diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a3468ebe3b8a285e5bdb5f406c6ae19ac7d5e8c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+46807,1792661416533275328,29956907000000,1792661416533537110,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0445,0.044501643627882004,0.6759803405986553,-0.004524002299334317,0.090862508238847,0.9999999760638381,8.379962373891858e-05,-0.00017419603924088422,4.414238868443889e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.0020523569862771485,-0.001489845994002953,-0.0003607571754562777,-0.000736603656522109,0.00039769823661612615,-2.0746620631150423e-06,0.18682221452703146,0.0845463103310268,-0.17758500802571592,0.004536719139792827,-0.01524592723597269,-2.3357282538407682e-05,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.11716702501536333,0.23399300193022377,1.0917022145679294,0.04489694022232952,-0.6593019787357358,0.03765160083387421,0.35554695353373156,0.0003607571754562777,-0.7361552610341978,0.0,0.0,0,0,0.0,0.0
+46906,1792661417359350983,29957733000000,1792661417353537883,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0445,0.04450229927897453,0.6759822997245802,-0.004524983107868837,0.09086532003349267,0.9999999767205425,8.099753316343298e-05,-0.00017172174747120988,4.419072134765145e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,-0.0017812680552836413,-0.0019866809580405403,-0.0003606294199403337,-0.0007373720701102735,0.00039769814457005746,-2.071559657285668e-06,0.18709330345802497,0.08404947536698922,-0.17758488027019997,0.004535950726204663,-0.015245927328018759,-2.3354180132578308e-05,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.07598596546054326,0.1688510027726173,1.146536168274425,0.06326486684583851,-0.7057863397783162,-0.008918316359618386,0.35554695353373156,0.0003606294199403337,-0.7909892147406935,0.0,0.0,0,0,0.0,0.0
+47034,1792661418426365619,29958800000000,1792661418421537653,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6759782812846616,-0.004521213194052337,0.09085435806309408,0.9999999751867591,8.71855106855968e-05,-0.00017734314666405525,4.491592922257713e-05,0.6761,-0.00453,0.09098013065366302,1.0,0.0,0.0,0.0,-0.0020702155297386837,-0.01099035936708144,-0.00038816359646148824,-0.0007387071144890371,0.0003984776653493862,-2.0763571850420536e-06,0.18680435598356993,0.07504579695794832,-0.17761241444672113,0.004534615681825899,-0.01524514780723943,-2.3358977660334693e-05,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.1880688084036507,0.1593371307337648,1.0349410620368171,0.07841105553567865,-0.6105966518522422,-0.008628250182068462,0.35554695353373156,0.00038816359646148824,-0.6793941085030856,-0.6793941085030856,0.06244000000000047,0,0,-4.4599991556896985e-05,-9.999999025923074e-05
+47137,1792661419285368664,29959659000000,1792661419285537921,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6759752889147338,-0.00453168297426931,0.09079874497310612,0.9999999736325702,8.1819137541797e-05,-0.00018449819445286538,5.868363016141338e-05,0.6761,-0.00453,0.09092339371451359,1.0,0.0,0.0,0.0,-0.008055564069660792,-0.009347019053661199,0.057442460974939866,-0.0007493578332428818,0.0003860491782344353,-4.979457083913707e-05,0.18081900744364782,0.07668913727136856,-0.11978178987531977,0.0045239649630720545,-0.015257576294354381,-7.107719131442971e-05,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.2603062766914103,0.18499048177231336,0.9074444566155345,0.09192400980755412,-0.5168962162592985,0.023079017439112143,0.35554695353373156,0.057442460974939866,-0.551897503081803,-0.551897503081803,0.122570000000001,0,0,-8.754998318957619e-05,-9.999999025923074e-05
+47223,1792661420001398061,29960375000000,1792661419997537594,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.675967239100161,-0.004536754809199726,0.09071683113420378,0.9999999713117672,8.042035688471902e-05,-0.00019170025262810252,7.48525793281303e-05,0.6761,-0.00453,0.09084790942905017,1.0,0.0,0.0,0.0,-0.0018111413283582456,-0.024457870915650187,0.10907753103367533,-0.0017810101779941827,0.00039463166522590333,-0.00010112655079685238,0.18706343018495036,0.06157828540937957,-0.06814671981658431,0.0034923126183207536,-0.015248993807362913,-0.000122409171272145,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.2851300043174192,0.02820314282911584,0.8785125614340668,0.1471753519067187,-0.49859667144396896,-0.057682344873069016,0.35554695353373156,0.10907753103367533,-0.5229656079003352,-0.5229656079003352,0.172689999999992,0,0,-0.0001233499762151854,-9.999999025923074e-05
+47297,1792661420618402986,29960992000000,1792661420617537485,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6759664230603671,-0.004533596068676957,0.09064266963230005,0.9999999772771977,2.656891235176291e-05,-0.00018584260124633657,4.0559699686907983e-05,0.6761,-0.00453,0.09076230069558251,1.0,0.0,0.0,0.0,-0.0016921918212486897,-0.03782877470887479,0.1702196897709203,-0.001776228854466471,-0.000586405872307006,0.0008425947935000298,0.18718237969205992,0.04820738161615497,-0.00700456107933934,0.0034970939418484653,-0.016230031344895823,0.0008213121730247372,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.23143212522675188,0.09413351996308288,0.8692344504583457,0.1239379098859909,-0.5078020040525203,-0.006811912402614195,0.35554695353373156,0.1702196897709203,-0.5136874969246141,-0.5136874969246141,0.2158799999999838,0,0,-0.00015419997020513077,-9.999999025923074e-05
+47373,1792661421251388749,29961625000000,1792661421249537734,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6759625992027195,-0.004544743646655254,0.09053847079700804,0.999999976300055,2.7480158329298055e-05,-0.0001838803053682036,6.538828621482147e-05,0.6761,-0.00453,0.09065469071639726,1.0,0.0,0.0,0.0,-0.0021096087276990805,-0.03509864844678341,0.2500138896324058,-0.0018099619897789902,0.00036470339511568244,-0.00013360415890982947,0.18676496278560953,0.050937507878246344,0.07278963878214613,0.003463360806535946,-0.015278922077473134,-0.0001548867793851221,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.25977022778693604,0.09475768664925607,0.6603374488034585,0.1337909091718727,-0.37851891519393854,-0.0071500967506435,0.35554695353373156,0.2500138896324058,-0.3047904952697269,-0.3047904952697269,0.26018999999997944,0,0,-0.00018584996403922383,-9.999999025923074e-05
+47439,1792661421801422770,29962175000000,1792661421801537733,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6759513702851558,-0.004553280047268649,0.09042786523132582,0.9999999713677673,3.0028508773953693e-05,-0.00019987715357025056,8.862697700517419e-05,0.6761,-0.00453,0.09054492448765165,1.0,0.0,0.0,0.0,0.006759962482117771,-0.037580486273813156,0.3289553967319572,-0.002854068893101543,0.0003621269204845991,0.0007181540958960895,0.19563453399542638,0.0484556700512166,0.1517311458816975,0.002419253903213393,-0.015281498552104218,0.0006968714754207969,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.315200950799684,0.10636291280134261,0.5699900440346546,0.13279945804126236,-0.306627305028515,0.0005338167988227227,0.35554695353373156,0.3289553967319572,-0.21444309050092303,-0.21444309050092303,0.2986899999999874,0,0,-0.00021334995868180074,-9.999999025923074e-05
+47499,1792661422301405028,29962675000000,1792661422297537649,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.675949227284317,-0.004561895491925617,0.09032289438043149,0.9999999692506952,3.733493835883234e-05,-0.00019671802585721925,0.00011335604905189912,0.6761,-0.00453,0.09043201200953079,1.0,0.0,0.0,0.0,-0.001419428301967618,-0.053262215914974986,0.4162484836925594,-0.003858832425250579,0.0003550295080029537,0.00025608101413726657,0.187455143211341,0.03277394041005477,0.23902423284229976,0.0014144903710643572,-0.015288595964585863,0.00023479839366197393,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.3391406975543587,-0.011109192953389866,0.478453641117347,0.16763771867401928,-0.24995786442896628,-0.0764224890170559,0.35554695353373156,0.4162484836925594,-0.12290668758361545,-0.12290668758361545,0.33368999999999466,0,0,-0.0002383499538114161,-9.999999025923074e-05
+47528,1792661422543394915,29962917000000,1792661422541547066,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760189398466954,-0.0045666840513424786,0.09030933239097585,0.9999999779550208,4.0870190296605086e-05,-0.0001310933570686554,0.00012913938843049763,0.6761,-0.00453,0.0903734404754292,1.0,0.0,0.0,0.0,-0.0014754886871237438,-0.053965172141665234,0.4501721652615065,-0.0038964988456616128,0.0003562612682953773,0.00030106132647905227,0.18739908282618487,0.03207098418336452,0.2729479144112469,0.0013768239506533237,-0.01528736420429344,0.00027977870600375964,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5361094189377733,0.08307568455378649,0.24424604582114343,0.13295130182498302,-0.04386262704299296,-0.012219933623854755,0.35554695353373156,0.4501721652615065,0.11130090771258813,0.11130090771258813,0.35062999999999817,0,0,-0.00024526132063188024,9.990692581419153e-05
+47557,1792661422785419588,29963159000000,1792661422785537226,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760299979455522,-0.0045584080593616015,0.09027704966046428,0.9999999778107029,5.868956870398988e-05,-0.00011445835875560048,0.00013883903168751305,0.6761,-0.00453,0.09031281582161946,1.0,0.0,0.0,0.0,-0.03701035547267187,-0.01584269055201555,0.4411443981979044,-0.0009131561482520973,0.0032998776032831835,0.000710756152735003,0.15186421604063674,0.0701934657730142,0.2639201473476448,0.004360166648062839,-0.012343747869305633,0.0006894735322597104,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.4696521856490684,0.10385395774688565,0.37697499233330567,0.13474766437169292,-0.16081591635250347,-0.0019341266801633228,0.35554695353373156,0.4411443981979044,-0.02142803879957411,-0.02142803879957411,0.3675700000000017,0,0,-0.0002550021480876837,-9.998190750171716e-05
+47614,1792661423260379952,29963634000000,1792661423257537352,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760308125502964,-0.004562075177404638,0.09016812887364488,0.9999999387853212,0.0002780577993369848,-0.00011028109429147552,0.0001561862931214677,0.6761,-0.00453,0.09019156319926538,1.0,0.0,0.0,0.0,-0.031697503118357256,-0.026769038466028468,0.5214840793382775,-0.0009305223788557112,0.003320972358226735,0.0006470622272164164,0.15717706839495135,0.05926711785900129,0.34425982848801784,0.004342800417459225,-0.012322653114362082,0.0006257796067411237,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5247570682207244,-0.006000622565251288,0.281735250605629,0.17010476864884794,-0.08710315018631484,-0.07776476619012064,0.35554695353373156,0.5214840793382775,0.07381170292810257,0.07381170292810257,0.40082000000000856,0,0,-0.0002514807975931025,7.75761913304251e-05
+47646,1792661423526421470,29963900000000,1792661423521537548,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760400948908273,-0.004531184149446227,0.09010931255132629,0.9999999903749603,6.463979917788739e-05,-7.965315472740453e-05,-1.3038980503622889e-05,0.6761,-0.00453,0.09012521141079359,1.0,0.0,0.0,0.0,-0.010260547436720308,0.014354061695068532,0.5704516261201166,0.001158697398024126,0.0012447345533460955,0.0006022102816274344,0.1786140240765883,0.10039021802009829,0.3932273752698569,0.006432020194339062,-0.014398890919242721,0.0005809276611521418,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5844168195130734,0.1359760582902515,0.2598402732819899,0.0031302887896801903,-0.029199984023152697,0.02934333268047104,0.35554695353373156,0.5704516261201166,0.09570668025174167,0.09570668025174167,0.4194400000000124,0,0,-0.0002516491932932644,9.782098328437456e-05
+47709,1792661424051478765,29964425000000,1792661424045537443,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760456995650558,-0.004533244498327245,0.09000012277658649,0.999999989465863,7.684084159812144e-05,-7.898215401652125e-05,1.919486278232439e-05,0.6761,-0.00453,0.08999675724438283,1.0,0.0,0.0,0.0,-0.013609552342889353,-0.0042328179857725745,0.6521986828370255,0.0001177675509475588,0.001378507633530349,0.00052582823752257,0.17526501917041926,0.08180333833925718,0.4749744319867659,0.005391090347262495,-0.014265117839058468,0.0005045456170472773,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.568001857120735,0.03496722396809368,0.1691103388849893,0.1448295456732966,-0.007143428727971339,-0.019207459546719027,0.35554695353373156,0.6521986828370255,0.18643661464874225,0.18643661464874225,0.45619000000002,0,0,-0.0002340210932302592,9.999999025923074e-05
+47778,1792661424626478197,29965000000000,1792661424625537333,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760558915203945,-0.0045441437289359355,0.08989460873823187,0.9999999893214375,7.940173175941495e-05,-6.425540619999565e-05,4.8647681869559734e-05,0.6761,-0.00453,0.08987044575448973,1.0,0.0,0.0,0.0,-0.023123163488991988,0.006596825151888822,0.722658657354027,8.202052700275256e-05,0.002244124686831366,0.0004814185067140308,0.16575140802431662,0.09263298147691858,0.5454344065037674,0.005355343323317689,-0.01339950078575745,0.0004601358862387382,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5752954620768544,0.04944463908116708,-0.06460870635256798,0.2331230396041142,0.12268046641271337,-0.023021806788434844,0.35554695353373156,0.722658657354027,0.42015565988629955,0.42015565988629955,0.49644000000002836,0,0,-0.00020527252663352235,9.999999025923074e-05
+47841,1792661425151437210,29965525000000,1792661425145537899,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760686954778936,-0.004542175875393544,0.08980825453768067,0.9999999885062955,8.761213516424354e-05,-4.710882900901441e-05,6.73434874667648e-05,0.6761,-0.00453,0.08976955517666217,1.0,0.0,0.0,0.0,-0.02238077852712453,0.006799726764915165,0.7826746527705811,5.249921942271189e-05,0.002873971757031378,0.0004431822175567601,0.16649379298618408,0.09283588308994492,0.6054504019203215,0.005325822015737648,-0.012769653715557439,0.0004218995970814675,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6043901867174268,0.021710873695293106,-0.09006888897257105,0.24503943945687842,0.14276594811562424,-0.040656436309369784,0.35554695353373156,0.7826746527705811,0.4456158425063026,0.4456158425063026,0.5331900000000359,0,0,-0.0001790225317474262,9.999999025923074e-05
+47923,1792661425835492314,29966209000000,1792661425829537156,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760699511418801,-0.00455104937482795,0.08970140045663319,0.9999999877690114,8.046467428084712e-05,-4.815589354434948e-05,8.432845049669946e-05,0.6761,-0.00453,0.08965874267933878,1.0,0.0,0.0,0.0,-0.024175223846800986,0.003556396377124099,0.8433042983685413,0.0008247699577884696,0.003217215373187062,0.00040850954407581407,0.16469934766650762,0.08959255270215385,0.6660800475182816,0.006098092754103406,-0.012426410099401755,0.00038722692360052143,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6330765727513271,0.03227198037497798,-0.21174135731521743,0.24288449480715577,0.22656546045613482,-0.03590324048253992,0.35554695353373156,0.8433042983685413,0.567288310848949,0.567288310848949,0.5810700000000458,0,0,-0.000144923183832664,9.999999025923074e-05
+48015,1792661426601476312,29966975000000,1792661426601546570,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760733085635555,-0.004552382175887745,0.08961550038200217,0.9999999903383066,5.824039686240331e-05,-4.1846867698664444e-05,7.49876462775102e-05,0.6761,-0.00453,0.0895623526955712,1.0,0.0,0.0,0.0,-0.023448154887980577,0.0035056422743841437,0.9010024576585621,1.9909163157658637e-05,0.0032190501545236536,0.0003581879835355443,0.16542641662532803,0.0895417985994139,0.7237782068083025,0.005293231959472595,-0.012424575318065163,0.00033690536306025165,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6228461260708404,0.0654340791106525,-0.19086185079986961,0.23855401177474378,0.20797244949927723,-0.01667527502129218,0.35554695353373156,0.9010024576585621,0.5464088043336012,0.5464088043336012,0.6346900000000569,0,0,-0.00010689243084141686,9.999999025923074e-05
+48109,1792661427385458628,29967759000000,1792661427385547001,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760765510287269,-0.004548693079951688,0.08954608160263476,0.9999999917274481,4.752385746069316e-05,-3.769753798459491e-05,6.563799715121359e-05,0.6761,-0.00453,0.08948992821795582,1.0,0.0,0.0,0.0,-0.02423976426033983,-0.010321938766432448,0.9336554538707994,0.0006832506700171631,0.0023172384513096087,0.00032289125120209966,0.16463480725296878,0.07571421755859731,0.7564312030205398,0.005956573466332099,-0.013326387021279208,0.000301608630726807,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5725144153547097,-0.01925305032132776,-0.2843914171826187,0.27642900059114667,0.2543114606213483,-0.06999498422077131,0.35554695353373156,0.9336554538707994,0.6399383707163502,0.6399383707163502,0.6895700000000683,0,0,-8.111509583877551e-05,7.500226414792194e-05
+48201,1792661428151434067,29968525000000,1792661428149547906,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.676077582361409,-0.00454885981097803,0.08949186032086981,0.9999999918769651,5.310664713558843e-05,-3.461420258068648e-05,6.0584448118930046e-05,0.6761,-0.00453,0.08943373128907331,1.0,0.0,0.0,0.0,-0.014845012144247827,-0.001079152131924277,0.9634038660425578,7.621207443695224e-06,0.003188155879427057,0.0003033591446346323,0.17402955936906078,0.08495700419310548,0.7861796151922982,0.0052809440037586315,-0.01245546959316176,0.00028207652415933966,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6647517494581284,0.018463490041834126,-0.2865534176972804,0.27946329111915474,0.27679284363095547,-0.039761954188708336,0.35554695353373156,0.9634038660425578,0.6421003712310119,0.6421003712310119,0.7431900000000794,0,0,-6.80992428619826e-05,-2.6904012892571978e-05
+48292,1792661428910437347,29969284000000,1792661428909547600,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760814660770667,-0.004551439609871223,0.08944672242019984,0.999999991751343,5.9359468056560455e-05,-2.7858171172957942e-05,6.0337005748911596e-05,0.6761,-0.00453,0.08938116643465494,1.0,0.0,0.0,0.0,-0.024197335972525574,-0.003518257399842392,0.9839595347013806,2.4267975622157406e-06,0.0032019407962959323,0.00028330584344995525,0.16467723554078303,0.08251789892518736,0.806735283851121,0.005275749593877152,-0.012441684676292884,0.0002620232229746626,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5969759381920702,0.007055850433623963,-0.267076587019975,0.2815430818870685,0.2487730608143627,-0.04987247489641719,0.35554695353373156,0.9839595347013806,0.6226235405537066,0.6226235405537066,0.7963200000000904,0,0,-7.091082173812791e-05,-9.982275703113714e-05
+48390,1792661429726512731,29970100000000,1792661429725539987,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760842597576974,-0.004549402106799737,0.08939028281016248,0.9999999907969715,7.074422386200841e-05,-2.4655931524546847e-05,6.508656579068398e-05,0.6761,-0.00453,0.08932053494002347,1.0,0.0,0.0,0.0,-0.02419062458375079,-0.002093852885513975,1.0228557957773683,-3.980255738984459e-06,0.003193474681443407,0.00025451125645848066,0.16468394692955782,0.08394230343951578,0.8456315449271087,0.005269342540575952,-0.01245015079114541,0.00023322863598318803,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.5986828727180084,-0.007876910396075404,-0.378523456139279,0.29209592085804736,0.3162118204816549,-0.05799587484951812,0.35554695353373156,1.0228557957773683,0.7340704096730106,0.7340704096730106,0.8534400000001022,0,0,-7.765336617257318e-05,-5.9649970266575225e-05
+48465,1792661430351535936,29970725000000,1792661430345547637,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760857065037903,-0.0045568214822240645,0.08934200702752904,0.9999999906104678,7.032347417809608e-05,-2.1975709884546212e-05,6.923587169844556e-05,0.6761,-0.00453,0.08926973442633919,1.0,0.0,0.0,0.0,-0.029815898304848876,-0.010951098241067936,1.053581534561258,-1.0113575026294772e-05,0.003187128466345987,0.00022898781129052222,0.15905867320845973,0.07508505808396182,0.8763572837109984,0.0052632092212886415,-0.01245649700624283,0.0002077051908152296,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6601454470230096,-0.018760740782406846,-0.4015051889331559,0.2956379924521778,0.3446210518998043,-0.06549496937075977,0.35554695353373156,1.053581534561258,0.7570521424668875,0.7570521424668875,0.8971900000001113,0,0,-8.456356214855821e-05,-9.975114764604882e-05
+48557,1792661431118472993,29971492000000,1792661431117538080,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760870473243037,-0.004560440667160163,0.08927085105175256,0.9999999900993558,7.01495927451346e-05,-2.0745862857288954e-05,7.676455238070728e-05,0.6761,-0.00453,0.08920281691151437,1.0,0.0,0.0,0.0,-0.02459742698541345,-0.007649635012288755,1.0939070678399467,-2.0103720244425347e-05,0.0031775225632631188,0.0003939708587930209,0.16427714452789516,0.078386521312741,0.916682816989687,0.005253219076070511,-0.012466102909325698,0.00037268823831772827,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6313372907556833,0.002905744405387149,-0.4812421971595113,0.3012309311892368,0.388844404504511,-0.04766191603184796,0.35554695353373156,1.0939070678399467,0.8367891506932428,0.8367891506932428,0.9508800000001224,0,0,-8.931215148414028e-05,7.270932053516361e-05
+48649,1792661431885501660,29972259000000,1792661431885547381,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760874931600969,-0.004565245278979586,0.08920485136965474,0.9999999900714671,6.656189348043686e-05,-1.98018872547552e-05,8.048186073370456e-05,0.6761,-0.00453,0.08913247425667496,1.0,0.0,0.0,0.0,-0.031891617427015545,-0.016487510311838385,1.1341961162862564,-3.407190278584965e-05,0.0031665900097245514,0.0008150960933137803,0.15698295408629306,0.06954864601319137,0.9569718654359967,0.005239250893529087,-0.012477035462864265,0.0007938134728384876,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6803769174216183,-0.03231691722631895,-0.48310102783911607,0.3122230203991667,0.40273683033951085,-0.07392301051622516,0.35554695353373156,1.1341961162862564,0.8386479813728476,0.8386479813728476,1.0045700000001334,0,0,-9.541805184451325e-05,-9.77763106854212e-05
+48761,1792661432818560053,29973192000000,1792661432813547218,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760881331684548,-0.004567979434031469,0.08911355685301924,0.9999999914307105,5.412353282172499e-05,-1.7825044987696744e-05,7.303666457067595e-05,0.6761,-0.00453,0.08903874753797629,1.0,0.0,0.0,0.0,-0.02528378655623817,-0.016948080449463554,1.184516427929299,-4.537664181473739e-05,0.0031547223322013155,0.0011326835452068209,0.16359078495707044,0.0690880758755662,1.0072921770790393,0.005227946154500199,-0.012488903140387501,0.0011114009247315281,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6413430802909902,0.07094843622893089,-0.45518486341434894,0.29667842981642123,0.3715492764745882,-0.007654555991345749,0.35554695353373156,1.184516427929299,0.8107318169480805,0.8107318169480805,1.069880000000147,0,0,-0.00010157730325896364,-9.997663394235019e-05
+48862,1792661433660523165,29974034000000,1792661433657537904,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6760960763999098,-0.0045791090069261945,0.08903835026785323,0.9999999919881591,4.5543934940538855e-05,-5.368594274748806e-06,7.323574414745106e-05,0.6761,-0.00453,0.08895433966671296,1.0,0.0,0.0,0.0,-0.04282241216408689,-0.017295904806798088,1.2333736814600726,-0.0010937252763036443,0.004181136061678071,0.0004224322876307061,0.14605215934922172,0.06874025151823167,1.056149430609813,0.004179597520011292,-0.011462489410910746,0.00040114966715541344,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6273573259665989,-0.08710834097975141,-0.6031094232951347,0.35061256746531183,0.4585468934097053,-0.10614259345564134,0.35554695353373156,1.2333736814600726,0.9586563768288663,0.9586563768288663,1.1288200000001591,0,0,-0.0001012544852921612,-6.148051098631697e-05
+48958,1792661434460534713,29974834000000,1792661434453547486,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6760974189238146,-0.0045898901116611865,0.08896004559468003,0.9999999909975956,4.655709331862206e-05,-3.7544029438115306e-06,8.52409208830654e-05,0.6761,-0.00453,0.0888703642615876,1.0,0.0,0.0,0.0,-0.03712399853784018,-0.02645662579342587,1.2750383346973597,-0.0011113939421705564,0.004167935499539199,0.0010607684203309945,0.15175057297546843,0.059579530531603885,1.0978140838471,0.00416192885414438,-0.011475689973049617,0.0010394857998557018,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6696041108187393,-0.038433946489569534,-0.6952192246396467,0.3407889363649188,0.5267979746733197,-0.07421537276702242,0.35554695353373156,1.2750383346973597,1.0507661781733781,1.0507661781733781,1.1848200000001707,0,0,-0.00010809560419403207,9.99913999085777e-05
+49054,1792661435260546648,29975634000000,1792661435257547692,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761008162965025,-0.004589886971015676,0.08888200552653487,0.9999999903838943,5.130841272648191e-05,-1.6824944897610979e-06,8.966432766213825e-05,0.6761,-0.00453,0.08878233928196358,1.0,0.0,0.0,0.0,-0.04300888215895832,-0.024995468322056152,1.3150017554947246,-0.0011186135141369727,0.004159297053029653,0.0010475809314704357,0.1458656893543503,0.0610406880029736,1.137777504644465,0.004154709282177964,-0.011484328419559164,0.001026298310995143,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6110881745922528,0.0630456303943865,-0.6167253480081623,0.32126176521870237,0.4595367882400168,-0.011150030707432819,0.35554695353373156,1.3150017554947246,0.9722723015418938,0.9722723015418938,1.2408200000001823,0,0,-0.00011171012983676588,-9.999936575877939e-05
+49153,1792661436085622483,29976459000000,1792661436085547355,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761063730036043,-0.004594651835947365,0.08879407759053484,0.9999999897626226,5.165957144201806e-05,8.168165196471349e-06,9.582373931684236e-05,0.6761,-0.00453,0.08868923846810012,1.0,0.0,0.0,0.0,-0.04328127268285606,-0.023198506226072196,1.3646414352952576,-0.0011277708764208727,0.004148385481662657,0.0010074730233083275,0.14559329883045255,0.06283765009895756,1.1874171844449979,0.004145551919894064,-0.01149523999092616,0.0009861904028330348,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6769716506471565,0.08847474464740837,-0.73199530248067,0.320152172598726,0.5478541925633478,0.006934917905555005,0.35554695353373156,1.3646414352952576,1.0875422560144017,1.0875422560144017,1.2985700000001943,0,0,-0.00011697923460038252,-9.999799185778641e-05
+49232,1792661436743602457,29977117000000,1792661436741537877,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761099689777238,-0.004594220421561158,0.0887220033309706,0.999999990078842,4.9309191290923306e-05,1.4109937507021054e-05,9.303060749690014e-05,0.6761,-0.00453,0.08861304584287955,1.0,0.0,0.0,0.0,-0.04907114771109086,-0.02299286373539597,1.4048291110563962,-0.0011356236647347166,0.004139804267515252,0.0009731482137495907,0.13980342380221775,0.06304329258963379,1.2276048602061365,0.00413769913158022,-0.011503821205073565,0.000951865593274298,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6930777192175815,-0.03054416035184935,-0.8355467289505689,0.36599162875470426,0.6199281869861244,-0.07181417435422424,0.35554695353373156,1.4048291110563962,1.1910936824843006,1.1910936824843006,1.3446300000002038,0,0,-0.00011458106012070917,7.17741197937061e-05
+49322,1792661437493672240,29977867000000,1792661437493538300,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761135493415725,-0.004592397986143629,0.08864606544105294,0.9999999907844205,4.345712735231729e-05,2.144185528246325e-05,8.675107130935959e-05,0.6761,-0.00453,0.08852612203269508,1.0,0.0,0.0,0.0,-0.04342515884343548,-0.030602015787322072,1.4348803998476745,-0.000946706081781783,0.004133215390460887,0.0009505684204955181,0.14544941266987313,0.055434140537707684,1.2576561489974147,0.004326616714533153,-0.01151041008212793,0.0009292858000202255,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.73657902725113,-0.001584692100426097,-0.8659091822008956,0.3745177075785714,0.6470689108803416,-0.05184914503034038,0.35554695353373156,1.4348803998476745,1.2214561357346272,1.2214561357346272,1.3971300000002147,0,0,-0.00011867680823979635,-4.338279541530221e-05
+49411,1792661438235585990,29978609000000,1792661438229546956,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761188141918761,-0.004593097288491111,0.08856186196925543,0.9999999901316465,4.8313502792499675e-05,2.8371175973580315e-05,8.966857402279419e-05,0.6761,-0.00453,0.08843743484454884,1.0,0.0,0.0,0.0,-0.043489167887776514,-0.029061712536496212,1.4792247725193322,-0.0011490388127205486,0.004123906479806431,0.0009133985233945095,0.1453854036255321,0.056974443788533544,1.3020005216690724,0.004124283983594388,-0.011519718992782386,0.0008921159029192169,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.7003018274121455,0.04323887523690781,-0.9132444351545472,0.3691525862613418,0.6652682473989209,-0.020880808837496517,0.35554695353373156,1.4792247725193322,1.2687913886882787,1.2687913886882787,1.4490700000002255,0,0,-0.0001210672705723651,-5.179552874745103e-05
+49495,1792661438935672878,29979309000000,1792661438929547801,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.676121592494661,-0.004597800052208059,0.08848082062592581,0.9999999887968349,5.809457428998783e-05,3.096544869594351e-05,9.754668518314853e-05,0.6761,-0.00453,0.08835156815896086,1.0,0.0,0.0,0.0,-0.04372289138103297,-0.019730011699431865,1.5250992652851316,-0.0011825622382124678,0.005021156929163139,0.0008918704362705679,0.14515168013227564,0.06630614462559789,1.347875014434872,0.0040907605581024685,-0.010622468543425677,0.0008705878157952752,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.6807154264508173,-0.004641554201560521,-0.9808808741774812,0.39186981114268493,0.7016019139366583,-0.050962970655035265,0.35554695353373156,1.5250992652851316,1.3364278277112127,1.3364278277112127,1.4980700000002356,0,0,-0.00012388958689904672,9.356695559870615e-05
+49580,1792661439643611356,29980017000000,1792661439637547525,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761295554127127,-0.0045998160435143706,0.08841346862722717,0.9999999878828456,5.89448966415542e-05,4.836189450831627e-05,9.931666235128898e-05,0.6761,-0.00453,0.08826289209949989,1.0,0.0,0.0,0.0,-0.045475260276624574,-0.01606900836735821,1.545513405530652,-0.0005747746914286029,0.0051167552870363,0.0008728357977979854,0.14339931123668404,0.06996714795767155,1.3682891546803924,0.004698548104886333,-0.010526870185552517,0.0008515531773226928,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.7276378848565344,-0.16244578148804953,-0.9322375450416195,0.44716819306088046,0.6797715697471457,-0.15619494309650744,0.35554695353373156,1.545513405530652,1.287784498575351,1.287784498575351,1.5476300000002459,0,0,-0.00012912962146369023,-9.835237765732358e-05
+49652,1792661440243686082,29980617000000,1792661440237547239,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761239445792028,-0.0046039163026625725,0.08832161766231533,0.9999999887829283,5.079439823360361e-05,3.468994128662936e-05,0.00010046663451763411,0.6761,-0.00453,0.08818496839019838,1.0,0.0,0.0,0.0,-0.04367759324892434,-0.03126388868914613,1.5952855415144704,-0.001175923950835287,0.004232716176187347,0.0008238587480110977,0.14519697826438427,0.05477226763588362,1.4180612906642107,0.004097398845479649,-0.01141090929640147,0.0008025761275358051,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.7190051787893948,0.0010429509481308635,-1.0681541703487452,0.41138952900751136,0.7625990508094324,-0.04857639186873279,0.35554695353373156,1.5952855415144704,1.4237011238824766,1.4237011238824766,1.5896300000002546,0,0,-0.00012770300015088753,5.3860536890165636e-05
+49738,1792661440960639514,29981334000000,1792661440957547462,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761290387940487,-0.004602492130698072,0.08823199796844716,0.9999999884981345,5.036002891098718e-05,4.3449159929869116e-05,0.00010011310198927051,0.6761,-0.00453,0.08808997100077738,1.0,0.0,0.0,0.0,-0.04387474630488264,-0.02397389546348059,1.6274807370025406,-0.0012047187052085153,0.0050759629979327155,0.0008105523149896589,0.14499982520842597,0.062062260861549166,1.4502564861522809,0.004068604091106421,-0.010567662474656101,0.0007892696945143663,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.7946910172294748,-0.04403947401952256,-1.104246720510594,0.4321559020858981,0.8026174238462667,-0.07860715416563584,0.35554695353373156,1.6274807370025406,1.4597936740443256,1.4597936740443256,1.639820000000265,0,0,-0.00013228821664904166,1.566932281005791e-05
+49829,1792661441718752620,29982092000000,1792661441717547264,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761324305242928,-0.004606717121260049,0.08813434900388949,0.9999999882938296,4.627227054124931e-05,4.770696252628436e-05,0.00010216715587372174,0.6761,-0.00453,0.08798779127183994,1.0,0.0,0.0,0.0,-0.04394430025063953,-0.02484113131110116,1.6555902530060285,-0.001202110365541375,0.004728056549808641,0.0007765033440961266,0.14493027126266908,0.061195025013928595,1.4783660021557687,0.004071212430773561,-0.010915568922780176,0.000755220723620834,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.7863399116018881,-0.07033911002590972,-1.1894166999446198,0.4473091806045521,0.8568810663588218,-0.0911745603256234,0.35554695353373156,1.6555902530060285,1.5449636534783515,1.5449636534783515,1.692880000000276,0,0,-0.00013920586964114167,9.983793933099889e-05
+49910,1792661442393748854,29982767000000,1792661442389547534,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761310139597777,-0.004609386196286162,0.08803905453017183,0.9999999876531085,5.128239994817568e-05,4.541920426577627e-05,0.00010697597207722398,0.6761,-0.00453,0.08789207810715882,1.0,0.0,0.0,0.0,-0.04386346695410506,-0.031607013209083,1.6856814957752875,-0.0011899935316719299,0.004081331948736661,0.0007480605096904002,0.14501110455920355,0.05442914311594676,1.5084572449250278,0.004083329264643006,-0.011562293523852156,0.0007267778892151075,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8143740958646898,-0.009666323219595162,-1.2082868682577994,0.4413340033978688,0.8727842209370665,-0.052434282894821826,0.35554695353373156,1.6856814957752875,1.563833821791531,1.563833821791531,1.7401300000002857,0,0,-0.0001456234080862443,9.460087854596395e-05
+49990,1792661443060691498,29983434000000,1792661443057546966,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761310280534306,-0.004606971306880928,0.08794284769297082,0.999999986494442,6.194358874571563e-05,4.446112232296381e-05,0.00011242855841352549,0.6761,-0.00453,0.08779368312654202,1.0,0.0,0.0,0.0,-0.03927457238962931,-0.030543275267120203,1.7093254993795177,-0.0012152541893870996,0.004862507230028824,0.0007424605612133538,0.1495999991236793,0.05549288105790955,1.532101248529258,0.004058068606927837,-0.010781118242559992,0.0007211779407380612,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8124901169200052,-0.08033987214177289,-1.2244610341380318,0.47921617452754167,0.8772314371833011,-0.09357769434750064,0.35554695353373156,1.7093254993795177,1.5800079876717632,1.5800079876717632,1.7868200000002954,0,0,-0.0001486539607171399,3.924800088047855e-05
+50057,1792661443618740308,29983992000000,1792661443617546694,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761317623742914,-0.004611235338858221,0.08785917924239706,0.9999999860414435,6.317833356089863e-05,4.647140088838221e-05,0.00011492991114299484,0.6761,-0.00453,0.08770770410117691,1.0,0.0,0.0,0.0,-0.034878386770132525,-0.030188693474380635,1.7250175046426472,-0.001197696119091581,0.004071169521282012,0.0007173505417782881,0.15399618474317608,0.05584746285064912,1.5477932537923875,0.004075626677223355,-0.011572455951306805,0.0006960679213029955,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.824168518518936,-0.1569079026350623,-1.2594344838540894,0.5138758040477961,0.899304050868568,-0.13938472538602534,0.35554695353373156,1.7250175046426472,1.6149814373878209,1.6149814373878209,1.8258800000003035,0,0,-0.00015839416000054817,9.999999025923074e-05
+50125,1792661444185725165,29984559000000,1792661444185546721,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.676129865955493,-0.004615307000119832,0.08776920037270144,0.9999999869674668,5.5705254987442805e-05,4.3613769792632454e-05,0.00011181544790677635,0.6761,-0.00453,0.0876151378959537,1.0,0.0,0.0,0.0,-0.03471572955233615,-0.030158173695310264,1.725884741202964,-0.0011975633435457366,0.004070933194634889,0.0007166699994664491,0.15415884196097246,0.05587798262971949,1.5486604903527044,0.0040757594527692,-0.011572692277953928,0.0006953873789911565,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8669049779040853,-0.04524536316506271,-1.2378734469808945,0.48511669091638243,0.8949008614930303,-0.07477046927759044,0.35554695353373156,1.725884741202964,1.593420400514626,1.593420400514626,1.8655700000003117,0,0,-0.00016725823828308973,-9.998491898167145e-05
+50191,1792661444735774120,29985109000000,1792661444729547411,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761323090027593,-0.004612127589764392,0.08768077519684815,0.9999999877577798,4.708358974173863e-05,4.8012639783522134e-05,0.00010679525648040016,0.6761,-0.00453,0.08751880104564326,1.0,0.0,0.0,0.0,-0.03471261394249836,-0.020514894798413175,1.7358952381745767,-0.0011979877788323998,0.004067934236037929,0.0007085967413058618,0.15416195757081025,0.06552126152661658,1.558670987324317,0.0040753350174825365,-0.011575691236550887,0.0006873141208305691,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8364581651809215,-0.1185560041764236,-1.2950149389890437,0.5139522705560103,0.9197000746448014,-0.11906565236208433,0.35554695353373156,1.7358952381745767,1.6505618925227754,1.6505618925227754,1.9040700000003197,0,0,-0.00018152435424659418,3.8368915015968244e-05
+50257,1792661445285770264,29985659000000,1792661445285547165,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761339941733185,-0.004614818392813882,0.08758515119847562,0.9999999866454186,4.854698369911473e-05,5.1450740026044536e-05,0.00011466489839541177,0.6761,-0.00453,0.08741647013709221,1.0,0.0,0.0,0.0,-0.03474841824419109,-0.02946655865992686,1.7445641604836621,-0.0012003882607651882,0.004067169708949693,0.0007015757589490534,0.15412615326911752,0.056569597665102896,1.5673399096334024,0.004072934535549748,-0.011576455763639124,0.0006802931384737608,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8369133690617618,-0.06304142859797557,-1.2625514378113312,0.5024333954210236,0.8955956079494793,-0.08377276260048983,0.35554695353373156,1.7445641604836621,1.6180983913450628,1.6180983913450628,1.9425700000003276,0,0,-0.00019084823049272804,-9.996129898682255e-05
+50324,1792661445843806938,29986217000000,1792661445837547568,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761346305175991,-0.0046190069910142,0.08747476726302156,0.9999999857039719,4.8921957070240626e-05,5.216334398335702e-05,0.00012214969553694138,0.6761,-0.00453,0.08730527214041198,1.0,0.0,0.0,0.0,-0.03478273379758087,-0.02906246653172819,1.7559365954869444,-0.0012031088509317223,0.004064369374988282,0.0006923861658477876,0.15409183771572774,0.056973689793301564,1.5787123446366846,0.004070213945383214,-0.011579256097600535,0.0006711035453724949,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.8442031109886232,-0.10179951481323392,-1.3832270123695836,0.525863504650402,0.9708277558382181,-0.10420028207621299,0.35554695353373156,1.7559365954869444,1.7387739659033152,1.7387739659033152,1.9816300000003357,0,0,-0.00020624962439733251,9.998751412799151e-05
+50390,1792661446393815060,29986767000000,1792661446389547435,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761332943151829,-0.00462418484382738,0.08735890371161043,0.9999999861390194,3.919351718970135e-05,4.9614158065262454e-05,0.00012315489871140276,0.6761,-0.00453,0.08718861096823026,1.0,0.0,0.0,0.0,-0.03496423652533276,-0.028698268761889717,1.7659468334053166,-0.001204957287451498,0.004062181386681444,0.000684274705507213,0.15391033498797585,0.05733788756314004,1.5887225825550568,0.004068365508863438,-0.011581444085907373,0.0006629920850319204,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9176687149656867,-0.04765001903953433,-1.4142990039343935,0.5275829149219194,1.004186344221486,-0.06926454766688805,0.35554695353373156,1.7659468334053166,1.769845957468125,1.769845957468125,2.0201300000003437,0,0,-0.000217821437224737,9.970987510510838e-05
+50452,1792661446910780389,29987284000000,1792661446905547029,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761369316532462,-0.004618537616544969,0.08725458211566893,0.9999999890610254,6.310205408198881e-06,5.5535305792706345e-05,0.00010097932794273714,0.6761,-0.00453,0.08707396003812401,1.0,0.0,0.0,0.0,-0.03413248058401541,-0.018529454584040927,1.7660117599525158,-0.0011618855922259233,0.0040602410668340635,0.0006818042296101651,0.1547420909292932,0.06750670174098883,1.588787509102256,0.004111437204089013,-0.011583384405754753,0.0006605216091348725,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9175046862014451,-0.14327927907819682,-1.3499664672479141,0.5563257236938652,0.9616073794098128,-0.13499404792587416,0.35554695353373156,1.7660117599525158,1.7055134207816458,1.7055134207816458,2.056320000000351,0,0,-0.0002275183700564939,-9.999052560794581e-05
+50509,1792661447385838311,29987759000000,1792661447385547543,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761356494062761,-0.004625724237279223,0.08714221019416486,0.9999999826828703,0.00010351992613004876,5.551612284373729e-05,0.0001108093343158942,0.6761,-0.00453,0.08696321065264603,1.0,0.0,0.0,0.0,-0.03482660266713172,-0.02795602238981027,1.783827863319305,-0.0012081071622651292,0.004058456742779451,0.0006691466551876213,0.15404796884617689,0.058080133935219484,1.6066036124690453,0.004065215634049807,-0.011585168729809366,0.0006478640347123287,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9489384275623227,-0.05123127771823577,-1.407114351136078,0.538160967812984,1.0010718252687147,-0.06712623874978414,0.35554695353373156,1.783827863319305,1.7626613046698094,1.7626613046698094,2.089570000000358,0,0,-0.00023620132406877966,7.439633674136961e-05
+50560,1792661447810847776,29988184000000,1792661447809547240,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761310089459627,-0.004632098175268987,0.08703418817057053,0.9999999835765462,8.551701857966992e-05,4.717048400665351e-05,0.00012145598648085827,0.6761,-0.00453,0.08686043493290092,1.0,0.0,0.0,0.0,-0.026063972147319925,-0.02797557705689404,1.7860476988421021,-0.0012087702855196353,0.004057688897500841,0.0006686776577292902,0.16281059936598868,0.058060579268135716,1.6088234479918424,0.004064552510795301,-0.011585936575087975,0.0006473950372539976,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9281565624324756,-0.09140319570500598,-1.341399651089407,0.5491579893984979,0.9563652372585585,-0.10483863904059522,0.35554695353373156,1.7860476988421021,1.6969466046231387,1.6969466046231387,2.1193200000003642,0,0,-0.00024763696802462674,-9.999999025923074e-05
+50620,1792661448310823055,29988684000000,1792661448309537337,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761329533161914,-0.004639517355879468,0.08691134834642038,0.9999999838015592,6.894480179092385e-05,5.0448116983924e-05,0.00012861317033305156,0.6761,-0.00453,0.08673242954296236,1.0,0.0,0.0,0.0,-0.03486035364508383,-0.03435055258781418,1.7860207974074565,-0.001209587470674017,0.004058326479270912,0.0006680657712844838,0.15401421786822478,0.05168560373721558,1.6087965465571967,0.004063735325640919,-0.011585298993317904,0.0006467831508091911,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9437212810589855,-0.03186397954795912,-1.3765355998046958,0.5436091961018489,0.9816473287908852,-0.05868714557225291,0.35554695353373156,1.7860207974074565,1.7320825533384272,1.7320825533384272,2.1543200000003715,0,0,-0.00026203657926412847,-9.736512571046347e-05
+50674,1792661448760864745,29989134000000,1792661448753547194,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761334365505212,-0.004637446936079713,0.0867884102257548,0.9999999857839564,4.5685286451669006e-05,5.096408306886342e-05,0.0001232496173912371,0.6761,-0.00453,0.0866113559920828,1.0,0.0,0.0,0.0,-0.03485612473015509,-0.034423235711843816,1.785247455644554,-0.001209509394267453,0.0040584281689594465,0.0006686910721343297,0.15401844678315352,0.05161292061318594,1.6080232047942942,0.004063813402047483,-0.01158519730362937,0.000647408451659037,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,0.9808179935901618,-0.0575156264953608,-1.3482340985558554,0.5584637500310953,0.972291047303999,-0.07546628302852264,0.35554695353373156,1.785247455644554,1.703781052089587,1.703781052089587,2.185820000000378,0,0,-0.0002740258290098981,-9.999999025923074e-05
+50730,1792661449226859974,29989600000000,1792661449225546864,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761370287460294,-0.0046433780207916515,0.0866617644545079,0.999999985798939,3.0024254713165838e-05,5.777932147962998e-05,0.00012492029574271573,0.6761,-0.00453,0.0864807023348756,1.0,0.0,0.0,0.0,-0.04390512874110147,-0.025420467147071517,1.7882362995788237,-0.0012159831331054948,0.004281576401778791,0.000675169189300676,0.14496944277220714,0.06061568917795824,1.611012048728564,0.0040573396632094414,-0.011362049070810025,0.0006538865688253834,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,1.0369626129759355,-0.1165975709696996,-1.4629352737198489,0.5794643546963337,1.058807493974755,-0.10850673492297161,0.35554695353373156,1.7882362995788237,1.8184822272535803,1.8184822272535803,2.2184400000003848,0,0,-0.00028650215249443223,6.597688456231481e-05
+50782,1792661449660840215,29990034000000,1792661449653537813,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761308009746303,-0.0046430624858240606,0.08653449959318157,0.9999999858251483,2.3946082150931095e-05,5.223891384389019e-05,0.0001284143640680891,0.6761,-0.00453,0.08635331436765717,1.0,0.0,0.0,0.0,-0.035387820791043245,-0.02761593255152208,1.7960017823559182,-0.0012382069832981794,0.005068889490365826,0.0006756567859057363,0.15348675072226536,0.058420223773507675,1.6187775315056585,0.004035115813016757,-0.01057473598222299,0.0006543741654304436,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,1.0204861201280127,-0.04259638620133169,-1.3411687767918108,0.5699964785386842,0.9759884910157922,-0.057662134639243516,0.35554695353373156,1.7960017823559182,1.6967157303255425,1.6967157303255425,2.248820000000391,0,0,-0.0003012195994536989,-9.990957647166283e-05
+50830,1792661450060794261,29990434000000,1792661450053547435,DOWN_FORCE_DETACH,10,0.0445,0.04450229927897453,0.6761260653193629,-0.004646293762442495,0.08641389809210757,0.9999999872090273,9.148874873970932e-07,4.8179931043778526e-05,0.00012125455460371506,0.6761,-0.00453,0.08623050628371721,1.0,0.0,0.0,0.0,-0.03454939673292029,-0.0368547036017863,1.7960429514207303,-0.0012140420728943852,0.00413832284705247,0.0006607725049225038,0.15432517478038832,0.04918145272324346,1.6188187005704706,0.004059280723420551,-0.011505302625536347,0.0006394898844472111,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,1.0512035347315256,-0.1366806244265786,-1.4449817431900465,0.6060749337802394,1.052322489187366,-0.11662124504504234,0.35554695353373156,1.7960429514207303,1.8005286967237781,1.8005286967237781,2.276820000000397,0,0,-0.0003138035956043713,-9.999999025923074e-05
+50874,1792661450426853225,29990800000000,1792661450425546907,DOWN_FORCE_DETACH,10,0.0445,0.044501643627882004,0.6761193879840276,-0.0046579021718640605,0.08628948574313576,0.9999999854393723,6.299987648977364e-06,4.2313598292582956e-05,0.00013687216401594884,0.6761,-0.00453,0.08611317735736757,1.0,0.0,0.0,0.0,-0.03451703503020076,-0.0403236562679887,1.8057019740151599,-0.0022336852450567934,0.004073165035544751,0.0006406939909033098,0.15435753648310785,0.045712500057041056,1.6284777231649001,0.003039637551258143,-0.011570460437044065,0.0006194113704280172,0.1888745715133086,0.08603615632502976,-0.17722425085025964,0.005273322796314936,-0.015643625472588817,-2.128262047529264e-05,1,1.0104528122303977,-0.17362309432164752,-1.4261922744742683,0.6116950781364304,1.0322675732687603,-0.13264146950178266,0.35554695353373156,1.8057019740151599,1.781739228008,1.781739228008,2.302440000000402,0,0,-0.0003273943805740239,-9.999611835643236e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65ce82e92a9e2a6040196231526341baa354216d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15f58f1f75b46e22fd88b8a7be2628debd0b0aee
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792661416533316841,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.263862707e-09,2.863105916e-10,1.715398490e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259227e-01,1.826619696e-06,8.297808190e-01
+1,5.500000000e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1792661417355745076,1.866357484e-06,-2.856347583e-06,2.065036995e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.265778966e-07,7.729855180e-09,4.772209339e-08,7.015397378e-01,-1.305386262e-06,8.407430062e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260450e-01,1.834063241e-06,8.297808650e-01
+2,1.250000000e+00,DOWN_FORCE_DETACH,1792661418424533255,-5.489114613e-07,-1.208712567e-07,-7.113351747e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.613353339e-07,1.720901794e-08,9.403598455e-08,7.015373226e-01,1.430090064e-06,8.407338278e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261797e-01,1.843542403e-06,8.297809113e-01
+3,1.816666667e+00,DOWN_FORCE_DETACH,1792661419282361486,-6.811716399e-06,-9.327838327e-06,-6.563043272e-05,-9.551980624e-06,-9.322944190e-06,-6.714114560e-05,-9.674328343e-06,-9.218779005e-06,-6.655753102e-05,7.015310598e-01,-7.776877006e-06,8.406753108e-01,7.015283195e-01,-7.771982869e-06,8.406738000e-01,7.017162441e-01,-7.392445620e-06,8.297142597e-01
+4,2.300000000e+00,DOWN_FORCE_DETACH,1792661420002367839,-1.076098101e-05,-1.500069747e-05,-1.425706831e-04,-1.153986483e-05,-1.122688124e-05,-1.373470384e-04,-1.193780116e-05,-1.110528518e-05,-1.362846438e-04,7.015271105e-01,-1.344973615e-05,8.405983705e-01,7.015263316e-01,-9.675919920e-06,8.406035941e-01,7.017139806e-01,-9.278951791e-06,8.296445326e-01
+5,2.716666667e+00,DOWN_FORCE_DETACH,1792661420620159496,-1.371149663e-05,-5.618806736e-06,-2.193863040e-04,-1.397356459e-05,-8.058084283e-06,-2.074957517e-04,-1.464197468e-05,-7.963517324e-06,-2.060172051e-04,7.015241600e-01,-4.067845415e-06,8.405215549e-01,7.015238979e-01,-6.507122962e-06,8.405334454e-01,7.017112764e-01,-6.137183938e-06,8.295748001e-01
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+7,3.500000000e+00,DOWN_FORCE_DETACH,1792661421803093226,-2.902258316e-05,-3.552075820e-05,-4.332574205e-04,-2.976947781e-05,-3.065904729e-05,-4.300283806e-04,-3.146609524e-05,-3.038058546e-05,-4.272626350e-04,7.015088489e-01,-3.396979688e-05,8.403076838e-01,7.015081020e-01,-2.910808597e-05,8.403109128e-01,7.016944523e-01,-2.855425208e-05,8.293535546e-01
+8,3.833333333e+00,DOWN_FORCE_DETACH,1792661422302503892,-3.376938350e-05,-4.351102623e-05,-5.439231456e-04,-3.375576757e-05,-4.357063096e-05,-5.435414183e-04,-3.593872296e-05,-4.323192171e-05,-5.402005611e-04,7.015041021e-01,-4.196006490e-05,8.401970180e-01,7.015041157e-01,-4.201966964e-05,8.401973998e-01,7.016899797e-01,-4.140558832e-05,8.292406167e-01
+9,3.983333333e+00,DOWN_FORCE_DETACH,1792661422542952073,2.200299270e-05,-4.149727668e-05,-5.668145049e-04,2.147691720e-05,-4.128193378e-05,-5.665393894e-04,2.028674968e-05,-4.099474241e-05,-5.632071594e-04,7.015598745e-01,-3.994631536e-05,8.401741267e-01,7.015593484e-01,-3.973097246e-05,8.401744018e-01,7.017462051e-01,-3.916840902e-05,8.292176101e-01
+10,4.150000000e+00,DOWN_FORCE_DETACH,1792661422782151384,4.994082496e-05,-3.462901620e-05,-5.817108716e-04,4.971486667e-05,-3.463992892e-05,-5.816129313e-04,4.922030918e-05,-3.440734996e-05,-5.783539361e-04,7.015878123e-01,-3.307805488e-05,8.401592303e-01,7.015875863e-01,-3.308896760e-05,8.401593283e-01,7.017751387e-01,-3.258101658e-05,8.292024633e-01
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+12,4.650000000e+00,DOWN_FORCE_DETACH,1792661423521154626,6.022836027e-05,-7.830327032e-06,-7.537930737e-04,5.734547404e-05,2.654495977e-06,-7.471363670e-04,5.654891140e-05,2.693742714e-06,-7.431726379e-04,7.015980998e-01,-6.279365711e-06,8.399871481e-01,7.015952170e-01,4.205457298e-06,8.399938048e-01,7.017824673e-01,4.520076099e-06,8.290376446e-01
+13,5.000000000e+00,DOWN_FORCE_DETACH,1792661424052520596,6.609150251e-05,-1.295714600e-05,-8.610152244e-04,6.238040227e-05,-1.081015473e-05,-8.452210567e-04,6.141284575e-05,-1.066670627e-05,-8.410323222e-04,7.016039630e-01,-1.140618468e-05,8.398799260e-01,7.016002519e-01,-9.259193408e-06,8.398957201e-01,7.017873312e-01,-8.840372886e-06,8.289397850e-01
+14,5.383333333e+00,DOWN_FORCE_DETACH,1792661424625976914,7.543971617e-05,-2.250842821e-05,-9.679590855e-04,7.319034960e-05,-2.068954392e-05,-9.603941054e-04,7.207338256e-05,-2.049173532e-05,-9.558725176e-04,7.016133112e-01,-2.095746689e-05,8.397729821e-01,7.016110618e-01,-1.913858260e-05,8.397805471e-01,7.017979918e-01,-1.866540193e-05,8.288249448e-01
+15,5.733333333e+00,DOWN_FORCE_DETACH,1792661425153413963,8.587260180e-05,-2.276435407e-05,-1.057214435e-03,8.491784736e-05,-2.237780165e-05,-1.051349015e-03,8.382279423e-05,-2.214169338e-05,-1.046710386e-03,7.016237441e-01,-2.121339274e-05,8.396837268e-01,7.016227893e-01,-2.082684033e-05,8.396895922e-01,7.018097412e-01,-2.031535999e-05,8.287341069e-01
+16,6.183333333e+00,DOWN_FORCE_DETACH,1792661425831650990,9.120934935e-05,-2.832036747e-05,-1.157609565e-03,9.100519552e-05,-2.834688390e-05,-1.157717004e-03,8.972549838e-05,-2.810241307e-05,-1.152962796e-03,7.016290808e-01,-2.676940615e-05,8.395833316e-01,7.016288767e-01,-2.679592258e-05,8.395832242e-01,7.018156439e-01,-2.627607968e-05,8.286278545e-01
+17,6.700000000e+00,DOWN_FORCE_DETACH,1792661426602987114,9.177622919e-05,-2.690235900e-05,-1.248987578e-03,9.131501764e-05,-2.685807171e-05,-1.239064078e-03,8.988937310e-05,-2.665035605e-05,-1.234540038e-03,7.016296477e-01,-2.535139768e-05,8.394919536e-01,7.016291865e-01,-2.530711039e-05,8.395018771e-01,7.018158078e-01,-2.482402267e-05,8.285462772e-01
+18,7.216666667e+00,DOWN_FORCE_DETACH,1792661427382121323,9.681548171e-05,-2.629646277e-05,-1.313121778e-03,9.335893725e-05,-2.952300806e-05,-1.303167070e-03,9.181636332e-05,-2.930217100e-05,-1.298914161e-03,7.016346870e-01,-2.474550145e-05,8.394278194e-01,7.016312304e-01,-2.797204673e-05,8.394377741e-01,7.018177348e-01,-2.747583762e-05,8.284819031e-01
+19,7.733333333e+00,DOWN_FORCE_DETACH,1792661428153994234,1.001434361e-04,-2.355269330e-05,-1.368659782e-03,9.762831036e-05,-2.878804606e-05,-1.367259603e-03,9.606214700e-05,-2.858541719e-05,-1.363200526e-03,7.016380149e-01,-2.200173198e-05,8.393722814e-01,7.016354998e-01,-2.723708474e-05,8.393736816e-01,7.018219805e-01,-2.675908381e-05,8.284176167e-01
+20,8.233333333e+00,DOWN_FORCE_DETACH,1792661428910916162,9.839125205e-05,-2.682589143e-05,-1.421766710e-03,9.884187128e-05,-2.649362242e-05,-1.410969625e-03,9.715849394e-05,-2.630086870e-05,-1.407313599e-03,7.016362627e-01,-2.527493010e-05,8.393191745e-01,7.016367134e-01,-2.494266110e-05,8.393299716e-01,7.018230769e-01,-2.447453532e-05,8.283735037e-01
+21,8.783333333e+00,DOWN_FORCE_DETACH,1792661429726156244,1.049894127e-04,-2.937429457e-05,-1.471661971e-03,1.037708853e-04,-2.928653078e-05,-1.472434423e-03,1.020653182e-04,-2.906874355e-05,-1.468905620e-03,7.016428609e-01,-2.782333325e-05,8.392692792e-01,7.016416424e-01,-2.773556946e-05,8.392685068e-01,7.018279837e-01,-2.724241017e-05,8.283119117e-01
+22,9.200000000e+00,DOWN_FORCE_DETACH,1792661430353491068,1.055243208e-04,-3.051585764e-05,-1.519159932e-03,1.026806065e-04,-3.108871381e-05,-1.515916736e-03,1.008468955e-04,-3.085247980e-05,-1.512572460e-03,7.016433958e-01,-2.896489631e-05,8.392217813e-01,7.016405521e-01,-2.953775249e-05,8.392250245e-01,7.018267653e-01,-2.902614641e-05,8.282682448e-01
+23,9.716666667e+00,DOWN_FORCE_DETACH,1792661431121105527,1.042174009e-04,-3.646945796e-05,-1.593130505e-03,1.056616420e-04,-3.675016034e-05,-1.578165116e-03,1.037054108e-04,-3.644384137e-05,-1.574975504e-03,7.016420889e-01,-3.491849664e-05,8.391478107e-01,7.016435331e-01,-3.519919902e-05,8.391627761e-01,7.018296238e-01,-3.461750799e-05,8.282058418e-01
+24,1.021666667e+01,DOWN_FORCE_DETACH,1792661431882194753,1.037945465e-04,-4.574400154e-05,-1.662552887e-03,1.036043151e-04,-4.589506778e-05,-1.662504919e-03,1.013014922e-04,-4.555459561e-05,-1.659177205e-03,7.016416660e-01,-4.419304022e-05,8.390783883e-01,7.016414758e-01,-4.434410645e-05,8.390784363e-01,7.018272199e-01,-4.372826222e-05,8.281216401e-01
+25,1.083333333e+01,DOWN_FORCE_DETACH,1792661432820396269,1.102306376e-04,-4.491329743e-05,-1.746737182e-03,1.079724549e-04,-4.362716938e-05,-1.730592218e-03,1.055943249e-04,-4.331838147e-05,-1.727345806e-03,7.016481021e-01,-4.336233611e-05,8.389942040e-01,7.016458439e-01,-4.207620805e-05,8.390103490e-01,7.018315127e-01,-4.149204808e-05,8.280534715e-01
+26,1.138333333e+01,DOWN_FORCE_DETACH,1792661433663416525,1.144804227e-04,-5.879729869e-05,-1.825187780e-03,1.171051062e-04,-5.796764192e-05,-1.813329257e-03,1.146476994e-04,-5.759138375e-05,-1.810069532e-03,7.016523519e-01,-5.724633737e-05,8.389157534e-01,7.016549766e-01,-5.641668060e-05,8.389276119e-01,7.018405661e-01,-5.576505037e-05,8.279707477e-01
+27,1.191666667e+01,DOWN_FORCE_DETACH,1792661434459148027,1.179760700e-04,-6.257867735e-05,-1.902804012e-03,1.177500383e-04,-6.240116275e-05,-1.902903746e-03,1.150452933e-04,-6.199649030e-05,-1.899438295e-03,7.016558476e-01,-6.102771603e-05,8.388381372e-01,7.016556215e-01,-6.085020143e-05,8.388380374e-01,7.018409637e-01,-6.017015692e-05,8.278813790e-01
+28,1.245000000e+01,DOWN_FORCE_DETACH,1792661435260776054,1.220142818e-04,-6.349507501e-05,-1.979564242e-03,1.204639698e-04,-6.704090543e-05,-1.970760336e-03,1.175754084e-04,-6.658122533e-05,-1.967427406e-03,7.016598858e-01,-6.194411369e-05,8.387613769e-01,7.016583355e-01,-6.548994411e-05,8.387701809e-01,7.018434938e-01,-6.475489195e-05,8.278133899e-01
+29,1.300000000e+01,DOWN_FORCE_DETACH,1792661436087695844,1.276986857e-04,-7.096328858e-05,-2.066235668e-03,1.253687874e-04,-6.983918475e-05,-2.058883726e-03,1.223107325e-04,-6.934441378e-05,-2.055504250e-03,7.016655702e-01,-6.941232725e-05,8.386747055e-01,7.016632403e-01,-6.828822343e-05,8.386820575e-01,7.018482291e-01,-6.751808039e-05,8.277253130e-01
+30,1.343333333e+01,DOWN_FORCE_DETACH,1792661436739788026,1.273150073e-04,-7.198063077e-05,-2.142266967e-03,1.229741505e-04,-7.230842905e-05,-2.123304882e-03,1.196876569e-04,-7.179401273e-05,-2.119972028e-03,7.016651865e-01,-7.042966945e-05,8.385986742e-01,7.016608456e-01,-7.075746773e-05,8.386176363e-01,7.018456060e-01,-6.996767935e-05,8.276608452e-01
+31,1.393333333e+01,DOWN_FORCE_DETACH,1792661437490414041,1.356541970e-04,-7.321047164e-05,-2.214797599e-03,1.354787209e-04,-7.338446729e-05,-2.214613411e-03,1.321423972e-04,-7.286531938e-05,-2.211099038e-03,7.016735257e-01,-7.165951032e-05,8.385261436e-01,7.016733502e-01,-7.183350597e-05,8.385263278e-01,7.018580608e-01,-7.103898599e-05,8.275697182e-01
+32,1.443333333e+01,DOWN_FORCE_DETACH,1792661438239367177,1.360452223e-04,-7.066252159e-05,-2.302063884e-03,1.386593082e-04,-7.260053793e-05,-2.296601379e-03,1.351524775e-04,-7.207124308e-05,-2.293130914e-03,7.016739167e-01,-6.911156027e-05,8.384388773e-01,7.016765308e-01,-7.104957661e-05,8.384443398e-01,7.018610709e-01,-7.024490970e-05,8.274876864e-01
+33,1.490000000e+01,DOWN_FORCE_DETACH,1792661438938095708,1.396741841e-04,-7.410475170e-05,-2.385396163e-03,1.421337572e-04,-7.704741390e-05,-2.378767192e-03,1.384108360e-04,-7.644371377e-05,-2.375197417e-03,7.016775457e-01,-7.255379038e-05,8.383555450e-01,7.016800052e-01,-7.549645258e-05,8.383621740e-01,7.018643292e-01,-7.461738039e-05,8.274056199e-01
+34,1.536666667e+01,DOWN_FORCE_DETACH,1792661439642677345,1.489892792e-04,-7.963219039e-05,-2.449654066e-03,1.469395302e-04,-7.541945901e-05,-2.443452554e-03,1.431321431e-04,-7.479990261e-05,-2.440054783e-03,7.016868608e-01,-7.808122907e-05,8.382912871e-01,7.016848110e-01,-7.386849769e-05,8.382974886e-01,7.018690505e-01,-7.297356923e-05,8.273407625e-01
+35,1.576666667e+01,DOWN_FORCE_DETACH,1792661440242486456,1.413551683e-04,-8.402362356e-05,-2.544438889e-03,1.421490802e-04,-7.691795543e-05,-2.530964561e-03,1.379542412e-04,-7.626291342e-05,-2.527347723e-03,7.016792266e-01,-8.247266224e-05,8.381965023e-01,7.016800206e-01,-7.536699410e-05,8.382099766e-01,7.018638726e-01,-7.443658003e-05,8.272534696e-01
+36,1.625000000e+01,DOWN_FORCE_DETACH,1792661440959427791,1.478230475e-04,-8.214286475e-05,-2.630245220e-03,1.466327247e-04,-8.493098683e-05,-2.615033688e-03,1.423107072e-04,-8.426140681e-05,-2.611360005e-03,7.016856945e-01,-8.059190342e-05,8.381106960e-01,7.016845042e-01,-8.338002551e-05,8.381259075e-01,7.018682291e-01,-8.243507343e-05,8.271694573e-01
+37,1.675000000e+01,DOWN_FORCE_DETACH,1792661441718379922,1.495341188e-04,-8.324759964e-05,-2.729684321e-03,1.495223959e-04,-8.200275713e-05,-2.725351400e-03,1.448279860e-04,-8.138066453e-05,-2.721421991e-03,7.016874056e-01,-8.169663832e-05,8.380112569e-01,7.016873939e-01,-8.045179580e-05,8.380155898e-01,7.018707464e-01,-7.955433114e-05,8.270593953e-01
+38,1.720000000e+01,DOWN_FORCE_DETACH,1792661442391136178,1.499793470e-04,-8.384323119e-05,-2.823482224e-03,1.482046570e-04,-8.734954357e-05,-2.811057822e-03,1.432010820e-04,-8.670993666e-05,-2.807142088e-03,7.016878508e-01,-8.229226987e-05,8.379174590e-01,7.016860761e-01,-8.579858225e-05,8.379298834e-01,7.018691195e-01,-8.488360327e-05,8.269736752e-01
+39,1.765000000e+01,DOWN_FORCE_DETACH,1792661443062070859,1.495047050e-04,-8.906792980e-05,-2.921373883e-03,1.492776037e-04,-8.899805167e-05,-2.921681742e-03,1.439320957e-04,-8.836515721e-05,-2.917508197e-03,7.016873762e-01,-8.751696848e-05,8.378195673e-01,7.016871491e-01,-8.744709035e-05,8.378192594e-01,7.018698505e-01,-8.653882382e-05,8.268633091e-01
+40,1.801666667e+01,DOWN_FORCE_DETACH,1792661443618423115,1.493916966e-04,-8.751173578e-05,-3.004952560e-03,1.493835074e-04,-8.677865356e-05,-2.993485414e-03,1.438361226e-04,-8.613438172e-05,-2.989253800e-03,7.016872632e-01,-8.596077446e-05,8.377359886e-01,7.016872550e-01,-8.522769224e-05,8.377474558e-01,7.018697545e-01,-8.430804834e-05,8.267915635e-01
+41,1.840000000e+01,DOWN_FORCE_DETACH,1792661444188941417,1.493548147e-04,-8.781485334e-05,-3.095518253e-03,1.495683646e-04,-9.052565692e-05,-3.081569623e-03,1.436668529e-04,-8.985497456e-05,-3.077286785e-03,7.016872263e-01,-8.626389202e-05,8.376454229e-01,7.016874398e-01,-8.897469560e-05,8.376593716e-01,7.018695852e-01,-8.802864118e-05,8.267035305e-01
+42,1.876666667e+01,DOWN_FORCE_DETACH,1792661444739282362,1.499093694e-04,-8.980797830e-05,-3.185763190e-03,1.488611518e-04,-9.220326424e-05,-3.176992951e-03,1.426174796e-04,-9.152445054e-05,-3.172514963e-03,7.016877809e-01,-8.825701698e-05,8.375551780e-01,7.016867326e-01,-9.065230291e-05,8.375639482e-01,7.018685359e-01,-8.969811715e-05,8.266083023e-01
+43,1.913333333e+01,DOWN_FORCE_DETACH,1792661445288814354,1.522787343e-04,-9.200900111e-05,-3.279620039e-03,1.522290290e-04,-9.564603904e-05,-3.269237146e-03,1.457725146e-04,-9.496825064e-05,-3.264594344e-03,7.016901502e-01,-9.045803979e-05,8.374613211e-01,7.016901005e-01,-9.409507772e-05,8.374717040e-01,7.018716909e-01,-9.314191725e-05,8.265162229e-01
+44,1.950000000e+01,DOWN_FORCE_DETACH,1792661445841210128,1.513740638e-04,-9.156073840e-05,-3.389810287e-03,1.506551018e-04,-9.812916257e-05,-3.386551381e-03,1.437610839e-04,-9.745118561e-05,-3.381592871e-03,7.016892455e-01,-9.000977707e-05,8.373511309e-01,7.016885266e-01,-9.657820125e-05,8.373543898e-01,7.018696795e-01,-9.562485222e-05,8.263992244e-01
+45,1.981666667e+01,DOWN_FORCE_DETACH,1792661446391705772,1.529895908e-04,-9.963462378e-05,-3.501140885e-03,1.556014457e-04,-1.005195062e-04,-3.482425967e-03,1.484520465e-04,-9.985018423e-05,-3.477203064e-03,7.016908611e-01,-9.808366246e-05,8.372398003e-01,7.016934729e-01,-9.896854491e-05,8.372585152e-01,7.018743704e-01,-9.802385084e-05,8.263036142e-01
+46,2.016666667e+01,DOWN_FORCE_DETACH,1792661446912244877,1.551092159e-04,-9.816794486e-05,-3.608669155e-03,1.528808507e-04,-1.048738867e-04,-3.602429195e-03,1.452697171e-04,-1.041684897e-04,-3.596989814e-03,7.016929807e-01,-9.661698354e-05,8.371322720e-01,7.016907523e-01,-1.033229254e-04,8.371385120e-01,7.018711881e-01,-1.023421563e-04,8.261838275e-01
+47,2.048333333e+01,DOWN_FORCE_DETACH,1792661447387407262,1.518038180e-04,-1.055161907e-04,-3.724212568e-03,1.515187499e-04,-1.053399185e-04,-3.724333928e-03,1.434719220e-04,-1.046374610e-04,-3.718500570e-03,7.016896753e-01,-1.039652294e-04,8.370167286e-01,7.016893902e-01,-1.037889572e-04,8.370166073e-01,7.018693903e-01,-1.028111276e-04,8.260623167e-01
+48,2.076666667e+01,DOWN_FORCE_DETACH,1792661447806778427,1.512492276e-04,-1.096842013e-04,-3.828487014e-03,1.520137342e-04,-1.023085107e-04,-3.821182072e-03,1.436206760e-04,-1.015989717e-04,-3.815194192e-03,7.016891207e-01,-1.081332400e-04,8.369124542e-01,7.016898852e-01,-1.007575494e-04,8.369197591e-01,7.018695391e-01,-9.977263827e-05,8.259656231e-01
+49,2.110000000e+01,DOWN_FORCE_DETACH,1792661448307443097,1.520630547e-04,-1.185447832e-04,-3.953063888e-03,1.519773801e-04,-1.184515221e-04,-3.952920006e-03,1.430935701e-04,-1.176389749e-04,-3.946627573e-03,7.016899345e-01,-1.169938219e-04,8.367878773e-01,7.016898489e-01,-1.169005608e-04,8.367880212e-01,7.018690120e-01,-1.158126415e-04,8.258341897e-01
+50,2.140000000e+01,DOWN_FORCE_DETACH,1792661448758936551,1.535562088e-04,-1.141322480e-04,-4.075014563e-03,1.508819540e-04,-1.126356189e-04,-4.067845217e-03,1.415802353e-04,-1.118451051e-04,-4.061398095e-03,7.016914277e-01,-1.125812867e-04,8.366659266e-01,7.016887534e-01,-1.110846576e-04,8.366730960e-01,7.018674986e-01,-1.100187718e-04,8.257194192e-01
+51,2.171666667e+01,DOWN_FORCE_DETACH,1792661449229305401,1.539048622e-04,-1.210555730e-04,-4.204023661e-03,1.537988066e-04,-1.210719921e-04,-4.203923791e-03,1.440450523e-04,-1.201939112e-04,-4.197152892e-03,7.016917763e-01,-1.195046117e-04,8.365369175e-01,7.016916703e-01,-1.195210308e-04,8.365370174e-01,7.018699634e-01,-1.183675778e-04,8.255836644e-01
+52,2.200000000e+01,DOWN_FORCE_DETACH,1792661449658709630,1.505957449e-04,-1.213975233e-04,-4.328291599e-03,1.506486672e-04,-1.210895922e-04,-4.327982080e-03,1.404169115e-04,-1.201508921e-04,-4.321050358e-03,7.016884672e-01,-1.198465619e-04,8.364126496e-01,7.016885201e-01,-1.195386309e-04,8.364129591e-01,7.018663353e-01,-1.183245587e-04,8.254597669e-01
+53,2.226666667e+01,DOWN_FORCE_DETACH,1792661450057451960,1.474208219e-04,-1.270778349e-04,-4.443649462e-03,1.472329929e-04,-1.283337323e-04,-4.425503067e-03,1.365986729e-04,-1.273464892e-04,-4.418513188e-03,7.016852923e-01,-1.255268736e-04,8.362972917e-01,7.016851045e-01,-1.267827709e-04,8.363154381e-01,7.018625171e-01,-1.255201558e-04,8.253623041e-01
+54,2.251666667e+01,DOWN_FORCE_DETACH,1792661450425667071,1.406343734e-04,-1.354080065e-04,-4.568940585e-03,1.407421571e-04,-1.355921448e-04,-4.568063184e-03,1.294677984e-04,-1.345793736e-04,-4.560669306e-03,7.016785059e-01,-1.338570452e-04,8.361720006e-01,7.016786136e-01,-1.340411834e-04,8.361728780e-01,7.018553862e-01,-1.327530403e-04,8.252201480e-01
+55,2.275000000e+01,DOWN_FORCE_DETACH,1792661450786886667,1.624401940e-04,-1.429452671e-04,-4.673303521e-03,1.620668211e-04,-1.428637691e-04,-4.673344692e-03,1.508651589e-04,-1.418170446e-04,-4.665767802e-03,7.017003117e-01,-1.413943058e-04,8.360676377e-01,7.016999383e-01,-1.413128077e-04,8.360675965e-01,7.018767835e-01,-1.399907113e-04,8.251150495e-01
+56,2.296666667e+01,DOWN_FORCE_DETACH,1792661451106509288,1.613299659e-04,-1.406566979e-04,-4.782961113e-03,1.653236504e-04,-1.390651992e-04,-4.770358085e-03,1.538719175e-04,-1.380507435e-04,-4.762651103e-03,7.016992014e-01,-1.391057366e-04,8.359579801e-01,7.017031951e-01,-1.375142379e-04,8.359705831e-01,7.018797903e-01,-1.362244101e-04,8.250181662e-01
+57,2.316666667e+01,DOWN_FORCE_DETACH,1792661451406898372,1.600459281e-04,-1.309917175e-04,-4.895586704e-03,1.605374642e-04,-1.269737392e-04,-4.888519034e-03,1.485997281e-04,-1.260592608e-04,-4.880486270e-03,7.016979174e-01,-1.294407561e-04,8.358453545e-01,7.016984089e-01,-1.254227779e-04,8.358524222e-01,7.018745181e-01,-1.242329274e-04,8.249003310e-01
+58,2.340000000e+01,DOWN_SETTLE,1792661451756611490,1.541086440e-04,-1.399349655e-04,-5.023739143e-03,1.539703793e-04,-1.396394805e-04,-5.014379886e-03,1.414366435e-04,-1.386344279e-04,-5.006144450e-03,7.016919801e-01,-1.383840042e-04,8.357172020e-01,7.016918419e-01,-1.380885192e-04,8.357265613e-01,7.018673550e-01,-1.368080945e-04,8.247746728e-01
+59,2.393333333e+01,DOWN_PEAK_HOLD,1792661452556203286,1.488186534e-04,-1.414548628e-04,-5.075569126e-03,1.465385744e-04,-1.429256528e-04,-5.077745955e-03,1.336083842e-04,-1.418838654e-04,-5.070707954e-03,7.016866901e-01,-1.399039015e-04,8.356653721e-01,7.016844101e-01,-1.413746914e-04,8.356631952e-01,7.018595268e-01,-1.400575320e-04,8.247101093e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64fcf4b4d4414395204ee6d379947dbdf0094c7c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,9.4612e-03,3.5010e-03,2.4595e+00,-3.7009e-02,3.7447e-02,-1.4719e-05,2.1692e-04,4.3903e-06,9.2268e-05,-9.3877e-07,1.5296e-05,1.5799e-07,2.3577e-04,1.5326e-05
+1,5.5000e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.3748e-04,1.4725e-02,3.5035e-03,2.4614e+00,-3.7021e-02,3.7815e-02,-1.2109e-05,5.4809e-03,6.8643e-06,2.0595e-03,-1.2584e-05,3.8262e-04,2.7677e-06,5.8551e-03,3.8284e-04
+2,1.2500e+00,DOWN_FORCE_DETACH,2.7486e-04,2.0479e-02,3.5654e-03,2.4634e+00,-3.7036e-02,3.8218e-02,-1.0351e-05,1.1235e-02,6.8802e-05,4.0221e-03,-2.7601e-05,7.8598e-04,4.5265e-06,1.1933e-02,7.8647e-04
+3,1.8167e+00,DOWN_FORCE_DETACH,4.1154e-04,2.8125e-02,7.9633e-03,2.4878e+00,-3.7344e-02,3.8737e-02,-8.5481e-06,1.8881e-02,4.4667e-03,2.8418e-02,-3.3611e-04,1.3046e-03,6.3290e-06,3.4409e-02,1.3472e-03
+4,2.3000e+00,DOWN_FORCE_DETACH,5.4648e-04,3.1619e-02,8.8321e-03,2.5084e+00,-3.7409e-02,3.8963e-02,-8.2395e-06,2.2375e-02,5.3355e-03,4.9062e-02,-4.0067e-04,1.5310e-03,6.6376e-06,5.4186e-02,1.5826e-03
+5,2.7167e+00,DOWN_FORCE_DETACH,6.8187e-04,3.4269e-02,7.2645e-03,2.5251e+00,-3.7302e-02,3.9129e-02,-8.8299e-06,2.5024e-02,3.7679e-03,6.5755e-02,-2.9370e-04,1.6968e-03,6.0472e-06,7.0456e-02,1.7221e-03
+6,3.1333e+00,DOWN_FORCE_DETACH,8.2300e-04,3.8792e-02,1.3281e-02,2.5516e+00,-3.7721e-02,3.9420e-02,-3.9176e-06,2.9547e-02,9.7843e-03,9.2241e-02,-7.1261e-04,1.9882e-03,1.0959e-05,9.7351e-02,2.1121e-03
+7,3.5000e+00,DOWN_FORCE_DETACH,9.6109e-04,4.3833e-02,1.7613e-02,2.5811e+00,-3.8017e-02,3.9744e-02,-4.3144e-07,3.4589e-02,1.4116e-02,1.2172e-01,-1.0084e-03,2.3119e-03,1.4446e-05,1.2733e-01,2.5222e-03
+8,3.8333e+00,DOWN_FORCE_DETACH,1.0981e-03,4.3737e-02,2.0771e-02,2.5970e+00,-3.8236e-02,3.9724e-02,3.7173e-06,3.4492e-02,1.7274e-02,1.3763e-01,-1.2276e-03,2.2921e-03,1.8594e-05,1.4293e-01,2.6002e-03
+9,3.9833e+00,DOWN_FORCE_DETACH,1.2171e-03,4.7040e-02,2.5570e-02,2.6094e+00,-3.8565e-02,3.9944e-02,6.2639e-06,3.7796e-02,2.2074e-02,1.5002e-01,-1.5569e-03,2.5122e-03,2.1141e-05,1.5627e-01,2.9556e-03
+10,4.1500e+00,DOWN_FORCE_DETACH,1.3740e-03,2.0926e-02,1.7064e-02,2.5938e+00,-3.7971e-02,3.8104e-02,3.8213e-06,1.1682e-02,1.3568e-02,1.3443e-01,-9.6277e-04,6.7167e-04,1.8698e-05,1.3562e-01,1.1741e-03
+11,4.4667e+00,DOWN_FORCE_DETACH,1.5088e-03,2.4039e-02,2.2928e-02,2.6238e+00,-3.8373e-02,3.8296e-02,5.7576e-06,1.4794e-02,1.9431e-02,1.6445e-01,-1.3645e-03,8.6448e-04,2.0635e-05,1.6625e-01,1.6155e-03
+12,4.6500e+00,DOWN_FORCE_DETACH,1.6420e-03,2.2353e-02,2.2099e-03,2.6322e+00,-3.6931e-02,3.8168e-02,-9.8728e-06,1.3109e-02,-1.2867e-03,1.7279e-01,7.7281e-05,7.3612e-04,5.0042e-06,1.7329e-01,7.4018e-04
+13,5.0000e+00,DOWN_FORCE_DETACH,1.7812e-03,2.4154e-02,9.3092e-03,2.6428e+00,-3.7418e-02,3.8290e-02,-1.1909e-05,1.4910e-02,5.8126e-03,1.8342e-01,-4.0986e-04,8.5812e-04,2.9678e-06,1.8412e-01,9.5098e-04
+14,5.3833e+00,DOWN_FORCE_DETACH,1.9222e-03,2.4004e-02,1.4526e-02,2.6553e+00,-3.7770e-02,3.8268e-02,-1.3807e-05,1.4760e-02,1.1030e-02,1.9597e-01,-7.6227e-04,8.3631e-04,1.0697e-06,1.9683e-01,1.1316e-03
+15,5.7333e+00,DOWN_FORCE_DETACH,2.0567e-03,2.3257e-02,1.5745e-02,2.6606e+00,-3.7850e-02,3.8207e-02,-1.2274e-05,1.4013e-02,1.2249e-02,2.0124e-01,-8.4209e-04,7.7507e-04,2.6035e-06,2.0210e-01,1.1445e-03
+16,6.1833e+00,DOWN_FORCE_DETACH,2.1944e-03,2.5907e-02,1.7376e-02,2.6575e+00,-3.7966e-02,3.8379e-02,-6.4993e-06,1.6663e-02,1.3880e-02,1.9810e-01,-9.5747e-04,9.4664e-04,8.3778e-06,1.9929e-01,1.3465e-03
+17,6.7000e+00,DOWN_FORCE_DETACH,2.3330e-03,2.9094e-02,1.6683e-02,2.6564e+00,-3.7932e-02,3.8595e-02,2.0613e-06,1.9850e-02,1.3186e-02,1.9704e-01,-9.2351e-04,1.1629e-03,1.6938e-05,1.9848e-01,1.4851e-03
+18,7.2167e+00,DOWN_FORCE_DETACH,2.4694e-03,3.2392e-02,1.6907e-02,2.6442e+00,-3.7947e-02,3.8836e-02,7.2596e-06,2.3148e-02,1.3411e-02,1.8481e-01,-9.3856e-04,1.4037e-03,2.2137e-05,1.8673e-01,1.6887e-03
+19,7.7333e+00,DOWN_FORCE_DETACH,2.6078e-03,3.5134e-02,1.5834e-02,2.6350e+00,-3.7861e-02,3.9038e-02,7.2977e-06,2.5890e-02,1.2337e-02,1.7566e-01,-8.5267e-04,1.6066e-03,2.2175e-05,1.7799e-01,1.8190e-03
+20,8.2333e+00,DOWN_FORCE_DETACH,2.7456e-03,3.8059e-02,1.4805e-02,2.6217e+00,-3.7780e-02,3.9249e-02,3.6913e-06,2.8814e-02,1.1308e-02,1.6233e-01,-7.7162e-04,1.8169e-03,1.8568e-05,1.6525e-01,1.9741e-03
+21,8.7833e+00,DOWN_FORCE_DETACH,2.8813e-03,3.9439e-02,1.6604e-02,2.6126e+00,-3.7891e-02,3.9346e-02,-1.8073e-06,3.0195e-02,1.3107e-02,1.5328e-01,-8.8323e-04,1.9143e-03,1.3070e-05,1.5678e-01,2.1083e-03
+22,9.2000e+00,DOWN_FORCE_DETACH,3.0212e-03,4.1624e-02,1.7999e-02,2.6063e+00,-3.7990e-02,3.9499e-02,-4.8364e-06,3.2380e-02,1.4502e-02,1.4691e-01,-9.8192e-04,2.0670e-03,1.0041e-05,1.5114e-01,2.2884e-03
+23,9.7167e+00,DOWN_FORCE_DETACH,3.1539e-03,4.2363e-02,2.0963e-02,2.6017e+00,-3.8205e-02,3.9557e-02,-7.7011e-06,3.3118e-02,1.7467e-02,1.4238e-01,-1.1966e-03,2.1253e-03,7.1760e-06,1.4722e-01,2.4390e-03
+24,1.0217e+01,DOWN_FORCE_DETACH,3.2953e-03,4.4208e-02,2.2336e-02,2.5996e+00,-3.8314e-02,3.9693e-02,-1.0991e-05,3.4963e-02,1.8839e-02,1.4025e-01,-1.3062e-03,2.2609e-03,3.8862e-06,1.4576e-01,2.6111e-03
+25,1.0833e+01,DOWN_FORCE_DETACH,3.4326e-03,4.4937e-02,2.3266e-02,2.6010e+00,-3.8382e-02,3.9750e-02,-1.9813e-05,3.5693e-02,1.9770e-02,1.4164e-01,-1.3735e-03,2.3185e-03,-4.9356e-06,1.4740e-01,2.6948e-03
+26,1.1383e+01,DOWN_FORCE_DETACH,3.5688e-03,4.3708e-02,2.9386e-02,2.6040e+00,-3.8788e-02,3.9664e-02,-2.5490e-05,3.4463e-02,2.5889e-02,1.4463e-01,-1.7799e-03,2.2326e-03,-1.0613e-05,1.5091e-01,2.8553e-03
+27,1.1917e+01,DOWN_FORCE_DETACH,3.7058e-03,4.6214e-02,3.0789e-02,2.6028e+00,-3.8866e-02,3.9830e-02,-3.1403e-05,3.6970e-02,2.7292e-02,1.4345e-01,-1.8579e-03,2.3982e-03,-1.6526e-05,1.5063e-01,3.0337e-03
+28,1.2450e+01,DOWN_FORCE_DETACH,3.8407e-03,4.6314e-02,3.3419e-02,2.6073e+00,-3.9029e-02,3.9828e-02,-3.4820e-05,3.7069e-02,2.9922e-02,1.4790e-01,-2.0205e-03,2.3960e-03,-1.9943e-05,1.5538e-01,3.1343e-03
+29,1.3000e+01,DOWN_FORCE_DETACH,3.9816e-03,4.6142e-02,3.5439e-02,2.6099e+00,-3.9156e-02,3.9808e-02,-3.7888e-05,3.6898e-02,3.1942e-02,1.5053e-01,-2.1476e-03,2.3758e-03,-2.3011e-05,1.5825e-01,3.2027e-03
+30,1.3433e+01,DOWN_FORCE_DETACH,4.1174e-03,4.7643e-02,3.7396e-02,2.6084e+00,-3.9282e-02,3.9910e-02,-4.0519e-05,3.8398e-02,3.3900e-02,1.4907e-01,-2.2737e-03,2.4777e-03,-2.5642e-05,1.5763e-01,3.3630e-03
+31,1.3933e+01,DOWN_FORCE_DETACH,4.2547e-03,4.5588e-02,3.7752e-02,2.6040e+00,-3.9292e-02,3.9777e-02,-4.5077e-05,3.6343e-02,3.4255e-02,1.4468e-01,-2.2837e-03,2.3451e-03,-3.0200e-05,1.5305e-01,3.2734e-03
+32,1.4433e+01,DOWN_FORCE_DETACH,4.3939e-03,4.4926e-02,3.9452e-02,2.6130e+00,-3.9381e-02,3.9732e-02,-4.4015e-05,3.5682e-02,3.5955e-02,1.5359e-01,-2.3733e-03,2.3005e-03,-2.9137e-05,1.6173e-01,3.3054e-03
+33,1.4900e+01,DOWN_FORCE_DETACH,4.5324e-03,4.5563e-02,4.2511e-02,2.6153e+00,-3.9568e-02,3.9776e-02,-3.7173e-05,3.6319e-02,3.9015e-02,1.5596e-01,-2.5598e-03,2.3443e-03,-2.2296e-05,1.6482e-01,3.4712e-03
+34,1.5367e+01,DOWN_FORCE_DETACH,4.6632e-03,4.5639e-02,4.2244e-02,2.6122e+00,-3.9551e-02,3.9782e-02,-2.9699e-05,3.6395e-02,3.8747e-02,1.5286e-01,-2.5432e-03,2.3497e-03,-1.4822e-05,1.6184e-01,3.4626e-03
+35,1.5767e+01,DOWN_FORCE_DETACH,4.8014e-03,4.8939e-02,4.3031e-02,2.6203e+00,-3.9616e-02,3.9990e-02,-2.4735e-05,3.9695e-02,3.9534e-02,1.6096e-01,-2.6081e-03,2.5579e-03,-9.8584e-06,1.7043e-01,3.6531e-03
+36,1.6250e+01,DOWN_FORCE_DETACH,4.9400e-03,4.8951e-02,4.6357e-02,2.6221e+00,-3.9861e-02,3.9976e-02,-1.6756e-05,3.9707e-02,4.2860e-02,1.6276e-01,-2.8532e-03,2.5442e-03,-1.8790e-06,1.7293e-01,3.8228e-03
+37,1.6750e+01,DOWN_FORCE_DETACH,5.0795e-03,4.9500e-02,4.3957e-02,2.6312e+00,-3.9713e-02,3.9995e-02,-1.1986e-05,4.0256e-02,4.0461e-02,1.7185e-01,-2.7049e-03,2.5627e-03,2.8908e-06,1.8108e-01,3.7260e-03
+38,1.7200e+01,DOWN_FORCE_DETACH,5.2168e-03,5.0591e-02,4.5505e-02,2.6343e+00,-3.9816e-02,4.0057e-02,-6.7448e-06,4.1347e-02,4.2009e-02,1.7498e-01,-2.8079e-03,2.6256e-03,8.1323e-06,1.8464e-01,3.8442e-03
+39,1.7650e+01,DOWN_FORCE_DETACH,5.3504e-03,5.2059e-02,4.3425e-02,2.6366e+00,-3.9665e-02,4.0147e-02,-7.3643e-06,4.2814e-02,3.9929e-02,1.7725e-01,-2.6568e-03,2.7155e-03,7.5128e-06,1.8667e-01,3.7990e-03
+40,1.8017e+01,DOWN_FORCE_DETACH,5.4897e-03,5.1330e-02,4.4622e-02,2.6460e+00,-3.9732e-02,4.0084e-02,-9.6018e-06,4.2086e-02,4.1125e-02,1.8659e-01,-2.7238e-03,2.6518e-03,5.2753e-06,1.9565e-01,3.8015e-03
+41,1.8400e+01,DOWN_FORCE_DETACH,5.6253e-03,5.1768e-02,4.7009e-02,2.6510e+00,-3.9880e-02,4.0101e-02,-1.4219e-05,4.2523e-02,4.3512e-02,1.9168e-01,-2.8721e-03,2.6690e-03,6.5817e-07,2.0111e-01,3.9208e-03
+42,1.8767e+01,DOWN_FORCE_DETACH,5.7624e-03,5.2336e-02,4.7994e-02,2.6592e+00,-3.9944e-02,4.0126e-02,-1.9590e-05,4.3092e-02,4.4498e-02,1.9987e-01,-2.9358e-03,2.6938e-03,-4.7126e-06,2.0925e-01,3.9844e-03
+43,1.9133e+01,DOWN_FORCE_DETACH,5.8995e-03,5.1285e-02,4.9455e-02,2.6655e+00,-4.0046e-02,4.0045e-02,-2.1750e-05,4.2041e-02,4.5959e-02,2.0614e-01,-3.0383e-03,2.6136e-03,-6.8727e-06,2.1535e-01,4.0078e-03
+44,1.9500e+01,DOWN_FORCE_DETACH,6.0406e-03,5.2612e-02,4.9917e-02,2.6794e+00,-4.0081e-02,4.0125e-02,-2.1926e-05,4.3368e-02,4.6421e-02,2.2005e-01,-3.0730e-03,2.6929e-03,-7.0487e-06,2.2903e-01,4.0860e-03
+45,1.9817e+01,DOWN_FORCE_DETACH,6.1710e-03,5.1111e-02,5.0444e-02,2.6887e+00,-4.0107e-02,4.0017e-02,-2.0401e-05,4.1867e-02,4.6948e-02,2.2932e-01,-3.0993e-03,2.5855e-03,-5.5235e-06,2.3780e-01,4.0361e-03
+46,2.0167e+01,DOWN_FORCE_DETACH,6.3140e-03,5.2961e-02,5.2111e-02,2.7011e+00,-4.0189e-02,4.0125e-02,-1.8683e-05,4.3717e-02,4.8614e-02,2.4178e-01,-3.1811e-03,2.6931e-03,-3.8059e-06,2.5046e-01,4.1680e-03
+47,2.0483e+01,DOWN_FORCE_DETACH,6.4532e-03,5.2854e-02,5.1246e-02,2.7088e+00,-4.0101e-02,4.0105e-02,-1.7848e-05,4.3610e-02,4.7749e-02,2.4945e-01,-3.0930e-03,2.6732e-03,-2.9708e-06,2.5769e-01,4.0881e-03
+48,2.0767e+01,DOWN_FORCE_DETACH,6.5870e-03,5.4215e-02,5.1256e-02,2.7229e+00,-4.0076e-02,4.0176e-02,-1.8532e-05,4.4970e-02,4.7759e-02,2.6352e-01,-3.0682e-03,2.7436e-03,-3.6550e-06,2.7156e-01,4.1160e-03
+49,2.1100e+01,DOWN_FORCE_DETACH,6.7252e-03,5.4208e-02,5.6397e-02,2.7292e+00,-4.0393e-02,4.0162e-02,-2.0408e-05,4.4963e-02,5.2900e-02,2.6987e-01,-3.3853e-03,2.7297e-03,-5.5307e-06,2.7866e-01,4.3488e-03
+50,2.1400e+01,DOWN_FORCE_DETACH,6.8605e-03,5.4055e-02,5.7701e-02,2.7428e+00,-4.0454e-02,4.0137e-02,-2.3052e-05,4.4810e-02,5.4204e-02,2.8340e-01,-3.4455e-03,2.7048e-03,-8.1745e-06,2.9200e-01,4.3804e-03
+51,2.1717e+01,DOWN_FORCE_DETACH,6.9981e-03,5.1906e-02,6.2273e-02,2.7489e+00,-4.0728e-02,3.9987e-02,-2.1681e-05,4.2662e-02,5.8776e-02,2.8957e-01,-3.7202e-03,2.5547e-03,-6.8039e-06,2.9854e-01,4.5129e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8448de09464b7725bd2c85e67a0405354ef39bf2
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbed1a84892cda154366722ea325e33a6f8ba1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a732e5a74b1c7afed954271f4b651e0994a7af76
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b91b59551d52eee7700fa09db2e06f376852e9a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,1.233333333e+00,WAIT_W2,1792661393349449373,3.626642289e-06,-9.900024284e-06,8.701476488e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.584334414e-07,1.703463962e-08,9.320868444e-08,7.015414981e-01,-8.349062963e-06,8.407496427e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261767e-01,1.843375862e-06,8.297809105e-01
+7,1.383333333e+00,WAIT_W2,1792661393577263056,2.440528593e-06,-8.460032406e-06,5.598653355e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.848470027e-07,1.883855289e-08,1.017162908e-07,7.015403120e-01,-6.909071085e-06,8.407465398e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262032e-01,1.845179775e-06,8.297809190e-01
+8,1.600000000e+00,WAIT_W2,1792661393897974320,1.423268393e-06,-1.846175655e-05,4.512567972e-06,4.397933626e-06,-2.059224094e-05,1.045816087e-05,4.782735019e-06,-2.041456183e-05,1.043683333e-05,7.015392947e-01,-1.691079523e-05,8.407454538e-01,7.015422694e-01,-1.904127962e-05,8.407513993e-01,7.017307010e-01,-1.858822061e-05,8.297912541e-01
+9,1.816666667e+00,WAIT_W2,1792661394217442749,3.043365919e-06,-2.342229889e-05,7.432876962e-06,4.397933626e-06,-2.059224094e-05,1.045816087e-05,4.821502571e-06,-2.041860207e-05,1.045981879e-05,7.015409148e-01,-2.187133756e-05,8.407483741e-01,7.015422694e-01,-1.904127962e-05,8.407513993e-01,7.017307398e-01,-1.859226085e-05,8.297912771e-01
+10,1.983333333e+00,WAIT_W2,1792661394476890758,4.249441239e-06,-2.846261382e-05,8.853797889e-06,4.397933626e-06,-2.059224094e-05,1.045816087e-05,4.849398116e-06,-2.041891730e-05,1.047290587e-05,7.015421209e-01,-2.691165249e-05,8.407497950e-01,7.015422694e-01,-1.904127962e-05,8.407513993e-01,7.017307677e-01,-1.859257608e-05,8.297912902e-01
+11,2.166666667e+00,WAIT_W2,1792661394748207157,2.542287069e-06,-3.264156775e-05,8.736364011e-06,4.397933626e-06,-2.059224094e-05,1.045816087e-05,4.878683125e-06,-2.041834503e-05,1.048570136e-05,7.015404138e-01,-3.109060643e-05,8.407496776e-01,7.015422694e-01,-1.904127962e-05,8.407513993e-01,7.017307970e-01,-1.859200380e-05,8.297913030e-01
+12,2.400000000e+00,WAIT_W2,1792661395098044566,3.127307425e-06,-4.207872496e-05,1.006287666e-05,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.408025417e-06,-4.079593657e-05,9.822183929e-06,7.015409988e-01,-4.052776364e-05,8.407510041e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017313263e-01,-3.896959535e-05,8.297906394e-01
+13,2.666666667e+00,WAIT_W2,1792661395515523407,3.096254978e-06,-5.149713142e-05,8.758593925e-06,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.446959328e-06,-4.079816325e-05,9.837119721e-06,7.015409677e-01,-4.994617009e-05,8.407496998e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017313653e-01,-3.897182202e-05,8.297906544e-01
+14,2.950000000e+00,UP_FORCE_RAMP,1792661395944851156,2.582762084e-06,-5.044245850e-05,8.607324032e-06,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.485835958e-06,-4.079807454e-05,9.851331812e-06,7.015404542e-01,-4.889149718e-05,8.407495485e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017314041e-01,-3.897173332e-05,8.297906686e-01
+15,3.150000000e+00,UP_FORCE_RAMP,1792661396244816638,4.837395029e-06,-5.185563865e-05,1.043287149e-05,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.511833557e-06,-4.079756697e-05,9.860572996e-06,7.015427089e-01,-5.030467733e-05,8.407513741e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017314301e-01,-3.897122575e-05,8.297906778e-01
+16,3.383333333e+00,UP_FORCE_RAMP,1792661396583543399,6.008162301e-06,-5.155792168e-05,1.294100933e-05,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.540732068e-06,-4.079680313e-05,9.870615672e-06,7.015438796e-01,-5.000696035e-05,8.407538822e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017314590e-01,-3.897046191e-05,8.297906879e-01
+17,3.616666667e+00,UP_FORCE_RAMP,1792661396944861970,1.276548283e-06,-5.360673374e-05,1.163197770e-05,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.568134706e-06,-4.079602109e-05,9.879928575e-06,7.015391480e-01,-5.205577242e-05,8.407525732e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017314864e-01,-3.896967987e-05,8.297906972e-01
+18,3.850000000e+00,UP_FORCE_RAMP,1792661397283480454,2.479503115e-06,-5.406772211e-05,2.126562922e-05,4.848514215e-06,-4.108305024e-05,9.804103470e-06,5.594091580e-06,-4.079526723e-05,9.888564024e-06,7.015403510e-01,-5.251676079e-05,8.407622068e-01,7.015427200e-01,-3.953208892e-05,8.407507453e-01,7.017315124e-01,-3.896892601e-05,8.297907058e-01
+19,4.050000000e+00,UP_FORCE_RAMP,1792661397584364328,2.959141405e-06,-4.831483267e-05,3.529445117e-05,3.687390078e-06,-5.572286392e-05,2.572214940e-05,4.488346687e-06,-5.532165068e-05,2.574367729e-05,7.015408306e-01,-4.676387135e-05,8.407762356e-01,7.015415589e-01,-5.417190260e-05,8.407666633e-01,7.017304067e-01,-5.349530946e-05,8.298065609e-01
+20,4.283333333e+00,UP_FORCE_RAMP,1792661397944890446,7.587162476e-06,-4.948399135e-05,6.697995261e-05,6.537011464e-06,-5.243040314e-05,4.917521225e-05,7.469446792e-06,-5.208059893e-05,4.901717737e-05,7.015454586e-01,-4.793303003e-05,8.408079211e-01,7.015444085e-01,-5.087944182e-05,8.407901164e-01,7.017333878e-01,-5.025425770e-05,8.298298344e-01
+21,4.533333333e+00,UP_FORCE_RAMP,1792661398316994367,8.990388744e-06,-4.780354632e-05,8.306207358e-05,7.438975534e-06,-5.206840314e-05,7.023216165e-05,8.514493811e-06,-5.169466857e-05,6.997080037e-05,7.015468619e-01,-4.625258499e-05,8.408240033e-01,7.015453105e-01,-5.051744182e-05,8.408111733e-01,7.017344328e-01,-4.986832735e-05,8.298507881e-01
+22,4.766666667e+00,UP_FORCE_RAMP,1792661398666605095,7.316260212e-06,-4.428620950e-05,9.906444937e-05,8.344690134e-06,-4.770613785e-05,9.260253309e-05,9.529307622e-06,-4.737789180e-05,9.219129302e-05,7.015451877e-01,-4.273524818e-05,8.408400056e-01,7.015462162e-01,-4.615517653e-05,8.408335437e-01,7.017354476e-01,-4.555155058e-05,8.298730085e-01
+23,5.000000000e+00,UP_FORCE_RAMP,1792661399016851878,9.748414938e-06,-4.941755526e-05,1.210883341e-04,1.087589901e-05,-4.472676609e-05,1.121769025e-04,1.222261675e-05,-4.443478003e-05,1.116484242e-04,7.015476199e-01,-4.786659394e-05,8.408620295e-01,7.015487474e-01,-4.317580477e-05,8.408531181e-01,7.017381409e-01,-4.260843881e-05,8.298924657e-01
+24,5.233333333e+00,UP_FORCE_RAMP,1792661399364607593,1.548005282e-05,-4.339973930e-05,1.464990737e-04,1.267370415e-05,-4.314068287e-05,1.331188080e-04,1.413302519e-05,-4.283446983e-05,1.325039100e-04,7.015533515e-01,-4.184877798e-05,8.408874403e-01,7.015505452e-01,-4.158972155e-05,8.408740600e-01,7.017400513e-01,-4.100812860e-05,8.299133212e-01
+25,5.416666667e+00,UP_FORCE_RAMP,1792661399644991229,1.875931660e-05,-4.359058064e-05,1.724348719e-04,1.552931357e-05,-4.317904732e-05,1.576449605e-04,1.719695620e-05,-4.288719113e-05,1.568721604e-04,7.015566308e-01,-4.203961931e-05,8.409133761e-01,7.015534008e-01,-4.162808600e-05,8.408985861e-01,7.017431153e-01,-4.106084991e-05,8.299376894e-01
+26,5.616666667e+00,UP_FORCE_RAMP,1792661399944902809,2.027855495e-05,-4.198944516e-05,1.902592328e-04,2.033775861e-05,-3.861174638e-05,1.808082115e-04,2.217361516e-05,-3.834663804e-05,1.799060181e-04,7.015581500e-01,-4.043848384e-05,8.409312004e-01,7.015582092e-01,-3.706078506e-05,8.409217494e-01,7.017480919e-01,-3.652029682e-05,8.299607233e-01
+27,5.800000000e+00,UP_FORCE_RAMP,1792661400214982179,2.030869400e-05,-3.691871468e-05,2.022799663e-04,2.033927090e-05,-3.686479245e-05,2.019812533e-04,2.228378109e-05,-3.662166528e-05,2.009540005e-04,7.015581802e-01,-3.536775336e-05,8.409432212e-01,7.015582108e-01,-3.531383113e-05,8.409429224e-01,7.017482021e-01,-3.479532406e-05,8.299817713e-01
+28,5.983333333e+00,UP_FORCE_RAMP,1792661400484351536,1.562876497e-05,-3.955412248e-05,2.080449920e-04,2.033927090e-05,-3.686479245e-05,2.019812533e-04,2.229980035e-05,-3.661988305e-05,2.010492569e-04,7.015535002e-01,-3.800316116e-05,8.409489862e-01,7.015582108e-01,-3.531383113e-05,8.409429224e-01,7.017482181e-01,-3.479354183e-05,8.299818665e-01
+29,6.200000000e+00,UP_FORCE_RAMP,1792661400814369620,1.528087094e-05,-3.962377918e-05,2.291248340e-04,1.571099092e-05,-4.315561195e-05,2.207457675e-04,1.769259639e-05,-4.286712873e-05,2.197782122e-04,7.015531524e-01,-3.807281786e-05,8.409700660e-01,7.015535825e-01,-4.160465063e-05,8.409616870e-01,7.017436109e-01,-4.104078750e-05,8.300005955e-01
+30,6.400000000e+00,UP_FORCE_RAMP,1792661401116332875,1.221558055e-05,-4.027289898e-05,2.440437944e-04,1.431541785e-05,-3.369803856e-05,2.415535297e-04,1.631335429e-05,-3.345771811e-05,2.404615504e-04,7.015500871e-01,-3.872193766e-05,8.409849850e-01,7.015521869e-01,-3.214707724e-05,8.409824947e-01,7.017422317e-01,-3.163137689e-05,8.300212788e-01
+31,6.583333333e+00,UP_FORCE_RAMP,1792661401383129482,1.152376476e-05,-3.781117131e-05,2.611903895e-04,1.497030060e-05,-3.494255970e-05,2.617749194e-04,1.706699798e-05,-3.467807596e-05,2.605902331e-04,7.015493952e-01,-3.626020999e-05,8.410021316e-01,7.015528418e-01,-3.339159838e-05,8.410027161e-01,7.017429853e-01,-3.285173474e-05,8.300414075e-01
+32,6.766666667e+00,UP_FORCE_RAMP,1792661401666921022,1.464201063e-05,-3.193946324e-05,2.856748480e-04,1.709486583e-05,-3.628068072e-05,2.829578739e-04,1.936467607e-05,-3.599136461e-05,2.816739140e-04,7.015525135e-01,-3.038850192e-05,8.410266160e-01,7.015549663e-01,-3.472971940e-05,8.410238991e-01,7.017452830e-01,-3.416502339e-05,8.300624912e-01
+33,7.000000000e+00,UP_FORCE_RAMP,1792661402015164610,1.704021592e-05,-2.911417449e-05,3.134833642e-04,1.799864247e-05,-3.552594209e-05,3.047312449e-04,2.034387031e-05,-3.526307447e-05,3.034108320e-04,7.015549117e-01,-2.756321317e-05,8.410544246e-01,7.015558701e-01,-3.397498077e-05,8.410456724e-01,7.017462622e-01,-3.343673325e-05,8.300842281e-01
+34,7.216666667e+00,UP_FORCE_RAMP,1792661402344984590,1.627542888e-05,-2.934806298e-05,3.344566653e-04,1.899692687e-05,-3.263041228e-05,3.253121058e-04,2.144561275e-05,-3.239205450e-05,3.239576607e-04,7.015541469e-01,-2.779710166e-05,8.410753979e-01,7.015568684e-01,-3.107945096e-05,8.410662533e-01,7.017473639e-01,-3.056571328e-05,8.301047749e-01
+35,7.416666667e+00,UP_FORCE_RAMP,1792661402645014618,1.790139654e-05,-3.094016006e-05,3.592278558e-04,1.690230753e-05,-2.983622186e-05,3.458180190e-04,1.939024977e-05,-2.959368873e-05,3.443998632e-04,7.015557729e-01,-2.938919874e-05,8.411001690e-01,7.015547738e-01,-2.828526054e-05,8.410867592e-01,7.017453086e-01,-2.776734751e-05,8.301252171e-01
+36,7.433333333e+00,UP_FORCE_RAMP,1792661402666509215,1.093627083e-05,-9.294011756e-05,3.679305911e-04,1.110602179e-05,-9.317269367e-05,3.678571189e-04,1.353663143e-05,-9.251939287e-05,3.662890811e-04,7.015488078e-01,-9.138915624e-05,8.411088718e-01,7.015489775e-01,-9.162173235e-05,8.411087983e-01,7.017394549e-01,-9.069305165e-05,8.301471063e-01
+37,7.466666667e+00,UP_FORCE_RAMP,1792661402716491050,6.758614548e-06,-6.200187026e-05,3.677023031e-04,3.841383539e-06,-7.274367688e-05,3.598300283e-04,6.106704308e-06,-7.220887087e-05,3.582861515e-04,7.015446301e-01,-6.045090894e-05,8.411086435e-01,7.015417129e-01,-7.119271556e-05,8.411007712e-01,7.017320250e-01,-7.038252965e-05,8.301391034e-01
+38,7.616666667e+00,UP_FORCE_RAMP,1792661402944994540,6.629399116e-06,-6.983963156e-05,3.781741398e-04,6.799986095e-06,-6.856927070e-05,3.788702960e-04,9.223783959e-06,-6.809984584e-05,3.772961734e-04,7.015445009e-01,-6.828867024e-05,8.411191153e-01,7.015446715e-01,-6.701830938e-05,8.411198115e-01,7.017351421e-01,-6.627350462e-05,8.301581134e-01
+39,7.783333333e+00,UP_FORCE_RAMP,1792661403183907272,1.062719367e-05,-6.448622659e-05,4.005947905e-04,1.074721176e-05,-6.448346615e-05,4.003601368e-04,1.330089801e-05,-6.405181170e-05,3.986461257e-04,7.015484987e-01,-6.293526527e-05,8.411415360e-01,7.015486187e-01,-6.293250483e-05,8.411413013e-01,7.017392192e-01,-6.222547048e-05,8.301794634e-01
+40,7.933333333e+00,UP_FORCE_RAMP,1792661403414443624,1.108590890e-05,-6.367001233e-05,4.175378569e-04,1.074721176e-05,-6.448346615e-05,4.003601368e-04,1.330590767e-05,-6.404932697e-05,3.987515194e-04,7.015489574e-01,-6.211905101e-05,8.411584790e-01,7.015486187e-01,-6.293250483e-05,8.411413013e-01,7.017392242e-01,-6.222298575e-05,8.301795688e-01
+41,8.116666667e+00,UP_FORCE_RAMP,1792661403684987567,1.505261520e-05,-5.935016120e-05,4.409538938e-04,1.516226244e-05,-5.919629208e-05,4.411166056e-04,1.797419523e-05,-5.878650899e-05,4.392651344e-04,7.015529241e-01,-5.779919988e-05,8.411818951e-01,7.015530337e-01,-5.764533076e-05,8.411820578e-01,7.017438925e-01,-5.696016777e-05,8.302200824e-01
+42,8.366666667e+00,UP_FORCE_RAMP,1792661404082980881,1.663360824e-05,-6.002754772e-05,4.692266867e-04,1.514553698e-05,-5.923997571e-05,4.632430644e-04,1.812161039e-05,-5.882755054e-05,4.613630644e-04,7.015545051e-01,-5.847658640e-05,8.412101679e-01,7.015530170e-01,-5.768901439e-05,8.412041843e-01,7.017440399e-01,-5.700120932e-05,8.302421803e-01
+43,8.583333333e+00,UP_FORCE_RAMP,1792661404413032779,1.484988148e-05,-5.802373980e-05,4.862787245e-04,1.882123769e-05,-5.728991013e-05,4.846717908e-04,2.191622803e-05,-5.690628580e-05,4.827932478e-04,7.015527214e-01,-5.647277848e-05,8.412272199e-01,7.015566927e-01,-5.573894881e-05,8.412256130e-01,7.017478345e-01,-5.507994458e-05,8.302636105e-01
+44,8.800000000e+00,UP_FORCE_RAMP,1792661404733288969,2.085856787e-05,-5.915433084e-05,5.130718638e-04,1.834637533e-05,-5.650713043e-05,5.056033962e-04,2.147583772e-05,-5.610932648e-05,5.036426668e-04,7.015587300e-01,-5.760336952e-05,8.412540131e-01,7.015562179e-01,-5.495616911e-05,8.412465446e-01,7.017473941e-01,-5.428298526e-05,8.302844599e-01
+45,8.966666667e+00,UP_FORCE_RAMP,1792661404987195705,2.027013975e-05,-5.263184848e-05,5.272802163e-04,2.093306218e-05,-5.498112714e-05,5.265498699e-04,2.424366778e-05,-5.460311495e-05,5.245290422e-04,7.015581416e-01,-5.108088716e-05,8.412682214e-01,7.015588045e-01,-5.343016582e-05,8.412674911e-01,7.017501620e-01,-5.277677373e-05,8.303053463e-01
+46,9.116666667e+00,UP_FORCE_RAMP,1792661405216243693,2.194470356e-05,-5.633317502e-05,5.415660791e-04,2.093306218e-05,-5.498112714e-05,5.265498699e-04,2.425144971e-05,-5.460229724e-05,5.246284948e-04,7.015598162e-01,-5.478221370e-05,8.412825073e-01,7.015588045e-01,-5.343016582e-05,8.412674911e-01,7.017501698e-01,-5.277595601e-05,8.303054457e-01
+47,9.266666667e+00,UP_FORCE_RAMP,1792661405484465942,2.512764960e-05,-5.365772141e-05,5.633530820e-04,2.550292797e-05,-5.425733038e-05,5.497134162e-04,2.900724922e-05,-5.390710192e-05,5.477020057e-04,7.015629991e-01,-5.210676009e-05,8.413042943e-01,7.015633744e-01,-5.270636906e-05,8.412906546e-01,7.017549256e-01,-5.208076070e-05,8.303285193e-01
+48,9.400000000e+00,UP_FORCE_RAMP,1792661405684622310,1.288543397e-05,-5.397236413e-05,5.634850498e-04,2.550292797e-05,-5.425733038e-05,5.497134162e-04,2.901535639e-05,-5.390730679e-05,5.477823864e-04,7.015507569e-01,-5.242140281e-05,8.413044262e-01,7.015633744e-01,-5.270636906e-05,8.412906546e-01,7.017549337e-01,-5.208096557e-05,8.303285996e-01
+49,9.416666667e+00,UP_FORCE_RAMP,1792661405714823310,-3.555532903e-05,-5.917233461e-05,5.270324314e-04,-3.502047846e-05,-5.906155161e-05,5.268175770e-04,-3.286618912e-05,-5.861517174e-05,5.250936713e-04,7.015023162e-01,-5.762137329e-05,8.412679736e-01,7.015028510e-01,-5.751059029e-05,8.412677588e-01,7.016930521e-01,-5.678883051e-05,8.303059109e-01
+50,9.450000000e+00,UP_FORCE_RAMP,1792661405763732529,-1.578189836e-05,-6.241596632e-05,5.452294425e-04,-1.609230593e-05,-6.245807064e-05,5.452781491e-04,-1.346557821e-05,-6.199697996e-05,5.433822621e-04,7.015220896e-01,-6.086500500e-05,8.412861706e-01,7.015217792e-01,-6.090710931e-05,8.412862193e-01,7.017124527e-01,-6.017063873e-05,8.303241995e-01
+51,9.516666667e+00,UP_FORCE_RAMP,1792661405859780500,-2.492662247e-05,-5.854271909e-05,5.451934175e-04,-3.278882692e-05,-5.844154755e-05,5.327322315e-04,-3.059048944e-05,-5.803854020e-05,5.309651315e-04,7.015129449e-01,-5.699175777e-05,8.412861346e-01,7.015050827e-01,-5.689058623e-05,8.412736734e-01,7.016953278e-01,-5.621219898e-05,8.303117824e-01
+52,9.716666667e+00,UP_FORCE_RAMP,1792661406153910251,-2.918376928e-05,-5.259874547e-05,5.423235003e-04,-3.278882692e-05,-5.844154755e-05,5.327322315e-04,-3.062534510e-05,-5.804314893e-05,5.310492565e-04,7.015086877e-01,-5.104778415e-05,8.412832647e-01,7.015050827e-01,-5.689058623e-05,8.412736734e-01,7.016952930e-01,-5.621680770e-05,8.303118665e-01
+53,9.966666667e+00,UP_FORCE_RAMP,1792661406536065339,-3.046963712e-05,-5.474898849e-05,5.543379771e-04,-2.996166164e-05,-5.892593829e-05,5.528451181e-04,-2.768163150e-05,-5.850793550e-05,5.511313280e-04,7.015074018e-01,-5.319802717e-05,8.412952792e-01,7.015079098e-01,-5.737497697e-05,8.412937863e-01,7.016982367e-01,-5.668159428e-05,8.303319486e-01
+54,1.015000000e+01,UP_FORCE_RAMP,1792661406813616687,-2.961612542e-05,-5.678867165e-05,5.667873204e-04,-2.996166164e-05,-5.892593829e-05,5.528451181e-04,-2.769274337e-05,-5.851190820e-05,5.512194881e-04,7.015082554e-01,-5.523771033e-05,8.413077285e-01,7.015079098e-01,-5.737497697e-05,8.412937863e-01,7.016982256e-01,-5.668556698e-05,8.303320367e-01
+55,1.035000000e+01,UP_FORCE_RAMP,1792661407113762190,-3.260390569e-05,-5.269496265e-05,5.754934415e-04,-3.018806981e-05,-5.579382021e-05,5.753286061e-04,-2.791005599e-05,-5.540565734e-05,5.735278906e-04,7.015052676e-01,-5.114400133e-05,8.413164346e-01,7.015076834e-01,-5.424285888e-05,8.413162698e-01,7.016980083e-01,-5.357931611e-05,8.303543451e-01
+56,1.055000000e+01,UP_FORCE_RAMP,1792661407414615452,-3.347736260e-05,-5.684494839e-05,5.832110302e-04,-3.018806981e-05,-5.579382021e-05,5.753286061e-04,-2.792012050e-05,-5.540889218e-05,5.736202293e-04,7.015043941e-01,-5.529398707e-05,8.413241522e-01,7.015076834e-01,-5.424285888e-05,8.413162698e-01,7.016979982e-01,-5.358255095e-05,8.303544375e-01
+57,1.076666667e+01,UP_FORCE_RAMP,1792661407733712347,-3.536385298e-05,-5.694590353e-05,5.912056998e-04,-3.018806981e-05,-5.579382021e-05,5.753286061e-04,-2.792994616e-05,-5.541220273e-05,5.737049335e-04,7.015025076e-01,-5.539494221e-05,8.413321469e-01,7.015076834e-01,-5.424285888e-05,8.413162698e-01,7.016979884e-01,-5.358586151e-05,8.303545222e-01
+58,1.095000000e+01,UP_FORCE_HOLD,1792661408013103112,-3.097313180e-05,-5.529854809e-05,6.055644054e-04,-3.089143644e-05,-5.715492874e-05,5.961996906e-04,-2.852928092e-05,-5.678937255e-05,5.944702670e-04,7.015068983e-01,-5.374758677e-05,8.413465056e-01,7.015069800e-01,-5.560396742e-05,8.413371409e-01,7.016973890e-01,-5.496303133e-05,8.303752875e-01
+59,1.116666667e+01,UP_SETTLE,1792661408336376022,-3.011681404e-05,-5.361685094e-05,6.158751632e-04,-2.884711278e-05,-5.092576930e-05,6.157719170e-04,-2.634602937e-05,-5.060700743e-05,6.140028140e-04,7.015077547e-01,-5.206588962e-05,8.413568164e-01,7.015090244e-01,-4.937480798e-05,8.413567131e-01,7.016995723e-01,-4.878066620e-05,8.303948201e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c753bde6832de6ed3f4300b9a760277e2d00bdc1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_15/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,9.4574e-03,3.5008e-03,2.4595e+00,-3.7009e-02,3.7447e-02,-1.4706e-05,2.1318e-04,-1.2810e-06,8.8692e-05,-4.6194e-07,1.4760e-05,1.3164e-07,2.3090e-04,1.4767e-05
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.9816e-05,1.1264e-02,3.4836e-03,2.4601e+00,-3.7012e-02,3.7573e-02,-1.3800e-05,2.0199e-03,-1.8442e-05,7.6294e-04,-3.1888e-06,1.4082e-04,1.0374e-06,2.1592e-03,1.4086e-04
+2,3.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,9.6328e-05,1.3201e-02,3.4962e-03,2.4609e+00,-3.7017e-02,3.7708e-02,-1.2778e-05,3.9564e-03,-5.8271e-06,1.5025e-03,-8.4117e-06,2.7603e-04,2.0598e-06,4.2321e-03,2.7617e-04
+3,6.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,1.4826e-04,1.5461e-02,3.5163e-03,2.4617e+00,-3.7023e-02,3.7866e-02,-1.1782e-05,6.2168e-03,1.4257e-05,2.3215e-03,-1.4521e-05,4.3393e-04,3.0554e-06,6.6361e-03,4.3418e-04
+4,8.3333e-01,WAIT_W2,1.9900e-04,1.7171e-02,3.5376e-03,2.4623e+00,-3.7028e-02,3.7986e-02,-1.1156e-05,7.9270e-03,3.5564e-05,2.9206e-03,-1.9353e-05,5.5374e-04,3.6820e-06,8.4480e-03,5.5409e-04
+5,1.0167e+00,WAIT_W2,2.4791e-04,1.8671e-02,3.5522e-03,2.4628e+00,-3.7032e-02,3.8091e-02,-1.0715e-05,9.4266e-03,5.0121e-05,3.4380e-03,-2.3119e-05,6.5875e-04,4.1228e-06,1.0034e-02,6.5917e-04
+6,1.2333e+00,WAIT_W2,2.9509e-04,2.0372e-02,3.5685e-03,2.4634e+00,-3.7036e-02,3.8210e-02,-1.0340e-05,1.1128e-02,6.6438e-05,3.9945e-03,-2.7243e-05,7.7830e-04,4.4975e-06,1.1823e-02,7.7879e-04
+7,1.3833e+00,WAIT_W2,3.4455e-04,2.1504e-02,3.5780e-03,2.4637e+00,-3.7038e-02,3.8290e-02,-1.0175e-05,1.2260e-02,7.5925e-05,4.3573e-03,-2.9765e-05,8.5788e-04,4.6621e-06,1.3011e-02,8.5841e-04
+8,1.6000e+00,WAIT_W2,3.9627e-04,2.1626e-02,1.3142e-02,2.4600e+00,-3.7706e-02,3.8302e-02,-4.6389e-06,1.2382e-02,9.6403e-03,5.8699e-04,-6.9769e-04,8.6974e-04,1.0199e-05,1.5703e-02,1.1150e-03
+9,1.8167e+00,WAIT_W2,4.4427e-04,2.3123e-02,1.3299e-02,2.4613e+00,-3.7723e-02,3.8407e-02,-3.8338e-06,1.3879e-02,9.7967e-03,1.8983e-03,-7.1464e-04,9.7457e-04,1.1004e-05,1.7094e-02,1.2086e-03
+10,1.9833e+00,WAIT_W2,4.9247e-04,2.4319e-02,1.3215e-02,2.4618e+00,-3.7719e-02,3.8491e-02,-4.1335e-06,1.5075e-02,9.7131e-03,2.4593e-03,-7.1078e-04,1.0589e-03,1.0704e-05,1.8101e-02,1.2754e-03
+11,2.1667e+00,WAIT_W2,5.4031e-04,2.5575e-02,1.3167e-02,2.4624e+00,-3.7718e-02,3.8580e-02,-4.5386e-06,1.6330e-02,9.6648e-03,3.0055e-03,-7.0922e-04,1.1475e-03,1.0299e-05,1.9213e-02,1.3490e-03
+12,2.4000e+00,WAIT_W2,5.9215e-04,2.6918e-02,2.2884e-02,2.4633e+00,-3.8400e-02,3.8674e-02,9.8040e-07,1.7674e-02,1.9382e-02,3.8917e-03,-1.3910e-03,1.2422e-03,1.5818e-05,2.6518e-02,1.8650e-03
+13,2.6667e+00,WAIT_W2,6.3922e-04,2.8586e-02,2.2693e-02,2.4639e+00,-3.8389e-02,3.8792e-02,-2.9425e-07,1.9342e-02,1.9191e-02,4.5295e-03,-1.3801e-03,1.3602e-03,1.4543e-05,2.7621e-02,1.9378e-03
+14,2.9500e+00,UP_FORCE_RAMP,6.9215e-04,3.0251e-02,2.2604e-02,2.4645e+00,-3.8385e-02,3.8910e-02,-1.7459e-06,2.1007e-02,1.9102e-02,5.1346e-03,-1.3760e-03,1.4782e-03,1.3092e-05,2.8854e-02,2.0196e-03
+15,3.1500e+00,UP_FORCE_RAMP,7.3951e-04,3.1364e-02,2.2564e-02,2.4649e+00,-3.8383e-02,3.8989e-02,-2.8802e-06,2.2120e-02,1.9062e-02,5.5280e-03,-1.3745e-03,1.5571e-03,1.1957e-05,2.9719e-02,2.0770e-03
+16,3.3833e+00,UP_FORCE_RAMP,7.8715e-04,3.2601e-02,2.2527e-02,2.4653e+00,-3.8382e-02,3.9077e-02,-4.3152e-06,2.3357e-02,1.9025e-02,5.9552e-03,-1.3733e-03,1.6450e-03,1.0522e-05,3.0708e-02,2.1429e-03
+17,3.6167e+00,UP_FORCE_RAMP,8.3749e-04,3.3775e-02,2.2494e-02,2.4657e+00,-3.8381e-02,3.9160e-02,-5.8532e-06,2.4531e-02,1.8992e-02,6.3515e-03,-1.3723e-03,1.7283e-03,8.9845e-06,3.1667e-02,2.2069e-03
+18,3.8500e+00,UP_FORCE_RAMP,8.8714e-04,3.4887e-02,2.2464e-02,2.4661e+00,-3.8380e-02,3.9239e-02,-7.4790e-06,2.5642e-02,1.8962e-02,6.7186e-03,-1.3713e-03,1.8073e-03,7.3586e-06,3.2592e-02,2.2687e-03
+19,4.0500e+00,UP_FORCE_RAMP,9.3736e-04,3.6127e-02,2.9359e-02,2.4609e+00,-3.8864e-02,3.9333e-02,-4.4115e-06,2.6883e-02,2.5857e-02,1.5502e-03,-1.8549e-03,1.9012e-03,1.0426e-05,3.7332e-02,2.6562e-03
+20,4.2833e+00,UP_FORCE_RAMP,9.8375e-04,3.6078e-02,2.7647e-02,2.4538e+00,-3.8746e-02,3.9338e-02,-7.0257e-06,2.6834e-02,2.4145e-02,-5.5423e-03,-1.7373e-03,1.9055e-03,7.8120e-06,3.6520e-02,2.5786e-03
+21,4.5333e+00,UP_FORCE_RAMP,1.0350e-03,3.6777e-02,2.7386e-02,2.4485e+00,-3.8731e-02,3.9394e-02,-9.0518e-06,2.7533e-02,2.3884e-02,-1.0883e-02,-1.7221e-03,1.9619e-03,5.7858e-06,3.8039e-02,2.6105e-03
+22,4.7667e+00,UP_FORCE_RAMP,1.0832e-03,3.7359e-02,2.5273e-02,2.4424e+00,-3.8585e-02,3.9443e-02,-1.2195e-05,2.8115e-02,2.1771e-02,-1.6947e-02,-1.5762e-03,2.0109e-03,2.6428e-06,3.9390e-02,2.5550e-03
+23,5.0000e+00,UP_FORCE_RAMP,1.1330e-03,3.7318e-02,2.3854e-02,2.4379e+00,-3.8488e-02,3.9446e-02,-1.4904e-05,2.8074e-02,2.0352e-02,-2.1482e-02,-1.4792e-03,2.0143e-03,-6.6764e-08,4.0790e-02,2.4991e-03
+24,5.2333e+00,UP_FORCE_RAMP,1.1827e-03,3.7569e-02,2.3094e-02,2.4333e+00,-3.8437e-02,3.9471e-02,-1.7297e-05,2.8325e-02,1.9592e-02,-2.6054e-02,-1.4280e-03,2.0387e-03,-2.4598e-06,4.3185e-02,2.4891e-03
+25,5.4167e+00,UP_FORCE_RAMP,1.2330e-03,3.7194e-02,2.3129e-02,2.4271e+00,-3.8441e-02,3.9452e-02,-1.8786e-05,2.7950e-02,1.9627e-02,-3.2246e-02,-1.4320e-03,2.0200e-03,-3.9488e-06,4.6971e-02,2.4761e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f0c214064430b88222418d5ebd12406755f26a40
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e77330bb10655d7509ac254a7696e0f490cda9b3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/fem_node.csv
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+59,2.986667e+01,245,7.004910e-01,2.604420e-02,8.300328e-01,2.248325e-06,-6.624819e-05,-9.617461e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b26853a2e926606e3a3c3a78a0d2521faaa92c06
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+4562,1791363568095629348,2519473000000,1791363568094837072,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6759940420940901,-0.004790505900921246,0.09061975513396783,0.9999999760865096,8.224073084765747e-05,-0.00015101625403041467,9.849059756961257e-05,0.6761,-0.0048,0.09066621047232794,1.0,0.0,0.0,0.0,-0.006282986687546954,-0.022575664761565736,0.15470089440067059,-0.0010557628764346788,0.00010275251344043135,-5.482164335747627e-05,0.04980506920853268,-0.025964207196932546,0.04874417436678723,-0.003034314219399899,-0.0009643898466151583,-0.0011201984273192269,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5334557693987911,-0.40630668254627716,0.0502690672597006,0.5261327644201889,0.28242918133504896,-0.2979768799392294,0.5313281633860638,0.15470089440067059,0.4810590961263632,0.4810590961263632,0.6024029300729842,0,0,-7.533477284997742e-05,2.5540126080857075e-05
+4710,1791363569328499750,2520706000000,1791363569322836904,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760099329776212,-0.004779909949512186,0.09053912993701882,0.999999979280521,7.765905076772602e-05,-0.00013183108821951606,9.732141652162565e-05,0.6761,-0.0048,0.09056807976329578,1.0,0.0,0.0,0.0,-0.00823211079090791,-0.011210712985483684,0.19561545228519983,-0.0010618583498106771,9.298620984255217e-05,-8.79163115071334e-05,0.04785594510517172,-0.014599255420850494,0.0896587322513165,-0.0030404096927758974,-0.0009741561502130374,-0.001153293095468884,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4910474514034018,-0.370163126404147,0.06531582121166313,0.5166347680404851,0.2529627339010984,-0.2793075529882424,0.5313281633860638,0.19561545228519983,0.4660123421744007,0.4660123421744007,0.6763829300729213,0,0,-8.310209309167339e-05,-9.851999357846637e-05
+4862,1791363570595553346,2521973000000,1791363570590837164,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760233941893364,-0.0047790765041494715,0.09044132549856047,0.999999983479077,6.126637678075039e-05,-0.00011563866988535321,8.578367728852872e-05,0.6761,-0.0048,0.0904549120156248,1.0,0.0,0.0,0.0,-0.008187552317501547,-0.01634847786688216,0.24538770441587587,-5.2773613815028635e-05,7.074590404093704e-05,-0.00011651688514193966,0.047900503578578085,-0.01973702030224897,0.13943098438199253,-0.002031324956780249,-0.0009963964560146526,-0.0011818936691036903,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4916131875257475,-0.33916902357366496,-0.06726348077446345,0.5151923029579594,0.3364488103685661,-0.2551717964749392,0.5313281633860638,0.24538770441587587,0.5985916441605272,0.5985916441605272,0.7524029300728566,0,0,-9.59649607320826e-05,2.6119921529793546e-05
+5022,1791363571928575405,2523306000000,1791363571922836636,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760244226450378,-0.004782609645977293,0.09031858438306606,0.9999999778178971,0.00012125503929974077,-0.00011282853565774403,9.150959971516463e-05,0.6761,-0.0048,0.09032720413934076,1.0,0.0,0.0,0.0,-0.0072327150764358375,-0.006808258653102368,0.3153511716958602,-0.0010858601557827271,0.0002892456894599191,-0.00017140235699367764,0.048855340819643794,-0.010196801088469178,0.20939445166197684,-0.0030644114987479474,-0.0007778966705956705,-0.0012367791409554282,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.515272427419347,-0.3927046912691168,-0.18156568870028147,0.534061819078844,0.41546644518983755,-0.2919399253029983,0.5313281633860638,0.3153511716958602,0.7128938520863453,0.7128938520863453,0.8323829300727886,0,0,-9.771354896462447e-05,9.999999025923074e-05
+5174,1791363573195460764,2524573000000,1791363573194836713,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760222170783282,-0.0047873032107696245,0.09018961356788696,0.9999999777632257,0.00011103600115177004,-0.00011610982840496992,0.00010052823829630318,0.6761,-0.0048,0.09019825411355228,1.0,0.0,0.0,0.0,-0.008585523667941158,-0.022895732357236846,0.38538320400917697,-0.0011274426372176439,0.0010664175406325251,-0.0002255727655641835,0.047502532228138473,-0.026284274792603656,0.2794264839752936,-0.003105993980182864,-7.248194230645422e-07,-0.001290949549525934,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.509285809329742,-0.4273680645463642,-0.18895991171346851,0.5474504697090983,0.4180698165652051,-0.31284978052160933,0.5313281633860638,0.38538320400917697,0.7202880750995323,0.7202880750995323,0.908402930072724,0,0,-0.00010198879909636827,-6.796085502547839e-05
+5324,1791363574445481473,2525823000000,1791363574442846031,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760275723496078,-0.004791867523893368,0.0900645297146022,0.9999999817950086,8.560272153565923e-05,-0.00010724274297368996,9.499481578587976e-05,0.6761,-0.0048,0.0900670498504599,1.0,0.0,0.0,0.0,-0.011118315505074125,-0.011769030023215771,0.4556037526711024,-0.0011378884207401412,0.0010517902398712023,-0.00028252409139339603,0.04496974039100551,-0.015157572458582581,0.3496470326372191,-0.0031164397637053615,-1.5352120184387312e-05,-0.0013479008753551466,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5251547550744318,-0.4109448648675929,-0.3378992605183009,0.5414166465416506,0.5160856003703848,-0.30944321796254004,0.5313281633860638,0.4556037526711024,0.8692274239043647,0.8692274239043647,0.9834029300726602,0,0,-0.00010782758729369212,9.983985446571637e-05
+5478,1791363575728467538,2527106000000,1791363575722836721,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760332507549646,-0.004795804839823637,0.08993771708011357,0.9999999826363949,8.577646874327283e-05,-9.891980221402918e-05,9.501233918495854e-05,0.6761,-0.0048,0.08992774191087102,1.0,0.0,0.0,0.0,-0.01845575473368965,-0.019472869476773038,0.5157184719446339,-0.0011513867059738778,0.0010381572219848082,-0.00033205646175036045,0.03763230116238998,-0.022861411912139848,0.4097617519107506,-0.003129938048939098,-2.8985138070781372e-05,-0.001397433245712111,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4596824762811704,-0.43148426647390725,-0.24124830021128382,0.5527932816843604,0.4375107539502878,-0.3176824193544961,0.5313281633860638,0.5157184719446339,0.7725764635973477,0.7725764635973477,1.0603829300725949,0,0,-0.00011457493754726678,-9.927773467056084e-05
+5607,1791363576803536415,2528181000000,1791363576802845899,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760381924573934,-0.0047986798025231895,0.08982078422985487,0.999999981608959,9.885843249881615e-05,-8.94060222286574e-05,0.00010226690276770419,0.6761,-0.0048,0.08980073391106823,1.0,0.0,0.0,0.0,-0.018594508342453887,-0.02731076138259826,0.565970177473909,-0.0011620480162120527,0.0010279853698864467,-0.00037267936664028313,0.037493547553625745,-0.03069930381796507,0.46001345744002564,-0.003140599359177273,-3.915699016914287e-05,-0.0014380561506020337,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5078638790460648,-0.38579764941261124,-0.43367303454160583,0.537670560508534,0.5728933329159085,-0.29367166747997187,0.5313281633860638,0.565970177473909,0.9650011979276696,0.9650011979276696,1.12488293007254,0,0,-0.00011933568562908092,9.666569908273743e-05
+5755,1791363578036477156,2529414000000,1791363578030836610,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760440194177619,-0.004798879409424134,0.08968191169877064,0.9999999831448828,9.183841913527001e-05,-8.210323456211272e-05,9.988924976317014e-05,0.6761,-0.0048,0.08964903964722233,1.0,0.0,0.0,0.0,-0.02787999816270678,-0.023363445089675954,0.6060809250293472,-0.0011958143916641654,0.002030444148944571,-0.0003905063332613945,0.02820805773337285,-0.026751987525042764,0.5001242049954638,-0.0031743657346293857,0.0009633017888889812,-0.001455883117223145,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4887912578659928,-0.3118962279434354,-0.49514123079674516,0.5200416871305702,0.607345935461518,-0.24267588096462,0.5313281633860638,0.6060809250293472,1.026469394182809,1.026469394182809,1.1988629300724771,0,0,-0.00012874184099756635,9.367947670225191e-05
+5890,1791363579161417289,2530539000000,1791363579154845927,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760487270563968,-0.004798136730947423,0.08954051224773087,0.9999999857549418,7.96557146253953e-05,-7.173474442872013e-05,9.188076153428527e-05,0.6761,-0.0048,0.08949854341157022,1.0,0.0,0.0,0.0,-0.019118444295296536,-0.02427657013932682,0.6601790844928268,-0.0012072245358973632,0.0020207160263225822,-0.00043319329343246204,0.036969611600783096,-0.02766511257469363,0.5542223644589435,-0.0031857758788625835,0.0009535736662669925,-0.0014985700773942126,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4635721477989845,-0.4059684982743765,-0.48960465451153656,0.5477967120072201,0.5947393170913339,-0.30841721858731547,0.5313281633860638,0.6601790844928268,1.0209328178976005,1.0209328178976005,1.2663629300724197,0,0,-0.00013933619181514615,-8.001894434086251e-05
+6016,1791363580211449744,2531589000000,1791363580206846281,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.676051950498807,-0.0047995595373680495,0.08939582186140066,0.9999999858107326,7.844260090994763e-05,-6.90111652014143e-05,9.436957446683717e-05,0.6761,-0.0048,0.08934808325368933,1.0,0.0,0.0,0.0,-0.01957853821455273,-0.022587703303715314,0.7065611276679804,-0.0012157856685266768,0.002010567970509477,-0.0004705430495963458,0.0365095176815269,-0.025976245739082124,0.6006044076340971,-0.003194337011491897,0.0009434256104538874,-0.0015359198335580964,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4657375238357035,-0.47214490503349993,-0.47836467870767274,0.5685161875767168,0.5844118397484085,-0.35106591443300833,0.5313281633860638,0.7065611276679804,1.0096928420937366,1.0096928420937366,1.3293629300723662,0,0,-0.0001501694903108516,-9.930188202134644e-05
+6143,1791363581270377186,2532648000000,1791363581262836897,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760523852522917,-0.00480370491375846,0.08923124534712727,0.9999999865189491,7.040064054404707e-05,-6.645575166549685e-05,9.503867103952433e-05,0.6761,-0.0048,0.08918413242697504,1.0,0.0,0.0,0.0,-0.02539304558470475,-0.03115532455382732,0.7464816301192327,-0.0012244762789977814,0.002002811566630617,-0.0005036271130154518,0.030695010311374882,-0.03454386698919413,0.6405249100853494,-0.0032030276219630017,0.0009356692065750277,-0.0015690038969772024,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4365160055039483,-0.4122728643249716,-0.5300486976220026,0.5620791703786476,0.6102393880993398,-0.3073312612049228,0.5313281633860638,0.7464816301192327,1.0613768610080663,1.0613768610080663,1.3929029300723121,0,0,-0.00016189906838356827,-9.999375913250503e-05
+6247,1791363582136474107,2533514000000,1791363582134845913,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760525268386058,-0.004804283528894664,0.08908072432153634,0.9999999854454144,8.128604938516583e-05,-6.920333970360857e-05,9.568443666878586e-05,0.6761,-0.0048,0.08903612640293371,1.0,0.0,0.0,0.0,-0.02730901125098419,-0.024779587556162042,0.7672471780882141,-0.0013088534332328112,0.001997092286742598,-0.0005262274762920522,0.028779044645095442,-0.028168129991528852,0.6612904580543307,-0.0032874047761980315,0.0009299499266870085,-0.0015916042602538028,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4241444804613346,-0.4483944465801134,-0.5647132565274161,0.5792061068731396,0.6216445485253279,-0.3306713905040849,0.5313281633860638,0.7672471780882141,1.09604141991348,1.09604141991348,1.444862930072268,0,0,-0.00017876303907568414,-9.928456254216229e-05
+6341,1791363582920445283,2534298000000,1791363582914846584,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760481029749995,-0.004804338111533371,0.08891823146109515,0.9999999818793561,0.00010582401526584282,-7.92584952505676e-05,0.0001010124768067543,0.6761,-0.0048,0.08888853155154294,1.0,0.0,0.0,0.0,-0.027784717161980544,-0.04251234703230073,0.7864369709070873,-0.0022394809191581227,0.00100047457524088,-0.00015095886353409262,0.028303338734099088,-0.045900889467667544,0.680480250873204,-0.004218032262123343,-6.66677848147097e-05,-0.0012163356474958432,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3854559587561863,-0.35862623695160867,-0.6226082178817463,0.5503879665387477,0.6431370736444043,-0.2709442243915296,0.5313281633860638,0.7864369709070873,1.15393638126781,1.15393638126781,1.491902930072228,0,0,-0.00019644483960957874,-6.39908047785049e-05
+6443,1791363583770424014,2535148000000,1791363583766846064,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760481299293134,-0.004812198881244597,0.08874403856022077,0.9999999836085515,8.5284369456509e-05,-7.877705460104414e-05,0.00010366538990972395,0.6761,-0.0048,0.08870901894290806,1.0,0.0,0.0,0.0,-0.02390818150756638,-0.032839371196352184,0.7761703109298987,-0.002249885944026982,0.0020151162302946882,-0.0005389626490535056,0.032179874388513253,-0.036227913631719,0.6702135908960154,-0.004228437286992202,0.0009479738702390985,-0.0016043394330152562,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4354494188000901,-0.5241645568324668,-0.6287990430830444,0.6088174441636605,0.652958791682018,-0.37893433359933615,0.5313281633860638,0.7761703109298987,1.1601272064691082,1.1601272064691082,1.5429029300721846,0,0,-0.00022581772955795591,-3.886570306959518e-05
+6535,1791363584536414872,2535914000000,1791363584530837322,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760474404262979,-0.0048085337235918586,0.0885657307199274,0.9999999837015919,8.067737270536015e-05,-8.161870359724036e-05,0.00010425559472620495,0.6761,-0.0048,0.08852869323059677,1.0,0.0,0.0,0.0,-0.022068140603729323,-0.03412406776421022,0.7733581971197552,-0.0022460286244619623,0.0018868157994221051,-0.0005344958543708853,0.03401991529235031,-0.03751261019957703,0.6674014770858718,-0.004224579967427183,0.0008196734393665155,-0.001599872638332636,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3632433315434493,-0.36423743147748433,-0.6086598140289836,0.5747875776982866,0.6129077774623374,-0.27122813494468323,0.5313281633860638,0.7733581971197552,1.1399879774150474,1.1399879774150474,1.5888629300721455,0,0,-0.00024867241575218655,-9.999999025923074e-05
+6619,1791363585236401398,2536614000000,1791363585230836783,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760471388241759,-0.004808843951007546,0.08837671312361828,0.9999999829482215,8.884725432758315e-05,-8.286822858319604e-05,0.00010385298890200361,0.6761,-0.0048,0.0883460520032831,1.0,0.0,0.0,0.0,-0.02796948342209639,-0.03650881835695604,0.7761771951410573,-0.0022501323200795286,0.0020155793471604384,-0.0005394429247248069,0.028118572473983243,-0.03989736079232285,0.670220475107174,-0.004228683663044749,0.0009484369871048487,-0.0016048197086865575,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2804947194391496,-0.4357716977509083,-0.5891320410620737,0.6103151260999458,0.5704695252915509,-0.3113386370850933,0.5313281633860638,0.7761771951410573,1.1204602044481375,1.1204602044481375,1.6308629300721098,0,0,-0.00027515822182830183,-9.99926350316926e-05
+6695,1791363585870367902,2537248000000,1791363585862845836,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760460368648401,-0.0048129856243511885,0.08819168401284268,0.9999999822686599,8.975735620163312e-05,-8.777651172551965e-05,0.00010556725444587235,0.6761,-0.0048,0.08816397960837745,1.0,0.0,0.0,0.0,-0.018955915132635143,-0.04208834143271057,0.7761886330411525,-0.002251409572435373,0.0020158406242897177,-0.0005383569730126787,0.03713214076344449,-0.045476883868077383,0.6702319130072691,-0.0042299609154005935,0.0009486982642341278,-0.0016037337569744293,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3242993009275652,-0.38533054085727264,-0.6290469732517594,0.5910786041784272,0.6023506907062792,-0.28616455558556797,0.5313281633860638,0.7761886330411525,1.1603751366378232,1.1603751366378232,1.6689029300720775,0,0,-0.00029938966635969697,-5.7848582836924874e-05
+6767,1791363586470352090,2537848000000,1791363586466846555,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760373217489462,-0.0048184038290468864,0.08799064595859166,0.9999999800474767,9.351333503533626e-05,-0.00010261681380201171,0.00010987700571870156,0.6761,-0.0048,0.08797822423257602,1.0,0.0,0.0,0.0,-0.027511369093101083,-0.04317872372183967,0.7859783912667883,-0.0032564989955658637,0.002024889706996103,-0.0005536656637790849,0.02857668680297855,-0.04656726615720648,0.6800216712329049,-0.005235050338531084,0.0009577473469405132,-0.0016190424477408355,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.307810614425946,-0.4827713017764322,-0.6008060086998768,0.6216695029967882,0.5781379011630139,-0.35317522304021226,0.5313281633860638,0.7859783912667883,1.1321341720859406,1.1321341720859406,1.7049029300720469,0,0,-0.00032010405496693393,-9.508511619594202e-05
+6835,1791363587036401017,2538414000000,1791363587034837915,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760344854256459,-0.004823340509438184,0.08779474275134642,0.9999999794837301,8.910233708203251e-05,-0.00010957956000491308,0.00011193077052037555,0.6761,-0.0048,0.08779015568952014,1.0,0.0,0.0,0.0,-0.02748171852672894,-0.055564108820883654,0.7794259914054784,-0.003280670539748643,0.0020328892321740404,0.000337243466718518,0.02860633736935069,-0.05895265125625047,0.6734692713715951,-0.0052592218827138635,0.0009657468721184507,-0.0007281333172432326,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2609918248678909,-0.4354868719626665,-0.5794923909254894,0.620771532649483,0.54620609195213,-0.3175212463174188,0.5313281633860638,0.7794259914054784,1.1108205543115532,1.1108205543115532,1.738862930072018,0,0,-0.00034361592708284503,-9.999999025923074e-05
+6901,1791363587586389036,2538964000000,1791363587578846280,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760337281282695,-0.00482596574868409,0.08760188037506852,0.9999999792114285,8.993185025298909e-05,-0.0001107837277357297,0.00011251326589563983,0.6761,-0.0048,0.08759437556263806,1.0,0.0,0.0,0.0,-0.033345630811894206,-0.055691328509014516,0.7757609785317762,-0.003272429590499852,0.0020358922474490162,-0.0005512931221660976,0.022742425084185426,-0.05907987094438133,0.6698042584978928,-0.005250980933465072,0.0009687498873934266,-0.0016166699061278482,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.258915428230788,-0.38564489779102434,-0.6361006353347579,0.6107061139018504,0.5816525672200484,-0.28358492734718466,0.5313281633860638,0.7757609785317762,1.1674287987208216,1.1674287987208216,1.77186293007199,0,0,-0.0003680048421436297,5.39834680093811e-05
+6963,1791363588103386722,2539481000000,1791363588102846208,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760352240288471,-0.004824475716190016,0.08741030460571633,0.9999999800768957,8.466555156415026e-05,-0.00010876680586759825,0.00011086297327948387,0.6761,-0.0048,0.08739827764797416,1.0,0.0,0.0,0.0,-0.03672340210553572,-0.05568596462637011,0.7757150913429046,-0.0032723558318141772,0.0020359649868442195,-0.000551665988301937,0.01936465379054391,-0.059074507061736926,0.6697583713090213,-0.0052509071747793975,0.0009688226267886297,-0.0016170427722636876,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.265097157455317,-0.5033646491225671,-0.5427166587256457,0.645804840132951,0.5224872474136497,-0.36149319324037105,0.5313281633860638,0.7757150913429046,1.0740448221117096,1.0740448221117096,1.8028829300719635,0,0,-0.00039129995539208116,-9.999999025923074e-05
+7021,1791363588586411866,2539964000000,1791363588578846348,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760356251338031,-0.004826279367538767,0.0872235749628775,0.9999999806656559,8.08337366100178e-05,-0.00010658909093179935,0.00011052703205671749,0.6761,-0.0048,0.08720360822449501,1.0,0.0,0.0,0.0,-0.04589898646009553,-0.06602714917321173,0.7656967147870627,-0.0032718561223991356,0.0020455767761989687,-0.0005427460974672604,0.010189069435984107,-0.06941569160857854,0.6597399947531793,-0.005250407465364356,0.0009784344161433791,-0.001608122881429011,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2135797078463109,-0.40869134961758297,-0.48468955523496005,0.6230951358758251,0.46988064631605625,-0.3018051273550293,0.5313281633860638,0.7656967147870627,1.0160177186210237,1.0160177186210237,1.831862930071939,0,0,-0.0004150215407270049,-9.999999025923074e-05
+7078,1791363589061322956,2540439000000,1791363589058836351,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760353661635427,-0.0048299587772009395,0.08702407223390457,0.9999999802285924,8.759740031594563e-05,-0.00010552862818359153,0.00011034529158608355,0.6761,-0.0048,0.08700105834325851,1.0,0.0,0.0,0.0,-0.04542777103763382,-0.053186515963370345,0.7656535180682912,-0.0032984229761882536,0.003051301597452663,-0.0005288772221601452,0.010660284858445817,-0.05657505839873716,0.6596967980344078,-0.005276974319153474,0.0019841592373970734,-0.0015942540061218958,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1731433358583792,-0.4344264395905551,-0.4356980455123436,0.6309193863204379,0.42861494496602376,-0.3169164567363415,0.5313281633860638,0.7656535180682912,0.9670262088984074,0.9670262088984074,1.8603629300719147,0,0,-0.00043703925981938694,-9.999999025923074e-05
+7132,1791363589511369411,2540889000000,1791363589510846048,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760354418740503,-0.004831968107944614,0.08682137932120353,0.9999999801864566,8.595227530138556e-05,-0.00010552024797331906,0.00011201622363801843,0.6761,-0.0048,0.08679936624352223,1.0,0.0,0.0,0.0,-0.046189731494086755,-0.05605000960988111,0.7656381232717053,-0.0032980159383580137,0.003051629347227753,-0.0005289645759946233,0.009898324401992878,-0.05943855204524792,0.659681403237822,-0.005276567281323234,0.0019844869871721636,-0.001594341359956374,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2181878086193139,-0.4275405968167887,-0.5562592734281412,0.6414356275001559,0.5196373769540539,-0.30884954542464693,0.5313281633860638,0.7656381232717053,1.0875874368142049,1.0875874368142049,1.8873629300718917,0,0,-0.00045939496553656776,-9.999999025923074e-05
+7181,1791363589920400479,2541298000000,1791363589914837626,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760362910889278,-0.0048313307961541435,0.08663032773661536,0.999999980696355,7.99444802518605e-05,-0.00010492119354219499,0.0001124747848755742,0.6761,-0.0048,0.0866075897198747,1.0,0.0,0.0,0.0,-0.045045084225391385,-0.05605192195757525,0.7656424574647469,-0.003298039713002968,0.003051605851343498,-0.0005288279836697951,0.011042971670688248,-0.059440464392942066,0.6596857374308636,-0.005276591055968188,0.0019844634912879085,-0.0015942047676315457,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.229450226564974,-0.5017765102779184,-0.47977705864384484,0.6679922732039704,0.47755932630676606,-0.3548208165385244,0.5313281633860638,0.7656424574647469,1.0111052220299086,1.0111052220299086,1.9119029300718708,0,0,-0.0004786272425852652,-9.999999025923074e-05
+7232,1791363590345306199,2541723000000,1791363590342845293,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760329836590427,-0.0048315712945902044,0.0864291335654755,0.9999999800244527,8.524365781312019e-05,-0.00010897404264989368,0.00011068936545200053,0.6761,-0.0048,0.08639967425664655,1.0,0.0,0.0,0.0,-0.04573785546289412,-0.056043073079958476,0.7656389488736616,-0.003298024653630763,0.003051620514777841,-0.0005289104348898393,0.010350200433185516,-0.05943161551532529,0.6596822288397782,-0.005276575996595983,0.0019844781547222515,-0.0015942872188515898,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1976639881911761,-0.3450809752093406,-0.5311822041610238,0.623193255033176,0.5005985568337552,-0.24763287824765814,0.5313281633860638,0.7656389488736616,1.0625103675470875,1.0625103675470875,1.9374029300718492,0,0,-0.0004998563715955237,-9.999999025923074e-05
+7283,1791363590770320396,2542148000000,1791363590762846098,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760341110854025,-0.004828935060905275,0.08621423643960016,0.9999999802038225,8.748597022170217e-05,-0.00010401369995041814,0.00011208288905593727,0.6761,-0.0048,0.08618304749677573,1.0,0.0,0.0,0.0,-0.04618462318408883,-0.053933410363907586,0.7656445978402526,-0.0032976999690759565,0.0030514458842384345,-0.0005289673211288312,0.009903432711990803,-0.0573219527992744,0.6596878778063693,-0.005276251312041177,0.001984303524182845,-0.0015943441050905818,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2835348753952298,-0.4804893586560362,-0.5196985601542848,0.6671368616828077,0.5134567978967484,-0.3392039773266018,0.5313281633860638,0.7656445978402526,1.0510267235403488,1.0510267235403488,1.9629029300718275,0,0,-0.0005193337849027354,-9.999999025923074e-05
+7327,1791363591136312090,2542514000000,1791363591134845709,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.676033657339751,-0.004831840602381735,0.0860230947108858,0.9999999806506372,7.73995856906796e-05,-0.00010592233014174834,0.0001137161102482927,0.6761,-0.0048,0.08599018130021005,1.0,0.0,0.0,0.0,-0.040260308114034256,-0.0556625400075042,0.7756580812053511,-0.0032998653147186265,0.0030494357020873952,-0.0005370577356292403,0.015827747782045376,-0.059051082442871015,0.6697013611714677,-0.005278416657683847,0.0019822933420318056,-0.001602434519590991,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2718351780130008,-0.44826135917006066,-0.41388424853967276,0.6636784906472563,0.4457018512068771,-0.3167051913678575,0.5313281633860638,0.7756580812053511,0.9452124119257366,0.9452124119257366,1.9848629300718088,0,0,-0.000535132003177978,-9.999999025923074e-05
+7373,1791363591520333825,2542898000000,1791363591514846292,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760323834394699,-0.0048334116351157665,0.08581294688747865,0.9999999815747246,7.064773275494226e-05,-0.0001050322358230989,0.00011077247897807704,0.6761,-0.0048,0.08578185170770068,1.0,0.0,0.0,0.0,-0.038991529814193744,-0.056124111662281075,0.7657571836945726,-0.0032981749236351055,0.0030514812722014883,-0.0005281536389072994,0.017096526081885888,-0.05951265409764789,0.6598004636606892,-0.005276726266600326,0.0019843389121458987,-0.00159353042286905,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2915090219518934,-0.4325150995980116,-0.4443362810121571,0.6575741988734669,0.47010422514891403,-0.3051460334706254,0.5313281633860638,0.7657571836945726,0.975664444398221,0.975664444398221,2.0079029300717894,0,0,-0.0005508497517945063,-9.999999025923074e-05
+7415,1791363591870308258,2543248000000,1791363591862836655,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760287353849231,-0.004836359052677988,0.08561319814417015,0.9999999803349846,7.565017936510738e-05,-0.00011183691659508587,0.00011199307694741637,0.6761,-0.0048,0.0855867054036811,1.0,0.0,0.0,0.0,-0.046167620385917874,-0.055940205338241976,0.7656386337584715,-0.003298072656705455,0.003051580506362675,-0.0005289636885610269,0.00992043551016176,-0.05932874777360879,0.6596819137245882,-0.0052766239996706755,0.001984438146307085,-0.0015943404725227775,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.307759634956351,-0.3923971184074794,-0.4640795567978649,0.6557675140812611,0.4836673957668675,-0.27532912954962957,0.5313281633860638,0.7656386337584715,0.9954077201839286,0.9954077201839286,2.0289029300717716,0,0,-0.0005635731701828225,-9.999706204600329e-05
+7459,1791363592236372624,2543614000000,1791363592230845938,DOWN_FORCE_DETACH,1,0.053,0.053001537919044495,0.6760310223820333,-0.004834913087466388,0.0854109118921849,0.9999999816832654,7.038371881914534e-05,-0.00010573415339407765,0.00010928290843316275,0.6761,-0.0048,0.08537805214575721,1.0,0.0,0.0,0.0,-0.03710745262441356,-0.05603014861661841,0.7656519093976443,-0.0032982199276990237,0.003051450881874708,-0.000527916341253411,0.018980603271666067,-0.059418691051985224,0.6596951893637609,-0.005276771270664244,0.0019843085218191185,-0.0015932931252151616,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3415808351263134,-0.4700536574613241,-0.5729531818405302,0.6648362261773708,0.5615763142234759,-0.33259239836527066,0.5313281633860638,0.7656519093976443,1.104281345226594,1.104281345226594,2.050862930071753,0,0,-0.0005772074988432977,6.086340739586689e-05
+7503,1791363592603350207,2543981000000,1791363592598848394,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760356364393575,-0.0048363757922997635,0.0852079557395735,0.9999999832187982,6.707220505054157e-05,-9.352800291713254e-05,0.00010843938305891477,0.6761,-0.0048,0.0851644283974757,1.0,0.0,0.0,0.0,-0.03716696075619989,-0.04961785137596588,0.7656624159846107,-0.003297157261184285,0.0030510245187608848,-0.0005278866724589624,0.018921095139879735,-0.053006393811332694,0.6597056959507274,-0.005275708604149505,0.001983882158705295,-0.001593263456420713,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3028047270928125,-0.42694348752073374,-0.5265882894900854,0.6602337924639858,0.5129455028464746,-0.29580200186120137,0.5313281633860638,0.7656624159846107,1.057916452876149,1.057916452876149,2.072882930071734,0,0,-0.0005867424780439931,-9.989114676945405e-05
+7546,1791363592961281916,2544339000000,1791363592958836990,DOWN_FORCE_DETACH,1,0.053,0.053002193570137024,0.6760342952873123,-0.004839124640033471,0.08499936731217772,0.9999999831224041,6.36813105610256e-05,-9.669632770490974e-05,0.00010859358554640243,0.6761,-0.0048,0.08495262721374644,1.0,0.0,0.0,0.0,-0.046175733788734574,-0.04796675508612739,0.7673525913902142,-0.0032978129096029193,0.0030509881985604746,-0.0004926096866965637,0.009912322107345056,-0.0513552975214942,0.6613958713563308,-0.0052763642525681395,0.001983845838504885,-0.0015579864706583143,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3124140389478642,-0.4744325542695853,-0.46545066754209014,0.676919647813899,0.4759397495976264,-0.32029202189677464,0.5313281633860638,0.7673525913902142,0.996778830928154,0.996778830928154,2.094362930071716,0,0,-0.0005941357192993088,-9.87022644435342e-05
+7588,1791363593304332637,2544682000000,1791363593302846248,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760348197623156,-0.004838893826445579,0.08480226684682811,0.9999999834625364,6.699049962169714e-05,-9.249882690565905e-05,0.00010711690532039983,0.6761,-0.0048,0.08474905509492839,1.0,0.0,0.0,0.0,-0.04279754359569578,-0.045997897662377024,0.7656699057755171,-0.003296587328309206,0.0030507611387441402,-0.0005288254085834556,0.01329051230038385,-0.04938644009774384,0.6597131857416337,-0.005275138671274426,0.0019836187786885506,-0.0015942021925452062,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3953113198686524,-0.445129034372988,-0.6447455850873194,0.6680256545506638,0.6089932889995574,-0.3000727742089044,0.5313281633860638,0.7656699057755171,1.1760737484733832,1.1760737484733832,2.103422930071708,0,0,-0.0005870620279526964,9.999999025923074e-05
+7631,1791363593662293903,2545040000000,1791363593654846104,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760341908227694,-0.0048357475170055075,0.08459691923573444,0.9999999835371474,6.903294361289218e-05,-9.185859507608928e-05,0.00010566466153502822,0.6761,-0.0048,0.08454208203829537,1.0,0.0,0.0,0.0,-0.040673165313530435,-0.03878731284147744,0.7563230216136093,-0.0023051781144063275,0.0030344205123387685,-0.0005102603784741177,0.015414890582549193,-0.042175855276844254,0.650366301579726,-0.004283729457371548,0.001967278152283179,-0.0015756371624358683,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4128516633853159,-0.43475881419100076,-0.5778083047198774,0.6595540223096384,0.5703730839073471,-0.29038175078973705,0.5313281633860638,0.7563230216136093,1.1091364681059412,1.1091364681059412,2.103422930071708,0,0,-0.0005691620314398918,9.999999025923074e-05
+7675,1791363594029287881,2545407000000,1791363594026846170,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760334161285804,-0.00483505686885739,0.08438849101506926,0.9999999836636528,6.441687170359349e-05,-9.442321556941127e-05,0.00010512031943299978,0.6761,-0.0048,0.08433655762209916,1.0,0.0,0.0,0.0,-0.03747428047923311,-0.033377365608712795,0.7661032519905892,-0.0022754772341770217,0.0030308723331947157,-0.0004775962324826042,0.018613775416846518,-0.03676590804407961,0.6601465319567058,-0.004254028577142242,0.001963729973139126,-0.0015429730164443548,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4360233505297146,-0.39064228074920715,-0.6518536019276314,0.6440738007876147,0.6243372656580248,-0.26074754003088185,0.5313281633860638,0.7661032519905892,1.1831817653136953,1.1831817653136953,2.103422930071708,0,0,-0.0005508120350147541,9.999999025923074e-05
+7720,1791363594404250394,2545782000000,1791363594402846691,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760338306238303,-0.004838588453031917,0.0841898245262814,0.9999999835960425,6.495921657650621e-05,-9.348114401414114e-05,0.0001062654934511544,0.6761,-0.0048,0.0841335093582819,1.0,0.0,0.0,0.0,-0.03025771980020999,-0.0336170614545367,0.7560667542596924,-0.0022738421805015637,0.0030328941559001764,-0.00050763012780956,0.02583033609586964,-0.03700560388990351,0.650110034225809,-0.004252393523466784,0.001965751795844587,-0.0015730069117713106,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4750492899527168,-0.4081640502898176,-0.6897409239117047,0.6474495109348606,0.655649862735593,-0.2696445412286129,0.5313281633860638,0.7560667542596924,1.2210690872977685,1.2210690872977685,2.103422930071708,0,0,-0.0005320620386675426,9.999999025923074e-05
+7771,1791363594829263898,2546207000000,1791363594822846050,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760321420940075,-0.004838772057073376,0.08397883634661582,0.9999999846912263,5.8319187720308165e-05,-9.183581396052874e-05,0.00010112105263077885,0.6761,-0.0048,0.08391188799096641,1.0,0.0,0.0,0.0,-0.03745060018234083,-0.023993216323502018,0.7654030062052476,-0.0022750677977040937,0.003030645993759076,-0.0005165219823917021,0.0186374557137388,-0.027381758758868828,0.6594462861713642,-0.004253619140669314,0.0019635036337034865,-0.0015818987663534527,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5458074994951032,-0.42666785651527434,-0.6285114355564951,0.651358260729784,0.6345251109916149,-0.2741947817835079,0.5313281633860638,0.7654030062052476,1.159839598942559,1.159839598942559,2.103422930071708,0,0,-0.0005108120428073695,9.999999025923074e-05
+7819,1791363595229294103,2546607000000,1791363595222846439,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760336151562126,-0.004836485605557717,0.0837811338737505,0.9999999846612052,6.210360933262923e-05,-8.845988115798644e-05,0.000102168708152182,0.6761,-0.0048,0.08371155317306225,1.0,0.0,0.0,0.0,-0.02798610413770545,-0.04325258668236833,0.7661169672602467,-0.0022493208132642064,0.002018195702430641,-0.0005313861482659178,0.028101951758374183,-0.046641129117735144,0.6601602472263634,-0.004227872156229427,0.0009510533423750515,-0.0015967629322276684,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5496268017380064,-0.5085695225424479,-0.7105385329106071,0.6618822858227561,0.6880796623212954,-0.33157202475378605,0.5313281633860638,0.7661169672602467,1.241866696296671,1.241866696296671,2.103422930071708,0,0,-0.0004908120467036773,9.999999025923074e-05
+7873,1791363595679337986,2547057000000,1791363595674846661,DOWN_SETTLE,1,0.053,0.053001537919044495,0.676039399449484,-0.004835017534514079,0.08357349526546393,0.9999999857684934,5.777117783422682e-05,-8.035201948708417e-05,0.00010055804985368445,0.6761,-0.0048,0.08349573900105715,1.0,0.0,0.0,0.0,-0.028324942308050785,-0.03022923676954879,0.756421289400117,-0.0016015529163800539,0.0020823778779959466,-0.000512195743688704,0.027763113588028847,-0.0336177792049156,0.6504645693662336,-0.003580104259345274,0.001015235517940357,-0.0015775725276504545,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6283584841487502,-0.43786324093484663,-0.6887024131288035,0.6443163328335787,0.6926056587636543,-0.2810410928096566,0.5313281633860638,0.756421289400117,1.2200305765148673,1.2200305765148673,2.103422930071708,0,0,-0.00046831205108702347,9.999999025923074e-05
+7922,1791363596087254491,2547465000000,1791363596086846144,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760324493334472,-0.004835276885746023,0.08337911797025573,0.9999999855024024,5.194489349167964e-05,-8.867149819068688e-05,9.938386666272521e-05,0.6761,-0.0048,0.08330881908340092,1.0,0.0,0.0,0.0,-0.02798354126746147,-0.03320429934877413,0.7660046359207437,-0.002247930616010209,0.002017415625503476,-0.0005312235169659429,0.02810451462861816,-0.03659284178414094,0.6600479158868604,-0.004226481958975429,0.0009502732654478866,-0.0015966003009276935,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6600059290493472,-0.44411507153548757,-0.76927699806622,0.6452859744870681,0.752396776290808,-0.2825650282131677,0.5313281633860638,0.7660046359207437,1.3006051614522838,1.3006051614522838,2.103422930071708,0,0,-0.00044791205506125733,9.999999025923074e-05
+7976,1791363596537256230,2547915000000,1791363596534845888,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760340158923894,-0.004837491988553188,0.08318170575055346,0.9999999859424955,4.850742498981866e-05,-8.603635101385782e-05,9.900832968716061e-05,0.6761,-0.0048,0.08311230990763491,1.0,0.0,0.0,0.0,-0.01204516850528315,-0.021164742900231605,0.7466397119857363,-0.0012391821321882852,0.002001814258649116,-0.0005020638621105321,0.04404288739079648,-0.024553285335598415,0.640682991951853,-0.0032177334751535055,0.0009346718985935268,-0.0015674406460722827,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6731156098363205,-0.4264922260364196,-0.7381343099686993,0.6286942382707555,0.7359136600157188,-0.27532132491029787,0.5313281633860638,0.7466397119857363,1.2694624733547633,1.2694624733547633,2.103422930071708,0,0,-0.0004254120594446035,9.999999025923074e-05
+8032,1791363597004328906,2548382000000,1791363597002845863,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760288840274088,-0.004839987209832128,0.08298155899378594,0.9999999847300177,4.877622712943189e-05,-9.423460853778805e-05,0.00010355456140426928,0.6761,-0.0048,0.08291908302480983,1.0,0.0,0.0,0.0,-0.011023864931068585,-0.01994560132724129,0.7465630961361132,-0.001201537303640888,0.0013590831436083445,-0.0004878758326577854,0.04506419096501105,-0.0233341437626081,0.6406063761022298,-0.0031800886466061083,0.00029194078355275477,-0.001553252616619536,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7076572817648747,-0.4038199600365813,-0.7752513125247309,0.6225761433518637,0.7678008087280349,-0.25468064943880775,0.5313281633860638,0.7465630961361132,1.3065794759107947,1.3065794759107947,2.103422930071708,0,0,-0.00040206206399354274,9.999999025923074e-05
+8090,1791363597487314103,2548865000000,1791363597482846713,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760239867074228,-0.004842780194129241,0.08278976175744374,0.9999999849603965,3.6814693410460354e-05,-0.00010029827288032593,0.00010053360503904154,0.6761,-0.0048,0.08273070719676238,1.0,0.0,0.0,0.0,-0.009756382399241238,-0.02113143718089418,0.7466023284868181,-0.0011956432276231483,0.0009883706370962335,-0.0005175242546514996,0.046331673496838394,-0.02451997961626099,0.6406456084529347,-0.0031741945705883686,-7.877172295935613e-05,-0.0015829010386132502,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7447637885617047,-0.33502283391569015,-0.7581334345351934,0.6096174268940265,0.7627172365536755,-0.1985915559715972,0.5313281633860638,0.7466023284868181,1.2894615979212571,1.2894615979212571,2.103422930071708,0,0,-0.0003779120686983343,9.999999025923074e-05
+8151,1791363597996318271,2549374000000,1791363597994845628,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760230455263938,-0.004840552200303726,0.08260343415361494,0.999999983648725,4.484861677807517e-05,-0.0001043606333220023,0.00010603241923940912,0.6761,-0.0048,0.08254481425253063,1.0,0.0,0.0,0.0,-0.002494931111748408,-0.019062881712176252,0.7430144008406772,-0.0011950678904660865,0.0009885186022106712,-0.0005148980954433871,0.053593124784331224,-0.022451424147543062,0.6370576808067938,-0.0031736192334313068,-7.862375784491843e-05,-0.0015802748794051377,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7311368281721244,-0.3597476788513082,-0.7529920875633687,0.6141178756851733,0.756389024554634,-0.21880923703819824,0.5313281633860638,0.7430144008406772,1.2843202509494325,1.2843202509494325,2.103422930071708,0,0,-0.00035246207365638584,9.999999025923074e-05
+8220,1791363598571244020,2549949000000,1791363598570846683,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760201871286882,-0.004837297603837728,0.08240058762673488,0.9999999843351007,3.990316890918191e-05,-0.00010600486323553721,9.971644121474336e-05,0.6761,-0.0048,0.08235039980856514,1.0,0.0,0.0,0.0,-0.0007113681488228538,-0.018909048315194313,0.7466747464822253,-0.0011737861923714712,0.00019326247700643092,-0.0005288036999704494,0.05537668774725678,-0.022297590750561123,0.640718026448342,-0.0031523375353366915,-0.0008738798830491587,-0.0015941804839322,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7523490889060858,-0.35780829405830544,-0.767814328301463,0.6103695334376578,0.7662744984413853,-0.20804269856666763,0.5313281633860638,0.7466747464822253,1.299142491687527,1.299142491687527,2.103422930071708,0,0,-0.00032371207925732817,9.999999025923074e-05
+8288,1791363599137211581,2550515000000,1791363599134846003,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760130820181148,-0.004843639185192364,0.08220988207174847,0.9999999812365411,5.455995311012497e-05,-0.00011997776093360915,0.00010769554423996957,0.6761,-0.0048,0.08217517352014247,1.0,0.0,0.0,0.0,-0.00024988688866301595,-0.01590065611377432,0.7387845788310574,-0.0011669952222970494,-2.4008274667890487e-05,-0.0005250782106812704,0.055838169007416616,-0.01928919854914113,0.6328278587971741,-0.0031455465652622696,-0.00109115063472348,-0.001590454994643021,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.8021831894894884,-0.4602946476067771,-0.7746609046725028,0.6425930059734397,0.7835312535217759,-0.2782147964698452,0.5313281633860638,0.7387845788310574,1.3059890680585666,1.3059890680585666,2.103422930071708,0,0,-0.00029541208477060357,9.999999025923074e-05
+8363,1791363599762239593,2551140000000,1791363599758846127,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760134488926594,-0.0048415686034946085,0.08202822778108126,0.9999999826424492,3.5415734020841e-05,-0.00012254219433288136,9.943390959881606e-05,0.6761,-0.0048,0.08200029096525531,1.0,0.0,0.0,0.0,-0.0007719589057547868,-0.008683259599572021,0.7370550471140658,-0.00014499405479953065,-4.2653782841659254e-05,-0.0005129066819480621,0.055316096990324845,-0.012071802034938831,0.6310983270801824,-0.002123545397764751,-0.0011097961428972489,-0.0015782834659098127,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.8027169648995651,-0.4216518113822783,-0.8400125402658281,0.6259261351309674,0.8221617727393342,-0.24719777833353343,0.5313281633860638,0.7370550471140658,1.3713407036518919,1.3713407036518919,2.103422930071708,0,0,-0.00026416209085858435,9.999999025923074e-05
+8452,1791363600504253887,2551882000000,1791363600502846526,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6760076055593438,-0.004846523873128351,0.08183910667648846,0.9999999816776529,3.57495900354097e-05,-0.00012897316664956985,0.00010087342248557263,0.6761,-0.0048,0.08181802824115317,1.0,0.0,0.0,0.0,0.008501888077997462,0.00034825063778445983,0.7228348836730271,-0.00014148719182542147,-4.063670760784768e-05,-0.00042837990806157797,0.0645899439740771,-0.0030402917975823505,0.6168781636391437,-0.0021200385347906418,-0.0011077790676634373,-0.0014937566920233286,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7882380009543226,-0.37960240757636937,-0.7396716620052574,0.6064478647904094,0.749501135858931,-0.2262858543245611,0.5313281633860638,0.7228348836730271,1.2709998253913213,1.2709998253913213,2.103422930071708,0,0,-0.0002270620980862351,9.999999025923074e-05
+8554,1791363601354184117,2552732000000,1791363601350846596,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760004087573296,-0.004842660572764219,0.08165227729981517,0.9999999793531366,4.0408957895906655e-05,-0.000141851788208063,0.00010479397501927362,0.6761,-0.0048,0.08164306670425688,1.0,0.0,0.0,0.0,0.008725159137642123,-0.009044873403570894,0.7271020122873675,-0.00011565703529687124,-0.001053061774561903,-0.0005194108267707661,0.06481321503372175,-0.012433415838937704,0.6211452922534841,-0.0020942083782620915,-0.0021202041346174926,-0.0015847876107325167,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.8040223225709313,-0.3981038333554096,-0.7723289059125246,0.6124425441003726,0.7745241799593633,-0.23160657400365764,0.5313281633860638,0.7271020122873675,1.3036570692985885,1.3036570692985885,2.103422930071708,0,0,-0.00018456210636588898,9.999999025923074e-05
+8668,1791363602304280587,2553682000000,1791363602298846303,DOWN_SETTLE,1,0.053,0.053001537919044495,0.6760019862627124,-0.004850783211569528,0.08149555208669224,0.9999999797881676,2.7852900712935372e-05,-0.00014088097561830323,0.00010603440700394278,0.6761,-0.0048,0.08149027144880913,1.0,0.0,0.0,0.0,0.012712093376319948,-3.141876422560995e-05,0.7070626032542553,-0.00011044273610874436,-0.0010503764137638496,-0.0004995359179621026,0.06880014927239958,-0.0034199611995924203,0.601105883220372,-0.0020889940790739647,-0.002117518773819439,-0.0015649127019238531,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7600686381525987,-0.35383690669438583,-0.7671318264766603,0.6082751452745092,0.7540015167829612,-0.20033119364445445,0.5313281633860638,0.7070626032542553,1.298459989862724,1.298459989862724,2.103422930071708,0,0,-0.00013706211561961978,9.999999025923074e-05
+8806,1791363603454445923,2554832000000,1791363603446846507,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6759943581898888,-0.004855822155246924,0.08136074700058174,0.9999999784384409,2.285019283808021e-05,-0.00015271221327490492,0.00010355110197201319,0.6761,-0.0048,0.08136568375939988,1.0,0.0,0.0,0.0,0.018048271068872933,-0.006800492915765701,0.6906586638959611,-0.00010851657593196045,-0.0010464268006990904,-0.0004876766757788407,0.07413632696495256,-0.010189035351132511,0.5847019438620777,-0.0020870679188971807,-0.00211356916075468,-0.0015530534597405913,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.806949487484301,-0.36693627920182603,-0.8317595835214598,0.6056831444520078,0.8041483683531756,-0.21119010803510882,0.5313281633860638,0.6906586638959611,1.3630877469075235,1.3630877469075235,2.103422930071708,0,0,-7.956212682150442e-05,9.999999025923074e-05
+8970,1791363604821165358,2556199000000,1791363604818846196,DOWN_SETTLE,1,0.053,0.053002193570137024,0.6759931673697764,-0.00485208126545513,0.0812833439480905,0.999999978046446,2.490425626648013e-05,-0.00015558829107557173,0.00010257696486604553,0.6761,-0.0048,0.081303605372927,1.0,0.0,0.0,0.0,0.010113409270263808,-0.010786611992470257,0.6568680694722389,-0.00010263505337398384,-0.0010386223242903644,-0.0004625751883300642,0.06620146516634344,-0.014175154427837067,0.5509113494383555,-0.002081186396339204,-0.002105764684345954,-0.0015279519722918148,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.7230748971111223,-0.340202171679909,-0.7290356490484382,0.5960535244163684,0.7204009524524794,-0.19034315646633143,0.5313281633860638,0.6568680694722389,1.260363812434502,1.260363812434502,2.103422930071708,0,0,-1.1212140137136001e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d409310f4d3871295740fb9588c76c9d58c4525d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd313ff98342442c5e44d88bf0fcbea9ab5e7f62
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,4.766666667e+00,DOWN_FORCE_DETACH,1791363566847767036,-2.569337850e-06,-1.098849687e-05,-2.201976549e-04,-1.478896448e-06,-1.124517243e-05,-2.126844686e-04,-2.292369132e-06,-1.117996016e-05,-2.123514143e-04,7.015353021e-01,-9.437535544e-06,8.405207435e-01,7.015363926e-01,-9.694211110e-06,8.405282567e-01,7.017234471e-01,-9.463644599e-06,8.295682942e-01
+6,5.600000000e+00,DOWN_FORCE_DETACH,1791363568097851593,2.393781937e-06,-1.143383779e-05,-2.950895861e-04,1.333508191e-06,-1.519525018e-05,-2.764270520e-04,3.184230303e-07,-1.517134509e-05,-2.760690997e-04,7.015402653e-01,-9.882876468e-06,8.404458516e-01,7.015392050e-01,-1.364428886e-05,8.404645141e-01,7.017260579e-01,-1.345502953e-05,8.295045765e-01
+7,6.416666667e+00,DOWN_FORCE_DETACH,1791363569326171265,1.928315783e-05,-4.878742174e-06,-3.723513352e-04,1.365480650e-05,-3.689057551e-06,-3.583735585e-04,1.266469558e-05,-3.654799963e-06,-3.579985649e-04,7.015571546e-01,-3.327780853e-06,8.403685899e-01,7.015515263e-01,-2.138096230e-06,8.403825676e-01,7.017384042e-01,-1.938484397e-06,8.294226470e-01
+8,7.266666667e+00,DOWN_FORCE_DETACH,1791363570598400468,3.136060137e-05,-2.152529101e-06,-4.736639713e-04,3.157638781e-05,-3.537847494e-06,-4.613463205e-04,3.075793042e-05,-3.503764289e-06,-4.608862184e-04,7.015692321e-01,-6.015677802e-07,8.402672772e-01,7.015694479e-01,-1.986886173e-06,8.402795949e-01,7.017564974e-01,-1.787448723e-06,8.293197594e-01
+9,8.150000000e+00,DOWN_FORCE_DETACH,1791363571926128368,3.425849518e-05,-4.962027512e-06,-5.929531950e-04,3.218946581e-05,-3.369916086e-06,-5.924321943e-04,3.100625612e-05,-3.321853533e-06,-5.918942890e-04,7.015721300e-01,-3.411066191e-06,8.401479880e-01,7.015700609e-01,-1.818954765e-06,8.401485090e-01,7.017567458e-01,-1.605537967e-06,8.291887513e-01
+10,8.966666667e+00,DOWN_FORCE_DETACH,1791363573198977607,3.059643465e-05,-8.977427528e-06,-7.239099957e-04,3.111485452e-05,-7.366937021e-06,-7.050377265e-04,2.952515767e-05,-7.318213493e-06,-7.045344752e-04,7.015684679e-01,-7.426466206e-06,8.400170312e-01,7.015689863e-01,-5.815975700e-06,8.400359035e-01,7.017552647e-01,-5.601897927e-06,8.290761111e-01
+11,9.800000000e+00,DOWN_FORCE_DETACH,1791363574446691646,3.632341381e-05,-1.316874164e-05,-8.457271246e-04,3.416917389e-05,-1.382773621e-05,-8.321156362e-04,3.218233292e-05,-1.377135277e-05,-8.315745391e-04,7.015741949e-01,-1.161778032e-05,8.398952141e-01,7.015720407e-01,-1.227677489e-05,8.399088256e-01,7.017579218e-01,-1.205503720e-05,8.289490710e-01
+12,1.065000000e+01,DOWN_FORCE_DETACH,1791363575726840147,4.147354087e-05,-1.398883058e-05,-9.738519096e-04,4.303521093e-05,-1.117912656e-05,-9.645331281e-04,4.074045647e-05,-1.111817346e-05,-9.639987371e-04,7.015793450e-01,-1.243786926e-05,8.397670893e-01,7.015809067e-01,-9.628165235e-06,8.397764081e-01,7.017664800e-01,-9.401857889e-06,8.288166468e-01
+13,1.135000000e+01,DOWN_FORCE_DETACH,1791363576806384635,4.989233950e-05,-1.563021174e-05,-1.088169923e-03,4.614678926e-05,-1.872169065e-05,-1.089522705e-03,4.354503491e-05,-1.862303666e-05,-1.088896776e-03,7.015877638e-01,-1.407925042e-05,8.396527713e-01,7.015840183e-01,-1.717072933e-05,8.396514185e-01,7.017692845e-01,-1.690672109e-05,8.286917488e-01
+14,1.216666667e+01,DOWN_FORCE_DETACH,1791363578033303215,5.118628008e-05,-2.388764332e-05,-1.231070986e-03,5.129742564e-05,-1.998352591e-05,-1.225774217e-03,4.840103475e-05,-1.990929418e-05,-1.225138418e-03,7.015890578e-01,-2.233668200e-05,8.395098702e-01,7.015891689e-01,-1.843256459e-05,8.395151670e-01,7.017741405e-01,-1.819297862e-05,8.285555072e-01
+15,1.291666667e+01,DOWN_FORCE_DETACH,1791363579163480487,5.733846561e-05,-1.886290156e-05,-1.371414120e-03,5.765625166e-05,-2.086182213e-05,-1.356354890e-03,5.447053940e-05,-2.077912048e-05,-1.355744914e-03,7.015952099e-01,-1.731194024e-05,8.393695271e-01,7.015955277e-01,-1.931086081e-05,8.393845863e-01,7.017802100e-01,-1.906280492e-05,8.284249007e-01
+16,1.361666667e+01,DOWN_FORCE_DETACH,1791363580214734192,5.991908353e-05,-2.379905284e-05,-1.516708580e-03,5.844821069e-05,-1.824567271e-05,-1.512604917e-03,5.471680366e-05,-1.815242754e-05,-1.511854916e-03,7.015977906e-01,-2.224809152e-05,8.392242326e-01,7.015963197e-01,-1.669471139e-05,8.392283363e-01,7.017804563e-01,-1.643611198e-05,8.282687907e-01
+17,1.431666667e+01,DOWN_FORCE_DETACH,1791363581270151172,6.178097548e-05,-2.599900228e-05,-1.680989180e-03,6.184862303e-05,-2.589613684e-05,-1.680711270e-03,5.758324646e-05,-2.575755474e-05,-1.679867481e-03,7.015996525e-01,-2.444804096e-05,8.390599520e-01,7.015997201e-01,-2.434517552e-05,8.390602299e-01,7.017833227e-01,-2.404123917e-05,8.281007781e-01
+18,1.488333333e+01,DOWN_FORCE_DETACH,1791363582137363936,6.093800409e-05,-2.832919215e-05,-1.833434747e-03,6.042753280e-05,-2.665658164e-05,-1.830769012e-03,5.554623875e-05,-2.653209028e-05,-1.829885400e-03,7.015988095e-01,-2.677823083e-05,8.389075064e-01,7.015982990e-01,-2.510562032e-05,8.389101722e-01,7.017812857e-01,-2.481577472e-05,8.279507602e-01
+19,1.540000000e+01,DOWN_FORCE_DETACH,1791363582916063257,5.695300351e-05,-2.627544453e-05,-1.992916484e-03,5.648040900e-05,-2.556096767e-05,-1.975172321e-03,5.098459844e-05,-2.548194892e-05,-1.974239418e-03,7.015948245e-01,-2.472448321e-05,8.387480247e-01,7.015943519e-01,-2.401000635e-05,8.387657689e-01,7.017767241e-01,-2.376563335e-05,8.278064062e-01
+20,1.596666667e+01,DOWN_FORCE_DETACH,1791363583766636127,6.077853369e-05,-2.944824253e-05,-2.164188721e-03,5.917009005e-05,-2.928333380e-05,-2.154612592e-03,5.306404609e-05,-2.917660344e-05,-2.153548194e-03,7.015986500e-01,-2.789728120e-05,8.385767525e-01,7.015970416e-01,-2.773237248e-05,8.385863286e-01,7.017788035e-01,-2.746028787e-05,8.276270974e-01
+21,1.648333333e+01,DOWN_FORCE_DETACH,1791363584538901164,5.764689112e-05,-2.938994672e-05,-2.345765910e-03,5.669545473e-05,-3.384076804e-05,-2.338488557e-03,4.981755498e-05,-3.373706583e-05,-2.337336375e-03,7.015955184e-01,-2.783898540e-05,8.383951753e-01,7.015945669e-01,-3.228980672e-05,8.384024526e-01,7.017755571e-01,-3.202075027e-05,8.274433092e-01
+22,1.695000000e+01,DOWN_FORCE_DETACH,1791363585239900800,5.427350928e-05,-3.680042551e-05,-2.537375008e-03,5.765889891e-05,-3.538146185e-05,-2.529803190e-03,5.016687645e-05,-3.524413305e-05,-2.528498993e-03,7.015921450e-01,-3.524946419e-05,8.382035662e-01,7.015955304e-01,-3.383050052e-05,8.382111380e-01,7.017759064e-01,-3.352781748e-05,8.272521466e-01
+23,1.736666667e+01,DOWN_FORCE_DETACH,1791363585866226301,5.140406270e-05,-4.048105721e-05,-2.727884845e-03,5.132523687e-05,-4.050678336e-05,-2.727889289e-03,4.292185497e-05,-4.038414176e-05,-2.726450307e-03,7.015892755e-01,-3.893009589e-05,8.380130563e-01,7.015891967e-01,-3.895582204e-05,8.380130519e-01,7.017686614e-01,-3.866782620e-05,8.270541953e-01
+24,1.776666667e+01,DOWN_FORCE_DETACH,1791363586466454681,4.845531560e-05,-4.257873620e-05,-2.917464415e-03,4.833248220e-05,-4.250640185e-05,-2.917312557e-03,3.915525188e-05,-4.238974413e-05,-2.915808500e-03,7.015863268e-01,-4.102777488e-05,8.378234768e-01,7.015862040e-01,-4.095544053e-05,8.378236286e-01,7.017648947e-01,-4.067342856e-05,8.268648371e-01
+25,1.813333333e+01,DOWN_FORCE_DETACH,1791363587034613190,4.441698156e-05,-4.364110846e-05,-3.117642650e-03,4.424063385e-05,-4.353863410e-05,-3.117474238e-03,3.420054824e-05,-4.342803359e-05,-3.115827272e-03,7.015822885e-01,-4.209014714e-05,8.376232985e-01,7.015821121e-01,-4.198767278e-05,8.376234669e-01,7.017599400e-01,-4.171171803e-05,8.266648183e-01
+26,1.850000000e+01,DOWN_FORCE_DETACH,1791363587584821240,4.366793548e-05,-4.559828228e-05,-3.307121448e-03,4.392579175e-05,-4.695648267e-05,-3.291556934e-03,3.322733535e-05,-4.680198331e-05,-3.290017084e-03,7.015815394e-01,-4.404732096e-05,8.374338197e-01,7.015817973e-01,-4.540552135e-05,8.374493843e-01,7.017589668e-01,-4.508566774e-05,8.264906285e-01
+27,1.885000000e+01,DOWN_FORCE_DETACH,1791363588105272048,4.387128468e-05,-5.064949843e-05,-3.498143054e-03,4.245575536e-05,-4.854596355e-05,-3.483117240e-03,3.107333955e-05,-4.839373528e-05,-3.481500341e-03,7.015817428e-01,-4.909853711e-05,8.372427981e-01,7.015803272e-01,-4.699500223e-05,8.372578239e-01,7.017568128e-01,-4.667741972e-05,8.262991452e-01
+28,1.916666667e+01,DOWN_FORCE_DETACH,1791363588584480444,4.364175719e-05,-5.155457148e-05,-3.687826944e-03,4.340293709e-05,-5.150441483e-05,-3.687726161e-03,3.130180652e-05,-5.132093392e-05,-3.685929964e-03,7.015815132e-01,-5.000361016e-05,8.370531142e-01,7.015812744e-01,-4.995345351e-05,8.370532150e-01,7.017570413e-01,-4.960461836e-05,8.260947156e-01
+29,1.948333333e+01,DOWN_FORCE_DETACH,1791363589062165405,4.442758779e-05,-5.176242320e-05,-3.887954645e-03,4.430086011e-05,-5.193926510e-05,-3.887564227e-03,3.155436824e-05,-5.177218292e-05,-3.885680081e-03,7.015822991e-01,-5.021146188e-05,8.368529865e-01,7.015821723e-01,-5.038830378e-05,8.368533770e-01,7.017572939e-01,-5.005586735e-05,8.258949655e-01
+30,1.976666667e+01,DOWN_FORCE_DETACH,1791363589514331480,4.455322510e-05,-5.070197037e-05,-4.092106284e-03,4.451410556e-05,-5.083922569e-05,-4.091817837e-03,3.108541105e-05,-5.062929183e-05,-4.089816616e-03,7.015824247e-01,-4.915100905e-05,8.366488349e-01,7.015823856e-01,-4.928826436e-05,8.366491234e-01,7.017568249e-01,-4.891297626e-05,8.256908290e-01
+31,2.003333333e+01,DOWN_FORCE_DETACH,1791363589919255437,4.330202674e-05,-5.148664498e-05,-4.281330210e-03,4.304844730e-05,-5.137221118e-05,-4.281705499e-03,2.892620279e-05,-5.114781477e-05,-4.279671865e-03,7.015811735e-01,-4.993568366e-05,8.364596110e-01,7.015809199e-01,-4.982124986e-05,8.364592357e-01,7.017546657e-01,-4.943149920e-05,8.255009737e-01
+32,2.031666667e+01,DOWN_FORCE_DETACH,1791363590341497767,3.798880376e-05,-5.407533067e-05,-4.483065176e-03,3.760812202e-05,-5.045403613e-05,-4.473757926e-03,2.272318385e-05,-5.024689869e-05,-4.471781660e-03,7.015758603e-01,-5.252436935e-05,8.362578760e-01,7.015754796e-01,-4.890307481e-05,8.362671833e-01,7.017484627e-01,-4.853058312e-05,8.253088639e-01
+33,2.060000000e+01,DOWN_FORCE_DETACH,1791363590766051891,4.215736909e-05,-5.265075845e-05,-4.694087383e-03,4.196903532e-05,-5.264238480e-05,-4.693734922e-03,2.634709830e-05,-5.244750681e-05,-4.691674571e-03,7.015800289e-01,-5.109979713e-05,8.360468538e-01,7.015798405e-01,-5.109142348e-05,8.360472063e-01,7.017520866e-01,-5.073119125e-05,8.250889710e-01
+34,2.085000000e+01,DOWN_FORCE_DETACH,1791363591137880151,4.259847445e-05,-5.222622560e-05,-4.892492704e-03,4.261178526e-05,-5.203041711e-05,-4.892258906e-03,2.628536006e-05,-5.186037333e-05,-4.890172096e-03,7.015804700e-01,-5.067526428e-05,8.358484485e-01,7.015804833e-01,-5.047945578e-05,8.358486823e-01,7.017520249e-01,-5.014405776e-05,8.248904735e-01
+35,2.110000000e+01,DOWN_FORCE_DETACH,1791363591515947799,4.031077829e-05,-5.744492273e-05,-5.094960007e-03,4.026246237e-05,-5.759347022e-05,-5.094909316e-03,2.314483256e-05,-5.739609745e-05,-5.092796420e-03,7.015781823e-01,-5.589396141e-05,8.356459812e-01,7.015781339e-01,-5.604250889e-05,8.356460319e-01,7.017488843e-01,-5.567978188e-05,8.246878492e-01
+36,2.133333333e+01,DOWN_FORCE_DETACH,1791363591869605069,3.818641156e-05,-5.855933810e-05,-5.298255657e-03,3.808166241e-05,-5.848138968e-05,-5.298273704e-03,2.025702355e-05,-5.836312658e-05,-5.296067613e-03,7.015760579e-01,-5.700837678e-05,8.354426855e-01,7.015759531e-01,-5.693042836e-05,8.354426675e-01,7.017459965e-01,-5.664681101e-05,8.244845780e-01
+37,2.156666667e+01,DOWN_FORCE_DETACH,1791363592239044771,3.795619483e-05,-5.880220984e-05,-5.509895632e-03,3.784526109e-05,-5.885679684e-05,-5.510038510e-03,1.925056552e-05,-5.873882760e-05,-5.507733218e-03,7.015758277e-01,-5.725124852e-05,8.352310456e-01,7.015757167e-01,-5.730583552e-05,8.352309027e-01,7.017449901e-01,-5.702251203e-05,8.242729124e-01
+38,2.181666667e+01,DOWN_FORCE_DETACH,1791363592604828750,4.522339362e-05,-5.916154423e-05,-5.702033314e-03,4.309907000e-05,-5.848212347e-05,-5.693391529e-03,2.398101230e-05,-5.832598091e-05,-5.691330467e-03,7.015830949e-01,-5.761058291e-05,8.350389079e-01,7.015809706e-01,-5.693116214e-05,8.350475497e-01,7.017497205e-01,-5.660966534e-05,8.240893151e-01
+39,2.205000000e+01,DOWN_FORCE_DETACH,1791363592962152879,4.335671156e-05,-6.092828604e-05,-5.912659567e-03,4.296927938e-05,-6.067380025e-05,-5.912251437e-03,2.306140688e-05,-6.047067593e-05,-5.910092737e-03,7.015812282e-01,-5.937732471e-05,8.348282816e-01,7.015808408e-01,-5.912283893e-05,8.348286898e-01,7.017488009e-01,-5.875436037e-05,8.238705528e-01
+40,2.228333333e+01,DOWN_SETTLE,1791363593307438592,4.401133170e-05,-6.294897888e-05,-6.109961751e-03,4.589509399e-05,-5.962088548e-05,-6.101040766e-03,2.545828579e-05,-5.946029111e-05,-6.098960342e-03,7.015818828e-01,-6.139801756e-05,8.346309794e-01,7.015837666e-01,-5.806992416e-05,8.346399004e-01,7.017511978e-01,-5.774397555e-05,8.236816852e-01
+41,2.251666667e+01,DOWN_SETTLE,1791363593661933607,4.560023820e-05,-6.079030283e-05,-6.310247493e-03,4.735554926e-05,-5.622048755e-05,-6.298065768e-03,2.622435943e-05,-5.604840798e-05,-6.296042840e-03,7.015834717e-01,-5.923934150e-05,8.344306937e-01,7.015852270e-01,-5.466952623e-05,8.344428754e-01,7.017519639e-01,-5.433209241e-05,8.234846027e-01
+42,2.276666667e+01,DOWN_SETTLE,1791363594032968413,4.248104519e-05,-5.703028131e-05,-6.525666064e-03,4.202226904e-05,-5.638206923e-05,-6.509132678e-03,1.998953441e-05,-5.617556594e-05,-6.507043640e-03,7.015803525e-01,-5.547931999e-05,8.342152751e-01,7.015798938e-01,-5.483110791e-05,8.342318085e-01,7.017457290e-01,-5.445925037e-05,8.232736019e-01
+43,2.301666667e+01,DOWN_SETTLE,1791363594406409033,4.394919785e-05,-6.265733526e-05,-6.717653802e-03,4.144029403e-05,-5.987529856e-05,-6.699307041e-03,1.877051512e-05,-5.969494344e-05,-6.697341447e-03,7.015818207e-01,-6.110637393e-05,8.340232874e-01,7.015793118e-01,-5.832433724e-05,8.340416341e-01,7.017445100e-01,-5.797862787e-05,8.230833041e-01
+44,2.330000000e+01,DOWN_SETTLE,1791363594832797845,4.293125611e-05,-5.664300644e-05,-6.930062784e-03,4.199682835e-05,-5.995935012e-05,-6.911778434e-03,1.865929549e-05,-5.979554502e-05,-6.909882320e-03,7.015808027e-01,-5.509204512e-05,8.338108784e-01,7.015798683e-01,-5.840838880e-05,8.338291628e-01,7.017443988e-01,-5.807922945e-05,8.228707633e-01
+45,2.356666667e+01,DOWN_SETTLE,1791363595233273757,4.050789839e-05,-5.736935517e-05,-7.137917054e-03,4.045117913e-05,-5.713850295e-05,-7.137675812e-03,1.638775383e-05,-5.694506702e-05,-7.135659629e-03,7.015783794e-01,-5.581839384e-05,8.336030241e-01,7.015783227e-01,-5.558754163e-05,8.336032654e-01,7.017421273e-01,-5.522875145e-05,8.226449859e-01
+46,2.386666667e+01,DOWN_SETTLE,1791363595682942055,4.815524038e-05,-5.819394318e-05,-7.337154845e-03,4.554667288e-05,-5.608715026e-05,-7.318998839e-03,2.097214329e-05,-5.585986517e-05,-7.317180338e-03,7.015860267e-01,-5.664298185e-05,8.334037863e-01,7.015834182e-01,-5.453618894e-05,8.334219423e-01,7.017467116e-01,-5.414354960e-05,8.224634652e-01
+47,2.413333333e+01,DOWN_SETTLE,1791363596084380731,3.902290524e-05,-5.757121021e-05,-7.541446135e-03,4.003872978e-05,-6.005620119e-05,-7.521773545e-03,1.464391194e-05,-5.984824079e-05,-7.519975053e-03,7.015768944e-01,-5.602024889e-05,8.331994951e-01,7.015779102e-01,-5.850523987e-05,8.332191676e-01,7.017403834e-01,-5.813192523e-05,8.222606705e-01
+48,2.443333333e+01,DOWN_SETTLE,1791363596534288158,4.294316121e-05,-5.516394718e-05,-7.728652525e-03,4.272802659e-05,-5.892488254e-05,-7.709724803e-03,1.675372321e-05,-5.872314649e-05,-7.708107147e-03,7.015808146e-01,-5.361298586e-05,8.330122887e-01,7.015805995e-01,-5.737392122e-05,8.330312164e-01,7.017424932e-01,-5.700683092e-05,8.220725384e-01
+49,2.475000000e+01,DOWN_SETTLE,1791363597006158438,3.913355431e-05,-5.710924645e-05,-7.927150164e-03,3.854131005e-05,-6.066738434e-05,-7.911060828e-03,1.181494476e-05,-6.046741995e-05,-7.909485702e-03,7.015770050e-01,-5.555828513e-05,8.328137910e-01,7.015764128e-01,-5.911642302e-05,8.328298804e-01,7.017375544e-01,-5.875110438e-05,8.218711599e-01
+50,2.506666667e+01,DOWN_SETTLE,1791363597483560834,3.395500328e-05,-6.274200995e-05,-8.122693222e-03,3.000008681e-05,-6.289774884e-05,-8.116350277e-03,2.266661694e-06,-6.272435321e-05,-8.114775371e-03,7.015718265e-01,-6.119104863e-05,8.326182480e-01,7.015678716e-01,-6.134678752e-05,8.326245909e-01,7.017280062e-01,-6.100803764e-05,8.216658702e-01
+51,2.540000000e+01,DOWN_SETTLE,1791363597999244926,3.293557217e-05,-6.185018375e-05,-8.310563453e-03,3.018006115e-05,-5.998857229e-05,-8.300374421e-03,1.803544884e-06,-5.984085849e-05,-8.298933690e-03,7.015708071e-01,-6.029922243e-05,8.324303777e-01,7.015680515e-01,-5.843761097e-05,8.324405668e-01,7.017275430e-01,-5.812454292e-05,8.214817119e-01
+52,2.573333333e+01,DOWN_SETTLE,1791363598567054722,2.742860041e-05,-5.977832610e-05,-8.516546370e-03,2.733329452e-05,-5.973098891e-05,-8.516312416e-03,-1.789277812e-06,-5.953490800e-05,-8.514672682e-03,7.015653001e-01,-5.822736478e-05,8.322243948e-01,7.015652048e-01,-5.818002759e-05,8.322246288e-01,7.017239502e-01,-5.781859244e-05,8.212659729e-01
+53,2.610000000e+01,DOWN_SETTLE,1791363599134539464,2.156412431e-05,-6.724815366e-05,-8.700271023e-03,2.145472972e-05,-6.004461704e-05,-8.685689935e-03,-8.356118917e-06,-5.982616978e-05,-8.684322838e-03,7.015594356e-01,-6.569719234e-05,8.320406702e-01,7.015593262e-01,-5.849365572e-05,8.320552513e-01,7.017173834e-01,-5.810985421e-05,8.210963227e-01
+54,2.651666667e+01,DOWN_SETTLE,1791363599761945341,2.306207425e-05,-6.236553311e-05,-8.881783929e-03,2.265225785e-05,-6.906048592e-05,-8.876446485e-03,-7.842274248e-06,-6.886519774e-05,-8.875215649e-03,7.015609336e-01,-6.081457179e-05,8.318591573e-01,7.015605237e-01,-6.750952460e-05,8.318644947e-01,7.017178972e-01,-6.714888218e-05,8.209054299e-01
+55,2.700000000e+01,DOWN_SETTLE,1791363600501076442,1.972736897e-05,-6.575239617e-05,-9.070901776e-03,1.963048518e-05,-6.559321492e-05,-9.070856321e-03,-1.162256193e-05,-6.540864235e-05,-9.069791216e-03,7.015575989e-01,-6.420143485e-05,8.316700394e-01,7.015575020e-01,-6.404225360e-05,8.316700849e-01,7.017141169e-01,-6.369232679e-05,8.207108544e-01
+56,2.756666667e+01,DOWN_SETTLE,1791363601351488060,8.560355993e-06,-7.004841345e-05,-9.259071734e-03,8.581502453e-06,-7.052863992e-05,-9.249853205e-03,-2.352665454e-05,-7.033898954e-05,-9.248980926e-03,7.015464318e-01,-6.849745213e-05,8.314818695e-01,7.015464530e-01,-6.897767860e-05,8.314910880e-01,7.017022128e-01,-6.862267398e-05,8.205316647e-01
+57,2.820000000e+01,DOWN_SETTLE,1791363602303636499,8.867291067e-06,-7.186461138e-05,-9.420360497e-03,8.023264404e-06,-7.316328464e-05,-9.410561502e-03,-2.462328281e-05,-7.298109665e-05,-9.409969635e-03,7.015467388e-01,-7.031365006e-05,8.313205807e-01,7.015458947e-01,-7.161232332e-05,8.313303797e-01,7.017011162e-01,-7.126478109e-05,8.203706759e-01
+58,2.896666667e+01,DOWN_SETTLE,1791363603451629244,5.430060573e-06,-7.457785920e-05,-9.550024504e-03,5.504192893e-06,-7.582988865e-05,-9.544203900e-03,-2.764784156e-05,-7.561951748e-05,-9.543909154e-03,7.015433015e-01,-7.302689788e-05,8.311909167e-01,7.015433757e-01,-7.427892733e-05,8.311967373e-01,7.016980917e-01,-7.390320191e-05,8.202367364e-01
+59,2.986666667e+01,DOWN_SETTLE,1791363604820439401,-5.105237421e-07,-7.850966227e-05,-9.632541825e-03,2.891537190e-06,-7.242810556e-05,-9.628352917e-03,-3.063064708e-05,-7.223821752e-05,-9.628426729e-03,7.015373610e-01,-7.695870095e-05,8.311083994e-01,7.015407630e-01,-7.087714424e-05,8.311125883e-01,7.016951089e-01,-7.052190195e-05,8.201522188e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa853c68fb743e840937a295b45cc734f161cc22
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,2.1499e-03,-6.8413e-04,2.4538e+00,-3.6696e-02,3.6941e-02,3.1598e-05,3.8344e-05,2.4424e-07,4.2915e-06,3.5763e-07,2.7865e-06,6.0165e-07,3.8585e-05,2.8731e-06
+1,9.6667e-01,DOWN_FORCE_DETACH,2.1082e-04,3.6614e-03,-5.3132e-04,2.4539e+00,-3.6692e-02,3.7050e-02,5.6397e-05,1.5498e-03,1.5305e-04,9.7990e-05,3.9488e-06,1.1091e-04,2.5401e-05,1.5604e-03,1.1385e-04
+2,1.9167e+00,DOWN_FORCE_DETACH,4.2414e-04,5.0776e-03,9.3773e-04,2.4579e+00,-3.6791e-02,3.7146e-02,6.9360e-05,2.9661e-03,1.6221e-03,4.1299e-03,-9.4220e-05,2.0781e-04,3.8364e-05,5.3371e-03,2.3137e-04
+3,2.8667e+00,DOWN_FORCE_DETACH,6.3306e-04,4.6537e-03,1.2199e-03,2.4616e+00,-3.6811e-02,3.7111e-02,7.6537e-05,2.5421e-03,1.9042e-03,7.8359e-03,-1.1432e-04,1.7232e-04,4.5541e-05,8.4551e-03,2.1175e-04
+4,3.7667e+00,DOWN_FORCE_DETACH,8.4134e-04,4.3517e-03,2.0331e-03,2.4680e+00,-3.6869e-02,3.7080e-02,8.2017e-05,2.2401e-03,2.7175e-03,1.4261e-02,-1.7273e-04,1.4156e-04,5.1021e-05,1.4690e-02,2.2908e-04
+5,4.7667e+00,DOWN_FORCE_DETACH,1.0534e-03,4.4186e-03,3.2105e-03,2.4721e+00,-3.6962e-02,3.7077e-02,8.1803e-05,2.3070e-03,3.8949e-03,1.8367e-02,-2.6590e-04,1.3877e-04,5.0806e-05,1.8916e-02,3.0421e-04
+6,5.6000e+00,DOWN_FORCE_DETACH,1.2661e-03,3.8656e-03,4.3369e-03,2.4698e+00,-3.7060e-02,3.7038e-02,7.3464e-05,1.7540e-03,5.0212e-03,1.6058e-02,-3.6380e-04,9.8836e-05,4.2468e-05,1.6916e-02,3.7937e-04
+7,6.4167e+00,DOWN_FORCE_DETACH,1.4731e-03,2.1290e-03,9.8874e-04,2.4720e+00,-3.6848e-02,3.6911e-02,5.4897e-05,1.7446e-05,1.6731e-03,1.8232e-02,-1.5195e-04,-2.7481e-05,2.3901e-05,1.8309e-02,1.5626e-04
+8,7.2667e+00,DOWN_FORCE_DETACH,1.6854e-03,1.2934e-03,1.1550e-03,2.4762e+00,-3.6870e-02,3.6849e-02,2.6829e-05,-8.1814e-04,1.8393e-03,2.2407e-02,-1.7367e-04,-9.0040e-05,-4.1667e-06,2.2497e-02,1.9567e-04
+9,8.1500e+00,DOWN_FORCE_DETACH,1.8960e-03,5.5887e-03,1.1519e-03,2.4809e+00,-3.6862e-02,3.7151e-02,-1.1431e-05,3.4771e-03,1.8363e-03,2.7094e-02,-1.6550e-04,2.1224e-04,-4.2428e-05,2.7378e-02,2.7247e-04
+10,8.9667e+00,DOWN_FORCE_DETACH,2.1051e-03,8.1473e-03,2.2913e-03,2.4791e+00,-3.6928e-02,3.7335e-02,-3.5350e-05,6.0358e-03,2.9757e-03,2.5322e-02,-2.3201e-04,3.9637e-04,-6.6346e-05,2.6201e-02,4.6405e-04
+11,9.8000e+00,DOWN_FORCE_DETACH,2.3190e-03,7.9847e-03,3.9308e-03,2.4796e+00,-3.7048e-02,3.7322e-02,-3.7408e-05,5.8731e-03,4.6152e-03,2.5888e-02,-3.5164e-04,3.8337e-04,-6.8405e-05,2.6944e-02,5.2469e-04
+12,1.0650e+01,DOWN_FORCE_DETACH,2.5268e-03,5.8738e-03,3.5026e-03,2.4800e+00,-3.7019e-02,3.7173e-02,-3.2901e-05,3.7623e-03,4.1870e-03,2.6220e-02,-3.2285e-04,2.3454e-04,-6.3897e-05,2.6817e-02,4.0414e-04
+13,1.1350e+01,DOWN_FORCE_DETACH,2.7343e-03,6.8942e-03,6.5582e-03,2.4839e+00,-3.7230e-02,3.7240e-02,-3.4142e-05,4.7826e-03,7.2426e-03,3.0168e-02,-5.3346e-04,3.0104e-04,-6.5138e-05,3.1391e-02,6.1600e-04
+14,1.2167e+01,DOWN_FORCE_DETACH,2.9485e-03,8.1379e-03,6.3972e-03,2.4846e+00,-3.7236e-02,3.7323e-02,-4.6673e-05,6.0264e-03,7.0816e-03,3.0819e-02,-5.3942e-04,3.8412e-04,-7.7669e-05,3.2191e-02,6.6675e-04
+15,1.2917e+01,DOWN_FORCE_DETACH,3.1590e-03,7.7223e-03,6.1589e-03,2.4839e+00,-3.7190e-02,3.7297e-02,-5.2026e-05,5.6107e-03,6.8432e-03,3.0158e-02,-4.9393e-04,3.5814e-04,-8.3023e-05,3.1429e-02,6.1573e-04
+16,1.3617e+01,DOWN_FORCE_DETACH,3.3695e-03,7.9333e-03,6.2437e-03,2.4902e+00,-3.7146e-02,3.7310e-02,-3.2488e-05,5.8218e-03,6.9280e-03,3.6428e-02,-4.4934e-04,3.7099e-04,-6.3484e-05,3.7535e-02,5.8615e-04
+17,1.4317e+01,DOWN_FORCE_DETACH,3.5823e-03,6.5528e-03,9.0587e-03,2.4890e+00,-3.7344e-02,3.7209e-02,1.6838e-06,4.4413e-03,9.7431e-03,3.5219e-02,-6.4716e-04,2.6998e-04,-2.9312e-05,3.6810e-02,7.0183e-04
+18,1.4883e+01,DOWN_FORCE_DETACH,3.7905e-03,6.5579e-03,8.4202e-03,2.4971e+00,-3.7335e-02,3.7194e-02,1.9716e-05,4.4464e-03,9.1046e-03,4.3313e-02,-6.3821e-04,2.5523e-04,-1.1280e-05,4.4482e-02,6.8745e-04
+19,1.5400e+01,DOWN_FORCE_DETACH,3.9996e-03,7.0435e-03,7.5919e-03,2.4999e+00,-3.7308e-02,3.7220e-02,2.0783e-05,4.9319e-03,8.2763e-03,4.6140e-02,-6.1114e-04,2.8123e-04,-1.0213e-05,4.7135e-02,6.7282e-04
+20,1.5967e+01,DOWN_FORCE_DETACH,4.2103e-03,6.1513e-03,8.7383e-03,2.5048e+00,-3.7366e-02,3.7156e-02,1.0942e-05,4.0397e-03,9.4227e-03,5.1043e-02,-6.6993e-04,2.1733e-04,-2.0055e-05,5.2062e-02,7.0459e-04
+21,1.6483e+01,DOWN_FORCE_DETACH,4.4224e-03,6.3385e-03,1.0372e-02,2.5100e+00,-3.7436e-02,3.7163e-02,1.2582e-05,4.2269e-03,1.1056e-02,5.6276e-02,-7.3943e-04,2.2467e-04,-1.8414e-05,5.7508e-02,7.7302e-04
+22,1.6950e+01,DOWN_FORCE_DETACH,4.6364e-03,5.3645e-03,1.1713e-02,2.5162e+00,-3.7504e-02,3.7088e-02,2.0620e-05,3.2529e-03,1.2397e-02,6.2398e-02,-8.0775e-04,1.4886e-04,-1.0376e-05,6.3701e-02,8.2142e-04
+23,1.7367e+01,DOWN_FORCE_DETACH,4.8496e-03,6.4321e-03,1.2710e-02,2.5178e+00,-3.7584e-02,3.7158e-02,1.9125e-05,4.3205e-03,1.3395e-02,6.4080e-02,-8.8788e-04,2.1888e-04,-1.1871e-05,6.5608e-02,9.1454e-04
+24,1.7767e+01,DOWN_FORCE_DETACH,5.0534e-03,6.2203e-03,1.1577e-02,2.5209e+00,-3.7526e-02,3.7140e-02,1.9653e-05,4.1087e-03,1.2261e-02,6.7158e-02,-8.2968e-04,2.0106e-04,-1.1344e-05,6.8392e-02,8.5377e-04
+25,1.8133e+01,DOWN_FORCE_DETACH,5.2651e-03,6.3543e-03,1.3803e-02,2.5262e+00,-3.7622e-02,3.7146e-02,2.5208e-05,4.2427e-03,1.4488e-02,7.2413e-02,-9.2537e-04,2.0782e-04,-5.7883e-06,7.3970e-02,9.4844e-04
+26,1.8500e+01,DOWN_FORCE_DETACH,5.4760e-03,5.3862e-03,1.5775e-02,2.5312e+00,-3.7699e-02,3.7076e-02,4.3536e-05,3.2746e-03,1.6460e-02,7.7404e-02,-1.0028e-03,1.3765e-04,1.2540e-05,7.9203e-02,1.0123e-03
+27,1.8850e+01,DOWN_FORCE_DETACH,5.6862e-03,5.0721e-03,1.6353e-02,2.5341e+00,-3.7728e-02,3.7042e-02,5.4170e-05,2.9605e-03,1.7037e-02,8.0318e-02,-1.0320e-03,1.0361e-04,2.3174e-05,8.2159e-02,1.0375e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..5f8e54101c638d000013d1ad8e74c995bee7764b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:bf395bbce2756603e7112bbc46af91735010561c43c203c7c518c82075416539
+size 5867520
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d188042a37b85531d78e034a53098ebf6e889bfd
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b168c933ac74bdc666cb911b6f7f97136d4e103
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..acccb714a61ecd8e12b1f3f125aecc39cdd17f30
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09732073a78e93716897fca8f2317f833d2dc9ac
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+11,2.333333333e+00,UP_FORCE_RAMP,1791363542390501016,-5.579968293e-06,3.434193198e-06,6.946894254e-05,-5.387511909e-06,3.650644344e-06,6.969378052e-05,-5.263226496e-06,3.659466684e-06,6.927609163e-05,7.015322915e-01,4.985154519e-06,8.408104101e-01,7.015324840e-01,5.201605665e-06,8.408106350e-01,7.017204763e-01,5.375786755e-06,8.298499217e-01
+12,2.483333333e+00,UP_FORCE_RAMP,1791363542611741695,-1.221480604e-05,9.915805957e-06,9.380055287e-05,-1.127578542e-05,8.662331570e-06,9.167279525e-05,-1.119609736e-05,8.675482832e-06,9.124174067e-05,7.015256567e-01,1.146676728e-05,8.408347417e-01,7.015265957e-01,1.021329289e-05,8.408326140e-01,7.017145434e-01,1.039180290e-05,8.298718873e-01
+13,2.616666667e+00,UP_FORCE_RAMP,1791363542811240614,-1.048804761e-05,1.211951352e-05,1.243037317e-04,-1.189681661e-05,1.231956483e-05,1.156456953e-04,-1.177486990e-05,1.232116700e-05,1.151065252e-04,7.015273834e-01,1.367047484e-05,8.408652449e-01,7.015259747e-01,1.387052615e-05,8.408565869e-01,7.017139646e-01,1.403748708e-05,8.298957521e-01
+14,2.750000000e+00,UP_FORCE_RAMP,1791363543012050138,-1.257920368e-05,1.474886596e-05,1.412203183e-04,-1.029647868e-05,1.075833245e-05,1.426103442e-04,-1.007121988e-05,1.077965264e-05,1.419506179e-04,7.015252923e-01,1.629982728e-05,8.408821615e-01,7.015275750e-01,1.230929377e-05,8.408835515e-01,7.017156683e-01,1.249597272e-05,8.299225962e-01
+15,2.916666667e+00,UP_FORCE_RAMP,1791363543264179029,-1.237666419e-05,1.618392225e-05,1.687692350e-04,-1.257797405e-05,1.774651817e-05,1.618633935e-04,-1.229976934e-05,1.774946873e-05,1.612705599e-04,7.015254948e-01,1.773488357e-05,8.409097104e-01,7.015252935e-01,1.929747950e-05,8.409028046e-01,7.017134397e-01,1.946578880e-05,8.299419161e-01
+16,3.083333333e+00,UP_FORCE_RAMP,1791363543512733303,-8.823387261e-06,1.769758780e-05,2.040508186e-04,-8.859467647e-06,1.787986847e-05,2.039876368e-04,-8.332555199e-06,1.787853635e-05,2.032639577e-04,7.015290481e-01,1.924854912e-05,8.409449920e-01,7.015290120e-01,1.943082979e-05,8.409449288e-01,7.017174069e-01,1.959485642e-05,8.299839095e-01
+17,3.266666667e+00,UP_FORCE_RAMP,1791363543790567006,-8.194853541e-06,2.499053688e-05,2.423227540e-04,-7.883782303e-06,1.922913724e-05,2.256419128e-04,-7.270409512e-06,1.923084673e-05,2.249559558e-04,7.015296766e-01,2.654149820e-05,8.409832639e-01,7.015299877e-01,2.078009856e-05,8.409665831e-01,7.017184691e-01,2.094716680e-05,8.300056015e-01
+18,3.400000000e+00,UP_FORCE_RAMP,1791363543990406486,-1.162722481e-05,2.812077230e-05,2.654847099e-04,-7.979387968e-06,2.363236184e-05,2.670325460e-04,-7.223070466e-06,2.361576066e-05,2.662378968e-04,7.015262443e-01,2.967173362e-05,8.410064259e-01,7.015298921e-01,2.518332317e-05,8.410079737e-01,7.017185164e-01,2.533208074e-05,8.300468835e-01
+19,3.566666667e+00,UP_FORCE_RAMP,1791363544234619584,-1.219836979e-05,2.474969760e-05,2.995611320e-04,-9.206463045e-06,1.940859129e-05,2.887352048e-04,-8.347718499e-06,1.941002584e-05,2.880023523e-04,7.015256731e-01,2.630065892e-05,8.410405023e-01,7.015286650e-01,2.095955262e-05,8.410296764e-01,7.017173918e-01,2.112634591e-05,8.300686479e-01
+20,3.716666667e+00,UP_FORCE_RAMP,1791363544461720140,-9.756709125e-06,2.165327795e-05,3.322225497e-04,-9.496616546e-06,2.167164228e-05,3.128289544e-04,-8.606164004e-06,2.165395762e-05,3.120951258e-04,7.015281148e-01,2.320423927e-05,8.410731637e-01,7.015283749e-01,2.322260360e-05,8.410537701e-01,7.017171333e-01,2.337027769e-05,8.300927407e-01
+21,3.816666667e+00,UP_FORCE_RAMP,1791363544612003288,-1.222020998e-05,2.461912222e-05,3.520365243e-04,-1.157705646e-05,3.038090467e-05,3.336341693e-04,-1.061268164e-05,3.039339757e-05,3.328771481e-04,7.015256513e-01,2.617008354e-05,8.410929777e-01,7.015262944e-01,3.193186599e-05,8.410745754e-01,7.017151268e-01,3.210971764e-05,8.301135227e-01
+22,3.950000000e+00,UP_FORCE_RAMP,1791363544812675220,-1.656871756e-05,1.830610657e-05,3.759250361e-04,-1.654434099e-05,1.841692049e-05,3.755379167e-04,-1.556560856e-05,1.841291743e-05,3.746239708e-04,7.015213028e-01,1.985706789e-05,8.411168662e-01,7.015213271e-01,1.996788181e-05,8.411164791e-01,7.017101739e-01,2.012923750e-05,8.301552696e-01
+23,4.100000000e+00,UP_FORCE_RAMP,1791363545034009853,-1.186393686e-05,2.148787298e-05,4.156521466e-04,-9.790481828e-06,2.273836865e-05,4.013942912e-04,-8.578232431e-06,2.274061446e-05,4.005505615e-04,7.015260075e-01,2.303883430e-05,8.411565933e-01,7.015280810e-01,2.428932997e-05,8.411423355e-01,7.017171613e-01,2.445693453e-05,8.301811961e-01
+24,4.250000000e+00,UP_FORCE_RAMP,1791363545262076807,-1.689170962e-05,2.757714565e-05,4.409698151e-04,-1.662617065e-05,2.750014015e-05,4.407244414e-04,-1.538202148e-05,2.748575010e-05,4.397838787e-04,7.015209798e-01,2.912810698e-05,8.411819110e-01,7.015212453e-01,2.905110148e-05,8.411816656e-01,7.017103575e-01,2.920207017e-05,8.302204295e-01
+25,4.383333333e+00,UP_FORCE_RAMP,1791363545461907380,-1.878610131e-05,2.535191606e-05,4.699941616e-04,-1.677241520e-05,2.270951115e-05,4.645802115e-04,-1.548949845e-05,2.268542075e-05,4.636937047e-04,7.015190854e-01,2.690287738e-05,8.412109353e-01,7.015210991e-01,2.426047247e-05,8.412055214e-01,7.017102500e-01,2.440174082e-05,8.302443393e-01
+26,4.566666667e+00,UP_FORCE_RAMP,1791363545734339338,-2.010178080e-05,2.740149471e-05,5.084471209e-04,-1.993404455e-05,2.741135648e-05,5.086393154e-04,-1.855913564e-05,2.741720001e-05,5.076892695e-04,7.015177697e-01,2.895245603e-05,8.412493883e-01,7.015179374e-01,2.896231781e-05,8.412495805e-01,7.017071804e-01,2.913352008e-05,8.302883349e-01
+27,4.733333333e+00,UP_FORCE_RAMP,1791363545990608977,-3.419550664e-05,2.509163859e-05,5.348936469e-04,-1.953975776e-05,2.474093592e-05,5.307686938e-04,-1.807334424e-05,2.473437409e-05,5.299646630e-04,7.015036760e-01,2.664259992e-05,8.412758348e-01,7.015183317e-01,2.629189725e-05,8.412717099e-01,7.017076661e-01,2.645069416e-05,8.303106102e-01
+28,4.866666667e+00,UP_FORCE_RAMP,1791363546190661847,-4.695381402e-05,2.011119468e-05,5.508876932e-04,-4.499759634e-05,2.097639889e-05,5.517587379e-04,-4.411745185e-05,2.096824178e-05,5.509275919e-04,7.014909177e-01,2.166215600e-05,8.412918289e-01,7.014928739e-01,2.252736021e-05,8.412926999e-01,7.016816220e-01,2.268456185e-05,8.303315732e-01
+29,5.033333333e+00,UP_FORCE_RAMP,1791363546434016396,-4.968211044e-05,2.277190336e-05,5.810543396e-04,-4.875471780e-05,2.640254540e-05,5.734507037e-04,-4.792862272e-05,2.640863647e-05,5.726090392e-04,7.014881894e-01,2.432286468e-05,8.413219955e-01,7.014891168e-01,2.795350672e-05,8.413143919e-01,7.016778109e-01,2.812495654e-05,8.303532546e-01
+30,5.216666667e+00,UP_FORCE_RAMP,1791363546711902543,-4.590597579e-05,2.651622340e-05,6.228680563e-04,-4.775674172e-05,2.667797141e-05,6.146073832e-04,-4.676504584e-05,2.668072323e-05,6.137256424e-04,7.014919655e-01,2.806718472e-05,8.413638092e-01,7.014901147e-01,2.822893273e-05,8.413555486e-01,7.016789744e-01,2.839704330e-05,8.303943712e-01
+31,5.400000000e+00,UP_FORCE_RAMP,1791363546990421307,-4.807153782e-05,2.828972470e-05,6.495351395e-04,-4.858339945e-05,2.739192991e-05,6.375059638e-04,-4.752975464e-05,2.738266444e-05,6.367053036e-04,7.014897999e-01,2.984068602e-05,8.413904763e-01,7.014892881e-01,2.894289123e-05,8.413784472e-01,7.016782097e-01,2.909898451e-05,8.304173509e-01
+32,5.583333333e+00,UP_FORCE_RAMP,1791363547264343176,-4.899517499e-05,2.614509073e-05,6.801901746e-04,-4.753382822e-05,2.695061972e-05,6.607112723e-04,-4.635374932e-05,2.695125170e-05,6.599180731e-04,7.014888763e-01,2.769605205e-05,8.414211314e-01,7.014903377e-01,2.850158105e-05,8.414016525e-01,7.016793857e-01,2.866757177e-05,8.304405637e-01
+33,5.800000000e+00,UP_FORCE_RAMP,1791363547590420755,-5.290811492e-05,2.638299373e-05,7.099098888e-04,-5.088011579e-05,2.702593779e-05,7.020849675e-04,-4.973399166e-05,2.700695151e-05,7.012860295e-04,7.014849634e-01,2.793395505e-05,8.414508511e-01,7.014869914e-01,2.857689912e-05,8.414430262e-01,7.016760055e-01,2.872327158e-05,8.304819316e-01
+34,5.966666667e+00,UP_FORCE_RAMP,1791363547833440726,-5.420357623e-05,3.126301565e-05,7.323537899e-04,-5.058077916e-05,2.800677815e-05,7.268373576e-04,-4.931811209e-05,2.802026269e-05,7.260440189e-04,7.014836679e-01,3.281397697e-05,8.414732950e-01,7.014872907e-01,2.955773947e-05,8.414677785e-01,7.016764214e-01,2.973658276e-05,8.305066896e-01
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+36,6.350000000e+00,UP_FORCE_RAMP,1791363548415385640,-5.252402276e-05,2.928429031e-05,7.866139958e-04,-5.176723347e-05,2.878121374e-05,7.701916235e-04,-5.034456110e-05,2.879379949e-05,7.695001429e-04,7.014853475e-01,3.083525163e-05,8.415275552e-01,7.014861042e-01,3.033217506e-05,8.415111328e-01,7.016753949e-01,3.051011956e-05,8.305501457e-01
+37,6.550000000e+00,UP_FORCE_RAMP,1791363548714247207,-5.424916997e-05,2.713009999e-05,8.075671006e-04,-5.257331902e-05,3.136702621e-05,7.912407870e-04,-5.108268688e-05,3.136110867e-05,7.906339992e-04,7.014836223e-01,2.868106131e-05,8.415485083e-01,7.014852982e-01,3.291798753e-05,8.415321820e-01,7.016746568e-01,3.307742874e-05,8.305712796e-01
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+46,8.383333333e+00,UP_FORCE_RAMP,1791363551462346386,-5.714398098e-05,3.198311407e-05,9.557491099e-04,-5.662457629e-05,2.899684853e-05,9.375210395e-04,-5.474307519e-05,2.900447273e-05,9.372367089e-04,7.014807275e-01,3.353407539e-05,8.416966903e-01,7.014812469e-01,3.054780986e-05,8.416784622e-01,7.016709964e-01,3.072079281e-05,8.307178823e-01
+47,8.600000000e+00,UP_FORCE_RAMP,1791363551790343822,-5.872001176e-05,3.325918258e-05,9.661253984e-04,-5.708757635e-05,3.453208065e-05,9.580952067e-04,-5.518719156e-05,3.451444380e-05,9.578364199e-04,7.014791515e-01,3.481014390e-05,8.417070666e-01,7.014807839e-01,3.608304197e-05,8.416990364e-01,7.016705523e-01,3.623076387e-05,8.307384820e-01
+48,8.783333333e+00,UP_FORCE_RAMP,1791363552062623668,-5.750212698e-05,3.626432877e-05,9.798856890e-04,-5.633992960e-05,2.949234046e-05,9.799871664e-04,-5.433238493e-05,2.946894973e-05,9.796292200e-04,7.014803694e-01,3.781529009e-05,8.417208269e-01,7.014815316e-01,3.104330178e-05,8.417209284e-01,7.016714071e-01,3.118526980e-05,8.307602748e-01
+49,8.933333333e+00,UP_FORCE_RAMP,1791363552290392468,-5.635712435e-05,3.121034761e-05,9.889267085e-04,-5.633992960e-05,2.949234046e-05,9.799871664e-04,-5.433314355e-05,2.946924608e-05,9.796930468e-04,7.014815144e-01,3.276130894e-05,8.417298679e-01,7.014815316e-01,3.104330178e-05,8.417209284e-01,7.016714063e-01,3.118556615e-05,8.307603386e-01
+50,9.150000000e+00,UP_FORCE_RAMP,1791363552630188225,-5.880275556e-05,3.132668812e-05,1.001093100e-03,-5.798841095e-05,3.472202756e-05,1.000138031e-03,-5.594880271e-05,3.471437573e-05,9.997879484e-04,7.014790687e-01,3.287764944e-05,8.417420343e-01,7.014798831e-01,3.627298888e-05,8.417410792e-01,7.016697907e-01,3.643069580e-05,8.307804335e-01
+51,9.366666667e+00,UP_FORCE_RAMP,1791363552958302362,-5.554280296e-05,3.286674919e-05,1.015258090e-03,-5.798841095e-05,3.472202756e-05,1.000138031e-03,-5.595239570e-05,3.471527598e-05,9.998714372e-04,7.014823287e-01,3.441771052e-05,8.417561993e-01,7.014798831e-01,3.627298888e-05,8.417410792e-01,7.016697871e-01,3.643159605e-05,8.307805170e-01
+52,9.650000000e+00,UP_FORCE_RAMP,1791363553379373767,-5.876969559e-05,3.365663385e-05,1.022838973e-03,-5.570372268e-05,2.984336447e-05,1.020665075e-03,-5.345581137e-05,2.982195381e-05,1.020393681e-03,7.014791018e-01,3.520759517e-05,8.417637802e-01,7.014821678e-01,3.139432579e-05,8.417616063e-01,7.016722837e-01,3.153827388e-05,8.308010393e-01
+53,9.866666667e+00,UP_FORCE_RAMP,1791363553703361778,-5.655935712e-05,3.353124111e-05,1.033057039e-03,-5.570372268e-05,2.984336447e-05,1.020665075e-03,-5.345672944e-05,2.982191023e-05,1.020457961e-03,7.014813121e-01,3.508220243e-05,8.417739982e-01,7.014821678e-01,3.139432579e-05,8.417616063e-01,7.016722828e-01,3.153823031e-05,8.308011035e-01
+54,1.010000000e+01,UP_FORCE_HOLD,1791363554058359855,-5.810243753e-05,2.987948715e-05,1.040342061e-03,-5.638829364e-05,2.906067602e-05,1.042072971e-03,-5.415987948e-05,2.906240383e-05,1.041850404e-03,7.014797690e-01,3.143044847e-05,8.417812832e-01,7.014814832e-01,3.061163734e-05,8.417830142e-01,7.016715796e-01,3.077872390e-05,8.308224960e-01
+55,1.028333333e+01,UP_FORCE_HOLD,1791363554331304053,-5.728318367e-05,3.122584002e-05,1.048864763e-03,-5.638829364e-05,2.906067602e-05,1.042072971e-03,-5.416154837e-05,2.906275640e-05,1.041910083e-03,7.014805883e-01,3.277680134e-05,8.417898060e-01,7.014814832e-01,3.061163734e-05,8.417830142e-01,7.016715779e-01,3.077907647e-05,8.308225557e-01
+56,1.048333333e+01,UP_FORCE_HOLD,1791363554629535587,-6.108863503e-05,3.100915778e-05,1.048873140e-03,-5.638829364e-05,2.906067602e-05,1.042072971e-03,-5.416348729e-05,2.906263037e-05,1.041957752e-03,7.014767828e-01,3.256011910e-05,8.417898143e-01,7.014814832e-01,3.061163734e-05,8.417830142e-01,7.016715760e-01,3.077895044e-05,8.308226033e-01
+57,1.065000000e+01,UP_FORCE_HOLD,1791363554879651214,-5.819717453e-05,2.781623424e-05,1.057480294e-03,-5.638829364e-05,2.906067602e-05,1.042072971e-03,-5.416471736e-05,2.906246964e-05,1.041988929e-03,7.014796743e-01,2.936719556e-05,8.417984215e-01,7.014814832e-01,3.061163734e-05,8.417830142e-01,7.016715748e-01,3.077878971e-05,8.308226345e-01
+58,1.083333333e+01,UP_FORCE_HOLD,1791363555158031020,-5.915884999e-05,3.388014060e-05,1.060122777e-03,-5.693542242e-05,2.987721669e-05,1.062408306e-03,-5.459072599e-05,2.989672666e-05,1.062171748e-03,7.014787126e-01,3.543110192e-05,8.418010640e-01,7.014809361e-01,3.142817801e-05,8.418033495e-01,7.016711488e-01,3.161304673e-05,8.308428173e-01
+59,1.101666667e+01,UP_SETTLE,1791363555430657979,-5.747552720e-05,3.631665553e-05,1.069271983e-03,-5.693542242e-05,2.987721669e-05,1.062408306e-03,-5.459207167e-05,2.989724097e-05,1.062220827e-03,7.014803960e-01,3.786761685e-05,8.418102132e-01,7.014809361e-01,3.142817801e-05,8.418033495e-01,7.016711474e-01,3.161356104e-05,8.308428664e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..331b95690ca2505f30c1d60c0502349d764d12b7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,2.1525e-03,-6.8097e-04,2.4538e+00,-3.6696e-02,3.6942e-02,3.1596e-05,4.0796e-05,3.3823e-06,4.5300e-06,1.7881e-07,2.9281e-06,6.0051e-07,4.1186e-05,2.9944e-06
+1,2.3333e-01,UP_FORCE_RAMP,5.1282e-05,2.6532e-03,-6.3822e-04,2.4538e+00,-3.6694e-02,3.6978e-02,3.9272e-05,5.4145e-04,4.6134e-05,5.5552e-05,2.2016e-06,3.8821e-05,8.2763e-06,5.4624e-04,3.9755e-05
+2,5.1667e-01,UP_FORCE_RAMP,1.0305e-04,3.1267e-03,-5.8980e-04,2.4538e+00,-3.6693e-02,3.7011e-02,4.6992e-05,1.0150e-03,9.4555e-05,8.8215e-05,3.3528e-06,7.2692e-05,1.5996e-05,1.0232e-03,7.4506e-05
+3,6.8333e-01,UP_FORCE_RAMP,1.5490e-04,3.3523e-03,-5.6426e-04,2.4539e+00,-3.6693e-02,3.7027e-02,5.0840e-05,1.2406e-03,1.2009e-04,9.6321e-05,3.6210e-06,8.8796e-05,1.9844e-05,1.2501e-03,9.1058e-05
+4,9.3333e-01,UP_FORCE_RAMP,2.0076e-04,3.6290e-03,-5.3482e-04,2.4539e+00,-3.6693e-02,3.7047e-02,5.5800e-05,1.5173e-03,1.4954e-04,9.7990e-05,3.9376e-06,1.0859e-04,2.4804e-05,1.5278e-03,1.1146e-04
+5,1.1333e+00,UP_FORCE_RAMP,2.5020e-04,3.8081e-03,-5.1661e-04,2.4539e+00,-3.6692e-02,3.7060e-02,5.9164e-05,1.6964e-03,1.6775e-04,9.3460e-05,4.0941e-06,1.2142e-04,2.8168e-05,1.7072e-03,1.2471e-04
+6,1.3000e+00,UP_FORCE_RAMP,3.0175e-04,3.9355e-03,-5.0294e-04,2.4538e+00,-3.6692e-02,3.7069e-02,6.1613e-05,1.8238e-03,1.8142e-04,8.7023e-05,4.1053e-06,1.3054e-04,3.0617e-05,1.8349e-03,1.3415e-04
+7,1.5500e+00,UP_FORCE_RAMP,3.5136e-04,4.0949e-03,-4.8603e-04,2.4538e+00,-3.6692e-02,3.7081e-02,6.4769e-05,1.9831e-03,1.9833e-04,7.4863e-05,4.0457e-06,1.4195e-04,3.3773e-05,1.9944e-03,1.4597e-04
+8,1.7833e+00,UP_FORCE_RAMP,4.0318e-04,4.2162e-03,-4.7292e-04,2.4538e+00,-3.6693e-02,3.7089e-02,6.7234e-05,2.1044e-03,2.1144e-04,6.1989e-05,3.9190e-06,1.5062e-04,3.6239e-05,2.1159e-03,1.5497e-04
+9,1.9667e+00,UP_FORCE_RAMP,4.5197e-04,4.2955e-03,-4.6475e-04,2.4538e+00,-3.6693e-02,3.7095e-02,6.8896e-05,2.1838e-03,2.1960e-04,5.1975e-05,3.8147e-06,1.5631e-04,3.7900e-05,2.1954e-03,1.6089e-04
+10,2.1667e+00,UP_FORCE_RAMP,5.0123e-04,6.2312e-03,-6.5532e-04,2.4491e+00,-3.6680e-02,3.7238e-02,6.9904e-05,4.1195e-03,2.9037e-05,-4.6897e-03,1.6835e-05,2.9952e-04,3.8908e-05,6.2421e-03,3.0250e-04
+11,2.3333e+00,UP_FORCE_RAMP,5.5599e-04,5.4066e-03,-1.6490e-03,2.4452e+00,-3.6610e-02,3.7184e-02,7.0120e-05,3.2949e-03,-9.6461e-04,-8.5177e-03,8.6658e-05,2.4499e-04,3.9124e-05,9.1836e-03,2.6279e-04
+12,2.4833e+00,UP_FORCE_RAMP,6.0522e-04,6.6961e-03,-3.2581e-03,2.4350e+00,-3.6501e-02,3.7278e-02,6.9968e-05,4.5844e-03,-2.5737e-03,-1.8736e-02,1.9546e-04,3.3961e-04,3.8972e-05,1.9460e-02,3.9378e-04
+13,2.6167e+00,UP_FORCE_RAMP,6.5389e-04,6.4448e-03,-4.4105e-03,2.4320e+00,-3.6418e-02,3.7270e-02,6.8896e-05,4.3331e-03,-3.7261e-03,-2.1726e-02,2.7809e-04,3.3101e-04,3.7900e-05,2.2465e-02,4.3397e-04
+14,2.7500e+00,UP_FORCE_RAMP,7.0502e-04,5.7555e-03,-4.0532e-03,2.4285e+00,-3.6439e-02,3.7227e-02,6.8214e-05,3.6438e-03,-3.3689e-03,-2.5224e-02,2.5762e-04,2.8796e-04,3.7218e-05,2.5708e-02,3.8816e-04
+15,2.9167e+00,UP_FORCE_RAMP,7.5448e-04,6.4276e-03,-6.1681e-03,2.4289e+00,-3.6291e-02,3.7275e-02,6.5606e-05,4.3159e-03,-5.4838e-03,-2.4856e-02,4.0548e-04,3.3674e-04,3.4610e-05,2.5817e-02,5.2821e-04
+16,3.0833e+00,UP_FORCE_RAMP,8.0388e-04,5.4648e-03,-7.1469e-03,2.4288e+00,-3.6220e-02,3.7208e-02,6.3128e-05,3.3531e-03,-6.4625e-03,-2.4938e-02,4.7603e-04,2.6918e-04,3.2132e-05,2.5979e-02,5.4781e-04
+17,3.2667e+00,UP_FORCE_RAMP,8.5399e-04,5.3470e-03,-6.6797e-03,2.4248e+00,-3.6253e-02,3.7204e-02,6.0358e-05,3.2353e-03,-5.9954e-03,-2.8935e-02,4.4335e-04,2.6514e-04,2.9362e-05,2.9727e-02,5.1742e-04
+18,3.4000e+00,UP_FORCE_RAMP,9.0139e-04,5.3971e-03,-8.0376e-03,2.4193e+00,-3.6160e-02,3.7211e-02,5.6830e-05,3.2854e-03,-7.3533e-03,-3.4471e-02,5.3626e-04,2.7188e-04,2.5834e-05,3.5399e-02,6.0180e-04
+19,3.5667e+00,UP_FORCE_RAMP,9.5640e-04,5.9576e-03,-6.7886e-03,2.4208e+00,-3.6245e-02,3.7252e-02,5.2962e-05,3.8459e-03,-6.1042e-03,-3.2922e-02,4.5144e-04,3.1300e-04,2.1966e-05,3.3704e-02,5.4977e-04
+20,3.7167e+00,UP_FORCE_RAMP,1.0075e-03,6.0911e-03,-7.4569e-03,2.4212e+00,-3.6200e-02,3.7261e-02,4.8181e-05,3.9793e-03,-6.7726e-03,-3.2575e-02,4.9684e-04,3.2235e-04,1.7185e-05,3.3508e-02,5.9250e-04
+21,3.8167e+00,UP_FORCE_RAMP,1.0563e-03,6.5676e-03,-1.0008e-02,2.4202e+00,-3.6020e-02,3.7296e-02,4.3454e-05,4.4558e-03,-9.3232e-03,-3.3591e-02,6.7604e-04,3.5742e-04,1.2458e-05,3.5144e-02,7.6481e-04
+22,3.9500e+00,UP_FORCE_RAMP,1.1049e-03,6.9696e-03,-6.6066e-03,2.4212e+00,-3.6261e-02,3.7324e-02,4.1586e-05,4.8579e-03,-5.9223e-03,-3.2570e-02,4.3585e-04,3.8499e-04,1.0590e-05,3.3458e-02,5.8163e-04
+23,4.1000e+00,UP_FORCE_RAMP,1.1569e-03,5.6994e-03,-7.7335e-03,2.4162e+00,-3.6186e-02,3.7238e-02,3.6349e-05,3.5876e-03,-7.0492e-03,-3.7556e-02,5.1054e-04,2.9914e-04,5.3528e-06,3.8380e-02,5.9174e-04
+24,4.2500e+00,UP_FORCE_RAMP,1.2061e-03,6.7681e-03,-8.2694e-03,2.4188e+00,-3.6148e-02,3.7311e-02,3.1346e-05,4.6564e-03,-7.5850e-03,-3.4932e-02,5.4841e-04,3.7201e-04,3.4987e-07,3.6048e-02,6.6268e-04
+25,4.3833e+00,UP_FORCE_RAMP,1.2619e-03,6.6638e-03,-7.6897e-03,2.4136e+00,-3.6188e-02,3.7306e-02,2.7792e-05,4.5521e-03,-7.0053e-03,-4.0122e-02,5.0849e-04,3.6738e-04,-3.2034e-06,4.0983e-02,6.2732e-04
+26,4.5667e+00,UP_FORCE_RAMP,1.3116e-03,6.4387e-03,-8.0731e-03,2.4187e+00,-3.6168e-02,3.7287e-02,2.3668e-05,4.3269e-03,-7.3887e-03,-3.5073e-02,5.2845e-04,3.4828e-04,-7.3275e-06,3.6103e-02,6.3294e-04
+27,4.7333e+00,UP_FORCE_RAMP,1.3585e-03,6.2558e-03,-7.9155e-03,2.4158e+00,-3.6186e-02,3.7276e-02,2.1196e-05,4.1441e-03,-7.2311e-03,-3.7969e-02,5.1023e-04,3.3745e-04,-9.7998e-06,3.8873e-02,6.1180e-04
+28,4.8667e+00,UP_FORCE_RAMP,1.4092e-03,1.1370e-02,-6.7532e-03,2.4164e+00,-3.6277e-02,3.7639e-02,2.1070e-05,9.2582e-03,-6.0689e-03,-3.7404e-02,4.1953e-04,7.0065e-04,-9.9257e-06,3.9007e-02,8.1671e-04
+29,5.0333e+00,UP_FORCE_RAMP,1.4567e-03,1.0824e-02,-8.2457e-03,2.4183e+00,-3.6185e-02,3.7599e-02,2.0624e-05,8.7122e-03,-7.5613e-03,-3.5420e-02,5.1161e-04,6.6053e-04,-1.0372e-05,3.7252e-02,8.3556e-04
+30,5.2167e+00,UP_FORCE_RAMP,1.5127e-03,9.2160e-03,-8.3536e-03,2.4155e+00,-3.6188e-02,3.7486e-02,2.1367e-05,7.1043e-03,-7.6693e-03,-3.8225e-02,5.0795e-04,5.4726e-04,-9.6291e-06,3.9629e-02,7.4673e-04
+31,5.4000e+00,UP_FORCE_RAMP,1.5610e-03,8.4840e-03,-8.5367e-03,2.4184e+00,-3.6177e-02,3.7432e-02,2.1530e-05,6.3722e-03,-7.8523e-03,-3.5356e-02,5.1989e-04,4.9374e-04,-9.4660e-06,3.6774e-02,7.1705e-04
+32,5.5833e+00,UP_FORCE_RAMP,1.6118e-03,7.5216e-03,-8.3824e-03,2.4205e+00,-3.6190e-02,3.7361e-02,2.2087e-05,5.4099e-03,-7.6980e-03,-3.3293e-02,5.0675e-04,4.2277e-04,-8.9086e-06,3.4597e-02,6.6001e-04
+33,5.8000e+00,UP_FORCE_RAMP,1.6620e-03,7.6816e-03,-8.4326e-03,2.4190e+00,-3.6187e-02,3.7373e-02,2.1809e-05,5.5699e-03,-7.7482e-03,-3.4737e-02,5.0946e-04,4.3440e-04,-9.1869e-06,3.6023e-02,6.6958e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..adef137c9560a724a36fd5c182466f311d4f4e96
--- /dev/null
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+59,2.950000e+01,264,7.084681e-01,2.277668e-02,8.263228e-01,1.603333e-05,-8.277723e-05,-9.383022e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.950000e+01,265,7.070069e-01,1.919571e-02,8.177002e-01,-2.108054e-05,-7.921516e-05,-9.372033e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.950000e+01,266,6.948202e-01,2.141841e-02,8.251224e-01,-1.283604e-05,-8.163659e-05,-9.337910e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f4e210184c6cc9adf08e937df35189f40563931
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+12342,1791363632874010199,2584252000000,1791363632870846440,DOWN_FORCE_DETACH,2,0.0525,0.05250050127506256,0.6759982181815524,-0.004750499394301705,0.09086745526917189,0.999999980065405,8.640475241413136e-05,-0.0001514233224449969,3.0286137705862146e-05,0.6761,-0.0048,0.09095784740790812,1.0,0.0,0.0,0.0,0.004559510944265606,0.0044808856663572086,-0.005593507748031454,2.5548670099488722e-05,-0.0008970886435849621,7.200218560579814e-05,0.06064756684034524,0.001092343230990398,-0.1115502277819148,-0.0019530026728657316,-0.0019642310036405517,-0.0009933745983559525,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.7594324392664908,-0.37231411863486374,0.6157158325180851,0.3046030546079533,-0.21516330088660815,-0.2881443334827708,0.5313281633860638,0.005593507748031454,-0.08438766913202134,-0.08438766913202134,0.07800000000000008,0,0,-6.49499875924039e-05,-9.999999025923074e-05
+12490,1791363634107991272,2585486000000,1791363634102846625,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760025089831485,-0.0047567182805337,0.09077698799460328,0.9999999813436943,8.325719330046246e-05,-0.00014246287536549972,3.909020937170723e-05,0.6761,-0.0048,0.09085065048935827,1.0,0.0,0.0,0.0,0.010263755567142908,-0.003286302480371302,0.04881386127644215,1.5242651264385683e-05,-0.0009079501128352878,2.4230273026980016e-05,0.06635181146322254,-0.006674844915738112,-0.0571428587574412,-0.0019633086917008346,-0.0019750924728908774,-0.0010411465109347706,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.77929048350759,-0.4162034159022177,0.624391121662935,0.32450598558075355,-0.22252029527102002,-0.31937206709829946,0.5313281633860638,0.04881386127644215,-0.09306295827687117,-0.09306295827687117,0.15204000000000562,0,0,-9.88713346569955e-05,-9.999704816821548e-05
+12634,1791363635307981330,2586686000000,1791363635306836540,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760136235662831,-0.004756530226400293,0.09067467338953407,0.9999999845096403,6.751923829599385e-05,-0.00012846916937474023,3.6883713213077666e-05,0.6761,-0.0048,0.09073097156348035,1.0,0.0,0.0,0.0,0.006894455354068012,-0.001202654396290637,0.11460781266660505,1.8130015517971339e-06,-0.0009226109792725848,-2.5072559694059443e-05,0.06298251125014764,-0.004591196831657447,0.0086510926327217,-0.001976738341413423,-0.0019897533393281744,-0.00109044934365581,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8493501646544783,-0.3127748813370064,0.4268797862491493,0.30005897566520917,-0.07983969133006288,-0.2562453813505351,0.5313281633860638,0.11460781266660505,0.10444837713691452,0.10444837713691452,0.224040000000011,0,0,-9.963688870209963e-05,9.604920611495089e-05
+12762,1791363636373985931,2587752000000,1791363636370836579,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760282127940846,-0.004759360388812051,0.09059142286487223,0.999999987708241,5.756965920225963e-05,-0.00010750800051552111,3.3972732824930105e-05,0.6761,-0.0048,0.09062555875515149,1.0,0.0,0.0,0.0,0.000552023021134683,0.010394710077038597,0.16521465984856937,-3.3643755540987714e-05,7.898108612282599e-05,-5.0754802866822364e-05,0.056640078917214315,0.0070061676416717875,0.05925793981468601,-0.002012195098506208,-0.0009881612739327636,-0.001116131586828573,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8464583449376708,-0.3582891732870343,0.4280310916186617,0.33549837607733596,-0.08630094442160377,-0.2743934531833239,0.5313281633860638,0.16521465984856937,0.1032970717674021,0.1032970717674021,0.2880000000000158,0,0,-9.809584104322611e-05,-9.9999754336838e-05
+12928,1791363637757979687,2589136000000,1791363637754846524,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.676032180743505,-0.004763114776434185,0.09047115651470802,0.9999999839841036,0.0001087365166701107,-0.00010196724029327048,3.5407750217679824e-05,0.6761,-0.0048,0.0904982118997338,1.0,0.0,0.0,0.0,0.0003778116126504569,0.0031977963398992885,0.23542449145112151,-4.802001778129268e-05,6.445156653301178e-05,-0.0001075050792977263,0.05646586750873009,-0.0001907460954675219,0.12946777141723817,-0.002026571360746513,-0.0010026907935225778,-0.0011728818632594769,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8427607772228037,-0.3653275178770176,0.429075109305577,0.33901396678315626,-0.09447269173957387,-0.2740155975625464,0.5313281633860638,0.23542449145112151,0.1022530540804868,0.1022530540804868,0.371040000000022,0,0,-8.969865984284476e-05,-9.961066280007031e-05
+13066,1791363638907927884,2590286000000,1791363638906846342,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760355217501112,-0.004761986708078896,0.09037949820861547,0.9999999842597069,0.00010854600627939068,-9.638375194081308e-05,4.30277486217691e-05,0.6761,-0.0048,0.09039847432370339,1.0,0.0,0.0,0.0,0.00024881534743766837,-0.004871504877365637,0.28493580358233983,-5.858966209411863e-05,5.445589871975673e-05,-0.0001474726744571718,0.0563368712435173,-0.008260047312732447,0.1789790835484565,-0.002037141005059339,-0.0010126864613358329,-0.0012128494584189224,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8929339167926313,-0.4049293210084301,0.21887178453640407,0.34890343543729463,0.05194669909023586,-0.29967611461126786,0.5313281633860638,0.28493580358233983,0.3124563788496597,0.3124563788496597,0.4400400000000272,0,0,-8.909058607922826e-05,7.316791203327284e-05
+13213,1791363640132864956,2591511000000,1791363640126837701,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760378520214394,-0.004767659566202814,0.0902766613531925,0.9999999856483994,9.53284251747498e-05,-9.447839055608414e-05,4.617781412212005e-05,0.6761,-0.0048,0.09029090668837533,1.0,0.0,0.0,0.0,-0.00012227703774802395,-0.002834099799648392,0.34577375267199634,-6.984379758650464e-05,4.1179854619481215e-05,-0.00019672111243760845,0.05596577885833161,-0.006222642235015202,0.239817032638113,-0.002048395140551725,-0.0010259625054361084,-0.001262097896399359,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9549627271934971,-0.4211526824824112,0.1793767496917538,0.36006186589938327,0.0936432580476894,-0.31070313277554745,0.5313281633860638,0.34577375267199634,0.35195141369431004,0.35195141369431004,0.5135400000000202,0,0,-8.617364599258626e-05,-9.998207403517085e-05
+13362,1791363641373894582,2592752000000,1791363641366847282,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760403813872685,-0.004764875531089701,0.09017304700318994,0.9999999876176663,7.919953697953352e-05,-9.142567411314017e-05,3.970278628175133e-05,0.6761,-0.0048,0.09018135518975828,1.0,0.0,0.0,0.0,-1.4774542410798952e-05,-0.0073814470807271396,0.39592028226543474,-8.03657400947318e-05,3.0940562281888935e-05,-0.00023722893729852972,0.05607328135366883,-0.01076998951609395,0.2899635622315514,-0.002058917083059952,-0.0010362017977737007,-0.0013026057212602803,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.918471227574156,-0.4307389928429448,0.05098676470954204,0.36445647175551293,0.1633057806548333,-0.32008963792992134,0.5313281633860638,0.39592028226543474,0.48034139867652176,0.48034139867652176,0.5879999999999569,0,0,-8.631723344834785e-05,9.722450208660689e-05
+13513,1791363642632831376,2594011000000,1791363642626838185,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760456266521652,-0.004755986020245279,0.09007135525134856,0.999999987463877,8.908719608328316e-05,-8.22844628657129e-05,4.251880650924486e-05,0.6761,-0.0048,0.09007175208378237,1.0,0.0,0.0,0.0,0.0009629772372445403,0.0008744731016137684,0.44827646624877643,-8.864367243915146e-05,1.8745323850683383e-05,-0.0002786698701086887,0.05705103313332417,-0.002514069333753042,0.3423197462148931,-0.0020671950154043718,-0.0010483970362049062,-0.0013440466540704393,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9390824759763375,-0.34503900110085084,-0.00847156316938179,0.34534641238523484,0.20495049962876963,-0.26384670405285926,0.5313281633860638,0.44827646624877643,0.5397997265554456,0.5397997265554456,0.6635399999998927,0,0,-8.850713476418891e-05,9.466302327976734e-05
+13638,1791363643673929329,2595052000000,1791363643666837605,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760473490560807,-0.004755899857813303,0.0899852905433824,0.999999986307099,0.00010039329577770937,-8.04746592444862e-05,4.768313773888355e-05,0.6761,-0.0048,0.08997691133835208,1.0,0.0,0.0,0.0,-0.00021548496599346767,0.0026501530845998668,0.49628976679140496,-9.763318014059056e-05,8.284503496411993e-06,-0.0003183197051940289,0.055872570930086164,-0.0007383893507669434,0.3903330467575216,-0.002076184523105811,-0.0010588578565591776,-0.0013836964891557795,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9270879103730589,-0.37148441683343936,0.01020033698458032,0.3565580850048196,0.18401871163321346,-0.2782136866896313,0.5313281633860638,0.49628976679140496,0.5211278264014835,0.5211278264014835,0.7259999999998396,0,0,-9.257680507887412e-05,-9.521909235943866e-05
+13786,1791363644907854291,2596286000000,1791363644902846138,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760536019179019,-0.004752166485510374,0.08987621799827201,0.9999999866932529,0.00010414663297138618,-6.935288966324384e-05,4.8989938470115416e-05,0.6761,-0.0048,0.08985834303407726,1.0,0.0,0.0,0.0,-0.0003097829673944369,-0.005536187553581614,0.546432051757606,-0.00010834527061091273,-1.8382097041755655e-06,-0.0003588504490009837,0.055778272928685195,-0.008924729988948424,0.44047533172372266,-0.002086896613576133,-0.0010689805697597652,-0.0014242272329627343,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9115389028950115,-0.33040037512063,-0.08452614355757218,0.3450401429979652,0.2430696994012269,-0.2520364425689918,0.5313281633860638,0.546432051757606,0.615854306943636,0.615854306943636,0.8000399999997766,0,0,-9.921706772417072e-05,-7.820950417703471e-05
+13924,1791363646057878587,2597436000000,1791363646054836806,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760564300412046,-0.004753982452303113,0.08977057458130858,0.9999999879541634,9.60205340217214e-05,-6.471943302538782e-05,4.610845031106936e-05,0.6761,-0.0048,0.08974266079029009,1.0,0.0,0.0,0.0,-0.00043435311158526724,-0.004113329218859346,0.5865694090592812,-0.00011575731209918522,-1.0606014222163188e-05,-0.00039128902622977526,0.055653702784494365,-0.007501871654226156,0.4806126890253979,-0.0020943086550644055,-0.0010777483742777528,-0.0014566658101915258,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9554812317738565,-0.3607471335579018,-0.1066329494805249,0.3633348651284631,0.2617068725582989,-0.26851086669466595,0.5313281633860638,0.5865694090592812,0.6379611128665887,0.6379611128665887,0.8690399999997179,0,0,-0.00010169045477489836,-9.999999025923074e-05
+14077,1791363647332800324,2598711000000,1791363647330836225,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760599483881035,-0.004753468349223261,0.08964334283081038,0.9999999884279797,9.384003482408164e-05,-5.928201609988218e-05,4.760877401067973e-05,0.6761,-0.0048,0.08961089015050616,1.0,0.0,0.0,0.0,-0.006428538275954722,-0.011911088956282706,0.6467442930895856,-0.00012829852925510003,-2.2933121019083364e-05,-0.0004406338703889967,0.04965951762012491,-0.015299631391649516,0.5407875730557022,-0.0021068498722203203,-0.001090075481074673,-0.0015060106543507473,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9863301001559858,-0.3370664960124482,-0.23801291224001944,0.359988269304482,0.35286793226136387,-0.25652334278812555,0.5313281633860638,0.6467442930895856,0.7693410756260832,0.7693410756260832,0.9455399999996529,0,0,-0.00010437612926190416,-1.3567932951895128e-05
+14214,1791363648473781000,2599852000000,1791363648470836250,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760669901104349,-0.0047534469592993775,0.08953290986382893,0.9999999897675063,8.60396640385498e-05,-4.7606217450905574e-05,4.731465065251772e-05,0.6761,-0.0048,0.08948582490000581,1.0,0.0,0.0,0.0,-0.006682742141904112,-0.010378705958203295,0.6902504004051823,-0.00013601905479206523,-3.236305203743305e-05,-0.0004745540537643357,0.04940531375417552,-0.013767248393570105,0.5842936803712989,-0.0021145703977572855,-0.0010995054120930227,-0.0015399308377260863,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.972694446904277,-0.32671800292783076,-0.36791079233613005,0.36565777060794386,0.42867956197518226,-0.2509574893028537,0.5313281633860638,0.6902504004051823,0.8992389557221938,0.8992389557221938,1.0139999999995948,0,0,-0.00011202910102783991,9.964970101717369e-05
+14335,1791363649482874860,2600861000000,1791363649482836617,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760681138697832,-0.004758651215511957,0.08941999798480266,0.999999989825347,8.407677561418379e-05,-4.7686832056616177e-05,4.9489719348514125e-05,0.6761,-0.0048,0.08937083600161136,1.0,0.0,0.0,0.0,-0.001436506974280112,0.000508567777414023,0.7269801857400772,-0.0001687697845186623,0.0009484333407290221,-0.0004894734522141611,0.05465154892179952,-0.0028799746579527873,0.6210234657061938,-0.0021473211274838826,-0.00011870901932656752,-0.0015548502361759117,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9606836784549538,-0.4730595242323626,-0.31197287458925027,0.4147918588259365,0.38705454546983087,-0.3419657484988214,0.5313281633860638,0.7269801857400772,0.8433010379753141,0.8433010379753141,1.0745399999995433,0,0,-0.00011501402857469335,-9.985850621253007e-05
+14466,1791363650573866798,2601952000000,1791363650566847399,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760720243490469,-0.0047636974337919745,0.08929839760415179,0.9999999904885879,7.87954168369322e-05,-4.111223148736596e-05,5.066315570189152e-05,0.6761,-0.0048,0.08924222457124974,1.0,0.0,0.0,0.0,-0.010107172931319817,-0.017607732042406354,0.7659190722757986,-0.00015184170785159136,-4.1398657723158705e-05,-0.0005376169898581088,0.045980882964759814,-0.020996274477773164,0.6599623522419152,-0.0021303930508168117,-0.0011085410177787483,-0.0016029937738198594,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9844779836789634,-0.36432014938238355,-0.37059786384431787,0.3898003295302772,0.42158455682203444,-0.2705030708104772,0.5313281633860638,0.7659190722757986,0.9019260272303817,0.9019260272303817,1.1399999999994876,0,0,-0.00012070664599381076,-9.999996250365512e-05
+14589,1791363651598825737,2602977000000,1791363651598836455,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760754008388434,-0.004763776371398508,0.08917055953166826,0.9999999890375509,9.635232631362806e-05,-3.778494436331718e-05,5.1539203209330374e-05,0.6761,-0.0048,0.08911301843294148,1.0,0.0,0.0,0.0,-0.009853514469425395,-0.009249247127791998,0.7968541056183932,-0.0012035890551372417,0.0009765614000175262,-0.0005580730672122979,0.04623454142665424,-0.012637789563158808,0.6908973855845099,-0.003182140398102462,-9.058096003806341e-05,-0.0016234498511740485,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9072809259925386,-0.293147040952393,-0.3475716091042483,0.38059802081096483,0.38028997572817563,-0.21801192548337447,0.5313281633860638,0.7968541056183932,0.878899772490312,0.878899772490312,1.2014999999994354,0,0,-0.0001297792399338179,-9.993054580904043e-05
+14712,1791363652623803443,2604002000000,1791363652622837298,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760725845679432,-0.004766503438105792,0.08902808860767543,0.9999999879596704,0.00010246304615065885,-4.455706586046721e-05,5.5131800494919535e-05,0.6761,-0.0048,0.08897635271172982,1.0,0.0,0.0,0.0,-0.012565237715942944,-0.018201651439301542,0.8268731231585683,-0.0012104080124045328,0.0009708806730674934,-0.0005827079810546631,0.04352281818013669,-0.021590193874668352,0.720916403124685,-0.003188959355369753,-9.626168698809626e-05,-0.0016480847650164137,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.935588447560261,-0.318879747960451,-0.4707722893289543,0.3921644057889033,0.4632870418717193,-0.2366503755586662,0.5313281633860638,0.8268731231585683,1.0021004527150181,1.0021004527150181,1.262999999999383,0,0,-0.0001391615754950656,-9.999999025923074e-05
+14832,1791363653623900521,2605002000000,1791363653622836782,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760724758230757,-0.004774769479528097,0.08888198274185494,0.9999999888990972,8.985340260468831e-05,-4.490827188883465e-05,5.961780668909381e-05,0.6761,-0.0048,0.08882985272542525,1.0,0.0,0.0,0.0,-0.01847824689417534,-0.01819381977949136,0.83738795561161,-0.001213974309451736,0.000967716025752272,-0.0005919530732630049,0.03760980900190429,-0.02158236221485817,0.7314312355777266,-0.0031925256524169563,-9.942633430331759e-05,-0.0016573298572247555,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9244888288164136,-0.3651514280175542,-0.5290786509577907,0.4139738412684043,0.49033581999471293,-0.26746025312593613,0.5313281633860638,0.83738795561161,1.0604068143438545,1.0604068143438545,1.322999999999332,0,0,-0.00015330879230938304,-4.2900192766701594e-05
+14940,1791363654523842497,2605902000000,1791363654518836738,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760721359844473,-0.004778961994167603,0.08873866762450074,0.9999999892430289,8.192299830829911e-05,-4.556418538190616e-05,6.457037872774596e-05,0.6761,-0.0048,0.08868346841922406,1.0,0.0,0.0,0.0,-0.01628299573401157,-0.027884063213375544,0.8368720981216088,-0.0012136390427183652,0.0009696052945065193,-0.0005912414230171486,0.039805060162068064,-0.03127260564874235,0.7309153780877254,-0.0031921903856835855,-9.753706554907023e-05,-0.0016566182069788992,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0047290981673227,-0.3821192966865178,-0.5729614275100657,0.42258491203268517,0.53478444805609,-0.28149058507740554,0.5313281633860638,0.8368720981216088,1.1042895908961294,1.1042895908961294,1.3769999999992861,0,0,-0.00017193899451842386,5.306779601721985e-05
+15038,1791363655340779762,2606719000000,1791363655334837163,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760657465047111,-0.004783603350795411,0.08857849532544133,0.9999999888597862,8.01590003225105e-05,-5.723660777222281e-05,6.341764034584359e-05,0.6761,-0.0048,0.0885345053172883,1.0,0.0,0.0,0.0,-0.01722973867848652,-0.02788164399892475,0.8368688221749948,-0.00121375633586492,0.0009696488905681144,-0.0005913579488777525,0.038858317217593114,-0.03127018643429156,0.7309121021411115,-0.0031923076788301402,-9.749346948747522e-05,-0.001656734732839503,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9261789865257691,-0.40768333009263824,-0.5487974776562649,0.4488275468776418,0.4869513431502815,-0.29620054126780265,0.5313281633860638,0.8368688221749948,1.0801256410423288,1.0801256410423288,1.4260199999992444,0,0,-0.00019473800004085463,-9.999972658126239e-05
+15129,1791363656098830939,2607477000000,1791363656094836537,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760684323505385,-0.004786208542247431,0.08842351115681758,0.9999999879242779,9.056053095064822e-05,-5.49545185733065e-05,6.612941454990577e-05,0.6761,-0.0048,0.08837603400961012,1.0,0.0,0.0,0.0,-0.010633189283152981,-0.030063309430876903,0.8466180951628843,-0.0020097520487964596,0.0009821328885740658,-0.0006010439447742075,0.04545486661292665,-0.03345185186624371,0.740661375129001,-0.00398830339176168,-8.500947148152374e-05,-0.0016664207287359581,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9210218996936328,-0.34274746491628205,-0.4744157665693671,0.44081239147123474,0.4305749612807356,-0.24971028682693905,0.5313281633860638,0.8466180951628843,1.005743929955431,1.005743929955431,1.4714999999992058,0,0,-0.00022116079887865426,-9.998150504587073e-05
+15220,1791363656857821189,2608236000000,1791363656850837355,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760628520999931,-0.00478990755721447,0.08823889576097096,0.9999999872446662,8.852851473454007e-05,-6.447985252503524e-05,7.041720393570373e-05,0.6761,-0.0048,0.08819946587239402,1.0,0.0,0.0,0.0,-0.01869367409007123,-0.04032090472907135,0.8477306955405727,-0.0022367543867430734,0.0009871698923520234,-0.0006118377513247765,0.0373943818060084,-0.04370944716443816,0.7417739755066893,-0.004215305729708294,-7.997246770356609e-05,-0.0016772145352865271,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9413766819201511,-0.4356213897610737,-0.49629252570747,0.4735915190761775,0.4480036216096329,-0.3113278058586086,0.5313281633860638,0.8477306955405727,1.0276206890935338,1.0276206890935338,1.517039999999167,0,0,-0.00024352959781678696,-9.996002223034423e-05
+15307,1791363657582769674,2608961000000,1791363657582836457,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760659203524795,-0.004793765373098417,0.08805742565452804,0.9999999868462257,9.065842666739926e-05,-6.244905365089957e-05,7.504384228091151e-05,0.6761,-0.0048,0.08801506224153197,1.0,0.0,0.0,0.0,-0.018732524004468454,-0.040124001142461355,0.8562563725497377,-0.0022385649365684016,0.000985065410528684,-0.0006187291261884518,0.03735553189161118,-0.04351254357782817,0.7502996525158544,-0.004217116279533622,-8.20769495269056e-05,-0.0016841059101502024,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9153549669070793,-0.42282106183105517,-0.49768252579328204,0.48717531992916135,0.43936748646711193,-0.3031473926699639,0.5313281633860638,0.8562563725497377,1.0290106891793458,1.0290106891793458,1.56053999999913,0,0,-0.00026760175532022777,-9.999999025923074e-05
+15386,1791363658240786236,2609619000000,1791363658238836593,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760605748058561,-0.004796402804868409,0.08786262342187136,0.9999999859520096,9.20442809135023e-05,-7.068948245236173e-05,7.790823054529642e-05,0.6761,-0.0048,0.08783028247787646,1.0,0.0,0.0,0.0,-0.01871611842020276,-0.05029506324491644,0.8529107766838622,-0.0022476908477349028,0.0009812501137753773,0.0002839074180887955,0.037371937475876874,-0.053683605680283256,0.7469540566499788,-0.004226242190700123,-8.589224628021226e-05,-0.0007814693658729551,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8621917085345759,-0.4388688594126396,-0.4090480883583683,0.5093197846070776,0.36682321790466826,-0.3115272440194523,0.5313281633860638,0.8529107766838622,0.9403762517444321,0.9403762517444321,1.6000199999990965,0,0,-0.00029484911414775903,-9.999999025923074e-05
+15454,1791363658807803958,2610186000000,1791363658802836770,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760568806249448,-0.004799032966859296,0.0876847698660589,0.9999999849366757,9.398199467052762e-05,-7.80538994277562e-05,8.151371737756442e-05,0.6761,-0.0048,0.08765665180330555,1.0,0.0,0.0,0.0,-0.02154570351044359,-0.048251334379092146,0.8563321385808267,-0.003259274823652724,0.0010007359422118675,-0.000631717055396041,0.03454235238563604,-0.05163987681445896,0.7503754185469433,-0.005237826166617944,-6.640641784372213e-05,-0.0016970938393577916,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8543952744297367,-0.4500956440474697,-0.48842307105167954,0.5184330772392063,0.41318870463544904,-0.32081829980562204,0.5313281633860638,0.8563321385808267,1.0197512344377433,1.0197512344377433,1.6340399999990676,0,0,-0.00031763198447418004,-9.999999025923074e-05
+15524,1791363659390726653,2610769000000,1791363659390836788,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760579571680422,-0.004802685248910555,0.08749780091145448,0.9999999855684251,8.722047942155662e-05,-7.65312607926491e-05,8.271377301056763e-05,0.6761,-0.0048,0.08746398331078367,1.0,0.0,0.0,0.0,-0.018374931432508554,-0.05554181438443046,0.856104980459228,-0.003262370029642921,0.0010850403660463725,-0.0006288414490076698,0.03771312446357108,-0.058930356819797275,0.7501482604253447,-0.005240921372608141,1.789800599078279e-05,-0.0016942182329694204,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8533369879429725,-0.4306459586710296,-0.46040743252435096,0.5213112008823051,0.39249889476819044,-0.30913441350236903,0.5313281633860638,0.856104980459228,0.9917355959104148,0.9917355959104148,1.6690199999990378,0,0,-0.00034348414359594424,-9.999999025923074e-05
+15589,1791363659932713966,2611311000000,1791363659930847539,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760583558728858,-0.004804928896172801,0.08730547680504473,0.9999999856815536,8.465823270994112e-05,-7.478820200609996e-05,8.555387592355104e-05,0.6761,-0.0048,0.08727107200671747,1.0,0.0,0.0,0.0,-0.025596208700888228,-0.05202460670239413,0.8447897727233089,-0.0032854551410570984,0.002020477253689821,-0.0005884089448452894,0.030491847195191404,-0.05541314913776094,0.7388330526894256,-0.005264006484022319,0.0009533348936342314,-0.00165378572880704,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8155186878723516,-0.43975159013162274,-0.5119215227008392,0.5407388914788012,0.41751709228970524,-0.31068978315102147,0.5313281633860638,0.8447897727233089,1.0432496860869032,1.0432496860869032,1.7015399999990102,0,0,-0.0003686774083480878,-9.999999025923074e-05
+15654,1791363660473794701,2611852000000,1791363660470836204,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760604272526277,-0.004803286872045623,0.08710736326820075,0.9999999852234268,9.440046966337559e-05,-6.979640693652263e-05,8.492951963598405e-05,0.6761,-0.0048,0.08706438403407735,1.0,0.0,0.0,0.0,-0.03670452472770298,-0.05472927009578179,0.8359655161885285,-0.003283667550281238,0.002022914112947834,-0.0006003401135188154,0.01938353116837665,-0.0581178125311486,0.7300087961546452,-0.0052622188932464585,0.0009557717528922443,-0.001665716897480566,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8635834719636806,-0.3816526191777465,-0.46134072792288666,0.5292057571709432,0.40041509270062225,-0.27565431251267547,0.5313281633860638,0.8359655161885285,0.9926688913089505,0.9926688913089505,1.7339999999989826,0,0,-0.0003955284092569108,-9.999999025923074e-05
+15710,1791363660940694406,2612319000000,1791363660938836576,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760573072226025,-0.0048085234057304495,0.08691671723492718,0.9999999842906828,9.653385723519496e-05,-7.41422199335829e-05,8.969751415621723e-05,0.6761,-0.0048,0.08687423171801882,1.0,0.0,0.0,0.0,-0.036865368973087856,-0.062449524831079385,0.8463748682297814,-0.003295417684801893,0.0020162242895622635,0.0003355337220274739,0.019222686922991773,-0.0658380672664462,0.740418148195898,-0.005273969027767113,0.0009490819295066739,-0.0007298430619342767,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8222050382882998,-0.3919612868199397,-0.47524461290655146,0.5350211997673071,0.399039502179946,-0.2816134267263798,0.5313281633860638,0.8463748682297814,1.0065727762926153,1.0065727762926153,1.7620199999989588,0,0,-0.00041887840470797153,-9.999999025923074e-05
+15768,1791363661423786657,2612802000000,1791363661422836882,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760584396473882,-0.004809328504528912,0.0867090725058239,0.9999999854752275,8.501289057472335e-05,-7.145002928715689e-05,9.033333164662221e-05,0.6761,-0.0048,0.08666619264940528,1.0,0.0,0.0,0.0,-0.029700571651193438,-0.059739755702849555,0.8463552199643475,-0.0032874399089122624,0.0020208124995210325,0.0002810851491651206,0.026387484244886194,-0.06312829813821637,0.7403984999304641,-0.005265991251877483,0.0009536701394654431,-0.00078429163479663,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.7901676224346807,-0.4496859271339625,-0.37479050998503194,0.5733156022105325,0.3257161409405039,-0.3194686478082305,0.5313281633860638,0.8463552199643475,0.9061186733710958,0.9061186733710958,1.7909999999989341,0,0,-0.00044264644590982636,-9.999999025923074e-05
+15818,1791363661840699921,2613219000000,1791363661838836610,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760505872176817,-0.004810376179898186,0.08651729647155088,0.999999984277974,8.76296255639931e-05,-8.385421609206625e-05,9.042364459340006e-05,0.6761,-0.0048,0.08647743606796345,1.0,0.0,0.0,0.0,-0.028074470978910426,-0.06330643656913401,0.8427980220104065,-0.0032863722973222194,0.0020219741612038876,-0.000604820361828701,0.028013584917169206,-0.06669497900450082,0.7368413019765232,-0.00526492364028744,0.0009548318011482982,-0.0016701971457904515,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8025800129222691,-0.45599986449944807,-0.36791164024411155,0.5840229892068353,0.324778482917316,-0.31837999696605734,0.5313281633860638,0.8427980220104065,0.8992398036301754,0.8992398036301754,1.8160199999989128,0,0,-0.00046254832325040427,-9.999999025923074e-05
+15870,1791363662273790087,2613652000000,1791363662270835958,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760523536851526,-0.004810060369706937,0.08631947369564147,0.9999999839512453,9.205866178544944e-05,-8.100153107867697e-05,9.22189139813438e-05,0.6761,-0.0048,0.08627266980970812,1.0,0.0,0.0,0.0,-0.03686892306722717,-0.06328704563204512,0.8395412399471465,-0.0032945429271872,0.002017477357427789,0.0004172439567665439,0.01921913282885246,-0.06667558806741193,0.7335845199132631,-0.00527309427015242,0.0009503349973721994,-0.0006481328271952067,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.854481141065795,-0.45073341977793385,-0.38898533501662785,0.590443521710266,0.3518152131171887,-0.314509943443372,0.5313281633860638,0.8395412399471465,0.9203134984026917,0.9203134984026917,1.8419999999988907,0,0,-0.0004833953797342679,-9.999978209241362e-05
+15918,1791363662673679328,2614052000000,1791363662666836858,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760557570889922,-0.00481292812238327,0.08612517914779294,0.9999999849804296,8.324566847186565e-05,-7.341066805829383e-05,9.572375563505178e-05,0.6761,-0.0048,0.08607574311920241,1.0,0.0,0.0,0.0,-0.04636046228072613,-0.05317375507226098,0.8459451225022055,-0.0033135157175522042,0.0030336814595188968,-0.000517386677504563,0.009727593615353504,-0.05656229750762779,0.7399884024683222,-0.0052920670605174245,0.001966539099463307,-0.0015827634614663136,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8703268312174011,-0.4011127635728711,-0.43933492137357566,0.5853822703482174,0.38774452468342135,-0.2787974111201368,0.5313281633860638,0.8459451225022055,0.9706630847596395,0.9706630847596395,1.8659999999988703,0,0,-0.0005009432427164048,-9.999999025923074e-05
+15966,1791363663073778867,2614452000000,1791363663066836850,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760526122147322,-0.004819084842356513,0.08592196260930393,0.9999999853619621,7.406620454301465e-05,-7.708511642022697e-05,9.638994916908654e-05,0.6761,-0.0048,0.08587191835516503,1.0,0.0,0.0,0.0,-0.03710314417500051,-0.045643347316972165,0.8463161491457826,-0.0033189586791115664,0.0030285756031308716,0.00020685275408282894,0.01898491172107912,-0.04903188975233898,0.7403594291118992,-0.005297510022076787,0.001961433243075282,-0.0008585240298789217,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8663227196036661,-0.3654509736922783,-0.43850066749687544,0.5791194101593014,0.38703462830970653,-0.2546633851058515,0.5313281633860638,0.8463161491457826,0.9698288308829393,0.9698288308829393,1.88999999999885,0,0,-0.0005195144054212772,-9.999999025923074e-05
+16010,1791363663440688094,2614819000000,1791363663434837176,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.676053798065176,-0.004817763282103016,0.08573001772658963,0.9999999854622638,7.952042943608305e-05,-7.424031544521824e-05,9.318376295241887e-05,0.6761,-0.0048,0.08567828432459873,1.0,0.0,0.0,0.0,-0.03713970068925078,-0.05299638380816311,0.8460921574507794,-0.0033137539006817024,0.003033037702157811,-0.0005959266683197855,0.018948355206828853,-0.05638492624352992,0.740135437416896,-0.005292305243646923,0.0019658953421022216,-0.001661303452281536,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8857077886929922,-0.4126380880313649,-0.3171541128952801,0.6012253710840515,0.3093664902471565,-0.28068301614774693,0.5313281633860638,0.8460921574507794,0.848482276281344,0.848482276281344,1.9120199999988312,0,0,-0.0005347539117170605,-9.999999025923074e-05
+16052,1791363663790733096,2615169000000,1791363663790836247,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760515153428125,-0.004815740914484512,0.0855357330739905,0.9999999849258472,8.215795096452256e-05,-7.512720859373435e-05,9.590173816728637e-05,0.6761,-0.0048,0.08548829520524373,1.0,0.0,0.0,0.0,-0.037829090266144214,-0.05355323235173145,0.8462047991225583,-0.0033188758637200835,0.00303041781073519,6.890918537770865e-05,0.018258965629935422,-0.05694177478709826,0.740248079088675,-0.005297427206685304,0.0019632754506796004,-0.000996467598584042,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.949314131316087,-0.4523385669441267,-0.4501468198067756,0.6206981644595039,0.41249468306234915,-0.3060781241565937,0.5313281633860638,0.8462047991225583,0.9814749831928394,0.9814749831928394,1.9330199999988134,0,0,-0.0005513729410780696,-9.999999025923074e-05
+16098,1791363664173766975,2615552000000,1791363664170836641,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760506935833918,-0.004817652412811867,0.08532815269557105,0.9999999856517868,7.519198871225076e-05,-7.710387053500087e-05,9.241454703764438e-05,0.6761,-0.0048,0.08527528708386609,1.0,0.0,0.0,0.0,-0.03679889418683559,-0.05317259702216913,0.8459280617273733,-0.0033130306936135696,0.003033895617806103,-0.0005926820431648653,0.01928916170924404,-0.05656113945753594,0.73997134169349,-0.00529158203657879,0.0019667532577505135,-0.001658058827126616,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9840822584403103,-0.48851738887427065,-0.48432609889258127,0.6309572953492699,0.44030252602076103,-0.3269275871432418,0.5313281633860638,0.8459280617273733,1.015654262278645,1.015654262278645,1.9559999999987938,0,0,-0.0005620304782583631,-2.1989539128547614e-05
+16139,1791363664515736654,2615894000000,1791363664510836761,DOWN_FORCE_DETACH,2,0.0525,0.05250181257724762,0.6760510493608994,-0.00481792425713567,0.08513752452748591,0.9999999860644805,7.249909630002289e-05,-7.239030330902651e-05,9.390116247446252e-05,0.6761,-0.0048,0.0850816272087423,1.0,0.0,0.0,0.0,-0.046374113871510934,-0.05291481942897288,0.8498781230436874,-0.0033135290200070468,0.003033200047124467,-0.0005970356394789387,0.009713942024568696,-0.05630336186433969,0.743921403009804,-0.005292080362972267,0.0019660576870688773,-0.0016624124234406892,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0730647799858284,-0.45653074649809505,-0.49079284490602165,0.6340811463885762,0.4641970827419324,-0.3000985455811322,0.5313281633860638,0.8498781230436874,1.0221210082920855,1.0221210082920855,1.9765199999987764,0,0,-0.0005701191813757229,-2.5456703518096082e-05
+16182,1791363664874445084,2616252000000,1791363664870836045,DOWN_FORCE_DETACH,2,0.0525,0.05250246822834015,0.6760481646150498,-0.004821519053932732,0.08493331056629311,0.9999999856056083,7.352626183848984e-05,-7.671997148029876e-05,9.454936559863233e-05,0.6761,-0.0048,0.08487630046220061,1.0,0.0,0.0,0.0,-0.037121997561154835,-0.05314106881602634,0.8460668670781345,-0.003312448723952885,0.003033571051183838,-0.0001870000141442731,0.0189660583349248,-0.05652961125139316,0.7401101470442512,-0.005291000066918105,0.0019664286911282485,-0.0012523767981060237,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.05281463106234,-0.3646852544241215,-0.5431482962104502,0.5974321675665178,0.49086303848191987,-0.2450975852537695,0.5313281633860638,0.8460668670781345,1.074476459596514,1.074476459596514,1.997999999998758,0,0,-0.0005772409707491003,9.341389747697377e-05
+16226,1791363665240685403,2616619000000,1791363665234837109,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760499796679791,-0.004817281498308906,0.0847302504754757,0.999999985959854,7.666498140298927e-05,-6.951181049428862e-05,9.388154835634092e-05,0.6761,-0.0048,0.08466653383819517,1.0,0.0,0.0,0.0,-0.03346064400751521,-0.043098124938311444,0.8459665692592939,-0.0033116880376776237,0.003032943287547824,-0.0005922905698603936,0.022627411888564427,-0.04648666737367826,0.7400098492254106,-0.005290239380642844,0.0019658009274922342,-0.0016576673538221441,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1310526663075238,-0.4353389887370669,-0.4087832104955809,0.6252979368541496,0.42346282721437317,-0.28514032392635547,0.5313281633860638,0.8459665692592939,0.9401113738816447,0.9401113738816447,2.001479999998755,0,0,-0.0005626921009596345,9.999999025923074e-05
+16268,1791363665590791100,2616969000000,1791363665586836862,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760474583052499,-0.004819209547512409,0.08453347939384957,0.9999999863502564,6.969157149314645e-05,-7.331183840942071e-05,9.225405408356921e-05,0.6761,-0.0048,0.08447264535226097,1.0,0.0,0.0,0.0,-0.03709759757285169,-0.04482705004587775,0.8463804439225135,-0.0033203082379837843,0.0030276562480769198,0.00038386219500992087,0.018990458323227943,-0.04821559248124457,0.7404237238886302,-0.0052988595809490046,0.00196051388802133,-0.0006815145889518297,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1531903608265979,-0.3996532031043043,-0.440283136957713,0.6139067551438071,0.44607801401696645,-0.26139048538551224,0.5313281633860638,0.8463804439225135,0.9716113003437767,0.9716113003437767,2.001479999998755,0,0,-0.0005451921043689037,9.999999025923074e-05
+16314,1791363665973690694,2617352000000,1791363665970837315,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760444906662021,-0.004820311339626425,0.08432595502960369,0.9999999848877656,7.552218134335117e-05,-8.011935679451182e-05,9.76965795794774e-05,0.6761,-0.0048,0.08426749442557138,1.0,0.0,0.0,0.0,-0.028951873820470153,-0.04729670668533026,0.8361149115310631,-0.0028301295442180606,0.0030266555325258303,-0.0005778228397289944,0.02713618207560948,-0.05068524912069707,0.7301581914971798,-0.004808680887183281,0.0019595131724702407,-0.001643199623690745,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.189242103031146,-0.39314706556656337,-0.4773797692631823,0.6156800422510338,0.4754243757133789,-0.25384931626613105,0.5313281633860638,0.8361149115310631,1.008707932649246,1.008707932649246,2.001479999998755,0,0,-0.0005260421080996183,9.999999025923074e-05
+16362,1791363666373702543,2617752000000,1791363666370846197,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.676045871539998,-0.004820752748437093,0.08412907144089367,0.9999999862103754,7.088439503612318e-05,-7.568459614765417e-05,9.093600951514769e-05,0.6761,-0.0048,0.08406106758155032,1.0,0.0,0.0,0.0,-0.03761603525602096,-0.04130304597385623,0.8263663235758422,-0.0022966525889461784,0.0030191324046829953,4.7186695360535704e-05,0.018472020640058668,-0.04469158840922304,0.7204096035419588,-0.004275203931911399,0.0019519900446274057,-0.0010181900886012149,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2579201780890659,-0.3909073570306502,-0.641839193975566,0.6108086054282543,0.5949224110859468,-0.2519452253253621,0.5313281633860638,0.8263663235758422,1.17316735736163,1.17316735736163,2.001479999998755,0,0,-0.000506042111995926,9.999999025923074e-05
+16412,1791363666790714724,2618169000000,1791363666786836530,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760446382092782,-0.0048193758453936985,0.08392876988706532,0.9999999865718393,6.848955412734e-05,-7.471165120903416e-05,8.959093668750229e-05,0.6761,-0.0048,0.08385438481999909,1.0,0.0,0.0,0.0,-0.037576230889794546,-0.03169393770995984,0.8364911826405846,-0.0022920891542829165,0.003013495877405386,-0.00016822056628881983,0.01851182500628509,-0.03508248014532665,0.7305344626067013,-0.004270640497248137,0.001946353517349796,-0.0012335973502505704,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2377221082403247,-0.4373269758925388,-0.5494646241836932,0.628595396631446,0.5250806933207235,-0.27922297101225607,0.5313281633860638,0.8364911826405846,1.0807927875697572,1.0807927875697572,2.001479999998755,0,0,-0.0004851921160578269,9.999999025923074e-05
+16463,1791363667215746211,2618594000000,1791363667214837312,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760441094661341,-0.004823425465095462,0.08372739616625026,0.9999999867368058,6.369442402209329e-05,-7.494300533382742e-05,9.108138585464796e-05,0.6761,-0.0048,0.08365268316979273,1.0,0.0,0.0,0.0,-0.0376476649725075,-0.04060388771319619,0.8363838754354983,-0.002289882506359403,0.003016332865668897,-0.0005734855627732853,0.018440390923572133,-0.043992430148563,0.730427155401615,-0.004268433849324623,0.0019491905056133075,-0.001638862346735036,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.361021939357535,-0.4993904682113264,-0.6098269787650076,0.6431373959997978,0.5951602977754828,-0.3172270937074588,0.5313281633860638,0.8363838754354983,1.1411551421510713,1.1411551421510713,2.001479999998755,0,0,-0.0004639421201976538,9.999999025923074e-05
+16518,1791363667673645893,2619052000000,1791363667666836434,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760467529306535,-0.004824586008436626,0.08352407901416042,0.9999999868218986,6.361019536320503e-05,-6.931224403788388e-05,9.459716179376381e-05,0.6761,-0.0048,0.08344543032771834,1.0,0.0,0.0,0.0,-0.03763368029367141,-0.031426250642436475,0.8382493851448172,-0.0022886391761916505,0.003015533616864961,-0.00057433619777365,0.01845437560240822,-0.03481479307780329,0.7322926651109338,-0.004267190519156871,0.0019483912568093716,-0.0016397129817354006,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3775878607569936,-0.46396653944190996,-0.5349854339578263,0.6375287856555867,0.5480030106350361,-0.2907558428000218,0.5313281633860638,0.8382493851448172,1.06631359734389,1.06631359734389,2.001479999998755,0,0,-0.00044104212465892614,9.999999025923074e-05
+16568,1791363668090675001,2619469000000,1791363668086837093,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760437886877548,-0.004823708668485894,0.083340687753795,0.9999999872358581,5.6840481651182816e-05,-7.487843339312576e-05,9.018607394956879e-05,0.6761,-0.0048,0.08326585256088663,1.0,0.0,0.0,0.0,-0.028760492233407143,-0.027383713656593783,0.836372740671701,-0.0022782819223265706,0.0026553199194659484,-0.000574397049075532,0.02732756366267249,-0.030772256091960593,0.7304160206378176,-0.004256833265291791,0.0015881775594103588,-0.0016397738330372826,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4152867069913218,-0.45425108317484686,-0.6270729714489345,0.6265056385458615,0.6144289337627374,-0.2892867915032972,0.5313281633860638,0.836372740671701,1.1584011348349983,1.1584011348349983,2.001479999998755,0,0,-0.0004201921287208269,9.999999025923074e-05
+16626,1791363668573699568,2619952000000,1791363668566837410,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760377063347699,-0.004827951992457721,0.08313686122503448,0.9999999862415297,5.8425673623037976e-05,-8.077268038874099e-05,9.498431226729972e-05,0.6761,-0.0048,0.08306871991157591,1.0,0.0,0.0,0.0,-0.026545534394493468,-0.041061796281319785,0.8263438810396575,-0.002260559989392182,0.002005036357055062,-0.0005797693767982217,0.029542521501586164,-0.0444503387166866,0.7203871610057742,-0.004239111332357402,0.0009378939969994725,-0.0016451461607599723,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.448579175277526,-0.414130948865177,-0.7171837566187704,0.6166510905376029,0.6770584645324866,-0.25926306700150925,0.5313281633860638,0.8263438810396575,1.2485119200048342,1.2485119200048342,2.001479999998755,0,0,-0.00039604213342561847,9.999999025923074e-05
+16686,1791363669073732685,2620452000000,1791363669066838086,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760375908815895,-0.004822815972299452,0.08294585494629465,0.9999999862223488,5.918690592842997e-05,-8.161496884987193e-05,9.398975323826713e-05,0.6761,-0.0048,0.08287693634364307,1.0,0.0,0.0,0.0,-0.027461650374435986,-0.03112777862373804,0.8256784534984859,-0.002259335341653832,0.002004213027975706,-4.1262813450119356e-05,0.028626405521643646,-0.03451632105910485,0.7197217334646026,-0.004237886684619052,0.0009370706679201162,-0.00110663959741187,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.540222247354604,-0.394699790157048,-0.7113306415506312,0.604661125747801,0.6960471193649057,-0.2485562922465049,0.5313281633860638,0.8256784534984859,1.2426588049366951,1.2426588049366951,2.001479999998755,0,0,-0.0003710421382960031,9.999999025923074e-05
+16750,1791363669606761346,2620985000000,1791363669606836375,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760321549698964,-0.00481785416857252,0.08274825017452613,0.9999999859711552,5.4239199115646314e-05,-8.882681038173702e-05,9.310456961890677e-05,0.6761,-0.0048,0.08268625978254508,1.0,0.0,0.0,0.0,-0.01063051638144425,-0.03176955624706815,0.8264622700481769,-0.0022320695831740543,0.0009971286544635596,-0.000593574114285389,0.04545753951463538,-0.03515809868243496,0.7205055500142935,-0.004210620926139275,-7.00137055920299e-05,-0.0016589508982471396,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5050416888092053,-0.41046093452263205,-0.6886245824660303,0.6083353364744752,0.6657070264588978,-0.25174322835531976,0.5313281633860638,0.8264622700481769,1.219952745852094,1.219952745852094,2.001479999998755,0,0,-0.0003443921434878331,9.999999025923074e-05
+16822,1791363670206682497,2621585000000,1791363670202836853,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760312926571833,-0.004815792690124007,0.08254937248328811,0.9999999853967599,5.464681520935601e-05,-9.3439763293605e-05,9.450968572318383e-05,0.6761,-0.0048,0.08248860949469612,1.0,0.0,0.0,0.0,-0.009930820245993656,-0.02858709614985958,0.8168131105473396,-0.0012100574307798502,0.0009738624573792349,-0.0005742762398119803,0.046157235650085976,-0.03197563858522639,0.7108563905134563,-0.0031886087737450705,-9.32799026763547e-05,-0.0016396530237737308,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5801903952143501,-0.4146543479082183,-0.774722199971954,0.6177475106638736,0.7370811674261812,-0.25281477713030776,0.5313281633860638,0.8168131105473396,1.3060503633580178,1.3060503633580178,2.001479999998755,0,0,-0.00031439214933229467,9.999999025923074e-05
+16894,1791363670806707295,2622185000000,1791363670806836545,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760266397789217,-0.004819673900931434,0.08236542085371223,0.9999999845310642,6.0217978930385683e-05,-9.669824203195607e-05,9.697412382758822e-05,0.6761,-0.0048,0.08230895920334048,1.0,0.0,0.0,0.0,-0.009851420658633675,-0.018562004882535007,0.8171005483377934,-0.001208661807863293,0.0009729589726988622,-0.0005744866439189881,0.04623663523744596,-0.021950547317901817,0.7111438283039101,-0.0031872131508285132,-9.418338735672743e-05,-0.0016398634278807387,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5922273269083673,-0.34884055048171647,-0.8638749632142089,0.5842364708546709,0.7955106852066138,-0.2073450750993942,0.5313281633860638,0.8171005483377934,1.3952031266002727,1.3952031266002727,2.001479999998755,0,0,-0.0002843921551767562,9.999999025923074e-05
+16972,1791363671456611924,2622835000000,1791363671454836307,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760271226632132,-0.004820699175329035,0.08218011697875541,0.9999999844566517,5.757592628785578e-05,-0.00010334671465335725,9.237981413424777e-05,0.6761,-0.0048,0.08213465055041469,1.0,0.0,0.0,0.0,-0.00988297706359819,-0.01869860746823265,0.8150000322754081,-0.0012106443073698304,0.0009718876788633948,0.0002271823241180857,0.04620507883248144,-0.02208714990359946,0.7090433122415247,-0.0031891956503350507,-9.525468119219483e-05,-0.0008381944598436649,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6383134406128492,-0.3436055226751565,-0.7710097610940485,0.5841921175918746,0.7459988213240277,-0.20686711925656048,0.5313281633860638,0.8150000322754081,1.3023379244801123,1.3023379244801123,2.001479999998755,0,0,-0.00025189216150825624,9.999999025923074e-05
+17062,1791363672206675415,2623585000000,1791363672206836075,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760186693769006,-0.004821861008358023,0.08199307694224768,0.9999999838448071,5.069950377503008e-05,-0.00011349082592589831,9.111883769554106e-05,0.6761,-0.0048,0.08195977517654025,1.0,0.0,0.0,0.0,-0.00892539632147929,-0.01811569635368855,0.8090935499986307,-0.0011830582279582294,3.9636966471515676e-05,-0.0005768006836434632,0.04716265957460034,-0.02150423878905536,0.7031368299647474,-0.0031616095709234497,-0.001027505393584074,-0.0016421774676052138,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6454005339668034,-0.39907734362558306,-0.8616008006175625,0.6020496674655453,0.8052569340185735,-0.24174006799168646,0.5313281633860638,0.8090935499986307,1.3929289640036262,1.3929289640036262,2.001479999998755,0,0,-0.00021439216881383315,9.999999025923074e-05
+17166,1791363673073707384,2624452000000,1791363673066846227,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760128992142445,-0.004827391796633711,0.08181708339739742,0.9999999827939382,4.697244203201059e-05,-0.00012135402331540133,9.445516667683815e-05,0.6761,-0.0048,0.08179266771251342,1.0,0.0,0.0,0.0,0.005478189697893196,-0.019314397538679137,0.7968647705855165,-0.0011775201063359444,-3.61885395920409e-05,-0.000571561839911695,0.06156624559397283,-0.022702939974045946,0.6909080505516332,-0.0031560714493011647,-0.0011033308996476305,-0.0016369386238734456,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6715059649881907,-0.44294133553892895,-0.734427427923558,0.6142875963039244,0.7274773824314547,-0.26177197315685297,0.5313281633860638,0.7968647705855165,1.2657555913096217,1.2657555913096217,2.001479999998755,0,0,-0.0001710421772590801,9.999999025923074e-05
+17282,1791363674040598360,2625419000000,1791363674034836958,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760119389544135,-0.004827612587883134,0.08167139667461004,0.9999999816857486,4.881392490440901e-05,-0.00012613743173547502,9.888334529198657e-05,0.6761,-0.0048,0.08165062297254494,1.0,0.0,0.0,0.0,0.005544086580566661,-0.00997610341477402,0.7855080432140831,-0.0011726015059305458,-3.2863073677648564e-05,-0.0005562282742544577,0.06163214247664629,-0.01336464585014083,0.6795513231801997,-0.003151152848895766,-0.0011000054337332382,-0.0016216050582162083,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6720190717671937,-0.3061986431094362,-0.7979002569822313,0.5675717508095801,0.7650509968648914,-0.1769756723402525,0.5313281633860638,0.7855080432140831,1.3292284203682951,1.3292284203682951,2.001479999998755,0,0,-0.00012269218667840397,9.999999025923074e-05
+17422,1791363675206686252,2626585000000,1791363675202836419,DOWN_SETTLE,2,0.0525,0.05250246822834015,0.6760181317445673,-0.004832290886021652,0.08156331792649522,0.9999999813713197,5.496545754085946e-05,-0.00012211839335917558,0.00010375992051625891,0.6761,-0.0048,0.08154152362625068,1.0,0.0,0.0,0.0,0.00039217814106127374,-0.00799493268546053,0.7572169766936145,-0.0001493746414356011,-4.754795104547154e-05,-0.00047939730008503246,0.056480234037140906,-0.01138347512082734,0.6512602566597312,-0.0021279259844008214,-0.0011146903111010611,-0.001544774084046783,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6608597830875953,-0.2600053377872453,-0.7873579613362945,0.5529023187073293,0.7528473165291171,-0.14243570294239125,0.5313281633860638,0.7572169766936145,1.3186861247223582,1.3186861247223582,2.001479999998755,0,0,-6.439219803614093e-05,9.999999025923074e-05
+17551,1791363676281677697,2627660000000,1791363676278836740,DOWN_SETTLE,2,0.0525,0.05250181257724762,0.6760116657627163,-0.004834832897644552,0.08150560923566494,0.9999999804200477,5.233581805650897e-05,-0.00013199380689696315,0.00010218300212019452,0.6761,-0.0048,0.08150116575772826,1.0,0.0,0.0,0.0,-0.0005990753214991304,-0.008946366222463292,0.7282577886509611,-0.00014409123988087672,-4.071601422834278e-05,-0.0004433217829762084,0.0554889805745805,-0.012334908657830101,0.6223010686170778,-0.002122642582846097,-0.0011078583742839324,-0.001508698566937959,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.680066782727085,-0.37153355072133804,-0.6748962769505527,0.5838717156945268,0.6895155838581677,-0.22042869666112735,0.5313281633860638,0.7282577886509611,1.2062244403366165,1.2062244403366165,2.001479999998755,0,0,-1.0642208507467882e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b94fa3602d9de7ca83a42345f4b17622e6bb9a29
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46526d9c7e2a54b6291d78a03f2b78b07d8f9a6c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.115000000e+01,DOWN_FORCE_DETACH,1791363648476047725,6.666251342e-05,-9.018945677e-06,-1.365301518e-03,6.319600935e-05,-6.656142833e-06,-1.351736275e-03,6.020040264e-05,-6.615024123e-06,-1.350962585e-03,7.016045340e-01,-7.467984356e-06,8.393756397e-01,7.016010675e-01,-5.105181512e-06,8.393892049e-01,7.017859598e-01,-4.869003495e-06,8.284296934e-01
+15,1.178333333e+01,DOWN_FORCE_DETACH,1791363649478808998,6.271424941e-05,-9.677429246e-06,-1.484146532e-03,6.253905468e-05,-9.453828888e-06,-1.483900415e-03,5.910352295e-05,-9.374713968e-06,-1.482921287e-03,7.016005857e-01,-8.126467925e-06,8.392567947e-01,7.016004105e-01,-7.902867567e-06,8.392570408e-01,7.017848629e-01,-7.628693339e-06,8.282977347e-01
+16,1.250000000e+01,DOWN_FORCE_DETACH,1791363650574602634,7.067749507e-05,-1.473971662e-05,-1.600669959e-03,7.010990961e-05,-1.100218804e-05,-1.598371343e-03,6.639882930e-05,-1.091961574e-05,-1.597433068e-03,7.016085490e-01,-1.318875530e-05,8.391402712e-01,7.016079814e-01,-9.451226715e-06,8.391425698e-01,7.017921582e-01,-9.173595112e-06,8.281832229e-01
+17,1.318333333e+01,DOWN_FORCE_DETACH,1791363651602944920,7.416083248e-05,-1.523224594e-05,-1.728329872e-03,7.399870101e-05,-1.505038085e-05,-1.727948962e-03,6.990657184e-05,-1.500300169e-05,-1.726946510e-03,7.016120323e-01,-1.368128462e-05,8.390126113e-01,7.016118702e-01,-1.349941953e-05,8.390129922e-01,7.017956660e-01,-1.325698106e-05,8.280537095e-01
+18,1.386666667e+01,DOWN_FORCE_DETACH,1791363652624795751,7.140513296e-05,-1.940714623e-05,-1.869632823e-03,7.143233363e-05,-1.955558895e-05,-1.858271904e-03,6.681543320e-05,-1.948300607e-05,-1.857294125e-03,7.016092766e-01,-1.785618491e-05,8.388713084e-01,7.016093038e-01,-1.800462763e-05,8.388826693e-01,7.017925748e-01,-1.773698544e-05,8.279233618e-01
+19,1.453333333e+01,DOWN_FORCE_DETACH,1791363653623616894,7.122822276e-05,-2.607340953e-05,-2.016806919e-03,7.167170992e-05,-2.262140900e-05,-2.007129571e-03,6.654041246e-05,-2.253188164e-05,-2.006034302e-03,7.016090997e-01,-2.452244821e-05,8.387241343e-01,7.016095432e-01,-2.107044768e-05,8.387338116e-01,7.017922998e-01,-2.078586101e-05,8.277746217e-01
+20,1.513333333e+01,DOWN_FORCE_DETACH,1791363654524060216,6.658760129e-05,-2.937561513e-05,-2.164410596e-03,6.639966428e-05,-2.940049439e-05,-2.164122367e-03,6.056727359e-05,-2.929151929e-05,-2.162868150e-03,7.016044591e-01,-2.782465381e-05,8.385765306e-01,7.016042711e-01,-2.784953307e-05,8.385768188e-01,7.017863267e-01,-2.754549866e-05,8.276177878e-01
+21,1.568333333e+01,DOWN_FORCE_DETACH,1791363655344418203,6.409220580e-05,-3.346922660e-05,-2.319665585e-03,6.676610515e-05,-2.873496988e-05,-2.303435677e-03,6.039859258e-05,-2.863548001e-05,-2.302196222e-03,7.016019637e-01,-3.191826528e-05,8.384212756e-01,7.016046376e-01,-2.718400856e-05,8.384375055e-01,7.017861580e-01,-2.688945938e-05,8.274784598e-01
+22,1.618333333e+01,DOWN_FORCE_DETACH,1791363656102466034,6.512718951e-05,-3.914423425e-05,-2.479036136e-03,6.507642544e-05,-3.912459332e-05,-2.478899162e-03,5.800424381e-05,-3.896561339e-05,-2.477356721e-03,7.016029987e-01,-3.759327293e-05,8.382619051e-01,7.016029479e-01,-3.757363200e-05,8.382620420e-01,7.017837637e-01,-3.721959276e-05,8.273032993e-01
+23,1.666666667e+01,DOWN_FORCE_DETACH,1791363656859893559,6.607823591e-05,-3.834700423e-05,-2.653969753e-03,6.486178785e-05,-3.656194649e-05,-2.648748889e-03,5.713142780e-05,-3.632258308e-05,-2.647115709e-03,7.016039497e-01,-3.679604291e-05,8.380869714e-01,7.016027333e-01,-3.501098516e-05,8.380921923e-01,7.017828908e-01,-3.457656245e-05,8.271335403e-01
+24,1.715000000e+01,DOWN_FORCE_DETACH,1791363657580469185,6.388055737e-05,-4.945009811e-05,-2.841116658e-03,6.247538089e-05,-4.315036662e-05,-2.823975809e-03,5.408266352e-05,-4.293703669e-05,-2.822350659e-03,7.016017520e-01,-4.789913679e-05,8.378998245e-01,7.016003469e-01,-4.159940530e-05,8.379169654e-01,7.017798421e-01,-4.119101606e-05,8.269583053e-01
+25,1.758333333e+01,DOWN_FORCE_DETACH,1791363658238515552,5.891837242e-05,-4.848060434e-05,-3.035533826e-03,5.856060042e-05,-4.931062000e-05,-3.028490166e-03,4.930786365e-05,-4.913833306e-05,-3.026606632e-03,7.015967899e-01,-4.692964302e-05,8.377054074e-01,7.015964321e-01,-4.775965868e-05,8.377124510e-01,7.017750673e-01,-4.739231243e-05,8.267540493e-01
+26,1.796666667e+01,DOWN_FORCE_DETACH,1791363658810230919,5.637586366e-05,-5.315441951e-05,-3.215024512e-03,5.590479739e-05,-5.312795463e-05,-3.214808917e-03,4.594023447e-05,-5.295688604e-05,-3.212769643e-03,7.015942473e-01,-5.160345819e-05,8.375259167e-01,7.015937763e-01,-5.157699331e-05,8.375261323e-01,7.017716997e-01,-5.121086542e-05,8.265678863e-01
+27,1.835000000e+01,DOWN_FORCE_DETACH,1791363659384414962,5.561134114e-05,-5.504967152e-05,-3.397135176e-03,5.547899777e-05,-5.508228502e-05,-3.397121735e-03,4.482021408e-05,-5.482470281e-05,-3.394919864e-03,7.015934828e-01,-5.349871020e-05,8.373438060e-01,7.015933505e-01,-5.353132370e-05,8.373438195e-01,7.017705796e-01,-5.307868218e-05,8.263857361e-01
+28,1.870000000e+01,DOWN_FORCE_DETACH,1791363659937106773,5.634247499e-05,-5.462504005e-05,-3.592658780e-03,5.624900973e-05,-5.462049331e-05,-3.585690682e-03,4.492630870e-05,-5.438188082e-05,-3.583396200e-03,7.015942140e-01,-5.307407873e-05,8.371482824e-01,7.015941205e-01,-5.306953199e-05,8.371552505e-01,7.017706857e-01,-5.263586020e-05,8.261972598e-01
+29,1.905000000e+01,DOWN_FORCE_DETACH,1791363660471231308,5.680402723e-05,-5.450739314e-05,-3.792432183e-03,5.847010060e-05,-5.530931165e-05,-3.780871227e-03,4.652494167e-05,-5.505269692e-05,-3.778483797e-03,7.015946755e-01,-5.295643181e-05,8.369485090e-01,7.015963416e-01,-5.375835032e-05,8.369600700e-01,7.017722844e-01,-5.330667629e-05,8.260021722e-01
+30,1.936666667e+01,DOWN_FORCE_DETACH,1791363660943802231,5.687370113e-05,-5.848280315e-05,-3.986982808e-03,5.715631328e-05,-5.754357495e-05,-3.968076131e-03,4.453726229e-05,-5.729479352e-05,-3.965631991e-03,7.015947452e-01,-5.693184183e-05,8.367539584e-01,7.015950278e-01,-5.599261363e-05,8.367728651e-01,7.017702967e-01,-5.554877289e-05,8.258150240e-01
+31,1.965000000e+01,DOWN_FORCE_DETACH,1791363661421276955,5.539136407e-05,-5.792840160e-05,-4.191944745e-03,5.534382070e-05,-5.808643253e-05,-4.191900011e-03,4.195058422e-05,-5.780688278e-05,-4.189086517e-03,7.015932628e-01,-5.637744028e-05,8.365489964e-01,7.015932153e-01,-5.653547121e-05,8.365490412e-01,7.017677100e-01,-5.606086215e-05,8.255915695e-01
+32,1.993333333e+01,DOWN_FORCE_DETACH,1791363661842591307,5.039705782e-05,-6.185490919e-05,-4.383193156e-03,4.818552071e-05,-5.971745521e-05,-4.373105654e-03,3.397726835e-05,-5.943007594e-05,-4.370387094e-03,7.015882685e-01,-6.030394787e-05,8.363577480e-01,7.015860570e-01,-5.816649389e-05,8.363678355e-01,7.017597367e-01,-5.768405531e-05,8.254102689e-01
+33,2.021666667e+01,DOWN_FORCE_DETACH,1791363662271149178,5.276073082e-05,-6.185708913e-05,-4.571358224e-03,5.143376066e-05,-5.942446980e-05,-4.554503469e-03,3.666017783e-05,-5.914456676e-05,-4.551832545e-03,7.015906322e-01,-6.030612781e-05,8.361695830e-01,7.015893052e-01,-5.787350848e-05,8.361864377e-01,7.017624196e-01,-5.739854614e-05,8.252288234e-01
+34,2.048333333e+01,DOWN_FORCE_DETACH,1791363662670362220,5.235019570e-05,-6.937482407e-05,-4.772339183e-03,4.963363910e-05,-6.711410725e-05,-4.764369609e-03,3.409833307e-05,-6.683422108e-05,-4.761560232e-03,7.015902217e-01,-6.782386275e-05,8.359686020e-01,7.015875051e-01,-6.556314593e-05,8.359765716e-01,7.017598577e-01,-6.508820045e-05,8.250190957e-01
+35,2.075000000e+01,DOWN_FORCE_DETACH,1791363663070401535,5.525225037e-05,-6.663042205e-05,-4.969427634e-03,5.257572509e-05,-6.315048488e-05,-4.961035050e-03,3.640711194e-05,-6.293974433e-05,-4.958197238e-03,7.015931237e-01,-6.507946073e-05,8.357715136e-01,7.015904472e-01,-6.159952355e-05,8.357799061e-01,7.017621665e-01,-6.119372370e-05,8.248224587e-01
+36,2.100000000e+01,DOWN_FORCE_DETACH,1791363663441510352,5.126985609e-05,-7.206120991e-05,-5.175601982e-03,5.115770564e-05,-7.208594181e-05,-5.175250996e-03,3.421693151e-05,-7.181383974e-05,-5.172201756e-03,7.015891413e-01,-7.051024858e-05,8.355653392e-01,7.015890292e-01,-7.053498049e-05,8.355656902e-01,7.017599763e-01,-7.006781911e-05,8.246084542e-01
+37,2.123333333e+01,DOWN_FORCE_DETACH,1791363663790553433,4.809025229e-05,-7.005039490e-05,-5.370700681e-03,4.794912697e-05,-7.000976491e-05,-5.370510329e-03,3.021430236e-05,-6.975967516e-05,-5.367377529e-03,7.015859617e-01,-6.849943358e-05,8.353702405e-01,7.015858206e-01,-6.845880359e-05,8.353704309e-01,7.017559737e-01,-6.801365453e-05,8.244132784e-01
+38,2.148333333e+01,DOWN_FORCE_DETACH,1791363664170690929,4.867937421e-05,-6.660641754e-05,-5.571408734e-03,4.848514559e-05,-6.687528940e-05,-5.570880588e-03,3.002573485e-05,-6.662436807e-05,-5.567729555e-03,7.015865509e-01,-6.505545621e-05,8.351695325e-01,7.015863566e-01,-6.532432808e-05,8.351700606e-01,7.017557852e-01,-6.487834744e-05,8.242129264e-01
+39,2.171666667e+01,DOWN_FORCE_DETACH,1791363664514215798,4.782634236e-05,-6.895111461e-05,-5.761125577e-03,5.020840961e-05,-6.681687690e-05,-5.750374234e-03,3.119448467e-05,-6.655992029e-05,-5.747253837e-03,7.015856978e-01,-6.740015328e-05,8.349798156e-01,7.015880799e-01,-6.526591557e-05,8.349905670e-01,7.017569539e-01,-6.481389966e-05,8.240334021e-01
+40,2.195000000e+01,DOWN_FORCE_DETACH,1791363664870773880,4.649427471e-05,-6.984405568e-05,-5.961848660e-03,4.594809608e-05,-6.693950863e-05,-5.951122813e-03,2.610476445e-05,-6.662268527e-05,-5.948008308e-03,7.015843658e-01,-6.829309436e-05,8.347790925e-01,7.015838196e-01,-6.538854731e-05,8.347898184e-01,7.017518642e-01,-6.487666464e-05,8.238326477e-01
+41,2.220000000e+01,DOWN_SETTLE,1791363665242267799,4.729004926e-05,-6.985151927e-05,-6.171845664e-03,4.510900972e-05,-6.599303286e-05,-6.156148358e-03,2.457420432e-05,-6.569251718e-05,-6.153103758e-03,7.015851615e-01,-6.830055795e-05,8.345690955e-01,7.015829805e-01,-6.444207154e-05,8.345847928e-01,7.017503336e-01,-6.394649655e-05,8.236275522e-01
+42,2.243333333e+01,DOWN_SETTLE,1791363665591174810,4.704873761e-05,-6.531596443e-05,-6.368384878e-03,4.710627563e-05,-6.542504506e-05,-6.368258632e-03,2.580440538e-05,-6.515708081e-05,-6.365157277e-03,7.015849202e-01,-6.376500311e-05,8.343725563e-01,7.015849778e-01,-6.387408374e-05,8.343726826e-01,7.017515638e-01,-6.341106018e-05,8.234154987e-01
+43,2.268333333e+01,DOWN_SETTLE,1791363665970581747,4.066094634e-05,-6.973046473e-05,-6.573526235e-03,4.561343137e-05,-7.044668514e-05,-6.554859125e-03,2.370184920e-05,-7.014992479e-05,-6.551883339e-03,7.015785324e-01,-6.817950341e-05,8.341674150e-01,7.015834849e-01,-6.889572382e-05,8.341860821e-01,7.017494613e-01,-6.840390416e-05,8.232287726e-01
+44,2.295000000e+01,DOWN_SETTLE,1791363666370372710,4.589607872e-05,-7.160346068e-05,-6.767563946e-03,4.381888826e-05,-7.233636664e-05,-6.755533149e-03,2.112921541e-05,-7.203808452e-05,-6.752652224e-03,7.015837676e-01,-7.005249936e-05,8.339733772e-01,7.015816904e-01,-7.078540532e-05,8.339854080e-01,7.017468886e-01,-7.029206389e-05,8.230280037e-01
+45,2.323333333e+01,DOWN_SETTLE,1791363666791149926,4.390355880e-05,-7.140001438e-05,-6.973161847e-03,4.674066469e-05,-7.168501472e-05,-6.954041173e-03,2.341648210e-05,-7.139815787e-05,-6.951217496e-03,7.015817750e-01,-6.984905306e-05,8.337677793e-01,7.015846121e-01,-7.013405339e-05,8.337869000e-01,7.017491759e-01,-6.965213724e-05,8.228294385e-01
+46,2.351666667e+01,DOWN_SETTLE,1791363667214789534,4.278875348e-05,-7.321037567e-05,-7.167954584e-03,4.373769587e-05,-7.517642915e-05,-7.154659445e-03,1.969695628e-05,-7.488109546e-05,-7.151897966e-03,7.015806602e-01,-7.165941435e-05,8.335729866e-01,7.015816092e-01,-7.362546783e-05,8.335862817e-01,7.017454564e-01,-7.313507484e-05,8.226287580e-01
+47,2.381666667e+01,DOWN_SETTLE,1791363667671000065,4.356061798e-05,-7.685701708e-05,-7.376501341e-03,4.349710845e-05,-7.657345974e-05,-7.375958832e-03,1.869508597e-05,-7.622425708e-05,-7.373155893e-03,7.015814321e-01,-7.530605576e-05,8.333644398e-01,7.015813686e-01,-7.502249842e-05,8.333649824e-01,7.017444545e-01,-7.447823646e-05,8.224075001e-01
+48,2.410000000e+01,DOWN_SETTLE,1791363668092129097,4.161533227e-05,-7.754919677e-05,-7.563157715e-03,4.453974141e-05,-7.177586838e-05,-7.544953999e-03,1.921486510e-05,-7.146382418e-05,-7.542356755e-03,7.015794868e-01,-7.599823545e-05,8.331777835e-01,7.015824112e-01,-7.022490706e-05,8.331959872e-01,7.017449743e-01,-6.971780355e-05,8.222382992e-01
+49,2.441666667e+01,DOWN_SETTLE,1791363668570320322,3.627751967e-05,-7.672231789e-05,-7.761759869e-03,3.992783038e-05,-7.493618681e-05,-7.748678249e-03,1.381630690e-05,-7.462557840e-05,-7.746225456e-03,7.015741490e-01,-7.517135657e-05,8.329791813e-01,7.015777993e-01,-7.338522549e-05,8.329922629e-01,7.017395757e-01,-7.287955777e-05,8.220344305e-01
+50,2.475000000e+01,DOWN_SETTLE,1791363669070375671,3.482245967e-05,-7.102445816e-05,-7.952490569e-03,3.458410310e-05,-7.104057850e-05,-7.952642328e-03,7.639243567e-06,-7.079344099e-05,-7.950177309e-03,7.015726939e-01,-6.947349684e-05,8.327884506e-01,7.015724556e-01,-6.948961718e-05,8.327882989e-01,7.017333987e-01,-6.904742037e-05,8.218304787e-01
+51,2.511666667e+01,DOWN_SETTLE,1791363669610829044,3.215721838e-05,-6.698087741e-05,-8.146736652e-03,3.117208373e-05,-6.549997706e-05,-8.146998669e-03,3.433259552e-06,-6.524900253e-05,-8.144722960e-03,7.015700287e-01,-6.542991609e-05,8.325942045e-01,7.015690436e-01,-6.394901574e-05,8.325939425e-01,7.017291927e-01,-6.350298190e-05,8.216359330e-01
+52,2.550000000e+01,DOWN_SETTLE,1791363670206371618,3.004505687e-05,-6.709662012e-05,-8.349417177e-03,2.972269122e-05,-6.715747772e-05,-8.349454743e-03,1.244379323e-06,-6.689154403e-05,-8.347288924e-03,7.015679165e-01,-6.554565880e-05,8.323915240e-01,7.015675942e-01,-6.560651640e-05,8.323914864e-01,7.017270038e-01,-6.514552340e-05,8.214333670e-01
+53,2.590000000e+01,DOWN_SETTLE,1791363670809992719,2.483606572e-05,-6.764760641e-05,-8.535541206e-03,2.519428529e-05,-6.468483646e-05,-8.527473904e-03,-3.962761444e-06,-6.444353226e-05,-8.525432405e-03,7.015627075e-01,-6.609664509e-05,8.322054000e-01,7.015630658e-01,-6.313387513e-05,8.322134673e-01,7.017217967e-01,-6.269751163e-05,8.212552236e-01
+54,2.633333333e+01,DOWN_SETTLE,1791363671458626667,2.372785603e-05,-6.921319880e-05,-8.724161809e-03,2.550570849e-05,-6.624262874e-05,-8.713404410e-03,-4.348077405e-06,-6.590509117e-05,-8.711498641e-03,7.015615993e-01,-6.766223748e-05,8.320167794e-01,7.015633772e-01,-6.469166742e-05,8.320275368e-01,7.017214113e-01,-6.415907054e-05,8.210691573e-01
+55,2.683333333e+01,DOWN_SETTLE,1791363672208822847,1.831809908e-05,-7.383902554e-05,-8.906812395e-03,1.581546982e-05,-7.072995879e-05,-8.892158992e-03,-1.490531501e-05,-7.044503954e-05,-8.890567759e-03,7.015561896e-01,-7.228806422e-05,8.318341288e-01,7.015536870e-01,-6.917899747e-05,8.318487822e-01,7.017108541e-01,-6.869901891e-05,8.208900882e-01
+56,2.738333333e+01,DOWN_SETTLE,1791363673070353917,9.626821416e-06,-8.317663398e-05,-9.081331364e-03,1.168573146e-05,-8.094582546e-05,-9.063078964e-03,-1.973197981e-05,-8.066827655e-05,-9.061779040e-03,7.015474983e-01,-8.162567266e-05,8.316596098e-01,7.015495572e-01,-7.939486414e-05,8.316778622e-01,7.017060274e-01,-7.892225592e-05,8.207188769e-01
+57,2.801666667e+01,DOWN_SETTLE,1791363674038335491,9.447498997e-06,-8.257962182e-05,-9.227072298e-03,5.712383588e-06,-8.267872162e-05,-9.215459741e-03,-2.638093896e-05,-8.240342330e-05,-9.214423109e-03,7.015473190e-01,-8.102866050e-05,8.315138689e-01,7.015435839e-01,-8.112776029e-05,8.315254814e-01,7.016993785e-01,-8.065740267e-05,8.205662329e-01
+58,2.878333333e+01,DOWN_SETTLE,1791363675206361291,1.650890645e-05,-8.363806227e-05,-9.335645628e-03,1.644549735e-05,-8.499604943e-05,-9.319890399e-03,-1.567908094e-05,-8.472023019e-05,-9.319276318e-03,7.015543804e-01,-8.208710094e-05,8.314052956e-01,7.015543170e-01,-8.344508811e-05,8.314210508e-01,7.017100803e-01,-8.297420956e-05,8.204613797e-01
+59,2.950000000e+01,DOWN_SETTLE,1791363676281626732,1.011322849e-05,-8.152544455e-05,-9.392294401e-03,1.118379798e-05,-8.791693458e-05,-9.386877339e-03,-2.130149949e-05,-8.758314581e-05,-9.386631128e-03,7.015479847e-01,-7.997448323e-05,8.313486468e-01,7.015490553e-01,-8.636597326e-05,8.313540638e-01,7.017044579e-01,-8.583712518e-05,8.203940248e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fd19f017105a75fa0451a7db329a42b295ebb1b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,2.9923e-03,1.8449e-04,2.4542e+00,-3.6755e-02,3.7000e-02,2.8971e-05,5.4439e-05,2.6146e-06,2.3842e-06,1.2666e-07,3.9004e-06,5.5826e-07,5.4554e-05,3.9422e-06
+1,8.5000e-01,DOWN_FORCE_DETACH,2.1089e-04,5.0334e-03,1.0843e-03,2.4596e+00,-3.6805e-02,3.7140e-02,5.2308e-05,2.0955e-03,9.0245e-04,5.4536e-03,-4.9748e-05,1.4380e-04,2.3895e-05,5.9116e-03,1.5403e-04
+2,1.6667e+00,DOWN_FORCE_DETACH,4.1475e-04,5.6162e-03,2.1579e-03,2.4723e+00,-3.6875e-02,3.7167e-02,6.8871e-05,2.6783e-03,1.9760e-03,1.8140e-02,-1.2069e-04,1.7022e-04,4.0458e-05,1.8443e-02,2.1255e-04
+3,2.4333e+00,DOWN_FORCE_DETACH,6.2123e-04,5.2545e-03,2.9800e-03,2.4826e+00,-3.6937e-02,3.7125e-02,8.0103e-05,2.3166e-03,2.7981e-03,2.8418e-02,-1.8196e-04,1.2837e-04,5.1690e-05,2.8649e-02,2.2860e-04
+4,3.1500e+00,DOWN_FORCE_DETACH,8.2956e-04,4.0613e-03,3.0892e-03,2.4894e+00,-3.6956e-02,3.7028e-02,8.1659e-05,1.1234e-03,2.9074e-03,3.5198e-02,-2.0165e-04,3.1028e-05,5.3246e-05,3.5335e-02,2.1086e-04
+5,4.0667e+00,DOWN_FORCE_DETACH,1.0391e-03,4.3627e-03,4.7513e-03,2.4883e+00,-3.7096e-02,3.7048e-02,6.9194e-05,1.4248e-03,4.5694e-03,3.4099e-02,-3.4160e-04,5.1536e-05,4.0781e-05,3.4433e-02,3.4786e-04
+6,4.8333e+00,DOWN_FORCE_DETACH,1.2443e-03,5.4136e-03,5.0907e-03,2.4859e+00,-3.7130e-02,3.7127e-02,4.4751e-05,2.4757e-03,4.9089e-03,3.1777e-02,-3.7519e-04,1.3068e-04,1.6338e-05,3.2249e-02,3.9763e-04
+7,5.6500e+00,DOWN_FORCE_DETACH,1.4537e-03,6.8880e-03,8.0226e-03,2.4856e+00,-3.7325e-02,3.7236e-02,1.2112e-05,3.9501e-03,7.8407e-03,3.1415e-02,-5.7047e-04,2.3925e-04,-1.6301e-05,3.2618e-02,6.1883e-04
+8,6.4667e+00,DOWN_FORCE_DETACH,1.6604e-03,9.4870e-03,7.5709e-03,2.4871e+00,-3.7285e-02,3.7420e-02,-1.8405e-05,6.5490e-03,7.3890e-03,3.2908e-02,-5.3067e-04,4.2317e-04,-4.6818e-05,3.4357e-02,6.8035e-04
+9,7.2833e+00,DOWN_FORCE_DETACH,1.8702e-03,1.0731e-02,4.6291e-03,2.4837e+00,-3.7089e-02,3.7510e-02,-3.6562e-05,7.7929e-03,4.4473e-03,2.9559e-02,-3.3464e-04,5.1367e-04,-6.4976e-05,3.0891e-02,6.1649e-04
+10,7.9833e+00,DOWN_FORCE_DETACH,2.0788e-03,1.0335e-02,3.7415e-03,2.4837e+00,-3.7032e-02,3.7481e-02,-3.9098e-05,7.3974e-03,3.5596e-03,2.9516e-02,-2.7698e-04,4.8478e-04,-6.7511e-05,3.0637e-02,5.6239e-04
+11,8.8000e+00,DOWN_FORCE_DETACH,2.2836e-03,9.0432e-03,3.2960e-03,2.4838e+00,-3.6996e-02,3.7388e-02,-4.0804e-05,6.1053e-03,3.1142e-03,2.9652e-02,-2.4140e-04,3.9174e-04,-6.9217e-05,3.0434e-02,4.6532e-04
+12,9.5667e+00,DOWN_FORCE_DETACH,2.4881e-03,9.1107e-03,2.9306e-03,2.4837e+00,-3.6979e-02,3.7392e-02,-4.9267e-05,6.1728e-03,2.7487e-03,2.9593e-02,-2.2468e-04,3.9511e-04,-7.7680e-05,3.0355e-02,4.6112e-04
+13,1.0417e+01,DOWN_FORCE_DETACH,2.7009e-03,1.0874e-02,3.0625e-03,2.4886e+00,-3.7013e-02,3.7510e-02,-6.5751e-05,7.9356e-03,2.8807e-03,3.4427e-02,-2.5843e-04,5.1318e-04,-9.4164e-05,3.5447e-02,5.8224e-04
+14,1.1150e+01,DOWN_FORCE_DETACH,2.9082e-03,1.0914e-02,2.4192e-03,2.4891e+00,-3.6956e-02,3.7513e-02,-7.3244e-05,7.9764e-03,2.2373e-03,3.4977e-02,-2.0108e-04,5.1650e-04,-1.0166e-04,3.5945e-02,5.6351e-04
+15,1.1783e+01,DOWN_FORCE_DETACH,3.1130e-03,1.0340e-02,3.0773e-03,2.4920e+00,-3.6955e-02,3.7474e-02,-6.3342e-05,7.4021e-03,2.8954e-03,3.7847e-02,-1.9994e-04,4.7700e-04,-9.1755e-05,3.8673e-02,5.2528e-04
+16,1.2500e+01,DOWN_FORCE_DETACH,3.3239e-03,1.0058e-02,4.1707e-03,2.4979e+00,-3.7005e-02,3.7450e-02,-3.7009e-05,7.1204e-03,3.9888e-03,4.3701e-02,-2.5006e-04,4.5319e-04,-6.5423e-05,4.4457e-02,5.2172e-04
+17,1.3183e+01,DOWN_FORCE_DETACH,3.5296e-03,9.2624e-03,3.5780e-03,2.4946e+00,-3.6994e-02,3.7387e-02,-1.0269e-05,6.3245e-03,3.3962e-03,4.0408e-02,-2.3926e-04,3.9091e-04,-3.8682e-05,4.1041e-02,4.5995e-04
+18,1.3867e+01,DOWN_FORCE_DETACH,3.7390e-03,9.5081e-03,5.8824e-03,2.5007e+00,-3.7190e-02,3.7391e-02,6.9124e-06,6.5702e-03,5.7005e-03,4.6597e-02,-4.3528e-04,3.9403e-04,-2.1501e-05,4.7401e-02,5.8753e-04
+19,1.4533e+01,DOWN_FORCE_DETACH,3.9463e-03,9.2610e-03,7.3801e-03,2.5058e+00,-3.7311e-02,3.7365e-02,8.7531e-06,6.3231e-03,7.1983e-03,5.1629e-02,-5.5581e-04,3.6844e-04,-1.9660e-05,5.2511e-02,6.6713e-04
+20,1.5133e+01,DOWN_FORCE_DETACH,4.1545e-03,9.7075e-03,8.7459e-03,2.5066e+00,-3.7384e-02,3.7394e-02,6.8390e-06,6.7696e-03,8.5640e-03,5.2408e-02,-6.2934e-04,3.9791e-04,-2.1574e-05,5.3533e-02,7.4490e-04
+21,1.5683e+01,DOWN_FORCE_DETACH,4.3631e-03,9.3432e-03,1.0391e-02,2.5142e+00,-3.7454e-02,3.7361e-02,8.9467e-06,6.4053e-03,1.0209e-02,6.0089e-02,-6.9948e-04,3.6439e-04,-1.9466e-05,6.1285e-02,7.8894e-04
+22,1.6183e+01,DOWN_FORCE_DETACH,4.5711e-03,8.4950e-03,1.1973e-02,2.5216e+00,-3.7539e-02,3.7291e-02,1.7849e-05,5.5571e-03,1.1791e-02,6.7430e-02,-7.8399e-04,2.9452e-04,-1.0564e-05,6.8679e-02,8.3755e-04
+23,1.6667e+01,DOWN_FORCE_DETACH,4.7762e-03,8.5620e-03,1.4697e-02,2.5320e+00,-3.7697e-02,3.7284e-02,2.2561e-05,5.6241e-03,1.4515e-02,7.7822e-02,-9.4203e-04,2.8732e-04,-5.8521e-06,7.9363e-02,9.8488e-04
+24,1.7150e+01,DOWN_FORCE_DETACH,4.9783e-03,8.1518e-03,1.7239e-02,2.5339e+00,-3.7877e-02,3.7254e-02,2.2919e-05,5.2139e-03,1.7057e-02,7.9751e-02,-1.1225e-03,2.5736e-04,-5.4937e-06,8.1721e-02,1.1517e-03
+25,1.7583e+01,DOWN_FORCE_DETACH,5.1953e-03,9.0470e-03,1.7826e-02,2.5420e+00,-3.7914e-02,3.7307e-02,2.5270e-05,6.1090e-03,1.7644e-02,8.7863e-02,-1.1595e-03,3.1003e-04,-3.1429e-06,8.9825e-02,1.2002e-03
+26,1.7967e+01,DOWN_FORCE_DETACH,5.4008e-03,8.7960e-03,1.8653e-02,2.5451e+00,-3.7917e-02,3.7289e-02,3.3509e-05,5.8581e-03,1.8471e-02,9.0955e-02,-1.1620e-03,2.9237e-04,5.0960e-06,9.2997e-02,1.1982e-03
+27,1.8350e+01,DOWN_FORCE_DETACH,5.6013e-03,7.9825e-03,1.9990e-02,2.5509e+00,-3.7967e-02,3.7226e-02,5.2112e-05,5.0446e-03,1.9808e-02,9.6792e-02,-1.2122e-03,2.2902e-04,2.3698e-05,9.8926e-02,1.2339e-03
+28,1.8700e+01,DOWN_FORCE_DETACH,5.8113e-03,7.1780e-03,2.0367e-02,2.5616e+00,-3.7983e-02,3.7152e-02,6.1012e-05,4.2401e-03,2.0185e-02,1.0740e-01,-1.2282e-03,1.5506e-04,3.2599e-05,1.0936e-01,1.2383e-03
+29,1.9050e+01,DOWN_FORCE_DETACH,6.0217e-03,6.6163e-03,2.1207e-02,2.5649e+00,-3.8035e-02,3.7108e-02,5.4326e-05,3.6784e-03,2.1025e-02,1.1077e-01,-1.2800e-03,1.1192e-04,2.5913e-05,1.1280e-01,1.2851e-03
+30,1.9367e+01,DOWN_FORCE_DETACH,6.2347e-03,8.4691e-03,2.1088e-02,2.5698e+00,-3.8006e-02,3.7231e-02,3.9116e-05,5.5312e-03,2.0906e-02,1.1564e-01,-1.2510e-03,2.3444e-04,1.0703e-05,1.1765e-01,1.2728e-03
+31,1.9650e+01,DOWN_FORCE_DETACH,6.4462e-03,9.8779e-03,2.1536e-02,2.5779e+00,-3.8015e-02,3.7316e-02,2.5622e-05,6.9400e-03,2.1354e-02,1.2376e-01,-1.2599e-03,3.1957e-04,-2.7907e-06,1.2578e-01,1.2998e-03
+32,1.9933e+01,DOWN_FORCE_DETACH,6.6494e-03,1.2078e-02,2.3077e-02,2.5804e+00,-3.8085e-02,3.7460e-02,9.8926e-06,9.1399e-03,2.2895e-02,1.2624e-01,-1.3307e-03,4.6304e-04,-1.8521e-05,1.2862e-01,1.4091e-03
+33,2.0217e+01,DOWN_FORCE_DETACH,6.8489e-03,1.1661e-02,2.2555e-02,2.5812e+00,-3.8048e-02,3.7433e-02,-2.9446e-06,8.7226e-03,2.2373e-02,1.2701e-01,-1.2935e-03,4.3679e-04,-3.1358e-05,1.2926e-01,1.3656e-03
+34,2.0483e+01,DOWN_FORCE_DETACH,7.0609e-03,1.2409e-02,2.3149e-02,2.5844e+00,-3.8072e-02,3.7484e-02,-8.8285e-06,9.4710e-03,2.2968e-02,1.3024e-01,-1.3168e-03,4.8782e-04,-3.7242e-05,1.3258e-01,1.4047e-03
+35,2.0750e+01,DOWN_FORCE_DETACH,7.2636e-03,1.1114e-02,2.1388e-02,2.5871e+00,-3.7936e-02,3.7396e-02,-2.6546e-07,8.1763e-03,2.1206e-02,1.3295e-01,-1.1814e-03,3.9969e-04,-2.8679e-05,1.3488e-01,1.2476e-03
+36,2.1000e+01,DOWN_FORCE_DETACH,7.4804e-03,1.1040e-02,2.2008e-02,2.5899e+00,-3.7990e-02,3.7379e-02,9.8958e-06,8.1023e-03,2.1826e-02,1.3571e-01,-1.2354e-03,3.8237e-04,-1.8517e-05,1.3769e-01,1.2934e-03
+37,2.1233e+01,DOWN_FORCE_DETACH,7.6848e-03,1.1720e-02,2.4556e-02,2.5946e+00,-3.8161e-02,3.7413e-02,1.3919e-05,8.7821e-03,2.4374e-02,1.4045e-01,-1.4066e-03,4.1610e-04,-1.4494e-05,1.4282e-01,1.4669e-03
+38,2.1483e+01,DOWN_FORCE_DETACH,7.8946e-03,1.0710e-02,2.2809e-02,2.5951e+00,-3.8019e-02,3.7339e-02,1.5487e-05,7.7724e-03,2.2628e-02,1.4094e-01,-1.2638e-03,3.4269e-04,-1.2926e-05,1.4296e-01,1.3095e-03
+39,2.1717e+01,DOWN_FORCE_DETACH,8.0923e-03,9.2121e-03,2.3092e-02,2.5967e+00,-3.8015e-02,3.7233e-02,1.7534e-05,6.2742e-03,2.2910e-02,1.4255e-01,-1.2604e-03,2.3643e-04,-1.0880e-05,1.4451e-01,1.2824e-03
+40,2.1950e+01,DOWN_FORCE_DETACH,8.2999e-03,9.7684e-03,2.5056e-02,2.5994e+00,-3.8109e-02,3.7265e-02,1.7224e-05,6.8305e-03,2.4874e-02,1.4521e-01,-1.3544e-03,2.6843e-04,-1.1190e-05,1.4748e-01,1.3808e-03
+41,2.2200e+01,DOWN_SETTLE,8.5147e-03,9.7287e-03,2.3710e-02,2.5974e+00,-3.8033e-02,3.7268e-02,1.6720e-05,6.7908e-03,2.3529e-02,1.4326e-01,-1.2780e-03,2.7126e-04,-1.1693e-05,1.4533e-01,1.3065e-03
+42,2.2433e+01,DOWN_SETTLE,8.7205e-03,9.3773e-03,2.3277e-02,2.5948e+00,-3.7985e-02,3.7248e-02,2.1005e-05,6.4393e-03,2.3095e-02,1.4061e-01,-1.2301e-03,2.5196e-04,-7.4085e-06,1.4264e-01,1.2557e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9085921210ebadf5aae1b1e0eddea267cb3ec2f7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..348a4cbb5fb55412c22245c8180e5aa4c4cb99e9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a77bf91e009ce11a018a142d06a465e3609ee76
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,9.500000000e+00,UP_FORCE_RAMP,1791363624605040705,-8.446452033e-05,-8.485490187e-06,9.980903266e-04,-8.223447505e-05,-7.520881000e-06,9.917305650e-04,-8.084941164e-05,-7.502717209e-06,9.914068422e-04,7.014534070e-01,-6.934528866e-06,8.417390315e-01,7.014556370e-01,-5.969919679e-06,8.417326718e-01,7.016449100e-01,-5.756689609e-06,8.307720628e-01
+53,9.733333333e+00,UP_FORCE_RAMP,1791363624970609605,-8.683466349e-05,-1.303680381e-05,1.006089047e-03,-8.223447505e-05,-7.520881000e-06,9.917305650e-04,-8.085679846e-05,-7.503292383e-06,9.914707784e-04,7.014510368e-01,-1.148584249e-05,8.417470302e-01,7.014556370e-01,-5.969919679e-06,8.417326718e-01,7.016449026e-01,-5.757264783e-06,8.307721268e-01
+54,1.000000000e+01,UP_FORCE_HOLD,1791363625369259206,-8.570438973e-05,-1.193651079e-05,1.017723265e-03,-8.520200917e-05,-9.751228783e-06,1.011576045e-03,-8.379753195e-05,-9.684848071e-06,1.011270645e-03,7.014521671e-01,-1.038554947e-05,8.417586645e-01,7.014526695e-01,-8.200267462e-06,8.417525172e-01,7.016419619e-01,-7.938820471e-06,8.307919266e-01
+55,1.023333333e+01,UP_FORCE_HOLD,1791363625718416315,-8.699457260e-05,-7.226207334e-06,1.024150167e-03,-8.520200917e-05,-9.751228783e-06,1.011576045e-03,-8.380633681e-05,-9.685988938e-06,1.011329180e-03,7.014508769e-01,-5.675246013e-06,8.417650914e-01,7.014526695e-01,-8.200267462e-06,8.417525172e-01,7.016419531e-01,-7.939961338e-06,8.307919852e-01
+56,1.043333333e+01,UP_FORCE_HOLD,1791363626019610898,-8.528723420e-05,-6.901974382e-06,1.034861990e-03,-8.492513933e-05,-6.747547479e-06,1.031557633e-03,-8.346461152e-05,-6.723639341e-06,1.031228104e-03,7.014525842e-01,-5.351013061e-06,8.417758032e-01,7.014529463e-01,-5.196586158e-06,8.417724988e-01,7.016422948e-01,-4.977611740e-06,8.308118841e-01
+57,1.063333333e+01,UP_FORCE_HOLD,1791363626318586141,-8.586495256e-05,-8.821525658e-06,1.039450102e-03,-8.492513933e-05,-6.747547479e-06,1.031557633e-03,-8.346947524e-05,-6.724244041e-06,1.031282891e-03,7.014520065e-01,-7.270564337e-06,8.417803913e-01,7.014529463e-01,-5.196586158e-06,8.417724988e-01,7.016422899e-01,-4.978216441e-06,8.308119389e-01
+58,1.086666667e+01,UP_FORCE_HOLD,1791363626669626250,-8.480989598e-05,-6.323853486e-06,1.047167723e-03,-8.492513933e-05,-6.747547479e-06,1.031557633e-03,-8.347475464e-05,-6.725266974e-06,1.031331004e-03,7.014530616e-01,-4.772892165e-06,8.417881089e-01,7.014529463e-01,-5.196586158e-06,8.417724988e-01,7.016422847e-01,-4.979239373e-06,8.308119870e-01
+59,1.106666667e+01,UP_SETTLE,1791363626969615120,-8.674552768e-05,-6.028111117e-06,1.050154442e-03,-8.492513933e-05,-6.747547479e-06,1.031557633e-03,-8.347850138e-05,-6.726032266e-06,1.031363776e-03,7.014511260e-01,-4.477149796e-06,8.417910956e-01,7.014529463e-01,-5.196586158e-06,8.417724988e-01,7.016422809e-01,-4.980004665e-06,8.308120198e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c91f5e735761a8176d8d4bf449769adb88aa1f2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,2.9890e-03,1.8175e-04,2.4542e+00,-3.6754e-02,3.7000e-02,2.8979e-05,5.1828e-05,7.0606e-08,2.6226e-06,2.8312e-07,3.7625e-06,5.6017e-07,5.1894e-05,3.8145e-06
+1,2.3333e-01,UP_FORCE_RAMP,4.9576e-05,3.6784e-03,2.2003e-04,2.4542e+00,-3.6753e-02,3.7050e-02,3.6312e-05,7.4123e-04,3.8348e-05,3.1948e-05,1.5646e-06,5.3089e-05,7.8925e-06,7.4291e-04,5.3695e-05
+2,4.8333e-01,UP_FORCE_RAMP,9.9833e-05,4.2826e-03,2.5834e-04,2.4542e+00,-3.6752e-02,3.7093e-02,4.3289e-05,1.3454e-03,7.6664e-05,4.7445e-05,2.3730e-06,9.6310e-05,1.4870e-05,1.3484e-03,9.7480e-05
+3,7.0000e-01,UP_FORCE_RAMP,1.5198e-04,4.7189e-03,2.9008e-04,2.4542e+00,-3.6752e-02,3.7124e-02,4.8686e-05,1.7817e-03,1.0840e-04,5.0306e-05,2.6599e-06,1.2751e-04,2.0267e-05,1.7857e-03,1.2914e-04
+4,9.1667e-01,UP_FORCE_RAMP,1.9869e-04,5.0893e-03,3.1932e-04,2.4542e+00,-3.6752e-02,3.7150e-02,5.3540e-05,2.1521e-03,1.3764e-04,4.5776e-05,2.7195e-06,1.5399e-04,2.5121e-05,2.1570e-03,1.5605e-04
+5,1.1500e+00,UP_FORCE_RAMP,2.5231e-04,6.4820e-03,3.1086e-03,2.4495e+00,-3.6946e-02,3.7255e-02,5.9915e-05,3.5448e-03,2.9270e-03,-4.6613e-03,-1.9109e-04,2.5864e-04,3.1496e-05,6.5468e-03,3.2312e-04
+6,1.3667e+00,UP_FORCE_RAMP,3.0250e-04,7.1644e-03,3.0575e-03,2.4454e+00,-3.6942e-02,3.7309e-02,6.3337e-05,4.2272e-03,2.8759e-03,-8.7967e-03,-1.8738e-04,3.1216e-04,3.4918e-05,1.0175e-02,3.6575e-04
+7,1.5500e+00,UP_FORCE_RAMP,3.5308e-04,7.5985e-03,1.8042e-03,2.4416e+00,-3.6855e-02,3.7344e-02,6.4961e-05,4.6614e-03,1.6225e-03,-1.2515e-02,-1.0019e-04,3.4751e-04,3.6542e-05,1.3453e-02,3.6351e-04
+8,1.7500e+00,UP_FORCE_RAMP,4.0163e-04,8.7548e-03,3.9688e-03,2.4383e+00,-3.7006e-02,3.7430e-02,6.8340e-05,5.8176e-03,3.7871e-03,-1.5826e-02,-2.5139e-04,4.3396e-04,3.9921e-05,1.7281e-02,5.0310e-04
+9,1.9333e+00,UP_FORCE_RAMP,4.5029e-04,9.2725e-03,2.1251e-03,2.4333e+00,-3.6879e-02,3.7472e-02,6.8564e-05,6.3353e-03,1.9434e-03,-2.0817e-02,-1.2408e-04,4.7601e-04,4.0145e-05,2.1846e-02,4.9355e-04
+10,2.1333e+00,UP_FORCE_RAMP,5.0303e-04,1.0657e-02,3.4627e-03,2.4319e+00,-3.6973e-02,3.7575e-02,6.9857e-05,7.7202e-03,3.2810e-03,-2.2268e-02,-2.1803e-04,5.7824e-04,4.1438e-05,2.3795e-02,6.1937e-04
+11,2.3333e+00,UP_FORCE_RAMP,5.5171e-04,1.1211e-02,5.6119e-03,2.4306e+00,-3.7125e-02,3.7616e-02,7.0861e-05,8.2740e-03,5.4302e-03,-2.3542e-02,-3.7027e-04,6.1989e-04,4.2442e-05,2.5538e-02,7.2330e-04
+12,2.4667e+00,UP_FORCE_RAMP,6.0602e-04,1.1157e-02,5.3567e-03,2.4280e+00,-3.7111e-02,3.7616e-02,7.0003e-05,8.2194e-03,5.1751e-03,-2.6137e-02,-3.5579e-04,6.1930e-04,4.1584e-05,2.7883e-02,7.1544e-04
+13,2.5833e+00,UP_FORCE_RAMP,6.4976e-04,1.1465e-02,5.4861e-03,2.4249e+00,-3.7123e-02,3.7641e-02,6.9128e-05,8.5276e-03,5.3044e-03,-2.9290e-02,-3.6798e-04,6.4498e-04,4.0709e-05,3.0964e-02,7.4368e-04
+14,2.7333e+00,UP_FORCE_RAMP,7.0362e-04,1.2170e-02,5.7416e-03,2.4232e+00,-3.7144e-02,3.7694e-02,6.7426e-05,9.2330e-03,5.5599e-03,-3.0958e-02,-3.8952e-04,6.9753e-04,3.9007e-05,3.2780e-02,7.9987e-04
+15,2.8833e+00,UP_FORCE_RAMP,7.5138e-04,1.2129e-02,5.1112e-03,2.4203e+00,-3.7105e-02,3.7694e-02,6.4808e-05,9.1918e-03,4.9295e-03,-3.3891e-02,-3.5025e-04,6.9790e-04,3.6389e-05,3.5460e-02,7.8170e-04
+16,3.0500e+00,UP_FORCE_RAMP,8.0470e-04,1.1491e-02,4.8443e-03,2.4198e+00,-3.7090e-02,3.7649e-02,6.1819e-05,8.5543e-03,4.6626e-03,-3.4305e-02,-3.3534e-04,6.5290e-04,3.3399e-05,3.5662e-02,7.3474e-04
+17,3.1667e+00,UP_FORCE_RAMP,8.5092e-04,1.1107e-02,4.8206e-03,2.4177e+00,-3.7092e-02,3.7624e-02,5.9381e-05,8.1699e-03,4.6389e-03,-3.6411e-02,-3.3747e-04,6.2758e-04,3.0962e-05,3.7604e-02,7.1323e-04
+18,3.3667e+00,UP_FORCE_RAMP,9.0430e-04,1.0482e-02,4.5904e-03,2.4183e+00,-3.7081e-02,3.7579e-02,5.4285e-05,7.5443e-03,4.4088e-03,-3.5880e-02,-3.2661e-04,5.8224e-04,2.5866e-05,3.6929e-02,6.6810e-04
+19,3.5000e+00,UP_FORCE_RAMP,9.4903e-04,1.0563e-02,3.2828e-03,2.4113e+00,-3.7000e-02,3.7592e-02,5.0421e-05,7.6262e-03,3.1011e-03,-4.2812e-02,-2.4499e-04,5.9509e-04,2.2002e-05,4.3597e-02,6.4392e-04
+20,3.6500e+00,UP_FORCE_RAMP,1.0023e-03,1.0210e-02,6.0280e-03,2.4123e+00,-3.7194e-02,3.7565e-02,4.7164e-05,7.2732e-03,5.8463e-03,-4.1893e-02,-4.3973e-04,5.6846e-04,1.8745e-05,4.2920e-02,7.1893e-04
+21,3.7833e+00,UP_FORCE_RAMP,1.0527e-03,9.7136e-03,5.7832e-03,2.4060e+00,-3.7183e-02,3.7532e-02,4.2622e-05,6.7764e-03,5.6015e-03,-4.8178e-02,-4.2775e-04,5.3531e-04,1.4203e-05,4.8973e-02,6.8537e-04
+22,3.9500e+00,UP_FORCE_RAMP,1.1063e-03,8.8075e-03,5.2315e-03,2.4065e+00,-3.7155e-02,3.7470e-02,3.7319e-05,5.8703e-03,5.0499e-03,-4.7656e-02,-4.0040e-04,4.7377e-04,8.8994e-06,4.8281e-02,6.2037e-04
+23,4.0667e+00,UP_FORCE_RAMP,1.1479e-03,9.2582e-03,4.9364e-03,2.4062e+00,-3.7139e-02,3.7501e-02,3.3750e-05,6.3210e-03,4.7547e-03,-4.7956e-02,-3.8398e-04,5.0471e-04,5.3306e-06,4.8604e-02,6.3420e-04
+24,4.2500e+00,UP_FORCE_RAMP,1.2041e-03,9.2351e-03,4.5354e-03,2.4039e+00,-3.7119e-02,3.7499e-02,2.7933e-05,6.2979e-03,4.3537e-03,-5.0215e-02,-3.6420e-04,5.0227e-04,-4.8618e-07,5.0796e-02,6.2041e-04
+25,4.4167e+00,UP_FORCE_RAMP,1.2522e-03,8.4530e-03,4.6202e-03,2.4059e+00,-3.7130e-02,3.7446e-02,2.4528e-05,5.5158e-03,4.4385e-03,-4.8268e-02,-3.7559e-04,4.4925e-04,-3.8913e-06,4.8784e-02,5.8559e-04
+26,4.6000e+00,UP_FORCE_RAMP,1.3040e-03,7.7542e-03,4.5831e-03,2.4044e+00,-3.7136e-02,3.7397e-02,2.2383e-05,4.8170e-03,4.4014e-03,-4.9795e-02,-3.8155e-04,4.0009e-04,-6.0365e-06,5.0220e-02,5.5289e-04
+27,4.7667e+00,UP_FORCE_RAMP,1.3504e-03,8.2747e-03,4.1050e-03,2.4013e+00,-3.7112e-02,3.7434e-02,2.1366e-05,5.3375e-03,3.9234e-03,-5.2847e-02,-3.5744e-04,4.3781e-04,-7.0531e-06,5.3260e-02,5.6523e-04
+28,4.9500e+00,UP_FORCE_RAMP,1.4030e-03,8.8837e-03,3.9126e-03,2.4053e+00,-3.7102e-02,3.7475e-02,2.1291e-05,5.9465e-03,3.7309e-03,-4.8888e-02,-3.4750e-04,4.7837e-04,-7.1281e-06,4.9390e-02,5.9131e-04
+29,5.1667e+00,UP_FORCE_RAMP,1.4525e-03,1.0452e-02,4.0704e-03,2.4043e+00,-3.7122e-02,3.7582e-02,2.2917e-05,7.5153e-03,3.8887e-03,-4.9838e-02,-3.6750e-04,5.8552e-04,-5.5022e-06,5.0551e-02,6.9131e-04
+30,5.3333e+00,UP_FORCE_RAMP,1.5022e-03,9.8224e-03,4.0801e-03,2.4049e+00,-3.7124e-02,3.7540e-02,2.3890e-05,6.8852e-03,3.8984e-03,-4.9212e-02,-3.6960e-04,5.4332e-04,-4.5292e-06,4.9844e-02,6.5713e-04
+31,5.5167e+00,UP_FORCE_RAMP,1.5560e-03,1.0499e-02,4.3520e-03,2.4074e+00,-3.7145e-02,3.7585e-02,2.5213e-05,7.5618e-03,4.1703e-03,-4.6766e-02,-3.9047e-04,5.8857e-04,-3.2066e-06,4.7557e-02,7.0632e-04
+32,5.6833e+00,UP_FORCE_RAMP,1.6069e-03,1.1025e-02,4.3065e-03,2.4071e+00,-3.7143e-02,3.7618e-02,2.6061e-05,8.0881e-03,4.1248e-03,-4.7009e-02,-3.8832e-04,6.2160e-04,-2.3582e-06,4.7877e-02,7.3293e-04
+33,5.8833e+00,UP_FORCE_RAMP,1.6546e-03,1.0317e-02,4.2657e-03,2.4150e+00,-3.7138e-02,3.7567e-02,2.6300e-05,7.3799e-03,4.0841e-03,-3.9185e-02,-3.8329e-04,5.7078e-04,-2.1190e-06,4.0082e-02,6.8754e-04
+34,6.0333e+00,UP_FORCE_RAMP,1.7048e-03,1.1286e-02,3.1395e-03,2.4153e+00,-3.7057e-02,3.7637e-02,2.4923e-05,8.3487e-03,2.9578e-03,-3.8893e-02,-3.0239e-04,6.4018e-04,-3.4957e-06,3.9889e-02,7.0801e-04
+35,6.2500e+00,UP_FORCE_RAMP,1.7580e-03,9.9132e-03,4.2407e-03,2.4180e+00,-3.7131e-02,3.7535e-02,2.4864e-05,6.9760e-03,4.0590e-03,-3.6140e-02,-3.7586e-04,5.3874e-04,-3.5550e-06,3.7030e-02,6.5691e-04
+36,6.4167e+00,UP_FORCE_RAMP,1.8062e-03,9.7481e-03,4.2948e-03,2.4133e+00,-3.7126e-02,3.7528e-02,2.2824e-05,6.8109e-03,4.1131e-03,-4.0810e-02,-3.7147e-04,5.3134e-04,-5.5952e-06,4.1578e-02,6.4834e-04
+37,6.6167e+00,UP_FORCE_RAMP,1.8556e-03,9.5786e-03,4.4665e-03,2.4208e+00,-3.7136e-02,3.7509e-02,2.2130e-05,6.6414e-03,4.2848e-03,-3.3330e-02,-3.8127e-04,5.1291e-04,-6.2895e-06,3.4254e-02,6.3912e-04
+38,6.7667e+00,UP_FORCE_RAMP,1.9100e-03,9.6662e-03,2.3929e-03,2.4203e+00,-3.6985e-02,3.7517e-02,1.9780e-05,6.7290e-03,2.2113e-03,-3.3835e-02,-2.2985e-04,5.2033e-04,-8.6386e-06,3.4569e-02,5.6890e-04
+39,6.9833e+00,UP_FORCE_RAMP,1.9550e-03,1.0323e-02,3.0141e-03,2.4220e+00,-3.7019e-02,3.7563e-02,1.8983e-05,7.3855e-03,2.8324e-03,-3.2126e-02,-2.6423e-04,5.6643e-04,-9.4363e-06,3.3085e-02,6.2510e-04
+40,7.2000e+00,UP_FORCE_RAMP,2.0032e-03,9.9521e-03,3.7098e-03,2.4226e+00,-3.7059e-02,3.7534e-02,1.8754e-05,7.0150e-03,3.5281e-03,-3.1557e-02,-3.0471e-04,5.3748e-04,-9.6651e-06,3.2519e-02,6.1792e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/fem_node.csv
new file mode 100644
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+59,3.023333e+01,251,7.114471e-01,2.561235e-02,8.192050e-01,-1.780138e-05,-6.660515e-05,-9.333834e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,252,6.960273e-01,2.115195e-02,8.264790e-01,-1.114355e-05,-5.963900e-05,-9.244202e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,253,6.976708e-01,2.273027e-02,8.287167e-01,-1.192097e-06,-5.657276e-05,-9.254518e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,254,7.094403e-01,2.259886e-02,8.250187e-01,1.410295e-05,-6.133795e-05,-9.303983e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,255,6.919884e-01,2.407982e-02,8.206545e-01,-1.836612e-05,-6.543785e-05,-9.268356e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,256,7.007388e-01,2.581319e-02,8.105659e-01,-4.564329e-05,-7.554945e-05,-9.297151e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,257,6.923435e-01,2.393935e-02,8.180728e-01,-2.143195e-05,-6.843540e-05,-9.267890e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,258,7.054117e-01,1.858278e-02,8.169031e-01,-3.026546e-05,-5.608728e-05,-9.260773e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,259,7.037608e-01,2.401942e-02,8.298447e-01,1.593446e-05,-5.551581e-05,-9.282526e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,260,7.072447e-01,2.269252e-02,8.276322e-01,2.055526e-05,-5.867652e-05,-9.288301e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,261,7.063798e-01,1.838981e-02,8.193277e-01,-1.550702e-05,-5.498386e-05,-9.269274e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,262,7.060068e-01,2.267311e-02,8.125763e-01,-4.371273e-05,-7.238696e-05,-9.293486e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,263,6.962945e-01,2.427135e-02,8.124181e-01,-3.518335e-05,-7.396546e-05,-9.274039e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,264,7.084819e-01,2.265248e-02,8.264175e-01,1.854815e-05,-6.054434e-05,-9.297135e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,265,7.070098e-01,1.908203e-02,8.177936e-01,-2.454032e-05,-6.018214e-05,-9.277000e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.023333e+01,266,6.948095e-01,2.129599e-02,8.252200e-01,-1.478797e-05,-6.089512e-05,-9.248371e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d86d4994ebf5b98287f922368a5fecfc908ab49
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/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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+20811,1791363703397446132,2654776000000,1791363703390837483,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760041858991146,-0.004743872698274369,0.09086651302934963,0.9999999811561454,9.172015057889376e-05,-0.00014156407017563616,2.6030770810289837e-05,0.6761,-0.0048,0.09095106195824731,1.0,0.0,0.0,0.0,0.01049316272988362,0.0043646922891605044,-0.015416994153434213,2.9283406142269295e-05,-0.0008938502075161408,-0.00014662676498742276,0.06658121862596325,0.0009761498537936941,-0.12137371418731756,-0.001949267936822951,-0.0019609925675717304,-0.0012120035489491734,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.6982898363437947,-0.26331032981521696,0.7074883151972965,0.2645500808747497,-0.2911636200210038,-0.2166405991626212,0.5313281633860638,0.015416994153434213,-0.17616015181123268,-0.17616015181123268,0.08400000000000053,0,0,-6.951091123116727e-05,-9.999999025923074e-05
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+21995,1791363713264363836,2664643000000,1791363713258836767,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.676048363879098,-0.004744287767040944,0.09005268845902,0.9999999869647299,9.855569036663061e-05,-7.858595429867163e-05,4.0304195134043166e-05,0.6761,-0.0048,0.09004997954056823,1.0,0.0,0.0,0.0,-0.00015658633111795273,-0.0018289858068725059,0.4661789364424228,-9.24706755263396e-05,1.508915846634598e-05,-0.00029398389060933806,0.05593146956496168,-0.005217528242239316,0.36022221640853946,-0.00207102201849156,-0.0010520532015892436,-0.0013593606745710887,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9320846213608183,-0.38023075980094045,0.048660877085667124,0.3510933510639457,0.16837380043849542,-0.287436163772047,0.5313281633860638,0.4661789364424228,0.4826672863003967,0.4826672863003967,0.676019999999882,0,0,-8.564337151547997e-05,-9.98186075725826e-05
+22137,1791363714447419053,2665826000000,1791363714446836976,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760509139706935,-0.004746172652864611,0.08995516674633977,0.9999999863019349,0.00010772456435279701,-7.29711153756144e-05,4.369930169426686e-05,0.6761,-0.0048,0.08994311983015493,1.0,0.0,0.0,0.0,0.003354765521381281,-0.006223686278555247,0.5252090482052443,-0.00010452815701565482,2.676048119550946e-06,-0.00034099459086142214,0.05944282141746091,-0.009612228713922057,0.4192523281713609,-0.002083079499980875,-0.0010644663119360387,-0.0014063713748231727,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8962513721357681,-0.37519707762149085,-0.05413063991177948,0.35102053480588713,0.21991273900873934,-0.28449288254236715,0.5313281633860638,0.5252090482052443,0.5854588032978433,0.5854588032978433,0.7469999999998217,0,0,-9.269367597006408e-05,-4.273779849619158e-05
+22285,1791363715681433046,2667060000000,1791363715678846492,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.67605524378931,-0.004747307751263523,0.0898486982700941,0.9999999873946959,0.00010237231429006373,-6.500176555289518e-05,4.4137877177582104e-05,0.6761,-0.0048,0.08982617731187063,1.0,0.0,0.0,0.0,-0.0004329404756633487,-0.014494464731984312,0.5765049713130188,-0.00011535533845051993,-7.571405018019393e-06,-0.00038317236095972824,0.05565511542041628,-0.017883007167351122,0.4705482512791355,-0.0020939066814157402,-0.001074713765073609,-0.0014485491449214788,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9717772202883909,-0.35859264805724994,-0.2151562435870905,0.35543072109073165,0.3410969841930702,-0.2711123364683999,0.5313281633860638,0.5765049713130188,0.7464844069731543,0.7464844069731543,0.8210399999997587,0,0,-9.916746940699805e-05,9.988041923947861e-05
+22432,1791363716906387924,2668285000000,1791363716902836899,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760601529559672,-0.004744199065242231,0.08973402776245461,0.9999999880809112,0.00010033032414789574,-5.956015534605616e-05,4.0834492718963675e-05,0.6761,-0.0048,0.08970352536131597,1.0,0.0,0.0,0.0,-0.0005578047563690111,-0.009196344524987252,0.6266732514489203,-0.0001239735290893538,-1.8721069392526636e-05,-0.0004237223638608907,0.05553025113971062,-0.012584886960354062,0.5207165314150369,-0.002102524872054574,-0.0010858634294481162,-0.0014890991478226413,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9442786900868285,-0.29589873104657205,-0.30070421703942024,0.33663174002371987,0.3852919371154758,-0.22739232311734486,0.5313281633860638,0.6266732514489203,0.8320323804254841,0.8320323804254841,0.8945399999996962,0,0,-0.00010140777916414911,9.96355179180341e-05
+22573,1791363718081349096,2669460000000,1791363718078845970,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760654196776575,-0.004750389392741737,0.08962226565707539,0.9999999890546458,9.362965607620962e-05,-5.122256272906003e-05,4.408298037050153e-05,0.6761,-0.0048,0.08958413384966585,1.0,0.0,0.0,0.0,-0.0018844378300889933,-0.012032753870447182,0.6768387782419295,-0.00013394846117472737,-2.8596826462847034e-05,-0.0004643249558791431,0.05420361806599064,-0.015421296305813991,0.5708820582080462,-0.0021124998041399477,-0.0010957391865184366,-0.0015297017398408937,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9485100654879531,-0.37945725003891595,-0.17996677830081645,0.3715515928476385,0.3062025985905959,-0.28209520906020935,0.5313281633860638,0.6768387782419295,0.7112949416868802,0.7112949416868802,0.9650399999996363,0,0,-0.00010074796622935723,-9.98457664033225e-05
+22710,1791363719222413486,2670601000000,1791363719218836461,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760710334988392,-0.004749424752790781,0.08951780034148138,0.9999999900029722,8.790186465755721e-05,-4.097993767819727e-05,4.5064695735899625e-05,0.6761,-0.0048,0.0894641514024517,1.0,0.0,0.0,0.0,-0.010890703321768828,-0.009037713154696442,0.726938955978282,-0.0001705856573216949,0.0009729943208832991,-0.000490186942241799,0.0451973525743108,-0.012426255590063252,0.6209822359443986,-0.002149137000286915,-9.414803917229053e-05,-0.0015555637262035496,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9732274489444096,-0.43989260095091337,-0.3379092825706741,0.3906513798262463,0.40748894306187033,-0.321608970637691,0.5313281633860638,0.726938955978282,0.8692374459567379,0.8692374459567379,1.0334999999995782,0,0,-0.00010746941839637347,3.5754700615459e-05
+22839,1791363720297368611,2671676000000,1791363720294836901,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760719630021315,-0.004753853414960299,0.0894037761796525,0.9999999908164974,7.977270301458111e-05,-3.9399137540925555e-05,4.3518885908844316e-05,0.6761,-0.0048,0.08934733591091538,1.0,0.0,0.0,0.0,-0.010339685574230484,-0.0076942791849072805,0.7670797698315661,-0.00017806589178340215,0.0009642485917131186,-0.0005226125491827255,0.04574837032184915,-0.01108282162027409,0.6611230497976828,-0.0021566172347486224,-0.00010289376834247099,-0.0015879893331444761,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9155651606888735,-0.2884417955123468,-0.42786552055956917,0.35542011714757504,0.4489198619509704,-0.22636484447730748,0.5313281633860638,0.7670797698315661,0.959193683945633,0.959193683945633,1.0979999999995234,0,0,-0.0001108936262719532,9.992210811405328e-05
+22970,1791363721389352930,2672768000000,1791363721386845996,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760787353134612,-0.0047533863473290345,0.08928577820626118,0.999999990543802,8.574568342738684e-05,-3.1887737780356944e-05,4.4565800135546345e-05,0.6761,-0.0048,0.08922309954473744,1.0,0.0,0.0,0.0,-0.009942858640754233,-0.01850955810424021,0.8168508249153409,-0.001158522159068621,0.0009726146709479947,-0.0005657730671656765,0.0461451972553254,-0.02189810053960702,0.7108941048814575,-0.0031370735020338414,-9.452768910759496e-05,-0.0016311498511274271,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9592627637484411,-0.39542858770645073,-0.48916609411543704,0.39720609393157036,0.4916564914756795,-0.2915399802865079,0.5313281633860638,0.8168508249153409,1.0204942575015008,1.0204942575015008,1.1635199999994676,0,0,-0.00011446235286397132,9.995281965847198e-05
+23104,1791363722506309613,2673885000000,1791363722502846872,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760809179196641,-0.004758648125817945,0.08916014972071577,0.9999999892164544,0.00010040417944897765,-2.723386385969776e-05,4.676828814901304e-05,0.6761,-0.0048,0.08909270546928785,1.0,0.0,0.0,0.0,-0.018808017086119233,-0.026650287053920103,0.8665068518539569,-0.0012182248966651687,0.0009624658196406101,-0.0006139933845575058,0.0372800388099604,-0.030038829489286913,0.7605501318200736,-0.003196776239630389,-0.00010467654041497956,-0.0016793701685192564,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9988324414050755,-0.38258436182638667,-0.5687439402329753,0.4035027890536486,0.5489897900357951,-0.27788173518616116,0.5313281633860638,0.8665068518539569,1.100072103619039,1.100072103619039,1.2305399999994107,0,0,-0.00011659229414287686,9.914205153916384e-05
+23233,1791363723581333591,2674960000000,1791363723574836488,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760788169393045,-0.004763119425371951,0.08902494932646848,0.9999999889461835,9.941429528149447e-05,-3.3726592927358066e-05,5.029723787946208e-05,0.6761,-0.0048,0.08896211624590789,1.0,0.0,0.0,0.0,-0.01811856943538536,-0.0256856103320287,0.8970729635437188,-0.0012246982000573298,0.0009565019954326598,-0.0006401977484047027,0.03796948646069427,-0.02907415276739551,0.7911162435098354,-0.00320324954302255,-0.00011064036462292975,-0.0017055745323664533,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.96762320633566,-0.3825076705604223,-0.591356009163299,0.40496695961728657,0.5487431085557948,-0.27962733979030885,0.5313281633860638,0.8970729635437188,1.1226841725493628,1.1226841725493628,1.2950399999993558,0,0,-0.00012556239506880817,9.814115772688865e-05
+23356,1791363724606354504,2675985000000,1791363724602846018,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760830912633075,-0.004766370390306718,0.08889423552567825,0.9999999897188732,9.168013238491495e-05,-2.761975317055244e-05,5.32636896159159e-05,0.6761,-0.0048,0.08882712354609397,1.0,0.0,0.0,0.0,-0.019416334858101264,-0.03369127675666499,0.9211012877341976,-0.0012305923429570351,0.000952040294159722,-0.000659683111100248,0.03667172103797837,-0.0370798191920318,0.8151445677003143,-0.0032091436859222554,-0.00011510206589586756,-0.0017250598950619986,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9494302583639477,-0.3933751747904695,-0.6321442399619582,0.42351837357144134,0.5626712457501549,-0.2836623142109995,0.5313281633860638,0.9211012877341976,1.1634724033480222,1.1634724033480222,1.3565399999993035,0,0,-0.00013869183080186952,5e-05
+23470,1791363725556278647,2676935000000,1791363725554846523,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760845974943909,-0.004769328933011055,0.08876275702403875,0.9999999903336491,8.322895903707382e-05,-2.545933741720518e-05,5.6571449302594205e-05,0.6761,-0.0048,0.08868841346164523,1.0,0.0,0.0,0.0,-0.010475490753508239,-0.03495238030217081,0.9339152752307882,-0.0012417692933023522,0.0009440032394866391,0.0002846350743920719,0.04561256514257139,-0.03834092273753762,0.8279585551969049,-0.0032203206362675725,-0.00012313912056895055,-0.0007807417095696787,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9343712666522532,-0.5246555964229527,-0.6157425675292367,0.46530967004934276,0.5438699390855324,-0.3707589913657237,0.5313281633860638,0.9339152752307882,1.1470707309153005,1.1470707309153005,1.413539999999255,0,0,-0.00015554434539213083,-4.381026321456432e-05
+23575,1791363726431363969,2677810000000,1791363726426846125,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.676084187339818,-0.0047772328025702795,0.08861850586424193,0.9999999906707465,7.879941283270849e-05,-2.7209469209681084e-05,5.613972554700587e-05,0.6761,-0.0048,0.08854672113724905,1.0,0.0,0.0,0.0,-0.015789736597813193,-0.027909822207960257,0.9372661780845151,-0.0012327649810239109,0.0009479164827192289,-0.0006722842011323562,0.04029831929826644,-0.03129836464332707,0.8313094580506317,-0.003211316323989131,-0.00011922587733636076,-0.0017376609850941068,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9446886282835113,-0.47343190963463855,-0.5444432969817327,0.46552427346057357,0.49401476430119284,-0.3372854983290639,0.5313281633860638,0.9372661780845151,1.0757714603677964,1.0757714603677964,1.4660399999992104,0,0,-0.0001729367906058973,-9.999999025923074e-05
+23677,1791363727281293901,2678660000000,1791363727274846361,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760801293255463,-0.004776416106059303,0.08845413586050727,0.9999999886135166,9.705831205672e-05,-3.421002665241131e-05,6.020954488233512e-05,0.6761,-0.0048,0.08838970896332833,1.0,0.0,0.0,0.0,-0.01878959991432113,-0.04673293307707858,0.9460007192964556,-0.0022565872799240713,0.0009662277014687727,-0.0006883342994573793,0.0372984559817585,-0.05012147551244539,0.8400439992625722,-0.004235138622889292,-0.00010091465858681696,-0.00175371108341913,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8992844437513265,-0.38420971329724457,-0.6362818413344951,0.44242090837239617,0.5365032659831126,-0.2806456183842123,0.5313281633860638,0.9460007192964556,1.1676100047205589,1.1676100047205589,1.517039999999167,0,0,-0.0001970417149957645,-9.999999025923074e-05
+23761,1791363727981369392,2679360000000,1791363727974846159,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760789426660724,-0.004778029125121522,0.08830764961923493,0.9999999883954225,9.589945757878983e-05,-3.740437214149256e-05,6.368851026184824e-05,0.6761,-0.0048,0.08824302485607395,1.0,0.0,0.0,0.0,-0.018900834826878078,-0.037324462143719234,0.9472649291693316,-0.0022642354329918215,0.0009598667090401677,0.0003166243335609082,0.037187221069201554,-0.04071300457908605,0.8413082091354482,-0.004242786775957042,-0.00010727565101542189,-0.0007487524504008424,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8750975350655231,-0.4164426277927471,-0.5954955950997599,0.47132954340377425,0.4986625452303618,-0.296690408325601,0.5313281633860638,0.9472649291693316,1.1268237584858238,1.1268237584858238,1.5590399999991313,0,0,-0.00022151641544262824,-9.999999025923074e-05
+23849,1791363728714352230,2680093000000,1791363728710845436,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.676078192816213,-0.004787492415329115,0.08813500679829732,0.9999999886456852,8.876902916493233e-05,-4.2032276889391935e-05,6.711811378492284e-05,0.6761,-0.0048,0.0880728721988406,1.0,0.0,0.0,0.0,-0.018941199609492282,-0.046997373380040154,0.9559099607562567,-0.002266505122922748,0.00095933792175417,0.0001317663223938041,0.03714685628658735,-0.05038591581540697,0.8499532407223733,-0.0042450564658879685,-0.0001078044383014197,-0.0009336104615679465,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8986912772391813,-0.31034523721177737,-0.6344782926146374,0.4472595990307231,0.5262783767611783,-0.22678815562171895,0.5313281633860638,0.9559099607562567,1.165806456000701,1.165806456000701,1.603019999999094,0,0,-0.0002446553220250821,-9.999999025923074e-05
+23923,1791363729331248432,2680710000000,1791363729326846526,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.676075313913977,-0.004785967304936555,0.08797101143394444,0.9999999878772019,9.247949653491001e-05,-4.896777474294552e-05,6.883429528041774e-05,0.6761,-0.0048,0.08791627222710353,1.0,0.0,0.0,0.0,-0.018946825845211214,-0.04678600859470632,0.9570337377506707,-0.002264861588272911,0.0009605818138452157,-0.00028320782485288126,0.03714123005086842,-0.050174551030073136,0.8510770177167873,-0.004243412931238131,-0.00010656054621037391,-0.0013485846088146318,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8266779207083881,-0.44064412688692994,-0.5380055621209029,0.49808670677332184,0.4422272968974021,-0.309058515005387,0.5313281633860638,0.9570337377506707,1.0693337255069668,1.0693337255069668,1.6400399999990625,0,0,-0.00026483881631764037,-9.999999025923074e-05
+24003,1791363729997349303,2681376000000,1791363729990846188,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760683522538192,-0.004792606598503454,0.08777675713315092,0.9999999861928129,9.852916519051284e-05,-5.957832044615293e-05,7.61555350345472e-05,0.6761,-0.0048,0.08773189921833602,1.0,0.0,0.0,0.0,-0.01895927325758639,-0.056217658327823807,0.9566521061217959,-0.0022901301025044112,0.0009651388079825594,-0.0007000612857114257,0.03712878263849324,-0.05960620076319062,0.8506953860879125,-0.0042686814454696315,-0.00010200355207303021,-0.0017654380696731763,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8187562354580082,-0.3944665769708312,-0.5304475576962775,0.49098394798635425,0.4353618349310314,-0.2854423747176747,0.5313281633860638,0.9566521061217959,1.0617757210823413,1.0617757210823413,1.6799999999990285,0,0,-0.00029047520825750537,-9.999999025923074e-05
+24075,1791363730597344012,2681976000000,1791363730594846245,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760705995523605,-0.004790174325937257,0.08760162502227388,0.9999999866587004,9.787670363159392e-05,-5.4004683813636154e-05,7.502738494127002e-05,0.6761,-0.0048,0.08755005475523644,1.0,0.0,0.0,0.0,-0.018829162030122547,-0.05692982689559257,0.9469466434512274,-0.0024838470907826665,0.0009708468578298718,-0.0006444942000732752,0.037258893865957085,-0.06031836933095938,0.840989923417344,-0.004462398433747887,-9.629550222571772e-05,-0.0017098709840350258,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8209787879807229,-0.434794590718991,-0.5258253579691721,0.5102510888318835,0.4305051538590664,-0.31312047129793164,0.5313281633860638,0.9469466434512274,1.0571535213552359,1.0571535213552359,1.7159999999989979,0,0,-0.000315822823625271,-9.999996250365512e-05
+24147,1791363731197341672,2682576000000,1791363731190846080,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.67606870271433,-0.004790125174516306,0.08740518378092724,0.9999999866814838,9.333922394230247e-05,-5.7357579723265046e-05,7.796020694551647e-05,0.6761,-0.0048,0.08735216713986173,1.0,0.0,0.0,0.0,-0.021679616761438723,-0.05982436423007725,0.9568568160028387,-0.0032888924078423097,0.0009782936043223125,0.0003091872061188561,0.03440843913464091,-0.06321290666544406,0.8509000959689553,-0.00526744375080753,-8.884875573327715e-05,-0.0007561895778428945,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8353833177058694,-0.41206667681698755,-0.5647196273083525,0.5203361563656757,0.46078590640293976,-0.3018257718440269,0.5313281633860638,0.9568568160028387,1.0960477906944162,1.0960477906944162,1.7519999999989673,0,0,-0.00034227680320161733,-9.999999025923074e-05
+24213,1791363731747297835,2683126000000,1791363731746845683,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760652506987355,-0.004791567684077181,0.08720760699149349,0.9999999865686133,9.107932284926361e-05,-6.351187044898737e-05,7.730741775394234e-05,0.6761,-0.0048,0.08715688956561259,1.0,0.0,0.0,0.0,-0.023270269675410578,-0.06302429716864605,0.9363580851978373,-0.003277047154673127,0.0010182545721207803,-0.000695085672841446,0.032817786220669054,-0.06641283960401285,0.8304013651639539,-0.005255598497638347,-4.888778793480932e-05,-0.0017604624568031966,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8113957143101155,-0.4538309304739931,-0.5604389587551304,0.5342951459543279,0.4501138105849031,-0.32062980171120825,0.5313281633860638,0.9363580851978373,1.0917671221411942,1.0917671221411942,1.7849999999989392,0,0,-0.0003678669228360506,-9.999999025923074e-05
+24277,1791363732281308776,2683660000000,1791363732278846405,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.676068611742115,-0.004793742093471785,0.08701013950035327,0.9999999851090353,0.0001062659990550853,-5.7730956887463266e-05,8.123710694305764e-05,0.6761,-0.0048,0.08695373745336302,1.0,0.0,0.0,0.0,-0.027854302638303935,-0.053793755242719336,0.9387453168613109,-0.0033103600814103607,0.0019964595323747926,-2.9720349977335097e-05,0.028233753257775697,-0.05718229767808615,0.8327885968274276,-0.005288911424375581,0.000929317172319203,-0.0010950971339390857,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.795317007403171,-0.3743172959261993,-0.5358174726073226,0.5292010416053241,0.42928800689066976,-0.26965311152156307,0.5313281633860638,0.9387453168613109,1.0671456359933864,1.0671456359933864,1.817039999998912,0,0,-0.0003937884451258019,-9.999999025923074e-05
+24334,1791363732756243193,2684135000000,1791363732750846686,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760660919810549,-0.004795057742942957,0.08681615747251303,0.9999999860147065,9.526409288798756e-05,-6.108874573399914e-05,8.127957196161424e-05,0.6761,-0.0048,0.08676105919302946,1.0,0.0,0.0,0.0,-0.033442836304907325,-0.05990322581054238,0.9362798499853336,-0.0033036326829744673,0.002001581934095043,-0.0006809781433357543,0.02264521959117231,-0.0632917682459092,0.8303231299514503,-0.0052821840259396876,0.0009344395740394534,-0.001746354927297505,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8373944469168809,-0.45630915896704227,-0.5473922965342056,0.5649689450175924,0.45104553673555725,-0.3214047286539497,0.5313281633860638,0.9362798499853336,1.0787204599202695,1.0787204599202695,1.8455399999988877,0,0,-0.0004175384404989365,-9.999999025923074e-05
+24390,1791363733222288868,2684601000000,1791363733214846416,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760624356444089,-0.004797374942063138,0.08661263100497806,0.9999999856953001,9.185303397823475e-05,-6.571732410397918e-05,8.541965519479706e-05,0.6761,-0.0048,0.08656122037293656,1.0,0.0,0.0,0.0,-0.03192966353821084,-0.05952945429240273,0.9463076750320718,-0.0033053644713414506,0.0019994676507912265,-0.0006881961395778429,0.02415839235786879,-0.06291799672776954,0.8403509549981885,-0.005283915814306671,0.000932325290735637,-0.0017535729235395934,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8541671170288986,-0.44972769232695,-0.4757514978752891,0.5723619330547048,0.410180235849562,-0.3155185771184032,0.5313281633860638,0.9463076750320718,1.0070796612613528,1.0070796612613528,1.873499999998864,0,0,-0.0004405100217611243,-9.999999025923074e-05
+24445,1791363733681291992,2685060000000,1791363733674846705,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760617151161157,-0.004801182143832754,0.08641269079596142,0.9999999854381152,9.40290365518423e-05,-6.621578094832256e-05,8.567756120938592e-05,0.6761,-0.0048,0.08635377464586301,1.0,0.0,0.0,0.0,-0.03167662941098326,-0.05989976693674389,0.9364298041348754,-0.003303661706345201,0.002001508674585267,-0.0006804493597062152,0.02441142648509637,-0.0632883093721107,0.8304730841009921,-0.005282213049310421,0.0009343663145296773,-0.0017458261436679658,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8753194385810044,-0.4642471943866289,-0.5507834402602559,0.5809081565862072,0.46451157106497787,-0.3273937471319261,0.5313281633860638,0.9364298041348754,1.0821116036463199,1.0821116036463199,1.9010399999988405,0,0,-0.00046342580388022823,-9.999999025923074e-05
+24498,1791363734122282874,2685501000000,1791363734114846102,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760612970226221,-0.00480023295141546,0.08620881067521058,0.9999999855295093,9.139691926298385e-05,-6.877549762947203e-05,8.544226015948186e-05,0.6761,-0.0048,0.08614517300116717,1.0,0.0,0.0,0.0,-0.03668812089653629,-0.0659775188355226,0.9362785914188249,-0.003304789769040401,0.00200219030111374,-0.0006637784091538198,0.019399934999543345,-0.0693660612708894,0.8303218713849415,-0.005283341112005621,0.0009350479410581501,-0.0017291551931155704,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8745225558592687,-0.4387167606822088,-0.495862170179859,0.5848163124724625,0.42684493196178275,-0.3057697980382994,0.5313281633860638,0.9362785914188249,1.027190333565923,1.027190333565923,1.927499999998818,0,0,-0.000482840855488302,-9.999999025923074e-05
+24546,1791363734522303313,2685901000000,1791363734514846784,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760662299997318,-0.004804515874137202,0.08601592205422916,0.9999999865611874,8.6368428935397e-05,-5.4678361929397965e-05,8.872012470016402e-05,0.6761,-0.0048,0.08594824884694897,1.0,0.0,0.0,0.0,-0.037367695476796026,-0.05951940588531828,0.9462404728109202,-0.0033322212154172997,0.0029837218734658543,-0.0006742535053447839,0.018720360419283603,-0.0629079483206851,0.8402837527770368,-0.00531077255838252,0.001916579513410265,-0.0017396302893065345,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.885302845289046,-0.5248918646244192,-0.4504217749669186,0.6222190567714985,0.3982852443701527,-0.3594228189993943,0.5313281633860638,0.9462404728109202,0.9817499383529824,0.9817499383529824,1.9514999999987976,0,0,-0.0005012525696415901,-9.999999025923074e-05
+24592,1791363734906301426,2686285000000,1791363734902846188,DOWN_FORCE_DETACH,3,0.052,0.052001431584358215,0.6760638093119005,-0.0048032718396674,0.08581766988116805,0.9999999870112685,8.148761535830069e-05,-5.690054937679505e-05,8.684712589983158e-05,0.6761,-0.0048,0.08575239039553993,1.0,0.0,0.0,0.0,-0.03735109488692487,-0.04965815199970821,0.9465536336307814,-0.0033316168437963023,0.003011951594094995,-0.0006721100630124417,0.01873696100915476,-0.05304669443507502,0.840596913596898,-0.005310168186761523,0.0019448092340394057,-0.0017374868469741923,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8853189613363042,-0.48740319536931953,-0.5160115758790277,0.6110060370640965,0.440984015053845,-0.3356181516973765,0.5313281633860638,0.9465536336307814,1.0473397392650914,1.0473397392650914,1.974539999998778,0,0,-0.0005184022639312655,-9.999994862586731e-05
+24637,1791363735281319116,2686660000000,1791363735274846076,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760567647656898,-0.004805775458622882,0.08560915740676465,0.9999999855185716,8.615503196102862e-05,-6.876191179979925e-05,9.08561001297114e-05,0.6761,-0.0048,0.08555522753272048,1.0,0.0,0.0,0.0,-0.04613290065462222,-0.059776523625460785,0.9370190679238712,-0.003332268023616814,0.0030144961611688935,-0.00066576037650225,0.00995515524145741,-0.0631650660608276,0.8310623478899879,-0.005310819366582034,0.001947353801113304,-0.0017311371604640006,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8940864108845537,-0.5201673848086191,-0.43355578076093365,0.6297656048373073,0.3875737871909878,-0.35285067458733144,0.5313281633860638,0.9370190679238712,0.9648839441469974,0.9648839441469974,1.997039999998759,0,0,-0.0005342701351704601,-9.99899843742213e-05
+24685,1791363735681290423,2687060000000,1791363735678846396,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760599240048336,-0.004813889381430391,0.08540269290782258,0.9999999866177524,7.780043300069898e-05,-6.18383553103586e-05,9.12714087626743e-05,0.6761,-0.0048,0.08533855110336183,1.0,0.0,0.0,0.0,-0.03779883621637335,-0.05990056334282732,0.9362723076265834,-0.003331152600107293,0.00301500432620306,-0.000665775946847352,0.018289219679706283,-0.06328910577819413,0.8303155875927001,-0.005309703943072513,0.0019478619661474706,-0.0017311527308091026,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9133315922077697,-0.4150751750830095,-0.4610468576159814,0.6121131955876513,0.40604524434436184,-0.2815339586121915,0.5313281633860638,0.9362723076265834,0.9923750210020452,0.9923750210020452,2.0210399999987385,0,0,-0.0005489083856572138,-9.928206454035688e-05
+24729,1791363736047243318,2687426000000,1791363736046846098,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760620782366896,-0.004809187783156268,0.08520376593636761,0.9999999868242209,8.022828666465107e-05,-5.673612553929839e-05,9.021561163071724e-05,0.6761,-0.0048,0.08513557800008348,1.0,0.0,0.0,0.0,-0.03751449364742647,-0.05990381578885504,0.9362066348768722,-0.003331142678119543,0.003015016584704214,-0.0006657119011474987,0.018573562248653162,-0.06329235822422186,0.8302499148429888,-0.0053096940210847635,0.0019478742246486244,-0.0017310886851092493,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.960081802370231,-0.4514061096613866,-0.6276852367172524,0.6188636676141933,0.5244398108074504,-0.30362907364313907,0.5313281633860638,0.9362066348768722,1.159013400103316,1.159013400103316,2.04299999999872,0,0,-0.0005600297218507924,9.908819184468171e-05
+24774,1791363736422214924,2687801000000,1791363736418836761,DOWN_FORCE_DETACH,3,0.052,0.05200209096074104,0.6760577795515195,-0.004804308682547017,0.0849914916475182,0.999999986453713,8.34289190950055e-05,-6.33948628790927e-05,8.692608992376151e-05,0.6761,-0.0048,0.08492385581842164,1.0,0.0,0.0,0.0,-0.04294934074169433,-0.05989604986713449,0.9463037667451943,-0.003334960650678511,0.003011677035837773,-0.00046443570557360976,0.013138715154385298,-0.0632845923025013,0.840347046711311,-0.0053135119936437315,0.0019445346757821834,-0.0015298124895353604,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0051788225003555,-0.48284665121169207,-0.5578133609097358,0.6339424816008215,0.4865369539493727,-0.32173138361553716,0.5313281633860638,0.9463037667451943,1.0891415242957996,1.0891415242957996,2.0654999999987007,0,0,-0.0005675877479641419,-6.859032372486524e-05
+24820,1791363736800216114,2688179000000,1791363736798845835,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760584352659662,-0.004808351556049553,0.08478529173609295,0.9999999871573548,8.025482959333517e-05,-5.805821602773429e-05,8.553689497090282e-05,0.6761,-0.0048,0.08470945533110387,1.0,0.0,0.0,0.0,-0.037390397798450374,-0.05291400296080833,0.9366522905260588,-0.0033314589233206173,0.0030123068075925004,0.00022375747845832807,0.018697658097629258,-0.056302545396175144,0.8306955704921755,-0.0053100102662858376,0.0019451644475369108,-0.0008416193055034225,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.065618532966736,-0.3900286777388272,-0.5599095918789627,0.6119399872880038,0.5024787192714214,-0.2567701593769118,0.5313281633860638,0.9366522905260588,1.0912377552650265,1.0912377552650265,2.0751599999986925,0,0,-0.0005601984431793675,9.999999025923074e-05
+24862,1791363737150224100,2688529000000,1791363737146846568,DOWN_SETTLE,3,0.052,0.052001431584358215,0.676057314480802,-0.004814928688360012,0.08459149083341426,0.9999999873444902,7.244897546121557e-05,-5.84599914183147e-05,8.993030124275764e-05,0.6761,-0.0048,0.08451643962539276,1.0,0.0,0.0,0.0,-0.03765193866007431,-0.05592511990541766,0.936324493367335,-0.00333332101390585,0.0030115998237674963,-0.00043848238071928294,0.018436117236005318,-0.05931366234078447,0.8303677733334517,-0.0053118723568710705,0.0019444574637119067,-0.0015038591646810335,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1008480634119449,-0.4091628127102704,-0.5788067066360142,0.6130738486276133,0.5223620732034361,-0.26940845535426106,0.5313281633860638,0.936324493367335,1.110134870022078,1.110134870022078,2.0751599999986925,0,0,-0.0005426984465886367,9.999999025923074e-05
+24907,1791363737525304008,2688904000000,1791363737522845955,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760565362560165,-0.004813352459956022,0.08439209900224351,0.9999999866293647,7.772144142084956e-05,-6.161499547349739e-05,9.136249058195082e-05,0.6761,-0.0048,0.0843164339572353,1.0,0.0,0.0,0.0,-0.03732434057117114,-0.060553127962677124,0.932409499892764,-0.0033357790472901996,0.0030129435950265867,-9.31200289667599e-06,0.01876371532490849,-0.06394167039804394,0.8264527798588807,-0.00531433039025542,0.001945801234970997,-0.0010746887868584266,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1221014216261793,-0.4491664543208336,-0.5824623981763662,0.6230758909711775,0.5273181331457085,-0.2952684397648547,0.5313281633860638,0.932409499892764,1.1137905615624302,1.1137905615624302,2.0751599999986925,0,0,-0.0005239484502414252,9.999999025923074e-05
+24954,1791363737917300987,2689296000000,1791363737914846550,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760545060856826,-0.0048121259920160305,0.0841925392322741,0.9999999867981172,7.894617573473114e-05,-6.256947086805443e-05,8.774504388589234e-05,0.6761,-0.0048,0.08411487796399035,1.0,0.0,0.0,0.0,-0.03844544972069497,-0.052049161784634285,0.9265070945709155,-0.0033346179291685097,0.0030120525275230013,1.1157240395753571e-06,0.017642606175384663,-0.0554377042200011,0.8205503745370322,-0.00531316927213373,0.0019449101674674115,-0.0010642610599221752,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1918465445452666,-0.480333766917169,-0.5906442596713906,0.6338230743281326,0.5473504280358379,-0.31273986414883104,0.5313281633860638,0.9265070945709155,1.1219724230574544,1.1219724230574544,2.0751599999986925,0,0,-0.0005043484540598067,9.999999025923074e-05
+25006,1791363738350302051,2689729000000,1791363738346846502,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760554014033843,-0.004813215327663581,0.08398970239477895,0.9999999877545105,7.211968701602299e-05,-5.831638006434544e-05,8.562589503514568e-05,0.6761,-0.0048,0.0839011714824672,1.0,0.0,0.0,0.0,-0.03730667244244411,-0.0570691762778932,0.9263112808904502,-0.003327839388254692,0.0030135379575516735,-0.0006150741349733341,0.01878138345363552,-0.060457718713260014,0.8203545608565669,-0.005306390731219912,0.0019463955974960837,-0.0016804509189350847,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.244940899913438,-0.45913535235044656,-0.7895907299313488,0.6212111973246358,0.6841048321466654,-0.297572698371905,0.5313281633860638,0.9263112808904502,1.3209188933174127,1.3209188933174127,2.0751599999986925,0,0,-0.0004826984582775599,9.999999025923074e-05
+25056,1791363738767291920,2690146000000,1791363738762846370,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760531410955009,-0.004807064878014865,0.08379019122441249,0.9999999873898757,7.41027320153275e-05,-6.27255101385759e-05,8.507295911456823e-05,0.6761,-0.0048,0.08370422302451652,1.0,0.0,0.0,0.0,-0.037745516384517536,-0.05021498455762755,0.9262047360139465,-0.003327818431451211,0.0030163705039434204,-0.0006576442877467619,0.018342539511562096,-0.053603526992994366,0.8202480159800631,-0.005306369774416431,0.0019492281438878308,-0.0017230210717085125,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.264183035460013,-0.45951509848692723,-0.806711023275254,0.6198196398976791,0.695841921528001,-0.29513456452025166,0.5313281633860638,0.9262047360139465,1.3380391866613177,1.3380391866613177,2.0751599999986925,0,0,-0.00046184846233946066,9.999999025923074e-05
+25110,1791363739217265596,2690596000000,1791363739214847067,DOWN_SETTLE,3,0.052,0.05200209096074104,0.6760543557731363,-0.004810952139988388,0.08359214862721794,0.9999999881616776,6.758721607560508e-05,-5.651403932686294e-05,8.577669092679578e-05,0.6761,-0.0048,0.08350144246547532,1.0,0.0,0.0,0.0,-0.0377872828469471,-0.04689391066216498,0.9229689480130624,-0.00244413786450211,0.003000163274636633,-0.0006469124187866093,0.01830077304913253,-0.05028245309753179,0.817012227979179,-0.00442268920746733,0.0019330209145810432,-0.0017122892027483599,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3163403375122769,-0.37255745398733514,-0.6854304960080325,0.6019897936869819,0.628815071011098,-0.23497176121243044,0.5313281633860638,0.9229689480130624,1.2167586593940962,1.2167586593940962,2.0751599999986925,0,0,-0.00043934846672280683,9.999999025923074e-05
+25162,1791363739650215667,2691029000000,1791363739646846271,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760479377013178,-0.004808916227686512,0.08339769930161899,0.9999999874328804,6.843186478778952e-05,-6.669305844354115e-05,8.629147863846047e-05,0.6761,-0.0048,0.08331588097846909,1.0,0.0,0.0,0.0,-0.03804827934189721,-0.0444922059861682,0.9188019025680552,-0.0023070931214553727,0.0029979277161814666,-0.0006264370583847914,0.018039776554182426,-0.047880748421535016,0.8128451825341718,-0.004285644464420593,0.0019307853561258768,-0.001691813842346542,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3731685326114924,-0.45427198223832316,-0.712448912573138,0.6285989203384111,0.6604553379628443,-0.2877562290485819,0.5313281633860638,0.9188019025680552,1.2437770759592017,1.2437770759592017,2.0751599999986925,0,0,-0.0004176984709405599,9.999999025923074e-05
+25221,1791363740142450074,2691521000000,1791363740138846086,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760497229915701,-0.004805955570246007,0.0832005089583581,0.9999999876701373,6.774599451352979e-05,-6.518060058252358e-05,8.523238272278738e-05,0.6761,-0.0048,0.083116412629585,1.0,0.0,0.0,0.0,-0.028632973416711425,-0.03780367074532768,0.9266938387275054,-0.0023120151802143054,0.0029933417139151575,-5.47782126390482e-05,0.027455082479368207,-0.04119221318069449,0.8207371186936221,-0.004290566523179526,0.001926199353859568,-0.0011201549966007988,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.406197698124598,-0.3397789089358213,-0.7665690290120353,0.5918322283282208,0.6977747809978794,-0.2096184998008762,0.5313281633860638,0.9266938387275054,1.297897192398099,1.297897192398099,2.0751599999986925,0,0,-0.0003930984757330184,9.999999025923074e-05
+25284,1791363740667228346,2692046000000,1791363740662846706,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760485731690833,-0.004814434333678971,0.08300286092048864,0.9999999873351029,6.671650380623584e-05,-6.450125865891254e-05,9.033910690376118e-05,0.6761,-0.0048,0.0829169134284802,1.0,0.0,0.0,0.0,-0.03656525491578973,-0.03813573871295438,0.9066502488178018,-0.0023028782299604534,0.0030008017335640177,-0.0006301380174730047,0.0195228009802899,-0.04152428114832119,0.8006935287839184,-0.004281429572925674,0.0019336593735084279,-0.0016955148014347553,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4461610169256247,-0.36660494716953723,-0.7522976314120212,0.6012431888351915,0.695674436895934,-0.2250021447634558,0.5313281633860638,0.9066502488178018,1.283625794798085,1.283625794798085,2.0751599999986925,0,0,-0.00036684848084692225,9.999999025923074e-05
+25347,1791363741192246794,2692571000000,1791363741186846249,DOWN_SETTLE,3,0.052,0.05200209096074104,0.6760404021507737,-0.0048111883601327475,0.08280693432581288,0.9999999875206932,5.683781252923125e-05,-7.740779149209197e-05,8.4728831659228e-05,0.6761,-0.0048,0.08273119547469061,1.0,0.0,0.0,0.0,-0.030337806111328244,-0.045703923175568775,0.9068696823181532,-0.002282171146874246,0.001984714497562667,6.072819343768809e-06,0.025750249784751388,-0.04909246561093559,0.8009129622842699,-0.0042607224898394665,0.0009175721375070775,-0.0010593039646179818,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.4918631262263717,-0.44899507334799643,-0.8084791287068278,0.6095270703832392,0.7418696453436964,-0.28226073696025633,0.5313281633860638,0.9068696823181532,1.3398072920928916,1.3398072920928916,2.0751599999986925,0,0,-0.0003405984859608261,9.999999025923074e-05
+25416,1791363741767254853,2693146000000,1791363741762846272,DOWN_SETTLE,3,0.052,0.05200209096074104,0.676038558095942,-0.004813187233679613,0.08261801555218033,0.999999986522261,5.990724950082529e-05,-7.99879233655889e-05,9.171366243876725e-05,0.6761,-0.0048,0.08254360259365007,1.0,0.0,0.0,0.0,-0.02830314624031789,-0.0387554623984356,0.9069185786650571,-0.0022824699211214717,0.0019832943489181023,0.0001547415950706576,0.027784909655761744,-0.042144004833802415,0.8009618586311738,-0.004261021264086692,0.0009161519888625128,-0.000910635188891093,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5490043781668619,-0.43031066271329294,-0.8256781099231152,0.6101509155352397,0.7658263099079784,-0.2643187842745695,0.5313281633860638,0.9069185786650571,1.357006273309179,1.357006273309179,2.0751599999986925,0,0,-0.00031184849156176844,9.999999025923074e-05
+25491,1791363742392253305,2693771000000,1791363742390846157,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760337627507423,-0.004816904586053937,0.08242508531841963,0.99999998653632,5.4759798300174455e-05,-8.665960583641059e-05,8.866623526294662e-05,0.6761,-0.0048,0.08235844728451842,1.0,0.0,0.0,0.0,-0.0220105011360648,-0.038143902611143816,0.9066209007728592,-0.002275378955507793,0.001987456062040655,-0.0006441520636249155,0.03407755476001483,-0.04153244504651063,0.8006641807389758,-0.004253930298473013,0.0009203137019850654,-0.001709528847586666,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6059914909526525,-0.4125666028135466,-0.9042606257947333,0.6062549948150631,0.8270798223076242,-0.2484767759912817,0.5313281633860638,0.9066209007728592,1.4355887891807972,1.4355887891807972,2.0751599999986925,0,0,-0.0002805984976497492,9.999999025923074e-05
+25571,1791363743058286414,2694437000000,1791363743054836947,DOWN_SETTLE,3,0.052,0.05200209096074104,0.6760351596011712,-0.004818921122394098,0.08224524126387267,0.9999999858923612,6.241781372765833e-05,-8.788603846103979e-05,8.965602374950407e-05,0.6761,-0.0048,0.08218264093292016,1.0,0.0,0.0,0.0,-0.01903969207682106,-0.03852176590516998,0.8966121758828738,-0.0022738229547098333,0.0019893961165629113,-0.0006356491139935896,0.03704836381925857,-0.041910308340536793,0.7906554558489904,-0.004252374297675054,0.0009222537565073215,-0.0017010258979553402,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.581599459840215,-0.32106173189436066,-0.9385828702410857,0.5761720827460081,0.8402850409799754,-0.18760052063684496,0.5313281633860638,0.8966121758828738,1.4699110336271495,1.4699110336271495,2.0751599999986925,0,0,-0.00024729850413710155,9.999999025923074e-05
+25656,1791363743767277966,2695146000000,1791363743762846562,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760276317531712,-0.004810540492999471,0.08206700873191139,0.9999999855358285,5.673023257371897e-05,-0.00010014191978379695,8.440665886378389e-05,0.6761,-0.0048,0.08201985559103525,1.0,0.0,0.0,0.0,-0.015389109601954963,-0.028678554999247822,0.8969155983230765,-0.0022792911443632563,0.001981391099054451,-0.000635256792874901,0.04069894629412467,-0.03206709743461463,0.7909588782891932,-0.004257842487328477,0.0009142487389988617,-0.0017006335768366516,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.591139420044943,-0.3553091167695867,-0.7895211362240365,0.58653224174707,0.7457795122969945,-0.21463804247737747,0.5313281633860638,0.8969155983230765,1.3208492996101002,1.3208492996101002,2.0751599999986925,0,0,-0.00021184851104330692,9.999999025923074e-05
+25750,1791363744550446666,2695929000000,1791363744542845744,DOWN_SETTLE,3,0.052,0.05200209096074104,0.6760195423882068,-0.004814222493929442,0.08190718616189267,0.9999999843089356,5.29468743364338e-05,-0.00011188114913730499,8.662695880428322e-05,0.6761,-0.0048,0.08186928585389855,1.0,0.0,0.0,0.0,-0.00956315473192125,-0.0402430766542409,0.8868391992031583,-0.0022024763047941973,0.0009726475982881512,-0.00023007961992610026,0.04652490116415838,-0.043631619089607714,0.780882479169275,-0.004181027647759418,-9.449476176743835e-05,-0.0012954564038878508,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.584267909912442,-0.3856691607018035,-0.8585829309013083,0.5978490057745152,0.7859440944802336,-0.22554794858609412,0.5313281633860638,0.8868391992031583,1.3899110942873723,1.3899110942873723,2.0751599999986925,0,0,-0.00017269851867032925,9.999999025923074e-05
+25848,1791363745367263817,2696746000000,1791363745362846570,DOWN_SETTLE,3,0.052,0.05200209096074104,0.6760130230992216,-0.004816749379016062,0.08177316054655245,0.9999999817870573,6.190920586292913e-05,-0.00012204907883070119,9.560346329242725e-05,0.6761,-0.0048,0.08174485796088998,1.0,0.0,0.0,0.0,-0.0007220310302277627,-0.020777594963436327,0.8767608469056665,-0.002018313354162237,0.0009746793278152466,-0.0006315666036326459,0.05536602486585187,-0.024166137398803137,0.7708041268717831,-0.0039968646971274575,-9.2463032240343e-05,-0.0016969433875943965,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6162501552618345,-0.4250234603695403,-0.8868143889470946,0.5990284781015278,0.8100063388585341,-0.25012615047636455,0.5313281633860638,0.8767608469056665,1.4181425523331583,1.4181425523331583,2.0751599999986925,0,0,-0.00013184852662853774,9.999999025923074e-05
+25986,1791363746518197891,2697896000000,1791363746514845996,DOWN_SETTLE,3,0.052,0.052001431584358215,0.6760271286780181,-0.004817223035584276,0.08166234005606085,0.9999999843255234,5.6721569789683786e-05,-0.00010727273321905921,8.981671061884694e-05,0.6761,-0.0048,0.08162626589882048,1.0,0.0,0.0,0.0,-0.009977777053956388,-0.01863944859756878,0.8469452017211745,-0.0012142048010238228,0.000966465372507554,-0.0005985980681376647,0.046110278842123244,-0.02202799103293559,0.7409884816872911,-0.003192756143989043,-0.00010067698754803557,-0.0016639748520994153,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6750100689514063,-0.38244891398296843,-0.8828497497944017,0.5990485870312618,0.8148915021925972,-0.22538713720047684,0.5313281633860638,0.8469452017211745,1.4141779131804655,1.4141779131804655,2.0751599999986925,0,0,-7.434853783042238e-05,9.999999025923074e-05
+26138,1791363747783225101,2699162000000,1791363747782846286,DOWN_SETTLE,3,0.052,0.052001431584358215,0.676020126166912,-0.004812194527527374,0.08158905761333801,0.9999999844583629,4.7223877800868355e-05,-0.00011868962204855706,7.879604821679889e-05,0.6761,-0.0048,0.08157217789211496,1.0,0.0,0.0,0.0,-0.0004348166878857182,-0.026196727200514754,0.8173891371912898,-0.001183391383206188,-4.089965584173037e-05,-0.00029870499804776434,0.055653239208193914,-0.029585269635881564,0.7114324171574065,-0.003161942726171408,-0.00110804201589732,-0.001364081782009515,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5996855366204872,-0.32773356310744467,-0.8987317122259838,0.5667962252107386,0.8109354239851437,-0.18634366494260599,0.5313281633860638,0.8173891371912898,1.4300598756120477,1.4300598756120477,2.0751599999986925,0,0,-1.1048550162236265e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1046fb8ca7c377f0792a8e6f925a443fc3519a4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
+camera_output_sequence,camera_time_ns,camera_frame_kind,camera_image_path,camera_width_px,camera_height_px,task_ros_time_ns,task_sequence,task_robot_time_ns,xjc_sensor_time_ns,task_state,cycle_index,commanded_gripper_width_m,task_measured_gripper_width_m,task_actual_x_m,task_actual_y_m,task_actual_z_m,task_actual_qx,task_actual_qy,task_actual_qz,task_actual_qw,task_command_x_m,task_command_y_m,task_command_z_m,task_command_qx,task_command_qy,task_command_qz,task_command_qw,xjc_zeroed_fx_N,xjc_zeroed_fy_N,xjc_zeroed_fz_N,xjc_zeroed_mx_Nm,xjc_zeroed_my_Nm,xjc_zeroed_mz_Nm,xjc_calibrated_fx_N,xjc_calibrated_fy_N,xjc_calibrated_fz_N,xjc_calibrated_mx_Nm,xjc_calibrated_my_Nm,xjc_calibrated_mz_Nm,xjc_online_baseline_fx_N,xjc_online_baseline_fy_N,xjc_online_baseline_fz_N,xjc_online_baseline_mx_Nm,xjc_online_baseline_my_Nm,xjc_online_baseline_mz_Nm,xjc_online_baseline_ready,task_franka_estimated_fx_N,task_franka_estimated_fy_N,task_franka_estimated_fz_N,task_franka_estimated_mx_Nm,task_franka_estimated_my_Nm,task_franka_estimated_mz_Nm,task_franka_z_baseline_N,task_xjc_up_directional_force_N,task_franka_down_directional_force_N,task_control_directional_force_N,task_force_reference_N,task_detach_armed,task_xjc_detached,task_commanded_z_velocity_mps,task_commanded_z_acceleration_mps2,robot_ros_time_ns,robot_time_sec,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,franka_base_fx_N,franka_base_fy_N,franka_base_fz_N,franka_base_mx_Nm,franka_base_my_Nm,franka_base_mz_Nm,franka_stiffness_fx_N,franka_stiffness_fy_N,franka_stiffness_fz_N,franka_stiffness_mx_Nm,franka_stiffness_my_Nm,franka_stiffness_mz_Nm,arm_joint_1_position_rad,arm_joint_2_position_rad,arm_joint_3_position_rad,arm_joint_4_position_rad,arm_joint_5_position_rad,arm_joint_6_position_rad,arm_joint_7_position_rad,arm_joint_1_velocity_radps,arm_joint_2_velocity_radps,arm_joint_3_velocity_radps,arm_joint_4_velocity_radps,arm_joint_5_velocity_radps,arm_joint_6_velocity_radps,arm_joint_7_velocity_radps,arm_joint_1_measured_effort_Nm,arm_joint_2_measured_effort_Nm,arm_joint_3_measured_effort_Nm,arm_joint_4_measured_effort_Nm,arm_joint_5_measured_effort_Nm,arm_joint_6_measured_effort_Nm,arm_joint_7_measured_effort_Nm,arm_joint_1_external_torque_Nm,arm_joint_2_external_torque_Nm,arm_joint_3_external_torque_Nm,arm_joint_4_external_torque_Nm,arm_joint_5_external_torque_Nm,arm_joint_6_external_torque_Nm,arm_joint_7_external_torque_Nm,gripper_ros_time_ns,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dd54f12c8400d61dd3581ee0293d95ecb9a8591
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,7.383333333e+00,DOWN_FORCE_DETACH,1791363713265290011,4.034673739e-05,-4.204615249e-06,-8.497040215e-04,4.028714949e-05,-4.272800925e-06,-8.493811338e-04,3.851888814e-05,-4.211035201e-06,-8.483879380e-04,7.015782182e-01,-2.653653928e-06,8.398912372e-01,7.015781586e-01,-2.721839604e-06,8.398915601e-01,7.017642735e-01,-2.433414327e-06,8.289322854e-01
+10,8.166666667e+00,DOWN_FORCE_DETACH,1791363714451058552,4.487283550e-05,-5.357746706e-06,-9.448470326e-04,4.186500561e-05,-6.675975195e-06,-9.367458936e-04,3.983538249e-05,-6.590947622e-06,-9.358303639e-04,7.015827443e-01,-3.806785385e-06,8.397960942e-01,7.015797365e-01,-5.125013874e-06,8.398041953e-01,7.017655900e-01,-4.813326749e-06,8.288448430e-01
+11,8.933333333e+00,DOWN_FORCE_DETACH,1791363715678210851,4.748918782e-05,-7.923006908e-06,-1.052572977e-03,4.633690204e-05,-4.337941276e-06,-1.049444014e-03,4.399548235e-05,-4.201837563e-06,-1.048416192e-03,7.015853607e-01,-6.372045587e-06,8.396883682e-01,7.015842084e-01,-2.786979955e-06,8.396914972e-01,7.017697501e-01,-2.424216689e-06,8.287322571e-01
+12,9.750000000e+00,DOWN_FORCE_DETACH,1791363716902445521,5.133790257e-05,-6.951411771e-06,-1.168347193e-03,5.414175652e-05,-3.180628200e-06,-1.153238919e-03,5.167373254e-05,-3.060001192e-06,-1.152354567e-03,7.015892094e-01,-5.400450450e-06,8.395725940e-01,7.015920132e-01,-1.629666879e-06,8.395877023e-01,7.017774283e-01,-1.282380318e-06,8.286283188e-01
+13,1.053333333e+01,DOWN_FORCE_DETACH,1791363718078938707,5.880350437e-05,-1.130133175e-05,-1.274863693e-03,5.936986361e-05,-3.659026704e-06,-1.257881577e-03,5.667381779e-05,-3.568826898e-06,-1.257042458e-03,7.015966750e-01,-9.750370431e-06,8.394660775e-01,7.015972413e-01,-2.108065383e-06,8.394830596e-01,7.017824284e-01,-1.791206024e-06,8.285236309e-01
+14,1.130000000e+01,DOWN_FORCE_DETACH,1791363719220701719,6.421467516e-05,-8.272286702e-06,-1.384129756e-03,6.404945950e-05,-8.002677246e-06,-1.384235547e-03,6.104443109e-05,-7.968880879e-06,-1.383159518e-03,7.016020862e-01,-6.721325381e-06,8.393568114e-01,7.016019209e-01,-6.451715925e-06,8.393567056e-01,7.017867990e-01,-6.191260005e-06,8.283975138e-01
+15,1.201666667e+01,DOWN_FORCE_DETACH,1791363720299525474,6.710122108e-05,-1.476347563e-05,-1.495750779e-03,6.545117453e-05,-1.027604875e-05,-1.489492378e-03,6.216264128e-05,-1.018029507e-05,-1.488453886e-03,7.016049727e-01,-1.321251431e-05,8.392451904e-01,7.016033227e-01,-8.725087431e-06,8.392514488e-01,7.017879172e-01,-8.402674191e-06,8.282922194e-01
+16,1.271666667e+01,DOWN_FORCE_DETACH,1791363721387772650,7.269417827e-05,-1.257144117e-05,-1.614235573e-03,7.133661764e-05,-9.442168022e-06,-1.599081015e-03,6.776405281e-05,-9.382440437e-06,-1.598018885e-03,7.016105657e-01,-1.102047985e-05,8.391267056e-01,7.016092081e-01,-7.891206701e-06,8.391418602e-01,7.017935186e-01,-7.604819563e-06,8.281826544e-01
+17,1.346666667e+01,DOWN_FORCE_DETACH,1791363722510288260,7.487678447e-05,-1.783321966e-05,-1.739864058e-03,7.288905900e-05,-1.739838277e-05,-1.736005192e-03,6.889383484e-05,-1.734053791e-05,-1.734852797e-03,7.016127483e-01,-1.628225834e-05,8.390010771e-01,7.016107605e-01,-1.584742145e-05,8.390049360e-01,7.017946484e-01,-1.556291704e-05,8.280458205e-01
+18,1.418333333e+01,DOWN_FORCE_DETACH,1791363723581609554,7.067815982e-05,-1.979141525e-05,-1.879212975e-03,7.055545705e-05,-1.988610248e-05,-1.879029957e-03,6.594994660e-05,-1.983599113e-05,-1.877737091e-03,7.016085496e-01,-1.824045393e-05,8.388617282e-01,7.016084269e-01,-1.833514115e-05,8.388619112e-01,7.017917045e-01,-1.805837025e-05,8.279029362e-01
+19,1.486666667e+01,DOWN_FORCE_DETACH,1791363724610239526,7.501988500e-05,-2.334495160e-05,-2.008249925e-03,7.485660627e-05,-2.122166613e-05,-1.990355411e-03,6.995046029e-05,-2.113518531e-05,-1.989140972e-03,7.016128914e-01,-2.179399028e-05,8.387326913e-01,7.016127281e-01,-1.967070481e-05,8.387505858e-01,7.017957051e-01,-1.935756444e-05,8.277915323e-01
+20,1.550000000e+01,DOWN_FORCE_DETACH,1791363725553716813,7.860635977e-05,-3.050201639e-05,-2.133984630e-03,7.816600816e-05,-2.921372796e-05,-2.122201298e-03,7.282356465e-05,-2.908004352e-05,-2.120945845e-03,7.016164778e-01,-2.895105507e-05,8.386069566e-01,7.016160375e-01,-2.766276664e-05,8.386187399e-01,7.017985782e-01,-2.730242265e-05,8.276597275e-01
+21,1.608333333e+01,DOWN_FORCE_DETACH,1791363726431640338,7.814620462e-05,-3.641789641e-05,-2.281507915e-03,7.456234137e-05,-3.090907822e-05,-2.282525899e-03,6.857926367e-05,-3.074907282e-05,-2.280968760e-03,7.016160177e-01,-3.486693509e-05,8.384594333e-01,7.016124338e-01,-2.935811690e-05,8.384584153e-01,7.017943339e-01,-2.897145194e-05,8.274997046e-01
+22,1.665000000e+01,DOWN_FORCE_DETACH,1791363727281515969,7.563198301e-05,-3.426498599e-05,-2.444836750e-03,7.532402767e-05,-3.465237302e-05,-2.444738510e-03,6.873717247e-05,-3.448267854e-05,-2.442961659e-03,7.016135035e-01,-3.271402467e-05,8.382961044e-01,7.016131955e-01,-3.310141170e-05,8.382962027e-01,7.017944918e-01,-3.270505767e-05,8.273377117e-01
+23,1.711666667e+01,DOWN_FORCE_DETACH,1791363727982059784,6.932562464e-05,-3.793987850e-05,-2.597934669e-03,6.926904138e-05,-3.773485172e-05,-2.597678386e-03,6.199906647e-05,-3.749994451e-05,-2.595664770e-03,7.016071971e-01,-3.638891718e-05,8.381430065e-01,7.016071405e-01,-3.618389040e-05,8.381432628e-01,7.017877537e-01,-3.572232363e-05,8.271850085e-01
+24,1.760000000e+01,DOWN_FORCE_DETACH,1791363728710961497,7.088012876e-05,-4.470297923e-05,-2.764767544e-03,7.229910480e-05,-4.316947976e-05,-2.759760348e-03,6.446183630e-05,-4.289481220e-05,-2.757682958e-03,7.016087516e-01,-4.315201791e-05,8.379761736e-01,7.016101706e-01,-4.161851844e-05,8.379811808e-01,7.017902164e-01,-4.111719133e-05,8.270229904e-01
+25,1.801666667e+01,DOWN_FORCE_DETACH,1791363729333102957,6.601494681e-05,-4.667576681e-05,-2.935914782e-03,6.898145316e-05,-4.611661678e-05,-2.922825498e-03,6.048728638e-05,-4.586337322e-05,-2.920602932e-03,7.016038864e-01,-4.512480549e-05,8.378050264e-01,7.016068529e-01,-4.456565546e-05,8.378181157e-01,7.017862419e-01,-4.408575235e-05,8.268600704e-01
+26,1.845000000e+01,DOWN_FORCE_DETACH,1791363729993714587,6.519078930e-05,-4.785517387e-05,-3.115161426e-03,6.067056450e-05,-5.293843953e-05,-3.114716882e-03,5.130325502e-05,-5.271347055e-05,-3.112378161e-03,7.016030623e-01,-4.630421254e-05,8.376257798e-01,7.015985420e-01,-5.138747821e-05,8.376262243e-01,7.017770578e-01,-5.093584967e-05,8.266682952e-01
+27,1.885000000e+01,DOWN_FORCE_DETACH,1791363730601205856,6.455980239e-05,-5.229771275e-05,-3.300141447e-03,6.442862854e-05,-5.241975474e-05,-3.299933039e-03,5.453193444e-05,-5.219279352e-05,-3.297322075e-03,7.016024313e-01,-5.074675143e-05,8.374407997e-01,7.016023001e-01,-5.086879342e-05,8.374410081e-01,7.017802865e-01,-5.041517265e-05,8.264833512e-01
+28,1.925000000e+01,DOWN_FORCE_DETACH,1791363731201266809,6.263805948e-05,-5.295072698e-05,-3.501584698e-03,6.257478024e-05,-5.308389626e-05,-3.501395233e-03,5.183869724e-05,-5.284100486e-05,-3.498536742e-03,7.016005095e-01,-5.139976566e-05,8.372393565e-01,7.016004463e-01,-5.153293494e-05,8.372395460e-01,7.017775933e-01,-5.106338398e-05,8.262821366e-01
+29,1.961666667e+01,DOWN_FORCE_DETACH,1791363731751162274,6.078471092e-05,-4.925813446e-05,-3.691354957e-03,6.072056608e-05,-4.920419665e-05,-3.691228269e-03,4.919261532e-05,-4.895176233e-05,-3.688212996e-03,7.015986562e-01,-4.770717314e-05,8.370495862e-01,7.015985920e-01,-4.765323533e-05,8.370497129e-01,7.017749472e-01,-4.717414145e-05,8.260924603e-01
+30,1.996666667e+01,DOWN_FORCE_DETACH,1791363732278873478,6.149879458e-05,-5.473083322e-05,-3.890446251e-03,6.169002389e-05,-5.170197761e-05,-3.881166334e-03,4.954127440e-05,-5.144051165e-05,-3.878023039e-03,7.015993703e-01,-5.317987190e-05,8.368504949e-01,7.015995615e-01,-5.015101629e-05,8.368597749e-01,7.017752959e-01,-4.966289077e-05,8.259026503e-01
+31,2.028333333e+01,DOWN_FORCE_DETACH,1791363732756545215,5.988739551e-05,-5.095820131e-05,-4.087906869e-03,6.170612034e-05,-5.363186953e-05,-4.069318751e-03,4.896792423e-05,-5.338800467e-05,-4.066133150e-03,7.015977589e-01,-4.940723999e-05,8.366530343e-01,7.015995776e-01,-5.208090821e-05,8.366716224e-01,7.017747225e-01,-5.161038379e-05,8.257145402e-01
+32,2.060000000e+01,DOWN_FORCE_DETACH,1791363733223015554,5.757472544e-05,-5.539890162e-05,-4.287258765e-03,5.601543790e-05,-5.976673801e-05,-4.275685930e-03,4.244942908e-05,-5.948623830e-05,-4.272269491e-03,7.015954462e-01,-5.384794029e-05,8.364536824e-01,7.015938869e-01,-5.821577669e-05,8.364652553e-01,7.017682040e-01,-5.770861743e-05,8.255084038e-01
+33,2.090000000e+01,DOWN_FORCE_DETACH,1791363733678984495,6.151611208e-05,-5.886122173e-05,-4.478633328e-03,5.923314056e-05,-5.668645642e-05,-4.468355432e-03,4.502152461e-05,-5.639991322e-05,-4.464850663e-03,7.015993876e-01,-5.731026041e-05,8.362623079e-01,7.015971046e-01,-5.513549510e-05,8.362725858e-01,7.017707761e-01,-5.462229235e-05,8.253158227e-01
+34,2.120000000e+01,DOWN_FORCE_DETACH,1791363734122491045,5.637372185e-05,-5.976241501e-05,-4.688833110e-03,5.730321435e-05,-5.700478478e-05,-4.676015793e-03,4.235643257e-05,-5.672811800e-05,-4.672477049e-03,7.015942452e-01,-5.821145369e-05,8.360521081e-01,7.015951747e-01,-5.545382346e-05,8.360649254e-01,7.017681110e-01,-5.495049712e-05,8.251081963e-01
+35,2.146666667e+01,DOWN_FORCE_DETACH,1791363734523881870,5.925020426e-05,-5.647276667e-05,-4.885481456e-03,5.854000415e-05,-6.235364622e-05,-4.876624396e-03,4.296336096e-05,-6.213319011e-05,-4.872955501e-03,7.015971217e-01,-5.492180534e-05,8.358554597e-01,7.015964115e-01,-6.080268490e-05,8.358643168e-01,7.017687180e-01,-6.035556923e-05,8.249077178e-01
+36,2.171666667e+01,DOWN_FORCE_DETACH,1791363734906227702,5.624262983e-05,-6.314236939e-05,-5.088195822e-03,5.607787167e-05,-6.297861076e-05,-5.088221339e-03,3.967648686e-05,-6.275901285e-05,-5.084270051e-03,7.015941141e-01,-6.159140807e-05,8.356527454e-01,7.015939494e-01,-6.142764944e-05,8.356527198e-01,7.017654311e-01,-6.098139198e-05,8.246964033e-01
+37,2.196666667e+01,DOWN_FORCE_DETACH,1791363735279072122,5.311749312e-05,-6.429688657e-05,-5.284994556e-03,5.373646239e-05,-6.630127293e-05,-5.271490662e-03,3.668432294e-05,-6.607962962e-05,-5.267564356e-03,7.015909890e-01,-6.274592525e-05,8.354559466e-01,7.015916079e-01,-6.475031161e-05,8.354694505e-01,7.017624389e-01,-6.430200874e-05,8.245131090e-01
+38,2.223333333e+01,DOWN_FORCE_DETACH,1791363735678299321,5.337449136e-05,-6.978276226e-05,-5.498207481e-03,5.297420509e-05,-6.990386324e-05,-5.497868014e-03,3.503974148e-05,-6.964367326e-05,-5.493806521e-03,7.015912460e-01,-6.823180094e-05,8.352427337e-01,7.015908457e-01,-6.835290192e-05,8.352430732e-01,7.017607943e-01,-6.786605239e-05,8.242868668e-01
+39,2.248333333e+01,DOWN_FORCE_DETACH,1791363736050548120,5.594559804e-05,-6.546061086e-05,-5.698213675e-03,5.586705880e-05,-6.566608568e-05,-5.698228425e-03,3.732060815e-05,-6.542362198e-05,-5.694133687e-03,7.015938171e-01,-6.390964954e-05,8.350427275e-01,7.015937385e-01,-6.411512436e-05,8.350427128e-01,7.017630752e-01,-6.364600111e-05,8.240865396e-01
+40,2.273333333e+01,DOWN_FORCE_DETACH,1791363736421491023,5.203743845e-05,-6.633410152e-05,-5.904000157e-03,5.177728369e-05,-6.649303816e-05,-5.904044691e-03,3.237751697e-05,-6.620876924e-05,-5.899912135e-03,7.015899089e-01,-6.478314020e-05,8.348369410e-01,7.015896488e-01,-6.494207684e-05,8.348368965e-01,7.017581321e-01,-6.443114837e-05,8.238807612e-01
+41,2.296666667e+01,DOWN_SETTLE,1791363736792581633,5.431030905e-05,-6.876235110e-05,-6.107356457e-03,5.228413563e-05,-7.079357158e-05,-6.092069844e-03,3.220935967e-05,-7.043960293e-05,-6.087961243e-03,7.015921818e-01,-6.721138978e-05,8.346335847e-01,7.015901556e-01,-6.924261026e-05,8.346488713e-01,7.017579640e-01,-6.866198206e-05,8.236927121e-01
+42,2.320000000e+01,DOWN_SETTLE,1791363737147524736,5.065279645e-05,-7.061545530e-05,-6.308966196e-03,5.051675949e-05,-7.039066643e-05,-6.308847818e-03,2.965195690e-05,-7.004502102e-05,-6.304647653e-03,7.015885243e-01,-6.906449397e-05,8.344319750e-01,7.015883882e-01,-6.883970511e-05,8.344320934e-01,7.017554066e-01,-6.826740014e-05,8.234760257e-01
+43,2.341666667e+01,DOWN_SETTLE,1791363737521631074,5.007462354e-05,-7.083969906e-05,-6.504254780e-03,4.997137165e-05,-7.102243377e-05,-6.504389287e-03,2.842468409e-05,-7.076296284e-05,-6.500167881e-03,7.015879461e-01,-6.928873774e-05,8.342366864e-01,7.015878429e-01,-6.947147245e-05,8.342365519e-01,7.017541793e-01,-6.898534197e-05,8.232805054e-01
+44,2.368333333e+01,DOWN_SETTLE,1791363737921097232,4.736159585e-05,-6.726214157e-05,-6.711680842e-03,4.712275974e-05,-6.730950059e-05,-6.711806641e-03,2.480842478e-05,-6.711647634e-05,-6.707642867e-03,7.015852331e-01,-6.571118025e-05,8.340292603e-01,7.015849942e-01,-6.575853926e-05,8.340291345e-01,7.017505630e-01,-6.533885547e-05,8.230730305e-01
+45,2.396666667e+01,DOWN_SETTLE,1791363738346843800,4.887041424e-05,-7.212500191e-05,-6.911008805e-03,4.876829546e-05,-7.215337194e-05,-6.910678159e-03,2.572463462e-05,-7.181581216e-05,-6.906619362e-03,7.015867419e-01,-7.057404059e-05,8.338299324e-01,7.015866398e-01,-7.060241062e-05,8.338302630e-01,7.017514792e-01,-7.003819129e-05,8.228740540e-01
+46,2.425000000e+01,DOWN_SETTLE,1791363738767850319,4.669664510e-05,-7.265220442e-05,-7.113568258e-03,4.631624017e-05,-7.266161711e-05,-7.113858469e-03,2.258008624e-05,-7.237008573e-05,-7.109919795e-03,7.015845681e-01,-7.110124310e-05,8.336273729e-01,7.015841877e-01,-7.111065579e-05,8.336270827e-01,7.017483347e-01,-7.059246485e-05,8.226707535e-01
+47,2.455000000e+01,DOWN_SETTLE,1791363739220002726,4.648360669e-05,-6.509693242e-05,-7.314113210e-03,4.634427827e-05,-6.511400957e-05,-7.314106477e-03,2.190175046e-05,-6.483910665e-05,-7.310284242e-03,7.015843551e-01,-6.354597110e-05,8.334268280e-01,7.015842158e-01,-6.356304825e-05,8.334268347e-01,7.017476563e-01,-6.306148578e-05,8.224703891e-01
+48,2.483333333e+01,DOWN_SETTLE,1791363739646314364,4.389506867e-05,-6.993271590e-05,-7.499831145e-03,4.405369867e-05,-6.839554551e-05,-7.482758225e-03,1.897655028e-05,-6.807927215e-05,-7.479146944e-03,7.015817666e-01,-6.838175458e-05,8.332411100e-01,7.015819252e-01,-6.684458419e-05,8.332581830e-01,7.017447311e-01,-6.630165128e-05,8.223015264e-01
+49,2.516666667e+01,DOWN_SETTLE,1791363740146311653,4.375256049e-05,-6.658058397e-05,-7.700440926e-03,4.361978024e-05,-6.643103024e-05,-7.700479075e-03,1.785021956e-05,-6.615897506e-05,-7.696971257e-03,7.015816240e-01,-6.502962265e-05,8.330405003e-01,7.015814913e-01,-6.488006892e-05,8.330404621e-01,7.017436048e-01,-6.438135418e-05,8.220837021e-01
+50,2.551666667e+01,DOWN_SETTLE,1791363740669931557,4.180665402e-05,-7.037457901e-05,-7.895986613e-03,4.449019700e-05,-7.007370768e-05,-7.880922985e-03,1.814971675e-05,-6.983875684e-05,-7.877783524e-03,7.015796781e-01,-6.882361769e-05,8.328449546e-01,7.015823617e-01,-6.852274636e-05,8.328600182e-01,7.017439043e-01,-6.806113597e-05,8.219028898e-01
+51,2.586666667e+01,DOWN_SETTLE,1791363741188895524,3.314301434e-05,-7.157432875e-05,-8.091293269e-03,3.300642140e-05,-7.147511557e-05,-8.091115366e-03,5.666428752e-06,-7.124721335e-05,-8.087909343e-03,7.015710145e-01,-7.002336743e-05,8.326496479e-01,7.015708779e-01,-6.992415425e-05,8.326498258e-01,7.017314210e-01,-6.946959247e-05,8.216927640e-01
+52,2.625000000e+01,DOWN_SETTLE,1791363741767734394,3.266857132e-05,-7.675583205e-05,-8.279171087e-03,3.272204999e-05,-7.662186244e-05,-8.278777889e-03,4.664861877e-06,-7.632825823e-05,-8.275744711e-03,7.015705401e-01,-7.520487073e-05,8.324617701e-01,7.015705935e-01,-7.507090112e-05,8.324621633e-01,7.017304195e-01,-7.455063735e-05,8.215049286e-01
+53,2.665000000e+01,DOWN_SETTLE,1791363742389232471,2.636645088e-05,-7.777873031e-05,-8.478499830e-03,2.629953230e-05,-7.776988005e-05,-8.478332463e-03,-2.601070201e-06,-7.745189821e-05,-8.475415940e-03,7.015642379e-01,-7.622776899e-05,8.322624414e-01,7.015641710e-01,-7.621891873e-05,8.322626087e-01,7.017231535e-01,-7.567427734e-05,8.213052574e-01
+54,2.708333333e+01,DOWN_SETTLE,1791363743054311847,2.748353419e-05,-7.532214683e-05,-8.655670138e-03,2.355054408e-05,-7.863567922e-05,-8.651454386e-03,-6.026956324e-06,-7.833353739e-05,-8.648780509e-03,7.015653550e-01,-7.377118551e-05,8.320852710e-01,7.015614220e-01,-7.708471790e-05,8.320894868e-01,7.017197276e-01,-7.655591651e-05,8.211318928e-01
+55,2.755000000e+01,DOWN_SETTLE,1791363743768638323,2.123841829e-05,-7.378766117e-05,-8.835770998e-03,2.514182730e-05,-7.730810380e-05,-8.816686885e-03,-4.936865581e-06,-7.694604621e-05,-8.814329978e-03,7.015591099e-01,-7.223669984e-05,8.319051702e-01,7.015630133e-01,-7.575714248e-05,8.319242543e-01,7.017208177e-01,-7.516842534e-05,8.209663433e-01
+56,2.806666667e+01,DOWN_SETTLE,1791363744549326229,1.406131144e-05,-7.501092840e-05,-8.989832834e-03,1.513082773e-05,-7.609270535e-05,-8.985126521e-03,-1.583908908e-05,-7.575116522e-05,-8.983081363e-03,7.015519328e-01,-7.345996708e-05,8.317511084e-01,7.015530023e-01,-7.454174403e-05,8.317558147e-01,7.017099155e-01,-7.397354434e-05,8.207975920e-01
+57,2.861666667e+01,DOWN_SETTLE,1791363745366874710,5.420047519e-06,-7.478629384e-05,-9.129589960e-03,6.797769963e-06,-7.755432307e-05,-9.120224361e-03,-2.481976075e-05,-7.727224417e-05,-9.118547629e-03,7.015432915e-01,-7.323533252e-05,8.316113512e-01,7.015446693e-01,-7.600336175e-05,8.316207168e-01,7.017009348e-01,-7.549462330e-05,8.206621257e-01
+58,2.938333333e+01,DOWN_SETTLE,1791363746518906322,1.994154238e-05,-7.495453879e-05,-9.237957738e-03,2.149300515e-05,-7.736303382e-05,-9.227024395e-03,-1.015204355e-05,-7.710336767e-05,-9.225911829e-03,7.015578130e-01,-7.340357747e-05,8.315029834e-01,7.015593645e-01,-7.581207250e-05,8.315139168e-01,7.017156025e-01,-7.532574679e-05,8.205547615e-01
+59,3.023333333e+01,DOWN_SETTLE,1791363747787406913,1.602466555e-05,-6.982291037e-05,-9.307782172e-03,1.269859811e-05,-6.686935591e-05,-9.309170766e-03,-1.944064724e-05,-6.660988696e-05,-9.308535810e-03,7.015538961e-01,-6.827194905e-05,8.314331590e-01,7.015505701e-01,-6.531839459e-05,8.314317704e-01,7.017063139e-01,-6.483226609e-05,8.204721375e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2932cb12cfcc066b974f3b0db73c64d660659dd3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,4.0441e-03,1.4075e-03,2.4548e+00,-3.6840e-02,3.7072e-02,2.3646e-05,7.0523e-05,2.2112e-06,4.7684e-06,2.9802e-08,5.0403e-06,4.8558e-07,7.0719e-05,5.0637e-06
+1,9.1667e-01,DOWN_FORCE_DETACH,2.0884e-04,7.2543e-03,2.2160e-03,2.4606e+00,-3.6886e-02,3.7295e-02,4.6887e-05,3.2808e-03,8.1068e-04,5.7182e-03,-4.6659e-05,2.2791e-04,2.3727e-05,6.6422e-03,2.3384e-04
+2,1.8333e+00,DOWN_FORCE_DETACH,4.1780e-04,8.8281e-03,6.1160e-03,2.4834e+00,-3.7151e-02,3.7380e-02,6.6761e-05,4.8545e-03,4.7107e-03,2.8598e-02,-3.1082e-04,3.1233e-04,4.3601e-05,2.9387e-02,4.4278e-04
+3,2.5667e+00,DOWN_FORCE_DETACH,6.2320e-04,5.5501e-03,4.9667e-03,2.4933e+00,-3.7070e-02,3.7130e-02,7.8418e-05,1.5765e-03,3.5614e-03,3.8473e-02,-2.3015e-04,6.3110e-05,5.5258e-05,3.8670e-02,2.4496e-04
+4,3.4000e+00,DOWN_FORCE_DETACH,8.3611e-04,6.8862e-03,5.9187e-03,2.4998e+00,-3.7146e-02,3.7213e-02,8.1908e-05,2.9127e-03,4.5133e-03,4.4959e-02,-3.0593e-04,1.4532e-04,5.8747e-05,4.5279e-02,3.4374e-04
+5,4.1500e+00,DOWN_FORCE_DETACH,1.0464e-03,7.3531e-03,7.4118e-03,2.4985e+00,-3.7262e-02,3.7245e-02,7.3579e-05,3.3796e-03,6.0064e-03,4.3708e-02,-4.2182e-04,1.7780e-04,5.0419e-05,4.4248e-02,4.6053e-04
+6,4.9833e+00,DOWN_FORCE_DETACH,1.2537e-03,7.5722e-03,9.5425e-03,2.4980e+00,-3.7419e-02,3.7264e-02,5.3525e-05,3.5987e-03,8.1371e-03,4.3135e-02,-5.7926e-04,1.9692e-04,3.0365e-05,4.4043e-02,6.1257e-04
+7,5.8667e+00,DOWN_FORCE_DETACH,1.4619e-03,9.4191e-03,8.3148e-03,2.4957e+00,-3.7334e-02,3.7402e-02,2.0749e-05,5.4456e-03,6.9095e-03,4.0833e-02,-4.9387e-04,3.3480e-04,-2.4116e-06,4.1769e-02,5.9666e-04
+8,6.6667e+00,DOWN_FORCE_DETACH,1.6706e-03,1.2492e-02,7.5320e-03,2.4921e+00,-3.7280e-02,3.7623e-02,-9.5482e-06,8.5188e-03,6.1267e-03,3.7284e-02,-4.3985e-04,5.5617e-04,-3.2708e-05,3.8732e-02,7.0983e-04
+9,7.3833e+00,DOWN_FORCE_DETACH,1.8804e-03,1.3993e-02,5.1921e-03,2.4934e+00,-3.7117e-02,3.7726e-02,-2.9864e-05,1.0019e-02,3.7868e-03,3.8534e-02,-2.7682e-04,6.5905e-04,-5.3024e-05,3.9995e-02,7.1679e-04
+10,8.1667e+00,DOWN_FORCE_DETACH,2.0855e-03,1.3319e-02,5.6858e-03,2.4973e+00,-3.7147e-02,3.7673e-02,-3.8936e-05,9.3457e-03,4.2805e-03,4.2461e-02,-3.0690e-04,6.0552e-04,-6.2097e-05,4.3688e-02,6.8169e-04
+11,8.9333e+00,DOWN_FORCE_DETACH,2.3002e-03,1.2423e-02,5.6839e-03,2.5000e+00,-3.7140e-02,3.7605e-02,-4.4466e-05,8.4491e-03,4.2785e-03,4.5180e-02,-2.9999e-04,5.3813e-04,-6.7626e-05,4.6162e-02,6.1980e-04
+12,9.7500e+00,DOWN_FORCE_DETACH,2.5075e-03,1.1672e-02,4.7144e-03,2.4975e+00,-3.7085e-02,3.7554e-02,-5.6099e-05,7.6980e-03,3.3091e-03,4.2645e-02,-2.4508e-04,4.8684e-04,-7.9259e-05,4.3461e-02,5.5078e-04
+13,1.0533e+01,DOWN_FORCE_DETACH,2.7149e-03,1.2962e-02,3.5886e-03,2.4958e+00,-3.7040e-02,3.7645e-02,-7.4677e-05,8.9887e-03,2.1833e-03,4.0957e-02,-1.9994e-04,5.7783e-04,-9.7837e-05,4.1989e-02,6.1922e-04
+14,1.1300e+01,DOWN_FORCE_DETACH,2.9249e-03,1.4223e-02,4.1893e-03,2.4949e+00,-3.7081e-02,3.7737e-02,-8.5780e-05,1.0250e-02,2.7839e-03,4.0045e-02,-2.4147e-04,6.6921e-04,-1.0894e-04,4.1429e-02,7.1973e-04
+15,1.2017e+01,DOWN_FORCE_DETACH,3.1330e-03,1.4306e-02,4.6524e-03,2.5023e+00,-3.7068e-02,3.7739e-02,-7.9321e-05,1.0333e-02,3.2471e-03,4.7481e-02,-2.2782e-04,6.7126e-04,-1.0248e-04,4.8701e-02,7.1624e-04
+16,1.2717e+01,DOWN_FORCE_DETACH,3.3410e-03,1.3019e-02,3.9679e-03,2.5039e+00,-3.6997e-02,3.7646e-02,-5.9551e-05,9.0457e-03,2.5626e-03,4.9058e-02,-1.5682e-04,5.7857e-04,-8.2711e-05,4.9951e-02,6.0513e-04
+17,1.3467e+01,DOWN_FORCE_DETACH,3.5507e-03,1.3075e-02,6.1793e-03,2.5093e+00,-3.7165e-02,3.7638e-02,-3.3835e-05,9.1018e-03,4.7740e-03,5.4498e-02,-3.2559e-04,5.7085e-04,-5.6995e-05,5.5458e-02,6.5965e-04
+18,1.4183e+01,DOWN_FORCE_DETACH,3.7591e-03,1.3313e-02,6.7787e-03,2.5083e+00,-3.7240e-02,3.7644e-02,-1.7574e-05,9.3396e-03,5.3734e-03,5.3505e-02,-4.0018e-04,5.7629e-04,-4.0734e-05,5.4580e-02,7.0279e-04
+19,1.4867e+01,DOWN_FORCE_DETACH,3.9686e-03,1.2473e-02,8.0783e-03,2.5115e+00,-3.7343e-02,3.7579e-02,-1.0820e-05,8.4999e-03,6.6730e-03,5.6649e-02,-5.0336e-04,5.1127e-04,-3.3980e-05,5.7671e-02,7.1827e-04
+20,1.5500e+01,DOWN_FORCE_DETACH,4.1732e-03,1.1271e-02,1.1878e-02,2.5151e+00,-3.7588e-02,3.7491e-02,-5.2408e-06,7.2971e-03,1.0473e-02,6.0247e-02,-7.4874e-04,4.2373e-04,-2.8401e-05,6.1584e-02,8.6080e-04
+21,1.6083e+01,DOWN_FORCE_DETACH,4.3873e-03,1.2587e-02,1.3148e-02,2.5252e+00,-3.7643e-02,3.7571e-02,6.2328e-09,8.6140e-03,1.1743e-02,7.0357e-02,-8.0314e-04,5.0331e-04,-2.3154e-05,7.1848e-02,9.4809e-04
+22,1.6650e+01,DOWN_FORCE_DETACH,4.5996e-03,1.2474e-02,1.3935e-02,2.5309e+00,-3.7666e-02,3.7551e-02,7.0765e-06,8.5003e-03,1.2530e-02,7.6057e-02,-8.2645e-04,4.8386e-04,-1.6084e-05,7.7550e-02,9.5781e-04
+23,1.7117e+01,DOWN_FORCE_DETACH,4.8048e-03,1.2929e-02,1.7642e-02,2.5400e+00,-3.7885e-02,3.7569e-02,1.6251e-05,8.9554e-03,1.6236e-02,8.5193e-02,-1.0456e-03,5.0199e-04,-6.9090e-06,8.7187e-02,1.1598e-03
+24,1.7600e+01,DOWN_FORCE_DETACH,5.0131e-03,1.1448e-02,2.0765e-02,2.5509e+00,-3.8073e-02,3.7459e-02,2.0901e-05,7.4744e-03,1.9360e-02,9.6064e-02,-1.2336e-03,3.9202e-04,-2.2588e-06,9.8280e-02,1.2944e-03
+25,1.8017e+01,DOWN_FORCE_DETACH,5.2219e-03,1.1567e-02,2.0727e-02,2.5564e+00,-3.8092e-02,3.7462e-02,2.1244e-05,7.5937e-03,1.9321e-02,1.0151e-01,-1.2519e-03,3.9490e-04,-1.9160e-06,1.0361e-01,1.3127e-03
+26,1.8450e+01,DOWN_FORCE_DETACH,5.4329e-03,1.3344e-02,2.1080e-02,2.5643e+00,-3.8118e-02,3.7569e-02,2.2632e-05,9.3704e-03,1.9675e-02,1.0942e-01,-1.2787e-03,5.0208e-04,-5.2779e-07,1.1157e-01,1.3737e-03
+27,1.8850e+01,DOWN_FORCE_DETACH,5.6382e-03,1.1286e-02,2.0736e-02,2.5677e+00,-3.8050e-02,3.7432e-02,2.9910e-05,7.3127e-03,1.9330e-02,1.1287e-01,-1.2106e-03,3.6431e-04,6.7495e-06,1.1475e-01,1.2643e-03
+28,1.9250e+01,DOWN_FORCE_DETACH,5.8526e-03,1.0741e-02,2.1504e-02,2.5781e+00,-3.8065e-02,3.7379e-02,4.6264e-05,6.7675e-03,2.0099e-02,1.2322e-01,-1.2249e-03,3.1208e-04,2.3103e-05,1.2503e-01,1.2642e-03
+29,1.9617e+01,DOWN_FORCE_DETACH,6.0587e-03,1.1697e-02,2.1586e-02,2.5881e+00,-3.8060e-02,3.7421e-02,5.3580e-05,7.7230e-03,2.0181e-02,1.3326e-01,-1.2200e-03,3.5415e-04,3.0420e-05,1.3500e-01,1.2707e-03
+30,1.9967e+01,DOWN_FORCE_DETACH,6.2657e-03,1.0567e-02,2.2761e-02,2.5948e+00,-3.8133e-02,3.7339e-02,4.9065e-05,6.5934e-03,2.1356e-02,1.3991e-01,-1.2933e-03,2.7119e-04,2.5905e-05,1.4168e-01,1.3217e-03
+31,2.0283e+01,DOWN_FORCE_DETACH,6.4782e-03,1.2079e-02,2.2247e-02,2.6007e+00,-3.8086e-02,3.7436e-02,3.8675e-05,8.1050e-03,2.0842e-02,1.4582e-01,-1.2465e-03,3.6863e-04,1.5515e-05,1.4752e-01,1.2999e-03
+32,2.0600e+01,DOWN_FORCE_DETACH,6.6893e-03,1.4802e-02,2.5044e-02,2.6085e+00,-3.8241e-02,3.7609e-02,2.6004e-05,1.0828e-02,2.3638e-02,1.5362e-01,-1.4009e-03,5.4142e-04,2.8437e-06,1.5581e-01,1.5019e-03
+33,2.0900e+01,DOWN_FORCE_DETACH,6.8883e-03,1.4492e-02,2.5466e-02,2.6115e+00,-3.8237e-02,3.7584e-02,1.2118e-05,1.0518e-02,2.4061e-02,1.5663e-01,-1.3972e-03,5.1702e-04,-1.1042e-05,1.5882e-01,1.4899e-03
+34,2.1200e+01,DOWN_FORCE_DETACH,7.1048e-03,1.4971e-02,2.3937e-02,2.6161e+00,-3.8137e-02,3.7614e-02,-1.7183e-06,1.0997e-02,2.2532e-02,1.6127e-01,-1.2973e-03,5.4637e-04,-2.4878e-05,1.6320e-01,1.4079e-03
+35,2.1467e+01,DOWN_FORCE_DETACH,7.3078e-03,1.5870e-02,2.3602e-02,2.6207e+00,-3.8105e-02,3.7670e-02,-8.4316e-06,1.1896e-02,2.2197e-02,1.6591e-01,-1.2648e-03,6.0264e-04,-3.1592e-05,1.6781e-01,1.4014e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a5fd46ac844f69b4d5ae63f16c76d5e7db99430
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..563db409e63a6443cd553985859d2c611070a7c6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be06d0030bee1fe32bf921e33bda1fee1a950634
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d5f6d452be19deccd9e681166ae66ea11c16e6b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+48,8.150000000e+00,UP_FORCE_RAMP,1791363694042176686,-8.374853675e-05,-1.439614477e-05,8.857002133e-04,-8.258737932e-05,-1.313999510e-05,8.736405406e-04,-8.160529018e-05,-1.308772307e-05,8.729373532e-04,7.014541229e-01,-1.284518344e-05,8.416266414e-01,7.014552841e-01,-1.158903378e-05,8.416145817e-01,7.016441493e-01,-1.131010343e-05,8.306536107e-01
+49,8.350000000e+00,UP_FORCE_RAMP,1791363694342170386,-8.194077501e-05,-1.421107640e-05,8.971215803e-04,-8.300912913e-05,-1.207271940e-05,8.946315563e-04,-8.193969345e-05,-1.201699011e-05,8.939269677e-04,7.014559307e-01,-1.266011508e-05,8.416380628e-01,7.014548624e-01,-1.052175808e-05,8.416355727e-01,7.016438149e-01,-1.023937047e-05,8.306746003e-01
+50,8.583333333e+00,UP_FORCE_RAMP,1791363694686174143,-8.371911809e-05,-1.111842339e-05,9.057278586e-04,-8.300912913e-05,-1.207271940e-05,8.946315563e-04,-8.194160889e-05,-1.201674178e-05,8.940645410e-04,7.014541524e-01,-9.567462070e-06,8.416466690e-01,7.014548624e-01,-1.052175808e-05,8.416355727e-01,7.016438130e-01,-1.023912214e-05,8.306747379e-01
+51,8.816666667e+00,UP_FORCE_RAMP,1791363695042169808,-8.452778877e-05,-1.000188989e-05,9.165115042e-04,-8.364015551e-05,-1.259205172e-05,9.150856083e-04,-8.252657665e-05,-1.253204099e-05,9.144646105e-04,7.014533437e-01,-8.450928566e-06,8.416574527e-01,7.014542313e-01,-1.104109040e-05,8.416560268e-01,7.016432280e-01,-1.075442135e-05,8.306951379e-01
+52,9.016666667e+00,UP_FORCE_RAMP,1791363695342170089,-8.179849270e-05,-1.292429991e-05,9.296783096e-04,-8.364015551e-05,-1.259205172e-05,9.150856083e-04,-8.252729183e-05,-1.253172136e-05,9.145662064e-04,7.014560730e-01,-1.137333859e-05,8.416706195e-01,7.014542313e-01,-1.104109040e-05,8.416560268e-01,7.016432273e-01,-1.075410172e-05,8.306952395e-01
+53,9.216666667e+00,UP_FORCE_RAMP,1791363695642188845,-8.346232697e-05,-7.609977412e-06,9.339926224e-04,-8.364015551e-05,-1.259205172e-05,9.150856083e-04,-8.252820779e-05,-1.253144795e-05,9.146487000e-04,7.014544092e-01,-6.059016091e-06,8.416749338e-01,7.014542313e-01,-1.104109040e-05,8.416560268e-01,7.016432264e-01,-1.075382831e-05,8.306953220e-01
+54,9.466666667e+00,UP_FORCE_HOLD,1791363696014097098,-8.491994282e-05,-1.304497894e-05,9.423898488e-04,-8.367161158e-05,-9.505083002e-06,9.350649424e-04,-8.246068854e-05,-9.447019200e-06,9.345691658e-04,7.014529515e-01,-1.149401762e-05,8.416833310e-01,7.014541999e-01,-7.954121681e-06,8.416760061e-01,7.016432939e-01,-7.669399561e-06,8.307152425e-01
+55,9.650000000e+00,UP_FORCE_HOLD,1791363696317091978,-8.331085294e-05,-1.298288497e-05,9.496454041e-04,-8.367161158e-05,-9.505083002e-06,9.350649424e-04,-8.246111417e-05,-9.446782805e-06,9.346354751e-04,7.014545606e-01,-1.143192365e-05,8.416905866e-01,7.014541999e-01,-7.954121681e-06,8.416760061e-01,7.016432935e-01,-7.669163166e-06,8.307153088e-01
+56,9.850000000e+00,UP_FORCE_HOLD,1791363696616897542,-8.607286873e-05,-1.089781876e-05,9.501225916e-04,-8.367161158e-05,-9.505083002e-06,9.350649424e-04,-8.246181390e-05,-9.446798035e-06,9.346959492e-04,7.014517986e-01,-9.346857439e-06,8.416910638e-01,7.014541999e-01,-7.954121681e-06,8.416760061e-01,7.016432928e-01,-7.669178396e-06,8.307153693e-01
+57,1.003333333e+01,UP_FORCE_HOLD,1791363696897686871,-8.539954471e-05,-6.634804049e-06,9.583005824e-04,-8.378504640e-05,-7.927234679e-06,9.559389910e-04,-8.248762269e-05,-7.864579050e-06,9.555202499e-04,7.014524719e-01,-5.083842728e-06,8.416992418e-01,7.014540864e-01,-6.376273358e-06,8.416968802e-01,7.016432670e-01,-6.086959411e-06,8.307361936e-01
+58,1.021666667e+01,UP_FORCE_HOLD,1791363697175449709,-8.504112496e-05,-1.361375585e-05,9.642757807e-04,-8.378504640e-05,-7.927234679e-06,9.559389910e-04,-8.248808903e-05,-7.864540195e-06,9.555770642e-04,7.014528304e-01,-1.206279453e-05,8.417052170e-01,7.014540864e-01,-6.376273358e-06,8.416968802e-01,7.016432665e-01,-6.086920556e-06,8.307362504e-01
+59,1.045000000e+01,UP_SETTLE,1791363697517996337,-8.550446955e-05,-9.304454049e-06,9.696414958e-04,-8.378504640e-05,-7.927234679e-06,9.559389910e-04,-8.248919553e-05,-7.864785810e-06,9.556356951e-04,7.014523670e-01,-7.753492728e-06,8.417105827e-01,7.014540864e-01,-6.376273358e-06,8.416968802e-01,7.016432654e-01,-6.087166171e-06,8.307363090e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..550f273185af8574e5334018f12f26c7d68a2038
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,4.0442e-03,1.4075e-03,2.4548e+00,-3.6840e-02,3.7072e-02,2.3641e-05,7.0668e-05,2.3025e-06,5.0068e-06,1.8626e-08,5.0478e-06,4.8533e-07,7.0882e-05,5.0711e-06
+1,2.1667e-01,UP_FORCE_RAMP,4.2881e-05,4.8799e-03,1.4336e-03,2.4549e+00,-3.6839e-02,3.7132e-02,2.9731e-05,9.0633e-04,2.8331e-05,6.1750e-05,5.3272e-07,6.4794e-05,6.5757e-06,9.0887e-04,6.5129e-05
+2,4.3333e-01,UP_FORCE_RAMP,8.5583e-05,5.5978e-03,1.4630e-03,2.4549e+00,-3.6839e-02,3.7183e-02,3.5405e-05,1.6243e-03,5.7807e-05,1.0347e-04,6.0722e-07,1.1606e-04,1.2250e-05,1.6286e-03,1.1671e-04
+3,6.5000e-01,UP_FORCE_RAMP,1.2929e-04,6.2154e-03,1.4942e-03,2.4550e+00,-3.6839e-02,3.7227e-02,4.0694e-05,2.2418e-03,8.8934e-05,1.3256e-04,3.4645e-07,1.6016e-04,1.7539e-05,2.2475e-03,1.6112e-04
+4,8.5000e-01,UP_FORCE_RAMP,1.6994e-04,6.7127e-03,1.5248e-03,2.4550e+00,-3.6840e-02,3.7263e-02,4.5252e-05,2.7392e-03,1.1957e-04,1.4997e-04,-1.9372e-07,1.9563e-04,2.2097e-05,2.7459e-03,1.9687e-04
+5,1.0167e+00,UP_FORCE_RAMP,2.1114e-04,7.0784e-03,1.5487e-03,2.4550e+00,-3.6840e-02,3.7289e-02,4.8831e-05,3.1049e-03,1.4352e-04,1.5903e-04,-6.7055e-07,2.2174e-04,2.5675e-05,3.1123e-03,2.2323e-04
+6,1.1833e+00,UP_FORCE_RAMP,2.5659e-04,8.4414e-03,2.2452e-03,2.4495e+00,-3.6889e-02,3.7393e-02,5.2711e-05,4.4678e-03,8.4000e-04,-5.3217e-03,-4.9509e-05,3.2570e-04,2.9555e-05,6.9991e-03,3.3076e-04
+7,1.3667e+00,UP_FORCE_RAMP,2.9770e-04,8.6362e-03,2.2705e-03,2.4504e+00,-3.6889e-02,3.7406e-02,5.6026e-05,4.6627e-03,8.6532e-04,-4.4324e-03,-4.9535e-05,3.3821e-04,3.2871e-05,6.4912e-03,3.4340e-04
+8,1.5667e+00,UP_FORCE_RAMP,3.4343e-04,9.5775e-03,2.7392e-03,2.4457e+00,-3.6922e-02,3.7478e-02,5.9805e-05,5.6040e-03,1.3340e-03,-9.1069e-03,-8.2400e-05,4.1084e-04,3.6650e-05,1.0776e-02,4.2063e-04
+9,1.7667e+00,UP_FORCE_RAMP,3.8106e-04,1.0099e-02,7.9535e-04,2.4417e+00,-3.6786e-02,3.7520e-02,6.1594e-05,6.1251e-03,-6.0988e-04,-1.3180e-02,5.3573e-05,4.5290e-04,3.8439e-05,1.4546e-02,4.5768e-04
+10,1.9500e+00,UP_FORCE_RAMP,4.2510e-04,1.0946e-02,2.7256e-03,2.4379e+00,-3.6921e-02,3.7585e-02,6.5083e-05,6.9727e-03,1.3203e-03,-1.6954e-02,-8.0857e-05,5.1811e-04,4.1928e-05,1.8379e-02,5.2605e-04
+11,2.1167e+00,UP_FORCE_RAMP,4.7023e-04,1.1852e-02,2.4529e-03,2.4343e+00,-3.6902e-02,3.7655e-02,6.6637e-05,7.8785e-03,1.0477e-03,-2.0571e-02,-6.2313e-05,5.8735e-04,4.3482e-05,2.2053e-02,5.9225e-04
+12,2.2833e+00,UP_FORCE_RAMP,5.1504e-04,1.3650e-02,2.4052e-03,2.4310e+00,-3.6899e-02,3.7787e-02,6.8056e-05,9.6762e-03,9.9998e-04,-2.3831e-02,-5.9593e-05,7.2002e-04,4.4900e-05,2.5740e-02,7.2387e-04
+13,2.4500e+00,UP_FORCE_RAMP,5.5574e-04,1.3871e-02,3.9896e-03,2.4284e+00,-3.7011e-02,3.7806e-02,7.0120e-05,9.8973e-03,2.5844e-03,-2.6438e-02,-1.7133e-04,7.3903e-04,4.6965e-05,2.8347e-02,7.6008e-04
+14,2.6000e+00,UP_FORCE_RAMP,5.9728e-04,1.4494e-02,4.2509e-03,2.4254e+00,-3.7031e-02,3.7855e-02,7.0769e-05,1.0521e-02,2.8457e-03,-2.9397e-02,-1.9153e-04,7.8736e-04,4.7613e-05,3.1352e-02,8.1171e-04
+15,2.7833e+00,UP_FORCE_RAMP,6.3627e-04,1.5037e-02,4.3395e-03,2.4242e+00,-3.7039e-02,3.7895e-02,7.0605e-05,1.1064e-02,2.9343e-03,-3.0595e-02,-1.9944e-04,8.2798e-04,4.7450e-05,3.2666e-02,8.5298e-04
+16,2.9333e+00,UP_FORCE_RAMP,6.8418e-04,1.5032e-02,4.2446e-03,2.4210e+00,-3.7035e-02,3.7899e-02,6.9998e-05,1.1058e-02,2.8393e-03,-3.3878e-02,-1.9557e-04,8.3178e-04,4.6843e-05,3.5750e-02,8.5574e-04
+17,3.0667e+00,UP_FORCE_RAMP,7.2332e-04,1.5237e-02,3.2317e-03,2.4184e+00,-3.6966e-02,3.7917e-02,6.8504e-05,1.1263e-02,1.8265e-03,-3.6421e-02,-1.2660e-04,8.4978e-04,4.5349e-05,3.8166e-02,8.6036e-04
+18,3.2333e+00,UP_FORCE_RAMP,7.6832e-04,1.4050e-02,6.1187e-03,2.4097e+00,-3.7173e-02,3.7841e-02,6.8740e-05,1.0077e-02,4.7135e-03,-4.5161e-02,-3.3278e-04,7.7400e-04,4.5585e-05,4.6511e-02,8.4373e-04
+19,3.3667e+00,UP_FORCE_RAMP,8.0982e-04,1.4361e-02,6.9642e-03,2.4080e+00,-3.7234e-02,3.7862e-02,6.7247e-05,1.0387e-02,5.5590e-03,-4.6804e-02,-3.9381e-04,7.9419e-04,4.4092e-05,4.8264e-02,8.8756e-04
+20,3.5167e+00,UP_FORCE_RAMP,8.5279e-04,1.4050e-02,6.0201e-03,2.4066e+00,-3.7176e-02,3.7845e-02,6.4704e-05,1.0076e-02,4.6149e-03,-4.8253e-02,-3.3581e-04,7.7785e-04,4.1549e-05,4.9509e-02,8.4826e-04
+21,3.6333e+00,UP_FORCE_RAMP,8.9340e-04,1.3778e-02,5.6150e-03,2.4030e+00,-3.7151e-02,3.7827e-02,6.1933e-05,9.8043e-03,4.2098e-03,-5.1883e-02,-3.1153e-04,7.6016e-04,3.8778e-05,5.2969e-02,8.2243e-04
+22,3.8000e+00,UP_FORCE_RAMP,9.3697e-04,1.3937e-02,5.8601e-03,2.4030e+00,-3.7173e-02,3.7841e-02,5.8457e-05,9.9634e-03,4.4548e-03,-5.1845e-02,-3.3331e-04,7.7329e-04,3.5302e-05,5.2981e-02,8.4281e-04
+23,3.9500e+00,UP_FORCE_RAMP,9.8503e-04,1.3440e-02,6.6441e-03,2.4021e+00,-3.7234e-02,3.7808e-02,5.5359e-05,9.4662e-03,5.2389e-03,-5.2716e-02,-3.9443e-04,7.4025e-04,3.2203e-05,5.3814e-02,8.3940e-04
+24,4.1000e+00,UP_FORCE_RAMP,1.0233e-03,1.3298e-02,6.0179e-03,2.3961e+00,-3.7200e-02,3.7802e-02,5.0892e-05,9.3242e-03,4.6127e-03,-5.8733e-02,-3.6017e-04,7.3421e-04,2.7737e-05,5.9648e-02,8.1826e-04
+25,4.2167e+00,UP_FORCE_RAMP,1.0648e-03,1.2044e-02,6.4330e-03,2.3954e+00,-3.7234e-02,3.7716e-02,4.8104e-05,8.0700e-03,5.0278e-03,-5.9393e-02,-3.9433e-04,6.4878e-04,2.4948e-05,6.0149e-02,7.5963e-04
+26,4.3833e+00,UP_FORCE_RAMP,1.1098e-03,1.2204e-02,6.0102e-03,2.3963e+00,-3.7212e-02,3.7725e-02,4.3302e-05,8.2300e-03,4.6050e-03,-5.8591e-02,-3.7272e-04,6.5808e-04,2.0146e-05,5.9345e-02,7.5657e-04
+27,4.5000e+00,UP_FORCE_RAMP,1.1521e-03,1.2189e-02,6.5011e-03,2.3959e+00,-3.7252e-02,3.7725e-02,4.0091e-05,8.2150e-03,5.0959e-03,-5.8966e-02,-4.1249e-04,6.5774e-04,1.6936e-05,5.9754e-02,7.7657e-04
+28,4.6333e+00,UP_FORCE_RAMP,1.1901e-03,1.1074e-02,5.2004e-03,2.3952e+00,-3.7167e-02,3.7647e-02,3.6064e-05,7.1000e-03,3.7952e-03,-5.9619e-02,-3.2769e-04,5.7963e-04,1.2908e-05,6.0160e-02,6.6597e-04
+29,4.7833e+00,UP_FORCE_RAMP,1.2352e-03,1.0886e-02,5.8722e-03,2.3887e+00,-3.7219e-02,3.7639e-02,3.2346e-05,6.9124e-03,4.4670e-03,-6.6096e-02,-3.7885e-04,5.7147e-04,9.1902e-06,6.6607e-02,6.8570e-04
+30,4.9500e+00,UP_FORCE_RAMP,1.2795e-03,1.1556e-02,6.6890e-03,2.3918e+00,-3.7285e-02,3.7681e-02,3.0369e-05,7.5822e-03,5.2838e-03,-6.3017e-02,-4.4535e-04,6.1364e-04,7.2139e-06,6.3691e-02,7.5825e-04
+31,5.1333e+00,UP_FORCE_RAMP,1.3246e-03,1.2258e-02,7.0855e-03,2.3941e+00,-3.7320e-02,3.7729e-02,2.8772e-05,8.2845e-03,5.6802e-03,-6.0768e-02,-4.8062e-04,6.6127e-04,5.6164e-06,6.1592e-02,8.1750e-04
+32,5.2833e+00,UP_FORCE_RAMP,1.3639e-03,1.3471e-02,6.9495e-03,2.3952e+00,-3.7316e-02,3.7812e-02,2.7787e-05,9.4972e-03,5.5442e-03,-5.9676e-02,-4.7641e-04,7.4450e-04,4.6318e-06,6.0681e-02,8.8390e-04
+33,5.5000e+00,UP_FORCE_RAMP,1.4049e-03,1.3293e-02,6.2432e-03,2.3985e+00,-3.7272e-02,3.7798e-02,2.7381e-05,9.3192e-03,4.8379e-03,-5.6381e-02,-4.3200e-04,7.3105e-04,4.2258e-06,5.7350e-02,8.4916e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..955374ef404de773aeee3e02d5a032b75e741169
--- /dev/null
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+59,3.121667e+01,235,7.028894e-01,2.231989e-02,8.118011e-01,-2.806699e-05,-7.879994e-05,-9.086240e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,236,6.993405e-01,1.759285e-02,8.213635e-01,1.127394e-05,-3.460217e-05,-9.016789e-03,7.316437e-04,1.106817e-02,1.467692e-03
+59,3.121667e+01,237,7.010367e-01,1.751024e-02,8.224649e-01,1.295112e-05,-2.956425e-05,-9.007702e-03,3.054512e-06,2.838202e-02,5.069724e-03
+59,3.121667e+01,238,7.002814e-01,1.779327e-02,8.240218e-01,9.564120e-06,-4.457692e-05,-9.023016e-03,5.928225e-05,2.255487e-03,1.277733e-04
+59,3.121667e+01,239,6.968188e-01,2.548837e-02,8.293744e-01,1.884181e-05,-5.979284e-05,-9.096615e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,240,7.035928e-01,1.777940e-02,8.237935e-01,2.221261e-05,-4.856355e-05,-9.043136e-03,-6.654022e-06,2.663050e-05,-6.030034e-05
+59,3.121667e+01,241,6.929912e-01,2.231430e-02,8.232132e-01,-4.315123e-06,-6.633186e-05,-9.073336e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,242,7.095599e-01,2.396481e-02,8.152342e-01,-1.865204e-05,-7.603721e-05,-9.134315e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,243,6.961699e-01,2.365473e-02,8.285150e-01,1.054124e-05,-5.949980e-05,-9.076458e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,244,6.922090e-01,2.381194e-02,8.225266e-01,-2.167109e-06,-6.715747e-05,-9.083109e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,245,7.005141e-01,2.561538e-02,8.305618e-01,2.595903e-05,-5.688415e-05,-9.106224e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,246,6.977167e-01,2.348498e-02,8.120505e-01,-1.935570e-05,-8.066326e-05,-9.084632e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,247,7.054300e-01,2.379291e-02,8.118953e-01,-3.004832e-05,-8.046925e-05,-9.112624e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,248,6.940039e-01,2.034544e-02,8.207916e-01,-7.442103e-07,-6.620553e-05,-9.062352e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,249,7.021327e-01,2.363357e-02,8.111712e-01,-2.872012e-05,-8.152338e-05,-9.097244e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,250,7.114267e-01,2.544000e-02,8.222097e-01,8.220532e-06,-6.765631e-05,-9.148973e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,251,7.114694e-01,2.546149e-02,8.193880e-01,-1.797807e-06,-7.135212e-05,-9.150601e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,252,6.960320e-01,2.100690e-02,8.266815e-01,9.612559e-07,-6.308073e-05,-9.053009e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,253,6.976788e-01,2.258374e-02,8.289203e-01,1.174573e-05,-5.903169e-05,-9.064578e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,254,7.094723e-01,2.244961e-02,8.252141e-01,3.235194e-05,-6.483941e-05,-9.116066e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,255,6.919914e-01,2.392960e-02,8.208384e-01,-3.716756e-06,-6.958966e-05,-9.084843e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,256,7.007554e-01,2.566014e-02,8.107443e-01,-2.903311e-05,-8.220898e-05,-9.113341e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,257,6.923478e-01,2.378887e-02,8.182534e-01,-5.721622e-06,-7.320266e-05,-9.084078e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,258,7.054276e-01,1.845668e-02,8.170996e-01,-1.751072e-05,-5.868317e-05,-9.064755e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,259,7.037796e-01,2.387161e-02,8.300445e-01,3.166717e-05,-5.766314e-05,-9.094196e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,260,7.072728e-01,2.254395e-02,8.278338e-01,3.858040e-05,-6.155128e-05,-9.098670e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,261,7.063989e-01,1.826661e-02,8.195216e-01,-1.096701e-06,-5.748054e-05,-9.075264e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,262,7.060291e-01,2.252193e-02,8.127546e-01,-2.947747e-05,-7.847437e-05,-9.103985e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,263,6.963069e-01,2.411919e-02,8.125950e-01,-1.781624e-05,-8.011586e-05,-9.088433e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,264,7.085125e-01,2.250292e-02,8.266156e-01,3.689979e-05,-6.384493e-05,-9.108475e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,265,7.070302e-01,1.894690e-02,8.179852e-01,-1.094101e-05,-6.356277e-05,-9.083896e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.121667e+01,266,6.948125e-01,2.114976e-02,8.254182e-01,-2.707424e-06,-6.468821e-05,-9.058640e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21486294cbb527e9d7c7c788fd6a599c082e54b0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+30112,1791363780844215355,2732223000000,1791363780838846243,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760357004105639,-0.004757975317787916,0.09025446260913729,0.9999999857602515,9.328916084900177e-05,-9.779986142987114e-05,4.067776849558199e-05,0.6761,-0.0048,0.09027516782121739,1.0,0.0,0.0,0.0,-0.010563130682435792,-0.014905834050604784,0.3646253663473379,-0.0010836930051341125,5.65417017039519e-05,-0.0002244305227333352,0.04552492521364384,-0.018294376485971594,0.25866864631345454,-0.0030622443480993328,-0.0010106006583516377,-0.0012898073066950858,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8609842456595335,-0.4276286345413834,0.21233275125727713,0.3583673495537976,0.046986285735062056,-0.31745316690769726,0.5313281633860638,0.3646253663473379,0.3189954121287867,0.3189954121287867,0.5075400000000253,0,0,-8.304294512736921e-05,-9.960039323709253e-05
+30258,1791363782060216237,2733439000000,1791363782058845846,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760416044919957,-0.004748605392397304,0.09016636782519613,0.9999999874107599,8.705642326208387e-05,-8.905735227278036e-05,3.333634133739033e-05,0.6761,-0.0048,0.09017475260080625,1.0,0.0,0.0,0.0,-0.009355797832642967,-0.010438171933445211,0.422290698180812,-0.00016691339649818095,2.6326983240386372e-05,-0.00026022360170207984,0.046732258063436664,-0.013826714368812021,0.31633397814692865,-0.0021454647394634012,-0.0010408153768152032,-0.0013256003856638304,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8916752550373814,-0.4261382275329206,0.11022159425324998,0.3514040086052435,0.12171957954862739,-0.32123101488638156,0.5313281633860638,0.422290698180812,0.42110656913281386,0.42110656913281386,0.5804999999999633,0,0,-8.358082434076065e-05,-7.41515141219395e-05
+30401,1791363783252217757,2734631000000,1791363783246846090,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760451310050735,-0.004743630238659992,0.09007052130577096,0.9999999869398237,9.672142466105136e-05,-8.143868934523727e-05,3.9697891385184215e-05,0.6761,-0.0048,0.09007343288961334,1.0,0.0,0.0,0.0,-0.009433717278720763,-0.012122747146803736,0.47567341382154715,-9.571400314144825e-05,1.4095369449237255e-05,-0.0003028031104863099,0.04665433861735887,-0.015511289582170545,0.3697166937876638,-0.0020742653461066685,-0.0010530469906063523,-0.0013681798944480605,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8818421570401129,-0.37190774884400435,0.08834443074841322,0.3383038443623589,0.12954768732354574,-0.28374943838070477,0.5313281633860638,0.47567341382154715,0.44298373263765056,0.44298373263765056,0.6520199999999025,0,0,-8.707145844197151e-05,-9.999980984798924e-05
+30545,1791363784452219817,2735831000000,1791363784450846110,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760515118161288,-0.004742197409347815,0.0899802163859083,0.9999999867309872,0.0001049849583615536,-7.198188585538712e-05,4.216226319746966e-05,0.6761,-0.0048,0.0899671317875647,1.0,0.0,0.0,0.0,-0.008554716031113158,-0.012682772218452164,0.5263356502066305,-0.00010588099137254572,3.302421998692233e-06,-0.0003436204631089336,0.047533339864966474,-0.016071314653818974,0.42037893017274713,-0.002084432334337766,-0.0010638399380568974,-0.0014089972470706842,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8707073095573876,-0.4045340304398647,0.007627908480063422,0.3595590349713709,0.17478836127206024,-0.29969381199623546,0.5313281633860638,0.5263356502066305,0.5237002549060004,0.5237002549060004,0.7240199999998412,0,0,-8.836076490911638e-05,-9.777424289503784e-05
+30681,1791363785585217512,2736964000000,1791363785582846178,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760550460993221,-0.004740455220477288,0.08988676256583505,0.9999999862538197,0.00011164271410624107,-6.66101266771881e-05,4.5102331482708134e-05,0.6761,-0.0048,0.08986796533024821,1.0,0.0,0.0,0.0,-0.003804570844642502,-0.014539775346311415,0.576480688924571,-0.00011526767889652846,-7.511501014044464e-06,-0.0003832999745899189,0.05228348505143713,-0.017928317781678225,0.4705239688906877,-0.0020938190218617488,-0.001074653861069634,-0.0014486767585516695,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9390891651552956,-0.46557399534910654,-0.09666289999820314,0.37797247733070727,0.2592999379852603,-0.34218394555006115,0.5313281633860638,0.576480688924571,0.6279910633842669,0.6279910633842669,0.7919999999997834,0,0,-8.803353673400428e-05,-1.717250927424914e-05
+30841,1791363786919216787,2738298000000,1791363786914846242,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760631507197247,-0.004742344902337381,0.08978344096145412,0.999999988118899,0.00010344796465027227,-5.367703993361631e-05,4.0278530160491486e-05,0.6761,-0.0048,0.08974842954525519,1.0,0.0,0.0,0.0,-0.009757475834623913,-0.013507407875927333,0.6166273251370935,-0.00012261681035605947,-1.613501424437111e-05,-0.00041671484557485156,0.04633058006145572,-0.016895950311294143,0.5106706051032102,-0.0021011681533212798,-0.0010832773742999607,-0.0014820916295366022,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9038748844208515,-0.3133246851748497,-0.14645986411252987,0.3439681243518904,0.2783873037225055,-0.24036468541431671,0.5313281633860638,0.6166273251370935,0.6777880274985937,0.6777880274985937,0.8720399999997154,0,0,-9.479718812296779e-05,-9.962523447726852e-05
+30979,1791363788069215525,2739448000000,1791363788062846131,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760651881806162,-0.004741519262330223,0.08967587469718,0.9999999885372003,0.00010124781082365483,-5.0284737637092204e-05,3.9859623351654046e-05,0.6761,-0.0048,0.0896359100451361,1.0,0.0,0.0,0.0,-0.010140716213904784,-0.01090584112861064,0.6730950820436616,-0.0001612673314082499,0.000984173848298181,-0.00044666612186320645,0.04594733968217485,-0.01429438356397745,0.5671383620097783,-0.00213981867437347,-8.296851175740862e-05,-0.001512042905824957,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9962968569081506,-0.3399279261529803,-0.29597550591918925,0.353992835155844,0.39705214570789993,-0.25777260697444215,0.5313281633860638,0.6730950820436616,0.8273036693052531,0.8273036693052531,0.9410399999996567,0,0,-0.0001010868134379298,9.990714785879646e-05
+31122,1791363789260216090,2740639000000,1791363789254846276,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760707205180639,-0.004744412229400753,0.08956864401604497,0.999999989991438,9.010507610978019e-05,-4.181420463736762e-05,3.9907841435449775e-05,0.6761,-0.0048,0.08951735510396512,1.0,0.0,0.0,0.0,-0.019062913847797555,-0.018921873456231055,0.7268296681294184,-0.00017189621194570182,0.0009740579080749633,-0.0004912115936369327,0.03702514204828208,-0.022310415891597865,0.6208729480955351,-0.002150447554910922,-9.308445198062637e-05,-0.0015565883775986832,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8922522591828492,-0.3705700661583216,-0.32221252633443187,0.36517386042187366,0.38151392839916565,-0.27665794187138965,0.5313281633860638,0.7268296681294184,0.8535406897204957,0.8535406897204957,1.012499999999596,0,0,-0.0001016264433655301,6.313997169767554e-05
+31254,1791363790360215342,2741739000000,1791363790358846153,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760751115680126,-0.004750428731538212,0.08946299822918631,0.9999999905968456,8.494023828302174e-05,-3.5354129619569825e-05,4.224233117204302e-05,0.6761,-0.0048,0.08940440306378922,1.0,0.0,0.0,0.0,-0.010483647648632383,-0.017244156717862384,0.7778498190957539,-0.00018148627473468836,0.000962750816711468,-0.0005313994614805696,0.04560440824744725,-0.020632699153229194,0.6718930990618706,-0.0021600376176999087,-0.00010439154334412151,-0.0015967762454423202,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9758316003507965,-0.39668707487280186,-0.4016955429187256,0.3820940118884998,0.45235618430162194,-0.29311327541333376,0.5313281633860638,0.7778498190957539,0.9330237063047895,0.9330237063047895,1.07849999999954,0,0,-0.00010323633416600841,9.999999025923074e-05
+31392,1791363791510215125,2742889000000,1791363791502846561,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760807244982829,-0.004749484377379568,0.08935477490684912,0.9999999914168884,7.906898771620843e-05,-2.7774412560876397e-05,3.9821661003490086e-05,0.6761,-0.0048,0.08928533787557673,1.0,0.0,0.0,0.0,-0.019349547127352547,-0.02730656707694229,0.8269607248660513,-0.0009171187209436322,0.0009654347963562207,-0.0005796870959097957,0.036738508768727085,-0.0306951095123091,0.721004004832168,-0.0028956700639088525,-0.00010170756369936893,-0.0016450638798715463,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9187543591431941,-0.2868255367648399,-0.3923074395693186,0.3551933206538841,0.42609668002667067,-0.2208052026419896,0.5313281633860638,0.8269607248660513,0.9236356029553824,0.9236356029553824,1.1474999999994813,0,0,-0.0001053709115475795,-9.999999025923074e-05
+31554,1791363792860215113,2744239000000,1791363792858846355,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.676085343359458,-0.004755134736062669,0.08921616013307716,0.9999999906869315,8.829208761468055e-05,-2.030349713035019e-05,4.314251457226142e-05,0.6761,-0.0048,0.08914330339805158,1.0,0.0,0.0,0.0,-0.019570482680532873,-0.022203057798764504,0.8869457248218197,-0.0012496711343100014,0.001960772671779207,-0.0006164443200384197,0.03651757321554676,-0.025591600234131314,0.7809890047879363,-0.0032282224772752217,0.0008936303117236172,-0.0016818211040001702,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.989114882796239,-0.4084645947273611,-0.5536141457481751,0.39822054397595297,0.5425037257865691,-0.29551774335801456,0.5313281633860638,0.8869457248218197,1.084942309134239,1.084942309134239,1.2284999999994124,0,0,-0.00010566213379662048,6.640469704522473e-05
+31694,1791363794027215901,2745406000000,1791363794026846854,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760887019771782,-0.004758552499880193,0.08909485890159184,0.9999999894443471,0.00010089706894831934,-1.7506804654936172e-05,4.546936706251483e-05,0.6761,-0.0048,0.08901672321078173,1.0,0.0,0.0,0.0,-0.019941147025737002,-0.024378464214664206,0.934987398386811,-0.001259111645523186,0.0019610499100181614,-0.0006540824308581203,0.03614690887034263,-0.027767006650031015,0.8290306783529277,-0.0032376629884884062,0.0008939075499625719,-0.0017194592148198709,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9269429763877062,-0.37633788337357016,-0.5846855357960626,0.40501461008414763,0.5373858983054198,-0.270099927810742,0.5313281633860638,0.934987398386811,1.1160136991821266,1.1160136991821266,1.2985199999993529,0,0,-0.00011038971577159593,8.948841224850029e-06
+31830,1791363795160215553,2746539000000,1791363795158846154,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760898158621855,-0.004756262772460637,0.08896297285549039,0.9999999893131255,0.00010085013508203831,-1.8565706694495402e-05,4.7970595974221643e-05,0.6761,-0.0048,0.08888555372850045,1.0,0.0,0.0,0.0,-0.020065404065909585,-0.03263676240762974,0.9825084672829678,-0.0012697210760640463,0.0019519590850164378,-0.0006940763740033106,0.03602265183017005,-0.036025304842996556,0.8765517472490845,-0.0032482724190292665,0.0008848167249608482,-0.0017594531579650612,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9075586907177433,-0.41643686625501447,-0.5590665158741555,0.4155007041385134,0.5145555061948287,-0.30208864419372866,0.5313281633860638,0.9825084672829678,1.0903946792602193,1.0903946792602193,1.366499999999295,0,0,-0.00012055859478363041,-9.991863866710133e-05
+31977,1791363796385218418,2747764000000,1791363796378846588,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760898299767136,-0.004765664808778218,0.088815177343501,0.9999999904098528,8.67255321681674e-05,-1.6172350244030505e-05,5.329442709817956e-05,0.6761,-0.0048,0.08873367248255984,1.0,0.0,0.0,0.0,-0.022880448734890875,-0.04119026917232663,1.0112848960869512,-0.0012767672479513225,0.0019465567834375903,-0.0007185430156458751,0.03320760716118876,-0.04457881160769344,0.9053281760530678,-0.003255318590916543,0.0008794144233820008,-0.0017839197996076257,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9893024610377277,-0.4974873256638741,-0.7346833980310008,0.453690909401553,0.640791913099279,-0.35363948118568406,0.5313281633860638,1.0112848960869512,1.2660115614170646,1.2660115614170646,1.4399999999992326,0,0,-0.00012708587221879763,9.999999025923074e-05
+32097,1791363797385215868,2748764000000,1791363797378846492,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760857541438797,-0.004768143204518357,0.08866800754783129,0.9999999901923119,8.66990568958284e-05,-2.5199043646187583e-05,5.3912171234619564e-05,0.6761,-0.0048,0.08859522347699325,1.0,0.0,0.0,0.0,-0.028635029594469945,-0.04371437193912152,1.0474636684784513,-0.002300791551170546,0.0019521705775549661,0.000265416941507136,0.027453026301609687,-0.04710291437448833,0.9415069484445681,-0.0042793428941357665,0.0008850282174993766,-0.0007999598424546146,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9725363657045025,-0.4193391446336563,-0.7026605190671208,0.43345227687295695,0.6112409748918636,-0.30325525974943146,0.5313281633860638,1.0474636684784513,1.2339886824531847,1.2339886824531847,1.4999999999991815,0,0,-0.00014538704045804896,-9.85031736996433e-05
+32207,1791363798302215123,2749681000000,1791363798294846458,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760913702718332,-0.004768180499435122,0.08854000293119882,0.9999999892508294,9.891676115158932e-05,-1.5879542330757517e-05,5.389359565335638e-05,0.6761,-0.0048,0.08845685241548738,1.0,0.0,0.0,0.0,-0.028659283045189787,-0.043747408701694496,1.0569972520607664,-0.002308185133438979,0.0019534122196840273,-0.00036056117188986814,0.027428772850889845,-0.04713595113706131,0.9510405320268832,-0.004286736476404199,0.0008862698596284376,-0.0014259379558516187,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9361188437880148,-0.45927448688084943,-0.7278551290296607,0.4556483389851478,0.6145743096486947,-0.32524528132433833,0.5313281633860638,1.0569972520607664,1.2591832924157245,1.2591832924157245,1.5550199999991348,0,0,-0.00016260323240232933,-9.999875513611584e-05
+32321,1791363799252217134,2750631000000,1791363799246846206,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760927283947638,-0.00477017628365217,0.08837753000323421,0.999999988720167,0.00010166630551118788,-1.3147670552907347e-05,5.910694682294808e-05,0.6761,-0.0048,0.08829226952506605,1.0,0.0,0.0,0.0,-0.028618827400251085,-0.04379063710576349,1.047504174327506,-0.0023118898526676627,0.0019522252511831528,0.0002683388714223773,0.027469228495828547,-0.0471791795411303,0.9415474542936226,-0.004290441195632883,0.0008850828911275632,-0.0007970379125393733,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9173755958275042,-0.5086819943370671,-0.6421890689435701,0.487988089927543,0.5461254061685007,-0.3581904575373264,0.5313281633860638,1.047504174327506,1.173517232329634,1.173517232329634,1.6120199999990863,0,0,-0.000183574825753123,-9.999999025923074e-05
+32417,1791363800052220600,2751431000000,1791363800050846180,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760901499386529,-0.004777772610427358,0.08821669361578885,0.999999989075904,9.475265748585937e-05,-2.1893073371926622e-05,6.191674526605645e-05,0.6761,-0.0048,0.08813471479736973,1.0,0.0,0.0,0.0,-0.021448187642816238,-0.043372569511917314,1.0575480637085184,-0.0023138780871964615,0.0019498886011772064,0.0002609642058274879,0.034639868253263394,-0.04676111194728413,0.951591343674635,-0.004292429430161682,0.0008827462411216169,-0.0008044125781342627,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9322679053183208,-0.43407249269433906,-0.8203831090387808,0.4755401427768317,0.6600782604055517,-0.31043827811897945,0.5313281633860638,1.0575480637085184,1.3517112724248446,1.3517112724248446,1.6600199999990455,0,0,-0.0002086897854566575,9.97484553552141e-05
+32508,1791363800810215763,2752189000000,1791363800802846326,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760843758898439,-0.00477499381630602,0.08804072956878277,0.9999999883382258,9.769876269845552e-05,-3.14363110307697e-05,6.506245268839143e-05,0.6761,-0.0048,0.08796682079558041,1.0,0.0,0.0,0.0,-0.0284107632344232,-0.05341040325806486,1.0575106152082994,-0.002315097439208187,0.0019509031404581698,0.0002501765830470712,0.02767729266165643,-0.05679894569343168,0.951553895174416,-0.004293648782173407,0.0008837607804025802,-0.0008152002009146794,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.92897617524752,-0.38975149820536387,-0.7820755265420132,0.4705168750341029,0.6303723461689434,-0.2796006753900506,0.5313281633860638,1.0575106152082994,1.313403689928077,1.313403689928077,1.7054999999990068,0,0,-0.00023519621156569087,-6.219644127980137e-07
+32589,1791363801485224981,2752864000000,1791363801482846162,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760807307493646,-0.00477809027146492,0.08786731027482073,0.9999999873984144,0.0001015176269588977,-3.965747441693588e-05,6.904702360060883e-05,0.6761,-0.0048,0.08780034854896097,1.0,0.0,0.0,0.0,-0.027949621385845634,-0.0656624433819042,1.066861577532718,-0.0033086665712982817,0.0009602920690147737,9.274656053732911e-06,0.028138434510233998,-0.06905098581727101,0.9609048574988345,-0.005287217914263502,-0.00010685029104081597,-0.0010561021279080177,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8715889489984766,-0.4027699617619244,-0.7619162808235073,0.4865031375346424,0.5995964827116766,-0.2895655098851202,0.5313281633860638,1.066861577532718,1.293244444209571,1.293244444209571,1.7459999999989724,0,0,-0.00025879995596142367,-9.999999025923074e-05
+32670,1791363802160215731,2753539000000,1791363802158846021,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760803796992458,-0.004783061909364104,0.08768059693600114,0.9999999867934991,0.00010433347082891179,-4.087564844067712e-05,7.27981750988531e-05,0.6761,-0.0048,0.08761557732799703,1.0,0.0,0.0,0.0,-0.02450611882223546,-0.060128567886768104,1.0570490297956816,-0.0032760518172528963,0.0009584390413738507,-6.203929213993015e-05,0.03158193707384417,-0.06351711032213492,0.9510923097617981,-0.005254603160218117,-0.00010870331868173887,-0.0011274160761016807,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8589289758735104,-0.3658867124049667,-0.7244291929974715,0.48929569732986444,0.5696971166529089,-0.2634226272865399,0.5313281633860638,1.0570490297956816,1.2557573563835354,1.2557573563835354,1.786499999998938,0,0,-0.00028930606423979564,-9.999999025923074e-05
+32745,1791363802785215555,2754164000000,1791363802778846479,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760824508966502,-0.004780662658729222,0.08750097395670078,0.9999999876737239,9.793927398664191e-05,-3.564153705527207e-05,7.233944851157068e-05,0.6761,-0.0048,0.08742574403430922,1.0,0.0,0.0,0.0,-0.02011262366888187,-0.0561578412575967,1.0571244573943865,-0.0033347548502235896,0.0019698600652752894,0.00020001289974054168,0.03597543222719776,-0.059546383692963514,0.9511677373605032,-0.00531330619318881,0.0009027177052196997,-0.0008653638842212089,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8210485063043832,-0.4125812089536736,-0.6610626618026539,0.510619154119808,0.5223867348096022,-0.2964079955073127,0.5313281633860638,1.0571244573943865,1.1923908251887179,1.1923908251887179,1.823999999998906,0,0,-0.0003184472696191306,-9.999999025923074e-05
+32814,1791363803360215462,2754739000000,1791363803354846788,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760803145363841,-0.004784529133076062,0.08730867380102747,0.9999999876843717,9.35308353455163e-05,-3.9025126282476385e-05,7.617836496826632e-05,0.6761,-0.0048,0.08723577297893699,1.0,0.0,0.0,0.0,-0.028088450569871148,-0.05529757201909298,1.066830476930451,-0.003329747128960938,0.0019718225134290595,-0.000558406139309697,0.027999605326208484,-0.058686114454459794,0.9608737568965676,-0.005308298471926158,0.00090468015337347,-0.0016237829232714476,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.815867273383208,-0.409884844309385,-0.7018941909232161,0.5188072835137316,0.5444048509683181,-0.2926712710610608,0.5313281633860638,1.066830476930451,1.23322235430928,1.23322235430928,1.8584999999988767,0,0,-0.0003423743873645898,-9.999413383277584e-05
+32877,1791363803885215778,2755264000000,1791363803878846633,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760802042950175,-0.004783550688758599,0.08712469498924082,0.9999999863385559,0.00010614787527073335,-3.944812681586817e-05,7.708583623233941e-05,0.6761,-0.0048,0.08704947035192467,1.0,0.0,0.0,0.0,-0.03398831404185934,-0.06572002597913397,1.0570900187681338,-0.0033361743442722543,0.0019708072984731886,0.00021903164766168932,0.022099741854220287,-0.06910856841450078,0.9511332987342506,-0.005314725687237475,0.0009036649384175991,-0.0008463451363000613,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8269776435863934,-0.4413099475147271,-0.5551500623660415,0.5437622317775607,0.4556410431615346,-0.30996019416825826,0.5313281633860638,1.0570900187681338,1.0864782257521053,1.0864782257521053,1.88999999999885,0,0,-0.0003669181494983783,-9.999999025923074e-05
+32937,1791363804385215820,2755764000000,1791363804382846279,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760774892962497,-0.004785891708763206,0.08693571142176415,0.9999999860351151,0.0001068083607839955,-4.2403670739147594e-05,7.852729984185451e-05,0.6761,-0.0048,0.0868601701956528,1.0,0.0,0.0,0.0,-0.03735634310775235,-0.0663767345143014,1.0570745116311708,-0.0033361577958434386,0.001970905151356146,0.00022017525225031056,0.018731712788327286,-0.0697652769496682,0.9511177915972876,-0.005314709138808659,0.0009037627913005564,-0.00084520153171144,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.830013847704622,-0.4709114940639135,-0.6096248010767045,0.553720270980244,0.4912876346586763,-0.333171710815914,0.5313281633860638,1.0570745116311708,1.1409529644627683,1.1409529644627683,1.9199999999988244,0,0,-0.0003904549745151461,-9.999999025923074e-05
+32997,1791363804885219581,2756264000000,1791363804878846337,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760785623197669,-0.004789409357017668,0.08673433929324044,0.9999999866223483,9.836171096061348e-05,-4.0047489234726805e-05,8.318257044653616e-05,0.6761,-0.0048,0.08665872926352375,1.0,0.0,0.0,0.0,-0.03445182663358843,-0.06620163052864392,1.0603235444874686,-0.0033357640773157347,0.0019706952439806883,0.00012089927674329532,0.021636229262491202,-0.06959017296401072,0.9543668244535852,-0.005314315420280955,0.0009035528839250985,-0.0009444775072184553,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.83928157948646,-0.39953161517240754,-0.6027892124821626,0.5502097750656133,0.48913429053209184,-0.2826953848414924,0.5313281633860638,1.0603235444874686,1.1341173758682264,1.1341173758682264,1.949999999998799,0,0,-0.0004151518981185528,-9.999999025923074e-05
+33053,1791363805352215962,2756731000000,1791363805346846466,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760760860561145,-0.004794420099772999,0.0865372944414215,0.9999999860567597,0.00010110729051250806,-4.334456700852793e-05,8.501711085240693e-05,0.6761,-0.0048,0.0864595647855978,1.0,0.0,0.0,0.0,-0.0374012714234459,-0.07514473323223257,1.0565719810662855,-0.0033287242778825975,0.0019770047868630717,-0.000659464809866195,0.01868678447263373,-0.07853327566759938,0.950615261032402,-0.005307275620847818,0.000909862426807482,-0.0017248415938279455,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8329326436129877,-0.38144919749581785,-0.5754686813926309,0.5540716683571724,0.47125005752369087,-0.26857855629244554,0.5313281633860638,1.0565719810662855,1.1067968447786947,1.1067968447786947,1.978019999998775,0,0,-0.00043776473483278364,-9.999999025923074e-05
+33104,1791363805777215884,2757156000000,1791363805774846573,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760747749176104,-0.0047944937688895895,0.08635032582659889,0.9999999862500217,0.00010055393645798203,-4.415377869904716e-05,8.295884800998634e-05,0.6761,-0.0048,0.08626918169417794,1.0,0.0,0.0,0.0,-0.037365732547314776,-0.06664494376220657,1.0567936897065127,-0.0033362522466093797,0.0019708585069937922,0.00023744186915318748,0.018722323348764856,-0.07003348619757338,0.9508369696726294,-0.0053148035895746,0.0009037161469382026,-0.0008279349148085631,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8194819159385427,-0.42472113172596265,-0.6274011212985632,0.572322279329783,0.5000709075833775,-0.29635880144213883,0.5313281633860638,1.0567936897065127,1.158729284684627,1.158729284684627,2.0035199999987534,0,0,-0.0004579283927983165,-9.999999025923074e-05
+33154,1791363806194215299,2757573000000,1791363806186846542,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760759986377103,-0.0047936173203380235,0.08616248389769113,0.9999999867950892,9.5605931155046e-05,-4.010245094288356e-05,8.428514240797301e-05,0.6761,-0.0048,0.08607446178904991,1.0,0.0,0.0,0.0,-0.03760342804358062,-0.06576655826300852,1.0492071999426846,-0.0033595085887731173,0.002988975455322478,0.0002592674687069003,0.01848462785249901,-0.06915510069837533,0.9432504799088012,-0.0053380599317383376,0.0019218330952668887,-0.0008061093152548503,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8403201819533332,-0.4552083549661046,-0.6189301929442818,0.5905078222607892,0.4950719885498385,-0.3140723081650427,0.5313281633860638,1.0492071999426846,1.1502583563303457,1.1502583563303457,2.028539999998732,0,0,-0.00047583234678435913,-9.999999025923074e-05
+33206,1791363806627215793,2758006000000,1791363806626847216,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760780771019285,-0.004800173234977055,0.08595355481931116,0.999999987932032,8.4075436113288e-05,-3.429312172273008e-05,8.563937803786787e-05,0.6761,-0.0048,0.08586499442656755,1.0,0.0,0.0,0.0,-0.04100023073194714,-0.06590090487066022,1.0569228799580666,-0.003361915539347719,0.0029853195274434276,3.8782184593775604e-05,0.015087825164132495,-0.06928944730602703,0.9509661599241831,-0.005340466882312939,0.0019181771673878378,-0.001026594599367975,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.8653755789323735,-0.4336437741914208,-0.556039473606787,0.6000112958366336,0.4643796744857786,-0.2982097304260234,0.5313281633860638,1.0569228799580666,1.0873676369928509,1.0873676369928509,2.05451999999871,0,0,-0.0004927264132356931,-9.999999025923074e-05
+33251,1791363807002215896,2758381000000,1791363806998846393,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.676074697605415,-0.00480315019572657,0.0857620824635631,0.9999999876569606,8.576918795648243e-05,-3.9779328492189125e-05,8.479501458113126e-05,0.6761,-0.0048,0.08567730338809525,1.0,0.0,0.0,0.0,-0.03729951243068122,-0.07261782513357098,1.0564883276675856,-0.004002009643570824,0.0030016303103584437,-0.0007197273268934232,0.018788543465398412,-0.07600636756893779,0.9505316076337023,-0.005980560986536045,0.0019344879503028543,-0.0017851041108551738,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.967094420527294,-0.4977693506374371,-0.6958171114494125,0.6233609510291667,0.5774067200600494,-0.33535158976934504,0.5313281633860638,1.0564883276675856,1.2271452748354763,1.2271452748354763,2.077019999998691,0,0,-0.0005090432283943102,-8.905118218367845e-06
+33296,1791363807377215436,2758756000000,1791363807370846600,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760732544480692,-0.004807787373098664,0.08556546495177918,0.9999999876947357,8.270971169550399e-05,-4.108021531446332e-05,8.674625192001169e-05,0.6761,-0.0048,0.08548365782942084,1.0,0.0,0.0,0.0,-0.04626199981559477,-0.07844488073879581,1.0467031823148625,-0.00438181613525985,0.003003399239126356,-0.0005434588202862104,0.009826056080484865,-0.08183342317416262,0.9407464622809791,-0.00636036747822507,0.0019362568790707668,-0.001608835604247961,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9443841088112477,-0.4282107865261535,-0.6274515232758318,0.6088915645849993,0.5258374288338681,-0.28874608832829823,0.5313281633860638,1.0467031823148625,1.1587796866618956,1.1587796866618956,2.099519999998672,0,0,-0.0005242996436130839,-9.999999025923074e-05
+33338,1791363807727218057,2759106000000,1791363807726846244,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760661383930862,-0.004806776231623926,0.08537330829925781,0.9999999874908859,8.02111295889535e-05,-5.209817446999081e-05,8.551635630666999e-05,0.6761,-0.0048,0.08529768406038707,1.0,0.0,0.0,0.0,-0.04636128986769428,-0.0787348488278782,1.0461356487761915,-0.004374131656125145,0.003011649004320504,-0.0007648254948581644,0.009726766028385351,-0.08212339126324501,0.940178928742308,-0.006352682999090365,0.0019445066442649141,-0.001830202278819915,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,0.9858747366399528,-0.4483071698955181,-0.70267947357809,0.6175741506914533,0.5822459309390392,-0.2987226523027122,0.5313281633860638,1.0461356487761915,1.234007636964154,1.234007636964154,2.120519999998654,0,0,-0.0005370443718066951,5.188842410096045e-05
+33386,1791363808127219459,2759506000000,1791363808126846764,DOWN_FORCE_DETACH,4,0.0515,0.05150170996785164,0.6760725441892281,-0.0048077392486045745,0.08516805907650936,0.9999999883488349,7.759717971460432e-05,-3.926498622283908e-05,8.474746684582906e-05,0.6761,-0.0048,0.08508046173926707,1.0,0.0,0.0,0.0,-0.054740547179325,-0.07838536975599869,1.0561822704975379,-0.004376496494646812,0.0030091936921888343,-0.000693103210989804,0.001347508716754634,-0.0817739121913655,0.9502255504636546,-0.006355047837612033,0.001942051332133245,-0.0017584799949515546,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0309137264735626,-0.49007110761148337,-0.6935290362390227,0.6261219951691418,0.5862848462460227,-0.32782070482911946,0.5313281633860638,1.0561822704975379,1.2248571996250865,1.2248571996250865,2.1445199999986335,0,0,-0.0005467739643567422,-5.074460472107045e-05
+33428,1791363808477215264,2759856000000,1791363808470846748,DOWN_FORCE_DETACH,4,0.0515,0.05150236561894417,0.6760689577881732,-0.004811482139068529,0.08497642061520626,0.9999999879738509,7.918621620955668e-05,-4.393030230405419e-05,8.540980159155538e-05,0.6761,-0.0048,0.08488800951208025,1.0,0.0,0.0,0.0,-0.04631402830274785,-0.07440862028996544,1.0562000154481557,-0.004374951678293186,0.003008718202129691,-0.0007571467318342087,0.009774027593331788,-0.07779716272533224,0.9502432954142722,-0.0063535030212584056,0.0019415758420741015,-0.0018225235157959593,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0409473809051306,-0.4627550543002386,-0.6354717730036431,0.629361435863097,0.5487816406447765,-0.3016784371459584,0.5313281633860638,1.0562000154481557,1.1667999363897068,1.1667999363897068,2.1655199999986157,0,0,-0.000553769933141239,-9.955476307078043e-05
+33474,1791363808856216411,2760235000000,1791363808854836792,DOWN_SETTLE,4,0.0515,0.05150170996785164,0.6760735921170152,-0.004812042561701548,0.08477749338931723,0.9999999885076655,7.642734963797874e-05,-3.5380049519478595e-05,8.564254546310233e-05,0.6761,-0.0048,0.08467890984855891,1.0,0.0,0.0,0.0,-0.05465930691872216,-0.06833538179341772,1.0561320913183136,-0.0044022722877008705,0.0040219200026773575,-0.0007300555636533465,0.0014287489773574745,-0.07172392422878453,0.9501753712844304,-0.006380823630666091,0.002954777642621768,-0.001795432347615097,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.0713606892741259,-0.48736935274587256,-0.6982718444878593,0.6305535866024641,0.5951496766614933,-0.3200826280047771,0.5313281633860638,1.0561320913183136,1.229600007873923,1.229600007873923,2.1742199999986083,0,0,-0.0005436596264465646,9.999999025923074e-05
+33518,1791363809222228526,2760601000000,1791363809218847450,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760700160118188,-0.004807616126973672,0.08457736035431454,0.9999999882207272,7.697877514614025e-05,-4.102674404854452e-05,8.597955709573921e-05,0.6761,-0.0048,0.08448327017462527,1.0,0.0,0.0,0.0,-0.0481030659911221,-0.06272611536088797,1.0465356725042336,-0.0033624122352192954,0.0033624307592156444,-0.0007491452082310447,0.007984989904957527,-0.06611465779625478,0.9405789524703503,-0.005340963578184516,0.0022952883991600548,-0.0018145219921927953,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1509966034893577,-0.5149201520950138,-0.7101319068134793,0.6396000018158747,0.6201019380699601,-0.3377711494624437,0.5313281633860638,1.0465356725042336,1.241460070199543,1.241460070199543,2.1742199999986083,0,0,-0.0005253596300116861,9.999999025923074e-05
+33563,1791363809597215839,2760976000000,1791363809594846488,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760652361797105,-0.0048034561029407456,0.0843802886223224,0.999999986914564,8.542640596798084e-05,-4.8058902026932565e-05,8.947852889174447e-05,0.6761,-0.0048,0.08428976656268417,1.0,0.0,0.0,0.0,-0.046814069487851634,-0.06679973882240557,1.0368560377270557,-0.003358081935011831,0.002989847900597243,5.178764970425369e-05,0.009273986408227994,-0.07018828125777238,0.9308993176931724,-0.0053366332779770514,0.0019227055405416531,-0.001013589134257497,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1342465110542221,-0.4734975409041035,-0.7652022960002265,0.619185395993168,0.6455079236984921,-0.31121437232454163,0.5313281633860638,1.0368560377270557,1.2965304593862903,1.2965304593862903,2.1742199999986083,0,0,-0.0005066096336644746,9.999999025923074e-05
+33611,1791363809997215854,2761376000000,1791363809994846242,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760651199204842,-0.004797034361957602,0.08418677036682799,0.9999999872811954,8.613646232219358e-05,-4.656087633852445e-05,8.539946191113619e-05,0.6761,-0.0048,0.08409111270843717,1.0,0.0,0.0,0.0,-0.04359447347836472,-0.05675677198494911,1.0366734192762261,-0.003353245045287495,0.0029917279344642677,-0.00015860588081847613,0.012493582417714914,-0.060145314420315926,0.9307166992423429,-0.005331796388252715,0.0019245855744086783,-0.0012239826647802267,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1473835088310629,-0.39020541249488766,-0.7735476091421573,0.605221567064769,0.6536138351984067,-0.25257839913425806,0.5313281633860638,1.0366734192762261,1.304875772528221,1.304875772528221,2.1742199999986083,0,0,-0.00048660963756078237,9.999999025923074e-05
+33662,1791363810422215383,2761801000000,1791363810418846451,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.676064190274086,-0.004798654971922008,0.0839913034607472,0.9999999876412049,8.447380983126935e-05,-4.452765469863119e-05,8.391613616567224e-05,0.6761,-0.0048,0.08388880861159205,1.0,0.0,0.0,0.0,-0.037596686835926374,-0.0623405706290203,1.0288815050464502,-0.0033536833625180955,0.0029923668416134393,-8.898385474614945e-05,0.018491369060153254,-0.06572911306438711,0.9229247850125668,-0.005332234705483316,0.0019252244815578495,-0.0011543606387079,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.1960797762448556,-0.4175433323019889,-0.7452267538146885,0.6121845748888362,0.6432278544910479,-0.269135801469214,0.5313281633860638,1.0288815050464502,1.2765549172007522,1.2765549172007522,2.1742199999986083,0,0,-0.0004653596417006093,9.999999025923074e-05
+33717,1791363810881215744,2762260000000,1791363810878846303,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760649423177229,-0.004797227741007016,0.0837862930573353,0.9999999881728494,7.948416929841707e-05,-4.285900730444305e-05,8.332189209535914e-05,0.6761,-0.0048,0.08368046408502314,1.0,0.0,0.0,0.0,-0.04312795857000304,-0.055050209434643754,1.0344278178283282,-0.0033501117512469932,0.002992783487805457,-0.00066457414101281,0.012960097326076597,-0.05843875187001057,0.9284710977944448,-0.0053286630942122135,0.0019256411277498674,-0.0017299509249745606,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.2588331079635668,-0.43354214771972177,-0.8378977309316249,0.6120589419120317,0.7143115806796573,-0.2778043552362004,0.5313281633860638,1.0344278178283282,1.3692258943176887,1.3692258943176887,2.1742199999986083,0,0,-0.0004424096461716224,9.999999025923074e-05
+33770,1791363811322215265,2762701000000,1791363811318845762,DOWN_SETTLE,4,0.0515,0.05150170996785164,0.6760627164516249,-0.004797208791532609,0.08359644789129109,0.9999999880918682,7.893016220762314e-05,-4.401468581068003e-05,8.42132106804879e-05,0.6761,-0.0048,0.0834902124301121,1.0,0.0,0.0,0.0,-0.045010723056689975,-0.05668618808558639,1.026562302696317,-0.0033488668948647043,0.002994720085556258,-0.0006022371758942035,0.011077332839389659,-0.060074730520953204,0.9206055826624338,-0.005327418237829925,0.0019275777255006684,-0.0016676139598559541,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3186036605497602,-0.43320193498868526,-0.8295265205472057,0.6147002807833682,0.721733928322054,-0.276888600237245,0.5313281633860638,1.026562302696317,1.3608546839332694,1.3608546839332694,2.1742199999986083,0,0,-0.00042035965046730164,9.999999025923074e-05
+33823,1791363811764215751,2763143000000,1791363811758846756,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760603923862449,-0.004801133829098804,0.08340879166318634,0.9999999881593247,7.53693698674055e-05,-4.8740695202913314e-05,8.407150334644637e-05,0.6761,-0.0048,0.08330928651365191,1.0,0.0,0.0,0.0,-0.042952694218381667,-0.05720937833144009,1.0229300325525568,-0.003351952812580702,0.0029922115062295633,0.00021502216361084182,0.013135361677697964,-0.0605979207668069,0.9169733125186733,-0.005330504155545922,0.0019250691461739737,-0.0008503546203509088,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3580099315921756,-0.3884059031653479,-0.8705751129951185,0.6033500926698075,0.7554188618954585,-0.24509316364990757,0.5313281633860638,1.0229300325525568,1.4019032763811823,1.4019032763811823,2.1742199999986083,0,0,-0.00039825965477272165,9.999999025923074e-05
+33883,1791363812264215870,2763643000000,1791363812258836385,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760563065397022,-0.0048002773617628145,0.0832118437592275,0.9999999879928427,7.18692811432608e-05,-5.524030304831173e-05,8.509109334885057e-05,0.6761,-0.0048,0.08311639418504552,1.0,0.0,0.0,0.0,-0.044731794991664235,-0.05692825720605409,1.0266487137374998,-0.003350530727465275,0.0029939821051204185,-0.00036301785075960316,0.011356260904415395,-0.06031679964142091,0.9206919937036164,-0.005329082070430495,0.0019268397450648291,-0.0014283946347213537,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.3604860025264427,-0.40287803268837435,-0.8053944231104361,0.6044519905480767,0.7123333582168808,-0.2527451182424011,0.5313281633860638,1.0266487137374998,1.3367225864964998,1.3367225864964998,2.1742199999986083,0,0,-0.0003732596596431063,9.999999025923074e-05
+33950,1791363812822219409,2764201000000,1791363812814846022,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760558025672149,-0.004805915626897765,0.08301462184581586,0.9999999880674115,7.071823822261845e-05,-5.314365620657019e-05,8.650273839446662e-05,0.6761,-0.0048,0.08291588544344548,1.0,0.0,0.0,0.0,-0.03752472892792892,-0.05699194311597875,1.0164944505350735,-0.0033462335933553563,0.0029973120311213314,-0.0006802641545316738,0.01856332696815071,-0.060380485551345564,0.9105377305011901,-0.005324784936320577,0.001930169671065742,-0.0017456409384934244,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.445292608484685,-0.44126928502448753,-0.9059867539067261,0.6188561952548808,0.7911053036235145,-0.2732141650528438,0.5313281633860638,1.0164944505350735,1.43731491729279,1.43731491729279,2.1742199999986083,0,0,-0.0003453596650784555,9.999999025923074e-05
+34013,1791363813347215902,2764726000000,1791363813346846303,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.676051983939434,-0.004807268236745002,0.08283489794056949,0.9999999885881232,6.232016520283717e-05,-5.910549947261184e-05,8.300213762387702e-05,0.6761,-0.0048,0.08274144911793434,1.0,0.0,0.0,0.0,-0.039512219785728026,-0.05831286131310134,0.996763375305055,-0.0033506635357289003,0.0029968545360215967,8.49807594983723e-05,0.01657583611035161,-0.06170140374846815,0.8908066552711716,-0.005329214878694121,0.001929712175966007,-0.0009803960244633783,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.458508728783211,-0.394958698211913,-0.9368729647309364,0.5968972290752795,0.8149817292271697,-0.2425103574861452,0.5313281633860638,0.996763375305055,1.4682011281170002,1.4682011281170002,2.1742199999986083,0,0,-0.0003191096701923594,9.999999025923074e-05
+34087,1791363813964216109,2765343000000,1791363813962845837,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760472438999197,-0.004809923956129235,0.08264401773978526,0.9999999879211091,5.7223316057158775e-05,-6.681338349643785e-05,8.866853988235379e-05,0.6761,-0.0048,0.08255406024956854,1.0,0.0,0.0,0.0,-0.03771888247672725,-0.058134140445846604,0.9968456960713317,-0.003351358604367615,0.0029963898382443406,0.00031102448086131574,0.018369173419352385,-0.06152268288121342,0.8908889760374483,-0.005329909947332835,0.001929247478188751,-0.0007543523031004349,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5101314076593801,-0.3961991323892011,-0.8519358898899795,0.595414000968507,0.770979227243084,-0.24209157376290946,0.5313281633860638,0.9968456960713317,1.3832640532760432,1.3832640532760432,2.1742199999986083,0,0,-0.000288259676202414,9.999999025923074e-05
+34163,1791363814597215613,2765976000000,1791363814590846385,DOWN_SETTLE,4,0.0515,0.05150170996785164,0.6760423176367981,-0.00481365819749165,0.08246170582186199,0.9999999883188179,5.036283430317059e-05,-7.257427842007612e-05,8.367668432550784e-05,0.6761,-0.0048,0.08238159327257782,1.0,0.0,0.0,0.0,-0.03746691013275188,-0.05247300953916822,0.9965238185971567,-0.003341933834400523,0.003000341912166202,-0.000505090542376166,0.018621145763327754,-0.05586155197453503,0.8905670985632733,-0.005320485177365743,0.0019331995521106125,-0.0015704673263379166,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.513367495473889,-0.4311524807787273,-0.9535839864654823,0.6108844970252699,0.8318835221974558,-0.2593025178832473,0.5313281633860638,0.9965238185971567,1.484912149851546,1.484912149851546,2.1742199999986083,0,0,-0.00025660968236832096,9.999999025923074e-05
+34252,1791363815339224393,2766718000000,1791363815334846121,DOWN_SETTLE,4,0.0515,0.05150170996785164,0.6760445499177958,-0.004816213454111646,0.08227928655272769,0.9999999867884428,6.232018155204713e-05,-7.790512623710846e-05,8.895484823530414e-05,0.6761,-0.0048,0.08220493443557546,1.0,0.0,0.0,0.0,-0.04461914743506662,-0.048525083810521376,0.9867233496237487,-0.003346152823126273,0.0029990755165818983,0.00012143385955646463,0.01146890846101301,-0.05191362624588819,0.8807666295898654,-0.005324704166091493,0.0019319331565263089,-0.000943942924405286,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5518022300832393,-0.5047854052815381,-0.9096791872282551,0.6371708818529518,0.8096538159501867,-0.30464559197815455,0.5313281633860638,0.9867233496237487,1.4410073506143188,1.4410073506143188,2.1742199999986083,0,0,-0.00021950968959597172,9.999999025923074e-05
+34348,1791363816139215865,2767518000000,1791363816138846436,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760375604932952,-0.004818826141530735,0.08210811851571967,0.9999999876427007,4.59946939015325e-05,-8.395906835358579e-05,8.362311732086844e-05,0.6761,-0.0048,0.08204530668077774,1.0,0.0,0.0,0.0,-0.037390241414898134,-0.04840873748867651,0.9767189397244829,-0.0033432904223814996,0.003001584575729104,3.1110059373528004e-05,0.018697814481181494,-0.05179727992404332,0.8707622196905995,-0.00532184176534672,0.0019344422156735142,-0.0010342667245882226,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.5589696646487192,-0.46916687236611554,-0.9765086408595617,0.6153835033177077,0.8495001252598416,-0.28385521405918523,0.5313281633860638,0.9767189397244829,1.5078368042456254,1.5078368042456254,2.1742199999986083,0,0,-0.00017950969738858712,9.999999025923074e-05
+34455,1791363817031215928,2768410000000,1791363817026846081,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760232627919157,-0.00481830592456703,0.0819511479023605,0.999999985324076,4.752078041140841e-05,-0.00010505322931220971,8.660431113107044e-05,0.6761,-0.0048,0.08190505332682758,1.0,0.0,0.0,0.0,-0.031996329229562734,-0.058801520518724795,0.9663940711855312,-0.0033091331045002506,0.0019950164139616025,-0.00070511008829229,0.0240917266665169,-0.06219006295409161,0.8604373511516479,-0.005287684447465471,0.000927874053906013,-0.0017704868722540406,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6097387342159253,-0.4840016830533724,-0.9914818167343803,0.6109243590657675,0.8739938721309226,-0.2905117443610804,0.5313281633860638,0.9663940711855312,1.522809980120444,1.522809980120444,2.1742199999986083,0,0,-0.0001349097060773533,9.999999025923074e-05
+34591,1791363818164215326,2769543000000,1791363818158846641,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760185622053113,-0.004819889288378443,0.08182265115979187,0.9999999825006883,6.65813601001308e-05,-0.00011354313787101534,9.547966138463723e-05,0.6761,-0.0048,0.08178426452358437,1.0,0.0,0.0,0.0,-0.01907869763048469,-0.04976299368587928,0.9462819719415344,-0.003304227904943964,0.001998299685190982,-0.0006872575846140106,0.03700935826559494,-0.053151536121246096,0.8403252519076511,-0.005282779247909184,0.0009311573251353923,-0.0017526343685757612,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.595239243049215,-0.4539559689264236,-1.0030060259768743,0.6109735836679943,0.8756048728453606,-0.2633103274032089,0.5313281633860638,0.9462819719415344,1.534334189362938,1.534334189362938,2.1742199999986083,0,0,-7.825971711364487e-05,9.999999025923074e-05
+34753,1791363819514217954,2770893000000,1791363819506846780,DOWN_SETTLE,4,0.0515,0.05150236561894417,0.6760354574615688,-0.004812789289753775,0.08176980931860696,0.9999999835760139,7.789661785977867e-05,-9.458345748621991e-05,9.631678342171631e-05,0.6761,-0.0048,0.0817241426465981,1.0,0.0,0.0,0.0,-0.02831363738351743,-0.03813297977434559,0.9066208239711578,-0.002275341463413931,0.001987527381823565,-0.0006448667749980447,0.027774418512562203,-0.041521522209712405,0.8006641039372745,-0.004253892806379151,0.0009203850217679758,-0.0017102435589597953,0.05608805589607963,-0.0033885424353668103,-0.10595672003388334,-0.0019785513429652203,-0.0010671423600555896,-0.0010653767839617506,1,1.6420471563276358,-0.3210878993212603,-1.0218389713367164,0.5723750676227911,0.8998153089019688,-0.18149619999894126,0.5313281633860638,0.9066208239711578,1.5531671347227802,1.5531671347227802,2.1742199999986083,0,0,-1.075973026368337e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3926d74f2c035791121c09b3d5e22052c169a087
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8276a0f52c891c3427653e724293ec4311bbbab
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.966666667e+00,DOWN_FORCE_DETACH,1791363778419269796,2.474529655e-05,-1.087014270e-05,-4.538486419e-04,2.086172865e-05,-1.414349239e-05,-4.471432551e-04,1.993987607e-05,-1.402888645e-05,-4.458638220e-04,7.015626168e-01,-9.319181382e-06,8.402870925e-01,7.015587332e-01,-1.259253107e-05,8.402937979e-01,7.017457239e-01,-1.222670151e-05,8.293348256e-01
+6,4.783333333e+00,DOWN_FORCE_DETACH,1791363779641292710,2.825235427e-05,-1.671340926e-05,-5.481601738e-04,2.606237725e-05,-1.322283758e-05,-5.335365183e-04,2.493857697e-05,-1.308727497e-05,-5.323806760e-04,7.015661238e-01,-1.516244794e-05,8.401927810e-01,7.015639339e-01,-1.167187626e-05,8.402074047e-01,7.017507226e-01,-1.128509003e-05,8.292483088e-01
+7,5.583333333e+00,DOWN_FORCE_DETACH,1791363780840384534,3.090837145e-05,-1.806865272e-05,-6.431185497e-04,2.939356789e-05,-1.837841431e-05,-6.338948451e-04,2.805442862e-05,-1.825060630e-05,-6.327541958e-04,7.015687799e-01,-1.651769140e-05,8.400978226e-01,7.015672650e-01,-1.682745299e-05,8.401070463e-01,7.017538385e-01,-1.644842136e-05,8.291479353e-01
+8,6.400000000e+00,DOWN_FORCE_DETACH,1791363782061725465,3.417306544e-05,-9.991898124e-06,-7.335074777e-04,3.193329647e-05,-1.284887334e-05,-7.214939433e-04,3.042080243e-05,-1.275138328e-05,-7.204292871e-04,7.015720445e-01,-8.440936803e-06,8.400074337e-01,7.015698048e-01,-1.129791202e-05,8.400194472e-01,7.017562048e-01,-1.094919834e-05,8.290602602e-01
+9,7.166666667e+00,DOWN_FORCE_DETACH,1791363783250879159,3.554148956e-05,-5.911630544e-06,-8.338528582e-04,3.799328782e-05,-6.757309415e-06,-8.285785924e-04,3.626691959e-05,-6.666045828e-06,-8.274015083e-04,7.015734130e-01,-4.360669222e-06,8.399070883e-01,7.015758648e-01,-5.206348094e-06,8.399123626e-01,7.017620510e-01,-4.863860888e-06,8.289532879e-01
+10,7.966666667e+00,DOWN_FORCE_DETACH,1791363784450848278,4.296743520e-05,-2.282937533e-06,-9.224852811e-04,4.039100477e-05,1.656122111e-06,-9.148656602e-04,3.843974619e-05,1.746573700e-06,-9.136529048e-04,7.015808389e-01,-7.319762117e-07,8.398184559e-01,7.015782625e-01,3.207083432e-06,8.398260755e-01,7.017642238e-01,3.548758640e-06,8.288670365e-01
+11,8.700000000e+00,DOWN_FORCE_DETACH,1791363785588421298,4.651435874e-05,-7.831870993e-07,-1.015927835e-03,4.562705222e-05,-3.572242308e-06,-1.007461086e-03,4.347059452e-05,-3.422240489e-06,-1.006297722e-03,7.015843858e-01,7.677742218e-07,8.397250134e-01,7.015834985e-01,-2.021280987e-06,8.397334801e-01,7.017692546e-01,-1.620055549e-06,8.287743917e-01
+12,9.566666667e+00,DOWN_FORCE_DETACH,1791363786918952139,5.627356471e-05,-2.838098816e-06,-1.116753790e-03,5.348959583e-05,-1.793134247e-06,-1.116922509e-03,5.114955045e-05,-1.614682492e-06,-1.115751419e-03,7.015941450e-01,-1.287137495e-06,8.396241874e-01,7.015913611e-01,-2.421729261e-07,8.396240187e-01,7.017769336e-01,1.875024476e-07,8.286649380e-01
+13,1.033333333e+01,DOWN_FORCE_DETACH,1791363788065786846,6.100779475e-05,-4.453277290e-06,-1.222696649e-03,5.737363922e-05,-3.422833482e-06,-1.219245187e-03,5.484054924e-05,-3.316444917e-06,-1.218124979e-03,7.015988793e-01,-2.902315969e-06,8.395182445e-01,7.015952451e-01,-1.871872161e-06,8.395216960e-01,7.017806246e-01,-1.514259977e-06,8.285625645e-01
+14,1.113333333e+01,DOWN_FORCE_DETACH,1791363789263158375,6.545118147e-05,-3.806294031e-06,-1.331373245e-03,6.461108044e-05,-4.552686363e-06,-1.324831733e-03,6.189195870e-05,-4.475034468e-06,-1.323712573e-03,7.016033227e-01,-2.255332710e-06,8.394095679e-01,7.016024826e-01,-3.001725042e-06,8.394161095e-01,7.017876760e-01,-2.672849528e-06,8.284569769e-01
+15,1.186666667e+01,DOWN_FORCE_DETACH,1791363790360490780,7.000096002e-05,-6.704754665e-06,-1.437303941e-03,6.877082043e-05,-1.079107660e-05,-1.432699934e-03,6.578072962e-05,-1.069918919e-05,-1.431489035e-03,7.016078724e-01,-5.153793344e-06,8.393036372e-01,7.016066423e-01,-9.240115283e-06,8.393082413e-01,7.017915648e-01,-8.897004247e-06,8.283492004e-01
+16,1.261666667e+01,DOWN_FORCE_DETACH,1791363791510700973,7.293101500e-05,-1.157719839e-05,-1.548690374e-03,7.424740716e-05,-9.189199324e-06,-1.542111679e-03,7.101007059e-05,-9.085756660e-06,-1.540915485e-03,7.016108025e-01,-1.002623707e-05,8.391922508e-01,7.016121189e-01,-7.638238003e-06,8.391988295e-01,7.017967941e-01,-7.283571720e-06,8.282397740e-01
+17,1.351666667e+01,DOWN_FORCE_DETACH,1791363792858483826,7.879445422e-05,-1.545309748e-05,-1.682367254e-03,7.688038987e-05,-1.353286644e-05,-1.670085145e-03,7.327468685e-05,-1.345886866e-05,-1.668820754e-03,7.016166659e-01,-1.390213616e-05,8.390585739e-01,7.016147519e-01,-1.198190512e-05,8.390708560e-01,7.017990587e-01,-1.165668372e-05,8.281118687e-01
+18,1.430000000e+01,DOWN_FORCE_DETACH,1791363794029770497,7.919043114e-05,-1.537208678e-05,-1.810201651e-03,7.775245395e-05,-1.315617856e-05,-1.802658554e-03,7.369549526e-05,-1.307271346e-05,-1.801273064e-03,7.016170619e-01,-1.382112546e-05,8.389307395e-01,7.016156239e-01,-1.160521723e-05,8.389382826e-01,7.017994795e-01,-1.127052852e-05,8.279794164e-01
+19,1.505000000e+01,DOWN_FORCE_DETACH,1791363795158171758,8.176354021e-05,-1.972879948e-05,-1.939032856e-03,8.061758829e-05,-2.375295183e-05,-1.928006251e-03,7.615839322e-05,-2.368659838e-05,-1.926635394e-03,7.016196350e-01,-1.817783816e-05,8.388019083e-01,7.016184891e-01,-2.220199051e-05,8.388129349e-01,7.018019424e-01,-2.188441344e-05,8.278540541e-01
+20,1.586666667e+01,DOWN_FORCE_DETACH,1791363796386893298,8.339626515e-05,-2.754622900e-05,-2.087150169e-03,8.319980909e-05,-2.758211704e-05,-2.087228875e-03,7.824475300e-05,-2.746310112e-05,-2.085640391e-03,7.016212677e-01,-2.599526768e-05,8.386537910e-01,7.016210713e-01,-2.603115572e-05,8.386537123e-01,7.018040288e-01,-2.566091618e-05,8.276950491e-01
+21,1.653333333e+01,DOWN_FORCE_DETACH,1791363797387269361,7.998255487e-05,-2.659731998e-05,-2.230638060e-03,8.357028574e-05,-2.758563826e-05,-2.221414469e-03,7.812836766e-05,-2.743077282e-05,-2.219760943e-03,7.016178540e-01,-2.504635866e-05,8.385103031e-01,7.016214418e-01,-2.603467693e-05,8.385195267e-01,7.018039124e-01,-2.562858788e-05,8.275609285e-01
+22,1.713333333e+01,DOWN_FORCE_DETACH,1791363798298325787,8.469967897e-05,-3.329905531e-05,-2.361739897e-03,8.294629082e-05,-2.719400203e-05,-2.359241362e-03,7.700919733e-05,-2.703487350e-05,-2.357414017e-03,7.016225712e-01,-3.174809399e-05,8.383792013e-01,7.016208178e-01,-2.564304071e-05,8.383816998e-01,7.018027932e-01,-2.523268856e-05,8.274232754e-01
+23,1.776666667e+01,DOWN_FORCE_DETACH,1791363799255817647,8.794020054e-05,-3.387587374e-05,-2.521370062e-03,8.350200134e-05,-3.331495481e-05,-2.506843395e-03,7.705996913e-05,-3.310430187e-05,-2.504874910e-03,7.016258117e-01,-3.232491242e-05,8.382195711e-01,7.016213735e-01,-3.176399349e-05,8.382340978e-01,7.018028440e-01,-3.130211693e-05,8.272758145e-01
+24,1.828333333e+01,DOWN_FORCE_DETACH,1791363800054740876,7.826066190e-05,-3.270529897e-05,-2.691786588e-03,7.818124881e-05,-3.313371799e-05,-2.691864977e-03,7.094724839e-05,-3.282261276e-05,-2.689464530e-03,7.016161321e-01,-3.115433765e-05,8.380491546e-01,7.016160527e-01,-3.158275667e-05,8.380490762e-01,7.017967313e-01,-3.102042782e-05,8.270912249e-01
+25,1.878333333e+01,DOWN_FORCE_DETACH,1791363800807870010,7.989768526e-05,-3.791924021e-05,-2.860659159e-03,7.956132245e-05,-3.783096885e-05,-2.860574442e-03,7.174054826e-05,-3.751721876e-05,-2.858010355e-03,7.016177692e-01,-3.636827889e-05,8.378802820e-01,7.016174328e-01,-3.628000753e-05,8.378803667e-01,7.017975246e-01,-3.571503382e-05,8.269226791e-01
+26,1.923333333e+01,DOWN_FORCE_DETACH,1791363801487046577,7.145616895e-05,-4.351438751e-05,-3.036519806e-03,7.115342797e-05,-4.002609370e-05,-3.030699511e-03,6.250116132e-05,-3.975012231e-05,-3.028011103e-03,7.016093277e-01,-4.196342618e-05,8.377044214e-01,7.016090249e-01,-3.847513238e-05,8.377102417e-01,7.017882852e-01,-3.794793737e-05,8.267526783e-01
+27,1.968333333e+01,DOWN_FORCE_DETACH,1791363802157279973,7.481051491e-05,-3.965781416e-05,-3.219372531e-03,7.466701282e-05,-3.970883450e-05,-3.219078010e-03,6.539436288e-05,-3.947557968e-05,-3.216146715e-03,7.016126820e-01,-3.810685284e-05,8.375215687e-01,7.016125385e-01,-3.815787318e-05,8.375218632e-01,7.017911784e-01,-3.767339474e-05,8.265645427e-01
+28,2.010000000e+01,DOWN_FORCE_DETACH,1791363802786963954,7.739102534e-05,-4.354567826e-05,-3.397182748e-03,7.441536339e-05,-4.131505128e-05,-3.386182367e-03,6.448892413e-05,-4.107004714e-05,-3.383136928e-03,7.016152625e-01,-4.199471693e-05,8.373437584e-01,7.016122868e-01,-3.976408996e-05,8.373547588e-01,7.017902730e-01,-3.926786220e-05,8.263975525e-01
+29,2.048333333e+01,DOWN_FORCE_DETACH,1791363803358311024,7.390929057e-05,-4.387403317e-05,-3.593647116e-03,7.378020390e-05,-4.384598895e-05,-3.593842046e-03,6.308159404e-05,-4.359276734e-05,-3.590451962e-03,7.016117808e-01,-4.232307185e-05,8.371472941e-01,7.016116517e-01,-4.229502763e-05,8.371470991e-01,7.017888656e-01,-4.179058240e-05,8.261902375e-01
+30,2.083333333e+01,DOWN_FORCE_DETACH,1791363803887191806,7.382345364e-05,-4.485757117e-05,-3.775670060e-03,7.505133945e-05,-4.295853122e-05,-3.766067336e-03,6.380227240e-05,-4.266300349e-05,-3.762543539e-03,7.016116949e-01,-4.330660985e-05,8.369652711e-01,7.016129228e-01,-4.140756990e-05,8.369748739e-01,7.017895863e-01,-4.086081855e-05,8.260181459e-01
+31,2.116666667e+01,DOWN_FORCE_DETACH,1791363804386834435,7.271787366e-05,-4.657364217e-05,-3.963970285e-03,7.485778936e-05,-4.880408266e-05,-3.952372961e-03,6.291805451e-05,-4.847019505e-05,-3.948632953e-03,7.016105894e-01,-4.502268085e-05,8.367769709e-01,7.016127293e-01,-4.725312134e-05,8.367885682e-01,7.017887021e-01,-4.666801011e-05,8.258320565e-01
+32,2.150000000e+01,DOWN_FORCE_DETACH,1791363804886908839,7.436944675e-05,-4.865966828e-05,-4.161474750e-03,7.417127582e-05,-4.855250440e-05,-4.161281942e-03,6.153479058e-05,-4.828941118e-05,-4.157253461e-03,7.016122409e-01,-4.710870696e-05,8.365794664e-01,7.016120428e-01,-4.700154308e-05,8.365796592e-01,7.017873188e-01,-4.648722624e-05,8.256234360e-01
+33,2.180000000e+01,DOWN_FORCE_DETACH,1791363805354829950,6.919422261e-05,-5.037791194e-05,-4.362810704e-03,6.902691647e-05,-5.065630918e-05,-4.351247316e-03,5.565128753e-05,-5.031805843e-05,-4.347035601e-03,7.016070657e-01,-4.882695062e-05,8.363781305e-01,7.016068984e-01,-4.910534786e-05,8.363896939e-01,7.017814353e-01,-4.851587349e-05,8.254336538e-01
+34,2.208333333e+01,DOWN_FORCE_DETACH,1791363805775566701,6.800845838e-05,-5.671468316e-05,-4.549305673e-03,6.768067061e-05,-5.683100310e-05,-4.549422723e-03,5.361247580e-05,-5.646575916e-05,-4.545020890e-03,7.016058799e-01,-5.516372184e-05,8.361916355e-01,7.016055522e-01,-5.528004178e-05,8.361915185e-01,7.017793965e-01,-5.466357422e-05,8.252356686e-01
+35,2.236666667e+01,DOWN_FORCE_DETACH,1791363806196696247,6.980912950e-05,-5.551599055e-05,-4.739922206e-03,6.944517105e-05,-5.525411531e-05,-4.739712784e-03,5.472360519e-05,-5.488074171e-05,-4.735171071e-03,7.016076806e-01,-5.396502923e-05,8.360010190e-01,7.016073167e-01,-5.370315399e-05,8.360012284e-01,7.017805076e-01,-5.307855677e-05,8.250455184e-01
+36,2.265000000e+01,DOWN_FORCE_DETACH,1791363806624954404,7.118211971e-05,-5.948863338e-05,-4.949146881e-03,7.097193471e-05,-5.950324017e-05,-4.948968007e-03,5.556785125e-05,-5.921859962e-05,-4.944314271e-03,7.016090536e-01,-5.793767206e-05,8.357917943e-01,7.016088434e-01,-5.795227884e-05,8.357919732e-01,7.017813519e-01,-5.741641468e-05,8.248363752e-01
+37,2.290000000e+01,DOWN_FORCE_DETACH,1791363807001623121,6.572408853e-05,-5.905483047e-05,-5.138169131e-03,6.690631019e-05,-6.034422901e-05,-5.129919768e-03,5.082823639e-05,-6.003648592e-05,-5.125206660e-03,7.016035956e-01,-5.750386915e-05,8.356027721e-01,7.016047778e-01,-5.879326768e-05,8.356110214e-01,7.017766123e-01,-5.823430098e-05,8.246554828e-01
+38,2.315000000e+01,DOWN_FORCE_DETACH,1791363807376382439,6.502312813e-05,-6.770258501e-05,-5.340552190e-03,6.489249980e-05,-6.768493243e-05,-5.340082482e-03,4.797100658e-05,-6.736174951e-05,-5.335137818e-03,7.016028946e-01,-6.615162369e-05,8.354003890e-01,7.016027640e-01,-6.613397111e-05,8.354008587e-01,7.017737550e-01,-6.555956457e-05,8.244455516e-01
+39,2.338333333e+01,DOWN_FORCE_DETACH,1791363807726544624,6.249266725e-05,-6.646251473e-05,-5.528893143e-03,6.233522310e-05,-6.673299011e-05,-5.528719193e-03,4.471374711e-05,-6.638502263e-05,-5.523661484e-03,7.016003641e-01,-6.491155341e-05,8.352120480e-01,7.016002067e-01,-6.518202879e-05,8.352122220e-01,7.017704978e-01,-6.458283769e-05,8.242570280e-01
+40,2.365000000e+01,DOWN_FORCE_DETACH,1791363808126467429,6.274184186e-05,-6.675060294e-05,-5.730360968e-03,6.483537550e-05,-6.699668596e-05,-5.714947485e-03,4.656992170e-05,-6.662789551e-05,-5.709989879e-03,7.016006133e-01,-6.519964162e-05,8.350105802e-01,7.016027069e-01,-6.544572464e-05,8.350259937e-01,7.017723540e-01,-6.482571057e-05,8.240706996e-01
+41,2.388333333e+01,DOWN_FORCE_DETACH,1791363808477292624,6.178437866e-05,-7.233843718e-05,-5.925574801e-03,6.156571031e-05,-7.226071359e-05,-5.925351841e-03,4.254890716e-05,-7.184020392e-05,-5.920196268e-03,7.015996559e-01,-7.078747586e-05,8.348153664e-01,7.015994372e-01,-7.070975227e-05,8.348155893e-01,7.017683330e-01,-7.003801898e-05,8.238604932e-01
+42,2.413333333e+01,DOWN_SETTLE,1791363808854880037,6.513497533e-05,-7.168866425e-05,-6.123540216e-03,6.577585071e-05,-7.157557127e-05,-6.110558245e-03,4.615622629e-05,-7.109343330e-05,-6.105466067e-03,7.016030065e-01,-7.013770293e-05,8.346174010e-01,7.016036473e-01,-7.002460995e-05,8.346303829e-01,7.017719403e-01,-6.929124836e-05,8.236752234e-01
+43,2.438333333e+01,DOWN_SETTLE,1791363809225096271,6.109136802e-05,-6.648540339e-05,-6.330485835e-03,6.082275112e-05,-6.626269868e-05,-6.330152810e-03,4.028588327e-05,-6.582371002e-05,-6.324914616e-03,7.015989628e-01,-6.493444207e-05,8.344104554e-01,7.015986942e-01,-6.471173735e-05,8.344107884e-01,7.017660699e-01,-6.402152508e-05,8.234557748e-01
+44,2.463333333e+01,DOWN_SETTLE,1791363809595531510,5.736325753e-05,-6.111001668e-05,-6.518952502e-03,5.801882322e-05,-6.674775438e-05,-6.510795871e-03,3.679494265e-05,-6.636554042e-05,-6.505766241e-03,7.015952347e-01,-5.955905536e-05,8.342219887e-01,7.015958903e-01,-6.519679306e-05,8.342301453e-01,7.017625790e-01,-6.456335548e-05,8.232749232e-01
+45,2.490000000e+01,DOWN_SETTLE,1791363809998877300,5.681046576e-05,-5.795709592e-05,-6.713948878e-03,5.772422445e-05,-6.100540085e-05,-6.707946209e-03,3.583221683e-05,-6.065579848e-05,-6.702980923e-03,7.015946819e-01,-5.640613460e-05,8.340269923e-01,7.015955957e-01,-5.945443953e-05,8.340329950e-01,7.017616163e-01,-5.885361354e-05,8.230777085e-01
+46,2.518333333e+01,DOWN_SETTLE,1791363810426341691,5.733521208e-05,-5.715530756e-05,-6.909840886e-03,5.702083242e-05,-5.721554138e-05,-6.910047685e-03,3.432483962e-05,-5.686648074e-05,-6.905143588e-03,7.015952067e-01,-5.560434624e-05,8.338311003e-01,7.015948923e-01,-5.566458005e-05,8.338308935e-01,7.017601089e-01,-5.506429580e-05,8.228755459e-01
+47,2.548333333e+01,DOWN_SETTLE,1791363810877798034,5.812616105e-05,-5.761399274e-05,-7.114088685e-03,5.797771758e-05,-5.750701773e-05,-7.098186185e-03,3.468367748e-05,-5.715303309e-05,-7.093446363e-03,7.015959976e-01,-5.606303142e-05,8.336268525e-01,7.015958492e-01,-5.595605641e-05,8.336427550e-01,7.017604677e-01,-5.535084815e-05,8.226872431e-01
+48,2.576666667e+01,DOWN_SETTLE,1791363811323000242,5.590029495e-05,-5.759504327e-05,-7.303933851e-03,5.605773727e-05,-6.200165021e-05,-7.291823353e-03,3.203990374e-05,-6.165104599e-05,-7.287173822e-03,7.015937718e-01,-5.604408194e-05,8.334370073e-01,7.015939292e-01,-6.045068889e-05,8.334491178e-01,7.017578239e-01,-5.984886105e-05,8.224935156e-01
+49,2.606666667e+01,DOWN_SETTLE,1791363811767149751,5.264762402e-05,-5.943704850e-05,-7.493916568e-03,5.303796439e-05,-6.018723936e-05,-7.474253040e-03,2.838333310e-05,-5.982752386e-05,-7.469778561e-03,7.015905191e-01,-5.788608718e-05,8.332470246e-01,7.015909094e-01,-5.863627804e-05,8.332666881e-01,7.017541674e-01,-5.802533892e-05,8.223109109e-01
+50,2.640000000e+01,DOWN_SETTLE,1791363812266415569,5.000092032e-05,-6.598074834e-05,-7.688528689e-03,4.777861390e-05,-6.235690635e-05,-7.675833515e-03,2.229113122e-05,-6.197893719e-05,-7.671499296e-03,7.015878724e-01,-6.442978702e-05,8.330524125e-01,7.015856501e-01,-6.080594503e-05,8.330651077e-01,7.017480752e-01,-6.017675225e-05,8.221091902e-01
+51,2.676666667e+01,DOWN_SETTLE,1791363812823269395,5.117833559e-05,-6.694683288e-05,-7.884283476e-03,5.104778204e-05,-6.701220005e-05,-7.884713117e-03,2.497208048e-05,-6.669016328e-05,-7.880565616e-03,7.015890498e-01,-6.539587156e-05,8.328566577e-01,7.015889193e-01,-6.546123873e-05,8.328562281e-01,7.017507561e-01,-6.488797834e-05,8.219001238e-01
+52,2.711666667e+01,DOWN_SETTLE,1791363813351082402,4.585271842e-05,-6.632161208e-05,-8.066264505e-03,4.451150667e-05,-6.902706418e-05,-8.048967318e-03,1.774956706e-05,-6.868220649e-05,-8.045113131e-03,7.015837242e-01,-6.477065076e-05,8.326746767e-01,7.015823830e-01,-6.747610286e-05,8.326919739e-01,7.017435336e-01,-6.688002155e-05,8.217355763e-01
+53,2.753333333e+01,DOWN_SETTLE,1791363813966183851,4.254469986e-05,-7.089690577e-05,-8.254185264e-03,3.958706405e-05,-7.011076452e-05,-8.247503241e-03,1.201337308e-05,-6.975591830e-05,-8.243846727e-03,7.015804162e-01,-6.934594445e-05,8.324867559e-01,7.015774585e-01,-6.855980320e-05,8.324934379e-01,7.017377974e-01,-6.795373336e-05,8.215368427e-01
+54,2.795000000e+01,DOWN_SETTLE,1791363814594615811,3.423949984e-05,-7.614906732e-05,-8.441690180e-03,3.424125568e-05,-7.600590052e-05,-8.441627040e-03,5.821654120e-06,-7.559692196e-05,-8.438063195e-03,7.015721110e-01,-7.459810600e-05,8.322992510e-01,7.015721127e-01,-7.445493920e-05,8.322993141e-01,7.017316057e-01,-7.379473702e-05,8.213426263e-01
+55,2.843333333e+01,DOWN_SETTLE,1791363815341938920,3.740645958e-05,-7.618652873e-05,-8.621445888e-03,3.910417824e-05,-7.242927684e-05,-8.612094936e-03,1.018598415e-05,-7.205052694e-05,-8.608902434e-03,7.015752779e-01,-7.463556741e-05,8.321194953e-01,7.015769757e-01,-7.087831552e-05,8.321288463e-01,7.017359700e-01,-7.024834200e-05,8.211717870e-01
+56,2.896666667e+01,DOWN_SETTLE,1791363816135236387,3.210192678e-05,-7.556569160e-05,-8.788550646e-03,2.953273422e-05,-7.704211315e-05,-8.770156980e-03,-1.917518867e-07,-7.659877581e-05,-8.767390232e-03,7.015699734e-01,-7.401473028e-05,8.319523905e-01,7.015674042e-01,-7.549115183e-05,8.319707842e-01,7.017255923e-01,-7.479659087e-05,8.210132992e-01
+57,2.956666667e+01,DOWN_SETTLE,1791363817033061320,1.686054069e-05,-7.795855041e-05,-8.948724018e-03,1.659096962e-05,-8.089786514e-05,-8.940337442e-03,-1.411085984e-05,-8.040817741e-05,-8.937929192e-03,7.015547320e-01,-7.640758909e-05,8.317922172e-01,7.015544625e-01,-7.934690382e-05,8.318006037e-01,7.017116732e-01,-7.860599247e-05,8.208427603e-01
+58,3.031666667e+01,DOWN_SETTLE,1791363818162271639,1.330416629e-05,-7.865054363e-05,-9.073856426e-03,1.092547345e-05,-8.002544512e-05,-9.072979928e-03,-2.034003440e-05,-7.960356915e-05,-9.071247639e-03,7.015511756e-01,-7.709958231e-05,8.316670848e-01,7.015487970e-01,-7.847448379e-05,8.316679613e-01,7.017054440e-01,-7.780138421e-05,8.207094418e-01
+59,3.121666667e+01,DOWN_SETTLE,1791363819513524208,2.864130490e-05,-7.317554149e-05,-9.130572424e-03,2.711160910e-05,-7.143534589e-05,-9.128073794e-03,-3.963301739e-06,-7.110071181e-05,-9.127128787e-03,7.015665128e-01,-7.162458017e-05,8.316103688e-01,7.015649831e-01,-6.988438457e-05,8.316128674e-01,7.017218207e-01,-6.929852687e-05,8.206535607e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f173085dd86897cd6c48d497a52e72ff5808615
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,5.2859e-03,2.5599e-03,2.4555e+00,-3.6923e-02,3.7157e-02,1.7275e-05,8.8027e-05,7.5414e-07,7.6294e-06,5.2154e-08,6.2548e-06,3.8475e-07,8.8360e-05,6.2668e-06
+1,8.0000e-01,DOWN_FORCE_DETACH,2.0720e-04,9.7898e-03,1.4274e-03,2.4615e+00,-3.6838e-02,3.7471e-02,3.3436e-05,4.5919e-03,-1.1318e-03,5.9798e-03,8.5123e-05,3.1997e-04,1.6545e-05,7.6239e-03,3.3151e-04
+2,1.5833e+00,DOWN_FORCE_DETACH,4.1156e-04,1.1170e-02,3.6561e-03,2.4787e+00,-3.6986e-02,3.7549e-02,4.9258e-05,5.9716e-03,1.0970e-03,2.3226e-02,-6.3129e-05,3.9804e-04,3.2368e-05,2.4007e-02,4.0431e-04
+3,2.3333e+00,DOWN_FORCE_DETACH,6.1572e-04,7.8760e-03,6.3563e-03,2.4989e+00,-3.7165e-02,3.7297e-02,6.4051e-05,2.6781e-03,3.7971e-03,4.3459e-02,-2.4238e-04,1.4577e-04,4.7161e-05,4.3706e-02,2.8674e-04
+4,3.1000e+00,DOWN_FORCE_DETACH,8.2261e-04,9.2410e-03,7.7588e-03,2.5084e+00,-3.7263e-02,3.7368e-02,7.3221e-05,4.0431e-03,5.1996e-03,5.2905e-02,-3.3986e-04,2.1674e-04,5.6331e-05,5.3314e-02,4.0701e-04
+5,3.9667e+00,DOWN_FORCE_DETACH,1.0274e-03,1.1158e-02,9.3016e-03,2.5106e+00,-3.7377e-02,3.7497e-02,7.0720e-05,5.9601e-03,6.7424e-03,5.5142e-02,-4.5372e-04,3.4587e-04,5.3829e-05,5.5871e-02,5.7305e-04
+6,4.7833e+00,DOWN_FORCE_DETACH,1.2353e-03,1.0530e-02,9.1562e-03,2.5061e+00,-3.7378e-02,3.7458e-02,5.6745e-05,5.3320e-03,6.5971e-03,5.0588e-02,-4.5542e-04,3.0714e-04,3.9855e-05,5.1295e-02,5.5076e-04
+7,5.5833e+00,DOWN_FORCE_DETACH,1.4409e-03,1.2103e-02,1.0683e-02,2.5059e+00,-3.7491e-02,3.7573e-02,3.5837e-05,6.9053e-03,8.1240e-03,5.0455e-02,-5.6845e-04,4.2244e-04,1.8947e-05,5.1569e-02,7.0849e-04
+8,6.4000e+00,DOWN_FORCE_DETACH,1.6454e-03,1.4733e-02,7.7754e-03,2.5018e+00,-3.7297e-02,3.7767e-02,8.1154e-06,9.5356e-03,5.2163e-03,4.6338e-02,-3.7392e-04,6.1590e-04,-8.7750e-06,4.7596e-02,7.2058e-04
+9,7.1667e+00,DOWN_FORCE_DETACH,1.8494e-03,1.6488e-02,5.4423e-03,2.5085e+00,-3.7129e-02,3.7886e-02,-1.8211e-05,1.1290e-02,2.8831e-03,5.3047e-02,-2.0568e-04,7.3541e-04,-3.5102e-05,5.4312e-02,7.6443e-04
+10,7.9667e+00,DOWN_FORCE_DETACH,2.0547e-03,1.7599e-02,3.4611e-03,2.5083e+00,-3.6978e-02,3.7959e-02,-3.6502e-05,1.2401e-02,9.0199e-04,5.2837e-02,-5.5160e-05,8.0789e-04,-5.3392e-05,5.4280e-02,8.1153e-04
+11,8.7000e+00,DOWN_FORCE_DETACH,2.2621e-03,1.6746e-02,6.8219e-03,2.5096e+00,-3.7199e-02,3.7896e-02,-4.1744e-05,1.1548e-02,4.2628e-03,5.4099e-02,-2.7608e-04,7.4492e-04,-5.8635e-05,5.5482e-02,7.9660e-04
+12,9.5667e+00,DOWN_FORCE_DETACH,2.4680e-03,1.5593e-02,6.7283e-03,2.5079e+00,-3.7201e-02,3.7819e-02,-5.0165e-05,1.0395e-02,4.1691e-03,5.2397e-02,-2.7773e-04,6.6801e-04,-6.7055e-05,5.3581e-02,7.2655e-04
+13,1.0333e+01,DOWN_FORCE_DETACH,2.6736e-03,1.6756e-02,5.8607e-03,2.5075e+00,-3.7172e-02,3.7896e-02,-6.5840e-05,1.1558e-02,3.3016e-03,5.1966e-02,-2.4872e-04,7.4529e-04,-8.2730e-05,5.3338e-02,7.9004e-04
+14,1.1133e+01,DOWN_FORCE_DETACH,2.8810e-03,1.7339e-02,4.6409e-03,2.5069e+00,-3.7121e-02,3.7940e-02,-8.5119e-05,1.2141e-02,2.0817e-03,5.1376e-02,-1.9821e-04,7.8904e-04,-1.0201e-04,5.2832e-02,8.1992e-04
+15,1.1867e+01,DOWN_FORCE_DETACH,3.0899e-03,1.7831e-02,6.4103e-03,2.5103e+00,-3.7232e-02,3.7975e-02,-9.2901e-05,1.2633e-02,3.8512e-03,5.4823e-02,-3.0852e-04,8.2390e-04,-1.0979e-04,5.6392e-02,8.8660e-04
+16,1.2617e+01,DOWN_FORCE_DETACH,3.2922e-03,1.7262e-02,5.4061e-03,2.5128e+00,-3.7125e-02,3.7935e-02,-8.7499e-05,1.2064e-02,2.8469e-03,5.7268e-02,-2.0187e-04,7.8402e-04,-1.0439e-04,5.8594e-02,8.1629e-04
+17,1.3517e+01,DOWN_FORCE_DETACH,3.4959e-03,1.7069e-02,6.2302e-03,2.5131e+00,-3.7166e-02,3.7915e-02,-6.8091e-05,1.1871e-02,3.6711e-03,5.7624e-02,-2.4325e-04,7.6379e-04,-8.4981e-05,5.8949e-02,8.0608e-04
+18,1.4300e+01,DOWN_FORCE_DETACH,3.7019e-03,1.7550e-02,6.0861e-03,2.5179e+00,-3.7176e-02,3.7934e-02,-5.1777e-05,1.2352e-02,3.5269e-03,6.2449e-02,-2.5277e-04,7.8267e-04,-6.8667e-05,6.3757e-02,8.2534e-04
+19,1.5050e+01,DOWN_FORCE_DETACH,3.9071e-03,1.6972e-02,1.0222e-02,2.5203e+00,-3.7475e-02,3.7880e-02,-3.8341e-05,1.1775e-02,7.6626e-03,6.4775e-02,-5.5223e-04,7.2949e-04,-5.5232e-05,6.6281e-02,9.1660e-04
+20,1.5867e+01,DOWN_FORCE_DETACH,4.1138e-03,1.6354e-02,1.1288e-02,2.5208e+00,-3.7548e-02,3.7832e-02,-2.8440e-05,1.1156e-02,8.7293e-03,6.5317e-02,-6.2495e-04,6.8129e-04,-4.5331e-05,6.6836e-02,9.2562e-04
+21,1.6533e+01,DOWN_FORCE_DETACH,4.3219e-03,1.6304e-02,1.3094e-02,2.5315e+00,-3.7648e-02,3.7816e-02,-1.7744e-05,1.1106e-02,1.0535e-02,7.5979e-02,-7.2476e-04,6.6523e-04,-3.4634e-05,7.7505e-02,9.8439e-04
+22,1.7133e+01,DOWN_FORCE_DETACH,4.5246e-03,1.7092e-02,1.3293e-02,2.5384e+00,-3.7636e-02,3.7859e-02,-7.6674e-06,1.1894e-02,1.0734e-02,8.2938e-02,-7.1281e-04,7.0859e-04,-2.4558e-05,8.4471e-02,1.0054e-03
+23,1.7767e+01,DOWN_FORCE_DETACH,4.7272e-03,1.6984e-02,1.7220e-02,2.5461e+00,-3.7861e-02,3.7841e-02,5.6847e-06,1.1787e-02,1.4660e-02,9.0626e-02,-9.3804e-04,6.9005e-04,-1.1206e-05,9.2558e-02,1.1646e-03
+24,1.8283e+01,DOWN_FORCE_DETACH,4.9354e-03,1.6867e-02,1.9683e-02,2.5589e+00,-3.7996e-02,3.7819e-02,1.8166e-05,1.1670e-02,1.7124e-02,1.0340e-01,-1.0728e-03,6.6785e-04,1.2758e-06,1.0545e-01,1.2637e-03
+25,1.8783e+01,DOWN_FORCE_DETACH,5.1466e-03,1.7182e-02,2.1458e-02,2.5640e+00,-3.8112e-02,3.7830e-02,2.3645e-05,1.1984e-02,1.8899e-02,1.0851e-01,-1.1894e-03,6.7870e-04,6.7548e-06,1.1080e-01,1.3694e-03
+26,1.9233e+01,DOWN_FORCE_DETACH,5.3477e-03,1.8470e-02,2.0234e-02,2.5770e+00,-3.8067e-02,3.7904e-02,2.2263e-05,1.3272e-02,1.7674e-02,1.2153e-01,-1.1437e-03,7.5334e-04,5.3731e-06,1.2352e-01,1.3696e-03
+27,1.9683e+01,DOWN_FORCE_DETACH,5.5581e-03,1.7514e-02,1.7501e-02,2.5794e+00,-3.7886e-02,3.7833e-02,2.2605e-05,1.2316e-02,1.4942e-02,1.2389e-01,-9.6278e-04,6.8176e-04,5.7150e-06,1.2540e-01,1.1797e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cdea46ed000507dc4d660dd0d4f912ac35f7c844
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:6941bdbb0e4f3f3d96b0388927db1419edbce73e47522277396ea4cbbfe9104e
+size 5273600
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c682fa6a18e1832ee192f829187c3b41c89bc60
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..900bf8c3bbd5167971cb59e299d74c471ced7231
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9db32d306b743d651528b5077e92b1d32c073677
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec51dca77c47facbf43398aa8d5d43b05e4a669a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,6.850000000e+00,UP_FORCE_RAMP,1791363763382864504,-8.082365316e-05,-1.687206758e-05,7.693491899e-04,-7.897447001e-05,-1.026581119e-05,7.713124592e-04,-7.814487068e-05,-1.017702165e-05,7.699958156e-04,7.014570478e-01,-1.532110626e-05,8.415102904e-01,7.014588970e-01,-8.714849865e-06,8.415122536e-01,7.016476392e-01,-8.374835901e-06,8.305506852e-01
+44,7.033333333e+00,UP_FORCE_RAMP,1791363763653786836,-8.123540188e-05,-1.414441483e-05,7.854409591e-04,-7.897447001e-05,-1.026581119e-05,7.713124592e-04,-7.816024522e-05,-1.017957536e-05,7.701373589e-04,7.014566361e-01,-1.259345351e-05,8.415263821e-01,7.014588970e-01,-8.714849865e-06,8.415122536e-01,7.016476238e-01,-8.377389606e-06,8.305508268e-01
+45,7.216666667e+00,UP_FORCE_RAMP,1791363763926298969,-8.385607756e-05,-1.503037912e-05,7.916560117e-04,-8.078539789e-05,-9.172734251e-06,7.919393725e-04,-7.995195210e-05,-9.090743354e-06,7.907152320e-04,7.014540154e-01,-1.347941780e-05,8.415325972e-01,7.014570861e-01,-7.621772930e-06,8.415328806e-01,7.016458321e-01,-7.288557605e-06,8.305714047e-01
+46,7.383333333e+00,UP_FORCE_RAMP,1791363764182848454,-7.829765087e-05,-1.308214132e-05,8.109230704e-04,-8.078539789e-05,-9.172734251e-06,7.919393725e-04,-7.996396979e-05,-9.092512208e-06,7.908303748e-04,7.014595738e-01,-1.153117999e-05,8.415518643e-01,7.014570861e-01,-7.621772930e-06,8.415328806e-01,7.016458201e-01,-7.290326459e-06,8.305715198e-01
+47,7.566666667e+00,UP_FORCE_RAMP,1791363764453413101,-8.278372659e-05,-1.957679431e-05,8.176764774e-04,-8.194074801e-05,-1.353228359e-05,8.119733073e-04,-8.109864557e-05,-1.345382440e-05,8.109038848e-04,7.014550878e-01,-1.802583298e-05,8.415586177e-01,7.014559307e-01,-1.198132227e-05,8.415529145e-01,7.016446854e-01,-1.165163865e-05,8.305915933e-01
+48,7.716666667e+00,UP_FORCE_RAMP,1791363764682833059,-8.141072646e-05,-1.504855785e-05,8.280731356e-04,-8.194074801e-05,-1.353228359e-05,8.119733073e-04,-8.110614820e-05,-1.345609353e-05,8.110010322e-04,7.014564608e-01,-1.349759653e-05,8.415690143e-01,7.014559307e-01,-1.198132227e-05,8.415529145e-01,7.016446779e-01,-1.165390778e-05,8.305916905e-01
+49,7.866666667e+00,UP_FORCE_RAMP,1791363764903726509,-8.504657704e-05,-1.652752625e-05,8.324480651e-04,-8.196989838e-05,-1.379947343e-05,8.327881472e-04,-8.110004708e-05,-1.370227022e-05,8.317513629e-04,7.014528249e-01,-1.497656493e-05,8.415733893e-01,7.014559016e-01,-1.224851211e-05,8.415737293e-01,7.016446840e-01,-1.190008447e-05,8.306124408e-01
+50,8.050000000e+00,UP_FORCE_RAMP,1791363765182857904,-8.324379745e-05,-2.100629730e-05,8.453021263e-04,-8.196989838e-05,-1.379947343e-05,8.327881472e-04,-8.110630368e-05,-1.370427311e-05,8.318726467e-04,7.014546277e-01,-1.945533598e-05,8.415862433e-01,7.014559016e-01,-1.224851211e-05,8.415737293e-01,7.016446777e-01,-1.190208736e-05,8.306125621e-01
+51,8.216666667e+00,UP_FORCE_RAMP,1791363765425342710,-8.472627877e-05,-2.155120761e-05,8.501196449e-04,-8.229079894e-05,-1.898543315e-05,8.518714881e-04,-8.133835124e-05,-1.888676712e-05,8.509125811e-04,7.014531452e-01,-2.000024628e-05,8.415910608e-01,7.014555807e-01,-1.743447183e-05,8.415928127e-01,7.016444457e-01,-1.708458138e-05,8.306316020e-01
+52,8.416666667e+00,UP_FORCE_RAMP,1791363765723206112,-8.204919446e-05,-2.104859842e-05,8.639567976e-04,-8.229079894e-05,-1.898543315e-05,8.518714881e-04,-8.134188063e-05,-1.888910602e-05,8.510370017e-04,7.014558223e-01,-1.949763710e-05,8.416048980e-01,7.014555807e-01,-1.743447183e-05,8.415928127e-01,7.016444421e-01,-1.708692027e-05,8.306317264e-01
+53,8.583333333e+00,UP_FORCE_RAMP,1791363765982834576,-8.335106821e-05,-1.663559468e-05,8.675405274e-04,-8.229079894e-05,-1.898543315e-05,8.518714881e-04,-8.134428513e-05,-1.888970634e-05,8.511254565e-04,7.014545204e-01,-1.508463336e-05,8.416084817e-01,7.014555807e-01,-1.743447183e-05,8.415928127e-01,7.016444397e-01,-1.708752059e-05,8.306318149e-01
+54,8.716666667e+00,UP_FORCE_RAMP,1791363766182864844,-8.333952685e-05,-1.429694335e-05,8.734755135e-04,-8.257888569e-05,-1.863702273e-05,8.729829826e-04,-8.154819478e-05,-1.854363714e-05,8.721592919e-04,7.014545320e-01,-1.274598203e-05,8.416144167e-01,7.014552926e-01,-1.708606141e-05,8.416139242e-01,7.016442358e-01,-1.674145139e-05,8.306528487e-01
+55,8.950000000e+00,UP_FORCE_HOLD,1791363766524054656,-8.251525999e-05,-1.853318285e-05,8.851629754e-04,-8.257888569e-05,-1.863702273e-05,8.729829826e-04,-8.154847956e-05,-1.854412533e-05,8.722833952e-04,7.014553562e-01,-1.698222153e-05,8.416261042e-01,7.014552926e-01,-1.708606141e-05,8.416139242e-01,7.016442355e-01,-1.674193958e-05,8.306529728e-01
+56,9.200000000e+00,UP_FORCE_HOLD,1791363766903347555,-8.324025340e-05,-1.815779332e-05,8.900656440e-04,-8.257888569e-05,-1.863702273e-05,8.729829826e-04,-8.154780644e-05,-1.854424732e-05,8.723953580e-04,7.014546312e-01,-1.660683200e-05,8.416310068e-01,7.014552926e-01,-1.708606141e-05,8.416139242e-01,7.016442362e-01,-1.674206157e-05,8.306530848e-01
+57,9.400000000e+00,UP_FORCE_HOLD,1791363767204128525,-8.311080312e-05,-1.605493155e-05,8.970728681e-04,-8.255888249e-05,-1.705125093e-05,8.946331487e-04,-8.147700153e-05,-1.698349827e-05,8.939847825e-04,7.014547607e-01,-1.450397022e-05,8.416380141e-01,7.014553126e-01,-1.550028961e-05,8.416355743e-01,7.016443070e-01,-1.518131252e-05,8.306746742e-01
+58,9.583333333e+00,UP_FORCE_HOLD,1791363767483498210,-8.247846168e-05,-1.787760028e-05,9.055701389e-04,-8.255888249e-05,-1.705125093e-05,8.946331487e-04,-8.147480824e-05,-1.698311597e-05,8.940653249e-04,7.014553930e-01,-1.632663896e-05,8.416465113e-01,7.014553126e-01,-1.550028961e-05,8.416355743e-01,7.016443092e-01,-1.518093022e-05,8.306747548e-01
+59,9.783333333e+00,UP_SETTLE,1791363767783312194,-8.389968405e-05,-1.646013835e-05,9.076973848e-04,-8.255888249e-05,-1.705125093e-05,8.946331487e-04,-8.147242389e-05,-1.698279718e-05,8.941416219e-04,7.014539718e-01,-1.490917702e-05,8.416486386e-01,7.014553126e-01,-1.550028961e-05,8.416355743e-01,7.016443116e-01,-1.518061143e-05,8.306748311e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a836a4e9fabbadcc88bd735a35d861b74ab6d85b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,5.2852e-03,2.5600e-03,2.4555e+00,-3.6923e-02,3.7157e-02,1.7281e-05,8.7989e-05,7.3854e-07,7.6294e-06,4.0978e-08,6.2548e-06,3.8488e-07,8.8322e-05,6.2667e-06
+1,2.1667e-01,UP_FORCE_RAMP,4.2271e-05,6.3355e-03,2.5700e-03,2.4556e+00,-3.6922e-02,3.7232e-02,2.2230e-05,1.1383e-03,1.0747e-05,8.9169e-05,7.3761e-07,8.1006e-05,5.3341e-06,1.1418e-03,8.1185e-05
+2,3.5000e-01,UP_FORCE_RAMP,8.4603e-05,6.9148e-03,2.5795e-03,2.4556e+00,-3.6922e-02,3.7273e-02,2.5190e-05,1.7175e-03,2.0233e-05,1.2827e-04,9.6112e-07,1.2222e-04,8.2941e-06,1.7224e-03,1.2251e-04
+3,5.8333e-01,UP_FORCE_RAMP,1.2695e-04,7.8213e-03,2.6009e-03,2.4557e+00,-3.6922e-02,3.7338e-02,3.0210e-05,2.6241e-03,4.1656e-05,1.8406e-04,9.7975e-07,1.8676e-04,1.3314e-05,2.6309e-03,1.8723e-04
+4,7.5000e-01,UP_FORCE_RAMP,1.6504e-04,8.3960e-03,2.6188e-03,2.4557e+00,-3.6922e-02,3.7379e-02,3.3668e-05,3.1987e-03,5.9605e-05,2.1553e-04,7.4878e-07,2.2769e-04,1.6772e-05,3.2066e-03,2.2830e-04
+5,9.3333e-01,UP_FORCE_RAMP,2.0533e-04,8.9662e-03,2.6403e-03,2.4557e+00,-3.6923e-02,3.7419e-02,3.7341e-05,3.7690e-03,8.1056e-05,2.4319e-04,3.2410e-07,2.6830e-04,2.0445e-05,3.7777e-03,2.6908e-04
+6,1.1833e+00,UP_FORCE_RAMP,2.5242e-04,1.0952e-02,4.4067e-03,2.4506e+00,-3.7046e-02,3.7567e-02,4.3097e-05,5.7545e-03,1.8474e-03,-4.9238e-03,-1.2253e-04,4.1595e-04,2.6201e-05,7.7956e-03,4.3441e-04
+7,1.3333e+00,UP_FORCE_RAMP,2.9148e-04,1.1285e-02,4.0983e-03,2.4446e+00,-3.7025e-02,3.7597e-02,4.5794e-05,6.0881e-03,1.5391e-03,-1.0884e-02,-1.0193e-04,4.4623e-04,2.8899e-05,1.2565e-02,4.5863e-04
+8,1.4667e+00,UP_FORCE_RAMP,3.3100e-04,1.1521e-02,4.1336e-03,2.4461e+00,-3.7026e-02,3.7613e-02,4.7948e-05,6.3240e-03,1.5744e-03,-9.3820e-03,-1.0329e-04,4.6182e-04,3.1052e-05,1.1423e-02,4.7425e-04
+9,1.6333e+00,UP_FORCE_RAMP,3.7572e-04,1.2680e-02,2.6201e-03,2.4407e+00,-3.6921e-02,3.7702e-02,4.9703e-05,7.4826e-03,6.0861e-05,-1.4805e-02,1.7285e-06,5.5091e-04,3.2807e-05,1.6588e-02,5.5189e-04
+10,1.7833e+00,UP_FORCE_RAMP,4.1669e-04,1.2946e-02,4.8709e-03,2.4360e+00,-3.7079e-02,3.7726e-02,5.3503e-05,7.7487e-03,2.3117e-03,-1.9491e-02,-1.5555e-04,5.7509e-04,3.6607e-05,2.1102e-02,5.9688e-04
+11,1.9000e+00,UP_FORCE_RAMP,4.6078e-04,1.3064e-02,4.8638e-03,2.4377e+00,-3.7077e-02,3.7733e-02,5.4884e-05,7.8669e-03,2.3046e-03,-1.7783e-02,-1.5381e-04,5.8199e-04,3.7988e-05,1.9582e-02,6.0317e-04
+12,2.0333e+00,UP_FORCE_RAMP,5.0288e-04,1.3566e-02,3.2865e-03,2.4338e+00,-3.6967e-02,3.7773e-02,5.5863e-05,8.3687e-03,7.2730e-04,-2.1694e-02,-4.4245e-05,6.2260e-04,3.8967e-05,2.3264e-02,6.2539e-04
+13,2.2000e+00,UP_FORCE_RAMP,5.4162e-04,1.5587e-02,3.3801e-03,2.4309e+00,-3.6974e-02,3.7921e-02,5.7824e-05,1.0390e-02,8.2084e-04,-2.4600e-02,-5.0925e-05,7.7048e-04,4.0928e-05,2.6717e-02,7.7324e-04
+14,2.3667e+00,UP_FORCE_RAMP,5.8321e-04,1.6523e-02,5.5763e-03,2.4274e+00,-3.7128e-02,3.7993e-02,6.0697e-05,1.1326e-02,3.0171e-03,-2.8035e-02,-2.0456e-04,8.4180e-04,4.3801e-05,3.0387e-02,8.6741e-04
+15,2.5500e+00,UP_FORCE_RAMP,6.2446e-04,1.7938e-02,4.3983e-03,2.4244e+00,-3.7046e-02,3.8098e-02,6.1388e-05,1.2741e-02,1.8390e-03,-3.1128e-02,-1.2341e-04,9.4707e-04,4.4492e-05,3.3685e-02,9.5611e-04
+16,2.7000e+00,UP_FORCE_RAMP,6.6719e-04,1.8683e-02,4.9153e-03,2.4211e+00,-3.7084e-02,3.8155e-02,6.2603e-05,1.3486e-02,2.3561e-03,-3.4400e-02,-1.6056e-04,1.0045e-03,4.5707e-05,3.7024e-02,1.0183e-03
+17,2.8500e+00,UP_FORCE_RAMP,7.0703e-04,1.9116e-02,5.3043e-03,2.4185e+00,-3.7112e-02,3.8190e-02,6.3305e-05,1.3919e-02,2.7451e-03,-3.6960e-02,-1.8893e-04,1.0390e-03,4.6409e-05,3.9589e-02,1.0570e-03
+18,2.9833e+00,UP_FORCE_RAMP,7.5237e-04,1.9051e-02,5.8542e-03,2.4145e+00,-3.7153e-02,3.8190e-02,6.3857e-05,1.3854e-02,3.2950e-03,-4.0936e-02,-2.2957e-04,1.0393e-03,4.6961e-05,4.3342e-02,1.0654e-03
+19,3.1500e+00,UP_FORCE_RAMP,7.9218e-04,1.8542e-02,6.7417e-03,2.4117e+00,-3.7217e-02,3.8158e-02,6.4100e-05,1.3345e-02,4.1825e-03,-4.3751e-02,-2.9428e-04,1.0069e-03,4.7204e-05,4.5932e-02,1.0501e-03
+20,3.3167e+00,UP_FORCE_RAMP,8.3591e-04,1.7427e-02,6.4453e-03,2.4041e+00,-3.7201e-02,3.8087e-02,6.3478e-05,1.2230e-02,3.8860e-03,-5.1363e-02,-2.7775e-04,9.3630e-04,4.6583e-05,5.2942e-02,9.7774e-04
+21,3.4667e+00,UP_FORCE_RAMP,8.7209e-04,1.7706e-02,7.8002e-03,2.4027e+00,-3.7299e-02,3.8108e-02,6.3000e-05,1.2508e-02,5.2410e-03,-5.2798e-02,-3.7576e-04,9.5764e-04,4.6104e-05,5.4512e-02,1.0298e-03
+22,3.6167e+00,UP_FORCE_RAMP,9.2133e-04,1.7005e-02,6.4123e-03,2.4017e+00,-3.7205e-02,3.8061e-02,6.1016e-05,1.1808e-02,3.8531e-03,-5.3763e-02,-2.8215e-04,9.0983e-04,4.4121e-05,5.5179e-02,9.5359e-04
+23,3.7500e+00,UP_FORCE_RAMP,9.6015e-04,1.6610e-02,6.8970e-03,2.3993e+00,-3.7242e-02,3.8035e-02,5.9722e-05,1.1413e-02,4.3377e-03,-5.6151e-02,-3.1942e-04,8.8458e-04,4.2827e-05,5.7463e-02,9.4146e-04
+24,3.8833e+00,UP_FORCE_RAMP,1.0021e-03,1.6092e-02,7.8003e-03,2.3906e+00,-3.7310e-02,3.8007e-02,5.8192e-05,1.0895e-02,5.2411e-03,-6.4865e-02,-3.8680e-04,8.5600e-04,4.1296e-05,6.5982e-02,9.4024e-04
+25,4.0167e+00,UP_FORCE_RAMP,1.0412e-03,1.5949e-02,7.5082e-03,2.3895e+00,-3.7296e-02,3.7999e-02,5.6069e-05,1.0752e-02,4.9490e-03,-6.5966e-02,-3.7339e-04,8.4776e-04,3.9173e-05,6.7020e-02,9.2717e-04
+26,4.1667e+00,UP_FORCE_RAMP,1.0856e-03,1.6271e-02,7.6296e-03,2.3894e+00,-3.7311e-02,3.8022e-02,5.3030e-05,1.1074e-02,5.0704e-03,-6.6057e-02,-3.8794e-04,8.7146e-04,3.6134e-05,6.7171e-02,9.5460e-04
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..11656edf12b745f0d09c3e62f2802622d668a109
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:136bde44a459da022a3641f61da25d03a142df6a5bb0526d2ea0fa01815e7805
+size 4812800
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c8412d50f39219f0188bc7e432ab97229d7fd6c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f246540483746199917496971e3476e07713cdd
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
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+3914,1791363920563692712,2871943000000,1791363920558250040,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760384216140433,-0.004752453603792831,0.09048003592281857,0.9999999836504712,0.00012071455134187924,-9.116602818631197e-05,3.547779687137176e-05,0.6761,-0.0048,0.09050134599216608,1.0,0.0,0.0,0.0,-0.029168856063128884,-0.013906830789522422,0.05716182064879584,-0.00042733395906470635,0.001979682279958082,0.0001634782186630886,0.0415596364203953,-0.021539047009486775,0.11919959296294183,-0.0024004956151675513,-0.0009915919587501407,-0.0011746497523022073,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7660906409755466,-0.3911381293389417,0.28375875834390935,0.3455657904643089,-0.022216692822737544,-0.297668550818853,0.5954971238671044,0.05716182064879584,0.31173836552319506,0.31173836552319506,0.3640200000000215,0,0,-6.725578128166797e-05,9.999986535914047e-05
+4061,1791363921788685849,2873168000000,1791363921782249735,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760389609454512,-0.004754903942187506,0.09040201537024523,0.9999999838215264,0.00011609765451330777,-9.300934058101568e-05,4.087063049565976e-05,0.6761,-0.0048,0.09041796404811123,1.0,0.0,0.0,0.0,-0.03270212719538482,-0.0045768857212052415,0.10733262376230775,-0.0010926822791861098,0.002334918043760178,0.00013222903370084158,0.038026365288139366,-0.012209101941169595,0.16937039607645374,-0.0030658439352889547,-0.0006363561949480446,-0.0012058989372644544,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8010861015322258,-0.35674297522716775,0.24747675374009115,0.3347619439974388,0.007508687473689459,-0.2718045707007812,0.5954971238671044,0.10733262376230775,0.34802037012701326,0.34802037012701326,0.437520000000027,0,0,-7.003645291906035e-05,9.952320498130546e-05
+4217,1791363923088730851,2874468000000,1791363923082259811,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760421020028088,-0.004755430812417069,0.09031280254082212,0.9999999848043517,0.00011027031420694483,-8.6948211036122e-05,4.598507225592719e-05,0.6761,-0.0048,0.09032450312340744,1.0,0.0,0.0,0.0,-0.03260136533095999,-0.0215000014053897,0.1672470448530679,-0.001096646716135333,0.001998463507292017,7.130555657733286e-05,0.038127127152564194,-0.02913221762535405,0.2292848171672139,-0.003069808372238178,-0.0009728107314162055,-0.001266822414387963,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8179481439790479,-0.4745063088255084,0.2355745893418848,0.3780724211362278,0.018122496095031675,-0.3464004804177583,0.5954971238671044,0.1672470448530679,0.3599225345252196,0.3599225345252196,0.5155200000000185,0,0,-7.310006778646206e-05,-9.999999025923074e-05
+4378,1791363924430692647,2875810000000,1791363924430249843,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760432724739547,-0.004757870981135228,0.0902192728946955,0.9999999853545075,0.0001042957574704141,-8.567808890157153e-05,5.015485334342861e-05,0.6761,-0.0048,0.0902255034525467,1.0,0.0,0.0,0.0,-0.03274075301641923,-0.01993696318809803,0.21738621799765362,-0.001132710682192691,0.0029707677214616326,4.59819075868046e-05,0.03798773946710495,-0.02756917940806238,0.2794239903117996,-0.003105872338295536,-5.065172465898343e-07,-0.0012921460633784914,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8323249504536919,-0.2771235327282464,0.08958687911949201,0.32357165634867713,0.11111142826074466,-0.21567768509828678,0.5954971238671044,0.21738621799765362,0.5059102447476124,0.5059102447476124,0.59603999999995,0,0,-7.553798227613739e-05,9.999144154194112e-05
+4529,1791363925688620331,2877068000000,1791363925682250081,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.676043501376521,-0.004757343864953533,0.09012933935255676,0.9999999870950121,9.046088039983395e-05,-8.352776747469651e-05,4.5746925189700946e-05,0.6761,-0.0048,0.09013103569795695,1.0,0.0,0.0,0.0,-0.024934566994775885,-0.01780037314546449,0.277602919311637,-0.0011439848507175188,0.0029574656363500294,-1.6692962797712659e-06,0.0457939254887483,-0.025432589365428842,0.339640691625783,-0.0031171465068203638,-1.380860235819284e-05,-0.0013397972672450672,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8312865099643041,-0.38299226550819887,0.14121484926848926,0.3638252353812336,0.07717788846762277,-0.28557313216349023,0.5954971238671044,0.277602919311637,0.45428227459861514,0.45428227459861514,0.6715199999998859,0,0,-7.570283832722258e-05,-9.999971270347458e-05
+4673,1791363926888650004,2878268000000,1791363926882249958,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760488666089981,-0.0047627664385784625,0.09004683234579203,0.9999999882934373,8.245639504557177e-05,-7.646856075232034e-05,4.7005233902863246e-05,0.6761,-0.0048,0.09003881468233613,1.0,0.0,0.0,0.0,-0.027204916104252796,-0.015968397783022226,0.32777322613639875,-0.0011532034882575227,0.0029465436888591484,-4.2473401249458476e-05,0.043523576379271386,-0.02360061400298658,0.38981099845054473,-0.0031263651443603677,-2.4730549849073962e-05,-0.0013806013722147544,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8774219695500256,-0.39656972115495653,-0.041234493232594226,0.36529806972418993,0.20428950592368564,-0.2923853205715361,0.5954971238671044,0.32777322613639875,0.6367316170996986,0.6367316170996986,0.7435199999998247,0,0,-7.863253758258614e-05,9.999801961336203e-05
+4838,1791363928263694754,2879643000000,1791363928258259164,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760555705607169,-0.004760471278316105,0.0899479874825301,0.999999987741395,9.465278532471182e-05,-6.616574291262897e-05,5.12154174083678e-05,0.6761,-0.0048,0.08992750541067973,1.0,0.0,0.0,0.0,-0.03321442951905572,-0.023818845205436482,0.3879399696140027,-0.0011656514243116706,0.0029343478550993294,-9.181893994638594e-05,0.037514062964468464,-0.031451061425400835,0.44997774192814866,-0.0031388130804145156,-3.692638360889289e-05,-0.0014299469109116819,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9407892646449493,-0.36257365076390036,-0.12950656592377555,0.35825367301055877,0.27688908227384385,-0.2714666073755605,0.5954971238671044,0.3879399696140027,0.7250036897908799,0.7250036897908799,0.8260199999997545,0,0,-8.326484097068298e-05,7.036611157496537e-05
+4993,1791363929555637263,2880935000000,1791363929554249689,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760591894269817,-0.004763556204298469,0.08984635413580032,0.9999999879088594,9.603773856233922e-05,-6.031772971850216e-05,5.2570618180070284e-05,0.6761,-0.0048,0.08981701980002545,1.0,0.0,0.0,0.0,-0.04247906374149319,-0.03189861292890044,0.4367243744973798,-0.0011759226656330988,0.002924700891107288,-0.00013236482667756825,0.028249428742030992,-0.0395308291488648,0.49876214681152575,-0.003149084321735944,-4.6573347600934496e-05,-0.0014704927976428642,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9452826641259627,-0.4791866025856317,-0.1474979901797415,0.3992887440713468,0.28661148447369034,-0.3442953657564825,0.5954971238671044,0.4367243744973798,0.7429951140468459,0.7429951140468459,0.9035399999996886,0,0,-8.633298024671022e-05,-5.433435232150004e-05
+5129,1791363930688690724,2882068000000,1791363930686249676,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760681326400639,-0.004764739612315469,0.08976189254857106,0.9999999891555463,9.155723972674637e-05,-4.534847038185299e-05,5.1889881999410584e-05,0.6761,-0.0048,0.08971654474431522,1.0,0.0,0.0,0.0,-0.04262102180363099,-0.020528595746551078,0.4792181873203596,-0.0012098447272216465,0.003928069808889103,-0.000150084170188168,0.028107470679893196,-0.02816081196651543,0.5412559596345056,-0.0031830063833244914,0.0009567955701808799,-0.001488212141153464,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9591071858408641,-0.4665450981313876,-0.16890086693882397,0.40460767498860095,0.3042845142214523,-0.33343708911413267,0.5954971238671044,0.4792181873203596,0.7643979908059284,0.7643979908059284,0.9715199999996308,0,0,-9.000945190160004e-05,-9.916177187563874e-05
+5283,1791363931971622752,2883351000000,1791363931966259689,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760731303872936,-0.004766849207610307,0.08965409607789857,0.9999999897203654,8.932497632284803e-05,-3.852914221097993e-05,5.0385387954502175e-05,0.6761,-0.0048,0.08959802761411284,1.0,0.0,0.0,0.0,-0.034552276325196106,-0.02196295195187511,0.5383770258578762,-0.0012216460384069797,0.003915072486165364,-0.00019780251282812997,0.03617621615832808,-0.029595168171839464,0.6004147981720221,-0.0031948076945098247,0.000943798247457142,-0.001535930483793426,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9715589576703157,-0.4081056952876583,-0.312483682035557,0.3911038427365891,0.3969622572256688,-0.29285083136876283,0.5954971238671044,0.5383770258578762,0.9079808059026614,0.9079808059026614,1.0484999999995654,0,0,-9.583855050257639e-05,9.887938664932534e-05
+5418,1791363933096624263,2884476000000,1791363933094250160,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760764760559053,-0.00476908357385383,0.0895527661939657,0.9999999900880457,8.506230316001038e-05,-3.170385797993953e-05,5.5009479398439235e-05,0.6761,-0.0048,0.08949079636212985,1.0,0.0,0.0,0.0,-0.04317195344943914,-0.026415178877923735,0.5924809129716236,-0.001232389906842306,0.0039039477522760666,-0.00024256202980919373,0.02755653903408505,-0.03404739509788809,0.6545186852857696,-0.003205551562945151,0.0009326735135678445,-0.0015806900007744897,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9756955909052885,-0.42542515349351445,-0.3597852068729559,0.4015365663349659,0.4226897045819574,-0.3073505171323045,0.5954971238671044,0.5924809129716236,0.9552823307400603,0.9552823307400603,1.115999999999508,0,0,-9.708240051041921e-05,6.583827825763398e-06
+5568,1791363934346719276,2885726000000,1791363934346249591,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760818592866761,-0.004769235539808131,0.08943810719845026,0.999999991204502,7.519886849686632e-05,-2.5960852443672537e-05,5.2009852470077204e-05,0.6761,-0.0048,0.08936834461958848,1.0,0.0,0.0,0.0,-0.05211034816514869,-0.030549553956662954,0.6523812857520371,-0.001600128941434077,0.003909296360046573,-0.00030414190512648934,0.018618144318375496,-0.03818177017662731,0.7144190580661831,-0.003573290597536922,0.0009380221213383507,-0.0016422698760917853,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9774038447576484,-0.3973305622170722,-0.42706991595444616,0.39659149648894637,0.46680885974749714,-0.29243695550015886,0.5954971238671044,0.6523812857520371,1.0225670398215505,1.0225670398215505,1.1909999999994443,0,0,-0.00010064825568787726,-4.15677190766667e-06
+5698,1791363935430651440,2886810000000,1791363935426250058,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760830219222425,-0.004767003752340657,0.08932961750517568,0.9999999916888599,7.19231229030972e-05,-2.2453164803086413e-05,4.886782494162288e-05,0.6761,-0.0048,0.08925646772394574,1.0,0.0,0.0,0.0,-0.04287001099913641,-0.035334051184091296,0.6984910794689027,-0.0022667022682446554,0.0039003103590976073,-0.00033960962549995375,0.02785848148438777,-0.04296626740405565,0.7605288517830486,-0.0042398639243475,0.000929036120389385,-0.0016777375964652497,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9565287178141791,-0.44358789602550225,-0.4898541168586267,0.4170819742603774,0.49817803272364886,-0.3230080092761869,0.5954971238671044,0.6984910794689027,1.085351240725731,1.085351240725731,1.256039999999389,0,0,-0.0001068212708606946,4.4525407035352267e-05
+5826,1791363936496611636,2887876000000,1791363936494260065,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760855764059172,-0.004770337565839914,0.08921882121955352,0.9999999914374822,7.329837225781687e-05,-1.950487249169626e-05,5.3054769865453773e-05,0.6761,-0.0048,0.08914325293692327,1.0,0.0,0.0,0.0,-0.05065068259281474,-0.03434845148868627,0.7486064957915595,-0.0022945878903083356,0.003890027214885841,-0.0003781034533844067,0.020077809890709446,-0.041980667708650624,0.8106442681057054,-0.0042677495464111806,0.0009187529761776187,-0.0017162314243497026,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9365844000776318,-0.4969029388541289,-0.4405943519721981,0.4375435735326361,0.45964999283673735,-0.3542830583958321,0.5954971238671044,0.7486064957915595,1.0360914758393025,1.0360914758393025,1.3199999999993346,0,0,-0.00010732958107970004,-9.99068564252525e-05
+5966,1791363937663685407,2889043000000,1791363937662259270,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760895331066673,-0.00477562672936785,0.0890951301238165,0.9999999905251049,8.487171673731084e-05,-1.446688008651832e-05,5.459080082592204e-05,0.6761,-0.0048,0.08901630100401978,1.0,0.0,0.0,0.0,-0.05260173788385446,-0.036086712338407136,0.8087711618615427,-0.002321531776908319,0.004890052101310558,-0.0004142495683874534,0.018126754599669722,-0.04371892855837149,0.8708089341756887,-0.004294693433011164,0.001918777862602335,-0.0017523775393527494,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9838583610055824,-0.44889771178761406,-0.538703224963529,0.4337953945917327,0.5302917945520949,-0.3176838004049485,0.5954971238671044,0.8087711618615427,1.1342003488306334,1.1342003488306334,1.390019999999275,0,0,-0.00010956658679925203,-9.591782509777431e-05
+6098,1791363938763614432,2890143000000,1791363938762259809,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760904806411288,-0.0047735617953120315,0.08897271193940495,0.9999999894287045,9.428323003046063e-05,-1.494722228466134e-05,5.8929688789813446e-05,0.6761,-0.0048,0.0888914089695165,1.0,0.0,0.0,0.0,-0.052940070691546534,-0.03961221046824841,0.8589249028722288,-0.0023321766974850134,0.004879521495172206,-0.00042523334743915266,0.01778842179197765,-0.047244426688212764,0.9209626751863748,-0.004305338353587858,0.0019082472564639831,-0.0017633613184044486,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9750525832978059,-0.3789601404133424,-0.6329590831447499,0.42212828170689515,0.583440190297301,-0.2699224256499594,0.5954971238671044,0.8589249028722288,1.2284562070118543,1.2284562070118543,1.456019999999219,0,0,-0.00011598287896349835,-7.967485979166184e-05
+6238,1791363939930652002,2891310000000,1791363939930259572,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760948339571372,-0.0047693703315395755,0.08883507033021322,0.9999999898300387,8.988355062777464e-05,-9.584067121867606e-06,6.009891952821658e-05,0.6761,-0.0048,0.08874843263335548,1.0,0.0,0.0,0.0,-0.05390300726566806,-0.046874601414921994,0.8990356293356082,-0.0023407419731319382,0.004871724839917578,-0.0004872262230491823,0.016825485217856123,-0.05450681763488635,0.9610734016497542,-0.004313903629234783,0.0019004506012093559,-0.0018253541940144783,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9335841064303503,-0.46024265857218094,-0.6816296734585724,0.44560343900893157,0.595801490977227,-0.32768888960775683,0.5954971238671044,0.8990356293356082,1.2771267973256768,1.2771267973256768,1.5260399999991594,0,0,-0.00012876986099227684,-9.991089486150457e-05
+6360,1791363940946678904,2892326000000,1791363940946249946,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.676096973035263,-0.0047707635137701175,0.0887086440564769,0.9999999898030265,8.766576580321482e-05,-5.54721780588158e-06,6.41930940670123e-05,0.6761,-0.0048,0.08861332496515344,1.0,0.0,0.0,0.0,-0.057265267170417154,-0.04679342123992039,0.9370118052010614,-0.0023490916887065104,0.0048626920686302005,-0.0005134065388905111,0.01346322531310703,-0.05442563745988475,0.9990495775152074,-0.004322253344809355,0.001891417829921978,-0.001851534509855807,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8996314013435309,-0.394469819396013,-0.7438663264012578,0.4345240795276015,0.6210688166437844,-0.28281830918779943,0.5954971238671044,0.9370118052010614,1.3393634502683622,1.3393634502683622,1.5869999999991076,0,0,-0.00013936153317048306,-7.305124147117254e-05
+6444,1791363941646692364,2893026000000,1791363941646249901,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760981529406361,-0.004772189965995019,0.08860526373839112,0.9999999896850575,8.943988482906751e-05,-5.34574517147434e-06,6.359779376977847e-05,0.6761,-0.0048,0.08851147762020312,1.0,0.0,0.0,0.0,-0.0614722951998153,-0.04623078681732978,0.9696530372830688,-0.002362712966115668,0.0048511284726705725,0.00048183760473240243,0.00925619728370888,-0.05386300303729414,1.0316908095972148,-0.004335874622218513,0.0018798542339623497,-0.0008562903662328935,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9324243190717013,-0.4655893450141286,-0.7288503262708661,0.45656547317780743,0.6186583073891101,-0.33099252894910275,0.5954971238671044,0.9696530372830688,1.3243474501379704,1.3243474501379704,1.6289999999990719,0,0,-0.0001489597852802601,-9.30184499133901e-05
+6580,1791363942780668433,2894160000000,1791363942778259234,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6761050737636817,-0.004773368385996375,0.08844162750827371,0.9999999886887768,0.00010018570369305525,5.3951748671906265e-06,6.323786381703836e-05,0.6761,-0.0048,0.08833597868422607,1.0,0.0,0.0,0.0,-0.055045997899616436,-0.04755586421680277,0.9895801524182549,-0.0023659586827835775,0.00484761917304922,0.0004661664627884707,0.015682494583907747,-0.05518808043676713,1.051617924732401,-0.0043391203388864225,0.0018763449343409974,-0.0008719615081768253,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9252402048912787,-0.3654849336685834,-0.7866138334371692,0.4474394701480127,0.6423518898056806,-0.2611974028679806,0.5954971238671044,0.9895801524182549,1.3821109573042736,1.3821109573042736,1.697039999999014,0,0,-0.00016446159146618478,-9.999980984798924e-05
+6690,1791363943696677902,2895076000000,1791363943690259439,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.676100827585804,-0.0047806278668426835,0.08827538148123115,0.9999999885947263,9.686688976312188e-05,-4.034550122861434e-06,6.967022178162848e-05,0.6761,-0.0048,0.08817898232666768,1.0,0.0,0.0,0.0,-0.061696297016902324,-0.057191724766217984,0.9894384013698762,-0.003379804646070874,0.0048715176603299016,-0.0004359504940027925,0.009032195466621856,-0.06482394098618234,1.0514761736840221,-0.005352966302173719,0.0019002434216216794,-0.0017740784649680885,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9115405220033623,-0.5491859912685872,-0.7909539051586052,0.5083127473749075,0.639201651862212,-0.3829683426647249,0.5954971238671044,0.9894384013698762,1.3864510290257095,1.3864510290257095,1.7519999999989673,0,0,-0.00018309031855487235,-9.999542446704197e-05
+6788,1791363944513710091,2895893000000,1791363944510249240,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6761020946161399,-0.0047829757006358714,0.08811735995262786,0.9999999886486798,9.318109762294037e-05,-3.6553901054555955e-06,7.382022642745917e-05,0.6761,-0.0048,0.08801909285941165,1.0,0.0,0.0,0.0,-0.052502461428671654,-0.05716601065767334,0.9993988850897627,-0.0033896616498182743,0.004864101755662971,0.0004440073427093755,0.018226031054852532,-0.0647982268776377,1.0614366574039087,-0.005362823305921119,0.0018928275169547478,-0.0008941206282559205,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9307844125423861,-0.36695361410682836,-0.844086062203309,0.4670755500127779,0.6735259264479954,-0.26367775188895237,0.5954971238671044,0.9993988850897627,1.4395831860704134,1.4395831860704134,1.8010199999989256,0,0,-0.0002081594683842133,-8.790525225145469e-05
+6878,1791363945263607931,2896643000000,1791363945262249822,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760942554692498,-0.004787985952651557,0.08794262671130239,0.9999999886027923,8.984348372541922e-05,-1.8524225301866096e-05,7.630387434383761e-05,0.6761,-0.0048,0.08785631622671108,1.0,0.0,0.0,0.0,-0.056853912795543145,-0.05777347301391789,0.9993954374491355,-0.003389632302270445,0.004864200931012429,0.0004468818888007733,0.013874579687981036,-0.06540568923388225,1.0614332097632815,-0.00536279395837329,0.0018929266923042075,-0.0008912460821645226,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8611716924902245,-0.33975223207846605,-0.9212865391902159,0.46629701772646714,0.7010459074728399,-0.2457039959593325,0.5954971238671044,0.9993954374491355,1.5167836630573204,1.5167836630573204,1.8460199999988873,0,0,-0.0002265675490456268,7.43804282318294e-05
+6968,1791363946013699835,2897393000000,1791363946006259616,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760913372811694,-0.0047911362720998085,0.08776057952924403,0.9999999877791329,9.643588421896838e-05,-2.1684925191189087e-05,7.819515646662364e-05,0.6761,-0.0048,0.08767766608201676,1.0,0.0,0.0,0.0,-0.052497382066910445,-0.049558703523765665,0.9993802855263246,-0.003380590775492749,0.004868057659463435,-0.0003523565419137327,0.018231110416613735,-0.05719091974373002,1.0614180578404706,-0.005353752431595594,0.0018967834207552121,-0.0016904845128790287,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8886081545715665,-0.40736092007877256,-0.8008705298795923,0.503489070310131,0.6295245390271624,-0.2898957701207224,0.5954971238671044,0.9993802855263246,1.3963676537466967,1.3963676537466967,1.891019999998849,0,0,-0.00025237546428666233,-9.991762558859136e-05
+7052,1791363946713670917,2898093000000,1791363946710259308,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760890704476011,-0.004791355621537487,0.0875724599835811,0.9999999872064205,9.90390880175831e-05,-2.6098438666508608e-05,8.08712184113321e-05,0.6761,-0.0048,0.08749118112364891,1.0,0.0,0.0,0.0,-0.05251501756721828,-0.058025433964530145,0.9994040560166194,-0.0033897592084324362,0.004864105594442509,0.000447462102007868,0.018213474916305903,-0.0656576501844945,1.0614418283307654,-0.005362920864535281,0.0018928313557342864,-0.0008906658689574279,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8528481811469222,-0.46823336926238796,-0.8081778523009129,0.5408116413417727,0.6245880746309241,-0.32333961774481695,0.5954971238671044,0.9994040560166194,1.4036749761680172,1.4036749761680172,1.9330199999988134,0,0,-0.00028007481625155615,-9.999999025923074e-05
+7130,1791363947363632879,2898743000000,1791363947362259421,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760895122173614,-0.004794511203387316,0.08738908389789021,0.9999999877401143,9.092404435427532e-05,-2.281502093796216e-05,8.470494956291873e-05,0.6761,-0.0048,0.0873001323115419,1.0,0.0,0.0,0.0,-0.05203989389437319,-0.05998901976452269,1.0090888670263354,-0.00427506912235722,0.004878281804971944,0.0004297252020684434,0.018688598589150993,-0.06762123598448705,1.0711266393404815,-0.006248230778460065,0.001907007566263722,-0.0009084027688968525,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8717667675224764,-0.3974720370456171,-0.8429717962648172,0.5224689074664693,0.6493047641382917,-0.28259345628265486,0.5954971238671044,1.0090888670263354,1.4384689201319216,1.4384689201319216,1.9720199999987802,0,0,-0.000306525125499972,-4.9609909262510146e-05
+7206,1791363947996703641,2899376000000,1791363947990259179,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760952078594837,-0.004794591802069179,0.08719654505809984,0.9999999879819165,9.000424700346613e-05,-1.5453737832007327e-05,8.44952590323612e-05,0.6761,-0.0048,0.0870980338028524,1.0,0.0,0.0,0.0,-0.05189840862144636,-0.06079826926597689,0.9994112890415093,-0.004409671452082617,0.004882911524854966,0.0004359859026126188,0.018830083862077827,-0.06843048548594124,1.0614490613556553,-0.006382833108185462,0.0019116372861467438,-0.0009021420683526771,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.871051679925517,-0.3760159489825959,-0.8165053803767616,0.5256607514809839,0.6335653299482501,-0.26571618258562923,0.5954971238671044,0.9994112890415093,1.412002504243866,1.412002504243866,2.009999999998748,0,0,-0.0003317837552710686,-9.531570951815666e-05
+7278,1791363948596701098,2899976000000,1791363948590259631,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760945164226067,-0.004798362715331427,0.08699578314118517,0.9999999858056035,0.00010845428167461597,-1.632752167027541e-05,8.833310847212523e-05,0.6761,-0.0048,0.08689126995749923,1.0,0.0,0.0,0.0,-0.060544682716051165,-0.060120522775727,1.0023454230192106,-0.004402684097339826,0.004886933921677196,-0.0003665016538137828,0.010183809767473021,-0.06775273899569136,1.0643831953333567,-0.006375845753442671,0.0019156596829689734,-0.0017046296247790788,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8128181403304576,-0.45536307007156523,-0.7906749319809623,0.5601663686367155,0.6023203529230032,-0.31748274337769966,0.5954971238671044,1.0023454230192106,1.3861720558480668,1.3861720558480668,2.0459999999987173,0,0,-0.00035731288927229175,-9.999999025923074e-05
+7338,1791363949096692145,2900476000000,1791363949090259605,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760942377720922,-0.004795537611774229,0.08680953028438537,0.9999999864568341,0.00010198721635937402,-1.4234627357481105e-05,8.902347502273486e-05,0.6761,-0.0048,0.08670695875615857,1.0,0.0,0.0,0.0,-0.06121213274725059,-0.07034767593527888,1.0081551125260475,-0.004410870652623749,0.004882887553780821,-0.00045459381894747504,0.009516359736273591,-0.07797989215524323,1.0701928848401936,-0.006384032308726594,0.001911613315072599,-0.001792721789912771,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8070161096672837,-0.45292216597370183,-0.7967883030790215,0.5697680850923744,0.602752991081704,-0.31592258337508733,0.5954971238671044,1.0081551125260475,1.3922854269461258,1.3922854269461258,2.075999999998692,0,0,-0.00037890300442630496,-9.999999025923074e-05
+7400,1791363949613705684,2900993000000,1791363949610259640,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760910069118745,-0.004806464041183338,0.08660544957413394,0.999999986708712,9.219830997880604e-05,-2.0128212077981832e-05,9.549746970917841e-05,0.6761,-0.0048,0.08650496842193461,1.0,0.0,0.0,0.0,-0.061201818857028634,-0.0704465392361769,0.99884415396474,-0.004406657799978131,0.004885840269647379,2.9503193786517166e-05,0.009526673626495548,-0.07807875545614125,1.060881926278886,-0.006379819456080976,0.0019145660309391565,-0.0013086247771787788,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8451755453126336,-0.48253892143230853,-0.6639688605706617,0.5932180009778781,0.5313497572060588,-0.33591880404703645,0.5954971238671044,0.99884415396474,1.259465984437766,1.259465984437766,2.1070199999986654,0,0,-0.00040278868752438433,-9.96779423153626e-05
+7460,1791363950113699194,2901493000000,1791363950106250018,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760891758839351,-0.0048033526154071466,0.08640134648698124,0.9999999864513474,9.709170114841081e-05,-2.1666624675060677e-05,9.297272959534992e-05,0.6761,-0.0048,0.08629838635698911,1.0,0.0,0.0,0.0,-0.06183913814652719,-0.07080806275186055,0.9976395736964702,-0.0044103219133922855,0.004884832339598597,0.00043745859285616666,0.008889354336996997,-0.0784402789718249,1.0596773460106161,-0.00638348356949513,0.001913558100890375,-0.0009006693781091293,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8369830754896979,-0.47203467034287716,-0.7260101602711116,0.6035397182851703,0.5658269936983829,-0.326425453187065,0.5954971238671044,0.9976395736964702,1.321507284138216,1.321507284138216,2.13701999999864,0,0,-0.00042440234194615476,-9.999894942514515e-05
+7514,1791363950563642446,2901943000000,1791363950562259130,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760869301557503,-0.0048057280684073635,0.08620544857101767,0.999999986356438,9.462491972190933e-05,-2.508206989469645e-05,9.563996282580942e-05,0.6761,-0.0048,0.08610257811185777,1.0,0.0,0.0,0.0,-0.061199505856394526,-0.0707620617212962,0.998959871956966,-0.004410847787622122,0.004884026793634721,0.00043522993844044024,0.009528986627129659,-0.07839427794126055,1.060997644271112,-0.006384009443724967,0.0019127525549264984,-0.0009028980325248557,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8654205633977179,-0.45134226683584033,-0.8014784505176393,0.6068744293695101,0.6174874781938018,-0.30691587936912607,0.5954971238671044,0.998959871956966,1.3969755743847436,1.3969755743847436,2.164019999998617,0,0,-0.0004456056044669073,-9.999999025923074e-05
+7566,1791363950996700643,2902376000000,1791363950990259847,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760880310343407,-0.004810367575781611,0.08600964515320086,0.9999999874745199,8.309107132813606e-05,-2.065338340519139e-05,9.572427065126268e-05,0.6761,-0.0048,0.08590564111315803,1.0,0.0,0.0,0.0,-0.07039160811018098,-0.08000259505970517,0.9989431095837341,-0.0044120734946251905,0.004884984641502705,0.0004341237984616397,0.00033688437334320495,-0.08763481127966952,1.06098088189788,-0.0063852351507280355,0.001913710402794483,-0.0009040041725036562,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8844013348732951,-0.5366581408372701,-0.7594708593230627,0.63112005454024,0.5951402642409653,-0.3668644592955699,0.5954971238671044,0.9989431095837341,1.354967983190167,1.354967983190167,2.189999999998595,0,0,-0.00046420154231205233,-9.999999025923074e-05
+7618,1791363951430625079,2902810000000,1791363951430259510,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760846959338506,-0.0048087258557795425,0.08580392525417718,0.9999999877318076,8.266659706166786e-05,-2.4185652774887197e-05,9.252316845066266e-05,0.6761,-0.0048,0.08570073099013051,1.0,0.0,0.0,0.0,-0.07000564399918831,-0.08818351183452464,0.9989085137896251,-0.004417224527817453,0.005021352490977101,0.0004362313212272254,0.0007228484843358708,-0.09581572805448899,1.060946286103771,-0.006390386183920298,0.002050078252268879,-0.0009018966497380705,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9464387688418984,-0.5038587203013486,-0.7269776703420366,0.6379265971075482,0.5897715344379828,-0.34029310630142556,0.5954971238671044,0.9989085137896251,1.322474794209141,1.322474794209141,2.2160399999985727,0,0,-0.00047980047440251825,-9.999997638144293e-05
+7668,1791363951846681608,2903226000000,1791363951842259556,DOWN_FORCE_DETACH,5,0.051,0.05100198835134506,0.6760880922434187,-0.004817624445816876,0.08560188903256181,0.9999999874762443,8.249549922723856e-05,-1.5181538755245319e-05,9.723368208384467e-05,0.6761,-0.0048,0.0854980479463684,1.0,0.0,0.0,0.0,-0.0703573478258741,-0.0736959230745178,0.9985262778077258,-0.005457985061630391,0.005916410952564892,0.00044147609143381516,0.00037114465765007167,-0.08132813929448215,1.0605640501218718,-0.007431146717733236,0.0029451367138566696,-0.0008966518795314808,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9342343355941373,-0.5080240909599826,-0.7759142563629139,0.6398328841373428,0.6143846750741266,-0.33911630791061054,0.5954971238671044,0.9985262778077258,1.3714113802300183,1.3714113802300183,2.2409999999985515,0,0,-0.0004948480884878467,-9.999999025923074e-05
+7716,1791363952246698659,2903626000000,1791363952246249733,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760803715769648,-0.004824775416245188,0.08539566259212378,0.9999999879395624,7.13802164120328e-05,-2.9479888175218536e-05,9.797724435302635e-05,0.6761,-0.0048,0.08529800453913419,1.0,0.0,0.0,0.0,-0.07012397557794342,-0.08394065309378351,0.9884627916985905,-0.005457792728771993,0.005919432726889594,0.0004467542081006584,0.0006045169055807584,-0.09157286931374786,1.0505005640127365,-0.007430954384874838,0.002948158488181372,-0.0008913737628646376,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0122021536139045,-0.44149641067075734,-0.7743907500226636,0.6262937695384709,0.6335114452467524,-0.2985789751036103,0.5954971238671044,0.9884627916985905,1.369887873889768,1.369887873889768,2.264999999998531,0,0,-0.0005066665894296315,-9.999999025923074e-05
+7764,1791363952646716183,2904026000000,1791363952646260004,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760825134369777,-0.004824813082252288,0.08519459285537136,0.999999987987761,7.298049810426577e-05,-2.3970259124819606e-05,9.780907743569413e-05,0.6761,-0.0048,0.08509231375785024,1.0,0.0,0.0,0.0,-0.07348655086183371,-0.08393882395948866,0.9884555267648524,-0.005457708131749276,0.005919510571457354,0.00044450262738369886,-0.002758058378309524,-0.09157104017945301,1.0504932990789984,-0.007430869787852121,0.0029482363327491315,-0.0008936253435815971,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0450889033856143,-0.5287450352759062,-0.7274864937703867,0.6572564963035605,0.6103950376123954,-0.35389581724386604,0.5954971238671044,0.9884555267648524,1.3229836176374912,1.3229836176374912,2.2889999999985107,0,0,-0.00052231315400139,-9.999783920212053e-05
+7810,1791363953030698113,2904410000000,1791363953026259249,DOWN_FORCE_DETACH,5,0.051,0.051001328974962234,0.6760799471010062,-0.004825025132001689,0.08499746892718019,0.9999999884944255,6.985259971569287e-05,-2.6608607635077115e-05,9.416267626201328e-05,0.6761,-0.0048,0.08489005920808072,1.0,0.0,0.0,0.0,-0.07939639910541416,-0.09396766320494776,0.9885123999310687,-0.005459059740378334,0.005920456409186409,0.00044571116733615546,-0.008667906621889973,-0.10159987942491211,1.0505501722452146,-0.007432221396481179,0.0029491821704781865,-0.0008924168036291405,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.112766924995136,-0.5451552059743334,-0.8715459668751919,0.6703564602055055,0.7144680252275514,-0.3557483148080974,0.5954971238671044,0.9885123999310687,1.4670430907422962,1.4670430907422962,2.312039999998491,0,0,-0.000531027962537263,9.954167631687767e-05
+7855,1791363953400672315,2904780000000,1791363953398250171,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760824642658604,-0.004826525945686495,0.08480831631085546,0.9999999884842692,7.10938223142854e-05,-1.9018240947450614e-05,9.517510550318481e-05,0.6761,-0.0048,0.08469279745849456,1.0,0.0,0.0,0.0,-0.08838924317550571,-0.08393497456872545,0.9883731645604271,-0.005485179337294093,0.006932119661749236,0.000460367054568726,-0.017660750691981527,-0.0915671907886898,1.050410936874573,-0.0074583409933969376,0.003960845423041014,-0.00087776091639657,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1032653024871801,-0.4555847320467785,-0.8479861289418831,0.641755159363313,0.6947141592621879,-0.29793613227031,0.5954971238671044,0.9883731645604271,1.4434832528089876,1.4434832528089876,2.323739999998481,0,0,-0.0005281179735097411,9.999999025923074e-05
+7903,1791363953800666352,2905180000000,1791363953794259810,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760805221305417,-0.004829018920596789,0.08460019040545616,0.9999999888132706,6.415273141966991e-05,-2.260762209586867e-05,9.586263885829028e-05,0.6761,-0.0048,0.08448554026830946,1.0,0.0,0.0,0.0,-0.07963066112410122,-0.08278766330109023,0.9976050053275368,-0.005484365723475966,0.006932195977452517,0.00045399608034649836,-0.008902168640577036,-0.09041987952105458,1.0596427776416828,-0.007457527379578811,0.003960921738744294,-0.0008841318906187976,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1321156564203676,-0.5386918316882047,-0.8097413189103715,0.667858877912144,0.6744042552280342,-0.3502231811028987,0.5954971238671044,0.9976050053275368,1.4052384427774758,1.4052384427774758,2.323739999998481,0,0,-0.0005081179774060488,9.999999025923074e-05
+7950,1791363954192708338,2905572000000,1791363954190259834,DOWN_SETTLE,5,0.051,0.05100198835134506,0.676077624108469,-0.004822565077490067,0.08439984425305538,0.999999987603619,7.476128907224177e-05,-2.8743965738497725e-05,9.90967219423347e-05,0.6761,-0.0048,0.08429018982041597,1.0,0.0,0.0,0.0,-0.07936198051921643,-0.08393265326785397,0.9884480474533414,-0.0054576078058453355,0.005919689568953423,0.0004457171578033989,-0.008633488035692253,-0.09156486948781832,1.0504858197674873,-0.0074307694619481805,0.0029484153302452003,-0.000892410813161897,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1700280977917596,-0.5329127782420618,-0.872299581676399,0.6708700841361431,0.7226203561813338,-0.34372055310097693,0.5954971238671044,0.9884480474533414,1.4677967055435035,1.4677967055435035,2.323739999998481,0,0,-0.0004885179812244303,9.999999025923074e-05
+8003,1791363954634665873,2906014000000,1791363954630249852,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760748314420516,-0.0048137307795042975,0.08419464774489417,0.9999999870206702,8.236837982937273e-05,-3.109935715089314e-05,9.82334157309418e-05,0.6761,-0.0048,0.08407913792176112,1.0,0.0,0.0,0.0,-0.07978133581101803,-0.07370381879146606,0.9788230884934418,-0.004434654114694812,0.005902093513295336,0.00046496876876369415,-0.009052843327493839,-0.08133603501143041,1.0408608608075878,-0.006407815770797657,0.0029308192745871133,-0.0008731592022016018,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1904676563648913,-0.5200465857779911,-0.8329553288683428,0.6584366223187307,0.6979452254119428,-0.3376670078950896,0.5954971238671044,0.9788230884934418,1.4284524527354472,1.4284524527354472,2.323739999998481,0,0,-0.0004664179855298504,9.999999025923074e-05
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+8295,1791363957067601557,2908447000000,1791363957062260041,DOWN_SETTLE,5,0.051,0.05100198835134506,0.6760663070362048,-0.004818086488071044,0.08320586592371577,0.9999999884768992,6.469886399458902e-05,-3.72291540478985e-05,9.44304666974191e-05,0.6761,-0.0048,0.08309226933412496,1.0,0.0,0.0,0.0,-0.06143354620493235,-0.07138842838005544,0.9488257317624783,-0.004428558191691202,0.005908581999763178,0.0004193393353948921,0.009294946278591837,-0.07902064460001978,1.0108635040766243,-0.006401719847794047,0.002937307761054956,-0.0009187886355704038,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4333268704953108,-0.544949869494983,-1.0106951556703383,0.6729360298295938,0.8552847820784314,-0.34334565900628394,0.5954971238671044,0.9488257317624783,1.6061922795374426,1.6061922795374426,2.323739999998481,0,0,-0.000344768009229142,9.999999025923074e-05
+8366,1791363957659603148,2909039000000,1791363957658250148,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760667952948265,-0.004818480291985029,0.08301438823608583,0.999999988102985,6.63187518376309e-05,-3.5199453964710115e-05,9.797813977320003e-05,0.6761,-0.0048,0.08289691347095153,1.0,0.0,0.0,0.0,-0.06336540602997863,-0.07115513601064014,0.9408735204907425,-0.0044275433130681035,0.0059098909528827155,0.0004975953069387603,0.007363086453545552,-0.07878735223060448,1.0029112928048884,-0.0064007049691709485,0.002938616714174493,-0.0008405326640265356,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.490256159724462,-0.44823361141890516,-1.0505454492169477,0.6438991036066407,0.8934734255116948,-0.2744425528049799,0.5954971238671044,0.9408735204907425,1.6460425730840522,1.6460425730840522,2.323739999998481,0,0,-0.0003151680149956774,9.999999025923074e-05
+8435,1791363958234689579,2909614000000,1791363958234259568,DOWN_SETTLE,5,0.051,0.05100198835134506,0.676063344280214,-0.004821068347540274,0.08283643153708681,0.9999999887695398,5.675735812990969e-05,-4.1217501832868163e-05,9.478135200647385e-05,0.6761,-0.0048,0.08272394311071594,1.0,0.0,0.0,0.0,-0.06157565241290345,-0.06423859779347377,0.9387344764406954,-0.004426165981801369,0.005909744279899367,0.0004937559347576362,0.009152840070620732,-0.07187081401343812,1.0007722487548414,-0.006399327637904214,0.0029384700411911446,-0.0008443720362076597,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4949279039156296,-0.4962686415057146,-1.0528129603455694,0.6576657959616679,0.8907378575763901,-0.30236424149122154,0.5954971238671044,0.9387344764406954,1.6483100842126737,1.6483100842126737,2.323739999998481,0,0,-0.0002864180205966197,9.999999025923074e-05
+8519,1791363958934694155,2910314000000,1791363958930259339,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760571319851663,-0.004824064456324175,0.08264245639153889,0.9999999880258893,5.533053288225288e-05,-5.160440778514138e-05,9.831888358334006e-05,0.6761,-0.0048,0.08253568299390841,1.0,0.0,0.0,0.0,-0.061749328236237744,-0.07333513846186322,0.928661595493583,-0.004425561973597905,0.005912683823351304,0.000507646881320799,0.008979164247286436,-0.08096735468182757,0.9906993678077289,-0.00639872362970075,0.002941409584643081,-0.0008304810896444969,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5484173389553078,-0.49152991687463493,-0.9676920993050004,0.6577642190747509,0.8521167939741628,-0.29757410531700146,0.5954971238671044,0.928661595493583,1.5631892231721047,1.5631892231721047,2.323739999998481,0,0,-0.0002514180274151582,9.999999025923074e-05
+8599,1791363959600698844,2910980000000,1791363959598259598,DOWN_SETTLE,5,0.051,0.05100198835134506,0.676055246247268,-0.004822717705757636,0.0824816716002386,0.9999999885498759,5.004070259086171e-05,-5.327116875977108e-05,9.487477513428521e-05,0.6761,-0.0048,0.08237931083548639,1.0,0.0,0.0,0.0,-0.06330119244647518,-0.06445798856389735,0.9186659227601903,-0.004422343088722505,0.005914117607974586,0.000509735756856089,0.007427300037048999,-0.0720902047838617,0.9807036950743363,-0.00639550474482535,0.0029428433692663633,-0.000828392214109207,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5761210057756603,-0.4370260138392885,-1.0769468825953765,0.6418386376494226,0.9233063858739105,-0.25887789628308966,0.5954971238671044,0.9186659227601903,1.6724440064624808,1.6724440064624808,2.323739999998481,0,0,-0.0002181180339025105,9.999999025923074e-05
+8695,1791363960400657921,2911780000000,1791363960398259140,DOWN_SETTLE,5,0.051,0.05100198835134506,0.6760586874794257,-0.00483077109271296,0.08232108499816242,0.9999999879797672,5.33372351792793e-05,-5.192024403094255e-05,9.971337625848288e-05,0.6761,-0.0048,0.08222079640524343,1.0,0.0,0.0,0.0,-0.06197948515855948,-0.06409245242232621,0.907821431329807,-0.004420097682076495,0.005916472298003855,0.0005264884869044144,0.008749007324964706,-0.07172466864229056,0.969859203643953,-0.00639325933817934,0.002945198059295633,-0.0008116394840608815,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.6004720885318924,-0.5357894571196892,-1.1584993469372222,0.6708446700974748,0.9765239604173662,-0.32047297434704797,0.5954971238671044,0.907821431329807,1.7539964708043265,1.7539964708043265,2.323739999998481,0,0,-0.0001781180416951259,9.999999025923074e-05
+8801,1791363961284587031,2912664000000,1791363961282249666,DOWN_SETTLE,5,0.051,0.051001328974962234,0.6760402862321896,-0.004833629064912773,0.08215805754979448,0.9999999868484767,4.7892973132895813e-05,-7.78177485684992e-05,9.69359168012027e-05,0.6761,-0.0048,0.08208285435257465,1.0,0.0,0.0,0.0,-0.06077675423219958,-0.07639744414820569,0.8977669809119435,-0.0054307085553589336,0.0059435866785308,-0.000503629399157513,0.009951738251324598,-0.08402966036817004,0.9598047532260895,-0.0074038702114617785,0.0029723124398225776,-0.001841757370122809,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5544951356428958,-0.5197588386355905,-1.0549151221963473,0.6572120457171707,0.8954935750665902,-0.3137234861569164,0.5954971238671044,0.8977669809119435,1.6504122460634516,1.6504122460634516,2.323739999998481,0,0,-0.00013391805030596592,9.999999025923074e-05
+8951,1791363962534687365,2913914000000,1791363962530249612,DOWN_SETTLE,5,0.051,0.05100198835134506,0.6760270036331786,-0.004839906910915698,0.08201051582806182,0.9999999849945462,4.110137318074002e-05,-9.59548195426843e-05,0.00010274785438408709,0.6761,-0.0048,0.08195448803207613,1.0,0.0,0.0,0.0,-0.053166472190774285,-0.07823941647789026,0.8717434128943212,-0.00540701304435313,0.004930973693053337,0.0005290389078313543,0.0175620202927499,-0.08587163269785461,0.9337811852084672,-0.007380174700455975,0.001959699454345115,-0.0008090890631339417,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.6073654172196685,-0.524551829699753,-1.0486003944228335,0.665505644114072,0.9036004720100996,-0.31352054040978783,0.5954971238671044,0.8717434128943212,1.644097518289938,1.644097518289938,2.323739999998481,0,0,-7.14180624819275e-05,9.999999025923074e-05
+9095,1791363963734686190,2915114000000,1791363963730249769,DOWN_SETTLE,5,0.051,0.05100198835134506,0.6760199799851613,-0.00483622333981235,0.08194183643138951,0.9999999832886118,5.061948904446083e-05,-0.00010872676997876636,0.00010238064866179475,0.6761,-0.0048,0.08190475635007861,1.0,0.0,0.0,0.0,-0.051807244531239985,-0.07898438103343285,0.8378356810632424,-0.005395704848447485,0.00494111719567698,-6.249773401101485e-05,0.018921247952284198,-0.0866165972533972,0.8998734533773883,-0.00736886650455033,0.001969842956968757,-0.0014006257049763108,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5568026342092995,-0.4586348555652104,-0.9917102681713241,0.6393163504227064,0.8552659959786159,-0.2691834516848239,0.5954971238671044,0.8378356810632424,1.5872073920384286,1.5872073920384286,2.323739999998481,0,0,-1.1418074170850607e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a84e42e7d0346e7b1a43df37b89c938d8cdfe045
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b3eb49d22f5e87136e7d637d963b73997884b20
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,3.183333333e+00,DOWN_FORCE_DETACH,1791363919290295363,1.797512982e-05,-1.505621980e-05,-3.501050402e-04,1.262495223e-05,-1.447773056e-05,-3.339257828e-04,1.191982123e-05,-1.438499337e-05,-3.326208599e-04,7.015558466e-01,-1.350525847e-05,8.403908361e-01,7.015504964e-01,-1.292676924e-05,8.404070154e-01,7.017377559e-01,-1.256340613e-05,8.294480817e-01
+5,4.033333333e+00,DOWN_FORCE_DETACH,1791363920560940382,3.266587321e-05,-9.034944422e-06,-4.144431191e-04,2.868238935e-05,-1.365284996e-05,-4.160927262e-04,2.803044838e-05,-1.353440964e-05,-4.148295250e-04,7.015705374e-01,-7.483983101e-06,8.403264981e-01,7.015665539e-01,-1.210188864e-05,8.403248485e-01,7.017538666e-01,-1.171282241e-05,8.293658730e-01
+6,4.850000000e+00,DOWN_FORCE_DETACH,1791363921790298988,3.148433519e-05,-1.259582567e-05,-4.945942995e-04,2.755979671e-05,-1.693473668e-05,-4.978047926e-04,2.665552477e-05,-1.681550061e-05,-4.965076462e-04,7.015693558e-01,-1.104486434e-05,8.402463469e-01,7.015654313e-01,-1.538377536e-05,8.402431364e-01,7.017524916e-01,-1.499391337e-05,8.292841949e-01
+7,5.716666667e+00,DOWN_FORCE_DETACH,1791363923090391419,3.220041056e-05,-2.232791723e-05,-5.869607711e-04,3.139828295e-05,-1.715552951e-05,-5.805670990e-04,3.033299025e-05,-1.702073718e-05,-5.793477210e-04,7.015700719e-01,-2.077695591e-05,8.401539804e-01,7.015692698e-01,-1.560456819e-05,8.401603741e-01,7.017561691e-01,-1.519914995e-05,8.292013548e-01
+8,6.616666667e+00,DOWN_FORCE_DETACH,1791363924432432845,3.558961954e-05,-1.869952303e-05,-6.775389232e-04,3.311592064e-05,-1.758394387e-05,-6.657252945e-04,3.183302755e-05,-1.748054155e-05,-6.645910040e-04,7.015734611e-01,-1.714856171e-05,8.400634023e-01,7.015709874e-01,-1.603298255e-05,8.400752159e-01,7.017576691e-01,-1.565895432e-05,8.291161116e-01
+9,7.450000000e+00,DOWN_FORCE_DETACH,1791363925690636359,3.520293321e-05,-1.758206689e-05,-7.692566300e-04,3.419843317e-05,-1.887325891e-05,-7.496930109e-04,3.273064650e-05,-1.878920210e-05,-7.486131467e-04,7.015730744e-01,-1.603110557e-05,8.399716846e-01,7.015720699e-01,-1.732229759e-05,8.399912482e-01,7.017585668e-01,-1.696761486e-05,8.290320894e-01
+10,8.250000000e+00,DOWN_FORCE_DETACH,1791363926891406056,3.916560492e-05,-2.354542374e-05,-8.552244362e-04,3.892515354e-05,-2.341825149e-05,-8.553525715e-04,3.723412385e-05,-2.327202209e-05,-8.540416146e-04,7.015770371e-01,-2.199446242e-05,8.398857168e-01,7.015767966e-01,-2.186729017e-05,8.398855886e-01,7.017630702e-01,-2.145043486e-05,8.289266609e-01
+11,9.166666667e+00,DOWN_FORCE_DETACH,1791363928259929265,4.714894099e-05,-2.398145738e-05,-9.503785488e-04,4.409130443e-05,-2.371192303e-05,-9.452649758e-04,4.225811883e-05,-2.352880440e-05,-9.439614831e-04,7.015850204e-01,-2.243049606e-05,8.397905626e-01,7.015819628e-01,-2.216096171e-05,8.397956762e-01,7.017680942e-01,-2.170721717e-05,8.288367411e-01
+12,1.003333333e+01,DOWN_FORCE_DETACH,1791363929559458326,5.125941080e-05,-2.258351680e-05,-1.050460533e-03,5.102271418e-05,-2.246472427e-05,-1.050137497e-03,4.893791060e-05,-2.225113781e-05,-1.048732370e-03,7.015891309e-01,-2.103255548e-05,8.396904807e-01,7.015888942e-01,-2.091376295e-05,8.396908037e-01,7.017747740e-01,-2.042955058e-05,8.287319702e-01
+13,1.078333333e+01,DOWN_FORCE_DETACH,1791363930690359678,5.830480851e-05,-3.055312578e-05,-1.139557985e-03,5.709286433e-05,-2.634421507e-05,-1.133544714e-03,5.486125042e-05,-2.611444466e-05,-1.132229585e-03,7.015961763e-01,-2.900216446e-05,8.396013832e-01,7.015949643e-01,-2.479325375e-05,8.396073965e-01,7.017806974e-01,-2.429285743e-05,8.286484730e-01
+14,1.165000000e+01,DOWN_FORCE_DETACH,1791363931970079235,6.393127060e-05,-2.817237060e-05,-1.243448111e-03,6.326213038e-05,-2.754836359e-05,-1.241820479e-03,6.083674885e-05,-2.737514667e-05,-1.240545142e-03,7.016018028e-01,-2.662140928e-05,8.394974931e-01,7.016011336e-01,-2.599740226e-05,8.394991207e-01,7.017866729e-01,-2.555355944e-05,8.285401574e-01
+15,1.240000000e+01,DOWN_FORCE_DETACH,1791363933095950894,6.798485266e-05,-3.309248948e-05,-1.347670835e-03,6.579572348e-05,-3.259846340e-05,-1.330134677e-03,6.317867103e-05,-3.241985986e-05,-1.328923228e-03,7.016058563e-01,-3.154152816e-05,8.393932704e-01,7.016036672e-01,-3.104750207e-05,8.394108065e-01,7.017890148e-01,-3.059827263e-05,8.284517793e-01
+16,1.323333333e+01,DOWN_FORCE_DETACH,1791363934346296158,7.174326708e-05,-3.170891190e-05,-1.462571066e-03,7.090082245e-05,-3.191619185e-05,-1.459288897e-03,6.796797660e-05,-3.172450711e-05,-1.457872283e-03,7.016096147e-01,-3.015795058e-05,8.392783701e-01,7.016087723e-01,-3.036523053e-05,8.392816523e-01,7.017938041e-01,-2.990291988e-05,8.283228303e-01
+17,1.395000000e+01,DOWN_FORCE_DETACH,1791363935430654045,7.558198252e-05,-3.032453121e-05,-1.566347796e-03,7.283842909e-05,-2.983083908e-05,-1.553390632e-03,6.966240355e-05,-2.965821145e-05,-1.551966145e-03,7.016134535e-01,-2.877356989e-05,8.391745934e-01,7.016107099e-01,-2.827987776e-05,8.391875506e-01,7.017954985e-01,-2.783662422e-05,8.282287364e-01
+18,1.466666667e+01,DOWN_FORCE_DETACH,1791363936496756654,7.835253895e-05,-3.650456716e-05,-1.681230341e-03,7.683966276e-05,-3.653726407e-05,-1.663108091e-03,7.335361734e-05,-3.638876332e-05,-1.661647933e-03,7.016162240e-01,-3.495360584e-05,8.390597108e-01,7.016147111e-01,-3.498630275e-05,8.390778331e-01,7.017991897e-01,-3.456717609e-05,8.281190546e-01
+19,1.545000000e+01,DOWN_FORCE_DETACH,1791363937665462555,8.172945884e-05,-3.783172393e-05,-1.802184814e-03,7.971120088e-05,-3.858468419e-05,-1.788932666e-03,7.585773144e-05,-3.836726549e-05,-1.787285919e-03,7.016196009e-01,-3.628076261e-05,8.389387564e-01,7.016175827e-01,-3.703372287e-05,8.389520085e-01,7.018016938e-01,-3.654567826e-05,8.279934166e-01
+20,1.618333333e+01,DOWN_FORCE_DETACH,1791363938767077235,8.102395873e-05,-3.770246435e-05,-1.927225124e-03,8.257222060e-05,-3.930063356e-05,-1.923762579e-03,7.827275590e-05,-3.914047749e-05,-1.922010429e-03,7.016188954e-01,-3.615150303e-05,8.388137161e-01,7.016204437e-01,-3.774967224e-05,8.388171786e-01,7.018041089e-01,-3.731889025e-05,8.278586921e-01
+21,1.695000000e+01,DOWN_FORCE_DETACH,1791363939926437812,8.641109532e-05,-3.592832668e-05,-2.061849600e-03,8.677714441e-05,-3.109506648e-05,-2.051727335e-03,8.211854600e-05,-3.092536322e-05,-2.049986469e-03,7.016242826e-01,-3.437736535e-05,8.386790916e-01,7.016246486e-01,-2.954410516e-05,8.386892139e-01,7.018079547e-01,-2.910377599e-05,8.277307161e-01
+22,1.763333333e+01,DOWN_FORCE_DETACH,1791363940946446601,8.933702088e-05,-3.485130511e-05,-2.191208664e-03,9.271050366e-05,-3.447874304e-05,-2.181176156e-03,8.769565238e-05,-3.431356819e-05,-2.179260162e-03,7.016272085e-01,-3.330034379e-05,8.385497325e-01,7.016305820e-01,-3.292778172e-05,8.385597650e-01,7.018135318e-01,-3.249198096e-05,8.276014424e-01
+23,1.810000000e+01,DOWN_FORCE_DETACH,1791363941647276896,8.694197535e-05,-3.551226426e-05,-2.302143359e-03,8.968955567e-05,-3.211214774e-05,-2.293847316e-03,8.421486917e-05,-3.192691462e-05,-2.291758827e-03,7.016248135e-01,-3.396130294e-05,8.384387978e-01,7.016275610e-01,-3.056118642e-05,8.384470939e-01,7.018100510e-01,-3.010532739e-05,8.274889437e-01
+24,1.868333333e+01,DOWN_FORCE_DETACH,1791363942779625833,9.464363669e-05,-3.799453387e-05,-2.458026227e-03,9.354181966e-05,-3.556198919e-05,-2.453778513e-03,8.760601186e-05,-3.536641635e-05,-2.451420293e-03,7.016325151e-01,-3.644357254e-05,8.382829150e-01,7.016314133e-01,-3.401102787e-05,8.382871627e-01,7.018134421e-01,-3.354482912e-05,8.273292823e-01
+25,1.930000000e+01,DOWN_FORCE_DETACH,1791363943694464753,9.371569729e-05,-4.169620842e-05,-2.620052100e-03,9.119806792e-05,-4.054225870e-05,-2.606165286e-03,8.464709622e-05,-4.028867340e-05,-2.603574615e-03,7.016315872e-01,-4.014524710e-05,8.381208891e-01,7.016290695e-01,-3.899129738e-05,8.381347759e-01,7.018104832e-01,-3.846708617e-05,8.271771279e-01
+26,1.985000000e+01,DOWN_FORCE_DETACH,1791363944514842755,9.180278450e-05,-4.093699939e-05,-2.784773789e-03,8.732782343e-05,-4.225035791e-05,-2.779073966e-03,8.015299114e-05,-4.189615256e-05,-2.776240172e-03,7.016296743e-01,-3.938603807e-05,8.379561674e-01,7.016251993e-01,-4.069939659e-05,8.379618672e-01,7.018059891e-01,-4.007456533e-05,8.270044624e-01
+27,2.035000000e+01,DOWN_FORCE_DETACH,1791363945265255094,8.302273800e-05,-4.820714381e-05,-2.960779521e-03,8.302206623e-05,-4.845274552e-05,-2.960452188e-03,7.502908904e-05,-4.807759492e-05,-2.957340819e-03,7.016208942e-01,-4.665618249e-05,8.377801617e-01,7.016208935e-01,-4.690178420e-05,8.377804890e-01,7.018008652e-01,-4.625600769e-05,8.268233617e-01
+28,2.085000000e+01,DOWN_FORCE_DETACH,1791363946015751771,8.289201432e-05,-5.388320468e-05,-3.138119695e-03,8.397281305e-05,-5.468414486e-05,-3.133098266e-03,7.536996042e-05,-5.440119413e-05,-3.129960277e-03,7.016207635e-01,-5.233224336e-05,8.376028215e-01,7.016218443e-01,-5.313318354e-05,8.376078429e-01,7.018012061e-01,-5.257960690e-05,8.266507423e-01
+29,2.131666667e+01,DOWN_FORCE_DETACH,1791363946714363476,8.166560389e-05,-5.372436895e-05,-3.324614178e-03,8.162961759e-05,-5.376028063e-05,-3.324366144e-03,7.230363069e-05,-5.344546569e-05,-3.320894071e-03,7.016195371e-01,-5.217340763e-05,8.374163270e-01,7.016195011e-01,-5.220931931e-05,8.374165750e-01,7.017981397e-01,-5.162387846e-05,8.264598085e-01
+30,2.175000000e+01,DOWN_FORCE_DETACH,1791363947364711967,8.256244699e-05,-5.661086824e-05,-3.510480803e-03,8.281677502e-05,-5.673379434e-05,-3.499754356e-03,7.281184465e-05,-5.639094620e-05,-3.496083759e-03,7.016204339e-01,-5.505990692e-05,8.372304604e-01,7.016206883e-01,-5.518283302e-05,8.372411868e-01,7.017986480e-01,-5.456935896e-05,8.262846188e-01
+31,2.216666667e+01,DOWN_FORCE_DETACH,1791363947999365457,8.396037751e-05,-5.418328523e-05,-3.705078014e-03,8.325600715e-05,-5.461737427e-05,-3.691007247e-03,7.262106316e-05,-5.426551757e-05,-3.687118845e-03,7.016218319e-01,-5.263232391e-05,8.370358632e-01,7.016211275e-01,-5.306641294e-05,8.370499339e-01,7.017984572e-01,-5.244393034e-05,8.260935837e-01
+32,2.256666667e+01,DOWN_FORCE_DETACH,1791363948599959688,8.582439423e-05,-6.115457698e-05,-3.905144099e-03,8.780982836e-05,-5.817336027e-05,-3.902160973e-03,7.644942354e-05,-5.780249306e-05,-3.897971691e-03,7.016236959e-01,-5.960361565e-05,8.368357971e-01,7.016256813e-01,-5.662239895e-05,8.368387802e-01,7.018022855e-01,-5.598090583e-05,8.258827309e-01
+33,2.290000000e+01,DOWN_FORCE_DETACH,1791363949100830823,8.300882232e-05,-5.824465568e-05,-4.094205025e-03,8.507792271e-05,-5.828864241e-05,-4.077921849e-03,7.311651723e-05,-5.791102383e-05,-4.073528966e-03,7.016208803e-01,-5.669369436e-05,8.366467362e-01,7.016229494e-01,-5.673768109e-05,8.366630193e-01,7.017989526e-01,-5.608943660e-05,8.257071736e-01
+34,2.325000000e+01,DOWN_FORCE_DETACH,1791363949616994550,8.198431127e-05,-6.464200603e-05,-4.294863135e-03,8.126976188e-05,-6.321920031e-05,-4.279987004e-03,6.850811030e-05,-6.283979431e-05,-4.275395831e-03,7.016198558e-01,-6.309104471e-05,8.364460781e-01,7.016191412e-01,-6.166823899e-05,8.364609542e-01,7.017943442e-01,-6.101820708e-05,8.255053067e-01
+35,2.358333333e+01,DOWN_FORCE_DETACH,1791363950114495345,8.055466860e-05,-6.385630168e-05,-4.494597763e-03,8.024197985e-05,-6.381705965e-05,-4.494799738e-03,6.677938115e-05,-6.339104946e-05,-4.489859561e-03,7.016184262e-01,-6.230534036e-05,8.362463434e-01,7.016181135e-01,-6.226609833e-05,8.362461414e-01,7.017926155e-01,-6.156946222e-05,8.252908430e-01
+36,2.388333333e+01,DOWN_FORCE_DETACH,1791363950565478185,7.780074097e-05,-6.905731173e-05,-4.697922393e-03,7.903512904e-05,-6.973831898e-05,-4.678603408e-03,6.485694380e-05,-6.927735449e-05,-4.673583734e-03,7.016156722e-01,-6.750635041e-05,8.360430188e-01,7.016169066e-01,-6.818735766e-05,8.360623378e-01,7.017906931e-01,-6.745576725e-05,8.251071188e-01
+37,2.416666667e+01,DOWN_FORCE_DETACH,1791363950994558397,7.867107129e-05,-6.758207133e-05,-4.888983066e-03,7.849643792e-05,-6.743901310e-05,-4.888941810e-03,6.362800674e-05,-6.700832114e-05,-4.883676718e-03,7.016165426e-01,-6.603111001e-05,8.358519581e-01,7.016163679e-01,-6.588805178e-05,8.358519994e-01,7.017894641e-01,-6.518673391e-05,8.248970258e-01
+38,2.445000000e+01,DOWN_FORCE_DETACH,1791363951426830780,7.655389266e-05,-7.820758309e-05,-5.092859715e-03,7.561494254e-05,-7.378867106e-05,-5.088017515e-03,5.998655524e-05,-7.338438150e-05,-5.082514518e-03,7.016144254e-01,-7.665662177e-05,8.356480815e-01,7.016134864e-01,-7.223770974e-05,8.356529237e-01,7.017858227e-01,-7.156279427e-05,8.246981880e-01
+39,2.471666667e+01,DOWN_FORCE_DETACH,1791363951846033527,7.780975256e-05,-8.281078101e-05,-5.301302336e-03,7.757139629e-05,-8.248642835e-05,-5.301384637e-03,6.125266263e-05,-8.200826523e-05,-5.295636300e-03,7.016156812e-01,-8.125981969e-05,8.354396389e-01,7.016154429e-01,-8.093546703e-05,8.354395566e-01,7.017870888e-01,-8.018667799e-05,8.244850663e-01
+40,2.498333333e+01,DOWN_FORCE_DETACH,1791363952246246612,7.097945108e-05,-8.235678835e-05,-5.507114761e-03,7.064763854e-05,-8.241413844e-05,-5.507453293e-03,5.342658638e-05,-8.194444186e-05,-5.501505315e-03,7.016088509e-01,-8.080582703e-05,8.352338264e-01,7.016085191e-01,-8.086317712e-05,8.352334879e-01,7.017792627e-01,-8.012285463e-05,8.242791972e-01
+41,2.525000000e+01,DOWN_FORCE_DETACH,1791363952645587176,7.417958127e-05,-8.839933424e-05,-5.704684650e-03,7.400731845e-05,-8.852872200e-05,-5.704293735e-03,5.615835999e-05,-8.802680485e-05,-5.698268481e-03,7.016120511e-01,-8.684837292e-05,8.350362565e-01,7.016118788e-01,-8.697776068e-05,8.350366475e-01,7.017819945e-01,-8.620521761e-05,8.240824341e-01
+42,2.550000000e+01,DOWN_FORCE_DETACH,1791363953026513979,7.103971302e-05,-9.207389643e-05,-5.899560678e-03,7.347010235e-05,-8.921829763e-05,-5.884094658e-03,5.496651236e-05,-8.870390068e-05,-5.878128003e-03,7.016089112e-01,-9.052293511e-05,8.348413805e-01,7.016113416e-01,-8.766733631e-05,8.348568465e-01,7.017808026e-01,-8.688231344e-05,8.239025746e-01
+43,2.575000000e+01,DOWN_SETTLE,1791363953398767966,7.245742993e-05,-8.975969821e-05,-6.091582642e-03,7.228604778e-05,-8.965462697e-05,-6.091686406e-03,5.305182509e-05,-8.913072120e-05,-6.085446083e-03,7.016103289e-01,-8.820873689e-05,8.346493585e-01,7.016101575e-01,-8.810366565e-05,8.346492548e-01,7.017788879e-01,-8.730913397e-05,8.236952565e-01
+44,2.601666667e+01,DOWN_SETTLE,1791363953800446006,7.210685339e-05,-9.178939325e-05,-6.302265806e-03,7.186232699e-05,-9.176952363e-05,-6.302137099e-03,5.187138402e-05,-9.117480126e-05,-6.295977192e-03,7.016099783e-01,-9.023843193e-05,8.344386754e-01,7.016097338e-01,-9.021856231e-05,8.344388041e-01,7.017777075e-01,-8.935321403e-05,8.234847254e-01
+45,2.628333333e+01,DOWN_SETTLE,1791363954195540234,6.596611829e-05,-8.247966887e-05,-6.503465602e-03,6.564936316e-05,-8.246049356e-05,-6.503607085e-03,4.487745756e-05,-8.193746276e-05,-6.497408543e-03,7.016038376e-01,-8.092870755e-05,8.342374756e-01,7.016035208e-01,-8.090953224e-05,8.342373341e-01,7.017707136e-01,-8.011587553e-05,8.232832940e-01
+46,2.658333333e+01,DOWN_SETTLE,1791363954632047424,6.615277949e-05,-7.656078831e-05,-6.704484980e-03,6.464343312e-05,-7.410330481e-05,-6.685851848e-03,4.312590463e-05,-7.366428634e-05,-6.680030034e-03,7.016040243e-01,-7.500982699e-05,8.340364562e-01,7.016025149e-01,-7.255234349e-05,8.340550893e-01,7.017689620e-01,-7.184269911e-05,8.231006725e-01
+47,2.688333333e+01,DOWN_SETTLE,1791363955082247101,6.624010479e-05,-7.440048427e-05,-6.901021580e-03,6.609800822e-05,-7.438976538e-05,-6.900825222e-03,4.387348794e-05,-7.389537607e-05,-6.894880814e-03,7.016041116e-01,-7.284952295e-05,8.338399196e-01,7.016039695e-01,-7.283880406e-05,8.338401160e-01,7.017697096e-01,-7.207378884e-05,8.228858217e-01
+48,2.720000000e+01,DOWN_SETTLE,1791363955562581242,6.769460376e-05,-7.376090280e-05,-7.103669980e-03,6.717423524e-05,-7.618160288e-05,-7.094330981e-03,4.428893640e-05,-7.572031259e-05,-7.088687194e-03,7.016055661e-01,-7.220994148e-05,8.336372712e-01,7.016050457e-01,-7.463064156e-05,8.336466102e-01,7.017701251e-01,-7.389872535e-05,8.226920154e-01
+49,2.751666667e+01,DOWN_SETTLE,1791363956032394503,6.757038156e-05,-7.711108882e-05,-7.293815830e-03,6.701727627e-05,-7.388729585e-05,-7.276570852e-03,4.348243298e-05,-7.347857532e-05,-7.271169168e-03,7.016054419e-01,-7.556012750e-05,8.334471254e-01,7.016048888e-01,-7.233633453e-05,8.334643703e-01,7.017693185e-01,-7.165698809e-05,8.225095334e-01
+50,2.783333333e+01,DOWN_SETTLE,1791363956503533941,5.922181484e-05,-7.800751367e-05,-7.486255876e-03,6.314076560e-05,-7.901464178e-05,-7.466816399e-03,3.890018396e-05,-7.855773260e-05,-7.461532905e-03,7.015970933e-01,-7.645655235e-05,8.332546853e-01,7.016010122e-01,-7.746368046e-05,8.332741248e-01,7.017647363e-01,-7.673614537e-05,8.223191697e-01
+51,2.820000000e+01,DOWN_SETTLE,1791363957063683734,6.091355401e-05,-7.790420636e-05,-7.685830048e-03,5.980515102e-05,-7.787841296e-05,-7.679600777e-03,3.476087519e-05,-7.742924355e-05,-7.674348490e-03,7.015987850e-01,-7.635324504e-05,8.330551111e-01,7.015976766e-01,-7.632745164e-05,8.330613404e-01,7.017605970e-01,-7.560765632e-05,8.221063541e-01
+52,2.860000000e+01,DOWN_SETTLE,1791363957663038812,6.220150379e-05,-7.891421343e-05,-7.881754629e-03,5.903780802e-05,-8.091577681e-05,-7.878120532e-03,3.328563575e-05,-8.051981215e-05,-7.873203248e-03,7.016000730e-01,-7.736325211e-05,8.328591866e-01,7.015969093e-01,-7.936481549e-05,8.328628207e-01,7.017591218e-01,-7.869822492e-05,8.219074993e-01
+53,2.898333333e+01,DOWN_SETTLE,1791363958235407862,5.398168135e-05,-8.429939615e-05,-8.061506271e-03,5.421590485e-05,-8.301786586e-05,-8.053817447e-03,2.777074039e-05,-8.261694755e-05,-8.049162081e-03,7.015918532e-01,-8.274843483e-05,8.326794349e-01,7.015920874e-01,-8.146690454e-05,8.326871237e-01,7.017536069e-01,-8.079536032e-05,8.217315405e-01
+54,2.945000000e+01,DOWN_SETTLE,1791363958932626464,4.561747035e-05,-8.522767781e-05,-8.260112311e-03,4.855152946e-05,-8.630876932e-05,-8.247049100e-03,2.135072942e-05,-8.586122533e-05,-8.242660867e-03,7.015834890e-01,-8.367671649e-05,8.324808289e-01,7.015864230e-01,-8.475780800e-05,8.324938921e-01,7.017471868e-01,-8.403963810e-05,8.215380417e-01
+55,2.990000000e+01,DOWN_SETTLE,1791363959604815412,4.656758471e-05,-8.554771457e-05,-8.417461125e-03,4.720417402e-05,-9.090170948e-05,-8.407703602e-03,1.934200926e-05,-9.043665071e-05,-8.403694018e-03,7.015844391e-01,-8.399675325e-05,8.323234801e-01,7.015850757e-01,-8.935074816e-05,8.323332376e-01,7.017451781e-01,-8.861506348e-05,8.213770085e-01
+56,3.043333333e+01,DOWN_SETTLE,1791363960403424925,4.908981480e-05,-9.166272517e-05,-8.581940498e-03,4.994407665e-05,-9.166584812e-05,-8.567743990e-03,2.157441177e-05,-9.121300476e-05,-8.564257829e-03,7.015869613e-01,-9.011176385e-05,8.321590007e-01,7.015878156e-01,-9.011488680e-05,8.321731972e-01,7.017474105e-01,-8.939141752e-05,8.212164447e-01
+57,3.101666667e+01,DOWN_SETTLE,1791363961284323764,3.096979094e-05,-9.414694720e-05,-8.741644188e-03,3.085169289e-05,-9.610403435e-05,-8.729780442e-03,1.462005475e-06,-9.562056323e-05,-8.726606446e-03,7.015688413e-01,-9.259598588e-05,8.319992970e-01,7.015687232e-01,-9.455307303e-05,8.320111607e-01,7.017272981e-01,-9.379897600e-05,8.210540961e-01
+58,3.185000000e+01,DOWN_SETTLE,1791363962533669250,1.586017592e-05,-1.023356267e-04,-8.890356542e-03,1.728311081e-05,-9.991772627e-05,-8.882909436e-03,-1.307264823e-05,-9.936101298e-05,-8.880452711e-03,7.015537317e-01,-1.007846654e-04,8.318505846e-01,7.015551546e-01,-9.836676495e-05,8.318580318e-01,7.017127635e-01,-9.753942575e-05,8.209002498e-01
+59,3.265000000e+01,DOWN_SETTLE,1791363963733312230,1.399088483e-05,-9.755302558e-05,-8.952244760e-03,1.434774501e-05,-1.015194947e-04,-8.946488292e-03,-1.636356979e-05,-1.010231079e-04,-8.944922665e-03,7.015518624e-01,-9.600206426e-05,8.317886964e-01,7.015522192e-01,-9.996853342e-05,8.317944529e-01,7.017094725e-01,-9.920152069e-05,8.208357799e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daed7bb4d6184221fb4b61167a4559c5fca978b7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,6.2162e-03,3.0756e-03,2.4560e+00,-3.6963e-02,3.7219e-02,1.2413e-05,1.0443e-04,6.7335e-07,1.1683e-05,7.4506e-09,7.3723e-06,3.1142e-07,1.0508e-04,7.3789e-06
+1,8.8333e-01,DOWN_FORCE_DETACH,2.0994e-04,1.1969e-02,4.6393e-03,2.4621e+00,-3.7066e-02,3.7621e-02,2.9405e-05,5.8574e-03,1.5643e-03,6.1038e-03,-1.0354e-04,4.0910e-04,1.7303e-05,8.6030e-03,4.2235e-04
+2,1.7000e+00,DOWN_FORCE_DETACH,4.1917e-04,1.4644e-02,5.3424e-03,2.4864e+00,-3.7107e-02,3.7783e-02,4.2867e-05,8.5326e-03,2.2675e-03,3.0417e-02,-1.4438e-04,5.7053e-04,3.0765e-05,3.1672e-02,5.8932e-04
+3,2.5333e+00,DOWN_FORCE_DETACH,6.3259e-04,8.7509e-03,7.7792e-03,2.4989e+00,-3.7271e-02,3.7346e-02,5.8916e-05,2.6391e-03,4.7043e-03,4.2875e-02,-3.0771e-04,1.3368e-04,4.6815e-05,4.3213e-02,3.3874e-04
+4,3.1833e+00,DOWN_FORCE_DETACH,8.4097e-04,1.4364e-02,1.0061e-02,2.5127e+00,-3.7425e-02,3.7724e-02,6.5719e-05,8.2526e-03,6.9865e-03,5.6686e-02,-4.6236e-04,5.1185e-04,5.3617e-05,5.7708e-02,6.9184e-04
+5,4.0333e+00,DOWN_FORCE_DETACH,1.0453e-03,1.1780e-02,1.0089e-02,2.5116e+00,-3.7432e-02,3.7538e-02,6.4697e-05,5.6680e-03,7.0141e-03,5.5570e-02,-4.6940e-04,3.2556e-04,5.2595e-05,5.6297e-02,5.7367e-04
+6,4.8500e+00,DOWN_FORCE_DETACH,1.2586e-03,1.4307e-02,1.1391e-02,2.5120e+00,-3.7533e-02,3.7715e-02,5.6091e-05,8.1957e-03,8.3164e-03,5.5976e-02,-5.6963e-04,5.0287e-04,4.3989e-05,5.7180e-02,7.6111e-04
+7,5.7167e+00,DOWN_FORCE_DETACH,1.4703e-03,1.4952e-02,1.0898e-02,2.5093e+00,-3.7512e-02,3.7767e-02,3.9376e-05,8.8407e-03,7.8233e-03,5.3295e-02,-5.4950e-04,5.5493e-04,2.7274e-05,5.4587e-02,7.8144e-04
+8,6.6167e+00,DOWN_FORCE_DETACH,1.6803e-03,1.7527e-02,1.0374e-02,2.5048e+00,-3.7487e-02,3.7958e-02,1.8964e-05,1.1416e-02,7.2991e-03,4.8786e-02,-5.2447e-04,7.4595e-04,6.8627e-06,5.0633e-02,9.1190e-04
+9,7.4500e+00,DOWN_FORCE_DETACH,1.8893e-03,2.0769e-02,1.0377e-02,2.5041e+00,-3.7490e-02,3.8188e-02,-5.3091e-07,1.4657e-02,7.3023e-03,4.8068e-02,-5.2708e-04,9.7573e-04,-1.2633e-05,5.0781e-02,1.1091e-03
+10,8.2500e+00,DOWN_FORCE_DETACH,2.0978e-03,2.2166e-02,1.2136e-02,2.5070e+00,-3.7590e-02,3.8281e-02,-1.6859e-05,1.6054e-02,9.0611e-03,5.0999e-02,-6.2705e-04,1.0689e-03,-2.8960e-05,5.4229e-02,1.2396e-03
+11,9.1667e+00,DOWN_FORCE_DETACH,2.3090e-03,2.2484e-02,1.3724e-02,2.5149e+00,-3.7663e-02,3.8293e-02,-2.9083e-05,1.6372e-02,1.0649e-02,5.8938e-02,-7.0008e-04,1.0810e-03,-4.1185e-05,6.2090e-02,1.2886e-03
+12,1.0033e+01,DOWN_FORCE_DETACH,2.5206e-03,2.2059e-02,1.5626e-02,2.5109e+00,-3.7770e-02,3.8264e-02,-3.4564e-05,1.5947e-02,1.2551e-02,5.4925e-02,-8.0745e-04,1.0515e-03,-4.6666e-05,5.8554e-02,1.3266e-03
+13,1.0783e+01,DOWN_FORCE_DETACH,2.7309e-03,2.0860e-02,1.6623e-02,2.5150e+00,-3.7848e-02,3.8177e-02,-4.1529e-05,1.4748e-02,1.3548e-02,5.8984e-02,-8.8480e-04,9.6487e-04,-5.3631e-05,6.2291e-02,1.3102e-03
+14,1.1650e+01,DOWN_FORCE_DETACH,2.9377e-03,2.1847e-02,1.5714e-02,2.5140e+00,-3.7837e-02,3.8249e-02,-5.8167e-05,1.5736e-02,1.2639e-02,5.7961e-02,-8.7380e-04,1.0368e-03,-7.0269e-05,6.1375e-02,1.3577e-03
+15,1.2400e+01,DOWN_FORCE_DETACH,3.1508e-03,2.3395e-02,1.6361e-02,2.5114e+00,-3.7913e-02,3.8355e-02,-7.4692e-05,1.7284e-02,1.3286e-02,5.5427e-02,-9.5021e-04,1.1433e-03,-8.6794e-05,5.9560e-02,1.4892e-03
+16,1.3233e+01,DOWN_FORCE_DETACH,3.3583e-03,2.3836e-02,1.5963e-02,2.5194e+00,-3.7877e-02,3.8383e-02,-8.6753e-05,1.7724e-02,1.2888e-02,6.3421e-02,-9.1401e-04,1.1712e-03,-9.8854e-05,6.7101e-02,1.4889e-03
+17,1.3950e+01,DOWN_FORCE_DETACH,3.5709e-03,2.3878e-02,1.4723e-02,2.5197e+00,-3.7763e-02,3.8384e-02,-8.7562e-05,1.7767e-02,1.1648e-02,6.3697e-02,-8.0040e-04,1.1722e-03,-9.9664e-05,6.7146e-02,1.4229e-03
+18,1.4667e+01,DOWN_FORCE_DETACH,3.7773e-03,2.3149e-02,1.7035e-02,2.5242e+00,-3.7900e-02,3.8327e-02,-7.9608e-05,1.7037e-02,1.3961e-02,6.8231e-02,-9.3687e-04,1.1153e-03,-9.1710e-05,7.1698e-02,1.4594e-03
+19,1.5450e+01,DOWN_FORCE_DETACH,3.9899e-03,2.2837e-02,1.7786e-02,2.5289e+00,-3.7950e-02,3.8291e-02,-6.9306e-05,1.6726e-02,1.4711e-02,7.2851e-02,-9.8758e-04,1.0790e-03,-8.1407e-05,7.6180e-02,1.4650e-03
+20,1.6183e+01,DOWN_FORCE_DETACH,4.1993e-03,2.2055e-02,1.8154e-02,2.5355e+00,-3.7993e-02,3.8222e-02,-6.0264e-05,1.5943e-02,1.5079e-02,7.9496e-02,-1.0300e-03,1.0102e-03,-7.2366e-05,8.2469e-02,1.4445e-03
+21,1.6950e+01,DOWN_FORCE_DETACH,4.4093e-03,2.0535e-02,1.4876e-02,2.5367e+00,-3.7777e-02,3.8106e-02,-5.1354e-05,1.4423e-02,1.1801e-02,8.0706e-02,-8.1386e-04,8.9348e-04,-6.3456e-05,8.2830e-02,1.2103e-03
+22,1.7633e+01,DOWN_FORCE_DETACH,4.6189e-03,1.8640e-02,1.6884e-02,2.5405e+00,-3.7897e-02,3.7973e-02,-3.8690e-05,1.2528e-02,1.3810e-02,8.4478e-02,-9.3442e-04,7.6057e-04,-5.0792e-05,8.6511e-02,1.2059e-03
+23,1.8100e+01,DOWN_FORCE_DETACH,4.8322e-03,2.0345e-02,1.6528e-02,2.5489e+00,-3.7860e-02,3.8077e-02,-2.8144e-05,1.4233e-02,1.3453e-02,9.2862e-02,-8.9750e-04,8.6510e-04,-4.0246e-05,9.4905e-02,1.2472e-03
+24,1.8683e+01,DOWN_FORCE_DETACH,5.0397e-03,2.0398e-02,1.8228e-02,2.5633e+00,-3.7947e-02,3.8057e-02,-1.4097e-05,1.4287e-02,1.5153e-02,1.0732e-01,-9.8362e-04,8.4491e-04,-2.6199e-05,1.0932e-01,1.2969e-03
+25,1.9300e+01,DOWN_FORCE_DETACH,5.2499e-03,2.1724e-02,2.1665e-02,2.5716e+00,-3.8128e-02,3.8136e-02,4.1366e-06,1.5612e-02,1.8591e-02,1.1557e-01,-1.1654e-03,9.2359e-04,-7.9651e-06,1.1809e-01,1.4870e-03
+26,1.9850e+01,DOWN_FORCE_DETACH,5.4561e-03,2.2882e-02,2.4704e-02,2.5835e+00,-3.8295e-02,3.8199e-02,1.9041e-05,1.6770e-02,2.1629e-02,1.2745e-01,-1.3321e-03,9.8651e-04,6.9390e-06,1.3036e-01,1.6576e-03
+27,2.0350e+01,DOWN_FORCE_DETACH,5.6662e-03,2.2588e-02,2.8326e-02,2.5888e+00,-3.8552e-02,3.8172e-02,2.6140e-05,1.6476e-02,2.5251e-02,1.3280e-01,-1.5896e-03,9.5989e-04,1.4038e-05,1.3618e-01,1.8570e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..18f136a8ae947f39d83d60543a8fce274e9f654a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f60c48f1011da34f6381a1f2633c4cb468080fd9edea48a09b0f861a5365677
+size 5007360
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5e82a9debcff2a1d9a05eafa48297dc105c1d99
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21013cac2a38b34eedcc99f4a951f44e0cd241e8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93590df8d657c7299c0342d6ca9864441c5b6924
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef264ec504a6a28861751fadf693afbe3e694b99
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,8.666666667e-01,UP_FORCE_RAMP,1791363900093121680,-3.133607405e-06,3.881995191e-06,7.953680244e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.013034071e-07,7.390353883e-09,9.015542535e-09,7.015347379e-01,5.432956512e-06,8.407488949e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259374e-01,1.828979820e-06,8.297807116e-01
+7,1.016666667e+00,UP_FORCE_RAMP,1791363900322287404,-3.880179054e-06,6.138980519e-06,1.605607643e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.142191128e-07,8.540078760e-09,9.984314375e-09,7.015339913e-01,7.689941840e-06,8.407569973e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259503e-01,1.830129545e-06,8.297807125e-01
+8,1.116666667e+00,UP_FORCE_RAMP,1791363900463036591,-2.687978264e-06,3.055936513e-06,2.592270110e-05,-2.119323594e-07,1.154864253e-06,2.522649733e-05,-7.264898838e-08,1.192336605e-06,2.502071430e-05,7.015351835e-01,4.606897834e-06,8.407668639e-01,7.015376595e-01,2.705825574e-06,8.407661677e-01,7.017257635e-01,3.013926071e-06,8.298057233e-01
+9,1.250000000e+00,UP_FORCE_RAMP,1791363900661818883,-7.298655583e-06,2.665656321e-06,3.192548521e-05,-2.119323594e-07,1.154864253e-06,2.522649733e-05,-6.164464716e-08,1.193560518e-06,2.504028662e-05,7.015305728e-01,4.216617642e-06,8.407728667e-01,7.015376595e-01,2.705825574e-06,8.407661677e-01,7.017257745e-01,3.015149984e-06,8.298057428e-01
+10,1.383333333e+00,UP_FORCE_RAMP,1791363900865282211,-1.118294462e-05,3.141940521e-06,3.825219206e-05,-2.119323594e-07,1.154864253e-06,2.522649733e-05,-5.162500261e-08,1.194735010e-06,2.505417601e-05,7.015266885e-01,4.692901842e-06,8.407791934e-01,7.015376595e-01,2.705825574e-06,8.407661677e-01,7.017257845e-01,3.016324476e-06,8.298057567e-01
+11,1.483333333e+00,UP_FORCE_RAMP,1791363901022729436,-1.610369607e-05,3.923582109e-06,4.520869495e-05,-1.324715207e-05,-1.524312209e-06,4.096896134e-05,-1.330831499e-05,-1.485911826e-06,4.077745770e-05,7.015217678e-01,5.474543430e-06,8.407861499e-01,7.015246243e-01,2.664911232e-08,8.407819101e-01,7.017125278e-01,3.356776400e-07,8.298214800e-01
+12,1.600000000e+00,UP_FORCE_RAMP,1791363901192882333,-1.987760222e-05,6.400516140e-06,5.197521305e-05,-1.324715207e-05,-1.524312209e-06,4.096896134e-05,-1.330811972e-05,-1.485552401e-06,4.079697290e-05,7.015179939e-01,7.951477462e-06,8.407929164e-01,7.015246243e-01,2.664911232e-08,8.407819101e-01,7.017125280e-01,3.360370648e-07,8.298214995e-01
+13,1.716666667e+00,UP_FORCE_RAMP,1791363901363602839,-2.445765865e-05,-2.003471589e-06,5.816826917e-05,-2.413286553e-05,-2.222119710e-06,5.797448114e-05,-2.435955089e-05,-2.193830877e-06,5.764172998e-05,7.015134138e-01,-4.525102684e-07,8.407991095e-01,7.015137386e-01,-6.711583884e-07,8.407989157e-01,7.017014766e-01,-3.722414110e-07,8.298383443e-01
+14,1.833333333e+00,UP_FORCE_RAMP,1791363901542851455,-2.566509483e-05,-5.686389429e-07,7.355424576e-05,-2.413286553e-05,-2.222119710e-06,5.797448114e-05,-2.437246788e-05,-2.194079073e-06,5.767669342e-05,7.015122064e-01,9.823223781e-07,8.408144954e-01,7.015137386e-01,-6.711583884e-07,8.407989157e-01,7.017014637e-01,-3.724896069e-07,8.298383792e-01
+15,1.966666667e+00,UP_FORCE_RAMP,1791363901743014427,-2.275783608e-05,-1.420541649e-06,9.651271400e-05,-2.204327528e-05,-2.451528884e-06,7.987287658e-05,-2.216642546e-05,-2.398683221e-06,7.943965582e-05,7.015151136e-01,1.304196717e-07,8.408374539e-01,7.015158282e-01,-9.005675633e-07,8.408208141e-01,7.017036697e-01,-5.770937549e-07,8.298601422e-01
+16,2.050000000e+00,UP_FORCE_RAMP,1791363901862237610,-2.354253228e-05,1.864611702e-06,1.050939520e-04,-2.300339447e-05,-4.140098727e-07,1.026509165e-04,-2.309783419e-05,-4.246348388e-07,1.020120898e-04,7.015143289e-01,3.415573023e-06,8.408460351e-01,7.015148681e-01,1.136951448e-06,8.408435921e-01,7.017027383e-01,1.396954627e-06,8.298827146e-01
+17,2.166666667e+00,UP_FORCE_RAMP,1791363902042258437,-2.445260547e-05,4.679743044e-06,1.228419654e-04,-2.420816836e-05,4.755665919e-06,1.229820072e-04,-2.418574680e-05,4.775083859e-06,1.223082390e-04,7.015134189e-01,6.230704365e-06,8.408637832e-01,7.015136633e-01,6.306627241e-06,8.408639232e-01,7.017016504e-01,6.596673325e-06,8.299030108e-01
+18,2.266666667e+00,UP_FORCE_RAMP,1791363902192250537,-2.587480395e-05,6.806134327e-06,1.341784710e-04,-2.420816836e-05,4.755665919e-06,1.229820072e-04,-2.418822961e-05,4.781242946e-06,1.223641830e-04,7.015119967e-01,8.357095648e-06,8.408751197e-01,7.015136633e-01,6.306627241e-06,8.408639232e-01,7.017016479e-01,6.602832412e-06,8.299030667e-01
+19,2.350000000e+00,UP_FORCE_RAMP,1791363902322395352,-2.894180937e-05,5.565645302e-06,1.446648619e-04,-2.887984609e-05,5.612336214e-06,1.445503482e-04,-2.894851859e-05,5.629099991e-06,1.437349841e-04,7.015089297e-01,7.116606623e-06,8.408856060e-01,7.015089916e-01,7.163297536e-06,8.408854915e-01,7.016968876e-01,7.450689457e-06,8.299244375e-01
+20,2.483333333e+00,UP_FORCE_RAMP,1791363902522385547,-3.047341641e-05,2.606435520e-06,1.625507698e-04,-2.887984609e-05,5.612336214e-06,1.445503482e-04,-2.895633381e-05,5.632266821e-06,1.438107982e-04,7.015073981e-01,4.157396841e-06,8.409034920e-01,7.015089916e-01,7.163297536e-06,8.408854915e-01,7.016968798e-01,7.453856287e-06,8.299245134e-01
+21,2.583333333e+00,UP_FORCE_RAMP,1791363902663263020,-3.375346710e-05,2.066343449e-06,1.748395743e-04,-3.085917972e-05,7.875773468e-06,1.652956136e-04,-3.088186302e-05,7.894436299e-06,1.644797860e-04,7.015041180e-01,3.617304770e-06,8.409157808e-01,7.015070123e-01,9.426734789e-06,8.409062368e-01,7.016949543e-01,9.716025765e-06,8.299451823e-01
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+23,2.800000000e+00,UP_FORCE_RAMP,1791363902992377192,-3.355999843e-05,7.267327378e-06,2.062865439e-04,-3.318580976e-05,4.283563616e-06,1.872321225e-04,-3.316865479e-05,4.318523226e-06,1.863349641e-04,7.015043115e-01,8.818288699e-06,8.409472277e-01,7.015046857e-01,5.834524937e-06,8.409281733e-01,7.016926675e-01,6.140112692e-06,8.299670375e-01
+24,2.916666667e+00,UP_FORCE_RAMP,1791363903164445393,-3.336682024e-05,6.828861665e-06,2.233683052e-04,-3.242188048e-05,6.168576437e-06,2.084079039e-04,-3.233938133e-05,6.185779828e-06,2.074126801e-04,7.015045047e-01,8.379822986e-06,8.409643095e-01,7.015054496e-01,7.719537758e-06,8.409493491e-01,7.016934967e-01,8.007369295e-06,8.299881152e-01
+25,3.016666667e+00,UP_FORCE_RAMP,1791363903322396315,-3.095042176e-05,1.009382012e-05,2.424701144e-04,-3.418536151e-05,9.747916514e-06,2.283193426e-04,-3.403974371e-05,9.742232844e-06,2.272069543e-04,7.015069211e-01,1.164478144e-05,8.409834113e-01,7.015036861e-01,1.129887784e-05,8.409692605e-01,7.016917964e-01,1.156382231e-05,8.300079095e-01
+26,3.116666667e+00,UP_FORCE_RAMP,1791363903462507748,-3.142670415e-05,1.004789422e-05,2.545843512e-04,-3.026702483e-05,7.671585875e-06,2.508822937e-04,-2.994874340e-05,7.690183671e-06,2.497384792e-04,7.015064448e-01,1.159885554e-05,8.409955255e-01,7.015076045e-01,9.222547196e-06,8.409918235e-01,7.016958874e-01,9.511773137e-06,8.300304410e-01
+27,3.233333333e+00,UP_FORCE_RAMP,1791363903654449844,-3.028384526e-05,6.727677101e-06,2.734981749e-04,-3.022847696e-05,6.432493450e-06,2.734267888e-04,-2.989518039e-05,6.452768927e-06,2.721702688e-04,7.015075876e-01,8.278638423e-06,8.410144394e-01,7.015076430e-01,7.983454771e-06,8.410143680e-01,7.016959409e-01,8.274358393e-06,8.300528728e-01
+28,3.350000000e+00,UP_FORCE_RAMP,1791363903831237548,-3.398296754e-05,9.383467797e-06,2.879500606e-04,-3.022847696e-05,6.432493450e-06,2.734267888e-04,-2.989575483e-05,6.454508186e-06,2.722645333e-04,7.015038885e-01,1.093442912e-05,8.410288912e-01,7.015076430e-01,7.983454771e-06,8.410143680e-01,7.016959404e-01,8.276097652e-06,8.300529671e-01
+29,3.466666667e+00,UP_FORCE_RAMP,1791363904008251407,-3.046045425e-05,9.993914565e-06,3.073989492e-04,-3.234565587e-05,1.026279729e-05,2.942313489e-04,-3.189366485e-05,1.026566789e-05,2.929635332e-04,7.015074110e-01,1.154487589e-05,8.410483401e-01,7.015055258e-01,1.181375861e-05,8.410351725e-01,7.016939425e-01,1.208725736e-05,8.300736661e-01
+30,3.583333333e+00,UP_FORCE_RAMP,1791363904186701145,-3.367956705e-05,8.174392354e-06,3.173421035e-04,-3.276726928e-05,1.412935172e-05,3.145666841e-04,-3.228632968e-05,1.412531731e-05,3.132814312e-04,7.015041919e-01,9.725353675e-06,8.410582833e-01,7.015051042e-01,1.568031304e-05,8.410555079e-01,7.016935498e-01,1.594690678e-05,8.300939840e-01
+31,3.683333333e+00,UP_FORCE_RAMP,1791363904336149226,-3.105901810e-05,8.536775400e-06,3.335994897e-04,-3.276726928e-05,1.412935172e-05,3.145666841e-04,-3.228642978e-05,1.412804359e-05,3.133512214e-04,7.015068125e-01,1.008773672e-05,8.410745407e-01,7.015051042e-01,1.568031304e-05,8.410555079e-01,7.016935497e-01,1.594963306e-05,8.300940538e-01
+32,3.816666667e+00,UP_FORCE_RAMP,1791363904580690045,-3.107613123e-05,1.143600660e-05,3.542922337e-04,-3.130660220e-05,1.253030006e-05,3.385497394e-04,-3.077205706e-05,1.251469800e-05,3.372127346e-04,7.015067954e-01,1.298696792e-05,8.410952334e-01,7.015065649e-01,1.408126138e-05,8.410794909e-01,7.016950641e-01,1.433628747e-05,8.301179153e-01
+33,3.916666667e+00,UP_FORCE_RAMP,1791363904754435677,-3.153942546e-05,1.108315483e-05,3.647422456e-04,-2.989325905e-05,1.172905819e-05,3.588940708e-04,-2.919519509e-05,1.171238786e-05,3.574700864e-04,7.015063321e-01,1.263411615e-05,8.411056834e-01,7.015079782e-01,1.328001951e-05,8.410998353e-01,7.016966409e-01,1.353397733e-05,8.301381726e-01
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+41,4.900000000e+00,UP_FORCE_RAMP,1791363906226052565,-3.364418738e-05,1.193354979e-05,4.459356981e-04,-3.145896123e-05,1.269363839e-05,4.407133657e-04,-3.049440503e-05,1.271836497e-05,4.393777852e-04,7.015042273e-01,1.348451111e-05,8.411868769e-01,7.015064125e-01,1.424459971e-05,8.411816546e-01,7.016953417e-01,1.453995444e-05,8.302200803e-01
+42,5.016666667e+00,UP_FORCE_RAMP,1791363906393694874,-3.635885293e-05,1.063980518e-05,4.515803041e-04,-3.145896123e-05,1.269363839e-05,4.407133657e-04,-3.049418492e-05,1.271922978e-05,4.394488601e-04,7.015015126e-01,1.219076650e-05,8.411925215e-01,7.015064125e-01,1.424459971e-05,8.411816546e-01,7.016953419e-01,1.454081925e-05,8.302201514e-01
+43,5.183333333e+00,UP_FORCE_RAMP,1791363906654493402,-3.946413793e-05,1.202639334e-05,4.584914234e-04,-3.825094182e-05,1.210300759e-05,4.612565249e-04,-3.737975399e-05,1.212422425e-05,4.599391244e-04,7.014984073e-01,1.357735466e-05,8.411994326e-01,7.014996205e-01,1.365396891e-05,8.412021977e-01,7.016884564e-01,1.394581372e-05,8.302406417e-01
+44,5.300000000e+00,UP_FORCE_RAMP,1791363906825728518,-4.623530949e-05,1.261121579e-05,4.602509031e-04,-3.825094182e-05,1.210300759e-05,4.612565249e-04,-3.738435282e-05,1.212503042e-05,4.600146782e-04,7.014916362e-01,1.416217711e-05,8.412011921e-01,7.014996205e-01,1.365396891e-05,8.412021977e-01,7.016884518e-01,1.394661988e-05,8.302407172e-01
+45,5.450000000e+00,UP_FORCE_RAMP,1791363907054483550,-4.887819463e-05,1.069807334e-05,4.660776426e-04,-3.825094182e-05,1.210300759e-05,4.612565249e-04,-3.738935034e-05,1.212515836e-05,4.600976859e-04,7.014889933e-01,1.224903467e-05,8.412070188e-01,7.014996205e-01,1.365396891e-05,8.412021977e-01,7.016884468e-01,1.394674782e-05,8.302408002e-01
+46,5.600000000e+00,UP_FORCE_RAMP,1791363907274369941,-5.206381127e-05,8.715738245e-06,4.748839924e-04,-3.825094182e-05,1.210300759e-05,4.612565249e-04,-3.739423099e-05,1.212512502e-05,4.601726299e-04,7.014858077e-01,1.026669957e-05,8.412158252e-01,7.014996205e-01,1.365396891e-05,8.412021977e-01,7.016884419e-01,1.394671449e-05,8.302408752e-01
+47,5.733333333e+00,UP_FORCE_RAMP,1791363907474884482,-5.202368050e-05,1.152376015e-05,4.803901682e-04,-5.114242372e-05,1.422965037e-05,4.767012513e-04,-5.053110254e-05,1.423126190e-05,4.755090440e-04,7.014858478e-01,1.307472147e-05,8.412213314e-01,7.014867291e-01,1.578061170e-05,8.412176424e-01,7.016753050e-01,1.605285137e-05,8.302562116e-01
+48,5.866666667e+00,UP_FORCE_RAMP,1791363907674234499,-5.207966666e-05,1.206544592e-05,4.886443557e-04,-5.114242372e-05,1.422965037e-05,4.767012513e-04,-5.054244057e-05,1.423124372e-05,4.755756514e-04,7.014857918e-01,1.361640724e-05,8.412295855e-01,7.014867291e-01,1.578061170e-05,8.412176424e-01,7.016752937e-01,1.605283319e-05,8.302562782e-01
+49,5.983333333e+00,UP_FORCE_RAMP,1791363907854601748,-5.110426787e-05,1.295563147e-05,4.967384546e-04,-5.108325600e-05,1.291642620e-05,4.965618618e-04,-5.040748613e-05,1.295860442e-05,4.953511976e-04,7.014867672e-01,1.450659279e-05,8.412376796e-01,7.014867882e-01,1.446738752e-05,8.412375030e-01,7.016754286e-01,1.478019389e-05,8.302760537e-01
+50,6.083333333e+00,UP_FORCE_RAMP,1791363907993019532,-5.332953109e-05,9.520653591e-06,4.989172558e-04,-5.108325600e-05,1.291642620e-05,4.965618618e-04,-5.041458533e-05,1.295852664e-05,4.954208826e-04,7.014845420e-01,1.107161491e-05,8.412398584e-01,7.014867882e-01,1.446738752e-05,8.412375030e-01,7.016754215e-01,1.478011611e-05,8.302761234e-01
+51,6.200000000e+00,UP_FORCE_RAMP,1791363908174802235,-5.293958339e-05,1.155743699e-05,5.031309265e-04,-5.108325600e-05,1.291642620e-05,4.965618618e-04,-5.042168805e-05,1.295872524e-05,4.954794894e-04,7.014849319e-01,1.310839831e-05,8.412440721e-01,7.014867882e-01,1.446738752e-05,8.412375030e-01,7.016754144e-01,1.478031470e-05,8.302761820e-01
+52,6.333333333e+00,UP_FORCE_RAMP,1791363908374856979,-5.219759899e-05,1.175949779e-05,5.102720138e-04,-5.108325600e-05,1.291642620e-05,4.965618618e-04,-5.042977223e-05,1.295897453e-05,4.955395476e-04,7.014856739e-01,1.331045912e-05,8.412512132e-01,7.014867882e-01,1.446738752e-05,8.412375030e-01,7.016754064e-01,1.478056400e-05,8.302762421e-01
+53,6.516666667e+00,UP_FORCE_RAMP,1791363908655026196,-5.304793548e-05,1.252265598e-05,5.166104320e-04,-5.199821347e-05,1.007208300e-05,5.162392165e-04,-5.132003332e-05,1.009175043e-05,5.151726882e-04,7.014848235e-01,1.407361730e-05,8.412575516e-01,7.014858733e-01,1.162304432e-05,8.412571804e-01,7.016745161e-01,1.191333989e-05,8.302958752e-01
+54,6.633333333e+00,UP_FORCE_HOLD,1791363908825946820,-5.343082690e-05,1.338558487e-05,5.209919778e-04,-5.199821347e-05,1.007208300e-05,5.162392165e-04,-5.132653678e-05,1.009185907e-05,5.152310847e-04,7.014844407e-01,1.493654619e-05,8.412619332e-01,7.014858733e-01,1.162304432e-05,8.412571804e-01,7.016745096e-01,1.191344854e-05,8.302959336e-01
+55,6.783333333e+00,UP_FORCE_HOLD,1791363909054360423,-5.139398854e-05,1.680855803e-05,5.286932069e-04,-5.199821347e-05,1.007208300e-05,5.162392165e-04,-5.133478360e-05,1.009207028e-05,5.152940655e-04,7.014864775e-01,1.835951935e-05,8.412696344e-01,7.014858733e-01,1.162304432e-05,8.412571804e-01,7.016745013e-01,1.191365975e-05,8.302959966e-01
+56,6.950000000e+00,UP_FORCE_HOLD,1791363909293307488,-5.538056686e-05,1.041942657e-05,5.301086997e-04,-5.104908211e-05,1.555302868e-05,5.356270324e-04,-5.024503746e-05,1.558615985e-05,5.346207346e-04,7.014824909e-01,1.197038789e-05,8.412710499e-01,7.014868224e-01,1.710399000e-05,8.412765682e-01,7.016755911e-01,1.740774931e-05,8.303153233e-01
+57,7.116666667e+00,UP_FORCE_HOLD,1791363909530524646,-5.180017072e-05,1.367511406e-05,5.413656521e-04,-5.104908211e-05,1.555302868e-05,5.356270324e-04,-5.025182476e-05,1.558774587e-05,5.346969823e-04,7.014860713e-01,1.522607538e-05,8.412823068e-01,7.014868224e-01,1.710399000e-05,8.412765682e-01,7.016755843e-01,1.740933533e-05,8.303153995e-01
+58,7.250000000e+00,UP_FORCE_HOLD,1791363909733008102,-5.288917727e-05,1.589442707e-05,5.440403490e-04,-5.104908211e-05,1.555302868e-05,5.356270324e-04,-5.025772809e-05,1.558863275e-05,5.347477868e-04,7.014849823e-01,1.744538840e-05,8.412849815e-01,7.014868224e-01,1.710399000e-05,8.412765682e-01,7.016755784e-01,1.741022221e-05,8.303154503e-01
+59,7.433333333e+00,UP_SETTLE,1791363910010954462,-5.296760195e-05,1.570859851e-05,5.495734737e-04,-5.104908211e-05,1.555302868e-05,5.356270324e-04,-5.026600387e-05,1.558958576e-05,5.348098830e-04,7.014849039e-01,1.725955983e-05,8.412905147e-01,7.014868224e-01,1.710399000e-05,8.412765682e-01,7.016755701e-01,1.741117522e-05,8.303155124e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..539ce9e1b0e213777e53c668c6e104e0e58277d6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,6.2165e-03,3.0757e-03,2.4560e+00,-3.6963e-02,3.7219e-02,1.2417e-05,1.0437e-04,6.5938e-07,1.1444e-05,3.7253e-09,7.3761e-06,3.1148e-07,1.0499e-04,7.3826e-06
+1,1.3333e-01,UP_FORCE_RAMP,3.2457e-05,7.0134e-03,3.0821e-03,2.4561e+00,-3.6963e-02,3.7276e-02,1.4950e-05,9.0125e-04,7.0187e-06,9.3937e-05,6.7055e-08,6.3729e-05,2.8442e-06,9.0616e-04,6.3792e-05
+2,2.6667e-01,UP_FORCE_RAMP,5.9484e-05,7.7430e-03,3.0890e-03,2.4562e+00,-3.6963e-02,3.7328e-02,1.7517e-05,1.6309e-03,1.3925e-05,1.6236e-04,1.6391e-07,1.1547e-04,5.4114e-06,1.6390e-03,1.1560e-04
+3,4.3333e-01,UP_FORCE_RAMP,8.8978e-05,8.5873e-03,3.1007e-03,2.4562e+00,-3.6963e-02,3.7387e-02,2.0696e-05,2.4752e-03,2.5660e-05,2.3532e-04,1.4156e-07,1.7531e-04,8.5902e-06,2.4865e-03,1.7552e-04
+4,5.5000e-01,UP_FORCE_RAMP,1.1903e-04,9.1340e-03,3.1103e-03,2.4563e+00,-3.6963e-02,3.7426e-02,2.2892e-05,3.0219e-03,3.5288e-05,2.8038e-04,4.0978e-08,2.1407e-04,1.0786e-05,3.0350e-03,2.1434e-04
+5,7.1667e-01,UP_FORCE_RAMP,1.5220e-04,9.8568e-03,3.1260e-03,2.4563e+00,-3.6963e-02,3.7477e-02,2.5976e-05,3.7447e-03,5.0938e-05,3.3760e-04,-2.3097e-07,2.6535e-04,1.3870e-05,3.7602e-03,2.6571e-04
+6,8.6667e-01,UP_FORCE_RAMP,1.8346e-04,1.0454e-02,3.1416e-03,2.4564e+00,-3.6964e-02,3.7520e-02,2.8695e-05,4.3423e-03,6.6551e-05,3.8385e-04,-6.0350e-07,3.0778e-04,1.6589e-05,4.3597e-03,3.0822e-04
+7,1.0167e+00,UP_FORCE_RAMP,2.1371e-04,1.1008e-02,3.1583e-03,2.4564e+00,-3.6964e-02,3.7559e-02,3.1366e-05,4.8955e-03,8.3202e-05,4.2486e-04,-1.0617e-06,3.4706e-04,1.9260e-05,4.9146e-03,3.4759e-04
+8,1.1167e+00,UP_FORCE_RAMP,2.4025e-04,1.1293e-02,2.6187e-03,2.4487e+00,-3.6927e-02,3.7588e-02,3.3162e-05,5.1809e-03,-4.5636e-04,-7.2825e-03,3.5483e-05,3.7610e-04,2.1056e-05,8.9490e-03,3.7835e-04
+9,1.2500e+00,UP_FORCE_RAMP,2.7302e-04,1.1765e-02,2.6432e-03,2.4496e+00,-3.6928e-02,3.7621e-02,3.5414e-05,5.6526e-03,-4.3186e-04,-6.4011e-03,3.4552e-05,4.0882e-04,2.3308e-05,8.5505e-03,4.1094e-04
+10,1.3833e+00,UP_FORCE_RAMP,3.0551e-04,1.2201e-02,2.6677e-03,2.4502e+00,-3.6929e-02,3.7651e-02,3.7550e-05,6.0891e-03,-4.0738e-04,-5.7926e-03,3.3595e-05,4.3918e-04,2.5444e-05,8.4141e-03,4.4120e-04
+11,1.4833e+00,UP_FORCE_RAMP,3.3375e-04,1.6361e-02,3.7350e-03,2.4458e+00,-3.7004e-02,3.7952e-02,3.9684e-05,1.0249e-02,6.5995e-04,-1.0222e-02,-4.0691e-05,7.3967e-04,2.7578e-05,1.4490e-02,7.4130e-04
+12,1.6000e+00,UP_FORCE_RAMP,3.6162e-04,1.6334e-02,3.7495e-03,2.4466e+00,-3.7004e-02,3.7949e-02,4.1327e-05,1.0222e-02,6.7443e-04,-9.3679e-03,-4.1299e-05,7.3740e-04,2.9221e-05,1.3882e-02,7.3914e-04
+13,1.7167e+00,UP_FORCE_RAMP,3.9484e-04,1.6399e-02,3.7666e-03,2.4473e+00,-3.7005e-02,3.7954e-02,4.2978e-05,1.0287e-02,6.9159e-04,-8.6880e-03,-4.2118e-05,7.4161e-04,3.0872e-05,1.3483e-02,7.4345e-04
+14,1.8333e+00,UP_FORCE_RAMP,4.2348e-04,1.9536e-02,4.0366e-03,2.4430e+00,-3.7024e-02,3.8182e-02,4.4783e-05,1.3424e-02,9.6155e-04,-1.2995e-02,-6.1389e-05,9.6978e-04,3.2677e-05,1.8708e-02,9.7227e-04
+15,1.9667e+00,UP_FORCE_RAMP,4.5602e-04,1.8679e-02,4.0910e-03,2.4377e+00,-3.7029e-02,3.8127e-02,4.6728e-05,1.2567e-02,1.0160e-03,-1.8302e-02,-6.6251e-05,9.1537e-04,3.4622e-05,2.2225e-02,9.1842e-04
+16,2.0500e+00,UP_FORCE_RAMP,4.8532e-04,1.8852e-02,3.2539e-03,2.4315e+00,-3.6972e-02,3.8147e-02,4.7412e-05,1.2740e-02,1.7889e-04,-2.4488e-02,-8.9481e-06,9.3460e-04,3.5306e-05,2.7604e-02,9.3531e-04
+17,2.1667e+00,UP_FORCE_RAMP,5.1701e-04,1.8838e-02,3.3009e-03,2.4335e+00,-3.6975e-02,3.8144e-02,4.8803e-05,1.2726e-02,2.2582e-04,-2.2476e-02,-1.1839e-05,9.3213e-04,3.6697e-05,2.5829e-02,9.3293e-04
+18,2.2667e+00,UP_FORCE_RAMP,5.4586e-04,1.9053e-02,1.2037e-03,2.4288e+00,-3.6829e-02,3.8165e-02,4.9037e-05,1.2940e-02,-1.8713e-03,-2.7181e-02,1.3341e-04,9.5285e-04,3.6931e-05,3.0162e-02,9.6285e-04
+19,2.3500e+00,UP_FORCE_RAMP,5.7488e-04,1.9040e-02,1.2497e-03,2.4302e+00,-3.6832e-02,3.8163e-02,4.9964e-05,1.2928e-02,-1.8253e-03,-2.5764e-02,1.3061e-04,9.5078e-04,3.7858e-05,2.8884e-02,9.6046e-04
+20,2.4833e+00,UP_FORCE_RAMP,6.0720e-04,2.0257e-02,9.3958e-04,2.4260e+00,-3.6811e-02,3.8255e-02,5.1387e-05,1.4145e-02,-2.1355e-03,-2.9976e-02,1.5178e-04,1.0427e-03,3.9281e-05,3.3215e-02,1.0544e-03
+21,2.5833e+00,UP_FORCE_RAMP,6.3693e-04,2.0630e-02,4.4850e-05,2.4215e+00,-3.6749e-02,3.8287e-02,5.1898e-05,1.4518e-02,-3.0302e-03,-3.4478e-02,2.1347e-04,1.0746e-03,3.9792e-05,3.7532e-02,1.0963e-03
+22,2.7167e+00,UP_FORCE_RAMP,6.6869e-04,2.1070e-02,1.5431e-03,2.4174e+00,-3.6855e-02,3.8323e-02,5.3999e-05,1.4958e-02,-1.5319e-03,-3.8660e-02,1.0796e-04,1.1105e-03,4.1893e-05,4.1481e-02,1.1165e-03
+23,2.8000e+00,UP_FORCE_RAMP,6.9762e-04,2.0977e-02,1.5669e-03,2.4194e+00,-3.6856e-02,3.8315e-02,5.4526e-05,1.4865e-02,-1.5082e-03,-3.6599e-02,1.0656e-04,1.1028e-03,4.2420e-05,3.9531e-02,1.1088e-03
+24,2.9167e+00,UP_FORCE_RAMP,7.2952e-04,2.0517e-02,8.4920e-04,2.4155e+00,-3.6807e-02,3.8287e-02,5.4869e-05,1.4405e-02,-2.2259e-03,-4.0490e-02,1.5543e-04,1.0747e-03,4.2763e-05,4.3033e-02,1.0867e-03
+25,3.0167e+00,UP_FORCE_RAMP,7.6026e-04,2.0862e-02,-5.4162e-04,2.4119e+00,-3.6712e-02,3.8316e-02,5.4811e-05,1.4749e-02,-3.6167e-03,-4.4151e-02,2.5136e-04,1.1039e-03,4.2705e-05,4.6690e-02,1.1330e-03
+26,3.1167e+00,UP_FORCE_RAMP,7.8720e-04,1.9445e-02,3.3155e-04,2.4073e+00,-3.6774e-02,3.8220e-02,5.5745e-05,1.3333e-02,-2.7435e-03,-4.8744e-02,1.8939e-04,1.0084e-03,4.3639e-05,5.0609e-02,1.0269e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..5cd371568aaa357e6070e8e49b042f009ae0fca4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:d76da9a81d6c353ec593435dc142817c7395083bb1bd07f98782a159295d81d3
+size 4669440
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..796e8448c00a2260ed0ba555b964479f9d6590b7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15949ac5a73b2b5ed0ff9dffb80716bad9efe5bf
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+11654,1791363985002681988,2936382000000,1791363984998259342,DOWN_FORCE_DETACH,6,0.0505,0.05053050071001053,0.6760088551033105,-0.004741671316805556,0.0908966862410577,0.9999999768998232,0.0001249582643408551,-0.00014014134631716682,4.8877936206361655e-05,0.6761,-0.0048,0.09099998369999965,1.0,0.0,0.0,0.0,-0.01618668032584085,-0.014866041318383216,-0.23437911661502048,-0.000984304400356975,0.0011268679387118406,-0.0006443484255172791,0.054541812157683334,-0.02249825753834757,-0.17234134430087447,-0.00295746605645982,-0.0018444062999963817,-0.001982476396482575,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.39475656088217015,-0.27395361217497866,0.9978098731537102,0.2072576255633884,-0.5238342387536039,-0.24563876299409712,0.5954971238671044,0.23437911661502048,-0.40231274928660576,-0.40231274928660576,0.0015599999999999998,0,0,-1.2999999924031612e-06,-9.999999025923074e-05
+11826,1791363986435596925,2937815000000,1791363986434249765,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760057957976151,-0.004748291712385359,0.09085465526847156,0.9999999779078789,0.00011195214759121822,-0.00014313198337105647,5.105935903922573e-05,0.6761,-0.0048,0.0909468194100188,1.0,0.0,0.0,0.0,-0.02163005182773036,-0.005443251734311746,-0.2115815425485883,-0.0010137622533532517,0.0020620918219112607,-0.0006591869562031676,0.04909844065579382,-0.0130754679542761,-0.14954377023444232,-0.0029869239094560966,-0.0009091824167969617,-0.0019973149271684636,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.5086029353730483,-0.29931980978584377,0.7639473396617984,0.2290930319278199,-0.3573594879276029,-0.26478457107685704,0.5954971238671044,0.2115815425485883,-0.168450215794694,-0.168450215794694,0.0875400000000008,0,0,-7.294998603388082e-05,-9.999999025923074e-05
+11971,1791363987643583982,2939023000000,1791363987638259115,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760122567722016,-0.0047438078589370275,0.0907475322344762,0.9999999836358007,7.673492833326813e-05,-0.00013312069842727156,2.3704287316607465e-05,0.6761,-0.0048,0.09082243938285571,1.0,0.0,0.0,0.0,-0.022481823359264345,-0.0120380710715242,-0.13403189622479691,-0.0010301634633861517,0.0020367026062446925,-0.0005347158651041774,0.04824666912425984,-0.019670287291488554,-0.07199412391065092,-0.0030033251194889967,-0.0009345716324635298,-0.0018728438360694733,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.5866504407691088,-0.3111434745812318,0.7631179391344335,0.2566323769060241,-0.3410805589405066,-0.2686524956790276,0.5954971238671044,0.13403189622479691,-0.16762081526732908,-0.16762081526732908,0.1600200000000062,0,0,-0.00013208153828578174,-9.999999025923074e-05
+12106,1791363988768650759,2940148000000,1791363988762259342,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760339877391537,-0.004745500214114415,0.09062522011689778,0.9999999874903959,7.840624079898556e-05,-9.838417705210205e-05,2.520094724106656e-05,0.6761,-0.0048,0.09066514884152262,1.0,0.0,0.0,0.0,-0.032190205242813456,0.000922724614057297,-0.049689289874099506,-0.0010731069176560296,0.0030231118537678153,-0.00047368011622632975,0.03853828724071073,-0.006709491605907057,0.012348482440046488,-0.0030462685737588746,5.183761505959285e-05,-0.0018118080871916257,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6361394284695417,-0.4013343817810475,0.5870775300770397,0.2872121773453218,-0.2291771520935904,-0.32665808263608065,0.5954971238671044,0.049689289874099506,0.008419593790064739,0.008419593790064739,0.22752000000001127,0,0,-0.00013807219497765266,6.678738638065431e-05
+12244,1791363989918606198,2941298000000,1791363989918259835,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760371989606371,-0.0047484012052913145,0.09048776294035372,0.9999999832553708,0.00012469485903493553,-9.306539617709995e-05,2.6872786744551034e-05,0.6761,-0.0048,0.09052073180041567,1.0,0.0,0.0,0.0,-0.032623425707301576,-0.007239032036953626,0.038100988373394984,-0.0010965819339584185,0.0030084919965737726,0.00019083449573102044,0.03810506677622261,-0.01487124825691798,0.10013876068754098,-0.0030697435900612635,3.721775786555006e-05,-0.0011472934752342755,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6804070493909131,-0.31989594344991207,0.5062564061580743,0.29058058755248095,-0.17219678754633233,-0.26117957951107124,0.5954971238671044,0.038100988373394984,0.08924071770903008,0.08924071770903008,0.29652000000001644,0,0,-0.00011288279204021834,-9.607363102149264e-05
+12391,1791363991143607251,2942523000000,1791363991142250273,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760385595325776,-0.004749663598089409,0.09037533701787132,0.9999999836131606,0.00012046978871898083,-9.169586873898504e-05,3.5992231995453315e-05,0.6761,-0.0048,0.09040109791154764,1.0,0.0,0.0,0.0,-0.03259610137043691,-0.01330284885421262,0.1248855033737205,-0.0011141748794497547,0.002990156065204173,0.00012078044117174347,0.03813239111308727,-0.020935065074176973,0.18692327568786649,-0.0030873365355525996,1.8881826495950646e-05,-0.0012173475297935525,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7214344895498953,-0.26912844520122436,0.3490847478407378,0.28041174743671676,-0.061687603669513855,-0.22747825131505248,0.5954971238671044,0.1248855033737205,0.24641237602636662,0.24641237602636662,0.37002000000002194,0,0,-8.591025938278906e-05,9.956016153023767e-05
+12556,1791363992518682994,2943898000000,1791363992518249316,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.676045562070442,-0.0047546382069726,0.09027847752441297,0.9999999849771701,0.00011244611495982061,-8.365439095884875e-05,4.296903604136791e-05,0.6761,-0.0048,0.09029192503848198,1.0,0.0,0.0,0.0,-0.036145427381028834,-0.029784765239421338,0.1872499011181062,-0.0011291758276945224,0.0029781244595004277,6.994250604016455e-05,0.03458306510249535,-0.03741698145938569,0.2492876734322522,-0.0031023374837973673,6.8502207922055504e-06,-0.0012681854649251314,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7376421769511712,-0.3395262423726096,0.32601412562690957,0.3014104363071748,-0.0441666614957902,-0.2760835643392163,0.5954971238671044,0.1872499011181062,0.26948299824019484,0.26948299824019484,0.4525200000000281,0,0,-7.452832471585425e-05,-9.993892799287635e-05
+12690,1791363993635622268,2945015000000,1791363993634250071,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760449561048049,-0.0047536001656796655,0.09019813507596229,0.9999999860045796,0.0001031792143464632,-8.456429943007439e-05,4.045533062674848e-05,0.6761,-0.0048,0.09021063752721839,1.0,0.0,0.0,0.0,-0.04150341661530843,-0.027847542954802327,0.23513299109688346,-0.002155983243471533,0.0029860566356043785,1.9113420110304907e-05,0.029225075868215752,-0.03547975917476668,0.29717076341102944,-0.004129144899574378,1.4782396896156344e-05,-0.001319014550854991,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8039513998264771,-0.3830447285152819,0.18739358014474536,0.31604001365034884,0.0590203648852077,-0.30464227216686707,0.5954971238671044,0.23513299109688346,0.408103543722359,0.408103543722359,0.5195400000000151,0,0,-7.287200767917673e-05,6.0708423359425074e-05
+12830,1791363994801603713,2946181000000,1791363994798258998,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760520281575007,-0.004754416760302677,0.09012726579047883,0.9999999878948295,9.486958053965319e-05,-7.162473755632892e-05,3.902390223850525e-05,0.6761,-0.0048,0.09012610003238125,1.0,0.0,0.0,0.0,-0.0420076724962105,-0.02883014551600478,0.27741037805536184,-0.0015187930374704938,0.0029655652936253114,-1.4149217472961923e-05,0.02872081998731368,-0.03646236173596913,0.3394481503695078,-0.0034919546935733388,-5.708945082910946e-06,-0.0013522771884382579,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.752342349610787,-0.3805279352939339,0.15696452233529543,0.32361038922663476,0.05918818279495753,-0.2999443536827978,0.5954971238671044,0.27741037805536184,0.43853260153180895,0.43853260153180895,0.5894999999999556,0,0,-7.479183529032619e-05,-9.8356679771544e-05
+12982,1791363996068655643,2947448000000,1791363996066250118,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760516104457474,-0.004755236047018315,0.09003736898635653,0.9999999877398267,9.49708320025208e-05,-7.21186590164697e-05,4.174507105920927e-05,0.6761,-0.0048,0.09003216015920879,1.0,0.0,0.0,0.0,-0.04200831800335514,-0.028535494323503833,0.3373276582235825,-0.0022025430983825655,0.003977679076089125,-5.7774747132464206e-05,0.028720174480169048,-0.036167710543468186,0.3993654305377285,-0.0041757047544854105,0.0010064048373809025,-0.0013959027180977602,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8131315529385998,-0.32009614698564987,-0.02758528680834605,0.3056469436292335,0.19613244891661627,-0.2591869480341037,0.5954971238671044,0.3373276582235825,0.6230824106754504,0.6230824106754504,0.665519999999891,0,0,-7.621436415719695e-05,9.996986158189997e-05
+13138,1791363997368676365,2948748000000,1791363997362259378,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760567546404965,-0.004757512714289491,0.08994634115461328,0.9999999875538853,0.00010054807880670654,-6.372593236177858e-05,4.6520779705324775e-05,0.6761,-0.0048,0.08993208760679516,1.0,0.0,0.0,0.0,-0.04800549105704405,-0.02656805401881999,0.38747404636010885,-0.0022128738913069065,0.003966836653757725,-8.90388624440303e-05,0.022723001426480132,-0.034200270238784344,0.4495118186742548,-0.0041860355474097515,0.0009955624150495025,-0.0014271668334093263,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7891568094840282,-0.38303774660770645,-0.11623064110807904,0.334148488615049,0.2400690936506302,-0.29797849734794635,0.5954971238671044,0.38747404636010885,0.7117277649751834,0.7117277649751834,0.7435199999998247,0,0,-7.870619506547693e-05,9.99929958541756e-05
+13296,1791363998685580316,2950065000000,1791363998682259446,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760656708544541,-0.004756301346060147,0.08986269951988099,0.999999988676295,9.845240638685528e-05,-4.871893235628943e-05,4.498737081492777e-05,0.6761,-0.0048,0.08982809690893435,1.0,0.0,0.0,0.0,-0.04231973542681471,-0.024974551907461288,0.4363111052862184,-0.002222014599874568,0.0039560568536148085,-0.0001277995465401656,0.02840875705670947,-0.03260676812742564,0.4983488776003644,-0.004195176255977413,0.0009847826149065866,-0.0014659275175054616,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8682276092115513,-0.36407207281870635,-0.09727843310465319,0.33622140362820496,0.2437647132136781,-0.28313825514415525,0.5954971238671044,0.4363111052862184,0.6927755569717576,0.6927755569717576,0.8225399999997575,0,0,-8.060252410565538e-05,2.7715740291469742e-05
+13440,1791363999885634089,2951265000000,1791363999882259598,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760677364142456,-0.004758786564166293,0.08976863943948317,0.9999999887854494,9.801500773564252e-05,-4.517371140760682e-05,4.7163116060954645e-05,0.6761,-0.0048,0.08972974687935593,1.0,0.0,0.0,0.0,-0.05155534000277985,-0.033008451425957305,0.4864597605468117,-0.0022325376298434098,0.003946109111236721,-0.00016944903455566834,0.019173152480744336,-0.04064066764592166,0.5484975328609577,-0.004205699285946255,0.0009748348725284984,-0.0015075770055209643,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8592883337673729,-0.3167071986915214,-0.16194639256788987,0.3252351008093435,0.28140213836381245,-0.24889313287414688,0.5954971238671044,0.4864597605468117,0.7574435164349943,0.7574435164349943,0.8945399999996962,0,0,-8.22797589875079e-05,2.208974614822403e-07
+13582,1791364001068644257,2952448000000,1791364001066250234,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760732686612433,-0.004758360789043623,0.08968119725811442,0.9999999894306436,9.542584010418448e-05,-3.8683891338738016e-05,4.448643177264668e-05,0.6761,-0.0048,0.08963189533485794,1.0,0.0,0.0,0.0,-0.051644266481593946,-0.03186750961746529,0.5367113966876897,-0.002242013877591832,0.003935070111264944,-0.00021044766812712925,0.019084226001930236,-0.039499725837429646,0.5987491690018357,-0.004215175533694677,0.0009637958725567216,-0.0015485756390924252,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8369249819095426,-0.4175108718277188,-0.170248697804192,0.3709545364365532,0.27572948194066793,-0.3157603459656765,0.5954971238671044,0.5367113966876897,0.7657458216712965,0.7657458216712965,0.9655199999996359,0,0,-8.588798234707008e-05,-9.128400399316944e-05
+13716,1791364002185662288,2953565000000,1791364002178259343,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760779988607285,-0.004759853267959584,0.08959022224864145,0.9999999894524922,9.606353373314807e-05,-3.0108042758955482e-05,4.902227003280427e-05,0.6761,-0.0048,0.08953338584243754,1.0,0.0,0.0,0.0,-0.052069233694696106,-0.029661663522336523,0.5786571034758319,-0.0022771476529186777,0.004939376784245955,-0.0002277653061084949,0.018659258788828077,-0.037293879742300876,0.6406948757899779,-0.004250309309021523,0.0019681025455377324,-0.0015658932770737908,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8585543864959969,-0.3302084770384702,-0.3208048670912201,0.3433798888979121,0.3771168165434526,-0.2600462987578067,0.5954971238671044,0.5786571034758319,0.9163019909583245,0.9163019909583245,1.032539999999579,0,0,-8.801609112788077e-05,9.997251223937127e-05
+13863,1791364003410678724,2954790000000,1791364003410249715,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.676081257992702,-0.004760367993554585,0.08949192477196237,0.9999999907495212,8.462080959369761e-05,-2.4413175980928382e-05,4.676684102331472e-05,0.6761,-0.0048,0.08942404514548244,1.0,0.0,0.0,0.0,-0.052391731122134896,-0.037255086150087,0.6447080356791242,-0.0022911847542001268,0.004925326691404733,-0.00028170296808254554,0.018336761361389287,-0.044887302370051355,0.7067458079932701,-0.004264346410302972,0.0019540524526965104,-0.0016198309390478415,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8903204037441144,-0.4374047732381356,-0.3834981670746092,0.38009991820850886,0.42032648620305757,-0.3278493481889605,0.5954971238671044,0.6447080356791242,0.9789952909417137,0.9789952909417137,1.1060399999995165,0,0,-9.025020636791036e-05,9.707378931101402e-05
+13990,1791364004468611905,2955848000000,1791364004466249241,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760893595975908,-0.0047586985979328,0.08941022196371984,0.9999999917093778,7.769815188593617e-05,-1.3040634107849078e-05,4.262684335479041e-05,0.6761,-0.0048,0.0893283559590309,1.0,0.0,0.0,0.0,-0.06149118691695998,-0.03164233875904083,0.6883868185979934,-0.002297567546833728,0.0049155188446333795,-0.0003178388274248324,0.009237305566564198,-0.039274554979005186,0.7504245909121394,-0.004270729202936573,0.0019442446059251576,-0.0016559667983901284,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9114812195433394,-0.3246769157721116,-0.3756809822839126,0.35663093311196076,0.41771342001069484,-0.24941459733724314,0.5954971238671044,0.6883868185979934,0.971178106151017,0.971178106151017,1.1695199999994625,0,0,-8.887809508781175e-05,-9.990234614421496e-05
+14146,1791364005768631000,2957148000000,1791364005762258888,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760908523936663,-0.004761946564173612,0.08929198425080243,0.9999999920711391,7.26238813745164e-05,-1.1766005020057116e-05,4.345019142883635e-05,0.6761,-0.0048,0.08921112803695289,1.0,0.0,0.0,0.0,-0.05968935897812644,-0.04357126523697684,0.748366632176419,-0.0023113651394484945,0.004903971992074489,-0.0003663187986921569,0.011039133505397744,-0.051203481456941195,0.810404404490565,-0.0042845267955513395,0.0019326977533662669,-0.0017044467696574529,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9058761783300135,-0.37913024094267944,-0.5155880168717755,0.3735980002552927,0.5014504620900644,-0.2858293450623259,0.5954971238671044,0.748366632176419,1.1110851407388798,1.1110851407388798,1.2475199999993962,0,0,-9.318215527379247e-05,8.987840613284277e-05
+14298,1791364007035590399,2958415000000,1791364007034249150,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760958320394049,-0.004766610522624153,0.08918122026089582,0.9999999911606386,8.338706729098003e-05,-3.4632840680005296e-06,4.643478942144789e-05,0.6761,-0.0048,0.08909236929670998,1.0,0.0,0.0,0.0,-0.06770745144165805,-0.0515208792609426,0.798634965269249,-0.002321939835413029,0.004893978714974391,-0.00040790624216833593,0.003021041041866133,-0.059153095480906956,0.860672737583395,-0.004295101491515874,0.0019227044762661686,-0.0017460342131336319,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8924997993727141,-0.38748568791021665,-0.5476403093518961,0.3836625926008923,0.5128565154915979,-0.290071515723634,0.5954971238671044,0.798634965269249,1.1431374332190005,1.1431374332190005,1.3235399999993316,0,0,-9.647511680785226e-05,-8.332881193252035e-05
+14410,1791364007968686332,2959348000000,1791364007966249969,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760960423424558,-0.004766936476766658,0.0890883532922,0.999999990121184,9.393157048184215e-05,-5.69783702611528e-06,4.842407324733477e-05,0.6761,-0.0048,0.0890016396136276,1.0,0.0,0.0,0.0,-0.0619505084767519,-0.041170167625008997,0.8485006386004333,-0.002335556644694735,0.004882447409506052,-0.00012196067023405852,0.008777984006772283,-0.04880238384497335,0.9105384109145793,-0.00430871830079758,0.0019111731707978303,-0.0014600886411993545,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8746321136573909,-0.4659254556379529,-0.5653223555180124,0.4203459382344369,0.5171037679640564,-0.3359559225802783,0.5954971238671044,0.8485006386004333,1.1608194793851168,1.1608194793851168,1.379519999999284,0,0,-9.880418494065258e-05,-9.999999025923074e-05
+14544,1791364009085589484,2960465000000,1791364009082249497,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760963574624593,-0.004766211555969984,0.08897688385275429,0.9999999896914533,9.690257720004914e-05,-6.821885847572462e-06,5.121826142067875e-05,0.6761,-0.0048,0.08888937456338122,1.0,0.0,0.0,0.0,-0.06231118204379134,-0.041536272096907224,0.8967213553761934,-0.003393212152118216,0.005892884097334725,0.00031748567200415886,0.008417310439732848,-0.04916848831687158,0.9587591276903393,-0.005366373808221061,0.0029216098586265027,-0.001020642298961137,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8686799716529453,-0.4727546053315759,-0.6935006245897709,0.41588697840037486,0.5959408153048066,-0.34293602166066284,0.5954971238671044,0.8967213553761934,1.2889977484568753,1.2889977484568753,1.446539999999227,0,0,-0.00010473651971124186,8.832692496708034e-05
+14688,1791364010285674318,2961665000000,1791364010282259841,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761032726764923,-0.004769509390696851,0.08885941981734609,0.9999999904906893,8.611895038324406e-05,4.484948437593993e-06,5.499906714690204e-05,0.6761,-0.0048,0.08876077333545163,1.0,0.0,0.0,0.0,-0.0709292939947376,-0.0493865602312572,0.9387023301612164,-0.0033953858784575956,0.0058955082924229355,-0.0005138725945769782,-0.00020080151121341857,-0.05701877645122155,1.0007401024753624,-0.005368547534560441,0.0029242340537147136,-0.0018520005655422742,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9024699700763743,-0.4607827497612781,-0.7639595418211329,0.4229978822573558,0.6451673676914117,-0.3352645277239698,0.5954971238671044,0.9387023301612164,1.3594566656882372,1.3594566656882372,1.5185399999991658,0,0,-0.00011007390924158843,7.461306158885179e-05
+14814,1791364011335572302,2962715000000,1791364011330259856,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761042442633297,-0.004770618053532689,0.08874390608567358,0.999999990145491,8.698456518993566e-05,6.470949049984698e-06,5.9528938974592087e-05,0.6761,-0.0048,0.08863961315667222,1.0,0.0,0.0,0.0,-0.07143420534824031,-0.049965183664294484,0.9792641849244649,-0.003412042444120962,0.005881433515371106,0.0004704272375394722,-0.0007057128647161359,-0.05759739988425884,1.0413019572386109,-0.005385204100223807,0.002910159276662884,-0.0008677007334258238,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9062167397245354,-0.39451772644009014,-0.7756464188264556,0.4077140538566097,0.6492380508342177,-0.29071347300625683,0.5954971238671044,0.9792641849244649,1.3711435426935599,1.3711435426935599,1.5815399999991122,0,0,-0.0001182709144306078,-8.047434295680377e-05
+14930,1791364012301646156,2963681000000,1791364012294250533,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6761053562831802,-0.004769469886116573,0.08862605753776774,0.9999999897585832,9.195869637568145e-05,6.111123609936292e-06,5.858285053901523e-05,0.6761,-0.0048,0.0885216667686458,1.0,0.0,0.0,0.0,-0.07126753819678394,-0.05721459684350511,1.019377172036759,-0.0034207738531850636,0.005873375220004282,0.00044469776003063465,-0.0005390457132597604,-0.06484681306346947,1.0814149443509051,-0.005393935509287909,0.0029021009812960595,-0.0008934302109346613,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8995081530856448,-0.41498669695867363,-0.8347760255009297,0.42523645712380914,0.6828805368971841,-0.3031754409954832,0.5954971238671044,1.019377172036759,1.430273149368034,1.430273149368034,1.639499999999063,0,0,-0.00012914561646215113,3.6459657409432526e-05
+15047,1791364013276607799,2964656000000,1791364013274250615,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761115423944467,-0.004773004618925259,0.08850643458590811,0.9999999890559375,9.92006571048076e-05,1.5687514043999296e-05,5.695718350555773e-05,0.6761,-0.0048,0.08839239989180608,1.0,0.0,0.0,0.0,-0.0713856593969301,-0.06213252051828717,1.059495702905401,-0.0034291053724673044,0.005865140241781981,0.0004123297919518857,-0.0006571669134059185,-0.06976473673825152,1.1215334752195472,-0.005402267028570149,0.0028938660030737593,-0.0009257981790134102,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8905367921769983,-0.4521735405470774,-0.7650644978398861,0.44434284365694443,0.6313197228045099,-0.32792485745015515,0.5954971238671044,1.059495702905401,1.3605616217069905,1.3605616217069905,1.6979999999990132,0,0,-0.00013998223614561234,-9.999811675787668e-05
+15158,1791364014201612315,2965581000000,1791364014194250165,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761159891294075,-0.004776991593387479,0.08837738459356867,0.9999999886778314,9.961150791066953e-05,2.2218356689959923e-05,6.0589550854239066e-05,0.6761,-0.0048,0.0882562603549095,1.0,0.0,0.0,0.0,-0.08062319339310496,-0.06453588653057671,1.0792146711898454,-0.0034261661944965044,0.00586535012196299,-0.0004037027864910005,-0.009894700909580783,-0.07216810275054106,1.1412524435039915,-0.005399327850599349,0.002894075883254768,-0.0017418307574562965,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8875265274340325,-0.4408304505577211,-0.8920840156193444,0.4550078571053246,0.7072760236193891,-0.318256004389629,0.5954971238671044,1.0792146711898454,1.4875811394864487,1.4875811394864487,1.753499999998966,0,0,-0.00015717287821011335,-2.4024627246434953e-05
+15263,1791364015076678047,2966456000000,1791364015074250460,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6761121250555411,-0.004779803367255253,0.08822881728476441,0.99999998906345,9.418438331124218e-05,1.397094095480336e-05,6.519263035190562e-05,0.6761,-0.0048,0.08811220817902801,1.0,0.0,0.0,0.0,-0.071462384154852,-0.061469043231559974,1.0996215901928423,-0.003436512112365576,0.005856553875671301,0.0003798936345016712,-0.000733891671327807,-0.06910125945152433,1.1616593625069884,-0.005409673768468421,0.0028852796369630783,-0.0009582343364636247,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8560391965012806,-0.44241492931054954,-0.856083465364763,0.4644115547397016,0.6750831848998204,-0.31925705745019695,0.5954971238671044,1.0996215901928423,1.4515805892318674,1.4515805892318674,1.8059999999989214,0,0,-0.00017131884906126794,-9.973856049250713e-05
+15359,1791364015876679175,2967256000000,1791364015870250344,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761066722831239,-0.004781066979601735,0.08807435014379178,0.999999989083807,9.254969687272479e-05,4.16238563229264e-06,6.850166634060878e-05,0.6761,-0.0048,0.08796717457726037,1.0,0.0,0.0,0.0,-0.07097961639589348,-0.06722276089544804,1.109168921018087,-0.004376261513684972,0.005871915425211096,0.0003616684614037046,-0.00025112391236929634,-0.07485497711541239,1.1712066933322332,-0.006349423169787817,0.0029006411865028733,-0.0009764595095615913,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8984434578602053,-0.4271148134401491,-0.9813556877170476,0.46964803389377996,0.7596305989170696,-0.3112533526342199,0.5954971238671044,1.109168921018087,1.576852811584152,1.576852811584152,1.8539999999988805,0,0,-0.0001921981726590597,9.860795099759229e-05
+15449,1791364016626585430,2968006000000,1791364016626260126,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6761074954738977,-0.004784129703344195,0.08792248867570768,0.9999999887314963,9.42651095954331e-05,4.591172403226003e-06,7.122416620990869e-05,0.6761,-0.0048,0.08781655739938747,1.0,0.0,0.0,0.0,-0.07072877444013483,-0.0667513470200668,1.1091106293225743,-0.004459311316547855,0.0058737100370434975,-4.502030394437379e-05,-2.8195661063825706e-07,-0.07438356324003115,1.1711484016367204,-0.0064324729726507,0.002902435798335275,-0.0013831482749096697,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8464507254838086,-0.44566935555221604,-0.9954936079833641,0.48117796082861214,0.7544908131056522,-0.3204305694186914,0.5954971238671044,1.1091106293225743,1.5909907318504684,1.5909907318504684,1.8989999999988423,0,0,-0.00021264733253836964,9.625232141730606e-05
+15539,1791364017376636947,2968756000000,1791364017374259895,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761040158313862,-0.00478809597079769,0.08774949836410129,0.9999999878610488,9.978738334916728e-05,-1.5386620406921997e-06,7.59004421918321e-05,0.6761,-0.0048,0.08764624210258823,1.0,0.0,0.0,0.0,-0.06902091728979706,-0.07039924138521012,1.1179625808584879,-0.004460951143185768,0.005871776318492091,0.00035386618331541275,0.0017075751937271231,-0.07803145760517446,1.180000353172634,-0.006434112799288613,0.002900502079783868,-0.0009842617876498832,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8540890146875313,-0.46377448512370645,-0.8765991694013935,0.5170176993444994,0.6785995066162056,-0.3255364748525767,0.5954971238671044,1.1179625808584879,1.472096293268498,1.472096293268498,1.943999999998804,0,0,-0.0002411719197501202,-9.999857472487434e-05
+15617,1791364018026573574,2969406000000,1791364018022251225,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761053272487069,-0.004788868585654764,0.0875880665159737,0.9999999878758414,9.84295937661695e-05,4.4938300133833243e-07,7.74764126806822e-05,0.6761,-0.0048,0.08748036467810874,1.0,0.0,0.0,0.0,-0.07020333238564656,-0.0700549717261918,1.1132352647963277,-0.004459841663783753,0.005873033730876203,0.00036118407254448633,0.0005251600978776216,-0.07768718794615614,1.1752730371104738,-0.006433003319886598,0.0029017594921679807,-0.0009769438984208096,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8151173122871105,-0.5117358370322234,-0.930076022244295,0.5318025843197574,0.7031198506451143,-0.3599583560522433,0.5954971238671044,1.1132352647963277,1.5255731461113995,1.5255731461113995,1.9829999999987709,0,0,-0.00026920193405314787,-5.307250787146389e-05
+15698,1791364018701689752,2970081000000,1791364018694259683,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761024766364072,-0.004795994888172962,0.08739453382571775,0.9999999886156052,8.679525668585286e-05,-2.6277283875047626e-06,8.167822402256149e-05,0.6761,-0.0048,0.087288315443608,1.0,0.0,0.0,0.0,-0.07088404288011456,-0.06755165564054431,1.1193265504136929,-0.004461932318278338,0.00586979996535153,0.00034727430177926874,-0.00015555039659037007,-0.07518387186050866,1.181364322727839,-0.006435093974381183,0.002898525726643307,-0.0009908536691860272,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8006366213773096,-0.44542167437059615,-0.9447078754977905,0.5249268842458169,0.7069680594339627,-0.31697849368821657,0.5954971238671044,1.1193265504136929,1.540204999364895,1.540204999364895,2.0234999999987364,0,0,-0.0002992643669444143,6.471225918869834e-05
+15779,1791364019376686259,2970756000000,1791364019374249885,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.676107786639997,-0.004790731118186298,0.0871916870465891,0.9999999881076814,9.293039595087451e-05,5.353591821324059e-06,8.101099815925874e-05,0.6761,-0.0048,0.08707681364295256,1.0,0.0,0.0,0.0,-0.06510508590115596,-0.07284990925860792,1.1152446926684152,-0.004459379001039385,0.005872995484529822,0.0003590956907798444,0.005623406582368214,-0.08048212547857227,1.1772824649825613,-0.00643254065714223,0.0029017212458216,-0.0009790322801854516,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.775798874127214,-0.40677281790598274,-0.8776555758904444,0.5291660168931844,0.655578518575052,-0.2851746191876583,0.5954971238671044,1.1152446926684152,1.4731526997575488,1.4731526997575488,2.063999999998702,0,0,-0.00032816449984793126,-9.999999025923074e-05
+15845,1791364019926652780,2971306000000,1791364019926250090,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6761045957142878,-0.004796430727821579,0.08700490068994482,0.9999999863017598,0.00010807241135231676,6.084989840949729e-08,8.46149799581199e-05,0.6761,-0.0048,0.08688949142876348,1.0,0.0,0.0,0.0,-0.07072104970987944,-0.07642763416512921,1.1192839772978582,-0.004462043437516083,0.005872027374161374,0.00035258464190216507,7.442773644742535e-06,-0.08405985038509356,1.1813217496120043,-0.006435205093618928,0.002900753135453152,-0.0009855433290631309,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8084684781896601,-0.4234005171397477,-0.8775438611463631,0.5471396603766961,0.6651348210260257,-0.29600596240039206,0.5954971238671044,1.1192839772978582,1.4730409850134674,1.4730409850134674,2.096999999998674,0,0,-0.00035238656482669404,-9.837501232923813e-05
+15907,1791364020443591179,2971823000000,1791364020442250060,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761040331844306,-0.0047952139437253925,0.08681561491168419,0.9999999867132587,0.00010260095987542695,-2.9571123786588253e-07,8.654075547817658e-05,0.6761,-0.0048,0.08670181073733409,1.0,0.0,0.0,0.0,-0.0619004850636058,-0.08554708917831354,1.1092505702443656,-0.00446178435693629,0.005874860050317952,0.00036174598510544406,0.008828007419918385,-0.09317930539827789,1.1712883425585117,-0.006434946013039135,0.0029035858116097293,-0.0009763819858598519,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7719971288837275,-0.4461926547436961,-0.8260419775682002,0.5660616685348115,0.6224170979551713,-0.3076175631014444,0.5954971238671044,1.1092505702443656,1.4215391014353047,1.4215391014353047,2.1280199999986475,0,0,-0.000374058064643605,-9.999999025923074e-05
+15970,1791364020968630272,2972348000000,1791364020966259882,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6761023425945241,-0.004800800966803263,0.08661692817155106,0.9999999874852615,9.320358186188242e-05,-2.400485073587841e-06,8.82024445279106e-05,0.6761,-0.0048,0.08649964059571606,1.0,0.0,0.0,0.0,-0.062391506765220164,-0.07963328132242044,1.1088223672219562,-0.0054798811909479985,0.005892967119291144,0.0003505387339996903,0.008336985718304019,-0.08726549754238479,1.1708601395361022,-0.0074530428470508435,0.0029216928805829213,-0.0009875892369656056,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8635500475079545,-0.5057484343731838,-0.893947214924169,0.5976410469766816,0.6880278656833664,-0.34577325957659955,0.5954971238671044,1.1088223672219562,1.4894443387912735,1.4894443387912735,2.1595199999986208,0,0,-0.00039641427603612017,-5.688000695240581e-05
+16031,1791364021476678659,2972856000000,1791364021474259657,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.676099502358073,-0.004802780578517836,0.08641334344831049,0.9999999871228962,9.593647866603937e-05,-5.681967578146738e-06,8.922431862018408e-05,0.6761,-0.0048,0.08629321006388362,1.0,0.0,0.0,0.0,-0.06649185137288806,-0.0800987447781014,1.0993253896982793,-0.0054788791268023515,0.005895546807372348,0.0003579423968201364,0.004236641110636126,-0.08773096099806575,1.1613631620124254,-0.0074520407829051965,0.0029242725686641252,-0.0009801855741451595,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8367326917955492,-0.443869915527215,-0.8738505372830625,0.5868040048190843,0.6678412491167016,-0.3020734885076188,0.5954971238671044,1.0993253896982793,1.469347661150167,1.469347661150167,2.189999999998595,0,0,-0.0004175247730428807,-9.999999025923074e-05
+16087,1791364021943616218,2973323000000,1791364021938260119,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760995287786388,-0.004811740380233328,0.08621508788678489,0.9999999872360552,9.074071598195718e-05,-3.275500796023347e-06,9.341384911738203e-05,0.6761,-0.0048,0.08609479741461044,1.0,0.0,0.0,0.0,-0.07919261169948598,-0.08994649231470907,1.0990937428995,-0.005479469622771231,0.005896272942897344,0.00035640291013351306,-0.008464119215961791,-0.09757870853467342,1.161131515213646,-0.007452631278874076,0.0029249987041891213,-0.0009817250608317829,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.861519931645242,-0.5175375520972411,-0.8586491318441195,0.6210836945587702,0.6602015762344715,-0.35100802916945595,0.5954971238671044,1.0990937428995,1.454146255711224,1.454146255711224,2.218019999998571,0,0,-0.0004341979299951878,-9.999999025923074e-05
+16139,1791364022376694365,2973756000000,1791364022374258943,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760990388344095,-0.004813924414109723,0.08602325234842462,0.9999999883198322,7.758590845238466e-05,-2.6477203200803954e-06,9.368359811255425e-05,0.6761,-0.0048,0.08590315286030581,1.0,0.0,0.0,0.0,-0.0759963847397265,-0.09385997203810523,1.104601341814899,-0.005481196977178936,0.005895317688088424,0.00035218150442309316,-0.005267892256202318,-0.10149218825806958,1.166639114129045,-0.007454358633281781,0.0029240434493802018,-0.0009859464665422028,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8946353021740417,-0.5179264078730489,-0.8386831855612568,0.6293667431623673,0.6573263036645435,-0.3524912955881924,0.5954971238671044,1.104601341814899,1.4341803094283612,1.4341803094283612,2.243999999998549,0,0,-0.0004508869394889966,-9.999999025923074e-05
+16193,1791364022826582046,2974206000000,1791364022826249999,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760936849797012,-0.004817533310715725,0.08581271961940233,0.9999999886677386,7.46623584110741e-05,-1.0899474748780046e-05,9.172851574265934e-05,0.6761,-0.0048,0.08569600815539863,1.0,0.0,0.0,0.0,-0.0704973853152939,-0.08997296506081413,1.0987988587564952,-0.005480195494163603,0.005896490988075785,0.000357635601683583,0.00023110716823028223,-0.09760518128077848,1.1608366310706413,-0.007453357150266448,0.002925216749367563,-0.000980492369281713,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9073071940123141,-0.3466227870094371,-0.8044061866433173,0.5879655588180569,0.6383618281396827,-0.2348666346994066,0.5954971238671044,1.0987988587564952,1.3999033105104217,1.3999033105104217,2.270999999998526,0,0,-0.00046939624056693683,-9.999775593539368e-05
+16243,1791364023243644924,2974623000000,1791364023238260000,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760997454978995,-0.004817162087305587,0.08561843045554327,0.9999999879814803,8.171938410815705e-05,1.4671432475967205e-06,9.380668058997858e-05,0.6761,-0.0048,0.08549760148303717,1.0,0.0,0.0,0.0,-0.07975762176396406,-0.09524993997229307,1.0988837398501623,-0.005491719135658106,0.0062971199775829585,0.00036638523531300844,-0.009029129280439871,-0.10288215619225742,1.1609215121643084,-0.007464880791760951,0.003325845738874736,-0.0009717427356522875,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9199108444250069,-0.542473238791888,-0.899783665855286,0.640673061046756,0.6950881499564677,-0.36542183871029,0.5954971238671044,1.0988837398501623,1.4952807897223903,1.4952807897223903,2.2960199999985047,0,0,-0.0004830188857905255,2.601373358441302e-05
+16295,1791364023676584227,2975056000000,1791364023670250214,DOWN_FORCE_DETACH,6,0.0505,0.05050226300954819,0.6760939853440133,-0.004821546949196096,0.08540392309085332,0.9999999886927501,7.233695344408282e-05,-9.623701744114568e-06,9.344577907084385e-05,0.6761,-0.0048,0.08528568110073849,1.0,0.0,0.0,0.0,-0.07070318764786918,-0.09032553055558368,1.0893668547093138,-0.005505607014256697,0.0069109441376783865,0.0003776451631858058,2.5304835655002536e-05,-0.09795774677554803,1.15140462702346,-0.007478768670359542,0.003939669898970165,-0.0009604828077794901,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9311259099308445,-0.568967371864134,-0.8818398411990072,0.6579194942300403,0.685692244544884,-0.37582121951429065,0.5954971238671044,1.0893668547093138,1.4773369650661117,1.4773369650661117,2.3219999999984826,0,0,-0.0004956808061604409,-9.981713652707497e-05
+16342,1791364024068586129,2975448000000,1791364024066259692,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760962052339765,-0.004820346811717824,0.08521582266756123,0.999999988871559,7.207267928692842e-05,-1.1992876393911243e-06,9.221624965962158e-05,0.6761,-0.0048,0.08508865852268581,1.0,0.0,0.0,0.0,-0.08011206679439586,-0.0905694718851004,1.0823321881325083,-0.0055040975507791206,0.006913222112910894,0.0003854802591315245,-0.009383574310871685,-0.09820168810506474,1.1443699604466544,-0.0074772592068819655,0.003941947874202672,-0.0009526477118337714,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9777648420550251,-0.5480417715545997,-0.9127791949228572,0.6565890861076322,0.7155424578520101,-0.3619315663182651,0.5954971238671044,1.0823321881325083,1.5082763187899615,1.5082763187899615,2.3455199999984626,0,0,-0.0005090421163936057,5.1498731694304925e-05
+16390,1791364024468638504,2975848000000,1791364024466259147,DOWN_FORCE_DETACH,6,0.0505,0.05050160735845566,0.6760928600360908,-0.004824300830469597,0.08500964891772812,0.9999999890045076,7.04057348347453e-05,-6.786746978624271e-06,9.181950633087413e-05,0.6761,-0.0048,0.08488316450092383,1.0,0.0,0.0,0.0,-0.08822854148427287,-0.09426521731868917,1.0984159733216636,-0.006301338603564913,0.006924709609456263,0.00036251531540733046,-0.01750004900074869,-0.10189743353865352,1.1604537456358097,-0.008274500259667758,0.00395343537074804,-0.0009756126555579655,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0164609303124106,-0.49286727624158716,-0.9263359548490013,0.6458736537417273,0.7299373581450568,-0.32032951039654606,0.5954971238671044,1.0984159733216636,1.5218330787161056,1.5218330787161056,2.369519999998442,0,0,-0.0005168866614412035,8.35808956747635e-05
+16439,1791364024875601167,2976255000000,1791364024874259707,DOWN_SETTLE,6,0.0505,0.05050226300954819,0.6760940635590731,-0.00481921475266208,0.08480593877007521,0.9999999886795181,7.45879419858566e-05,-1.27700917529624e-06,9.229754197138062e-05,0.6761,-0.0048,0.08467223273207637,1.0,0.0,0.0,0.0,-0.08012766346115352,-0.0901125866294667,1.0987290690993166,-0.005507143195318872,0.006909642577766287,0.0003721774397248967,-0.00939917097762934,-0.09774480284943105,1.1607668414134626,-0.007480304851421717,0.003938368339058065,-0.0009659505312403993,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0222246480679638,-0.5530575645151916,-0.9337426112456041,0.6619211638705723,0.730578988508978,-0.35851477818568206,0.5954971238671044,1.0987290690993166,1.5292397351127085,1.5292397351127085,2.382899999998431,0,0,-0.0005118604102419003,9.999999025923074e-05
+16490,1791364025300657989,2976680000000,1791364025298249959,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760921695946643,-0.004816064918237269,0.08459138709260602,0.9999999886937969,7.389858001941045e-05,-6.29778030897887e-06,9.249112587373924e-05,0.6761,-0.0048,0.08445919705684178,1.0,0.0,0.0,0.0,-0.08901271841138401,-0.08996808116347141,1.0986115238631975,-0.005506923377522537,0.006909838686656454,0.00037125002924976293,-0.018284225927859835,-0.09760029738343576,1.1606492961773436,-0.007480085033625382,0.003938564447948232,-0.000966877941715533,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0927491036815333,-0.4856314866243081,-0.9421262119016746,0.6469499890212475,0.7535421183396077,-0.3119069507866218,0.5954971238671044,1.0986115238631975,1.537623335768779,1.537623335768779,2.382899999998431,0,0,-0.0004906104143817272,9.999999025923074e-05
+16541,1791364025725638139,2977105000000,1791364025722249640,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760913522675379,-0.004819130771392571,0.08438854185351051,0.9999999883033512,7.341974555290978e-05,-7.011207317302138e-06,9.693578205149199e-05,0.6761,-0.0048,0.08425519262984776,1.0,0.0,0.0,0.0,-0.0726649292683766,-0.09033381082936993,1.089194094224248,-0.00550553078784753,0.006911559857917377,0.0003809384243406999,-0.0019364367848524141,-0.09796602704933428,1.151231866538394,-0.007478692443950375,0.003940285619209154,-0.0009571895466245961,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1149881258509649,-0.5135701804261676,-0.9826706393220459,0.6596856256476793,0.7799154383260274,-0.32627823864306044,0.5954971238671044,1.089194094224248,1.5781677631891502,1.5781677631891502,2.382899999998431,0,0,-0.0004693604185215542,9.999999025923074e-05
+16595,1791364026175589713,2977555000000,1791364026170259392,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760863739388179,-0.004822406125594415,0.08418155773456501,0.9999999882305851,7.489040002425409e-05,-1.3581031026603417e-05,9.585759063884736e-05,0.6761,-0.0048,0.08404903169052462,1.0,0.0,0.0,0.0,-0.0890489143977415,-0.09046913485092312,1.0887152940599152,-0.005503649694502542,0.0069128002583903995,0.0003844307432012467,-0.018320421914217313,-0.09810135107088747,1.1507530663740613,-0.007476811350605387,0.003941526019682178,-0.0009536972277640493,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1724048886124827,-0.5355055997436587,-0.9416750990321692,0.664007807748942,0.7663702705530975,-0.33920607229539856,0.5954971238671044,1.0887152940599152,1.5371722228992737,1.5371722228992737,2.382899999998431,0,0,-0.0004468604229049004,9.999999025923074e-05
+16651,1791364026641663207,2978021000000,1791364026634259567,DOWN_SETTLE,6,0.0505,0.05050226300954819,0.6760875914084232,-0.004819539863559529,0.08399058404072382,0.999999989541551,6.672757065296642e-05,-6.533423141890286e-06,8.868206241580737e-05,0.6761,-0.0048,0.08384621198239103,1.0,0.0,0.0,0.0,-0.08905411241270006,-0.09105317910933133,1.0686120714233336,-0.005501384459832632,0.0069163954744987394,0.000395480233995812,-0.018325619929175883,-0.09868539532929568,1.1306498437374797,-0.007474546115935477,0.0039451212357905175,-0.0009426477369694839,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2136836543532392,-0.4954217594115078,-0.9244148546608123,0.6589573793273681,0.7628361293109243,-0.30784365804924346,0.5954971238671044,1.0686120714233336,1.5199119785279167,1.5199119785279167,2.382899999998431,0,0,-0.00042356042744409885,9.999999025923074e-05
+16711,1791364027141695951,2978521000000,1791364027134249941,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760853022308811,-0.00481979590988537,0.08378218225108941,0.9999999888881428,7.041221559412638e-05,-9.279244814498601e-06,9.285792509192342e-05,0.6761,-0.0048,0.08364066926744895,1.0,0.0,0.0,0.0,-0.08888189803594146,-0.09151260878300659,1.0761101714747687,-0.005527992751716374,0.007848023203893396,0.0004082398903944702,-0.01815340555241727,-0.09914482500297093,1.1381479437889148,-0.007501154407819219,0.004876748965185174,-0.0009298880805708258,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.275293183378414,-0.5208932214147096,-1.0153563222981214,0.6637285817050087,0.8353449385524689,-0.32178527625368736,0.5954971238671044,1.0761101714747687,1.6108534461652257,1.6108534461652257,2.382899999998431,0,0,-0.0003985604323144835,9.999999025923074e-05
+16771,1791364027641676902,2979021000000,1791364027634259737,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760840796494952,-0.004821109908081327,0.08358776977229224,0.9999999897584608,6.169635188367099e-05,-1.1130733813596297e-05,8.941817283787092e-05,0.6761,-0.0048,0.08344762655007168,1.0,0.0,0.0,0.0,-0.0890305785668076,-0.09137573298941654,1.0593897260739367,-0.005499783731440949,0.006922357931089727,0.0004029303193800009,-0.01830208608328342,-0.09900794920938089,1.1214274983880828,-0.007472945387543794,0.003951083692381504,-0.0009351976515852951,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2936799703884445,-0.5644764817156969,-0.9772950611906629,0.668410989980958,0.8089350788450036,-0.35199440435442214,0.5954971238671044,1.0593897260739367,1.5727921850577673,1.5727921850577673,2.382899999998431,0,0,-0.0003735604371848681,9.999999025923074e-05
+16831,1791364028141655821,2979521000000,1791364028138249769,DOWN_SETTLE,6,0.0505,0.05050226300954819,0.6760807998879169,-0.004821128859727391,0.08340246280082493,0.9999999894326965,6.08784253220855e-05,-1.5426925618562074e-05,9.291554550675931e-05,0.6761,-0.0048,0.08326708383025921,1.0,0.0,0.0,0.0,-0.08535519957590564,-0.09140848197396562,1.058969268176391,-0.005499693846821063,0.006918416009346697,0.0004037171644746156,-0.014626707092381452,-0.09904069819392997,1.121007040490537,-0.007472855502923908,0.003947141770638474,-0.0009344108064906803,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.3393079767389955,-0.46544433200826935,-1.070198897347917,0.6410303560168013,0.8758811507123255,-0.2862906732737788,0.5954971238671044,1.058969268176391,1.6656960212150214,1.6656960212150214,2.382899999998431,0,0,-0.00034856044205525274,9.999999025923074e-05
+16901,1791364028725665502,2980105000000,1791364028718250050,DOWN_SETTLE,6,0.0505,0.05050226300954819,0.676079460706588,-0.004818303772831958,0.08320729549071768,0.9999999895018908,6.080721358304648e-05,-1.7013905687894488e-05,9.193526249183918e-05,0.6761,-0.0048,0.08307203633043503,1.0,0.0,0.0,0.0,-0.07980542557469703,-0.08229412463381397,1.0546503842408461,-0.005497525605532328,0.006918538269496996,0.0004078887089373159,-0.009076933091172837,-0.08992634085377832,1.1166881565549922,-0.007470687261635173,0.003947264030788773,-0.0009302392620279801,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4182849627844847,-0.43451026736152504,-1.1003536326657077,0.6317483020162232,0.9146044449594628,-0.2622813224547139,0.5954971238671044,1.0546503842408461,1.695850756532812,1.695850756532812,2.382899999998431,0,0,-0.000319360447743862,9.999999025923074e-05
+16975,1791364029341682575,2980721000000,1791364029338250243,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760732436140283,-0.004817474787366079,0.08301144171623863,0.9999999895212945,5.643477673826813e-05,-2.5222300110569337e-05,9.262411570391699e-05,0.6761,-0.0048,0.08288478129277371,1.0,0.0,0.0,0.0,-0.07978522788141537,-0.08358753752482381,1.0485821619330649,-0.005496670330732172,0.006919902633333638,0.00041279478194630086,-0.009056735397891187,-0.09121975374478816,1.110619934247211,-0.007469831986835017,0.003948628394625416,-0.0009253331890189951,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.413172347636841,-0.5577508883393734,-1.0624795669989286,0.661816199680375,0.888182942230829,-0.3446609276766426,0.5954971238671044,1.0485821619330649,1.657976690866033,1.657976690866033,2.382899999998431,0,0,-0.00028856045374417585,9.999999025923074e-05
+17059,1791364030041683793,2981421000000,1791364030038259606,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760697494432664,-0.004815517810658482,0.08281904027660662,0.9999999898171343,5.413741556483498e-05,-2.841756353984859e-05,8.983417049661718e-05,0.6761,-0.0048,0.08269502147276289,1.0,0.0,0.0,0.0,-0.07816348397286152,-0.08211430611128195,1.038555716088868,-0.005494594249239705,0.0069219146990502235,0.00042109335605457286,-0.0074349914893373295,-0.0897465223312463,1.1005934884030142,-0.00746775590534255,0.0039506404603420016,-0.0009170346149107231,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.48968138963351,-0.542278654486727,-1.1058025806325145,0.6563303399152278,0.9298344109389263,-0.3306990574582188,0.5954971238671044,1.038555716088868,1.7012997044996188,1.7012997044996188,2.382899999998431,0,0,-0.00025356046056271433,9.999999025923074e-05
+17147,1791364030775629782,2982155000000,1791364030774260259,DOWN_SETTLE,6,0.0505,0.05050160735845566,0.6760633449937797,-0.004822110010624941,0.0826425622525794,0.9999999889992279,5.266842988351914e-05,-3.87875984231468e-05,9.57390570800817e-05,0.6761,-0.0048,0.08252235864208234,1.0,0.0,0.0,0.0,-0.08846954828537444,-0.08947071400712824,1.0184607030951884,-0.005491800109552341,0.006926976867214909,0.0004360519100151235,-0.01774105580185026,-0.09710293022709258,1.0804984754093345,-0.007464961765655186,0.003955702628506686,-0.0009020760609501725,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.466237849372576,-0.533968568284405,-1.0725085468110185,0.6608791286941942,0.8971147634991251,-0.31764143785566973,0.5954971238671044,1.0184607030951884,1.6680056706781228,1.6680056706781228,2.382899999998431,0,0,-0.00021686046771243894,9.999999025923074e-05
+17249,1791364031625626501,2983005000000,1791364031622249934,DOWN_SETTLE,6,0.0505,0.05050226300954819,0.676063324414675,-0.004814569541138166,0.08246938584428035,0.9999999896981215,4.624795948338342e-05,-4.0828036867012504e-05,9.077895707329483e-05,0.6761,-0.0048,0.08235606849100377,1.0,0.0,0.0,0.0,-0.07966790258557863,-0.0832559461668208,1.0072139897837316,-0.005488764630424546,0.006928809222114602,0.0004376223717554173,-0.00893941010205445,-0.09088816238678515,1.0692517620978776,-0.007461926286527391,0.003957534983406379,-0.0009005055992098787,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5631635445310736,-0.4757630056801274,-1.1396155200473113,0.6462698144132446,0.9610135456772246,-0.27779593584951096,0.5954971238671044,1.0072139897837316,1.7351126439144156,1.7351126439144156,2.382899999998431,0,0,-0.0001743604759920928,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90dd19f4568bbc2a1a6d663ce103913615d694f4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e3a9c10b8190ce92182260323efabf77676bc64
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.140000000e+01,DOWN_FORCE_DETACH,1791364002187774650,6.892304307e-05,-1.970420525e-05,-1.304259868e-03,6.867151571e-05,-1.780917121e-05,-1.286107980e-03,6.642924841e-05,-1.766049614e-05,-1.284726648e-03,7.016067945e-01,-1.815324393e-05,8.394366813e-01,7.016065430e-01,-1.625820989e-05,8.394548332e-01,7.017922753e-01,-1.582789540e-05,8.284959909e-01
+15,1.221666667e+01,DOWN_FORCE_DETACH,1791364003406662132,7.586977546e-05,-2.297475129e-05,-1.399663339e-03,7.631231931e-05,-2.144444853e-05,-1.395331662e-03,7.392592954e-05,-2.128410411e-05,-1.393857855e-03,7.016137413e-01,-2.142378997e-05,8.393412778e-01,7.016141838e-01,-1.989348721e-05,8.393456095e-01,7.017997720e-01,-1.945150338e-05,8.283868597e-01
+16,1.291666667e+01,DOWN_FORCE_DETACH,1791364004468240615,8.385999120e-05,-1.571221492e-05,-1.480638710e-03,8.101757444e-05,-1.702784224e-05,-1.479340792e-03,7.844492164e-05,-1.687387044e-05,-1.477790215e-03,7.016217315e-01,-1.416125360e-05,8.392603025e-01,7.016188891e-01,-1.547688092e-05,8.392616004e-01,7.018042910e-01,-1.504126970e-05,8.283029274e-01
+17,1.378333333e+01,DOWN_FORCE_DETACH,1791364005767305401,8.567178491e-05,-1.816517152e-05,-1.597469843e-03,8.647384138e-05,-1.963824340e-05,-1.584638192e-03,8.366169981e-05,-1.948524052e-05,-1.583041801e-03,7.016235433e-01,-1.661421020e-05,8.391434713e-01,7.016243453e-01,-1.808728208e-05,8.391563030e-01,7.018095078e-01,-1.765263978e-05,8.281976758e-01
+18,1.463333333e+01,DOWN_FORCE_DETACH,1791364007038326421,9.123868134e-05,-1.979872044e-05,-1.710670323e-03,9.099937369e-05,-1.979314353e-05,-1.710455188e-03,8.784651050e-05,-1.963820475e-05,-1.708669075e-03,7.016291102e-01,-1.824775912e-05,8.390302709e-01,7.016288709e-01,-1.824218221e-05,8.390304860e-01,7.018136926e-01,-1.780560401e-05,8.280720485e-01
+19,1.525000000e+01,DOWN_FORCE_DETACH,1791364007967401109,8.878010557e-05,-2.868189060e-05,-1.803678859e-03,9.014405242e-05,-2.581055051e-05,-1.794968353e-03,8.667917768e-05,-2.565867434e-05,-1.793170284e-03,7.016266516e-01,-2.713092928e-05,8.389372623e-01,7.016280155e-01,-2.425958919e-05,8.389459728e-01,7.018125253e-01,-2.382607360e-05,8.279875473e-01
+20,1.600000000e+01,DOWN_FORCE_DETACH,1791364009087988742,9.182054448e-05,-2.387196145e-05,-1.912989604e-03,9.316928050e-05,-2.687024727e-05,-1.902721137e-03,8.933012530e-05,-2.670809484e-05,-1.900922687e-03,7.016296920e-01,-2.232100013e-05,8.388279516e-01,7.016310408e-01,-2.531928595e-05,8.388382201e-01,7.018151762e-01,-2.487549411e-05,8.278797949e-01
+21,1.680000000e+01,DOWN_FORCE_DETACH,1791364010287431150,9.852407589e-05,-2.779573981e-05,-2.028162398e-03,9.601362802e-05,-2.496943818e-05,-2.019957991e-03,9.178577576e-05,-2.482988630e-05,-2.018111735e-03,7.016363956e-01,-2.624477849e-05,8.387127788e-01,7.016338851e-01,-2.341847686e-05,8.387209832e-01,7.018176318e-01,-2.299728556e-05,8.277626059e-01
+22,1.750000000e+01,DOWN_FORCE_DETACH,1791364011338410492,1.006478090e-04,-2.719121010e-05,-2.146445628e-03,9.769475323e-05,-2.111342254e-05,-2.134396820e-03,9.315241086e-05,-2.094892093e-05,-2.132537244e-03,7.016385193e-01,-2.564024878e-05,8.385944956e-01,7.016355662e-01,-1.956246122e-05,8.386065444e-01,7.018189985e-01,-1.911632020e-05,8.276481803e-01
+23,1.805000000e+01,DOWN_FORCE_DETACH,1791364012304608220,9.992940141e-05,-2.617652750e-05,-2.264747912e-03,9.995375871e-05,-2.604625931e-05,-2.264458210e-03,9.501413215e-05,-2.585030601e-05,-2.262272237e-03,7.016378009e-01,-2.462556617e-05,8.384761933e-01,7.016378252e-01,-2.449529799e-05,8.384764830e-01,7.018208602e-01,-2.401770527e-05,8.275184454e-01
+24,1.870000000e+01,DOWN_FORCE_DETACH,1791364013278731618,1.034426763e-04,-2.866636188e-05,-2.390085867e-03,1.075288786e-04,-3.413329436e-05,-2.380121868e-03,1.023194771e-04,-3.390464541e-05,-2.377875257e-03,7.016413142e-01,-2.711540056e-05,8.383508553e-01,7.016454004e-01,-3.258233304e-05,8.383608193e-01,7.018281656e-01,-3.207204468e-05,8.274028423e-01
+25,1.931666667e+01,DOWN_FORCE_DETACH,1791364014204108541,1.073317986e-04,-3.129892520e-05,-2.518204043e-03,1.087047038e-04,-3.552158020e-05,-2.501241532e-03,1.031049996e-04,-3.524656680e-05,-2.498805455e-03,7.016452033e-01,-2.974796388e-05,8.382227371e-01,7.016465762e-01,-3.397061888e-05,8.382396997e-01,7.018289511e-01,-3.341396606e-05,8.272819121e-01
+26,1.990000000e+01,DOWN_FORCE_DETACH,1791364015072862754,1.088953563e-04,-3.581783521e-05,-2.659600556e-03,1.073226216e-04,-3.696800590e-05,-2.654458840e-03,1.011613272e-04,-3.666628840e-05,-2.651713010e-03,7.016467668e-01,-3.426687389e-05,8.380813406e-01,7.016451941e-01,-3.541704458e-05,8.380864823e-01,7.018270074e-01,-3.483368767e-05,8.271290046e-01
+27,2.043333333e+01,DOWN_FORCE_DETACH,1791364015872831115,1.042989991e-04,-3.894486224e-05,-2.812149683e-03,1.040601305e-04,-3.903779930e-05,-2.812216154e-03,9.730062609e-05,-3.867549130e-05,-2.809161187e-03,7.016421705e-01,-3.739390092e-05,8.379287915e-01,7.016419316e-01,-3.748683798e-05,8.379287250e-01,7.018231467e-01,-3.684289057e-05,8.269715564e-01
+28,2.093333333e+01,DOWN_FORCE_DETACH,1791364016623302200,1.011792793e-04,-4.557866927e-05,-2.968552246e-03,1.004402108e-04,-4.252065945e-05,-2.967708112e-03,9.301625857e-05,-4.215669990e-05,-2.964458029e-03,7.016390508e-01,-4.402770795e-05,8.377723889e-01,7.016383117e-01,-4.096969813e-05,8.377732331e-01,7.018188623e-01,-4.032409917e-05,8.268162596e-01
+29,2.143333333e+01,DOWN_FORCE_DETACH,1791364017372978419,9.747342690e-05,-4.587300883e-05,-3.141910070e-03,9.753560138e-05,-3.900008828e-05,-3.132739360e-03,8.942729030e-05,-3.870026045e-05,-3.129332203e-03,7.016353449e-01,-4.432204751e-05,8.375990311e-01,7.016354071e-01,-3.744912696e-05,8.376082018e-01,7.018152734e-01,-3.686765971e-05,8.266513854e-01
+30,2.186666667e+01,DOWN_FORCE_DETACH,1791364018023529229,9.804028207e-05,-4.618068711e-05,-3.307451835e-03,9.866069098e-05,-4.662722359e-05,-3.289759283e-03,9.003599857e-05,-4.630913392e-05,-3.286151450e-03,7.016359118e-01,-4.462972579e-05,8.374334894e-01,7.016365322e-01,-4.507626227e-05,8.374511819e-01,7.018158821e-01,-4.447653319e-05,8.264945661e-01
+31,2.231666667e+01,DOWN_FORCE_DETACH,1791364018704714153,9.829942043e-05,-4.742782293e-05,-3.495438782e-03,9.692187681e-05,-4.842623207e-05,-3.489671549e-03,8.752585037e-05,-4.810077842e-05,-3.485606564e-03,7.016361709e-01,-4.587686161e-05,8.372455024e-01,7.016347934e-01,-4.687527075e-05,8.372512696e-01,7.018133719e-01,-4.626817768e-05,8.262951110e-01
+32,2.276666667e+01,DOWN_FORCE_DETACH,1791364019373185709,1.034436472e-04,-5.078164656e-05,-3.694816178e-03,1.033373395e-04,-5.069976077e-05,-3.694554617e-03,9.336603336e-05,-5.035137556e-05,-3.690115138e-03,7.016413151e-01,-4.923068524e-05,8.370461250e-01,7.016412088e-01,-4.914879945e-05,8.370463866e-01,7.018192121e-01,-4.851877482e-05,8.260906025e-01
+33,2.313333333e+01,DOWN_FORCE_DETACH,1791364019925237181,9.843639041e-05,-5.523409622e-05,-3.882832977e-03,9.675458011e-05,-5.046520263e-05,-3.881128288e-03,8.590524533e-05,-5.013882354e-05,-3.876363308e-03,7.016363079e-01,-5.368313490e-05,8.368581082e-01,7.016346261e-01,-4.891424130e-05,8.368598129e-01,7.018117513e-01,-4.830622281e-05,8.259043543e-01
+34,2.348333333e+01,DOWN_FORCE_DETACH,1791364020443504816,9.591149435e-05,-5.611059244e-05,-4.078519644e-03,9.547827523e-05,-5.623643279e-05,-4.079127233e-03,8.393101368e-05,-5.584244597e-05,-4.073970744e-03,7.016337830e-01,-5.455963112e-05,8.366624215e-01,7.016333498e-01,-5.468547147e-05,8.366618140e-01,7.018097771e-01,-5.400984524e-05,8.257067468e-01
+35,2.383333333e+01,DOWN_FORCE_DETACH,1791364020972049664,9.557485134e-05,-5.667083260e-05,-4.278485716e-03,9.531976822e-05,-5.667600037e-05,-4.278372887e-03,8.303340326e-05,-5.625587759e-05,-4.273018083e-03,7.016334463e-01,-5.511987128e-05,8.364624555e-01,7.016331912e-01,-5.512503905e-05,8.364625683e-01,7.018088795e-01,-5.442327685e-05,8.255076995e-01
+36,2.416666667e+01,DOWN_FORCE_DETACH,1791364021472901127,9.572654084e-05,-6.198973079e-05,-4.473962796e-03,9.338917649e-05,-6.193436732e-05,-4.458125237e-03,8.049546738e-05,-6.150015287e-05,-4.452644839e-03,7.016335980e-01,-6.043876946e-05,8.362669784e-01,7.016312607e-01,-6.038340600e-05,8.362828160e-01,7.018063415e-01,-5.966755214e-05,8.253280728e-01
+37,2.448333333e+01,DOWN_FORCE_DETACH,1791364021941838646,9.457469377e-05,-6.492746930e-05,-4.672477357e-03,9.450292584e-05,-6.472494560e-05,-4.672034347e-03,8.095475880e-05,-6.423726052e-05,-4.666190683e-03,7.016324462e-01,-6.337650798e-05,8.360684638e-01,7.016323744e-01,-6.317398428e-05,8.360689068e-01,7.018068008e-01,-6.240465979e-05,8.251145269e-01
+38,2.476666667e+01,DOWN_FORCE_DETACH,1791364022373265906,9.361195264e-05,-7.063105549e-05,-4.867553101e-03,9.471196188e-05,-6.872303874e-05,-4.850165339e-03,8.050682463e-05,-6.821369814e-05,-4.844192573e-03,7.016314834e-01,-6.908009417e-05,8.358733881e-01,7.016325834e-01,-6.717207741e-05,8.358907758e-01,7.018063529e-01,-6.638109741e-05,8.249365250e-01
+39,2.506666667e+01,DOWN_FORCE_DETACH,1791364022822769392,9.016794329e-05,-7.717762663e-05,-5.069976586e-03,8.890206399e-05,-7.208975454e-05,-5.053011669e-03,7.389178560e-05,-7.157021947e-05,-5.046903894e-03,7.016280394e-01,-7.562666531e-05,8.356709646e-01,7.016267735e-01,-7.053879322e-05,8.356879295e-01,7.017997379e-01,-6.973761874e-05,8.247338137e-01
+40,2.535000000e+01,DOWN_FORCE_DETACH,1791364023242883989,9.427389465e-05,-7.106776847e-05,-5.271746818e-03,9.482628585e-05,-7.257245522e-05,-5.258966148e-03,7.923050689e-05,-7.208977447e-05,-5.252551859e-03,7.016321454e-01,-6.951680714e-05,8.354691944e-01,7.016326978e-01,-7.102149390e-05,8.354819750e-01,7.018050766e-01,-7.025717374e-05,8.245281657e-01
+41,2.563333333e+01,DOWN_FORCE_DETACH,1791364023673879482,8.855846224e-05,-7.825359058e-05,-5.486882359e-03,9.141674666e-05,-7.404417402e-05,-5.468062207e-03,7.508327217e-05,-7.352190982e-05,-5.461431511e-03,7.016264299e-01,-7.670262925e-05,8.352540588e-01,7.016292882e-01,-7.249321270e-05,8.352728790e-01,7.018009293e-01,-7.168930908e-05,8.243192861e-01
+42,2.590000000e+01,DOWN_FORCE_DETACH,1791364024072354072,9.011225087e-05,-8.237963293e-05,-5.678412253e-03,8.980546206e-05,-8.240109794e-05,-5.678640226e-03,7.267138232e-05,-8.187468785e-05,-5.671783082e-03,7.016279837e-01,-8.082867161e-05,8.350625289e-01,7.016276769e-01,-8.085013662e-05,8.350623010e-01,7.017985175e-01,-8.004208712e-05,8.241089345e-01
+43,2.616666667e+01,DOWN_FORCE_DETACH,1791364024472226513,8.773674373e-05,-8.129581412e-05,-5.884285286e-03,8.764733192e-05,-8.153018687e-05,-5.884150584e-03,6.972736057e-05,-8.095322090e-05,-5.877113486e-03,7.016256082e-01,-7.974485280e-05,8.348566559e-01,7.016255188e-01,-7.997922555e-05,8.348567906e-01,7.017955734e-01,-7.912062017e-05,8.239036041e-01
+44,2.643333333e+01,DOWN_SETTLE,1791364024872840221,8.863667730e-05,-7.592139404e-05,-6.084866679e-03,8.840505829e-05,-7.604562624e-05,-6.085115890e-03,6.983112540e-05,-7.552315501e-05,-6.078016768e-03,7.016265082e-01,-7.437043272e-05,8.346560745e-01,7.016262765e-01,-7.449466492e-05,8.346558253e-01,7.017956772e-01,-7.369055427e-05,8.237027008e-01
+45,2.671666667e+01,DOWN_SETTLE,1791364025303307124,8.734499599e-05,-7.360176692e-05,-6.300672195e-03,8.897569111e-05,-7.144850848e-05,-6.282264408e-03,6.971687457e-05,-7.087826858e-05,-6.275169050e-03,7.016252165e-01,-7.205080559e-05,8.344402690e-01,7.016268472e-01,-6.989754716e-05,8.344586768e-01,7.017955629e-01,-6.904566785e-05,8.235055485e-01
+46,2.700000000e+01,DOWN_SETTLE,1791364025722618180,8.466069364e-05,-7.461345100e-05,-6.498720654e-03,8.443782297e-05,-7.393295459e-05,-6.492732296e-03,6.432068688e-05,-7.330883475e-05,-6.485639766e-03,7.016225322e-01,-7.306248968e-05,8.342422205e-01,7.016223093e-01,-7.238199327e-05,8.342482089e-01,7.017901668e-01,-7.147623402e-05,8.232950778e-01
+47,2.730000000e+01,DOWN_SETTLE,1791364026173718905,8.098510235e-05,-8.017568390e-05,-6.707183931e-03,8.099109197e-05,-7.792705247e-05,-6.690492637e-03,6.012231541e-05,-7.739043556e-05,-6.683618840e-03,7.016188566e-01,-7.862472258e-05,8.340337573e-01,7.016188626e-01,-7.637609115e-05,8.340504486e-01,7.017859684e-01,-7.555783482e-05,8.230970988e-01
+48,2.761666667e+01,DOWN_SETTLE,1791364026642763552,8.286115099e-05,-7.918556462e-05,-6.899774376e-03,8.157845181e-05,-7.694979643e-05,-6.900818529e-03,5.994294540e-05,-7.640595264e-05,-6.893961089e-03,7.016207326e-01,-7.763460330e-05,8.338411668e-01,7.016194499e-01,-7.539883511e-05,8.338401227e-01,7.017857890e-01,-7.457335190e-05,8.228867565e-01
+49,2.795000000e+01,DOWN_SETTLE,1791364027143583630,8.168374553e-05,-8.016953827e-05,-7.105501252e-03,7.879122730e-05,-7.910517697e-05,-7.095652718e-03,5.637997688e-05,-7.855502461e-05,-7.088995027e-03,7.016195552e-01,-7.861857695e-05,8.336354399e-01,7.016166627e-01,-7.755421565e-05,8.336452885e-01,7.017822261e-01,-7.672242387e-05,8.226917226e-01
+50,2.828333333e+01,DOWN_SETTLE,1791364027643126004,8.059696980e-05,-8.193202245e-05,-7.297908543e-03,8.063415153e-05,-8.201076891e-05,-7.297503991e-03,5.755274201e-05,-8.144891152e-05,-7.290941391e-03,7.016184685e-01,-8.038106113e-05,8.334430326e-01,7.016185056e-01,-8.045980758e-05,8.334434372e-01,7.017833988e-01,-7.961631079e-05,8.224897762e-01
+51,2.861666667e+01,DOWN_SETTLE,1791364028142721951,7.643180865e-05,-7.840464941e-05,-7.487699352e-03,7.548522701e-05,-7.582301172e-05,-7.474575678e-03,5.168450221e-05,-7.532980907e-05,-7.468362351e-03,7.016143033e-01,-7.685368809e-05,8.332532418e-01,7.016133567e-01,-7.427205040e-05,8.332663655e-01,7.017775306e-01,-7.349720833e-05,8.223123552e-01
+52,2.900000000e+01,DOWN_SETTLE,1791364028722494122,7.244737734e-05,-7.734942356e-05,-7.690142620e-03,7.230373214e-05,-7.730606141e-05,-7.690042874e-03,4.778089731e-05,-7.675612630e-05,-7.683945293e-03,7.016103189e-01,-7.579846224e-05,8.330507986e-01,7.016101752e-01,-7.575510009e-05,8.330508983e-01,7.017736270e-01,-7.492352557e-05,8.220967723e-01
+53,2.941666667e+01,DOWN_SETTLE,1791364029343197532,6.776362971e-05,-7.693654381e-05,-7.880652824e-03,6.936005679e-05,-7.650508361e-05,-7.874082003e-03,4.407728900e-05,-7.596362260e-05,-7.868333865e-03,7.016056351e-01,-7.538558249e-05,8.328602884e-01,7.016072315e-01,-7.495412229e-05,8.328668592e-01,7.017699234e-01,-7.413102186e-05,8.219123837e-01
+54,2.988333333e+01,DOWN_SETTLE,1791364030043921712,6.526196307e-05,-6.998488526e-05,-8.073096699e-03,6.575248681e-05,-7.353082240e-05,-8.057704466e-03,3.980784926e-05,-7.311398064e-05,-8.052495242e-03,7.016031334e-01,-6.843392394e-05,8.326678445e-01,7.016036240e-01,-7.197986108e-05,8.326832367e-01,7.017656539e-01,-7.128137991e-05,8.217282224e-01
+55,3.036666667e+01,DOWN_SETTLE,1791364030773291458,5.965380903e-05,-7.576026671e-05,-8.247646074e-03,5.429680836e-05,-7.697490509e-05,-8.236350802e-03,2.738951002e-05,-7.647248808e-05,-8.231512407e-03,7.015975253e-01,-7.420930539e-05,8.324932951e-01,7.015921683e-01,-7.542394377e-05,8.325045904e-01,7.017532356e-01,-7.463988734e-05,8.215492052e-01
+56,3.093333333e+01,DOWN_SETTLE,1791364031622670362,5.589928004e-05,-7.310247372e-05,-8.422500161e-03,5.614723685e-05,-7.480261682e-05,-8.406771331e-03,2.870848599e-05,-7.433166005e-05,-8.402415001e-03,7.015937708e-01,-7.155151240e-05,8.323184410e-01,7.015940187e-01,-7.325165550e-05,8.323341699e-01,7.017545546e-01,-7.249905931e-05,8.213783026e-01
+57,3.158333333e+01,DOWN_SETTLE,1791364032603336585,5.669898285e-05,-8.107562558e-05,-8.573614286e-03,5.650973783e-05,-8.126074192e-05,-8.573023598e-03,2.847647078e-05,-8.071137426e-05,-8.569214365e-03,7.015945705e-01,-7.952466426e-05,8.321673269e-01,7.015943812e-01,-7.970978060e-05,8.321679176e-01,7.017543225e-01,-7.887877352e-05,8.212115032e-01
+58,3.223333333e+01,DOWN_SETTLE,1791364033573488437,4.612756333e-05,-7.942961116e-05,-8.689603860e-03,4.602075563e-05,-7.892166008e-05,-8.684995680e-03,1.736410855e-05,-7.839651135e-05,-8.681773731e-03,7.015839990e-01,-7.787864983e-05,8.320513373e-01,7.015838922e-01,-7.737069876e-05,8.320559455e-01,7.017432102e-01,-7.656391061e-05,8.210989439e-01
+59,3.313333333e+01,DOWN_SETTLE,1791364034909352510,3.951977415e-05,-7.423759527e-05,-8.764209385e-03,3.732939901e-05,-7.516356751e-05,-8.765354426e-03,8.117356980e-06,-7.462293499e-05,-8.763030849e-03,7.015773913e-01,-7.268663394e-05,8.319767318e-01,7.015752009e-01,-7.361260619e-05,8.319755868e-01,7.017339634e-01,-7.279033426e-05,8.210176867e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01302795e7fdb8973b380b8e65256918b2b9317a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/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+00,6.6319e-03,3.5872e-03,2.4566e+00,-3.7001e-02,3.7245e-02,9.7353e-06,1.1633e-04,5.6927e-07,1.9073e-05,-4.4703e-08,8.1733e-06,2.6448e-07,1.1789e-04,8.1777e-06
+1,9.6667e-01,DOWN_FORCE_DETACH,2.1313e-04,1.2478e-02,3.3117e-03,2.4632e+00,-3.6980e-02,3.7652e-02,2.5688e-05,5.9626e-03,-2.7500e-04,6.6175e-03,2.1599e-05,4.1499e-04,1.6218e-05,8.9118e-03,4.1586e-04
+2,1.7667e+00,DOWN_FORCE_DETACH,4.2391e-04,1.3995e-02,3.7584e-03,2.4913e+00,-3.7004e-02,3.7727e-02,3.8666e-05,7.4796e-03,1.7173e-04,3.4690e-02,-2.9057e-06,4.9048e-04,2.9195e-05,3.5488e-02,4.9136e-04
+3,2.5167e+00,DOWN_FORCE_DETACH,6.3509e-04,1.0580e-02,2.4545e-03,2.5093e+00,-3.6907e-02,3.7460e-02,5.0161e-05,4.0645e-03,-1.1322e-03,5.2719e-02,9.4004e-05,2.2370e-04,4.0690e-05,5.2887e-02,2.4604e-04
+4,3.2833e+00,DOWN_FORCE_DETACH,8.5137e-04,1.2414e-02,6.7641e-03,2.5269e+00,-3.7203e-02,3.7567e-02,6.0131e-05,5.8985e-03,3.1774e-03,7.0311e-02,-2.0164e-04,3.3029e-04,5.0660e-05,7.0630e-02,3.9028e-04
+5,4.1000e+00,DOWN_FORCE_DETACH,1.0636e-03,1.5430e-02,6.6635e-03,2.5359e+00,-3.7201e-02,3.7769e-02,5.8130e-05,8.9147e-03,3.0768e-03,7.9283e-02,-1.9930e-04,5.3234e-04,4.8659e-05,7.9842e-02,5.7050e-04
+6,5.0167e+00,DOWN_FORCE_DETACH,1.2806e-03,1.6156e-02,8.7476e-03,2.5261e+00,-3.7361e-02,3.7829e-02,4.7368e-05,9.6402e-03,5.1610e-03,6.9472e-02,-3.5974e-04,5.9292e-04,3.7897e-05,7.0328e-02,6.9456e-04
+7,5.7667e+00,DOWN_FORCE_DETACH,1.4909e-03,1.8470e-02,8.2269e-03,2.5235e+00,-3.7337e-02,3.8000e-02,3.6186e-05,1.1954e-02,4.6402e-03,6.6895e-02,-3.3579e-04,7.6299e-04,2.6715e-05,6.8113e-02,8.3404e-04
+8,6.5333e+00,DOWN_FORCE_DETACH,1.7052e-03,2.1100e-02,6.4536e-03,2.5166e+00,-3.7225e-02,3.8194e-02,2.4587e-05,1.4584e-02,2.8669e-03,6.0030e-02,-2.2336e-04,9.5736e-04,1.5117e-05,6.1843e-02,9.8319e-04
+9,7.3833e+00,DOWN_FORCE_DETACH,1.9180e-03,2.5041e-02,9.0060e-03,2.5171e+00,-3.7393e-02,3.8469e-02,1.3532e-05,1.8525e-02,5.4193e-03,6.0489e-02,-3.9168e-04,1.2329e-03,4.0617e-06,6.3494e-02,1.2936e-03
+10,8.1833e+00,DOWN_FORCE_DETACH,2.1290e-03,2.6514e-02,9.4642e-03,2.5226e+00,-3.7392e-02,3.8565e-02,5.7558e-06,1.9999e-02,5.8775e-03,6.5965e-02,-3.9084e-04,1.3281e-03,-3.7150e-06,6.9180e-02,1.3844e-03
+11,9.0667e+00,DOWN_FORCE_DETACH,2.3454e-03,2.6936e-02,1.0138e-02,2.5210e+00,-3.7404e-02,3.8593e-02,1.2348e-06,2.0420e-02,6.5515e-03,6.4417e-02,-4.0229e-04,1.3569e-03,-8.2360e-06,6.7893e-02,1.4153e-03
+12,9.8667e+00,DOWN_FORCE_DETACH,2.5594e-03,2.8093e-02,1.1164e-02,2.5253e+00,-3.7462e-02,3.8670e-02,-4.6460e-06,2.1577e-02,7.5773e-03,6.8728e-02,-4.6099e-04,1.4329e-03,-1.4117e-05,7.2433e-02,1.5053e-03
+13,1.0650e+01,DOWN_FORCE_DETACH,2.7699e-03,2.7457e-02,1.2307e-02,2.5198e+00,-3.7574e-02,3.8632e-02,-1.6235e-05,2.0941e-02,8.7205e-03,6.3240e-02,-5.7258e-04,1.3954e-03,-2.5706e-05,6.7185e-02,1.5086e-03
+14,1.1400e+01,DOWN_FORCE_DETACH,2.9831e-03,2.9568e-02,1.1836e-02,2.5185e+00,-3.7590e-02,3.8779e-02,-3.3747e-05,2.3052e-02,8.2498e-03,6.1940e-02,-5.8916e-04,1.5427e-03,-4.3218e-05,6.6604e-02,1.6520e-03
+15,1.2217e+01,DOWN_FORCE_DETACH,3.1952e-03,2.9377e-02,1.2774e-02,2.5235e+00,-3.7677e-02,3.8767e-02,-5.1926e-05,2.2861e-02,9.1869e-03,6.6944e-02,-6.7561e-04,1.5308e-03,-6.1397e-05,7.1334e-02,1.6744e-03
+16,1.2917e+01,DOWN_FORCE_DETACH,3.4070e-03,2.9084e-02,1.0974e-02,2.5248e+00,-3.7545e-02,3.8743e-02,-6.4033e-05,2.2568e-02,7.3874e-03,6.8245e-02,-5.4354e-04,1.5063e-03,-7.3504e-05,7.2258e-02,1.6031e-03
+17,1.3783e+01,DOWN_FORCE_DETACH,3.6197e-03,2.8313e-02,1.1933e-02,2.5272e+00,-3.7586e-02,3.8686e-02,-6.9621e-05,2.1798e-02,8.3466e-03,7.0582e-02,-5.8504e-04,1.4497e-03,-7.9092e-05,7.4342e-02,1.5653e-03
+18,1.4633e+01,DOWN_FORCE_DETACH,3.8317e-03,2.8311e-02,1.3623e-02,2.5280e+00,-3.7685e-02,3.8679e-02,-6.9073e-05,2.1796e-02,1.0037e-02,7.1420e-02,-6.8407e-04,1.4424e-03,-7.8544e-05,7.5343e-02,1.5983e-03
+19,1.5250e+01,DOWN_FORCE_DETACH,4.0483e-03,2.7686e-02,1.3692e-02,2.5364e+00,-3.7689e-02,3.8621e-02,-6.7643e-05,2.1171e-02,1.0105e-02,7.9793e-02,-6.8823e-04,1.3843e-03,-7.7114e-05,8.3170e-02,1.5479e-03
+20,1.6000e+01,DOWN_FORCE_DETACH,4.2623e-03,2.6568e-02,1.3873e-02,2.5380e+00,-3.7716e-02,3.8532e-02,-6.4268e-05,2.0053e-02,1.0286e-02,8.1396e-02,-7.1490e-04,1.2951e-03,-7.3739e-05,8.4458e-02,1.4811e-03
+21,1.6800e+01,DOWN_FORCE_DETACH,4.4752e-03,2.5367e-02,1.3179e-02,2.5394e+00,-3.7679e-02,3.8438e-02,-5.5516e-05,1.8851e-02,9.5922e-03,8.2751e-02,-6.7787e-04,1.2014e-03,-6.4987e-05,8.5411e-02,1.3810e-03
+22,1.7500e+01,DOWN_FORCE_DETACH,4.6877e-03,2.4602e-02,1.2351e-02,2.5423e+00,-3.7612e-02,3.8378e-02,-4.6208e-05,1.8086e-02,8.7644e-03,8.5732e-02,-6.1025e-04,1.1417e-03,-5.5679e-05,8.8056e-02,1.2957e-03
+23,1.8050e+01,DOWN_FORCE_DETACH,4.8957e-03,2.4238e-02,1.5235e-02,2.5477e+00,-3.7788e-02,3.8344e-02,-3.4559e-05,1.7722e-02,1.1648e-02,9.1138e-02,-7.8652e-04,1.1079e-03,-4.4030e-05,9.3573e-02,1.3594e-03
+24,1.8700e+01,DOWN_FORCE_DETACH,5.1121e-03,2.3775e-02,1.8861e-02,2.5580e+00,-3.8015e-02,3.8299e-02,-1.7623e-05,1.7259e-02,1.5274e-02,1.0138e-01,-1.0137e-03,1.0622e-03,-2.7094e-05,1.0397e-01,1.4686e-03
+25,1.9317e+01,DOWN_FORCE_DETACH,5.3267e-03,2.4630e-02,1.9636e-02,2.5648e+00,-3.8036e-02,3.8344e-02,-1.7551e-06,1.8114e-02,1.6049e-02,1.0824e-01,-1.0349e-03,1.1079e-03,-1.1226e-05,1.1091e-01,1.5161e-03
+26,1.9900e+01,DOWN_FORCE_DETACH,5.5366e-03,2.5936e-02,2.1403e-02,2.5808e+00,-3.8109e-02,3.8415e-02,1.5761e-05,1.9420e-02,1.7817e-02,1.2418e-01,-1.1075e-03,1.1786e-03,6.2905e-06,1.2695e-01,1.6173e-03
+27,2.0433e+01,DOWN_FORCE_DETACH,5.7534e-03,2.6680e-02,2.1995e-02,2.5879e+00,-3.8121e-02,3.8456e-02,2.7893e-05,2.0164e-02,1.8409e-02,1.3127e-01,-1.1196e-03,1.2198e-03,1.8422e-05,1.3408e-01,1.6558e-03
+28,2.0933e+01,DOWN_FORCE_DETACH,5.9615e-03,2.7746e-02,2.5316e-02,2.6014e+00,-3.8363e-02,3.8512e-02,3.2273e-05,2.1230e-02,2.1729e-02,1.4483e-01,-1.3617e-03,1.2759e-03,2.2802e-05,1.4799e-01,1.8662e-03
+29,2.1433e+01,DOWN_FORCE_DETACH,6.1780e-03,2.8051e-02,2.2194e-02,2.6097e+00,-3.8205e-02,3.8526e-02,2.8640e-05,2.1536e-02,1.8608e-02,1.5306e-01,-1.2037e-03,1.2895e-03,1.9169e-05,1.5568e-01,1.7641e-03
+30,2.1867e+01,DOWN_FORCE_DETACH,6.3899e-03,2.7150e-02,2.4631e-02,2.6191e+00,-3.8378e-02,3.8449e-02,2.9544e-05,2.0634e-02,2.1045e-02,1.6251e-01,-1.3769e-03,1.2127e-03,2.0073e-05,1.6516e-01,1.8349e-03
+31,2.2317e+01,DOWN_FORCE_DETACH,6.5996e-03,2.7273e-02,2.5652e-02,2.6378e+00,-3.8409e-02,3.8433e-02,3.3224e-05,2.0757e-02,2.2066e-02,1.8117e-01,-1.4079e-03,1.1964e-03,2.3753e-05,1.8369e-01,1.8477e-03
+32,2.2767e+01,DOWN_FORCE_DETACH,6.8211e-03,2.4513e-02,2.5962e-02,2.6489e+00,-3.8393e-02,3.8229e-02,3.4542e-05,1.7997e-02,2.2375e-02,1.9232e-01,-1.3922e-03,9.9266e-04,2.5071e-05,1.9445e-01,1.7101e-03
+33,2.3133e+01,DOWN_FORCE_DETACH,7.0268e-03,2.5547e-02,2.7092e-02,2.6685e+00,-3.8457e-02,3.8268e-02,3.3090e-05,1.9031e-02,2.3505e-02,2.1190e-01,-1.4561e-03,1.0315e-03,2.3619e-05,2.1405e-01,1.7846e-03
+34,2.3483e+01,DOWN_FORCE_DETACH,7.2389e-03,2.4807e-02,2.9296e-02,2.6756e+00,-3.8587e-02,3.8207e-02,2.9272e-05,1.8292e-02,2.5710e-02,2.1904e-01,-1.5854e-03,9.7058e-04,1.9801e-05,2.2130e-01,1.8590e-03
+35,2.3833e+01,DOWN_FORCE_DETACH,7.4540e-03,2.7475e-02,3.0837e-02,2.6892e+00,-3.8682e-02,3.8369e-02,2.7954e-05,2.0959e-02,2.7250e-02,2.3259e-01,-1.6811e-03,1.1322e-03,1.8483e-05,2.3511e-01,2.0269e-03
+36,2.4167e+01,DOWN_FORCE_DETACH,7.6667e-03,2.8789e-02,3.2625e-02,2.7017e+00,-3.8773e-02,3.8438e-02,2.4143e-05,2.2273e-02,2.9039e-02,2.4509e-01,-1.7719e-03,1.2014e-03,1.4673e-05,2.4781e-01,2.1409e-03
+37,2.4483e+01,DOWN_FORCE_DETACH,7.8835e-03,3.0534e-02,3.4753e-02,2.7104e+00,-3.8863e-02,3.8543e-02,1.7231e-05,2.4019e-02,3.1166e-02,2.5384e-01,-1.8615e-03,1.3062e-03,7.7599e-06,2.5687e-01,2.2740e-03
+38,2.4767e+01,DOWN_FORCE_DETACH,8.0906e-03,3.0434e-02,3.7074e-02,2.7203e+00,-3.8995e-02,3.8522e-02,8.1086e-06,2.3919e-02,3.3487e-02,2.6367e-01,-1.9933e-03,1.2855e-03,-1.3622e-06,2.6686e-01,2.3718e-03
+39,2.5067e+01,DOWN_FORCE_DETACH,8.3023e-03,3.3023e-02,3.6673e-02,2.7315e+00,-3.8970e-02,3.8676e-02,-5.3901e-06,2.6507e-02,3.3087e-02,2.7488e-01,-1.9688e-03,1.4399e-03,-1.4861e-05,2.7813e-01,2.4392e-03
+40,2.5350e+01,DOWN_FORCE_DETACH,8.5152e-03,3.1881e-02,3.7461e-02,2.7389e+00,-3.8987e-02,3.8593e-02,-1.4826e-05,2.5366e-02,3.3874e-02,2.8235e-01,-1.9858e-03,1.3565e-03,-2.4297e-05,2.8550e-01,2.4050e-03
+41,2.5633e+01,DOWN_FORCE_DETACH,8.7410e-03,3.2758e-02,3.8604e-02,2.7481e+00,-3.9011e-02,3.8638e-02,-2.3043e-05,2.6243e-02,3.5017e-02,2.9152e-01,-2.0093e-03,1.4016e-03,-3.2514e-05,2.9478e-01,2.4501e-03
+42,2.5900e+01,DOWN_FORCE_DETACH,8.9463e-03,3.2447e-02,3.8173e-02,2.7530e+00,-3.8953e-02,3.8600e-02,-2.7575e-05,2.5931e-02,3.4586e-02,2.9637e-01,-1.9522e-03,1.3638e-03,-3.7046e-05,2.9950e-01,2.3817e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bcdf2d5693be884636ab6ca4aa95eb440558bad4
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7719e59ba04782515b923aa75a17f9d94bf820f3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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+10945,1791363979122625102,2930502000000,1791363979122249714,UP_FORCE_HOLD,6,0.0505,0.05050160735845566,0.675969073696382,-0.004704613919479597,0.09125990762386624,0.9999999632953562,0.0001041072618798838,-0.0002259692231563879,-5.43299068713852e-05,0.6761,-0.0048,0.09162565396554756,1.0,0.0,0.0,0.0,0.016101868951933523,-0.007243424180399443,-0.5560323905799006,-0.0008645336637358781,-0.0009125505764844173,-0.0004132908157510743,0.0868303614354577,-0.014875640400363797,-0.49399461826575464,-0.002837695319838723,-0.0038838248151926397,-0.0017514187867163702,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,-1.0053654870726192,-0.1078047155352505,2.5917644522467143,-0.13204914710118515,-1.7454949889503282,-0.11806382379093984,0.5954971238671044,0.5560323905799006,-1.9962673283796097,0.5560323905799006,0.6114,0,0,2.557381637669249e-05,2.1313013468254877e-05
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..817c0bb529ed4aaae6db15e1949789c0f5ce2bc2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21e2917a1ed94a2ab657bec1a97b9a1211fa3f38
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+42,5.100000000e+00,UP_FORCE_RAMP,1791363977034427841,-3.874798472e-05,-2.451962119e-06,4.588624597e-04,-3.842703596e-05,-2.874651906e-06,4.512943840e-04,-3.755151021e-05,-2.828338998e-06,4.498299395e-04,7.014991235e-01,-9.010007975e-07,8.411998036e-01,7.014994444e-01,-1.323690585e-06,8.411922356e-01,7.016882946e-01,-9.957385706e-07,8.302305475e-01
+43,5.200000000e+00,UP_FORCE_RAMP,1791363977208940750,-3.887116651e-05,3.322288326e-07,4.661679310e-04,-3.842703596e-05,-2.874651906e-06,4.512943840e-04,-3.755194897e-05,-2.829180383e-06,4.498862090e-04,7.014990003e-01,1.883190154e-06,8.412071091e-01,7.014994444e-01,-1.323690585e-06,8.411922356e-01,7.016882941e-01,-9.965799552e-07,8.302306038e-01
+44,5.333333333e+00,UP_FORCE_RAMP,1791363977454543825,-4.138542738e-05,2.099112611e-07,4.724843318e-04,-4.122852151e-05,2.834448619e-07,4.723944300e-04,-4.030511512e-05,3.250644264e-07,4.709365199e-04,7.014964861e-01,1.760872582e-06,8.412134255e-01,7.014966430e-01,1.834406183e-06,8.412133356e-01,7.016855410e-01,2.157664854e-06,8.302516541e-01
+45,5.450000000e+00,UP_FORCE_RAMP,1791363977637347229,-4.160537438e-05,-4.803621980e-06,4.770323718e-04,-4.122852151e-05,2.834448619e-07,4.723944300e-04,-4.031035196e-05,3.271070910e-07,4.710199037e-04,7.014962661e-01,-3.252660659e-06,8.412179736e-01,7.014966430e-01,1.834406183e-06,8.412133356e-01,7.016855357e-01,2.159707519e-06,8.302517375e-01
+46,5.600000000e+00,UP_FORCE_RAMP,1791363977890068850,-4.514758845e-05,-1.058883750e-06,4.827153196e-04,-4.122852151e-05,2.834448619e-07,4.723944300e-04,-4.031287555e-05,3.266349750e-07,4.711003107e-04,7.014927239e-01,4.920775707e-07,8.412236565e-01,7.014966430e-01,1.834406183e-06,8.412133356e-01,7.016855332e-01,2.159235403e-06,8.302518179e-01
+47,5.700000000e+00,UP_FORCE_RAMP,1791363978101686795,-4.800132625e-05,-2.640226399e-06,4.875360481e-04,-4.122852151e-05,2.834448619e-07,4.723944300e-04,-4.031469856e-05,3.262209086e-07,4.711491533e-04,7.014898702e-01,-1.089265078e-06,8.412284772e-01,7.014966430e-01,1.834406183e-06,8.412133356e-01,7.016855314e-01,2.158821336e-06,8.302518668e-01
+48,5.833333333e+00,UP_FORCE_RAMP,1791363978316874035,-5.063967722e-05,-3.472111955e-06,4.919353476e-04,-4.752136323e-05,2.134208925e-07,4.927016198e-04,-4.674501357e-05,2.758581153e-07,4.913461106e-04,7.014872318e-01,-1.921150634e-06,8.412328765e-01,7.014903501e-01,1.764382214e-06,8.412336428e-01,7.016791011e-01,2.108458543e-06,8.302720637e-01
+49,6.000000000e+00,UP_FORCE_RAMP,1791363978570362626,-5.281448054e-05,-1.678399814e-06,4.962871907e-04,-4.752136323e-05,2.134208925e-07,4.927016198e-04,-4.675257553e-05,2.750840804e-07,4.914338549e-04,7.014850570e-01,-1.274384931e-07,8.412372284e-01,7.014903501e-01,1.764382214e-06,8.412336428e-01,7.016790935e-01,2.107684508e-06,8.302721515e-01
+50,6.133333333e+00,UP_FORCE_RAMP,1791363978771583268,-5.491073227e-05,-3.471663207e-06,5.010111265e-04,-4.752136323e-05,2.134208925e-07,4.927016198e-04,-4.675762588e-05,2.743888505e-07,4.914957084e-04,7.014829607e-01,-1.920701886e-06,8.412419523e-01,7.014903501e-01,1.764382214e-06,8.412336428e-01,7.016790885e-01,2.106989278e-06,8.302722133e-01
+51,6.250000000e+00,UP_FORCE_RAMP,1791363978944049943,-5.351480928e-05,1.335721353e-07,5.076258028e-04,-4.752136323e-05,2.134208925e-07,4.927016198e-04,-4.676180165e-05,2.737587485e-07,4.915460085e-04,7.014843567e-01,1.684533456e-06,8.412485670e-01,7.014903501e-01,1.764382214e-06,8.412336428e-01,7.016790843e-01,2.106359176e-06,8.302722636e-01
+52,6.366666667e+00,UP_FORCE_HOLD,1791363979122830149,-5.566359138e-05,-5.086742222e-06,5.099357155e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.189536426e-05,-3.363362975e-06,5.110198378e-04,7.014822079e-01,-3.535780901e-06,8.412508769e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739507e-01,-1.530762547e-06,8.302917374e-01
+53,6.483333333e+00,UP_FORCE_HOLD,1791363979312049831,-5.701238134e-05,-5.914075200e-06,5.127523990e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.190211340e-05,-3.364494298e-06,5.110781984e-04,7.014808591e-01,-4.363113879e-06,8.412536936e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739440e-01,-1.531893870e-06,8.302917958e-01
+54,6.583333333e+00,UP_FORCE_HOLD,1791363979441337469,-5.279493074e-05,-2.885913386e-06,5.216580722e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.190695309e-05,-3.365193795e-06,5.111221520e-04,7.014850766e-01,-1.334952065e-06,8.412625993e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739391e-01,-1.532593367e-06,8.302918398e-01
+55,6.700000000e+00,UP_FORCE_HOLD,1791363979623690795,-5.917478979e-05,-8.331408014e-07,5.183118844e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.191232501e-05,-3.365877306e-06,5.111694781e-04,7.014786967e-01,7.178205197e-07,8.412592531e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739338e-01,-1.533276878e-06,8.302918871e-01
+56,6.866666667e+00,UP_FORCE_HOLD,1791363979870557695,-5.831459771e-05,-5.421619046e-06,5.237225884e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.191969288e-05,-3.366752495e-06,5.112313482e-04,7.014795569e-01,-3.870657725e-06,8.412646638e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739264e-01,-1.534152067e-06,8.302919490e-01
+57,6.983333333e+00,UP_FORCE_HOLD,1791363980054957128,-5.780092455e-05,-9.289133245e-07,5.281713964e-04,-5.267168570e-05,-3.408989036e-06,5.122988487e-04,-5.192463317e-05,-3.367343974e-06,5.112712125e-04,7.014800706e-01,6.220479966e-07,8.412691126e-01,7.014851998e-01,-1.858027715e-06,8.412532400e-01,7.016739214e-01,-1.534743547e-06,8.302919888e-01
+58,7.083333333e+00,UP_FORCE_HOLD,1791363980209981695,-6.002745347e-05,-3.486971364e-06,5.285209872e-04,-5.579372899e-05,-3.900577048e-06,5.324427840e-04,-5.502490365e-05,-3.841504830e-06,5.313020747e-04,7.014778440e-01,-1.936010043e-06,8.412694622e-01,7.014820778e-01,-2.349615727e-06,8.412733840e-01,7.016708212e-01,-2.008904402e-06,8.303120197e-01
+59,7.183333333e+00,UP_SETTLE,1791363980456247175,-5.361483899e-05,2.935383796e-08,5.418005605e-04,-5.579372899e-05,-3.900577048e-06,5.324427840e-04,-5.502995813e-05,-3.841969600e-06,5.313431168e-04,7.014842566e-01,1.580315159e-06,8.412827417e-01,7.014820778e-01,-2.349615727e-06,8.412733840e-01,7.016708161e-01,-2.009369172e-06,8.303120607e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b8c9e40a4dc9b46515485543d9f3226e4053c19
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_06/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,6.6321e-03,3.5872e-03,2.4566e+00,-3.7001e-02,3.7245e-02,9.7409e-06,1.1633e-04,5.6741e-07,1.9550e-05,-4.0978e-08,8.1770e-06,2.6447e-07,1.1797e-04,8.1814e-06
+1,1.5000e-01,UP_FORCE_RAMP,2.7380e-05,7.6100e-03,3.5926e-03,2.4568e+00,-3.7002e-02,3.7314e-02,1.2251e-05,1.0943e-03,5.9190e-06,1.7548e-04,-3.8370e-07,7.7270e-05,2.7742e-06,1.1083e-03,7.7321e-05
+2,3.1667e-01,UP_FORCE_RAMP,5.7200e-05,8.6284e-03,3.5995e-03,2.4569e+00,-3.7002e-02,3.7386e-02,1.5102e-05,2.1126e-03,1.2815e-05,3.2687e-04,-6.9290e-07,1.4901e-04,5.6255e-06,2.1378e-03,1.4912e-04
+3,4.5000e-01,UP_FORCE_RAMP,8.6215e-05,9.3828e-03,3.6060e-03,2.4570e+00,-3.7002e-02,3.7439e-02,1.7400e-05,2.8671e-03,1.9307e-05,4.3440e-04,-9.5367e-07,2.0223e-04,7.9235e-06,2.8999e-03,2.0238e-04
+4,5.8333e-01,UP_FORCE_RAMP,1.1723e-04,1.0089e-02,3.6138e-03,2.4571e+00,-3.7003e-02,3.7489e-02,1.9691e-05,3.5734e-03,2.7173e-05,5.3263e-04,-1.2554e-06,2.5211e-04,1.0215e-05,3.6130e-03,2.5232e-04
+5,6.8333e-01,UP_FORCE_RAMP,1.4622e-04,1.0591e-02,3.6204e-03,2.4572e+00,-3.7003e-02,3.7524e-02,2.1398e-05,4.0753e-03,3.3686e-05,6.0153e-04,-1.5050e-06,2.8758e-04,1.1921e-05,4.1196e-03,2.8783e-04
+6,7.6667e-01,UP_FORCE_RAMP,1.6871e-04,1.0988e-02,3.6253e-03,2.4573e+00,-3.7003e-02,3.7552e-02,2.2817e-05,4.4718e-03,3.8662e-05,6.5613e-04,-1.6913e-06,3.1566e-04,1.3340e-05,4.5198e-03,3.1595e-04
+7,9.1667e-01,UP_FORCE_RAMP,1.9965e-04,1.1671e-02,3.6370e-03,2.4574e+00,-3.7003e-02,3.7601e-02,2.5329e-05,5.1556e-03,5.0318e-05,7.4935e-04,-2.1867e-06,3.6402e-04,1.5853e-05,5.2100e-03,3.6437e-04
+8,1.1000e+00,UP_FORCE_RAMP,2.2806e-04,1.3403e-02,3.3459e-03,2.4505e+00,-3.6984e-02,3.7723e-02,2.8117e-05,6.8875e-03,-2.4072e-04,-6.0563e-03,1.7568e-05,4.8682e-04,1.8640e-05,9.1746e-03,4.8749e-04
+9,1.2667e+00,UP_FORCE_RAMP,2.5685e-04,1.3951e-02,3.3570e-03,2.4516e+00,-3.6984e-02,3.7769e-02,3.1028e-05,7.4356e-03,-2.2964e-04,-5.0073e-03,1.7129e-05,5.3221e-04,2.1551e-05,8.9673e-03,5.3292e-04
+10,1.4333e+00,UP_FORCE_RAMP,2.8594e-04,1.4732e-02,4.0656e-03,2.4452e+00,-3.7034e-02,3.7831e-02,3.3766e-05,8.2164e-03,4.7896e-04,-1.1373e-02,-3.2842e-05,5.9445e-04,2.4289e-05,1.4038e-02,5.9585e-04
+11,1.5667e+00,UP_FORCE_RAMP,3.1403e-04,1.5115e-02,4.0812e-03,2.4464e+00,-3.7035e-02,3.7857e-02,3.5887e-05,8.5993e-03,4.9451e-04,-1.0209e-02,-3.3662e-05,6.2078e-04,2.6411e-05,1.3357e-02,6.2225e-04
+12,1.6667e+00,UP_FORCE_RAMP,3.4123e-04,1.6489e-02,3.1214e-03,2.4403e+00,-3.6969e-02,3.7962e-02,3.6734e-05,9.9730e-03,-4.6524e-04,-1.6254e-02,3.2201e-05,7.2494e-04,2.7258e-05,1.9076e-02,7.2617e-04
+13,1.7833e+00,UP_FORCE_RAMP,3.7224e-04,1.6717e-02,3.1695e-03,2.4417e+00,-3.6972e-02,3.7977e-02,3.8534e-05,1.0201e-02,-4.1713e-04,-1.4937e-02,2.9009e-05,7.4009e-04,2.9057e-05,1.8093e-02,7.4123e-04
+14,1.8833e+00,UP_FORCE_RAMP,3.9754e-04,1.6658e-02,1.7811e-03,2.4356e+00,-3.6877e-02,3.7979e-02,3.9140e-05,1.0142e-02,-1.8056e-03,-2.0988e-02,1.2462e-04,7.4247e-04,2.9663e-05,2.3380e-02,7.5344e-04
+15,2.0333e+00,UP_FORCE_RAMP,4.2659e-04,1.7403e-02,2.8711e-03,2.4293e+00,-3.6953e-02,3.8039e-02,4.1777e-05,1.0887e-02,-7.1560e-04,-2.7308e-02,4.7799e-05,8.0245e-04,3.2300e-05,2.9406e-02,8.0452e-04
+16,2.1333e+00,UP_FORCE_RAMP,4.5480e-04,1.7602e-02,2.8960e-03,2.4312e+00,-3.6955e-02,3.8052e-02,4.3037e-05,1.1086e-02,-6.9062e-04,-2.5421e-02,4.6246e-05,8.1540e-04,3.3560e-05,2.7742e-02,8.1740e-04
+17,2.2500e+00,UP_FORCE_RAMP,4.8482e-04,1.8702e-02,1.3462e-03,2.4264e+00,-3.6848e-02,3.8136e-02,4.3441e-05,1.2186e-02,-2.2404e-03,-3.0160e-02,1.5349e-04,8.9924e-04,3.3964e-05,3.2606e-02,9.1288e-04
+18,2.3667e+00,UP_FORCE_RAMP,5.1071e-04,2.4331e-02,3.0610e-03,2.4250e+00,-3.6968e-02,3.8538e-02,4.5841e-05,1.7815e-02,-5.2571e-04,-3.1630e-02,3.3680e-05,1.3017e-03,3.6364e-05,3.6305e-02,1.3026e-03
+19,2.5000e+00,UP_FORCE_RAMP,5.4172e-04,2.3990e-02,3.1153e-03,2.4273e+00,-3.6971e-02,3.8513e-02,4.6807e-05,1.7474e-02,-4.7135e-04,-2.9306e-02,2.9828e-05,1.2764e-03,3.7330e-05,3.4123e-02,1.2773e-03
+20,2.6000e+00,UP_FORCE_RAMP,5.6853e-04,2.5888e-02,5.6837e-03,2.4224e+00,-3.7152e-02,3.8654e-02,4.8965e-05,1.9372e-02,2.0970e-03,-3.4198e-02,-1.5046e-04,1.4175e-03,3.9488e-05,3.9360e-02,1.4260e-03
+21,2.6833e+00,UP_FORCE_RAMP,5.9512e-04,2.5664e-02,3.0180e-03,2.4171e+00,-3.6967e-02,3.8644e-02,4.8226e-05,1.9148e-02,-5.6867e-04,-3.9501e-02,3.3855e-05,1.4070e-03,3.8749e-05,4.3901e-02,1.4079e-03
+22,2.8167e+00,UP_FORCE_RAMP,6.2946e-04,2.5092e-02,5.8068e-03,2.4130e+00,-3.7163e-02,3.8608e-02,5.0791e-05,1.8577e-02,2.2201e-03,-4.3643e-02,-1.6198e-04,1.3718e-03,4.1315e-05,4.7484e-02,1.3819e-03
+23,2.9167e+00,UP_FORCE_RAMP,6.5572e-04,2.4992e-02,5.8087e-03,2.4155e+00,-3.7164e-02,3.8600e-02,5.1432e-05,1.8477e-02,2.2220e-03,-4.1061e-02,-1.6253e-04,1.3635e-03,4.1955e-05,4.5081e-02,1.3738e-03
+24,3.0167e+00,UP_FORCE_RAMP,6.8314e-04,2.5746e-02,5.3273e-03,2.4114e+00,-3.7132e-02,3.8659e-02,5.1751e-05,1.9231e-02,1.7406e-03,-4.5249e-02,-1.3065e-04,1.4224e-03,4.2274e-05,4.9196e-02,1.4290e-03
+25,3.1333e+00,UP_FORCE_RAMP,7.1249e-04,2.5719e-02,3.3005e-03,2.4059e+00,-3.6992e-02,3.8663e-02,5.1159e-05,1.9203e-02,-2.8612e-04,-5.0740e-02,8.9481e-06,1.4263e-03,4.1683e-05,5.4253e-02,1.4269e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..12e1d4be00cfc6efdb46212adff95fe7ca83dbc0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 4444160
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be0932481c9f76fc59238a44d2b907d588a0d1ba
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6458913f80e9e3d755aeb7e21a0fd12eb13daa86
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
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+20927,1791364062220667363,3013600000000,1791364062214260039,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760444019081726,-0.0047513121106849,0.09028874790960789,0.9999999846890545,0.00011546779766258488,-8.459125152634985e-05,3.9702177860700655e-05,0.6761,-0.0048,0.09030469977716005,1.0,0.0,0.0,0.0,-0.050622865503155465,-0.025469586160592392,0.17670888997496975,-0.0021723697451723504,0.004012272857756972,8.09133365185415e-05,0.020105626980368718,-0.033101802380556745,0.23874666228911573,-0.004145531401275195,0.0010409986190487493,-0.0012572146344467545,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6859290044631501,-0.38471533216823245,0.31377215562498423,0.30629326742198687,-0.05294955408999385,-0.30675091174659624,0.5954971238671044,0.17670888997496975,0.2817249682421202,0.2817249682421202,0.42102000000002576,0,0,-7.346902566460057e-05,-9.672734421617974e-05
+21066,1791364063378707059,3014758000000,1791364063378249906,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.676044498389023,-0.004748158411356111,0.09020428925411328,0.9999999857488749,0.00010641107693945167,-8.448337715249227e-05,3.852733968875477e-05,0.6761,-0.0048,0.09022001580151909,1.0,0.0,0.0,0.0,-0.053009125231894536,-0.03240955023229412,0.22690123308939436,-0.002183124978990942,0.004002030246089333,4.00654905564745e-05,0.01771936725162965,-0.04004176645225847,0.28893900540354034,-0.004156286635093787,0.0010307560073811112,-0.0012980624804088214,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.6873984854253135,-0.40653927281380303,0.21649884543028178,0.3174857796489728,0.007756335862169767,-0.32117638972332513,0.5954971238671044,0.22690123308939436,0.37899827843682266,0.37899827843682266,0.49050000000003097,0,0,-7.49729159140121e-05,8.153417147562737e-05
+21210,1791364064578724120,3015958000000,1791364064578249694,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760520873232312,-0.004750399572275911,0.09013107938500718,0.9999999871897882,0.00010192778137086948,-7.231391249763978e-05,3.800938402390411e-05,0.6761,-0.0048,0.09013182889592888,1.0,0.0,0.0,0.0,-0.048517772930358784,-0.030666094297979955,0.2831685902799268,-0.0021936571442295145,0.003989659951591789,-4.785216084759666e-06,0.0222107195531654,-0.03829831051794431,0.3452063625940728,-0.0041668188003323595,0.0010183857128835665,-0.0013429131870500556,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7313732511314684,-0.2864223461032437,0.24486020598959482,0.29216455453687884,0.0030698600012404598,-0.23739405762668148,0.5954971238671044,0.2831685902799268,0.3506369178775096,0.3506369178775096,0.5624999999999786,0,0,-7.395185002842387e-05,-9.952199761376618e-05
+21346,1791364065712710749,3017092000000,1791364065710259445,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760523165506187,-0.004751035214368754,0.09004781077966785,0.9999999871139968,0.00010192449394865462,-7.157852649047441e-05,4.1264787141293616e-05,0.6761,-0.0048,0.09004519617392567,1.0,0.0,0.0,0.0,-0.05317980984057361,-0.03916989225302319,0.3173067423477534,-0.0022012501274540543,0.003983056593155931,-3.297409405161357e-05,0.01754868264295057,-0.04680210847298755,0.3793445146618994,-0.004174411783556899,0.0010117823544477083,-0.0013711020650169095,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7742141996365829,-0.33933059355795336,0.13669265066036645,0.3142943400010547,0.07629204951723832,-0.2706152707660264,0.5954971238671044,0.3173067423477534,0.45880447320673795,0.45880447320673795,0.6305399999999207,0,0,-7.907234458456725e-05,-9.999982372577704e-05
+21510,1791364067078700359,3018458000000,1791364067078249538,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760572669953078,-0.004748442890534161,0.08995324962670304,0.9999999869680974,0.00010669565003715698,-6.498547119262733e-05,4.3584355330534285e-05,0.6761,-0.0048,0.0899409408747748,1.0,0.0,0.0,0.0,-0.05167745696561398,-0.027601552875614176,0.38454451968753944,-0.0022378537528657877,0.004898831140078843,-7.268183793818998e-05,0.0190510355179102,-0.03523376909557853,0.4465822920016854,-0.004211015408968633,0.0019275569013706203,-0.001410809808903486,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8105825710178226,-0.44898004632868566,-0.0697802035207991,0.34026120368043206,0.21905415387950986,-0.3439102339995136,0.5954971238671044,0.38454451968753944,0.6652773273879035,0.6652773273879035,0.712499999999851,0,0,-7.181826013472203e-05,9.999924085868912e-05
+21657,1791364068303684810,3019683000000,1791364068302249462,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760654247814494,-0.004756050415724919,0.08987842707790988,0.999999988559426,9.84771576319574e-05,-5.1498631899913966e-05,4.443143714386067e-05,0.6761,-0.0048,0.08984902480737818,1.0,0.0,0.0,0.0,-0.05731590859485526,-0.030423875754921222,0.4275144406948814,-0.0022485650988659173,0.004971983947012058,-0.0001068117925911024,0.013412583888668918,-0.038056091974885575,0.4895522130090274,-0.004221726754968762,0.0020007097083038355,-0.0014449397635563983,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8070761839070313,-0.41201972255771985,-0.05040324004715149,0.3387630917589021,0.202097803088539,-0.31926616847542505,0.5954971238671044,0.4275144406948814,0.6459003639142559,0.6459003639142559,0.7859999999997885,0,0,-7.693000437197057e-05,-7.201795231665675e-05
+21826,1791364069712685750,3021092000000,1791364069710249554,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6760703889704829,-0.0047516779111462905,0.08977825124036293,0.9999999886183768,0.00010148778462282819,-4.309798794225775e-05,4.526481549397556e-05,0.6761,-0.0048,0.08973624429968662,1.0,0.0,0.0,0.0,-0.0698874676754422,-0.042976201865110156,0.48761819681081375,-0.0022614582688919973,0.0049603181920105715,-0.00015650022963073626,0.0008410248080819816,-0.05060841808507451,0.5496559691249597,-0.004234619924994842,0.001989043953302349,-0.0014946282005960322,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7835907638277716,-0.4448644715008826,-0.08770759005168656,0.3599479694244317,0.21410882722179617,-0.33453358776962283,0.5954971238671044,0.48761819681081375,0.683204713918791,0.683204713918791,0.8705399999997167,0,0,-8.061504248454832e-05,-9.981923207303395e-05
+21986,1791364071045674894,3022425000000,1791364071038259167,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6760741960781803,-0.004752812837844971,0.0896761597905448,0.9999999892952008,9.906930556426586e-05,-3.6990692146959664e-05,4.0858586641712226e-05,0.6761,-0.0048,0.08962755436655077,1.0,0.0,0.0,0.0,-0.07049542972308148,-0.04094429642505806,0.5478618951234426,-0.002272667454080784,0.004947169295152804,-0.0002056475911968354,0.00023306276044269604,-0.04857651264502242,0.6098996674375886,-0.004245829110183629,0.0019758950564445813,-0.0015437755621621314,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8236381924973204,-0.3388938290472886,-0.3263336899600647,0.3415911371445605,0.3725257466003239,-0.2598429361623434,0.5954971238671044,0.5478618951234426,0.9218308138271691,0.9218308138271691,0.9505199999996486,0,0,-7.893486452384556e-05,9.994020474935467e-05
+22147,1791364072387633060,3023767000000,1791364072386249680,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760803308159186,-0.004756448628473771,0.08957920775111523,0.9999999900632678,9.209504932896659e-05,-2.747573381409767e-05,4.5606081265566965e-05,0.6761,-0.0048,0.08951698554587466,1.0,0.0,0.0,0.0,-0.07023629063601151,-0.039101350428680716,0.608067883138959,-0.002284227743338675,0.004940568661161351,-0.00025389027822426535,0.0004922018475126638,-0.04673356664864507,0.670105655453105,-0.00425738939944152,0.001969294422453128,-0.0015920182491895613,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8352883069785311,-0.3079011199570525,-0.33834838973801606,0.33802766293023384,0.37876072850434683,-0.2429209941989282,0.5954971238671044,0.608067883138959,0.9338455136051205,0.9338455136051205,1.0310399999995803,0,0,-8.644218175005302e-05,9.377770368435562e-05
+22288,1791364073562715428,3024942000000,1791364073562259608,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6760853739830837,-0.004761430195404615,0.0894863684644871,0.9999999910995463,8.189359468489907e-05,-1.9286491369976237e-05,4.6532164065730695e-05,0.6761,-0.0048,0.08941548187636321,1.0,0.0,0.0,0.0,-0.0709901128898319,-0.03679764310058096,0.6581743099591765,-0.0023207393078620176,0.005936342274689018,-0.000279109956600247,-0.0002616204063077196,-0.044429859320545315,0.7202120822733225,-0.004293900963964863,0.0029650680359807956,-0.001617237927565543,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8223290984139359,-0.425224840639705,-0.40181544178933404,0.37359306578423634,0.4134190576633477,-0.3187349144046829,0.5954971238671044,0.6581743099591765,0.9973125656564384,0.9973125656564384,1.1015399999995203,0,0,-8.69187694221577e-05,9.973783884754112e-05
+22435,1791364074787653287,3026167000000,1791364074782259462,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760884071335842,-0.004758159060570155,0.08938901122438196,0.9999999920547538,7.371871153604009e-05,-1.602636185875508e-05,4.0522390368426626e-05,0.6761,-0.0048,0.0893113451771972,1.0,0.0,0.0,0.0,-0.07139660832392986,-0.044775084241347816,0.7161252876718842,-0.002343930696889235,0.005924720865015487,-0.0003260100292983828,-0.0006681158404056661,-0.05240730046131217,0.7781630599860302,-0.00431709235299208,0.0029534466263072645,-0.0016641380002636787,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8942643234929109,-0.4116371442292311,-0.4790464453403378,0.3805785660150603,0.4767830440361946,-0.3067230357417391,0.5954971238671044,0.7161252876718842,1.0745435692074423,1.0745435692074423,1.1750399999994579,0,0,-8.520775230250332e-05,9.70337935265519e-05
+22567,1791364075887629404,3027267000000,1791364075886249660,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760968276599139,-0.004757026371215322,0.08930772139848633,0.9999999920903258,7.540517131460665e-05,-1.8820221858451037e-06,3.965767405007908e-05,0.6761,-0.0048,0.08921607622585218,1.0,0.0,0.0,0.0,-0.07327057398132761,-0.04327300178757648,0.7562662324911009,-0.0023405571017210934,0.0059157534592994415,-0.00035958685739385476,-0.0025420814978034203,-0.05090521800754084,0.8183040048052469,-0.004313718757823938,0.0029444792205912187,-0.0016977148283591507,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.865648330060453,-0.41492687828849845,-0.48877034027645855,0.37686322735260647,0.47367403348282233,-0.3105818390292462,0.5954971238671044,0.7562662324911009,1.084267464143563,1.084267464143563,1.2410399999994017,0,0,-9.086053703338786e-05,-3.235337858702392e-05
+22718,1791364077145673944,3028525000000,1791364077142249564,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6760992949362213,-0.004755203843262382,0.08919250032954454,0.9999999903026737,9.389323268121084e-05,-8.880531688935841e-07,4.495318741905466e-05,0.6761,-0.0048,0.08910128166126029,1.0,0.0,0.0,0.0,-0.08854613170767175,-0.05379764965349492,0.8178083933177317,-0.0033726652484817746,0.005922299460730203,-0.0004217658584172164,-0.01781763922414758,-0.06142986587345928,0.8798461656318777,-0.00534582690458462,0.002951025222021981,-0.0017598938293825123,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8908929682976194,-0.5124588856405724,-0.5132391159466841,0.4157597168172114,0.4909236136519378,-0.3723685022886279,0.5954971238671044,0.8178083933177317,1.1087362398137885,1.1087362398137885,1.3165199999993376,0,0,-9.138557665741421e-05,-9.99256885833077e-05
+22834,1791364078112697818,3029492000000,1791364078106259935,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.676097462991025,-0.0047570439883256295,0.08910371231126661,0.9999999898245683,9.965925728737216e-05,-3.049707098650352e-06,4.304020583756661e-05,0.6761,-0.0048,0.08901310674192767,1.0,0.0,0.0,0.0,-0.08736405823889917,-0.0582461212504821,0.86284320434678,-0.003382018339587454,0.005912916299423983,-0.0004617904568517976,-0.01663556575537499,-0.06587833747044645,0.924880976660926,-0.005355179995690299,0.00294164206071576,-0.0017999184278170936,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8937238006063036,-0.3945544114687203,-0.6728761210621982,0.3907964941914486,0.5910451878156908,-0.29104932802830974,0.5954971238671044,0.86284320434678,1.2683732449293026,1.2683732449293026,1.3745399999992882,0,0,-9.125987971284199e-05,9.977851464360583e-05
+22967,1791364079220771728,3030600000000,1791364079214259394,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6760979975770133,-0.004763676477950166,0.08899983098872415,0.999999989886271,9.622125240227673e-05,-2.721694343800487e-06,4.9034530770651285e-05,0.6761,-0.0048,0.08890925939979384,1.0,0.0,0.0,0.0,-0.07664435172914007,-0.0602979616067145,0.9186805564598839,-0.003394906723179691,0.005903710089542241,-0.00030439413042702545,-0.005915859245615881,-0.06793017782667886,0.9807183287740299,-0.005368068379282536,0.002932435850834019,-0.0016425221013923214,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9531612380211036,-0.38792674783249437,-0.7539553021289556,0.38737284666523253,0.6564253642564442,-0.2861174286510575,0.5954971238671044,0.9186805564598839,1.34945242599606,1.34945242599606,1.4410199999992317,0,0,-9.658584840668982e-05,9.987511792453602e-05
+23110,1791364080413722977,3031792000000,1791364080410259353,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761043660199572,-0.004760308844107065,0.08888878958760739,0.9999999901426727,9.254400501841023e-05,4.618327168503565e-06,5.071288773308056e-05,0.6761,-0.0048,0.08878904682216042,1.0,0.0,0.0,0.0,-0.08648400934520155,-0.05384197006797635,0.959485847030996,-0.003427035498542037,0.0069047810290501,-0.0005143154426534417,-0.015755516861677366,-0.061474186287940706,1.021523619345142,-0.005400197154644882,0.003933506790341877,-0.0018524434136187376,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.86924518267023,-0.45083038295005157,-0.7622539802780955,0.41247574854153957,0.6355978212943779,-0.3280338338644825,0.5954971238671044,0.959485847030996,1.3577511041452,1.3577511041452,1.5125399999991709,0,0,-0.0001043583342005564,9.999066438582389e-05
+23251,1791364081587662184,3032967000000,1791364081586259097,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761087841121107,-0.004765854407641242,0.08877105330530345,0.9999999903519947,8.69268026369796e-05,1.3537676515028416e-05,5.476620564476483e-05,0.6761,-0.0048,0.08866331252771596,1.0,0.0,0.0,0.0,-0.09000427480919113,-0.05346461496684968,1.0141364220561466,-0.0034387505941675814,0.00689264599661713,-0.0005603665324591222,-0.019275782325666943,-0.061096831186814034,1.0761741943702927,-0.005411912250270426,0.003921371757908908,-0.0018984945034244182,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8390971842461007,-0.37744554645866996,-0.7772022941701371,0.40265418070665515,0.6343763124301445,-0.2807028450249275,0.5954971238671044,1.0141364220561466,1.3726994180372416,1.3726994180372416,1.583039999999111,0,0,-0.00010971892015351615,-9.99986857471768e-05
+23380,1791364082662659535,3034042000000,1791364082662259199,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.676112073722518,-0.004767967251017567,0.08865627252788853,0.9999999895786903,9.325779210674754e-05,1.7935780567949598e-05,5.7155715084721774e-05,0.6761,-0.0048,0.08854138046131267,1.0,0.0,0.0,0.0,-0.08288346817323392,-0.06544164906071624,1.06934344093002,-0.0034589506805763883,0.006876735571372313,0.0004186510398092449,-0.012154975689709725,-0.07307386528068059,1.131381213244166,-0.005432112336679233,0.003905461332664091,-0.000919476931156051,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8881270969870678,-0.4651921603564583,-0.8328176950150822,0.4395888413985737,0.6791385444882209,-0.3348453808613156,0.5954971238671044,1.06934344093002,1.4283148188821866,1.4283148188821866,1.647539999999056,0,0,-0.00011924857947906287,-9.999996250365512e-05
+23508,1791364083728727509,3035108000000,1791364083726259192,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761137295318846,-0.004766954493585315,0.08853167289434843,0.9999999881931362,0.00010627380913445803,1.9652999598969384e-05,5.8105325918472054e-05,0.6761,-0.0048,0.08841333374250086,1.0,0.0,0.0,0.0,-0.09024282292940027,-0.06335436086110378,1.1191966457762317,-0.0034594160068548273,0.006871174170613672,-0.0005665128506843959,-0.019514330445876086,-0.07098657708106813,1.1812344180903778,-0.005432577662957672,0.00389989993190545,-0.0019046408216496918,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9006174176897446,-0.4184293280705708,-0.8553868694848469,0.4315019631098793,0.6943682159036233,-0.30470902502661185,0.5954971238671044,1.1191966457762317,1.4508839933519513,1.4508839933519513,1.7114999999990017,0,0,-0.00012124248482544975,-9.871947290041589e-05
+23640,1791364084828731368,3036208000000,1791364084826250076,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761199708471223,-0.004767674035011078,0.08840094668779522,0.9999999885576015,0.00010121394337389679,2.9299439622077716e-05,5.678857032077613e-05,0.6761,-0.0048,0.0882732213193452,1.0,0.0,0.0,0.0,-0.09245638205001472,-0.06215210700190126,1.1593758716927391,-0.003502815741421579,0.007859572998151732,0.00036020792894951364,-0.021727889566490535,-0.06978432322186562,1.2214136440068852,-0.005475977397524424,0.004888298759443509,-0.0009779200420157823,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.923958622810662,-0.49487014482352426,-0.9552730734982295,0.4635174042778142,0.7604638407597685,-0.3545061329992637,0.5954971238671044,1.1593758716927391,1.5507701973653338,1.5507701973653338,1.7774999999989456,0,0,-0.00013380270244773887,-2.2577566994223894e-05
+23751,1791364085753700185,3037133000000,1791364085750249665,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761206086099274,-0.00477096875071536,0.08827038074016214,0.9999999879517217,0.00010392542522669094,2.659169755306e-05,6.349652231101226e-05,0.6761,-0.0048,0.08814274850854305,1.0,0.0,0.0,0.0,-0.09117954603411606,-0.06467912221082885,1.1897880522307616,-0.0034825892340096306,0.006855469269733109,0.0003204902341392827,-0.020451053550591874,-0.0723113384307932,1.2518258245449077,-0.005455750890112476,0.003884195031024887,-0.0010176377368260132,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9106139029979832,-0.46543428126989456,-1.04781051906189,0.46017275631458493,0.814459822023901,-0.33747271965617626,0.5954971238671044,1.1897880522307616,1.6433076429289946,1.6433076429289946,1.8329999999988984,0,0,-0.00014837342123400076,9.912040219018365e-05
+23869,1791364086737741709,3038117000000,1791364086734249721,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761213072146295,-0.004773273218086833,0.08811921713331602,0.9999999886695741,9.587461366003774e-05,2.8368851648232757e-05,6.408574619475992e-05,0.6761,-0.0048,0.08799064083931525,1.0,0.0,0.0,0.0,-0.09940350885189875,-0.07275843306414652,1.2194435355689353,-0.0045352788472572,0.007873230991359345,0.00029954569915212337,-0.028675016368374558,-0.08039064928411087,1.2814813078830813,-0.006508440503360045,0.004901956752651123,-0.0010385822718131726,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8904481837552597,-0.5169631768017368,-0.958144662648279,0.4893036013585525,0.7499675851951045,-0.365437738404644,0.5954971238671044,1.2194435355689353,1.5536417865153833,1.5536417865153833,1.8920399999988482,0,0,-0.00016275972745535684,-9.961309141293668e-05
+23974,1791364087612641606,3038992000000,1791364087610259071,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761193159097671,-0.00477706753608221,0.08796105618742496,0.99999998811246,9.873061015527053e-05,2.2853195893139237e-05,7.034161020968376e-05,0.6761,-0.0048,0.08783760370656686,1.0,0.0,0.0,0.0,-0.09721052710161311,-0.082293048536669,1.2295302606154812,-0.004512267279924719,0.0068618687697160315,0.00027367490356061566,-0.026482034618088932,-0.08992526475663334,1.2915680329296273,-0.006485428936027564,0.003890594531007809,-0.0010644530674046803,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8563894058499859,-0.4665792400416381,-1.0005418608711871,0.49221769890883815,0.7632752667210224,-0.33048573497169764,0.5954971238671044,1.2295302606154812,1.5960389847382914,1.5960389847382914,1.9445399999988036,0,0,-0.00018631474408700577,-9.999994862586731e-05
+24070,1791364088412734406,3039792000000,1791364088406259211,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761192414717931,-0.004782400919840822,0.08780305151340513,0.9999999876914932,0.00010163958183056096,2.2497536971423755e-05,7.227125356053856e-05,0.6761,-0.0048,0.08767956562236835,1.0,0.0,0.0,0.0,-0.08994651029750697,-0.07606607037109311,1.2295618003838533,-0.004510264416734747,0.006861879835382663,0.0002768725439172607,-0.019218017813982788,-0.08369828659105746,1.2915995726979994,-0.006483426072837592,0.0038906055966744404,-0.0010612554270480353,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8118841935109423,-0.49921746152186275,-0.9723459058833444,0.5097893453740511,0.7329285449862957,-0.3559011097360532,0.5954971238671044,1.2295618003838533,1.5678430297504486,1.5678430297504486,1.9925399999987627,0,0,-0.00020751257874126872,-9.99651153784697e-05
+24166,1791364089212638808,3040592000000,1791364089206250247,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761160423999407,-0.0047856766377170745,0.08762503366748516,0.9999999880347127,9.773785273904075e-05,1.7787028496363094e-05,7.419145913171859e-05,0.6761,-0.0048,0.08750113509595324,1.0,0.0,0.0,0.0,-0.08701479492621822,-0.07859257610242341,1.2359098249266094,-0.0045114917062372886,0.006862047546979168,0.0002720916845493581,-0.016286302442694037,-0.08622479232238776,1.2979475972407555,-0.0064846533623401335,0.0038907733082709454,-0.0010660362864159379,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8431115377887767,-0.4905719712288288,-0.9750175465402012,0.5275824137506823,0.7423522721944267,-0.3476084912578927,0.5954971238671044,1.2359098249266094,1.5705146704073056,1.5705146704073056,2.040539999998722,0,0,-0.00023763554699992995,-9.999962943674773e-05
+24253,1791364089937698420,3041317000000,1791364089930250159,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761145794638537,-0.0047858760849736086,0.0874465989680243,0.9999999885275486,9.123968614245211e-05,1.568720560583391e-05,7.62692493196146e-05,0.6761,-0.0048,0.08732009837556676,1.0,0.0,0.0,0.0,-0.08808060248525044,-0.08240924566808906,1.2295915857379365,-0.004512106577897527,0.006862391173744017,0.0002770662089537166,-0.017352110001726265,-0.09004146188805341,1.2916293580520826,-0.006485268234000372,0.003891116935035795,-0.0010610617620115793,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8049439803075161,-0.46562403487604614,-1.0199512799302346,0.5325501007791474,0.7566573461231528,-0.3288901616155977,0.5954971238671044,1.2295915857379365,1.615448403797339,1.615448403797339,2.084039999998685,0,0,-0.00026388788499784175,-9.999985148135266e-05
+24330,1791364090578696684,3041958000000,1791364090578249790,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761180102650329,-0.0047852061182918956,0.0872745420282049,0.9999999880738324,9.413492606630021e-05,1.990557849586647e-05,7.770188672896713e-05,0.6761,-0.0048,0.08714212390831212,1.0,0.0,0.0,0.0,-0.08099140588744716,-0.08246500055203101,1.2295504182690344,-0.0045138167628164805,0.006862286971074575,0.0002776944476229812,-0.010262913403922982,-0.09009721677199536,1.2915881905831805,-0.0064869784189193255,0.0038910127323663526,-0.0010604335233423147,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8116570633468584,-0.4794950366116607,-0.9621324687414924,0.5433329244834012,0.7177303144213187,-0.3367880467672574,0.5954971238671044,1.2295504182690344,1.5576295926085968,1.5576295926085968,2.1224999999986522,0,0,-0.0002924880764768308,-9.974032297155872e-05
+24402,1791364091178640521,3042558000000,1791364091178259722,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761174323993738,-0.004791298544371372,0.08709332252599238,0.9999999862531305,0.00010902486974798628,2.227746476451476e-05,8.095613426682378e-05,0.6761,-0.0048,0.0869591116781416,1.0,0.0,0.0,0.0,-0.08995928174754801,-0.08244262196235125,1.229537450225097,-0.004511186259033271,0.006862416496607102,0.00027688223919777486,-0.019230789264023825,-0.0900748381823156,1.2915752225392432,-0.006484347915136116,0.0038911422578988795,-0.001061245731767521,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8368415805782907,-0.4885423016749191,-0.9357100717916094,0.5638987899735728,0.7087359487378669,-0.3377427861697558,0.5954971238671044,1.229537450225097,1.5312071956587139,1.5312071956587139,2.1584999999986216,0,0,-0.0003170218566370383,-9.982539381082062e-05
+24471,1791364091753698220,3043133000000,1791364091746250381,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.676119453647005,-0.004789145428770544,0.08690886629224548,0.9999999860283784,0.00010904293008706958,2.5197127536875818e-05,8.283025836897707e-05,0.6761,-0.0048,0.086770403098804,1.0,0.0,0.0,0.0,-0.08743954991482741,-0.08428776913981646,1.2293020451206087,-0.0052406292707008455,0.006874832214123012,0.00026804656847030585,-0.016711057431303234,-0.09191998535978081,1.2913398174347548,-0.0072137909268036905,0.00390355797541479,-0.00107008140249499,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7881197549056598,-0.5268115399492717,-0.9781068865083462,0.582333305581867,0.7226615119802785,-0.3646204331624465,0.5954971238671044,1.2293020451206087,1.5736040103754507,1.5736040103754507,2.1929999999985923,0,0,-0.00034027987886739295,-9.999999025923074e-05
+24538,1791364092312779828,3043692000000,1791364092306259477,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761120797356314,-0.004796429681112397,0.08670589668496109,0.9999999873140816,9.694056736520014e-05,1.3416709344776263e-05,8.50718482082743e-05,0.6761,-0.0048,0.08657399564834416,1.0,0.0,0.0,0.0,-0.08675511566548821,-0.08521755073084729,1.2291643515133257,-0.005531496849543256,0.006881388524147587,0.0002660658829362903,-0.016026623181964027,-0.09284976695081164,1.2912021238274718,-0.007504658505646101,0.003910114285439365,-0.0010720620880290057,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8612155479974787,-0.4564318928981766,-0.9544991179815185,0.5818852332652257,0.7269780705190441,-0.3151148402027597,0.5954971238671044,1.2291643515133257,1.549996241848623,1.549996241848623,2.226539999998564,0,0,-0.0003615229511963732,-9.909786466278376e-05
+24600,1791364092828717174,3044208000000,1791364092826259317,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761112643125402,-0.004800893836703193,0.08651772491280312,0.999999986786629,9.921685031328725e-05,1.4849570575744504e-05,8.83465497569589e-05,0.6761,-0.0048,0.0863812431948983,1.0,0.0,0.0,0.0,-0.08016260283990308,-0.09562723309466685,1.2191180214926662,-0.005530161376531308,0.006883903829117671,0.0002749653076289068,-0.009434110356378898,-0.1032594493146312,1.2811557938068123,-0.007503323032634153,0.003912629590409448,-0.0010631626633363892,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8001526816911777,-0.48806647333159453,-0.8590966662603912,0.5948103572893636,0.6492451056358967,-0.33617387902988594,0.5954971238671044,1.2191180214926662,1.4545937901274955,1.4545937901274955,2.2574999999985375,0,0,-0.00038582273692164124,-9.999999025923074e-05
+24663,1791364093353747758,3044733000000,1791364093346259161,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761122417542436,-0.0048048987504408025,0.08631417699514925,0.9999999871262962,9.533161110202289e-05,1.3709173720384901e-05,8.8961869990557e-05,0.6761,-0.0048,0.08617228679579371,1.0,0.0,0.0,0.0,-0.08821585129117115,-0.08528549197040622,1.2269489954378012,-0.005530799831524714,0.006881578061463252,0.0002669672314877963,-0.01748735880764698,-0.09291770819037057,1.2889867677519473,-0.007503961487627559,0.00391030382275503,-0.0010711607394774997,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8891699964477028,-0.5168689798731262,-1.004961076817599,0.6108403921564187,0.7641863718590637,-0.3513522539456162,0.5954971238671044,1.2269489954378012,1.6004582006847032,1.6004582006847032,2.2889999999985107,0,0,-0.00040976929416942356,-3.3896822412736384e-05
+24720,1791364093828747368,3045208000000,1791364093826259424,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761106230970131,-0.004807752095839728,0.08611428982688352,0.9999999874204795,8.993364318488558e-05,1.4732975772119347e-05,9.108668759134306e-05,0.6761,-0.0048,0.08597376296791132,1.0,0.0,0.0,0.0,-0.08940688816842554,-0.08882945064579077,1.2291597529074745,-0.005531667138863751,0.006881501353714578,0.0002657511601844532,-0.018678395684901355,-0.09646166686575512,1.2911975252216206,-0.007504828794966596,0.0039102271150063565,-0.0010723768107808427,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8578751582658246,-0.4474365312431255,-0.8732400799769232,0.6090373729291371,0.6678308501649645,-0.3052089253976389,0.5954971238671044,1.2291597529074745,1.4687372038440276,1.4687372038440276,2.3174999999984864,0,0,-0.0004250996424551553,-9.97910879193597e-05
+24774,1791364094278740312,3045658000000,1791364094274250060,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761070552196423,-0.004812879203740999,0.08591620276274999,0.9999999886077615,7.69251964033669e-05,1.0648696779136429e-05,9.05343068636834e-05,0.6761,-0.0048,0.08577925560012342,1.0,0.0,0.0,0.0,-0.08936560056423704,-0.08569198755240075,1.209385781275653,-0.005528544672828334,0.006884243191629188,0.0002817246440930119,-0.01863710808071285,-0.0933242037723651,1.271423553589799,-0.007501706328931179,0.003912968952920966,-0.001056403326872284,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9049062058905175,-0.5460521784603807,-0.9356027198963828,0.6415968433152739,0.7160627429789829,-0.3655519152536156,0.5954971238671044,1.209385781275653,1.5310998437634873,1.5310998437634873,2.3444999999984635,0,0,-0.0004402008335305504,-9.999894942514515e-05
+24826,1791364094712674655,3046092000000,1791364094710250060,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761057151240399,-0.004811247291008672,0.08572226818172868,0.9999999881036145,8.46481899081172e-05,5.749835485004114e-06,8.965075990469918e-05,0.6761,-0.0048,0.08558473615637217,1.0,0.0,0.0,0.0,-0.08916631863525554,-0.08897607084965467,1.2191219629578502,-0.005529583964130404,0.006883696100696604,0.0002738790081728813,-0.01843782615173136,-0.09660828706961902,1.2811597352719963,-0.007502745620233249,0.003912421861988381,-0.0010642489627924146,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9392328008475928,-0.49702698669705636,-0.9829584550077914,0.6304506929213596,0.7563982240249246,-0.33253818507832167,0.5954971238671044,1.2191219629578502,1.578455578874896,1.578455578874896,2.3705399999984413,0,0,-0.00045558904412520827,-8.021852212903297e-05
+24876,1791364095128715717,3046508000000,1791364095126259062,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761077993588246,-0.004811979304879958,0.08553422534886289,0.9999999879512228,8.32017362861098e-05,1.3550665390605774e-05,9.183827715089629e-05,0.6761,-0.0048,0.08539349387578407,1.0,0.0,0.0,0.0,-0.08137829306771067,-0.08576235857871876,1.2191374446167147,-0.005529357785388086,0.006883360634894977,0.0002748135501582916,-0.010649800584186497,-0.09339457479868311,1.2811752169308608,-0.007502519441490931,0.003912086396186754,-0.0010633144208070044,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9274368856608143,-0.4472461340798359,-0.996811305685784,0.6254418769294238,0.7564392634247958,-0.2986108119220183,0.5954971238671044,1.2191374446167147,1.5923084295528884,1.5923084295528884,2.39549999999842,0,0,-0.00046653227602918976,-9.9733370199867e-05
+24927,1791364095553645058,3046933000000,1791364095550259711,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761055428956755,-0.004807005550487926,0.08533451223027044,0.9999999879611833,8.394069704854237e-05,1.225538919723238e-05,9.1237395043267e-05,0.6761,-0.0048,0.08519280408312803,1.0,0.0,0.0,0.0,-0.08936494818212655,-0.0960366311314573,1.2077581552318581,-0.005530470590231577,0.006886863821542249,0.00028301949991217353,-0.018636455698602363,-0.10366884735142165,1.2697959275460042,-0.007503632246334422,0.003915589582834026,-0.0010551084710531224,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9179638517765153,-0.48808115867573726,-0.9882710867932739,0.6352393772672342,0.7443650811543231,-0.32505765434460887,0.5954971238671044,1.2077581552318581,1.5837682106603783,1.5837682106603783,2.4209999999983984,0,0,-0.00047804349169042047,-9.984038182165306e-05
+24975,1791364095953700098,3047333000000,1791364095950259197,DOWN_FORCE_DETACH,7,0.05,0.05000254139304161,0.6761002391490386,-0.004810895242448048,0.08513150646324287,0.9999999883124084,7.89496313871149e-05,4.087518097946457e-06,9.256508661251526e-05,0.6761,-0.0048,0.08499903649631885,1.0,0.0,0.0,0.0,-0.08057081538132982,-0.09787621248872024,1.2074282465562867,-0.005527994426039235,0.006899268193934627,0.0002779063361130977,-0.009842322897805643,-0.10550842870868458,1.2694660188704328,-0.00750115608214208,0.003927993955226405,-0.0010602216348521982,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9651951658165049,-0.5333426362774537,-0.9770329684240936,0.6502201775322115,0.7471294036042226,-0.35221855711268735,0.5954971238671044,1.2074282465562867,1.572530092291198,1.572530092291198,2.444999999998378,0,0,-0.0004916745479602566,-9.999999025923074e-05
+25023,1791364096353685391,3047733000000,1791364096346259432,DOWN_FORCE_DETACH,7,0.05,0.05000188201665878,0.6761023390393449,-0.004807890415048378,0.08494547948473898,0.9999999880340381,8.414554990012655e-05,1.056227036611426e-05,9.045856961506358e-05,0.6761,-0.0048,0.08480077195163777,1.0,0.0,0.0,0.0,-0.08879374369308764,-0.09911433459159438,1.1986527980273465,-0.006546751114274692,0.0069076297021450905,0.0002789385421007257,-0.01806525120956345,-0.10674655081155873,1.2606905703414926,-0.008519912770377537,0.003936355463436869,-0.0010591894288645703,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.017634540989457,-0.524175610025555,-0.9918391528421948,0.6554549229451084,0.7679159219464182,-0.3415917605961414,0.5954971238671044,1.1986527980273465,1.587336276709299,1.587336276709299,2.4689999999983576,0,0,-0.0005002704268439448,-9.884974369456784e-05
+25074,1791364096772680855,3048152000000,1791364096770249418,DOWN_SETTLE,7,0.05,0.05000188201665878,0.6761069044724893,-0.0048103000898680635,0.08474509712261795,0.9999999881119225,8.144357097412544e-05,1.806127209762992e-05,9.088319176052839e-05,0.6761,-0.0048,0.08459247174784651,1.0,0.0,0.0,0.0,-0.08939705034779213,-0.09553779324071736,1.2042815132684321,-0.005528777900512593,0.007019798496565827,0.0002900919839223246,-0.018668557864267955,-0.10317000946068171,1.2663192855825782,-0.007501939556615438,0.0040485242578576055,-0.0010480359870429713,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9751018358826024,-0.5205429431413691,-0.9710064657158032,0.65793722158054,0.7365859915342465,-0.3343321950926683,0.5954971238671044,1.2042815132684321,1.5665035895829076,1.5665035895829076,2.476619999998351,0,0,-0.0004877471256089797,9.999999025923074e-05
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+25624,1791364101355656850,3052735000000,1791364101354249654,DOWN_SETTLE,7,0.05,0.05000188201665878,0.6760829425489556,-0.004824364135005558,0.08302657605002849,0.9999999903770106,5.147289335874205e-05,-8.687065969151913e-06,8.924079533930714e-05,0.6761,-0.0048,0.08288210921886122,1.0,0.0,0.0,0.0,-0.09819395254109425,-0.10058069803188623,1.158433887569857,-0.006566852755920401,0.007929878469206831,0.000325995475269246,-0.027465460057570078,-0.10821291425185058,1.220471659884003,-0.008540014412023246,0.004958604230498608,-0.00101213249569605,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4272059135425526,-0.5886836135067905,-1.0961054040194587,0.6832895686801337,0.9096125665723623,-0.35719732762029854,0.5954971238671044,1.158433887569857,1.691602527886563,1.691602527886563,2.476619999998351,0,0,-0.00025859717025092523,9.999999025923074e-05
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+25804,1791364102855656142,3054235000000,1791364102854249347,DOWN_SETTLE,7,0.05,0.05000254139304161,0.676075236589155,-0.004823884510166414,0.08268654674351397,0.9999999902202027,4.605584534021702e-05,-2.158889447257646e-05,9.173460531240072e-05,0.6761,-0.0048,0.08255042595251916,1.0,0.0,0.0,0.0,-0.10607618529541629,-0.11224304322806278,1.130148083224711,-0.007583006720994174,0.007955072140742123,0.0003362722730984287,-0.035347692811892116,-0.11987525944802713,1.1921858555388571,-0.009556168377097019,0.004983797902033901,-0.0010018556978668672,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4718162223348357,-0.6093286121473125,-1.1395954980607068,0.6830458018920533,0.941457810731558,-0.36922599637009923,0.5954971238671044,1.130148083224711,1.7350926219278113,1.7350926219278113,2.476619999998351,0,0,-0.0001835971848620791,9.999999025923074e-05
+25920,1791364103822760781,3055202000000,1791364103822249275,DOWN_SETTLE,7,0.05,0.05000254139304161,0.6760653118415771,-0.0048248624450259875,0.08251814275496835,0.9999999907329702,3.453756563313593e-05,-3.238767066253316e-05,8.794952691657645e-05,0.6761,-0.0048,0.08239624052019857,1.0,0.0,0.0,0.0,-0.09754320300749826,-0.11441887642633124,1.1078579314689794,-0.007578801691888737,0.007960540267287803,0.0003554071404991341,-0.026814710523974078,-0.12205109264629559,1.1698957037831255,-0.009551963347991582,0.004989266028579581,-0.0009827208304661618,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5003742310324373,-0.5383673582769007,-1.2364483149019834,0.6660833770547785,1.0068580876393953,-0.31467631619755965,0.5954971238671044,1.1078579314689794,1.8319454387690879,1.8319454387690879,2.476619999998351,0,0,-0.00013524719428140296,9.999999025923074e-05
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+26218,1791364106305717335,3057685000000,1791364106298259755,DOWN_SETTLE,7,0.05,0.05000188201665878,0.6760658714680289,-0.004817700569470303,0.08232263362485588,0.9999999863995378,7.898725615400088e-05,-4.282512716340027e-05,0.0001028144466829607,0.6761,-0.0048,0.08221449185675843,1.0,0.0,0.0,0.0,-0.08988564821749091,-0.09435079921500818,1.0377981674907364,-0.0065354217037518255,0.007959873138337455,-0.00022899855427820732,-0.019157155733966733,-0.10198301543497253,1.0998359398048825,-0.00850858335985467,0.004988598899629233,-0.0015671265252435033,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5773904563201218,-0.6000258971944401,-1.196482825826001,0.6769010660675452,0.9974179989486849,-0.3476665892024332,0.5954971238671044,1.0377981674907364,1.7919799496931055,1.7919799496931055,2.476619999998351,0,0,-1.1097218467733034e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36b55835bf187b8b7e9ff56192bebfe24aa6a373
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc3b9aad7fc7a68d06c89c93593abb770e106d93
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,3.083333333e+00,DOWN_FORCE_DETACH,1791364059816981271,3.541064485e-05,-3.866229084e-06,-3.801371557e-04,3.233290403e-05,-4.541425054e-06,-3.691388177e-04,3.205131268e-05,-4.511357362e-06,-3.672848641e-04,7.015732821e-01,-2.315267763e-06,8.403608040e-01,7.015702044e-01,-2.990463733e-06,8.403718024e-01,7.017579081e-01,-2.683015201e-06,8.294134478e-01
+5,3.866666667e+00,DOWN_FORCE_DETACH,1791364060995340668,3.725340563e-05,-1.120846926e-05,-5.068294309e-04,3.773607002e-05,-4.893656702e-06,-4.979361065e-04,3.714823306e-05,-4.830375932e-06,-4.958654391e-04,7.015751249e-01,-9.657507936e-06,8.402341118e-01,7.015756076e-01,-3.342695381e-06,8.402430051e-01,7.017630050e-01,-3.002033771e-06,8.292848673e-01
+6,4.683333333e+00,DOWN_FORCE_DETACH,1791364062217662376,4.122740824e-05,-1.142715456e-05,-5.975047212e-04,4.199569125e-05,-7.949868164e-06,-5.812924129e-04,4.130524116e-05,-7.907095906e-06,-5.793595699e-04,7.015790989e-01,-9.876193239e-06,8.401434365e-01,7.015798672e-01,-6.398906843e-06,8.401596488e-01,7.017671620e-01,-6.078753745e-06,8.292013731e-01
+7,5.450000000e+00,DOWN_FORCE_DETACH,1791364063376007548,4.201002191e-05,-9.923077630e-06,-6.808793493e-04,4.192349745e-05,-8.087287021e-06,-6.655041353e-04,4.097119758e-05,-8.011860045e-06,-6.636539299e-04,7.015798815e-01,-8.372116309e-06,8.400600618e-01,7.015797950e-01,-6.536325700e-06,8.400754371e-01,7.017668279e-01,-6.183517884e-06,8.291170788e-01
+8,6.250000000e+00,DOWN_FORCE_DETACH,1791364064575669639,4.667134199e-05,-1.261132571e-05,-7.620538402e-04,4.758673761e-05,-6.859133148e-06,-7.516571695e-04,4.656129298e-05,-6.778975947e-06,-7.498763226e-04,7.015845428e-01,-1.106036439e-05,8.399788873e-01,7.015854582e-01,-5.308171827e-06,8.399892840e-01,7.017724180e-01,-4.950633785e-06,8.290308564e-01
+9,7.016666667e+00,DOWN_FORCE_DETACH,1791364065716341867,4.951819844e-05,-1.109220959e-05,-8.390352585e-04,5.109017721e-05,-1.456116165e-05,-8.342412381e-04,4.995328816e-05,-1.446392439e-05,-8.325087344e-04,7.015873897e-01,-9.541248271e-06,8.399019059e-01,7.015889617e-01,-1.301020033e-05,8.399066999e-01,7.017758100e-01,-1.263558223e-05,8.289482240e-01
+10,7.900000000e+00,DOWN_FORCE_DETACH,1791364067078733447,5.579034741e-05,-8.942674818e-06,-9.302658996e-04,5.241101971e-05,-1.193737361e-05,-9.188645845e-04,5.098789868e-05,-1.183831246e-05,-9.171325011e-04,7.015936618e-01,-7.391713497e-06,8.398106753e-01,7.015902825e-01,-1.038641229e-05,8.398220766e-01,7.017768446e-01,-1.000997030e-05,8.288636002e-01
+11,8.716666667e+00,DOWN_FORCE_DETACH,1791364068307726523,6.015211328e-05,-1.059961883e-05,-1.010035365e-03,5.765507248e-05,-1.402651357e-05,-1.003647676e-03,5.613488407e-05,-1.392607120e-05,-1.001875737e-03,7.015980236e-01,-9.048657512e-06,8.397309058e-01,7.015955266e-01,-1.247555224e-05,8.397372935e-01,7.017819916e-01,-1.209772904e-05,8.287788570e-01
+12,9.666666667e+00,DOWN_FORCE_DETACH,1791364069713635506,6.579405724e-05,-1.297437966e-05,-1.110230047e-03,6.753131547e-05,-1.442558922e-05,-1.104153533e-03,6.588767532e-05,-1.428576842e-05,-1.102368830e-03,7.016036655e-01,-1.142341834e-05,8.396307111e-01,7.016054028e-01,-1.287462790e-05,8.396367877e-01,7.017917444e-01,-1.245742626e-05,8.286783639e-01
+13,1.055000000e+01,DOWN_FORCE_DETACH,1791364071044934127,7.080061725e-05,-2.057660443e-05,-1.210500310e-03,7.069019521e-05,-2.054042095e-05,-1.210355824e-03,6.888098714e-05,-2.031612528e-05,-1.208575019e-03,7.016086721e-01,-1.902564311e-05,8.395304409e-01,7.016085617e-01,-1.898945963e-05,8.395305854e-01,7.017947377e-01,-1.848778311e-05,8.285721577e-01
+14,1.145000000e+01,DOWN_FORCE_DETACH,1791364072383439811,7.622659384e-05,-1.598949805e-05,-1.308525349e-03,7.410120136e-05,-1.777682582e-05,-1.298725950e-03,7.206733320e-05,-1.758345545e-05,-1.297124370e-03,7.016140981e-01,-1.443853673e-05,8.394324158e-01,7.016119727e-01,-1.622586450e-05,8.394422152e-01,7.017979241e-01,-1.575511329e-05,8.284836083e-01
+15,1.223333333e+01,DOWN_FORCE_DETACH,1791364073564126565,8.060421513e-05,-1.290519978e-05,-1.402434298e-03,7.949320040e-05,-2.056280297e-05,-1.387145343e-03,7.731049528e-05,-2.037737624e-05,-1.385558683e-03,7.016184757e-01,-1.135423846e-05,8.393385069e-01,7.016173647e-01,-1.901184165e-05,8.393537958e-01,7.018031672e-01,-1.854903408e-05,8.283951740e-01
+16,1.305000000e+01,DOWN_FORCE_DETACH,1791364074788867226,8.796069412e-05,-1.913144195e-05,-1.493715355e-03,8.728175504e-05,-1.736538048e-05,-1.493088268e-03,8.494533764e-05,-1.722269947e-05,-1.491358640e-03,7.016258322e-01,-1.758048063e-05,8.392472258e-01,7.016251532e-01,-1.581441916e-05,8.392478529e-01,7.018108021e-01,-1.539435731e-05,8.282893741e-01
+17,1.378333333e+01,DOWN_FORCE_DETACH,1791364075884990206,9.241623551e-05,-1.609995845e-05,-1.580214617e-03,9.063919926e-05,-1.418834958e-05,-1.577342452e-03,8.809314563e-05,-1.403979133e-05,-1.575562869e-03,7.016302877e-01,-1.454899713e-05,8.391607266e-01,7.016285107e-01,-1.263738826e-05,8.391635987e-01,7.018139499e-01,-1.221144917e-05,8.282051698e-01
+18,1.461666667e+01,DOWN_FORCE_DETACH,1791364077144712490,9.459193494e-05,-2.005184493e-05,-1.694397915e-03,9.370755595e-05,-1.998604364e-05,-1.683902630e-03,9.089477220e-05,-1.984334508e-05,-1.682001329e-03,7.016324634e-01,-1.850088361e-05,8.390465433e-01,7.016315790e-01,-1.843508232e-05,8.390570386e-01,7.018167515e-01,-1.801500292e-05,8.280987314e-01
+19,1.526666667e+01,DOWN_FORCE_DETACH,1791364078114271967,9.580957664e-05,-2.277481812e-05,-1.781994168e-03,9.228085488e-05,-2.057427888e-05,-1.775335573e-03,8.907372828e-05,-2.041318321e-05,-1.773343803e-03,7.016336811e-01,-2.122385680e-05,8.389589470e-01,7.016301523e-01,-1.902331755e-05,8.389656056e-01,7.018149305e-01,-1.858484105e-05,8.280073889e-01
+20,1.600000000e+01,DOWN_FORCE_DETACH,1791364079219957903,9.860319486e-05,-2.355586021e-05,-1.884888429e-03,9.486417076e-05,-2.458595531e-05,-1.884522317e-03,9.135564652e-05,-2.441569007e-05,-1.882421274e-03,7.016364747e-01,-2.200489889e-05,8.388560528e-01,7.016327357e-01,-2.303499399e-05,8.388564189e-01,7.018172124e-01,-2.258734790e-05,8.278983114e-01
+21,1.680000000e+01,DOWN_FORCE_DETACH,1791364080413671195,1.024672932e-04,-2.493579904e-05,-1.997767476e-03,1.021760623e-04,-2.295192571e-05,-1.992971442e-03,9.835673113e-05,-2.282180096e-05,-1.990894042e-03,7.016403388e-01,-2.338483772e-05,8.387431737e-01,7.016400475e-01,-2.140096439e-05,8.387479697e-01,7.018242135e-01,-2.099345879e-05,8.277898387e-01
+22,1.758333333e+01,DOWN_FORCE_DETACH,1791364081586958217,1.051865630e-04,-2.752247241e-05,-2.115294687e-03,1.045951329e-04,-2.171509129e-05,-2.115636420e-03,1.004130132e-04,-2.157367987e-05,-2.113457270e-03,7.016430580e-01,-2.597151108e-05,8.386256465e-01,7.016424666e-01,-2.016412996e-05,8.386253048e-01,7.018262698e-01,-1.974533770e-05,8.276672754e-01
+23,1.830000000e+01,DOWN_FORCE_DETACH,1791364082664164975,1.090250716e-04,-2.258893831e-05,-2.231636437e-03,1.085386141e-04,-2.663172902e-05,-2.224875749e-03,1.040394952e-04,-2.642277929e-05,-2.222641255e-03,7.016468966e-01,-2.103797699e-05,8.385093048e-01,7.016464101e-01,-2.508076770e-05,8.385160654e-01,7.018298962e-01,-2.459443713e-05,8.275580915e-01
+24,1.900000000e+01,DOWN_FORCE_DETACH,1791364083732971669,1.153110053e-04,-3.261703858e-05,-2.351887850e-03,1.118165559e-04,-2.559691804e-05,-2.336146697e-03,1.070302594e-04,-2.537727398e-05,-2.333884418e-03,7.016531825e-01,-3.106607726e-05,8.383890533e-01,7.016496880e-01,-2.404595672e-05,8.384047945e-01,7.018328870e-01,-2.354893182e-05,8.274468483e-01
+25,1.973333333e+01,DOWN_FORCE_DETACH,1791364084832111914,1.179943442e-04,-3.257673506e-05,-2.486957703e-03,1.179149071e-04,-3.249275736e-05,-2.486646020e-03,1.127634228e-04,-3.224245192e-05,-2.484056635e-03,7.016558658e-01,-3.102577373e-05,8.382539835e-01,7.016557864e-01,-3.094179604e-05,8.382542952e-01,7.018386202e-01,-3.041410976e-05,8.272966761e-01
+26,2.035000000e+01,DOWN_FORCE_DETACH,1791364085753110442,1.188792398e-04,-2.957121069e-05,-2.613403805e-03,1.170191596e-04,-3.382647496e-05,-2.611114149e-03,1.114048734e-04,-3.355264258e-05,-2.608285077e-03,7.016567507e-01,-2.802024937e-05,8.381275374e-01,7.016548906e-01,-3.227551364e-05,8.381298270e-01,7.018372616e-01,-3.172430042e-05,8.271724476e-01
+27,2.100000000e+01,DOWN_FORCE_DETACH,1791364086733818203,1.183465588e-04,-3.682095699e-05,-2.771564680e-03,1.183188191e-04,-3.601421103e-05,-2.760442317e-03,1.122537798e-04,-3.572609337e-05,-2.757369185e-03,7.016562180e-01,-3.526999567e-05,8.379693765e-01,7.016561903e-01,-3.446324971e-05,8.379804989e-01,7.018381105e-01,-3.389775121e-05,8.270233635e-01
+28,2.158333333e+01,DOWN_FORCE_DETACH,1791364087612325730,1.176492600e-04,-3.652376922e-05,-2.922950067e-03,1.152227444e-04,-3.642910486e-05,-2.914262961e-03,1.085469621e-04,-3.609372223e-05,-2.911026780e-03,7.016555207e-01,-3.497280790e-05,8.378179911e-01,7.016530942e-01,-3.487814354e-05,8.378266782e-01,7.018344037e-01,-3.426538007e-05,8.268697059e-01
+29,2.211666667e+01,DOWN_FORCE_DETACH,1791364088412540861,1.148087758e-04,-4.121031720e-05,-3.086018962e-03,1.140506838e-04,-4.237008335e-05,-3.080240364e-03,1.067014482e-04,-4.202382074e-05,-3.076748067e-03,7.016526803e-01,-3.965935588e-05,8.376549222e-01,7.016519222e-01,-4.081912203e-05,8.376607008e-01,7.018325582e-01,-4.019547858e-05,8.267039846e-01
+30,2.261666667e+01,DOWN_FORCE_DETACH,1791364089212435194,1.152928758e-04,-4.414869557e-05,-3.258179470e-03,1.159587800e-04,-4.135506762e-05,-3.241372212e-03,1.080327568e-04,-4.105127356e-05,-3.237638208e-03,7.016531644e-01,-4.259773425e-05,8.374827617e-01,7.016538303e-01,-3.980410630e-05,8.374995690e-01,7.018338895e-01,-3.922293140e-05,8.265430945e-01
+31,2.310000000e+01,DOWN_FORCE_DETACH,1791364089933292759,1.133090764e-04,-4.858357556e-05,-3.438973373e-03,1.133133606e-04,-4.526849405e-05,-3.423040291e-03,1.047457964e-04,-4.496540976e-05,-3.418909151e-03,7.016511806e-01,-4.703261424e-05,8.373019678e-01,7.016511848e-01,-4.371753273e-05,8.373179009e-01,7.018306025e-01,-4.313706760e-05,8.263618236e-01
+32,2.353333333e+01,DOWN_FORCE_DETACH,1791364090581428712,1.157311632e-04,-4.383677339e-05,-3.613010172e-03,1.155980880e-04,-4.367170962e-05,-3.612915241e-03,1.063384740e-04,-4.337621014e-05,-3.608300338e-03,7.016536026e-01,-4.228581207e-05,8.371279310e-01,7.016534696e-01,-4.212074830e-05,8.371280259e-01,7.018321952e-01,-4.154786798e-05,8.261724324e-01
+33,2.393333333e+01,DOWN_FORCE_DETACH,1791364091182752162,1.144198010e-04,-5.160053935e-05,-3.796211240e-03,1.144116518e-04,-5.344343287e-05,-3.783720465e-03,1.045349477e-04,-5.310247684e-05,-3.778842878e-03,7.016522913e-01,-5.004957803e-05,8.369447299e-01,7.016522831e-01,-5.189247155e-05,8.369572207e-01,7.018303917e-01,-5.127413468e-05,8.260018898e-01
+34,2.431666667e+01,DOWN_FORCE_DETACH,1791364091752795848,1.154625804e-04,-5.446960733e-05,-3.977938883e-03,1.136631841e-04,-5.915735134e-05,-3.976410483e-03,1.030785451e-04,-5.875774110e-05,-3.971109225e-03,7.016533341e-01,-5.291864601e-05,8.367630023e-01,7.016515347e-01,-5.760639002e-05,8.367645307e-01,7.018289353e-01,-5.692939894e-05,8.258096235e-01
+35,2.468333333e+01,DOWN_FORCE_DETACH,1791364092312412285,1.098619380e-04,-5.778465334e-05,-4.181903706e-03,1.097293228e-04,-5.637294896e-05,-4.170903951e-03,9.836456665e-05,-5.596384152e-05,-4.165272222e-03,7.016477334e-01,-5.623369202e-05,8.365590375e-01,7.016476008e-01,-5.482198764e-05,8.365700372e-01,7.018242213e-01,-5.413549936e-05,8.256154605e-01
+36,2.503333333e+01,DOWN_FORCE_DETACH,1791364092831587684,1.073024997e-04,-6.301971463e-05,-4.371997166e-03,1.091513075e-04,-6.017821937e-05,-4.353571982e-03,9.725482918e-05,-5.974975106e-05,-4.347712081e-03,7.016451740e-01,-6.146875331e-05,8.363689440e-01,7.016470228e-01,-5.862725805e-05,8.363873692e-01,7.018231116e-01,-5.792140890e-05,8.254330206e-01
+37,2.538333333e+01,DOWN_FORCE_DETACH,1791364093352370470,1.098585954e-04,-6.136233749e-05,-4.569840616e-03,1.072357915e-04,-6.390080339e-05,-4.559205881e-03,9.457473959e-05,-6.343138100e-05,-4.552999088e-03,7.016477301e-01,-5.981137617e-05,8.361711006e-01,7.016451073e-01,-6.234984207e-05,8.361817353e-01,7.018204315e-01,-6.160303884e-05,8.252277336e-01
+38,2.570000000e+01,DOWN_FORCE_DETACH,1791364093832654308,1.082076631e-04,-6.825249529e-05,-4.774354308e-03,1.087869719e-04,-6.810330246e-05,-4.762736882e-03,9.546896295e-05,-6.760242063e-05,-4.756188635e-03,7.016460791e-01,-6.670153397e-05,8.359665869e-01,7.016466585e-01,-6.655234113e-05,8.359782043e-01,7.018213257e-01,-6.577407847e-05,8.250245441e-01
+39,2.600000000e+01,DOWN_FORCE_DETACH,1791364094282516760,1.069650208e-04,-6.942181785e-05,-4.971344567e-03,1.059341443e-04,-6.798364650e-05,-4.957102398e-03,9.181866748e-05,-6.744968040e-05,-4.950348513e-03,7.016448365e-01,-6.787085653e-05,8.357695966e-01,7.016438056e-01,-6.643268518e-05,8.357838388e-01,7.018176754e-01,-6.562133824e-05,8.248303842e-01
+40,2.628333333e+01,DOWN_FORCE_DETACH,1791364094712303775,1.018547612e-04,-7.398013138e-05,-5.164475984e-03,1.017847844e-04,-7.237200959e-05,-5.154812526e-03,8.696224973e-05,-7.184774569e-05,-5.147742113e-03,7.016397262e-01,-7.242917006e-05,8.355764652e-01,7.016396563e-01,-7.082104827e-05,8.355861287e-01,7.018128190e-01,-7.001940353e-05,8.246329906e-01
+41,2.656666667e+01,DOWN_FORCE_DETACH,1791364095131369658,1.043484698e-04,-7.031068143e-05,-5.357875448e-03,1.043365865e-04,-7.059806240e-05,-5.357860001e-03,8.882148396e-05,-7.006561552e-05,-5.350516349e-03,7.016422200e-01,-6.875972011e-05,8.353830657e-01,7.016422081e-01,-6.904710108e-05,8.353830812e-01,7.018146782e-01,-6.823727336e-05,8.244302164e-01
+42,2.685000000e+01,DOWN_FORCE_DETACH,1791364095553713708,1.037929586e-04,-6.794405904e-05,-5.549106038e-03,1.003676133e-04,-6.966950301e-05,-5.545668228e-03,8.415123818e-05,-6.912120981e-05,-5.538200609e-03,7.016416644e-01,-6.639309772e-05,8.351918351e-01,7.016382391e-01,-6.811854169e-05,8.351952730e-01,7.018100080e-01,-6.729286765e-05,8.242425321e-01
+43,2.711666667e+01,DOWN_FORCE_DETACH,1791364095955360691,9.913424799e-05,-6.754486309e-05,-5.749102090e-03,1.009670840e-04,-6.827393813e-05,-5.731786067e-03,8.407711572e-05,-6.773015991e-05,-5.724145591e-03,7.016370057e-01,-6.599390177e-05,8.349918391e-01,7.016388386e-01,-6.672297681e-05,8.350091551e-01,7.018099339e-01,-6.590181775e-05,8.240565871e-01
+44,2.738333333e+01,DOWN_FORCE_DETACH,1791364096353088986,9.833857337e-05,-7.197737331e-05,-5.941302718e-03,9.674543535e-05,-6.780147969e-05,-5.925676952e-03,7.910798850e-05,-6.724388221e-05,-5.917922919e-03,7.016362101e-01,-7.042641199e-05,8.347996385e-01,7.016346169e-01,-6.625051837e-05,8.348152642e-01,7.018049647e-01,-6.541554005e-05,8.238628098e-01
+45,2.765000000e+01,DOWN_SETTLE,1791364096770311435,1.034500720e-04,-7.288679743e-05,-6.126115692e-03,1.030599516e-04,-6.824382107e-05,-6.124589850e-03,8.483393683e-05,-6.762941605e-05,-6.116642874e-03,7.016413216e-01,-7.133583611e-05,8.346148255e-01,7.016409314e-01,-6.669285975e-05,8.346163513e-01,7.018106907e-01,-6.580107388e-05,8.236640898e-01
+46,2.791666667e+01,DOWN_SETTLE,1791364097151111390,1.009845122e-04,-6.908396940e-05,-6.320740676e-03,9.918947724e-05,-7.011215830e-05,-6.305835535e-03,8.024691432e-05,-6.950929999e-05,-6.297934515e-03,7.016388560e-01,-6.753300808e-05,8.344202005e-01,7.016370610e-01,-6.856119698e-05,8.344351057e-01,7.018061037e-01,-6.768095783e-05,8.234827982e-01
+47,2.820000000e+01,DOWN_SETTLE,1791364097582836642,9.740934967e-05,-6.780534569e-05,-6.525943884e-03,9.733572030e-05,-6.778047959e-05,-6.525416704e-03,7.760339628e-05,-6.716113875e-05,-6.517223924e-03,7.016352808e-01,-6.625438437e-05,8.342149973e-01,7.016352072e-01,-6.622951827e-05,8.342155245e-01,7.018034601e-01,-6.533279659e-05,8.232635088e-01
+48,2.851666667e+01,DOWN_SETTLE,1791364098052627913,9.540864008e-05,-6.752882648e-05,-6.723514020e-03,9.530879741e-05,-6.742053190e-05,-6.723290260e-03,7.485375198e-05,-6.680604041e-05,-6.715328359e-03,7.016332801e-01,-6.597786516e-05,8.340174272e-01,7.016331803e-01,-6.586957058e-05,8.340176509e-01,7.018007105e-01,-6.497769825e-05,8.230654044e-01
+49,2.885000000e+01,DOWN_SETTLE,1791364098553236984,9.719368455e-05,-7.014925682e-05,-6.921325975e-03,9.710230561e-05,-7.009105752e-05,-6.920550974e-03,7.600139159e-05,-6.955607732e-05,-6.912767297e-03,7.016350652e-01,-6.859829549e-05,8.338196152e-01,7.016349738e-01,-6.854009620e-05,8.338203902e-01,7.018018581e-01,-6.772773516e-05,8.228679654e-01
+50,2.920000000e+01,DOWN_SETTLE,1791364099082612029,9.480981014e-05,-7.070449781e-05,-7.125815124e-03,9.443193370e-05,-6.920901170e-05,-7.107393938e-03,7.255611486e-05,-6.869267717e-05,-7.099879533e-03,7.016326813e-01,-6.915353649e-05,8.336151261e-01,7.016323034e-01,-6.765805038e-05,8.336335472e-01,7.017984129e-01,-6.686433501e-05,8.226808532e-01
+51,2.953333333e+01,DOWN_SETTLE,1791364099582696883,9.148336533e-05,-6.941402645e-05,-7.308057076e-03,9.393616229e-05,-7.416856229e-05,-7.297089888e-03,7.139687787e-05,-7.364914001e-05,-7.289723608e-03,7.016293548e-01,-6.786306513e-05,8.334328841e-01,7.016318076e-01,-7.261760097e-05,8.334438513e-01,7.017972536e-01,-7.182079785e-05,8.224910091e-01
+52,2.988333333e+01,DOWN_SETTLE,1791364100112305812,8.797287366e-05,-7.613228573e-05,-7.493159400e-03,8.949428702e-05,-7.541021235e-05,-7.482090252e-03,6.626562034e-05,-7.484359889e-05,-7.474963948e-03,7.016258444e-01,-7.458132441e-05,8.332477818e-01,7.016273658e-01,-7.385925103e-05,8.332588509e-01,7.017921224e-01,-7.301525673e-05,8.223057688e-01
+53,3.028333333e+01,DOWN_SETTLE,1791364100712705974,8.856596882e-05,-7.961639584e-05,-7.675608035e-03,8.478970176e-05,-7.739518007e-05,-7.670192591e-03,6.081999055e-05,-7.684526198e-05,-7.663394104e-03,7.016264375e-01,-7.806543452e-05,8.330653332e-01,7.016226612e-01,-7.584421875e-05,8.330707486e-01,7.017866767e-01,-7.501691982e-05,8.221173386e-01
+54,3.071666667e+01,DOWN_SETTLE,1791364101352830288,8.034721201e-05,-8.190026235e-05,-7.860977455e-03,8.214999111e-05,-8.262116797e-05,-7.846299177e-03,5.746333843e-05,-8.205422964e-05,-7.839892995e-03,7.016182187e-01,-8.034930103e-05,8.328799637e-01,7.016200215e-01,-8.107020665e-05,8.328946420e-01,7.017833201e-01,-8.022588747e-05,8.219408397e-01
+55,3.123333333e+01,DOWN_SETTLE,1791364102132686998,8.080964221e-05,-7.796845037e-05,-8.048190650e-03,8.172605227e-05,-8.733344827e-05,-8.043506143e-03,5.637836927e-05,-8.676206811e-05,-8.037575717e-03,7.016186811e-01,-7.641748905e-05,8.326927505e-01,7.016195975e-01,-8.578248695e-05,8.326974350e-01,7.017822351e-01,-8.493372595e-05,8.217431570e-01
+56,3.171666667e+01,DOWN_SETTLE,1791364102852835741,7.277709902e-05,-8.692183133e-05,-8.200280036e-03,7.286960754e-05,-8.675866341e-05,-8.200614098e-03,4.684643648e-05,-8.619319888e-05,-8.195072670e-03,7.016106486e-01,-8.537087000e-05,8.325406612e-01,7.016107411e-01,-8.520770209e-05,8.325403271e-01,7.017727032e-01,-8.436485672e-05,8.215856600e-01
+57,3.236666667e+01,DOWN_SETTLE,1791364103822558073,6.228975537e-05,-8.491398186e-05,-8.369003472e-03,6.323014502e-05,-8.293199645e-05,-8.358678804e-03,3.636083548e-05,-8.236841599e-05,-8.353857870e-03,7.016001612e-01,-8.336302054e-05,8.323719377e-01,7.016011016e-01,-8.138103513e-05,8.323822624e-01,7.017622176e-01,-8.054007382e-05,8.214268748e-01
+58,3.308333333e+01,DOWN_SETTLE,1791364104887985102,6.574392052e-05,-8.066328836e-05,-8.485174326e-03,6.298334726e-05,-8.502766790e-05,-8.468045163e-03,3.564202586e-05,-8.442900814e-05,-8.464177881e-03,7.016036154e-01,-7.911232704e-05,8.322557669e-01,7.016008548e-01,-8.347670658e-05,8.322728960e-01,7.017614988e-01,-8.260066598e-05,8.213165548e-01
+59,3.401666667e+01,DOWN_SETTLE,1791364106305511336,6.172165107e-05,-7.947599494e-05,-8.565370660e-03,6.213397004e-05,-7.910123781e-05,-8.555349987e-03,3.447183604e-05,-7.855662942e-05,-8.552543647e-03,7.015995931e-01,-7.792503362e-05,8.321755705e-01,7.016000055e-01,-7.755027649e-05,8.321855912e-01,7.017603286e-01,-7.672828726e-05,8.212281891e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a707c7a8ae029c6d312f49b0f6d2d4694a6d101b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,7.0441e-03,3.3524e-03,2.4572e+00,-3.6988e-02,3.7272e-02,6.9135e-06,1.2520e-04,2.3143e-07,2.4080e-05,-8.9407e-08,8.7470e-06,2.2011e-07,1.2749e-04,8.7502e-06
+1,9.0000e-01,DOWN_FORCE_DETACH,2.0716e-04,1.3111e-02,5.3998e-03,2.4643e+00,-3.7132e-02,3.7692e-02,2.1943e-05,6.1924e-03,2.0476e-03,7.1204e-03,-1.4425e-04,4.2948e-04,1.5250e-05,9.6560e-03,4.5332e-04
+2,1.6333e+00,DOWN_FORCE_DETACH,4.1499e-04,1.5481e-02,-1.3743e-03,2.4923e+00,-3.6657e-02,3.7830e-02,2.9210e-05,8.5621e-03,-4.7266e-03,3.5126e-02,3.3119e-04,5.6697e-04,2.2517e-05,3.6462e-02,6.5700e-04
+3,2.3667e+00,DOWN_FORCE_DETACH,6.2562e-04,1.0836e-02,1.9837e-03,2.5098e+00,-3.6886e-02,3.7476e-02,4.2708e-05,3.9172e-03,-1.3686e-03,5.2577e-02,1.0132e-04,2.1298e-04,3.6015e-05,5.2741e-02,2.3859e-04
+4,3.0833e+00,DOWN_FORCE_DETACH,8.2986e-04,1.3781e-02,5.2981e-03,2.5362e+00,-3.7109e-02,3.7653e-02,5.3737e-05,6.8622e-03,1.9458e-03,7.9049e-02,-1.2160e-04,3.8989e-04,4.7044e-05,7.9370e-02,4.1111e-04
+5,3.8667e+00,DOWN_FORCE_DETACH,1.0414e-03,1.5652e-02,5.4952e-03,2.5471e+00,-3.7123e-02,3.7773e-02,5.5749e-05,8.7329e-03,2.1430e-03,8.9961e-02,-1.3550e-04,5.1029e-04,4.9056e-05,9.0409e-02,5.3024e-04
+6,4.6833e+00,DOWN_FORCE_DETACH,1.2504e-03,1.7350e-02,6.9337e-03,2.5408e+00,-3.7231e-02,3.7899e-02,4.8716e-05,1.0431e-02,3.5815e-03,8.3661e-02,-2.4347e-04,6.3620e-04,4.2023e-05,8.4385e-02,6.8249e-04
+7,5.4500e+00,DOWN_FORCE_DETACH,1.4589e-03,2.0127e-02,7.0927e-03,2.5374e+00,-3.7253e-02,3.8101e-02,3.8955e-05,1.3208e-02,3.7405e-03,8.0238e-02,-2.6520e-04,8.3839e-04,3.2262e-05,8.1404e-02,8.7993e-04
+8,6.2500e+00,DOWN_FORCE_DETACH,1.6699e-03,2.2085e-02,6.4480e-03,2.5341e+00,-3.7221e-02,3.8247e-02,3.2616e-05,1.5166e-02,3.0957e-03,7.6876e-02,-2.3362e-04,9.8417e-04,2.5923e-05,7.8419e-02,1.0118e-03
+9,7.0167e+00,DOWN_FORCE_DETACH,1.8731e-03,2.5415e-02,9.6415e-03,2.5337e+00,-3.7445e-02,3.8481e-02,2.8066e-05,1.8496e-02,6.2893e-03,7.6504e-02,-4.5766e-04,1.2185e-03,2.1372e-05,7.8960e-02,1.3018e-03
+10,7.9000e+00,DOWN_FORCE_DETACH,2.0840e-03,2.9248e-02,8.6060e-03,2.5328e+00,-3.7356e-02,3.8744e-02,2.0243e-05,2.2329e-02,5.2538e-03,7.5574e-02,-3.6814e-04,1.4808e-03,1.3550e-05,7.8979e-02,1.5259e-03
+11,8.7167e+00,DOWN_FORCE_DETACH,2.2901e-03,3.0458e-02,9.9712e-03,2.5353e+00,-3.7414e-02,3.8824e-02,1.7065e-05,2.3539e-02,6.6189e-03,7.8147e-02,-4.2669e-04,1.5611e-03,1.0371e-05,8.1883e-02,1.6184e-03
+12,9.6667e+00,DOWN_FORCE_DETACH,2.4983e-03,2.9820e-02,1.0928e-02,2.5358e+00,-3.7446e-02,3.8777e-02,1.2835e-05,2.2901e-02,7.5758e-03,7.8613e-02,-4.5805e-04,1.5145e-03,6.1415e-06,8.2230e-02,1.5823e-03
+13,1.0550e+01,DOWN_FORCE_DETACH,2.7072e-03,3.2598e-02,1.2056e-02,2.5292e+00,-3.7537e-02,3.8978e-02,2.3910e-06,2.5679e-02,8.7040e-03,7.2013e-02,-5.4966e-04,1.7152e-03,-4.3024e-06,7.6948e-02,1.8012e-03
+14,1.1450e+01,DOWN_FORCE_DETACH,2.9147e-03,3.3634e-02,1.2214e-02,2.5279e+00,-3.7605e-02,3.9055e-02,-1.8452e-05,2.6715e-02,8.8620e-03,7.0692e-02,-6.1686e-04,1.7918e-03,-2.5146e-05,7.6089e-02,1.8952e-03
+15,1.2233e+01,DOWN_FORCE_DETACH,3.1247e-03,3.4263e-02,1.2847e-02,2.5279e+00,-3.7678e-02,3.9101e-02,-3.7083e-05,2.7344e-02,9.4948e-03,7.0696e-02,-6.9064e-04,1.8380e-03,-4.3777e-05,7.6392e-02,1.9639e-03
+16,1.3050e+01,DOWN_FORCE_DETACH,3.3305e-03,3.3733e-02,1.1529e-02,2.5348e+00,-3.7586e-02,3.9057e-02,-5.4688e-05,2.6814e-02,8.1765e-03,7.7582e-02,-5.9836e-04,1.7946e-03,-6.1381e-05,8.2491e-02,1.8927e-03
+17,1.3783e+01,DOWN_FORCE_DETACH,3.5386e-03,3.3738e-02,1.0008e-02,2.5373e+00,-3.7467e-02,3.9054e-02,-6.7102e-05,2.6819e-02,6.6560e-03,8.0119e-02,-4.7885e-04,1.7915e-03,-7.3796e-05,8.4751e-02,1.8559e-03
+18,1.4617e+01,DOWN_FORCE_DETACH,3.7453e-03,3.3130e-02,1.2136e-02,2.5416e+00,-3.7593e-02,3.9003e-02,-7.4351e-05,2.6211e-02,8.7834e-03,8.4413e-02,-6.0565e-04,1.7404e-03,-8.1044e-05,8.8824e-02,1.8446e-03
+19,1.5267e+01,DOWN_FORCE_DETACH,3.9559e-03,3.3912e-02,1.2059e-02,2.5457e+00,-3.7582e-02,3.9046e-02,-7.7257e-05,2.6993e-02,8.7064e-03,8.8504e-02,-5.9434e-04,1.7827e-03,-8.3950e-05,9.2937e-02,1.8811e-03
+20,1.6000e+01,DOWN_FORCE_DETACH,4.1645e-03,3.3149e-02,1.3425e-02,2.5509e+00,-3.7682e-02,3.8979e-02,-7.6711e-05,2.6230e-02,1.0073e-02,9.3724e-02,-6.9435e-04,1.7161e-03,-8.3404e-05,9.7846e-02,1.8532e-03
+21,1.6800e+01,DOWN_FORCE_DETACH,4.3692e-03,3.0148e-02,1.2482e-02,2.5506e+00,-3.7631e-02,3.8768e-02,-7.1465e-05,2.3229e-02,9.1299e-03,9.3459e-02,-6.4310e-04,1.5049e-03,-7.8158e-05,9.6734e-02,1.6384e-03
+22,1.7583e+01,DOWN_FORCE_DETACH,4.5806e-03,2.9119e-02,1.2492e-02,2.5546e+00,-3.7625e-02,3.8684e-02,-6.0412e-05,2.2200e-02,9.1400e-03,9.7380e-02,-6.3765e-04,1.4210e-03,-6.7105e-05,1.0030e-01,1.5590e-03
+23,1.8300e+01,DOWN_FORCE_DETACH,4.7900e-03,2.8034e-02,1.5853e-02,2.5567e+00,-3.7832e-02,3.8604e-02,-4.7780e-05,2.1115e-02,1.2500e-02,9.9468e-02,-8.4461e-04,1.3414e-03,-5.4473e-05,1.0245e-01,1.5861e-03
+24,1.9000e+01,DOWN_FORCE_DETACH,5.0005e-03,2.8316e-02,1.5931e-02,2.5581e+00,-3.7825e-02,3.8615e-02,-3.2648e-05,2.1397e-02,1.2579e-02,1.0092e-01,-8.3697e-04,1.3520e-03,-3.9341e-05,1.0393e-01,1.5906e-03
+25,1.9733e+01,DOWN_FORCE_DETACH,5.2037e-03,2.9403e-02,1.8415e-02,2.5642e+00,-3.7974e-02,3.8674e-02,-1.3770e-05,2.2484e-02,1.5063e-02,1.0701e-01,-9.8629e-04,1.4112e-03,-2.0464e-05,1.1038e-01,1.7218e-03
+26,2.0350e+01,DOWN_FORCE_DETACH,5.4083e-03,3.0282e-02,1.9881e-02,2.5829e+00,-3.8030e-02,3.8711e-02,3.7800e-06,2.3363e-02,1.6529e-02,1.2567e-01,-1.0421e-03,1.4478e-03,-2.9134e-06,1.2889e-01,1.7838e-03
+27,2.1000e+01,DOWN_FORCE_DETACH,5.6227e-03,3.0376e-02,2.2015e-02,2.5940e+00,-3.8133e-02,3.8704e-02,2.1511e-05,2.3457e-02,1.8663e-02,1.3677e-01,-1.1455e-03,1.4408e-03,1.4817e-05,1.4002e-01,1.8407e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..38df39277cd82f58f96f16f56c6fc0bd63618126
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:5c59272d7df7541537f39465454b1a8e68d074e0ecc38b6335dcee00d09e0c39
+size 4526080
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e96a1e0447ee931e1f049c638c68bb9e8067808
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d948f26bfbacbcf27a1d0218a8fa39ac2ed7bfd9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c81202c615fc36e291204f6273081a3c28fb4621
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a9621855baa20117212cf3d545247f486b98722
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,2.616666667e+00,UP_FORCE_RAMP,1791364044278949151,-3.902250577e-05,3.698596058e-06,1.789388700e-04,-3.656566341e-05,1.262777120e-06,1.633589712e-04,-3.659191563e-05,1.298471587e-06,1.624883676e-04,7.014988490e-01,5.249557379e-06,8.409198801e-01,7.015013058e-01,2.813738442e-06,8.409043002e-01,7.016892648e-01,3.126802346e-06,8.299432209e-01
+23,2.700000000e+00,UP_FORCE_RAMP,1791364044410156817,-4.482290674e-05,4.865252011e-06,1.833569005e-04,-4.167278072e-05,-1.079728067e-06,1.833146284e-04,-4.176734401e-05,-1.020462919e-06,1.823277867e-04,7.014930486e-01,6.416213332e-06,8.409242981e-01,7.014961987e-01,4.712332542e-07,8.409242558e-01,7.016840894e-01,8.078678400e-07,8.299630603e-01
+24,2.783333333e+00,UP_FORCE_RAMP,1791364044539432600,-4.274889264e-05,-8.048055165e-08,2.024904812e-04,-4.167278072e-05,-1.079728067e-06,1.833146284e-04,-4.177201926e-05,-1.020100718e-06,1.823701788e-04,7.014951226e-01,1.470480769e-06,8.409434317e-01,7.014961987e-01,4.712332542e-07,8.409242558e-01,7.016840847e-01,8.082300406e-07,8.299631027e-01
+25,2.850000000e+00,UP_FORCE_RAMP,1791364044639437527,-4.290676511e-05,6.707554402e-07,2.115344824e-04,-4.084517908e-05,3.533954105e-06,2.070554965e-04,-4.078657996e-05,3.562364230e-06,2.060022861e-04,7.014949647e-01,2.221716761e-06,8.409524757e-01,7.014970263e-01,5.084915426e-06,8.409479967e-01,7.016850702e-01,5.390694989e-06,8.299867348e-01
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+27,3.016666667e+00,UP_FORCE_RAMP,1791364044880553905,-4.111845788e-05,2.812860529e-06,2.394802935e-04,-4.173778614e-05,4.088281590e-06,2.309075680e-04,-4.162940816e-05,4.098990103e-06,2.297538073e-04,7.014967530e-01,4.363821850e-06,8.409804215e-01,7.014961337e-01,5.639242911e-06,8.409718488e-01,7.016842273e-01,5.927320862e-06,8.300104864e-01
+28,3.066666667e+00,UP_FORCE_RAMP,1791364044959982201,-4.468778191e-05,4.974399739e-06,2.433027028e-04,-4.173778614e-05,4.088281590e-06,2.309075680e-04,-4.163093813e-05,4.099601120e-06,2.297856821e-04,7.014931837e-01,6.525361060e-06,8.409842439e-01,7.014961337e-01,5.639242911e-06,8.409718488e-01,7.016842258e-01,5.927931879e-06,8.300105182e-01
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+30,3.300000000e+00,UP_FORCE_RAMP,1791364045310359524,-4.341401417e-05,5.690819157e-06,2.770827059e-04,-3.988066484e-05,6.880666698e-06,2.767197876e-04,-3.959388832e-05,6.882622614e-06,2.753585626e-04,7.014944575e-01,7.241780479e-06,8.410180239e-01,7.014979908e-01,8.431628019e-06,8.410176610e-01,7.016862629e-01,8.710953372e-06,8.300560911e-01
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+32,3.483333333e+00,UP_FORCE_RAMP,1791364045580531165,-4.444745880e-05,7.162674755e-06,2.929993990e-04,-4.274808157e-05,7.885809339e-06,2.979389328e-04,-4.246733933e-05,7.904947375e-06,2.965272974e-04,7.014934240e-01,8.713636076e-06,8.410339406e-01,7.014951234e-01,9.436770660e-06,8.410388801e-01,7.016833894e-01,9.733278134e-06,8.300772598e-01
+33,3.600000000e+00,UP_FORCE_RAMP,1791364045759767620,-4.309648867e-05,3.559770339e-06,3.109644263e-04,-4.274808157e-05,7.885809339e-06,2.979389328e-04,-4.246983694e-05,7.905726810e-06,2.966077133e-04,7.014947750e-01,5.110731660e-06,8.410519056e-01,7.014951234e-01,9.436770660e-06,8.410388801e-01,7.016833869e-01,9.734057569e-06,8.300773403e-01
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+39,4.316666667e+00,UP_FORCE_RAMP,1791364046839484176,-4.027623909e-05,1.537175716e-08,3.830566475e-04,-4.009656287e-05,3.032221592e-06,3.810299713e-04,-3.941731790e-05,3.062871487e-06,3.794617729e-04,7.014975952e-01,1.566333078e-06,8.411239978e-01,7.014977749e-01,4.583182913e-06,8.411219712e-01,7.016864394e-01,4.891202246e-06,8.301601943e-01
+40,4.433333333e+00,UP_FORCE_RAMP,1791364047010407312,-4.154602357e-05,5.760405245e-07,3.911680011e-04,-4.009656287e-05,3.032221592e-06,3.810299713e-04,-3.941680239e-05,3.063049108e-06,3.795391395e-04,7.014963255e-01,2.127001846e-06,8.411321092e-01,7.014977749e-01,4.583182913e-06,8.411219712e-01,7.016864399e-01,4.891379867e-06,8.301602717e-01
+41,4.566666667e+00,UP_FORCE_RAMP,1791364047210323738,-4.172847774e-05,-5.255682297e-06,3.993470928e-04,-4.165662707e-05,-5.175121212e-06,3.990940828e-04,-4.094652582e-05,-5.089306169e-06,3.975549506e-04,7.014961430e-01,-3.704720976e-06,8.411402883e-01,7.014962149e-01,-3.624159891e-06,8.411400353e-01,7.016849102e-01,-3.260975410e-06,8.301782875e-01
+42,4.700000000e+00,UP_FORCE_RAMP,1791364047409242243,-4.155882439e-05,-3.862316179e-06,4.101878101e-04,-4.165662707e-05,-5.175121212e-06,3.990940828e-04,-4.094843780e-05,-5.098659160e-06,3.976432612e-04,7.014963127e-01,-2.311354858e-06,8.411511290e-01,7.014962149e-01,-3.624159891e-06,8.411400353e-01,7.016849083e-01,-3.270328401e-06,8.301783758e-01
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+57,6.683333333e+00,UP_FORCE_HOLD,1791364050480605766,-5.735152179e-05,4.598015438e-07,4.874158255e-04,-5.056477306e-05,1.429449185e-06,4.814158202e-04,-4.980067710e-05,1.458634656e-06,4.802743677e-04,7.014805200e-01,2.010762865e-06,8.412283570e-01,7.014873067e-01,2.980410506e-06,8.412223570e-01,7.016760561e-01,3.286965415e-06,8.302610069e-01
+58,6.800000000e+00,UP_FORCE_HOLD,1791364050661575131,-5.389859705e-05,-2.894574257e-07,4.936867335e-04,-5.056477306e-05,1.429449185e-06,4.814158202e-04,-4.980331494e-05,1.457852607e-06,4.803152551e-04,7.014839729e-01,1.261503895e-06,8.412346279e-01,7.014873067e-01,2.980410506e-06,8.412223570e-01,7.016760534e-01,3.286183366e-06,8.302610478e-01
+59,6.933333333e+00,UP_SETTLE,1791364050859865490,-5.438300405e-05,6.095189468e-07,4.973874580e-04,-5.056477306e-05,1.429449185e-06,4.814158202e-04,-4.980630538e-05,1.456889274e-06,4.803590739e-04,7.014834885e-01,2.160480268e-06,8.412383286e-01,7.014873067e-01,2.980410506e-06,8.412223570e-01,7.016760504e-01,3.285220033e-06,8.302610916e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa42a812c2c6911b64610637d85faf6d92ba1d71
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,7.0247e-03,3.3517e-03,2.4572e+00,-3.6988e-02,3.7271e-02,6.9590e-06,1.1024e-04,-4.9663e-07,2.0266e-05,-5.5879e-08,7.9609e-06,2.5328e-07,1.1209e-04,7.9652e-06
+1,1.8333e-01,UP_FORCE_RAMP,3.0155e-05,8.3401e-03,3.3627e-03,2.4575e+00,-3.6989e-02,3.7363e-02,9.5758e-06,1.4256e-03,1.0476e-05,2.6846e-04,-1.5125e-06,9.9998e-05,2.8701e-06,1.4507e-03,1.0005e-04
+2,3.0000e-01,UP_FORCE_RAMP,5.4529e-05,9.1215e-03,3.3721e-03,2.4576e+00,-3.6990e-02,3.7417e-02,1.1373e-05,2.2070e-03,1.9846e-05,4.1223e-04,-2.5518e-06,1.5480e-04,4.6674e-06,2.2453e-03,1.5489e-04
+3,4.1667e-01,UP_FORCE_RAMP,8.6944e-05,9.8596e-03,3.3826e-03,2.4577e+00,-3.6991e-02,3.7469e-02,1.3230e-05,2.9451e-03,3.0329e-05,5.4574e-04,-3.6284e-06,2.0672e-04,6.5240e-06,2.9954e-03,2.0685e-04
+4,5.1667e-01,UP_FORCE_RAMP,1.1195e-04,1.0468e-02,3.3922e-03,2.4578e+00,-3.6992e-02,3.7512e-02,1.4832e-05,3.5536e-03,3.9956e-05,6.5494e-04,-4.5523e-06,2.4949e-04,8.1264e-06,3.6136e-03,2.4966e-04
+5,6.3333e-01,UP_FORCE_RAMP,1.4147e-04,1.1144e-02,3.4226e-03,2.4580e+00,-3.6995e-02,3.7560e-02,1.6705e-05,4.2293e-03,7.0369e-05,7.8559e-04,-6.9961e-06,2.9693e-04,9.9998e-06,4.3022e-03,2.9718e-04
+6,7.6667e-01,UP_FORCE_RAMP,1.6945e-04,1.1882e-02,3.4357e-03,2.4581e+00,-3.6996e-02,3.7611e-02,1.8855e-05,4.9672e-03,8.3490e-05,9.1934e-04,-8.2478e-06,3.4885e-04,1.2149e-05,5.0522e-03,3.4916e-04
+7,9.3333e-01,UP_FORCE_RAMP,2.0064e-04,1.2750e-02,3.4534e-03,2.4583e+00,-3.6997e-02,3.7673e-02,2.1522e-05,5.8357e-03,1.0116e-04,1.0757e-03,-9.7565e-06,4.1007e-04,1.4816e-05,5.9348e-03,4.1046e-04
+8,1.0500e+00,UP_FORCE_RAMP,2.2548e-04,1.3323e-02,3.4662e-03,2.4584e+00,-3.6999e-02,3.7713e-02,2.3364e-05,6.4088e-03,1.1395e-04,1.1799e-03,-1.0822e-05,4.5051e-04,1.6658e-05,6.5175e-03,4.5094e-04
+9,1.1833e+00,UP_FORCE_RAMP,2.5351e-04,1.4865e-02,1.5820e-03,2.4517e+00,-3.6868e-02,3.7829e-02,2.4276e-05,7.9508e-03,-1.7702e-03,-5.4934e-03,1.1947e-04,5.6669e-04,1.7570e-05,9.8247e-03,5.7941e-04
+10,1.2667e+00,UP_FORCE_RAMP,2.8157e-04,1.5186e-02,1.6115e-03,2.4521e+00,-3.6870e-02,3.7852e-02,2.5669e-05,8.2712e-03,-1.7407e-03,-5.0352e-03,1.1742e-04,5.8913e-04,1.8964e-05,9.8385e-03,6.0101e-04
+11,1.3833e+00,UP_FORCE_RAMP,3.1282e-04,1.6198e-02,7.5800e-04,2.4446e+00,-3.6813e-02,3.7925e-02,2.7047e-05,9.2833e-03,-2.5942e-03,-1.2579e-02,1.7475e-04,6.6276e-04,2.0342e-05,1.5847e-02,6.8571e-04
+12,1.5167e+00,UP_FORCE_RAMP,3.4097e-04,1.6712e-02,7.7914e-04,2.4459e+00,-3.6813e-02,3.7967e-02,2.9079e-05,9.7974e-03,-2.5731e-03,-1.1299e-02,1.7433e-04,7.0426e-04,2.2373e-05,1.5175e-02,7.2586e-04
+13,1.6500e+00,UP_FORCE_RAMP,3.6766e-04,1.7210e-02,1.6424e-03,2.4399e+00,-3.6874e-02,3.8008e-02,3.1225e-05,1.0296e-02,-1.7099e-03,-1.7269e-02,1.1347e-04,7.4578e-04,2.4520e-05,2.0178e-02,7.5476e-04
+14,1.7667e+00,UP_FORCE_RAMP,3.9743e-04,1.7580e-02,1.6663e-03,2.4413e+00,-3.6876e-02,3.8034e-02,3.3034e-05,1.0666e-02,-1.6859e-03,-1.5925e-02,1.1172e-04,7.7128e-04,2.6328e-05,1.9241e-02,7.7977e-04
+15,1.8833e+00,UP_FORCE_RAMP,4.2673e-04,1.8127e-02,3.0024e-03,2.4359e+00,-3.6970e-02,3.8079e-02,3.5151e-05,1.1212e-02,-3.4981e-04,-2.1311e-02,1.7662e-05,8.1593e-04,2.8446e-05,2.4083e-02,8.1661e-04
+16,2.0000e+00,UP_FORCE_RAMP,4.5412e-04,1.8427e-02,4.2415e-04,2.4298e+00,-3.6791e-02,3.8106e-02,3.5206e-05,1.1512e-02,-2.9281e-03,-2.7416e-02,1.9640e-04,8.4388e-04,2.8500e-05,2.9879e-02,8.6690e-04
+17,2.1000e+00,UP_FORCE_RAMP,4.8056e-04,1.9421e-02,-1.2472e-03,2.4241e+00,-3.6679e-02,3.8178e-02,3.6004e-05,1.2506e-02,-4.5994e-03,-3.3070e-02,3.0892e-04,9.1496e-04,2.9298e-05,3.5654e-02,9.6615e-04
+18,2.2167e+00,UP_FORCE_RAMP,5.1070e-04,1.9768e-02,-1.2065e-03,2.4264e+00,-3.6678e-02,3.8207e-02,3.6935e-05,1.2854e-02,-4.5588e-03,-3.0775e-02,3.0931e-04,9.4413e-04,3.0229e-05,3.3661e-02,9.9396e-04
+19,2.3167e+00,UP_FORCE_RAMP,5.3708e-04,2.1034e-02,2.9874e-03,2.4223e+00,-3.6971e-02,3.8302e-02,4.0488e-05,1.4119e-02,-3.6479e-04,-3.4880e-02,1.6611e-05,1.0389e-03,3.3783e-05,3.7631e-02,1.0396e-03
+20,2.4167e+00,UP_FORCE_RAMP,5.6698e-04,2.8684e-02,1.9669e-03,2.4258e+00,-3.6900e-02,3.8845e-02,4.0946e-05,2.1769e-02,-1.3853e-03,-3.1426e-02,8.7492e-05,1.5819e-03,3.4241e-05,3.8255e-02,1.5847e-03
+21,2.5333e+00,UP_FORCE_RAMP,5.9667e-04,2.8633e-02,3.2679e-03,2.4202e+00,-3.6991e-02,3.8845e-02,4.2561e-05,2.1719e-02,-8.4352e-05,-3.6949e-02,-3.3863e-06,1.5821e-03,3.5855e-05,4.2859e-02,1.5825e-03
+22,2.6167e+00,UP_FORCE_RAMP,6.2612e-04,2.8459e-02,3.2580e-03,2.4224e+00,-3.6991e-02,3.8832e-02,4.3199e-05,2.1544e-02,-9.4210e-05,-3.4815e-02,-3.2336e-06,1.5698e-03,3.6494e-05,4.0942e-02,1.5702e-03
+23,2.7000e+00,UP_FORCE_RAMP,6.5121e-04,2.9938e-02,4.2734e-03,2.4171e+00,-3.7063e-02,3.8944e-02,4.4569e-05,2.3024e-02,9.2121e-04,-4.0091e-02,-7.5500e-05,1.6810e-03,3.7863e-05,4.6241e-02,1.6831e-03
+24,2.7833e+00,UP_FORCE_RAMP,6.8202e-04,2.9727e-02,4.2794e-03,2.4190e+00,-3.7064e-02,3.8928e-02,4.5119e-05,2.2812e-02,9.2713e-04,-3.8192e-02,-7.6190e-05,1.6651e-03,3.8414e-05,4.4496e-02,1.6673e-03
+25,2.8500e+00,UP_FORCE_RAMP,7.0431e-04,2.9171e-02,2.2473e-03,2.4117e+00,-3.6924e-02,3.8895e-02,4.4527e-05,2.2256e-02,-1.1050e-03,-4.5518e-02,6.3650e-05,1.6321e-03,3.7822e-05,5.0680e-02,1.6338e-03
+26,2.9333e+00,UP_FORCE_RAMP,7.3539e-04,2.9082e-02,2.3271e-03,2.4142e+00,-3.6930e-02,3.8888e-02,4.5013e-05,2.2168e-02,-1.0251e-03,-4.2954e-02,5.8126e-05,1.6255e-03,3.8308e-05,4.8348e-02,1.6269e-03
+27,3.0167e+00,UP_FORCE_RAMP,7.6866e-04,2.9179e-02,2.1064e-03,2.4080e+00,-3.6915e-02,3.8902e-02,4.5482e-05,2.2265e-02,-1.2459e-03,-4.9222e-02,7.2379e-05,1.6390e-03,3.8776e-05,5.4038e-02,1.6410e-03
+28,3.0667e+00,UP_FORCE_RAMP,7.9198e-04,2.9120e-02,2.1321e-03,2.4094e+00,-3.6917e-02,3.8897e-02,4.5812e-05,2.2205e-02,-1.2201e-03,-4.7774e-02,7.0345e-05,1.6344e-03,3.9106e-05,5.2697e-02,1.6364e-03
+29,3.1667e+00,UP_FORCE_RAMP,8.2085e-04,2.8643e-02,-1.2302e-04,2.4041e+00,-3.6761e-02,3.8869e-02,4.5333e-05,2.1729e-02,-3.4753e-03,-5.3055e-02,2.2632e-04,1.6064e-03,3.8628e-05,5.7437e-02,1.6227e-03
+30,3.3000e+00,UP_FORCE_RAMP,8.5217e-04,2.8115e-02,1.0211e-03,2.3995e+00,-3.6842e-02,3.8837e-02,4.6693e-05,2.1201e-02,-2.3311e-03,-5.7700e-02,1.4620e-04,1.5743e-03,3.9987e-05,6.1516e-02,1.5815e-03
+31,3.3833e+00,UP_FORCE_RAMP,8.7856e-04,2.8118e-02,1.0377e-03,2.4025e+00,-3.6843e-02,3.8836e-02,4.7238e-05,2.1203e-02,-2.3145e-03,-5.4733e-02,1.4444e-04,1.5737e-03,4.0532e-05,5.8742e-02,1.5808e-03
+32,3.4833e+00,UP_FORCE_RAMP,9.0595e-04,2.8915e-02,6.3760e-04,2.3978e+00,-3.6817e-02,3.8892e-02,4.7601e-05,2.2000e-02,-2.7146e-03,-5.9371e-02,1.7119e-04,1.6297e-03,4.0895e-05,6.3374e-02,1.6392e-03
+33,3.6000e+00,UP_FORCE_RAMP,9.3657e-04,2.8904e-02,6.4180e-04,2.4012e+00,-3.6817e-02,3.8896e-02,4.8103e-05,2.1990e-02,-2.7104e-03,-5.5953e-02,1.7118e-04,1.6335e-03,4.1398e-05,6.0180e-02,1.6430e-03
+34,3.7500e+00,UP_FORCE_RAMP,9.6205e-04,2.8399e-02,2.1824e-03,2.3985e+00,-3.6925e-02,3.8864e-02,4.9622e-05,2.1485e-02,-1.1699e-03,-5.8732e-02,6.2846e-05,1.6018e-03,4.2916e-05,6.2550e-02,1.6036e-03
+35,3.8667e+00,UP_FORCE_RAMP,9.9123e-04,2.8071e-02,4.9316e-03,2.3946e+00,-3.7117e-02,3.8845e-02,5.1294e-05,2.1156e-02,1.5793e-03,-6.2570e-02,-1.2926e-04,1.5826e-03,4.4588e-05,6.6069e-02,1.5885e-03
+36,3.9333e+00,UP_FORCE_RAMP,1.0203e-03,2.8083e-02,4.8623e-03,2.3970e+00,-3.7113e-02,3.8845e-02,5.1518e-05,2.1169e-02,1.5101e-03,-6.0230e-02,-1.2519e-04,1.5827e-03,4.4812e-05,6.3860e-02,1.5883e-03
+37,4.0833e+00,UP_FORCE_RAMP,1.0497e-03,2.7879e-02,4.2541e-03,2.3931e+00,-3.7072e-02,3.8833e-02,5.1426e-05,2.0964e-02,9.0184e-04,-6.4115e-02,-8.4743e-05,1.5706e-03,4.4721e-05,6.7462e-02,1.5735e-03
+38,4.2000e+00,UP_FORCE_RAMP,1.0760e-03,2.8009e-02,4.2240e-03,2.3964e+00,-3.7070e-02,3.8843e-02,5.1405e-05,2.1094e-02,8.7174e-04,-6.0769e-02,-8.2582e-05,1.5803e-03,4.4700e-05,6.4332e-02,1.5831e-03
+39,4.3167e+00,UP_FORCE_RAMP,1.1060e-03,2.7470e-02,2.6741e-03,2.3925e+00,-3.6966e-02,3.8808e-02,5.0821e-05,2.0555e-02,-6.7812e-04,-6.4726e-02,2.1655e-05,1.5458e-03,4.4116e-05,6.7915e-02,1.5466e-03
+40,4.4333e+00,UP_FORCE_RAMP,1.1345e-03,2.7639e-02,2.6366e-03,2.3957e+00,-3.6961e-02,3.8819e-02,5.0411e-05,2.0725e-02,-7.1561e-04,-6.1494e-02,2.6561e-05,1.5566e-03,4.3705e-05,6.4896e-02,1.5575e-03
+41,4.5667e+00,UP_FORCE_RAMP,1.1607e-03,2.7685e-02,2.6430e-03,2.3990e+00,-3.6962e-02,3.8820e-02,5.0251e-05,2.0770e-02,-7.0927e-04,-5.8223e-02,2.5570e-05,1.5576e-03,4.3545e-05,6.1821e-02,1.5584e-03
+42,4.7000e+00,UP_FORCE_RAMP,1.1913e-03,2.8113e-02,6.0830e-03,2.3962e+00,-3.7204e-02,3.8854e-02,5.1881e-05,2.1199e-02,2.7308e-03,-6.0961e-02,-2.1606e-04,1.5917e-03,4.5176e-05,6.4600e-02,1.6070e-03
+43,4.8833e+00,UP_FORCE_RAMP,1.2185e-03,2.8035e-02,3.8043e-03,2.3936e+00,-3.7048e-02,3.8852e-02,4.9873e-05,2.1121e-02,4.5209e-04,-6.3544e-02,-5.9973e-05,1.5892e-03,4.3168e-05,6.6964e-02,1.5910e-03
+44,5.0167e+00,UP_FORCE_RAMP,1.2475e-03,2.8048e-02,3.8072e-03,2.3970e+00,-3.7050e-02,3.8851e-02,4.9497e-05,2.1134e-02,4.5492e-04,-6.0165e-02,-6.1780e-05,1.5881e-03,4.2791e-05,6.3771e-02,1.5899e-03
+45,5.1333e+00,UP_FORCE_RAMP,1.2761e-03,2.8061e-02,3.7928e-03,2.3995e+00,-3.7050e-02,3.8850e-02,4.8996e-05,2.1147e-02,4.4054e-04,-5.7654e-02,-6.2261e-05,1.5871e-03,4.2291e-05,6.1412e-02,1.5889e-03
+46,5.2667e+00,UP_FORCE_RAMP,1.3046e-03,2.9140e-02,4.4105e-03,2.3950e+00,-3.7096e-02,3.8931e-02,4.8626e-05,2.2226e-02,1.0583e-03,-6.2203e-02,-1.0810e-04,1.6688e-03,4.1921e-05,6.6063e-02,1.6728e-03
+47,5.4333e+00,UP_FORCE_RAMP,1.3331e-03,2.9016e-02,4.3424e-03,2.3989e+00,-3.7094e-02,3.8920e-02,4.7911e-05,2.2101e-02,9.9021e-04,-5.8324e-02,-1.0630e-04,1.6573e-03,4.1205e-05,6.2379e-02,1.6612e-03
+48,5.5333e+00,UP_FORCE_RAMP,1.3602e-03,2.8971e-02,4.3167e-03,2.4008e+00,-3.7094e-02,3.8915e-02,4.7348e-05,2.2057e-02,9.6444e-04,-5.6352e-02,-1.0656e-04,1.6525e-03,4.0642e-05,6.0522e-02,1.6565e-03
+49,5.6667e+00,UP_FORCE_RAMP,1.3923e-03,2.8914e-02,4.2834e-03,2.4033e+00,-3.7095e-02,3.8909e-02,4.6566e-05,2.2000e-02,9.3119e-04,-5.3927e-02,-1.0724e-04,1.6464e-03,3.9860e-05,5.8249e-02,1.6504e-03
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/fem_node.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/fem_node.csv
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+59,3.505000e+01,235,7.029763e-01,2.172515e-02,8.125232e-01,4.257961e-05,-9.346921e-05,-8.298226e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,236,6.995051e-01,1.739112e-02,8.222251e-01,1.280846e-04,-3.210449e-05,-8.142438e-03,1.113702e-03,2.068570e-02,6.456791e-03
+59,3.505000e+01,237,7.011689e-01,1.730864e-02,8.233211e-01,1.317849e-04,-3.573947e-05,-8.130441e-03,3.950443e-03,3.682396e-02,1.092100e-02
+59,3.505000e+01,238,7.004054e-01,1.750210e-02,8.248591e-01,1.173728e-04,-5.487715e-05,-8.154453e-03,2.204898e-03,1.575220e-02,4.421940e-03
+59,3.505000e+01,239,6.968673e-01,2.492134e-02,8.301280e-01,7.898453e-05,-4.727520e-05,-8.372135e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,240,7.037027e-01,1.741371e-02,8.246249e-01,1.431798e-04,-6.770141e-05,-8.190857e-03,1.501775e-05,4.785041e-04,-1.052937e-05
+59,3.505000e+01,241,6.930032e-01,2.173636e-02,8.239779e-01,7.311615e-05,-6.714909e-05,-8.327193e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,242,7.096670e-01,2.337364e-02,8.159437e-01,4.625886e-05,-8.395028e-05,-8.400151e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,243,6.961999e-01,2.309015e-02,8.293149e-01,7.040846e-05,-4.771638e-05,-8.326025e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,244,6.922300e-01,2.323144e-02,8.232658e-01,7.352001e-05,-7.024847e-05,-8.354869e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,245,7.005761e-01,2.505499e-02,8.313191e-01,8.933269e-05,-3.788666e-05,-8.379619e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,246,6.977851e-01,2.288632e-02,8.127646e-01,6.891581e-05,-1.016716e-04,-8.318293e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,247,7.055187e-01,2.319700e-02,8.126018e-01,3.345063e-05,-9.756619e-05,-8.359961e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,248,6.940635e-01,1.979750e-02,8.215716e-01,1.004021e-04,-6.748850e-05,-8.287982e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,249,7.022125e-01,2.303234e-02,8.118824e-01,4.273272e-05,-1.010203e-04,-8.332836e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,250,7.115259e-01,2.486490e-02,8.229303e-01,7.995106e-05,-6.143059e-05,-8.431813e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,251,7.115674e-01,2.487949e-02,8.201018e-01,6.785928e-05,-7.058548e-05,-8.435356e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,252,6.960606e-01,2.044971e-02,8.275203e-01,6.664318e-05,-5.965047e-05,-8.266324e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.505000e+01,254,7.096350e-01,2.187774e-02,8.260043e-01,1.327844e-04,-5.549699e-05,-8.358887e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,255,6.920151e-01,2.334142e-02,8.215670e-01,7.796477e-05,-7.644874e-05,-8.358134e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,256,7.008261e-01,2.505579e-02,8.114455e-01,4.176517e-05,-1.037341e-04,-8.386425e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,257,6.923820e-01,2.319754e-02,8.189719e-01,8.514145e-05,-8.539714e-05,-8.349732e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,258,7.055151e-01,1.797631e-02,8.179203e-01,6.255053e-05,-6.090014e-05,-8.248365e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,259,7.038704e-01,2.331183e-02,8.308584e-01,1.083644e-04,-3.801630e-05,-8.333980e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,260,7.074188e-01,2.197799e-02,8.286606e-01,1.379339e-04,-4.714755e-05,-8.326734e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,261,7.065095e-01,1.779496e-02,8.203287e-01,9.774640e-05,-6.562323e-05,-8.268544e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,262,7.061271e-01,2.192955e-02,8.134724e-01,3.194285e-05,-9.210630e-05,-8.334172e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,263,6.963703e-01,2.351764e-02,8.133037e-01,7.038082e-05,-1.008687e-04,-8.337060e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,264,7.086706e-01,2.193091e-02,8.274217e-01,1.387850e-04,-5.253126e-05,-8.344747e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,265,7.071384e-01,1.842538e-02,8.187759e-01,7.296634e-05,-6.834291e-05,-8.287546e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.505000e+01,266,6.948365e-01,2.058570e-02,8.262313e-01,6.625036e-05,-6.353075e-05,-8.284856e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/franka_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc5798c537e41a0370a489741f9cc5a2956159a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+29742,1791364135620812837,3087000000000,1791364135614249632,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760535194805503,-0.004743640928955278,0.09010796573808022,0.9999999870505594,0.00010499716476570271,-7.073280458604925e-05,3.62520525607683e-05,0.6761,-0.0048,0.09010917232613662,1.0,0.0,0.0,0.0,-0.0655992310756661,-0.04305252918597764,0.2858166385769508,-0.0032428151548194954,0.005022334575016555,-4.8678581024011805e-06,0.0051292614078580785,-0.050684745405942,0.34785441089109675,-0.00521597681092234,0.0020510603363083327,-0.0013429958290676971,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7649819531955846,-0.39903711671787,0.15566092026310513,0.32490353703889385,0.0640579877935845,-0.3122303852602759,0.5954971238671044,0.2858166385769508,0.4398362036039993,0.4398362036039993,0.5635199999999777,0,0,-6.735390008642299e-05,-6.925634092084916e-05
+29887,1791364136828781482,3088208000000,1791364136822259384,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760534912035651,-0.004744625681110087,0.09002572150795703,0.9999999865550879,0.00010673143631300219,-7.22075357590956e-05,4.155912169340948e-05,0.6761,-0.0048,0.09002397439612667,1.0,0.0,0.0,0.0,-0.06960632699081477,-0.04645867913075508,0.33677925437974343,-0.003252908794153646,0.005011713005180673,-4.652901374254943e-05,0.0011221654927094037,-0.05409089535071944,0.3988170266938894,-0.005226070450256491,0.002040438766472451,-0.0013846569847078454,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7146479301971029,-0.2767471818348514,0.11296166711364057,0.2948086610654489,0.07405281945145424,-0.22958691563386774,0.5954971238671044,0.33677925437974343,0.4825354567534638,0.4825354567534638,0.6359999999999161,0,0,-7.187070614619729e-05,-9.802480635390793e-05
+30040,1791364138103759002,3089483000000,1791364138098259183,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6760573646688165,-0.004748101141935857,0.08994336978841884,0.9999999870579818,0.00010599475715794011,-6.490703511922345e-05,4.3348460034434814e-05,0.6761,-0.0048,0.08993066114833673,1.0,0.0,0.0,0.0,-0.07027042544277115,-0.04653819901039625,0.38692597662368106,-0.0032626642098938447,0.005001272316920229,-8.710424344649361e-05,0.0004580670407530354,-0.054170415230360605,0.44896374893782703,-0.00523582586599669,0.0020299980782120066,-0.0014252322144117896,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.7227497242916734,-0.3923769477023741,0.06482623366864781,0.3365556170507524,0.10541385152897628,-0.30099130186597917,0.5954971238671044,0.38692597662368106,0.5306708901984566,0.5306708901984566,0.712499999999851,0,0,-7.367679174671705e-05,-9.99910390860947e-05
+30214,1791364139553815450,3090933000000,1791364139546259261,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6760645380008923,-0.004746809455463849,0.08985231360129785,0.9999999879701605,0.00010502785317658524,-5.131334971161286e-05,4.2879287151603345e-05,0.6761,-0.0048,0.08982147545098695,1.0,0.0,0.0,0.0,-0.0760413588602537,-0.03770782410507485,0.4370695060631328,-0.00329764708125088,0.006003909574149605,-0.00010745871651005414,-0.005312866376729515,-0.04534004032503921,0.49910727837727875,-0.005270808737353725,0.003032635335441382,-0.00144558668747535,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8132238569583643,-0.40893772711188825,-0.11647434993461694,0.3445578038478996,0.24484320185808542,-0.31221434767545453,0.5954971238671044,0.4370695060631328,0.7119714738017213,0.7119714738017213,0.7994999999997771,0,0,-7.617710665455834e-05,9.997140201634664e-05
+30352,1791364140703758742,3092083000000,1791364140702250034,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760691194949076,-0.004749000248411956,0.08977093342441254,0.9999999880008904,0.000107712255373717,-4.332075189082006e-05,4.429972805868702e-05,0.6761,-0.0048,0.08973133689677254,1.0,0.0,0.0,0.0,-0.07125712901154813,-0.04492215501519605,0.49117401611946165,-0.00330895799312801,0.005992463025331194,-0.00015254872423737338,-0.0005286365280239427,-0.05255437123516041,0.5532117884336076,-0.005282119649230855,0.003021188786622972,-0.0014906766952026693,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8307129156504607,-0.4149026989267013,-0.10625357995332774,0.3424322222016374,0.238798567963421,-0.32015684626373014,0.5954971238671044,0.49117401611946165,0.7017507038204321,0.7017507038204321,0.8684999999997184,0,0,-8.138653246755746e-05,-9.991779212204505e-05
+30494,1791364141887730318,3093267000000,1791364141882249615,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.676071602089717,-0.004749606561891007,0.08968141440811556,0.9999999889088105,0.00010056702568490302,-4.102329910765033e-05,4.276219595534993e-05,0.6761,-0.0048,0.08963528996470044,1.0,0.0,0.0,0.0,-0.07940400984262731,-0.046656826012720476,0.5395467069547067,-0.00331829973455021,0.005981565276005211,-0.0001946796431593887,-0.00867551735910313,-0.05428904223268483,0.6015844792688527,-0.005291461390653055,0.003010291037296989,-0.0015328076141246847,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8067387872379947,-0.36648377837469853,-0.29982077332662094,0.34476284339604496,0.35154631328834435,-0.2808228777685865,0.5954971238671044,0.5395467069547067,0.8953178971937253,0.8953178971937253,0.939539999999658,0,0,-8.089199283048553e-05,9.998933211819434e-05
+30643,1791364143128785184,3094508000000,1791364143122259329,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.676078124806603,-0.004755454376533837,0.08959353523781549,0.9999999897784493,9.425959078659939e-05,-3.1448955286342016e-05,4.4855976249548584e-05,0.6761,-0.0048,0.08953552431869087,1.0,0.0,0.0,0.0,-0.0811461212748049,-0.05178631354020091,0.5975442045953205,-0.0033306863284053665,0.005969459386775547,-0.00024292314465434008,-0.010417628791280718,-0.05941852976016527,0.6595819769094665,-0.0053038479845082115,0.0029981851480673245,-0.001581051115619636,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8676016190143334,-0.3935673037984961,-0.2845797980272248,0.35605223327881347,0.3546506917276585,-0.3011174937454344,0.5954971238671044,0.5975442045953205,0.8800769218943292,0.8800769218943292,1.0139999999995948,0,0,-8.135252651442928e-05,1.0087673245150723e-05
+30775,1791364144228809439,3095608000000,1791364144226259636,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6760827884080729,-0.00475381821709976,0.08951294209232584,0.9999999904646125,8.865092195809984e-05,-2.3914076745503234e-05,4.563737979421202e-05,0.6761,-0.0048,0.08944662489224486,1.0,0.0,0.0,0.0,-0.07928364596381171,-0.04986407579212564,0.6477181624313377,-0.0033407831873635283,0.005987944376968833,-0.0002827575293796222,-0.008555153480287526,-0.05749629201208999,0.7097559347454837,-0.005313944843466373,0.003016670138260611,-0.0016208855003449181,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8232659632151018,-0.3787601943224916,-0.3795998620422313,0.3565830396273374,0.4008533339654585,-0.2895561816388999,0.5954971238671044,0.6477181624313377,0.9750969859093357,0.9750969859093357,1.0799999999995387,0,0,-8.054843782659559e-05,9.751551929693675e-05
+30902,1791364145287733723,3096667000000,1791364145286259220,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760856571852553,-0.0047511595663674595,0.08943497105135237,0.9999999908792115,8.635998585148754e-05,-1.9300725502367477e-05,4.305666142419923e-05,0.6761,-0.0048,0.08936106307973028,1.0,0.0,0.0,0.0,-0.08042513199589718,-0.0443469287290024,0.6931080098412404,-0.003375330621682531,0.0069616818336839074,-0.00030359756667604513,-0.009696639512373002,-0.05197914494896676,0.7551457821553864,-0.005348492277785376,0.003990407594975685,-0.001641725537641341,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8771933142338952,-0.4312863270768221,-0.44370137799292897,0.37588608848132893,0.4540698520861012,-0.32305618810314823,0.5954971238671044,0.6931080098412404,1.0391985018600334,1.0391985018600334,1.1435399999994846,0,0,-8.108002269993785e-05,9.999997638144293e-05
+31062,1791364146620834989,3098000000000,1791364146618249920,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760928465718016,-0.004753236684168233,0.0893316037912674,0.9999999921828695,7.392918419166363e-05,-9.641051153691129e-06,3.8969875297938993e-05,0.6761,-0.0048,0.0892481113536883,1.0,0.0,0.0,0.0,-0.08219508585607349,-0.045954617256749965,0.7579334363165626,-0.003387997033277864,0.006947693565093126,-0.00035686491331661757,-0.01146659337254931,-0.05358683347671432,0.8199712086307086,-0.005361158689380709,0.003976419326384904,-0.0016949928842819135,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8959684880288581,-0.39234370842549493,-0.469053862066975,0.36767458135634845,0.4719615400727927,-0.29816138202147846,0.5954971238671044,0.7579334363165626,1.0645509859340794,1.0645509859340794,1.2235199999994166,0,0,-8.680989270068296e-05,-4.3007759879759535e-05
+31210,1791364147853805518,3099233000000,1791364147850249476,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6760930159275944,-0.004756494301555292,0.08922462518847932,0.9999999914608444,8.089100981202757e-05,-7.353464767957884e-06,4.386053548134629e-05,0.6761,-0.0048,0.08913961326957379,1.0,0.0,0.0,0.0,-0.08727677949009016,-0.05380518389490546,0.8181982779240109,-0.003400509392763244,0.006935430999627472,-0.0004061811621388382,-0.016548287006565972,-0.06143740011486982,0.8802360502381569,-0.005373671048866089,0.00396415676091925,-0.0017443091331041341,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9111586280010336,-0.47185457439555983,-0.5828475297492648,0.4053829308177425,0.5429258039235721,-0.3427986001357611,0.5954971238671044,0.8181982779240109,1.178344653616369,1.178344653616369,1.2974999999993537,0,0,-8.637109747269977e-05,8.236740042655839e-05
+31336,1791364148903756173,3100283000000,1791364148902259137,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6760991289738194,-0.004754970428618934,0.08913942345864613,0.999999989519441,0.00010197741695202793,-3.443144103602469e-07,4.477131032409984e-05,0.6761,-0.0048,0.08904770045838757,1.0,0.0,0.0,0.0,-0.08844402797233913,-0.061845620419844406,0.868330774377828,-0.0034111100406051,0.006925375514277398,-0.0004468966233215062,-0.017715535488814955,-0.06947783663980876,0.930368546691974,-0.005384271696707945,0.003954101275569175,-0.0017850245942868021,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8217716582885939,-0.353904034396962,-0.5784005796260212,0.37306589211241203,0.5150635587856865,-0.26767755552894973,0.5954971238671044,0.868330774377828,1.1738977034931257,1.1738977034931257,1.3604999999993002,0,0,-8.801675901590057e-05,-9.687500387845489e-05
+31471,1791364150028775998,3101408000000,1791364150026249600,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761033459262996,-0.004756686897757844,0.08904402351331153,0.9999999891565903,0.00010362205755679167,6.32125297111338e-06,4.8499427313075926e-05,0.6761,-0.0048,0.08894738860587646,1.0,0.0,0.0,0.0,-0.08955893331032545,-0.05942065733350247,0.9185055044726513,-0.00342383284191134,0.007047558419396326,-0.00048675906730200167,-0.018830440826801267,-0.06705287355346683,0.9805432767867973,-0.005396994498014185,0.004076284180688103,-0.0018248870382672976,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8932510583959322,-0.4551523972027825,-0.7279486998114502,0.4071379888821523,0.6250255581021255,-0.33220842035047843,0.5954971238671044,0.9185055044726513,1.3234458236785547,1.3234458236785547,1.4279999999992428,0,0,-9.047003875631431e-05,9.999954617002089e-05
+31627,1791364151328831499,3102708000000,1791364151326250127,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761038280954018,-0.004756896981353617,0.0889260437861687,0.9999999898276005,9.582357208726892e-05,6.1821803118206285e-06,5.066840295279425e-05,0.6761,-0.0048,0.08882524771936538,1.0,0.0,0.0,0.0,-0.09290383060978423,-0.05889464922572157,0.9782874917787642,-0.0044297910710170765,0.007931383522283316,-0.000533932372584723,-0.02217533812626005,-0.06652686544568592,1.0403252640929102,-0.0064029527271199215,0.004960109283575093,-0.001872060343550019,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9421194807410526,-0.5208972803471136,-0.755417054871502,0.4367544792257706,0.6517787173771903,-0.37571598863293604,0.5954971238671044,0.9782874917787642,1.3509141787386065,1.3509141787386065,1.5059999999991764,0,0,-9.696069969417904e-05,3.948693876603131e-05
+31760,1791364152437832237,3103817000000,1791364152434259494,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761099732726267,-0.004759205172391549,0.0888224468756463,0.9999999897225967,9.431762896035714e-05,1.4642057095047677e-05,5.373514664619608e-05,0.6761,-0.0048,0.08871359025451399,1.0,0.0,0.0,0.0,-0.09639298570848204,-0.0629337181791092,1.029212813160235,-0.0034783313128557798,0.007899045975266602,0.0004627074073736407,-0.02566449322495786,-0.07056593439907355,1.091250585474381,-0.005451492968958625,0.0049277717365583795,-0.0008754205635916552,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8727806207061115,-0.4078053796783183,-0.6976454831447475,0.4086548180726596,0.5946425515726993,-0.3034440842498376,0.5954971238671044,1.029212813160235,1.293142607011852,1.293142607011852,1.5725399999991199,0,0,-0.0001035417473524688,-9.999999025923074e-05
+31895,1791364153562811352,3104942000000,1791364153562249931,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761152432717268,-0.0047651829967377424,0.08871718941672216,0.9999999892843544,9.487341140387714e-05,2.2433358541835236e-05,5.80511468547908e-05,0.6761,-0.0048,0.08859747259480599,1.0,0.0,0.0,0.0,-0.09963609098562794,-0.06505789720593563,1.0793764408101731,-0.0034883610537808935,0.00788820407784091,0.0004242533619077955,-0.02890759850210375,-0.07269011342589998,1.1414142131243192,-0.0054615227098837385,0.004916929839132688,-0.0009138746090575005,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9182927711760367,-0.5177420253643735,-0.847152910787452,0.4527219613655564,0.6981738278553836,-0.37105302080805,0.5954971238671044,1.0793764408101731,1.4426500346545565,1.4426500346545565,1.6400399999990625,0,0,-0.0001063730183895314,-9.999316238762929e-05
+32036,1791364154737769815,3106117000000,1791364154734249471,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761188594333717,-0.004764332975423539,0.08859533556477403,0.9999999884697914,0.00010318498650551013,2.6736700250991496e-05,5.60472018360721e-05,0.6761,-0.0048,0.08846967204259856,1.0,0.0,0.0,0.0,-0.0992233832655408,-0.06561784681542121,1.1391886135685665,-0.004516532482853782,0.007894433101695311,0.0003644964250419645,-0.028494890782016617,-0.07325006303538556,1.2012263858827126,-0.006489694138956627,0.004923158862987089,-0.0009736315459233315,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8817007396920287,-0.4895599862388422,-0.8895189083897814,0.4542057445731162,0.7136564714892429,-0.35125896367251436,0.5954971238671044,1.1391886135685665,1.485016032256886,1.485016032256886,1.7105399999990025,0,0,-0.00011180755840198143,-9.687515653412077e-05
+32174,1791364155887758985,3107267000000,1791364155886258923,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761244049723562,-0.004762464854875496,0.0884697037910061,0.9999999875303269,0.00010979463988840654,3.548627356076178e-05,5.5390179741505184e-05,0.6761,-0.0048,0.08833525552161857,1.0,0.0,0.0,0.0,-0.0993821845042187,-0.07350214169326853,1.1985702610189672,-0.004531558740151646,0.00788173431391884,0.0003164778734361755,-0.028653692020694517,-0.08113435791323288,1.2606080333331133,-0.006504720396254491,0.004910460075210617,-0.0010216500975291204,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.930212078541833,-0.5132385230938528,-0.9871231586081307,0.47024016094108406,0.784707777837602,-0.3645800343193032,0.5954971238671044,1.1985702610189672,1.5826202824752351,1.5826202824752351,1.7795399999989439,0,0,-0.00012090738039455708,2.78338371750691e-05
+32310,1791364157020813393,3108400000000,1791364157018249393,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761288185274963,-0.00476513161558529,0.08833433172154244,0.9999999875585458,0.00010563665204065529,4.146586681471464e-05,5.8713306028105016e-05,0.6761,-0.0048,0.08819471484000797,1.0,0.0,0.0,0.0,-0.1066642457963898,-0.08043991597169198,1.249350440695632,-0.004540910113784326,0.007871751058869562,0.00027441155336013464,-0.035935753312865616,-0.08807213219165633,1.311388213009778,-0.006514071769887171,0.00490047682016134,-0.0010637164176051613,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8874281804158396,-0.44211391031947,-0.9825893637626218,0.45855059975938767,0.7667106159913568,-0.3206944642213956,0.5954971238671044,1.249350440695632,1.5780864876297263,1.5780864876297263,1.847519999998886,0,0,-0.00012764741796486424,-9.999826941354257e-05
+32438,1791364158088818259,3109467000000,1791364158086249781,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761277403863322,-0.004770016202867034,0.08819119323796354,0.9999999879980487,0.00010021105429662142,3.884651886246654e-05,6.241361606880151e-05,0.6761,-0.0048,0.08805110623467309,1.0,0.0,0.0,0.0,-0.10816195002602794,-0.07736837642101857,1.2896550618278104,-0.0045492185468701376,0.007862667476461431,0.0002418225434764772,-0.03743345754250375,-0.08500059264098292,1.3516928341419565,-0.0065223802029729825,0.004891393237753209,-0.0010963054274888188,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8810860294666762,-0.4857176352316378,-1.0317976318085849,0.4815186197115773,0.7949791557714085,-0.34626224686470564,0.5954971238671044,1.2896550618278104,1.6272947556756892,1.6272947556756892,1.9115399999988316,0,0,-0.00013930672938397416,-9.697098265893373e-05
+32555,1791364159062861410,3110442000000,1791364159062249885,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761323934720573,-0.00477179407176451,0.08805314164415366,0.9999999873257575,0.00010211727093548387,4.4786012393614795e-05,6.601231171952189e-05,0.6761,-0.0048,0.08790826326785564,1.0,0.0,0.0,0.0,-0.1030626513791427,-0.08904348552092163,1.323728695559225,-0.0045578056766016365,0.007855794665285151,0.0002122795390288373,-0.032334158895618505,-0.09667570174088598,1.385766467873371,-0.0065309673327044815,0.004884520426576928,-0.0011258484319364586,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.887460836129,-0.4701145034290509,-1.0714485911809501,0.48747444573875526,0.818550054369685,-0.33879649941205525,0.5954971238671044,1.323728695559225,1.6669457150480547,1.6669457150480547,1.9700399999987819,0,0,-0.00015216320585073462,-9.976534462297621e-05
+32672,1791364160037854885,3111417000000,1791364160030258748,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761300164872172,-0.0047740732774036124,0.08789585281075182,0.9999999870756892,0.00010525567101195361,3.847447969531504e-05,6.87927605917653e-05,0.6761,-0.0048,0.08775168205189504,1.0,0.0,0.0,0.0,-0.10888703870909595,-0.08845826308109665,1.3397900746468228,-0.00456033535325104,0.007852800036158512,0.00020121935252427029,-0.03815854622557177,-0.096090479301061,1.4018278469609688,-0.006533497009353885,0.00488152579745029,-0.0011369086184410257,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8853829779700796,-0.44870919659338654,-1.1842321883309777,0.4971612555651491,0.8866321381832007,-0.31888446132732345,0.5954971238671044,1.3397900746468228,1.7797293121980822,1.7797293121980822,2.028539999998732,0,0,-0.00017064484599396833,9.375000361989123e-05
+32780,1791364160937878140,3112317000000,1791364160934259450,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761288343865842,-0.0047800429556794245,0.08773203627616942,0.9999999868474674,0.00010624412376459823,3.7111849238745676e-05,7.129394259884655e-05,0.6761,-0.0048,0.08758795276386724,1.0,0.0,0.0,0.0,-0.10895872551801189,-0.08810271507618196,1.34981988941789,-0.004572992310972302,0.007850845605670407,0.00019289129693087826,-0.0382302330344877,-0.09573493129614631,1.4118576617320362,-0.006546153967075147,0.004879571366962185,-0.0011452366740344177,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8747561263852985,-0.5527932113103022,-1.1394307853240766,0.5385494729855101,0.8543110536039562,-0.3911970711493704,0.5954971238671044,1.34981988941789,1.734927909191181,1.734927909191181,2.082539999998686,0,0,-0.00019473869914829323,-9.999987923692828e-05
+32879,1791364161762828581,3113142000000,1791364161758259117,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761268816050431,-0.004782071339955113,0.08756235369561592,0.9999999878948469,9.468001922758278e-05,3.5219684582437135e-05,7.381353714251269e-05,0.6761,-0.0048,0.08741720413754364,1.0,0.0,0.0,0.0,-0.10842008472960091,-0.0905163371619226,1.3594885027760206,-0.005583949943831434,0.00786723971513154,0.0001742945547155842,-0.037691592246076724,-0.09814855338188695,1.4215262750901667,-0.007557111599934279,0.004895965476423319,-0.0011638334162497118,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8450206192812573,-0.46410661624778404,-1.0961299955339274,0.5233033527349161,0.8193667059364457,-0.3314146559624282,0.5954971238671044,1.3594885027760206,1.6916271194010317,1.6916271194010317,2.132039999998644,0,0,-0.00021977989928953357,-9.963655875211969e-05
+32969,1791364162512837382,3113892000000,1791364162510249557,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761276312714507,-0.004787756247190063,0.08739139600010754,0.9999999886710066,8.341006698211993e-05,3.721208048009868e-05,7.58872363665678e-05,0.6761,-0.0048,0.08724246511144582,1.0,0.0,0.0,0.0,-0.10816511656087051,-0.09972794424979935,1.35948381560149,-0.005584204049571341,0.007867378746375144,0.0001738934885633398,-0.037436624077346325,-0.1073601604697637,1.421521587915636,-0.007557365705674186,0.004896104507666921,-0.0011642344824019562,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8297022810680298,-0.585116503494528,-1.2075874123423247,0.5726504043672407,0.8839646363822864,-0.4079191603624033,0.5954971238671044,1.35948381560149,1.803084536209429,1.803084536209429,2.177039999998606,0,0,-0.0002442956203066186,8.004853310617505e-05
+33053,1791364163212884732,3114592000000,1791364163210259216,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.676129291949057,-0.004788994547202925,0.08721363367438394,0.9999999868559237,0.00010043664888897429,4.0503386792249144e-05,7.747884925456277e-05,0.6761,-0.0048,0.08706190279856248,1.0,0.0,0.0,0.0,-0.10799894047447983,-0.09048798526996746,1.3594782575078643,-0.005583881305188673,0.007867303813716385,0.00017391250877131503,-0.037270447990955656,-0.09812020148993181,1.4215160298220104,-0.007557042961291518,0.004896029575008162,-0.001164215462193981,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8006841116259859,-0.36750784136503767,-1.0952519196294226,0.5293344751944896,0.798298371088016,-0.26137744927623163,0.5954971238671044,1.3594782575078643,1.690749043496527,1.690749043496527,2.21903999999857,0,0,-0.00027365979684698525,-9.999999025923074e-05
+33134,1791364163887796632,3115267000000,1791364163886258508,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761284454879374,-0.004788868047112024,0.0870229351085823,0.9999999856001653,0.00011122984600871228,3.764982879336596e-05,8.033022646048141e-05,0.6761,-0.0048,0.086867954056146,1.0,0.0,0.0,0.0,-0.09919460298436143,-0.09050313473746369,1.359497302512257,-0.0055840620731232695,0.007867127404185522,0.000174964740723832,-0.02846611050083725,-0.09813535095742804,1.421535074826403,-0.0075572237292261145,0.004895853165477299,-0.001163163230241464,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8945323731347493,-0.5690140899569357,-1.2325819192321026,0.5907857307259716,0.9127285279551107,-0.3951780787124098,0.5954971238671044,1.359497302512257,1.828079043099207,1.828079043099207,2.2595399999985357,0,0,-0.00029921790705292475,9.930644781353521e-05
+33203,1791364164462889481,3115842000000,1791364164462249242,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761242979433794,-0.004793962109459947,0.08684246382508341,0.9999999867522245,0.00010011383335192732,3.324441730738469e-05,8.252541704980409e-05,0.6761,-0.0048,0.08668886145870125,1.0,0.0,0.0,0.0,-0.09991474659636392,-0.090838498928635,1.3502744486203164,-0.005582344547128464,0.007869157372619291,0.00018232810409402555,-0.029186254112839736,-0.09847071514859936,1.4123122209344625,-0.007555506203231309,0.004897883133911069,-0.0011557998668712704,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.847928449561807,-0.5127992204150235,-1.1100096137386681,0.5923269268971508,0.8229395179105268,-0.35318758139980294,0.5954971238671044,1.3502744486203164,1.7055067376057726,1.7055067376057726,2.2940399999985064,0,0,-0.00032440856722745624,-9.999999025923074e-05
+33269,1791364165012877774,3116392000000,1791364165010259281,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761204973223753,-0.004800402342087675,0.08665555503383698,0.9999999871985004,9.496936984236601e-05,2.8388529819082253e-05,8.497513603358738e-05,0.6761,-0.0048,0.08650418762938276,1.0,0.0,0.0,0.0,-0.09945750466859293,-0.09724409614894375,1.349441117745363,-0.005583336326665509,0.007869982700136847,0.00018304538932178722,-0.02872901218506875,-0.1048763123689081,1.411478890059509,-0.007556497982768354,0.004898708461428624,-0.0011550825816435087,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.821786229321742,-0.4447556079168815,-1.1132377483652602,0.5910108798915794,0.8167630467042708,-0.30480276555447755,0.5954971238671044,1.349441117745363,1.7087348722323648,1.7087348722323648,2.3270399999984783,0,0,-0.0003478008136867646,-9.999999025923074e-05
+33335,1791364165562839894,3116942000000,1791364165562249759,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761202464385943,-0.004803461425838946,0.08646091041423755,0.9999999866871778,9.73558473768494e-05,2.750262862723736e-05,8.850962047566168e-05,0.6761,-0.0048,0.08630714251173346,1.0,0.0,0.0,0.0,-0.09920307714220594,-0.09129491122834034,1.339428476361358,-0.005580359715449649,0.007871514324221259,0.0001911755648961969,-0.028474584658681766,-0.09892712744830469,1.401466248675504,-0.007553521371552494,0.004900240085513037,-0.001146952406069099,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8765275344363334,-0.5320894858081159,-0.9391532963864115,0.6269827240597659,0.715474421713313,-0.3602059460198349,0.5954971238671044,1.339428476361358,1.534650420253516,1.534650420253516,2.3600399999984503,0,0,-0.00036949506172364997,-9.999999025923074e-05
+33398,1791364166087770385,3117467000000,1791364166086249464,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761223125537645,-0.004803047232829799,0.0862668604084601,0.9999999866202236,9.703166433115188e-05,3.2299143679325074e-05,8.800021808269827e-05,0.6761,-0.0048,0.08610913571840746,1.0,0.0,0.0,0.0,-0.09915109863939207,-0.09123471288283973,1.3394190128956487,-0.005580355984950507,0.007871514932282789,0.00019118948610839966,-0.028422606155867888,-0.09886692910280408,1.4014567852097948,-0.007553517641053352,0.004900240693574566,-0.0011469384848568963,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.8996512365180794,-0.4309322816965801,-1.0604632041972186,0.5960448844579723,0.7977605663223728,-0.2953115104646008,0.5954971238671044,1.3394190128956487,1.6559603280643231,1.6559603280643231,2.3915399999984235,0,0,-0.0003857373211499634,-9.999980984798924e-05
+33461,1791364166612847578,3117992000000,1791364166610249734,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761227167838979,-0.0048079670394253005,0.08606200116312977,0.9999999871328418,8.582734551188096e-05,3.666612560588971e-05,9.201327467918643e-05,0.6761,-0.0048,0.08590137978933386,1.0,0.0,0.0,0.0,-0.09915054638127649,-0.091234410913262,1.3394285376861135,-0.005580357734897267,0.007871512844408174,0.0001911818609653354,-0.02842205389775231,-0.09886662713322635,1.4014663100002596,-0.007553519391000112,0.0049002386056999515,-0.0011469461099999606,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9034855039909322,-0.4922732755410513,-1.2210865405162377,0.6303886427217777,0.9023049380906609,-0.33254083319774996,0.5954971238671044,1.3394285376861135,1.8165836643833422,1.8165836643833422,2.4230399999983967,0,0,-0.0004043323236821176,9.96076235645404e-05
+33515,1791364167062832757,3118442000000,1791364167058250398,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.676119167083485,-0.004801207316114117,0.08586995833065045,0.9999999876434414,8.664591560725474e-05,2.953887828873784e-05,8.818118480325633e-05,0.6761,-0.0048,0.08571553091445082,1.0,0.0,0.0,0.0,-0.09473624681658681,-0.09251821142109164,1.3341377050228838,-0.005580218372435392,0.00787171171453031,0.00019653569539401674,-0.02400775433306263,-0.10015042764105599,1.3961754773370298,-0.007553380028538237,0.004900437475822087,-0.0011415922755712792,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9038906485178868,-0.5242962938226642,-1.075394766637518,0.6481184374087907,0.8060102044532459,-0.34894968960320744,0.5954971238671044,1.3341377050228838,1.6708918905046226,1.6708918905046226,2.4500399999983737,0,0,-0.00042237325356272857,-9.999999025923074e-05
+33569,1791364167512776061,3118892000000,1791364167510259501,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761181256101441,-0.0048030806549479695,0.08567596966819678,0.9999999867971581,9.276418867235909e-05,3.099091744273131e-05,9.101052899231277e-05,0.6761,-0.0048,0.08552170014044926,1.0,0.0,0.0,0.0,-0.09815743384926184,-0.08783250288510584,1.333077901977383,-0.005578606743990375,0.007872576181816766,0.00019833358696077033,-0.027428941365737657,-0.09546471910507019,1.3951156742915292,-0.00755176840009322,0.004901301943108544,-0.0011397943840045256,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9822745614285459,-0.5855627259777152,-1.13022622020991,0.6702037002506044,0.8581271594612531,-0.3890921659472322,0.5954971238671044,1.333077901977383,1.7257233440770143,1.7257233440770143,2.477039999998351,0,0,-0.00043888213514395167,-7.203955073998287e-05
+33623,1791364167962874739,3119342000000,1791364167962249838,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761181919745509,-0.004805288340959208,0.08547718081251542,0.999999987273924,8.637965199075116e-05,3.109011026626823e-05,9.201617739487586e-05,0.6761,-0.0048,0.08532100049839451,1.0,0.0,0.0,0.0,-0.09572873261059459,-0.0877565342462044,1.3265593823331558,-0.0055770292922460935,0.007873840467063494,0.00020200072248757577,-0.02500024012707041,-0.09538875046616875,1.388597154647302,-0.0075501909483489385,0.004902566228355271,-0.0011361272484777202,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0171800958016923,-0.533954266123965,-1.2098221782684182,0.6566757946491448,0.9134478918833954,-0.3514163384021532,0.5954971238671044,1.3265593823331558,1.8053193021355227,1.8053193021355227,2.504039999998328,0,0,-0.0004524908135447329,9.861316904580803e-05
+33674,1791364168387809270,3119767000000,1791364168382249556,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761173353870609,-0.004798997394626553,0.08528492544908844,0.9999999875505147,8.578187130287292e-05,3.2699924583425324e-05,8.896077995742948e-05,0.6761,-0.0048,0.08512567864277908,1.0,0.0,0.0,0.0,-0.09908303277174706,-0.08477903716776213,1.3193678944997336,-0.005576611401683019,0.00787575614901707,0.00020739761372032739,-0.028354540288222877,-0.09241125338772647,1.3814056668138797,-0.007549773057785864,0.004904481910308848,-0.0011307303572449686,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,0.9684418625206771,-0.5354262117226853,-1.122102140975907,0.6675828953226416,0.8399304371024987,-0.351462269789589,0.5954971238671044,1.3193678944997336,1.7175992648430114,1.7175992648430114,2.529539999998306,0,0,-0.00046592474561432527,-9.317844692902639e-05
+33725,1791364168812798976,3120192000000,1791364168806249684,DOWN_FORCE_DETACH,8,0.0495,0.049502160400152206,0.6761150615649235,-0.004805939878322555,0.08508703365224073,0.9999999874198511,8.594186264709718e-05,2.9308090475971226e-05,9.142315881445982e-05,0.6761,-0.0048,0.0849243651799046,1.0,0.0,0.0,0.0,-0.08934217881996202,-0.09389917396168793,1.3249581664066357,-0.006579023084889692,0.007893056644110722,0.0001921224622481513,-0.01861368633643784,-0.10153139018165228,1.3869959387207818,-0.008552184740992537,0.004921782405402499,-0.0011460055087171447,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0032624197046156,-0.500280629037625,-1.1171561677606285,0.6544919455842689,0.8467288023397394,-0.32601490782167153,0.5954971238671044,1.3249581664066357,1.712653291627733,1.712653291627733,2.5550399999982845,0,0,-0.00048127898868574457,-9.999999025923074e-05
+33775,1791364169228876334,3120608000000,1791364169226253824,DOWN_FORCE_DETACH,8,0.0495,0.04950150474905968,0.6761131392957481,-0.004798311212716438,0.08488592666471517,0.9999999872433852,9.161470999117025e-05,2.7374180172872308e-05,8.839396363218706e-05,0.6761,-0.0048,0.08472276348829684,1.0,0.0,0.0,0.0,-0.09094791844086667,-0.08994079220694572,1.3191961076836694,-0.005576617685669696,0.007875677409834065,0.00020852148533047625,-0.02021942595734248,-0.09757300842691007,1.3812338799978154,-0.007549779341772541,0.0049044031711258426,-0.0011296064856348197,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.069443358493346,-0.47740474645086906,-1.1753972625028424,0.650763613416271,0.8964625225525565,-0.3091006075160564,0.5954971238671044,1.3191961076836694,1.770894386369947,1.770894386369947,2.5799999999982632,0,0,-0.0004892072479241981,3.781696714351803e-05
+33827,1791364169660853682,3121040000000,1791364169654250459,DOWN_SETTLE,8,0.0495,0.04950150474905968,0.676116214936725,-0.004804558248822744,0.08468791592213755,0.9999999875365218,8.380598047516795e-05,3.4916022007929654e-05,9.015126072294315e-05,0.6761,-0.0048,0.0845154634106723,1.0,0.0,0.0,0.0,-0.09834125252815129,-0.09236432768618094,1.3093280002963714,-0.005574669086179602,0.007878252514984679,0.00021639550868508698,-0.02761276004462711,-0.09999654390614529,1.3713657726105175,-0.007547830742282447,0.004906978276276456,-0.001121732462280209,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.0758618150122787,-0.5435832515228195,-1.1732506824477267,0.6749130402617973,0.8935919425270205,-0.3492493279703257,0.5954971238671044,1.3093280002963714,1.7687478063148312,1.7687478063148312,2.581379999998262,0,0,-0.00046906262610582763,9.999999025923074e-05
+33881,1791364170110884322,3121490000000,1791364170110249363,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6761097675868583,-0.0048043151194527385,0.08447472266842414,0.9999999878482468,8.382008262491985e-05,2.2410894534542262e-05,9.065492837004356e-05,0.6761,-0.0048,0.08430943647793623,1.0,0.0,0.0,0.0,-0.09850437977530607,-0.09676330294700745,1.2989115483595879,-0.006592975998881976,0.007899283183974785,0.00021247743590177147,-0.027775887291781886,-0.1043955191669718,1.360949320673734,-0.008566137654984821,0.004928008945266563,-0.0011256505350635245,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1123313755815294,-0.4957312894907196,-1.1915517823642516,0.6596235950098148,0.9130455170663496,-0.3162850506928773,0.5954971238671044,1.2989115483595879,1.7870489062313561,1.7870489062313561,2.581379999998262,0,0,-0.0004465626304891738,9.999999025923074e-05
+33935,1791364170560885761,3121940000000,1791364170558249605,DOWN_SETTLE,8,0.0495,0.04950150474905968,0.6761062424223806,-0.004811547270592718,0.08427673837101386,0.9999999880434515,7.89995817203888e-05,1.8583489718629328e-05,9.364657692287077e-05,0.6761,-0.0048,0.08411353454322766,1.0,0.0,0.0,0.0,-0.1001154902761014,-0.10550767885542307,1.2988967323357108,-0.006594198018569622,0.007900060187544647,0.0002122573182536142,-0.029386997792577207,-0.11313989507538742,1.3609345046498569,-0.008567359674672467,0.004928785948836424,-0.0011258706527116817,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.1127670484758396,-0.5816679154833186,-1.1527358878221625,0.6903497378702702,0.8850860651266027,-0.3682086863702789,0.5954971238671044,1.2988967323357108,1.7482330116892668,1.7482330116892668,2.581379999998262,0,0,-0.00042406263487251996,9.999999025923074e-05
+33995,1791364171060848410,3122440000000,1791364171058250035,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6761091498754753,-0.004815825864544189,0.08408266355932933,0.9999999889759243,7.125745357710694e-05,2.6739490748421293e-05,8.77404726579075e-05,0.6761,-0.0048,0.08390774072457137,1.0,0.0,0.0,0.0,-0.10186717674392311,-0.10587810607791039,1.2888456345916315,-0.006592315923325308,0.007902283756769648,0.0002201900182944301,-0.031138684260398924,-0.11351032229787474,1.3508834069057776,-0.008565477579428153,0.0049310095180614254,-0.0011179379526708659,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2219692395054453,-0.588756057843396,-1.101235385593046,0.6917846308583185,0.8770674389461633,-0.36798285850759926,0.5954971238671044,1.2888456345916315,1.6967325094601504,1.6967325094601504,2.581379999998262,0,0,-0.0003990626397429046,9.999999025923074e-05
+34055,1791364171560844488,3122940000000,1791364171558249699,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6761067461807321,-0.0048155612165460444,0.08388901221023695,0.9999999885094445,7.427363298828947e-05,2.4307348136385218e-05,9.11951509959816e-05,0.6761,-0.0048,0.08371444690347989,1.0,0.0,0.0,0.0,-0.10775695299165247,-0.11591428793871442,1.2888065535560227,-0.0065936482812165124,0.007903243997908309,0.00021949318829404406,-0.03702846050812829,-0.12354650415867877,1.3508443258701688,-0.008566809937319357,0.004931969759200086,-0.0011186347826712519,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.2528134323885738,-0.49791903117198416,-1.1764529809401298,0.6633205817750629,0.9309424576552611,-0.30501938609526913,0.5954971238671044,1.2888065535560227,1.7719501048072344,1.7719501048072344,2.581379999998262,0,0,-0.0003740626446132892,9.999999025923074e-05
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+34187,1791364172660856504,3124040000000,1791364172658250464,DOWN_SETTLE,8,0.0495,0.04950150474905968,0.6761030957367538,-0.00482658148081036,0.08350589669938595,0.9999999900521734,5.4615550524666e-05,1.9727018501477026e-05,8.92552740013208e-05,0.6761,-0.0048,0.08333320048850675,1.0,0.0,0.0,0.0,-0.09998483927242732,-0.11905519778815096,1.2784099677217806,-0.0076117935839895064,0.007924172744935854,0.0002174223796384653,-0.02925634678890314,-0.1266874140081153,1.3404477400359267,-0.009584955240092351,0.004952898506227632,-0.0011207055913268307,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.393235427461334,-0.638562476073856,-1.252613948813049,0.7041458567849816,1.01086528129491,-0.39095601236772465,0.5954971238671044,1.2784099677217806,1.8481110726801533,1.8481110726801533,2.581379999998262,0,0,-0.0003190626553281354,9.999999025923074e-05
+34259,1791364173260864740,3124640000000,1791364173254259553,DOWN_SETTLE,8,0.0495,0.04950150474905968,0.6760971154539107,-0.004824539424885813,0.0833164781230289,0.9999999901661756,5.5260014314416924e-05,1.0667342561989466e-05,8.912380023042055e-05,0.6761,-0.0048,0.0831507478935536,1.0,0.0,0.0,0.0,-0.10740726303834149,-0.12498622549228797,1.2683534398081755,-0.007610376494682054,0.007926110324051994,0.00022454108991458444,-0.0366787705548173,-0.13261844171225232,1.3303912121223216,-0.0095835381507849,0.004954836085343771,-0.0011135868810507115,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4058828190601247,-0.5740997451830985,-1.24980112867909,0.6762839480833411,1.009517970572061,-0.350181265918867,0.5954971238671044,1.2683534398081755,1.8452982525461943,1.8452982525461943,2.581379999998262,0,0,-0.00028906266117259696,9.999999025923074e-05
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+34435,1791364174726803812,3126106000000,1791364174722249455,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6760974568721762,-0.004825225401526638,0.0829446047742747,0.9999999910346308,4.402567593635993e-05,1.2288998574510691e-05,8.534824706991852e-05,0.6761,-0.0048,0.08278067427180022,1.0,0.0,0.0,0.0,-0.1163295146401388,-0.13017656668957908,1.2482488664539189,-0.007607339673128455,0.007931937606485862,0.00023969133290724321,-0.04560102215661462,-0.13780878290954343,1.310286638768065,-0.0095805013292313,0.004960663367777639,-0.0010984366380580527,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.45297468013387,-0.5974455612807986,-1.2993742959838703,0.6851785833076182,1.045059589436692,-0.35964404444695947,0.5954971238671044,1.2482488664539189,1.8948714198509746,1.8948714198509746,2.581379999998262,0,0,-0.00021576267545256466,9.999999025923074e-05
+34535,1791364175560799490,3126940000000,1791364175554249877,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6760813162574016,-0.0048247607598798006,0.08276755054067435,0.9999999906137419,4.431380686400609e-05,-7.913938506199335e-06,9.0493296752167e-05,0.6761,-0.0048,0.0826180962470811,1.0,0.0,0.0,0.0,-0.10711024604717258,-0.1304159557771958,1.2482325547012583,-0.0076899367958903776,0.007933278066958815,0.00024024980648261322,-0.036381753563648395,-0.13804817199716016,1.3102703270154044,-0.009663098451993223,0.004962003828250593,-0.0010978781644826827,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.4568784239639894,-0.6051928150706344,-1.3534997164171598,0.6759075179545657,1.0807404785618118,-0.3626315856743465,0.5954971238671044,1.2482325547012583,1.9489968402842641,1.9489968402842641,2.581379999998262,0,0,-0.00017406268357636622,9.999999025923074e-05
+34646,1791364176485896823,3127865000000,1791364176482249769,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6760693190138201,-0.004820300337823445,0.08261598796621338,0.9999999890678526,5.464069248511798e-05,-2.5802601472318462e-05,9.826382658484665e-05,0.6761,-0.0048,0.08247845576060123,1.0,0.0,0.0,0.0,-0.099323047102425,-0.13423113468648262,1.2177761801488547,-0.00862253552702311,0.007957568555523126,0.0002549433227967846,-0.028594554618900817,-0.14186335090644697,1.2798139524630008,-0.010595697183125955,0.004986294316814904,-0.0010831846481685113,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5046087635144683,-0.5613714859439568,-1.342924297743541,0.6631651494008853,1.0813577835531554,-0.33256224821880154,0.5954971238671044,1.2177761801488547,1.9384214216106455,1.9384214216106455,2.581379999998262,0,0,-0.00012781269258657779,9.999999025923074e-05
+34775,1791364177560867808,3128940000000,1791364177558250376,DOWN_SETTLE,8,0.0495,0.04950150474905968,0.676082190154102,-0.004815566912073461,0.08251052030357073,0.9999999921561259,3.319534898327767e-05,-1.3195154828751577e-05,7.65151584479195e-05,0.6761,-0.0048,0.08236992086043708,1.0,0.0,0.0,0.0,-0.10677664717375523,-0.12086446825004732,1.1717035301103267,-0.007592093506679972,0.007946920720813978,0.00029950277341515103,-0.036048154690231045,-0.12849668447001167,1.2337413024244728,-0.009565255162782817,0.004975646482105755,-0.001038625197550145,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.6007369330497185,-0.6626414752310159,-1.2498950002396312,0.7066507283863607,1.0397347604119738,-0.3929628659919051,0.5954971238671044,1.1717035301103267,1.8453921241067355,1.8453921241067355,2.581379999998262,0,0,-7.406270305790474e-05,9.999999025923074e-05
+34928,1791364178835827693,3130215000000,1791364178834250094,DOWN_SETTLE,8,0.0495,0.049502160400152206,0.6760844740141508,-0.0048120867080157885,0.08245125115076446,0.9999999903743845,5.678104091850011e-05,-1.4488772862495401e-05,8.5206128977367e-05,0.6761,-0.0048,0.08231609965611462,1.0,0.0,0.0,0.0,-0.10586503043304032,-0.11235733326229254,1.1382120994911944,-0.007180937583478842,0.007946448805520628,0.0003345018277578012,-0.03513653794951614,-0.11998954948225689,1.2002498718053405,-0.009154099239581687,0.004975174566812406,-0.0010036261432074948,0.07072849248352418,-0.007632216219964354,0.06203777231414599,-0.001973161656102845,-0.0029712742387082223,-0.001338127970965296,1,1.5346392105218596,-0.5402015495387001,-1.266858748601986,0.6540927172044657,1.0351147977747182,-0.30997827921592347,0.5954971238671044,1.1382120994911944,1.8623558724690903,1.8623558724690903,2.581379999998262,0,0,-1.0312715477385543e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83f15098df7efd55281326670d8566ad255478c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7e9a36ae5890a13d670a3391469bddd0a36333e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,3.016666667e+00,DOWN_FORCE_DETACH,1791364130784429812,4.176178373e-05,-6.027311597e-07,-3.919537194e-04,4.167740025e-05,-5.001486436e-07,-3.916390201e-04,4.158352584e-05,-5.114335711e-07,-3.893833736e-04,7.015796333e-01,9.482301613e-07,8.403489875e-01,7.015795489e-01,1.050812677e-06,8.403493022e-01,7.017674198e-01,1.294699442e-06,8.293913653e-01
+5,3.750000000e+00,DOWN_FORCE_DETACH,1791364131884430592,4.684505450e-05,-7.447841961e-06,-5.199053522e-04,4.492253370e-05,-4.637360722e-06,-5.005851715e-04,4.458648241e-05,-4.591459006e-06,-4.983083692e-04,7.015847165e-01,-5.896880640e-06,8.402210358e-01,7.015827940e-01,-3.086399401e-06,8.402403560e-01,7.017704227e-01,-2.785325992e-06,8.292824403e-01
+6,4.583333333e+00,DOWN_FORCE_DETACH,1791364133125133889,4.945395479e-05,-9.528869561e-06,-6.217533604e-04,4.902045334e-05,-1.039207120e-05,-6.077397449e-04,4.843010074e-05,-1.030008327e-05,-6.054723638e-04,7.015873254e-01,-7.977908240e-06,8.401191878e-01,7.015868919e-01,-8.841109876e-06,8.401332014e-01,7.017742664e-01,-8.493950256e-06,8.291752763e-01
+7,5.400000000e+00,DOWN_FORCE_DETACH,1791364134354564038,4.955675259e-05,-9.979419301e-06,-6.995649142e-04,4.963445051e-05,-8.901784460e-06,-6.914114870e-04,4.884300999e-05,-8.808082977e-06,-6.892960852e-04,7.015874282e-01,-8.428457980e-06,8.400413763e-01,7.015875059e-01,-7.350823139e-06,8.400495297e-01,7.017746793e-01,-7.001949963e-06,8.290914526e-01
+8,6.250000000e+00,DOWN_FORCE_DETACH,1791364135622322305,5.768301386e-05,-9.071276379e-06,-7.709211837e-04,5.408266743e-05,-4.961041429e-06,-7.561001526e-04,5.330281568e-05,-4.896121643e-06,-7.541904692e-04,7.015955545e-01,-7.520315057e-06,8.399700200e-01,7.015919541e-01,-3.410080108e-06,8.399848410e-01,7.017791391e-01,-3.089988630e-06,8.290265582e-01
+9,7.050000000e+00,DOWN_FORCE_DETACH,1791364136825871270,5.697206382e-05,-9.750615560e-06,-8.543847955e-04,5.964726224e-05,-1.147559264e-05,-8.394504132e-04,5.875164602e-05,-1.134640073e-05,-8.375971318e-04,7.015948435e-01,-8.199654239e-06,8.398865564e-01,7.015975187e-01,-9.924631322e-06,8.399014908e-01,7.017845879e-01,-9.540267712e-06,8.289431516e-01
+10,7.900000000e+00,DOWN_FORCE_DETACH,1791364138104602043,6.369367771e-05,-9.766211283e-06,-9.339851794e-04,6.230011199e-05,-9.444793341e-06,-9.232319101e-04,6.129642472e-05,-9.321431222e-06,-9.213880061e-04,7.016015652e-01,-8.215249962e-06,8.398069560e-01,7.016001716e-01,-7.893832020e-06,8.398177093e-01,7.017871327e-01,-7.515298209e-06,8.288593607e-01
+11,8.866666667e+00,DOWN_FORCE_DETACH,1791364139554725587,7.141160361e-05,-1.102299916e-05,-1.022915318e-03,6.877719886e-05,-1.265504950e-05,-1.024350063e-03,6.758041169e-05,-1.251403611e-05,-1.022351169e-03,7.016092831e-01,-9.472037835e-06,8.397180259e-01,7.016066487e-01,-1.110408818e-05,8.397165911e-01,7.017934167e-01,-1.070790310e-05,8.287583975e-01
+12,9.633333333e+00,DOWN_FORCE_DETACH,1791364140704451138,7.431516876e-05,-1.501287073e-05,-1.106551495e-03,7.407467611e-05,-1.494478806e-05,-1.106686448e-03,7.278928747e-05,-1.474715652e-05,-1.104643214e-03,7.016121867e-01,-1.346190940e-05,8.396343897e-01,7.016119462e-01,-1.339382674e-05,8.396342547e-01,7.017986255e-01,-1.294102351e-05,8.286761055e-01
+13,1.041666667e+01,DOWN_FORCE_DETACH,1791364141884588339,7.957076459e-05,-1.290310207e-05,-1.192390259e-03,7.661398929e-05,-9.764102763e-06,-1.188262366e-03,7.513880035e-05,-9.585703130e-06,-1.186311954e-03,7.016174422e-01,-1.135214075e-05,8.395485509e-01,7.016144855e-01,-8.213141442e-06,8.395526788e-01,7.018009751e-01,-7.779570117e-06,8.285944367e-01
+14,1.125000000e+01,DOWN_FORCE_DETACH,1791364143126287120,8.396224559e-05,-1.453386994e-05,-1.282717999e-03,8.234976481e-05,-1.798468744e-05,-1.270835764e-03,8.074808526e-05,-1.777546154e-05,-1.269006592e-03,7.016218337e-01,-1.298290862e-05,8.394582232e-01,7.016202212e-01,-1.643372612e-05,8.394701054e-01,7.018065843e-01,-1.596932853e-05,8.285117421e-01
+15,1.198333333e+01,DOWN_FORCE_DETACH,1791364144225070003,8.854906800e-05,-1.903065544e-05,-1.364369158e-03,8.594518749e-05,-2.426195250e-05,-1.351451172e-03,8.423600920e-05,-2.405682315e-05,-1.349671545e-03,7.016264205e-01,-1.747969412e-05,8.393765720e-01,7.016238167e-01,-2.271099118e-05,8.393894900e-01,7.018100723e-01,-2.225069013e-05,8.284310772e-01
+16,1.268333333e+01,DOWN_FORCE_DETACH,1791364145284608115,9.195190840e-05,-2.141889044e-05,-1.442308373e-03,9.155279855e-05,-1.100882519e-05,-1.433727658e-03,8.967297127e-05,-1.087075535e-05,-1.431895271e-03,7.016298234e-01,-1.986792912e-05,8.392986328e-01,7.016294243e-01,-9.457863869e-06,8.393072135e-01,7.018155092e-01,-9.064622340e-06,8.283488534e-01
+17,1.358333333e+01,DOWN_FORCE_DETACH,1791364146624454469,9.965701156e-05,-2.034908368e-05,-1.542462795e-03,1.002928147e-04,-1.867830665e-05,-1.536324740e-03,9.829901121e-05,-1.851470378e-05,-1.534371800e-03,7.016375285e-01,-1.879812236e-05,8.391984784e-01,7.016381643e-01,-1.712734533e-05,8.392046164e-01,7.018241353e-01,-1.670857077e-05,8.282463769e-01
+18,1.440000000e+01,DOWN_FORCE_DETACH,1791364147854753151,1.015855168e-04,-2.143093912e-05,-1.649324558e-03,1.013615822e-04,-2.117656538e-05,-1.649157124e-03,9.897831154e-05,-2.098267144e-05,-1.646951826e-03,7.016394570e-01,-1.987997780e-05,8.390916166e-01,7.016392331e-01,-1.962560406e-05,8.390917841e-01,7.018248146e-01,-1.917653843e-05,8.281337969e-01
+19,1.510000000e+01,DOWN_FORCE_DETACH,1791364148905237288,1.028017539e-04,-2.414377700e-05,-1.739799030e-03,1.026725416e-04,-2.405632987e-05,-1.739683146e-03,1.000054565e-04,-2.385478644e-05,-1.737408296e-03,7.016406732e-01,-2.259281568e-05,8.390011422e-01,7.016405440e-01,-2.250536855e-05,8.390012580e-01,7.018258417e-01,-2.204865342e-05,8.280433404e-01
+20,1.585000000e+01,DOWN_FORCE_DETACH,1791364150029197504,1.094158084e-04,-2.305588133e-05,-1.835512673e-03,1.061454322e-04,-2.746330694e-05,-1.832465790e-03,1.032393341e-04,-2.723881959e-05,-1.830169317e-03,7.016472873e-01,-2.150492001e-05,8.389054285e-01,7.016440169e-01,-2.591234562e-05,8.389084754e-01,7.018290756e-01,-2.543268657e-05,8.279505794e-01
+21,1.671666667e+01,DOWN_FORCE_DETACH,1791364151325311366,1.125586985e-04,-2.154526763e-05,-1.948445299e-03,1.081777543e-04,-2.578786448e-05,-1.945113898e-03,1.049414050e-04,-2.558914065e-05,-1.942817788e-03,7.016504302e-01,-1.999430631e-05,8.387924959e-01,7.016460492e-01,-2.423690316e-05,8.387958273e-01,7.018307777e-01,-2.378300764e-05,8.278379309e-01
+22,1.746666667e+01,DOWN_FORCE_DETACH,1791364152440970749,1.126659731e-04,-2.801884808e-05,-2.057152350e-03,1.142094968e-04,-2.652678713e-05,-2.053568518e-03,1.106089456e-04,-2.634170530e-05,-2.051189099e-03,7.016505375e-01,-2.646788676e-05,8.386837888e-01,7.016520810e-01,-2.497582581e-05,8.386873727e-01,7.018364452e-01,-2.453557229e-05,8.277295596e-01
+23,1.821666667e+01,DOWN_FORCE_DETACH,1791364153561978570,1.179431338e-04,-2.729442969e-05,-2.162146179e-03,1.177439663e-04,-2.736247467e-05,-2.162213776e-03,1.138598621e-04,-2.714196065e-05,-2.159787518e-03,7.016558146e-01,-2.574346836e-05,8.385787950e-01,7.016556154e-01,-2.581151335e-05,8.385787274e-01,7.018396961e-01,-2.533582764e-05,8.276209612e-01
+24,1.900000000e+01,DOWN_FORCE_DETACH,1791364154740447869,1.206271835e-04,-2.903722646e-05,-2.287966170e-03,1.218889279e-04,-2.829057533e-05,-2.274612819e-03,1.176829274e-04,-2.805391279e-05,-2.272207729e-03,7.016584987e-01,-2.748626514e-05,8.384529750e-01,7.016597604e-01,-2.673961401e-05,8.384663284e-01,7.018435192e-01,-2.624777978e-05,8.275085410e-01
+25,1.975000000e+01,DOWN_FORCE_DETACH,1791364155884697358,1.279776720e-04,-2.802032122e-05,-2.410108628e-03,1.265955712e-04,-3.120318560e-05,-2.406213011e-03,1.221182532e-04,-3.097373665e-05,-2.403640363e-03,7.016658492e-01,-2.646935990e-05,8.383308326e-01,7.016644671e-01,-2.965222428e-05,8.383347282e-01,7.018479545e-01,-2.916760364e-05,8.273771083e-01
+26,2.051666667e+01,DOWN_FORCE_DETACH,1791364157020694679,1.337014635e-04,-3.301445695e-05,-2.541584772e-03,1.296951132e-04,-3.378643813e-05,-2.538536258e-03,1.248710287e-04,-3.351239513e-05,-2.535748197e-03,7.016715729e-01,-3.146349563e-05,8.381993564e-01,7.016675666e-01,-3.223547681e-05,8.382024049e-01,7.018507073e-01,-3.170626212e-05,8.272450005e-01
+27,2.123333333e+01,DOWN_FORCE_DETACH,1791364158090484298,1.354819548e-04,-3.457603321e-05,-2.684576817e-03,1.342332414e-04,-3.487646119e-05,-2.679918159e-03,1.290492437e-04,-3.456021771e-05,-2.676820796e-03,7.016733534e-01,-3.302507189e-05,8.380563644e-01,7.016721047e-01,-3.332549987e-05,8.380610230e-01,7.018548855e-01,-3.275408470e-05,8.271039279e-01
+28,2.188333333e+01,DOWN_FORCE_DETACH,1791364159060848120,1.356254643e-04,-3.726034651e-05,-2.826442865e-03,1.351566714e-04,-3.688705506e-05,-2.820481901e-03,1.294926926e-04,-3.653699196e-05,-2.817194975e-03,7.016734969e-01,-3.570938519e-05,8.379144983e-01,7.016730282e-01,-3.533609374e-05,8.379204593e-01,7.018553290e-01,-3.473085895e-05,8.269635537e-01
+29,2.253333333e+01,DOWN_FORCE_DETACH,1791364160041239361,1.350620131e-04,-4.231006076e-05,-2.984613703e-03,1.348435853e-04,-4.203920853e-05,-2.984307726e-03,1.286104552e-04,-4.165104462e-05,-2.980731523e-03,7.016729335e-01,-4.075909944e-05,8.377563275e-01,7.016727151e-01,-4.048824721e-05,8.377566335e-01,7.018544467e-01,-3.984491161e-05,8.268000172e-01
+30,2.311666667e+01,DOWN_FORCE_DETACH,1791364160935179127,1.313206227e-04,-4.157985844e-05,-3.150491016e-03,1.312215797e-04,-4.142368935e-05,-3.150535585e-03,1.242652286e-04,-4.108178878e-05,-3.146699474e-03,7.016691921e-01,-4.002889712e-05,8.375904502e-01,7.016690931e-01,-3.987272803e-05,8.375904056e-01,7.018501015e-01,-3.927565577e-05,8.266340492e-01
+31,2.366666667e+01,DOWN_FORCE_DETACH,1791364161759257321,1.339628787e-04,-4.704248042e-05,-3.311388223e-03,1.317446209e-04,-4.726664874e-05,-3.295751379e-03,1.243217040e-04,-4.692219384e-05,-3.291776370e-03,7.016718344e-01,-4.549151910e-05,8.374295530e-01,7.016696161e-01,-4.571568742e-05,8.374451898e-01,7.018501580e-01,-4.511606082e-05,8.264889723e-01
+32,2.416666667e+01,DOWN_FORCE_DETACH,1791364162510217958,1.323736693e-04,-4.921757731e-05,-3.483305932e-03,1.342857622e-04,-4.678886323e-05,-3.478348945e-03,1.262466543e-04,-4.645681708e-05,-3.473917711e-03,7.016702452e-01,-4.766661599e-05,8.372576353e-01,7.016721572e-01,-4.523790191e-05,8.372625922e-01,7.018520829e-01,-4.465068407e-05,8.263068310e-01
+33,2.463333333e+01,DOWN_FORCE_DETACH,1791364163208622748,1.357285475e-04,-5.406099964e-05,-3.662867799e-03,1.356088070e-04,-5.412200072e-05,-3.663039606e-03,1.269558308e-04,-5.375889479e-05,-3.658113421e-03,7.016736000e-01,-5.251003832e-05,8.370780734e-01,7.016734803e-01,-5.257103940e-05,8.370779016e-01,7.018527921e-01,-5.195276177e-05,8.261226353e-01
+34,2.508333333e+01,DOWN_FORCE_DETACH,1791364163888846774,1.343481240e-04,-5.317990638e-05,-3.854323394e-03,1.332592924e-04,-5.703490814e-05,-3.846612549e-03,1.238454132e-04,-5.663961799e-05,-3.841358774e-03,7.016722196e-01,-5.162894506e-05,8.368866178e-01,7.016711308e-01,-5.548394681e-05,8.368943286e-01,7.018496817e-01,-5.483348498e-05,8.259393899e-01
+35,2.546666667e+01,DOWN_FORCE_DETACH,1791364164460253321,1.302433618e-04,-5.418510805e-05,-4.036973079e-03,1.298658650e-04,-5.415667933e-05,-4.037167956e-03,1.197236696e-04,-5.376082282e-05,-4.031438253e-03,7.016681148e-01,-5.263414673e-05,8.367039681e-01,7.016677373e-01,-5.260571801e-05,8.367037732e-01,7.018455599e-01,-5.195468981e-05,8.257493105e-01
+36,2.583333333e+01,DOWN_FORCE_DETACH,1791364165012018252,1.277327049e-04,-6.416397806e-05,-4.220607446e-03,1.273231246e-04,-6.777227530e-05,-4.205414137e-03,1.165610853e-04,-6.725868924e-05,-4.199502421e-03,7.016656042e-01,-6.261301674e-05,8.365203337e-01,7.016651946e-01,-6.622131398e-05,8.365355271e-01,7.018423973e-01,-6.545255622e-05,8.255812463e-01
+37,2.620000000e+01,DOWN_FORCE_DETACH,1791364165560383038,1.256806600e-04,-6.765862314e-05,-4.416736450e-03,1.263981848e-04,-6.761880642e-05,-4.406095242e-03,1.149474151e-04,-6.709681099e-05,-4.399693208e-03,7.016635521e-01,-6.610766182e-05,8.363242047e-01,7.016642697e-01,-6.606784510e-05,8.363348459e-01,7.018407837e-01,-6.529067797e-05,8.253810555e-01
+38,2.655000000e+01,DOWN_FORCE_DETACH,1791364166089387667,1.278148687e-04,-6.735698234e-05,-4.611039935e-03,1.277439113e-04,-6.739178733e-05,-4.611058767e-03,1.156079795e-04,-6.685910027e-05,-4.604243855e-03,7.016656864e-01,-6.580602102e-05,8.361299013e-01,7.016656154e-01,-6.584082601e-05,8.361298824e-01,7.018414442e-01,-6.505296726e-05,8.251765048e-01
+39,2.690000000e+01,DOWN_FORCE_DETACH,1791364166609465916,1.293484863e-04,-6.847211355e-05,-4.812834694e-03,1.287644624e-04,-7.037340589e-05,-4.794196600e-03,1.160441372e-04,-6.978803333e-05,-4.787242429e-03,7.016672200e-01,-6.692115223e-05,8.359281065e-01,7.016666359e-01,-6.882244457e-05,8.359467446e-01,7.018418804e-01,-6.798190032e-05,8.249935063e-01
+40,2.720000000e+01,DOWN_FORCE_DETACH,1791364167060365971,1.243275848e-04,-6.708014172e-05,-5.005468859e-03,1.240952508e-04,-6.691402636e-05,-5.005566236e-03,1.105505658e-04,-6.632208013e-05,-4.998099411e-03,7.016621991e-01,-6.552918040e-05,8.357354723e-01,7.016619667e-01,-6.536306504e-05,8.357353750e-01,7.018363868e-01,-6.451594712e-05,8.247826493e-01
+41,2.750000000e+01,DOWN_FORCE_DETACH,1791364167511648588,1.249668067e-04,-6.432222561e-05,-5.205623426e-03,1.246824173e-04,-6.422331406e-05,-5.205641600e-03,1.104528711e-04,-6.366574237e-05,-5.197844716e-03,7.016628383e-01,-6.277126429e-05,8.355353178e-01,7.016625539e-01,-6.267235274e-05,8.355352996e-01,7.018362891e-01,-6.185960935e-05,8.245829040e-01
+42,2.780000000e+01,DOWN_FORCE_DETACH,1791364167962167313,1.238948854e-04,-6.873054345e-05,-5.394558388e-03,1.219095712e-04,-7.037677750e-05,-5.387959394e-03,1.069831385e-04,-6.979517801e-05,-5.379985244e-03,7.016617664e-01,-6.717958213e-05,8.353463828e-01,7.016597811e-01,-6.882581618e-05,8.353529818e-01,7.018328194e-01,-6.798904500e-05,8.244007635e-01
+43,2.808333333e+01,DOWN_FORCE_DETACH,1791364168389419539,1.229833997e-04,-6.399002309e-05,-5.592785522e-03,1.215021572e-04,-6.775467476e-05,-5.581655944e-03,1.058895628e-04,-6.714732803e-05,-5.573325136e-03,7.016608549e-01,-6.243906177e-05,8.351481557e-01,7.016593736e-01,-6.620371344e-05,8.351592852e-01,7.018317258e-01,-6.534119501e-05,8.242074236e-01
+44,2.836666667e+01,DOWN_FORCE_DETACH,1791364168809496468,1.215163606e-04,-6.535580259e-05,-5.790722899e-03,1.174879342e-04,-6.627981908e-05,-5.778170683e-03,1.010612651e-04,-6.567193829e-05,-5.769738493e-03,7.016593878e-01,-6.380484127e-05,8.349502183e-01,7.016553594e-01,-6.472885776e-05,8.349627705e-01,7.018268975e-01,-6.386580528e-05,8.240110102e-01
+45,2.865000000e+01,DOWN_FORCE_DETACH,1791364169229840885,1.212727947e-04,-6.996762200e-05,-5.987098377e-03,1.208844432e-04,-6.908282228e-05,-5.980497191e-03,1.038812577e-04,-6.844003687e-05,-5.971864236e-03,7.016591443e-01,-6.841666068e-05,8.347538428e-01,7.016587559e-01,-6.753186096e-05,8.347604440e-01,7.018297175e-01,-6.663390385e-05,8.238088845e-01
+46,2.893333333e+01,DOWN_SETTLE,1791364169659916218,1.191875653e-04,-6.354896941e-05,-6.192781357e-03,1.189360749e-04,-6.380977259e-05,-6.192506654e-03,1.011282813e-04,-6.320498877e-05,-6.183558615e-03,7.016570590e-01,-6.199800809e-05,8.345481598e-01,7.016568076e-01,-6.225881127e-05,8.345484345e-01,7.018269645e-01,-6.139885576e-05,8.235971901e-01
+47,2.923333333e+01,DOWN_SETTLE,1791364170109682800,1.167024971e-04,-7.167988527e-05,-6.397726017e-03,1.164345868e-04,-7.098381986e-05,-6.390025489e-03,9.789625442e-05,-7.031780291e-05,-6.381123635e-03,7.016545740e-01,-7.012892395e-05,8.343432152e-01,7.016543061e-01,-6.943285854e-05,8.343509157e-01,7.018237325e-01,-6.851166990e-05,8.233996251e-01
+48,2.953333333e+01,DOWN_SETTLE,1791364170559113281,1.153372368e-04,-7.452820832e-05,-6.595097252e-03,1.151971604e-04,-7.470791197e-05,-6.595053845e-03,9.593601740e-05,-7.400768894e-05,-6.586036088e-03,7.016532087e-01,-7.297724699e-05,8.341458439e-01,7.016530686e-01,-7.315695065e-05,8.341458873e-01,7.018217723e-01,-7.220155593e-05,8.231947126e-01
+49,2.986666667e+01,DOWN_SETTLE,1791364171059162539,1.160106771e-04,-7.668988524e-05,-6.795705535e-03,1.161828607e-04,-7.615692068e-05,-6.777409899e-03,9.627966650e-05,-7.546856858e-05,-6.768685377e-03,7.016538822e-01,-7.513892392e-05,8.339452357e-01,7.016540543e-01,-7.460595936e-05,8.339635313e-01,7.018221159e-01,-7.366243557e-05,8.230120633e-01
+50,3.020000000e+01,DOWN_SETTLE,1791364171558264939,1.145891581e-04,-7.915826721e-05,-6.986721626e-03,1.144089831e-04,-7.925474619e-05,-6.986374020e-03,9.369227879e-05,-7.865540085e-05,-6.977636258e-03,7.016524606e-01,-7.760730589e-05,8.337542196e-01,7.016522805e-01,-7.770378487e-05,8.337545672e-01,7.018195285e-01,-7.684926783e-05,8.228031124e-01
+51,3.053333333e+01,DOWN_SETTLE,1791364172059836981,1.081528343e-04,-8.134350824e-05,-7.175146218e-03,1.079821957e-04,-8.125943808e-05,-7.175201227e-03,8.652382923e-05,-8.065162311e-05,-7.166562146e-03,7.016460243e-01,-7.979254692e-05,8.335657950e-01,7.016458537e-01,-7.970847676e-05,8.335657400e-01,7.018123601e-01,-7.884549009e-05,8.226141866e-01
+52,3.093333333e+01,DOWN_SETTLE,1791364172662479055,1.088459974e-04,-8.456939956e-05,-7.372111649e-03,1.061853839e-04,-8.585828634e-05,-7.367108754e-03,8.398140901e-05,-8.517821148e-05,-7.358920108e-03,7.016467175e-01,-8.301843824e-05,8.333688295e-01,7.016440569e-01,-8.430732502e-05,8.333738324e-01,7.018098177e-01,-8.337207846e-05,8.224218286e-01
+53,3.133333333e+01,DOWN_SETTLE,1791364173260332981,1.015602941e-04,-8.677326908e-05,-7.563186904e-03,1.022408062e-04,-8.679939866e-05,-7.547277346e-03,7.934223365e-05,-8.610236813e-05,-7.539476152e-03,7.016394318e-01,-8.522230776e-05,8.331777543e-01,7.016401123e-01,-8.524843734e-05,8.331936638e-01,7.018051785e-01,-8.429623512e-05,8.222412726e-01
+54,3.180000000e+01,DOWN_SETTLE,1791364173960161321,1.038182345e-04,-9.045809291e-05,-7.751013235e-03,1.041700751e-04,-9.117137812e-05,-7.743163740e-03,8.059018389e-05,-9.048980170e-05,-7.735832492e-03,7.016416897e-01,-8.890713159e-05,8.329899280e-01,7.016420416e-01,-8.962041680e-05,8.329977774e-01,7.018064264e-01,-8.868366869e-05,8.220449162e-01
+55,3.231666667e+01,DOWN_SETTLE,1791364174729660443,1.025944993e-04,-8.917937062e-05,-7.932254908e-03,1.024264820e-04,-8.910838525e-05,-7.931670021e-03,7.820975399e-05,-8.845817661e-05,-7.924725431e-03,7.016404660e-01,-8.762840930e-05,8.328086863e-01,7.016402980e-01,-8.755742393e-05,8.328092712e-01,7.018040460e-01,-8.665204360e-05,8.218560233e-01
+56,3.286666667e+01,DOWN_SETTLE,1791364175559215740,8.673420059e-05,-9.352030968e-05,-8.109122324e-03,8.924851740e-05,-9.151831256e-05,-8.090228076e-03,6.414845264e-05,-9.088462370e-05,-8.084050765e-03,7.016246057e-01,-9.196934836e-05,8.326318189e-01,7.016271200e-01,-8.996735124e-05,8.326507131e-01,7.017899847e-01,-8.907849068e-05,8.216966979e-01
+57,3.348333333e+01,DOWN_SETTLE,1791364176489361432,7.648835192e-05,-9.054468190e-05,-8.260056673e-03,7.415094855e-05,-8.541158227e-05,-8.253922089e-03,4.814786577e-05,-8.478971879e-05,-8.248350960e-03,7.016143598e-01,-8.899372058e-05,8.324808845e-01,7.016120224e-01,-8.386062095e-05,8.324870191e-01,7.017739841e-01,-8.298358578e-05,8.215323977e-01
+58,3.420000000e+01,DOWN_SETTLE,1791364177559350780,8.463102089e-05,-7.858506676e-05,-8.371885235e-03,7.316827104e-05,-8.038051853e-05,-8.365319021e-03,4.671496592e-05,-7.977197588e-05,-8.360710940e-03,7.016225025e-01,-7.703410544e-05,8.323690560e-01,7.016110398e-01,-7.882955721e-05,8.323756222e-01,7.017725512e-01,-7.796584287e-05,8.214200378e-01
+59,3.505000000e+01,DOWN_SETTLE,1791364178834711256,8.783941624e-05,-7.377932121e-05,-8.430033010e-03,8.657415757e-05,-7.303779327e-05,-8.426923250e-03,6.019413089e-05,-7.247472180e-05,-8.423473072e-03,7.016257109e-01,-7.222835989e-05,8.323109082e-01,7.016244456e-01,-7.148683195e-05,8.323140179e-01,7.017860304e-01,-7.066858879e-05,8.213572756e-01
diff --git a/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b98a9770245570507143c43e72f3945a1b244151
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_0030_17.5/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,7.3815e-03,2.6298e-03,2.4578e+00,-3.6943e-02,3.7295e-02,3.9476e-06,1.8058e-04,-9.0804e-07,4.3154e-05,-1.3039e-07,1.2565e-05,2.7545e-07,1.8566e-04,1.2569e-05
+1,9.0000e-01,DOWN_FORCE_DETACH,2.0927e-04,1.4728e-02,6.6855e-03,2.4655e+00,-3.7230e-02,3.7804e-02,1.9187e-05,7.5271e-03,4.0548e-03,7.6711e-03,-2.8777e-04,5.2160e-04,1.5515e-05,1.1487e-02,5.9592e-04
+2,1.6833e+00,DOWN_FORCE_DETACH,4.1713e-04,1.6877e-02,1.0746e-02,2.4943e+00,-3.7513e-02,3.7923e-02,3.3417e-05,9.6760e-03,8.1157e-03,3.6458e-02,-5.7021e-04,6.4068e-04,2.9745e-05,3.8584e-02,8.5820e-04
+3,2.3500e+00,DOWN_FORCE_DETACH,6.2423e-04,1.0603e-02,-1.2296e-03,2.5141e+00,-3.6678e-02,3.7452e-02,3.6938e-05,3.4020e-03,-3.8603e-03,5.6346e-02,2.6432e-04,1.6951e-04,3.3266e-05,5.6580e-02,3.1577e-04
+4,3.0167e+00,DOWN_FORCE_DETACH,8.3644e-04,1.3315e-02,3.6143e-03,2.5430e+00,-3.7009e-02,3.7610e-02,4.9866e-05,6.1145e-03,9.8361e-04,8.5191e-02,-6.6441e-05,3.2830e-04,4.6194e-05,8.5416e-02,3.3813e-04
+5,3.7500e+00,DOWN_FORCE_DETACH,1.0474e-03,1.6438e-02,4.3143e-03,2.5574e+00,-3.7055e-02,3.7817e-02,5.4090e-05,9.2374e-03,1.6836e-03,9.9586e-02,-1.1307e-04,5.3493e-04,5.0418e-05,1.0003e-01,5.4907e-04
+6,4.5833e+00,DOWN_FORCE_DETACH,1.2571e-03,1.8894e-02,6.9736e-03,2.5574e+00,-3.7242e-02,3.7995e-02,4.7043e-05,1.1693e-02,4.3429e-03,9.9599e-02,-2.9927e-04,7.1272e-04,4.3371e-05,1.0038e-01,7.7422e-04
+7,5.4000e+00,DOWN_FORCE_DETACH,1.4627e-03,2.1911e-02,6.7888e-03,2.5514e+00,-3.7230e-02,3.8215e-02,3.7529e-05,1.4710e-02,4.1581e-03,9.3567e-02,-2.8773e-04,9.3289e-04,3.3857e-05,9.4808e-02,9.7684e-04
+8,6.2500e+00,DOWN_FORCE_DETACH,1.6751e-03,2.4773e-02,5.3579e-03,2.5393e+00,-3.7141e-02,3.8427e-02,3.4225e-05,1.7572e-02,2.7272e-03,8.1548e-02,-1.9864e-04,1.1448e-03,3.0553e-05,8.3465e-02,1.1623e-03
+9,7.0500e+00,DOWN_FORCE_DETACH,1.8863e-03,2.7889e-02,8.4659e-03,2.5390e+00,-3.7363e-02,3.8642e-02,3.4583e-05,2.0688e-02,5.8352e-03,8.1193e-02,-4.2082e-04,1.3599e-03,3.0910e-05,8.3990e-02,1.4239e-03
+10,7.9000e+00,DOWN_FORCE_DETACH,2.0937e-03,3.1494e-02,7.7115e-03,2.5403e+00,-3.7300e-02,3.8891e-02,3.0056e-05,2.4293e-02,5.0808e-03,8.2513e-02,-3.5740e-04,1.6089e-03,2.6384e-05,8.6164e-02,1.6483e-03
+11,8.8667e+00,DOWN_FORCE_DETACH,2.3029e-03,3.3663e-02,9.4479e-03,2.5454e+00,-3.7384e-02,3.9037e-02,2.7661e-05,2.6463e-02,6.8172e-03,8.7595e-02,-4.4164e-04,1.7553e-03,2.3989e-05,9.1759e-02,1.8101e-03
+12,9.6333e+00,DOWN_FORCE_DETACH,2.5114e-03,3.4854e-02,8.6391e-03,2.5402e+00,-3.7299e-02,3.9123e-02,2.2655e-05,2.7653e-02,6.0084e-03,8.2431e-02,-3.5613e-04,1.8405e-03,1.8982e-05,8.7153e-02,1.8747e-03
+13,1.0417e+01,DOWN_FORCE_DETACH,2.7224e-03,3.5990e-02,8.7566e-03,2.5447e+00,-3.7302e-02,3.9199e-02,1.3399e-05,2.8789e-02,6.1259e-03,8.6880e-02,-3.5921e-04,1.9166e-03,9.7266e-06,9.1730e-02,1.9500e-03
+14,1.1250e+01,DOWN_FORCE_DETACH,2.9313e-03,3.6941e-02,1.2099e-02,2.5381e+00,-3.7566e-02,3.9272e-02,-2.4652e-06,2.9740e-02,9.4686e-03,8.0263e-02,-6.2392e-04,1.9903e-03,-6.1373e-06,8.6118e-02,2.0859e-03
+15,1.1983e+01,DOWN_FORCE_DETACH,3.1406e-03,3.8483e-02,1.4374e-02,2.5365e+00,-3.7765e-02,3.9385e-02,-2.0460e-05,3.1282e-02,1.1743e-02,7.8740e-02,-8.2290e-04,2.1026e-03,-2.4132e-05,8.5536e-02,2.2580e-03
+16,1.2683e+01,DOWN_FORCE_DETACH,3.3489e-03,3.8558e-02,8.0793e-03,2.5396e+00,-3.7355e-02,3.9389e-02,-4.1054e-05,3.1357e-02,5.4486e-03,8.1824e-02,-4.1215e-04,2.1067e-03,-4.4726e-05,8.7796e-02,2.1471e-03
+17,1.3583e+01,DOWN_FORCE_DETACH,3.5588e-03,3.7812e-02,1.1694e-02,2.5441e+00,-3.7597e-02,3.9335e-02,-5.7397e-05,3.0611e-02,9.0638e-03,8.6329e-02,-6.5503e-04,2.0529e-03,-6.1069e-05,9.2043e-02,2.1557e-03
+18,1.4400e+01,DOWN_FORCE_DETACH,3.7691e-03,3.8146e-02,1.1380e-02,2.5471e+00,-3.7559e-02,3.9349e-02,-7.4205e-05,3.0945e-02,8.7492e-03,8.9344e-02,-6.1668e-04,2.0674e-03,-7.7877e-05,9.4955e-02,2.1588e-03
+19,1.5100e+01,DOWN_FORCE_DETACH,3.9814e-03,3.8457e-02,1.2270e-02,2.5517e+00,-3.7603e-02,3.9361e-02,-8.3975e-05,3.1256e-02,9.6393e-03,9.3896e-02,-6.6104e-04,2.0790e-03,-8.7647e-05,9.9430e-02,2.1833e-03
+20,1.5850e+01,DOWN_FORCE_DETACH,4.1873e-03,3.8313e-02,1.5110e-02,2.5599e+00,-3.7788e-02,3.9336e-02,-8.8670e-05,3.1112e-02,1.2479e-02,1.0209e-01,-8.4547e-04,2.0542e-03,-9.2342e-05,1.0745e-01,2.2233e-03
+21,1.6717e+01,DOWN_FORCE_DETACH,4.3973e-03,3.7581e-02,1.4130e-02,2.5604e+00,-3.7729e-02,3.9276e-02,-8.8943e-05,3.0380e-02,1.1500e-02,1.0258e-01,-7.8684e-04,1.9936e-03,-9.2615e-05,1.0760e-01,2.1452e-03
+22,1.7467e+01,DOWN_FORCE_DETACH,4.6048e-03,3.4930e-02,1.4358e-02,2.5627e+00,-3.7753e-02,3.9092e-02,-8.0906e-05,2.7729e-02,1.1728e-02,1.0494e-01,-8.1079e-04,1.8098e-03,-8.4578e-05,1.0918e-01,1.9849e-03
+23,1.8217e+01,DOWN_FORCE_DETACH,4.8169e-03,3.3934e-02,1.3173e-02,2.5582e+00,-3.7656e-02,3.9016e-02,-7.0626e-05,2.6733e-02,1.0542e-02,1.0038e-01,-7.1386e-04,1.7340e-03,-7.4298e-05,1.0441e-01,1.8767e-03
+24,1.9000e+01,DOWN_FORCE_DETACH,5.0244e-03,3.2110e-02,1.6750e-02,2.5649e+00,-3.7878e-02,3.8878e-02,-5.3266e-05,2.4909e-02,1.4120e-02,1.0708e-01,-9.3554e-04,1.5961e-03,-5.6938e-05,1.1084e-01,1.8510e-03
+25,1.9750e+01,DOWN_FORCE_DETACH,5.2348e-03,3.2557e-02,1.8409e-02,2.5734e+00,-3.7985e-02,3.8894e-02,-3.5248e-05,2.5356e-02,1.5778e-02,1.1561e-01,-1.0424e-03,1.6115e-03,-3.8920e-05,1.1941e-01,1.9196e-03
+26,2.0517e+01,DOWN_FORCE_DETACH,5.4406e-03,3.3993e-02,1.9521e-02,2.5827e+00,-3.8039e-02,3.8971e-02,-1.6282e-05,2.6792e-02,1.6890e-02,1.2486e-01,-1.0964e-03,1.6889e-03,-1.9954e-05,1.2882e-01,2.0137e-03
+27,2.1233e+01,DOWN_FORCE_DETACH,5.6491e-03,3.4169e-02,2.0281e-02,2.5950e+00,-3.8046e-02,3.8970e-02,1.0425e-06,2.6968e-02,1.7650e-02,1.3723e-01,-1.1031e-03,1.6876e-03,-2.6296e-06,1.4096e-01,2.0161e-03
+28,2.1883e+01,DOWN_FORCE_DETACH,5.8631e-03,3.5078e-02,2.2119e-02,2.6045e+00,-3.8139e-02,3.9015e-02,1.4265e-05,2.7877e-02,1.9488e-02,1.4675e-01,-1.1962e-03,1.7326e-03,1.0593e-05,1.5064e-01,2.1055e-03
+29,2.2533e+01,DOWN_FORCE_DETACH,6.0696e-03,3.5905e-02,2.3336e-02,2.6058e+00,-3.8245e-02,3.9069e-02,1.5524e-05,2.8704e-02,2.0705e-02,1.4805e-01,-1.3023e-03,1.7867e-03,1.1851e-05,1.5222e-01,2.2110e-03
+30,2.3117e+01,DOWN_FORCE_DETACH,6.2825e-03,3.6101e-02,2.3874e-02,2.6168e+00,-3.8339e-02,3.9072e-02,1.1468e-05,2.8900e-02,2.1244e-02,1.5905e-01,-1.3971e-03,1.7902e-03,7.7957e-06,1.6305e-01,2.2708e-03
+31,2.3667e+01,DOWN_FORCE_DETACH,6.4872e-03,3.6652e-02,2.4691e-02,2.6331e+00,-3.8421e-02,3.9087e-02,1.0523e-05,2.9451e-02,2.2060e-02,1.7528e-01,-1.4782e-03,1.8051e-03,6.8505e-06,1.7910e-01,2.3331e-03
+32,2.4167e+01,DOWN_FORCE_DETACH,6.6968e-03,3.6012e-02,2.3510e-02,2.6539e+00,-3.8321e-02,3.9017e-02,1.0343e-05,2.8811e-02,2.0879e-02,1.9615e-01,-1.3786e-03,1.7348e-03,6.6708e-06,1.9935e-01,2.2159e-03
+33,2.4633e+01,DOWN_FORCE_DETACH,6.9073e-03,3.4552e-02,2.8446e-02,2.6674e+00,-3.8613e-02,3.8898e-02,1.0164e-05,2.7351e-02,2.5816e-02,2.0964e-01,-1.6702e-03,1.6159e-03,6.4917e-06,2.1298e-01,2.3239e-03
+34,2.5083e+01,DOWN_FORCE_DETACH,7.1207e-03,3.6242e-02,2.8166e-02,2.6888e+00,-3.8576e-02,3.8984e-02,-4.5619e-07,2.9041e-02,2.5535e-02,2.3105e-01,-1.6339e-03,1.7023e-03,-4.1283e-06,2.3427e-01,2.3596e-03
+35,2.5467e+01,DOWN_FORCE_DETACH,7.3271e-03,3.6873e-02,2.9531e-02,2.7008e+00,-3.8653e-02,3.9007e-02,-1.0176e-05,2.9672e-02,2.6901e-02,2.4300e-01,-1.7110e-03,1.7249e-03,-1.3848e-05,2.4628e-01,2.4296e-03
+36,2.5833e+01,DOWN_FORCE_DETACH,7.5323e-03,3.8273e-02,3.5092e-02,2.7202e+00,-3.8993e-02,3.9077e-02,-1.7490e-05,3.1072e-02,3.2461e-02,2.6241e-01,-2.0509e-03,1.7946e-03,-2.1162e-05,2.6623e-01,2.7253e-03
+37,2.6200e+01,DOWN_FORCE_DETACH,7.7448e-03,3.9743e-02,3.6028e-02,2.7355e+00,-3.9051e-02,3.9146e-02,-1.8526e-05,3.2542e-02,3.3397e-02,2.7772e-01,-2.1083e-03,1.8640e-03,-2.2198e-05,2.8161e-01,2.8142e-03
+38,2.6550e+01,DOWN_FORCE_DETACH,7.9541e-03,4.0318e-02,3.6037e-02,2.7486e+00,-3.9026e-02,3.9153e-02,-1.8834e-05,3.3117e-02,3.3406e-02,2.9081e-01,-2.0836e-03,1.8710e-03,-2.2506e-05,2.9459e-01,2.8004e-03
+39,2.6900e+01,DOWN_FORCE_DETACH,8.1660e-03,4.0945e-02,3.7658e-02,2.7643e+00,-3.9083e-02,3.9170e-02,-2.3395e-05,3.3744e-02,3.5027e-02,3.0656e-01,-2.1410e-03,1.8881e-03,-2.7067e-05,3.1039e-01,2.8547e-03
+40,2.7200e+01,DOWN_FORCE_DETACH,8.3702e-03,4.1817e-02,3.7776e-02,2.7777e+00,-3.9069e-02,3.9209e-02,-3.2156e-05,3.4617e-02,3.5145e-02,3.1993e-01,-2.1266e-03,1.9269e-03,-3.5828e-05,3.2371e-01,2.8700e-03
+41,2.7500e+01,DOWN_FORCE_DETACH,8.5864e-03,4.3283e-02,3.6713e-02,2.7920e+00,-3.9006e-02,3.9287e-02,-4.2717e-05,3.6082e-02,3.4082e-02,3.3425e-01,-2.0634e-03,2.0049e-03,-4.6390e-05,3.3791e-01,2.8774e-03
+42,2.7800e+01,DOWN_FORCE_DETACH,8.7873e-03,4.3945e-02,3.7882e-02,2.8052e+00,-3.9060e-02,3.9311e-02,-5.0814e-05,3.6744e-02,3.5251e-02,3.4736e-01,-2.1177e-03,2.0285e-03,-5.4486e-05,3.5107e-01,2.9330e-03
+43,2.8083e+01,DOWN_FORCE_DETACH,8.9972e-03,4.4001e-02,3.7435e-02,2.8167e+00,-3.8984e-02,3.9303e-02,-5.9339e-05,3.6800e-02,3.4805e-02,3.5887e-01,-2.0419e-03,2.0211e-03,-6.3011e-05,3.6242e-01,2.8737e-03
+44,2.8367e+01,DOWN_FORCE_DETACH,9.2061e-03,4.5288e-02,3.7699e-02,2.8298e+00,-3.8962e-02,3.9369e-02,-6.9965e-05,3.8087e-02,3.5068e-02,3.7199e-01,-2.0195e-03,2.0872e-03,-7.3637e-05,3.7558e-01,2.9052e-03
+45,2.8650e+01,DOWN_FORCE_DETACH,9.4156e-03,4.3423e-02,3.9336e-02,2.8362e+00,-3.9044e-02,3.9225e-02,-7.5792e-05,3.6222e-02,3.6705e-02,3.7843e-01,-2.1011e-03,1.9428e-03,-7.9465e-05,3.8193e-01,2.8628e-03
+46,2.8933e+01,DOWN_SETTLE,9.6311e-03,4.3653e-02,3.7712e-02,2.8421e+00,-3.8927e-02,3.9223e-02,-7.1262e-05,3.6452e-02,3.5081e-02,3.8433e-01,-1.9846e-03,1.9411e-03,-7.4934e-05,3.8765e-01,2.7771e-03
+47,2.9233e+01,DOWN_SETTLE,9.8415e-03,4.4558e-02,4.0703e-02,2.8483e+00,-3.9091e-02,3.9261e-02,-5.5630e-05,3.7357e-02,3.8073e-02,3.9053e-01,-2.1481e-03,1.9791e-03,-5.9302e-05,3.9415e-01,2.9214e-03
+48,2.9533e+01,DOWN_SETTLE,1.0048e-02,4.4121e-02,4.3258e-02,2.8486e+00,-3.9208e-02,3.9223e-02,-4.3074e-05,3.6920e-02,4.0628e-02,3.9083e-01,-2.2657e-03,1.9406e-03,-4.6746e-05,3.9467e-01,2.9835e-03
+49,2.9867e+01,DOWN_SETTLE,1.0264e-02,4.2573e-02,4.1940e-02,2.8448e+00,-3.9137e-02,3.9119e-02,-3.3379e-05,3.5372e-02,3.9310e-02,3.8703e-01,-2.1949e-03,1.8368e-03,-3.7051e-05,3.9063e-01,2.8623e-03
+50,3.0200e+01,DOWN_SETTLE,1.0468e-02,4.3110e-02,4.2237e-02,2.8387e+00,-3.9181e-02,3.9151e-02,-2.8234e-05,3.5909e-02,3.9607e-02,3.8087e-01,-2.2389e-03,1.8684e-03,-3.1907e-05,3.8460e-01,2.9163e-03
+51,3.0533e+01,DOWN_SETTLE,1.0673e-02,4.1895e-02,4.4315e-02,2.8308e+00,-3.9285e-02,3.9073e-02,-2.5844e-05,3.4694e-02,4.1684e-02,3.7304e-01,-2.3429e-03,1.7909e-03,-2.9516e-05,3.7696e-01,2.9491e-03
+52,3.0933e+01,DOWN_SETTLE,1.0885e-02,4.1586e-02,4.3719e-02,2.8211e+00,-3.9225e-02,3.9052e-02,-2.4820e-05,3.4385e-02,4.1089e-02,3.6328e-01,-2.2825e-03,1.7702e-03,-2.8492e-05,3.6721e-01,2.8886e-03
+53,3.1333e+01,DOWN_SETTLE,1.1101e-02,4.3182e-02,4.5141e-02,2.8078e+00,-3.9299e-02,3.9161e-02,-2.2618e-05,3.5981e-02,4.2511e-02,3.5002e-01,-2.3568e-03,1.8785e-03,-2.6290e-05,3.5442e-01,3.0139e-03
+54,3.1800e+01,DOWN_SETTLE,1.1307e-02,4.2491e-02,4.6293e-02,2.7871e+00,-3.9360e-02,3.9120e-02,-1.6480e-05,3.5290e-02,4.3662e-02,3.2935e-01,-2.4173e-03,1.8376e-03,-2.0152e-05,3.3410e-01,3.0365e-03
+55,3.2317e+01,DOWN_SETTLE,1.1511e-02,4.2394e-02,4.6162e-02,2.7666e+00,-3.9321e-02,3.9132e-02,-1.8495e-05,3.5193e-02,4.3531e-02,3.0885e-01,-2.3783e-03,1.8495e-03,-2.2167e-05,3.1388e-01,3.0129e-03
+56,3.2867e+01,DOWN_SETTLE,1.1724e-02,4.5889e-02,4.3875e-02,2.7432e+00,-3.9229e-02,3.9380e-02,-3.0442e-05,3.8688e-02,4.1244e-02,2.8540e-01,-2.2864e-03,2.0981e-03,-3.4114e-05,2.9095e-01,3.1033e-03
+57,3.3483e+01,DOWN_SETTLE,1.1931e-02,4.9500e-02,4.0853e-02,2.7178e+00,-3.9022e-02,3.9630e-02,-5.4375e-05,4.2299e-02,3.8223e-02,2.5998e-01,-2.0794e-03,2.3484e-03,-5.8047e-05,2.6616e-01,3.1372e-03
+58,3.4200e+01,DOWN_SETTLE,1.2138e-02,4.6489e-02,3.9786e-02,2.6769e+00,-3.8960e-02,3.9469e-02,-7.0946e-05,3.9288e-02,3.7156e-02,2.1909e-01,-2.0177e-03,2.1872e-03,-7.4618e-05,2.2567e-01,2.9767e-03
+59,3.5050e+01,DOWN_SETTLE,1.2350e-02,4.0949e-02,3.6998e-02,2.6256e+00,-3.8820e-02,3.9177e-02,-6.6308e-05,3.3748e-02,3.4368e-02,1.6779e-01,-1.8778e-03,1.8948e-03,-6.9980e-05,1.7457e-01,2.6686e-03