2.1630e-03,1.8648e-04,6.0877e-02,2.3825e-03
+4,2.7667e+00,DOWN_FORCE_DETACH,7.4555e-04,2.9983e-02,2.1663e-02,2.5397e+00,-3.8242e-02,3.8847e-02,2.0206e-04,3.1934e-02,1.9254e-02,8.4146e-02,-1.3200e-03,2.1942e-03,1.9894e-04,9.2038e-02,2.5684e-03
+5,3.3333e+00,DOWN_FORCE_DETACH,9.3479e-04,2.6141e-02,2.2927e-02,2.5666e+00,-3.8315e-02,3.8563e-02,2.1055e-04,2.8092e-02,2.0518e-02,1.1099e-01,-1.3935e-03,1.9107e-03,2.0743e-04,1.1631e-01,2.3739e-03
+6,3.9167e+00,DOWN_FORCE_DETACH,1.1227e-03,1.7555e-02,2.2282e-02,2.5696e+00,-3.8264e-02,3.7968e-02,2.1044e-04,1.9506e-02,1.9872e-02,1.1401e-01,-1.3423e-03,1.3160e-03,2.0732e-04,1.1736e-01,1.8913e-03
+7,4.6500e+00,DOWN_FORCE_DETACH,1.3093e-03,2.5323e-02,2.2207e-02,2.5625e+00,-3.8270e-02,3.8456e-02,1.9591e-04,2.7273e-02,1.9797e-02,1.0693e-01,-1.3482e-03,1.8033e-03,1.9279e-04,1.1211e-01,2.2598e-03
+8,5.3833e+00,DOWN_FORCE_DETACH,1.4959e-03,3.0094e-02,2.0549e-02,2.5418e+00,-3.8195e-02,3.8781e-02,1.6984e-04,3.2045e-02,1.8139e-02,8.6176e-02,-1.2733e-03,2.1290e-03,1.6672e-04,9.3714e-02,2.4863e-03
+9,6.0500e+00,DOWN_FORCE_DETACH,1.6817e-03,3.1622e-02,2.0353e-02,2.5246e+00,-3.8215e-02,3.8905e-02,1.4213e-04,3.3573e-02,1.7944e-02,6.9006e-02,-1.2933e-03,2.2526e-03,1.3901e-04,7.8810e-02,2.6012e-03
+10,6.8167e+00,DOWN_FORCE_DETACH,1.8695e-03,3.0670e-02,2.1260e-02,2.5183e+00,-3.8299e-02,3.8863e-02,1.1097e-04,3.2621e-02,1.8850e-02,6.2765e-02,-1.3769e-03,2.2102e-03,1.0785e-04,7.3205e-02,2.6063e-03
+11,7.6667e+00,DOWN_FORCE_DETACH,2.0563e-03,2.7718e-02,2.4474e-02,2.5260e+00,-3.8507e-02,3.8669e-02,8.1441e-05,2.9668e-02,2.2065e-02,7.0376e-02,-1.5849e-03,2.0170e-03,7.8321e-05,7.9498e-02,2.5663e-03
+12,8.3667e+00,DOWN_FORCE_DETACH,2.2416e-03,2.6778e-02,2.7325e-02,2.5360e+00,-3.8666e-02,3.8593e-02,6.3248e-05,2.8729e-02,2.4915e-02,8.0437e-02,-1.7440e-03,1.9408e-03,6.0128e-05,8.8973e-02,2.6100e-03
+13,9.0500e+00,DOWN_FORCE_DETACH,2.4298e-03,2.7031e-02,2.9053e-02,2.5492e+00,-3.8729e-02,3.8589e-02,4.9022e-05,2.8981e-02,2.6643e-02,9.3635e-02,-1.8074e-03,1.9364e-03,4.5901e-05,1.0157e-01,2.6492e-03
+14,9.7167e+00,DOWN_FORCE_DETACH,2.6179e-03,2.6480e-02,3.2830e-02,2.5568e+00,-3.8917e-02,3.8532e-02,3.9624e-05,2.8431e-02,3.0421e-02,1.0119e-01,-1.9952e-03,1.8797e-03,3.6503e-05,1.0942e-01,2.7414e-03
+15,1.0450e+01,DOWN_FORCE_DETACH,2.8039e-03,2.5836e-02,3.4595e-02,2.5611e+00,-3.8991e-02,3.8473e-02,3.4237e-05,2.7787e-02,3.2185e-02,1.0552e-01,-2.0687e-03,1.8206e-03,3.1116e-05,1.1376e-01,2.7559e-03
+16,1.1133e+01,DOWN_FORCE_DETACH,2.9913e-03,2.4441e-02,3.2340e-02,2.5602e+00,-3.8861e-02,3.8377e-02,3.5692e-05,2.6392e-02,2.9930e-02,1.0468e-01,-1.9390e-03,1.7246e-03,3.2571e-05,1.1202e-01,2.5952e-03
+17,1.1783e+01,DOWN_FORCE_DETACH,3.1818e-03,2.5356e-02,3.2030e-02,2.5622e+00,-3.8892e-02,3.8439e-02,4.3783e-05,2.7307e-02,2.9620e-02,1.0667e-01,-1.9696e-03,1.7867e-03,4.0663e-05,1.1402e-01,2.6596e-03
+18,1.2417e+01,DOWN_FORCE_DETACH,3.3671e-03,2.7862e-02,3.3493e-02,2.5727e+00,-3.9022e-02,3.8606e-02,5.7264e-05,2.9812e-02,3.1083e-02,1.1708e-01,-2.1003e-03,1.9534e-03,5.4144e-05,1.2475e-01,2.8688e-03
+19,1.3000e+01,DOWN_FORCE_DETACH,3.5527e-03,3.0891e-02,3.6436e-02,2.5904e+00,-3.9222e-02,3.8803e-02,7.5678e-05,3.2842e-02,3.4026e-02,1.3479e-01,-2.3003e-03,2.1502e-03,7.2558e-05,1.4285e-01,3.1497e-03
+20,1.3550e+01,DOWN_FORCE_DETACH,3.7401e-03,3.3373e-02,3.7431e-02,2.6044e+00,-3.9283e-02,3.8959e-02,9.6462e-05,3.5324e-02,3.5021e-02,1.4884e-01,-2.3615e-03,2.3068e-03,9.3341e-05,1.5693e-01,3.3025e-03
+21,1.4050e+01,DOWN_FORCE_DETACH,3.9289e-03,3.5922e-02,3.8099e-02,2.6168e+00,-3.9311e-02,3.9115e-02,1.1344e-04,3.7873e-02,3.5690e-02,1.6127e-01,-2.3894e-03,2.4629e-03,1.1032e-04,1.6946e-01,3.4333e-03
+22,1.4550e+01,DOWN_FORCE_DETACH,4.1151e-03,3.6987e-02,4.0116e-02,2.6275e+00,-3.9422e-02,3.9177e-02,1.2323e-04,3.8938e-02,3.7706e-02,1.7190e-01,-2.4999e-03,2.5243e-03,1.2011e-04,1.8024e-01,3.5547e-03
+23,1.5017e+01,DOWN_FORCE_DETACH,4.3012e-03,3.6974e-02,3.9567e-02,2.6351e+00,-3.9381e-02,3.9171e-02,1.2250e-04,3.8925e-02,3.7157e-02,1.7955e-01,-2.4587e-03,2.5182e-03,1.1938e-04,1.8744e-01,3.5214e-03
+24,1.5467e+01,DOWN_FORCE_DETACH,4.4842e-03,3.8305e-02,3.8457e-02,2.6454e+00,-3.9319e-02,3.9251e-02,1.1056e-04,4.0256e-02,3.6048e-02,1.8987e-01,-2.3970e-03,2.5990e-03,1.0744e-04,1.9741e-01,3.5373e-03
+25,1.5883e+01,DOWN_FORCE_DETACH,4.6737e-03,3.9754e-02,3.9710e-02,2.6608e+00,-3.9398e-02,3.9337e-02,9.1283e-05,4.1705e-02,3.7301e-02,2.0518e-01,-2.4759e-03,2.6842e-03,8.8163e-05,2.1267e-01,3.6528e-03
+26,1.6267e+01,DOWN_FORCE_DETACH,4.8601e-03,4.1582e-02,4.2601e-02,2.6762e+00,-3.9556e-02,3.9443e-02,6.9962e-05,4.3533e-02,4.0191e-02,2.2062e-01,-2.6345e-03,2.7902e-03,6.6842e-05,2.2844e-01,3.8380e-03
+27,1.6650e+01,DOWN_FORCE_DETACH,5.0565e-03,4.3710e-02,4.6505e-02,2.6890e+00,-3.9771e-02,3.9568e-02,4.7235e-05,4.5661e-02,4.4096e-02,2.3346e-01,-2.8491e-03,2.9158e-03,4.4114e-05,2.4194e-01,4.0769e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..37d8edd968c82292687ca406c9038aafa6c2e1c9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5786c6b3d19e4a99121441b799b0629046d262e40513e290a8a34f4d2264f5c5
+size 2590720
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46558e25219bcea4e392b8edfd7b7dd0b88b8041
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6540ed260756d5aefd3256ae2c96d63c437887d9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20b4ba752f2cefe2772dff1d9dc6340b61267a4b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f1eecba34863dd79e5c4abc63ed8af2e2487c87
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,3.500000000e-01,UP_FORCE_RAMP,1791447552747578036,2.807865891e-06,-2.697759749e-07,3.022433723e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.990893618e-07,3.226824233e-08,3.113776903e-08,7.015406793e-01,1.281185346e-06,8.407439636e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259844e-01,1.870799004e-06,8.297807238e-01
+7,4.000000000e-01,UP_FORCE_RAMP,1791447552828790896,4.454243480e-06,-1.509573300e-07,3.973010042e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.230750870e-07,3.626015833e-08,3.467668186e-08,7.015423257e-01,1.400003991e-06,8.407449142e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260084e-01,1.874790920e-06,8.297807274e-01
+8,4.666666667e-01,UP_FORCE_RAMP,1791447552928375927,1.827004650e-06,-2.072058648e-06,9.779413669e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.538749952e-07,4.131858058e-08,3.918400593e-08,7.015396985e-01,-5.210973267e-07,8.407419191e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260392e-01,1.879849342e-06,8.297807319e-01
+9,5.500000000e-01,UP_FORCE_RAMP,1791447553048088393,9.749719099e-07,-1.142338801e-06,1.489857416e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.908233009e-07,4.757611969e-08,4.431974354e-08,7.015388465e-01,4.086225205e-07,8.407424310e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260761e-01,1.886106882e-06,8.297807370e-01
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+11,6.500000000e-01,UP_FORCE_RAMP,1791447553207998865,1.010484063e-06,-9.152817999e-06,3.700512259e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.326131022e-07,5.463082462e-08,5.000332381e-08,7.015388820e-01,-7.601856678e-06,8.407446417e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261179e-01,1.893161586e-06,8.297807427e-01
+12,7.333333333e-01,UP_FORCE_RAMP,1791447553341759461,-4.039046831e-07,-6.036922222e-06,6.337337095e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.654948476e-07,6.019950204e-08,5.428472150e-08,7.015374676e-01,-4.485960901e-06,8.407472785e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261508e-01,1.898730264e-06,8.297807470e-01
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+15,8.666666667e-01,UP_FORCE_RAMP,1791447553532525221,3.644943885e-06,-1.255183166e-06,1.786193017e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.146894128e-07,6.860137065e-08,6.032931565e-08,7.015415164e-01,2.957781555e-07,8.407588031e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262000e-01,1.907132132e-06,8.297807530e-01
+16,9.333333333e-01,UP_FORCE_RAMP,1791447553628505098,1.898285540e-06,-1.495047739e-06,1.945537147e-05,2.354972753e-06,-8.033335043e-06,1.849940410e-05,2.822220153e-06,-7.862390427e-06,1.832121523e-05,7.015397698e-01,5.591358193e-08,8.407603966e-01,7.015402265e-01,-6.482373722e-06,8.407594406e-01,7.017286075e-01,-6.023859665e-06,8.297990139e-01
+17,1.000000000e+00,UP_FORCE_RAMP,1791447553726939617,1.326150349e-06,-1.377687476e-06,2.137903407e-05,2.354972753e-06,-8.033335043e-06,1.849940410e-05,2.847866059e-06,-7.860952139e-06,1.834269003e-05,7.015391976e-01,1.732738449e-07,8.407623202e-01,7.015402265e-01,-6.482373722e-06,8.407594406e-01,7.017286332e-01,-6.022421377e-06,8.297990354e-01
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+20,1.116666667e+00,UP_FORCE_RAMP,1791447553908554936,5.393515090e-07,-2.624273779e-06,3.271534889e-05,2.354972753e-06,-8.033335043e-06,1.849940410e-05,2.887973273e-06,-7.855384408e-06,1.836829098e-05,7.015384108e-01,-1.073312458e-06,8.407736565e-01,7.015402265e-01,-6.482373722e-06,8.407594406e-01,7.017286733e-01,-6.016853646e-06,8.297990610e-01
+21,1.166666667e+00,UP_FORCE_RAMP,1791447553977860527,2.265720680e-06,-6.996062246e-06,3.755652206e-05,4.109538747e-06,-2.017689937e-06,3.759276408e-05,4.759020273e-06,-1.907442140e-06,3.716277692e-05,7.015401372e-01,-5.445100924e-06,8.407784977e-01,7.015419810e-01,-4.667286155e-07,8.407785340e-01,7.017305443e-01,-6.891137835e-08,8.298178555e-01
+22,1.233333333e+00,UP_FORCE_RAMP,1791447554077830159,1.739240936e-06,-4.985140315e-06,4.191566308e-05,4.109538747e-06,-2.017689937e-06,3.759276408e-05,4.781758114e-06,-1.900396607e-06,3.719526701e-05,7.015396107e-01,-3.434178994e-06,8.407828569e-01,7.015419810e-01,-4.667286155e-07,8.407785340e-01,7.017305671e-01,-6.186584560e-08,8.298178880e-01
+23,1.300000000e+00,UP_FORCE_RAMP,1791447554178411305,3.082960962e-06,-3.009679442e-06,4.934121497e-05,4.109538747e-06,-2.017689937e-06,3.759276408e-05,4.802932076e-06,-1.895786861e-06,3.722038563e-05,7.015409544e-01,-1.458718121e-06,8.407902824e-01,7.015419810e-01,-4.667286155e-07,8.407785340e-01,7.017305883e-01,-5.725609968e-08,8.298179131e-01
+24,1.383333333e+00,UP_FORCE_RAMP,1791447554308823011,3.943178973e-06,-1.972526086e-06,5.553755547e-05,4.109538747e-06,-2.017689937e-06,3.759276408e-05,4.827536743e-06,-1.891079903e-06,3.724861694e-05,7.015418147e-01,-4.215647653e-07,8.407964787e-01,7.015419810e-01,-4.667286155e-07,8.407785340e-01,7.017306129e-01,-5.254914116e-08,8.298179413e-01
+25,1.450000000e+00,UP_FORCE_RAMP,1791447554408075414,2.410604782e-06,-6.046451706e-06,6.058652703e-05,2.429885368e-06,2.085686936e-06,5.726620727e-05,3.204281965e-06,2.180561187e-06,5.666955197e-05,7.015402821e-01,-4.495490385e-06,8.408015277e-01,7.015403014e-01,3.636648257e-06,8.407982074e-01,7.017289896e-01,4.019091949e-06,8.298373622e-01
+26,1.483333333e+00,UP_FORCE_RAMP,1791447554449125664,1.642059736e-06,-2.957374286e-06,6.215885002e-05,2.429885368e-06,2.085686936e-06,5.726620727e-05,3.212419586e-06,2.183468139e-06,5.668978023e-05,7.015395135e-01,-1.406412965e-06,8.408031000e-01,7.015403014e-01,3.636648257e-06,8.407982074e-01,7.017289977e-01,4.021998901e-06,8.298373825e-01
+27,1.516666667e+00,UP_FORCE_RAMP,1791447554507799849,4.409538358e-06,-2.344649431e-06,6.935814982e-05,2.429885368e-06,2.085686936e-06,5.726620727e-05,3.220652856e-06,2.185682830e-06,5.670745779e-05,7.015422810e-01,-7.936881101e-07,8.408102993e-01,7.015403014e-01,3.636648257e-06,8.407982074e-01,7.017290060e-01,4.024213592e-06,8.298374001e-01
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+29,1.683333333e+00,UP_FORCE_RAMP,1791447554747176208,2.565727898e-06,5.672561880e-06,7.905133820e-05,3.524995632e-06,-1.821656796e-06,7.760915882e-05,4.514026682e-06,-1.662595940e-06,7.686140465e-05,7.015404372e-01,7.223523201e-06,8.408199925e-01,7.015413965e-01,-2.706954751e-07,8.408185503e-01,7.017302994e-01,1.759348221e-07,8.298575541e-01
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+42,2.450000000e+00,UP_FORCE_RAMP,1791447555907836642,6.415426723e-08,6.558279508e-06,1.354623635e-04,1.575915646e-06,4.141410908e-06,1.194076810e-04,2.745546886e-06,4.254371044e-06,1.185994514e-04,7.015379356e-01,8.109240829e-06,8.408764036e-01,7.015394474e-01,5.692372230e-06,8.408603489e-01,7.017285309e-01,6.092901806e-06,8.298992921e-01
+43,2.516666667e+00,UP_FORCE_RAMP,1791447556007788686,1.818509313e-06,1.752910039e-06,1.424027717e-04,1.371888142e-06,4.347221081e-06,1.400427422e-04,2.649668525e-06,4.465989561e-06,1.389527686e-04,7.015396900e-01,3.303871360e-06,8.408833440e-01,7.015392434e-01,5.898182402e-06,8.408809839e-01,7.017284350e-01,6.304520323e-06,8.299196455e-01
+44,2.583333333e+00,UP_FORCE_RAMP,1791447556107833495,3.599523977e-07,1.268232196e-06,1.424162119e-04,1.371888142e-06,4.347221081e-06,1.400427422e-04,2.655630476e-06,4.468902663e-06,1.390161104e-04,7.015382314e-01,2.819193517e-06,8.408833574e-01,7.015392434e-01,5.898182402e-06,8.408809839e-01,7.017284410e-01,6.307433425e-06,8.299197088e-01
+45,2.683333333e+00,UP_FORCE_RAMP,1791447556246128209,-3.050254540e-07,1.787340692e-06,1.496583448e-04,1.371888142e-06,4.347221081e-06,1.400427422e-04,2.663253847e-06,4.471694306e-06,1.390957900e-04,7.015375665e-01,3.338302013e-06,8.408905995e-01,7.015392434e-01,5.898182402e-06,8.408809839e-01,7.017284486e-01,6.310225067e-06,8.299197885e-01
+46,2.766666667e+00,UP_FORCE_RAMP,1791447556377228789,-2.507756880e-07,4.853150561e-06,1.556010643e-04,1.371888142e-06,4.347221081e-06,1.400427422e-04,2.668738668e-06,4.473707135e-06,1.391563782e-04,7.015376207e-01,6.404111882e-06,8.408965423e-01,7.015392434e-01,5.898182402e-06,8.408809839e-01,7.017284541e-01,6.312237897e-06,8.299198491e-01
+47,2.816666667e+00,UP_FORCE_RAMP,1791447556447535264,3.857160915e-07,6.224117991e-06,1.568325848e-04,1.371888142e-06,4.347221081e-06,1.400427422e-04,2.671736157e-06,4.474802454e-06,1.391907280e-04,7.015382572e-01,7.775079312e-06,8.408977738e-01,7.015392434e-01,5.898182402e-06,8.408809839e-01,7.017284571e-01,6.313333216e-06,8.299198834e-01
+48,2.883333333e+00,UP_FORCE_HOLD,1791447556548228968,6.456271140e-07,3.275511487e-07,1.622962235e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.034516781e-06,2.661025876e-06,1.596349358e-04,7.015385171e-01,1.878512470e-06,8.409032374e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268198e-01,4.499556637e-06,8.299403276e-01
+49,2.933333333e+00,UP_FORCE_HOLD,1791447556632256816,-8.266216589e-08,3.154038020e-06,1.638079628e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.036298882e-06,2.661757527e-06,1.596811781e-04,7.015377888e-01,4.704999341e-06,8.409047492e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268216e-01,4.500288289e-06,8.299403739e-01
+50,3.000000000e+00,UP_FORCE_HOLD,1791447556727477114,1.118063876e-06,4.336873913e-06,1.703808858e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.038498018e-06,2.662730972e-06,1.597357214e-04,7.015389895e-01,5.887835234e-06,8.409113221e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268238e-01,4.501261733e-06,8.299404284e-01
+51,3.100000000e+00,UP_FORCE_HOLD,1791447556877652376,1.147486097e-06,6.173260482e-06,1.717795632e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.041085470e-06,2.664126671e-06,1.598106290e-04,7.015390190e-01,7.724221803e-06,8.409127208e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268264e-01,4.502657433e-06,8.299405033e-01
+52,3.150000000e+00,UP_FORCE_HOLD,1791447556949238872,4.904692116e-07,8.401685668e-06,1.738065385e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.042215146e-06,2.664801492e-06,1.598456635e-04,7.015383620e-01,9.952646989e-06,8.409147477e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268275e-01,4.503332254e-06,8.299405384e-01
+53,3.200000000e+00,UP_FORCE_HOLD,1791447557029641978,2.200267008e-06,6.782824395e-06,1.783575838e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.043254752e-06,2.665473289e-06,1.598792114e-04,7.015400717e-01,8.333785716e-06,8.409192988e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268286e-01,4.504004051e-06,8.299405719e-01
+54,3.266666667e+00,UP_FORCE_HOLD,1791447557129253510,-1.076928701e-06,8.474403075e-06,1.761546224e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.044464018e-06,2.666237812e-06,1.599218598e-04,7.015367946e-01,1.002536440e-05,8.409170958e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268298e-01,4.504768574e-06,8.299406145e-01
+55,3.350000000e+00,UP_FORCE_HOLD,1791447557249616489,6.284028031e-08,6.880025960e-06,1.792195504e-04,-3.010533167e-07,2.522629389e-06,1.606699752e-04,1.045769618e-06,2.667098184e-06,1.599718855e-04,7.015379343e-01,8.430987281e-06,8.409201607e-01,7.015375704e-01,4.073590710e-06,8.409016112e-01,7.017268311e-01,4.505628946e-06,8.299406646e-01
+56,3.416666667e+00,UP_FORCE_HOLD,1791447557349755335,-1.381357887e-07,3.542035281e-06,1.823686707e-04,1.258895248e-07,3.308129471e-06,1.824401819e-04,1.559016595e-06,3.443459103e-06,1.813918874e-04,7.015377333e-01,5.092996602e-06,8.409233099e-01,7.015379974e-01,4.859090792e-06,8.409233814e-01,7.017273443e-01,5.281989865e-06,8.299620846e-01
+57,3.466666667e+00,UP_FORCE_HOLD,1791447557429046633,1.483115803e-06,1.187174011e-05,1.839758847e-04,1.258895248e-07,3.308129471e-06,1.824401819e-04,1.560778216e-06,3.445855312e-06,1.814478550e-04,7.015393546e-01,1.342270144e-05,8.409249171e-01,7.015379974e-01,4.859090792e-06,8.409233814e-01,7.017273461e-01,5.284386074e-06,8.299621405e-01
+58,3.516666667e+00,UP_FORCE_HOLD,1791447557508928145,-1.103995677e-06,6.522131421e-06,1.841122640e-04,1.258895248e-07,3.308129471e-06,1.824401819e-04,1.562035003e-06,3.446632666e-06,1.814873175e-04,7.015367675e-01,8.073092743e-06,8.409250535e-01,7.015379974e-01,4.859090792e-06,8.409233814e-01,7.017273474e-01,5.285163428e-06,8.299621800e-01
+59,3.600000000e+00,UP_SETTLE,1791447557629853750,-3.113619889e-07,8.331667724e-06,1.847534457e-04,1.258895248e-07,3.308129471e-06,1.824401819e-04,1.563364242e-06,3.447559895e-06,1.815460178e-04,7.015375601e-01,9.882629045e-06,8.409256946e-01,7.015379974e-01,4.859090792e-06,8.409233814e-01,7.017273487e-01,5.286090656e-06,8.299622387e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_12.5/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..467eca86a3b1ce20ab8cdcdf541dbc53ef82ed41
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_12.5/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,UP_FORCE_RAMP,0.0000e+00,-1.6942e-03,2.4675e-03,2.4556e+00,-3.6926e-02,3.6669e-02,3.3878e-06,2.5669e-04,5.7751e-05,1.6689e-06,-3.8333e-06,1.6771e-05,2.6735e-07,2.6311e-04,1.7206e-05
+1,3.3333e-02,UP_FORCE_RAMP,1.7422e-05,-1.1674e-03,2.5784e-03,2.4556e+00,-3.6933e-02,3.6704e-02,3.9460e-06,7.8356e-04,1.6871e-04,1.2875e-05,-1.1224e-05,5.1234e-05,8.2554e-07,8.0162e-04,5.2456e-05
+2,6.6667e-02,UP_FORCE_RAMP,2.5281e-05,-6.2471e-04,2.6839e-03,2.4556e+00,-3.6940e-02,3.6739e-02,4.5350e-06,1.3262e-03,2.7417e-04,3.3617e-05,-1.8284e-05,8.6777e-05,1.4146e-06,1.3547e-03,8.8693e-05
+3,1.1667e-01,UP_FORCE_RAMP,4.2260e-05,2.1372e-04,2.8330e-03,2.4557e+00,-3.6950e-02,3.6794e-02,5.4752e-06,2.1646e-03,4.2330e-04,8.0585e-05,-2.8331e-05,1.4180e-04,2.3548e-06,2.2071e-03,1.4462e-04
+4,2.1667e-01,UP_FORCE_RAMP,5.6445e-05,1.9542e-03,3.1048e-03,2.4558e+00,-3.6969e-02,3.6909e-02,7.5538e-06,3.9052e-03,6.9505e-04,2.2101e-04,-4.6857e-05,2.5640e-04,4.4333e-06,3.9727e-03,2.6068e-04
+5,2.8333e-01,UP_FORCE_RAMP,7.1853e-05,3.1441e-03,3.2704e-03,2.4559e+00,-3.6980e-02,3.6987e-02,9.0811e-06,5.0951e-03,8.6070e-04,3.4142e-04,-5.8293e-05,3.3506e-04,5.9606e-06,5.1785e-03,3.4015e-04
+6,3.5000e-01,UP_FORCE_RAMP,8.8451e-05,4.3456e-03,3.4265e-03,2.4561e+00,-3.6991e-02,3.7067e-02,1.0718e-05,6.2966e-03,1.0168e-03,4.7779e-04,-6.9164e-05,4.1474e-04,7.5974e-06,6.3960e-03,4.2053e-04
+7,4.0000e-01,UP_FORCE_RAMP,1.0129e-04,5.2494e-03,3.5384e-03,2.4562e+00,-3.6999e-02,3.7127e-02,1.2016e-05,7.2003e-03,1.1287e-03,5.8794e-04,-7.7020e-05,4.7484e-04,8.8951e-06,7.3119e-03,4.8113e-04
+8,4.6667e-01,UP_FORCE_RAMP,1.1609e-04,6.4524e-03,3.6821e-03,2.4563e+00,-3.7009e-02,3.7207e-02,1.3837e-05,8.4033e-03,1.2723e-03,7.4244e-04,-8.7168e-05,5.5507e-04,1.0717e-05,8.5315e-03,5.6198e-04
+9,5.5000e-01,UP_FORCE_RAMP,1.2879e-04,1.6647e-02,5.7311e-03,2.4582e+00,-3.7187e-02,3.8037e-02,1.0744e-04,1.8598e-02,3.3213e-03,2.6331e-03,-2.6504e-04,1.3842e-03,1.0432e-04,1.9075e-02,1.4132e-03
+10,6.1667e-01,UP_FORCE_RAMP,1.4183e-04,1.7043e-02,5.7604e-03,2.4581e+00,-3.7188e-02,3.8060e-02,1.0802e-04,1.8994e-02,3.3506e-03,2.5277e-03,-2.6631e-04,1.4075e-03,1.0489e-04,1.9452e-02,1.4363e-03
+11,6.5000e-01,UP_FORCE_RAMP,1.5393e-04,1.7275e-02,5.7774e-03,2.4581e+00,-3.7189e-02,3.8074e-02,1.0834e-04,1.9226e-02,3.3676e-03,2.4900e-03,-2.6711e-04,1.4213e-03,1.0522e-04,1.9677e-02,1.4501e-03
+12,7.3333e-01,UP_FORCE_RAMP,1.7094e-04,1.7933e-02,5.8255e-03,2.4580e+00,-3.7191e-02,3.8114e-02,1.0926e-04,1.9884e-02,3.4158e-03,2.4319e-03,-2.6951e-04,1.4613e-03,1.0614e-04,2.0321e-02,1.4898e-03
+13,7.8333e-01,UP_FORCE_RAMP,1.8338e-04,1.8370e-02,5.8579e-03,2.4580e+00,-3.7193e-02,3.8141e-02,1.0987e-04,2.0321e-02,3.4482e-03,2.4185e-03,-2.7122e-04,1.4883e-03,1.0675e-04,2.0753e-02,1.5165e-03
+14,8.3333e-01,UP_FORCE_RAMP,2.0091e-04,1.8833e-02,5.8927e-03,2.4580e+00,-3.7195e-02,3.8169e-02,1.1053e-04,2.0784e-02,3.4830e-03,2.4178e-03,-2.7311e-04,1.5169e-03,1.0741e-04,2.1212e-02,1.5451e-03
+15,8.6667e-01,UP_FORCE_RAMP,2.1213e-04,1.9153e-02,5.9171e-03,2.4580e+00,-3.7196e-02,3.8189e-02,1.1100e-04,2.1104e-02,3.5073e-03,2.4233e-03,-2.7445e-04,1.5369e-03,1.0788e-04,2.1530e-02,1.5649e-03
+16,9.3333e-01,UP_FORCE_RAMP,2.2760e-04,1.9850e-02,6.3790e-03,2.4576e+00,-3.7227e-02,3.8233e-02,1.1224e-04,2.1801e-02,3.9692e-03,2.0628e-03,-3.0505e-04,1.5801e-03,1.0911e-04,2.2256e-02,1.6130e-03
+17,1.0000e+00,UP_FORCE_RAMP,2.3757e-04,2.0933e-02,1.1312e-02,2.4473e+00,-3.7590e-02,3.8286e-02,1.8531e-04,2.2884e-02,8.9023e-03,-8.3232e-03,-6.6807e-04,1.6332e-03,1.8219e-04,2.5927e-02,1.7739e-03
+18,1.0333e+00,UP_FORCE_RAMP,2.5575e-04,2.1060e-02,1.1304e-02,2.4473e+00,-3.7589e-02,3.8294e-02,1.8540e-04,2.3011e-02,8.8943e-03,-8.2393e-03,-6.6710e-04,1.6417e-03,1.8228e-04,2.6010e-02,1.7814e-03
+19,1.0833e+00,UP_FORCE_RAMP,2.6958e-04,2.1301e-02,1.1298e-02,2.4475e+00,-3.7588e-02,3.8310e-02,1.8555e-04,2.3252e-02,8.8879e-03,-8.0795e-03,-6.6603e-04,1.6578e-03,1.8243e-04,2.6171e-02,1.7958e-03
+20,1.1167e+00,UP_FORCE_RAMP,2.8540e-04,2.1491e-02,1.1297e-02,2.4476e+00,-3.7587e-02,3.8323e-02,1.8567e-04,2.3442e-02,8.8872e-03,-7.9546e-03,-6.6555e-04,1.6704e-03,1.8255e-04,2.6302e-02,1.8073e-03
+21,1.1667e+00,UP_FORCE_RAMP,2.9663e-04,2.1830e-02,1.0974e-02,2.4475e+00,-3.7565e-02,3.8345e-02,1.8592e-04,2.3781e-02,8.5642e-03,-8.0981e-03,-6.4282e-04,1.6927e-03,1.8280e-04,2.6542e-02,1.8199e-03
+22,1.2333e+00,UP_FORCE_RAMP,3.1318e-04,2.2188e-02,1.0237e-02,2.4454e+00,-3.7516e-02,3.8370e-02,1.8637e-04,2.4139e-02,7.8276e-03,-1.0128e-02,-5.9370e-04,1.7172e-03,1.8325e-04,2.7322e-02,1.8262e-03
+23,1.3000e+00,UP_FORCE_RAMP,3.2652e-04,2.2693e-02,9.7570e-03,2.4442e+00,-3.7483e-02,3.8404e-02,1.8690e-04,2.4643e-02,7.3472e-03,-1.1382e-02,-5.6111e-04,1.7516e-03,1.8378e-04,2.8122e-02,1.8485e-03
+24,1.3833e+00,UP_FORCE_RAMP,3.4236e-04,2.3414e-02,9.3660e-03,2.4434e+00,-3.7456e-02,3.8453e-02,1.8767e-04,2.5365e-02,6.9563e-03,-1.2197e-02,-5.3376e-04,1.8005e-03,1.8455e-04,2.8992e-02,1.8870e-03
+25,1.4500e+00,UP_FORCE_RAMP,3.5741e-04,2.7286e-02,5.4958e-03,2.4288e+00,-3.7194e-02,3.8718e-02,1.9137e-04,2.9237e-02,3.0861e-03,-2.6771e-02,-2.7214e-04,2.0659e-03,1.8825e-04,3.9762e-02,2.0922e-03
+26,1.4833e+00,UP_FORCE_RAMP,3.7079e-04,2.7192e-02,5.6761e-03,2.4291e+00,-3.7205e-02,3.8713e-02,1.9164e-04,2.9143e-02,3.2664e-03,-2.6434e-02,-2.8330e-04,2.0606e-03,1.8852e-04,3.9481e-02,2.0885e-03
+27,1.5167e+00,UP_FORCE_RAMP,3.8295e-04,2.7203e-02,5.7798e-03,2.4295e+00,-3.7211e-02,3.8715e-02,1.9190e-04,2.9153e-02,3.3701e-03,-2.6096e-02,-2.8913e-04,2.0625e-03,1.8877e-04,3.9272e-02,2.0912e-03
+28,1.6167e+00,UP_FORCE_RAMP,3.9789e-04,2.7423e-02,5.9721e-03,2.4305e+00,-3.7221e-02,3.8732e-02,1.9256e-04,2.9374e-02,3.5623e-03,-2.5096e-02,-2.9939e-04,2.0798e-03,1.8944e-04,3.8799e-02,2.1097e-03
+29,1.6833e+00,UP_FORCE_RAMP,4.1416e-04,2.7698e-02,6.2990e-03,2.4311e+00,-3.7241e-02,3.8752e-02,1.9327e-04,2.9649e-02,3.8893e-03,-2.4498e-02,-3.1926e-04,2.1000e-03,1.9015e-04,3.8656e-02,2.1327e-03
+30,1.7167e+00,UP_FORCE_RAMP,4.2702e-04,2.7747e-02,6.5558e-03,2.4304e+00,-3.7257e-02,3.8757e-02,1.9364e-04,2.9698e-02,4.1461e-03,-2.5136e-02,-3.3527e-04,2.1045e-03,1.9052e-04,3.9127e-02,2.1396e-03
+31,1.7500e+00,UP_FORCE_RAMP,4.3989e-04,2.7825e-02,6.7333e-03,2.4301e+00,-3.7268e-02,3.8763e-02,1.9395e-04,2.9776e-02,4.3236e-03,-2.5514e-02,-3.4623e-04,2.1107e-03,1.9083e-04,3.9450e-02,2.1474e-03
+32,1.8000e+00,UP_FORCE_RAMP,4.5521e-04,2.7988e-02,6.9659e-03,2.4297e+00,-3.7282e-02,3.8775e-02,1.9442e-04,2.9939e-02,4.5562e-03,-2.5893e-02,-3.6052e-04,2.1229e-03,1.9129e-04,3.9844e-02,2.1618e-03
+33,1.8667e+00,UP_FORCE_RAMP,4.6706e-04,2.8264e-02,7.2273e-03,2.4295e+00,-3.7298e-02,3.8795e-02,1.9506e-04,3.0215e-02,4.8176e-03,-2.6104e-02,-3.7654e-04,2.1430e-03,1.9194e-04,4.0219e-02,2.1843e-03
+34,1.9667e+00,UP_FORCE_RAMP,4.8238e-04,2.8736e-02,7.5787e-03,2.4275e+00,-3.7320e-02,3.8830e-02,1.9632e-04,3.0687e-02,5.1690e-03,-2.8090e-02,-3.9801e-04,2.1778e-03,1.9320e-04,4.1922e-02,2.2222e-03
+35,2.0333e+00,UP_FORCE_RAMP,4.9806e-04,2.9028e-02,7.7359e-03,2.4263e+00,-3.7330e-02,3.8852e-02,1.9704e-04,3.0979e-02,5.3262e-03,-2.9244e-02,-4.0770e-04,2.1991e-03,1.9392e-04,4.2933e-02,2.2450e-03
+36,2.0667e+00,UP_FORCE_RAMP,5.1271e-04,2.9190e-02,7.8050e-03,2.4259e+00,-3.7334e-02,3.8863e-02,1.9740e-04,3.1141e-02,5.3953e-03,-2.9631e-02,-4.1195e-04,2.2108e-03,1.9428e-04,4.3323e-02,2.2573e-03
+37,2.1500e+00,UP_FORCE_RAMP,5.2400e-04,2.9628e-02,7.9551e-03,2.4254e+00,-3.7343e-02,3.8895e-02,1.9831e-04,3.1579e-02,5.5454e-03,-3.0147e-02,-4.2121e-04,2.2421e-03,1.9519e-04,4.4009e-02,2.2897e-03
+38,2.2000e+00,UP_FORCE_RAMP,5.3789e-04,2.9905e-02,8.0320e-03,2.4254e+00,-3.7348e-02,3.8914e-02,1.9887e-04,3.1856e-02,5.6223e-03,-3.0199e-02,-4.2597e-04,2.2618e-03,1.9575e-04,4.4254e-02,2.3098e-03
+39,2.3000e+00,UP_FORCE_RAMP,5.5387e-04,3.0788e-02,7.3404e-03,2.4235e+00,-3.7302e-02,3.8977e-02,2.0013e-04,3.2739e-02,4.9307e-03,-3.2108e-02,-3.7961e-04,2.3241e-03,1.9701e-04,4.6120e-02,2.3632e-03
+40,2.3500e+00,UP_FORCE_RAMP,5.6587e-04,3.1141e-02,7.1221e-03,2.4228e+00,-3.7287e-02,3.9001e-02,2.0065e-04,3.3092e-02,4.7124e-03,-3.2734e-02,-3.6531e-04,2.3489e-03,1.9752e-04,4.6785e-02,2.3853e-03
+41,2.4167e+00,UP_FORCE_RAMP,5.8404e-04,3.1589e-02,6.8862e-03,2.4224e+00,-3.7272e-02,3.9033e-02,2.0133e-04,3.3540e-02,4.4765e-03,-3.3175e-02,-3.4972e-04,2.3805e-03,1.9821e-04,4.7387e-02,2.4142e-03
+42,2.4500e+00,UP_FORCE_RAMP,5.9813e-04,3.1806e-02,6.7872e-03,2.4223e+00,-3.7265e-02,3.9048e-02,2.0167e-04,3.3757e-02,4.3775e-03,-3.3252e-02,-3.4312e-04,2.3958e-03,1.9855e-04,4.7586e-02,2.4284e-03
+43,2.5167e+00,UP_FORCE_RAMP,6.1137e-04,3.2285e-02,6.5693e-03,2.4220e+00,-3.7250e-02,3.9082e-02,2.0248e-04,3.4236e-02,4.1596e-03,-3.3607e-02,-3.2843e-04,2.4299e-03,1.9936e-04,4.8154e-02,2.4600e-03
+44,2.5833e+00,UP_FORCE_RAMP,6.2316e-04,3.2656e-02,6.4022e-03,2.4204e+00,-3.7239e-02,3.9110e-02,2.0326e-04,3.4607e-02,3.9925e-03,-3.5182e-02,-3.1722e-04,2.4572e-03,2.0014e-04,4.9511e-02,2.4856e-03
+45,2.6833e+00,UP_FORCE_RAMP,6.3816e-04,3.3149e-02,6.2441e-03,2.4194e+00,-3.7228e-02,3.9146e-02,2.0425e-04,3.5100e-02,3.8344e-03,-3.6164e-02,-3.0641e-04,2.4933e-03,2.0113e-04,5.0543e-02,2.5201e-03
+46,2.7667e+00,UP_FORCE_RAMP,6.5581e-04,3.3546e-02,6.1486e-03,2.4193e+00,-3.7222e-02,3.9175e-02,2.0506e-04,3.5497e-02,3.7389e-03,-3.6262e-02,-2.9976e-04,2.5223e-03,2.0194e-04,5.0882e-02,2.5480e-03
+47,2.8167e+00,UP_FORCE_RAMP,6.6706e-04,3.3776e-02,6.1032e-03,2.4195e+00,-3.7218e-02,3.9191e-02,2.0553e-04,3.5727e-02,3.6934e-03,-3.6080e-02,-2.9657e-04,2.5390e-03,2.0241e-04,5.0910e-02,2.5643e-03
+48,2.8833e+00,UP_FORCE_HOLD,6.8177e-04,3.4228e-02,6.1775e-03,2.4189e+00,-3.7223e-02,3.9224e-02,2.0637e-04,3.6179e-02,3.7678e-03,-3.6646e-02,-3.0129e-04,2.5721e-03,2.0325e-04,5.1634e-02,2.5976e-03
+49,2.9333e+00,UP_FORCE_HOLD,6.9564e-04,3.4498e-02,6.2467e-03,2.4182e+00,-3.7228e-02,3.9244e-02,2.0684e-04,3.6449e-02,3.8369e-03,-3.7414e-02,-3.0565e-04,2.5918e-03,2.0372e-04,5.2374e-02,2.6177e-03
+50,3.0000e+00,UP_FORCE_HOLD,7.1098e-04,3.4827e-02,6.3215e-03,2.4176e+00,-3.7232e-02,3.9268e-02,2.0744e-04,3.6778e-02,3.9118e-03,-3.7970e-02,-3.1035e-04,2.6158e-03,2.0432e-04,5.3006e-02,2.6421e-03
+51,3.1000e+00,UP_FORCE_HOLD,7.2416e-04,3.5273e-02,6.4092e-03,2.4175e+00,-3.7238e-02,3.9301e-02,2.0830e-04,3.7224e-02,3.9994e-03,-3.8033e-02,-3.1593e-04,2.6486e-03,2.0517e-04,5.3368e-02,2.6753e-03
+52,3.1500e+00,UP_FORCE_HOLD,7.3695e-04,3.5480e-02,6.4428e-03,2.4178e+00,-3.7240e-02,3.9316e-02,2.0870e-04,3.7430e-02,4.0330e-03,-3.7796e-02,-3.1811e-04,2.6639e-03,2.0558e-04,5.3346e-02,2.6907e-03
+53,3.2000e+00,UP_FORCE_HOLD,7.5249e-04,3.5674e-02,6.4700e-03,2.4182e+00,-3.7242e-02,3.9331e-02,2.0910e-04,3.7625e-02,4.0603e-03,-3.7416e-02,-3.1994e-04,2.6783e-03,2.0598e-04,5.3217e-02,2.7052e-03
+54,3.2667e+00,UP_FORCE_HOLD,7.6560e-04,3.5913e-02,6.5002e-03,2.4188e+00,-3.7244e-02,3.9349e-02,2.0960e-04,3.7864e-02,4.0904e-03,-3.6731e-02,-3.2202e-04,2.6961e-03,2.0647e-04,5.2911e-02,2.7231e-03
+55,3.3500e+00,UP_FORCE_HOLD,7.8125e-04,3.6188e-02,6.5266e-03,2.4199e+00,-3.7246e-02,3.9369e-02,2.1018e-04,3.8139e-02,4.1168e-03,-3.5647e-02,-3.2398e-04,2.7167e-03,2.0706e-04,5.2367e-02,2.7438e-03
+56,3.4167e+00,UP_FORCE_HOLD,7.9527e-04,3.6391e-02,6.5407e-03,2.4209e+00,-3.7247e-02,3.9384e-02,2.1061e-04,3.8342e-02,4.1310e-03,-3.4646e-02,-3.2515e-04,2.7320e-03,2.0749e-04,5.1841e-02,2.7590e-03
+57,3.4667e+00,UP_FORCE_HOLD,8.0738e-04,3.6480e-02,6.4691e-03,2.4203e+00,-3.7243e-02,3.9393e-02,2.1106e-04,3.8431e-02,4.0594e-03,-3.5236e-02,-3.2066e-04,2.7402e-03,2.0794e-04,5.2297e-02,2.7667e-03
+58,3.5167e+00,UP_FORCE_HOLD,8.2431e-04,3.6541e-02,6.4356e-03,2.4199e+00,-3.7241e-02,3.9398e-02,2.1135e-04,3.8492e-02,4.0258e-03,-3.5650e-02,-3.1880e-04,2.7459e-03,2.0823e-04,5.2619e-02,2.7722e-03
+59,3.6000e+00,UP_SETTLE,8.3767e-04,3.6666e-02,6.3879e-03,2.4197e+00,-3.7238e-02,3.9409e-02,2.1178e-04,3.8616e-02,3.9782e-03,-3.5839e-02,-3.1620e-04,2.7568e-03,2.0866e-04,5.2835e-02,2.7827e-03