diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20b1d8f0f6668896f0eb5c58b79c2ff7637500e9
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e777b05051f52138cfa42a8d9507c319cc90e41e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+7,7.833333333e-01,WAIT_W2,1792701610256739989,-2.207952830e-06,-1.554677403e-05,-9.924861166e-08,-4.474019990e-07,-1.983936659e-05,2.622073307e-06,-3.772085824e-07,-1.979043855e-05,2.569253737e-06,7.015356635e-01,-1.399581271e-05,8.407408419e-01,7.015374241e-01,-1.828840526e-05,8.407435633e-01,7.017289829e-01,-1.806186087e-05,8.295751935e-01
+8,9.000000000e-01,WAIT_W2,1792701610490877779,-9.224142334e-07,-1.024962773e-05,7.599782303e-07,-4.474019990e-07,-1.983936659e-05,2.622073307e-06,-3.753165104e-07,-1.979088600e-05,2.575317267e-06,7.015369491e-01,-8.698666404e-06,8.407417012e-01,7.015374241e-01,-1.828840526e-05,8.407435633e-01,7.017289848e-01,-1.806230831e-05,8.295751995e-01
+9,9.833333333e-01,WAIT_W2,1792701610659795201,-9.637559771e-07,-1.214162721e-05,7.982582241e-07,-4.474019990e-07,-1.983936659e-05,2.622073307e-06,-3.742553503e-07,-1.979104599e-05,2.578348121e-06,7.015369077e-01,-1.059066589e-05,8.407417394e-01,7.015374241e-01,-1.828840526e-05,8.407435633e-01,7.017289859e-01,-1.806246831e-05,8.295752025e-01
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+15,1.583333333e+00,UP_FORCE_RAMP,1792701611790109734,3.901324198e-07,-3.409428249e-05,4.459371629e-06,-4.474019990e-07,-1.983936659e-05,2.622073307e-06,-3.706632409e-07,-1.979146537e-05,2.586236700e-06,7.015382616e-01,-3.254332117e-05,8.407454006e-01,7.015374241e-01,-1.828840526e-05,8.407435633e-01,7.017289894e-01,-1.806288769e-05,8.295752104e-01
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+17,1.733333333e+00,UP_FORCE_RAMP,1792701612086739456,-3.276755030e-06,-3.738790378e-05,1.869251028e-06,-2.654103993e-06,-4.033400693e-05,-1.563546661e-06,-2.669699259e-06,-4.026584028e-05,-1.540251269e-06,7.015345947e-01,-3.583694246e-05,8.407428104e-01,7.015352174e-01,-3.878304561e-05,8.407393776e-01,7.017266904e-01,-3.853726259e-05,8.295710839e-01
+18,1.833333333e+00,UP_FORCE_RAMP,1792701612286660509,-3.884112666e-06,-4.354849090e-05,-2.103803215e-06,-2.654103993e-06,-4.033400693e-05,-1.563546661e-06,-2.676174380e-06,-4.026785372e-05,-1.554992146e-06,7.015339874e-01,-4.199752958e-05,8.407388374e-01,7.015352174e-01,-3.878304561e-05,8.407393776e-01,7.017266839e-01,-3.853927603e-05,8.295710692e-01
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+21,2.133333333e+00,UP_FORCE_RAMP,1792701612853346278,-1.420039281e-06,-5.833682457e-05,3.759553535e-06,-2.654103993e-06,-4.033400693e-05,-1.563546661e-06,-2.687069338e-06,-4.026935114e-05,-1.578051024e-06,7.015364514e-01,-5.678586325e-05,8.407447007e-01,7.015352174e-01,-3.878304561e-05,8.407393776e-01,7.017266730e-01,-3.854077345e-05,8.295710461e-01
+22,2.233333333e+00,UP_FORCE_RAMP,1792701613035081361,-3.041589404e-06,-6.071583177e-05,4.116526727e-07,-2.982557182e-06,-6.062070649e-05,2.240846719e-07,-2.939867823e-06,-6.048462673e-05,1.448211482e-07,7.015348299e-01,-5.916487045e-05,8.407413528e-01,7.015348889e-01,-5.906974516e-05,8.407411653e-01,7.017264202e-01,-5.875604905e-05,8.295727690e-01
+23,2.333333333e+00,UP_FORCE_RAMP,1792701613218926651,-4.348296235e-06,-5.907698879e-05,1.594714106e-07,-2.982557182e-06,-6.062070649e-05,2.240846719e-07,-2.943862434e-06,-6.050240467e-05,1.515598558e-07,7.015335232e-01,-5.752602746e-05,8.407411007e-01,7.015348889e-01,-5.906974516e-05,8.407411653e-01,7.017264162e-01,-5.877382698e-05,8.295727758e-01
+24,2.450000000e+00,UP_FORCE_RAMP,1792701613452863071,-3.319494345e-06,-6.118387224e-05,4.330505693e-06,-2.982557182e-06,-6.062070649e-05,2.240846719e-07,-2.945703613e-06,-6.050394790e-05,1.549611732e-07,7.015345520e-01,-5.963291092e-05,8.407452717e-01,7.015348889e-01,-5.906974516e-05,8.407411653e-01,7.017264144e-01,-5.877537022e-05,8.295727792e-01
+25,2.566666667e+00,UP_FORCE_RAMP,1792701613666833662,-6.934673594e-06,-6.334270689e-05,2.336083895e-06,-2.982557182e-06,-6.062070649e-05,2.240846719e-07,-2.947120509e-06,-6.050460627e-05,1.572096403e-07,7.015309368e-01,-6.179174557e-05,8.407432773e-01,7.015348889e-01,-5.906974516e-05,8.407411653e-01,7.017264130e-01,-5.877602858e-05,8.295727814e-01
+26,2.716666667e+00,UP_FORCE_RAMP,1792701613948917828,-6.044704078e-06,-6.606676603e-05,1.048705867e-05,-2.982557182e-06,-6.062070649e-05,2.240846719e-07,-2.948003795e-06,-6.050496578e-05,1.589016301e-07,7.015318268e-01,-6.451580471e-05,8.407514282e-01,7.015348889e-01,-5.906974516e-05,8.407411653e-01,7.017264121e-01,-5.877638809e-05,8.295727831e-01
+27,2.850000000e+00,UP_FORCE_RAMP,1792701614216705897,-3.345773176e-06,-6.680047446e-05,2.113654764e-05,-3.367094331e-06,-6.691221587e-05,2.085806662e-05,-3.313521401e-06,-6.677523904e-05,2.042200031e-05,7.015345257e-01,-6.524951314e-05,8.407620777e-01,7.015345044e-01,-6.536125455e-05,8.407617993e-01,7.017260466e-01,-6.504666135e-05,8.295930462e-01
+28,2.966666667e+00,UP_FORCE_RAMP,1792701614414750741,-6.275224638e-06,-6.696966629e-05,2.602556216e-05,-3.367094331e-06,-6.691221587e-05,2.085806662e-05,-3.316694509e-06,-6.677855776e-05,2.055524749e-05,7.015315963e-01,-6.541870496e-05,8.407669667e-01,7.015345044e-01,-6.536125455e-05,8.407617993e-01,7.017260434e-01,-6.504998008e-05,8.295931794e-01
+29,3.100000000e+00,UP_FORCE_RAMP,1792701614682868042,-9.531104308e-06,-6.449430433e-05,3.521353544e-05,-3.367094331e-06,-6.691221587e-05,2.085806662e-05,-3.318211634e-06,-6.677838835e-05,2.063522964e-05,7.015283404e-01,-6.294334301e-05,8.407761547e-01,7.015345044e-01,-6.536125455e-05,8.407617993e-01,7.017260419e-01,-6.504981066e-05,8.295932594e-01
+30,3.116666667e+00,UP_FORCE_RAMP,1792701614716756409,-1.213603147e-05,-6.782316090e-05,3.650909530e-05,-3.367094331e-06,-6.691221587e-05,2.085806662e-05,-3.318357587e-06,-6.677832278e-05,2.064275551e-05,7.015257354e-01,-6.627219958e-05,8.407774503e-01,7.015345044e-01,-6.536125455e-05,8.407617993e-01,7.017260417e-01,-6.504974510e-05,8.295932670e-01
+31,3.133333333e+00,UP_FORCE_RAMP,1792701614748895967,-5.963187849e-05,-6.282035639e-05,3.019125380e-05,-5.892220334e-05,-6.271469486e-05,2.977788365e-05,-5.955151558e-05,-6.260655567e-05,2.940738366e-05,7.014782396e-01,-6.126939506e-05,8.407711324e-01,7.014789493e-01,-6.116373354e-05,8.407707191e-01,7.016698086e-01,-6.087797798e-05,8.296020316e-01
+32,3.200000000e+00,UP_FORCE_RAMP,1792701614880660409,-4.532209441e-05,-6.432537500e-05,4.385902889e-05,-5.892220334e-05,-6.271469486e-05,2.977788365e-05,-5.976147342e-05,-6.260572868e-05,2.947514872e-05,7.014925494e-01,-6.277441368e-05,8.407848002e-01,7.014789493e-01,-6.116373354e-05,8.407707191e-01,7.016695986e-01,-6.087715099e-05,8.296020993e-01
+33,3.266666667e+00,UP_FORCE_RAMP,1792701614980737767,-4.499561111e-05,-6.279781052e-05,4.764086263e-05,-4.521971203e-05,-6.511826442e-05,4.517015092e-05,-4.591686764e-05,-6.500024204e-05,4.466250897e-05,7.014928759e-01,-6.124684920e-05,8.407885821e-01,7.014926518e-01,-6.356730310e-05,8.407861113e-01,7.016834432e-01,-6.327166436e-05,8.296172867e-01
+34,3.383333333e+00,UP_FORCE_RAMP,1792701615212832352,-4.378265075e-05,-6.651873290e-05,5.418136298e-05,-4.521971203e-05,-6.511826442e-05,4.517015092e-05,-4.602816551e-05,-6.500075234e-05,4.478869115e-05,7.014940888e-01,-6.496777158e-05,8.407951226e-01,7.014926518e-01,-6.356730310e-05,8.407861113e-01,7.016833319e-01,-6.327217465e-05,8.296174129e-01
+35,3.466666667e+00,UP_FORCE_RAMP,1792701615380743140,-4.924934628e-05,-6.916519945e-05,5.352762881e-05,-4.521971203e-05,-6.511826442e-05,4.517015092e-05,-4.608781269e-05,-6.500036756e-05,4.485005075e-05,7.014886221e-01,-6.761423813e-05,8.407944688e-01,7.014926518e-01,-6.356730310e-05,8.407861113e-01,7.016832723e-01,-6.327178988e-05,8.296174742e-01
+36,3.500000000e+00,UP_FORCE_RAMP,1792701615446764277,-7.409742006e-05,-7.309672745e-05,3.877377368e-05,-6.840421728e-05,-6.926868705e-05,4.416571467e-05,-6.968789193e-05,-6.915510125e-05,4.387116943e-05,7.014637741e-01,-7.154576613e-05,8.407797150e-01,7.014694673e-01,-6.771772573e-05,8.407851069e-01,7.016596722e-01,-6.742652356e-05,8.296164954e-01
+37,3.516666667e+00,UP_FORCE_RAMP,1792701615480777949,-6.160497981e-05,-6.972977325e-05,5.568525944e-05,-6.840421728e-05,-6.926868705e-05,4.416571467e-05,-6.971732023e-05,-6.915556979e-05,4.387972685e-05,7.014762665e-01,-6.817881193e-05,8.407966264e-01,7.014694673e-01,-6.771772573e-05,8.407851069e-01,7.016596428e-01,-6.742699211e-05,8.296165039e-01
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+40,3.766666667e+00,UP_FORCE_RAMP,1792701615946888944,-6.827712043e-05,-7.369683517e-05,5.734441041e-05,-6.840421728e-05,-6.926868705e-05,4.416571467e-05,-6.999191991e-05,-6.915611956e-05,4.396301614e-05,7.014695944e-01,-7.214587385e-05,8.407982856e-01,7.014694673e-01,-6.771772573e-05,8.407851069e-01,7.016593682e-01,-6.742754188e-05,8.296165872e-01
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+42,3.966666667e+00,UP_FORCE_RAMP,1792701616345381881,-6.380121536e-05,-7.290965305e-05,7.717709657e-05,-6.684273643e-05,-7.668587867e-05,6.266156783e-05,-6.839861748e-05,-7.657300036e-05,6.233391082e-05,7.014740703e-01,-7.135869173e-05,8.408181183e-01,7.014710287e-01,-7.513491735e-05,8.408036028e-01,7.016609615e-01,-7.484442267e-05,8.296349581e-01
+43,4.050000000e+00,UP_FORCE_RAMP,1792701616512930692,-5.902961605e-05,-6.981633852e-05,9.025750014e-05,-6.010278038e-05,-7.607699526e-05,8.535696797e-05,-6.145885286e-05,-7.593114104e-05,8.473768505e-05,7.014788419e-01,-6.826537719e-05,8.408311987e-01,7.014777687e-01,-7.452603393e-05,8.408262982e-01,7.016679013e-01,-7.420256336e-05,8.296573619e-01
+44,4.150000000e+00,UP_FORCE_HOLD,1792701616714023740,-6.092955403e-05,-7.152779020e-05,9.517531768e-05,-6.010278038e-05,-7.607699526e-05,8.535696797e-05,-6.146030962e-05,-7.593074407e-05,8.487333908e-05,7.014769419e-01,-6.997682888e-05,8.408361165e-01,7.014777687e-01,-7.452603393e-05,8.408262982e-01,7.016678998e-01,-7.420216638e-05,8.296574975e-01
+45,4.266666667e+00,UP_FORCE_HOLD,1792701616942947815,-5.847896867e-05,-7.260355034e-05,9.973426114e-05,-6.010278038e-05,-7.607699526e-05,8.535696797e-05,-6.146296901e-05,-7.592984278e-05,8.497792364e-05,7.014793925e-01,-7.105258902e-05,8.408406754e-01,7.014777687e-01,-7.452603393e-05,8.408262982e-01,7.016678971e-01,-7.420126509e-05,8.296576021e-01
+46,4.366666667e+00,UP_FORCE_HOLD,1792701617144934028,-5.962316047e-05,-7.235259054e-05,1.017607659e-04,-6.010278038e-05,-7.607699526e-05,8.535696797e-05,-6.146507750e-05,-7.592884127e-05,8.503900790e-05,7.014782483e-01,-7.080162922e-05,8.408427020e-01,7.014777687e-01,-7.452603393e-05,8.408262982e-01,7.016678950e-01,-7.420026358e-05,8.296576632e-01
+47,4.516666667e+00,UP_FORCE_HOLD,1792701617445028993,-5.885148958e-05,-7.117893022e-05,1.070849335e-04,-5.858253147e-05,-7.138363401e-05,1.051048530e-04,-5.993611639e-05,-7.125687028e-05,1.046629654e-04,7.014790200e-01,-6.962796890e-05,8.408480261e-01,7.014792889e-01,-6.983267269e-05,8.408460460e-01,7.016694240e-01,-6.952829259e-05,8.296772872e-01
+48,4.650000000e+00,UP_FORCE_HOLD,1792701617709503398,-6.080168608e-05,-7.242072957e-05,1.116853814e-04,-5.858253147e-05,-7.138363401e-05,1.051048530e-04,-5.993267489e-05,-7.125563201e-05,1.047787582e-04,7.014770698e-01,-7.086976825e-05,8.408526266e-01,7.014792889e-01,-6.983267269e-05,8.408460460e-01,7.016694274e-01,-6.952705432e-05,8.296774030e-01
+49,4.783333333e+00,UP_FORCE_HOLD,1792701617976653719,-6.923631566e-05,-7.695618589e-05,1.102795039e-04,-5.858253147e-05,-7.138363401e-05,1.051048530e-04,-5.993084142e-05,-7.125445281e-05,1.048512024e-04,7.014686352e-01,-7.540522457e-05,8.408512207e-01,7.014792889e-01,-6.983267269e-05,8.408460460e-01,7.016694293e-01,-6.952587512e-05,8.296774754e-01
+50,4.800000000e+00,UP_FORCE_HOLD,1792701618009940914,-8.892054961e-05,-7.942832063e-05,9.647928159e-05,-8.859759309e-05,-7.944121830e-05,9.643418882e-05,-9.032710704e-05,-7.926209588e-05,9.631634684e-05,7.014489509e-01,-7.787735931e-05,8.408374205e-01,7.014492739e-01,-7.789025697e-05,8.408373754e-01,7.016390330e-01,-7.753351819e-05,8.296689405e-01
+51,4.850000000e+00,UP_FORCE_HOLD,1792701618108779023,-9.089602210e-05,-8.005371556e-05,1.015579282e-04,-8.859759309e-05,-7.944121830e-05,9.643418882e-05,-9.041712108e-05,-7.926680669e-05,9.630592945e-05,7.014469755e-01,-7.850275424e-05,8.408424991e-01,7.014492739e-01,-7.789025697e-05,8.408373754e-01,7.016389430e-01,-7.753822900e-05,8.296689301e-01
+52,4.883333333e+00,UP_FORCE_HOLD,1792701618173046690,-8.819969016e-05,-7.676112754e-05,1.055958860e-04,-8.859759309e-05,-7.944121830e-05,9.643418882e-05,-9.045708416e-05,-7.926728681e-05,9.630368465e-05,7.014496718e-01,-7.521016622e-05,8.408465371e-01,7.014492739e-01,-7.789025697e-05,8.408373754e-01,7.016389030e-01,-7.753870912e-05,8.296689279e-01
+53,4.933333333e+00,UP_FORCE_HOLD,1792701618275383507,-8.497767782e-05,-7.877577976e-05,1.114535393e-04,-8.859759309e-05,-7.944121830e-05,9.643418882e-05,-9.050679847e-05,-7.926754021e-05,9.630155397e-05,7.014528938e-01,-7.722481844e-05,8.408523947e-01,7.014492739e-01,-7.789025697e-05,8.408373754e-01,7.016388533e-01,-7.753896252e-05,8.296689258e-01
+54,5.016666667e+00,UP_FORCE_HOLD,1792701618440792280,-8.446046786e-05,-7.501505381e-05,1.155065882e-04,-8.442427148e-05,-7.511788457e-05,1.152409510e-04,-8.627286950e-05,-7.499850256e-05,1.147594376e-04,7.014534110e-01,-7.346409249e-05,8.408564478e-01,7.014534472e-01,-7.356692325e-05,8.408561821e-01,7.016430872e-01,-7.326992488e-05,8.296873836e-01
+55,5.150000000e+00,UP_FORCE_HOLD,1792701618709851582,-8.610972130e-05,-7.643416879e-05,1.209447112e-04,-8.442427148e-05,-7.511788457e-05,1.152409510e-04,-8.632497777e-05,-7.499677312e-05,1.148896050e-04,7.014517618e-01,-7.488320747e-05,8.408618859e-01,7.014534472e-01,-7.356692325e-05,8.408561821e-01,7.016430351e-01,-7.326819544e-05,8.296875138e-01
+56,5.266666667e+00,UP_FORCE_HOLD,1792701618938784107,-8.597336751e-05,-7.715641282e-05,1.286053933e-04,-8.442427148e-05,-7.511788457e-05,1.152409510e-04,-8.635825082e-05,-7.499635736e-05,1.149513555e-04,7.014518981e-01,-7.560545150e-05,8.408695466e-01,7.014534472e-01,-7.356692325e-05,8.408561821e-01,7.016430019e-01,-7.326777968e-05,8.296875756e-01
+57,5.400000000e+00,UP_FORCE_HOLD,1792701619206696747,-8.914440183e-05,-7.527277354e-05,1.327337473e-04,-8.442427148e-05,-7.511788457e-05,1.152409510e-04,-8.638496630e-05,-7.499570057e-05,1.149973368e-04,7.014487271e-01,-7.372181222e-05,8.408736749e-01,7.014534472e-01,-7.356692325e-05,8.408561821e-01,7.016429751e-01,-7.326712288e-05,8.296876215e-01
+58,5.483333333e+00,UP_SETTLE,1792701619372660076,-8.985991614e-05,-7.245708232e-05,1.326798552e-04,-8.913483209e-05,-8.026428673e-05,1.359732480e-04,-9.109263836e-05,-8.012081213e-05,1.354117829e-04,7.014480116e-01,-7.090612100e-05,8.408736210e-01,7.014487366e-01,-7.871332541e-05,8.408769144e-01,7.016382675e-01,-7.839223445e-05,8.297080360e-01
+59,5.583333333e+00,UP_SETTLE,1792701619536782173,-8.963076606e-05,-7.841490766e-05,1.378870101e-04,-8.913483209e-05,-8.026428673e-05,1.359732480e-04,-9.112191891e-05,-8.012277471e-05,1.355218623e-04,7.014482407e-01,-7.686394634e-05,8.408788282e-01,7.014487366e-01,-7.871332541e-05,8.408769144e-01,7.016382382e-01,-7.839419702e-05,8.297081461e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eae7b775c26598c64ea92d5e96dbca91f3d9208e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,2.5870e-03,-5.8410e-04,2.4510e+00,-3.6776e-02,3.6984e-02,-1.2750e-05,1.1130e-04,-7.2657e-06,-1.4305e-06,5.2154e-07,6.9216e-06,-9.7622e-08,1.1154e-04,6.9419e-06
+1,1.5000e-01,WAIT_W2,2.3470e-05,3.6873e-03,-6.5397e-04,2.4510e+00,-3.6771e-02,3.7054e-02,-1.3613e-05,1.2116e-03,-7.7131e-05,5.2452e-06,4.9807e-06,7.7609e-05,-9.6065e-07,1.2141e-03,7.7775e-05
+2,2.8333e-01,WAIT_W2,5.0123e-05,5.0735e-03,-6.4979e-04,2.4511e+00,-3.6774e-02,3.7160e-02,-1.8508e-05,2.5978e-03,-7.2950e-05,3.0041e-05,2.0638e-06,1.8336e-04,-5.8559e-06,2.5990e-03,1.8346e-04
+3,4.0000e-01,WAIT_W2,7.3534e-05,5.4364e-03,-6.6431e-04,2.4510e+00,-3.6773e-02,3.7182e-02,-1.8776e-05,2.9608e-03,-8.7468e-05,2.4319e-05,3.0547e-06,2.0568e-04,-6.1232e-06,2.9621e-03,2.0579e-04
+4,4.6667e-01,WAIT_W2,9.9482e-05,5.6143e-03,-6.7342e-04,2.4510e+00,-3.6773e-02,3.7194e-02,-1.8903e-05,3.1387e-03,-9.6579e-05,2.3842e-05,3.5949e-06,2.1702e-04,-6.2500e-06,3.1402e-03,2.1714e-04
+5,5.6667e-01,WAIT_W2,1.2209e-04,5.8451e-03,-6.8436e-04,2.4510e+00,-3.6772e-02,3.7209e-02,-1.9079e-05,3.3694e-03,-1.0752e-04,2.4319e-05,4.2059e-06,2.3201e-04,-6.4270e-06,3.3712e-03,2.3214e-04
+6,6.8333e-01,WAIT_W2,1.4756e-04,6.4430e-03,7.5304e-03,2.4492e+00,-3.7350e-02,3.7254e-02,-2.6513e-06,3.9673e-03,8.1073e-03,-1.8249e-03,-5.7411e-04,2.7722e-04,1.0001e-05,9.2086e-03,6.3762e-04
+7,7.8333e-01,WAIT_W2,1.7312e-04,6.6138e-03,7.5140e-03,2.4495e+00,-3.7351e-02,3.7265e-02,-2.7500e-06,4.1382e-03,8.0909e-03,-1.5190e-03,-5.7468e-04,2.8823e-04,9.9024e-06,9.2138e-03,6.4299e-04
+8,9.0000e-01,WAIT_W2,1.9463e-04,6.8198e-03,7.5745e-03,2.4501e+00,-3.7360e-02,3.7279e-02,-3.6100e-06,4.3442e-03,8.1514e-03,-8.9169e-04,-5.8355e-04,3.0209e-04,9.0424e-06,9.2796e-03,6.5717e-04
+9,9.8333e-01,WAIT_W2,2.2172e-04,6.8158e-03,7.7918e-03,2.4502e+00,-3.7379e-02,3.7280e-02,-8.2730e-06,4.3402e-03,8.3686e-03,-7.9679e-04,-6.0252e-04,3.0357e-04,4.3795e-06,9.4607e-03,6.7469e-04
+10,1.1000e+00,WAIT_W2,2.4658e-04,6.9002e-03,7.7198e-03,2.4503e+00,-3.7374e-02,3.7285e-02,-8.5406e-06,4.4246e-03,8.2967e-03,-6.8092e-04,-5.9725e-04,3.0876e-04,4.1119e-06,9.4274e-03,6.7235e-04
+11,1.1833e+00,WAIT_W2,2.7152e-04,6.9343e-03,7.6967e-03,2.4504e+00,-3.7372e-02,3.7288e-02,-8.7713e-06,4.4586e-03,8.2735e-03,-5.9962e-04,-5.9540e-04,3.1088e-04,3.8812e-06,9.4175e-03,6.7169e-04
+12,1.2833e+00,WAIT_W2,2.9907e-04,6.9387e-03,7.5583e-03,2.4505e+00,-3.7358e-02,3.7288e-02,-1.3216e-05,4.4630e-03,8.1351e-03,-4.7731e-04,-5.8211e-04,3.1093e-04,-5.6315e-07,9.2912e-03,6.5995e-04
+13,1.4000e+00,WAIT_W2,3.2304e-04,6.9763e-03,7.5635e-03,2.4506e+00,-3.7359e-02,3.7290e-02,-1.3321e-05,4.5007e-03,8.1404e-03,-4.3058e-04,-5.8284e-04,3.1338e-04,-6.6835e-07,9.3117e-03,6.6174e-04
+14,1.5000e+00,WAIT_W2,3.4617e-04,7.0025e-03,7.5703e-03,2.4506e+00,-3.7360e-02,3.7292e-02,-1.3463e-05,4.5268e-03,8.1471e-03,-3.8576e-04,-5.8359e-04,3.1511e-04,-8.1078e-07,9.3283e-03,6.6323e-04
+15,1.5833e+00,UP_FORCE_RAMP,3.7418e-04,7.0167e-03,7.5749e-03,2.4507e+00,-3.7360e-02,3.7293e-02,-1.3577e-05,4.5410e-03,8.1517e-03,-3.5954e-04,-5.8407e-04,3.1607e-04,-9.2485e-07,9.3381e-03,6.6411e-04
+16,1.6333e+00,UP_FORCE_RAMP,3.9835e-04,7.0244e-03,7.5779e-03,2.4507e+00,-3.7361e-02,3.7293e-02,-1.3660e-05,4.5487e-03,8.1548e-03,-3.4523e-04,-5.8438e-04,3.1660e-04,-1.0080e-06,9.3440e-03,6.6463e-04
+17,1.7333e+00,UP_FORCE_RAMP,4.2107e-04,8.5094e-03,1.6491e-02,2.4546e+00,-3.8000e-02,3.7399e-02,-4.7084e-06,6.0338e-03,1.7068e-02,3.6139e-03,-1.2233e-03,4.2192e-04,7.9441e-06,1.8461e-02,1.2940e-03
+18,1.8333e+00,UP_FORCE_RAMP,4.4513e-04,8.3088e-03,1.6432e-02,2.4534e+00,-3.7994e-02,3.7385e-02,-4.2373e-06,5.8332e-03,1.7009e-02,2.4133e-03,-1.2175e-03,4.0827e-04,8.4151e-06,1.8142e-02,1.2842e-03
+19,1.9333e+00,UP_FORCE_RAMP,4.6956e-04,8.0717e-03,1.6340e-02,2.4526e+00,-3.7987e-02,3.7369e-02,-4.0678e-06,5.5960e-03,1.6917e-02,1.5774e-03,-1.2102e-03,3.9215e-04,8.5847e-06,1.7888e-02,1.2722e-03
+20,2.0333e+00,UP_FORCE_RAMP,4.9486e-04,7.8812e-03,1.6272e-02,2.4521e+00,-3.7981e-02,3.7356e-02,-4.1497e-06,5.4055e-03,1.6849e-02,1.0390e-03,-1.2049e-03,3.7898e-04,8.5028e-06,1.7725e-02,1.2631e-03
+21,2.1333e+00,UP_FORCE_RAMP,5.1692e-04,7.5836e-03,1.6165e-02,2.4513e+00,-3.7973e-02,3.7334e-02,-4.8098e-06,5.1079e-03,1.6742e-02,2.7132e-04,-1.1965e-03,3.5752e-04,7.8427e-06,1.7506e-02,1.2488e-03
+22,2.2333e+00,UP_FORCE_RAMP,5.4646e-04,7.5675e-03,1.6160e-02,2.4513e+00,-3.7973e-02,3.7333e-02,-5.0626e-06,5.0919e-03,1.6737e-02,3.0136e-04,-1.1962e-03,3.5609e-04,7.5899e-06,1.7497e-02,1.2481e-03
+23,2.3333e+00,UP_FORCE_RAMP,5.6649e-04,7.5005e-03,2.4677e-02,2.4499e+00,-3.8572e-02,3.7328e-02,9.4160e-06,5.0248e-03,2.5254e-02,-1.1325e-03,-1.7953e-03,3.5148e-04,2.2069e-05,2.5774e-02,1.8296e-03
+24,2.4500e+00,UP_FORCE_RAMP,5.9254e-04,7.4850e-03,2.4552e-02,2.4500e+00,-3.8565e-02,3.7327e-02,9.2917e-06,5.0093e-03,2.5129e-02,-9.8133e-04,-1.7890e-03,3.5037e-04,2.1944e-05,2.5642e-02,1.8231e-03
+25,2.5667e+00,UP_FORCE_RAMP,6.1895e-04,7.4130e-03,2.4777e-02,2.4502e+00,-3.8589e-02,3.7321e-02,6.2757e-06,4.9373e-03,2.5354e-02,-7.8058e-04,-1.8127e-03,3.4448e-04,1.8928e-05,2.5842e-02,1.8452e-03
+26,2.7167e+00,UP_FORCE_RAMP,6.4240e-04,7.3657e-03,2.4551e-02,2.4504e+00,-3.8569e-02,3.7318e-02,1.4362e-06,4.8901e-03,2.5128e-02,-6.6137e-04,-1.7931e-03,3.4142e-04,1.4089e-05,2.5608e-02,1.8253e-03
+27,2.8500e+00,UP_FORCE_RAMP,6.6555e-04,7.2144e-03,2.4575e-02,2.4506e+00,-3.8577e-02,3.7308e-02,-2.3142e-06,4.7388e-03,2.5152e-02,-3.7289e-04,-1.8008e-03,3.3101e-04,1.0338e-05,2.5597e-02,1.8310e-03
+28,2.9667e+00,UP_FORCE_RAMP,6.9361e-04,7.3232e-03,2.6912e-02,2.4357e+00,-3.8737e-02,3.7321e-02,-1.6827e-06,4.8476e-03,2.7489e-02,-1.5302e-02,-1.9606e-03,3.4404e-04,1.0970e-05,3.1832e-02,1.9906e-03
+29,3.1000e+00,UP_FORCE_RAMP,7.1805e-04,7.3918e-03,2.6915e-02,2.4401e+00,-3.8743e-02,3.7326e-02,-1.5875e-06,4.9161e-03,2.7492e-02,-1.0883e-02,-1.9665e-03,3.4954e-04,1.1065e-05,2.9974e-02,1.9973e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..de252105f0b779d8ef03d092d5d08c7a5d5fac7e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:6274e8bd6e487a007a5ce22eb893f69561d23a3ba50958986f0234828d946604
+size 61440000
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef6a04fe5df395c5038295cb27d945d7cd93bcad
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51e774a39fdffd15d811ee57c177f18ed7326d15
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
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+11509,1792701687428306853,9514435000000,1792701687425878529,XJC_ZERO_HOLD_BEFORE_DOWN,2,0.045,0.04500070959329605,0.6759819236208776,-0.004582613979202836,0.09084045394341872,0.9999999742908977,-9.248861353178942e-05,-0.00017830078505049284,-5.015729866424517e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.05165635838869692,0.05210843882684113,-0.004040283943314916,0.003992625348219172,-0.0033040215630157285,3.388933189857015e-06,0.5131647038667992,0.3150643448036532,-0.018256646496155934,0.02136949584362239,-0.03485453874805815,-0.00022656193971396136,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,-0.12371765171089628,0.543567218411476,1.4765643510428654,-0.15079909302612224,-0.8955462170250864,0.2901104210559964,1.2051166602065873,0.004040283943314916,-0.2714476908362782,0.0,0.0,0,0,0.0,0.0
+11630,1792701688428281884,9515435000000,1792701688421878266,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6759834396467056,-0.004589603215800651,0.09083832304947684,0.9999999743621276,-9.822562573815411e-05,-0.00017571196142282777,-4.685767464549026e-05,0.6761,-0.00453,0.09098300495311887,1.0,0.0,0.0,0.0,0.08071322660687003,0.08856822708055823,0.016539418426633968,0.006089444067025222,-0.00541530116479224,-1.8093025734389396e-05,0.5422215720849723,0.3515241330573703,0.002323055873792951,0.02346631456242844,-0.03696581834983466,-0.0002480438986382078,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,-0.026633322956960775,0.6107795981888003,1.3630518584870426,-0.15706906258027595,-0.7995245174571443,0.34032093012900233,1.2051166602065873,0.016539418426633968,-0.15793519828045532,-0.15793519828045532,0.06599999999999866,0,0,-4.1249992209528525e-05,-9.999999025923074e-05
+11758,1792701689495337777,9516502000000,1792701689493868912,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6759812113588539,-0.004596345562239432,0.09080006961528574,0.999999973668316,-0.00010145303355646123,-0.00018043175929883772,-3.546680278554612e-05,0.6761,-0.00453,0.09092276836809979,1.0,0.0,0.0,0.0,0.09001656500848315,0.08730598265425515,0.1975331651491059,0.006915496600746664,-0.006856128905459238,-0.00018451925793490386,0.5515249104865855,0.3502618886310672,0.1833168025962649,0.024292367096149882,-0.03840664609050166,-0.00041447013083872224,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.09534384916821546,0.5568166351384278,1.0611477354744894,-0.10349287105118558,-0.5781868515175659,0.30262240826075376,1.2051166602065873,0.1975331651491059,0.14396892473209788,0.14396892473209788,0.1513599999999952,0,0,-5.5526129101564396e-05,9.995122371287408e-05
+11834,1792701690128289942,9517135000000,1792701690125869153,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760108756704131,-0.004611199920588946,0.09077695647310337,0.9999999851582315,-0.00010040303062285371,-0.00010435837850686182,-1.2448350911511876e-05,0.6761,-0.00453,0.09089157997018127,1.0,0.0,0.0,0.0,0.006678971771020281,0.15207035451655543,0.2990729054217413,0.011005497242121545,-0.00046801260485165863,-0.0001191225727423158,0.4681873172491226,0.4150262604933675,0.2848565428689003,0.028382367737524762,-0.03201852978989408,-0.0003490734456461342,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.16260396301897792,0.5637579185144684,0.9440177148520933,-0.10099895266954155,-0.5111724368489565,0.2994542283923941,1.2051166602065873,0.2990729054217413,0.26109894535449396,0.26109894535449396,0.20199999999999313,0,0,-3.722265715514072e-05,9.999999025923074e-05
+11973,1792701691287335445,9518294000000,1792701691281878302,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760081789029274,-0.004613388272462327,0.09076263018874263,0.9999999847307507,-9.746260853999896e-05,-0.00011144817856100461,-7.855329218592128e-06,0.6761,-0.00453,0.0908761957038464,1.0,0.0,0.0,0.0,0.034654664430408155,0.1453855606496699,0.36984977681012743,0.0110456138609509,-0.0024987406413479185,-0.00020392960831990334,0.4961630099085105,0.40834146662648196,0.3556334142572864,0.028422484356354118,-0.03404925782639034,-0.0004338804812237217,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.1354670851228857,0.5301462362300491,0.8672126318761632,-0.07083325213786704,-0.4655785696402434,0.2746548576035497,1.2051166602065873,0.36984977681012743,0.3379040283304241,0.3379040283304241,0.29472000000000487,0,0,-1.8680511112978415e-06,1.886920314442264e-05
+12089,1792701692253336168,9519260000000,1792701692245879675,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760065449603067,-0.004613973931697363,0.09075701999448123,0.9999999842470593,-9.857650321373843e-05,-0.00011474316652529096,-8.088536250338572e-06,0.6761,-0.00453,0.09086973676939769,1.0,0.0,0.0,0.0,0.03932808991051079,0.14569956329924466,0.3786921472522041,0.01104473715327155,-0.0025109609506945643,-0.00020812771020851722,0.5008364353886131,0.4086554692760567,0.3644757846993631,0.028421607648674768,-0.03406147813573698,-0.0004380785831123356,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.14618142059327974,0.6611156229859644,0.8766630844046904,-0.10363972260730311,-0.47308338379465364,0.3616644229439844,1.2051166602065873,0.3786921472522041,0.3284535758018968,0.3284535758018968,0.37200000000002853,0,0,-1.1344186835764108e-05,-7.757453987367597e-05
+12233,1792701693453237538,9520460000000,1792701693445869731,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760066157988812,-0.004616809605372162,0.09074768484881683,0.9999999844732856,-9.53496885702498e-05,-0.00011572821224523293,-3.422104412732629e-06,0.6761,-0.00453,0.09084038285639888,1.0,0.0,0.0,0.0,0.03935296647232672,0.14624319807366648,0.4159738231889226,0.011037099057590673,-0.002519908061508369,-0.00024102301961107393,0.500861311950429,0.40919910405047855,0.4017574606360816,0.02841396955299389,-0.03407042524655079,-0.0004709738925148923,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.18389915186102876,0.5645502549274872,0.8375152272657915,-0.06031881820495472,-0.44315338803711923,0.2940174451859382,1.2051166602065873,0.4159738231889226,0.3676014329407957,0.3676014329407957,0.4680000000000579,0,0,-3.321008989617814e-05,-9.99587177182903e-05
+12365,1792701694553300353,9521560000000,1792701694545879096,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760113851017487,-0.004618624211856406,0.09073044495720177,0.9999999854852392,-9.504947327149299e-05,-0.00010688888063860481,3.5708146038770983e-06,0.6761,-0.00453,0.09080078865862701,1.0,0.0,0.0,0.0,0.026420888033360346,0.139487723256231,0.48373376666459894,0.010995636124152587,-0.0015207759500301815,-0.0002845750048630583,0.48792923351146267,0.40244362923304305,0.4695174041117579,0.028372506619555805,-0.0330712931350726,-0.0005145258777668767,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.2790407790237556,0.46331274444873977,0.6910736466605378,-0.006859731651951739,-0.32832957624196724,0.22639897862034056,1.2051166602065873,0.48373376666459894,0.5140430135460494,0.5140430135460494,0.556000000000046,0,0,-3.3822540199619156e-05,2.5954650143624635e-06
+12516,1792701695812216235,9522819000000,1792701695809870006,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760134353278481,-0.0046256644498340604,0.09071027790833808,0.9999999859509584,-9.25080812104551e-05,-0.00010401831833438914,1.2782479663387655e-05,0.6761,-0.00453,0.09076725960749152,1.0,0.0,0.0,0.0,0.01813792193814845,0.1432491840055009,0.5793934069274851,0.010965139541863848,-0.0010587897361018367,-0.00035227734970342595,0.47964626741625077,0.406205089982313,0.5651770443746441,0.028342010037267065,-0.032609306921144256,-0.0005822282226072443,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.2929311252880987,0.5601640800881832,0.5678303400067558,-0.015487750325538228,-0.24993532216900616,0.281099148508088,1.2051166602065873,0.5793934069274851,0.6372863201998314,0.6372863201998314,0.656720000000007,0,0,-2.0340330118802423e-05,2.80154469330995e-05
+12638,1792701696828252396,9523835000000,1792701696821869506,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760352925250454,-0.004624298446371799,0.09070589409360026,0.9999999880885239,-8.774097481198616e-05,-8.497278130916614e-05,1.8626979133330672e-05,0.6761,-0.00453,0.09073980323440715,1.0,0.0,0.0,0.0,-0.028975092237229327,0.1939549998976226,0.5713214950163654,0.01495529867325988,0.002435962483661201,-0.0002501766348869117,0.432533253240873,0.45691090587443467,0.5571051324635244,0.0323321691686631,-0.029114554701381218,-0.0004801275077907301,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.4585063898616769,0.5625583949950714,0.514798170238398,-0.008400268692700415,-0.18952392687378664,0.28181936163765386,1.2051166602065873,0.5713214950163654,0.6903184899681892,0.6903184899681892,0.7379999999999755,0,0,-3.952894897440838e-05,1.3977181302822167e-05
+12771,1792701697937221774,9524944000000,1792701697929869256,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760342362365654,-0.004626634748727979,0.09067354741007232,0.9999999879472052,-8.513055762503909e-05,-8.724411269235959e-05,2.62622683359452e-05,0.6761,-0.00453,0.09069630222166812,1.0,0.0,0.0,0.0,-0.038730234841488576,0.18819636048737554,0.6902946419190334,0.014905350856187844,0.0034170866671442736,-0.00033223469888194444,0.42277811063661375,0.4511522664641876,0.6760782793661925,0.03228222135159106,-0.028133430517898145,-0.0005621855717857628,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.4576241452801898,0.5087936636256932,0.4492953235260994,0.032305571615688596,-0.15145367000981208,0.24658952491035568,1.2051166602065873,0.6902946419190334,0.7558213366804878,0.7558213366804878,0.8267199999999411,0,0,-3.474537013245372e-05,-9.927792895959015e-05
+12899,1792701699003190412,9526010000000,1792701699001870106,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760378349479851,-0.004630114590338875,0.09065229995553788,0.9999999882979688,-8.599468057405375e-05,-8.012735474901724e-05,3.2116172301340325e-05,0.6761,-0.00453,0.09066821616709374,1.0,0.0,0.0,0.0,-0.039339565411514676,0.1872370373485271,0.7618336409893587,0.014851781194636076,0.003409708957952763,-0.0003901281746437993,0.42216878006658765,0.45019294332533916,0.7476172784365177,0.032228651690039294,-0.028140808227089656,-0.0006200790475476177,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.49502143151676214,0.522686891857848,0.3624691695070051,0.04139672567073999,-0.09029467068640062,0.25070793073643655,1.2051166602065873,0.7618336409893587,0.8426474906995822,0.8426474906995822,0.911999999999908,0,0,-2.1035702425813103e-05,-9.999858860266215e-05
+13015,1792701699970150124,9526977000000,1792701699965869006,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760392604799536,-0.004630065974652394,0.09063342297306508,0.9999999889992368,-8.033089216447599e-05,-7.422267013659565e-05,3.8501088478413353e-05,0.6761,-0.00453,0.09064618376347335,1.0,0.0,0.0,0.0,-0.04847786615971106,0.1919065864476978,0.7918851622177253,0.014858081384025997,0.0044155254983102125,-0.00039930987567438417,0.41303047931839126,0.4548624924245099,0.7776687996648843,0.032234951879429215,-0.027134991686732206,-0.0006292607485782025,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.4804975899427948,0.43884788560806465,0.3140552866793879,0.05480314350827014,-0.06294397176350264,0.19062694477624217,1.2051166602065873,0.7918851622177253,0.8910613735271993,0.8910613735271993,0.989359999999878,0,0,-2.615603984376514e-05,-8.969032047468346e-05
+13179,1792701701337194252,9528344000000,1792701701329869255,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760448185935315,-0.00463467038640221,0.09060395977118225,0.9999999896765783,-7.991163449245692e-05,-5.83177780032095e-05,4.798828134544384e-05,0.6761,-0.00453,0.09060081689479549,1.0,0.0,0.0,0.0,-0.06679593355964414,0.19521235704890544,0.8814257502505093,0.014814096605159355,0.005409460139689615,-0.0004581545960053859,0.3947124119184582,0.4581682630257175,0.8672093876976683,0.03219096710056257,-0.026141057045352804,-0.0006881054689092043,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.5124390719400348,0.553832974628897,0.09673957831226274,0.030542295836639647,0.07480727638597702,0.2668533808757356,1.2051166602065873,0.8814257502505093,1.1083770818943246,1.1083770818943246,1.0987199999999726,0,0,-3.879138863319286e-05,9.999996250365512e-05
+13330,1792701702595125178,9529602000000,1792701702589869221,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760427106895838,-0.004641916427264456,0.09055867637754066,0.9999999891555573,-7.752403470636072e-05,-6.06175250854229e-05,5.8713619843702365e-05,0.6761,-0.00453,0.09055527812141577,1.0,0.0,0.0,0.0,-0.07229746135815285,0.17925888970250525,0.9516478451920052,0.014622962753762212,0.005396366289710745,-0.0005160080406332307,0.3892108841199495,0.4422147956793173,0.9374314826391642,0.03199983324916543,-0.026154150895331674,-0.0007459589135370491,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.5032403913243285,0.4717673811305193,0.09634718487421506,0.056499068094818056,0.07408205041919665,0.21690552535929358,1.2051166602065873,0.9516478451920052,1.1087694753323722,1.1087694753323722,1.1993600000000733,0,0,-3.570436475228001e-05,-9.999670122352029e-05
+13470,1792701703762217811,9530769000000,1792701703761868957,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760494131918388,-0.004639828144049654,0.09052477110082409,0.9999999905840428,-5.492042026392118e-05,-4.9726579625551946e-05,6.917942951359769e-05,0.6761,-0.00453,0.09050529234830708,1.0,0.0,0.0,0.0,-0.08577533630261341,0.17290508684632327,0.9919410009346381,0.013743790289794052,0.006419603569632688,-0.0005455632167326738,0.3757330091754889,0.43586099282313534,0.9777246383817971,0.03112066078519727,-0.02513091361540973,-0.0007755140896364922,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.6127095212529665,0.4373859586878825,-0.03345821984548973,0.06558287435227347,0.1819292609417099,0.19746609327776823,1.2051166602065873,0.9919410009346381,1.238574880052077,1.238574880052077,1.2927200000001666,0,0,-4.93381391829089e-05,6.082871943875996e-05
+13538,1792701704328157919,9531335000000,1792701704325869037,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760837535432075,-0.004639288761576193,0.09052273492973839,0.9999999887071419,8.988940914367672e-05,-1.5016629522219402e-05,7.565034967466445e-05,0.6761,-0.00453,0.09047134030130101,1.0,0.0,0.0,0.0,-0.13623266528569888,0.24216294942382266,0.963584098275648,0.0196300019877429,0.010375818788178177,-0.0003978432502024851,0.32527568019240344,0.5051188554006347,0.949367735722807,0.03700687248314612,-0.02117469839686424,-0.0006277941231063035,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7308514362200118,0.488259821715413,0.04284496532617878,0.03509231280237823,0.15098522205944553,0.19857913703311256,1.2051166602065873,0.963584098275648,1.1622716948804084,1.1622716948804084,1.338000000000212,0,0,-7.30453352068824e-05,-9.999999025923074e-05
+13650,1792701705262189351,9532269000000,1792701705257869329,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760825946951571,-0.004642992087907306,0.09045688842583065,0.9999999874677732,8.920878854082732e-05,-1.4884770709947326e-05,9.125543033665886e-05,0.6761,-0.00453,0.09039834209471719,1.0,0.0,0.0,0.0,-0.1347740976730189,0.20677864768466353,1.0437580491024332,0.016686830132212397,0.01040401358532839,-0.0004959971255876516,0.3267342478050834,0.4697345536614756,1.029541686549592,0.034063700627615615,-0.02114650359971403,-0.00072594799849147,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7620712100918514,0.5068837851160841,-0.05838053663593707,0.04688023869482488,0.2207012287705325,0.22745180421649908,1.2051166602065873,1.0437580491024332,1.2634971968425244,1.2634971968425244,1.4127200000002866,0,0,-7.48315697421661e-05,-9.663176789154732e-05
+13778,1792701706328120352,9533335000000,1792701706325869401,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760822819407519,-0.004647493735264738,0.09038427855470461,0.9999999857651616,8.890761570716568e-05,-1.4901156723445e-05,0.00010856303430832336,0.6761,-0.00453,0.09032327581901507,1.0,0.0,0.0,0.0,-0.12447475324516677,0.19204873802502842,1.0922116121748768,0.014645911076180036,0.010066738539252627,-0.0005651934184414211,0.33703359223293555,0.4550046440018405,1.0779952496220357,0.03202278157158325,-0.02148377864578979,-0.0007951442913452395,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.728919388595125,0.3507623036031707,-0.2709837304803213,0.10174444616807558,0.34643596472913124,0.15760027171061552,1.2051166602065873,1.0922116121748768,1.4761003906869086,1.4761003906869086,1.498000000000372,0,0,-6.636950051067269e-05,9.960418187316406e-05
+13889,1792701707253130940,9534260000000,1792701707249869264,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760843338165374,-0.0046523593236961576,0.09032515364677181,0.9999999845893669,8.88249802807603e-05,-1.2311035000352725e-05,0.0001192589267130876,0.6761,-0.00453,0.09025725879223603,1.0,0.0,0.0,0.0,-0.12765282983403942,0.17151850510153704,1.1106525932529487,0.013618214880543354,0.010160028479639198,-0.0005846781802403395,0.3338555156440629,0.4344744110783491,1.0964362307001077,0.03099508537594657,-0.02139048870540322,-0.0008146290531441579,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7524922285934261,0.39213557869108134,-0.23052782576099545,0.1070260854351312,0.32093039852865946,0.19555332308890816,1.2051166602065873,1.1106525932529487,1.4356444859675828,1.4356444859675828,1.572000000000446,0,0,-7.881204717593982e-05,-9.999198277566563e-05
+13981,1792701708020145329,9535027000000,1792701708013869599,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760888369482017,-0.004640790835015197,0.09026111857768092,0.9999999949806251,-1.2154391549113601e-05,1.2148434141630733e-06,3.650218215648912e-05,0.6761,-0.00453,0.09019055944787373,1.0,0.0,0.0,0.0,-0.07962450800512744,0.2374141854828773,1.1277675912583172,0.01737225470138561,0.007378318514056594,-0.0006051708052027875,0.3818838374729749,0.5003700914596894,1.113551228705476,0.03474912519678883,-0.024172198670985825,-0.0008351216781066059,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7285698423345313,0.46165468948928245,-0.243369644135008,-0.002709145100573731,0.34261200484850496,0.2656117243266912,1.2051166602065873,1.1277675912583172,1.4484863043415952,1.4484863043415952,1.6333600000005073,0,0,-9.769766488451482e-05,-9.999999025923074e-05
+14085,1792701708887117765,9535894000000,1792701708885869374,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.676091597449497,-0.004648530088811579,0.0901742367706952,0.9999999937582131,6.035597191695043e-06,3.502163148467404e-06,6.227153890681952e-05,0.6761,-0.00453,0.09009391610916587,1.0,0.0,0.0,0.0,-0.0959966502907803,0.18678997844907252,1.181649199377781,0.013653845587736323,0.008404415023989111,-0.0006691486646589811,0.365511695187322,0.4497458844258846,1.1674328368249398,0.03103071608313954,-0.023146102161053308,-0.0008990995375627995,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7486835483913412,0.4905464048726092,-0.30895022202261374,0.07622557391624502,0.3646112983484651,0.2646155154087921,1.2051166602065873,1.181649199377781,1.514066882229201,1.514066882229201,1.7027200000005767,0,0,-0.00011763560214403247,-9.999999025923074e-05
+14169,1792701709587165364,9536594000000,1792701709585868983,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760943541460979,-0.0046500785786890994,0.09010269711934904,0.9999999926779003,1.3855926392158455e-05,6.357129738428454e-06,7.651577785367189e-05,0.6761,-0.00453,0.09001307975309836,1.0,0.0,0.0,0.0,-0.09523912101900855,0.15867417203435108,1.192105594483565,0.012656306716713455,0.007410365292195159,-0.0007041744906812697,0.36626922445909377,0.42163007801116315,1.177889231930724,0.030033177212116673,-0.02414015189284726,-0.0009341253635850881,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7490726751606349,0.36254882505820946,-0.382754788163509,0.1343569633976134,0.40420345412005393,0.1796901807578615,1.2051166602065873,1.192105594483565,1.5878714483700962,1.5878714483700962,1.7587200000006327,0,0,-0.00011523563836077078,-9.999996250365512e-05
+14272,1792701710445149243,9537452000000,1792701710437869431,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760955324218052,-0.00465216500331137,0.0900043167734076,0.9999999917986484,1.2436422759395222e-05,7.936307735415768e-06,8.733795309847863e-05,0.6761,-0.00453,0.08990782613549458,1.0,0.0,0.0,0.0,-0.09559558277982677,0.14879977541919032,1.1916443195111963,0.011607493288131814,0.008442762741648135,-0.0006997168982453161,0.36591276269827555,0.4117556813960024,1.1774279569583552,0.02898436378353503,-0.023107754443394284,-0.0009296677711491345,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7841741453672041,0.40334415239756916,-0.5272094319283742,0.13475920498871163,0.4959084028697212,0.20309281673890794,1.2051166602065873,1.1916443195111963,1.7323260921349615,1.7323260921349615,1.8273600000007013,0,0,-0.00013241224762897274,9.904619765877527e-05
+14360,1792701711178142006,9538185000000,1792701711177869696,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760995865152738,-0.004654006226735583,0.08991024976125168,0.9999999913008147,5.604493541340932e-06,1.3027026768122323e-05,9.295225260719813e-05,0.6761,-0.00453,0.08980791418904456,1.0,0.0,0.0,0.0,-0.09453472943467056,0.14770527161387847,1.2291986009172704,0.010584601559235261,0.008453012659698486,-0.0007414122785958869,0.36697361604343176,0.41066117759069054,1.2149822383644293,0.02796147205463848,-0.023097504525343933,-0.0009713631514997053,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.8101020830494529,0.41590964514604734,-0.46306492342705974,0.12898941539298805,0.45517358753270215,0.20818721234697996,1.2051166602065873,1.2291986009172704,1.6681815836336469,1.6681815836336469,1.88600000000076,0,0,-0.00014125701219422216,-9.980468815141136e-05
+14448,1792701711912080928,9538919000000,1792701711909869221,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761002357983008,-0.004660143430930396,0.08980607912451254,0.9999999900601678,-5.130650090123518e-07,1.1223953307461412e-05,0.00010581251543923086,0.6761,-0.00453,0.08970134621736987,1.0,0.0,0.0,0.0,-0.09387694442562072,0.1338829435016009,1.230819448793403,0.009558849853004779,0.008472692435693291,-0.0007542881232111192,0.3676314010524816,0.39683884947841297,1.216603086240562,0.026935720348407997,-0.023077824749349128,-0.0009842389961149376,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7346955676599366,0.4519724100725147,-0.5088615745541198,0.12189421402085303,0.4585105807895327,0.22982650642436925,1.2051166602065873,1.230819448793403,1.713978234760707,1.713978234760707,1.9447200000008187,0,0,-0.00015223745445799709,-9.999999025923074e-05
+14528,1792701712578084387,9539585000000,1792701712577868823,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761003390906711,-0.0046581611551529895,0.08969902809328853,0.9999999912551176,-2.9864831023919134e-05,1.207078305159227e-05,8.885391042415972e-05,0.6761,-0.00453,0.08959530896211336,1.0,0.0,0.0,0.0,-0.08505414828788077,0.13737750086549955,1.2515473178467562,0.010602470778073622,0.00743591494133735,-0.0007740544166959369,0.37645419719022155,0.4003334068423116,1.2373309552939151,0.02797934127347684,-0.02411460224370507,-0.0010040052895997553,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7919552278552483,0.43798174151309016,-0.6726159028393751,0.14997851535577517,0.5709223104496766,0.2204368863960931,1.2051166602065873,1.2515473178467562,1.8777325630459623,1.8777325630459623,1.998000000000872,0,0,-0.00016463419332393846,9.843825340827834e-05
+14600,1792701713178038295,9540185000000,1792701713177869589,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761031429533576,-0.004657256835625584,0.08960274077264181,0.9999999913677364,-3.296766530049777e-05,1.4347033685401994e-05,8.610857883136767e-05,0.6761,-0.00453,0.08949350603069628,1.0,0.0,0.0,0.0,-0.08245187560637707,0.1306118397753684,1.251139832599171,0.00958061428886084,0.007455315998479744,-0.0007849313596407123,0.37905646987172525,0.39356774575218045,1.2369234700463299,0.026957484784264057,-0.024095201186562675,-0.0010148822325445307,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7660276758342104,0.43665741701897387,-0.5596915059560043,0.15626372180843814,0.4864629848709222,0.2202086237720629,1.2051166602065873,1.251139832599171,1.7648081661625916,1.7648081661625916,2.04600000000092,0,0,-0.0001769133792198493,-9.999646530112755e-05
+14676,1792701713812057705,9540819000000,1792701713809869672,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761040026985238,-0.0046605916955712754,0.0894913418493304,0.9999999909191127,-7.480293865543095e-06,1.6107103400149483e-05,9.638073176656628e-05,0.6761,-0.00453,0.08937868499760837,1.0,0.0,0.0,0.0,-0.08460859452857772,0.12602880410156786,1.285994145792233,0.009573901725085984,0.007447159809501027,-0.0008130974736765441,0.3768997509495246,0.3889847100783799,1.271777783239392,0.0269507722204892,-0.024103357375541392,-0.0010430483465803625,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.783412543487522,0.34160765567268275,-0.6461860197273575,0.20179133996590515,0.5379002706882153,0.1645971261591508,1.2051166602065873,1.285994145792233,1.8513026799339447,1.8513026799339447,2.0967200000009707,0,0,-0.00018375889393048984,-6.567643237443405e-05
+14751,1792701714437107015,9541444000000,1792701714429869572,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761030628572876,-0.004667423679517289,0.08937031281201736,0.999999990204502,3.5532477258851727e-06,1.0809229059000042e-05,0.00010442411241474951,0.6761,-0.00453,0.08926054390580308,1.0,0.0,0.0,0.0,-0.07452165609972361,0.11286088541692851,1.297238168287416,0.00844575305159724,0.006454055435704379,-0.0008518253555189465,0.3869866893783787,0.3758167913937406,1.2830218057345748,0.025822623547000458,-0.02509646174933804,-0.0010817762284227649,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.8221047755967154,0.3993532651732988,-0.7298360474892802,0.1985746552884715,0.5990133950053138,0.2072501273166991,1.2051166602065873,1.297238168287416,1.9349527076958675,1.9349527076958675,2.1467200000010207,0,0,-0.00019398554925301325,8.374768520192361e-05
+14823,1792701715037114643,9542044000000,1792701715029869235,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761021190043107,-0.004665558434035366,0.08925026391410379,0.9999999905988213,-9.122252679928029e-06,1.0138894335150899e-05,0.00010029560877475351,0.6761,-0.00453,0.0891423013606355,1.0,0.0,0.0,0.0,-0.06475823224329896,0.10972245016409637,1.282753597716361,0.0075616775574379284,0.006473983775174125,-0.0008459399227136374,0.39675011323480336,0.37267835614090844,1.26853723516352,0.024938548052841146,-0.025076533409868294,-0.0010758907956174557,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7685211398152038,0.41524816746112764,-0.6599205345421508,0.20542599408766307,0.53288408216196,0.21321811151054065,1.2051166602065873,1.282753597716361,1.865037194748738,1.865037194748738,2.1947200000010687,0,0,-0.00020262143959478974,-9.999999025923074e-05
+14883,1792701715537094797,9542544000000,1792701715533869258,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760994621759279,-0.004667064384003013,0.0891393443665915,0.9999999907003851,-1.9294617676905366e-05,4.149143487319918e-06,9.824762803300274e-05,0.6761,-0.00453,0.0890378344797028,1.0,0.0,0.0,0.0,-0.05817278864919784,0.08829532376000293,1.310000145699029,0.0065610816623458725,0.0054746566896132776,-0.0008956779425990383,0.4033355568289045,0.351251229736815,1.2957837831461878,0.02393795215774909,-0.02607586049542914,-0.0011256288155028567,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.8486083330858306,0.38996348713870066,-0.7655949311566546,0.2363546144785713,0.6218231769110711,0.2012924229304981,1.2051166602065873,1.310000145699029,1.9707115913632418,1.9707115913632418,2.2347200000011087,0,0,-0.00021474453026856542,3.573538745729168e-05
+14951,1792701716103091564,9543110000000,1792701716101869623,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.67609605594396,-0.004668984195890021,0.0890116886956812,0.9999999903215466,-1.4278870105440968e-05,-1.6985081220099833e-06,0.00010292230161426873,0.6761,-0.00453,0.08891250754016533,1.0,0.0,0.0,0.0,-0.05779610092097415,0.08515975074923454,1.2998705360898868,0.005515466459775808,0.006508990580018546,-0.0008829262665133816,0.4037122445571282,0.3481156567260466,1.2856541735370457,0.022892336955179025,-0.025041526605023873,-0.0011128771394172,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.7863590905713825,0.30145091824806597,-0.7590835735806892,0.27244396062592313,0.5925543269503286,0.1441173983685665,1.2051166602065873,1.2998705360898868,1.9642002337872766,1.9642002337872766,2.280000000001154,0,0,-0.00023030085711669835,-9.989512969455489e-05
+15015,1792701716637049597,9543644000000,1792701716633869303,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760971119290806,-0.004671821491852897,0.08889004446294606,0.999999989501473,-6.995742997080026e-06,-3.985642048851972e-07,0.00011131405706432761,0.6761,-0.00453,0.08878536899772478,1.0,0.0,0.0,0.0,-0.06379090697656536,0.08469941744037757,1.3196304744699512,0.005541822236671663,0.006504135784065869,-0.0008994592974213396,0.39771743850153696,0.34765532341718963,1.30541411191711,0.02291869273207488,-0.02504638140097655,-0.001129410170325158,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.867368964206761,0.34957142764003124,-0.8400058938657511,0.2660970061294439,0.6618977114919491,0.17694883307727274,1.2051166602065873,1.3196304744699512,2.0451225540723383,2.0451225540723383,2.3227200000011967,0,0,-0.0002456682558951443,8.872567544416227e-05
+15071,1792701717102990537,9544110000000,1792701717097869763,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760927510547893,-0.004676875327089306,0.08876495011050096,0.9999999894338216,-4.596661514460696e-06,-8.861504948266174e-06,0.0001116940721233578,0.6761,-0.00453,0.08866808157112965,1.0,0.0,0.0,0.0,-0.05950194692973748,0.08662420935365917,1.339898128471921,0.005508053047415258,0.006500295974080101,-0.0009156508872995443,0.40200639854836484,0.34958011533047123,1.3256817659190798,0.022884923542818476,-0.025050221210962318,-0.0011456017602033627,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.8918109414571065,0.41102812675570294,-0.8287876656855163,0.2712190893183062,0.6565709463875532,0.22161064950234452,1.2051166602065873,1.339898128471921,2.0339043258921037,2.0339043258921037,2.360000000001234,0,0,-0.00025821427180230727,-2.689159075754523e-05
+15123,1792701717537081205,9544544000000,1792701717529869299,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760932984588877,-0.004677957825735049,0.08864924796861698,0.999999989021212,-5.8070403455009876e-06,-9.70877231612354e-06,0.00011520615508773059,0.6761,-0.00453,0.08855401583803466,1.0,0.0,0.0,0.0,-0.0733522785011071,0.07707198384812175,1.350343802859188,0.005477250788730875,0.007512388518836476,-0.0009100702586195929,0.38815606697699523,0.3400278898249338,1.336127440306347,0.022854121284134093,-0.024038128666205943,-0.0011400211315234113,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.9021836255767337,0.33272636848570014,-0.7300108908021692,0.30666633640344465,0.5873069506438084,0.17239437036609517,1.2051166602065873,1.350343802859188,1.9351275510087564,1.9351275510087564,2.3947200000012687,0,0,-0.0002675839239865959,-9.999951841444527e-05
+15183,1792701718037032854,9545044000000,1792701718033869271,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760946631132704,-0.004682705569951109,0.08851729942708829,0.9999999881653798,-6.7830446316197985e-06,-8.570794712694941e-06,0.00012244442171692409,0.6761,-0.00453,0.08841820994452307,1.0,0.0,0.0,0.0,-0.0826735454016087,0.06994212789205195,1.3798878704821114,0.005449151636635931,0.008383032440918137,-0.0009214874407642853,0.3788348000764936,0.332898033868864,1.3656715079292703,0.02282602213203915,-0.02316748474412428,-0.0011514383136681037,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.9417935336933562,0.3518768233679014,-0.8661161811293903,0.31950019639379534,0.6820424190763711,0.18202794168128344,1.2051166602065873,1.3798878704821114,2.0712328413359775,2.0712328413359775,2.4347200000013087,0,0,-0.00027560154971659055,-9.998630676045223e-05
+15235,1792701718470038250,9545477000000,1792701718469869744,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760955730776391,-0.004683824640024056,0.08839911968670564,0.9999999882046589,-5.387374434048326e-07,-5.8230664410179934e-06,0.00012247182632418315,0.6761,-0.00453,0.08829602458838787,1.0,0.0,0.0,0.0,-0.09227918946023084,0.07729195319913096,1.3695371327217591,0.005445704169948516,0.008521830003244524,-0.0009121458145186278,0.3692291560178715,0.340247859175943,1.355320770168918,0.022822574665351734,-0.023028687181797895,-0.0011420966874224462,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.9346911327228431,0.19542740781934861,-0.8365385270874919,0.37850833340643514,0.6551351166477658,0.08343738671118289,1.2051166602065873,1.3695371327217591,2.0416551872940794,2.0416551872940794,2.4693600000013434,0,0,-0.00028723295494445376,-9.999999025923074e-05
+15282,1792701718862066624,9545869000000,1792701718861869013,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760930095150072,-0.004688988122916203,0.08827895523595183,0.9999999882074857,-3.094455640374519e-06,-8.600067130184282e-06,0.00012224711099329962,0.6761,-0.00453,0.08818114395770382,1.0,0.0,0.0,0.0,-0.09199445628416536,0.06497378736909382,1.3635699483464698,0.004427134097413677,0.008542333022951022,-0.0009186437358195092,0.36951388919393696,0.3279296933459059,1.3493535857936287,0.021804004592816895,-0.023008184162091397,-0.0011485946087233276,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,0.9456665021041278,0.2460816195998686,-0.9108425428477175,0.38157331625677093,0.7006387157135688,0.1205747755178585,1.2051166602065873,1.3635699483464698,2.1159592030543046,2.1159592030543046,2.5007200000013747,0,0,-0.00029858965337334196,-2.78311082776483e-05
+15330,1792701719262064647,9546269000000,1792701719257869359,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760927257619086,-0.004694890677675949,0.08815680558562072,0.9999999873992101,1.7540066351241432e-06,-1.0530038135512064e-05,0.00012857093640285944,0.6761,-0.00453,0.08805886954799472,1.0,0.0,0.0,0.0,-0.09533338650619766,0.06596034794703842,1.399450872112723,0.0043885080714017935,0.009537463742684379,-0.0009374708890974788,0.36617495897190466,0.3289162539238505,1.385234509559882,0.02176537856680501,-0.02201305344235804,-0.0011674217620012972,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.0086302673809913,0.29010072153494304,-0.9611898644421186,0.3784168190999381,0.7494918974054244,0.15515953347843864,1.2051166602065873,1.399450872112723,2.166306524648706,2.166306524648706,2.5327200000014067,0,0,-0.0003096771430163584,8.429183326186802e-05
+15374,1792701719628013352,9546635000000,1792701719621869449,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760874116558865,-0.004696167600101735,0.08803326093886317,0.999999986643306,-6.039550337521747e-07,-1.9263592698809477e-05,0.00013335966995408184,0.6761,-0.00453,0.0879436392887809,1.0,0.0,0.0,0.0,-0.10001248982176758,0.05027904671000205,1.392149417161455,0.002474775114783185,0.009587581420189,-0.0009476565666764598,0.36149585565633474,0.3132349526868141,1.377933054608614,0.019851645610186403,-0.02196293576485342,-0.0011776074395802782,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.0301277310521322,0.18800547213400454,-0.889209849327976,0.41992270263825077,0.7067429222401457,0.08709692752497217,1.2051166602065873,1.392149417161455,2.094326509534563,2.094326509534563,2.562000000001436,0,0,-0.0003188781162413986,-9.999983760356485e-05
+15418,1792701719995032044,9547002000000,1792701719993868972,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760838179089068,-0.004703697738595996,0.08789799253819905,0.999999986054999,-9.156896488105656e-06,-2.813385006699897e-05,0.00013585839788018104,0.6761,-0.00453,0.08782344061330831,1.0,0.0,0.0,0.0,-0.10983306244248209,0.05932509975681971,1.4078531665473035,0.0033730003940529614,0.00956607716355834,-0.0009526788961571557,0.35167528303562023,0.3222810057336318,1.3936368039944624,0.02074987088945618,-0.02198444002148408,-0.0011826297690609741,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.016175145952325,0.20133950869007747,-0.9599345542545024,0.4260067443908612,0.7387697179762847,0.09700804968750266,1.2051166602065873,1.4078531665473035,2.16505121446109,2.16505121446109,2.5913600000014654,0,0,-0.00033570898474585684,-1.1044286345135392e-05
+15462,1792701720362050438,9547369000000,1792701720361870300,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760853786583411,-0.004703293278085019,0.08778763815988805,0.999999986142073,-3.3354582114714757e-06,-2.3591529046861273e-05,0.00013634893805023176,0.6761,-0.00453,0.08769895104712436,1.0,0.0,0.0,0.0,-0.10263934622938248,0.039981095758809315,1.3881430002959656,0.00235229405345758,0.0095897182559063,-0.0009473387066259582,0.35886899924871984,0.3029370017356214,1.3739266377431245,0.019729164548860798,-0.02196079892913612,-0.0011772895795297766,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.0389632240111586,0.244298704095257,-0.9731591846425802,0.4338311546076846,0.7532896281392442,0.1303991005809991,1.2051166602065873,1.3881430002959656,2.1782758448491677,2.1782758448491677,2.6207200000014947,0,0,-0.0003465754850326597,-7.454382918385802e-05
+15510,1792701720762008801,9547769000000,1792701720757869387,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760850198265826,-0.004708399121750704,0.08765057317028323,0.9999999857800388,-7.501730717947225e-06,-2.4012032169137356e-05,0.00013874412797353758,0.6761,-0.00453,0.08755765360225207,1.0,0.0,0.0,0.0,-0.12342128583365541,0.051296665876573444,1.395034482858255,0.003344122234228978,0.010594604377775825,-0.0009350730515370783,0.3380870596444469,0.3142525718533855,1.380818120305414,0.020720992729632196,-0.020955912807266594,-0.0011650239244408967,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.0787077802543008,0.19900808681484752,-0.9644298293886934,0.45888397463720587,0.7542370747663957,0.10019214931146139,1.2051166602065873,1.395034482858255,2.1695464895952807,2.1695464895952807,2.6527200000015267,0,0,-0.00035989178166359457,-9.999999025923074e-05
+15550,1792701721095043980,9548102000000,1792701721089869555,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760855017456854,-0.0047086812212861285,0.08753437629328023,0.9999999857392646,-9.091708440719764e-06,-2.1584843191303734e-05,0.00013934048428433855,0.6761,-0.00453,0.08743551357970133,1.0,0.0,0.0,0.0,-0.12044364410673608,0.04382997235775321,1.4189760989647597,0.0033295361002553016,0.0105784445580837,-0.0009472288401811921,0.34106470137136624,0.3067858783345653,1.4047597364119186,0.02070640659565852,-0.02097207262695872,-0.0011771797130850105,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.070213931850127,0.12579263396113577,-0.847392937790276,0.49864607408427525,0.6761108326919238,0.05655114379184589,1.2051166602065873,1.4189760989647597,2.0525095979968633,2.0525095979968633,2.6793600000015534,0,0,-0.00037191348419981916,-9.999994862586731e-05
+15590,1792701721428023216,9548435000000,1792701721425869366,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760839214432853,-0.004715140552348046,0.0874054497434941,0.9999999850376251,-1.617021893114642e-05,-2.4194213813959782e-05,0.00014325075274473805,0.6761,-0.00453,0.08730984132007606,1.0,0.0,0.0,0.0,-0.12084092585989464,0.041026839091016065,1.4085266926230857,0.0023194693798124985,0.010629304307361202,-0.0009498122849347163,0.3406674196182077,0.30398274506782813,1.3943103300702446,0.019696339875215716,-0.020921212877681217,-0.0011797631578385347,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.0960785171710012,0.11344422004043786,-0.9142269341891054,0.49949633580383157,0.7250797915837832,0.047119808213335466,1.2051166602065873,1.4085266926230857,2.1193435943956924,2.1193435943956924,2.70600000000158,0,0,-0.0003832608033813286,-9.999996250365512e-05
+15632,1792701721778035688,9548785000000,1792701721777869076,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760816276547112,-0.004717909532589641,0.08727180000626782,0.9999999851289036,-3.350715644272813e-05,-2.5680642859073284e-05,0.00013929404881125133,0.6761,-0.00453,0.0871733023558906,1.0,0.0,0.0,0.0,-0.12614157879008958,0.05306612478555772,1.3996514741993018,0.0032848754992948447,0.011594882598810363,-0.0009196815467463511,0.33536676668801274,0.3160220307623698,1.3854351116464607,0.020661745994698062,-0.019955634586232056,-0.0011496324196501695,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.1527578787560848,0.13031929177481483,-0.9741451643331637,0.5125168642556746,0.7746624325906875,0.062381048605119976,1.2051166602065873,1.3996514741993018,2.179261824539751,2.179261824539751,2.734000000001608,0,0,-0.00039752945600188126,-9.999999025923074e-05
+15669,1792701722087040460,9549094000000,1792701722081869252,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760821604322346,-0.004716702822208337,0.08714902773637859,0.9999999842036046,-3.356744998269044e-05,-2.6070853151661997e-05,0.0001457024090479484,0.6761,-0.00453,0.08704852649335336,1.0,0.0,0.0,0.0,-0.13682951981673147,0.04177899562091175,1.436293615829114,0.0022874385315325013,0.011606589534013712,-0.0009599597509720516,0.32467882566137085,0.3047349015977238,1.4220772532762729,0.01966430902693572,-0.019943927651028707,-0.00118991062387587,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.1466792404830797,0.11682031293006205,-0.9466249789985883,0.5189825180411071,0.7551426448397702,0.05307722309921977,1.2051166602065873,1.436293615829114,2.1517416392051754,2.1517416392051754,2.7587200000016328,0,0,-0.000410499536400459,-9.999999025923074e-05
+15705,1792701722386936741,9549394000000,1792701722385869199,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760829435766934,-0.004720302361062846,0.08702830964998781,0.9999999828701721,-2.646392638395069e-05,-2.4437231484354925e-05,0.00015622100486932262,0.6761,-0.00453,0.08692397249373161,1.0,0.0,0.0,0.0,-0.14894413826501113,0.04125115796938156,1.4184506946324655,0.0022635694052545938,0.012624355872229927,-0.0009300062247418719,0.3125642072130912,0.3042070639461936,1.4042343320796244,0.01964043990065781,-0.01892616131281249,-0.0011599570976456902,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.212243635859182,0.0810538294248174,-1.0096610260228198,0.5385822042372918,0.8138055956943425,0.030652866907783658,1.2051166602065873,1.4184506946324655,2.2147776862294073,2.2147776862294073,2.7827200000016568,0,0,-0.0004212408314205592,-9.999999025923074e-05
+15741,1792701722686999525,9549694000000,1792701722681868632,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760790890152129,-0.004720347141058664,0.08690029160951165,0.9999999806884676,4.99937339732749e-05,-3.226046935295452e-05,0.00016286748421057598,0.6761,-0.00453,0.08679563531094274,1.0,0.0,0.0,0.0,-0.1470547547268729,0.0331016682970236,1.438429754882888,0.00225986442197796,0.012620206889700454,-0.0009461960535144619,0.3144535907512294,0.29605757427383567,1.4242133923300468,0.019636734917381177,-0.018930310295341965,-0.0011761469264182803,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.1999397148156201,-0.008684508856839931,-0.9147067680333758,0.5755490453198497,0.7510679651613129,-0.023372669605192884,1.2051166602065873,1.438429754882888,2.119823428239963,2.119823428239963,2.8067200000016808,0,0,-0.00043424606425565413,-9.999999025923074e-05
+15777,1792701722987032772,9549994000000,1792701722985869461,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760843942746141,-0.004719742794680087,0.08676685642804921,0.9999999867987037,-1.7686837102177506e-05,-1.588647624268379e-05,0.00013145437396864094,0.6761,-0.00453,0.08666347557214704,1.0,0.0,0.0,0.0,-0.14807479267538592,0.06798536174167452,1.4192432239013273,0.004306275763872845,0.01258524813123377,-0.0009077649295050559,0.3134335528027164,0.3309412677184866,1.4050268613484862,0.021683146259276063,-0.01896526905380865,-0.0011377158024088742,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.283886592642958,0.08288966625526299,-0.8965645096575325,0.5401428229299355,0.7647329784828494,0.036859009840248154,1.2051166602065873,1.4192432239013273,2.10168116986412,2.10168116986412,2.8307200000017048,0,0,-0.0004475671619111595,-9.999999025923074e-05
+15809,1792701723253023114,9550260000000,1792701723249869229,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760782078875031,-0.0047276050200847665,0.08664629903947982,0.9999999839700164,-1.967732994635666e-05,-2.997930393722828e-05,0.00014905326385100326,0.6761,-0.00453,0.0865428341537643,1.0,0.0,0.0,0.0,-0.16171472025595007,0.046235609149909096,1.4486090152507238,0.0026066571741336433,0.013575850700937673,-0.0009307392424255275,0.29979362522215225,0.30919151512672116,1.4343926526978827,0.01998352766953686,-0.017974666484104746,-0.001160690115329346,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.2677711670126282,0.1293930993535275,-0.9698245598160653,0.5281153102642463,0.8100586849852422,0.0654278428786862,1.2051166602065873,1.4486090152507238,2.1749412200226526,2.1749412200226526,2.852000000001726,0,0,-0.00045965607762685066,-9.999999025923074e-05
+15845,1792701723552937702,9550560000000,1792701723549869317,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760782748573416,-0.004733031210026548,0.08651024963000141,0.999999980397667,-1.1089117513176436e-05,-3.0319752648547415e-05,0.00017206183249368374,0.6761,-0.00453,0.08640282742111789,1.0,0.0,0.0,0.0,-0.15657689133615654,0.042198780924415924,1.44827987324657,0.002230526470293273,0.01362878311058131,-0.0009397328903478641,0.3049314541419458,0.305154686901228,1.434063510693729,0.01960739696569649,-0.01792173407446111,-0.0011696837632516825,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.3624376709253327,0.15401761435537056,-0.9990450816055823,0.5285789166574062,0.8570585625983568,0.08671928772869467,1.2051166602065873,1.44827987324657,2.2041617418121695,2.2041617418121695,2.87600000000175,0,0,-0.000473591851356285,-9.999999025923074e-05
+15877,1792701723819994915,9550827000000,1792701723817869098,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760791062242835,-0.004731794193709555,0.08638429299364303,0.999999977118615,1.2282661074105801e-05,-3.0017497438283992e-05,0.0001901413160466472,0.6761,-0.00453,0.08627465296299149,1.0,0.0,0.0,0.0,-0.17459220531471142,0.03566919876776892,1.4287317764322305,0.001228508086547845,0.0146648357777068,-0.0009212968710376671,0.2869161401633909,0.298625104744581,1.4145154138793894,0.018605378581951063,-0.01688568140733562,-0.0011512477439414854,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.3655130529532638,0.03703251662411792,-0.9599062745398315,0.5727869616894815,0.8342089743028666,0.02026415253027575,1.2051166602065873,1.4287317764322305,2.1650229347464185,2.1650229347464185,2.8973600000017714,0,0,-0.0004864191981937812,-9.999999025923074e-05
+15905,1792701724052948866,9551060000000,1792701724049869090,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760804749061252,-0.004725409661047035,0.08627416395169396,0.9999999870887818,-6.41307441981587e-05,-1.8112020850990143e-05,0.00011324532248452311,0.6761,-0.00453,0.08615998261141163,1.0,0.0,0.0,0.0,-0.13458039211619793,0.05704175216377355,1.4691283687676107,0.0037681343576627564,0.012475118730725477,-0.0009557561700989263,0.3269279533619044,0.3199976581405856,1.4549120062147696,0.021145004853065974,-0.019075398454316942,-0.0011857070430027446,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.3475619344648724,0.08993803595258311,-0.9495409824074894,0.5154473441114434,0.8368968707857933,0.06847742446984778,1.2051166602065873,1.4691283687676107,2.154657642614077,2.154657642614077,2.91600000000179,0,0,-0.0004977970548089835,-9.999999025923074e-05
+15933,1792701724287027469,9551294000000,1792701724281869615,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760764866863103,-0.004737626828456432,0.0861535778579163,0.9999999844174273,-4.000495345618901e-05,-1.9888323450959572e-05,0.0001435690355172299,0.6761,-0.00453,0.08604216988606338,1.0,0.0,0.0,0.0,-0.1289169302425347,0.052960251276274184,1.4686591978180075,0.0022553997518715736,0.01261192554355519,-0.0009682472616509779,0.3325914152355676,0.31591615725308625,1.4544428352651664,0.01963227024727479,-0.01893859164148723,-0.0011981981345547963,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.3916029025897858,0.1442365135501507,-0.9748646830494946,0.5356249340457142,0.8555595708512331,0.0925285735233001,1.2051166602065873,1.4686591978180075,2.179981343256082,2.179981343256082,2.9347200000018088,0,0,-0.0005091323769621222,-9.999999025923074e-05
+15961,1792701724519971543,9551527000000,1792701724513869078,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760630905927623,-0.004739674121233928,0.08602643194196384,0.9999999817622603,-8.800073929765178e-06,-4.151477518049683e-05,0.0001616088662756706,0.6761,-0.00453,0.08592227296583735,1.0,0.0,0.0,0.0,-0.1367782584092881,0.018240594647721375,1.4816052898393466,0.0002283189444135976,0.012645160633722681,-0.001002860980037316,0.32473008706881423,0.28119650062453344,1.4673889272865055,0.017605189439816815,-0.018905356551319738,-0.0012328118529411343,0.4615083454781023,0.26295590597681207,-0.014216362552841018,0.017376870495403218,-0.03155051718504242,-0.00022995087290381838,1,1.4337385401763798,0.15754303318072388,-1.0350675557890967,0.5395716435549414,0.9138512054313354,0.10870429444405207,1.2051166602065873,1.4816052898393466,2.2401842159956837,2.2401842159956837,2.9533600000018274,0,0,-0.0005199450822765669,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0bb066925e06ec25c7fe8a3f42027654acd287a4
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f891297c097fed6ee694ef800234ba5390bb9b4
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792701687430922397,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.765221189e-09,-3.738992449e-11,3.301892093e-11,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293313e-01,1.719246273e-06,8.295725791e-01
+1,5.166666667e-01,DOWN_FORCE_DETACH,1792701688428999079,9.524363471e-07,-1.079334978e-05,-1.314435124e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.122062803e-07,-7.993624495e-10,9.221942099e-10,7.015388239e-01,-9.242388461e-06,8.407396268e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294377e-01,1.718484301e-06,8.295725800e-01
+2,1.083333333e+00,DOWN_FORCE_DETACH,1792701689492905656,-2.852369343e-06,-2.321096468e-05,-3.919817859e-05,-4.412967066e-06,-1.808436395e-05,-3.497020998e-05,-4.496991377e-06,-1.805915964e-05,-3.465845464e-05,7.015350191e-01,-2.166000336e-05,8.407017430e-01,7.015334585e-01,-1.653340263e-05,8.407059710e-01,7.017248285e-01,-1.633987597e-05,8.295379207e-01
+3,1.416666667e+00,DOWN_FORCE_DETACH,1792701690124985345,3.027922507e-05,-2.998291763e-05,-6.182547131e-05,3.154617942e-05,-2.870125301e-05,-5.036518252e-05,3.216144804e-05,-2.862585727e-05,-5.001020029e-05,7.015681507e-01,-2.843195631e-05,8.406791157e-01,7.015694177e-01,-2.715029169e-05,8.406905760e-01,7.017614870e-01,-2.690657361e-05,8.295225689e-01
+4,2.000000000e+00,DOWN_FORCE_DETACH,1792701691288917807,2.734623546e-05,-3.761192938e-05,-7.600024418e-05,2.453703569e-05,-2.992002233e-05,-7.294244252e-05,2.507150516e-05,-2.983767216e-05,-7.267990728e-05,7.015652177e-01,-3.606096806e-05,8.406649409e-01,7.015624085e-01,-2.836906101e-05,8.406679987e-01,7.017543970e-01,-2.811838850e-05,8.294998992e-01
+5,2.483333333e+00,DOWN_FORCE_DETACH,1792701692254286630,2.405774995e-05,-3.516406568e-05,-8.261749012e-05,2.453703569e-05,-2.992002233e-05,-7.294244252e-05,2.508654339e-05,-2.983856062e-05,-7.278525419e-05,7.015619292e-01,-3.361310436e-05,8.406583237e-01,7.015624085e-01,-2.836906101e-05,8.406679987e-01,7.017544121e-01,-2.811927696e-05,8.294997939e-01
+6,3.083333333e+00,DOWN_FORCE_DETACH,1792701693452937505,2.342839398e-05,-3.714567488e-05,-9.427709664e-05,2.282786184e-05,-3.876455995e-05,-9.370601289e-05,2.328428709e-05,-3.865914560e-05,-9.323911898e-05,7.015612999e-01,-3.559471356e-05,8.406466641e-01,7.015606993e-01,-3.721359863e-05,8.406472352e-01,7.017526098e-01,-3.693986193e-05,8.294793400e-01
+7,3.633333333e+00,DOWN_FORCE_DETACH,1792701694549424114,2.928858717e-05,-4.004050169e-05,-1.063378309e-04,2.282786184e-05,-3.876455995e-05,-9.370601289e-05,2.326555213e-05,-3.866056942e-05,-9.344550477e-05,7.015671601e-01,-3.848954036e-05,8.406346034e-01,7.015606993e-01,-3.721359863e-05,8.406472352e-01,7.017525911e-01,-3.694128576e-05,8.294791336e-01
+8,4.300000000e+00,DOWN_FORCE_DETACH,1792701695813002289,2.875882013e-05,-4.492845711e-05,-1.333181442e-04,2.870394224e-05,-4.445319291e-05,-1.320856898e-04,2.915947594e-05,-4.431518146e-05,-1.315149061e-04,7.015666303e-01,-4.337749578e-05,8.406076230e-01,7.015665754e-01,-4.290223159e-05,8.406088555e-01,7.017584850e-01,-4.259589780e-05,8.294410642e-01
+9,4.833333333e+00,DOWN_FORCE_DETACH,1792701696826889920,5.287546562e-05,-4.347473117e-05,-1.339132412e-04,4.695024849e-05,-4.686208506e-05,-1.240073533e-04,4.782275138e-05,-4.672494813e-05,-1.237298803e-04,7.015907469e-01,-4.192376985e-05,8.406070279e-01,7.015848217e-01,-4.531112374e-05,8.406169338e-01,7.017771483e-01,-4.500566446e-05,8.294488492e-01
+10,5.416666667e+00,DOWN_FORCE_DETACH,1792701697940831533,5.154344863e-05,-4.530836497e-05,-1.656566039e-04,4.994513525e-05,-4.983646136e-05,-1.672317519e-04,5.079472975e-05,-4.968856060e-05,-1.664392487e-04,7.015894149e-01,-4.375740365e-05,8.405752846e-01,7.015878166e-01,-4.828550004e-05,8.405737094e-01,7.017801203e-01,-4.796927694e-05,8.294061399e-01
+11,5.966666667e+00,DOWN_FORCE_DETACH,1792701699006835262,5.231086586e-05,-5.047416911e-05,-1.916444033e-04,5.276096402e-05,-4.813011772e-05,-1.873768491e-04,5.364400598e-05,-4.798084045e-05,-1.866947095e-04,7.015901823e-01,-4.892320779e-05,8.405492968e-01,7.015906324e-01,-4.657915640e-05,8.405535643e-01,7.017829695e-01,-4.626155679e-05,8.293858844e-01
+12,6.450000000e+00,DOWN_FORCE_DETACH,1792701699973053689,5.825134918e-05,-5.084249851e-05,-2.038436850e-04,5.276096402e-05,-4.813011772e-05,-1.873768491e-04,5.368360666e-05,-4.797823572e-05,-1.869497447e-04,7.015961228e-01,-4.929153718e-05,8.405370975e-01,7.015906324e-01,-4.657915640e-05,8.405535643e-01,7.017830091e-01,-4.625895206e-05,8.293856294e-01
+13,7.133333333e+00,DOWN_FORCE_DETACH,1792701701334735786,6.157355652e-05,-5.757400960e-05,-2.374462969e-04,5.961748282e-05,-5.893610049e-05,-2.246790543e-04,6.059716790e-05,-5.876455367e-05,-2.240393950e-04,7.015994450e-01,-5.602304828e-05,8.405034949e-01,7.015974890e-01,-5.738513917e-05,8.405162621e-01,7.017899227e-01,-5.704527000e-05,8.293485397e-01
+14,7.766666667e+00,DOWN_FORCE_DETACH,1792701702599039203,6.097925420e-05,-5.821695331e-05,-2.786482399e-04,6.142863805e-05,-5.996105508e-05,-2.651666251e-04,6.237332925e-05,-5.978079759e-05,-2.644685930e-04,7.015988507e-01,-5.666599199e-05,8.404622929e-01,7.015993001e-01,-5.841009376e-05,8.404757746e-01,7.017916988e-01,-5.806151392e-05,8.293081105e-01
+15,8.366666667e+00,DOWN_FORCE_DETACH,1792701703763068907,6.431149502e-05,-6.045876797e-05,-3.173057173e-04,6.352971339e-05,-5.969304532e-05,-3.045793943e-04,6.433584075e-05,-5.949367023e-05,-3.039054244e-04,7.016021830e-01,-5.890780665e-05,8.404236355e-01,7.016014012e-01,-5.814208400e-05,8.404363618e-01,7.017936614e-01,-5.777438656e-05,8.292686737e-01
+16,8.666666667e+00,DOWN_FORCE_DETACH,1792701704329196662,1.003418512e-04,-5.694250189e-05,-3.185028274e-04,9.043801690e-05,-5.699868487e-05,-3.099362149e-04,9.184512825e-05,-5.683414258e-05,-3.093831252e-04,7.016382133e-01,-5.539154057e-05,8.404224384e-01,7.016283095e-01,-5.544772355e-05,8.404310050e-01,7.018211706e-01,-5.511485892e-05,8.292631960e-01
+17,9.166666667e+00,DOWN_FORCE_DETACH,1792701705258751257,9.931363395e-05,-6.564523156e-05,-3.830977836e-04,9.911973980e-05,-6.040459011e-05,-3.754996172e-04,1.007777304e-04,-6.021601744e-05,-3.746190329e-04,7.016371851e-01,-6.409427024e-05,8.403578434e-01,7.016369912e-01,-5.885362878e-05,8.403654416e-01,7.018301033e-01,-5.849673377e-05,8.291979601e-01
+18,9.716666667e+00,DOWN_FORCE_DETACH,1792701706324717290,9.969994468e-05,-6.888444350e-05,-4.555205956e-04,9.545285479e-05,-6.881536140e-05,-4.422543062e-04,9.695164009e-05,-6.861748226e-05,-4.415256631e-04,7.016375714e-01,-6.733348218e-05,8.402854206e-01,7.016333243e-01,-6.726440008e-05,8.402986869e-01,7.018262772e-01,-6.689819860e-05,8.291310535e-01
+19,1.020000000e+01,DOWN_FORCE_DETACH,1792701707256182528,1.009157432e-04,-7.276757968e-05,-5.168659363e-04,9.994020843e-05,-7.193023882e-05,-5.046765079e-04,1.013578087e-04,-7.171083134e-05,-5.039955274e-04,7.016387872e-01,-7.121661836e-05,8.402240753e-01,7.016378117e-01,-7.037927750e-05,8.402362647e-01,7.018306833e-01,-6.999154768e-05,8.290685836e-01
+20,1.058333333e+01,DOWN_FORCE_DETACH,1792701708020999741,1.063497378e-04,-6.198096900e-05,-5.785189069e-04,1.068336952e-04,-5.800683189e-05,-5.625540167e-04,1.082773609e-04,-5.785635690e-05,-5.618334693e-04,7.016442212e-01,-6.043000768e-05,8.401624223e-01,7.016447052e-01,-5.645587057e-05,8.401783872e-01,7.018376029e-01,-5.613707324e-05,8.290107456e-01
+21,1.101666667e+01,DOWN_FORCE_DETACH,1792701708884870791,1.083690592e-04,-7.098861166e-05,-6.653275716e-04,1.089648046e-04,-6.766196784e-05,-6.497979289e-04,1.101691523e-04,-6.746221212e-05,-6.488530574e-04,7.016462405e-01,-6.943765034e-05,8.400756136e-01,7.016468363e-01,-6.611100652e-05,8.400911433e-01,7.018394947e-01,-6.574292846e-05,8.289237261e-01
+22,1.136666667e+01,DOWN_FORCE_DETACH,1792701709584756266,1.099633714e-04,-7.537907914e-05,-7.400822866e-04,1.103389104e-04,-6.671426888e-05,-7.316174650e-04,1.113047403e-04,-6.648526077e-05,-7.303929012e-04,7.016478349e-01,-7.382811782e-05,8.400008589e-01,7.016482104e-01,-6.516330756e-05,8.400093237e-01,7.018406303e-01,-6.476597710e-05,8.288421862e-01
+23,1.180000000e+01,DOWN_FORCE_DETACH,1792701710448721528,1.127519379e-04,-7.541036069e-05,-8.362658005e-04,1.112141316e-04,-7.335585285e-05,-8.182704009e-04,1.119775946e-04,-7.311534201e-05,-8.169869205e-04,7.016506234e-01,-7.385939937e-05,8.399046754e-01,7.016490856e-01,-7.180489153e-05,8.399226708e-01,7.018413031e-01,-7.139605835e-05,8.287555922e-01
+24,1.216666667e+01,DOWN_FORCE_DETACH,1792701711180878062,1.155045597e-04,-7.655900117e-05,-9.306333172e-04,1.140974296e-04,-7.567756146e-05,-9.158281728e-04,1.144953011e-04,-7.546578948e-05,-9.142368871e-04,7.016533760e-01,-7.500803985e-05,8.398103079e-01,7.016519689e-01,-7.412660014e-05,8.398251130e-01,7.018438208e-01,-7.374650581e-05,8.286583422e-01
+25,1.255000000e+01,DOWN_FORCE_DETACH,1792701711913023396,1.177485879e-04,-8.133356491e-05,-1.033558360e-03,1.173733131e-04,-8.160695025e-05,-1.033601442e-03,1.173943886e-04,-8.137868795e-05,-1.031612826e-03,7.016556201e-01,-7.978260359e-05,8.397073828e-01,7.016552448e-01,-8.005598893e-05,8.397073397e-01,7.018467199e-01,-7.965940429e-05,8.285409663e-01
+26,1.290000000e+01,DOWN_FORCE_DETACH,1792701712578998596,1.165666701e-04,-7.821528830e-05,-1.142526712e-03,1.158237605e-04,-7.958776784e-05,-1.126229562e-03,1.154891919e-04,-7.940358420e-05,-1.124410145e-03,7.016544382e-01,-7.666432697e-05,8.395984145e-01,7.016536952e-01,-7.803680652e-05,8.396147116e-01,7.018448147e-01,-7.768430054e-05,8.284481690e-01
+27,1.321666667e+01,DOWN_FORCE_DETACH,1792701713176968709,1.218742359e-04,-7.715564305e-05,-1.235881161e-03,1.163539013e-04,-7.953386088e-05,-1.225706105e-03,1.155173214e-04,-7.932963943e-05,-1.223907912e-03,7.016597457e-01,-7.560468173e-05,8.395050600e-01,7.016542254e-01,-7.798289956e-05,8.395152351e-01,7.018448428e-01,-7.761035577e-05,8.283486712e-01
+28,1.355000000e+01,DOWN_FORCE_DETACH,1792701713810327430,1.217138077e-04,-8.267964386e-05,-1.347622539e-03,1.220568282e-04,-8.384177521e-05,-1.340843571e-03,1.208723825e-04,-8.363263271e-05,-1.338944778e-03,7.016595853e-01,-8.112868254e-05,8.393933186e-01,7.016599283e-01,-8.229081389e-05,8.394000976e-01,7.018501979e-01,-8.191334905e-05,8.282336343e-01
+29,1.388333333e+01,DOWN_FORCE_DETACH,1792701714440696187,1.200682174e-04,-8.410105699e-05,-1.468557057e-03,1.174188324e-04,-8.164512591e-05,-1.452629552e-03,1.157362130e-04,-8.144601536e-05,-1.450772976e-03,7.016579397e-01,-8.255009567e-05,8.392723841e-01,7.016552903e-01,-8.009416459e-05,8.392883116e-01,7.018450617e-01,-7.972673170e-05,8.281218061e-01
+30,1.420000000e+01,DOWN_FORCE_DETACH,1792701715039452658,1.178460883e-04,-8.909115574e-05,-1.594038236e-03,1.176249023e-04,-8.903978275e-05,-1.593973853e-03,1.153822371e-04,-8.881040139e-05,-1.591551621e-03,7.016557176e-01,-8.754019442e-05,8.391469030e-01,7.016554964e-01,-8.748882143e-05,8.391469673e-01,7.018447078e-01,-8.709111773e-05,8.279810275e-01
+31,1.445000000e+01,DOWN_FORCE_DETACH,1792701715536800776,1.159673234e-04,-8.963928484e-05,-1.698074135e-03,1.160055377e-04,-8.847370492e-05,-1.684573904e-03,1.133431531e-04,-8.823299656e-05,-1.682244450e-03,7.016538388e-01,-8.808832351e-05,8.390428671e-01,7.016538770e-01,-8.692274360e-05,8.390563673e-01,7.018426687e-01,-8.651371289e-05,8.278903347e-01
+32,1.473333333e+01,DOWN_FORCE_DETACH,1792701716102831256,1.135687336e-04,-9.017432987e-05,-1.827948789e-03,1.135156291e-04,-8.994342332e-05,-1.827898050e-03,1.102421625e-04,-8.968465505e-05,-1.825106525e-03,7.016514402e-01,-8.862336855e-05,8.389129924e-01,7.016513871e-01,-8.839246200e-05,8.389130431e-01,7.018395677e-01,-8.796537139e-05,8.277474726e-01
+33,1.500000000e+01,DOWN_FORCE_DETACH,1792701716636854120,1.146247187e-04,-9.301162583e-05,-1.949593022e-03,1.135754781e-04,-9.247243550e-05,-1.943300139e-03,1.099277424e-04,-9.219126924e-05,-1.940627503e-03,7.016524962e-01,-9.146066451e-05,8.387913482e-01,7.016514470e-01,-9.092147418e-05,8.387976410e-01,7.018392533e-01,-9.047198558e-05,8.276319516e-01
+34,1.523333333e+01,DOWN_FORCE_DETACH,1792701717102820443,1.112774258e-04,-1.011197087e-04,-2.072961342e-03,1.132653740e-04,-1.026590826e-04,-2.053752083e-03,1.092796479e-04,-1.023531494e-04,-2.051276024e-03,7.016491489e-01,-9.956874734e-05,8.386679798e-01,7.016511369e-01,-1.011081213e-04,8.386871891e-01,7.018386052e-01,-1.006338658e-04,8.275213031e-01
+35,1.545000000e+01,DOWN_FORCE_DETACH,1792701717532793333,1.096967544e-04,-1.012768795e-04,-2.192863250e-03,1.097151621e-04,-1.014586586e-04,-2.192369519e-03,1.052538948e-04,-1.011570199e-04,-2.189507680e-03,7.016475682e-01,-9.972591822e-05,8.385480779e-01,7.016475866e-01,-9.990769731e-05,8.385485717e-01,7.018345794e-01,-9.943773626e-05,8.273830714e-01
+36,1.570000000e+01,DOWN_FORCE_DETACH,1792701718033646152,1.114703855e-04,-1.018219611e-04,-2.321806601e-03,1.111765737e-04,-1.017098872e-04,-2.321420042e-03,1.063191417e-04,-1.013800288e-04,-2.318545892e-03,7.016493419e-01,-1.002709998e-04,8.384191346e-01,7.016490481e-01,-1.001589259e-04,8.384195211e-01,7.018356447e-01,-9.966074510e-05,8.272540332e-01
+37,1.591666667e+01,DOWN_FORCE_DETACH,1792701718466101186,1.138763044e-04,-1.066765666e-04,-2.440096221e-03,1.103174911e-04,-1.049556172e-04,-2.432887958e-03,1.051509004e-04,-1.046229625e-04,-2.429989306e-03,7.016517478e-01,-1.051256053e-04,8.383008450e-01,7.016481890e-01,-1.034046559e-04,8.383080532e-01,7.018344764e-01,-1.029036789e-04,8.271425898e-01
+38,1.611666667e+01,DOWN_FORCE_DETACH,1792701718864829977,1.124821954e-04,-1.107240185e-04,-2.559758178e-03,1.104904511e-04,-1.142844398e-04,-2.541667252e-03,1.047986189e-04,-1.139426791e-04,-2.538787411e-03,7.016503537e-01,-1.091730572e-04,8.381811830e-01,7.016483619e-01,-1.127334785e-04,8.381992739e-01,7.018341241e-01,-1.122233955e-04,8.270337917e-01
+39,1.631666667e+01,DOWN_FORCE_DETACH,1792701719264649946,1.102136510e-04,-1.088510691e-04,-2.685309168e-03,1.100246589e-04,-1.126473317e-04,-2.676154497e-03,1.038150915e-04,-1.123202052e-04,-2.673043099e-03,7.016480851e-01,-1.073001078e-04,8.380556320e-01,7.016478961e-01,-1.110963704e-04,8.380647867e-01,7.018331406e-01,-1.106009215e-04,8.268995360e-01
+40,1.650000000e+01,DOWN_FORCE_DETACH,1792701719630781764,1.053899214e-04,-1.163503061e-04,-2.806935004e-03,1.043058889e-04,-1.152497908e-04,-2.797663549e-03,9.749654608e-05,-1.149503746e-04,-2.794532421e-03,7.016432614e-01,-1.147993448e-04,8.379340062e-01,7.016421774e-01,-1.136988295e-04,8.379432776e-01,7.018268221e-01,-1.132310909e-04,8.267780467e-01
+41,1.670000000e+01,DOWN_FORCE_DETACH,1792701719994749353,1.012146166e-04,-1.248207870e-04,-2.941400432e-03,1.011090073e-04,-1.249148033e-04,-2.940927653e-03,9.355603648e-05,-1.245667624e-04,-2.937528001e-03,7.016390861e-01,-1.232698257e-04,8.377995408e-01,7.016389805e-01,-1.233638420e-04,8.378000135e-01,7.018228816e-01,-1.228474787e-04,8.266350511e-01
+42,1.688333333e+01,DOWN_FORCE_DETACH,1792701720360971404,1.036181114e-04,-1.258623952e-04,-3.052163120e-03,9.928181747e-05,-1.240813653e-04,-3.036654379e-03,9.127212074e-05,-1.237002606e-04,-3.033771883e-03,7.016414896e-01,-1.243114339e-04,8.376887781e-01,7.016371533e-01,-1.225304040e-04,8.377042868e-01,7.018205976e-01,-1.219809769e-04,8.265388072e-01
+43,1.710000000e+01,DOWN_FORCE_DETACH,1792701720761010823,1.029231661e-04,-1.278512019e-04,-3.187363055e-03,1.041116750e-04,-1.269089114e-04,-3.176482854e-03,9.557072959e-05,-1.265348312e-04,-3.173419267e-03,7.016407946e-01,-1.263002406e-04,8.375535781e-01,7.016419832e-01,-1.253579501e-04,8.375644583e-01,7.018248963e-01,-1.248155475e-04,8.263991598e-01
+44,1.726666667e+01,DOWN_FORCE_DETACH,1792701721092715337,1.022076144e-04,-1.295849215e-04,-3.307679954e-03,1.041324565e-04,-1.280441209e-04,-3.292954648e-03,9.513636164e-05,-1.276367770e-04,-3.289669964e-03,7.016400791e-01,-1.280339602e-04,8.374332612e-01,7.016420039e-01,-1.264931596e-04,8.374479865e-01,7.018244619e-01,-1.259174933e-04,8.262829092e-01
+45,1.745000000e+01,DOWN_FORCE_DETACH,1792701721424844414,9.887326387e-05,-1.360986332e-04,-3.435648726e-03,9.860314750e-05,-1.343301536e-04,-3.425075775e-03,8.909591800e-05,-1.339084639e-04,-3.421635525e-03,7.016367447e-01,-1.345476719e-04,8.373052925e-01,7.016364746e-01,-1.327791923e-04,8.373158654e-01,7.018184214e-01,-1.321891802e-04,8.261509436e-01
+46,1.763333333e+01,DOWN_FORCE_DETACH,1792701721774690213,9.938598434e-05,-1.382219800e-04,-3.566663932e-03,9.911953575e-05,-1.381497317e-04,-3.566532828e-03,8.916220463e-05,-1.377456239e-04,-3.562999317e-03,7.016372575e-01,-1.366710187e-04,8.371742773e-01,7.016369910e-01,-1.365987704e-04,8.371744084e-01,7.018184877e-01,-1.360263403e-04,8.260095798e-01
+47,1.780000000e+01,DOWN_FORCE_DETACH,1792701722090644409,9.812862588e-05,-1.401125447e-04,-3.692913983e-03,9.782938549e-05,-1.399686104e-04,-3.692969605e-03,8.751891482e-05,-1.395559621e-04,-3.689481147e-03,7.016360001e-01,-1.385615834e-04,8.370480272e-01,7.016357009e-01,-1.384176491e-04,8.370479716e-01,7.018168444e-01,-1.378366784e-04,8.258830980e-01
+48,1.795000000e+01,DOWN_FORCE_DETACH,1792701722389362030,1.001865059e-04,-1.390473280e-04,-3.813193339e-03,1.013350282e-04,-1.420768548e-04,-3.798152822e-03,9.074875481e-05,-1.416302002e-04,-3.794863767e-03,7.016380580e-01,-1.374963667e-04,8.369277478e-01,7.016392065e-01,-1.405258935e-04,8.369427884e-01,7.018200743e-01,-1.399109165e-04,8.257777153e-01
+49,1.811666667e+01,DOWN_FORCE_DETACH,1792701722688803157,9.503075782e-05,-1.430892521e-04,-3.942821072e-03,9.490127345e-05,-1.432560118e-04,-3.926400727e-03,8.378308113e-05,-1.427940422e-04,-3.923031265e-03,7.016329022e-01,-1.415382908e-04,8.367981201e-01,7.016327728e-01,-1.417050505e-04,8.368145405e-01,7.018131086e-01,-1.410747585e-04,8.256495478e-01
+50,1.826666667e+01,DOWN_FORCE_DETACH,1792701722988816974,1.026732381e-04,-1.430383366e-04,-4.071096622e-03,1.026904400e-04,-1.431540874e-04,-4.070506662e-03,9.113940544e-05,-1.426970481e-04,-4.066684203e-03,7.016405447e-01,-1.414873752e-04,8.366698446e-01,7.016405619e-01,-1.416031261e-04,8.366704345e-01,7.018204649e-01,-1.409777645e-04,8.255058949e-01
+51,1.841666667e+01,DOWN_FORCE_DETACH,1792701723256639587,9.845205434e-05,-1.490371147e-04,-4.189981381e-03,9.846949208e-05,-1.496926103e-04,-4.176202374e-03,8.649882007e-05,-1.492388254e-04,-4.172660445e-03,7.016363235e-01,-1.474861534e-04,8.365509598e-01,7.016363410e-01,-1.481416490e-04,8.365647388e-01,7.018158243e-01,-1.475195418e-04,8.253999187e-01
+52,1.856666667e+01,DOWN_FORCE_DETACH,1792701723555701676,9.510592483e-05,-1.561148515e-04,-4.330193123e-03,9.463777501e-05,-1.561445059e-04,-4.330140354e-03,8.187167598e-05,-1.556888711e-04,-4.326610096e-03,7.016329774e-01,-1.545638901e-04,8.364107481e-01,7.016325093e-01,-1.545935446e-04,8.364108008e-01,7.018111972e-01,-1.539695874e-04,8.252459690e-01
+53,1.870000000e+01,DOWN_FORCE_DETACH,1792701723821206647,9.757926432e-05,-1.596478034e-04,-4.455257611e-03,9.736510069e-05,-1.598801671e-04,-4.455125109e-03,8.413043764e-05,-1.593981776e-04,-4.451385450e-03,7.016354507e-01,-1.580968421e-04,8.362856836e-01,7.016352366e-01,-1.583292058e-04,8.362858161e-01,7.018134560e-01,-1.576788939e-04,8.251211937e-01
+54,1.881666667e+01,DOWN_FORCE_DETACH,1792701724052659824,9.864695651e-05,-1.465983001e-04,-4.565136716e-03,9.704826674e-05,-1.502559794e-04,-4.550843054e-03,8.339924016e-05,-1.497987916e-04,-4.547383144e-03,7.016365184e-01,-1.450473387e-04,8.361758045e-01,7.016349197e-01,-1.487050181e-04,8.361900981e-01,7.018127248e-01,-1.480795079e-04,8.250251960e-01
+55,1.893333333e+01,DOWN_FORCE_DETACH,1792701724286666146,9.399947595e-05,-1.588169624e-04,-4.686059627e-03,9.343162995e-05,-1.546504125e-04,-4.667387766e-03,7.929447884e-05,-1.541742988e-04,-4.663642025e-03,7.016318710e-01,-1.572660011e-04,8.360548816e-01,7.016313031e-01,-1.530994511e-04,8.360735534e-01,7.018086200e-01,-1.524550152e-04,8.249089371e-01
+56,1.905000000e+01,DOWN_FORCE_DETACH,1792701724520750514,8.060338240e-05,-1.608642552e-04,-4.813205543e-03,8.227116152e-05,-1.636747509e-04,-4.795594242e-03,6.743217957e-05,-1.631943045e-04,-4.791758831e-03,7.016184749e-01,-1.593132939e-04,8.359277356e-01,7.016201426e-01,-1.621237895e-04,8.359453469e-01,7.017967577e-01,-1.614750209e-04,8.247808203e-01
+57,1.918333333e+01,DOWN_FORCE_DETACH,1792701724784770242,1.087617792e-04,-1.619613672e-04,-4.931970551e-03,1.088654274e-04,-1.619382103e-04,-4.931983951e-03,9.388891753e-05,-1.614213367e-04,-4.928155218e-03,7.016466333e-01,-1.604104058e-04,8.358089706e-01,7.016467369e-01,-1.603872489e-04,8.358089572e-01,7.018232144e-01,-1.597020530e-04,8.246444239e-01
+58,1.930000000e+01,DOWN_SETTLE,1792701725018633651,1.054568410e-04,-1.550311570e-04,-5.043954719e-03,1.032078802e-04,-1.582141182e-04,-5.035177981e-03,8.797012878e-05,-1.577210243e-04,-5.031941104e-03,7.016433283e-01,-1.534801957e-04,8.356969865e-01,7.016410794e-01,-1.566631569e-04,8.357057632e-01,7.018172956e-01,-1.560017406e-04,8.245406380e-01
+59,1.970000000e+01,DOWN_PEAK_HOLD,1792701725816974999,7.775042469e-05,-1.499585654e-04,-5.137932674e-03,8.318532455e-05,-1.543485621e-04,-5.124242915e-03,6.742327852e-05,-1.538886980e-04,-5.122967848e-03,7.016156219e-01,-1.484076041e-04,8.356030085e-01,7.016210568e-01,-1.527976007e-04,8.356166983e-01,7.017967488e-01,-1.521694143e-04,8.244496113e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b19da45e42b21fc7d84d23234db5a3aecf72235e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-4.7543e-04,-9.6771e-04,2.4494e+00,-3.6760e-02,3.6780e-02,-2.3238e-05,1.4006e-04,-1.1221e-05,-9.5367e-07,9.1270e-07,8.4266e-06,-1.3682e-07,1.4051e-04,8.4770e-06
+1,5.1667e-01,DOWN_FORCE_DETACH,1.3150e-04,4.3131e-03,-1.2004e-03,2.4494e+00,-3.6747e-02,3.7108e-02,-3.4626e-05,4.9286e-03,-2.4388e-04,4.6968e-05,1.3869e-05,3.3643e-04,-1.1524e-05,4.9349e-03,3.3691e-04
+2,1.0833e+00,DOWN_FORCE_DETACH,2.6232e-04,8.9705e-03,6.5358e-03,2.4722e+00,-3.7284e-02,3.7414e-02,-3.1108e-05,9.5860e-03,7.4923e-03,2.2792e-02,-5.2325e-04,6.4216e-04,-8.0064e-06,2.5836e-02,8.2839e-04
+3,1.4167e+00,DOWN_FORCE_DETACH,3.9590e-04,-7.7020e-03,1.0848e-02,2.4697e+00,-3.7585e-02,3.6275e-02,-2.7173e-05,-7.0865e-03,1.1804e-02,2.0268e-02,-8.2357e-04,-4.9677e-04,-4.0712e-06,2.4502e-02,9.6180e-04
+4,2.0000e+00,DOWN_FORCE_DETACH,5.2957e-04,3.2574e-03,1.1952e-02,2.4664e+00,-3.7678e-02,3.6997e-02,-2.4212e-05,3.8729e-03,1.2908e-02,1.6963e-02,-9.1659e-04,2.2541e-04,-1.1107e-06,2.1665e-02,9.4390e-04
+5,2.4833e+00,DOWN_FORCE_DETACH,6.6088e-04,4.5978e-03,1.2131e-02,2.4592e+00,-3.7702e-02,3.7109e-02,-2.3895e-05,5.2133e-03,1.3088e-02,9.8248e-03,-9.4116e-04,3.3770e-04,-7.9314e-07,1.7175e-02,9.9992e-04
+6,3.0833e+00,DOWN_FORCE_DETACH,7.9433e-04,6.3682e-03,1.6151e-02,2.4749e+00,-3.7971e-02,3.7227e-02,-2.3111e-05,6.9837e-03,1.7108e-02,2.5493e-02,-1.2100e-03,4.5513e-04,-9.4315e-09,3.1486e-02,1.2928e-03
+7,3.6333e+00,DOWN_FORCE_DETACH,9.2762e-04,5.3262e-03,1.6156e-02,2.4629e+00,-3.7984e-02,3.7161e-02,-2.1040e-05,5.9417e-03,1.7113e-02,1.3493e-02,-1.2227e-03,3.8895e-04,2.0611e-06,2.2588e-02,1.2830e-03
+8,4.3000e+00,DOWN_FORCE_DETACH,1.0580e-03,3.2097e-03,1.8932e-02,2.4776e+00,-3.8171e-02,3.7000e-02,-1.6658e-05,3.8252e-03,1.9889e-02,2.8188e-02,-1.4099e-03,2.2816e-04,6.4438e-06,3.4710e-02,1.4283e-03
+9,4.8333e+00,DOWN_FORCE_DETACH,1.1901e-03,-4.2452e-03,1.9950e-02,2.4638e+00,-3.8240e-02,3.6481e-02,-1.1873e-05,-3.6297e-03,2.0907e-02,1.4442e-02,-1.4788e-03,-2.9105e-04,1.1229e-05,2.5668e-02,1.5072e-03
+10,5.4167e+00,DOWN_FORCE_DETACH,1.3224e-03,-9.3867e-05,1.9351e-02,2.4732e+00,-3.8190e-02,3.6755e-02,-8.3434e-06,5.2163e-04,2.0308e-02,2.3840e-02,-1.4288e-03,-1.7025e-05,1.4758e-05,3.1321e-02,1.4290e-03
+11,5.9667e+00,DOWN_FORCE_DETACH,1.4545e-03,8.4337e-04,2.1109e-02,2.4835e+00,-3.8297e-02,3.6824e-02,-3.7245e-06,1.4589e-03,2.2065e-02,3.4080e-02,-1.5355e-03,5.2292e-05,1.9377e-05,4.0625e-02,1.5365e-03
+12,6.4500e+00,DOWN_FORCE_DETACH,1.5875e-03,2.0693e-03,2.0918e-02,2.4737e+00,-3.8272e-02,3.6909e-02,-5.3202e-07,2.6848e-03,2.1874e-02,2.4292e-02,-1.5108e-03,1.3747e-04,2.2569e-05,3.2800e-02,1.5172e-03
+13,7.1333e+00,DOWN_FORCE_DETACH,1.7220e-03,8.8738e-04,2.5445e-02,2.4824e+00,-3.8555e-02,3.6828e-02,7.1746e-06,1.5029e-03,2.6402e-02,3.2994e-02,-1.7937e-03,5.5958e-05,3.0276e-05,4.2284e-02,1.7949e-03
+14,7.7667e+00,DOWN_FORCE_DETACH,1.8534e-03,2.7855e-03,2.6465e-02,2.4866e+00,-3.8602e-02,3.6952e-02,1.4343e-05,3.4010e-03,2.7422e-02,3.7193e-02,-1.8410e-03,1.8074e-04,3.7444e-05,4.6334e-02,1.8502e-03
+15,8.3667e+00,DOWN_FORCE_DETACH,1.9849e-03,3.6237e-03,2.6579e-02,2.4854e+00,-3.8583e-02,3.7026e-02,2.1218e-05,4.2392e-03,2.7535e-02,3.5986e-02,-1.8219e-03,2.5486e-04,4.4319e-05,4.5510e-02,1.8402e-03
+16,8.6667e+00,DOWN_FORCE_DETACH,2.1176e-03,-6.5122e-03,2.5651e-02,2.4785e+00,-3.8510e-02,3.6335e-02,2.7071e-05,-5.8967e-03,2.6607e-02,2.9070e-02,-1.7488e-03,-4.3674e-04,5.0173e-05,3.9847e-02,1.8032e-03
+17,9.1667e+00,DOWN_FORCE_DETACH,2.2479e-03,6.0434e-04,2.7308e-02,2.4927e+00,-3.8595e-02,3.6789e-02,3.8365e-05,1.2198e-03,2.8264e-02,4.3350e-02,-1.8334e-03,1.7822e-05,6.1466e-05,5.1764e-02,1.8345e-03
+18,9.7167e+00,DOWN_FORCE_DETACH,2.3787e-03,1.1515e-02,3.0081e-02,2.4926e+00,-3.8752e-02,3.7545e-02,4.7294e-05,1.2131e-02,3.1037e-02,4.3236e-02,-1.9911e-03,7.7311e-04,7.0395e-05,5.4588e-02,2.1371e-03
+19,1.0200e+01,DOWN_FORCE_DETACH,2.5172e-03,1.4921e-02,3.1009e-02,2.4864e+00,-3.8819e-02,3.7806e-02,5.0182e-05,1.5537e-02,3.1966e-02,3.6978e-02,-2.0582e-03,1.0346e-03,7.3284e-05,5.1289e-02,2.3047e-03
+20,1.0583e+01,DOWN_FORCE_DETACH,2.6449e-03,1.6133e-02,2.7684e-02,2.4882e+00,-3.8621e-02,3.7902e-02,4.6809e-05,1.6748e-02,2.8640e-02,3.8852e-02,-1.8602e-03,1.1309e-03,6.9910e-05,5.1091e-02,2.1781e-03
+21,1.1017e+01,DOWN_FORCE_DETACH,2.7805e-03,1.8739e-02,2.8642e-02,2.4982e+00,-3.8698e-02,3.8075e-02,3.5828e-05,1.9354e-02,2.9599e-02,4.8777e-02,-1.9366e-03,1.3033e-03,5.8930e-05,6.0248e-02,2.3350e-03
+22,1.1367e+01,DOWN_FORCE_DETACH,2.9081e-03,2.1007e-02,3.0871e-02,2.5076e+00,-3.8860e-02,3.8221e-02,2.3914e-05,2.1622e-02,3.1827e-02,5.8208e-02,-2.0988e-03,1.4493e-03,4.7016e-05,6.9775e-02,2.5510e-03
+23,1.1800e+01,DOWN_FORCE_DETACH,3.0436e-03,2.1711e-02,3.3713e-02,2.5170e+00,-3.9056e-02,3.8263e-02,5.5607e-06,2.2326e-02,3.4670e-02,6.7646e-02,-2.2953e-03,1.4913e-03,2.8662e-05,7.9224e-02,2.7374e-03
+24,1.2167e+01,DOWN_FORCE_DETACH,3.1710e-03,2.1159e-02,3.4698e-02,2.5297e+00,-3.9118e-02,3.8218e-02,-9.9868e-06,2.1774e-02,3.5654e-02,8.0293e-02,-2.3569e-03,1.4467e-03,1.3115e-05,9.0512e-02,2.7655e-03
+25,1.2550e+01,DOWN_FORCE_DETACH,3.3078e-03,2.1091e-02,3.5892e-02,2.5377e+00,-3.9178e-02,3.8201e-02,-2.0971e-05,2.1707e-02,3.6849e-02,8.8355e-02,-2.4172e-03,1.4296e-03,2.1303e-06,9.8161e-02,2.8083e-03
+26,1.2900e+01,DOWN_FORCE_DETACH,3.4428e-03,1.8494e-02,3.5442e-02,2.5432e+00,-3.9132e-02,3.8015e-02,-2.3416e-05,1.9110e-02,3.6399e-02,9.3816e-02,-2.3705e-03,1.2436e-03,-3.1491e-07,1.0243e-01,2.6769e-03
+27,1.3217e+01,DOWN_FORCE_DETACH,3.5660e-03,1.6042e-02,3.4176e-02,2.5430e+00,-3.9041e-02,3.7835e-02,-2.1268e-05,1.6657e-02,3.5132e-02,9.3578e-02,-2.2798e-03,1.0632e-03,1.8338e-06,1.0133e-01,2.5155e-03
+28,1.3550e+01,DOWN_FORCE_DETACH,3.7015e-03,9.8460e-03,3.4081e-02,2.5404e+00,-3.9015e-02,3.7411e-02,-1.8154e-05,1.0462e-02,3.5037e-02,9.0990e-02,-2.2537e-03,6.3939e-04,4.9475e-06,9.8062e-02,2.3426e-03
+29,1.3883e+01,DOWN_FORCE_DETACH,3.8366e-03,1.0300e-02,3.6543e-02,2.5468e+00,-3.9140e-02,3.7427e-02,-1.7312e-05,1.0916e-02,3.7499e-02,9.7424e-02,-2.3793e-03,6.5576e-04,5.7891e-06,1.0496e-01,2.4680e-03
+30,1.4200e+01,DOWN_FORCE_DETACH,3.9738e-03,7.8498e-03,3.7183e-02,2.5510e+00,-3.9154e-02,3.7263e-02,-1.9578e-05,8.4653e-03,3.8140e-02,1.0157e-01,-2.3933e-03,4.9177e-04,3.5237e-06,1.0882e-01,2.4433e-03
+31,1.4450e+01,DOWN_FORCE_DETACH,4.0955e-03,7.7504e-03,3.8704e-02,2.5651e+00,-3.9244e-02,3.7249e-02,-2.0770e-05,8.3659e-03,3.9660e-02,1.1569e-01,-2.4831e-03,4.7769e-04,2.3315e-06,1.2259e-01,2.5287e-03
+32,1.4733e+01,DOWN_FORCE_DETACH,4.2360e-03,7.7782e-03,4.0387e-02,2.5791e+00,-3.9343e-02,3.7239e-02,-1.9081e-05,8.3937e-03,4.1344e-02,1.2974e-01,-2.5822e-03,4.6740e-04,4.0204e-06,1.3642e-01,2.6242e-03
+33,1.5000e+01,DOWN_FORCE_DETACH,4.3635e-03,7.4307e-03,4.2662e-02,2.5813e+00,-3.9452e-02,3.7210e-02,-1.2699e-05,8.0462e-03,4.3618e-02,1.3193e-01,-2.6910e-03,4.3821e-04,1.0403e-05,1.3919e-01,2.7265e-03
+34,1.5233e+01,DOWN_FORCE_DETACH,4.4963e-03,1.2915e-02,4.4655e-02,2.5829e+00,-3.9536e-02,3.7566e-02,-4.5690e-06,1.3530e-02,4.5611e-02,1.3348e-01,-2.7743e-03,7.9483e-04,1.8532e-05,1.4170e-01,2.8860e-03
+35,1.5450e+01,DOWN_FORCE_DETACH,4.6280e-03,1.7380e-02,4.3105e-02,2.5789e+00,-3.9411e-02,3.7866e-02,1.8135e-06,1.7996e-02,4.4062e-02,1.2950e-01,-2.6499e-03,1.0948e-03,2.4915e-05,1.3797e-01,2.8673e-03
+36,1.5700e+01,DOWN_FORCE_DETACH,4.7666e-03,2.0799e-02,4.5769e-02,2.5810e+00,-3.9582e-02,3.8098e-02,2.8653e-06,2.1415e-02,4.6725e-02,1.3157e-01,-2.8208e-03,1.3266e-03,2.5967e-05,1.4125e-01,3.1172e-03
+37,1.5917e+01,DOWN_FORCE_DETACH,4.8934e-03,2.2386e-02,4.7883e-02,2.5887e+00,-3.9723e-02,3.8205e-02,-2.6825e-06,2.3001e-02,4.8839e-02,1.3927e-01,-2.9620e-03,1.4333e-03,2.0419e-05,1.4936e-01,3.2907e-03
+38,1.6117e+01,DOWN_FORCE_DETACH,5.0268e-03,2.3028e-02,4.9956e-02,2.5993e+00,-3.9851e-02,3.8243e-02,-9.2565e-06,2.3643e-02,5.0912e-02,1.4995e-01,-3.0899e-03,1.4718e-03,1.3845e-05,1.6012e-01,3.4226e-03
+39,1.6317e+01,DOWN_FORCE_DETACH,5.1579e-03,2.2188e-02,5.0812e-02,2.6048e+00,-3.9881e-02,3.8182e-02,-1.3737e-05,2.2804e-02,5.1769e-02,1.5540e-01,-3.1194e-03,1.4107e-03,9.3642e-06,1.6538e-01,3.4236e-03
+40,1.6500e+01,DOWN_FORCE_DETACH,5.2872e-03,2.0129e-02,5.1227e-02,2.6071e+00,-3.9879e-02,3.8038e-02,-1.5736e-05,2.0744e-02,5.2184e-02,1.5770e-01,-3.1174e-03,1.2668e-03,7.3651e-06,1.6740e-01,3.3650e-03
+41,1.6700e+01,DOWN_FORCE_DETACH,5.4289e-03,1.6155e-02,5.2586e-02,2.5988e+00,-3.9929e-02,3.7773e-02,-1.7890e-05,1.6770e-02,5.3542e-02,1.4939e-01,-3.1677e-03,1.0010e-03,5.2116e-06,1.5958e-01,3.3220e-03
+42,1.6883e+01,DOWN_FORCE_DETACH,5.5484e-03,1.4150e-02,5.5274e-02,2.6065e+00,-4.0059e-02,3.7635e-02,-2.0672e-05,1.4766e-02,5.6231e-02,1.5707e-01,-3.2981e-03,8.6393e-04,2.4298e-06,1.6748e-01,3.4094e-03
+43,1.7100e+01,DOWN_FORCE_DETACH,5.6919e-03,9.3434e-03,5.5262e-02,2.6054e+00,-4.0040e-02,3.7320e-02,-2.2805e-05,9.9589e-03,5.6219e-02,1.5605e-01,-3.2784e-03,5.4837e-04,2.9639e-07,1.6617e-01,3.3239e-03
+44,1.7267e+01,DOWN_FORCE_DETACH,5.8183e-03,8.1914e-03,5.6801e-02,2.6160e+00,-4.0135e-02,3.7236e-02,-2.2401e-05,8.8069e-03,5.7757e-02,1.6665e-01,-3.3740e-03,4.6479e-04,7.0024e-07,1.7660e-01,3.4058e-03
+45,1.7450e+01,DOWN_FORCE_DETACH,5.9521e-03,8.2839e-03,5.9739e-02,2.6238e+00,-4.0302e-02,3.7232e-02,-1.8727e-05,8.8994e-03,6.0695e-02,1.7437e-01,-3.5410e-03,4.6056e-04,4.3745e-06,1.8484e-01,3.5708e-03
+46,1.7633e+01,DOWN_FORCE_DETACH,6.0883e-03,1.1333e-02,6.2892e-02,2.6255e+00,-4.0454e-02,3.7422e-02,-1.2053e-05,1.1948e-02,6.3848e-02,1.7607e-01,-3.6924e-03,6.5082e-04,1.1049e-05,1.8767e-01,3.7494e-03
+47,1.7800e+01,DOWN_FORCE_DETACH,6.2210e-03,1.6149e-02,6.3258e-02,2.6195e+00,-4.0439e-02,3.7735e-02,-4.6135e-06,1.6765e-02,6.4215e-02,1.7012e-01,-3.6776e-03,9.6364e-04,1.8488e-05,1.8261e-01,3.8018e-03
+48,1.7950e+01,DOWN_FORCE_DETACH,6.3457e-03,1.8656e-02,6.3365e-02,2.6205e+00,-4.0430e-02,3.7899e-02,-7.1735e-07,1.9272e-02,6.4322e-02,1.7115e-01,-3.6686e-03,1.1277e-03,2.2384e-05,1.8385e-01,3.8381e-03
+49,1.8117e+01,DOWN_FORCE_DETACH,6.4856e-03,2.1794e-02,6.5742e-02,2.6234e+00,-4.0577e-02,3.8104e-02,-2.2660e-06,2.2410e-02,6.6699e-02,1.7397e-01,-3.8158e-03,1.3320e-03,2.0835e-05,1.8766e-01,4.0417e-03
+50,1.8267e+01,DOWN_FORCE_DETACH,6.6195e-03,2.1826e-02,6.5132e-02,2.6351e+00,-4.0532e-02,3.8102e-02,-7.5346e-06,2.2442e-02,6.6089e-02,1.8568e-01,-3.7705e-03,1.3308e-03,1.5567e-05,1.9837e-01,3.9985e-03
+51,1.8417e+01,DOWN_FORCE_DETACH,6.7420e-03,2.2054e-02,6.5583e-02,2.6358e+00,-4.0541e-02,3.8111e-02,-1.2004e-05,2.2669e-02,6.6539e-02,1.8641e-01,-3.7797e-03,1.3395e-03,1.1097e-05,1.9922e-01,4.0100e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23cb8c785e3ba91e0871766f83e4bf466159ba2c
--- /dev/null
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b58455a566de042e0ae18369871bfa1295de3cad
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b73a668cfc280834c94d2e7edbb1f882101e2f75
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddabc3c7f5e070f131b57878db47e46b41ae8211
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,6.500000000e-01,WAIT_W2,1792701670433157763,4.219578377e-07,-2.615267447e-05,2.189383218e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.274721003e-07,-2.089372357e-05,1.651251561e-06,7.015382934e-01,-2.460171315e-05,8.407431306e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298530e-01,-1.917443556e-05,8.295742304e-01
+7,7.666666667e-01,WAIT_W2,1792701670633316118,-3.935357555e-07,-2.453405694e-05,1.194940907e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.378352297e-07,-2.089501666e-05,1.656071044e-06,7.015374779e-01,-2.298309562e-05,8.407421361e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298633e-01,-1.917572865e-05,8.295742352e-01
+8,8.500000000e-01,WAIT_W2,1792701670799166983,-1.447732562e-06,-2.039354180e-05,-1.412490031e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.433294492e-07,-2.089531303e-05,1.658429733e-06,7.015364237e-01,-1.884258048e-05,8.407395287e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298688e-01,-1.917602502e-05,8.295742376e-01
+9,9.500000000e-01,WAIT_W2,1792701670999154297,-2.453455919e-06,-1.750965138e-05,-1.986505931e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.494566127e-07,-2.089561141e-05,1.660853361e-06,7.015354180e-01,-1.595869005e-05,8.407389547e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298750e-01,-1.917632340e-05,8.295742400e-01
+10,1.050000000e+00,WAIT_W2,1792701671197175922,-3.258711855e-06,-9.902973701e-06,-4.131282254e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.543606533e-07,-2.089579049e-05,1.662654925e-06,7.015346128e-01,-8.352012380e-06,8.407368099e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298799e-01,-1.917650248e-05,8.295742418e-01
+11,1.183333333e+00,WAIT_W2,1792701671433563641,-2.825832631e-06,-9.788754638e-06,-4.964905729e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.595354895e-07,-2.089598578e-05,1.664409253e-06,7.015350456e-01,-8.237793317e-06,8.407359763e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298850e-01,-1.917669777e-05,8.295742435e-01
+12,1.283333333e+00,WAIT_W2,1792701671631130173,-2.957660913e-06,-2.039448865e-05,-4.205164115e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.625225730e-07,-2.089607432e-05,1.665357451e-06,7.015349138e-01,-1.884352733e-05,8.407367360e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298880e-01,-1.917678631e-05,8.295742445e-01
+13,1.416666667e+00,WAIT_W2,1792701671879313792,-3.082844966e-06,-3.418779598e-05,-1.958167063e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.656490234e-07,-2.089616470e-05,1.666291715e-06,7.015347886e-01,-3.263683466e-05,8.407389830e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298912e-01,-1.917687669e-05,8.295742454e-01
+14,1.533333333e+00,WAIT_W2,1792701672097133857,-3.257982327e-06,-3.687279566e-05,-1.521438983e-06,4.362695398e-07,-2.094910186e-05,1.672304988e-06,5.677151752e-07,-2.089621313e-05,1.666862866e-06,7.015346135e-01,-3.532183434e-05,8.407394197e-01,7.015383078e-01,-1.939814054e-05,8.407426135e-01,7.017298932e-01,-1.917692512e-05,8.295742460e-01
+15,1.633333333e+00,WAIT_W2,1792701672299988531,-4.078260529e-06,-4.667115664e-05,-4.336421330e-06,-1.314235618e-06,-4.122045581e-05,1.544550618e-06,-1.168066832e-06,-4.109783903e-05,1.515898350e-06,7.015337932e-01,-4.512019532e-05,8.407366048e-01,7.015365572e-01,-3.966949449e-05,8.407424857e-01,7.017281574e-01,-3.937855102e-05,8.295740950e-01
+16,1.750000000e+00,UP_FORCE_RAMP,1792701672511087624,-3.651518650e-06,-5.473734164e-05,-1.668071514e-06,-1.314235618e-06,-4.122045581e-05,1.544550618e-06,-1.172300970e-06,-4.110320313e-05,1.515856855e-06,7.015342200e-01,-5.318638032e-05,8.407392731e-01,7.015365572e-01,-3.966949449e-05,8.407424857e-01,7.017281532e-01,-3.938391512e-05,8.295740950e-01
+17,1.883333333e+00,UP_FORCE_RAMP,1792701672761373206,-3.443776412e-06,-5.955212027e-05,3.241991057e-07,-1.314235618e-06,-4.122045581e-05,1.544550618e-06,-1.175623380e-06,-4.110436693e-05,1.515545899e-06,7.015344277e-01,-5.800115895e-05,8.407412654e-01,7.015365572e-01,-3.966949449e-05,8.407424857e-01,7.017281499e-01,-3.938507892e-05,8.295740947e-01
+18,1.966666667e+00,UP_FORCE_RAMP,1792701672929248240,-4.152425201e-06,-6.765755492e-05,-1.750927064e-06,-6.584782656e-06,-6.185191230e-05,-4.504510809e-06,-6.603007448e-06,-6.167895929e-05,-4.458146521e-06,7.015337191e-01,-6.610659359e-05,8.407391903e-01,7.015312867e-01,-6.030095098e-05,8.407364367e-01,7.017227225e-01,-5.995967128e-05,8.295681210e-01
+19,2.033333333e+00,UP_FORCE_RAMP,1792701673061618829,-5.368944468e-06,-6.775081770e-05,-4.514084832e-06,-6.584782656e-06,-6.185191230e-05,-4.504510809e-06,-6.614977711e-06,-6.168209140e-05,-4.472509645e-06,7.015325025e-01,-6.619985638e-05,8.407364271e-01,7.015312867e-01,-6.030095098e-05,8.407364367e-01,7.017227105e-01,-5.996280339e-05,8.295681066e-01
+20,2.166666667e+00,UP_FORCE_RAMP,1792701673293320817,-2.470342658e-06,-7.084910110e-05,8.213306046e-08,-6.584782656e-06,-6.185191230e-05,-4.504510809e-06,-6.633173722e-06,-6.168388990e-05,-4.493646880e-06,7.015354011e-01,-6.929813978e-05,8.407410233e-01,7.015312867e-01,-6.030095098e-05,8.407364367e-01,7.017226923e-01,-5.996460189e-05,8.295680855e-01
+21,2.283333333e+00,UP_FORCE_RAMP,1792701673527410287,-5.977073829e-06,-7.057982998e-05,-5.440807847e-06,-6.584782656e-06,-6.185191230e-05,-4.504510809e-06,-6.645077868e-06,-6.168457896e-05,-4.506690370e-06,7.015318944e-01,-6.902886865e-05,8.407355004e-01,7.015312867e-01,-6.030095098e-05,8.407364367e-01,7.017226804e-01,-5.996529095e-05,8.295680724e-01
+22,2.366666667e+00,UP_FORCE_RAMP,1792701673693319721,-4.077246912e-06,-7.561906306e-05,-1.075883737e-06,-6.584782656e-06,-6.185191230e-05,-4.504510809e-06,-6.651867227e-06,-6.168491617e-05,-4.513772654e-06,7.015337942e-01,-7.406810174e-05,8.407398653e-01,7.015312867e-01,-6.030095098e-05,8.407364367e-01,7.017226736e-01,-5.996562816e-05,8.295680654e-01
+23,2.433333333e+00,UP_FORCE_RAMP,1792701673824636185,-4.754371916e-06,-7.532656556e-05,-2.346466921e-06,-8.008527626e-06,-8.230451807e-05,-7.255358592e-06,-8.024823450e-06,-8.209968248e-05,-7.250346948e-06,7.015331171e-01,-7.377560423e-05,8.407385947e-01,7.015298630e-01,-8.075355675e-05,8.407336858e-01,7.017213007e-01,-8.038039447e-05,8.295653288e-01
+24,2.533333333e+00,UP_FORCE_RAMP,1792701674025027372,-5.104272077e-06,-7.978262805e-05,9.825603824e-07,-8.008527626e-06,-8.230451807e-05,-7.255358592e-06,-8.034382966e-06,-8.210539012e-05,-7.265491325e-06,7.015327672e-01,-7.823166672e-05,8.407419237e-01,7.015298630e-01,-8.075355675e-05,8.407336858e-01,7.017212911e-01,-8.038610211e-05,8.295653136e-01
+25,2.666666667e+00,UP_FORCE_RAMP,1792701674292613769,-4.052649270e-06,-8.227033003e-05,8.130712494e-06,-8.008527626e-06,-8.230451807e-05,-7.255358592e-06,-8.043515425e-06,-8.210714426e-05,-7.279179679e-06,7.015338188e-01,-8.071936870e-05,8.407490719e-01,7.015298630e-01,-8.075355675e-05,8.407336858e-01,7.017212820e-01,-8.038785625e-05,8.295653000e-01
+26,2.766666667e+00,UP_FORCE_RAMP,1792701674489490117,-5.562537620e-06,-8.604833981e-05,1.117639105e-05,-4.550246347e-06,-8.451846765e-05,1.250236658e-05,-4.517629539e-06,-8.434167663e-05,1.218574532e-05,7.015323089e-01,-8.449737848e-05,8.407521176e-01,7.015333212e-01,-8.296750633e-05,8.407534436e-01,7.017248079e-01,-8.262238862e-05,8.295847649e-01
+27,2.850000000e+00,UP_FORCE_RAMP,1792701674657166120,-8.500255901e-06,-8.735006237e-05,1.381023678e-05,-4.550246347e-06,-8.451846765e-05,1.250236658e-05,-4.511361818e-06,-8.434350764e-05,1.224831067e-05,7.015293712e-01,-8.579910105e-05,8.407547514e-01,7.015333212e-01,-8.296750633e-05,8.407534436e-01,7.017248141e-01,-8.262421963e-05,8.295848275e-01
+28,2.933333333e+00,UP_FORCE_RAMP,1792701674825108102,-8.606998724e-06,-8.462898900e-05,1.985019690e-05,-4.550246347e-06,-8.451846765e-05,1.250236658e-05,-4.506696927e-06,-8.434425247e-05,1.229265937e-05,7.015292645e-01,-8.307802768e-05,8.407607914e-01,7.015333212e-01,-8.296750633e-05,8.407534436e-01,7.017248188e-01,-8.262496446e-05,8.295848718e-01
+29,3.033333333e+00,UP_FORCE_RAMP,1792701675025066850,-1.163321014e-05,-8.785495825e-05,2.516059635e-05,-4.550246347e-06,-8.451846765e-05,1.250236658e-05,-4.502095148e-06,-8.434461039e-05,1.233302619e-05,7.015262383e-01,-8.630399693e-05,8.407661018e-01,7.015333212e-01,-8.296750633e-05,8.407534436e-01,7.017248234e-01,-8.262532238e-05,8.295849122e-01
+30,3.066666667e+00,UP_FORCE_RAMP,1792701675089126921,-4.945123653e-05,-8.557208719e-05,2.314379073e-05,-4.913586228e-05,-8.534200611e-05,2.266809088e-05,-4.961903606e-05,-8.517360438e-05,2.233987678e-05,7.014884202e-01,-8.402112587e-05,8.407640850e-01,7.014887356e-01,-8.379104479e-05,8.407636093e-01,7.016797065e-01,-8.345431637e-05,8.295949190e-01
+31,3.083333333e+00,UP_FORCE_RAMP,1792701675123089229,-4.413959519e-05,-8.364255338e-05,3.203143598e-05,-4.913586228e-05,-8.534200611e-05,2.266809088e-05,-4.967008604e-05,-8.517346644e-05,2.235160036e-05,7.014937319e-01,-8.209159206e-05,8.407729726e-01,7.014887356e-01,-8.379104479e-05,8.407636093e-01,7.016796554e-01,-8.345417843e-05,8.295949307e-01
+32,3.133333333e+00,UP_FORCE_RAMP,1792701675221099928,-4.267871675e-05,-8.337395967e-05,3.806128445e-05,-4.913586228e-05,-8.534200611e-05,2.266809088e-05,-4.975927187e-05,-8.517428562e-05,2.238815321e-05,7.014951928e-01,-8.182299835e-05,8.407790025e-01,7.014887356e-01,-8.379104479e-05,8.407636093e-01,7.016795662e-01,-8.345499761e-05,8.295949673e-01
+33,3.183333333e+00,UP_FORCE_RAMP,1792701675330654997,-4.321946163e-05,-8.394153449e-05,3.855427471e-05,-4.913586228e-05,-8.534200611e-05,2.266809088e-05,-4.982878372e-05,-8.517428733e-05,2.241828359e-05,7.014946520e-01,-8.239057317e-05,8.407794955e-01,7.014887356e-01,-8.379104479e-05,8.407636093e-01,7.016794967e-01,-8.345499932e-05,8.295949974e-01
+34,3.316666667e+00,UP_FORCE_RAMP,1792701675592304621,-4.341283223e-05,-8.661815819e-05,4.512385579e-05,-4.219650008e-05,-8.343217565e-05,4.154720465e-05,-4.284139356e-05,-8.324194948e-05,4.111849640e-05,7.014944586e-01,-8.506719687e-05,8.407860650e-01,7.014956750e-01,-8.188121433e-05,8.407824884e-01,7.016864841e-01,-8.152266147e-05,8.296136976e-01
+35,3.383333333e+00,UP_FORCE_RAMP,1792701675721151380,-3.853920267e-05,-8.356094080e-05,5.438615490e-05,-4.219650008e-05,-8.343217565e-05,4.154720465e-05,-4.288332163e-05,-8.324202795e-05,4.117939784e-05,7.014993323e-01,-8.200997948e-05,8.407953273e-01,7.014956750e-01,-8.188121433e-05,8.407824884e-01,7.016864422e-01,-8.152273994e-05,8.296137585e-01
+36,3.466666667e+00,UP_FORCE_RAMP,1792701675889148557,-3.787998481e-05,-8.737763203e-05,5.805089560e-05,-4.219650008e-05,-8.343217565e-05,4.154720465e-05,-4.292772985e-05,-8.324188942e-05,4.124044659e-05,7.014999915e-01,-8.582667071e-05,8.407989921e-01,7.014956750e-01,-8.188121433e-05,8.407824884e-01,7.016863978e-01,-8.152260141e-05,8.296138196e-01
+37,3.566666667e+00,UP_FORCE_RAMP,1792701676090451257,-3.623781378e-05,-8.615244664e-05,6.168648807e-05,-3.700589230e-05,-8.512836938e-05,6.125339324e-05,-3.758777946e-05,-8.492725592e-05,6.067448980e-05,7.015016337e-01,-8.460148532e-05,8.408026277e-01,7.015008656e-01,-8.357740806e-05,8.408021946e-01,7.016917377e-01,-8.320796791e-05,8.296332536e-01
+38,3.666666667e+00,UP_FORCE_RAMP,1792701676323742371,-3.600903768e-05,-8.601718082e-05,6.728242023e-05,-3.700589230e-05,-8.512836938e-05,6.125339324e-05,-3.760815370e-05,-8.492737820e-05,6.078250535e-05,7.015018624e-01,-8.446621950e-05,8.408082236e-01,7.015008656e-01,-8.357740806e-05,8.408021946e-01,7.016917173e-01,-8.320809019e-05,8.296333616e-01
+39,3.783333333e+00,UP_FORCE_RAMP,1792701676519398418,-3.829855625e-05,-8.708972808e-05,6.843511985e-05,-3.700589230e-05,-8.512836938e-05,6.125339324e-05,-3.762747603e-05,-8.492669267e-05,6.087461176e-05,7.014995729e-01,-8.553876676e-05,8.408093763e-01,7.015008656e-01,-8.357740806e-05,8.408021946e-01,7.016916980e-01,-8.320740466e-05,8.296334538e-01
+40,3.900000000e+00,UP_FORCE_RAMP,1792701676769509267,-3.972658339e-05,-9.271220214e-05,6.985944362e-05,-3.700589230e-05,-8.512836938e-05,6.125339324e-05,-3.764265745e-05,-8.492576463e-05,6.094175800e-05,7.014981449e-01,-9.116124082e-05,8.408108006e-01,7.015008656e-01,-8.357740806e-05,8.408021946e-01,7.016916828e-01,-8.320647662e-05,8.296335209e-01
+41,4.016666667e+00,UP_FORCE_RAMP,1792701676985053873,-4.007679165e-05,-8.777038350e-05,7.289974434e-05,-3.700589230e-05,-8.512836938e-05,6.125339324e-05,-3.765465270e-05,-8.492481710e-05,6.099100698e-05,7.014977947e-01,-8.621942218e-05,8.408138409e-01,7.015008656e-01,-8.357740806e-05,8.408021946e-01,7.016916708e-01,-8.320552909e-05,8.296335701e-01
+42,4.050000000e+00,UP_FORCE_RAMP,1792701677051189211,-6.605833150e-05,-1.005958703e-04,5.462349432e-05,-6.557026691e-05,-1.004199328e-04,5.467595405e-05,-6.658280750e-05,-1.001346509e-04,5.458110381e-05,7.014718131e-01,-9.904490893e-05,8.407955647e-01,7.014723012e-01,-9.886897153e-05,8.407956171e-01,7.016627427e-01,-9.841536287e-05,8.296271602e-01
+43,4.066666667e+00,UP_FORCE_RAMP,1792701677085317462,-6.163480669e-05,-9.242700886e-05,6.593371558e-05,-6.557026691e-05,-1.004199328e-04,5.467595405e-05,-6.662182707e-05,-1.001444069e-04,5.457748624e-05,7.014762367e-01,-9.087604754e-05,8.408068749e-01,7.014723012e-01,-9.886897153e-05,8.407956171e-01,7.016627037e-01,-9.842511886e-05,8.296271566e-01
+44,4.133333333e+00,UP_FORCE_RAMP,1792701677217758870,-6.997945102e-05,-8.938454734e-05,6.092338338e-05,-6.557026691e-05,-1.004199328e-04,5.467595405e-05,-6.670298525e-05,-1.001491129e-04,5.457749911e-05,7.014678920e-01,-8.783358602e-05,8.408018646e-01,7.014723012e-01,-9.886897153e-05,8.407956171e-01,7.016626225e-01,-9.842982488e-05,8.296271566e-01
+45,4.166666667e+00,UP_FORCE_RAMP,1792701677285152042,-6.765251568e-05,-8.838093230e-05,6.250106336e-05,-6.557026691e-05,-1.004199328e-04,5.467595405e-05,-6.673484432e-05,-1.001498423e-04,5.457834208e-05,7.014702190e-01,-8.682997098e-05,8.408034423e-01,7.014723012e-01,-9.886897153e-05,8.407956171e-01,7.016625907e-01,-9.843055428e-05,8.296271575e-01
+46,4.250000000e+00,UP_FORCE_RAMP,1792701677451854980,-6.579504242e-05,-9.389820562e-05,6.977360157e-05,-6.557026691e-05,-1.004199328e-04,5.467595405e-05,-6.680186571e-05,-1.001505453e-04,5.458075587e-05,7.014720764e-01,-9.234724430e-05,8.408107148e-01,7.014723012e-01,-9.886897153e-05,8.407956171e-01,7.016625236e-01,-9.843125730e-05,8.296271599e-01
+47,4.383333333e+00,UP_FORCE_RAMP,1792701677717194050,-6.603204248e-05,-9.441333411e-05,7.366374649e-05,-6.400075813e-05,-9.270748200e-05,7.370938226e-05,-6.518528318e-05,-9.249551041e-05,7.335715960e-05,7.014718394e-01,-9.286237278e-05,8.408146049e-01,7.014738707e-01,-9.115652067e-05,8.408146506e-01,7.016641402e-01,-9.077622240e-05,8.296459363e-01
+48,4.500000000e+00,UP_FORCE_RAMP,1792701677949514501,-6.664915976e-05,-9.315079930e-05,8.051133940e-05,-6.400075813e-05,-9.270748200e-05,7.370938226e-05,-6.523472248e-05,-9.249459584e-05,7.342367547e-05,7.014712223e-01,-9.159983798e-05,8.408214525e-01,7.014738707e-01,-9.115652067e-05,8.408146506e-01,7.016640908e-01,-9.077530783e-05,8.296460028e-01
+49,4.566666667e+00,UP_FORCE_RAMP,1792701678087558274,-7.522337728e-05,-9.279639750e-05,7.707225564e-05,-6.400075813e-05,-9.270748200e-05,7.370938226e-05,-6.525773493e-05,-9.249417693e-05,7.345286508e-05,7.014626481e-01,-9.124543618e-05,8.408180134e-01,7.014738707e-01,-9.115652067e-05,8.408146506e-01,7.016640678e-01,-9.077488892e-05,8.296460320e-01
+50,4.600000000e+00,UP_FORCE_RAMP,1792701678149630940,-9.723313696e-05,-9.927152521e-05,6.388341487e-05,-9.393763423e-05,-1.006308650e-04,6.658897376e-05,-9.565886157e-05,-1.003727543e-04,6.644584215e-05,7.014406383e-01,-9.772056389e-05,8.408048246e-01,7.014439338e-01,-9.907990366e-05,8.408075302e-01,7.016336666e-01,-9.865346632e-05,8.296390250e-01
+51,4.650000000e+00,UP_FORCE_RAMP,1792701678249250818,-8.891476889e-05,-9.734632181e-05,7.995777709e-05,-9.393763423e-05,-1.006308650e-04,6.658897376e-05,-9.573591138e-05,-1.003744562e-04,6.644620859e-05,7.014489567e-01,-9.579536048e-05,8.408208990e-01,7.014439338e-01,-9.907990366e-05,8.408075302e-01,7.016335896e-01,-9.865516819e-05,8.296390253e-01
+52,4.733333333e+00,UP_FORCE_RAMP,1792701678380973695,-8.926169358e-05,-9.906009749e-05,8.259648169e-05,-9.393763423e-05,-1.006308650e-04,6.658897376e-05,-9.583258531e-05,-1.003748252e-04,6.644947603e-05,7.014486098e-01,-9.750913617e-05,8.408235377e-01,7.014439338e-01,-9.907990366e-05,8.408075302e-01,7.016334929e-01,-9.865553718e-05,8.296390286e-01
+53,4.833333333e+00,UP_FORCE_RAMP,1792701678584182684,-9.338950235e-05,-9.766481887e-05,8.734381518e-05,-9.340151380e-05,-9.765229364e-05,8.728688564e-05,-9.535519905e-05,-9.738825840e-05,8.675135224e-05,7.014444820e-01,-9.611385755e-05,8.408282850e-01,7.014444700e-01,-9.610133232e-05,8.408282281e-01,7.016339703e-01,-9.566897039e-05,8.296593305e-01
+54,4.916666667e+00,UP_FORCE_RAMP,1792701678749021117,-9.326422850e-05,-9.687742339e-05,9.650074610e-05,-9.340151380e-05,-9.765229364e-05,8.728688564e-05,-9.541365714e-05,-9.738525765e-05,8.684901432e-05,7.014446073e-01,-9.532646207e-05,8.408374419e-01,7.014444700e-01,-9.610133232e-05,8.408282281e-01,7.016339118e-01,-9.566596964e-05,8.296594282e-01
+55,5.000000000e+00,UP_FORCE_HOLD,1792701678912998425,-9.196617148e-05,-9.601182936e-05,1.081439585e-04,-9.176432212e-05,-9.627292307e-05,1.081095394e-04,-9.369883785e-05,-9.603077880e-05,1.073572969e-04,7.014459053e-01,-9.446086804e-05,8.408490851e-01,7.014461072e-01,-9.472196175e-05,8.408490507e-01,7.016356267e-01,-9.431149079e-05,8.296799364e-01
+56,5.066666667e+00,UP_FORCE_HOLD,1792701679013031623,-9.168859425e-05,-9.371175251e-05,1.151173208e-04,-9.176432212e-05,-9.627292307e-05,1.081095394e-04,-9.372597164e-05,-9.602907427e-05,1.074777086e-04,7.014461829e-01,-9.216079118e-05,8.408560585e-01,7.014461072e-01,-9.472196175e-05,8.408490507e-01,7.016355995e-01,-9.430978626e-05,8.296800568e-01
+57,5.166666667e+00,UP_SETTLE,1792701679213002933,-9.330362659e-05,-9.492514696e-05,1.211309423e-04,-9.176432212e-05,-9.627292307e-05,1.081095394e-04,-9.376142090e-05,-9.602889016e-05,1.075964606e-04,7.014445679e-01,-9.337418564e-05,8.408620721e-01,7.014461072e-01,-9.472196175e-05,8.408490507e-01,7.016355641e-01,-9.430960215e-05,8.296801756e-01
+58,5.283333333e+00,UP_SETTLE,1792701679447143465,-9.250310439e-05,-9.171866465e-05,1.295695776e-04,-9.269137812e-05,-9.539643428e-05,1.276673711e-04,-9.464141560e-05,-9.517063722e-05,1.269268923e-04,7.014453684e-01,-9.016770333e-05,8.408705108e-01,7.014451801e-01,-9.384547296e-05,8.408686086e-01,7.016346841e-01,-9.345134921e-05,8.296995060e-01
+59,5.400000000e+00,UP_SETTLE,1792701679645125514,-9.174905579e-05,-9.757898536e-05,1.328953071e-04,-9.269137812e-05,-9.539643428e-05,1.276673711e-04,-9.466981861e-05,-9.517034773e-05,1.270900947e-04,7.014461224e-01,-9.602802404e-05,8.408738365e-01,7.014451801e-01,-9.384547296e-05,8.408686086e-01,7.016346557e-01,-9.345105972e-05,8.296996692e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eaaa7a5f8fee0c45b1685383f15470380931f9b3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-5.8549e-04,-9.7621e-04,2.4494e+00,-3.6759e-02,3.6771e-02,-2.3180e-05,1.5080e-04,-1.2015e-05,2.3842e-07,9.4250e-07,9.1866e-06,-1.3683e-07,1.5128e-04,9.2358e-06
+1,1.1667e-01,WAIT_W2,2.5899e-05,6.0799e-04,-1.0724e-03,2.4494e+00,-3.6752e-02,3.6846e-02,-2.4156e-05,1.3443e-03,-1.0823e-04,8.1062e-06,7.7151e-06,8.4266e-05,-1.1126e-06,1.3487e-03,8.4626e-05
+2,2.3333e-01,WAIT_W2,5.0546e-05,1.7577e-03,-1.1547e-03,2.4494e+00,-3.6747e-02,3.6920e-02,-2.5148e-05,2.4939e-03,-1.9048e-04,2.1219e-05,1.2912e-05,1.5913e-04,-2.1049e-06,2.5013e-03,1.5967e-04
+3,3.1667e-01,WAIT_W2,7.4044e-05,3.3760e-03,-1.1572e-03,2.4494e+00,-3.6750e-02,3.7049e-02,-3.3762e-05,4.1123e-03,-1.9299e-04,5.5313e-05,1.0278e-05,2.8751e-04,-1.0718e-05,4.1172e-03,2.8790e-04
+4,4.0000e-01,WAIT_W2,9.5300e-05,3.7543e-03,-1.1753e-03,2.4494e+00,-3.6749e-02,3.7072e-02,-3.4038e-05,4.4906e-03,-2.1116e-04,4.9114e-05,1.1507e-05,3.1038e-04,-1.0994e-05,4.4958e-03,3.1079e-04
+5,5.3333e-01,WAIT_W2,1.2054e-04,4.2435e-03,9.1245e-03,2.4471e+00,-3.7490e-02,3.7104e-02,-2.4498e-05,4.9798e-03,1.0089e-02,-2.2888e-03,-7.3033e-04,3.4248e-04,-1.4550e-06,1.1481e-02,8.0665e-04
+6,6.5000e-01,WAIT_W2,1.4493e-04,4.7668e-03,8.2919e-03,2.4483e+00,-3.7417e-02,3.7141e-02,-1.6436e-05,5.5031e-03,9.2561e-03,-1.1010e-03,-6.5651e-04,3.7935e-04,6.6070e-06,1.0825e-02,7.5826e-04
+7,7.6667e-01,WAIT_W2,1.6933e-04,5.2865e-03,8.1618e-03,2.4485e+00,-3.7411e-02,3.7174e-02,-1.6603e-05,6.0228e-03,9.1260e-03,-8.9455e-04,-6.5053e-04,4.1309e-04,6.4407e-06,1.0971e-02,7.7063e-04
+8,8.5000e-01,WAIT_W2,1.9274e-04,5.5822e-03,8.1447e-03,2.4486e+00,-3.7411e-02,3.7194e-02,-1.6917e-05,6.3185e-03,9.1089e-03,-7.4196e-04,-6.5081e-04,4.3285e-04,6.1264e-06,1.1111e-02,7.8163e-04
+9,9.5000e-01,WAIT_W2,2.1625e-04,6.0230e-03,8.3508e-03,2.4489e+00,-3.7432e-02,3.7230e-02,-2.0369e-05,6.7593e-03,9.3150e-03,-5.3120e-04,-6.7168e-04,4.6878e-04,2.6747e-06,1.1521e-02,8.1910e-04
+10,1.0500e+00,WAIT_W2,2.4107e-04,6.2013e-03,8.3234e-03,2.4489e+00,-3.7430e-02,3.7241e-02,-2.0615e-05,6.9376e-03,9.2876e-03,-4.8351e-04,-6.6957e-04,4.8004e-04,2.4287e-06,1.1603e-02,8.2387e-04
+11,1.1833e+00,WAIT_W2,2.6725e-04,6.4919e-03,8.1501e-03,2.4491e+00,-3.7414e-02,3.7262e-02,-2.6132e-05,7.2282e-03,9.1143e-03,-2.8443e-04,-6.5373e-04,5.0065e-04,-3.0889e-06,1.1636e-02,8.2341e-04
+12,1.2833e+00,WAIT_W2,2.8802e-04,6.6149e-03,8.1596e-03,2.4491e+00,-3.7415e-02,3.7270e-02,-2.6266e-05,7.3512e-03,9.1238e-03,-2.8515e-04,-6.5475e-04,5.0851e-04,-3.2223e-06,1.1720e-02,8.2902e-04
+13,1.4167e+00,WAIT_W2,3.1498e-04,6.7651e-03,8.1687e-03,2.4491e+00,-3.7416e-02,3.7280e-02,-2.6529e-05,7.5014e-03,9.1329e-03,-2.5272e-04,-6.5580e-04,5.1834e-04,-3.4854e-06,1.1821e-02,8.3593e-04
+14,1.5333e+00,WAIT_W2,3.3733e-04,6.8665e-03,8.1743e-03,2.4492e+00,-3.7417e-02,3.7286e-02,-2.6792e-05,7.6028e-03,9.1385e-03,-2.2173e-04,-6.5648e-04,5.2515e-04,-3.7486e-06,1.1890e-02,8.4069e-04
+15,1.6333e+00,WAIT_W2,3.6155e-04,8.3494e-03,1.8283e-02,2.4494e+00,-3.8142e-02,3.7395e-02,-1.7446e-05,9.0857e-03,1.9248e-02,-3.3379e-06,-1.3822e-03,6.3355e-04,5.5971e-06,2.1284e-02,1.5205e-03
+16,1.7500e+00,UP_FORCE_RAMP,3.8647e-04,8.1525e-03,1.7458e-02,2.4493e+00,-3.8071e-02,3.7378e-02,-1.1019e-05,8.8888e-03,1.8422e-02,-5.7697e-05,-1.3105e-03,6.1641e-04,1.2025e-05,2.0454e-02,1.4483e-03
+17,1.8833e+00,UP_FORCE_RAMP,4.0608e-04,8.0285e-03,1.7320e-02,2.4493e+00,-3.8064e-02,3.7370e-02,-1.1164e-05,8.7648e-03,1.8284e-02,-6.3896e-05,-1.3034e-03,6.0853e-04,1.1879e-05,2.0277e-02,1.4385e-03
+18,1.9667e+00,UP_FORCE_RAMP,4.3204e-04,1.1757e-02,2.6901e-02,2.4558e+00,-3.8754e-02,3.7635e-02,-2.0560e-06,1.2493e-02,2.7865e-02,6.4502e-03,-1.9940e-03,8.7348e-04,2.0988e-05,3.1211e-02,2.1770e-03
+19,2.0333e+00,UP_FORCE_RAMP,4.5513e-04,1.1466e-02,2.7015e-02,2.4545e+00,-3.8760e-02,3.7615e-02,-1.6600e-06,1.2203e-02,2.7979e-02,5.1298e-03,-1.9996e-03,8.5361e-04,2.1384e-05,3.0952e-02,2.1743e-03
+20,2.1667e+00,UP_FORCE_RAMP,4.8269e-04,1.0702e-02,2.6941e-02,2.4529e+00,-3.8753e-02,3.7563e-02,-1.4911e-06,1.1439e-02,2.7905e-02,3.5114e-03,-1.9928e-03,8.0170e-04,2.1552e-05,3.0363e-02,2.1482e-03
+21,2.2833e+00,UP_FORCE_RAMP,5.0699e-04,1.0108e-02,2.6868e-02,2.4520e+00,-3.8747e-02,3.7522e-02,-1.8224e-06,1.0845e-02,2.7832e-02,2.6097e-03,-1.9870e-03,7.6066e-04,2.1221e-05,2.9984e-02,2.1277e-03
+22,2.3667e+00,UP_FORCE_RAMP,5.2657e-04,9.4133e-03,2.6731e-02,2.4513e+00,-3.8735e-02,3.7464e-02,-4.6595e-06,1.0150e-02,2.7695e-02,1.9143e-03,-1.9745e-03,7.0274e-04,1.8384e-05,2.9558e-02,2.0959e-03
+23,2.4333e+00,UP_FORCE_RAMP,5.5168e-04,9.9872e-03,3.6778e-02,2.4543e+00,-3.9455e-02,3.7507e-02,4.5458e-06,1.0724e-02,3.7742e-02,4.9362e-03,-2.6950e-03,7.4598e-04,2.7589e-05,3.9545e-02,2.7964e-03
+24,2.5333e+00,UP_FORCE_RAMP,5.7658e-04,9.7656e-03,3.6525e-02,2.4532e+00,-3.9436e-02,3.7492e-02,5.1294e-06,1.0502e-02,3.7489e-02,3.7751e-03,-2.6761e-03,7.3104e-04,2.8173e-05,3.9115e-02,2.7743e-03
+25,2.6667e+00,UP_FORCE_RAMP,6.0196e-04,9.3495e-03,3.6285e-02,2.4521e+00,-3.9418e-02,3.7464e-02,5.3108e-06,1.0086e-02,3.7249e-02,2.7351e-03,-2.6581e-03,7.0290e-04,2.8354e-05,3.8687e-02,2.7496e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1a0513a10c797667c0d3222284d285fae4301eef
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 64051200
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..795d4d94b64fc5cdc7b81a224f7726de6f84bbd2
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/fem_node.csv
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+59,2.113333e+01,2828,6.985538e-01,1.551120e-02,8.213167e-01,7.531977e-05,-6.358477e-05,-4.974323e-03,-7.824865e-07,2.237752e-06,-2.036206e-06
+59,2.113333e+01,2829,6.949317e-01,1.811124e-02,8.313626e-01,-2.059904e-06,-1.681957e-04,-5.055454e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2830,6.939423e-01,1.732813e-02,8.235127e-01,2.185398e-05,-1.739692e-04,-5.064181e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2831,6.970607e-01,1.589235e-02,8.206533e-01,6.847581e-05,-1.205035e-04,-5.007790e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2832,6.932828e-01,1.926503e-02,8.207023e-01,8.958481e-06,-1.865328e-04,-5.089038e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2833,6.984837e-01,1.676217e-02,8.161544e-01,2.715645e-05,-1.702013e-04,-5.024910e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2834,6.943103e-01,1.812404e-02,8.193500e-01,2.319470e-05,-1.859249e-04,-5.070135e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2835,6.969971e-01,1.651475e-02,8.312957e-01,1.857942e-05,-1.602868e-04,-5.036431e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2836,6.952561e-01,1.711499e-02,8.300549e-01,7.206894e-06,-1.681376e-04,-5.048160e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2837,6.977123e-01,1.820563e-02,8.147512e-01,1.277598e-05,-1.973896e-04,-5.059529e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2838,6.987462e-01,1.736812e-02,8.150128e-01,1.567430e-05,-1.874263e-04,-5.041286e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2839,6.927083e-01,1.952612e-02,8.254567e-01,1.080705e-06,-1.776341e-04,-5.089098e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2840,7.004788e-01,1.941281e-02,8.364025e-01,3.047469e-05,-1.477442e-04,-5.062418e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2841,6.962261e-01,1.708362e-02,8.177975e-01,3.639160e-05,-1.756243e-04,-5.041730e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2842,6.932642e-01,1.813534e-02,8.242443e-01,9.478728e-06,-1.776185e-04,-5.075409e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2843,6.997781e-01,1.758093e-02,8.142928e-01,6.148823e-06,-1.925516e-04,-5.048091e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.113333e+01,2844,6.997845e-01,1.832568e-02,8.135933e-01,8.497408e-07,-2.015849e-04,-5.064068e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29103c5279978eb3c2209e39d9b45d2004424ea3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+18845,1792701748466719845,9575474000000,1792701748465878517,XJC_ZERO_HOLD_BEFORE_DOWN,3,0.0445,0.044501643627882004,0.6760665202246126,-0.004569669092951988,0.09091960641746391,0.9999999872094459,-8.42752423188657e-05,-8.206178989046745e-05,-5.645811217684821e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.055872215412754556,0.05898352385429145,0.0031775581141926697,0.004007975635859896,-0.003488847899150785,-3.86066460651352e-06,0.5634902632052002,0.38598693699695164,-0.02680879060522206,0.025543049558790124,-0.03797473231505567,-0.00021411498953312355,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,-0.11629301930191849,0.5978041020154932,1.515947047139344,-0.2112714884856159,-0.8866665207028056,0.34418722104377397,1.2051166602065873,0.0031775581141926697,-0.31083038693275666,0.0,0.0,0,0,0.0,0.0
+18978,1792701749568669665,9576576000000,1792701749561878898,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760680622980947,-0.004585695093707669,0.09092079295221107,0.9999999871085636,-9.254901136615774e-05,-7.876643715764663e-05,-4.9560728153820924e-05,0.6761,-0.00453,0.09097977245373091,1.0,0.0,0.0,0.0,0.08790544390564725,0.11008652535156532,0.018741490231127353,0.00817333937362116,-0.006610955294265884,-1.4009448813904221e-05,0.5955234916980929,0.4370899384942255,-0.011244858488287376,0.029708413296551387,-0.04109683971017077,-0.00022426377374051425,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,-0.0690756558508688,0.6844945035246149,1.4472580565358186,-0.22048130931247711,-0.8327642056762004,0.4072529751296526,1.2051166602065873,0.018741490231127353,-0.24214139632923137,-0.24214139632923137,0.07199999999999841,0,0,-4.499999147897083e-05,-9.999999025923074e-05
+19097,1792701750560734220,9577568000000,1792701750557869246,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6760556569026037,-0.0045994077140504635,0.09086155909932346,0.9999999852088686,-9.449030149723293e-05,-0.000104549735558312,-3.414766188631703e-05,0.6761,-0.00453,0.09091337861363717,1.0,0.0,0.0,0.0,0.11599552656806922,0.08762109887534936,0.27342446366828105,0.0071567246465380555,-0.008672746228986034,-0.0002593008721934872,0.6236135743605149,0.41462451201800954,0.2434381149488663,0.028691798569468283,-0.04315863064489092,-0.00046955519712009724,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.16286476926879684,0.5489941427163386,1.115636535253959,-0.1356988891208924,-0.5639731977210469,0.31672988577208194,1.2051166602065873,0.27342446366828105,0.08948012495262825,0.08948012495262825,0.1513599999999952,0,0,-7.55771951868337e-05,9.99926350316926e-05
+19145,1792701750960730756,9577968000000,1792701750957878636,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761010757341331,-0.004609434315672661,0.09084386341835655,0.9999999914612314,-9.169212443644626e-05,2.847517734117404e-06,-1.0239507409215927e-05,0.6761,-0.00453,0.09088649747888235,1.0,0.0,0.0,0.0,-0.014448163353709575,0.18505817615992065,0.3957888375820875,0.013554138420597467,0.00131972859807708,0.0008312897414486681,0.4931698844387361,0.5120615893025808,0.36580248886267275,0.035089212343527694,-0.03316615581782781,0.0006210354165220581,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.15083112951792113,0.6807281079388691,1.027863584370283,-0.17560545319134563,-0.5500645243556702,0.3859209748122228,1.2051166602065873,0.3957888375820875,0.17725307583630423,0.17725307583630423,0.1833599999999939,0,0,-5.989300271427999e-05,9.999999025923074e-05
+19297,1792701752227645549,9579235000000,1792701752221878743,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760971942939091,-0.00461534199456984,0.0908231523493796,0.9999999914224651,-9.256570195143986e-05,-5.0581834153399285e-06,-1.9848782088620326e-06,0.6761,-0.00453,0.09084998925536857,1.0,0.0,0.0,0.0,0.004939957734729661,0.16142470964738548,0.46759208611158043,0.011980528344036873,0.0003085432509762759,-0.00023027877902699438,0.5125580055271753,0.48842812279004566,0.4376057373921657,0.0335156022669671,-0.03417734116492861,-0.0004405331039536044,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.2562867093025648,0.6388001647424265,0.8580917296857312,-0.1305850630503813,-0.4202526583117979,0.3628985511616078,1.2051166602065873,0.46759208611158043,0.34702493052085603,0.34702493052085603,0.2847200000000018,0,0,-2.7457918176654328e-06,2.7735270885509422e-05
+19433,1792701753360723470,9580368000000,1792701753357868905,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760932862229176,-0.00462117456920759,0.09081596441749064,0.9999999910749525,-9.56209546975132e-05,-1.2020404560145099e-05,2.258835535920671e-06,0.6761,-0.00453,0.09084626922449214,1.0,0.0,0.0,0.0,-0.00015991541872739656,0.1519556382897847,0.45889826744737,0.01198115899103365,0.0003106488037556629,-0.00019967368999541523,0.5074581323737183,0.4789590514324449,0.42891191872795525,0.03351623291396388,-0.034175235612149225,-0.00040992801492202525,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.2377028324474135,0.586481310621277,0.7878821384649336,-0.11748796283490204,-0.3777942248057625,0.32485883726860765,1.2051166602065873,0.45889826744737,0.41723452174165365,0.41723452174165365,0.37536000000002956,0,0,-7.88894360961856e-06,7.968629908705616e-05
+19537,1792701754227626769,9581235000000,1792701754221879158,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760928179035637,-0.004625387695868018,0.09081107445705217,0.9999999910198423,-9.610313690533779e-05,-1.2447635506511921e-05,3.5246709779819238e-06,0.6761,-0.00453,0.09083209007744947,1.0,0.0,0.0,0.0,0.00012711333948445258,0.1482191625403142,0.487185033914611,0.011326194733774823,0.00031997812143597093,-0.00013717018164031145,0.5077451611319301,0.4752225756829744,0.45719868519519624,0.03286126865670505,-0.03416590629446892,-0.0003474245065669215,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.2509378440537475,0.5988606275304488,0.7363405800319562,-0.126042377175644,-0.34354894033930444,0.32892132208671865,1.2051166602065873,0.487185033914611,0.468776080174631,0.468776080174631,0.4447200000000508,0,0,-2.5804005408776358e-05,9.251149432477063e-05
+19672,1792701755352717554,9582360000000,1792701755345878896,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6760930349966713,-0.004628437389090154,0.09079504196914201,0.9999999906097419,-9.983169915625619e-05,-1.3090737437899968e-05,9.254470888000752e-06,0.6761,-0.00453,0.09079747892393374,1.0,0.0,0.0,0.0,0.00018149958509805497,0.14703386255157308,0.5587313538010998,0.01093318376349691,0.0003008266792055153,0.000710841748838556,0.5077995473775437,0.47403727569423326,0.5287450050816851,0.03246825768642714,-0.03418505773669937,0.000500587423911946,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.27018481084492646,0.6605785006749784,0.741472656903279,-0.11750922050117903,-0.34648503279824644,0.36350184463764995,1.2051166602065873,0.5587313538010998,0.46364400330330824,0.46364400330330824,0.5347200000000543,0,0,-2.9679781267415113e-05,-9.983642665212784e-05
+19812,1792701756518629529,9583526000000,1792701756517869464,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6760890996860573,-0.00463068376631011,0.09077341351219374,0.999999990791362,-9.622301310714677e-05,-1.9151871073489726e-05,1.531267228806701e-05,0.6761,-0.00453,0.09076876732272217,1.0,0.0,0.0,0.0,-0.0036780958827464794,0.13460419031218535,0.6376632963262576,0.010916206161670959,0.0002870428902830291,0.000646625445913771,0.5039399519096992,0.4616076034548455,0.6076769476068429,0.032451280084601186,-0.03419884152562186,0.00043637112098716095,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.33127344889851756,0.5352836141592777,0.5941466709138251,-0.054249576138887534,-0.24189535760890893,0.28536556312241,1.2051166602065873,0.6376632963262576,0.6109699892927621,0.6109699892927621,0.6280000000000181,0,0,-1.8481177392393744e-05,4.9062311379686635e-05
+19932,1792701757518698138,9584526000000,1792701757517879052,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760947610301,-0.004629694499762785,0.09076765462502144,0.9999999911331462,-9.371762481721133e-05,-1.0170357165012942e-05,1.7033571145917275e-05,0.6761,-0.00453,0.09074569882985518,1.0,0.0,0.0,0.0,-0.002179648153556313,0.1331590651400419,0.6880869571024695,0.010902907074800905,0.0002792406531141184,6.769627106672783e-05,0.5054383996388894,0.46016247828270207,0.6581006083830547,0.03243798099773113,-0.03420664376279077,-0.0001425580538598822,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.3128149098285402,0.6146532493415232,0.5340121248311213,-0.07040982737932168,-0.21022523694569267,0.33409840625706505,1.2051166602065873,0.6880869571024695,0.671104535375466,0.671104535375466,0.7079999999999871,0,0,-2.600276149877839e-05,-3.549101212968165e-05
+20072,1792701758685640775,9585693000000,1792701758681879360,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760900183702466,-0.004637130957502085,0.09074166802157735,0.9999999909556551,-9.27579473537586e-05,-1.624283557698675e-05,2.5762136680550787e-05,0.6761,-0.00453,0.09071668270022609,1.0,0.0,0.0,0.0,-0.0071471984179191095,0.12753710197690488,0.7683261508841484,0.010237373488405296,0.0002711518377872188,0.0005325271586439852,0.5004708493745266,0.45454051511956506,0.7383398021647336,0.031772447411335523,-0.03421473257811767,0.0003222728337173751,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.3358357451735676,0.6189480613394543,0.5108959499487656,-0.04806720360268881,-0.19120527410719695,0.3282275528655829,1.2051166602065873,0.7683261508841484,0.6942207102578216,0.6942207102578216,0.8013599999999509,0,0,-2.242838250818136e-05,-9.999943514771843e-05
+20231,1792701760010632500,9587018000000,1792701760005879004,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6760943655440254,-0.004641625771371508,0.09072509264378682,0.9999999905033994,-9.641914917603071e-05,-7.036452045409601e-06,3.301365793015369e-05,0.6761,-0.00453,0.09068439857671698,1.0,0.0,0.0,0.0,-0.026815430814502716,0.1279013569142925,0.828649676471953,0.01082829615284319,0.0012604147535387328,0.0005049932216307255,0.48080261697794296,0.4549047700569527,0.7986633277525382,0.03236337007577342,-0.033225469662366156,0.00029473889670411554,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.35731797737068866,0.5460330922331746,0.31330701685234974,-0.016502852404408772,-0.06615949013754376,0.2758430673463516,1.2051166602065873,0.828649676471953,0.8918096433542375,0.8918096433542375,0.9073599999999098,0,0,-2.7760741654032965e-05,9.752559457088523e-05
+20359,1792701761077601177,9588085000000,1792701761069878801,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6760979984986459,-0.004644850092514049,0.09070336347361163,0.9999999908448813,-8.967723487039305e-05,2.815983258524896e-06,4.1269425464458465e-05,0.6761,-0.00453,0.09065425940009453,1.0,0.0,0.0,0.0,-0.03720955203380849,0.1324886578856212,0.9027913815739683,0.01079391043972807,0.002900389147590443,0.00046883446037115396,0.4704084957586372,0.4594920710282814,0.8728050328545536,0.0323289843626583,-0.031585495268314445,0.00025858013544454393,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.4349220020264427,0.5037703395889176,0.21706486422334442,0.011829874813570597,0.007916673102221564,0.24307756152337895,1.2051166602065873,0.9027913815739683,0.9880517959832429,0.9880517959832429,0.9927199999998767,0,0,-2.762498245848099e-05,9.99525004693524e-05
+20503,1792701762277652230,9589285000000,1792701762269878528,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761006501239726,-0.004644561118506299,0.09068022419912206,0.999999990571914,-8.888653756195547e-05,9.469123748190457e-06,4.8047429038964664e-05,0.6761,-0.00453,0.090624884101423,1.0,0.0,0.0,0.0,-0.04093959744754905,0.13309022231404816,0.9606453700936736,0.011566478530385081,0.0032416207439407013,0.00043848370172151654,0.46667845034489663,0.46009363545670834,0.9306590213742588,0.03310155245331531,-0.031244263671964187,0.00022822937679490654,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.3995294057136494,0.5237812961248268,0.2501690095223457,0.016771693575220244,-0.027370450073063348,0.2569630265109452,1.2051166602065873,0.9606453700936736,0.9549476506842416,0.9549476506842416,1.0887199999999626,0,0,-2.5417165548684235e-05,-9.999643754555194e-05
+20638,1792701763402548536,9590410000000,1792701763397879087,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761004304495752,-0.004648980010505861,0.09065410773420184,0.9999999902107154,-8.868474683109608e-05,1.0589618543355712e-05,5.517525983583562e-05,0.6761,-0.00453,0.09059236450222144,1.0,0.0,0.0,0.0,-0.05730797800744203,0.13486163852016542,1.0190664031448449,0.010734153962457027,0.004258776574108239,0.0003948474988093531,0.45031006978500365,0.4618650516628256,0.9890800544254302,0.032269227885387254,-0.03022710784179665,0.00018459317388274307,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.4258828257659938,0.5792501968855854,0.05898969739132779,0.013966224870985394,0.09723175858927674,0.28812293860182797,1.2051166602065873,1.0190664031448449,1.1461269628152595,1.1461269628152595,1.1787200000000526,0,0,-3.236401198918603e-05,6.353113375102558e-05
+20778,1792701764568627132,9591576000000,1792701764565879248,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761015662110138,-0.00465359131405832,0.09062072776582952,0.9999999900540844,-8.192999449813783e-05,1.3489856871401483e-05,6.663479143808511e-05,0.6761,-0.00453,0.09055344442318838,1.0,0.0,0.0,0.0,-0.06670245364192384,0.12690997860582975,1.0792278876986081,0.010721759362301561,0.004246652436938357,0.0003450951922158161,0.44091559415052184,0.45391339174848994,1.0492415389791934,0.03225683328523179,-0.03023923197896653,0.00013484086728920606,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.43605330802374814,0.5072210834619257,-0.06047578423725226,0.04974913356238926,0.1717617956456946,0.2395879726987503,1.2051166602065873,1.0792278876986081,1.2655924444438396,1.2655924444438396,1.272000000000146,0,0,-3.353796402119779e-05,6.052266607182162e-05
+20918,1792701765735531808,9592743000000,1792701765733869680,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761030219536401,-0.004651149000881159,0.09058386322516876,0.9999999900794095,-7.273158509867672e-05,1.810839902829187e-05,7.527448293935936e-05,0.6761,-0.00453,0.09050708054747265,1.0,0.0,0.0,0.0,-0.07629899619294306,0.11837646139636299,1.1179039868638434,0.010685657578197678,0.005252491283678929,0.00032838387320803205,0.4313190515995026,0.44537987453902317,1.0879176381444287,0.032220731501127906,-0.02923339313222596,0.00011812954828142199,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.45880728061088083,0.45880768420904366,-0.1591335059502823,0.05920267348583503,0.23719496463514717,0.20846594810341768,1.2051166602065873,1.1179039868638434,1.3642501661568696,1.3642501661568696,1.3653600000002393,0,0,-5.038775418156482e-05,9.998779168374767e-05
+21026,1792701766635517954,9593643000000,1792701766633879852,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761055579261914,-0.004655529617724892,0.09054342173445178,0.9999999870228287,9.94691492981755e-05,2.261950195865372e-05,8.361491078374456e-05,0.6761,-0.00453,0.09045802080189974,1.0,0.0,0.0,0.0,-0.08535533417303576,0.11750779855909199,1.1689792691953447,0.009711809029000769,0.00627336419297847,0.00029020919718282333,0.4222627136194099,0.4445112117017522,1.13899292047593,0.031246882951930996,-0.028212520222926418,7.995487225621329e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.5385874343828218,0.5374931448133805,-0.1444671896062698,0.024861418282275505,0.24941756680092,0.22605574720854607,1.2051166602065873,1.1689792691953447,1.349583849812857,1.349583849812857,1.4373600000003113,0,0,-5.7216862535429354e-05,-5.000285882428841e-05
+21149,1792701767660576885,9594668000000,1792701767657869877,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761063256009572,-0.00466152462644981,0.09048763694629486,0.9999999856705655,9.912678786838418e-05,2.2832931173116026e-05,9.876371040637537e-05,0.6761,-0.00453,0.09039894247347717,1.0,0.0,0.0,0.0,-0.09467844747093018,0.11887463776665358,1.229071059405446,0.009593602356661818,0.007138434358424883,0.00025413443320588495,0.4129396003215155,0.44587805090931376,1.1990847106860312,0.031128676279592045,-0.027347450057480006,4.388010827927492e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.5496535472670799,0.5202971944767201,-0.22939357501270735,0.03585525752602764,0.3012956432673653,0.22747803079313703,1.2051166602065873,1.229071059405446,1.4345102352192947,1.4345102352192947,1.5193600000003933,0,0,-5.732376775621629e-05,-6.528970006159369e-05
+21301,1792701768927525395,9595935000000,1792701768925869419,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761125763928368,-0.004668915523205583,0.09042385693116206,0.9999999839202052,9.577748203140088e-05,3.2495154345809286e-05,0.00011564252092262261,0.6761,-0.00453,0.09032268802298926,1.0,0.0,0.0,0.0,-0.11389561452627939,0.10238744713194142,1.3056093710537084,0.009544514029038734,0.008272025515449779,0.00020589444164608014,0.3937224332661663,0.4293908602746016,1.2756230223342937,0.03107958795196896,-0.02621385890045511,-4.359883280529886e-06,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.5582388607007205,0.45314327775528146,-0.39308501412278996,0.06811576915978727,0.40116684832244986,0.20490004966022246,1.2051166602065873,1.3056093710537084,1.5982016743293772,1.5982016743293772,1.6207200000004947,0,0,-5.6756472623072145e-05,8.98555632941111e-05
+21413,1792701769860546101,9596868000000,1792701769853878754,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761108167435655,-0.004670245211309926,0.09037481022157887,0.9999999830659364,9.362728563727142e-05,2.986963683988181e-05,0.00012511086045058253,0.6761,-0.00453,0.09027117956837426,1.0,0.0,0.0,0.0,-0.1230109667765687,0.09291767627662684,1.338724318749484,0.008490978931668228,0.009298289016448472,0.0001840831753320454,0.384607081015877,0.419921089419287,1.3087379700300692,0.030026052854598455,-0.025187595399456416,-2.6171149594564625e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.6045671982201821,0.46141280040916477,-0.330149355735366,0.08537793509449501,0.3662588194648033,0.23454340728567863,1.2051166602065873,1.338724318749484,1.5352660159419533,1.5352660159419533,1.6953600000005693,0,0,-5.763262502930656e-05,-9.999997638144293e-05
+21529,1792701770827491110,9597835000000,1792701770825878786,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761133253513515,-0.004672894436560043,0.09032000477855849,0.9999999814299269,9.477972869745495e-05,3.3087513486228984e-05,0.00013603319407614822,0.6761,-0.00453,0.09020779660530505,1.0,0.0,0.0,0.0,-0.12838345781831745,0.07775650181413468,1.3294428594550483,0.0074714504370084756,0.009320193981245655,0.00016141805512331838,0.37923458997412823,0.40475991495679486,1.2994565107356335,0.029006524359938703,-0.025165690434659233,-4.883626980329166e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.6540096776360413,0.4494718739851557,-0.4902576185968912,0.08310983267053909,0.4800560795028954,0.229117346195066,1.2051166602065873,1.3294428594550483,1.6953742788034785,1.6953742788034785,1.7727200000006467,0,0,-7.625346202103233e-05,9.375000361989123e-05
+21632,1792701771685527156,9598693000000,1792701771681869084,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761209330918873,-0.004648653074192095,0.09024473909872713,0.9999999933060578,-2.9122056687133716e-05,5.522215722719799e-05,3.054779915723452e-05,0.6761,-0.00453,0.0901324420830586,1.0,0.0,0.0,0.0,-0.12276964311421656,0.09775887312022946,1.3285708128329259,0.008269072337726249,0.00930442789058511,-0.0003807685862908531,0.3848484046782291,0.42476228626288964,1.2985844641135111,0.029804146260656476,-0.02518145652531978,-0.0005910229112174631,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.655600439422826,0.4271392813051122,-0.443883341826182,0.10626275474824366,0.440312399245378,0.21573378434492696,1.2051166602065873,1.3285708128329259,1.6490000020327693,1.6490000020327693,1.8413600000007153,0,0,-0.00010050919031365092,-9.999999025923074e-05
+21716,1792701772385494988,9599393000000,1792701772377869223,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761262917103857,-0.004660567448167101,0.09017987966349579,0.9999999925386492,-1.851818529629077e-05,5.759695267635741e-05,5.201186118169192e-05,0.6761,-0.00453,0.09005123695672175,1.0,0.0,0.0,0.0,-0.11490498682339012,0.13813273664281484,1.4200811930697963,0.01075230638175547,0.009012049822701165,0.0001415171541779858,0.39271306096905556,0.465136149785475,1.3900948443503816,0.0322873803046857,-0.025473834593203723,-6.873717074862423e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.6535910244551235,0.5641104737032674,-0.5543272896675292,-0.029713639460715372,0.5240364146621759,0.32908073864484444,1.2051166602065873,1.4200811930697963,1.7594439498741163,1.7594439498741163,1.8973600000007713,0,0,-0.00012764329060802192,9.07552325221161e-05
+21824,1792701773285555216,9600293000000,1792701773277878696,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761267593227052,-0.004665048648819739,0.0900807917202702,0.9999999910191523,-2.077330906962165e-06,5.569730638160362e-05,7.936028345872054e-05,0.6761,-0.00453,0.08994251028583049,1.0,0.0,0.0,0.0,-0.1236587652572011,0.10723570428744339,1.4395527765835294,0.00942760721917879,0.009474845816482416,0.00011495625764778856,0.3839592825352446,0.43423911743010357,1.4095664278641147,0.030962681142109018,-0.025011038599422473,-9.529806727882147e-05,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7573059300691127,0.4935284870624476,-0.6599304501718362,0.09255347467635354,0.5900626165561189,0.26200284825969783,1.2051166602065873,1.4395527765835294,1.8650471103784234,1.8650471103784234,1.9693600000008433,0,0,-0.00011063816796466763,9.985190038553355e-05
+21932,1792701774185543504,9601193000000,1792701774177878586,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761247603780199,-0.004674780866335435,0.08998203745716635,0.9999999896059517,-4.704397574210222e-06,5.070057590121336e-05,9.817474870813112e-05,0.6761,-0.00453,0.0898403691650148,1.0,0.0,0.0,0.0,-0.12260323007098722,0.08134263665467001,1.42870885511556,0.007452549516183089,0.009309031483975189,0.0001000599128846734,0.38501481772145846,0.4083460497973302,1.3987225063961453,0.028987623439113316,-0.0251768529319297,-0.00011019441204193663,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7556090696812487,0.4206049626998066,-0.7124875155087312,0.12751523598190706,0.6141737908726338,0.21034869111986854,1.2051166602065873,1.42870885511556,1.9176041757153186,1.9176041757153186,2.0413600000009153,0,0,-0.00012101422593582966,9.993387647811431e-05
+22027,1792701774977441401,9601985000000,1792701774973878898,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761263586426288,-0.004676651831528975,0.08988202500338703,0.9999999878034869,-7.370176390676522e-07,5.282549754013843e-05,0.00011421389655043328,0.6761,-0.00453,0.08973944765390231,1.0,0.0,0.0,0.0,-0.128382438869461,0.08168548150243155,1.4386787199046376,0.007424467601916087,0.010309264414512864,0.00010697572233614912,0.3792356089229847,0.4086888946450917,1.4086923711852228,0.028959541524846314,-0.024176620001392025,-0.00010327860259046091,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7599859094797374,0.47600210941872734,-0.6745056313574477,0.1220917871435789,0.582991904530668,0.24653029870807308,1.2051166602065873,1.4386787199046376,1.879622291564035,1.879622291564035,2.1047200000009787,0,0,-0.0001359204998927207,-9.999184399778755e-05
+22119,1792701775743504659,9602751000000,1792701775741878759,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761296625777226,-0.004677601550462362,0.08977802030116865,0.9999999880993892,-2.2501739014883814e-05,5.606269333984311e-05,0.00010767883731341796,0.6761,-0.00453,0.08962822173709024,1.0,0.0,0.0,0.0,-0.12264056907049992,0.08154689633096096,1.4880031811985936,0.006521634720072653,0.010320554486857297,-0.0009680797755890301,0.38497747872194577,0.40855030947362114,1.458016832479179,0.02805670864300288,-0.02416532992904759,-0.0011783341005156401,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7851406767073301,0.4210661230820396,-0.7414943631013282,0.14523972589809117,0.6259838539055727,0.20791692626852842,1.2051166602065873,1.4880031811985936,1.9466110233079155,1.9466110233079155,2.16600000000104,0,0,-0.00014937444840354275,-9.64718957760013e-05
+22207,1792701776477432968,9603485000000,1792701776469878637,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761294916515301,-0.004673396312717882,0.08966671388662657,0.999999989074481,-4.9858269715732254e-05,5.6948821775020303e-05,8.697635820143394e-05,0.6761,-0.00453,0.08951800763201866,1.0,0.0,0.0,0.0,-0.11345055033770851,0.09050121412103762,1.4884914347772373,0.007442469538132917,0.009284455947836816,5.278551976448437e-05,0.39416749745473717,0.4175046272636978,1.4585050860578226,0.028977543461063144,-0.025201428468068072,-0.00015746880516212566,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7432253071070276,0.3838011024161365,-0.7917424592063435,0.17289290077076844,0.6386559085944223,0.18266276049671615,1.2051166602065873,1.4884914347772373,1.9968591194129308,1.9968591194129308,2.2247200000010987,0,0,-0.0001556723150483982,-9.244506135453463e-05
+22295,1792701777210491970,9604218000000,1792701777205879056,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761325202013797,-0.004676936953971358,0.08955471620039693,0.9999999886915996,-1.7506791729911494e-05,6.121844120600238e-05,0.00010002739568505965,0.6761,-0.00453,0.08939843870298758,1.0,0.0,0.0,0.0,-0.11911664660838822,0.06911154962267452,1.5178380660501665,0.005445045474673251,0.009316290734059044,9.164672923516587e-06,0.38850140118405746,0.3961149627653347,1.4878517173307517,0.026980119397603478,-0.025169593681845844,-0.00020108965200309344,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7763267347881746,0.38963851081458845,-0.8347346564558547,0.18911033884106773,0.6666394254686939,0.19638196083543177,1.2051166602065873,1.5178380660501665,2.0398513166624417,2.0398513166624417,2.2833600000011574,0,0,-0.00017113878033744723,-9.999980984798924e-05
+22371,1792701777843416931,9604851000000,1792701777837879002,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761236684117621,-0.00467755624332661,0.08943198915636393,0.9999999887230976,4.697012481634909e-06,4.6484982030596426e-05,0.00010869109244363553,0.6761,-0.00453,0.0892867306685281,1.0,0.0,0.0,0.0,-0.11119653929531337,0.05570467165225845,1.507117118571315,0.004411922812000212,0.008325606614862063,-1.2435853545523091e-05,0.3964215084971323,0.38270808479491863,1.4771307698519003,0.02594699673493044,-0.026160277801042825,-0.00022269017847213312,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7621846746878387,0.3578708945192645,-0.8181445855127347,0.21074799077003262,0.6499786753253938,0.17873934808534586,1.2051166602065873,1.507117118571315,2.023261245719322,2.023261245719322,2.334000000001208,0,0,-0.00018310493011683272,-9.766050054616499e-05
+22447,1792701778477461456,9605485000000,1792701778469879052,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761236532746153,-0.004681147807802776,0.08931549715332417,0.9999999890028537,-1.2243503425048067e-05,4.5672727977405976e-05,0.00010583598407854381,0.6761,-0.00453,0.08916849255096244,1.0,0.0,0.0,0.0,-0.111937069706736,0.056266403640676865,1.5377592829619733,0.004374158950012232,0.00933548899459357,-0.00042405047110733677,0.3956809780857097,0.38326981678333705,1.5077729342425585,0.02590923287294246,-0.025150395421311318,-0.0006343047960339468,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.7934200692879944,0.39818027625080377,-0.9707110508019943,0.21758378134378506,0.7490302377906026,0.20506526754040771,1.2051166602065873,1.5377592829619733,2.1758277110085817,2.1758277110085817,2.3847200000012587,0,0,-0.00019163737537544889,8.212220767156992e-05
+22523,1792701779110432479,9606118000000,1792701779105879588,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.676125151214596,-0.004684654994992783,0.08919036663701393,0.9999999887647958,-3.304301306567033e-05,4.8387977146144146e-05,0.00010237204531235775,0.6761,-0.00453,0.08904366398298051,1.0,0.0,0.0,0.0,-0.09327890722171212,0.03795466908991818,1.5480481378519075,0.0043924780137999005,0.008318208930920779,-4.317969819769038e-05,0.41433914057073357,0.36495808223257836,1.5180617891324928,0.025927551936730128,-0.02616767548498411,-0.0002534340231243004,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.8146983733363327,0.37908092188119896,-0.9710875350466762,0.23518564879455883,0.7510872408360537,0.18816246093209446,1.2051166602065873,1.5480481378519075,2.1762041952532636,2.1762041952532636,2.4353600000013094,0,0,-0.00020210517803166485,-5.272187643203804e-05
+22582,1792701779602418786,9606610000000,1792701779601878743,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.676120241868464,-0.004685028534806753,0.08907852144093234,0.9999999888917391,-3.0682473865344284e-05,3.761081660257733e-05,0.00010631744127658132,0.6761,-0.00453,0.08894185022642122,1.0,0.0,0.0,0.0,-0.09244315089507416,0.03398618484490362,1.534061033162488,0.0034077658805446442,0.007326382720170645,-5.895803921381851e-05,0.4151748968973715,0.3609895979875638,1.5040746844430732,0.02494283980347487,-0.027159501695734244,-0.00026921236414042854,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.8415558788361908,0.3366903122811404,-0.8567598889965427,0.2670721698998829,0.6807262641429924,0.16620992617480493,1.2051166602065873,1.534061033162488,2.06187654920313,2.06187654920313,2.4747200000013487,0,0,-0.00021343982224283765,-9.999997638144293e-05
+22654,1792701780202433971,9607210000000,1792701780201869422,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761208981394489,-0.004685155272777415,0.08895355241332058,0.9999999883360288,-1.840327149548653e-05,3.820237861191601e-05,0.00011389778187436576,0.6761,-0.00453,0.08880778874397809,1.0,0.0,0.0,0.0,-0.11145038164198168,0.04883691153585995,1.5676337841872237,0.003345027471506414,0.009346005651173998,-5.700933882850525e-05,0.396167666150464,0.37584032467852013,1.537647435467809,0.02488010139443664,-0.02513987876473089,-0.0002672636637551153,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.8088799475784008,0.32376126512628395,-0.9579909178017961,0.28236194001947057,0.7267581958921983,0.1604822892719554,1.2051166602065873,1.5676337841872237,2.1631075780083835,2.1631075780083835,2.5227200000013967,0,0,-0.00023323914767200827,-9.999999025923074e-05
+22710,1792701780668484888,9607676000000,1792701780665869683,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761190438929338,-0.004688056026441241,0.0888359268199604,0.9999999885001488,-1.1001079976217557e-05,3.452068043154852e-05,0.00011458562485044979,0.6761,-0.00453,0.08869578238728067,1.0,0.0,0.0,0.0,-0.10206700484061743,0.03539260749594508,1.5671933145690577,0.003367897555257248,0.008381222399258516,-7.04880375858009e-05,0.40555104295182826,0.36239602063860527,1.537206965849643,0.024902971478187475,-0.026104662016646372,-0.00028074236251241093,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.9091331368546974,0.35571285688301213,-1.0706573858262438,0.28832238032401314,0.8208909293380424,0.18259095993509705,1.2051166602065873,1.5671933145690577,2.275774046032831,2.275774046032831,2.560000000001434,0,0,-0.00024743529227347496,7.500011309081173e-05
+22770,1792701781168439308,9608176000000,1792701781165869979,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761195741675915,-0.004692442023270411,0.08871063782683851,0.9999999880178859,-1.3433302549289212e-05,3.404963186869115e-05,0.0001186054867843012,0.6761,-0.00453,0.08857143394592334,1.0,0.0,0.0,0.0,-0.11146912189861458,0.045189345102687184,1.5678560765600058,0.0033429639846256527,0.009345562056684641,-5.7212689258953414e-05,0.3961489258938311,0.37219275824534737,1.537869727840591,0.02487803790755588,-0.025140322359220247,-0.00026746701418556344,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.926387882091663,0.37967646790740683,-0.984610293805682,0.2993316778441202,0.7637361432865967,0.20043895625314595,1.2051166602065873,1.5678560765600058,2.1897269540122695,2.1897269540122695,2.600000000001474,0,0,-0.00025096133297461263,-9.987789348209759e-05
+22830,1792701781668449395,9608676000000,1792701781661878729,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761167038711168,-0.004693260348430583,0.0885788044261205,0.9999999877087208,-1.1979480346132973e-05,2.8119035416246023e-05,0.00012284638599017073,0.6761,-0.00453,0.08844130606697784,1.0,0.0,0.0,0.0,-0.11398294566125633,0.034182361284954166,1.6172599948453785,0.002285241847757198,0.010367717041263113,-9.322947268419431e-05,0.39363510213118935,0.36118577442761435,1.5872736461259638,0.023820315770687425,-0.024118167374641775,-0.00030348379761080434,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.9794788738440173,0.35896841806946594,-1.054529727846433,0.31413811242308626,0.8192509299102074,0.1888233321976348,1.2051166602065873,1.6172599948453785,2.25964638805302,2.25964638805302,2.640000000001514,0,0,-0.00026817268733023,-9.994313296258212e-05
+22890,1792701782168370676,9609176000000,1792701782165869094,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761154791162045,-0.004699024197497763,0.08844297306492514,0.9999999873403594,-1.1712173445340102e-05,2.8249430979448205e-05,0.00012580516758924,0.6761,-0.00453,0.08830384743950503,1.0,0.0,0.0,0.0,-0.12046942416161271,0.033114273537432515,1.5876429075099163,0.002290424008204589,0.010374336209732962,-7.00794806439061e-05,0.38714862363083297,0.3601176866800927,1.5576565587905016,0.023825497931134816,-0.024111548206171927,-0.0002803338055705161,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,0.9991353679381877,0.24781508160364157,-1.1081812862201674,0.3706335955373313,0.8513335272313198,0.11932340297056178,1.2051166602065873,1.5876429075099163,2.3132979464267547,2.3132979464267547,2.680000000001554,0,0,-0.00028262636047746,-9.88759588357368e-05
+22941,1792701782593467783,9609601000000,1792701782585879016,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761203663485624,-0.0047018328491154485,0.08832305259342949,0.9999999873402879,-1.2046114178970826e-05,3.4145319115327885e-05,0.00012430316404962797,0.6761,-0.00453,0.0881819154760581,1.0,0.0,0.0,0.0,-0.13920855042698738,0.03453426675532373,1.6395100328474033,0.002253636242004104,0.01137668449878507,-9.854072733308876e-05,0.3684094973654583,0.3615376798979839,1.6095236841279885,0.02378871016493433,-0.023109199917119818,-0.0003087950522596988,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0109095837165745,0.26410387575274996,-1.1300702425142048,0.3698524756528549,0.8658568552248568,0.1309172363508227,1.2051166602065873,1.6395100328474033,2.335186902720792,2.335186902720792,2.714000000001588,0,0,-0.00028932442675963364,-9.999980984798924e-05
+22993,1792701783027364417,9610035000000,1792701783025878559,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761174842076064,-0.004704929901027438,0.08819335970092888,0.9999999865199551,-5.489458635476016e-06,2.8811689345931912e-05,0.00013244888198219958,0.6761,-0.00453,0.08805418836530293,1.0,0.0,0.0,0.0,-0.13289521801680643,0.02013659730298273,1.6408325594859838,0.0012299789734800878,0.011395865417108946,-0.00011619286902331635,0.37472282977563925,0.3471400104456429,1.610846210766569,0.022765052896410315,-0.023090018998795942,-0.0003264471939499264,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0379332129512637,0.24572785416678616,-1.119916143511823,0.3896288836008967,0.8648282574365893,0.12106920161831411,1.2051166602065873,1.6408325594859838,2.3250328037184103,2.3250328037184103,2.7487200000016228,0,0,-0.00029966149665413964,-9.999999025923074e-05
+23041,1792701783427403828,9610435000000,1792701783425878908,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.676114139690445,-0.004710225672459556,0.0880641465154763,0.999999986086605,-7.690853049449413e-06,2.281176078240058e-05,0.00013671184493739913,0.6761,-0.00453,0.08793181567268901,1.0,0.0,0.0,0.0,-0.13839776350038746,0.011163942527556758,1.626923439604436,0.0012277845703858488,0.01140017025885355,-9.940857459313142e-05,0.3692202842920582,0.33816735567021694,1.5969370908850213,0.022762858493316076,-0.023085714157051337,-0.00030966289951974145,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0084517845214147,0.23386455436715406,-1.1314253383047506,0.41279484627954527,0.8576641332320368,0.11657058428818051,1.2051166602065873,1.626923439604436,2.336541998511338,2.336541998511338,2.7807200000016548,0,0,-0.00031266446825636694,-9.999999025923074e-05
+23085,1792701783793462583,9610801000000,1792701783785878937,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761125080662584,-0.00471233125366082,0.0879422240368519,0.9999999858635198,-1.0809219330564103e-05,2.0456685728671286e-05,0.00013849371600940357,0.6761,-0.00453,0.08781537122106797,1.0,0.0,0.0,0.0,-0.15116319729153377,0.016518880490819732,1.6603483735106657,0.0011846759503140458,0.012405272912177825,-0.0007609475353223168,0.3564548505009119,0.3435222936334799,1.630362024791251,0.022719749873244273,-0.022080611503727064,-0.0009712018602489269,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0323820264136983,0.25169933862592375,-1.132709114941242,0.41702220762945097,0.8639528500749576,0.12721743622263815,1.2051166602065873,1.6603483735106657,2.337825775147829,2.337825775147829,2.810000000001684,0,0,-0.0003237195729075256,-9.999999025923074e-05
+23133,1792701784193396218,9611201000000,1792701784189879070,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761085859767526,-0.004714695762900991,0.08780936147476982,0.9999999853883634,-5.660523764561953e-06,1.1936300731522091e-05,0.00014314894525232344,0.6761,-0.00453,0.08768366276398558,1.0,0.0,0.0,0.0,-0.1387145313589998,-0.00845157905248256,1.6648174192888467,-0.00029060606476812717,0.012424980134644027,-0.00013233008764248908,0.3689035164334459,0.3185518340901776,1.634831070569432,0.0212444678581621,-0.02206090428126086,-0.0003425844125690991,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0808976028773964,0.23438426803685622,-1.0801598256173912,0.4414156737734584,0.8420422188945528,0.12125244981110983,1.2051166602065873,1.6648174192888467,2.2852764858239785,2.2852764858239785,2.842000000001716,0,0,-0.0003351481830491095,-9.905345574179875e-05
+23181,1792701784593418470,9611601000000,1792701784589868751,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761078476931628,-0.0047190416454723156,0.08767797544217204,0.9999999852219983,-1.004282716246915e-05,1.3210422363868288e-05,0.000143956570226515,0.6761,-0.00453,0.08754705238902351,1.0,0.0,0.0,0.0,-0.14770688505158192,0.008035727573591944,1.6363779148196895,0.00018415037982391982,0.012430193729560904,-0.00010437800519658971,0.35991116274086377,0.3350391407162521,1.6063915661002748,0.021719224302754147,-0.022055690686343984,-0.00031463233012319974,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.0557837645002812,0.22298173487290074,-1.1071297448992714,0.45265489102261325,0.8485838363529454,0.11314928035404244,1.2051166602065873,1.6363779148196895,2.3122464051058587,2.3122464051058587,2.874000000001748,0,0,-0.0003498757830081286,-9.999999025923074e-05
+23229,1792701784993398944,9612001000000,1792701784985879057,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761120225669887,-0.00472274424486944,0.0875441257969613,0.9999999849004187,-1.9297110141300562e-05,1.9103790114871245e-05,0.000144584554998502,0.6761,-0.00453,0.08740385288445195,1.0,0.0,0.0,0.0,-0.1666428267223078,0.011072009539034533,1.6764314204302861,0.0003743582376249735,0.01343350528042236,-0.00012239908016557885,0.3409752210701379,0.3380754226816947,1.6464450717108714,0.0219094321605552,-0.021052379135482528,-0.0003326534050921889,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.1171746539346445,0.16970759889642578,-1.1651734473285935,0.4810633514269949,0.8994465932542766,0.0780638201310538,1.2051166602065873,1.6764314204302861,2.3702901075351805,2.3702901075351805,2.90600000000178,0,0,-0.0003656372715668806,-9.999999025923074e-05
+23273,1792701785360340400,9612368000000,1792701785357878572,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761070872458409,-0.004725307977057344,0.08740438418498597,0.9999999849284885,-2.590631877065068e-05,1.3592297043609653e-05,0.00014397916217936098,0.6761,-0.00453,0.08726714885539902,1.0,0.0,0.0,0.0,-0.1664401967261009,0.009346407513982802,1.6727671471311543,0.00014892879077802942,0.013435495974544399,-0.00012151224455166527,0.3411778510663448,0.336349820656643,1.6427807984117395,0.021684002713708257,-0.02105038844136049,-0.0003317665694782753,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.1696721732895297,0.14604492630048244,-1.1642173580134239,0.5032962807425619,0.9134477848112109,0.06846155359864939,1.2051166602065873,1.6727671471311543,2.369334018220011,2.369334018220011,2.9353600000018094,0,0,-0.0003795521553676392,-9.999999025923074e-05
+23317,1792701785727400889,9612735000000,1792701785721879341,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761059004327629,-0.004723551572312826,0.08726718033174367,0.9999999845358436,-3.708826326610541e-05,1.2838281378921986e-05,0.00014432884757433794,0.6761,-0.00453,0.08712602075512672,1.0,0.0,0.0,0.0,-0.16005297167130922,0.00016786460954271165,1.6525612632651343,0.00017998633195303107,0.012428041093197142,-0.00011634202040062164,0.34756507612113646,0.3271712777522029,1.6225749145457196,0.021715060254883258,-0.022057843322707747,-0.00032659634532723167,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.1726476376839716,0.14094081225894048,-1.191522014110768,0.5080711467270541,0.9304536598263693,0.06370448916507068,1.2051166602065873,1.6525612632651343,2.396638674317355,2.396638674317355,2.9647200000018388,0,0,-0.00039178403787451375,-9.999999025923074e-05
+23357,1792701786060372098,9613068000000,1792701786057869474,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761075629294108,-0.004728984058571861,0.08713881308010892,0.99999998301731,-3.5307988236040024e-05,1.473372366971234e-05,0.00015474012907541683,0.6761,-0.00453,0.08699333557757405,1.0,0.0,0.0,0.0,-0.18159846638861793,0.01186299808238489,1.6953105306703176,0.0002553398846186876,0.014442799523756177,-0.00011985248892241367,0.32601958140382775,0.33886641122504507,1.6653241819509028,0.021790413807548915,-0.020043084892148712,-0.0003301068138490237,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.2379487621246892,0.2118909872037176,-1.165800627777298,0.4886261406438945,0.9295114315690662,0.10978378476530448,1.2051166602065873,1.6953105306703176,2.370917287983885,2.370917287983885,2.9913600000018654,0,0,-0.00040421895036310405,-9.999453628862227e-05
+23393,1792701786360435955,9613368000000,1792701786357868689,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.6761047062888129,-0.004736793400607862,0.08701339065437362,0.999999981710652,-2.541945628650672e-05,1.0328970978862357e-05,0.00016513244290567022,0.6761,-0.00453,0.0868699501312408,1.0,0.0,0.0,0.0,-0.17639796799303492,0.004099946319374603,1.685223106968355,0.00011776639435131381,0.014445976727114718,-0.00011662259537052413,0.33122007979941076,0.3311033594620348,1.6552367582489402,0.02165284031728154,-0.02003990768879017,-0.00032687692029713416,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.2349002728207672,0.2983208734562562,-1.252280631501862,0.47676466798405226,0.9846364871701385,0.1722576453876041,1.2051166602065873,1.685223106968355,2.4573972917084492,2.4573972917084492,3.0153600000018894,0,0,-0.0004172752270756571,-9.744467319017786e-05
+23429,1792701786660423469,9613668000000,1792701786657878725,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761050914566229,-0.004725684649478242,0.0868857522097193,0.9999999880276482,-1.8968710023996092e-05,1.4800113488728972e-05,0.00012169105312141261,0.6761,-0.00453,0.08674333587816724,1.0,0.0,0.0,0.0,-0.16094818760283225,0.029160719454442707,1.6860233978102557,0.001591749471865373,0.01335354431952878,-0.00011978211659174247,0.34666986018961343,0.3561641325971029,1.656037049090841,0.0231268233947956,-0.021132340096376108,-0.0003300364415183525,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.289459002484112,0.17114089143654387,-1.1652543410982505,0.5240366825134691,0.9437256292059819,0.08677764298500533,1.2051166602065873,1.6860233978102557,2.3703710013048376,2.3703710013048376,3.0393600000019134,0,0,-0.0004268542281124762,-9.999999025923074e-05
+23465,1792701786960435789,9613968000000,1792701786953879359,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761025510611983,-0.0047380564238553805,0.08675749222062219,0.9999999849492125,-2.4075370222993798e-05,1.1154642831298278e-05,0.00014436200950921062,0.6761,-0.00453,0.08661312642663678,1.0,0.0,0.0,0.0,-0.17678951898133083,0.016730562225890866,1.7066575489700597,0.001135117190751496,0.014647340787093625,-0.0001205644090773276,0.33082852881111485,0.34373397536855105,1.676671200250645,0.022670191113681723,-0.019838543628811264,-0.00033081873400393763,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.3504890166472716,0.2270716583176317,-1.2450674363723817,0.5107627477722859,1.0168897126767833,0.12873961056856795,1.2051166602065873,1.7066575489700597,2.450184096578969,2.450184096578969,3.0633600000019374,0,0,-0.0004412696092790088,-9.999999025923074e-05
+23501,1792701787260377208,9614268000000,1792701787257869614,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761026405953972,-0.004739633503597706,0.08662337759596116,0.999999982175987,-1.710884287048126e-05,7.710733980193576e-06,0.00016351979194860152,0.6761,-0.00453,0.08647853975376614,1.0,0.0,0.0,0.0,-0.18550310143904475,0.008316121198224002,1.704172518846778,9.828746266815971e-05,0.015096325654301641,-0.00011998696728802695,0.32211494635340093,0.3353195343408842,1.6741861701273633,0.021633361385598387,-0.019389558761603247,-0.000330241292214637,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.3444104865072,0.2051687880486776,-1.2505056705505697,0.5167144711627042,1.016731391276327,0.1209029113767465,1.2051166602065873,1.704172518846778,2.4556223307571567,2.4556223307571567,3.0873600000019614,0,0,-0.0004558727251066915,-9.999999025923074e-05
+23540,1792701787585389861,9614593000000,1792701787581878985,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761070640888265,-0.004743598398401461,0.0864785175814071,0.9999999780008664,-8.0229151170336e-06,1.8323794377347695e-05,0.00018719242158458195,0.6761,-0.00453,0.08632812178057753,1.0,0.0,0.0,0.0,-0.20461409516302587,0.012389551356505102,1.7167576912023288,0.0002799167542483841,0.016548164276032017,-0.0001122051156991287,0.3030039526294198,0.3393929644991653,1.686771342482914,0.02181499067717861,-0.01793772013987287,-0.00032245944062573873,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.4040258643549988,0.10398573656907723,-1.2157178491624687,0.5537489931392559,1.0127328843248833,0.057867863307617444,1.2051166602065873,1.7167576912023288,2.420834509369056,2.420834509369056,3.1133600000019874,0,0,-0.0004704633644561903,-9.999999025923074e-05
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+23600,1792701788085371405,9615093000000,1792701788077879030,DOWN_FORCE_DETACH,3,0.0445,0.044501643627882004,0.676096293523301,-0.004743043456296005,0.0862374608646302,0.9999999843754444,-5.3994627159073784e-05,1.3427275258510179e-05,0.00013998665692011218,0.6761,-0.00453,0.08608721482078378,1.0,0.0,0.0,0.0,-0.156251407739664,0.01220186124599687,1.7174066667726455,0.00014724340007855538,0.01322010086340357,-0.00015504388525647983,0.3513666400527817,0.33920527438865705,1.6874203180532308,0.021682317323008782,-0.02126578355250132,-0.00036529821018308986,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.4049314154282884,0.17709698523263118,-1.2446452569015654,0.5175606100826927,1.0426745006218963,0.11547697859045322,1.2051166602065873,1.7174066667726455,2.4497619171081526,2.4497619171081526,3.1533600000020274,0,0,-0.0004937215953945958,-9.999999025923074e-05
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+23660,1792701788585415270,9615593000000,1792701788577869324,DOWN_FORCE_DETACH,3,0.0445,0.04450229927897453,0.6761062476508256,-0.004751495589927066,0.08599083647360803,0.9999999789361043,3.138451801728906e-06,1.1504718032782548e-05,0.0001828344804929414,0.6761,-0.00453,0.08583514972283283,1.0,0.0,0.0,0.0,-0.2457678546935252,0.05999413301737905,1.6282190339269915,0.004053793792935703,0.019456690138049883,4.649266764157595e-05,0.2618501930989205,0.38699754616003923,1.5982326852075768,0.02558886771586593,-0.015029194277855007,-0.00016376165728503408,0.5076180477924457,0.3270034131426602,-0.02998634871941473,0.021535073922930227,-0.03448588441590489,-0.00021025432492661003,1,1.5857426535812873,0.0891313087116975,-1.1634811578693804,0.5712122853834043,1.0250996010526698,0.06194528576085124,1.2051166602065873,1.6282190339269915,2.3685978180759677,2.3685978180759677,3.1933600000020674,0,0,-0.0005149732656931347,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55d34a3476a92e503e7ec50cb57e458317aeb2ce
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf24e606abf04671658bed0b414b21f108d9e882
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,4.633333333e+00,DOWN_FORCE_DETACH,1792701757516670775,2.528840981e-05,-6.880785459e-05,-1.538612846e-04,2.247161253e-05,-6.813880796e-05,-1.423740283e-04,2.278407030e-05,-6.791049417e-05,-1.419847481e-04,7.015631599e-01,-6.725689327e-05,8.405870799e-01,7.015603431e-01,-6.658784664e-05,8.405985672e-01,7.017520734e-01,-6.618545653e-05,8.294306278e-01
+10,5.216666667e+00,DOWN_FORCE_DETACH,1792701758683047160,2.335766348e-05,-6.795029127e-05,-1.779914674e-04,2.174263028e-05,-6.385979192e-05,-1.639078899e-04,2.196781607e-05,-6.363594981e-05,-1.633883243e-04,7.015612291e-01,-6.639932995e-05,8.405629497e-01,7.015596141e-01,-6.230883059e-05,8.405770333e-01,7.017512571e-01,-6.191091217e-05,8.294092243e-01
+11,5.883333333e+00,DOWN_FORCE_DETACH,1792701760013631716,2.429179466e-05,-6.727608974e-05,-1.985183615e-04,2.345063190e-05,-6.749793842e-05,-1.853699945e-04,2.360026952e-05,-6.722869177e-05,-1.848588330e-04,7.015621633e-01,-6.572512842e-05,8.405424228e-01,7.015613221e-01,-6.594697710e-05,8.405555712e-01,7.017528896e-01,-6.550365412e-05,8.293877537e-01
+12,6.416666667e+00,DOWN_FORCE_DETACH,1792701761077074464,3.111592554e-05,-7.189515033e-05,-2.175413238e-04,2.613927981e-05,-7.129113500e-05,-2.058738773e-04,2.627743114e-05,-7.104440570e-05,-2.053055105e-04,7.015689874e-01,-7.034418901e-05,8.405233999e-01,7.015640108e-01,-6.974017368e-05,8.405350673e-01,7.017555667e-01,-6.931936806e-05,8.293673071e-01
+13,7.050000000e+00,DOWN_FORCE_DETACH,1792701762275456010,3.271790989e-05,-7.167865164e-05,-2.417750388e-04,2.963534147e-05,-7.215287466e-05,-2.261347024e-04,2.980348945e-05,-7.190003868e-05,-2.256077365e-04,7.015705894e-01,-7.012769032e-05,8.404991661e-01,7.015675068e-01,-7.060191334e-05,8.405148065e-01,7.017590928e-01,-7.017500104e-05,8.293470048e-01
+14,7.650000000e+00,DOWN_FORCE_DETACH,1792701763405013490,3.392874775e-05,-8.304821486e-05,-2.660479256e-04,3.142801679e-05,-7.941576099e-05,-2.683510386e-04,3.155780834e-05,-7.913766769e-05,-2.674585650e-04,7.015718002e-01,-8.149725353e-05,8.404748933e-01,7.015692995e-01,-7.786479967e-05,8.404725901e-01,7.017608471e-01,-7.741263005e-05,8.293051540e-01
+15,8.250000000e+00,DOWN_FORCE_DETACH,1792701764568708445,3.331358544e-05,-8.630407307e-05,-3.013111104e-04,3.285267331e-05,-8.383628575e-05,-2.904109738e-04,3.296744586e-05,-8.353032071e-05,-2.896667499e-04,7.015711851e-01,-8.475311175e-05,8.404396301e-01,7.015707242e-01,-8.228532443e-05,8.404505302e-01,7.017622568e-01,-8.180528307e-05,8.292829458e-01
+16,8.850000000e+00,DOWN_FORCE_DETACH,1792701765734726342,3.615839640e-05,-8.731252859e-05,-3.355344502e-04,3.490667460e-05,-8.262673810e-05,-3.340584504e-04,3.495440703e-05,-8.235058485e-05,-3.331346840e-04,7.015740299e-01,-8.576156727e-05,8.404054067e-01,7.015727782e-01,-8.107577678e-05,8.404068827e-01,7.017642437e-01,-8.062554721e-05,8.292394779e-01
+17,9.300000000e+00,DOWN_FORCE_DETACH,1792701766633315363,3.465958195e-05,-9.072886131e-05,-3.815180848e-04,3.466085905e-05,-8.513576309e-05,-3.791482284e-04,3.460247163e-05,-8.484725246e-05,-3.780671436e-04,7.015725311e-01,-8.917789999e-05,8.403594231e-01,7.015725323e-01,-8.358480177e-05,8.403617930e-01,7.017638918e-01,-8.312221482e-05,8.291945454e-01
+18,9.816666667e+00,DOWN_FORCE_DETACH,1792701767662634269,3.799706085e-05,-9.505989714e-05,-4.336409684e-04,3.573048158e-05,-9.709615066e-05,-4.225608161e-04,3.557068545e-05,-9.677827760e-05,-4.216733324e-04,7.015758685e-01,-9.350893582e-05,8.403073002e-01,7.015736020e-01,-9.554518934e-05,8.403183804e-01,7.017648600e-01,-9.505323996e-05,8.291509392e-01
+19,1.045000000e+01,DOWN_FORCE_DETACH,1792701768927337136,4.432376726e-05,-1.016282822e-04,-4.981819450e-04,4.222759515e-05,-9.480225590e-05,-4.847345699e-04,4.212310415e-05,-9.452809730e-05,-4.840179780e-04,7.015821952e-01,-1.000773209e-04,8.402427592e-01,7.015800991e-01,-9.325129458e-05,8.402562066e-01,7.017714124e-01,-9.280305966e-05,8.290885946e-01
+20,1.093333333e+01,DOWN_FORCE_DETACH,1792701769857148076,4.268181741e-05,-9.957451833e-05,-5.465794203e-04,4.261325273e-05,-9.959287615e-05,-5.466393141e-04,4.235264431e-05,-9.928736683e-05,-5.457141684e-04,7.015805533e-01,-9.802355701e-05,8.401943618e-01,7.015804847e-01,-9.804191483e-05,8.401943019e-01,7.017716420e-01,-9.756232919e-05,8.290268984e-01
+21,1.143333333e+01,DOWN_FORCE_DETACH,1792701770825144668,4.546488140e-05,-1.026234933e-04,-6.032220928e-04,4.434450488e-05,-9.984857038e-05,-5.945221293e-04,4.400324691e-05,-9.950371207e-05,-5.937018013e-04,7.015833364e-01,-1.010725319e-04,8.401377191e-01,7.015822160e-01,-9.829760906e-05,8.401464191e-01,7.017732926e-01,-9.777867443e-05,8.289789108e-01
+22,1.190000000e+01,DOWN_FORCE_DETACH,1792701771689085531,5.203067500e-05,-7.821857006e-05,-6.750159648e-04,5.198208417e-05,-7.813463335e-05,-6.749994783e-04,5.146105026e-05,-7.790636201e-05,-6.737448196e-04,7.015899022e-01,-7.666760874e-05,8.400659252e-01,7.015898536e-01,-7.658367203e-05,8.400659417e-01,7.017807504e-01,-7.618132436e-05,8.288988678e-01
+23,1.226666667e+01,DOWN_FORCE_DETACH,1792701772385113612,5.817912418e-05,-9.708066849e-05,-7.417936105e-04,5.503110327e-05,-8.975519888e-05,-7.331937448e-04,5.441409955e-05,-8.938591451e-05,-7.319131099e-04,7.015960506e-01,-9.552970717e-05,8.399991476e-01,7.015929026e-01,-8.820423756e-05,8.400077474e-01,7.017837034e-01,-8.766087686e-05,8.288406995e-01
+24,1.273333333e+01,DOWN_FORCE_DETACH,1792701773285111523,5.885860682e-05,-1.017360535e-04,-8.415497043e-04,5.737009654e-05,-1.030133119e-04,-8.395798841e-04,5.657462913e-05,-1.025928118e-04,-8.377503392e-04,7.015967301e-01,-1.001850922e-04,8.398993915e-01,7.015952416e-01,-1.014623506e-04,8.399013613e-01,7.017858639e-01,-1.008677741e-04,8.287348622e-01
+25,1.318333333e+01,DOWN_FORCE_DETACH,1792701774183251039,5.796737684e-05,-1.042039995e-04,-9.382157085e-04,5.250767005e-05,-1.002852505e-04,-9.297190047e-04,5.133024505e-05,-9.988755304e-05,-9.279586374e-04,7.015958389e-01,-1.026530381e-04,8.398027255e-01,7.015903792e-01,-9.873428919e-05,8.398112222e-01,7.017806196e-01,-9.816251540e-05,8.286446539e-01
+26,1.358333333e+01,DOWN_FORCE_DETACH,1792701774981337138,5.712287561e-05,-1.107810235e-04,-1.043448270e-03,5.684806047e-05,-1.107296988e-04,-1.043430671e-03,5.524954673e-05,-1.103608483e-04,-1.041143120e-03,7.015949944e-01,-1.092300622e-04,8.396974929e-01,7.015947195e-01,-1.091787375e-04,8.396975105e-01,7.017845389e-01,-1.086358107e-04,8.285314695e-01
+27,1.396666667e+01,DOWN_FORCE_DETACH,1792701775745647088,6.240208455e-05,-1.086474612e-04,-1.144512682e-03,5.909791990e-05,-1.079666781e-04,-1.127034974e-03,5.715138951e-05,-1.076212861e-04,-1.125154922e-03,7.016002736e-01,-1.070964999e-04,8.395964285e-01,7.015969694e-01,-1.064157168e-04,8.396139062e-01,7.017864407e-01,-1.058962484e-04,8.284474577e-01
+28,1.433333333e+01,DOWN_FORCE_DETACH,1792701776477061561,6.066718168e-05,-1.041837480e-04,-1.258311499e-03,6.046494562e-05,-1.042979370e-04,-1.258175130e-03,5.801114316e-05,-1.039688004e-04,-1.255717959e-03,7.015985387e-01,-1.026327867e-04,8.394826297e-01,7.015983364e-01,-1.027469756e-04,8.394827661e-01,7.017873005e-01,-1.022437627e-04,8.283168946e-01
+29,1.470000000e+01,DOWN_FORCE_DETACH,1792701777209100129,6.218347558e-05,-1.111228796e-04,-1.369159090e-03,6.219508097e-05,-1.084729134e-04,-1.354365612e-03,5.933741241e-05,-1.081724706e-04,-1.352265833e-03,7.016000550e-01,-1.095719183e-04,8.393717821e-01,7.016000666e-01,-1.069219521e-04,8.393865756e-01,7.017886267e-01,-1.064474329e-04,8.282203467e-01
+30,1.501666667e+01,DOWN_FORCE_DETACH,1792701777843614211,5.535818467e-05,-1.101875642e-04,-1.490151760e-03,5.604092026e-05,-1.094522635e-04,-1.480889535e-03,5.260203611e-05,-1.091061596e-04,-1.478266918e-03,7.015932297e-01,-1.086366029e-04,8.392507894e-01,7.015939124e-01,-1.079013022e-04,8.392600517e-01,7.017818913e-01,-1.073811220e-04,8.280943457e-01
+31,1.535000000e+01,DOWN_FORCE_DETACH,1792701778475748482,5.625816162e-05,-1.127468190e-04,-1.606865345e-03,5.616043714e-05,-1.172493467e-04,-1.598675634e-03,5.220353209e-05,-1.168796337e-04,-1.596017483e-03,7.015941296e-01,-1.111958577e-04,8.391340758e-01,7.015940319e-01,-1.156983854e-04,8.391422656e-01,7.017814928e-01,-1.151545961e-04,8.279765951e-01
+32,1.568333333e+01,DOWN_FORCE_DETACH,1792701779108170966,5.797763651e-05,-1.133576280e-04,-1.730094437e-03,5.693948605e-05,-1.142633061e-04,-1.717890062e-03,5.249956387e-05,-1.138437714e-04,-1.715080551e-03,7.015958491e-01,-1.118066667e-04,8.390108468e-01,7.015948110e-01,-1.127123448e-04,8.390230511e-01,7.017817889e-01,-1.121187338e-04,8.278575320e-01
+33,1.595000000e+01,DOWN_FORCE_DETACH,1792701779605234799,5.266671400e-05,-1.213437903e-04,-1.844594934e-03,5.335391645e-05,-1.165326403e-04,-1.834620033e-03,4.834575337e-05,-1.161106779e-04,-1.831448615e-03,7.015905382e-01,-1.197928289e-04,8.388963463e-01,7.015912254e-01,-1.149816790e-04,8.389063212e-01,7.017776351e-01,-1.143856403e-04,8.277411640e-01
+34,1.626666667e+01,DOWN_FORCE_DETACH,1792701780205189059,5.586570325e-05,-1.230171255e-04,-1.965018499e-03,5.544418283e-05,-1.226814176e-04,-1.965158986e-03,5.006978811e-05,-1.222339704e-04,-1.962019387e-03,7.015937372e-01,-1.214661642e-04,8.387759227e-01,7.015933157e-01,-1.211304563e-04,8.387757822e-01,7.017793591e-01,-1.205089328e-04,8.276105932e-01
+35,1.651666667e+01,DOWN_FORCE_DETACH,1792701780669190402,5.084363000e-05,-1.211756679e-04,-2.086324540e-03,4.960212000e-05,-1.232966072e-04,-2.077604759e-03,4.380325775e-05,-1.228525442e-04,-2.074579796e-03,7.015887151e-01,-1.196247066e-04,8.386546166e-01,7.015874736e-01,-1.217456459e-04,8.386633364e-01,7.017730926e-01,-1.211275065e-04,8.274980328e-01
+36,1.676666667e+01,DOWN_FORCE_DETACH,1792701781169138751,5.132154202e-05,-1.251547823e-04,-2.211401049e-03,5.125692243e-05,-1.253550739e-04,-2.211246073e-03,4.505874290e-05,-1.249283054e-04,-2.207907377e-03,7.015891930e-01,-1.236038210e-04,8.385295401e-01,7.015891284e-01,-1.238041126e-04,8.385296951e-01,7.017743481e-01,-1.232032678e-04,8.273647052e-01
+37,1.703333333e+01,DOWN_FORCE_DETACH,1792701781669164476,4.845124554e-05,-1.259731074e-04,-2.343234450e-03,4.844191603e-05,-1.255725448e-04,-2.333279057e-03,4.185225318e-05,-1.250854080e-04,-2.329952289e-03,7.015863227e-01,-1.244221461e-04,8.383977067e-01,7.015863134e-01,-1.240215835e-04,8.384076621e-01,7.017711416e-01,-1.233603704e-04,8.272426603e-01
+38,1.728333333e+01,DOWN_FORCE_DETACH,1792701782167077330,4.803073094e-05,-1.290315835e-04,-2.477222584e-03,4.783004275e-05,-1.337598297e-04,-2.460191556e-03,4.077316506e-05,-1.331952794e-04,-2.456784608e-03,7.015859022e-01,-1.274806222e-04,8.382637186e-01,7.015857015e-01,-1.322088684e-04,8.382807496e-01,7.017700625e-01,-1.314702418e-04,8.271158280e-01
+39,1.750000000e+01,DOWN_FORCE_DETACH,1792701782597146384,5.305359236e-05,-1.304934901e-04,-2.597225282e-03,5.035402421e-05,-1.351932321e-04,-2.591323486e-03,4.285070267e-05,-1.346646598e-04,-2.587612952e-03,7.015909251e-01,-1.289425288e-04,8.381437159e-01,7.015882255e-01,-1.336422708e-04,8.381496177e-01,7.017721400e-01,-1.329396221e-04,8.269849996e-01
+40,1.771666667e+01,DOWN_FORCE_DETACH,1792701783031116455,4.825491480e-05,-1.415367300e-04,-2.730846393e-03,4.833671619e-05,-1.416760849e-04,-2.730826425e-03,4.021272169e-05,-1.411865993e-04,-2.726881620e-03,7.015861264e-01,-1.399857687e-04,8.380100948e-01,7.015862082e-01,-1.401251236e-04,8.380101148e-01,7.017695020e-01,-1.394615616e-04,8.268457310e-01
+41,1.791666667e+01,DOWN_FORCE_DETACH,1792701783431164187,4.357155493e-05,-1.389884468e-04,-2.860426231e-03,4.336806698e-05,-1.389374411e-04,-2.860679496e-03,3.457520025e-05,-1.384597048e-04,-2.856586639e-03,7.015814430e-01,-1.374374855e-04,8.378805150e-01,7.015812395e-01,-1.373864798e-04,8.378802617e-01,7.017638645e-01,-1.367346672e-04,8.267160259e-01
+42,1.810000000e+01,DOWN_FORCE_DETACH,1792701783797158316,4.378340596e-05,-1.447799959e-04,-2.981189897e-03,4.356360238e-05,-1.446456543e-04,-2.981086944e-03,3.425337058e-05,-1.441843227e-04,-2.976849074e-03,7.015816549e-01,-1.432290346e-04,8.377597513e-01,7.015814351e-01,-1.430946930e-04,8.377598542e-01,7.017635427e-01,-1.424592850e-04,8.265957635e-01
+43,1.830000000e+01,DOWN_FORCE_DETACH,1792701784197050373,3.906811527e-05,-1.529333385e-04,-3.113308623e-03,3.895897270e-05,-1.531881576e-04,-3.113383116e-03,2.900015897e-05,-1.526681999e-04,-3.109151643e-03,7.015769396e-01,-1.513823772e-04,8.376276326e-01,7.015768305e-01,-1.516371963e-04,8.376275581e-01,7.017582895e-01,-1.509431622e-04,8.264634609e-01
+44,1.850000000e+01,DOWN_FORCE_DETACH,1792701784593233974,4.104944073e-05,-1.484354250e-04,-3.241621423e-03,4.009943680e-05,-1.508474547e-04,-3.224302619e-03,2.968412383e-05,-1.502965718e-04,-3.220305443e-03,7.015789209e-01,-1.468844637e-04,8.374993198e-01,7.015779709e-01,-1.492964934e-04,8.375166386e-01,7.017589734e-01,-1.485715342e-04,8.263523071e-01
+45,1.870000000e+01,DOWN_FORCE_DETACH,1792701784992931086,4.139386873e-05,-1.522497220e-04,-3.380236016e-03,4.277778408e-05,-1.526630402e-04,-3.368075886e-03,3.184587714e-05,-1.520842977e-04,-3.363740183e-03,7.015792654e-01,-1.506987607e-04,8.373607052e-01,7.015806493e-01,-1.511120789e-04,8.373728653e-01,7.017611352e-01,-1.503592601e-04,8.262088724e-01
+46,1.888333333e+01,DOWN_FORCE_DETACH,1792701785359196734,4.002617729e-05,-1.564576533e-04,-3.514925644e-03,3.980504307e-05,-1.564775078e-04,-3.515034678e-03,2.828212492e-05,-1.558416200e-04,-3.510343793e-03,7.015778977e-01,-1.549066920e-04,8.372260155e-01,7.015776765e-01,-1.549265465e-04,8.372259065e-01,7.017575714e-01,-1.541165823e-04,8.260622688e-01
+47,1.906666667e+01,DOWN_FORCE_DETACH,1792701785725526413,3.722716118e-05,-1.618732788e-04,-3.654349656e-03,3.753049259e-05,-1.576097262e-04,-3.641414549e-03,2.563588184e-05,-1.570402929e-04,-3.637080440e-03,7.015750986e-01,-1.603223175e-04,8.370865915e-01,7.015754020e-01,-1.560587649e-04,8.370995266e-01,7.017549252e-01,-1.553152553e-04,8.259355321e-01
+48,1.923333333e+01,DOWN_FORCE_DETACH,1792701786057189007,3.844983215e-05,-1.616001199e-04,-3.784131946e-03,3.835911907e-05,-1.639252058e-04,-3.772134777e-03,2.610026636e-05,-1.633213170e-04,-3.767804641e-03,7.015763213e-01,-1.600491585e-04,8.369568092e-01,7.015762306e-01,-1.623742445e-04,8.369688064e-01,7.017553896e-01,-1.615962794e-04,8.258048079e-01
+49,1.938333333e+01,DOWN_FORCE_DETACH,1792701786356972017,3.689220567e-05,-1.647700342e-04,-3.906723167e-03,3.683275885e-05,-1.646754345e-04,-3.906443020e-03,2.414143994e-05,-1.640270683e-04,-3.901748896e-03,7.015747637e-01,-1.632190729e-04,8.368342180e-01,7.015747042e-01,-1.631244732e-04,8.368344982e-01,7.017534307e-01,-1.623020307e-04,8.256708637e-01
+50,1.955000000e+01,DOWN_FORCE_DETACH,1792701786657052204,3.558185324e-05,-1.577696034e-04,-4.036039156e-03,3.534931457e-05,-1.577082697e-04,-4.036038774e-03,2.218521678e-05,-1.570449959e-04,-4.031198412e-03,7.015734533e-01,-1.562186420e-04,8.367049020e-01,7.015732208e-01,-1.561573084e-04,8.367049024e-01,7.017514745e-01,-1.553199582e-04,8.255414142e-01
+51,1.970000000e+01,DOWN_FORCE_DETACH,1792701786956946122,3.290464441e-05,-1.661818129e-04,-4.166417893e-03,3.521788035e-05,-1.651638222e-04,-4.149825153e-03,2.167557462e-05,-1.645007111e-04,-4.145123138e-03,7.015707761e-01,-1.646308516e-04,8.365745233e-01,7.015730894e-01,-1.636128609e-04,8.365911160e-01,7.017509649e-01,-1.627756734e-04,8.254274894e-01
+52,1.986666667e+01,DOWN_FORCE_DETACH,1792701787257340271,3.316277342e-05,-1.705813530e-04,-4.298089353e-03,3.314738014e-05,-1.706866477e-04,-4.298030154e-03,1.894133815e-05,-1.700842479e-04,-4.293196956e-03,7.015710343e-01,-1.690303916e-04,8.364428518e-01,7.015710189e-01,-1.691356864e-04,8.364429110e-01,7.017482306e-01,-1.683592102e-04,8.252794156e-01
+53,2.003333333e+01,DOWN_FORCE_DETACH,1792701787589059415,4.087417712e-05,-1.784441152e-04,-4.441141441e-03,4.086448999e-05,-1.784682850e-04,-4.440764604e-03,2.610300989e-05,-1.778378058e-04,-4.435853870e-03,7.015787457e-01,-1.768931539e-04,8.362997997e-01,7.015787360e-01,-1.769173236e-04,8.363001766e-01,7.017553923e-01,-1.761127681e-04,8.251367587e-01
+54,2.016666667e+01,DOWN_FORCE_DETACH,1792701787821064375,3.141793809e-05,-1.813747175e-04,-4.555010594e-03,3.131298714e-05,-1.815545286e-04,-4.554770654e-03,1.599460773e-05,-1.809096390e-04,-4.549804148e-03,7.015692894e-01,-1.798237562e-04,8.361859306e-01,7.015691845e-01,-1.800035673e-04,8.361861705e-01,7.017452839e-01,-1.791846013e-04,8.250228084e-01
+55,2.030000000e+01,DOWN_FORCE_DETACH,1792701788089027795,2.705386059e-05,-1.732529073e-04,-4.689114449e-03,2.691968011e-05,-1.733290130e-04,-4.688850479e-03,1.096790255e-05,-1.726613807e-04,-4.683672828e-03,7.015649253e-01,-1.717019460e-04,8.360518267e-01,7.015647912e-01,-1.717780517e-04,8.360520907e-01,7.017402572e-01,-1.709363430e-04,8.248889398e-01
+56,2.045000000e+01,DOWN_FORCE_DETACH,1792701788353118975,1.532683475e-05,-1.836317005e-04,-4.829654463e-03,1.510194347e-05,-1.838990355e-04,-4.829701077e-03,-1.592196493e-06,-1.831692310e-04,-4.824309810e-03,7.015531983e-01,-1.820807392e-04,8.359112867e-01,7.015529734e-01,-1.823480742e-04,8.359112401e-01,7.017276971e-01,-1.814441933e-04,8.247483028e-01
+57,2.056666667e+01,DOWN_FORCE_DETACH,1792701788585013045,3.719350491e-05,-1.844010561e-04,-4.933307524e-03,3.697529352e-05,-1.843079330e-04,-4.933252141e-03,2.019313816e-05,-1.835493265e-04,-4.927883970e-03,7.015750650e-01,-1.828500948e-04,8.358076337e-01,7.015748468e-01,-1.827569717e-04,8.358076890e-01,7.017494824e-01,-1.818242888e-04,8.246447286e-01
+58,2.068333333e+01,DOWN_SETTLE,1792701788819056101,4.149542459e-05,-1.845365784e-04,-5.046382117e-03,4.119019491e-05,-1.845662715e-04,-5.046421063e-03,2.410677056e-05,-1.837787618e-04,-5.040960430e-03,7.015793669e-01,-1.829856171e-04,8.356945591e-01,7.015790617e-01,-1.830153102e-04,8.356945201e-01,7.017533961e-01,-1.820537242e-04,8.245316522e-01
+59,2.113333333e+01,DOWN_PEAK_HOLD,1792701789649075736,1.876240542e-05,-1.800457786e-04,-5.138039884e-03,2.101768168e-05,-1.809775994e-04,-5.131250315e-03,3.574601432e-06,-1.803435658e-04,-5.129134983e-03,7.015566339e-01,-1.784948173e-04,8.356029013e-01,7.015588892e-01,-1.794266381e-04,8.356096909e-01,7.017328639e-01,-1.786185282e-04,8.244434776e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a11e8227de4b8538381117179524c4761a863b0
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-7.2554e-03,-1.0076e-03,2.4486e+00,-3.6741e-02,3.6268e-02,-1.4705e-05,3.2514e-04,-1.2167e-06,1.3113e-05,-4.2841e-07,2.1890e-05,-3.5934e-07,3.2541e-04,2.1897e-05
+1,5.5000e-01,DOWN_FORCE_DETACH,1.3586e-04,2.4317e-03,1.0029e-02,2.4493e+00,-3.7549e-02,3.6974e-02,-3.9391e-05,1.0012e-02,1.1035e-02,7.2575e-04,-8.0935e-04,7.2789e-04,-2.5046e-05,1.4918e-02,1.0888e-03
+2,1.0500e+00,DOWN_FORCE_DETACH,2.7728e-04,9.7680e-03,1.2863e-02,2.4757e+00,-3.7729e-02,3.7461e-02,-3.6794e-05,1.7348e-02,1.3869e-02,2.7071e-02,-9.8915e-04,1.2144e-03,-2.2449e-05,3.5016e-02,1.5664e-03
+3,1.2500e+00,DOWN_FORCE_DETACH,4.0828e-04,-8.7381e-03,1.7607e-02,2.4908e+00,-3.8041e-02,3.6244e-02,-3.4759e-05,-1.1576e-03,1.8613e-02,4.2209e-02,-1.3012e-03,-2.2799e-06,-2.0413e-05,4.6146e-02,1.3013e-03
+4,1.8833e+00,DOWN_FORCE_DETACH,5.5130e-04,-1.7652e-03,2.4961e-02,2.4872e+00,-3.8553e-02,3.6635e-02,-2.5425e-05,5.8153e-03,2.5967e-02,3.8591e-02,-1.8133e-03,3.8866e-04,-1.1080e-05,4.6876e-02,1.8545e-03
+5,2.4667e+00,DOWN_FORCE_DETACH,6.8635e-04,1.0846e-03,2.4899e-02,2.4689e+00,-3.8575e-02,3.6843e-02,-1.8887e-05,8.6651e-03,2.5905e-02,2.0339e-02,-1.8344e-03,5.9666e-04,-4.5413e-06,3.4056e-02,1.9290e-03
+6,2.9167e+00,DOWN_FORCE_DETACH,8.2313e-04,2.5273e-03,2.5118e-02,2.4639e+00,-3.8600e-02,3.6957e-02,-1.5332e-05,1.0108e-02,2.6125e-02,1.5326e-02,-1.8595e-03,7.1080e-04,-9.8690e-07,3.1931e-02,1.9907e-03
+7,3.5167e+00,DOWN_FORCE_DETACH,9.6045e-04,5.3899e-03,2.7475e-02,2.4785e+00,-3.8757e-02,3.7147e-02,-1.3184e-05,1.2970e-02,2.8481e-02,2.9952e-02,-2.0166e-03,9.0116e-04,1.1615e-06,4.3319e-02,2.2088e-03
+8,4.1333e+00,DOWN_FORCE_DETACH,1.0978e-03,3.8924e-03,3.2981e-02,2.4823e+00,-3.9126e-02,3.7046e-02,-8.1514e-06,1.1473e-02,3.3988e-02,3.3700e-02,-2.3860e-03,8.0029e-04,6.1938e-06,4.9218e-02,2.5166e-03
+9,4.6333e+00,DOWN_FORCE_DETACH,1.2315e-03,3.4633e-03,3.3128e-02,2.4711e+00,-3.9147e-02,3.7017e-02,-3.4405e-06,1.1044e-02,3.4134e-02,2.2495e-02,-2.4071e-03,7.7086e-04,1.0905e-05,4.2345e-02,2.5275e-03
+10,5.2167e+00,DOWN_FORCE_DETACH,1.3717e-03,3.7117e-03,3.1380e-02,2.4764e+00,-3.9020e-02,3.7029e-02,-1.4767e-06,1.1292e-02,3.2387e-02,2.7837e-02,-2.2796e-03,7.8258e-04,1.2869e-05,4.4173e-02,2.4102e-03
+11,5.8833e+00,DOWN_FORCE_DETACH,1.5123e-03,2.9409e-03,3.3146e-02,2.4791e+00,-3.9129e-02,3.6970e-02,4.0594e-06,1.0521e-02,3.4153e-02,3.0521e-02,-2.3893e-03,7.2423e-04,1.8405e-05,4.6996e-02,2.4967e-03
+12,6.4167e+00,DOWN_FORCE_DETACH,1.6501e-03,2.3879e-03,3.5091e-02,2.4823e+00,-3.9252e-02,3.6929e-02,1.0003e-05,9.9684e-03,3.6097e-02,3.3666e-02,-2.5118e-03,6.8321e-04,2.4348e-05,5.0356e-02,2.6032e-03
+13,7.0500e+00,DOWN_FORCE_DETACH,1.7862e-03,2.6098e-03,3.5682e-02,2.4800e+00,-3.9279e-02,3.6941e-02,1.7531e-05,1.0190e-02,3.6688e-02,3.1453e-02,-2.5393e-03,6.9505e-04,3.1876e-05,4.9388e-02,2.6329e-03
+14,7.6500e+00,DOWN_FORCE_DETACH,1.9253e-03,4.0838e-03,3.8873e-02,2.4874e+00,-3.9482e-02,3.7041e-02,2.5727e-05,1.1664e-02,3.9879e-02,3.8845e-02,-2.7415e-03,7.9521e-04,4.0073e-05,5.6880e-02,2.8548e-03
+15,8.2500e+00,DOWN_FORCE_DETACH,2.0616e-03,5.6772e-03,4.1019e-02,2.4901e+00,-3.9609e-02,3.7155e-02,3.2778e-05,1.3258e-02,4.2026e-02,4.1493e-02,-2.8687e-03,9.0912e-04,4.7123e-05,6.0528e-02,3.0097e-03
+16,8.8500e+00,DOWN_FORCE_DETACH,2.1994e-03,7.5466e-03,4.0424e-02,2.4904e+00,-3.9551e-02,3.7287e-02,3.8338e-05,1.5127e-02,4.1431e-02,4.1835e-02,-2.8114e-03,1.0409e-03,5.2683e-05,6.0790e-02,2.9983e-03
+17,9.3000e+00,DOWN_FORCE_DETACH,2.3343e-03,9.6440e-03,4.2119e-02,2.4946e+00,-3.9644e-02,3.7432e-02,4.2522e-05,1.7225e-02,4.3125e-02,4.5980e-02,-2.9043e-03,1.1863e-03,5.6867e-05,6.5350e-02,3.1377e-03
+18,9.8167e+00,DOWN_FORCE_DETACH,2.4722e-03,1.3793e-02,4.5739e-02,2.4982e+00,-3.9859e-02,3.7723e-02,4.6789e-05,2.1373e-02,4.6745e-02,4.9560e-02,-3.1190e-03,1.4772e-03,6.1134e-05,7.1401e-02,3.4516e-03
+19,1.0450e+01,DOWN_FORCE_DETACH,2.6112e-03,1.6166e-02,4.4960e-02,2.4917e+00,-3.9799e-02,3.7907e-02,4.9706e-05,2.3747e-02,4.5966e-02,4.3120e-02,-3.0593e-03,1.6610e-03,6.4051e-05,6.7351e-02,3.4817e-03
+20,1.0933e+01,DOWN_FORCE_DETACH,2.7461e-03,2.0056e-02,4.7297e-02,2.4836e+00,-3.9956e-02,3.8185e-02,4.8855e-05,2.7636e-02,4.8303e-02,3.5010e-02,-3.2157e-03,1.9391e-03,6.3200e-05,6.5747e-02,3.7557e-03
+21,1.1433e+01,DOWN_FORCE_DETACH,2.8845e-03,2.2868e-02,4.7732e-02,2.4890e+00,-3.9993e-02,3.8388e-02,4.3131e-05,3.0449e-02,4.8738e-02,4.0384e-02,-3.2532e-03,2.1421e-03,5.7477e-05,7.0238e-02,3.8955e-03
+22,1.1900e+01,DOWN_FORCE_DETACH,3.0319e-03,2.5927e-02,5.1086e-02,2.5021e+00,-4.0215e-02,3.8595e-02,3.4789e-05,3.3507e-02,5.2092e-02,5.3547e-02,-3.4752e-03,2.3492e-03,4.9134e-05,8.1876e-02,4.1950e-03
+23,1.2267e+01,DOWN_FORCE_DETACH,3.1542e-03,2.2280e-02,4.5173e-02,2.5153e+00,-3.9819e-02,3.8342e-02,2.3162e-05,2.9860e-02,4.6179e-02,6.6707e-02,-3.0785e-03,2.0959e-03,3.7507e-05,8.6452e-02,3.7244e-03
+24,1.2733e+01,DOWN_FORCE_DETACH,3.2949e-03,2.3961e-02,5.0011e-02,2.5286e+00,-4.0134e-02,3.8429e-02,1.0583e-05,3.1542e-02,5.1017e-02,8.0034e-02,-3.3937e-03,2.1828e-03,2.4928e-05,1.0002e-01,4.0352e-03
+25,1.3183e+01,DOWN_FORCE_DETACH,3.4343e-03,2.9978e-02,5.1058e-02,2.5423e+00,-4.0213e-02,3.8814e-02,-3.2725e-06,3.7558e-02,5.2064e-02,9.3747e-02,-3.4728e-03,2.5674e-03,1.1073e-05,1.1362e-01,4.3188e-03
+26,1.3583e+01,DOWN_FORCE_DETACH,3.5703e-03,2.5728e-02,5.2195e-02,2.5449e+00,-4.0294e-02,3.8524e-02,-1.5064e-05,3.3308e-02,5.3201e-02,9.6306e-02,-3.5536e-03,2.2784e-03,-7.1838e-07,1.1495e-01,4.2212e-03
+27,1.3967e+01,DOWN_FORCE_DETACH,3.7100e-03,2.2940e-02,5.1530e-02,2.5533e+00,-4.0244e-02,3.8321e-02,-2.0251e-05,3.0520e-02,5.2536e-02,1.0470e-01,-3.5044e-03,2.0747e-03,-5.9059e-06,1.2105e-01,4.0725e-03
+28,1.4333e+01,DOWN_FORCE_DETACH,3.8445e-03,1.8177e-02,4.9534e-02,2.5578e+00,-4.0095e-02,3.7979e-02,-1.9800e-05,2.5757e-02,5.0540e-02,1.0919e-01,-3.3552e-03,1.7329e-03,-5.4552e-06,1.2304e-01,3.7763e-03
+29,1.4700e+01,DOWN_FORCE_DETACH,3.9812e-03,1.5364e-02,5.1383e-02,2.5628e+00,-4.0173e-02,3.7774e-02,-1.8365e-05,2.2945e-02,5.2390e-02,1.1417e-01,-3.4328e-03,1.5274e-03,-4.0200e-06,1.2769e-01,3.7573e-03
+30,1.5017e+01,DOWN_FORCE_DETACH,4.1186e-03,1.5009e-02,5.2852e-02,2.5720e+00,-4.0222e-02,3.7738e-02,-1.9521e-05,2.2590e-02,5.3858e-02,1.2339e-01,-3.4814e-03,1.4920e-03,-5.1753e-06,1.3652e-01,3.7877e-03
+31,1.5350e+01,DOWN_FORCE_DETACH,4.2589e-03,1.2248e-02,5.4538e-02,2.5784e+00,-4.0284e-02,3.7554e-02,-2.3507e-05,1.9828e-02,5.5545e-02,1.2985e-01,-3.5436e-03,1.3082e-03,-9.1618e-06,1.4261e-01,3.7774e-03
+32,1.5683e+01,DOWN_FORCE_DETACH,4.3963e-03,1.0154e-02,5.5526e-02,2.5908e+00,-4.0325e-02,3.7408e-02,-2.6047e-05,1.7735e-02,5.6532e-02,1.4223e-01,-3.5848e-03,1.1621e-03,-1.1702e-05,1.5407e-01,3.7685e-03
+33,1.5950e+01,DOWN_FORCE_DETACH,4.5312e-03,9.5993e-03,5.6697e-02,2.6026e+00,-4.0390e-02,3.7359e-02,-2.4428e-05,1.7180e-02,5.7703e-02,1.5397e-01,-3.6501e-03,1.1124e-03,-1.0083e-05,1.6532e-01,3.8158e-03
+34,1.6267e+01,DOWN_FORCE_DETACH,4.6679e-03,1.0348e-02,5.9783e-02,2.6056e+00,-4.0554e-02,3.7398e-02,-1.7462e-05,1.7928e-02,6.0789e-02,1.5705e-01,-3.8141e-03,1.1523e-03,-3.1166e-06,1.6936e-01,3.9844e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c4da153cc8ce89903bdb9107627d96665223ddba
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:2f6df85aecd3bef1b43e16f8a423e2f76eee8cdf75298589fdf1c0777bd23ba7
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3659c93854daeed4f383d69797fc399b790a2704
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ebbc956c9e76f0e1aeca46c0c26f2cbab6418dd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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+16907,1792701732367917334,9559375000000,1792701732361869420,XJC_ZERO_HOLD_BEFORE_UP,3,0.0505,0.050497010350227356,0.676068571291028,-0.004474444213330798,0.09078997245976407,0.9999999878896675,9.304325090795367e-05,-7.054731554963365e-05,-4.505062843408198e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.005418530862257409,0.005210459439405287,0.00271368586047957,-0.000266092477204006,2.665918332440259e-06,0.00013379499980586398,0.09350589646201765,0.014729754786639156,0.13505066633959759,0.001224380671378797,-0.00815191360453566,-0.001235572543930929,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9630863482580753,0.25276149965074163,2.0412901589173535,-0.2353313866380036,-1.4251444246186673,0.053267253612372736,1.2051166602065873,0.00271368586047957,-0.8361734987107663,0.0,0.0,0,0,0.0,0.0
+16924,1792701732501940787,9559509000000,1792701732493869639,WAIT_W2,3,0.0445,0.050497666001319885,0.6760676223672998,-0.004472113769473519,0.09078554487505598,0.9999999873749503,9.658024038373973e-05,-7.379453133903972e-05,-4.38131030359951e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.003523603483589016,-4.4558882663215185e-05,-0.0013477880770535189,-0.0002294844612337663,5.199665509731527e-06,-0.0008459430347314029,0.10244803080786408,0.009474736464570654,0.1309891924020645,0.0012609886873490366,-0.008149379857358368,-0.002215310578468196,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.8760585601769207,0.23797025898628277,1.9656515948914983,-0.22936819963427293,-1.356714482403923,0.04662852698312199,1.2051166602065873,0.0013477880770535189,-0.7605349346849111,0.0,0.0,0,0,0.0,0.0
+16936,1792701732601866808,9559609000000,1792701732597869531,WAIT_W2,3,0.0445,0.050497666001319885,0.6760674373676195,-0.0044721097993163685,0.09078635572128257,0.999999987600034,9.450890423412258e-05,-7.289205638338705e-05,-4.4694645624209615e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.005408518861914305,-0.00116240413204044,-0.0009770273683150643,-0.00020090203301112333,4.2662680156922705e-06,0.00013077887066959438,0.09351590846236076,0.008356891215193429,0.13135995311080295,0.0012895711155716796,-0.008150313254852408,-0.0012385886730671986,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.904460271590857,0.21856048820336454,2.0477967264952373,-0.22419610290831096,-1.4175217903442032,0.031775360606054556,1.2051166602065873,0.0009770273683150643,-0.84268006628865,0.0,0.0,0,0,0.0,0.0
+16960,1792701732801887306,9559809000000,1792701732797869781,WAIT_W2,3,0.0445,0.050497010350227356,0.6760685358461838,-0.004469587364670937,0.09078936056533823,0.9999999875825559,9.658962675701003e-05,-6.960753770596383e-05,-4.5858336686843926e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0037719507221586485,0.0018318484270099748,0.008285788269781352,-0.0002673581993439054,2.1003979092798497e-06,0.00012682434090554098,0.10269637804643371,0.011351143774243844,0.14062276874889937,0.0012231149492388975,-0.00815247912495882,-0.001242543202831252,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9204924611333207,0.18212999546064493,1.9930007417136861,-0.21655174713979053,-1.386334141560069,0.010565861676370955,1.2051166602065873,0.008285788269781352,-0.7878840815070989,0.0,0.0,0,0,0.0,0.0
+16980,1792701732968908320,9559976000000,1792701732965869400,WAIT_W2,3,0.0445,0.050497010350227356,0.6760681859699609,-0.004468866829349546,0.09079008592319876,0.9999999874049402,9.707594843479369e-05,-7.082216900305761e-05,-4.6834434861800025e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.0031471910990550495,0.0013893318843894754,-0.0009035947742561945,0.000754212832704768,-1.4171302470309538e-05,8.164204733391005e-06,0.10207161842333011,0.010908627231623344,0.13143338570486182,0.002244685981287571,-0.00816875082533841,-0.001361203339003402,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9350103463447251,0.05389830890197488,2.0609558681194864,-0.1781533392666714,-1.4335594371890992,-0.07314203712859124,1.2051166602065873,0.0009035947742561945,-0.8558392079128991,0.0,0.0,0,0,0.0,0.0
+16996,1792701733101928863,9560109000000,1792701733093869107,WAIT_W2,3,0.0445,0.050497010350227356,0.676066900550171,-0.004481947602915147,0.09078754254982045,0.9999999882027478,8.781064381299959e-05,-7.302779260352168e-05,-4.4649756600644094e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06641723968217778,0.061715577459401656,0.0011931020712463158,0.00456038555450221,-0.004726657718980265,0.00011960296180689683,0.16534166700645284,0.07123487280663553,0.13353008255036433,0.006050858703085013,-0.012881237241848364,-0.0012497645819298962,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9271250086002352,0.33110342038393187,1.980583902974808,-0.24083140287819454,-1.3801153603352385,0.11067347338318734,1.2051166602065873,0.0011931020712463158,-0.7754672427682208,0.0,0.0,0,0,0.0,0.0
+17012,1792701733234832358,9560242000000,1792701733233869512,WAIT_W2,3,0.0445,0.049766797572374344,0.6760658013078316,-0.0044866409288334234,0.09078573620355535,0.999999988511239,8.463555961120082e-05,-7.455650082597315e-05,-4.121330458441293e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.12183386771280494,0.11061641335291943,-0.0072385738641325414,0.008150564116139606,-0.009138470490690222,0.00010661814377135219,0.22075829503708,0.12013570870015329,0.12509840661498547,0.009641037264722409,-0.017293050013558322,-0.0012627493999654408,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.8759593947598779,0.3187198633255549,1.9482969765361235,-0.23831848429101984,-1.3417948857972326,0.1024698348437893,1.2051166602065873,0.0072385738641325414,-0.7431803163295363,0.0,0.0,0,0,0.0,0.0
+17028,1792701733368896599,9560376000000,1792701733365869532,WAIT_W2,3,0.0445,0.049766797572374344,0.6760683274848998,-0.0044919751223607765,0.09079022484040782,0.9999999890505626,8.058741646367157e-05,-6.991327515027579e-05,-4.426670392046575e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.14005542829697784,0.12216260053227562,-0.006739666503398689,0.009192411773227206,-0.010306922298583645,0.0001020182827171799,0.2389798556212529,0.1316818958795095,0.12559731397571933,0.010682884921810009,-0.018461501821451745,-0.0012673492610196131,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9142119983745168,0.3730183837617264,2.072510756133452,-0.24284062195486067,-1.4318980271763169,0.14174994951454384,1.2051166602065873,0.006739666503398689,-0.8673940959268649,0.0,0.0,0,0,0.0,0.0
+17052,1792701733568831157,9560576000000,1792701733565868971,WAIT_W2,3,0.0445,0.04899192973971367,0.6760676027036532,-0.004500298609389595,0.09078882577381242,0.9999999893418827,7.81369611359974e-05,-7.14882870563529e-05,-3.9282806964027326e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.17114360314927182,0.135952779306907,-0.01617096032277346,0.01028074634435294,-0.012352402433049832,9.363206288986667e-05,0.2700680304735469,0.14547207465414086,0.11616602015634456,0.011771219492935744,-0.020506981955917932,-0.0012757354808469264,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9127118079139667,0.39259059073884345,2.0863815531058236,-0.2450249738413526,-1.4391073474614156,0.15693618352395158,1.2051166602065873,0.01617096032277346,-0.8812648928992364,0.0,0.0,0,0,0.0,0.0
+17072,1792701733734923080,9560742000000,1792701733733869324,WAIT_W2,3,0.0445,0.04818816855549812,0.6760681906950532,-0.004496421771391584,0.09078873651812955,0.9999999891951968,7.953858132480068e-05,-7.088937039838107e-05,-4.1240537094501495e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.16856598415298238,0.12016398541176118,-0.027049215813791036,0.008263942843589908,-0.011299030691542573,9.534332202493874e-05,0.26749041147725744,0.12968328075899505,0.10528776466532698,0.009754415992172711,-0.019453610214410673,-0.0012740242217118543,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9119067092202612,0.4010303096102988,2.0109732288001427,-0.24701061534659347,-1.3895026292892643,0.1619033653143977,1.2051166602065873,0.027049215813791036,-0.8058565685935555,0.0,0.0,0,0,0.0,0.0
+17092,1792701733901923116,9560909000000,1792701733893869250,WAIT_W2,3,0.0445,0.04740739241242409,0.6760663663170721,-0.004498104173999867,0.09078712733436749,0.9999999892578795,7.681532549493064e-05,-7.290284686657846e-05,-4.137252609112872e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.1602368055160591,0.10665357039795996,-0.04748234226793842,0.007195726787456343,-0.011274657365675738,0.00027582635824877403,0.25916123284033415,0.11617286574519382,0.0848546382111796,0.008686199936039146,-0.019429236888543838,-0.001093541185488019,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9058374013381517,0.3507340041470079,1.9932707852289655,-0.23534835720530295,-1.3763944368320382,0.1286548375514448,1.2051166602065873,0.04748234226793842,-0.7881541250223782,0.0,0.0,0,0,0.0,0.0
+17108,1792701734034927750,9561042000000,1792701734033869024,WAIT_W2,3,0.0445,0.04662858694791794,0.6760669658578429,-0.004497742450584093,0.09078880797332872,0.9999999893017634,7.57620857510823e-05,-7.244296324869699e-05,-4.302860471065794e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.15190673173639882,0.08313105504886624,-0.07258388351978418,0.0042136745804690085,-0.009196406810417357,0.0009360136388082996,0.2508311590606739,0.0926503503961001,0.05975309695933385,0.005704147729051812,-0.017350986333285457,-0.0004333539049284934,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.9186751760609448,0.3558041736770563,2.0478585742904047,-0.2473711233525261,-1.415536058404047,0.12768772163881242,1.2051166602065873,0.07258388351978418,-0.8427419140838175,0.0,0.0,0,0,0.0,0.0
+17124,1792701734168888288,9561176000000,1792701734165869496,WAIT_W2,3,0.0445,0.04662858694791794,0.6760666387266057,-0.00449671009942558,0.09078845491937929,0.9999999892371791,7.723210333994167e-05,-7.225803761719427e-05,-4.2219475990028395e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.1368109996550919,0.04481926792523189,-0.09833922431243458,0.001608626947824835,-0.008121691520127159,0.0011493605132759,0.23573542697936697,0.05433856327246576,0.03399775616668343,0.003099100096407638,-0.01627627104299526,-0.00022000703046089312,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.793699749423613,0.19869654439669546,2.01348860196318,-0.20605506183425898,-1.3546772502649325,0.026423151821034968,1.2051166602065873,0.09833922431243458,-0.8083719417565927,0.0,0.0,0,0,0.0,0.0
+17148,1792701734368815373,9561376000000,1792701734365869699,WAIT_W2,3,0.0445,0.045828111469745636,0.676065802021573,-0.00448799594181831,0.09078523856283413,0.999999988592567,8.227155760828188e-05,-7.445690560866948e-05,-4.4105445101440384e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.10532807195559504,-0.010668007587704902,-0.16606651741844847,-0.003562289827788768,-0.004977028511199128,0.0011895602945364101,0.2042524992798701,-0.0011487122404710334,-0.03372953693933044,-0.0020718166792059647,-0.013131608034067228,-0.00017980724920038289,0.09892442732427506,0.009519295347233869,0.13233698047911802,0.001490473148582803,-0.0081545795228681,-0.001369367543736793,1,-0.8377715993318146,0.22798488050374585,2.039953813712172,-0.23209093710993253,-1.3825426895930077,0.036442988548860134,1.2051166602065873,0.16606651741844847,-0.8348371535055847,0.0,0.0,0,0,0.0,0.0
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3aab5520f7a9ffefa8ec981b099a34157447b3fc
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c79e41e47c69ac5d03d72888498887c3563d766
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.166666667e-01,WAIT_W2,1792701733100647991,8.368525763e-07,-1.560812035e-05,4.007005235e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.380491644e-07,-2.926217359e-10,9.096706055e-09,7.015387083e-01,-1.405715903e-05,8.407449482e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294272e-01,1.724746478e-06,8.295726216e-01
+7,4.833333333e-01,WAIT_W2,1792701733236662470,1.331866994e-06,-1.675030711e-05,3.667281630e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.003277342e-06,-1.996339606e-05,3.261293960e-06,7.015392033e-01,-1.519934578e-05,8.407446085e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017302924e-01,-1.823835696e-05,8.295758738e-01
+8,5.500000000e-01,WAIT_W2,1792701733368646009,-8.401800907e-07,-2.469435865e-05,1.037208468e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.017656015e-06,-1.997191311e-05,3.271489168e-06,7.015370313e-01,-2.314339733e-05,8.407419784e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303068e-01,-1.824687401e-05,8.295758840e-01
+9,6.500000000e-01,WAIT_W2,1792701733568655027,1.393183018e-07,-3.233352543e-05,3.175527497e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.036125993e-06,-1.997520455e-05,3.282417239e-06,7.015380108e-01,-3.078256411e-05,8.407441167e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303253e-01,-1.825016545e-05,8.295758949e-01
+10,7.333333333e-01,WAIT_W2,1792701733734714433,1.178933869e-06,-3.036106107e-05,5.151985361e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.049199378e-06,-1.997619250e-05,3.289583735e-06,7.015390504e-01,-2.881009975e-05,8.407460932e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303383e-01,-1.825115340e-05,8.295759021e-01
+11,8.166666667e-01,WAIT_W2,1792701733900655738,7.406617005e-07,-3.027531867e-05,3.859334979e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.060549684e-06,-1.997668653e-05,3.295510262e-06,7.015386121e-01,-2.872435734e-05,8.407448005e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303497e-01,-1.825164743e-05,8.295759080e-01
+12,8.833333333e-01,WAIT_W2,1792701734037997738,-3.066364285e-07,-3.162686611e-05,1.176721741e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.068545776e-06,-1.997693640e-05,3.299537739e-06,7.015375648e-01,-3.007590479e-05,8.407421179e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303577e-01,-1.825189730e-05,8.295759120e-01
+13,9.500000000e-01,WAIT_W2,1792701734164658565,-1.062438136e-06,-2.561259785e-05,1.970299777e-07,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.075669948e-06,-1.997710735e-05,3.303029781e-06,7.015368090e-01,-2.406163653e-05,8.407411382e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303648e-01,-1.825206825e-05,8.295759155e-01
+14,1.050000000e+00,WAIT_W2,1792701734367309389,-4.552917809e-07,-2.244939884e-05,1.026627030e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.084669535e-06,-1.997724649e-05,3.307283230e-06,7.015374162e-01,-2.089843752e-05,8.407419678e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303738e-01,-1.825220739e-05,8.295759198e-01
+15,1.116666667e+00,WAIT_W2,1792701734501479610,-6.332199416e-07,-1.903234972e-05,6.399667957e-07,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.090435802e-06,-1.997739732e-05,3.309902978e-06,7.015372383e-01,-1.748138840e-05,8.407415812e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303796e-01,-1.825235822e-05,8.295759224e-01
+16,1.200000000e+00,WAIT_W2,1792701734667571884,-1.516918665e-06,-2.260995729e-05,9.944093634e-07,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.096410339e-06,-1.997749606e-05,3.312547841e-06,7.015363546e-01,-2.105899597e-05,8.407419356e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303855e-01,-1.825245696e-05,8.295759250e-01
+17,1.316666667e+00,WAIT_W2,1792701734896765613,-3.154328074e-06,-3.370402666e-05,-1.686438908e-06,8.698430805e-07,-2.005462658e-05,3.343557774e-06,1.103488920e-06,-1.997760688e-05,3.315555492e-06,7.015347172e-01,-3.215306533e-05,8.407392547e-01,7.015387413e-01,-1.850366526e-05,8.407442847e-01,7.017303926e-01,-1.825256778e-05,8.295759280e-01
+18,1.416666667e+00,WAIT_W2,1792701735100225666,-1.414008963e-06,-4.018041503e-05,1.205490628e-06,-1.369603699e-06,-4.026531640e-05,1.185974136e-06,-1.158006456e-06,-4.010530740e-05,1.207257073e-06,7.015364575e-01,-3.862945371e-05,8.407421467e-01,7.015365019e-01,-3.871435508e-05,8.407421272e-01,7.017281311e-01,-3.838026830e-05,8.295738197e-01
+19,1.483333333e+00,WAIT_W2,1792701735231419195,-3.673993900e-06,-5.109273336e-05,-1.366842197e-06,-1.369603699e-06,-4.026531640e-05,1.185974136e-06,-1.162060188e-06,-4.012698036e-05,1.202265170e-06,7.015341975e-01,-4.954177204e-05,8.407395743e-01,7.015365019e-01,-3.871435508e-05,8.407421272e-01,7.017281271e-01,-3.840194126e-05,8.295738147e-01
+20,1.533333333e+00,WAIT_W2,1792701735332897184,-3.856382492e-06,-5.166483639e-05,-1.033768173e-06,-1.369603699e-06,-4.026531640e-05,1.185974136e-06,-1.162893518e-06,-4.013030496e-05,1.200014695e-06,7.015340151e-01,-5.011387507e-05,8.407399074e-01,7.015365019e-01,-3.871435508e-05,8.407421272e-01,7.017281262e-01,-3.840526586e-05,8.295738125e-01
+21,1.616666667e+00,WAIT_W2,1792701735496855592,-3.422258407e-06,-6.319968896e-05,3.976657114e-07,-3.397402716e-06,-6.317539285e-05,2.220868890e-07,-3.205946511e-06,-6.294701648e-05,1.966574086e-07,7.015344492e-01,-6.164872764e-05,8.407413389e-01,7.015344741e-01,-6.162443153e-05,8.407411633e-01,7.017260832e-01,-6.122197738e-05,8.295728091e-01
+22,1.683333333e+00,UP_FORCE_RAMP,1792701735628670717,-6.383753033e-06,-6.449141354e-05,-3.553405956e-06,-3.397402716e-06,-6.317539285e-05,2.220868890e-07,-3.213686645e-06,-6.297268786e-05,1.922126756e-07,7.015314877e-01,-6.294045222e-05,8.407373878e-01,7.015344741e-01,-6.162443153e-05,8.407411633e-01,7.017260754e-01,-6.124764876e-05,8.295728047e-01
+23,1.766666667e+00,UP_FORCE_RAMP,1792701735796755991,-1.966593995e-06,-7.163174267e-05,3.064087997e-06,-3.397402716e-06,-6.317539285e-05,2.220868890e-07,-3.218422945e-06,-6.297894344e-05,1.876008363e-07,7.015359049e-01,-7.008078135e-05,8.407440053e-01,7.015344741e-01,-6.162443153e-05,8.407411633e-01,7.017260707e-01,-6.125390434e-05,8.295728001e-01
+24,1.850000000e+00,UP_FORCE_RAMP,1792701735960660704,-3.597497843e-06,-7.605943911e-05,4.629479585e-07,-3.397402716e-06,-6.317539285e-05,2.220868890e-07,-3.222222237e-06,-6.298098355e-05,1.837774228e-07,7.015342740e-01,-7.450847779e-05,8.407414041e-01,7.015344741e-01,-6.162443153e-05,8.407411633e-01,7.017260669e-01,-6.125594445e-05,8.295727963e-01
+25,1.933333333e+00,UP_FORCE_RAMP,1792701736128671855,-2.262131561e-06,-8.645056755e-05,2.242606957e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.913123005e-06,-8.611422748e-05,2.549268639e-06,7.015356093e-01,-8.489960623e-05,8.407431838e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273760e-01,-8.438918838e-05,8.295751617e-01
+26,2.000000000e+00,UP_FORCE_RAMP,1792701736262681106,-3.144241967e-06,-8.946285574e-05,2.887069947e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.912564795e-06,-8.614062674e-05,2.557152311e-06,7.015347272e-01,-8.791189441e-05,8.407438283e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273766e-01,-8.441558764e-05,8.295751696e-01
+27,2.083333333e+00,UP_FORCE_RAMP,1792701736429689457,-5.504337362e-06,-8.934672392e-05,-6.198354244e-07,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.911797392e-06,-8.614688264e-05,2.562193467e-06,7.015323671e-01,-8.779576260e-05,8.407403214e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273773e-01,-8.442184354e-05,8.295751747e-01
+28,2.133333333e+00,UP_FORCE_RAMP,1792701736510736410,-2.676821259e-06,-9.085975327e-05,4.047950534e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.911393816e-06,-8.614835314e-05,2.564541339e-06,7.015351947e-01,-8.930879195e-05,8.407449891e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273777e-01,-8.442331404e-05,8.295751770e-01
+29,2.200000000e+00,UP_FORCE_RAMP,1792701736626672423,-3.219844435e-06,-8.951743938e-05,2.832439507e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.910852661e-06,-8.614923880e-05,2.566982443e-06,7.015346516e-01,-8.796647806e-05,8.407437736e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273783e-01,-8.442419970e-05,8.295751795e-01
+30,2.266666667e+00,UP_FORCE_RAMP,1792701736761163348,-3.519629174e-06,-9.409219133e-05,1.269177859e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.910414547e-06,-8.615030093e-05,2.569452154e-06,7.015343519e-01,-9.254123001e-05,8.407422104e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273787e-01,-8.442526183e-05,8.295751819e-01
+31,2.366666667e+00,UP_FORCE_RAMP,1792701736962962818,-4.451446231e-06,-1.053576472e-04,2.714296659e-06,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.909698775e-06,-8.615100508e-05,2.572275128e-06,7.015334200e-01,-1.038066859e-04,8.407436555e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273794e-01,-8.442596598e-05,8.295751848e-01
+32,2.400000000e+00,UP_FORCE_RAMP,1792701737026656584,-6.770782866e-06,-1.010449416e-04,-9.325171567e-07,-2.137460153e-06,-8.642260704e-05,2.613592886e-06,-1.909462592e-06,-8.615118846e-05,2.573092129e-06,7.015311007e-01,-9.949398031e-05,8.407400087e-01,7.015357340e-01,-8.487164572e-05,8.407435548e-01,7.017273797e-01,-8.442614936e-05,8.295751856e-01
+33,2.500000000e+00,UP_FORCE_RAMP,1792701737193243676,-8.674935700e-06,-1.059543754e-04,-5.564187513e-07,-6.820446826e-06,-1.063749938e-04,1.457971761e-07,-6.708149665e-06,-1.060216772e-04,1.607312539e-07,7.015291965e-01,-1.044034141e-04,8.407403848e-01,7.015310510e-01,-1.048240325e-04,8.407410870e-01,7.017225810e-01,-1.042966381e-04,8.295727732e-01
+34,2.550000000e+00,UP_FORCE_RAMP,1792701737292898407,-4.765092220e-06,-1.078530078e-04,5.792583712e-06,-6.820446826e-06,-1.063749938e-04,1.457971761e-07,-6.715292501e-06,-1.060268951e-04,1.577033100e-07,7.015331064e-01,-1.063020464e-04,8.407467338e-01,7.015310510e-01,-1.048240325e-04,8.407410870e-01,7.017225738e-01,-1.043018560e-04,8.295727702e-01
+35,2.600000000e+00,UP_FORCE_RAMP,1792701737392688651,-8.472356412e-06,-1.072526903e-04,4.393231620e-06,-6.820446826e-06,-1.063749938e-04,1.457971761e-07,-6.721027811e-06,-1.060291028e-04,1.551780225e-07,7.015293991e-01,-1.057017290e-04,8.407453344e-01,7.015310510e-01,-1.048240325e-04,8.407410870e-01,7.017225681e-01,-1.043040637e-04,8.295727677e-01
+36,2.683333333e+00,UP_FORCE_RAMP,1792701737560661673,-5.815229600e-06,-1.097515987e-04,1.282025690e-05,-6.820446826e-06,-1.063749938e-04,1.457971761e-07,-6.728941540e-06,-1.060307918e-04,1.516544157e-07,7.015320563e-01,-1.082006374e-04,8.407537614e-01,7.015310510e-01,-1.048240325e-04,8.407410870e-01,7.017225602e-01,-1.043057527e-04,8.295727641e-01
+37,2.783333333e+00,UP_FORCE_RAMP,1792701737756686303,-7.922254851e-06,-1.123295573e-04,1.470696525e-05,-6.820446826e-06,-1.063749938e-04,1.457971761e-07,-6.735958970e-06,-1.060315397e-04,1.485319000e-07,7.015299492e-01,-1.107785960e-04,8.407556482e-01,7.015310510e-01,-1.048240325e-04,8.407410870e-01,7.017225532e-01,-1.043065006e-04,8.295727610e-01
+38,2.866666667e+00,UP_FORCE_RAMP,1792701737890696652,-6.976955392e-06,-1.136228648e-04,2.360963120e-05,-7.542128746e-06,-1.122083169e-04,1.970520684e-05,-7.390833501e-06,-1.118541440e-04,1.936444985e-05,7.015308945e-01,-1.120719034e-04,8.407645508e-01,7.015303294e-01,-1.106573555e-04,8.407606464e-01,7.017218983e-01,-1.101291049e-04,8.295919769e-01
+39,2.933333333e+00,UP_FORCE_RAMP,1792701738024724144,-8.212314669e-06,-1.112583702e-04,2.659791165e-05,-7.542128746e-06,-1.122083169e-04,1.970520684e-05,-7.395900488e-06,-1.118569512e-04,1.941010947e-05,7.015296592e-01,-1.097074089e-04,8.407675391e-01,7.015303294e-01,-1.106573555e-04,8.407606464e-01,7.017218932e-01,-1.101319121e-04,8.295920226e-01
+40,2.950000000e+00,UP_FORCE_RAMP,1792701738056682918,-1.080627455e-05,-1.135108346e-04,2.641995166e-05,-7.542128746e-06,-1.122083169e-04,1.970520684e-05,-7.396946060e-06,-1.118573793e-04,1.941968221e-05,7.015270652e-01,-1.119598733e-04,8.407673611e-01,7.015303294e-01,-1.106573555e-04,8.407606464e-01,7.017218922e-01,-1.101323402e-04,8.295920322e-01
+41,2.966666667e+00,UP_FORCE_RAMP,1792701738090684322,-4.628861090e-05,-1.091969961e-04,1.986926918e-05,-4.586184334e-05,-1.090788156e-04,1.916457768e-05,-4.612822127e-05,-1.087570174e-04,1.885949050e-05,7.014915829e-01,-1.076460347e-04,8.407608105e-01,7.014920096e-01,-1.075278543e-04,8.407601058e-01,7.016831609e-01,-1.070319783e-04,8.295914720e-01
+42,3.033333333e+00,UP_FORCE_RAMP,1792701738225127765,-4.054249959e-05,-1.120674855e-04,3.068942768e-05,-4.586184334e-05,-1.090788156e-04,1.916457768e-05,-4.625768107e-05,-1.087555351e-04,1.889114700e-05,7.014973290e-01,-1.105165242e-04,8.407716306e-01,7.014920096e-01,-1.075278543e-04,8.407601058e-01,7.016830315e-01,-1.070304960e-04,8.295915036e-01
+43,3.150000000e+00,UP_FORCE_RAMP,1792701738426250584,-4.134685825e-05,-1.139402463e-04,3.621490450e-05,-3.766271917e-05,-1.150224764e-04,4.001793111e-05,-3.800670788e-05,-1.146921295e-04,3.942031571e-05,7.014965246e-01,-1.123892850e-04,8.407771561e-01,7.015002088e-01,-1.134715151e-04,8.407809591e-01,7.016912824e-01,-1.129670904e-04,8.296120328e-01
+44,3.233333333e+00,UP_FORCE_RAMP,1792701738590676038,-3.800438432e-05,-1.116810883e-04,4.339084316e-05,-3.766271917e-05,-1.150224764e-04,4.001793111e-05,-3.805272515e-05,-1.146961974e-04,3.951002113e-05,7.014998671e-01,-1.101301269e-04,8.407843320e-01,7.015002088e-01,-1.134715151e-04,8.407809591e-01,7.016912364e-01,-1.129711583e-04,8.296121225e-01
+45,3.333333333e+00,UP_FORCE_RAMP,1792701738790659560,-3.646116748e-05,-1.166823603e-04,4.949894175e-05,-3.766271917e-05,-1.150224764e-04,4.001793111e-05,-3.810044030e-05,-1.146980118e-04,3.958944964e-05,7.015014103e-01,-1.151313990e-04,8.407904401e-01,7.015002088e-01,-1.134715151e-04,8.407809591e-01,7.016911887e-01,-1.129729727e-04,8.296122019e-01
+46,3.400000000e+00,UP_FORCE_RAMP,1792701738922657721,-3.675285559e-05,-1.204367595e-04,5.311302975e-05,-3.766271917e-05,-1.150224764e-04,4.001793111e-05,-3.812763729e-05,-1.146986607e-04,3.963220650e-05,7.015011186e-01,-1.188857982e-04,8.407940542e-01,7.015002088e-01,-1.134715151e-04,8.407809591e-01,7.016911615e-01,-1.129736216e-04,8.296122447e-01
+47,3.466666667e+00,UP_FORCE_RAMP,1792701739038659629,-3.603900025e-05,-1.149103072e-04,5.672750968e-05,-3.766271917e-05,-1.150224764e-04,4.001793111e-05,-3.815164524e-05,-1.146990657e-04,3.966867257e-05,7.015018325e-01,-1.133593459e-04,8.407976687e-01,7.015002088e-01,-1.134715151e-04,8.407809591e-01,7.016911375e-01,-1.129740266e-04,8.296122812e-01
+48,3.516666667e+00,UP_FORCE_RAMP,1792701739120691538,-3.333733443e-05,-1.193957251e-04,6.148017182e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.484353438e-05,-1.179567998e-04,5.963964150e-05,7.015045341e-01,-1.178447638e-04,8.408024214e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016944456e-01,-1.162317607e-04,8.296322521e-01
+49,3.583333333e+00,UP_FORCE_RAMP,1792701739256670026,-3.547678155e-05,-1.160387077e-04,5.925528736e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.485588619e-05,-1.179595098e-04,5.972147594e-05,7.015023947e-01,-1.144877464e-04,8.408001965e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016944332e-01,-1.162344707e-04,8.296323340e-01
+50,3.650000000e+00,UP_FORCE_RAMP,1792701739388635306,-3.434272696e-05,-1.152210153e-04,6.241431122e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.486712052e-05,-1.179606464e-04,5.978679100e-05,7.015035288e-01,-1.136700539e-04,8.408033555e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016944220e-01,-1.162356073e-04,8.296323993e-01
+51,3.716666667e+00,UP_FORCE_RAMP,1792701739520666551,-3.303640633e-05,-1.257839939e-04,6.438178509e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.487703184e-05,-1.179613787e-04,5.984196397e-05,7.015048351e-01,-1.242330325e-04,8.408053230e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016944121e-01,-1.162363396e-04,8.296324544e-01
+52,3.783333333e+00,UP_FORCE_RAMP,1792701739652678268,-3.609186367e-05,-1.219262536e-04,6.211475019e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.488577938e-05,-1.179618488e-04,5.988917181e-05,7.015017796e-01,-1.203752923e-04,8.408030559e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016944034e-01,-1.162368097e-04,8.296325017e-01
+53,3.866666667e+00,UP_FORCE_RAMP,1792701739786663152,-3.357700069e-05,-1.222720090e-04,6.786053179e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.489526075e-05,-1.179621869e-04,5.993900512e-05,7.015042945e-01,-1.207210477e-04,8.408088017e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016943939e-01,-1.162371478e-04,8.296325515e-01
+54,3.933333333e+00,UP_FORCE_RAMP,1792701739920641929,-3.369170696e-05,-1.202253549e-04,6.954498055e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.490186220e-05,-1.179623399e-04,5.997278585e-05,7.015041798e-01,-1.186743936e-04,8.408104862e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016943873e-01,-1.162373008e-04,8.296325853e-01
+55,4.016666667e+00,UP_FORCE_RAMP,1792701740088714480,-3.341387798e-05,-1.156049843e-04,7.169567878e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.490903233e-05,-1.179624188e-04,6.000869632e-05,7.015044576e-01,-1.140540230e-04,8.408126369e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016943801e-01,-1.162373797e-04,8.296326212e-01
+56,4.066666667e+00,UP_FORCE_RAMP,1792701740186687404,-3.193624135e-05,-1.201212777e-04,7.643152840e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.491283063e-05,-1.179624206e-04,6.002736380e-05,7.015059352e-01,-1.185703164e-04,8.408173727e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016943763e-01,-1.162373815e-04,8.296326398e-01
+57,4.133333333e+00,UP_FORCE_HOLD,1792701740320645503,-3.225136602e-05,-1.228410122e-04,7.647303465e-05,-3.443869501e-05,-1.183020587e-04,6.031105144e-05,-3.491738997e-05,-1.179623712e-04,6.004937757e-05,7.015056201e-01,-1.212900509e-04,8.408174142e-01,7.015034328e-01,-1.167510973e-04,8.408012522e-01,7.016943717e-01,-1.162373321e-04,8.296326619e-01
+58,4.183333333e+00,UP_FORCE_HOLD,1792701740420683120,-3.384434608e-05,-1.243796369e-04,7.551370083e-05,-3.242319726e-05,-1.231290227e-04,7.988357684e-05,-3.278917298e-05,-1.227586412e-04,7.928821102e-05,7.015040271e-01,-1.228286756e-04,8.408164549e-01,7.015054483e-01,-1.215780614e-04,8.408208248e-01,7.016965000e-01,-1.210336021e-04,8.296519007e-01
+59,4.266666667e+00,UP_FORCE_HOLD,1792701740586823727,-3.297866549e-05,-1.236681397e-04,8.225070402e-05,-3.242319726e-05,-1.231290227e-04,7.988357684e-05,-3.278790477e-05,-1.227636119e-04,7.937903368e-05,7.015048928e-01,-1.221171784e-04,8.408231919e-01,7.015054483e-01,-1.215780614e-04,8.408208248e-01,7.016965012e-01,-1.210385728e-04,8.296519915e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5f8af277fe49201b5b07cb3e90c5572b3bfb5c6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-7.2328e-03,-1.0085e-03,2.4486e+00,-3.6740e-02,3.6270e-02,-1.4696e-05,4.2229e-04,-1.2121e-06,1.7405e-05,-6.1467e-07,2.8409e-05,-4.8715e-07,4.2265e-04,2.8420e-05
+1,5.0000e-02,XJC_ZERO_HOLD_BEFORE_UP,2.0398e-05,-4.3903e-03,-3.8396e-04,2.4488e+00,-3.6803e-02,3.6511e-02,-3.5929e-05,3.2648e-03,6.2335e-04,1.8835e-04,-6.3412e-05,2.6944e-04,-2.1721e-05,3.3291e-03,2.7765e-04
+2,1.1667e-01,WAIT_W2,3.8427e-05,-3.5760e-03,-4.4895e-04,2.4488e+00,-3.6798e-02,3.6561e-02,-3.6510e-05,4.0790e-03,5.5835e-04,2.0409e-04,-5.8349e-05,3.1952e-04,-2.2302e-05,4.1221e-03,3.2557e-04
+3,1.6667e-01,WAIT_W2,5.1013e-05,-2.9512e-03,-4.9633e-04,2.4488e+00,-3.6795e-02,3.6600e-02,-3.6958e-05,4.7039e-03,5.1097e-04,2.3651e-04,-5.4836e-05,3.5879e-04,-2.2749e-05,4.7374e-03,3.6367e-04
+4,2.6667e-01,WAIT_W2,7.4263e-05,-1.7487e-03,-5.7974e-04,2.4489e+00,-3.6789e-02,3.6677e-02,-3.7874e-05,5.9063e-03,4.2757e-04,3.2234e-04,-4.8902e-05,4.3599e-04,-2.3665e-05,5.9306e-03,4.3936e-04
+5,3.5000e-01,WAIT_W2,8.8955e-05,-7.8983e-04,-6.3766e-04,2.4490e+00,-3.6785e-02,3.6740e-02,-3.8698e-05,6.8652e-03,3.6965e-04,4.0340e-04,-4.4964e-05,4.9891e-04,-2.4489e-05,6.8870e-03,5.0153e-04
+6,4.1667e-01,WAIT_W2,1.0669e-04,-3.8680e-05,-6.7803e-04,2.4491e+00,-3.6782e-02,3.6790e-02,-3.9463e-05,7.6164e-03,3.2928e-04,4.6968e-04,-4.2312e-05,5.4914e-04,-2.5254e-05,7.6380e-03,5.5135e-04
+7,4.8333e-01,WAIT_W2,1.2249e-04,9.1339e-04,1.1759e-02,2.4452e+00,-3.7598e-02,3.6875e-02,-4.6625e-05,8.5685e-03,1.2766e-02,-3.4103e-03,-8.5821e-04,6.3378e-04,-3.2416e-05,1.5749e-02,1.0674e-03
+8,5.5000e-01,WAIT_W2,1.3975e-04,1.1702e-03,1.0012e-02,2.4467e+00,-3.7548e-02,3.6885e-02,-3.6867e-05,8.8253e-03,1.1019e-02,-1.8771e-03,-8.0838e-04,6.4388e-04,-2.2658e-05,1.4242e-02,1.0337e-03
+9,6.5000e-01,WAIT_W2,1.6269e-04,1.7639e-03,9.6150e-03,2.4469e+00,-3.7521e-02,3.6924e-02,-3.6436e-05,9.4189e-03,1.0622e-02,-1.6842e-03,-7.8078e-04,6.8333e-04,-2.2228e-05,1.4296e-02,1.0378e-03
+10,7.3333e-01,WAIT_W2,1.7824e-04,2.3452e-03,9.4187e-03,2.4472e+00,-3.7506e-02,3.6963e-02,-3.6248e-05,1.0000e-02,1.0426e-02,-1.3568e-03,-7.6647e-04,7.2236e-04,-2.2040e-05,1.4510e-02,1.0535e-03
+11,8.1667e-01,WAIT_W2,1.9482e-04,2.8982e-03,9.2990e-03,2.4476e+00,-3.7497e-02,3.7001e-02,-3.6205e-05,1.0553e-02,1.0306e-02,-1.0171e-03,-7.5718e-04,7.6010e-04,-2.1996e-05,1.4786e-02,1.0731e-03
+12,8.8333e-01,WAIT_W2,2.1344e-04,3.2936e-03,9.2369e-03,2.4478e+00,-3.7492e-02,3.7029e-02,-3.6271e-05,1.0949e-02,1.0244e-02,-7.7581e-04,-7.5209e-04,7.8743e-04,-2.2062e-05,1.5014e-02,1.0891e-03
+13,9.5000e-01,WAIT_W2,2.3085e-04,3.6555e-03,9.1904e-03,2.4480e+00,-3.7488e-02,3.7054e-02,-3.6414e-05,1.1311e-02,1.0198e-02,-5.6171e-04,-7.4814e-04,8.1271e-04,-2.2206e-05,1.5239e-02,1.1049e-03
+14,1.0500e+00,WAIT_W2,2.4949e-04,4.5916e-03,9.0271e-03,2.4485e+00,-3.7473e-02,3.7125e-02,-3.7447e-05,1.2247e-02,1.0034e-02,-4.0770e-05,-7.3327e-04,8.8349e-04,-2.3238e-05,1.5833e-02,1.1484e-03
+15,1.1167e+00,WAIT_W2,2.6620e-04,4.6839e-03,9.0266e-03,2.4486e+00,-3.7473e-02,3.7131e-02,-3.7627e-05,1.2339e-02,1.0034e-02,-2.8133e-05,-7.3311e-04,8.9005e-04,-2.3419e-05,1.5904e-02,1.1533e-03
+16,1.2000e+00,WAIT_W2,2.8458e-04,5.1644e-03,8.9635e-03,2.4487e+00,-3.7467e-02,3.7173e-02,-4.1538e-05,1.2819e-02,9.9708e-03,1.5259e-04,-7.2714e-04,9.3184e-04,-2.7329e-05,1.6241e-02,1.1823e-03
+17,1.3167e+00,WAIT_W2,3.0141e-04,5.4076e-03,8.9694e-03,2.4488e+00,-3.7467e-02,3.7188e-02,-4.1760e-05,1.3063e-02,9.9767e-03,2.1887e-04,-7.2760e-04,9.4679e-04,-2.7551e-05,1.6438e-02,1.1944e-03
+18,1.4167e+00,WAIT_W2,3.1999e-04,5.6174e-03,8.9702e-03,2.4489e+00,-3.7468e-02,3.7201e-02,-4.2031e-05,1.3272e-02,9.9775e-03,3.1567e-04,-7.2767e-04,9.6006e-04,-2.7822e-05,1.6607e-02,1.2050e-03
+19,1.4833e+00,WAIT_W2,3.4268e-04,7.5634e-03,1.9769e-02,2.4518e+00,-3.8241e-02,3.7340e-02,-3.1714e-05,1.5218e-02,2.0776e-02,3.2432e-03,-1.5013e-03,1.0988e-03,-1.7506e-05,2.5957e-02,1.8605e-03
+20,1.5333e+00,WAIT_W2,3.5624e-04,7.4382e-03,1.9079e-02,2.4509e+00,-3.8175e-02,3.7328e-02,-2.3372e-05,1.5093e-02,2.0086e-02,2.2712e-03,-1.4349e-03,1.0871e-03,-9.1635e-06,2.5227e-02,1.8002e-03
+21,1.6167e+00,WAIT_W2,3.7661e-04,7.4706e-03,1.8848e-02,2.4507e+00,-3.8162e-02,3.7330e-02,-2.3368e-05,1.5126e-02,1.9855e-02,2.1334e-03,-1.4219e-03,1.0893e-03,-9.1588e-06,2.5051e-02,1.7912e-03
+22,1.6833e+00,UP_FORCE_RAMP,3.9220e-04,9.0720e-03,3.1329e-02,2.4517e+00,-3.9063e-02,3.7446e-02,-9.9831e-06,1.6727e-02,3.2337e-02,3.1402e-03,-2.3229e-03,1.2054e-03,4.2256e-06,3.6542e-02,2.6170e-03
+23,1.7667e+00,UP_FORCE_RAMP,4.0910e-04,8.4612e-03,2.9281e-02,2.4503e+00,-3.8912e-02,3.7403e-02,-6.1144e-06,1.6116e-02,3.0289e-02,1.6718e-03,-2.1721e-03,1.1619e-03,8.0943e-06,3.4350e-02,2.4634e-03
+24,1.8500e+00,UP_FORCE_RAMP,4.2818e-04,8.6842e-03,3.0165e-02,2.4510e+00,-3.8968e-02,3.7417e-02,-5.6758e-06,1.6339e-02,3.1172e-02,2.4376e-03,-2.2278e-03,1.1757e-03,8.5329e-06,3.5279e-02,2.5191e-03
+25,1.9333e+00,UP_FORCE_RAMP,4.4731e-04,8.5609e-03,3.0077e-02,2.4509e+00,-3.8962e-02,3.7409e-02,-5.8138e-06,1.6216e-02,3.1084e-02,2.3055e-03,-2.2222e-03,1.1676e-03,8.3949e-06,3.5135e-02,2.5103e-03
+26,2.0000e+00,UP_FORCE_RAMP,4.6145e-04,7.2994e-03,4.2581e-02,2.4490e+00,-3.9859e-02,3.7318e-02,9.2913e-06,1.4954e-02,4.3588e-02,3.9244e-04,-3.1191e-03,1.0771e-03,2.3500e-05,4.6084e-02,3.2999e-03
+27,2.0833e+00,UP_FORCE_RAMP,4.8557e-04,7.2856e-03,4.2154e-02,2.4489e+00,-3.9829e-02,3.7318e-02,9.6841e-06,1.4941e-02,4.3162e-02,2.8324e-04,-3.0890e-03,1.0765e-03,2.3893e-05,4.5675e-02,3.2713e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fc8024885c6bbf8ca3850a5086d7a5834d4c7f98
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:96b954dc119a2a52ef8786955798e8505cca854340a13dbeed5db3cb1bbd0066
+size 42629120
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e6cb035b200a62c1befe4cc6aa260e7489136ed
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,1.445000e+01,2841,6.963428e-01,1.700394e-02,8.178038e-01,1.610274e-04,-1.138531e-04,-5.026921e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.445000e+01,2842,6.933677e-01,1.805149e-02,8.242420e-01,1.348836e-04,-1.175913e-04,-5.077579e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.445000e+01,2843,6.998894e-01,1.749531e-02,8.142980e-01,1.182346e-04,-1.323236e-04,-5.032142e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.445000e+01,2844,6.998946e-01,1.823760e-02,8.135942e-01,1.115106e-04,-1.435612e-04,-5.051248e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbc5f9c2d968f78d4ef9f7dc9703c3617bdef6fd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/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
+3236,1792701898061521737,9725070000000,1792701898055144800,XJC_ZERO_HOLD_BEFORE_DOWN,4,0.044,0.04400257766246796,0.6759775598567911,-0.004609819700369834,0.09083568968135426,0.9999999713470619,-8.499072688513e-05,-0.00018199950745367792,-9.165967159957243e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.06728009346717173,0.07925743308267919,0.01958245081495489,0.0064692840863416895,-0.005099526858822187,-7.418876507955916e-05,0.5615770151519109,0.35682705375016743,-0.04618680512652416,0.026579754644275783,-0.04001490761113431,0.0006105589947546478,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,-0.11201955841711835,0.764762327130544,1.6823929663037553,-0.26392929227088807,-0.9879346283526089,0.42926379470480036,-0.13074956995010537,0.01958245081495489,-1.8131425362538607,0.0,0.0,0,0,0.0,0.0
+3361,1792701899095438585,9726104000000,1792701899095143872,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6759790129537513,-0.004615926647175006,0.09083587872354745,0.9999999718018403,-8.755395726180373e-05,-0.00017938457848695982,-8.941286516671257e-05,0.6761,-0.00453,0.09098157440338954,1.0,0.0,0.0,0.0,0.11987437008409668,0.13170500504827048,0.04096503198235055,0.010689404310878718,-0.009240677921081714,9.578487339476538e-05,0.6141712917688359,0.40927462571575873,-0.024804223959128496,0.03079987486881281,-0.04415605867339384,0.0007805326332289723,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,-0.0061303793149090876,0.6955579951343647,1.527791458084379,-0.22423011307575613,-0.8624260633255564,0.39079314204155086,-0.13074956995010537,0.04096503198235055,-1.6585410280344843,-1.6585410280344843,0.06871999999999855,0,0,-4.294999187834237e-05,-9.999999025923074e-05
+3469,1792701899995394084,9727004000000,1792701899995143955,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6759707309087043,-0.00462798871282138,0.0907929217267177,0.999999968476903,-9.476998901079828e-05,-0.0001982065276532054,-7.887888930302301e-05,0.6761,-0.00453,0.09092269191464843,1.0,0.0,0.0,0.0,0.147627253686404,0.12891889197958717,0.2410886943496658,0.010705865894466305,-0.01131066691931025,-9.39404672686046e-05,0.6419241753711432,0.4064885126470754,0.17531943840818676,0.030816336452400398,-0.046226047671622375,0.0005908072925656023,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.18680475721794373,0.7704575596746734,1.2314341894479943,-0.20216489907394442,-0.6234775668547072,0.44491717060401714,-0.13074956995010537,0.2410886943496658,-1.3621837593980997,-1.3621837593980997,0.14071999999999563,0,0,-8.794998311165004e-05,-9.999999025923074e-05
+3537,1792701900561395538,9727570000000,1792701900559143952,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6759682358568755,-0.0046305843709245655,0.0907434211680962,0.9999999680902086,-9.035614400821829e-05,-0.00020642398232583833,-6.698770665022667e-05,0.6761,-0.00453,0.09086491747577025,1.0,0.0,0.0,0.0,0.14769048460201512,0.12454789738787897,0.48302754709334833,0.009639830844085633,-0.011343878552809765,-0.00030090020972855185,0.6419874062867543,0.4021175180553672,0.4172582911518693,0.029750301402019726,-0.04625925930512189,0.0003838475501056551,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.24162356467526136,0.8730670224613396,0.829407642950057,-0.1961455224691676,-0.3557532675707398,0.5102460572895122,-0.13074956995010537,0.48302754709334833,-0.9601572129001623,-0.9601572129001623,0.18599999999999378,0,0,-0.00011624997759837464,-9.999999025923074e-05
+3556,1792701900720443002,9727729000000,1792701900715143657,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6760158888142669,-0.004642296982325067,0.09073255266480756,0.9999999876754395,-8.817173155865042e-05,-8.150396215580091e-05,-4.092474799214866e-05,0.6761,-0.00453,0.09084580567945601,1.0,0.0,0.0,0.0,-0.03097998436417998,0.2328596563575649,0.5063751011647943,0.01879102571215409,0.00264436298958122,-3.751312159570646e-05,0.46331693732055923,0.5104292770250531,0.4406058452233153,0.03890149627008818,-0.032271017762730905,0.0006472346382385005,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.21944297964751913,0.6791790895477643,0.8947280956092435,-0.14386462868800526,-0.4583254092408943,0.37826299700031074,-0.13074956995010537,0.5063751011647943,-1.025477665559349,-1.025477665559349,0.19871999999999326,0,0,-0.00012419997604959233,-9.999999025923074e-05
+3628,1792701901321397914,9728329000000,1792701901315144218,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6760395387661254,-0.004636785585870888,0.0907144842114948,0.9999999900547082,-7.176326960299496e-05,-7.121881180815243e-05,-3.333709451720644e-05,0.6761,-0.00453,0.09076230069558251,1.0,0.0,0.0,0.0,-0.04977293425733348,0.2915961653634248,0.6445989697033714,0.022316224535685526,0.004343603234198374,-5.035496687313089e-05,0.44452398742740573,0.5691657860309131,0.5788297137618923,0.04242669509361962,-0.03057177751811375,0.000634392792961076,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.5310704681256501,0.6512842374685469,0.7026254212679788,-0.062069139066004204,-0.2765423256023165,0.3569478006040596,-0.13074956995010537,0.6445989697033714,-0.8333749912180841,-0.8333749912180841,0.2467199999999913,0,0,-0.00015419997020513077,-9.999999025923074e-05
+3712,1792701902020422406,9729029000000,1792701902019144507,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6760442871706582,-0.00464643166863181,0.09063839034034298,0.9999999922027929,-5.816257169243726e-05,-5.982049278974578e-05,-8.712204871750524e-06,0.6761,-0.00453,0.09064212821882882,1.0,0.0,0.0,0.0,-0.08615132506883916,0.28869486449080106,0.9747230645045145,0.02232641882966973,0.006161936361099834,0.0007339130281672761,0.40814559661590005,0.5662644851582893,0.9089538085630354,0.04243688938760382,-0.02875344439121229,0.001418660788001483,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.5901470712002884,0.6422928680394655,0.15163456639706407,0.0027293117235846105,0.06730583519803404,0.3373477370752891,-0.13074956995010537,0.9747230645045145,-0.2823841363471694,-0.2823841363471694,0.3027200000000073,0,0,-0.0001891999633865923,-9.999999025923074e-05
+3760,1792701902420415827,9729429000000,1792701902419144751,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6760813485281837,-0.004651580907893624,0.09060762381069307,0.9999999944910697,-4.714816718334665e-05,-1.1095707879526597e-05,1.0707972205308015e-05,0.6761,-0.00453,0.09056245823425539,1.0,0.0,0.0,0.0,-0.17804326865785236,0.3683135880312082,1.1021663300347706,0.029690049813225275,0.013468726664892242,0.0008190543526730978,0.31625365302688685,0.6458832086986964,1.0363970740932915,0.04980052037115937,-0.021446654087419883,0.0015038021125073047,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.7530735988854775,0.6985821797336905,0.02227725247473678,0.012253922073226514,0.16505093668787701,0.3718206926011708,-0.13074956995010537,1.1021663300347706,-0.15302682242484214,-0.15302682242484214,0.3347200000000171,0,0,-0.0002091999594902846,-9.999999025923074e-05
+3828,1792701902986413279,9729995000000,1792701902979144237,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6760957226196599,-0.004658749152336029,0.09052839018073185,0.9999999946752888,-3.232084431591192e-05,1.6175153259749235e-05,2.8035947242907717e-05,0.6761,-0.00453,0.09043996721675855,1.0,0.0,0.0,0.0,-0.2045198788199128,0.373565860324675,1.3956170177650187,0.02914220408702118,0.015426586279481298,0.0006009349536426184,0.2897770428648264,0.6511354809921632,1.3298477618235396,0.04925267464495527,-0.019488794472830827,0.0012856827134768254,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.8543661079827984,0.6334965472125964,-0.3865947834102269,0.035952408310600745,0.44434836302359204,0.3350070421942133,-0.13074956995010537,1.3956170177650187,0.25584521346012157,0.25584521346012157,0.380000000000031,0,0,-0.0002107788019303517,9.999999025923074e-05
+3884,1792701903453362639,9730462000000,1792701903447143979,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761053083327618,-0.004660917081710026,0.09044985895271858,0.9999999942236427,-9.81119712508858e-06,2.9525794672433664e-05,4.5028288962325134e-05,0.6761,-0.00453,0.09034697406519263,1.0,0.0,0.0,0.0,-0.21386196959583115,0.36050741329896385,1.568667269119112,0.02806049926173701,0.016422518833469978,0.00046423890959219785,0.28043495208890806,0.6380770339664521,1.5028980131776328,0.0481709698196711,-0.018492861918842148,0.0011489866694264048,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9212696715708163,0.5697382263932055,-0.5857698769338288,0.054885182660457776,0.588446496016931,0.2945725300243778,-0.13074956995010537,1.568667269119112,0.4550203069837234,0.4550203069837234,0.4173600000000424,0,0,-0.00018742880647929094,9.999999025923074e-05
+3960,1792701904086379010,9731095000000,1792701904079143882,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.676111547479567,-0.004672240632741061,0.09035703629236694,0.9999999930623366,-1.2350521277406735e-05,3.905059237378008e-05,6.033827341796144e-05,0.6761,-0.00453,0.09023833302873664,1.0,0.0,0.0,0.0,-0.22277935837700946,0.3374015233049018,1.6572748884239878,0.027021182282575024,0.016424332315351623,0.00038088062853271253,0.27151756330772975,0.61497114397239,1.5915056324825088,0.04713165284050912,-0.018491048436960502,0.0010656283883669195,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9897262820492112,0.628281529332292,-0.7860455440899341,0.030971553202642447,0.7281717725192108,0.3338716026583131,-0.13074956995010537,1.6572748884239878,0.6552959741398288,0.6552959741398288,0.4680000000000579,0,0,-0.00015577881264519788,9.999999025923074e-05
+4044,1792701904786378253,9731795000000,1792701904779143896,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761209395288593,-0.004669237065726146,0.0902789274668654,0.9999999919886591,-4.732742885123321e-06,5.048964889702512e-05,6.995671986390166e-05,0.6761,-0.00453,0.0901415203574951,1.0,0.0,0.0,0.0,-0.22781406613426092,0.32423361032270404,1.7318194849496111,0.025984286843003128,0.016477502869011222,0.00030795870700243587,0.2664828555504783,0.6018032309901923,1.666050229008132,0.04609475740093722,-0.018437877883300903,0.0009927064668366428,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9629122655073551,0.5007043580559295,-0.871959356659819,0.06729112819059462,0.7752575082613913,0.25108733780886633,-0.13074956995010537,1.7318194849496111,0.7412097867097137,0.7412097867097137,0.5240000000000584,0,0,-0.00012077881946373636,9.999999025923074e-05
+4119,1792701905411341896,9732420000000,1792701905407144119,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761235200094304,-0.004676361430755996,0.09021591347363636,0.9999999909572194,-3.4818161251359134e-06,5.299690670897017e-05,8.190012463270226e-05,0.6761,-0.00453,0.09007578359342473,1.0,0.0,0.0,0.0,-0.22073339024755562,0.291949368629436,1.7002765530908348,0.022936889889789834,0.016498607070636266,-0.0007277848546027219,0.2735635314371836,0.5695189892969242,1.6345072971493557,0.04304736044772393,-0.01841677368167586,-4.303709476851499e-05,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9475482037393842,0.6151663215673852,-0.779800967672421,0.02757718763666351,0.7108883674541367,0.32171453293636326,-0.13074956995010537,1.7002765530908348,0.6490513977223157,0.6490513977223157,0.574000000000039,0,0,-8.952882555171714e-05,9.999999025923074e-05
+4199,1792701906078383430,9733087000000,1792701906071144094,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761234670695091,-0.004679446090533178,0.09016408098418936,0.9999999903588503,-6.157933824705138e-06,5.156572698344434e-05,8.960033211146768e-05,0.6761,-0.00453,0.09002704622218372,1.0,0.0,0.0,0.0,-0.20655870858843411,0.2712599820593474,1.64963549185973,0.020904664651091365,0.016547947040435305,-0.0007085463536263101,0.2877382130963051,0.5488296027268357,1.583866235918251,0.04101513520902546,-0.01836743371187682,-2.3798593792103217e-05,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9155283353527195,0.503655085056558,-0.7506822952601918,0.06585092783091652,0.6800927569068135,0.24900926465900217,-0.13074956995010537,1.64963549185973,0.6199327253100865,0.6199327253100865,0.6273600000000183,0,0,-5.701111712300288e-05,9.999999025923074e-05
+4299,1792701906911343732,9733920000000,1792701906911143707,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761242404573667,-0.004679522993163346,0.09011966614023856,0.9999999899317539,-3.80903303389453e-06,5.008965833719145e-05,9.516235633760288e-05,0.6761,-0.00453,0.08998175379160532,1.0,0.0,0.0,0.0,-0.18130780025342402,0.2468472081060783,1.6090025626429951,0.019968135615029303,0.01367252589965055,-0.0007288639379615186,0.3129891214313152,0.5244168287735665,1.543233306701516,0.040078606172963396,-0.021242854852661575,-4.411617812731172e-05,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.8814865939368653,0.5481048488120607,-0.7276666393878963,0.05219952578465592,0.6607234353337625,0.2807711952253121,-0.13074956995010537,1.6090025626429951,0.596917069437791,0.596917069437791,0.6939999999999925,0,0,-6.062744939003129e-05,-9.999989311471608e-05
+4408,1792701907820394430,9734829000000,1792701907819144625,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761262585607188,-0.004682140715513641,0.0900596842854251,0.9999999888558463,-1.8700003051826028e-07,5.074429569674664e-05,0.00010562269323296814,0.6761,-0.00453,0.08991493443424299,1.0,0.0,0.0,0.0,-0.1915175987270309,0.2214269806590734,1.6181445889282666,0.017899971585917232,0.01458773441604198,-0.0007467778379540193,0.3027793229577083,0.49899660132656165,1.5523753329867875,0.038010442143851325,-0.020327646336270145,-6.203007811981245e-05,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.8864178802835688,0.5260514265704278,-0.7768445394371142,0.06063932337092428,0.6882728632912938,0.2641809746024295,-0.13074956995010537,1.6181445889282666,0.6460949694870088,0.6460949694870088,0.7667199999999643,0,0,-8.941552683461476e-05,-7.156058157322854e-05
+4495,1792701908545365212,9735554000000,1792701908543144174,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761275437225767,-0.004686636155878904,0.0899983683462489,0.9999999879208143,-2.6883915644200244e-06,5.315910444620166e-05,0.00011299609571875105,0.6761,-0.00453,0.08984452623008564,1.0,0.0,0.0,0.0,-0.19866543514260127,0.21814520642397495,1.6564808895332042,0.016845182793473648,0.015611757312521912,-0.0007749998187583595,0.29563148654213794,0.4957148270914632,1.590711633591725,0.03695565335140774,-0.019303623439790214,-9.025205892415252e-05,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9070164162124388,0.5035397582618687,-0.7423992563947969,0.0745254039486555,0.6656022319988678,0.2558439450044231,-0.13074956995010537,1.6564808895332042,0.6116496864446915,0.6116496864446915,0.8247199999999418,0,0,-0.00010282699527549977,-9.990234614421496e-05
+4582,1792701909270339222,9736279000000,1792701909263143828,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761339407771879,-0.0046771227835831035,0.08992805760161977,0.9999999886318354,-8.122793660779292e-05,7.268832655554051e-05,4.7933528058947545e-05,0.6761,-0.00453,0.08976915678704768,1.0,0.0,0.0,0.0,-0.1443928606095714,0.25972873327422596,1.699356729690269,0.02001369394314797,0.011489123476993546,-0.0008308945232905426,0.3499040610751678,0.5372983539417142,1.6335874737487899,0.04012416450108206,-0.02342625727531858,-0.00014614676345633571,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.88520474013782,0.6986222058820044,-0.8189204650922323,-0.026408941743761943,0.7126841862660057,0.3897799373049577,-0.13074956995010537,1.699356729690269,0.6881708951421269,0.6881708951421269,0.8827199999999193,0,0,-0.00010699235826058662,-9.999999025923074e-05
+4666,1792701909970259475,9736979000000,1792701909963143841,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761318744648467,-0.004683065790209044,0.08985084948464479,0.9999999894194419,-5.831683456728343e-05,6.68787251787105e-05,6.877763727584114e-05,0.6761,-0.00453,0.08969128320316627,1.0,0.0,0.0,0.0,-0.1558909894868225,0.22156398365580926,1.6942482334278306,0.016920798416789062,0.01256276442807697,-0.0008453624831138847,0.3384059321979167,0.4991336043232975,1.6284789774863515,0.037031268974723155,-0.022352616324235155,-0.00016061472327967783,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9110514442962362,0.5674857048366438,-0.879199743352853,0.0672176626534369,0.7461971917595901,0.2937573370400994,-0.13074956995010537,1.6942482334278306,0.7484501734027477,0.7484501734027477,0.9387199999998976,0,0,-0.00011436980465048675,-9.999999025923074e-05
+4754,1792701910703280364,9737712000000,1792701910699144221,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.676130151308128,-0.004688330642748371,0.08976274789446405,0.9999999896664171,-2.8981892243017072e-05,6.161829365210485e-05,8.64480542982472e-05,0.6761,-0.00453,0.08960455914981803,1.0,0.0,0.0,0.0,-0.1598713979720765,0.19003684995033643,1.717268170434513,0.014890442467191511,0.011955216093124534,-0.0008990917197128763,0.3344255237126627,0.4676064706178247,1.6514989144930339,0.035000913025125605,-0.02296016465918759,-0.00021434395987866934,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9088102618438626,0.536760554934833,-0.9930449235505446,0.0858137619752908,0.812998731557804,0.28174470789945294,-0.13074956995010537,1.717268170434513,0.8622953536004393,0.8622953536004393,0.9973599999998749,0,0,-0.00012269930863420685,9.987953106105891e-05
+4842,1792701911436411692,9738445000000,1792701911435143773,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761348930955362,-0.004691317043707983,0.08968079528189518,0.9999999885118874,-3.622240559421502e-07,7.010043878714956e-05,9.749300807665569e-05,0.6761,-0.00453,0.08951075047949135,1.0,0.0,0.0,0.0,-0.15942550567733316,0.1774519957496818,1.7571856589285173,0.013843961250421664,0.012608724751418617,-0.0009328776687895692,0.33487141600740605,0.45502161641717004,1.6914164029870382,0.03395443180835576,-0.02230665600089351,-0.00024812990895536235,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9948943338788581,0.47951393777904905,-1.1288650005780219,0.115506020257121,0.9181838127426166,0.2448456337452902,-0.13074956995010537,1.7571856589285173,0.9981154306279165,0.9981154306279165,1.0559999999999299,0,0,-0.0001302179592113387,9.99848218371568e-05
+4922,1792701912103271878,9739112000000,1792701912103143797,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761321370459561,-0.004687753134237088,0.08958589949633018,0.9999999893778658,-9.17687045257113e-06,6.613761458042508e-05,9.071236645318634e-05,0.6761,-0.00453,0.08942210706088075,1.0,0.0,0.0,0.0,-0.1500320018279075,0.16280886069031597,1.7665879369040771,0.012847789931829764,0.01161533907311428,-0.0009666351357165806,0.3442649198568317,0.4403784813578042,1.700818680962598,0.03295826048976386,-0.023300041679197844,-0.0002818873758823737,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9680507354038232,0.3884735650837785,-1.0420525771299711,0.16881656563133407,0.8470644648490668,0.1864268228327861,-0.13074956995010537,1.7665879369040771,0.9113030071798658,0.9113030071798658,1.1093599999999832,0,0,-0.00013866306283335928,-9.999999025923074e-05
+5002,1792701912770303728,9739779000000,1792701912763143681,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761327555855897,-0.004692864027855731,0.08949640456717467,0.9999999895493703,-3.07722048165499e-05,6.595304267280138e-05,8.394874235573572e-05,0.6761,-0.00453,0.08932761834413766,1.0,0.0,0.0,0.0,-0.13118747392784363,0.16324899206032606,1.7572471055329306,0.012877200569209067,0.010601457940025146,-0.0009722449913583651,0.3631094477568956,0.4408186127278143,1.6914778495914515,0.03298767112714316,-0.02431392281228698,-0.00028749723152415825,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9831912881967019,0.4850014233485642,-1.007797976583318,0.15429405085362208,0.8254217412345409,0.24826012265412944,-0.13074956995010537,1.7572471055329306,0.8770484066332127,0.8770484066332127,1.1627200000000366,0,0,-0.00014665911007435829,-9.993112867612836e-05
+5070,1792701913336249997,9740345000000,1792701913335143902,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761333281893425,-0.004694819607714913,0.08940722841671814,0.9999999893243733,-4.271438573166069e-05,6.384098144944401e-05,8.302968046828253e-05,0.6761,-0.00453,0.08924090518364337,1.0,0.0,0.0,0.0,-0.13905486511457565,0.15026283494660825,1.7770521567754958,0.011727821730476526,0.010618938745451442,-0.0009959733554883168,0.35524205657016356,0.4278324556140965,1.7112829008340167,0.03183829228841062,-0.024296442006860684,-0.0003112255956541099,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9215490258812603,0.5508353519530736,-1.0818920341643856,0.1412283573396385,0.8511200553593099,0.29309475962531606,-0.13074956995010537,1.7770521567754958,0.9511424642142803,0.9511424642142803,1.208000000000082,0,0,-0.0001590991129216387,-9.999999025923074e-05
+5141,1792701913928404745,9740937000000,1792701913927143969,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761354101819843,-0.004695937223085039,0.08931357528702523,0.999999988828916,-3.8792100268777226e-05,6.853648323923805e-05,8.708016819678617e-05,0.6761,-0.00453,0.08914343543727041,1.0,0.0,0.0,0.0,-0.12972803885900175,0.1497121425139114,1.772723050725296,0.011240069470247555,0.010595711687229465,-0.0009990979785726628,0.36456888282573746,0.42728176318139965,1.706953794783817,0.03135054002818165,-0.02431966906508266,-0.0003143502187384558,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9611926429652711,0.47214825923343356,-1.165253645895661,0.17077584466193374,0.9115749427516577,0.24293207100242875,-0.13074956995010537,1.772723050725296,1.0345040759455557,1.0345040759455557,1.2553600000001293,0,0,-0.00017113526378788557,-5.605530763407371e-05
+5205,1792701914461322070,9741470000000,1792701914455153603,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761343079429741,-0.004695725651378162,0.08921948320930745,0.9999999887575393,-2.6693876472775244e-05,6.480003699623938e-05,9.495355670031578e-05,0.6761,-0.00453,0.0890498312380642,1.0,0.0,0.0,0.0,-0.12127682516422184,0.13381494264630744,1.8059286475714291,0.009811084329953167,0.010428673538491601,-0.001048562400084041,0.3730200965205174,0.4113845633137957,1.74015939162995,0.02992155488788726,-0.024486707213820524,-0.00036381464024983417,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9507798750723165,0.5443028776490711,-1.1008994363988147,0.16509853756904957,0.8638587471366566,0.29351164395686086,-0.13074956995010537,1.8059286475714291,0.9701498664487094,0.9701498664487094,1.298000000000172,0,0,-0.0001805880640540477,-9.976268008771711e-05
+5269,1792701914995277604,9742004000000,1792701914995143933,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761316531072337,-0.0046967264954094244,0.08911482735092684,0.9999999887801297,-1.8147644557902502e-05,5.8450447387304555e-05,0.00010068174124176895,0.6761,-0.00453,0.08895143226734561,1.0,0.0,0.0,0.0,-0.11397529546371732,0.1265330859363285,1.8124452174296173,0.009829971647097303,0.009634727504477116,-0.0010662312364248553,0.3803216262210219,0.40410270660381675,1.7466759614881382,0.029940442205031396,-0.02528065324783501,-0.00038148347659064846,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9912558214938892,0.41735360141346534,-1.2336752014153434,0.20929577815213254,0.9565583942205147,0.20855696085825193,-0.13074956995010537,1.8124452174296173,1.102925631465238,1.102925631465238,1.3407200000002146,0,0,-0.0001878775103489215,-2.3818025041008e-05
+5329,1792701915495308401,9742504000000,1792701915495143802,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761336245427922,-0.00470024584366258,0.08902030349196773,0.9999999884893601,-2.0160045405355857e-05,6.0933993651223e-05,0.00010170921867902804,0.6761,-0.00453,0.08885450267424391,1.0,0.0,0.0,0.0,-0.11929453464086709,0.1225221571111505,1.8255116563228733,0.008783722684252343,0.010528334672170226,-0.0010750939551340867,0.3750023870438721,0.40009177777863875,1.7597424003813942,0.028894193242186436,-0.0243870460801419,-0.00039034619529987975,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,0.9987408802059619,0.44384708590634575,-1.2053513731326082,0.22541331350689944,0.9313495720120821,0.234250306230686,-0.13074956995010537,1.8255116563228733,1.0746018031825029,1.0746018031825029,1.3807200000002546,0,0,-0.00019836655344304533,-9.997557923047679e-05
+5389,1792701915995203544,9743004000000,1792701915991144206,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761327736333884,-0.004707157894199686,0.08892073979333225,0.9999999881957062,-2.941243409024093e-05,6.099054658348654e-05,0.00010230598021448535,0.6761,-0.00453,0.08875088701457201,1.0,0.0,0.0,0.0,-0.11590925698626103,0.1274956645796499,1.8151883635818702,0.008813207670169916,0.009652367309742504,-0.0010793966519496898,0.3783876646984782,0.40506528524713814,1.749419107640391,0.02892367822810401,-0.02526301344256962,-0.000394648892115483,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.0403125513034959,0.43755403932779796,-1.2120570387473042,0.2504903956576249,0.9407329724988199,0.23244273501537244,-0.13074956995010537,1.8151883635818702,1.0813074687971989,1.0813074687971989,1.4207200000002946,0,0,-0.0002164036880345207,-9.999999025923074e-05
+5441,1792701916428309090,9743437000000,1792701916423144036,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761331297528217,-0.004706841353387905,0.08882432087427515,0.9999999878175068,-2.6424181873710905e-05,5.953641494220265e-05,0.00010754082346313023,0.6761,-0.00453,0.08865503516896754,1.0,0.0,0.0,0.0,-0.128814885580065,0.11660553332544543,1.8442969061950756,0.008775804037978716,0.010660916108930614,-0.001088564577389352,0.3654820361046742,0.3941751539929337,1.7785276502535965,0.02888627459591281,-0.02425446464338151,-0.00040381681755514504,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.0398741628837735,0.4627533701913824,-1.255908485613627,0.24729135471312536,0.9643083393331284,0.24575635928205486,-0.13074956995010537,1.8442969061950756,1.1251589156635216,1.1251589156635216,1.4553600000003293,0,0,-0.0002279257537665932,-9.999999025923074e-05
+5493,1792701916861232093,9743870000000,1792701916855144037,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761310117458256,-0.00470819952096131,0.08872165101787058,0.9999999876074332,-2.1297188389847904e-05,5.5246484985971975e-05,0.00011279296739198314,0.6761,-0.00453,0.08855563058928971,1.0,0.0,0.0,0.0,-0.12018576876374304,0.11215359027755722,1.8550217904305615,0.007764519736686248,0.010677127627383307,-0.001107721577357662,0.37411115292099617,0.3897232109450455,1.7892525344890824,0.02787499029462034,-0.02423825312492882,-0.00042297381752345517,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.0549467008170357,0.4482152570160159,-1.2462571859185372,0.26609872931428213,0.9609561725623466,0.2436934030101714,-0.13074956995010537,1.8550217904305615,1.1155076159684318,1.1155076159684318,1.490000000000364,0,0,-0.00023308274361563542,-9.999875513611584e-05
+5545,1792701917295255994,9744304000000,1792701917295144174,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761317718701118,-0.004712174854600383,0.08861948587779471,0.9999999877798745,-2.179712521354516e-05,5.500234838158495e-05,0.0001112777703389822,0.6761,-0.00453,0.0884529767676061,1.0,0.0,0.0,0.0,-0.1283161175632529,0.09359555251126445,1.8816618924697484,0.007550931343821184,0.010676476665703743,-0.0011335987571637048,0.3659808041214863,0.3711651731787527,1.8158926365282693,0.027661401901755277,-0.024238904086608382,-0.00044885099732949784,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.0767543511408606,0.46828588657679615,-1.3019671254847494,0.2808477741964241,0.997029328761547,0.25904168500749325,-0.13074956995010537,1.8816618924697484,1.171217555534644,1.171217555534644,1.5247200000003986,0,0,-0.0002412548600158867,-9.691015631497208e-05
+5596,1792701917720290865,9744729000000,1792701917719144584,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761299679960019,-0.004711631438050065,0.08851710202798513,0.999999987861746,-2.5229689782430473e-05,5.4539668468956215e-05,0.00011003753642199792,0.6761,-0.00453,0.08834960975061859,1.0,0.0,0.0,0.0,-0.126600579769016,0.1080865718388736,1.8630873419083722,0.007751039836126305,0.010676367053397456,-0.001114983953187352,0.3676963419157232,0.38565619250636185,1.7973180859668931,0.027861510394060398,-0.02423901369891467,-0.00043023619335314493,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.0633634719096288,0.41966664085616323,-1.299539609540628,0.3075176079809725,0.9874045368578156,0.22864815481866804,-0.13074956995010537,1.8630873419083722,1.1687900395905226,1.1687900395905226,1.5587200000004326,0,0,-0.0002474197186672341,-9.999990699250389e-05
+5648,1792701918153284023,9745162000000,1792701918147144020,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761324501959082,-0.004709898049307013,0.08841334325784146,0.9999999873765891,-1.5428459858120603e-05,5.6923272692073556e-05,0.00011494080947597615,0.6761,-0.00453,0.0882399588669902,1.0,0.0,0.0,0.0,-0.14663767382860393,0.10190032766471574,1.8949255165508514,0.006694295168907235,0.011837319956838819,-0.0011368468109666293,0.3476592478561353,0.379469948332204,1.8291562606093723,0.026804765726841328,-0.023078060795473306,-0.00045209905113242227,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.1246046785965842,0.3645591136882905,-1.406242837645862,0.32882979805263807,1.065856803242347,0.19347773715886335,-0.13074956995010537,1.8949255165508514,1.2754932676957567,1.2754932676957567,1.5933600000004673,0,0,-0.000256151616631431,1.87700079561868e-05
+5696,1792701918553267380,9745562000000,1792701918547144209,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761300207209364,-0.004719969243225277,0.08830484427807664,0.9999999865220043,-2.2014705492713676e-05,5.3257785533427465e-05,0.0001227917617422194,0.6761,-0.00453,0.08813524958293999,1.0,0.0,0.0,0.0,-0.14649961176007342,0.08738119754477025,1.8945515020858608,0.005733408946955058,0.012651554754712264,-0.0011347460676847038,0.3477973099246658,0.3649508182122585,1.8287822461443817,0.02584387950488915,-0.02226382599759986,-0.00044999830785049684,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.1572894039863737,0.3620561099708507,-1.3780204379465057,0.340713414790331,1.0586287061190531,0.19053332166221312,-0.13074956995010537,1.8945515020858608,1.2472708679964004,1.2472708679964004,1.6253600000004993,0,0,-0.00026667237657959495,-9.999999025923074e-05
+5736,1792701918886222770,9745895000000,1792701918879144535,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761306911431759,-0.004721121026450815,0.08821248418224703,0.999999986548247,-2.7492064308133397e-05,5.364228010366449e-05,0.0001212974142755301,0.6761,-0.00453,0.0880446912761667,1.0,0.0,0.0,0.0,-0.1460256520239832,0.07770799593819128,1.924452957679848,0.004955678146851002,0.012733999075286797,-0.0011658912844376053,0.348271269660756,0.3552776166056795,1.8586837017383688,0.025066148704785095,-0.022181381677025328,-0.0004811435246033983,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.1487541133842176,0.31409007109281795,-1.4087931938502705,0.36957753516094854,1.0738144122369104,0.161047927477444,-0.13074956995010537,1.924452957679848,1.2780436239001651,1.2780436239001651,1.652000000000526,0,0,-0.0002775326099033456,-9.999999025923074e-05
+5780,1792701919253206815,9746262000000,1792701919251144434,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761229772504218,-0.004724641471565185,0.08810021581208252,0.9999999864334438,-2.8170714905156066e-05,4.23864017160562e-05,0.0001264348868600255,0.6761,-0.00453,0.08794213641618577,1.0,0.0,0.0,0.0,-0.14099381198207445,0.06788351454597091,1.8956623859921131,0.0050259996575197745,0.011737876706632594,-0.0011645196571854733,0.35330310970266476,0.34545313521345916,1.829893130050634,0.025136470215453868,-0.02317750404567953,-0.00047977189735126647,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.1723425193594343,0.2523273839839727,-1.4382972769030178,0.4018005932684192,1.097768521713937,0.1260169550264919,-0.13074956995010537,1.8956623859921131,1.3075477069529124,1.3075477069529124,1.6813600000005553,0,0,-0.0002840592734185395,-9.999999025923074e-05
+5824,1792701919620249471,9746629000000,1792701919615144410,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761231891136108,-0.004723377742425639,0.08799751239018935,0.9999999860987201,-1.8070308886534963e-05,4.387670894299713e-05,0.00013035997277978086,0.6761,-0.00453,0.08783553783587268,1.0,0.0,0.0,0.0,-0.14905730457838057,0.0649089807818572,1.933773502199756,0.004246040622462709,0.012758857011253573,-0.001175175050730115,0.34523961710635864,0.34247860144934544,1.8680042462582769,0.024356511180396802,-0.022156523741058552,-0.0004904272908959081,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.212008719865747,0.25896582137520785,-1.5325378994087349,0.4080269402820253,1.1674452357314937,0.13524158100987038,-0.13074956995010537,1.933773502199756,1.4017883294586295,1.4017883294586295,1.7107200000005847,0,0,-0.00029501836830839325,9.999980984798924e-05
+5864,1792701919953239918,9746962000000,1792701919951143744,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761210984422502,-0.004731586779226522,0.08789518020137473,0.9999999854400917,-1.5165807786866004e-05,3.856203073493526e-05,0.00013727945582454065,0.6761,-0.00453,0.08773576011307808,1.0,0.0,0.0,0.0,-0.15308798882863045,0.06499139859431641,1.8944990790857192,0.0046150059676201075,0.012756155076811857,-0.001146803439306853,0.34120893285610876,0.34256101926180466,1.8287298231442402,0.0247254765255542,-0.022159225675500268,-0.00046205567947264607,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.2334370602853262,0.3310440948807566,-1.3826483171801665,0.4088881808990919,1.0770453155571547,0.18938254285156125,-0.13074956995010537,1.8944990790857192,1.2518987472300611,1.2518987472300611,1.7373600000006113,0,0,-0.0003058945077058769,-9.999999025923074e-05
+5904,1792701920286247207,9747295000000,1792701920283143913,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761216488003472,-0.004730579447220416,0.08778816335721343,0.9999999860210008,-2.366188114872392e-05,3.7902930368710706e-05,0.00013192553189440322,0.6761,-0.00453,0.08763168629578033,1.0,0.0,0.0,0.0,-0.1641261167065502,0.0640664104683793,1.931542015813485,0.0037016031961893334,0.013777474426911757,-0.0011737314495392972,0.330170804978189,0.34163603113586755,1.865772759872006,0.023812073754123426,-0.021137906325400368,-0.0004889836897050901,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.2687335191421898,0.27331878052525044,-1.446801680861434,0.4397026082395129,1.1227433284168986,0.15127274703993052,-0.13074956995010537,1.931542015813485,1.3160521109113286,1.3160521109113286,1.764000000000638,0,0,-0.00031922890298827076,-9.995324986989402e-05
+5948,1792701920653263826,9747662000000,1792701920647144522,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761228012824532,-0.004733251392632303,0.08767396323329799,0.9999999859297306,-3.5766013685851744e-05,3.833281350389723e-05,0.00012974895258303606,0.6761,-0.00453,0.08751203837726135,1.0,0.0,0.0,0.0,-0.15812102098938202,0.08509204676532095,1.9244118430948944,0.005532657385050564,0.013742829283539756,-0.001144445426580162,0.3361759006953572,0.3626616674328092,1.8586425871534153,0.025643127942984657,-0.02117255146877237,-0.00045969766674595517,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.2786054796163366,0.29892480885224015,-1.4138445923448335,0.4466525218276413,1.1026194216939234,0.16966988454096493,-0.13074956995010537,1.9244118430948944,1.2830950223947282,1.2830950223947282,1.7933600000006673,0,0,-0.0003334900139193283,-9.966470290579394e-05
+5984,1792701920953259580,9747962000000,1792701920947144353,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761258745300476,-0.004729441432772068,0.08757909636480768,0.9999999852877339,-3.5646437139434314e-05,4.205136003868298e-05,0.00013352307301296354,0.6761,-0.00453,0.08741018639530031,1.0,0.0,0.0,0.0,-0.1672198960401013,0.07661090477025867,1.9353870997124454,0.004565876592078279,0.01477281335841386,-0.0011484624777718456,0.3270770256446379,0.3541805254377469,1.8696178437709663,0.024676347150012372,-0.020142567393898265,-0.0004637147179376386,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.3336949484838363,0.27248099971081646,-1.4203073506744386,0.45921361466481087,1.1197378903507809,0.14940799784367306,-0.13074956995010537,1.9353870997124454,1.2895577807243332,1.2895577807243332,1.8173600000006913,0,0,-0.0003464778387627084,-9.999999025923074e-05
+6024,1792701921286236876,9748295000000,1792701921283144061,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761289004002082,-0.00473693923614041,0.08746748337367102,0.9999999841932333,-4.8227313642731826e-05,4.8603874529442124e-05,0.0001355292853908502,0.6761,-0.00453,0.08729315938166878,1.0,0.0,0.0,0.0,-0.19338728904004648,0.08951130212284347,1.9334383520627718,0.005602509060117538,0.015766452815693225,-0.0011242504804224395,0.3009096326446927,0.3670809227903317,1.8676690961212927,0.02571297961805163,-0.0191489279366189,-0.0004395027205882325,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.3692157299949186,0.1908828383361323,-1.5517890399243335,0.49283451985196003,1.2115021820372147,0.09556839727823996,-0.13074956995010537,1.9334383520627718,1.4210394699742281,1.4210394699742281,1.844000000000718,0,0,-0.00035834724164821177,7.500000206850927e-05
+6059,1792701921578159910,9748587000000,1792701921571144123,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761268647545838,-0.00474110833321481,0.0873598819093429,0.9999999829925105,-4.931747130320473e-05,4.864651101550061e-05,0.00014373290238095486,0.6761,-0.00453,0.0871868657631422,1.0,0.0,0.0,0.0,-0.18778335189822404,0.06981442075410443,1.9603387785357744,0.004529741062821068,0.015830326714996124,-0.0011562014899926948,0.30651356978651517,0.3473840414215927,1.8945695225942953,0.02464021162075516,-0.019085054037316,-0.0004714537301584879,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.3332194857014232,0.15482716279907013,-1.3699164287925596,0.5116410644133098,1.0871605107568614,0.07728532999845462,-0.13074956995010537,1.9603387785357744,1.2391668588424543,1.2391668588424543,1.8673600000007413,0,0,-0.0003693562363974153,-9.99072172477355e-05
+6095,1792701921878231568,9748887000000,1792701921875144785,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761256883691799,-0.004746596058819574,0.08725162449617561,0.9999999819894013,-4.582058809707271e-05,4.520190890694114e-05,0.00015271320440636373,0.6761,-0.00453,0.08707419574738011,1.0,0.0,0.0,0.0,-0.19237210743950423,0.05528833508961628,1.9722747241169445,0.003507949950612911,0.015798964537827115,-0.0011787324577974838,0.301924814245235,0.33285795575710453,1.9065054681754654,0.023618420508547004,-0.01911641621448501,-0.0004939846979632768,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.324080756655734,0.2536774966869803,-1.489237846945862,0.4935971407518837,1.1649379756086284,0.1463912439950441,-0.13074956995010537,1.9722747241169445,1.3584882769957567,1.3584882769957567,1.8913600000007653,0,0,-0.00038226131164195563,-9.999999025923074e-05
+6131,1792701922178160850,9749187000000,1792701922171144221,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761225002528987,-0.004748352841362811,0.0871333857124542,0.9999999819458917,2.7339242409157777e-05,4.0676938711733136e-05,0.00015858446716423237,0.6761,-0.00453,0.08695757456450447,1.0,0.0,0.0,0.0,-0.1923626029517947,0.05498524407390937,1.9692015432358483,0.0034982542015433195,0.015799631026840268,-0.0011762881848624517,0.3019343187329445,0.3325548647413976,1.9034322872943692,0.023608724759477413,-0.019115749725471858,-0.0004915404250282447,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.4337462085985528,0.2754663178196617,-1.4112275769222933,0.5010133557042817,1.1410568492979134,0.16417046716730668,-0.13074956995010537,1.9692015432358483,1.280478006972188,1.280478006972188,1.9153600000007893,0,0,-0.0003950680999801045,-9.999999025923074e-05
+6163,1792701922445212607,9749454000000,1792701922443144045,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761237115031039,-0.004743588897630603,0.08702748666392059,0.9999999864144907,-3.266022788752341e-05,4.725544852498763e-05,0.00012375021154034907,0.6761,-0.00453,0.0868508396428842,1.0,0.0,0.0,0.0,-0.1730853890358484,0.08344506900982118,1.994271041215531,0.004925343667836188,0.014755667358777248,-0.0011974775755227544,0.3212115326488908,0.36101468967730943,1.9285017852740518,0.02503581422577028,-0.020159713393534878,-0.0005127298156885475,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.4146150088423108,0.2358592635276298,-1.492257049089867,0.5152177248824915,1.1895527437593767,0.14100628557444064,-0.13074956995010537,1.994271041215531,1.3615074791397617,1.3615074791397617,1.9367200000008107,0,0,-0.0004050485993653804,-9.999935188099158e-05
+6195,1792701922711247406,9749720000000,1792701922711143952,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761195872787803,-0.004746781484504427,0.08691929508830636,0.999999984606622,-3.149363319060525e-05,3.735598577614678e-05,0.00014086270473815329,0.6761,-0.00453,0.08674193166382299,1.0,0.0,0.0,0.0,-0.1612902078484571,0.06908961176721934,2.003750231417159,0.004165036320772041,0.013752834086123402,-0.0012145533702474375,0.3330067138362821,0.3466592324347076,1.9379809754756798,0.024275506878706134,-0.021162546666188723,-0.0005298056104132306,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.4466737526467324,0.30999128287316213,-1.5362132865070521,0.4925947727107875,1.2274765923364688,0.1894147754248542,-0.13074956995010537,2.003750231417159,1.4054637165569468,1.4054637165569468,1.958000000000832,0,0,-0.00041374696401893916,-9.808858866667264e-05
+6227,1792701922978226687,9749987000000,1792701922975144082,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761248764489393,-0.004744145550994763,0.08681031287273673,0.9999999815546822,-2.333020027568352e-05,4.656579983249384e-05,0.00016006507345681076,0.6761,-0.00453,0.08663007342765681,1.0,0.0,0.0,0.0,-0.1849095836689727,0.09767338991342994,1.9867621310818475,0.005550401798300592,0.01575494065166026,-0.0011654282176454215,0.3093873380157665,0.3752430105809182,1.9209928751403684,0.025660872356234685,-0.019160440100651866,-0.0004806804578112146,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.5241629512356794,0.1703005854565978,-1.4995079226997008,0.5353589215739075,1.2262204911150936,0.09845970318943399,-0.13074956995010537,1.9867621310818475,1.3687583527495955,1.3687583527495955,1.9793600000008533,0,0,-0.0004252950657576956,-9.999999025923074e-05
+6255,1792701923211241915,9750220000000,1792701923207144354,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761185393629632,-0.004724487866905983,0.08670586693939207,0.9999999789881117,3.789428730075562e-07,3.547661908443168e-05,0.00017946561401194168,0.6761,-0.00453,0.08652962827760081,1.0,0.0,0.0,0.0,-0.08305621650721268,0.16268614227122552,1.9932165554820254,0.00982812091935499,0.008583092949135108,-0.0012203484273228646,0.41124070517752653,0.44025576293871377,1.9274472995405463,0.029938591477289084,-0.026332287803177017,-0.0005356006674886578,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.4918527279042053,0.3369410604171533,-1.5408095594159017,0.5002211938534589,1.2445579810147223,0.20741508750900528,-0.13074956995010537,1.9932165554820254,1.4100599894657964,1.4100599894657964,1.998000000000872,0,0,-0.00043694506348809634,-9.999999025923074e-05
+6287,1792701923478212000,9750487000000,1792701923471144306,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761190886564807,-0.00472530391012583,0.08659431984501384,0.9999999760575947,1.9276892012908182e-05,3.610581504229939e-05,0.0001940423823985335,0.6761,-0.00453,0.08641123725248981,1.0,0.0,0.0,0.0,-0.10982358619511012,0.14109759091735063,2.0004187384062493,0.008976656833977522,0.010540283136178254,-0.0012163079120690273,0.3844733354896291,0.4186672115848389,1.9346494824647702,0.029087127391911615,-0.02437509761613387,-0.0005315601522348205,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.5274709990656534,0.3451157535744275,-1.5093062503622734,0.5158252300848775,1.236684577304748,0.2240337396396253,-0.13074956995010537,2.0004187384062493,1.378556680412168,1.378556680412168,2.0193600000008933,0,0,-0.0004497513299381569,-9.776093409653015e-05
+6313,1792701923695229774,9750704000000,1792701923695144073,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761247247927842,-0.004716361033283858,0.08649653859442838,0.9999999846068799,-6.029633557101905e-05,5.6341080786565915e-05,0.0001241738256691529,0.6761,-0.00453,0.08631267314057411,1.0,0.0,0.0,0.0,-0.06080858600075262,0.2098108889456537,2.020147101800132,0.01347003772643212,0.0076433997126128354,-0.0005546140262435338,0.4334883356839866,0.48738050961314194,1.9543778458586532,0.03358050828436621,-0.02727198103969929,0.00013013373359067323,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.5602250012719905,0.38442530669783087,-1.459074823224613,0.45610592401077643,1.226976855358706,0.26890197678434125,-0.13074956995010537,2.020147101800132,1.3283252532745076,1.3283252532745076,2.0367200000009107,0,0,-0.00045919909251043576,-9.999999025923074e-05
+6339,1792701923911176938,9750920000000,1792701923911144678,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761180494498329,-0.004723884728631835,0.08639666678063578,0.9999999833399045,-3.700011566221317e-05,4.3797187738837505e-05,0.0001465464191649452,0.6761,-0.00453,0.08621232513682014,1.0,0.0,0.0,0.0,-0.08073965150138152,0.1537314783686175,2.0265264337072346,0.00900965202406712,0.008957809732877218,-0.0012469755269153165,0.4135572701833577,0.43130109903610575,1.9607571777657558,0.029120122582001213,-0.025957571019434907,-0.0005622277670811095,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.5236869193501894,0.2760509378388278,-1.4719353433449336,0.5364802767345411,1.2154930606829486,0.1898158471928338,-0.13074956995010537,2.0265264337072346,1.3411857733948283,1.3411857733948283,2.054000000000928,0,0,-0.0004699990904064296,-9.999999025923074e-05
+6367,1792701924145168640,9751154000000,1792701924143144301,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761077872475039,-0.004728546899397872,0.08627560177165185,0.9999999816731304,4.442578331720697e-06,3.0427597473910172e-05,0.00016477569044240898,0.6761,-0.00453,0.08610115832706874,1.0,0.0,0.0,0.0,-0.07301523670544513,0.1307641055987171,2.0164147884184582,0.007755049895317466,0.008612695249991514,-0.0012640144682959974,0.4212816849792941,0.40833372626620534,1.9506455324769794,0.02786552045325156,-0.02630268550232061,-0.0005792667084617906,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.492367159622954,0.3014136693581934,-1.4190484454503804,0.5369283290105373,1.175532920843399,0.2155981953795433,-0.13074956995010537,2.0164147884184582,1.288298875500275,1.288298875500275,2.0727200000009467,0,0,-0.00048063571158748895,-9.999999025923074e-05
+6395,1792701924378208395,9751387000000,1792701924375143814,DOWN_FORCE_DETACH,4,0.044,0.04400257766246796,0.6761065942315362,-0.004740057345428964,0.08616713655664739,0.9999999778082131,1.4396099291777595e-05,3.340892254129014e-05,0.0001857499232120919,0.6761,-0.00453,0.0859878974302935,1.0,0.0,0.0,0.0,-0.10955873989357029,0.11622415327724,2.045600988541228,0.0066982660115536274,0.010654106643504906,-0.0012718692295613453,0.3847381817911689,0.39379377394472825,1.979831732599749,0.02680873656948772,-0.02426127410880722,-0.0005871214697271384,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.496925769872963,0.3756621386020028,-1.5332775436491144,0.5079906726938525,1.2503058331668857,0.25694179120334004,-0.13074956995010537,2.045600988541228,1.402527973699009,1.402527973699009,2.0913600000009653,0,0,-0.0004913409808557631,-9.806448294925047e-05
+6419,1792701924578136856,9751587000000,1792701924575143889,DOWN_FORCE_DETACH,4,0.044,0.04400191828608513,0.6761284869350673,-0.004734472926263826,0.08608811828605901,0.999999975068923,2.5963747813914405e-05,4.674805861748903e-05,0.0001960752931423878,0.6761,-0.00453,0.08588867988476495,1.0,0.0,0.0,0.0,-0.1547889696932062,0.17989870049247664,1.9621161516225722,0.011965881056873753,0.014101914472132656,-0.0010852584252036854,0.339507951991533,0.4574683211599649,1.8963468956810932,0.032076351614807846,-0.02081346628017947,-0.00040051066536947845,0.4942969216847392,0.27756962066748825,-0.06576925594147905,0.020110470557934093,-0.034915380752312125,0.0006847477598342069,1,1.7543402970899955,0.33345280109269004,-1.5647988412959952,0.5244109690297348,1.3308551782001834,0.227001760834084,-0.13074956995010537,1.9621161516225722,1.4340492713458899,1.4340492713458899,2.1073600000009813,0,0,-0.0005008893058059113,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82cefe2e7b95047abd24941a54dc8322c744f294
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..275a4911c4a820bf4e746de0f57117cc5900e61d
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792701898063037071,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.040683313e-09,-3.112124274e-11,1.336352806e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292310e-01,1.737432097e-06,8.295726473e-01
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+9,2.833333333e+00,DOWN_FORCE_DETACH,1792701903451363377,1.280101237e-04,-5.553127112e-05,-3.859959411e-04,1.277787238e-04,-5.559664845e-05,-3.860359597e-04,1.297397496e-04,-5.527596911e-05,-3.832444745e-04,7.016658816e-01,-5.398030980e-05,8.403549452e-01,7.016656502e-01,-5.404568713e-05,8.403549052e-01,7.018589617e-01,-5.353850589e-05,8.291894015e-01
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+15,5.050000000e+00,DOWN_FORCE_DETACH,1792701907816230160,1.470690720e-04,-7.321008561e-05,-7.781742091e-04,1.477324379e-04,-7.128473394e-05,-7.676985955e-04,1.500505586e-04,-7.095284082e-05,-7.662963851e-04,7.016849406e-01,-7.165912429e-05,8.399627670e-01,7.016856039e-01,-6.973377262e-05,8.399732426e-01,7.018792726e-01,-6.921537760e-05,8.288063496e-01
+16,5.433333333e+00,DOWN_FORCE_DETACH,1792701908542985065,1.494058955e-04,-7.603041980e-05,-8.374771608e-04,1.504834218e-04,-8.030696156e-05,-8.301877584e-04,1.527267596e-04,-7.989849230e-05,-8.285016940e-04,7.016872774e-01,-7.447945847e-05,8.399034640e-01,7.016883549e-01,-7.875600024e-05,8.399107534e-01,7.018819488e-01,-7.816102908e-05,8.287441443e-01
+17,5.816666667e+00,DOWN_FORCE_DETACH,1792701909273064862,1.562079393e-04,-7.378124751e-05,-9.101097487e-04,1.561899083e-04,-7.351099814e-05,-9.101384312e-04,1.582116528e-04,-7.315670412e-05,-9.080301146e-04,7.016940794e-01,-7.223028619e-05,8.398308314e-01,7.016940614e-01,-7.196003682e-05,8.398308028e-01,7.018874336e-01,-7.141924090e-05,8.286646159e-01
+18,6.183333333e+00,DOWN_FORCE_DETACH,1792701909972949729,1.539001731e-04,-7.439836822e-05,-9.838377916e-04,1.538278353e-04,-7.009441004e-05,-9.808835957e-04,1.555670376e-04,-6.977185979e-05,-9.786286081e-04,7.016917717e-01,-7.284740690e-05,8.397571034e-01,7.016916993e-01,-6.854344871e-05,8.397600576e-01,7.018847890e-01,-6.803439657e-05,8.285940174e-01
+19,6.566666667e+00,DOWN_FORCE_DETACH,1792701910703065080,1.529943141e-04,-7.900568836e-05,-1.072625288e-03,1.543353032e-04,-8.100207694e-05,-1.068254097e-03,1.557110325e-04,-8.064252812e-05,-1.065836905e-03,7.016908658e-01,-7.745472704e-05,8.396683159e-01,7.016922068e-01,-7.945111562e-05,8.396726871e-01,7.018849330e-01,-7.890506490e-05,8.285068091e-01
+20,6.950000000e+00,DOWN_FORCE_DETACH,1792701911434965352,1.557948309e-04,-8.210555844e-05,-1.158122804e-03,1.550067485e-04,-8.386426100e-05,-1.138387788e-03,1.560877945e-04,-8.355232072e-05,-1.136221807e-03,7.016936663e-01,-8.055459712e-05,8.395828184e-01,7.016928782e-01,-8.231329968e-05,8.396025534e-01,7.018853098e-01,-8.181485750e-05,8.284364242e-01
+21,7.300000000e+00,DOWN_FORCE_DETACH,1792701912102877097,1.549663565e-04,-7.885286227e-05,-1.249340145e-03,1.549284678e-04,-7.864694796e-05,-1.249377771e-03,1.555275951e-04,-7.832924969e-05,-1.246711503e-03,7.016928378e-01,-7.730190095e-05,8.394916010e-01,7.016927999e-01,-7.709598664e-05,8.394915634e-01,7.018847496e-01,-7.659178648e-05,8.283259345e-01
+22,7.633333333e+00,DOWN_FORCE_DETACH,1792701912766917564,1.558287586e-04,-8.291326021e-05,-1.338453493e-03,1.559371135e-04,-8.455765895e-05,-1.324579086e-03,1.562142935e-04,-8.424787734e-05,-1.322162943e-03,7.016937002e-01,-8.136229889e-05,8.394024877e-01,7.016938086e-01,-8.300669762e-05,8.394163621e-01,7.018854363e-01,-8.251041412e-05,8.282504831e-01
+23,7.916666667e+00,DOWN_FORCE_DETACH,1792701913334110692,1.557180087e-04,-8.708852552e-05,-1.429054664e-03,1.549445187e-04,-8.518845129e-05,-1.419888071e-03,1.549098340e-04,-8.481924128e-05,-1.417154893e-03,7.016935895e-01,-8.553756420e-05,8.393118865e-01,7.016928160e-01,-8.363748997e-05,8.393210531e-01,7.018841318e-01,-8.308177806e-05,8.281554911e-01
+24,8.216666667e+00,DOWN_FORCE_DETACH,1792701913930902903,1.588541545e-04,-8.703495434e-05,-1.520792674e-03,1.585056791e-04,-8.698145433e-05,-1.520781074e-03,1.580374407e-04,-8.662705955e-05,-1.517706914e-03,7.016967256e-01,-8.548399302e-05,8.392201485e-01,7.016963772e-01,-8.543049301e-05,8.392201601e-01,7.018872594e-01,-8.488959633e-05,8.280549391e-01
+25,8.483333333e+00,DOWN_FORCE_DETACH,1792701914462889582,1.589766481e-04,-9.247421338e-05,-1.614274953e-03,1.568677794e-04,-8.817010685e-05,-1.611918361e-03,1.560472734e-04,-8.780873962e-05,-1.608616970e-03,7.016968481e-01,-9.092325206e-05,8.391266662e-01,7.016947393e-01,-8.661914553e-05,8.391290228e-01,7.018852693e-01,-8.607127640e-05,8.279640290e-01
+26,8.750000000e+00,DOWN_FORCE_DETACH,1792701914995060581,1.544940996e-04,-8.744325502e-05,-1.720859765e-03,1.558628102e-04,-8.908495585e-05,-1.711104557e-03,1.545966207e-04,-8.867837243e-05,-1.707578537e-03,7.016923656e-01,-8.589229370e-05,8.390200814e-01,7.016937343e-01,-8.753399453e-05,8.390298366e-01,7.018838186e-01,-8.694090921e-05,8.278650675e-01
+27,9.016666667e+00,DOWN_FORCE_DETACH,1792701915493011800,1.560352733e-04,-9.379796044e-05,-1.815272992e-03,1.565099399e-04,-9.249163100e-05,-1.800201557e-03,1.549152391e-04,-9.201220016e-05,-1.796798469e-03,7.016939068e-01,-9.224699912e-05,8.389256682e-01,7.016943814e-01,-9.094066968e-05,8.389407396e-01,7.018841372e-01,-9.027473695e-05,8.277758475e-01
+28,9.266666667e+00,DOWN_FORCE_DETACH,1792701915990903163,1.559978865e-04,-9.395260836e-05,-1.913825725e-03,1.532198263e-04,-9.402030851e-05,-1.904705774e-03,1.512155901e-04,-9.354292145e-05,-1.901164037e-03,7.016938694e-01,-9.240164704e-05,8.388271155e-01,7.016910913e-01,-9.246934719e-05,8.388362354e-01,7.018804376e-01,-9.180545823e-05,8.276714820e-01
+29,9.500000000e+00,DOWN_FORCE_DETACH,1792701916426978222,1.563329093e-04,-9.674848475e-05,-2.011971921e-03,1.547218740e-04,-9.297405800e-05,-2.007218312e-03,1.524618521e-04,-9.252583820e-05,-2.003532135e-03,7.016942044e-01,-9.519752343e-05,8.387289693e-01,7.016925934e-01,-9.142309667e-05,8.387337229e-01,7.018816838e-01,-9.078837498e-05,8.275691139e-01
+30,9.733333333e+00,DOWN_FORCE_DETACH,1792701916858857757,1.542692671e-04,-1.024524557e-04,-2.113152545e-03,1.533656738e-04,-9.720239302e-05,-2.106225067e-03,1.508206690e-04,-9.681260489e-05,-2.102590338e-03,7.016921407e-01,-1.009014944e-04,8.386277886e-01,7.016912372e-01,-9.565143170e-05,8.386347161e-01,7.018800427e-01,-9.507514167e-05,8.274700557e-01
+31,9.966666667e+00,DOWN_FORCE_DETACH,1792701917290873058,1.519715563e-04,-1.003051705e-04,-2.217823728e-03,1.513252601e-04,-1.008768351e-04,-2.213763643e-03,1.484331221e-04,-1.004348966e-04,-2.210018102e-03,7.016898430e-01,-9.875420913e-05,8.385231175e-01,7.016891967e-01,-9.932587378e-05,8.385271775e-01,7.018776551e-01,-9.869743340e-05,8.273626279e-01
+32,1.018333333e+01,DOWN_FORCE_DETACH,1792701917722859616,1.551041633e-04,-1.037987519e-04,-2.318878018e-03,1.526441820e-04,-1.016956294e-04,-2.312400614e-03,1.494354304e-04,-1.012586847e-04,-2.308469996e-03,7.016929756e-01,-1.022477905e-04,8.384220632e-01,7.016905157e-01,-1.001446681e-04,8.384285406e-01,7.018786574e-01,-9.952122149e-05,8.272641760e-01
+33,1.041666667e+01,DOWN_FORCE_DETACH,1792701918154976550,1.567520996e-04,-1.056094677e-04,-2.419228895e-03,1.553364473e-04,-1.051325561e-04,-2.416695902e-03,1.518424598e-04,-1.046223009e-04,-2.412677536e-03,7.016946236e-01,-1.040585064e-04,8.383217123e-01,7.016932079e-01,-1.035815948e-04,8.383242453e-01,7.018810645e-01,-1.028848376e-04,8.271599685e-01
+34,1.061666667e+01,DOWN_FORCE_DETACH,1792701918555487456,1.527578600e-04,-1.077894420e-04,-2.531537555e-03,1.548082341e-04,-1.111380209e-04,-2.512298819e-03,1.509562523e-04,-1.106013073e-04,-2.508257256e-03,7.016906293e-01,-1.062384806e-04,8.382094036e-01,7.016926797e-01,-1.095870595e-04,8.382286424e-01,7.018801782e-01,-1.088638441e-04,8.270643887e-01
+35,1.080000000e+01,DOWN_FORCE_DETACH,1792701918887186939,1.535321356e-04,-1.118377861e-04,-2.623202934e-03,1.515386613e-04,-1.159337330e-04,-2.615250879e-03,1.472854959e-04,-1.154157759e-04,-2.610877118e-03,7.016914036e-01,-1.102868247e-04,8.381177383e-01,7.016894101e-01,-1.143827717e-04,8.381256903e-01,7.018765075e-01,-1.136783127e-04,8.269617689e-01
+36,1.100000000e+01,DOWN_FORCE_DETACH,1792701919250837688,1.468088705e-04,-1.214044688e-04,-2.732824089e-03,1.467098452e-04,-1.212694146e-04,-2.732819906e-03,1.418374647e-04,-1.207338652e-04,-2.728226000e-03,7.016846804e-01,-1.198535075e-04,8.380081171e-01,7.016845813e-01,-1.197184532e-04,8.380081213e-01,7.018710595e-01,-1.189964020e-04,8.268444200e-01
+37,1.118333333e+01,DOWN_FORCE_DETACH,1792701919618941591,1.483532240e-04,-1.133908286e-04,-2.836778045e-03,1.453940935e-04,-1.181789061e-04,-2.818584894e-03,1.400643708e-04,-1.176956053e-04,-2.814258996e-03,7.016862247e-01,-1.118398673e-04,8.379041631e-01,7.016832656e-01,-1.166279448e-04,8.379223563e-01,7.018692864e-01,-1.159581421e-04,8.267583870e-01
+38,1.136666667e+01,DOWN_FORCE_DETACH,1792701919950808234,1.463853811e-04,-1.204399631e-04,-2.935424604e-03,1.443255435e-04,-1.264011238e-04,-2.922599475e-03,1.385570355e-04,-1.258948118e-04,-2.918380732e-03,7.016842569e-01,-1.188890018e-04,8.378055166e-01,7.016821970e-01,-1.248501624e-04,8.378183417e-01,7.018677790e-01,-1.241573486e-04,8.266542653e-01
+39,1.153333333e+01,DOWN_FORCE_DETACH,1792701920282789448,1.446998524e-04,-1.201412066e-04,-3.045806748e-03,1.439948630e-04,-1.257331440e-04,-3.035376431e-03,1.377477099e-04,-1.252318908e-04,-3.030740665e-03,7.016825713e-01,-1.185902453e-04,8.376951344e-01,7.016818663e-01,-1.241821827e-04,8.377055648e-01,7.018669697e-01,-1.234944276e-04,8.265419053e-01
+40,1.171666667e+01,DOWN_FORCE_DETACH,1792701920649503759,1.472377224e-04,-1.240974634e-04,-3.157008324e-03,1.470362075e-04,-1.242038433e-04,-3.156724950e-03,1.402842534e-04,-1.236899592e-04,-3.151730995e-03,7.016851092e-01,-1.225465020e-04,8.375839329e-01,7.016849077e-01,-1.226528820e-04,8.375842162e-01,7.018695062e-01,-1.219524960e-04,8.264209150e-01
+41,1.186666667e+01,DOWN_FORCE_DETACH,1792701920950839568,1.444462758e-04,-1.275601904e-04,-3.260024692e-03,1.442684778e-04,-1.278739358e-04,-3.260089858e-03,1.370450675e-04,-1.272655523e-04,-3.254728615e-03,7.016823178e-01,-1.260092291e-04,8.374809165e-01,7.016821400e-01,-1.263229744e-04,8.374808513e-01,7.018662671e-01,-1.255280891e-04,8.263179174e-01
+42,1.203333333e+01,DOWN_FORCE_DETACH,1792701921282759910,1.556167368e-04,-1.274588554e-04,-3.358545358e-03,1.553959592e-04,-1.274678733e-04,-3.358559978e-03,1.479377984e-04,-1.268382504e-04,-3.353243405e-03,7.016934882e-01,-1.259078941e-04,8.373823958e-01,7.016932674e-01,-1.259169120e-04,8.373823812e-01,7.018771598e-01,-1.251007872e-04,8.262194026e-01
+43,1.218333333e+01,DOWN_FORCE_DETACH,1792701921581663050,1.508113926e-04,-1.329328006e-04,-3.478014843e-03,1.507869330e-04,-1.329237944e-04,-3.478154638e-03,1.428921849e-04,-1.322395780e-04,-3.472598916e-03,7.016886829e-01,-1.313818392e-04,8.372629263e-01,7.016886584e-01,-1.313728331e-04,8.372627865e-01,7.018721142e-01,-1.305021148e-04,8.261000471e-01
+44,1.233333333e+01,DOWN_FORCE_DETACH,1792701921879717928,1.486473791e-04,-1.363971316e-04,-3.582611961e-03,1.476260514e-04,-1.335284084e-04,-3.573171187e-03,1.393943453e-04,-1.328542629e-04,-3.567941518e-03,7.016865189e-01,-1.348461703e-04,8.371583292e-01,7.016854975e-01,-1.319774471e-04,8.371677700e-01,7.018686163e-01,-1.311167997e-04,8.260047045e-01
+45,1.248333333e+01,DOWN_FORCE_DETACH,1792701922181215858,1.497389775e-04,-1.369883470e-04,-3.699270477e-03,1.495805797e-04,-1.368705328e-04,-3.698936931e-03,1.410215770e-04,-1.362771399e-04,-3.693505756e-03,7.016876105e-01,-1.354373857e-04,8.370416707e-01,7.016874521e-01,-1.353195715e-04,8.370420043e-01,7.018702436e-01,-1.345396766e-04,8.258791402e-01
+46,1.261666667e+01,DOWN_FORCE_DETACH,1792701922445015161,1.465524955e-04,-1.343056572e-04,-3.808200452e-03,1.463749278e-04,-1.342505199e-04,-3.808206214e-03,1.374612952e-04,-1.336068485e-04,-3.802576400e-03,7.016844240e-01,-1.327546959e-04,8.369327407e-01,7.016842464e-01,-1.326995586e-04,8.369327350e-01,7.018666833e-01,-1.318693853e-04,8.257700696e-01
+47,1.275000000e+01,DOWN_FORCE_DETACH,1792701922713115562,1.423632591e-04,-1.350148686e-04,-3.920402975e-03,1.423285246e-04,-1.347363027e-04,-3.919984584e-03,1.329931023e-04,-1.341042311e-04,-3.914140376e-03,7.016802347e-01,-1.334639073e-04,8.368205382e-01,7.016802000e-01,-1.331853414e-04,8.368209566e-01,7.018622151e-01,-1.323667678e-04,8.256585056e-01
+48,1.288333333e+01,DOWN_FORCE_DETACH,1792701922978818953,1.471342074e-04,-1.325217012e-04,-4.026087557e-03,1.470528613e-04,-1.323735468e-04,-4.026296129e-03,1.374297455e-04,-1.317065218e-04,-4.020300052e-03,7.016850057e-01,-1.309707399e-04,8.367148536e-01,7.016849243e-01,-1.308225855e-04,8.367146451e-01,7.018666517e-01,-1.299690585e-04,8.255523460e-01
+49,1.300000000e+01,DOWN_FORCE_DETACH,1792701923210950508,1.419381544e-04,-1.135363048e-04,-4.129168869e-03,1.423054756e-04,-1.163795516e-04,-4.115056962e-03,1.323865420e-04,-1.158031626e-04,-4.109159683e-03,7.016798096e-01,-1.119853434e-04,8.366117723e-01,7.016801770e-01,-1.148285903e-04,8.366258842e-01,7.018616085e-01,-1.140656994e-04,8.254634863e-01
+50,1.313333333e+01,DOWN_FORCE_DETACH,1792701923479065923,1.419296489e-04,-1.160206697e-04,-4.241367271e-03,1.424428728e-04,-1.140758696e-04,-4.225085915e-03,1.319983158e-04,-1.135021808e-04,-4.219261577e-03,7.016798011e-01,-1.144697084e-04,8.364995739e-01,7.016803144e-01,-1.125249082e-04,8.365158553e-01,7.018612203e-01,-1.117647176e-04,8.253533844e-01
+51,1.325000000e+01,DOWN_FORCE_DETACH,1792701923692775883,1.469375276e-04,-1.062895441e-04,-4.339080776e-03,1.461747008e-04,-1.158263602e-04,-4.321561164e-03,1.354451014e-04,-1.153309700e-04,-4.315844305e-03,7.016848090e-01,-1.047385828e-04,8.364018604e-01,7.016840462e-01,-1.142753989e-04,8.364193800e-01,7.018646671e-01,-1.135935068e-04,8.252568017e-01
+52,1.336666667e+01,DOWN_FORCE_DETACH,1792701923910857028,1.399044442e-04,-1.117944925e-04,-4.439745292e-03,1.397568459e-04,-1.171780420e-04,-4.423926724e-03,1.284950743e-04,-1.166521369e-04,-4.418133185e-03,7.016777759e-01,-1.102435312e-04,8.363011959e-01,7.016776283e-01,-1.156270806e-04,8.363170145e-01,7.018577171e-01,-1.149146737e-04,8.251545128e-01
+53,1.348333333e+01,DOWN_FORCE_DETACH,1792701924142736745,1.312079926e-04,-1.271429640e-04,-4.557983101e-03,1.309250214e-04,-1.271259575e-04,-4.557789454e-03,1.189313235e-04,-1.265731925e-04,-4.551394171e-03,7.016690795e-01,-1.255920026e-04,8.361829581e-01,7.016687965e-01,-1.255749961e-04,8.361831517e-01,7.018481533e-01,-1.248357293e-04,8.250212518e-01
+54,1.361666667e+01,DOWN_FORCE_DETACH,1792701924374874693,1.303726685e-04,-1.276327156e-04,-4.665575734e-03,1.301871947e-04,-1.276246483e-04,-4.665495740e-03,1.177653073e-04,-1.270504310e-04,-4.659383131e-03,7.016682441e-01,-1.260817542e-04,8.360753655e-01,7.016680587e-01,-1.260736870e-04,8.360754454e-01,7.018469873e-01,-1.253129678e-04,8.249132629e-01
+55,1.371666667e+01,DOWN_FORCE_DETACH,1792701924574796186,1.497971711e-04,-1.263309102e-04,-4.747288377e-03,1.465011016e-04,-1.244891286e-04,-4.743188162e-03,1.338329197e-04,-1.239417563e-04,-4.737124156e-03,7.016876687e-01,-1.247799489e-04,8.359936528e-01,7.016843726e-01,-1.229381673e-04,8.359977530e-01,7.018630549e-01,-1.222042931e-04,8.248355218e-01
+56,1.381666667e+01,DOWN_FORCE_DETACH,1792701924774829414,1.519795674e-04,-1.182393396e-04,-4.848984287e-03,1.498278713e-04,-1.220483545e-04,-4.835669379e-03,1.368741002e-04,-1.214675241e-04,-4.829476785e-03,7.016898510e-01,-1.166883783e-04,8.358919569e-01,7.016876994e-01,-1.204973931e-04,8.359052718e-01,7.018660961e-01,-1.197300609e-04,8.247431692e-01
+57,1.393333333e+01,DOWN_FORCE_DETACH,1792701924974833497,1.455633279e-04,-1.274194927e-04,-4.956629365e-03,1.451694545e-04,-1.256175531e-04,-4.948401998e-03,1.318517215e-04,-1.249808885e-04,-4.942062885e-03,7.016834348e-01,-1.258685314e-04,8.357843118e-01,7.016830409e-01,-1.240665918e-04,8.357925392e-01,7.018610737e-01,-1.232434253e-04,8.246305831e-01
+58,1.406666667e+01,DOWN_SETTLE,1792701925238803074,1.443935480e-04,-1.220348264e-04,-5.071393022e-03,1.436076940e-04,-1.280261624e-04,-5.063386170e-03,1.298716738e-04,-1.273475579e-04,-5.057306304e-03,7.016822650e-01,-1.204838651e-04,8.356695482e-01,7.016814792e-01,-1.264752011e-04,8.356775550e-01,7.018590937e-01,-1.256100947e-04,8.245153397e-01
+59,1.445000000e+01,DOWN_PEAK_HOLD,1792701925973325635,1.224236567e-04,-1.140645032e-04,-5.143633289e-03,1.227175255e-04,-1.163875452e-04,-5.142735070e-03,1.085573170e-04,-1.159028596e-04,-5.139607546e-03,7.016602951e-01,-1.125135419e-04,8.355973079e-01,7.016605890e-01,-1.148365838e-04,8.355982061e-01,7.018377793e-01,-1.141653964e-04,8.244330385e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f7986e603b8ba3625757406a8e470cc642f3d60
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.2566e-02,-4.7129e-04,2.4492e+00,-3.6776e-02,3.5892e-02,-1.9306e-05,3.8692e-04,-3.4588e-06,6.5565e-05,-1.9372e-07,2.5619e-05,-4.4404e-07,3.9245e-04,2.5623e-05
+1,5.3333e-01,DOWN_FORCE_DETACH,1.1377e-04,-2.1448e-03,-2.0850e-04,2.4509e+00,-3.6810e-02,3.6630e-02,-5.6776e-05,1.0808e-02,2.5933e-04,1.8523e-03,-3.4925e-05,7.6421e-04,-3.7914e-05,1.0969e-02,7.6594e-04
+2,1.0000e+00,DOWN_FORCE_DETACH,2.2579e-04,8.1937e-03,8.1195e-03,2.4821e+00,-3.7378e-02,3.7339e-02,-6.3014e-05,2.1147e-02,8.5873e-03,3.3036e-02,-6.0229e-04,1.4725e-03,-4.4152e-05,4.0153e-02,1.5915e-03
+3,1.3000e+00,DOWN_FORCE_DETACH,3.1676e-04,1.1669e-02,1.0020e-02,2.4983e+00,-3.7509e-02,3.7574e-02,-6.1688e-05,2.4621e-02,1.0488e-02,4.9180e-02,-7.3400e-04,1.7073e-03,-4.2826e-05,5.5990e-02,1.8589e-03
+4,1.4000e+00,DOWN_FORCE_DETACH,4.5107e-04,-1.5698e-02,1.3792e-02,2.5057e+00,-3.7757e-02,3.5774e-02,-5.9774e-05,-2.7453e-03,1.4259e-02,5.6568e-02,-9.8215e-04,-9.2063e-05,-4.0911e-05,5.8402e-02,9.8730e-04
+5,1.7167e+00,DOWN_FORCE_DETACH,5.5926e-04,-4.5345e-02,1.5228e-02,2.5088e+00,-3.7872e-02,3.3729e-02,-5.1107e-05,-3.2392e-02,1.5696e-02,5.9709e-02,-1.0964e-03,-2.1377e-03,-3.2245e-05,6.9719e-02,2.4027e-03
+6,2.0833e+00,DOWN_FORCE_DETACH,6.8103e-04,-2.1227e-02,1.9382e-02,2.5244e+00,-3.8139e-02,3.5231e-02,-4.5651e-05,-8.2745e-03,1.9850e-02,7.5326e-02,-1.3633e-03,-6.3492e-04,-2.6789e-05,7.8336e-02,1.5042e-03
+7,2.2833e+00,DOWN_FORCE_DETACH,7.8126e-04,-2.5493e-02,2.2179e-02,2.5410e+00,-3.8318e-02,3.4943e-02,-4.0616e-05,-1.2540e-02,2.2647e-02,9.1856e-02,-1.5423e-03,-9.2340e-04,-2.1754e-05,9.5434e-02,1.7977e-03
+8,2.5833e+00,DOWN_FORCE_DETACH,9.0408e-04,-3.4502e-02,2.6236e-02,2.5544e+00,-3.8572e-02,3.4322e-02,-3.0054e-05,-2.1549e-02,2.6703e-02,1.0531e-01,-1.7970e-03,-1.5446e-03,-1.1192e-05,1.1076e-01,2.3696e-03
+9,2.8333e+00,DOWN_FORCE_DETACH,1.0194e-03,-2.7040e-02,3.0480e-02,2.5735e+00,-3.8834e-02,3.4787e-02,-1.8610e-05,-1.4087e-02,3.0948e-02,1.2444e-01,-2.0585e-03,-1.0788e-03,2.5216e-07,1.2900e-01,2.3240e-03
+10,3.1500e+00,DOWN_FORCE_DETACH,1.1323e-03,-1.8023e-02,3.3103e-02,2.5787e+00,-3.8984e-02,3.5387e-02,-2.2129e-06,-5.0702e-03,3.3571e-02,1.2963e-01,-2.2082e-03,-4.7927e-04,1.6649e-05,1.3400e-01,2.2596e-03
+11,3.5000e+00,DOWN_FORCE_DETACH,1.2490e-03,-5.4447e-03,3.2142e-02,2.5689e+00,-3.8906e-02,3.6257e-02,1.2807e-05,7.5081e-03,3.2610e-02,1.1982e-01,-2.1303e-03,3.9034e-04,3.1669e-05,1.2441e-01,2.1660e-03
+12,3.8167e+00,DOWN_FORCE_DETACH,1.3567e-03,6.0386e-03,3.2751e-02,2.5578e+00,-3.8939e-02,3.7066e-02,2.1513e-05,1.8991e-02,3.3219e-02,1.0867e-01,-2.1637e-03,1.1995e-03,4.0375e-05,1.1521e-01,2.4743e-03
+13,4.1500e+00,DOWN_FORCE_DETACH,1.4699e-03,1.2634e-02,3.4665e-02,2.5433e+00,-3.9065e-02,3.7556e-02,2.4280e-05,2.5587e-02,3.5133e-02,9.4167e-02,-2.2897e-03,1.6901e-03,4.3142e-05,1.0371e-01,2.8463e-03
+14,4.5667e+00,DOWN_FORCE_DETACH,1.5864e-03,2.0883e-02,3.7192e-02,2.5270e+00,-3.9246e-02,3.8153e-02,1.9801e-05,3.3836e-02,3.7660e-02,7.7952e-02,-2.4708e-03,2.2866e-03,3.8663e-05,9.2950e-02,3.3668e-03
+15,5.0500e+00,DOWN_FORCE_DETACH,1.6986e-03,2.5217e-02,3.7976e-02,2.5210e+00,-3.9332e-02,3.8489e-02,5.3874e-06,3.8170e-02,3.8444e-02,7.1928e-02,-2.5563e-03,2.6226e-03,2.4249e-05,9.0047e-02,3.6624e-03
+16,5.4333e+00,DOWN_FORCE_DETACH,1.8119e-03,2.6914e-02,4.0188e-02,2.5273e+00,-3.9495e-02,3.8615e-02,-8.4364e-06,3.9867e-02,4.0656e-02,7.8156e-02,-2.7198e-03,2.7484e-03,1.0426e-05,9.6699e-02,3.8667e-03
+17,5.8167e+00,DOWN_FORCE_DETACH,1.9277e-03,2.5652e-02,3.6421e-02,2.5384e+00,-3.9269e-02,3.8532e-02,-2.3922e-05,3.8605e-02,3.6889e-02,8.9335e-02,-2.4933e-03,2.6662e-03,-5.0597e-06,1.0408e-01,3.6503e-03
+18,6.1833e+00,DOWN_FORCE_DETACH,2.0364e-03,2.8015e-02,3.6791e-02,2.5486e+00,-3.9294e-02,3.8676e-02,-3.9162e-05,4.0968e-02,3.7258e-02,9.9497e-02,-2.5189e-03,2.8098e-03,-2.0300e-05,1.1387e-01,3.7736e-03
+19,6.5667e+00,DOWN_FORCE_DETACH,2.1535e-03,2.8939e-02,3.8682e-02,2.5606e+00,-3.9413e-02,3.8728e-02,-5.0690e-05,4.1891e-02,3.9150e-02,1.1147e-01,-2.6376e-03,2.8613e-03,-3.1828e-05,1.2535e-01,3.8916e-03
+20,6.9500e+00,DOWN_FORCE_DETACH,2.2634e-03,2.4524e-02,4.1207e-02,2.5621e+00,-3.9575e-02,3.8424e-02,-5.4212e-05,3.7477e-02,4.1675e-02,1.1305e-01,-2.7992e-03,2.5575e-03,-3.5350e-05,1.2618e-01,3.7918e-03
+21,7.3000e+00,DOWN_FORCE_DETACH,2.3755e-03,2.1708e-02,4.1424e-02,2.5664e+00,-3.9585e-02,3.8217e-02,-5.2399e-05,3.4661e-02,4.1892e-02,1.1734e-01,-2.8096e-03,2.3506e-03,-3.3536e-05,1.2933e-01,3.6634e-03
+22,7.6333e+00,DOWN_FORCE_DETACH,2.4882e-03,1.8999e-02,4.2057e-02,2.5716e+00,-3.9618e-02,3.8019e-02,-4.8228e-05,3.1952e-02,4.2525e-02,1.2250e-01,-2.8428e-03,2.1524e-03,-2.9366e-05,1.3355e-01,3.5658e-03
+23,7.9167e+00,DOWN_FORCE_DETACH,2.6071e-03,1.8446e-02,4.2450e-02,2.5821e+00,-3.9630e-02,3.7965e-02,-4.4417e-05,3.1398e-02,4.2918e-02,1.3302e-01,-2.8550e-03,2.0985e-03,-2.5555e-05,1.4325e-01,3.5434e-03
+24,8.2167e+00,DOWN_FORCE_DETACH,2.7178e-03,1.7446e-02,4.4260e-02,2.5923e+00,-3.9722e-02,3.7884e-02,-4.1510e-05,3.0399e-02,4.4728e-02,1.4323e-01,-2.9466e-03,2.0175e-03,-2.2647e-05,1.5310e-01,3.5711e-03
+25,8.4833e+00,DOWN_FORCE_DETACH,2.8272e-03,1.5041e-02,4.4387e-02,2.6059e+00,-3.9693e-02,3.7712e-02,-4.0450e-05,2.7994e-02,4.4855e-02,1.5683e-01,-2.9180e-03,1.8459e-03,-2.1588e-05,1.6550e-01,3.4529e-03
+26,8.7500e+00,DOWN_FORCE_DETACH,2.9464e-03,1.3109e-02,4.7732e-02,2.6174e+00,-3.9865e-02,3.7573e-02,-3.9503e-05,2.6062e-02,4.8200e-02,1.6827e-01,-3.0897e-03,1.7066e-03,-2.0641e-05,1.7697e-01,3.5298e-03
+27,9.0167e+00,DOWN_FORCE_DETACH,3.0558e-03,1.0783e-02,5.0427e-02,2.6244e+00,-4.0000e-02,3.7413e-02,-3.6721e-05,2.3736e-02,5.0895e-02,1.7526e-01,-3.2248e-03,1.5464e-03,-1.7859e-05,1.8404e-01,3.5765e-03
+28,9.2667e+00,DOWN_FORCE_DETACH,3.1697e-03,1.2634e-02,5.1847e-02,2.6278e+00,-4.0062e-02,3.7530e-02,-3.0508e-05,2.5587e-02,5.2315e-02,1.7871e-01,-3.2862e-03,1.6641e-03,-1.1646e-05,1.8796e-01,3.6835e-03
+29,9.5000e+00,DOWN_FORCE_DETACH,3.2787e-03,1.5420e-02,5.2255e-02,2.6260e+00,-4.0065e-02,3.7718e-02,-2.2962e-05,2.8373e-02,5.2723e-02,1.7689e-01,-3.2897e-03,1.8515e-03,-4.0994e-06,1.8675e-01,3.7749e-03
+30,9.7333e+00,DOWN_FORCE_DETACH,3.3961e-03,1.9918e-02,5.0808e-02,2.6255e+00,-3.9957e-02,3.8019e-02,-1.6521e-05,3.2871e-02,5.1276e-02,1.7639e-01,-3.1812e-03,2.1532e-03,2.3413e-06,1.8661e-01,3.8414e-03
+31,9.9667e+00,DOWN_FORCE_DETACH,3.5109e-03,2.4013e-02,5.1470e-02,2.6318e+00,-3.9988e-02,3.8294e-02,-1.2699e-05,3.6965e-02,5.1938e-02,1.8273e-01,-3.2123e-03,2.4280e-03,6.1628e-06,1.9353e-01,4.0267e-03
+32,1.0183e+01,DOWN_FORCE_DETACH,3.6202e-03,2.6625e-02,5.3070e-02,2.6363e+00,-4.0082e-02,3.8468e-02,-1.2433e-05,3.9578e-02,5.3538e-02,1.8717e-01,-3.3069e-03,2.6022e-03,6.4295e-06,1.9866e-01,4.2080e-03
+33,1.0417e+01,DOWN_FORCE_DETACH,3.7360e-03,2.8457e-02,5.5545e-02,2.6432e+00,-4.0238e-02,3.8589e-02,-1.5299e-05,4.1409e-02,5.6013e-02,1.9407e-01,-3.4628e-03,2.7223e-03,3.5635e-06,2.0619e-01,4.4048e-03
+34,1.0617e+01,DOWN_FORCE_DETACH,3.8548e-03,3.0446e-02,5.8257e-02,2.6566e+00,-4.0414e-02,3.8712e-02,-2.0222e-05,4.3399e-02,5.8725e-02,2.0750e-01,-3.6388e-03,2.8459e-03,-1.3597e-06,2.1998e-01,4.6195e-03
+35,1.0800e+01,DOWN_FORCE_DETACH,3.9567e-03,3.1386e-02,5.7961e-02,2.6629e+00,-4.0397e-02,3.8766e-02,-2.6070e-05,4.4338e-02,5.8429e-02,2.1382e-01,-3.6215e-03,2.8998e-03,-7.2076e-06,2.2605e-01,4.6394e-03
+36,1.1000e+01,DOWN_FORCE_DETACH,4.0736e-03,3.2264e-02,5.8690e-02,2.6713e+00,-4.0434e-02,3.8812e-02,-3.1522e-05,4.5217e-02,5.9158e-02,2.2220e-01,-3.6584e-03,2.9453e-03,-1.2660e-05,2.3435e-01,4.6967e-03
+37,1.1183e+01,DOWN_FORCE_DETACH,4.1887e-03,3.0484e-02,5.9804e-02,2.6727e+00,-4.0491e-02,3.8687e-02,-3.4093e-05,4.3437e-02,6.0272e-02,2.2366e-01,-3.7152e-03,2.8203e-03,-1.5231e-05,2.3567e-01,4.6644e-03
+38,1.1367e+01,DOWN_FORCE_DETACH,4.2994e-03,2.8219e-02,6.1485e-02,2.6767e+00,-4.0579e-02,3.8527e-02,-3.5059e-05,4.1171e-02,6.1953e-02,2.2764e-01,-3.8041e-03,2.6607e-03,-1.6197e-05,2.3948e-01,4.6423e-03
+39,1.1533e+01,DOWN_FORCE_DETACH,4.4149e-03,2.5233e-02,6.2062e-02,2.6805e+00,-4.0594e-02,3.8323e-02,-3.5611e-05,3.8186e-02,6.2530e-02,2.3145e-01,-3.8189e-03,2.4568e-03,-1.6749e-05,2.4277e-01,4.5410e-03
+40,1.1717e+01,DOWN_FORCE_DETACH,4.5347e-03,2.0662e-02,6.2374e-02,2.6872e+00,-4.0581e-02,3.8016e-02,-3.7223e-05,3.3615e-02,6.2842e-02,2.3815e-01,-3.8054e-03,2.1496e-03,-1.8361e-05,2.4859e-01,4.3706e-03
+41,1.1867e+01,DOWN_FORCE_DETACH,4.6418e-03,1.7417e-02,6.5205e-02,2.6961e+00,-4.0726e-02,3.7795e-02,-3.8585e-05,3.0370e-02,6.5673e-02,2.4705e-01,-3.9511e-03,1.9291e-03,-1.9723e-05,2.5743e-01,4.3969e-03
+42,1.2033e+01,DOWN_FORCE_DETACH,4.7455e-03,1.1545e-02,6.8948e-02,2.7051e+00,-4.0926e-02,3.7405e-02,-3.8255e-05,2.4498e-02,6.9416e-02,2.5604e-01,-4.1504e-03,1.5385e-03,-1.9392e-05,2.6642e-01,4.4264e-03
+43,1.2183e+01,DOWN_FORCE_DETACH,4.8678e-03,1.0239e-02,7.2147e-02,2.7164e+00,-4.1091e-02,3.7309e-02,-3.5278e-05,2.3192e-02,7.2615e-02,2.6726e-01,-4.3153e-03,1.4427e-03,-1.6416e-05,2.7791e-01,4.5501e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a51be7e50f2a731a5a940ad265eda0a3432ff6da
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14c61eac820a5cf47648234025e59b3c4ddfa6a7
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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+2162,1792701889145424973,9716154000000,1792701889139144658,UP_FORCE_RAMP,4,0.044,0.04400257766246796,0.6759354939352893,-0.004619447811191541,0.0907426131224608,0.9999999528875108,-8.080063304539987e-05,-0.0002688432291656206,-8.283970291431643e-05,0.6761,-0.00453,0.09111066914946182,1.0,0.0,0.0,0.0,0.6977342998511643,0.40674850619398895,-0.40454386606075377,0.02587015197524285,-0.04739376905873467,0.0010066999718275653,0.7319683226346964,0.3341509807252637,-0.263207654558854,0.024907911403832004,-0.05246018423425823,-0.0002338468145567853,0.034234022783532006,-0.0725975254687252,0.14133621150189982,-0.0009622405714108469,-0.005066415175523558,-0.0012405467863843506,1,-1.0307377666022615,0.9609174679817566,2.4587403113485586,-0.34097191224549717,-1.6774921371291782,0.518515034729875,-0.13074956995010537,0.40454386606075377,-2.589489881298664,0.40454386606075377,0.4575396865560115,0,0,3.3974004777014996e-05,-7.551610635743554e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a91403d17c1234d7aec54e8ffbaae47340de38f9
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22f6c9e23d9f7efa170e4d9449d435ae77d2f4ab
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.333333333e-01,WAIT_W2,1792701883594564408,-4.531122642e-07,1.067545907e-06,-4.554282939e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.511345579e-07,-2.359282110e-10,2.308481162e-08,7.015374184e-01,2.618507228e-06,8.407404858e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293732e-01,1.737210895e-06,8.295726691e-01
+6,4.000000000e-01,WAIT_W2,1792701883726557817,-1.332216088e-06,-4.435768234e-06,-1.601929304e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.723573986e-07,-2.323092899e-10,2.641315433e-08,7.015365393e-01,-2.884806913e-06,8.407393393e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293944e-01,1.737214514e-06,8.295726725e-01
+7,4.500000000e-01,WAIT_W2,1792701883827231812,-1.537018589e-06,-1.063392369e-05,-6.567043634e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.869958379e-07,-2.449255312e-10,2.869969273e-08,7.015363345e-01,-9.082962373e-06,8.407402845e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294091e-01,1.737201898e-06,8.295726747e-01
+8,5.166666667e-01,WAIT_W2,1792701883958564321,6.127215624e-09,-1.135986457e-05,1.352650870e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.049998599e-07,-2.310978266e-10,3.154795403e-08,7.015378776e-01,-9.808903248e-06,8.407422938e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294271e-01,1.737215725e-06,8.295726776e-01
+9,5.833333333e-01,WAIT_W2,1792701884058800715,1.435352577e-06,-1.210060010e-05,2.041599566e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.213935599e-07,-1.918911193e-10,3.418031591e-08,7.015393068e-01,-1.054963878e-05,8.407429828e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294435e-01,1.737254932e-06,8.295726802e-01
+10,6.500000000e-01,WAIT_W2,1792701884192566391,1.262204966e-06,-2.174002086e-05,4.147902185e-06,1.321836509e-06,-2.160886956e-05,4.299869978e-06,1.515740301e-06,-2.147189188e-05,4.181383681e-06,7.015391337e-01,-2.018905954e-05,8.407450891e-01,7.015391933e-01,-2.005790824e-05,8.407452411e-01,7.017307378e-01,-1.973444505e-05,8.295768274e-01
+11,7.000000000e-01,WAIT_W2,1792701884291056188,1.818055171e-07,-1.503057480e-05,9.254374661e-07,1.321836509e-06,-2.160886956e-05,4.299869978e-06,1.529704933e-06,-2.150038472e-05,4.197022687e-06,7.015380533e-01,-1.347961348e-05,8.407418666e-01,7.015391933e-01,-2.005790824e-05,8.407452411e-01,7.017307518e-01,-1.976293790e-05,8.295768431e-01
+12,7.500000000e-01,WAIT_W2,1792701884392835582,-5.611634124e-08,-1.634462312e-05,7.964497742e-07,1.321836509e-06,-2.160886956e-05,4.299869978e-06,1.541925033e-06,-2.150805947e-05,4.206478990e-06,7.015378154e-01,-1.479366180e-05,8.407417376e-01,7.015391933e-01,-2.005790824e-05,8.407452411e-01,7.017307640e-01,-1.977061265e-05,8.295768525e-01
+13,8.500000000e-01,WAIT_W2,1792701884590866379,1.238867479e-07,-8.378870099e-06,-1.050354685e-06,1.321836509e-06,-2.160886956e-05,4.299869978e-06,1.563200422e-06,-2.151321838e-05,4.221158490e-06,7.015379954e-01,-6.827908778e-06,8.407398908e-01,7.015391933e-01,-2.005790824e-05,8.407452411e-01,7.017307853e-01,-1.977577155e-05,8.295768672e-01
+14,9.166666667e-01,WAIT_W2,1792701884690820799,-3.087610795e-07,-7.781054749e-06,1.058097510e-06,1.321836509e-06,-2.160886956e-05,4.299869978e-06,1.575603489e-06,-2.151453056e-05,4.229270338e-06,7.015375627e-01,-6.230093428e-06,8.407419993e-01,7.015391933e-01,-2.005790824e-05,8.407452411e-01,7.017307977e-01,-1.977708374e-05,8.295768753e-01
+15,9.666666667e-01,WAIT_W2,1792701884790546354,-1.426085991e-06,-2.681650781e-06,-2.602586021e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.252259791e-06,-2.788582072e-06,-2.569451365e-06,7.015364454e-01,-1.130689460e-06,8.407383386e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279698e-01,-1.051135249e-06,8.295700766e-01
+16,1.016666667e+00,WAIT_W2,1792701884891081529,3.564627667e-07,-1.113595832e-06,8.478785815e-07,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.252098730e-06,-2.764066906e-06,-2.585970131e-06,7.015382279e-01,4.373654894e-07,8.407417891e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279700e-01,-1.026620083e-06,8.295700601e-01
+17,1.083333333e+00,WAIT_W2,1792701885024689825,-8.293535307e-07,3.588579109e-06,-1.758463138e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.248597497e-06,-2.756330135e-06,-2.596062082e-06,7.015370421e-01,5.139540430e-06,8.407391827e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279735e-01,-1.018883312e-06,8.295700500e-01
+18,1.133333333e+00,WAIT_W2,1792701885123086673,-1.755229187e-06,6.710324526e-06,-1.544896135e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.245671804e-06,-2.754094809e-06,-2.601715003e-06,7.015361163e-01,8.261285847e-06,8.407393963e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279764e-01,-1.016647985e-06,8.295700443e-01
+19,1.200000000e+00,WAIT_W2,1792701885255124407,-2.264925023e-06,1.286527192e-05,-4.755482555e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.241809582e-06,-2.752609503e-06,-2.608012412e-06,7.015356066e-01,1.441623325e-05,8.407361857e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279802e-01,-1.015162679e-06,8.295700380e-01
+20,1.300000000e+00,WAIT_W2,1792701885422592600,-1.628980993e-06,1.418759972e-05,-3.251109281e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.236425883e-06,-2.751639813e-06,-2.615815717e-06,7.015362425e-01,1.573856104e-05,8.407376901e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279856e-01,-1.014192990e-06,8.295700302e-01
+21,1.350000000e+00,WAIT_W2,1792701885523095189,-1.206920536e-06,1.059071178e-05,-2.989295655e-07,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.233959798e-06,-2.751393509e-06,-2.619141213e-06,7.015366646e-01,1.214167310e-05,8.407406423e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279881e-01,-1.013946686e-06,8.295700269e-01
+22,1.383333333e+00,WAIT_W2,1792701885588861787,-1.949053791e-06,7.078418524e-06,-2.917086557e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.232407506e-06,-2.751275595e-06,-2.621185586e-06,7.015359224e-01,8.629379845e-06,8.407380241e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279896e-01,-1.013828771e-06,8.295700249e-01
+23,1.466666667e+00,WAIT_W2,1792701885755054432,-2.771924200e-06,-5.328856395e-06,-4.370876551e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.228820119e-06,-2.751081679e-06,-2.625760133e-06,7.015350996e-01,-3.777895074e-06,8.407365703e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279932e-01,-1.013634856e-06,8.295700203e-01
+24,1.550000000e+00,WAIT_W2,1792701885904867122,-3.407058209e-06,-1.172734734e-05,-3.478397974e-06,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.225896370e-06,-2.750974494e-06,-2.629354020e-06,7.015344644e-01,-1.017638602e-05,8.407374628e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279962e-01,-1.013527671e-06,8.295700167e-01
+25,1.633333333e+00,WAIT_W2,1792701886055081858,-1.885027604e-07,-1.999289728e-05,-3.062915240e-07,-1.458784075e-06,-2.780017670e-06,-2.690864010e-06,-1.222779671e-06,-2.750881642e-06,-2.632992459e-06,7.015376830e-01,-1.844193596e-05,8.407406349e-01,7.015364127e-01,-1.229056349e-06,8.407382503e-01,7.017279993e-01,-1.013434818e-06,8.295700131e-01
+26,1.750000000e+00,UP_FORCE_RAMP,1792701886288854109,-1.544141642e-06,-2.453299823e-05,-1.016160087e-06,-3.406568526e-06,-2.341000854e-05,-2.461315583e-06,-3.162067930e-06,-2.329594947e-05,-2.436530215e-06,7.015363273e-01,-2.298203691e-05,8.407399250e-01,7.015344649e-01,-2.185904722e-05,8.407384799e-01,7.017260600e-01,-2.155850265e-05,8.295702095e-01
+27,1.816666667e+00,UP_FORCE_RAMP,1792701886420855254,-3.441518687e-06,-3.171337608e-05,-2.454108383e-06,-3.406568526e-06,-2.341000854e-05,-2.461315583e-06,-3.163099009e-06,-2.330225392e-05,-2.437445791e-06,7.015344300e-01,-3.016241476e-05,8.407384871e-01,7.015344649e-01,-2.185904722e-05,8.407384799e-01,7.017260590e-01,-2.156480709e-05,8.295702086e-01
+28,1.916666667e+00,UP_FORCE_RAMP,1792701886587252940,-3.237776375e-06,-3.498860337e-05,-4.782055915e-07,-3.406568526e-06,-2.341000854e-05,-2.461315583e-06,-3.164106209e-06,-2.330524148e-05,-2.438914885e-06,7.015346337e-01,-3.343764205e-05,8.407404630e-01,7.015344649e-01,-2.185904722e-05,8.407384799e-01,7.017260580e-01,-2.156779466e-05,8.295702071e-01
+29,1.966666667e+00,UP_FORCE_RAMP,1792701886687061633,-1.198520537e-06,-3.464838898e-05,1.598085767e-06,-3.406568526e-06,-2.341000854e-05,-2.461315583e-06,-3.164702275e-06,-2.330618117e-05,-2.439769168e-06,7.015366730e-01,-3.309742766e-05,8.407425393e-01,7.015344649e-01,-2.185904722e-05,8.407384799e-01,7.017260574e-01,-2.156873434e-05,8.295702063e-01
+30,2.016666667e+00,UP_FORCE_RAMP,1792701886787112640,-3.797415766e-06,-4.333146501e-05,-2.144135045e-07,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.400208932e-06,-4.337260515e-05,-6.044629173e-07,7.015340741e-01,-4.178050369e-05,8.407407268e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258218e-01,-4.163515833e-05,8.295720416e-01
+31,2.100000000e+00,UP_FORCE_RAMP,1792701886955127961,-2.379695493e-06,-4.662249211e-05,-1.203926040e-07,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.401430085e-06,-4.340487207e-05,-5.959011877e-07,7.015354918e-01,-4.507153079e-05,8.407408208e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258206e-01,-4.166742525e-05,8.295720501e-01
+32,2.200000000e+00,UP_FORCE_RAMP,1792701887155231520,-3.039982357e-06,-5.254477672e-05,-2.456534378e-07,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.401993343e-06,-4.341123124e-05,-5.910395401e-07,7.015348315e-01,-5.099381539e-05,8.407406955e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258201e-01,-4.167378441e-05,8.295720550e-01
+33,2.266666667e+00,UP_FORCE_RAMP,1792701887287081964,-9.444290983e-07,-5.011067266e-05,2.267224835e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.402385217e-06,-4.341282753e-05,-5.885520578e-07,7.015369271e-01,-4.855971134e-05,8.407432084e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258197e-01,-4.167538070e-05,8.295720575e-01
+34,2.316666667e+00,UP_FORCE_RAMP,1792701887384770193,-2.173421419e-06,-5.554116037e-05,1.961795927e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.402624764e-06,-4.341340775e-05,-5.869895423e-07,7.015356981e-01,-5.399019905e-05,8.407429030e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258194e-01,-4.167596092e-05,8.295720591e-01
+35,2.350000000e+00,UP_FORCE_RAMP,1792701887452816165,-2.623954101e-06,-5.996443733e-05,1.007023255e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.402846094e-06,-4.341395406e-05,-5.859033920e-07,7.015352475e-01,-5.841347601e-05,8.407419482e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258192e-01,-4.167650724e-05,8.295720601e-01
+36,2.416666667e+00,UP_FORCE_RAMP,1792701887584525558,-4.066327014e-06,-5.583593435e-05,-1.183799482e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.403183702e-06,-4.341451302e-05,-5.840457303e-07,7.015338052e-01,-5.428497303e-05,8.407397574e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258189e-01,-4.167706620e-05,8.295720620e-01
+37,2.450000000e+00,UP_FORCE_RAMP,1792701887652524332,-6.861040392e-06,-5.916169610e-05,-4.110090476e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.403275985e-06,-4.341453259e-05,-5.833678498e-07,7.015310104e-01,-5.761073478e-05,8.407368311e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258188e-01,-4.167708576e-05,8.295720627e-01
+38,2.516666667e+00,UP_FORCE_RAMP,1792701887784534505,-3.846197371e-06,-6.336336982e-05,1.280819241e-06,-3.646586765e-06,-4.359846987e-05,-5.550132439e-07,-3.403573617e-06,-4.341487274e-05,-5.817376177e-07,7.015340253e-01,-6.181240850e-05,8.407422220e-01,7.015342249e-01,-4.204750855e-05,8.407403862e-01,7.017258185e-01,-4.167742591e-05,8.295720643e-01
+39,2.583333333e+00,UP_FORCE_RAMP,1792701887917026818,-2.774224633e-06,-6.181679400e-05,6.188392217e-06,-2.020697135e-06,-6.263103443e-05,4.999743331e-06,-1.729278124e-06,-6.237034086e-05,4.897271804e-06,7.015350973e-01,-6.026583268e-05,8.407471296e-01,7.015358508e-01,-6.108007311e-05,8.407459409e-01,7.017274928e-01,-6.063289404e-05,8.295775433e-01
+40,2.650000000e+00,UP_FORCE_RAMP,1792701888051047064,-3.853557941e-06,-6.603340881e-05,9.380067480e-06,-2.020697135e-06,-6.263103443e-05,4.999743331e-06,-1.725832550e-06,-6.237882375e-05,4.911761398e-06,7.015340179e-01,-6.448244749e-05,8.407503213e-01,7.015358508e-01,-6.108007311e-05,8.407459409e-01,7.017274962e-01,-6.064137693e-05,8.295775578e-01
+41,2.716666667e+00,UP_FORCE_RAMP,1792701888184801502,-3.447686171e-06,-6.371226207e-05,1.133050776e-05,-2.020697135e-06,-6.263103443e-05,4.999743331e-06,-1.722966457e-06,-6.238195516e-05,4.923245373e-06,7.015344238e-01,-6.216130074e-05,8.407522717e-01,7.015358508e-01,-6.108007311e-05,8.407459409e-01,7.017274991e-01,-6.064450834e-05,8.295775693e-01
+42,2.833333333e+00,UP_FORCE_RAMP,1792701888418525782,-2.059685545e-06,-6.405165011e-05,1.757659165e-05,-2.020697135e-06,-6.263103443e-05,4.999743331e-06,-1.718671529e-06,-6.238428852e-05,4.939643671e-06,7.015358118e-01,-6.250068879e-05,8.407585178e-01,7.015358508e-01,-6.108007311e-05,8.407459409e-01,7.017275034e-01,-6.064684169e-05,8.295775857e-01
+43,2.900000000e+00,UP_FORCE_RAMP,1792701888551340736,-4.462400327e-06,-6.449168275e-05,2.000697637e-05,-2.020697135e-06,-6.263103443e-05,4.999743331e-06,-1.716493691e-06,-6.238499888e-05,4.947454319e-06,7.015334091e-01,-6.294072143e-05,8.407609482e-01,7.015358508e-01,-6.108007311e-05,8.407459409e-01,7.017275056e-01,-6.064755206e-05,8.295775935e-01
+44,2.966666667e+00,UP_FORCE_RAMP,1792701888683303111,-2.418590520e-06,-6.661923217e-05,2.536639858e-05,-5.703159238e-07,-6.545737555e-05,2.653676730e-05,-1.918473231e-07,-6.521987857e-05,2.608728463e-05,7.015354529e-01,-6.506827085e-05,8.407663076e-01,7.015373012e-01,-6.390641423e-05,8.407674780e-01,7.017290302e-01,-6.348243175e-05,8.295987333e-01
+45,3.016666667e+00,UP_FORCE_RAMP,1792701888790176537,-4.762243810e-06,-6.504753092e-05,2.678475565e-05,-5.703159238e-07,-6.545737555e-05,2.653676730e-05,-1.879793557e-07,-6.522209546e-05,2.612937302e-05,7.015331092e-01,-6.349656960e-05,8.407677259e-01,7.015373012e-01,-6.390641423e-05,8.407674780e-01,7.017290341e-01,-6.348464864e-05,8.295987754e-01
+46,3.066666667e+00,UP_FORCE_RAMP,1792701888882542389,-3.975076662e-06,-6.799093900e-05,3.223074357e-05,-5.703159238e-07,-6.545737555e-05,2.653676730e-05,-1.842603479e-07,-6.522319651e-05,2.616453927e-05,7.015338964e-01,-6.643997768e-05,8.407731719e-01,7.015373012e-01,-6.390641423e-05,8.407674780e-01,7.017290378e-01,-6.348574968e-05,8.295988106e-01
+47,3.066666667e+00,UP_FORCE_RAMP,1792701888882542389,-3.975076662e-06,-6.799093900e-05,3.223074357e-05,-5.703159238e-07,-6.545737555e-05,2.653676730e-05,-1.842603479e-07,-6.522319651e-05,2.616453927e-05,7.015338964e-01,-6.643997768e-05,8.407731719e-01,7.015373012e-01,-6.390641423e-05,8.407674780e-01,7.017290378e-01,-6.348574968e-05,8.295988106e-01
+48,3.083333333e+00,UP_FORCE_RAMP,1792701888916541302,-4.812994360e-05,-6.357439717e-05,2.294010362e-05,-4.739973394e-05,-6.358337017e-05,2.267528663e-05,-4.746508981e-05,-6.334660720e-05,2.237420930e-05,7.014897415e-01,-6.202343585e-05,8.407638813e-01,7.014904717e-01,-6.203240885e-05,8.407636165e-01,7.016817570e-01,-6.160916038e-05,8.295950203e-01
+49,3.100000000e+00,UP_FORCE_RAMP,1792701888950540216,-3.957740235e-05,-6.805917430e-05,2.966798537e-05,-4.739973394e-05,-6.358337017e-05,2.267528663e-05,-4.752532829e-05,-6.334515873e-05,2.237904833e-05,7.014982941e-01,-6.650821298e-05,8.407706092e-01,7.014904717e-01,-6.203240885e-05,8.407636165e-01,7.016816967e-01,-6.160771191e-05,8.295950251e-01
+50,3.133333333e+00,UP_FORCE_RAMP,1792701889015077228,-4.274449619e-05,-6.727582366e-05,3.203183135e-05,-4.739973394e-05,-6.358337017e-05,2.267528663e-05,-4.758641259e-05,-6.334472479e-05,2.239337677e-05,7.014951270e-01,-6.572486234e-05,8.407729730e-01,7.014904717e-01,-6.203240885e-05,8.407636165e-01,7.016816356e-01,-6.160727797e-05,8.295950394e-01
+51,3.200000000e+00,UP_FORCE_RAMP,1792701889147146945,-3.822532946e-05,-6.454744576e-05,4.076657671e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.859792457e-05,-6.443628014e-05,3.992222061e-05,7.014996462e-01,-6.299648444e-05,8.407817078e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016906241e-01,-6.269883332e-05,8.296125683e-01
+52,3.250000000e+00,UP_FORCE_RAMP,1792701889249333126,-3.872418128e-05,-6.519273999e-05,4.365379702e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.862394074e-05,-6.443988081e-05,3.999133873e-05,7.014991473e-01,-6.364177867e-05,8.407845950e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016905981e-01,-6.270243399e-05,8.296126374e-01
+53,3.366666667e+00,UP_FORCE_RAMP,1792701889483233487,-3.752353992e-05,-6.826721998e-05,4.822833090e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.869512113e-05,-6.444163158e-05,4.009023967e-05,7.015003479e-01,-6.671625866e-05,8.407891695e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016905269e-01,-6.270418476e-05,8.296127363e-01
+54,3.433333333e+00,UP_FORCE_RAMP,1792701889615789767,-3.459015816e-05,-6.675937565e-05,5.285373157e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.873043417e-05,-6.444208769e-05,4.013490826e-05,7.015032813e-01,-6.520841433e-05,8.407937949e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016904916e-01,-6.270464087e-05,8.296127810e-01
+55,3.516666667e+00,UP_FORCE_RAMP,1792701889781280848,-3.769723328e-05,-6.670516851e-05,5.110727677e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.876952761e-05,-6.444252284e-05,4.018272439e-05,7.015001742e-01,-6.515420719e-05,8.407920485e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016904525e-01,-6.270507602e-05,8.296128288e-01
+56,3.566666667e+00,UP_FORCE_RAMP,1792701889881977234,-3.432352957e-05,-6.985892131e-05,5.746265125e-05,-3.845049115e-05,-6.466574428e-05,4.055100725e-05,-3.879059994e-05,-6.444271620e-05,4.020782118e-05,7.015035480e-01,-6.830795999e-05,8.407984038e-01,7.014994210e-01,-6.311478296e-05,8.407814922e-01,7.016904315e-01,-6.270526938e-05,8.296128539e-01
+57,3.633333333e+00,UP_FORCE_HOLD,1792701890015196288,-3.372644556e-05,-7.080604389e-05,6.073086502e-05,-3.362133847e-05,-7.062712632e-05,6.102998388e-05,-3.382624156e-05,-7.033933185e-05,6.029529481e-05,7.015041450e-01,-6.925508257e-05,8.408016721e-01,7.015042501e-01,-6.907616500e-05,8.408019712e-01,7.016953958e-01,-6.860188503e-05,8.296329413e-01
+58,3.683333333e+00,UP_FORCE_HOLD,1792701890113059366,-3.240933797e-05,-6.579894906e-05,6.188821220e-05,-3.362133847e-05,-7.062712632e-05,6.102998388e-05,-3.382883934e-05,-7.035118439e-05,6.037607680e-05,7.015054621e-01,-6.424798774e-05,8.408028294e-01,7.015042501e-01,-6.907616500e-05,8.408019712e-01,7.016953932e-01,-6.861373757e-05,8.296330221e-01
+59,3.750000000e+00,UP_FORCE_HOLD,1792701890247249548,-3.462649731e-05,-6.973157949e-05,6.088436337e-05,-3.362133847e-05,-7.062712632e-05,6.102998388e-05,-3.384034118e-05,-7.035469600e-05,6.044632557e-05,7.015032450e-01,-6.818061817e-05,8.408018256e-01,7.015042501e-01,-6.907616500e-05,8.408019712e-01,7.016953817e-01,-6.861724918e-05,8.296330924e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..814fd05691797dac0d0935774e336b9731577e84
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.2458e-02,-4.7163e-04,2.4492e+00,-3.6776e-02,3.5899e-02,-1.9422e-05,4.8914e-04,-3.8075e-06,8.5592e-05,-3.2037e-07,3.2391e-05,-6.0935e-07,4.9659e-04,3.2399e-05
+1,1.0000e-01,WAIT_W2,1.3967e-05,-8.2586e-03,8.4352e-05,2.4500e+00,-3.6833e-02,3.6234e-02,-5.2570e-05,4.6885e-03,5.5218e-04,9.1076e-04,-5.8088e-05,3.6729e-04,-3.3757e-05,4.8080e-03,3.7339e-04
+2,1.6667e-01,WAIT_W2,2.9635e-05,-7.2894e-03,3.0666e-05,2.4501e+00,-3.6829e-02,3.6294e-02,-5.3138e-05,5.6577e-03,4.9849e-04,9.5654e-04,-5.3592e-05,4.2728e-04,-3.4326e-05,5.7596e-03,4.3199e-04
+3,2.1667e-01,WAIT_W2,4.8656e-05,-6.5471e-03,-1.0482e-05,2.4501e+00,-3.6826e-02,3.6341e-02,-5.3580e-05,6.4001e-03,4.5734e-04,1.0412e-03,-5.0295e-05,4.7409e-04,-3.4768e-05,6.5003e-03,4.7802e-04
+4,2.6667e-01,WAIT_W2,5.9949e-05,-5.8153e-03,-4.9078e-05,2.4502e+00,-3.6823e-02,3.6388e-02,-5.4031e-05,7.1319e-03,4.1875e-04,1.1497e-03,-4.7263e-05,5.2086e-04,-3.5219e-05,7.2361e-03,5.2419e-04
+5,3.3333e-01,WAIT_W2,7.6563e-05,-4.8685e-03,-9.5399e-05,2.4504e+00,-3.6819e-02,3.6449e-02,-5.4645e-05,8.0787e-03,3.7242e-04,1.3130e-03,-4.3664e-05,5.8217e-04,-3.5832e-05,8.1931e-03,5.8491e-04
+6,4.0000e-01,WAIT_W2,9.0307e-05,-3.9702e-03,-1.3548e-04,2.4506e+00,-3.6816e-02,3.6508e-02,-5.5268e-05,8.9769e-03,3.3235e-04,1.4815e-03,-4.0580e-05,6.4115e-04,-3.6456e-05,9.1044e-03,6.4347e-04
+7,4.5000e-01,WAIT_W2,1.0694e-04,-3.2845e-03,-1.6387e-04,2.4507e+00,-3.6814e-02,3.6553e-02,-5.5788e-05,9.6627e-03,3.0396e-04,1.6167e-03,-3.8397e-05,6.8668e-04,-3.6976e-05,9.8017e-03,6.8874e-04
+8,5.1667e-01,WAIT_W2,1.2286e-04,-2.3628e-03,-2.0033e-04,2.4509e+00,-3.6811e-02,3.6616e-02,-5.6617e-05,1.0584e-02,2.6749e-04,1.8041e-03,-3.5569e-05,7.4881e-04,-3.7805e-05,1.0740e-02,7.5060e-04
+9,5.8333e-01,WAIT_W2,1.3504e-04,-5.4956e-04,-3.5159e-04,2.4513e+00,-3.6797e-02,3.6767e-02,-6.5846e-05,1.2398e-02,1.1623e-04,2.1851e-03,-2.1927e-05,8.9999e-04,-4.7034e-05,1.2589e-02,9.0149e-04
+10,6.5000e-01,WAIT_W2,1.4996e-04,-8.4662e-05,-3.4899e-04,2.4513e+00,-3.6798e-02,3.6796e-02,-6.6156e-05,1.2862e-02,1.1883e-04,2.2054e-03,-2.2262e-05,9.2891e-04,-4.7344e-05,1.3051e-02,9.3038e-04
+11,7.0000e-01,WAIT_W2,1.6973e-04,-1.7599e-04,7.8291e-03,2.4479e+00,-3.7377e-02,3.6787e-02,-6.0339e-05,1.2771e-02,8.2970e-03,-1.1826e-03,-6.0162e-04,9.1985e-04,-4.1527e-05,1.5275e-02,1.0999e-03
+12,7.5000e-01,WAIT_W2,1.8333e-04,-1.3656e-05,1.2271e-02,2.4476e+00,-3.7670e-02,3.6797e-02,-5.7761e-05,1.2933e-02,1.2739e-02,-1.5390e-03,-8.9492e-04,9.3045e-04,-3.8949e-05,1.8219e-02,1.2916e-03
+13,8.5000e-01,WAIT_W2,1.9821e-04,6.7310e-04,1.1272e-02,2.4482e+00,-3.7611e-02,3.6842e-02,-5.6765e-05,1.3620e-02,1.1740e-02,-9.1577e-04,-8.3522e-04,9.7563e-04,-3.7953e-05,1.8005e-02,1.2849e-03
+14,9.1667e-01,WAIT_W2,2.1584e-04,1.1808e-03,1.1068e-02,2.4486e+00,-3.7599e-02,3.6876e-02,-5.6316e-05,1.4128e-02,1.1535e-02,-4.8709e-04,-8.2383e-04,1.0094e-03,-3.7503e-05,1.8246e-02,1.3035e-03
+15,9.6667e-01,WAIT_W2,2.2706e-04,1.5537e-03,1.1003e-02,2.4489e+00,-3.7596e-02,3.6901e-02,-5.6066e-05,1.4501e-02,1.1471e-02,-1.8144e-04,-8.2063e-04,1.0345e-03,-3.7254e-05,1.8490e-02,1.3210e-03
+16,1.0167e+00,WAIT_W2,2.4479e-04,5.1066e-03,-4.7347e-04,2.4556e+00,-3.6782e-02,3.7156e-02,-6.7819e-05,1.8054e-02,-5.6472e-06,6.5448e-03,-6.9886e-06,1.2894e-03,-4.9006e-05,1.9203e-02,1.2904e-03
+17,1.0833e+00,WAIT_W2,2.5949e-04,5.0542e-03,9.1643e-04,2.4558e+00,-3.6895e-02,3.7149e-02,-7.6109e-05,1.8001e-02,1.3843e-03,6.6795e-03,-1.1981e-04,1.2826e-03,-5.7297e-05,1.9250e-02,1.2895e-03
+18,1.1333e+00,WAIT_W2,2.7445e-04,5.1306e-03,1.0146e-03,2.4556e+00,-3.6900e-02,3.7155e-02,-7.6279e-05,1.8078e-02,1.4825e-03,6.5503e-03,-1.2492e-04,1.2878e-03,-5.7467e-05,1.9285e-02,1.2951e-03
+19,1.2000e+00,WAIT_W2,2.9057e-04,5.2671e-03,1.1062e-03,2.4554e+00,-3.6905e-02,3.7164e-02,-7.6526e-05,1.8214e-02,1.5741e-03,6.2661e-03,-1.2929e-04,1.2971e-03,-5.7714e-05,1.9326e-02,1.3048e-03
+20,1.3000e+00,WAIT_W2,3.0396e-04,5.4932e-03,1.1440e-03,2.4549e+00,-3.6905e-02,3.7180e-02,-7.6903e-05,1.8440e-02,1.6118e-03,5.8181e-03,-1.2987e-04,1.3129e-03,-5.8091e-05,1.9403e-02,1.3206e-03
+21,1.3500e+00,WAIT_W2,3.2245e-04,5.5850e-03,1.1430e-03,2.4548e+00,-3.6905e-02,3.7186e-02,-7.7033e-05,1.8532e-02,1.6109e-03,5.6603e-03,-1.2929e-04,1.3193e-03,-5.8221e-05,1.9444e-02,1.3269e-03
+22,1.3833e+00,WAIT_W2,3.3655e-04,5.6632e-03,1.1397e-03,2.4546e+00,-3.6904e-02,3.7192e-02,-7.7143e-05,1.8610e-02,1.6075e-03,5.5232e-03,-1.2866e-04,1.3248e-03,-5.8331e-05,1.9479e-02,1.3324e-03
+23,1.4667e+00,WAIT_W2,3.5220e-04,6.0428e-03,1.0785e-03,2.4540e+00,-3.6897e-02,3.7220e-02,-7.8046e-05,1.8990e-02,1.5463e-03,4.8988e-03,-1.2192e-04,1.3535e-03,-5.9234e-05,1.9672e-02,1.3603e-03
+24,1.5500e+00,WAIT_W2,3.6688e-04,6.0802e-03,1.0712e-03,2.4540e+00,-3.6897e-02,3.7223e-02,-7.8151e-05,1.9027e-02,1.5390e-03,4.9109e-03,-1.2140e-04,1.3563e-03,-5.9338e-05,1.9711e-02,1.3630e-03
+25,1.6333e+00,WAIT_W2,3.8123e-04,6.1685e-03,1.0692e-03,2.4539e+00,-3.6897e-02,3.7229e-02,-7.8229e-05,1.9116e-02,1.5371e-03,4.8153e-03,-1.2124e-04,1.3624e-03,-5.9417e-05,1.9773e-02,1.3691e-03
+26,1.7500e+00,UP_FORCE_RAMP,3.9732e-04,8.1925e-03,1.3469e-02,2.4535e+00,-3.7786e-02,3.7378e-02,-6.2462e-05,2.1140e-02,1.3936e-02,4.3676e-03,-1.0106e-03,1.5110e-03,-4.3650e-05,2.5694e-02,1.8184e-03
+27,1.8167e+00,UP_FORCE_RAMP,4.1409e-04,7.9783e-03,1.2332e-02,2.4534e+00,-3.7686e-02,3.7359e-02,-5.4812e-05,2.0925e-02,1.2800e-02,4.2551e-03,-9.1042e-04,1.4921e-03,-3.6000e-05,2.4896e-02,1.7483e-03
+28,1.9167e+00,UP_FORCE_RAMP,4.3149e-04,7.9241e-03,1.2096e-02,2.4533e+00,-3.7672e-02,3.7356e-02,-5.4666e-05,2.0871e-02,1.2564e-02,4.2186e-03,-8.9663e-04,1.4888e-03,-3.5854e-05,2.4724e-02,1.7383e-03
+29,1.9667e+00,UP_FORCE_RAMP,4.4694e-04,7.9086e-03,1.2055e-02,2.4533e+00,-3.7670e-02,3.7355e-02,-5.4669e-05,2.0856e-02,1.2522e-02,4.1964e-03,-8.9420e-04,1.4879e-03,-3.5857e-05,2.4686e-02,1.7363e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..46280c7b300fa15ff9a69d763a223e76b95a4b1a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:7d36953279fb4758c4ea143061999591607fe715092974ef4635cd2a9973b3f6
+size 46274560
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37de114471f7b9b8bee20e264197c1a30cee24db
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49245bf407b20760fca48a356358af6bb774f39f
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
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+9545,1792701950554912232,9777564000000,1792701950547153139,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6760118301605368,-0.004656074074449869,0.09079907700068018,0.9999999814698666,2.1052841988646463e-05,-0.00016307844808172037,3.827960804257095e-05,0.6761,-0.00453,0.09087806317323663,1.0,0.0,0.0,0.0,0.13519781931171437,0.09409703969112948,0.5594010034738738,0.007514856807763707,-0.009677452070264228,0.0005161686596435508,0.6602403370747199,0.41223789424720547,0.43520745845438963,0.029708903892967254,-0.046269768483544874,0.0013860551521498814,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.12245198130953076,0.7716405122569154,0.8123437555639471,-0.00936252023071493,-0.41426095714352446,0.4135432209771693,-0.13074956995010537,0.5594010034738738,-0.9430933255140524,-0.9430933255140524,0.17671999999999416,0,0,-0.00011044997872830387,-9.999999025923074e-05
+9597,1792701950988024848,9777997000000,1792701950987153522,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6760573191516954,-0.004661119333389746,0.09077696545529325,0.9999999928084194,2.0097934788936156e-05,-4.590232165432006e-05,5.75766926149068e-05,0.6761,-0.00453,0.09082556193336253,1.0,0.0,0.0,0.0,-0.03937653414454656,0.2132887261436156,0.6528265961793261,0.01637136807320548,0.0033060650699773333,-6.958683852426484e-05,0.4856659836184589,0.5314295806996916,0.5286330511598419,0.03856541515840903,-0.03328625134330331,0.0008002996539820657,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.2313270101142672,0.7227597910409196,0.6928802277842593,-0.05600576000539252,-0.3513974901454616,0.4016079913730243,-0.13074956995010537,0.6528265961793261,-0.8236297977343646,-0.8236297977343646,0.21135999999999275,0,0,-0.00013209997451055078,-9.999999025923074e-05
+9701,1792701951855004579,9778864000000,1792701951847153914,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6760547506213431,-0.004667810260475853,0.09070620635778721,0.999999990546497,3.441386907527562e-05,-5.556940634164245e-05,7.795894500100514e-05,0.6761,-0.00453,0.09069226070912711,1.0,0.0,0.0,0.0,-0.03799573804429496,0.17041655288358543,1.0110392346160857,0.014277524441637324,0.002251332855119949,0.00041218495219267216,0.4870467797187105,0.4885574074396614,0.8868456895966015,0.03647157152684087,-0.0343409835581607,0.0012820714446990027,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.43338340576120044,0.6535015426355809,0.1587829710842474,0.03608309124636303,0.03511121387830611,0.3432694086323276,-0.13074956995010537,1.0110392346160857,-0.2895325410343528,-0.2895325410343528,0.2807200000000006,0,0,-0.00017544996606530384,-9.999999025923074e-05
+9770,1792701952429969712,9779439000000,1792701952423153669,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6760972392657036,-0.00467162072933018,0.09064992558889157,0.9999999894255494,4.939953560374658e-05,4.855407005244873e-06,0.00010063735164531045,0.6761,-0.00453,0.09058314120654214,1.0,0.0,0.0,0.0,-0.16406624455649071,0.27030012998800135,1.2374995025433777,0.02213975723696699,0.011816085446288673,0.00044869580533725363,0.36097627320651476,0.5884409845440773,1.1133059575238935,0.04433380432217054,-0.024776230966991972,0.0013185822978435842,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.6511311357842866,0.5659714596355828,-0.20854583606977067,0.07091388460547607,0.29134147974740016,0.2867084727066379,-0.13074956995010537,1.2374995025433777,0.07779626611966531,0.07779626611966531,0.32672000000001467,0,0,-0.00020255240937695545,3.44790128553127e-05
+9848,1792701953079973761,9780089000000,1792701953075153714,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761143265453788,-0.004686272955042803,0.09057073134922751,0.9999999845866567,6.285717676013692e-05,3.789532417704182e-05,0.0001299325613704312,0.6761,-0.00453,0.0904533919861213,1.0,0.0,0.0,0.0,-0.20785956600533767,0.2829718951124809,1.5658926772618091,0.022780105326098213,0.015133256761364098,0.0006118900972487167,0.3171829517576678,0.6011127496685569,1.441699132242325,0.04497415241130176,-0.021459059651916548,0.0014817765897550473,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.7320207138431885,0.5178411745665442,-0.43322762232622286,0.08548491902441367,0.44991322598640576,0.25631523778500576,-0.13074956995010537,1.5658926772618091,0.30247805237611747,0.30247805237611747,0.3787200000000306,0,0,-0.00018570870702752795,9.999999025923074e-05
+9924,1792701953712991440,9780722000000,1792701953707153613,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761268987382539,-0.004691574742269721,0.09048588705223175,0.9999999783618979,9.473868124457947e-05,5.2233695090647624e-05,0.0001517079147866583,0.6761,-0.00453,0.09034583977261829,1.0,0.0,0.0,0.0,-0.2346108316215631,0.29514824196838463,1.7737242181892656,0.023103608617310742,0.018107217366581968,0.0011518911971826469,0.2904316861414424,0.6132890965244606,1.6495306731697814,0.04529765570251429,-0.018485099046698678,0.0020217776896889776,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.7867995216026127,0.5614318336597796,-0.636716495245494,0.06398539592053824,0.5867004197328598,0.28726788190155167,-0.13074956995010537,1.7737242181892656,0.5059669252953887,0.5059669252953887,0.4293600000000461,0,0,-0.00015405871319343489,9.999999025923074e-05
+10012,1792701954445959877,9781455000000,1792701954439153622,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761377190337652,-0.004693061678067946,0.09041054438544238,0.9999999733262978,0.00010827502665016248,6.922288473532508e-05,0.00016815165440920953,0.6761,-0.00453,0.09024632863322712,1.0,0.0,0.0,0.0,-0.25503663218197986,0.27914809037956445,1.8906844412525605,0.02282400116083614,0.019461176593750858,0.0008501755533634597,0.2700058855810256,0.5972889449356404,1.7664908962330763,0.04501804824603969,-0.017131139819529788,0.0017200620458697902,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9125244528544927,0.5176559513890355,-0.8959802844408672,0.07069462834537543,0.782782108239645,0.25846433169228444,-0.13074956995010537,1.8906844412525605,0.7652307144907619,0.7652307144907619,0.48800000000006405,0,0,-0.00011740872033341875,9.999999025923074e-05
+10124,1792701955379973715,9782389000000,1792701955375153628,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761433245057195,-0.00469822448134978,0.09033214045493086,0.9999999698222626,0.00011266268039448966,7.420416614002906e-05,0.00018330084684351294,0.6761,-0.00453,0.09015845443418245,1.0,0.0,0.0,0.0,-0.26467058438074886,0.28010889663626537,1.9704592041630784,0.022655896726608914,0.020113969355695326,-5.329706519061777e-06,0.2603719333822566,0.5982497511923414,1.8462656591435942,0.04484994381181246,-0.01647834705758532,0.0008645567859872688,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9320491497148891,0.4907573787709616,-0.8792038912024706,0.07598819564388941,0.7744571944341505,0.24252609448863632,-0.13074956995010537,1.9704592041630784,0.7484543212523652,0.7484543212523652,0.5627200000000434,0,0,-7.070872943129724e-05,9.999999025923074e-05
+10187,1792701955904977340,9782914000000,1792701955903143749,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761499029934636,-0.004693366739311309,0.09029757767986388,0.9999999882366443,-5.879259333860106e-05,9.680351465036837e-05,4.6282675908418626e-05,0.6761,-0.00453,0.09012820984988607,1.0,0.0,0.0,0.0,-0.14061399147617942,0.4067263252388572,1.9598628934255378,0.03179543225272524,0.011126609341646172,0.0006388306811429062,0.38442852628682606,0.7248671797949332,1.8356693484060536,0.05398947933792879,-0.025465707071634473,0.0015087171736492368,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.789719169435091,0.7516342131826502,-0.8920159066093846,-0.04259964566893164,0.7592876893775017,0.40923360872870085,-0.13074956995010537,1.9598628934255378,0.7612663366592792,0.7612663366592792,0.6047200000000271,0,0,-4.44587345452011e-05,9.999999025923074e-05
+10313,1792701956954965758,9783964000000,1792701956951153533,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761466736386247,-0.004678873168161326,0.09026780950018458,0.9999999895311901,-4.4181096994893186e-05,8.851694901425739e-05,5.092410855653973e-05,0.6761,-0.00453,0.09010659585860084,1.0,0.0,0.0,0.0,-0.17972905553242202,0.30684288941707616,1.851905886138312,0.024003087292223904,0.014034791736834178,1.9547189142920043e-05,0.34531346223058346,0.6249837439731522,1.7277123411188278,0.04619713437742745,-0.022557524676446467,0.0008894336816492506,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.8719951985708666,0.6658172772520827,-0.8194909832006215,-0.07502714637318195,0.749661471470492,0.3932499505540937,-0.13074956995010537,1.851905886138312,0.6887414132505162,0.6887414132505162,0.6887199999999946,0,0,-5.613195141196403e-06,5.669894082016569e-05
+10443,1792701958037933555,9785047000000,1792701958035146434,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761424623086514,-0.004682392908176205,0.0902359207769976,0.999999989741307,-4.3194373801000495e-05,8.129916394490847e-05,5.903340092106962e-05,0.6761,-0.00453,0.09007789613534925,1.0,0.0,0.0,0.0,-0.16917754263875812,0.2785575368445027,1.8003562455819084,0.022477489823008935,0.013063331815474956,2.907091513386546e-05,0.35586497512424736,0.5966983914005787,1.6761627005624242,0.04467153690821248,-0.02352898459780569,0.000898957407640196,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9012603729994395,0.7623588146961489,-0.7668962566944358,-0.09266319061818204,0.720322962596513,0.4440229471671164,-0.13074956995010537,1.8003562455819084,0.6361466867443305,0.6361466867443305,0.775359999999961,0,0,-5.065689768632276e-05,-9.999994862586731e-05
+10559,1792701959004946189,9786014000000,1792701959003153845,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761506604836999,-0.004684436395581637,0.0901962493342136,0.9999999879563243,-3.662240960431342e-05,9.450268195571172e-05,7.251384683020398e-05,0.6761,-0.00453,0.09001428971694281,1.0,0.0,0.0,0.0,-0.19631997451280986,0.2760933342240015,1.850492511507924,0.022979513451840863,0.01405756662755028,7.0802378452499174e-06,0.3287225432501956,0.5942341887800775,1.7262989664884398,0.04517356053704441,-0.022534749785730366,0.0008769667303515805,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9423480782227691,0.532896282713653,-0.9699662908265475,0.023097685436816402,0.8418265709698165,0.28674028629699466,-0.13074956995010537,1.850492511507924,0.8392167208764422,0.8392167208764422,0.852719999999931,0,0,-7.669338960150795e-05,9.990398372317628e-05
+10655,1792701959804941665,9786814000000,1792701959803153519,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761525400476307,-0.00468753671852992,0.09014715870061708,0.9999999871497176,-2.6830662757495073e-05,9.518310786162184e-05,8.581212307137245e-05,0.6761,-0.00453,0.08995691882271821,1.0,0.0,0.0,0.0,-0.19620983389636532,0.26622756255582647,1.9304874539777486,0.021915706226518977,0.01507216073904356,-5.335554813510983e-05,0.32883268386664016,0.5843684171119025,1.8062939089582644,0.044109753311722524,-0.021520155674237085,0.0008165309443712208,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9645991904253844,0.5516773128729887,-1.092597804167648,0.07108022562052067,0.9196522864400737,0.28286436086278177,-0.13074956995010537,1.9304874539777486,0.9618482342175427,0.9618482342175427,0.9167199999999062,0,0,-6.377891380718458e-05,9.99992131031135e-05
+10747,1792701960570907851,9787580000000,1792701960567153895,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761519357418317,-0.004692538694854799,0.09009855435878689,0.9999999863585327,-2.1124900231139372e-05,9.162779771718333e-05,9.941772542628392e-05,0.6761,-0.00453,0.08991486062383135,1.0,0.0,0.0,0.0,-0.1980743153355834,0.2409360434228932,1.9396218359139035,0.019871861274781938,0.015109511746461333,-8.400650490743321e-05,0.3269682024274221,0.5590768979789692,1.8154282908944193,0.042065908359985485,-0.021482804666819313,0.0007858799875988974,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9438327449593293,0.594723573832567,-1.113123429459668,0.09015100921085607,0.9179744820551562,0.3088984076848572,-0.13074956995010537,1.9396218359139035,0.9823738595095626,0.9823738595095626,0.9779999999998824,0,0,-5.1500821916768185e-05,9.960989952174088e-05
+10844,1792701961379828546,9788389000000,1792701961375153511,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761523543132643,-0.004696435264884532,0.09005515545103784,0.9999999852316076,-1.6051363498254767e-05,9.358902506110265e-05,0.00010937594438759246,0.6761,-0.00453,0.08986557879505752,1.0,0.0,0.0,0.0,-0.19455348175703513,0.2359078018209495,1.9230210960952054,0.018853697064813477,0.015139141835318136,-8.620204928987314e-05,0.33048903600597035,0.5540486563770255,1.7988275510757212,0.041047744150017024,-0.02145317457796251,0.0007836844432164574,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9020471976459651,0.5396545077210088,-0.9835037951773496,0.1156039794434879,0.8195416028667808,0.26732192545382244,-0.13074956995010537,1.9230210960952054,0.8527542252272443,0.8527542252272443,1.0427199999999166,0,0,-7.492106844228375e-05,-9.999999025923074e-05
+10946,1792701962229894605,9789239000000,1792701962227153751,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761554871372416,-0.0046980600577391915,0.0899940335095346,0.9999999833106215,-4.1868756749263976e-06,9.857815411139813e-05,0.00012282686574195708,0.6761,-0.00453,0.08979502335688133,1.0,0.0,0.0,0.0,-0.20348647682546772,0.21839605639149584,1.9691122418709144,0.01819546663714182,0.01513412361533623,-0.00013243547194485253,0.32155604093753776,0.5365369109475718,1.8449186968514302,0.040389513722345366,-0.021458192797944416,0.0007374510205614781,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.8948097916974638,0.6664918416272791,-1.0632659406912175,0.08049593800251527,0.8636409575861583,0.35252478894860695,-0.13074956995010537,1.9691122418709144,0.9325163707411122,0.9325163707411122,1.1107199999999846,0,0,-9.020343890861338e-05,-9.999987923692828e-05
+11030,1792701962929820651,9789939000000,1792701962927153605,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761619270129622,-0.00468741329332742,0.08993306746004424,0.9999999842630144,-7.382685322982456e-05,0.0001178794316964997,5.9756762870104816e-05,0.6761,-0.00453,0.08973063102089905,1.0,0.0,0.0,0.0,-0.1862300968113882,0.25211189193661365,2.010792147932626,0.01878785264996219,0.015113723623729348,-0.00015144319228733462,0.3388124209516173,0.5702527464926896,1.886598602913142,0.040981899735165736,-0.021478592789551297,0.000718443300218996,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.8733288139231653,0.6410219854797616,-1.1219993921685234,0.08565239761846949,0.8963868737668358,0.34596501593516116,-0.13074956995010537,2.010792147932626,0.9912498222184181,0.9912498222184181,1.1667200000000406,0,0,-9.306070323652905e-05,-9.995119595729846e-05
+11120,1792701963679877897,9790689000000,1792701963679153658,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761598254339928,-0.004691784670955083,0.0898571002810069,0.9999999851664158,-4.702506582265612e-05,0.00011139386865691218,8.056104548266577e-05,0.6761,-0.00453,0.08965013574872487,1.0,0.0,0.0,0.0,-0.17534571602175641,0.22501445849780033,2.045778575224169,0.017849637640987744,0.013700648965628216,-0.00021031579331986497,0.34969680174124906,0.5431553130538763,1.921585030204685,0.04004368472619129,-0.02289166744765243,0.0006595706991864656,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9450557885984723,0.5194014720983381,-1.2011421138327654,0.08469923627362777,0.9720346732765828,0.27231250153182446,-0.13074956995010537,2.045778575224169,1.07039254388266,1.07039254388266,1.2267200000001006,0,0,-0.00011897162957407088,-6.151853858466275e-05
+11213,1792701964454875630,9791464000000,1792701964451153173,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761599339072487,-0.004692497852714233,0.08976848600167342,0.9999999844254486,5.557881962373261e-06,0.0001104598600316938,0.00010178259359644456,0.6761,-0.00453,0.08955653375591138,1.0,0.0,0.0,0.0,-0.17419355256609753,0.21959733661526293,2.0828675364068214,0.01785365926214423,0.013105275643852318,-0.0002579115562010688,0.35084896519690795,0.5377381911713389,1.9586739913873372,0.04004770634734778,-0.023487040769428327,0.0006119749363052618,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9128877751946411,0.46801234197190356,-1.2045669203003015,0.15631838040298757,0.950608787783667,0.2408330951122424,-0.13074956995010537,2.0828675364068214,1.0738173503501962,1.0738173503501962,1.2887200000001626,0,0,-0.0001194085908026984,-9.999695102370083e-05
+11297,1792701965154897483,9792164000000,1792701965151153516,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761604602318717,-0.004698210327604462,0.08968242873962755,0.9999999830141707,1.3129741903778643e-05,0.00010938412352775078,0.0001152269331544066,0.6761,-0.00453,0.08947104611743156,1.0,0.0,0.0,0.0,-0.1745738097018209,0.19513281671069116,2.0872073443957806,0.015781052011042462,0.014141604513409338,-0.00026214822303874266,0.3504687080611846,0.5132736712667672,1.9630137993762966,0.03797509909624601,-0.022450711899871308,0.0006077382694675879,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9440112601250226,0.49357365989907964,-1.3599381029212625,0.15475586740003192,1.0544136749442077,0.2501767940436807,-0.13074956995010537,2.0872073443957806,1.2291885329711572,1.2291885329711572,1.3447200000002186,0,0,-0.00012384293899128795,9.98956848060672e-05
+11381,1792701965854857523,9792864000000,1792701965851153852,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761643734393986,-0.004695383303889605,0.0895960327168847,0.9999999838173036,-9.537886005064846e-06,0.00011580630662354103,0.00010151938295780391,0.6761,-0.00453,0.08937861381369773,1.0,0.0,0.0,0.0,-0.16552315766309228,0.20549501994873487,2.117490412408421,0.015807622312438235,0.013120233368817485,-0.0003080824367383573,0.3595193600999132,0.5236358745048109,1.9932968673889366,0.03800166939764178,-0.02347208304446316,0.0005618040557679733,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9522498667788868,0.44885014375902516,-1.3537120990419185,0.1865993287149221,1.0450597354023052,0.22182047157265916,-0.13074956995010537,2.117490412408421,1.2229625290918131,1.2229625290918131,1.4007200000002746,0,0,-0.00013824723758878229,-3.9987264020069975e-05
+11457,1792701966487844084,9793497000000,1792701966487153708,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761641207194882,-0.004699767550735789,0.08950422394033439,0.9999999842841761,-2.876873908445875e-05,0.00011500904646212441,9.391374175291387e-05,0.6761,-0.00453,0.08928706495922821,1.0,0.0,0.0,0.0,-0.15515031512197675,0.19213330829653097,2.119063101251665,0.015038326377542308,0.01212200026349754,-0.0003275619929036432,0.36989220264102873,0.510274162852607,1.9948695562321808,0.037232373462745855,-0.024470316149783105,0.0005423244996026874,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9677253573816739,0.5950816243991014,-1.2901107797590945,0.15851634748457788,1.0057790558268933,0.31701887788561245,-0.13074956995010537,2.119063101251665,1.1593612098089892,1.1593612098089892,1.4513600000003253,0,0,-0.0001497190454766414,-9.999699265706425e-05
+11533,1792701967120780241,9794130000000,1792701967115153810,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761644178249309,-0.004696927056503098,0.089407271523866,0.9999999844292667,-3.103157915339422e-05,0.00011480362477689777,9.187763379770377e-05,0.6761,-0.00453,0.08918776490884434,1.0,0.0,0.0,0.0,-0.14542383115777208,0.18173254521870086,2.1495503222545853,0.013788108804266452,0.012140029677272856,-0.0003630330040626294,0.3796186866052334,0.49987339977477685,2.025356777235101,0.03598215588947,-0.02445228673600779,0.0005068534884437012,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.008296723715501,0.5449850785338747,-1.3904451795445048,0.18387886738062917,1.0793288912120278,0.28445408770654,-0.13074956995010537,2.1495503222545853,1.2596956095943994,1.2596956095943994,1.502000000000376,0,0,-0.00016188207370012998,-9.992878332998884e-05
+11597,1792701967654848261,9794664000000,1792701967651153576,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761664747791721,-0.004701553461666123,0.08931780175700416,0.9999999834281543,-2.762147840457921e-05,0.0001175153920849314,0.0001000686873563814,0.6761,-0.00453,0.08909766084959544,1.0,0.0,0.0,0.0,-0.14185170447060957,0.16229944944113073,2.1582485599207923,0.013811174918403293,0.011126318481761068,-0.0003857889030633363,0.3831908132923959,0.4804403039972067,2.034055014901308,0.03600522200360684,-0.025465997931519577,0.00048409758944299426,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.994556180433966,0.4608618590864586,-1.464685033341265,0.21735641443101403,1.1195242440332533,0.2347608635350696,-0.13074956995010537,2.1582485599207923,1.3339354633911598,1.3339354633911598,1.5447200000004186,0,0,-0.00017548837597383826,6.342435884676973e-05
+11665,1792701968220870982,9795230000000,1792701968219153449,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761660045757171,-0.0047046497478308216,0.08921440848647198,0.9999999832840917,-1.7697371679359755e-05,0.00011409516764740533,0.00010744196837490194,0.6761,-0.00453,0.08899755173716542,1.0,0.0,0.0,0.0,-0.1440069524592788,0.15552698715807967,2.1874932066852772,0.011738895023805512,0.012171169606122391,-0.00045304651556134776,0.3810355653037267,0.47366784171415566,2.063299661665793,0.03393294210900906,-0.024421146807158255,0.0004168399769449828,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9597200228372541,0.570941668460512,-1.4617428011981728,0.19499478193835137,1.102259935259303,0.3086416511320686,-0.13074956995010537,2.1874932066852772,1.3309932312480675,1.3309932312480675,1.590000000000464,0,0,-0.00017933753963392108,-9.995323599210621e-05
+11728,1792701968745817233,9795755000000,1792701968743153954,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761676644489275,-0.004707719312057846,0.08912089207585973,0.9999999831843196,-1.483306340118153e-05,0.00011496160961602851,0.0001078797183424033,0.6761,-0.00453,0.08890037376420414,1.0,0.0,0.0,0.0,-0.12713949599948804,0.15973191492925737,2.178445090895648,0.012769031018417261,0.01114089903772087,-0.0004121666115021748,0.39790302176351744,0.47787276948533336,2.0542515458761637,0.03496307810362081,-0.025451417375559775,0.0004577198810041558,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,0.9653897107181862,0.5151385058110959,-1.5122898371635325,0.22205010056135965,1.1360702639419946,0.27232791593638334,-0.13074956995010537,2.178445090895648,1.3815402672134272,1.3815402672134272,1.632000000000506,0,0,-0.0001916158492513164,-8.840340382168337e-05
+11796,1792701969312863899,9796322000000,1792701969311153699,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761661472580779,-0.004704959684037437,0.08900597829883894,0.9999999832023804,-2.1859129105270046e-05,0.00011392088147501538,0.00010762116303664761,0.6761,-0.00453,0.0887868924473206,1.0,0.0,0.0,0.0,-0.1441447906696393,0.1472634057555136,2.1797658907803807,0.011765956624978896,0.011160170209806222,-0.0004264884695050866,0.38089772709336617,0.4654042603115896,2.0555723457608965,0.03396000371018244,-0.025432146203474424,0.000443398023001244,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.0573693834693336,0.542099644071794,-1.4967550111017676,0.2380558099079956,1.145636322204636,0.29563335333744517,-0.13074956995010537,2.1797658907803807,1.3660054411516622,1.3660054411516622,1.6773600000005513,0,0,-0.00020997048663237561,-9.999999025923074e-05
+11848,1792701969745764467,9796755000000,1792701969739153799,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761678246397754,-0.0047052750755233585,0.0889156646537329,0.9999999827484916,-1.9845159710257264e-05,0.00011474854166090044,0.00011128711913162128,0.6761,-0.00453,0.08869333647719861,1.0,0.0,0.0,0.0,-0.12204160662958397,0.15299147203104602,2.2077727669457716,0.011788792430586365,0.010140053195536104,-0.00046211067220252504,0.4030009111334215,0.471132326587122,2.0835792219262874,0.03398283951578991,-0.02645226321774454,0.00040777582030380555,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.0194529691122798,0.5105530608182044,-1.520980899059367,0.24903440814785943,1.145955415493745,0.27204104315731437,-0.13074956995010537,2.2077727669457716,1.3902313291092616,1.3902313291092616,1.712000000000586,0,0,-0.0002231043075798508,-9.999999025923074e-05
+11904,1792701970212861666,9797222000000,1792701970207153241,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761675908389871,-0.004704380158250362,0.08880713460786098,0.9999999823025636,-1.307219093557731e-05,0.00011398240596513711,0.00011693958328688429,0.6761,-0.00453,0.08858605600619998,1.0,0.0,0.0,0.0,-0.13415946188978906,0.1404443738742137,2.2438973291707947,0.010732524446259384,0.011165037410559672,-0.000489721934859915,0.3908830558732164,0.4585852284302897,2.1197037841513104,0.03292657153146293,-0.025427279002720973,0.00038016455764641554,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.0232648479792257,0.512326863399774,-1.5705613730744172,0.2662062062623413,1.1780261185715877,0.2794989245274727,-0.13074956995010537,2.2438973291707947,1.439811803124312,1.439811803124312,1.7493600000006233,0,0,-0.00023499819813285606,-9.912201201356936e-05
+11960,1792701970679851443,9797689000000,1792701970679153563,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761627550953819,-0.004709129124564058,0.08869375222786165,0.9999999829610923,-9.690689871126054e-06,0.00010513278615003055,0.00011989106526243358,0.6761,-0.00453,0.08847461904803437,1.0,0.0,0.0,0.0,-0.12839107965176333,0.13381350268942116,2.236511307671035,0.009724964254058034,0.011184185054318771,-0.0004933274270393706,0.39665143811124215,0.45195435724549715,2.112317762651551,0.03191901133926158,-0.025408131358961875,0.00037655906546696003,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.0485341720021764,0.4765165114052502,-1.5895134509120672,0.29209157324041,1.193677229667473,0.2561131749701724,-0.13074956995010537,2.236511307671035,1.4587638809619619,1.4587638809619619,1.7867200000006607,0,0,-0.00024253391176928674,-9.999999025923074e-05
+12020,1792701971179853538,9798189000000,1792701971179153665,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761668763545987,-0.004712175222381817,0.08857330583941736,0.9999999822052636,-1.635762730733265e-05,0.0001118046311569854,0.00011943403733386213,0.6761,-0.00453,0.08835136364083222,1.0,0.0,0.0,0.0,-0.13342791348699784,0.14686990409150896,2.2482382076367986,0.010733341891636897,0.01116394080185711,-0.0004920648942445554,0.39161460427600764,0.46501075864758495,2.1240446626173144,0.032927388976840444,-0.025428375611423536,0.00037782159826177516,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.0981681895219029,0.3789868925511847,-1.7247885426622593,0.3355532835402716,1.2865029729213244,0.20055267154186754,-0.13074956995010537,2.2482382076367986,1.594038972712154,1.594038972712154,1.8267200000007007,0,0,-0.00025108262368259284,8.990549557464362e-05
+12068,1792701971579827124,9798589000000,1792701971575144244,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761648682891672,-0.004711977733499039,0.08847072826560468,0.9999999819101951,-1.0607503935583021e-05,0.00010974924560136742,0.00012435858537959143,0.6761,-0.00453,0.0882490313870635,1.0,0.0,0.0,0.0,-0.13888442803413226,0.1253328612625117,2.256939656974339,0.009706697885638237,0.011179912317216548,-0.0005116765307993889,0.3861580897288732,0.4434737158185877,2.1327461119548548,0.031900744970841784,-0.025412404096064097,0.0003582099617069417,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.1044308424505274,0.4376642263160032,-1.6370630927838006,0.32725860580646676,1.2325970529083201,0.237725457004558,-0.13074956995010537,2.256939656974339,1.5063135228336952,1.5063135228336952,1.8587200000007327,0,0,-0.000260811098033746,-9.99944252663198e-05
+12115,1792701971970844820,9798980000000,1792701971963153202,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761667501853406,-0.004712528309752844,0.08836792188243885,0.9999999815356435,-8.809658894704332e-06,0.00011060175144444068,0.00012673286721304582,0.6761,-0.00453,0.08814479998317452,1.0,0.0,0.0,0.0,-0.13419514517158682,0.131092588121544,2.2871565596058048,0.009694335715444306,0.011651644474091467,-0.0005354130615498608,0.39084737259141866,0.44923344267762,2.1629630145863206,0.03188838280064785,-0.02494067193918918,0.0003344734309564698,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.1022280399210571,0.4034321470368096,-1.649171877720649,0.352459310788691,1.2360449482748768,0.2168427223966778,-0.13074956995010537,2.2871565596058048,1.5184223077705437,1.5184223077705437,1.890000000000764,0,0,-0.00027149228290088,-9.999943514771843e-05
+12163,1792701972370813118,9799380000000,1792701972367153399,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761650071990094,-0.004716597781194579,0.08825558872891318,0.9999999813895151,-1.6137986810625288e-05,0.00010997286347840503,0.00012770813862127237,0.6761,-0.00453,0.08803429107388332,1.0,0.0,0.0,0.0,-0.1335645944752029,0.11357207882057047,2.296283447625973,0.008680814275016747,0.011193068668557973,-0.000554141401261296,0.39147792328780256,0.43171293337664646,2.172089902606489,0.030874861360220295,-0.025399247744722672,0.0003157450912450346,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.1035538084980492,0.42948894039657604,-1.6795347830063416,0.35630762478476036,1.2539333292965162,0.22857661970220008,-0.13074956995010537,2.296283447625973,1.5487852130562363,1.5487852130562363,1.922000000000796,0,0,-0.0002816579841538865,-9.999999025923074e-05
+12211,1792701972770734318,9799780000000,1792701972763153809,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761642235469204,-0.004717146046718686,0.08814256611837179,0.9999999814034917,-1.3095162113060591e-05,0.00010550044590681226,0.00013165885173210975,0.6761,-0.00453,0.08792060102251527,1.0,0.0,0.0,0.0,-0.12462889525920395,0.1276022892813235,2.307255470229733,0.009727227455671457,0.010157904463350229,-0.000565872823998198,0.4004136225038015,0.4457431438373995,2.1830619252102488,0.031921274540875004,-0.026434411949930417,0.0003040136685081326,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.1893178565081854,0.4745298911163628,-1.7577307881006723,0.35533144214179996,1.3229103017781838,0.2660935371696479,-0.13074956995010537,2.307255470229733,1.626981218150567,1.626981218150567,1.954000000000828,0,0,-0.0002875552010297725,9.645082929410904e-05
+12255,1792701973137735806,9800147000000,1792701973131153801,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761634874687473,-0.004720239980404171,0.08803138663447625,0.9999999805584873,-5.526659934700717e-06,0.00010429590010335196,0.0001393474460631782,0.6761,-0.00453,0.08781381725689608,1.0,0.0,0.0,0.0,-0.13726052243416953,0.11360290777659515,2.3127272509231553,0.008678035457132492,0.01119163523207219,-0.0005643315023197229,0.38778199532883595,0.43174376233267114,2.188533705903671,0.03087208254233604,-0.025400681181208456,0.0003055549901866077,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.166085721381787,0.42100453192933146,-1.728998632831454,0.38337679909003236,1.2957219696654456,0.23708166360482957,-0.13074956995010537,2.3127272509231553,1.5982490628813486,1.5982490628813486,1.9833600000008573,0,0,-0.00029525888669698484,-8.333260056859188e-05
+12299,1792701973504786357,9800514000000,1792701973503153883,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761607484760197,-0.004721727517480376,0.08792278580643827,0.9999999809908782,-2.733859148378147e-06,9.93020422842771e-05,0.0001399740624665689,0.6761,-0.00453,0.08770457290674698,1.0,0.0,0.0,0.0,-0.12428598834277882,0.11838841621863766,2.276887572023379,0.008683892625611221,0.011197381721230752,-0.0005370773590082838,0.40075652942022666,0.43652927077471365,2.152694027003895,0.030877939710814768,-0.025394934692049894,0.0003328091334980468,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.2154832035200083,0.47873208761625324,-1.7361166467974647,0.3712168435560275,1.3111757162149995,0.27020171022929623,-0.13074956995010537,2.276887572023379,1.6053670768473594,1.6053670768473594,2.0127200000008867,0,0,-0.00030210982111397575,-9.989031410218558e-05
+12347,1792701973904759907,9800914000000,1792701973903153812,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761605330055144,-0.004725906782643802,0.0877967740655707,0.9999999812795196,-1.8914347494868887e-05,9.906778708863654e-05,0.00013679051852818463,0.6761,-0.00453,0.08758058290207471,1.0,0.0,0.0,0.0,-0.13360749510674447,0.1134535486923885,2.306796963835038,0.008676754889597932,0.011191201618231249,-0.0005624030198665576,0.391435022656261,0.4315944032484645,2.1826034188155536,0.03087080197480148,-0.025401114795049397,0.0003074834726397731,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.2190561264844548,0.351500460219796,-1.6700316965768287,0.44235729475997126,1.2645728840325834,0.19589483808118238,-0.13074956995010537,2.306796963835038,1.5392821266267234,1.5392821266267234,2.0447200000009187,0,0,-0.0003177579092725465,-9.999999025923074e-05
+12387,1792701974237802955,9801247000000,1792701974231153924,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.676158792164463,-0.004725234913100911,0.08769375158136167,0.9999999816821298,-2.5947181932089535e-05,9.527728090284381e-05,0.00013537942220322313,0.6761,-0.00453,0.08747256630304023,1.0,0.0,0.0,0.0,-0.14256129390117284,0.11103008691374217,2.314537652481647,0.0076404474049058604,0.012221556702924144,-0.0005654067737933638,0.38248122386183264,0.42917094146981816,2.190344107462163,0.029834494490109408,-0.0243707597103565,0.0003044797187129668,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.2578892584877328,0.36158540027041197,-1.7616360247355174,0.4392101715506811,1.3332524627905198,0.19982859062968467,-0.13074956995010537,2.314537652481647,1.630886454785412,1.630886454785412,2.0713600000009453,0,0,-0.00033046706924696876,-9.852260260257423e-05
+12431,1792701974604794126,9801614000000,1792701974599153739,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.676161134700775,-0.004725909011927622,0.0875749485580944,0.9999999802098931,-3.663985846447733e-05,0.00010228005206213682,0.0001386340133408014,0.6761,-0.00453,0.08734944699781678,1.0,0.0,0.0,0.0,-0.16187403683495405,0.11463448985945313,2.336707641419258,0.008617746247465561,0.013211808941280555,-0.0005585337020003669,0.36316848092805143,0.4327753444155291,2.2125140963997736,0.030811793332669108,-0.02338050747200009,0.0003113527905059637,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.3392222313560467,0.3532060161939005,-1.8110981591370512,0.4545968006540301,1.378234782878686,0.19932040730594094,-0.13074956995010537,2.336707641419258,1.6803485891869459,1.6803485891869459,2.1007200000009747,0,0,-0.00034072901568461415,4.4766535690818864e-05
+12467,1792701974904826320,9801914000000,1792701974903154162,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761610132332557,-0.004729231361177112,0.08747680786630747,0.9999999796412222,-4.108444037438737e-05,0.00010312429887536826,0.00014084696450188388,0.6761,-0.00453,0.08724640401438304,1.0,0.0,0.0,0.0,-0.16044362341108093,0.09862163129366075,2.3217573163645815,0.006609211214964203,0.013242716926437213,-0.0005690504488453439,0.36459889435192455,0.41676248584973674,2.1975637713450973,0.02880325830016775,-0.023349599486843432,0.0003008360436609867,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.3178251346404757,0.2889974960197748,-1.7464954518712603,0.4778741757504823,1.3325961325599704,0.15463366415872923,-0.13074956995010537,2.3217573163645815,1.615745881921155,1.615745881921155,2.1247200000009987,0,0,-0.00034769814607624037,-9.896096028605967e-05
+12507,1792701975237800310,9802247000000,1792701975231153714,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761598219557123,-0.004741325573431152,0.08736142291966008,0.9999999782032437,-3.901815214739037e-05,9.935036791438594e-05,0.00015376431587233588,0.6761,-0.00453,0.08712939619685689,1.0,0.0,0.0,0.0,-0.1584213279481858,0.11052061840192634,2.336385832611178,0.007597195349784848,0.013247867424054517,-0.0005690260211575616,0.36662118981481967,0.42866147295800233,2.212192287591694,0.029791242434988395,-0.02334444898922613,0.00030086047134876895,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4148918384499434,0.29760218893119994,-1.7811621663605977,0.4810383665588224,1.3809717358038962,0.16283120054804273,-0.13074956995010537,2.336385832611178,1.6504125964104923,1.6504125964104923,2.1513600000010253,0,0,-0.000355099026484755,-9.998436387015914e-05
+12543,1792701975537739791,9802547000000,1792701975535153808,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761575458302883,-0.00473688500014695,0.08725108105500858,0.9999999780058711,-1.3383860673140283e-05,9.63192450140865e-05,0.00016116636485258496,0.6761,-0.00453,0.0870210414111052,1.0,0.0,0.0,0.0,-0.1702583972213812,0.09575399355026587,2.3353466522971202,0.005566501790451938,0.01529566118208777,-0.000561500902276481,0.3547841205416243,0.41389484810634186,2.211153107277636,0.027760548875655485,-0.021296655231192875,0.0003083855902298496,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.3490988740636198,0.29715704789206476,-1.745452568383287,0.4962480854708011,1.3395763093254536,0.17359805146053112,-0.13074956995010537,2.3353466522971202,1.6147029984331818,1.6147029984331818,2.1753600000010493,0,0,-0.0003666860148119052,-9.995155677978147e-05
+12579,1792701975837768791,9802847000000,1792701975835143904,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761614170370486,-0.0047327090865717705,0.08714760165804891,0.9999999828837781,-2.2540851800962387e-05,0.0001074251699287932,0.00011673495912766868,0.6761,-0.00453,0.08690979249793611,1.0,0.0,0.0,0.0,-0.14084484516134843,0.1466103246006794,2.366636239235436,0.009940830741137142,0.012385796751570363,-0.00059040814458538,0.38419767260165705,0.4647511791567554,2.242442694215952,0.03213487782634069,-0.024206519661710283,0.0002794783479209506,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4048062286842213,0.3143328513722309,-1.7679225716356977,0.49514119473839274,1.369162726839894,0.1826434021451318,-0.13074956995010537,2.366636239235436,1.6371730016855923,1.6371730016855923,2.1993600000010733,0,0,-0.00037594355901535,-9.999999025923074e-05
+12612,1792701976112705741,9803122000000,1792701976107154020,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761574071740774,-0.0047394147969864785,0.08704210452245767,0.9999999815983808,-2.477038458628602e-05,9.876183427988179e-05,0.0001337109972248203,0.6761,-0.00453,0.08680538864073527,1.0,0.0,0.0,0.0,-0.17081397218429972,0.11146915588397466,2.356355771239669,0.007484265836793829,0.014241280416157475,-0.0005722571647754945,0.35422854557870576,0.42961001044005065,2.232162226220185,0.029678312921997376,-0.02235103599712317,0.000297629327730836,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.3416107660650185,0.38510140021587314,-1.8374124699013572,0.4731316798147848,1.3984026028259706,0.22635966231973093,-0.13074956995010537,2.356355771239669,1.7066628999512519,1.7066628999512519,2.2213600000010953,0,0,-0.0003824616630163354,-9.999999025923074e-05
+12651,1792701976437782399,9803447000000,1792701976435143866,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761614958466211,-0.0047455978441076595,0.08691708150217065,0.9999999770084663,-2.1167899042484166e-05,0.00011105439698756074,0.00015698653575437887,0.6761,-0.00453,0.08667920750287288,1.0,0.0,0.0,0.0,-0.19963086000600833,0.11566004149728937,2.368926414609061,0.008531459570835693,0.016244965987325097,-0.0005406705647234018,0.32541165775699715,0.43380089605336536,2.2447328695895767,0.03072550665603924,-0.02034735042595555,0.00032921592778292877,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4863249968941805,0.44683816955573413,-1.755405132685093,0.4647098143221817,1.3821192637402793,0.27214735320955175,-0.13074956995010537,2.368926414609061,1.6246555627349877,1.6246555627349877,2.2473600000011213,0,0,-0.00039412214513786923,-9.999999025923074e-05
+12682,1792701976695770295,9803705000000,1792701976691153690,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761551923807928,-0.00474810452784965,0.08681121446219218,0.9999999768821491,-1.5155652017311539e-05,9.295240054318164e-05,0.0001697313266013186,0.6761,-0.00453,0.08657618233869287,1.0,0.0,0.0,0.0,-0.19792399696865226,0.0876149937938639,2.3740798305468824,0.005466512792221309,0.01629946348674664,-0.0005805844713382158,0.3271185207943532,0.4057558483499399,2.249886285527398,0.027660559877424856,-0.020292852926534006,0.00028930202116811475,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4745264625049652,0.2856481894065986,-1.8112127085954297,0.5147681776164923,1.4202710814094528,0.16887973025702382,-0.13074956995010537,2.3740798305468824,1.6804631386453244,1.6804631386453244,2.268000000001142,0,0,-0.0004050066526692638,-9.999999025923074e-05
+12714,1792701976962730964,9803972000000,1792701976959144282,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.676157877292546,-0.004751064090891662,0.08670689856014371,0.9999999738631197,-2.429473119868939e-06,9.52264322677139e-05,0.0001861253570504058,0.6761,-0.00453,0.08646682912587045,1.0,0.0,0.0,0.0,-0.19857702216157253,0.09990291973745691,2.375824021464946,0.006486851746849709,0.016282284808506936,-0.0005705259724261342,0.32646549560143295,0.4180437742935329,2.2516304764454618,0.028680898832053256,-0.02031003160477371,0.0002993605200801964,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.518753292342179,0.33609897656549836,-1.8411267539138776,0.5018406833032528,1.4514488378437378,0.20236845866540046,-0.13074956995010537,2.375824021464946,1.7103771839637723,1.7103771839637723,2.2893600000011634,0,0,-0.00041463771639357736,-9.659464480916142e-05
+12746,1792701977229695711,9804239000000,1792701977227153580,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761582528052801,-0.004748978930003013,0.08658841938357578,0.9999999784697655,-8.656307745462972e-05,0.00011241657639305941,0.00011988611201712454,0.6761,-0.00453,0.08635437890419215,1.0,0.0,0.0,0.0,-0.17352287356868268,0.15246059689074543,2.386298539554024,0.01098525421798345,0.013433416792574319,-0.0005651829327713602,0.3515196441943228,0.4706014514468214,2.26210499453454,0.033179301303187,-0.023158899620706327,0.0003047035597349705,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.5547623233831729,0.2905362829667302,-1.8172282383428653,0.4755323540991612,1.4539521731850986,0.19295072297163773,-0.13074956995010537,2.386298539554024,1.68647866839276,1.68647866839276,2.3107200000011847,0,0,-0.00042728771416508513,-9.999999025923074e-05
+12774,1792701977462791614,9804472000000,1792701977459153605,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761499636531223,-0.004746177520670402,0.08649157929326076,0.9999999801305594,-5.457387719952114e-05,9.517228652208818e-05,0.00013836789106922142,0.6761,-0.00453,0.0862535375464865,1.0,0.0,0.0,0.0,-0.1453353653229434,0.11326123221647899,2.400530134672752,0.007569917885010526,0.013265197719114188,-0.0006212017536873329,0.3797071524400621,0.431402086772555,2.2763365896532677,0.029763964970214073,-0.023327118694166458,0.00024868473881899767,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.5114041936465565,0.38481135626859525,-1.9128288155246655,0.4876495236108002,1.504179221423746,0.24671764043759456,-0.13074956995010537,2.400530134672752,1.7820792455745602,1.7820792455745602,2.3293600000012034,0,0,-0.0004379508800483596,1.2755202731821926e-06
+12806,1792701977729764858,9804739000000,1792701977727154067,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.676145950236017,-0.00475685959626394,0.08637446529153704,0.9999999783548775,-3.0219100349582105e-05,9.09165713466267e-05,0.00015985647328085377,0.6761,-0.00453,0.08613517879921966,1.0,0.0,0.0,0.0,-0.16003746330005775,0.07596735195904869,2.4153228956104917,0.004513928565194267,0.013497607002567996,-0.0006644531191272631,0.36500505446294773,0.3941082065151247,2.2911293505910075,0.026707975650397814,-0.02309470941071265,0.0002054333733790675,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4993644443913152,0.2816953561728101,-1.8581424337884627,0.5261983638904191,1.4696317315393903,0.17941081281069002,-0.13074956995010537,2.4153228956104917,1.7273928638383573,1.7273928638383573,2.3507200000012247,0,0,-0.00044822647307238137,-9.999999025923074e-05
+12838,1792701977995800902,9805005000000,1792701977991153519,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761473015379893,-0.004760088601962467,0.08625165678685212,0.9999999747425877,6.565752003328987e-07,9.342360856058088e-05,0.00018228901944277085,0.6761,-0.00453,0.08601431370210928,1.0,0.0,0.0,0.0,-0.19669203935666285,0.06570791561472361,2.395158412880687,0.004442867346594125,0.016182275058098078,-0.0006110241375949794,0.3283504784063426,0.3838487701707996,2.2709648678612027,0.02663691443179767,-0.020410041355182568,0.00025886235491135123,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.6536233253776085,0.2519743690562557,-1.9240283867549133,0.5362701213891388,1.5489061869989758,0.16255316837071399,-0.13074956995010537,2.395158412880687,1.793278816804808,1.793278816804808,2.372000000001246,0,0,-0.0004608104792462507,-2.18835081909071e-05
+12866,1792701978229694804,9805239000000,1792701978223144669,DOWN_FORCE_DETACH,5,0.0435,0.04350219666957855,0.6761610115855657,-0.004757019467918177,0.08615835878540383,0.9999999734173,-3.6486053568547715e-06,0.00010274547740473743,0.00018449476529678425,0.6761,-0.00453,0.08590516837425138,1.0,0.0,0.0,0.0,-0.23643283306928414,0.12377771802854404,2.3873386680379154,0.007456326845053728,0.019273284498674083,-0.0005249926579058498,0.28860968469372134,0.44191857258462003,2.263145123018431,0.029650373930257275,-0.017319031914606563,0.0003448938346004808,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.7360152097234125,0.2671796606322764,-1.85297244188874,0.5526847609619007,1.5143240443603656,0.1707920554293741,-0.13074956995010537,2.3873386680379154,1.7222228719386348,1.7222228719386348,2.3907200000012647,0,0,-0.0004715809720598748,-9.438178990984198e-05
+12894,1792701978462781310,9805472000000,1792701978459153852,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761609155153352,-0.004756891007744872,0.08604402644866939,0.9999999767132935,-5.55636924655238e-05,0.00010932244821372618,0.00015158349271125973,0.6761,-0.00453,0.0857939386778714,1.0,0.0,0.0,0.0,-0.19860604538118376,0.14596647293790715,2.408164312175729,0.009871865279977653,0.01688493840329055,-0.0005522086967826863,0.3264364723818217,0.46410732749398315,2.283970767156245,0.0320659123651812,-0.019707378009990097,0.00031767779572364424,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.693970144480911,0.3061384656998001,-1.84265834288808,0.515943758797226,1.5025768563037947,0.20306586165961946,-0.13074956995010537,2.408164312175729,1.7119087729379747,1.7119087729379747,2.4093600000012834,0,0,-0.0004832289580106438,-9.999999025923074e-05
+12922,1792701978695793808,9805705000000,1792701978695153757,DOWN_FORCE_DETACH,5,0.0435,0.04350154101848602,0.6761579524646998,-0.004765593142825002,0.08593341625030987,0.999999975323324,-2.7635066135013172e-05,0.00010443098287270884,0.00017066542894737517,0.6761,-0.00453,0.08568006302486379,1.0,0.0,0.0,0.0,-0.20048046907535927,0.13724465591068613,2.4267827931899157,0.008425160495700797,0.016313331711124146,-0.0005937633477876905,0.3245620486876462,0.4553855104667621,2.3025892481704315,0.030619207580904344,-0.0202789847021565,0.0002761231447186401,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.6771382821695504,0.2630553279141909,-1.8307857759069797,0.5600377564586586,1.4917717613050765,0.18585834218315278,-0.13074956995010537,2.4267827931899157,1.7000362059568743,1.7000362059568743,2.428000000001302,0,0,-0.0004939935144790672,-9.999999025923074e-05
+12950,1792701978929694092,9805939000000,1792701978923153585,DOWN_SETTLE,5,0.0435,0.04350219666957855,0.6761557953918864,-0.004759393726072906,0.08582856308001226,0.9999999783033358,-6.245906626378823e-05,0.00010664238988754854,0.00013986585761103815,0.6761,-0.00453,0.08558568674234522,1.0,0.0,0.0,0.0,-0.17932687125096636,0.13724763439274174,2.4068968925184744,0.008580516988869288,0.015575102191960493,-0.0005742049291816635,0.3457156465120391,0.4553884889488177,2.28270334749899,0.030774564074072835,-0.021017214221320153,0.0002956815633246671,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.6810575733214608,0.23902285424787015,-1.7799069298473866,0.5733151987816942,1.464361859938585,0.16138613028815507,-0.13074956995010537,2.4068968925184744,1.6491573598972813,0.0,0.0,0,0,-0.00016959842313657775,0.001713115385217957
+13042,1792701979696707384,9806706000000,1792701979695153217,DOWN_PEAK_HOLD,5,0.0435,0.04350219666957855,0.6761337767117747,-0.004758568641135567,0.08575545422098539,0.9999999814004408,-4.575129854883088e-05,6.638409224404553e-05,0.00014880172513445238,0.6761,-0.00453,0.08556979345840289,1.0,0.0,0.0,0.0,-0.09445983208510589,0.10459933175446734,1.9952212540014398,0.0065851172913933866,0.009275219447330018,-0.001389533958597556,0.4305826856778996,0.42274018631054333,1.8710277089819556,0.028779164376596934,-0.027317096965950628,-0.0005196474660912253,0.5250425177630055,0.318140854556076,-0.12419354501948417,0.022194047085203547,-0.036592316413280646,0.0008698864925063306,1,1.4231102088573355,0.36113262147444963,-1.368431652523936,0.5093740445466726,1.1566600285613187,0.23095416626124154,-0.13074956995010537,1.9952212540014398,1.2376820825738306,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93d16a3ecc6846183911255e57cf45668095775c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..768ad67c65d3e46ea1f3e35ef4935fbef698112c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,1.483333333e+00,DOWN_FORCE_DETACH,1792701950986682513,3.618464667e-05,-3.102639925e-05,-1.164989600e-04,3.742655686e-05,-3.012972827e-05,-1.006728801e-04,3.790602081e-05,-2.995215388e-05,-9.956612957e-05,7.015740561e-01,-2.947543793e-05,8.406244422e-01,7.015752980e-01,-2.857876695e-05,8.406402683e-01,7.017670583e-01,-2.820554825e-05,8.294731471e-01
+5,1.950000000e+00,DOWN_FORCE_DETACH,1792701951851580392,3.574933233e-05,-3.982893199e-05,-1.834333974e-04,3.463344476e-05,-3.663292734e-05,-1.806044045e-04,3.503441778e-05,-3.642321453e-05,-1.787778258e-04,7.015736208e-01,-3.827797067e-05,8.405575078e-01,7.015725049e-01,-3.508196602e-05,8.405603368e-01,7.017641867e-01,-3.467660891e-05,8.293939354e-01
+6,2.250000000e+00,DOWN_FORCE_DETACH,1792701952432671638,7.595768427e-05,-4.118410654e-05,-2.427625151e-04,7.460247839e-05,-4.332551980e-05,-2.399939880e-04,7.546087144e-05,-4.305652404e-05,-2.377408964e-04,7.016138292e-01,-3.963314522e-05,8.404981787e-01,7.016124740e-01,-4.177455848e-05,8.405009472e-01,7.018046131e-01,-4.130991841e-05,8.293349723e-01
+7,2.600000000e+00,DOWN_FORCE_DETACH,1792701953082865048,9.271109469e-05,-5.662214013e-05,-3.236917121e-04,9.255878978e-05,-5.632787727e-05,-3.237022320e-04,9.370546422e-05,-5.599173397e-05,-3.210080317e-04,7.016305826e-01,-5.507117881e-05,8.404172495e-01,7.016304303e-01,-5.477691595e-05,8.404172390e-01,7.018228577e-01,-5.424512834e-05,8.292517052e-01
+8,2.916666667e+00,DOWN_FORCE_DETACH,1792701953714685244,1.052392714e-04,-6.074909501e-05,-4.091889207e-04,1.029877102e-04,-5.788108646e-05,-3.985605492e-04,1.044392362e-04,-5.755405377e-05,-3.957746072e-04,7.016431108e-01,-5.919813369e-05,8.403317523e-01,7.016408592e-01,-5.633012514e-05,8.403423806e-01,7.018335915e-01,-5.580744814e-05,8.291769386e-01
+9,3.283333333e+00,DOWN_FORCE_DETACH,1792701954444665327,1.154287253e-04,-6.677627328e-05,-4.853512762e-04,1.152269750e-04,-6.656135527e-05,-4.849201116e-04,1.169255815e-04,-6.619699375e-05,-4.821824434e-04,7.016533002e-01,-6.522531196e-05,8.402555899e-01,7.016530985e-01,-6.501039395e-05,8.402560211e-01,7.018460779e-01,-6.445038813e-05,8.290905308e-01
+10,3.750000000e+00,DOWN_FORCE_DETACH,1792701955376770908,1.204957321e-04,-6.772580384e-05,-5.640763625e-04,1.233598437e-04,-6.521112983e-05,-5.471458722e-04,1.253993655e-04,-6.488238133e-05,-5.452064481e-04,7.016583672e-01,-6.617484252e-05,8.401768648e-01,7.016612313e-01,-6.366016851e-05,8.401937953e-01,7.018545516e-01,-6.313577571e-05,8.290275068e-01
+11,4.016666667e+00,DOWN_FORCE_DETACH,1792701955908676112,1.310944328e-04,-6.787959390e-05,-5.919602770e-04,1.311512804e-04,-6.793518931e-05,-5.921373647e-04,1.332608969e-04,-6.756998430e-05,-5.901163731e-04,7.016689659e-01,-6.632863258e-05,8.401489809e-01,7.016690228e-01,-6.638422799e-05,8.401488038e-01,7.018624132e-01,-6.582337867e-05,8.289825968e-01
+12,4.550000000e+00,DOWN_FORCE_DETACH,1792701956956663810,1.254691252e-04,-4.760943238e-05,-6.267207881e-04,1.271276894e-04,-4.966072135e-05,-6.173250409e-04,1.294190034e-04,-4.942952633e-05,-6.161540971e-04,7.016633406e-01,-4.605847105e-05,8.401142204e-01,7.016649992e-01,-4.810976003e-05,8.401236161e-01,7.018585713e-01,-4.768292071e-05,8.289565591e-01
+13,5.116666667e+00,DOWN_FORCE_DETACH,1792701958039504584,1.186855054e-04,-4.761134611e-05,-6.624772995e-04,1.185162400e-04,-4.781274009e-05,-6.625140932e-04,1.206323315e-04,-4.755689537e-05,-6.612282972e-04,7.016565570e-01,-4.606038479e-05,8.400784639e-01,7.016563877e-01,-4.626177877e-05,8.400784271e-01,7.018497846e-01,-4.581028975e-05,8.289114849e-01
+14,5.633333333e+00,DOWN_FORCE_DETACH,1792701959002661721,1.300338852e-04,-5.582030619e-05,-6.946760825e-04,1.271045283e-04,-5.336806048e-05,-6.794705027e-04,1.293230115e-04,-5.313213314e-05,-6.785827021e-04,7.016679054e-01,-5.426934486e-05,8.400462651e-01,7.016649760e-01,-5.181709916e-05,8.400614707e-01,7.018584753e-01,-5.138552751e-05,8.288941305e-01
+15,6.050000000e+00,DOWN_FORCE_DETACH,1792701959800766248,1.315650257e-04,-6.164141915e-05,-7.463657467e-04,1.315302400e-04,-5.492199869e-05,-7.446355887e-04,1.336013495e-04,-5.464668287e-05,-7.431609141e-04,7.016694365e-01,-6.009045783e-05,8.399945754e-01,7.016694017e-01,-5.337103737e-05,8.399963056e-01,7.018627536e-01,-5.290007725e-05,8.288295523e-01
+16,6.450000000e+00,DOWN_FORCE_DETACH,1792701960567001313,1.308016166e-04,-6.605306446e-05,-7.942799554e-04,1.293362534e-04,-6.015928846e-05,-7.889000201e-04,1.312424258e-04,-5.985060857e-05,-7.873307614e-04,7.016686731e-01,-6.450210314e-05,8.399466612e-01,7.016672077e-01,-5.860832714e-05,8.399520412e-01,7.018603947e-01,-5.810400295e-05,8.287853825e-01
+17,6.883333333e+00,DOWN_FORCE_DETACH,1792701961380749294,1.299784909e-04,-6.401965019e-05,-8.390716029e-04,1.308479630e-04,-6.470470883e-05,-8.299250770e-04,1.326836702e-04,-6.440569131e-05,-8.284841381e-04,7.016678500e-01,-6.246868887e-05,8.399018696e-01,7.016687194e-01,-6.315374751e-05,8.399110161e-01,7.018618359e-01,-6.265908569e-05,8.287442291e-01
+18,7.316666667e+00,DOWN_FORCE_DETACH,1792701962233297442,1.370211100e-04,-6.658080321e-05,-8.945199946e-04,1.338062871e-04,-6.513181253e-05,-8.937856040e-04,1.354418091e-04,-6.482062851e-05,-8.920540411e-04,7.016748926e-01,-6.502984189e-05,8.398464212e-01,7.016716778e-01,-6.358085121e-05,8.398471556e-01,7.018645941e-01,-6.307402289e-05,8.286806592e-01
+19,7.666666667e+00,DOWN_FORCE_DETACH,1792701962928344159,1.428863430e-04,-5.730502024e-05,-9.596018376e-04,1.350669497e-04,-6.340457410e-05,-9.432212605e-04,1.366059006e-04,-6.309518116e-05,-9.414237577e-04,7.016807578e-01,-5.575405892e-05,8.397813394e-01,7.016729384e-01,-6.185361278e-05,8.397977199e-01,7.018657582e-01,-6.134857554e-05,8.286312895e-01
+20,7.933333333e+00,DOWN_FORCE_DETACH,1792701963679275637,1.370295359e-04,-6.516571051e-05,-1.037584652e-03,1.376887850e-04,-6.023124735e-05,-1.032549961e-03,1.389247014e-04,-5.994075075e-05,-1.029908310e-03,7.016749010e-01,-6.361474919e-05,8.397033565e-01,7.016755603e-01,-5.868028603e-05,8.397083912e-01,7.018680770e-01,-5.819414513e-05,8.285428049e-01
+21,8.333333333e+00,DOWN_FORCE_DETACH,1792701964458739317,1.377845320e-04,-6.382408016e-05,-1.127439625e-03,1.380440129e-04,-6.561729890e-05,-1.115448472e-03,1.389299740e-04,-6.527507087e-05,-1.112861975e-03,7.016756560e-01,-6.227311884e-05,8.396135016e-01,7.016759155e-01,-6.406633758e-05,8.396254927e-01,7.018680823e-01,-6.352846525e-05,8.284598512e-01
+22,8.683333333e+00,DOWN_FORCE_DETACH,1792701965158722363,1.408479974e-04,-7.044577412e-05,-1.210516166e-03,1.408016742e-04,-7.026789849e-05,-1.210321011e-03,1.413019686e-04,-6.991378446e-05,-1.207465660e-03,7.016787195e-01,-6.889481280e-05,8.395304250e-01,7.016786732e-01,-6.871693716e-05,8.395306202e-01,7.018704542e-01,-6.816717884e-05,8.283652476e-01
+23,9.033333333e+00,DOWN_FORCE_DETACH,1792701965854714269,1.431128435e-04,-6.554842530e-05,-1.297445938e-03,1.420732210e-04,-6.819440133e-05,-1.280154391e-03,1.422941960e-04,-6.786752924e-05,-1.277563517e-03,7.016809843e-01,-6.399746398e-05,8.394434952e-01,7.016799447e-01,-6.664344001e-05,8.394607868e-01,7.018714465e-01,-6.612092362e-05,8.282951497e-01
+24,9.366666667e+00,DOWN_FORCE_DETACH,1792701966487229359,1.429688232e-04,-7.050888265e-05,-1.388965498e-03,1.429549828e-04,-7.026599784e-05,-1.388515238e-03,1.427860969e-04,-6.995041601e-05,-1.385289866e-03,7.016808403e-01,-6.895792133e-05,8.393519757e-01,7.016808265e-01,-6.871503652e-05,8.393524259e-01,7.018719384e-01,-6.820381039e-05,8.281874233e-01
+25,9.700000000e+00,DOWN_FORCE_DETACH,1792701967118735929,1.434321182e-04,-7.479521650e-05,-1.484991872e-03,1.459198074e-04,-6.927972571e-05,-1.474143318e-03,1.454297867e-04,-6.899310739e-05,-1.470889847e-03,7.016813036e-01,-7.324425518e-05,8.392559493e-01,7.016837913e-01,-6.772876439e-05,8.392667979e-01,7.018745821e-01,-6.724650177e-05,8.281018234e-01
+26,9.983333333e+00,DOWN_FORCE_DETACH,1792701967650877578,1.465848019e-04,-7.389962138e-05,-1.575494580e-03,1.464480041e-04,-7.380957794e-05,-1.575110904e-03,1.455903680e-04,-7.346343241e-05,-1.571323737e-03,7.016844563e-01,-7.234866006e-05,8.391654466e-01,7.016843195e-01,-7.225861662e-05,8.391658303e-01,7.018747426e-01,-7.171682679e-05,8.280013895e-01
+27,1.028333333e+01,DOWN_FORCE_DETACH,1792701968218701079,1.436518172e-04,-7.840319424e-05,-1.677644510e-03,1.455149744e-04,-7.731197974e-05,-1.669883053e-03,1.442355066e-04,-7.694731761e-05,-1.666015132e-03,7.016815233e-01,-7.685223292e-05,8.390632967e-01,7.016833865e-01,-7.576101842e-05,8.390710581e-01,7.018733878e-01,-7.520071199e-05,8.279066981e-01
+28,1.056666667e+01,DOWN_FORCE_DETACH,1792701968748801810,1.433736467e-04,-7.993381742e-05,-1.777212244e-03,1.450051837e-04,-7.777706767e-05,-1.768112052e-03,1.433557127e-04,-7.736455537e-05,-1.764115494e-03,7.016812451e-01,-7.838285610e-05,8.389637289e-01,7.016828767e-01,-7.622610635e-05,8.389728291e-01,7.018725080e-01,-7.561794975e-05,8.278085977e-01
+29,1.086666667e+01,DOWN_FORCE_DETACH,1792701969314702265,1.469534887e-04,-7.595775494e-05,-1.883491763e-03,1.468053725e-04,-7.596889631e-05,-1.883505303e-03,1.447608515e-04,-7.557016495e-05,-1.879342084e-03,7.016848250e-01,-7.440679362e-05,8.388574494e-01,7.016846769e-01,-7.441793499e-05,8.388574359e-01,7.018739131e-01,-7.382355932e-05,8.276933711e-01
+30,1.110000000e+01,DOWN_FORCE_DETACH,1792701969746675267,1.437574068e-04,-7.830259666e-05,-1.980559952e-03,1.434494908e-04,-7.824226941e-05,-1.980552767e-03,1.411238602e-04,-7.777774993e-05,-1.976272209e-03,7.016816289e-01,-7.675163534e-05,8.387603812e-01,7.016813210e-01,-7.669130809e-05,8.387603884e-01,7.018702761e-01,-7.603114431e-05,8.275964410e-01
+31,1.133333333e+01,DOWN_FORCE_DETACH,1792701970212795656,1.463302431e-04,-7.454527966e-05,-2.086344047e-03,1.462033845e-04,-7.455787991e-05,-2.085863557e-03,1.435490961e-04,-7.421340106e-05,-2.081433562e-03,7.016842017e-01,-7.299431834e-05,8.386545971e-01,7.016840749e-01,-7.300691859e-05,8.386550776e-01,7.018727014e-01,-7.246679543e-05,8.274912797e-01
+32,1.156666667e+01,DOWN_FORCE_DETACH,1792701970678679228,1.402973007e-04,-7.988931702e-05,-2.200943492e-03,1.392859863e-04,-8.006733855e-05,-2.187579647e-03,1.362901939e-04,-7.967231356e-05,-2.183216797e-03,7.016781688e-01,-7.833835570e-05,8.385399977e-01,7.016771575e-01,-7.851637723e-05,8.385533615e-01,7.018654425e-01,-7.792570793e-05,8.273894964e-01
+33,1.181666667e+01,DOWN_FORCE_DETACH,1792701971178764123,1.482036282e-04,-8.340208026e-05,-2.315670717e-03,1.428004360e-04,-8.439468316e-05,-2.304275915e-03,1.394731925e-04,-8.396705281e-05,-2.299686264e-03,7.016860751e-01,-8.185111894e-05,8.384252705e-01,7.016806719e-01,-8.284372184e-05,8.384366653e-01,7.018686255e-01,-8.222044718e-05,8.272730269e-01
+34,1.201666667e+01,DOWN_FORCE_DETACH,1792701971578680121,1.434209125e-04,-8.480220539e-05,-2.424127387e-03,1.434397162e-04,-8.481159007e-05,-2.423730091e-03,1.397225422e-04,-8.434430102e-05,-2.418496711e-03,7.016812924e-01,-8.325124407e-05,8.383168138e-01,7.016813112e-01,-8.326062875e-05,8.383172111e-01,7.018688748e-01,-8.259769539e-05,8.271542165e-01
+35,1.221666667e+01,DOWN_FORCE_DETACH,1792701971974680530,1.437189046e-04,-8.332243283e-05,-2.528359024e-03,1.442596724e-04,-8.613810052e-05,-2.519981977e-03,1.402939273e-04,-8.563489307e-05,-2.514740041e-03,7.016815904e-01,-8.177147151e-05,8.382125822e-01,7.016821312e-01,-8.458713920e-05,8.382209592e-01,7.018694462e-01,-8.388828744e-05,8.270579732e-01
+36,1.241666667e+01,DOWN_FORCE_DETACH,1792701972374679045,1.432379605e-04,-8.753635151e-05,-2.641481291e-03,1.437376987e-04,-8.862471334e-05,-2.630315860e-03,1.392893159e-04,-8.810789810e-05,-2.624926288e-03,7.016811094e-01,-8.598539019e-05,8.380994599e-01,7.016816092e-01,-8.707375202e-05,8.381106253e-01,7.018684416e-01,-8.636129248e-05,8.269477869e-01
+37,1.261666667e+01,DOWN_FORCE_DETACH,1792701972774727563,1.437163181e-04,-9.095298636e-05,-2.751155538e-03,1.413480344e-04,-9.244621718e-05,-2.745010958e-03,1.364155968e-04,-9.192246156e-05,-2.739458507e-03,7.016815878e-01,-8.940202504e-05,8.379897856e-01,7.016792195e-01,-9.089525586e-05,8.379959302e-01,7.018655679e-01,-9.017585594e-05,8.268332547e-01
+38,1.280000000e+01,DOWN_FORCE_DETACH,1792701973140747133,1.425006463e-04,-8.721060988e-05,-2.862600650e-03,1.390318745e-04,-8.879921895e-05,-2.845930058e-03,1.335773519e-04,-8.831478473e-05,-2.840559913e-03,7.016803721e-01,-8.565964856e-05,8.378783405e-01,7.016769034e-01,-8.724825763e-05,8.378950111e-01,7.018627296e-01,-8.656817911e-05,8.267321533e-01
+39,1.298333333e+01,DOWN_FORCE_DETACH,1792701973506700690,1.382233375e-04,-9.364867457e-05,-2.973660250e-03,1.382391178e-04,-9.370929640e-05,-2.973320769e-03,1.321993756e-04,-9.321919493e-05,-2.967476530e-03,7.016760948e-01,-9.209771324e-05,8.377672809e-01,7.016761106e-01,-9.215833508e-05,8.377676204e-01,7.018613517e-01,-9.147258931e-05,8.266052367e-01
+40,1.320000000e+01,DOWN_FORCE_DETACH,1792701973905182290,1.392724097e-04,-9.607190405e-05,-3.096704590e-03,1.392627054e-04,-9.580686179e-05,-3.096706508e-03,1.327571574e-04,-9.531071879e-05,-3.090811515e-03,7.016771439e-01,-9.452094273e-05,8.376442366e-01,7.016771342e-01,-9.425590047e-05,8.376442347e-01,7.018619094e-01,-9.356411317e-05,8.264819017e-01
+41,1.338333333e+01,DOWN_FORCE_DETACH,1792701974238722320,1.375315686e-04,-9.540003451e-05,-3.199727074e-03,1.374461526e-04,-9.556453331e-05,-3.199232097e-03,1.304834363e-04,-9.505945838e-05,-3.193319267e-03,7.016754031e-01,-9.384907319e-05,8.375412141e-01,7.016753176e-01,-9.401357199e-05,8.375417091e-01,7.018596357e-01,-9.331285276e-05,8.263793939e-01
+42,1.356666667e+01,DOWN_FORCE_DETACH,1792701974604736708,1.398741049e-04,-9.607413334e-05,-3.318530097e-03,1.397191433e-04,-9.605959580e-05,-3.318795066e-03,1.322718274e-04,-9.556548825e-05,-3.312484020e-03,7.016777456e-01,-9.452317202e-05,8.374224111e-01,7.016775906e-01,-9.450863448e-05,8.374221461e-01,7.018614241e-01,-9.381888262e-05,8.262602292e-01
+43,1.373333333e+01,DOWN_FORCE_DETACH,1792701974902720372,1.376474123e-04,-9.933602879e-05,-3.418351352e-03,1.373580251e-04,-9.924800768e-05,-3.418341242e-03,1.294953805e-04,-9.865618097e-05,-3.412134594e-03,7.016755189e-01,-9.778506747e-05,8.373225898e-01,7.016752295e-01,-9.769704636e-05,8.373225999e-01,7.018586477e-01,-9.690957535e-05,8.261605786e-01
+44,1.390000000e+01,DOWN_FORCE_DETACH,1792701975236728583,1.387570548e-04,-1.111481237e-04,-3.531841177e-03,1.388741918e-04,-9.897707247e-05,-3.521387348e-03,1.307127940e-04,-9.835740314e-05,-3.515330635e-03,7.016766285e-01,-1.095971624e-04,8.372091000e-01,7.016767457e-01,-9.742611114e-05,8.372195538e-01,7.018598651e-01,-9.661079752e-05,8.260573826e-01
+45,1.406666667e+01,DOWN_FORCE_DETACH,1792701975535448350,1.361513880e-04,-1.075646059e-04,-3.643574924e-03,1.358394747e-04,-1.077383521e-04,-3.643597860e-03,1.272857319e-04,-1.071217050e-04,-3.637398587e-03,7.016740229e-01,-1.060136446e-04,8.370973663e-01,7.016737110e-01,-1.061873908e-04,8.370973433e-01,7.018564380e-01,-1.053750994e-04,8.259353146e-01
+46,1.421666667e+01,DOWN_FORCE_DETACH,1792701975834775001,1.397962191e-04,-1.030432041e-04,-3.746087102e-03,1.403725158e-04,-1.038644240e-04,-3.732973322e-03,1.316478310e-04,-1.032988114e-04,-3.727047972e-03,7.016776677e-01,-1.014922428e-04,8.369948541e-01,7.016782440e-01,-1.023134627e-04,8.370079679e-01,7.018608001e-01,-1.015522058e-04,8.258456652e-01
+47,1.436666667e+01,DOWN_FORCE_DETACH,1792701976116727841,1.352388456e-04,-1.085377769e-04,-3.855503604e-03,1.350277556e-04,-1.087507792e-04,-3.855432340e-03,1.258474467e-04,-1.081669698e-04,-3.849029223e-03,7.016731103e-01,-1.069868156e-04,8.368854376e-01,7.016728992e-01,-1.071998178e-04,8.368855088e-01,7.018549997e-01,-1.064203642e-04,8.257236840e-01
+48,1.453333333e+01,DOWN_FORCE_DETACH,1792701976434071568,1.436428756e-04,-1.146496223e-04,-3.972670208e-03,1.423105720e-04,-1.125348581e-04,-3.960479693e-03,1.328864974e-04,-1.118946079e-04,-3.954133933e-03,7.016815144e-01,-1.130986610e-04,8.367682710e-01,7.016801821e-01,-1.109838968e-04,8.367804615e-01,7.018620388e-01,-1.101480023e-04,8.256185793e-01
+49,1.466666667e+01,DOWN_FORCE_DETACH,1792701976698742424,1.365495621e-04,-1.166039089e-04,-4.082067143e-03,1.336529429e-04,-1.184801247e-04,-4.070429608e-03,1.237617582e-04,-1.177659050e-04,-4.063778487e-03,7.016744210e-01,-1.150529476e-04,8.366588740e-01,7.016715244e-01,-1.169291634e-04,8.366705116e-01,7.018529140e-01,-1.160192994e-04,8.255089347e-01
+50,1.481666667e+01,DOWN_FORCE_DETACH,1792701976966725903,1.356451327e-04,-1.237907893e-04,-4.187068402e-03,1.349765244e-04,-1.233904468e-04,-4.174370285e-03,1.247417611e-04,-1.226434670e-04,-4.167826589e-03,7.016735166e-01,-1.222398280e-04,8.365538728e-01,7.016728480e-01,-1.218394854e-04,8.365665709e-01,7.018538940e-01,-1.208968614e-04,8.254048866e-01
+51,1.495000000e+01,DOWN_FORCE_DETACH,1792701977230725695,1.369922094e-04,-1.191440514e-04,-4.305059272e-03,1.368076944e-04,-1.189595044e-04,-4.304726759e-03,1.260581741e-04,-1.182732325e-04,-4.297589534e-03,7.016748637e-01,-1.175930901e-04,8.364358819e-01,7.016746792e-01,-1.174085431e-04,8.364362144e-01,7.018552105e-01,-1.165266269e-04,8.252751237e-01
+52,1.508333333e+01,DOWN_FORCE_DETACH,1792701977462726632,1.286690070e-04,-1.166745870e-04,-4.401561815e-03,1.293885330e-04,-1.181862964e-04,-4.387655179e-03,1.181623300e-04,-1.175371382e-04,-4.381083375e-03,7.016665405e-01,-1.151236257e-04,8.363393794e-01,7.016672600e-01,-1.166353351e-04,8.363532860e-01,7.018473146e-01,-1.157905326e-04,8.251916298e-01
+53,1.521666667e+01,DOWN_FORCE_DETACH,1792701977730745549,1.246896402e-04,-1.270247177e-04,-4.519013364e-03,1.252192259e-04,-1.243256030e-04,-4.504977593e-03,1.134885853e-04,-1.236592101e-04,-4.498180806e-03,7.016625611e-01,-1.254737564e-04,8.362219278e-01,7.016630907e-01,-1.227746417e-04,8.362359636e-01,7.018426409e-01,-1.219126045e-04,8.250745324e-01
+54,1.535000000e+01,DOWN_FORCE_DETACH,1792701977994746523,1.272504028e-04,-1.321005478e-04,-4.637649110e-03,1.240213195e-04,-1.289184458e-04,-4.625090875e-03,1.116983663e-04,-1.282533165e-04,-4.618072776e-03,7.016651219e-01,-1.305495865e-04,8.361032921e-01,7.016618928e-01,-1.273674845e-04,8.361158503e-01,7.018408506e-01,-1.265067109e-04,8.249546404e-01
+55,1.548333333e+01,DOWN_FORCE_DETACH,1792701978231440742,1.402536173e-04,-1.282002592e-04,-4.734039338e-03,1.400544076e-04,-1.284828993e-04,-4.733735897e-03,1.274606105e-04,-1.278180645e-04,-4.726428943e-03,7.016781251e-01,-1.266492979e-04,8.360069018e-01,7.016779259e-01,-1.269319380e-04,8.360072053e-01,7.018566129e-01,-1.260714588e-04,8.248462843e-01
+56,1.560000000e+01,DOWN_FORCE_DETACH,1792701978464141373,1.406830350e-04,-1.297477734e-04,-4.848642633e-03,1.418833145e-04,-1.292160712e-04,-4.834034903e-03,1.289879269e-04,-1.285147589e-04,-4.826629030e-03,7.016785545e-01,-1.281968121e-04,8.358922986e-01,7.016797548e-01,-1.276651099e-04,8.359069063e-01,7.018581402e-01,-1.267681533e-04,8.247460842e-01
+57,1.571666667e+01,DOWN_FORCE_DETACH,1792701978694722106,1.346503767e-04,-1.365466236e-04,-4.962574520e-03,1.347384284e-04,-1.365486012e-04,-4.962463961e-03,1.212889147e-04,-1.357069604e-04,-4.954549916e-03,7.016725219e-01,-1.349956622e-04,8.357783667e-01,7.016726099e-01,-1.349976399e-04,8.357784772e-01,7.018504412e-01,-1.339603548e-04,8.246181633e-01
+58,1.583333333e+01,DOWN_SETTLE,1792701978928700081,1.346251484e-04,-1.273599448e-04,-5.064381722e-03,1.360572815e-04,-1.315202807e-04,-5.050956829e-03,1.223153307e-04,-1.306991414e-04,-5.043434116e-03,7.016724966e-01,-1.258089835e-04,8.356765595e-01,7.016739288e-01,-1.299693194e-04,8.356899844e-01,7.018514676e-01,-1.289525358e-04,8.245292791e-01
+59,1.621666667e+01,DOWN_PEAK_HOLD,1792701979694725454,1.104780213e-04,-1.275857283e-04,-5.141558523e-03,1.111212446e-04,-1.270893533e-04,-5.140937603e-03,9.684876361e-05,-1.264099668e-04,-5.136693817e-03,7.016483495e-01,-1.260347670e-04,8.355993827e-01,7.016489927e-01,-1.255383919e-04,8.356000036e-01,7.018260010e-01,-1.246633612e-04,8.244360194e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..743af59284686b2555b558ba2a2ec95a467ddb85
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.7875e-02,5.2481e-04,2.4512e+00,-3.6839e-02,3.5511e-02,-2.4493e-05,5.7873e-04,-2.2169e-06,1.9145e-04,-2.6450e-07,3.7801e-05,-7.5981e-07,6.0958e-04,3.7809e-05
+1,4.6667e-01,DOWN_FORCE_DETACH,1.1697e-04,-6.2925e-03,6.9640e-04,2.4546e+00,-3.6862e-02,3.6333e-02,-7.2290e-05,1.2162e-02,1.6938e-04,3.5379e-03,-2.2884e-05,8.6037e-04,-4.8558e-05,1.2667e-02,8.6204e-04
+2,8.8333e-01,DOWN_FORCE_DETACH,2.3418e-04,6.6319e-03,1.1183e-02,2.4902e+00,-3.7587e-02,3.7211e-02,-6.9651e-05,2.5086e-02,1.0656e-02,3.9173e-02,-7.4784e-04,1.7383e-03,-4.5919e-05,4.7722e-02,1.8929e-03
+3,1.2667e+00,DOWN_FORCE_DETACH,3.2879e-04,1.0592e-02,1.4879e-02,2.5104e+00,-3.7830e-02,3.7482e-02,-6.9146e-05,2.9046e-02,1.4352e-02,5.9321e-02,-9.9155e-04,2.0090e-03,-4.5413e-05,6.7592e-02,2.2409e-03
+4,1.4833e+00,DOWN_FORCE_DETACH,4.6998e-04,-2.0182e-02,1.7319e-02,2.5149e+00,-3.7994e-02,3.5432e-02,-6.6782e-05,-1.7275e-03,1.6792e-02,6.3887e-02,-1.1552e-03,-4.1090e-05,-4.3049e-05,6.6080e-02,1.1568e-03
+5,1.9500e+00,DOWN_FORCE_DETACH,5.8703e-04,-9.4221e-03,2.2016e-02,2.5315e+00,-3.8301e-02,3.6064e-02,-6.1364e-05,9.0321e-03,2.1489e-02,8.0398e-02,-1.4621e-03,5.9140e-04,-3.7632e-05,8.3709e-02,1.5777e-03
+6,2.2500e+00,DOWN_FORCE_DETACH,7.0633e-04,-3.3524e-02,2.5916e-02,2.5482e+00,-3.8555e-02,3.4424e-02,-5.1182e-05,-1.5070e-02,2.5389e-02,9.7157e-02,-1.7160e-03,-1.0484e-03,-2.7449e-05,1.0154e-01,2.0111e-03
+7,2.6000e+00,DOWN_FORCE_DETACH,8.2739e-04,-2.7930e-02,3.1493e-02,2.5715e+00,-3.8908e-02,3.4747e-02,-3.9979e-05,-9.4762e-03,3.0966e-02,1.2042e-01,-2.0695e-03,-7.2570e-04,-1.6246e-05,1.2470e-01,2.1931e-03
+8,2.9167e+00,DOWN_FORCE_DETACH,9.4278e-04,-2.3885e-02,3.4928e-02,2.5848e+00,-3.9121e-02,3.5004e-02,-2.5561e-05,-5.4304e-03,3.4401e-02,1.3372e-01,-2.2817e-03,-4.6932e-04,-1.8279e-06,1.3818e-01,2.3294e-03
+9,3.2833e+00,DOWN_FORCE_DETACH,1.0632e-03,-1.3689e-02,3.8592e-02,2.5824e+00,-3.9350e-02,3.5692e-02,-8.5874e-06,4.7648e-03,3.8065e-02,1.3137e-01,-2.5107e-03,2.1875e-04,1.5145e-05,1.3685e-01,2.5203e-03
+10,3.7500e+00,DOWN_FORCE_DETACH,1.1818e-03,-1.1096e-03,3.6968e-02,2.5602e+00,-3.9254e-02,3.6584e-02,8.1765e-06,1.7345e-02,3.6441e-02,1.0911e-01,-2.4152e-03,1.1111e-03,3.1909e-05,1.1634e-01,2.6587e-03
+11,4.0167e+00,DOWN_FORCE_DETACH,1.2945e-03,1.0143e-02,1.4553e-02,2.5568e+00,-3.7800e-02,3.7401e-02,1.1412e-05,2.8598e-02,1.4026e-02,1.0571e-01,-9.6082e-04,1.9282e-03,3.5145e-05,1.1041e-01,2.1546e-03
+12,4.5500e+00,DOWN_FORCE_DETACH,1.4159e-03,1.7880e-02,2.6732e-02,2.5201e+00,-3.8566e-02,3.7971e-02,5.8291e-06,3.6334e-02,2.6205e-02,6.9061e-02,-1.7273e-03,2.4980e-03,2.9562e-05,8.2318e-02,3.0371e-03
+13,5.1167e+00,DOWN_FORCE_DETACH,1.5338e-03,2.8181e-02,2.6470e-02,2.4960e+00,-3.8558e-02,3.8730e-02,-7.0304e-06,4.6635e-02,2.5942e-02,4.4965e-02,-1.7191e-03,3.2575e-03,1.6702e-05,6.9783e-02,3.6834e-03
+14,5.6333e+00,DOWN_FORCE_DETACH,1.6486e-03,2.7135e-02,2.9059e-02,2.5014e+00,-3.8737e-02,3.8693e-02,-1.8349e-05,4.5589e-02,2.8532e-02,5.0381e-02,-1.8976e-03,3.2201e-03,5.3835e-06,7.3693e-02,3.7376e-03
+15,6.0500e+00,DOWN_FORCE_DETACH,1.7652e-03,2.7457e-02,3.1236e-02,2.5163e+00,-3.8894e-02,3.8702e-02,-2.4421e-05,4.5911e-02,3.0709e-02,6.5293e-02,-2.0553e-03,3.2290e-03,-6.8795e-07,8.5522e-02,3.8276e-03
+16,6.4500e+00,DOWN_FORCE_DETACH,1.8833e-03,3.2160e-02,3.3946e-02,2.5264e+00,-3.9082e-02,3.9003e-02,-3.1093e-05,5.0614e-02,3.3419e-02,7.5312e-02,-2.2435e-03,3.5303e-03,-7.3608e-06,9.6698e-02,4.1829e-03
+17,6.8833e+00,DOWN_FORCE_DETACH,2.0064e-03,3.4060e-02,3.4964e-02,2.5251e+00,-3.9163e-02,3.9132e-02,-4.0806e-05,5.2514e-02,3.4437e-02,7.4017e-02,-2.3236e-03,3.6596e-03,-1.7074e-05,9.7068e-02,4.3350e-03
+18,7.3167e+00,DOWN_FORCE_DETACH,2.1206e-03,3.4838e-02,3.5943e-02,2.5331e+00,-3.9241e-02,3.9178e-02,-5.0721e-05,5.3292e-02,3.5416e-02,8.2075e-02,-2.4021e-03,3.7051e-03,-2.6988e-05,1.0407e-01,4.4157e-03
+19,7.6667e+00,DOWN_FORCE_DETACH,2.2394e-03,3.3066e-02,3.6107e-02,2.5431e+00,-3.9261e-02,3.9048e-02,-5.8720e-05,5.1520e-02,3.5580e-02,9.2055e-02,-2.4219e-03,3.5756e-03,-3.4987e-05,1.1133e-01,4.3188e-03
+20,7.9333e+00,DOWN_FORCE_DETACH,2.3555e-03,3.1401e-02,3.3465e-02,2.5639e+00,-3.9088e-02,3.8920e-02,-6.6169e-05,4.9855e-02,3.2938e-02,1.1283e-01,-2.2489e-03,3.4468e-03,-4.2437e-05,1.2768e-01,4.1158e-03
+21,8.3333e+00,DOWN_FORCE_DETACH,2.4783e-03,2.8614e-02,3.6191e-02,2.5807e+00,-3.9258e-02,3.8705e-02,-7.4008e-05,4.7068e-02,3.5664e-02,1.2963e-01,-2.4192e-03,3.2319e-03,-5.0275e-05,1.4245e-01,4.0373e-03
+22,8.6833e+00,DOWN_FORCE_DETACH,2.5921e-03,2.5405e-02,3.7173e-02,2.5829e+00,-3.9318e-02,3.8470e-02,-7.6059e-05,4.3859e-02,3.6646e-02,1.3182e-01,-2.4793e-03,2.9975e-03,-5.2326e-05,1.4368e-01,3.8904e-03
+23,9.0333e+00,DOWN_FORCE_DETACH,2.7116e-03,2.1176e-02,3.7960e-02,2.5864e+00,-3.9365e-02,3.8171e-02,-7.3698e-05,3.9631e-02,3.7433e-02,1.3538e-01,-2.5257e-03,2.6981e-03,-4.9965e-05,1.4594e-01,3.6961e-03
+24,9.3667e+00,DOWN_FORCE_DETACH,2.8278e-03,1.9400e-02,3.8193e-02,2.5921e+00,-3.9375e-02,3.8031e-02,-6.9143e-05,3.7854e-02,3.7666e-02,1.4108e-01,-2.5357e-03,2.5582e-03,-4.5410e-05,1.5085e-01,3.6023e-03
+25,9.7000e+00,DOWN_FORCE_DETACH,2.9492e-03,1.8762e-02,3.7658e-02,2.6089e+00,-3.9326e-02,3.7968e-02,-6.4717e-05,3.7216e-02,3.7131e-02,1.5788e-01,-2.4873e-03,2.4955e-03,-4.0984e-05,1.6641e-01,3.5236e-03
+26,9.9833e+00,DOWN_FORCE_DETACH,3.0635e-03,1.7961e-02,3.9712e-02,2.6198e+00,-3.9438e-02,3.7898e-02,-6.1465e-05,3.6415e-02,3.9185e-02,1.6875e-01,-2.5988e-03,2.4256e-03,-3.7733e-05,1.7702e-01,3.5551e-03
+27,1.0283e+01,DOWN_FORCE_DETACH,3.1820e-03,1.6742e-02,4.2543e-02,2.6391e+00,-3.9581e-02,3.7797e-02,-5.8270e-05,3.5196e-02,4.2016e-02,1.8806e-01,-2.7421e-03,2.3244e-03,-3.4537e-05,1.9588e-01,3.5949e-03
+28,1.0567e+01,DOWN_FORCE_DETACH,3.2998e-03,1.4482e-02,4.4379e-02,2.6461e+00,-3.9653e-02,3.7639e-02,-5.5400e-05,3.2936e-02,4.3852e-02,1.9500e-01,-2.8143e-03,2.1666e-03,-3.1667e-05,2.0256e-01,3.5519e-03
+29,1.0867e+01,DOWN_FORCE_DETACH,3.4196e-03,1.3504e-02,4.4920e-02,2.6526e+00,-3.9640e-02,3.7573e-02,-5.0424e-05,3.1959e-02,4.4393e-02,2.0157e-01,-2.8015e-03,2.1006e-03,-2.6691e-05,2.0886e-01,3.5016e-03
+30,1.1100e+01,DOWN_FORCE_DETACH,3.5328e-03,1.5089e-02,4.6179e-02,2.6537e+00,-3.9696e-02,3.7683e-02,-4.4302e-05,3.3544e-02,4.5652e-02,2.0260e-01,-2.8575e-03,2.2097e-03,-2.0570e-05,2.1038e-01,3.6123e-03
+31,1.1333e+01,DOWN_FORCE_DETACH,3.6471e-03,2.1112e-02,4.6117e-02,2.6590e+00,-3.9683e-02,3.8085e-02,-3.7924e-05,3.9566e-02,4.5590e-02,2.0794e-01,-2.8441e-03,2.6118e-03,-1.4191e-05,2.1653e-01,3.8614e-03
+32,1.1567e+01,DOWN_FORCE_DETACH,3.7685e-03,2.5565e-02,4.3422e-02,2.6700e+00,-3.9505e-02,3.8384e-02,-3.3481e-05,4.4019e-02,4.2895e-02,2.1891e-01,-2.6664e-03,2.9112e-03,-9.7480e-06,2.2738e-01,3.9478e-03
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+34,1.2017e+01,DOWN_FORCE_DETACH,4.0108e-03,3.0849e-02,4.8057e-02,2.6928e+00,-3.9783e-02,3.8731e-02,-3.0203e-05,4.9303e-02,4.7530e-02,2.4171e-01,-2.9444e-03,3.2578e-03,-6.4702e-06,2.5122e-01,4.3912e-03
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+38,1.2800e+01,DOWN_FORCE_DETACH,4.4750e-03,3.1959e-02,5.0953e-02,2.7284e+00,-3.9945e-02,3.8751e-02,-4.5286e-05,5.0413e-02,5.0426e-02,2.7733e-01,-3.1063e-03,3.2784e-03,-2.1553e-05,2.8635e-01,4.5163e-03
+39,1.2983e+01,DOWN_FORCE_DETACH,4.5905e-03,3.0602e-02,5.1515e-02,2.7302e+00,-3.9972e-02,3.8649e-02,-4.7413e-05,4.9056e-02,5.0988e-02,2.7912e-01,-3.1328e-03,3.1759e-03,-2.3680e-05,2.8795e-01,4.4612e-03
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+51,1.4950e+01,DOWN_FORCE_DETACH,6.0096e-03,3.5466e-02,7.1189e-02,2.7887e+00,-4.0981e-02,3.8890e-02,-3.3855e-05,5.3920e-02,7.0662e-02,3.3762e-01,-4.1417e-03,3.4168e-03,-1.0122e-05,3.4912e-01,5.3692e-03
+52,1.5083e+01,DOWN_FORCE_DETACH,6.1223e-03,3.3868e-02,6.9121e-02,2.7910e+00,-4.0833e-02,3.8776e-02,-3.6795e-05,5.2323e-02,6.8594e-02,3.3995e-01,-3.9939e-03,3.3036e-03,-1.3063e-05,3.5073e-01,5.1832e-03
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+54,1.5350e+01,DOWN_FORCE_DETACH,6.3635e-03,3.4913e-02,7.0444e-02,2.8016e+00,-4.0879e-02,3.8823e-02,-4.0213e-05,5.3367e-02,6.9917e-02,3.5051e-01,-4.0406e-03,3.3504e-03,-1.6480e-05,3.6137e-01,5.2489e-03
+55,1.5483e+01,DOWN_FORCE_DETACH,6.4809e-03,2.2884e-02,7.1231e-02,2.8012e+00,-4.0904e-02,3.8047e-02,-4.1435e-05,4.1339e-02,7.0704e-02,3.5011e-01,-4.0652e-03,2.5740e-03,-1.7702e-05,3.5956e-01,4.8116e-03
+56,1.5600e+01,DOWN_FORCE_DETACH,6.6026e-03,1.6843e-02,7.1770e-02,2.8119e+00,-4.0907e-02,3.7650e-02,-4.2778e-05,3.5297e-02,7.1243e-02,3.6086e-01,-4.0676e-03,2.1772e-03,-1.9046e-05,3.6952e-01,4.6137e-03
+57,1.5717e+01,DOWN_FORCE_DETACH,6.7251e-03,1.6482e-02,7.5357e-02,2.8249e+00,-4.1097e-02,3.7616e-02,-4.3374e-05,3.4936e-02,7.4830e-02,3.7383e-01,-4.2583e-03,2.1432e-03,-1.9641e-05,3.8284e-01,4.7672e-03
+58,1.5833e+01,DOWN_SETTLE,6.8306e-03,1.5890e-02,7.9427e-02,2.8312e+00,-4.1315e-02,3.7572e-02,-4.1980e-05,3.4345e-02,7.8900e-02,3.8019e-01,-4.4756e-03,2.0996e-03,-1.8247e-05,3.8980e-01,4.9437e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..56dd19b24e1061cc8b95c896cdbc9595a840a4bc
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:551c20be14b95fae743d6f0287107138de649257f584440976dc3b12ed43b7fa
+size 11192320
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f700377225742293ff053257e7390e002531d46
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab1fbcb0be6fa9328321a515501e779f30c74edd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..418d66a3b50c8f04c2f4d49ceecdabc2274a5ece
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44f7baacfc7ba9a953b9fdf12fe83dac03b65616
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_UP,1792701932642780163,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.091832313e-08,-4.441227247e-11,2.738553495e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291634e-01,1.746559047e-06,8.295727161e-01
+1,5.000000000e-02,XJC_ZERO_HOLD_BEFORE_UP,1792701932722848411,7.770949817e-07,6.568688205e-06,2.423993535e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.236967088e-08,-1.550577791e-10,1.065991551e-08,7.015386486e-01,8.119649526e-06,8.407433652e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017291948e-01,1.746448401e-06,8.295727240e-01
+2,1.166666667e-01,WAIT_W2,1792701932858837775,1.245539602e-06,2.856004707e-06,3.274845217e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.139056651e-08,-1.839083538e-10,2.064577398e-08,7.015391170e-01,4.406966028e-06,8.407442160e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292338e-01,1.746419551e-06,8.295727340e-01
+3,1.833333333e-01,WAIT_W2,1792701932990854714,2.433343551e-06,8.119066126e-06,5.416742483e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.177076185e-07,-3.213032340e-10,2.985787573e-08,7.015403048e-01,9.670027447e-06,8.407463579e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017292701e-01,1.746282156e-06,8.295727432e-01
+4,2.833333333e-01,WAIT_W2,1792701933190773647,1.550255395e-07,2.493863464e-06,1.902329586e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.667497869e-07,-3.990251896e-10,4.241018359e-08,7.015380265e-01,4.044824785e-06,8.407428435e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293192e-01,1.746204434e-06,8.295727558e-01
+5,3.666666667e-01,WAIT_W2,1792701933322850558,2.272342953e-06,-1.515476672e-06,3.077009371e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.033475508e-07,-4.114306673e-10,5.178536333e-08,7.015401438e-01,3.548464874e-08,8.407440182e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293558e-01,1.746192028e-06,8.295727652e-01
+6,4.333333333e-01,WAIT_W2,1792701933456945222,-4.105982142e-07,-1.043007655e-05,5.689309129e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.300940418e-07,-3.985514193e-10,5.863857266e-08,7.015374609e-01,-8.879115231e-06,8.407415101e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293825e-01,1.746204908e-06,8.295727720e-01
+7,4.833333333e-01,WAIT_W2,1792701933555087538,3.208954290e-06,-1.914641344e-05,6.442696176e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.421888965e-06,-1.889530030e-05,6.394763693e-06,7.015410804e-01,-1.759545212e-05,8.407473839e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017325743e-01,-1.714869684e-05,8.295791081e-01
+8,5.500000000e-01,WAIT_W2,1792701933690926130,1.979829121e-06,-2.215868417e-05,5.475950463e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.455963309e-06,-1.893139464e-05,6.424979836e-06,7.015398513e-01,-2.060772285e-05,8.407464171e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017326084e-01,-1.718479118e-05,8.295791383e-01
+9,6.000000000e-01,WAIT_W2,1792701933788992944,1.177709474e-06,-2.939189565e-05,3.016945877e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.476828950e-06,-1.893855637e-05,6.439785894e-06,7.015390492e-01,-2.784093433e-05,8.407439581e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017326293e-01,-1.719195291e-05,8.295791532e-01
+10,6.833333333e-01,WAIT_W2,1792701933923211701,5.380281114e-07,-3.479396755e-05,3.708695793e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.508175170e-06,-1.894340022e-05,6.460268687e-06,7.015384095e-01,-3.324300623e-05,8.407446499e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017326606e-01,-1.719679676e-05,8.295791736e-01
+11,7.666666667e-01,WAIT_W2,1792701934089565010,3.303320596e-06,-3.123904226e-05,6.320725574e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.536255457e-06,-1.894540298e-05,6.477825913e-06,7.015411748e-01,-2.968808094e-05,8.407472619e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017326887e-01,-1.719879952e-05,8.295791912e-01
+12,8.166666667e-01,WAIT_W2,1792701934187146915,6.872403016e-07,-3.749196839e-05,2.957218041e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.551768937e-06,-1.894609374e-05,6.487318833e-06,7.015385587e-01,-3.594100707e-05,8.407438984e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327042e-01,-1.719949029e-05,8.295792007e-01
+13,9.000000000e-01,WAIT_W2,1792701934354910252,1.118600843e-06,-3.430755284e-05,2.854800981e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.575633533e-06,-1.894683068e-05,6.501682259e-06,7.015389901e-01,-3.275659152e-05,8.407437960e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327281e-01,-1.720022722e-05,8.295792151e-01
+14,9.500000000e-01,WAIT_W2,1792701934454926956,6.659390627e-07,-2.748783225e-05,3.945193627e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.588862131e-06,-1.894712767e-05,6.509520745e-06,7.015385374e-01,-2.593687093e-05,8.407448864e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327413e-01,-1.720052421e-05,8.295792229e-01
+15,1.016666667e+00,WAIT_W2,1792701934554788995,-2.835448676e-08,-2.717741458e-05,2.382969191e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.605334096e-06,-1.894742262e-05,6.519157750e-06,7.015378431e-01,-2.562645326e-05,8.407433242e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327578e-01,-1.720081916e-05,8.295792325e-01
+16,1.100000000e+00,WAIT_W2,1792701934720830229,-6.408259065e-07,-1.514453033e-05,2.079832624e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.624200931e-06,-1.894768772e-05,6.530021438e-06,7.015372307e-01,-1.359356901e-05,8.407430210e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327766e-01,-1.720108426e-05,8.295792434e-01
+17,1.183333333e+00,WAIT_W2,1792701934886749104,-8.912291183e-07,-1.353328025e-05,2.938340704e-07,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.641323690e-06,-1.894786422e-05,6.539741134e-06,7.015369803e-01,-1.198231893e-05,8.407412350e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017327938e-01,-1.720126076e-05,8.295792531e-01
+18,1.233333333e+00,WAIT_W2,1792701934987478876,-1.092874309e-06,-1.306760780e-05,1.085237553e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.650834264e-06,-1.894795668e-05,6.545023857e-06,7.015367786e-01,-1.151664648e-05,8.407420264e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017328033e-01,-1.720135322e-05,8.295792584e-01
+19,1.300000000e+00,WAIT_W2,1792701935119576699,-2.246842619e-06,-1.919752854e-05,1.885090584e-08,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.662687647e-06,-1.894806102e-05,6.551560953e-06,7.015356246e-01,-1.764656722e-05,8.407409600e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017328151e-01,-1.720145756e-05,8.295792649e-01
+20,1.383333333e+00,WAIT_W2,1792701935250901486,-3.156814113e-06,-2.346666961e-05,-1.815448016e-06,3.171304776e-06,-1.905002763e-05,6.515487803e-06,3.676276113e-06,-1.894818400e-05,6.558939810e-06,7.015347147e-01,-2.191570828e-05,8.407391257e-01,7.015410428e-01,-1.749906631e-05,8.407474567e-01,7.017328287e-01,-1.720158054e-05,8.295792723e-01
+21,1.483333333e+00,WAIT_W2,1792701935450672573,-4.147385756e-06,-3.637385735e-05,-1.773340049e-06,-4.067985165e-06,-3.655784121e-05,-1.928034399e-06,-3.655110119e-06,-3.635414015e-05,-1.703969659e-06,7.015337241e-01,-3.482289603e-05,8.407391678e-01,7.015338035e-01,-3.500687989e-05,8.407390132e-01,7.017254973e-01,-3.460753669e-05,8.295710094e-01
+22,1.566666667e+00,WAIT_W2,1792701935618723515,-2.306157951e-06,-4.270445052e-05,7.967250291e-07,-4.067985165e-06,-3.655784121e-05,-1.928034399e-06,-3.670765036e-06,-3.638724838e-05,-1.728115143e-06,7.015355653e-01,-4.115348920e-05,8.407417379e-01,7.015338035e-01,-3.500687989e-05,8.407390132e-01,7.017254817e-01,-3.464064492e-05,8.295709853e-01
+23,1.633333333e+00,WAIT_W2,1792701935750818232,-6.731379831e-06,-5.214532006e-05,-4.643430784e-06,-4.067985165e-06,-3.655784121e-05,-1.928034399e-06,-3.674496902e-06,-3.639318540e-05,-1.739427169e-06,7.015311401e-01,-5.059435874e-05,8.407362978e-01,7.015338035e-01,-3.500687989e-05,8.407390132e-01,7.017254779e-01,-3.464658194e-05,8.295709739e-01
+24,1.733333333e+00,WAIT_W2,1792701935916758979,-4.052271138e-06,-6.394718727e-05,-1.522773074e-06,-5.156711208e-06,-5.790512492e-05,-2.171814658e-06,-4.721181612e-06,-5.761133038e-05,-1.990238115e-06,7.015338192e-01,-6.239622595e-05,8.407394184e-01,7.015327148e-01,-5.635416360e-05,8.407387694e-01,7.017244313e-01,-5.586472692e-05,8.295707231e-01
+25,1.800000000e+00,WAIT_W2,1792701936050810302,-4.639882085e-06,-7.084616336e-05,-2.124741771e-06,-5.156711208e-06,-5.790512492e-05,-2.171814658e-06,-4.724698804e-06,-5.762469928e-05,-1.997555121e-06,7.015332316e-01,-6.929520204e-05,8.407388164e-01,7.015327148e-01,-5.635416360e-05,8.407387694e-01,7.017244277e-01,-5.587809582e-05,8.295707158e-01
+26,1.850000000e+00,WAIT_W2,1792701936150801024,-4.129682165e-06,-7.910958784e-05,-1.274993944e-06,-4.299368087e-06,-7.900533814e-05,-1.212621161e-06,-3.883851161e-06,-7.856145667e-05,-1.069708455e-06,7.015337418e-01,-7.755862652e-05,8.407396662e-01,7.015335721e-01,-7.745437682e-05,8.407397286e-01,7.017252686e-01,-7.681485321e-05,8.295716437e-01
+27,1.950000000e+00,UP_FORCE_RAMP,1792701936350687389,-4.485514702e-06,-7.912972783e-05,2.038278587e-07,-4.299368087e-06,-7.900533814e-05,-1.212621161e-06,-3.884101060e-06,-7.861007127e-05,-1.072158385e-06,7.015333860e-01,-7.757876651e-05,8.407411450e-01,7.015335721e-01,-7.745437682e-05,8.407397286e-01,7.017252683e-01,-7.686346781e-05,8.295716412e-01
+28,1.983333333e+00,UP_FORCE_RAMP,1792701936414781467,-5.368027349e-06,-8.337194261e-05,-1.938733445e-06,-4.299368087e-06,-7.900533814e-05,-1.212621161e-06,-3.884542496e-06,-7.861423139e-05,-1.073922744e-06,7.015325035e-01,-8.182098129e-05,8.407390025e-01,7.015335721e-01,-7.745437682e-05,8.407397286e-01,7.017252679e-01,-7.686762793e-05,8.295716394e-01
+29,2.050000000e+00,UP_FORCE_RAMP,1792701936514733105,-5.498319825e-06,-9.179037622e-05,-5.783436287e-07,-4.299368087e-06,-7.900533814e-05,-1.212621161e-06,-3.885335066e-06,-7.861913187e-05,-1.077518274e-06,7.015323732e-01,-9.023941490e-05,8.407403628e-01,7.015335721e-01,-7.745437682e-05,8.407397286e-01,7.017252671e-01,-7.687252841e-05,8.295716359e-01
+30,2.116666667e+00,UP_FORCE_RAMP,1792701936650812381,-6.708800385e-06,-9.604063494e-05,-1.643938420e-06,-4.299368087e-06,-7.900533814e-05,-1.212621161e-06,-3.886102121e-06,-7.862183964e-05,-1.080891713e-06,7.015311627e-01,-9.448967362e-05,8.407392972e-01,7.015335721e-01,-7.745437682e-05,8.407397286e-01,7.017252663e-01,-7.687523618e-05,8.295716325e-01
+31,2.183333333e+00,UP_FORCE_RAMP,1792701936782765662,-4.929749088e-06,-1.035096658e-04,1.589331906e-06,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.521112265e-06,-1.031233762e-04,1.710066064e-06,7.015329417e-01,-1.019587044e-04,8.407425305e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246313e-01,-1.013767728e-04,8.295744234e-01
+32,2.283333333e+00,UP_FORCE_RAMP,1792701936982766843,-4.724042003e-06,-1.058390386e-04,-5.371985538e-07,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.525063035e-06,-1.031759372e-04,1.722429001e-06,7.015331474e-01,-1.042880773e-04,8.407404040e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246274e-01,-1.014293337e-04,8.295744358e-01
+33,2.350000000e+00,UP_FORCE_RAMP,1792701937114669279,-7.653187344e-06,-1.089844278e-04,-4.422290280e-06,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.526299437e-06,-1.031832917e-04,1.725825397e-06,7.015302183e-01,-1.074334665e-04,8.407365189e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246261e-01,-1.014366883e-04,8.295744392e-01
+34,2.416666667e+00,UP_FORCE_RAMP,1792701937246668448,-7.120539700e-06,-1.098013504e-04,-3.072075810e-07,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.527273502e-06,-1.031868878e-04,1.728424511e-06,7.015307509e-01,-1.082503891e-04,8.407406340e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246252e-01,-1.014402844e-04,8.295744418e-01
+35,2.466666667e+00,UP_FORCE_RAMP,1792701937348675650,-5.775938201e-06,-1.137881803e-04,-5.446015946e-07,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.527904716e-06,-1.031886413e-04,1.730115403e-06,7.015320955e-01,-1.122372189e-04,8.407403966e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246245e-01,-1.014420379e-04,8.295744435e-01
+36,2.516666667e+00,UP_FORCE_RAMP,1792701937446729261,-7.011965670e-06,-1.208816677e-04,-6.627156347e-07,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.528336173e-06,-1.031896058e-04,1.731628631e-06,7.015308595e-01,-1.193307064e-04,8.407402785e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246241e-01,-1.014430023e-04,8.295744450e-01
+37,2.600000000e+00,UP_FORCE_RAMP,1792701937614796786,-7.230762970e-06,-1.188145666e-04,1.035952379e-06,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.529236630e-06,-1.031915210e-04,1.733978972e-06,7.015306407e-01,-1.172636053e-04,8.407419771e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246232e-01,-1.014449175e-04,8.295744473e-01
+38,2.666666667e+00,UP_FORCE_RAMP,1792701937747526576,-6.051653317e-06,-1.183505897e-04,4.747828739e-06,-4.927935617e-06,-1.036502149e-04,1.646875564e-06,-4.529771828e-06,-1.031924659e-04,1.735707683e-06,7.015318198e-01,-1.167996284e-04,8.407456890e-01,7.015329435e-01,-1.020992536e-04,8.407425881e-01,7.017246227e-01,-1.014458625e-04,8.295744491e-01
+39,2.750000000e+00,UP_FORCE_RAMP,1792701937914804920,-9.731810732e-06,-1.249511106e-04,4.174394472e-06,-8.110774982e-06,-1.235072322e-04,2.525289096e-06,-7.734390311e-06,-1.229622900e-04,2.605838582e-06,7.015281397e-01,-1.234001492e-04,8.407451156e-01,7.015297607e-01,-1.219562709e-04,8.407434665e-01,7.017214180e-01,-1.212156865e-04,8.295753192e-01
+40,2.816666667e+00,UP_FORCE_RAMP,1792701938046708670,-1.006119427e-05,-1.268380303e-04,6.778597758e-06,-8.110774982e-06,-1.235072322e-04,2.525289096e-06,-7.740654626e-06,-1.229744483e-04,2.610390690e-06,7.015278103e-01,-1.252870690e-04,8.407477198e-01,7.015297607e-01,-1.219562709e-04,8.407434665e-01,7.017214118e-01,-1.212278449e-04,8.295753238e-01
+41,2.850000000e+00,UP_FORCE_RAMP,1792701938114744787,-1.211054698e-05,-1.238916891e-04,7.868701915e-06,-8.110774982e-06,-1.235072322e-04,2.525289096e-06,-7.743028868e-06,-1.229771580e-04,2.612128267e-06,7.015257609e-01,-1.223407278e-04,8.407488099e-01,7.015297607e-01,-1.219562709e-04,8.407434665e-01,7.017214094e-01,-1.212305546e-04,8.295753255e-01
+42,2.866666667e+00,UP_FORCE_RAMP,1792701938146753709,-1.447338362e-05,-1.272061546e-04,9.073881354e-06,-8.110774982e-06,-1.235072322e-04,2.525289096e-06,-7.744125379e-06,-1.229781841e-04,2.612910522e-06,7.015233981e-01,-1.256551932e-04,8.407500151e-01,7.015297607e-01,-1.219562709e-04,8.407434665e-01,7.017214083e-01,-1.212315807e-04,8.295753263e-01
+43,2.883333333e+00,UP_FORCE_RAMP,1792701938178762632,-3.869030106e-05,-1.312494255e-04,-6.746967011e-06,-3.833739596e-05,-1.312037702e-04,-7.578326727e-06,-3.823175861e-05,-1.305862327e-04,-7.319900198e-06,7.014991812e-01,-1.296984642e-04,8.407341942e-01,7.014995341e-01,-1.296528089e-04,8.407333629e-01,7.016909207e-01,-1.288396292e-04,8.295653935e-01
+44,2.933333333e+00,UP_FORCE_RAMP,1792701938280759685,-3.435438447e-05,-1.280017381e-04,6.187985613e-07,-3.833739596e-05,-1.312037702e-04,-7.578326727e-06,-3.831437952e-05,-1.305978940e-04,-7.345205391e-06,7.015035171e-01,-1.264507768e-04,8.407415600e-01,7.014995341e-01,-1.296528089e-04,8.407333629e-01,7.016908381e-01,-1.288512905e-04,8.295653682e-01
+45,2.966666667e+00,UP_FORCE_RAMP,1792701938346952317,-3.142510418e-05,-1.292417495e-04,7.712175873e-06,-2.904539626e-05,-1.318994414e-04,1.119329134e-05,-2.892027919e-05,-1.312930792e-04,1.105738362e-05,7.015064464e-01,-1.276907882e-04,8.407486534e-01,7.015088261e-01,-1.303484801e-04,8.407521345e-01,7.017002322e-01,-1.295464757e-04,8.295837708e-01
+46,3.033333333e+00,UP_FORCE_RAMP,1792701938478852320,-3.408325400e-05,-1.295066801e-04,1.289976248e-05,-2.904539626e-05,-1.318994414e-04,1.119329134e-05,-2.895066975e-05,-1.312993352e-04,1.109037027e-05,7.015037882e-01,-1.279557188e-04,8.407538410e-01,7.015088261e-01,-1.303484801e-04,8.407521345e-01,7.017002018e-01,-1.295527318e-04,8.295838037e-01
+47,3.100000000e+00,UP_FORCE_RAMP,1792701938612871411,-3.297235754e-05,-1.315709816e-04,2.546269641e-05,-2.904539626e-05,-1.318994414e-04,1.119329134e-05,-2.897862459e-05,-1.313020282e-04,1.111083921e-05,7.015048991e-01,-1.300200203e-04,8.407664039e-01,7.015088261e-01,-1.303484801e-04,8.407521345e-01,7.017001738e-01,-1.295554247e-04,8.295838242e-01
+48,3.100000000e+00,UP_FORCE_RAMP,1792701938612871411,-3.297235754e-05,-1.315709816e-04,2.546269641e-05,-2.904539626e-05,-1.318994414e-04,1.119329134e-05,-2.897862459e-05,-1.313020282e-04,1.111083921e-05,7.015048991e-01,-1.300200203e-04,8.407664039e-01,7.015088261e-01,-1.303484801e-04,8.407521345e-01,7.017001738e-01,-1.295554247e-04,8.295838242e-01
+49,3.116666667e+00,UP_FORCE_RAMP,1792701938646900470,-8.066527731e-05,-1.285198827e-04,1.730270196e-05,-7.982857528e-05,-1.288057764e-04,1.685617629e-05,-8.023509675e-05,-1.282285863e-04,1.663442819e-05,7.014572062e-01,-1.269689214e-04,8.407582439e-01,7.014580429e-01,-1.272548151e-04,8.407577974e-01,7.016489173e-01,-1.264819828e-04,8.295893478e-01
+50,3.116666667e+00,UP_FORCE_RAMP,1792701938646900470,-8.066527731e-05,-1.285198827e-04,1.730270196e-05,-7.982857528e-05,-1.288057764e-04,1.685617629e-05,-8.023509675e-05,-1.282285863e-04,1.663442819e-05,7.014572062e-01,-1.269689214e-04,8.407582439e-01,7.014580429e-01,-1.272548151e-04,8.407577974e-01,7.016489173e-01,-1.264819828e-04,8.295893478e-01
+51,3.133333333e+00,UP_FORCE_RAMP,1792701938678974029,-6.801208227e-05,-1.237342366e-04,2.619504151e-05,-7.982857528e-05,-1.288057764e-04,1.685617629e-05,-8.030585366e-05,-1.282250757e-04,1.664775161e-05,7.014698594e-01,-1.221832753e-04,8.407671362e-01,7.014580429e-01,-1.272548151e-04,8.407577974e-01,7.016488466e-01,-1.264784722e-04,8.295893611e-01
+52,3.216666667e+00,UP_FORCE_RAMP,1792701938878572135,-6.932582027e-05,-1.283538991e-04,3.807461143e-05,-7.118140822e-05,-1.283349080e-04,3.520635719e-05,-7.163400159e-05,-1.277399241e-04,3.467304913e-05,7.014685457e-01,-1.268029377e-04,8.407790158e-01,7.014666901e-01,-1.267839467e-04,8.407761475e-01,7.016575184e-01,-1.259933206e-04,8.296073864e-01
+53,3.283333333e+00,UP_FORCE_RAMP,1792701938979021989,-6.827718011e-05,-1.225740405e-04,4.204676060e-05,-7.118140822e-05,-1.283349080e-04,3.520635719e-05,-7.171440169e-05,-1.277410986e-04,3.473817743e-05,7.014695943e-01,-1.210230792e-04,8.407829879e-01,7.014666901e-01,-1.267839467e-04,8.407761475e-01,7.016574380e-01,-1.259944951e-04,8.296074515e-01
+54,3.316666667e+00,UP_FORCE_RAMP,1792701939043341761,-6.693704729e-05,-1.255930339e-04,4.520830067e-05,-7.118140822e-05,-1.283349080e-04,3.520635719e-05,-7.175101378e-05,-1.277412627e-04,3.476484133e-05,7.014709344e-01,-1.240420726e-04,8.407861495e-01,7.014666901e-01,-1.267839467e-04,8.407761475e-01,7.016574014e-01,-1.259946593e-04,8.296074782e-01
+55,3.383333333e+00,UP_FORCE_HOLD,1792701939180431876,-6.644067480e-05,-1.285704924e-04,5.140841238e-05,-7.118140822e-05,-1.283349080e-04,3.520635719e-05,-7.181818025e-05,-1.277414819e-04,3.481203513e-05,7.014714308e-01,-1.270195311e-04,8.407923496e-01,7.014666901e-01,-1.267839467e-04,8.407761475e-01,7.016573343e-01,-1.259948784e-04,8.296075254e-01
+56,3.450000000e+00,UP_FORCE_HOLD,1792701939311379012,-6.599677940e-05,-1.317552760e-04,5.637264986e-05,-6.552243091e-05,-1.245480587e-04,5.396056284e-05,-6.611751746e-05,-1.240021112e-04,5.316918750e-05,7.014718747e-01,-1.302043147e-04,8.407973138e-01,7.014723491e-01,-1.229970974e-04,8.407949018e-01,7.016630349e-01,-1.222555077e-04,8.296258826e-01
+57,3.550000000e+00,UP_SETTLE,1792701939511029316,-6.300074705e-05,-1.288044153e-04,6.612857574e-05,-6.552243091e-05,-1.245480587e-04,5.396056284e-05,-6.617967205e-05,-1.240005856e-04,5.329073624e-05,7.014748707e-01,-1.272534540e-04,8.408070698e-01,7.014723491e-01,-1.229970974e-04,8.407949018e-01,7.016629728e-01,-1.222539821e-04,8.296260041e-01
+58,3.650000000e+00,UP_SETTLE,1792701939710737440,-6.196718988e-05,-1.285970603e-04,6.857618232e-05,-6.552243091e-05,-1.245480587e-04,5.396056284e-05,-6.623607530e-05,-1.240002506e-04,5.338140317e-05,7.014759043e-01,-1.270460990e-04,8.408095174e-01,7.014723491e-01,-1.229970974e-04,8.407949018e-01,7.016629164e-01,-1.222536471e-04,8.296260948e-01
+59,3.716666667e+00,UP_SETTLE,1792701939842729827,-6.436692521e-05,-1.306134180e-04,6.886171722e-05,-6.552243091e-05,-1.245480587e-04,5.396056284e-05,-6.626982147e-05,-1.240001959e-04,5.343300830e-05,7.014735046e-01,-1.290624567e-04,8.408098029e-01,7.014723491e-01,-1.229970974e-04,8.407949018e-01,7.016628826e-01,-1.222535925e-04,8.296261464e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce61b2ae9adaf8df717d6cfe5a8bc494619867e8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.7874e-02,5.2447e-04,2.4513e+00,-3.6839e-02,3.5511e-02,-2.4554e-05,5.7895e-04,-2.2243e-06,1.9121e-04,-2.5705e-07,3.7827e-05,-7.5941e-07,6.0971e-04,3.7835e-05
+1,5.0000e-02,XJC_ZERO_HOLD_BEFORE_UP,1.3319e-05,-1.6298e-02,5.1930e-04,2.4518e+00,-3.6840e-02,3.5615e-02,-2.6830e-05,2.1545e-03,-7.4012e-06,7.1383e-04,-1.0505e-06,1.4194e-04,-3.0353e-06,2.2697e-03,1.4198e-04
+2,1.1667e-01,WAIT_W2,3.4358e-05,-1.4449e-02,5.1977e-04,2.4524e+00,-3.6841e-02,3.5739e-02,-2.9874e-05,4.0035e-03,-6.9238e-06,1.3251e-03,-2.4214e-06,2.6615e-04,-6.0793e-06,4.2171e-03,2.6623e-04
+3,1.8333e-01,WAIT_W2,5.1910e-05,-1.0946e-02,8.2572e-04,2.4535e+00,-3.6873e-02,3.6040e-02,-6.9661e-05,7.5062e-03,2.9902e-04,2.4638e-03,-3.3844e-05,5.6672e-04,-4.5866e-05,7.9059e-03,5.6958e-04
+4,2.8333e-01,WAIT_W2,6.7248e-05,-9.2609e-03,7.8191e-04,2.4538e+00,-3.6869e-02,3.6143e-02,-7.0555e-05,9.1917e-03,2.5522e-04,2.6927e-03,-2.9977e-05,6.7050e-04,-4.6760e-05,9.5814e-03,6.7279e-04
+5,3.6667e-01,WAIT_W2,8.7354e-05,-7.8749e-03,7.4059e-04,2.4541e+00,-3.6865e-02,3.6231e-02,-7.1324e-05,1.0578e-02,2.1389e-04,3.0491e-03,-2.6565e-05,7.5820e-04,-4.7529e-05,1.1011e-02,7.6015e-04
+6,4.3333e-01,WAIT_W2,1.0334e-04,-6.8058e-03,7.0948e-04,2.4544e+00,-3.6863e-02,3.6300e-02,-7.1949e-05,1.1647e-02,1.8278e-04,3.3698e-03,-2.4006e-05,8.2706e-04,-4.8155e-05,1.2126e-02,8.2881e-04
+7,4.8333e-01,WAIT_W2,1.1658e-04,-6.0306e-03,6.8937e-04,2.4547e+00,-3.6861e-02,3.6350e-02,-7.2426e-05,1.2422e-02,1.6268e-04,3.6144e-03,-2.2314e-05,8.7760e-04,-4.8632e-05,1.2938e-02,8.7923e-04
+8,5.5000e-01,WAIT_W2,1.3358e-04,-7.0583e-03,1.2589e-02,2.4480e+00,-3.7647e-02,3.6286e-02,-7.0904e-05,1.1394e-02,1.2062e-02,-3.0365e-03,-8.0829e-04,8.1347e-04,-4.7109e-05,1.6869e-02,1.1477e-03
+9,6.0000e-01,WAIT_W2,1.4982e-04,-6.3190e-03,1.1511e-02,2.4488e+00,-3.7585e-02,3.6335e-02,-7.0400e-05,1.2134e-02,1.0984e-02,-2.2511e-03,-7.4621e-04,8.6176e-04,-4.6605e-05,1.6521e-02,1.1409e-03
+10,6.8333e-01,WAIT_W2,1.6853e-04,-5.0364e-03,1.0768e-02,2.4500e+00,-3.7546e-02,3.6419e-02,-6.9812e-05,1.3416e-02,1.0241e-02,-1.0405e-03,-7.0702e-04,9.4663e-04,-4.6017e-05,1.6910e-02,1.1824e-03
+11,7.6667e-01,WAIT_W2,1.8334e-04,-3.8079e-03,1.0592e-02,2.4511e+00,-3.7540e-02,3.6502e-02,-6.9469e-05,1.4645e-02,1.0066e-02,4.7684e-07,-7.0158e-04,1.0291e-03,-4.5674e-05,1.7770e-02,1.2463e-03
+12,8.1667e-01,WAIT_W2,2.0237e-04,-3.1086e-03,1.0584e-02,2.4516e+00,-3.7543e-02,3.6549e-02,-6.9358e-05,1.5344e-02,1.0058e-02,5.5742e-04,-7.0371e-04,1.0766e-03,-4.5563e-05,1.8355e-02,1.2870e-03
+13,9.0000e-01,WAIT_W2,2.1688e-04,-2.0105e-03,1.0623e-02,2.4525e+00,-3.7549e-02,3.6625e-02,-6.9308e-05,1.6442e-02,1.0096e-02,1.3912e-03,-7.0961e-04,1.1518e-03,-4.5513e-05,1.9345e-02,1.3536e-03
+14,9.5000e-01,WAIT_W2,2.3496e-04,-1.3874e-03,1.0656e-02,2.4529e+00,-3.7552e-02,3.6668e-02,-6.9348e-05,1.7065e-02,1.0129e-02,1.8456e-03,-7.1329e-04,1.1948e-03,-4.5553e-05,1.9931e-02,1.3922e-03
+15,1.0167e+00,WAIT_W2,2.4917e-04,-5.9768e-04,1.0700e-02,2.4535e+00,-3.7557e-02,3.6722e-02,-6.9475e-05,1.7855e-02,1.0173e-02,2.4042e-03,-7.1773e-04,1.2497e-03,-4.5681e-05,2.0690e-02,1.4418e-03
+16,1.1000e+00,WAIT_W2,2.6622e-04,3.2583e-04,1.0747e-02,2.4541e+00,-3.7561e-02,3.6787e-02,-6.9742e-05,1.8778e-02,1.0221e-02,3.0344e-03,-7.2223e-04,1.3143e-03,-4.5947e-05,2.1594e-02,1.5004e-03
+17,1.1833e+00,WAIT_W2,2.8466e-04,1.1803e-03,1.0785e-02,2.4547e+00,-3.7564e-02,3.6847e-02,-7.0114e-05,1.9633e-02,1.0258e-02,3.5961e-03,-7.2558e-04,1.3746e-03,-4.6319e-05,2.2441e-02,1.5551e-03
+18,1.2333e+00,WAIT_W2,2.9870e-04,3.0293e-03,1.0887e-02,2.4559e+00,-3.7574e-02,3.6987e-02,-7.1778e-05,2.1482e-02,1.0360e-02,4.8299e-03,-7.3486e-04,1.5138e-03,-4.7983e-05,2.4334e-02,1.6834e-03
+19,1.3000e+00,WAIT_W2,3.1885e-04,3.0177e-03,1.0885e-02,2.4558e+00,-3.7574e-02,3.6988e-02,-7.2074e-05,2.1470e-02,1.0359e-02,4.6978e-03,-7.3470e-04,1.5148e-03,-4.8279e-05,2.4297e-02,1.6842e-03
+20,1.3833e+00,WAIT_W2,3.3495e-04,3.3893e-03,1.0885e-02,2.4559e+00,-3.7573e-02,3.7013e-02,-7.2515e-05,2.1842e-02,1.0358e-02,4.8418e-03,-7.3439e-04,1.5407e-03,-4.8720e-05,2.4654e-02,1.7075e-03
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+22,1.5667e+00,WAIT_W2,3.6902e-04,1.1530e-02,2.1806e-02,2.4651e+00,-3.8322e-02,3.7577e-02,-6.7161e-05,2.9983e-02,2.1280e-02,1.4047e-02,-1.4832e-03,2.1044e-03,-4.3366e-05,3.9359e-02,2.5750e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c2f378b65f54d165c36982c92aa0e5ac286ea77e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:43cc2e335e5d384f287f1df43f0a03ab03185391ff8be10646a62f9e3a16e7b7
+size 52049920
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ac1d17572228178138fd8eb5b191dd3be72a1b6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba978fa8006a7af0caecb200bb34b1b03e628608
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+15960,1792702003941548250,9830951000000,1792702003939153284,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6760145980021983,-0.004653636089069976,0.09083689904104017,0.9999999759698748,-0.00011307393710829223,-0.00014742937602946543,-7.058312883687137e-05,0.6761,-0.00453,0.0909204781650738,1.0,0.0,0.0,0.0,0.09345511742384338,0.06904812546504813,0.37199599182021703,0.0057651557651695225,-0.007187134228246628,-0.00028031955933423606,0.7479953557890358,0.5037359128193188,0.2200615119501916,0.036106232408035184,-0.053437274794295934,0.0015425112637627101,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.053168949647693274,0.8181247028859382,1.0601198856634015,-0.18654290535400742,-0.552666924945638,0.49010983348060216,-0.13074956995010537,0.37199599182021703,-1.1908694556135069,-1.1908694556135069,0.14271999999999554,0,0,-8.919998286813081e-05,-9.999999025923074e-05
+16008,1792702004341565479,9831351000000,1792702004339154173,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760717978849339,-0.004665335155392592,0.09080931189178214,0.9999999893354475,-0.00010710489404455792,1.8056491452667932e-07,-3.606214273339978e-05,0.6761,-0.00453,0.09088080817270776,1.0,0.0,0.0,0.0,0.08376822296449027,0.07018425663912475,0.5758349231684108,0.005704837312177757,-0.006588946177485247,-0.00043869981874545215,0.7383084613296826,0.5048720439933955,0.4239004432983854,0.03604591395504342,-0.052839086743534554,0.001384131004351494,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.10886745148376434,0.8999937639711284,0.9816447043218292,-0.18770214748436517,-0.4983793274151431,0.5413747950679476,-0.13074956995010537,0.5758349231684108,-1.1123942742719346,-1.1123942742719346,0.17471999999999424,0,0,-0.0001091999789718231,-9.999999025923074e-05
+16116,1792702005241566008,9832251000000,1792702005239153650,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760572787511682,-0.004665420408087413,0.09074951439728902,0.9999999899608831,-9.585453497181836e-05,-4.031677295004901e-05,-2.660007738844552e-05,0.6761,-0.00453,0.09076230069558251,1.0,0.0,0.0,0.0,-0.08696787469403422,0.16147486536569455,0.8744751748833317,0.013471877477863766,0.005722399388190073,-0.0004122283076749495,0.5675723636711582,0.5961626527199653,0.7225406950133063,0.04381295412072943,-0.04052774117785923,0.0014106025154219967,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.32633847769704294,0.7544654306211335,0.5196711811640115,-0.08928843147279461,-0.20169599789014078,0.43277968178737153,-0.13074956995010537,0.8744751748833317,-0.6504207511141168,-0.6504207511141168,0.2467199999999913,0,0,-0.00015419997020513077,-9.999999025923074e-05
+16212,1792702006041499462,9833051000000,1792702006039153378,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6760986670442698,-0.0046761227623137004,0.09068818480389167,0.9999999925317216,-7.804727532566062e-05,1.6451058801863175e-05,4.1721341095097285e-06,0.6761,-0.00453,0.09062296072253935,1.0,0.0,0.0,0.0,-0.18029309857185122,0.21236597391428214,1.2526279077490787,0.01605566412224232,0.013318259720808953,0.0004830212412433852,0.47424713979334115,0.6470537612685529,1.1006934278790532,0.04639674076510798,-0.032931880845240354,0.0023058520643403314,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.5913673542206271,0.736514636240389,0.09974513964221296,-0.00296733300742151,0.09652478683936282,0.404037971978403,-0.13074956995010537,1.2526279077490787,-0.23049470959231833,-0.23049470959231833,0.31072000000000977,0,0,-0.00019419996241251537,-9.999999025923074e-05
+16292,1792702006707567003,9833717000000,1792702006707153947,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761140128530145,-0.004676531184941477,0.09060198191759691,0.9999999922742021,-6.425084171803872e-05,4.546355504717339e-05,2.644531228484228e-05,0.6761,-0.00453,0.09049065995612157,1.0,0.0,0.0,0.0,-0.271936989632739,0.2556983069311266,1.5980995745818278,0.02111605132617261,0.0195957056766209,0.0003145781593754788,0.3826032487324534,0.6903860942853973,1.4461650947118023,0.05145712796903827,-0.026654434889428407,0.002137408982472425,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.7697850626782836,0.7151380070904096,-0.5245094467575874,0.0472390896553006,0.5163408844973016,0.3842649373353413,-0.13074956995010537,1.5980995745818278,0.39375987680748203,0.39375987680748203,0.3640000000000261,0,0,-0.00018792577872042836,9.999999025923074e-05
+16379,1792702007432559551,9834442000000,1792702007431143673,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761375129032993,-0.004683817018425094,0.09052236726555803,0.9999999905352754,-4.3733412697885804e-05,7.880370277299508e-05,4.743077853318636e-05,0.6761,-0.00453,0.09036753626398573,1.0,0.0,0.0,0.0,-0.3328871028668907,0.30231709655588357,1.8800035314268269,0.023991741284483444,0.024542879485024163,0.00019844438114934937,0.32165313549830166,0.7370048839101543,1.7280690515568013,0.054332817927349106,-0.021707261081025143,0.0020212752042462956,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9221286847040076,0.6146418950988044,-0.8401235400100378,0.075657204834114,0.7456209249246847,0.32385487687233555,-0.13074956995010537,1.8800035314268269,0.7093739700599324,0.7093739700599324,0.42200000000004384,0,0,-0.00015167578578248608,9.999999025923074e-05
+16467,1792702008166513794,9835176000000,1792702008159143869,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761469029661866,-0.00468723335230936,0.0904443341518056,0.9999999891772242,-1.987479471803917e-05,9.385922816915199e-05,6.232057224735874e-05,0.6761,-0.00453,0.09026965678459387,1.0,0.0,0.0,0.0,-0.38213555143757083,0.3003061599522707,2.041851211407138,0.02405250576046099,0.028188712997293735,0.00012269366851697236,0.27240468692762154,0.7349939473065414,1.8899167315371124,0.05439358240332665,-0.018061427568755572,0.0019455244916139185,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9203873602711953,0.6724355095792309,-0.966375280336268,0.0570099562875118,0.8171103879594946,0.36243033203946406,-0.13074956995010537,2.041851211407138,0.8356257103861626,0.8356257103861626,0.4807200000000618,0,0,-0.00011497579293221071,9.999999025923074e-05
+16575,1792702009066549985,9836076000000,1792702009063153600,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761565187404895,-0.004693455527988854,0.09037768917971198,0.9999999871106016,-1.6618098187198022e-05,0.00010621499105255794,7.525872470305114e-05,0.6761,-0.00453,0.09018640606700548,1.0,0.0,0.0,0.0,-0.3879113893706293,0.2841845143806444,2.1415622537138024,0.023829598220995996,0.02854208665763707,4.327848647473821e-05,0.2666288489945631,0.7188723017349151,1.989627773843777,0.05417067486386166,-0.017708053908412236,0.0018661093095716844,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9961148121381096,0.6803680325052575,-1.0924200927593646,0.04908417009823005,0.9169982802214737,0.3640808396491077,-0.13074956995010537,2.1415622537138024,0.9616705228092592,0.9616705228092592,0.5527200000000473,0,0,-6.997580169890304e-05,9.999999025923074e-05
+16695,1792702010066549796,9837076000000,1792702010063144163,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761591945450285,-0.004696092769071206,0.09033321893297877,0.9999999866407284,-1.1688804775312694e-05,0.00010572337475919112,8.274869986018469e-05,0.6761,-0.00453,0.09014140526043132,1.0,0.0,0.0,0.0,-0.37783840296368937,0.270497202221623,2.122514059547075,0.02283936510521985,0.027552895992307664,3.27550569327391e-05,0.276701835401503,0.7051849895758937,1.9705795796770498,0.05318044174808551,-0.018697244573741643,0.0018555858800296853,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9645956560824798,0.7041586780638536,-1.1981157086229017,0.032598235249510776,0.9803604031576753,0.37853449334806055,-0.13074956995010537,2.122514059547075,1.0673661386727964,1.0673661386727964,0.6327200000000163,0,0,-1.9975811439672302e-05,9.999999025923074e-05
+16811,1792702011032459917,9838042000000,1792702011027143697,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761557682879845,-0.004695958039163479,0.0903143650897594,0.9999999872351254,-1.3318692754679888e-05,9.838273115580954e-05,8.435676656557739e-05,0.6761,-0.00453,0.09013645292118132,1.0,0.0,0.0,0.0,-0.3669351228303683,0.25680466064759455,2.051545332425298,0.020838799301117986,0.026593039837869887,5.262977304592263e-05,0.2876051155348241,0.6914924480018653,1.8996108525552726,0.05117987594398365,-0.01965710072817942,0.0018754605961428688,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9062056820957761,0.6254397558657862,-1.0395822676590236,0.0627521272384987,0.864313482294615,0.33002864112862224,-0.13074956995010537,2.051545332425298,0.9088326977089183,0.9088326977089183,0.7099999999999863,0,0,-2.1446790968160379e-07,2.166342522036402e-06
+16950,1792702012191421298,9839201000000,1792702012191144278,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761524170468841,-0.004692593187226909,0.09030509295444619,0.9999999878553409,-1.2304479782910186e-05,9.266570899586252e-05,8.362923283532548e-05,0.6761,-0.00453,0.09013565177173578,1.0,0.0,0.0,0.0,-0.3476786703898344,0.2366730596888258,1.981003899735204,0.019857682990863084,0.025614532273467782,8.474205388955629e-05,0.30686156797535796,0.6713608470430965,1.8290694198651785,0.050198759633728746,-0.020635608292581525,0.0019075728769865025,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.8714829684371724,0.6633609847894627,-0.9956938893397128,0.049205387440780235,0.831627643414015,0.35359762606176937,-0.13074956995010537,1.981003899735204,0.8649443193896075,0.8649443193896075,0.8027199999999504,0,0,-3.7375920533544438e-06,3.775345508438832e-05
+17082,1792702013291511609,9840301000000,1792702013291143508,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761499478631292,-0.0046956624305818425,0.09029069425473886,0.9999999878918518,-1.2565361499295951e-05,8.849350746719416e-05,8.757951531837892e-05,0.6761,-0.00453,0.09011929146790466,1.0,0.0,0.0,0.0,-0.34708683290867687,0.22304564914410363,1.95831848579791,0.01884126354187571,0.025610522949551143,9.117053992158076e-05,0.3074534054565155,0.6577334364983743,1.8063840059278844,0.04918234018474137,-0.020639617616498164,0.001914001363018527,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.8922499116360244,0.6040675528577268,-0.918319356410853,0.06482171417162791,0.7878948738082678,0.31296550636153364,-0.13074956995010537,1.95831848579791,0.7875697864607477,0.7875697864607477,0.8907199999999162,0,0,-3.125623702501657e-05,-9.999999025923074e-05
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+17334,1792702015391517512,9842401000000,1792702015391143500,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.67616284054786,-0.004695263603934345,0.09022900165600477,0.9999999849003881,-7.313342358847585e-06,0.00011057827707732378,9.675250757450353e-05,0.6761,-0.00453,0.09002165154484434,1.0,0.0,0.0,0.0,-0.3725270868188482,0.22879319439776646,2.101215895063595,0.019778978270693064,0.027616079441398485,1.6281548118350338e-05,0.28201315154634415,0.6634809817520372,1.9492814151935698,0.050120054913558726,-0.01863406112465082,0.0018391123712152965,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0021865344981273,0.6241179253581428,-1.1001598280101934,0.06301080934786067,0.922484422985383,0.32431677245727497,-0.13074956995010537,2.101215895063595,0.9694102580600881,0.9694102580600881,1.0587199999999326,0,0,-5.323406716414703e-05,-9.999999025923074e-05
+17437,1792702016249397734,9843259000000,1792702016243144696,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761680872816335,-0.0046975731136787895,0.09019750289266076,0.9999999834613735,-1.1711918293778697e-05,0.00011898440794752538,0.0001011219988782906,0.6761,-0.00453,0.0899765306685833,1.0,0.0,0.0,0.0,-0.37840329981128523,0.2347216571796613,2.162049834502661,0.019202645839493434,0.027671742907043394,-3.300513769063538e-05,0.27613693855390714,0.669409444533932,2.0101153546326356,0.049543722482359095,-0.018578397659005912,0.0017898256854063108,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.9951962555807425,0.5841629779871548,-1.3409523748278427,0.07127390552539399,1.071681848951826,0.29799182222408804,-0.13074956995010537,2.162049834502661,1.2102028048777373,1.2102028048777373,1.1273600000000012,0,0,-5.102197871556668e-05,9.995477642655288e-05
+17549,1792702017182441883,9844192000000,1792702017175153751,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761699025117452,-0.004695741969183492,0.09015297783092698,0.9999999828471364,-8.580478874606626e-06,0.00011967283859573178,0.0001065522327233595,0.6761,-0.00453,0.08993118601337026,1.0,0.0,0.0,0.0,-0.37690269678108923,0.22240357579709913,2.2206725962032694,0.018716291027917848,0.028628030780673577,-0.0010274941933726975,0.27763754158410314,0.6570913631513698,2.068738116333244,0.04905736767078351,-0.01762210978537573,0.0007953366297242488,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,0.97953445111762,0.6225109048854301,-1.2557978809657842,0.06715922040108248,1.0105888762183353,0.3282808416127133,-0.13074956995010537,2.2206725962032694,1.1250483110156788,1.1250483110156788,1.202000000000076,0,0,-4.860832518024794e-05,-8.380092039595439e-05
+17681,1792702018282445305,9845292000000,1792702018275144279,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761738577951324,-0.004697495527796387,0.09010224590021793,0.9999999809305485,-4.549632428291822e-06,0.0001279933049300391,0.00011479887516549565,0.6761,-0.00453,0.08987256213977875,1.0,0.0,0.0,0.0,-0.38511162155608997,0.20534116870586994,2.251625700851506,0.01768880255571895,0.02864232481308902,-0.0011415613711564451,0.2694286168091024,0.6400289560601407,2.0996912209814806,0.04802987919858461,-0.017607815752960287,0.000681269451940501,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.013943758431379,0.5904010257780704,-1.2750696071418774,0.07881167195861676,1.028692946234464,0.306587215184839,-0.13074956995010537,2.251625700851506,1.144320037191772,1.144320037191772,1.290000000000164,0,0,-6.099252848198867e-05,-8.953586069638248e-05
+17800,1792702019274435039,9846284000000,1792702019267153240,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761767275502436,-0.004701863905882511,0.0900413838835801,0.9999999789576786,-2.3502189375543373e-06,0.00013363461723404387,0.00012515499395366548,0.6761,-0.00453,0.08980273375972646,1.0,0.0,0.0,0.0,-0.38796556683618044,0.19989572872387884,2.300494969955602,0.01662329487701605,0.02965861876814736,-0.00016840686175985105,0.26657467152901193,0.6345835160781496,2.148560490085577,0.04696437151988171,-0.016591521797901947,0.0016544239613370951,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0366046890241218,0.5637407102812656,-1.3836299228052917,0.0838478186518776,1.1020834551782832,0.2878412651242427,-0.13074956995010537,2.300494969955602,1.2528803528551864,1.2528803528551864,1.3693600000002433,0,0,-7.97665302379721e-05,-8.809923210251753e-05
+17904,1792702020141452068,9847151000000,1792702020139144116,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761783426357549,-0.004704231435843269,0.08997415476265355,0.9999999779760987,5.446158449093289e-06,0.00013826964950117775,0.00012783782681014116,0.6761,-0.00453,0.0897301917638932,1.0,0.0,0.0,0.0,-0.38028402092470387,0.19421270694626291,2.340392192665451,0.016639574062175196,0.028720373900481187,-0.0008202722450246934,0.2742562174404885,0.6289004943005336,2.188457712795426,0.04698065070504086,-0.01752976666556812,0.0010025585780722528,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0605296899462495,0.5420945183768971,-1.5586240063281878,0.09947151638029171,1.2163838767284774,0.2805565899727779,-0.13074956995010537,2.340392192665451,1.4278744363780824,1.4278744363780824,1.4387200000003126,0,0,-8.727250464382751e-05,9.763554828368654e-05
+17992,1792702020874369076,9847884000000,1792702020871144132,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761857666664121,-0.004696280655772818,0.08990835230668359,0.9999999795962683,-6.159329930245881e-05,0.00015493722622553297,6.671618187859742e-05,0.6761,-0.00453,0.08965585922762996,1.0,0.0,0.0,0.0,-0.3477345146068188,0.21728067744732704,2.3731074619852954,0.01772286225762997,0.026587706648512757,-0.0012658893332966976,0.30680572375837356,0.6519684648015978,2.22117298211527,0.04806393890049563,-0.01966243391753655,0.0005569414898002486,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.063809351571033,0.6289209148218918,-1.5737712926353986,-0.012888565399509569,1.2456814662930573,0.3622890511780562,-0.13074956995010537,2.3731074619852954,1.4430217226852933,1.4430217226852933,1.4973600000003713,0,0,-0.00011459259633275908,9.678099574384475e-05
+18092,1792702021707447198,9848717000000,1792702021707144460,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.676182952782772,-0.004702390806611773,0.08981107436837672,0.9999999801729622,-1.5499113789638307e-05,0.00014943593678029316,9.233427272799337e-05,0.6761,-0.00453,0.08955671189360347,1.0,0.0,0.0,0.0,-0.359350717964788,0.17507661836226374,2.409985658506354,0.014632870822693659,0.027652454067925596,-0.0013167722455772342,0.29518952040040436,0.6097644057165345,2.258051178636329,0.04497394746555932,-0.01859768649812371,0.0005060585775197119,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0449818333892447,0.6086382177125613,-1.5551202785632439,0.089842391277749,1.2093403563476326,0.3364726171727449,-0.13074956995010537,2.409985658506354,1.4243707086131385,1.4243707086131385,1.564000000000438,0,0,-0.00011764036993026523,5.996905879217872e-05
+18184,1792702022474390218,9849484000000,1792702022471143794,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761871589834395,-0.004704201226646477,0.08972982727241595,0.9999999780916207,8.646483610623451e-07,0.00015269785486122668,0.00010928055704023609,0.6761,-0.00453,0.08946966819600796,1.0,0.0,0.0,0.0,-0.355181730870216,0.16516368146134452,2.439378187688595,0.013602620210778672,0.027459249253091275,-0.0013546224375416858,0.2993585074949764,0.5998514688156152,2.2874437078185696,0.04394369685364433,-0.01879089131295803,0.00046820838555526026,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.080797383710649,0.5144800647462746,-1.6011913768946915,0.13904600864107786,1.2424029708365723,0.27103123783473493,-0.13074956995010537,2.439378187688595,1.4704418069445861,1.4704418069445861,1.6253600000004993,0,0,-0.00011313995648273701,-9.999943514771843e-05
+18284,1792702023307370472,9850317000000,1792702023307143737,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761866650390439,-0.004706663097306681,0.08963321896225339,0.9999999789832749,-2.5479051045355193e-05,0.0001536048478711471,9.608685070278603e-05,0.6761,-0.00453,0.08937129765971719,1.0,0.0,0.0,0.0,-0.3269041121532669,0.15939088978280136,2.446391289157997,0.01366110469179593,0.02563681014131249,-0.00139495918420306,0.32763612621192545,0.5940786771370721,2.2944568092879716,0.04400218133466159,-0.020613330424736818,0.0004278716388938862,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.091039749589972,0.5013087215615278,-1.7028083810351324,0.17304417243333026,1.3057727475686634,0.2625354651389117,-0.13074956995010537,2.446391289157997,1.572058811085027,1.572058811085027,1.692000000000566,0,0,-0.00012486737916286993,9.899379513201296e-05
+18367,1792702023999397537,9851009000000,1792702023999144271,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761888179295272,-0.004705960748002897,0.08954200279004275,0.9999999788874504,-4.0283258650682226e-05,0.00015467988847439224,9.010745992561656e-05,0.6761,-0.00453,0.08928051029593984,1.0,0.0,0.0,0.0,-0.3170415911457762,0.15520833955521496,2.462320280382859,0.012653821806564606,0.024638981754289416,-0.0014243874104647378,0.3374986472194162,0.5898961269094857,2.310385800512834,0.04299489844943027,-0.02161115881175989,0.00039844341263220836,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0280911043097278,0.6069718084312122,-1.6168520928622045,0.1445977177193214,1.2323377937435016,0.331304483118268,-0.13074956995010537,2.462320280382859,1.4861025229120992,1.4861025229120992,1.7473600000006213,0,0,-0.0001365576261333753,-9.999942126993062e-05
+18451,1792702024699323322,9851709000000,1792702024699143816,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761913910951631,-0.004706596577314535,0.08944470979253906,0.9999999782199058,-3.8040621009202085e-05,0.0001591163636461097,9.076313233805287e-05,0.6761,-0.00453,0.08917721416127004,1.0,0.0,0.0,0.0,-0.3072899705973623,0.14336196420905278,2.4751186713133637,0.01163023557663562,0.024655918641630657,-0.001444660526735458,0.3472502677678301,0.5780497515633235,2.3231841914433384,0.04197131221950128,-0.02159422192441865,0.0003781702963614883,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1017595743944788,0.5191910496546134,-1.7465207491567893,0.18673396877134849,1.330612241032052,0.2742842389685478,-0.13074956995010537,2.4751186713133637,1.615771179206684,1.615771179206684,1.8033600000006773,0,0,-0.00015829173587581102,6.54943002872443e-05
+18527,1792702025333387367,9852342000000,1792702025327143916,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761914475887065,-0.004706218358147484,0.08933954982916346,0.9999999784301264,-2.8985614134593485e-05,0.00015498739184283987,9.85969253486603e-05,0.6761,-0.00453,0.08907527442519501,1.0,0.0,0.0,0.0,-0.3160736301007776,0.13774646019469383,2.518819005408022,0.010601978057649116,0.02466572639909462,-0.001492542615223196,0.33846660826441477,0.5724342475489645,2.366884525537997,0.04094305470051478,-0.021584414166954686,0.00033028820787375015,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1735437589019102,0.6331856786074773,-1.8327215478087586,0.16950131783669667,1.4032443266027694,0.3537198924900996,-0.13074956995010537,2.518819005408022,1.7019719778586533,1.7019719778586533,1.854000000000728,0,0,-0.0001633605953052245,9.997743885404304e-05
+18599,1792702025932372028,9852942000000,1792702025931143702,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761939410352423,-0.0047154068014469246,0.08924542840354038,0.9999999768023751,-2.295663638274979e-05,0.0001599118514780321,0.00010834807949010097,0.6761,-0.00453,0.08897611703999744,1.0,0.0,0.0,0.0,-0.30405663126115773,0.12006345353568015,2.534945601856701,0.009603645261089668,0.023668224147838767,-0.0015325235160772637,0.35048360710403464,0.5547512408899509,2.3830111219866756,0.03994472190395533,-0.02258191641821054,0.0002903073070196825,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.0756741408270165,0.5504080979977554,-1.7791779732592676,0.19869584067105875,1.33983528282722,0.3022525599187456,-0.13074956995010537,2.534945601856701,1.6484284033091623,1.6484284033091623,1.902000000000776,0,0,-0.0001726849863340193,-9.999775593539368e-05
+18671,1792702026532406943,9853542000000,1792702026531144062,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761959154795432,-0.004712025949815677,0.08913947283357104,0.9999999766951667,-2.212150689741885e-05,0.00016094527537539042,0.00010798049736577166,0.6761,-0.00453,0.08887023509256188,1.0,0.0,0.0,0.0,-0.29689385636830146,0.11807963133477917,2.5386906266559386,0.009603218799148976,0.023667933576932473,-0.0015334835792279872,0.3576463819968909,0.5527674186890499,2.3867561467859133,0.03994429544201464,-0.022582206989116834,0.000289347243868959,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.124921669600178,0.5975968120052677,-1.7849631869898037,0.201519181276999,1.3495453701132998,0.3324536914524998,-0.13074956995010537,2.5386906266559386,1.6542136170396984,1.6542136170396984,1.950000000000824,0,0,-0.00018328790969276832,-9.999999025923074e-05
+18738,1792702027091345157,9854101000000,1792702027087144000,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761971193728952,-0.004710615974508932,0.08903510909983502,0.9999999765050205,-2.637797059889653e-05,0.0001624999483697035,0.00010644619454432908,0.6761,-0.00453,0.08876300516335268,1.0,0.0,0.0,0.0,-0.2782211834355512,0.11953983829995074,2.5387152961366257,0.009630548591848056,0.022654273694365647,-0.0015469750320741894,0.3763190549296412,0.5542276256542215,2.3867808162666004,0.03997162523471372,-0.02359586687168366,0.0002758557910227568,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1288884766100196,0.607050221605845,-1.7923587623539614,0.2113938984533364,1.3551775754115272,0.3384720430845918,-0.13074956995010537,2.5387152961366257,1.661609192403856,1.661609192403856,1.9947200000008687,0,0,-0.00020152940700543377,-9.998403080325175e-05
+18802,1792702027624356119,9854634000000,1792702027619144195,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.676195399885777,-0.004710819698361828,0.08892533761285018,0.9999999762517824,-2.4099656474198018e-05,0.00016072739425892916,0.00011191608603961641,0.6761,-0.00453,0.08865082158148227,1.0,0.0,0.0,0.0,-0.2868550813615532,0.10747252452504807,2.554413133278646,0.008607095459968298,0.02267066260120108,-0.0015702885164973245,0.3676851570036392,0.5421603118793188,2.402478653408621,0.03894817210283396,-0.023579477964848227,0.00025254230659962164,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1539632796099963,0.5346283818344842,-1.8885561852055253,0.25149825672657083,1.4193747653405313,0.29584492400340323,-0.13074956995010537,2.554413133278646,1.75780661525542,1.75780661525542,2.0373600000009113,0,0,-0.00021742794430844805,-6.277538876712195e-05
+18858,1792702028091344687,9855101000000,1792702028091143659,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761951911675056,-0.004714577475523206,0.0888175827253241,0.9999999759533731,-1.668155029324359e-05,0.00015864708827857343,0.00011869686149868599,0.6761,-0.00453,0.08854630867078397,1.0,0.0,0.0,0.0,-0.27772116516431544,0.11126323726907639,2.616422033976084,0.00859837128743601,0.02252115971889908,-0.0016239851145497764,0.37681907320087693,0.5459510246233471,2.464487554106059,0.03893944793030167,-0.023728980847150225,0.0001988457085471698,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.168970099461283,0.5508540892389939,-2.0294108914297544,0.2575318772967786,1.5106601916426425,0.31008846125308026,-0.13074956995010537,2.616422033976084,1.898661321479649,1.898661321479649,2.0747200000009487,0,0,-0.0002273995507353924,9.699014788389632e-05
+18914,1792702028557374145,9855567000000,1792702028551143669,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.676194390909252,-0.0047091580722462565,0.08871296316896891,0.9999999767022164,-1.622219891552672e-05,0.00015750191927900895,0.0001138789564586017,0.6761,-0.00453,0.08844065550349138,1.0,0.0,0.0,0.0,-0.2591811543347002,0.09575606203583675,2.589011321587622,0.007606063484290788,0.0216690225375483,-0.0016235864870227231,0.3953590840304922,0.5304438493901075,2.4370768417175968,0.03794714012715645,-0.024581118028501006,0.00019924433607422304,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1347696395789828,0.48974403059517757,-1.8752875237957554,0.29161682285023105,1.4007139847332106,0.26757978180041136,-0.13074956995010537,2.589011321587622,1.74453795384565,1.74453795384565,2.112000000000986,0,0,-0.00023022885303344699,-9.983012613646309e-05
+18974,1792702029057301892,9856067000000,1792702029055143821,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761930866785901,-0.004714890513669832,0.08859488026990155,0.9999999762932932,-1.784654111360477e-05,0.00015669222945440139,0.00011825956024228347,0.6761,-0.00453,0.08832115431005763,1.0,0.0,0.0,0.0,-0.2590373894489462,0.09867638013797608,2.5991827438336808,0.008515540714392793,0.02092462769330664,-0.001636504588067906,0.39550284891624615,0.5333641674922468,2.4472482639636555,0.038856617357258455,-0.025325512872742668,0.00018632623502904013,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.158057929134359,0.4561704812286901,-1.9740653069366945,0.3168859499721215,1.464589612207096,0.252502257081119,-0.13074956995010537,2.5991827438336808,1.8433157369865891,1.8433157369865891,2.152000000001026,0,0,-0.0002462296505541463,-7.250099569729401e-06
+19030,1792702029524313557,9856534000000,1792702029523143951,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761943000472284,-0.004719349937252227,0.08847918967122383,0.9999999752457998,-1.4315188082583744e-05,0.00015806497841160005,0.00012554601699622139,0.6761,-0.00453,0.08820417632405742,1.0,0.0,0.0,0.0,-0.2699363960551544,0.08396753642039445,2.6177588342021725,0.006579387524335855,0.021682494135795437,-0.0016597823415928465,0.38460384231003797,0.5186553237746652,2.465824354332147,0.03692046416720152,-0.02456764643025387,0.00016304848150409975,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.1825625072381756,0.5210262020884109,-1.9851839232670598,0.31360931147198395,1.4759504476291196,0.2972835596522486,-0.13074956995010537,2.6177588342021725,1.8544343533169545,1.8544343533169545,2.1893600000010633,0,0,-0.0002565279896935265,-9.999999025923074e-05
+19082,1792702029957360869,9856967000000,1792702029951143948,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761964135534401,-0.004722720451433863,0.0883691360097422,0.9999999742778788,-2.0340872855590972e-05,0.00016066853144005593,0.00012906966342694532,0.6761,-0.00453,0.08809186197431824,1.0,0.0,0.0,0.0,-0.27728106381532847,0.08766158347079733,2.6481716017460477,0.006744036739801621,0.022039983096137878,-0.0016802098667861166,0.3772591745498639,0.522349370825068,2.4962371218760224,0.03708511338266728,-0.02421015746991143,0.00014262095631082967,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.2428688354490505,0.4935567239842956,-2.0339584945509768,0.33552370366138196,1.5197948721623653,0.2793747178510339,-0.13074956995010537,2.6481716017460477,1.9032089246008714,1.9032089246008714,2.224000000001098,0,0,-0.0002622372430166253,5.660992622670742e-05
+19130,1792702030357358688,9857367000000,1792702030355143580,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761925460107668,-0.004720002602757773,0.08825478473312957,0.9999999752966445,-1.5375159280264408e-05,0.0001535743017828326,0.00013049181284905065,0.6761,-0.00453,0.08798519491279055,1.0,0.0,0.0,0.0,-0.27600512527612836,0.06407978420491078,2.6574600028142283,0.00555013062090207,0.021693954096211162,-0.0017044309018819854,0.378535113089064,0.4987675715591815,2.505525522944203,0.03589120726376773,-0.024556186469838145,0.00011839992121496075,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.2307567203611616,0.4505730825849761,-2.07579481952101,0.3614341087343066,1.5420404708540492,0.2536032567732393,-0.13074956995010537,2.6574600028142283,1.9450452495709045,1.9450452495709045,2.25600000000113,0,0,-0.00027185026295753625,9.9924439582405e-05
+19182,1792702030791341859,9857801000000,1792702030791143727,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761936115802111,-0.0047284484494716,0.08813762540955009,0.9999999744474983,-1.4276871357775597e-05,0.00015436504544818575,0.00013607156550444075,0.6761,-0.00453,0.08786526495431489,1.0,0.0,0.0,0.0,-0.28152684746775564,0.06932937877861955,2.6574170790881415,0.004505509495487819,0.022643966440168792,-0.001701396078174895,0.37301339089743674,0.5040171661328903,2.5054825992181162,0.03484658613835348,-0.023606174125880515,0.00012143474492205135,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.2413520607741493,0.4526920736483695,-2.0349033770435643,0.36691645134683815,1.5129435328338776,0.25754063456799403,-0.13074956995010537,2.6574170790881415,1.904153807093459,1.904153807093459,2.2907200000011647,0,0,-0.0002801909248187614,-9.998200464623181e-05
+19226,1792702031157349678,9858167000000,1792702031155143867,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761921066138901,-0.004734792051099012,0.08803008258670568,0.9999999746217183,-1.1614400031226674e-05,0.00014961159757955248,0.00014028864081808736,0.6761,-0.00453,0.0877609706896898,1.0,0.0,0.0,0.0,-0.28446674296479146,0.046562412325122926,2.7042033499660856,0.004015131735922699,0.022734264746167583,-0.0017503359617349007,0.3700734954004009,0.48125019967939364,2.5522688700960603,0.03435620837878836,-0.023515875819881724,7.249486136204548e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.2168804704510217,0.5114127612333712,-2.1645370066061833,0.3654240043911575,1.5900099875002027,0.2984806375051297,-0.13074956995010537,2.7042033499660856,2.0337874366560778,2.0337874366560778,2.320000000001194,0,0,-0.0002878712221140737,9.998781943932328e-05
+19274,1792702031557305009,9858567000000,1792702031551144424,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761891806576791,-0.004730903338585927,0.08791087146867549,0.9999999754566901,-1.9351687746694774e-05,0.0001458884771192377,0.00013737375338995046,0.6761,-0.00453,0.08764450668372466,1.0,0.0,0.0,0.0,-0.2752470538941355,0.04351372711272189,2.654322399636543,0.0034820844329811786,0.022748280194901094,-0.001709966363212453,0.37929318447105687,0.4782015144669926,2.5023879197665178,0.03382316107584684,-0.023501860371148212,0.00011286445988449314,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.2500423906921814,0.29589150821191784,-2.059029562148128,0.4395076379976486,1.526892047712622,0.15560146412117637,-0.13074956995010537,2.654322399636543,1.9282799921980225,1.9282799921980225,2.352000000001226,0,0,-0.00029761290610694067,-9.999999025923074e-05
+19321,1792702031949344540,9858959000000,1792702031947143859,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.676191763569853,-0.004736579187724173,0.0878006524361854,0.999999974800697,-3.711884812960318e-05,0.0001501644982169622,0.00013384425429478902,0.6761,-0.00453,0.08752515360722288,1.0,0.0,0.0,0.0,-0.2843336979369157,0.05480962091830455,2.6469287248909867,0.00413011871453094,0.022736174801376335,-0.0016969844817226942,0.37020654042827666,0.48949740827257526,2.4949942450209615,0.0344711953573966,-0.023513965764672972,0.000125846341374252,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.3236226176234982,0.4849608420398219,-1.9759419188996734,0.40441679413768217,1.4892016321326935,0.2816490626481059,-0.13074956995010537,2.6469287248909867,1.845192348949568,1.845192348949568,2.3833600000012574,0,0,-0.00031109135821136134,-9.99935232101123e-05
+19365,1792702032316344855,9859326000000,1792702032315144101,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761897551600704,-0.004738509365445564,0.08768145915080611,0.9999999742656988,-3.647776544067076e-05,0.00014750895049374233,0.00014079044157962417,0.6761,-0.00453,0.08740839285163243,1.0,0.0,0.0,0.0,-0.2933765963454422,0.029194520608923413,2.6630575828916347,0.0024297302796616287,0.023778361281390433,-0.0016762014181094607,0.36116364201975015,0.46388230796319413,2.5111231030216095,0.03277080692252729,-0.022471779284658874,0.0001466294049874856,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.353627714395586,0.41910729947866693,-2.0350222881508437,0.4303057593217807,1.5338020638670138,0.23667250782117866,-0.13074956995010537,2.6630575828916347,1.9042727182007384,1.9042727182007384,2.4127200000012867,0,0,-0.000325258637574903,-9.734150571561457e-05
+19409,1792702032682318212,9859692000000,1792702032679143883,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761915219439749,-0.004742737102519554,0.08757000697126505,0.999999973296283,-4.708771358608646e-05,0.00015122574519339433,0.00014058385051627742,0.6761,-0.00453,0.08728750064793081,1.0,0.0,0.0,0.0,-0.302669173390763,0.035449223458305645,2.6927201495580246,0.0024231416740154547,0.023779793040384536,-0.001250502502257725,0.3518710649744294,0.47013701081257636,2.5407856696879993,0.032764218316881116,-0.02247034752566477,0.0005723283208392213,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.3600104675844227,0.3557989367306943,-2.1671820784588,0.4628336163795924,1.6147369920587284,0.20087527214714246,-0.13074956995010537,2.6927201495580246,2.0364325085086943,2.0364325085086943,2.442000000001316,0,0,-0.00033441434261064087,8.774788814858709e-05
+19449,1792702033016368078,9860026000000,1792702033015144761,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761900684975412,-0.004741711538067351,0.08745311351819227,0.9999999728602146,-4.0843958759051095e-05,0.0001487530574077078,0.00014807678329730446,0.6761,-0.00453,0.08717383043707791,1.0,0.0,0.0,0.0,-0.31164556692794787,0.02282937432053017,2.695790138936913,0.0013777031515338524,0.024820146708483638,-0.0017395790060878225,0.3428946714372445,0.4575171616748009,2.543855659066888,0.031718779794399514,-0.02142999385756567,8.32518170091237e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.3505158685085934,0.3503783166959926,-2.098544504059852,0.469806700376081,1.566470041545147,0.19822274387357977,-0.13074956995010537,2.695790138936913,1.9677949341097467,1.9677949341097467,2.4687200000013427,0,0,-0.00034624703523364184,-9.999999025923074e-05
+19493,1792702033382260915,9860392000000,1792702033375144616,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761900914953805,-0.004744730241103331,0.08733171256544595,0.9999999718761668,-2.4753650460412304e-05,0.0001481207160251884,0.0001585498036904581,0.6761,-0.00453,0.08704483305034172,1.0,0.0,0.0,0.0,-0.3269972943617663,0.013901993953439717,2.7017806112317366,0.0013468938779262717,0.025818358716753517,-0.0017267471390611992,0.3275429440034261,0.44858978130771043,2.5498461313617113,0.03168797052079193,-0.02043178184929579,9.608368403574689e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.4059292339225093,0.41875031768215853,-2.117018856474451,0.4629972722906728,1.5885633630846623,0.25533957770388627,-0.13074956995010537,2.7017806112317366,1.9862692865243459,1.9862692865243459,2.498000000001372,0,0,-0.00035847063349222905,-9.999990699250389e-05
+19529,1792702033682323326,9860692000000,1792702033675144078,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761961453989684,-0.00474551180600441,0.08722917534133873,0.9999999752337394,-3.422875442744191e-05,0.00016427283798198494,0.00011321754393822357,0.6761,-0.00453,0.08693587174812802,1.0,0.0,0.0,0.0,-0.28770544045738605,0.08136341334515396,2.7134774319139536,0.005453911387172609,0.023131766027702217,-0.0017256340675175443,0.3668347979078063,0.5160512006994247,2.5615429520439283,0.03579498803003827,-0.02311837453834709,9.71967555794019e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.4807557562461817,0.29457041861699007,-2.1982974507714284,0.5163598057362553,1.6582871615959456,0.1676033336592134,-0.13074956995010537,2.7134774319139536,2.067547880821323,2.067547880821323,2.522000000001396,0,0,-0.00036848324801577883,1.2440003220542908e-05
+19565,1792702033982301469,9860992000000,1792702033979144062,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761881384491423,-0.004749227381855072,0.08711280776600921,0.9999999757706095,-3.064970279980749e-05,0.00014828762278728416,0.00013028054888400485,0.6761,-0.00453,0.08682443472192812,1.0,0.0,0.0,0.0,-0.322791816693776,0.03610741376615989,2.7062148236563606,0.0023700382416698106,0.025795438733992735,-0.0017209733069232418,0.3317484216714164,0.4707952011204306,2.5542803437863353,0.03271111488453547,-0.02045470183205657,0.0001018575161737043,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.491980917626459,0.2957463502451704,-2.139517335854528,0.5105657447928422,1.6301484430254436,0.17274011422533297,-0.13074956995010537,2.7062148236563606,2.0087677659044223,2.0087677659044223,2.54600000000142,0,0,-0.0003759306107478918,-9.999999025923074e-05
+19601,1792702034282353261,9861292000000,1792702034275144258,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761923558511204,-0.004753307806883221,0.08699716360966268,0.9999999705606546,-2.6685915401275383e-05,0.00016260956839179064,0.00015220888495091206,0.6761,-0.00453,0.08670977616998272,1.0,0.0,0.0,0.0,-0.3710316891756711,0.04984698666359272,2.7320369960579027,0.0032880674632801525,0.0291615977726229,-0.00168822424350268,0.2835085491895213,0.48453477401786343,2.5801025161878774,0.033629144106145814,-0.017088542793426406,0.0001346065795942663,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.5414886340850047,0.34517798857105536,-2.2293982947383557,0.49068311619248056,1.6933215958831869,0.19897086041149792,-0.13074956995010537,2.7320369960579027,2.09864872478825,2.09864872478825,2.570000000001444,0,0,-0.0003871626070753046,9.61389121353406e-05
+19637,1792702034582348417,9861592000000,1792702034579144433,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761837496275303,-0.0047527430640600925,0.0868812257653782,0.9999999721351203,-2.0973595115774986e-05,0.00013990429661663378,0.00016480145450176322,0.6761,-0.00453,0.08659187185397961,1.0,0.0,0.0,0.0,-0.3403129701041245,-0.0016739666402016407,2.722248826026674,-0.0007513874219086739,0.027879596021776937,-0.0017394399498545459,0.3142272682610679,0.4330138207140691,2.570314346156649,0.029589689220956988,-0.01837054454427237,8.339087324240033e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.5091453976287785,0.29386890995021026,-2.2377614365610454,0.5100786528320037,1.7005234813930272,0.16838164559053204,-0.13074956995010537,2.722248826026674,2.10701186661094,2.10701186661094,2.594000000001468,0,0,-0.0003984490836480851,6.90674420696979e-05
+19673,1792702034882287668,9861892000000,1792702034875153505,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761891611702805,-0.0047605842545452096,0.08676501666084183,0.9999999683551519,-9.178786781526608e-06,0.00014499800980615567,0.00018336817199806886,0.6761,-0.00453,0.08647091507458826,1.0,0.0,0.0,0.0,-0.37204220617502975,0.02397577843383647,2.7463669875270114,0.001224774168665,0.029778963152702384,-0.0017096273008447912,0.2824980321901626,0.4586635657881072,2.594432507656986,0.03156585081153066,-0.016471177413346923,0.00011320352225215498,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.6218950227379763,0.2538571325579143,-2.2555075297391216,0.53178000110027,1.7352706966526201,0.14834663793422515,-0.13074956995010537,2.7463669875270114,2.124757959789016,2.124757959789016,2.618000000001492,0,0,-0.0004079051138569393,9.96220009527093e-05
+19704,1792702035141296820,9862151000000,1792702035135144059,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761933360213215,-0.004759992802510043,0.08665737120254317,0.9999999710629491,-8.92559349866624e-05,0.00016569840695805115,0.00011787443026557868,0.6761,-0.00453,0.08636431338095014,1.0,0.0,0.0,0.0,-0.3352696649373755,0.08916479306550673,2.739000410579278,0.0054943637834955796,0.024804308866380256,-0.0008195530092288737,0.3192705734278169,0.5238525804197774,2.5870659307092527,0.03583544042636124,-0.02144583169966905,0.0010032778138680724,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.5552629138651326,0.26315975107501877,-2.2057901241783777,0.49888817578074046,1.69127808966029,0.1742378781771073,-0.13074956995010537,2.739000410579278,2.075040554228272,2.075040554228272,2.6387200000015127,0,0,-0.0004144158915989334,-9.990234614421496e-05
+19736,1792702035407341009,9862417000000,1792702035403144491,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761834607696368,-0.004758240047776813,0.0865485317767792,0.9999999734650176,-5.5912919071423156e-05,0.0001482203310281266,0.00013934599957005054,0.6761,-0.00453,0.08625233755554473,1.0,0.0,0.0,0.0,-0.33814988757682524,0.0147490370396402,2.765982121256072,0.000727758112992246,0.027144805646101017,-0.001775714121221215,0.31639035078836714,0.4494368243939109,2.6140476413860467,0.031068834755857908,-0.01910533491994829,4.711670187573122e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.6472760098907993,0.2670595683411168,-2.2859027673411343,0.5384292759954598,1.7732892944239538,0.16682777477051197,-0.13074956995010537,2.765982121256072,2.1551531973910287,2.1551531973910287,2.660000000001534,0,0,-0.0004267231329304914,7.500021023532639e-05
+19768,1792702035674336384,9862684000000,1792702035667144272,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761787598933691,-0.004767526055895043,0.0864286451979193,0.9999999726860476,-3.5532644950785884e-05,0.00014070321336939967,0.00015814804919318503,0.6761,-0.00453,0.08613735032617614,1.0,0.0,0.0,0.0,-0.32610722213672705,-0.008660026221316064,2.7547529226768925,-0.0013813029965594158,0.02687480276318694,-0.001790091440415085,0.3284330162284653,0.42602776113295465,2.6028184428068672,0.028959773646306246,-0.019375337802862366,3.273938268186117e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.5976209971084137,0.1763064550890259,-2.14757715409795,0.5720060335400259,1.6739533623937772,0.11859870410102889,-0.13074956995010537,2.7547529226768925,2.0168275841478445,2.0168275841478445,2.6813600000015554,0,0,-0.000435222961318897,-9.968946087924308e-05
+19804,1792702035974293470,9862984000000,1792702035967144048,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761852483082771,-0.004769293085495446,0.08630455270783978,0.9999999684773769,-7.059596894682964e-06,0.00015078869854074405,0.00017804785892867295,0.6761,-0.00453,0.08600485592469433,1.0,0.0,0.0,0.0,-0.367977149061622,0.013046439261757081,2.775331811635755,0.00022744918741116407,0.028943216383375627,-0.0017572537639422253,0.2865630893035704,0.4477342266160278,2.6233973317657298,0.030568525830276826,-0.01730692418267368,6.557705915472088e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.6755624358847072,0.26797533651452704,-2.214316579190003,0.5534526202232103,1.7299033285019294,0.17501533640626157,-0.13074956995010537,2.775331811635755,2.0835670092398972,2.0835670092398972,2.7053600000015794,0,0,-0.00044819242580737404,-9.999982372577704e-05
+19834,1792702036224351388,9863234000000,1792702036223144052,DOWN_FORCE_DETACH,6,0.043,0.04300181567668915,0.6761974292849349,-0.004767675867741657,0.08619995325571508,0.9999999703562759,-8.19684669010777e-05,0.0001662212378237305,0.0001279921188772479,0.6761,-0.00453,0.08589135247522904,1.0,0.0,0.0,0.0,-0.3271887158447848,0.09986999882885039,2.7383232744564925,0.006740605220835961,0.02690150661107539,-0.00125049839299486,0.32735152252040756,0.5345577861831211,2.586388794586467,0.03708168186370162,-0.019348633954973916,0.0005723324301020862,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.7711068279983615,0.3084644957756018,-2.147559326417198,0.5176518442033397,1.7152394710425658,0.21259551735066776,-0.13074956995010537,2.7383232744564925,2.0168097564670924,2.0168097564670924,2.7253600000015994,0,0,-0.00046006342433876766,-9.999999025923074e-05
+19864,1792702036474290403,9863484000000,1792702036471144247,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761954815303665,-0.00477064034076922,0.08608636042035124,0.9999999690719483,-5.865121993328901e-05,0.00016220214981832492,0.00015345834582292605,0.6761,-0.00453,0.08577487098481427,1.0,0.0,0.0,0.0,-0.36797535002218773,0.05275059619509331,2.7967634550029126,0.0036341267065946,0.029520343497062843,-0.0017215917983427161,0.28656488834300464,0.48743838354936403,2.6448289751328873,0.03397520334946026,-0.016729797068986463,0.00010123902475423013,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.754179587797052,0.3154910213730647,-2.1794045133968027,0.5376527701542442,1.7296995489676554,0.21107592356986896,-0.13074956995010537,2.7967634550029126,2.048654943446697,2.048654943446697,2.7453600000016194,0,0,-0.00047025239798967187,-9.982955714716297e-05
+19896,1792702036741273967,9863751000000,1792702036735144350,DOWN_FORCE_DETACH,6,0.043,0.043002475053071976,0.6761977048870998,-0.00477852893605684,0.08595931090768576,0.9999999650330857,-1.796275982306943e-05,0.00017290772735824466,0.00017651331054590667,0.6761,-0.00453,0.08564777113807645,1.0,0.0,0.0,0.0,-0.3784955971925612,0.039637304485660496,2.8024249524449405,0.002131777247527635,0.030708830759747764,-0.0017316654079473877,0.27604464117263117,0.4743250918399312,2.650490472574915,0.0324728538903933,-0.015541309806301544,9.116541514955845e-05,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.7757910926103229,0.29498494285918647,-2.209054634793067,0.5536983628802082,1.7531148456660803,0.20274207601433591,-0.13074956995010537,2.8024249524449405,2.0783050648429615,2.0783050648429615,2.7667200000016408,0,0,-0.0004815954327927737,-9.999999025923074e-05
+19925,1792702036978341628,9863988000000,1792702036971144297,DOWN_SETTLE,6,0.043,0.043002475053071976,0.676188558758232,-0.004777004132533514,0.08584242520392825,0.9999999703843291,-7.091434480374112e-05,0.0001606612589532963,0.00014083082401475573,0.6761,-0.00453,0.0855429540072202,1.0,0.0,0.0,0.0,-0.3326041956539661,0.05741527703967181,2.8072283096951742,0.002259252810419162,0.027235725396734675,-0.0013661947274651227,0.3219360427112263,0.4921030643939425,2.655293829825149,0.032600329453284824,-0.01901441516931463,0.00045663609563182354,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.7368867081745425,0.28704095582787226,-2.221351205248829,0.5626154604858834,1.7577172927403935,0.20194705820907072,-0.13074956995010537,2.8072283096951742,2.0906016352987233,0.0,0.0,0,0,-0.00024828174790508096,0.0025078964434856656
+20021,1792702037774326641,9864784000000,1792702037771144037,DOWN_PEAK_HOLD,6,0.043,0.04300181567668915,0.6761649933990082,-0.0047751537628916586,0.0857574266953386,0.9999999759923607,-5.103871669435359e-05,0.00011898778244017624,0.00015064892844378875,0.6761,-0.00453,0.08551923096502118,1.0,0.0,0.0,0.0,-0.2728752226578562,-0.02037380600166866,2.3455804494301358,-0.001964191462747074,0.02270461221258314,-0.0015294615335040957,0.3816650157073362,0.41431398135260206,2.1936459695601105,0.028376885180118588,-0.023545528353466166,0.0002933692895928504,0.6545402383651924,0.4346877873542707,-0.15193447987002545,0.03034107664286566,-0.04625014056604931,0.0018228308230969462,1,1.4910741823727243,0.29811669917857936,-1.6735898409965355,0.5489993263048648,1.3655424127089355,0.19568840014114242,-0.13074956995010537,2.3455804494301358,1.5428402710464302,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f89b8ca3af10ce887e52032d3702b5585ebed879
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f295aa051f6ccd0be775567a05382d2f29c7dfc
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,1.666666667e+00,DOWN_FORCE_DETACH,1792702005239265169,3.375484179e-05,-3.115366208e-05,-1.462209333e-04,3.346958752e-05,-3.119441152e-05,-1.460785050e-04,3.409025474e-05,-3.099321814e-05,-1.441613834e-04,7.015716263e-01,-2.960270076e-05,8.405947203e-01,7.015713411e-01,-2.964345020e-05,8.405948627e-01,7.017631355e-01,-2.923754345e-05,8.294286000e-01
+5,2.066666667e+00,DOWN_FORCE_DETACH,1792702006040628818,7.442990682e-05,-3.905378853e-05,-2.084117329e-04,7.401418476e-05,-3.890415689e-05,-2.082081232e-04,7.491935797e-05,-3.861139961e-05,-2.059707111e-04,7.016123014e-01,-3.750282721e-05,8.405325295e-01,7.016118857e-01,-3.735319557e-05,8.405327331e-01,7.018039646e-01,-3.685572491e-05,8.293667906e-01
+6,2.400000000e+00,DOWN_FORCE_DETACH,1792702006703842731,8.456581931e-05,-4.630108180e-05,-2.991561733e-04,8.428056278e-05,-4.625268049e-05,-2.989908899e-04,8.544502623e-05,-4.590212943e-05,-2.959484916e-04,7.016224373e-01,-4.475012048e-05,8.404417850e-01,7.016221520e-01,-4.470171917e-05,8.404419503e-01,7.018144903e-01,-4.414645474e-05,8.292768129e-01
+7,2.783333333e+00,DOWN_FORCE_DETACH,1792702007435218912,1.091248665e-04,-5.320974845e-05,-3.796447041e-04,1.049472156e-04,-5.145913353e-05,-3.627669918e-04,1.065475599e-04,-5.111499142e-05,-3.600394873e-04,7.016469963e-01,-5.165878713e-05,8.403612965e-01,7.016428187e-01,-4.990817221e-05,8.403781742e-01,7.018355928e-01,-4.935931673e-05,8.292127219e-01
+8,3.183333333e+00,DOWN_FORCE_DETACH,1792702008167271747,1.211321113e-04,-5.325163618e-05,-4.533508433e-04,1.179715467e-04,-5.579950114e-05,-4.460813842e-04,1.200070390e-04,-5.541650846e-05,-4.434144544e-04,7.016590036e-01,-5.170067486e-05,8.402875903e-01,7.016558430e-01,-5.424853982e-05,8.402948598e-01,7.018490523e-01,-5.366083377e-05,8.291293469e-01
+9,3.650000000e+00,DOWN_FORCE_DETACH,1792702009065233283,1.283412074e-04,-5.875380498e-05,-5.223984734e-04,1.281799745e-04,-5.649394318e-05,-5.088334524e-04,1.305679257e-04,-5.611538373e-05,-5.067148556e-04,7.016662127e-01,-5.720284366e-05,8.402185427e-01,7.016660515e-01,-5.494298186e-05,8.402321077e-01,7.018596132e-01,-5.435970903e-05,8.290660465e-01
+10,4.183333333e+00,DOWN_FORCE_DETACH,1792702010065446089,1.347211036e-04,-6.148291728e-05,-5.615139339e-04,1.339267216e-04,-6.023336355e-05,-5.486458299e-04,1.366274188e-04,-5.985521517e-05,-5.472293068e-04,7.016725926e-01,-5.993195596e-05,8.401794273e-01,7.016717982e-01,-5.868240223e-05,8.401922954e-01,7.018656727e-01,-5.809954047e-05,8.290255320e-01
+11,4.683333333e+00,DOWN_FORCE_DETACH,1792702011029229277,1.294978059e-04,-6.196363156e-05,-5.843944085e-04,1.316233387e-04,-5.932956774e-05,-5.691731797e-04,1.343600117e-04,-5.897544845e-05,-5.682694026e-04,7.016673693e-01,-6.041267024e-05,8.401565468e-01,7.016694948e-01,-5.777860642e-05,8.401717680e-01,7.018634053e-01,-5.721977376e-05,8.290044920e-01
+12,5.283333333e+00,DOWN_FORCE_DETACH,1792702012193137445,1.250937513e-04,-6.194519149e-05,-5.957440781e-04,1.275652733e-04,-6.132423071e-05,-5.883372626e-04,1.303063308e-04,-6.095388607e-05,-5.876354203e-04,7.016629652e-01,-6.039423017e-05,8.401451971e-01,7.016654368e-01,-5.977326939e-05,8.401526039e-01,7.018593516e-01,-5.919821138e-05,8.289851259e-01
+13,5.833333333e+00,DOWN_FORCE_DETACH,1792702013291507030,1.264876709e-04,-5.868905282e-05,-6.041560936e-04,1.275652733e-04,-6.132423071e-05,-5.883372626e-04,1.303449003e-04,-6.095847608e-05,-5.879313527e-04,7.016643592e-01,-5.713809149e-05,8.401367851e-01,7.016654368e-01,-5.977326939e-05,8.401526039e-01,7.018593902e-01,-5.920280139e-05,8.289848300e-01
+14,6.383333333e+00,DOWN_FORCE_DETACH,1792702014389175039,1.299000211e-04,-6.371713901e-05,-6.363324436e-04,1.264706573e-04,-6.424272517e-05,-6.306867814e-04,1.290759144e-04,-6.386584057e-05,-6.297949399e-04,7.016677715e-01,-6.216617769e-05,8.401046087e-01,7.016643421e-01,-6.269176385e-05,8.401102544e-01,7.018581212e-01,-6.211016587e-05,8.289429664e-01
+15,6.900000000e+00,DOWN_FORCE_DETACH,1792702015387070784,1.374562810e-04,-6.024166636e-05,-6.661534917e-04,1.344730713e-04,-6.310591313e-05,-6.487199651e-04,1.371724483e-04,-6.272852780e-05,-6.479488684e-04,7.016753278e-01,-5.869070504e-05,8.400747877e-01,7.016723446e-01,-6.155495181e-05,8.400922212e-01,7.018662177e-01,-6.097285311e-05,8.289248125e-01
+16,7.350000000e+00,DOWN_FORCE_DETACH,1792702016251119446,1.409807362e-04,-6.349357155e-05,-7.014723822e-04,1.377149617e-04,-6.615873568e-05,-6.911683631e-04,1.404161890e-04,-6.577034272e-05,-6.900622371e-04,7.016788522e-01,-6.194261023e-05,8.400394688e-01,7.016755864e-01,-6.460777436e-05,8.400497728e-01,7.018694615e-01,-6.401466803e-05,8.288826991e-01
+17,7.850000000e+00,DOWN_FORCE_DETACH,1792702017181059597,1.438206530e-04,-6.255469001e-05,-7.450808399e-04,1.427216635e-04,-6.623096510e-05,-7.311034755e-04,1.454397627e-04,-6.586475414e-05,-7.298403577e-04,7.016816921e-01,-6.100372869e-05,8.399958603e-01,7.016805931e-01,-6.468000378e-05,8.400098377e-01,7.018744850e-01,-6.410907944e-05,8.288429210e-01
+18,8.416666667e+00,DOWN_FORCE_DETACH,1792702018280158572,1.470387118e-04,-6.802054405e-05,-7.952974226e-04,1.469232980e-04,-6.894011167e-05,-7.913797279e-04,1.495349770e-04,-6.851302740e-05,-7.898549726e-04,7.016849102e-01,-6.646958273e-05,8.399456438e-01,7.016847948e-01,-6.738915035e-05,8.399495615e-01,7.018785803e-01,-6.675735271e-05,8.287829064e-01
+19,8.950000000e+00,DOWN_FORCE_DETACH,1792702019277074379,1.522504284e-04,-7.274286860e-05,-8.519271707e-04,1.478962518e-04,-6.738951158e-05,-8.348527803e-04,1.504331427e-04,-6.697408329e-05,-8.334314280e-04,7.016901219e-01,-7.119190728e-05,8.398890140e-01,7.016857677e-01,-6.583855026e-05,8.399060884e-01,7.018794784e-01,-6.521840860e-05,8.287393299e-01
+20,9.400000000e+00,DOWN_FORCE_DETACH,1792702020143258429,1.525863974e-04,-7.021639405e-05,-9.236121850e-04,1.526367104e-04,-7.054437449e-05,-9.233363519e-04,1.549621578e-04,-7.009234523e-05,-9.211638730e-04,7.016904579e-01,-6.866543273e-05,8.398173290e-01,7.016905082e-01,-6.899341317e-05,8.398176048e-01,7.018840074e-01,-6.833667054e-05,8.286515975e-01
+21,9.766666667e+00,DOWN_FORCE_DETACH,1792702020875115558,1.601513637e-04,-6.264290730e-05,-9.889241881e-04,1.596373315e-04,-6.333590290e-05,-9.871776064e-04,1.618379881e-04,-6.292369079e-05,-9.848065265e-04,7.016980228e-01,-6.109194598e-05,8.397520170e-01,7.016975088e-01,-6.178494158e-05,8.397537636e-01,7.018908833e-01,-6.116801610e-05,8.285879548e-01
+22,1.018333333e+01,DOWN_FORCE_DETACH,1792702021705141770,1.600473046e-04,-7.287515196e-05,-1.081351154e-03,1.584370679e-04,-7.146181383e-05,-1.073304299e-03,1.602497778e-04,-7.097699917e-05,-1.070646015e-03,7.016979188e-01,-7.132419064e-05,8.396595900e-01,7.016963085e-01,-6.991085251e-05,8.396676369e-01,7.018892951e-01,-6.922132448e-05,8.285021153e-01
+23,1.056666667e+01,DOWN_FORCE_DETACH,1792702022471169813,1.601041702e-04,-7.158589483e-05,-1.167340157e-03,1.594786727e-04,-7.292974440e-05,-1.157749054e-03,1.609458196e-04,-7.245938908e-05,-1.154932958e-03,7.016979757e-01,-7.003493351e-05,8.395736010e-01,7.016973502e-01,-7.137878308e-05,8.395831921e-01,7.018899911e-01,-7.070371439e-05,8.284178284e-01
+24,1.098333333e+01,DOWN_FORCE_DETACH,1792702023303535673,1.601907582e-04,-6.964432198e-05,-1.265176174e-03,1.599039121e-04,-6.952843118e-05,-1.265039025e-03,1.609514384e-04,-6.912187985e-05,-1.261850896e-03,7.016980622e-01,-6.809336066e-05,8.394757650e-01,7.016977754e-01,-6.797746986e-05,8.394759022e-01,7.018899967e-01,-6.736620515e-05,8.283109105e-01
+25,1.135000000e+01,DOWN_FORCE_DETACH,1792702024001431335,1.630058451e-04,-7.178708415e-05,-1.355211284e-03,1.628073912e-04,-7.186375570e-05,-1.355439768e-03,1.635095980e-04,-7.143404471e-05,-1.352044714e-03,7.017008773e-01,-7.023612283e-05,8.393857299e-01,7.017006789e-01,-7.031279438e-05,8.393855014e-01,7.018925549e-01,-6.967837002e-05,8.282207166e-01
+26,1.171666667e+01,DOWN_FORCE_DETACH,1792702024699075943,1.657757925e-04,-7.295882885e-05,-1.452566702e-03,1.638101948e-04,-7.666093593e-05,-1.452289863e-03,1.641098183e-04,-7.623506350e-05,-1.448616713e-03,7.017036473e-01,-7.140786753e-05,8.392883745e-01,7.017016817e-01,-7.510997461e-05,8.392886513e-01,7.018931551e-01,-7.447938881e-05,8.281241446e-01
+27,1.205000000e+01,DOWN_FORCE_DETACH,1792702025331227978,1.659069828e-04,-7.345724744e-05,-1.557614870e-03,1.671555930e-04,-7.547612628e-05,-1.541733340e-03,1.671555814e-04,-7.502298460e-05,-1.537836299e-03,7.017037785e-01,-7.190628612e-05,8.391833263e-01,7.017050271e-01,-7.392516496e-05,8.391992078e-01,7.018962009e-01,-7.326730991e-05,8.280349251e-01
+28,1.236666667e+01,DOWN_FORCE_DETACH,1792702025931073530,1.685572503e-04,-7.724424416e-05,-1.655423767e-03,1.684956841e-04,-7.725444304e-05,-1.655101227e-03,1.681232425e-04,-7.680012494e-05,-1.650542756e-03,7.017064287e-01,-7.569328284e-05,8.390855174e-01,7.017063672e-01,-7.570348172e-05,8.390858400e-01,7.018971685e-01,-7.504445025e-05,8.279222186e-01
+29,1.268333333e+01,DOWN_FORCE_DETACH,1792702026530591504,1.679836074e-04,-7.592313031e-05,-1.762347990e-03,1.680067180e-04,-7.593734394e-05,-1.762156667e-03,1.672938804e-04,-7.548037989e-05,-1.757342814e-03,7.017058551e-01,-7.437216899e-05,8.389785932e-01,7.017058782e-01,-7.438638262e-05,8.389787845e-01,7.018963392e-01,-7.372470519e-05,8.278154185e-01
+30,1.298333333e+01,DOWN_FORCE_DETACH,1792702027095216755,1.700480971e-04,-7.974154152e-05,-1.863679240e-03,1.674988251e-04,-7.584759893e-05,-1.855494119e-03,1.664747791e-04,-7.533185344e-05,-1.850900715e-03,7.017079196e-01,-7.819058020e-05,8.388772619e-01,7.017053703e-01,-7.429663761e-05,8.388854471e-01,7.018955201e-01,-7.357617875e-05,8.277218606e-01
+31,1.326666667e+01,DOWN_FORCE_DETACH,1792702027627018637,1.699329601e-04,-7.714343740e-05,-1.972609479e-03,1.699588532e-04,-7.703310253e-05,-1.972315902e-03,1.686458110e-04,-7.651297140e-05,-1.967469812e-03,7.017078044e-01,-7.559247608e-05,8.387683317e-01,7.017078303e-01,-7.548214120e-05,8.387686253e-01,7.018976911e-01,-7.475729671e-05,8.276052915e-01
+32,1.351666667e+01,DOWN_FORCE_DETACH,1792702028093049607,1.703443191e-04,-7.991456609e-05,-2.078025190e-03,1.713068362e-04,-8.117065417e-05,-2.062007039e-03,1.697275372e-04,-8.066642038e-05,-2.057416430e-03,7.017082158e-01,-7.836360477e-05,8.386629160e-01,7.017091783e-01,-7.961969285e-05,8.386789341e-01,7.018987728e-01,-7.891074569e-05,8.275153449e-01
+33,1.375000000e+01,DOWN_FORCE_DETACH,1792702028558880678,1.658603823e-04,-8.133451634e-05,-2.189482154e-03,1.656125102e-04,-8.139798205e-05,-2.189481272e-03,1.636445576e-04,-8.089425962e-05,-2.184162425e-03,7.017037319e-01,-7.978355502e-05,8.385514590e-01,7.017034840e-01,-7.984702073e-05,8.385514599e-01,7.018926898e-01,-7.913858493e-05,8.273885989e-01
+34,1.400000000e+01,DOWN_FORCE_DETACH,1792702029058956087,1.671094079e-04,-8.106037919e-05,-2.303721380e-03,1.684279765e-04,-8.041737538e-05,-2.295267834e-03,1.661119785e-04,-7.989746741e-05,-2.289841673e-03,7.017049809e-01,-7.950941787e-05,8.384372198e-01,7.017062995e-01,-7.886641405e-05,8.384456734e-01,7.018951573e-01,-7.814179272e-05,8.272829197e-01
+35,1.423333333e+01,DOWN_FORCE_DETACH,1792702029523099527,1.694912416e-04,-8.228945216e-05,-2.417956074e-03,1.693183459e-04,-8.230256764e-05,-2.417642712e-03,1.666370546e-04,-8.176700309e-05,-2.411620076e-03,7.017073627e-01,-8.073849084e-05,8.383229851e-01,7.017071898e-01,-8.075160632e-05,8.383232985e-01,7.018956823e-01,-8.001132839e-05,8.271611413e-01
+36,1.445000000e+01,DOWN_FORCE_DETACH,1792702029955284305,1.718536694e-04,-8.433343832e-05,-2.524378804e-03,1.723554441e-04,-8.953970758e-05,-2.508398996e-03,1.694201364e-04,-8.892943405e-05,-2.502592958e-03,7.017097252e-01,-8.278247700e-05,8.382165624e-01,7.017102269e-01,-8.798874626e-05,8.382325422e-01,7.018984654e-01,-8.717375935e-05,8.270701684e-01
+37,1.465000000e+01,DOWN_FORCE_DETACH,1792702030355002870,1.708768168e-04,-8.770072170e-05,-2.637032088e-03,1.712540567e-04,-8.871809559e-05,-2.626548109e-03,1.678668490e-04,-8.808012931e-05,-2.620361697e-03,7.017087483e-01,-8.614976038e-05,8.381039091e-01,7.017091255e-01,-8.716713426e-05,8.381143931e-01,7.018969121e-01,-8.632445461e-05,8.269523997e-01
+38,1.486666667e+01,DOWN_FORCE_DETACH,1792702030786848714,1.677296516e-04,-9.440041705e-05,-2.758021617e-03,1.674201794e-04,-9.460758015e-05,-2.758187389e-03,1.634378242e-04,-9.396496116e-05,-2.751605170e-03,7.017056011e-01,-9.284945572e-05,8.379829196e-01,7.017052917e-01,-9.305661883e-05,8.379827538e-01,7.018924831e-01,-9.220928647e-05,8.268211562e-01
+39,1.505000000e+01,DOWN_FORCE_DETACH,1792702031153464354,1.673133458e-04,-9.728638752e-05,-2.865722995e-03,1.656835219e-04,-9.448504187e-05,-2.857970584e-03,1.612496680e-04,-9.384448507e-05,-2.851532386e-03,7.017051848e-01,-9.573542620e-05,8.378752182e-01,7.017035550e-01,-9.293408055e-05,8.378829706e-01,7.018902950e-01,-9.208881037e-05,8.267212290e-01
+40,1.525000000e+01,DOWN_FORCE_DETACH,1792702031553973244,1.635512551e-04,-9.541169930e-05,-2.985323717e-03,1.639225349e-04,-9.701568126e-05,-2.975107876e-03,1.589090768e-04,-9.638230678e-05,-2.968568609e-03,7.017014227e-01,-9.386073798e-05,8.377556175e-01,7.017017940e-01,-9.546471994e-05,8.377658333e-01,7.018879544e-01,-9.462663209e-05,8.266041927e-01
+41,1.546666667e+01,DOWN_FORCE_DETACH,1792702031951261930,1.623580229e-04,-9.964606633e-05,-3.101497448e-03,1.622665056e-04,-9.950945000e-05,-3.101428274e-03,1.567311171e-04,-9.889901143e-05,-3.094623807e-03,7.017002295e-01,-9.809510500e-05,8.376394437e-01,7.017001380e-01,-9.795848868e-05,8.376395129e-01,7.018857764e-01,-9.714333673e-05,8.264781375e-01
+42,1.565000000e+01,DOWN_FORCE_DETACH,1792702032317725151,1.640683246e-04,-1.048527658e-04,-3.216481821e-03,1.620629217e-04,-1.022684256e-04,-3.197267502e-03,1.561021683e-04,-1.016317253e-04,-3.190557499e-03,7.017019398e-01,-1.033018045e-04,8.375244594e-01,7.016999344e-01,-1.007174643e-04,8.375436737e-01,7.018851475e-01,-9.987605058e-05,8.263822039e-01
+43,1.585000000e+01,DOWN_FORCE_DETACH,1792702032683005196,1.653235763e-04,-1.056142578e-04,-3.327601570e-03,1.649381392e-04,-1.031296765e-04,-3.316946862e-03,1.585158183e-04,-1.025055708e-04,-3.310020708e-03,7.017031951e-01,-1.040632964e-04,8.374133396e-01,7.017028096e-01,-1.015787151e-04,8.374239943e-01,7.018875611e-01,-1.007498961e-04,8.262627406e-01
+44,1.601666667e+01,DOWN_FORCE_DETACH,1792702033015066178,1.648446835e-04,-1.074632838e-04,-3.442850814e-03,1.656474915e-04,-1.091363956e-04,-3.430911255e-03,1.588766414e-04,-1.084365210e-04,-3.423738364e-03,7.017027162e-01,-1.059123225e-04,8.372980904e-01,7.017035190e-01,-1.075854343e-04,8.373100299e-01,7.018879219e-01,-1.066808463e-04,8.261490230e-01
+45,1.621666667e+01,DOWN_FORCE_DETACH,1792702033381138177,1.642133754e-04,-1.111949303e-04,-3.565681570e-03,1.639238808e-04,-1.111956518e-04,-3.565460457e-03,1.567131202e-04,-1.104534267e-04,-3.558096322e-03,7.017020849e-01,-1.096439690e-04,8.371752596e-01,7.017017954e-01,-1.096446904e-04,8.371754807e-01,7.018857584e-01,-1.086977520e-04,8.260146650e-01
+46,1.636666667e+01,DOWN_FORCE_DETACH,1792702033678832773,1.665337955e-04,-1.138977288e-04,-3.670007820e-03,1.630646777e-04,-1.038596835e-04,-3.667384756e-03,1.555221798e-04,-1.032025410e-04,-3.660170970e-03,7.017044053e-01,-1.123467675e-04,8.370709334e-01,7.017009362e-01,-1.023087222e-04,8.370735564e-01,7.018845675e-01,-1.014468663e-04,8.259125904e-01
+47,1.653333333e+01,DOWN_FORCE_DETACH,1792702033978974233,1.623469525e-04,-1.116367687e-04,-3.784551657e-03,1.622736575e-04,-1.117265536e-04,-3.784396498e-03,1.543744355e-04,-1.110299123e-04,-3.776972259e-03,7.017002184e-01,-1.100858074e-04,8.369563895e-01,7.017001451e-01,-1.101755923e-04,8.369565447e-01,7.018834197e-01,-1.092742376e-04,8.257957891e-01
+48,1.668333333e+01,DOWN_FORCE_DETACH,1792702034278907592,1.676348043e-04,-1.217065110e-04,-3.898566980e-03,1.680399676e-04,-1.258088392e-04,-3.885156746e-03,1.598729349e-04,-1.249609006e-04,-3.877667755e-03,7.017055063e-01,-1.201555497e-04,8.368423742e-01,7.017059114e-01,-1.242578779e-04,8.368557844e-01,7.018889182e-01,-1.232052259e-04,8.256950936e-01
+49,1.685000000e+01,DOWN_FORCE_DETACH,1792702034578872196,1.581506889e-04,-1.230747303e-04,-4.015041197e-03,1.581147170e-04,-1.229423148e-04,-4.014733911e-03,1.494698797e-04,-1.221051656e-04,-4.006774550e-03,7.016960222e-01,-1.215237689e-04,8.367259000e-01,7.016959862e-01,-1.213913535e-04,8.367262073e-01,7.018785152e-01,-1.203494909e-04,8.255659868e-01
+50,1.700000000e+01,DOWN_FORCE_DETACH,1792702034882362659,1.640779556e-04,-1.281180665e-04,-4.129759789e-03,1.636180618e-04,-1.285239087e-04,-4.120265699e-03,1.546432094e-04,-1.276021415e-04,-4.112318208e-03,7.017019494e-01,-1.265671052e-04,8.366111814e-01,7.017014895e-01,-1.269729474e-04,8.366206755e-01,7.018836885e-01,-1.258464668e-04,8.254604431e-01
+51,1.715000000e+01,DOWN_FORCE_DETACH,1792702035145048523,1.682679091e-04,-1.211421062e-04,-4.238610557e-03,1.678842130e-04,-1.213610899e-04,-4.238625766e-03,1.585271522e-04,-1.205089453e-04,-4.230410341e-03,7.017061394e-01,-1.195911449e-04,8.365023306e-01,7.017057557e-01,-1.198101286e-04,8.365023154e-01,7.018875724e-01,-1.187532706e-04,8.253423510e-01
+52,1.728333333e+01,DOWN_FORCE_DETACH,1792702035411243711,1.599107056e-04,-1.266661749e-04,-4.350367632e-03,1.598576562e-04,-1.268757993e-04,-4.350242012e-03,1.499385040e-04,-1.259711484e-04,-4.341912029e-03,7.016977822e-01,-1.251152136e-04,8.363905736e-01,7.016977291e-01,-1.253248379e-04,8.363906992e-01,7.018789838e-01,-1.242154737e-04,8.252308493e-01
+53,1.743333333e+01,DOWN_FORCE_DETACH,1792702035675287770,1.531445907e-04,-1.338883074e-04,-4.468631297e-03,1.533430782e-04,-1.314926445e-04,-4.454217634e-03,1.429031680e-04,-1.306335240e-04,-4.446345865e-03,7.016910161e-01,-1.323373461e-04,8.362723099e-01,7.016912146e-01,-1.299416832e-04,8.362867236e-01,7.018719485e-01,-1.288778493e-04,8.251264155e-01
+54,1.758333333e+01,DOWN_FORCE_DETACH,1792702035976905919,1.601409176e-04,-1.350204528e-04,-4.592853132e-03,1.599875874e-04,-1.348606206e-04,-4.592604548e-03,1.490356633e-04,-1.340350198e-04,-4.584158354e-03,7.016980124e-01,-1.334694915e-04,8.361480881e-01,7.016978591e-01,-1.333096593e-04,8.361483366e-01,7.018780809e-01,-1.322793452e-04,8.249886030e-01
+55,1.771666667e+01,DOWN_FORCE_DETACH,1792702036224969839,1.735670371e-04,-1.340928523e-04,-4.696852133e-03,1.732998074e-04,-1.339469388e-04,-4.696968130e-03,1.620209249e-04,-1.330823656e-04,-4.688532252e-03,7.017114385e-01,-1.325418910e-04,8.360440891e-01,7.017111713e-01,-1.323959775e-04,8.360439731e-01,7.018910662e-01,-1.313266909e-04,8.248842291e-01
+56,1.785000000e+01,DOWN_FORCE_DETACH,1792702036474941736,1.690123949e-04,-1.391667630e-04,-4.812806505e-03,1.689866257e-04,-1.390994134e-04,-4.812741323e-03,1.572857361e-04,-1.381953564e-04,-4.803902289e-03,7.017068839e-01,-1.376158016e-04,8.359281347e-01,7.017068581e-01,-1.375484521e-04,8.359281999e-01,7.018863310e-01,-1.364396817e-04,8.247688591e-01
+57,1.798333333e+01,DOWN_FORCE_DETACH,1792702036741078335,1.720895844e-04,-1.448911876e-04,-4.937965587e-03,1.670116723e-04,-1.403288897e-04,-4.925283050e-03,1.548449472e-04,-1.393581577e-04,-4.916401874e-03,7.017099611e-01,-1.433402263e-04,8.358029756e-01,7.017048832e-01,-1.387779284e-04,8.358156581e-01,7.018838902e-01,-1.376024831e-04,8.246563595e-01
+58,1.810000000e+01,DOWN_SETTLE,1792702036975292404,1.644415328e-04,-1.432813400e-04,-5.050528527e-03,1.629653009e-04,-1.384546899e-04,-5.038550072e-03,1.504197165e-04,-1.374860044e-04,-5.029596902e-03,7.017023130e-01,-1.417303787e-04,8.356904127e-01,7.017008368e-01,-1.369037286e-04,8.357023911e-01,7.018794650e-01,-1.357303297e-04,8.245431645e-01
+59,1.850000000e+01,DOWN_PEAK_HOLD,1792702037770936126,1.394175309e-04,-1.426246193e-04,-5.140375123e-03,1.439438727e-04,-1.416423588e-04,-5.127670497e-03,1.309090978e-04,-1.407841124e-04,-5.122605908e-03,7.016772890e-01,-1.410736580e-04,8.356005661e-01,7.016818154e-01,-1.400913975e-04,8.356132707e-01,7.018599544e-01,-1.390284377e-04,8.244501554e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..812e2f6890b63b010e8e42c3aafb7a6c21e48e4b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-2.3900e-02,1.3138e-03,2.4537e+00,-3.6888e-02,3.5078e-02,-2.8264e-05,6.3290e-04,-5.7747e-06,2.8419e-04,1.7136e-07,4.0647e-05,-7.4634e-07,6.9381e-04,4.0654e-05
+1,5.8333e-01,DOWN_FORCE_DETACH,1.2143e-04,-6.0439e-03,2.2126e-03,2.4623e+00,-3.6950e-02,3.6336e-02,-8.2426e-05,1.8489e-02,8.9303e-04,8.8110e-03,-6.1307e-05,1.2990e-03,-5.4909e-05,2.0501e-02,1.3016e-03
+2,1.0167e+00,DOWN_FORCE_DETACH,2.4488e-04,9.6732e-03,1.2439e-02,2.5110e+00,-3.7640e-02,3.7387e-02,-8.3379e-05,3.4206e-02,1.1119e-02,5.7508e-02,-7.5195e-04,2.3498e-03,-5.5862e-05,6.7830e-02,2.4678e-03
+3,1.2167e+00,DOWN_FORCE_DETACH,3.5753e-04,1.0544e-02,1.3937e-02,2.5151e+00,-3.7746e-02,3.7455e-02,-8.2667e-05,3.5077e-02,1.2617e-02,6.1654e-02,-8.5776e-04,2.4174e-03,-5.5149e-05,7.2047e-02,2.5656e-03
+4,1.6667e+00,DOWN_FORCE_DETACH,4.8364e-04,-1.6364e-02,1.7982e-02,2.5314e+00,-3.8017e-02,3.5604e-02,-7.8151e-05,8.1694e-03,1.6663e-02,7.7910e-02,-1.1292e-03,5.6662e-04,-5.0634e-05,8.0090e-02,1.2644e-03
+5,2.0667e+00,DOWN_FORCE_DETACH,6.1594e-04,-1.0700e-02,2.5413e-02,2.5619e+00,-3.8498e-02,3.5947e-02,-7.1879e-05,1.3833e-02,2.4093e-02,1.0839e-01,-1.6096e-03,9.0988e-04,-4.4361e-05,1.1190e-01,1.8495e-03
+6,2.4000e+00,DOWN_FORCE_DETACH,7.2847e-04,-3.4614e-02,2.9261e-02,2.5795e+00,-3.8742e-02,3.4293e-02,-5.9153e-05,-1.0081e-02,2.7942e-02,1.2609e-01,-1.8542e-03,-7.4470e-04,-3.1635e-05,1.2954e-01,1.9984e-03
+7,2.7833e+00,DOWN_FORCE_DETACH,8.5096e-04,-2.9690e-02,3.4035e-02,2.5940e+00,-3.9039e-02,3.4597e-02,-4.5174e-05,-5.1565e-03,3.2716e-02,1.4056e-01,-2.1504e-03,-4.4025e-04,-1.7656e-05,1.4441e-01,2.1951e-03
+8,3.1833e+00,DOWN_FORCE_DETACH,9.7333e-04,-2.1088e-02,3.6890e-02,2.5913e+00,-3.9219e-02,3.5179e-02,-2.7674e-05,3.4454e-03,3.5571e-02,1.3789e-01,-2.3306e-03,1.4178e-04,-1.5640e-07,1.4244e-01,2.3349e-03
+9,3.6500e+00,DOWN_FORCE_DETACH,1.0963e-03,-8.3982e-03,3.6050e-02,2.5665e+00,-3.9187e-02,3.6079e-02,-1.2996e-05,1.6135e-02,3.4731e-02,1.1307e-01,-2.2987e-03,1.0416e-03,1.4522e-05,1.1938e-01,2.5237e-03
+10,4.1833e+00,DOWN_FORCE_DETACH,1.2152e-03,5.0974e-03,3.6680e-02,2.5358e+00,-3.9265e-02,3.7062e-02,-5.9797e-06,2.9630e-02,3.5360e-02,8.2290e-02,-2.3772e-03,2.0246e-03,2.1538e-05,9.4339e-02,3.1226e-03
+11,4.6833e+00,DOWN_FORCE_DETACH,1.3399e-03,1.7265e-02,3.6109e-02,2.5080e+00,-3.9246e-02,3.7959e-02,-9.6697e-06,4.1798e-02,3.4789e-02,5.4562e-02,-2.3579e-03,2.9220e-03,1.7848e-05,7.7035e-02,3.7548e-03
+12,5.2833e+00,DOWN_FORCE_DETACH,1.4586e-03,2.6686e-02,3.7107e-02,2.4945e+00,-3.9317e-02,3.8659e-02,-1.9988e-05,5.1219e-02,3.5787e-02,4.1010e-02,-2.4283e-03,3.6218e-03,7.5296e-06,7.4739e-02,4.3606e-03
+13,5.8333e+00,DOWN_FORCE_DETACH,1.5833e-03,2.9338e-02,3.6979e-02,2.4773e+00,-3.9310e-02,3.8877e-02,-3.0435e-05,5.3871e-02,3.5659e-02,2.3869e-02,-2.4212e-03,3.8399e-03,-2.9181e-06,6.8873e-02,4.5395e-03
+14,6.3833e+00,DOWN_FORCE_DETACH,1.7044e-03,3.2121e-02,3.9047e-02,2.5046e+00,-3.9437e-02,3.9081e-02,-5.1407e-05,5.6654e-02,3.7728e-02,5.1102e-02,-2.5488e-03,4.0438e-03,-2.3890e-05,8.5114e-02,4.7801e-03
+15,6.9000e+00,DOWN_FORCE_DETACH,1.8257e-03,2.7992e-02,3.8322e-02,2.4990e+00,-3.9390e-02,3.8793e-02,-5.1963e-05,5.2525e-02,3.7003e-02,4.5514e-02,-2.5020e-03,3.7557e-03,-2.4446e-05,7.8737e-02,4.5129e-03
+16,7.3500e+00,DOWN_FORCE_DETACH,1.9488e-03,2.9192e-02,4.0129e-02,2.5142e+00,-3.9503e-02,3.8849e-02,-5.1548e-05,5.3725e-02,3.8810e-02,6.0712e-02,-2.6151e-03,3.8120e-03,-2.4031e-05,8.9881e-02,4.6229e-03
+17,7.8500e+00,DOWN_FORCE_DETACH,2.0675e-03,2.9938e-02,4.0345e-02,2.5204e+00,-3.9517e-02,3.8887e-02,-5.1386e-05,5.4471e-02,3.9026e-02,6.6943e-02,-2.6285e-03,3.8494e-03,-2.3868e-05,9.4718e-02,4.6613e-03
+18,8.4167e+00,DOWN_FORCE_DETACH,2.1911e-03,3.2033e-02,4.1467e-02,2.5242e+00,-3.9596e-02,3.9017e-02,-5.2725e-05,5.6566e-02,4.0147e-02,7.0749e-02,-2.7082e-03,3.9798e-03,-2.5207e-05,9.9080e-02,4.8140e-03
+19,8.9500e+00,DOWN_FORCE_DETACH,2.3155e-03,3.4983e-02,4.1779e-02,2.5300e+00,-3.9635e-02,3.9200e-02,-5.5359e-05,5.9516e-02,4.0459e-02,7.6490e-02,-2.7471e-03,4.1626e-03,-2.7842e-05,1.0502e-01,4.9875e-03
+20,9.4000e+00,DOWN_FORCE_DETACH,2.4365e-03,3.4353e-02,4.3215e-02,2.5435e+00,-3.9740e-02,3.9145e-02,-6.0151e-05,5.8886e-02,4.1896e-02,9.0078e-02,-2.8519e-03,4.1071e-03,-3.2633e-05,1.1549e-01,5.0003e-03
+21,9.7667e+00,DOWN_FORCE_DETACH,2.5553e-03,3.3269e-02,3.9529e-02,2.5598e+00,-3.9502e-02,3.9050e-02,-6.7530e-05,5.7802e-02,3.8209e-02,1.0633e-01,-2.6133e-03,4.0129e-03,-4.0012e-05,1.2692e-01,4.7890e-03
+22,1.0183e+01,DOWN_FORCE_DETACH,2.6780e-03,3.0585e-02,4.3736e-02,2.5816e+00,-3.9769e-02,3.8842e-02,-7.5671e-05,5.5118e-02,4.2417e-02,1.2814e-01,-2.8807e-03,3.8045e-03,-4.8154e-05,1.4579e-01,4.7723e-03
+23,1.0567e+01,DOWN_FORCE_DETACH,2.7998e-03,2.7210e-02,4.4122e-02,2.5916e+00,-3.9790e-02,3.8593e-02,-8.1653e-05,5.1743e-02,4.2803e-02,1.3814e-01,-2.9019e-03,3.5556e-03,-5.4136e-05,1.5359e-01,4.5898e-03
+24,1.0983e+01,DOWN_FORCE_DETACH,2.9258e-03,2.3255e-02,4.4879e-02,2.5956e+00,-3.9837e-02,3.8307e-02,-8.3980e-05,4.7788e-02,4.3560e-02,1.4213e-01,-2.9484e-03,3.2700e-03,-5.6462e-05,1.5614e-01,4.4033e-03
+25,1.1350e+01,DOWN_FORCE_DETACH,3.0434e-03,2.1414e-02,4.4202e-02,2.6046e+00,-3.9789e-02,3.8167e-02,-8.2812e-05,4.5947e-02,4.2883e-02,1.5109e-01,-2.9010e-03,3.1296e-03,-5.5294e-05,1.6364e-01,4.2677e-03
+26,1.1717e+01,DOWN_FORCE_DETACH,3.1668e-03,2.0400e-02,4.4606e-02,2.6229e+00,-3.9808e-02,3.8077e-02,-7.9256e-05,4.4933e-02,4.3286e-02,1.6940e-01,-2.9200e-03,3.0400e-03,-5.1739e-05,1.8052e-01,4.2156e-03
+27,1.2050e+01,DOWN_FORCE_DETACH,3.2910e-03,1.6184e-02,4.5459e-02,2.6420e+00,-3.9847e-02,3.7775e-02,-7.5185e-05,4.0717e-02,4.4140e-02,1.8858e-01,-2.9587e-03,2.7372e-03,-4.7667e-05,1.9791e-01,4.0309e-03
+28,1.2367e+01,DOWN_FORCE_DETACH,3.4072e-03,1.6670e-02,4.7365e-02,2.6607e+00,-3.9938e-02,3.7775e-02,-7.1376e-05,4.1203e-02,4.6045e-02,2.0727e-01,-3.0495e-03,2.7372e-03,-4.3859e-05,2.1629e-01,4.0980e-03
+29,1.2683e+01,DOWN_FORCE_DETACH,3.5338e-03,1.4163e-02,4.8684e-02,2.6736e+00,-3.9972e-02,3.7589e-02,-6.7188e-05,3.8696e-02,4.7365e-02,2.2011e-01,-3.0835e-03,2.5520e-03,-3.9671e-05,2.2845e-01,4.0028e-03
+30,1.2983e+01,DOWN_FORCE_DETACH,3.6518e-03,1.6266e-02,5.0864e-02,2.6824e+00,-4.0052e-02,3.7721e-02,-6.2473e-05,4.0799e-02,4.9545e-02,2.2890e-01,-3.1639e-03,2.6831e-03,-3.4955e-05,2.3773e-01,4.1486e-03
+31,1.3267e+01,DOWN_FORCE_DETACH,3.7754e-03,1.7526e-02,5.0525e-02,2.6805e+00,-3.9983e-02,3.7818e-02,-5.7617e-05,4.2059e-02,4.9206e-02,2.2700e-01,-3.0952e-03,2.7808e-03,-3.0100e-05,2.3605e-01,4.1610e-03
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+50,1.7000e+01,DOWN_FORCE_DETACH,6.0906e-03,3.8006e-02,7.9822e-02,2.8436e+00,-4.1515e-02,3.9046e-02,-4.6151e-05,6.2539e-02,7.8503e-02,3.9014e-01,-4.6269e-03,4.0082e-03,-1.8633e-05,4.0284e-01,6.1216e-03
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+52,1.7283e+01,DOWN_FORCE_DETACH,6.3251e-03,3.6069e-02,8.2518e-02,2.8513e+00,-4.1647e-02,3.8895e-02,-4.9672e-05,6.0602e-02,8.1199e-02,3.9780e-01,-4.7586e-03,3.8576e-03,-2.2155e-05,4.1050e-01,6.1258e-03
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+54,1.7583e+01,DOWN_FORCE_DETACH,6.5779e-03,3.4697e-02,8.3736e-02,2.8582e+00,-4.1680e-02,3.8779e-02,-5.4409e-05,5.9230e-02,8.2416e-02,4.0477e-01,-4.7922e-03,3.7416e-03,-2.6892e-05,4.1730e-01,6.0799e-03
+55,1.7717e+01,DOWN_FORCE_DETACH,6.6948e-03,2.8217e-02,8.0905e-02,2.8668e+00,-4.1481e-02,3.8353e-02,-5.5323e-05,5.2750e-02,7.9586e-02,4.1337e-01,-4.5928e-03,3.3158e-03,-2.7805e-05,4.2425e-01,5.6647e-03
+56,1.7850e+01,DOWN_FORCE_DETACH,6.8153e-03,2.0156e-02,8.0254e-02,2.8712e+00,-4.1419e-02,3.7826e-02,-5.5984e-05,4.4689e-02,7.8934e-02,4.1770e-01,-4.5307e-03,2.7882e-03,-2.8466e-05,4.2744e-01,5.3200e-03
+57,1.7983e+01,DOWN_FORCE_DETACH,6.9429e-03,2.1673e-02,8.4454e-02,2.8855e+00,-4.1650e-02,3.7907e-02,-5.6330e-05,4.6206e-02,8.3135e-02,4.3200e-01,-4.7616e-03,2.8696e-03,-2.8813e-05,4.4235e-01,5.5595e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2e3758eb396a676d6b0dcf95dee18b78b3dae81f
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4443ae50c37786dba4215c92f59beeba47534e565eb2526e2d4d20988a24af70
+size 11079680
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27b1714f69152621d062f91990ba8d51810ceba0
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed541fc052c185846103b2b8bc8aff8b611b1cc7
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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+14608,1792701992700676663,9819710000000,1792701992695153705,UP_FORCE_HOLD,6,0.043,0.043002475053071976,0.6759879267703855,-0.004632574293551248,0.09081417329123846,0.9999999684961262,-8.98116279231223e-05,-0.0002003752725442357,-7.895715834695103e-05,0.6761,-0.00453,0.09113345228471192,1.0,0.0,0.0,0.0,0.8448749661494963,0.3666205008393656,-0.508143629053253,0.022095299131968997,-0.05807726253681723,0.0019149307317185417,0.9102780770472008,0.34708632967068154,-0.37595382317686954,0.02433586564485531,-0.06624307381115306,0.0006740551803130747,0.06540311089770444,-0.019534171168684045,0.13218980587638346,0.002240566512886311,-0.008165811274335834,-0.0012408755514054669,1,-1.372780154272268,1.025828998803066,2.6260999052880414,-0.3212382475628761,-1.865143977312458,0.5686801340393941,-0.13074956995010537,0.508143629053253,-2.756849475238147,0.508143629053253,0.5507,0,0,5.766369346319055e-05,-9.999999025923074e-05
+14620,1792701992800679324,9819810000000,1792701992799153961,UP_FORCE_HOLD,6,0.043,0.043002475053071976,0.675991092278549,-0.004635816612894082,0.09082250316269792,0.9999999687597805,-9.787997970029019e-05,-0.0001943871016662685,-8.097201173574444e-05,0.6761,-0.00453,0.09113897115410743,1.0,0.0,0.0,0.0,0.8353612181261905,0.3866786456612126,-0.5177541200333713,0.02308675617831831,-0.057291965730665646,0.001945219877736215,0.9007643290238949,0.36714447449252857,-0.38556431415698783,0.025327322691204624,-0.06545777700500148,0.0007043443263307481,0.06540311089770444,-0.019534171168684045,0.13218980587638346,0.002240566512886311,-0.008165811274335834,-0.0012408755514054669,1,-1.3876238811943291,0.9601295461397749,2.707685679453447,-0.3006895608752816,-1.9187282443896456,0.5350116576026919,-0.13074956995010537,0.5177541200333713,-2.8384352494035525,0.5177541200333713,0.5507,0,0,5.2663694437267476e-05,-9.999999025923074e-05
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+14696,1792701993431660661,9820441000000,1792701993427153931,UP_SETTLE,6,0.043,0.043002475053071976,0.6759944316435484,-0.004638379938806616,0.0908430262915571,0.9999999700194219,-0.0001031286221549283,-0.0001840273504562836,-8.308093252246143e-05,0.6761,-0.00453,0.09116226369723962,1.0,0.0,0.0,0.0,0.816111738472035,0.41713922554154265,-0.6169929874083153,0.026154320898502906,-0.05675837445023393,0.0020675063261608286,0.8815148493697395,0.3976050543728586,-0.4848031815319318,0.028394887411389215,-0.06492418572456976,0.0008266307747553617,0.06540311089770444,-0.019534171168684045,0.13218980587638346,0.002240566512886311,-0.008165811274335834,-0.0012408755514054669,1,-1.3830293133767229,1.0608469908879672,2.7409862015307973,-0.3687499517908652,-1.9386442771322514,0.5990623679598601,-0.13074956995010537,0.6169929874083153,-2.871735771480903,0.6169929874083153,0.5507,0,0,2.1113700583692878e-05,-9.999999025923074e-05
+14720,1792701993631600502,9820641000000,1792701993627153675,UP_SETTLE,6,0.043,0.04300181567668915,0.6759956139828881,-0.004635584655064418,0.09084787492940788,0.9999999701046989,-0.00010505265528231852,-0.00018137603008036191,-8.544086219907594e-05,0.6761,-0.00453,0.09116549143755215,1.0,0.0,0.0,0.0,0.8233625115356893,0.43406053866968636,-0.6374105334640268,0.026789811541827253,-0.056113161537353747,0.002105995898214891,0.8887656224333937,0.4145263675010023,-0.5052207275876432,0.029030378054713566,-0.06427897281168958,0.0008651203468094244,0.06540311089770444,-0.019534171168684045,0.13218980587638346,0.002240566512886311,-0.008165811274335834,-0.0012408755514054669,1,-1.3469080493298764,0.9933123115611134,2.7050079499335764,-0.34881789966269744,-1.9091702651521274,0.5603954719857883,-0.13074956995010537,0.6374105334640268,-2.835757519883682,0.6374105334640268,0.5507,0,0,1.1113702531846731e-05,-9.999999025923074e-05
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b244bdb02d754105906d5f73a008a6ebfc411fef
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb3bcf249fbcf66bcc45c5b286793251aaadb63a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.166666667e-01,WAIT_W2,1792701987111285101,1.983651856e-06,-1.110111814e-05,2.407225248e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.815566605e-07,1.030865712e-09,9.247576227e-08,7.015398551e-01,-9.550156817e-06,8.407433484e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293268e-01,1.756705112e-06,8.295728538e-01
+7,4.833333333e-01,WAIT_W2,1792701987244766078,8.148035298e-07,-1.702457180e-05,-1.291522700e-07,1.628110680e-06,-1.976852979e-05,2.393684678e-06,1.950839691e-06,-1.962555294e-05,2.438376588e-06,7.015386863e-01,-1.547361048e-05,8.407408120e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017309961e-01,-1.786987870e-05,8.295751997e-01
+8,5.666666667e-01,WAIT_W2,1792701987411228301,2.791809427e-06,-2.578761953e-05,3.699409157e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,1.994678325e-06,-1.965165702e-05,2.460694859e-06,7.015406633e-01,-2.423665821e-05,8.407446406e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017310400e-01,-1.789598277e-05,8.295752221e-01
+9,6.500000000e-01,WAIT_W2,1792701987577273581,1.321160208e-06,-3.245667905e-05,2.361604704e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.033268963e-06,-1.965936174e-05,2.478190471e-06,7.015391926e-01,-3.090571773e-05,8.407433028e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017310786e-01,-1.790368750e-05,8.295752396e-01
+10,7.166666667e-01,WAIT_W2,1792701987709319195,2.670006033e-06,-2.940699564e-05,3.547423099e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.061486730e-06,-1.966214904e-05,2.490450959e-06,7.015405415e-01,-2.785603432e-05,8.407444886e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017311068e-01,-1.790647479e-05,8.295752518e-01
+11,8.000000000e-01,WAIT_W2,1792701987875260305,-4.846956193e-07,-2.908262774e-05,1.681295334e-07,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.093994606e-06,-1.966410187e-05,2.504277416e-06,7.015373868e-01,-2.753166642e-05,8.407411093e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017311393e-01,-1.790842762e-05,8.295752656e-01
+12,8.666666667e-01,WAIT_W2,1792701988011238084,1.309788410e-06,-2.968243198e-05,2.587225057e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.118025290e-06,-1.966506616e-05,2.514369758e-06,7.015391813e-01,-2.813147066e-05,8.407435284e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017311633e-01,-1.790939192e-05,8.295752757e-01
+13,9.666666667e-01,WAIT_W2,1792701988211309317,-9.621026896e-07,-2.617110555e-05,4.626447023e-07,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.151092107e-06,-1.966596968e-05,2.528098408e-06,7.015369094e-01,-2.462014423e-05,8.407414038e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017311964e-01,-1.791029543e-05,8.295752895e-01
+14,1.033333333e+00,WAIT_W2,1792701988343312536,-3.082016963e-06,-2.585659562e-05,-3.162243275e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.171336467e-06,-1.966636536e-05,2.536421627e-06,7.015347895e-01,-2.430563430e-05,8.407377789e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017312166e-01,-1.791069111e-05,8.295752978e-01
+15,1.133333333e+00,WAIT_W2,1792701988542738147,1.522588696e-06,-1.869230382e-05,1.008403784e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.199234295e-06,-1.966678028e-05,2.547788749e-06,7.015393941e-01,-1.714134250e-05,8.407419496e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017312445e-01,-1.791110603e-05,8.295753092e-01
+16,1.183333333e+00,WAIT_W2,1792701988641037178,-2.160115352e-06,-2.129148794e-05,-2.178233023e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.212160121e-06,-1.966692982e-05,2.553018005e-06,7.015357114e-01,-1.974052662e-05,8.407387630e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017312575e-01,-1.791125557e-05,8.295753144e-01
+17,1.266666667e+00,WAIT_W2,1792701988807281744,-4.986353878e-06,-2.297671968e-05,-8.204643147e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.232296549e-06,-1.966711316e-05,2.561110697e-06,7.015328851e-01,-2.142575836e-05,8.407327365e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017312776e-01,-1.791143891e-05,8.295753225e-01
+18,1.383333333e+00,WAIT_W2,1792701989041390926,-3.687587263e-06,-3.254535860e-05,-4.158628277e-06,1.628110680e-06,-1.976852979e-05,2.393684678e-06,2.257801850e-06,-1.966728764e-05,2.571255720e-06,7.015341839e-01,-3.099439728e-05,8.407367826e-01,7.015394996e-01,-1.821756847e-05,8.407433349e-01,7.017313031e-01,-1.791161340e-05,8.295753326e-01
+19,1.433333333e+00,WAIT_W2,1792701989138745260,-3.954218279e-06,-3.987141884e-05,-4.083506868e-06,-3.054696703e-06,-3.810528518e-05,-3.832321274e-06,-2.514155307e-06,-3.784832499e-05,-3.479464175e-06,7.015339173e-01,-3.832045752e-05,8.407368577e-01,7.015348168e-01,-3.655432386e-05,8.407371089e-01,7.017265311e-01,-3.609265075e-05,8.295692819e-01
+20,1.516666667e+00,WAIT_W2,1792701989306998185,-6.042060533e-06,-5.276249728e-05,-6.429955141e-06,-3.054696703e-06,-3.810528518e-05,-3.832321274e-06,-2.509586808e-06,-3.786617874e-05,-3.488416635e-06,7.015318294e-01,-5.121153596e-05,8.407345112e-01,7.015348168e-01,-3.655432386e-05,8.407371089e-01,7.017265357e-01,-3.611050449e-05,8.295692729e-01
+21,1.583333333e+00,WAIT_W2,1792701989441214639,-7.343725418e-06,-6.901655794e-05,-6.757798150e-06,-3.919427495e-06,-6.003384459e-05,-3.716677992e-06,-3.376897882e-06,-5.966171355e-05,-3.439268502e-06,7.015305278e-01,-6.746559662e-05,8.407341834e-01,7.015339521e-01,-5.848288327e-05,8.407372245e-01,7.017256684e-01,-5.790603930e-05,8.295693221e-01
+22,1.650000000e+00,WAIT_W2,1792701989572748253,-6.664148631e-06,-8.114044899e-05,-4.251908209e-06,-6.615260583e-06,-8.108695504e-05,-4.266588310e-06,-6.065184236e-06,-8.056640080e-05,-3.976314742e-06,7.015312073e-01,-7.958948767e-05,8.407366893e-01,7.015312562e-01,-7.953599371e-05,8.407366746e-01,7.017229801e-01,-7.881072655e-05,8.295687851e-01
+23,1.716666667e+00,WAIT_W2,1792701989705000495,-4.648116952e-06,-8.824735129e-05,-1.078993503e-06,-6.615260583e-06,-8.108695504e-05,-4.266588310e-06,-6.070016014e-06,-8.061738741e-05,-3.978848130e-06,7.015332234e-01,-8.669638997e-05,8.407398622e-01,7.015312562e-01,-7.953599371e-05,8.407366746e-01,7.017229753e-01,-7.886171316e-05,8.295687825e-01
+24,1.766666667e+00,WAIT_W2,1792701989806747520,-6.241689962e-06,-1.018078041e-04,-4.068262195e-06,-6.259533040e-06,-1.017406123e-04,-3.966515825e-06,-5.717535783e-06,-1.011174717e-04,-3.662978439e-06,7.015316298e-01,-1.002568428e-04,8.407368729e-01,7.015316119e-01,-1.001896510e-04,8.407369747e-01,7.017233278e-01,-9.936179748e-05,8.295690984e-01
+25,1.833333333e+00,WAIT_W2,1792701989938730952,-7.441128535e-06,-1.118802735e-04,-5.647944019e-06,-6.259533040e-06,-1.017406123e-04,-3.966515825e-06,-5.717432716e-06,-1.011686984e-04,-3.663090453e-06,7.015304304e-01,-1.103293121e-04,8.407352932e-01,7.015316119e-01,-1.001896510e-04,8.407369747e-01,7.017233279e-01,-9.941302415e-05,8.295690983e-01
+26,1.900000000e+00,UP_FORCE_RAMP,1792701990071297270,-8.000684736e-06,-1.234294724e-04,-4.651084961e-06,-4.099294162e-06,-1.214205630e-04,1.292255062e-06,-3.488161456e-06,-1.206853543e-04,1.470054316e-06,7.015298708e-01,-1.218785111e-04,8.407362901e-01,7.015337722e-01,-1.198696017e-04,8.407422334e-01,7.017255571e-01,-1.189296800e-04,8.295742314e-01
+27,1.966666667e+00,UP_FORCE_RAMP,1792701990203309036,-8.377140886e-06,-1.334825061e-04,-6.771791507e-06,-4.099294162e-06,-1.214205630e-04,1.292255062e-06,-3.481930343e-06,-1.207176829e-04,1.483245897e-06,7.015294943e-01,-1.319315448e-04,8.407341694e-01,7.015337722e-01,-1.198696017e-04,8.407422334e-01,7.017255634e-01,-1.189620087e-04,8.295742446e-01
+28,2.066666667e+00,UP_FORCE_RAMP,1792701990370720193,-8.211411893e-06,-1.436962458e-04,-3.638190533e-06,-8.369297494e-06,-1.440194668e-04,-3.916363234e-06,-7.835008489e-06,-1.431398631e-04,-3.616607627e-06,7.015296601e-01,-1.421452845e-04,8.407373030e-01,7.015295022e-01,-1.424685054e-04,8.407370248e-01,7.017212103e-01,-1.413841889e-04,8.295691448e-01
+29,2.133333333e+00,UP_FORCE_RAMP,1792701990503209616,-5.609649500e-06,-1.511329686e-04,-8.026252247e-07,-8.369297494e-06,-1.440194668e-04,-3.916363234e-06,-7.846808506e-06,-1.431899555e-04,-3.625353018e-06,7.015322618e-01,-1.495820073e-04,8.407401386e-01,7.015295022e-01,-1.424685054e-04,8.407370248e-01,7.017211985e-01,-1.414342813e-04,8.295691360e-01
+30,2.200000000e+00,UP_FORCE_RAMP,1792701990638710011,-5.568196053e-06,-1.546622008e-04,1.729789848e-06,-8.369297494e-06,-1.440194668e-04,-3.916363234e-06,-7.850486144e-06,-1.432052944e-04,-3.629731912e-06,7.015323033e-01,-1.531112394e-04,8.407426710e-01,7.015295022e-01,-1.424685054e-04,8.407370248e-01,7.017211948e-01,-1.414496201e-04,8.295691316e-01
+31,2.233333333e+00,UP_FORCE_RAMP,1792701990702715740,-8.489583568e-06,-1.629356425e-04,-2.209360278e-06,-8.369297494e-06,-1.440194668e-04,-3.916363234e-06,-7.851882076e-06,-1.432096713e-04,-3.631700528e-06,7.015293819e-01,-1.613846812e-04,8.407387318e-01,7.015295022e-01,-1.424685054e-04,8.407370248e-01,7.017211934e-01,-1.414539971e-04,8.295691297e-01
+32,2.250000000e+00,UP_FORCE_RAMP,1792701990737058912,-1.248210837e-05,-1.595219516e-04,-4.394363535e-06,-8.369297494e-06,-1.440194668e-04,-3.916363234e-06,-7.852513183e-06,-1.432114393e-04,-3.632647599e-06,7.015253894e-01,-1.579709903e-04,8.407365468e-01,7.015295022e-01,-1.424685054e-04,8.407370248e-01,7.017211928e-01,-1.414557650e-04,8.295691287e-01
+33,2.266666667e+00,UP_FORCE_RAMP,1792701990771402084,-3.408103269e-05,-1.648322886e-04,-2.457826873e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.371576122e-05,-1.636742974e-04,-2.394285960e-05,7.015037904e-01,-1.632813273e-04,8.407163629e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016953295e-01,-1.619186231e-04,8.295488185e-01
+34,2.300000000e+00,UP_FORCE_RAMP,1792701990835226212,-2.749096250e-05,-1.689677450e-04,-1.571969712e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.376996607e-05,-1.637063362e-04,-2.398591991e-05,7.015103805e-01,-1.674167837e-04,8.407252215e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016952753e-01,-1.619506619e-04,8.295487754e-01
+35,2.333333333e+00,UP_FORCE_RAMP,1792701990870720290,-3.533021459e-05,-1.697911294e-04,-2.443826633e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.380079967e-05,-1.637187735e-04,-2.401286247e-05,7.015025413e-01,-1.682401680e-04,8.407165029e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016952445e-01,-1.619630993e-04,8.295487485e-01
+36,2.383333333e+00,UP_FORCE_RAMP,1792701990969332716,-2.867407488e-05,-1.729046560e-04,-1.694875245e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.383594509e-05,-1.637287811e-04,-2.404570986e-05,7.015091974e-01,-1.713536947e-04,8.407239924e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016952093e-01,-1.619731069e-04,8.295487157e-01
+37,2.416666667e+00,UP_FORCE_RAMP,1792701991036956211,-3.070117697e-05,-1.786931775e-04,-1.942216427e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.385595591e-05,-1.637329663e-04,-2.406511561e-05,7.015071703e-01,-1.771422162e-04,8.407215190e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016951893e-01,-1.619772921e-04,8.295486962e-01
+38,2.450000000e+00,UP_FORCE_RAMP,1792701991112039955,-2.994032057e-05,-1.750020020e-04,-1.723555820e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.387427988e-05,-1.637361513e-04,-2.408320237e-05,7.015079312e-01,-1.734510407e-04,8.407237056e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016951710e-01,-1.619804771e-04,8.295486782e-01
+39,2.516666667e+00,UP_FORCE_RAMP,1792701991237223820,-3.224798380e-05,-1.772245670e-04,-1.966946105e-05,-3.393498303e-05,-1.646130000e-04,-2.467370547e-05,-3.390741953e-05,-1.637407233e-04,-2.411636440e-05,7.015056235e-01,-1.756736057e-04,8.407212717e-01,7.015039365e-01,-1.630620387e-04,8.407162675e-01,7.016951379e-01,-1.619850490e-04,8.295486450e-01
+40,2.600000000e+00,UP_FORCE_RAMP,1792701991403926513,-3.355148269e-05,-1.858595952e-04,-1.933259714e-05,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.325415683e-05,-1.847518280e-04,-1.865020113e-05,7.015043200e-01,-1.843086339e-04,8.407216086e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016957911e-01,-1.829961537e-04,8.295541112e-01
+41,2.666666667e+00,UP_FORCE_RAMP,1792701991503282149,-3.406639006e-05,-1.902916147e-04,-1.924135988e-05,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.327967005e-05,-1.847995643e-04,-1.865564140e-05,7.015038051e-01,-1.887406534e-04,8.407216998e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016957656e-01,-1.830438900e-04,8.295541057e-01
+42,2.700000000e+00,UP_FORCE_RAMP,1792701991567223848,-3.253839923e-05,-1.861646527e-04,-1.569307510e-05,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.329120791e-05,-1.848075288e-04,-1.866157438e-05,7.015053331e-01,-1.846136914e-04,8.407252481e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016957541e-01,-1.830518545e-04,8.295540998e-01
+43,2.750000000e+00,UP_FORCE_RAMP,1792701991669436687,-3.198382169e-05,-1.835103519e-04,-1.144642746e-05,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.330764411e-05,-1.848146534e-04,-1.867107579e-05,7.015058877e-01,-1.819593906e-04,8.407294948e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016957376e-01,-1.830589791e-04,8.295540903e-01
+44,2.833333333e+00,UP_FORCE_RAMP,1792701991835421467,-3.485523272e-05,-1.814625521e-04,-1.012722034e-05,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.333283808e-05,-1.848210460e-04,-1.868663473e-05,7.015030162e-01,-1.799115908e-04,8.407308140e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016957125e-01,-1.830653718e-04,8.295540747e-01
+45,2.933333333e+00,UP_FORCE_RAMP,1792701992035206606,-3.315265073e-05,-1.892078507e-04,5.379659245e-07,-3.333895046e-05,-1.858303917e-04,-1.900507116e-05,-3.336005601e-05,-1.848254957e-04,-1.870367425e-05,7.015047188e-01,-1.876568894e-04,8.407414792e-01,7.015045325e-01,-1.842794304e-04,8.407219361e-01,7.016956852e-01,-1.830698215e-04,8.295540577e-01
+46,3.000000000e+00,UP_FORCE_RAMP,1792701992135306891,-3.427835311e-05,-1.893792380e-04,5.825972345e-06,-3.358583970e-05,-1.912226436e-04,9.139398309e-07,-3.359500956e-05,-1.902024165e-04,8.203429673e-07,7.015035931e-01,-1.878282767e-04,8.407467672e-01,7.015042856e-01,-1.896716823e-04,8.407418551e-01,7.016954503e-01,-1.884467423e-04,8.295735817e-01
+47,3.050000000e+00,UP_FORCE_RAMP,1792701992233320689,-3.221442211e-05,-1.846625621e-04,1.579451496e-05,-3.358583970e-05,-1.912226436e-04,9.139398309e-07,-3.360689389e-05,-1.902080051e-04,8.458837778e-07,7.015056571e-01,-1.831116008e-04,8.407567357e-01,7.015042856e-01,-1.896716823e-04,8.407418551e-01,7.016954384e-01,-1.884523308e-04,8.295736072e-01
+48,3.100000000e+00,UP_FORCE_RAMP,1792701992335405339,-3.155311179e-05,-1.853984263e-04,2.503190187e-05,-2.909219730e-05,-1.840457658e-04,2.180945982e-05,-2.893095478e-05,-1.830740073e-04,2.127530772e-05,7.015063184e-01,-1.838474650e-04,8.407659731e-01,7.015087793e-01,-1.824948044e-04,8.407627506e-01,7.017001143e-01,-1.813183330e-04,8.295940367e-01
+49,3.133333333e+00,UP_FORCE_RAMP,1792701992399359411,-3.694212470e-05,-1.908567464e-04,2.815849029e-05,-2.909219730e-05,-1.840457658e-04,2.180945982e-05,-2.893263192e-05,-1.830726192e-04,2.131317752e-05,7.015009294e-01,-1.893057851e-04,8.407690997e-01,7.015087793e-01,-1.824948044e-04,8.407627506e-01,7.017001127e-01,-1.813169450e-04,8.295940745e-01
+50,3.150000000e+00,UP_FORCE_RAMP,1792701992433274665,-7.461263134e-05,-1.797158160e-04,2.590352024e-05,-7.401869890e-05,-1.798676968e-04,2.553182954e-05,-7.421603746e-05,-1.789223016e-04,2.499628563e-05,7.014632589e-01,-1.781648547e-04,8.407668447e-01,7.014638528e-01,-1.783167355e-04,8.407664730e-01,7.016548293e-01,-1.771666274e-04,8.295977577e-01
+51,3.150000000e+00,UP_FORCE_RAMP,1792701992433274665,-7.461263134e-05,-1.797158160e-04,2.590352024e-05,-7.401869890e-05,-1.798676968e-04,2.553182954e-05,-7.421603746e-05,-1.789223016e-04,2.499628563e-05,7.014632589e-01,-1.781648547e-04,8.407668447e-01,7.014638528e-01,-1.783167355e-04,8.407664730e-01,7.016548293e-01,-1.771666274e-04,8.295977577e-01
+52,3.216666667e+00,UP_FORCE_RAMP,1792701992567409768,-7.068436079e-05,-1.864713929e-04,3.740318225e-05,-7.401869890e-05,-1.798676968e-04,2.553182954e-05,-7.436766619e-05,-1.789146056e-04,2.506853636e-05,7.014671871e-01,-1.849204316e-04,8.407783444e-01,7.014638528e-01,-1.783167355e-04,8.407664730e-01,7.016546776e-01,-1.771589313e-04,8.295978299e-01
+53,3.283333333e+00,UP_FORCE_HOLD,1792701992699359570,-6.926794231e-05,-1.841865007e-04,4.007601243e-05,-7.401869890e-05,-1.798676968e-04,2.553182954e-05,-7.444830905e-05,-1.789125547e-04,2.512500807e-05,7.014686035e-01,-1.826355394e-04,8.407810172e-01,7.014638528e-01,-1.783167355e-04,8.407664730e-01,7.016545970e-01,-1.771568804e-04,8.295978864e-01
+54,3.350000000e+00,UP_FORCE_HOLD,1792701992799355198,-6.844352053e-05,-1.840056481e-04,4.409722017e-05,-6.849907152e-05,-1.896884149e-04,4.303302528e-05,-6.887868896e-05,-1.886860390e-04,4.228863482e-05,7.014694280e-01,-1.824546867e-04,8.407850384e-01,7.014693724e-01,-1.881374535e-04,8.407839742e-01,7.016601666e-01,-1.869303648e-04,8.296150500e-01
+55,3.433333333e+00,UP_SETTLE,1792701992967284890,-6.713470145e-05,-1.831251206e-04,4.992828319e-05,-6.849907152e-05,-1.896884149e-04,4.303302528e-05,-6.893471277e-05,-1.886975499e-04,4.239241998e-05,7.014707368e-01,-1.815741593e-04,8.407908695e-01,7.014693724e-01,-1.881374535e-04,8.407839742e-01,7.016601106e-01,-1.869418756e-04,8.296151538e-01
+56,3.516666667e+00,UP_SETTLE,1792701993133449498,-6.602072991e-05,-1.842478401e-04,5.637600301e-05,-6.849907152e-05,-1.896884149e-04,4.303302528e-05,-6.898533528e-05,-1.887008995e-04,4.247562510e-05,7.014718508e-01,-1.826968788e-04,8.407973172e-01,7.014693724e-01,-1.881374535e-04,8.407839742e-01,7.016600600e-01,-1.869452253e-04,8.296152370e-01
+57,3.600000000e+00,UP_SETTLE,1792701993299427988,-6.469565964e-05,-1.868070594e-04,6.319110386e-05,-6.458898536e-05,-1.867894904e-04,6.332953913e-05,-6.503797346e-05,-1.858163207e-04,6.238852014e-05,7.014731758e-01,-1.852560981e-04,8.408041323e-01,7.014732825e-01,-1.852385290e-04,8.408042707e-01,7.016640073e-01,-1.840606465e-04,8.296351499e-01
+58,3.683333333e+00,UP_SETTLE,1792701993431364200,-6.358327263e-05,-1.878478585e-04,6.783246690e-05,-6.458898536e-05,-1.867894904e-04,6.332953913e-05,-6.506261403e-05,-1.858134104e-04,6.253067902e-05,7.014742882e-01,-1.862968972e-04,8.408087737e-01,7.014732825e-01,-1.852385290e-04,8.408042707e-01,7.016639827e-01,-1.840577361e-04,8.296352920e-01
+59,3.783333333e+00,UP_SETTLE,1792701993631440922,-6.240093329e-05,-1.850525747e-04,7.268110475e-05,-6.458898536e-05,-1.867894904e-04,6.332953913e-05,-6.509642029e-05,-1.858134450e-04,6.265037035e-05,7.014754705e-01,-1.835016134e-04,8.408136223e-01,7.014732825e-01,-1.852385290e-04,8.408042707e-01,7.016639489e-01,-1.840577707e-04,8.296354117e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5e74442056f5ccfd61bec6238232d7bafe88861
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_06/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-2.3892e-02,1.3130e-03,2.4537e+00,-3.6888e-02,3.5079e-02,-2.8230e-05,6.3239e-04,-5.7444e-06,2.8372e-04,1.7509e-07,4.0606e-05,-7.4669e-07,6.9314e-04,4.0613e-05
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,1.8357e-05,-2.0523e-02,1.2881e-03,2.4552e+00,-3.6887e-02,3.5298e-02,-3.2497e-05,4.0010e-03,-3.0633e-05,1.7781e-03,8.6427e-07,2.6028e-04,-5.0141e-06,4.3784e-03,2.6033e-04
+2,1.8333e-01,WAIT_W2,3.4149e-05,-1.7978e-02,1.2764e-03,2.4564e+00,-3.6887e-02,3.5468e-02,-3.6131e-05,6.5470e-03,-4.2367e-05,2.8887e-03,1.0803e-06,4.2973e-04,-8.6483e-06,7.1561e-03,4.2982e-04
+3,2.3333e-01,WAIT_W2,5.4694e-05,-1.6541e-02,1.2711e-03,2.4570e+00,-3.6887e-02,3.5565e-02,-3.8294e-05,7.9832e-03,-4.7706e-05,3.5000e-03,1.1884e-06,5.2657e-04,-1.0811e-05,8.7169e-03,5.2668e-04
+4,3.1667e-01,WAIT_W2,6.7507e-05,-1.4269e-02,1.2643e-03,2.4579e+00,-3.6887e-02,3.5720e-02,-4.1868e-05,1.0255e-02,-5.4491e-05,4.4432e-03,1.3784e-06,6.8143e-04,-1.4385e-05,1.1177e-02,6.8158e-04
+5,3.5000e-01,WAIT_W2,8.8032e-05,-1.0877e-02,1.2208e-03,2.4594e+00,-3.6885e-02,3.6037e-02,-7.9744e-05,1.3647e-02,-9.8014e-05,5.9533e-03,3.3304e-06,9.9870e-04,-5.2261e-05,1.4889e-02,1.0001e-03
+6,4.1667e-01,WAIT_W2,1.0572e-04,-9.5225e-03,1.2593e-03,2.4594e+00,-3.6887e-02,3.6118e-02,-8.0628e-05,1.5002e-02,-5.9483e-05,5.9848e-03,1.0170e-06,1.0795e-03,-5.3145e-05,1.6152e-02,1.0808e-03
+7,4.8333e-01,WAIT_W2,1.2064e-04,-8.5278e-03,3.5854e-03,2.4594e+00,-3.7040e-02,3.6177e-02,-8.1183e-05,1.5997e-02,2.2666e-03,5.9419e-03,-1.5187e-04,1.1393e-03,-5.3700e-05,1.7214e-02,1.1506e-03
+8,5.6667e-01,WAIT_W2,1.4104e-04,-7.8543e-03,1.4291e-02,2.4577e+00,-3.7755e-02,3.6212e-02,-7.9258e-05,1.6670e-02,1.2972e-02,4.2861e-03,-8.6642e-04,1.1738e-03,-5.1775e-05,2.1553e-02,1.4598e-03
+9,6.5000e-01,WAIT_W2,1.5891e-04,-6.5957e-03,1.3025e-02,2.4586e+00,-3.7683e-02,3.6293e-02,-7.8634e-05,1.7929e-02,1.1706e-02,5.1377e-03,-7.9498e-04,1.2547e-03,-5.1151e-05,2.2020e-02,1.4862e-03
+10,7.1667e-01,WAIT_W2,1.7385e-04,-5.5135e-03,1.2662e-02,2.4593e+00,-3.7665e-02,3.6364e-02,-7.8331e-05,1.9011e-02,1.1343e-02,5.7974e-03,-7.7718e-04,1.3255e-03,-5.0848e-05,2.2884e-02,1.5374e-03
+11,8.0000e-01,WAIT_W2,1.9206e-04,-4.1618e-03,1.2523e-02,2.4600e+00,-3.7662e-02,3.6453e-02,-7.8136e-05,2.0363e-02,1.1204e-02,6.5711e-03,-7.7340e-04,1.4151e-03,-5.0653e-05,2.4153e-02,1.6135e-03
+12,8.6667e-01,WAIT_W2,2.1146e-04,-3.1170e-03,1.2515e-02,2.4606e+00,-3.7664e-02,3.6524e-02,-7.8103e-05,2.1408e-02,1.1196e-02,7.1447e-03,-7.7601e-04,1.4853e-03,-5.0620e-05,2.5193e-02,1.6766e-03
+13,9.6667e-01,WAIT_W2,2.2698e-04,-1.6374e-03,1.2558e-02,2.4614e+00,-3.7670e-02,3.6624e-02,-7.8223e-05,2.2887e-02,1.1239e-02,7.9236e-03,-7.8215e-04,1.5859e-03,-5.0740e-05,2.6701e-02,1.7691e-03
+14,1.0333e+00,WAIT_W2,2.4476e-04,-7.0397e-04,1.2594e-02,2.4619e+00,-3.7674e-02,3.6688e-02,-7.8402e-05,2.3821e-02,1.1276e-02,8.3976e-03,-7.8609e-04,1.6501e-03,-5.0919e-05,2.7660e-02,1.8285e-03
+15,1.1333e+00,WAIT_W2,2.6401e-04,6.1852e-04,1.2642e-02,2.4625e+00,-3.7679e-02,3.6780e-02,-7.8803e-05,2.5143e-02,1.1324e-02,9.0477e-03,-7.9085e-04,1.7419e-03,-5.1320e-05,2.9022e-02,1.9137e-03
+16,1.1833e+00,WAIT_W2,2.7835e-04,1.2387e-03,1.2662e-02,2.4628e+00,-3.7681e-02,3.6823e-02,-7.9055e-05,2.5763e-02,1.1343e-02,9.3441e-03,-7.9264e-04,1.7852e-03,-5.1571e-05,2.9660e-02,1.9540e-03
+17,1.2667e+00,WAIT_W2,2.9760e-04,4.8127e-03,1.2762e-02,2.4646e+00,-3.7690e-02,3.7082e-02,-8.1547e-05,2.9337e-02,1.1443e-02,1.1137e-02,-8.0165e-04,2.0440e-03,-5.4064e-05,3.3401e-02,2.1963e-03
+18,1.3833e+00,WAIT_W2,3.1304e-04,4.4208e-03,1.2758e-02,2.4642e+00,-3.7689e-02,3.7061e-02,-8.2115e-05,2.8945e-02,1.1440e-02,1.0754e-02,-8.0124e-04,2.0223e-03,-5.4632e-05,3.2929e-02,2.1760e-03
+19,1.4333e+00,WAIT_W2,3.3058e-04,1.0220e-02,2.6764e-02,2.4722e+00,-3.8605e-02,3.7443e-02,-8.0232e-05,3.4744e-02,2.5445e-02,1.8758e-02,-1.7172e-03,2.4044e-03,-5.2749e-05,4.6973e-02,2.9551e-03
+20,1.5167e+00,WAIT_W2,3.4934e-04,9.9203e-03,2.4842e-02,2.4709e+00,-3.8522e-02,3.7444e-02,-7.4814e-05,3.4445e-02,2.3523e-02,1.7414e-02,-1.6341e-03,2.4058e-03,-4.7331e-05,4.5200e-02,2.9087e-03
+21,1.5833e+00,WAIT_W2,3.6906e-04,1.0856e-02,4.3679e-02,2.4699e+00,-3.9765e-02,3.7512e-02,-6.8692e-05,3.5380e-02,4.2360e-02,1.6448e-02,-2.8766e-03,2.4738e-03,-4.1208e-05,5.7591e-02,3.7942e-03
+22,1.6500e+00,WAIT_W2,3.8507e-04,1.1082e-02,3.8866e-02,2.4700e+00,-3.9556e-02,3.7543e-02,-4.1092e-05,3.5606e-02,3.7547e-02,1.6511e-02,-2.6677e-03,2.5045e-03,-1.3609e-05,5.4316e-02,3.6592e-03
+23,1.7167e+00,WAIT_W2,3.9735e-04,1.3943e-02,5.3334e-02,2.4705e+00,-4.0498e-02,3.7730e-02,-3.5646e-05,3.8468e-02,5.2015e-02,1.6997e-02,-3.6097e-03,2.6915e-03,-8.1626e-06,6.6890e-02,4.5027e-03
+24,1.7667e+00,WAIT_W2,4.1949e-04,1.3002e-02,4.7965e-02,2.4702e+00,-4.0176e-02,3.7674e-02,-3.0232e-05,3.7526e-02,4.6646e-02,1.6748e-02,-3.2878e-03,2.6363e-03,-2.7486e-06,6.2166e-02,4.2142e-03
+25,1.8333e+00,WAIT_W2,4.3537e-04,1.2990e-02,6.6503e-02,2.4696e+00,-4.1435e-02,3.7674e-02,-1.2193e-05,3.7514e-02,6.5184e-02,1.6150e-02,-4.5467e-03,2.6363e-03,1.5290e-05,7.6923e-02,5.2557e-03
+26,1.9000e+00,UP_FORCE_RAMP,4.5605e-04,1.2663e-02,6.3552e-02,2.4689e+00,-4.1264e-02,3.7653e-02,-6.8867e-06,3.7187e-02,6.2233e-02,1.5405e-02,-4.3760e-03,2.6147e-03,2.0596e-05,7.4116e-02,5.0977e-03
+27,1.9667e+00,UP_FORCE_RAMP,4.6958e-04,1.1380e-02,7.1262e-02,2.4645e+00,-4.1815e-02,3.7564e-02,6.2204e-06,3.5904e-02,6.9943e-02,1.1047e-02,-4.9272e-03,2.5260e-03,3.3704e-05,7.9393e-02,5.5371e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..dfbb3205e33ea49be4630f8c22b87a16ab88568f
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87cf093d6d13a8063ae7ee498ae4b844772c1a0fc7d17dfba1638f8203fed113
+size 58613760
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4efd70a293105d2ce1898c13f6d053cddc46863a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80f6f1a12f2f13a9b164b124c1c7774038be270a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
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+23433,1792702066150099166,9893159000000,1792702066147144219,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761043293237705,-0.0046895657412784585,0.0905402172349828,0.9999999923172637,-6.290826689656061e-05,3.089929392445457e-05,4.3544469412576235e-05,0.6761,-0.00453,0.09043560869307672,1.0,0.0,0.0,0.0,-0.4793602216835515,0.2099737948110978,1.6904526482824511,0.018052081991690096,0.034023328253151075,0.0003600526129062616,0.3178591757769601,0.7426802012327326,1.4773277054413225,0.05540042179958195,-0.02167272465609638,0.002234979877514416,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,0.8199234340486271,0.7548095641132422,-0.5360699141857179,0.03914894799469492,0.5213408291542765,0.4087298999771157,-0.13074956995010537,1.6904526482824511,0.4053203442356126,0.4053203442356126,0.383360000000032,0,0,-0.00019616903633859627,9.999999025923074e-05
+23530,1792702066957003766,9893967000000,1792702066951144425,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761377649428592,-0.004695037685990956,0.09045613118888325,0.9999999900287591,-2.5595078677597648e-05,7.988872323311313e-05,6.593959393403862e-05,0.6761,-0.00453,0.0902934055085315,1.0,0.0,0.0,0.0,-0.5764385381410009,0.2858383554932157,2.054449547997398,0.02285998027971938,0.041866550186226474,0.001261448593568237,0.22078085931951075,0.8185447619148505,1.8413246051562695,0.06020832008761123,-0.013829502723020982,0.0031363758581763913,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.0336615675263858,0.6488506329089628,-0.9802785780598149,0.06285206962175004,0.8421691877771368,0.3449127899092026,-0.13074956995010537,2.054449547997398,0.8495290081097095,0.8495290081097095,0.4480000000000518,0,0,-0.00015576904420913783,9.999999025923074e-05
+23640,1792702067874093319,9894884000000,1792702067871144052,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761531172447718,-0.00470375732297706,0.09036756713068154,0.9999999868079338,-1.61216847511121e-05,0.00010042905701577563,8.649330939286135e-05,0.6761,-0.00453,0.0901715645908918,1.0,0.0,0.0,0.0,-0.6238240480330709,0.2948555980848758,2.3095964126703485,0.02375752725374755,0.04491785601593083,0.0011104849178951968,0.17339534942744073,0.8275620045065106,2.0964714698292197,0.0611058670616394,-0.010778196893316626,0.002985412182503351,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1387386906641652,0.5985461334182138,-1.21312665403621,0.07444939051126705,1.012354681010628,0.31241194113966253,-0.13074956995010537,2.3095964126703485,1.0823770840861047,1.0823770840861047,0.5213600000000594,0,0,-0.00010991905314142324,9.999999025923074e-05
+23758,1792702068856981462,9895867000000,1792702068855143501,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761630082458745,-0.00470560497442862,0.09030261093286242,0.9999999847496419,-1.0320618637404553e-05,0.00011086553898206698,9.77031098394119e-05,0.6761,-0.00453,0.0900876468069428,1.0,0.0,0.0,0.0,-0.6453211708538242,0.2787873886773564,2.3868397463865256,0.0228922815859608,0.04657308345081626,0.0009899840062300468,0.1518982266066874,0.8114937950989912,2.173714803545397,0.06024062139385265,-0.0091229694584312,0.002864911270838201,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1319235358444044,0.6681842003242472,-1.2941771743761947,0.04464986368339946,1.0589718043190341,0.35465360505079424,-0.13074956995010537,2.3868397463865256,1.1634276044260894,1.1634276044260894,0.600000000000029,0,0,-6.0769062716599425e-05,9.999999025923074e-05
+23876,1792702069841064622,9896851000000,1792702069839153844,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761624287116992,-0.0047090508275634945,0.09026034567473828,0.9999999839023186,-1.0837651806028867e-05,0.00011078660556193097,0.0001060523477703235,0.6761,-0.00453,0.09005203184450909,1.0,0.0,0.0,0.0,-0.6319671600132024,0.26045776767244033,2.386137190509836,0.02167546451650828,0.04595651358570375,1.5556155587339573e-05,0.16525223744730924,0.7931641740940751,2.1730122476687073,0.05902380432440013,-0.009739539323543713,0.001890483420195494,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.152317445028528,0.7595739054841056,-1.3534769260800612,0.014271542813032294,1.1045164371516205,0.4137751724861949,-0.13074956995010537,2.386137190509836,1.2227273561299559,1.2227273561299559,0.6787199999999984,0,0,-1.1569072301516376e-05,9.999999025923074e-05
+24015,1792702070999015412,9898009000000,1792702070995144214,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761606080315229,-0.004707866461899172,0.09024687864136487,0.9999999844893578,-8.890441375718023e-06,0.00010634961231998979,0.00010523720132419813,0.6761,-0.00453,0.09004969974946238,1.0,0.0,0.0,0.0,-0.6077994182550303,0.23754851584286407,2.2951433708919478,0.01970612263477771,0.04398928837220242,3.6114911772982487e-05,0.1894199792054814,0.7702549222644989,2.082018428050819,0.05705446244266956,-0.011706764537045037,0.0019110421763811369,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.0770660457780328,0.608329012995788,-1.2529855990892054,0.060010778325564874,1.0286734330127534,0.3150866522130317,-0.13074956995010537,2.2951433708919478,1.1222360291391,1.1222360291391,0.7713599999999625,0,0,-3.526773623141466e-08,3.562397599132794e-07
+24183,1792702072398986412,9899409000000,1792702072391153446,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761570299887506,-0.0047097149589472986,0.0902354664620607,0.9999999849358248,-1.0949811471703976e-05,0.00010025873425652795,0.00010676845293733792,0.6761,-0.00453,0.0900496927023804,1.0,0.0,0.0,0.0,-0.5883688972578264,0.22216272438295104,2.2246022371565064,0.01872511807956463,0.04301071568398167,6.822896835693461e-05,0.20885050020268525,0.7548691308045858,2.0114772943153776,0.05607345788745648,-0.012685337225265788,0.001943156232965089,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,0.9674462396800011,0.7788700012543405,-1.0991171602877183,0.01695211662843755,0.9015637417463611,0.42838468985173445,-0.13074956995010537,2.2246022371565064,0.968367590337613,0.968367590337613,0.8833599999999191,0,0,-3.158598382846378e-11,3.1905034170165436e-10
+24323,1792702073566023875,9900576000000,1792702073563153566,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761531671976213,-0.004709972602328164,0.09022766159518054,0.9999999853999154,-8.126545784185976e-06,9.38029573520287e-05,0.0001085264848191656,0.6761,-0.00453,0.09004855390600089,1.0,0.0,0.0,0.0,-0.5689103990498079,0.2119858215333842,2.194213500919165,0.017754589534549343,0.0413577199166435,5.757668985046228e-05,0.2283089984107037,0.744692227955019,1.981088558078036,0.055102929342441195,-0.014338332992603958,0.0019325039544586167,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,0.9410681582461785,0.6709271834599853,-1.1258425099310307,0.04204228840409614,0.9153313266576105,0.356938438742316,-0.13074956995010537,2.194213500919165,0.9950929399809254,0.9950929399809254,0.9767199999998829,0,0,-5.332705532157256e-06,5.386571244603289e-05
+24452,1792702074641021076,9901651000000,1792702074635144002,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761544136800824,-0.004710641900549505,0.09021723316265627,0.9999999850244089,-1.0512425489897666e-05,9.516521497348738e-05,0.00011057629511150162,0.6761,-0.00453,0.09003227911699616,1.0,0.0,0.0,0.0,-0.5782046347116576,0.20792746475972246,2.2042058534648996,0.017762747318191677,0.04100963106645862,5.2948126351954434e-05,0.21901476274885395,0.7406338711813573,1.9910809106237708,0.05511108712608353,-0.014686421842788839,0.0019278753909601088,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.0613565263244036,0.6903654093223669,-1.174393125526224,0.0393689892738716,0.9729393920308762,0.3711212565302693,-0.13074956995010537,2.2042058534648996,1.0436435555761188,1.0436435555761188,1.0627199999999366,0,0,-2.582330776016028e-05,9.999986535914047e-05
+24604,1792702075906988321,9902917000000,1792702075903152910,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761609112213222,-0.004712165683760608,0.09019654313339777,0.9999999834061862,-1.0642360874449094e-05,0.00010757266107494029,0.00011377765396699069,0.6761,-0.00453,0.08998882164484183,1.0,0.0,0.0,0.0,-0.5948220256703589,0.22353938845341392,2.2869212934216057,0.018711975400418142,0.043073012875368126,1.9071944433316553e-05,0.20239737179015274,0.7562457948750487,2.073796350580477,0.056060315208309994,-0.012623040033879332,0.001893999209041471,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1219280706599135,0.6659881444846015,-1.2728127587291547,0.04374645665706646,1.0463807411753328,0.35411774066102564,-0.13074956995010537,2.2869212934216057,1.1420631887790493,1.1420631887790493,1.164000000000038,0,0,-3.962507469782028e-05,9.996981994853655e-05
+24730,1792702076956990714,9903967000000,1792702076955153294,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761690897716967,-0.004712762402211437,0.09017428215080556,0.9999999816234227,-8.81472601992357e-06,0.00011914192168232775,0.00011799797392966032,0.6761,-0.00453,0.08994605731029048,1.0,0.0,0.0,0.0,-0.6179428555862535,0.24000129125629477,2.3647575432072037,0.02046010769608724,0.04497138763833112,4.826411430213125e-06,0.1792765418742581,0.7727076976779296,2.151632600366075,0.057808447503979093,-0.01072466527091634,0.0018797536760383675,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1537767108647239,0.6581497846229725,-1.3196376311834026,0.05085899253776664,1.0798531598044108,0.34922565436659103,-0.13074956995010537,2.3647575432072037,1.1888880612332973,1.1888880612332973,1.248000000000122,0,0,-3.7727078498776774e-05,-5.9339987117051865e-05
+24838,1792702077856973244,9904867000000,1792702077851152997,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761729405739357,-0.004710663156373355,0.09015100229386284,0.9999999805954319,-7.88593765389096e-06,0.00012537645411472975,0.00012029362820207174,0.6761,-0.00453,0.08991445652363125,1.0,0.0,0.0,0.0,-0.6276318493291639,0.24544178612320833,2.436054718068104,0.02064495645718157,0.04596658824958375,-3.7235380901981877e-05,0.16958754813134766,0.7781481925448431,2.222929775226975,0.05799329626507342,-0.009729464659663708,0.0018376918837061725,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1390009985856708,0.6528077197838624,-1.4084456555541407,0.05209651018972722,1.1330442417107034,0.34553866240933395,-0.13074956995010537,2.436054718068104,1.2776960856040354,1.2776960856040354,1.320000000000194,0,0,-3.3625012880014584e-05,-2.203218554669214e-06
+24962,1792702078891008356,9905901000000,1792702078887143630,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761767312370782,-0.004713143608293912,0.09012254946371782,0.9999999794479183,-6.6126019610233136e-06,0.00013139738172023862,0.0001234424115754618,0.6761,-0.00453,0.08987936688313451,1.0,0.0,0.0,0.0,-0.6305555700364895,0.2373596503780646,2.5058538939046966,0.020435126035191792,0.0459574716433528,-0.00010562707579799598,0.1666638274240221,0.7700660567996994,2.2927289510635678,0.057783465843083644,-0.009738581265894655,0.0017693001888101584,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1731187570301629,0.5890920490280729,-1.5360772506794418,0.07841046369019013,1.2207968339143334,0.306527149170264,-0.13074956995010537,2.5058538939046966,1.4053276807293364,1.4053276807293364,1.4027200000002766,0,0,-3.4345614023630115e-05,9.994585300899245e-05
+25141,1792702080381996798,9907392000000,1792702080375153389,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761843095713513,-0.004716096446680092,0.0900785426834262,0.9999999769628096,-7.915959175410325e-06,0.00014381232435706302,0.00012950906448814262,0.6761,-0.00453,0.08982124493691745,1.0,0.0,0.0,0.0,-0.638136910824174,0.2344337110166198,2.5858457372855863,0.019568260580576535,0.04696711234634315,-0.00015528716696021632,0.1590824866363376,0.7671401174382546,2.3727207944444575,0.05691660038846839,-0.008728940562904311,0.001719640097647938,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.172315240625019,0.569320854094809,-1.6049780546743777,0.08351433686505122,1.2600349813257707,0.2969668306510047,-0.13074956995010537,2.5858457372855863,1.4742284847242724,1.4742284847242724,1.522000000000396,0,0,-4.124015662791342e-05,3.0534791990046274e-05
+25289,1792702081615943742,9908626000000,1792702081611153659,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6761898093224219,-0.004711136006645926,0.09002424162202917,0.999999974672877,7.606199171941736e-06,0.00015420276815375833,0.00013513238654358278,0.6761,-0.00453,0.08975570355114891,1.0,0.0,0.0,0.0,-0.647011293490872,0.20781363720409352,2.614553653622692,0.01749858536723494,0.04801381506651448,-0.00018682460772217308,0.15020810396963963,0.7405200436257283,2.401428710781563,0.05484692517512679,-0.007682237842732973,0.0016881026568859813,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.180667576796279,0.5420751790812846,-1.6237123554244097,0.0892379939659071,1.2701261718643453,0.27795038798703975,-0.13074956995010537,2.614553653622692,1.4929627854743044,1.4929627854743044,1.6207200000004947,0,0,-6.942752460023372e-05,-9.999999025923074e-05
+25375,1792702082331943313,9909342000000,1792702082327153620,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6761957539473817,-0.0047064560508029065,0.08997497822294012,0.9999999752556509,-8.782710454540337e-05,0.00017428949379909235,5.330228964843758e-05,0.6761,-0.00453,0.08970035274926974,1.0,0.0,0.0,0.0,-0.5881009959060254,0.28152228419048253,2.6606879542161717,0.021852880994932038,0.044350692625875154,-0.00021844141572617787,0.20911840155448624,0.8142286906121173,2.447563011375043,0.05920122080282389,-0.011345360283372304,0.0016564858488819765,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.1794028131171688,0.6442305647511246,-1.5499836278226147,-0.04344366212566292,1.2490085316426853,0.38484228349547966,-0.13074956995010537,2.6606879542161717,1.4192340578725093,1.4192340578725093,1.678000000000552,0,0,-8.76554650628122e-05,-9.999999025923074e-05
+25477,1792702083181946133,9910192000000,1792702083179153480,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762020913517955,-0.004708191711443726,0.08990926660367127,0.9999999749336496,-4.942704455075887e-05,0.00018359835759047133,7.364899899593793e-05,0.6761,-0.00453,0.08962108585908286,1.0,0.0,0.0,0.0,-0.627611660374827,0.23292028705727075,2.7658893184306903,0.018649995162909064,0.04694569203629566,-0.000310061039697915,0.16960773708568472,0.7656266934789056,2.5527643755895615,0.055998334970800916,-0.008750360872951796,0.0015648662249102393,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2445193261664969,0.5972594798216052,-1.809406726383181,0.021767392883251722,1.4169411024965377,0.3487769696039811,-0.13074956995010537,2.7658893184306903,1.6786571564330757,1.6786571564330757,1.74600000000062,0,0,-9.119802828608391e-05,9.651815044276475e-05
+25602,1792702084223876149,9911234000000,1792702084223153442,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762005384115863,-0.004715022675356919,0.08982408848025214,0.9999999755174372,-1.7574287485302424e-05,0.00017546573498429104,9.649305490458339e-05,0.6761,-0.00453,0.08953392349375619,1.0,0.0,0.0,0.0,-0.6192945493006508,0.17118720387555508,2.774313860987991,0.014443318525109793,0.04638189167767946,-0.0003728239059252803,0.17792484815986084,0.7038936102971899,2.561188918146862,0.051791658333001644,-0.009314161231567999,0.001502103358682874,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2252443402984141,0.5877658884419494,-1.8663878153565316,0.10284091350932627,1.4366399771048037,0.325135767160692,-0.13074956995010537,2.774313860987991,1.7356382454064263,1.7356382454064263,1.8293600000007033,0,0,-8.304625820410879e-05,8.150358109785039e-05
+25708,1792702085106868214,9912117000000,1792702085103144012,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762034146912945,-0.004718235239978225,0.08975375309552588,0.9999999732594159,-3.438858293877771e-06,0.00017954847906183582,0.00011258130330511935,0.6761,-0.00453,0.08945626834207855,1.0,0.0,0.0,0.0,-0.6058878278032912,0.15809203061801969,2.7742171738388985,0.013458939026425053,0.045017456966617415,-0.0004041157169105403,0.19133156965722042,0.6907984370396545,2.5610922309977697,0.050807278834316905,-0.01067859594263004,0.001470811547697614,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.20044330170705,0.4892321378909635,-1.8521144588710086,0.15771740175251425,1.4161693068651402,0.2570700129987534,-0.13074956995010537,2.7742171738388985,1.7213648889209032,1.7213648889209032,1.900000000000774,0,0,-9.735757490056252e-05,-9.701031230958108e-05
+25830,1792702086123889590,9913134000000,1792702086123153789,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762062486958598,-0.004715420605642687,0.08965477444969643,0.9999999732045151,-2.7416957345304796e-05,0.00018487060324602714,0.000100523649439544,0.6761,-0.00453,0.08935440247598211,1.0,0.0,0.0,0.0,-0.5968967443193298,0.16026267066480893,2.8344374810229915,0.013447578514711914,0.04500411902399369,-0.00045167202461317063,0.20032265314118175,0.6929690770864437,2.6213125381818627,0.050795918322603766,-0.010691933885253765,0.0014232552399949837,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2378690415575562,0.5571288779014465,-2.0317214066018154,0.15444793942617316,1.5369362576612555,0.2974539908788397,-0.13074956995010537,2.8344374810229915,1.90097183665171,1.90097183665171,1.9813600000008553,0,0,-0.00010492490644800766,9.974612388686239e-05
+25936,1792702087006966501,9914017000000,1792702087003153442,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762108018668982,-0.004718592725321796,0.08956257614217868,0.999999972157783,-4.536354242340858e-05,0.0001910530291166592,9.256450070941453e-05,0.6761,-0.00453,0.08925671658998177,1.0,0.0,0.0,0.0,-0.5686122905489163,0.16074903796631212,2.8483047241713804,0.013498867149243032,0.04297432127035291,-0.0004897040489446559,0.2286071069115954,0.6934554443879469,2.6351797813302515,0.050847206957134884,-0.012721731638894547,0.0013852232156634984,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2440527113295283,0.5879306734040703,-2.0264044036470796,0.1601982060673333,1.5330441363172864,0.3177134670507402,-0.13074956995010537,2.8483047241713804,1.8956548336969743,1.8956548336969743,2.052000000000926,0,0,-0.00012030161473340045,-4.822745767435249e-05
+26032,1792702087806947197,9914817000000,1792702087799153524,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.676212199102246,-0.004723056320414449,0.08946656279345923,0.999999971013054,-4.5276503171562005e-05,0.00019419930886597386,9.825183067439731e-05,0.6761,-0.00453,0.08915560830158266,1.0,0.0,0.0,0.0,-0.5658520539314537,0.13594707361232716,2.8700255184811567,0.01146912874446629,0.04244486298125809,-0.0005398623976226665,0.231367343529058,0.668653480033962,2.656900575640028,0.04881746855235814,-0.013251189927989373,0.001335064866985488,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.279726584160533,0.5686295473553656,-2.055235785993982,0.17063674354762215,1.5600255795386366,0.3080533528109714,-0.13074956995010537,2.8700255184811567,1.9244862160438767,1.9244862160438767,2.11600000000099,0,0,-0.00013378103704972245,-9.999961555895993e-05
+26123,1792702088565834319,9915576000000,1792702088559154237,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762167476701804,-0.004720990185311151,0.08935840475987694,0.999999970079993,-3.4888463631439246e-05,0.00019729800796430887,0.00010554225986832258,0.6761,-0.00453,0.08904704557408484,1.0,0.0,0.0,0.0,-0.5482293741663711,0.1260706159252054,2.9300607655911866,0.010474300864648164,0.04106976785902505,-0.0006195640775088585,0.24899002329414058,0.6587770223468402,2.7169358227500577,0.047822640672540016,-0.014626285050222409,0.001255363187099296,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2630711856334322,0.5710934497814019,-2.1100249747873643,0.19044424724226494,1.5918811739181686,0.31279755030290757,-0.13074956995010537,2.9300607655911866,1.979275404837259,1.979275404837259,2.1767200000010507,0,0,-0.00014816992823652405,-9.884593832837764e-05
+26211,1792702089298898669,9916309000000,1792702089291153687,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762161892972921,-0.004718358190633672,0.08924751628589633,0.9999999701417185,-2.2640455499355072e-05,0.00019524575048878592,0.00011191931638462908,0.6761,-0.00453,0.08893624086227188,1.0,0.0,0.0,0.0,-0.5406558282359708,0.10932838857124316,2.9433778056080593,0.009451633862630655,0.041004799068007615,-0.0006417958054092171,0.2565635692245409,0.642034794992878,2.7302528627669305,0.04679997367052251,-0.014691253841239843,0.0012331314591989373,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2438013419022622,0.5184027921924781,-2.1242123239744393,0.20971298194591093,1.5923053850410254,0.2800270131285254,-0.13074956995010537,2.9433778056080593,1.993462754024334,1.993462754024334,2.2353600000011093,0,0,-0.00015715964804127592,-9.999445302189542e-05
+26297,1792702090015896835,9917026000000,1792702090015153519,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762209842072839,-0.004722415927452143,0.08913887537747495,0.999999968947829,-3.200809706514136e-05,0.00020240039100247423,0.00010750241359973615,0.6761,-0.00453,0.0888192311535223,1.0,0.0,0.0,0.0,-0.5204954566076846,0.11368293776982774,2.9624987785411507,0.00950293913802698,0.03899130041893617,-0.0006867609512752843,0.27672394085282703,0.6463893441914625,2.749373835700022,0.04685127894591883,-0.01670475249031129,0.0011881663133328701,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2794911214944595,0.5556378576830965,-2.097914721775196,0.22698472851475784,1.5812425498055547,0.3060937837127933,-0.13074956995010537,2.9624987785411507,1.9671651518250906,1.9671651518250906,2.2927200000011667,0,0,-0.0001693170891506598,-9.999994862586731e-05
+26367,1792702090598892413,9917609000000,1792702090595153554,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762208438973722,-0.004720503479551257,0.08903672338513141,0.99999996849839,-3.260163640380397e-05,0.0002032599031836919,0.00010985731012695794,0.6761,-0.00453,0.08871575960221677,1.0,0.0,0.0,0.0,-0.52466122107398,0.08873473001412335,2.9636998699423605,0.007783791315274194,0.03900872831944214,-0.0007061603637790043,0.2725581763865315,0.6214411364357582,2.7505749271012316,0.045132131123166046,-0.01668732458980532,0.0011687669008291501,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.265151236320311,0.533211036244811,-2.2122137689103814,0.2370451622692846,1.6497869489386807,0.29201379925418447,-0.13074956995010537,2.9636998699423605,2.081464198960276,2.081464198960276,2.3393600000012134,0,0,-0.00018674096862877765,-7.15391593449965e-05
+26439,1792702091198891689,9918209000000,1792702091195153991,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762254918494153,-0.004723346329489802,0.0889259344838425,0.9999999664993728,-2.8691365632830084e-05,0.00021004295739384502,0.00011620189009404242,0.6761,-0.00453,0.0885986553874529,1.0,0.0,0.0,0.0,-0.5003576892525847,0.10332430494970823,3.01142123115305,0.008499987316211717,0.03796856965582299,-0.0007505093828216014,0.29686170820792684,0.636030711371343,2.798296288311921,0.04584832712410357,-0.017727483253424468,0.001124417881786553,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.242266794906679,0.5222936597694011,-2.162293128500642,0.26409385913744565,1.6037886484692112,0.2905879487090156,-0.13074956995010537,3.01142123115305,2.0315435585505366,2.0315435585505366,2.3873600000012614,0,0,-0.0002014364682792743,-9.775219109021122e-05
+26502,1792702091723912047,9918734000000,1792702091719153372,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762220187246153,-0.004724243363616206,0.08881412544222615,0.9999999676560148,-2.1622655152797645e-05,0.00020235710270754878,0.00012130497782808885,0.6761,-0.00453,0.08849152436068168,1.0,0.0,0.0,0.0,-0.5044731364868822,0.07802411446173474,3.0319992738736397,0.006454238454446856,0.03800364568909442,-0.0007997076780131113,0.2927462609736294,0.6107305208833695,2.818874331032511,0.04380257826233871,-0.017692407220153035,0.001075219586595043,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2328445330381492,0.5596534490306876,-2.261881060953446,0.2649698117900575,1.66561206659796,0.3142259892475601,-0.13074956995010537,3.0319992738736397,2.1311314910033405,2.1311314910033405,2.4293600000013034,0,0,-0.00020734128583085732,-9.999550773376881e-05
+26567,1792702092265906586,9919276000000,1792702092263153277,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762226287117326,-0.004728000318241441,0.08869997410032951,0.999999967331327,-3.019061355410258e-05,0.00020395038404918655,0.0001194695655739736,0.6761,-0.00453,0.08837713052780816,1.0,0.0,0.0,0.0,-0.4791317005269169,0.07782166505013088,3.0330100169713883,0.006508494152523948,0.03597712680457874,-0.0008198277705123071,0.31808769693359473,0.6105280714717657,2.8198850741302595,0.0438568339604158,-0.019718926104668716,0.0010550994940958472,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2790037551631914,0.5891574432510889,-2.237811416628,0.27601307907378975,1.6611457595777572,0.3352902005486845,-0.13074956995010537,3.0330100169713883,2.1070618466778943,2.1070618466778943,2.4727200000013467,0,0,-0.00021746655499563084,-9.697098265893373e-05
+26634,1792702092823869398,9919834000000,1792702092819153814,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762246777511853,-0.004727634766883518,0.08858110289750279,0.9999999663254067,-2.0535322520264922e-05,0.0002071877497898552,0.0001242722295077932,0.6761,-0.00453,0.08825148806090137,1.0,0.0,0.0,0.0,-0.4893302145639572,0.06538095542579181,3.0427065721013506,0.005457857985629318,0.03700760556093123,-0.0008247298067694643,0.3078891828965544,0.5980873618474266,2.829581629260222,0.04280619779352117,-0.01868844734831623,0.00105019745783869,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.3136405371328808,0.49021242213818556,-2.275005076008379,0.3179375107463819,1.6906410847145286,0.27399488486884016,-0.13074956995010537,3.0427065721013506,2.1442555060582733,2.1442555060582733,2.5173600000013914,0,0,-0.00023324839929925035,-9.999999025923074e-05
+26690,1792702093290831109,9920301000000,1792702093287153564,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762236577998693,-0.004732553509858793,0.08847054968654924,0.9999999653292223,-2.489988876408796e-05,0.00020788432685311408,0.00013018648494504188,0.6761,-0.00453,0.08814030425090413,1.0,0.0,0.0,0.0,-0.49830082281239035,0.05292969435640693,3.0521535805486675,0.004407231626471789,0.03803865181025383,-0.0008292613768552813,0.29891857464812127,0.5856361007780417,2.8390286377075387,0.04175557143436364,-0.017657401098993625,0.001045665887752873,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.2673245069431358,0.5331434892158909,-2.339272552922239,0.3165312432501372,1.7176208637644488,0.3020360835722057,-0.13074956995010537,3.0521535805486675,2.2085229829721333,2.2085229829721333,2.5547200000014287,0,0,-0.0002450907463466808,-9.999999025923074e-05
+26750,1792702093790849347,9920801000000,1792702093787143800,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762235787314648,-0.004733567381876003,0.08834443440419723,0.999999965695911,-2.6242687026924365e-05,0.0002060420136536213,0.00013003480816952632,0.6761,-0.00453,0.08801460260474879,1.0,0.0,0.0,0.0,-0.48889991208962735,0.050021950064725984,3.088383317314745,0.004427635125851266,0.03701840785290416,-0.0008731143292714703,0.30831948537088427,0.5827283564863608,2.875258374473616,0.04177597493374312,-0.018677645056343298,0.0010018129353366841,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.395954424256471,0.5696649923649231,-2.405035260383444,0.3239477379620385,1.7919275943494453,0.32899611968470144,-0.13074956995010537,3.088383317314745,2.2742856904333384,2.2742856904333384,2.5947200000014687,0,0,-0.0002551359725102769,-1.2237122668964082e-05
+26802,1792702094223862678,9921234000000,1792702094223153657,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762226794806102,-0.004733123586271926,0.08822941296050851,0.9999999662289595,-1.966263116088031e-05,0.00020140506951276283,0.0001342919334421842,0.6761,-0.00453,0.08790376846009466,1.0,0.0,0.0,0.0,-0.4958713679716987,0.016716390012309956,3.0903629289541943,0.0015897131346069779,0.037074512322177455,-0.0009084563266357193,0.30134802948881295,0.5494227964339448,2.8772379861130655,0.03893805294249883,-0.018621540587070006,0.0009664709379724351,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.3594293885579625,0.4488363983664655,-2.401578782251276,0.36093209902712964,1.7792705149621186,0.2535244533746852,-0.13074956995010537,3.0903629289541943,2.2708292123011704,2.2708292123011704,2.6293600000015034,0,0,-0.0002603468262876981,-9.967938560529461e-05
+26858,1792702094690828288,9921701000000,1792702094687153298,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762264330670233,-0.004737898866122815,0.0881113759116166,0.9999999640303905,-1.5460021799745478e-05,0.00020821441863497694,0.00014067631535588228,0.6761,-0.00453,0.08778052612447396,1.0,0.0,0.0,0.0,-0.497356142682387,0.020434359295464888,3.1019505013186426,0.0023539396110327307,0.03806787937820526,-0.0008922196348566348,0.29986325477812464,0.5531407657170997,2.8888255584775138,0.03970227941892458,-0.017628173531042204,0.0009827076297515196,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.4105788890675865,0.4233979379131306,-2.5011846944746807,0.3893838606925241,1.8546463612020074,0.24032205968008688,-0.13074956995010537,3.1019505013186426,2.370435124524575,2.370435124524575,2.6667200000015407,0,0,-0.000268246430946946,9.748514081942545e-05
+26914,1792702095156816916,9922167000000,1792702095155144025,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762219415511852,-0.004742846972529953,0.08797874382276377,0.9999999657287117,-2.317143565511177e-05,0.00019993637243470808,0.0001395491712329742,0.6761,-0.00453,0.08765265619698247,1.0,0.0,0.0,0.0,-0.4963924557363582,-0.003704963078237755,3.1109171632448933,0.0007364551987474738,0.037218903723484395,-0.0009348718272507169,0.3008269417241534,0.529001443343397,2.8977922204037645,0.038084795006639326,-0.01847714918576306,0.0009400554373574375,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.4300098595275317,0.3792235740295007,-2.446988646603602,0.41523241967829777,1.8216651835134927,0.21149219968576438,-0.13074956995010537,3.1109171632448933,2.3162390766534964,2.3162390766534964,2.704000000001578,0,0,-0.0002808159594677991,-9.999990699250389e-05
+26962,1792702095556786976,9922567000000,1792702095551153579,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762193467856186,-0.004740251851943039,0.08786202515292182,0.9999999667116285,-3.364082638527521e-05,0.0001950799159816904,0.00013722874181066995,0.6761,-0.00453,0.0875378425238988,1.0,0.0,0.0,0.0,-0.5018461861756579,-0.007093097055873465,3.1003575752572976,-0.0007060900925418695,0.038119793600943905,-0.0009265632573017725,0.2953732112848537,0.5256133093657613,2.887232632416169,0.03664224971534998,-0.017576259308303557,0.0009483640073063819,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.3919234844405037,0.3898611632071918,-2.425979200698611,0.42655924243498644,1.7970876071558934,0.21565391151321095,-0.13074956995010537,3.1003575752572976,2.2952296307485054,2.2952296307485054,2.73600000000161,0,0,-0.0002925750788404776,-9.99999208702917e-05
+27013,1792702095981843159,9922992000000,1792702095979153248,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762229878233001,-0.0047466000731513375,0.08774258041619261,0.9999999642961803,-4.0619112342280876e-05,0.0002029076062778791,0.0001415241797299977,0.6761,-0.00453,0.08740994487083548,1.0,0.0,0.0,0.0,-0.504986911669796,-0.008352824765481826,3.119764117875649,-0.0006939514395262053,0.038122014003871954,-0.000942487979747686,0.29223248579071553,0.524353581656153,2.90663917503452,0.03665438836836565,-0.0175740389053755,0.0009324392848604684,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.4149850235187074,0.3994953928769842,-2.452752531098177,0.43178499792431596,1.813652367042837,0.22271279240118044,-0.13074956995010537,3.119764117875649,2.3220029611480713,2.3220029611480713,2.770000000001644,0,0,-0.0003095041376202908,-9.999999025923074e-05
+27061,1792702096381824632,9923392000000,1792702096375154128,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762227510949843,-0.0047514137115609615,0.08761831309312935,0.9999999638022056,-4.907374271623684e-05,0.00020131677089205358,0.0001445744708029169,0.6761,-0.00453,0.08728265538198862,1.0,0.0,0.0,0.0,-0.5138343900694651,-0.02101615763382636,3.129897500139915,-0.001762637530174728,0.03915320051372339,-0.000947382381597121,0.28338500739104655,0.5116902487878084,2.916772557298786,0.035585702277717124,-0.01654285239552407,0.0009275448830110334,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.5114477752841127,0.3902896705830832,-2.4846843334929325,0.45179710415306773,1.85884627007391,0.22258683624075312,-0.13074956995010537,3.129897500139915,2.353934763542827,2.353934763542827,2.802000000001676,0,0,-0.0003258651235335793,-9.99871394277207e-05
+27109,1792702096781865999,9923792000000,1792702096775154027,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762211300169088,-0.00475457092508081,0.08748878867005727,0.9999999627686859,-4.5650834005969813e-05,0.00020011022824624998,0.00015419918737940116,0.6761,-0.00453,0.08715022387561465,1.0,0.0,0.0,0.0,-0.5224986735386026,-0.030116660717729893,3.149629314003521,-0.0017660475924412347,0.03915036083786971,-0.0009645520313924945,0.2747207239219091,0.5025897457039049,2.936504371162392,0.03558229221545062,-0.016545692071377745,0.0009103752332156598,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.542378717797246,0.34235803107582075,-2.4928841346787927,0.4811443207712697,1.8686870397776427,0.19859896964392712,-0.13074956995010537,3.149629314003521,2.362134564728687,2.362134564728687,2.834000000001708,0,0,-0.0003350913585456735,-9.999987923692828e-05
+27153,1792702097148772442,9924159000000,1792702097147153282,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762252543993225,-0.004757565185231089,0.0873735107688347,0.9999999612219942,-2.45958219751967e-05,0.00020370239639482424,0.00016400992046883988,0.6761,-0.00453,0.08702534489940501,1.0,0.0,0.0,0.0,-0.541112977871093,-0.031026222997239672,3.1486437009598776,-0.0028302898025290638,0.0407839990321184,-0.0009521152165433366,0.25610641958941854,0.5016801834243951,2.9355187581187487,0.03451805000536279,-0.01491205387712906,0.0009228120480648178,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.5792538121067654,0.31385468505701875,-2.500439400499357,0.49368225202981164,1.8822295320790308,0.17952579329725096,-0.13074956995010537,3.1486437009598776,2.3696898305492513,2.3696898305492513,2.8633600000017374,0,0,-0.00034551874314034246,-9.999972658126239e-05
+27193,1792702097481838096,9924492000000,1792702097475154287,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762239572374278,-0.004757048353717973,0.08725618884805796,0.9999999656927542,-3.795983919192041e-05,0.00021031295120799485,0.00011993693429956412,0.6761,-0.00453,0.08690921843416885,1.0,0.0,0.0,0.0,-0.4971982731873908,0.018136936834546202,3.142512102607098,0.0011663855949087046,0.0381162765984151,-0.0009359271989481709,0.30002112427312083,0.550843343256181,2.929387159765969,0.038514725402800556,-0.01757977631083236,0.0009390000656599835,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.5754447655962764,0.36082640187322057,-2.5151435950874474,0.4824690609527154,1.888229655774886,0.20901060628693502,-0.13074956995010537,3.142512102607098,2.384394025137342,2.384394025137342,2.890000000001764,0,0,-0.0003543265490277544,-9.999999025923074e-05
+27237,1792702097848771361,9924859000000,1792702097847144006,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762179949663889,-0.004760739791037021,0.08712377772485609,0.9999999658330215,-3.321798943048913e-05,0.00019683583054713397,0.00014117025635408274,0.6761,-0.00453,0.08677699114328011,1.0,0.0,0.0,0.0,-0.5164307895682634,-0.03177067178101134,3.185734451960118,-0.0027868288333883773,0.039026713142090996,-0.0010051042163267822,0.2807886078922482,0.5009357346406235,2.972609509118989,0.034561510974503475,-0.01666933976715646,0.0008698230482813722,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.5742684147148478,0.2750161698969392,-2.5388510584694153,0.5124061692725557,1.908603052760855,0.152230574913591,-0.13074956995010537,3.185734451960118,2.4081014885193097,2.4081014885193097,2.9193600000017934,0,0,-0.0003650357866494521,-9.89366880351838e-05
+27273,1792702098148814944,9925159000000,1792702098143153765,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762196447789041,-0.004765230710909802,0.08701021659354474,0.9999999619448489,-3.121194966198063e-05,0.00020264261649504488,0.00015973399574268783,0.6761,-0.00453,0.08666644877771679,1.0,0.0,0.0,0.0,-0.5440417905618314,-0.04162775462746815,3.1781851421889513,-0.003896572637697389,0.04222246384006504,-0.000966056548697452,0.2531776068986802,0.49107865179416665,2.9650601993478225,0.03345176717019446,-0.013473589069182416,0.0009088707159107023,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.6632375524531595,0.3154302781025569,-2.552275456612169,0.5065995319293528,1.9413166946409421,0.18384787852739753,-0.13074956995010537,3.1781851421889513,2.4215258866620633,2.4215258866620633,2.9433600000018174,0,0,-0.00037312770683892014,-9.999763103530341e-05
+27313,1792702098481788979,9925492000000,1792702098475155274,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762213975638007,-0.004770401070940798,0.08689201678609103,0.999999959544992,-2.5709213400749787e-05,0.00019990353867259283,0.0001781305432293528,0.6761,-0.00453,0.0865409191315129,1.0,0.0,0.0,0.0,-0.5677673558073955,-0.03944903333880717,3.1697190588386017,-0.0029005394312093535,0.04313703435755702,-0.000935688066240041,0.22945204165311614,0.49325737308282763,2.956594115997473,0.0344478003766825,-0.012559018551690433,0.0009392391983681134,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.6479018333838873,0.24181229048797642,-2.5579468661212648,0.5325724297708654,1.932724746322879,0.13784159970268609,-0.13074956995010537,3.1697190588386017,2.427197296171159,2.427197296171159,2.970000000001844,0,0,-0.00038095100475118846,-9.998210179074646e-05
+27357,1792702098848792237,9925859000000,1792702098847153229,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.676225437970423,-0.004770299410578526,0.08675405299736622,0.9999999573444104,-2.8909962764880505e-05,0.00021278210626499806,0.00017504865367846408,0.6761,-0.00453,0.08639837629476463,1.0,0.0,0.0,0.0,-0.5795033016521158,-0.042454943297750125,3.1791466374161725,-0.003305318188857459,0.04422649979533749,-0.000929949955449817,0.21771609580839577,0.4902514631238847,2.9660216945750437,0.03404302161903439,-0.011469553113909967,0.0009449773091583373,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.715108898729953,0.3044860824524979,-2.5982476227513263,0.5324314642310203,1.9739360005231124,0.1843375621949671,-0.13074956995010537,3.1791466374161725,2.4674980528012207,2.4674980528012207,2.9993600000018734,0,0,-0.00039628911801678344,-9.999999025923074e-05
+27393,1792702099148828607,9926159000000,1792702099143153973,DOWN_FORCE_DETACH,7,0.0425,0.04250209406018257,0.6762232991887447,-0.0047712685825489634,0.086637178974178,0.999999961425152,-6.634559322036998e-05,0.0002104903647297226,0.00014101286263040768,0.6761,-0.00453,0.08627773459155057,1.0,0.0,0.0,0.0,-0.5242432539996461,-0.02324492319584348,3.1898531088051687,-0.0015122310892511648,0.04015859200644203,-0.0009760255317040451,0.2729761434608655,0.5094614832257913,2.97672816596404,0.03583610871864069,-0.015537460902805432,0.0008989017329041093,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.6941942350985928,0.2566800320071501,-2.531670431993965,0.5424788060964698,1.9406441534300503,0.16739822959389625,-0.13074956995010537,3.1898531088051687,2.4009208620438596,2.4009208620438596,3.0233600000018974,0,0,-0.0004091327386282747,-9.999999025923074e-05
+27428,1792702099440754581,9926451000000,1792702099439153725,DOWN_FORCE_DETACH,7,0.0425,0.04250143840909004,0.6762197446264591,-0.00477347773279037,0.0865179542143573,0.9999999607898279,-4.2938036396707555e-05,0.0002066028705778711,0.00015916904881073935,0.6761,-0.00453,0.08615693928968775,1.0,0.0,0.0,0.0,-0.5413332913946023,-0.04477218544409256,3.2292433510279657,-0.0038682518670768926,0.04119699055517295,-0.0010224877629436884,0.25588610606590934,0.48793422097754224,3.016118408186837,0.03348008794081496,-0.014499062354074508,0.000852439501664466,0.7972193974605116,0.5327064064216348,-0.21312494284112865,0.03734833980789185,-0.05569605290924746,0.0018749272646081544,1,1.7779912593660854,0.34608910273607746,-2.714302214377224,0.5194663509873809,2.082072855674072,0.21874432932113447,-0.13074956995010537,3.2292433510279657,2.5835526444271184,2.5835526444271184,3.046720000001921,0,0,-0.00041661305376775184,9.987271706724527e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33553a2b751e8fc29c3d4691918fabe2fb6bf390
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2df46ad92130a0476427a2841c606dd7098f448b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,2.216666667e+00,DOWN_FORCE_DETACH,1792702065514976551,9.503330306e-05,-4.764378138e-05,-2.012135735e-04,9.477572803e-05,-4.781323332e-05,-2.011299615e-04,9.627382103e-05,-4.746651198e-05,-1.984878977e-04,7.016329048e-01,-4.609282006e-05,8.405397276e-01,7.016326472e-01,-4.626227200e-05,8.405398112e-01,7.018252508e-01,-4.569873858e-05,8.293743648e-01
+6,2.550000000e+00,DOWN_FORCE_DETACH,1792702066146921691,1.067489571e-04,-5.353538267e-05,-2.830312532e-04,1.047851206e-04,-5.180343312e-05,-2.693105180e-04,1.066581786e-04,-5.142557308e-05,-2.663713253e-04,7.016446204e-01,-5.198442135e-05,8.404579099e-01,7.016426566e-01,-5.025247180e-05,8.404716307e-01,7.018356351e-01,-4.965779968e-05,8.293064813e-01
+7,2.983333333e+00,DOWN_FORCE_DETACH,1792702066961243761,1.366149602e-04,-6.084487583e-05,-3.726671222e-04,1.329592687e-04,-6.342425661e-05,-3.706824746e-04,1.353956763e-04,-6.298808611e-05,-3.673636591e-04,7.016744864e-01,-5.929391451e-05,8.403682741e-01,7.016708308e-01,-6.187329529e-05,8.403702587e-01,7.018643726e-01,-6.122031271e-05,8.292054890e-01
+8,3.416666667e+00,DOWN_FORCE_DETACH,1792702067874108718,1.542383557e-04,-6.523317735e-05,-4.591384684e-04,1.514171073e-04,-6.839292437e-05,-4.571914717e-04,1.543230619e-04,-6.786947059e-05,-4.539685789e-04,7.016921098e-01,-6.368221603e-05,8.402818027e-01,7.016892886e-01,-6.684196304e-05,8.402837497e-01,7.018833000e-01,-6.610169718e-05,8.291188841e-01
+9,3.933333333e+00,DOWN_FORCE_DETACH,1792702068856928662,1.629636373e-04,-6.821982848e-05,-5.241490022e-04,1.611796534e-04,-7.190741715e-05,-5.201844686e-04,1.645163706e-04,-7.136495435e-05,-5.177327528e-04,7.017008351e-01,-6.666886716e-05,8.402167922e-01,7.016990511e-01,-7.035645582e-05,8.402207567e-01,7.018934933e-01,-6.959718094e-05,8.290551199e-01
+10,4.450000000e+00,DOWN_FORCE_DETACH,1792702069838966823,1.623283226e-04,-7.178370643e-05,-5.669597991e-04,1.622737162e-04,-6.933393280e-05,-5.630009622e-04,1.658336872e-04,-6.886232804e-05,-5.610762617e-04,7.017001998e-01,-7.023274511e-05,8.401739814e-01,7.017001452e-01,-6.778297148e-05,8.401779402e-01,7.018948106e-01,-6.709455463e-05,8.290117764e-01
+11,5.033333333e+00,DOWN_FORCE_DETACH,1792702071002998350,1.626686160e-04,-6.907730264e-05,-5.790678418e-04,1.583408981e-04,-7.126802295e-05,-5.828207441e-04,1.619981512e-04,-7.075723283e-05,-5.814820363e-04,7.017005401e-01,-6.752634132e-05,8.401618733e-01,7.016962124e-01,-6.971706163e-05,8.401581204e-01,7.018909751e-01,-6.898945942e-05,8.289913706e-01
+12,5.733333333e+00,DOWN_FORCE_DETACH,1792702072400948241,1.547455059e-04,-7.143464979e-05,-5.945126866e-04,1.583408981e-04,-7.126802295e-05,-5.828207441e-04,1.621120327e-04,-7.077314825e-05,-5.821792223e-04,7.016926170e-01,-6.988368847e-05,8.401464285e-01,7.016962124e-01,-6.971706163e-05,8.401581204e-01,7.018910890e-01,-6.900537485e-05,8.289906734e-01
+13,6.333333333e+00,DOWN_FORCE_DETACH,1792702073565201410,1.535798437e-04,-7.135442346e-05,-6.002318015e-04,1.583408981e-04,-7.126802295e-05,-5.828207441e-04,1.621743365e-04,-7.077977106e-05,-5.824317275e-04,7.016914513e-01,-6.980346213e-05,8.401407094e-01,7.016962124e-01,-6.971706163e-05,8.401581204e-01,7.018911513e-01,-6.901199765e-05,8.289904209e-01
+14,6.900000000e+00,DOWN_FORCE_DETACH,1792702074644946431,1.527780432e-04,-6.971561112e-05,-6.111300549e-04,1.526633730e-04,-6.961189863e-05,-6.022914209e-04,1.564172884e-04,-6.915102468e-05,-6.017594913e-04,7.016906495e-01,-6.816464980e-05,8.401298111e-01,7.016905349e-01,-6.806093731e-05,8.401386498e-01,7.018853942e-01,-6.738325127e-05,8.289710932e-01
+15,7.566666667e+00,DOWN_FORCE_DETACH,1792702075910518629,1.615958369e-04,-7.350113244e-05,-6.291525044e-04,1.577950924e-04,-7.169947069e-05,-6.227233081e-04,1.615488009e-04,-7.126348164e-05,-6.220385707e-04,7.016994673e-01,-7.195017111e-05,8.401117887e-01,7.016956666e-01,-7.014850937e-05,8.401182179e-01,7.018905257e-01,-6.949570824e-05,8.289508141e-01
+16,8.116666667e+00,DOWN_FORCE_DETACH,1792702076958940705,1.710743706e-04,-7.285940879e-05,-6.497813571e-04,1.670925065e-04,-7.441368989e-05,-6.407493881e-04,1.709728288e-04,-7.390814375e-05,-6.400033767e-04,7.017089459e-01,-7.130844747e-05,8.400911598e-01,7.017049640e-01,-7.286272857e-05,8.401001918e-01,7.018999498e-01,-7.214037034e-05,8.289328493e-01
+17,8.600000000e+00,DOWN_FORCE_DETACH,1792702077855866807,1.731041004e-04,-7.349460088e-05,-6.753455128e-04,1.735370888e-04,-6.974976612e-05,-6.604587331e-04,1.775165410e-04,-6.928861850e-05,-6.595847431e-04,7.017109756e-01,-7.194363956e-05,8.400655957e-01,7.017114086e-01,-6.819880480e-05,8.400804825e-01,7.019064935e-01,-6.752084510e-05,8.289132679e-01
+18,9.116666667e+00,DOWN_FORCE_DETACH,1792702078886966357,1.782713294e-04,-7.088250583e-05,-7.027691701e-04,1.779624185e-04,-7.077398053e-05,-7.029021640e-04,1.818732310e-04,-7.035455531e-05,-7.015705670e-04,7.017161428e-01,-6.933154451e-05,8.400381720e-01,7.017158339e-01,-6.922301920e-05,8.400380390e-01,7.019108502e-01,-6.858678190e-05,8.288712821e-01
+19,9.866666667e+00,DOWN_FORCE_DETACH,1792702080382961779,1.847210690e-04,-7.897565481e-05,-7.465929089e-04,1.819437839e-04,-7.344827046e-05,-7.455855095e-04,1.860149130e-04,-7.297133463e-05,-7.441907417e-04,7.017225926e-01,-7.742469349e-05,8.399943483e-01,7.017198153e-01,-7.189730914e-05,8.399953557e-01,7.019149918e-01,-7.120356122e-05,8.288286619e-01
+20,1.048333333e+01,DOWN_FORCE_DETACH,1792702081614954716,1.883797657e-04,-7.463060454e-05,-8.038489477e-04,1.864616772e-04,-7.439205958e-05,-7.921431557e-04,1.905269251e-04,-7.387329140e-05,-7.906617902e-04,7.017262512e-01,-7.307964322e-05,8.399370922e-01,7.017243332e-01,-7.284109826e-05,8.399487980e-01,7.019195039e-01,-7.210551799e-05,8.287821909e-01
+21,1.086666667e+01,DOWN_FORCE_DETACH,1792702082329118063,1.962936754e-04,-6.730631823e-05,-8.525377932e-04,1.934247901e-04,-5.673078796e-05,-8.414918657e-04,1.974568901e-04,-5.635757777e-05,-8.396921326e-04,7.017341652e-01,-6.575535691e-05,8.398884034e-01,7.017312963e-01,-5.517982664e-05,8.398994493e-01,7.019264338e-01,-5.458980437e-05,8.287331605e-01
+22,1.131666667e+01,DOWN_FORCE_DETACH,1792702083179546297,2.006933679e-04,-7.114037335e-05,-9.183595140e-04,1.972733170e-04,-6.723804722e-05,-9.062426106e-04,2.012117764e-04,-6.678626838e-05,-9.041642937e-04,7.017385648e-01,-6.958941203e-05,8.398225817e-01,7.017351448e-01,-6.568708590e-05,8.398346986e-01,7.019301887e-01,-6.501849497e-05,8.286686884e-01
+23,1.186666667e+01,DOWN_FORCE_DETACH,1792702084225256530,1.990672795e-04,-7.534390813e-05,-1.004900602e-03,1.984689611e-04,-7.336544672e-05,-9.918206960e-04,2.021492798e-04,-7.286287925e-05,-9.894986261e-04,7.017369388e-01,-7.379294681e-05,8.397360406e-01,7.017363404e-01,-7.181448540e-05,8.397491205e-01,7.019311262e-01,-7.109510585e-05,8.285833540e-01
+24,1.233333333e+01,DOWN_FORCE_DETACH,1792702085109217470,1.993033685e-04,-7.975219046e-05,-1.078706347e-03,1.976278761e-04,-8.075368539e-05,-1.059933694e-03,2.009921912e-04,-8.017480419e-05,-1.057686371e-03,7.017371748e-01,-7.820122914e-05,8.396622348e-01,7.017354994e-01,-7.920272407e-05,8.396810075e-01,7.019299691e-01,-7.840703079e-05,8.285151663e-01
+25,1.286666667e+01,DOWN_FORCE_DETACH,1792702086121935932,2.094278001e-04,-7.785191345e-05,-1.167520207e-03,2.055108412e-04,-8.092007072e-05,-1.152755396e-03,2.085853528e-04,-8.031543901e-05,-1.150357300e-03,7.017472993e-01,-7.630095213e-05,8.395734210e-01,7.017433823e-01,-7.936910940e-05,8.395881858e-01,7.019375623e-01,-7.854766560e-05,8.284224954e-01
+26,1.331666667e+01,DOWN_FORCE_DETACH,1792702087003494783,2.115073251e-04,-7.943365043e-05,-1.260600703e-03,2.113408205e-04,-7.946622011e-05,-1.260915515e-03,2.140554975e-04,-7.887295861e-05,-1.257803580e-03,7.017493788e-01,-7.788268911e-05,8.394803405e-01,7.017492123e-01,-7.791525879e-05,8.394800257e-01,7.019430324e-01,-7.710518520e-05,8.283150491e-01
+27,1.371666667e+01,DOWN_FORCE_DETACH,1792702087803768158,2.112174700e-04,-8.065348748e-05,-1.363549325e-03,2.111100889e-04,-7.731560252e-05,-1.346917758e-03,2.134335867e-04,-7.680042279e-05,-1.343629236e-03,7.017490890e-01,-7.910252616e-05,8.393773919e-01,7.017489816e-01,-7.576464120e-05,8.393940234e-01,7.019424105e-01,-7.503264939e-05,8.282292234e-01
+28,1.410000000e+01,DOWN_FORCE_DETACH,1792702088567631147,2.146504448e-04,-8.254795581e-05,-1.470425993e-03,2.163507679e-04,-8.433982665e-05,-1.462772798e-03,2.182431947e-04,-8.371857065e-05,-1.458699270e-03,7.017525219e-01,-8.099699448e-05,8.392705152e-01,7.017542222e-01,-8.278886533e-05,8.392781684e-01,7.019472201e-01,-8.195079725e-05,8.281141534e-01
+29,1.446666667e+01,DOWN_FORCE_DETACH,1792702089299515667,2.182290045e-04,-8.464136325e-05,-1.576955250e-03,2.176906236e-04,-8.503566953e-05,-1.559621535e-03,2.193212826e-04,-8.442700503e-05,-1.555266103e-03,7.017561005e-01,-8.309040193e-05,8.391639859e-01,7.017555621e-01,-8.348470821e-05,8.391813197e-01,7.019482982e-01,-8.265923163e-05,8.280175865e-01
+30,1.483333333e+01,DOWN_FORCE_DETACH,1792702090013585800,2.209795553e-04,-8.358625074e-05,-1.688861233e-03,2.197107625e-04,-8.349430171e-05,-1.676684952e-03,2.210057144e-04,-8.290317188e-05,-1.671876861e-03,7.017588510e-01,-8.203528942e-05,8.390520800e-01,7.017575822e-01,-8.194334039e-05,8.390642562e-01,7.019499826e-01,-8.113539848e-05,8.279009758e-01
+31,1.513333333e+01,DOWN_FORCE_DETACH,1792702090595587027,2.186579831e-04,-8.405593608e-05,-1.793288709e-03,2.184105354e-04,-8.383230388e-05,-1.793525862e-03,2.194147436e-04,-8.321236470e-05,-1.788116006e-03,7.017565295e-01,-8.250497476e-05,8.389476525e-01,7.017562820e-01,-8.228134256e-05,8.389474153e-01,7.019483917e-01,-8.144459130e-05,8.277847366e-01
+32,1.545000000e+01,DOWN_FORCE_DETACH,1792702091195022033,2.249842717e-04,-8.406365465e-05,-1.899808799e-03,2.227588092e-04,-8.823822663e-05,-1.894236896e-03,2.234855003e-04,-8.762644207e-05,-1.889034090e-03,7.017628558e-01,-8.251269333e-05,8.388411324e-01,7.017606303e-01,-8.668726531e-05,8.388467043e-01,7.019524624e-01,-8.585866867e-05,8.276838186e-01
+33,1.573333333e+01,DOWN_FORCE_DETACH,1792702091727489564,2.233935883e-04,-8.669724884e-05,-2.010269111e-03,2.230507580e-04,-8.662467030e-05,-2.009994766e-03,2.234743256e-04,-8.600971772e-05,-2.004524992e-03,7.017612651e-01,-8.514628751e-05,8.387306721e-01,7.017609222e-01,-8.507370898e-05,8.387309464e-01,7.019524513e-01,-8.424194431e-05,8.275683277e-01
+34,1.601666667e+01,DOWN_FORCE_DETACH,1792702092263044212,2.242060256e-04,-8.756796282e-05,-2.122603742e-03,2.207922420e-04,-8.537652340e-05,-2.106681840e-03,2.209146941e-04,-8.476714472e-05,-2.101516357e-03,7.017620775e-01,-8.601700150e-05,8.386183374e-01,7.017586637e-01,-8.382556208e-05,8.386342593e-01,7.019498916e-01,-8.299937131e-05,8.274713363e-01
+35,1.631666667e+01,DOWN_FORCE_DETACH,1792702092823536102,2.242887934e-04,-9.008654273e-05,-2.245791781e-03,2.222392795e-04,-8.960342272e-05,-2.226728537e-03,2.219413168e-04,-8.894466283e-05,-2.221278850e-03,7.017621603e-01,-8.853558140e-05,8.384951494e-01,7.017601108e-01,-8.805246140e-05,8.385142127e-01,7.019509182e-01,-8.717688943e-05,8.273515738e-01
+36,1.656666667e+01,DOWN_FORCE_DETACH,1792702093289514011,2.251100628e-04,-9.217344341e-05,-2.355133568e-03,2.229814815e-04,-8.861561807e-05,-2.341411530e-03,2.223615400e-04,-8.793807616e-05,-2.335510847e-03,7.017629815e-01,-9.062248209e-05,8.383858076e-01,7.017608530e-01,-8.706465675e-05,8.383995297e-01,7.019513385e-01,-8.617030275e-05,8.272373418e-01
+37,1.681666667e+01,DOWN_FORCE_DETACH,1792702093787514035,2.241413523e-04,-9.820978361e-05,-2.481548353e-03,2.243997827e-04,-9.666440428e-05,-2.465096341e-03,2.234087874e-04,-9.592528673e-05,-2.458648686e-03,7.017620128e-01,-9.665882229e-05,8.382593928e-01,7.017622713e-01,-9.511344296e-05,8.382758448e-01,7.019523857e-01,-9.415751333e-05,8.271142040e-01
+38,1.705000000e+01,DOWN_FORCE_DETACH,1792702094223578886,2.221039167e-04,-9.687421011e-05,-2.598347972e-03,2.220594374e-04,-9.853931158e-05,-2.589036596e-03,2.206479040e-04,-9.772476452e-05,-2.582103401e-03,7.017599754e-01,-9.532324879e-05,8.381425932e-01,7.017599309e-01,-9.698835026e-05,8.381519046e-01,7.019496248e-01,-9.595699112e-05,8.269907493e-01
+39,1.730000000e+01,DOWN_FORCE_DETACH,1792702094687637136,2.240134601e-04,-1.049945368e-04,-2.718456414e-03,2.243368404e-04,-1.005766702e-04,-2.710032455e-03,2.224496739e-04,-9.977335433e-05,-2.703024575e-03,7.017618849e-01,-1.034435755e-04,8.380224848e-01,7.017622083e-01,-9.902570884e-05,8.380309087e-01,7.019514266e-01,-9.800558093e-05,8.268698281e-01
+40,1.753333333e+01,DOWN_FORCE_DETACH,1792702095153690300,2.228700902e-04,-1.032425140e-04,-2.845981195e-03,2.230570340e-04,-1.019967090e-04,-2.837068969e-03,2.206262936e-04,-1.011817488e-04,-2.829920964e-03,7.017607416e-01,-1.016915527e-04,8.378949600e-01,7.017609285e-01,-1.004457476e-04,8.379038722e-01,7.019496032e-01,-9.941397544e-05,8.267429317e-01
+41,1.773333333e+01,DOWN_FORCE_DETACH,1792702095553580526,2.214712373e-04,-1.021449539e-04,-2.961528457e-03,2.196661452e-04,-1.073443624e-04,-2.943360270e-03,2.167509503e-04,-1.065169512e-04,-2.936219326e-03,7.017593427e-01,-1.005939926e-04,8.377794127e-01,7.017575376e-01,-1.057934011e-04,8.377975809e-01,7.019457279e-01,-1.047491778e-04,8.266366333e-01
+42,1.795000000e+01,DOWN_FORCE_DETACH,1792702095983490121,2.226162153e-04,-1.090081123e-04,-3.085426786e-03,2.237129350e-04,-1.071873658e-04,-3.075022269e-03,2.202473502e-04,-1.063972743e-04,-3.067377757e-03,7.017604877e-01,-1.074571510e-04,8.376555144e-01,7.017615844e-01,-1.056364045e-04,8.376659189e-01,7.019492243e-01,-1.046295009e-04,8.265054749e-01
+43,1.815000000e+01,DOWN_FORCE_DETACH,1792702096383500609,2.227892030e-04,-1.137836863e-04,-3.208408186e-03,2.205463772e-04,-1.133865469e-04,-3.190317730e-03,2.165361861e-04,-1.125317889e-04,-3.182546032e-03,7.017606607e-01,-1.122327250e-04,8.375325330e-01,7.017584179e-01,-1.118355856e-04,8.375506235e-01,7.019455131e-01,-1.107640155e-04,8.263903066e-01
+44,1.835000000e+01,DOWN_FORCE_DETACH,1792702096783580007,2.236946704e-04,-1.152242921e-04,-3.335884217e-03,2.231609643e-04,-1.196500746e-04,-3.321211561e-03,2.186930605e-04,-1.187438721e-04,-3.312987249e-03,7.017615662e-01,-1.136733308e-04,8.374050570e-01,7.017610324e-01,-1.180991133e-04,8.374197296e-01,7.019476700e-01,-1.169760987e-04,8.262598654e-01
+45,1.853333333e+01,DOWN_FORCE_DETACH,1792702097149446157,2.243531010e-04,-1.204853899e-04,-3.453596833e-03,2.243738757e-04,-1.204354828e-04,-3.453482627e-03,2.195024308e-04,-1.195472819e-04,-3.444871832e-03,7.017622246e-01,-1.189344285e-04,8.372873444e-01,7.017622454e-01,-1.188845215e-04,8.372874586e-01,7.019484794e-01,-1.177795085e-04,8.261279808e-01
+46,1.870000000e+01,DOWN_FORCE_DETACH,1792702097481288028,2.238254054e-04,-1.192029006e-04,-3.570810013e-03,2.236425437e-04,-1.193411729e-04,-3.570912589e-03,2.184422605e-04,-1.184062138e-04,-3.562181874e-03,7.017616969e-01,-1.176519393e-04,8.371701312e-01,7.017615140e-01,-1.177902116e-04,8.371700286e-01,7.019474192e-01,-1.166384404e-04,8.260106708e-01
+47,1.888333333e+01,DOWN_FORCE_DETACH,1792702097847464327,2.194219564e-04,-1.213869678e-04,-3.699242436e-03,2.190788616e-04,-1.212801262e-04,-3.699333534e-03,2.133745751e-04,-1.203609359e-04,-3.690687415e-03,7.017572934e-01,-1.198360065e-04,8.370416988e-01,7.017569503e-01,-1.197291649e-04,8.370416077e-01,7.019423515e-01,-1.185931625e-04,8.258821652e-01
+48,1.903333333e+01,DOWN_FORCE_DETACH,1792702098147405768,2.197867440e-04,-1.295194093e-04,-3.816533764e-03,2.182384048e-04,-1.287956666e-04,-3.806625223e-03,2.122059677e-04,-1.278334364e-04,-3.797903418e-03,7.017576582e-01,-1.279684480e-04,8.369244074e-01,7.017561099e-01,-1.272447052e-04,8.369343160e-01,7.019411829e-01,-1.260656629e-04,8.257749492e-01
+49,1.921666667e+01,DOWN_FORCE_DETACH,1792702098479521351,2.215299602e-04,-1.337938754e-04,-3.935612355e-03,2.214281704e-04,-1.338144309e-04,-3.935487181e-03,2.149619621e-04,-1.327743712e-04,-3.926565926e-03,7.017594014e-01,-1.322429140e-04,8.368053288e-01,7.017592997e-01,-1.322634696e-04,8.368054540e-01,7.019439389e-01,-1.310065978e-04,8.256462867e-01
+50,1.940000000e+01,DOWN_FORCE_DETACH,1792702098848945454,2.253933619e-04,-1.329142646e-04,-4.072706938e-03,2.268987505e-04,-1.361761802e-04,-4.053782139e-03,2.201898940e-04,-1.350820897e-04,-4.044940480e-03,7.017632648e-01,-1.313633033e-04,8.366682342e-01,7.017647702e-01,-1.346252189e-04,8.366871590e-01,7.019491668e-01,-1.333143163e-04,8.255279122e-01
+51,1.956666667e+01,DOWN_FORCE_DETACH,1792702099145483366,2.230939981e-04,-1.353030047e-04,-4.188573841e-03,2.227913544e-04,-1.353155714e-04,-4.188998511e-03,2.156371470e-04,-1.341758690e-04,-4.179549905e-03,7.017609655e-01,-1.337520434e-04,8.365523673e-01,7.017606628e-01,-1.337646101e-04,8.365519427e-01,7.019446141e-01,-1.324080956e-04,8.253933027e-01
+52,1.971666667e+01,DOWN_FORCE_DETACH,1792702099443507299,2.167339188e-04,-1.375988203e-04,-4.314806428e-03,2.166080587e-04,-1.375130749e-04,-4.314681535e-03,2.088411022e-04,-1.363164977e-04,-4.304930752e-03,7.017546054e-01,-1.360478590e-04,8.364261348e-01,7.017544795e-01,-1.359621136e-04,8.364262597e-01,7.019378180e-01,-1.345487243e-04,8.252679219e-01
+53,1.988333333e+01,DOWN_FORCE_DETACH,1792702099743470934,2.130533854e-04,-1.436752261e-04,-4.439764365e-03,2.139288377e-04,-1.422111897e-04,-4.427168559e-03,2.056383464e-04,-1.410544986e-04,-4.417892804e-03,7.017509249e-01,-1.421242648e-04,8.363011768e-01,7.017518003e-01,-1.406602283e-04,8.363137726e-01,7.019346153e-01,-1.392867252e-04,8.251549598e-01
+54,2.003333333e+01,DOWN_FORCE_DETACH,1792702100043523606,2.366905651e-04,-1.384004300e-04,-4.555106278e-03,2.364969972e-04,-1.384328682e-04,-4.555046581e-03,2.277830265e-04,-1.373716217e-04,-4.545533985e-03,7.017745620e-01,-1.368494687e-04,8.361858349e-01,7.017743685e-01,-1.368819068e-04,8.361858946e-01,7.019567600e-01,-1.356038483e-04,8.250273187e-01
+55,2.018333333e+01,DOWN_FORCE_DETACH,1792702100308565904,2.299537976e-04,-1.384956606e-04,-4.672254567e-03,2.303113954e-04,-1.461011543e-04,-4.661525823e-03,2.211947567e-04,-1.449717186e-04,-4.652106052e-03,7.017678253e-01,-1.369446992e-04,8.360686866e-01,7.017681829e-01,-1.445501930e-04,8.360794154e-01,7.019501717e-01,-1.432039452e-04,8.249207466e-01
+56,2.031666667e+01,DOWN_FORCE_DETACH,1792702100575528135,2.243240726e-04,-1.503626697e-04,-4.798178974e-03,2.240089437e-04,-1.461908641e-04,-4.780469867e-03,2.144131826e-04,-1.450525272e-04,-4.770646030e-03,7.017621956e-01,-1.488117083e-04,8.359427622e-01,7.017618804e-01,-1.446399028e-04,8.359604713e-01,7.019433901e-01,-1.432847538e-04,8.248022066e-01
+57,2.045000000e+01,DOWN_FORCE_DETACH,1792702100839429581,2.293594810e-04,-1.489087270e-04,-4.913338416e-03,2.302891368e-04,-1.423730983e-04,-4.902278405e-03,2.202936926e-04,-1.412550772e-04,-4.892127956e-03,7.017672310e-01,-1.473577656e-04,8.358276028e-01,7.017681606e-01,-1.408221370e-04,8.358386628e-01,7.019492706e-01,-1.394873038e-04,8.246807247e-01
+58,2.060000000e+01,DOWN_SETTLE,1792702101107410476,2.204854406e-04,-1.481720863e-04,-5.046755470e-03,2.198110968e-04,-1.497709045e-04,-5.033823534e-03,2.093152269e-04,-1.485838881e-04,-5.023640293e-03,7.017583569e-01,-1.466211250e-04,8.356941857e-01,7.017576826e-01,-1.482199432e-04,8.357071177e-01,7.019382922e-01,-1.468161147e-04,8.245492124e-01
+59,2.101666667e+01,DOWN_PEAK_HOLD,1792702101908069057,1.980657102e-04,-1.504286357e-04,-5.135442217e-03,2.038885344e-04,-1.501398817e-04,-5.121083210e-03,1.929203900e-04,-1.490356823e-04,-5.115025463e-03,7.017359372e-01,-1.488776744e-04,8.356054990e-01,7.017417600e-01,-1.485889204e-04,8.356198580e-01,7.019218973e-01,-1.472679089e-04,8.244578272e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8924d0375bc5711afbe543776a9caef077a61f52
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.0244e-02,1.7304e-03,2.4569e+00,-3.6915e-02,3.4617e-02,-3.2043e-05,6.4307e-04,-4.7159e-06,3.2616e-04,2.4959e-07,4.0997e-05,-6.2690e-07,7.2107e-04,4.1002e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.3196e-04,-8.7179e-03,1.5438e-03,2.4662e+00,-3.6898e-02,3.6136e-02,-8.5912e-05,2.2169e-02,-1.9135e-04,9.6736e-03,1.7282e-05,1.5598e-03,-5.4496e-05,2.4189e-02,1.5608e-03
+2,1.1500e+00,DOWN_FORCE_DETACH,2.6029e-04,5.7814e-03,1.5899e-02,2.5051e+00,-3.7887e-02,3.7098e-02,-8.3833e-05,3.6669e-02,1.4164e-02,4.8561e-02,-9.7143e-04,2.5216e-03,-5.2417e-05,6.2477e-02,2.7028e-03
+3,1.3833e+00,DOWN_FORCE_DETACH,3.9152e-04,-4.6829e-02,2.2853e-02,2.5283e+00,-3.8354e-02,3.3606e-02,-7.8693e-05,-1.5942e-02,2.1118e-02,7.1746e-02,-1.4384e-03,-9.7070e-04,-4.7277e-05,7.6469e-02,1.7359e-03
+4,1.8833e+00,DOWN_FORCE_DETACH,5.2329e-04,-1.4491e-02,2.5573e-02,2.5523e+00,-3.8540e-02,3.5622e-02,-7.1748e-05,1.6396e-02,2.3838e-02,9.5714e-02,-1.6240e-03,1.0459e-03,-4.0332e-05,9.9991e-02,1.9321e-03
+5,2.2167e+00,DOWN_FORCE_DETACH,6.5787e-04,-1.7143e-02,3.1164e-02,2.5835e+00,-3.8896e-02,3.5453e-02,-6.5960e-05,1.3744e-02,2.9429e-02,1.2696e-01,-1.9804e-03,8.7692e-04,-3.4544e-05,1.3105e-01,2.1662e-03
+6,2.5500e+00,DOWN_FORCE_DETACH,7.8078e-04,-3.8445e-02,3.6392e-02,2.5999e+00,-3.9225e-02,3.3974e-02,-5.3195e-05,-7.5581e-03,3.4657e-02,1.4331e-01,-2.3091e-03,-6.0243e-04,-2.1779e-05,1.4764e-01,2.3865e-03
+7,2.9833e+00,DOWN_FORCE_DETACH,9.1158e-04,-3.6428e-02,4.2255e-02,2.6163e+00,-3.9579e-02,3.4099e-02,-3.9756e-05,-5.5408e-03,4.0520e-02,1.5975e-01,-2.6637e-03,-4.7685e-04,-8.3398e-06,1.6490e-01,2.7061e-03
+8,3.4167e+00,DOWN_FORCE_DETACH,1.0426e-03,-2.7918e-02,4.6175e-02,2.6071e+00,-3.9824e-02,3.4690e-02,-2.4840e-05,2.9687e-03,4.4440e-02,1.5056e-01,-2.9087e-03,1.1420e-04,6.5758e-06,1.5700e-01,2.9109e-03
+9,3.9333e+00,DOWN_FORCE_DETACH,1.1739e-03,-1.1615e-02,4.7335e-02,2.5824e+00,-3.9930e-02,3.5843e-02,-1.4088e-05,1.9272e-02,4.5600e-02,1.2582e-01,-3.0142e-03,1.2663e-03,1.7328e-05,1.3521e-01,3.2694e-03
+10,4.4500e+00,DOWN_FORCE_DETACH,1.3052e-03,1.8461e-03,4.6307e-02,2.5541e+00,-3.9913e-02,3.6824e-02,-1.1775e-05,3.2733e-02,4.4572e-02,9.7517e-02,-2.9970e-03,2.2474e-03,1.9641e-05,1.1211e-01,3.7461e-03
+11,5.0333e+00,DOWN_FORCE_DETACH,1.4339e-03,1.6938e-02,4.7038e-02,2.5216e+00,-4.0000e-02,3.7940e-02,-1.5391e-05,4.7825e-02,4.5303e-02,6.5002e-02,-3.0845e-03,3.3640e-03,1.6025e-05,9.2547e-02,4.5641e-03
+12,5.7333e+00,DOWN_FORCE_DETACH,1.5616e-03,2.5367e-02,4.7294e-02,2.4921e+00,-4.0036e-02,3.8595e-02,-2.1343e-05,5.6254e-02,4.5559e-02,3.5489e-02,-3.1201e-03,4.0192e-03,1.0073e-05,8.0621e-02,5.0881e-03
+13,6.3333e+00,DOWN_FORCE_DETACH,1.6925e-03,2.8975e-02,4.7100e-02,2.4776e+00,-4.0028e-02,3.8876e-02,-2.6478e-05,5.9862e-02,4.5365e-02,2.1062e-02,-3.1120e-03,4.2996e-03,4.9378e-06,7.8007e-02,5.3076e-03
+14,6.9000e+00,DOWN_FORCE_DETACH,1.8225e-03,3.5273e-02,4.5951e-02,2.4863e+00,-3.9945e-02,3.9318e-02,-3.2673e-05,6.6160e-02,4.4216e-02,2.9705e-02,-3.0292e-03,4.7419e-03,-1.2573e-06,8.4939e-02,5.6269e-03
+15,7.5667e+00,DOWN_FORCE_DETACH,1.9552e-03,3.1850e-02,4.7223e-02,2.4951e+00,-4.0025e-02,3.9093e-02,-3.5697e-05,6.2737e-02,4.5488e-02,3.8486e-02,-3.1090e-03,4.5167e-03,-4.2808e-06,8.6523e-02,5.4833e-03
+16,8.1167e+00,DOWN_FORCE_DETACH,2.0853e-03,2.6479e-02,4.8924e-02,2.4993e+00,-4.0135e-02,3.8717e-02,-3.4053e-05,5.7366e-02,4.7188e-02,4.2762e-02,-3.2196e-03,4.1405e-03,-2.6369e-06,8.5710e-02,5.2450e-03
+17,8.6000e+00,DOWN_FORCE_DETACH,2.2166e-03,2.5854e-02,4.5949e-02,2.5038e+00,-3.9933e-02,3.8652e-02,-3.2654e-05,5.6741e-02,4.4214e-02,4.7200e-02,-3.0169e-03,4.0757e-03,-1.2379e-06,8.6037e-02,5.0708e-03
+18,9.1167e+00,DOWN_FORCE_DETACH,2.3465e-03,3.2510e-02,5.0464e-02,2.5053e+00,-4.0230e-02,3.9089e-02,-2.7232e-05,6.3397e-02,4.8729e-02,4.8753e-02,-3.3139e-03,4.5124e-03,4.1843e-06,9.3651e-02,5.5986e-03
+19,9.8667e+00,DOWN_FORCE_DETACH,2.4759e-03,3.3288e-02,4.8008e-02,2.5167e+00,-4.0060e-02,3.9134e-02,-2.3955e-05,6.4175e-02,4.6273e-02,6.0179e-02,-3.1446e-03,4.5577e-03,7.4609e-06,9.9404e-02,5.5373e-03
+20,1.0483e+01,DOWN_FORCE_DETACH,2.6070e-03,3.5763e-02,4.9418e-02,2.5314e+00,-4.0160e-02,3.9288e-02,-1.9464e-05,6.6650e-02,4.7683e-02,7.4810e-02,-3.2442e-03,4.7116e-03,1.1952e-05,1.1096e-01,5.7205e-03
+21,1.0867e+01,DOWN_FORCE_DETACH,2.7372e-03,3.4964e-02,4.2023e-02,2.5479e+00,-3.9682e-02,3.9224e-02,-1.9485e-05,6.5851e-02,4.0288e-02,9.1378e-02,-2.7660e-03,4.6480e-03,1.1931e-05,1.1962e-01,5.4087e-03
+22,1.1317e+01,DOWN_FORCE_DETACH,2.8663e-03,3.5231e-02,4.6384e-02,2.5625e+00,-3.9962e-02,3.9212e-02,-2.0666e-05,6.6118e-02,4.4648e-02,1.0594e-01,-3.0461e-03,4.6361e-03,1.0750e-05,1.3262e-01,5.5473e-03
+23,1.1867e+01,DOWN_FORCE_DETACH,2.9941e-03,3.6153e-02,5.1065e-02,2.5766e+00,-4.0283e-02,3.9239e-02,-2.1390e-05,6.7040e-02,4.9330e-02,1.2002e-01,-3.3676e-03,4.6625e-03,1.0026e-05,1.4606e-01,5.7515e-03
+24,1.2333e+01,DOWN_FORCE_DETACH,3.1305e-03,3.5668e-02,5.4939e-02,2.5783e+00,-4.0546e-02,3.9188e-02,-2.5402e-05,6.6555e-02,5.3204e-02,1.2174e-01,-3.6299e-03,4.6113e-03,6.0135e-06,1.4860e-01,5.8686e-03
+25,1.2867e+01,DOWN_FORCE_DETACH,3.2576e-03,2.7458e-02,5.5246e-02,2.5834e+00,-4.0566e-02,3.8619e-02,-3.2672e-05,5.8345e-02,5.3511e-02,1.2687e-01,-3.6499e-03,4.0428e-03,-1.2555e-06,1.4955e-01,5.4467e-03
+26,1.3317e+01,DOWN_FORCE_DETACH,3.3887e-03,2.2044e-02,5.2875e-02,2.5941e+00,-4.0399e-02,3.8236e-02,-3.8791e-05,5.2931e-02,5.1140e-02,1.3753e-01,-3.4837e-03,3.6597e-03,-7.3749e-06,1.5598e-01,5.0527e-03
+27,1.3717e+01,DOWN_FORCE_DETACH,3.5169e-03,1.9035e-02,5.2659e-02,2.6177e+00,-4.0379e-02,3.8011e-02,-4.0396e-05,4.9922e-02,5.0924e-02,1.6117e-01,-3.4630e-03,3.4349e-03,-8.9796e-06,1.7625e-01,4.8776e-03
+28,1.4100e+01,DOWN_FORCE_DETACH,3.6480e-03,1.5971e-02,5.5124e-02,2.6437e+00,-4.0532e-02,3.7781e-02,-3.8628e-05,4.6858e-02,5.3388e-02,1.8712e-01,-3.6169e-03,3.2046e-03,-7.2120e-06,2.0015e-01,4.8323e-03
+29,1.4467e+01,DOWN_FORCE_DETACH,3.7831e-03,1.4121e-02,5.7625e-02,2.6705e+00,-4.0674e-02,3.7620e-02,-3.5612e-05,4.5008e-02,5.5890e-02,2.1393e-01,-3.7579e-03,3.0441e-03,-4.1964e-06,2.2564e-01,4.8362e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ea5743ee8687cd47cc80cdb68f48ae6a0928fb6b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79750a08e675f208e3261a0f7d3aca895a615a48c6fa24961ce6b36257b6a0f6
+size 11202560
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c46814e85dbcab0208d78b29243a45ee17de241d
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b171ddb55e185b0716a616d22f81ed0e10001f3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..817bf605334f6a9d49fb93bb7a2df9687cc7d269
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a63d6dcd16034a5cb0da2beae17d6a7659eab93
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,4.000000000e-01,WAIT_W2,1792702045424719349,2.084497982e-06,-5.157061118e-06,1.084056694e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.317749901e-07,2.068664639e-09,1.194165511e-07,7.015399560e-01,-3.606099797e-06,8.407420252e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293086e-01,1.769828789e-06,8.295729720e-01
+7,4.666666667e-01,WAIT_W2,1792702045555206906,-1.076754389e-07,-1.384693166e-05,2.646451749e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.741302411e-07,2.583447152e-09,1.345175398e-07,7.015377638e-01,-1.229597034e-05,8.407412058e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293510e-01,1.770343571e-06,8.295729871e-01
+8,5.666666667e-01,WAIT_W2,1792702045755231361,3.446796725e-07,-1.948030180e-05,7.395854130e-07,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-1.072900774e-06,-2.074460108e-05,-8.343439140e-08,7.015382162e-01,-1.792934048e-05,8.407416808e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017279040e-01,-1.897684096e-05,8.295727691e-01
+9,6.333333333e-01,WAIT_W2,1792702045887094330,-1.231223939e-07,-2.420229772e-05,1.678680945e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-1.039114928e-06,-2.077163318e-05,-6.954386955e-08,7.015377484e-01,-2.265133640e-05,8.407426199e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017279377e-01,-1.900387306e-05,8.295727830e-01
+10,7.166666667e-01,WAIT_W2,1792702046054994876,1.649759027e-06,-2.912226011e-05,3.968522321e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-9.989651064e-07,-2.078225637e-05,-5.461335373e-08,7.015395212e-01,-2.757129878e-05,8.407449097e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017279779e-01,-1.901449625e-05,8.295727979e-01
+11,8.000000000e-01,WAIT_W2,1792702046222919909,8.671403320e-07,-2.500047415e-05,1.380552862e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-9.618104435e-07,-2.078650476e-05,-4.140086274e-08,7.015387386e-01,-2.344951283e-05,8.407423217e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017280151e-01,-1.901874463e-05,8.295728111e-01
+12,8.833333333e-01,WAIT_W2,1792702046389344669,1.957563730e-06,-2.406267570e-05,3.975275487e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-9.274350700e-07,-2.078866909e-05,-2.941414179e-08,7.015398290e-01,-2.251171438e-05,8.407449165e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017280494e-01,-1.902090896e-05,8.295728231e-01
+13,9.333333333e-01,WAIT_W2,1792702046486905806,-1.474465522e-06,-2.223403582e-05,-8.745881999e-07,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-9.080391122e-07,-2.078950176e-05,-2.271404154e-08,7.015363970e-01,-2.068307450e-05,8.407400666e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017280688e-01,-1.902174163e-05,8.295728298e-01
+14,1.016666667e+00,WAIT_W2,1792702046652907222,6.591230228e-08,-2.455835847e-05,1.330415239e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-8.776164903e-07,-2.079044835e-05,-1.227495683e-08,7.015379374e-01,-2.300739715e-05,8.407422716e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017280992e-01,-1.902268823e-05,8.295728403e-01
+15,1.066666667e+00,WAIT_W2,1792702046755221702,-2.007922213e-06,-1.459335397e-05,-1.741825655e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-8.604401538e-07,-2.079084180e-05,-6.417541831e-09,7.015358636e-01,-1.304239265e-05,8.407391994e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017281164e-01,-1.902308167e-05,8.295728461e-01
+16,1.116666667e+00,WAIT_W2,1792702046853285933,-2.595705016e-06,-1.790138144e-05,-2.941063388e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-8.440262675e-07,-2.079114350e-05,-8.448985955e-10,7.015352758e-01,-1.635042012e-05,8.407380001e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017281328e-01,-1.902338337e-05,8.295728517e-01
+17,1.216666667e+00,WAIT_W2,1792702047053260561,-4.794197158e-06,-1.423876427e-05,-7.030760187e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-8.133189046e-07,-2.079152944e-05,9.562404424e-09,7.015330773e-01,-1.268780295e-05,8.407339104e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017281635e-01,-1.902376931e-05,8.295728621e-01
+18,1.250000000e+00,WAIT_W2,1792702047119144031,-3.032776211e-06,-1.316843010e-05,-3.362868272e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-8.037146164e-07,-2.079163170e-05,1.274600980e-08,7.015348387e-01,-1.161746878e-05,8.407375783e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017281731e-01,-1.902387157e-05,8.295728653e-01
+19,1.350000000e+00,WAIT_W2,1792702047318964750,-5.578706286e-06,-1.994800420e-05,-7.299671524e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-7.765002314e-07,-2.079181934e-05,2.182079961e-08,7.015322928e-01,-1.839704287e-05,8.407336415e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017282004e-01,-1.902405922e-05,8.295728744e-01
+20,1.400000000e+00,WAIT_W2,1792702047419948563,-7.704052081e-06,-3.084939822e-05,-8.233604573e-06,-1.431624661e-06,-2.095848625e-05,-2.455992756e-07,-7.637938195e-07,-2.079188237e-05,2.602973970e-08,7.015301674e-01,-2.929843690e-05,8.407327076e-01,7.015364399e-01,-1.940752492e-05,8.407406956e-01,7.017282131e-01,-1.902412224e-05,8.295728786e-01
+21,1.466666667e+00,WAIT_W2,1792702047550923045,-6.464405188e-06,-4.690846839e-05,-5.944748458e-06,-6.443117411e-06,-4.685654156e-05,-6.233692809e-06,-5.765350810e-06,-4.643117892e-05,-5.803594895e-06,7.015314071e-01,-4.535750707e-05,8.407349964e-01,7.015314284e-01,-4.530558024e-05,8.407347075e-01,7.017232115e-01,-4.466341880e-05,8.295670490e-01
+22,1.533333333e+00,WAIT_W2,1792702047686859303,-7.551461953e-06,-5.618899325e-05,-8.077710126e-06,-6.443117411e-06,-4.685654156e-05,-6.233692809e-06,-5.765809576e-06,-4.648958707e-05,-5.814905151e-06,7.015303200e-01,-5.463803192e-05,8.407328635e-01,7.015314284e-01,-4.530558024e-05,8.407347075e-01,7.017232111e-01,-4.472182694e-05,8.295670376e-01
+23,1.566666667e+00,WAIT_W2,1792702047750982378,-9.088475341e-06,-6.667331330e-05,-7.495583373e-06,-9.108125178e-06,-6.685925092e-05,-7.438730604e-06,-8.407851599e-06,-6.632663606e-05,-7.020030357e-06,7.015287830e-01,-6.512235198e-05,8.407334456e-01,7.015287634e-01,-6.530828960e-05,8.407335025e-01,7.017205690e-01,-6.455887594e-05,8.295658325e-01
+24,1.633333333e+00,WAIT_W2,1792702047882876707,-1.081185650e-05,-8.035380262e-05,-1.033159418e-05,-9.108125178e-06,-6.685925092e-05,-7.438730604e-06,-8.409741297e-06,-6.638098899e-05,-7.027272674e-06,7.015270596e-01,-7.880284130e-05,8.407306096e-01,7.015287634e-01,-6.530828960e-05,8.407335025e-01,7.017205671e-01,-6.461322886e-05,8.295658253e-01
+25,1.666666667e+00,WAIT_W2,1792702047951024458,-1.165929322e-05,-9.543232039e-05,-1.035385576e-05,-1.091825906e-05,-9.002416080e-05,-7.626038925e-06,-1.030609867e-05,-8.932015128e-05,-7.241230044e-06,7.015262122e-01,-9.388135907e-05,8.407305873e-01,7.015269532e-01,-8.847319948e-05,8.407333151e-01,7.017186708e-01,-8.755239115e-05,8.295656113e-01
+26,1.700000000e+00,WAIT_W2,1792702048018892594,-1.161075639e-05,-1.023708011e-04,-6.720756499e-06,-1.091825906e-05,-9.002416080e-05,-7.626038925e-06,-1.030676757e-05,-8.934686481e-05,-7.243505496e-06,7.015262607e-01,-1.008198398e-04,8.407342204e-01,7.015269532e-01,-8.847319948e-05,8.407333151e-01,7.017186701e-01,-8.757910469e-05,8.295656090e-01
+27,1.716666667e+00,WAIT_W2,1792702048050882958,-2.306028787e-05,-1.018697446e-04,-1.847467007e-05,-2.304650048e-05,-1.018033536e-04,-1.830026785e-05,-2.253275868e-05,-1.010288279e-04,-1.766569784e-05,7.015148112e-01,-1.003187833e-04,8.407224665e-01,7.015148250e-01,-1.002523922e-04,8.407226409e-01,7.017064441e-01,-9.926106776e-05,8.295551869e-01
+28,1.733333333e+00,WAIT_W2,1792702048082873322,-3.520933804e-05,-1.084055110e-04,-3.347248637e-05,-3.496934586e-05,-1.084445917e-04,-3.368471184e-05,-3.461924476e-05,-1.076283012e-04,-3.269469626e-05,7.015026621e-01,-1.068545496e-04,8.407074687e-01,7.015029021e-01,-1.068936304e-04,8.407072565e-01,7.016943576e-01,-1.058605411e-04,8.295401579e-01
+29,1.766666667e+00,WAIT_W2,1792702048152025960,-3.425042047e-05,-1.128314710e-04,-3.011839797e-05,-3.496934586e-05,-1.084445917e-04,-3.368471184e-05,-3.466169644e-05,-1.076587660e-04,-3.274072836e-05,7.015036211e-01,-1.112805097e-04,8.407108228e-01,7.015029021e-01,-1.068936304e-04,8.407072565e-01,7.016943152e-01,-1.058910059e-04,8.295401118e-01
+30,1.783333333e+00,WAIT_W2,1792702048186099595,-3.106946109e-05,-1.208544921e-04,-2.493344394e-05,-3.496934586e-05,-1.084445917e-04,-3.368471184e-05,-3.467508097e-05,-1.076679895e-04,-3.275778313e-05,7.015068020e-01,-1.193035307e-04,8.407160077e-01,7.015029021e-01,-1.068936304e-04,8.407072565e-01,7.016943018e-01,-1.059002293e-04,8.295400948e-01
+31,1.833333333e+00,WAIT_W2,1792702048283238249,-3.481297903e-05,-1.247374347e-04,-2.794720254e-05,-3.426415439e-05,-1.278344432e-04,-2.795567824e-05,-3.396655863e-05,-1.269196151e-04,-2.717882979e-05,7.015030585e-01,-1.231864734e-04,8.407129940e-01,7.015036073e-01,-1.262834819e-04,8.407129855e-01,7.016950103e-01,-1.251518550e-04,8.295456737e-01
+32,1.866666667e+00,WAIT_W2,1792702048350918092,-3.496120343e-05,-1.292553533e-04,-2.939709001e-05,-3.426415439e-05,-1.278344432e-04,-2.795567824e-05,-3.398363502e-05,-1.269446613e-04,-2.719518859e-05,7.015029103e-01,-1.277043920e-04,8.407115441e-01,7.015036073e-01,-1.262834819e-04,8.407129855e-01,7.016949932e-01,-1.251769012e-04,8.295456574e-01
+33,1.950000000e+00,UP_FORCE_RAMP,1792702048484213206,-3.493666998e-05,-1.370899655e-04,-2.685026783e-05,-3.426415439e-05,-1.278344432e-04,-2.795567824e-05,-3.402023941e-05,-1.269750454e-04,-2.723579184e-05,7.015029348e-01,-1.355390042e-04,8.407140909e-01,7.015036073e-01,-1.262834819e-04,8.407129855e-01,7.016949566e-01,-1.252072853e-04,8.295456168e-01
+34,2.033333333e+00,UP_FORCE_RAMP,1792702048651867226,-3.456293142e-05,-1.450752651e-04,-2.767065571e-05,-3.426415439e-05,-1.278344432e-04,-2.795567824e-05,-3.405147888e-05,-1.269896880e-04,-2.727372696e-05,7.015033086e-01,-1.435243037e-04,8.407132705e-01,7.015036073e-01,-1.262834819e-04,8.407129855e-01,7.016949254e-01,-1.252219279e-04,8.295455788e-01
+35,2.066666667e+00,UP_FORCE_RAMP,1792702048715887999,-3.645747224e-05,-1.486607932e-04,-3.103906300e-05,-3.556268068e-05,-1.528852663e-04,-2.760382970e-05,-3.535589435e-05,-1.518186621e-04,-2.697349162e-05,7.015014140e-01,-1.471098319e-04,8.407099021e-01,7.015023088e-01,-1.513343050e-04,8.407133374e-01,7.016936210e-01,-1.500509020e-04,8.295458791e-01
+36,2.133333333e+00,UP_FORCE_RAMP,1792702048850909250,-3.672759021e-05,-1.587793926e-04,-2.988734707e-05,-3.556268068e-05,-1.528852663e-04,-2.760382970e-05,-3.538072850e-05,-1.518596178e-04,-2.699842024e-05,7.015011439e-01,-1.572284312e-04,8.407110538e-01,7.015023088e-01,-1.513343050e-04,8.407133374e-01,7.016935961e-01,-1.500918577e-04,8.295458541e-01
+37,2.200000000e+00,UP_FORCE_RAMP,1792702048982951026,-3.572359381e-05,-1.659706536e-04,-2.751293532e-05,-3.556268068e-05,-1.528852663e-04,-2.760382970e-05,-3.540272073e-05,-1.518769495e-04,-2.702243292e-05,7.015021479e-01,-1.644196923e-04,8.407134283e-01,7.015023088e-01,-1.513343050e-04,8.407133374e-01,7.016935741e-01,-1.501091894e-04,8.295458301e-01
+38,2.300000000e+00,UP_FORCE_RAMP,1792702049146876852,-3.631392451e-05,-1.659692148e-04,-2.796338230e-05,-3.556268068e-05,-1.528852663e-04,-2.760382970e-05,-3.543243469e-05,-1.518906089e-04,-2.705606291e-05,7.015015576e-01,-1.644182534e-04,8.407129778e-01,7.015023088e-01,-1.513343050e-04,8.407133374e-01,7.016935444e-01,-1.501228488e-04,8.295457965e-01
+39,2.416666667e+00,UP_FORCE_RAMP,1792702049380868501,-3.693795312e-05,-1.716495564e-04,-2.602098162e-05,-3.556268068e-05,-1.528852663e-04,-2.760382970e-05,-3.546318644e-05,-1.518998583e-04,-2.709120425e-05,7.015009335e-01,-1.700985951e-04,8.407149202e-01,7.015023088e-01,-1.513343050e-04,8.407133374e-01,7.016935137e-01,-1.501320981e-04,8.295457613e-01
+40,2.483333333e+00,UP_FORCE_RAMP,1792702049514925512,-3.654464626e-05,-1.786094812e-04,-2.706300941e-05,-3.439917538e-05,-1.735186900e-04,-2.616660956e-05,-3.434321988e-05,-1.723710601e-04,-2.570754568e-05,7.015013268e-01,-1.770585199e-04,8.407138782e-01,7.015034723e-01,-1.719677287e-04,8.407147746e-01,7.016946336e-01,-1.706033000e-04,8.295471450e-01
+41,2.583333333e+00,UP_FORCE_RAMP,1792702049697401249,-3.507908138e-05,-1.806222407e-04,-2.661759440e-05,-3.439917538e-05,-1.735186900e-04,-2.616660956e-05,-3.436220403e-05,-1.723963112e-04,-2.572713165e-05,7.015027924e-01,-1.790712794e-04,8.407143236e-01,7.015034723e-01,-1.719677287e-04,8.407147746e-01,7.016946147e-01,-1.706285511e-04,8.295471254e-01
+42,2.666666667e+00,UP_FORCE_RAMP,1792702049851890384,-3.864426271e-05,-1.828133370e-04,-2.973295614e-05,-3.439917538e-05,-1.735186900e-04,-2.616660956e-05,-3.437705636e-05,-1.724051965e-04,-2.574300845e-05,7.014992272e-01,-1.812623757e-04,8.407112082e-01,7.015034723e-01,-1.719677287e-04,8.407147746e-01,7.016945998e-01,-1.706374364e-04,8.295471095e-01
+43,2.733333333e+00,UP_FORCE_RAMP,1792702049978933988,-3.832773272e-05,-1.862647834e-04,-2.652507187e-05,-3.439917538e-05,-1.735186900e-04,-2.616660956e-05,-3.438812660e-05,-1.724098584e-04,-2.575485699e-05,7.014995437e-01,-1.847138221e-04,8.407144161e-01,7.015034723e-01,-1.719677287e-04,8.407147746e-01,7.016945887e-01,-1.706420983e-04,8.295470977e-01
+44,2.833333333e+00,UP_FORCE_RAMP,1792702050179172749,-3.693772657e-05,-1.871813806e-04,-2.146267595e-05,-3.439917538e-05,-1.735186900e-04,-2.616660956e-05,-3.440339439e-05,-1.724148411e-04,-2.577137547e-05,7.015009338e-01,-1.856304193e-04,8.407194785e-01,7.015034723e-01,-1.719677287e-04,8.407147746e-01,7.016945735e-01,-1.706470810e-04,8.295470812e-01
+45,2.900000000e+00,UP_FORCE_RAMP,1792702050311731938,-3.515730155e-05,-1.856962939e-04,-1.626742403e-05,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.537120561e-05,-1.895397361e-04,-1.567832989e-05,7.015027142e-01,-1.841453326e-04,8.407246738e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016936057e-01,-1.877719760e-04,8.295571742e-01
+46,3.016666667e+00,UP_FORCE_RAMP,1792702050515840805,-3.826746937e-05,-1.901161396e-04,-1.603114758e-05,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.539001750e-05,-1.895755999e-04,-1.565287675e-05,7.014996040e-01,-1.885651782e-04,8.407249100e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935868e-01,-1.878078397e-04,8.295571997e-01
+47,3.083333333e+00,UP_FORCE_RAMP,1792702050646366076,-3.824762943e-05,-1.964473777e-04,-1.219901609e-05,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.539879782e-05,-1.895825097e-04,-1.564500851e-05,7.014996239e-01,-1.948964164e-04,8.407287422e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935781e-01,-1.878147495e-04,8.295572075e-01
+48,3.150000000e+00,UP_FORCE_RAMP,1792702050780509123,-3.590628949e-05,-1.941523821e-04,-5.850341872e-06,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.540683634e-05,-1.895867364e-04,-1.563864785e-05,7.015019652e-01,-1.926014207e-04,8.407350908e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935700e-01,-1.878189762e-04,8.295572139e-01
+49,3.200000000e+00,UP_FORCE_RAMP,1792702050878977835,-3.788792870e-05,-1.911979647e-04,-6.270115760e-06,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.541239568e-05,-1.895891930e-04,-1.563445338e-05,7.014999836e-01,-1.896470034e-04,8.407346711e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935645e-01,-1.878214329e-04,8.295572181e-01
+50,3.250000000e+00,UP_FORCE_RAMP,1792702050960940539,-3.836158786e-05,-1.928454616e-04,-3.081039245e-06,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.541766612e-05,-1.895910386e-04,-1.563061117e-05,7.014995099e-01,-1.912945002e-04,8.407378601e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935592e-01,-1.878232785e-04,8.295572219e-01
+51,3.300000000e+00,UP_FORCE_RAMP,1792702051042883906,-3.791515890e-05,-1.937004273e-04,-1.535306362e-06,-3.546403825e-05,-1.907751173e-04,-1.585377044e-05,-3.542260342e-05,-1.895927212e-04,-1.562704182e-05,7.014999563e-01,-1.921494660e-04,8.407394059e-01,7.015024074e-01,-1.892241560e-04,8.407250874e-01,7.016935543e-01,-1.878249611e-04,8.295572255e-01
+52,3.366666667e+00,UP_FORCE_RAMP,1792702051178872865,-3.432895564e-05,-1.938446574e-04,8.955577095e-06,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.580152856e-05,-1.885595028e-04,4.956899914e-06,7.015035425e-01,-1.922936961e-04,8.407498968e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931753e-01,-1.867917427e-04,8.295778095e-01
+53,3.433333333e+00,UP_FORCE_RAMP,1792702051311218042,-3.470945920e-05,-1.893783476e-04,1.282702971e-05,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.580896953e-05,-1.885615526e-04,5.007779279e-06,7.015031620e-01,-1.878273863e-04,8.407537682e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931679e-01,-1.867937925e-04,8.295778603e-01
+54,3.500000000e+00,UP_FORCE_RAMP,1792702051442885468,-3.589812115e-05,-1.913739947e-04,1.426458083e-05,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.581488964e-05,-1.885630710e-04,5.046630058e-06,7.015019734e-01,-1.898230334e-04,8.407552058e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931620e-01,-1.867953108e-04,8.295778992e-01
+55,3.550000000e+00,UP_FORCE_RAMP,1792702051542947801,-3.501830580e-05,-1.913171665e-04,1.920442728e-05,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.581872122e-05,-1.885638737e-04,5.072208680e-06,7.015028532e-01,-1.897662052e-04,8.407601456e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931581e-01,-1.867961136e-04,8.295779248e-01
+56,3.633333333e+00,UP_FORCE_RAMP,1792702051675054417,-3.384965205e-05,-1.934751529e-04,1.894622149e-05,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.582439264e-05,-1.885647714e-04,5.110529054e-06,7.015040218e-01,-1.919241916e-04,8.407598874e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931525e-01,-1.867970113e-04,8.295779631e-01
+57,3.700000000e+00,UP_FORCE_HOLD,1792702051811075135,-3.512535960e-05,-1.921609438e-04,2.085224474e-05,-3.587312441e-05,-1.897642941e-04,5.196958768e-06,-3.582847099e-05,-1.885652432e-04,5.138233547e-06,7.015027461e-01,-1.906099825e-04,8.407617934e-01,7.015019984e-01,-1.882133328e-04,8.407461381e-01,7.016931484e-01,-1.867974831e-04,8.295779908e-01
+58,3.783333333e+00,UP_FORCE_HOLD,1792702051976900178,-3.283805293e-05,-1.921370224e-04,2.626787389e-05,-3.312000625e-05,-1.907778520e-04,2.483146624e-05,-3.302626574e-05,-1.895917827e-04,2.434378342e-05,7.015050334e-01,-1.905860611e-04,8.407672091e-01,7.015047515e-01,-1.892268907e-04,8.407657727e-01,7.016959506e-01,-1.878240226e-04,8.295971963e-01
+59,3.883333333e+00,UP_FORCE_HOLD,1792702052175021170,-3.537591888e-05,-1.924417250e-04,2.343453354e-05,-3.312000625e-05,-1.907778520e-04,2.483146624e-05,-3.302353198e-05,-1.895959610e-04,2.444499588e-05,7.015024956e-01,-1.908907637e-04,8.407643757e-01,7.015047515e-01,-1.892268907e-04,8.407657727e-01,7.016959533e-01,-1.878282009e-04,8.295972975e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff6120398d3b0f151aee07950c686ef1890813bf
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.0254e-02,1.7305e-03,2.4569e+00,-3.6915e-02,3.4616e-02,-3.2140e-05,6.4331e-04,-4.7177e-06,3.2663e-04,2.5332e-07,4.1027e-05,-6.2655e-07,7.2150e-04,4.1032e-05
+1,6.6667e-02,XJC_ZERO_HOLD_BEFORE_UP,1.7096e-05,-2.7755e-02,1.7123e-03,2.4581e+00,-3.6914e-02,3.4777e-02,-3.4625e-05,3.1423e-03,-2.2827e-05,1.5836e-03,1.2629e-06,2.0174e-04,-3.1114e-06,3.5188e-03,2.0177e-04
+2,1.3333e-01,WAIT_W2,3.9160e-05,-2.5188e-02,1.6990e-03,2.4594e+00,-3.6914e-02,3.4944e-02,-3.7411e-05,5.7097e-03,-3.6215e-05,2.8758e-03,2.0340e-06,3.6900e-04,-5.8973e-06,6.3932e-03,3.6906e-04
+3,1.6667e-01,WAIT_W2,5.2060e-05,-2.3888e-02,1.6899e-03,2.4601e+00,-3.6913e-02,3.5030e-02,-3.8961e-05,7.0097e-03,-4.5260e-05,3.5274e-03,2.6152e-06,4.5468e-04,-7.4477e-06,7.8473e-03,4.5475e-04
+4,2.5000e-01,WAIT_W2,6.9747e-05,-2.0918e-02,1.6695e-03,2.4615e+00,-3.6912e-02,3.5228e-02,-4.2760e-05,9.9798e-03,-6.5674e-05,4.9748e-03,4.1239e-06,6.5291e-04,-1.1247e-05,1.1151e-02,6.5302e-04
+5,3.3333e-01,WAIT_W2,8.7434e-05,-1.8174e-02,1.6695e-03,2.4628e+00,-3.6911e-02,3.5414e-02,-4.6491e-05,1.2724e-02,-6.5683e-05,6.2647e-03,4.5188e-06,8.3892e-04,-1.4977e-05,1.4182e-02,8.3907e-04
+6,4.0000e-01,WAIT_W2,1.0389e-04,-1.6113e-02,1.6656e-03,2.4637e+00,-3.6911e-02,3.5556e-02,-4.9407e-05,1.4784e-02,-6.9578e-05,7.1898e-03,5.1782e-06,9.8026e-04,-1.7893e-05,1.6440e-02,9.8043e-04
+7,4.6667e-01,WAIT_W2,1.2274e-04,-1.1467e-02,1.4252e-03,2.4657e+00,-3.6891e-02,3.5968e-02,-8.4330e-05,1.9430e-02,-3.0997e-04,9.1648e-03,2.4881e-05,1.3922e-03,-5.2816e-05,2.1486e-02,1.3934e-03
+8,5.6667e-01,WAIT_W2,1.4209e-04,-9.1104e-03,4.3410e-03,2.4661e+00,-3.7082e-02,3.6112e-02,-8.5319e-05,2.1787e-02,2.6058e-03,9.5124e-03,-1.6671e-04,1.5368e-03,-5.3805e-05,2.3915e-02,1.5468e-03
+9,6.3333e-01,WAIT_W2,1.5952e-04,-6.1759e-03,1.2764e-02,2.4673e+00,-3.7686e-02,3.6297e-02,-8.0950e-05,2.4722e-02,1.1029e-02,1.0771e-02,-7.7070e-04,1.7220e-03,-4.9437e-05,2.9134e-02,1.8872e-03
+10,7.1667e-01,WAIT_W2,1.7757e-04,-4.8746e-03,1.4436e-02,2.4677e+00,-3.7797e-02,3.6382e-02,-8.0408e-05,2.6023e-02,1.2701e-02,1.1165e-02,-8.8105e-04,1.8069e-03,-4.8895e-05,3.1035e-02,2.0108e-03
+11,8.0000e-01,WAIT_W2,1.9442e-04,-3.4772e-03,1.4889e-02,2.4683e+00,-3.7829e-02,3.6475e-02,-8.0016e-05,2.7420e-02,1.3154e-02,1.1716e-02,-9.1312e-04,1.8993e-03,-4.8502e-05,3.2591e-02,2.1080e-03
+12,8.8333e-01,WAIT_W2,2.1134e-04,-2.0231e-03,1.5041e-02,2.4689e+00,-3.7841e-02,3.6572e-02,-7.9751e-05,2.8874e-02,1.3306e-02,1.2332e-02,-9.2538e-04,1.9967e-03,-4.8237e-05,3.4101e-02,2.2013e-03
+13,9.3333e-01,WAIT_W2,2.2941e-04,-1.1752e-03,1.5082e-02,2.4693e+00,-3.7845e-02,3.6629e-02,-7.9659e-05,2.9722e-02,1.3347e-02,1.2694e-02,-9.2918e-04,2.0541e-03,-4.8146e-05,3.4967e-02,2.2550e-03
+14,1.0167e+00,WAIT_W2,2.4777e-04,1.9088e-04,1.5121e-02,2.4698e+00,-3.7849e-02,3.6723e-02,-7.9614e-05,3.1088e-02,1.3385e-02,1.3273e-02,-9.3312e-04,2.1475e-03,-4.8100e-05,3.6357e-02,2.3419e-03
+15,1.0667e+00,WAIT_W2,2.6446e-04,9.7995e-04,1.5136e-02,2.4702e+00,-3.7850e-02,3.6777e-02,-7.9647e-05,3.1877e-02,1.3401e-02,1.3602e-02,-9.3472e-04,2.2018e-03,-4.8133e-05,3.7159e-02,2.3925e-03
+16,1.1167e+00,WAIT_W2,2.8115e-04,1.7449e-03,1.5148e-02,2.4705e+00,-3.7852e-02,3.6830e-02,-7.9721e-05,3.2642e-02,1.3413e-02,1.3917e-02,-9.3595e-04,2.2548e-03,-4.8207e-05,3.7936e-02,2.4418e-03
+17,1.2167e+00,WAIT_W2,3.0129e-04,3.2050e-03,1.5166e-02,2.4711e+00,-3.7853e-02,3.6932e-02,-7.9986e-05,3.4102e-02,1.3430e-02,1.4505e-02,-9.3758e-04,2.3568e-03,-4.8472e-05,3.9417e-02,2.5369e-03
+18,1.2500e+00,WAIT_W2,3.1569e-04,6.1286e-03,1.5194e-02,2.4723e+00,-3.7856e-02,3.7147e-02,-8.1066e-05,3.7026e-02,1.3459e-02,1.5759e-02,-9.4029e-04,2.5719e-03,-4.9552e-05,4.2431e-02,2.7388e-03
+19,1.3500e+00,WAIT_W2,3.3249e-04,6.0389e-03,1.5197e-02,2.4721e+00,-3.7856e-02,3.7145e-02,-8.1360e-05,3.6936e-02,1.3461e-02,1.5571e-02,-9.4024e-04,2.5695e-03,-4.9846e-05,4.2284e-02,2.7366e-03
+20,1.4000e+00,WAIT_W2,3.5089e-04,6.3459e-03,1.5198e-02,2.4722e+00,-3.7856e-02,3.7166e-02,-8.1568e-05,3.7243e-02,1.3463e-02,1.5637e-02,-9.4012e-04,2.5911e-03,-5.0054e-05,4.2577e-02,2.7569e-03
+21,1.4667e+00,WAIT_W2,3.7298e-04,6.9028e-03,1.5198e-02,2.4724e+00,-3.7855e-02,3.7205e-02,-8.1886e-05,3.7800e-02,1.3463e-02,1.5811e-02,-9.3976e-04,2.6296e-03,-5.0372e-05,4.3129e-02,2.7929e-03
+22,1.5333e+00,WAIT_W2,3.8993e-04,1.3799e-02,3.5883e-02,2.4795e+00,-3.9269e-02,3.7684e-02,-6.9691e-05,4.4696e-02,3.4148e-02,2.2978e-02,-2.3533e-03,3.1086e-03,-3.8177e-05,6.0760e-02,3.8991e-03
+23,1.5667e+00,WAIT_W2,4.0111e-04,1.3894e-02,3.4911e-02,2.4792e+00,-3.9226e-02,3.7700e-02,-6.3443e-05,4.4792e-02,3.3176e-02,2.2600e-02,-2.3103e-03,3.1245e-03,-3.1929e-05,6.0147e-02,3.8860e-03
+24,1.6333e+00,WAIT_W2,4.2488e-04,1.6175e-02,4.8993e-02,2.4808e+00,-4.0273e-02,3.7879e-02,-3.6696e-05,4.7072e-02,4.7258e-02,2.4275e-02,-3.3573e-03,3.3032e-03,-5.1819e-06,7.0981e-02,4.7098e-03
+25,1.6667e+00,WAIT_W2,4.4111e-04,1.6518e-02,5.1578e-02,2.4806e+00,-4.0441e-02,3.7901e-02,-3.5867e-05,4.7415e-02,4.9843e-02,2.4020e-02,-3.5249e-03,3.3253e-03,-4.3534e-06,7.2866e-02,4.8458e-03
+26,1.7000e+00,WAIT_W2,4.5298e-04,1.8618e-02,6.7939e-02,2.4797e+00,-4.1502e-02,3.8036e-02,-2.8240e-05,4.9515e-02,6.6204e-02,2.3117e-02,-4.5863e-03,3.4604e-03,3.2734e-06,8.5843e-02,5.7453e-03
+27,1.7167e+00,WAIT_W2,4.6940e-04,1.7294e-02,5.8090e-02,2.4799e+00,-4.0898e-02,3.7954e-02,-2.1632e-05,4.8191e-02,5.6355e-02,2.3365e-02,-3.9826e-03,3.3788e-03,9.8813e-06,7.7744e-02,5.2228e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cb59c40e4c50d508abf6a9e98aff964ae526be2c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 64071680
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..645e1e018801ff1e0ae4f301b3308576423a02e3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/fem_node.csv
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+59,2.365000e+01,2824,6.960170e-01,1.847235e-02,8.158798e-01,2.845993e-04,-1.969254e-04,-4.973938e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.365000e+01,2826,6.995296e-01,1.865418e-02,8.362475e-01,2.437297e-04,-6.528894e-05,-4.951019e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.365000e+01,2828,6.989645e-01,1.539107e-02,8.216240e-01,3.707773e-04,2.056636e-05,-4.742267e-03,4.691970e-04,4.639692e-03,2.385126e-03
+59,2.365000e+01,2829,6.950776e-01,1.743668e-02,8.315221e-01,2.259418e-04,-1.208534e-04,-4.964636e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.365000e+01,2830,6.941674e-01,1.665491e-02,8.236210e-01,3.313503e-04,-1.348939e-04,-4.952841e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.365000e+01,2835,6.972513e-01,1.593398e-02,8.314526e-01,2.625456e-04,-1.135984e-04,-4.890396e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d87977c1e838c333dd2b89e477b696bb2064c96
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+31060,1792702129643582580,9956654000000,1792702129643143646,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676112444550359,-0.004676413716122751,0.0905287084686087,0.9999999925844436,-5.148068961249252e-05,4.229469172320353e-05,4.283543779838464e-05,0.6761,-0.00453,0.0904105135952348,1.0,0.0,0.0,0.0,-0.49134024660468645,0.2813830439359224,1.8794126184722697,0.02353107654125884,0.035257725429514386,0.0003058405465085675,0.3812848068279694,0.8599424921198863,1.626836194929312,0.06335531012069559,-0.025923786019407393,0.003172638256272377,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,0.8843809559224851,0.8793525969440129,-0.6971861359538035,0.05111011236461477,0.6357754903079231,0.49757168970964866,-0.13074956995010537,1.8794126184722697,0.5664365660036982,0.5664365660036982,0.3953600000000357,0,0,-0.00018276399381814278,9.999999025923074e-05
+31164,1792702130510633871,9957521000000,1792702130503153896,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676144501096913,-0.004686687692276848,0.09044737290709666,0.9999999893936606,-9.676895628581636e-06,9.005875624614493e-05,6.671822279277263e-05,0.6761,-0.00453,0.09027082775892924,1.0,0.0,0.0,0.0,-0.6225393913629185,0.3273922530974068,2.2486598715001214,0.027571712791248565,0.044217848795761905,0.0012007875702629996,0.25008566206973737,0.9059517012813707,1.9960834479571639,0.06739594637068531,-0.016963662653159878,0.004067585280026809,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.0962507501008811,0.6717050604483384,-1.0962341822177801,0.09413941311763417,0.9256010512875209,0.36408395022954504,-0.13074956995010537,2.2486598715001214,0.9654846122676748,0.9654846122676748,0.4647200000000569,0,0,-0.00013941400226338973,9.999999025923074e-05
+31280,1792702131476586214,9958487000000,1792702131475144377,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761621517582969,-0.00470617065006607,0.0903723731014746,0.9999999850899165,-1.0941082520531557e-05,0.00011349780370149057,9.089319300315659e-05,0.6761,-0.00453,0.09015945857819327,1.0,0.0,0.0,0.0,-0.7719250003975368,0.2788127712803198,2.4870303986734954,0.024175827180875395,0.05538007348360565,0.00033243816693074484,0.10070005303511913,0.8573722194642837,2.234453975130538,0.06400006076031214,-0.005801437965316131,0.0031992358766945546,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.174915726315977,0.7177161167250611,-1.3061547816242023,0.036434306384006555,1.0686743428634862,0.38734885702855293,-0.13074956995010537,2.4870303986734954,1.175405211674097,1.175405211674097,0.5420000000000514,0,0,-9.111401167297283e-05,9.999999025923074e-05
+31424,1792702132676559519,9959687000000,1792702132675143861,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676170365052869,-0.004710714635920888,0.09031129516249921,0.9999999828776139,-7.402824044538807e-06,0.00012262643306530982,0.00010293489430990947,0.6761,-0.00453,0.0900860917571665,1.0,0.0,0.0,0.0,-0.7815562810587242,0.26693437582299007,2.583992598515792,0.023109693495552072,0.056392560122555294,4.03528663103247e-05,0.0910687723739316,0.8454938240069539,2.3314161749728344,0.06293392707498882,-0.00478895132636649,0.0029071505760741344,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.1975457639607325,0.5731931097470884,-1.4690195365193706,0.07795505142278085,1.1795841469634007,0.2980895048862816,-0.13074956995010537,2.583992598515792,1.3382699665692652,1.3382699665692652,0.6380000000000142,0,0,-3.111402336189594e-05,9.999999025923074e-05
+31568,1792702133876570178,9960887000000,1792702133875153137,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761686529583929,-0.0047085990392558294,0.09028896487131197,0.9999999831980757,-5.721271189470782e-06,0.0001167373918063709,0.00010670689488807378,0.6761,-0.00453,0.09007544094417531,1.0,0.0,0.0,0.0,-0.7708503186403005,0.25226398276472795,2.525404057206165,0.022126788379642374,0.055411584853942104,5.857398708696785e-05,0.10177473479235537,0.8308234309486918,2.2728276336632076,0.061951021959079124,-0.005769926594979676,0.0029253716968507776,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.195510197995771,0.5648500316184153,-1.3765602776178878,0.08065845319269242,1.1244339588544072,0.2930243565343753,-0.13074956995010537,2.525404057206165,1.2458107076677825,1.2458107076677825,0.733999999999977,0,0,-2.0273311904239755e-07,2.047809283256541e-06
+31711,1792702135068495010,9962079000000,1792702135067153391,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676163651642869,-0.0047114571638853285,0.09027685787661469,0.9999999838683039,-5.205560855356427e-06,0.00010852967522692241,0.00010908926671956822,0.6761,-0.00453,0.09007540050089265,1.0,0.0,0.0,0.0,-0.749321861390718,0.24064501910799008,2.456684320609474,0.021174048055049584,0.05341851249178624,7.37769350921025e-05,0.12330319204193782,0.819204467291954,2.2041078970665167,0.06099828163448633,-0.007762998957135546,0.002940574644855912,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.1142154438302905,0.6367455878838263,-1.2764795093966996,0.06271475032554667,1.04183970117591,0.3356193266147342,-0.13074956995010537,2.456684320609474,1.1457299394465943,1.1457299394465943,0.82935999999994,0,0,-5.151029602856738e-10,5.203060204905796e-09
+31871,1792702136401519586,9963412000000,1792702136395153322,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761623627833206,-0.004706833219387659,0.09027165590610461,0.9999999844730121,-2.5974623710392224e-06,0.00010526628414202244,0.00010681340137012031,0.6761,-0.00453,0.0900754003979069,1.0,0.0,0.0,0.0,-0.7409682670271299,0.22233747855650365,2.4061531552386195,0.02018857057884884,0.052436536193764406,8.835357235699231e-05,0.13165678640552594,0.8008969267404675,2.153576731695662,0.06001280415828559,-0.008744975255157376,0.002955151282120802,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.0626614332847546,0.7336201696001283,-1.1939880297878858,0.02817511081672147,0.9814033359738854,0.39712471975544844,-0.13074956995010537,2.4061531552386195,1.0632384598377804,1.0632384598377804,0.9359999999998987,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+32031,1792702137735572810,9964746000000,1792702137735153422,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761609167584749,-0.004709181391375405,0.09026731787868648,0.9999999847459371,-4.236216868282558e-06,0.00010235551863441839,0.00010703453781928288,0.6761,-0.00453,0.09007524188000404,1.0,0.0,0.0,0.0,-0.7223461541513915,0.2208592044756521,2.376142882468851,0.020216484627158013,0.051429893388598935,9.913745241856833e-05,0.1502788992812644,0.799418652659616,2.1235664589258936,0.06004071820659476,-0.009751618060322844,0.002965935162182378,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.0802869436672398,0.6072790315192806,-1.1326749110432444,0.06455620632564855,0.9463087109712005,0.31169395452278825,-0.13074956995010537,2.376142882468851,1.001925341093139,1.001925341093139,1.0427199999999166,0,0,-5.85647151633789e-07,-9.350653171059093e-05
+32182,1792702138993501596,9966004000000,1792702138991144280,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761589145092669,-0.004710653720796408,0.09026142874283287,0.9999999848716307,-5.254509368460471e-06,9.933404023291929e-05,0.00010864962714063063,0.6761,-0.00453,0.09006692787151623,1.0,0.0,0.0,0.0,-0.7232377068565007,0.20989770542882147,2.362238013383601,0.01920358055913323,0.05145092900161278,9.931824002545799e-05,0.14938734657615516,0.7884571536127853,2.1096615898406434,0.05902781413856998,-0.009730582447309002,0.0029661159497892677,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.1089378839164594,0.5986484689472074,-1.2501394016621512,0.06817991032115589,1.029712517188053,0.3110923183631192,-0.13074956995010537,2.362238013383601,1.1193898317120459,1.1193898317120459,1.1433600000000173,0,0,-1.665498656630427e-05,-2.0495587198193734e-05
+32300,1792702139976519874,9966987000000,1792702139971144831,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761615192530966,-0.004712275617679862,0.09025011236988556,0.9999999837891882,-4.735684100612562e-06,0.00010487470719420814,0.00011332853501090424,0.6761,-0.00453,0.0900425255169671,1.0,0.0,0.0,0.0,-0.7328331866531568,0.22265600001124242,2.416197416595759,0.02018648823561303,0.05243420453784674,8.119857491359177e-05,0.13979186677949906,0.8012154481952063,2.1636209930528016,0.06001072181504978,-0.008747306911075047,0.0029479962846774015,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.1444283340055357,0.5908783907754791,-1.2983871480731701,0.08279686238795249,1.0629488843101218,0.3070665424406909,-0.13074956995010537,2.416197416595759,1.1676375781230648,1.1676375781230648,1.222000000000096,0,0,-2.900428535820699e-05,-8.568934037190274e-05
+32446,1792702141193480803,9968204000000,1792702141187153462,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761705484751345,-0.0047116826579393116,0.09023112243899482,0.999999981837472,-5.157646448373519e-06,0.00011966039437010041,0.00011585641510212747,0.6761,-0.00453,0.09000415441994004,1.0,0.0,0.0,0.0,-0.7613296672638259,0.2385122891146998,2.5066727128431268,0.021136326158702312,0.0544218607359155,4.7625620568285485e-05,0.11129538616882997,0.8170717372986637,2.2540962893001693,0.06096055973813906,-0.0067596507130062876,0.002914423330332095,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.185770197702564,0.6672350328052662,-1.4244218880835442,0.04983203460954864,1.147396462179732,0.3558407283968594,-0.13074956995010537,2.5066727128431268,1.2936723181334389,1.2936723181334389,1.3193600000001933,0,0,-3.596462750246753e-05,4.5709223932216505e-05
+32597,1792702142451535401,9969462000000,1792702142451144137,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676177613289478,-0.004712500426245193,0.09020700396159977,0.9999999798256465,-2.2457327684224405e-06,0.0001308713015510171,0.00012107530859244942,0.6761,-0.00453,0.08996094527555588,1.0,0.0,0.0,0.0,-0.7899276991935037,0.25703017902117753,2.5876163289602956,0.023107246354983832,0.05639279505051821,3.321972212025955e-05,0.08269735423915212,0.8355896272051414,2.335039905417338,0.06293147993442058,-0.004788716398403574,0.0029000174318840693,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.2462059990267895,0.6703868324342557,-1.500313791869827,0.04877565849316268,1.206440298278985,0.35847015249706654,-0.13074956995010537,2.5876163289602956,1.3695642219197217,1.3695642219197217,1.420000000000294,0,0,-3.269876217189736e-05,-7.727131608646868e-05
+32745,1792702143685481715,9970696000000,1792702143679144195,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6761850059687453,-0.004712309458895808,0.09018525381315814,0.9999999774270943,3.953622970533957e-06,0.0001439318879673533,0.0001259232141541719,0.6761,-0.00453,0.08992056680032737,1.0,0.0,0.0,0.0,-0.7915829431475312,0.25925181518908946,2.693648376681516,0.023062273676698358,0.05738334323352385,-3.7022023298525705e-05,0.0810421102851246,0.8378112633730533,2.4410719531385583,0.06288650725613511,-0.003798168215397935,0.002829775686465284,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.2944040489099748,0.6048703933991113,-1.6710253337510366,0.06327949846829041,1.3271198433629992,0.31298287838554417,-0.13074956995010537,2.693648376681516,1.5402757638009312,1.5402757638009312,1.5187200000003926,0,0,-3.075888334727749e-05,9.999999025923074e-05
+32861,1792702144651520094,9971662000000,1792702144647144117,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676189226712371,-0.004713784149476396,0.09016142611298278,0.9999999762856783,3.61483057069472e-06,0.0001500078887844489,0.0001278908658797375,0.6761,-0.00453,0.08989185323224463,1.0,0.0,0.0,0.0,-0.8186781463281947,0.25341142819577445,2.7519960143562763,0.02302109849663321,0.058383608210815736,-7.176976232851516e-05,0.05394690710446118,0.8319708763797383,2.4994195908133188,0.06284533207606996,-0.002797903238106048,0.0027950279474352946,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.232355603956427,0.650957365756885,-1.667739883674259,0.055507192783337926,1.3056126853164278,0.34513920055103836,-0.13074956995010537,2.7519960143562763,1.5369903137241536,1.5369903137241536,1.59600000000047,0,0,-2.8579753087758182e-05,-5e-05
+32992,1792702145743446115,9972754000000,1792702145743154027,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761919195620445,-0.004713330794417867,0.09013467963586755,0.9999999749540193,4.510527562040354e-06,0.00015719038326615783,0.00012963666119274533,0.6761,-0.00453,0.08985712790433914,1.0,0.0,0.0,0.0,-0.8185967061207986,0.2461296401862797,2.816448102434537,0.02197878399260409,0.058760673486757856,-0.00013312292701681905,0.054028347311857246,0.8246890883702436,2.5638716788915796,0.06180301757204084,-0.0024208379621639296,0.0027336747827469907,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.3041236142589767,0.5534612054054001,-1.7354395682668309,0.07953653133650779,1.3654314101417588,0.28217324845310543,-0.13074956995010537,2.816448102434537,1.6046899983167255,1.6046899983167255,1.6833600000005573,0,0,-3.507780118735949e-05,-9.448472146201254e-05
+33156,1792702147110502534,9974121000000,1792702147107143828,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6761967461510158,-0.004715346655613525,0.09009004427351608,0.9999999724538521,1.1759476475449343e-05,0.00016660890813976185,0.00013652232764912512,0.6761,-0.00453,0.08980023350925233,1.0,0.0,0.0,0.0,-0.8379013349011013,0.2585219765505563,2.8948178944770224,0.0224511163749122,0.060378059732557526,-0.00015990242857006698,0.03472371853155448,0.8370814247345202,2.642241470934065,0.06227534995434895,-0.0008034517163642595,0.0027068952811937427,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.322177086042243,0.6145554018601153,-1.9247355819894545,0.0614014678396375,1.4865890008120786,0.32245201396358425,-0.13074956995010537,2.8948178944770224,1.7939860120393492,1.7939860120393492,1.7927200000006667,0,0,-4.7254483247190275e-05,9.999999025923074e-05
+33312,1792702148410486663,9975421000000,1792702148407144217,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676205201928194,-0.0047173131605856705,0.09004308597739019,0.9999999691761488,2.7291167798110384e-05,0.0001795673308627164,0.00014177916638119512,0.6761,-0.00453,0.08974001313891866,1.0,0.0,0.0,0.0,-0.83823059893889,0.24774075260703665,2.9593389872179814,0.021878598560974336,0.06139676718835361,-0.00020704890854614418,0.03439445449376588,0.8263002007910005,2.706762563675024,0.061702832140411085,0.00021525573943182295,0.0026597488012176655,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.3513153836751457,0.4618791102585226,-2.0095241927622816,0.12414734591160392,1.54261804851676,0.2329695990394114,-0.13074956995010537,2.9593389872179814,1.8787746228121762,1.8787746228121762,1.8967200000007707,0,0,-4.843827003800515e-05,9.999926861426473e-05
+33423,1792702149335435170,9976346000000,1792702149335143973,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676215579453632,-0.0047003045244938015,0.0899976312001298,0.9999999694776375,-7.941070083328721e-05,0.00020947840623822256,4.79617178975963e-05,0.6761,-0.00453,0.08968984374297205,1.0,0.0,0.0,0.0,-0.8229440802253292,0.2815050341362795,3.006787724868636,0.024121339688279855,0.05995918369212003,-0.00023336171582975492,0.04968097320732672,0.8600644823202434,2.7542113013256784,0.0639455732677166,-0.001222327756801753,0.002633435993934055,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.2570924914290134,0.7034627210234385,-1.831868522319962,-0.028777195313753848,1.4258028018901012,0.4144971854996797,-0.13074956995010537,3.006787724868636,1.7011189523698567,1.7011189523698567,1.9707200000008447,0,0,-6.328339048208698e-05,-9.999999025923074e-05
+33527,1792702150202474908,9977212000000,1792702150199144284,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762134504856591,-0.004712812356075391,0.08993811895728554,0.999999971212165,-5.5462930975557115e-05,0.00020351848615354933,6.725044755158105e-05,0.6761,-0.00453,0.08962077174132678,1.0,0.0,0.0,0.0,-0.8111214660397684,0.27756012474677005,3.079422635871496,0.023890075293606636,0.05930789549445011,-0.000308852510854548,0.06150358739288743,0.8561195729307339,2.8268462123285385,0.06371430887304338,-0.0018736159544716683,0.0025579451989092617,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4430301526071834,0.5653637430408894,-2.0817350178729144,0.01206926663954924,1.6330902468388908,0.33353497032953733,-0.13074956995010537,3.079422635871496,1.950985447922809,1.950985447922809,2.040000000000914,0,0,-8.549023853135639e-05,8.527696190719353e-05
+33643,1792702151168453787,9978179000000,1792702151163144066,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762201763224551,-0.004714944813636751,0.08987306976884563,0.9999999694077228,-2.6236188216305464e-05,0.0002110979455582106,8.588793651931339e-05,0.6761,-0.00453,0.08954255172394258,1.0,0.0,0.0,0.0,-0.8138233104518049,0.2521472894433465,3.1586914156443933,0.02149514600257104,0.06035968186343162,-0.0003837571933986562,0.05880174298085099,0.8307067376273104,2.9061149921014358,0.06131937958200779,-0.0008218295854901566,0.0024830405163651535,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.3721128577577961,0.5498446938144883,-2.221520917972748,0.07518217974788013,1.6904234323189162,0.3068339504963436,-0.13074956995010537,3.1586914156443933,2.0907713480226424,2.0907713480226424,2.1173600000009913,0,0,-7.125660115151066e-05,9.948622067679764e-05
+33771,1792702152235370790,9979246000000,1792702152235153773,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762204763936058,-0.004714243721081042,0.08980126511164868,0.999999968475637,-1.0472278192223827e-05,0.00020943950361586463,0.00010255250001524702,0.6761,-0.00453,0.08946887873646038,1.0,0.0,0.0,0.0,-0.8182821128150362,0.20788871030879874,3.177222994365606,0.018809385110381965,0.06040325134941648,-0.0014570211248710904,0.05434294061761963,0.7864481584927626,2.9246465708226483,0.058633618689818714,-0.0007782600995053017,0.0014097765848927193,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.3650569735055667,0.6195660152599753,-2.3047672061492053,0.10814476011585257,1.7348278581448697,0.3432634280775112,-0.13074956995010537,3.177222994365606,2.1740176361990997,2.1740176361990997,2.2027200000010767,0,0,-7.234622001886658e-05,9.991826396683052e-05
+33887,1792702153201458971,9980212000000,1792702153195144413,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762244736832614,-0.004715613306479557,0.08973251465173074,0.9999999663192517,5.834963782441567e-08,0.00021299805725163968,0.0001159145559238624,0.6761,-0.00453,0.08939256756203234,1.0,0.0,0.0,0.0,-0.8022167675648224,0.1907581372593825,3.186854433401325,0.017196235103822337,0.05941464966198203,-0.001491365899499979,0.07040828586783345,0.7693175854433464,2.9342780098583674,0.057020468683259086,-0.0017668617869397519,0.0013754318102638307,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.373133662304874,0.5022561030609687,-2.3353066540995133,0.14560061548887537,1.7529072164743307,0.25902045154911857,-0.13074956995010537,3.186854433401325,2.2045570841494078,2.2045570841494078,2.280000000001154,0,0,-9.030514970945346e-05,9.99986857471768e-05
+34006,1792702154193452690,9981204000000,1792702154191143664,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762343683867769,-0.004712499008794135,0.08964390597233063,0.9999999646515007,-5.0140311599358476e-05,0.0002302975817645791,8.117163799815937e-05,0.6761,-0.00453,0.08929120375469783,1.0,0.0,0.0,0.0,-0.7805287009050138,0.2146399803493475,3.258122101847543,0.01884225226915181,0.05832258690421261,-0.0005221680569428917,0.09209635252764208,0.7931994285333114,3.0055456783045855,0.05866648584858856,-0.00285892454470917,0.002344629652820918,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.353600406104426,0.5002773365663974,-2.3325907213310644,0.17702124222599364,1.7412040848380572,0.2631263351724154,-0.13074956995010537,3.258122101847543,2.201841151380959,2.201841151380959,2.3593600000012334,0,0,-0.00010979788791640045,-9.997001423756586e-05
+34118,1792702155126398933,9982137000000,1792702155123144321,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762349537561293,-0.004719641773611629,0.08954320825718873,0.9999999641340749,-3.985217377475768e-05,0.00023050819439834118,9.19374238854908e-05,0.6761,-0.00453,0.08918986861812492,1.0,0.0,0.0,0.0,-0.7706326722960675,0.19563756328810844,3.287436903669219,0.01682130381950566,0.05737151087962883,-0.0005835739500850679,0.10199238113658841,0.7741970114720723,3.0348604801262615,0.05664553739894241,-0.0038100005692929513,0.002283223759678742,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4275117953182284,0.6112392495446873,-2.392664292348241,0.15394422555883766,1.8000691983302146,0.337817624950253,-0.13074956995010537,3.287436903669219,2.2619147223981355,2.2619147223981355,2.434000000001308,0,0,-0.00011252041598050345,-9.725564384244762e-05
+34230,1792702156060406541,9983071000000,1792702156059144371,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676239491841362,-0.004717867761197595,0.08943443184363535,0.9999999624218621,-3.328475104486143e-05,0.00023599379214297306,9.898582905260675e-05,0.6761,-0.00453,0.08907358982774428,1.0,0.0,0.0,0.0,-0.7605671847496366,0.1748000474136252,3.3246573856390462,0.015827450268004112,0.05637543200387,-0.001658839956490799,0.11205786868301923,0.7533594955975891,3.0720809620960887,0.05565168384744086,-0.004806079445051783,0.0012079577532730108,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4435732935652774,0.45612456412583136,-2.4473967331748474,0.20822621913350767,1.8381420288079102,0.2356025192476961,-0.13074956995010537,3.3246573856390462,2.316647163224742,2.316647163224742,2.5087200000013827,0,0,-0.00013482029291164566,-9.999597957855428e-05
+34326,1792702156860335458,9983871000000,1792702156859144101,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762435797611158,-0.004721945925606611,0.0893311598797405,0.999999960689863,-2.1303720488971397e-05,0.00024121944642482585,0.00010687594323129772,0.6761,-0.00453,0.08896534323164451,1.0,0.0,0.0,0.0,-0.7296528616582469,0.16244829084703605,3.338025181738059,0.014857646996894291,0.05436697839157965,-0.0017214857277402119,0.1429721917744089,0.7410077390309999,3.0854487581951013,0.05468188057633104,-0.006814533057342136,0.0011453119820235978,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4599899716797795,0.4161637138651611,-2.4922148047680888,0.23398313060738382,1.8712262331233127,0.21151201903354366,-0.13074956995010537,3.338025181738059,2.361465234817983,2.361465234817983,2.5727200000014467,0,0,-0.00013635420328536452,-9.676573017725616e-05
+34414,1792702157593393746,9984604000000,1792702157591143942,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762448468890948,-0.004721369356569271,0.08922504199614613,0.999999960602794,-2.9837377345761804e-05,0.00024208644957917272,0.00010363955254280726,0.6761,-0.00453,0.08885762753061532,1.0,0.0,0.0,0.0,-0.7145845227704092,0.15026581677239548,3.373056301173078,0.013859413018552674,0.053363092653847144,-0.0017169954454404807,0.15804053066224666,0.7288252649563594,3.1204798776301206,0.05368364659798942,-0.007818418795074635,0.001149802264323329,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4056986331833654,0.5067601635769203,-2.5768045767813574,0.22658978065304344,1.9087018485778593,0.27028387823352784,-0.13074956995010537,3.373056301173078,2.446055006831252,2.446055006831252,2.6313600000015054,0,0,-0.0001562171590876752,4.214696233540423e-05
+34509,1792702158385363401,9985396000000,1792702158379143972,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762453207012472,-0.004716524755781701,0.08909772071397078,0.9999999601431158,-2.9755799277863996e-05,0.00024382452394976147,0.00010402319614679559,0.6761,-0.00453,0.0887302046775004,1.0,0.0,0.0,0.0,-0.6987023818764019,0.14829896170807444,3.376705358584549,0.012890066256914676,0.05231829340934394,-0.0017983210212604295,0.17392267155625393,0.7268584098920383,3.1241289350415915,0.052714299836351425,-0.00886321803957784,0.0010684766885033802,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4281560112108724,0.48960129543795744,-2.549337309149987,0.24325628759437945,1.8969281043777113,0.257963855258532,-0.13074956995010537,3.376705358584549,2.4185877391998813,2.4185877391998813,2.6947200000015687,0,0,-0.0001696795919978441,-8.972955298081615e-05
+34593,1792702159085366561,9986096000000,1792702159083144469,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762526064870594,-0.00472232820507524,0.08898584568920816,0.9999999566867356,-2.5942270909852724e-05,0.00025506169707492974,0.0001110851958456109,0.6761,-0.00453,0.08860262983083557,1.0,0.0,0.0,0.0,-0.6932186510265145,0.14881332409431614,3.416417080515349,0.012884777225731892,0.05134659221357084,-0.0018456140419574876,0.17940640240614136,0.72737277227828,3.1638406569723916,0.05270901080516864,-0.009834919235350941,0.0010211836678063221,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4980248286001605,0.5014242410118788,-2.659478611936629,0.25880155300467944,1.9823109649487511,0.2706819666841569,-0.13074956995010537,3.416417080515349,2.5287290419865234,2.5287290419865234,2.7507200000016248,0,0,-0.000190197396822385,9.999597957855428e-05
+34665,1792702159685402172,9986696000000,1792702159683144082,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762501660135808,-0.004717990161502699,0.08886331191766506,0.9999999582390867,-1.873814307782676e-05,0.00024792656852476306,0.00011465595507008662,0.6761,-0.00453,0.08848513100976216,1.0,0.0,0.0,0.0,-0.655301354755909,0.12876965367373072,3.436443591981712,0.011914917133682382,0.04933460251733392,-0.0019007352008023218,0.2173236986767469,0.7073291018576946,3.1838671684387543,0.05173915071311913,-0.011846908931587862,0.0009660625089614879,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.3843844140864798,0.5257410157779212,-2.641515457852508,0.2751673260393335,1.9365984140633705,0.2894676905936337,-0.13074956995010537,3.436443591981712,2.5107658879024024,2.5107658879024024,2.7987200000016728,0,0,-0.0002035197050568024,-9.999999025923074e-05
+34733,1792702160251396921,9987262000000,1792702160247143904,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762530447600524,-0.004721904712175136,0.08875188400668069,0.9999999566852412,-2.7316763679118235e-05,0.0002542643640941022,0.00011258688954087772,0.6761,-0.00453,0.08837001446610802,1.0,0.0,0.0,0.0,-0.6641316975157293,0.11806712429478927,3.4899989296040737,0.010883135683802038,0.0493427171558029,-0.001955530159522622,0.20849335591692653,0.6966265724787531,3.237422506061116,0.05070736926323879,-0.011838794293118883,0.0009112675502411877,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.5044559784614553,0.5681438574419375,-2.7722746951749238,0.27752689332421027,2.0557478629018497,0.32123074126684575,-0.13074956995010537,3.4899989296040737,2.641525125224818,2.641525125224818,2.844000000001718,0,0,-0.0002045017632082161,9.998371161413217e-05
+34805,1792702160851341352,9987862000000,1792702160847143940,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676252272907258,-0.004724555047337573,0.08862571466170284,0.9999999564540272,-1.953124627409454e-05,0.0002521934454308955,0.00012063086132488024,0.6761,-0.00453,0.08824467064004352,1.0,0.0,0.0,0.0,-0.6573510407212608,0.09566646196723427,3.4550454907926618,0.009829460110886833,0.04835772798591141,-0.0019526346101009378,0.215274012711395,0.6742259101511981,3.2024690672497043,0.04965369369032358,-0.012823783463010373,0.0009141630996628719,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4767537733848173,0.515260969063179,-2.59871351405245,0.3091584424964745,1.9328574975274093,0.29378691679766966,-0.13074956995010537,3.4550454907926618,2.4679639441023444,2.4679639441023444,2.892000000001766,0,0,-0.0002185594582357605,-9.999999025923074e-05
+34873,1792702161418379653,9988429000000,1792702161411146090,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762547203607042,-0.004728111109154491,0.08850527721858983,0.999999954678131,-2.1373724950979154e-05,0.00025718915314736475,0.00012443272817321083,0.6761,-0.00453,0.08811661868979602,1.0,0.0,0.0,0.0,-0.6592430423373108,0.09166410309198292,3.475612309322369,0.008049583994302417,0.049403662249719746,-0.0019700593859917365,0.21338201109534505,0.6702235512759468,3.2230358857794115,0.047873817573739166,-0.011777849199202037,0.000896738323772073,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.500936566400723,0.5036338093442075,-2.7639859200338157,0.32569264002074777,2.0424629112886916,0.28520767693862414,-0.13074956995010537,3.475612309322369,2.63323635008371,2.63323635008371,2.9373600000018114,0,0,-0.00023430711445983425,-9.082631792572488e-05
+34937,1792702161951291491,9988962000000,1792702161947154652,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.676256366466629,-0.004731840255160445,0.08837489864503038,0.9999999538682642,-2.274706514145786e-05,0.00025874579106046887,0.0001274343764250097,0.6761,-0.00453,0.08798818601438117,1.0,0.0,0.0,0.0,-0.6638639740069205,0.07074568933401093,3.544475094908604,0.00780703205744325,0.04939098563199425,-0.0020345840410459183,0.20876107942573527,0.6493051375179748,3.2918986713656464,0.04763126563688,-0.011790525816927532,0.0008322136687178913,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.4916964112945112,0.47225102097282856,-2.706995374372954,0.35446687801823884,2.001656514820344,0.26760418165909344,-0.13074956995010537,3.544475094908604,2.5762458044228485,2.5762458044228485,2.980000000001854,0,0,-0.00024376059008376772,-9.982084189641966e-05
+34996,1792702162443288288,9989454000000,1792702162443144148,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762526331617292,-0.004733588684014773,0.08824781747005532,0.999999955208081,-1.8188094033170433e-05,0.0002511322122845807,0.0001327723826547171,0.6761,-0.00453,0.08786644951920641,1.0,0.0,0.0,0.0,-0.6601812740285231,0.06224127250937195,3.5141099671511173,0.005778230861222582,0.049211348081248114,-0.0020359735756009245,0.21244377940413267,0.6408007206933358,3.26153354360816,0.04560246444065933,-0.01197016336767367,0.0008308241341628851,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.505806706004572,0.44924023235290356,-2.7851088790480762,0.3708986964168285,2.0530208345380414,0.25545934875439263,-0.13074956995010537,3.5141099671511173,2.6543593090979707,2.6543593090979707,3.0193600000018934,0,0,-0.0002536911831122187,-9.974091971643446e-05
+35064,1792702163010384310,9990021000000,1792702163007143685,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762522758371757,-0.0047401493920195175,0.08810073388230884,0.9999999553088326,-1.7800144504968608e-05,0.0002479928000884794,0.00013786922525326235,0.6761,-0.00453,0.08772051317333686,1.0,0.0,0.0,0.0,-0.6609346526746478,0.04193451788604785,3.545130907801597,0.0047443900963376265,0.049448337788815105,-0.0020686016000502237,0.2116904007580081,0.6204939660700117,3.2925544842586394,0.044568623675774376,-0.011733173660106677,0.0007981961097135859,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.5534484364866152,0.44474723214583944,-2.8850325980070206,0.38297716785391345,2.1316071552937115,0.24932847373632883,-0.13074956995010537,3.545130907801597,2.754283028056915,2.754283028056915,3.064720000001939,0,0,-0.0002630940867706392,9.687500387845489e-05
+35120,1792702163476358182,9990487000000,1792702163471143931,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762543185832276,-0.0047372384704240395,0.08798225124254543,0.9999999547947587,-2.412263851562544e-05,0.0002516761818921727,0.00013390497750560701,0.6761,-0.00453,0.08759597763851024,1.0,0.0,0.0,0.0,-0.6615579838110073,0.030245275453500753,3.5573710190961174,0.0037179669183180844,0.04946596858573141,-0.002092711143986011,0.21106706962164862,0.6088047236374646,3.30479459555316,0.043542200497754834,-0.011715542863190376,0.0007740865657777985,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.5684947350120484,0.3975594599900643,-2.8387984094717376,0.40932308994076905,2.1001559612140914,0.2196685674896019,-0.13074956995010537,3.5573710190961174,2.708048839521632,2.708048839521632,3.102000000001976,0,0,-0.00027464695886578037,-9.923633722953013e-05
+35180,1792702163976316993,9990987000000,1792702163975143610,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762535739623238,-0.004741558565592213,0.0878434363267072,0.9999999540680139,-4.023544405487851e-05,0.00025200319700672234,0.00013484187833476285,0.6761,-0.00453,0.08745515892612926,1.0,0.0,0.0,0.0,-0.6595961670518656,0.015453015557303496,3.5221445798526294,0.002694435886892159,0.048479957017694496,-0.0020897072798079287,0.21302888638079023,0.5940124637412674,3.269568156309672,0.04251866946632891,-0.012701554431227287,0.000777090429955881,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.574111846983477,0.2386303063888473,-2.797213100812435,0.4729910519488946,2.071761716782006,0.11634449871613689,-0.13074956995010537,3.5221445798526294,2.6664635308623295,2.6664635308623295,3.142000000002016,0,0,-0.00029126436410928234,-9.999949065886966e-05
+35236,1792702164443302938,9991454000000,1792702164443144090,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.676253639544796,-0.004746173617127083,0.08770761685551236,0.9999999530132103,-4.8708223566106154e-05,0.00025270980499923936,0.00013849803332126716,0.6761,-0.00453,0.08731527453176549,1.0,0.0,0.0,0.0,-0.6619660862476311,0.020697342543834485,3.5545487782657315,0.002701213559313541,0.04948572532577948,-0.002099007783343596,0.2106589671850247,0.5992567907277984,3.301972354722774,0.04252544713875029,-0.0116957861231423,0.0007677899264202136,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.6029724447289817,0.3892312021658418,-2.8951862150139256,0.44473635729210226,2.138949174993832,0.22049721793786212,-0.13074956995010537,3.5545487782657315,2.76443664506382,2.76443664506382,3.1793600000020534,0,0,-0.00030485955842682175,-9.994547830872164e-05
+35292,1792702164910364685,9991921000000,1792702164903144196,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762564646655179,-0.004749435826806994,0.08756970078125513,0.999999951154024,-4.1545228978711036e-05,0.0002563237821504716,0.00014733270784464912,0.6761,-0.00453,0.08716990542677036,1.0,0.0,0.0,0.0,-0.6771775588496574,3.42716332494275e-05,3.582677855113938,0.000631450004297783,0.050319028588231,-0.0021333138752149287,0.19544749458299843,0.5785937198172133,3.3301014315709807,0.04045568358373453,-0.01086248286069078,0.0007334838345488808,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.6550596550719368,0.3481924095810543,-3.013161045866375,0.4613092041584492,2.2276263187299663,0.19292795278243277,-0.13074956995010537,3.582677855113938,2.8824114759162693,2.8824114759162693,3.216720000002091,0,0,-0.00031774779642582276,9.960937216580418e-05
+35340,1792702165310339554,9992321000000,1792702165307144124,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762518413173041,-0.004752088463247768,0.08743931265182942,0.9999999519256264,-2.8526358027300865e-05,0.0002489509038403974,0.00015748429694561423,0.6761,-0.00453,0.08704073161120936,1.0,0.0,0.0,0.0,-0.6737006616805397,-0.01164857249061868,3.558089224933412,-0.0003918590902193264,0.05055761754902615,-0.0021231972749393476,0.19892439175211624,0.5669108756933452,3.3055128013904547,0.03943237448921742,-0.010623893899895633,0.0007436004348244622,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.6248122684924966,0.33499043139415857,-2.857026119678559,0.481337413039023,2.114681312819388,0.19193327776447774,-0.13074956995010537,3.558089224933412,2.7262765497284533,2.7262765497284533,3.248720000002123,0,0,-0.0003302716270983926,-9.999994862586731e-05
+35388,1792702165710367214,9992721000000,1792702165707153499,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762534057417797,-0.004749293268964519,0.08730894368851194,0.999999955326281,-3.078066712982402e-05,0.00025718591115575436,0.00011703955786868816,0.6761,-0.00453,0.08690719783459246,1.0,0.0,0.0,0.0,-0.6592825675126708,0.019593878231683792,3.6040091854556833,0.003154412501495389,0.04873544978065042,-0.002141507162995528,0.21334248591998511,0.5981533264156477,3.3514327619127258,0.04297864608093214,-0.012446061668271367,0.0007252905467682815,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.6714147013537575,0.3755223646663438,-2.9720643256756234,0.4791172213511697,2.2003588008769404,0.21935428601285648,-0.13074956995010537,3.6040091854556833,2.841314755725518,2.841314755725518,3.280720000002155,0,0,-0.0003358356835917161,-8.96124244517182e-05
+35437,1792702166118263159,9993129000000,1792702166111144391,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762550474640401,-0.004755838314820029,0.08717249814736648,0.9999999512797464,-3.0205428640477357e-05,0.0002617758292472802,0.00013944323752883043,0.6761,-0.00453,0.08676680717472877,1.0,0.0,0.0,0.0,-0.6656409393803981,-0.019580332318386517,3.6119783378665926,-0.00037479937616208964,0.04953276023348584,-0.0021814675684819727,0.20698411405225775,0.5589791158655774,3.359401914323635,0.03944943420327466,-0.011648751215435947,0.0006853301412818369,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.6764543293355123,0.3272825086383074,-2.9939939819608403,0.49473746509086036,2.2140642256997123,0.18344740119838182,-0.13074956995010537,3.6119783378665926,2.8632444120107348,2.8632444120107348,3.3133600000021874,0,0,-0.0003498396882281859,-9.999999025923074e-05
+35483,1792702166501329418,9993512000000,1792702166495143893,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762495938713915,-0.004762310588293633,0.0870324866055878,0.9999999521239135,-2.526432842092335e-05,0.0002462757545065665,0.000160950308813868,0.6761,-0.00453,0.08663012112162148,1.0,0.0,0.0,0.0,-0.6952429727729993,-0.030223088967804568,3.607761655884794,-0.001445320668344123,0.051579267176527326,-0.002160994125865948,0.17738208065965652,0.5483363592161593,3.3551852323418365,0.038378912911092626,-0.009602244272394457,0.0007058035838978616,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.7163843004493042,0.29912184219342824,-2.8461120426020985,0.5078437334227085,2.1380551398235754,0.16914600297429402,-0.13074956995010537,3.607761655884794,2.715362472651993,2.715362472651993,3.344000000002218,0,0,-0.0003646321659015169,-9.999999025923074e-05
+35531,1792702166901324117,9993912000000,1792702166895144172,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762528074101157,-0.004769957434817674,0.08689419998742891,0.9999999478644217,-1.39277136084073e-05,0.0002492139179883142,0.00018279075505355684,0.6761,-0.00453,0.08648173469835398,1.0,0.0,0.0,0.0,-0.7140501697142729,-0.03156098556020537,3.6341895485852342,-0.0014743403460245885,0.05258981060822179,-0.002163019887049792,0.1585748837183829,0.5469984626237585,3.3816131250422767,0.03834989323341216,-0.008591700840699991,0.0007037778227140175,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.8005827355888067,0.38335310368359077,-3.0134718007696417,0.49137775569777636,2.2620612343403503,0.228483360523361,-0.13074956995010537,3.6341895485852342,2.882722230819536,2.882722230819536,3.37600000000225,0,0,-0.000376244821502529,-7.741455673582748e-05
+35571,1792702167235347031,9994246000000,1792702167235143829,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762631439462503,-0.004761903104472565,0.08676852577260519,0.999999946759199,-8.267232807444086e-05,0.0002760021205432801,0.00012211707186346042,0.6761,-0.00453,0.08635364796027194,1.0,0.0,0.0,0.0,-0.6451623972668519,0.08035758118590919,3.6544696002326473,0.005808972631877962,0.049338831914292273,-0.0021464448866344915,0.22746265616580394,0.6589170293698731,3.40189317668969,0.04563320621131471,-0.011842679534629507,0.0007203528231293182,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.8202050424642109,0.3309098232577147,-2.9916948373565813,0.47069057873061365,2.2595259628883237,0.21470857273316493,-0.13074956995010537,3.6544696002326473,2.8609452674064757,2.8609452674064757,3.402720000002277,0,0,-0.0003907572391035049,-9.999999025923074e-05
+35611,1792702167568320515,9994579000000,1792702167567143896,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762537875083978,-0.004769374519189149,0.08663769166913067,0.9999999492768691,-5.42160431636063e-05,0.00026093439067966325,0.0001478613818128143,0.6761,-0.00453,0.08622155831795583,1.0,0.0,0.0,0.0,-0.6685017673025786,0.0011056965910778427,3.6526661923901678,0.0006165707021401831,0.04996869175604529,-0.0022004927222176486,0.2041232861300773,0.5796651447750417,3.4000897688472103,0.04044080428157693,-0.011212819692876488,0.000666304987546161,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.8224139056644617,0.2242515696559037,-2.966608337116234,0.5501929900956066,2.242977926818953,0.13450137300768344,-0.13074956995010537,3.6526661923901678,2.8358587671661284,2.8358587671661284,3.4293600000023035,0,0,-0.0004023895672458907,-9.999999025923074e-05
+35651,1792702167901343592,9994912000000,1792702167899144443,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762463265329446,-0.004772717509773274,0.0864964518401382,0.9999999488103868,-2.2370512633969068e-05,0.0002552640603783143,0.00016781510058604465,0.6761,-0.00453,0.0860864028340277,1.0,0.0,0.0,0.0,-0.6893266912650795,-0.05810929140096055,3.7010178068839092,-0.0031537987829824282,0.05152187284058197,-0.002256625460747254,0.1832983621675763,0.5204501567830033,3.4484413833409517,0.03667043479645432,-0.009659638608339812,0.0006101722490165555,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.770410895662708,0.1872294723843858,-2.940700072259518,0.5698070000801632,2.2181582953788097,0.11348989322301967,-0.13074956995010537,3.7010178068839092,2.8099505023094125,2.8099505023094125,3.45600000000233,0,0,-0.0004081584032242499,-9.977886158830102e-05
+35691,1792702168235342873,9995246000000,1792702168235144221,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762404287886906,-0.004778410861004479,0.08636052065823904,0.999999949098479,-2.2766310256053377e-05,0.0002457918620257436,0.0001797608400644476,0.6761,-0.00453,0.08594893525538133,1.0,0.0,0.0,0.0,-0.6838901302924735,-0.08150600123512436,3.6900976530955742,-0.005523446202407113,0.050627751405902706,-0.002288716009310421,0.18873492314018236,0.4970534469488395,3.4375212295526167,0.034300787377029636,-0.010553760043019075,0.0005780817004533886,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.795018790014882,0.2326856245673508,-3.0406515859739818,0.5658774221710563,2.295008859425999,0.14072438396731435,-0.13074956995010537,3.6900976530955742,2.909902016023876,2.909902016023876,3.482720000002357,0,0,-0.00041651834797459673,-9.38476338571192e-05
+35731,1792702168568246147,9995579000000,1792702168563144286,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762617031291216,-0.004774794204565327,0.08623369987749542,0.9999999456054385,-6.362135620010434e-05,0.00026967294368493135,0.00015316922342693145,0.6761,-0.00453,0.08580764530234117,1.0,0.0,0.0,0.0,-0.7266629929690299,0.03892183255819548,3.639516590713792,0.0036937492546955386,0.054159877903962886,-0.0020923373737644574,0.14596206046362595,0.6174812807421594,3.3869401671708346,0.04351798283413229,-0.0070216335449589,0.0007744603359993522,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,2.0110827218806104,0.32428124873781916,-2.9966378228639092,0.5378153939469003,2.305872039168308,0.20984942680027963,-0.13074956995010537,3.639516590713792,2.8658882529138037,2.8658882529138037,3.5093600000023835,0,0,-0.0004324863268165543,-9.999999025923074e-05
+35771,1792702168901322475,9995912000000,1792702168899144185,DOWN_FORCE_DETACH,8,0.042,0.042002368718385696,0.6762633311747606,-0.004782347096671751,0.08609367262044004,0.9999999429133883,-1.3756779173893505e-05,0.0002729570995375899,0.00017584441210092503,0.6761,-0.00453,0.0856610038378202,1.0,0.0,0.0,0.0,-0.7529037940722266,-0.0010921487829508303,3.6918656061915236,-9.180184643572259e-05,0.056464173746865555,-0.0021428432112496646,0.11972125936042925,0.577467299401013,3.439289182648566,0.03973243173300103,-0.004717337702056228,0.0007239544985141449,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,2.033831372073971,0.2375696100518865,-3.058957396451511,0.563769220951905,2.353077436014019,0.15888621846390158,-0.13074956995010537,3.6918656061915236,2.9282078265014055,2.9282078265014055,3.53600000000241,0,0,-0.00044770290360682106,-9.999999025923074e-05
+35807,1792702169201333192,9996212000000,1792702169195144410,DOWN_FORCE_DETACH,8,0.042,0.04200171306729317,0.6762623192159651,-0.004775758125239552,0.08595403806940491,0.9999999458387236,-6.904298594691577e-05,0.0002777703387231501,0.00013357439590843228,0.6761,-0.00453,0.08552513246054319,1.0,0.0,0.0,0.0,-0.6858458646642469,0.03907671001758184,3.712526264460046,0.0018990977079278923,0.05174587736945433,-0.0021991204582914575,0.18677918876840888,0.6176361582015457,3.4599498409170883,0.04172333128736464,-0.00943563407946745,0.0006676772514723524,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,2.016596282425358,0.24669990717850657,-3.0107709762713144,0.567809548868312,2.3263321819831293,0.16864576688297314,-0.13074956995010537,3.712526264460046,2.880021406321209,2.880021406321209,3.560000000002434,0,0,-0.0004578162112009717,-9.999999025923074e-05
+35843,1792702169499336369,9996510000000,1792702169495144477,DOWN_SETTLE,8,0.042,0.042002368718385696,0.6762583881819453,-0.00478388803655527,0.08581554560965232,0.9999999466503808,-5.102909852318881e-05,0.0002672755565882498,0.0001552478922573906,0.6761,-0.00453,0.08538787998388808,1.0,0.0,0.0,0.0,-0.7170079565196333,-0.017391516875613577,3.750854831114314,-0.0012690386795907796,0.05352501688793982,-0.0022491057096634794,0.1556170969130225,0.5611679313083503,3.4982784075713567,0.03855519489984597,-0.0076564945609819595,0.0006176920001003303,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,2.05328441366079,0.23902468737529736,-2.985054376919625,0.5778795619896528,2.326648029043098,0.15927004691801228,-0.13074956995010537,3.750854831114314,2.8543048069695196,0.0,0.0,0,0,-0.00042269923358406936,0.0020710845745336493
+35947,1792702170365229973,9997376000000,1792702170359144005,DOWN_PEAK_HOLD,8,0.042,0.04200171306729317,0.67623218286366,-0.0047854686470028855,0.08569969192777903,0.9999999570390086,-4.856542063851479e-05,0.0002245651838748374,0.0001567696516046942,0.6761,-0.00453,0.0853437571273704,1.0,0.0,0.0,0.0,-0.6191317413476853,-0.07877796826849237,3.1933408615286822,-0.00531843471106154,0.04668091619276955,-0.0019399012103068886,0.2534933120849705,0.4997814799154715,2.9407644379857247,0.03450579886837521,-0.014500595256152226,0.000926896499456921,0.8726250534326558,0.5785594481839639,-0.2525764235429577,0.03982423357943675,-0.06118151144892178,0.0028667977097638097,1,1.7769195989585744,0.1776613201863407,-2.5061015262011366,0.5947264786278308,1.9682097365858793,0.11450990136132304,-0.13074956995010537,3.1933408615286822,2.375351956251031,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cd4f75fb69189536e7782703c35358541b5506d
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a24c018ff123e75925013dfa197acbc85e301a3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,1.850000000e+00,DOWN_FORCE_DETACH,1792702128017353476,4.210819056e-05,-2.723617273e-05,-1.334072603e-04,4.358564419e-05,-2.573139519e-05,-1.151369845e-04,4.494939104e-05,-2.551042419e-05,-1.132503490e-04,7.015799797e-01,-2.568521141e-05,8.406075339e-01,7.015814571e-01,-2.418043386e-05,8.406258042e-01,7.017738140e-01,-2.373812422e-05,8.294596861e-01
+5,2.266666667e+00,DOWN_FORCE_DETACH,1792702128851172476,7.056540585e-05,-3.995737950e-05,-2.171022545e-04,6.073228193e-05,-3.389214132e-05,-2.024273374e-04,6.223140490e-05,-3.360516415e-05,-1.995946284e-04,7.016084369e-01,-3.840641818e-05,8.405238389e-01,7.015986038e-01,-3.234118000e-05,8.405385139e-01,7.017910960e-01,-3.183286418e-05,8.293733418e-01
+6,2.666666667e+00,DOWN_FORCE_DETACH,1792702129647376464,1.137607004e-04,-4.081914324e-05,-2.989077718e-04,1.106153989e-04,-4.218932266e-05,-2.940332157e-04,1.127668306e-04,-4.182127445e-05,-2.905238261e-04,7.016516322e-01,-3.926818192e-05,8.404420334e-01,7.016484869e-01,-4.063836134e-05,8.404469080e-01,7.018416314e-01,-4.004897447e-05,8.292824126e-01
+7,3.100000000e+00,DOWN_FORCE_DETACH,1792702130511659056,1.451240669e-04,-4.974400062e-05,-3.813586650e-04,1.397015180e-04,-4.805388624e-05,-3.715443353e-04,1.425198799e-04,-4.763615370e-05,-3.682290746e-04,7.016829955e-01,-4.819303929e-05,8.403595825e-01,7.016775730e-01,-4.650292492e-05,8.403693969e-01,7.018713844e-01,-4.586385373e-05,8.292047073e-01
+8,3.583333333e+00,DOWN_FORCE_DETACH,1792702131477734455,1.616818877e-04,-6.038702745e-05,-4.589030343e-04,1.593759160e-04,-6.761646127e-05,-4.516062172e-04,1.627909037e-04,-6.708125304e-05,-4.486236281e-04,7.016995534e-01,-5.883606613e-05,8.402820382e-01,7.016972474e-01,-6.606549994e-05,8.402893350e-01,7.018916555e-01,-6.530895306e-05,8.291243128e-01
+9,4.216666667e+00,DOWN_FORCE_DETACH,1792702132675326037,1.703534765e-04,-7.253090311e-05,-5.196879564e-04,1.676444451e-04,-6.603388026e-05,-5.116242336e-04,1.715851792e-04,-6.550391889e-05,-5.094696815e-04,7.017082250e-01,-7.097994179e-05,8.402212532e-01,7.017055159e-01,-6.448291893e-05,8.402293170e-01,7.019004497e-01,-6.373161892e-05,8.290634667e-01
+10,4.850000000e+00,DOWN_FORCE_DETACH,1792702133873295900,1.674307965e-04,-6.602551415e-05,-5.450844306e-04,1.692047469e-04,-7.493187360e-05,-5.311189075e-04,1.733851846e-04,-7.436207543e-05,-5.298714160e-04,7.017053023e-01,-6.447455283e-05,8.401958568e-01,7.017070762e-01,-7.338091228e-05,8.402098223e-01,7.019022498e-01,-7.258977545e-05,8.290430650e-01
+11,5.483333333e+00,DOWN_FORCE_DETACH,1792702135069240244,1.632733648e-04,-7.425929736e-05,-5.539081985e-04,1.629659831e-04,-7.025902748e-05,-5.523813748e-04,1.672240836e-04,-6.969877445e-05,-5.514535888e-04,7.017011448e-01,-7.270833604e-05,8.401870330e-01,7.017008375e-01,-6.870806616e-05,8.401885598e-01,7.018960887e-01,-6.792647447e-05,8.290214828e-01
+12,6.133333333e+00,DOWN_FORCE_DETACH,1792702136401209353,1.624361840e-04,-6.871050715e-05,-5.592788266e-04,1.629659831e-04,-7.025902748e-05,-5.523813748e-04,1.672933607e-04,-6.970634607e-05,-5.519099500e-04,7.017003077e-01,-6.715954582e-05,8.401816624e-01,7.017008375e-01,-6.870806616e-05,8.401885598e-01,7.018961579e-01,-6.793404609e-05,8.290210265e-01
+13,6.800000000e+00,DOWN_FORCE_DETACH,1792702137731178583,1.583947363e-04,-7.180918571e-05,-5.672918408e-04,1.629659831e-04,-7.025902748e-05,-5.523813748e-04,1.673375192e-04,-6.971104845e-05,-5.521275533e-04,7.016962662e-01,-7.025822438e-05,8.401736493e-01,7.017008375e-01,-6.870806616e-05,8.401885598e-01,7.018962021e-01,-6.793874847e-05,8.290208089e-01
+14,7.433333333e+00,DOWN_FORCE_DETACH,1792702138995341917,1.560486757e-04,-7.283940853e-05,-5.726631057e-04,1.578414011e-04,-7.720132758e-05,-5.706576428e-04,1.620773949e-04,-7.660731716e-05,-5.701751439e-04,7.016939202e-01,-7.128844721e-05,8.401682781e-01,7.016957129e-01,-7.565036626e-05,8.401702835e-01,7.018909420e-01,-7.483501718e-05,8.290027613e-01
+15,7.933333333e+00,DOWN_FORCE_DETACH,1792702139964614098,1.610900860e-04,-7.567815980e-05,-5.824871852e-04,1.578414011e-04,-7.720132758e-05,-5.706576428e-04,1.620592002e-04,-7.661675094e-05,-5.703595207e-04,7.016989616e-01,-7.412719848e-05,8.401584540e-01,7.016957129e-01,-7.565036626e-05,8.401702835e-01,7.018909238e-01,-7.484445096e-05,8.290025769e-01
+16,8.550000000e+00,DOWN_FORCE_DETACH,1792702141191471219,1.701147761e-04,-7.816806758e-05,-6.002668809e-04,1.650096621e-04,-7.468748151e-05,-5.901242793e-04,1.693059316e-04,-7.413805943e-05,-5.895828571e-04,7.017079863e-01,-7.661710625e-05,8.401406743e-01,7.017028811e-01,-7.313652019e-05,8.401508169e-01,7.018981705e-01,-7.236575945e-05,8.289833536e-01
+17,9.216666667e+00,DOWN_FORCE_DETACH,1792702142455157833,1.801158678e-04,-7.246684318e-05,-6.199725140e-04,1.728927758e-04,-6.757783309e-05,-6.083361018e-04,1.773079327e-04,-6.707081700e-05,-6.077780113e-04,7.017179873e-01,-7.091588186e-05,8.401209687e-01,7.017107643e-01,-6.602687177e-05,8.401326051e-01,7.019061725e-01,-6.529851703e-05,8.289651584e-01
+18,9.850000000e+00,DOWN_FORCE_DETACH,1792702143683306811,1.824388124e-04,-7.529679550e-05,-6.509864222e-04,1.824616211e-04,-7.470340564e-05,-6.468769258e-04,1.869427770e-04,-7.412875484e-05,-6.457921914e-04,7.017203103e-01,-7.374583418e-05,8.400899548e-01,7.017203331e-01,-7.315244432e-05,8.400940643e-01,7.019158073e-01,-7.235645487e-05,8.289271442e-01
+19,1.036666667e+01,DOWN_FORCE_DETACH,1792702144649228982,1.879361667e-04,-7.368547555e-05,-6.724063079e-04,1.855878371e-04,-7.495286949e-05,-6.690483498e-04,1.900858559e-04,-7.441415368e-05,-6.678845500e-04,7.017258076e-01,-7.213451423e-05,8.400685349e-01,7.017234593e-01,-7.340190817e-05,8.400718928e-01,7.019189504e-01,-7.264185370e-05,8.289050519e-01
+20,1.091666667e+01,DOWN_FORCE_DETACH,1792702145747189895,1.927447748e-04,-7.877039960e-05,-6.970901698e-04,1.879084100e-04,-7.609111174e-05,-6.914022345e-04,1.925435012e-04,-7.555544100e-05,-6.902839759e-04,7.017306163e-01,-7.721943828e-05,8.400438510e-01,7.017257799e-01,-7.454015042e-05,8.400495390e-01,7.019214081e-01,-7.378314102e-05,8.288826524e-01
+21,1.160000000e+01,DOWN_FORCE_DETACH,1792702147111156372,1.970286929e-04,-7.665131600e-05,-7.408224079e-04,1.960223830e-04,-7.822152575e-05,-7.338271145e-04,2.007519391e-04,-7.765201177e-05,-7.325412567e-04,7.017349002e-01,-7.510035468e-05,8.400001188e-01,7.017338939e-01,-7.667056443e-05,8.400071141e-01,7.019296165e-01,-7.587971180e-05,8.288403952e-01
+22,1.226666667e+01,DOWN_FORCE_DETACH,1792702148409217845,2.030103919e-04,-7.775933321e-05,-7.909978376e-04,2.031149285e-04,-7.573041012e-05,-7.739913146e-04,2.079106538e-04,-7.518062428e-05,-7.726076813e-04,7.017408819e-01,-7.620837189e-05,8.399499434e-01,7.017409864e-01,-7.417944880e-05,8.399669499e-01,7.019367752e-01,-7.340832430e-05,8.288003287e-01
+23,1.275000000e+01,DOWN_FORCE_DETACH,1792702149339207754,2.102708007e-04,-6.129894954e-05,-8.402812383e-04,2.082985369e-04,-5.795573744e-05,-8.285368858e-04,2.130502455e-04,-5.757076025e-05,-8.267655416e-04,7.017481423e-01,-5.974798822e-05,8.399006599e-01,7.017461700e-01,-5.640477611e-05,8.399124043e-01,7.019419148e-01,-5.579846027e-05,8.287461709e-01
+24,1.321666667e+01,DOWN_FORCE_DETACH,1792702150203434079,2.135238863e-04,-7.468964383e-05,-8.928157754e-04,2.161419765e-04,-7.407687934e-05,-8.859334521e-04,2.208926551e-04,-7.349667304e-05,-8.837788589e-04,7.017513954e-01,-7.313868251e-05,8.398481254e-01,7.017540135e-01,-7.252591801e-05,8.398550077e-01,7.019497572e-01,-7.172437306e-05,8.286891576e-01
+25,1.371666667e+01,DOWN_FORCE_DETACH,1792702151171174586,2.185514322e-04,-8.039078254e-05,-9.596648681e-04,2.200597989e-04,-7.448858766e-05,-9.479998084e-04,2.246840962e-04,-7.391715737e-05,-9.457649979e-04,7.017564229e-01,-7.883982122e-05,8.397812763e-01,7.017579313e-01,-7.293762634e-05,8.397929414e-01,7.019535487e-01,-7.214485740e-05,8.286271714e-01
+26,1.428333333e+01,DOWN_FORCE_DETACH,1792702152235192305,2.227899046e-04,-8.151359213e-05,-1.025985930e-03,2.230531542e-04,-7.889733901e-05,-1.013947200e-03,2.275482762e-04,-7.823836285e-05,-1.011812199e-03,7.017606614e-01,-7.996263081e-05,8.397149553e-01,7.017609246e-01,-7.734637769e-05,8.397269940e-01,7.019564128e-01,-7.646606287e-05,8.285611242e-01
+27,1.478333333e+01,DOWN_FORCE_DETACH,1792702153199201712,2.237692300e-04,-7.891204209e-05,-1.099063693e-03,2.237435013e-04,-7.891580108e-05,-1.099229922e-03,2.278744510e-04,-7.824330099e-05,-1.096615443e-03,7.017616407e-01,-7.736108076e-05,8.396418775e-01,7.017616150e-01,-7.736483976e-05,8.396417113e-01,7.019567390e-01,-7.647100101e-05,8.284763210e-01
+28,1.528333333e+01,DOWN_FORCE_DETACH,1792702154195146060,2.330144700e-04,-7.205885517e-05,-1.186802640e-03,2.329310305e-04,-7.185282545e-05,-1.186737683e-03,2.367724380e-04,-7.126034433e-05,-1.183784090e-03,7.017708860e-01,-7.050789385e-05,8.395541385e-01,7.017708025e-01,-7.030186413e-05,8.395542035e-01,7.019656370e-01,-6.948804435e-05,8.283891523e-01
+29,1.575000000e+01,DOWN_FORCE_DETACH,1792702155127282792,2.350271568e-04,-8.151906137e-05,-1.287726476e-03,2.347166829e-04,-7.835935500e-05,-1.277918714e-03,2.382846153e-04,-7.771275205e-05,-1.274627403e-03,7.017728986e-01,-7.996810005e-05,8.394532147e-01,7.017725882e-01,-7.680839368e-05,8.394630225e-01,7.019671492e-01,-7.594045207e-05,8.282983090e-01
+30,1.621666667e+01,DOWN_FORCE_DETACH,1792702156059195557,2.399026060e-04,-7.961355471e-05,-1.393713090e-03,2.385391071e-04,-8.004358265e-05,-1.386207074e-03,2.417351023e-04,-7.937460348e-05,-1.382355506e-03,7.017777741e-01,-7.806259339e-05,8.393472281e-01,7.017764106e-01,-7.849262132e-05,8.393547341e-01,7.019705997e-01,-7.760230351e-05,8.281905809e-01
+31,1.663333333e+01,DOWN_FORCE_DETACH,1792702156857495405,2.421334512e-04,-8.149524081e-05,-1.499888123e-03,2.418809047e-04,-8.132890401e-05,-1.499805392e-03,2.446505645e-04,-8.065102245e-05,-1.495148972e-03,7.017800049e-01,-7.994427949e-05,8.392410531e-01,7.017797524e-01,-7.977794269e-05,8.392411358e-01,7.019735151e-01,-7.887872247e-05,8.280777874e-01
+32,1.701666667e+01,DOWN_FORCE_DETACH,1792702157591154872,2.451836934e-04,-7.706257022e-05,-1.607584021e-03,2.435370595e-04,-8.221743054e-05,-1.603571206e-03,2.460523628e-04,-8.151787689e-05,-1.598535458e-03,7.017830552e-01,-7.551160890e-05,8.391333572e-01,7.017814085e-01,-8.066646922e-05,8.391373700e-01,7.019749169e-01,-7.974557692e-05,8.279744010e-01
+33,1.743333333e+01,DOWN_FORCE_DETACH,1792702158387306931,2.477931432e-04,-8.287770542e-05,-1.729013045e-03,2.460238715e-04,-8.370995177e-05,-1.713832870e-03,2.483171836e-04,-8.296069427e-05,-1.708750524e-03,7.017856646e-01,-8.132674410e-05,8.390119281e-01,7.017838954e-01,-8.215899045e-05,8.390271083e-01,7.019771818e-01,-8.118839429e-05,8.278641859e-01
+34,1.781666667e+01,DOWN_FORCE_DETACH,1792702159087151583,2.528235481e-04,-8.414450481e-05,-1.844904346e-03,2.526269019e-04,-8.007460833e-05,-1.841907982e-03,2.547001767e-04,-7.938229448e-05,-1.836542902e-03,7.017906950e-01,-8.259354349e-05,8.388960368e-01,7.017904984e-01,-7.852364701e-05,8.388990332e-01,7.019835647e-01,-7.760999451e-05,8.277363935e-01
+35,1.811666667e+01,DOWN_FORCE_DETACH,1792702159683208072,2.510808609e-04,-8.423294711e-05,-1.966115325e-03,2.464130074e-04,-8.388700226e-05,-1.959487223e-03,2.481531531e-04,-8.317804653e-05,-1.953710057e-03,7.017889523e-01,-8.268198579e-05,8.387748259e-01,7.017842845e-01,-8.233604093e-05,8.387814540e-01,7.019770177e-01,-8.140574656e-05,8.276192264e-01
+36,1.841666667e+01,DOWN_FORCE_DETACH,1792702160251345103,2.529967108e-04,-8.410173566e-05,-2.079301348e-03,2.534083248e-04,-8.329361160e-05,-2.071635864e-03,2.548329267e-04,-8.260339550e-05,-2.065731155e-03,7.017908682e-01,-8.255077434e-05,8.386616398e-01,7.017912798e-01,-8.174265028e-05,8.386693053e-01,7.019836975e-01,-8.083109552e-05,8.275072053e-01
+37,1.873333333e+01,DOWN_FORCE_DETACH,1792702160852854468,2.538813339e-04,-8.635860113e-05,-2.205162763e-03,2.536371584e-04,-8.648363988e-05,-2.205226871e-03,2.546250145e-04,-8.574960082e-05,-2.198767096e-03,7.017917528e-01,-8.480763981e-05,8.385357784e-01,7.017915086e-01,-8.493267856e-05,8.385357143e-01,7.019834896e-01,-8.397730084e-05,8.273741693e-01
+38,1.903333333e+01,DOWN_FORCE_DETACH,1792702161415210867,2.511959770e-04,-9.197934007e-05,-2.329951310e-03,2.510482823e-04,-9.216639895e-05,-2.329646961e-03,2.516032568e-04,-9.135231503e-05,-2.322727129e-03,7.017890675e-01,-9.042837875e-05,8.384109899e-01,7.017889198e-01,-9.061543763e-05,8.384112942e-01,7.019804678e-01,-8.958001505e-05,8.272502093e-01
+39,1.930000000e+01,DOWN_FORCE_DETACH,1792702161947891851,2.555146519e-04,-9.192837021e-05,-2.457052443e-03,2.552656014e-04,-9.215303557e-05,-2.456718461e-03,2.554669053e-04,-9.135476164e-05,-2.449183369e-03,7.017933861e-01,-9.037740889e-05,8.382838887e-01,7.017931371e-01,-9.060207424e-05,8.382842227e-01,7.019843315e-01,-8.958246166e-05,8.271237530e-01
+40,1.955000000e+01,DOWN_FORCE_DETACH,1792702162447196507,2.518356197e-04,-9.865825529e-05,-2.586793538e-03,2.558104972e-04,-9.668172947e-05,-2.571401807e-03,2.557082600e-04,-9.581084810e-05,-2.563668727e-03,7.017897071e-01,-9.710729397e-05,8.381541476e-01,7.017936820e-01,-9.513076815e-05,8.381695394e-01,7.019845728e-01,-9.403854813e-05,8.270092677e-01
+41,1.983333333e+01,DOWN_FORCE_DETACH,1792702163011467644,2.518694312e-04,-1.033317895e-04,-2.730954754e-03,2.515287630e-04,-1.038201302e-04,-2.730896467e-03,2.508490006e-04,-1.028164413e-04,-2.722520758e-03,7.017897409e-01,-1.017808282e-04,8.380099864e-01,7.017894002e-01,-1.022691688e-04,8.380100447e-01,7.019797136e-01,-1.010441413e-04,8.268504157e-01
+42,2.006666667e+01,DOWN_FORCE_DETACH,1792702163477248644,2.544933151e-04,-9.895034007e-05,-2.849714065e-03,2.521843736e-04,-9.792713009e-05,-2.833114191e-03,2.509900105e-04,-9.703477230e-05,-2.825112023e-03,7.017923648e-01,-9.739937875e-05,8.378912271e-01,7.017900559e-01,-9.637616877e-05,8.379078270e-01,7.019798546e-01,-9.526247232e-05,8.267478244e-01
+43,2.031666667e+01,DOWN_FORCE_DETACH,1792702163975182984,2.530930713e-04,-1.001599230e-04,-2.987771807e-03,2.521873912e-04,-1.047624406e-04,-2.980243116e-03,2.503380444e-04,-1.038085978e-04,-2.971890763e-03,7.017909646e-01,-9.860896171e-05,8.377531694e-01,7.017900589e-01,-1.032114793e-04,8.377606981e-01,7.019792026e-01,-1.020362978e-04,8.266010456e-01
+44,2.055000000e+01,DOWN_FORCE_DETACH,1792702164443208460,2.525685742e-04,-1.102098412e-04,-3.122334034e-03,2.524264420e-04,-1.100895808e-04,-3.122419657e-03,2.500281456e-04,-1.090702141e-04,-3.113439205e-03,7.017904401e-01,-1.086588799e-04,8.376186072e-01,7.017902979e-01,-1.085386195e-04,8.376185215e-01,7.019788927e-01,-1.072979141e-04,8.264594972e-01
+45,2.080000000e+01,DOWN_FORCE_DETACH,1792702164907225660,2.569952701e-04,-1.084822240e-04,-3.258336247e-03,2.544346015e-04,-1.108799101e-04,-3.246875780e-03,2.515392535e-04,-1.098713155e-04,-3.238091701e-03,7.017948668e-01,-1.069312627e-04,8.374826049e-01,7.017923061e-01,-1.093289488e-04,8.374940654e-01,7.019804038e-01,-1.080990155e-04,8.263348447e-01
+46,2.100000000e+01,DOWN_FORCE_DETACH,1792702165307197098,2.502895350e-04,-1.168600830e-04,-3.392592958e-03,2.502062294e-04,-1.166810196e-04,-3.392412626e-03,2.468316980e-04,-1.155823334e-04,-3.382872727e-03,7.017881610e-01,-1.153091217e-04,8.373483482e-01,7.017880777e-01,-1.151300583e-04,8.373485286e-01,7.019756963e-01,-1.138100335e-04,8.261900637e-01
+47,2.121666667e+01,DOWN_FORCE_DETACH,1792702165711461679,2.564972492e-04,-1.091815868e-04,-3.524098158e-03,2.534798789e-04,-1.117949049e-04,-3.510838200e-03,2.497638998e-04,-1.107767220e-04,-3.501631045e-03,7.017943687e-01,-1.076306254e-04,8.372168430e-01,7.017913514e-01,-1.102439435e-04,8.372301030e-01,7.019786285e-01,-1.090044220e-04,8.260713054e-01
+48,2.143333333e+01,DOWN_FORCE_DETACH,1792702166122000006,2.566655395e-04,-1.157651035e-04,-3.657897266e-03,2.510947035e-04,-1.199081794e-04,-3.654159313e-03,2.469196888e-04,-1.188764758e-04,-3.644913053e-03,7.017945370e-01,-1.142141422e-04,8.370830439e-01,7.017889662e-01,-1.183572181e-04,8.370867819e-01,7.019757843e-01,-1.171041759e-04,8.259280234e-01
+49,2.163333333e+01,DOWN_FORCE_DETACH,1792702166505210772,2.515629735e-04,-1.237637784e-04,-3.798080323e-03,2.498912642e-04,-1.217941546e-04,-3.789781464e-03,2.452807063e-04,-1.207237662e-04,-3.780249870e-03,7.017894345e-01,-1.222128171e-04,8.369428609e-01,7.017877627e-01,-1.202431933e-04,8.369511597e-01,7.019741453e-01,-1.189514662e-04,8.257926865e-01
+50,2.185000000e+01,DOWN_FORCE_DETACH,1792702166903212693,2.509984557e-04,-1.285602405e-04,-3.942383639e-03,2.508353718e-04,-1.283664304e-04,-3.942568491e-03,2.456374120e-04,-1.271907959e-04,-3.932530053e-03,7.017888699e-01,-1.270092792e-04,8.367985575e-01,7.017887069e-01,-1.268154691e-04,8.367983727e-01,7.019745020e-01,-1.254184960e-04,8.256404064e-01
+51,2.201666667e+01,DOWN_FORCE_DETACH,1792702167235212007,2.626622894e-04,-1.250100124e-04,-4.060478617e-03,2.626330417e-04,-1.252145048e-04,-4.060477374e-03,2.571373146e-04,-1.240734628e-04,-4.050166854e-03,7.018005338e-01,-1.234590511e-04,8.366804626e-01,7.018005045e-01,-1.236635435e-04,8.366804638e-01,7.019860019e-01,-1.223011628e-04,8.255227696e-01
+52,2.220000000e+01,DOWN_FORCE_DETACH,1792702167569524556,2.538175761e-04,-1.297223316e-04,-4.193815435e-03,2.537356199e-04,-1.296199298e-04,-4.193270418e-03,2.478088571e-04,-1.283436526e-04,-4.182588593e-03,7.017916891e-01,-1.281713703e-04,8.365471258e-01,7.017916071e-01,-1.280689685e-04,8.365476708e-01,7.019766734e-01,-1.265713526e-04,8.253903478e-01
+53,2.236666667e+01,DOWN_FORCE_DETACH,1792702167901221743,2.463999336e-04,-1.345947975e-04,-4.334482893e-03,2.460135100e-04,-1.346429487e-04,-4.334287744e-03,2.395422147e-04,-1.333013817e-04,-4.323080002e-03,7.017842714e-01,-1.330438362e-04,8.364064583e-01,7.017838850e-01,-1.330919874e-04,8.364066534e-01,7.019684068e-01,-1.315290818e-04,8.252498564e-01
+54,2.255000000e+01,DOWN_FORCE_DETACH,1792702168235212990,2.410242687e-04,-1.366042964e-04,-4.468872957e-03,2.391891438e-04,-1.392049644e-04,-4.456277074e-03,2.319765897e-04,-1.378775126e-04,-4.445543671e-03,7.017788958e-01,-1.350533351e-04,8.362720682e-01,7.017770606e-01,-1.376540031e-04,8.362846641e-01,7.019608412e-01,-1.361052127e-04,8.251273927e-01
+55,2.271666667e+01,DOWN_FORCE_DETACH,1792702168567187659,2.631520179e-04,-1.372272832e-04,-4.594804594e-03,2.632967729e-04,-1.363417263e-04,-4.581165176e-03,2.558050607e-04,-1.350816371e-04,-4.570471067e-03,7.018010235e-01,-1.356763219e-04,8.361461366e-01,7.018011683e-01,-1.347907650e-04,8.361597760e-01,7.019846696e-01,-1.333093371e-04,8.250024653e-01
+56,2.290000000e+01,DOWN_FORCE_DETACH,1792702168899194985,2.658093230e-04,-1.398653853e-04,-4.734357017e-03,2.606175834e-04,-1.447003715e-04,-4.726154370e-03,2.525767875e-04,-1.433634876e-04,-4.715100997e-03,7.018036808e-01,-1.383144240e-04,8.360065842e-01,7.017984891e-01,-1.431494101e-04,8.360147868e-01,7.019814414e-01,-1.415911876e-04,8.248578354e-01
+57,2.305000000e+01,DOWN_FORCE_DETACH,1792702169199208582,2.602798276e-04,-1.386275265e-04,-4.876885665e-03,2.606511409e-04,-1.387797087e-04,-4.860277364e-03,2.520989988e-04,-1.374509566e-04,-4.848829619e-03,7.017981513e-01,-1.370765652e-04,8.358640555e-01,7.017985226e-01,-1.372287474e-04,8.358806638e-01,7.019809636e-01,-1.356786566e-04,8.247241068e-01
+58,2.321666667e+01,DOWN_SETTLE,1792702169499315329,2.596327605e-04,-1.461195567e-04,-5.013327441e-03,2.563053630e-04,-1.474511867e-04,-5.000860061e-03,2.472701636e-04,-1.460501368e-04,-4.989271016e-03,7.017975042e-01,-1.445685954e-04,8.357276137e-01,7.017941768e-01,-1.459002254e-04,8.357400811e-01,7.019761347e-01,-1.442778369e-04,8.245836654e-01
+59,2.365000000e+01,DOWN_PEAK_HOLD,1792702170363217344,2.347574878e-04,-1.438196998e-04,-5.128907534e-03,2.366000196e-04,-1.428727634e-04,-5.120639110e-03,2.270472559e-04,-1.416672394e-04,-5.113026655e-03,7.017726290e-01,-1.422687385e-04,8.356120337e-01,7.017744715e-01,-1.413218021e-04,8.356203021e-01,7.019559118e-01,-1.398949394e-04,8.244599098e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28cc85c41e7f62e2ac21894774563421216c3d17
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.8729e-02,2.4359e-03,2.4600e+00,-3.6964e-02,3.4008e-02,-3.5680e-05,6.9759e-04,-5.9009e-06,3.7479e-04,3.1665e-07,4.4033e-05,-6.0862e-07,7.9192e-04,4.4038e-05
+1,6.3333e-01,DOWN_FORCE_DETACH,1.4440e-04,-1.5151e-02,2.3753e-03,2.4710e+00,-3.6958e-02,3.5582e-02,-5.9000e-05,2.4276e-02,-6.6527e-05,1.1388e-02,6.7502e-06,1.6184e-03,-2.3929e-05,2.6814e-02,1.6186e-03
+2,1.1833e+00,DOWN_FORCE_DETACH,2.9153e-04,7.9429e-03,9.5067e-03,2.5280e+00,-3.7435e-02,3.7202e-02,-8.4310e-05,4.7369e-02,7.0649e-03,6.8401e-02,-4.7039e-04,3.2384e-03,-4.9238e-05,8.3501e-02,3.2727e-03
+3,1.3667e+00,DOWN_FORCE_DETACH,4.3164e-04,-3.4845e-02,2.0159e-02,2.5468e+00,-3.8152e-02,3.4265e-02,-8.1684e-05,4.5810e-03,1.7718e-02,8.7250e-02,-1.1872e-03,3.0069e-04,-4.6613e-05,8.9149e-02,1.2256e-03
+4,1.8500e+00,DOWN_FORCE_DETACH,5.7777e-04,-1.9734e-02,1.9714e-02,2.5539e+00,-3.8139e-02,3.5219e-02,-7.5834e-05,1.9692e-02,1.7272e-02,9.4332e-02,-1.1742e-03,1.2554e-03,-4.0762e-05,9.7902e-02,1.7194e-03
+5,2.2667e+00,DOWN_FORCE_DETACH,7.1279e-04,-1.6669e-02,2.5149e-02,2.5978e+00,-3.8482e-02,3.5444e-02,-6.9330e-05,2.2757e-02,2.2707e-02,1.3822e-01,-1.5179e-03,1.4797e-03,-3.4259e-05,1.4191e-01,2.1200e-03
+6,2.6667e+00,DOWN_FORCE_DETACH,8.7044e-04,-3.9544e-02,2.9795e-02,2.6230e+00,-3.8767e-02,3.3867e-02,-5.7104e-05,-1.1801e-04,2.7353e-02,1.6340e-01,-1.8027e-03,-9.7275e-05,-2.2032e-05,1.6567e-01,1.8055e-03
+7,3.1000e+00,DOWN_FORCE_DETACH,1.0118e-03,-3.7252e-02,3.4380e-02,2.6340e+00,-3.9043e-02,3.4020e-02,-4.3840e-05,2.1745e-03,3.1938e-02,1.7440e-01,-2.0784e-03,5.6166e-05,-8.7681e-06,1.7732e-01,2.0792e-03
+8,3.5833e+00,DOWN_FORCE_DETACH,1.1568e-03,-2.8673e-02,4.5919e-02,2.6172e+00,-3.9796e-02,3.4631e-02,-2.7490e-05,1.0754e-02,4.3477e-02,1.5760e-01,-2.8315e-03,6.6719e-04,7.5818e-06,1.6384e-01,2.9090e-03
+9,4.2167e+00,DOWN_FORCE_DETACH,1.3060e-03,-7.8452e-03,4.6952e-02,2.5789e+00,-3.9921e-02,3.6116e-02,-1.5440e-05,3.1581e-02,4.4511e-02,1.1927e-01,-2.9566e-03,2.1525e-03,1.9631e-05,1.3117e-01,3.6572e-03
+10,4.8500e+00,DOWN_FORCE_DETACH,1.4506e-03,8.0896e-03,5.2420e-02,2.5342e+00,-4.0351e-02,3.7304e-02,-1.1775e-05,4.7516e-02,4.9978e-02,7.4559e-02,-3.3869e-03,3.3396e-03,2.3297e-05,1.0156e-01,4.7565e-03
+11,5.4833e+00,DOWN_FORCE_DETACH,1.5964e-03,2.3838e-02,5.0270e-02,2.5129e+00,-4.0263e-02,3.8472e-02,-1.3220e-05,6.3264e-02,4.7828e-02,5.3325e-02,-3.2984e-03,4.5086e-03,2.1851e-05,9.5569e-02,5.5863e-03
+12,6.1333e+00,DOWN_FORCE_DETACH,1.7417e-03,2.8609e-02,5.0212e-02,2.4874e+00,-4.0277e-02,3.8867e-02,-1.6114e-05,6.8035e-02,4.7771e-02,2.7839e-02,-3.3123e-03,4.9026e-03,1.8957e-05,8.7669e-02,5.9167e-03
+13,6.8000e+00,DOWN_FORCE_DETACH,1.8851e-03,3.1281e-02,5.0161e-02,2.4751e+00,-4.0283e-02,3.9079e-02,-1.7091e-05,7.0707e-02,4.7720e-02,1.5541e-02,-3.3190e-03,5.1154e-03,1.7981e-05,8.6707e-02,6.0979e-03
+14,7.4333e+00,DOWN_FORCE_DETACH,2.0314e-03,3.7883e-02,5.5235e-02,2.4900e+00,-4.0624e-02,3.9531e-02,-1.4883e-05,7.7309e-02,5.2793e-02,3.0388e-02,-3.6595e-03,5.5667e-03,2.0188e-05,9.8424e-02,6.6619e-03
+15,7.9333e+00,DOWN_FORCE_DETACH,2.1748e-03,3.7035e-02,5.4853e-02,2.4798e+00,-4.0610e-02,3.9489e-02,-1.1682e-05,7.6462e-02,5.2411e-02,2.0201e-02,-3.6458e-03,5.5255e-03,2.3389e-05,9.4876e-02,6.6200e-03
+16,8.5500e+00,DOWN_FORCE_DETACH,2.3208e-03,3.1525e-02,5.3179e-02,2.4906e+00,-4.0495e-02,3.9107e-02,-1.0434e-05,7.0951e-02,5.0737e-02,3.0991e-02,-3.5307e-03,5.1432e-03,2.4638e-05,9.2568e-02,6.2385e-03
+17,9.2167e+00,DOWN_FORCE_DETACH,2.4650e-03,2.8358e-02,4.8143e-02,2.4938e+00,-4.0140e-02,3.8870e-02,-1.1725e-05,6.7785e-02,4.5702e-02,3.4211e-02,-3.1755e-03,4.9057e-03,2.3347e-05,8.8622e-02,5.8439e-03
+18,9.8500e+00,DOWN_FORCE_DETACH,2.6100e-03,2.6854e-02,5.2667e-02,2.5182e+00,-4.0439e-02,3.8745e-02,1.7509e-07,6.6280e-02,5.0225e-02,5.8562e-02,-3.4747e-03,4.7808e-03,3.5247e-05,1.0171e-01,5.9102e-03
+19,1.0367e+01,DOWN_FORCE_DETACH,2.7582e-03,2.9037e-02,5.2935e-02,2.5226e+00,-4.0445e-02,3.8893e-02,8.8519e-06,6.8463e-02,5.0493e-02,6.3048e-02,-3.4807e-03,4.9286e-03,4.3924e-05,1.0589e-01,6.0339e-03
+20,1.0917e+01,DOWN_FORCE_DETACH,2.9015e-03,3.2512e-02,5.3420e-02,2.5198e+00,-4.0467e-02,3.9120e-02,1.7717e-05,7.1938e-02,5.0978e-02,6.0169e-02,-3.5026e-03,5.1557e-03,5.2789e-05,1.0674e-01,6.2332e-03
+21,1.1600e+01,DOWN_FORCE_DETACH,3.0462e-03,3.3341e-02,5.4801e-02,2.5271e+00,-4.0552e-02,3.9171e-02,3.1641e-05,7.2767e-02,5.2359e-02,6.7482e-02,-3.5876e-03,5.2070e-03,6.6713e-05,1.1221e-01,6.3236e-03
+22,1.2267e+01,DOWN_FORCE_DETACH,3.1896e-03,3.4804e-02,5.3288e-02,2.5330e+00,-4.0446e-02,3.9250e-02,4.3893e-05,7.4231e-02,5.0846e-02,7.3431e-02,-3.4816e-03,5.2863e-03,7.8965e-05,1.1614e-01,6.3303e-03
+23,1.2750e+01,DOWN_FORCE_DETACH,3.3315e-03,3.7900e-02,5.0404e-02,2.5457e+00,-4.0261e-02,3.9444e-02,5.2294e-05,7.7327e-02,4.7963e-02,8.6123e-02,-3.2971e-03,5.4799e-03,8.7366e-05,1.2529e-01,6.3959e-03
+24,1.3217e+01,DOWN_FORCE_DETACH,3.4820e-03,3.6801e-02,5.0253e-02,2.5535e+00,-4.0240e-02,3.9351e-02,5.4025e-05,7.6227e-02,4.7812e-02,9.3926e-02,-3.2760e-03,5.3869e-03,8.9097e-05,1.3007e-01,6.3055e-03
+25,1.3717e+01,DOWN_FORCE_DETACH,3.6283e-03,3.5925e-02,5.4348e-02,2.5709e+00,-4.0517e-02,3.9258e-02,5.7767e-05,7.5351e-02,5.1907e-02,1.1134e-01,-3.5524e-03,5.2944e-03,9.2839e-05,1.4411e-01,6.3764e-03
+26,1.4283e+01,DOWN_FORCE_DETACH,3.7703e-03,3.5566e-02,5.6791e-02,2.5704e+00,-4.0689e-02,3.9204e-02,5.6553e-05,7.4992e-02,5.4349e-02,1.1077e-01,-3.7242e-03,5.2397e-03,9.1625e-05,1.4439e-01,6.4290e-03
+27,1.4783e+01,DOWN_FORCE_DETACH,3.9126e-03,3.4381e-02,5.9624e-02,2.5727e+00,-4.0886e-02,3.9097e-02,5.1981e-05,7.3808e-02,5.7182e-02,1.1306e-01,-3.9217e-03,5.1327e-03,8.7053e-05,1.4663e-01,6.4600e-03
+28,1.5283e+01,DOWN_FORCE_DETACH,4.0582e-03,2.6697e-02,5.8601e-02,2.5867e+00,-4.0815e-02,3.8565e-02,4.1568e-05,6.6123e-02,5.6159e-02,1.2716e-01,-3.8507e-03,4.6011e-03,7.6640e-05,1.5393e-01,6.0004e-03
+29,1.5750e+01,DOWN_FORCE_DETACH,4.2085e-03,2.2461e-02,5.9801e-02,2.6153e+00,-4.0876e-02,3.8251e-02,3.0650e-05,6.1887e-02,5.7359e-02,1.5566e-01,-3.9113e-03,4.2868e-03,6.5722e-05,1.7706e-01,5.8033e-03
+30,1.6217e+01,DOWN_FORCE_DETACH,4.3509e-03,1.7474e-02,5.9908e-02,2.6439e+00,-4.0876e-02,3.7891e-02,2.5054e-05,5.6900e-02,5.7467e-02,1.8435e-01,-3.9120e-03,3.9269e-03,6.0126e-05,2.0131e-01,5.5433e-03
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+54,2.2550e+01,DOWN_FORCE_DETACH,7.8336e-03,5.4234e-02,1.0403e-01,2.9946e+00,-4.2965e-02,4.0019e-02,6.5905e-05,9.3661e-02,1.0159e-01,5.3500e-01,-6.0003e-03,6.0547e-03,1.0098e-04,5.5255e-01,8.5249e-03
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+56,2.2900e+01,DOWN_FORCE_DETACH,8.1165e-03,3.1168e-02,1.0184e-01,2.9977e+00,-4.2774e-02,3.8497e-02,6.3585e-05,7.0594e-02,9.9399e-02,5.3815e-01,-5.8099e-03,4.5335e-03,9.8657e-05,5.5178e-01,7.3700e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1176d38c13775c52310001c3c22ddcf88c2a74dc
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73920c1a05d5ec1d944b35900b0a21a790e3734f74e5e962445c2f88038a8e63
+size 9840640
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3dd3db3422c4a440722133058f441c7f513cc068
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c287ea4677f1946b285beb1c5203f01f1737a703
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8dafaf5768eea055f6a4c76cd7483ac67f6b1c69
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b788e4c9bd4663b41c246dffb14f3d8af1c6409b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+21,1.266666667e+00,WAIT_W2,1792702111185495127,-2.639736132e-06,-1.979130072e-05,-3.237678187e-06,-5.461701892e-07,-2.128604890e-05,3.554042506e-07,2.872394376e-07,-2.111088199e-05,6.480982900e-07,7.015352317e-01,-1.824033940e-05,8.407377035e-01,7.015373253e-01,-1.973508758e-05,8.407412966e-01,7.017291518e-01,-1.933859687e-05,8.295735845e-01
+22,1.350000000e+00,WAIT_W2,1792702111351403452,-5.615643431e-06,-2.164660834e-05,-5.944853123e-06,-5.461701892e-07,-2.128604890e-05,3.554042506e-07,3.183006619e-07,-2.111087264e-05,6.575010502e-07,7.015322558e-01,-2.009564702e-05,8.407349963e-01,7.015373253e-01,-1.973508758e-05,8.407412966e-01,7.017291829e-01,-1.933858752e-05,8.295735939e-01
+23,1.400000000e+00,WAIT_W2,1792702111458735749,-5.447070862e-06,-2.580245145e-05,-6.062933740e-06,-5.461701892e-07,-2.128604890e-05,3.554042506e-07,3.359974484e-07,-2.111081253e-05,6.628164086e-07,7.015324244e-01,-2.425149013e-05,8.407348783e-01,7.015373253e-01,-1.973508758e-05,8.407412966e-01,7.017292006e-01,-1.933852741e-05,8.295735992e-01
+24,1.466666667e+00,WAIT_W2,1792702111585521625,-8.641163242e-06,-3.563729732e-05,-1.159252315e-05,-8.434565361e-06,-3.587433998e-05,-1.137235154e-05,-7.582377068e-06,-3.551799163e-05,-1.083390905e-05,7.015292303e-01,-3.408633600e-05,8.407293487e-01,7.015294369e-01,-3.432337865e-05,8.407295688e-01,7.017212822e-01,-3.374570651e-05,8.295621025e-01
+25,1.500000000e+00,WAIT_W2,1792702111653536934,-9.807740044e-06,-4.617344600e-05,-1.184089099e-05,-8.434565361e-06,-3.587433998e-05,-1.137235154e-05,-7.590690797e-06,-3.555004232e-05,-1.085286008e-05,7.015280637e-01,-4.462248468e-05,8.407291003e-01,7.015294369e-01,-3.432337865e-05,8.407295688e-01,7.017212739e-01,-3.377775719e-05,8.295620835e-01
+26,1.533333333e+00,WAIT_W2,1792702111719679837,-9.993093498e-06,-5.134843129e-05,-9.389622035e-06,-8.434565361e-06,-3.587433998e-05,-1.137235154e-05,-7.588785403e-06,-3.556042397e-05,-1.086317262e-05,7.015278784e-01,-4.979746997e-05,8.407315516e-01,7.015294369e-01,-3.432337865e-05,8.407295688e-01,7.017212758e-01,-3.378813884e-05,8.295620732e-01
+27,1.566666667e+00,WAIT_W2,1792702111791164095,-1.100606768e-05,-6.474703373e-05,-1.033542102e-05,-1.106031485e-05,-6.473567377e-05,-1.019150678e-05,-1.023027263e-05,-6.408038317e-05,-9.747033049e-06,7.015268654e-01,-6.319607241e-05,8.407306058e-01,7.015268112e-01,-6.318471245e-05,8.407307497e-01,7.017186343e-01,-6.230809805e-05,8.295631893e-01
+28,1.616666667e+00,WAIT_W2,1792702111883664474,-1.279526628e-05,-7.388708916e-05,-1.126216519e-05,-1.106031485e-05,-6.473567377e-05,-1.019150678e-05,-1.023059160e-05,-6.415520597e-05,-9.752936714e-06,7.015250762e-01,-7.233612784e-05,8.407296790e-01,7.015268112e-01,-6.318471245e-05,8.407307497e-01,7.017186340e-01,-6.238292084e-05,8.295631834e-01
+29,1.633333333e+00,WAIT_W2,1792702111917381959,-3.469882530e-05,-8.352493701e-05,-3.202581991e-05,-3.445574060e-05,-8.344771418e-05,-3.236979408e-05,-3.378369298e-05,-8.264635971e-05,-3.132843930e-05,7.015031727e-01,-8.197397569e-05,8.407089154e-01,7.015034157e-01,-8.189675286e-05,8.407085714e-01,7.016950809e-01,-8.087407459e-05,8.295416079e-01
+30,1.633333333e+00,WAIT_W2,1792702111917381959,-3.469882530e-05,-8.352493701e-05,-3.202581991e-05,-3.445574060e-05,-8.344771418e-05,-3.236979408e-05,-3.378369298e-05,-8.264635971e-05,-3.132843930e-05,7.015031727e-01,-8.197397569e-05,8.407089154e-01,7.015034157e-01,-8.189675286e-05,8.407085714e-01,7.016950809e-01,-8.087407459e-05,8.295416079e-01
+31,1.666666667e+00,WAIT_W2,1792702111985215652,-3.886408548e-05,-9.299882635e-05,-3.677423475e-05,-3.445574060e-05,-8.344771418e-05,-3.236979408e-05,-3.382984721e-05,-8.269598793e-05,-3.137516181e-05,7.014990074e-01,-9.144786503e-05,8.407041670e-01,7.015034157e-01,-8.189675286e-05,8.407085714e-01,7.016950347e-01,-8.092370280e-05,8.295415612e-01
+32,1.683333333e+00,WAIT_W2,1792702112019331861,-3.868571972e-05,-1.007587401e-04,-3.688875722e-05,-3.445574060e-05,-8.344771418e-05,-3.236979408e-05,-3.384265557e-05,-8.270838602e-05,-3.139072936e-05,7.014991858e-01,-9.920777876e-05,8.407040524e-01,7.015034157e-01,-8.189675286e-05,8.407085714e-01,7.016950219e-01,-8.093610090e-05,8.295415456e-01
+33,1.716666667e+00,WAIT_W2,1792702112083298318,-3.754396893e-05,-1.050319714e-04,-3.684779272e-05,-3.762437113e-05,-1.050147760e-04,-3.673829949e-05,-3.710783713e-05,-1.040511914e-04,-3.570131294e-05,7.015003275e-01,-1.034810101e-04,8.407040934e-01,7.015002471e-01,-1.034638147e-04,8.407042029e-01,7.016917567e-01,-1.022789062e-04,8.295372350e-01
+34,1.750000000e+00,WAIT_W2,1792702112152694711,-3.710274664e-05,-1.121429923e-04,-3.385289334e-05,-3.762437113e-05,-1.050147760e-04,-3.673829949e-05,-3.713052574e-05,-1.041055052e-04,-3.573248648e-05,7.015007687e-01,-1.105920310e-04,8.407070883e-01,7.015002471e-01,-1.034638147e-04,8.407042029e-01,7.016917340e-01,-1.023332201e-04,8.295372039e-01
+35,1.816666667e+00,WAIT_W2,1792702112283469020,-3.902748909e-05,-1.271288774e-04,-3.578138236e-05,-3.893502696e-05,-1.270021727e-04,-3.579063852e-05,-3.848825319e-05,-1.258754561e-04,-3.483095540e-05,7.014988440e-01,-1.255779161e-04,8.407051598e-01,7.014989365e-01,-1.254512114e-04,8.407051505e-01,7.016903763e-01,-1.241031709e-04,8.295381054e-01
+36,1.866666667e+00,WAIT_W2,1792702112384128795,-3.640834764e-05,-1.354040592e-04,-3.251760309e-05,-3.893502696e-05,-1.270021727e-04,-3.579063852e-05,-3.851110276e-05,-1.259435076e-04,-3.486206774e-05,7.015014631e-01,-1.338530979e-04,8.407084236e-01,7.014989365e-01,-1.254512114e-04,8.407051505e-01,7.016903535e-01,-1.241712224e-04,8.295380743e-01
+37,1.916666667e+00,WAIT_W2,1792702112483667244,-3.824661125e-05,-1.377435175e-04,-3.405770405e-05,-3.893502696e-05,-1.270021727e-04,-3.579063852e-05,-3.853029640e-05,-1.259697213e-04,-3.489218865e-05,7.014996249e-01,-1.361925562e-04,8.407068835e-01,7.014989365e-01,-1.254512114e-04,8.407051505e-01,7.016903343e-01,-1.241974361e-04,8.295380442e-01
+38,1.983333333e+00,WAIT_W2,1792702112615675450,-3.723074496e-05,-1.489215199e-04,-3.242056788e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.691462881e-05,-1.479306586e-04,-3.176102111e-05,7.015006407e-01,-1.473705585e-04,8.407085206e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016919499e-01,-1.461583735e-04,8.295411753e-01
+39,2.050000000e+00,UP_FORCE_RAMP,1792702112751659242,-3.823283761e-05,-1.506530485e-04,-3.311141707e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.693113642e-05,-1.480029438e-04,-3.178632697e-05,7.014996386e-01,-1.491020871e-04,8.407078298e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016919334e-01,-1.462306587e-04,8.295411500e-01
+40,2.116666667e+00,UP_FORCE_RAMP,1792702112883604900,-3.948221832e-05,-1.595698721e-04,-3.559694813e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.694780150e-05,-1.480272197e-04,-3.181419840e-05,7.014983893e-01,-1.580189108e-04,8.407053442e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016919168e-01,-1.462549346e-04,8.295411222e-01
+41,2.166666667e+00,UP_FORCE_RAMP,1792702112983432127,-3.962482220e-05,-1.575428719e-04,-3.326141582e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.695969268e-05,-1.480383396e-04,-3.183445972e-05,7.014982467e-01,-1.559919106e-04,8.407076798e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016919049e-01,-1.462660545e-04,8.295411019e-01
+42,2.216666667e+00,UP_FORCE_RAMP,1792702113083310890,-4.128224523e-05,-1.641555059e-04,-3.711236868e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.697104973e-05,-1.480466108e-04,-3.185398393e-05,7.014965892e-01,-1.626045446e-04,8.407038288e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016918935e-01,-1.462743257e-04,8.295410824e-01
+43,2.283333333e+00,UP_FORCE_RAMP,1792702113215044401,-4.021807581e-05,-1.629406303e-04,-3.515141589e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.698539573e-05,-1.480550663e-04,-3.187878663e-05,7.014976534e-01,-1.613896690e-04,8.407057898e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016918792e-01,-1.462827812e-04,8.295410576e-01
+44,2.350000000e+00,UP_FORCE_RAMP,1792702113347441709,-4.001386963e-05,-1.669955314e-04,-3.494172343e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.699887465e-05,-1.480617443e-04,-3.190214757e-05,7.014978576e-01,-1.654445700e-04,8.407059995e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016918657e-01,-1.462894591e-04,8.295410342e-01
+45,2.416666667e+00,UP_FORCE_RAMP,1792702113483324090,-4.051895557e-05,-1.675996848e-04,-3.369843287e-05,-3.734838907e-05,-1.491754929e-04,-3.250254577e-05,-3.701154514e-05,-1.480672643e-04,-3.192410337e-05,7.014973525e-01,-1.660487234e-04,8.407072428e-01,7.015005231e-01,-1.476245316e-04,8.407084386e-01,7.016918530e-01,-1.462949792e-04,8.295410123e-01
+46,2.466666667e+00,UP_FORCE_RAMP,1792702113581481306,-3.674102404e-05,-1.707307671e-04,-3.126879842e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.821388892e-05,-1.680869723e-04,-3.409978778e-05,7.015011305e-01,-1.691798057e-04,8.407096724e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016906507e-01,-1.663146872e-04,8.295388366e-01
+47,2.566666667e+00,UP_FORCE_RAMP,1792702113781395978,-4.124682203e-05,-1.716922362e-04,-3.575098210e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.823367765e-05,-1.681309246e-04,-3.413545578e-05,7.014966247e-01,-1.701412749e-04,8.407051902e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016906309e-01,-1.663586394e-04,8.295388009e-01
+48,2.633333333e+00,UP_FORCE_RAMP,1792702113913451675,-4.077006262e-05,-1.723599317e-04,-3.445566847e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.824565668e-05,-1.681423380e-04,-3.415687841e-05,7.014971014e-01,-1.708089704e-04,8.407064855e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016906189e-01,-1.663700529e-04,8.295387795e-01
+49,2.733333333e+00,UP_FORCE_RAMP,1792702114113503099,-3.940266246e-05,-1.725483554e-04,-2.915613900e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.826220492e-05,-1.681528988e-04,-3.418653036e-05,7.014984688e-01,-1.709973940e-04,8.407117850e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016906024e-01,-1.663806136e-04,8.295387498e-01
+50,2.833333333e+00,UP_FORCE_RAMP,1792702114314694765,-4.003214307e-05,-1.745966405e-04,-2.651718408e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.827723275e-05,-1.681601595e-04,-3.421356207e-05,7.014978393e-01,-1.730456791e-04,8.407144240e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016905873e-01,-1.663878744e-04,8.295387228e-01
+51,2.900000000e+00,UP_FORCE_RAMP,1792702114445491878,-3.928788588e-05,-1.738814997e-04,-2.193151177e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.828648203e-05,-1.681640755e-04,-3.423020029e-05,7.014985836e-01,-1.723305384e-04,8.407190097e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016905781e-01,-1.663917904e-04,8.295387062e-01
+52,2.983333333e+00,UP_FORCE_RAMP,1792702114611466693,-3.983220413e-05,-1.702654427e-04,-1.773754718e-05,-3.849464548e-05,-1.694397178e-04,-3.477476891e-05,-3.829719334e-05,-1.681682317e-04,-3.424961608e-05,7.014980393e-01,-1.687144814e-04,8.407232036e-01,7.014993768e-01,-1.678887565e-04,8.407061664e-01,7.016905674e-01,-1.663959466e-04,8.295386867e-01
+53,3.050000000e+00,UP_FORCE_RAMP,1792702114747641263,-4.084003670e-05,-1.760438367e-04,-1.412789986e-05,-3.896581094e-05,-1.767082169e-04,-1.539400145e-05,-3.868523202e-05,-1.753784202e-04,-1.536495428e-05,7.014970314e-01,-1.744928754e-04,8.407268133e-01,7.014989057e-01,-1.751572556e-04,8.407255472e-01,7.016901793e-01,-1.736061351e-04,8.295575714e-01
+54,3.116666667e+00,UP_FORCE_RAMP,1792702114879291328,-3.894071895e-05,-1.738270115e-04,-8.294472995e-06,-3.896581094e-05,-1.767082169e-04,-1.539400145e-05,-3.869400830e-05,-1.753903142e-04,-1.533706269e-05,7.014989308e-01,-1.722760502e-04,8.407326467e-01,7.014989057e-01,-1.751572556e-04,8.407255472e-01,7.016901706e-01,-1.736180291e-04,8.295575993e-01
+55,3.183333333e+00,UP_FORCE_RAMP,1792702114989832889,-3.792176371e-05,-1.775130696e-04,-7.336231206e-07,-3.896581094e-05,-1.767082169e-04,-1.539400145e-05,-3.870191261e-05,-1.753962357e-04,-1.531854029e-05,7.014999497e-01,-1.759621083e-04,8.407402076e-01,7.014989057e-01,-1.751572556e-04,8.407255472e-01,7.016901626e-01,-1.736239506e-04,8.295576178e-01
+56,3.233333333e+00,UP_FORCE_RAMP,1792702115078025920,-3.902845414e-05,-1.725953804e-04,1.192325516e-06,-3.896581094e-05,-1.767082169e-04,-1.539400145e-05,-3.870735737e-05,-1.753992148e-04,-1.530715139e-05,7.014988430e-01,-1.710444191e-04,8.407421335e-01,7.014989057e-01,-1.751572556e-04,8.407255472e-01,7.016901572e-01,-1.736269297e-04,8.295576292e-01
+57,3.283333333e+00,UP_FORCE_HOLD,1792702115179280138,-3.846099720e-05,-1.725784631e-04,3.894408346e-06,-3.752962038e-05,-1.767688924e-04,4.949546439e-06,-3.720514615e-05,-1.754527844e-04,4.554512222e-06,7.014994105e-01,-1.710275018e-04,8.407448356e-01,7.015003419e-01,-1.752179311e-04,8.407458907e-01,7.016916594e-01,-1.736804993e-04,8.295774909e-01
+58,3.383333333e+00,UP_FORCE_HOLD,1792702115379370161,-3.874877632e-05,-1.738260984e-04,8.691668910e-06,-3.752962038e-05,-1.767688924e-04,4.949546439e-06,-3.721103800e-05,-1.754575243e-04,4.639926868e-06,7.014991227e-01,-1.722751371e-04,8.407496329e-01,7.015003419e-01,-1.752179311e-04,8.407458907e-01,7.016916535e-01,-1.736852392e-04,8.295775763e-01
+59,3.433333333e+00,UP_SETTLE,1792702115478666777,-3.837350084e-05,-1.744107138e-04,1.240913740e-05,-3.752962038e-05,-1.767688924e-04,4.949546439e-06,-3.721405509e-05,-1.754588841e-04,4.672099595e-06,7.014994980e-01,-1.728597525e-04,8.407533503e-01,7.015003419e-01,-1.752179311e-04,8.407458907e-01,7.016916505e-01,-1.736865990e-04,8.295776085e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff749af161869810cb6c6fc9644536e6a41e303f
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_08/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.8733e-02,2.4359e-03,2.4600e+00,-3.6964e-02,3.4008e-02,-3.5745e-05,6.9861e-04,-5.9053e-06,3.7551e-04,3.1665e-07,4.4100e-05,-6.0908e-07,7.9316e-04,4.4105e-05
+1,5.0000e-02,XJC_ZERO_HOLD_BEFORE_UP,1.4866e-05,-3.6660e-02,2.4236e-03,2.4611e+00,-3.6963e-02,3.4139e-02,-3.7558e-05,2.7713e-03,-1.8279e-05,1.4722e-03,9.5740e-07,1.7590e-04,-2.4229e-06,3.1381e-03,1.7592e-04
+2,1.1667e-01,WAIT_W2,2.8527e-05,-3.3974e-02,2.4111e-03,2.4624e+00,-3.6963e-02,3.4312e-02,-3.9905e-05,5.4575e-03,-3.0795e-05,2.8431e-03,1.6689e-06,3.4879e-04,-4.7690e-06,6.1537e-03,3.4883e-04
+3,2.0000e-01,WAIT_W2,4.4437e-05,-3.0732e-02,2.3948e-03,2.4640e+00,-3.6962e-02,3.4524e-02,-4.2744e-05,8.7000e-03,-4.7062e-05,4.4410e-03,2.7567e-06,5.6030e-04,-7.6080e-06,9.7680e-03,5.6036e-04
+4,2.5000e-01,WAIT_W2,6.1361e-05,-2.8741e-02,2.3847e-03,2.4650e+00,-3.6961e-02,3.4655e-02,-4.4544e-05,1.0691e-02,-5.7130e-05,5.4052e-03,3.5055e-06,6.9157e-04,-9.4082e-06,1.1980e-02,6.9165e-04
+5,2.8333e-01,WAIT_W2,7.1326e-05,-2.7335e-02,2.3880e-03,2.4657e+00,-3.6961e-02,3.4749e-02,-4.5917e-05,1.2097e-02,-5.3853e-05,6.0842e-03,3.4384e-06,7.8508e-04,-1.0782e-05,1.3541e-02,7.8516e-04
+6,3.3333e-01,WAIT_W2,8.8059e-05,-2.5358e-02,2.3893e-03,2.4666e+00,-3.6961e-02,3.4881e-02,-4.7934e-05,1.4073e-02,-5.2563e-05,7.0236e-03,3.5837e-06,9.1764e-04,-1.2798e-05,1.5729e-02,9.1773e-04
+7,4.0000e-01,WAIT_W2,1.0305e-04,-2.2899e-02,2.3827e-03,2.4677e+00,-3.6960e-02,3.5048e-02,-5.0535e-05,1.6532e-02,-5.9195e-05,8.1520e-03,4.3772e-06,1.0842e-03,-1.5399e-05,1.8433e-02,1.0843e-03
+8,4.5000e-01,WAIT_W2,1.1643e-04,-2.1153e-02,2.3764e-03,2.4685e+00,-3.6959e-02,3.5167e-02,-5.2408e-05,1.8278e-02,-6.5434e-05,8.9219e-03,5.1036e-06,1.2034e-03,-1.7272e-05,2.0339e-02,1.2035e-03
+9,5.1667e-01,WAIT_W2,1.3210e-04,-1.5739e-02,2.1932e-02,2.4702e+00,-3.8244e-02,3.5546e-02,-5.5187e-05,2.3693e-02,1.9490e-02,1.0566e-02,-1.2796e-03,1.5827e-03,-2.0052e-05,3.2447e-02,2.0354e-03
+10,5.6667e-01,WAIT_W2,1.5011e-04,-1.5175e-02,1.9462e-02,2.4704e+00,-3.8096e-02,3.5590e-02,-5.5372e-05,2.4257e-02,1.7021e-02,1.0802e-02,-1.1318e-03,1.6264e-03,-2.0236e-05,3.1540e-02,1.9815e-03
+11,6.1667e-01,WAIT_W2,1.6278e-04,-1.4186e-02,1.8093e-02,2.4708e+00,-3.8016e-02,3.5660e-02,-5.5670e-05,2.5245e-02,1.5651e-02,1.1187e-02,-1.0518e-03,1.6969e-03,-2.0535e-05,3.1740e-02,1.9965e-03
+12,6.6667e-01,WAIT_W2,1.7568e-04,-1.2987e-02,1.7341e-02,2.4712e+00,-3.7974e-02,3.5745e-02,-5.6047e-05,2.6444e-02,1.4899e-02,1.1653e-02,-1.0098e-03,1.7810e-03,-2.0912e-05,3.2513e-02,2.0475e-03
+13,7.3333e-01,WAIT_W2,1.9260e-04,-1.1251e-02,1.6862e-02,2.4719e+00,-3.7950e-02,3.5866e-02,-5.6650e-05,2.8180e-02,1.4420e-02,1.2327e-02,-9.8563e-04,1.9023e-03,-2.1514e-05,3.3971e-02,2.1426e-03
+14,8.1667e-01,WAIT_W2,2.0472e-04,-9.0568e-03,1.6671e-02,2.4728e+00,-3.7944e-02,3.6020e-02,-5.7522e-05,3.0375e-02,1.4229e-02,1.3172e-02,-9.7972e-04,2.0561e-03,-2.2386e-05,3.6036e-02,2.2777e-03
+15,8.8333e-01,WAIT_W2,2.2014e-04,-7.3524e-03,1.6654e-02,2.4734e+00,-3.7947e-02,3.6139e-02,-5.8287e-05,3.2079e-02,1.4212e-02,1.3819e-02,-9.8245e-04,2.1760e-03,-2.3151e-05,3.7710e-02,2.3876e-03
+16,9.3333e-01,WAIT_W2,2.3497e-04,-1.7985e-03,1.6904e-02,2.4756e+00,-3.7981e-02,3.6554e-02,-6.2768e-05,3.7633e-02,1.4462e-02,1.6055e-02,-1.0170e-03,2.5909e-03,-2.7633e-05,4.3396e-02,2.7835e-03
+17,1.0000e+00,WAIT_W2,2.4765e-04,-1.9789e-03,1.6997e-02,2.4754e+00,-3.7987e-02,3.6546e-02,-6.3236e-05,3.7453e-02,1.4555e-02,1.5803e-02,-1.0230e-03,2.5828e-03,-2.8101e-05,4.3177e-02,2.7781e-03
+18,1.0667e+00,WAIT_W2,2.6513e-04,-1.4601e-03,1.7044e-02,2.4754e+00,-3.7990e-02,3.6583e-02,-6.3770e-05,3.7972e-02,1.4602e-02,1.5859e-02,-1.0259e-03,2.6196e-03,-2.8635e-05,4.3664e-02,2.8135e-03
+19,1.1500e+00,WAIT_W2,2.7904e-04,-2.6128e-04,1.7068e-02,2.4758e+00,-3.7992e-02,3.6666e-02,-6.4606e-05,3.9170e-02,1.4626e-02,1.6197e-02,-1.0272e-03,2.7022e-03,-2.9471e-05,4.4840e-02,2.8910e-03
+20,1.2000e+00,WAIT_W2,2.9363e-04,5.6287e-04,1.7070e-02,2.4761e+00,-3.7992e-02,3.6722e-02,-6.5137e-05,3.9994e-02,1.4628e-02,1.6469e-02,-1.0271e-03,2.7589e-03,-3.0001e-05,4.5659e-02,2.9440e-03
+21,1.2667e+00,WAIT_W2,3.0916e-04,1.6951e-03,1.7067e-02,2.4764e+00,-3.7991e-02,3.6800e-02,-6.5874e-05,4.1127e-02,1.4625e-02,1.6861e-02,-1.0265e-03,2.8370e-03,-3.0738e-05,4.6793e-02,3.0172e-03
+22,1.3500e+00,WAIT_W2,3.2185e-04,7.2024e-03,1.6989e-02,2.4786e+00,-3.7983e-02,3.7194e-02,-7.1189e-05,4.6634e-02,1.4547e-02,1.9006e-02,-1.0185e-03,3.2307e-03,-3.6053e-05,5.2417e-02,3.3876e-03
+23,1.4000e+00,WAIT_W2,3.3617e-04,6.4632e-03,1.6981e-02,2.4782e+00,-3.7982e-02,3.7149e-02,-7.1583e-05,4.5895e-02,1.4539e-02,1.8638e-02,-1.0180e-03,3.1854e-03,-3.6447e-05,5.1625e-02,3.3443e-03
+24,1.4667e+00,WAIT_W2,3.5465e-04,6.4666e-03,1.6982e-02,2.4781e+00,-3.7982e-02,3.7151e-02,-7.2046e-05,4.5898e-02,1.4540e-02,1.8528e-02,-1.0179e-03,3.1879e-03,-3.6911e-05,5.1588e-02,3.3466e-03
+25,1.5000e+00,WAIT_W2,3.6824e-04,1.6084e-02,2.9503e-02,2.4934e+00,-3.8800e-02,3.7782e-02,-7.1053e-05,5.5515e-02,2.7061e-02,3.3775e-02,-1.8354e-03,3.8188e-03,-3.5918e-05,7.0392e-02,4.2371e-03
+26,1.5333e+00,WAIT_W2,3.8073e-04,1.5948e-02,2.8750e-02,2.4913e+00,-3.8815e-02,3.7829e-02,-6.5063e-05,5.5380e-02,2.6309e-02,3.1714e-02,-1.8505e-03,3.8656e-03,-2.9927e-05,6.9028e-02,4.2858e-03
+27,1.5667e+00,WAIT_W2,3.9495e-04,1.5992e-02,2.8548e-02,2.4913e+00,-3.8801e-02,3.7832e-02,-6.4908e-05,5.5424e-02,2.6106e-02,3.1689e-02,-1.8370e-03,3.8684e-03,-2.9772e-05,6.8975e-02,4.2825e-03
+28,1.6167e+00,WAIT_W2,4.0733e-04,1.7752e-02,4.2588e-02,2.4894e+00,-3.9795e-02,3.7958e-02,-5.0819e-05,5.7183e-02,4.0146e-02,2.9812e-02,-2.8302e-03,3.9947e-03,-1.5683e-05,7.5963e-02,4.8957e-03
+29,1.6333e+00,WAIT_W2,4.3902e-04,1.9488e-02,5.3648e-02,2.4890e+00,-4.0513e-02,3.8071e-02,-4.5371e-05,5.8919e-02,5.1206e-02,2.9453e-02,-3.5485e-03,4.1078e-03,-1.0236e-05,8.3433e-02,5.4283e-03
+30,1.6333e+00,WAIT_W2,4.3902e-04,1.9488e-02,5.3648e-02,2.4890e+00,-4.0513e-02,3.8071e-02,-4.5371e-05,5.8919e-02,5.1206e-02,2.9453e-02,-3.5485e-03,4.1078e-03,-1.0236e-05,8.3433e-02,5.4283e-03
+31,1.6667e+00,WAIT_W2,4.5773e-04,4.6988e-02,6.5032e-02,2.5195e+00,-4.1286e-02,3.9876e-02,-3.7299e-05,8.6420e-02,6.2591e-02,5.9948e-02,-4.3216e-03,5.9121e-03,-2.1638e-06,1.2239e-01,7.3232e-03
+32,1.6833e+00,WAIT_W2,4.6549e-04,4.5627e-02,6.4304e-02,2.5186e+00,-4.1243e-02,3.9795e-02,-3.6490e-05,8.5059e-02,6.1862e-02,5.8990e-02,-4.2787e-03,5.8311e-03,-1.3547e-06,1.2059e-01,7.2325e-03
+33,1.7167e+00,WAIT_W2,4.8707e-04,4.3501e-02,6.3089e-02,2.5168e+00,-4.1172e-02,3.9669e-02,-3.5004e-05,8.2932e-02,6.0647e-02,5.7172e-02,-4.2074e-03,5.7055e-03,1.3201e-07,1.1758e-01,7.0891e-03
+34,1.7500e+00,WAIT_W2,4.9862e-04,4.3011e-02,6.7812e-02,2.5166e+00,-4.1487e-02,3.9647e-02,-3.3026e-05,8.2443e-02,6.5370e-02,5.6977e-02,-4.5221e-03,5.6840e-03,2.1098e-06,1.1965e-01,7.2634e-03
+35,1.8167e+00,WAIT_W2,5.1555e-04,4.2138e-02,7.2170e-02,2.5155e+00,-4.1786e-02,3.9608e-02,-2.8917e-05,8.1569e-02,6.9729e-02,5.5890e-02,-4.8214e-03,5.6444e-03,6.2187e-06,1.2099e-01,7.4233e-03
+36,1.8667e+00,WAIT_W2,5.2720e-04,4.4400e-02,9.6559e-02,2.5096e+00,-4.3658e-02,3.9856e-02,2.4877e-05,8.3831e-02,9.4117e-02,4.9993e-02,-6.6937e-03,5.8926e-03,6.0013e-05,1.3559e-01,8.9180e-03
+37,1.9167e+00,WAIT_W2,5.4091e-04,4.4004e-02,9.5949e-02,2.5096e+00,-4.3609e-02,3.9828e-02,2.6652e-05,8.3435e-02,9.3508e-02,5.0020e-02,-6.6447e-03,5.8645e-03,6.1788e-05,1.3493e-01,8.8627e-03
+38,1.9833e+00,WAIT_W2,5.6095e-04,4.3208e-02,9.4909e-02,2.5087e+00,-4.3530e-02,3.9773e-02,2.8445e-05,8.2639e-02,9.2467e-02,4.9129e-02,-6.5654e-03,5.8097e-03,6.3580e-05,1.3339e-01,8.7671e-03
+39,2.0500e+00,UP_FORCE_RAMP,5.7343e-04,4.1360e-02,1.0302e-01,2.5054e+00,-4.4051e-02,3.9650e-02,3.1389e-05,8.0792e-02,1.0058e-01,4.5828e-02,-7.0862e-03,5.6862e-03,6.6524e-05,1.3691e-01,9.0858e-03
+40,2.1167e+00,UP_FORCE_RAMP,5.8891e-04,4.0062e-02,1.0554e-01,2.5029e+00,-4.4214e-02,3.9561e-02,3.3895e-05,7.9494e-02,1.0310e-01,4.3335e-02,-7.2492e-03,5.5978e-03,6.9030e-05,1.3721e-01,9.1592e-03
+41,2.1667e+00,UP_FORCE_RAMP,6.0191e-04,3.9345e-02,1.0607e-01,2.5015e+00,-4.4248e-02,3.9512e-02,3.5222e-05,7.8776e-02,1.0362e-01,4.1929e-02,-7.2840e-03,5.5481e-03,7.0358e-05,1.3675e-01,9.1566e-03
+42,2.2167e+00,UP_FORCE_RAMP,6.1823e-04,3.8721e-02,1.0620e-01,2.5003e+00,-4.4258e-02,3.9468e-02,3.6174e-05,7.8153e-02,1.0375e-01,4.0703e-02,-7.2933e-03,5.5045e-03,7.1309e-05,1.3612e-01,9.1377e-03
+43,2.2833e+00,UP_FORCE_RAMP,6.3240e-04,3.7975e-02,1.0614e-01,2.4988e+00,-4.4255e-02,3.9416e-02,3.6905e-05,7.7407e-02,1.0370e-01,3.9244e-02,-7.2902e-03,5.4520e-03,7.2041e-05,1.3522e-01,9.1037e-03
+44,2.3500e+00,UP_FORCE_RAMP,6.4592e-04,3.7291e-02,1.0599e-01,2.4975e+00,-4.4245e-02,3.9367e-02,3.7092e-05,7.6723e-02,1.0355e-01,3.7917e-02,-7.2810e-03,5.4037e-03,7.2227e-05,1.3434e-01,9.0674e-03
+45,2.4167e+00,UP_FORCE_RAMP,6.5749e-04,3.6654e-02,1.0582e-01,2.4963e+00,-4.4234e-02,3.9322e-02,3.6792e-05,7.6086e-02,1.0338e-01,3.6689e-02,-7.2699e-03,5.3587e-03,7.1927e-05,1.3350e-01,9.0317e-03
+46,2.4667e+00,UP_FORCE_RAMP,6.7376e-04,3.6353e-02,1.0853e-01,2.4957e+00,-4.4412e-02,3.9300e-02,3.6576e-05,7.5785e-02,1.0608e-01,3.6093e-02,-7.4473e-03,5.3365e-03,7.1711e-05,1.3528e-01,9.1622e-03
+47,2.5667e+00,UP_FORCE_RAMP,6.8886e-04,3.5853e-02,1.2079e-01,2.4956e+00,-4.5232e-02,3.9257e-02,3.9075e-05,7.5284e-02,1.1835e-01,3.6056e-02,-8.2679e-03,5.2936e-03,7.4211e-05,1.4483e-01,9.8176e-03
+48,2.6333e+00,UP_FORCE_RAMP,7.0457e-04,3.5361e-02,1.1959e-01,2.4947e+00,-4.5163e-02,3.9223e-02,3.8949e-05,7.4792e-02,1.1714e-01,3.5141e-02,-8.1985e-03,5.2596e-03,7.4084e-05,1.4336e-01,9.7408e-03
+49,2.7333e+00,UP_FORCE_RAMP,7.1897e-04,3.4621e-02,1.1883e-01,2.4933e+00,-4.5122e-02,3.9172e-02,3.7796e-05,7.4052e-02,1.1639e-01,3.3674e-02,-8.1579e-03,5.2084e-03,7.2932e-05,1.4200e-01,9.6791e-03
+50,2.8333e+00,UP_FORCE_RAMP,7.3421e-04,3.3231e-02,1.1994e-01,2.4907e+00,-4.5232e-02,3.9044e-02,1.1175e-05,7.2663e-02,1.1750e-01,3.1124e-02,-8.2673e-03,5.0804e-03,4.6311e-05,1.4162e-01,9.7037e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/fem_node.csv
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+59,2.628333e+01,2824,6.960467e-01,1.833161e-02,8.158795e-01,3.266092e-04,-1.942598e-04,-4.959010e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2825,7.000568e-01,1.605204e-02,8.156460e-01,3.297821e-04,-1.080130e-04,-4.787071e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2826,6.995555e-01,1.853383e-02,8.362815e-01,2.728781e-04,-4.361589e-05,-4.936655e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2827,6.930535e-01,1.839940e-02,8.229517e-01,3.211772e-04,-1.588818e-04,-5.017054e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2828,6.990356e-01,1.538144e-02,8.216699e-01,4.183496e-04,2.567758e-05,-4.709763e-03,7.099695e-04,6.943953e-03,3.405406e-03
+59,2.628333e+01,2829,6.950929e-01,1.730607e-02,8.315446e-01,2.580035e-04,-1.077872e-04,-4.955053e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2830,6.942062e-01,1.652411e-02,8.236342e-01,3.835230e-04,-1.240184e-04,-4.939359e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2831,6.975414e-01,1.543938e-02,8.209356e-01,4.398551e-04,-9.577715e-06,-4.782152e-03,-2.384414e-04,-2.009238e-05,-2.802291e-04
+59,2.628333e+01,2832,6.934858e-01,1.842171e-02,8.207454e-01,3.312650e-04,-1.676953e-04,-5.005090e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2833,6.988370e-01,1.604274e-02,8.163931e-01,3.678857e-04,-9.580052e-05,-4.787764e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2834,6.945702e-01,1.728929e-02,8.194350e-01,3.795915e-04,-1.561091e-04,-4.938117e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2835,6.972965e-01,1.583504e-02,8.314703e-01,2.982023e-04,-1.000125e-04,-4.868428e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2836,6.954960e-01,1.634422e-02,8.302279e-01,2.981709e-04,-1.082212e-04,-4.922383e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2837,6.980083e-01,1.734341e-02,8.148589e-01,3.314204e-04,-1.806227e-04,-4.881148e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2838,6.990595e-01,1.655032e-02,8.151846e-01,3.375572e-04,-1.454364e-04,-4.822852e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2839,6.928775e-01,1.869484e-02,8.255264e-01,2.975944e-04,-1.451923e-04,-5.030349e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2840,7.007320e-01,1.866842e-02,8.366211e-01,2.866030e-04,-3.402017e-05,-4.939507e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2841,6.965693e-01,1.631518e-02,8.179631e-01,4.108915e-04,-1.139532e-04,-4.841347e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2842,6.934708e-01,1.730784e-02,8.243393e-01,3.457034e-04,-1.403634e-04,-4.980171e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2843,7.000737e-01,1.674262e-02,8.144443e-01,3.034576e-04,-1.636994e-04,-4.839811e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.628333e+01,2844,7.000687e-01,1.745759e-02,8.136941e-01,2.877240e-04,-1.962448e-04,-4.888712e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf6137caab34de6df0f2c2d6e8b28ff23f05e020
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+39050,1792702196145088367,10023156000000,1792702196139144074,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6760640371863521,-0.00466250109505326,0.09078026405967145,0.9999999901863672,-9.725136926516652e-05,-1.989660444212988e-05,-3.487730279732891e-05,0.6761,-0.00453,0.09087905497304553,1.0,0.0,0.0,0.0,-0.004155894854087072,0.03747944347786425,0.5363721690127334,0.0041697205412251845,-0.0005919226176702291,0.0005695263985402649,0.8817478948898029,0.594748465119238,0.23913965311633936,0.0414161694674718,-0.06188507658419766,0.003498844164672904,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,0.047222180049049316,0.8978165423274312,1.0548952702393357,-0.14686556386240038,-0.5817264038082323,0.5403195251574348,-0.13074956995010537,0.5363721690127334,-1.185644840189441,-1.185644840189441,0.1759999999999942,0,0,-0.0001099999788159708,-9.999999025923074e-05
+39133,1792702196837132315,10023848000000,1792702196831144701,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6760449367587176,-0.004658835144085617,0.09073385820913513,0.9999999892637192,-9.071406038415011e-05,-6.128480212624763e-05,-3.05050492410863e-05,0.6761,-0.00453,0.0907909806900405,1.0,0.0,0.0,0.0,-0.2273840646839541,0.1645564428269758,0.7759056678761425,0.013893096040329393,0.015600432666732007,0.0007470888970033561,0.6585197250599358,0.7218254644683495,0.4786731519797484,0.05113954496657601,-0.04569272129979542,0.003676406663135995,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,0.29963902425038014,0.8809191861415224,0.7867238336669906,-0.08831832589076068,-0.3898904245067734,0.5249690948228415,-0.13074956995010537,0.7759056678761425,-0.917473403617096,-0.917473403617096,0.23135999999999193,0,0,-0.00014459997207535847,-9.999999025923074e-05
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+39449,1792702199470116431,10026481000000,1792702199463144227,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761351780978196,-0.0046778109169185855,0.09049316799728771,0.999999990857586,-2.655208071442024e-05,7.649022751728726e-05,5.631984254598514e-05,0.6761,-0.00453,0.09032966020271517,1.0,0.0,0.0,0.0,-0.6259178267962507,0.3661769248730664,2.2812997156234998,0.03016935022218859,0.04410639645495523,0.001158548573803788,0.2599859629476392,0.9234459465144401,1.9840671997271058,0.06741579914843521,-0.0171867575115722,0.004087866339936427,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.1520400466089806,0.7231955218250565,-1.108847278075308,0.0924116922723014,0.9495949308301088,0.3996145606962656,-0.13074956995010537,2.2812997156234998,0.9780977081252027,0.9780977081252027,0.44200000000004996,0,0,-0.00014088010529403482,9.999999025923074e-05
+39577,1792702200537115996,10027548000000,1792702200535144293,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761627093136237,-0.004679553535604486,0.09041863199844152,0.9999999864386839,1.2704388319096858e-05,0.00011412841596384304,7.334030076204216e-05,0.6761,-0.00453,0.09020777667481636,1.0,0.0,0.0,0.0,-0.7335616575527739,0.4426668548348721,2.546526037949807,0.03604818614439934,0.05125037889935726,0.0011128389053877514,0.15234213219111606,0.9999358764762458,2.2492935220534127,0.07329463507064596,-0.01004277506717017,0.00404215667152039,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.2216660251015985,0.7496656019382498,-1.3110453363518673,0.07300167794257222,1.076375778360729,0.4161444384194076,-0.13074956995010537,2.546526037949807,1.180295766401762,1.180295766401762,0.5273600000000571,0,0,-8.753011568743562e-05,9.999999025923074e-05
+39696,1792702201529116188,10028540000000,1792702201527143464,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761692636010955,-0.004676897963610376,0.09036875911640453,0.9999999848687123,1.919395107800355e-05,0.00012197961724522948,8.036171102270943e-05,0.6761,-0.00453,0.09014552359525682,1.0,0.0,0.0,0.0,-0.7528834578057337,0.43737928947497906,2.6755493123622753,0.03596814310779007,0.05324940338632021,0.001037395524475594,0.13302033193815624,0.9946483111163528,2.378316796465881,0.07321459203403669,-0.008043750580207221,0.003966713290608233,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.226309599468111,0.7666467680115062,-1.558382540741226,0.05834977270629376,1.2315412592196422,0.4292649525636429,-0.13074956995010537,2.6755493123622753,1.4276329707911206,1.4276329707911206,0.6067200000000263,0,0,-3.7930125350278725e-05,9.999999025923074e-05
+39852,1792702202829098533,10029840000000,1792702202827144032,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.676166872372963,-0.004680822794623435,0.09034205929821247,0.9999999850771343,1.7181534428872877e-05,0.00011661068464442081,8.599615613131662e-05,0.6761,-0.00453,0.09013017137931782,1.0,0.0,0.0,0.0,-0.7340774260103962,0.41498016418770156,2.6368094190553313,0.03457471053672804,0.05227944065961887,0.0010332746415659911,0.1518263637334938,0.9722491858290753,2.339576903158937,0.07182115946297465,-0.00901371330690856,0.00396259240769863,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.221158557659495,0.7314605044468672,-1.374782580465391,0.06530732817811956,1.1203554218200034,0.4014844709266806,-0.13074956995010537,2.6368094190553313,1.2440330105152857,1.2440330105152857,0.710719999999986,0,0,-2.4321776342928203e-07,2.456745085144263e-06
+40004,1792702204095059642,10031106000000,1792702204087153374,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6761645715214978,-0.004678871528616045,0.09033136559210708,0.9999999856896736,2.000968051530294e-05,0.0001112410598492348,8.53730424760224e-05,0.6761,-0.00453,0.09013012281986353,1.0,0.0,0.0,0.0,-0.7321704886078004,0.3873443917656122,2.586073715362772,0.033087979498205154,0.051299499632091135,0.0010476277731729456,0.15373330113608955,0.9446134134069859,2.2888411994663778,0.07033442842445177,-0.009993654334436294,0.0039769455393055845,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.2045679898431698,0.7386972823671618,-1.4379085691273221,0.05933128499169913,1.1593079353853704,0.4078152622598812,-0.13074956995010537,2.586073715362772,1.3071589991772168,1.3071589991772168,0.8119999999999468,0,0,-4.2654130227859355e-10,4.308498002814076e-09
+40175,1792702205520051741,10032531000000,1792702205515153673,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761627252919956,-0.004679019812204558,0.0903265116779743,0.9999999858981035,2.1710722132130586e-05,0.00010747388902008195,8.731932893221175e-05,0.6761,-0.00453,0.0901301227344256,1.0,0.0,0.0,0.0,-0.7134128101309581,0.38518339565607274,2.535818002729097,0.033012437751117514,0.050300020802934664,0.001073194261383574,0.17249097961293183,0.9424524172974464,2.2385854868327026,0.07025888667736413,-0.010993133163592763,0.004002512027516213,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.1655812411996567,0.7402006597852575,-1.2625643603395442,0.06267952733720683,1.0402474329887976,0.4098222599347455,-0.13074956995010537,2.535818002729097,1.1318147903894389,1.1318147903894389,0.9259999999999026,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+40355,1792702207019986106,10034031000000,1792702207019153372,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761586779772364,-0.004677971167998289,0.09031874417370134,0.9999999866661551,2.1831480392292418e-05,0.00010158830301024753,8.55205084706928e-05,0.6761,-0.00453,0.09013012273236475,1.0,0.0,0.0,0.0,-0.7049034095898757,0.3910610068415308,2.4958039593615835,0.0330474718238408,0.049293934245835315,0.0010909740537233268,0.18100038015401418,0.9483300284829045,2.1985714434651893,0.07029392075008742,-0.011999219720692117,0.004020291819855966,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.1951556959415812,0.6701898418217611,-1.328967857353036,0.08112897274218318,1.0909560800493274,0.359675255334967,-0.13074956995010537,2.4958039593615835,1.1982182874029306,1.1982182874029306,1.0459999999999199,0,0,-1.360161983043895e-12,1.3739009929736312e-11
+40499,1792702208219960509,10035231000000,1792702208219152712,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6761586828005614,-0.004681446232111929,0.09031759237608362,0.9999999865809703,2.0001801816654814e-05,0.00010073408566084039,8.794029569544449e-05,0.6761,-0.00453,0.09012948303156101,1.0,0.0,0.0,0.0,-0.6940551733886706,0.38982312955785103,2.484955189480492,0.032212380136815606,0.04932002665565391,0.0001413203201788664,0.19184861635521933,0.9470921511992247,2.1877226735840978,0.06945882906306222,-0.011973127310873523,0.0030706380863115054,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.1316981505614787,0.7667540382540897,-1.2951925060752572,0.04961042129924731,1.057045025810901,0.4209313136963718,-0.13074956995010537,2.484955189480492,1.1644429361251518,1.1644429361251518,1.142000000000016,0,0,-1.2944036330286846e-06,1.3074784172006915e-05
+40630,1792702209311955414,10036323000000,1792702209307143777,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761583036057175,-0.004682844023691078,0.09031295703507874,0.9999999863823198,2.1339465563506655e-05,0.0001003864064721797,9.025198778954131e-05,0.6761,-0.00453,0.09011745214364923,1.0,0.0,0.0,0.0,-0.699742276673589,0.37985636576806225,2.4830513201605884,0.03205863573890542,0.049314514039609486,7.324798014203158e-05,0.18616151307030096,0.937125387409436,2.185818804264194,0.06930508466515203,-0.011978639926917948,0.0030025657462746705,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.1502573072158264,0.7100003686319278,-1.2162864265280267,0.07238689403671249,1.005633562813915,0.38351513682246674,-0.13074956995010537,2.4830513201605884,1.0855368565779213,1.0855368565779213,1.2293600000001033,0,0,-2.2766648312437472e-05,-9.986411283880443e-05
+40758,1792702210378969177,10037390000000,1792702210375153602,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761633812077968,-0.0046845003615295965,0.09029912513095338,0.9999999851750876,1.923249431790098e-05,0.00011007751955578607,9.276712818151254e-05,0.6761,-0.00453,0.09008928270457554,1.0,0.0,0.0,0.0,-0.7256685791378014,0.3935786759418176,2.555889202815906,0.03300656657604461,0.05029327533355967,0.0010491060504832627,0.1602352106060886,0.9508476975831913,2.2586566869195117,0.07025301550229122,-0.010999878632967757,0.003978423816615902,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.2365117214337744,0.8016457795449368,-1.3702986419009142,0.05374533681888849,1.1212573576057516,0.4534690035133584,-0.13074956995010537,2.555889202815906,1.2395490719508089,1.2395490719508089,1.3147200000001886,0,0,-2.7412993648694102e-05,-9.979877621380524e-05
+40926,1792702211779033329,10038790000000,1792702211775144085,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6761699429523392,-0.004684887900352268,0.09027661919514383,0.9999999837308561,2.1483086653047887e-05,0.0001179874720734686,9.79723715579232e-05,0.6761,-0.00453,0.09004820974195633,1.0,0.0,0.0,0.0,-0.7608214309296152,0.4146599138406608,2.655553746848056,0.034958284255437726,0.05327989025085752,6.33799763827274e-05,0.12508235881427476,0.9719289354820345,2.358321230951662,0.07220473318168434,-0.00801326371566991,0.0029926977425153664,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.2720155263567803,0.7709846554808076,-1.5298919935701885,0.06674149108728814,1.2216874516957952,0.4313963090821574,-0.13074956995010537,2.655553746848056,1.3991424236200831,1.3991424236200831,1.4267200000003006,0,0,-3.3296190711491806e-05,6.340200173061134e-05
+41089,1792702213136979590,10040148000000,1792702213135153611,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6761785021805075,-0.004684050029184909,0.0902558121920443,0.9999999817344364,1.9787644609067166e-05,0.00013125564951894307,0.00010175654705601277,0.6761,-0.00453,0.0900083163258417,1.0,0.0,0.0,0.0,-0.772508641665872,0.4302654930352927,2.7573544518157727,0.0358974938715794,0.055257225578347495,0.0008931197126169888,0.11339514807801804,0.9875345146766664,2.4601219359193784,0.07314394279782602,-0.006035928388179934,0.0038224374787496278,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.3711208993539488,0.7725511862894349,-1.6610551887662548,0.05586250317272724,1.3325194857949263,0.42869880521728376,-0.13074956995010537,2.7573544518157727,1.5303056188161495,1.5303056188161495,1.5353600000004093,0,0,-2.4057470283918352e-05,9.999990699250389e-05
+41261,1792702214569913944,10041581000000,1792702214563153958,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761828141373043,-0.004683813851361959,0.09023099862503127,0.9999999801178179,2.5128218974979768e-05,0.00013889908942625408,0.00010622073202139268,0.6761,-0.00453,0.08996890432397464,1.0,0.0,0.0,0.0,-0.7999586121441937,0.4352117645567233,2.847590242613895,0.03606774301169371,0.056252154720122564,0.0009404291458768106,0.08594517759969625,0.992480786198097,2.550357726717501,0.07331419193794032,-0.005040999246404866,0.0038697469120094496,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.3329613226464703,0.7428969542254057,-1.7431234452648812,0.06463930810438431,1.3689411606624098,0.40918586790091177,-0.13074956995010537,2.847590242613895,1.6123738753147758,1.6123738753147758,1.650000000000524,0,0,-3.1501607401127186e-05,1.4148562146754507e-05
+41409,1792702215803973055,10042815000000,1792702215803153256,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6761885306739406,-0.004689395726081181,0.0902047314186796,0.9999999781109427,2.281486095311397e-05,0.0001493418027974658,0.00011134400201939108,0.6761,-0.00453,0.08992955564879657,1.0,0.0,0.0,0.0,-0.8186297298404882,0.43113764494620477,2.9481587621624286,0.03682579897000673,0.057227231320714875,0.0008832626916801785,0.06727405990340175,0.9884066665875785,2.6509262462660343,0.07407224789625334,-0.004065922645812559,0.0038125804578128175,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.361524551244955,0.7639245053234847,-1.9193266301511644,0.062051436959856536,1.4835710419657755,0.43021523718716803,-0.13074956995010537,2.9481587621624286,1.788577060201059,1.788577060201059,1.7487200000006227,0,0,-3.098268098048062e-05,9.999389791038311e-05
+41577,1792702217203957781,10044215000000,1792702217203152889,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.676196328307976,-0.0046876030347729365,0.09017505839850724,0.9999999754565043,3.01236929338993e-05,0.00016195715235498207,0.00011572510125691352,0.6761,-0.00453,0.08988908791125355,1.0,0.0,0.0,0.0,-0.8294572843742372,0.43335142102181723,3.0428228933439416,0.03678076603310986,0.05822012184236957,0.000821641511306568,0.056446505369652816,0.9906204426631909,2.7455903774475474,0.07402721495935648,-0.0030730321241578605,0.003750959277439207,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.3793369996312363,0.6860427769780997,-1.9236482284545051,0.08040822485985517,1.4883791902717673,0.3756872428435758,-0.13074956995010537,3.0428228933439416,1.7928986585043998,1.7928986585043998,1.8607200000007347,0,0,-2.623547921551251e-05,-9.73596856176428e-05
+41716,1792702218361907809,10045373000000,1792702218359143929,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6761996115466777,-0.0046853707095608575,0.0901470186507296,0.9999999738354455,3.221149923195313e-05,0.00016859289748833228,0.00011962786918906018,0.6761,-0.00453,0.08985248071006986,1.0,0.0,0.0,0.0,-0.8491100594344381,0.44871842078954194,3.1188933821852687,0.03769029772026731,0.060148148164480074,0.000799980244433523,0.036793730309451905,1.0059874424309156,2.8216608662888745,0.07493674664651392,-0.0011450058020473592,0.003729298010566162,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.417253362477991,0.7369717247499281,-2.0663616125288713,0.05798975959130462,1.5899744994044809,0.4069674333091638,-0.13074956995010537,3.1188933821852687,1.935612042578766,1.935612042578766,1.9533600000008273,0,0,-3.44222953932175e-05,7.385404374027899e-05
+41828,1792702219294950723,10046306000000,1792702219291153502,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762046077466212,-0.004689912160237104,0.09012364820037805,0.9999999713562625,3.499457266316003e-05,0.0001790052583634609,0.0001243496523973379,0.6761,-0.00453,0.0898171387405828,1.0,0.0,0.0,0.0,-0.8680102844631837,0.4417995850555362,3.1785528818377595,0.03770209039461823,0.061217509944574484,-0.0002504883820517857,0.017893505280706178,0.9990686066969099,2.8813203659413653,0.07494853932086484,-7.564402195294319e-05,0.0026788293840808533,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.4622997864337084,0.6452830355123083,-2.0487493774329804,0.08987918899668186,1.583666881569124,0.3516196300910886,-0.13074956995010537,3.1785528818377595,1.917999807482875,1.917999807482875,2.028000000000902,0,0,-4.0762515914087534e-05,-9.999990699250389e-05
+41968,1792702220461975731,10047473000000,1792702220459153581,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6762099634969104,-0.004689021918297104,0.0900833069977736,0.9999999687324984,4.2443164748593396e-05,0.0001886976547635529,0.00012872311177613107,0.6761,-0.00453,0.08976616324770605,1.0,0.0,0.0,0.0,-0.886887727193571,0.4374546636051775,3.2428062539399343,0.03765585301027389,0.06221375197175763,0.00010624018030831565,-0.0009839374496810704,0.9947236852465512,2.94557373804354,0.0749023019365205,0.0009205980052302006,0.0030355579464409546,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.504275968239267,0.6256739256883667,-2.1353618189393067,0.10218402933243916,1.6466887609229226,0.34263596331022383,-0.13074956995010537,3.2428062539399343,2.004612248989201,2.004612248989201,2.1213600000009953,0,0,-4.86122952267617e-05,-9.861226698960052e-05
+42115,1792702221686916350,10048698000000,1792702221679153672,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762202482183212,-0.0046882018486622806,0.09003674342071422,0.999999964930047,5.073027829158689e-05,0.00020448954076777108,0.00013112298016305677,0.6761,-0.00453,0.08970434165544929,1.0,0.0,0.0,0.0,-0.896396091482942,0.4279141041822212,3.3476195665598354,0.03766875229372255,0.06219580653147485,-0.00038576188806877876,-0.010492301739052015,0.9851831258235949,3.050387050663441,0.07491520121996917,0.0009026525649474206,0.00254355587806386,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.5357498881371128,0.6116012303990069,-2.283201638000203,0.11130702461549075,1.7461533986473716,0.33505928441174493,-0.13074956995010537,3.3476195665598354,2.1524520680500974,2.1524520680500974,2.2193600000010933,0,0,-5.095461930847891e-05,-2.5977032851695782e-05
+42251,1792702222819924662,10049831000000,1792702222819153284,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6762273266992572,-0.004702228619099416,0.08997992560728849,0.9999999669358791,-6.264220015757767e-05,0.00022528091890835355,5.381047663064313e-05,0.6761,-0.00453,0.08963143631112507,1.0,0.0,0.0,0.0,-0.9697663758505133,0.36728282133960743,3.40562811662522,0.0333519057719534,0.06834464538707875,-0.00039405449427111017,-0.08386258610662338,0.9245518429809811,3.1083956007288256,0.07059835469820001,0.007051491420551329,0.002535263271861529,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.5124892375652508,0.6111674647106681,-2.2282977158120496,-0.026677042720209168,1.720441591017891,0.3555473160444202,-0.13074956995010537,3.40562811662522,2.097548145861944,2.097548145861944,2.310000000001184,0,0,-8.338251007297538e-05,-9.941735909369526e-05
+42391,1792702223986944112,10050998000000,1792702223983143825,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762346496738072,-0.0047043942007909635,0.08990403199451584,0.9999999649466509,-2.554920404606743e-05,0.00023416034929441584,7.788279884947447e-05,0.6761,-0.00453,0.08953738290336638,1.0,0.0,0.0,0.0,-0.9873793460226239,0.33416770816805275,3.5160116576046687,0.03024094906239861,0.07033000404543358,-0.00048815130836937434,-0.1014755562787339,0.8914367298094265,3.2187791417082745,0.06748739798864523,0.009036850078906146,0.0024411664577632646,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.562143743516449,0.4637414344127145,-2.511981254513487,0.0886184725533432,1.903084574619535,0.24810772507542533,-0.13074956995010537,3.5160116576046687,2.3812316845633816,2.3812316845633816,2.4033600000012774,0,0,-6.642620458266612e-05,9.999310687647806e-05
+42546,1792702225278889751,10052290000000,1792702225275153755,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762376170077106,-0.004706976313271232,0.08983002306227053,0.9999999627451862,-8.455521398120527e-06,0.0002379149536972353,9.63196226381494e-05,0.6761,-0.00453,0.08946038589548094,1.0,0.0,0.0,0.0,-0.9853961895569573,0.28629356270167905,3.524856627163317,0.027210070360414264,0.06945013319815457,-0.0005451139823193351,-0.09949239981306737,0.8435625843430528,3.227624111266923,0.06445651928666088,0.008156979231627145,0.002384203783813304,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.5262753387846753,0.4540265947797703,-2.469229099092601,0.14333364179170238,1.8591903978871125,0.22842235839976288,-0.13074956995010537,3.524856627163317,2.3384795291424956,2.3384795291424956,2.5067200000013807,0,0,-6.468580860815998e-05,-9.999932412541596e-05
+42678,1792702226378834802,10053390000000,1792702226371153466,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762418336634947,-0.004706114774258228,0.08975835301080101,0.9999999604420402,6.157057982214478e-06,0.00024094152929535865,0.00011166043390323552,0.6761,-0.00453,0.08937927210581754,1.0,0.0,0.0,0.0,-0.9856662084684318,0.2780895507957881,3.5749549784433015,0.02719011435325524,0.06944046139814163,-0.0005806114509279811,-0.09976241872454189,0.8353585724371618,3.2777224625469072,0.06443656327950185,0.008147307431614195,0.002348706315204658,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6090960890294677,0.5614617780694529,-2.6226498982210003,0.11481054819152475,1.9767508910407696,0.29819093935239677,-0.13074956995010537,3.5749549784433015,2.4919003282708947,2.4919003282708947,2.5947200000014687,0,0,-7.994979267785526e-05,-2.32923707737776e-05
+42806,1792702227444913904,10054456000000,1792702227443153989,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762506073567529,-0.004699469045407758,0.08967394345591455,0.9999999586472673,-5.623973877785737e-05,0.00025857869892012564,6.42065129913736e-05,0.6761,-0.00453,0.0892837351084247,1.0,0.0,0.0,0.0,-0.9381174153316079,0.3077514422300691,3.6184926176456056,0.02846337347612713,0.06704823960697671,-0.00064296216282739,-0.05221362558771786,0.8650204638714428,3.3212601017492114,0.06570982240237375,0.005755085640449279,0.002286355603305249,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.5975219088448125,0.5816141641821359,-2.6512169962950733,0.124206602558524,1.993227429642461,0.3152763394670326,-0.13074956995010537,3.6184926176456056,2.520467426344968,2.520467426344968,2.680000000001554,0,0,-0.00010127607954632379,-8.523464853216751e-05
+42938,1792702228544802446,10055556000000,1792702228543153880,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762597026972536,-0.004706958519024451,0.08957656091877435,0.9999999550342035,-3.4360301170124114e-05,0.0002696554253073703,8.648570230701431e-05,0.6761,-0.00453,0.08917252381731766,1.0,0.0,0.0,0.0,-0.948549163182611,0.2839556132620795,3.7193375436809615,0.027216990863004033,0.06738137866365551,-0.0007293022007776634,-0.06264537343872097,0.8412246349034532,3.4221050277845673,0.06446343978925065,0.00608822469712808,0.0022000155653549756,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6230454200756959,0.40815527503659316,-2.752883634115803,0.191256712648226,2.059785803823423,0.2013048202813727,-0.13074956995010537,3.7193375436809615,2.6221340641656976,2.6221340641656976,2.768000000001642,0,0,-9.815863096926248e-05,-9.999954617002089e-05
+43065,1792702229603850891,10056615000000,1792702229603153562,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.676258712560076,-0.004705329641864099,0.08945981856526151,0.9999999556151404,-2.103398475593713e-05,0.00026577426761291705,9.557296633450651e-05,0.6761,-0.00453,0.0890600007757474,1.0,0.0,0.0,0.0,-0.9187355530498706,0.24604267885480824,3.6917004332368344,0.02420344028153288,0.06578130960308076,-0.0007694797472485352,-0.03283176330598067,0.803311700496182,3.39446791734044,0.061449889207779496,0.00448815563655333,0.0021598380188841038,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6173446645671723,0.5769610197946661,-2.7941634611602506,0.16339125320657796,2.08677685691282,0.3175759536620723,-0.13074956995010537,3.6917004332368344,2.663413891210145,2.663413891210145,2.8527200000017268,0,0,-0.00012162653432598448,-9.44580205982703e-05
+43173,1792702230503870907,10057515000000,1792702230503153470,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.6762690643839134,-0.004710098014484036,0.08935808544692997,0.9999999506188697,-1.4834712935717685e-05,0.00028224119770110887,0.00010161181140876455,0.6761,-0.00453,0.0889435500987034,1.0,0.0,0.0,0.0,-0.9007846237787878,0.2504911160371752,3.79509029484334,0.025240836085326256,0.06436425747225158,-0.0008550598024738994,-0.014880834034897846,0.8077601376785489,3.497857778946946,0.06248728501157287,0.003071103505724145,0.0020742579636587395,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.668977577150742,0.526698282247852,-2.9090739033808517,0.19363419693358547,2.170899153592032,0.286226792241776,-0.13074956995010537,3.79509029484334,2.778324333430746,2.778324333430746,2.9247200000017988,0,0,-0.00012883333257576878,9.999999025923074e-05
+43277,1792702231369860736,10058381000000,1792702231367153211,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762673120718314,-0.004707921474426454,0.08924192622575738,0.9999999521867027,-2.344365520126189e-05,0.00027842997505224675,9.485041411281182e-05,0.6761,-0.00453,0.08883020744864255,1.0,0.0,0.0,0.0,-0.8656208209058945,0.2444932858274933,3.7847814722072814,0.023258352860109147,0.06237661418633558,-0.0008940582737352182,0.02028296883799541,0.801762307468867,3.4875489563108872,0.06050480178635576,0.0010834602198081522,0.0020352594923974208,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6899429736191096,0.4399362075755627,-3.0122666592985428,0.24057560389352747,2.246957887524635,0.22882569892155563,-0.13074956995010537,3.7847814722072814,2.881517089348437,2.881517089348437,2.994000000001868,0,0,-0.00013952105567119488,9.880051918121353e-05
+43377,1792702232203807528,10059215000000,1792702232199153858,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762731930430032,-0.004707049204592718,0.0891237866059714,0.999999949271552,-2.2423938595580874e-05,0.0002871194227082485,9.979660342779294e-05,0.6761,-0.00453,0.0887055352531775,1.0,0.0,0.0,0.0,-0.8529098491378639,0.264594742703816,3.805881079955143,0.023256147241381912,0.06236977939465542,-0.0010189772039946145,0.032993940606026013,0.8218637643451897,3.5086485640587486,0.06050259616762853,0.0010766254281279859,0.0019103405621380245,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.635525759552634,0.4875290363427858,-2.922852569235125,0.24264759444123235,2.1693814005288172,0.2651846977992518,-0.13074956995010537,3.805881079955143,2.7921029992850195,2.7921029992850195,3.060720000001935,0,0,-0.00016019673377695576,-9.223565941430251e-05
+43469,1792702232969832621,10059981000000,1792702232963154229,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762713999672978,-0.004707190119391911,0.08899744539053249,0.9999999489690148,-1.9321827048371974e-05,0.0002867829293919316,0.00010434103104984134,0.6761,-0.00453,0.08857257381570607,1.0,0.0,0.0,0.0,-0.843162970332093,0.2480110535952026,3.835034569409434,0.022686400236828233,0.06034288217640606,-0.000967134646049324,0.04274081941179696,0.8052800752365763,3.53780205351304,0.05993284916307485,-0.0009502717901213722,0.001962183120083315,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.5540590452663052,0.5914835464629181,-2.979440867845152,0.2264557171553804,2.181060578537797,0.332655138648993,-0.13074956995010537,3.835034569409434,2.8486912978950465,2.8486912978950465,3.122000000001996,0,0,-0.00018399716710945502,-9.922406926510802e-05
+43552,1792702233661828706,10060673000000,1792702233659154184,DOWN_FORCE_DETACH,9,0.0415,0.04149673506617546,0.676275331171611,-0.0047054054478622475,0.08887126949583786,0.9999999480075433,-1.5721457109383803e-05,0.00028975563166874264,0.00010593528535935845,0.6761,-0.00453,0.08844378221262772,1.0,0.0,0.0,0.0,-0.8049775898029791,0.21897751270212995,3.8642201772829092,0.020290256277583373,0.05836340752993117,-0.0010509447192248362,0.08092619994091087,0.7762465343435037,3.566987661386515,0.05753670520382999,-0.0029297464365962604,0.0018783730469078028,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.655321419671873,0.46691698747395766,-3.0142956636040923,0.28726959786896755,2.2333413977325374,0.2528528181198208,-0.13074956995010537,3.8642201772829092,2.8835460936539867,2.8835460936539867,3.1773600000020514,0,0,-0.00018928744898868833,-9.999999025923074e-05
+43636,1792702234361865243,10061373000000,1792702234359153771,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762768722798502,-0.004713233282988019,0.08873269477216728,0.9999999467042705,-1.8245039272745624e-05,0.0002924450957032159,0.00011035082804256109,0.6761,-0.00453,0.08830439643077441,1.0,0.0,0.0,0.0,-0.826727784875639,0.21041002445855395,3.9042222709934054,0.02025402485322078,0.05936924220923886,-0.0010702076778230439,0.059176004868250955,0.7676790460999277,3.606989755097011,0.0575004737794674,-0.0019239117572885753,0.001859110088309595,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.654723034361716,0.5873613450428116,-3.112191259222844,0.2646022443714539,2.29156698602773,0.3354346269293085,-0.13074956995010537,3.9042222709934054,2.9814416892727382,2.9814416892727382,3.2333600000021074,0,0,-0.0002077381271627385,6.266139979033434e-05
+43716,1792702235028836733,10062040000000,1792702235027153742,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762801321335017,-0.004717458956769345,0.08859307879322828,0.999999944420158,-1.8720720847708385e-05,0.0002976272476937739,0.00011691920824267386,0.6761,-0.00453,0.08816012917471246,1.0,0.0,0.0,0.0,-0.8214212941380724,0.19521734845151995,3.9137059957281277,0.018211129478013628,0.059405663164707724,-0.001146797796501772,0.06448249560581755,0.7524863700928937,3.6164734798317335,0.055457578404260244,-0.0018874908018197034,0.001782519969630867,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6605933737918182,0.44025447402539314,-3.1869620485285286,0.31897236601450973,2.3381604793865916,0.23990431196431272,-0.13074956995010537,3.9137059957281277,3.056212478578423,3.056212478578423,3.286720000002161,0,0,-0.0002249928694783313,9.771624761978898e-05
+43784,1792702235594828589,10062606000000,1792702235591153978,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762808371354911,-0.00471691485147463,0.08846644585122991,0.9999999442327093,-1.8355237872687703e-05,0.0002983993646780218,0.0001166119503464135,0.6761,-0.00453,0.08803166489069898,1.0,0.0,0.0,0.0,-0.8048091901149732,0.18280708758279807,3.9253177939768817,0.017214738964062712,0.05840991678520209,-0.0011348384514979805,0.08109459962891674,0.7400761092241718,3.6280852780804875,0.05446118789030933,-0.0028832371813253418,0.0017944793146346585,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.7060238124219134,0.39524698234017747,-3.1760449195378975,0.35190877491709543,2.342568041096283,0.21097243583133996,-0.13074956995010537,3.9253177939768817,3.045295349587792,3.045295349587792,3.332000000002206,0,0,-0.0002308846076045754,1.5362497707515602e-05
+43852,1792702236161854808,10063173000000,1792702236159154236,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762847464089482,-0.004722196072575206,0.08833900911446028,0.9999999423400361,-1.4663322500298636e-05,0.0003027466443972129,0.00012203378759744225,0.6761,-0.00453,0.08789725185769647,1.0,0.0,0.0,0.0,-0.8217421227770135,0.1620167261641341,3.9825832473604086,0.016150856982915296,0.059430640342624824,-0.0011794985167689267,0.06416166696687645,0.7192857478055078,3.6853507314640144,0.05339730590916191,-0.0018625136239026055,0.0017498192493637123,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6981228107761692,0.33247048416636993,-3.2008033997556358,0.38662060147413135,2.3533210680401195,0.17809577684182992,-0.13074956995010537,3.9825832473604086,3.07005382980553,3.07005382980553,3.3773600000022515,0,0,-0.0002413131046910417,-4.577607541752821e-05
+43916,1792702236694849735,10063706000000,1792702236691144416,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762794954927636,-0.004725026393052899,0.08819965168606514,0.9999999441889255,-1.1698607041244697e-05,0.0002939313618818756,0.00012857879883888958,0.6761,-0.00453,0.0877672543090068,1.0,0.0,0.0,0.0,-0.8102806888095018,0.12868571225436487,3.971731006291357,0.014148311996742359,0.05846490369294182,-0.0021848918289912997,0.07562310093438815,0.6859547338957386,3.6744984903949627,0.051394760922988975,-0.002828250273585608,0.0007444259371413393,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.686859464043328,0.35796328976787967,-3.1985133197469335,0.3969895568685171,2.349603467680201,0.1954951504689511,-0.13074956995010537,3.971731006291357,3.067763749796828,3.067763749796828,3.420000000002294,0,0,-0.00024814341522824544,-9.995283353625978e-05
+43983,1792702237253843400,10064265000000,1792702237251153709,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762765350888983,-0.004725608975845035,0.08805377216160509,0.9999999462488526,-2.1233688949599327e-05,0.0002871737282813601,0.0001265920080292858,0.6761,-0.00453,0.08762601558211096,1.0,0.0,0.0,0.0,-0.7998495679602969,0.1000658506627673,3.9728332091145453,0.01156666032994616,0.057495673510111936,-0.0022589154625975525,0.08605422178359297,0.657334872304141,3.675600693218151,0.048813109256192776,-0.0037974804564154937,0.0006704023035350867,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.6885944295300004,0.3437655339304163,-3.161663311635689,0.42243614496527365,2.325577044501191,0.18672941023865375,-0.13074956995010537,3.9728332091145453,3.0309137416855836,3.0309137416855836,3.464720000002339,0,0,-0.00025703054163802994,-9.999843594699626e-05
+44051,1792702237819826363,10064831000000,1792702237819153800,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762798557093035,-0.004730294088860644,0.08791170812367244,0.9999999439341021,-3.17603117284796e-05,0.0002939602499876128,0.00012709567738377226,0.6761,-0.00453,0.08747476599766073,1.0,0.0,0.0,0.0,-0.8054521140722006,0.10813802248769677,3.9837555654656502,0.011075926811680542,0.05851417166794865,-0.0012482014631963968,0.08045167567168927,0.6654070441290705,3.686523049569256,0.04832237573792716,-0.002778982298578777,0.0016811163029362421,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.7093152965284957,0.3775584490736934,-3.256500503048687,0.42378320614250986,2.3845520110449354,0.2091076635770006,-0.13074956995010537,3.9837555654656502,3.1257509330985815,3.1257509330985815,3.510000000002384,0,0,-0.00027615887419482475,-9.98249913549742e-05
+44115,1792702238353838663,10065365000000,1792702238347153789,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762808149134064,-0.004732256998793051,0.08776584033159829,0.9999999424740564,-3.845530092841645e-05,0.0002969261139934364,0.00012981071207134978,0.6761,-0.00453,0.08732133788511069,1.0,0.0,0.0,0.0,-0.8164372792311962,0.08633244850398092,4.00951319938816,0.010048624219885095,0.058529270678206534,-0.0013360915020691878,0.06946651051269372,0.6436014701453546,3.7122806834917665,0.04729507314613171,-0.002763883288320899,0.0015932262640634511,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.749295530913406,0.3737234993823794,-3.3047242438094746,0.4411080281755623,2.4250437116523997,0.20697349602886278,-0.13074956995010537,4.00951319938816,3.173974673859369,3.173974673859369,3.552720000002427,0,0,-0.0002966523062593295,-6.408035005168425e-05
+44171,1792702238819808045,10065831000000,1792702238819153556,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762801274672311,-0.004737606190204886,0.08762875935906897,0.9999999414556761,-3.8417780210115313e-05,0.00029615199245054105,0.00013910276910462243,0.6761,-0.00453,0.08718111121361348,1.0,0.0,0.0,0.0,-0.8134168005231786,0.0741900770446201,3.996244697759769,0.009035399977795483,0.058555120204674294,-0.001285786598538727,0.07248698922071144,0.6314590986859938,3.6990121818633748,0.0462818489040421,-0.0027380337618531365,0.001643531167593912,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.7805119854779496,0.3896813258104127,-3.2460741639210413,0.44297319016790204,2.3961577520586834,0.2205526074290195,-0.13074956995010537,3.996244697759769,3.1153245939709358,3.1153245939709358,3.590000000002464,0,0,-0.0003098190522008145,-9.999999025923074e-05
+44227,1792702239286829594,10066298000000,1792702239279153838,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762786431122735,-0.004738855006810318,0.08748467689657906,0.99999994125437,-1.542010911065847e-05,0.0002939900200310411,0.0001492186630143782,0.6761,-0.00453,0.08703417303832436,1.0,0.0,0.0,0.0,-0.8340758172408271,0.06469665594217155,4.0117717948506275,0.007980564501735427,0.05958293671074499,-0.0015818302284161838,0.05182797250306277,0.6219656775835453,3.7145392789542337,0.04522701342798204,-0.0017102172557824466,0.0013474875377164552,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.8134078530026858,0.24618559661704015,-3.384293248962392,0.5039820374631133,2.4902244743986612,0.13806875767521945,-0.13074956995010537,4.0117717948506275,3.2535436790122865,3.2535436790122865,3.6273600000025015,0,0,-0.00031980517434662827,7.500000206850927e-05
+44279,1792702239719801726,10066731000000,1792702239719153729,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762818234708248,-0.004738966933031498,0.08734874733942366,0.9999999431385057,-2.7002639053793905e-05,0.00030306568824280795,0.00011219579232179339,0.6761,-0.00453,0.08689238782550474,1.0,0.0,0.0,0.0,-0.792592839730522,0.10303855067326984,4.041621154385714,0.010584280816602017,0.057228174891458365,-0.0015233503240263816,0.093310950013368,0.6603075723146435,3.74438863848932,0.04783072974284863,-0.004064979075069067,0.0014059674421062574,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.8613614909339284,0.30192433155068854,-3.3352195269805285,0.4834145788631373,2.4707450783555247,0.16680959172101079,-0.13074956995010537,4.041621154385714,3.204469957030423,3.204469957030423,3.662000000002536,0,0,-0.00033337689122755885,-9.999999025923074e-05
+44331,1792702240153793864,10067165000000,1792702240147154495,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762885892197824,-0.004744087508185956,0.08720098049620778,0.9999999347079847,-2.1397969327580874e-05,0.0003197847166776842,0.00013894874226007338,0.6761,-0.00453,0.08674501770960279,1.0,0.0,0.0,0.0,-0.8767553848737484,0.09639948380165597,4.033850006177136,0.009712731891140872,0.0625118249697056,-0.0012586467537771743,0.009148404870141532,0.6536685054430297,3.736617490280742,0.04695918081738749,0.0012186710031781769,0.0016706710123554646,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.9338957398476069,0.2953199785584099,-3.401551263578575,0.48959013281443137,2.518806975375398,0.1650857043230659,-0.13074956995010537,4.033850006177136,3.2708016936284694,3.2708016936284694,3.696720000002571,0,0,-0.00034622647827320683,5.547306236288558e-05
+44379,1792702240553830382,10067565000000,1792702240551144197,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762775654336604,-0.004745165402520782,0.08706209932530651,0.9999999409677035,-9.774472733896665e-06,0.0002913994244232539,0.00015651929297675848,0.6761,-0.00453,0.08660461199539359,1.0,0.0,0.0,0.0,-0.8346127852192083,0.038656152880477634,4.0777846174512655,0.005995657590187664,0.059687652439922086,-0.001452741395364558,0.05129100452468156,0.5959251745218513,3.7805521015548713,0.04324210651643428,-0.0016055015266053427,0.001476576370768081,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.929540587931626,0.24031820380329066,-3.4034218788768835,0.5192269334919916,2.5344932559629685,0.13232197186766642,-0.13074956995010537,4.0777846174512655,3.272672308926778,3.272672308926778,3.728720000002603,0,0,-0.00035393361799282284,-7.692876477361494e-05
+44431,1792702240986751529,10067998000000,1792702240983154304,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762842591291279,-0.004750732341975123,0.08691452501483966,0.9999999363303751,3.836384270509566e-06,0.00029630594449351754,0.00017598346430120003,0.6761,-0.00453,0.0864481890483498,1.0,0.0,0.0,0.0,-0.8726106769946164,0.04036899452126674,4.066892164295147,0.0068220743901762915,0.0626363691502285,-0.001685115426679898,0.013293112749273594,0.5976380161626405,3.7696596483987532,0.04406852331642291,0.0013432151837010691,0.001244202339452741,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.9494492917658928,0.20940376547422218,-3.3367898870963426,0.5314168106915685,2.491261684795064,0.1133587866844423,-0.13074956995010537,4.066892164295147,3.206040317146237,3.206040317146237,3.7633600000026375,0,0,-0.0003680840340678212,-9.999999025923074e-05
+44475,1792702241353714724,10068365000000,1792702241347153401,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762887465817297,-0.004751495540978963,0.0867823143689045,0.9999999365094844,-5.896358153067772e-05,0.00031486845414124766,0.00012571811419472605,0.6761,-0.00453,0.0863105860736098,1.0,0.0,0.0,0.0,-0.8308800537256065,0.09222702765410673,4.080262106768508,0.008775427543902092,0.06035581647363519,-0.0013315485233574367,0.05502373601828349,0.6494960492954804,3.783029590872114,0.04602187647014871,-0.0009373374928922376,0.0015977692427752023,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,1.980606499609378,0.23565726272838536,-3.422990202851622,0.5357316684282983,2.5602556109548025,0.14428486708070587,-0.13074956995010537,4.080262106768508,3.2922406329015166,3.2922406329015166,3.792720000002667,0,0,-0.00038216834459123126,-9.015072996299551e-05
+44518,1792702241711716639,10068723000000,1792702241711153621,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762801268801505,-0.004758268470750209,0.08664283562201522,0.9999999381599681,-3.224989085796784e-05,0.00030421821542519014,0.0001467451747361295,0.6761,-0.00453,0.0861718772018858,1.0,0.0,0.0,0.0,-0.8331910014564724,0.03977202828523163,4.118522072854172,0.005504136916444746,0.060261198785855195,-0.0023985025262365733,0.052712788287417586,0.5970410499266053,3.8212895569577783,0.04275058584269136,-0.0010319551806722376,0.0005308152398960657,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,2.0055127022160377,0.2435346392581877,-3.454195363724017,0.5424288126622403,2.592434171048339,0.1512776915274638,-0.13074956995010537,4.118522072854172,3.3234457937739115,3.3234457937739115,3.8213600000026955,0,0,-0.00039097682102702823,-7.428832278786874e-05
+44562,1792702242078802264,10069090000000,1792702242075153311,DOWN_FORCE_DETACH,9,0.0415,0.04149739444255829,0.6762811780124619,-0.004759525900073782,0.08650045839989356,0.9999999344231801,-8.85437562881745e-06,0.00030737477999549296,0.0001674480355854983,0.6761,-0.00453,0.08602612225462548,1.0,0.0,0.0,0.0,-0.85415176275697,0.017879990455223038,4.138538787659958,0.004707878927175037,0.06168035088107746,-0.0014155880556559696,0.031752026986919965,0.5751490120965967,3.841306271763564,0.04195432785342165,0.0003871969145500307,0.0015137297104766694,0.88590378974389,0.5572690216413737,-0.2972325158963941,0.037246448926246616,-0.06129315396652743,0.002929317766132639,1,2.058989249748655,0.22040499381976933,-3.3926284361294825,0.553674555841763,2.5673251282636036,0.1359416718250314,-0.13074956995010537,4.138538787659958,3.261878866179377,3.261878866179377,3.850720000002725,0,0,-0.0004008791950713394,-9.992031787942607e-05
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d26c07efafc15d6ff4fe6be1805f4bf153694f33
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09ac67444294ef6f6bed1bdfc3ce803c19400a26
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,4.700000000e+00,DOWN_FORCE_DETACH,1792702202827696420,1.651633496e-04,-4.096718203e-05,-4.934114415e-04,1.632748814e-04,-4.313351995e-05,-4.961994192e-04,1.676649752e-04,-4.272859418e-05,-4.944601355e-04,7.017030348e-01,-3.941622071e-05,8.402475297e-01,7.017011464e-01,-4.158255863e-05,8.402447418e-01,7.018964440e-01,-4.093419367e-05,8.290785276e-01
+10,5.333333333e+00,DOWN_FORCE_DETACH,1792702204091709500,1.634407228e-04,-4.577570873e-05,-5.023631273e-04,1.632748814e-04,-4.313351995e-05,-4.961994192e-04,1.678652532e-04,-4.271537534e-05,-4.953300359e-04,7.017013122e-01,-4.422474740e-05,8.402385781e-01,7.017011464e-01,-4.158255863e-05,8.402447418e-01,7.018966443e-01,-4.092097483e-05,8.290776577e-01
+11,6.050000000e+00,DOWN_FORCE_DETACH,1792702205523649918,1.607609186e-04,-4.385308628e-05,-5.092433678e-04,1.632748814e-04,-4.313351995e-05,-4.961994192e-04,1.679836613e-04,-4.271425271e-05,-4.957968032e-04,7.016986324e-01,-4.230212496e-05,8.402316978e-01,7.017011464e-01,-4.158255863e-05,8.402447418e-01,7.018967627e-01,-4.091985220e-05,8.290771909e-01
+12,6.816666667e+00,DOWN_FORCE_DETACH,1792702207019951520,1.571623314e-04,-4.120297700e-05,-5.171724168e-04,1.583781591e-04,-4.101087122e-05,-5.156669786e-04,1.630658586e-04,-4.058385697e-05,-5.151441675e-04,7.016950338e-01,-3.965201568e-05,8.402237688e-01,7.016962496e-01,-3.945990989e-05,8.402252742e-01,7.018918449e-01,-3.878945646e-05,8.290578436e-01
+13,7.450000000e+00,DOWN_FORCE_DETACH,1792702208217767856,1.572570040e-04,-4.870075600e-05,-5.180849031e-04,1.583781591e-04,-4.101087122e-05,-5.156669786e-04,1.630629296e-04,-4.058410886e-05,-5.153748695e-04,7.016951285e-01,-4.714979467e-05,8.402228563e-01,7.016962496e-01,-3.945990989e-05,8.402252742e-01,7.018918420e-01,-3.878970835e-05,8.290576129e-01
+14,8.033333333e+00,DOWN_FORCE_DETACH,1792702209315784004,1.576096133e-04,-4.432300450e-05,-5.229362312e-04,1.583781591e-04,-4.101087122e-05,-5.156669786e-04,1.630603361e-04,-4.058480789e-05,-5.154887137e-04,7.016954811e-01,-4.277204318e-05,8.402180050e-01,7.016962496e-01,-3.945990989e-05,8.402252742e-01,7.018918394e-01,-3.879040738e-05,8.290574990e-01
+15,8.600000000e+00,DOWN_FORCE_DETACH,1792702210379744423,1.618655619e-04,-4.773217053e-05,-5.367914595e-04,1.564488574e-04,-4.568309433e-05,-5.362516765e-04,1.610321844e-04,-4.522970979e-05,-5.357758328e-04,7.016997370e-01,-4.618120921e-05,8.402041497e-01,7.016943203e-01,-4.413213301e-05,8.402046895e-01,7.018898113e-01,-4.343530928e-05,8.290372119e-01
+16,9.316666667e+00,DOWN_FORCE_DETACH,1792702211777692987,1.717846380e-04,-4.865552752e-05,-5.544784207e-04,1.672771271e-04,-5.271484934e-05,-5.515864959e-04,1.718599702e-04,-5.220274677e-05,-5.509865251e-04,7.017096561e-01,-4.710456620e-05,8.401864628e-01,7.017051486e-01,-5.116388802e-05,8.401893547e-01,7.019006390e-01,-5.040834626e-05,8.290220012e-01
+17,1.000000000e+01,DOWN_FORCE_DETACH,1792702213139835002,1.781919309e-04,-4.840320868e-05,-5.771806082e-04,1.742256923e-04,-5.112138928e-05,-5.717115236e-04,1.789190102e-04,-5.061456506e-05,-5.709683565e-04,7.017160634e-01,-4.685224736e-05,8.401637606e-01,7.017120972e-01,-4.957042795e-05,8.401692297e-01,7.019076981e-01,-4.882016455e-05,8.290020194e-01
+18,1.071666667e+01,DOWN_FORCE_DETACH,1792702214571774502,1.818608131e-04,-4.523218669e-05,-6.023857140e-04,1.753479867e-04,-5.001103960e-05,-5.950850221e-04,1.801257194e-04,-4.956809365e-05,-5.942555761e-04,7.017197323e-01,-4.368122537e-05,8.401385555e-01,7.017132195e-01,-4.846007828e-05,8.401458562e-01,7.019089048e-01,-4.777369314e-05,8.289787322e-01
+19,1.136666667e+01,DOWN_FORCE_DETACH,1792702215803574417,1.879388082e-04,-5.143153283e-05,-6.296221300e-04,1.816467250e-04,-4.678269421e-05,-6.149746354e-04,1.865232818e-04,-4.635498728e-05,-6.142123818e-04,7.017258103e-01,-4.988057151e-05,8.401113191e-01,7.017195182e-01,-4.523173289e-05,8.401259666e-01,7.019153024e-01,-4.456058677e-05,8.289587753e-01
+20,1.210000000e+01,DOWN_FORCE_DETACH,1792702217199558128,1.959042928e-04,-4.951506207e-05,-6.577065843e-04,1.936161915e-04,-5.193821417e-05,-6.527884659e-04,1.985965440e-04,-5.146857350e-05,-6.517261732e-04,7.017337758e-01,-4.796410075e-05,8.400832346e-01,7.017314877e-01,-5.038725285e-05,8.400881527e-01,7.019273756e-01,-4.967417299e-05,8.289212616e-01
+21,1.271666667e+01,DOWN_FORCE_DETACH,1792702218364985404,1.969576384e-04,-5.057118879e-05,-6.896823313e-04,1.937151158e-04,-4.464094220e-05,-6.715150711e-04,1.988064933e-04,-4.424623273e-05,-6.705640659e-04,7.017348291e-01,-4.902022746e-05,8.400512589e-01,7.017315866e-01,-4.308998087e-05,8.400694261e-01,7.019275856e-01,-4.245183222e-05,8.289024237e-01
+22,1.321666667e+01,DOWN_FORCE_DETACH,1792702219293718493,2.024874641e-04,-5.523737304e-05,-7.125334189e-04,1.996529789e-04,-5.372771583e-05,-7.131749517e-04,2.047967076e-04,-5.325198705e-05,-7.117435038e-04,7.017403589e-01,-5.368641171e-05,8.400284078e-01,7.017375245e-01,-5.217675451e-05,8.400277662e-01,7.019335758e-01,-5.145758654e-05,8.288612442e-01
+23,1.380000000e+01,DOWN_FORCE_DETACH,1792702220459755662,2.111105801e-04,-4.682176287e-05,-7.503377054e-04,2.059085708e-04,-4.906330655e-05,-7.341977794e-04,2.111365267e-04,-4.863804191e-05,-7.329292666e-04,7.017489821e-01,-4.527080155e-05,8.399906035e-01,7.017437801e-01,-4.751234523e-05,8.400067434e-01,7.019399156e-01,-4.684364140e-05,8.288400585e-01
+24,1.441666667e+01,DOWN_FORCE_DETACH,1792702221689538835,2.163644843e-04,-5.236591385e-05,-8.023066468e-04,2.171653167e-04,-5.121442325e-05,-7.956326411e-04,2.224714830e-04,-5.078195822e-05,-7.937790951e-04,7.017542360e-01,-5.081495253e-05,8.399386345e-01,7.017550368e-01,-4.966346193e-05,8.399453085e-01,7.019512506e-01,-4.898755771e-05,8.287792086e-01
+25,1.498333333e+01,DOWN_FORCE_DETACH,1792702222821752445,2.242858482e-04,-6.534341241e-05,-8.555327102e-04,2.237219944e-04,-6.104370902e-05,-8.483827413e-04,2.290099211e-04,-6.051292739e-05,-8.463309691e-04,7.017621573e-01,-6.379245109e-05,8.398854085e-01,7.017615935e-01,-5.949274770e-05,8.398925584e-01,7.019577890e-01,-5.871852688e-05,8.287266568e-01
+26,1.560000000e+01,DOWN_FORCE_DETACH,1792702223983747980,2.304668868e-04,-6.393117501e-05,-9.354461117e-04,2.303468407e-04,-6.393447080e-05,-9.352473463e-04,2.355715114e-04,-6.339952040e-05,-9.325654623e-04,7.017683384e-01,-6.238021369e-05,8.398054951e-01,7.017682183e-01,-6.238350948e-05,8.398056938e-01,7.019643506e-01,-6.160511989e-05,8.286404223e-01
+27,1.628333333e+01,DOWN_FORCE_DETACH,1792702225281849970,2.349764757e-04,-6.903695670e-05,-1.006953154e-03,2.347663981e-04,-6.672237276e-05,-9.992206373e-04,2.398797544e-04,-6.608997133e-05,-9.969678216e-04,7.017728480e-01,-6.748599537e-05,8.397339880e-01,7.017726379e-01,-6.517141144e-05,8.397417206e-01,7.019686588e-01,-6.429557082e-05,8.285760199e-01
+28,1.686666667e+01,DOWN_FORCE_DETACH,1792702226379562238,2.403180176e-04,-6.934658326e-05,-1.077563580e-03,2.402055073e-04,-6.932669589e-05,-1.071419250e-03,2.451387011e-04,-6.865195872e-05,-1.069069318e-03,7.017781895e-01,-6.779562194e-05,8.396633776e-01,7.017780770e-01,-6.777573457e-05,8.396695219e-01,7.019739178e-01,-6.685755821e-05,8.285039184e-01
+29,1.741666667e+01,DOWN_FORCE_DETACH,1792702227443462283,2.470871732e-04,-6.052843337e-05,-1.164639156e-03,2.441135718e-04,-7.326498530e-05,-1.151795809e-03,2.487888801e-04,-7.252657094e-05,-1.149191965e-03,7.017849587e-01,-5.897747205e-05,8.395763020e-01,7.017819851e-01,-7.171402398e-05,8.395891454e-01,7.019775679e-01,-7.073217043e-05,8.284237958e-01
+30,1.798333333e+01,DOWN_FORCE_DETACH,1792702228541678238,2.567897085e-04,-6.915767749e-05,-1.261200847e-03,2.556174674e-04,-6.645914311e-05,-1.254679655e-03,2.600949087e-04,-6.576092139e-05,-1.251454680e-03,7.017946612e-01,-6.760671616e-05,8.394797403e-01,7.017934889e-01,-6.490818179e-05,8.394862615e-01,7.019888740e-01,-6.396652088e-05,8.283215330e-01
+31,1.851666667e+01,DOWN_FORCE_DETACH,1792702229606260331,2.560447667e-04,-7.277932528e-05,-1.376921224e-03,2.553115525e-04,-6.951116743e-05,-1.365194526e-03,2.593151243e-04,-6.881445815e-05,-1.361272169e-03,7.017939162e-01,-7.122836396e-05,8.393640200e-01,7.017931830e-01,-6.796020610e-05,8.393757467e-01,7.019880942e-01,-6.702005764e-05,8.282117156e-01
+32,1.896666667e+01,DOWN_FORCE_DETACH,1792702230503822617,2.674088668e-04,-7.100494696e-05,-1.479442413e-03,2.667024999e-04,-6.742595948e-05,-1.473207345e-03,2.705128513e-04,-6.677307661e-05,-1.468544126e-03,7.018052803e-01,-6.945398563e-05,8.392614988e-01,7.018045740e-01,-6.587499815e-05,8.392677338e-01,7.019992919e-01,-6.497867610e-05,8.281044436e-01
+33,1.940000000e+01,DOWN_FORCE_DETACH,1792702231367446191,2.642522671e-04,-6.822370957e-05,-1.595171388e-03,2.627240476e-04,-6.734280676e-05,-1.580936748e-03,2.661725337e-04,-6.667426423e-05,-1.575886671e-03,7.018021237e-01,-6.667274825e-05,8.391457698e-01,7.018005955e-01,-6.579184544e-05,8.391600044e-01,7.019949516e-01,-6.487986372e-05,8.279971011e-01
+34,1.985000000e+01,DOWN_FORCE_DETACH,1792702232202290508,2.680743208e-04,-6.518393768e-05,-1.714915819e-03,2.678105481e-04,-6.517480744e-05,-1.714864095e-03,2.710471363e-04,-6.450451844e-05,-1.709194477e-03,7.018059458e-01,-6.363297636e-05,8.390260254e-01,7.018056820e-01,-6.362384612e-05,8.390260771e-01,7.019998262e-01,-6.271011793e-05,8.278637933e-01
+35,2.025000000e+01,DOWN_FORCE_DETACH,1792702232966191162,2.731667153e-04,-7.021166960e-05,-1.835109530e-03,2.713497403e-04,-6.842480674e-05,-1.829773303e-03,2.743692297e-04,-6.771387519e-05,-1.824050647e-03,7.018110382e-01,-6.866070828e-05,8.389058317e-01,7.018092212e-01,-6.687384542e-05,8.389111679e-01,7.020031483e-01,-6.591947468e-05,8.277489371e-01
+36,2.061666667e+01,DOWN_FORCE_DETACH,1792702233665593652,2.686414609e-04,-7.066282039e-05,-1.971564258e-03,2.686563207e-04,-7.069155333e-05,-1.971431013e-03,2.713774289e-04,-7.000932239e-05,-1.964974798e-03,7.018065129e-01,-6.911185906e-05,8.387693769e-01,7.018065278e-01,-6.914059201e-05,8.387695102e-01,7.020001565e-01,-6.821492188e-05,8.276080129e-01
+37,2.098333333e+01,DOWN_FORCE_DETACH,1792702234363684494,2.737721576e-04,-7.113276776e-05,-2.106650191e-03,2.736404507e-04,-7.096407375e-05,-2.106193192e-03,2.759782802e-04,-7.028088039e-05,-2.099396815e-03,7.018116436e-01,-6.958180644e-05,8.386342910e-01,7.018115119e-01,-6.941311243e-05,8.386347480e-01,7.020047573e-01,-6.848647988e-05,8.274735909e-01
+38,2.133333333e+01,DOWN_FORCE_DETACH,1792702235027501275,2.799509177e-04,-7.861586859e-05,-2.237424545e-03,2.782828004e-04,-7.393597420e-05,-2.219784110e-03,2.802470565e-04,-7.319645426e-05,-2.213025917e-03,7.018178224e-01,-7.706490727e-05,8.385035166e-01,7.018161543e-01,-7.238501288e-05,8.385211571e-01,7.020090261e-01,-7.140205375e-05,8.273599618e-01
+39,2.163333333e+01,DOWN_FORCE_DETACH,1792702235595832394,2.793214896e-04,-8.014666048e-05,-2.369470739e-03,2.766705523e-04,-7.750231529e-05,-2.363642355e-03,2.781777649e-04,-7.670978236e-05,-2.355890690e-03,7.018171930e-01,-7.859569916e-05,8.383714704e-01,7.018145420e-01,-7.595135397e-05,8.383772988e-01,7.020069568e-01,-7.491538185e-05,8.272170970e-01
+40,2.193333333e+01,DOWN_FORCE_DETACH,1792702236159554187,2.815217261e-04,-7.761476782e-05,-2.498897184e-03,2.808695871e-04,-8.274334980e-05,-2.492740892e-03,2.819960889e-04,-8.186330726e-05,-2.484578084e-03,7.018193932e-01,-7.606380650e-05,8.382420440e-01,7.018187411e-01,-8.119238848e-05,8.382482003e-01,7.020107752e-01,-8.006890675e-05,8.270884096e-01
+41,2.220000000e+01,DOWN_FORCE_DETACH,1792702236691824103,2.759167175e-04,-8.757915458e-05,-2.639111629e-03,2.757185324e-04,-8.750151897e-05,-2.639238893e-03,2.763527945e-04,-8.656357184e-05,-2.630164896e-03,7.018137882e-01,-8.602819326e-05,8.381018296e-01,7.018135900e-01,-8.595055765e-05,8.381017023e-01,7.020051319e-01,-8.476917133e-05,8.269428228e-01
+42,2.248333333e+01,DOWN_FORCE_DETACH,1792702237257477881,2.776543614e-04,-8.975913025e-05,-2.781138418e-03,2.773156462e-04,-8.763176196e-05,-2.770377500e-03,2.774679288e-04,-8.670362996e-05,-2.761312781e-03,7.018155258e-01,-8.820816893e-05,8.379598028e-01,7.018151871e-01,-8.608080063e-05,8.379705637e-01,7.020062470e-01,-8.490922945e-05,8.268116749e-01
+43,2.276666667e+01,DOWN_FORCE_DETACH,1792702237823475817,2.786864601e-04,-8.884484917e-05,-2.924521747e-03,2.784674513e-04,-8.875959156e-05,-2.924359113e-03,2.780076211e-04,-8.782824334e-05,-2.914915534e-03,7.018165579e-01,-8.729388785e-05,8.378164194e-01,7.018163389e-01,-8.720863024e-05,8.378165821e-01,7.020067867e-01,-8.603384283e-05,8.266580722e-01
+44,2.303333333e+01,DOWN_FORCE_DETACH,1792702238355473564,2.786209077e-04,-9.044470470e-05,-3.071995244e-03,2.787539418e-04,-9.043712505e-05,-3.070950044e-03,2.776338595e-04,-8.953257749e-05,-3.061084232e-03,7.018164924e-01,-8.889374338e-05,8.376689459e-01,7.018166254e-01,-8.888616373e-05,8.376699911e-01,7.020064129e-01,-8.773817697e-05,8.265119035e-01
+45,2.326666667e+01,DOWN_FORCE_DETACH,1792702238819599033,2.790889004e-04,-1.016050472e-04,-3.207498927e-03,2.789807630e-04,-1.015968908e-04,-3.207461525e-03,2.772913850e-04,-1.005614471e-04,-3.197130305e-03,7.018169604e-01,-1.000540859e-04,8.375334423e-01,7.018168522e-01,-1.000459295e-04,8.375334797e-01,7.020060705e-01,-9.876704658e-05,8.263758574e-01
+46,2.350000000e+01,DOWN_FORCE_DETACH,1792702239287792963,2.771274664e-04,-1.020868158e-04,-3.351239694e-03,2.770290571e-04,-1.020545577e-04,-3.350483277e-03,2.748721144e-04,-1.009784715e-04,-3.339867660e-03,7.018149989e-01,-1.005358545e-04,8.373897015e-01,7.018149005e-01,-1.005035964e-04,8.373904579e-01,7.020036512e-01,-9.918407100e-05,8.262331201e-01
+47,2.373333333e+01,DOWN_FORCE_DETACH,1792702239721837900,2.801834282e-04,-9.936049646e-05,-3.487100810e-03,2.788932974e-04,-9.959375836e-05,-3.469930005e-03,2.764015701e-04,-9.849651611e-05,-3.459825323e-03,7.018180549e-01,-9.780953514e-05,8.372538404e-01,7.018167648e-01,-9.804279704e-05,8.372710112e-01,7.020051806e-01,-9.670211560e-05,8.261131624e-01
+48,2.395000000e+01,DOWN_FORCE_DETACH,1792702240152240932,2.857565321e-04,-1.071945927e-04,-3.635048058e-03,2.865902115e-04,-1.082126484e-04,-3.625489187e-03,2.837189035e-04,-1.070957572e-04,-3.614874768e-03,7.018236280e-01,-1.056436313e-04,8.371058931e-01,7.018244617e-01,-1.066616871e-04,8.371154520e-01,7.020124980e-01,-1.053013567e-04,8.259581130e-01
+49,2.416666667e+01,DOWN_FORCE_DETACH,1792702240551456694,2.771940161e-04,-1.143606458e-04,-3.770061939e-03,2.772736317e-04,-1.143859457e-04,-3.769618464e-03,2.738853940e-04,-1.132356780e-04,-3.758770402e-03,7.018150655e-01,-1.128096845e-04,8.369708792e-01,7.018151451e-01,-1.128349843e-04,8.369713227e-01,7.020026645e-01,-1.114412774e-04,8.258142173e-01
+50,2.440000000e+01,DOWN_FORCE_DETACH,1792702240983936552,2.809076425e-04,-1.161760664e-04,-3.923867963e-03,2.829027885e-04,-1.169142935e-04,-3.906461184e-03,2.790118198e-04,-1.157085406e-04,-3.895734298e-03,7.018187791e-01,-1.146251051e-04,8.368170732e-01,7.018207743e-01,-1.153633321e-04,8.368344800e-01,7.020077909e-01,-1.139141401e-04,8.256772534e-01
+51,2.458333333e+01,DOWN_FORCE_DETACH,1792702241349636524,2.855182946e-04,-1.092485417e-04,-4.054944305e-03,2.853982778e-04,-1.093279375e-04,-4.055245088e-03,2.811272723e-04,-1.081628747e-04,-4.043562142e-03,7.018233898e-01,-1.076975804e-04,8.366859969e-01,7.018232698e-01,-1.077769762e-04,8.366856961e-01,7.020099063e-01,-1.063684742e-04,8.255294256e-01
+52,2.478333333e+01,DOWN_FORCE_DETACH,1792702241715282595,2.794415797e-04,-1.179709163e-04,-4.194656648e-03,2.804789317e-04,-1.147435069e-04,-4.179850361e-03,2.757975070e-04,-1.134683320e-04,-4.168244526e-03,7.018173131e-01,-1.164199550e-04,8.365462845e-01,7.018183504e-01,-1.131925456e-04,8.365610908e-01,7.020045766e-01,-1.116739315e-04,8.254047432e-01
+53,2.496666667e+01,DOWN_FORCE_DETACH,1792702242080471088,2.802125399e-04,-1.272540005e-04,-4.334920265e-03,2.800383091e-04,-1.272662966e-04,-4.334730415e-03,2.747689583e-04,-1.258176928e-04,-4.322393047e-03,7.018180840e-01,-1.257030392e-04,8.364060209e-01,7.018179098e-01,-1.257153352e-04,8.364062108e-01,7.020035480e-01,-1.240232923e-04,8.252505947e-01
+54,2.515000000e+01,DOWN_FORCE_DETACH,1792702242413737849,2.749503286e-04,-1.249291532e-04,-4.476229393e-03,2.747102512e-04,-1.248581621e-04,-4.476035043e-03,2.688109617e-04,-1.234417925e-04,-4.463547192e-03,7.018128218e-01,-1.233781919e-04,8.362647118e-01,7.018125817e-01,-1.233072008e-04,8.362649061e-01,7.019975900e-01,-1.216473920e-04,8.251094405e-01
+55,2.533333333e+01,DOWN_FORCE_DETACH,1792702242781184102,2.709720228e-04,-1.356551551e-04,-4.627930966e-03,2.693080530e-04,-1.306014237e-04,-4.612449987e-03,2.626957043e-04,-1.291904470e-04,-4.599971500e-03,7.018088435e-01,-1.341041938e-04,8.361130102e-01,7.018071795e-01,-1.290504624e-04,8.361284912e-01,7.019914748e-01,-1.273960465e-04,8.249730162e-01
+56,2.550000000e+01,DOWN_FORCE_DETACH,1792702243079595262,2.949994602e-04,-1.271648177e-04,-4.736695920e-03,2.949426493e-04,-1.271527770e-04,-4.736675901e-03,2.880378164e-04,-1.258450441e-04,-4.723970200e-03,7.018328709e-01,-1.256138564e-04,8.360042453e-01,7.018328141e-01,-1.256018157e-04,8.360042653e-01,7.020168169e-01,-1.240506435e-04,8.248490175e-01
+57,2.566666667e+01,DOWN_FORCE_DETACH,1792702243411656360,2.848406314e-04,-1.337466131e-04,-4.888007465e-03,2.867436394e-04,-1.279502543e-04,-4.874354942e-03,2.793176196e-04,-1.265458657e-04,-4.861465375e-03,7.018227121e-01,-1.321956518e-04,8.358529337e-01,7.018246151e-01,-1.263992929e-04,8.358665862e-01,7.020080967e-01,-1.247514652e-04,8.247115224e-01
+58,2.585000000e+01,DOWN_SETTLE,1792702243743579303,2.906838518e-04,-1.362705708e-04,-5.029713760e-03,2.904354739e-04,-1.361797789e-04,-5.029274797e-03,2.825167037e-04,-1.346373947e-04,-5.016222998e-03,7.018285553e-01,-1.347196095e-04,8.357112274e-01,7.018283070e-01,-1.346288176e-04,8.357116664e-01,7.020112958e-01,-1.328429942e-04,8.245567647e-01
+59,2.628333333e+01,DOWN_PEAK_HOLD,1792702244575749753,2.599144477e-04,-1.329645165e-04,-5.139321770e-03,2.644925448e-04,-1.319184223e-04,-5.126718906e-03,2.561603121e-04,-1.306109573e-04,-5.118052492e-03,7.017977859e-01,-1.314135552e-04,8.356016194e-01,7.018023640e-01,-1.303674610e-04,8.356142223e-01,7.019849394e-01,-1.288165568e-04,8.244549352e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..683259041a1ad3b5909906ff91fec6675cfd83f9
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-4.7640e-02,3.4929e-03,2.4619e+00,-3.7034e-02,3.3368e-02,-3.9524e-05,7.3789e-04,-5.2713e-07,3.7479e-04,-8.9407e-08,4.6339e-05,-5.8417e-07,8.2762e-04,4.6343e-05
+1,7.0000e-01,DOWN_FORCE_DETACH,1.5135e-04,-1.9079e-02,3.4650e-03,2.4736e+00,-3.7031e-02,3.5274e-02,-6.2869e-05,2.9299e-02,-2.8440e-05,1.2011e-02,2.6561e-06,1.9528e-03,-2.3929e-05,3.1665e-02,1.9529e-03
+2,1.2167e+00,DOWN_FORCE_DETACH,3.3047e-04,3.0598e-03,1.0273e-02,2.5270e+00,-3.7491e-02,3.6851e-02,-8.5621e-05,5.1438e-02,6.7800e-03,6.5445e-02,-4.5706e-04,3.5291e-03,-4.6681e-05,8.3516e-02,3.5588e-03
+3,1.5667e+00,DOWN_FORCE_DETACH,4.5692e-04,-3.1139e-02,1.9733e-02,2.5510e+00,-3.8128e-02,3.4482e-02,-8.2736e-05,1.7239e-02,1.6239e-02,8.9488e-02,-1.0937e-03,1.1600e-03,-4.3796e-05,9.2569e-02,1.5950e-03
+4,2.0833e+00,DOWN_FORCE_DETACH,6.0938e-04,-1.6703e-02,2.5615e-02,2.5947e+00,-3.8520e-02,3.5421e-02,-7.5160e-05,3.1675e-02,2.2122e-02,1.3315e-01,-1.4860e-03,2.0992e-03,-3.6220e-05,1.3865e-01,2.5723e-03
+5,2.4500e+00,DOWN_FORCE_DETACH,7.5615e-04,-4.3540e-02,2.5731e-02,2.6226e+00,-3.8520e-02,3.3617e-02,-6.3887e-05,4.8376e-03,2.2237e-02,1.6110e-01,-1.4855e-03,2.9537e-04,-2.4947e-05,1.6270e-01,1.5148e-03
+6,2.9333e+00,DOWN_FORCE_DETACH,9.0499e-04,-3.6674e-02,3.2308e-02,2.6368e+00,-3.8927e-02,3.4043e-02,-5.1276e-05,1.1704e-02,2.8814e-02,1.7525e-01,-1.8925e-03,7.2094e-04,-1.2336e-05,1.7799e-01,2.0252e-03
+7,3.4833e+00,DOWN_FORCE_DETACH,1.0589e-03,-2.9418e-02,3.2235e-02,2.6230e+00,-3.8903e-02,3.4570e-02,-3.6413e-05,1.8960e-02,2.8742e-02,1.6140e-01,-1.8685e-03,1.2480e-03,2.5270e-06,1.6504e-01,2.2470e-03
+8,4.0167e+00,DOWN_FORCE_DETACH,1.2135e-03,-1.1604e-02,3.5703e-02,2.5910e+00,-3.9138e-02,3.5828e-02,-2.6359e-05,3.6773e-02,3.2210e-02,1.2949e-01,-2.1035e-03,2.5064e-03,1.2581e-05,1.3841e-01,3.2721e-03
+9,4.7000e+00,DOWN_FORCE_DETACH,1.3626e-03,1.1160e-02,3.5709e-02,2.5500e+00,-3.9188e-02,3.7489e-02,-2.1394e-05,5.9538e-02,3.2215e-02,8.8486e-02,-2.1538e-03,4.1673e-03,1.7546e-05,1.1141e-01,4.6910e-03
+10,5.3333e+00,DOWN_FORCE_DETACH,1.5119e-03,2.3466e-02,3.5971e-02,2.5119e+00,-3.9253e-02,3.8446e-02,-2.1995e-05,7.1844e-02,3.2478e-02,5.0399e-02,-2.2185e-03,5.1242e-03,1.6945e-05,9.3576e-02,5.5839e-03
+11,6.0500e+00,DOWN_FORCE_DETACH,1.6653e-03,3.0889e-02,3.6666e-02,2.4852e+00,-3.9343e-02,3.9043e-02,-2.0917e-05,7.9266e-02,3.3172e-02,2.3653e-02,-2.3091e-03,5.7214e-03,1.8023e-05,8.9124e-02,6.1699e-03
+12,6.8167e+00,DOWN_FORCE_DETACH,1.8193e-03,3.8842e-02,3.5513e-02,2.4910e+00,-3.9286e-02,3.9622e-02,-1.8542e-05,8.7220e-02,3.2020e-02,2.9447e-02,-2.2521e-03,6.3003e-03,2.0398e-05,9.7467e-02,6.6908e-03
+13,7.4500e+00,DOWN_FORCE_DETACH,1.9700e-03,3.8998e-02,3.5586e-02,2.4779e+00,-3.9296e-02,3.9655e-02,-1.5619e-05,8.7376e-02,3.2093e-02,1.6390e-02,-2.2618e-03,6.3334e-03,2.3321e-05,9.4515e-02,6.7252e-03
+14,8.0333e+00,DOWN_FORCE_DETACH,2.1220e-03,3.9029e-02,3.5632e-02,2.4716e+00,-3.9303e-02,3.9667e-02,-1.1914e-05,8.7407e-02,3.2139e-02,1.0015e-02,-2.2687e-03,6.3457e-03,2.7026e-05,9.3665e-02,6.7391e-03
+15,8.6000e+00,DOWN_FORCE_DETACH,2.2728e-03,4.1150e-02,3.9364e-02,2.4908e+00,-3.9556e-02,3.9811e-02,2.4937e-07,8.9528e-02,3.5871e-02,2.9255e-02,-2.5214e-03,6.4888e-03,3.9189e-05,1.0079e-01,6.9616e-03
+16,9.3167e+00,DOWN_FORCE_DETACH,2.4234e-03,3.0080e-02,4.4914e-02,2.4953e+00,-3.9931e-02,3.9064e-02,7.6975e-06,7.8458e-02,4.1421e-02,3.3747e-02,-2.8973e-03,5.7427e-03,4.6637e-05,9.4922e-02,6.4324e-03
+17,1.0000e+01,DOWN_FORCE_DETACH,2.5722e-03,2.7555e-02,4.3482e-02,2.5021e+00,-3.9843e-02,3.8856e-02,1.5167e-05,7.5933e-02,3.9989e-02,4.0506e-02,-2.8091e-03,5.5347e-03,5.4107e-05,9.4899e-02,6.2070e-03
+18,1.0717e+01,DOWN_FORCE_DETACH,2.7264e-03,3.1479e-02,4.2530e-02,2.5066e+00,-3.9768e-02,3.9106e-02,2.0003e-05,7.9857e-02,3.9037e-02,4.5069e-02,-2.7341e-03,5.7847e-03,5.8943e-05,9.9660e-02,6.3985e-03
+19,1.1367e+01,DOWN_FORCE_DETACH,2.8763e-03,3.0568e-02,3.9829e-02,2.5065e+00,-3.9574e-02,3.9040e-02,2.3777e-05,7.8946e-02,3.6336e-02,4.4910e-02,-2.5398e-03,5.7180e-03,6.2717e-05,9.7825e-02,6.2570e-03
+20,1.2100e+01,DOWN_FORCE_DETACH,3.0265e-03,2.7069e-02,4.3409e-02,2.5217e+00,-3.9808e-02,3.8791e-02,3.9579e-05,7.5447e-02,3.9915e-02,6.0154e-02,-2.7734e-03,5.4691e-03,7.8519e-05,1.0442e-01,6.1326e-03
+21,1.2717e+01,DOWN_FORCE_DETACH,3.1817e-03,3.3725e-02,3.7854e-02,2.5153e+00,-3.9426e-02,3.9230e-02,4.7315e-05,8.2103e-02,3.4361e-02,5.3791e-02,-2.3916e-03,5.9080e-03,8.6255e-05,1.0399e-01,6.3743e-03
+22,1.3217e+01,DOWN_FORCE_DETACH,3.3341e-03,3.4206e-02,4.3635e-02,2.5308e+00,-3.9799e-02,3.9257e-02,5.9799e-05,8.2584e-02,4.0142e-02,6.9211e-02,-2.7646e-03,5.9353e-03,9.8739e-05,1.1499e-01,6.5483e-03
+23,1.3800e+01,DOWN_FORCE_DETACH,3.4818e-03,3.5060e-02,4.0601e-02,2.5304e+00,-3.9597e-02,3.9310e-02,7.4408e-05,8.3438e-02,3.7108e-02,6.8814e-02,-2.5633e-03,5.9882e-03,1.1335e-04,1.1434e-01,6.5148e-03
+24,1.4417e+01,DOWN_FORCE_DETACH,3.6327e-03,3.3985e-02,4.0634e-02,2.5460e+00,-3.9589e-02,3.9215e-02,9.0094e-05,8.2362e-02,3.7140e-02,8.4430e-02,-2.5550e-03,5.8934e-03,1.2903e-04,1.2366e-01,6.4247e-03
+25,1.4983e+01,DOWN_FORCE_DETACH,3.7863e-03,3.4666e-02,4.9456e-02,2.5616e+00,-4.0170e-02,3.9220e-02,1.0774e-04,8.3044e-02,4.5963e-02,1.0005e-01,-3.1355e-03,5.8984e-03,1.4668e-04,1.3791e-01,6.6816e-03
+26,1.5600e+01,DOWN_FORCE_DETACH,3.9351e-03,3.6562e-02,5.3071e-02,2.5747e+00,-4.0419e-02,3.9313e-02,1.2538e-04,8.4940e-02,4.9578e-02,1.1314e-01,-3.3852e-03,5.9915e-03,1.6432e-04,1.4991e-01,6.8837e-03
+27,1.6283e+01,DOWN_FORCE_DETACH,4.0889e-03,3.8400e-02,5.6627e-02,2.5776e+00,-4.0665e-02,3.9392e-02,1.3539e-04,8.6778e-02,5.3133e-02,1.1601e-01,-3.6314e-03,6.0707e-03,1.7433e-04,1.5431e-01,7.0761e-03
+28,1.6867e+01,DOWN_FORCE_DETACH,4.2377e-03,3.5211e-02,5.7622e-02,2.5713e+00,-4.0735e-02,3.9150e-02,1.3068e-04,8.3589e-02,5.4128e-02,1.0974e-01,-3.7005e-03,5.8285e-03,1.6962e-04,1.4819e-01,6.9061e-03
+29,1.7417e+01,DOWN_FORCE_DETACH,4.3905e-03,3.1046e-02,6.1964e-02,2.5877e+00,-4.1019e-02,3.8839e-02,1.1894e-04,7.9423e-02,5.8471e-02,1.2615e-01,-3.9847e-03,5.5171e-03,1.5788e-04,1.6012e-01,6.8075e-03
+30,1.7983e+01,DOWN_FORCE_DETACH,4.5414e-03,2.1791e-02,5.7348e-02,2.6145e+00,-4.0707e-02,3.8190e-02,9.7563e-05,7.0169e-02,5.3854e-02,1.5300e-01,-3.6725e-03,4.8680e-03,1.3650e-04,1.7673e-01,6.0994e-03
+31,1.8517e+01,DOWN_FORCE_DETACH,4.6937e-03,1.9754e-02,5.8406e-02,2.6497e+00,-4.0775e-02,3.8014e-02,8.1926e-05,6.8132e-02,5.4912e-02,1.8814e-01,-3.7408e-03,4.6923e-03,1.2087e-04,2.0750e-01,6.0021e-03
+32,1.8967e+01,DOWN_FORCE_DETACH,4.8457e-03,1.4067e-02,5.6760e-02,2.6778e+00,-4.0661e-02,3.7611e-02,7.4248e-05,6.2445e-02,5.3267e-02,2.1626e-01,-3.6274e-03,4.2896e-03,1.1319e-04,2.3131e-01,5.6189e-03
+33,1.9400e+01,DOWN_FORCE_DETACH,4.9974e-03,1.7425e-02,5.7084e-02,2.7095e+00,-4.0664e-02,3.7793e-02,7.1718e-05,6.5803e-02,5.3590e-02,2.4794e-01,-3.6298e-03,4.4710e-03,1.1066e-04,2.6206e-01,5.7600e-03
+34,1.9850e+01,DOWN_FORCE_DETACH,5.1498e-03,2.0849e-02,5.8873e-02,2.7200e+00,-4.0735e-02,3.8010e-02,7.3120e-05,6.9227e-02,5.5380e-02,2.5845e-01,-3.7013e-03,4.6883e-03,1.1206e-04,2.7323e-01,5.9743e-03
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+54,2.5150e+01,DOWN_FORCE_DETACH,8.1776e-03,5.9162e-02,1.0442e-01,3.0612e+00,-4.3033e-02,4.0315e-02,1.1426e-04,1.0754e-01,1.0092e-01,5.9965e-01,-5.9987e-03,6.9929e-03,1.5320e-04,6.1752e-01,9.2146e-03
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f803836ebe0f5a9fd1d4229b462e88887ebcaca4
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f9fd704c761fb2b26351b46826767845327fb1a8fe218cda2806fb9202d6b96
+size 10311680
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/fem_node.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96eb2ddc6a1280dfc85482dac34adaf74c668b2e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/franka_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..048dd9e346b199e3753098aa0976028d6c341579
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efd49c9b170a94d8ee16a27bdb33d5ec0a2980e0
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a3d12e7f4bcbd51d950d7b15fbdb78ff6233dd6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,1.083333333e+00,WAIT_W2,1792702179445689754,-8.817837538e-07,-1.981108812e-05,1.880654598e-06,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.079168943e-06,-2.175229768e-05,5.739952243e-06,7.015369897e-01,-1.826012680e-05,8.407428218e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017318581e-01,-1.995790439e-05,8.295787275e-01
+18,1.133333333e+00,WAIT_W2,1792702179545299074,-1.054646782e-06,-2.086483679e-05,3.389867970e-07,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.107876648e-06,-2.175274767e-05,5.749976067e-06,7.015368168e-01,-1.931387547e-05,8.407412802e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017318869e-01,-1.995835438e-05,8.295787375e-01
+19,1.183333333e+00,WAIT_W2,1792702179643977817,-5.191890076e-06,-2.061017626e-05,-5.203403516e-06,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.135550622e-06,-2.175310004e-05,5.759518618e-06,7.015326796e-01,-1.905921494e-05,8.407357378e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017319145e-01,-1.995870675e-05,8.295787471e-01
+20,1.250000000e+00,WAIT_W2,1792702179777765715,-3.165660550e-06,-2.029368620e-05,-4.022219996e-07,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.170899586e-06,-2.175341558e-05,5.771553341e-06,7.015347058e-01,-1.874272488e-05,8.407405390e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017319499e-01,-1.995902229e-05,8.295787591e-01
+21,1.366666667e+00,WAIT_W2,1792702180011991090,-6.014737573e-06,-2.281501052e-05,-6.041743637e-06,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.228823138e-06,-2.175387334e-05,5.790778536e-06,7.015318567e-01,-2.126404919e-05,8.407348994e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017320078e-01,-1.995948005e-05,8.295787784e-01
+22,1.433333333e+00,WAIT_W2,1792702180143255701,-6.058967804e-06,-2.812013458e-05,-5.338558438e-06,2.178710308e-06,-2.196397548e-05,5.557058808e-06,3.259786047e-06,-2.175402093e-05,5.800786639e-06,7.015318125e-01,-2.656917326e-05,8.407356026e-01,7.015400502e-01,-2.041301416e-05,8.407464982e-01,7.017320388e-01,-1.995962765e-05,8.295787884e-01
+23,1.483333333e+00,WAIT_W2,1792702180241629831,-1.041443128e-05,-3.874363050e-05,-1.013720214e-05,-8.360838479e-06,-3.080540046e-05,-9.642556160e-06,-7.330181471e-06,-3.050384793e-05,-8.991565676e-06,7.015274571e-01,-3.719266918e-05,8.407308040e-01,7.015295106e-01,-2.925443914e-05,8.407312986e-01,7.017214488e-01,-2.870945465e-05,8.295639960e-01
+24,1.550000000e+00,WAIT_W2,1792702180375226461,-1.230687498e-05,-5.413981724e-05,-1.103686078e-05,-1.206748335e-05,-5.426841872e-05,-1.079357220e-05,-1.103670127e-05,-5.364876141e-05,-1.021944536e-05,7.015255646e-01,-5.258885592e-05,8.407299043e-01,7.015258040e-01,-5.271745740e-05,8.407301476e-01,7.017177423e-01,-5.185436813e-05,8.295627681e-01
+25,1.566666667e+00,WAIT_W2,1792702180407235025,-1.433749479e-05,-6.335075830e-05,-1.339888333e-05,-1.206748335e-05,-5.426841872e-05,-1.079357220e-05,-1.104085038e-05,-5.368495284e-05,-1.022442036e-05,7.015235340e-01,-6.179979698e-05,8.407275423e-01,7.015258040e-01,-5.271745740e-05,8.407301476e-01,7.017177381e-01,-5.189055955e-05,8.295627632e-01
+26,1.583333333e+00,WAIT_W2,1792702180441209410,-3.943639855e-05,-7.000687926e-05,-3.491186951e-05,-3.944768317e-05,-6.995113059e-05,-3.525696019e-05,-3.862303191e-05,-6.919464524e-05,-3.403120755e-05,7.014984351e-01,-6.845591794e-05,8.407060293e-01,7.014984238e-01,-6.840016927e-05,8.407056842e-01,7.016901559e-01,-6.740025196e-05,8.295389564e-01
+27,1.583333333e+00,WAIT_W2,1792702180441209410,-3.943639855e-05,-7.000687926e-05,-3.491186951e-05,-3.944768317e-05,-6.995113059e-05,-3.525696019e-05,-3.862303191e-05,-6.919464524e-05,-3.403120755e-05,7.014984351e-01,-6.845591794e-05,8.407060293e-01,7.014984238e-01,-6.840016927e-05,8.407056842e-01,7.016901559e-01,-6.740025196e-05,8.295389564e-01
+28,1.616666667e+00,WAIT_W2,1792702180509211185,-3.764159793e-05,-7.889562855e-05,-3.420628387e-05,-3.944768317e-05,-6.995113059e-05,-3.525696019e-05,-3.867651912e-05,-6.924803935e-05,-3.408515099e-05,7.015002299e-01,-7.734466723e-05,8.407067349e-01,7.014984238e-01,-6.840016927e-05,8.407056842e-01,7.016901025e-01,-6.745364607e-05,8.295389024e-01
+29,1.633333333e+00,WAIT_W2,1792702180543238575,-4.111496387e-05,-8.697749293e-05,-4.078742717e-05,-3.944768317e-05,-6.995113059e-05,-3.525696019e-05,-3.869135732e-05,-6.926227666e-05,-3.410305617e-05,7.014967565e-01,-8.542653161e-05,8.407001538e-01,7.014984238e-01,-6.840016927e-05,8.407056842e-01,7.016900876e-01,-6.746788338e-05,8.295388845e-01
+30,1.666666667e+00,WAIT_W2,1792702180607240314,-3.972094599e-05,-9.512680037e-05,-3.900013110e-05,-3.615522595e-05,-9.009349014e-05,-3.458480574e-05,-3.543596523e-05,-8.921120648e-05,-3.348655659e-05,7.014981505e-01,-9.357583905e-05,8.407019411e-01,7.015017163e-01,-8.854252882e-05,8.407063564e-01,7.016933430e-01,-8.741681320e-05,8.295395010e-01
+31,1.700000000e+00,WAIT_W2,1792702180675764424,-4.104589357e-05,-1.051754565e-04,-3.813917532e-05,-3.615522595e-05,-9.009349014e-05,-3.458480574e-05,-3.544898958e-05,-8.924692199e-05,-3.351273637e-05,7.014968256e-01,-1.036244952e-04,8.407028020e-01,7.015017163e-01,-8.854252882e-05,8.407063564e-01,7.016933300e-01,-8.745252871e-05,8.295394748e-01
+32,1.733333333e+00,WAIT_W2,1792702180743212034,-4.002850144e-05,-1.116088796e-04,-3.821980354e-05,-4.012497515e-05,-1.114309191e-04,-3.848096801e-05,-3.942109204e-05,-1.102794972e-04,-3.732634957e-05,7.014978430e-01,-1.100579183e-04,8.407027214e-01,7.014977465e-01,-1.098799578e-04,8.407024602e-01,7.016893579e-01,-1.084851040e-04,8.295356612e-01
+33,1.783333333e+00,WAIT_W2,1792702180841255669,-3.991340726e-05,-1.229841157e-04,-3.493604670e-05,-4.012497515e-05,-1.114309191e-04,-3.848096801e-05,-3.944785829e-05,-1.103557317e-04,-3.736963124e-05,7.014979581e-01,-1.214331544e-04,8.407060051e-01,7.014977465e-01,-1.098799578e-04,8.407024602e-01,7.016893311e-01,-1.085613384e-04,8.295356179e-01
+34,1.833333333e+00,WAIT_W2,1792702180939342976,-4.040194185e-05,-1.325133652e-04,-3.508770633e-05,-4.029340683e-05,-1.325184645e-04,-3.502163060e-05,-3.965803326e-05,-1.312433993e-04,-3.410037466e-05,7.014974695e-01,-1.309624039e-04,8.407058535e-01,7.014975781e-01,-1.309675032e-04,8.407059196e-01,7.016891209e-01,-1.294490060e-04,8.295388872e-01
+35,1.900000000e+00,WAIT_W2,1792702181075256838,-4.011807979e-05,-1.377471165e-04,-3.691530469e-05,-4.029340683e-05,-1.325184645e-04,-3.502163060e-05,-3.967965111e-05,-1.313310202e-04,-3.413519459e-05,7.014977534e-01,-1.361961552e-04,8.407040259e-01,7.014975781e-01,-1.309675032e-04,8.407059196e-01,7.016890993e-01,-1.295366269e-04,8.295388524e-01
+36,1.983333333e+00,WAIT_W2,1792702181241221993,-4.037025062e-05,-1.448285693e-04,-3.690873516e-05,-4.029340683e-05,-1.325184645e-04,-3.502163060e-05,-3.970169580e-05,-1.313688425e-04,-3.418127824e-05,7.014975012e-01,-1.432776080e-04,8.407040325e-01,7.014975781e-01,-1.309675032e-04,8.407059196e-01,7.016890773e-01,-1.295744493e-04,8.295388063e-01
+37,2.050000000e+00,WAIT_W2,1792702181373230626,-4.128061733e-05,-1.537911773e-04,-3.659924454e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.066774014e-05,-1.521222455e-04,-3.579121368e-05,7.014965909e-01,-1.522402160e-04,8.407043419e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016881112e-01,-1.503278522e-04,8.295371964e-01
+38,2.116666667e+00,UP_FORCE_RAMP,1792702181489221866,-4.165751157e-05,-1.566876916e-04,-3.941922504e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.068583741e-05,-1.521979229e-04,-3.582837526e-05,7.014962140e-01,-1.551367302e-04,8.407015220e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880931e-01,-1.504035296e-04,8.295371592e-01
+39,2.166666667e+00,UP_FORCE_RAMP,1792702181571217380,-4.019952286e-05,-1.591878623e-04,-3.701387583e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.069680147e-05,-1.522193636e-04,-3.585451209e-05,7.014976720e-01,-1.576369010e-04,8.407039273e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880822e-01,-1.504249703e-04,8.295371331e-01
+40,2.266666667e+00,UP_FORCE_RAMP,1792702181771898468,-4.322776786e-05,-1.628737120e-04,-3.891118028e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.071675610e-05,-1.522439839e-04,-3.590335414e-05,7.014946437e-01,-1.613227506e-04,8.407020300e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880622e-01,-1.504495907e-04,8.295370842e-01
+41,2.316666667e+00,UP_FORCE_RAMP,1792702181874097702,-4.250098930e-05,-1.679984366e-04,-3.629764745e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.072586394e-05,-1.522522073e-04,-3.592628418e-05,7.014953705e-01,-1.664474753e-04,8.407046435e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880531e-01,-1.504578140e-04,8.295370613e-01
+42,2.366666667e+00,UP_FORCE_RAMP,1792702181972738134,-4.308581067e-05,-1.669243396e-04,-4.012897825e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.073446930e-05,-1.522590653e-04,-3.594828175e-05,7.014947857e-01,-1.653733783e-04,8.407008122e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880445e-01,-1.504646720e-04,8.295370393e-01
+43,2.483333333e+00,UP_FORCE_RAMP,1792702182171237941,-4.275235836e-05,-1.696210029e-04,-3.824296706e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.075284427e-05,-1.522716883e-04,-3.599620444e-05,7.014951191e-01,-1.680700416e-04,8.407026982e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880261e-01,-1.504772950e-04,8.295369914e-01
+44,2.550000000e+00,UP_FORCE_RAMP,1792702182305234738,-4.298045210e-05,-1.685514765e-04,-3.911756399e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.076239560e-05,-1.522775296e-04,-3.602156266e-05,7.014948910e-01,-1.670005152e-04,8.407018236e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880166e-01,-1.504831363e-04,8.295369660e-01
+45,2.600000000e+00,UP_FORCE_RAMP,1792702182403246805,-3.987311347e-05,-1.680182082e-04,-3.542627285e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.076916144e-05,-1.522814403e-04,-3.603968372e-05,7.014979984e-01,-1.664672469e-04,8.407055149e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016880098e-01,-1.504870470e-04,8.295369479e-01
+46,2.683333333e+00,UP_FORCE_RAMP,1792702182571239783,-4.092496799e-05,-1.689833982e-04,-3.386039748e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.077972939e-05,-1.522872711e-04,-3.606826918e-05,7.014969465e-01,-1.674324369e-04,8.407070808e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016879992e-01,-1.504928778e-04,8.295369193e-01
+47,2.766666667e+00,UP_FORCE_RAMP,1792702182738054720,-4.277251562e-05,-1.732306952e-04,-3.553223275e-05,-4.125879891e-05,-1.535827567e-04,-3.669676287e-05,-4.078943036e-05,-1.522924393e-04,-3.609499420e-05,7.014950990e-01,-1.716797339e-04,8.407054090e-01,7.014966127e-01,-1.520317954e-04,8.407042444e-01,7.016879895e-01,-1.504980461e-04,8.295368926e-01
+48,2.850000000e+00,UP_FORCE_RAMP,1792702182869589794,-4.152122577e-05,-1.730572252e-04,-3.182472119e-05,-4.459178807e-05,-1.764121446e-04,-3.790488578e-05,-4.413164351e-05,-1.748894392e-04,-3.732599015e-05,7.014963503e-01,-1.715062639e-04,8.407091165e-01,7.014932797e-01,-1.748611833e-04,8.407030363e-01,7.016846473e-01,-1.730950459e-04,8.295356616e-01
+49,2.916666667e+00,UP_FORCE_RAMP,1792702183003234095,-4.165667562e-05,-1.701322034e-04,-3.028508149e-05,-4.459178807e-05,-1.764121446e-04,-3.790488578e-05,-4.414373478e-05,-1.749117710e-04,-3.734705924e-05,7.014962148e-01,-1.685812421e-04,8.407106561e-01,7.014932797e-01,-1.748611833e-04,8.407030363e-01,7.016846352e-01,-1.731173777e-04,8.295356405e-01
+50,3.016666667e+00,UP_FORCE_RAMP,1792702183203847136,-4.391860858e-05,-1.772140055e-04,-2.606829801e-05,-4.459178807e-05,-1.764121446e-04,-3.790488578e-05,-4.415935345e-05,-1.749299144e-04,-3.737690691e-05,7.014939529e-01,-1.756630441e-04,8.407148729e-01,7.014932797e-01,-1.748611833e-04,8.407030363e-01,7.016846196e-01,-1.731355211e-04,8.295356107e-01
+51,3.100000000e+00,UP_FORCE_RAMP,1792702183367254174,-4.018775648e-05,-1.737661143e-04,-1.789401881e-05,-4.015344843e-05,-1.735545623e-04,-1.802364462e-05,-3.962910553e-05,-1.721138581e-04,-1.804864614e-05,7.014976837e-01,-1.722151530e-04,8.407230472e-01,7.014977180e-01,-1.720036009e-04,8.407229175e-01,7.016891499e-01,-1.703194648e-04,8.295549389e-01
+52,3.200000000e+00,UP_FORCE_RAMP,1792702183536808800,-4.270119839e-05,-1.765636826e-04,-1.358808079e-05,-4.015344843e-05,-1.735545623e-04,-1.802364462e-05,-3.962198101e-05,-1.721146606e-04,-1.799399240e-05,7.014951703e-01,-1.750127213e-04,8.407273531e-01,7.014977180e-01,-1.720036009e-04,8.407229175e-01,7.016891570e-01,-1.703202674e-04,8.295549936e-01
+53,3.300000000e+00,UP_FORCE_HOLD,1792702183735723793,-4.196533607e-05,-1.746211284e-04,-2.932320783e-06,-4.015344843e-05,-1.735545623e-04,-1.802364462e-05,-3.962498582e-05,-1.721194148e-04,-1.797252138e-05,7.014959061e-01,-1.730701671e-04,8.407380089e-01,7.014977180e-01,-1.720036009e-04,8.407229175e-01,7.016891540e-01,-1.703250215e-04,8.295550151e-01
+54,3.383333333e+00,UP_FORCE_HOLD,1792702183902016479,-4.130428885e-05,-1.717417963e-04,4.399312383e-06,-4.030404548e-05,-1.732752491e-04,3.505268074e-06,-3.973400320e-05,-1.718307929e-04,3.076648924e-06,7.014965672e-01,-1.701908349e-04,8.407453405e-01,7.014975674e-01,-1.717242878e-04,8.407444465e-01,7.016890450e-01,-1.700363996e-04,8.295760642e-01
+55,3.416666667e+00,UP_SETTLE,1792702183967670611,-4.250754360e-05,-1.700218617e-04,8.362927023e-06,-4.030404548e-05,-1.732752491e-04,3.505268074e-06,-3.973612226e-05,-1.718321057e-04,3.106645197e-06,7.014953639e-01,-1.684709004e-04,8.407493041e-01,7.014975674e-01,-1.717242878e-04,8.407444465e-01,7.016890429e-01,-1.700377124e-04,8.295760942e-01
+56,3.466666667e+00,UP_SETTLE,1792702184036080524,-4.003664057e-05,-1.728012806e-04,1.207580277e-05,-4.030404548e-05,-1.732752491e-04,3.505268074e-06,-3.973888460e-05,-1.718334937e-04,3.142699093e-06,7.014978348e-01,-1.712503193e-04,8.407530170e-01,7.014975674e-01,-1.717242878e-04,8.407444465e-01,7.016890401e-01,-1.700391005e-04,8.295761303e-01
+57,3.550000000e+00,UP_SETTLE,1792702184201550435,-4.312698588e-05,-1.737614007e-04,1.431614087e-05,-4.030404548e-05,-1.732752491e-04,3.505268074e-06,-3.974270095e-05,-1.718350173e-04,3.192805075e-06,7.014947445e-01,-1.722104394e-04,8.407552573e-01,7.014975674e-01,-1.717242878e-04,8.407444465e-01,7.016890363e-01,-1.700406240e-04,8.295761804e-01
+58,3.600000000e+00,UP_SETTLE,1792702184299249770,-4.112026796e-05,-1.754094559e-04,2.017069081e-05,-4.030404548e-05,-1.732752491e-04,3.505268074e-06,-3.974474159e-05,-1.718357547e-04,3.219682711e-06,7.014967512e-01,-1.738584946e-04,8.407611119e-01,7.014975674e-01,-1.717242878e-04,8.407444465e-01,7.016890342e-01,-1.700413614e-04,8.295762073e-01
+59,3.666666667e+00,UP_SETTLE,1792702184435908623,-4.369942305e-05,-1.781346938e-04,2.276873661e-05,-4.170374861e-05,-1.751011705e-04,2.496956281e-05,-4.104589707e-05,-1.736487672e-04,2.415444935e-05,7.014941721e-01,-1.765837325e-04,8.407637099e-01,7.014961677e-01,-1.735502092e-04,8.407659108e-01,7.016877331e-01,-1.718543739e-04,8.295971420e-01
diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..108d4911dac5b64f530a6a88205ffeade9c09ebf
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-4.7647e-02,3.4929e-03,2.4619e+00,-3.7034e-02,3.3367e-02,-3.9568e-05,7.3802e-04,-5.2969e-07,3.7456e-04,-7.8231e-08,4.6343e-05,-5.8429e-07,8.2763e-04,4.6346e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,1.5807e-05,-4.3988e-02,3.4883e-03,2.4637e+00,-3.7034e-02,3.3600e-02,-4.2411e-05,4.3974e-03,-5.0862e-06,2.1558e-03,-2.4587e-07,2.7882e-04,-3.4280e-06,4.8974e-03,2.7884e-04
+2,1.6667e-01,WAIT_W2,2.9256e-05,-4.0391e-02,3.4863e-03,2.4653e+00,-3.7035e-02,3.3832e-02,-4.5152e-05,7.9942e-03,-7.1619e-06,3.8042e-03,-3.7998e-07,5.1117e-04,-6.1687e-06,8.8532e-03,5.1120e-04
+3,2.3333e-01,WAIT_W2,5.0283e-05,-3.7574e-02,3.4811e-03,2.4666e+00,-3.7034e-02,3.4017e-02,-4.7274e-05,1.0811e-02,-1.2358e-05,5.0340e-03,-1.5646e-07,6.9543e-04,-8.2907e-06,1.1925e-02,6.9548e-04
+4,3.0000e-01,WAIT_W2,6.5808e-05,-3.4814e-02,3.4746e-03,2.4677e+00,-3.7034e-02,3.4199e-02,-4.9354e-05,1.3571e-02,-1.8855e-05,6.1884e-03,2.3469e-07,8.7784e-04,-1.0371e-05,1.4916e-02,8.7790e-04
+5,3.6667e-01,WAIT_W2,8.0703e-05,-3.2019e-02,3.4694e-03,2.4689e+00,-3.7034e-02,3.4385e-02,-5.1532e-05,1.6366e-02,-2.4042e-05,7.3259e-03,6.2212e-07,1.0644e-03,-1.2549e-05,1.7931e-02,1.0644e-03
+6,4.3333e-01,WAIT_W2,9.7326e-05,-2.9256e-02,3.4668e-03,2.4700e+00,-3.7033e-02,3.4572e-02,-5.3774e-05,1.9129e-02,-2.6612e-05,8.4100e-03,9.5740e-07,1.2505e-03,-1.4791e-05,2.0896e-02,1.2506e-03
+7,5.1667e-01,WAIT_W2,1.1283e-04,-2.5875e-02,3.4666e-03,2.4712e+00,-3.7033e-02,3.4802e-02,-5.6700e-05,2.2510e-02,-2.6845e-05,9.6803e-03,1.3411e-06,1.4813e-03,-1.7717e-05,2.4503e-02,1.4814e-03
+8,6.0000e-01,WAIT_W2,1.2767e-04,-2.2186e-02,2.5210e-02,2.4653e+00,-3.8468e-02,3.5080e-02,-5.8886e-05,2.6199e-02,2.1716e-02,3.7689e-03,-1.4339e-03,1.7593e-03,-1.9903e-05,3.4237e-02,2.2697e-03
+9,6.3333e-01,WAIT_W2,1.4282e-04,-2.1604e-02,2.3354e-02,2.4659e+00,-3.8356e-02,3.5122e-02,-5.8859e-05,2.6781e-02,1.9860e-02,4.3998e-03,-1.3221e-03,1.8012e-03,-1.9876e-05,3.3631e-02,2.2344e-03
+10,6.8333e-01,WAIT_W2,1.5963e-04,-2.0404e-02,2.1562e-02,2.4669e+00,-3.8250e-02,3.5206e-02,-5.8912e-05,2.7981e-02,1.8069e-02,5.3196e-03,-1.2158e-03,1.8849e-03,-1.9929e-05,3.3730e-02,2.2431e-03
+11,7.6667e-01,WAIT_W2,1.8084e-04,-1.8027e-02,2.0115e-02,2.4683e+00,-3.8167e-02,3.5370e-02,-5.9177e-05,3.0358e-02,1.6622e-02,6.7372e-03,-1.1334e-03,2.0490e-03,-2.0194e-05,3.5260e-02,2.3416e-03
+12,8.1667e-01,WAIT_W2,1.9476e-04,-1.6522e-02,1.9725e-02,2.4691e+00,-3.8147e-02,3.5474e-02,-5.9406e-05,3.1863e-02,1.6231e-02,7.5293e-03,-1.1130e-03,2.1529e-03,-2.0423e-05,3.6543e-02,2.4237e-03
+13,8.8333e-01,WAIT_W2,2.0946e-04,-1.4491e-02,1.9471e-02,2.4701e+00,-3.8136e-02,3.5615e-02,-5.9781e-05,3.3894e-02,1.5977e-02,8.5335e-03,-1.1020e-03,2.2935e-03,-2.0798e-05,3.8431e-02,2.5446e-03
+14,9.3333e-01,WAIT_W2,2.2582e-04,-1.2991e-02,1.9392e-02,2.4708e+00,-3.8134e-02,3.5719e-02,-6.0099e-05,3.5394e-02,1.5898e-02,9.2387e-03,-1.1002e-03,2.3978e-03,-2.1116e-05,3.9885e-02,2.6382e-03
+15,9.8333e-01,WAIT_W2,2.4387e-04,-1.1511e-02,1.9359e-02,2.4714e+00,-3.8135e-02,3.5822e-02,-6.0447e-05,3.6874e-02,1.5865e-02,9.9063e-03,-1.1010e-03,2.5011e-03,-2.1463e-05,4.1347e-02,2.7328e-03
+16,1.0333e+00,WAIT_W2,2.6101e-04,-1.0064e-02,1.9353e-02,2.4721e+00,-3.8137e-02,3.5924e-02,-6.0820e-05,3.8321e-02,1.5860e-02,1.0539e-02,-1.1031e-03,2.6025e-03,-2.1837e-05,4.2791e-02,2.8267e-03
+17,1.0833e+00,WAIT_W2,2.7667e-04,-8.6493e-03,1.9365e-02,2.4727e+00,-3.8140e-02,3.6023e-02,-6.1225e-05,3.9736e-02,1.5871e-02,1.1147e-02,-1.1061e-03,2.7020e-03,-2.2241e-05,4.4216e-02,2.9197e-03
+18,1.1333e+00,WAIT_W2,2.9214e-04,-7.2769e-03,1.9384e-02,2.4733e+00,-3.8143e-02,3.6120e-02,-6.1654e-05,4.1108e-02,1.5891e-02,1.1724e-02,-1.1093e-03,2.7989e-03,-2.2670e-05,4.5606e-02,3.0107e-03
+19,1.1833e+00,WAIT_W2,3.0531e-04,-5.9477e-03,1.9406e-02,2.4738e+00,-3.8147e-02,3.6214e-02,-6.2102e-05,4.2437e-02,1.5913e-02,1.2270e-02,-1.1124e-03,2.8930e-03,-2.3119e-05,4.6954e-02,3.0996e-03
+20,1.2500e+00,WAIT_W2,3.2204e-04,1.3201e-03,1.9622e-02,2.4769e+00,-3.8172e-02,3.6754e-02,-6.6057e-05,4.9705e-02,1.6129e-02,1.5353e-02,-1.1380e-03,3.4328e-03,-2.7074e-05,5.4465e-02,3.6166e-03
+21,1.3667e+00,WAIT_W2,3.4219e-04,9.5247e-04,1.9676e-02,2.4764e+00,-3.8176e-02,3.6738e-02,-6.6833e-05,4.9337e-02,1.6183e-02,1.4811e-02,-1.1416e-03,3.4166e-03,-2.7849e-05,5.3995e-02,3.6024e-03
+22,1.4333e+00,WAIT_W2,3.5835e-04,1.7079e-03,1.9681e-02,2.4765e+00,-3.8176e-02,3.6790e-02,-6.7329e-05,5.0093e-02,1.6188e-02,1.4969e-02,-1.1420e-03,3.4694e-03,-2.8346e-05,5.4730e-02,3.6526e-03
+23,1.4833e+00,WAIT_W2,3.7287e-04,4.1495e-03,2.1045e-02,2.4790e+00,-3.8266e-02,3.6954e-02,-6.7609e-05,5.2534e-02,1.7552e-02,1.7461e-02,-1.2316e-03,3.6331e-03,-2.8626e-05,5.8076e-02,3.8363e-03
+24,1.5500e+00,WAIT_W2,3.9112e-04,1.6721e-02,2.7422e-02,2.4950e+00,-3.8723e-02,3.7864e-02,-6.5511e-05,6.5106e-02,2.3928e-02,3.3438e-02,-1.6887e-03,4.5426e-03,-2.6528e-05,7.7003e-02,4.8464e-03
+25,1.5667e+00,WAIT_W2,4.0084e-04,1.7314e-02,3.0869e-02,2.4951e+00,-3.8950e-02,3.7903e-02,-6.5121e-05,6.5699e-02,2.7375e-02,3.3572e-02,-1.9155e-03,4.5821e-03,-2.6138e-05,7.8694e-02,4.9664e-03
+26,1.5833e+00,WAIT_W2,4.3456e-04,2.1667e-02,5.1854e-02,2.4964e+00,-4.0321e-02,3.8188e-02,-6.0491e-05,7.0052e-02,4.8361e-02,3.4893e-02,-3.2865e-03,4.8671e-03,-2.1507e-05,9.1997e-02,5.8728e-03
+27,1.5833e+00,WAIT_W2,4.3456e-04,2.1667e-02,5.1854e-02,2.4964e+00,-4.0321e-02,3.8188e-02,-6.0491e-05,7.0052e-02,4.8361e-02,3.4893e-02,-3.2865e-03,4.8671e-03,-2.1507e-05,9.1997e-02,5.8728e-03
+28,1.6167e+00,WAIT_W2,4.5678e-04,5.5795e-02,5.9110e-02,2.5316e+00,-4.0853e-02,4.0432e-02,-5.1987e-05,1.0418e-01,5.5617e-02,7.0075e-02,-3.8186e-03,7.1111e-03,-1.3004e-05,1.3732e-01,8.0716e-03
+29,1.6333e+00,WAIT_W2,4.6777e-04,5.4105e-02,5.8584e-02,2.5304e+00,-4.0824e-02,4.0332e-02,-5.1193e-05,1.0249e-01,5.5090e-02,6.8892e-02,-3.7895e-03,7.0105e-03,-1.2210e-05,1.3522e-01,7.9691e-03
+30,1.6667e+00,WAIT_W2,4.8347e-04,5.0958e-02,6.0648e-02,2.5281e+00,-4.0969e-02,4.0142e-02,-4.9377e-05,9.9343e-02,5.7155e-02,6.6604e-02,-3.9351e-03,6.8209e-03,-1.0394e-05,1.3256e-01,7.8747e-03
+31,1.7000e+00,WAIT_W2,4.9979e-04,4.8104e-02,6.8339e-02,2.5216e+00,-4.1595e-02,4.0024e-02,-2.5819e-05,9.6489e-02,6.4846e-02,6.0105e-02,-4.5606e-03,6.7025e-03,1.3164e-05,1.3087e-01,8.1070e-03
+32,1.7333e+00,WAIT_W2,5.1565e-04,4.6682e-02,6.9778e-02,2.5210e+00,-4.1689e-02,3.9936e-02,-2.4300e-05,9.5067e-02,6.6285e-02,5.9452e-02,-4.6549e-03,6.6153e-03,1.4684e-05,1.3025e-01,8.0889e-03
+33,1.7833e+00,WAIT_W2,5.3447e-04,4.8541e-02,9.2721e-02,2.5232e+00,-4.3403e-02,4.0132e-02,3.2551e-05,9.6926e-02,8.9228e-02,6.1693e-02,-6.3691e-03,6.8110e-03,7.1534e-05,1.4547e-01,9.3253e-03
+34,1.8333e+00,WAIT_W2,5.5339e-04,4.8369e-02,9.2272e-02,2.5221e+00,-4.3364e-02,4.0118e-02,3.3982e-05,9.6755e-02,8.8779e-02,6.0604e-02,-6.3304e-03,6.7973e-03,7.2965e-05,1.4462e-01,9.2888e-03
+35,1.9000e+00,WAIT_W2,5.6640e-04,4.7760e-02,1.0007e-01,2.5183e+00,-4.3864e-02,4.0076e-02,3.6997e-05,9.6145e-02,9.6575e-02,5.6794e-02,-6.8296e-03,6.7552e-03,7.5981e-05,1.4764e-01,9.6064e-03
+36,1.9833e+00,WAIT_W2,5.8247e-04,4.6791e-02,1.0271e-01,2.5146e+00,-4.4033e-02,4.0010e-02,4.0312e-05,9.5176e-02,9.9213e-02,5.3077e-02,-6.9986e-03,6.6894e-03,7.9295e-05,1.4737e-01,9.6817e-03
+37,2.0500e+00,WAIT_W2,6.0057e-04,4.6053e-02,1.0300e-01,2.5123e+00,-4.4052e-02,3.9960e-02,4.2270e-05,9.4438e-02,9.9508e-02,5.0774e-02,-7.0181e-03,6.6390e-03,8.1253e-05,1.4628e-01,9.6611e-03
+38,2.1167e+00,UP_FORCE_RAMP,6.1648e-04,4.5266e-02,1.1507e-01,2.5101e+00,-4.4910e-02,3.9899e-02,6.1682e-05,9.3651e-02,1.1158e-01,4.8587e-02,-7.8762e-03,6.5778e-03,1.0067e-04,1.5356e-01,1.0262e-02
+39,2.1667e+00,UP_FORCE_RAMP,6.3136e-04,4.5052e-02,1.1687e-01,2.5095e+00,-4.5027e-02,3.9884e-02,6.3167e-05,9.3437e-02,1.1338e-01,4.7928e-02,-7.9927e-03,6.5630e-03,1.0215e-04,1.5454e-01,1.0342e-02
+40,2.2667e+00,UP_FORCE_RAMP,6.4749e-04,4.4379e-02,1.1772e-01,2.5076e+00,-4.5084e-02,3.9839e-02,6.5136e-05,9.2764e-02,1.1422e-01,4.6013e-02,-8.0501e-03,6.5175e-03,1.0412e-04,1.5417e-01,1.0358e-02
+41,2.3167e+00,UP_FORCE_RAMP,6.6610e-04,4.4005e-02,1.1769e-01,2.5065e+00,-4.5084e-02,3.9813e-02,6.5661e-05,9.2390e-02,1.1419e-01,4.4941e-02,-8.0494e-03,6.4923e-03,1.0464e-04,1.5361e-01,1.0342e-02
+42,2.3667e+00,UP_FORCE_RAMP,6.8213e-04,4.3632e-02,1.1756e-01,2.5054e+00,-4.5077e-02,3.9788e-02,6.5912e-05,9.2017e-02,1.1407e-01,4.3850e-02,-8.0427e-03,6.4671e-03,1.0489e-04,1.5298e-01,1.0321e-02
+43,2.4833e+00,UP_FORCE_RAMP,6.9759e-04,4.2795e-02,1.1719e-01,2.5029e+00,-4.5054e-02,3.9731e-02,6.5527e-05,9.1180e-02,1.1370e-01,4.1342e-02,-8.0202e-03,6.4103e-03,1.0451e-04,1.5149e-01,1.0268e-02
+44,2.5500e+00,UP_FORCE_RAMP,7.1202e-04,4.2344e-02,1.1698e-01,2.5015e+00,-4.5041e-02,3.9701e-02,6.4755e-05,9.0729e-02,1.1348e-01,3.9966e-02,-8.0070e-03,6.3796e-03,1.0374e-04,1.5069e-01,1.0238e-02
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diff --git a/Part2/Fixed/s2/cylinder_PLA_15/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fb52829d0fe991171b3aa4d396acef41e55f1eb1
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_PLA_15/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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