diff --git a/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79244fce007cfe642cfda8e85f684978ea059a26
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b63913330b38eec2890926fe41ab848b917e5c8f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29954a1ddb194dd7a2c1917e3be1814afd3eab92
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77164c36394d604dd435cf1e4f172ec5bdc7065e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,1.388333333e+01,UP_FORCE_RAMP,1792654232170357058,-6.768859087e-05,2.343435003e-05,1.248309938e-03,-6.491682961e-05,3.307181023e-05,1.247139141e-03,-6.126317956e-05,3.299262243e-05,1.245066225e-03,7.014701829e-01,2.498531136e-05,8.419892511e-01,7.014729547e-01,3.462277156e-05,8.419880803e-01,7.016646194e-01,3.481606796e-05,8.310258446e-01
+53,1.410000000e+01,UP_FORCE_RAMP,1792654232545334429,-6.611380016e-05,1.361362716e-05,1.264488874e-03,-6.488206863e-05,2.251429739e-05,1.266761051e-03,-6.116656243e-05,2.250633222e-05,1.264727514e-03,7.014717577e-01,1.516458848e-05,8.420054301e-01,7.014729894e-01,2.406525871e-05,8.420077022e-01,7.016647160e-01,2.432977776e-05,8.310455059e-01
+54,1.415000000e+01,UP_FORCE_RAMP,1792654232612730183,-7.025392843e-05,-9.468148566e-05,1.267240436e-03,-7.030494681e-05,-9.488312516e-05,1.266914009e-03,-6.672738041e-05,-9.432863569e-05,1.264865408e-03,7.014676176e-01,-9.313052434e-05,8.420081816e-01,7.014675665e-01,-9.333216384e-05,8.420078552e-01,7.016591552e-01,-9.250519015e-05,8.310456438e-01
+55,1.423333333e+01,UP_FORCE_RAMP,1792654232743754838,-7.131490556e-05,-6.095368064e-05,1.276293049e-03,-6.837615616e-05,-5.300381639e-05,1.275631101e-03,-6.470586793e-05,-5.265476712e-05,1.273563380e-03,7.014665566e-01,-5.940271932e-05,8.420172342e-01,7.014694953e-01,-5.145285507e-05,8.420165723e-01,7.016611767e-01,-5.083132159e-05,8.310543418e-01
+56,1.456666667e+01,UP_FORCE_RAMP,1792654233242979862,-7.128227842e-05,-5.606849335e-05,1.284867426e-03,-6.837615616e-05,-5.300381639e-05,1.275631101e-03,-6.471725627e-05,-5.267180401e-05,1.273753102e-03,7.014665892e-01,-5.451753202e-05,8.420258086e-01,7.014694953e-01,-5.145285507e-05,8.420165723e-01,7.016611653e-01,-5.084835848e-05,8.310545315e-01
+57,1.488333333e+01,UP_FORCE_HOLD,1792654233711520289,-6.732037424e-05,-5.892382178e-05,1.298695634e-03,-6.841960135e-05,-6.144887553e-05,1.293643392e-03,-6.471850254e-05,-6.109741629e-05,1.291811497e-03,7.014705511e-01,-5.737286046e-05,8.420396368e-01,7.014694519e-01,-5.989791420e-05,8.420345846e-01,7.016611641e-01,-5.927397076e-05,8.310725899e-01
+58,1.525000000e+01,UP_FORCE_HOLD,1792654234269862110,-7.003807741e-05,-6.007773742e-05,1.309231286e-03,-6.841960135e-05,-6.144887553e-05,1.293643392e-03,-6.472669571e-05,-6.110421436e-05,1.291977198e-03,7.014678334e-01,-5.852677610e-05,8.420501725e-01,7.014694519e-01,-5.989791420e-05,8.420345846e-01,7.016611559e-01,-5.928076883e-05,8.310727556e-01
+59,1.553333333e+01,UP_SETTLE,1792654234692665429,-7.150897997e-05,-5.743485700e-05,1.315924113e-03,-6.650485541e-05,-5.848714012e-05,1.317269768e-03,-6.269514301e-05,-5.811357903e-05,1.315594499e-03,7.014663625e-01,-5.588389568e-05,8.420568653e-01,7.014713666e-01,-5.693617880e-05,8.420582110e-01,7.016631874e-01,-5.629013350e-05,8.310963729e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b0bdd03b743a2e8adf2cfb4c9eb5e2b5d559a28
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_17.5/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,9.3018e-03,2.9951e-03,2.4591e+00,-3.6959e-02,3.7430e-02,1.0146e-06,1.6815e-04,5.1409e-07,2.1458e-05,-6.7055e-08,1.1846e-05,2.1674e-07,1.6951e-04,1.1849e-05
+1,3.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,7.7101e-05,1.1884e-02,3.0325e-03,2.4594e+00,-3.6962e-02,3.7610e-02,4.1062e-06,2.7501e-03,3.7972e-05,3.4189e-04,-3.3639e-06,1.9149e-04,3.3083e-06,2.7716e-03,1.9155e-04
+2,6.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,1.5613e-04,1.3643e-02,3.0653e-03,2.4597e+00,-3.6966e-02,3.7733e-02,6.7540e-06,4.5092e-03,7.0719e-05,6.0105e-04,-6.5267e-06,3.1443e-04,5.9561e-06,4.5496e-03,3.1455e-04
+3,8.6667e-01,WAIT_W2,2.3330e-04,1.5174e-02,3.0979e-03,2.4599e+00,-3.6969e-02,3.7840e-02,9.3565e-06,6.0406e-03,1.0338e-04,8.4305e-04,-9.6746e-06,4.2155e-04,8.5586e-06,6.1001e-03,4.2175e-04
+4,1.1000e+00,WAIT_W2,3.1024e-04,1.6512e-02,3.1260e-03,2.4601e+00,-3.6971e-02,3.7933e-02,1.1830e-05,7.3779e-03,1.3143e-04,1.0626e-03,-1.2401e-05,5.1512e-04,1.1032e-05,7.4551e-03,5.1539e-04
+5,1.5000e+00,WAIT_W2,3.8756e-04,1.8604e-02,3.1734e-03,2.4605e+00,-3.6976e-02,3.8080e-02,1.6087e-05,9.4706e-03,1.7881e-04,1.4162e-03,-1.6827e-05,6.6178e-04,1.5289e-05,9.5776e-03,6.6217e-04
+6,1.7500e+00,WAIT_W2,4.6566e-04,1.9792e-02,3.2014e-03,2.4607e+00,-3.6978e-02,3.8164e-02,1.8709e-05,1.0659e-02,2.0681e-04,1.6217e-03,-1.9342e-05,7.4515e-04,1.7911e-05,1.0783e-02,7.4561e-04
+7,2.0667e+00,WAIT_W2,5.4398e-04,2.0245e-02,1.1641e-02,2.4583e+00,-3.7564e-02,3.8197e-02,2.6637e-05,1.1111e-02,8.6463e-03,-7.6246e-04,-6.0453e-04,7.7912e-04,2.5839e-05,1.4100e-02,9.8648e-04
+8,2.4167e+00,WAIT_W2,6.2112e-04,2.1737e-02,1.1523e-02,2.4589e+00,-3.7557e-02,3.8302e-02,2.9983e-05,1.2603e-02,8.5285e-03,-1.1969e-04,-5.9817e-04,8.8366e-04,2.9185e-05,1.5218e-02,1.0675e-03
+9,2.7167e+00,WAIT_W2,6.9621e-04,2.2890e-02,1.1509e-02,2.4594e+00,-3.7557e-02,3.8383e-02,3.2753e-05,1.3756e-02,8.5145e-03,3.2949e-04,-5.9847e-04,9.6477e-04,3.1955e-05,1.6181e-02,1.1358e-03
+10,3.0167e+00,UP_FORCE_RAMP,7.7656e-04,2.3943e-02,1.1512e-02,2.4598e+00,-3.7559e-02,3.8457e-02,3.5395e-05,1.4809e-02,8.5178e-03,7.3957e-04,-5.9986e-04,1.0389e-03,3.4597e-05,1.7100e-02,1.2002e-03
+11,3.3333e+00,UP_FORCE_RAMP,8.5293e-04,2.4957e-02,1.1522e-02,2.4602e+00,-3.7561e-02,3.8529e-02,3.8049e-05,1.5823e-02,8.5272e-03,1.1444e-03,-6.0169e-04,1.1105e-03,3.7251e-05,1.8011e-02,1.2635e-03
+12,3.6500e+00,UP_FORCE_RAMP,9.3028e-04,2.5881e-02,1.1532e-02,2.4606e+00,-3.7563e-02,3.8594e-02,4.0566e-05,1.6747e-02,8.5378e-03,1.5266e-03,-6.0356e-04,1.1757e-03,3.9768e-05,1.8860e-02,1.3222e-03
+13,4.0167e+00,UP_FORCE_RAMP,1.0048e-03,2.6851e-02,1.1544e-02,2.4610e+00,-3.7565e-02,3.8663e-02,4.3314e-05,1.7717e-02,8.5499e-03,1.9438e-03,-6.0568e-04,1.2443e-03,4.2516e-05,1.9768e-02,1.3845e-03
+14,4.3000e+00,UP_FORCE_RAMP,1.0842e-03,2.5475e-02,1.4195e-02,2.4493e+00,-3.7751e-02,3.8578e-02,4.6926e-05,1.6341e-02,1.1200e-02,-9.7003e-03,-7.9160e-04,1.1597e-03,4.6128e-05,2.2059e-02,1.4049e-03
+15,4.6333e+00,UP_FORCE_RAMP,1.1627e-03,2.6333e-02,1.3123e-02,2.4395e+00,-3.7680e-02,3.8651e-02,4.8585e-05,1.7199e-02,1.0129e-02,-1.9571e-02,-7.2054e-04,1.2323e-03,4.7787e-05,2.7954e-02,1.4283e-03
+16,4.9167e+00,UP_FORCE_RAMP,1.2433e-03,2.9216e-02,1.2773e-02,2.4353e+00,-3.7657e-02,3.8861e-02,4.9950e-05,2.0082e-02,9.7785e-03,-2.3794e-02,-6.9809e-04,1.4428e-03,4.9152e-05,3.2635e-02,1.6036e-03
+17,5.1000e+00,UP_FORCE_RAMP,1.3153e-03,2.5492e-02,9.3137e-03,2.4163e+00,-3.7420e-02,3.8619e-02,4.9390e-05,1.6359e-02,6.3191e-03,-4.2742e-02,-4.6051e-04,1.2007e-03,4.8592e-05,4.6200e-02,1.2869e-03
+18,5.3500e+00,UP_FORCE_RAMP,1.3950e-03,2.6670e-02,1.1240e-02,2.4149e+00,-3.7554e-02,3.8706e-02,5.1797e-05,1.7536e-02,8.2455e-03,-4.4175e-02,-5.9481e-04,1.2876e-03,5.0999e-05,4.8238e-02,1.4192e-03
+19,5.6333e+00,UP_FORCE_RAMP,1.4702e-03,2.7087e-02,9.9966e-03,2.4060e+00,-3.7469e-02,3.8749e-02,5.2451e-05,1.7953e-02,7.0020e-03,-5.3030e-02,-5.1015e-04,1.3305e-03,5.1653e-05,5.6423e-02,1.4259e-03
+20,5.9000e+00,UP_FORCE_RAMP,1.5483e-03,2.9345e-02,9.4013e-03,2.4058e+00,-3.7429e-02,3.8912e-02,5.3280e-05,2.0211e-02,6.4067e-03,-5.3230e-02,-4.7039e-04,1.4938e-03,5.2483e-05,5.7297e-02,1.5670e-03
+21,6.1000e+00,UP_FORCE_RAMP,1.6267e-03,3.9610e-02,1.0571e-02,2.4037e+00,-3.7507e-02,3.9644e-02,5.3607e-05,3.0477e-02,7.5762e-03,-5.5315e-02,-5.4795e-04,2.2254e-03,5.2809e-05,6.3608e-02,2.2925e-03
+22,6.4167e+00,UP_FORCE_RAMP,1.7023e-03,3.8300e-02,8.6982e-03,2.3959e+00,-3.7383e-02,3.9568e-02,5.4378e-05,2.9167e-02,5.7036e-03,-6.3116e-02,-4.2377e-04,2.1498e-03,5.3580e-05,6.9763e-02,2.1918e-03
+23,6.6667e+00,UP_FORCE_RAMP,1.7849e-03,3.7282e-02,9.4063e-03,2.3882e+00,-3.7434e-02,3.9509e-02,5.5564e-05,2.8148e-02,6.4117e-03,-7.0878e-02,-4.7483e-04,2.0904e-03,5.4767e-05,7.6532e-02,2.1444e-03
+24,6.9000e+00,UP_FORCE_RAMP,1.8615e-03,3.7484e-02,6.3304e-03,2.3794e+00,-3.7222e-02,3.9535e-02,5.4749e-05,2.8350e-02,3.3359e-03,-7.9610e-02,-2.6282e-04,2.1165e-03,5.3951e-05,8.4573e-02,2.1335e-03
+25,7.2000e+00,UP_FORCE_RAMP,1.9362e-03,3.6436e-02,4.7728e-03,2.3756e+00,-3.7116e-02,3.9470e-02,5.5094e-05,2.7302e-02,1.7782e-03,-8.3453e-02,-1.5697e-04,2.0519e-03,5.4297e-05,8.7823e-02,2.0586e-03
+26,7.4500e+00,UP_FORCE_RAMP,2.0150e-03,3.7498e-02,4.3833e-03,2.3694e+00,-3.7090e-02,3.9555e-02,5.5898e-05,2.8365e-02,1.3888e-03,-8.9605e-02,-1.3113e-04,2.1367e-03,5.5100e-05,9.3998e-02,2.1414e-03
+27,7.6833e+00,UP_FORCE_RAMP,2.0921e-03,4.3227e-02,5.3368e-03,2.3648e+00,-3.7158e-02,3.9968e-02,5.7320e-05,3.4094e-02,2.3422e-03,-9.4266e-02,-1.9896e-04,2.5498e-03,5.6522e-05,1.0027e-01,2.5581e-03
+28,7.9000e+00,UP_FORCE_RAMP,2.1653e-03,4.2328e-02,2.9569e-03,2.3630e+00,-3.6995e-02,3.9911e-02,5.7154e-05,3.3194e-02,-3.7653e-05,-9.6039e-02,-3.6176e-05,2.4926e-03,5.6357e-05,1.0161e-01,2.4935e-03
+29,8.1000e+00,UP_FORCE_RAMP,2.2471e-03,4.2017e-02,2.1048e-03,2.3575e+00,-3.6939e-02,3.9896e-02,5.7672e-05,3.2884e-02,-8.8979e-04,-1.0152e-01,1.9848e-05,2.4781e-03,5.6874e-05,1.0672e-01,2.4789e-03
+30,8.3167e+00,UP_FORCE_RAMP,2.3209e-03,3.9790e-02,1.1265e-03,2.3494e+00,-3.6876e-02,3.9748e-02,5.8259e-05,3.0656e-02,-1.8680e-03,-1.0970e-01,8.3309e-05,2.3297e-03,5.7461e-05,1.1392e-01,2.3319e-03
+31,8.5667e+00,UP_FORCE_RAMP,2.4003e-03,3.9622e-02,3.4364e-03,2.3448e+00,-3.7042e-02,3.9742e-02,6.0398e-05,3.0489e-02,4.4187e-04,-1.1425e-01,-8.2947e-05,2.3241e-03,5.9600e-05,1.1825e-01,2.3263e-03
+32,8.7667e+00,UP_FORCE_RAMP,2.4790e-03,4.2017e-02,6.5636e-03,2.3400e+00,-3.7265e-02,3.9920e-02,6.2937e-05,3.2883e-02,3.5691e-03,-1.1903e-01,-3.0622e-04,2.5015e-03,6.2139e-05,1.2354e-01,2.5209e-03
+33,8.9833e+00,UP_FORCE_RAMP,2.5544e-03,4.1148e-02,3.7871e-03,2.3338e+00,-3.7079e-02,3.9866e-02,6.2264e-05,3.2014e-02,7.9251e-04,-1.2526e-01,-1.1955e-04,2.4476e-03,6.1466e-05,1.2929e-01,2.4513e-03
+34,9.2500e+00,UP_FORCE_RAMP,2.6349e-03,3.9883e-02,2.2806e-03,2.3291e+00,-3.6981e-02,3.9784e-02,6.2732e-05,3.0749e-02,-7.1397e-04,-1.2990e-01,-2.2337e-05,2.3659e-03,6.1934e-05,1.3349e-01,2.3668e-03
+35,9.5000e+00,UP_FORCE_RAMP,2.7099e-03,3.7582e-02,-6.0078e-04,2.3186e+00,-3.6788e-02,3.9634e-02,6.2759e-05,2.8448e-02,-3.5953e-03,-1.4048e-01,1.7060e-04,2.2152e-03,6.1961e-05,1.4338e-01,2.2226e-03
+36,9.7500e+00,UP_FORCE_RAMP,2.7866e-03,3.6057e-02,-2.4171e-03,2.3154e+00,-3.6664e-02,3.9533e-02,6.3042e-05,2.6923e-02,-5.4116e-03,-1.4365e-01,2.9507e-04,2.1143e-03,6.2244e-05,1.4625e-01,2.1357e-03
+37,1.0000e+01,UP_FORCE_RAMP,2.8671e-03,3.6081e-02,-3.4887e-03,2.3181e+00,-3.6592e-02,3.9533e-02,6.3923e-05,2.6947e-02,-6.4832e-03,-1.4099e-01,3.6729e-04,2.1142e-03,6.3125e-05,1.4369e-01,2.1468e-03
+38,1.0267e+01,UP_FORCE_RAMP,2.9438e-03,3.6772e-02,-3.7885e-03,2.3160e+00,-3.6571e-02,3.9586e-02,6.5328e-05,2.7638e-02,-6.7831e-03,-1.4307e-01,3.8800e-04,2.1672e-03,6.4530e-05,1.4587e-01,2.2026e-03
+39,1.0533e+01,UP_FORCE_RAMP,3.0221e-03,3.6241e-02,-5.9682e-03,2.3121e+00,-3.6420e-02,3.9551e-02,6.6010e-05,2.7107e-02,-8.9628e-03,-1.4696e-01,5.3912e-04,2.1325e-03,6.5212e-05,1.4970e-01,2.2006e-03
+40,1.0850e+01,UP_FORCE_RAMP,3.0985e-03,3.5809e-02,-7.5258e-03,2.3175e+00,-3.6305e-02,3.9515e-02,6.7071e-05,2.6676e-02,-1.0520e-02,-1.4158e-01,6.5361e-04,2.0963e-03,6.6273e-05,1.4446e-01,2.1968e-03
+41,1.1100e+01,UP_FORCE_RAMP,3.1742e-03,3.5980e-02,-8.0495e-03,2.3148e+00,-3.6264e-02,3.9528e-02,6.8703e-05,2.6846e-02,-1.1044e-02,-1.4422e-01,6.9524e-04,2.1101e-03,6.7905e-05,1.4711e-01,2.2227e-03
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aad46dba454a4aa961ae6301d328125c2303df3f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+5212,1791278818218126114,11144241000000,1791278818212734871,DOWN_FORCE_DETACH,1,0.0575,0.057529911398887634,0.6759737614892746,-0.004813901955878713,0.09087731359093518,0.9999999717651137,5.655983802721668e-05,-0.00019483423169308083,8.217811936681949e-05,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,0.058428118328122815,0.0323845919146833,0.005954321484128222,0.0021521691283320336,-0.004095452946160842,-3.9498673905351235e-05,0.057258501552965024,0.05798400297074917,0.26078356964685756,-0.0008588085002555085,-0.007131040515663844,-0.0013523563429666124,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9274672291167655,-0.32068542164675445,0.5582903893363101,0.4673613261056787,-0.19454308309200233,-0.24655671774499022,0.7032682909462498,0.005954321484128222,0.14497790160993962,0.14497790160993962,0.13965315397642514,0,0,0.0,0.0
+5359,1791278819443126791,11145466000000,1791278819436724994,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759753216516299,-0.00481330642110778,0.0908755037890106,0.9999999721156464,5.800953045119956e-05,-0.00019213968175972864,8.323945984406413e-05,0.6761,-0.0048,0.09099013585198971,1.0,0.0,0.0,0.0,0.05257767755455756,0.03226552617856324,0.0059000672360240425,0.0021526397032664924,-0.004095061090919819,-4.0159418276146906e-05,0.05140806077939977,0.05786493723462911,0.2607293153987534,-0.0008583379253210496,-0.0071306486604228204,-0.0013530170873374081,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9607394164316774,-0.3165193471560887,0.5269376631479188,0.47837979211991727,-0.16710492144815556,-0.24199029568269834,0.7032682909462498,0.0059000672360240425,0.17633062779833097,0.17633062779833097,0.21315315397643064,0,0,-1.7913264298796068e-05,-4.222476169761344e-05
+5490,1791278820535139841,11146558000000,1791278820532725432,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.675975519244597,-0.004810416686950454,0.09085645938182929,0.9999999718681419,5.8931426768739646e-05,-0.00019255971342633396,8.458382501595567e-05,0.6761,-0.0048,0.09096317673426384,1.0,0.0,0.0,0.0,0.0491643884444149,0.03390762668144192,-0.0038071679761338406,0.0021485013655218503,-0.0038756608840924043,-2.9360709921703214e-05,0.04799477166925711,0.05950703773750779,0.2510220801865955,-0.0008624762630656915,-0.006911248453595406,-0.0013422183789829644,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0356932129148302,-0.25316665647341763,0.42663567840843614,0.464010471889785,-0.0890300411669463,-0.2020565218071059,0.7032682909462498,0.0038071679761338406,0.2766326125378136,0.2766326125378136,0.27867315397643555,0,0,-3.0287511822131623e-05,9.998654268284497e-05
+5626,1791278821668215457,11147691000000,1791278821664725190,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759761195006456,-0.0048177742897701735,0.09082096788426927,0.9999999720207827,5.503003915239962e-05,-0.0001896444197517897,9.169507693861198e-05,0.6761,-0.0048,0.09092150213187633,1.0,0.0,0.0,0.0,0.052289956087829804,0.03883819460138146,0.016004734836543688,0.0021513440829812568,-0.004098052668958829,-4.8354574401858995e-05,0.051120339312672014,0.06443760565744733,0.270833982999273,-0.0008596335456062851,-0.00713364023846183,-0.0013612122434631202,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1233330263056482,-0.296438629734098,0.4474838137704982,0.48225140342518136,-0.07874260257462962,-0.23139216106769478,0.7032682909462498,0.016004734836543688,0.2557844771757516,0.2557844771757516,0.34665315397644064,0,0,-4.194803640142209e-05,-6.245983871633882e-05
+5770,1791278822868212830,11148891000000,1791278822864725298,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759794764551945,-0.004816482986104076,0.09076845533843346,0.999999972799817,5.697782062100662e-05,-0.00018349972027154602,9.447015599155047e-05,0.6761,-0.0048,0.09086041689244197,1.0,0.0,0.0,0.0,0.04912373715554454,0.033917407509783996,0.04239915952684575,0.0021443388111111877,-0.004054553610516966,-6.892080878514529e-05,0.04795412038038675,0.059516818565849866,0.2972284076895751,-0.0008666388174763542,-0.007090141180019967,-0.0013817784778464065,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0677121557596876,-0.226866369157134,0.4172702447870345,0.47114365165375754,-0.08238093601098267,-0.18760784991983062,0.7032682909462498,0.04239915952684575,0.28599804615921526,0.28599804615921526,0.41865315397644604,0,0,-5.84294992903286e-05,-9.580359702632819e-05
+5911,1791278824043288947,11150066000000,1791278824036735139,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759789067780851,-0.004820871514231738,0.09069438927775939,0.9999999729250111,4.4968112269004925e-05,-0.00018500286481980732,9.666773279597164e-05,0.6761,-0.0048,0.09078257226931244,1.0,0.0,0.0,0.0,0.0403401829754664,0.04345779396919514,0.066094434857083,0.002114452787948028,-0.0030954971575154855,-7.415360347253169e-05,0.03917056620030861,0.06905720502526101,0.32092368301981233,-0.000896524840639514,-0.006131084727018487,-0.001387011272533793,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0780128756682414,-0.21400079328630423,0.39227660387286634,0.4750979336053815,-0.06475050617466692,-0.18190350203228808,0.7032682909462498,0.066094434857083,0.3109916870733834,0.3109916870733834,0.4891531539764513,0,0,-7.225385449258071e-05,-9.999756164636437e-05
+6062,1791278825301275398,11151324000000,1791278825300725306,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759902630676923,-0.004821022699297471,0.09060596624067403,0.9999999781011756,2.4943609664255137e-05,-0.0001671195532268689,8.178865596727235e-05,0.6761,-0.0048,0.09068037525287397,1.0,0.0,0.0,0.0,0.04874201478806562,0.035868720743949714,0.09841175751107234,0.002107948083235944,-0.0031020437376106593,-9.894441444164713e-05,0.04757239801290783,0.061468131800015584,0.3532410056738017,-0.000903029545351598,-0.006137631307113661,-0.0014118020835029083,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1204100027025992,-0.24184670556214075,0.2897906404316988,0.48292225571054714,0.007021401294193698,-0.20152367670717716,0.7032682909462498,0.09841175751107234,0.413477650514551,0.413477650514551,0.5646331539763971,0,0,-8.946895927453449e-05,-1.2367099015890781e-05
+6206,1791278826501368254,11152524000000,1791278826500734983,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760001917343728,-0.004811147838231908,0.09050426883393074,0.999999975648137,0.0001006924687064865,-0.0001505698609202956,8.565239878788962e-05,0.6761,-0.0048,0.09056332184975228,1.0,0.0,0.0,0.0,0.04865264470736009,0.04726104463239502,0.14638992715360488,0.0021001659216688825,-0.0031135101307334678,-0.00013840780399053875,0.0474830279322023,0.07286045568846089,0.4012191753163342,-0.0009108117069186597,-0.00614909770023647,-0.0014512654730518,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1429998721051873,-0.1763447830537441,0.1848318063424359,0.4649688518870818,0.0777928032961997,-0.15428418486183965,0.7032682909462498,0.14638992715360488,0.5184364846038139,0.5184364846038139,0.6366331539763359,0,0,-0.00010424592131599996,9.803021869115298e-05
+6343,1791278827643387360,11153666000000,1791278827640724947,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6759989731021999,-0.004804678376593054,0.09038101933396114,0.9999999731587434,0.00010943263979615951,-0.0001532705959035956,9.827511639549866e-05,0.6761,-0.0048,0.09043876006679331,1.0,0.0,0.0,0.0,0.04867724611773809,0.043615422588886,0.18907773412023732,0.0031379553078809486,-0.004147355266494273,-0.00010373701529491682,0.0475076293425803,0.06921483364495187,0.44390698228296666,0.00012697767929340675,-0.007182942835997274,-0.001416594684356178,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.126599406300613,-0.20011423994427838,0.21282643829266393,0.46296642679331973,0.05418744377229596,-0.17812536615253938,0.7032682909462498,0.18907773412023732,0.49044185265358586,0.49044185265358586,0.7051531539762776,0,0,-0.00011604036743581426,-9.92998558643265e-05
+6472,1791278828718382452,11154741000000,1791278828712734798,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760012026766812,-0.004805988154528243,0.09025859457841101,0.9999999755059024,9.40636021528873e-05,-0.0001501410292631714,9.508296003328931e-05,0.6761,-0.0048,0.09031081085686339,1.0,0.0,0.0,0.0,0.05748602835194933,0.046518873828438896,0.2464298219641713,0.0021574864792773753,-0.00318573452700727,-0.00014359712498538367,0.05631641157679154,0.07211828488450477,0.5012590701269006,-0.0008534911493101668,-0.006221322096510272,-0.0014564547940466449,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0645778284652878,-0.16925301544887772,0.11824461899738965,0.4610390532228425,0.09351375015733658,-0.1543528721622456,0.7032682909462498,0.2464298219641713,0.5850236719488601,0.5850236719488601,0.7696531539762228,0,0,-0.00012206076903800855,9.997587066402076e-05
+6595,1791278829743448005,11155766000000,1791278829736735293,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760047202295545,-0.0048082500234777285,0.09013399077299569,0.9999999765764256,8.971821713412668e-05,-0.00014517585155787596,9.573205488643415e-05,0.6761,-0.0048,0.09018115532568538,1.0,0.0,0.0,0.0,0.057531421422229105,0.04257364079494299,0.28710624458969447,0.00208294879624676,-0.003148230431408099,-0.00016882158605639958,0.056361804647071315,0.06817305185100886,0.5419354927524238,-0.0009280288323407817,-0.006183818000911101,-0.0014816792551176608,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1143201611473443,-0.16007156261498906,0.1455700461576225,0.46374177860324794,0.08952973516806607,-0.14758915378256157,0.7032682909462498,0.28710624458969447,0.5576982447886273,0.5576982447886273,0.8311531539761705,0,0,-0.00012807448941251488,-9.567299316526884e-05
+6706,1791278830668479423,11156691000000,1791278830664725181,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760058125076591,-0.004812128558895901,0.09001104034027939,0.9999999766976829,8.231376406179733e-05,-0.000145807751038347,0.00010006019203528417,0.6761,-0.0048,0.09005901603597086,1.0,0.0,0.0,0.0,0.04866911983456199,0.04349590220902306,0.3374453600117999,0.0020543522228938975,-0.0031597944651872707,0.0007344820949278817,0.0474995030594042,0.06909531326508893,0.5922746081745293,-0.0009566254056936443,-0.0061953820346902725,-0.0005783755741333795,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1112774091481257,-0.2052607475944163,0.01394818571073127,0.472153880023186,0.17111477723201596,-0.17839574986232618,0.7032682909462498,0.3374453600117999,0.6893201052355185,0.6893201052355185,0.8866531539761233,0,0,-0.00013122010160818298,9.326625169248643e-05
+6823,1791278831643505295,11157666000000,1791278831640734314,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760141899953581,-0.004808489226910949,0.0898994094191482,0.9999999791562015,8.110361060473095e-05,-0.00013054616935287766,9.75210896567475e-05,0.6761,-0.0048,0.08992723881890409,1.0,0.0,0.0,0.0,0.05692218200457364,0.04494351020048933,0.37759613478040943,0.0020467728638138482,-0.003168730553670901,0.000703049472839343,0.05575256522941585,0.0705429212565552,0.6324253829431388,-0.0009642047647736939,-0.006204318123173903,-0.0006098081962219183,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1110203279675077,-0.19582617559790458,-0.02820318945142227,0.4705506833779205,0.19655578789234557,-0.17406279587158444,0.7032682909462498,0.37759613478040943,0.7314714803976721,0.7314714803976721,0.9451531539760736,0,0,-0.00013970600972326862,8.212331789459455e-05
+6939,1791278832610522716,11158633000000,1791278832604725476,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760192660139507,-0.004810983838207065,0.08977431011571213,0.999999978873729,9.124855571920095e-05,-0.00012284920279648153,0.0001013764287759286,0.6761,-0.0048,0.08978971449112977,1.0,0.0,0.0,0.0,0.04802022943036912,0.044562954658737934,0.42723905978275023,0.00204704470721754,-0.0031794242440185195,0.0006619723336374108,0.04685061265521133,0.0701623657148038,0.6820683079454796,-0.0009639329213700019,-0.006215011813521521,-0.0006508853354238504,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.092003930923116,-0.17752830062521482,-0.04527666011247257,0.475779755420134,0.2006138878821715,-0.15639616400275413,0.7032682909462498,0.42723905978275023,0.7485449510587223,0.7485449510587223,1.0031731539760242,0,0,-0.00014477946995025549,-5.5584130380320576e-05
+7050,1791278833535557160,11159558000000,1791278833532725193,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760278374611608,-0.004817147883275287,0.08964735719476156,0.9999999802749324,8.955631979298914e-05,-0.00011115912156689823,0.0001025490832768113,0.6761,-0.0048,0.08965549054814843,1.0,0.0,0.0,0.0,0.04789879746038558,0.04787487948620036,0.45781024763772005,0.0020310026937979584,-0.00318543793048601,0.0006371445326395039,0.046729180685227786,0.07347429054226623,0.7126394958004494,-0.0009799749347895836,-0.006221025499989012,-0.0006757131364217573,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0700080620332724,-0.1471246335795954,-0.060026187584729884,0.45580209008574407,0.20443705436051096,-0.147972308111617,0.7032682909462498,0.45781024763772005,0.7632944785309796,0.7632944785309796,1.058673153975977,0,0,-0.00014789457730288025,-9.41438413600892e-05
+7165,1791278834493595043,11160516000000,1791278834492725489,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760298000346192,-0.00481768587097049,0.0895096042673967,0.9999999827004784,7.457606227978083e-05,-0.00010667294671504387,9.540021360831418e-05,0.6761,-0.0048,0.08951002594550761,1.0,0.0,0.0,0.0,0.04782584500850344,0.03944188943607801,0.498730083267673,0.002072668724908429,-0.0031950346655235068,0.0006048976969702834,0.04665622823334565,0.06504130049214388,0.7535593314304023,-0.0009383089036791128,-0.006230622235026509,-0.0007079599720909778,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1115386617699963,-0.16284481203425613,-0.19486770732291944,0.47216020764987665,0.30135976104710765,-0.15299235857379564,0.7032682909462498,0.498730083267673,0.8981359982691692,0.8981359982691692,1.1161531539759282,0,0,-0.0001517834900585394,8.708471030261506e-05
+7263,1791278835310618432,11161333000000,1791278835308725671,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760304650964299,-0.004819003221490875,0.08938811256844553,0.9999999832057411,6.97201286452021e-05,-0.00010512922003930411,9.548996071956986e-05,0.6761,-0.0048,0.08938460746405157,1.0,0.0,0.0,0.0,0.047745318553148355,0.030852981179568036,0.5420431920777598,0.0020136041703474232,-0.0032028910871006355,0.0005695092092471671,0.046575701777990565,0.056452392235633905,0.7968724402404891,-0.0009973734582401186,-0.006238478656603637,-0.0007433484598140941,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0528640334832267,-0.19126438098086085,-0.24646103819327975,0.4772937933954949,0.31705097837133445,-0.17263971616967969,0.7032682909462498,0.5420431920777598,0.9497293291395295,0.9497293291395295,1.1651731539758865,0,0,-0.00015500553868644384,7.946652644109093e-05
+7368,1791278836185569151,11162208000000,1791278836184725216,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760329216186063,-0.004822089611388829,0.08925430400398439,0.9999999842088032,6.287004269216592e-05,-0.0001023928278664984,9.267321276403974e-05,0.6761,-0.0048,0.08924952934287392,1.0,0.0,0.0,0.0,0.05563326688529484,0.03251527836028677,0.5882575963377603,0.0020049739267204987,-0.003213084582181984,0.000532750673957862,0.05446365011013705,0.05811468941635264,0.8430868445004897,-0.0010060037018670433,-0.006248672151684986,-0.0007801069951033992,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0870797922565105,-0.1501083497998559,-0.27570490322020197,0.46760177511664186,0.3433760119882156,-0.1449806680337678,0.7032682909462498,0.5882575963377603,0.9789731941664517,0.9789731941664517,1.2176731539758419,0,0,-0.00015837729260417965,4.037364473153389e-05
+7479,1791278837110660373,11163133000000,1791278837108726143,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760377098089423,-0.0048273682475708435,0.08910997412517548,0.9999999838995622,7.073596825272972e-05,-9.64326101629521e-05,9.664840493388364e-05,0.6761,-0.0048,0.08910253515281924,1.0,0.0,0.0,0.0,0.04744593315653002,0.04027637597144187,0.6383883443372671,0.0019809059806384067,-0.0026295709620259987,0.0004966757511925553,0.04627631638137223,0.06587578702750774,0.8932175924999964,-0.0010300716479491353,-0.0056651585315290005,-0.0008161819178687059,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0204523181867537,-0.23467321915454561,-0.21365730936974595,0.4992856579081037,0.2805935037177535,-0.19554907111386466,0.7032682909462498,0.6383883443372671,0.9169256003159957,0.9169256003159957,1.2731731539757947,0,0,-0.00015966283884868838,-9.999996250365512e-05
+7584,1791278837985675856,11164008000000,1791278837980734984,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760373898285525,-0.004833439963859235,0.0889657021071313,0.9999999833662871,7.28134111974433e-05,-9.697855804244383e-05,0.00010001828007726962,0.6761,-0.0048,0.0889590534113442,1.0,0.0,0.0,0.0,0.04731632887378175,0.04512212482726596,0.6884424070675509,0.0019616764100053048,-0.002250810681973308,0.0004601347085909184,0.04614671209862396,0.07072153588333183,0.9432716552302802,-0.0010493012185822375,-0.00528639825147631,-0.0008527229604703428,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0890374325043075,-0.2123158259878093,-0.3394357223706337,0.49486390177779366,0.375662925691314,-0.18529851152926405,0.7032682909462498,0.6884424070675509,1.0427040133168834,1.0427040133168834,1.32567315397575,0,0,-0.00016419030364460613,-5.6476573239533335e-05
+7690,1791278838868640236,11164891000000,1791278838868724989,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760417688228827,-0.004836958864250028,0.08882310442656688,0.9999999835016193,6.98425720744605e-05,-9.39480409210792e-05,0.000103611805874308,0.6761,-0.0048,0.08881347102018568,1.0,0.0,0.0,0.0,0.043730157362489676,0.044009645585375325,0.728182691659713,0.0019525287209647985,-0.0022307648574055694,0.000433627369415492,0.042560540587331885,0.0696090566414412,0.9830119398224424,-0.0010584489076227435,-0.005266352426908571,-0.0008792302996457692,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0779126083641608,-0.23746210603071186,-0.41132984103032644,0.4918022483452581,0.42144928984072266,-0.20537298124082118,0.7032682909462498,0.728182691659713,1.1145981319765763,1.1145981319765763,1.378653153975705,0,0,-0.00016548977383073116,7.128041041670676e-05
+7788,1791278839685684525,11165708000000,1791278839684726102,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760507004754264,-0.004835744755264024,0.08870015897037639,0.9999999846435081,7.094277310651178e-05,-8.112343670035194e-05,0.00010267404228595076,0.6761,-0.0048,0.08867662125814557,1.0,0.0,0.0,0.0,0.04699501416715482,0.03872752138892422,0.7587046805017917,0.0019459726738844274,-0.0022368855760709423,0.00040966518802158694,0.04582539739199703,0.06432693244499009,1.013533928664521,-0.0010650049547031146,-0.005272473145573944,-0.0009031924810396743,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0096686510688524,-0.20699097172036257,-0.3652871483243443,0.5011284905080255,0.3680513311047599,-0.17989296820836825,0.7032682909462498,0.7587046805017917,1.068555439270594,1.068555439270594,1.4276731539756633,0,0,-0.0001702573401527171,-9.922387497607871e-05
+7887,1791278840510762884,11166533000000,1791278840504725845,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760396633739642,-0.004841455775458502,0.08854311314554784,0.9999999849218134,5.820505157344091e-05,-9.447712476935136e-05,9.636120745418432e-05,0.6761,-0.0048,0.08853280033865239,1.0,0.0,0.0,0.0,0.04766788716382554,0.040189258950272776,0.7981963465417069,0.0019385636346622185,-0.0022456549751386644,0.0003778453516140683,0.04649827038866775,0.06578867000633865,1.0530255947044362,-0.0010724139939253235,-0.005281242544641666,-0.0009350123174471929,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9949139324952815,-0.1672915067663299,-0.4292481085089454,0.48655619173300174,0.40509701370787377,-0.1561391657192555,0.7032682909462498,0.7981963465417069,1.1325163994551952,1.1325163994551952,1.4771731539756212,0,0,-0.0001791786874525122,-9.995664992790693e-05
+7980,1791278841285773218,11167308000000,1791278841284725694,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760438329694489,-0.004846456785760714,0.08841038334655896,0.9999999847986742,6.520499722399237e-05,-8.565920444242222e-05,0.00010127351466183191,0.6761,-0.0048,0.0883917412080225,1.0,0.0,0.0,0.0,0.05402019886080207,0.03129912619885961,0.831096045829807,0.0019310057376970926,-0.002252007208206472,0.00035202580285170054,0.052850582085644277,0.05689853725492548,1.0859252939925363,-0.0010799718908904494,-0.005287594777709474,-0.0009608318662095607,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0348036248995625,-0.27671370046462335,-0.5231034671394214,0.5160172115588461,0.4751757193646777,-0.22678179788633507,0.7032682909462498,0.831096045829807,1.226371758085671,1.226371758085671,1.5236731539755817,0,0,-0.00018650294266312072,8.154052019560538e-05
+8075,1791278842076746430,11168099000000,1791278842076734989,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760521421999538,-0.004847720171010745,0.08826359073361621,0.999999984430926,7.265322537296885e-05,-8.234182383392952e-05,0.00010257848244074948,0.6761,-0.0048,0.08823893257918407,1.0,0.0,0.0,0.0,0.03889478812484534,0.03062575204485706,0.8590607914213501,0.0019261220852702723,-0.002257781363600228,0.0003274840272394703,0.03772517134968755,0.05622516310092293,1.1138900395840794,-0.0010848555433172697,-0.00529336893310323,-0.000985373641821791,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9704142320675124,-0.310209149644507,-0.3349093485596961,0.5343138819407351,0.33639876384983664,-0.2491083819509953,0.7032682909462498,0.8590607914213501,1.0381776395059459,1.0381776395059459,1.5711331539755413,0,0,-0.00020086968643559378,-9.999999025923074e-05
+8165,1791278842826779070,11168849000000,1791278842824726183,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760533154023328,-0.004853032954329096,0.08811128052677292,0.9999999850408833,7.17989940738826e-05,-7.651183240095573e-05,0.00010174449144834414,0.6761,-0.0048,0.08808310603556631,1.0,0.0,0.0,0.0,0.046701548213071334,0.03337106908483188,0.8891780035151772,0.0019204199689858313,-0.0022645542190937785,0.0003042189710656643,0.04553193143791354,0.05897048014089775,1.1440072516779065,-0.0010905576596017107,-0.00530014178859678,-0.001008638697995597,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9753790104531946,-0.1846648894907448,-0.5939397743483718,0.49199075740988346,0.5050515324725683,-0.16847279287428168,0.7032682909462498,0.8891780035151772,1.2972080652946216,1.2972080652946216,1.616133153975503,0,0,-0.00021434151853819283,9.815874088404115e-05
+8251,1791278843543801748,11169566000000,1791278843540725533,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760598397585496,-0.004849319641133541,0.08795465823751306,0.9999999854249753,6.95500620161624e-05,-7.400243689885832e-05,0.00010138708877601315,0.6761,-0.0048,0.08792367517324,1.0,0.0,0.0,0.0,0.046641376475548446,0.02544082497395609,0.9091125960430094,0.0019154842758579928,-0.002268189746700015,0.0002880958409589335,0.045471759700390656,0.05104023603002196,1.1639418442057388,-0.0010954933527295492,-0.005303777316203017,-0.0010247618281023277,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9805132733419325,-0.17748253416907614,-0.525730005594506,0.4962185406378258,0.4629376781751794,-0.16247883295388885,0.7032682909462498,0.9091125960430094,1.2289982965407558,1.2289982965407558,1.6591531539754665,0,0,-0.0002319293045213985,-9.999999025923074e-05
+8327,1791278844176817855,11170199000000,1791278844172725265,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760569219249256,-0.004843808386624471,0.08779962823484894,0.9999999846581906,7.711912171141528e-05,-7.65956289730492e-05,0.00010154916848759042,0.6761,-0.0048,0.08777167814779581,1.0,0.0,0.0,0.0,0.04649736618985304,0.024842038330887828,0.9292860902594534,0.001911567847947714,-0.002272485252471363,0.0002717812516988519,0.04532774941469525,0.0504414493869537,1.1841153384221828,-0.001099409780639828,-0.005308072821974365,-0.0010410764173624093,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9301650863525911,-0.18811478058113446,-0.5048902083722073,0.5010519746163709,0.43701210861737055,-0.1701163496481342,0.7032682909462498,0.9292860902594534,1.208158499318457,1.208158499318457,1.6971331539754342,0,0,-0.0002499144642578984,-9.999999025923074e-05
+8402,1791278844801840719,11170824000000,1791278844800734704,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760506719665277,-0.004852117755326283,0.08763503287111737,0.9999999845337635,6.519914700086932e-05,-8.889410377647655e-05,0.00010110512671994205,0.6761,-0.0048,0.08760875774902992,1.0,0.0,0.0,0.0,0.0465718454909706,0.030244633063451924,0.9454047568950233,0.0019098396386554577,-0.0022759070785784096,0.0002587793478241215,0.04540222871581281,0.055844044119517794,1.2002340050577527,-0.0011011379899320843,-0.005311494648081411,-0.0010540783212371397,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9044769440098724,-0.17626248156011026,-0.5704979709203177,0.5045527424927341,0.4755594508834375,-0.1591149273113986,0.7032682909462498,0.9454047568950233,1.2737662618665675,1.2737662618665675,1.7346331539754023,0,0,-0.0002716436156935759,-4.925777345176751e-05
+8477,1791278845426887069,11171449000000,1791278845420725481,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760557960962185,-0.004849977867484957,0.08746215007215102,0.9999999849557192,6.882413887761467e-05,-7.619972542792893e-05,0.00010482492831748663,0.6761,-0.0048,0.08743226929953965,1.0,0.0,0.0,0.0,0.046668574938431705,0.035622258412666155,0.9493848826178425,0.0019093137956779447,-0.0022777174108603282,0.0002555734682862427,0.045498958163273914,0.061221669468732025,1.2042141307805718,-0.0011016638329095973,-0.00531330498036333,-0.0010572842007750185,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8788698918789246,-0.1791145610282258,-0.5063776471240272,0.5041584153066951,0.430954991683982,-0.16256725345012119,0.7032682909462498,0.9493848826178425,1.209645938070277,1.209645938070277,1.7721331539753704,0,0,-0.00029416024177194986,-9.978319145809706e-05
+8543,1791278845976874293,11171999000000,1791278845972725627,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.676053841903538,-0.004851966673841097,0.08729533188746998,0.999999984664317,6.936187945167528e-05,-7.970545464090658e-05,0.00010464320454077086,0.6761,-0.0048,0.0872634073884552,1.0,0.0,0.0,0.0,0.0465469954734958,0.035936664628515205,0.959418925869396,0.0019074536363113195,-0.002279902361191665,0.00024745822555712017,0.04537737869833801,0.061536075684581075,1.2142481740321254,-0.0011035239922762225,-0.005315489930694667,-0.001065399443504141,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9025315672065785,-0.2203544448503843,-0.5398590782098212,0.5154348768109902,0.4588009583579181,-0.18941301205194955,0.7032682909462498,0.959418925869396,1.243127369156071,1.243127369156071,1.8051331539753424,0,0,-0.00032027312140833617,-9.999999025923074e-05
+8609,1791278846526880945,11172549000000,1791278846520725640,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760568497666551,-0.004845656222692569,0.08711941632230617,0.999999985272101,7.172154263035394e-05,-7.290502894052384e-05,0.0001021740641928554,0.6761,-0.0048,0.08708101472373204,1.0,0.0,0.0,0.0,0.04653568966857798,0.03620863586282804,0.9654043903138215,0.001906357924397225,-0.0022812158905928174,0.00024262151571276909,0.04536607289342019,0.06180804691889391,1.2202336384765509,-0.001104619704190317,-0.005316803460095819,-0.0010702361533484921,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8371628290225199,-0.15408427655205126,-0.5860069796073244,0.4957507433839611,0.4719069623642735,-0.1433955756907984,0.7032682909462498,0.9654043903138215,1.2892752705535742,1.2892752705535742,1.8381331539753143,0,0,-0.0003421187618382352,9.742671533275455e-05
+8669,1791278847026889246,11173049000000,1791278847024725106,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760584386629301,-0.004843414480768859,0.08694457138216187,0.9999999851630392,7.00921800023492e-05,-7.283322276787275e-05,0.00010439920322703178,0.6761,-0.0048,0.08690459196200248,1.0,0.0,0.0,0.0,0.0552701997811175,0.03704047704523546,0.9887180570367978,0.00190198674810778,-0.0022864418438148727,0.00022721826034220174,0.05410058300595971,0.06263988810130133,1.2435473051995272,-0.001108990880479762,-0.0053220294133178745,-0.0010856394087190595,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8180915140369535,-0.16017433327353137,-0.5553563776738867,0.499786301332875,0.44791219545055827,-0.14583092518881213,0.7032682909462498,0.9887180570367978,1.2586246686201363,1.2586246686201363,1.8681331539752888,0,0,-0.0003622427820242408,-3.497282008940055e-05
+8726,1791278847501949378,11173524000000,1791278847496725945,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760588166213622,-0.004843945426781556,0.08676934887749557,0.9999999848014396,7.54213749147769e-05,-7.148547525777076e-05,0.00010507819986319345,0.6761,-0.0048,0.08672747545788262,1.0,0.0,0.0,0.0,0.04852839496192796,0.037038411835660055,0.9882196665615323,0.0019021245049763503,-0.0022862234980422567,0.00022434816577731535,0.04735877818677017,0.06263782289172592,1.2430489147242616,-0.0011088531236111917,-0.0053218110675452585,-0.0010885095032839459,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8652708730025767,-0.21056578814922322,-0.4361182349649883,0.5125996889979167,0.38509889799895153,-0.18413830636244027,0.7032682909462498,0.9882196665615323,1.1393865259112381,1.1393865259112381,1.8966331539752646,0,0,-0.0003837967617145984,-9.999999025923074e-05
+8783,1791278847976866146,11173999000000,1791278847976734855,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760548263899784,-0.0048375462250339245,0.0865850205136381,0.9999999836518042,8.552524159073276e-05,-7.729138921055428e-05,0.00010416683783260914,0.6761,-0.0048,0.08654111164654864,1.0,0.0,0.0,0.0,0.05571967521023969,0.03841941593708079,0.9895407476708992,0.0019019125117873553,-0.002286783134793881,0.00022424208157909129,0.0545500584350819,0.06401882699314666,1.2443699958336285,-0.0011090651168001867,-0.005322370704296883,-0.00108861558748217,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8403127133631583,-0.10407189186851656,-0.5497601443406812,0.48506118318542435,0.4495726409801083,-0.11170295073834358,0.7032682909462498,0.9895407476708992,1.253028435286931,1.253028435286931,1.9251331539752403,0,0,-0.00039994700163402825,-3.3493228070276206e-05
+8837,1791278848426901835,11174449000000,1791278848424725632,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760586594881777,-0.0048376051189218386,0.08640625548274433,0.9999999843020101,8.229333536301063e-05,-7.276212789664109e-05,0.00010378980484195121,0.6761,-0.0048,0.08635733757411988,1.0,0.0,0.0,0.0,0.05569817180517742,0.04383388748435909,0.9995209377818458,0.0019008380349783672,-0.002289351130521418,0.0002161827798198982,0.05452855503001963,0.06943329854042496,1.2543501859445751,-0.0011101395936091748,-0.00532493870002442,-0.001096674889241363,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8321175489251299,-0.13386044224088542,-0.5065866503268689,0.5027632798378666,0.41582742721165017,-0.12527929362303494,0.7032682909462498,0.9995209377818458,1.2098549412731185,1.2098549412731185,1.9521331539752174,0,0,-0.0004177135336750056,-9.999978209241362e-05
+8891,1791278848876992258,11174899000000,1791278848872735284,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.676057581104569,-0.004838965160358827,0.08621970732855014,0.9999999854246171,7.484937170276522e-05,-7.070114545415894e-05,9.996274057627111e-05,0.6761,-0.0048,0.08616576020400227,1.0,0.0,0.0,0.0,0.05572678711935889,0.04273298159685463,1.0009269755359869,0.0019005830968570746,-0.0022894391119841896,0.00021504534541361814,0.0545571703442011,0.0683323926529205,1.2557562236987163,-0.0011103945317304674,-0.005325026681487191,-0.001097812323647643,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7947215083260368,-0.14082546719655833,-0.4484436755317666,0.49947089684234725,0.36385698873915606,-0.13345573994548215,0.7032682909462498,1.0009269755359869,1.1517119664780164,1.1517119664780164,1.9791331539751944,0,0,-0.0004331035961077908,-9.999997638144293e-05
+8939,1791278849276937228,11175299000000,1791278849272725381,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760576094599422,-0.004842447710389741,0.08604831939575672,0.9999999857452695,6.989210166811314e-05,-6.993691831194663e-05,0.00010087738488793186,0.6761,-0.0048,0.08598996329776734,1.0,0.0,0.0,0.0,0.05569078742546197,0.04394356328758053,1.0096054433544475,0.0018994602533138978,-0.002289940160472227,0.00020802500473535092,0.05452117065030418,0.0695429743436464,1.2644346915171767,-0.0011115173752736442,-0.005325527729975229,-0.0011048326643259103,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8240338748056827,-0.24093090530630096,-0.516947031196592,0.5213428947928077,0.41515480000761534,-0.20098632535771527,0.7032682909462498,1.0096054433544475,1.2202153221428418,1.2202153221428418,2.003133153975174,0,0,-0.0004458101935625721,-9.999967107011116e-05
+8987,1791278849676980416,11175699000000,1791278849676725800,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760614514097785,-0.004847060142138406,0.08587109967563712,0.9999999858526976,7.359544752907501e-05,-6.417604070084274e-05,0.00010100799394960402,0.6761,-0.0048,0.08580930030906038,1.0,0.0,0.0,0.0,0.055671896056041704,0.037808113354589855,1.0096054062167412,0.0018980132752467,-0.002291056719117847,0.00020802496603171644,0.054502279280883914,0.06340752441065572,1.2644346543794707,-0.001112964353340842,-0.005326644288620849,-0.0011048327030295448,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8610784161091112,-0.12128498215955921,-0.5256283329427697,0.4938165965324216,0.42366426477302055,-0.1202433062477942,0.7032682909462498,1.0096054062167412,1.2288966238890193,1.2288966238890193,2.0271331539751536,0,0,-0.0004573834793922523,-9.99977836909693e-05
+9031,1791278850043969910,11176066000000,1791278850040725283,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760574366584007,-0.004849354501521119,0.08569796894591122,0.9999999858973239,6.925538165909266e-05,-6.944692912078676e-05,0.00010014505851139714,0.6761,-0.0048,0.08564012007462887,1.0,0.0,0.0,0.0,0.055693214427408363,0.047747153902707236,1.0096281835860665,0.0018994522905177124,-0.002291889747998731,0.00020802421978975867,0.05452359765225057,0.0733465649587731,1.2644574317487958,-0.0011115253380698297,-0.005327477317501733,-0.0011048334492715025,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8032181376036353,-0.1374372501150893,-0.538971402585981,0.4921473365283086,0.41509053751430663,-0.13357184353429769,0.7032682909462498,1.0096281835860665,1.2422396935322308,1.2422396935322308,2.049153153975135,0,0,-0.00046563774684235524,-9.99999347480795e-05
+9079,1791278850444004492,11176466000000,1791278850440725569,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.676058204986238,-0.0048511329444283526,0.08551390667746771,0.9999999861208869,6.606417348706931e-05,-6.901681450606347e-05,0.00010036580436010361,0.6761,-0.0048,0.08545267776074641,1.0,0.0,0.0,0.0,0.05567228662286114,0.0378103305573221,1.009605447837386,0.001897805084800159,-0.0022910564804961325,0.00020802032524407424,0.05450266984770335,0.06340974161338797,1.2644346960001154,-0.001113172543787383,-0.005326644049999134,-0.001104837343817187,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8260024692469254,-0.046650574167211946,-0.551326110197097,0.46514003171299306,0.4272431631628895,-0.07073081032266626,0.7032682909462498,1.009605447837386,1.2545944011433467,1.2545944011433467,2.0731531539751145,0,0,-0.00047416823374254866,-9.999997638144293e-05
+9128,1791278850852059928,11176874000000,1791278850848725048,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760570454848902,-0.004848539657185044,0.08532397053787419,0.9999999860861245,6.725995710297832e-05,-6.871648086848088e-05,0.0001001237169241446,0.6761,-0.0048,0.08525805926555681,1.0,0.0,0.0,0.0,0.05200486795050431,0.03943825590948744,1.017434747726233,0.001896763844836349,-0.0022929090866980633,0.0002008389715827375,0.05083525117534652,0.06503766696555331,1.2722639958889623,-0.001114213783751193,-0.005328496656201065,-0.0011120186974785237,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8343738319228727,-0.14828262429685005,-0.5106322852441091,0.4997009912890722,0.3999896749340406,-0.13539598226378996,0.7032682909462498,1.017434747726233,1.2139005761903587,1.2139005761903587,2.0976331539750936,0,0,-0.0004819262998765047,-9.982987633628255e-05
+9179,1791278851276963316,11177299000000,1791278851272735127,DOWN_FORCE_DETACH,1,0.0575,0.05750232934951782,0.6760611954115658,-0.004837077507329059,0.08512646028214063,0.9999999866708897,7.487647311069279e-05,-5.987655897435659e-05,9.438959799606028e-05,0.6761,-0.0048,0.08505200131864417,1.0,0.0,0.0,0.0,0.05832384100048455,0.04785320590147033,1.0096315223687666,0.0019011726504478137,-0.002291818738120723,0.00020804387062779684,0.05715422422532676,0.0734526169575362,1.264460770531496,-0.0011098049781397283,-0.005327406307623725,-0.0011048137984334644,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8277576270843632,-0.1291161838207225,-0.6095279068286026,0.497062671577843,0.46188274404490004,-0.12133940281901798,0.7032682909462498,1.0096315223687666,1.3127961977748523,1.3127961977748523,2.123133153975072,0,0,-0.00048822804648328044,2.046336124392656e-05
+9223,1791278851644030398,11177666000000,1791278851636735392,DOWN_FORCE_DETACH,1,0.0575,0.05750167369842529,0.6760595116745982,-0.004840915936274855,0.0849469742639639,0.9999999867726433,7.22887106009241e-05,-5.979286511191352e-05,9.537679529284692e-05,0.6761,-0.0048,0.08487134753869874,1.0,0.0,0.0,0.0,0.055160742274585485,0.05046810418838938,1.0099928182648958,0.002869328669683436,-0.00230986908711199,0.00021861041426787147,0.053991125499427695,0.07606751524445525,1.264822066427625,-0.00014164895890410618,-0.005345456656614992,-0.0010942472547933897,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8977147564369649,-0.10909694809398951,-0.5345596303789472,0.493013973613861,0.42934401709761844,-0.10950111333447446,0.7032682909462498,1.0099928182648958,1.2378279213251968,1.2378279213251968,2.1451531539750532,0,0,-0.0004966322922864405,-9.999999025923074e-05
+9269,1791278852023076947,11178045000000,1791278852020725919,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760647137427038,-0.004847074803448796,0.08476563918434485,0.9999999868446338,7.147688577377587e-05,-5.129223084339737e-05,0.00010006876895130772,0.6761,-0.0048,0.08468411786779134,1.0,0.0,0.0,0.0,0.05569072479186724,0.04651705401774401,1.0096313889723585,0.001899274279893254,-0.002291788037019176,0.00020801860307685313,0.05452110801670945,0.07211646507380988,1.264460637135088,-0.001111703348694288,-0.005327375606522178,-0.001104839065984408,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9087555904575142,-0.1589268680927723,-0.604255218600881,0.5011951835270528,0.47724387107565547,-0.14433567246160287,0.7032682909462498,1.0096313889723585,1.307523509547131,1.307523509547131,2.1533731539750463,0,0,-0.00048632069600954155,9.999999025923074e-05
+9317,1791278852423053527,11178445000000,1791278852420725072,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760620346184033,-0.004849176162957606,0.08457499481986999,0.9999999869884939,6.797917749045936e-05,-5.41931099000597e-05,9.953800564772836e-05,0.6761,-0.0048,0.08449357958860632,1.0,0.0,0.0,0.0,0.05567535433986119,0.040025316499450826,1.0096140747497966,0.001898215750601274,-0.002291170586583478,0.00020802041003317772,0.0545057375647034,0.0656247275555167,1.264443322912526,-0.001112761877986268,-0.00532675815608648,-0.0011048372590280835,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9293188577152561,-0.2070191276589469,-0.6877750650725035,0.5186397591057984,0.5363069284570637,-0.1722801991766395,0.7032682909462498,1.0096140747497966,1.3910433560187534,1.3910433560187534,2.1533731539750463,0,0,-0.00046632069990584925,9.999999025923074e-05
+9363,1791278852806081864,11178828000000,1791278852800735566,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760617290333112,-0.004852374498648648,0.08440155482526629,0.9999999869665732,6.858348270341157e-05,-5.5002470882996894e-05,9.889768352936425e-05,0.6761,-0.0048,0.08431863640982608,1.0,0.0,0.0,0.0,0.0550058189243145,0.04784886725291302,1.0096342699845766,0.0018994794924821236,-0.0022918859540344027,0.00020793501965835656,0.05383620214915671,0.07344827830897889,1.2644635181473058,-0.0011114981361054184,-0.0053274735235374045,-0.0011049226494029047,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8778769725792935,-0.06990347896389602,-0.617227685493788,0.4820745997556101,0.47387766581431695,-0.08077432144456034,0.7032682909462498,1.0096342699845766,1.320495976440038,1.320495976440038,2.1533731539750463,0,0,-0.0004471707036365639,9.999999025923074e-05
+9413,1791278853223108052,11179245000000,1791278853220735103,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760590755867086,-0.004852147373267617,0.0842149357501938,0.999999986841279,6.60651004017186e-05,-5.942589903343998e-05,9.931903753968042e-05,0.6761,-0.0048,0.0841365030255607,1.0,0.0,0.0,0.0,0.05235790904280914,0.04749495511552309,0.9996192974945374,0.0019013847080845024,-0.0022896454609500406,0.00021571041800709902,0.05118829226765135,0.07309436617158896,1.2544485456572667,-0.0011095929205030396,-0.005325233030453042,-0.0010971472510541622,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9484176091215869,-0.13872997001054285,-0.6149404873795065,0.49952945987563097,0.49270257588354727,-0.12994879092034822,0.7032682909462498,0.9996192974945374,1.3182087783257561,1.3182087783257561,2.1533731539750463,0,0,-0.00042632070769846466,9.999999025923074e-05
+9467,1791278853673066553,11179695000000,1791278853672734678,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.676062240227936,-0.004850391898912622,0.08404263653649775,0.9999999872129988,6.631619918503726e-05,-5.292938372608796e-05,9.908334251748777e-05,0.6761,-0.0048,0.08394970995610794,1.0,0.0,0.0,0.0,0.055715483513156826,0.047489020084572696,0.9996014485767838,0.0019013187430903114,-0.002289707915075789,0.00021612535691496087,0.054545866737999035,0.07308843114063857,1.2544306967395131,-0.0011096588854972306,-0.005325295484578791,-0.0010967323121463003,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9899967805393293,-0.0505428260571227,-0.641834779327162,0.4712833224761396,0.521331710516444,-0.07195424984885748,0.7032682909462498,0.9996014485767838,1.345103070273412,1.345103070273412,2.1533731539750463,0,0,-0.0004038207120818108,9.999999025923074e-05
+9524,1791278854148219613,11180170000000,1791278854144724997,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760638175659194,-0.00485098412513026,0.08386121596620635,0.999999987544158,6.690263430048994e-05,-4.672080108851959e-05,9.84670127829756e-05,0.6761,-0.0048,0.08376352386676789,1.0,0.0,0.0,0.0,0.05570260463061609,0.04748693177141506,0.9995440097614302,0.0019013294060902068,-0.002289695297180415,0.00021617081383294603,0.0545329878554583,0.07308634282748093,1.2543732579241595,-0.0011096482224973352,-0.005325282866683417,-0.0010966868552283152,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0142273423149795,-0.149141760595189,-0.6882039502477191,0.5049961514385899,0.5547773591453139,-0.131462514323877,0.7032682909462498,0.9995440097614302,1.3914722411939688,1.3914722411939688,2.1533731539750463,0,0,-0.0003800707167086762,9.999999025923074e-05
+9581,1791278854623142232,11180645000000,1791278854616734784,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760600006861331,-0.004851021953455037,0.08368455954727365,0.9999999870397853,6.826916035563198e-05,-5.2271749955790125e-05,9.985128678451049e-05,0.6761,-0.0048,0.08358861902523007,1.0,0.0,0.0,0.0,0.05567922703031735,0.04736567082406452,0.9939225859388964,0.001901627728088537,-0.0022891106045997782,0.0002199662311646272,0.05450961025515956,0.07296508188013039,1.2487518341016257,-0.001109349900499005,-0.00532469817410278,-0.001092891437896634,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0697731588669874,-0.17944728391313108,-0.667976673586807,0.5099775569043289,0.556189476881521,-0.1531749394878115,0.7032682909462498,0.9939225859388964,1.3712449645330569,1.3712449645330569,2.1533731539750463,0,0,-0.0003563207213355416,9.999999025923074e-05
+9644,1791278855148125081,11181170000000,1791278855144725457,DOWN_SETTLE,1,0.0575,0.05750232934951782,0.676063277719351,-0.004851251518474218,0.0835091822554196,0.9999999877616068,6.311091407165083e-05,-4.751655439414879e-05,9.838109687593649e-05,0.6761,-0.0048,0.08340842814518395,1.0,0.0,0.0,0.0,0.055556472480895444,0.04740563711322302,0.9935309276197594,0.0019017299604127875,-0.002289221035692938,0.00022102339482517222,0.054386855705737654,0.07300504816928889,1.2483601757824887,-0.0011092476681747545,-0.00532480860519594,-0.001091834274236089,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0674143161536565,-0.1908425302330656,-0.6130543171048705,0.5079112933714839,0.517551065293708,-0.16166368278390308,0.7032682909462498,0.9935309276197594,1.3163226080511201,1.3163226080511201,2.1533731539750463,0,0,-0.0003300707264494455,9.999999025923074e-05
+9711,1791278855706147728,11181728000000,1791278855700734882,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.676058188508192,-0.00485661484376429,0.08332465707187035,0.9999999878702414,5.494683366074889e-05,-5.467053180631978e-05,9.845994074644739e-05,0.6761,-0.0048,0.08323201882830598,1.0,0.0,0.0,0.0,0.04695232161814305,0.04708121710972265,0.9895526960956483,0.001903341010508594,-0.0022873347227679087,0.0002231796418010743,0.04578270484298526,0.07268062816578852,1.2443819442583777,-0.001107636618078948,-0.0053229222922709105,-0.001089678027260187,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0246001098001787,-0.08051924250386033,-0.6749619279288936,0.48094492032462516,0.5443946069923247,-0.0872276133283806,0.7032682909462498,0.9895526960956483,1.3782302188751434,1.3782302188751434,2.1533731539750463,0,0,-0.00030217073188479473,9.999999025923074e-05
+9786,1791278856331192834,11182353000000,1791278856328724943,DOWN_SETTLE,1,0.0575,0.05750232934951782,0.6760582444693822,-0.004870934251091014,0.08314593601460835,0.9999999875398363,4.67687942045427e-05,-5.341166464397434e-05,0.00010640989411263678,0.6761,-0.0048,0.08305291211897245,1.0,0.0,0.0,0.0,0.037526339997143936,0.03689657357035899,0.9828481259382392,0.0019032170195308839,-0.002280952107172413,0.00022749838633672262,0.036356723221986145,0.06249598462642486,1.2376773741009686,-0.0011077606090566581,-0.005316539676675415,-0.0010853592827245386,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0870382557472842,-0.1301311944817547,-0.7262529807805526,0.4796982664682208,0.5932387921374365,-0.1228701836437639,0.7032682909462498,0.9828481259382392,1.4295212717268022,1.4295212717268022,2.1533731539750463,0,0,-0.0002709207379727755,9.999999025923074e-05
+9864,1791278856981112989,11183003000000,1791278856980725579,DOWN_SETTLE,1,0.0575,0.05750232934951782,0.6760551681404692,-0.004870475837709023,0.08297584883737127,0.999999987446027,4.5560749728510825e-05,-5.755998447825633e-05,0.00010564978223729597,0.6761,-0.0048,0.08288735988722924,1.0,0.0,0.0,0.0,0.04648571662318331,0.027657103854514697,0.9694902074056794,0.001902036975726442,-0.002199451186900202,0.00024057398104500175,0.045316099848025516,0.05325651491058057,1.2243194555684087,-0.0011089406528611,-0.005235038756403204,-0.0010722836880162595,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1121260464112914,-0.09896433845397648,-0.7613574433049982,0.4788379669500944,0.6197096181849944,-0.09834370034943243,0.7032682909462498,0.9694902074056794,1.464625734251248,1.464625734251248,2.1533731539750463,0,0,-0.0002384207443042755,9.999999025923074e-05
+9941,1791278857623230878,11183645000000,1791278857620735414,DOWN_SETTLE,1,0.0575,0.05750232934951782,0.6760525717655012,-0.004873395380931946,0.08283008586850903,0.9999999872278869,4.345095010410853e-05,-6.049980857850222e-05,0.00010695269313315228,0.6761,-0.0048,0.08274458181737537,1.0,0.0,0.0,0.0,0.03731120785286569,0.036260495186555025,0.9694388101725083,0.0019057815228865668,-0.0022819098144885503,0.00023824369632000813,0.036141591077707896,0.061859906242620895,1.2242680583352377,-0.0011051961057009752,-0.005317497383991552,-0.001074613972741253,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.080160563754089,-0.16516941279320302,-0.6745052665733727,0.49782680958830966,0.5544253597269369,-0.13892891203560903,0.7032682909462498,0.9694388101725083,1.3777735575196224,1.3777735575196224,2.1533731539750463,0,0,-0.00020632075055784937,9.999999025923074e-05
+10040,1791278858448249572,11184470000000,1791278858444725090,DOWN_SETTLE,1,0.0575,0.05750167369842529,0.6760488044326326,-0.0048724357933480145,0.08266998947779473,0.999999986748721,4.3297170137450876e-05,-6.769917690541815e-05,0.00010718021563324195,0.6761,-0.0048,0.08259136219484622,1.0,0.0,0.0,0.0,0.038078722231140075,0.0343308675041202,0.9534332611230655,0.0019070463730347029,-0.0022745595556091405,0.0002501440004241272,0.036909105455982284,0.05993027856018607,1.2082625092857948,-0.0011039312555528391,-0.005310147125112142,-0.001062713668637134,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.1188468889915464,-0.15821301460252463,-0.6260624291819729,0.5000175332375193,0.5329796333348277,-0.13404686386620895,0.7032682909462498,0.9534332611230655,1.3293307201282225,1.3293307201282225,2.1533731539750463,0,0,-0.000165070758593984,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..896044b5a5d8d8e75ba22d7c5b6820ab0d25f3ee
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf2883b6af5d6ece4979cf56440958598665d99a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.013333333e+01,DOWN_FORCE_DETACH,1791278833537482463,4.638163772e-05,2.544818267e-06,-1.239327527e-03,4.690566578e-05,1.875712808e-07,-1.233609207e-03,4.370560923e-05,1.763610273e-07,-1.232847214e-03,7.015842531e-01,4.095779588e-06,8.395016137e-01,7.015847771e-01,1.738532602e-06,8.395073320e-01,7.017694241e-01,1.876909918e-06,8.285477617e-01
+15,1.076666667e+01,DOWN_FORCE_DETACH,1791278834489712830,5.168215468e-05,-2.372534182e-06,-1.372005878e-03,5.065663440e-05,-1.867793935e-06,-1.363306545e-03,4.716910289e-05,-1.875474115e-06,-1.362626565e-03,7.015895536e-01,-8.215728606e-07,8.393689353e-01,7.015885281e-01,-3.168326139e-07,8.393776346e-01,7.017728875e-01,-1.749252247e-07,8.284179823e-01
+16,1.131666667e+01,DOWN_FORCE_DETACH,1791278835311411819,5.254473835e-05,-7.359126880e-06,-1.495573026e-03,5.260719407e-05,-6.701169373e-06,-1.478043213e-03,4.879418347e-05,-6.702882423e-06,-1.477470864e-03,7.015904162e-01,-5.808165559e-06,8.392453682e-01,7.015904787e-01,-5.150208052e-06,8.392628980e-01,7.017745126e-01,-5.002333532e-06,8.283031380e-01
+17,1.190000000e+01,DOWN_FORCE_DETACH,1791278836187927101,5.431339089e-05,-5.599933393e-06,-1.631654308e-03,5.374658211e-05,-1.045687221e-05,-1.628209473e-03,4.935623561e-05,-1.040962120e-05,-1.627476564e-03,7.015921849e-01,-4.048972072e-06,8.391092869e-01,7.015916181e-01,-8.905910884e-06,8.391127317e-01,7.017750747e-01,-8.709072310e-06,8.281531323e-01
+18,1.251666667e+01,DOWN_FORCE_DETACH,1791278837108636060,6.006486547e-05,-8.067809786e-06,-1.772631579e-03,5.957699750e-05,-1.004117065e-05,-1.755450800e-03,5.488033876e-05,-9.989952982e-06,-1.754739466e-03,7.015979363e-01,-6.516848465e-06,8.389683096e-01,7.015974485e-01,-8.490209331e-06,8.389854904e-01,7.017805988e-01,-8.289404091e-06,8.280258694e-01
+19,1.310000000e+01,DOWN_FORCE_DETACH,1791278837988795810,5.612201903e-05,-1.385521513e-05,-1.927222489e-03,5.725820523e-05,-1.362221659e-05,-1.916307784e-03,5.192788437e-05,-1.361639146e-05,-1.915446147e-03,7.015939935e-01,-1.230425380e-05,8.388137187e-01,7.015951297e-01,-1.207125527e-05,8.388246334e-01,7.017776463e-01,-1.191584257e-05,8.278651628e-01
+20,1.368333333e+01,DOWN_FORCE_DETACH,1791278838867455860,6.344400481e-05,-2.164054295e-05,-2.059638566e-03,6.242698605e-05,-1.881321989e-05,-2.048740529e-03,5.679702822e-05,-1.878885744e-05,-2.047900511e-03,7.016013155e-01,-2.008958162e-05,8.386813026e-01,7.016002985e-01,-1.726225857e-05,8.386922007e-01,7.017825155e-01,-1.708830855e-05,8.277327084e-01
+21,1.423333333e+01,DOWN_FORCE_DETACH,1791278839689064932,6.981501944e-05,-2.619603390e-05,-2.189212076e-03,6.964908525e-05,-2.617586768e-05,-2.189036598e-03,6.373385192e-05,-2.610055246e-05,-2.188148862e-03,7.016076865e-01,-2.464507258e-05,8.385517291e-01,7.016075206e-01,-2.462490636e-05,8.385519046e-01,7.017894523e-01,-2.440000357e-05,8.275924600e-01
+22,1.478333333e+01,DOWN_FORCE_DETACH,1791278840509684310,6.099832767e-05,-2.141333682e-05,-2.338723853e-03,6.253549542e-05,-2.615252397e-05,-2.325343076e-03,5.593443653e-05,-2.608110660e-05,-2.324477167e-03,7.015988698e-01,-1.986237550e-05,8.384022173e-01,7.016004070e-01,-2.460156265e-05,8.384155981e-01,7.017816529e-01,-2.438055771e-05,8.274561317e-01
+23,1.530000000e+01,DOWN_FORCE_DETACH,1791278841288642858,6.320040682e-05,-3.059515180e-05,-2.478610047e-03,6.246199296e-05,-3.214387283e-05,-2.460483157e-03,5.537754128e-05,-3.204271880e-05,-2.459658143e-03,7.016010719e-01,-2.904419048e-05,8.382623311e-01,7.016003335e-01,-3.059291151e-05,8.382804580e-01,7.017810960e-01,-3.034216991e-05,8.273209508e-01
+24,1.583333333e+01,DOWN_FORCE_DETACH,1791278842074423812,7.583992190e-05,-2.941115469e-05,-2.616571884e-03,7.518299831e-05,-2.650073414e-05,-2.600514668e-03,6.794725595e-05,-2.637525613e-05,-2.599653455e-03,7.016137114e-01,-2.786019337e-05,8.381243693e-01,7.016130545e-01,-2.494977282e-05,8.381404265e-01,7.017936657e-01,-2.467470724e-05,8.271809554e-01
+25,1.633333333e+01,DOWN_FORCE_DETACH,1791278842824041467,7.496029469e-05,-3.185442543e-05,-2.773137471e-03,7.339246478e-05,-3.143943845e-05,-2.764825430e-03,6.552027655e-05,-3.132540634e-05,-2.763905358e-03,7.016128318e-01,-3.030346411e-05,8.379678037e-01,7.016112639e-01,-2.988847713e-05,8.379761158e-01,7.017912387e-01,-2.962485745e-05,8.270167035e-01
+26,1.681666667e+01,DOWN_FORCE_DETACH,1791278843543745571,8.039679273e-05,-3.105503800e-05,-2.931126599e-03,8.200987593e-05,-3.675500635e-05,-2.917160659e-03,7.385119082e-05,-3.667552124e-05,-2.916257529e-03,7.016182683e-01,-2.950407668e-05,8.378098146e-01,7.016198814e-01,-3.520404503e-05,8.378237805e-01,7.017995696e-01,-3.497497235e-05,8.268643514e-01
+27,1.723333333e+01,DOWN_FORCE_DETACH,1791278844173177786,7.879310623e-05,-2.798997322e-05,-3.084437893e-03,7.852764654e-05,-3.998859624e-05,-3.073247775e-03,6.970551467e-05,-3.990633543e-05,-3.072293413e-03,7.016166646e-01,-2.643901190e-05,8.376565033e-01,7.016163991e-01,-3.843763492e-05,8.376676934e-01,7.017954240e-01,-3.820578653e-05,8.267083155e-01
+28,1.765000000e+01,DOWN_FORCE_DETACH,1791278844803660360,7.150208069e-05,-3.598304946e-05,-3.249565218e-03,7.550998794e-05,-3.602408602e-05,-3.238278321e-03,6.597212188e-05,-3.594783288e-05,-3.237169980e-03,7.016093736e-01,-3.443208814e-05,8.374913760e-01,7.016133815e-01,-3.447312470e-05,8.375026629e-01,7.017916906e-01,-3.424728399e-05,8.265434389e-01
+29,1.806666667e+01,DOWN_FORCE_DETACH,1791278845423960550,7.746202051e-05,-3.434159640e-05,-3.420629542e-03,7.894281799e-05,-3.587243811e-05,-3.402503452e-03,6.893003028e-05,-3.578696114e-05,-3.401365230e-03,7.016153335e-01,-3.279063508e-05,8.373203116e-01,7.016168143e-01,-3.432147679e-05,8.373384377e-01,7.017946485e-01,-3.408641225e-05,8.263792437e-01
+30,1.843333333e+01,DOWN_FORCE_DETACH,1791278845973785709,7.264257960e-05,-3.623034369e-05,-3.591315648e-03,7.422983720e-05,-3.346155764e-05,-3.577440626e-03,6.344402083e-05,-3.343275386e-05,-3.576123160e-03,7.016105141e-01,-3.467938237e-05,8.371496255e-01,7.016121013e-01,-3.191059632e-05,8.371635006e-01,7.017891625e-01,-3.173220497e-05,8.262044857e-01
+31,1.880000000e+01,DOWN_FORCE_DETACH,1791278846529230956,7.921347470e-05,-3.124373377e-05,-3.762193970e-03,7.912000020e-05,-3.123180433e-05,-3.762054393e-03,6.780330274e-05,-3.114301434e-05,-3.760704060e-03,7.016170850e-01,-2.969277245e-05,8.369787472e-01,7.016169915e-01,-2.968084300e-05,8.369788868e-01,7.017935217e-01,-2.944246545e-05,8.260199048e-01
+32,1.913333333e+01,DOWN_FORCE_DETACH,1791278847023726189,8.045772754e-05,-2.883717820e-05,-3.943355213e-03,8.246251790e-05,-2.625953404e-05,-3.928246238e-03,7.068534650e-05,-2.620397081e-05,-3.926786950e-03,7.016183292e-01,-2.728621688e-05,8.367975860e-01,7.016203340e-01,-2.470857272e-05,8.368126949e-01,7.017964038e-01,-2.450342192e-05,8.258538220e-01
+33,1.945000000e+01,DOWN_FORCE_DETACH,1791278847503907945,8.038812058e-05,-2.552183647e-05,-4.116102165e-03,7.952519708e-05,-2.360553103e-05,-4.109375617e-03,6.703476723e-05,-2.356181998e-05,-4.107843529e-03,7.016182596e-01,-2.397087515e-05,8.366248390e-01,7.016173967e-01,-2.205456970e-05,8.366315656e-01,7.017927532e-01,-2.186127109e-05,8.256727654e-01
+34,1.976666667e+01,DOWN_FORCE_DETACH,1791278847975895629,7.757664842e-05,-2.147066504e-05,-4.298624884e-03,7.754962989e-05,-2.132685634e-05,-4.298371274e-03,6.433941792e-05,-2.124267938e-05,-4.296847089e-03,7.016154481e-01,-1.991970372e-05,8.364423163e-01,7.016154211e-01,-1.977589502e-05,8.364425699e-01,7.017900579e-01,-1.954213049e-05,8.254837618e-01
+35,2.006666667e+01,DOWN_FORCE_DETACH,1791278848423479773,7.947593880e-05,-2.271704572e-05,-4.479943432e-03,7.927518570e-05,-2.235169736e-05,-4.479836356e-03,6.550086900e-05,-2.224707312e-05,-4.478269648e-03,7.016173474e-01,-2.116608440e-05,8.362609978e-01,7.016171467e-01,-2.080073604e-05,8.362611048e-01,7.017912193e-01,-2.054652423e-05,8.253023393e-01
+36,2.036666667e+01,DOWN_FORCE_DETACH,1791278848874787254,8.004225337e-05,-2.773760578e-05,-4.661865794e-03,8.240809683e-05,-2.988491120e-05,-4.645848822e-03,6.809490539e-05,-2.981835724e-05,-4.644322387e-03,7.016179137e-01,-2.618664446e-05,8.360790754e-01,7.016202796e-01,-2.833394988e-05,8.360950924e-01,7.017938133e-01,-2.811780835e-05,8.251362865e-01
+37,2.063333333e+01,DOWN_FORCE_DETACH,1791278849275585953,7.940848195e-05,-2.601766425e-05,-4.839409289e-03,7.897159272e-05,-2.614076766e-05,-4.839620664e-03,6.385550916e-05,-2.607937564e-05,-4.837870579e-03,7.016172800e-01,-2.446670293e-05,8.359015319e-01,7.016168431e-01,-2.458980634e-05,8.359013205e-01,7.017895740e-01,-2.437882675e-05,8.249427383e-01
+38,2.090000000e+01,DOWN_FORCE_DETACH,1791278849676422269,8.096612915e-05,-3.004271289e-05,-5.018040110e-03,8.094165402e-05,-3.021519800e-05,-5.017863253e-03,6.529966401e-05,-3.016120827e-05,-5.016041104e-03,7.016188376e-01,-2.849175157e-05,8.357229011e-01,7.016188131e-01,-2.866423668e-05,8.357230779e-01,7.017910181e-01,-2.846065937e-05,8.247645678e-01
+39,2.115000000e+01,DOWN_FORCE_DETACH,1791278850045902587,8.305642202e-05,-3.018025060e-05,-5.181544480e-03,8.099202276e-05,-3.851188115e-05,-5.174764495e-03,6.482285826e-05,-3.843188008e-05,-5.172973681e-03,7.016209279e-01,-2.862928928e-05,8.355593967e-01,7.016188635e-01,-3.696091982e-05,8.355661767e-01,7.017905413e-01,-3.673133119e-05,8.246076352e-01
+40,2.141666667e+01,DOWN_FORCE_DETACH,1791278850443702925,7.981929131e-05,-3.319766906e-05,-5.370164908e-03,7.963272398e-05,-3.467533565e-05,-5.364409477e-03,6.277158165e-05,-3.459791916e-05,-5.362614124e-03,7.016176908e-01,-3.164670774e-05,8.353707763e-01,7.016175042e-01,-3.312437433e-05,8.353765317e-01,7.017884900e-01,-3.289737027e-05,8.244179948e-01
+41,2.168333333e+01,DOWN_FORCE_DETACH,1791278850852148798,7.986205765e-05,-3.217214450e-05,-5.556912271e-03,7.974323066e-05,-3.209007152e-05,-5.556612733e-03,6.221010236e-05,-3.201740481e-05,-5.554770282e-03,7.016177335e-01,-3.062118318e-05,8.351840289e-01,7.016176147e-01,-3.053911020e-05,8.351843285e-01,7.017879285e-01,-3.031685592e-05,8.242258386e-01
+42,2.196666667e+01,DOWN_FORCE_DETACH,1791278851273924387,8.213996566e-05,-2.426956692e-05,-5.757008835e-03,8.198866793e-05,-2.417748420e-05,-5.756617530e-03,6.378203907e-05,-2.405457627e-05,-5.754814079e-03,7.016200114e-01,-2.271860560e-05,8.349839324e-01,7.016198601e-01,-2.262652288e-05,8.349843237e-01,7.017895005e-01,-2.235402738e-05,8.240257948e-01
+43,2.221666667e+01,DOWN_FORCE_DETACH,1791278851643566901,8.138285590e-05,-2.509752287e-05,-5.937091864e-03,8.340146336e-05,-2.788186647e-05,-5.924423517e-03,6.470458350e-05,-2.773018167e-05,-5.922717866e-03,7.016192543e-01,-2.354656155e-05,8.348038493e-01,7.016212729e-01,-2.633090515e-05,8.348165177e-01,7.017904230e-01,-2.602963278e-05,8.238578910e-01
+44,2.246666667e+01,DOWN_SETTLE,1791278852024147375,8.476540181e-05,-2.945262546e-05,-6.121214909e-03,8.457450812e-05,-2.943321946e-05,-6.120556133e-03,6.526969301e-05,-2.935173009e-05,-6.118812005e-03,7.016226369e-01,-2.790166414e-05,8.346197263e-01,7.016224460e-01,-2.788225814e-05,8.346203851e-01,7.017909881e-01,-2.765118120e-05,8.236617969e-01
+45,2.273333333e+01,DOWN_SETTLE,1791278852423546039,8.546446347e-05,-2.953880496e-05,-6.313307466e-03,8.517784297e-05,-2.946038380e-05,-6.313232747e-03,6.516794591e-05,-2.939445472e-05,-6.311504389e-03,7.016233359e-01,-2.798784364e-05,8.344276337e-01,7.016230493e-01,-2.790942248e-05,8.344277084e-01,7.017908864e-01,-2.769390583e-05,8.234691045e-01
+46,2.298333333e+01,DOWN_SETTLE,1791278852805177594,8.172866969e-05,-4.070163223e-05,-6.485765045e-03,8.135480910e-05,-4.068158236e-05,-6.485710528e-03,6.067021362e-05,-4.058949285e-05,-6.484030890e-03,7.016196002e-01,-3.915067091e-05,8.342551761e-01,7.016192263e-01,-3.913062104e-05,8.342552307e-01,7.017863887e-01,-3.888894396e-05,8.232965780e-01
+47,2.326666667e+01,DOWN_SETTLE,1791278853226934903,8.071831564e-05,-3.523516472e-05,-6.674317843e-03,8.403953991e-05,-3.351207438e-05,-6.657028085e-03,6.278215031e-05,-3.341895220e-05,-6.655419311e-03,7.016185898e-01,-3.368420340e-05,8.340666233e-01,7.016219110e-01,-3.196111306e-05,8.340839131e-01,7.017885006e-01,-3.171840331e-05,8.231251896e-01
+48,2.356666667e+01,DOWN_SETTLE,1791278853674257561,8.479669239e-05,-3.386576814e-05,-6.841403838e-03,8.462637137e-05,-3.364756110e-05,-6.841054919e-03,6.277329061e-05,-3.359414476e-05,-6.839444572e-03,7.016226682e-01,-3.231480682e-05,8.338995373e-01,7.016224979e-01,-3.209659977e-05,8.338998863e-01,7.017884917e-01,-3.189359587e-05,8.229411643e-01
+49,2.388333333e+01,DOWN_SETTLE,1791278854145193233,8.396469869e-05,-3.641540581e-05,-7.020593718e-03,8.381599393e-05,-3.648132176e-05,-7.020138241e-03,6.130987253e-05,-3.639269520e-05,-7.018567649e-03,7.016218362e-01,-3.486444449e-05,8.337203475e-01,7.016216875e-01,-3.493036044e-05,8.337208029e-01,7.017870283e-01,-3.469214631e-05,8.227620413e-01
+50,2.420000000e+01,DOWN_SETTLE,1791278854624802042,8.123551610e-05,-3.458510097e-05,-7.201188471e-03,8.353507000e-05,-3.576600890e-05,-7.183772972e-03,6.051565373e-05,-3.561567812e-05,-7.182492267e-03,7.016191070e-01,-3.303413965e-05,8.335397527e-01,7.016214066e-01,-3.421504758e-05,8.335571682e-01,7.017862341e-01,-3.391512923e-05,8.225981166e-01
+51,2.455000000e+01,DOWN_SETTLE,1791278855144254516,8.206397599e-05,-3.304474408e-05,-7.375797510e-03,8.141332630e-05,-3.515294563e-05,-7.357970736e-03,5.777614876e-05,-3.502627823e-05,-7.356675650e-03,7.016199355e-01,-3.149378276e-05,8.333651437e-01,7.016192848e-01,-3.360198431e-05,8.333829705e-01,7.017834946e-01,-3.332572934e-05,8.224239333e-01
+52,2.491666667e+01,DOWN_SETTLE,1791278855704099549,7.875103367e-05,-4.303442890e-05,-7.560149301e-03,7.848651260e-05,-4.290949791e-05,-7.560377564e-03,5.407976167e-05,-4.278582191e-05,-7.559106258e-03,7.016166225e-01,-4.148346758e-05,8.331807919e-01,7.016163580e-01,-4.135853659e-05,8.331805636e-01,7.017797982e-01,-4.108527302e-05,8.222215026e-01
+53,2.533333333e+01,DOWN_SETTLE,1791278856335375196,8.011565068e-05,-5.511583768e-05,-7.738130114e-03,8.070102891e-05,-5.622535182e-05,-7.725432226e-03,5.575381729e-05,-5.612136656e-05,-7.724383298e-03,7.016179871e-01,-5.356487636e-05,8.330028111e-01,7.016185725e-01,-5.467439050e-05,8.330155090e-01,7.017814723e-01,-5.442081767e-05,8.220562256e-01
+54,2.576666667e+01,DOWN_SETTLE,1791278856977238051,7.778708737e-05,-6.049852775e-05,-7.904485066e-03,7.741607140e-05,-6.085768598e-05,-7.896949796e-03,5.177795162e-05,-6.076570968e-05,-7.896005266e-03,7.016156586e-01,-5.894756642e-05,8.328364561e-01,7.016152876e-01,-5.930672466e-05,8.328439914e-01,7.017774964e-01,-5.906516079e-05,8.218846036e-01
+55,2.620000000e+01,DOWN_SETTLE,1791278857624171687,7.055146291e-05,-5.924120625e-05,-8.060396333e-03,7.122683508e-05,-5.938811808e-05,-8.051363714e-03,4.494022377e-05,-5.924718925e-05,-8.050494375e-03,7.016084229e-01,-5.769024493e-05,8.326805449e-01,7.016090983e-01,-5.783715676e-05,8.326895775e-01,7.017706587e-01,-5.754664036e-05,8.217301145e-01
+56,2.675000000e+01,DOWN_SETTLE,1791278858445229845,6.891011390e-05,-6.089974327e-05,-8.216457801e-03,7.061279212e-05,-5.711815064e-05,-8.205874092e-03,4.381717571e-05,-5.704022447e-05,-8.205099072e-03,7.016067816e-01,-5.934878195e-05,8.325244834e-01,7.016084843e-01,-5.556718932e-05,8.325350671e-01,7.017695356e-01,-5.533967558e-05,8.215755098e-01
+57,2.741666667e+01,DOWN_SETTLE,1791278859445685746,6.727275273e-05,-6.068585391e-05,-8.361325078e-03,6.893229917e-05,-6.147403716e-05,-8.341484218e-03,4.159439918e-05,-6.133531544e-05,-8.340978510e-03,7.016051442e-01,-5.913489259e-05,8.323796161e-01,7.016068038e-01,-5.992307584e-05,8.323994570e-01,7.017673128e-01,-5.963476655e-05,8.214396304e-01
+58,2.808333333e+01,DOWN_SETTLE,1791278860445232938,6.282186522e-05,-6.320393324e-05,-8.462573458e-03,6.017370188e-05,-6.118343304e-05,-8.450468016e-03,3.226653403e-05,-6.103997100e-05,-8.450193362e-03,7.016006933e-01,-6.165297192e-05,8.322783677e-01,7.015980452e-01,-5.963247172e-05,8.322904732e-01,7.017579850e-01,-5.933942211e-05,8.213304155e-01
+59,2.880000000e+01,DOWN_SETTLE,1791278861543930429,5.552608358e-05,-5.713445364e-05,-8.522252187e-03,5.718447896e-05,-5.480631465e-05,-8.513868676e-03,2.895105956e-05,-5.466701868e-05,-8.513862410e-03,7.015933976e-01,-5.558349232e-05,8.322186890e-01,7.015950560e-01,-5.325535333e-05,8.322270725e-01,7.017546695e-01,-5.296646979e-05,8.212667465e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2a3038cfa0b3bb3ff8512f35eb63975abfc91e7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,2.5238e-03,-1.7386e-03,2.4522e+00,-3.6645e-02,3.6974e-02,-2.2925e-05,5.4363e-05,1.4598e-07,-1.5736e-05,1.7881e-07,3.9153e-06,-3.3010e-07,5.6595e-05,3.9332e-06
+1,7.8333e-01,DOWN_FORCE_DETACH,1.9438e-04,4.0696e-03,-1.7205e-03,2.4518e+00,-3.6640e-02,3.7085e-02,-3.4932e-05,1.6001e-03,1.8285e-05,-4.5133e-04,5.3793e-06,1.1472e-04,-1.2336e-05,1.6627e-03,1.1550e-04
+2,1.5167e+00,DOWN_FORCE_DETACH,3.8886e-04,4.9673e-03,-2.9065e-03,2.4558e+00,-3.6554e-02,3.7145e-02,-4.2270e-05,2.4979e-03,-1.1677e-03,3.5584e-03,9.1415e-05,1.7434e-04,-1.9675e-05,4.5017e-03,1.9783e-04
+3,2.2667e+00,DOWN_FORCE_DETACH,5.8251e-04,4.6054e-03,-1.4876e-03,2.4609e+00,-3.6651e-02,3.7113e-02,-4.5912e-05,2.1360e-03,2.5118e-04,8.6975e-03,-6.0350e-06,1.4272e-04,-2.3316e-05,8.9595e-03,1.4474e-04
+4,3.0667e+00,DOWN_FORCE_DETACH,7.7674e-04,4.1208e-03,-9.8810e-04,2.4620e+00,-3.6690e-02,3.7075e-02,-4.8085e-05,1.6513e-03,7.5067e-04,9.7528e-03,-4.5028e-05,1.0458e-04,-2.5490e-05,9.9200e-03,1.1668e-04
+5,3.8500e+00,DOWN_FORCE_DETACH,9.6988e-04,4.7139e-03,-3.4370e-04,2.4695e+00,-3.6745e-02,3.7107e-02,-4.8206e-05,2.2444e-03,1.3951e-03,1.7234e-02,-9.9849e-05,1.3645e-04,-2.5611e-05,1.7436e-02,1.7101e-04
+6,4.6833e+00,DOWN_FORCE_DETACH,1.1632e-03,3.0862e-03,-8.3143e-04,2.4725e+00,-3.6729e-02,3.6992e-02,-4.5717e-05,6.1678e-04,9.0734e-04,2.0283e-02,-8.4244e-05,2.1566e-05,-2.3122e-05,2.0312e-02,8.9982e-05
+7,5.4833e+00,DOWN_FORCE_DETACH,1.3589e-03,5.0680e-03,-2.4720e-03,2.4784e+00,-3.6625e-02,3.7118e-02,-3.8234e-05,2.5985e-03,-7.3323e-04,2.6140e-02,1.9878e-05,1.4736e-04,-1.5639e-05,2.6279e-02,1.4951e-04
+8,6.2167e+00,DOWN_FORCE_DETACH,1.5537e-03,6.0494e-03,-5.5143e-03,2.4806e+00,-3.6395e-02,3.7185e-02,-3.3582e-05,3.5800e-03,-3.7755e-03,2.8318e-02,2.4979e-04,2.1501e-04,-1.0986e-05,2.8792e-02,3.2976e-04
+9,6.9333e+00,DOWN_FORCE_DETACH,1.7452e-03,6.0747e-03,-4.9380e-03,2.4852e+00,-3.6410e-02,3.7183e-02,-3.1451e-05,3.6052e-03,-3.1992e-03,3.2915e-02,2.3571e-04,2.1246e-04,-8.8556e-06,3.3266e-02,3.1746e-04
+10,7.6167e+00,DOWN_FORCE_DETACH,1.9398e-03,4.1404e-03,-5.1948e-03,2.4816e+00,-3.6408e-02,3.7048e-02,-3.3148e-05,1.6709e-03,-3.4560e-03,2.9372e-02,2.3757e-04,7.7587e-05,-1.0553e-05,2.9622e-02,2.5014e-04
+11,8.2333e+00,DOWN_FORCE_DETACH,2.1326e-03,5.2975e-03,-5.2232e-03,2.4863e+00,-3.6445e-02,3.7122e-02,-3.5702e-05,2.8281e-03,-3.4844e-03,3.4053e-02,2.0072e-04,1.5201e-04,-1.3107e-05,3.4348e-02,2.5213e-04
+12,8.8833e+00,DOWN_FORCE_DETACH,2.3241e-03,4.2220e-03,-3.9623e-03,2.4832e+00,-3.6532e-02,3.7050e-02,-4.2488e-05,1.7526e-03,-2.2235e-03,3.0998e-02,1.1340e-04,7.9717e-05,-1.9893e-05,3.1127e-02,1.4004e-04
+13,9.5167e+00,DOWN_FORCE_DETACH,2.5180e-03,4.2957e-03,-2.3800e-03,2.4862e+00,-3.6624e-02,3.7053e-02,-4.2231e-05,1.8263e-03,-6.4126e-04,3.4005e-02,2.0802e-05,8.2646e-05,-1.9636e-05,3.4060e-02,8.7456e-05
+14,1.0133e+01,DOWN_FORCE_DETACH,2.7152e-03,3.8710e-03,-1.9409e-03,2.4865e+00,-3.6677e-02,3.7021e-02,-2.7056e-05,1.4015e-03,-2.0210e-04,3.4303e-02,-3.2242e-05,5.1029e-05,-4.4610e-06,3.4332e-02,6.0526e-05
+15,1.0767e+01,DOWN_FORCE_DETACH,2.9099e-03,4.8199e-03,-1.8708e-03,2.4847e+00,-3.6705e-02,3.7090e-02,-1.1554e-05,2.3505e-03,-1.3205e-04,3.2462e-02,-5.9418e-05,1.1961e-04,1.1042e-05,3.2547e-02,1.3401e-04
+16,1.1317e+01,DOWN_FORCE_DETACH,3.0986e-03,5.5340e-03,5.5502e-06,2.4831e+00,-3.6805e-02,3.7144e-02,-4.1674e-06,3.0645e-03,1.7443e-03,3.0887e-02,-1.5997e-04,1.7396e-04,1.8428e-05,3.1087e-02,2.3705e-04
+17,1.1900e+01,DOWN_FORCE_DETACH,3.2938e-03,5.2347e-03,1.6742e-03,2.4890e+00,-3.6881e-02,3.7118e-02,-4.8805e-06,2.7653e-03,3.4130e-03,3.6773e-02,-2.3558e-04,1.4803e-04,1.7715e-05,3.7035e-02,2.7879e-04
+18,1.2517e+01,DOWN_FORCE_DETACH,3.4846e-03,4.2156e-03,1.3499e-03,2.4891e+00,-3.6869e-02,3.7039e-02,-1.4692e-05,1.7462e-03,3.0887e-03,3.6829e-02,-2.2350e-04,6.8467e-05,7.9029e-06,3.7000e-02,2.3388e-04
+19,1.3100e+01,DOWN_FORCE_DETACH,3.6832e-03,5.9810e-03,1.6256e-03,2.4949e+00,-3.6917e-02,3.7152e-02,-2.6080e-05,3.5115e-03,3.3643e-03,4.2684e-02,-2.7131e-04,1.8176e-04,-3.4845e-06,4.2960e-02,3.2659e-04
+20,1.3683e+01,DOWN_FORCE_DETACH,3.8759e-03,5.5534e-03,3.3945e-03,2.4926e+00,-3.7009e-02,3.7128e-02,-2.4491e-05,3.0840e-03,5.1333e-03,4.0336e-02,-3.6371e-04,1.5787e-04,-1.8960e-06,4.0778e-02,3.9650e-04
+21,1.4233e+01,DOWN_FORCE_DETACH,4.0711e-03,5.2574e-03,5.0642e-03,2.4900e+00,-3.7065e-02,3.7109e-02,-1.2969e-05,2.7879e-03,6.8030e-03,3.7772e-02,-4.1959e-04,1.3874e-04,9.6258e-06,3.8481e-02,4.4204e-04
+22,1.4783e+01,DOWN_FORCE_DETACH,4.2643e-03,6.1153e-03,6.0909e-03,2.4958e+00,-3.7130e-02,3.7163e-02,-3.0427e-06,3.6459e-03,7.8297e-03,4.3581e-02,-4.8452e-04,1.9241e-04,1.9553e-05,4.4429e-02,5.2169e-04
+23,1.5300e+01,DOWN_FORCE_DETACH,4.4596e-03,5.9213e-03,8.2895e-03,2.4952e+00,-3.7285e-02,3.7148e-02,-1.7126e-06,3.4519e-03,1.0028e-02,4.2915e-02,-6.3982e-04,1.7792e-04,2.0883e-05,4.4206e-02,6.6442e-04
+24,1.5833e+01,DOWN_FORCE_DETACH,4.6497e-03,4.7400e-03,7.6463e-03,2.4939e+00,-3.7239e-02,3.7066e-02,-1.3391e-05,2.2705e-03,9.3850e-03,4.1646e-02,-5.9339e-04,9.6053e-05,9.2043e-06,4.2750e-02,6.0118e-04
+25,1.6333e+01,DOWN_FORCE_DETACH,4.8475e-03,6.0452e-03,8.3571e-03,2.4986e+00,-3.7325e-02,3.7149e-02,-1.7826e-05,3.5757e-03,1.0096e-02,4.6403e-02,-6.7969e-04,1.7871e-04,4.7695e-06,4.7623e-02,7.0281e-04
+26,1.6817e+01,DOWN_FORCE_DETACH,5.0415e-03,5.7752e-03,8.6996e-03,2.4997e+00,-3.7364e-02,3.7129e-02,-1.4487e-05,3.3057e-03,1.0438e-02,4.7462e-02,-7.1903e-04,1.5874e-04,8.1080e-06,4.8709e-02,7.3638e-04
+27,1.7233e+01,DOWN_FORCE_DETACH,5.2273e-03,7.0942e-03,9.4228e-03,2.5037e+00,-3.7381e-02,3.7218e-02,-1.0782e-05,4.6247e-03,1.1162e-02,5.1447e-02,-7.3571e-04,2.4742e-04,1.1813e-05,5.2847e-02,7.7629e-04
+28,1.7650e+01,DOWN_FORCE_DETACH,5.4312e-03,6.1290e-03,8.3272e-03,2.5074e+00,-3.7283e-02,3.7147e-02,-1.0541e-05,3.6595e-03,1.0066e-02,5.5157e-02,-6.3799e-04,1.7646e-04,1.2054e-05,5.6188e-02,6.6206e-04
+29,1.8067e+01,DOWN_FORCE_DETACH,5.6230e-03,4.7668e-03,7.9025e-03,2.5109e+00,-3.7261e-02,3.7042e-02,-1.1391e-05,2.2973e-03,9.6413e-03,5.8622e-02,-6.1588e-04,7.2081e-05,1.1204e-05,5.9454e-02,6.2019e-04
+30,1.8433e+01,DOWN_FORCE_DETACH,5.8102e-03,5.9210e-03,7.7932e-03,2.5165e+00,-3.7237e-02,3.7114e-02,-8.8864e-06,3.4515e-03,9.5319e-03,6.4249e-02,-5.9175e-04,1.4409e-04,1.3709e-05,6.5043e-02,6.0920e-04
+31,1.8800e+01,DOWN_FORCE_DETACH,6.0097e-03,4.6788e-03,7.8489e-03,2.5170e+00,-3.7195e-02,3.7031e-02,-2.2281e-06,2.2094e-03,9.5877e-03,6.4793e-02,-5.4977e-04,6.0242e-05,2.0367e-05,6.5535e-02,5.5344e-04
+32,1.9133e+01,DOWN_FORCE_DETACH,6.2035e-03,4.6469e-03,5.8798e-03,2.5230e+00,-3.7079e-02,3.7023e-02,-7.7166e-07,2.1775e-03,7.6186e-03,7.0793e-02,-4.3415e-04,5.2422e-05,2.1824e-05,7.1235e-02,4.3785e-04
+33,1.9450e+01,DOWN_FORCE_DETACH,6.3983e-03,6.2855e-03,5.2885e-03,2.5275e+00,-3.7079e-02,3.7125e-02,-8.7280e-06,3.8160e-03,7.0273e-03,7.5248e-02,-4.3387e-04,1.5463e-04,1.3867e-05,7.5671e-02,4.6081e-04
+34,1.9767e+01,DOWN_FORCE_DETACH,6.5950e-03,6.1430e-03,5.2563e-03,2.5255e+00,-3.7074e-02,3.7117e-02,-1.2292e-05,3.6736e-03,6.9951e-03,7.3275e-02,-4.2859e-04,1.4650e-04,1.0304e-05,7.3700e-02,4.5305e-04
+35,2.0067e+01,DOWN_FORCE_DETACH,6.7869e-03,5.5247e-03,6.7220e-03,2.5240e+00,-3.7161e-02,3.7079e-02,-9.0594e-06,3.0553e-03,8.4608e-03,7.1713e-02,-5.1603e-04,1.0845e-04,1.3536e-05,7.2275e-02,5.2748e-04
+36,2.0367e+01,DOWN_FORCE_DETACH,6.9848e-03,5.7495e-03,7.5461e-03,2.5267e+00,-3.7211e-02,3.7094e-02,-8.5569e-06,3.2800e-03,9.2848e-03,7.4491e-02,-5.6567e-04,1.2395e-04,1.4038e-05,7.5139e-02,5.7926e-04
+37,2.0633e+01,DOWN_FORCE_DETACH,7.1740e-03,6.1057e-03,7.0482e-03,2.5317e+00,-3.7175e-02,3.7115e-02,-1.3300e-05,3.6362e-03,8.7870e-03,7.9472e-02,-5.2958e-04,1.4427e-04,9.2951e-06,8.0039e-02,5.4896e-04
+38,2.0900e+01,DOWN_FORCE_DETACH,7.3721e-03,5.8904e-03,6.5594e-03,2.5357e+00,-3.7143e-02,3.7091e-02,-2.2650e-05,3.4209e-03,8.2982e-03,8.3426e-02,-4.9808e-04,1.2102e-04,-5.4335e-08,8.3908e-02,5.1257e-04
+39,2.1150e+01,DOWN_FORCE_DETACH,7.5535e-03,6.4213e-03,8.4335e-03,2.5384e+00,-3.7268e-02,3.7118e-02,-3.4084e-05,3.9518e-03,1.0172e-02,8.6180e-02,-6.2322e-04,1.4727e-04,-1.1489e-05,8.6868e-02,6.4049e-04
+40,2.1417e+01,DOWN_FORCE_DETACH,7.7469e-03,6.7249e-03,8.3370e-03,2.5422e+00,-3.7222e-02,3.7133e-02,-3.8785e-05,4.2555e-03,1.0076e-02,8.9950e-02,-5.7686e-04,1.6238e-04,-1.6190e-05,9.0613e-02,5.9950e-04
+41,2.1683e+01,DOWN_FORCE_DETACH,7.9400e-03,6.2661e-03,6.5862e-03,2.5410e+00,-3.7093e-02,3.7101e-02,-3.3909e-05,3.7966e-03,8.3249e-03,8.8729e-02,-4.4814e-04,1.3072e-04,-1.1314e-05,8.9200e-02,4.6695e-04
+42,2.1967e+01,DOWN_FORCE_DETACH,8.1489e-03,6.5324e-03,7.4776e-03,2.5395e+00,-3.7143e-02,3.7117e-02,-3.0111e-05,4.0630e-03,9.2163e-03,8.7245e-02,-4.9778e-04,1.4634e-04,-7.5154e-06,8.7824e-02,5.1890e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fafac47b5490c6d66510c0d61407d4eb2e88699
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f5b245a9aaad806c53578a3f43a36b680e1c40d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21e7004692fd31f9cfe7cc9225eaa174b2df74c8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cb8012ee4e93f2ef4dc6d66cd16bdd5741fb786
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,6.350000000e+00,UP_FORCE_RAMP,1791278793114234066,-3.444724540e-05,2.993555198e-05,1.088463707e-03,-3.460002935e-05,2.988275008e-05,1.088519921e-03,-3.149537256e-05,2.987106685e-05,1.087489039e-03,7.015034242e-01,3.148651330e-05,8.418294049e-01,7.015032715e-01,3.143371141e-05,8.418294611e-01,7.016942231e-01,3.157162534e-05,8.308680979e-01
+23,6.650000000e+00,UP_FORCE_RAMP,1791278793564956304,-3.660527884e-05,3.275154823e-05,1.155498080e-03,-3.598843713e-05,3.377844035e-05,1.135689736e-03,-3.272751908e-05,3.377737858e-05,1.134879050e-03,7.015012662e-01,3.430250955e-05,8.418964393e-01,7.015018830e-01,3.532940167e-05,8.418766309e-01,7.016929910e-01,3.547793707e-05,8.309154879e-01
+24,6.950000000e+00,UP_FORCE_RAMP,1791278794015111176,-3.715864143e-05,3.880218514e-05,1.218233540e-03,-3.610499484e-05,3.703314469e-05,1.204814176e-03,-3.262774977e-05,3.701830289e-05,1.204049363e-03,7.015007128e-01,4.035314646e-05,8.419591747e-01,7.015017665e-01,3.858410601e-05,8.419457554e-01,7.016930907e-01,3.871886139e-05,8.309846582e-01
+25,7.250000000e+00,UP_FORCE_RAMP,1791278794465785958,-3.896235430e-05,4.166104397e-05,1.279112481e-03,-3.829881519e-05,3.847772504e-05,1.268202207e-03,-3.460043086e-05,3.848403144e-05,1.267496426e-03,7.014989091e-01,4.321200529e-05,8.420200537e-01,7.014995727e-01,4.002868636e-05,8.420091434e-01,7.016911180e-01,4.018458993e-05,8.310481053e-01
+26,7.566666667e+00,UP_FORCE_RAMP,1791278794940053686,-4.054138512e-05,3.890888950e-05,1.334390201e-03,-3.976531291e-05,4.182437347e-05,1.315371767e-03,-3.590136011e-05,4.184251569e-05,1.314784027e-03,7.014973301e-01,4.045985082e-05,8.420753314e-01,7.014981062e-01,4.337533479e-05,8.420563130e-01,7.016898171e-01,4.354307418e-05,8.310953929e-01
+27,7.850000000e+00,UP_FORCE_RAMP,1791278795365944283,-3.829056670e-05,3.802709369e-05,1.386343467e-03,-4.050218342e-05,3.926777088e-05,1.377873523e-03,-3.648187869e-05,3.929694276e-05,1.377210223e-03,7.014995809e-01,3.957805501e-05,8.421272847e-01,7.014973693e-01,4.081873220e-05,8.421188147e-01,7.016892366e-01,4.099750125e-05,8.311578191e-01
+28,8.233333333e+00,UP_FORCE_RAMP,1791278795937616956,-4.336727981e-05,4.344745058e-05,1.444057216e-03,-4.285050653e-05,4.552047431e-05,1.443407836e-03,-3.866583146e-05,4.552023147e-05,1.442719232e-03,7.014945042e-01,4.499841190e-05,8.421849984e-01,7.014950210e-01,4.707143563e-05,8.421843490e-01,7.016870526e-01,4.722078996e-05,8.312233281e-01
+29,8.550000000e+00,UP_FORCE_RAMP,1791278796415182251,-4.408240924e-05,3.912307865e-05,1.492958084e-03,-4.266234834e-05,4.628630299e-05,1.484443143e-03,-3.828815890e-05,4.631171927e-05,1.483848824e-03,7.014937891e-01,4.067403997e-05,8.422338993e-01,7.014952091e-01,4.783726431e-05,8.422253843e-01,7.016874303e-01,4.801227776e-05,8.312644577e-01
+30,8.866666667e+00,UP_FORCE_RAMP,1791278796894747734,-4.376022833e-05,4.809406670e-05,1.538833871e-03,-4.118776435e-05,4.648367478e-05,1.532580399e-03,-3.659595832e-05,4.647258447e-05,1.531975135e-03,7.014941113e-01,4.964502802e-05,8.422797751e-01,7.014966837e-01,4.803463610e-05,8.422735216e-01,7.016891225e-01,4.817314296e-05,8.313125840e-01
+31,9.200000000e+00,UP_FORCE_RAMP,1791278797394516367,-4.466110884e-05,4.966481242e-05,1.582931552e-03,-4.385597093e-05,4.582909759e-05,1.573900259e-03,-3.920838075e-05,4.583673484e-05,1.573330981e-03,7.014932104e-01,5.121577374e-05,8.423238727e-01,7.014940155e-01,4.738005891e-05,8.423148414e-01,7.016865101e-01,4.753729333e-05,8.313539398e-01
+32,9.566666667e+00,UP_FORCE_RAMP,1791278797973022472,-4.562332662e-05,4.614537860e-05,1.631311875e-03,-4.611553045e-05,4.737410712e-05,1.617963888e-03,-4.135233635e-05,4.734980994e-05,1.617426043e-03,7.014922482e-01,4.769633992e-05,8.423722531e-01,7.014917560e-01,4.892506844e-05,8.423589051e-01,7.016843661e-01,4.905036844e-05,8.313980349e-01
+33,9.966666667e+00,UP_FORCE_RAMP,1791278798580690637,-4.773124596e-05,4.628075414e-05,1.675466949e-03,-4.749104349e-05,4.618294845e-05,1.659706949e-03,-4.262005848e-05,4.618920377e-05,1.659235430e-03,7.014901402e-01,4.783171546e-05,8.424164081e-01,7.014903804e-01,4.773390977e-05,8.424006481e-01,7.016830984e-01,4.788976226e-05,8.314398443e-01
+34,1.033333333e+01,UP_FORCE_RAMP,1791278799130982977,-5.123980079e-05,5.302266548e-05,1.712447407e-03,-4.655909519e-05,4.774064508e-05,1.704562797e-03,-4.148746226e-05,4.770279079e-05,1.704093615e-03,7.014866317e-01,5.457362681e-05,8.424533886e-01,7.014913124e-01,4.929160640e-05,8.424455040e-01,7.016842310e-01,4.940334928e-05,8.314847025e-01
+35,1.070000000e+01,UP_FORCE_RAMP,1791278799674722810,-4.838534503e-05,5.172600215e-05,1.755252589e-03,-4.967757421e-05,5.084076622e-05,1.747907631e-03,-4.455202541e-05,5.082371763e-05,1.747409392e-03,7.014894861e-01,5.327696348e-05,8.424961938e-01,7.014881939e-01,5.239172754e-05,8.424888488e-01,7.016811665e-01,5.252427613e-05,8.315280183e-01
+36,1.105000000e+01,UP_FORCE_RAMP,1791278800204101775,-5.245465438e-05,4.483067288e-05,1.785053582e-03,-5.161367500e-05,4.870899768e-05,1.769965034e-03,-4.645380722e-05,4.870145038e-05,1.769529144e-03,7.014854168e-01,4.638163420e-05,8.425259948e-01,7.014862578e-01,5.025995901e-05,8.425109062e-01,7.016792647e-01,5.040200887e-05,8.315501380e-01
+37,1.140000000e+01,UP_FORCE_RAMP,1791278800730709729,-4.922477158e-05,5.082489292e-05,1.819627142e-03,-5.071442179e-05,4.964098973e-05,1.812494723e-03,-4.540528216e-05,4.964656847e-05,1.812025736e-03,7.014886467e-01,5.237585424e-05,8.425605683e-01,7.014871571e-01,5.119195105e-05,8.425534359e-01,7.016803132e-01,5.134712696e-05,8.315926346e-01
+38,1.181666667e+01,UP_FORCE_RAMP,1791278801351360145,-5.351637639e-05,5.330307475e-05,1.846879606e-03,-5.088149869e-05,4.999581447e-05,1.834024810e-03,-4.545364070e-05,5.000782406e-05,1.833635181e-03,7.014843551e-01,5.485403607e-05,8.425878208e-01,7.014869900e-01,5.154677579e-05,8.425749660e-01,7.016802648e-01,5.170838255e-05,8.316142440e-01
+39,1.223333333e+01,UP_FORCE_RAMP,1791278801975476331,-5.319168405e-05,5.105065799e-05,1.878854472e-03,-5.198790835e-05,5.361028285e-05,1.874516797e-03,-4.640874553e-05,5.360040844e-05,1.874083482e-03,7.014846798e-01,5.260161931e-05,8.426197957e-01,7.014858836e-01,5.516124417e-05,8.426154580e-01,7.016793097e-01,5.530096693e-05,8.316546923e-01
+40,1.268333333e+01,UP_FORCE_RAMP,1791278802650915082,-5.257922920e-05,5.097227936e-05,1.911506802e-03,-5.223083028e-05,5.356040347e-05,1.898670265e-03,-4.656440249e-05,5.356661128e-05,1.898303681e-03,7.014852923e-01,5.252324069e-05,8.426524480e-01,7.014856407e-01,5.511136479e-05,8.426396115e-01,7.016791541e-01,5.526716977e-05,8.316789125e-01
+41,1.306666667e+01,UP_FORCE_RAMP,1791278803230287359,-5.435954358e-05,5.576787092e-05,1.936765231e-03,-5.423892350e-05,4.945582335e-05,1.918700897e-03,-4.859875216e-05,4.945383361e-05,1.918382088e-03,7.014835119e-01,5.731883224e-05,8.426777064e-01,7.014836326e-01,5.100678467e-05,8.426596421e-01,7.016771197e-01,5.115439211e-05,8.316989909e-01
+42,1.343333333e+01,UP_FORCE_RAMP,1791278803772083354,-5.728105993e-05,5.417058753e-05,1.954353943e-03,-5.311339414e-05,5.326421269e-05,1.939283321e-03,-4.735208343e-05,5.324177206e-05,1.938991735e-03,7.014805904e-01,5.572154885e-05,8.426952951e-01,7.014847581e-01,5.481517401e-05,8.426802245e-01,7.016783664e-01,5.494233055e-05,8.317196006e-01
+43,1.388333333e+01,UP_FORCE_RAMP,1791278804453114698,-5.596597298e-05,5.479340653e-05,1.981954757e-03,-5.698995654e-05,5.361586004e-05,1.978985237e-03,-5.117194136e-05,5.360772927e-05,1.978644141e-03,7.014819055e-01,5.634436786e-05,8.427228959e-01,7.014808815e-01,5.516682136e-05,8.427199264e-01,7.016745465e-01,5.530828776e-05,8.317592530e-01
+44,1.430000000e+01,UP_FORCE_RAMP,1791278805074592783,-5.979622950e-05,5.321163207e-05,2.000393660e-03,-5.657321342e-05,5.420842176e-05,2.001233552e-03,-5.066288832e-05,5.418281519e-05,2.000944655e-03,7.014780753e-01,5.476259340e-05,8.427413348e-01,7.014812983e-01,5.575938308e-05,8.427421747e-01,7.016750556e-01,5.588337368e-05,8.317815535e-01
+45,1.463333333e+01,UP_FORCE_RAMP,1791278805572304421,-6.054074755e-05,5.342706255e-05,2.016272822e-03,-5.657321342e-05,5.420842176e-05,2.001233552e-03,-5.066180019e-05,5.418403135e-05,2.001054335e-03,7.014773307e-01,5.497802387e-05,8.427572140e-01,7.014812983e-01,5.575938308e-05,8.427421747e-01,7.016750567e-01,5.588458984e-05,8.317816632e-01
+46,1.505000000e+01,UP_FORCE_RAMP,1791278806201322053,-5.689741406e-05,5.203707301e-05,2.042651243e-03,-5.680615185e-05,5.184920525e-05,2.042803363e-03,-5.074658993e-05,5.183022180e-05,2.042512637e-03,7.014809741e-01,5.358803433e-05,8.427835924e-01,7.014810653e-01,5.340016657e-05,8.427837446e-01,7.016749719e-01,5.353078029e-05,8.318231215e-01
+47,1.553333333e+01,UP_FORCE_RAMP,1791278806931422928,-5.503890702e-05,5.545237104e-05,2.066396545e-03,-5.478063107e-05,5.557046912e-05,2.066312885e-03,-4.857840453e-05,5.557428393e-05,2.066022512e-03,7.014828326e-01,5.700333236e-05,8.428073377e-01,7.014830909e-01,5.712143044e-05,8.428072541e-01,7.016771401e-01,5.727484242e-05,8.318466314e-01
+48,1.595000000e+01,UP_FORCE_RAMP,1791278807552016425,-5.683980954e-05,5.356514285e-05,2.082292098e-03,-5.478063107e-05,5.557046912e-05,2.066312885e-03,-4.856408621e-05,5.558335418e-05,2.066155935e-03,7.014810317e-01,5.511610417e-05,8.428232333e-01,7.014830909e-01,5.712143044e-05,8.428072541e-01,7.016771544e-01,5.728391267e-05,8.318467648e-01
+49,1.638333333e+01,UP_FORCE_RAMP,1791278808201541831,-5.864626143e-05,5.302790802e-05,2.097262561e-03,-5.707835609e-05,5.236999841e-05,2.086281962e-03,-5.085019295e-05,5.235471876e-05,2.086123550e-03,7.014792252e-01,5.457886935e-05,8.428382037e-01,7.014807931e-01,5.392095973e-05,8.428272231e-01,7.016748683e-01,5.405527725e-05,8.318667324e-01
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+57,1.948333333e+01,UP_FORCE_HOLD,1791278812851243171,-6.322896181e-05,5.475668673e-05,2.193741417e-03,-5.858484696e-05,5.258362565e-05,2.189754846e-03,-5.193239973e-05,5.257024270e-05,2.189713143e-03,7.014746425e-01,5.630764805e-05,8.429346826e-01,7.014792866e-01,5.413458697e-05,8.429306960e-01,7.016737861e-01,5.427080119e-05,8.319703220e-01
+58,1.983333333e+01,UP_FORCE_HOLD,1791278813373364026,-5.984048895e-05,5.313023334e-05,2.209364730e-03,-5.858484696e-05,5.258362565e-05,2.189754846e-03,-5.193000093e-05,5.257119742e-05,2.189756678e-03,7.014780310e-01,5.468119466e-05,8.429503059e-01,7.014792866e-01,5.413458697e-05,8.429306960e-01,7.016737885e-01,5.427175591e-05,8.319703655e-01
+59,2.021666667e+01,UP_SETTLE,1791278813952562815,-6.190399743e-05,5.166302164e-05,2.217338534e-03,-6.121361243e-05,5.242595661e-05,2.210258734e-03,-5.454817824e-05,5.243233289e-05,2.210223163e-03,7.014759675e-01,5.321398296e-05,8.429582797e-01,7.014766579e-01,5.397691793e-05,8.429511999e-01,7.016711703e-01,5.413289139e-05,8.319908320e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3168756ce51d8157a2c73b887a055f00020bab96
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,2.5254e-03,-1.7383e-03,2.4522e+00,-3.6645e-02,3.6974e-02,-2.2916e-05,5.4436e-05,1.6764e-07,-1.5259e-05,1.7509e-07,3.9153e-06,-3.3031e-07,5.6535e-05,3.9331e-06
+1,4.0000e-01,UP_FORCE_RAMP,9.3004e-05,3.5152e-03,-1.7298e-03,2.4519e+00,-3.6642e-02,3.7045e-02,-2.9826e-05,1.0442e-03,8.7445e-06,-2.9659e-04,3.3826e-06,7.4927e-05,-7.2401e-06,1.0855e-03,7.5352e-05
+2,8.0000e-01,UP_FORCE_RAMP,1.8607e-04,4.0882e-03,-1.7200e-03,2.4518e+00,-3.6640e-02,3.7086e-02,-3.5121e-05,1.6173e-03,1.8504e-05,-4.5490e-04,5.4426e-06,1.1593e-04,-1.2535e-05,1.6801e-03,1.1674e-04
+3,1.1000e+00,UP_FORCE_RAMP,2.7815e-04,4.3567e-03,-1.7138e-03,2.4517e+00,-3.6639e-02,3.7106e-02,-3.8272e-05,1.8858e-03,2.4746e-05,-5.2691e-04,6.5602e-06,1.3512e-04,-1.5686e-05,1.9581e-03,1.3619e-04
+4,1.5167e+00,UP_FORCE_RAMP,3.7333e-04,4.5932e-03,-1.7067e-03,2.4516e+00,-3.6638e-02,3.7123e-02,-4.1739e-05,2.1222e-03,3.1764e-05,-5.8818e-04,7.7076e-06,1.5202e-04,-1.9153e-05,2.2024e-03,1.5341e-04
+5,1.8333e+00,UP_FORCE_RAMP,4.6298e-04,5.1646e-03,-2.0539e-03,2.4480e+00,-3.6613e-02,3.7167e-02,-4.4193e-05,2.6936e-03,-3.1544e-04,-4.2820e-03,3.2436e-05,1.9668e-04,-2.1607e-05,5.0686e-03,2.0051e-04
+6,2.1500e+00,UP_FORCE_RAMP,5.5501e-04,4.9491e-03,-2.4272e-03,2.4400e+00,-3.6586e-02,3.7160e-02,-4.5992e-05,2.4781e-03,-6.8868e-04,-1.2196e-02,5.8971e-05,1.8994e-04,-2.3406e-05,1.2464e-02,2.0025e-04
+7,2.4667e+00,UP_FORCE_RAMP,6.4829e-04,5.5374e-03,-4.5213e-03,2.4317e+00,-3.6436e-02,3.7213e-02,-4.8192e-05,3.0665e-03,-2.7828e-03,-2.0551e-02,2.0885e-04,2.4216e-04,-2.5606e-05,2.0964e-02,3.2080e-04
+8,2.7333e+00,UP_FORCE_RAMP,7.3898e-04,6.7053e-03,-6.1451e-03,2.4279e+00,-3.6318e-02,3.7298e-02,-4.8923e-05,4.2343e-03,-4.4066e-03,-2.4332e-02,3.2743e-04,3.2753e-04,-2.6337e-05,2.5088e-02,4.6388e-04
+9,2.9833e+00,UP_FORCE_RAMP,8.3380e-04,5.8576e-03,-7.2822e-03,2.4264e+00,-3.6236e-02,3.7242e-02,-4.8404e-05,3.3866e-03,-5.5437e-03,-2.5880e-02,4.0966e-04,2.7154e-04,-2.5818e-05,2.6683e-02,4.9216e-04
+10,3.2667e+00,UP_FORCE_RAMP,9.2305e-04,5.2154e-03,-7.7621e-03,2.4213e+00,-3.6199e-02,3.7200e-02,-4.6837e-05,2.7445e-03,-6.0236e-03,-3.0976e-02,4.4604e-04,2.2940e-04,-2.4251e-05,3.1675e-02,5.0216e-04
+11,3.5833e+00,UP_FORCE_RAMP,1.0199e-03,5.8303e-03,-8.4732e-03,2.4197e+00,-3.6156e-02,3.7244e-02,-4.3769e-05,3.3594e-03,-6.7347e-03,-3.2543e-02,4.8941e-04,2.7393e-04,-2.1182e-05,3.3402e-02,5.6126e-04
+12,3.8333e+00,UP_FORCE_RAMP,1.1096e-03,5.9702e-03,-8.2134e-03,2.4169e+00,-3.6186e-02,3.7256e-02,-3.9349e-05,3.4992e-03,-6.4749e-03,-3.5372e-02,4.5951e-04,2.8506e-04,-1.6763e-05,3.6130e-02,5.4101e-04
+13,4.0833e+00,UP_FORCE_RAMP,1.2044e-03,5.3239e-03,-7.0726e-03,2.4166e+00,-3.6278e-02,3.7209e-02,-3.2172e-05,2.8529e-03,-5.3341e-03,-3.5628e-02,3.6739e-04,2.3882e-04,-9.5863e-06,3.6138e-02,4.3829e-04
+14,4.3667e+00,UP_FORCE_RAMP,1.2944e-03,6.5244e-03,-5.5088e-03,2.4125e+00,-3.6397e-02,3.7299e-02,-2.2681e-05,4.0534e-03,-3.7703e-03,-3.9747e-02,2.4825e-04,3.2858e-04,-9.4587e-08,4.0130e-02,4.1182e-04
+15,4.6500e+00,UP_FORCE_RAMP,1.3903e-03,6.3996e-03,-5.5079e-03,2.4140e+00,-3.6397e-02,3.7289e-02,-1.4508e-05,3.9286e-03,-3.7694e-03,-3.8247e-02,2.4829e-04,3.1827e-04,8.0781e-06,3.8632e-02,4.0374e-04
+16,4.8833e+00,UP_FORCE_RAMP,1.4832e-03,1.1435e-02,-5.0235e-03,2.4148e+00,-3.6426e-02,3.7641e-02,-8.7878e-06,8.9637e-03,-3.2850e-03,-3.7414e-02,2.1916e-04,6.7061e-04,1.3798e-05,3.8613e-02,7.0564e-04
+17,5.1333e+00,UP_FORCE_RAMP,1.5745e-03,9.4486e-03,-7.0766e-03,2.4118e+00,-3.6272e-02,3.7510e-02,-8.3967e-06,6.9776e-03,-5.3381e-03,-4.0465e-02,3.7329e-04,5.3908e-04,1.4189e-05,4.1408e-02,6.5586e-04
+18,5.3667e+00,UP_FORCE_RAMP,1.6678e-03,8.3514e-03,-6.8303e-03,2.4114e+00,-3.6269e-02,3.7431e-02,-1.1577e-05,5.8804e-03,-5.0918e-03,-4.0830e-02,3.7592e-04,4.6082e-04,1.1009e-05,4.1564e-02,5.9481e-04
+19,5.6167e+00,UP_FORCE_RAMP,1.7561e-03,8.0297e-03,-7.7802e-03,2.4108e+00,-3.6188e-02,3.7409e-02,-1.7735e-05,5.5587e-03,-6.0417e-03,-4.1482e-02,4.5689e-04,4.3858e-04,4.8509e-06,4.2287e-02,6.3334e-04
+20,5.8667e+00,UP_FORCE_RAMP,1.8543e-03,7.3232e-03,-8.5571e-03,2.4049e+00,-3.6120e-02,3.7366e-02,-2.5016e-05,4.8522e-03,-6.8186e-03,-4.7291e-02,5.2563e-04,3.9511e-04,-2.4296e-06,4.8026e-02,6.5758e-04
+21,6.1000e+00,UP_FORCE_RAMP,1.9425e-03,7.2683e-03,-8.3323e-03,2.4087e+00,-3.6122e-02,3.7360e-02,-2.9987e-05,4.7973e-03,-6.5938e-03,-4.3539e-02,5.2295e-04,3.8972e-04,-7.4012e-06,4.4296e-02,6.5223e-04
+22,6.3500e+00,UP_FORCE_RAMP,2.0361e-03,6.7354e-03,-1.0317e-02,2.4116e+00,-3.5972e-02,3.7320e-02,-3.3671e-05,4.2644e-03,-8.5784e-03,-4.0601e-02,6.7371e-04,3.4922e-04,-1.1085e-05,4.1715e-02,7.5892e-04
+23,6.6500e+00,UP_FORCE_RAMP,2.1299e-03,6.5279e-03,-1.0461e-02,2.4155e+00,-3.5953e-02,3.7299e-02,-3.5012e-05,4.0569e-03,-8.7227e-03,-3.6757e-02,6.9224e-04,3.2868e-04,-1.2426e-05,3.7995e-02,7.6641e-04
+24,6.9500e+00,UP_FORCE_RAMP,2.2246e-03,6.4968e-03,-1.1132e-02,2.4183e+00,-3.5910e-02,3.7293e-02,-3.5272e-05,4.0259e-03,-9.3932e-03,-3.3904e-02,7.3474e-04,3.2219e-04,-1.2686e-05,3.5411e-02,8.0238e-04
+25,7.2500e+00,UP_FORCE_RAMP,2.3143e-03,6.9445e-03,-1.1170e-02,2.4203e+00,-3.5921e-02,3.7321e-02,-3.4510e-05,4.4735e-03,-9.4310e-03,-3.1932e-02,7.2441e-04,3.5021e-04,-1.1924e-05,3.3595e-02,8.0471e-04
+26,7.5667e+00,UP_FORCE_RAMP,2.4078e-03,7.2693e-03,-1.1710e-02,2.4248e+00,-3.5897e-02,3.7340e-02,-3.2622e-05,4.7983e-03,-9.9711e-03,-2.7484e-02,7.4777e-04,3.6924e-04,-1.0036e-05,2.9628e-02,8.3403e-04
+27,7.8500e+00,UP_FORCE_RAMP,2.5007e-03,7.1169e-03,-1.0985e-02,2.4218e+00,-3.5952e-02,3.7328e-02,-3.0235e-05,4.6459e-03,-9.2466e-03,-3.0416e-02,6.9347e-04,3.5777e-04,-7.6492e-06,3.2128e-02,7.8036e-04
+28,8.2333e+00,UP_FORCE_RAMP,2.5905e-03,6.9570e-03,-1.2713e-02,2.4218e+00,-3.5827e-02,3.7318e-02,-2.9188e-05,4.4860e-03,-1.0975e-02,-3.0419e-02,8.1851e-04,3.4790e-04,-6.6014e-06,3.2648e-02,8.8940e-04
+29,8.5500e+00,UP_FORCE_RAMP,2.6825e-03,6.2265e-03,-1.3079e-02,2.4239e+00,-3.5784e-02,3.7266e-02,-3.1025e-05,3.7555e-03,-1.1340e-02,-2.8311e-02,8.6107e-04,2.9600e-04,-8.4388e-06,3.0728e-02,9.1056e-04
+30,8.8667e+00,UP_FORCE_RAMP,2.7751e-03,5.1620e-03,-1.3204e-02,2.4242e+00,-3.5763e-02,3.7191e-02,-3.3983e-05,2.6911e-03,-1.1465e-02,-2.8051e-02,8.8239e-04,2.2044e-04,-1.1397e-05,3.0423e-02,9.0959e-04
+31,9.2000e+00,UP_FORCE_RAMP,2.8716e-03,5.1310e-03,-1.3155e-02,2.4259e+00,-3.5757e-02,3.7189e-02,-3.7886e-05,2.6601e-03,-1.1416e-02,-2.6313e-02,8.8859e-04,2.1819e-04,-1.5300e-05,2.8806e-02,9.1511e-04
+32,9.5667e+00,UP_FORCE_RAMP,2.9619e-03,4.9283e-03,-1.3587e-02,2.4277e+00,-3.5720e-02,3.7174e-02,-4.1688e-05,2.4573e-03,-1.1849e-02,-2.4552e-02,9.2542e-04,2.0375e-04,-1.9102e-05,2.7372e-02,9.4777e-04
+33,9.9667e+00,UP_FORCE_RAMP,3.0533e-03,4.7091e-03,-1.3280e-02,2.4297e+00,-3.5741e-02,3.7157e-02,-4.4979e-05,2.2381e-03,-1.1542e-02,-2.2571e-02,9.0420e-04,1.8678e-04,-2.2393e-05,2.5450e-02,9.2356e-04
+34,1.0333e+01,UP_FORCE_RAMP,3.1435e-03,4.4150e-03,-1.3663e-02,2.4291e+00,-3.5716e-02,3.7137e-02,-4.8508e-05,1.9440e-03,-1.1924e-02,-2.3090e-02,9.2886e-04,1.6630e-04,-2.5922e-05,2.6060e-02,9.4398e-04
+35,1.0700e+01,UP_FORCE_RAMP,3.2385e-03,5.1777e-03,-1.4467e-02,2.4281e+00,-3.5663e-02,3.7194e-02,-5.1978e-05,2.7068e-03,-1.2728e-02,-2.4178e-02,9.8204e-04,2.2328e-04,-2.9392e-05,2.7457e-02,1.0075e-03
+36,1.1050e+01,UP_FORCE_RAMP,3.3347e-03,5.5854e-03,-1.3932e-02,2.4309e+00,-3.5708e-02,3.7221e-02,-5.3575e-05,3.1144e-03,-1.2193e-02,-2.1301e-02,9.3763e-04,2.5031e-04,-3.0989e-05,2.4741e-02,9.7096e-04
+37,1.1400e+01,UP_FORCE_RAMP,3.4256e-03,5.2751e-03,-1.4202e-02,2.4288e+00,-3.5696e-02,3.7200e-02,-5.6043e-05,2.8042e-03,-1.2464e-02,-2.3399e-02,9.4941e-04,2.2966e-04,-3.3457e-05,2.6660e-02,9.7736e-04
+38,1.1817e+01,UP_FORCE_RAMP,3.5166e-03,5.3205e-03,-1.4285e-02,2.4325e+00,-3.5700e-02,3.7200e-02,-5.7903e-05,2.8495e-03,-1.2546e-02,-1.9723e-02,9.4566e-04,2.2924e-04,-3.5317e-05,2.3549e-02,9.7369e-04
+39,1.2233e+01,UP_FORCE_RAMP,3.6096e-03,5.2617e-03,-1.5199e-02,2.4309e+00,-3.5644e-02,3.7197e-02,-6.0077e-05,2.7907e-03,-1.3460e-02,-2.1326e-02,1.0014e-03,2.2642e-04,-3.7491e-05,2.5372e-02,1.0273e-03
+40,1.2683e+01,UP_FORCE_RAMP,3.7042e-03,5.0599e-03,-1.5089e-02,2.4342e+00,-3.5659e-02,3.7179e-02,-6.1098e-05,2.5889e-03,-1.3350e-02,-1.8081e-02,9.8630e-04,2.0841e-04,-3.8512e-05,2.2624e-02,1.0088e-03
+41,1.3067e+01,UP_FORCE_RAMP,3.7962e-03,5.1429e-03,-1.4012e-02,2.4363e+00,-3.5744e-02,3.7183e-02,-6.1199e-05,2.6720e-03,-1.2273e-02,-1.5955e-02,9.0155e-04,2.1204e-04,-3.8613e-05,2.0306e-02,9.2695e-04
+42,1.3433e+01,UP_FORCE_RAMP,3.8866e-03,4.6544e-03,-1.4935e-02,2.4378e+00,-3.5684e-02,3.7145e-02,-6.1945e-05,2.1834e-03,-1.3196e-02,-1.4431e-02,9.6149e-04,1.7406e-04,-3.9359e-05,1.9676e-02,9.7791e-04
+43,1.3883e+01,UP_FORCE_RAMP,3.9785e-03,5.1705e-03,-1.5039e-02,2.4353e+00,-3.5682e-02,3.7183e-02,-6.0975e-05,2.6995e-03,-1.3300e-02,-1.6925e-02,9.6372e-04,2.1260e-04,-3.8389e-05,2.1694e-02,9.8764e-04
+44,1.4300e+01,UP_FORCE_RAMP,4.0712e-03,4.8019e-03,-1.5060e-02,2.4370e+00,-3.5684e-02,3.7155e-02,-5.9298e-05,2.3309e-03,-1.3322e-02,-1.5250e-02,9.6158e-04,1.8438e-04,-3.6712e-05,2.0383e-02,9.7979e-04
+45,1.4633e+01,UP_FORCE_RAMP,4.1656e-03,4.8374e-03,-1.5021e-02,2.4417e+00,-3.5692e-02,3.7152e-02,-5.7392e-05,2.3665e-03,-1.3282e-02,-1.0502e-02,9.5327e-04,1.8174e-04,-3.4806e-05,1.7097e-02,9.7106e-04
+46,1.5050e+01,UP_FORCE_RAMP,4.2559e-03,5.2033e-03,-1.5291e-02,2.4425e+00,-3.5678e-02,3.7178e-02,-5.4307e-05,2.7323e-03,-1.3552e-02,-9.7136e-03,9.6701e-04,2.0704e-04,-3.1721e-05,1.6896e-02,9.8943e-04
+47,1.5533e+01,UP_FORCE_RAMP,4.3483e-03,5.2791e-03,-1.4347e-02,2.4439e+00,-3.5753e-02,3.7181e-02,-5.0288e-05,2.8081e-03,-1.2609e-02,-8.3094e-03,8.9269e-04,2.1093e-04,-2.7702e-05,1.5359e-02,9.1769e-04
+48,1.5950e+01,UP_FORCE_RAMP,4.4426e-03,5.4034e-03,-1.5277e-02,2.4437e+00,-3.5688e-02,3.7191e-02,-4.8434e-05,2.9324e-03,-1.3538e-02,-8.5497e-03,9.5705e-04,2.2037e-04,-2.5848e-05,1.6278e-02,9.8243e-04
+49,1.6383e+01,UP_FORCE_RAMP,4.5338e-03,6.3119e-03,-1.4431e-02,2.4437e+00,-3.5750e-02,3.7258e-02,-4.5488e-05,3.8410e-03,-1.2692e-02,-8.5793e-03,8.9480e-04,2.8759e-04,-2.2902e-05,1.5794e-02,9.4016e-04
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+59,2.938333e+01,263,6.963603e-01,2.691099e-02,8.137889e-01,2.654490e-05,-7.986293e-05,-7.912544e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.938333e+01,264,7.085192e-01,2.528807e-02,8.277717e-01,7.079609e-05,-7.036799e-05,-7.930745e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.938333e+01,265,7.070674e-01,2.170216e-02,8.191504e-01,4.008602e-05,-6.992281e-05,-7.919007e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.938333e+01,266,6.948838e-01,2.392763e-02,8.265611e-01,4.693872e-05,-7.004745e-05,-7.894775e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e614e35c9a458dc2362989c15e0885c91d43b08b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+15046,1791278900109436176,11226130000000,1791278900108735205,DOWN_FORCE_DETACH,2,0.057,0.057032812386751175,0.6759892626876776,-0.004785664905004371,0.09088437176192689,0.9999999777512599,6.552763174668254e-05,-0.0001684355299665269,5.723587917724027e-05,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,0.06738548143385234,0.04494062450717732,0.00645983169247466,0.00320152761359723,-0.005128998444767727,-4.3001393536127057e-05,0.06621586465869456,0.07054003556324319,0.261289079855204,0.00019054998500968808,-0.008164586014270728,-0.0013558590625973883,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8003094395444362,-0.33139257986454823,0.6085583241571648,0.4056974600263151,-0.2268342544781391,-0.24927879600713226,0.7032682909462498,0.00645983169247466,0.09470996678908494,0.09470996678908494,0.010102521585257119,0,0,0.0,0.0
+15190,1791278901309443945,11227330000000,1791278901308735490,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6759886050746348,-0.004785971885832046,0.09088197788904522,0.9999999773087582,6.786380414349615e-05,-0.00016929023945112486,5.9671321005849694e-05,0.6761,-0.0048,0.09099300507797792,1.0,0.0,0.0,0.0,0.061975079139851307,0.044612391665397426,-0.0030975705533691777,0.0032028297264122918,-0.005126500460121428,-3.526034279387538e-05,0.060805462364693516,0.0702118027214633,0.25173167760936016,0.00019185209782474996,-0.00816208802962443,-0.0013481180118551366,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7923822349717706,-0.3340839539311689,0.6781053449806863,0.4152875270451768,-0.27746043808874576,-0.25060818555562064,0.7032682909462498,0.0030975705533691777,0.025162945965563455,0.025162945965563455,0.0821025215852575,0,0,-1.0904257215253682e-05,-9.999999025923074e-05
+15354,1791278902676496095,11228697000000,1791278902668734948,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6759878252259179,-0.004783981837890751,0.09085570702610814,0.9999999770333386,6.669268205661564e-05,-0.00017059697181307754,6.184614669112782e-05,0.6761,-0.0048,0.09095981015058736,1.0,0.0,0.0,0.0,0.058871503472934655,0.04569250033745815,0.00643360530248005,0.003199109823818573,-0.004996864198265423,-4.289091646895093e-05,0.057701886697776865,0.07129191139352402,0.2612628534652094,0.000188132195231031,-0.008032451767768425,-0.0013557485855302121,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8426059656567212,-0.27464146133924133,0.6024525633505212,0.4020820271443663,-0.22309314722480333,-0.21615404476628783,0.7032682909462498,0.00643360530248005,0.10081572759572854,0.10081572759572854,0.16412252158526364,0,0,-3.418462688429885e-05,-3.8378277872951554e-05
+15515,1791278904017506644,11230038000000,1791278904012735567,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6759862834151737,-0.004789710213735629,0.09080918828900406,0.9999999771584109,6.0080576291244e-05,-0.0001724113849082879,6.156850421381808e-05,0.6761,-0.0048,0.09090764629917471,1.0,0.0,0.0,0.0,0.05860579150024168,0.04510885148552727,0.026118151489429142,0.0021726684044584598,-0.004889856908381684,-6.797964569460208e-05,0.05743617472508389,0.07070826254159314,0.2809473996521585,-0.000838309224129082,-0.007925444477884685,-0.0013808373147558633,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8873592427346917,-0.34157183366266375,0.5037695801218348,0.43019680386278386,-0.15036578172378687,-0.25905976078439413,0.7032682909462498,0.026118151489429142,0.19949871082441495,0.19949871082441495,0.24458252158526966,0,0,-4.691233500689484e-05,9.999944902550623e-05
+15658,1791278905209571157,11231230000000,1791278905208725910,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6759889956623407,-0.0047877826270349795,0.09074733956816654,0.9999999788038724,4.382862551065707e-05,-0.00017108749176877273,5.141245951413493e-05,0.6761,-0.0048,0.09083978650869655,1.0,0.0,0.0,0.0,0.0671771782500476,0.050657049342151934,0.0553183952990407,0.0031815418454157344,-0.004738480398432863,-7.624714312094022e-05,0.06600756147488981,0.0762564603982178,0.31014764346177004,0.00017056421682819218,-0.007774067967935865,-0.0013891048121822014,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9049167046221898,-0.30363595394036813,0.47944820165990304,0.42846371262209326,-0.13458159919293342,-0.23656727211827883,0.7032682909462498,0.0553183952990407,0.22382008928634672,0.22382008928634672,0.316102521585275,0,0,-6.474212285515718e-05,9.46733684424264e-05
+15795,1791278906351513392,11232372000000,1791278906348724887,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6759988155821507,-0.00478998248505669,0.09068399169269234,0.9999999787778774,8.322545144875428e-05,-0.00015674473172296388,4.890523833165497e-05,0.6761,-0.0048,0.09075839115639728,1.0,0.0,0.0,0.0,0.06361860274730952,0.05751144697223346,0.07681740279479626,0.003161776181368428,-0.004131531684982346,-8.457625524211135e-05,0.062448985972151726,0.08311085802829933,0.3316466509575256,0.00015079855278088568,-0.007167119254485348,-0.0013974339243033726,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.890603025158692,-0.351575226595954,0.4400033355389441,0.4472476891940723,-0.11493230124037138,-0.25976327854386205,0.7032682909462498,0.07681740279479626,0.26326495540730566,0.26326495540730566,0.38462252158528015,0,0,-7.716804570529619e-05,4.39748080657727e-05
+15903,1791278907251536775,11233272000000,1791278907248725186,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760020395545098,-0.004791275855376848,0.09061683192724519,0.9999999785372544,9.672066229684678e-05,-0.00014906014259835764,5.286343239018604e-05,0.6761,-0.0048,0.09068326627444782,1.0,0.0,0.0,0.0,0.05959050184328915,0.056694735661761135,0.10714449928007558,0.003147767443994657,-0.004142969857724789,0.0008343906537336965,0.05842088506813136,0.082294146717827,0.3619737474428049,0.00013678981540711502,-0.007178557427227791,-0.00047846701532756474,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9781955970717461,-0.28680661045598166,0.35848277042279875,0.4307382728070525,-0.04181212951313972,-0.218252330898422,0.7032682909462498,0.10714449928007558,0.344785520523451,0.344785520523451,0.4386225215852842,0,0,-8.802796576804083e-05,9.999999025923074e-05
+16031,1791278908317623661,11234338000000,1791278908316725263,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760067777654416,-0.0047913267377175505,0.09052122658887522,0.9999999785389396,0.00010340614639107478,-0.00014084610178258957,6.192357511515458e-05,0.6761,-0.0048,0.09058126222106956,1.0,0.0,0.0,0.0,0.06193199082244857,0.050012095817139106,0.1468553216469154,0.0031474091399654757,-0.004145979309856775,-0.00014137081469688226,0.060762374047290776,0.07561150687320498,0.40168456980964473,0.00013643151137793355,-0.007181566879359777,-0.0014542284837581435,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9144025525791869,-0.3799918337358877,0.40503084429509245,0.4567910985981548,-0.09023042768360985,-0.28067886747549303,0.7032682909462498,0.1468553216469154,0.2982374466511573,0.2982374466511573,0.5025825215852866,0,0,-0.00010241341380087666,-5.0259126053947514e-05
+16167,1791278909451692213,11235472000000,1791278909444725936,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760074571168734,-0.004797651723982001,0.09040746571259842,0.9999999797240865,9.289068294255358e-05,-0.0001382886058817305,6.513273593547983e-05,0.6761,-0.0048,0.09045881348720107,1.0,0.0,0.0,0.0,0.05747249533690511,0.049966519725679136,0.19678376272690717,0.003134993254672857,-0.004157421968100927,0.0004280016729200503,0.05630287856174732,0.075565930781745,0.4516130108896365,0.00012401562608531483,-0.007193009537603929,-0.0008848559961412109,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9476020168708108,-0.29134714082053736,0.2853876283180332,0.4352573793858196,-0.007702412338497524,-0.22383754869451306,0.7032682909462498,0.19678376272690717,0.41788066262821655,0.41788066262821655,0.5706225215852287,0,0,-0.0001128657685408888,9.894387672926825e-05
+16285,1791278910434629307,11236455000000,1791278910428725843,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760106316541679,-0.004780340496575564,0.09029608814914039,0.999999979614256,9.82209204671901e-05,-0.00013466723409725625,6.657130508369551e-05,0.6761,-0.0048,0.0903443444249175,1.0,0.0,0.0,0.0,0.06679398290307284,0.06306032805764616,0.2374090546726363,0.0031303999265102885,-0.004167525362713262,0.0006805371632032856,0.06562436612791506,0.08865973911371204,0.4922383028353656,0.0001194222979227463,-0.0072031129322162645,-0.0006323205058579756,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.859965448648004,-0.3047486690874269,0.36738502106695925,0.4229124419695264,-0.0843586774030101,-0.23802916321288953,0.7032682909462498,0.2374090546726363,0.3358832698792905,0.3358832698792905,0.6296025215851786,0,0,-0.00012255944879388381,-9.98761448808338e-05
+16407,1791278911451646669,11237472000000,1791278911444725679,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760135533108508,-0.004781907295265315,0.09017527168387174,0.9999999804227188,9.286586170698257e-05,-0.00013107497934125416,6.922938691617107e-05,0.6761,-0.0048,0.09021752032882606,1.0,0.0,0.0,0.0,0.07533010514956426,0.06431329024446641,0.28759553556220296,0.003118002590102004,-0.0042190020621466744,0.0002840320761732433,0.07416048837440647,0.08991270130053229,0.5424247837249323,0.00010702496151446201,-0.007254589631649677,-0.001028825592888018,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.897994881221474,-0.34656811070798677,0.14405239928461994,0.4360548744984107,0.07040135777419698,-0.2699963761075727,0.7032682909462498,0.28759553556220296,0.5592158916616299,0.5592158916616299,0.6906225215851267,0,0,-0.00012746021230550385,9.99984914581475e-05
+16527,1791278912451715157,11238472000000,1791278912448725478,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760171776887162,-0.004780324318602257,0.0900505310882676,0.9999999811168778,9.134427297546359e-05,-0.00012604149069832265,7.056114130143184e-05,0.6761,-0.0048,0.09008851896775695,1.0,0.0,0.0,0.0,0.06640880650737963,0.05628552141281618,0.33783762755479085,0.0031029885276377036,-0.004193160192330235,0.0007321324530361018,0.06523918973222184,0.08188493246888205,0.5926668757175202,9.201089905016147e-05,-0.007228747761833236,-0.0005807252160251594,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9088859435968765,-0.27314400550915874,0.18695176367898345,0.4295569220641595,0.04136370694118951,-0.2155598615093517,0.7032682909462498,0.33783762755479085,0.5163165272672663,0.5163165272672663,0.7506225215850757,0,0,-0.00012947813122640562,-5.174994740920198e-05
+16645,1791278913434800865,11239455000000,1791278913428727407,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760241621351719,-0.004779730663700537,0.0899358752141513,0.9999999825508826,9.386194590175356e-05,-0.00011230396645174724,7.013453523736206e-05,0.6761,-0.0048,0.08995844259457464,1.0,0.0,0.0,0.0,0.0656358844546173,0.057758115987532894,0.37808284092981403,0.0030955734326658596,-0.004201941476617956,0.0006995155314721778,0.06446626767945951,0.08335752704359876,0.6329120890925434,8.459580407831757e-05,-0.007237529046120958,-0.0006133421375890834,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9007736110225246,-0.3050440128743621,0.16086153368927295,0.4415696710790262,0.056370155203067096,-0.23302917597176856,0.7032682909462498,0.37808284092981403,0.5424067572569768,0.5424067572569768,0.8096025215850255,0,0,-0.00013493684928730788,-8.783100221976809e-05
+16755,1791278914351828569,11240372000000,1791278914348734840,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760296827771252,-0.004784733870694193,0.0898189175455831,0.9999999824528752,9.697449959572427e-05,-0.00010783856320505038,7.418830239496356e-05,0.6761,-0.0048,0.08983235339699479,1.0,0.0,0.0,0.0,0.06621114232018643,0.049504439047695546,0.4275880634553729,0.003086289217081167,-0.004211377972566106,0.0006596844288245612,0.06504152554502865,0.07510385010376142,0.6824173116181023,7.53115884936252e-05,-0.007246965542069108,-0.0006531732402367001,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9111031564381407,-0.2305328796575698,0.06311153438682954,0.4215184011500311,0.11497101658819942,-0.18687568801770743,0.7032682909462498,0.4275880634553729,0.6401567565594202,0.6401567565594202,0.8646225215849788,0,0,-0.00014031315200416371,5.5994468810222034e-05
+16861,1791278915234853161,11241255000000,1791278915228725990,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760328407918645,-0.004788412955965416,0.08969619319093676,0.9999999833246771,9.375731331448886e-05,-0.00010276897728821234,7.376729266392208e-05,0.6761,-0.0048,0.08970559195041662,1.0,0.0,0.0,0.0,0.05759003388283496,0.043096128496789225,0.4669926677150402,0.0030785968834469916,-0.004219338989112809,0.0006262804282555931,0.056420417107677166,0.0686955395528551,0.7218219158777696,6.761925485944958e-05,-0.00725492655861581,-0.0006865772408056681,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9446481587450924,-0.20697142261340307,-0.03401601371020635,0.4205281175615518,0.1867008204113308,-0.17006807487342718,0.7032682909462498,0.4669926677150402,0.7372843046564561,0.7372843046564561,0.9176025215849337,0,0,-0.0001461973141616849,9.92027113496718e-05
+16963,1791278916084862493,11242105000000,1791278916080725198,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760386839148688,-0.004786787771170138,0.08957823306416383,0.9999999853123599,8.625279135511753e-05,-9.194524519987867e-05,7.017600968917401e-05,0.6761,-0.0048,0.08957910906894614,1.0,0.0,0.0,0.0,0.05705504641044814,0.05245354976509809,0.5079953220594035,0.003070263956376816,-0.004229373523470413,0.0005933740326120546,0.05588542963529035,0.07805296082116396,0.7628245702221328,5.9286327789274003e-05,-0.007264961092973415,-0.0007194836364492066,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9686176818627015,-0.35427454882715353,-0.05549685109751746,0.4638427933630598,0.20873097274782,-0.2677503777163919,0.7032682909462498,0.5079953220594035,0.7587651420437672,0.7587651420437672,0.9686025215848904,0,0,-0.00015040381994427398,9.999518854464923e-05
+17063,1791278916917847004,11242938000000,1791278916912725246,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760383988410644,-0.0047943681262036875,0.08945919032475681,0.9999999856730446,7.927860706438046e-05,-9.255720065938913e-05,7.242128240753131e-05,0.6761,-0.0048,0.08945595768408249,1.0,0.0,0.0,0.0,0.05998827030705247,0.05386499025621142,0.5486268477750021,0.0030627579258390276,-0.004238240970607914,0.0005610616160234305,0.05881865353189468,0.07946440131227729,0.8034560959377315,5.1780297251485384e-05,-0.007273828540110916,-0.0007517960530378307,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9207803968159778,-0.2800073470853699,-0.04715816417181025,0.45058708194649333,0.18895387865982968,-0.21876185358199715,0.7032682909462498,0.5486268477750021,0.75042645511806,0.75042645511806,1.0185825215848479,0,0,-0.00014805165262784937,-9.999999025923074e-05
+17159,1791278917717923760,11243738000000,1791278917716726490,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760431832960566,-0.0047894082596410216,0.08934428933560956,0.9999999861679961,8.191673729266557e-05,-8.655339426201768e-05,7.00359201143205e-05,0.6761,-0.0048,0.08933559409231666,1.0,0.0,0.0,0.0,0.056344088633475606,0.055373058720307254,0.5886944790348652,0.0030271483708294634,-0.0032345573549622656,0.0005439497681297058,0.055174471858317815,0.08097246977637312,0.8435237271975945,1.6170742241921435e-05,-0.006270144924465267,-0.0007689079009315554,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9340489580223814,-0.2117850594734161,-0.059430901609721726,0.4326004739962437,0.19875626728202214,-0.16909769975898864,0.7032682909462498,0.5886944790348652,0.7626991925559715,0.7626991925559715,1.066582521584807,0,0,-0.00015206465110303847,-9.933659036865378e-05
+17261,1791278918567948501,11244588000000,1791278918560735292,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760437514655949,-0.004797381226548072,0.08921178807053101,0.999999986054521,8.181111929318984e-05,-8.55936653183494e-05,7.2900530841772e-05,0.6761,-0.0048,0.08920497521929145,1.0,0.0,0.0,0.0,0.056605506063733574,0.05703392627361118,0.6387606971505879,0.0030196505321849866,-0.003292755728939618,0.000502807802137678,0.05543588928857578,0.08263333732967705,0.8935899453133173,8.672903597444463e-06,-0.00632834329844262,-0.0008100498669235832,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9253391452830525,-0.2578084266444876,-0.14101532931176625,0.4589189734368371,0.24544430271925896,-0.19625580159226122,0.7032682909462498,0.6387606971505879,0.844283620258016,0.844283620258016,1.1175825215847637,0,0,-0.00015557074153490914,-4.120268989738492e-05
+17366,1791278919442975373,11245463000000,1791278919440734757,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760476604752755,-0.00480320109334976,0.08908061298991143,0.9999999862482498,8.209292856091959e-05,-7.982804519829412e-05,7.638454576963044e-05,0.6761,-0.0048,0.08906868970865116,1.0,0.0,0.0,0.0,0.06460890597779705,0.048923041311142786,0.6877427874632768,0.003007592436327946,-0.00325470397929162,0.00046414455222844504,0.06343928920263926,0.07452245236720866,0.9425720356260061,-3.385192259596008e-06,-0.006290291548794622,-0.0008487131168328162,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9059166273263338,-0.2878911871989321,-0.1087748082588723,0.4621858862939522,0.22067870659968822,-0.2226649694738898,0.7032682909462498,0.6877427874632768,0.8120430992051221,0.8120430992051221,1.170082521584719,0,0,-0.00015578165793036914,-9.999989311471608e-05
+17468,1791278920292892889,11246313000000,1791278920288725517,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760482858831276,-0.004807440979680981,0.08894196930680648,0.99999998622925,7.768402471982983e-05,-8.05786471360095e-05,8.035320990890599e-05,0.6761,-0.0048,0.08893376475700301,1.0,0.0,0.0,0.0,0.06003751546371614,0.03905861269051105,0.7366517264575972,0.0023498309969135884,-0.003249935045582755,0.00041633115936900056,0.05886789868855835,0.06465802374657692,0.9914809746203266,-0.0006611466316739536,-0.006285522615085757,-0.0008965265096922606,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9354499973105496,-0.24333142987894196,-0.21406918285642992,0.4554216675851808,0.2970266023823072,-0.19393010501677638,0.7032682909462498,0.7366517264575972,0.9173374738026797,0.9173374738026797,1.2210825215846757,0,0,-0.00016292216725308085,-9.771741335396484e-05
+17567,1791278921117990612,11247138000000,1791278921116734550,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760532562209998,-0.004813607242385592,0.08881452865937846,0.9999999860667192,7.877469931207991e-05,-7.572126291388504e-05,8.585023507100822e-05,0.6761,-0.0048,0.08879800309380254,1.0,0.0,0.0,0.0,0.056533263132342235,0.040638654035442374,0.7695138476382694,0.0023627592231855793,-0.0032599676587235595,0.00039081830752667115,0.055363646357184444,0.06623806509150824,1.0243430958009987,-0.0006482184054019625,-0.006295555228226561,-0.0009220393615345901,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8999143476549681,-0.23732088304398646,-0.24697899687307698,0.4507197333229084,0.305166293573986,-0.18991783218881678,0.7032682909462498,0.7695138476382694,0.9502472878193268,0.9502472878193268,1.2705825215846336,0,0,-0.00016798999156605732,-9.872595382732214e-05
+17659,1791278921885016168,11247905000000,1791278921884725292,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760583061665393,-0.004813427589987046,0.08869391953579621,0.9999999877875628,7.353196824982987e-05,-6.615591812743127e-05,7.800117170842038e-05,0.6761,-0.0048,0.08866906880971245,1.0,0.0,0.0,0.0,0.05603613968449575,0.036461872826822145,0.8169123891146032,0.002560879128888645,-0.0032670454226125622,0.00035124344695819495,0.05486652290933796,0.062061283882888015,1.0717416372773325,-0.0004500984996988973,-0.006302632992115564,-0.0009616142221030663,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9166086930863331,-0.3250548485186974,-0.42487083207933896,0.487224070990738,0.41844863580864505,-0.2446384931319335,0.7032682909462498,0.8169123891146032,1.1281391230255888,1.1281391230255888,1.3166025215845945,0,0,-0.00016897766955539938,9.994295255134062e-05
+17757,1791278922702034665,11248722000000,1791278922700725110,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760573708261467,-0.004813199468335639,0.08855428142087027,0.9999999872858225,7.618024947212931e-05,-7.033485524529717e-05,7.823552269397781e-05,0.6761,-0.0048,0.08852909480174281,1.0,0.0,0.0,0.0,0.056355614977175554,0.03196505675876401,0.8491225295503025,0.0019553436738186567,-0.003269267406591015,0.0003220402165114028,0.055185998202017764,0.05756446781482988,1.1039517777130319,-0.0010556339547688853,-0.006304854976094017,-0.0009908174525498584,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8948888171120128,-0.3393218636974074,-0.371632479250636,0.49817164372719275,0.3803376712433078,-0.25139668398099446,0.7032682909462498,0.8491225295503025,1.0749007701968858,1.0749007701968858,1.3656225215845528,0,0,-0.00017311214190583634,-1.3342514411755768e-05
+17859,1791278923552089904,11249572000000,1791278923548734776,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760640136587722,-0.00482262695670664,0.08841094138260702,0.9999999874412047,7.505394939714368e-05,-6.015787764317451e-05,8.54891183814463e-05,0.6761,-0.0048,0.08837733223394853,1.0,0.0,0.0,0.0,0.056081308512817646,0.032014749641365144,0.8892242284301813,0.001930861370680697,-0.002676993215277797,0.00029573648908084093,0.054911691737659855,0.05761416069743101,1.1440534765929107,-0.001080116257906845,-0.005712580784780799,-0.0010171211799804203,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8301753282685596,-0.31467755035007283,-0.31868677715675664,0.4962905029118115,0.3242337003756322,-0.235504799756874,0.7032682909462498,0.8892242284301813,1.0219550681030065,1.0219550681030065,1.4166225215845094,0,0,-0.000184348702590735,-9.999999025923074e-05
+17955,1791278924352008838,11250372000000,1791278924348735306,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760637505432666,-0.004825395222370674,0.08826157853933583,0.9999999869235636,8.115533804549586e-05,-6.060505443118574e-05,8.565381116962625e-05,0.6761,-0.0048,0.08822543940181131,1.0,0.0,0.0,0.0,0.050205738875661904,0.035237469542230004,0.9371956838208754,0.0019375866644885686,-0.003239948358899634,0.0002507391469128118,0.04903612210050411,0.060836880598295874,1.1920249319836047,-0.0010733909640989734,-0.006275535928402636,-0.0010621185221484494,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8378198290318792,-0.2470125969953657,-0.5022899170083629,0.46881153925827135,0.4445429957550423,-0.19607435197650525,0.7032682909462498,0.9371956838208754,1.2055582079546125,1.2055582079546125,1.4646225215844686,0,0,-0.00019287473486809403,8.772941681301489e-05
+18048,1791278925127137486,11251147000000,1791278925120726161,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.676069370363491,-0.004824667277559284,0.08811866926994705,0.9999999878081932,7.818193822725349e-05,-5.1832678086808364e-05,8.382980344880755e-05,0.6761,-0.0048,0.08807532815420965,1.0,0.0,0.0,0.0,0.055761718196072965,0.03594842905044023,0.9594353983737872,0.0019073363014146033,-0.002282481221324974,0.0002485250923658529,0.054592101420915175,0.0615478401065061,1.2142646465365166,-0.0011036413271729387,-0.005318068790827976,-0.0010643325766954083,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8499569124799871,-0.2790002990961251,-0.44457502180917363,0.4929133860878782,0.4049807328992263,-0.21309269134560413,0.7032682909462498,0.9594353983737872,1.1478433127554233,1.1478433127554233,1.511122521584429,0,0,-0.0001956024553953758,-9.91989782247515e-05
+18135,1791278925852160448,11251872000000,1791278925848725567,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760707635612021,-0.004823286665535809,0.08797558919855505,0.9999999880348475,7.55645539933688e-05,-5.277658130219507e-05,8.293250202681648e-05,0.6761,-0.0048,0.08793118302330534,1.0,0.0,0.0,0.0,0.055944343322221354,0.027356228898871668,0.9895735491153187,0.0019276634657859277,-0.003269244171767154,0.00020868724253030328,0.054774726547063564,0.05295563995493754,1.244402797278048,-0.0010833141628016144,-0.006304831741270156,-0.001104170426530958,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7993997333667272,-0.26105979033828386,-0.4613420718113623,0.4790841751176385,0.39864446488736427,-0.20146763497891254,0.7032682909462498,0.9895735491153187,1.164610362757612,1.164610362757612,1.554622521584392,0,0,-0.00020368658080613245,-9.999214930911932e-05
+18219,1791278926552172301,11252572000000,1791278926548735236,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760690396973659,-0.004813513985434748,0.08782572209520102,0.999999986697417,8.719462466027497e-05,-5.635907110563065e-05,8.525715739483737e-05,0.6761,-0.0048,0.0877857014161593,1.0,0.0,0.0,0.0,0.055903357192668576,0.03678855051894643,1.0160997548102633,0.0019239059083342802,-0.0033061393116572036,0.0001852178025162697,0.054733740417510786,0.0623879615750123,1.2709290029729927,-0.0010870717202532618,-0.006341726881160205,-0.0011276398665449915,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7848871791445262,-0.2567221180392618,-0.46868460431283243,0.4766982441171227,0.4007752025543576,-0.19982124124543924,0.7032682909462498,1.0160997548102633,1.171952895259082,1.171952895259082,1.5966225215843564,0,0,-0.0002130336756542547,-9.999999025923074e-05
+18300,1791278927227134652,11253247000000,1791278927220735249,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760691860725198,-0.004814785325907694,0.0876817266539169,0.999999986544533,8.50088772505605e-05,-5.950294616612496e-05,8.710159725648546e-05,0.6761,-0.0048,0.08763721137604723,1.0,0.0,0.0,0.0,0.05604381709246738,0.03852804397257736,1.0310272456575733,0.0019217569130524732,-0.0033090102926583297,0.00017504392152052108,0.054874200317309586,0.06412745502864323,1.2858564938203025,-0.0010892207155350688,-0.0063445978621613315,-0.0011378137475407401,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7890316864997223,-0.3275330090380354,-0.5468507996278804,0.4977966079224228,0.4458308297661476,-0.24792641914399624,0.7032682909462498,1.0310272456575733,1.2501190905741302,1.2501190905741302,1.637122521584322,0,0,-0.0002273440737755609,-4.9070553843981164e-05
+18387,1791278927952120512,11253972000000,1791278927944734793,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760695109318983,-0.0048178299826240395,0.08752004344858635,0.9999999866281023,8.540472844151895e-05,-5.5815803676555366e-05,8.818893324792968e-05,0.6761,-0.0048,0.08746689735357294,1.0,0.0,0.0,0.0,0.057072651156735266,0.03878859396404836,1.0497782521450634,0.0019182584290647281,-0.0033130938342839996,0.00015997863604577407,0.055903034381577475,0.06438800502011423,1.3046075003077926,-0.0010927191995228139,-0.006348681403787001,-0.0011528790330154871,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8005486354474013,-0.21844339940675989,-0.6503883084695357,0.47480261955699266,0.515141488335143,-0.174543761696052,0.7032682909462498,1.0497782521450634,1.3536565994157854,1.3536565994157854,1.680622521584285,0,0,-0.00024267574301875682,9.375000361989123e-05
+18463,1791278928585231859,11254605000000,1791278928584725180,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760727216454125,-0.004824900357191988,0.08736443981466692,0.9999999872891677,8.00549680341809e-05,-4.5562595518248e-05,9.154114226043746e-05,0.6761,-0.0048,0.08730918728347695,1.0,0.0,0.0,0.0,0.05567572557127349,0.03530527567784974,1.0502252346830039,0.0019009459737376112,-0.0027023527092783924,0.00016896287070806136,0.0545061087961157,0.06090468673391561,1.3050544828457333,-0.0011100316548499308,-0.005737940278781394,-0.0011438947983531999,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7796320747448261,-0.18733312199061547,-0.5396328472013597,0.4673561578076109,0.4355647538932195,-0.15695380082034424,0.7032682909462498,1.0502252346830039,1.2429011381476096,1.2429011381476096,1.7186025215842526,0,0,-0.0002558405933037174,-9.853242807634217e-05
+18537,1791278929202199210,11255222000000,1791278929200734869,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760735352729267,-0.004823480861167114,0.08720568406347871,0.9999999870801622,8.277504386550565e-05,-4.811938859597049e-05,9.008527297055016e-05,0.6761,-0.0048,0.08714627403855145,1.0,0.0,0.0,0.0,0.0561687728269514,0.03741174914699918,1.0597938669560873,0.0018945084336713673,-0.0025256264117637637,0.00016422951714738492,0.05499915605179361,0.06301116020306505,1.3146231151188168,-0.0011164691949161747,-0.0055612139812667655,-0.0011486281519138763,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7262937024531393,-0.2677728005596574,-0.5645659410388679,0.49281680437680203,0.43593914223916275,-0.2091237189700963,0.7032682909462498,1.0597938669560873,1.2678342319851177,1.2678342319851177,1.7556225215842212,0,0,-0.0002744750036657014,-9.999999025923074e-05
+18607,1791278929785265426,11255805000000,1791278929784725223,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760743342525961,-0.004827498902744997,0.0870476558403333,0.9999999872968771,7.816087206030747e-05,-4.5967589821778145e-05,9.288147730147283e-05,0.6761,-0.0048,0.08698253033041582,1.0,0.0,0.0,0.0,0.05433770499195755,0.040039518365594585,1.0710454024991196,0.0018866828929574495,-0.0023044732607195,0.00015817675397679126,0.05316808821679976,0.06563892942166046,1.3258746506618488,-0.0011242947356300925,-0.005340060830222502,-0.00115468091508447,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7370865546234557,-0.259179312981932,-0.4720298520571861,0.49790766781286383,0.3789039933142898,-0.20199100429691536,0.7032682909462498,1.0710454024991196,1.175298143003436,1.175298143003436,1.7906025215841914,0,0,-0.0002873652437354864,-9.999997638144293e-05
+18675,1791278930352207815,11256372000000,1791278930348725433,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760765336737732,-0.004827225099764731,0.08688156681873305,0.9999999877729905,7.602553273951555e-05,-4.1777273639059034e-05,9.149678116301365e-05,0.6761,-0.0048,0.0868145331563299,1.0,0.0,0.0,0.0,0.05548887991442024,0.03687085566990471,1.089841888454243,0.0018831531020924058,-0.0023066853879029933,0.00014317198296424373,0.05431926313926245,0.06247026672597058,1.3446711366169724,-0.0011278245264951363,-0.005342272957405995,-0.0011696856860970175,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.746395960583492,-0.22786714540593794,-0.5332174209542273,0.4930853272682543,0.4169134437291437,-0.1774718725516844,0.7032682909462498,1.089841888454243,1.236485711900477,1.236485711900477,1.8246225215841625,0,0,-0.0003029528146223078,-9.806993691985894e-05
+18739,1791278930885312320,11256905000000,1791278930880735464,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760714750587375,-0.004830560070507819,0.08671399824947508,0.9999999860844304,8.715028326005607e-05,-5.067595364104193e-05,9.545040186543843e-05,0.6761,-0.0048,0.08664863507434743,1.0,0.0,0.0,0.0,0.04698687557465565,0.030685877106789668,1.0898371560786608,0.00188191400533447,-0.002307584596965551,0.00014214645258384812,0.045817258799497856,0.05628528816285554,1.3446664042413903,-0.001129063623253072,-0.005343172166468553,-0.001170711216477413,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.797054243367324,-0.27715784456198417,-0.50605665111919,0.5140439858679111,0.41319291037985956,-0.20897488015639049,0.7032682909462498,1.0898371560786608,1.2093249420654397,1.2093249420654397,1.8566025215841353,0,0,-0.0003192505854080193,-9.997022240438298e-05
+18804,1791278931427242228,11257447000000,1791278931424734832,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760745562777719,-0.004828784367010871,0.08654518236664231,0.999999986940519,8.31941665271147e-05,-4.609763281942271e-05,9.227982013145459e-05,0.6761,-0.0048,0.0864715687699059,1.0,0.0,0.0,0.0,0.052548783493768535,0.032023168973565226,1.08985118386927,0.0018813240404535715,-0.0023078057687941854,0.00014124728441838375,0.051379166718610744,0.057622580029631096,1.3446804320319992,-0.0011296535881339706,-0.005343393338297187,-0.0011716103846428775,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7619648081669519,-0.14565845973268293,-0.5467131619026394,0.4691694340146007,0.43043422583694063,-0.127161551261534,0.7032682909462498,1.08985118386927,1.249981452848889,1.249981452848889,1.8891225215841077,0,0,-0.0003361997614429165,-9.999999025923074e-05
+18867,1791278931952218663,11257972000000,1791278931948734678,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760773581908548,-0.004832078300356519,0.08637532496638196,0.9999999877925163,7.655795384038079e-05,-4.051919170201942e-05,9.140517708318167e-05,0.6761,-0.0048,0.0862914718116408,1.0,0.0,0.0,0.0,0.05545523074046687,0.03185094366968615,1.0998872612782709,0.001880006469153525,-0.002310013987150508,0.0001350560568724843,0.05428561396530908,0.05745035472575202,1.354716509441,-0.001130971159434017,-0.00534560155665351,-0.001177801612188777,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7251258684892401,-0.19021838498337496,-0.5461780902334792,0.4820349586292943,0.41498001521811645,-0.15778289206358284,0.7032682909462498,1.0998872612782709,1.249446381179729,1.249446381179729,1.9206225215840809,0,0,-0.0003506882070667113,-9.9999393514355e-05
+18927,1791278932452272018,11258472000000,1791278932448735293,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760726523496522,-0.004832673323247737,0.08618729867632274,0.9999999871941405,7.427201615302641e-05,-4.696147587444248e-05,9.660678305792989e-05,0.6761,-0.0048,0.08611180612640397,1.0,0.0,0.0,0.0,0.054979460699853454,0.03140614263166391,1.109918532712273,0.0018780461356763501,-0.0023121301127949205,0.00012689353088102913,0.05380984392469566,0.057005553687729776,1.3647477808750021,-0.001132931492911192,-0.005347717682297922,-0.001185964138180232,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.78359151494533,-0.3084493045990715,-0.6509881915686215,0.5229554578812855,0.4969088662689272,-0.23628862202485687,0.7032682909462498,1.109918532712273,1.3542564825148713,1.3542564825148713,1.9506225215840554,0,0,-0.00036737067613393384,7.957092903876912e-05
+18984,1791278932927312191,11258947000000,1791278932920734878,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760761056623621,-0.004835613315047205,0.08602038579972465,0.9999999879195531,6.937731305167886e-05,-3.9872348555824876e-05,9.59204992157618e-05,0.6761,-0.0048,0.08593525209464899,1.0,0.0,0.0,0.0,0.04744527842497098,0.041687735782921585,1.11600662755865,0.0018789737175942168,-0.0023141515529774607,0.00012331506377338299,0.04627566164981319,0.06728714683898745,1.3708358757213794,-0.0011320039109933252,-0.0053497391224804625,-0.0011895426052878782,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7410712190619936,-0.22250548407965492,-0.5588783161949622,0.5027631422949616,0.4268287331064823,-0.17946071729992696,0.7032682909462498,1.11600662755865,1.262146607141212,1.262146607141212,1.9791225215840311,0,0,-0.0003775762307492699,-9.999999025923074e-05
+19037,1791278933368369231,11259388000000,1791278933364734989,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760748125146139,-0.004838489807052961,0.08584707388282029,0.9999999875248888,7.442188050768296e-05,-4.1947837796632474e-05,9.536691881053091e-05,0.6761,-0.0048,0.08576524950093557,1.0,0.0,0.0,0.0,0.04953021759962973,0.039621581983991815,1.1200711151452953,0.0018774496089134505,-0.0023148573672368386,0.00011809553932218492,0.04836060082447194,0.06522099304005768,1.3749003633080248,-0.0011335280196740915,-0.00535044493673984,-0.0011947621297390763,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7741809381700975,-0.08156550502250567,-0.6385153258191223,0.46614498881134675,0.48114429885918175,-0.08763414276961236,0.7032682909462498,1.1200711151452953,1.341783616765372,1.341783616765372,2.005582521584009,0,0,-0.0003918921283416462,-3.380227628214101e-05
+19088,1791278933793378540,11259813000000,1791278933788735117,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760760249601026,-0.00483751897190007,0.0856827036390379,0.9999999876534446,7.415856152388952e-05,-3.839264889448324e-05,9.572088254548908e-05,0.6761,-0.0048,0.08559686044033354,1.0,0.0,0.0,0.0,0.05480666007439455,0.04049249279518483,1.119960747104205,0.0018769720921820168,-0.00231462364619216,0.00011789224823832386,0.05363704329923676,0.0660919038512507,1.3747899952669342,-0.0011340055364055252,-0.005350211215695162,-0.0011949654208229374,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7574485142322692,-0.21685954115079933,-0.6834441838032054,0.5039374771663382,0.505491385135146,-0.17533339139089488,0.7032682909462498,1.119960747104205,1.386712474749455,1.386712474749455,2.031082521583987,0,0,-0.0004008016367864923,9.507393069896892e-05
+19139,1791278934218342313,11260238000000,1791278934216735148,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760735630774595,-0.004836714099147674,0.0855068091516507,0.9999999869929213,7.82807734263139e-05,-4.4826610656094946e-05,9.653868277420264e-05,0.6761,-0.0048,0.08542366817849047,1.0,0.0,0.0,0.0,0.055131880400533836,0.040227162134651225,1.1295239095003708,0.0018754241133942442,-0.0023172117534834016,0.00011947264059592507,0.053962263625376046,0.0658265731907171,1.3843531576631,-0.0011355535151932978,-0.005352799322986403,-0.0011933850284653361,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7743672045054588,-0.19986816724876702,-0.6642779273712012,0.501420808356539,0.49448427562458735,-0.16847077116638964,0.7032682909462498,1.1295239095003708,1.367546218317451,1.367546218317451,2.0565825215839655,0,0,-0.0004135417593267591,9.740769260256025e-12
+19187,1791278934618335624,11260638000000,1791278934616734752,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.676075813318227,-0.004843155778889199,0.08534921232502829,0.9999999877851491,7.011726443082326e-05,-3.748444043034406e-05,9.772948449958704e-05,0.6761,-0.0048,0.08525698644427446,1.0,0.0,0.0,0.0,0.05277686231877928,0.041822037435029984,1.1199788299169082,0.0018776977419542964,-0.002315117359350934,0.00011847651318042324,0.05160724554362149,0.06742144849109585,1.3748080780796375,-0.0011332798866332456,-0.005350704928853936,-0.001194381155880838,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7996628341908528,-0.18008411621987047,-0.6784691899795632,0.5044316621286579,0.5055716948605917,-0.1491375781808643,0.7032682909462498,1.1199788299169082,1.381737480925813,1.381737480925813,2.080582521583945,0,0,-0.0004214409734335092,2.1555040794241933e-05
+19239,1791278935052410216,11261072000000,1791278935044735544,DOWN_FORCE_DETACH,2,0.057,0.057002607733011246,0.6760758745076061,-0.004846684155784555,0.08516790122667195,0.9999999884366062,6.448302693522499e-05,-3.357812016555844e-05,9.635403996991385e-05,0.6761,-0.0048,0.08507238893678336,1.0,0.0,0.0,0.0,0.04619010796826781,0.03749849531627012,1.1236296964924435,0.0018761002550707138,-0.002315334130529426,0.00011663797616531931,0.04502049119311002,0.06309790637233599,1.378458944655173,-0.0011348773735168282,-0.005350921700032428,-0.001196219692895942,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8214517557036898,-0.16840103295438535,-0.7128756699503189,0.5009771746706682,0.5366880318564202,-0.14244067356577714,0.7032682909462498,1.1236296964924435,1.4161439608965687,1.4161439608965687,2.106622521583923,0,0,-0.0004263260885331314,9.952120657986114e-05
+19287,1791278935452447662,11261472000000,1791278935444735268,DOWN_FORCE_DETACH,2,0.057,0.05700194835662842,0.6760759982965682,-0.00484547725528883,0.08500059807316436,0.9999999886424707,6.547579941215891e-05,-3.445001475846506e-05,9.31881914588258e-05,0.6761,-0.0048,0.0848999233096323,1.0,0.0,0.0,0.0,0.04617255264177374,0.04191443447925996,1.1301120726744363,0.0018759570939830893,-0.0023171862538244018,0.00011019232311221673,0.045002935866615947,0.06751384553532583,1.3849413208371655,-0.0011350205346044528,-0.0053527738233274036,-0.0012026653459490445,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7544814409626409,-0.2544601294192584,-0.6220870956029085,0.5405654453603935,0.45596650197704774,-0.1954217403101749,0.7032682909462498,1.1301120726744363,1.3253553865491583,1.3253553865491583,2.1306225215839025,0,0,-0.00043419555915555206,-9.999999025923074e-05
+19336,1791278935854397938,11261874000000,1791278935852735026,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760778086264316,-0.004844053931127292,0.08482756057429611,0.9999999887899965,6.599229335816252e-05,-2.8195474464696766e-05,9.334293672898822e-05,0.6761,-0.0048,0.08472455728215218,1.0,0.0,0.0,0.0,0.04605990061568209,0.0321522961042486,1.1300385595856093,0.0018745119273379687,-0.002316352423029244,0.00010957754379786419,0.0448902838405243,0.05775170716031447,1.3848678077483387,-0.0011364657012495733,-0.005351939992532246,-0.001203280125263397,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8009647711255725,-0.17444755867813883,-0.5878376250232474,0.5134180974778213,0.44029117684981056,-0.14395431086154717,0.7032682909462498,1.1300385595856093,1.291105915969497,1.291105915969497,2.1462225215838893,0,0,-0.0004311203115517096,9.999999025923074e-05
+19384,1791278936254413331,11262274000000,1791278936248735219,DOWN_SETTLE,2,0.057,0.057002607733011246,0.6760780240919557,-0.004848502450382167,0.0846594310802783,0.9999999887037988,6.275789349888937e-05,-2.8076083159649638e-05,9.648029302245875e-05,0.6761,-0.0048,0.08455609915675029,1.0,0.0,0.0,0.0,0.0389789939721068,0.035738362603995544,1.1299726686111358,0.0018755866056640034,-0.0023158910676138035,0.00010877149342961826,0.03780937719694901,0.06133777366006141,1.3848019167738652,-0.0011353910229235386,-0.005351478637116805,-0.001204086175631643,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8485064059603926,-0.23066632187330854,-0.7153709725109678,0.5279293028809678,0.5326188239940669,-0.178818292232568,0.7032682909462498,1.1299726686111358,1.4186392634572176,1.4186392634572176,2.1462225215838893,0,0,-0.0004111203154480173,9.999999025923074e-05
+19434,1791278936671467782,11262691000000,1791278936664734732,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760752922130318,-0.0048531481839127165,0.08449001448548472,0.9999999880463862,6.598288820861375e-05,-3.3180567979569184e-05,9.947562577890494e-05,0.6761,-0.0048,0.08438899878435953,1.0,0.0,0.0,0.0,0.04606061514768256,0.03538928967197961,1.1278772837442914,0.0018746571638485474,-0.0023162389006597017,0.00013962433052744014,0.04489099837252477,0.06098870072804548,1.3827065319070206,-0.0011363204647389946,-0.0053518264701627035,-0.001173233338533821,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8408419295404496,-0.24868133644768847,-0.7115048184533753,0.5363392599757517,0.5281967283119823,-0.18746324616750004,0.7032682909462498,1.1278772837442914,1.4147731093996252,1.4147731093996252,2.1462225215838893,0,0,-0.0003902703195099181,9.999999025923074e-05
+19488,1791278937121490554,11263141000000,1791278937116735147,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760755693806898,-0.004851331870452731,0.08432228774393542,0.9999999881617837,6.651007160029131e-05,-3.2993855317440254e-05,9.801587990634077e-05,0.6761,-0.0048,0.08421842838959162,1.0,0.0,0.0,0.0,0.046194380363517355,0.04098870162794158,1.1199818212240076,0.0018775337204843493,-0.0023151164103824523,0.0001414642681833991,0.045024763588359565,0.06658811268400745,1.374811069386737,-0.0011334439081031927,-0.005350703979885454,-0.0011713934008778621,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8878694647374871,-0.14621881433264636,-0.6797217514262696,0.5073573664889176,0.5185250294386359,-0.12066900403265972,0.7032682909462498,1.1199818212240076,1.3829900423725192,1.3829900423725192,2.1462225215838893,0,0,-0.00036777032389326427,9.999999025923074e-05
+19548,1791278937621431565,11263641000000,1791278937616735260,DOWN_SETTLE,2,0.057,0.057002607733011246,0.676073279972426,-0.004853747925280286,0.08414526774162563,0.999999988351552,6.24349219447751e-05,-3.424567272422335e-05,9.833043663401661e-05,0.6761,-0.0048,0.08404078072642496,1.0,0.0,0.0,0.0,0.04132462302998156,0.03194646060028265,1.1099567046466912,0.001877117436122741,-0.002313298078961423,0.00012114586333858575,0.040155006254823766,0.05754587165634852,1.3647859528094204,-0.001133860192464801,-0.005348885648464425,-0.0011917118057226755,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.896698140785668,-0.20236450644965054,-0.7005016438379259,0.5273197320146293,0.5315012259845456,-0.15758482797772894,0.7032682909462498,1.1099567046466912,1.4037699347841757,1.4037699347841757,2.1462225215838893,0,0,-0.0003427703287636489,9.999999025923074e-05
+19612,1791278938154466236,11264174000000,1791278938152725115,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760726477309386,-0.004854521497466551,0.08397525466994818,0.9999999886914702,5.7652117585567635e-05,-3.347848035137129e-05,9.805788335249476e-05,0.6761,-0.0048,0.08386517303980771,1.0,0.0,0.0,0.0,0.046209567872461006,0.031276096963065665,1.1100819429387143,0.0018751821879211762,-0.0023144441075416363,0.00012904697495362853,0.045039951097303216,0.056875508019131535,1.3649111911014438,-0.0011357954406663658,-0.005350031677044638,-0.0011838106941076327,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9145070869398217,-0.2631182840179348,-0.7199512964750879,0.54839868002733,0.5454260461319448,-0.19499718261426172,0.7032682909462498,1.1100819429387143,1.4232195874213378,1.4232195874213378,2.1462225215838893,0,0,-0.0003161203339554789,9.999999025923074e-05
+19676,1791278938687417567,11264707000000,1791278938684725628,DOWN_SETTLE,2,0.057,0.05700194835662842,0.676072285905813,-0.004854775597641194,0.08381803895867092,0.9999999888885137,5.6900650222589266e-05,-3.4663905368252174e-05,9.605501724122325e-05,0.6761,-0.0048,0.08370376980042323,1.0,0.0,0.0,0.0,0.03699571103319982,0.03107146949837529,1.099855841376931,0.0018802659267248226,-0.0023095799513989314,0.00013284945400980326,0.03582609425804203,0.05667088055444116,1.3546850895396603,-0.0011307117018627194,-0.005345167520901933,-0.001180008215051458,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9293030389318432,-0.16264864569031323,-0.7276883641366564,0.5193626925728418,0.5521129127529697,-0.12504854586595937,0.7032682909462498,1.099855841376931,1.4309566550829063,1.4309566550829063,2.1462225215838893,0,0,-0.00028947033914730893,9.999999025923074e-05
+19749,1791278939296462242,11265316000000,1791278939288725631,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760748334283117,-0.0048560008667785474,0.08365586483593836,0.9999999892335946,5.424403810763137e-05,-2.626625498982816e-05,9.666097074760947e-05,0.6761,-0.0048,0.08353673916207321,1.0,0.0,0.0,0.0,0.046232064816992186,0.03068839023909719,1.0898757666280163,0.001881925168522619,-0.002307574864103943,0.00014203625202292023,0.045062448041834395,0.05628780129516306,1.3447050147907456,-0.001129052460064923,-0.005343162433606945,-0.001170821417038341,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.936187954457006,-0.21029808307875159,-0.7830044423642348,0.5194143310096777,0.585189689729579,-0.16134642175892094,0.7032682909462498,1.0898757666280163,1.4862727333104846,1.4862727333104846,2.1462225215838893,0,0,-0.0002590203450794374,9.999999025923074e-05
+19824,1791278939921506205,11265941000000,1791278939920725812,DOWN_SETTLE,2,0.057,0.05700194835662842,0.6760702383417354,-0.004853117980008224,0.08349724552953874,0.9999999883507665,6.005670842423241e-05,-3.5614552237124595e-05,9.932837714710041e-05,0.6761,-0.0048,0.08338460144449303,1.0,0.0,0.0,0.0,0.04620772117042295,0.03369632826267926,1.0898892288841178,0.0018815697372785993,-0.0023078451962015,0.0002684201029602405,0.045038104395265156,0.05929573931874513,1.3447184770468472,-0.0011294078913089427,-0.005343432765704502,-0.0010444375661010207,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9700318833786036,-0.2129314715165977,-0.7311355190301891,0.5209885702904992,0.5626756698116526,-0.16194020878852974,0.7032682909462498,1.0898892288841178,1.434403809976439,1.434403809976439,2.1462225215838893,0,0,-0.00022777035116741817,9.999999025923074e-05
+19908,1791278940621503890,11266641000000,1791278940620725842,DOWN_SETTLE,2,0.057,0.057002607733011246,0.676065973478027,-0.004858052055960876,0.08334107345689949,0.9999999886580263,5.171211681386009e-05,-4.226692436820111e-05,9.831671191033014e-05,0.6761,-0.0048,0.08323739469628594,1.0,0.0,0.0,0.0,0.04671323089003806,0.04037533390962302,1.0798315807335181,0.0018852416321147342,-0.0023062124384858056,0.00015016666715812082,0.04554361411488027,0.06597474496568889,1.3346608288962474,-0.0011257359964728078,-0.005341800007988807,-0.0011626910019031404,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.949370818117328,-0.08427123698290566,-0.798090746458623,0.49273725235681004,0.5981416461946816,-0.07421503802538143,0.7032682909462498,1.0798315807335181,1.5013590374048729,1.5013590374048729,2.1462225215838893,0,0,-0.00019277035798595665,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7876dbc2af7ad64b64c6836bdb85add2776f91e6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cfefac8a67499375030c28aa519a3f93c50e139
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,1.005000000e+01,DOWN_FORCE_DETACH,1791278915235454717,4.851785000e-05,-1.288128332e-06,-1.182024788e-03,4.439744255e-05,-2.173490386e-07,-1.182568634e-03,4.132413129e-05,-1.877310243e-07,-1.181525461e-03,7.015863893e-01,2.628329887e-07,8.395589164e-01,7.015822689e-01,1.333612282e-06,8.395583726e-01,7.017670833e-01,1.535831211e-06,8.285990879e-01
+15,1.061666667e+01,DOWN_FORCE_DETACH,1791278916085141296,5.001550437e-05,-2.331672825e-06,-1.307740037e-03,4.988061474e-05,-6.134363324e-06,-1.299913751e-03,4.657367888e-05,-6.118826739e-06,-1.298851373e-03,7.015878870e-01,-7.807115043e-07,8.394332012e-01,7.015877521e-01,-4.583402003e-06,8.394410274e-01,7.017723329e-01,-4.395264504e-06,8.284817620e-01
+16,1.116666667e+01,DOWN_FORCE_DETACH,1791278916918194068,5.172593237e-05,-5.449156042e-06,-1.424321856e-03,4.861895617e-05,-2.608978539e-06,-1.409595983e-03,4.489585010e-05,-2.595466795e-06,-1.408641087e-03,7.015895974e-01,-3.898194721e-06,8.393166193e-01,7.015864904e-01,-1.058017218e-06,8.393313452e-01,7.017706550e-01,-8.719045598e-07,8.283719723e-01
+17,1.170000000e+01,DOWN_FORCE_DETACH,1791278917718186142,5.227058803e-05,-1.138001261e-05,-1.541058418e-03,5.194672555e-05,-1.319449493e-05,-1.539713473e-03,4.782096949e-05,-1.318808964e-05,-1.538716028e-03,7.015901421e-01,-9.829051286e-06,8.391998828e-01,7.015898182e-01,-1.164353361e-05,8.392012277e-01,7.017735802e-01,-1.146452740e-05,8.282418974e-01
+18,1.225000000e+01,DOWN_FORCE_DETACH,1791278918567611446,5.538337321e-05,-1.302334498e-05,-1.673557550e-03,5.678026532e-05,-1.431199298e-05,-1.654197205e-03,5.234657367e-05,-1.430509568e-05,-1.653198880e-03,7.015932549e-01,-1.147238366e-05,8.390673836e-01,7.015946517e-01,-1.276103166e-05,8.390867440e-01,7.017781058e-01,-1.258153344e-05,8.281274145e-01
+19,1.283333333e+01,DOWN_FORCE_DETACH,1791278919446570791,6.005703063e-05,-1.819961343e-05,-1.806119185e-03,5.990496335e-05,-1.808108745e-05,-1.806142117e-03,5.505877767e-05,-1.801576486e-05,-1.804946597e-03,7.015979285e-01,-1.664865211e-05,8.389348220e-01,7.015977764e-01,-1.653012613e-05,8.389347991e-01,7.017808180e-01,-1.629220263e-05,8.279756668e-01
+20,1.340000000e+01,DOWN_FORCE_DETACH,1791278920290000145,5.929858385e-05,-2.130555679e-05,-1.942050339e-03,6.422726912e-05,-2.452460774e-05,-1.935001895e-03,5.902464809e-05,-2.447682067e-05,-1.933811619e-03,7.015971701e-01,-1.975459547e-05,8.387988908e-01,7.016020988e-01,-2.297364642e-05,8.388059393e-01,7.017847838e-01,-2.275325843e-05,8.278468018e-01
+21,1.395000000e+01,DOWN_FORCE_DETACH,1791278921117094162,6.614267577e-05,-2.428041590e-05,-2.070431188e-03,6.521414048e-05,-2.726437076e-05,-2.067514252e-03,5.960832102e-05,-2.718394777e-05,-2.066311270e-03,7.016040142e-01,-2.272945458e-05,8.386705100e-01,7.016030856e-01,-2.571340943e-05,8.386734269e-01,7.017853675e-01,-2.546038554e-05,8.277143021e-01
+22,1.446666667e+01,DOWN_FORCE_DETACH,1791278921887870930,6.915873214e-05,-2.957305351e-05,-2.191512374e-03,6.721407019e-05,-3.191454357e-05,-2.183501129e-03,6.121907814e-05,-3.184157473e-05,-2.182347226e-03,7.016070302e-01,-2.802209219e-05,8.385494288e-01,7.016050856e-01,-3.036358225e-05,8.385574401e-01,7.017869783e-01,-3.011801249e-05,8.275982662e-01
+23,1.501666667e+01,DOWN_FORCE_DETACH,1791278922704360675,6.807078365e-05,-3.165969626e-05,-2.332261896e-03,6.579656835e-05,-3.255567763e-05,-2.319125761e-03,5.926767503e-05,-3.248473590e-05,-2.317954442e-03,7.016059423e-01,-3.010873494e-05,8.384086793e-01,7.016036680e-01,-3.100471631e-05,8.384218154e-01,7.017850269e-01,-3.076117366e-05,8.274626589e-01
+24,1.558333333e+01,DOWN_FORCE_DETACH,1791278923554188208,7.737502011e-05,-3.628594829e-05,-2.471335409e-03,7.336380412e-05,-3.755391930e-05,-2.453872673e-03,6.658184797e-05,-3.744080458e-05,-2.452727295e-03,7.016152465e-01,-3.473498697e-05,8.382696058e-01,7.016112353e-01,-3.600295798e-05,8.382870685e-01,7.017923410e-01,-3.571724235e-05,8.273278861e-01
+25,1.611666667e+01,DOWN_FORCE_DETACH,1791278924355136431,7.828332573e-05,-4.227229534e-05,-2.621958753e-03,7.810612672e-05,-4.253271914e-05,-2.622269339e-03,7.087182943e-05,-4.241814575e-05,-2.620910728e-03,7.016161548e-01,-4.072133402e-05,8.381189824e-01,7.016159776e-01,-4.098175782e-05,8.381186718e-01,7.017966310e-01,-4.069458351e-05,8.271597027e-01
+26,1.663333333e+01,DOWN_FORCE_DETACH,1791278925123599508,7.985077084e-05,-4.102251738e-05,-2.769488660e-03,8.065867726e-05,-3.762763795e-05,-2.755428448e-03,7.300201228e-05,-3.748500035e-05,-2.754195688e-03,7.016177223e-01,-3.947155606e-05,8.379714525e-01,7.016185302e-01,-3.607667663e-05,8.379855127e-01,7.017987612e-01,-3.576143811e-05,8.270264177e-01
+27,1.711666667e+01,DOWN_FORCE_DETACH,1791278925853662281,8.222828521e-05,-3.678006243e-05,-2.912885232e-03,8.160489589e-05,-3.292488790e-05,-2.903505136e-03,7.345690120e-05,-3.279867129e-05,-2.902213698e-03,7.016200998e-01,-3.522910111e-05,8.378280560e-01,7.016194764e-01,-3.137392658e-05,8.378374361e-01,7.017992161e-01,-3.107510906e-05,8.268783997e-01
+28,1.758333333e+01,DOWN_FORCE_DETACH,1791278926552866804,8.159419278e-05,-3.097526506e-05,-3.060565427e-03,7.989557248e-05,-2.962863206e-05,-3.049565319e-03,7.119733266e-05,-2.956570951e-05,-3.048215230e-03,7.016194657e-01,-2.942430374e-05,8.376803758e-01,7.016177671e-01,-2.807767074e-05,8.376913759e-01,7.017969565e-01,-2.784214728e-05,8.267323982e-01
+29,1.803333333e+01,DOWN_FORCE_DETACH,1791278927224875209,8.081798014e-05,-3.042744434e-05,-3.203618967e-03,8.037732126e-05,-3.260804236e-05,-3.188816935e-03,7.120240762e-05,-3.253486003e-05,-3.187433124e-03,7.016186895e-01,-2.887648302e-05,8.375373222e-01,7.016182488e-01,-3.105708104e-05,8.375521243e-01,7.017969616e-01,-3.081129780e-05,8.265931803e-01
+30,1.851666667e+01,DOWN_FORCE_DETACH,1791278927952968870,7.973965016e-05,-3.094151398e-05,-3.369123310e-03,7.849997478e-05,-3.197019277e-05,-3.356704297e-03,6.865114931e-05,-3.191255923e-05,-3.355281514e-03,7.016176111e-01,-2.939055266e-05,8.373718179e-01,7.016163715e-01,-3.041923145e-05,8.373842369e-01,7.017944103e-01,-3.018899699e-05,8.264253319e-01
+31,1.893333333e+01,DOWN_FORCE_DETACH,1791278928582961485,8.203703759e-05,-3.584545189e-05,-3.525852930e-03,8.318667909e-05,-3.660990882e-05,-3.517346222e-03,7.287850800e-05,-3.655621006e-05,-3.515734811e-03,7.016199085e-01,-3.429449057e-05,8.372150883e-01,7.016210582e-01,-3.505894750e-05,8.372235950e-01,7.017986377e-01,-3.483264782e-05,8.262648786e-01
+32,1.935000000e+01,DOWN_FORCE_DETACH,1791278929204038584,8.463163017e-05,-3.759921743e-05,-3.684520143e-03,8.441658067e-05,-3.727137359e-05,-3.684442598e-03,7.350730161e-05,-3.718912624e-05,-3.682795165e-03,7.016225031e-01,-3.604825611e-05,8.370564210e-01,7.016222881e-01,-3.572041227e-05,8.370564986e-01,7.017992665e-01,-3.546556401e-05,8.260978182e-01
+33,1.973333333e+01,DOWN_FORCE_DETACH,1791278929782934547,8.541265666e-05,-4.236597851e-05,-3.839686598e-03,8.554135005e-05,-4.087603623e-05,-3.825061555e-03,7.415560563e-05,-4.076444927e-05,-3.823433692e-03,7.016232841e-01,-4.081501719e-05,8.369012546e-01,7.016234128e-01,-3.932507491e-05,8.369158796e-01,7.017999148e-01,-3.904088704e-05,8.259571797e-01
+34,2.011666667e+01,DOWN_FORCE_DETACH,1791278930353079312,8.805793711e-05,-4.214794233e-05,-4.002777554e-03,8.798601194e-05,-4.221056973e-05,-4.002529246e-03,7.608913904e-05,-4.210462466e-05,-4.000715543e-03,7.016259294e-01,-4.059698101e-05,8.367381636e-01,7.016258575e-01,-4.065960841e-05,8.367384119e-01,7.018018483e-01,-4.038106242e-05,8.257798978e-01
+35,2.046666667e+01,DOWN_FORCE_DETACH,1791278930883093415,8.403401620e-05,-4.969267445e-05,-4.171361056e-03,8.317005232e-05,-4.817391335e-05,-4.152775274e-03,7.067702822e-05,-4.804236261e-05,-4.150968174e-03,7.016219055e-01,-4.814171313e-05,8.365695801e-01,7.016210415e-01,-4.662295203e-05,8.365881659e-01,7.017964362e-01,-4.631880037e-05,8.256296452e-01
+36,2.083333333e+01,DOWN_FORCE_DETACH,1791278931423698940,8.254026417e-05,-5.008268817e-05,-4.341907008e-03,8.252432735e-05,-5.009708383e-05,-4.341943727e-03,6.937701360e-05,-4.998289810e-05,-4.340011520e-03,7.016204117e-01,-4.853172685e-05,8.363990342e-01,7.016203958e-01,-4.854612251e-05,8.363989975e-01,7.017951362e-01,-4.825933586e-05,8.254406019e-01
+37,2.118333333e+01,DOWN_FORCE_DETACH,1791278931954665028,9.002800069e-05,-4.974358565e-05,-4.512779627e-03,8.899831160e-05,-4.899140079e-05,-4.500427266e-03,7.538338746e-05,-4.887311719e-05,-4.498593374e-03,7.016278995e-01,-4.819262433e-05,8.362281616e-01,7.016268698e-01,-4.744043947e-05,8.362405139e-01,7.018011426e-01,-4.714955496e-05,8.252820200e-01
+38,2.151666667e+01,DOWN_FORCE_DETACH,1791278932454204415,8.471737544e-05,-5.356534668e-05,-4.694763077e-03,8.448306635e-05,-5.353757285e-05,-4.694562956e-03,7.007433666e-05,-5.337739339e-05,-4.692565201e-03,7.016225889e-01,-5.201438536e-05,8.360461781e-01,7.016223545e-01,-5.198661153e-05,8.360463782e-01,7.017958335e-01,-5.165383116e-05,8.250880482e-01
+39,2.181666667e+01,DOWN_FORCE_DETACH,1791278932924167675,9.020935252e-05,-5.292669121e-05,-4.859215291e-03,8.650801752e-05,-5.190406924e-05,-4.845134357e-03,7.166720921e-05,-5.180032062e-05,-4.843126920e-03,7.016280808e-01,-5.137572989e-05,8.358817259e-01,7.016243795e-01,-5.035310792e-05,8.358958068e-01,7.017974264e-01,-5.007675838e-05,8.249374865e-01
+40,2.211666667e+01,DOWN_FORCE_DETACH,1791278933371800805,8.986257507e-05,-5.213828376e-05,-5.031657546e-03,8.901836393e-05,-5.440609596e-05,-5.025342060e-03,7.361472805e-05,-5.429859635e-05,-5.023140256e-03,7.016277341e-01,-5.058732244e-05,8.357092836e-01,7.016268898e-01,-5.285513464e-05,8.357155991e-01,7.017993739e-01,-5.257503412e-05,8.247574731e-01
+41,2.240000000e+01,DOWN_FORCE_DETACH,1791278933792110975,8.716139233e-05,-5.303316322e-05,-5.201447949e-03,8.958021850e-05,-5.284360024e-05,-5.181644947e-03,7.360773444e-05,-5.272168036e-05,-5.179469631e-03,7.016250329e-01,-5.148220189e-05,8.355394932e-01,7.016274517e-01,-5.129263892e-05,8.355592962e-01,7.017993669e-01,-5.099811813e-05,8.246011438e-01
+42,2.268333333e+01,DOWN_FORCE_DETACH,1791278934221460132,8.345926413e-05,-5.423568081e-05,-5.382092231e-03,8.337163342e-05,-5.409330945e-05,-5.381926984e-03,6.658799732e-05,-5.398691110e-05,-5.379526243e-03,7.016213307e-01,-5.268471949e-05,8.353588490e-01,7.016212431e-01,-5.254234813e-05,8.353590142e-01,7.017923472e-01,-5.226334886e-05,8.244010871e-01
+43,2.295000000e+01,DOWN_FORCE_DETACH,1791278934621711933,8.592413542e-05,-5.888377181e-05,-5.537113512e-03,8.568837543e-05,-5.892048599e-05,-5.537325472e-03,6.841126941e-05,-5.884256410e-05,-5.534858859e-03,7.016237956e-01,-5.733281049e-05,8.352038277e-01,7.016235599e-01,-5.736952467e-05,8.352036157e-01,7.017941705e-01,-5.711900186e-05,8.242457545e-01
+44,2.323333333e+01,DOWN_FORCE_DETACH,1791278935051178009,8.922865765e-05,-5.951636798e-05,-5.713547770e-03,8.754935946e-05,-5.538108344e-05,-5.707575170e-03,6.974976453e-05,-5.529112072e-05,-5.705200295e-03,7.016271001e-01,-5.796540666e-05,8.350273934e-01,7.016254208e-01,-5.383012212e-05,8.350333660e-01,7.017955089e-01,-5.356755849e-05,8.240754131e-01
+45,2.350000000e+01,DOWN_FORCE_DETACH,1791278935451178133,8.642495993e-05,-6.605728521e-05,-5.886091923e-03,8.617787306e-05,-6.589788384e-05,-5.886127357e-03,6.771531222e-05,-6.570910272e-05,-5.883689578e-03,7.016242964e-01,-6.450632389e-05,8.348548493e-01,7.016240494e-01,-6.434692252e-05,8.348548138e-01,7.017934745e-01,-6.398554049e-05,8.238969238e-01
+46,2.376666667e+01,DOWN_SETTLE,1791278935851128643,8.895016191e-05,-6.514386129e-05,-6.058279782e-03,8.857298768e-05,-6.516630437e-05,-6.058282055e-03,6.957589182e-05,-6.499138121e-05,-6.055879758e-03,7.016268216e-01,-6.359289997e-05,8.346826614e-01,7.016264445e-01,-6.361534305e-05,8.346826591e-01,7.017953351e-01,-6.326781897e-05,8.237247336e-01
+47,2.403333333e+01,DOWN_SETTLE,1791278936251159727,8.909288269e-05,-6.336450158e-05,-6.226118626e-03,8.901795610e-05,-6.349500622e-05,-6.226031914e-03,6.949150270e-05,-6.333214280e-05,-6.223659330e-03,7.016269644e-01,-6.181354026e-05,8.345148226e-01,7.016268894e-01,-6.194404490e-05,8.345149093e-01,7.017952507e-01,-6.160858057e-05,8.235569541e-01
+48,2.431666667e+01,DOWN_SETTLE,1791278936674157788,8.787163559e-05,-6.574742667e-05,-6.397626546e-03,8.788860670e-05,-6.643981455e-05,-6.388241372e-03,6.769690436e-05,-6.629237175e-05,-6.385963610e-03,7.016257431e-01,-6.419646535e-05,8.343433146e-01,7.016257601e-01,-6.488885323e-05,8.343526998e-01,7.017934561e-01,-6.456880952e-05,8.233946498e-01
+49,2.461666667e+01,DOWN_SETTLE,1791278937122473309,8.716724617e-05,-6.860548151e-05,-6.565686018e-03,8.795504884e-05,-6.584988117e-05,-6.551101591e-03,6.725541585e-05,-6.566120189e-05,-6.548925358e-03,7.016250387e-01,-6.705452019e-05,8.341752552e-01,7.016258265e-01,-6.429891984e-05,8.341898396e-01,7.017930146e-01,-6.393763965e-05,8.232316880e-01
+50,2.495000000e+01,DOWN_SETTLE,1791278937622483867,8.581899057e-05,-7.019180581e-05,-6.740624108e-03,8.570621824e-05,-6.992994587e-05,-6.740508985e-03,6.425920999e-05,-6.973887811e-05,-6.738349499e-03,7.016236905e-01,-6.864084449e-05,8.340003171e-01,7.016235777e-01,-6.837898454e-05,8.340004322e-01,7.017900184e-01,-6.801531587e-05,8.230422639e-01
+51,2.530000000e+01,DOWN_SETTLE,1791278938151211419,8.562982383e-05,-7.043399662e-05,-6.905884305e-03,8.275403212e-05,-6.890401476e-05,-6.903142468e-03,6.071346798e-05,-6.874852850e-05,-6.901105805e-03,7.016235013e-01,-6.888303530e-05,8.338350569e-01,7.016206255e-01,-6.735305344e-05,8.338377987e-01,7.017864727e-01,-6.702496626e-05,8.228795076e-01
+52,2.566666667e+01,DOWN_SETTLE,1791278938691549803,8.391781343e-05,-7.041771607e-05,-7.067306662e-03,8.395284381e-05,-7.098588232e-05,-7.049358605e-03,6.144069241e-05,-7.081830681e-05,-7.047573206e-03,7.016217893e-01,-6.886675475e-05,8.336736345e-01,7.016218243e-01,-6.943492100e-05,8.336915826e-01,7.017871999e-01,-6.909474457e-05,8.227330402e-01
+53,2.606666667e+01,DOWN_SETTLE,1791278939294295908,8.351940021e-05,-7.405846171e-05,-7.231932817e-03,8.348312395e-05,-7.505107996e-05,-7.220865722e-03,6.036450495e-05,-7.482797125e-05,-7.219198037e-03,7.016213909e-01,-7.250750039e-05,8.335090084e-01,7.016213546e-01,-7.350011864e-05,8.335200755e-01,7.017861237e-01,-7.310440902e-05,8.225614154e-01
+54,2.648333333e+01,DOWN_SETTLE,1791278939921275022,8.099940417e-05,-6.793353678e-05,-7.391579747e-03,8.207820450e-05,-6.791338680e-05,-7.381047390e-03,5.838502520e-05,-6.771576357e-05,-7.379532114e-03,7.016188709e-01,-6.638257546e-05,8.333493614e-01,7.016199497e-01,-6.636242548e-05,8.333598938e-01,7.017841442e-01,-6.599220134e-05,8.224010813e-01
+55,2.695000000e+01,DOWN_SETTLE,1791278940621812365,7.778975940e-05,-6.782173431e-05,-7.542587235e-03,7.602471859e-05,-6.894861363e-05,-7.537370424e-03,5.163433891e-05,-6.877425411e-05,-7.535917943e-03,7.016156612e-01,-6.627077299e-05,8.331983540e-01,7.016138962e-01,-6.739765230e-05,8.332035708e-01,7.017773935e-01,-6.705069188e-05,8.222446954e-01
+56,2.750000000e+01,DOWN_SETTLE,1791278941451523389,7.825080886e-05,-7.194790011e-05,-7.687938656e-03,7.647293819e-05,-6.840539147e-05,-7.671482874e-03,5.160983761e-05,-6.826070859e-05,-7.670335813e-03,7.016161223e-01,-7.039693879e-05,8.330530025e-01,7.016143444e-01,-6.685443015e-05,8.330694583e-01,7.017773690e-01,-6.653714635e-05,8.221102776e-01
+57,2.808333333e+01,DOWN_SETTLE,1791278942322419888,7.417793151e-05,-7.203472614e-05,-7.806393300e-03,7.398062262e-05,-7.209590486e-05,-7.806143368e-03,4.859241671e-05,-7.194398291e-05,-7.805130147e-03,7.016120494e-01,-7.048376482e-05,8.329345479e-01,7.016118521e-01,-7.054494354e-05,8.329347978e-01,7.017743516e-01,-7.022042068e-05,8.219754832e-01
+58,2.870000000e+01,DOWN_SETTLE,1791278943251427019,6.754463363e-05,-7.260583950e-05,-7.892257173e-03,6.826276413e-05,-7.154493513e-05,-7.875520805e-03,4.251563935e-05,-7.136436563e-05,-7.874927392e-03,7.016054161e-01,-7.105487818e-05,8.328486840e-01,7.016061342e-01,-6.999397380e-05,8.328654204e-01,7.017682748e-01,-6.964080339e-05,8.219056860e-01
+59,2.938333333e+01,DOWN_SETTLE,1791278944273235014,6.463916335e-05,-7.418045293e-05,-7.940719021e-03,6.471679411e-05,-7.513662565e-05,-7.937015839e-03,3.864918544e-05,-7.494932642e-05,-7.936650607e-03,7.016025106e-01,-7.262949160e-05,8.328002222e-01,7.016025883e-01,-7.358566432e-05,8.328039253e-01,7.017644084e-01,-7.322576418e-05,8.218439628e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dea6e27c7ec54f5b68cd0adc5b38455e50b64ab8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,2.9821e-03,-8.3036e-04,2.4524e+00,-3.6709e-02,3.7008e-02,-2.2818e-05,6.2636e-05,3.1339e-07,-1.6212e-05,4.8429e-08,4.5113e-06,-2.5803e-07,6.4701e-05,4.5190e-06
+1,8.0000e-01,DOWN_FORCE_DETACH,1.8696e-04,4.9837e-03,-8.0633e-04,2.4519e+00,-3.6708e-02,3.7152e-02,-3.2847e-05,2.0643e-03,2.4336e-05,-5.2118e-04,1.4007e-06,1.4803e-04,-1.0287e-05,2.1292e-03,1.4839e-04
+2,1.7000e+00,DOWN_FORCE_DETACH,3.7235e-04,6.0658e-03,3.9150e-04,2.4553e+00,-3.6788e-02,3.7225e-02,-3.9250e-05,3.1463e-03,1.2222e-03,2.8691e-03,-7.8898e-05,2.2104e-04,-1.6690e-05,4.4300e-03,2.3530e-04
+3,2.6000e+00,DOWN_FORCE_DETACH,5.6227e-04,6.4293e-03,-5.3992e-04,2.4608e+00,-3.6722e-02,3.7243e-02,-4.4460e-05,3.5098e-03,2.9075e-04,8.4510e-03,-1.3050e-05,2.3934e-04,-2.1900e-05,9.1555e-03,2.4070e-04
+4,3.3667e+00,DOWN_FORCE_DETACH,7.4744e-04,5.9166e-03,6.3683e-05,2.4674e+00,-3.6764e-02,3.7197e-02,-4.6462e-05,2.9971e-03,8.9435e-04,1.4992e-02,-5.5537e-05,1.9336e-04,-2.3902e-05,1.5315e-02,2.0259e-04
+5,4.1167e+00,DOWN_FORCE_DETACH,9.3198e-04,5.2089e-03,7.7363e-04,2.4708e+00,-3.6821e-02,3.7140e-02,-4.6669e-05,2.2894e-03,1.6043e-03,1.8397e-02,-1.1184e-04,1.3633e-04,-2.4109e-05,1.8608e-02,1.7798e-04
+6,4.7167e+00,DOWN_FORCE_DETACH,1.1181e-03,5.1178e-03,2.5720e-03,2.4739e+00,-3.6956e-02,3.7128e-02,-4.4957e-05,2.1983e-03,3.4026e-03,2.1507e-02,-2.4660e-04,1.2395e-04,-2.2397e-05,2.1885e-02,2.7691e-04
+7,5.4333e+00,DOWN_FORCE_DETACH,1.3038e-03,5.5024e-03,2.6583e-03,2.4818e+00,-3.6969e-02,3.7145e-02,-4.1749e-05,2.5829e-03,3.4890e-03,2.9376e-02,-2.6054e-04,1.4165e-04,-1.9189e-05,2.9695e-02,2.9718e-04
+8,6.1833e+00,DOWN_FORCE_DETACH,1.4930e-03,8.0446e-03,3.4697e-03,2.4847e+00,-3.7019e-02,3.7321e-02,-3.4701e-05,5.1252e-03,4.3004e-03,3.2320e-02,-3.1021e-04,3.1778e-04,-1.2141e-05,3.3005e-02,4.4425e-04
+9,6.8500e+00,DOWN_FORCE_DETACH,1.6804e-03,8.0117e-03,-9.9954e-04,2.4909e+00,-3.6690e-02,3.7312e-02,-3.5015e-05,5.0922e-03,-1.6886e-04,3.8502e-02,1.9010e-05,3.0819e-04,-1.2455e-05,3.8837e-02,3.0903e-04
+10,7.5167e+00,DOWN_FORCE_DETACH,1.8635e-03,7.5642e-03,-3.7442e-03,2.4960e+00,-3.6497e-02,3.7276e-02,-3.8676e-05,4.6448e-03,-2.9135e-03,4.3599e-02,2.1154e-04,2.7193e-04,-1.6116e-05,4.3943e-02,3.4490e-04
+11,8.2000e+00,DOWN_FORCE_DETACH,2.0527e-03,5.8692e-03,-3.4291e-03,2.4943e+00,-3.6545e-02,3.7156e-02,-4.0804e-05,2.9498e-03,-2.5984e-03,4.1873e-02,1.6420e-04,1.5209e-04,-1.8244e-05,4.2057e-02,2.2456e-04
+12,8.8500e+00,DOWN_FORCE_DETACH,2.2372e-03,4.6798e-03,-4.2565e-03,2.4959e+00,-3.6507e-02,3.7075e-02,-4.3740e-05,1.7603e-03,-3.4258e-03,4.3520e-02,2.0194e-04,7.0978e-05,-2.1180e-05,4.3690e-02,2.1510e-04
+13,9.4667e+00,DOWN_FORCE_DETACH,2.4223e-03,5.4349e-03,-1.3410e-03,2.4939e+00,-3.6688e-02,3.7121e-02,-4.6668e-05,2.5154e-03,-5.1029e-04,4.1487e-02,2.1294e-05,1.1772e-04,-2.4108e-05,4.1567e-02,1.2203e-04
+14,1.0050e+01,DOWN_FORCE_DETACH,2.6064e-03,5.1899e-03,-5.4140e-04,2.4996e+00,-3.6734e-02,3.7100e-02,-4.1965e-05,2.2704e-03,2.8927e-04,4.7160e-02,-2.4643e-05,9.6682e-05,-1.9405e-05,4.7216e-02,1.0164e-04
+15,1.0617e+01,DOWN_FORCE_DETACH,2.7980e-03,4.6843e-03,1.0575e-03,2.4995e+00,-3.6859e-02,3.7065e-02,-2.8136e-05,1.7648e-03,1.8881e-03,4.7078e-02,-1.5022e-04,6.1255e-05,-5.5756e-06,4.7149e-02,1.6232e-04
+16,1.1167e+01,DOWN_FORCE_DETACH,2.9853e-03,6.5206e-03,-3.8568e-04,2.4959e+00,-3.6784e-02,3.7195e-02,-1.5527e-05,3.6011e-03,4.4499e-04,4.3471e-02,-7.5225e-05,1.9104e-04,7.0328e-06,4.3622e-02,2.0544e-04
+17,1.1700e+01,DOWN_FORCE_DETACH,3.1683e-03,7.0114e-03,3.1212e-03,2.4988e+00,-3.7000e-02,3.7234e-02,-6.4492e-06,4.0919e-03,3.9519e-03,4.6376e-02,-2.9113e-04,2.3011e-04,1.6111e-05,4.6724e-02,3.7144e-04
+18,1.2250e+01,DOWN_FORCE_DETACH,3.3565e-03,6.1165e-03,3.5668e-03,2.4994e+00,-3.7009e-02,3.7166e-02,-4.5203e-06,3.1970e-03,4.3974e-03,4.6968e-02,-2.9957e-04,1.6230e-04,1.8040e-05,4.7282e-02,3.4119e-04
+19,1.2833e+01,DOWN_FORCE_DETACH,3.5439e-03,5.3300e-03,4.0712e-03,2.5025e+00,-3.7044e-02,3.7102e-02,-1.1234e-05,2.4105e-03,4.9019e-03,5.0141e-02,-3.3525e-04,9.8623e-05,1.1326e-05,5.0438e-02,3.4964e-04
+20,1.3400e+01,DOWN_FORCE_DETACH,3.7306e-03,5.5802e-03,6.1616e-03,2.5074e+00,-3.7208e-02,3.7114e-02,-2.1006e-05,2.6607e-03,6.9922e-03,5.5033e-02,-4.9897e-04,1.0993e-04,1.5544e-06,5.5539e-02,5.1094e-04
+21,1.3950e+01,DOWN_FORCE_DETACH,3.9170e-03,6.8954e-03,7.1802e-03,2.5091e+00,-3.7274e-02,3.7198e-02,-2.2270e-05,3.9759e-03,8.0108e-03,5.6660e-02,-5.6517e-04,1.9386e-04,2.8976e-07,5.7362e-02,5.9750e-04
+22,1.4467e+01,DOWN_FORCE_DETACH,4.1010e-03,6.8663e-03,9.1716e-03,2.5076e+00,-3.7358e-02,3.7200e-02,-1.3957e-05,3.9468e-03,1.0002e-02,5.5185e-02,-6.4926e-04,1.9652e-04,8.6029e-06,5.6223e-02,6.7840e-04
+23,1.5017e+01,DOWN_FORCE_DETACH,4.2866e-03,7.3012e-03,9.1806e-03,2.5092e+00,-3.7329e-02,3.7228e-02,-4.6405e-06,4.3817e-03,1.0011e-02,5.6809e-02,-6.2010e-04,2.2468e-04,1.7919e-05,5.7851e-02,6.5980e-04
+24,1.5583e+01,DOWN_FORCE_DETACH,4.4766e-03,5.7877e-03,1.0742e-02,2.5086e+00,-3.7435e-02,3.7122e-02,3.4312e-06,2.8682e-03,1.1572e-02,5.6160e-02,-7.2566e-04,1.1876e-04,2.5991e-05,5.7412e-02,7.3577e-04
+25,1.6117e+01,DOWN_FORCE_DETACH,4.6605e-03,6.3357e-03,1.2962e-02,2.5094e+00,-3.7562e-02,3.7156e-02,2.1670e-06,3.4162e-03,1.3793e-02,5.7034e-02,-8.5261e-04,1.5227e-04,2.4727e-05,5.8778e-02,8.6646e-04
+26,1.6633e+01,DOWN_FORCE_DETACH,4.8487e-03,6.3633e-03,1.2719e-02,2.5125e+00,-3.7556e-02,3.7153e-02,-3.9793e-06,3.4438e-03,1.3549e-02,6.0088e-02,-8.4751e-04,1.4904e-04,1.8581e-05,6.1693e-02,8.6071e-04
+27,1.7117e+01,DOWN_FORCE_DETACH,5.0373e-03,7.4917e-03,1.0297e-02,2.5150e+00,-3.7436e-02,3.7223e-02,-4.4918e-06,4.5723e-03,1.1128e-02,6.2645e-02,-7.2704e-04,2.1977e-04,1.8068e-05,6.3790e-02,7.5974e-04
+28,1.7583e+01,DOWN_FORCE_DETACH,5.2201e-03,9.3778e-03,8.1769e-03,2.5172e+00,-3.7300e-02,3.7352e-02,-1.5937e-06,6.4584e-03,9.0076e-03,6.4798e-02,-5.9146e-04,3.4794e-04,2.0966e-05,6.5739e-02,6.8654e-04
+29,1.8033e+01,DOWN_FORCE_DETACH,5.4068e-03,8.5875e-03,8.5489e-03,2.5181e+00,-3.7309e-02,3.7300e-02,2.6087e-06,5.6680e-03,9.3795e-03,6.5759e-02,-6.0024e-04,2.9629e-04,2.5169e-05,6.6666e-02,6.6986e-04
+30,1.8517e+01,DOWN_FORCE_DETACH,5.5958e-03,7.8123e-03,7.9474e-03,2.5230e+00,-3.7266e-02,3.7233e-02,1.5066e-06,4.8928e-03,8.7781e-03,7.0620e-02,-5.5671e-04,2.2895e-04,2.4067e-05,7.1332e-02,6.0243e-04
+31,1.8933e+01,DOWN_FORCE_DETACH,5.7816e-03,6.5138e-03,9.7118e-03,2.5279e+00,-3.7384e-02,3.7139e-02,-1.8536e-06,3.5943e-03,1.0542e-02,7.5493e-02,-6.7460e-04,1.3531e-04,2.0706e-05,7.6311e-02,6.8835e-04
+32,1.9350e+01,DOWN_FORCE_DETACH,5.9710e-03,7.3420e-03,1.1776e-02,2.5290e+00,-3.7489e-02,3.7196e-02,-1.9198e-06,4.4225e-03,1.2606e-02,7.6648e-02,-7.7972e-04,1.9185e-04,2.0640e-05,7.7803e-02,8.0324e-04
+33,1.9733e+01,DOWN_FORCE_DETACH,6.1548e-03,6.1209e-03,1.2034e-02,2.5331e+00,-3.7465e-02,3.7107e-02,2.9290e-06,3.2014e-03,1.2864e-02,8.0686e-02,-7.5645e-04,1.0310e-04,2.5489e-05,8.1767e-02,7.6387e-04
+34,2.0117e+01,DOWN_FORCE_DETACH,6.3373e-03,6.9258e-03,1.3086e-02,2.5348e+00,-3.7549e-02,3.7157e-02,4.9110e-06,4.0063e-03,1.3917e-02,8.2410e-02,-8.3982e-04,1.5375e-04,2.7471e-05,8.3672e-02,8.5422e-04
+35,2.0467e+01,DOWN_FORCE_DETACH,6.5246e-03,8.5599e-03,1.3302e-02,2.5424e+00,-3.7574e-02,3.7258e-02,-1.0690e-06,5.6404e-03,1.4132e-02,9.0017e-02,-8.6505e-04,2.5468e-04,2.1491e-05,9.1294e-02,9.0202e-04
+36,2.0833e+01,DOWN_FORCE_DETACH,6.7102e-03,8.0022e-03,1.3997e-02,2.5431e+00,-3.7589e-02,3.7222e-02,-3.4243e-06,5.0828e-03,1.4828e-02,9.0670e-02,-8.8020e-04,2.1843e-04,1.9136e-05,9.2015e-02,9.0710e-04
+37,2.1183e+01,DOWN_FORCE_DETACH,6.8965e-03,7.2964e-03,1.5319e-02,2.5406e+00,-3.7654e-02,3.7176e-02,-1.0323e-07,4.3769e-03,1.6150e-02,8.8197e-02,-9.4479e-04,1.7237e-04,2.2457e-05,8.9770e-02,9.6065e-04
+38,2.1517e+01,DOWN_FORCE_DETACH,7.0892e-03,7.9928e-03,1.5209e-02,2.5447e+00,-3.7650e-02,3.7221e-02,7.4222e-07,5.0733e-03,1.6040e-02,9.2342e-02,-9.4095e-04,2.1737e-04,2.3302e-05,9.3862e-02,9.6602e-04
+39,2.1817e+01,DOWN_FORCE_DETACH,7.2678e-03,8.2152e-03,1.4743e-02,2.5515e+00,-3.7623e-02,3.7230e-02,-4.3815e-06,5.2957e-03,1.5574e-02,9.9152e-02,-9.1375e-04,2.2627e-04,1.8179e-05,1.0051e-01,9.4152e-04
+40,2.2117e+01,DOWN_FORCE_DETACH,7.4554e-03,7.8394e-03,1.4743e-02,2.5564e+00,-3.7616e-02,3.7194e-02,-1.1606e-05,4.9199e-03,1.5573e-02,1.0400e-01,-9.0678e-04,1.9052e-04,1.0954e-05,1.0527e-01,9.2664e-04
+41,2.2400e+01,DOWN_FORCE_DETACH,7.6412e-03,8.3330e-03,1.5486e-02,2.5598e+00,-3.7659e-02,3.7218e-02,-2.1302e-05,5.4135e-03,1.6316e-02,1.0745e-01,-9.4990e-04,2.1453e-04,1.2577e-06,1.0881e-01,9.7383e-04
+42,2.2683e+01,DOWN_FORCE_DETACH,7.8346e-03,9.0514e-03,1.6758e-02,2.5630e+00,-3.7723e-02,3.7261e-02,-2.7616e-05,6.1319e-03,1.7588e-02,1.1056e-01,-1.0136e-03,2.5721e-04,-5.0561e-06,1.1212e-01,1.0458e-03
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:58727e914222d31ec208131453a295ac2adef71677050d98d8595784011dd71d
+size 5683200
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..987b817dcb6ee3a9c1525f6f4715fce987f2616f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69d9a7ac603e6e56493d0eb9d3c6a3a7fa337393
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db4112a653fb55b44082c554bbf343a5e831f063
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..332635dc1e4be16adef663214ec883c7bd4ee04a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+18,5.283333333e+00,UP_FORCE_RAMP,1791278874261769984,-5.906283072e-05,-5.464521164e-08,8.722636747e-04,-5.891400510e-05,-1.450830137e-08,8.725606353e-04,-5.724754566e-05,-9.148343982e-09,8.711382079e-04,7.014788087e-01,1.496316109e-06,8.416132049e-01,7.014789575e-01,1.536453020e-06,8.416135018e-01,7.016685117e-01,1.714424786e-06,8.306517516e-01
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+35,1.038333333e+01,UP_FORCE_RAMP,1791278881930634443,-7.572875584e-05,1.182869093e-05,1.743138797e-03,-7.395788182e-05,1.080845857e-05,1.725541723e-03,-6.961250202e-05,1.076324321e-05,1.724916514e-03,7.014621427e-01,1.337965225e-05,8.424840800e-01,7.014639136e-01,1.235941989e-05,8.424664829e-01,7.016561467e-01,1.248681634e-05,8.315055299e-01
+36,1.070000000e+01,UP_FORCE_RAMP,1791278882409474190,-7.583919515e-05,1.125301998e-05,1.773112790e-03,-7.423241891e-05,1.124876358e-05,1.767588487e-03,-6.975042729e-05,1.121369984e-05,1.766936947e-03,7.014620323e-01,1.280398131e-05,8.425140540e-01,7.014636391e-01,1.279972490e-05,8.425085297e-01,7.016560088e-01,1.293727297e-05,8.315475503e-01
+37,1.108333333e+01,UP_FORCE_RAMP,1791278882980257268,-7.704855662e-05,8.516370802e-06,1.807822621e-03,-7.653429621e-05,1.264136891e-05,1.789763905e-03,-7.204417659e-05,1.263044769e-05,1.789193691e-03,7.014608229e-01,1.006733212e-05,8.425487638e-01,7.014613372e-01,1.419233023e-05,8.425307051e-01,7.016537151e-01,1.435402083e-05,8.315698070e-01
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+52,1.671666667e+01,UP_FORCE_RAMP,1791278891429937166,-8.880768412e-05,2.121849340e-05,2.098978708e-03,-8.645380587e-05,2.187817467e-05,2.083692014e-03,-8.106285073e-05,2.186420934e-05,2.083490253e-03,7.014490638e-01,2.276945472e-05,8.428399199e-01,7.014514177e-01,2.342913600e-05,8.428246332e-01,7.016446964e-01,2.358778247e-05,8.318641036e-01
+53,1.710000000e+01,UP_FORCE_RAMP,1791278892009773304,-9.339106611e-05,1.934375370e-05,2.104626395e-03,-9.082123971e-05,2.504757865e-05,2.103114448e-03,-8.548020880e-05,2.503219492e-05,2.102942865e-03,7.014444804e-01,2.089471502e-05,8.428455676e-01,7.014470502e-01,2.659853997e-05,8.428440556e-01,7.016402790e-01,2.675576805e-05,8.318835562e-01
+54,1.748333333e+01,UP_FORCE_RAMP,1791278892581949962,-9.752861254e-05,2.256917559e-05,2.113055579e-03,-9.082123971e-05,2.504757865e-05,2.103114448e-03,-8.548147874e-05,2.503409947e-05,2.103011267e-03,7.014403429e-01,2.412013691e-05,8.428539968e-01,7.014470502e-01,2.659853997e-05,8.428440556e-01,7.016402777e-01,2.675767260e-05,8.318836246e-01
+55,1.788333333e+01,UP_FORCE_HOLD,1791278893266047466,-9.466404950e-05,2.157534697e-05,2.133141077e-03,-9.466643900e-05,1.706544577e-05,2.122240692e-03,-8.931042792e-05,1.708124218e-05,2.122046469e-03,7.014432074e-01,2.312630829e-05,8.428740823e-01,7.014432050e-01,1.861640709e-05,8.428631819e-01,7.016364488e-01,1.880481531e-05,8.319026598e-01
+56,1.821666667e+01,UP_FORCE_HOLD,1791278893760901375,-9.573387619e-05,2.362622754e-05,2.140969167e-03,-9.284223266e-05,2.042693087e-05,2.144019073e-03,-8.737112707e-05,2.042434035e-05,2.143744017e-03,7.014421376e-01,2.517718886e-05,8.428819104e-01,7.014450292e-01,2.197789219e-05,8.428849603e-01,7.016383881e-01,2.214791348e-05,8.319243574e-01
+57,1.868333333e+01,UP_FORCE_HOLD,1791278894451421460,-9.469791194e-05,1.860102665e-05,2.156061143e-03,-9.284223266e-05,2.042693087e-05,2.144019073e-03,-8.736742327e-05,2.042632699e-05,2.143840931e-03,7.014431736e-01,2.015198797e-05,8.428970023e-01,7.014450292e-01,2.197789219e-05,8.428849603e-01,7.016383918e-01,2.214990012e-05,8.319244543e-01
+58,1.900000000e+01,UP_FORCE_HOLD,1791278894930457097,-9.461057452e-05,2.258234934e-05,2.163544316e-03,-9.284223266e-05,2.042693087e-05,2.144019073e-03,-8.736476046e-05,2.042687774e-05,2.143882536e-03,7.014432609e-01,2.413331066e-05,8.429044855e-01,7.014450292e-01,2.197789219e-05,8.428849603e-01,7.016383945e-01,2.215045087e-05,8.319244959e-01
+59,1.943333333e+01,UP_SETTLE,1791278895580227559,-9.487953117e-05,2.499998559e-05,2.174226320e-03,-9.562697780e-05,2.107543766e-05,2.164760734e-03,-9.014624298e-05,2.103299402e-05,2.164590287e-03,7.014429920e-01,2.655094692e-05,8.429151675e-01,7.014422445e-01,2.262639899e-05,8.429057019e-01,7.016356130e-01,2.275656715e-05,8.319452036e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86943f966a7869eb4d75705f23a83c43fbb39051
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,2.9841e-03,-8.3003e-04,2.4524e+00,-3.6709e-02,3.7008e-02,-2.2814e-05,6.2579e-05,3.0186e-07,-1.6689e-05,6.3330e-08,4.5076e-06,-2.5813e-07,6.4767e-05,4.5154e-06
+1,3.0000e-01,UP_FORCE_RAMP,8.6816e-05,3.9390e-03,-8.2208e-04,2.4521e+00,-3.6708e-02,3.7077e-02,-2.7095e-05,1.0175e-03,8.2568e-06,-2.6321e-04,7.7114e-07,7.3146e-05,-4.5386e-06,1.0510e-03,7.3291e-05
+2,6.6667e-01,UP_FORCE_RAMP,1.7354e-04,4.7575e-03,-8.1037e-04,2.4519e+00,-3.6708e-02,3.7136e-02,-3.1459e-05,1.8360e-03,1.9967e-05,-4.6635e-04,1.2740e-06,1.3172e-04,-8.9034e-06,1.8944e-03,1.3203e-04
+3,1.0333e+00,UP_FORCE_RAMP,2.5828e-04,5.3131e-03,-7.9947e-04,2.4518e+00,-3.6707e-02,3.7175e-02,-3.5050e-05,2.3916e-03,3.0866e-05,-5.9748e-04,1.6131e-06,1.7138e-04,-1.2494e-05,2.4653e-03,1.7184e-04
+4,1.3500e+00,UP_FORCE_RAMP,3.4297e-04,6.4398e-03,-1.9856e-03,2.4428e+00,-3.6627e-02,3.7266e-02,-3.8416e-05,3.5183e-03,-1.1552e-03,-9.6076e-03,8.2310e-05,2.6238e-04,-1.5860e-05,1.0296e-02,2.7545e-04
+5,1.6500e+00,UP_FORCE_RAMP,4.3060e-04,6.4800e-03,-4.3411e-04,2.4401e+00,-3.6733e-02,3.7272e-02,-3.9548e-05,3.5585e-03,3.9623e-04,-1.2257e-02,-2.3983e-05,2.6819e-04,-1.6992e-05,1.2769e-02,2.6979e-04
+6,1.9667e+00,UP_FORCE_RAMP,5.2153e-04,6.4547e-03,-3.2431e-04,2.4289e+00,-3.6742e-02,3.7283e-02,-4.1139e-05,3.5332e-03,5.0603e-04,-2.3445e-02,-3.2712e-05,2.7948e-04,-1.8583e-05,2.3715e-02,2.8200e-04
+7,2.2833e+00,UP_FORCE_RAMP,6.0570e-04,8.6198e-03,-2.3333e-03,2.4261e+00,-3.6601e-02,3.7442e-02,-4.3320e-05,5.6983e-03,-1.5030e-03,-2.6270e-02,1.0751e-04,4.3831e-04,-2.0764e-05,2.6923e-02,4.5178e-04
+8,2.5833e+00,UP_FORCE_RAMP,6.8842e-04,1.0381e-02,-1.7529e-03,2.4191e+00,-3.6642e-02,3.7572e-02,-4.3001e-05,7.4591e-03,-9.2257e-04,-3.3294e-02,6.7335e-05,5.6789e-04,-2.0445e-05,3.4132e-02,5.7223e-04
+9,2.8833e+00,UP_FORCE_RAMP,7.7525e-04,1.0696e-02,-1.0991e-03,2.4172e+00,-3.6690e-02,3.7600e-02,-4.1611e-05,7.7743e-03,-2.6872e-04,-3.5217e-02,1.9390e-05,5.9621e-04,-1.9055e-05,3.6066e-02,5.9683e-04
+10,3.1833e+00,UP_FORCE_RAMP,8.6154e-04,1.1687e-02,-1.1038e-03,2.4131e+00,-3.6698e-02,3.7672e-02,-4.0232e-05,8.7656e-03,-2.7350e-04,-3.9330e-02,1.0770e-05,6.6777e-04,-1.7676e-05,4.0296e-02,6.6809e-04
+11,3.4500e+00,UP_FORCE_RAMP,9.4648e-04,1.0895e-02,-2.8992e-04,2.4088e+00,-3.6769e-02,3.7619e-02,-3.8333e-05,7.9732e-03,5.4041e-04,-4.3640e-02,-6.0022e-05,6.1505e-04,-1.5777e-05,4.4366e-02,6.1818e-04
+12,3.7167e+00,UP_FORCE_RAMP,1.0339e-03,1.1279e-02,1.3985e-03,2.4101e+00,-3.6901e-02,3.7643e-02,-3.5454e-05,8.3574e-03,2.2289e-03,-4.2278e-02,-1.9237e-04,6.3908e-04,-1.2898e-05,4.3154e-02,6.6753e-04
+13,3.9500e+00,UP_FORCE_RAMP,1.1219e-03,9.1626e-03,-4.6365e-04,2.4013e+00,-3.6790e-02,3.7502e-02,-3.2382e-05,6.2411e-03,3.6668e-04,-5.1081e-02,-8.0790e-05,4.9806e-04,-9.8260e-06,5.1462e-02,5.0467e-04
+14,4.2167e+00,UP_FORCE_RAMP,1.2066e-03,8.2865e-03,2.3621e-05,2.4047e+00,-3.6828e-02,3.7435e-02,-2.6985e-05,5.3650e-03,8.5395e-04,-4.7645e-02,-1.1942e-04,4.3068e-04,-4.4293e-06,4.7954e-02,4.4695e-04
+15,4.5167e+00,UP_FORCE_RAMP,1.2969e-03,9.5849e-03,-7.1466e-04,2.3986e+00,-3.6777e-02,3.7532e-02,-1.9487e-05,6.6634e-03,1.1567e-04,-5.3752e-02,-6.7931e-05,5.2792e-04,3.0689e-06,5.4164e-02,5.3228e-04
+16,4.7333e+00,UP_FORCE_RAMP,1.3827e-03,1.2063e-02,-2.1232e-04,2.4003e+00,-3.6801e-02,3.7709e-02,-1.4180e-05,9.1415e-03,6.1801e-04,-5.2049e-02,-9.2257e-05,7.0490e-04,8.3755e-06,5.2849e-02,7.1096e-04
+17,5.0000e+00,UP_FORCE_RAMP,1.4642e-03,1.1606e-02,-1.0129e-03,2.3985e+00,-3.6736e-02,3.7679e-02,-9.9803e-06,8.6850e-03,-1.8260e-04,-5.3873e-02,-2.7046e-05,6.7522e-04,1.2576e-05,5.4569e-02,6.7587e-04
+18,5.2833e+00,UP_FORCE_RAMP,1.5514e-03,1.1578e-02,-1.0340e-03,2.3988e+00,-3.6719e-02,3.7679e-02,-1.0661e-05,8.6563e-03,-2.0370e-04,-5.3570e-02,-1.0032e-05,6.7481e-04,1.1895e-05,5.4265e-02,6.7499e-04
+19,5.5333e+00,UP_FORCE_RAMP,1.6414e-03,1.0510e-02,-1.9802e-03,2.3915e+00,-3.6643e-02,3.7608e-02,-1.5222e-05,7.5885e-03,-1.1499e-03,-6.0921e-02,6.5897e-05,6.0373e-04,7.3342e-06,6.1402e-02,6.0736e-04
+20,5.7500e+00,UP_FORCE_RAMP,1.7271e-03,9.3575e-03,-1.8542e-03,2.3936e+00,-3.6639e-02,3.7525e-02,-2.0844e-05,6.4360e-03,-1.0238e-03,-5.8792e-02,6.9596e-05,5.2109e-04,1.7123e-06,5.9152e-02,5.2572e-04
+21,5.9833e+00,UP_FORCE_RAMP,1.8138e-03,9.1452e-03,-3.0708e-03,2.3912e+00,-3.6546e-02,3.7513e-02,-2.7863e-05,6.2237e-03,-2.2404e-03,-6.1218e-02,1.6269e-04,5.0928e-04,-5.3069e-06,6.1574e-02,5.3467e-04
+22,6.2333e+00,UP_FORCE_RAMP,1.8989e-03,9.2611e-03,-2.2881e-03,2.3955e+00,-3.6592e-02,3.7518e-02,-3.2851e-05,6.3396e-03,-1.4578e-03,-5.6869e-02,1.1671e-04,5.1463e-04,-1.0295e-05,5.7240e-02,5.2780e-04
+23,6.4833e+00,UP_FORCE_RAMP,1.9845e-03,9.1021e-03,-2.4084e-03,2.3967e+00,-3.6580e-02,3.7505e-02,-3.6326e-05,6.1806e-03,-1.5780e-03,-5.5718e-02,1.2922e-04,5.0074e-04,-1.3770e-05,5.6082e-02,5.1733e-04
+24,6.7833e+00,UP_FORCE_RAMP,2.0726e-03,9.0741e-03,-3.3589e-03,2.4005e+00,-3.6520e-02,3.7499e-02,-3.8115e-05,6.1526e-03,-2.5286e-03,-5.1938e-02,1.8932e-04,4.9512e-04,-1.5559e-05,5.2362e-02,5.3031e-04
+25,7.0500e+00,UP_FORCE_RAMP,2.1588e-03,9.9355e-03,-2.4797e-03,2.4050e+00,-3.6591e-02,3.7554e-02,-3.7569e-05,7.0140e-03,-1.6494e-03,-4.7397e-02,1.1831e-04,5.5048e-04,-1.5013e-05,4.7942e-02,5.6325e-04
+26,7.3833e+00,UP_FORCE_RAMP,2.2462e-03,1.0283e-02,-3.7454e-03,2.4085e+00,-3.6514e-02,3.7575e-02,-3.6645e-05,7.3612e-03,-2.9150e-03,-4.3849e-02,1.9500e-04,5.7078e-04,-1.4089e-05,4.4558e-02,6.0333e-04
+27,7.6667e+00,UP_FORCE_RAMP,2.3267e-03,1.0459e-02,-3.7899e-03,2.4118e+00,-3.6513e-02,3.7584e-02,-3.4383e-05,7.5376e-03,-2.9596e-03,-4.0600e-02,1.9560e-04,5.8041e-04,-1.1827e-05,4.1400e-02,6.1260e-04
+28,7.9167e+00,UP_FORCE_RAMP,2.4168e-03,1.1004e-02,-1.5223e-03,2.4118e+00,-3.6669e-02,3.7623e-02,-3.1282e-05,8.0823e-03,-6.9196e-04,-4.0600e-02,4.0237e-05,6.1872e-04,-8.7257e-06,4.1402e-02,6.2009e-04
+29,8.2167e+00,UP_FORCE_RAMP,2.5030e-03,9.9039e-03,-3.4449e-03,2.4132e+00,-3.6525e-02,3.7543e-02,-3.0939e-05,6.9824e-03,-2.6145e-03,-3.9181e-02,1.8420e-04,5.3875e-04,-8.3826e-06,3.9884e-02,5.6943e-04
+30,8.6167e+00,UP_FORCE_RAMP,2.5913e-03,9.1944e-03,-4.5519e-03,2.4129e+00,-3.6432e-02,3.7493e-02,-3.1484e-05,6.2729e-03,-3.7216e-03,-3.9507e-02,2.7678e-04,4.8919e-04,-8.9285e-06,4.0175e-02,5.6213e-04
+31,8.9333e+00,UP_FORCE_RAMP,2.6755e-03,8.2049e-03,-4.1082e-03,2.4146e+00,-3.6451e-02,3.7423e-02,-3.2624e-05,5.2834e-03,-3.2779e-03,-3.7768e-02,2.5770e-04,4.1891e-04,-1.0068e-05,3.8277e-02,4.9193e-04
+32,9.3167e+00,UP_FORCE_RAMP,2.7598e-03,7.3468e-03,-5.8208e-03,2.4170e+00,-3.6320e-02,3.7361e-02,-3.5454e-05,4.4253e-03,-4.9905e-03,-3.5398e-02,3.8871e-04,3.5702e-04,-1.2898e-05,3.6021e-02,5.2794e-04
+33,9.7167e+00,UP_FORCE_RAMP,2.8489e-03,7.1779e-03,-5.9318e-03,2.4199e+00,-3.6307e-02,3.7348e-02,-3.7237e-05,4.2564e-03,-5.1015e-03,-3.2490e-02,4.0160e-04,3.4393e-04,-1.4681e-05,3.3162e-02,5.2895e-04
+34,1.0067e+01,UP_FORCE_RAMP,2.9318e-03,6.3158e-03,-5.5874e-03,2.4193e+00,-3.6332e-02,3.7287e-02,-3.8622e-05,3.3943e-03,-4.7570e-03,-3.3133e-02,3.7656e-04,2.8294e-04,-1.6066e-05,3.3644e-02,4.7128e-04
+35,1.0383e+01,UP_FORCE_RAMP,3.0176e-03,6.7738e-03,-4.5883e-03,2.4229e+00,-3.6406e-02,3.7317e-02,-3.9436e-05,3.8523e-03,-3.7580e-03,-2.9483e-02,3.0303e-04,3.1309e-04,-1.6880e-05,2.9970e-02,4.3605e-04
+36,1.0700e+01,UP_FORCE_RAMP,3.1061e-03,6.7989e-03,-4.6309e-03,2.4210e+00,-3.6406e-02,3.7321e-02,-4.1481e-05,3.8774e-03,-3.8006e-03,-3.1393e-02,3.0282e-04,3.1710e-04,-1.8925e-05,3.1859e-02,4.3887e-04
+37,1.1083e+01,UP_FORCE_RAMP,3.1934e-03,7.3459e-03,-4.9955e-03,2.4246e+00,-3.6386e-02,3.7357e-02,-4.3887e-05,4.4244e-03,-4.1651e-03,-2.7837e-02,3.2255e-04,3.5285e-04,-2.1331e-05,2.8493e-02,4.7854e-04
+38,1.1467e+01,UP_FORCE_RAMP,3.2800e-03,7.2316e-03,-5.5726e-03,2.4227e+00,-3.6353e-02,3.7350e-02,-4.7310e-05,4.3101e-03,-4.7423e-03,-2.9716e-02,3.5618e-04,3.4604e-04,-2.4755e-05,3.0399e-02,4.9721e-04
+39,1.1800e+01,UP_FORCE_RAMP,3.3647e-03,7.3251e-03,-4.7948e-03,2.4245e+00,-3.6415e-02,3.7355e-02,-5.0038e-05,4.4036e-03,-3.9645e-03,-2.7896e-02,2.9397e-04,3.5065e-04,-2.7482e-05,2.8518e-02,4.5839e-04
+40,1.2267e+01,UP_FORCE_RAMP,3.4504e-03,7.0471e-03,-5.7459e-03,2.4236e+00,-3.6359e-02,3.7335e-02,-5.5102e-05,4.1256e-03,-4.9156e-03,-2.8749e-02,3.5000e-04,3.3086e-04,-3.2546e-05,2.9457e-02,4.8273e-04
+41,1.2633e+01,UP_FORCE_RAMP,3.5379e-03,6.4816e-03,-5.3805e-03,2.4257e+00,-3.6393e-02,3.7291e-02,-5.8890e-05,3.5601e-03,-4.5501e-03,-2.6706e-02,3.1607e-04,2.8726e-04,-3.6334e-05,2.7324e-02,4.2865e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/fem_node.csv
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+59,2.925000e+01,257,6.924319e-01,2.642972e-02,8.196954e-01,6.451126e-05,-7.651810e-05,-7.645938e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,258,7.054986e-01,2.106626e-02,8.185252e-01,5.817720e-05,-6.753876e-05,-7.635194e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,259,7.038363e-01,2.650745e-02,8.314670e-01,9.388587e-05,-6.551840e-05,-7.655036e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,260,7.073185e-01,2.518130e-02,8.292566e-01,9.886308e-05,-6.826826e-05,-7.658809e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,261,7.064648e-01,2.087202e-02,8.209511e-01,7.145875e-05,-6.660248e-05,-7.642528e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,262,7.060944e-01,2.516424e-02,8.142073e-01,4.718573e-05,-8.059476e-05,-7.663213e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,263,6.963840e-01,2.676273e-02,8.140440e-01,5.479958e-05,-8.165536e-05,-7.649896e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,264,7.085560e-01,2.514180e-02,8.280445e-01,9.762618e-05,-6.990077e-05,-7.666057e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,265,7.070953e-01,2.156812e-02,8.194189e-01,6.341390e-05,-7.068430e-05,-7.649218e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.925000e+01,266,6.948976e-01,2.378404e-02,8.268351e-01,6.902052e-05,-6.976673e-05,-7.628164e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d73a930b0e4cae568827f7c2073b9290a3efe586
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+24902,1791278982196739250,11308215000000,1791278982196725093,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6759863901644042,-0.004782232827420941,0.09087241484859462,0.9999999769470277,6.833739197792528e-05,-0.00017221126284021232,5.6763459513816556e-05,0.6761,-0.0048,0.09097781697128292,1.0,0.0,0.0,0.0,0.0681462309000504,0.05466094290103101,-0.0035555718912920198,0.003203422622584828,-0.005128260113612976,-3.480858242595414e-05,0.06697661412489261,0.08026035395709688,0.2512736762714373,0.00019244499399728599,-0.008163847683115977,-0.0013476662514872154,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.823273252970724,-0.3379364189093966,0.6399162968086722,0.4103265891246648,-0.2473134602378861,-0.2587583113780704,0.7032682909462498,0.0035555718912920198,0.06335199413757753,0.06335199413757753,0.13269106541701525,0,0,-3.448947134839403e-05,-7.185829716432929e-05
+25041,1791278983354771874,11309373000000,1791278983348725857,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6759855447205667,-0.00478714643145387,0.09082936858851567,0.9999999769866276,6.40954236076725e-05,-0.00017239158544576878,6.035334949423865e-05,0.6761,-0.0048,0.09093335531085923,1.0,0.0,0.0,0.0,0.0680984289439125,0.045266192478700014,0.01648345118079181,0.0031990805136268246,-0.005130869572680736,-5.101658919880441e-05,0.06692881216875472,0.07086560353476588,0.27131269934352115,0.00018810288503928271,-0.008166457142183737,-0.0013638742582600656,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8850815491157483,-0.26102517505792183,0.6509377653399488,0.4064397666931379,-0.2414490664354887,-0.2053494813700216,0.7032682909462498,0.01648345118079181,0.052330525606300915,0.052330525606300915,0.20217106541702046,0,0,-4.109803102977783e-05,-9.999999025923074e-05
+25170,1791278984429736642,11310448000000,1791278984428725428,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6759870050286707,-0.004786970619086515,0.09078637833025596,0.9999999787453497,5.3530412309210385e-05,-0.00016726988742809414,5.574445427907378e-05,0.6761,-0.0048,0.0908812349041116,1.0,0.0,0.0,0.0,0.0744362517832365,0.05573741968611629,0.03659535528731361,0.003196603085875447,-0.005136147151477512,-5.780338002271939e-05,0.07326663500807871,0.08133683074218216,0.29142460345004295,0.00018562545728790516,-0.008171734720980513,-0.0013706610490839806,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9136008207326247,-0.34355556124330866,0.6064874068272906,0.43539584379878443,-0.20940582242037095,-0.26040450626730977,0.7032682909462498,0.03659535528731361,0.09678088411895913,0.09678088411895913,0.2666710654170253,0,0,-5.416938343302669e-05,-9.999989311471608e-05
+25304,1791278985546796612,11311565000000,1791278985544725330,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6759914444694246,-0.00478282314809203,0.09072300708155598,0.9999999791111432,5.542370939252707e-05,-0.000167403779671398,4.609516998131124e-05,0.6761,-0.0048,0.09081197713401047,1.0,0.0,0.0,0.0,0.06724511041513533,0.04709427991665933,0.06664551072713204,0.0031898354283837463,-0.005141816200634074,-9.164236423457031e-05,0.06607549363997754,0.0726936909727252,0.3214747588898614,0.00017885779979620416,-0.008177403770137075,-0.0014045000332958315,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9767813402111098,-0.407529475630369,0.4443779288209576,0.46427495887775905,-0.09115284107201686,-0.29852991565793147,0.7032682909462498,0.06664551072713204,0.25889036212529215,0.25889036212529215,0.3336910654170303,0,0,-7.023013000731636e-05,7.813430044490417e-05
+25446,1791278986729801239,11312748000000,1791278986724725820,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760004135161082,-0.0047857874814653725,0.09064662000939244,0.9999999785369257,9.020329245209267e-05,-0.00015480063128672626,4.763552375577127e-05,0.6761,-0.0048,0.09072067189900908,1.0,0.0,0.0,0.0,0.061139512571133287,0.05811673397226621,0.09671240527816499,0.0031576840973363027,-0.004135742169204523,-0.00010025221286392278,0.059969895795975496,0.08371614502833208,0.35154165344089433,0.0001467064687487608,-0.0071713297387075246,-0.001413109881925184,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9379573479260328,-0.382396792345266,0.4481784689166401,0.45979239757393436,-0.1085024334751536,-0.2791791196976904,0.7032682909462498,0.09671240527816499,0.25508982202960967,0.25508982202960967,0.4046710654170356,0,0,-8.401161441490554e-05,-5.795082441969722e-05
+25574,1791278987796902344,11313815000000,1791278987796725666,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760069345320561,-0.0047944474580658,0.09056524880494345,0.9999999797178478,9.452555145823126e-05,-0.00014077720822212422,5.70426689994138e-05,0.6761,-0.0048,0.09062562314164273,1.0,0.0,0.0,0.0,0.06362289738560327,0.04987527062705053,0.13683237508579482,0.0031502672715103546,-0.004144234904910055,-0.00013235081308491867,0.062453280610445486,0.0754746816831164,0.39166162324852416,0.00013928964292281241,-0.007179822474413057,-0.0014452084821461799,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9410795188825303,-0.2152495463630631,0.3708267836753129,0.40862280611902035,-0.05810567182492175,-0.17050677975833184,0.7032682909462498,0.13683237508579482,0.33244150727093685,0.33244150727093685,0.4686910654170404,0,0,-9.275837577618772e-05,7.842377722078737e-05
+25703,1791278988871884886,11314890000000,1791278988864725630,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.676004936210235,-0.004788682876203073,0.09045597858955585,0.9999999786514715,9.894669710960923e-05,-0.00014316769217107301,6.20683811084792e-05,0.6761,-0.0048,0.09051699308277694,1.0,0.0,0.0,0.0,0.06115533741336435,0.051113577234363126,0.17695431844554144,0.0031419058364294036,-0.0041525040894627215,-0.00016577868270172122,0.059985720638206556,0.076712988290429,0.4317835666082708,0.0001309282078418617,-0.007188091658965723,-0.0014786363517629824,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9299217430303697,-0.3688251041133366,0.3632897977271504,0.451531509482384,-0.05778540039815146,-0.27431829517883105,0.7032682909462498,0.17695431844554144,0.33997849321909934,0.33997849321909934,0.5331910654170146,0,0,-0.00010732257522437182,-8.691886964017466e-05
+25834,1791278989963857291,11315982000000,1791278989960734958,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.676008254527576,-0.004783880663420275,0.0903394009904539,0.9999999793119511,9.796684445101698e-05,-0.00013721480701686122,6.628390521034553e-05,0.6761,-0.0048,0.09039278974583509,1.0,0.0,0.0,0.0,0.06667901291295406,0.05956831519737627,0.22716622756129495,0.003146996190047522,-0.004694453923093112,-0.0002135419905970404,0.06550939613779627,0.08516772625344214,0.4819954757240243,0.00013601856145997987,-0.007730041492596113,-0.0015263996596583016,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8652998644866079,-0.2934193446189224,0.31763722694298674,0.4196392661189881,-0.04772512306044514,-0.23045630227662361,0.7032682909462498,0.22716622756129495,0.385631064003263,0.385631064003263,0.5987110654169588,0,0,-0.0001159780919871275,-9.767800043659065e-05
+25961,1791278991022003423,11317040000000,1791278991020725419,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760099546163646,-0.0047773876043139965,0.09021550728097831,0.999999979027472,0.0001007430202411961,-0.00013702107443542294,6.681309198734671e-05,0.6761,-0.0048,0.09026532902613711,1.0,0.0,0.0,0.0,0.06677913904783044,0.054119966936759294,0.27780426430925076,0.003140531124179489,-0.005193820010956576,0.0007551037707985155,0.06560952227267265,0.07971937799282516,0.5326335124719801,0.00012955349559194698,-0.008229407580459577,-0.0005577538982627457,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9150058394105017,-0.22239156317717054,0.2921026713715596,0.413907489113198,-0.024282575238368513,-0.17950849897687818,0.7032682909462498,0.27780426430925076,0.41116561957469017,0.41116561957469017,0.6621910654169049,0,0,-0.00012374427523917231,-9.98296126583142e-05
+26073,1791278991954923628,11317973000000,1791278991952725704,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760159951436647,-0.00477199320573974,0.09010678308789022,0.9999999809987461,9.492224335581998e-05,-0.00012683430878982044,6.59408657077011e-05,0.6761,-0.0048,0.09014959714673618,1.0,0.0,0.0,0.0,0.06666120493770392,0.04607798023062216,0.32793439742485375,0.003130595929382008,-0.0051852891479734,0.000721383883495636,0.06549158816254613,0.07167739128668803,0.5827636455875831,0.0001196183007944657,-0.008220876717476401,-0.0005914737855656252,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8886423017380702,-0.19623146464988084,0.2284703487106267,0.4019413020739264,0.011141532903342435,-0.1663026663636949,0.7032682909462498,0.32793439742485375,0.4747979422356231,0.4747979422356231,0.7181710654168573,0,0,-0.00012481034298714023,-9.999924085868912e-05
+26180,1791278992846976761,11318865000000,1791278992844725725,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760172569668276,-0.004774305702731147,0.08999933679082134,0.9999999818417556,8.932442680752994e-05,-0.0001241732244533129,6.604172845404706e-05,0.6761,-0.0048,0.09003467764100727,1.0,0.0,0.0,0.0,0.07357124281988024,0.05751203913315129,0.3743992465863577,0.0030976050410186544,-0.004202305079817134,0.00061551842216689,0.07240162604472246,0.08311145018921716,0.629228494749087,8.662741243111237e-05,-0.007237892649320135,-0.0006973392468943712,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.942472640526183,-0.23811419392753574,0.12044145815559074,0.42245825398981224,0.09320812688052826,-0.188375851286554,0.7032682909462498,0.3743992465863577,0.582826832790659,0.582826832790659,0.7716910654168118,0,0,-0.00013042688079970143,9.993967739341798e-05
+26294,1791278993797043759,11319815000000,1791278993792725137,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.676027368905729,-0.004775882289776127,0.0898886069874784,0.9999999822164913,9.864181037319911e-05,-0.0001106789518671015,7.092139471314182e-05,0.6761,-0.0048,0.08990819285784964,1.0,0.0,0.0,0.0,0.05904166530793796,0.059496787114796425,0.4156472610336599,0.0030922782302923086,-0.004205294467596857,0.00026240728009789744,0.05787204853278017,0.0850961981708623,0.6704765091963892,8.130060170476651e-05,-0.007240882037099859,-0.0010504503889633638,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9259610540432544,-0.209121356070261,0.07083904583443065,0.418378108713669,0.11878231672397455,-0.17128289402252633,0.7032682909462498,0.4156472610336599,0.6324292451118191,0.6324292451118191,0.8286910654167633,0,0,-0.00013662374519632513,6.431271767771136e-05
+26407,1791278994739098068,11320757000000,1791278994736725219,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760302271636316,-0.004777911008260261,0.08976335797171812,0.9999999821957856,0.0001008597700880008,-0.0001075059836526225,7.294561896003295e-05,0.6761,-0.0048,0.08978019558763259,1.0,0.0,0.0,0.0,0.06613448265233803,0.05081588933285209,0.44802532965246855,0.0030974818304665215,-0.004213204529600632,0.00023533470767324685,0.06496486587718024,0.07641530038891796,0.7028545778151979,8.65042018789796e-05,-0.007248792099103635,-0.0010775229613880144,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9660272343757385,-0.31203819158746215,0.004507379013905487,0.459719802311239,0.1714811293892981,-0.23398128332976775,0.7032682909462498,0.44802532965246855,0.6987609119323442,0.6987609119323442,0.8852110654167152,0,0,-0.00013488871701963922,9.999999025923074e-05
+26491,1791278995439028023,11321457000000,1791278995436725247,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.676036508953147,-0.00477560875291446,0.08968050376093734,0.9999999829548807,0.0001041185967551402,-9.739855311662945e-05,7.215221744216257e-05,0.6761,-0.0048,0.0896853926826741,1.0,0.0,0.0,0.0,0.06561225276088345,0.051748464892018224,0.487090745181613,0.0030801862140804517,-0.004225058773361386,0.0006108122471868645,0.06444263598572567,0.0773478759480841,0.7419199933443423,6.920858549290948e-05,-0.007260646342864387,-0.0007020454218743967,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9412345373312951,-0.33944337630031596,-0.01663739998056187,0.46675350902580837,0.17636824167739332,-0.2533554587079659,0.7032682909462498,0.487090745181613,0.7199056909268117,0.7199056909268117,0.9272110654166795,0,0,-0.0001390403269088417,8.016996374949343e-05
+26587,1791278996239140345,11322257000000,1791278996236734713,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760380995519555,-0.004782869930124574,0.08957315978187039,0.9999999850417116,8.908094886623582e-05,-9.196396987809376e-05,7.04744909800992e-05,0.6761,-0.0048,0.08957199451868153,1.0,0.0,0.0,0.0,0.056902481062137446,0.05319795867345702,0.52841512969448,0.0030665325742672573,-0.004233791312831844,0.0005770169142263118,0.055732864286979655,0.07879736972952289,0.7832443778572094,5.5554945679715455e-05,-0.007269378882334846,-0.0007358407548349494,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9938672239081173,-0.31225484750046567,-0.12176964024261312,0.4637117700602923,0.2574396417479216,-0.23642224377373594,0.7032682909462498,0.52841512969448,0.8250379311888629,0.8250379311888629,0.9752110654166387,0,0,-0.00014195328662949957,9.999999025923074e-05
+26690,1791278997097153616,11323115000000,1791278997096734645,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760419697606738,-0.00478486384974988,0.08945594944558853,0.9999999855945819,8.599470771329951e-05,-8.764373751604844e-05,7.195266390826498e-05,0.6761,-0.0048,0.08944894529411522,1.0,0.0,0.0,0.0,0.057632719916072064,0.05498572252900406,0.5773270231738383,0.0030318840827195897,-0.003313375146158652,0.0005515448152180158,0.056463103140914274,0.08058513358506993,0.8321562713365677,2.090645413204781e-05,-0.006348962715661654,-0.0007613128538432454,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9556924738668736,-0.3091772595444366,-0.21031977382404612,0.468645609164158,0.30297637835769115,-0.2345660036992397,0.7032682909462498,0.5773270231738383,0.9135880647702959,0.9135880647702959,1.026691065416595,0,0,-0.0001435249052980384,9.999940739214281e-05
+26782,1791278997864151608,11323882000000,1791278997856735109,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760444878500768,-0.0047998759847986796,0.08934912235276803,0.9999999866926815,7.580086543376642e-05,-8.306221676802856e-05,7.35690019079921e-05,0.6761,-0.0048,0.08933692327905934,1.0,0.0,0.0,0.0,0.06504201284510774,0.05871340854070795,0.6103954630839605,0.004019928505993262,-0.004187625449127002,0.0005241446740900978,0.06387239606994996,0.08431281959677382,0.8652247112466899,0.00100895087740572,-0.007223213018630003,-0.0007887129949711634,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9028272878596189,-0.21309417964170224,-0.10937684986980105,0.4513371261874262,0.22377954709108425,-0.1701918866591873,0.7032682909462498,0.6103954630839605,0.8126451408160508,0.8126451408160508,1.072711065416556,0,0,-0.00014618321927536838,-6.727527842998455e-05
+26851,1791278998439134588,11324457000000,1791278998432734815,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.676045521665421,-0.004789465197118679,0.08926513780968308,0.9999999855150379,8.860293434142307e-05,-8.598178517682474e-05,7.189882529789709e-05,0.6761,-0.0048,0.08925290669877821,1.0,0.0,0.0,0.0,0.05988364416976324,0.053650433916167035,0.6447440543477662,0.0030171441119435575,-0.0032457685506776155,0.0004990971753127528,0.05871402739460545,0.0792498449722329,0.8995733025104955,6.166483356015392e-06,-0.006281356120180617,-0.0008137604937485084,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9271292337254396,-0.3101340123535847,-0.20117188557925372,0.4758169393709007,0.2897931092022279,-0.2340738321897339,0.7032682909462498,0.6447440543477662,0.9044401765255035,0.9044401765255035,1.1072110654165266,0,0,-0.0001459057454064342,9.641929896020968e-05
+26930,1791278999097215853,11325115000000,1791278999096734853,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760492657995711,-0.004794346102060847,0.08916977187449486,0.9999999859527443,9.060818955685732e-05,-7.608651779563906e-05,7.442024815518682e-05,0.6761,-0.0048,0.08915498449003428,1.0,0.0,0.0,0.0,0.0562481205851838,0.05733353456067982,0.6790024349005642,0.0030109565174749413,-0.003253376849627666,0.000471000665036053,0.05507850381002601,0.08293294561674569,0.9338316830632936,-2.1111112600652655e-08,-0.006288964419130668,-0.0008418570040252082,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.890267493163128,-0.29258667255340903,-0.13742085891005218,0.47919608665051167,0.23792490345171177,-0.22132226976287975,0.7032682909462498,0.6790024349005642,0.8406891498563019,0.8406891498563019,1.146691065416493,0,0,-0.00015375441622253317,-9.935624131618965e-05
+27043,1791279000039251706,11326057000000,1791279000036734772,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.67605127002296,-0.004801003141816275,0.08902562741110581,0.9999999864120304,8.322578684362055e-05,-7.719247172518661e-05,7.572050046423051e-05,0.6761,-0.0048,0.08900916899221849,1.0,0.0,0.0,0.0,0.05600096892338534,0.05080068914751521,0.7390761090308554,0.0029984646804030626,-0.0032656951949522213,0.0004224275851664052,0.05483135214822755,0.07640010020358108,0.9939053571935847,-1.2512948184479271e-05,-0.006301282764455223,-0.000890430083894856,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8764396210562039,-0.38887653261503263,-0.2483152254058751,0.5046470553071608,0.3043102930617278,-0.2858212649810624,0.7032682909462498,0.7390761090308554,0.9515835163521249,0.9515835163521249,1.203211065416445,0,0,-0.00015626761289377086,5.344528742604884e-05
+27148,1791279000914231286,11326932000000,1791279000912735224,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760585011895099,-0.0048055786801622915,0.08889523570762778,0.9999999870477142,8.067062799937613e-05,-6.423784508290792e-05,8.193402796189337e-05,0.6761,-0.0048,0.08887243230737114,1.0,0.0,0.0,0.0,0.05587028580930379,0.04250525856307832,0.7871007867922785,0.0029881573830930707,-0.0032753637147736486,0.00038360406844438683,0.054700669034146,0.06810466961914419,1.0419300349550078,-2.2820245494471192e-05,-0.00631095128427665,-0.0009292536006168744,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8849981664635352,-0.2908894627316495,-0.38686614260862595,0.471918333817279,0.3934973423252581,-0.2265228796916264,0.7032682909462498,0.7871007867922785,1.0901344335548757,1.0901344335548757,1.2557110654164003,0,0,-0.00015946944284942066,9.97432928181496e-05
+27254,1791279001797250766,11327815000000,1791279001796725611,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760609941388067,-0.004808398959750581,0.08875963573900461,0.9999999871837304,7.970461333270356e-05,-6.186323895412655e-05,8.303925408754867e-05,0.6761,-0.0048,0.08873172256843516,1.0,0.0,0.0,0.0,0.04703270798916649,0.03189559893864391,0.8289941057697675,0.0021848943286658816,-0.003269007376174075,0.0003387413222753412,0.0458630912140087,0.05749500999470978,1.0838233539324968,-0.0008260832999216606,-0.006304594945677077,-0.00097411634678592,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8602056063684697,-0.2914228779590999,-0.2619888409840023,0.4892940595249449,0.30457001302552617,-0.2197661847741977,0.7032682909462498,0.8289941057697675,0.9652571319302521,0.9652571319302521,1.3086910654163553,0,0,-0.0001607259182093409,-9.507003104059492e-05
+27355,1791279002639215224,11328657000000,1791279002632726161,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760634713845073,-0.004812800812662477,0.08862546121191674,0.9999999881230245,7.357250669225552e-05,-5.98871830262063e-05,7.872373690858659e-05,0.6761,-0.0048,0.08859432819671478,1.0,0.0,0.0,0.0,0.04702188107750934,0.0406163992614648,0.8703778411609374,0.001952263988030425,-0.0032754250115967555,0.0003009002911392427,0.04585226430235155,0.06621581031753067,1.1252070893236668,-0.001058713640557117,-0.006311012581099757,-0.0010119573779220185,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8685154813578689,-0.3252395233123407,-0.35929614216655065,0.49807541957694174,0.36480203389859645,-0.24398577870290047,0.7032682909462498,0.8703778411609374,1.0625644331128004,1.0625644331128004,1.3592110654163123,0,0,-0.0001651972416458466,-9.999994862586731e-05
+27454,1791279003464245106,11329482000000,1791279003456734948,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760669511826871,-0.0048155040228695795,0.08849407647913687,0.9999999879880509,7.595244774190053e-05,-5.5218792850745986e-05,8.154062254624475e-05,0.6761,-0.0048,0.08845520181069064,1.0,0.0,0.0,0.0,0.04785441046177744,0.034540548446905385,0.9193361650766968,0.0019425743953905997,-0.0032844305035415584,0.0002642790984591413,0.04668479368661965,0.060139959502971255,1.1741654132394261,-0.0010684032331969423,-0.00632001807304456,-0.00104857857060212,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8663839700221483,-0.2622010686673952,-0.4244124336727193,0.48285827321188535,0.4032035452471484,-0.19901540105506169,0.7032682909462498,0.9193361650766968,1.127680724618969,1.127680724618969,1.4087110654162702,0,0,-0.00017281559730196564,4.239790730893914e-05
+27550,1791279004264289177,11330282000000,1791279004256734625,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760690064099552,-0.004821172474320746,0.0883581920321406,0.9999999877776756,7.918277720503582e-05,-5.0857628796773186e-05,8.385166822246124e-05,0.6761,-0.0048,0.08831394476526869,1.0,0.0,0.0,0.0,0.04654772324363117,0.036043102840578725,0.959334583547453,0.0019074665168921936,-0.002279919964623903,0.00024752664422336983,0.04537810646847338,0.061642513896644595,1.2141638317101824,-0.0011035111116953484,-0.005315507534126905,-0.0010653310248378914,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8327325473756096,-0.28683865754038035,-0.4327396730927613,0.4972226935188059,0.3985303273661384,-0.21629298487971235,0.7032682909462498,0.959334583547453,1.136007964039011,1.136007964039011,1.4567110654162294,0,0,-0.00018169056202196743,-9.913412732232558e-05
+27640,1791279005014282537,11331032000000,1791279005008735215,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760687773492,-0.00481706363133753,0.08821636207664997,0.9999999870216538,8.59652056625868e-05,-5.5324263079828146e-05,8.335925785849957e-05,0.6761,-0.0048,0.08817608665911802,1.0,0.0,0.0,0.0,0.04673569122630433,0.027878803215127312,0.9995561193226307,0.0019253398878780199,-0.0032515619152981346,0.00019999013464672556,0.04556607445114654,0.05347821427119318,1.25438536748536,-0.0010856377407095221,-0.006287149484801136,-0.0011128675344145357,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7880760047813902,-0.2599119731129672,-0.5008579850386216,0.4825996600543725,0.425733103926641,-0.20158206226438052,0.7032682909462498,0.9995561193226307,1.2041262759848714,1.2041262759848714,1.5017110654161911,0,0,-0.00018542899835178076,6.947600699988815e-05
+27733,1791279005789385143,11331807000000,1791279005788725051,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760730159518117,-0.004816671864352699,0.08807741370927656,0.9999999874471296,8.440526606616572e-05,-4.719126775785846e-05,8.483714122733098e-05,0.6761,-0.0048,0.08803152155159319,1.0,0.0,0.0,0.0,0.05487975154277269,0.045139166315625374,1.0336570625878725,0.0018940593808317325,-0.002297363734749054,0.00018855920702515834,0.0537101347676149,0.07073857737169124,1.2884863107506017,-0.0011169182477558095,-0.005332951304252056,-0.0011242984620361029,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7511935724662515,-0.2703097960747323,-0.5207032795375117,0.48734804673772886,0.42483023196489406,-0.2073838354014154,0.7032682909462498,1.0336570625878725,1.2239715704837615,1.2239715704837615,1.5482110654161516,0,0,-0.00018926936031923714,-4.4284072268868615e-05
+27824,1791279006547425558,11332565000000,1791279006540735339,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760745249419978,-0.004816413770184111,0.08793282088473707,0.999999987316869,8.570030597096313e-05,-4.7969041815175225e-05,8.463778642970423e-05,0.6761,-0.0048,0.08788608437865232,1.0,0.0,0.0,0.0,0.05146077305686396,0.04198245786748366,1.0701989880999205,0.0026818751501932756,-0.0023487349666311574,0.00016692627262684316,0.05029115628170617,0.06758186892354953,1.32502823626265,-0.0003291024783942663,-0.005384322536134159,-0.001145931396434418,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7645271356297406,-0.28545646116636536,-0.5877213226544464,0.49257487813499146,0.4726495754825652,-0.21595037277290458,0.7032682909462498,1.0701989880999205,1.2909896136006962,1.2909896136006962,1.593691065416113,0,0,-0.00019206753291004108,9.999994862586731e-05
+27917,1791279007322361064,11333340000000,1791279007320725656,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.676076991461688,-0.004814287332496507,0.08778459814351847,0.9999999867322188,9.040709911688482e-05,-4.5009232594641656e-05,8.819950172982294e-05,0.6761,-0.0048,0.08773359550635394,1.0,0.0,0.0,0.0,0.046216938621528876,0.03168853553173611,1.103842015209894,0.0018802769635614931,-0.002310447577017083,0.00012761816039376828,0.045047321846371086,0.05728794658780198,1.3586712633726232,-0.0011307006650260489,-0.005346035146520085,-0.001185239508667493,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7970912655610157,-0.27479019915225,-0.5699973303429513,0.4905717972371493,0.46567727453492613,-0.21095991159465097,0.7032682909462498,1.103842015209894,1.273265621289201,1.273265621289201,1.6401910654160734,0,0,-0.00020109720482860827,-9.992321833707791e-05
+27999,1791279008005426205,11334023000000,1791279008000725743,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760773396362364,-0.004817750251989784,0.08764870276146242,0.9999999870542714,8.613896294687038e-05,-4.38268150818662e-05,8.940699450870337e-05,0.6761,-0.0048,0.08759331176809397,1.0,0.0,0.0,0.0,0.046549575020381324,0.03431656146854008,1.1294901356713738,0.0018749183502001835,-0.0023164255282759013,0.00011006402275706012,0.045379958245223534,0.05991597252460595,1.384319383834103,-0.0011360592783873585,-0.005352013097778903,-0.001202793646304201,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7786535032868718,-0.3153617187995141,-0.5987109172984975,0.5072404948523619,0.47715647325966715,-0.23961248158294046,0.7032682909462498,1.1294901356713738,1.3019792082447472,1.3019792082447472,1.6811710654160386,0,0,-0.00021137463311202,-9.604761016935299e-05
+28080,1791279008680450673,11334698000000,1791279008672734933,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.676080756631207,-0.004818024005312208,0.08751837028745008,0.9999999873791522,8.612075838433128e-05,-3.699842756950325e-05,8.887570637142588e-05,0.6761,-0.0048,0.08744804258598246,1.0,0.0,0.0,0.0,0.046227244147841406,0.03252300777628603,1.1400209118255087,0.0018730138272797666,-0.002318809950997506,0.00010152306943034912,0.045057627372683616,0.0581224188323519,1.394850159988238,-0.0011379638013077754,-0.005354397520500508,-0.001211334599630912,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8045245574812919,-0.24064979440140807,-0.6973113366795335,0.49405799756588303,0.5443338765803187,-0.18863741157514877,0.7032682909462498,1.1400209118255087,1.4005796276257834,1.4005796276257834,1.7216710654160041,0,0,-0.00022018185794473043,9.984447576905637e-05
+28162,1791279009364506159,11335382000000,1791279009360725376,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760768422863721,-0.004825251953180375,0.08736367023928807,0.9999999876771689,7.933136387588366e-05,-4.806365167204701e-05,8.6515585316866e-05,0.6761,-0.0048,0.08729468640141821,1.0,0.0,0.0,0.0,0.04609726202668749,0.033246406805218134,1.1600926844115471,0.0018697479046309575,-0.002323374309954842,8.529177320638318e-05,0.0449276452515297,0.058845817861284004,1.4149219325742763,-0.0011412297239565845,-0.005358961879457844,-0.001227565895854878,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7626439656646273,-0.22106119231599805,-0.733812673842442,0.4911368636660852,0.5560820424902545,-0.17376474165831504,0.7032682909462498,1.1600926844115471,1.4370809647886917,1.4370809647886917,1.7627110654159692,0,0,-0.00023060478382822135,9.937909803270912e-05
+28246,1791279010064509043,11336082000000,1791279010056735030,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760869896039304,-0.004822694029616581,0.08720583202445412,0.9999999877611522,8.48941317151172e-05,-2.5181640797744397e-05,8.988565688893848e-05,0.6761,-0.0048,0.08712990874753974,1.0,0.0,0.0,0.0,0.04605781792434675,0.026128798884956818,1.1729665894359123,0.0018668985382028823,-0.002325015169935435,7.48751521029939e-05,0.04488820114918896,0.05172820994102269,1.4277958375986417,-0.0011440790903846597,-0.005360602739438437,-0.0012379825169582673,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7855750067704494,-0.18754174689414288,-0.6294923639265201,0.47598066870735006,0.49309478493675823,-0.15668221985897918,0.7032682909462498,1.1729665894359123,1.3327606548727697,1.3327606548727697,1.8047110654159335,0,0,-0.0002424744053278457,-9.999999025923074e-05
+28320,1791279010680482151,11336698000000,1791279010676725504,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760853999922122,-0.004821072547856656,0.08705871098254284,0.9999999875360333,8.512213204409346e-05,-3.004171557943497e-05,9.067808810961856e-05,0.6761,-0.0048,0.08697736590682979,1.0,0.0,0.0,0.0,0.04604191717100598,0.033977776996830876,1.1801479566840594,0.001865256259195863,-0.0023273051325964906,6.957677003490152e-05,0.04487230039584819,0.059577188052896746,1.4349772048467886,-0.001145721369391679,-0.0053628927020994924,-0.0012432808990263597,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7920189889789977,-0.29499858541961266,-0.7108823006406064,0.5155371591001175,0.5445097964894287,-0.22390615018295024,0.7032682909462498,1.1801479566840594,1.4141505915868562,1.4141505915868562,1.841671065415902,0,0,-0.00025471415899489615,-1.816288184375151e-05
+28392,1791279011280456502,11337298000000,1791279011272725281,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760861386789474,-0.004821895019058137,0.0869041392555146,0.9999999877949896,8.10929327024519e-05,-2.7533457923365292e-05,9.229696719386092e-05,0.6761,-0.0048,0.08682036064760827,1.0,0.0,0.0,0.0,0.04601245164052312,0.03409119579688146,1.199258409751454,0.0018538683161410151,-0.0023361255192763937,0.0009433221809268904,0.044842834865365326,0.05969060685294733,1.4540876579141835,-0.001157109312446527,-0.0053717130887793955,-0.0003695354881343709,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.719773101929929,-0.16944816879220262,-0.7460064656119425,0.4738567706255879,0.5450107751789109,-0.1451609151824416,0.7032682909462498,1.199258409751454,1.4492747565581923,1.4492747565581923,1.8776710654158715,0,0,-0.00026936221346887814,9.931741126590338e-05
+28464,1791279011880580078,11337898000000,1791279011876725605,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760848946235267,-0.0048216601780982265,0.08673990638047399,0.9999999876447347,8.581846907192693e-05,-2.9139250700910013e-05,8.91038116957514e-05,0.6761,-0.0048,0.08665465049586377,1.0,0.0,0.0,0.0,0.04599988794907774,0.041143355792392235,1.1995289266605864,0.0018621754467623454,-0.0023325802350817287,5.3573766254985146e-05,0.04483027117391995,0.0667427668484581,1.4543581748233159,-0.0011488021818251966,-0.0053681678045847305,-0.001259283902806276,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7232132983429823,-0.23306735568293738,-0.6596243527613296,0.49573589333750784,0.4926185060396185,-0.18641232239798727,0.7032682909462498,1.1995289266605864,1.3628926437075792,1.3628926437075792,1.9136710654158409,0,0,-0.0002846913314910867,-9.999983760356485e-05
+28530,1791279012430560787,11338448000000,1791279012428725156,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760817381078951,-0.004824087949220612,0.08657492348500374,0.9999999872965639,8.428661902257502e-05,-3.567995923045283e-05,9.204587267487712e-05,0.6761,-0.0048,0.0864942103995684,1.0,0.0,0.0,0.0,0.05184213289965008,0.034996820059788755,1.2085316935439625,0.001859842961654178,-0.0023336660906204108,5.3209485614402665e-05,0.05067251612449229,0.060596231115854625,1.4633609417066917,-0.001151134666933364,-0.005369253660123413,-0.0012596481834468585,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7131633460512597,-0.13110953634186315,-0.697751227156044,0.47783187049681114,0.5112676412582765,-0.11899396455258716,0.7032682909462498,1.2085316935439625,1.4010195181022937,1.4010195181022937,1.9466710654158128,0,0,-0.00030010891540896276,-9.999888003620611e-05
+28594,1791279012964571835,11338982000000,1791279012956725354,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760832524560129,-0.004822694011672273,0.08641991250035547,0.9999999874746315,8.41664208552671e-05,-3.247005400370279e-05,9.140738774822162e-05,0.6761,-0.0048,0.08632942643302373,1.0,0.0,0.0,0.0,0.045983231744917474,0.0393912555845927,1.219838291408787,0.0018588549495773378,-0.0023367887269576623,5.273175665686854e-05,0.044813614969759684,0.06499066664065857,1.4746675395715165,-0.0011521226790102042,-0.005372376296460664,-0.0012601259124043927,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7525038556741974,-0.1946884040885276,-0.6912657339416759,0.4984028703898222,0.5151996816356806,-0.15969743942145617,0.7032682909462498,1.219838291408787,1.3945340248879257,1.3945340248879257,1.9787110654157856,0,0,-0.00031563468716053054,-9.375000361989123e-05
+28656,1791279013480592405,11339498000000,1791279013476725077,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760887539580692,-0.004824904383550306,0.08626242260309061,0.9999999880104381,8.00008871977826e-05,-2.2073603674976347e-05,9.2382910218769e-05,0.6761,-0.0048,0.08616250568382991,1.0,0.0,0.0,0.0,0.045953822545224,0.03544004523074478,1.2202828983041432,0.0018578482140271663,-0.0023360765996445015,3.694927307511188e-05,0.04478420577006621,0.06103945628681065,1.4751121464668726,-0.0011531294145603757,-0.005371664169147503,-0.0012759083959861493,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7716645968918285,-0.19430059977286576,-0.7658626938983139,0.4967669110831222,0.5674716509658503,-0.16145898520294746,0.7032682909462498,1.2202828983041432,1.4691309848445635,1.4691309848445635,2.0096710654157595,0,0,-0.00032875353546308006,4.4742294145075985e-05
+28719,1791279014005670183,11340023000000,1791279014000726235,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760890680358116,-0.00482657608245568,0.08608956682247519,0.9999999885212731,7.46195942804293e-05,-1.972417081416392e-05,9.188683921119433e-05,0.6761,-0.0048,0.08598511685741499,1.0,0.0,0.0,0.0,0.04595273410138756,0.035458025302527986,1.2207743524240562,0.0018577740558937638,-0.0023361838587004353,3.636046126855941e-05,0.04478311732622977,0.061057436358593856,1.4756036005867856,-0.0011532035726937782,-0.005371771428203437,-0.0012764972077927018,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7627475533578912,-0.23547096664972814,-0.6963438243522847,0.5145241129857013,0.51825246218179,-0.18693286839867426,0.7032682909462498,1.2207743524240562,1.3996121152985346,1.3996121152985346,2.0411710654157327,0,0,-0.00034696102959727435,-9.95216645468588e-05
+28776,1791279014480654157,11340498000000,1791279014476734799,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760881262806745,-0.0048250851391693364,0.08592075589840828,0.9999999879091146,8.411251364917877e-05,-2.0921298171850883e-05,9.006674912336355e-05,0.6761,-0.0048,0.08581750386931683,1.0,0.0,0.0,0.0,0.04235584725087491,0.03570798267271191,1.2336294916678319,0.001852235193434624,-0.0023408610555609283,0.000996971180988177,0.04118623047571712,0.06130739372877778,1.488458739830561,-0.001158742435152918,-0.00537644862506393,-0.00031588648807308415,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7818491909754267,-0.1973857317161277,-0.8177167112493798,0.512346189556991,0.5992701219039348,-0.1568118298255431,0.7032682909462498,1.2336294916678319,1.5209850021956295,1.5209850021956295,2.0696710654157084,0,0,-0.0003570264691013251,9.953003285290691e-05
+28830,1791279014930618746,11340948000000,1791279014928725545,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760863147054215,-0.004830390430668849,0.08575591366524069,0.9999999881351894,7.878095456893488e-05,-2.2131907317883896e-05,9.206641867439521e-05,0.6761,-0.0048,0.08565399879129078,1.0,0.0,0.0,0.0,0.04600072270280427,0.035573139995186236,1.240687556858394,0.001846990947342106,-0.002344707120340879,0.0008208010722975444,0.04483110592764648,0.061172551051252105,1.4955168050211234,-0.001163986681245436,-0.005380294689843881,-0.0004920565967637168,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8060866578334904,-0.17750556331455167,-0.7839463178619808,0.5059862178713408,0.5807865198132454,-0.14896618947062368,0.7032682909462498,1.240687556858394,1.4872146088082305,1.4872146088082305,2.0966710654156855,0,0,-0.00036752759182057235,1.8724422788882482e-05
+28887,1791279015405683144,11341423000000,1791279015404725753,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760837548091053,-0.004831629285438255,0.08557913249826958,0.999999988118341,7.639271839737335e-05,-2.5371042487557924e-05,9.341651355711394e-05,0.6761,-0.0048,0.08547693421475086,1.0,0.0,0.0,0.0,0.04590975046946697,0.03620994515264802,1.240648740825522,0.0018541322424252215,-0.0023404874157961215,2.0537000392080625e-05,0.04474013369430918,0.06180935620871389,1.4954779889882515,-0.0011568453861623205,-0.005376074985299123,-0.0012923206686691806,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7335709229744444,-0.19377250619287176,-0.7104796143958231,0.5086256741192142,0.5106033002876704,-0.16021330025483224,0.7032682909462498,1.240648740825522,1.4137479053420727,1.4137479053420727,2.1251710654156613,0,0,-0.000378733594606799,-9.999999025923074e-05
+28942,1791279015864702998,11341882000000,1791279015864725050,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.67608523316382,-0.00483269379017783,0.08541112202758779,0.9999999879720158,7.827407999109665e-05,-2.3632705501107746e-05,9.388022329786218e-05,0.6761,-0.0048,0.08530096305499604,1.0,0.0,0.0,0.0,0.04568974564517932,0.02659045091649434,1.2504993414739567,0.0018450825491481797,-0.002346303750136599,0.0005829908964068784,0.044520128870021526,0.05218986197256021,1.5053285896366861,-0.0011658950794393623,-0.005381891319639601,-0.0007298667726543828,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8110839611163468,-0.2448252168236965,-0.8056574265611588,0.5319682302304772,0.5888593206315879,-0.19114238439523898,0.7032682909462498,1.2504993414739567,1.5089257175074087,1.5089257175074087,2.152711065415638,0,0,-0.00038819859011805547,1.946849871836383e-05
+28992,1791279016280666871,11342298000000,1791279016280724842,DOWN_FORCE_DETACH,3,0.0565,0.05650222674012184,0.6760898255195439,-0.004837929184577336,0.08525183912416019,0.999999988882773,6.889732770687821e-05,-1.0906659148717167e-05,9.386970392637657e-05,0.6761,-0.0048,0.08513801730085549,1.0,0.0,0.0,0.0,0.04224691268354225,0.029606845007773927,1.2491983317879956,0.001849045915628827,-0.0023414784048351,0.0010208904108481315,0.04107729590838446,0.0552062560638398,1.5040275799507248,-0.001161931712958715,-0.005377065974338102,-0.0002919672582131297,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7995293607151308,-0.19616241957844124,-0.8062856914299265,0.5238967835640798,0.5838706475665649,-0.15754492865628267,0.7032682909462498,1.2491983317879956,1.5095539823761763,1.5095539823761763,2.1776710654156166,0,0,-0.00039617796711323097,-4.7396795054880335e-05
+29046,1791279016730712356,11342748000000,1791279016728725805,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760879988480427,-0.004844451399861131,0.08507739216290251,0.9999999884341538,7.251959288577997e-05,-1.4305294757688961e-05,9.545063523336012e-05,0.6761,-0.0048,0.08495834626446237,1.0,0.0,0.0,0.0,0.04587426309027776,0.036317937781289784,1.2505247441391392,0.0018492527155949338,-0.0023444088059250278,0.00036952392876924095,0.04470464631511997,0.061917348837355654,1.5053539923018684,-0.0011617249129926082,-0.0053799963754280295,-0.0009433337402920203,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.814940814347252,-0.16529676724720185,-0.8346608388978675,0.5160850691509002,0.6028822157031253,-0.13942715053667276,0.7032682909462498,1.2505247441391392,1.5379291298441173,1.5379291298441173,2.2046710654155937,0,0,-0.0004037004300197226,3.315250437919133e-05
+29098,1791279017164693478,11343182000000,1791279017164725299,DOWN_FORCE_DETACH,3,0.0565,0.05650157108902931,0.6760867888344274,-0.004842904967792012,0.08490216533749595,0.9999999892711058,6.561811342666386e-05,-1.5667129034173928e-05,9.137536223469234e-05,0.6761,-0.0048,0.08478210453076679,1.0,0.0,0.0,0.0,0.045857732687386174,0.03290763254969483,1.2604200814755404,0.0018496195925817773,-0.002344657260789552,5.208080149735994e-05,0.044688115912228384,0.0585070436057607,1.5152493296382696,-0.0011613580360057647,-0.005380244830292554,-0.0012607768675639013,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8567389354367263,-0.1747900199504076,-0.8850417261079121,0.5281799561661633,0.6418169044239589,-0.1399446399874284,0.7032682909462498,1.2604200814755404,1.588310017054162,1.588310017054162,2.2307110654155715,0,0,-0.00040945999392885826,9.899401717661788e-05
+29151,1791279017605740267,11343623000000,1791279017604734783,DOWN_SETTLE,3,0.0565,0.05650222674012184,0.6760884477127874,-0.004843532464663226,0.08472630842974399,0.9999999894395369,6.41287984687676e-05,-1.2891630082158004e-05,9.102248912866617e-05,0.6761,-0.0048,0.08460543542123987,1.0,0.0,0.0,0.0,0.045801701537589265,0.036483325392330145,1.250780004554009,0.0018443464001552767,-0.0023478363275927006,0.0006679322207037643,0.044632084762431475,0.062082736448396014,1.5056092527167384,-0.0011666312284322653,-0.0053834238970957024,-0.0006449254483574969,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8978199606820886,-0.29584150307934276,-0.8423340711140433,0.5607455913828049,0.6239826443030114,-0.2205609914060393,0.7032682909462498,1.250780004554009,1.545602362060293,1.545602362060293,2.2331710654155694,0,0,-0.00038969557049764605,9.999999025923074e-05
+29202,1791279018030751248,11344048000000,1791279018028725433,DOWN_SETTLE,3,0.0565,0.05650222674012184,0.6760870903064317,-0.00484622556733208,0.08456341107389423,0.9999999886294294,6.857362940098978e-05,-1.4743173538950387e-05,9.625124243285325e-05,0.6761,-0.0048,0.08444431980289659,1.0,0.0,0.0,0.0,0.036477807826817366,0.036314641085727795,1.2503606893109613,0.0018267216149339231,-0.0014111198547975463,0.0002519539089187604,0.035308191051659575,0.061914052141793664,1.5051899374736908,-0.0011842560136536189,-0.004446707424300548,-0.0010609037601425008,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8959098672675725,-0.1953535765235307,-0.9305426360874162,0.5336717895717189,0.6791528316666815,-0.1510505828491531,0.7032682909462498,1.2503606893109613,1.6338109270336658,1.6338109270336658,2.2331710654155694,0,0,-0.000368445574637473,9.999999025923074e-05
+29262,1791279018530673050,11344548000000,1791279018524725813,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760843071600567,-0.004847818054881547,0.08438345753749671,0.9999999888217443,6.694768400520997e-05,-1.9637621183831975e-05,9.450792046532718e-05,0.6761,-0.0048,0.08426633451435782,1.0,0.0,0.0,0.0,0.03860474985802976,0.0362186432996983,1.2505449240917392,0.001848955208606112,-0.0023446614846406107,2.0327276649259162e-05,0.03743513308287197,0.06181805435576417,1.5053741722544685,-0.00116202241998143,-0.0053802490541436125,-0.001292530392412002,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8956571132338362,-0.14492875063515226,-0.9334324622976704,0.5177018300425288,0.6806694844825887,-0.11905061630886911,0.7032682909462498,1.2505449240917392,1.6367007532439202,1.6367007532439202,2.2331710654155694,0,0,-0.0003434455795078576,9.999999025923074e-05
+29319,1791279019005767896,11345023000000,1791279019004725452,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760833951702969,-0.0048497278739475826,0.08423146607286361,0.99999998906827,6.340178747380585e-05,-1.8876822303777947e-05,9.449975222142582e-05,0.6761,-0.0048,0.08410882661299039,1.0,0.0,0.0,0.0,0.04586508896014679,0.03213485416387685,1.2403705563378775,0.0018535673440697763,-0.0023401257865992924,2.0409189988178714e-05,0.044695472184988996,0.05773426521994272,1.495199804500607,-0.0011574102845177657,-0.005375713356102294,-0.0012924484790730825,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9271427882167432,-0.26468008719773983,-0.8643084833058663,0.5583042135706061,0.6399902322455578,-0.1971624449624794,0.7032682909462498,1.2403705563378775,1.567576774252116,1.567576774252116,2.2331710654155694,0,0,-0.000319695584134723,9.999999025923074e-05
+29386,1791279019564692355,11345582000000,1791279019564734947,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.67608120946953,-0.00485062414645939,0.08406372692083935,0.9999999888644617,6.205184402594552e-05,-2.070821955025352e-05,9.713227624399556e-05,0.6761,-0.0048,0.08393791482993446,1.0,0.0,0.0,0.0,0.04592859960833747,0.034980349906306704,1.230774644889558,0.0018464023177878135,-0.002341112928781573,0.0010369952896803827,0.04475898283317968,0.060579760962372574,1.4856038930522872,-0.0011645753107997286,-0.005376700498284575,-0.0002758623793808784,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9588645130704264,-0.1722131006489664,-0.8906086450636793,0.5266204249671937,0.6625200043859724,-0.13776527481518575,0.7032682909462498,1.230774644889558,1.593876936009929,1.593876936009929,2.2331710654155694,0,0,-0.000291745589579813,9.999999025923074e-05
+29451,1791279020105799308,11346123000000,1791279020100725241,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760828639837133,-0.0048450322330024255,0.08391844285051701,0.9999999892472821,6.214959108591981e-05,-1.5892031403739814e-05,9.398495547472392e-05,0.6761,-0.0048,0.08378738396454367,1.0,0.0,0.0,0.0,0.045487863226709085,0.035453949095736854,1.2203120823206381,0.001856960580708932,-0.0023340469943850272,3.657160308865692e-05,0.044318246451551295,0.061053360151802724,1.4751413304833676,-0.00115401704787861,-0.005369634563888029,-0.0012762860659726043,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9761198491247841,-0.16379929871401153,-0.840807363373276,0.5246270553570964,0.6339964998808566,-0.12708738280179863,0.7032682909462498,1.2203120823206381,1.5440756543195258,1.5440756543195258,2.2331710654155694,0,0,-0.0002646955948495692,9.999999025923074e-05
+29530,1791279020764834076,11346782000000,1791279020760725777,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760821771110573,-0.004853075700477373,0.08375607988208887,0.9999999891758178,5.907070037185285e-05,-1.7358326654123376e-05,9.64394602851379e-05,0.6761,-0.0048,0.08362379011541948,1.0,0.0,0.0,0.0,0.03832058780386132,0.03260625093320161,1.2206499731104703,0.0018520873253123596,-0.0023407205962808542,0.0006999896439375164,0.03715097102870353,0.05820566198926748,1.4754792212731997,-0.0011588903032751824,-0.005376308165783856,-0.0006128680251237448,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0137008159126892,-0.08002796298552316,-0.9303150270432289,0.5010799510172275,0.6996888732532431,-0.07114204194609261,0.7032682909462498,1.2206499731104703,1.6335833179894785,1.6335833179894785,2.2331710654155694,0,0,-0.0002317456012687361,9.999999025923074e-05
+29608,1791279021415843552,11347432000000,1791279021412725537,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760759747382683,-0.004855074466595229,0.0836087458708527,0.9999999890392662,5.217300070623557e-05,-2.3624200630060335e-05,0.00010042015261734102,0.6761,-0.0048,0.0834837017225339,1.0,0.0,0.0,0.0,0.036764920098500846,0.02425118415381161,1.2053777326618844,0.0018502503405139468,-0.0023331509655523087,0.0010750015988513415,0.035595303323343055,0.04985059520987748,1.4602069808246139,-0.0011607272880735952,-0.0053687385350553105,-0.00023785607020991977,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.086286055161768,-0.21381267730046397,-0.9271146588995426,0.5432844372710762,0.7137339281920124,-0.15885262818451465,0.7032682909462498,1.2053777326618844,1.6303829498457922,1.6303829498457922,2.2331710654155694,0,0,-0.00019924560760023612,9.999999025923074e-05
+29691,1791279022105861103,11348123000000,1791279022100726109,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760723004689417,-0.004853620295516212,0.08347964059420421,0.9999999891002719,4.9437509961428386e-05,-2.943166053719208e-05,9.965957186054304e-05,0.6761,-0.0048,0.08335794275535326,1.0,0.0,0.0,0.0,0.04575795354828314,0.033873713197058127,1.2006448636243805,0.0018523940578318051,-0.002337141511669041,0.0010791804226299938,0.04458833677312535,0.059473124253123996,1.4554741117871097,-0.0011585835707557369,-0.005372729081172043,-0.0002336772464312673,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.020051322866487,-0.18293876863730194,-0.9125015344404527,0.5250305160424091,0.6840537644159935,-0.13869182445101014,0.7032682909462498,1.2006448636243805,1.6157698253867023,1.6157698253867023,2.2331710654155694,0,0,-0.00016469561433110768,9.999999025923074e-05
+29799,1791279023005900072,11349023000000,1791279023004725635,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760705653380585,-0.004853042246134696,0.08334790060859065,0.9999999884060468,5.7021693864550264e-05,-3.389321296451529e-05,0.00010114616755559338,0.6761,-0.0048,0.08322994419850586,1.0,0.0,0.0,0.0,0.04529508857110442,0.0338472531057601,1.1801743164782321,0.0018646180818017147,-0.0023276668467839393,0.00014103956743821374,0.04412547179594663,0.05944666416182597,1.4350035646409613,-0.0011463595467858273,-0.005363254416286941,-0.0011718181016230475,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.0645908850932433,-0.17974445417057716,-0.8496094704194687,0.5233313452199442,0.6528527263434529,-0.1341033638517704,0.7032682909462498,1.1801743164782321,1.5528777613657185,1.5528777613657185,2.2331710654155694,0,0,-0.00011969562309780001,9.999999025923074e-05
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+30059,1791279025172953365,11351190000000,1791279025168735105,DOWN_SETTLE,3,0.0565,0.05650157108902931,0.6760765422389685,-0.0048569725121977245,0.08319852779041431,0.9999999858281196,7.66072586152007e-05,-3.2850240697284524e-05,0.0001133084937030907,0.6761,-0.0048,0.08308790681037159,1.0,0.0,0.0,0.0,0.038983296914280305,0.03179134404558046,1.1199265619924819,0.0018765360194249537,-0.0023139878000409367,0.00011720739686315912,0.037813680139122514,0.05739075510164633,1.3747558101552113,-0.0011344416091625883,-0.0053495753695439385,-0.001195650272198102,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9917876422927016,-0.16844232872661555,-0.7795737812533131,0.5162555138529423,0.5866080173391995,-0.12698840748990253,0.7032682909462498,1.1199265619924819,1.482842072199563,1.482842072199563,2.2331710654155694,0,0,-1.1345644206046996e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dffb9070d0007196ce0df002267fbfb84cf00db1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37bd3145bfb32ddab64f55ccb3ddf22ee8d08f4a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,9.533333333e+00,DOWN_FORCE_DETACH,1791278995436486911,5.174634883e-05,3.475113505e-06,-1.199115669e-03,4.938917319e-05,4.111534623e-06,-1.188270831e-03,4.649087430e-05,4.167634275e-06,-1.187063266e-03,7.015896178e-01,5.026074826e-06,8.395418255e-01,7.015872607e-01,5.662495944e-06,8.395526704e-01,7.017722586e-01,5.925603711e-06,8.285935610e-01
+15,1.006666667e+01,DOWN_FORCE_DETACH,1791278996235233981,5.478466842e-05,1.290730639e-07,-1.304186529e-03,5.356921188e-05,-1.447532244e-06,-1.298882522e-03,5.037541029e-05,-1.402778662e-06,-1.297595250e-03,7.015926561e-01,1.680034385e-06,8.394367547e-01,7.015914407e-01,1.034290772e-07,8.394420587e-01,7.017761431e-01,3.551907742e-07,8.284830290e-01
+16,1.063333333e+01,DOWN_FORCE_DETACH,1791278997093897867,5.852970687e-05,-3.643108981e-06,-1.425877235e-03,5.392265315e-05,-9.184281025e-07,-1.407125178e-03,5.034316876e-05,-8.991404498e-07,-1.405898590e-03,7.015964012e-01,-2.092147659e-06,8.393150640e-01,7.015917941e-01,6.325332186e-07,8.393338160e-01,7.017761109e-01,8.588289868e-07,8.283747257e-01
+17,1.115000000e+01,DOWN_FORCE_DETACH,1791278997864670746,5.811835187e-05,-1.501955870e-05,-1.535220990e-03,5.807878324e-05,-1.477951414e-05,-1.534793041e-03,5.417741969e-05,-1.473773422e-05,-1.533526570e-03,7.015959898e-01,-1.346859738e-05,8.392057202e-01,7.015959503e-01,-1.322855282e-05,8.392061481e-01,7.017799452e-01,-1.297976478e-05,8.282470977e-01
+18,1.153333333e+01,DOWN_FORCE_DETACH,1791278998435838502,5.894623985e-05,2.793036465e-06,-1.617627751e-03,6.086248184e-05,-2.229222481e-06,-1.614636918e-03,5.679172555e-05,-2.213560875e-06,-1.613294246e-03,7.015968177e-01,4.343997786e-06,8.391233134e-01,7.015987340e-01,-6.782611604e-07,8.391263043e-01,7.017825595e-01,-4.555914383e-07,8.281673301e-01
+19,1.196666667e+01,DOWN_FORCE_DETACH,1791278999094015801,6.425383962e-05,-1.118339644e-05,-1.713174292e-03,6.416901270e-05,-1.114197748e-05,-1.712786611e-03,5.975193556e-05,-1.107548804e-05,-1.711416126e-03,7.016021253e-01,-9.632435119e-06,8.390277669e-01,7.016020405e-01,-9.591016163e-06,8.390281546e-01,7.017855197e-01,-9.317518599e-06,8.280692082e-01
+20,1.260000000e+01,DOWN_FORCE_DETACH,1791279000034899681,6.827949436e-05,-1.825073502e-05,-1.851863928e-03,6.622666447e-05,-1.566111019e-05,-1.840403783e-03,6.148374498e-05,-1.563247386e-05,-1.838970105e-03,7.016061510e-01,-1.669977370e-05,8.388890773e-01,7.016040981e-01,-1.411014887e-05,8.389005374e-01,7.017872515e-01,-1.387450443e-05,8.279416542e-01
+21,1.318333333e+01,DOWN_FORCE_DETACH,1791279000917800629,7.673349208e-05,-2.264281678e-05,-1.982499099e-03,7.199576950e-05,-2.440048579e-05,-1.966513552e-03,6.686783802e-05,-2.431827656e-05,-1.965095329e-03,7.016146050e-01,-2.109185546e-05,8.387584421e-01,7.016098673e-01,-2.284952447e-05,8.387744276e-01,7.017926356e-01,-2.256030712e-05,8.278155290e-01
+22,1.376666667e+01,DOWN_FORCE_DETACH,1791279001793689212,7.446622544e-05,-2.523408860e-05,-2.123458994e-03,7.621356113e-05,-3.004903322e-05,-2.115351479e-03,7.073746684e-05,-2.996954196e-05,-2.113866898e-03,7.016123377e-01,-2.368312728e-05,8.386174822e-01,7.016140850e-01,-2.849807190e-05,8.386255897e-01,7.017965052e-01,-2.821157252e-05,8.276667574e-01
+23,1.433333333e+01,DOWN_FORCE_DETACH,1791279002636518004,7.837821417e-05,-2.701361346e-05,-2.252551290e-03,7.782534872e-05,-2.631086927e-05,-2.252215372e-03,7.188644165e-05,-2.625670999e-05,-2.250694600e-03,7.016162497e-01,-2.546265213e-05,8.384883899e-01,7.016156968e-01,-2.475990795e-05,8.384887258e-01,7.017976542e-01,-2.449874056e-05,8.275299297e-01
+24,1.488333333e+01,DOWN_FORCE_DETACH,1791279003464691284,8.111343397e-05,-3.429794603e-05,-2.388513344e-03,7.985826261e-05,-3.085250028e-05,-2.386868719e-03,7.351709665e-05,-3.075205139e-05,-2.385290538e-03,7.016189849e-01,-3.274698471e-05,8.383524278e-01,7.016177297e-01,-2.930153896e-05,8.383540725e-01,7.017992848e-01,-2.899408195e-05,8.273953338e-01
+25,1.541666667e+01,DOWN_FORCE_DETACH,1791279004265423121,8.409832080e-05,-3.741765409e-05,-2.525176641e-03,8.416015980e-05,-3.716109299e-05,-2.524911437e-03,7.745558217e-05,-3.702466852e-05,-2.523261920e-03,7.016219698e-01,-3.586669277e-05,8.382157645e-01,7.016220316e-01,-3.561013167e-05,8.382160298e-01,7.018032233e-01,-3.526669908e-05,8.272573624e-01
+26,1.591666667e+01,DOWN_FORCE_DETACH,1791279005015846874,8.480761617e-05,-3.249914718e-05,-2.664482844e-03,8.468876039e-05,-3.235299312e-05,-2.664283315e-03,7.749543996e-05,-3.221878455e-05,-2.662480288e-03,7.016226791e-01,-3.094818586e-05,8.380764583e-01,7.016225602e-01,-3.080203180e-05,8.380766579e-01,7.018032632e-01,-3.046081512e-05,8.271181440e-01
+27,1.636666667e+01,DOWN_FORCE_DETACH,1791279005786121049,8.954392014e-05,-3.072350453e-05,-2.800761726e-03,8.917556741e-05,-3.047974264e-05,-2.800474975e-03,8.163127847e-05,-3.031046729e-05,-2.798661429e-03,7.016274154e-01,-2.917254321e-05,8.379401795e-01,7.016270470e-01,-2.892878132e-05,8.379404662e-01,7.018073990e-01,-2.855249786e-05,8.269819629e-01
+28,1.685000000e+01,DOWN_FORCE_DETACH,1791279006547652717,8.944399900e-05,-3.230876031e-05,-2.948878570e-03,8.762635461e-05,-2.821312620e-05,-2.931208575e-03,7.964022543e-05,-2.809298743e-05,-2.929436145e-03,7.016273155e-01,-3.075779899e-05,8.377920626e-01,7.016254978e-01,-2.666216488e-05,8.378097326e-01,7.018054080e-01,-2.633501799e-05,8.268511882e-01
+29,1.736666667e+01,DOWN_FORCE_DETACH,1791279007326055762,9.301176240e-05,-3.240003125e-05,-3.094282009e-03,8.881540319e-05,-3.031367865e-05,-3.094669823e-03,8.032429153e-05,-3.022409665e-05,-3.092870588e-03,7.016308832e-01,-3.084906993e-05,8.376466592e-01,7.016266869e-01,-2.876271733e-05,8.376462714e-01,7.018060920e-01,-2.846612721e-05,8.266877537e-01
+30,1.783333333e+01,DOWN_FORCE_DETACH,1791279008002011152,8.879177673e-05,-3.261042689e-05,-3.235896144e-03,9.305940976e-05,-3.702090389e-05,-3.227462687e-03,8.417063303e-05,-3.696991890e-05,-3.225696324e-03,7.016266633e-01,-3.105946557e-05,8.375050450e-01,7.016309309e-01,-3.546994257e-05,8.375134785e-01,7.018099384e-01,-3.521194947e-05,8.265549280e-01
+31,1.828333333e+01,DOWN_FORCE_DETACH,1791279008683622841,9.441890329e-05,-3.976995514e-05,-3.365687216e-03,9.300209707e-05,-3.667604975e-05,-3.348467467e-03,8.362617186e-05,-3.659599493e-05,-3.346757030e-03,7.016322904e-01,-3.821899381e-05,8.373752540e-01,7.016308736e-01,-3.512508843e-05,8.373924737e-01,7.018093939e-01,-3.483802549e-05,8.264338673e-01
+32,1.873333333e+01,DOWN_FORCE_DETACH,1791279009364948745,8.865173428e-05,-3.705908713e-05,-3.522141650e-03,9.036456943e-05,-3.821959970e-05,-3.512899346e-03,8.035859414e-05,-3.812591888e-05,-3.510958223e-03,7.016265232e-01,-3.550812581e-05,8.372187995e-01,7.016282361e-01,-3.666863838e-05,8.372280418e-01,7.018061263e-01,-3.636794944e-05,8.262696661e-01
+33,1.920000000e+01,DOWN_FORCE_DETACH,1791279010062116495,9.986768594e-05,-3.875546409e-05,-3.675485934e-03,9.971380827e-05,-3.869291124e-05,-3.675307908e-03,8.934674364e-05,-3.862365305e-05,-3.673256542e-03,7.016377392e-01,-3.720450277e-05,8.370654553e-01,7.016375853e-01,-3.714194991e-05,8.370656333e-01,7.018151145e-01,-3.686568362e-05,8.261073678e-01
+34,1.961666667e+01,DOWN_FORCE_DETACH,1791279010684116032,1.027869139e-04,-4.313359748e-05,-3.824300806e-03,9.767813187e-05,-3.967031825e-05,-3.818028634e-03,8.680785133e-05,-3.954429891e-05,-3.815995267e-03,7.016406584e-01,-4.158263616e-05,8.369166404e-01,7.016355496e-01,-3.811935692e-05,8.369229126e-01,7.018125756e-01,-3.778632947e-05,8.259646290e-01
+35,2.001666667e+01,DOWN_FORCE_DETACH,1791279011284121137,1.005789854e-04,-3.905778268e-05,-3.979009221e-03,9.733158993e-05,-3.636185991e-05,-3.972907147e-03,8.589020571e-05,-3.624953430e-05,-3.970802341e-03,7.016384505e-01,-3.750682136e-05,8.367619320e-01,7.016352031e-01,-3.481089859e-05,8.367680340e-01,7.018116579e-01,-3.449156487e-05,8.258098220e-01
+36,2.041666667e+01,DOWN_FORCE_DETACH,1791279011884204221,1.021318433e-04,-3.682418297e-05,-4.138381312e-03,1.021064008e-04,-3.685649008e-05,-4.137959700e-03,9.026052762e-05,-3.672595592e-05,-4.135640173e-03,7.016400033e-01,-3.527322164e-05,8.366025599e-01,7.016399779e-01,-3.530552876e-05,8.366029815e-01,7.018160283e-01,-3.496798649e-05,8.256449841e-01
+37,2.078333333e+01,DOWN_FORCE_DETACH,1791279012433172578,9.743350865e-05,-3.888754846e-05,-4.307174176e-03,9.788029632e-05,-3.980126964e-05,-4.293808631e-03,8.536788046e-05,-3.968580913e-05,-4.291453841e-03,7.016353050e-01,-3.733658714e-05,8.364337670e-01,7.016357518e-01,-3.825030832e-05,8.364471326e-01,7.018111356e-01,-3.792783969e-05,8.254891705e-01
+38,2.113333333e+01,DOWN_FORCE_DETACH,1791279012962370554,9.891764141e-05,-4.022197303e-05,-4.461842636e-03,9.881431143e-05,-4.027741055e-05,-4.461621030e-03,8.572597123e-05,-4.016330600e-05,-4.459152957e-03,7.016367891e-01,-3.867101171e-05,8.362790986e-01,7.016366858e-01,-3.872644923e-05,8.362793202e-01,7.018114937e-01,-3.840533657e-05,8.253214713e-01
+39,2.148333333e+01,DOWN_FORCE_DETACH,1791279013484709997,9.822231438e-05,-4.290701416e-05,-4.630599628e-03,9.815979485e-05,-4.285748718e-05,-4.630096042e-03,8.445372557e-05,-4.272943659e-05,-4.627572266e-03,7.016360938e-01,-4.135605284e-05,8.361103416e-01,7.016360313e-01,-4.130652585e-05,8.361108451e-01,7.018102215e-01,-4.097146715e-05,8.251530520e-01
+40,2.183333333e+01,DOWN_FORCE_DETACH,1791279014002709829,1.048332874e-04,-4.351570539e-05,-4.790473804e-03,1.028482932e-04,-4.362930290e-05,-4.788467707e-03,8.875862272e-05,-4.349867388e-05,-4.785981132e-03,7.016427048e-01,-4.196474407e-05,8.359504674e-01,7.016407198e-01,-4.207834158e-05,8.359524735e-01,7.018145264e-01,-4.174070445e-05,8.249946432e-01
+41,2.215000000e+01,DOWN_FORCE_DETACH,1791279014483048417,1.025621521e-04,-4.453579037e-05,-4.958318214e-03,1.047994726e-04,-4.429282863e-05,-4.950966933e-03,9.014546114e-05,-4.420078832e-05,-4.948387735e-03,7.016404336e-01,-4.298482905e-05,8.357826230e-01,7.016426710e-01,-4.274186731e-05,8.357899743e-01,7.018159132e-01,-4.244281888e-05,8.248322366e-01
+42,2.245000000e+01,DOWN_FORCE_DETACH,1791279014933622793,1.000414778e-04,-4.790727411e-05,-5.129361345e-03,9.965879522e-05,-4.689628769e-05,-5.112602779e-03,8.431760627e-05,-4.681422431e-05,-5.109900960e-03,7.016379130e-01,-4.635631279e-05,8.356115798e-01,7.016375303e-01,-4.534532637e-05,8.356283384e-01,7.018100853e-01,-4.505625488e-05,8.246707233e-01
+43,2.276666667e+01,DOWN_FORCE_DETACH,1791279015402694236,1.012635971e-04,-4.777337839e-05,-5.298596992e-03,1.011601839e-04,-4.773615176e-05,-5.298538734e-03,8.524958648e-05,-4.760842811e-05,-5.295662584e-03,7.016391351e-01,-4.622241706e-05,8.354423442e-01,7.016390317e-01,-4.618519044e-05,8.354424025e-01,7.018110173e-01,-4.585045867e-05,8.244849617e-01
+44,2.306666667e+01,DOWN_FORCE_DETACH,1791279015862299750,9.875569245e-05,-4.860255848e-05,-5.471632191e-03,1.009823926e-04,-4.808791963e-05,-5.461999867e-03,8.443237698e-05,-4.794608519e-05,-5.459118444e-03,7.016366272e-01,-4.705159716e-05,8.352693090e-01,7.016388539e-01,-4.653695831e-05,8.352789413e-01,7.018102001e-01,-4.618811575e-05,8.243215059e-01
+45,2.335000000e+01,DOWN_FORCE_DETACH,1791279016283237394,1.020228862e-04,-5.284260395e-05,-5.634162407e-03,1.021138537e-04,-5.293327641e-05,-5.633982354e-03,8.498831421e-05,-5.285331444e-05,-5.630953513e-03,7.016398944e-01,-5.129164262e-05,8.351067788e-01,7.016399853e-01,-5.138231509e-05,8.351069588e-01,7.018107560e-01,-5.109534501e-05,8.241496708e-01
+46,2.365000000e+01,DOWN_FORCE_DETACH,1791279016732129902,1.026144774e-04,-5.674829205e-05,-5.802787923e-03,1.007829293e-04,-5.222505747e-05,-5.787487422e-03,8.314493785e-05,-5.209227707e-05,-5.784552422e-03,7.016404860e-01,-5.519733073e-05,8.349381533e-01,7.016386544e-01,-5.067409615e-05,8.349534538e-01,7.018089127e-01,-5.033430763e-05,8.239960719e-01
+47,2.393333333e+01,DOWN_FORCE_DETACH,1791279017162328754,1.012430567e-04,-5.758507476e-05,-5.980814850e-03,1.008810770e-04,-5.748663343e-05,-5.980822870e-03,8.254598431e-05,-5.728254054e-05,-5.977790997e-03,7.016391145e-01,-5.603411344e-05,8.347601263e-01,7.016387526e-01,-5.593567211e-05,8.347601183e-01,7.018083137e-01,-5.552457110e-05,8.238028333e-01
+48,2.423333333e+01,DOWN_SETTLE,1791279017603325788,1.040174794e-04,-6.061130363e-05,-6.151861331e-03,1.035680162e-04,-6.046739349e-05,-6.151723258e-03,8.474059071e-05,-6.027920852e-05,-6.148688538e-03,7.016418890e-01,-5.906034231e-05,8.345890799e-01,7.016414395e-01,-5.891643217e-05,8.345892179e-01,7.018105083e-01,-5.852123908e-05,8.236319358e-01
+49,2.451666667e+01,DOWN_SETTLE,1791279018032772314,1.007935940e-04,-6.390939953e-05,-6.321831318e-03,1.014665108e-04,-6.219647109e-05,-6.302489260e-03,8.205478979e-05,-6.201844813e-05,-6.299604487e-03,7.016386651e-01,-6.235843821e-05,8.344191099e-01,7.016393380e-01,-6.064550977e-05,8.344384519e-01,7.018078225e-01,-6.026047869e-05,8.234810198e-01
+50,2.485000000e+01,DOWN_SETTLE,1791279018532828418,1.008420557e-04,-6.383795673e-05,-6.496358720e-03,9.605472440e-05,-6.312849193e-05,-6.481771984e-03,7.596422858e-05,-6.293704664e-05,-6.479002234e-03,7.016387135e-01,-6.228699541e-05,8.342445825e-01,7.016339262e-01,-6.157753060e-05,8.342591692e-01,7.018017320e-01,-6.117907721e-05,8.233016221e-01
+51,2.516666667e+01,DOWN_SETTLE,1791279019004609410,9.682566925e-05,-6.404654466e-05,-6.649774425e-03,9.572269096e-05,-6.881912109e-05,-6.634079129e-03,7.503775136e-05,-6.859085974e-05,-6.631461105e-03,7.016346972e-01,-6.249558334e-05,8.340911668e-01,7.016335942e-01,-6.726815976e-05,8.341068621e-01,7.018008055e-01,-6.683289030e-05,8.231491632e-01
+52,2.553333333e+01,DOWN_SETTLE,1791279019563393561,9.586064417e-05,-6.370911465e-05,-6.817785204e-03,9.571965228e-05,-6.388544371e-05,-6.817512764e-03,7.433954940e-05,-6.368103776e-05,-6.814915912e-03,7.016337321e-01,-6.215815333e-05,8.339231560e-01,7.016335911e-01,-6.233448239e-05,8.339234284e-01,7.018001073e-01,-6.192306832e-05,8.229657084e-01
+53,2.590000000e+01,DOWN_SETTLE,1791279020103462528,9.836011255e-05,-6.469574950e-05,-6.960441978e-03,1.004523961e-04,-6.263839718e-05,-6.942127671e-03,7.881149879e-05,-6.248535905e-05,-6.939779630e-03,7.016362316e-01,-6.314478818e-05,8.337804992e-01,7.016383239e-01,-6.108743586e-05,8.337988135e-01,7.018045792e-01,-6.072738961e-05,8.228408447e-01
+54,2.633333333e+01,DOWN_SETTLE,1791279020762470935,9.733093398e-05,-6.966373078e-05,-7.124229470e-03,9.712659390e-05,-6.943956303e-05,-7.124381067e-03,7.471858907e-05,-6.928521494e-05,-7.121983498e-03,7.016352024e-01,-6.811276945e-05,8.336167117e-01,7.016349981e-01,-6.788860171e-05,8.336165601e-01,7.018004863e-01,-6.752724550e-05,8.226586408e-01
+55,2.676666667e+01,DOWN_SETTLE,1791279021410921014,9.022647903e-05,-6.960548432e-05,-7.273798810e-03,8.986476051e-05,-6.958683315e-05,-7.273554380e-03,6.680048146e-05,-6.940954740e-05,-7.271395407e-03,7.016280980e-01,-6.805452300e-05,8.334671424e-01,7.016277362e-01,-6.803587183e-05,8.334673868e-01,7.017925682e-01,-6.765157797e-05,8.225092289e-01
+56,2.723333333e+01,DOWN_SETTLE,1791279022103084952,8.621557350e-05,-6.912740749e-05,-7.402101963e-03,8.806057219e-05,-7.097956959e-05,-7.391755372e-03,6.457668801e-05,-7.076860709e-05,-7.389949514e-03,7.016240871e-01,-6.757644617e-05,8.333388392e-01,7.016259321e-01,-6.942860827e-05,8.333491858e-01,7.017903444e-01,-6.901063765e-05,8.223906748e-01
+57,2.781666667e+01,DOWN_SETTLE,1791279023003311329,8.071042900e-05,-6.821517340e-05,-7.539313238e-03,8.196379633e-05,-7.064203100e-05,-7.530845401e-03,5.783002972e-05,-7.042525030e-05,-7.529258061e-03,7.016185819e-01,-6.666421208e-05,8.332016279e-01,7.016198353e-01,-6.909106968e-05,8.332100958e-01,7.017835978e-01,-6.866728086e-05,8.222513662e-01
+58,2.850000000e+01,DOWN_SETTLE,1791279024064487137,9.370089428e-05,-6.850270085e-05,-7.633389478e-03,9.492204531e-05,-7.264842544e-05,-7.615470298e-03,7.080407628e-05,-7.248297819e-05,-7.614439659e-03,7.016315724e-01,-6.695173953e-05,8.331075517e-01,7.016327935e-01,-7.109746412e-05,8.331254709e-01,7.017965718e-01,-7.072500875e-05,8.221661846e-01
+59,2.925000000e+01,DOWN_SETTLE,1791279025173598865,9.021053021e-05,-7.146229386e-05,-7.685738287e-03,8.955146183e-05,-7.531677379e-05,-7.678404816e-03,6.510316274e-05,-7.511859703e-05,-7.677799013e-03,7.016280820e-01,-6.991133254e-05,8.330552029e-01,7.016274229e-01,-7.376581247e-05,8.330625364e-01,7.017908709e-01,-7.336062759e-05,8.221028253e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57c17a428ead2c7d00e0a12bdb90b048d063bd7c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,3.3330e-03,6.7448e-04,2.4528e+00,-3.6810e-02,3.7033e-02,-2.1724e-05,6.7788e-05,1.4393e-06,-1.4305e-05,-7.4506e-08,4.8950e-06,-1.7553e-07,6.9296e-05,4.8987e-06
+1,7.6667e-01,DOWN_FORCE_DETACH,1.8157e-04,5.6030e-03,7.2625e-04,2.4524e+00,-3.6813e-02,3.7196e-02,-2.8722e-05,2.3378e-03,5.3205e-05,-4.3845e-04,-2.6114e-06,1.6787e-04,-7.1727e-06,2.3791e-03,1.6804e-04
+2,1.5333e+00,DOWN_FORCE_DETACH,3.6342e-04,7.1409e-03,8.9745e-04,2.4600e+00,-3.6822e-02,3.7296e-02,-3.3738e-05,3.8757e-03,2.2441e-04,7.2236e-03,-1.1649e-05,2.6812e-04,-1.2189e-05,8.2007e-03,2.6865e-04
+3,2.2500e+00,DOWN_FORCE_DETACH,5.4373e-04,7.1764e-03,1.4387e-03,2.4655e+00,-3.6858e-02,3.7291e-02,-3.7253e-05,3.9112e-03,7.6561e-04,1.2686e-02,-4.7587e-05,2.6302e-04,-1.5704e-05,1.3297e-02,2.6775e-04
+4,2.9833e+00,DOWN_FORCE_DETACH,7.2379e-04,6.2921e-03,1.0224e-03,2.4722e+00,-3.6828e-02,3.7218e-02,-4.0646e-05,3.0269e-03,3.4937e-04,1.9343e-02,-1.7758e-05,1.9011e-04,-1.9098e-05,1.9581e-02,1.9189e-04
+5,3.7667e+00,DOWN_FORCE_DETACH,9.0762e-04,5.5678e-03,2.3549e-03,2.4812e+00,-3.6923e-02,3.7155e-02,-4.1829e-05,2.3026e-03,1.6819e-03,2.8369e-02,-1.1339e-04,1.2692e-04,-2.0280e-05,2.8512e-02,1.7140e-04
+6,4.4833e+00,DOWN_FORCE_DETACH,1.0840e-03,6.6507e-03,3.8796e-03,2.4859e+00,-3.7036e-02,3.7223e-02,-4.1656e-05,3.3855e-03,3.2065e-03,3.3118e-02,-2.2648e-04,1.9483e-04,-2.0107e-05,3.3444e-02,2.9943e-04
+7,5.2000e+00,DOWN_FORCE_DETACH,1.2642e-03,8.4319e-03,4.3499e-03,2.4937e+00,-3.7073e-02,3.7340e-02,-3.8732e-05,5.1667e-03,3.6769e-03,4.0856e-02,-2.6265e-04,3.1241e-04,-1.7183e-05,4.1345e-02,4.0851e-04
+8,5.9333e+00,DOWN_FORCE_DETACH,1.4439e-03,9.4319e-03,2.9494e-03,2.4971e+00,-3.6971e-02,3.7406e-02,-3.2955e-05,6.1667e-03,2.2763e-03,4.4274e-02,-1.6116e-04,3.7758e-04,-1.1406e-05,4.4760e-02,4.1070e-04
+9,6.6333e+00,DOWN_FORCE_DETACH,1.6291e-03,1.0183e-02,-5.0464e-04,2.5032e+00,-3.6727e-02,3.7451e-02,-3.2292e-05,6.9179e-03,-1.1777e-03,5.0415e-02,8.2761e-05,4.2298e-04,-1.0744e-05,5.0901e-02,4.3113e-04
+10,7.2500e+00,DOWN_FORCE_DETACH,1.8090e-03,9.2468e-03,-3.0359e-03,2.5052e+00,-3.6565e-02,3.7383e-02,-3.4696e-05,5.9816e-03,-3.7090e-03,5.2342e-02,2.4527e-04,3.5465e-04,-1.3147e-05,5.2813e-02,4.3140e-04
+11,7.8500e+00,DOWN_FORCE_DETACH,1.9921e-03,7.8509e-03,-3.9749e-03,2.5065e+00,-3.6517e-02,3.7283e-02,-3.6526e-05,4.5857e-03,-4.6480e-03,5.3643e-02,2.9249e-04,2.5456e-04,-1.4977e-05,5.4039e-02,3.8804e-04
+12,8.4833e+00,DOWN_FORCE_DETACH,2.1727e-03,7.4721e-03,-1.0180e-03,2.5097e+00,-3.6713e-02,3.7250e-02,-3.8065e-05,4.2069e-03,-1.6911e-03,5.6900e-02,9.6448e-05,2.2171e-04,-1.6516e-05,5.7081e-02,2.4235e-04
+13,9.0667e+00,DOWN_FORCE_DETACH,2.3490e-03,6.6398e-03,-7.7645e-04,2.5104e+00,-3.6713e-02,3.7187e-02,-3.9331e-05,3.3747e-03,-1.4495e-03,5.7599e-02,9.6742e-05,1.5898e-04,-1.7783e-05,5.7716e-02,1.8695e-04
+14,9.5333e+00,DOWN_FORCE_DETACH,2.5302e-03,6.7641e-03,8.3317e-05,2.5095e+00,-3.6766e-02,3.7193e-02,-3.7437e-05,3.4989e-03,-5.8973e-04,5.6641e-02,4.3865e-05,1.6541e-04,-1.5888e-05,5.6752e-02,1.7186e-04
+15,1.0067e+01,DOWN_FORCE_DETACH,2.7116e-03,6.4658e-03,1.5608e-03,2.5107e+00,-3.6871e-02,3.7171e-02,-2.7213e-05,3.2006e-03,8.8771e-04,5.7916e-02,-6.1277e-05,1.4308e-04,-5.6643e-06,5.8011e-02,1.5575e-04
+16,1.0633e+01,DOWN_FORCE_DETACH,2.8955e-03,7.5235e-03,6.6601e-04,2.5086e+00,-3.6839e-02,3.7246e-02,-1.3478e-05,4.2583e-03,-7.0385e-06,5.5768e-02,-2.9407e-05,2.1849e-04,8.0708e-06,5.5930e-02,2.2061e-04
+17,1.1150e+01,DOWN_FORCE_DETACH,3.0814e-03,8.0168e-03,1.0851e-03,2.5079e+00,-3.6872e-02,3.7285e-02,-4.0672e-06,4.7517e-03,4.1204e-04,5.5057e-02,-6.1754e-05,2.5671e-04,1.7482e-05,5.5263e-02,2.6461e-04
+18,1.1533e+01,DOWN_FORCE_DETACH,3.2553e-03,7.9443e-03,1.2699e-03,2.5126e+00,-3.6873e-02,3.7280e-02,4.9926e-07,4.6791e-03,5.9683e-04,5.9745e-02,-6.3457e-05,2.5159e-04,2.2048e-05,5.9931e-02,2.6041e-04
+19,1.1967e+01,DOWN_FORCE_DETACH,3.4373e-03,7.1806e-03,3.6407e-03,2.5109e+00,-3.7018e-02,3.7225e-02,1.1729e-06,3.9154e-03,2.9676e-03,5.8128e-02,-2.0822e-04,1.9733e-04,2.2722e-05,5.8335e-02,2.8777e-04
+20,1.2600e+01,DOWN_FORCE_DETACH,3.6149e-03,6.6878e-03,5.3399e-03,2.5174e+00,-3.7130e-02,3.7178e-02,-5.0904e-06,3.4226e-03,4.6669e-03,6.4605e-02,-3.2048e-04,1.5033e-04,1.6458e-05,6.4863e-02,3.5437e-04
+21,1.3183e+01,DOWN_FORCE_DETACH,3.7957e-03,6.2602e-03,7.8722e-03,2.5171e+00,-3.7320e-02,3.7143e-02,-1.3532e-05,2.9951e-03,7.1991e-03,6.4308e-02,-5.1057e-04,1.1467e-04,8.0167e-06,6.4779e-02,5.2335e-04
+22,1.3767e+01,DOWN_FORCE_DETACH,3.9798e-03,6.8261e-03,1.0063e-02,2.5218e+00,-3.7464e-02,3.7178e-02,-1.3836e-05,3.5609e-03,9.3904e-03,6.9024e-02,-6.5400e-04,1.4966e-04,7.7127e-06,6.9750e-02,6.7095e-04
+23,1.4333e+01,DOWN_FORCE_DETACH,4.1574e-03,7.3698e-03,9.4461e-03,2.5234e+00,-3.7379e-02,3.7213e-02,-4.9449e-06,4.1046e-03,8.7731e-03,7.0596e-02,-5.6874e-04,1.8538e-04,1.6604e-05,7.1258e-02,5.9842e-04
+24,1.4883e+01,DOWN_FORCE_DETACH,4.3410e-03,7.5561e-03,1.0792e-02,2.5258e+00,-3.7441e-02,3.7225e-02,4.3618e-06,4.2910e-03,1.0119e-02,7.2966e-02,-6.3069e-04,1.9681e-04,2.5911e-05,7.3789e-02,6.6119e-04
+25,1.5417e+01,DOWN_FORCE_DETACH,4.5214e-03,7.4280e-03,1.1747e-02,2.5242e+00,-3.7496e-02,3.7214e-02,1.2620e-05,4.1628e-03,1.1074e-02,7.1412e-02,-6.8633e-04,1.8562e-04,3.4169e-05,7.2385e-02,7.1181e-04
+26,1.5917e+01,DOWN_FORCE_DETACH,4.7048e-03,9.0986e-03,1.3387e-02,2.5273e+00,-3.7578e-02,3.7322e-02,1.8184e-05,5.8334e-03,1.2714e-02,7.4479e-02,-7.6771e-04,2.9369e-04,3.9733e-05,7.5781e-02,8.2293e-04
+27,1.6367e+01,DOWN_FORCE_DETACH,4.8814e-03,7.7850e-03,1.3730e-02,2.5312e+00,-3.7598e-02,3.7224e-02,1.6748e-05,4.5198e-03,1.3057e-02,7.8379e-02,-7.8780e-04,1.9593e-04,3.8297e-05,7.9588e-02,8.1270e-04
+28,1.6850e+01,DOWN_FORCE_DETACH,5.0656e-03,9.5763e-03,1.1303e-02,2.5332e+00,-3.7478e-02,3.7336e-02,1.4556e-05,6.3112e-03,1.0630e-02,8.0359e-02,-6.6793e-04,3.0793e-04,3.6105e-05,8.1304e-02,7.3638e-04
+29,1.7367e+01,DOWN_FORCE_DETACH,5.2410e-03,1.1351e-02,1.0264e-02,2.5359e+00,-3.7439e-02,3.7457e-02,1.8269e-05,8.0859e-03,9.5910e-03,8.3086e-02,-6.2932e-04,4.2875e-04,3.9818e-05,8.4028e-02,7.6254e-04
+30,1.7833e+01,DOWN_FORCE_DETACH,5.4262e-03,1.0590e-02,1.1764e-02,2.5358e+00,-3.7527e-02,3.7412e-02,2.4410e-05,7.3245e-03,1.1091e-02,8.2994e-02,-7.1758e-04,3.8409e-04,4.5958e-05,8.4051e-02,8.1521e-04
+31,1.8283e+01,DOWN_FORCE_DETACH,5.6059e-03,9.5874e-03,1.1529e-02,2.5360e+00,-3.7503e-02,3.7339e-02,2.6253e-05,6.3223e-03,1.0856e-02,8.3202e-02,-6.9305e-04,3.1121e-04,4.7802e-05,8.4145e-02,7.6122e-04
+32,1.8733e+01,DOWN_FORCE_DETACH,5.7910e-03,1.0054e-02,1.2250e-02,2.5424e+00,-3.7544e-02,3.7357e-02,2.2616e-05,6.7893e-03,1.1577e-02,8.9572e-02,-7.3409e-04,3.2942e-04,4.4165e-05,9.0572e-02,8.0583e-04
+33,1.9200e+01,DOWN_FORCE_DETACH,5.9705e-03,7.6884e-03,1.4591e-02,2.5399e+00,-3.7682e-02,3.7201e-02,1.9272e-05,4.4232e-03,1.3918e-02,8.7055e-02,-8.7181e-04,1.7347e-04,4.0820e-05,8.8272e-02,8.8984e-04
+34,1.9617e+01,DOWN_FORCE_DETACH,6.1512e-03,8.8664e-03,1.3832e-02,2.5480e+00,-3.7589e-02,3.7272e-02,1.8358e-05,5.6012e-03,1.3159e-02,9.5136e-02,-7.7929e-04,2.4366e-04,3.9907e-05,9.6205e-02,8.1746e-04
+35,2.0017e+01,DOWN_FORCE_DETACH,6.3289e-03,9.0921e-03,1.2363e-02,2.5531e+00,-3.7486e-02,3.7279e-02,2.0668e-05,5.8270e-03,1.1690e-02,1.0029e-01,-6.7646e-04,2.5117e-04,4.2217e-05,1.0114e-01,7.2282e-04
+36,2.0417e+01,DOWN_FORCE_DETACH,6.5071e-03,9.0825e-03,1.3546e-02,2.5528e+00,-3.7584e-02,3.7277e-02,1.8954e-05,5.8173e-03,1.2873e-02,9.9973e-02,-7.7442e-04,2.4935e-04,4.0502e-05,1.0097e-01,8.1458e-04
+37,2.0783e+01,DOWN_FORCE_DETACH,6.6913e-03,1.1478e-02,1.4044e-02,2.5632e+00,-3.7609e-02,3.7429e-02,1.7387e-05,8.2129e-03,1.3371e-02,1.1038e-01,-7.9888e-04,4.0052e-04,3.8936e-05,1.1149e-01,8.9450e-04
+38,2.1133e+01,DOWN_FORCE_DETACH,6.8725e-03,1.1221e-02,1.4763e-02,2.5626e+00,-3.7631e-02,3.7407e-02,2.0009e-05,7.9557e-03,1.4090e-02,1.0974e-01,-8.2144e-04,3.7931e-04,4.1558e-05,1.1093e-01,9.0574e-04
+39,2.1483e+01,DOWN_FORCE_DETACH,7.0543e-03,1.1279e-02,1.5667e-02,2.5623e+00,-3.7684e-02,3.7410e-02,2.3599e-05,8.0142e-03,1.4994e-02,1.0950e-01,-8.7406e-04,3.8150e-04,4.5148e-05,1.1081e-01,9.5476e-04
+40,2.1833e+01,DOWN_FORCE_DETACH,7.2314e-03,1.0584e-02,1.4558e-02,2.5689e+00,-3.7622e-02,3.7361e-02,2.1529e-05,7.3186e-03,1.3885e-02,1.1611e-01,-8.1255e-04,3.3291e-04,4.3078e-05,1.1717e-01,8.7916e-04
+41,2.2150e+01,DOWN_FORCE_DETACH,7.4117e-03,9.9559e-03,1.3790e-02,2.5746e+00,-3.7577e-02,3.7314e-02,1.4938e-05,6.6907e-03,1.3117e-02,1.2180e-01,-7.6666e-04,2.8561e-04,3.6487e-05,1.2269e-01,8.1894e-04
+42,2.2450e+01,DOWN_FORCE_DETACH,7.5974e-03,1.1154e-02,1.4916e-02,2.5822e+00,-3.7638e-02,3.7379e-02,8.9833e-06,7.8889e-03,1.4243e-02,1.2941e-01,-8.2830e-04,3.5093e-04,3.0532e-05,1.3043e-01,9.0009e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..61970eaf32f6b25e67a95022be6a0dd419b93bb1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:9cf4f7277efeb46f28797263339a23325fc66339412da01bf26bd67dcceb0e41
+size 5498880
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..333883128a6b4e07a2958027f13ab8665bc867c4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,1.830000e+01,266,6.947487e-01,2.386805e-02,8.364962e-01,-7.978555e-05,1.424202e-05,2.032991e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..717708a3b0663ecbf7a210b1723b3fda6e53e71a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4744bf56dd1ba7b2b88127f67638754da78d101
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85b683ae16561ed7f36d33ce291f8aabe5f3cb0f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,4.850000000e+00,UP_FORCE_RAMP,1791278956352818399,-4.833573532e-05,2.384602271e-06,7.303709927e-04,-4.825786882e-05,2.469641114e-06,7.302491453e-04,-4.667930506e-05,2.490419350e-06,7.286344734e-04,7.014895357e-01,3.935563593e-06,8.414713122e-01,7.014896136e-01,4.020602435e-06,8.414711903e-01,7.016790884e-01,4.248376846e-06,8.305092587e-01
+18,5.083333333e+00,UP_FORCE_RAMP,1791278956688627711,-4.694023575e-05,2.713245807e-06,7.937402308e-04,-4.682910548e-05,2.677601598e-06,7.937147607e-04,-4.502946905e-05,2.689465281e-06,7.920042761e-04,7.014909312e-01,4.264207128e-06,8.415346814e-01,7.014910424e-01,4.228562919e-06,8.415346559e-01,7.016807382e-01,4.447422778e-06,8.305726286e-01
+19,5.333333333e+00,UP_FORCE_RAMP,1791278957059110711,-5.404365678e-05,-7.317825774e-07,8.544260873e-04,-5.346552933e-05,-3.659072205e-07,8.403211199e-04,-5.174419663e-05,-3.448619998e-07,8.388005348e-04,7.014838278e-01,8.191787437e-07,8.415953673e-01,7.014844060e-01,1.185054101e-06,8.415812623e-01,7.016740235e-01,1.413095496e-06,8.306194248e-01
+20,5.550000000e+00,UP_FORCE_RAMP,1791278957388545543,-5.537603774e-05,5.878286148e-06,9.143745649e-04,-5.530430614e-05,6.185175978e-06,9.141478895e-04,-5.331230326e-05,6.158278608e-06,9.123852099e-04,7.014824954e-01,7.429247469e-06,8.416553158e-01,7.014825672e-01,7.736137299e-06,8.416550891e-01,7.016724554e-01,7.916236104e-06,8.306930095e-01
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+23,6.283333333e+00,UP_FORCE_RAMP,1791278958488697017,-5.870471921e-05,8.093666982e-06,1.101694323e-03,-5.839288255e-05,8.210411965e-06,1.101704838e-03,-5.585222082e-05,8.187577250e-06,1.099887396e-03,7.014791668e-01,9.644628303e-06,8.418426355e-01,7.014794786e-01,9.761373286e-06,8.418426460e-01,7.016699155e-01,9.945534746e-06,8.308805117e-01
+24,6.566666667e+00,UP_FORCE_RAMP,1791278958907991978,-6.351475811e-05,5.741018589e-06,1.159723141e-03,-6.130532476e-05,1.841281781e-06,1.145945066e-03,-5.864498409e-05,1.860566318e-06,1.144291957e-03,7.014743567e-01,7.291979910e-06,8.419006643e-01,7.014765662e-01,3.392243102e-06,8.418868863e-01,7.016671227e-01,3.618523815e-06,8.309249162e-01
+25,6.850000000e+00,UP_FORCE_RAMP,1791278959329925238,-6.213160048e-05,4.702373820e-06,1.221190090e-03,-6.057125867e-05,3.596315736e-06,1.217876224e-03,-5.764474632e-05,3.550846331e-06,1.216191244e-03,7.014757399e-01,6.253335141e-06,8.419621313e-01,7.014773002e-01,5.147277057e-06,8.419588174e-01,7.016681229e-01,5.308803827e-06,8.309968155e-01
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+29,8.033333333e+00,UP_FORCE_RAMP,1791278961141324528,-7.063181551e-05,8.047938017e-06,1.420955804e-03,-6.864945744e-05,5.363569518e-06,1.418232365e-03,-6.518901237e-05,5.368428393e-06,1.416988045e-03,7.014672397e-01,9.598899338e-06,8.421618970e-01,7.014692220e-01,6.914530839e-06,8.421591736e-01,7.016605787e-01,7.126385889e-06,8.311976123e-01
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+36,1.016666667e+01,UP_FORCE_RAMP,1791278964378238059,-8.057575172e-05,5.161962372e-06,1.676246607e-03,-7.856818748e-05,7.507891824e-06,1.677149806e-03,-7.452901844e-05,7.490923679e-06,1.676129928e-03,7.014572957e-01,6.712923693e-06,8.424171878e-01,7.014593033e-01,9.058853146e-06,8.424180910e-01,7.016512387e-01,9.248881175e-06,8.314567542e-01
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+52,1.573333333e+01,UP_FORCE_RAMP,1791278972783734572,-8.709532066e-05,1.674465850e-05,1.993600100e-03,-8.669630472e-05,1.101921002e-05,1.990172053e-03,-8.165283216e-05,1.100282492e-05,1.989680558e-03,7.014507762e-01,1.829561982e-05,8.427345413e-01,7.014511752e-01,1.257017134e-05,8.427311132e-01,7.016441149e-01,1.276078242e-05,8.317703048e-01
+53,1.603333333e+01,UP_FORCE_RAMP,1791278973228239412,-8.867776660e-05,1.708385474e-05,2.003180848e-03,-8.669630472e-05,1.101921002e-05,1.990172053e-03,-8.166164662e-05,1.100137317e-05,1.989758840e-03,7.014491937e-01,1.863481607e-05,8.427441220e-01,7.014511752e-01,1.257017134e-05,8.427311132e-01,7.016441060e-01,1.275933067e-05,8.317703831e-01
+54,1.638333333e+01,UP_FORCE_HOLD,1791278973757565178,-9.126112189e-05,1.277976170e-05,2.013047792e-03,-8.813546089e-05,1.612654212e-05,2.010621542e-03,-8.308700035e-05,1.608631209e-05,2.010200862e-03,7.014466104e-01,1.433072303e-05,8.427539890e-01,7.014497360e-01,1.767750344e-05,8.427515627e-01,7.016426807e-01,1.784426958e-05,8.317908251e-01
+55,1.673333333e+01,UP_FORCE_HOLD,1791278974277471292,-9.327615689e-05,1.480988712e-05,2.021641740e-03,-8.813546089e-05,1.612654212e-05,2.010621542e-03,-8.309172972e-05,1.608740195e-05,2.010286209e-03,7.014445953e-01,1.636084845e-05,8.427625829e-01,7.014497360e-01,1.767750344e-05,8.427515627e-01,7.016426760e-01,1.784535945e-05,8.317909105e-01
+56,1.718333333e+01,UP_FORCE_HOLD,1791278974957235408,-9.045930762e-05,1.712839467e-05,2.037003610e-03,-9.137028199e-05,1.801170903e-05,2.030407905e-03,-8.634312714e-05,1.797982128e-05,2.030030714e-03,7.014474122e-01,1.867935599e-05,8.427779448e-01,7.014465012e-01,1.956267035e-05,8.427713491e-01,7.016394246e-01,1.973777878e-05,8.318106550e-01
+57,1.751666667e+01,UP_FORCE_HOLD,1791278975457094802,-9.164111989e-05,1.888730737e-05,2.044865654e-03,-9.137028199e-05,1.801170903e-05,2.030407905e-03,-8.634545368e-05,1.798117018e-05,2.030100849e-03,7.014462304e-01,2.043826869e-05,8.427858068e-01,7.014465012e-01,1.956267035e-05,8.427713491e-01,7.016394222e-01,1.973912768e-05,8.318107251e-01
+58,1.788333333e+01,UP_FORCE_HOLD,1791278975998250979,-9.237676585e-05,1.811131397e-05,2.052320633e-03,-9.253780417e-05,1.579999391e-05,2.050084156e-03,-8.741359868e-05,1.577538194e-05,2.049820252e-03,7.014454947e-01,1.966227529e-05,8.427932618e-01,7.014453337e-01,1.735095523e-05,8.427910253e-01,7.016383541e-01,1.753333944e-05,8.318304445e-01
+59,1.830000000e+01,UP_SETTLE,1791278976627411230,-9.320728558e-05,1.632322097e-05,2.063475454e-03,-9.253780417e-05,1.579999391e-05,2.050084156e-03,-8.741253948e-05,1.577742604e-05,2.049900878e-03,7.014446642e-01,1.787418229e-05,8.428044166e-01,7.014453337e-01,1.735095523e-05,8.427910253e-01,7.016383552e-01,1.753538353e-05,8.318305252e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26522f7d93bb190be5a32398b6615166e53cc94b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,3.3315e-03,6.7411e-04,2.4528e+00,-3.6810e-02,3.7033e-02,-2.1726e-05,6.7812e-05,1.4566e-06,-1.4067e-05,-8.1956e-08,4.9062e-06,-1.7542e-07,6.9271e-05,4.9100e-06
+1,3.3333e-01,UP_FORCE_RAMP,8.2093e-05,4.5042e-03,6.9918e-04,2.4526e+00,-3.6811e-02,3.7117e-02,-2.5051e-05,1.2406e-03,2.6529e-05,-2.4295e-04,-1.3560e-06,8.9332e-05,-3.5007e-06,1.2644e-03,8.9411e-05
+2,6.8333e-01,UP_FORCE_RAMP,1.6526e-04,5.4217e-03,7.2140e-04,2.4524e+00,-3.6812e-02,3.7183e-02,-2.8070e-05,2.1580e-03,4.8747e-05,-4.0698e-04,-2.3991e-06,1.5503e-04,-6.5198e-06,2.1966e-03,1.5518e-04
+3,1.0167e+00,UP_FORCE_RAMP,2.4768e-04,6.0721e-03,7.3851e-04,2.4523e+00,-3.6813e-02,3.7229e-02,-3.0540e-05,2.8085e-03,6.5856e-05,-5.1451e-04,-3.1590e-06,2.0147e-04,-8.9892e-06,2.8560e-03,2.0170e-04
+4,1.3167e+00,UP_FORCE_RAMP,3.2958e-04,6.3181e-03,-6.7001e-04,2.4480e+00,-3.6716e-02,3.7252e-02,-3.3270e-05,3.0544e-03,-1.3427e-03,-4.8349e-03,9.3840e-05,2.2401e-04,-1.1719e-05,5.8744e-03,2.4315e-04
+5,1.6833e+00,UP_FORCE_RAMP,4.1367e-04,7.3994e-03,-7.8746e-04,2.4389e+00,-3.6709e-02,3.7340e-02,-3.5179e-05,4.1357e-03,-1.4601e-03,-1.3900e-02,1.0057e-04,3.1206e-04,-1.3629e-05,1.4575e-02,3.2815e-04
+6,1.9667e+00,UP_FORCE_RAMP,4.9162e-04,6.9740e-03,-1.2288e-03,2.4309e+00,-3.6680e-02,3.7319e-02,-3.6570e-05,3.7104e-03,-1.9015e-03,-2.1964e-02,1.3036e-04,2.9134e-04,-1.5020e-05,2.2356e-02,3.1952e-04
+7,2.2500e+00,UP_FORCE_RAMP,5.7746e-04,7.3330e-03,-8.3044e-04,2.4248e+00,-3.6708e-02,3.7352e-02,-3.7154e-05,4.0693e-03,-1.5031e-03,-2.8053e-02,1.0229e-04,3.2438e-04,-1.5603e-05,2.8386e-02,3.4048e-04
+8,2.5333e+00,UP_FORCE_RAMP,6.5697e-04,1.0985e-02,-3.1597e-03,2.4212e+00,-3.6546e-02,3.7618e-02,-3.9276e-05,7.7212e-03,-3.8323e-03,-3.1637e-02,2.6353e-04,5.8967e-04,-1.7725e-05,3.2790e-02,6.4612e-04
+9,2.8167e+00,UP_FORCE_RAMP,7.4056e-04,1.3076e-02,-1.3077e-03,2.4173e+00,-3.6675e-02,3.7772e-02,-3.8288e-05,9.8126e-03,-1.9803e-03,-3.5511e-02,1.3512e-04,7.4372e-04,-1.6738e-05,3.6895e-02,7.5608e-04
+10,3.0833e+00,UP_FORCE_RAMP,8.1869e-04,1.2622e-02,-2.0923e-03,2.4078e+00,-3.6624e-02,3.7749e-02,-3.7785e-05,9.3579e-03,-2.7649e-03,-4.5053e-02,1.8560e-04,7.2073e-04,-1.6235e-05,4.6097e-02,7.4442e-04
+11,3.3000e+00,UP_FORCE_RAMP,9.0498e-04,1.2599e-02,-8.1880e-04,2.4031e+00,-3.6713e-02,3.7751e-02,-3.6793e-05,9.3354e-03,-1.4915e-03,-4.9677e-02,9.7312e-05,7.2334e-04,-1.5242e-05,5.0569e-02,7.3002e-04
+12,3.5500e+00,UP_FORCE_RAMP,9.8396e-04,1.3006e-02,7.2433e-04,2.4019e+00,-3.6828e-02,3.7781e-02,-3.5038e-05,9.7424e-03,5.1679e-05,-5.0864e-02,-1.8567e-05,7.5325e-04,-1.3487e-05,5.1789e-02,7.5360e-04
+13,3.8333e+00,UP_FORCE_RAMP,1.0714e-03,1.3852e-02,-9.0210e-04,2.3984e+00,-3.6729e-02,3.7843e-02,-3.5041e-05,1.0588e-02,-1.5748e-03,-5.4365e-02,8.0872e-05,8.1552e-04,-1.3490e-05,5.5409e-02,8.1963e-04
+14,4.0833e+00,UP_FORCE_RAMP,1.1526e-03,1.2799e-02,-7.4757e-04,2.3942e+00,-3.6754e-02,3.7773e-02,-3.3322e-05,9.5352e-03,-1.4202e-03,-5.8645e-02,5.6095e-05,7.4513e-04,-1.1772e-05,5.9432e-02,7.4733e-04
+15,4.3333e+00,UP_FORCE_RAMP,1.2322e-03,1.1735e-02,-1.1858e-04,2.3906e+00,-3.6807e-02,3.7699e-02,-3.0186e-05,8.4717e-03,-7.9124e-04,-6.2248e-02,2.7977e-06,6.7150e-04,-8.6357e-06,6.2826e-02,6.7156e-04
+16,4.6000e+00,UP_FORCE_RAMP,1.3163e-03,1.3363e-02,-1.1406e-03,2.3915e+00,-3.6740e-02,3.7814e-02,-2.6104e-05,1.0099e-02,-1.8132e-03,-6.1329e-02,6.9588e-05,7.8648e-04,-4.5535e-06,6.2182e-02,7.8956e-04
+17,4.8500e+00,UP_FORCE_RAMP,1.4007e-03,1.5541e-02,-1.3987e-03,2.3891e+00,-3.6722e-02,3.7977e-02,-2.0276e-05,1.2277e-02,-2.0713e-03,-6.3755e-02,8.7585e-05,9.4866e-04,1.2746e-06,6.4959e-02,9.5270e-04
+18,5.0833e+00,UP_FORCE_RAMP,1.4858e-03,1.3810e-02,-7.8289e-04,2.3871e+00,-3.6757e-02,3.7857e-02,-1.3729e-05,1.0546e-02,-1.4555e-03,-6.5700e-02,5.2512e-05,8.2903e-04,7.8210e-06,6.6557e-02,8.3073e-04
+19,5.3333e+00,UP_FORCE_RAMP,1.5670e-03,1.4115e-02,4.5653e-04,2.3836e+00,-3.6832e-02,3.7879e-02,-9.0394e-06,1.0852e-02,-2.1612e-04,-6.9255e-02,-2.2411e-05,8.5157e-04,1.2511e-05,7.0100e-02,8.5195e-04
+20,5.5500e+00,UP_FORCE_RAMP,1.6455e-03,1.4116e-02,-8.9007e-04,2.3820e+00,-3.6729e-02,3.7881e-02,-8.6738e-06,1.0853e-02,-1.5627e-03,-7.0810e-02,8.0824e-05,8.5262e-04,1.2877e-05,7.1654e-02,8.5654e-04
+21,5.8167e+00,UP_FORCE_RAMP,1.7263e-03,1.2947e-02,-1.2086e-03,2.3813e+00,-3.6692e-02,3.7798e-02,-1.1332e-05,9.6837e-03,-1.8812e-03,-7.1519e-02,1.1826e-04,7.7014e-04,1.0218e-05,7.2196e-02,7.7923e-04
+22,6.0500e+00,UP_FORCE_RAMP,1.8115e-03,1.2805e-02,-1.7603e-03,2.3788e+00,-3.6645e-02,3.7787e-02,-1.6420e-05,9.5410e-03,-2.4329e-03,-7.3981e-02,1.6446e-04,7.5935e-04,5.1310e-06,7.4633e-02,7.7697e-04
+23,6.2833e+00,UP_FORCE_RAMP,1.8899e-03,1.1474e-02,-9.3410e-04,2.3801e+00,-3.6694e-02,3.7694e-02,-2.2159e-05,8.2108e-03,-1.6068e-03,-7.2700e-02,1.1624e-04,6.6610e-04,-6.0897e-07,7.3180e-02,6.7616e-04
+24,6.5667e+00,UP_FORCE_RAMP,1.9742e-03,1.1531e-02,-1.1693e-03,2.3807e+00,-3.6667e-02,3.7698e-02,-3.0087e-05,8.2675e-03,-1.8419e-03,-7.2113e-02,1.4277e-04,6.7022e-04,-8.5369e-06,7.2609e-02,6.8531e-04
+25,6.8500e+00,UP_FORCE_RAMP,2.0555e-03,1.0660e-02,-1.9916e-03,2.3797e+00,-3.6611e-02,3.7638e-02,-3.4243e-05,7.3963e-03,-2.6642e-03,-7.3151e-02,1.9891e-04,6.1039e-04,-1.2693e-05,7.3572e-02,6.4210e-04
+26,7.1500e+00,UP_FORCE_RAMP,2.1422e-03,1.1338e-02,-1.7217e-03,2.3882e+00,-3.6634e-02,3.7677e-02,-3.5192e-05,8.0743e-03,-2.3943e-03,-6.4576e-02,1.7561e-04,6.4942e-04,-1.3642e-05,6.5123e-02,6.7289e-04
+27,7.4333e+00,UP_FORCE_RAMP,2.2252e-03,1.1139e-02,-1.9462e-03,2.3937e+00,-3.6630e-02,3.7658e-02,-3.4281e-05,7.8752e-03,-2.6188e-03,-5.9162e-02,1.8041e-04,6.3001e-04,-1.2730e-05,5.9741e-02,6.5545e-04
+28,7.7167e+00,UP_FORCE_RAMP,2.3025e-03,1.2030e-02,-1.9336e-03,2.3929e+00,-3.6641e-02,3.7720e-02,-3.2426e-05,8.7661e-03,-2.6063e-03,-5.9953e-02,1.6877e-04,6.9186e-04,-1.0875e-05,6.0646e-02,7.1223e-04
+29,8.0333e+00,UP_FORCE_RAMP,2.3846e-03,1.2750e-02,-1.9917e-03,2.3967e+00,-3.6646e-02,3.7765e-02,-2.9625e-05,9.4868e-03,-2.6643e-03,-5.6082e-02,1.6358e-04,7.3681e-04,-8.0742e-06,5.6941e-02,7.5479e-04
+30,8.2667e+00,UP_FORCE_RAMP,2.4692e-03,1.2270e-02,-3.4125e-03,2.4015e+00,-3.6544e-02,3.7729e-02,-2.8360e-05,9.0067e-03,-4.0851e-03,-5.1291e-02,2.6634e-04,7.0121e-04,-6.8096e-06,5.2236e-02,7.5012e-04
+31,8.6000e+00,UP_FORCE_RAMP,2.5482e-03,1.2565e-02,-2.3573e-03,2.4042e+00,-3.6605e-02,3.7747e-02,-2.6243e-05,9.3017e-03,-3.0300e-03,-4.8631e-02,2.0477e-04,7.1908e-04,-4.6928e-06,4.9605e-02,7.4768e-04
+32,8.9333e+00,UP_FORCE_RAMP,2.6339e-03,1.2207e-02,-1.9966e-03,2.4060e+00,-3.6617e-02,3.7720e-02,-2.5425e-05,8.9434e-03,-2.6693e-03,-4.6767e-02,1.9322e-04,6.9194e-04,-3.8748e-06,4.7689e-02,7.1842e-04
+33,9.2500e+00,UP_FORCE_RAMP,2.7163e-03,1.3002e-02,-3.1104e-03,2.4059e+00,-3.6527e-02,3.7779e-02,-2.6290e-05,9.7388e-03,-3.7831e-03,-4.6925e-02,2.8316e-04,7.5080e-04,-4.7394e-06,4.8074e-02,8.0243e-04
+34,9.5667e+00,UP_FORCE_RAMP,2.7992e-03,1.1484e-02,-2.3271e-03,2.4060e+00,-3.6566e-02,3.7674e-02,-2.7173e-05,8.2203e-03,-2.9998e-03,-4.6801e-02,2.4373e-04,6.4614e-04,-5.6226e-06,4.7612e-02,6.9061e-04
+35,9.8667e+00,UP_FORCE_RAMP,2.8787e-03,1.1175e-02,-3.9915e-03,2.4096e+00,-3.6448e-02,3.7649e-02,-2.8032e-05,7.9113e-03,-4.6641e-03,-4.3241e-02,3.6161e-04,6.2061e-04,-6.4814e-06,4.4205e-02,7.1831e-04
+36,1.0167e+01,UP_FORCE_RAMP,2.9621e-03,9.1648e-03,-3.0556e-03,2.4075e+00,-3.6511e-02,3.7506e-02,-2.8092e-05,5.9012e-03,-3.7283e-03,-4.5268e-02,2.9923e-04,4.7828e-04,-6.5416e-06,4.5803e-02,5.6421e-04
+37,1.0550e+01,UP_FORCE_RAMP,3.0461e-03,9.1673e-03,-3.7740e-03,2.4138e+00,-3.6462e-02,3.7502e-02,-2.8335e-05,5.9037e-03,-4.4466e-03,-3.9026e-02,3.4774e-04,4.7395e-04,-6.7848e-06,3.9720e-02,5.8788e-04
+38,1.0833e+01,UP_FORCE_RAMP,3.1261e-03,8.0123e-03,-3.7259e-03,2.4147e+00,-3.6469e-02,3.7418e-02,-2.8826e-05,4.7486e-03,-4.3986e-03,-3.8161e-02,3.4131e-04,3.8976e-04,-7.2753e-06,3.8706e-02,5.1813e-04
+39,1.1150e+01,UP_FORCE_RAMP,3.2093e-03,8.3824e-03,-3.8024e-03,2.4173e+00,-3.6468e-02,3.7442e-02,-2.9578e-05,5.1188e-03,-4.4750e-03,-3.5483e-02,3.4214e-04,4.1440e-04,-8.0276e-06,3.6129e-02,5.3745e-04
+40,1.1500e+01,UP_FORCE_RAMP,3.2902e-03,8.4712e-03,-5.1425e-03,2.4140e+00,-3.6380e-02,3.7451e-02,-3.1668e-05,5.2076e-03,-5.8151e-03,-3.8795e-02,4.3017e-04,4.2309e-04,-1.0118e-05,3.9572e-02,6.0345e-04
+41,1.1767e+01,UP_FORCE_RAMP,3.3732e-03,7.7290e-03,-6.9049e-03,2.4151e+00,-3.6263e-02,3.7399e-02,-3.3295e-05,4.4654e-03,-7.5776e-03,-3.7679e-02,5.4693e-04,3.7063e-04,-1.1745e-05,3.8692e-02,6.6079e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/fem_node.csv
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+59,3.008333e+01,257,6.924214e-01,2.626573e-02,8.199354e-01,6.491078e-05,-9.456146e-05,-7.403104e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,258,7.055017e-01,2.092707e-02,8.187880e-01,5.991510e-05,-8.176858e-05,-7.373002e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,259,7.038373e-01,2.635046e-02,8.317287e-01,9.224893e-05,-7.649889e-05,-7.403823e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,260,7.073316e-01,2.502306e-02,8.295213e-01,1.030814e-04,-8.046485e-05,-7.405099e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,261,7.064727e-01,2.073560e-02,8.212118e-01,7.669526e-05,-8.095424e-05,-7.381770e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,262,7.060984e-01,2.500045e-02,8.144467e-01,4.420177e-05,-9.889154e-05,-7.413526e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,263,6.963796e-01,2.659657e-02,8.142821e-01,5.540359e-05,-1.016069e-04,-7.403713e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,264,7.085720e-01,2.498228e-02,8.283047e-01,1.028197e-04,-8.284878e-05,-7.414456e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,265,7.071027e-01,2.142019e-02,8.196753e-01,6.603783e-05,-8.603566e-05,-7.391580e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,266,6.948826e-01,2.362645e-02,8.270958e-01,6.280004e-05,-8.424196e-05,-7.375408e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b97f1ca271379d3cd4e669f102fbd0e5c2356efa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+34449,1791279061705985931,11387722000000,1791279061704725791,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6759833034783922,-0.004775368257879968,0.09087066962165088,0.9999999759421971,7.161536486066142e-05,-0.00017794570710793166,5.2583594203024974e-05,0.6761,-0.0048,0.09098200136711804,1.0,0.0,0.0,0.0,0.06741138049982207,0.054957197363886844,0.006316849567081673,0.0032033572654034245,-0.005130002425530807,-4.2865761297601786e-05,0.06624176372466428,0.08055660841995271,0.261146097729811,0.00019237963681588243,-0.008165589995033808,-0.001355723430358863,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8130846379977485,-0.24475199307817982,0.6118190834016642,0.3852646123103023,-0.23046758241244453,-0.1924225489717649,0.7032682909462498,0.006316849567081673,0.09144920754458552,0.09144920754458552,0.10927708535881253,0,0,-2.6587226938075463e-05,9.924916030546455e-05
+34593,1791279062906013603,11388922000000,1791279062904725489,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.675983519607998,-0.004779545960907462,0.0908335721292499,0.9999999765892414,6.476287400529437e-05,-0.00017640769860345024,5.431827533651771e-05,0.6761,-0.0048,0.09094311058042664,1.0,0.0,0.0,0.0,0.06696164298275821,0.057738457955570026,0.01649211327717698,0.0032007707439494805,-0.005131808544022275,-5.1156868150062373e-05,0.06579202620760043,0.0833378690116359,0.2713213614399063,0.00018979311536193838,-0.008167396113525276,-0.0013640145372113236,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8224113396935901,-0.3800950266369451,0.5600627709940016,0.4382586370172412,-0.20227248976541193,-0.28137135327227014,0.7032682909462498,0.01649211327717698,0.14320551995224817,0.14320551995224817,0.18127708535881792,0,0,-3.998644706040976e-05,9.724154401003488e-05
+34718,1791279063947044881,11389963000000,1791279063944725805,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6759876857061674,-0.0047804359278309965,0.09079854686852162,0.9999999785514444,5.90582190429557e-05,-0.00016836590469683296,5.0050214564272386e-05,0.6761,-0.0048,0.09089831619109028,1.0,0.0,0.0,0.0,0.06666592697466055,0.0481454215967392,0.03188814578343041,0.003198336694793855,-0.005134005611480929,-6.402804781897213e-05,0.06549631019950276,0.07374483265280507,0.28671739394615975,0.000187359066206313,-0.00816959318098393,-0.0013768857168802333,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.865535643038921,-0.3720742171187054,0.5694924145727295,0.4436456981744586,-0.19953385755319672,-0.27733731408030227,0.7032682909462498,0.03188814578343041,0.13377587637352029,0.13377587637352029,0.2437370853588226,0,0,-4.791041414572839e-05,-9.416583765376458e-05
+34829,1791279064872082724,11390888000000,1791279064864735218,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6759877569781187,-0.004780547400543733,0.09075327340358964,0.9999999793113886,5.2703529665117416e-05,-0.00016777491465575422,4.352014258621669e-05,0.6761,-0.0048,0.09084654011786725,1.0,0.0,0.0,0.0,0.06535767820875629,0.05657904673243141,0.04660685741592108,0.0031951157158306566,-0.0051381741001823335,-7.567403392299437e-05,0.06418806143359851,0.08217845778849728,0.3014361055786504,0.00018413808724311443,-0.008173761669685335,-0.0013885317029842556,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9338532228982301,-0.3503209984112727,0.49318486658210103,0.4416727124330236,-0.13289865230099035,-0.2610575402622506,0.7032682909462498,0.04660685741592108,0.21008342436414873,0.21008342436414873,0.29923708535882676,0,0,-6.331943840054001e-05,9.926506872457777e-05
+34943,1791279065822106037,11391838000000,1791279065820725325,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6759970875198613,-0.004779435608103936,0.09070137571780484,0.99999997965814,7.32143606846029e-05,-0.0001583214094399972,4.1238001134195304e-05,0.6761,-0.0048,0.09078033681233476,1.0,0.0,0.0,0.0,0.06698498630681926,0.05727423234872998,0.0703466020807702,0.0031906155921396138,-0.005143456345334078,-9.464979808706023e-05,0.06581536953166148,0.08287364340479585,0.32517585024349954,0.00017963796355207178,-0.00817904391483708,-0.0014075074671483214,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9282573420206519,-0.3564302785268507,0.5427770100597133,0.454740625500821,-0.17059418520786257,-0.25734164009619714,0.7032682909462498,0.0703466020807702,0.1604912808865364,0.1604912808865364,0.35623708535883103,0,0,-7.365689044388913e-05,-9.689162946824865e-05
+35066,1791279066847101326,11392863000000,1791279066844735030,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760042831726748,-0.004787733359971974,0.09063001826296749,0.999999979401358,9.395093432520011e-05,-0.00014584772869191006,5.041636686906366e-05,0.6761,-0.0048,0.09069706376146985,1.0,0.0,0.0,0.0,0.05799066986990644,0.05859602867968903,0.10599507868685315,0.0031842149067793863,-0.005151071950440888,-0.00012455103699765416,0.05682105309474865,0.0841954397357549,0.3608243268495825,0.0001732372781918441,-0.008186659519943889,-0.0014374087060589154,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9174453896775214,-0.29417587610611395,0.45384656373507615,0.4333058187136846,-0.12035169540299628,-0.22124387950277433,0.7032682909462498,0.10599507868685315,0.24942172721117362,0.24942172721117362,0.41773708535883564,0,0,-9.101461428548253e-05,-9.028091749042062e-05
+35181,1791279067806154854,11393822000000,1791279067800734966,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760067647338969,-0.004786898022177361,0.09054247445387048,0.9999999793536685,9.875212929723334e-05,-0.0001410940575548249,5.5461797936514385e-05,0.6761,-0.0048,0.09060784487373078,1.0,0.0,0.0,0.0,0.05760173066677113,0.060346523296603984,0.14672312791228548,0.003148994891940014,-0.004146738753010727,-0.00014188774834395412,0.05643211389161334,0.08594593435266985,0.4015523760750148,0.0001380172633524719,-0.007182326322513729,-0.0014547454174052153,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8860861227378714,-0.27866550061697754,0.4046682227171145,0.4328699038554178,-0.09933874510816355,-0.20771909973811084,0.7032682909462498,0.14672312791228548,0.29860006822913526,0.29860006822913526,0.47527708535883995,0,0,-9.789291864219209e-05,-8.195244076394646e-05
+35285,1791279068672174221,11394688000000,1791279068668735071,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760070786603516,-0.004778901528940388,0.09046037922626556,0.9999999787609767,0.0001043267335279911,-0.00014019367455141705,5.81599250863026e-05,0.6761,-0.0048,0.09051908306502487,1.0,0.0,0.0,0.0,0.057800083747968786,0.058012284766953505,0.17697989968582278,0.003142781510654026,-0.0041531337977531654,-0.00016618300941238329,0.056630466972810996,0.08361169582301937,0.4318091478485521,0.00013180388206648376,-0.007188721367256168,-0.0014790406784736445,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8809100496200597,-0.3672864890159074,0.31821264878782357,0.4543117272823706,-0.04927095312018045,-0.27112885917134943,0.7032682909462498,0.17697989968582278,0.3850556421584262,0.3850556421584262,0.5272370853588186,0,0,-0.0001071309888619768,9.826110344691159e-05
+35373,1791279069406213658,11395422000000,1791279069400734707,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760080018318546,-0.004775515018352374,0.0903827826496209,0.9999999787623868,0.00010395239033731681,-0.00013872469312018279,6.218882902030689e-05,0.6761,-0.0048,0.09043745530894713,1.0,0.0,0.0,0.0,0.06691756075276872,0.052567147559508774,0.21636046248427743,0.0031621284452218175,-0.005174606828609549,-0.00021313375425722559,0.06574794397761094,0.07816655861557464,0.47118971064700677,0.00015115081663427535,-0.00821019439811255,-0.0015259914233184868,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8592364142318009,-0.24808836416982383,0.3564568819249029,0.4108574296132447,-0.079691116952152,-0.19627227241424536,0.7032682909462498,0.21636046248427743,0.3468114090213469,0.3468114090213469,0.5712770853587812,0,0,-0.00011572404699375228,-9.999935188099158e-05
+35481,1791279070306120053,11396322000000,1791279070304734953,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760097509327504,-0.0047707760491530835,0.09027842649533545,0.9999999789920982,0.0001045565296876114,-0.00013593279161327502,6.363077627664318e-05,0.6761,-0.0048,0.09033123470624571,1.0,0.0,0.0,0.0,0.06706345894068284,0.05538618666701931,0.2573207994197464,0.003158372137967644,-0.005183720873231417,-0.00021907963172616038,0.06589384216552506,0.08098559772308518,0.5121500475824757,0.00014739450938010162,-0.008219308442734418,-0.0015319373007874216,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8484366534494652,-0.26969968174946224,0.25256649817443844,0.42745338249696774,-0.014036179054900906,-0.20450806911869632,0.7032682909462498,0.2573207994197464,0.4507017927718113,0.4507017927718113,0.6252770853587353,0,0,-0.00012032941234110949,9.999999025923074e-05
+35581,1791279071139256882,11397155000000,1791279071132735245,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.67601382267787,-0.004773999917453592,0.09018669260051934,0.9999999799681271,0.00010092456416917774,-0.00012967394620795472,6.71230949593752e-05,0.6761,-0.0048,0.09023070849597478,1.0,0.0,0.0,0.0,0.07545339537394088,0.06792660903096889,0.2980036556921114,0.00411491128856985,-0.005209292998101666,0.00035195710144954036,0.0742837785987831,0.09352602008703477,0.5528329038548407,0.001103933659982308,-0.008244880567604668,-0.0009609005676117209,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8227627246006447,-0.21254371799637287,0.317864961230844,0.4062974469505013,-0.06656006553652569,-0.17365579433317457,0.7032682909462498,0.2980036556921114,0.38540332971540575,0.38540332971540575,0.6752570853586928,0,0,-0.00012309554890263386,-9.99999208702917e-05
+35678,1791279071947230060,11397963000000,1791279071944724998,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760161457432993,-0.004770769960441248,0.09008903479093501,0.9999999813068334,9.459570866665551e-05,-0.00012606554367070055,6.31532077447656e-05,0.6761,-0.0048,0.09013046474359525,1.0,0.0,0.0,0.0,0.06647549613149296,0.06696012363887577,0.3375795589747945,0.0031186372381908486,-0.004413246291248542,-0.00021350709366548784,0.06530587935633518,0.09255953469494164,0.5924088071375239,0.0001076596096033065,-0.007448833860751543,-0.001526364762726749,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8665365524033165,-0.22823416478680583,0.2407988146062628,0.4266132472880652,-0.005157324677918152,-0.17865970667551942,0.7032682909462498,0.3375795589747945,0.462469476339987,0.462469476339987,0.7237370853586516,0,0,-0.00012455803094088414,-9.991258795161712e-05
+35774,1791279072747295691,11398763000000,1791279072744735343,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760177506769879,-0.0047661926081972224,0.0899939343292815,0.999999981220697,9.640622977774684e-05,-0.00012469924339588201,6.447796187068812e-05,0.6761,-0.0048,0.09002948712381922,1.0,0.0,0.0,0.0,0.06643683572334257,0.06823426632291948,0.3778384044743296,0.0031096156474471302,-0.004210418693709035,4.813373593855414e-05,0.06526721894818478,0.09383367737898536,0.6326676526370589,9.863801885958829e-05,-0.007246006263212037,-0.001264723933122707,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.902205347525814,-0.24631309872881818,0.17854134836850377,0.4278080372035755,0.04409681818023558,-0.19447988314256545,0.7032682909462498,0.3778384044743296,0.524726942577746,0.524726942577746,0.7717370853586107,0,0,-0.00012931361123155594,-9.260658492682978e-05
+35866,1791279073514215081,11399530000000,1791279073512734639,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.676024199969406,-0.004772098554168025,0.0899021711640331,0.999999981774358,9.866593096168835e-05,-0.00011615283963555319,6.83205689149418e-05,0.6761,-0.0048,0.08993013788889492,1.0,0.0,0.0,0.0,0.0665102107548871,0.0697266351728543,0.41813395388580754,0.0030973672089027226,-0.004210551420755351,0.00045072978713680276,0.06534059397972931,0.09532604622892016,0.6729632020485369,8.638958031518047e-05,-0.007246138990258353,-0.0008621278819244585,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8853861302500695,-0.31099465197040294,0.16836319286476772,0.4595184671026153,0.044069457562278654,-0.23140473720829335,0.7032682909462498,0.41813395388580754,0.534905098081482,0.534905098081482,0.8177570853585716,0,0,-0.0001295419445421483,-9.997179059440526e-05
+35983,1791279074489304927,11400505000000,1791279074484734524,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760302324474421,-0.004768837677141212,0.0897905062456223,0.9999999820727967,0.00010721470527808037,-0.00010514614383148614,6.889532759247016e-05,0.6761,-0.0048,0.08980238960850774,1.0,0.0,0.0,0.0,0.06474110140551854,0.06845411009978539,0.44831684706019637,0.0034870343688613295,-0.004225290840625265,0.0006471063658770109,0.06357148463036076,0.09405352115585125,0.7031460952229257,0.00047605674027378735,-0.007260878410128267,-0.0006657513031842503,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8871913612918061,-0.37524859347462647,0.002829811534134206,0.4709599463750831,0.14937384384728988,-0.28016188338325526,0.7032682909462498,0.44831684706019637,0.7004384794121156,0.7004384794121156,0.8762570853585219,0,0,-0.00013290962154880048,9.999999025923074e-05
+36075,1791279075256379393,11401272000000,1791279075248734819,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760353668527971,-0.004777026962167615,0.0896880757448264,0.9999999834199061,9.770032256771051e-05,-9.99794195287394e-05,7.114643024946367e-05,0.6761,-0.0048,0.08969800941611622,1.0,0.0,0.0,0.0,0.06064374835226487,0.061858963933698115,0.4884627590870979,0.003093542379108042,-0.004226341753650938,0.000609966646794039,0.05947413157710708,0.08745837498976398,0.7432920072498272,8.256475052050029e-05,-0.00726192932315394,-0.0007028910222672222,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9435597473489338,-0.2876706097619385,-0.021601469694259284,0.4505380423615745,0.18167956794050372,-0.218492658397378,0.7032682909462498,0.4884627590870979,0.724869760640509,0.724869760640509,0.9222770853584827,0,0,-0.00013721217855392075,9.99995739255965e-05
+36164,1791279075997343478,11402013000000,1791279075992734722,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760411736606079,-0.0047773641994958305,0.08959698410308464,0.9999999846732388,9.686446174121726e-05,-8.946184998780172e-05,6.863118816414544e-05,0.6761,-0.0048,0.08959559138084998,1.0,0.0,0.0,0.0,0.0656267084100063,0.06338174196633162,0.5286113598241458,0.003117281003492284,-0.0042356842529408505,0.0005781775918929045,0.06445709163484852,0.0889811530223975,0.7834406079868751,0.00010630337490474202,-0.007271271822443853,-0.0007346800771683567,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9820193387487989,-0.27567464465106906,-0.062458224961665844,0.4551007776123734,0.21406576868339167,-0.21008372703449327,0.7032682909462498,0.5286113598241458,0.7657265159079156,0.7657265159079156,0.9667370853584449,0,0,-0.0001410526317593711,9.999770042424245e-05
+36255,1791279076756378815,11402772000000,1791279076752735155,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760454891095898,-0.0047735325107819545,0.08949591940604411,0.9999999855525092,9.35774894626065e-05,-8.250313088799296e-05,6.909654499532412e-05,0.6761,-0.0048,0.089485619451461,1.0,0.0,0.0,0.0,0.06544398598784174,0.06115426835183866,0.5708021147283469,0.0030596924623147153,-0.004243855008656086,0.000543952426404332,0.06427436921268395,0.08675367940790453,0.8256313628910762,4.8714833727173435e-05,-0.007279442578159088,-0.0007689052426569292,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8639594168703092,-0.22274120972599531,-0.02490409674175847,0.4503563354765937,0.1591299247985882,-0.17177689066598056,0.7032682909462498,0.5708021147283469,0.7281723876880082,0.7281723876880082,1.0122770853584062,0,0,-0.00014594714818213917,-9.988125190674708e-05
+36330,1791279077381425240,11403397000000,1791279077376734967,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760485845005665,-0.004779068412944871,0.08941065876913971,0.9999999862365831,8.894134313325796e-05,-7.880173183026221e-05,6.963779398588016e-05,0.6761,-0.0048,0.08939498608776691,1.0,0.0,0.0,0.0,0.062001493798515335,0.06634037906886633,0.6089317057977096,0.0030370944164901034,-0.0032493865199932355,0.0005144539285836333,0.060831877023357545,0.0919397901249322,0.863760953960439,2.6116787902561495e-05,-0.006284974089496237,-0.0007984037404776279,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8387515383659557,-0.26849296398181655,-0.06043488043464938,0.46630193421887045,0.1729005168662438,-0.204266672670302,0.7032682909462498,0.6089317057977096,0.7637031713808992,0.7637031713808992,1.0497770853583743,0,0,-0.00014573432955830435,-9.999999025923074e-05
+36396,1791279077931456615,11403947000000,1791279077928725330,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760501232248536,-0.0047900668703984295,0.08933198327779725,0.9999999867209094,8.331829276777953e-05,-7.674894144912123e-05,7.189372367943272e-05,0.6761,-0.0048,0.08931555165070781,1.0,0.0,0.0,0.0,0.05746825378672393,0.06627726727504368,0.6387813988243402,0.0031681256348242374,-0.0038568386720686915,0.0005024340824670815,0.05629863701156614,0.09187667833110955,0.8936106469870695,0.00015714800623669532,-0.006892426241571693,-0.0008104235865941797,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9576105366261168,-0.3141957764717713,-0.06737045809911865,0.4868973315823215,0.210532749222153,-0.23221663111652263,0.7032682909462498,0.6387813988243402,0.7706387490453684,0.7706387490453684,1.0827770853583463,0,0,-0.00014359621868939432,-9.995116820172285e-05
+36503,1791279078822466780,11404838000000,1791279078820734807,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760527142598743,-0.004794354612560325,0.08920788029783266,0.9999999866966948,8.534894450352789e-05,-7.418799139375858e-05,7.253395277593643e-05,0.6761,-0.0048,0.08918775262981625,1.0,0.0,0.0,0.0,0.05613171130458554,0.059038054134293964,0.6890348861110979,0.0030091778627804435,-0.0032556088687619457,0.0004628822071668041,0.05496209452942775,0.08463746519035983,0.9438641342738272,-1.7997658070983997e-06,-0.0062911964382649475,-0.0008499754618944571,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8884205687889359,-0.2743834815460114,-0.19343665612890346,0.4685489799816242,0.2723865288794934,-0.21065720708581906,0.7032682909462498,0.6890348861110979,0.8967049470751532,0.8967049470751532,1.1362370853583008,0,0,-0.00014782000295430564,4.142141398401101e-05
+36602,1791279079647445972,11405663000000,1791279079644725508,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760543947198864,-0.004795436482139436,0.08908422688177123,0.9999999864976726,8.863045890735695e-05,-7.117017694602582e-05,7.434357200802186e-05,0.6761,-0.0048,0.0890657857459945,1.0,0.0,0.0,0.0,0.05601335884801613,0.05442568383415213,0.7391905967857602,0.0029989846604967087,-0.003266031872011466,0.0004223412391653321,0.05484374207285834,0.080025094890218,0.9940198449484895,-1.1992968090833436e-05,-0.006301619441514468,-0.0008905164298959291,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8862660129580543,-0.23747619778888449,-0.2095810217141515,0.46314054372853103,0.27891018856953514,-0.18496287437817668,0.7032682909462498,0.7391905967857602,0.9128493126604013,0.9128493126604013,1.1857370853582587,0,0,-0.00014875052282567325,-6.479377731428144e-05
+36707,1791279080522409770,11406538000000,1791279080520735156,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760565573886068,-0.004801637623581622,0.08895454680873083,0.9999999869207886,8.097519855993777e-05,-6.927403848558543e-05,7.902791846129771e-05,0.6761,-0.0048,0.08893349425054826,1.0,0.0,0.0,0.0,0.05589002146116472,0.05264027020465376,0.7893518575010102,0.00298920076984152,-0.003276692849780699,0.0003818013358082707,0.05472040468600693,0.07823968126071963,1.0441811056637396,-2.1776858746022e-05,-0.006312280419283701,-0.0009310563332529905,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8875982600524128,-0.3227505680531628,-0.22739046231607277,0.48699230326843057,0.2922398524966289,-0.24250166148417113,0.7032682909462498,0.7893518575010102,0.9306587532623225,0.9306587532623225,1.238237085358214,0,0,-0.00015332049875113463,-9.905995054649281e-05
+36813,1791279081406528841,11407422000000,1791279081404734689,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760606683161646,-0.004810445777689032,0.08882389031408855,0.9999999867235358,8.153975843040238e-05,-6.18786035046877e-05,8.670697017943305e-05,0.6761,-0.0048,0.08879779233226233,1.0,0.0,0.0,0.0,0.046517094047638353,0.043192754495159295,0.8394756202439276,0.00297849526206271,-0.0032865244535661363,0.0003401593406439699,0.04534747727248056,0.06879216555122517,1.094304868406657,-3.248236652483191e-05,-0.006322112023069138,-0.0009726983284172913,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8729154886746497,-0.39862842148939204,-0.3414907591711975,0.5117266696575052,0.35986396039272184,-0.29402476019951085,0.7032682909462498,0.8394756202439276,1.0447590501174473,1.0447590501174473,1.291277085358169,0,0,-0.0001559819249360731,8.025771300180224e-05
+36920,1791279082297533506,11408313000000,1791279082296725631,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760661151371935,-0.004810907785619981,0.08869573407042682,0.9999999880203105,7.391857992202709e-05,-5.5447174319066654e-05,8.284864285948466e-05,0.6761,-0.0048,0.08865904420336354,1.0,0.0,0.0,0.0,0.04643167797270257,0.036183219286797526,0.8797715613938198,0.0028300606572396678,-0.0030708034592000677,0.0003014541145170994,0.04526206119754478,0.061782630342863396,1.1346008095565492,-0.00018091697134787438,-0.0061063910287030695,-0.0010114035545441618,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8466180395801982,-0.2755222129757865,-0.38024860139292294,0.48005156072458993,0.37420247913467825,-0.20983941129615685,0.7032682909462498,0.8797715613938198,1.0835168923391727,1.0835168923391727,1.3447370853581235,0,0,-0.00015821767809549042,1.5005679637575232e-05
+37025,1791279083172563400,11409188000000,1791279083168725538,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760676169155977,-0.00481436498056675,0.08855856359562353,0.9999999878146506,7.566011753312919e-05,-5.369227521130432e-05,8.488962905462334e-05,0.6761,-0.0048,0.08852097769713216,1.0,0.0,0.0,0.0,0.046546340884524647,0.04495650284112478,0.9293474015195834,0.0019184492127527352,-0.002274682475191816,0.0002717180264703255,0.045376724109366856,0.07055591389719065,1.1841766496823127,-0.0010925284158348069,-0.005310270044694818,-0.0010411396425909357,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7978865100050514,-0.26501698947070973,-0.35702543458540903,0.485657970929137,0.3430059944408713,-0.20357368914438728,0.7032682909462498,0.9293474015195834,1.060293725531659,1.060293725531659,1.397237085358079,0,0,-0.00016092755515259428,-9.99972563350326e-05
+37124,1791279083997609991,11410013000000,1791279083992725537,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760736959313708,-0.004824724562457759,0.08843472610017385,0.9999999884123995,7.290524248285172e-05,-4.260418017628547e-05,8.653192952494263e-05,0.6761,-0.0048,0.08838683551372195,1.0,0.0,0.0,0.0,0.046067605264215786,0.04891402379437657,0.9784991624933642,0.002699605282973482,-0.002301239963584469,0.00024196420931636166,0.044897988489057995,0.07451343485044244,1.2333284106560936,-0.00031137234561406,-0.005336827533087471,-0.0010708934597448995,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7723927244993427,-0.2591257864313285,-0.4674972002756861,0.49203289480310997,0.4054882155139102,-0.1961177177071392,0.7032682909462498,0.9784991624933642,1.1707654912219359,1.1707654912219359,1.4467370853580368,0,0,-0.00016633203879620132,7.56648802566418e-06
+37214,1791279084747641693,11410763000000,1791279084744725534,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760726128036484,-0.004816533652642368,0.08830737241453368,0.9999999867766705,8.871449742352043e-05,-4.771440875294584e-05,8.799202545334837e-05,0.6761,-0.0048,0.0882594505766477,1.0,0.0,0.0,0.0,0.04031164599253704,0.038992462560013964,1.0195987249403426,0.001896666939330763,-0.0022929491462754504,0.0001977691831859577,0.03914202921737925,0.06459187361607983,1.274427973103072,-0.001114310689256779,-0.005328536715778452,-0.0011150884858753035,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8078605674308895,-0.29072945011656365,-0.5164691009203211,0.49544299717443446,0.4412580071473666,-0.21572895463184835,0.7032682909462498,1.0195987249403426,1.2197373918665708,1.2197373918665708,1.4917370853579985,0,0,-0.00017336502876744297,8.442884866089457e-05
+37325,1791279085672628528,11411688000000,1791279085672725183,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.676080647138058,-0.004821695292138923,0.08815628264894423,0.9999999871798247,8.567739547189763e-05,-3.53124999195003e-05,9.217171984066454e-05,0.6761,-0.0048,0.08809814905121041,1.0,0.0,0.0,0.0,0.04434302485246245,0.0396478730254513,1.0597597046648723,0.001888980371972975,-0.0023017967318533145,0.00016613618223547725,0.04317340807730466,0.06524728408151717,1.3145889528276016,-0.001121997256614567,-0.005337384301356316,-0.001146721486825784,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7259746390888049,-0.3095289629246306,-0.4762444402812196,0.49748352483395253,0.3918494941321868,-0.2342619082837977,0.7032682909462498,1.0597597046648723,1.1795127312274694,1.1795127312274694,1.5472370853579513,0,0,-0.00017693127079695804,-9.978907564012757e-05
+37426,1791279086514577103,11412530000000,1791279086508725509,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760810101623881,-0.004822319007762146,0.08800639220229968,0.9999999876832484,8.127568919884856e-05,-3.5544473408225196e-05,9.059371048237804e-05,0.6761,-0.0048,0.0879490586294818,1.0,0.0,0.0,0.0,0.04078110941431981,0.040167813386312236,1.1097305912484514,0.0018790590607781436,-0.002312208517984231,0.0001253298954687293,0.03961149263916202,0.0657672244423781,1.3645598394111806,-0.0011319185678093984,-0.005347796087487233,-0.001187527773592532,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7286952720664414,-0.3066462125275301,-0.5479760031288312,0.5013307630587737,0.43679556256969454,-0.23432892885970955,0.7032682909462498,1.1097305912484514,1.251244294075081,1.251244294075081,1.5977570853579084,0,0,-0.0001793473281372623,-9.457741120678093e-05
+37517,1791279087272703010,11413288000000,1791279087268725641,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760810540120743,-0.0048277801390436735,0.08787322266316885,0.9999999871200251,8.314090861552655e-05,-3.737708106179194e-05,9.43045968267875e-05,0.6761,-0.0048,0.08781180366457743,1.0,0.0,0.0,0.0,0.03689410374796837,0.03289671259049252,1.1500277092113707,0.0018710087408955185,-0.0023205432272963337,9.231163853206346e-05,0.03572448697281058,0.05849612364655839,1.4048569573740999,-0.0011399688876920235,-0.0053561307967993355,-0.0012205460305291977,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7435306825161043,-0.3119198334821632,-0.6945663767036622,0.4973337372381482,0.5336620525772426,-0.2379271244999219,0.7032682909462498,1.1500277092113707,1.3978346676499118,1.3978346676499118,1.6432370853578697,0,0,-0.00018205656115014156,9.104973305718573e-05
+37625,1791279088172716028,11414188000000,1791279088168725504,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760837347384715,-0.004834042835729947,0.08771358829432174,0.9999999875229179,7.758339713974091e-05,-3.1195964939581596e-05,9.697760953406321e-05,0.6761,-0.0048,0.0876454283787867,1.0,0.0,0.0,0.0,0.036785484727691,0.025963241162437235,1.1814236654567436,0.0018639880473545235,-0.0023266554743294906,6.734193623992614e-05,0.03561586795253321,0.051562652218503105,1.4362529136194728,-0.0011469895812330185,-0.005362243043832492,-0.001245515732821335,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7773586521132432,-0.2793514614977325,-0.7188217854745548,0.4924925151459755,0.5557001564625423,-0.21525862433917303,0.7032682909462498,1.1814236654567436,1.4220900764208046,1.4220900764208046,1.6972370853578238,0,0,-0.00018784500118299163,9.896638650109252e-05
+37721,1791279088972719820,11414988000000,1791279088972725221,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760849923516992,-0.004834060931782262,0.08756591429978194,0.9999999877034654,7.357321739631923e-05,-3.0268140085608663e-05,9.852286436089229e-05,0.6761,-0.0048,0.087491781170083,1.0,0.0,0.0,0.0,0.03211641904607659,0.035411237088637394,1.2197326102853459,0.0018305375276299431,-0.0013224474410488507,5.1021426003047994e-05,0.030946802270918797,0.061010648144703264,1.474561858448075,-0.0011804401009575989,-0.0043580350105518525,-0.0012618362430582132,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7696311505590407,-0.27077860554317695,-0.6755168138232284,0.5005904329578993,0.5215655771331245,-0.2069338754213319,0.7032682909462498,1.2197326102853459,1.3787851047694781,1.3787851047694781,1.745237085357783,0,0,-0.0001958710478630873,-9.990266533333453e-05
+37810,1791279089714759653,11415730000000,1791279089712725572,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760896825535143,-0.004840839926083743,0.08742779277966566,0.9999999877309995,7.457133458254643e-05,-2.0955351309966532e-05,9.990422683522741e-05,0.6761,-0.0048,0.08734242627609871,1.0,0.0,0.0,0.0,0.027240480478152543,0.03195596864654919,1.2402476220090923,0.0018268249872060041,-0.0013286220383228165,3.396495462334027e-05,0.026070863702994756,0.05755537970261506,1.4950768701718218,-0.0011841526413815379,-0.004364209607825818,-0.001278892714437921,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.806335130913659,-0.3462627855510805,-0.7625705251010304,0.5253760872584172,0.5849004530386208,-0.2566037944489228,0.7032682909462498,1.2402476220090923,1.4658388160472802,1.4658388160472802,1.7897570853577451,0,0,-0.0002039947688771228,9.741219485700841e-05
+37903,1791279090489767125,11416505000000,1791279090488725002,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760846703933812,-0.004837477739306053,0.08726927635639065,0.9999999882154774,7.132350164880916e-05,-3.4652510829512865e-05,9.340273651416156e-05,0.6761,-0.0048,0.08718138970232812,1.0,0.0,0.0,0.0,0.0304863597117071,0.02709137462689481,1.2666674049404785,0.0018204237866702219,-0.0013318007638826756,1.2996736196811123e-05,0.029316742936549314,0.05269078568296068,1.521496653103208,-0.0011905538419173202,-0.004367388333385677,-0.00129986093286445,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7756577859092889,-0.2422655528835541,-0.7545857572924957,0.49573814408738714,0.5709759681518125,-0.19175726035871793,0.7032682909462498,1.2666674049404785,1.4578540482387454,1.4578540482387454,1.8362570853577056,0,0,-0.00021416835075813013,-9.131570086052249e-05
+37993,1791279091239818845,11417255000000,1791279091232725255,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760971589041503,-0.004841862114008256,0.08711427088883009,0.99999998787522,7.142155998090767e-05,-9.128729751597302e-06,0.00010250878579080776,0.6761,-0.0048,0.08701735775392927,1.0,0.0,0.0,0.0,0.030717547419387713,0.018084450842420052,1.286942311574022,0.0018134271788201467,-0.001336376210773107,0.00022391034793989078,0.029547930644229926,0.04368386189848592,1.5417715597367514,-0.0011975504497673953,-0.004371963780276109,-0.0010889473211213704,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7503204103464877,-0.30086992947781693,-0.8012916125639931,0.513096800867091,0.5907333497728947,-0.2290746086041497,0.7032682909462498,1.286942311574022,1.5045599035102428,1.5045599035102428,1.8812570853576673,0,0,-0.00022323870516314736,-2.8076807528356826e-05
+38080,1791279091965783454,11417980000000,1791279091960734967,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760968093244202,-0.004845166384866332,0.08694832739222778,0.9999999880884195,6.811005459226042e-05,-1.0106897870947496e-05,0.00010259091808744581,0.6761,-0.0048,0.08684946544261722,1.0,0.0,0.0,0.0,0.026993263764429277,0.018511237222048983,1.3104674559536607,0.0018092074551431048,-0.0013414951833829645,0.00017411650298240224,0.02582364698927149,0.04411064827811485,1.5652967041163899,-0.0012017701734444372,-0.004377082752885966,-0.001138741166078859,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7169933002969711,-0.20473013601151277,-0.7944532951246736,0.49012582129470506,0.5756090544919663,-0.17030970126439252,0.7032682909462498,1.3104674559536607,1.4977215860709232,1.4977215860709232,1.9247570853576303,0,0,-0.00024044756847671345,-9.987248114485254e-05
+38161,1791279092639855499,11418655000000,1791279092636724790,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760989094751622,-0.004843771768694484,0.08678857027828278,0.9999999879103437,7.093289573941316e-05,-5.794068619818249e-06,0.00010274789538021775,0.6761,-0.0048,0.08668243995338093,1.0,0.0,0.0,0.0,0.027047403873850157,0.019788444779328555,1.3104804636226453,0.0018102209566922707,-0.0013410834542060082,6.018645552508732e-05,0.02587778709869237,0.045387855835394425,1.5653097117853745,-0.0012007566718952713,-0.00437667102370901,-0.001252671213536174,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7253403467668045,-0.1542042601688499,-0.8347981295161735,0.4821165724621682,0.5996531832034258,-0.13412008534137118,0.7032682909462498,1.3104804636226453,1.5380664204624233,1.5380664204624233,1.965257085357596,0,0,-0.0002554443410619341,-8.788463385550117e-06
+38233,1791279093239873082,11419255000000,1791279093232735016,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760956631327029,-0.004843469389547949,0.08662890564045322,0.9999999874781393,7.407937429742357e-05,-1.3688987254974003e-05,0.0001039780910077305,0.6761,-0.0048,0.08652454309945826,1.0,0.0,0.0,0.0,0.028929513581608533,0.01842631855272095,1.322974773121404,0.001799886638663134,-0.0013485232322132967,0.0009515376012134678,0.027759896806450746,0.04402572960878682,1.5778040212841333,-0.001211090989924408,-0.0043841108017162985,-0.00036132006784779345,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.6933766500774492,-0.2538478681252687,-0.8068204058462882,0.5165990079508774,0.575286725845454,-0.19747343490289782,0.7032682909462498,1.322974773121404,1.510088696792538,1.510088696792538,2.0012570853575653,0,0,-0.0002715102480302641,-9.999999025923074e-05
+38308,1791279093864895821,11419880000000,1791279093864734562,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760966810450266,-0.00484848077857729,0.08646564750302382,0.9999999878001661,7.101086453802071e-05,-9.498989858600366e-06,0.00010348796220435437,0.6761,-0.0048,0.0863504368250339,1.0,0.0,0.0,0.0,0.030707388931928495,0.028928292932523456,1.3305482996633038,0.0018084540788879668,-0.0013458808799589029,-3.60210113620888e-05,0.029537772156770708,0.054527703988589325,1.585377547826033,-0.0012025235496995752,-0.004381468449461905,-0.00134887868042335,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7176459517199316,-0.265196845373272,-0.7807023582582222,0.5194354844639698,0.5603262609216187,-0.20940901455514882,0.7032682909462498,1.3305482996633038,1.483970649204472,1.483970649204472,2.0387570853575334,0,0,-0.00028539712083472244,-9.999059499688485e-05
+38377,1791279094439909218,11420455000000,1791279094436725618,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760976262493157,-0.0048529823598207995,0.08630018773900394,0.9999999876690694,6.828697516187583e-05,-7.946045731438789e-06,0.00010666993354891208,0.6761,-0.0048,0.0861823396339976,1.0,0.0,0.0,0.0,0.02695623427009073,0.028351271814328345,1.341465873481642,0.0017975564284145999,-0.001353388123630951,0.0009753258977314144,0.025786617494932943,0.053950682870394215,1.5962951216443715,-0.0012134212001729421,-0.004388975693133953,-0.00033753177132984685,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7240912218311825,-0.27443473350938496,-0.8624204760918951,0.5252483119310074,0.6120506650942075,-0.21438630967353406,0.7032682909462498,1.341465873481642,1.5656887670381447,1.5656887670381447,2.073257085357504,0,0,-0.000301434673020515,-3.1376949203036e-05
+38446,1791279095014847702,11421030000000,1791279095012725522,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6761019609816503,-0.00485663185903497,0.08613280479144465,0.9999999883428085,5.828550131691243e-05,2.5734148694529604e-06,0.00010655245342601976,0.6761,-0.0048,0.0860051756663654,1.0,0.0,0.0,0.0,0.020103391496710154,0.02008072585167741,1.3505498458786769,0.0018037112417940923,-0.0013490657445104277,-5.5447758594572493e-05,0.018933774721552367,0.04568013690774328,1.605379094041406,-0.0012072663867934497,-0.0043846533140134295,-0.0013683054276558337,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7445148018730375,-0.3105720078402885,-0.9098416559263788,0.5369932244273992,0.6433238276964023,-0.23512120572516612,0.7032682909462498,1.3505498458786769,1.6131099468726284,1.6131099468726284,2.1077570853574747,0,0,-0.0003137171012592991,9.99977836909693e-05
+38512,1791279095564894847,11421580000000,1791279095560734879,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.676101501093202,-0.004852737011444561,0.08596130636940776,0.9999999881181263,6.703267812925555e-05,2.1798915080971993e-06,0.00010348178495402715,0.6761,-0.0048,0.08583020033369503,1.0,0.0,0.0,0.0,0.021025988660742696,0.013439129787234598,1.3609841691175686,0.0017913629940515853,-0.0013560687928175319,0.000961372747898929,0.01985637188558491,0.03903854084330047,1.6158134172802978,-0.0012196146345359567,-0.004391656362320534,-0.0003514849211623321,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7760946180556335,-0.2050015118513156,-0.8693496869961899,0.5214524993309504,0.6257146490338569,-0.1658523137257907,0.7032682909462498,1.3609841691175686,1.5726179779424396,1.5726179779424396,2.1407570853574467,0,0,-0.0003224088414952294,-9.999997638144293e-05
+38574,1791279096081952290,11422097000000,1791279096076727064,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760974134278049,-0.004857206741467311,0.08578451035614655,0.999999987679489,6.860688915296206e-05,-4.7448223590692485e-06,0.0001065573443055953,0.6761,-0.0048,0.08566150987142399,1.0,0.0,0.0,0.0,0.026873791389920288,0.020164918032100222,1.3707764542006666,0.0017907411125769556,-0.0013590057840756615,0.0009547805225381784,0.0257041746147625,0.04576432908816609,1.6256057023633959,-0.0012202365160105865,-0.004394593353578663,-0.0003580771465230827,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7645051225178395,-0.22170294203920005,-0.9106643857616241,0.5194756882504364,0.6467853637080606,-0.17888402525006408,0.7032682909462498,1.3707764542006666,1.6139326767078739,1.6139326767078739,2.1717770853574203,0,0,-0.0003301961737048594,-3.06796768808681e-05
+38638,1791279096614866037,11422630000000,1791279096608725660,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760982272284635,-0.004859257787157316,0.08561051917647143,0.9999999879070642,6.37504346084388e-05,-2.069979485084537e-06,0.00010751898945086163,0.6761,-0.0048,0.08548294187564023,1.0,0.0,0.0,0.0,0.026858804038242333,0.020688724007471945,1.370789010169645,0.0017978019248768514,-0.001354782051148524,0.00030397315456519585,0.025689187263084546,0.046288135063537815,1.6256182583323742,-0.0012131757037106906,-0.004390369620651526,-0.0010088845144960654,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7797440934501414,-0.21050886528564877,-0.948942908538281,0.5223079423133045,0.6691767086963345,-0.17268969903770062,0.7032682909462498,1.370789010169645,1.6522111994845308,1.6522111994845308,2.203757085357393,0,0,-0.00033776523813387884,6.90677435369845e-05
+38704,1791279097164991532,11423180000000,1791279097164724912,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6760985539766797,-0.00486126823721796,0.08542628785319124,0.9999999879214805,6.248816113167012e-05,-1.3025449038202931e-06,0.0001081361944718641,0.6761,-0.0048,0.08529362345166916,1.0,0.0,0.0,0.0,0.017730484564536412,0.01972526176621686,1.3701379563291258,0.0017945466761240694,-0.001356487141362476,0.0005385771040113455,0.016560867789378625,0.04532467282228273,1.624967204491855,-0.0012164309524634726,-0.004392074710865478,-0.0007742805650499157,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8193292666197889,-0.2721500721430554,-0.9620858933396087,0.5553896999618625,0.6845770400979411,-0.20754694879921426,0.7032682909462498,1.3701379563291258,1.6653541842858584,1.6653541842858584,2.236757085357365,0,0,-0.00034987854135162957,7.042976898763981e-05
+38766,1791279097681926831,11423697000000,1791279097676725531,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6761020906681277,-0.004861656599723875,0.08525017264041305,0.9999999882880172,5.8426601289398974e-05,9.51132386366724e-06,0.00010659595129790524,0.6761,-0.0048,0.0851100333898699,1.0,0.0,0.0,0.0,0.017740120148583945,0.01864771456851104,1.3612127217058352,0.0017989531141501085,-0.0013540118853038103,0.0003085513163178515,0.01657050337342616,0.04424712562457691,1.6160419698685644,-0.0012120245144374335,-0.004389599454806812,-0.0010043063527434097,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8430013653818066,-0.2796978523691251,-0.9181700270673401,0.5556732444561218,0.6567778121368325,-0.21438196634017512,0.7032682909462498,1.3612127217058352,1.6214383180135898,1.6214383180135898,2.2677770853573387,0,0,-0.0003589259857481305,-9.999910208081104e-05
+38826,1791279098181986315,11424197000000,1791279098180725584,DOWN_FORCE_DETACH,4,0.056,0.056002505123615265,0.6761017892079964,-0.0048625105755108625,0.08507310068141115,0.9999999880176389,6.254923731898273e-05,8.362410506757488e-06,0.0001068889589214775,0.6761,-0.0048,0.08492890814454716,1.0,0.0,0.0,0.0,0.021532281506462688,0.021012352951497934,1.3707887635500358,0.0017968050780719806,-0.0013554974278373812,0.0002550988065476497,0.0203626647313049,0.046611764007563804,1.6256180117127652,-0.0012141725505155614,-0.004391084997340383,-0.0010577588625136115,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8444949082211562,-0.2958982211174354,-0.9779565991065575,0.565497039744664,0.6950288530979963,-0.22153918928887556,0.7032682909462498,1.3707887635500358,1.6812248900528073,1.6812248900528073,2.297777085357313,0,0,-0.00036748031381476465,-2.4757609777160006e-05
+38884,1791279098664929525,11424680000000,1791279098664725645,DOWN_FORCE_DETACH,4,0.056,0.05600184574723244,0.6760987564887748,-0.004865650642684339,0.08489251383625639,0.9999999889108449,5.443166437754732e-05,3.871616592928776e-06,0.00010316675393070773,0.6761,-0.0048,0.08474939044096046,1.0,0.0,0.0,0.0,0.023438868272577885,0.011184205576646393,1.3806609800042313,0.0017975262568901615,-0.00135543669413023,-7.984436122550646e-05,0.0222692514974201,0.03678361663271226,1.6354902281669608,-0.0012134513716973805,-0.004391024263633232,-0.0013927020302867677,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8605734498789257,-0.27999017177633323,-0.9461341103504,0.5603960745776936,0.6778771537334647,-0.2156605597628726,0.7032682909462498,1.3806609800042313,1.6494024012966497,1.6494024012966497,2.3267570853572885,0,0,-0.0003758884379826118,-9.821491816908718e-05
+38942,1791279099143968094,11425159000000,1791279099136734817,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6761013261485705,-0.0048681943128201415,0.08472060648669187,0.9999999888834088,5.008535182425709e-05,8.680975821117532e-06,0.00010531925215173744,0.6761,-0.0048,0.08457402890640793,1.0,0.0,0.0,0.0,0.01736063836587018,0.022441283778706217,1.380759901020303,0.0017694746020180784,-0.0003438658270723239,0.000308429316099514,0.016191021590712392,0.04804069483477209,1.6355891491830323,-0.0012415030265694636,-0.0033794533965753257,-0.0010044283529617472,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8919954987035846,-0.2455958475171036,-0.9044247692209483,0.5483257255520028,0.6570890386251209,-0.19131417181856797,0.7032682909462498,1.380759901020303,1.6076930601671982,1.6076930601671982,2.3289770853572866,0,0,-0.0003541609113519043,9.999999025923074e-05
+38998,1791279099610946502,11425626000000,1791279099608726475,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6760983924319999,-0.004860934112551862,0.08455557598174712,0.999999988388344,5.7479904084846365e-05,4.939967555206681e-06,0.00010647926374564561,0.6761,-0.0048,0.08441407630974214,1.0,0.0,0.0,0.0,0.01667241347428255,0.024566625721730274,1.3749447997583912,0.0017631449585604625,-0.00034864988369355185,0.0009125569445135598,0.015502796699124764,0.050166036777796144,1.6297740479211207,-0.0012478326700270795,-0.0033842374531965536,-0.0004003007245477014,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8954587975112956,-0.3151656980455447,-0.9505646895146005,0.5758426974288646,0.6862867800574503,-0.2303600743614261,0.7032682909462498,1.3749447997583912,1.6538329804608503,1.6538329804608503,2.3289770853572866,0,0,-0.00033081091590084357,9.999999025923074e-05
+39058,1791279100111060380,11426126000000,1791279100104735090,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6761006093912401,-0.004875427153734237,0.08440021072482276,0.9999999878969926,5.4401992355647644e-05,7.249188955991419e-06,0.00011241330560524145,0.6761,-0.0048,0.08425490835057169,1.0,0.0,0.0,0.0,0.017490492554869362,0.029608783028555415,1.3667394733600116,0.0017660855323219323,-0.00034625368443576927,0.0008863141102980294,0.016320875779711575,0.055208194084621284,1.621568721522741,-0.0012448920962656097,-0.003381841253938771,-0.00042654355876323174,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.907838222137633,-0.32285299476311696,-0.9500890633682241,0.5754404866210119,0.6863858241916215,-0.23724743867191708,0.7032682909462498,1.3667394733600116,1.653357354314474,1.653357354314474,2.3289770853572866,0,0,-0.0003058109207712282,9.999999025923074e-05
+39130,1791279100711027366,11426726000000,1791279100708735261,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6760977563582591,-0.004873016007678463,0.08422971442119256,0.9999999887994984,4.750729686155484e-05,7.185224881579703e-06,0.00010740249965978952,0.6761,-0.0048,0.08408040679635269,1.0,0.0,0.0,0.0,0.015815923865838195,0.021831970055810453,1.3570401068969407,0.001773245305631269,-0.00033901004429833827,0.0009807354009904565,0.014646307090680408,0.04743138111187632,1.61186935505967,-0.001237732322956273,-0.00337459761380134,-0.0003321222680708048,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9175334279652777,-0.2259723481470516,-0.9576436268523187,0.5560838810847186,0.6914952416080481,-0.1666237293644516,0.7032682909462498,1.3570401068969407,1.6609119177985685,1.6609119177985685,2.3289770853572866,0,0,-0.00027581092661568975,9.999999025923074e-05
+39208,1791279101361114485,11427376000000,1791279101360725281,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6760950041565824,-0.004879939798133979,0.08406061421697705,0.9999999881616722,4.5987844590915874e-05,2.597442720772593e-06,0.0001140082943596502,0.6761,-0.0048,0.08391167594199159,1.0,0.0,0.0,0.0,0.017446571863402177,0.019162292126905553,1.3421755101610824,0.0017693223472568416,-0.0003387549287326959,0.0009105566387415326,0.01627695508824439,0.04476170318297142,1.5970047583238116,-0.0012416552813307004,-0.0033743424982356977,-0.00040230103031972854,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9929142774801002,-0.3174217287218924,-1.032645602505161,0.5795723733496417,0.757730916940324,-0.22514517148254287,0.7032682909462498,1.3421755101610824,1.7359138934514107,1.7359138934514107,2.3289770853572866,0,0,-0.00024331093294718974,9.999999025923074e-05
+39286,1791279102011116341,11428026000000,1791279102004735024,DOWN_SETTLE,4,0.056,0.056002505123615265,0.6760947650551626,-0.004879949130138753,0.08391563983619539,0.9999999888498039,4.2030798071883565e-05,1.3550314636576724e-06,0.00010942957779734693,0.6761,-0.0048,0.08376407008351501,1.0,0.0,0.0,0.0,0.01742115824820802,0.019603474046803057,1.3405501030033795,0.001774597114597382,-0.0003370576015449796,0.00016995161335126995,0.016251541473050232,0.04520288510286893,1.5953793511661087,-0.00123638051399016,-0.0033726451710479814,-0.0011429060557099913,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9882820489198847,-0.2167727183395135,-0.9775889287592726,0.5567437164630112,0.7163262153143302,-0.15455156806475398,0.7032682909462498,1.3405501030033795,1.6808572197055223,1.6808572197055223,2.3289770853572866,0,0,-0.00021081093927868976,9.999999025923074e-05
+39386,1791279102844101129,11428859000000,1791279102836725248,DOWN_SETTLE,4,0.056,0.05600184574723244,0.6760913970956789,-0.004882181303042718,0.08375622977106983,0.999999988922064,3.5325189197373146e-05,-5.740000278275292e-07,0.00011113297337471771,0.6761,-0.0048,0.0836057909677123,1.0,0.0,0.0,0.0,0.017486122519511718,0.009177112555937984,1.3308668728544149,0.001794747535769567,-0.0012671739665580735,0.0009880409435767416,0.01631650574435393,0.034776523612003854,1.5856961210171443,-0.001216230092817975,-0.004302761536061075,-0.0003248167254845196,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,1.041240909533946,-0.291155738085384,-1.0525909710011823,0.5672047352823466,0.7795215092431107,-0.20955923924864361,0.7032682909462498,1.3308668728544149,1.755859261947432,1.755859261947432,2.3289770853572866,0,0,-0.00016916094739275055,9.999999025923074e-05
+39484,1791279103661172453,11429676000000,1791279103656734743,DOWN_SETTLE,4,0.056,0.056002505123615265,0.6760823838406741,-0.004882898275604815,0.08362555987580754,0.9999999882699372,3.723909318750739e-05,-1.2710842961320006e-05,0.00011556242588579557,0.6761,-0.0048,0.08348425327043751,1.0,0.0,0.0,0.0,0.014359875643451855,0.008599998072439864,1.3103927662136088,0.0018096791740474846,-0.0013394401463255657,-2.3538537962746213e-05,0.013190258868294068,0.034199409128505734,1.5652220143763382,-0.0012012984545400575,-0.0043750277158285675,-0.0013363962070240074,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9897013249911024,-0.17637579208159893,-1.0272526921807708,0.5337204993731566,0.7464365667997248,-0.13371862716922378,0.7032682909462498,1.3103927662136088,1.7305209831270205,1.7305209831270205,2.3289770853572866,0,0,-0.00012831095535095904,9.999999025923074e-05
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+39768,1791279106027132896,11432042000000,1791279106024724860,DOWN_SETTLE,4,0.056,0.05600184574723244,0.676067422791627,-0.004875036454758324,0.08343480542010248,0.9999999863527551,5.9190125242231625e-05,-3.5028422574286934e-05,0.00011835071895178257,0.6761,-0.0048,0.08332055927280142,1.0,0.0,0.0,0.0,0.02521100683104773,0.0154702262644009,1.2409896604664947,0.0018151434847482775,-0.0013303788304028894,0.0009232201514736975,0.024041390055889945,0.04106963732046677,1.4958189086292242,-0.0011958341438392645,-0.004365966399905891,-0.0003896375175875637,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9908438031058127,-0.1763130954879586,-0.8671617555903302,0.5451606488496041,0.6405350272375873,-0.1286534842007248,0.7032682909462498,1.2409896604664947,1.57043004653658,1.57043004653658,2.3289770853572866,0,0,-1.0010978397619103e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..063af870b6d81f277896fc52c525d552dcf213f1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60422ff0d1af025225061446a379f6bf6ddba6ad
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+14,8.533333333e+00,DOWN_FORCE_DETACH,1791279073517087706,3.894568410e-05,1.145817646e-05,-9.788082530e-04,3.676287120e-05,1.325580210e-05,-9.723162106e-04,3.433822535e-05,1.323316644e-05,-9.707319514e-04,7.015768172e-01,1.300913778e-05,8.397621329e-01,7.015746344e-01,1.480676343e-05,8.397686250e-01,7.017601181e-01,1.502912834e-05,8.288099041e-01
+15,9.116666667e+00,DOWN_FORCE_DETACH,1791279074487768819,4.639400070e-05,1.488392658e-05,-1.090226846e-03,4.615640661e-05,5.121238852e-06,-1.076043817e-03,4.365599958e-05,5.205703390e-06,-1.074518354e-03,7.015842655e-01,1.643488790e-05,8.396507143e-01,7.015840279e-01,6.672200173e-06,8.396648974e-01,7.017694359e-01,7.001665296e-06,8.287061177e-01
+16,9.633333333e+00,DOWN_FORCE_DETACH,1791279075258664239,4.859464233e-05,6.574636002e-06,-1.195212127e-03,5.020281673e-05,6.978736075e-06,-1.186716430e-03,4.739059745e-05,7.067915193e-06,-1.185075671e-03,7.015864661e-01,8.125597323e-06,8.395457291e-01,7.015880743e-01,8.529697396e-06,8.395542248e-01,7.017731705e-01,8.863877099e-06,8.285955604e-01
+17,1.011666667e+01,DOWN_FORCE_DETACH,1791279075995283247,5.458773365e-05,3.472424190e-06,-1.286845055e-03,5.463545010e-05,3.518213688e-06,-1.286770839e-03,5.158495265e-05,3.614703844e-06,-1.285132562e-03,7.015924592e-01,5.023385511e-06,8.394540961e-01,7.015925069e-01,5.069175009e-06,8.394541703e-01,7.017773648e-01,5.410665750e-06,8.284955035e-01
+18,1.063333333e+01,DOWN_FORCE_DETACH,1791279076759388537,5.943344992e-05,1.464297995e-06,-1.388640289e-03,5.950987676e-05,1.760560675e-06,-1.379964230e-03,5.619278814e-05,1.804882762e-06,-1.378387750e-03,7.015973049e-01,3.015259316e-06,8.393523009e-01,7.015973814e-01,3.311521996e-06,8.393609770e-01,7.017819726e-01,3.600844668e-06,8.284022483e-01
+19,1.105000000e+01,DOWN_FORCE_DETACH,1791279077379736419,6.343675383e-05,6.319225597e-06,-1.470544455e-03,6.268441771e-05,-1.507796714e-06,-1.466545001e-03,5.924641358e-05,-1.465962294e-06,-1.464928904e-03,7.016013082e-01,7.870186918e-06,8.392703967e-01,7.016005559e-01,4.316460736e-08,8.392743962e-01,7.017850263e-01,3.299996123e-07,8.283157071e-01
+20,1.140000000e+01,DOWN_FORCE_DETACH,1791279077931044276,6.716574899e-05,-6.091584022e-06,-1.546931307e-03,6.489304092e-05,4.026364823e-06,-1.545079297e-03,6.119737051e-05,4.062407185e-06,-1.543459929e-03,7.016050372e-01,-4.540622701e-06,8.391940099e-01,7.016027645e-01,5.577326144e-06,8.391958619e-01,7.017869772e-01,5.858369091e-06,8.282371761e-01
+21,1.200000000e+01,DOWN_FORCE_DETACH,1791279078826604325,6.807702641e-05,-1.252031859e-05,-1.674205632e-03,6.790431446e-05,-1.247017058e-05,-1.674362635e-03,6.380514813e-05,-1.236901004e-05,-1.672648603e-03,7.016059485e-01,-1.096935727e-05,8.390667356e-01,7.016057758e-01,-1.091920926e-05,8.390665786e-01,7.017895850e-01,-1.057304813e-05,8.281079874e-01
+22,1.255000000e+01,DOWN_FORCE_DETACH,1791279079648480071,7.156299866e-05,-1.474036849e-05,-1.794147499e-03,7.032142023e-05,-1.945276650e-05,-1.787426364e-03,6.585101127e-05,-1.939809204e-05,-1.785718233e-03,7.016094345e-01,-1.318940717e-05,8.389467937e-01,7.016081929e-01,-1.790180518e-05,8.389535148e-01,7.017916309e-01,-1.760213014e-05,8.279949178e-01
+23,1.313333333e+01,DOWN_FORCE_DETACH,1791279080525887618,7.070277237e-05,-1.803997643e-05,-1.930750063e-03,7.045964571e-05,-1.786924122e-05,-1.930916431e-03,6.548260559e-05,-1.778597929e-05,-1.929007130e-03,7.016085743e-01,-1.648901511e-05,8.388101911e-01,7.016083311e-01,-1.631827989e-05,8.388100248e-01,7.017912625e-01,-1.599001738e-05,8.278516289e-01
+24,1.371666667e+01,DOWN_FORCE_DETACH,1791279081405191272,7.807350753e-05,-2.655029637e-05,-2.054354245e-03,7.636801966e-05,-1.697678510e-05,-2.041816701e-03,7.116057151e-05,-1.689847963e-05,-2.039989821e-03,7.016159450e-01,-2.499933505e-05,8.386865869e-01,7.016142395e-01,-1.542582378e-05,8.386991245e-01,7.017969404e-01,-1.510251772e-05,8.277406462e-01
+25,1.430000000e+01,DOWN_FORCE_DETACH,1791279082295525049,8.288064514e-05,-3.062913894e-05,-2.184456473e-03,8.223366610e-05,-2.852357068e-05,-2.167866143e-03,7.675157901e-05,-2.842731998e-05,-2.166066979e-03,7.016207521e-01,-2.907817762e-05,8.385564847e-01,7.016201051e-01,-2.697260936e-05,8.385730750e-01,7.018025314e-01,-2.663135808e-05,8.276145690e-01
+26,1.488333333e+01,DOWN_FORCE_DETACH,1791279083173368640,8.330361014e-05,-3.209522357e-05,-2.321942648e-03,8.307736679e-05,-3.226408146e-05,-2.322027125e-03,7.705637792e-05,-3.213841395e-05,-2.320092250e-03,7.016211751e-01,-3.054426225e-05,8.384189985e-01,7.016209488e-01,-3.071312014e-05,8.384189141e-01,7.018028362e-01,-3.034245204e-05,8.274605438e-01
+27,1.543333333e+01,DOWN_FORCE_DETACH,1791279083994338417,9.067742151e-05,-3.859887365e-05,-2.445224661e-03,8.826426276e-05,-4.260332337e-05,-2.433109067e-03,8.202980181e-05,-4.247256072e-05,-2.431284491e-03,7.016285489e-01,-3.704791233e-05,8.382957165e-01,7.016261357e-01,-4.105236205e-05,8.383078321e-01,7.018078097e-01,-4.067659882e-05,8.273493515e-01
+28,1.593333333e+01,DOWN_FORCE_DETACH,1791279084743986485,8.869557968e-05,-3.899003328e-05,-2.571444842e-03,8.553973226e-05,-4.019591113e-05,-2.553532349e-03,7.883858298e-05,-4.003581327e-05,-2.551657281e-03,7.016265671e-01,-3.743907196e-05,8.381694963e-01,7.016234112e-01,-3.864494981e-05,8.381874088e-01,7.018046184e-01,-3.823985136e-05,8.272289787e-01
+29,1.655000000e+01,DOWN_FORCE_DETACH,1791279085673696010,9.803653944e-05,-3.630018460e-05,-2.722252632e-03,9.294269787e-05,-4.223929444e-05,-2.712074968e-03,8.588152141e-05,-4.202798248e-05,-2.710114151e-03,7.016359080e-01,-3.474922328e-05,8.380186886e-01,7.016308142e-01,-4.068833312e-05,8.380288662e-01,7.018116614e-01,-4.023202057e-05,8.270705219e-01
+30,1.711666667e+01,DOWN_FORCE_DETACH,1791279086512869847,9.669685693e-05,-4.004925076e-05,-2.874114041e-03,9.739292521e-05,-4.309788188e-05,-2.863713675e-03,8.991751351e-05,-4.288731434e-05,-2.861698960e-03,7.016345683e-01,-3.849828944e-05,8.378668271e-01,7.016352644e-01,-4.154692056e-05,8.378772275e-01,7.018156974e-01,-4.109135243e-05,8.269189371e-01
+31,1.761666667e+01,DOWN_FORCE_DETACH,1791279087273562654,9.674070662e-05,-4.551038205e-05,-3.007283580e-03,9.475263780e-05,-4.558018576e-05,-2.996539602e-03,8.675628846e-05,-4.537669875e-05,-2.994530959e-03,7.016346122e-01,-4.395942072e-05,8.377336576e-01,7.016326241e-01,-4.402922444e-05,8.377444016e-01,7.018125362e-01,-4.358073684e-05,8.267861051e-01
+32,1.821666667e+01,DOWN_FORCE_DETACH,1791279088173734607,9.942143302e-05,-5.177307873e-05,-3.166917949e-03,9.945385223e-05,-5.189404386e-05,-3.166485151e-03,9.097642738e-05,-5.174475806e-05,-3.164381811e-03,7.016372929e-01,-5.022211741e-05,8.375740232e-01,7.016373253e-01,-5.034308254e-05,8.375744560e-01,7.018167563e-01,-4.994879615e-05,8.266162542e-01
+33,1.875000000e+01,DOWN_FORCE_DETACH,1791279088973838050,1.025032890e-04,-5.382014775e-05,-3.313452423e-03,1.023891395e-04,-5.406689281e-05,-3.313477503e-03,9.348498921e-05,-5.389188503e-05,-3.311300405e-03,7.016403748e-01,-5.226918643e-05,8.374274888e-01,7.016402606e-01,-5.251593148e-05,8.374274637e-01,7.018192649e-01,-5.209592312e-05,8.264693356e-01
+34,1.925000000e+01,DOWN_FORCE_DETACH,1791279089713662754,1.039602139e-04,-5.266783363e-05,-3.455785673e-03,1.034685652e-04,-5.374108994e-05,-3.446046472e-03,9.410766288e-05,-5.356648997e-05,-3.443868780e-03,7.016418317e-01,-5.111687231e-05,8.372851555e-01,7.016413400e-01,-5.219012862e-05,8.372948947e-01,7.018198875e-01,-5.177052806e-05,8.263367672e-01
+35,1.976666667e+01,DOWN_FORCE_DETACH,1791279090493314983,1.008746786e-04,-5.561578346e-05,-3.614201688e-03,9.815713464e-05,-5.478779825e-05,-3.598025651e-03,8.817068536e-05,-5.459936423e-05,-3.595846847e-03,7.016387462e-01,-5.406482214e-05,8.371267395e-01,7.016360286e-01,-5.323683693e-05,8.371429155e-01,7.018139505e-01,-5.280340232e-05,8.261847892e-01
+36,2.025000000e+01,DOWN_FORCE_DETACH,1791279091237040911,1.131518444e-04,-6.090269019e-05,-3.765191413e-03,1.134721431e-04,-5.877943613e-05,-3.754146680e-03,1.033208272e-04,-5.855711214e-05,-3.751845806e-03,7.016510233e-01,-5.935172887e-05,8.369757498e-01,7.016513436e-01,-5.722847481e-05,8.369867945e-01,7.018291007e-01,-5.676115023e-05,8.260287902e-01
+37,2.073333333e+01,DOWN_FORCE_DETACH,1791279091961478393,1.131454613e-04,-6.267161982e-05,-3.933450367e-03,1.120406528e-04,-6.131775417e-05,-3.918213489e-03,1.012369193e-04,-6.109633723e-05,-3.915845790e-03,7.016510169e-01,-6.112065850e-05,8.368074908e-01,7.016499121e-01,-5.976679284e-05,8.368227277e-01,7.018270168e-01,-5.930037533e-05,8.258647902e-01
+38,2.118333333e+01,DOWN_FORCE_DETACH,1791279092641599455,1.147738478e-04,-6.092943150e-05,-4.091658713e-03,1.137597492e-04,-6.447946787e-05,-4.077793458e-03,1.024800984e-04,-6.423560668e-05,-4.075283863e-03,7.016526453e-01,-5.937847018e-05,8.366492825e-01,7.016516312e-01,-6.292850655e-05,8.366631477e-01,7.018282600e-01,-6.243964477e-05,8.257053522e-01
+39,2.158333333e+01,DOWN_FORCE_DETACH,1791279093241644120,1.112717073e-04,-6.117730996e-05,-4.251899073e-03,1.095090970e-04,-6.569526558e-05,-4.245867790e-03,9.754907374e-05,-6.543619092e-05,-4.243129264e-03,7.016491432e-01,-5.962634864e-05,8.364890421e-01,7.016473806e-01,-6.414430425e-05,8.364950734e-01,7.018233289e-01,-6.364022901e-05,8.255375068e-01
+40,2.200000000e+01,DOWN_FORCE_DETACH,1791279093861542916,1.131382880e-04,-6.742800325e-05,-4.413350237e-03,1.138684420e-04,-6.548364633e-05,-4.395773839e-03,1.015731957e-04,-6.519721376e-05,-4.393116192e-03,7.016510098e-01,-6.587704193e-05,8.363275910e-01,7.016517399e-01,-6.393268500e-05,8.363451673e-01,7.018273531e-01,-6.340125185e-05,8.253875198e-01
+41,2.238333333e+01,DOWN_FORCE_DETACH,1791279094441619760,1.129235716e-04,-7.078840942e-05,-4.581020409e-03,1.096814888e-04,-6.563046332e-05,-4.565517300e-03,9.668950182e-05,-6.539536042e-05,-4.562757067e-03,7.016507951e-01,-6.923744810e-05,8.361599208e-01,7.016475530e-01,-6.407950200e-05,8.361754239e-01,7.018224694e-01,-6.359939851e-05,8.252178790e-01
+42,2.276666667e+01,DOWN_FORCE_DETACH,1791279095012248319,1.166694979e-04,-6.896232681e-05,-4.748609720e-03,1.166083653e-04,-6.901628241e-05,-4.748390886e-03,1.030620378e-04,-6.875680014e-05,-4.745465363e-03,7.016545410e-01,-6.741136549e-05,8.359923315e-01,7.016544798e-01,-6.746532109e-05,8.359925503e-01,7.018288419e-01,-6.696083824e-05,8.250351707e-01
+43,2.313333333e+01,DOWN_FORCE_DETACH,1791279095561590300,1.167843212e-04,-7.386519274e-05,-4.922668809e-03,1.172934356e-04,-6.979302620e-05,-4.904394618e-03,1.032293492e-04,-6.956901553e-05,-4.901465280e-03,7.016546558e-01,-7.231423142e-05,8.358182724e-01,7.016551649e-01,-6.824206487e-05,8.358365466e-01,7.018290092e-01,-6.777305363e-05,8.248791707e-01
+44,2.348333333e+01,DOWN_FORCE_DETACH,1791279096081407828,1.140334295e-04,-7.534158691e-05,-5.091768511e-03,1.137148484e-04,-7.524294013e-05,-5.091547028e-03,9.892747881e-05,-7.500560447e-05,-5.088372668e-03,7.016519049e-01,-7.379062559e-05,8.356491727e-01,7.016515863e-01,-7.369197881e-05,8.356493942e-01,7.018247073e-01,-7.320964257e-05,8.246922634e-01
+45,2.383333333e+01,DOWN_FORCE_DETACH,1791279096612230916,1.135891322e-04,-7.165040887e-05,-5.271218551e-03,1.136565517e-04,-7.190622039e-05,-5.270991179e-03,9.826674414e-05,-7.167639660e-05,-5.267620315e-03,7.016514606e-01,-7.009944755e-05,8.354697226e-01,7.016515280e-01,-7.035525907e-05,8.354699500e-01,7.018240466e-01,-6.988043470e-05,8.245130157e-01
+46,2.420000000e+01,DOWN_FORCE_DETACH,1791279097162869497,1.117928206e-04,-7.923323747e-05,-5.460439247e-03,1.118580907e-04,-7.922196405e-05,-5.459983089e-03,9.571194449e-05,-7.894421216e-05,-5.456513095e-03,7.016496643e-01,-7.768227615e-05,8.352805019e-01,7.016497296e-01,-7.767100272e-05,8.352809581e-01,7.018214918e-01,-7.714825026e-05,8.243241229e-01
+47,2.455000000e+01,DOWN_FORCE_DETACH,1791279097682823286,1.147388844e-04,-8.085508826e-05,-5.634140363e-03,1.169472194e-04,-8.338866609e-05,-5.627296682e-03,1.003906588e-04,-8.312229258e-05,-5.623897891e-03,7.016526104e-01,-7.930412694e-05,8.351068008e-01,7.016548187e-01,-8.183770477e-05,8.351136445e-01,7.018261705e-01,-8.132633067e-05,8.241567381e-01
+48,2.488333333e+01,DOWN_FORCE_DETACH,1791279098183420930,1.141496390e-04,-8.026320309e-05,-5.812166179e-03,1.164180347e-04,-8.184108038e-05,-5.794753684e-03,9.924539575e-05,-8.159308826e-05,-5.791258488e-03,7.016520211e-01,-7.871224177e-05,8.349287750e-01,7.016542895e-01,-8.029011906e-05,8.349461875e-01,7.018250253e-01,-7.979712635e-05,8.239893775e-01
+49,2.520000000e+01,DOWN_FORCE_DETACH,1791279098661989255,1.149463232e-04,-8.186180813e-05,-5.985128947e-03,1.148225071e-04,-8.369634720e-05,-5.968357866e-03,9.699140247e-05,-8.337255985e-05,-5.964802292e-03,7.016528178e-01,-8.031084681e-05,8.347558122e-01,7.016526940e-01,-8.214538588e-05,8.347725833e-01,7.018227713e-01,-8.157659795e-05,8.238158337e-01
+50,2.551666667e+01,DOWN_SETTLE,1791279099141764669,1.152451254e-04,-8.252848720e-05,-6.161241447e-03,1.150129643e-04,-8.230536204e-05,-6.161274546e-03,9.653734495e-05,-8.201152155e-05,-6.157660756e-03,7.016531166e-01,-8.097752588e-05,8.345796997e-01,7.016528844e-01,-8.075440071e-05,8.345796666e-01,7.018223172e-01,-8.021555965e-05,8.236229753e-01
+51,2.583333333e+01,DOWN_SETTLE,1791279099611815144,1.147077455e-04,-8.413605807e-05,-6.326828404e-03,1.145760682e-04,-8.418850876e-05,-6.326464177e-03,9.558681277e-05,-8.389397727e-05,-6.322871954e-03,7.016525792e-01,-8.258509675e-05,8.344141128e-01,7.016524475e-01,-8.263754744e-05,8.344144770e-01,7.018213667e-01,-8.209801537e-05,8.234577641e-01
+52,2.616666667e+01,DOWN_SETTLE,1791279100112273035,1.119246388e-04,-9.251526179e-05,-6.486579574e-03,1.119735231e-04,-9.260199041e-05,-6.486534200e-03,9.234684270e-05,-9.226614807e-05,-6.483057202e-03,7.016497961e-01,-9.096430047e-05,8.342543616e-01,7.016498450e-01,-9.105102909e-05,8.342544070e-01,7.018181267e-01,-9.047018616e-05,8.232975788e-01
+53,2.656666667e+01,DOWN_SETTLE,1791279100712386290,1.134430528e-04,-9.074625068e-05,-6.650791822e-03,1.134168002e-04,-9.090893995e-05,-6.650819563e-03,9.325454992e-05,-9.058655374e-05,-6.647581728e-03,7.016513145e-01,-8.919528936e-05,8.340901494e-01,7.016512883e-01,-8.935797863e-05,8.340901216e-01,7.018190344e-01,-8.879059184e-05,8.231330543e-01
+54,2.700000000e+01,DOWN_SETTLE,1791279101361713200,1.096451735e-04,-1.018958836e-04,-6.820555174e-03,1.117243914e-04,-9.593751607e-05,-6.811659052e-03,9.094012016e-05,-9.556705993e-05,-6.808654345e-03,7.016475167e-01,-1.003449223e-04,8.339203860e-01,7.016495959e-01,-9.438655475e-05,8.339292821e-01,7.018167200e-01,-9.377109802e-05,8.229719817e-01
+55,2.743333333e+01,DOWN_SETTLE,1791279102011433027,1.129895241e-04,-9.769118481e-05,-6.961935020e-03,1.121791267e-04,-1.012964848e-04,-6.956566592e-03,9.094109635e-05,-1.009544385e-04,-6.953768153e-03,7.016508610e-01,-9.614022349e-05,8.337790062e-01,7.016500506e-01,-9.974552350e-05,8.337843746e-01,7.018167210e-01,-9.915847660e-05,8.228268679e-01
+56,2.798333333e+01,DOWN_SETTLE,1791279102841786360,1.120367582e-04,-1.011537788e-04,-7.117844742e-03,1.080349539e-04,-9.927410001e-05,-7.114434443e-03,8.610100566e-05,-9.894768726e-05,-7.111867428e-03,7.016499082e-01,-9.960281745e-05,8.336230964e-01,7.016459064e-01,-9.772313869e-05,8.336265067e-01,7.018118809e-01,-9.715172536e-05,8.226687686e-01
+57,2.853333333e+01,DOWN_SETTLE,1791279103661831398,9.916235307e-05,-9.733683999e-05,-7.254683440e-03,9.932409455e-05,-9.806138989e-05,-7.250852872e-03,7.675986982e-05,-9.772679342e-05,-7.248624681e-03,7.016370338e-01,-9.578587866e-05,8.334862577e-01,7.016371956e-01,-9.651042857e-05,8.334900883e-01,7.018025397e-01,-9.593083151e-05,8.225320113e-01
+58,2.925000000e+01,DOWN_SETTLE,1791279104742010433,9.068686960e-05,-9.659508811e-05,-7.375647679e-03,9.039691987e-05,-9.883863999e-05,-7.358290156e-03,6.718992658e-05,-9.851827542e-05,-7.356653577e-03,7.016285584e-01,-9.504412679e-05,8.333652935e-01,7.016282684e-01,-9.728767867e-05,8.333826510e-01,7.017929698e-01,-9.672231351e-05,8.224239824e-01
+59,3.008333333e+01,DOWN_SETTLE,1791279106026405605,8.142772446e-05,-9.104517511e-05,-7.445433768e-03,8.379343481e-05,-9.146029605e-05,-7.441804291e-03,6.015704252e-05,-9.116777915e-05,-7.440689526e-03,7.016192992e-01,-8.949421379e-05,8.332955074e-01,7.016216649e-01,-8.990933473e-05,8.332991369e-01,7.017859369e-01,-8.937181724e-05,8.223399465e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c36f400d692b7879c016c1cb2c5ba6024a611d11
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,3.8401e-03,2.1656e-03,2.4533e+00,-3.6912e-02,3.7068e-02,-2.1021e-05,7.1566e-05,2.3767e-06,-1.0252e-05,-1.6391e-07,5.1707e-06,-8.7257e-08,7.2336e-05,5.1740e-06
+1,7.0000e-01,DOWN_FORCE_DETACH,1.9200e-04,6.1949e-03,2.2335e-03,2.4530e+00,-3.6916e-02,3.7237e-02,-2.4537e-05,2.4264e-03,7.0357e-05,-3.1567e-04,-4.2133e-06,1.7434e-04,-3.6037e-06,2.4478e-03,1.7442e-04
+2,1.5000e+00,DOWN_FORCE_DETACH,3.8108e-04,7.7713e-03,2.7837e-03,2.4605e+00,-3.6951e-02,3.7340e-02,-2.7547e-05,4.0028e-03,6.2055e-04,7.1797e-03,-3.9030e-05,2.7780e-04,-6.6136e-06,8.2435e-03,2.8061e-04
+3,2.2000e+00,DOWN_FORCE_DETACH,5.7171e-04,8.8598e-03,3.8866e-03,2.4669e+00,-3.7026e-02,3.7409e-02,-2.9425e-05,5.0912e-03,1.7234e-03,1.3667e-02,-1.1341e-04,3.4677e-04,-8.4917e-06,1.4686e-02,3.6494e-04
+4,2.8167e+00,DOWN_FORCE_DETACH,7.6578e-04,8.3918e-03,2.9796e-03,2.4721e+00,-3.6961e-02,3.7368e-02,-3.2030e-05,4.6233e-03,8.1644e-04,1.8810e-02,-4.9319e-05,3.0606e-04,-1.1097e-05,1.9387e-02,3.1021e-04
+5,3.4500e+00,DOWN_FORCE_DETACH,9.5945e-04,7.6696e-03,1.5800e-03,2.4746e+00,-3.6865e-02,3.7312e-02,-3.4548e-05,3.9010e-03,-5.8316e-04,2.1332e-02,4.6678e-05,2.4976e-04,-1.3615e-05,2.1694e-02,2.5445e-04
+6,4.1333e+00,DOWN_FORCE_DETACH,1.1495e-03,6.4378e-03,4.6313e-03,2.4842e+00,-3.7075e-02,3.7210e-02,-3.4755e-05,2.6692e-03,2.4681e-03,3.0878e-02,-1.6319e-04,1.4803e-04,-1.3822e-05,3.1091e-02,2.2076e-04
+7,4.7667e+00,DOWN_FORCE_DETACH,1.3405e-03,7.6605e-03,5.5473e-03,2.4937e+00,-3.7141e-02,3.7284e-02,-3.5700e-05,3.8920e-03,3.3841e-03,4.0406e-02,-2.2859e-04,2.2186e-04,-1.4767e-05,4.0734e-02,3.1889e-04
+8,5.3500e+00,DOWN_FORCE_DETACH,1.5294e-03,8.7808e-03,3.8731e-03,2.4993e+00,-3.7028e-02,3.7357e-02,-3.5579e-05,5.0123e-03,1.7099e-03,4.5979e-02,-1.1585e-04,2.9433e-04,-1.4645e-05,4.6283e-02,3.1665e-04
+9,5.8333e+00,DOWN_FORCE_DETACH,1.7240e-03,1.0465e-02,2.1595e-03,2.5029e+00,-3.6910e-02,3.7472e-02,-3.3372e-05,6.6966e-03,-3.6452e-06,4.9607e-02,1.7472e-06,4.0942e-04,-1.2439e-05,5.0057e-02,4.0962e-04
+10,6.4167e+00,DOWN_FORCE_DETACH,1.9132e-03,1.1637e-02,-1.3387e-03,2.5116e+00,-3.6669e-02,3.7544e-02,-2.8806e-05,7.8680e-03,-3.5019e-03,5.8313e-02,2.4331e-04,4.8180e-04,-7.8724e-06,5.8945e-02,5.3981e-04
+11,6.9667e+00,DOWN_FORCE_DETACH,2.1075e-03,1.1261e-02,-2.4923e-03,2.5116e+00,-3.6592e-02,3.7516e-02,-2.5666e-05,7.4929e-03,-4.6555e-03,5.8320e-02,3.1988e-04,4.5363e-04,-4.7329e-06,5.8983e-02,5.5509e-04
+12,7.5167e+00,DOWN_FORCE_DETACH,2.2987e-03,1.0876e-02,-3.5248e-03,2.5177e+00,-3.6536e-02,3.7484e-02,-2.4527e-05,7.1077e-03,-5.6880e-03,6.4449e-02,3.7596e-04,4.2204e-04,-3.5937e-06,6.5089e-02,5.6523e-04
+13,8.0500e+00,DOWN_FORCE_DETACH,2.4886e-03,1.0724e-02,-8.1043e-04,2.5181e+00,-3.6737e-02,3.7472e-02,-2.3385e-05,6.9555e-03,-2.9736e-03,6.4839e-02,1.7509e-04,4.0935e-04,-2.4518e-06,6.5279e-02,4.4523e-04
+14,8.5333e+00,DOWN_FORCE_DETACH,2.6806e-03,1.0388e-02,-2.4022e-03,2.5233e+00,-3.6627e-02,3.7440e-02,-2.4373e-05,6.6195e-03,-4.5654e-03,7.0005e-02,2.8518e-04,3.7805e-04,-3.4395e-06,7.0466e-02,4.7356e-04
+15,9.1167e+00,DOWN_FORCE_DETACH,2.8692e-03,9.4612e-03,1.3256e-03,2.5234e+00,-3.6863e-02,3.7372e-02,-2.2039e-05,5.6926e-03,-8.3764e-04,7.0150e-02,4.8842e-05,3.0949e-04,-1.1052e-06,7.0386e-02,3.1333e-04
+16,9.6333e+00,DOWN_FORCE_DETACH,3.0636e-03,1.0057e-02,1.4598e-03,2.5268e+00,-3.6857e-02,3.7404e-02,-2.2203e-05,6.2886e-03,-7.0336e-04,7.3520e-02,5.5544e-05,3.4169e-04,-1.2699e-06,7.3792e-02,3.4618e-04
+17,1.0117e+01,DOWN_FORCE_DETACH,3.2552e-03,8.7075e-03,1.9405e-03,2.5227e+00,-3.6892e-02,3.7310e-02,-2.1246e-05,4.9389e-03,-2.2268e-04,6.9374e-02,1.9897e-05,2.4747e-04,-3.1211e-07,6.9550e-02,2.4827e-04
+18,1.0633e+01,DOWN_FORCE_DETACH,3.4443e-03,8.6230e-03,2.0173e-03,2.5260e+00,-3.6910e-02,3.7302e-02,-1.1881e-05,4.8544e-03,-1.4587e-04,7.2690e-02,2.3022e-06,2.3939e-04,9.0528e-06,7.2852e-02,2.3957e-04
+19,1.1050e+01,DOWN_FORCE_DETACH,3.6318e-03,8.6050e-03,2.5224e-03,2.5258e+00,-3.6962e-02,3.7303e-02,-2.4513e-06,4.8364e-03,3.5925e-04,7.2482e-02,-5.0101e-05,2.4104e-04,1.8482e-05,7.2644e-02,2.4688e-04
+20,1.1400e+01,DOWN_FORCE_DETACH,3.8262e-03,9.0507e-03,4.9091e-04,2.5266e+00,-3.6840e-02,3.7331e-02,3.4635e-06,5.2822e-03,-1.6723e-03,7.3289e-02,7.2598e-05,2.6824e-04,2.4397e-05,7.3499e-02,2.7896e-04
+21,1.2000e+01,DOWN_FORCE_DETACH,4.0197e-03,8.7825e-03,6.0972e-03,2.5229e+00,-3.7202e-02,3.7321e-02,8.4446e-06,5.0139e-03,3.9341e-03,6.9609e-02,-2.8984e-04,2.5829e-04,2.9378e-05,6.9900e-02,3.8934e-04
+22,1.2550e+01,DOWN_FORCE_DETACH,4.2099e-03,8.2227e-03,8.8052e-03,2.5302e+00,-3.7369e-02,3.7274e-02,7.4730e-06,4.4541e-03,6.6420e-03,7.6898e-02,-4.5732e-04,2.1203e-04,2.8406e-05,7.7313e-02,5.0488e-04
+23,1.3133e+01,DOWN_FORCE_DETACH,4.4040e-03,8.3535e-03,8.8286e-03,2.5325e+00,-3.7370e-02,3.7272e-02,3.5070e-07,4.5849e-03,6.6654e-03,7.9202e-02,-4.5801e-04,2.0932e-04,2.1284e-05,7.9614e-02,5.0402e-04
+24,1.3717e+01,DOWN_FORCE_DETACH,4.5917e-03,7.4649e-03,7.7582e-03,2.5347e+00,-3.7310e-02,3.7203e-02,-7.5759e-06,3.6963e-03,5.5950e-03,8.1401e-02,-3.9747e-04,1.4070e-04,1.3358e-05,8.1677e-02,4.2185e-04
+25,1.4300e+01,DOWN_FORCE_DETACH,4.7844e-03,7.1796e-03,1.1715e-02,2.5334e+00,-3.7568e-02,3.7182e-02,-4.6787e-06,3.4111e-03,9.5514e-03,8.0170e-02,-6.5597e-04,1.1958e-04,1.6255e-05,8.0809e-02,6.6698e-04
+26,1.4883e+01,DOWN_FORCE_DETACH,4.9741e-03,8.3837e-03,1.3527e-02,2.5337e+00,-3.7647e-02,3.7264e-02,6.8605e-06,4.6152e-03,1.1364e-02,8.0429e-02,-7.3489e-04,2.0157e-04,2.7794e-05,8.1359e-02,7.6254e-04
+27,1.5433e+01,DOWN_FORCE_DETACH,5.1659e-03,8.4728e-03,1.7061e-02,2.5372e+00,-3.7855e-02,3.7268e-02,1.8979e-05,4.7042e-03,1.4898e-02,8.3941e-02,-9.4301e-04,2.0578e-04,3.9912e-05,8.5383e-02,9.6602e-04
+28,1.5933e+01,DOWN_FORCE_DETACH,5.3625e-03,1.0254e-02,1.7357e-02,2.5403e+00,-3.7855e-02,3.7386e-02,2.9135e-05,6.4850e-03,1.5193e-02,8.7015e-02,-9.4242e-04,3.2407e-04,5.0069e-05,8.8569e-02,9.9784e-04
+29,1.6550e+01,DOWN_FORCE_DETACH,5.5516e-03,9.9084e-03,1.9895e-02,2.5444e+00,-3.7985e-02,3.7355e-02,4.1174e-05,6.1398e-03,1.7732e-02,9.1081e-02,-1.0730e-03,2.9264e-04,6.2108e-05,9.2994e-02,1.1139e-03
+30,1.7117e+01,DOWN_FORCE_DETACH,5.7444e-03,1.0235e-02,2.0328e-02,2.5470e+00,-3.8022e-02,3.7369e-02,4.2807e-05,6.4667e-03,1.8165e-02,9.3772e-02,-1.1102e-03,3.0620e-04,6.3740e-05,9.5734e-02,1.1534e-03
+31,1.7617e+01,DOWN_FORCE_DETACH,5.9324e-03,1.1935e-02,1.9494e-02,2.5467e+00,-3.8011e-02,3.7478e-02,4.2742e-05,8.1665e-03,1.7330e-02,9.3413e-02,-1.0985e-03,4.1536e-04,6.3676e-05,9.5357e-02,1.1761e-03
+32,1.8217e+01,DOWN_FORCE_DETACH,6.1271e-03,1.2610e-02,1.9073e-02,2.5439e+00,-3.8010e-02,3.7528e-02,4.6924e-05,8.8414e-03,1.6909e-02,9.0604e-02,-1.0978e-03,4.6586e-04,6.7858e-05,9.2592e-02,1.1945e-03
+33,1.8750e+01,DOWN_FORCE_DETACH,6.3176e-03,1.2929e-02,1.9923e-02,2.5472e+00,-3.8052e-02,3.7555e-02,5.1396e-05,9.1603e-03,1.7760e-02,9.3939e-02,-1.1398e-03,4.9252e-04,7.2330e-05,9.6041e-02,1.2438e-03
+34,1.9250e+01,DOWN_FORCE_DETACH,6.5071e-03,1.2003e-02,2.0706e-02,2.5536e+00,-3.8085e-02,3.7482e-02,5.3206e-05,8.2346e-03,1.8543e-02,1.0029e-01,-1.1733e-03,4.1955e-04,7.4140e-05,1.0232e-01,1.2482e-03
+35,1.9767e+01,DOWN_FORCE_DETACH,6.7024e-03,1.3411e-02,2.1445e-02,2.5551e+00,-3.8118e-02,3.7570e-02,4.9697e-05,9.6427e-03,1.9282e-02,1.0185e-01,-1.2054e-03,5.0782e-04,7.0630e-05,1.0410e-01,1.3099e-03
+36,2.0250e+01,DOWN_FORCE_DETACH,6.8853e-03,1.0566e-02,2.2854e-02,2.5587e+00,-3.8187e-02,3.7375e-02,4.7070e-05,6.7975e-03,2.0691e-02,1.0547e-01,-1.2744e-03,3.1277e-04,6.8004e-05,1.0769e-01,1.3140e-03
+37,2.0733e+01,DOWN_FORCE_DETACH,7.0818e-03,1.1053e-02,2.3586e-02,2.5637e+00,-3.8196e-02,3.7394e-02,4.5358e-05,7.2847e-03,2.1423e-02,1.1047e-01,-1.2841e-03,3.3194e-04,6.6291e-05,1.1276e-01,1.3280e-03
+38,2.1183e+01,DOWN_FORCE_DETACH,7.2749e-03,1.1340e-02,2.4560e-02,2.5695e+00,-3.8256e-02,3.7405e-02,4.7705e-05,7.5710e-03,2.2396e-02,1.1626e-01,-1.3440e-03,3.4256e-04,6.8639e-05,1.1864e-01,1.3887e-03
+39,2.1583e+01,DOWN_FORCE_DETACH,7.4642e-03,1.4174e-02,2.5542e-02,2.5781e+00,-3.8315e-02,3.7587e-02,4.7974e-05,1.0406e-02,2.3379e-02,1.2478e-01,-1.4027e-03,5.2458e-04,6.8908e-05,1.2737e-01,1.4992e-03
+40,2.2000e+01,DOWN_FORCE_DETACH,7.6588e-03,1.4296e-02,2.5643e-02,2.5790e+00,-3.8298e-02,3.7590e-02,5.0086e-05,1.0528e-02,2.3480e-02,1.2571e-01,-1.3858e-03,5.2751e-04,7.1020e-05,1.2832e-01,1.4845e-03
+41,2.2383e+01,DOWN_FORCE_DETACH,7.8492e-03,1.5320e-02,2.5213e-02,2.5831e+00,-3.8248e-02,3.7649e-02,5.2115e-05,1.1552e-02,2.3049e-02,1.2982e-01,-1.3361e-03,5.8642e-04,7.3049e-05,1.3236e-01,1.4609e-03
+42,2.2767e+01,DOWN_FORCE_DETACH,8.0351e-03,1.3850e-02,2.6675e-02,2.5847e+00,-3.8344e-02,3.7549e-02,5.4296e-05,1.0081e-02,2.4512e-02,1.3147e-01,-1.4321e-03,4.8690e-04,7.5230e-05,1.3412e-01,1.5144e-03
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2043c2b4421cc1d8396ffddfb702a59ecad0ff35
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:ed9941677b91c7144c95512fc3309564ccb17dd0b3bcc8cb1653d851cdb3f234
+size 5304320
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..366bf9e4a70ca02cb6e77aefe30de715b635a1bc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea18a7557c2cbaa4f2eb4b1da01a329bc44117f8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0421477cb71a8048a096228272e96cbaec08989e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b71fd5b78e8a6f147a334d6d9946248bc638c458
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,2.166666667e+00,UP_FORCE_RAMP,1791279033498979519,-7.341105010e-06,5.187676093e-06,1.610486983e-04,-2.933259918e-06,7.526413520e-06,1.477747336e-04,-2.397234834e-06,7.503225266e-06,1.471058871e-04,7.015305304e-01,6.738637414e-06,8.409019899e-01,7.015349382e-01,9.077374841e-06,8.408887159e-01,7.017233827e-01,9.299201312e-06,8.299277418e-01
+7,2.483333333e+00,UP_FORCE_RAMP,1791279033980738979,-2.320134088e-05,4.239274195e-06,2.039448632e-04,-1.915447166e-05,7.948175549e-06,1.863441908e-04,-1.885480373e-05,7.972829194e-06,1.855518641e-04,7.015146701e-01,5.790235516e-06,8.409448861e-01,7.015187170e-01,9.499136870e-06,8.409272854e-01,7.017069251e-01,9.768805240e-06,8.299661878e-01
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+9,3.116666667e+00,UP_FORCE_RAMP,1791279034931027109,-2.790135847e-05,4.731720857e-06,3.270388998e-04,-3.015544225e-05,4.661882999e-06,3.209605430e-04,-2.960591361e-05,4.684995066e-06,3.196741327e-04,7.015099701e-01,6.282682178e-06,8.410679801e-01,7.015077160e-01,6.212844320e-06,8.410619017e-01,7.016961740e-01,6.480971112e-06,8.301003101e-01
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+43,1.260000000e+01,UP_FORCE_RAMP,1791279049205479962,-7.863900241e-05,1.495496562e-05,1.812517756e-03,-7.513906969e-05,1.526774229e-05,1.796628281e-03,-7.055613614e-05,1.522934194e-05,1.795805673e-03,7.014592325e-01,1.650592694e-05,8.425534589e-01,7.014627324e-01,1.681870361e-05,8.425375695e-01,7.016552238e-01,1.702531798e-05,8.315764416e-01
+44,1.290000000e+01,UP_FORCE_RAMP,1791279049656071926,-7.732331518e-05,1.591950103e-05,1.827184602e-03,-7.721299349e-05,1.324401345e-05,1.817493257e-03,-7.260650559e-05,1.321549987e-05,1.816699271e-03,7.014605482e-01,1.747046235e-05,8.425681258e-01,7.014606585e-01,1.479497477e-05,8.425584344e-01,7.016531734e-01,1.501147591e-05,8.315973352e-01
+45,1.316666667e+01,UP_FORCE_RAMP,1791279050055730025,-7.832235697e-05,1.794777647e-05,1.840132243e-03,-7.485600911e-05,5.730105818e-06,1.836471109e-03,-7.009726286e-05,5.706340138e-06,1.835658271e-03,7.014595491e-01,1.949873779e-05,8.425810734e-01,7.014630155e-01,7.281067139e-06,8.425774123e-01,7.016556826e-01,7.502316184e-06,8.316162942e-01
+46,1.335000000e+01,UP_FORCE_RAMP,1791279050335464681,-7.774930396e-05,1.352004585e-05,1.845758793e-03,-7.485600911e-05,5.730105818e-06,1.836471109e-03,-7.009124327e-05,5.707360865e-06,1.835727098e-03,7.014601222e-01,1.507100717e-05,8.425867000e-01,7.014630155e-01,7.281067139e-06,8.425774123e-01,7.016556887e-01,7.503336911e-06,8.316163631e-01
+47,1.356666667e+01,UP_FORCE_RAMP,1791279050656561996,-7.598734442e-05,1.959934142e-05,1.858848286e-03,-7.674944309e-05,2.395255558e-05,1.848986264e-03,-7.195595319e-05,2.390843499e-05,1.848216871e-03,7.014618841e-01,2.115030274e-05,8.425997895e-01,7.014611220e-01,2.550351690e-05,8.425899275e-01,7.016538239e-01,2.570441103e-05,8.316288528e-01
+48,1.383333333e+01,UP_FORCE_RAMP,1791279051055886672,-7.831284236e-05,1.495859894e-05,1.867798936e-03,-7.512393845e-05,1.116713950e-05,1.865216787e-03,-7.020398052e-05,1.115790870e-05,1.864524717e-03,7.014595586e-01,1.650956026e-05,8.426087401e-01,7.014627475e-01,1.271810082e-05,8.426061580e-01,7.016555759e-01,1.295388474e-05,8.316451607e-01
+49,1.406666667e+01,UP_FORCE_RAMP,1791279051407269912,-7.753809748e-05,1.361401445e-05,1.879707198e-03,-7.512393845e-05,1.116713950e-05,1.865216787e-03,-7.019782994e-05,1.115828458e-05,1.864599100e-03,7.014603334e-01,1.516497577e-05,8.426206484e-01,7.014627475e-01,1.271810082e-05,8.426061580e-01,7.016555821e-01,1.295426063e-05,8.316452351e-01
+50,1.446666667e+01,UP_FORCE_RAMP,1791279052037908791,-7.939994181e-05,1.434558512e-05,1.892746711e-03,-7.946247785e-05,1.423367383e-05,1.884459890e-03,-7.462714570e-05,1.420862923e-05,1.883788425e-03,7.014584715e-01,1.589654644e-05,8.426336879e-01,7.014584090e-01,1.578463515e-05,8.426254011e-01,7.016511527e-01,1.600460528e-05,8.316644244e-01
+51,1.486666667e+01,UP_FORCE_RAMP,1791279052639173079,-8.271543710e-05,1.501509539e-05,1.904593908e-03,-8.268527118e-05,1.501202462e-05,1.904246466e-03,-7.780510341e-05,1.496811555e-05,1.903544135e-03,7.014551560e-01,1.656605671e-05,8.426455351e-01,7.014551862e-01,1.656298595e-05,8.426451877e-01,7.016479748e-01,1.676409159e-05,8.316841801e-01
+52,1.531666667e+01,UP_FORCE_RAMP,1791279053335604786,-8.956399576e-05,1.135230213e-05,1.910974494e-03,-8.268527118e-05,1.501202462e-05,1.904246466e-03,-7.781216457e-05,1.496923126e-05,1.903676599e-03,7.014483075e-01,1.290326345e-05,8.426519157e-01,7.014551862e-01,1.656298595e-05,8.426451877e-01,7.016479677e-01,1.676520731e-05,8.316843126e-01
+53,1.566666667e+01,UP_FORCE_RAMP,1791279053855917356,-9.146610040e-05,1.602426230e-05,1.924155993e-03,-8.844374354e-05,1.149754914e-05,1.924197681e-03,-8.368425802e-05,1.147078851e-05,1.923650642e-03,7.014464054e-01,1.757522363e-05,8.426650972e-01,7.014494277e-01,1.304851046e-05,8.426651389e-01,7.016420956e-01,1.326676455e-05,8.317042866e-01
+54,1.591666667e+01,UP_FORCE_HOLD,1791279054236870591,-9.214646331e-05,9.579013449e-06,1.933442718e-03,-8.844374354e-05,1.149754914e-05,1.924197681e-03,-8.369139599e-05,1.147011730e-05,1.923710984e-03,7.014457250e-01,1.112997477e-05,8.426743839e-01,7.014494277e-01,1.304851046e-05,8.426651389e-01,7.016420885e-01,1.326609334e-05,8.317043469e-01
+55,1.616666667e+01,UP_FORCE_HOLD,1791279054606318861,-9.172420133e-05,2.406159601e-06,1.941385612e-03,-8.844374354e-05,1.149754914e-05,1.924197681e-03,-8.369752537e-05,1.146941012e-05,1.923760468e-03,7.014461473e-01,3.957120922e-06,8.426823268e-01,7.014494277e-01,1.304851046e-05,8.426651389e-01,7.016420824e-01,1.326538617e-05,8.317043964e-01
+56,1.646666667e+01,UP_FORCE_HOLD,1791279055056765998,-8.880432596e-05,1.205665088e-05,1.954493990e-03,-9.039034030e-05,1.301821717e-05,1.946136734e-03,-8.558157089e-05,1.298388345e-05,1.945573293e-03,7.014490672e-01,1.360761221e-05,8.426954352e-01,7.014474811e-01,1.456917849e-05,8.426870779e-01,7.016401983e-01,1.477985950e-05,8.317262092e-01
+57,1.683333333e+01,UP_FORCE_HOLD,1791279055616386964,-9.339887417e-05,6.608285751e-06,1.957109387e-03,-9.039034030e-05,1.301821717e-05,1.946136734e-03,-8.559076978e-05,1.298342262e-05,1.945648393e-03,7.014444726e-01,8.159247072e-06,8.426980506e-01,7.014474811e-01,1.456917849e-05,8.426870779e-01,7.016401891e-01,1.477939867e-05,8.317262843e-01
+58,1.713333333e+01,UP_FORCE_HOLD,1791279056059670322,-9.387342468e-05,8.392133427e-06,1.964831538e-03,-9.298160439e-05,-3.480327187e-07,1.961571732e-03,-8.819626093e-05,-3.467136890e-07,1.961081273e-03,7.014439981e-01,9.943094748e-06,8.427057727e-01,7.014448899e-01,1.202928602e-06,8.427025129e-01,7.016375836e-01,1.449262357e-06,8.317417172e-01
+59,1.751666667e+01,UP_SETTLE,1791279056640203655,-9.535002096e-05,9.080257291e-06,1.974225652e-03,-9.298160439e-05,-3.480327187e-07,1.961571732e-03,-8.820593330e-05,-3.487633619e-07,1.961152631e-03,7.014425215e-01,1.063121861e-05,8.427151668e-01,7.014448899e-01,1.202928602e-06,8.427025129e-01,7.016375740e-01,1.447212684e-06,8.317417886e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f90c1e2b9496fa374b964b63375a4f9cc7e8d24
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,3.8415e-03,2.1660e-03,2.4533e+00,-3.6912e-02,3.7068e-02,-2.1008e-05,7.1532e-05,2.3902e-06,-1.0490e-05,-1.6391e-07,5.1670e-06,-8.7392e-08,7.2337e-05,5.1703e-06
+1,4.3333e-01,UP_FORCE_RAMP,8.6791e-05,5.4344e-03,2.2124e-03,2.4530e+00,-3.6915e-02,3.7182e-02,-2.3273e-05,1.6645e-03,4.8790e-05,-2.2507e-04,-3.0100e-06,1.1976e-04,-2.3526e-06,1.6804e-03,1.1982e-04
+2,8.8333e-01,UP_FORCE_RAMP,1.7012e-04,6.6404e-03,2.2464e-03,2.4529e+00,-3.6917e-02,3.7269e-02,-2.5319e-05,2.8705e-03,8.2818e-05,-3.6287e-04,-4.9174e-06,2.0608e-04,-4.3985e-06,2.8945e-03,2.0619e-04
+3,1.1833e+00,UP_FORCE_RAMP,2.5273e-04,8.0392e-03,3.1810e-03,2.4475e+00,-3.6983e-02,3.7376e-02,-2.5977e-05,4.2693e-03,1.0174e-03,-5.7964e-03,-7.0825e-05,3.1307e-04,-5.0559e-06,7.2705e-03,3.2102e-04
+4,1.5167e+00,UP_FORCE_RAMP,3.4354e-04,8.8386e-03,1.8267e-03,2.4438e+00,-3.6890e-02,3.7436e-02,-2.7821e-05,5.0686e-03,-3.3692e-04,-9.4681e-03,2.1853e-05,3.7342e-04,-6.9006e-06,1.0745e-02,3.7412e-04
+5,1.8667e+00,UP_FORCE_RAMP,4.2551e-04,9.1884e-03,1.3404e-03,2.4361e+00,-3.6858e-02,3.7470e-02,-2.9082e-05,5.4184e-03,-8.2326e-04,-1.7157e-02,5.4356e-05,4.0771e-04,-8.1615e-06,1.8011e-02,4.1140e-04
+6,2.1667e+00,UP_FORCE_RAMP,5.1172e-04,8.6504e-03,-4.6717e-04,2.4236e+00,-3.6735e-02,3.7447e-02,-3.0179e-05,4.8804e-03,-2.6308e-03,-2.9628e-02,1.7736e-04,3.8444e-04,-9.2576e-06,3.0142e-02,4.2348e-04
+7,2.4833e+00,UP_FORCE_RAMP,5.9758e-04,1.2878e-02,-6.5512e-04,2.4199e+00,-3.6721e-02,3.7753e-02,-3.0936e-05,9.1076e-03,-2.8187e-03,-3.3370e-02,1.9067e-04,6.9094e-04,-1.0015e-05,3.4706e-02,7.1684e-04
+8,2.8000e+00,UP_FORCE_RAMP,6.8292e-04,1.5234e-02,3.6534e-04,2.4097e+00,-3.6791e-02,3.7926e-02,-3.0450e-05,1.1464e-02,-1.7983e-03,-4.3610e-02,1.2097e-04,8.6366e-04,-9.5288e-06,4.5128e-02,8.7215e-04
+9,3.1167e+00,UP_FORCE_RAMP,7.6870e-04,1.4486e-02,1.1901e-04,2.4007e+00,-3.6777e-02,3.7890e-02,-2.9521e-05,1.0716e-02,-2.0446e-03,-5.2556e-02,1.3549e-04,8.2711e-04,-8.6001e-06,5.3676e-02,8.3818e-04
+10,3.3833e+00,UP_FORCE_RAMP,8.5040e-04,1.4307e-02,-1.9990e-04,2.3978e+00,-3.6760e-02,3.7881e-02,-2.8195e-05,1.0537e-02,-2.3635e-03,-5.5455e-02,1.5225e-04,8.1886e-04,-7.2743e-06,5.6496e-02,8.3292e-04
+11,3.6667e+00,UP_FORCE_RAMP,9.3840e-04,1.4905e-02,1.5970e-03,2.3911e+00,-3.6891e-02,3.7931e-02,-2.6183e-05,1.1135e-02,-5.6663e-04,-6.2148e-02,2.1532e-05,8.6813e-04,-5.2621e-06,6.3140e-02,8.6841e-04
+12,3.9333e+00,UP_FORCE_RAMP,1.0224e-03,1.4456e-02,3.6952e-04,2.3834e+00,-3.6817e-02,3.7907e-02,-2.5595e-05,1.0686e-02,-1.7941e-03,-6.9845e-02,9.5308e-05,8.4465e-04,-4.6739e-06,7.0680e-02,8.5003e-04
+13,4.1833e+00,UP_FORCE_RAMP,1.1068e-03,1.5286e-02,1.5062e-03,2.3783e+00,-3.6906e-02,3.7967e-02,-2.4495e-05,1.1516e-02,-6.5745e-04,-7.5009e-02,6.4932e-06,9.0435e-04,-3.5738e-06,7.5890e-02,9.0438e-04
+14,4.4167e+00,UP_FORCE_RAMP,1.1922e-03,1.6475e-02,2.7452e-04,2.3753e+00,-3.6837e-02,3.8050e-02,-2.3276e-05,1.2705e-02,-1.8891e-03,-7.8012e-02,7.4890e-05,9.8753e-04,-2.3548e-06,7.9062e-02,9.9037e-04
+15,4.6833e+00,UP_FORCE_RAMP,1.2796e-03,1.8266e-02,9.8443e-04,2.3786e+00,-3.6891e-02,3.8182e-02,-2.0693e-05,1.4496e-02,-1.1792e-03,-7.4701e-02,2.0951e-05,1.1198e-03,2.2816e-07,7.6103e-02,1.1200e-03
+16,4.9167e+00,UP_FORCE_RAMP,1.3609e-03,1.7633e-02,1.6684e-03,2.3736e+00,-3.6943e-02,3.8145e-02,-1.6356e-05,1.3863e-02,-4.9523e-04,-7.9662e-02,-3.0637e-05,1.0829e-03,4.5651e-06,8.0861e-02,1.0833e-03
+17,5.1833e+00,UP_FORCE_RAMP,1.4474e-03,1.7472e-02,1.1129e-03,2.3708e+00,-3.6904e-02,3.8139e-02,-1.1055e-05,1.3702e-02,-1.0507e-03,-8.2502e-02,7.7970e-06,1.0763e-03,9.8663e-06,8.3639e-02,1.0764e-03
+18,5.4167e+00,UP_FORCE_RAMP,1.5295e-03,1.6910e-02,2.0741e-03,2.3679e+00,-3.6966e-02,3.8103e-02,-6.0264e-06,1.3140e-02,-8.9515e-05,-8.5366e-02,-5.3450e-05,1.0401e-03,1.4894e-05,8.6372e-02,1.0416e-03
+19,5.6333e+00,UP_FORCE_RAMP,1.6179e-03,1.6460e-02,2.9915e-03,2.3663e+00,-3.7020e-02,3.8072e-02,-3.1262e-06,1.2690e-02,8.2787e-04,-8.7008e-02,-1.0769e-04,1.0098e-03,1.7795e-05,8.7932e-02,1.0157e-03
+20,5.9000e+00,UP_FORCE_RAMP,1.7065e-03,1.5744e-02,4.8369e-04,2.3636e+00,-3.6835e-02,3.8023e-02,-3.6990e-06,1.1974e-02,-1.6799e-03,-8.9654e-02,7.7605e-05,9.6071e-04,1.7222e-05,9.0466e-02,9.6399e-04
+21,6.1500e+00,UP_FORCE_RAMP,1.7894e-03,1.5682e-02,1.6979e-03,2.3618e+00,-3.6908e-02,3.8014e-02,-5.9923e-06,1.1912e-02,-4.6575e-04,-9.1430e-02,4.6082e-06,9.5149e-04,1.4929e-05,9.2204e-02,9.5162e-04
+22,6.4000e+00,UP_FORCE_RAMP,1.8762e-03,1.4257e-02,-5.7016e-04,2.3614e+00,-3.6743e-02,3.7913e-02,-1.2751e-05,1.0487e-02,-2.7338e-03,-9.1889e-02,1.6951e-04,8.5091e-04,8.1695e-06,9.2526e-02,8.6767e-04
+23,6.6167e+00,UP_FORCE_RAMP,1.9598e-03,1.3242e-02,4.6346e-04,2.3641e+00,-3.6804e-02,3.7842e-02,-1.7978e-05,9.4719e-03,-1.7002e-03,-8.9150e-02,1.0777e-04,7.7904e-04,2.9432e-06,8.9668e-02,7.8647e-04
+24,6.8500e+00,UP_FORCE_RAMP,2.0481e-03,1.3459e-02,2.3754e-03,2.3670e+00,-3.6927e-02,3.7854e-02,-2.2995e-05,9.6894e-03,2.1174e-04,-8.6253e-02,-1.5020e-05,7.9121e-04,-2.0737e-06,8.6796e-02,7.9136e-04
+25,7.1000e+00,UP_FORCE_RAMP,2.1263e-03,1.2948e-02,1.2990e-03,2.3722e+00,-3.6852e-02,3.7814e-02,-2.6620e-05,9.1782e-03,-8.6457e-04,-8.1073e-02,6.0167e-05,7.5167e-04,-5.6988e-06,8.1595e-02,7.5410e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7cbe67035ee682b04efc2cec73d2985287dfa8fa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:67381c3d108d55cf068c35beec39f1129fae25e48234a9c3088417332c8526e2
+size 4802560
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94ca8e45469fe2382ff332f0711a0eb8f0842fb0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45358e6b5b49ad2ca35b4029708c19ac634124c0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
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+44176,1791279142711188867,11468725000000,1791279142704735051,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6759822573536286,-0.004783420482060955,0.09086347254080135,0.9999999760524817,6.367199590184047e-05,-0.00018021459320154652,5.297619966980936e-05,0.6761,-0.0048,0.09097555382931681,1.0,0.0,0.0,0.0,0.06742382462508029,0.058570394244477415,-0.0035382711757391827,0.003204410490619611,-0.0051286951197869746,-3.4902535262162785e-05,0.0662542078499225,0.08416980530054329,0.25129097698699016,0.0001934328620320688,-0.008164282689289976,-0.001347760204323424,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7513195747562724,-0.265607150145671,0.6298405310735571,0.38782110522500834,-0.2621466856521373,-0.20548338495008134,0.7032682909462498,0.0035382711757391827,0.07342775987269268,0.07342775987269268,0.10200000000000188,0,0,-2.6216284688936102e-05,5.3802055892343506e-05
+44301,1791279143753273398,11469767000000,1791279143752725691,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6759852838268013,-0.004786747919357937,0.09083964472217457,0.9999999772342839,5.93045652645222e-05,-0.00017448063724574453,5.489783200352337e-05,0.6761,-0.0048,0.09094643473682688,1.0,0.0,0.0,0.0,0.06728318125601568,0.05490905991618605,0.01044427774018547,0.0032007745754393975,-0.00513139127497602,-4.6221646319977074e-05,0.0661135644808579,0.08050847097225192,0.2652735259029148,0.0001897969468518553,-0.008166978844479022,-0.0013590793153812383,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8443113747608824,-0.35251052441218583,0.5898549831981782,0.42167554900995996,-0.2127389490241389,-0.26905345448169,0.7032682909462498,0.01044427774018547,0.11341330774807157,0.11341330774807157,0.16452000000000655,0,0,-3.1183169207047824e-05,5.243978342291326e-06
+44397,1791279144553278772,11470567000000,1791279144552734802,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6759840586349021,-0.004791924985410204,0.09080863075088846,0.9999999779093284,5.377552775939654e-05,-0.00017245067476194545,5.470982257519875e-05,0.6761,-0.0048,0.09091576660677445,1.0,0.0,0.0,0.0,0.06738404823667514,0.06472856578104563,0.020996499073571928,0.003199612379882521,-0.0051335092701468785,-5.482932626010156e-05,0.06621443146151736,0.09032797683711151,0.27582574723630127,0.00018863475129497894,-0.00816909683964988,-0.0013676869953213628,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.875931468173315,-0.2551039069175993,0.5887289411309856,0.39964542598695224,-0.20853255158339665,-0.20081411566424143,0.7032682909462498,0.020996499073571928,0.11453934981526415,0.11453934981526415,0.21252000000001015,0,0,-4.31923743257886e-05,-8.546801741194372e-05
+44515,1791279145536345949,11471550000000,1791279145532725232,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6759867601100601,-0.004788806773121986,0.0907688068637385,0.9999999793641026,4.982522874950568e-05,-0.00016720803144551635,4.768206925319578e-05,0.6761,-0.0048,0.09086652293730109,1.0,0.0,0.0,0.0,0.06609881786486306,0.056127520211578956,0.038733085263140954,0.003196633352786152,-0.0051363377324448595,-6.85119370256069e-05,0.06492920108970528,0.08172693126764483,0.2935623334258703,0.00018565572419860962,-0.00817192530194786,-0.001381369606086868,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8149929408128126,-0.35523000168551416,0.5548059197401298,0.4355708894173211,-0.20288873147897402,-0.26604596788473134,0.7032682909462498,0.038733085263140954,0.14846237120611994,0.14846237120611994,0.27150000000001456,0,0,-5.626744925132788e-05,-7.83279372181866e-05
+44608,1791279146311331889,11472325000000,1791279146308735692,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.675993787172598,-0.004791956857975407,0.09073177124308669,0.9999999801326119,5.2328546665638515e-05,-0.00016185313357123344,4.735954573444403e-05,0.6761,-0.0048,0.0908176510765237,1.0,0.0,0.0,0.0,0.06728755959632303,0.056677793345813444,0.05665739443040119,0.0031931235338175006,-0.005140461812957261,-8.35554636971483e-05,0.06611794282116525,0.08227720440187931,0.3114866425931305,0.00018214590522995844,-0.008176049382460263,-0.0013964131327584095,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.906415246723119,-0.36638009909496716,0.5930814764815202,0.4441224561961469,-0.2067743491455065,-0.2714525247038438,0.7032682909462498,0.05665739443040119,0.11018681446472955,0.11018681446472955,0.31800000000001805,0,0,-6.674106324130869e-05,-9.884015414319264e-05
+44737,1791279147386401292,11473400000000,1791279147384734975,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760029295492367,-0.004788461899515323,0.09067018483943312,0.9999999803450792,7.895445994468731e-05,-0.00014906319236247003,4.794855129259339e-05,0.6761,-0.0048,0.09073890237370758,1.0,0.0,0.0,0.0,0.05915922608184141,0.05654897402924738,0.08673689465709927,0.0031876388474815108,-0.005146782099955359,-0.0001088409206567002,0.05798960930668362,0.08214838508531325,0.3415661428198286,0.00017666121889396867,-0.00818236966945836,-0.0014216985897179614,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8965016814982707,-0.3479602176669099,0.4510364591574421,0.4421437402242971,-0.12199158864579539,-0.25380774974142156,0.7032682909462498,0.08673689465709927,0.25223183178880765,0.25223183178880765,0.3825000000000229,0,0,-8.05945003202492e-05,2.4581812055758222e-05
+44857,1791279148386439435,11474400000000,1791279148384735125,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760072131970446,-0.004797906927745763,0.09058750451189833,0.9999999801205195,8.831054393892961e-05,-0.00014160531016959836,5.7887899182565974e-05,0.6761,-0.0048,0.09065222322256165,1.0,0.0,0.0,0.0,0.057798577804620596,0.06004793537415868,0.12681117649926843,0.0031527663340496885,-0.004142402347579026,-0.00012567323224065311,0.056628961029462806,0.08564734643022455,0.38164042466199777,0.0001417887054621466,-0.0071779899170820284,-0.0014385309013019143,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8709613005998084,-0.29368290441814554,0.4732959408929324,0.4307366801033562,-0.1454703448874682,-0.21846007969416503,0.7032682909462498,0.12681117649926843,0.22997235005331734,0.22997235005331734,0.44250000000002737,0,0,-8.873853647314712e-05,-9.934858077731973e-05
+44980,1791279149411466554,11475425000000,1791279149404735017,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760086301993972,-0.00479769388712447,0.09049708476917499,0.9999999799381067,9.191630921895757e-05,-0.00013776354908396122,6.433698130078582e-05,0.6761,-0.0048,0.09055475938786897,1.0,0.0,0.0,0.0,0.061206144741066504,0.06064906661977256,0.1669463148787425,0.0031452579964848697,-0.004151104921693974,-0.0001581178792584596,0.06003652796590871,0.08624847767583843,0.42177556304147185,0.00013428036789732767,-0.007186692491196975,-0.0014709755483197208,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9017569399528151,-0.26480824953616283,0.3453529697336123,0.4166829431648104,-0.05655408097481325,-0.20038329120902842,0.7032682909462498,0.1669463148787425,0.35791532121263747,0.35791532121263747,0.5040000000000283,0,0,-0.00010064189430861325,4.6055932705019134e-05
+45097,1791279150386472438,11476400000000,1791279150384735095,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760073633648597,-0.004789642397653469,0.09039588524208478,0.9999999799210498,9.276185135903052e-05,-0.0001375111279780073,6.392724807689288e-05,0.6761,-0.0048,0.09045271430683112,1.0,0.0,0.0,0.0,0.06670182845858075,0.06211233599326715,0.20709789497209807,0.0031376390055024416,-0.004160055457909151,-0.00018944369430646353,0.06553221168342296,0.08771174704933302,0.4619271431348274,0.0001266613769148997,-0.007195643027412153,-0.0015023013633677247,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8996302265516072,-0.3048970800672992,0.31119194938935724,0.4234564928438319,-0.03443406646293429,-0.2326754613469489,0.7032682909462498,0.20709789497209807,0.3920763415568925,0.3920763415568925,0.5624999999999786,0,0,-0.00010945535081488688,5.368810537665354e-05
+45221,1791279151420519513,11477434000000,1791279151412735382,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760089051698298,-0.004778790933001479,0.09028307175946212,0.9999999793606307,9.801950141827117e-05,-0.00013598181743210573,6.799062603128815e-05,0.6761,-0.0048,0.09033402318889233,1.0,0.0,0.0,0.0,0.06682593344340754,0.05793333786289987,0.2672955217666181,0.003152499913762087,-0.005185916781836743,-0.0002505625345854564,0.06565631666824975,0.08353274891896574,0.5221247699293474,0.00014152228517454497,-0.008221504351339745,-0.0015634202036467176,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.846532289493936,-0.18479666566376324,0.3279784983583258,0.38973823536210056,-0.0635694327859554,-0.1557653471085702,0.7032682909462498,0.2672955217666181,0.37528979258792394,0.37528979258792394,0.6245399999999258,0,0,-0.0001186464579042409,-9.63960675434194e-05
+45352,1791279152511519213,11478525000000,1791279152508734936,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760165296809345,-0.004777746996495594,0.09016254890473945,0.9999999810732914,9.682353479327782e-05,-0.00012319696302170804,6.887664796007e-05,0.6761,-0.0048,0.09020189620607443,1.0,0.0,0.0,0.0,0.07567045695140677,0.05622607370085916,0.3175206194971294,0.003143326207074324,-0.005196852569660132,-0.0002913028001690443,0.07450084017624899,0.08182548475692503,0.5723498676598587,0.00013234857848678198,-0.008232440139163133,-0.0016041604692303055,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8857391898302992,-0.22070774820039593,0.16269250618646894,0.4057805045958014,0.05170783208749204,-0.17776586167565317,0.7032682909462498,0.3175206194971294,0.5405757847597809,0.5405757847597809,0.6899999999998702,0,0,-0.00012257582840816272,8.452955976701588e-05
+45482,1791279153595574116,11479609000000,1791279153592725437,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760204136961786,-0.004779910491879413,0.09003484621578073,0.9999999825901659,8.542768018104863e-05,-0.0001202216101862939,6.716701791710204e-05,0.6761,-0.0048,0.09006855868567418,1.0,0.0,0.0,0.0,0.06582734370461629,0.06043506749609231,0.3724539416847741,0.004110841382412426,-0.004444072234447063,0.0007089953668825565,0.06465772692945851,0.08603447855215818,0.6272831898475034,0.0010998637538248838,-0.007479659803950064,-0.0006038623021787047,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8815720810151588,-0.3307549520223398,0.1753042894484796,0.44617599614614,0.041283835307850354,-0.2494855192399168,0.7032682909462498,0.3724539416847741,0.5279640014977702,0.5279640014977702,0.7550399999998149,0,0,-0.00012498599389762356,-9.846133216940273e-05
+45581,1791279154420489145,11480434000000,1791279154412725492,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.676023635252183,-0.004775639544577956,0.08993570725731778,0.9999999822456397,9.451666193822392e-05,-0.00011497776525002479,6.926975492654848e-05,0.6761,-0.0048,0.0899633967890268,1.0,0.0,0.0,0.0,0.0662358962926637,0.05918186682096308,0.4181847120862997,0.0030882661364864806,-0.0042216385476062,0.0006662707426069149,0.06506627951750592,0.08478127787702895,0.673013960249029,7.728850789893879e-05,-0.007257226117109202,-0.0006465869264543463,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9021874966384487,-0.2848144444737965,0.14057401340322453,0.4341452199192226,0.06942023505100375,-0.2197188610110815,0.7032682909462498,0.4181847120862997,0.5626942775430253,0.5626942775430253,0.8045399999997728,0,0,-0.0001297689477639238,-8.892490496593126e-05
+45705,1791279155453566243,11481467000000,1791279155448732426,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760305192463384,-0.004779541067920205,0.08981276477196715,0.9999999827248532,9.878167997405512e-05,-0.00010472721809288879,7.257787004891866e-05,0.6761,-0.0048,0.0898277804601594,1.0,0.0,0.0,0.0,0.06497221153013899,0.06057191480898768,0.45835126204170784,0.0030807625691903874,-0.004219443538530624,0.0006356394715654272,0.0638025947549812,0.08617132586505355,0.7131805102044372,6.978494060284554e-05,-0.007255031108033626,-0.000677218197495834,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.869293288005977,-0.30953694413796023,-0.00934017603364277,0.44608340930169493,0.15377424413064464,-0.23215222801342048,0.7032682909462498,0.45835126204170784,0.7126084669798926,0.7126084669798926,0.8665199999997201,0,0,-0.00013201393108255998,9.999826941354257e-05
+45818,1791279156395654393,11482409000000,1791279156392726091,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760392448056319,-0.004783405350388611,0.08970094502495546,0.9999999843936502,9.487272039864892e-05,-9.169483690900439e-05,7.243471070555539e-05,0.6761,-0.0048,0.08970181341845063,1.0,0.0,0.0,0.0,0.06599921520187212,0.053316874433715404,0.4986330028861712,0.003122288131713604,-0.004235798680819724,0.0006071545266997072,0.06482959842671433,0.07891628548978127,0.7534622510489005,0.00011131050312606216,-0.007271386250322726,-0.000705703142361554,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8647224807263673,-0.25075559249991236,0.05224328848088079,0.43879070919721835,0.11017713504903491,-0.19368534083624345,0.7032682909462498,0.4986330028861712,0.651025002465369,0.651025002465369,0.923039999999672,0,0,-0.00013462299534447298,-8.102385015552044e-05
+45926,1791279157295679002,11483309000000,1791279157292725412,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760400686600269,-0.004785477025974028,0.08958099079021906,0.9999999853417187,8.715712284819267e-05,-8.95554237836601e-05,7.171393688175513e-05,0.6761,-0.0048,0.08958023236751583,1.0,0.0,0.0,0.0,0.05844638096744702,0.05425095360840481,0.5549984292240512,0.0030611573294601923,-0.004240242464861755,0.0005545836413504395,0.05727676419228923,0.07985036466447068,0.8098276773867805,5.017970087265028e-05,-0.007275830034364756,-0.0007582740277108217,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9130336099047678,-0.2792588969864438,-0.18768644200636034,0.44696378171367224,0.27728579056661523,-0.21847475399710717,0.7032682909462498,0.5549984292240512,0.8909547329526101,0.8909547329526101,0.9770399999996261,0,0,-0.0001349926274554506,9.980424406220151e-05
+46031,1791279158170669689,11484184000000,1791279158168734607,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760452342984627,-0.004787166476680526,0.08947053787821084,0.9999999856047059,8.653578665393136e-05,-8.439199128463748e-05,7.498667690503813e-05,0.6761,-0.0048,0.08946135987104502,1.0,0.0,0.0,0.0,0.062413886467784306,0.04726885516233436,0.598794485310055,0.003050674328135424,-0.0041684718193629455,0.0005220797788717289,0.061244269692626516,0.07286826621840023,0.8536237334727843,3.969669954788183e-05,-0.007204059388865947,-0.0007907778901895323,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8688174141672086,-0.20883301087660813,-0.10518839216001657,0.4406955124780999,0.20948102180368605,-0.16686536977500135,0.7032682909462498,0.598794485310055,0.8084566831062663,0.8084566831062663,1.0295399999995816,0,0,-0.0001352023165888053,2.5781075280971184e-05
+46127,1791279158970721311,11484984000000,1791279158968725323,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760509171163348,-0.004788992587977341,0.08936766125652852,0.999999987060323,8.086862177166065e-05,-7.403922756305991e-05,7.28057487423961e-05,0.6761,-0.0048,0.08935100801119215,1.0,0.0,0.0,0.0,0.05624193847878998,0.057210012030199174,0.6388662935919056,0.0030184418555772702,-0.0032447626549597596,0.0005034201415093451,0.05507232170363219,0.08280942308626504,0.893695541754635,7.46422698972831e-06,-0.006280350224462761,-0.0008094375275519161,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8392661083365612,-0.27670297926069415,-0.13825050107431944,0.45741739056128833,0.22165366556969332,-0.21438041799034252,0.7032682909462498,0.6388662935919056,0.8415187920205692,0.8415187920205692,1.0775399999995408,0,0,-0.00014073804467445078,-8.835152655880076e-06
+46241,1791279159920759019,11485934000000,1791279159920725295,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760542778515919,-0.004790399590758777,0.08923759266177102,0.9999999870874653,8.547278311557305e-05,-6.916904258899354e-05,7.195818660970671e-05,0.6761,-0.0048,0.0892142427012891,1.0,0.0,0.0,0.0,0.05610956411499455,0.05940378417288467,0.6990724026960587,0.003007324883092357,-0.003257802854132585,0.0004547706033354665,0.05493994733983676,0.08500319522895054,0.9539016508587881,-3.6527454951849638e-06,-0.006293390423635587,-0.0008580870657257947,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9654682697019883,-0.3691051411321904,-0.17215511157663488,0.49058828443112795,0.27779476444239987,-0.27201869649320864,0.7032682909462498,0.6990724026960587,0.8754234025228846,0.8754234025228846,1.1345399999994923,0,0,-0.00014325258505395867,-9.892579397175467e-05
+46358,1791279160895790923,11486909000000,1791279160892725539,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760564334010535,-0.004798020998393475,0.08909732769544997,0.9999999872490798,8.31949769093759e-05,-6.851834512114536e-05,7.299682825659955e-05,0.6761,-0.0048,0.08907296877622925,1.0,0.0,0.0,0.0,0.05594565554586199,0.05178708057011947,0.7656102231709249,0.002993919127417125,-0.003271823911755584,0.00040496009800687833,0.0547760387707042,0.07738649162618534,1.0204394713336542,-1.7058501170416946e-05,-0.006307411481258586,-0.0009078975710543829,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8525501172843808,-0.27740831379228753,-0.3063867463580228,0.47316842121134334,0.3302060396415326,-0.21110815396637342,0.7032682909462498,0.7656102231709249,1.0096550373042725,1.0096550373042725,1.1930399999994425,0,0,-0.00014643850051035556,9.424902111388462e-05
+46463,1791279161770809814,11487784000000,1791279161768725897,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760609233749002,-0.004797922338302885,0.08896984739219863,0.9999999871946851,8.332391293909081e-05,-6.222040160254672e-05,7.898886841866445e-05,0.6761,-0.0048,0.08894511736640884,1.0,0.0,0.0,0.0,0.04706333379226081,0.047001397359079815,0.8093970782519714,0.0029846344217747747,-0.0032804847325607193,0.00036453606760986773,0.04589371701710302,0.07260080841514568,1.0642263264147007,-2.634320681276709e-05,-0.006316072302063721,-0.0009483216014513935,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9048284333027387,-0.38477110431518485,-0.28542329154487256,0.5097049771656358,0.33573412043011924,-0.2807814465153453,0.7032682909462498,0.8093970782519714,0.9886915824911223,0.9886915824911223,1.245539999999398,0,0,-0.0001479428025809106,-6.228533256620957e-05
+46565,1791279162620785284,11488634000000,1791279162620724919,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760624973440397,-0.004803936991155476,0.08885000138723845,0.9999999870075299,8.192396581582382e-05,-6.096012594638755e-05,8.36667870434934e-05,0.6761,-0.0048,0.08881961514611107,1.0,0.0,0.0,0.0,0.04675780774904243,0.04516098245314478,0.859454867786099,0.00297507032786322,-0.003291023303427765,0.00032403407719825707,0.04558819097388464,0.07076039350921065,1.1142841159488284,-3.590730072432228e-05,-0.006326610872930767,-0.0009888235918630041,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8461198458329392,-0.3343815933032824,-0.3120101451783677,0.4987234785171861,0.33186514831649394,-0.24943475273160723,0.7032682909462498,0.859454867786099,1.0152784361246174,1.0152784361246174,1.2965399999993545,0,0,-0.00015033993119448053,-9.999999025923074e-05
+46673,1791279163520857264,11489534000000,1791279163520735100,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760687010020743,-0.004811120449001083,0.08872182204936821,0.9999999884834534,7.284527635403869e-05,-4.87781126819529e-05,8.240278411955439e-05,0.6761,-0.0048,0.08868483052603877,1.0,0.0,0.0,0.0,0.046478165888416294,0.046856151658765104,0.89969958994845,0.0029663815184983364,-0.0033011798300630157,0.00029150953525410505,0.0453085491132585,0.07245556271483097,1.1545288381111793,-4.4596110089205694e-05,-0.0063367673995660175,-0.0010213481338071562,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8251452126384419,-0.2817282729411476,-0.32220329715912815,0.49221669988808425,0.32826869467489733,-0.21319394006455594,0.7032682909462498,0.89969958994845,1.025471588105378,1.025471588105378,1.3505399999993086,0,0,-0.00015287861363929978,-9.999999025923074e-05
+46785,1791279164453819935,11490467000000,1791279164448734636,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.676071588686451,-0.004804492394643981,0.08858340749718059,0.999999988707706,7.603177252657071e-05,-4.734159192110963e-05,7.74944862887606e-05,0.6761,-0.0048,0.08853943511201214,1.0,0.0,0.0,0.0,0.04625967751797597,0.0486364439975878,0.9598599118814725,0.0029564264032282592,-0.0033129189650758476,0.00024288194321905074,0.045090060742818176,0.07423585505365367,1.2146891600442018,-5.45512253592826e-05,-0.006348506534578849,-0.0010699757258422105,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7882501910184562,-0.37738378326982097,-0.3921974996239021,0.5181171857940127,0.3620849530374305,-0.2785168087331179,0.7032682909462498,0.9598599118814725,1.095465790570152,1.095465790570152,1.406519999999261,0,0,-0.00015938783359400877,-9.999999025923074e-05
+46891,1791279165336834462,11491350000000,1791279165336725774,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760792266639161,-0.004811504393998704,0.0884522253340103,0.9999999886174918,7.895412803900037e-05,-3.5249889730225124e-05,8.204615510391606e-05,0.6761,-0.0048,0.08839781377855736,1.0,0.0,0.0,0.0,0.054817151718126574,0.04472516495980881,1.0100314588618269,0.0029347086621072348,-0.0029050943042159337,0.00020990612371277672,0.05364753494296878,0.07032457601587468,1.264860707024556,-7.626896648030717e-05,-0.0059406818737189355,-0.0011029515453484845,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7944189546132636,-0.27144181065242556,-0.48454372721233446,0.4944449294848968,0.41876729203050916,-0.2082084148576558,0.7032682909462498,1.0100314588618269,1.1878120181585843,1.1878120181585843,1.459499999999216,0,0,-0.00015967921984247203,-3.179206484039128e-05
+47002,1791279166261833589,11492275000000,1791279166256725597,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760768486535677,-0.004815520169990035,0.08830462526441987,0.9999999872362314,8.874781519002274e-05,-4.024028562684907e-05,8.645777041531508e-05,0.6761,-0.0048,0.0882491096449214,1.0,0.0,0.0,0.0,0.04583521621070444,0.05053222601849804,1.060176573084075,0.002915254381754876,-0.0025275401249908055,0.00017430175618368725,0.04466559943554665,0.07613163707456391,1.3150058212468045,-9.572324683266607e-05,-0.005563127694493807,-0.001138555912877574,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.816098950754943,-0.2371252094894035,-0.5575461340819047,0.4827139222460014,0.46881833347853563,-0.18473073440597668,0.7032682909462498,1.060176573084075,1.2608144250281543,1.2608144250281543,1.5149999999991688,0,0,-0.00016174399796312221,7.592240311294347e-05
+47086,1791279166961952312,11492975000000,1791279166960725545,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760806835585955,-0.004814851223837325,0.08819056448879979,0.9999999866272993,9.232936691570835e-05,-3.7075070012572664e-05,9.10439052371466e-05,0.6761,-0.0048,0.0881350543636623,1.0,0.0,0.0,0.0,0.045679246661793974,0.044043029259794496,1.1002810039357183,0.0029045929044211934,-0.0024470338686885178,0.00014331076014454454,0.04450962988663618,0.06964244031586037,1.3551102520984475,-0.00010638472416634866,-0.0054826214381915196,-0.0011695469089167167,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8021066791555317,-0.267840511678933,-0.5555685858616045,0.49453922302886166,0.46506361958359765,-0.20545976132763347,0.7032682909462498,1.1002810039357183,1.2588368768078544,1.2588368768078544,1.556999999999133,0,0,-0.0001657792621193296,-9.988513768733327e-05
+47158,1791279167561940627,11493575000000,1791279167560734770,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760820060153384,-0.0048046721307754454,0.0880997046199227,0.9999999873251616,9.275479924565151e-05,-3.296299349574453e-05,8.427650524185583e-05,0.6761,-0.0048,0.08803582487584496,1.0,0.0,0.0,0.0,0.045620945968139995,0.04923342768478919,1.1303255606410367,0.0028963965950175533,-0.0023364144035023867,0.00012076877337491602,0.044451329192982204,0.07483283874085506,1.3851548088037662,-0.00011458103356998854,-0.0053720019730053884,-0.0011920888956863452,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7752967407628805,-0.3077487108346937,-0.6374227927109246,0.5115441856453431,0.5062656929735403,-0.23433779666772286,0.7032682909462498,1.1303255606410367,1.3406910836571744,1.3406910836571744,1.5929999999991025,0,0,-0.00016632751033832249,9.20990603489102e-05
+47254,1791279168361922185,11494375000000,1791279168360725506,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760846986954399,-0.004805887994922738,0.08796304028651548,0.9999999873609143,9.308767065160734e-05,-3.0896516770619715e-05,8.426818148148304e-05,0.6761,-0.0048,0.08790327916883932,1.0,0.0,0.0,0.0,0.04552226397602605,0.045380031612862796,1.1705136016379312,0.0028882480041531287,-0.0023447627818936165,8.8319301369621e-05,0.04435264720086826,0.07097944266892867,1.4253428498006606,-0.00012272962443441333,-0.005380350351396618,-0.0012245383676916402,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7386300430287869,-0.36094462556913764,-0.6420274108686156,0.5281851007571259,0.4970258044264863,-0.26889153605028077,0.7032682909462498,1.1705136016379312,1.3452957018148655,1.3452957018148655,1.6409999999990617,0,0,-0.00016529507408244293,-8.779149215787924e-05
+47366,1791279169296000922,11495309000000,1791279169292725937,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760884275566047,-0.0048133036939530804,0.0878175002902026,0.999999987039021,9.449370716725866e-05,-2.6903765792359172e-05,8.781770207678254e-05,0.6761,-0.0048,0.08774482829577553,1.0,0.0,0.0,0.0,0.04542421819338321,0.04811555585489905,1.2206679902491775,0.0028610276557024853,-0.002355535073450363,5.11291824802319e-05,0.04425460141822542,0.07371496691096492,1.475497238411907,-0.00014994997288505686,-0.005391122642953365,-0.0012617284865810293,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7608534609899532,-0.2082495504533271,-0.7974075914366311,0.48531875646571454,0.6002886067538561,-0.16772712202720685,0.7032682909462498,1.2206679902491775,1.5006758823828807,1.5006758823828807,1.697039999999014,0,0,-0.00016989699589267803,9.999999025923074e-05
+47469,1791279170153997187,11496167000000,1791279170148725111,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760896159798999,-0.004816847269067831,0.08767454314403954,0.9999999879350464,8.441367127098645e-05,-2.27704176792347e-05,8.904275116084328e-05,0.6761,-0.0048,0.08759716538656483,1.0,0.0,0.0,0.0,0.04843725985617147,0.03702290113714401,1.2590923260556588,0.0018778939665272602,-0.0023450464804083662,1.5967312298555266e-05,0.04726764308101368,0.06262231219320988,1.5139215742183882,-0.0011330836620602818,-0.005380634049911368,-0.001296890356762706,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7969650207578697,-0.3122608401929507,-0.7481325639012953,0.519378561410194,0.5766010620717832,-0.23626280374308867,0.7032682909462498,1.2590923260556588,1.4514008548475452,1.4514008548475452,1.7485199999989702,0,0,-0.0001746631826335846,-3.64475197704077e-05
+47582,1791279171096067172,11497109000000,1791279171092726962,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6760956485364609,-0.004816202088729823,0.0875190541497411,0.9999999879640938,8.638210537074055e-05,-1.2442660995427544e-05,8.887062862868365e-05,0.6761,-0.0048,0.08742874830791791,1.0,0.0,0.0,0.0,0.03284248478673781,0.04717178297178127,1.2906315351141795,0.0018194080237155842,-0.0014209077541199083,4.175894652230414e-05,0.03167286801158002,0.07277119402784714,1.5454607832769087,-0.0011915696048719578,-0.00445649532362291,-0.001271098722538957,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7132900880201708,-0.2961408073700644,-0.8467216928855725,0.5111452357998395,0.6149053228717737,-0.22948780277723888,0.7032682909462498,1.2906315351141795,1.5499899838318223,1.5499899838318223,1.8050399999989222,0,0,-0.00018207900158853795,9.980486856265287e-05
+47678,1791279171896089468,11497909000000,1791279171892725262,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760954893592537,-0.004816073164004517,0.08737300005438996,0.9999999883415176,8.532295401908883e-05,-1.2772407040401926e-05,8.553764248970382e-05,0.6761,-0.0048,0.08727846707158016,1.0,0.0,0.0,0.0,0.04570430492607947,0.02909131081289184,1.321940134429922,0.001837625403905991,-0.0023574514606091623,-4.551750612643928e-05,0.04453468815092168,0.05469072186895771,1.5767693825926514,-0.001173352224681551,-0.005393039030112164,-0.0013583751751877005,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7963849322767889,-0.37380091419701084,-0.7936611391623896,0.5436945708092991,0.6029353017342747,-0.27382652925814777,0.7032682909462498,1.321940134429922,1.4969294301086393,1.4969294301086393,1.8530399999988814,0,0,-0.0001935083078039287,-9.999996250365512e-05
+47771,1791279172671047454,11498684000000,1791279172668725382,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760951628870139,-0.004815754672522353,0.0872322406139856,0.9999999881359849,8.791072502540034e-05,-1.8187165042825432e-05,8.433164265230342e-05,0.6761,-0.0048,0.08712643638446275,1.0,0.0,0.0,0.0,0.036172454639964706,0.03983985623101325,1.3610941966787173,0.001795393998710279,-0.0013653489472990137,0.0009606531178126581,0.035002837864806916,0.06543926728707912,1.6159234448414468,-0.001215583629877263,-0.0044009365168020155,-0.00035220455124860314,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7891310039926228,-0.31096916234395855,-0.8398895680412827,0.5298585285632077,0.6259726775083826,-0.23629177578346214,0.7032682909462498,1.3610941966787173,1.5431578589875325,1.5431578589875325,1.8995399999988418,0,0,-0.0001993155294102974,-5.002940703236476e-05
+47861,1791279173421031503,11499434000000,1791279173420725318,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761070755495004,-0.00481861705641566,0.08708395057771802,0.9999999879381816,8.518703115944958e-05,5.052170573279674e-06,9.101728704994607e-05,0.6761,-0.0048,0.08697315579091171,1.0,0.0,0.0,0.0,0.03561446263433678,0.040485087832185525,1.381350060047525,0.0026794548040895293,-0.0013785572888290226,0.0009536792594752421,0.03444484585917899,0.0660844988882514,1.6361793082102545,-0.0003315228244980127,-0.004414144858332024,-0.0003591784095860191,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7600243940997987,-0.2581967203376911,-0.9055950574988483,0.5180555052198503,0.656381277945835,-0.20272250339166722,0.7032682909462498,1.381350060047525,1.608863348445098,1.608863348445098,1.9445399999988036,0,0,-0.00020972976888361538,8.407856516557674e-05
+47951,1791279174171125002,11500184000000,1791279174164735088,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6761058266608718,-0.004818876350055801,0.08692784701161294,0.9999999884116328,8.222469586846687e-05,5.283850460063861e-06,8.849168777395319e-05,0.6761,-0.0048,0.08681105874098038,1.0,0.0,0.0,0.0,0.028035192400031213,0.031725938111811396,1.4108609389397069,0.0017888274364734299,-0.0013686762160988034,0.0009234546759748948,0.026865575624873426,0.057325349167877265,1.6656901871024363,-0.0012221501921141121,-0.004404263785601805,-0.0003894029930863664,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7213530257902732,-0.33204956037926653,-0.7967034369957561,0.5453212595991219,0.577243860831144,-0.2495208431547125,0.7032682909462498,1.4108609389397069,1.4999717279420057,1.4999717279420057,1.9895399999987653,0,0,-0.00021991759521364086,-9.999667346794467e-05
+48045,1791279174954133228,11500967000000,1791279174952725566,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6761046877739748,-0.00481449159408366,0.0867496660429164,0.99999998758206,9.11518143283978e-05,1.1673500595353778e-06,8.926773360288602e-05,0.6761,-0.0048,0.08663362208287108,1.0,0.0,0.0,0.0,0.035995835918792414,0.03240942559436647,1.4313246319807984,0.001780950591845175,-0.0013732602487959334,0.0009076944219123177,0.034826219143634624,0.05800883665043234,1.6861538801435279,-0.001230027036742367,-0.004408847818298935,-0.00040516324714894356,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7115909816522077,-0.31201447348567873,-0.966423410664118,0.5389870706128626,0.6802379599936907,-0.23832176793664503,0.7032682909462498,1.4313246319807984,1.6696917016103678,1.6696917016103678,2.0365199999987253,0,0,-0.00023357647738611741,9.9313900185588e-05
+48119,1791279175571132988,11501584000000,1791279175568725242,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6760996752303535,-0.0048168306135038365,0.08659515718512774,0.9999999873335641,9.056153246747132e-05,-7.01090153816083e-06,9.233196805768576e-05,0.6761,-0.0048,0.08648682174382201,1.0,0.0,0.0,0.0,0.030116384288359097,0.038078568104856624,1.4479788727735339,0.0017798772404511256,-0.0013893755509743707,0.000901682847760121,0.02894676751320131,0.0636779791609225,1.702808120936263,-0.0012311003881364164,-0.0044249631204773725,-0.0004111748213011402,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7443824926167562,-0.20097050278519601,-0.9912061195304527,0.5075249646731972,0.7007621158527627,-0.16716716360343675,0.7032682909462498,1.4479788727735339,1.6944744104767024,1.6944744104767024,2.073539999998694,0,0,-0.00024189080165684806,9.037886691676817e-05
+48202,1791279176262190726,11502275000000,1791279176260725233,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761053385839582,-0.004816495517999151,0.08644606053783992,0.9999999874058425,9.200759419556341e-05,4.385759957426307e-06,9.02582232990875e-05,0.6761,-0.0048,0.08631374714398322,1.0,0.0,0.0,0.0,0.03432406444624171,0.04491856385249574,1.4515811368692368,0.0024256140601164305,-0.0013903203327537846,0.0008994470257260852,0.03315444767108392,0.07051797490856161,1.7064103850319663,-0.0005853635684711114,-0.004425907902256786,-0.0004134106433351761,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7441621754345876,-0.27149271206399594,-0.9269888697864294,0.5421495611371608,0.6584261915120174,-0.2062652592121962,0.7032682909462498,1.4515811368692368,1.630257160732679,1.630257160732679,2.1149999999986586,0,0,-0.0002588777549092632,-9.974701206528209e-05
+48274,1791279176862189271,11502875000000,1791279176860724890,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761056894126276,-0.004821240688653285,0.08628836117705548,0.9999999876265875,8.819772218304687e-05,6.210829282389159e-06,9.150014590036009e-05,0.6761,-0.0048,0.08615530416708848,1.0,0.0,0.0,0.0,0.027453252913618508,0.038674821672063174,1.4615913946258043,0.002261403036264821,-0.0013890933468652515,0.0008882936300130594,0.02628363613846072,0.06427423272812904,1.7164206427885336,-0.000749574592322721,-0.004424680916368253,-0.0004245640390482019,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7751498938666191,-0.236166411892323,-0.9527272386725864,0.5291042719133924,0.6801737273139663,-0.19044956079438236,0.7032682909462498,1.4615913946258043,1.6559955296188362,1.6559955296188362,2.150999999998628,0,0,-0.00026894513443650867,-9.999395342153434e-05
+48334,1791279177362197787,11503375000000,1791279177360725681,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761066777557695,-0.0048122087485866424,0.08615322691050115,0.9999999879193711,8.73466745411385e-05,8.01034414216016e-06,8.894107643837821e-05,0.6761,-0.0048,0.08601876514708023,1.0,0.0,0.0,0.0,0.02674742233040147,0.03337697285120038,1.461364932012208,0.0017883606161017158,-0.0013883499711488177,0.0005400979347977332,0.025577805555243683,0.05897638390726625,1.7161941801749372,-0.0012226170124858262,-0.0044239375406518195,-0.000772759734263528,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7838660505561379,-0.27354346667855006,-1.0376690963894506,0.5473877354993059,0.730697303445326,-0.211982597372007,0.7032682909462498,1.461364932012208,1.7409373873357004,1.7409373873357004,2.1809999999986025,0,0,-0.000277244603862055,5e-05
+48403,1791279177937259606,11503950000000,1791279177932725692,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761104854746188,-0.004818006055731679,0.08599761879156899,0.9999999883417238,8.205169019058412e-05,1.59315705627945e-05,8.816531001495477e-05,0.6761,-0.0048,0.08585635920532966,1.0,0.0,0.0,0.0,0.029761171128638807,0.03732056975516294,1.470241772750971,0.0028023920475861415,-0.001395432280315002,-0.0001105273274825153,0.02859155435348102,0.0629199808112288,1.7250710209137001,-0.00020858558100140037,-0.004431019849818004,-0.0014233849965437765,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7766367705972815,-0.23006977220864577,-0.94476310663787,0.5457595876243925,0.6685849099945825,-0.18313020883669,0.7032682909462498,1.470241772750971,1.6480313975841199,1.6480313975841199,2.215499999998573,0,0,-0.0002870693402809695,-9.96362118074245e-05
+48472,1791279178512281809,11504525000000,1791279178508725235,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761081609556834,-0.004824341861515097,0.08582981766800743,0.9999999875936885,8.760889041096494e-05,1.1784883082758376e-05,9.187647168787589e-05,0.6761,-0.0048,0.08568868515896146,1.0,0.0,0.0,0.0,0.03495281207832973,0.032378585286482645,1.481573681564035,0.002142979772744711,-0.0013882445184023877,0.000868145388464521,0.03378319530317194,0.057977996342548514,1.7364029297267642,-0.0008679978558428314,-0.0044238320879053895,-0.0004447122805967402,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.7762559525229701,-0.17755882882944515,-1.0942575438145086,0.5223140220176894,0.7604157529954466,-0.14743922750810098,0.7032682909462498,1.481573681564035,1.7975258347607583,1.7975258347607583,2.249999999998544,0,0,-0.00029594285382431176,9.974176626149073e-05
+48541,1791279179087248466,11505100000000,1791279179084725369,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761085970225148,-0.004830979014483164,0.08565743968157057,0.9999999880831952,7.960171499973434e-05,1.260942600801735e-05,9.370721974454526e-05,0.6761,-0.0048,0.08551544295903081,1.0,0.0,0.0,0.0,0.035847676314889235,0.026771831164489834,1.4914729112073921,0.0017686134306493448,-0.0013857515370524682,0.0008592474604666943,0.034678059539731444,0.052371242220555704,1.7463021593701213,-0.0012423641979381972,-0.00442133910655547,-0.00045361020859456693,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8579738680942699,-0.21172633296305574,-1.0781337587779807,0.5415935587452501,0.7689577657347463,-0.16933875834999562,0.7032682909462498,1.4914729112073921,1.7814020497242304,1.7814020497242304,2.2844999999985145,0,0,-0.00030502862251727416,1.819063929898164e-05
+48610,1791279179662324281,11505675000000,1791279179656725380,DOWN_FORCE_DETACH,5,0.0555,0.05550212413072586,0.6761071024720624,-0.004824834911905476,0.08548144470693747,0.9999999879269118,8.258857643434712e-05,1.102542531609968e-05,9.298713709685715e-05,0.6761,-0.0048,0.08533643437883823,1.0,0.0,0.0,0.0,0.03224114920817291,0.04495541207802927,1.4917071540820186,0.002179281893522087,-0.0013947337205447983,0.0008677340252840773,0.031071532433015123,0.07055482313409514,1.746536402244748,-0.0008316957350654553,-0.0044303212900478,-0.0004451236437771838,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.847834656902154,-0.23039238452441752,-1.1261889601477821,0.5488108903211061,0.7926586920417419,-0.1805540108292881,0.7032682909462498,1.4917071540820186,1.829457251094032,1.829457251094032,2.318999999998485,0,0,-0.000316033128198974,9.432687550348646e-05
+48682,1791279180262312857,11506275000000,1791279180256734886,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6761125545754176,-0.004837097882779169,0.08529843320648822,0.9999999877871436,7.722551590357975e-05,2.5583248685710715e-05,9.61784496861669e-05,0.6761,-0.0048,0.08514471291214279,1.0,0.0,0.0,0.0,0.02665341449320289,0.035626614144940075,1.4919222926891131,0.0021386407997645972,-0.0013902857448198865,0.0008588162268614319,0.0254837977180451,0.061226025201005944,1.7467515408518424,-0.000872336828822945,-0.004425873314322888,-0.0004540414421998294,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.770376478165262,-0.2259909390092632,-1.0447159350191297,0.5605886383243573,0.713146381403347,-0.17278979766080638,0.7032682909462498,1.4919222926891131,1.7479842259653795,1.7479842259653795,2.3549999999984546,0,0,-0.00032514911530864685,-9.971892342275907e-05
+48748,1791279180812310636,11506825000000,1791279180808725017,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6761096639713878,-0.004832234082617606,0.08511665075932323,0.9999999879347354,8.035163995437673e-05,2.0655585252324347e-05,9.322206887747804e-05,0.6761,-0.0048,0.08496236504246413,1.0,0.0,0.0,0.0,0.028647096645873473,0.034846369351795616,1.4978924698293636,0.0017684222969973364,-0.0013879805549585063,0.0008520544742873455,0.027477479870715686,0.060445780407861485,1.7527217179920929,-0.0012425553315902056,-0.004423568124461508,-0.0004608031947739157,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8423289600921655,-0.1840601648895269,-1.121392336787739,0.5405100542548353,0.7802124673502354,-0.14633716433894606,0.7032682909462498,1.4978924698293636,1.8246606277339887,1.8246606277339887,2.3879999999984265,0,0,-0.00033628980448609615,-1.7311301743095785e-05
+48808,1791279181312312309,11507325000000,1791279181304725315,DOWN_FORCE_DETACH,5,0.0555,0.05550146847963333,0.6761078104838348,-0.004835803034979532,0.08494775183415808,0.9999999882909982,7.603578700456227e-05,1.8031142067262357e-05,9.356444230870759e-05,0.6761,-0.0048,0.08479198834043405,1.0,0.0,0.0,0.0,0.030446409401716897,0.04159495833459168,1.5019162052353887,0.002705964246240177,-0.0014023460829224476,0.0008608567498073948,0.02927679262655911,0.06719436939065755,1.7567454533981182,-0.0003050133823473648,-0.004437933652425449,-0.0004520009192538664,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8396456931569877,-0.22283580189508106,-1.106351435039086,0.5594284739626927,0.7688769277519641,-0.17414857244771498,0.7032682909462498,1.5019162052353887,1.8096197259853357,1.8096197259853357,2.417999999998401,0,0,-0.0003450306297156632,-9.766269323663863e-05
+48865,1791279181788369153,11507801000000,1791279181780725341,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.6761107184262697,-0.004836529231342764,0.0847912448161125,0.9999999887594204,7.052372082133657e-05,2.2780527456152006e-05,9.182306746971814e-05,0.6761,-0.0048,0.08462826641761044,1.0,0.0,0.0,0.0,0.026089689826959455,0.03686006773978682,1.501844539842062,0.00256263403442901,-0.0014031492198426517,0.0008602759239056152,0.024920073051801668,0.06245947879585269,1.7566737880047913,-0.0004483435941585321,-0.0044387367893456535,-0.00045258174515564603,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.8736752630942419,-0.2396843115037422,-1.059273822540217,0.5657586551513389,0.7454541077036041,-0.18336190417082657,0.7032682909462498,1.501844539842062,1.7625421134864667,1.7625421134864667,2.4305399999983903,0,0,-0.00033484393935770553,9.999999025923074e-05
+48916,1791279182213383810,11508226000000,1791279182208735027,DOWN_SETTLE,5,0.0555,0.05550146847963333,0.676108168093079,-0.004846266252755041,0.08464841362629943,0.9999999889720479,6.423656998740593e-05,2.202634454198406e-05,9.427232721214218e-05,0.6761,-0.0048,0.08449046274250163,1.0,0.0,0.0,0.0,0.03547897650827094,0.03597166098793655,1.501698242547414,0.002129936888840235,-0.0013928908029217286,0.0008551113134550296,0.03430935973311315,0.06157107204400242,1.7565274907101434,-0.0008810407397473068,-0.00442847837242473,-0.0004577463556062316,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9289416461147615,-0.2578529942053515,-1.138987403294058,0.5814551625644476,0.8124768323785452,-0.18949677431267084,0.7032682909462498,1.501698242547414,1.8422556942403077,1.8422556942403077,2.4305399999983903,0,0,-0.00031359394349753247,9.999999025923074e-05
+48976,1791279182713391304,11508726000000,1791279182708735157,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.676107330034912,-0.004845217198686993,0.08449658711608118,0.9999999884509057,6.865876225424255e-05,1.9661784243537722e-05,9.716193494050285e-05,0.6761,-0.0048,0.08433990326953283,1.0,0.0,0.0,0.0,0.026568111078332356,0.03543298715209295,1.4980239980218064,0.0019831057716265138,-0.0013913830054914996,0.0008541644056026611,0.02539849430317457,0.06103239820815882,1.7528532461845359,-0.0010278718569610283,-0.004426970574994501,-0.00045869326345860013,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9076985331375287,-0.26221392936439936,-1.1118266358192948,0.5832014915810907,0.788573307767491,-0.1902417982574866,0.7032682909462498,1.4980239980218064,1.8150949267655445,1.8150949267655445,2.4305399999983903,0,0,-0.0002885939483679171,9.999999025923074e-05
+49045,1791279183288412074,11509301000000,1791279183284725141,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.6761075447434469,-0.004854473654291741,0.08434038568885957,0.9999999885960993,6.38259315062391e-05,1.833163929233086e-05,9.920114536870386e-05,0.6761,-0.0048,0.08418221299760821,1.0,0.0,0.0,0.0,0.019261835001364334,0.03425269476988413,1.481559808810216,0.001754293174000266,-0.0007405086517488215,0.0008754111881314564,0.018092218226206547,0.05985210582595,1.7363890569729452,-0.001256684454587276,-0.0037760962212518233,-0.0004374464809298049,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.954107206048202,-0.26010283789392685,-1.1908521676465311,0.5836629343196256,0.8500160093847775,-0.19000445404156466,0.7032682909462498,1.481559808810216,1.8941204585927809,1.8941204585927809,2.4305399999983903,0,0,-0.0002598439539688594,9.999999025923074e-05
+49123,1791279183938421213,11509951000000,1791279183936734867,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.676099373152923,-0.004850247673531709,0.08417985505897921,0.9999999886996148,6.641537325599044e-05,9.731099227206998e-06,9.76623699181965e-05,0.6761,-0.0048,0.08402386067546755,1.0,0.0,0.0,0.0,0.02660294644898729,0.024832057707425616,1.4814539090753183,0.0017703980959248584,-0.001383247227125415,0.0008662436629560835,0.025433329673829504,0.050431468763491485,1.7362831572380477,-0.0012405795326626836,-0.004418834796628417,-0.00044661400610517763,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9054666126360468,-0.2540689278321365,-1.1739867753343516,0.5705230702880572,0.8247417707145346,-0.18919810356352867,0.7032682909462498,1.4814539090753183,1.8772550662806013,1.8772550662806013,2.4305399999983903,0,0,-0.0002273439603003594,9.999999025923074e-05
+49206,1791279184630414772,11510643000000,1791279184628734918,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.6760958900806663,-0.0048519277125954425,0.08403189760094025,0.9999999887554938,6.320310854188784e-05,6.707773625899684e-06,9.945978841265649e-05,0.6761,-0.0048,0.08387849295260408,1.0,0.0,0.0,0.0,0.017232981772409967,0.03291574786464187,1.461472220541455,0.0017543633505353149,-0.0005001942855352537,0.0008896529468871873,0.01606336499725218,0.05851515892070774,1.7163014687041842,-0.0012566142780522272,-0.0035357818550382555,-0.0004232047221740739,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9098550107396859,-0.18521458485665018,-1.0663657518581755,0.5595164850151886,0.751054021436563,-0.13363517696423088,0.7032682909462498,1.461472220541455,1.7696340428044253,1.7696340428044253,2.4305399999983903,0,0,-0.00019274396704097174,9.999999025923074e-05
+49313,1791279185521375330,11511534000000,1791279185516725645,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.6761009930010505,-0.004848277856708501,0.08389050499387674,0.99999998997475,5.3500696378947724e-05,1.2252091105056898e-05,9.209194333945893e-05,0.6761,-0.0048,0.08372658282409973,1.0,0.0,0.0,0.0,0.026536919966915488,0.029887619528235626,1.449604388754178,0.0017703508345476623,-0.0009736090020014301,0.0009030659543897831,0.0253673031917577,0.055487030584301496,1.7044336369169073,-0.0012406267940398797,-0.004009196571504432,-0.00040979171467147815,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9828382089930021,-0.3194725963476507,-1.128883687809761,0.5977884989483156,0.8093119885686435,-0.21884476688863883,0.7032682909462498,1.449604388754178,1.8321519787560108,1.8321519787560108,2.4305399999983903,0,0,-0.00014819397571999714,9.999999025923074e-05
+49416,1791279186380508530,11512393000000,1791279186376735181,DOWN_SETTLE,5,0.0555,0.05550212413072586,0.6761059725280668,-0.004851188999652618,0.08378323875214845,0.9999999889448177,5.745603632770275e-05,1.749757189107536e-05,9.972897262725344e-05,0.6761,-0.0048,0.0836177097453583,1.0,0.0,0.0,0.0,0.01747786561873559,0.03464826450114425,1.4312874910226658,0.001775401078651198,-0.0011488011284077368,0.0009091541661428192,0.016308248843577802,0.06024767555721012,1.686116739185395,-0.001235576549936344,-0.004184388697910739,-0.00040370350291844197,-0.0011696167751577874,0.02559941105606587,0.25482924816272934,-0.003010977628587542,-0.003035587569503002,-0.0013128576690612612,1,0.9462529849166942,-0.24030714484433605,-1.1049911519100195,0.5692199428454513,0.7791480579379292,-0.17301515733078363,0.7032682909462498,1.4312874910226658,1.8082594428562693,1.8082594428562693,2.4305399999983903,0,0,-0.00010524398408731794,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a649134eee7f8c58b99c8c866efd681cba892dc0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8e57593133118c641eee4a750760dd8efd88409
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791279141014938053,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.822951456e-09,2.027488455e-10,-1.615464429e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017257619e-01,1.810978275e-06,8.297806487e-01
+1,5.500000000e-01,DOWN_FORCE_DETACH,1791279141835738625,-2.946249913e-06,-6.921463797e-06,-5.371649339e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.164887928e-08,5.134218255e-09,-3.673872984e-09,7.015349252e-01,-5.370502476e-06,8.407355695e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258117e-01,1.815909745e-06,8.297806452e-01
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+16,1.026666667e+01,DOWN_FORCE_DETACH,1791279156393033820,5.720481874e-05,-7.585460299e-06,-1.175659761e-03,5.492722515e-05,-1.207294208e-05,-1.163435167e-03,5.242794342e-05,-1.195973772e-05,-1.161604770e-03,7.015950763e-01,-6.034498978e-06,8.395652814e-01,7.015927987e-01,-1.052198076e-05,8.395775060e-01,7.017781880e-01,-1.014896219e-05,8.286190441e-01
+17,1.086666667e+01,DOWN_FORCE_DETACH,1791279157291998431,6.040741580e-05,-1.226234980e-05,-1.292989254e-03,5.648136766e-05,-1.637321648e-05,-1.293381982e-03,5.356614605e-05,-1.619986492e-05,-1.291455252e-03,7.015982789e-01,-1.071138848e-05,8.394479519e-01,7.015943528e-01,-1.482225516e-05,8.394475592e-01,7.017793262e-01,-1.438908940e-05,8.284891936e-01
+18,1.145000000e+01,DOWN_FORCE_DETACH,1791279158171855492,6.227499168e-05,-1.850371779e-05,-1.408244221e-03,6.185109173e-05,-1.580183968e-05,-1.401780269e-03,5.870191204e-05,-1.566724907e-05,-1.399876340e-03,7.016001465e-01,-1.695275647e-05,8.393326970e-01,7.015997226e-01,-1.425087835e-05,8.393391609e-01,7.017844620e-01,-1.385647355e-05,8.283807725e-01
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+20,1.261666667e+01,DOWN_FORCE_DETACH,1791279159922531370,7.110008393e-05,-2.272563373e-05,-1.643943776e-03,7.094126434e-05,-2.242589400e-05,-1.643813141e-03,6.718140635e-05,-2.231315771e-05,-1.641784044e-03,7.016089716e-01,-2.117467240e-05,8.390969974e-01,7.016088127e-01,-2.087493267e-05,8.390971280e-01,7.017929414e-01,-2.050238219e-05,8.281388648e-01
+21,1.326666667e+01,DOWN_FORCE_DETACH,1791279160893200116,7.211470360e-05,-2.499863346e-05,-1.783086367e-03,7.126238729e-05,-2.369013897e-05,-1.774063175e-03,6.704151461e-05,-2.355056432e-05,-1.772034455e-03,7.016099862e-01,-2.344767214e-05,8.389578548e-01,7.016091339e-01,-2.213917764e-05,8.389668780e-01,7.017928016e-01,-2.173978879e-05,8.280086144e-01
+22,1.385000000e+01,DOWN_FORCE_DETACH,1791279161772653716,7.845662076e-05,-2.659008552e-05,-1.910310963e-03,7.596662331e-05,-2.389220949e-05,-1.901310368e-03,7.140597152e-05,-2.376959006e-05,-1.899242307e-03,7.016163281e-01,-2.503912420e-05,8.388306302e-01,7.016138381e-01,-2.234124816e-05,8.388396308e-01,7.017971660e-01,-2.195881454e-05,8.278814066e-01
+23,1.441666667e+01,DOWN_FORCE_DETACH,1791279162624056743,8.009210405e-05,-3.061998394e-05,-2.029517965e-03,8.001577372e-05,-3.056439184e-05,-2.029096886e-03,7.500645841e-05,-3.041476157e-05,-2.026867439e-03,7.016179636e-01,-2.906902262e-05,8.387114232e-01,7.016178873e-01,-2.901343052e-05,8.387118443e-01,7.018007665e-01,-2.860398604e-05,8.277537814e-01
+24,1.501666667e+01,DOWN_FORCE_DETACH,1791279163522820890,8.562695945e-05,-3.360833310e-05,-2.158038415e-03,8.127554493e-05,-3.236400697e-05,-2.144491285e-03,7.593014134e-05,-3.219662435e-05,-2.142384471e-03,7.016234984e-01,-3.205737178e-05,8.385829028e-01,7.016191470e-01,-3.081304565e-05,8.385964499e-01,7.018016902e-01,-3.038584883e-05,8.276382644e-01
+25,1.563333333e+01,DOWN_FORCE_DETACH,1791279164451835138,8.629629987e-05,-3.731759307e-05,-2.299731506e-03,8.617159132e-05,-3.722816856e-05,-2.299647787e-03,8.040266121e-05,-3.702958785e-05,-2.297404803e-03,7.016241678e-01,-3.576663175e-05,8.384412097e-01,7.016240431e-01,-3.567720724e-05,8.384412934e-01,7.018061627e-01,-3.521881232e-05,8.274832441e-01
+26,1.621666667e+01,DOWN_FORCE_DETACH,1791279165339374566,9.464911352e-05,-3.902630888e-05,-2.429795780e-03,9.211329051e-05,-3.816584610e-05,-2.429631687e-03,8.609870345e-05,-3.795483589e-05,-2.427403603e-03,7.016325206e-01,-3.747534756e-05,8.383111454e-01,7.016299848e-01,-3.661488478e-05,8.383113095e-01,7.018118587e-01,-3.614406036e-05,8.273532453e-01
+27,1.683333333e+01,DOWN_FORCE_DETACH,1791279166260423140,9.415825268e-05,-4.148803413e-05,-2.574129179e-03,9.332003230e-05,-3.765905542e-05,-2.565243421e-03,8.690592534e-05,-3.744167033e-05,-2.563013200e-03,7.016320297e-01,-3.993707280e-05,8.381668120e-01,7.016311915e-01,-3.610809410e-05,8.381756978e-01,7.018126660e-01,-3.563089481e-05,8.272176357e-01
+28,1.730000000e+01,DOWN_FORCE_DETACH,1791279166959463811,9.675054633e-05,-4.694147469e-05,-2.687266848e-03,9.654058368e-05,-4.680941462e-05,-2.687188030e-03,8.967024458e-05,-4.652142360e-05,-2.684741792e-03,7.016346220e-01,-4.539051337e-05,8.380536743e-01,7.016344121e-01,-4.525845330e-05,8.380537532e-01,7.018154303e-01,-4.471064807e-05,8.270959071e-01
+29,1.770000000e+01,DOWN_FORCE_DETACH,1791279167559928337,1.003094873e-04,-3.384444096e-05,-2.778430047e-03,9.969839566e-05,-3.364190898e-05,-2.768400041e-03,9.270084384e-05,-3.337645496e-05,-2.766082576e-03,7.016381810e-01,-3.229347964e-05,8.379625111e-01,7.016375699e-01,-3.209094766e-05,8.379725411e-01,7.018184609e-01,-3.156567943e-05,8.270145663e-01
+30,1.823333333e+01,DOWN_FORCE_DETACH,1791279168362418996,1.021540376e-04,-3.247184782e-05,-2.915637555e-03,1.030425612e-04,-3.738630373e-05,-2.901676166e-03,9.566171354e-05,-3.710176461e-05,-2.899327267e-03,7.016400255e-01,-3.092088650e-05,8.378253036e-01,7.016409140e-01,-3.583534241e-05,8.378392650e-01,7.018214218e-01,-3.529098908e-05,8.268813216e-01
+31,1.885000000e+01,DOWN_FORCE_DETACH,1791279169293786375,1.023736905e-04,-3.610020480e-05,-3.065572349e-03,1.048539468e-04,-3.681491636e-05,-3.056249318e-03,9.701556023e-05,-3.656897059e-05,-3.053888510e-03,7.016402452e-01,-3.454924348e-05,8.376753688e-01,7.016427254e-01,-3.526395504e-05,8.376846919e-01,7.018227756e-01,-3.475819506e-05,8.267267604e-01
+32,1.940000000e+01,DOWN_FORCE_DETACH,1791279170154038045,1.082318178e-04,-3.778392574e-05,-3.203710686e-03,1.081735079e-04,-3.786003019e-05,-3.203240470e-03,9.994405732e-05,-3.766566905e-05,-3.200801704e-03,7.016461033e-01,-3.623296442e-05,8.375372305e-01,7.016460450e-01,-3.630906886e-05,8.375377007e-01,7.018257041e-01,-3.585489352e-05,8.265798472e-01
+33,2.003333333e+01,DOWN_FORCE_DETACH,1791279171097138341,1.142747172e-04,-3.935355368e-05,-3.359945451e-03,1.114951314e-04,-4.044058213e-05,-3.353630843e-03,1.028181601e-04,-4.022486449e-05,-3.351240574e-03,7.016521462e-01,-3.780259236e-05,8.373809957e-01,7.016493666e-01,-3.888962080e-05,8.373873103e-01,7.018285782e-01,-3.841408896e-05,8.264294083e-01
+34,2.056666667e+01,DOWN_FORCE_DETACH,1791279171895947637,1.122411278e-04,-4.039873560e-05,-3.506698164e-03,1.104786112e-04,-4.439476286e-05,-3.489012108e-03,1.013115755e-04,-4.414707817e-05,-3.486577848e-03,7.016501126e-01,-3.884777428e-05,8.372342430e-01,7.016483501e-01,-4.284380154e-05,8.372519291e-01,7.018270716e-01,-4.233630265e-05,8.262940710e-01
+35,2.108333333e+01,DOWN_FORCE_DETACH,1791279172674672263,1.126731670e-04,-3.974597088e-05,-3.652385603e-03,1.124154016e-04,-3.967250586e-05,-3.652110713e-03,1.027338799e-04,-3.949505642e-05,-3.649511175e-03,7.016505446e-01,-3.819500956e-05,8.370885556e-01,7.016502869e-01,-3.812154454e-05,8.370888305e-01,7.018284939e-01,-3.768428089e-05,8.261311377e-01
+36,2.158333333e+01,DOWN_FORCE_DETACH,1791279173422970988,1.209188006e-04,-4.160507305e-05,-3.798219250e-03,1.230281653e-04,-4.587465999e-05,-3.787080707e-03,1.131209877e-04,-4.561799946e-05,-3.784506953e-03,7.016587903e-01,-4.005411173e-05,8.369427219e-01,7.016608996e-01,-4.432369867e-05,8.369538605e-01,7.018388810e-01,-4.380722393e-05,8.259961419e-01
+37,2.208333333e+01,DOWN_FORCE_DETACH,1791279174172781841,1.225571261e-04,-4.274096723e-05,-3.951593319e-03,1.224556754e-04,-4.283750722e-05,-3.951442354e-03,1.119514459e-04,-4.260246215e-05,-3.948689492e-03,7.016604286e-01,-4.119000590e-05,8.367893479e-01,7.016603272e-01,-4.128654590e-05,8.367894988e-01,7.018377115e-01,-4.079168662e-05,8.258319594e-01
+38,2.260000000e+01,DOWN_FORCE_DETACH,1791279174952204248,1.226981594e-04,-4.044047485e-05,-4.126316395e-03,1.226108745e-04,-4.047833505e-05,-4.126237184e-03,1.115312978e-04,-4.027286940e-05,-4.123299460e-03,7.016605696e-01,-3.888951353e-05,8.366146248e-01,7.016604824e-01,-3.892737372e-05,8.366147040e-01,7.018372913e-01,-3.846209388e-05,8.256573494e-01
+39,2.301666667e+01,DOWN_FORCE_DETACH,1791279175573227781,1.178647271e-04,-4.177494180e-05,-4.284027142e-03,1.198971258e-04,-4.704470130e-05,-4.269674988e-03,1.082402400e-04,-4.679777053e-05,-4.266649475e-03,7.016557362e-01,-4.022398048e-05,8.364569140e-01,7.016577686e-01,-4.549373998e-05,8.364712662e-01,7.018340003e-01,-4.498699500e-05,8.255139994e-01
+40,2.346666667e+01,DOWN_FORCE_DETACH,1791279176262113579,1.226630909e-04,-4.569086546e-05,-4.434709497e-03,1.238455111e-04,-4.676697207e-05,-4.421193202e-03,1.117344387e-04,-4.652310010e-05,-4.418119871e-03,7.016605346e-01,-4.413990414e-05,8.363062317e-01,7.016617170e-01,-4.521601075e-05,8.363197480e-01,7.018374945e-01,-4.471232457e-05,8.253625290e-01
+41,2.385000000e+01,DOWN_FORCE_DETACH,1791279176860202410,1.251280127e-04,-4.450182709e-05,-4.588339516e-03,1.247157249e-04,-4.458599609e-05,-4.588587646e-03,1.121051717e-04,-4.439705176e-05,-4.585384469e-03,7.016629995e-01,-4.295086577e-05,8.361526017e-01,7.016625872e-01,-4.303503477e-05,8.361523535e-01,7.018378652e-01,-4.258627623e-05,8.251952644e-01
+42,2.418333333e+01,DOWN_FORCE_DETACH,1791279177359262065,1.240959385e-04,-3.671095970e-05,-4.726997112e-03,1.239127339e-04,-3.674899258e-05,-4.726947791e-03,1.108205518e-04,-3.656437957e-05,-4.723661913e-03,7.016619674e-01,-3.515999838e-05,8.360139441e-01,7.016617842e-01,-3.519803126e-05,8.360139934e-01,7.018365806e-01,-3.475360404e-05,8.250569870e-01
+43,2.456666667e+01,DOWN_FORCE_DETACH,1791279177936186363,1.277950737e-04,-4.397391987e-05,-4.881135652e-03,1.277790290e-04,-4.384886326e-05,-4.881388348e-03,1.142179441e-04,-4.360055664e-05,-4.877981039e-03,7.016656666e-01,-4.242295855e-05,8.358598055e-01,7.016656505e-01,-4.229790193e-05,8.358595528e-01,7.018399780e-01,-4.178978111e-05,8.249026678e-01
+44,2.495000000e+01,DOWN_FORCE_DETACH,1791279178510196544,1.253546961e-04,-5.259673690e-05,-5.049559866e-03,1.257125642e-04,-4.666222736e-05,-5.034183897e-03,1.115865990e-04,-4.641558823e-05,-5.030779739e-03,7.016632262e-01,-5.104577558e-05,8.356913813e-01,7.016635840e-01,-4.511126604e-05,8.357067573e-01,7.018373466e-01,-4.460481271e-05,8.247498691e-01
+45,2.533333333e+01,DOWN_FORCE_DETACH,1791279179088962465,1.259118773e-04,-5.717691489e-05,-5.221694545e-03,1.243802582e-04,-5.471890487e-05,-5.214885090e-03,1.096156503e-04,-5.448202394e-05,-5.211173236e-03,7.016637834e-01,-5.562595356e-05,8.355192466e-01,7.016622517e-01,-5.316794355e-05,8.355260561e-01,7.018353757e-01,-5.267124842e-05,8.245694756e-01
+46,2.571666667e+01,DOWN_FORCE_DETACH,1791279179660512635,1.242696871e-04,-5.618496893e-05,-5.398977915e-03,1.239952450e-04,-5.627048195e-05,-5.398861452e-03,1.085570053e-04,-5.596420240e-05,-5.395041248e-03,7.016621412e-01,-5.463400761e-05,8.353419633e-01,7.016618667e-01,-5.471952063e-05,8.353420797e-01,7.018343170e-01,-5.415342687e-05,8.243856076e-01
+47,2.611666667e+01,DOWN_FORCE_DETACH,1791279180259456162,1.306470743e-04,-6.078672120e-05,-5.578476356e-03,1.284392750e-04,-5.709614383e-05,-5.566119228e-03,1.125170351e-04,-5.680371973e-05,-5.562349278e-03,7.016685186e-01,-5.923575988e-05,8.351624648e-01,7.016663108e-01,-5.554518251e-05,8.351748220e-01,7.018382771e-01,-5.499294420e-05,8.242182996e-01
+48,2.648333333e+01,DOWN_FORCE_DETACH,1791279180810858027,1.283958367e-04,-6.260365129e-05,-5.760948325e-03,1.277026384e-04,-5.649153060e-05,-5.751289767e-03,1.110898614e-04,-5.622005647e-05,-5.747310319e-03,7.016662673e-01,-6.105268997e-05,8.349799929e-01,7.016655741e-01,-5.494056928e-05,8.349896514e-01,7.018368499e-01,-5.440928095e-05,8.240333386e-01
+49,2.681666667e+01,DOWN_FORCE_DETACH,1791279181308947431,1.258866114e-04,-6.172866901e-05,-5.927097911e-03,1.256362602e-04,-6.003163892e-05,-5.912133179e-03,1.084837974e-04,-5.971648159e-05,-5.908107679e-03,7.016637581e-01,-6.017770768e-05,8.348138433e-01,7.016635077e-01,-5.848067760e-05,8.348288080e-01,7.018342438e-01,-5.790570606e-05,8.238725412e-01
+50,2.713333333e+01,DOWN_SETTLE,1791279181789146140,1.280280254e-04,-6.249709548e-05,-6.087509627e-03,1.277931897e-04,-6.272363141e-05,-6.087330970e-03,1.100167241e-04,-6.239268326e-05,-6.083159129e-03,7.016658995e-01,-6.094613416e-05,8.346534316e-01,7.016656647e-01,-6.117267009e-05,8.346536102e-01,7.018357768e-01,-6.058190773e-05,8.236974898e-01
+51,2.741666667e+01,DOWN_SETTLE,1791279182210309539,1.255879213e-04,-7.607461618e-05,-6.227086488e-03,1.238582217e-04,-6.116095343e-05,-6.217827977e-03,1.055908118e-04,-6.083648521e-05,-6.213697091e-03,7.016634594e-01,-7.452365486e-05,8.345138547e-01,7.016617297e-01,-5.960999211e-05,8.345231132e-01,7.018313509e-01,-5.902570969e-05,8.235669518e-01
+52,2.775000000e+01,DOWN_SETTLE,1791279182710608199,1.265738214e-04,-7.362681287e-05,-6.379831569e-03,1.255421184e-04,-6.614073321e-05,-6.368100360e-03,1.068002983e-04,-6.580495188e-05,-6.364131662e-03,7.016644453e-01,-7.207585155e-05,8.343611096e-01,7.016634136e-01,-6.458977189e-05,8.343728408e-01,7.018325603e-01,-6.399417636e-05,8.234165172e-01
+53,2.813333333e+01,DOWN_SETTLE,1791279183289773038,1.248543426e-04,-8.044151843e-05,-6.538368754e-03,1.246945906e-04,-8.064867510e-05,-6.538060792e-03,1.053727223e-04,-8.024018740e-05,-6.534160581e-03,7.016627258e-01,-7.889055711e-05,8.342025724e-01,7.016625661e-01,-7.909771378e-05,8.342028804e-01,7.018311328e-01,-7.842941187e-05,8.232464883e-01
+54,2.856666667e+01,DOWN_SETTLE,1791279183935280305,1.187184199e-04,-7.603723527e-05,-6.694188492e-03,1.206282510e-04,-7.625069782e-05,-6.683347349e-03,1.007289970e-04,-7.587806487e-05,-6.679715216e-03,7.016565899e-01,-7.448627395e-05,8.340467527e-01,7.016584997e-01,-7.469973649e-05,8.340575938e-01,7.018264890e-01,-7.406728934e-05,8.231009337e-01
+55,2.903333333e+01,DOWN_SETTLE,1791279184632490142,1.144235078e-04,-7.507850185e-05,-6.846275086e-03,1.142087623e-04,-7.626217771e-05,-6.826435890e-03,9.359372340e-05,-7.584473843e-05,-6.823181298e-03,7.016522950e-01,-7.352754053e-05,8.338946661e-01,7.016520802e-01,-7.471121639e-05,8.339145053e-01,7.018193538e-01,-7.403396291e-05,8.229574676e-01
+56,2.960000000e+01,DOWN_SETTLE,1791279185521081177,1.190041768e-04,-7.321500126e-05,-6.986928223e-03,1.181651880e-04,-7.542619411e-05,-6.981168500e-03,9.717423791e-05,-7.505553285e-05,-6.978158174e-03,7.016568757e-01,-7.166403994e-05,8.337540130e-01,7.016560367e-01,-7.387523279e-05,8.337597727e-01,7.018229343e-01,-7.324475732e-05,8.228024907e-01
+57,3.018333333e+01,DOWN_SETTLE,1791279186378216314,1.241309349e-04,-7.873755848e-05,-7.094385270e-03,1.221497659e-04,-8.033973177e-05,-7.076326586e-03,1.008646928e-04,-7.998671669e-05,-7.073797108e-03,7.016620024e-01,-7.718659716e-05,8.336465559e-01,7.016600212e-01,-7.878877045e-05,8.336646146e-01,7.018266247e-01,-7.817594116e-05,8.227068518e-01
+58,3.081666667e+01,DOWN_SETTLE,1791279187327620134,1.153794162e-04,-8.198951641e-05,-7.179166781e-03,1.157436605e-04,-7.166645920e-05,-7.165208347e-03,9.397837025e-05,-7.130032159e-05,-7.163195109e-03,7.016532509e-01,-8.043855509e-05,8.335617744e-01,7.016536151e-01,-7.011549788e-05,8.335757328e-01,7.018197384e-01,-6.948954606e-05,8.226174538e-01
+59,3.145000000e+01,DOWN_SETTLE,1791279188278328804,1.107369305e-04,-7.204646772e-05,-7.221063870e-03,1.116342482e-04,-6.907724130e-05,-7.205776379e-03,8.964757388e-05,-6.874504313e-05,-7.204286714e-03,7.016486084e-01,-7.049550640e-05,8.335198773e-01,7.016495057e-01,-6.752627998e-05,8.335351648e-01,7.018154076e-01,-6.693426760e-05,8.225763622e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12068bb1cfb7a1f2cf33b3d342da0feac963e9fa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,4.2532e-03,2.7431e-03,2.4538e+00,-3.6953e-02,3.7095e-02,-2.1674e-05,7.8512e-05,3.2489e-06,-5.7220e-06,-2.0489e-07,5.6140e-06,-2.1682e-08,7.8788e-05,5.6178e-06
+1,5.5000e-01,DOWN_FORCE_DETACH,1.9386e-04,6.3935e-03,2.8281e-03,2.4536e+00,-3.6957e-02,3.7248e-02,-2.2585e-05,2.2188e-03,8.8193e-05,-1.5640e-04,-4.9509e-06,1.5910e-04,-9.3244e-07,2.2261e-03,1.5918e-04
+2,1.1333e+00,DOWN_FORCE_DETACH,3.8747e-04,7.6432e-03,1.0027e-02,2.4547e+00,-3.7454e-02,3.7337e-02,-2.0189e-05,3.4685e-03,7.2873e-03,8.8263e-04,-5.0107e-04,2.4748e-04,1.4637e-06,8.1188e-03,5.5886e-04
+3,1.8333e+00,DOWN_FORCE_DETACH,5.8016e-04,9.7520e-03,8.3502e-03,2.4582e+00,-3.7338e-02,3.7482e-02,-2.1936e-05,5.5773e-03,5.6103e-03,4.4594e-03,-3.8513e-04,3.9310e-04,-2.8362e-07,9.0812e-03,5.5032e-04
+4,2.3667e+00,DOWN_FORCE_DETACH,7.7352e-04,1.0067e-02,1.0287e-02,2.4659e+00,-3.7469e-02,3.7495e-02,-2.1971e-05,5.8922e-03,7.5468e-03,1.2100e-02,-5.1622e-04,4.0602e-04,-3.1883e-07,1.5430e-02,6.5676e-04
+5,3.0167e+00,DOWN_FORCE_DETACH,9.6632e-04,9.7773e-03,7.9628e-03,2.4728e+00,-3.7306e-02,3.7466e-02,-2.4176e-05,5.6027e-03,5.2229e-03,1.9003e-02,-3.5323e-04,3.7639e-04,-2.5234e-06,2.0489e-02,5.1619e-04
+6,3.5333e+00,DOWN_FORCE_DETACH,1.1576e-03,9.0110e-03,9.6202e-03,2.4785e+00,-3.7418e-02,3.7403e-02,-2.4240e-05,4.8364e-03,6.8803e-03,2.4692e-02,-4.6566e-04,3.1431e-04,-2.5876e-06,2.6085e-02,5.6182e-04
+7,4.2500e+00,DOWN_FORCE_DETACH,1.3509e-03,7.9222e-03,8.3675e-03,2.4805e+00,-3.7329e-02,3.7321e-02,-2.6054e-05,3.7475e-03,5.6276e-03,2.6709e-02,-3.7663e-04,2.3139e-04,-4.4015e-06,2.7552e-02,4.4205e-04
+8,4.9167e+00,DOWN_FORCE_DETACH,1.5438e-03,7.9713e-03,1.1033e-02,2.4927e+00,-3.7508e-02,3.7307e-02,-2.6158e-05,3.7967e-03,8.2935e-03,3.8928e-02,-5.5549e-04,2.1819e-04,-4.5060e-06,3.9982e-02,5.9683e-04
+9,5.6000e+00,DOWN_FORCE_DETACH,1.7382e-03,9.5229e-03,9.9338e-03,2.5000e+00,-3.7434e-02,3.7407e-02,-2.7667e-05,5.3482e-03,7.1939e-03,4.6164e-02,-4.8107e-04,3.1824e-04,-6.0143e-06,4.7026e-02,5.7684e-04
+10,6.2500e+00,DOWN_FORCE_DETACH,1.9277e-03,1.1635e-02,1.1063e-02,2.5121e+00,-3.7512e-02,3.7546e-02,-2.4622e-05,7.4602e-03,8.3228e-03,5.8311e-02,-5.5968e-04,4.5650e-04,-2.9697e-06,5.9373e-02,7.2225e-04
+11,6.9500e+00,DOWN_FORCE_DETACH,2.1216e-03,1.2882e-02,5.3802e-03,2.5191e+00,-3.7121e-02,3.7627e-02,-2.0684e-05,8.7069e-03,2.6403e-03,6.5305e-02,-1.6895e-04,5.3806e-04,9.6847e-07,6.5936e-02,5.6396e-04
+12,7.6667e+00,DOWN_FORCE_DETACH,2.3157e-03,1.2411e-02,4.5574e-03,2.5223e+00,-3.7068e-02,3.7587e-02,-1.3850e-05,8.2363e-03,1.8175e-03,6.8492e-02,-1.1572e-04,4.9815e-04,7.8019e-06,6.9010e-02,5.1147e-04
+13,8.4000e+00,DOWN_FORCE_DETACH,2.5132e-03,1.2925e-02,3.1906e-03,2.5293e+00,-3.6997e-02,3.7616e-02,-9.5947e-06,8.7501e-03,4.5072e-04,7.5555e-02,-4.4141e-05,5.2707e-04,1.2058e-05,7.6061e-02,5.2906e-04
+14,8.9500e+00,DOWN_FORCE_DETACH,2.7026e-03,1.2816e-02,5.0333e-03,2.5298e+00,-3.7133e-02,3.7607e-02,-7.1182e-06,8.6412e-03,2.2934e-03,7.6039e-02,-1.8078e-04,5.1773e-04,1.4534e-05,7.6563e-02,5.4858e-04
+15,9.6333e+00,DOWN_FORCE_DETACH,2.8963e-03,1.2880e-02,5.5135e-03,2.5341e+00,-3.7148e-02,3.7604e-02,-3.2886e-06,8.7051e-03,2.7736e-03,8.0327e-02,-1.9513e-04,5.1495e-04,1.8364e-05,8.0844e-02,5.5099e-04
+16,1.0267e+01,DOWN_FORCE_DETACH,3.0881e-03,1.2534e-02,9.3793e-03,2.5354e+00,-3.7388e-02,3.7570e-02,2.0930e-06,8.3594e-03,6.6394e-03,8.1580e-02,-4.3565e-04,4.8125e-04,2.3745e-05,8.2275e-02,6.4958e-04
+17,1.0867e+01,DOWN_FORCE_DETACH,3.2806e-03,1.3508e-02,1.0829e-02,2.5408e+00,-3.7480e-02,3.7623e-02,1.8876e-06,9.3331e-03,8.0892e-03,8.7055e-02,-5.2792e-04,5.3392e-04,2.3540e-05,8.7926e-02,7.5122e-04
+18,1.1450e+01,DOWN_FORCE_DETACH,3.4767e-03,1.2640e-02,9.4250e-03,2.5394e+00,-3.7400e-02,3.7560e-02,6.3056e-06,8.4652e-03,6.6851e-03,8.5564e-02,-4.4749e-04,4.7085e-04,2.7958e-05,8.6241e-02,6.5017e-04
+19,1.1983e+01,DOWN_FORCE_DETACH,3.6657e-03,1.1947e-02,8.1790e-03,2.5353e+00,-3.7335e-02,3.7518e-02,1.5464e-05,7.7726e-03,5.4392e-03,8.1518e-02,-3.8254e-04,4.2854e-04,3.7117e-05,8.2068e-02,5.7564e-04
+20,1.2617e+01,DOWN_FORCE_DETACH,3.8616e-03,1.1560e-02,1.2049e-02,2.5357e+00,-3.7602e-02,3.7496e-02,2.2043e-05,7.3853e-03,9.3090e-03,8.1883e-02,-6.4915e-04,4.0650e-04,4.3695e-05,8.2741e-02,7.6717e-04
+21,1.3267e+01,DOWN_FORCE_DETACH,4.0524e-03,1.1325e-02,1.1968e-02,2.5433e+00,-3.7585e-02,3.7473e-02,2.0588e-05,7.1499e-03,9.2286e-03,8.9506e-02,-6.3232e-04,3.8403e-04,4.2240e-05,9.0264e-02,7.4101e-04
+22,1.3850e+01,DOWN_FORCE_DETACH,4.2466e-03,9.7496e-03,1.2211e-02,2.5478e+00,-3.7592e-02,3.7354e-02,1.4609e-05,5.5749e-03,9.4712e-03,9.3978e-02,-6.3946e-04,2.6455e-04,3.6262e-05,9.4619e-02,6.9297e-04
+23,1.4417e+01,DOWN_FORCE_DETACH,4.4381e-03,9.5177e-03,1.6951e-02,2.5471e+00,-3.7913e-02,3.7332e-02,9.9364e-06,5.3431e-03,1.4211e-02,9.3346e-02,-9.6082e-04,2.4259e-04,3.1589e-05,9.4572e-02,9.9148e-04
+24,1.5017e+01,DOWN_FORCE_DETACH,4.6313e-03,9.6391e-03,1.5249e-02,2.5485e+00,-3.7802e-02,3.7334e-02,5.2921e-06,5.4645e-03,1.2509e-02,9.4723e-02,-8.4978e-04,2.4483e-04,2.6944e-05,9.5702e-02,8.8476e-04
+25,1.5633e+01,DOWN_FORCE_DETACH,4.8261e-03,9.9495e-03,1.7188e-02,2.5477e+00,-3.7908e-02,3.7353e-02,1.4074e-05,5.7749e-03,1.4449e-02,9.3959e-02,-9.5553e-04,2.6412e-04,3.5726e-05,9.5239e-02,9.9200e-04
+26,1.6217e+01,DOWN_FORCE_DETACH,5.0177e-03,1.0574e-02,1.7933e-02,2.5549e+00,-3.7920e-02,3.7390e-02,2.8590e-05,6.3994e-03,1.5193e-02,1.0112e-01,-9.6717e-04,3.0116e-04,5.0242e-05,1.0246e-01,1.0142e-03
+27,1.6833e+01,DOWN_FORCE_DETACH,5.2136e-03,1.1592e-02,1.8143e-02,2.5565e+00,-3.7909e-02,3.7462e-02,4.2700e-05,7.4170e-03,1.5403e-02,1.0269e-01,-9.5605e-04,3.7258e-04,6.4352e-05,1.0410e-01,1.0281e-03
+28,1.7300e+01,DOWN_FORCE_DETACH,5.4067e-03,1.2225e-02,2.1366e-02,2.5570e+00,-3.8095e-02,3.7501e-02,5.4853e-05,8.0499e-03,1.8626e-02,1.0326e-01,-1.1423e-03,4.1144e-04,7.6505e-05,1.0524e-01,1.2165e-03
+29,1.7700e+01,DOWN_FORCE_DETACH,5.5974e-03,1.1973e-02,1.8995e-02,2.5600e+00,-3.7914e-02,3.7478e-02,6.1668e-05,7.7987e-03,1.6255e-02,1.0619e-01,-9.6133e-04,3.8854e-04,8.3320e-05,1.0771e-01,1.0402e-03
+30,1.8233e+01,DOWN_FORCE_DETACH,5.7903e-03,1.2392e-02,2.0462e-02,2.5615e+00,-3.8023e-02,3.7497e-02,6.5149e-05,8.2178e-03,1.7722e-02,1.0773e-01,-1.0703e-03,4.0799e-04,8.6801e-05,1.0948e-01,1.1487e-03
+31,1.8850e+01,DOWN_FORCE_DETACH,5.9838e-03,1.3344e-02,1.8663e-02,2.5611e+00,-3.7961e-02,3.7557e-02,6.5168e-05,9.1694e-03,1.5923e-02,1.0732e-01,-1.0090e-03,4.6771e-04,8.6820e-05,1.0888e-01,1.1155e-03
+32,1.9400e+01,DOWN_FORCE_DETACH,6.1797e-03,1.4722e-02,1.6840e-02,2.5590e+00,-3.7870e-02,3.7651e-02,6.5606e-05,1.0547e-02,1.4100e-02,1.0517e-01,-9.1730e-04,5.6208e-04,8.7258e-05,1.0663e-01,1.0793e-03
+33,2.0033e+01,DOWN_FORCE_DETACH,6.3728e-03,1.5334e-02,1.8179e-02,2.5645e+00,-3.7951e-02,3.7699e-02,7.1532e-05,1.1159e-02,1.5440e-02,1.1069e-01,-9.9891e-04,6.0964e-04,9.3185e-05,1.1232e-01,1.1740e-03
+34,2.0567e+01,DOWN_FORCE_DETACH,6.5635e-03,1.5491e-02,2.0205e-02,2.5665e+00,-3.8070e-02,3.7702e-02,7.4305e-05,1.1317e-02,1.7465e-02,1.1268e-01,-1.1176e-03,6.1259e-04,9.5957e-05,1.1459e-01,1.2781e-03
+35,2.1083e+01,DOWN_FORCE_DETACH,6.7581e-03,1.5982e-02,2.0802e-02,2.5672e+00,-3.8100e-02,3.7730e-02,7.2232e-05,1.1808e-02,1.8062e-02,1.1341e-01,-1.1477e-03,6.4074e-04,9.3884e-05,1.1544e-01,1.3178e-03
+36,2.1583e+01,DOWN_FORCE_DETACH,6.9518e-03,1.3680e-02,2.0630e-02,2.5731e+00,-3.8072e-02,3.7570e-02,6.7097e-05,9.5053e-03,1.7890e-02,1.1934e-01,-1.1194e-03,4.8101e-04,8.8749e-05,1.2105e-01,1.2216e-03
+37,2.2083e+01,DOWN_FORCE_DETACH,7.1389e-03,1.3915e-02,1.9706e-02,2.5741e+00,-3.7982e-02,3.7571e-02,6.3240e-05,9.7404e-03,1.6966e-02,1.2029e-01,-1.0290e-03,4.8152e-04,8.4892e-05,1.2187e-01,1.1393e-03
+38,2.2600e+01,DOWN_FORCE_DETACH,7.3358e-03,1.4691e-02,2.0190e-02,2.5819e+00,-3.8005e-02,3.7609e-02,6.3387e-05,1.0516e-02,1.7450e-02,1.2809e-01,-1.0523e-03,5.1953e-04,8.5039e-05,1.2970e-01,1.1767e-03
+39,2.3017e+01,DOWN_FORCE_DETACH,7.5320e-03,1.6664e-02,2.1037e-02,2.5935e+00,-3.8056e-02,3.7734e-02,6.2762e-05,1.2490e-02,1.8297e-02,1.3969e-01,-1.1036e-03,6.4448e-04,8.4415e-05,1.4143e-01,1.2808e-03
+40,2.3467e+01,DOWN_FORCE_DETACH,7.7218e-03,1.7235e-02,2.0939e-02,2.5949e+00,-3.8041e-02,3.7765e-02,6.5364e-05,1.3061e-02,1.8199e-02,1.4109e-01,-1.0882e-03,6.7591e-04,8.7016e-05,1.4285e-01,1.2839e-03
+41,2.3850e+01,DOWN_FORCE_DETACH,7.9131e-03,1.7812e-02,1.8539e-02,2.5983e+00,-3.7875e-02,3.7792e-02,6.6934e-05,1.3638e-02,1.5799e-02,1.4450e-01,-9.2251e-04,7.0294e-04,8.8587e-05,1.4600e-01,1.1632e-03
+42,2.4183e+01,DOWN_FORCE_DETACH,8.1047e-03,1.7551e-02,2.1216e-02,2.6009e+00,-3.8044e-02,3.7771e-02,6.8980e-05,1.3377e-02,1.8476e-02,1.4715e-01,-1.0916e-03,6.8140e-04,9.0632e-05,1.4890e-01,1.2900e-03
+43,2.4567e+01,DOWN_FORCE_DETACH,8.3028e-03,1.6180e-02,2.1957e-02,2.6031e+00,-3.8100e-02,3.7678e-02,6.8172e-05,1.2005e-02,1.9217e-02,1.4930e-01,-1.1478e-03,5.8926e-04,8.9824e-05,1.5101e-01,1.2933e-03
+44,2.4950e+01,DOWN_FORCE_DETACH,8.4923e-03,1.7134e-02,2.0190e-02,2.6119e+00,-3.7993e-02,3.7734e-02,5.7868e-05,1.2959e-02,1.7450e-02,1.5815e-01,-1.0405e-03,6.4465e-04,7.9520e-05,1.5963e-01,1.2266e-03
+45,2.5333e+01,DOWN_FORCE_DETACH,8.6873e-03,1.6985e-02,2.3980e-02,2.6186e+00,-3.8219e-02,3.7713e-02,5.1017e-05,1.2810e-02,2.1240e-02,1.6486e-01,-1.2665e-03,6.2416e-04,7.2669e-05,1.6671e-01,1.4138e-03
+46,2.5717e+01,DOWN_FORCE_DETACH,8.8791e-03,1.7372e-02,2.5212e-02,2.6222e+00,-3.8274e-02,3.7727e-02,4.7183e-05,1.3197e-02,2.2472e-02,1.6846e-01,-1.3218e-03,6.3783e-04,6.8835e-05,1.7046e-01,1.4693e-03
+47,2.6117e+01,DOWN_FORCE_DETACH,9.0727e-03,1.6773e-02,2.5978e-02,2.6271e+00,-3.8304e-02,3.7679e-02,4.7701e-05,1.2598e-02,2.3238e-02,1.7329e-01,-1.3517e-03,5.8943e-04,6.9353e-05,1.7530e-01,1.4763e-03
+48,2.6483e+01,DOWN_FORCE_DETACH,9.2689e-03,1.6940e-02,2.5342e-02,2.6331e+00,-3.8236e-02,3.7678e-02,5.5248e-05,1.2765e-02,2.2602e-02,1.7931e-01,-1.2835e-03,5.8903e-04,7.6901e-05,1.8118e-01,1.4143e-03
+49,2.6817e+01,DOWN_FORCE_DETACH,9.4597e-03,1.7104e-02,2.6449e-02,2.6398e+00,-3.8265e-02,3.7682e-02,6.4111e-05,1.2930e-02,2.3709e-02,1.8597e-01,-1.3124e-03,5.9308e-04,8.5764e-05,1.8792e-01,1.4428e-03
+50,2.7133e+01,DOWN_SETTLE,9.6506e-03,1.6321e-02,2.8777e-02,2.6402e+00,-3.8376e-02,3.7630e-02,7.0814e-05,1.2147e-02,2.6037e-02,1.8645e-01,-1.4234e-03,5.4073e-04,9.2467e-05,1.8865e-01,1.5254e-03
+51,2.7417e+01,DOWN_SETTLE,9.8409e-03,1.7112e-02,2.8185e-02,2.6412e+00,-3.8324e-02,3.7677e-02,7.0901e-05,1.2938e-02,2.5445e-02,1.8737e-01,-1.3710e-03,5.8740e-04,9.2553e-05,1.8954e-01,1.4944e-03
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efad4eb8be3faf5b01765e62e2280245fbb6749a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a3df3d8f03fb1ab899532d60003877d49d83e04
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e525d5c3b799f8dde7c1e8cadbaddfdf4c9c376b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,1.933333333e+00,UP_FORCE_RAMP,1791279113978271457,-6.161434879e-06,-3.345910776e-07,1.229553649e-04,-5.513597784e-06,3.567127747e-06,1.113818383e-04,-5.140676889e-06,3.576872841e-06,1.107577578e-04,7.015317100e-01,1.216370243e-06,8.408638966e-01,7.015323579e-01,5.118089068e-06,8.408523230e-01,7.017206193e-01,5.387642245e-06,8.298914066e-01
+7,2.166666667e+00,UP_FORCE_RAMP,1791279114318975281,-5.782425617e-06,6.151206484e-06,1.666009725e-04,-6.388001169e-06,5.130911228e-06,1.511579086e-04,-5.880681785e-06,5.144149522e-06,1.503922950e-04,7.015320891e-01,7.702167805e-06,8.409075422e-01,7.015314835e-01,6.681872549e-06,8.408920991e-01,7.017198793e-01,6.954918927e-06,8.299310411e-01
+8,2.450000000e+00,UP_FORCE_RAMP,1791279114756586827,-2.031302718e-05,6.093042929e-06,2.082300889e-04,-1.603478228e-05,2.887042212e-06,1.893411170e-04,-1.561090530e-05,2.914818190e-06,1.884707309e-04,7.015175585e-01,7.644004250e-06,8.409491713e-01,7.015218367e-01,4.438003533e-06,8.409302823e-01,7.017101491e-01,4.725587594e-06,8.299691196e-01
+9,2.733333333e+00,UP_FORCE_RAMP,1791279115179061966,-3.158711462e-05,7.038282559e-06,2.451747180e-04,-2.678540860e-05,6.166908467e-06,2.345571688e-04,-2.643944161e-05,6.164509377e-06,2.335547558e-04,7.015062844e-01,8.589243880e-06,8.409861159e-01,7.015110861e-01,7.717869788e-06,8.409754984e-01,7.016993206e-01,7.975278781e-06,8.300142036e-01
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+42,1.176666667e+01,UP_FORCE_RAMP,1791279128814657038,-7.419159797e-05,1.281174225e-05,1.737208311e-03,-7.810084253e-05,9.875653788e-06,1.727489353e-03,-7.374065456e-05,9.872978271e-06,1.726311861e-03,7.014636799e-01,1.436270357e-05,8.424781495e-01,7.014597706e-01,1.142661511e-05,8.424684305e-01,7.016520194e-01,1.168374768e-05,8.315069607e-01
+43,1.211666667e+01,UP_FORCE_RAMP,1791279129335327447,-7.948914444e-05,1.598301234e-05,1.751172178e-03,-7.627034070e-05,7.501314178e-06,1.749148507e-03,-7.183468168e-05,7.496961363e-06,1.748068052e-03,7.014583823e-01,1.753397366e-05,8.424921134e-01,7.014616011e-01,9.052275499e-06,8.424900897e-01,7.016539253e-01,9.307730768e-06,8.315287169e-01
+44,1.240000000e+01,UP_FORCE_RAMP,1791279129755622069,-7.871173455e-05,1.317652409e-05,1.766452292e-03,-7.627034070e-05,7.501314178e-06,1.749148507e-03,-7.183185038e-05,7.501391361e-06,1.748208043e-03,7.014591597e-01,1.472748541e-05,8.425073935e-01,7.014616011e-01,9.052275499e-06,8.424900897e-01,7.016539282e-01,9.312160766e-06,8.315288569e-01
+45,1.270000000e+01,UP_FORCE_RAMP,1791279130214573109,-7.980660628e-05,1.707072009e-05,1.779586978e-03,-7.738247634e-05,8.654760574e-06,1.770017804e-03,-7.292380838e-05,8.631464415e-06,1.769081570e-03,7.014580649e-01,1.862168141e-05,8.425205282e-01,7.014604890e-01,1.020572189e-05,8.425109590e-01,7.016528362e-01,1.044223382e-05,8.315497304e-01
+46,1.301666667e+01,UP_FORCE_RAMP,1791279130684988847,-8.034892507e-05,1.131606882e-05,1.796389942e-03,-7.962521985e-05,1.673331361e-05,1.791656780e-03,-7.509925842e-05,1.668408588e-05,1.790710319e-03,7.014575226e-01,1.286703014e-05,8.425373311e-01,7.014582463e-01,1.828427493e-05,8.425325980e-01,7.016506607e-01,1.849485529e-05,8.315713592e-01
+47,1.336666667e+01,UP_FORCE_RAMP,1791279131214706655,-7.971424021e-05,1.233169080e-05,1.811789174e-03,-7.752131911e-05,1.769014177e-05,1.811646601e-03,-7.287075599e-05,1.766781231e-05,1.810736729e-03,7.014581572e-01,1.388265213e-05,8.425527304e-01,7.014603502e-01,1.924110309e-05,8.425525878e-01,7.016528893e-01,1.947858171e-05,8.315913856e-01
+48,1.370000000e+01,UP_FORCE_RAMP,1791279131743463750,-8.050634626e-05,1.924550812e-05,1.825996302e-03,-7.752131911e-05,1.769014177e-05,1.811646601e-03,-7.286015761e-05,1.767306475e-05,1.810866610e-03,7.014573651e-01,2.079646944e-05,8.425669375e-01,7.014603502e-01,1.924110309e-05,8.425525878e-01,7.016528999e-01,1.948383416e-05,8.315915155e-01
+49,1.400000000e+01,UP_FORCE_RAMP,1791279132247618529,-8.267699301e-05,1.777280101e-05,1.837024489e-03,-8.094521962e-05,1.364581412e-05,1.830894247e-03,-7.628736567e-05,1.365363731e-05,1.830073634e-03,7.014551945e-01,1.932376233e-05,8.425779657e-01,7.014569263e-01,1.519677544e-05,8.425718354e-01,7.016494726e-01,1.546440671e-05,8.316107225e-01
+50,1.436666667e+01,UP_FORCE_RAMP,1791279132791087418,-8.384930332e-05,1.849330102e-05,1.849216773e-03,-8.094521962e-05,1.364581412e-05,1.830894247e-03,-7.627943236e-05,1.365623497e-05,1.830187190e-03,7.014540222e-01,2.004426235e-05,8.425901580e-01,7.014569263e-01,1.519677544e-05,8.425718354e-01,7.016494806e-01,1.546700437e-05,8.316108360e-01
+51,1.470000000e+01,UP_FORCE_RAMP,1791279133316210451,-8.790076044e-05,1.627271945e-05,1.856552778e-03,-8.506790877e-05,1.874228933e-05,1.850138018e-03,-8.041652957e-05,1.874005256e-05,1.849444822e-03,7.014499707e-01,1.782368077e-05,8.425974940e-01,7.014528036e-01,2.029325065e-05,8.425910792e-01,7.016453435e-01,2.055082197e-05,8.316300937e-01
+52,1.505000000e+01,UP_FORCE_HOLD,1791279133834914764,-9.159065998e-05,1.708823928e-05,1.865119366e-03,-8.506790877e-05,1.874228933e-05,1.850138018e-03,-8.041201842e-05,1.874154805e-05,1.849535354e-03,7.014462808e-01,1.863920060e-05,8.426060606e-01,7.014528036e-01,2.029325065e-05,8.425910792e-01,7.016453480e-01,2.055231746e-05,8.316301842e-01
+53,1.526666667e+01,UP_FORCE_HOLD,1791279134156022258,-9.032389216e-05,1.480669563e-05,1.871608486e-03,-9.042569683e-05,1.422903810e-05,1.870510375e-03,-8.583343865e-05,1.422200140e-05,1.869810127e-03,7.014475476e-01,1.635765695e-05,8.426125497e-01,7.014474458e-01,1.577999942e-05,8.426114516e-01,7.016399266e-01,1.603277080e-05,8.316504590e-01
+54,1.553333333e+01,UP_FORCE_HOLD,1791279134557000211,-9.172389211e-05,1.185668302e-05,1.877765987e-03,-9.042569683e-05,1.422903810e-05,1.870510375e-03,-8.583413199e-05,1.422195867e-05,1.869879935e-03,7.014461476e-01,1.340764434e-05,8.426187072e-01,7.014474458e-01,1.577999942e-05,8.426114516e-01,7.016399259e-01,1.603272808e-05,8.316505288e-01
+55,1.588333333e+01,UP_FORCE_HOLD,1791279135086381229,-9.127994387e-05,1.161724005e-05,1.891118005e-03,-9.109386808e-05,1.177521860e-05,1.891083160e-03,-8.637993906e-05,1.176750398e-05,1.890375627e-03,7.014465915e-01,1.316820137e-05,8.426320592e-01,7.014467776e-01,1.332617993e-05,8.426320243e-01,7.016393801e-01,1.357827339e-05,8.316710245e-01
+56,1.615000000e+01,UP_FORCE_HOLD,1791279135485924428,-9.469967871e-05,1.845381447e-06,1.893955451e-03,-9.109386808e-05,1.177521860e-05,1.891083160e-03,-8.638174225e-05,1.176397793e-05,1.890457948e-03,7.014431718e-01,3.396342768e-06,8.426348966e-01,7.014467776e-01,1.332617993e-05,8.426320243e-01,7.016393783e-01,1.357474733e-05,8.316711068e-01
+57,1.636666667e+01,UP_FORCE_HOLD,1791279135815572050,-9.252870533e-05,9.404848700e-06,1.899288218e-03,-9.109386808e-05,1.177521860e-05,1.891083160e-03,-8.638238299e-05,1.176383396e-05,1.890503546e-03,7.014453428e-01,1.095581002e-05,8.426402294e-01,7.014467776e-01,1.332617993e-05,8.426320243e-01,7.016393776e-01,1.357460337e-05,8.316711524e-01
+58,1.661666667e+01,UP_FORCE_HOLD,1791279136184469000,-9.571050949e-05,5.673837034e-06,1.904280138e-03,-9.109386808e-05,1.177521860e-05,1.891083160e-03,-8.638328019e-05,1.176348810e-05,1.890548789e-03,7.014421610e-01,7.224798355e-06,8.426452213e-01,7.014467776e-01,1.332617993e-05,8.426320243e-01,7.016393767e-01,1.357425751e-05,8.316711976e-01
+59,1.693333333e+01,UP_SETTLE,1791279136656338364,-9.236099588e-05,1.183963323e-05,1.914656784e-03,-9.206846927e-05,5.331564686e-06,1.911595144e-03,-8.732582773e-05,5.350724544e-06,1.910990194e-03,7.014455105e-01,1.339059455e-05,8.426555980e-01,7.014458030e-01,6.882526007e-06,8.426525363e-01,7.016384342e-01,7.161493949e-06,8.316916390e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..249226870bdf422114cbd05a1b7dbf425c3eb72e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,4.2480e-03,2.7426e-03,2.4538e+00,-3.6953e-02,3.7094e-02,-2.1668e-05,7.6233e-05,3.3565e-06,-5.7220e-06,-2.1607e-07,5.4948e-06,-2.2861e-08,7.6521e-05,5.4991e-06
+1,2.6667e-01,UP_FORCE_RAMP,7.8523e-05,5.3750e-03,2.7894e-03,2.4537e+00,-3.6955e-02,3.7175e-02,-2.2094e-05,1.2033e-03,5.0171e-05,-8.9169e-05,-2.9616e-06,8.6416e-05,-4.4809e-07,1.2076e-03,8.6467e-05
+2,5.8333e-01,UP_FORCE_RAMP,1.5987e-04,6.4996e-03,2.8315e-03,2.4536e+00,-3.6958e-02,3.7256e-02,-2.2635e-05,2.3279e-03,9.2223e-05,-1.6260e-04,-5.1372e-06,1.6692e-04,-9.8894e-07,2.3354e-03,1.6700e-04
+3,1.0000e+00,UP_FORCE_RAMP,2.4120e-04,7.6864e-03,2.8728e-03,2.4536e+00,-3.6960e-02,3.7341e-02,-2.3277e-05,3.5147e-03,1.3355e-04,-2.2411e-04,-7.1414e-06,2.5161e-04,-1.6317e-06,3.5243e-03,2.5172e-04
+4,1.3500e+00,UP_FORCE_RAMP,3.2054e-04,8.6035e-03,2.8542e-03,2.4486e+00,-3.6959e-02,3.7412e-02,-2.3622e-05,4.4317e-03,1.1495e-04,-5.2171e-03,-6.6012e-06,3.2274e-04,-1.9767e-06,6.8463e-03,3.2281e-04
+5,1.6500e+00,UP_FORCE_RAMP,4.0197e-04,9.8571e-03,2.7205e-03,2.4389e+00,-3.6952e-02,3.7512e-02,-2.4005e-05,5.6854e-03,-1.8789e-05,-1.4854e-02,5.6997e-07,4.2340e-04,-2.3591e-06,1.5905e-02,4.2341e-04
+6,1.9333e+00,UP_FORCE_RAMP,4.8352e-04,1.0343e-02,1.3532e-03,2.4292e+00,-3.6859e-02,3.7558e-02,-2.4615e-05,6.1711e-03,-1.3861e-03,-2.4555e-02,9.3214e-05,4.6932e-04,-2.9698e-06,2.5357e-02,4.7850e-04
+7,2.1667e+00,UP_FORCE_RAMP,5.6017e-04,1.0796e-02,7.2724e-04,2.4223e+00,-3.6818e-02,3.7599e-02,-2.4758e-05,6.6243e-03,-2.0120e-03,-3.1471e-02,1.3491e-04,5.1030e-04,-3.1126e-06,3.2223e-02,5.2784e-04
+8,2.4500e+00,UP_FORCE_RAMP,6.4422e-04,1.3485e-02,1.5183e-03,2.4174e+00,-3.6873e-02,3.7798e-02,-2.4236e-05,9.3131e-03,-1.2209e-03,-3.6375e-02,8.0004e-05,7.0860e-04,-2.5909e-06,3.7568e-02,7.1311e-04
+9,2.7333e+00,UP_FORCE_RAMP,7.2348e-04,1.6057e-02,2.5604e-04,2.4113e+00,-3.6787e-02,3.7989e-02,-2.4371e-05,1.1885e-02,-2.4832e-03,-4.2454e-02,1.6566e-04,9.0009e-04,-2.7258e-06,4.4156e-02,9.1521e-04
+10,2.9667e+00,UP_FORCE_RAMP,8.0422e-04,1.6367e-02,-4.1116e-04,2.4050e+00,-3.6742e-02,3.8019e-02,-2.3868e-05,1.2195e-02,-3.1504e-03,-4.8815e-02,2.1045e-04,9.3036e-04,-2.2229e-06,5.0414e-02,9.5387e-04
+11,3.2500e+00,UP_FORCE_RAMP,8.8411e-04,1.6780e-02,1.3812e-03,2.3963e+00,-3.6867e-02,3.8059e-02,-2.1842e-05,1.2608e-02,-1.3580e-03,-5.7523e-02,8.5078e-05,9.6976e-04,-1.9651e-07,5.8904e-02,9.7348e-04
+12,3.5333e+00,UP_FORCE_RAMP,9.6650e-04,1.5716e-02,2.5650e-03,2.3886e+00,-3.6954e-02,3.7993e-02,-1.9278e-05,1.1544e-02,-1.7431e-04,-6.5167e-02,-1.1362e-06,9.0390e-04,2.3671e-06,6.6182e-02,9.0390e-04
+13,3.7667e+00,UP_FORCE_RAMP,1.0448e-03,1.7242e-02,4.8540e-03,2.3807e+00,-3.7119e-02,3.8110e-02,-1.6606e-05,1.3070e-02,2.1148e-03,-7.3063e-02,-1.6650e-04,1.0207e-03,5.0398e-06,7.4253e-02,1.0342e-03
+14,4.0000e+00,UP_FORCE_RAMP,1.1257e-03,1.7056e-02,2.2221e-03,2.3728e+00,-3.6945e-02,3.8103e-02,-1.6323e-05,1.2884e-02,-5.1713e-04,-8.0979e-02,7.8306e-06,1.0139e-03,5.3222e-06,8.1999e-02,1.0140e-03
+15,4.2500e+00,UP_FORCE_RAMP,1.2085e-03,1.7318e-02,1.9112e-03,2.3727e+00,-3.6933e-02,3.8123e-02,-1.5019e-05,1.3146e-02,-8.2811e-04,-8.1044e-02,1.9401e-05,1.0340e-03,6.6261e-06,8.2108e-02,1.0342e-03
+16,4.4833e+00,UP_FORCE_RAMP,1.2876e-03,1.9445e-02,2.2188e-03,2.3677e+00,-3.6969e-02,3.8277e-02,-1.3405e-05,1.5273e-02,-5.2043e-04,-8.6066e-02,-1.6976e-05,1.1881e-03,8.2401e-06,8.7412e-02,1.1882e-03
+17,4.7500e+00,UP_FORCE_RAMP,1.3652e-03,2.0450e-02,3.2318e-03,2.3618e+00,-3.7050e-02,3.8360e-02,-1.1357e-05,1.6278e-02,4.9249e-04,-9.1984e-02,-9.7439e-05,1.2708e-03,1.0289e-05,9.3414e-02,1.2745e-03
+18,5.0000e+00,UP_FORCE_RAMP,1.4439e-03,2.1466e-02,3.8760e-03,2.3635e+00,-3.7104e-02,3.8432e-02,-8.2080e-06,1.7294e-02,1.1367e-03,-9.0247e-02,-1.5119e-04,1.3427e-03,1.3438e-05,9.1896e-02,1.3512e-03
+19,5.2333e+00,UP_FORCE_RAMP,1.5317e-03,2.1539e-02,3.0661e-03,2.3582e+00,-3.7052e-02,3.8445e-02,-5.0991e-06,1.7367e-02,3.2683e-04,-9.5548e-02,-9.8992e-05,1.3563e-03,1.6546e-05,9.7114e-02,1.3600e-03
+20,5.4667e+00,UP_FORCE_RAMP,1.6088e-03,2.0710e-02,2.5409e-03,2.3517e+00,-3.7016e-02,3.8394e-02,-1.1753e-06,1.6538e-02,-1.9835e-04,-1.0208e-01,-6.3114e-05,1.3055e-03,2.0470e-05,1.0341e-01,1.3072e-03
+21,5.7167e+00,UP_FORCE_RAMP,1.6909e-03,2.0465e-02,3.7502e-03,2.3487e+00,-3.7088e-02,3.8381e-02,3.0146e-06,1.6293e-02,1.0109e-03,-1.0510e-01,-1.3515e-04,1.2919e-03,2.4660e-05,1.0636e-01,1.2992e-03
+22,5.9167e+00,UP_FORCE_RAMP,1.7676e-03,1.9465e-02,3.0487e-03,2.3476e+00,-3.7032e-02,3.8311e-02,4.6231e-06,1.5294e-02,3.0943e-04,-1.0616e-01,-7.9919e-05,1.2225e-03,2.6269e-05,1.0726e-01,1.2254e-03
+23,6.1667e+00,UP_FORCE_RAMP,1.8511e-03,1.8126e-02,2.3081e-03,2.3494e+00,-3.6971e-02,3.8214e-02,5.2637e-06,1.3954e-02,-4.3114e-04,-1.0442e-01,-1.8571e-05,1.1251e-03,2.6909e-05,1.0535e-01,1.1256e-03
+24,6.4167e+00,UP_FORCE_RAMP,1.9245e-03,1.7477e-02,2.5958e-03,2.3473e+00,-3.6984e-02,3.8165e-02,3.2851e-06,1.3305e-02,-1.4352e-04,-1.0647e-01,-3.1661e-05,1.0762e-03,2.4931e-05,1.0730e-01,1.0770e-03
+25,6.7333e+00,UP_FORCE_RAMP,2.0100e-03,1.6205e-02,2.7555e-03,2.3486e+00,-3.6982e-02,3.8068e-02,-2.6618e-06,1.2034e-02,1.6244e-05,-1.0514e-01,-2.9221e-05,9.7940e-04,1.8984e-05,1.0583e-01,9.8002e-04
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b05a2807845f04089ba2c2ccb26758667ce09219
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:ed6fb07bd312e007dea72c9b118278ced953b38e16d88ca1dae30afef682140b
+size 4556800
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42c2c9431b4f3df3dcddc6209ed95b9d33ac9e25
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8911539ebe267ae12e68ba570fa8dc5876272740
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+4106,1791279333478584149,11659703000000,1791279333472321240,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760103325711131,-0.004731960185756496,0.09072524670551319,0.9999999805033934,8.86225322216646e-05,-0.00014765599893954416,-2.7925432918710535e-05,0.6761,-0.0048,0.09087439192394406,1.0,0.0,0.0,0.0,0.054692052588693106,0.04799135855002845,-1.1876961822286027,0.002388904976394382,-0.0038338720870368347,-0.0001107909236488392,0.09309916799711196,0.1165551010754036,0.272292203443407,0.002259271393389937,-0.009221433309323224,-0.001354131497994829,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.11469607925545583,-0.05476283701225478,1.4056151765732816,0.026460283846474992,-0.7876950937921726,-0.05640192731465096,-0.2574867634319085,1.1876961822286027,-1.66310194000519,-1.66310194000519,0.1345200000000043,0,0,-0.00011209997840685849,-9.999999025923074e-05
+4202,1791279334278646059,11660503000000,1791279334276321066,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6759976384902169,-0.004736287123978952,0.09065533598389625,0.9999999758718099,9.749026229725143e-05,-0.0001733059106944208,-1.2647297094892239e-05,0.6761,-0.0048,0.09076873194433951,1.0,0.0,0.0,0.0,0.04957843273414186,0.03644779742774133,-1.154157208174957,0.0013629873641258594,-0.0038213949540712184,-0.00015003951980897628,0.08798554814256071,0.10501153995311648,0.3058311774970528,0.0012333537811214145,-0.009208956176357608,-0.001393380094154966,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.3017462300373958,-0.10104868939039846,1.1363494015139708,0.12505383864898834,-0.5883794908155264,-0.10445586695951184,-0.2574867634319085,1.154157208174957,-1.3938361649458793,-1.3938361649458793,0.1825200000000079,0,0,-0.00015209997061424308,-9.999999025923074e-05
+4262,1791279334778649774,11661003000000,1791279334772320827,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.676034615872116,-0.0047483270839761855,0.0906005629097025,0.9999999862020823,0.00010743621400897813,-8.487620724971476e-05,1.7093534880394236e-05,0.6761,-0.0048,0.09068644446025242,1.0,0.0,0.0,0.0,0.026585168983234923,0.036518488306764296,-1.1276331926433873,0.0023504743828695255,-0.002832247488284194,-0.00014702033125856234,0.06499228439165378,0.10508223083213944,0.3323551930286224,0.002220840799865081,-0.008219808710570584,-0.001390360905604552,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.41114303790157714,-0.2132686327001398,0.9465439413521846,0.21381223481602166,-0.4699032216756153,-0.18317874016198166,-0.2574867634319085,1.1276331926433873,-1.204030704784093,-1.204030704784093,0.21252000000001015,0,0,-0.00017709996574385845,-9.999999025923074e-05
+4336,1791279335395559517,11661620000000,1791279335388321203,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760041492250585,-0.004755580236002358,0.09047350547061844,0.9999999782846294,0.00010875350379855938,-0.00014831524796866144,3.238622776785777e-05,0.6761,-0.0048,0.09056767198324557,1.0,0.0,0.0,0.0,0.03631043651611474,0.025595926901090818,-1.059108139927273,0.0013172492260130155,-0.002857826627038075,-0.00021318208291138015,0.0747175519245336,0.09415966942646596,0.4008802457447366,0.0011876156430085706,-0.008245387849324465,-0.0014565226572573699,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.4504606858928266,-0.22432322528614523,0.832597444694563,0.24395556869021656,-0.401178702273808,-0.2006868733093517,-0.2574867634319085,1.059108139927273,-1.0900842081264714,-1.0900842081264714,0.24954000000001292,0,0,-0.00020794995973380382,-9.999999025923074e-05
+4402,1791279335945659090,11662170000000,1791279335944320993,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760159900666928,-0.0047595927830565215,0.09036912538775463,0.9999999796572044,0.0001182161291734881,-0.00012281897765899962,5.5397660555494226e-05,0.6761,-0.0048,0.09044575075686795,1.0,0.0,0.0,0.0,0.0271267569183131,0.02177979821378384,-0.9991478869930217,0.0013038832271209555,-0.002838496010698256,-0.0002609397849241651,0.06553387232673195,0.09034354073915898,0.460840498678988,0.0011742496441165106,-0.008226057232984646,-0.0015042803592701548,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.5878743049937349,-0.12345873825806464,0.6652373540657043,0.22149172673001513,-0.2724823649545357,-0.13222405000114357,-0.2574867634319085,0.9991478869930217,-0.9227241174976129,-0.9227241174976129,0.2825400000000154,0,0,-0.00023544995437638073,-9.999999025923074e-05
+4471,1791279336520667612,11662745000000,1791279336520320956,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760142440715753,-0.004771063661769123,0.09023615613350723,0.9999999781933604,0.00011594161751080084,-0.00012957606872731072,6.945305489062788e-05,0.6761,-0.0048,0.0903021157847146,1.0,0.0,0.0,0.0,0.0272289662196493,0.011442603118403963,-0.9378313808566493,0.00027143829445345905,-0.002833700376499753,-0.00032250071907243146,0.06563608162806815,0.0800063456437791,0.5221570048153604,0.00014180471144901416,-0.008221261598786143,-0.0015658412934184212,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.6253281386494601,-0.08319513897949811,0.5281647126862012,0.22229859318216735,-0.1883673089268155,-0.1031761597615426,-0.2574867634319085,0.9378313808566493,-0.7856514761181097,-0.7856514761181097,0.317040000000018,0,0,-0.0002641999487754384,-9.999999025923074e-05
+4534,1791279337045660886,11663270000000,1791279337044321015,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760252503657851,-0.004766386826416651,0.09011072002616621,0.9999999863567356,7.308022507277228e-05,-0.00010881610433813231,3.934118910778135e-05,0.6761,-0.0048,0.09015653331295245,1.0,0.0,0.0,0.0,0.026527000597168247,0.01648173297762104,-0.8724601043391124,0.001278089002779187,-0.0028675136268989133,-0.00022930593052574366,0.0649341160055871,0.08504547550299618,0.5875282813328974,0.0011484554197747421,-0.008255074849185303,-0.0014726465048717334,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.6548754375663739,-0.19025568134513043,0.4699449609790067,0.2707700848419557,-0.151254201966354,-0.17183016814398608,-0.2574867634319085,0.8724601043391124,-0.7274317244109152,-0.7274317244109152,0.34854000000002033,0,0,-0.0002904499436615345,-9.999999025923074e-05
+4594,1791279337545550324,11663770000000,1791279337540321815,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760247784497703,-0.004778310965651338,0.08997477370464332,0.9999999830288903,8.933000636824377e-05,-0.00011470706337221152,6.517302427103068e-05,0.6761,-0.0048,0.09000507084234172,1.0,0.0,0.0,0.0,0.026740763569088298,0.023944175562579176,-0.8071562199729626,0.00021400561355306943,-0.0019371152460620376,0.0006126742973211536,0.06514787897750715,0.09250791808795432,0.6528321656990471,8.437203054862451e-05,-0.007324676468348427,-0.0006306662770248361,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7245447974293073,-0.20528852623974,0.3498757783606529,0.2881587917150636,-0.06652444233599505,-0.17939619076761504,-0.2574867634319085,0.8071562199729626,-0.6073625417925614,-0.6073625417925614,0.3785400000000226,0,0,-0.0003154499387911499,-9.999999025923074e-05
+4654,1791279338045646622,11664270000000,1791279338044321152,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760494225692467,-0.004772409662735061,0.0898595473383651,0.9999999896256656,7.312283607875593e-05,-7.24083812436813e-05,4.002012382464556e-05,0.6761,-0.0048,0.08984110837416617,1.0,0.0,0.0,0.0,0.0270178962852926,0.02003415530208763,-0.766491765593498,0.0012229588049876986,-0.0018820775161238262,0.0005926953261539364,0.06542501169371145,0.08859789782746277,0.6934966200785118,0.0010933252219832536,-0.007269638738410216,-0.0006506452481920533,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8054124730525424,-0.2978361985337317,0.23341482866345464,0.3474417434730752,0.009675687934715977,-0.23764951374568583,-0.2574867634319085,0.766491765593498,-0.49090159209536316,-0.49090159209536316,0.4085400000000248,0,0,-0.00034044993392076526,-9.999999025923074e-05
+4690,1791279338345603213,11664570000000,1791279338340321074,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760625821374916,-0.004776748439866707,0.08975233403494447,0.9999999891805856,8.873148619671543e-05,-5.4766704926065685e-05,4.700025811576193e-05,0.6761,-0.0048,0.08973673089442974,1.0,0.0,0.0,0.0,0.018684662426275353,0.019689590801865428,-0.7164077017340396,0.0012146943189343402,-0.001890656698276461,0.00035504630202515773,0.057091777834694206,0.08825333332724057,0.7435806839379702,0.0010850607359298953,-0.007278217920562851,-0.000888294272320832,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8043837604372491,-0.17140049789267278,0.0919487287977843,0.3300100518622814,0.09112320691736947,-0.15170275856672888,-0.2574867634319085,0.7164077017340396,-0.34943549222969283,-0.34943549222969283,0.4265400000000262,0,0,-0.0003554499309985345,-9.999999025923074e-05
+4742,1791279338778631738,11665003000000,1791279338772321134,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760567133097083,-0.004778235143511849,0.08959793856773778,0.9999999880467902,9.272287779711655e-05,-6.413231694819741e-05,5.1369228086824813e-05,0.6761,-0.0048,0.08957815240251167,1.0,0.0,0.0,0.0,0.024376274845185307,0.012782629726596911,-0.6464695772448722,0.000720450838581468,-0.001898514637089812,0.0004871128387233637,0.06278339025360416,0.08134637225197205,0.8135188084271375,0.0005908172555770231,-0.007286075859376202,-0.000756227735622626,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7912110913416189,-0.16608708107985148,-0.10317260852227861,0.33286925291422104,0.204240639270195,-0.151389134864979,-0.2574867634319085,0.6464695772448722,-0.1543141549096299,-0.1543141549096299,0.4525200000000281,0,0,-0.00037643175850446555,9.737131520382575e-05
+4786,1791279339145622353,11665370000000,1791279339144320819,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760540757490795,-0.004787141596650903,0.08945812543222177,0.999999987730702,8.845623554867583e-05,-6.659337015380879e-05,6.101047207282101e-05,0.6761,-0.0048,0.08943762517870998,1.0,0.0,0.0,0.0,0.0170638221299953,0.004616036052619191,-0.5776327945827057,0.0001652334287508131,-0.0019027551047840208,0.0004270226537592761,0.05547093753841415,0.07317977857799433,0.8823555910893041,3.559984574636818e-05,-0.0072903163270704105,-0.0008163179205867136,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8613019253160414,-0.3144488822717685,-0.0670534374656203,0.39801878352918685,0.19481117366214826,-0.2400741476576647,-0.2574867634319085,0.5776327945827057,-0.1904333259662882,-0.1904333259662882,0.47454000000002977,0,0,-0.0003868290970141227,-6.920737180416409e-05
+4831,1791279339520673311,11665745000000,1791279339520320265,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760530123834535,-0.00478980097683964,0.08931739996297249,0.9999999885873859,8.038634892656939e-05,-6.672723266943081e-05,5.79103077662753e-05,0.6761,-0.0048,0.08929335061671263,1.0,0.0,0.0,0.0,0.01831917284795008,0.008400499095774852,-0.5063491322373271,0.00014666844096670813,-0.0016981594875584592,0.00037185148685269355,0.05672628825636893,0.07696424162115,0.9536392534346826,1.7034857962263212e-05,-0.007085720709844849,-0.0008714890874932962,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8694603764578882,-0.28007775483313385,-0.2116132634684069,0.3963896707206708,0.28937035218711593,-0.21896939279871008,-0.2574867634319085,0.5063491322373271,-0.045873499963501624,-0.045873499963501624,0.49704000000003146,0,0,-0.0003808512535799239,9.998540470424472e-05
+4878,1791279339911495942,11666136000000,1791279339908320956,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760551159627234,-0.004798546466984394,0.0891733807427131,0.999999988636858,7.887170980701588e-05,-6.408106791836075e-05,6.198401722476603e-05,0.6761,-0.0048,0.08914715909644212,1.0,0.0,0.0,0.0,0.017354481667545683,0.0063712678358207875,-0.4461433846084095,0.00014073922444629198,-0.0019203876225774305,0.00032115391394460253,0.055761597075964536,0.07493501036119593,1.0138450010636002,1.1105641441847052e-05,-0.00730794884486382,-0.0009221866604013872,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7918797389839624,-0.2166466485910502,-0.22876539339208657,0.3922494740040943,0.2740654838058838,-0.17273827424642732,-0.2574867634319085,0.4461433846084095,-0.028721370039821947,-0.028721370039821947,0.5205000000000143,0,0,-0.0003665917179859494,9.999999025923074e-05
+4924,1791279340295583387,11666520000000,1791279340288321236,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760624579274385,-0.004799039802368044,0.08903950588312708,0.999999988976853,7.805341151610658e-05,-5.58289966879568e-05,6.542129754762201e-05,0.6761,-0.0048,0.08900919279930229,1.0,0.0,0.0,0.0,0.016979419233077123,0.0027262310264694334,-0.3857286100704498,0.00010098748692259656,-0.0009481860974299063,0.00028820502058035517,0.055386534641495976,0.07128997355184458,1.07425977560156,-2.8646096081848346e-05,-0.006335747319716296,-0.0009551355537656346,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8460296126698925,-0.23830825804357955,-0.2566578041224327,0.39919507485693123,0.3058971882484718,-0.19073463482235065,-0.2574867634319085,0.3857286100704498,-0.0008289593094757963,-0.0008289593094757963,0.5435399999999947,0,0,-0.0003508318279124304,9.999999025923074e-05
+4978,1791279340745562214,11666970000000,1791279340744321123,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760673275759299,-0.004798148018556649,0.08888926391532737,0.9999999887818154,7.71239482682895e-05,-5.353438522597288e-05,7.117021507987009e-05,0.6761,-0.0048,0.08885540748359928,1.0,0.0,0.0,0.0,0.016625006055027133,0.00043487282781853875,-0.3166598673237351,-0.0009252283217501356,-0.0009269127418292276,0.00022035587641960788,0.055032121463445986,0.06899861535319368,1.1433285183482746,-0.0010548619047545805,-0.006314473964115617,-0.0010229846979263818,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8041285038244769,-0.238361782481053,-0.2638401774428796,0.4097083916216259,0.29780100123172853,-0.18852689827280697,-0.2574867634319085,0.3166598673237351,0.006353414010971059,0.006353414010971059,0.5705399999999717,0,0,-0.000331472791224889,-3.0332510141067817e-05
+5026,1791279341145500596,11667370000000,1791279341144320819,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760708369797901,-0.0048010591468178425,0.08876671656600475,0.9999999888619108,7.753345242279971e-05,-4.693662831203919e-05,7.419271767649063e-05,0.6761,-0.0048,0.088726006135376,1.0,0.0,0.0,0.0,0.009209293003444717,-0.00857037044841566,-0.27572689260267147,-0.0008044171432615313,-0.0009371270561795335,0.00018817277842542645,0.04761640841186357,0.059993372076959484,1.1842614930693383,-0.0009340507262659762,-0.006324688278465923,-0.0010551677959205633,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.821924226008698,-0.3229901515122344,-0.28831752739247496,0.4458172664188071,0.31734325201086544,-0.24059017037243027,-0.2574867634319085,0.27572689260267147,0.030830763960566443,0.030830763960566443,0.5945399999999513,0,0,-0.00031682313779010505,-9.619568616526237e-05
+5086,1791279341645531093,11667870000000,1791279341644321099,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760771653471997,-0.004809422626383832,0.08862714188024035,0.9999999908233016,6.158893545536356e-05,-3.579506036388575e-05,6.871519363352186e-05,0.6761,-0.0048,0.0885727792035736,1.0,0.0,0.0,0.0,0.0071859107581375425,-0.007439751545804778,-0.2057978490579082,-0.00030340566310712094,-0.000961709694273288,0.00013702690474869518,0.045593026166556395,0.061123990979570365,1.2541905366141015,-0.0004330392461115659,-0.006349270916559678,-0.0011063136695972945,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7967897649592842,-0.27445648130974615,-0.43375898065872115,0.44608251068160687,0.4014246072665284,-0.20934301619601528,-0.2574867634319085,0.2057978490579082,0.17627221722681263,0.17627221722681263,0.6245399999999258,0,0,-0.0002954938075241679,9.999999025923074e-05
+5143,1791279342120464106,11668345000000,1791279342116320904,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760765447666504,-0.0048147451526703005,0.08848758355054012,0.9999999900908384,6.75356763884322e-05,-3.68888583048407e-05,7.307073414967389e-05,0.6761,-0.0048,0.08843704725032782,1.0,0.0,0.0,0.0,0.015924626795032697,-0.016535441795927988,-0.1561467546471158,-0.0004114983754358397,-0.0007390474499038464,9.263924161756715e-05,0.05433174220345155,0.052028300729447155,1.303841631024894,-0.0005411319584402846,-0.006126608672190236,-0.0011507013327284226,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7711709854807012,-0.2691831804294241,-0.49161018721423355,0.44995597297847484,0.4327454146475169,-0.20332535710688962,-0.2574867634319085,0.1561467546471158,0.23412342378232504,0.23412342378232504,0.6530399999999016,0,0,-0.0002770043266472636,9.99471713988342e-05
+5198,1791279342578429298,11668803000000,1791279342576320680,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760786040090623,-0.004818587608509053,0.08836943913325106,0.999999989464083,7.58445307982528e-05,-3.433230165173251e-05,7.472348127200747e-05,0.6761,-0.0048,0.0883123017370983,1.0,0.0,0.0,0.0,0.01584954436043913,-0.003252817695775595,-0.11555189656244491,-0.0007778692105381572,-0.0005430541496489723,7.315931782259305e-05,0.05425665976885798,0.06531092482959955,1.3444364891095648,-0.0009075027935426021,-0.005930615371935362,-0.0011701812565233967,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7179758018924678,-0.3584941392940686,-0.41884027020208126,0.4877627608165238,0.37373300255592906,-0.2602950665050208,-0.2574867634319085,0.11555189656244491,0.16135350677017274,0.16135350677017274,0.6805199999998782,0,0,-0.0002682287916042344,-9.995838465138291e-05
+5258,1791279343078372798,11669303000000,1791279343076320417,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6760840156748861,-0.004823373957822833,0.088245239407786,0.9999999891050346,7.701701375480655e-05,-2.745747589339269e-05,8.091515036497607e-05,0.6761,-0.0048,0.08818079741957355,1.0,0.0,0.0,0.0,0.00655330097343107,-0.01051718640496925,-0.06544872272241764,-0.00100863712876857,3.349106232578437e-05,3.223665206120358e-05,0.04496041638184992,0.05804655612040589,1.394539662949592,-0.001138270711773015,-0.005354070159960605,-0.0012111039222847861,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7605646487681195,-0.39436497806153964,-0.5624962532415013,0.5018200325086511,0.4764436255513461,-0.28275866548944817,-0.2574867634319085,0.06544872272241764,0.3050094898095928,0.3050094898095928,0.7105199999998527,0,0,-0.0002566059046957018,9.999947678108185e-05
+5323,1791279343620410088,11669845000000,1791279343616321184,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760863566193087,-0.004822742791369548,0.08810617135717592,0.999999989232349,7.498753166884855e-05,-2.5948127354144272e-05,8.174185520968843e-05,0.6761,-0.0048,0.08804206690563007,1.0,0.0,0.0,0.0,0.006431953103520328,-0.01513010812089867,-0.017224089794492636,-0.0010186592344283646,2.3619155532380275e-05,-6.7453305940933916e-06,0.04483906851193918,0.053433634404476474,1.442764295877517,-0.0011482928174328096,-0.0053639420667540095,-0.0012500859049400831,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7493521739039966,-0.2880796665943042,-0.5525829582857791,0.47719878449888997,0.46586149755913153,-0.21543283174963904,-0.2574867634319085,0.017224089794492636,0.29509619485387056,0.29509619485387056,0.7430399999998251,0,0,-0.0002544195180878824,-9.985327428652652e-05
+5386,1791279344145377452,11670370000000,1791279344140320977,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760915995307969,-0.004825992517590374,0.08798151028008339,0.9999999898192541,7.100930598671105e-05,-1.7959382745111963e-05,8.024646599598554e-05,0.6761,-0.0048,0.08791091489771061,1.0,0.0,0.0,0.0,0.006339525507037369,-0.011182179820044227,0.025146466380957522,-0.0010268180322463745,1.4182610129882117e-05,-1.8315592585937436e-06,0.04474664091545622,0.057381562705330916,1.4851348520529672,-0.0011564516152508194,-0.005373378612156508,-0.0012451721336045835,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7866476981968464,-0.3253657594043572,-0.7426968549995584,0.4948077166081571,0.5955301949325538,-0.23514986211094233,-0.2574867634319085,0.025146466380957522,0.4852100915676499,0.4852100915676499,0.7745399999997983,0,0,-0.00024577737624678777,9.999990699250389e-05
+5455,1791279344720347346,11670945000000,1791279344716330270,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760930554834754,-0.004824148705182519,0.08784959072973167,0.9999999888468655,8.099150970274483e-05,-1.7709211786993836e-05,8.292100112298273e-05,0.6761,-0.0048,0.08777255741539153,1.0,0.0,0.0,0.0,0.005013051625733546,-0.019714107869475,0.06525071352501843,-0.0010346840806236268,6.13697058601554e-06,-7.355201073334558e-05,0.0434201670341524,0.04884963465590014,1.5252390991970282,-0.0011643176636280718,-0.005381424251700374,-0.0013168925850793353,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7364638694374864,-0.3091466860983928,-0.7395788132232325,0.4925179128604826,0.5779869368941227,-0.22947877746470263,-0.2574867634319085,0.06525071352501843,0.482092049791324,0.482092049791324,0.8090399999997689,0,0,-0.00023645970441824182,9.999999025923074e-05
+5530,1791279345345295263,11671570000000,1791279345344320850,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6760947238384711,-0.004825943117595472,0.08771001504671379,0.9999999890537066,7.830632620013902e-05,-1.3696994716674898e-05,8.376134332783989e-05,0.6761,-0.0048,0.08762702510436508,1.0,0.0,0.0,0.0,0.004361415320756533,-0.02233708926532181,0.11583465961594075,-0.0010538436740086634,-3.3924144054479563e-06,0.0009123098184805635,0.042768530729175386,0.04622665326005333,1.5758230452879505,-0.0011834772570131083,-0.005390953636691838,-0.00033103075586542625,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7653658340758775,-0.3005951090758455,-0.7326122111741632,0.5082339574765395,0.5789932735704195,-0.21949237558429413,-0.2574867634319085,0.11583465961594075,0.4751254477422547,0.4751254477422547,0.8465399999997371,0,0,-0.0002282505831829608,5.456415988354938e-05
+5606,1791279345978147581,11672203000000,1791279345976320594,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761018976983658,-0.004826391156246583,0.08758245864583736,0.9999999893564797,7.335782932236424e-05,-1.0915445977296146e-06,8.571663904964884e-05,0.6761,-0.0048,0.0874836714869075,1.0,0.0,0.0,0.0,-0.003396547728114395,-0.013474176951718354,0.1458902463718843,-0.0010856303078603542,0.0009962955572486824,0.0008730870868716354,0.03501056768030446,0.05508956557365679,1.605878632043894,-0.001215263890864799,-0.004391265665037707,-0.00037025348747435436,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.749832851437633,-0.36250299103947464,-0.7995472227076992,0.5355428509953415,0.6124701531115725,-0.25280403477104896,-0.2574867634319085,0.1458902463718843,0.5420604592757907,0.5420604592757907,0.8845199999997048,0,0,-0.00022514226737516273,9.998845781756244e-05
+5671,1791279346520102486,11672745000000,1791279346516322215,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761029161269362,-0.004831612178183729,0.08746351233860385,0.9999999895726258,6.773919084160774e-05,-3.3502620399489085e-07,8.780035661824515e-05,0.6761,-0.0048,0.08736272042079296,1.0,0.0,0.0,0.0,-0.0034752622013976484,-0.015589081895441947,0.17956563731405328,-0.001084790082316319,0.000991428966242147,-6.85765239019601e-05,0.034931853207021205,0.052974660629933196,1.639554022986063,-0.001214423665320764,-0.004396132256044243,-0.0013119170982479498,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7267156685504617,-0.32728351980596304,-0.8283072487981991,0.5225387827544853,0.620462619067881,-0.23503030743052505,-0.2574867634319085,0.17956563731405328,0.5708204853662906,0.5708204853662906,0.9170399999996771,0,0,-0.00022283419099236734,8.908968981836125e-05
+5750,1791279347178159238,11673403000000,1791279347176330439,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761049861942435,-0.004824641432986182,0.08732751996151787,0.999999989256438,7.51955997027191e-05,1.9388242062958956e-06,8.527514875422931e-05,0.6761,-0.0048,0.08721778333505616,1.0,0.0,0.0,0.0,0.004422369668982067,-0.02052258042309999,0.21600584696147207,-0.0011001992911988058,0.0009815554039356968,0.0008436627568627743,0.04282948507740092,0.04804116210227515,1.6759942326334818,-0.0012298328742032507,-0.004406005818350693,-0.0003996778174832155,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7523028722543689,-0.3092027527732443,-0.8935212488029458,0.5260702217408384,0.6664183984298284,-0.22240052422871076,-0.2574867634319085,0.21600584696147207,0.6360344853710374,0.6360344853710374,0.9565199999996435,0,0,-0.00021736718196632842,9.999999025923074e-05
+5815,1791279347720038369,11673945000000,1791279347716331009,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761072749431674,-0.004827701661766161,0.08721354193686268,0.9999999885314127,8.058243837616761e-05,5.925509796750409e-06,8.860811454500498e-05,0.6761,-0.0048,0.0870991399546225,1.0,0.0,0.0,0.0,-0.003642567213870268,-0.019896934976758977,0.24489162467128534,-0.0011054213104489629,0.0009754582108689345,0.000823244897079723,0.034764548194548585,0.048666807548616166,1.704880010343295,-0.0012350548934534078,-0.004412103011417455,-0.0004200956772662667,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7580048302208559,-0.3737548611819507,-0.9261886280869598,0.5439042823650918,0.6842802518529428,-0.26731466995259956,-0.2574867634319085,0.24489162467128534,0.6687018646550513,0.6687018646550513,0.9890399999996159,0,0,-0.00021847973260128028,9.99919272645144e-05
+5887,1791279348319949111,11674545000000,1791279348316330559,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761106083212319,-0.00483123040054268,0.08709351943816887,0.999999988324976,7.828824075164875e-05,1.2607630626065865e-05,9.222207503808231e-05,0.6761,-0.0048,0.08696866033083137,1.0,0.0,0.0,0.0,-0.0037111283615499507,-0.02553391106126792,0.2661372550811263,-0.0011106838653108398,0.0009715937843048127,0.0008060596698710874,0.0346959870468689,0.04302983146410722,1.726125640753136,-0.0012403174483152847,-0.004415967437981577,-0.0004372809044749022,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7725670514684937,-0.3395586133924945,-0.9371838158819426,0.5417398589967025,0.6930853566352593,-0.24490837564853163,-0.2574867634319085,0.2661372550811263,0.6796970524500341,0.6796970524500341,1.0250399999995854,0,0,-0.00021752850331149964,8.429764805495949e-05
+5962,1791279348944996746,11675170000000,1791279348944330473,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761126008102349,-0.004825319967454267,0.08695887679235532,0.9999999889673562,7.252479806058285e-05,1.3911968796458806e-05,8.974833006943901e-05,0.6761,-0.0048,0.08683349432552573,1.0,0.0,0.0,0.0,-0.011122785812131535,-0.018131715387046672,0.29016125959371464,-0.0011124298445972893,0.0009672292703819087,0.0004899888429917919,0.027284329596287318,0.05043202713832847,1.7501496452657244,-0.0012420634276017343,-0.004420331951904481,-0.0007533517313541978,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7810325890559399,-0.36847927120422136,-0.9394911552604887,0.5590075921728371,0.6944913759042519,-0.2615001923642085,-0.2574867634319085,0.29016125959371464,0.6820043918285801,0.6820043918285801,1.0625399999995535,0,0,-0.00021475435505877017,-9.854373847340554e-05
+6031,1791279349519924871,11675745000000,1791279349512330970,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761216722193166,-0.004826991727153003,0.08685084481242997,0.9999999880011681,7.641987333587224e-05,3.218371745976363e-05,9.2545877673911e-05,0.6761,-0.0048,0.08670769868436969,1.0,0.0,0.0,0.0,-0.013243343738564978,-0.018153291355223727,0.3023602448929632,-0.0011426941116687798,0.0019264065052084366,0.0007888460559662659,0.025163771669853875,0.050410451170151416,1.762348630564973,-0.0012723276946732247,-0.003461154717077953,-0.0004544945183797238,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7860775688064537,-0.31527553732579433,-0.9810797710252986,0.5450340702186838,0.7153512767064397,-0.2267058247641903,-0.2574867634319085,0.3023602448929632,0.7235930075933901,0.7235930075933901,1.0970399999995242,0,0,-0.00022125203542475014,-1.7077335405463148e-05
+6100,1791279350094858863,11676320000000,1791279350092330782,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761098673079751,-0.004830851334935722,0.08671587384128215,0.999999988220703,7.722211782367193e-05,9.236489168968852e-06,9.461971246469282e-05,0.6761,-0.0048,0.08658111339940867,1.0,0.0,0.0,0.0,-0.011465434153530248,-0.017066868228087485,0.3247365704313592,-0.0011202459794059866,0.0009578988257053335,0.0007577761765001181,0.026941681254888605,0.05149687429728766,1.784724956103369,-0.0012498795624104316,-0.004429662396581056,-0.00048556439784587166,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7934235020590285,-0.30247382966596703,-1.007687880147051,0.547903333277377,0.7365558272276227,-0.2196272245493536,-0.2574867634319085,0.3247365704313592,0.7502011167151426,0.7502011167151426,1.1315399999994948,0,0,-0.00022320091485758387,-4.471779477122624e-05
+6166,1791279350644813730,11676870000000,1791279350644330291,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761134569710207,-0.00483063923554051,0.08659412564720774,0.9999999880111474,7.446813121452117e-05,2.2320352356242646e-05,9.683423340311701e-05,0.6761,-0.0048,0.08645731048171217,1.0,0.0,0.0,0.0,-0.013225768772331448,-0.02405652452293676,0.34643895855839646,-0.0011419787729072025,0.0015671539913427734,0.0007495256756957649,0.025181346636087405,0.044507218002438384,1.8064273442304062,-0.0012716123559116475,-0.0038204072309436163,-0.0004938148986502248,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8080451360298658,-0.3640263143927068,-1.0341975856145444,0.5712884601968835,0.7494951268679364,-0.25667733071683635,-0.2574867634319085,0.34643895855839646,0.776710822182636,0.776710822182636,1.1645399999994668,0,0,-0.00022663151930289908,-6.127259987070071e-05
+6238,1791279351244763306,11677470000000,1791279351244321082,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761048152884567,-0.004833673557928356,0.08646023274041863,0.9999999885713088,7.41277980414043e-05,6.778675846269573e-06,9.359148309936739e-05,0.6761,-0.0048,0.08631925010382677,1.0,0.0,0.0,0.0,-0.004003756170722822,-0.025983837343883737,0.35433496196566105,-0.001126984334929288,0.0009524822644094164,0.0007341624645204711,0.03440335923769603,0.042579905181491406,1.8143233476376708,-0.001256617917933733,-0.004435078957876973,-0.0005091781098255186,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8051441413821908,-0.28834295570623536,-1.1540217678093991,0.5605816773830916,0.8232874653844166,-0.20304683304492605,-0.2574867634319085,0.35433496196566105,0.8965350043774907,0.8965350043774907,1.2005399999994362,0,0,-0.0002337747588606901,9.95474217210301e-05
+6314,1791279351877706236,11678103000000,1791279351876320451,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761195232462985,-0.004828718195840028,0.08632195449006404,0.9999999874749814,8.009172455162584e-05,2.88782524873964e-05,9.614709410996213e-05,0.6761,-0.0048,0.08617066067756537,1.0,0.0,0.0,0.0,-0.013124440397261794,-0.014664257911329075,0.355459881530507,-0.0011531666101543033,0.0019645542911294685,0.0007477069951777995,0.02528267501115706,0.05389948461404607,1.8154482672025167,-0.0012828001931587483,-0.0034230069311569212,-0.0004956335791681902,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8822188583999445,-0.3629124787273894,-1.0361241907760927,0.5875362222094304,0.761423493160582,-0.25387681186730643,-0.2574867634319085,0.355459881530507,0.7786374273441843,0.7786374273441843,1.2385199999994039,0,0,-0.00023609564164392272,-9.999961555895993e-05
+6379,1791279352419653163,11678645000000,1791279352412321011,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.676111432472133,-0.004828303917005158,0.08619266925354271,0.999999989047354,7.496886027676151e-05,1.1185060498147372e-05,8.719358171159895e-05,0.6761,-0.0048,0.08604082017645652,1.0,0.0,0.0,0.0,-0.012020462196743336,-0.025495582437447588,0.3665915791250025,-0.001128685086005694,0.000949457849901969,0.0007239035689716383,0.026386653211675517,0.043068160087927555,1.8265799647970122,-0.001258318669010139,-0.004438103372384421,-0.0005194370053743514,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.8744022556849064,-0.3740448951750082,-1.1312674852130267,0.5979451371483522,0.8190600007599294,-0.2631548071446951,-0.2574867634319085,0.3665915791250025,0.8737807217811182,0.8737807217811182,1.2710399999993762,0,0,-0.00024165835867417812,3.336153275983184e-05
+6446,1791279352977560237,11679203000000,1791279352976321328,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761238887297704,-0.004831309257550751,0.08606284716891,0.9999999882515823,6.825016545682135e-05,3.756507999917236e-05,9.418322181289167e-05,0.6761,-0.0048,0.0859045648500714,1.0,0.0,0.0,0.0,-0.013399757143612197,-0.015281341026329096,0.36735326345317665,-0.0011556858330903695,0.0019620729576856955,0.0007356240133888774,0.025007358264806656,0.05328240149904605,1.8273416491251864,-0.0012853194160948145,-0.003425488264600694,-0.0005077165609571123,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.9634058592144724,-0.3064509464779356,-1.2096381097315492,0.5769627165111221,0.889551489106344,-0.22118376805038523,-0.2574867634319085,0.36735326345317665,0.9521513462996407,0.9521513462996407,1.3045199999993478,0,0,-0.0002471097566056083,9.99999347480795e-05
+6514,1791279353544526594,11679770000000,1791279353544321004,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761211476558985,-0.004828300102668727,0.0859244320867074,0.999999987595859,7.811477536448463e-05,3.2555867588729085e-05,9.533804896487416e-05,0.6761,-0.0048,0.0857625742056439,1.0,0.0,0.0,0.0,-0.013421021713810759,-0.008741049789572151,0.37669562437807125,-0.001157641838963378,0.0019590652636841807,0.0007281208948706095,0.024986093694608094,0.05982269273580299,1.836684010050081,-0.001287275421967823,-0.003428495958602209,-0.0005152196794753802,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.923790950971223,-0.3004797281917626,-1.1799636272364407,0.5948275309505514,0.8506930476110631,-0.2103383260694002,-0.2574867634319085,0.37669562437807125,0.9224768638045322,0.9224768638045322,1.3385399999993188,0,0,-0.0002537402517072466,4.143808071085486e-05
+6579,1791279354085468846,11680311000000,1791279354084320948,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761174524743555,-0.004833898511068515,0.08578289434644377,0.9999999870099566,8.206083825503683e-05,2.6944460731660497e-05,9.981465718183887e-05,0.6761,-0.0048,0.08562359869823237,1.0,0.0,0.0,0.0,-0.013934597244330577,-0.024795780243494873,0.38663988933910387,-0.0011328565768296318,0.0009457107785832575,0.0007074602323736828,0.024472518164088276,0.04376796228188027,1.8466282750111136,-0.0012624901598340768,-0.004441850443703132,-0.0005358803419723069,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.9345411692206761,-0.3122602026838338,-1.189253140952306,0.6038383153208237,0.8586666236615014,-0.21522983044990007,-0.2574867634319085,0.38663988933910387,0.9317663775203975,0.9317663775203975,1.3709999999992912,0,0,-0.00026036210147529153,-3.21017374954011e-05
+6642,1791279354610370224,11680836000000,1791279354608320609,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761154895929471,-0.004836705883332327,0.08564494190750384,0.999999987157565,7.7477866412665e-05,2.5456184152672974e-05,0.00010235671588816824,0.6761,-0.0048,0.08548557558127107,1.0,0.0,0.0,0.0,-0.013447614632180804,-0.01502740240270789,0.39664080783649736,-0.0011593061238893386,0.0018919029239396986,0.0007141689314729016,0.02495950077623805,0.05353634012266725,1.856629193508507,-0.0012889397068937835,-0.003495658298346691,-0.0005291716428730881,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.9863236384955087,-0.352007870830275,-1.2529686799247244,0.6160455502280674,0.91163053318489,-0.24127338903097284,-0.2574867634319085,0.39664080783649736,0.9954819164928159,0.9954819164928159,1.4024999999992644,0,0,-0.0002647702381688725,9.996922320366081e-05
+6699,1791279355085309172,11681311000000,1791279355080321470,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761148589468579,-0.004832467601007356,0.0855209752224583,0.9999999872290325,7.741199322046386e-05,2.646560086286104e-05,0.00010144828566996996,0.6761,-0.0048,0.08535905110615548,1.0,0.0,0.0,0.0,-0.013464700877825257,-0.014450630896617161,0.39668271314751546,-0.0011609683841280203,0.0019557483126287968,0.0006758958641785616,0.024942414530593596,0.05411311162875798,1.8566710988195252,-0.0012906019671324652,-0.003431812909657593,-0.0005674447101674281,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.0040916580121204,-0.36636599239628515,-1.1775581958970323,0.6333300401919366,0.8642302230936016,-0.24691465935852913,-0.2574867634319085,0.39668271314751546,0.9200714324651238,0.9200714324651238,1.4309999999992402,0,0,-0.00027054639202136874,-9.951558607579897e-05
+6765,1791279355635188902,11681861000000,1791279355632320807,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761169976512494,-0.004840392977537994,0.08537536887114813,0.9999999873055422,7.343006199294946e-05,3.152403978160672e-05,0.0001022058747422359,0.6761,-0.0048,0.0852086323019,1.0,0.0,0.0,0.0,-0.013486230340596348,-0.02345865243898016,0.400255562533977,-0.0011623961138208878,0.001956078435678997,0.0006474259218955852,0.024920885067822505,0.04510509008639498,1.8602439482059867,-0.0012920296968253328,-0.0034314827866073925,-0.0005959146524504045,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.9968890918442651,-0.33795487715126954,-1.2027615382507912,0.6196770669498878,0.8735527834303437,-0.2327035006731668,-0.2574867634319085,0.400255562533977,0.9452747748188828,0.9452747748188828,1.4639999999992122,0,0,-0.0002788753871260915,-9.999967107011116e-05
+6815,1791279356052189087,11682278000000,1791279356048320695,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.67611557139324,-0.004838001015838516,0.08526102683110459,0.9999999873819717,7.042800895444414e-05,3.224887987909276e-05,0.000103338405536892,0.6761,-0.0048,0.08509124682061496,1.0,0.0,0.0,0.0,-0.011884294878015348,-0.015303735734849104,0.40706007991314475,-0.001159590452114667,0.001820326066917322,0.0007055813424970279,0.026522820530403505,0.05326000679052604,1.8670484655851545,-0.0012892240351191119,-0.0035672351553690676,-0.0005377592318489619,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.008817375729332,-0.29873761214784295,-1.2734296964191314,0.6125551557300721,0.9236221229873853,-0.20271772973196284,-0.2574867634319085,0.40706007991314475,1.015942932987223,1.015942932987223,1.4890199999991909,0,0,-0.0002856139494755773,1.7855649175723266e-05
+6870,1791279356510171043,11682736000000,1791279356508329981,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761140928848128,-0.00483062667393576,0.08512861223146859,0.9999999872684301,7.52423016038667e-05,3.129193963074749e-05,0.00010131838191022225,0.6761,-0.0048,0.08495810109648272,1.0,0.0,0.0,0.0,-0.01229253419133888,-0.013682673722764015,0.41625753284601763,-0.001164503309721428,0.0019511137795597496,0.0006993677149381553,0.026114581217079973,0.05488106880261113,1.8762459185180274,-0.001294136892725873,-0.00343644744272664,-0.0005439728594078344,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.0113454494499958,-0.3002227147060051,-1.2614264369006232,0.6109179581879147,0.9128405041675143,-0.202822710569522,-0.2574867634319085,0.41625753284601763,1.0039396734687147,1.0039396734687147,1.5164999999991675,0,0,-0.00029541250938100303,-9.999999025923074e-05
+6923,1791279356952017227,11683178000000,1791279356948330829,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761042051212149,-0.004834514801062177,0.08499150072740957,0.9999999881684036,7.134901116456836e-05,7.389440686998099e-06,9.980366543816378e-05,0.6761,-0.0048,0.08482509517205279,1.0,0.0,0.0,0.0,-0.012067300162271158,-0.023215337723235814,0.4167486991807756,-0.0011383608083875905,0.0009388748425651185,0.000683360993789307,0.026339815246147695,0.04534840480213933,1.8767370848527853,-0.0012679943913920355,-0.004448686379721271,-0.0005599795805566828,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.0716921193984246,-0.30433402506575663,-1.2160325434302104,0.6251942897928326,0.9021610688762498,-0.20206209588783144,-0.2574867634319085,0.4167486991807756,0.9585457799983019,0.9585457799983019,1.543019999999145,0,0,-0.00030641042086529256,-9.625066996055693e-05
+6971,1791279357351513326,11683578000000,1791279357344329663,DOWN_FORCE_DETACH,6,0.055,0.055002398788928986,0.6761223248395587,-0.004841636714293746,0.08487938903831074,0.9999999868613111,6.900929888864513e-05,4.6122635260418145e-05,0.00010407046309281315,0.6761,-0.0048,0.08470050758598954,1.0,0.0,0.0,0.0,-0.020747509774057322,-0.0123171409886743,0.41669855567419223,-0.0011643071810476919,0.0019514216778101449,0.0006979756343236795,0.01765960563436153,0.056246601536700844,1.876686941346202,-0.0012939407640521368,-0.003436139544476245,-0.0005453649400223102,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.0886476739535258,-0.26982870233388834,-1.251413873732397,0.6112054131946023,0.9355271805401937,-0.17972089314777953,-0.2574867634319085,0.41669855567419223,0.9939271103004885,0.9939271103004885,1.5670199999991246,0,0,-0.0003189002918777258,-9.99999347480795e-05
+7023,1791279357783941792,11684011000000,1791279357776329907,DOWN_FORCE_DETACH,6,0.055,0.055001743137836456,0.6761155227139761,-0.004840630894590576,0.08473449626585534,0.9999999884531239,6.028555024795152e-05,3.416397751230993e-05,9.866656826938694e-05,0.6761,-0.0048,0.08455956569377131,1.0,0.0,0.0,0.0,-0.013187299059708318,-0.012852149484175353,0.42674088505868735,-0.0011664887384001974,0.0019491731145963149,0.0006908347274377118,0.025219816348710535,0.05571159304119979,1.886729270730697,-0.0012961223214046423,-0.003438388107690075,-0.0005525058469082779,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.088020617568601,-0.32104455256169173,-1.300628494775999,0.6322016876894443,0.9581782111763171,-0.21095816330399866,-0.2574867634319085,0.42674088505868735,1.0431417313440905,1.0431417313440905,1.5929999999991025,0,0,-0.00032972112307054274,-1.9579608329735364e-06
+7079,1791279358247310370,11684475000000,1791279358244329767,DOWN_SETTLE,6,0.055,0.055001743137836456,0.676114501322375,-0.004844290181250494,0.0845896125047829,0.9999999882882985,5.8873136860885286e-05,3.397492275528667e-05,0.00010122215941751048,0.6761,-0.0048,0.08441145459032436,1.0,0.0,0.0,0.0,-0.013549802316819428,-0.021126941914853217,0.43196709356256857,-0.0011679420378681304,0.0019498512512496659,0.000690355265129466,0.024857313091599425,0.047436800610521926,1.8919554792345783,-0.0012975756208725754,-0.003437709971036724,-0.0005529853092165237,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1503482448234679,-0.3485328814166274,-1.224082964197016,0.643111559825964,0.9282963374090046,-0.22886973666886462,-0.2574867634319085,0.43196709356256857,0.9665962007651074,0.9665962007651074,1.5943199999991013,0,0,-0.0003076203461724062,9.999999025923074e-05
+7137,1791279358729789109,11684958000000,1791279358724330088,DOWN_SETTLE,6,0.055,0.055001743137836456,0.6761150624353326,-0.004848680403867673,0.084444636743722,0.9999999879441456,6.020600584974323e-05,3.3181998709145656e-05,0.00010406135236289662,0.6761,-0.0048,0.08426869411198452,1.0,0.0,0.0,0.0,-0.01965199314079186,-0.013291514588488137,0.42673377772796695,-0.0011663936676850936,0.0019493036885849854,0.0006900992267884208,0.018755122267626993,0.055272227936887006,1.8867221633999767,-0.0012960272506895385,-0.0034382575337014044,-0.0005532413475575689,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1283737130613125,-0.2521528454726798,-1.3247035966658502,0.6171978327485245,0.9862877491073929,-0.15936498490492632,-0.2574867634319085,0.42673377772796695,1.0672168332339418,1.0672168332339418,1.5943199999991013,0,0,-0.00028347035087719776,9.999999025923074e-05
+7197,1791279359229134013,11685458000000,1791279359224329690,DOWN_SETTLE,6,0.055,0.055002398788928986,0.6761166444647219,-0.004853758447581671,0.08430898292742671,0.9999999877822678,5.804130232336147e-05,3.56982808168069e-05,0.00010599607751123963,0.6761,-0.0048,0.0841331964353259,1.0,0.0,0.0,0.0,-0.01912002142651717,-0.023529160615372594,0.4206368447049982,-0.0011673700771380258,0.0019512701428031232,0.0006925483917066343,0.019287093981901683,0.04503458191000255,1.880625230377008,-0.0012970036601424708,-0.0034362910794832665,-0.0005507921826393554,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1665775400215797,-0.3322474883618685,-1.3299345570971235,0.6477083215537357,0.9988607681741035,-0.20813244580649987,-0.2574867634319085,0.4206368447049982,1.072447793665215,1.072447793665215,1.5943199999991013,0,0,-0.0002584703557475824,9.999999025923074e-05
+7267,1791279359812439995,11686042000000,1791279359808329873,DOWN_SETTLE,6,0.055,0.055002398788928986,0.676106612654651,-0.004855001886091847,0.08416472490513396,0.9999999888452196,5.042453337023809e-05,2.3962948914894966e-05,0.00010312889321737081,0.6761,-0.0048,0.08399076154590539,1.0,0.0,0.0,0.0,-0.013522707425725998,-0.018449567623877658,0.4166937167433382,-0.001165356435573868,0.0019517752497350553,0.0006989465087850304,0.024884407982692855,0.050114174901497485,1.876682102415348,-0.001294990018578313,-0.0034357859725513344,-0.0005443940655609594,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1499339834429074,-0.4098490228171625,-1.2114365337117545,0.6682546801736788,0.9166410103968099,-0.2600477209218051,-0.2574867634319085,0.4166937167433382,0.9539497702798461,0.9539497702798461,1.5943199999991013,0,0,-0.0002292703614361916,9.999999025923074e-05
+7329,1791279360327814840,11686558000000,1791279360320330059,DOWN_SETTLE,6,0.055,0.055001743137836456,0.6761015003097091,-0.0048569827197433345,0.08404626690482403,0.9999999884341395,4.865038470287275e-05,2.1040637587537727e-05,0.00010846666218320893,0.6761,-0.0048,0.08387910153810503,1.0,0.0,0.0,0.0,-0.022585922033426967,-0.02413061482053199,0.4048991932042778,-0.001163705055761038,0.001954969744441826,0.0007076183882941612,0.015821193374991886,0.04443312770484315,1.8648875788762875,-0.001293338638765483,-0.003432591477844564,-0.0005357221860518285,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1469694849507963,-0.34085132045808125,-1.3142250157288482,0.6443981324998307,0.9819555483059623,-0.21312334804812103,-0.2574867634319085,0.4048991932042778,1.0567382522969397,1.0567382522969397,1.5943199999991013,0,0,-0.00020347036646242855,9.999999025923074e-05
+7411,1791279361010947408,11687242000000,1791279361004329585,DOWN_SETTLE,6,0.055,0.055001743137836456,0.6760951893876198,-0.0048663323149918366,0.08391857648711658,0.9999999877906193,4.9174564002242974e-05,1.1688411849650189e-05,0.00011535540335644794,0.6761,-0.0048,0.08375160710516276,1.0,0.0,0.0,0.0,-0.02458806475392028,-0.030365207643574865,0.3894198443013053,-0.0011619422588413433,0.001957220101569125,0.0007220867564744377,0.013819050654498573,0.03819853488180028,1.849408229973315,-0.0012915758418457883,-0.0034303411207172647,-0.000521253817871552,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1589038400925622,-0.3097035555677261,-1.1842968039805657,0.6401772865818353,0.9029294398443538,-0.18836395336961806,-0.2574867634319085,0.3894198443013053,0.9268100405486572,0.9268100405486572,1.5943199999991013,0,0,-0.00016927037312511472,9.999999025923074e-05
+7491,1791279361676213004,11687908000000,1791279361672329159,DOWN_SETTLE,6,0.055,0.055002398788928986,0.6761189133062558,-0.004858868914958928,0.08383919907094804,0.9999999907091505,3.342810373348662e-05,4.008650056772736e-05,8.54411950733342e-05,0.6761,-0.0048,0.0836499452844979,1.0,0.0,0.0,0.0,-0.03185176535635943,-0.015460741187431515,0.3665098747745943,-0.0011539728152431647,0.0019634556294490318,0.0007372688557822656,0.006555350052059424,0.05310300133794363,1.826498260446604,-0.0012836063982476097,-0.003424105592837358,-0.0005060717185637241,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1387166869885375,-0.26684130115632115,-1.249044462357263,0.6341743458641034,0.9293023524459411,-0.15804185933384604,-0.2574867634319085,0.3665098747745943,0.9915576989253545,0.9915576989253545,1.5943199999991013,0,0,-0.00013597037961246704,9.999999025923074e-05
+7582,1791279362434325791,11688667000000,1791279362432329608,DOWN_SETTLE,6,0.055,0.055001743137836456,0.6761092530678163,-0.004864604809030698,0.08373542689949307,0.9999999892008332,4.886090384610266e-05,2.7072600694645044e-05,9.96036357962393e-05,0.6761,-0.0048,0.0835611268135626,1.0,0.0,0.0,0.0,-0.028494851200288898,-0.02588482869988487,0.35644757863158905,-0.001154689741798058,0.001965672053554098,0.0007457901325525834,0.009912264208129955,0.04267891382549027,1.8164359643035988,-0.001284323324802503,-0.0034218891687322916,-0.0004975504417934064,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,1.1550544670473835,-0.2959763231347946,-1.2374767494330048,0.6245984647640048,0.9300194991238572,-0.1791149951123181,-0.2574867634319085,0.35644757863158905,0.9799899860010963,0.9799899860010963,1.5943199999991013,0,0,-9.802038700571091e-05,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e63fbb7b10cdef2d1f3cfe7a362ec5762d0f786a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ed42da01eeb1ddf1ed7954c4781eba2aea1a85c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791279331246459321,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.827163976e-09,1.969695500e-10,-6.680100917e-12,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017257666e-01,1.814597957e-06,8.297806643e-01
+1,8.166666667e-01,DOWN_FORCE_DETACH,1791279332478318351,3.759197258e-06,-2.372355878e-06,4.083151387e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.765839960e-08,7.624576314e-09,1.494876001e-09,7.015416307e-01,-8.213945567e-07,8.407450243e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258424e-01,1.822025564e-06,8.297806658e-01
+2,1.483333333e+00,DOWN_FORCE_DETACH,1791279333478154155,7.538069060e-06,-7.146638771e-06,-5.743855405e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.197889106e-07,1.142113354e-08,3.523207059e-09,7.015454096e-01,-5.595677450e-06,8.407351973e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258845e-01,1.825822121e-06,8.297806678e-01
+3,2.016666667e+00,DOWN_FORCE_DETACH,1791279334278159081,2.405276953e-06,-9.351005053e-06,-6.729701432e-05,1.429999963e-06,-5.791137667e-06,-6.368941272e-05,1.321283379e-06,-5.729151668e-06,-6.332959251e-05,7.015402768e-01,-7.800043732e-06,8.406736442e-01,7.015393015e-01,-4.240176346e-06,8.406772518e-01,7.017270860e-01,-3.914750680e-06,8.297173347e-01
+4,2.350000000e+00,DOWN_FORCE_DETACH,1791279334778524415,3.488860642e-05,-2.311200270e-05,-1.267134265e-04,3.917921792e-05,-2.066816145e-05,-1.084775964e-04,3.990225663e-05,-2.060324317e-05,-1.079059561e-04,7.015727601e-01,-2.156104137e-05,8.406142278e-01,7.015770507e-01,-1.911720013e-05,8.406324636e-01,7.017656670e-01,-1.878884219e-05,8.296727584e-01
+5,2.766666667e+00,DOWN_FORCE_DETACH,1791279335397120632,5.783718623e-06,-3.174441225e-05,-2.529373865e-04,7.401649789e-06,-2.967159507e-05,-2.473530317e-04,6.891220460e-06,-2.955199709e-05,-2.460954764e-04,7.015436552e-01,-3.019345093e-05,8.404880038e-01,7.015452731e-01,-2.812063375e-05,8.404935882e-01,7.017326560e-01,-2.773759610e-05,8.295345688e-01
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+7,3.516666667e+00,DOWN_FORCE_DETACH,1791279336516787149,1.687841083e-05,-4.725548842e-05,-4.859662386e-04,1.491961734e-05,-4.299635857e-05,-4.719225058e-04,1.378817337e-05,-4.282808825e-05,-4.698422950e-04,7.015547499e-01,-4.570452710e-05,8.402549749e-01,7.015527911e-01,-4.144539725e-05,8.402690187e-01,7.017395529e-01,-4.101368726e-05,8.293108220e-01
+8,3.866666667e+00,DOWN_FORCE_DETACH,1791279337048324692,2.904318942e-05,-4.304432486e-05,-6.126054217e-04,2.327999238e-05,-4.089664046e-05,-6.133490379e-04,2.179818432e-05,-4.070671872e-05,-6.107559871e-04,7.015669147e-01,-4.149336353e-05,8.401283358e-01,7.015611515e-01,-3.934567914e-05,8.401275921e-01,7.017475629e-01,-3.889231773e-05,8.291699083e-01
+9,4.200000000e+00,DOWN_FORCE_DETACH,1791279337547263706,2.620820172e-05,-5.094516756e-05,-7.512582705e-04,2.530664493e-05,-4.668488848e-05,-7.339909267e-04,2.346163036e-05,-4.645500475e-05,-7.310888181e-04,7.015640797e-01,-4.939420624e-05,8.399896829e-01,7.015631781e-01,-4.513392715e-05,8.400069503e-01,7.017492264e-01,-4.464060376e-05,8.290495755e-01
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+12,5.016666667e+00,DOWN_FORCE_DETACH,1791279338778265406,5.788891781e-05,-5.443069820e-05,-1.128126400e-03,5.767086225e-05,-5.466290228e-05,-1.128114944e-03,5.530111023e-05,-5.439266765e-05,-1.124187752e-03,7.015957604e-01,-5.287973688e-05,8.396128148e-01,7.015955423e-01,-5.311194096e-05,8.396128262e-01,7.017810659e-01,-5.257826666e-05,8.286564766e-01
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+14,5.516666667e+00,DOWN_FORCE_DETACH,1791279339516326034,5.640996943e-05,-6.283560361e-05,-1.406857948e-03,5.319020566e-05,-6.539485333e-05,-1.395976393e-03,4.981261237e-05,-6.510050647e-05,-1.391487083e-03,7.015942815e-01,-6.128464229e-05,8.393340832e-01,7.015910617e-01,-6.384389201e-05,8.393449648e-01,7.017755774e-01,-6.328610548e-05,8.283891772e-01
+15,5.783333333e+00,DOWN_FORCE_DETACH,1791279339915697599,5.580597523e-05,-6.900612109e-05,-1.556071823e-03,5.701127131e-05,-6.633009835e-05,-1.539031864e-03,5.319541880e-05,-6.598348028e-05,-1.534310553e-03,7.015936775e-01,-6.745515977e-05,8.391848694e-01,7.015948828e-01,-6.477913703e-05,8.392019093e-01,7.017789602e-01,-6.416907930e-05,8.282463538e-01
+16,6.033333333e+00,DOWN_FORCE_DETACH,1791279340297698640,6.224066946e-05,-7.380684691e-05,-1.692007395e-03,6.386138105e-05,-7.856360795e-05,-1.682014789e-03,5.976046099e-05,-7.817009665e-05,-1.677071255e-03,7.016001122e-01,-7.225588559e-05,8.390489338e-01,7.016017329e-01,-7.701264663e-05,8.390589264e-01,7.017855252e-01,-7.635569566e-05,8.281035931e-01
+17,6.333333333e+00,DOWN_FORCE_DETACH,1791279340746868484,6.752399804e-05,-7.291860533e-05,-1.837884083e-03,6.807909490e-05,-7.559791154e-05,-1.824770342e-03,6.357273628e-05,-7.521182719e-05,-1.819855013e-03,7.016053955e-01,-7.136764401e-05,8.389030571e-01,7.016059506e-01,-7.404695022e-05,8.389161708e-01,7.017893375e-01,-7.339742620e-05,8.279608093e-01
+18,6.600000000e+00,DOWN_FORCE_DETACH,1791279341146724109,7.222146600e-05,-8.355983489e-05,-1.959055227e-03,7.190389352e-05,-8.358123409e-05,-1.959296918e-03,6.699020362e-05,-8.321061806e-05,-1.954305877e-03,7.016100929e-01,-8.200887356e-05,8.387818860e-01,7.016097754e-01,-8.203027277e-05,8.387816443e-01,7.017927549e-01,-8.139621707e-05,8.278263584e-01
+19,6.933333333e+00,DOWN_FORCE_DETACH,1791279341647919351,7.964370801e-05,-8.082871203e-05,-2.100935789e-03,7.483521380e-05,-8.494888862e-05,-2.096273118e-03,6.955222295e-05,-8.453082238e-05,-2.091333896e-03,7.016175152e-01,-7.927775071e-05,8.386400054e-01,7.016127067e-01,-8.339792730e-05,8.386446681e-01,7.017953170e-01,-8.271642139e-05,8.276893304e-01
+20,7.250000000e+00,DOWN_FORCE_DETACH,1791279342116042925,8.099763360e-05,-8.764379317e-05,-2.234000807e-03,7.617589037e-05,-8.764201558e-05,-2.234509454e-03,7.040369143e-05,-8.720919379e-05,-2.229671955e-03,7.016188691e-01,-8.609283185e-05,8.385069404e-01,7.016140474e-01,-8.609105426e-05,8.385064317e-01,7.017961684e-01,-8.539479280e-05,8.275509924e-01
+21,7.550000000e+00,DOWN_FORCE_DETACH,1791279342578690076,7.896760061e-05,-9.506441744e-05,-2.360176389e-03,7.864631528e-05,-9.494351873e-05,-2.360274462e-03,7.251804764e-05,-9.445926393e-05,-2.355322057e-03,7.016168391e-01,-9.351345612e-05,8.383807648e-01,7.016165178e-01,-9.339255740e-05,8.383806667e-01,7.017982828e-01,-9.264486294e-05,8.274253423e-01
+22,7.883333333e+00,DOWN_FORCE_DETACH,1791279343078268147,8.656358744e-05,-9.557641545e-05,-2.480140590e-03,8.339956645e-05,-9.329458653e-05,-2.465097153e-03,7.704400880e-05,-9.284297493e-05,-2.460511540e-03,7.016244351e-01,-9.402545413e-05,8.382608006e-01,7.016212710e-01,-9.174362521e-05,8.382758440e-01,7.018028088e-01,-9.102857394e-05,8.273201528e-01
+23,8.250000000e+00,DOWN_FORCE_DETACH,1791279343619882466,8.740638835e-05,-9.723709600e-05,-2.620657296e-03,8.807552556e-05,-9.837864133e-05,-2.607908889e-03,8.130086127e-05,-9.791829131e-05,-2.603405755e-03,7.016252779e-01,-9.568613468e-05,8.381202839e-01,7.016259470e-01,-9.682768001e-05,8.381330323e-01,7.018070656e-01,-9.610389032e-05,8.271772586e-01
+24,8.600000000e+00,DOWN_FORCE_DETACH,1791279344146873215,9.139715309e-05,-1.008047925e-04,-2.747068213e-03,9.126953062e-05,-1.004122947e-04,-2.747029792e-03,8.410102646e-05,-9.994374156e-05,-2.742512663e-03,7.016292686e-01,-9.925383117e-05,8.379938730e-01,7.016291410e-01,-9.886133340e-05,8.379939114e-01,7.018098658e-01,-9.812934058e-05,8.270381516e-01
+25,8.983333333e+00,DOWN_FORCE_DETACH,1791279344717806811,9.581394257e-05,-9.773334169e-05,-2.871754569e-03,9.451231355e-05,-1.005994090e-04,-2.860087840e-03,8.707915016e-05,-1.001353959e-04,-2.855859179e-03,7.016336854e-01,-9.618238037e-05,8.378691866e-01,7.016323838e-01,-9.904844765e-05,8.378808533e-01,7.018128439e-01,-9.832099486e-05,8.269248051e-01
+26,9.400000000e+00,DOWN_FORCE_DETACH,1791279345348017231,9.749903854e-05,-1.036045246e-04,-3.015075185e-03,9.696894152e-05,-1.030665806e-04,-2.998435950e-03,8.910933882e-05,-1.025364233e-04,-2.994313839e-03,7.016353705e-01,-1.020535633e-04,8.377258660e-01,7.016348404e-01,-1.015156192e-04,8.377425052e-01,7.018148741e-01,-1.007220223e-04,8.267863505e-01
+27,9.816666667e+00,DOWN_FORCE_DETACH,1791279345977917464,1.037558095e-04,-1.028298361e-04,-3.142532965e-03,1.021768385e-04,-1.045962098e-04,-3.139216816e-03,9.400476430e-05,-1.040728285e-04,-3.135079342e-03,7.016416273e-01,-1.012788748e-04,8.375984082e-01,7.016400483e-01,-1.030452485e-04,8.376017244e-01,7.018197695e-01,-1.022584275e-04,8.266455850e-01
+28,1.018333333e+01,DOWN_FORCE_DETACH,1791279346516093089,1.039055904e-04,-1.024202726e-04,-3.262021971e-03,1.023764167e-04,-1.035473327e-04,-3.256523110e-03,9.378470993e-05,-1.030269238e-04,-3.252512042e-03,7.016417771e-01,-1.008693113e-04,8.374789192e-01,7.016402479e-01,-1.019963714e-04,8.374844181e-01,7.018195495e-01,-1.012125228e-04,8.265281523e-01
+29,1.061666667e+01,DOWN_FORCE_DETACH,1791279347177918384,1.072791754e-04,-9.854688017e-05,-3.396381489e-03,1.054924674e-04,-1.038075542e-04,-3.392422088e-03,9.650032253e-05,-1.033063041e-04,-3.388532601e-03,7.016451507e-01,-9.699591884e-05,8.373445597e-01,7.016433639e-01,-1.022565929e-04,8.373485191e-01,7.018222651e-01,-1.014919031e-04,8.263921317e-01
+30,1.098333333e+01,DOWN_FORCE_DETACH,1791279347719669856,1.099043824e-04,-1.006805499e-04,-3.508715328e-03,1.071282441e-04,-1.013989000e-04,-3.505248938e-03,9.778517918e-05,-1.009166356e-04,-3.501458482e-03,7.016477759e-01,-9.912958857e-05,8.372322259e-01,7.016449997e-01,-9.984793872e-05,8.372356922e-01,7.018235499e-01,-9.910223460e-05,8.262792058e-01
+31,1.138333333e+01,DOWN_FORCE_DETACH,1791279348318148569,1.096553609e-04,-1.020357315e-04,-3.637645027e-03,1.079220057e-04,-1.036197546e-04,-3.636565798e-03,9.820044231e-05,-1.031258830e-04,-3.632720296e-03,7.016475268e-01,-1.004847701e-04,8.371032962e-01,7.016457935e-01,-1.020687933e-04,8.371043754e-01,7.018239652e-01,-1.013114820e-04,8.261479440e-01
+32,1.180000000e+01,DOWN_FORCE_DETACH,1791279348946791978,1.137347467e-04,-1.028511122e-04,-3.767008589e-03,1.122767681e-04,-1.036106348e-04,-3.754628327e-03,1.022386215e-04,-1.031011057e-04,-3.750989573e-03,7.016516062e-01,-1.013001509e-04,8.369739326e-01,7.016501482e-01,-1.020596734e-04,8.369863129e-01,7.018280034e-01,-1.012867047e-04,8.260296747e-01
+33,1.218333333e+01,DOWN_FORCE_DETACH,1791279349519307717,1.212292494e-04,-1.051765615e-04,-3.876663256e-03,1.214996829e-04,-1.013517296e-04,-3.873681249e-03,1.112582887e-04,-1.008654121e-04,-3.870100622e-03,7.016591007e-01,-1.036256002e-04,8.368642779e-01,7.016593712e-01,-9.980076823e-05,8.368672599e-01,7.018370230e-01,-9.905101111e-05,8.259105637e-01
+34,1.256666667e+01,DOWN_FORCE_DETACH,1791279350097681118,1.145528608e-04,-1.022197376e-04,-4.008482122e-03,1.142706113e-04,-1.047276104e-04,-3.998533160e-03,1.034304129e-04,-1.042139373e-04,-3.994983900e-03,7.016524243e-01,-1.006687763e-04,8.367324591e-01,7.016521421e-01,-1.031766491e-04,8.367424080e-01,7.018291952e-01,-1.023995363e-04,8.257856804e-01
+35,1.293333333e+01,DOWN_FORCE_DETACH,1791279350647275096,1.147642128e-04,-1.073174813e-04,-4.133220312e-03,1.104687941e-04,-1.071834959e-04,-4.117704558e-03,9.910693871e-05,-1.067029618e-04,-4.114102721e-03,7.016526357e-01,-1.057665199e-04,8.366077209e-01,7.016483403e-01,-1.056325346e-04,8.366232366e-01,7.018248717e-01,-1.048885609e-04,8.256665616e-01
+36,1.333333333e+01,DOWN_FORCE_DETACH,1791279351246183336,1.065393518e-04,-1.029597930e-04,-4.266496463e-03,1.073232785e-04,-1.032033851e-04,-4.253213109e-03,9.539501125e-05,-1.027301319e-04,-4.249540538e-03,7.016444108e-01,-1.014088317e-04,8.364744447e-01,7.016451948e-01,-1.016524237e-04,8.364877281e-01,7.018211598e-01,-1.009157309e-04,8.255311238e-01
+37,1.375000000e+01,DOWN_FORCE_DETACH,1791279351877347527,1.220224277e-04,-1.041469197e-04,-4.401123975e-03,1.216595901e-04,-1.043364505e-04,-4.401106045e-03,1.096085178e-04,-1.038778245e-04,-4.397326820e-03,7.016598939e-01,-1.025959584e-04,8.363398172e-01,7.016595311e-01,-1.027854892e-04,8.363398351e-01,7.018353733e-01,-1.020634235e-04,8.253833375e-01
+38,1.411666667e+01,DOWN_FORCE_DETACH,1791279352415930033,1.128275086e-04,-9.983426691e-05,-4.533563203e-03,1.113867344e-04,-1.001628014e-04,-4.519291731e-03,9.869311967e-05,-9.968615705e-05,-4.515580269e-03,7.016506990e-01,-9.828330559e-05,8.362073780e-01,7.016492582e-01,-9.861184004e-05,8.362216495e-01,7.018244579e-01,-9.787175606e-05,8.252650840e-01
+39,1.448333333e+01,DOWN_FORCE_DETACH,1791279352977331870,1.234248848e-04,-1.021021849e-04,-4.666358791e-03,1.236454891e-04,-1.030980352e-04,-4.658248515e-03,1.107639404e-04,-1.026444705e-04,-4.654477839e-03,7.016612964e-01,-1.005512236e-04,8.360745824e-01,7.016615170e-01,-1.015470739e-04,8.360826927e-01,7.018365287e-01,-1.008300695e-04,8.251261865e-01
+40,1.486666667e+01,DOWN_FORCE_DETACH,1791279353546309748,1.222167258e-04,-1.074097892e-04,-4.801714106e-03,1.220206871e-04,-1.076439734e-04,-4.801501583e-03,1.086603878e-04,-1.071919421e-04,-4.797705876e-03,7.016600882e-01,-1.058588279e-04,8.359392271e-01,7.016598922e-01,-1.060930120e-04,8.359394396e-01,7.018344251e-01,-1.053775411e-04,8.249829584e-01
+41,1.523333333e+01,DOWN_FORCE_DETACH,1791279354082266674,1.191420759e-04,-1.058037305e-04,-4.942020550e-03,1.171504272e-04,-1.084906619e-04,-4.925625504e-03,1.032034862e-04,-1.080056419e-04,-4.921902277e-03,7.016570136e-01,-1.042527691e-04,8.357989206e-01,7.016550219e-01,-1.069397006e-04,8.358153157e-01,7.018289682e-01,-1.061912409e-04,8.248587620e-01
+42,1.558333333e+01,DOWN_FORCE_DETACH,1791279354613400721,1.165235119e-04,-1.141088781e-04,-5.084445955e-03,1.153550371e-04,-1.099300623e-04,-5.071263980e-03,1.008775856e-04,-1.094348933e-04,-5.067346651e-03,7.016543950e-01,-1.125579168e-04,8.356564952e-01,7.016532265e-01,-1.083791010e-04,8.356696772e-01,7.018266423e-01,-1.076204923e-04,8.247133177e-01
+43,1.590000000e+01,DOWN_FORCE_DETACH,1791279355083799157,1.162248840e-04,-1.129079199e-04,-5.205392917e-03,1.160232974e-04,-1.129941751e-04,-5.205261147e-03,1.010836692e-04,-1.124647632e-04,-5.201213699e-03,7.016540964e-01,-1.113569586e-04,8.355355483e-01,7.016538948e-01,-1.114432138e-04,8.355356800e-01,7.018268484e-01,-1.106503623e-04,8.245794506e-01
+44,1.626666667e+01,DOWN_FORCE_DETACH,1791279355631894212,1.183988146e-04,-1.080762190e-04,-5.355152577e-03,1.186727006e-04,-1.132037107e-04,-5.345035838e-03,1.033300831e-04,-1.126531364e-04,-5.340941034e-03,7.016562703e-01,-1.065252577e-04,8.353857886e-01,7.016565442e-01,-1.116527493e-04,8.353959053e-01,7.018290948e-01,-1.108387354e-04,8.244397233e-01
+45,1.655000000e+01,DOWN_FORCE_DETACH,1791279356052529668,1.175409794e-04,-1.092903740e-04,-5.465993003e-03,1.156807719e-04,-1.120087627e-04,-5.459130719e-03,9.986677777e-05,-1.114651336e-04,-5.455029091e-03,7.016554125e-01,-1.077394127e-04,8.352749482e-01,7.016535523e-01,-1.104578013e-04,8.352818105e-01,7.018256315e-01,-1.096507327e-04,8.243256352e-01
+46,1.685000000e+01,DOWN_FORCE_DETACH,1791279356513382408,1.174799660e-04,-1.061680614e-04,-5.596039963e-03,1.172942978e-04,-1.061336635e-04,-5.595986690e-03,1.010706149e-04,-1.055699729e-04,-5.591739462e-03,7.016553514e-01,-1.046171001e-04,8.351449012e-01,7.016551658e-01,-1.045827022e-04,8.351449545e-01,7.018268354e-01,-1.037555719e-04,8.241889248e-01
+47,1.715000000e+01,DOWN_FORCE_DETACH,1791279356953797936,1.069392357e-04,-1.095093884e-04,-5.731770790e-03,1.042203854e-04,-1.060006063e-04,-5.715313291e-03,8.721598050e-05,-1.054493730e-04,-5.711111316e-03,7.016448107e-01,-1.079584271e-04,8.350091704e-01,7.016420919e-01,-1.044496450e-04,8.350256279e-01,7.018129807e-01,-1.036349720e-04,8.240695530e-01
+48,1.741666667e+01,DOWN_FORCE_DETACH,1791279357352272483,1.235644599e-04,-1.104999607e-04,-5.847162681e-03,1.227300319e-04,-1.102446639e-04,-5.827882784e-03,1.058273043e-04,-1.097233276e-04,-5.823573571e-03,7.016614359e-01,-1.089489994e-04,8.348937785e-01,7.016606015e-01,-1.086937025e-04,8.349130584e-01,7.018315920e-01,-1.079089267e-04,8.239570907e-01
+49,1.770000000e+01,DOWN_FORCE_DETACH,1791279357784889305,1.166962538e-04,-1.164907902e-04,-5.992383845e-03,1.162018425e-04,-1.141528704e-04,-5.978966379e-03,9.862410616e-05,-1.136427412e-04,-5.974412762e-03,7.016545677e-01,-1.149398289e-04,8.347485573e-01,7.016540733e-01,-1.126019090e-04,8.347619748e-01,7.018243889e-01,-1.118283403e-04,8.238062515e-01
+50,1.801666667e+01,DOWN_SETTLE,1791279358251156397,1.155510914e-04,-1.187844859e-04,-6.137216149e-03,1.170819504e-04,-1.183929120e-04,-6.118387712e-03,9.898388373e-05,-1.178275624e-04,-6.113883590e-03,7.016534226e-01,-1.172335246e-04,8.346037250e-01,7.016549534e-01,-1.168419506e-04,8.346225535e-01,7.018247486e-01,-1.160131614e-04,8.236667807e-01
+51,1.833333333e+01,DOWN_SETTLE,1791279358731181398,1.164160338e-04,-1.217488629e-04,-6.279766411e-03,1.160818607e-04,-1.226353860e-04,-6.269685381e-03,9.742228510e-05,-1.220761967e-04,-6.265147154e-03,7.016542875e-01,-1.201979016e-04,8.344611748e-01,7.016539533e-01,-1.210844247e-04,8.344712558e-01,7.018231870e-01,-1.202617958e-04,8.235155172e-01
+52,1.866666667e+01,DOWN_SETTLE,1791279359232715219,1.163259832e-04,-1.255601936e-04,-6.421753489e-03,1.162141796e-04,-1.255156241e-04,-6.421573351e-03,9.710378572e-05,-1.249166795e-04,-6.417005424e-03,7.016541975e-01,-1.240092323e-04,8.343191877e-01,7.016540857e-01,-1.239646628e-04,8.343193678e-01,7.018228685e-01,-1.231022786e-04,8.233636589e-01
+53,1.905000000e+01,DOWN_SETTLE,1791279359809092075,1.058408831e-04,-1.336180948e-04,-6.564653117e-03,1.071417706e-04,-1.301061509e-04,-6.557220401e-03,8.733028154e-05,-1.294690072e-04,-6.552823394e-03,7.016437124e-01,-1.320671335e-04,8.341762881e-01,7.016450133e-01,-1.285551896e-04,8.341837208e-01,7.018130950e-01,-1.276546062e-04,8.232278409e-01
+54,1.940000000e+01,DOWN_SETTLE,1791279360328143869,1.021389140e-04,-1.315073364e-04,-6.678303348e-03,1.019899059e-04,-1.314417392e-04,-6.678299165e-03,8.165398485e-05,-1.307953200e-04,-6.674078849e-03,7.016400104e-01,-1.299563751e-04,8.340626378e-01,7.016398614e-01,-1.298907779e-04,8.340626420e-01,7.018074187e-01,-1.289809190e-04,8.231065855e-01
+55,1.985000000e+01,DOWN_SETTLE,1791279361008086690,9.668032030e-05,-1.366888261e-04,-6.809012712e-03,9.801558953e-05,-1.362789142e-04,-6.794542648e-03,7.719184698e-05,-1.356058608e-04,-6.790701876e-03,7.016345518e-01,-1.351378648e-04,8.339319285e-01,7.016358871e-01,-1.347279529e-04,8.339463985e-01,7.018029566e-01,-1.337914599e-04,8.229899624e-01
+56,2.030000000e+01,DOWN_SETTLE,1791279361677408462,1.200327494e-04,-1.318768678e-04,-6.887567087e-03,1.204619779e-04,-1.331629509e-04,-6.877040185e-03,9.987084915e-05,-1.325545489e-04,-6.873691506e-03,7.016579042e-01,-1.303259065e-04,8.338533741e-01,7.016583335e-01,-1.316119896e-04,8.338639010e-01,7.018256356e-01,-1.307401479e-04,8.229069728e-01
+57,2.080000000e+01,DOWN_SETTLE,1791279362430026653,1.127899987e-04,-1.374320345e-04,-6.985503283e-03,1.128213986e-04,-1.374672342e-04,-6.985486713e-03,9.170618129e-05,-1.368298671e-04,-6.982289525e-03,7.016506615e-01,-1.358810732e-04,8.337554379e-01,7.016506929e-01,-1.359162729e-04,8.337554545e-01,7.018174709e-01,-1.350154661e-04,8.227983748e-01
+58,2.136666667e+01,DOWN_SETTLE,1791279363275124591,1.081156334e-04,-1.379681743e-04,-7.054462558e-03,1.062588317e-04,-1.391138581e-04,-7.048189066e-03,8.470207888e-05,-1.384879265e-04,-7.045575328e-03,7.016459871e-01,-1.364172130e-04,8.336864786e-01,7.016441303e-01,-1.375628968e-04,8.336927521e-01,7.018104668e-01,-1.366735255e-04,8.227350890e-01
+59,2.196666667e+01,DOWN_SETTLE,1791279364174617030,1.039741872e-04,-1.383277871e-04,-7.096028741e-03,1.019767358e-04,-1.399970196e-04,-7.088578209e-03,8.015034489e-05,-1.393997807e-04,-7.086503819e-03,7.016418457e-01,-1.367768258e-04,8.336449124e-01,7.016398482e-01,-1.384460582e-04,8.336523630e-01,7.018059151e-01,-1.375853797e-04,8.226941605e-01
diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63722276f07d1d36e8eedb2ce4e9a35000717661
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,4.4239e-03,2.9019e-03,2.4544e+00,-3.6963e-02,3.7105e-02,-2.2480e-05,8.1353e-05,2.9614e-06,7.1526e-07,-1.8254e-07,5.8450e-06,1.7197e-08,8.1410e-05,5.8479e-06
+1,8.1667e-01,DOWN_FORCE_DETACH,1.5917e-04,7.6782e-03,3.0240e-03,2.4545e+00,-3.6970e-02,3.7337e-02,-2.1827e-05,3.3356e-03,1.2508e-04,6.1274e-05,-6.4410e-06,2.3805e-04,6.6984e-07,3.3385e-03,2.3814e-04
+2,1.4833e+00,DOWN_FORCE_DETACH,3.1961e-04,9.4858e-03,3.0797e-03,2.4545e+00,-3.6972e-02,3.7465e-02,-2.1382e-05,5.1433e-03,1.8080e-04,1.4615e-04,-8.8885e-06,3.6641e-04,1.1155e-06,5.1485e-03,3.6652e-04
+3,2.0167e+00,DOWN_FORCE_DETACH,4.7297e-04,1.0926e-02,5.4170e-03,2.4716e+00,-3.7134e-02,3.7546e-02,-1.9445e-05,6.5839e-03,2.5181e-03,1.7174e-02,-1.7053e-04,4.4655e-04,3.0523e-06,1.8564e-02,4.7802e-04
+4,2.3500e+00,DOWN_FORCE_DETACH,6.3433e-04,1.3095e-03,1.1044e-02,2.4798e+00,-3.7514e-02,3.6854e-02,-1.6932e-05,-3.0331e-03,8.1448e-03,2.5420e-02,-5.5083e-04,-2.4467e-04,5.5655e-06,2.6865e-02,6.0275e-04
+5,2.7667e+00,DOWN_FORCE_DETACH,7.9385e-04,1.2400e-02,1.4618e-02,2.5107e+00,-3.7750e-02,3.7603e-02,-1.5850e-05,8.0572e-03,1.1719e-02,5.6343e-02,-7.8714e-04,5.0435e-04,6.6468e-06,5.8110e-02,9.3488e-04
+6,3.1333e+00,DOWN_FORCE_DETACH,9.5335e-04,1.0199e-02,1.6995e-02,2.5286e+00,-3.7911e-02,3.7437e-02,-1.4691e-05,5.8564e-03,1.4096e-02,7.4197e-02,-9.4767e-04,3.3792e-04,7.8066e-06,7.5751e-02,1.0061e-03
+7,3.5167e+00,DOWN_FORCE_DETACH,1.1034e-03,1.1338e-02,2.0077e-02,2.5455e+00,-3.8110e-02,3.7491e-02,-1.4290e-05,6.9951e-03,1.7178e-02,9.1146e-02,-1.1472e-03,3.9157e-04,8.2068e-06,9.3014e-02,1.2122e-03
+8,3.8667e+00,DOWN_FORCE_DETACH,1.2636e-03,1.0449e-02,1.9480e-02,2.5661e+00,-3.8065e-02,3.7403e-02,-1.5417e-05,6.1061e-03,1.6581e-02,1.1168e-01,-1.1014e-03,3.0397e-04,7.0802e-06,1.1307e-01,1.1426e-03
+9,4.2000e+00,DOWN_FORCE_DETACH,1.4288e-03,1.1113e-02,2.1783e-02,2.5787e+00,-3.8216e-02,3.7437e-02,-1.4759e-05,6.7707e-03,1.8885e-02,1.2426e-01,-1.2525e-03,3.3762e-04,7.7386e-06,1.2587e-01,1.2973e-03
+10,4.5333e+00,DOWN_FORCE_DETACH,1.5801e-03,7.2590e-03,2.1741e-02,2.5897e+00,-3.8202e-02,3.7154e-02,-1.1957e-05,2.9165e-03,1.8842e-02,1.3530e-01,-1.2390e-03,5.4844e-05,1.0541e-05,1.3663e-01,1.2402e-03
+11,4.7333e+00,DOWN_FORCE_DETACH,1.7398e-03,3.5182e-03,2.3884e-02,2.6020e+00,-3.8340e-02,3.6869e-02,-7.7290e-06,-8.2437e-04,2.0985e-02,1.4758e-01,-1.3765e-03,-2.3001e-04,1.4768e-05,1.4906e-01,1.3956e-03
+12,5.0167e+00,DOWN_FORCE_DETACH,1.9027e-03,8.2602e-03,2.4483e-02,2.6184e+00,-3.8375e-02,3.7182e-02,-4.6931e-06,3.9177e-03,2.1584e-02,1.6397e-01,-1.4120e-03,8.2973e-05,1.7804e-05,1.6543e-01,1.4146e-03
+13,5.2667e+00,DOWN_FORCE_DETACH,2.0581e-03,1.0156e-02,2.6748e-02,2.6342e+00,-3.8523e-02,3.7297e-02,-2.6102e-06,5.8130e-03,2.3849e-02,1.7983e-01,-1.5596e-03,1.9844e-04,1.9887e-05,1.8150e-01,1.5723e-03
+14,5.5167e+00,DOWN_FORCE_DETACH,2.2123e-03,1.2707e-02,2.8886e-02,2.6503e+00,-3.8640e-02,3.7456e-02,-1.8629e-06,8.3649e-03,2.5987e-02,1.9589e-01,-1.6770e-03,3.5693e-04,2.0634e-05,1.9779e-01,1.7147e-03
+15,5.7833e+00,DOWN_FORCE_DETACH,2.3808e-03,1.3519e-02,3.0503e-02,2.6596e+00,-3.8715e-02,3.7501e-02,7.9063e-07,9.1760e-03,2.7604e-02,2.0520e-01,-1.7513e-03,4.0239e-04,2.3288e-05,2.0725e-01,1.7971e-03
+16,6.0333e+00,DOWN_FORCE_DETACH,2.5317e-03,1.4164e-02,3.4872e-02,2.6657e+00,-3.8978e-02,3.7531e-02,3.9645e-06,9.8214e-03,3.1973e-02,2.1135e-01,-2.0149e-03,4.3235e-04,2.6462e-05,2.1398e-01,2.0609e-03
+17,6.3333e+00,DOWN_FORCE_DETACH,2.6988e-03,1.3462e-02,3.4047e-02,2.6668e+00,-3.8908e-02,3.7472e-02,4.6665e-06,9.1195e-03,3.1149e-02,2.1245e-01,-1.9445e-03,3.7348e-04,2.7164e-05,2.1492e-01,1.9802e-03
+18,6.6000e+00,DOWN_FORCE_DETACH,2.8473e-03,1.3654e-02,3.3741e-02,2.6677e+00,-3.8882e-02,3.7478e-02,6.0393e-06,9.3119e-03,3.0842e-02,2.1332e-01,-1.9192e-03,3.7938e-04,2.8537e-05,2.1574e-01,1.9565e-03
+19,6.9333e+00,DOWN_FORCE_DETACH,3.0114e-03,1.2319e-02,3.6916e-02,2.6652e+00,-3.9084e-02,3.7390e-02,1.2039e-05,7.9769e-03,3.4017e-02,2.1077e-01,-2.1211e-03,2.9149e-04,3.4536e-05,2.1365e-01,2.1413e-03
+20,7.2500e+00,DOWN_FORCE_DETACH,3.1687e-03,1.2868e-02,3.9385e-02,2.6666e+00,-3.9240e-02,3.7426e-02,1.5631e-05,8.5258e-03,3.6486e-02,2.1216e-01,-2.2767e-03,3.2701e-04,3.8128e-05,2.1544e-01,2.3004e-03
+21,7.5500e+00,DOWN_FORCE_DETACH,3.3285e-03,1.0742e-02,4.0687e-02,2.6597e+00,-3.9316e-02,3.7285e-02,1.6264e-05,6.3993e-03,3.7788e-02,2.0526e-01,-2.3524e-03,1.8638e-04,3.8761e-05,2.0881e-01,2.3601e-03
+22,7.8833e+00,DOWN_FORCE_DETACH,3.4841e-03,1.0971e-02,4.1611e-02,2.6583e+00,-3.9361e-02,3.7302e-02,1.6004e-05,6.6287e-03,3.8712e-02,2.0392e-01,-2.3978e-03,2.0333e-04,3.8501e-05,2.0767e-01,2.4067e-03
+23,8.2500e+00,DOWN_FORCE_DETACH,3.6419e-03,1.1317e-02,4.3825e-02,2.6529e+00,-3.9489e-02,3.7332e-02,1.8060e-05,6.9740e-03,4.0926e-02,1.9855e-01,-2.5263e-03,2.3306e-04,4.0557e-05,2.0284e-01,2.5373e-03
+24,8.6000e+00,DOWN_FORCE_DETACH,3.7986e-03,1.1733e-02,4.3457e-02,2.6475e+00,-3.9443e-02,3.7365e-02,2.7644e-05,7.3908e-03,4.0558e-02,1.9309e-01,-2.4800e-03,2.6604e-04,5.0142e-05,1.9744e-01,2.4947e-03
+25,8.9833e+00,DOWN_FORCE_DETACH,3.9550e-03,1.2834e-02,4.4094e-02,2.6433e+00,-3.9463e-02,3.7442e-02,4.0002e-05,8.4914e-03,4.1195e-02,1.8892e-01,-2.4994e-03,3.4280e-04,6.2499e-05,1.9354e-01,2.5236e-03
+26,9.4000e+00,DOWN_FORCE_DETACH,4.1220e-03,1.3390e-02,4.5971e-02,2.6403e+00,-3.9531e-02,3.7483e-02,5.3472e-05,9.0473e-03,4.3072e-02,1.8594e-01,-2.5680e-03,3.8361e-04,7.5970e-05,1.9108e-01,2.5976e-03
+27,9.8167e+00,DOWN_FORCE_DETACH,4.2778e-03,1.2885e-02,4.6986e-02,2.6349e+00,-3.9576e-02,3.7450e-02,6.3987e-05,8.5428e-03,4.4087e-02,1.8054e-01,-2.6124e-03,3.5061e-04,8.6484e-05,1.8605e-01,2.6372e-03
+28,1.0183e+01,DOWN_FORCE_DETACH,4.4338e-03,1.3791e-02,4.5814e-02,2.6333e+00,-3.9517e-02,3.7505e-02,6.7615e-05,9.4481e-03,4.2915e-02,1.7891e-01,-2.5541e-03,4.0585e-04,9.0113e-05,1.8423e-01,2.5877e-03
+29,1.0617e+01,DOWN_FORCE_DETACH,4.5945e-03,1.4876e-02,4.4456e-02,2.6262e+00,-3.9459e-02,3.7584e-02,7.2663e-05,1.0534e-02,4.1558e-02,1.7185e-01,-2.4963e-03,4.8476e-04,9.5160e-05,1.7711e-01,2.5447e-03
+30,1.0983e+01,DOWN_FORCE_DETACH,4.7484e-03,1.6429e-02,4.3525e-02,2.6240e+00,-3.9410e-02,3.7697e-02,7.4056e-05,1.2086e-02,4.0626e-02,1.6961e-01,-2.4468e-03,5.9793e-04,9.6553e-05,1.7482e-01,2.5207e-03
+31,1.1383e+01,DOWN_FORCE_DETACH,4.9065e-03,1.7245e-02,4.4780e-02,2.6233e+00,-3.9491e-02,3.7757e-02,7.1713e-05,1.2902e-02,4.1881e-02,1.6887e-01,-2.5278e-03,6.5776e-04,9.4210e-05,1.7446e-01,2.6136e-03
+32,1.1800e+01,DOWN_FORCE_DETACH,5.0697e-03,1.6239e-02,4.5166e-02,2.6203e+00,-3.9504e-02,3.7690e-02,7.1408e-05,1.1897e-02,4.2267e-02,1.6595e-01,-2.5411e-03,5.9086e-04,9.3905e-05,1.7166e-01,2.6106e-03
+33,1.2183e+01,DOWN_FORCE_DETACH,5.2272e-03,1.4684e-02,4.4116e-02,2.6156e+00,-3.9432e-02,3.7591e-02,6.8132e-05,1.0342e-02,4.1217e-02,1.6124e-01,-2.4693e-03,4.9250e-04,9.0630e-05,1.6675e-01,2.5195e-03
+34,1.2567e+01,DOWN_FORCE_DETACH,5.3865e-03,1.7530e-02,4.5219e-02,2.6170e+00,-3.9494e-02,3.7778e-02,6.1623e-05,1.3188e-02,4.2320e-02,1.6256e-01,-2.5312e-03,6.7904e-04,8.4120e-05,1.6850e-01,2.6221e-03
+35,1.2933e+01,DOWN_FORCE_DETACH,5.5464e-03,1.8495e-02,4.5618e-02,2.6182e+00,-3.9509e-02,3.7832e-02,5.9146e-05,1.4153e-02,4.2719e-02,1.6384e-01,-2.5460e-03,7.3278e-04,8.1643e-05,1.6990e-01,2.6506e-03
+36,1.3333e+01,DOWN_FORCE_DETACH,5.7038e-03,1.9255e-02,4.3696e-02,2.6196e+00,-3.9385e-02,3.7874e-02,6.3199e-05,1.4913e-02,4.0797e-02,1.6524e-01,-2.4215e-03,7.7492e-04,8.5696e-05,1.7086e-01,2.5439e-03
+37,1.3750e+01,DOWN_FORCE_DETACH,5.8617e-03,1.6108e-02,4.3645e-02,2.6194e+00,-3.9377e-02,3.7664e-02,6.8422e-05,1.1765e-02,4.0746e-02,1.6504e-01,-2.4142e-03,5.6501e-04,9.0919e-05,1.7040e-01,2.4811e-03
+38,1.4117e+01,DOWN_FORCE_DETACH,6.0178e-03,2.0651e-02,4.2290e-02,2.6244e+00,-3.9272e-02,3.7954e-02,7.1157e-05,1.6308e-02,3.9391e-02,1.6999e-01,-2.3086e-03,8.5511e-04,9.3655e-05,1.7526e-01,2.4637e-03
+39,1.4483e+01,DOWN_FORCE_DETACH,6.1805e-03,1.8229e-02,4.3221e-02,2.6247e+00,-3.9317e-02,3.7789e-02,7.3339e-05,1.3886e-02,4.0322e-02,1.7035e-01,-2.3537e-03,6.8995e-04,9.5836e-05,1.7560e-01,2.4546e-03
+40,1.4867e+01,DOWN_FORCE_DETACH,6.3385e-03,1.8927e-02,4.2622e-02,2.6226e+00,-3.9275e-02,3.7833e-02,7.5471e-05,1.4584e-02,3.9723e-02,1.6820e-01,-2.3123e-03,7.3427e-04,9.7968e-05,1.7344e-01,2.4280e-03
+41,1.5233e+01,DOWN_FORCE_DETACH,6.4968e-03,2.0729e-02,4.5019e-02,2.6273e+00,-3.9435e-02,3.7946e-02,7.5017e-05,1.6387e-02,4.2121e-02,1.7292e-01,-2.4714e-03,8.4712e-04,9.7514e-05,1.7873e-01,2.6144e-03
+42,1.5583e+01,DOWN_FORCE_DETACH,6.6546e-03,2.1182e-02,4.6068e-02,2.6327e+00,-3.9514e-02,3.7972e-02,6.5717e-05,1.6839e-02,4.3169e-02,1.7835e-01,-2.5508e-03,8.7347e-04,8.8214e-05,1.8427e-01,2.6977e-03
+43,1.5900e+01,DOWN_FORCE_DETACH,6.8083e-03,2.0549e-02,4.8007e-02,2.6336e+00,-3.9635e-02,3.7931e-02,5.8179e-05,1.6207e-02,4.5108e-02,1.7917e-01,-2.6714e-03,8.3220e-04,8.0677e-05,1.8547e-01,2.7992e-03
+44,1.6267e+01,DOWN_FORCE_DETACH,6.9724e-03,1.9854e-02,4.8845e-02,2.6388e+00,-3.9657e-02,3.7880e-02,5.3204e-05,1.5511e-02,4.5946e-02,1.8443e-01,-2.6940e-03,7.8081e-04,7.5701e-05,1.9070e-01,2.8059e-03
+45,1.6550e+01,DOWN_FORCE_DETACH,7.1264e-03,2.1203e-02,4.8852e-02,2.6425e+00,-3.9638e-02,3.7960e-02,5.1144e-05,1.6861e-02,4.5953e-02,1.8814e-01,-2.6750e-03,8.6147e-04,7.3641e-05,1.9440e-01,2.8112e-03
+46,1.6850e+01,DOWN_FORCE_DETACH,7.2877e-03,2.2293e-02,4.7006e-02,2.6435e+00,-3.9504e-02,3.8028e-02,4.9464e-05,1.7950e-02,4.4107e-02,1.8912e-01,-2.5413e-03,9.2909e-04,7.1961e-05,1.9502e-01,2.7068e-03
+47,1.7150e+01,DOWN_FORCE_DETACH,7.4431e-03,2.4865e-02,4.6270e-02,2.6492e+00,-3.9448e-02,3.8188e-02,5.1754e-05,2.0522e-02,4.3371e-02,1.9478e-01,-2.4853e-03,1.0891e-03,7.4251e-05,2.0060e-01,2.7145e-03
+48,1.7417e+01,DOWN_FORCE_DETACH,7.6018e-03,1.9602e-02,4.6912e-02,2.6515e+00,-3.9480e-02,3.7835e-02,5.9502e-05,1.5259e-02,4.4013e-02,1.9713e-01,-2.5169e-03,7.3560e-04,8.1999e-05,2.0256e-01,2.6234e-03
+49,1.7700e+01,DOWN_FORCE_DETACH,7.7584e-03,2.1039e-02,4.8514e-02,2.6595e+00,-3.9539e-02,3.7918e-02,6.7799e-05,1.6697e-02,4.5615e-02,2.0508e-01,-2.5758e-03,8.1855e-04,9.0296e-05,2.1075e-01,2.7043e-03
+50,1.8017e+01,DOWN_SETTLE,7.9211e-03,2.0018e-02,5.1006e-02,2.6623e+00,-3.9642e-02,3.7847e-02,7.3804e-05,1.5675e-02,4.8107e-02,2.0786e-01,-2.6787e-03,7.4800e-04,9.6301e-05,2.1393e-01,2.7829e-03
+51,1.8333e+01,DOWN_SETTLE,8.0781e-03,1.9705e-02,5.2047e-02,2.6622e+00,-3.9687e-02,3.7825e-02,7.5765e-05,1.5362e-02,4.9148e-02,2.0776e-01,-2.7237e-03,7.2637e-04,9.8262e-05,2.1405e-01,2.8207e-03
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06c0a18a84c1752c69cb41c760d1ba10e215e664
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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+1803,1791279314311333405,11640540000000,1791279314308321641,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760039874043497,-0.0048057745456932584,0.09048736688344813,0.9999999816892093,7.847160357410271e-05,-0.00013612474665503042,5.810943160919266e-05,0.6761,-0.0048,0.09058002925348942,1.0,0.0,0.0,0.0,0.008581143940025925,0.016328428335540657,-1.0784335412607513,0.00024398790444176538,-0.0007835173349266542,-0.0001806788517390212,0.04698825934844478,0.0848921708609158,0.3815548444112584,0.00011435432143732048,-0.006171078557213044,-0.001424019426085011,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.4459943266899161,-0.25260236462189456,0.9320346392531543,0.23498875373916664,-0.4674046835935646,-0.22269851711373753,-0.2574867634319085,1.0784335412607513,-1.189521402685063,1.0784335412607513,0.745,0,0,-0.0001725318815239682,5.873849387467197e-05
+1827,1791279314511405770,11640740000000,1791279314504321682,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.6759990639736301,-0.004803930118107707,0.09045257076419837,0.99999998022198,8.134483317294605e-05,-0.0001442197978179626,5.985458953823064e-05,0.6761,-0.0048,0.09054626149278984,1.0,0.0,0.0,0.0,0.0089085130259269,0.0074038827601761725,-1.0488839024212184,0.000242893246598442,-0.0010066513670851191,-0.00020790736789144757,0.04731562843434575,0.07596762528555132,0.4111044832507913,0.00011325966359399708,-0.006394212589371509,-0.0014512479422374373,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.5123655707647217,-0.1924961182119428,0.8879015463317511,0.23471076531276377,-0.42445733901850746,-0.1819648089894389,-0.2574867634319085,1.0488839024212184,-1.1453883097636597,1.0488839024212184,0.745,0,0,-0.0001648687279795239,9.999999025923074e-05
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+2190,1791279317537717680,11643765000000,1791279317536320644,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760297650867604,-0.004816341010637718,0.09013693747982739,0.9999999863110499,5.536210870605831e-05,-0.00010523339659462735,6.842319543871563e-05,0.6761,-0.0048,0.0901844320990243,1.0,0.0,0.0,0.0,0.008159189514446136,0.01250071613845917,-0.9076679258796603,0.00020579478374533304,-0.0008058243245067662,0.0001344068562033182,0.04656630492286499,0.08106445866383431,0.5523204597923494,7.616120074088811e-05,-0.006193385546793156,-0.0011089337181426715,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7304282517854839,-0.3106735670514993,0.48542201666607127,0.2917773085605909,-0.13736659902145504,-0.2619605300153931,-0.2574867634319085,0.9076679258796603,-0.7429087800979798,0.9076679258796603,0.745,0,0,-8.327278763417741e-05,1.95840878216896e-05
+2222,1791279317803773482,11644031000000,1791279317800331013,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760341072581982,-0.004811238163357948,0.0901223114244401,0.9999999875389772,5.0546438594176447e-05,-9.847235301899572e-05,6.413394660873675e-05,0.6761,-0.0048,0.09016307400497686,1.0,0.0,0.0,0.0,-5.222509732491498e-06,0.0029416346180223957,-0.8957589630632411,0.00020746596012697428,-0.0008147655932604463,-0.0003212897750147648,0.03840189289868636,0.07150537714339754,0.5642294226087686,7.783237712252938e-05,-0.006202326815546836,-0.0015646303493607545,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.6788911421881888,-0.3131805468153277,0.5833579711451956,0.30237578836906676,-0.21418705092207765,-0.2650482395888819,-0.2574867634319085,0.8957589630632411,-0.8408447345771042,0.8957589630632411,0.745,0,0,-7.761225414348802e-05,2.2553258705731993e-05
+2259,1791279318112961702,11644340000000,1791279318112321118,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760334955780966,-0.004815954623433028,0.09009860770372341,0.9999999868612005,5.1415736887534304e-05,-0.0001014944055352851,6.910695332885436e-05,0.6761,-0.0048,0.09013983797846292,1.0,0.0,0.0,0.0,0.0018209071517251499,0.002722360813431801,-0.8875141931333144,0.00019873583041962116,-0.0008209648301795184,0.0003157602330461732,0.040228022560144,0.07128610333880694,0.5724741925386954,6.910224741517623e-05,-0.006208526052465908,-0.0009275803412998165,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.6923187311543525,-0.19694483789981249,0.4596013004737504,0.27446584350025544,-0.13312811589929177,-0.1876218736920406,-0.2574867634319085,0.8875141931333144,-0.7170880639056589,0.8875141931333144,0.745,0,0,-7.303089566933507e-05,1.791716265331196e-05
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+2619,1791279321113832773,11647340000000,1791279321108330064,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.6760363746466383,-0.0048178783711890424,0.08994984161700557,0.9999999871829214,5.2961942614073544e-05,-9.62315973302298e-05,7.07921876620986e-05,0.6761,-0.0048,0.08997963737608836,1.0,0.0,0.0,0.0,0.0005399348943192495,0.005833009682092313,-0.8173959892041,0.00017723432595790028,-0.0004172577343832008,0.0001574952841747637,0.0389470503027381,0.07439675220746746,0.6425923964679098,4.760074295345537e-05,-0.0058048189566695906,-0.001085845290171226,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.6925722292318055,-0.10815562314319885,0.38159497066944953,0.2571064222652983,-0.09439198737968293,-0.12786405339635698,-0.2574867634319085,0.8173959892041,-0.639081734101358,0.8173959892041,0.745,0,0,-3.76277164501645e-05,1.4441634829439606e-05
+2657,1791279321429930235,11647656000000,1791279321428321219,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760379172783951,-0.0048211490770454675,0.0899417211377528,0.9999999876644459,4.9199041035960086e-05,-9.318318055951065e-05,7.078362692656982e-05,0.6761,-0.0048,0.08996804298485385,1.0,0.0,0.0,0.0,-0.0012809292937684125,-0.0024293419383173698,-0.8075959499502886,0.00018121533662110472,-0.0008370019299183363,0.0006262951654041269,0.03712618611465044,0.06613440058705777,0.6523924357217211,5.158175361665981e-05,-0.006224563152204726,-0.0006170454089418628,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.729029261659112,-0.3208193893776521,0.431700024419523,0.3288121128525654,-0.11620493503038058,-0.26503544347287367,-0.2574867634319085,0.8075959499502886,-0.6891867878514315,0.8075959499502886,0.745,0,0,-3.5099028477532124e-05,3.8394479822099166e-05
+2711,1791279321880041373,11648106000000,1791279321876321489,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760389121233457,-0.004820302259462509,0.08992531194837641,0.9999999868076104,5.745501779611558e-05,-9.402498654330582e-05,7.540468394350818e-05,0.6761,-0.0048,0.08995291750651138,1.0,0.0,0.0,0.0,-0.003987508847357567,0.015017721146497562,-0.8071656017700664,0.00017292425790493458,0.00014941247689111755,0.000630953756119437,0.034419606561061286,0.0835814636718727,0.6528227839019434,4.3290674900489655e-05,-0.005238148745395272,-0.0006123868182265527,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7246810503413661,-0.3584244718984079,0.3473440061779591,0.33515219703797355,-0.06240823254174835,-0.29084543415269676,-0.2574867634319085,0.8071656017700664,-0.6048307696098676,0.8071656017700664,0.745,0,0,-3.20627686630958e-05,9.898664424874934e-06
+2760,1791279322289281743,11648515000000,1791279322288330154,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760394197142158,-0.004821518448998693,0.08991655765349771,0.999999987301185,5.5582542556312036e-05,-9.185583867970344e-05,7.28943086532053e-05,0.6761,-0.0048,0.08994025401920426,1.0,0.0,0.0,0.0,-0.001512125611603618,0.015588301324306983,-0.797315002392601,0.0001559285345282904,8.864261968341818e-05,0.0006327767278095933,0.036894989796815235,0.08415204384968213,0.6626733832794087,2.6294951523845474e-05,-0.0052989186026029715,-0.0006105638465363964,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7419681108402492,-0.2057894984516365,0.39562894782588326,0.29235367067893975,-0.0933458924934631,-0.19076035918885187,-0.2574867634319085,0.797315002392601,-0.6531157112577918,0.797315002392601,0.745,0,0,-2.9387115116664924e-05,3.262236283196385e-05
+2793,1791279322564272076,11648790000000,1791279322556330188,UP_FORCE_HOLD,6,0.055,0.055001743137836456,0.6760380906770698,-0.004821623429598428,0.08990645134399107,0.9999999869500085,5.556899346397468e-05,-9.383953496427997e-05,7.516033516139615e-05,0.6761,-0.0048,0.08993250620059938,1.0,0.0,0.0,0.0,-0.001548009909536921,0.011715258897405795,-0.7976425620170867,0.00016272677450435908,0.000176133407651235,-0.00038231975122825137,0.03685910549888193,0.08027900142278094,0.662345823654923,3.309319149991416e-05,-0.005211427814635155,-0.001625660325574241,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7318172481778418,-0.19861777987051374,0.34409069311161933,0.2846413603262445,-0.06219506405892982,-0.18987332253117675,-0.2574867634319085,0.7976425620170867,-0.6015774565435279,0.7976425620170867,0.745,0,0,-2.7591423989097287e-05,1.2829727076302243e-05
+2838,1791279322939388464,11649165000000,1791279322932321398,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.676036632433728,-0.004821622922932063,0.0898929106320994,0.9999999866535133,5.6032883302563405e-05,-9.754814189752606e-05,7.403049164776999e-05,0.6761,-0.0048,0.08992247115428414,1.0,0.0,0.0,0.0,-0.0013471352744190424,0.006285674844363431,-0.787383727628303,0.00017456475120711183,-0.0007086698222780888,0.000612342963632983,0.03705998013399981,0.07484941736973857,0.6726046580437067,4.493116820266692e-05,-0.0060962310445644785,-0.0006309976107130068,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7365216534475116,-0.283289501030588,0.3147102344265346,0.31105285523754467,-0.04201131508818861,-0.24220936892384606,-0.2574867634319085,0.787383727628303,-0.5721969978584431,0.787383727628303,0.745,0,0,-2.5755988183971286e-05,4.610226636181601e-05
+2879,1791279323280465603,11649506000000,1791279323276321556,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.6760392336394805,-0.004817489526945448,0.08988993561521921,0.9999999869045888,6.23177281764072e-05,-9.112879116232749e-05,7.379519505180375e-05,0.6761,-0.0048,0.08991423478976494,1.0,0.0,0.0,0.0,-0.0003403761301788086,0.0061656685754580415,-0.7949945755661546,0.00015064587521884562,0.00016958664712324757,0.0006270200065054538,0.038066739278240044,0.07472941110083318,0.6649938101058551,2.101229221440069e-05,-0.005217974575163142,-0.0006163205678405359,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7315795589769389,-0.18421694862850443,0.2289805968868774,0.29144484287652106,0.011321301027293776,-0.17290662007999794,-0.2574867634319085,0.7949945755661546,-0.4864673603187859,0.7949945755661546,0.745,0,0,-2.3457622611039764e-05,-1.5552173454924655e-05
+2924,1791279323655558090,11649881000000,1791279323648321277,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.6760387831314065,-0.0048210260633316905,0.08988187834602696,0.9999999866483907,6.229357727638032e-05,-9.259951285116603e-05,7.543820802035346e-05,0.6761,-0.0048,0.08990585550996985,1.0,0.0,0.0,0.0,-0.001340774105923856,0.004514354972103521,-0.787533323294236,0.0001644239964068649,-0.0008221088823721513,-2.9058563243154582e-05,0.037066341302495,0.07307809749747866,0.6724550623777737,3.479041340241998e-05,-0.006209670104658541,-0.0012723991375891443,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7223934728167977,-0.2632255748641315,0.3712108273677895,0.3175416177479139,-0.08232683431495931,-0.22467938384293595,-0.2574867634319085,0.787533323294236,-0.628697590799698,0.787533323294236,0.745,0,0,-2.1926433956891146e-05,6.664366765385399e-06
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+3018,1791279324439647865,11650665000000,1791279324432321006,UP_FORCE_HOLD,6,0.055,0.055002398788928986,0.6760404225990475,-0.004820973841499001,0.08986743656478248,0.9999999868835378,6.358834648462117e-05,-9.051635628839358e-05,7.375025542696421e-05,0.6761,-0.0048,0.08988940605099943,1.0,0.0,0.0,0.0,-0.0006332365652670924,0.006606873099761754,-0.7772091983518364,0.00014867872505822254,0.00016671215766127841,0.0006035908358273866,0.03777387884315176,0.0751706156251369,0.6827791873201733,1.9045142053777634e-05,-0.005220849064625111,-0.0006397497385186032,0.03840711540841885,0.06856374252537514,1.4599883856720097,-0.00012963358300444492,-0.00538756122228639,-0.0012433405743459897,1,0.7173991463617845,-0.3051318513098294,0.36894068636295985,0.328750609584264,-0.08266531582442918,-0.2535933583605071,-0.2574867634319085,0.7772091983518364,-0.6264274497948683,0.7772091983518364,0.745,0,0,-1.9351689373664752e-05,3.279889088632859e-05
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diff --git a/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d23d80c0a508b9ddcb01d14b2325182c73b844ab
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0010_20/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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