diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..640618b4e418307aec6955d6324bd2d18c2a8a6e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,2.941667e+01,2818,6.995137e-01,2.062798e-02,8.133847e-01,3.060044e-04,-1.980841e-04,-4.942309e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.941667e+01,2823,7.010685e-01,1.944541e-02,8.137744e-01,3.051073e-04,-1.819903e-04,-4.898969e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2824,6.960625e-01,2.068560e-02,8.158988e-01,3.296731e-04,-1.833607e-04,-4.959284e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2825,7.000582e-01,1.836086e-02,8.155863e-01,3.333529e-04,-1.341821e-04,-4.846909e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.941667e+01,2827,6.930800e-01,2.074241e-02,8.229852e-01,3.168450e-04,-1.569107e-04,-4.989085e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2828,6.989662e-01,1.750062e-02,8.215707e-01,3.804429e-04,-2.531234e-05,-4.789219e-03,3.109784e-04,5.217665e-03,2.390006e-03
+59,2.941667e+01,2829,6.951419e-01,1.962893e-02,8.315409e-01,2.855375e-04,-1.283518e-04,-4.942086e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.941667e+01,2831,6.974695e-01,1.765511e-02,8.208660e-01,3.977748e-04,-5.672548e-05,-4.837891e-03,-2.525203e-05,9.738129e-05,2.048058e-06
+59,2.941667e+01,2832,6.935073e-01,2.076739e-02,8.207771e-01,3.246196e-04,-1.633993e-04,-4.984562e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2833,6.988207e-01,1.834190e-02,8.163322e-01,3.548042e-04,-1.260134e-04,-4.848601e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2834,6.945659e-01,1.962900e-02,8.194408e-01,3.530900e-04,-1.591516e-04,-4.944887e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2835,6.973078e-01,1.813122e-02,8.314453e-01,3.170862e-04,-1.152287e-04,-4.898242e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2836,6.955156e-01,1.865964e-02,8.302182e-01,3.097556e-04,-1.270404e-04,-4.924904e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.941667e+01,2839,6.929142e-01,2.103347e-02,8.255613e-01,3.042799e-04,-1.486255e-04,-4.993742e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2840,7.007604e-01,2.095869e-02,8.366073e-01,3.159803e-04,-8.691429e-05,-4.936051e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2841,6.965401e-01,1.862881e-02,8.179287e-01,3.754909e-04,-1.360490e-04,-4.884933e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.941667e+01,2843,7.000888e-01,1.908252e-02,8.144150e-01,3.190481e-04,-1.690340e-04,-4.881447e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.941667e+01,2844,7.000911e-01,1.981116e-02,8.136865e-01,3.107625e-04,-1.885608e-04,-4.912218e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6219259514b733713e39ff8ce3237559ba993a59
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/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
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+82421,1792696367036970495,4194006999999,1792696367031765781,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760554496509907,-0.00458595584543384,0.09064019768059182,0.9999999783335716,7.688104967212915e-05,-7.174589661135475e-05,0.00015400503704717436,0.6761,-0.00453,0.09063344977065994,1.0,0.0,0.0,0.0,0.021755946539966597,0.06118449004374382,0.27229652856343434,0.00427348345526251,-0.001347587010998321,-6.487164839698973e-05,0.3279298809323207,0.27737725305096605,0.5944639109341845,0.016823110155257375,-0.02172930925812858,-0.0016167892112731342,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.6888727179404653,0.14356490847220973,0.26628235134593947,0.2689851675499294,-0.016921704593485357,0.04271972557695635,0.5725095561010457,0.27229652856343434,0.30622720475510623,0.30622720475510623,0.4753600000000602,0,0,-8.289152223925201e-05,-9.926757612988552e-05
+82561,1792696368203935626,4195174000000,1792696368199764570,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760531391846363,-0.004596449718557958,0.09054982793546414,0.9999999748566973,7.756316993739056e-05,-7.10499653432309e-05,0.00017511518023051358,0.6761,-0.00453,0.09053863883052636,1.0,0.0,0.0,0.0,0.021292737805569062,0.0540680535251602,0.3682067990212584,0.004229193431752414,-0.0004365753048984587,-0.0001243023257746004,0.3274666721979232,0.27026081653238243,0.6903741813920086,0.01677882013174728,-0.020818297552028717,-0.0016762198886507448,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.6996275143573131,0.15910065641571028,0.10271758287252361,0.26412745520493736,0.08478190610022804,0.057275744975283295,0.5725095561010457,0.3682067990212584,0.46979197322852206,0.46979197322852206,0.5687200000000411,0,0,-7.881265238855189e-05,-3.331000289528654e-06
+82685,1792696369236996716,4196207000000,1792696369235766519,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760554934046888,-0.004604695161959529,0.0904840117727176,0.9999999723266704,7.652399832001167e-05,-6.85357106284439e-05,0.00019035875896820193,0.6761,-0.00453,0.09046513633882868,1.0,0.0,0.0,0.0,0.011943487240822392,0.06325703611128508,0.4423904923975198,0.004213182494220476,-0.0003699856674999509,-0.00018409284565927596,0.3181174216331765,0.2794497991185073,0.76455787476827,0.016762809194215342,-0.02075170791463021,-0.0017360104085354204,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.7789299968822094,0.14270584963676744,0.009860711097286156,0.26274399090916944,0.1646590440986242,0.039962065484623624,0.5725095561010457,0.4423904923975198,0.5626488450037596,0.5626488450037596,0.651360000000009,0,0,-6.720672116332154e-05,-3.8002048825030776e-05
+82809,1792696370269994295,4197240000000,1792696370263756153,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6760689622353417,-0.004605560213902968,0.0904320378709615,0.9999999698210282,8.965430153159154e-05,-5.2282924281843796e-05,0.00020255717420375447,0.6761,-0.00453,0.0903961638530495,1.0,0.0,0.0,0.0,0.0025233647122447356,0.0487214715841538,0.4985396070897897,0.004201918495007815,-0.0003806913621878065,-0.0002306224949266578,0.30869729910459887,0.26491423459137603,0.8207069894605399,0.01675154519500268,-0.020762413609318065,-0.0017825400578028023,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.735339249344383,0.1681700476920107,-0.050478096613499474,0.2669605766118137,0.1882334905821271,0.06488889240187634,0.5725095561010457,0.4985396070897897,0.6229876527145451,0.6229876527145451,0.733999999999977,0,0,-6.892723398574242e-05,-9.99881941395941e-05
+82913,1792696371136964514,4198107000000,1792696371131765651,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760831376058418,-0.0045747423968974295,0.09037402273514715,0.9999999953908184,2.4225721762957746e-05,-7.16163422142342e-06,-4.801366610770724e-06,0.6761,-0.00453,0.09033193426292341,1.0,0.0,0.0,0.0,0.053451449070355816,0.13387095791489245,0.5507316628269495,0.009276582219934552,-0.0028370431760740313,-0.00025271664539973,0.35962538346270995,0.3500637209221147,0.8728990451976997,0.021826208919929417,-0.02321876542320429,-0.0018046342082758745,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.6595708870202999,0.17625324085289407,-0.04491795244009309,0.14240099730030428,0.18699775680835276,0.07045608403824283,0.5725095561010457,0.5507316628269495,0.6174275085411388,0.6174275085411388,0.8033599999999501,0,0,-7.906720093517195e-05,-9.999999025923074e-05
+83024,1792696372062029920,4199032000000,1792696372055768445,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.676082883634529,-0.004583022938483494,0.09030412484853992,0.9999999951325903,2.7600073527121457e-05,-1.1223416482460286e-05,1.702805738616983e-05,0.6761,-0.00453,0.09024117836264194,1.0,0.0,0.0,0.0,0.029278018545626783,0.09070283360385062,0.6301544768566294,0.00672942880081687,-0.0014722976909995987,-0.000326184364908666,0.3354519529379809,0.30689559661107285,0.9523218592273796,0.019279055500811736,-0.021854019938129857,-0.0018781019277848104,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8231722778426132,0.1638823865832774,-0.19523061035760375,0.12358379335150832,0.325918771299292,0.09642846011710117,0.5725095561010457,0.6301544768566294,0.7677401664586494,0.7677401664586494,0.8773599999999214,0,0,-0.00010839294395795373,7.932699916247116e-05
+83144,1792696373062079409,4200032000000,1792696373055765123,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760858592088717,-0.004593951847771195,0.09021010923957651,0.999999994208503,3.087885502054418e-05,-9.39185540550638e-06,4.454377386781943e-05,0.6761,-0.00453,0.09014233135022175,1.0,0.0,0.0,0.0,0.019410986862322233,0.08267838401181615,0.7201738294572727,0.006203427374285291,-0.0004688084908157017,-0.0003845516391112315,0.32558492125467636,0.2988711470190384,1.0423412118280229,0.018753054074280157,-0.02085053073794596,-0.001936469201987376,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8226882822372978,0.12857966784152083,-0.3146698862444918,0.23293023205570698,0.3831831729175791,0.07644126668018385,0.5725095561010457,0.7201738294572727,0.8871794423455375,0.8871794423455375,0.9573599999998904,0,0,-8.286800629445234e-05,9.999785307990833e-05
+83280,1792696374195053317,4201165000000,1792696374187765668,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6760905531618524,-0.004595153259110565,0.09014661745572174,0.9999999926387249,4.6476840965050933e-05,-4.993931882771036e-06,6.309024235989426e-05,0.6761,-0.00453,0.09007128040212911,1.0,0.0,0.0,0.0,0.010416285439615591,0.07205922395568837,0.7737365423130459,0.005542016549316076,-0.0004673716766884009,-0.00043579260452634733,0.3165902198319697,0.2882519869629106,1.095903924683796,0.01809164324931094,-0.02084909392381866,-0.0019877101674024918,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8417444046622207,0.05647055245067484,-0.4206436551522857,0.3287585468777742,0.4361127808485659,0.014526670750278251,0.5725095561010457,0.7737365423130459,0.9931532112533314,0.9931532112533314,1.0479999999999219,0,0,-4.7898889595253217e-05,4.062079391899863e-05
+83392,1792696375129049993,4202099000000,1792696375127765454,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6760929298144706,-0.004600092300904379,0.0901133651939713,0.9999999919862366,4.704812223158073e-05,-1.6375224685399354e-06,7.248575078842102e-05,0.6761,-0.00453,0.09002987409078582,1.0,0.0,0.0,0.0,0.010267960997336512,0.08394604412886625,0.810210319719134,0.0055917460594491625,0.0005351596635439632,-0.00037220971741468004,0.31644189538969064,0.3001388071360885,1.1323777020898842,0.018141372759444028,-0.019846562583586295,-0.0019241272802908245,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8005648528128088,0.09213459854243627,-0.35100378045690067,0.35474228687969134,0.3723090414274359,0.029635909629769384,0.5725095561010457,0.810210319719134,0.9235133365579464,0.9235133365579464,1.1227199999999966,0,0,-4.4020247040614475e-05,-9.96726132448444e-05
+83539,1792696376354067088,4203323999999,1792696376347755789,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6760979268673661,-0.004604310089085535,0.09006267060760836,0.9999999914594465,4.478387244211847e-05,3.852050771841895e-06,8.064451630776324e-05,0.6761,-0.00453,0.08996721286712785,1.0,0.0,0.0,0.0,0.009232380875532242,0.0769624388269407,0.8507857558692437,0.0061445873582484135,0.0005135572846497564,0.00017573959361143828,0.3154063152678864,0.29315520183416294,1.1729531382399938,0.01869421405824328,-0.019868164962480502,-0.0013761779692647062,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8266517065791142,0.055250205148322934,-0.47550731903748633,0.373744341719044,0.4556280638921066,0.0047594133244825,0.5725095561010457,0.8507857558692437,1.048016875138532,1.048016875138532,1.2207200000000946,0,0,-6.0746894663148094e-05,-9.999554936713224e-05
+83675,1792696377487120845,4204457000000,1792696377479765037,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6761048164089352,-0.004608288391776969,0.08999991064801409,0.9999999906081313,4.3282139787595775e-05,1.4303190630868846e-05,9.027002275051221e-05,0.6761,-0.00453,0.08989086419637286,1.0,0.0,0.0,0.0,0.008025698234720546,0.07983968431155208,0.9110714813395911,0.006105526088063945,0.0015020056832679742,0.0004628616936212511,0.3141996326270747,0.2960324473187743,1.2332388637103413,0.01865515278805881,-0.018879716563862285,-0.0010890558692548933,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9383187500945371,0.08484455573132549,-0.6768239345254701,0.36223052029510955,0.6109986719762062,0.02531384232319911,0.5725095561010457,0.9110714813395911,1.2493334906265159,1.2493334906265159,1.3113600000001853,0,0,-7.198598854921278e-05,9.999978209241362e-05
+83819,1792696378687093441,4205657000000,1792696378683756144,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761167347225431,-0.004607367707256186,0.08993051097218731,0.9999999907299437,3.150523572800494e-05,3.6973762114212714e-05,8.731172839957615e-05,0.6761,-0.00453,0.08979969393087903,1.0,0.0,0.0,0.0,-0.0067038705957494504,0.08158219950774981,0.9884507209358918,0.006088550220062074,0.0014952133445662423,0.00045420319054956704,0.2994700637966047,0.29777496251497204,1.310618103306642,0.01863817692005694,-0.018886508902564016,-0.0010977143723265774,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.878676315978329,0.0981067916340346,-0.7633703818398366,0.36470832231949085,0.6434894530385137,0.03389600162696403,0.5725095561010457,0.9884507209358918,1.3358799379408823,1.3358799379408823,1.4073600000002813,0,0,-7.770478433336147e-05,9.999999025923074e-05
+83964,1792696379895103518,4206865000000,1792696379887765013,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761214576732367,-0.004608037749721494,0.08984122238550381,0.9999999906391219,2.095922715796654e-05,4.395074644247118e-05,8.828172618535872e-05,0.6761,-0.00453,0.08970046945364026,1.0,0.0,0.0,0.0,-0.008399194837755697,0.08323212621450543,1.0779673686421516,0.00607154670014649,0.0014753121637642967,0.00038051935474927375,0.29777473955459843,0.29942488922172766,1.4001347510129019,0.018621173400141355,-0.018906410083365962,-0.0011713982081268707,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9303240334967137,0.04900344713123718,-0.8294864418307161,0.3846193466528065,0.6981439471531803,-0.00017527693973368869,0.5725095561010457,1.0779673686421516,1.4019959979317618,1.4019959979317618,1.504000000000378,0,0,-8.499235705561929e-05,3.4233892936629906e-05
+84094,1792696380979088525,4207948999999,1792696380975755607,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.676123842338204,-0.0046073232671875845,0.08975331992541077,0.9999999901046036,1.777877890694825e-05,4.493115594862221e-05,9.43332574391344e-05,0.6761,-0.00453,0.08960827768246346,1.0,0.0,0.0,0.0,-0.0038759439071804347,0.07988305982633875,1.1611868834992376,0.006054943831756775,0.0014579076296318445,0.00031458611715453385,0.3022979904851737,0.296075822833561,1.4833542658699879,0.01860457053175164,-0.018923814617498414,-0.0012373314457216106,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.8670344784469723,0.06937773214389753,-0.8341821536168165,0.37566437147917825,0.6801493729754089,0.014416912181103435,0.5725095561010457,1.1611868834992376,1.4066917097178622,1.4066917097178622,1.5907200000004647,0,0,-8.419782577681468e-05,-9.980468815141136e-05
+84210,1792696381945089148,4208915000000,1792696381943755926,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761303189367329,-0.004606184877872336,0.08968737319017796,0.9999999885408544,2.4342820394184178e-05,5.671778709388596e-05,0.00010272134759718523,0.6761,-0.00453,0.08952809314539144,1.0,0.0,0.0,0.0,-0.007225698937753322,0.09025619605046015,1.2220580321342407,0.006027022064800328,0.0023512213764380584,0.00027961846003501717,0.2989482354546008,0.3064489590576824,1.5442254145049907,0.018576648764795194,-0.0180305008706922,-0.0012722991028411273,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9525531425475865,0.07640303837013435,-0.973088858353827,0.3726033536340407,0.7932544228466739,0.01869011623973093,0.5725095561010457,1.2220580321342407,1.5455984144548727,1.5455984144548727,1.668000000000542,0,0,-8.407614427860389e-05,-9.595530900264321e-05
+84341,1792696383037102009,4210006999999,1792696383031765756,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761393809795824,-0.0046074088386147795,0.08961070927398576,0.9999999869061672,2.2085211094766402e-05,6.885042429836045e-05,0.00011136602828021723,0.6761,-0.00453,0.08943724806356224,1.0,0.0,0.0,0.0,-0.002891219603278705,0.0959221679753467,1.3026318049086698,0.007022541304866663,0.002420581162781363,0.00022810252809416106,0.3032827147890754,0.3121149309825689,1.62479918727942,0.01957216800486153,-0.017961141084348896,-0.0013238150347819834,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9816474928455032,0.12031644480739342,-1.0356919858225788,0.37061603787766223,0.8377797019926527,0.05191756479471041,0.5725095561010457,1.3026318049086698,1.6082015419236244,1.6082015419236244,1.7553600000006293,0,0,-8.234672684989531e-05,-9.121065988460515e-05
+84473,1792696384137103059,4211107000000,1792696384131765724,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.67614798814633,-0.00460394089446791,0.08953463041017323,0.9999999846578149,3.7365364688474086e-05,7.988631411846186e-05,0.00011978831637813768,0.6761,-0.00453,0.08934495982097343,1.0,0.0,0.0,0.0,-0.011060958702943546,0.09857607593367201,1.3729817731471643,0.0070516585251791455,0.002404924170223338,0.00016547487188468216,0.2951129756894106,0.31476883894089425,1.6951491555179143,0.01960128522517401,-0.01797679807690692,-0.0013864426909914623,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9952935687349684,0.05791684170554061,-1.1277002142889676,0.3925061461086902,0.8995255401206037,0.012576821599541089,0.5725095561010457,1.3729817731471643,1.7002097703900132,1.7002097703900132,1.8433600000007173,0,0,-8.354858841849578e-05,-7.500052942444597e-05
+84582,1792696385045084642,4212015000000,1792696385043755879,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.67615462532317,-0.004590623116398933,0.08945833009182186,0.9999999897108945,2.824472447897172e-05,9.960698028299552e-05,3.60799167884149e-05,0.6761,-0.00453,0.08926533462229494,1.0,0.0,0.0,0.0,0.013608392214458365,0.12638154997734963,1.4443220020980738,0.009038602845762071,0.0007591204554609106,0.00011532542290642136,0.3197823266068125,0.34257431298457186,1.766489384468824,0.021588229545756937,-0.019622601791669348,-0.001436592139969723,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9328931372871884,0.14151549442805636,-1.1573358952156885,0.2444814380760189,0.9286431964062123,0.045202688895921425,0.5725095561010457,1.4443220020980738,1.7298454513167343,1.7298454513167343,1.91600000000079,0,0,-9.242288720043147e-05,-9.999999025923074e-05
+84697,1792696386004190492,4212974000000,1792696386003755662,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761594563399381,-0.004596006647747394,0.08937143742743879,0.999999987640551,3.848855942786291e-05,0.00010245723389048407,6.467540788135844e-05,0.6761,-0.00453,0.08916423068770006,1.0,0.0,0.0,0.0,0.0008891757561698688,0.10312305646796205,1.5339138284043732,0.008026451239908652,0.0013386043984893702,3.7511207837858307e-05,0.307063110148524,0.3193158194751843,1.8560812107751234,0.020576077939903518,-0.01904311784864089,-0.0015144063550382861,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.022182294504996,0.1337926653435376,-1.4017458218717416,0.32062875542639346,1.0897257084240262,0.06619519969671818,0.5725095561010457,1.5339138284043732,1.9742553779727872,1.9742553779727872,1.9927200000008667,0,0,-0.00010761492040958919,9.999999025923074e-05
+84829,1792696387104163569,4214073999999,1792696387103765659,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761634420327229,-0.00460167430005659,0.08927651617876396,0.9999999856567573,4.172022285180849e-05,0.0001064338281355456,8.402745333571836e-05,0.6761,-0.00453,0.089061795830905,1.0,0.0,0.0,0.0,-0.002926940654257193,0.11037060372902108,1.62389660786615,0.007983125407519345,0.002331755676025442,-1.992293262892235e-05,0.30324699373809694,0.3265633667362433,1.9460639902369004,0.02053275210751421,-0.018049966571104817,-0.0015718404955050668,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.0283421161469175,0.10204451098371287,-1.4936963509765881,0.39257116632194883,1.1380904450409273,0.04355423824274518,0.5725095561010457,1.62389660786615,2.066205907077634,2.066205907077634,2.0807200000009547,0,0,-8.045874231169125e-05,9.999313463205368e-05
+84962,1792696388212212631,4215182000000,1792696388207755885,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761688975526251,-0.004600446886893389,0.08919729982425437,0.9999999838422379,4.640902122759381e-05,0.00011229210084112042,9.484236992102775e-05,0.6761,-0.00453,0.08897998290588498,1.0,0.0,0.0,0.0,-0.003064344450578682,0.11034983077759863,1.6843937460771765,0.007971634525034164,0.002318720222066837,-6.879117702573577e-05,0.30310958994177545,0.32654259378482087,2.0065611284479266,0.02052126122502903,-0.01806300202506342,-0.0016207087399018802,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9740141819999035,0.06876426422030868,-1.5357979837932068,0.40936372246598873,1.1474591970015455,0.019843206510899318,0.5725095561010457,1.6843937460771765,2.1083075398942523,2.1083075398942523,2.1693600000010433,0,0,-7.276218264432176e-05,9.999983760356485e-05
+85096,1792696389329191254,4216299000000,1792696389323765803,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761756908685685,-0.004605893057714303,0.08912606540113599,0.9999999819709993,4.218788685231842e-05,0.0001225205860994518,0.00010348794036538446,0.6761,-0.00453,0.0888952435215536,1.0,0.0,0.0,0.0,-0.012468956239572115,0.1043374873849045,1.754298406086845,0.007957740838695524,0.002304300963227361,-0.00012643328647846965,0.293704978152782,0.32053025039212674,2.076465788457595,0.02050736753869039,-0.018077421283902897,-0.001678350849354614,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,0.9746135219854387,0.10037893091369768,-1.57128268119567,0.40782846461782984,1.1697572589982537,0.042458231902850814,0.5725095561010457,1.754298406086845,2.1437922372967155,2.1437922372967155,2.2587200000011327,0,0,-7.926497914564757e-05,-9.961057953334346e-05
+85236,1792696390495209560,4217465000000,1792696390487755637,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761828353288888,-0.004603267123042935,0.0890411630160226,0.9999999800904328,4.217736421605257e-05,0.00013516696619983576,0.0001058912631599406,0.6761,-0.00453,0.08879762354128132,1.0,0.0,0.0,0.0,-0.01284432407847036,0.10686764172748708,1.815501089011328,0.007911750388696997,0.0033000563424398846,0.0006498782036999993,0.29332961031388377,0.3230604047347093,2.137668471382078,0.020461377088691862,-0.017081665904690374,-0.0009020393591761452,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.011529630335566,0.01712991202090443,-1.6551951991087281,0.4463876933599338,1.2264518984478328,-0.010380337339711582,0.5725095561010457,1.815501089011328,2.227704755209774,2.227704755209774,2.352000000001226,0,0,-8.57454541911259e-05,-5.133987265726887e-05
+85364,1792696391562206703,4218532000000,1792696391559765043,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761844887208275,-0.004609925204973027,0.08894973073411669,0.9999999797662066,3.589986551943909e-05,0.0001367215542125475,0.00010921935346592106,0.6761,-0.00453,0.08870240230402271,1.0,0.0,0.0,0.0,-0.02216678782475834,0.11020994279544283,1.8950003700401479,0.007904197049987773,0.003286938649859624,-0.00021591293050562824,0.2840071465675958,0.32640270580266506,2.217167752410898,0.020453823749982638,-0.017094783597270635,-0.0017678304933817727,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.0771254431801545,0.07566351064544763,-1.775462674409032,0.4368416613895757,1.324377295156519,0.027187530796837295,0.5725095561010457,1.8950003700401479,2.3479722305100776,2.3479722305100776,2.4373600000013114,0,0,-9.038259087404554e-05,9.99026098221833e-05
+85491,1792696392620212990,4219590000000,1792696392615756063,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.676194600219317,-0.004608058710716439,0.08886772542044499,0.9999999787328739,2.3189817087715658e-05,0.00015380025093620448,9.89183065741416e-05,0.6761,-0.00453,0.08860231837386041,1.0,0.0,0.0,0.0,-0.015801268582839922,0.10571229444774999,1.9659792159059997,0.008899875905849383,0.003247571356735389,0.0007527909521300462,0.2903726658095142,0.3219050574549722,2.2881465982767497,0.02144950260584425,-0.01713415089039487,-0.0007991266107460983,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.0320573913837918,0.06878550739892696,-1.758278005886213,0.4542052906592266,1.2932492105346822,0.02158266927830163,0.5725095561010457,1.9659792159059997,2.330787561987259,2.330787561987259,2.522000000001396,0,0,-9.681244638878728e-05,-9.993376545581185e-05
+85619,1792696393687194073,4220657000000,1792696393683755394,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6761981561307661,-0.0046180497003899664,0.08877224453833049,0.9999999779006933,1.823632942916859e-05,0.00015818137840727423,0.00010142763496718533,0.6761,-0.00453,0.08849837997318774,1.0,0.0,0.0,0.0,-0.014896400159774836,0.11775337459454377,2.046243424380869,0.008859412139097578,0.00424284583099677,0.0007067709867637301,0.2912775342325793,0.333946137601766,2.368410806751619,0.021409038839092443,-0.01613887641613349,-0.0008451465761124144,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.0151212000287084,0.11560987225051618,-1.8130091329151141,0.4371973774108797,1.323059710262904,0.05000091936049788,0.5725095561010457,2.046243424380869,2.38551868901616,2.38551868901616,2.6073600000014814,0,0,-9.728707870834542e-05,-9.893335736610993e-05
+85739,1792696394687232219,4221657000000,1792696394683755849,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762055364285053,-0.004614377755071396,0.08868248914209605,0.9999999748687881,3.8384176794341317e-05,0.00017063112152326178,0.00010543700913583904,0.6761,-0.00453,0.08840071430761604,1.0,0.0,0.0,0.0,-0.023552099766313117,0.10993120807588774,2.1064285775307545,0.008846913657520623,0.004230728034586774,0.0006579220545239751,0.282621834626041,0.32612397108311,2.4285959599015046,0.021396540357515488,-0.016150994212543485,-0.0008939955083521694,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.0325997186508409,0.07916225082428545,-1.9709486314678855,0.4682537451040062,1.4246215958212525,0.03605079200751783,0.5725095561010457,2.1064285775307545,2.5434581875689313,2.5434581875689313,2.6873600000015614,0,0,-9.638525810404109e-05,-9.917931339942782e-05
+85858,1792696395679279983,4222649000000,1792696395675755452,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762099976172895,-0.004621864883412042,0.08859218900408801,0.9999999733504911,4.035201618862667e-05,0.0001755763356578614,0.00011084469618182406,0.6761,-0.00453,0.0883017053110179,1.0,0.0,0.0,0.0,-0.032902970619819394,0.11250353794703305,2.1766542094394103,0.008834136589100209,0.0042155619374651156,0.0006000600335881628,0.27327096377253474,0.3286963009542553,2.4988215918101604,0.021383763289095074,-0.016166160309665143,-0.0009518575292879817,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.1049048513443405,0.037456192890909,-2.0834356580890305,0.48892887395312856,1.5140886677950853,0.004151900239520057,0.5725095561010457,2.1766542094394103,2.6559452141900763,2.6559452141900763,2.7667200000016408,0,0,-0.0001011965612459934,9.711958601077981e-05
+85982,1792696396712274995,4223682000000,1792696396707765258,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762196944420015,-0.004617203737199708,0.08851132678881506,0.999999970104114,4.240453106722674e-05,0.00019449760937487903,0.0001077365817692513,0.6761,-0.00453,0.08819506374384847,1.0,0.0,0.0,0.0,-0.032729275044947326,0.11493972896626625,2.2368132580157543,0.008796158028341473,0.005215040021161289,0.000566714751202018,0.2734446593474068,0.3311324919734885,2.5589806403865043,0.02134578472833634,-0.01516668222596897,-0.0009852028116741265,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.1469432573057392,-0.05213364324011947,-2.113560561897043,0.5249800743723015,1.5399821955410968,-0.05633285397249857,0.5725095561010457,2.2368132580157543,2.686070117998089,2.686070117998089,2.8493600000017234,0,0,-0.0001077716106176726,-9.991829172240613e-05
+86102,1792696397712196493,4224682000000,1792696397711765301,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762215082453603,-0.004623095221510449,0.08840672887856868,0.9999999706268987,2.9994240699555425e-05,0.00019714283484734734,0.00010209855222179682,0.6761,-0.00453,0.08809036016440167,1.0,0.0,0.0,0.0,-0.03554940609887586,0.11363075947016532,2.3170501121078106,0.008779974809101584,0.005198207150755434,0.0005020280344229396,0.2706245282934783,0.32982352247738755,2.6392174944785607,0.02132960150909645,-0.015183515096374825,-0.0010498895284532048,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.1500222156986424,0.020231459863786758,-2.1835890944121297,0.5143773431475137,1.5812954155072503,-0.010499634921185719,0.5725095561010457,2.3170501121078106,2.7560986505131755,2.7560986505131755,2.9293600000018034,0,0,-0.00010315036757665841,-9.789531271587321e-05
+86210,1792696398612292736,4225582000000,1792696398607765376,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762272445434298,-0.004622532885962525,0.08832114924865286,0.9999999692267024,2.8528135460458126e-05,0.0002033428829225585,0.00010405419757635857,0.6761,-0.00453,0.08800059573189697,1.0,0.0,0.0,0.0,-0.04212090061225238,0.11991347855390622,2.3796591550344055,0.008769828540983623,0.005184906697715319,0.0004506610120419449,0.26405303378010175,0.33610624156112845,2.7018265374051555,0.021319455240978488,-0.01519681554941494,-0.0011012565508341995,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.2320316155903814,0.022858177453697864,-2.3397283076677646,0.5289725651607102,1.7040645414384645,-0.006220440817628726,0.5725095561010457,2.3796591550344055,2.9122378637688104,2.9122378637688104,3.0013600000018754,0,0,-9.473398788065334e-05,9.999990699250389e-05
+86342,1792696399712292654,4226682000000,1792696399711765289,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762329518719048,-0.0046301888741590675,0.08822692867245295,0.9999999665985364,3.0128073979536835e-05,0.00021244912353936545,0.000110469269464636,0.6761,-0.00453,0.08789452989125532,1.0,0.0,0.0,0.0,-0.03961736519997672,0.12218246238270114,2.4474494694289803,0.00872928150377809,0.006165173489044388,0.00041182353461745595,0.2665565691923774,0.3383752253899234,2.7696168517997304,0.021278908203772956,-0.01421654875808587,-0.0011400940282586885,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.1762437313082064,0.07002791689200986,-2.3848012178260904,0.525777235878266,1.7138441645668812,0.028643817201698424,0.5725095561010457,2.4474494694289803,2.9573107739271363,2.9573107739271363,3.0893600000019634,0,0,-9.883287194262485e-05,-6.875261532562511e-05
+86465,1792696400737228468,4227707000000,1792696400731765857,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762341133434311,-0.004635677451395533,0.08812286944919881,0.9999999653587185,4.1855801645716664e-05,0.0002117944806355203,0.00011881336732024679,0.6761,-0.00453,0.08778858048604474,1.0,0.0,0.0,0.0,-0.045040166698200046,0.11485069996631159,2.517156291969041,0.00871462215146284,0.006168760979521144,0.00035493224433073064,0.2611337676941541,0.3310434629735338,2.839323674339791,0.021264248851457706,-0.014212961267609115,-0.0011969853185454138,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.2213506997503738,-0.04878740741559871,-2.4408772446750437,0.5651470712681106,1.7565937382590906,-0.050337700854140896,0.5725095561010457,2.517156291969041,3.0133868007760896,3.0133868007760896,3.1713600000020454,0,0,-0.00010819726046637357,-9.955609533840998e-05
+86577,1792696401670347805,4228640000000,1792696401667765528,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762416430803216,-0.004639570746804054,0.08804047775517533,0.9999999628320817,3.5138470343517194e-05,0.00022591565225209026,0.00011621577211737166,0.6761,-0.00453,0.08768930315329444,1.0,0.0,0.0,0.0,-0.0496893698576113,0.11670456142525076,2.567695165611016,0.008705367692132246,0.006157805640456664,0.00031305188608971436,0.25648456453474283,0.332897324432473,2.889862547981766,0.02125499439212711,-0.014223916606673595,-0.00123886567678643,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.2032177738459393,0.030698756087410867,-2.487968581173515,0.5516377111278501,1.778609441022266,0.0032059339438455133,0.5725095561010457,2.567695165611016,3.060478137274561,3.060478137274561,3.24600000000212,0,0,-0.00010820406574493647,-9.9995493855981e-05
+86705,1792696402737318164,4229707000000,1792696402735755689,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762420541537053,-0.004645329817407422,0.08793037545099268,0.9999999620720741,3.875122430872659e-05,0.00022642524035102965,0.00012053492526292045,0.6761,-0.00453,0.08757198370952221,1.0,0.0,0.0,0.0,-0.04375303291975624,0.11148202235789156,2.647770196003711,0.008689301436255917,0.006140864026575665,0.0002495651875556533,0.2624209014725979,0.3276747853651138,2.969937578374461,0.021238928136250782,-0.014240858220554594,-0.0013023523753204912,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.2159195852526552,-0.08260186087474672,-2.614842440254185,0.5880424561006481,1.858344641062118,-0.07228353045501244,0.5725095561010457,2.647770196003711,3.187351996355231,3.187351996355231,3.3313600000022054,0,0,-0.00010871535961329138,-6.217749512338883e-05
+86837,1792696403837323103,4230807000000,1792696403835755478,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762490762260881,-0.0046432714914799444,0.08782900673074076,0.9999999597179547,3.842720106561394e-05,0.00023688998075492167,0.00012005598961067805,0.6761,-0.00453,0.08745176083133151,1.0,0.0,0.0,0.0,-0.05310537525297032,0.11139705452462711,2.7060324453428484,0.008679712475133525,0.006129772406263188,0.00020136245161173354,0.2530685591393838,0.32758981753184935,3.0281998277135984,0.02122933917512839,-0.01425194984086707,-0.001350555111264411,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.2149006258445967,-0.0235204267348295,-2.7427913145307095,0.5857919202877994,1.9379092050343387,-0.03267476725761688,0.5725095561010457,2.7060324453428484,3.3153008706317553,3.3153008706317553,3.4193600000022935,0,0,-0.00011118860464701263,9.980468815141136e-05
+86948,1792696404762258998,4231732000000,1792696404759764618,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762568684868429,-0.004649225471599611,0.08773058542335468,0.9999999561578763,3.4480213573779296e-05,0.0002520668959710243,0.00012000210318223863,0.6761,-0.00453,0.08734570493823583,1.0,0.0,0.0,0.0,-0.053495849388088546,0.12364158293751676,2.7583703586502475,0.008642974674646444,0.007129990933925499,0.00017664111534268436,0.2526780850042656,0.339834345944739,3.0805377410209975,0.02119260137464131,-0.01325173131320476,-0.00137527644753346,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.248395815240597,-0.04031001951107696,-2.7702634517399916,0.6053156609331771,1.9540507267614193,-0.04009536193500535,0.5725095561010457,2.7583703586502475,3.3427730078410374,3.3427730078410374,3.4933600000023675,0,0,-0.00011747887093680506,-3.0209321133929488e-05
+87052,1792696405629310027,4232599000000,1792696405623755622,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762612879977155,-0.004650340928827966,0.08764242408383671,0.9999999550200519,2.950539633825747e-05,0.0002591522445425508,0.00011563868012488526,0.6761,-0.00453,0.08724353286975159,1.0,0.0,0.0,0.0,-0.053576061069684044,0.12545318613116258,2.808506081850371,0.00863307593595201,0.0071184001248774074,0.0001778393019438054,0.2525978733226701,0.3416459491383848,3.130673464221121,0.021182702635946876,-0.013263322122252851,-0.001374078260932339,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.3421039792463403,0.021851196312510156,-2.799342314436055,0.6002426744822265,1.9944960505953377,0.0007456061438223284,0.5725095561010457,2.808506081850371,3.371851870537101,3.371851870537101,3.562720000002437,0,0,-0.00011707899065102468,-9.996478231156231e-05
+87164,1792696406562372968,4233532000000,1792696406559764752,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762658180889433,-0.00465251769270168,0.08754341783462948,0.999999952131566,3.7225351629863414e-05,0.00026509448872032555,0.00012457493980268345,0.6761,-0.00453,0.08713391406359547,1.0,0.0,0.0,0.0,-0.0624943638642555,0.11725655638577664,2.858681970493343,0.008622587237039629,0.007108476833378886,0.00011010133535655615,0.24367957052809863,0.3334493193929989,3.180849352864093,0.021172213937034494,-0.013273245413751373,-0.0014418162275195883,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.3347888822859328,-0.020530680158687264,-2.8966815630506795,0.6197368677797431,2.050907173799107,-0.02294290978271612,0.5725095561010457,2.858681970493343,3.4691911191517253,3.4691911191517253,3.6373600000025115,0,0,-0.00011892077533412338,-8.346024846084816e-05
+87275,1792696407487386879,4234457000000,1792696407483755556,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762707709492047,-0.004651579330880374,0.08744079485205035,0.9999999502268324,3.709973292591983e-05,0.0002736534178070269,0.00012135326058281469,0.6761,-0.00453,0.08702273591273757,1.0,0.0,0.0,0.0,-0.05868054904553996,0.11886283638657241,2.9090519099785777,0.008610422558470512,0.007094360027830374,0.00042651959286743417,0.24749338534681417,0.33505559939379465,3.2312192923493277,0.021160049258465378,-0.013287362219299884,-0.0011253979700087103,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.3125560365241107,-0.02330459716868552,-2.9744482746424437,0.6254805141235783,2.0922085197508498,-0.02787126967849169,0.5725095561010457,2.9090519099785777,3.5469578307434895,3.5469578307434895,3.7113600000025855,0,0,-0.00011991240967820638,-5.614396034048781e-05
+87376,1792696408329374987,4235299000000,1792696408323755549,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762741396021267,-0.0046549354801645034,0.08734361551462114,0.999999948578502,3.288380604046343e-05,0.00027944731396378845,0.00012293783641226038,0.6761,-0.00453,0.08691926168785515,1.0,0.0,0.0,0.0,-0.05459714591381892,0.13298159575048574,2.9598154414432654,0.009392865485515451,0.008073433169615533,0.0010659480283474415,0.2515767884785352,0.34917435875770797,3.2819828238140154,0.021942492185510316,-0.012308289077514726,-0.00048596953452870287,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.3713623481792614,-0.1155806484058455,-3.0797944801788386,0.6588062845948599,2.170857956514985,-0.08598224330362388,0.5725095561010457,2.9598154414432654,3.6523040362798844,3.6523040362798844,3.778720000002653,0,0,-0.00012399707833146844,9.999999025923074e-05
+87487,1792696409254297110,4236224000000,1792696409247755526,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762793564440354,-0.0046554916363077195,0.0872373267839938,0.9999999452275925,3.334767850677527e-05,0.00028919438900097655,0.00012744494517209263,0.6761,-0.00453,0.08680115454637888,1.0,0.0,0.0,0.0,-0.05524645102261255,0.12206401169135384,3.0095408095197986,0.008557956225669766,0.008083368847640585,0.001014389133430139,0.2509274833697416,0.33825677469857607,3.3317081918905487,0.02110758292566463,-0.012298353399489674,-0.0005375284294460053,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.3715985567133329,-0.015833312588695782,-3.079474277910983,0.6402256581204819,2.170382662896112,-0.023217771715488986,0.5725095561010457,3.0095408095197986,3.6519838340120288,3.6519838340120288,3.852720000002727,0,0,-0.00013099613554587298,-9.99995739255965e-05
+87599,1792696410187403936,4237157000000,1792696410183755321,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762846914694443,-0.004661995746693122,0.08712162417878913,0.999999942779039,2.171304925019863e-05,0.0002974025844409716,0.0001302498732967437,0.6761,-0.00453,0.08667417621870553,1.0,0.0,0.0,0.0,-0.06416486563082377,0.12658497340142505,3.056443730338113,0.009569371343423897,0.008054460101035582,0.000987124413136283,0.24200906876153036,0.3427777364086473,3.378611112708863,0.022118998043418762,-0.012327262146094677,-0.0005647931497398614,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.4262149933504067,0.01687714300784931,-3.0979940970404476,0.6461708398124626,2.1927809309768365,0.003161660313347057,0.5725095561010457,3.056443730338113,3.6705036531414934,3.6705036531414934,3.9273600000028015,0,0,-0.0001461534919575388,-9.992396773761953e-05
+87707,1792696411087368784,4238057000000,1792696411083755826,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762909582674108,-0.004666593315966787,0.08699710310256546,0.9999999391682507,8.394916413109582e-06,0.0003104081405300706,0.00012916141409693256,0.6761,-0.00453,0.08654022068716989,1.0,0.0,0.0,0.0,-0.05871295683998051,0.1280067095016733,3.10676003110497,0.009559601307620406,0.008042929935580971,0.000944670289915115,0.24746097755237362,0.34419947250889554,3.42892741347572,0.02210922800761527,-0.012338792311549288,-0.0006072472729610294,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.4204913553770775,-0.05891699494283986,-3.2186924730137187,0.673413431817884,2.26392829547863,-0.050379630427618186,0.5725095561010457,3.10676003110497,3.7912020291147646,3.7912020291147646,3.9993600000028735,0,0,-0.00015662385987744021,-9.995075186808861e-05
+87802,1792696411879420493,4238849000000,1792696411871765531,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762931893331152,-0.004666274444030734,0.08687713780314744,0.9999999388971983,1.144948635523311e-05,0.00031012819551540986,0.00013167336778173273,0.6761,-0.00453,0.0864141836365796,1.0,0.0,0.0,0.0,-0.06098315781790048,0.12958479363982306,3.1415262251236475,0.009553840112053454,0.008036007996618025,0.0009191202994378811,0.24519077657445365,0.3457775566470453,3.4636936074943976,0.02210346681204832,-0.012345714250512233,-0.0006327972634382633,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.4251687942284705,-0.054329179451829364,-3.276821638412673,0.676691732258813,2.305322798244883,-0.045877263620029154,0.5725095561010457,3.1415262251236475,3.8493311945137187,3.8493311945137187,4.062720000002589,0,0,-0.00016502690257540534,-5.741557389586497e-05
+87902,1792696412712426921,4239682000000,1792696412711755704,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762959749597369,-0.004670690329239826,0.08674577705602687,0.9999999377089005,-3.175294884048268e-06,0.0003169039985269365,0.00012484723855297098,0.6761,-0.00453,0.08627249966473735,1.0,0.0,0.0,0.0,-0.06035547476137468,0.13360837241448464,3.190583270059732,0.009544567327663633,0.008024775647022416,0.0008760313959929022,0.24581845963097945,0.3498011354217069,3.512750652430482,0.022094194027658498,-0.012356946600107842,-0.0006758861668832423,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.5372074800563846,-0.09501817374117459,-3.297643777071795,0.7110451382688973,2.352324189557179,-0.06649028686653081,0.5725095561010457,3.190583270059732,3.8701533331728406,3.8701533331728406,4.129360000002285,0,0,-0.0001769113794306262,-9.999999025923074e-05
+87982,1792696413379437554,4240349000000,1792696413371764578,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762968389416357,-0.004673492050557088,0.08662982393890185,0.9999999351784528,9.831782660273453e-07,0.0003226041950454677,0.00013042822339990942,0.6761,-0.00453,0.08615211579631155,1.0,0.0,0.0,0.0,-0.05479070535223973,0.13033109529476483,3.240358678670605,0.008529586940287721,0.008032865059099958,0.0008282226792423222,0.2513832290401144,0.34652385830198706,3.562526061041355,0.021079213640282587,-0.012348857188030301,-0.0007236948836338222,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.5155924523835522,-0.052579673597749184,-3.3513453523820638,0.7030127922897002,2.3813110026135136,-0.035086419427634546,0.5725095561010457,3.240358678670605,3.9238549084831096,3.9238549084831096,4.182720000002043,0,0,-0.00018430256172183158,-8.141512050497397e-05
+88070,1792696414112459176,4241082000000,1792696414107755833,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6762883808629273,-0.004677556189360648,0.08649052631884445,0.9999999356974091,3.6526319674911275e-06,0.00031515311446034803,0.00014392086301294883,0.6761,-0.00453,0.08601361975627018,1.0,0.0,0.0,0.0,-0.04938462147167677,0.12223057452048458,3.29052295156322,0.008504494837215673,0.008022676033891498,0.0007883028148533463,0.25678931292067736,0.3384233375277068,3.61269033393397,0.02105412153721054,-0.01235904621323876,-0.0007636147480227981,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.5508501089536364,-0.12489828718901809,-3.4709431827905317,0.7191517064234159,2.4768752551149418,-0.08329864312141809,0.5725095561010457,3.29052295156322,4.0434527388915775,4.0434527388915775,4.241360000001776,0,0,-0.00019373185278640103,8.132760717505789e-05
+88138,1792696414679396157,4241649000000,1792696414675765124,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6762852369215222,-0.004692761896453873,0.0863791082700109,0.9999999323226393,2.0572470733922005e-05,0.00031553288285661733,0.00016374783877673682,0.6761,-0.00453,0.08590117011633372,1.0,0.0,0.0,0.0,-0.0488729266966918,0.11113102168921651,3.3290173027306587,0.0074759415651634645,0.00803383439516685,0.0007457577958930115,0.25730100769566233,0.32732378469643875,3.6511846851014087,0.02002556826515833,-0.012347887851963408,-0.0008061597669831329,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.5358396720918657,-0.13225955169549275,-3.4680025356296986,0.7337971535423667,2.474988475233663,-0.0791388647819112,0.5725095561010457,3.3290173027306587,4.040512091730744,4.040512091730744,4.286720000001569,0,0,-0.00020191407817719625,4.997728849026644e-05
+88210,1792696415279447001,4242249000000,1792696415275765373,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6763236770696138,-0.004691219579983736,0.08628632242781775,0.9999999124546498,0.00010448770745929382,0.000354480436281938,0.00017308811737258624,0.6761,-0.00453,0.08577608532593069,1.0,0.0,0.0,0.0,-0.049621809257298755,0.11739768611105039,3.3606166960209785,0.008119145361253556,0.008015155529738152,0.0007303813486059391,0.2565521251350554,0.3335904491182726,3.6827840783917285,0.02066877206124842,-0.012366566717392107,-0.0008215362142702053,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.6730991806233761,-0.021233144289902164,-3.4999561825916445,0.7028751747556262,2.5378319682837174,-0.022301743834122034,0.5725095561010457,3.3606166960209785,4.07246573869269,4.07246573869269,4.334720000001351,0,0,-0.00021441123589869784,4.65437055734288e-05
+88262,1792696415712357338,4242682000000,1792696415711765090,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6763259912018739,-0.004679704998432573,0.08619853309411288,0.999999921373429,2.8346013045470865e-05,0.0003653428233371302,0.00012007133493612936,0.6761,-0.00453,0.08567899549562946,1.0,0.0,0.0,0.0,-0.044899686139224015,0.15044256133733758,3.3615164955994934,0.010534068277871924,0.007967806094707711,0.0007543557530880913,0.2612742482531301,0.3666353243445598,3.6836838779702434,0.02308369497786679,-0.012413916152422547,-0.0007975618097880531,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.6807131716329127,-0.05585442589039391,-3.4859576167980104,0.7066873014331944,2.5282409507280583,-0.036132903334732,0.5725095561010457,3.3615164955994934,4.058467172899056,4.058467172899056,4.369360000001193,0,0,-0.00023356054609377364,-9.999999025923074e-05
+88325,1792696416237443241,4243207000000,1792696416235755689,DOWN_FORCE_DETACH,10,0.0475,0.047501955181360245,0.6763228544244059,-0.004690781606328825,0.08607026657612842,0.99999992125946,8.140975577243604e-06,0.000363914765597112,0.00012815500786464106,0.6761,-0.00453,0.08555272983196326,1.0,0.0,0.0,0.0,-0.046431502225306176,0.14909645576489544,3.40002023187789,0.00951096705700856,0.007978000853527173,0.0007113798751224063,0.25974243216704795,0.3652892187721177,3.72218761424864,0.022060593757003425,-0.012403721393603085,-0.0008405376877537381,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.6581852724300714,-0.0992364817414901,-3.4812522663112273,0.7311503002329283,2.5240930690078507,-0.06745418440206923,0.5725095561010457,3.40002023187789,4.053761822412273,4.053761822412273,4.411360000001002,0,0,-0.00024710799582525054,-9.780503770618338e-05
+88393,1792696416804441418,4243774000000,1792696416803755933,DOWN_FORCE_DETACH,10,0.0475,0.047502610832452774,0.6763236549429662,-0.004692944619143671,0.08593318041816422,0.9999999180272963,-4.9474940202137585e-06,0.0003703619687355125,0.00013489180661670756,0.6761,-0.00453,0.08540892605502973,1.0,0.0,0.0,0.0,-0.038525163752567315,0.15048661856093826,3.4393803926528963,0.009499448284369275,0.007969439839943256,0.000680201658586538,0.2676487706397868,0.3666793815681605,3.7615477750236463,0.02204907498436414,-0.012412282407187003,-0.0008717159042896064,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.6786683279427914,-0.0749587124226302,-3.488060236952243,0.7388792925879082,2.540688799860272,-0.04963740006300535,0.5725095561010457,3.4393803926528963,4.060569793053289,4.060569793053289,4.456720000000796,0,0,-0.00025943010338177883,-9.999986535914047e-05
+88501,1792696417700487125,4244670000000,1792696417699755863,DOWN_PEAK_HOLD,10,0.0475,0.047502610832452774,0.6763142359016365,-0.0046928064076025115,0.08584475444958427,0.999999923846011,4.711342560031558e-06,0.00035076854988417715,0.0001438404124321817,0.6761,-0.00453,0.08535930237410741,1.0,0.0,0.0,0.0,-0.022066121505796676,0.1566939113585853,3.3713846056899595,0.009540886235427024,0.006969971263693033,0.0007221411736316204,0.28410781288655745,0.3728866743658075,3.6935519880607095,0.02209051293542189,-0.013411750983437226,-0.000829776389244524,0.30617393439235413,0.21619276300722223,0.32216738237075015,0.012549626699994865,-0.02038172224713026,-0.0015519175628761444,1,1.5918794711596744,-0.13186610579682,-3.309398941442879,0.7448845133757775,2.4312384539049825,-0.08548652844912996,0.5725095561010457,3.3713846056899595,3.881908497543925,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e85b5d72a9cc8ad9e35ff10e19f3313afe786477
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7d94487cf2c22a1ac133d6133bdad3a083adee2
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.350000000e+00,DOWN_FORCE_DETACH,1792696365412560603,-4.791275104e-06,-4.156085644e-05,-2.238725977e-04,-5.853716858e-06,-3.543540407e-05,-2.097229388e-04,-6.268200671e-06,-3.526665650e-05,-2.081908107e-04,7.015330802e-01,-4.000989512e-05,8.405170686e-01,7.015320178e-01,-3.388444274e-05,8.405312182e-01,7.017230646e-01,-3.345731798e-05,8.293647882e-01
+5,2.883333333e+00,DOWN_FORCE_DETACH,1792696366426320712,4.699762781e-05,-3.905035636e-05,-2.403129429e-04,4.680041091e-05,-3.876425127e-05,-2.404844262e-04,4.732903942e-05,-3.861633533e-05,-2.390929735e-04,7.015848691e-01,-3.749939504e-05,8.405006282e-01,7.015846719e-01,-3.721328995e-05,8.405004568e-01,7.017766618e-01,-3.680699681e-05,8.293338861e-01
+6,3.200000000e+00,DOWN_FORCE_DETACH,1792696367039923338,4.375328187e-05,-3.572050189e-05,-2.737091388e-04,3.880255907e-05,-3.586315211e-05,-2.594879919e-04,3.925872764e-05,-3.574707023e-05,-2.580601475e-04,7.015816248e-01,-3.416954057e-05,8.404672320e-01,7.015766740e-01,-3.431219078e-05,8.404814532e-01,7.017685915e-01,-3.393773172e-05,8.293149189e-01
+7,3.816666667e+00,DOWN_FORCE_DETACH,1792696368205902907,3.882531144e-05,-4.800354153e-05,-3.707091408e-04,4.240515546e-05,-4.855165363e-05,-3.633051843e-04,4.274140950e-05,-4.835652057e-05,-3.613809077e-04,7.015766968e-01,-4.645258020e-05,8.403702320e-01,7.015802766e-01,-4.700069231e-05,8.403776360e-01,7.017720742e-01,-4.654718205e-05,8.292115981e-01
+8,4.333333333e+00,DOWN_FORCE_DETACH,1792696369235938141,4.346684495e-05,-5.507423723e-05,-4.329811827e-04,4.393963552e-05,-5.705316062e-05,-4.252046424e-04,4.427715234e-05,-5.683466216e-05,-4.231988953e-04,7.015813383e-01,-5.352327591e-05,8.403079600e-01,7.015818111e-01,-5.550219930e-05,8.403157365e-01,7.017736100e-01,-5.502532364e-05,8.291497802e-01
+9,4.850000000e+00,DOWN_FORCE_DETACH,1792696370270138448,5.657139768e-05,-5.854151357e-05,-4.842281200e-04,5.067685139e-05,-5.777453532e-05,-4.677551883e-04,5.112271857e-05,-5.748691225e-05,-4.658932614e-04,7.015944429e-01,-5.699055225e-05,8.402567131e-01,7.015885483e-01,-5.622357400e-05,8.402731860e-01,7.017804555e-01,-5.567757373e-05,8.291070858e-01
+10,5.283333333e+00,DOWN_FORCE_DETACH,1792696371134844509,7.086833607e-05,-2.079043503e-05,-5.427906933e-04,7.117609450e-05,-1.525040479e-05,-5.411341005e-04,7.177805872e-05,-1.520278734e-05,-5.390694789e-04,7.016087398e-01,-1.923947371e-05,8.401981505e-01,7.016090476e-01,-1.369944347e-05,8.401998071e-01,7.018011109e-01,-1.339344882e-05,8.290339096e-01
+11,5.766666667e+00,DOWN_FORCE_DETACH,1792696372064012185,6.700781976e-05,-3.889098862e-05,-6.169336859e-04,6.889054242e-05,-2.928056992e-05,-6.040653371e-04,6.934166481e-05,-2.910333672e-05,-6.019019399e-04,7.016048793e-01,-3.734002730e-05,8.401240075e-01,7.016067620e-01,-2.772960860e-05,8.401368759e-01,7.017986745e-01,-2.729399821e-05,8.289710771e-01
+12,6.300000000e+00,DOWN_FORCE_DETACH,1792696373063975510,7.213405916e-05,-4.713817276e-05,-7.081566814e-04,7.106443385e-05,-4.319458940e-05,-6.906525909e-04,7.135319792e-05,-4.296645887e-05,-6.883489482e-04,7.016100055e-01,-4.558721144e-05,8.400327845e-01,7.016089359e-01,-4.164362808e-05,8.400502886e-01,7.018006860e-01,-4.115712035e-05,8.288846301e-01
+13,6.900000000e+00,DOWN_FORCE_DETACH,1792696374192003471,7.574723211e-05,-5.301355333e-05,-7.719581505e-04,7.556430465e-05,-5.123179489e-05,-7.534320674e-04,7.576976841e-05,-5.097717174e-05,-7.511852964e-04,7.016136187e-01,-5.146259201e-05,8.399689830e-01,7.016134358e-01,-4.968083357e-05,8.399875091e-01,7.018051026e-01,-4.916783323e-05,8.288217937e-01
+14,7.383333333e+00,DOWN_FORCE_DETACH,1792696375126287962,8.096343724e-05,-5.036165514e-05,-8.030223318e-04,8.041705795e-05,-5.212221853e-05,-7.970652979e-04,8.057980958e-05,-5.186851573e-05,-7.948533287e-04,7.016188349e-01,-4.881069382e-05,8.399379189e-01,7.016182885e-01,-5.057125721e-05,8.399438759e-01,7.018099126e-01,-5.005917721e-05,8.287781257e-01
+15,8.033333333e+00,DOWN_FORCE_DETACH,1792696376356036048,8.727276484e-05,-5.561021491e-05,-8.513545089e-04,8.598101283e-05,-5.816007049e-05,-8.396812421e-04,8.621934673e-05,-5.790409508e-05,-8.376542766e-04,7.016251442e-01,-5.405925359e-05,8.398895867e-01,7.016238525e-01,-5.660910917e-05,8.399012599e-01,7.018155521e-01,-5.609475656e-05,8.287353248e-01
+16,8.600000000e+00,DOWN_FORCE_DETACH,1792696377488110078,9.242557127e-05,-6.126969144e-05,-9.163553429e-04,9.307404900e-05,-5.628812345e-05,-9.011962896e-04,9.328074333e-05,-5.601010313e-05,-8.990854675e-04,7.016302971e-01,-5.971873012e-05,8.398245858e-01,7.016309455e-01,-5.473716213e-05,8.398397449e-01,7.018226135e-01,-5.420076461e-05,8.286738936e-01
+17,9.200000000e+00,DOWN_FORCE_DETACH,1792696378685106328,1.027622842e-04,-5.987113696e-05,-9.885586464e-04,1.026049203e-04,-5.978230000e-05,-9.883444850e-04,1.027743728e-04,-5.947917002e-05,-9.858638204e-04,7.016406338e-01,-5.832017564e-05,8.397523825e-01,7.016404764e-01,-5.823133868e-05,8.397525967e-01,7.018321072e-01,-5.766983150e-05,8.285871152e-01
+18,9.816666667e+00,DOWN_FORCE_DETACH,1792696379899286690,1.083614550e-04,-6.548115637e-05,-1.075647128e-03,1.057261395e-04,-5.914338447e-05,-1.077908941e-03,1.057082287e-04,-5.880188140e-05,-1.075382788e-03,7.016462329e-01,-6.393019505e-05,8.396652941e-01,7.016435976e-01,-5.759242315e-05,8.396630322e-01,7.018350410e-01,-5.699254288e-05,8.284975963e-01
+19,1.038333333e+01,DOWN_FORCE_DETACH,1792696380980435646,1.133117477e-04,-6.001646394e-05,-1.160035796e-03,1.102688095e-04,-6.028458425e-05,-1.140389634e-03,1.101676387e-04,-5.990773100e-05,-1.137996579e-03,7.016511832e-01,-5.846550262e-05,8.395809054e-01,7.016481403e-01,-5.873362293e-05,8.396005516e-01,7.018395004e-01,-5.809839249e-05,8.284349825e-01
+20,1.090000000e+01,DOWN_FORCE_DETACH,1792696381944774211,1.175951208e-04,-6.088413206e-05,-1.229586960e-03,1.139491059e-04,-6.143876336e-05,-1.226253073e-03,1.135790526e-04,-6.103857964e-05,-1.223752547e-03,7.016554666e-01,-5.933317074e-05,8.395113542e-01,7.016518206e-01,-5.988780204e-05,8.395146881e-01,7.018429119e-01,-5.922924112e-05,8.283492265e-01
+21,1.146666667e+01,DOWN_FORCE_DETACH,1792696383040739819,1.265241726e-04,-5.637526073e-05,-1.306354979e-03,1.246198577e-04,-5.997906982e-05,-1.290314846e-03,1.243358354e-04,-5.957466753e-05,-1.287953824e-03,7.016643957e-01,-5.482429941e-05,8.394345862e-01,7.016624913e-01,-5.842810850e-05,8.394506263e-01,7.018536686e-01,-5.776532901e-05,8.282850252e-01
+22,1.205000000e+01,DOWN_FORCE_DETACH,1792696384140894449,1.347517854e-04,-5.663946631e-05,-1.384805542e-03,1.344610872e-04,-5.661785143e-05,-1.384678027e-03,1.341094315e-04,-5.625479955e-05,-1.382065931e-03,7.016726233e-01,-5.508850499e-05,8.393561356e-01,7.016723326e-01,-5.506689011e-05,8.393562632e-01,7.018634422e-01,-5.444546104e-05,8.281909131e-01
+23,1.251666667e+01,DOWN_FORCE_DETACH,1792696385044370765,1.422763980e-04,-3.828092191e-05,-1.457094741e-03,1.429574889e-04,-3.608907193e-05,-1.455966667e-03,1.425023291e-04,-3.585074935e-05,-1.453207058e-03,7.016801479e-01,-3.672996058e-05,8.392838464e-01,7.016808290e-01,-3.453811060e-05,8.392849745e-01,7.018718351e-01,-3.404141083e-05,8.281197720e-01
+24,1.300000000e+01,DOWN_FORCE_DETACH,1792696386004224847,1.431130342e-04,-4.707811958e-05,-1.549515087e-03,1.458734837e-04,-4.938213651e-05,-1.535989649e-03,1.451996799e-04,-4.904671522e-05,-1.533065004e-03,7.016809845e-01,-4.552715826e-05,8.391914261e-01,7.016837450e-01,-4.783117519e-05,8.392049515e-01,7.018745325e-01,-4.723737671e-05,8.280399140e-01
+25,1.355000000e+01,DOWN_FORCE_DETACH,1792696387100741733,1.521265778e-04,-5.552911305e-05,-1.637660353e-03,1.477759385e-04,-5.274010153e-05,-1.625498851e-03,1.468584296e-04,-5.238154065e-05,-1.622475576e-03,7.016899981e-01,-5.397815172e-05,8.391032808e-01,7.016856474e-01,-5.118914021e-05,8.391154423e-01,7.018761912e-01,-5.057220214e-05,8.279505035e-01
+26,1.411666667e+01,DOWN_FORCE_DETACH,1792696388214616729,1.530558124e-04,-5.869871581e-05,-1.721113677e-03,1.531453979e-04,-5.214880153e-05,-1.707119788e-03,1.520316525e-04,-5.181684414e-05,-1.704059436e-03,7.016909273e-01,-5.714775449e-05,8.390198275e-01,7.016910169e-01,-5.059784021e-05,8.390338214e-01,7.018813645e-01,-5.000750563e-05,8.278689196e-01
+27,1.470000000e+01,DOWN_FORCE_DETACH,1792696389328982469,1.648764235e-04,-6.032415559e-05,-1.789732133e-03,1.605738475e-04,-6.033563220e-05,-1.787657158e-03,1.593437614e-04,-5.996984290e-05,-1.784596322e-03,7.017027479e-01,-5.877319427e-05,8.389512091e-01,7.016984453e-01,-5.878467088e-05,8.389532840e-01,7.018886766e-01,-5.816050439e-05,8.277883827e-01
+28,1.531666667e+01,DOWN_FORCE_DETACH,1792696390494864496,1.704444912e-04,-5.624842271e-05,-1.875102975e-03,1.676468667e-04,-5.974597762e-05,-1.872967918e-03,1.664014420e-04,-5.941254492e-05,-1.869953967e-03,7.017083160e-01,-5.469746139e-05,8.388658382e-01,7.017055183e-01,-5.819501630e-05,8.388679733e-01,7.018957342e-01,-5.760320640e-05,8.277030251e-01
+29,1.588333333e+01,DOWN_FORCE_DETACH,1792696391558952766,1.729983605e-04,-6.179292187e-05,-1.965041372e-03,1.715713549e-04,-6.086526278e-05,-1.962049738e-03,1.702458266e-04,-6.051904715e-05,-1.959042207e-03,7.017108698e-01,-6.024196055e-05,8.387758998e-01,7.017094428e-01,-5.931430146e-05,8.387788914e-01,7.018995786e-01,-5.870970864e-05,8.276139368e-01
+30,1.643333333e+01,DOWN_FORCE_DETACH,1792696392620981084,1.822093817e-04,-6.104001038e-05,-2.048540571e-03,1.821994615e-04,-6.089732040e-05,-2.047999324e-03,1.808570682e-04,-6.053832143e-05,-2.044992462e-03,7.017200809e-01,-5.948904906e-05,8.386924006e-01,7.017200709e-01,-5.934635908e-05,8.386929419e-01,7.019101899e-01,-5.872898291e-05,8.275279866e-01
+31,1.698333333e+01,DOWN_FORCE_DETACH,1792696393687051578,1.857652931e-04,-7.103100006e-05,-2.144021453e-03,1.848955226e-04,-6.257424330e-05,-2.137445401e-03,1.834175362e-04,-6.221884190e-05,-2.134452375e-03,7.017236368e-01,-6.948003874e-05,8.385969197e-01,7.017227670e-01,-6.102328198e-05,8.386034958e-01,7.019127503e-01,-6.040950338e-05,8.274385267e-01
+32,1.748333333e+01,DOWN_FORCE_DETACH,1792696394684833330,1.921908923e-04,-6.960915344e-05,-2.233098191e-03,1.896319182e-04,-6.366543992e-05,-2.226821520e-03,1.879250386e-04,-6.331667014e-05,-2.223743595e-03,7.017300624e-01,-6.805819212e-05,8.385078430e-01,7.017275034e-01,-6.211447860e-05,8.385141197e-01,7.019172578e-01,-6.150733162e-05,8.273492355e-01
+33,1.798333333e+01,DOWN_FORCE_DETACH,1792696395682836538,1.979411246e-04,-6.750343367e-05,-2.323268124e-03,1.970050738e-04,-7.456762918e-05,-2.317796621e-03,1.951045550e-04,-7.415083551e-05,-2.314572600e-03,7.017358126e-01,-6.595247235e-05,8.384176731e-01,7.017348766e-01,-7.301666786e-05,8.384231446e-01,7.019244374e-01,-7.234149700e-05,8.272584064e-01
+34,1.851666667e+01,DOWN_FORCE_DETACH,1792696396715850326,2.060279440e-04,-7.261406491e-05,-2.407605417e-03,2.061392223e-04,-7.249729184e-05,-2.401963168e-03,2.042039521e-04,-7.210757454e-05,-2.398707299e-03,7.017438994e-01,-7.106310359e-05,8.383333358e-01,7.017440107e-01,-7.094633052e-05,8.383389780e-01,7.019335368e-01,-7.029823602e-05,8.271742717e-01
+35,1.903333333e+01,DOWN_FORCE_DETACH,1792696397713030663,2.091174077e-04,-7.607652118e-05,-2.509537112e-03,2.089116386e-04,-7.618661114e-05,-2.509598305e-03,2.066697194e-04,-7.577750902e-05,-2.506061388e-03,7.017469889e-01,-7.452555986e-05,8.382314041e-01,7.017467831e-01,-7.463564982e-05,8.382313429e-01,7.019360025e-01,-7.396817051e-05,8.270669177e-01
+36,1.951666667e+01,DOWN_FORCE_DETACH,1792696398610897488,2.150329913e-04,-7.608095833e-05,-2.594982720e-03,2.148481573e-04,-7.627461326e-05,-2.595212071e-03,2.125007677e-04,-7.587438430e-05,-2.591620138e-03,7.017529045e-01,-7.452999701e-05,8.381459585e-01,7.017527196e-01,-7.472365194e-05,8.381457291e-01,7.019418336e-01,-7.406504579e-05,8.269813589e-01
+37,2.010000000e+01,DOWN_FORCE_DETACH,1792696399712026891,2.205610342e-04,-8.317017383e-05,-2.689337319e-03,2.219417823e-04,-8.199745376e-05,-2.674736692e-03,2.195464913e-04,-8.151529201e-05,-2.671413379e-03,7.017584325e-01,-8.161921250e-05,8.380516039e-01,7.017598133e-01,-8.044649244e-05,8.380662045e-01,7.019488793e-01,-7.970595349e-05,8.269015657e-01
+38,2.063333333e+01,DOWN_FORCE_DETACH,1792696400740960005,2.199226341e-04,-8.907030625e-05,-2.794309093e-03,2.198723735e-04,-8.608813020e-05,-2.782393958e-03,2.170756791e-04,-8.553715866e-05,-2.778992109e-03,7.017577941e-01,-8.751934493e-05,8.379466321e-01,7.017577439e-01,-8.453716888e-05,8.379585472e-01,7.019464085e-01,-8.372782015e-05,8.267939869e-01
+39,2.111666667e+01,DOWN_FORCE_DETACH,1792696401671063545,2.291425388e-04,-8.788979373e-05,-2.874409602e-03,2.294153137e-04,-8.763423219e-05,-2.865902962e-03,2.264804602e-04,-8.708772079e-05,-2.862547154e-03,7.017670140e-01,-8.633883241e-05,8.378665316e-01,7.017672868e-01,-8.608327087e-05,8.378750382e-01,7.019558133e-01,-8.527838228e-05,8.267104319e-01
+40,2.165000000e+01,DOWN_FORCE_DETACH,1792696402739178136,2.287146389e-04,-9.408781269e-05,-2.988828946e-03,2.290970549e-04,-9.352603308e-05,-2.973611282e-03,2.257927639e-04,-9.294486458e-05,-2.970143256e-03,7.017665861e-01,-9.253685137e-05,8.377521122e-01,7.017669685e-01,-9.197507176e-05,8.377673299e-01,7.019551256e-01,-9.113552606e-05,8.266028358e-01
+41,2.220000000e+01,DOWN_FORCE_DETACH,1792696403833613137,2.350917831e-04,-9.554680556e-05,-3.089575877e-03,2.343723726e-04,-9.609423212e-05,-3.079922792e-03,2.307973338e-04,-9.550332725e-05,-3.076286666e-03,7.017729633e-01,-9.399584424e-05,8.376513653e-01,7.017722439e-01,-9.454327080e-05,8.376610184e-01,7.019601301e-01,-9.369398873e-05,8.264966924e-01
+42,2.266666667e+01,DOWN_FORCE_DETACH,1792696404764982585,2.470965052e-04,-1.028456206e-04,-3.181116552e-03,2.461059610e-04,-9.560005765e-05,-3.165030385e-03,2.424768067e-04,-9.499799701e-05,-3.161356512e-03,7.017849680e-01,-1.012946593e-04,8.375598246e-01,7.017839774e-01,-9.404909633e-05,8.375759108e-01,7.019718096e-01,-9.318865849e-05,8.264116225e-01
+43,2.313333333e+01,DOWN_FORCE_DETACH,1792696405629066646,2.484674927e-04,-1.011407337e-04,-3.274823608e-03,2.497226190e-04,-1.020066312e-04,-3.266279272e-03,2.457951839e-04,-1.014019945e-04,-3.262441235e-03,7.017863390e-01,-9.958977240e-05,8.374661176e-01,7.017875941e-01,-1.004556699e-04,8.374746619e-01,7.019751280e-01,-9.959265599e-05,8.263105378e-01
+44,2.361666667e+01,DOWN_FORCE_DETACH,1792696406562191063,2.534272513e-04,-1.054989924e-04,-3.372848156e-03,2.534236030e-04,-1.054098526e-04,-3.372299051e-03,2.493018410e-04,-1.047928302e-04,-3.368394717e-03,7.017912987e-01,-1.039480310e-04,8.373680930e-01,7.017912951e-01,-1.038588913e-04,8.373686421e-01,7.019786346e-01,-1.029834917e-04,8.262045843e-01
+45,2.411666667e+01,DOWN_FORCE_DETACH,1792696407490960371,2.572724193e-04,-1.059916095e-04,-3.477188993e-03,2.532363248e-04,-1.050398265e-04,-3.460146547e-03,2.489163047e-04,-1.043759698e-04,-3.456408979e-03,7.017951439e-01,-1.044406482e-04,8.372637522e-01,7.017911078e-01,-1.034888651e-04,8.372807946e-01,7.019782491e-01,-1.025666313e-04,8.261165701e-01
+46,2.455000000e+01,DOWN_FORCE_DETACH,1792696408331057833,2.617487645e-04,-1.079167798e-04,-3.572650476e-03,2.621613454e-04,-1.040036350e-04,-3.569064356e-03,2.576666840e-04,-1.033918095e-04,-3.565095818e-03,7.017996202e-01,-1.063658185e-04,8.371682907e-01,7.018000328e-01,-1.024526737e-04,8.371718768e-01,7.019869995e-01,-1.015824710e-04,8.260078832e-01
+47,2.503333333e+01,DOWN_FORCE_DETACH,1792696409253016626,2.662387768e-04,-1.090790900e-04,-3.679233476e-03,2.648227437e-04,-1.097573926e-04,-3.676816899e-03,2.600860359e-04,-1.091044586e-04,-3.672811419e-03,7.018041103e-01,-1.075281287e-04,8.370617077e-01,7.018026942e-01,-1.082064313e-04,8.370641243e-01,7.019894188e-01,-1.072951201e-04,8.259001676e-01
+48,2.551666667e+01,DOWN_FORCE_DETACH,1792696410187361020,2.723006318e-04,-1.149770464e-04,-3.794641812e-03,2.708397450e-04,-1.116525178e-04,-3.788610322e-03,2.658865425e-04,-1.109780901e-04,-3.784465032e-03,7.018101721e-01,-1.134260850e-04,8.369462994e-01,7.018087112e-01,-1.101015565e-04,8.369523309e-01,7.019952193e-01,-1.091687515e-04,8.257885140e-01
+49,2.596666667e+01,DOWN_FORCE_DETACH,1792696411085314043,2.775324041e-04,-1.149678998e-04,-3.920648529e-03,2.773546581e-04,-1.149123445e-04,-3.920676836e-03,2.721174605e-04,-1.142471006e-04,-3.916213463e-03,7.018154039e-01,-1.134169385e-04,8.368202927e-01,7.018152261e-01,-1.133613831e-04,8.368202644e-01,7.020014503e-01,-1.124377621e-04,8.256567656e-01
+50,2.636666667e+01,DOWN_FORCE_DETACH,1792696411881074626,2.796151216e-04,-1.207374182e-04,-4.039373178e-03,2.770749927e-04,-1.159020619e-04,-4.020511972e-03,2.715024099e-04,-1.152417468e-04,-4.015977913e-03,7.018174866e-01,-1.191864568e-04,8.367015680e-01,7.018149465e-01,-1.143511006e-04,8.367204292e-01,7.020008352e-01,-1.134324083e-04,8.255570011e-01
+51,2.678333333e+01,DOWN_FORCE_DETACH,1792696412715034819,2.847409839e-04,-1.233681631e-04,-4.167490719e-03,2.828193515e-04,-1.218675561e-04,-4.157949571e-03,2.769192342e-04,-1.211268866e-04,-4.153071156e-03,7.018226125e-01,-1.218172017e-04,8.365734505e-01,7.018206908e-01,-1.203165948e-04,8.365829916e-01,7.020062520e-01,-1.193175481e-04,8.254199079e-01
+52,2.713333333e+01,DOWN_FORCE_DETACH,1792696413380842354,2.849100939e-04,-1.266792211e-04,-4.286064717e-03,2.847351225e-04,-1.269409503e-04,-4.286161371e-03,2.785292169e-04,-1.261636621e-04,-4.280890733e-03,7.018227816e-01,-1.251282598e-04,8.364548765e-01,7.018226066e-01,-1.253899890e-04,8.364547798e-01,7.020078620e-01,-1.243543236e-04,8.252920883e-01
+53,2.751666667e+01,DOWN_FORCE_DETACH,1792696414110993846,2.761443438e-04,-1.309817707e-04,-4.425188597e-03,2.755968569e-04,-1.345058079e-04,-4.407386169e-03,2.687850021e-04,-1.336744550e-04,-4.401992482e-03,7.018140158e-01,-1.294308093e-04,8.363157526e-01,7.018134683e-01,-1.329548466e-04,8.363335550e-01,7.019981178e-01,-1.318651164e-04,8.251709866e-01
+54,2.781666667e+01,DOWN_FORCE_DETACH,1792696414677412099,2.749518745e-04,-1.368057495e-04,-4.534469796e-03,2.748183178e-04,-1.368560388e-04,-4.534596234e-03,2.675130678e-04,-1.359434896e-04,-4.528827990e-03,7.018128234e-01,-1.352547882e-04,8.362064714e-01,7.018126898e-01,-1.353050775e-04,8.362063450e-01,7.019968459e-01,-1.341341511e-04,8.250441511e-01
+55,2.813333333e+01,DOWN_FORCE_DETACH,1792696415277175790,3.087445947e-04,-1.465532966e-04,-4.631946724e-03,3.083640964e-04,-1.464286154e-04,-4.631888675e-03,3.013412742e-04,-1.454927863e-04,-4.626148461e-03,7.018466161e-01,-1.450023353e-04,8.361089945e-01,7.018462356e-01,-1.448776541e-04,8.361090525e-01,7.020306741e-01,-1.436834478e-04,8.249468306e-01
+56,2.836666667e+01,DOWN_FORCE_DETACH,1792696415709628110,3.124156551e-04,-1.370463723e-04,-4.717356370e-03,3.105394701e-04,-1.373363804e-04,-4.704695849e-03,3.033532235e-04,-1.364455142e-04,-4.698963926e-03,7.018502871e-01,-1.354954110e-04,8.360235848e-01,7.018484110e-01,-1.357854191e-04,8.360362453e-01,7.020326860e-01,-1.346361757e-04,8.248740151e-01
+57,2.863333333e+01,DOWN_FORCE_DETACH,1792696416241220724,3.107539255e-04,-1.404275502e-04,-4.845049682e-03,3.081605116e-04,-1.377432341e-04,-4.839843925e-03,3.004266283e-04,-1.368788265e-04,-4.833555972e-03,7.018486254e-01,-1.388765889e-04,8.358958915e-01,7.018460320e-01,-1.361922728e-04,8.359010973e-01,7.020297594e-01,-1.350694880e-04,8.247394231e-01
+58,2.893333333e+01,DOWN_FORCE_DETACH,1792696416805799079,3.112641053e-04,-1.459259188e-04,-4.983085573e-03,3.095892601e-04,-1.433775359e-04,-4.981056924e-03,3.014755028e-04,-1.424605055e-04,-4.974341193e-03,7.018491356e-01,-1.443749575e-04,8.357578556e-01,7.018474607e-01,-1.418265746e-04,8.357598843e-01,7.020308083e-01,-1.406511670e-04,8.245986379e-01
+59,2.941666667e+01,DOWN_PEAK_HOLD,1792696417703089492,3.016978939e-04,-1.474048802e-04,-5.072757141e-03,3.038058215e-04,-1.479040471e-04,-5.055271219e-03,2.953883196e-04,-1.469316834e-04,-5.049613403e-03,7.018395694e-01,-1.458539188e-04,8.356681840e-01,7.018416773e-01,-1.463530858e-04,8.356856700e-01,7.020247211e-01,-1.451223449e-04,8.245233656e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd1f1845bacafe677b268f613c72fbc5f668cf47
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/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,-1.1974e-02,3.8672e-03,2.4632e+00,-3.7042e-02,3.5908e-02,-6.8929e-06,2.2686e-04,6.7365e-06,8.7738e-05,-2.0862e-07,1.5717e-05,-1.0096e-07,2.4332e-04,1.5719e-05
+1,6.6667e-01,DOWN_FORCE_DETACH,1.4940e-04,-2.1249e-03,1.2182e-02,2.4754e+00,-3.7609e-02,3.6584e-02,-6.0824e-06,1.0076e-02,8.3217e-03,1.2310e-02,-5.6677e-04,6.9212e-04,7.0946e-07,1.7953e-02,8.9457e-04
+2,1.2000e+00,DOWN_FORCE_DETACH,3.0283e-04,-1.6355e-03,1.7723e-02,2.5028e+00,-3.7999e-02,3.6593e-02,-3.0688e-06,1.0565e-02,1.3863e-02,3.9660e-02,-9.5715e-04,7.0050e-04,3.7231e-06,4.3321e-02,1.1861e-03
+3,1.7167e+00,DOWN_FORCE_DETACH,4.4897e-04,1.2816e-02,2.1156e-02,2.5445e+00,-3.8241e-02,3.7575e-02,-3.9678e-06,2.5017e-02,1.7295e-02,8.1384e-02,-1.1990e-03,1.6830e-03,2.8241e-06,8.6881e-02,2.0665e-03
+4,2.3500e+00,DOWN_FORCE_DETACH,5.9968e-04,1.4103e-02,2.2472e-02,2.5438e+00,-3.8343e-02,3.7669e-02,-8.9110e-06,2.6304e-02,1.8612e-02,8.0647e-02,-1.3007e-03,1.7772e-03,-2.1191e-06,8.6846e-02,2.2023e-03
+5,2.8833e+00,DOWN_FORCE_DETACH,7.6655e-04,4.2450e-03,2.5320e-02,2.5494e+00,-3.8545e-02,3.6987e-02,-1.3709e-05,1.6446e-02,2.1459e-02,8.6274e-02,-1.5028e-03,1.0948e-03,-6.9169e-06,9.0411e-02,1.8594e-03
+6,3.2000e+00,DOWN_FORCE_DETACH,8.9910e-04,9.9942e-04,2.1287e-02,2.5368e+00,-3.8272e-02,3.6761e-02,-1.8353e-05,1.3200e-02,1.7426e-02,7.3672e-02,-1.2299e-03,8.6842e-04,-1.1561e-05,7.6847e-02,1.5056e-03
+7,3.8167e+00,DOWN_FORCE_DETACH,1.0532e-03,8.3124e-03,2.8550e-02,2.5645e+00,-3.8760e-02,3.7276e-02,-1.8293e-05,2.0513e-02,2.4689e-02,1.0143e-01,-1.7184e-03,1.3833e-03,-1.1501e-05,1.0639e-01,2.2060e-03
+8,4.3333e+00,DOWN_FORCE_DETACH,1.2017e-03,1.3973e-02,3.4234e-02,2.5682e+00,-3.9132e-02,3.7680e-02,-1.5952e-05,2.6174e-02,3.0374e-02,1.0507e-01,-2.0903e-03,1.7874e-03,-9.1604e-06,1.1246e-01,2.7503e-03
+9,4.8500e+00,DOWN_FORCE_DETACH,1.3516e-03,1.6529e-02,3.5702e-02,2.5593e+00,-3.9211e-02,3.7880e-02,-1.4489e-05,2.8730e-02,3.1841e-02,9.6181e-02,-2.1687e-03,1.9881e-03,-7.6973e-06,1.0531e-01,2.9421e-03
+10,5.2833e+00,DOWN_FORCE_DETACH,1.5038e-03,1.0800e-02,1.0208e-02,2.5735e+00,-3.7454e-02,3.7490e-02,-2.3430e-05,2.3001e-02,6.3470e-03,1.1036e-01,-4.1194e-04,1.5978e-03,-1.6638e-05,1.1291e-01,1.6501e-03
+11,5.7667e+00,DOWN_FORCE_DETACH,1.6521e-03,1.7101e-02,1.9887e-02,2.5749e+00,-3.8109e-02,3.7931e-02,-2.2676e-05,2.9302e-02,1.6026e-02,1.1181e-01,-1.0665e-03,2.0385e-03,-1.5884e-05,1.1669e-01,2.3007e-03
+12,6.3000e+00,DOWN_FORCE_DETACH,1.8023e-03,2.0194e-02,2.8002e-02,2.5854e+00,-3.8666e-02,3.8150e-02,-1.8574e-05,3.2395e-02,2.4141e-02,1.2233e-01,-1.6243e-03,2.2581e-03,-1.1783e-05,1.2883e-01,2.7817e-03
+13,6.9000e+00,DOWN_FORCE_DETACH,1.9545e-03,2.1659e-02,3.2014e-02,2.5804e+00,-3.8954e-02,3.8270e-02,-1.6685e-05,3.3859e-02,2.8154e-02,1.1733e-01,-1.9123e-03,2.3779e-03,-9.8933e-06,1.2532e-01,3.0515e-03
+14,7.3833e+00,DOWN_FORCE_DETACH,2.1037e-03,2.2019e-02,3.1983e-02,2.5786e+00,-3.8963e-02,3.8303e-02,-1.6999e-05,3.4220e-02,2.8123e-02,1.1553e-01,-1.9207e-03,2.4108e-03,-1.0207e-05,1.2373e-01,3.0823e-03
+15,8.0333e+00,DOWN_FORCE_DETACH,2.2547e-03,2.2885e-02,3.5621e-02,2.5706e+00,-3.9220e-02,3.8366e-02,-1.4130e-05,3.5086e-02,3.1760e-02,1.0747e-01,-2.1778e-03,2.4734e-03,-7.3379e-06,1.1743e-01,3.2955e-03
+16,8.6000e+00,DOWN_FORCE_DETACH,2.4068e-03,2.2915e-02,3.4476e-02,2.5764e+00,-3.9142e-02,3.8352e-02,-1.3083e-05,3.5115e-02,3.0616e-02,1.1326e-01,-2.1001e-03,2.4596e-03,-6.2910e-06,1.2247e-01,3.2342e-03
+17,9.2000e+00,DOWN_FORCE_DETACH,2.5567e-03,2.3476e-02,3.6718e-02,2.5769e+00,-3.9287e-02,3.8370e-02,-1.0126e-05,3.5676e-02,3.2858e-02,1.1382e-01,-2.2450e-03,2.4775e-03,-3.3340e-06,1.2372e-01,3.3433e-03
+18,9.8167e+00,DOWN_FORCE_DETACH,2.7056e-03,2.4844e-02,3.7260e-02,2.5977e+00,-3.9301e-02,3.8424e-02,-9.6799e-06,3.7044e-02,3.3400e-02,1.3464e-01,-2.2593e-03,2.5320e-03,-2.8880e-06,1.4359e-01,3.3934e-03
+19,1.0383e+01,DOWN_FORCE_DETACH,2.8561e-03,2.5773e-02,3.8891e-02,2.5881e+00,-3.9386e-02,3.8473e-02,-1.1575e-05,3.7974e-02,3.5031e-02,1.2496e-01,-2.3439e-03,2.5804e-03,-4.7826e-06,1.3522e-01,3.4860e-03
+20,1.0900e+01,DOWN_FORCE_DETACH,3.0055e-03,2.6568e-02,4.0375e-02,2.5962e+00,-3.9461e-02,3.8511e-02,-1.4002e-05,3.8768e-02,3.6515e-02,1.3308e-01,-2.4188e-03,2.6186e-03,-7.2103e-06,1.4334e-01,3.5647e-03
+21,1.1467e+01,DOWN_FORCE_DETACH,3.1558e-03,2.3348e-02,3.9642e-02,2.5890e+00,-3.9397e-02,3.8291e-02,-1.4660e-05,3.5549e-02,3.5782e-02,1.2587e-01,-2.3546e-03,2.3986e-03,-7.8679e-06,1.3560e-01,3.3611e-03
+22,1.2050e+01,DOWN_FORCE_DETACH,3.3066e-03,2.1783e-02,3.7830e-02,2.5873e+00,-3.9274e-02,3.8185e-02,-1.3976e-05,3.3984e-02,3.3970e-02,1.2420e-01,-2.2317e-03,2.2930e-03,-7.1843e-06,1.3317e-01,3.1998e-03
+23,1.2517e+01,DOWN_FORCE_DETACH,3.4556e-03,1.7767e-02,2.5623e-02,2.6064e+00,-3.8452e-02,3.7895e-02,-1.7088e-05,2.9968e-02,2.1762e-02,1.4330e-01,-1.4102e-03,2.0028e-03,-1.0296e-05,1.4801e-01,2.4495e-03
+24,1.3000e+01,DOWN_FORCE_DETACH,3.6057e-03,1.8114e-02,3.4073e-02,2.6152e+00,-3.9034e-02,3.7904e-02,-1.4302e-05,3.0315e-02,3.0212e-02,1.5208e-01,-1.9916e-03,2.0116e-03,-7.5103e-06,1.5799e-01,2.8307e-03
+25,1.3550e+01,DOWN_FORCE_DETACH,3.7551e-03,1.8593e-02,3.5470e-02,2.6219e+00,-3.9135e-02,3.7922e-02,-1.2929e-05,3.0794e-02,3.1610e-02,1.5876e-01,-2.0927e-03,2.0299e-03,-6.1366e-06,1.6478e-01,2.9155e-03
+26,1.4117e+01,DOWN_FORCE_DETACH,3.9058e-03,1.7831e-02,3.4515e-02,2.6232e+00,-3.9080e-02,3.7858e-02,-1.5263e-05,3.0032e-02,3.0655e-02,1.6010e-01,-2.0377e-03,1.9659e-03,-8.4714e-06,1.6575e-01,2.8314e-03
+27,1.4700e+01,DOWN_FORCE_DETACH,4.0561e-03,1.7449e-02,3.8748e-02,2.6239e+00,-3.9370e-02,3.7830e-02,-1.6281e-05,2.9650e-02,3.4888e-02,1.6075e-01,-2.3280e-03,1.9382e-03,-9.4894e-06,1.6714e-01,3.0293e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..58b4984dd291bfc4886633a857e214d89dd955fc
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf10add628bdbf6e813f28bfde369b54a931e9b45b9e4ff9f99bd4a07107e22
+size 22128640
diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0e4379b81f4ddfc7582bfc1c80dc80cb947d3db
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c146375b90526fcef2e8ff7e3206873b4446a24
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f225e7e10b51643887536bb72822ab759d0fbd0
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb3160b6c797fe154871856e70655560126827d5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,6.716666667e+00,UP_FORCE_HOLD,1792696350809670258,-2.931430897e-05,-1.033877129e-04,6.144031800e-04,-2.835089174e-05,-1.028557248e-04,6.116596105e-04,-2.593120208e-05,-1.023903069e-04,6.089592945e-04,7.015085572e-01,-1.018367516e-04,8.413553444e-01,7.015095206e-01,-1.013047634e-04,8.413526008e-01,7.017034015e-01,-1.005809742e-04,8.301819384e-01
+58,6.850000000e+00,UP_FORCE_HOLD,1792696351057589516,-2.925165705e-05,-1.074991880e-04,6.235511833e-04,-2.835089174e-05,-1.028557248e-04,6.116596105e-04,-2.592491707e-05,-1.023924010e-04,6.091050622e-04,7.015086198e-01,-1.059482267e-04,8.413644924e-01,7.015095206e-01,-1.013047634e-04,8.413526008e-01,7.017034078e-01,-1.005830683e-04,8.301820842e-01
+59,7.000000000e+00,UP_SETTLE,1792696351339568017,-2.880318334e-05,-1.006329073e-04,6.314845433e-04,-2.652242278e-05,-1.045840808e-04,6.321252913e-04,-2.395884330e-05,-1.041248457e-04,6.294863425e-04,7.015090683e-01,-9.908194594e-05,8.413724257e-01,7.015113491e-01,-1.030331195e-04,8.413730665e-01,7.017053739e-01,-1.023155130e-04,8.302024654e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1064395499e3f6ae46d0d48968db472db2feefc4
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_17.5/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.1977e-02,3.8669e-03,2.4632e+00,-3.7042e-02,3.5908e-02,-6.9111e-06,2.2686e-04,6.7500e-06,8.7261e-05,-2.1234e-07,1.5721e-05,-1.0058e-07,2.4316e-04,1.5722e-05
+1,1.5000e-01,WAIT_W2,3.4932e-05,-9.9781e-03,3.9341e-03,2.4640e+00,-3.7046e-02,3.6046e-02,-7.5031e-06,2.2259e-03,7.3985e-05,9.2220e-04,-3.8929e-06,1.5436e-04,-6.9258e-07,2.4105e-03,1.5441e-04
+2,2.6667e-01,WAIT_W2,6.5102e-05,-8.4271e-03,3.9732e-03,2.4647e+00,-3.7049e-02,3.6153e-02,-7.8323e-06,3.7769e-03,1.1304e-04,1.5759e-03,-6.6720e-06,2.6128e-04,-1.0217e-06,4.0940e-03,2.6137e-04
+3,4.0000e-01,WAIT_W2,9.6808e-05,-6.7261e-03,4.0071e-03,2.4654e+00,-3.7052e-02,3.6271e-02,-8.2179e-06,5.4778e-03,1.4692e-04,2.2988e-03,-9.5256e-06,3.7865e-04,-1.4073e-06,5.9425e-03,3.7877e-04
+4,5.1667e-01,WAIT_W2,1.2912e-04,-5.3026e-03,4.0291e-03,2.4660e+00,-3.7054e-02,3.6369e-02,-8.5870e-06,6.9014e-03,1.6892e-04,2.9025e-03,-1.1746e-05,4.7705e-04,-1.7764e-06,7.4888e-03,4.7720e-04
+5,6.6667e-01,WAIT_W2,1.6056e-04,-3.5822e-03,4.1003e-03,2.4667e+00,-3.7059e-02,3.6488e-02,-9.1119e-06,8.6218e-03,2.4019e-04,3.6283e-03,-1.7405e-05,5.9635e-04,-2.3013e-06,9.3572e-03,5.9661e-04
+6,7.8333e-01,WAIT_W2,1.9451e-04,-2.2954e-03,4.1131e-03,2.4673e+00,-3.7061e-02,3.6578e-02,-9.5576e-06,9.9086e-03,2.5295e-04,4.1628e-03,-1.9234e-05,6.8567e-04,-2.7471e-06,1.0751e-02,6.8594e-04
+7,9.5000e-01,WAIT_W2,2.2504e-04,-7.4676e-04,1.8084e-02,2.4669e+00,-3.8013e-02,3.6687e-02,-5.2366e-06,1.1457e-02,1.4223e-02,3.7627e-03,-9.7140e-04,7.9513e-04,1.5740e-06,1.8648e-02,1.2553e-03
+8,1.1167e+00,WAIT_W2,2.5925e-04,9.5084e-04,1.7397e-02,2.4678e+00,-3.7975e-02,3.6805e-02,-3.2560e-06,1.3155e-02,1.3537e-02,4.6654e-03,-9.3301e-04,9.1289e-04,3.5545e-06,1.9444e-02,1.3053e-03
+9,1.2167e+00,WAIT_W2,2.9094e-04,1.8942e-03,1.7196e-02,2.4682e+00,-3.7963e-02,3.6871e-02,-3.6772e-06,1.4098e-02,1.3336e-02,5.0721e-03,-9.2101e-04,9.7865e-04,3.1334e-06,2.0058e-02,1.3439e-03
+10,1.3500e+00,WAIT_W2,3.2300e-04,1.7929e-03,2.8850e-02,2.4652e+00,-3.8761e-02,3.6867e-02,1.4069e-07,1.3997e-02,2.4990e-02,2.1009e-03,-1.7185e-03,9.7545e-04,6.9512e-06,2.8720e-02,1.9760e-03
+11,1.5000e+00,WAIT_W2,3.5683e-04,3.1558e-03,2.8578e-02,2.4662e+00,-3.8748e-02,3.6961e-02,1.5094e-06,1.5360e-02,2.4718e-02,3.0694e-03,-1.7058e-03,1.0695e-03,8.3199e-06,2.9263e-02,2.0134e-03
+12,1.6333e+00,WAIT_W2,3.8756e-04,4.3085e-03,2.8286e-02,2.4668e+00,-3.8731e-02,3.7042e-02,8.4494e-07,1.6512e-02,2.4426e-02,3.7060e-03,-1.6887e-03,1.1501e-03,7.6555e-06,2.9716e-02,2.0432e-03
+13,1.7667e+00,WAIT_W2,4.1991e-04,5.3826e-03,2.8114e-02,2.4674e+00,-3.8722e-02,3.7117e-02,1.2323e-07,1.7587e-02,2.4253e-02,4.2739e-03,-1.6795e-03,1.2254e-03,6.9338e-06,3.0262e-02,2.0790e-03
+14,1.8833e+00,WAIT_W2,4.5197e-04,4.1709e-03,3.9975e-02,2.4649e+00,-3.9537e-02,3.7035e-02,6.3592e-06,1.6375e-02,3.6115e-02,1.8101e-03,-2.4947e-03,1.1428e-03,1.3170e-05,3.9695e-02,2.7440e-03
+15,2.0167e+00,WAIT_W2,4.8205e-04,5.3121e-03,3.9514e-02,2.4656e+00,-3.9509e-02,3.7114e-02,5.6625e-06,1.7516e-02,3.5654e-02,2.5373e-03,-2.4666e-03,1.2224e-03,1.2473e-05,3.9805e-02,2.7529e-03
+16,2.1333e+00,UP_FORCE_RAMP,5.1492e-04,6.2358e-03,3.9309e-02,2.4662e+00,-3.9498e-02,3.7179e-02,4.9248e-06,1.8440e-02,3.5449e-02,3.0742e-03,-2.4555e-03,1.2873e-03,1.1735e-05,4.0076e-02,2.7725e-03
+17,2.3000e+00,UP_FORCE_RAMP,5.4992e-04,7.4715e-03,3.9123e-02,2.4669e+00,-3.9489e-02,3.7266e-02,3.7977e-06,1.9675e-02,3.5263e-02,3.7570e-03,-2.4468e-03,1.3745e-03,1.0608e-05,4.0555e-02,2.8065e-03
+18,2.4333e+00,UP_FORCE_RAMP,5.7993e-04,8.9967e-03,5.1249e-02,2.4683e+00,-4.0323e-02,3.7374e-02,9.5923e-06,2.1201e-02,4.7389e-02,5.1475e-03,-3.2808e-03,1.4820e-03,1.6403e-05,5.2170e-02,3.6000e-03
+19,2.6667e+00,UP_FORCE_RAMP,6.1449e-04,1.0444e-02,5.0602e-02,2.4689e+00,-4.0286e-02,3.7477e-02,7.8402e-06,2.2648e-02,4.6742e-02,5.7912e-03,-3.2435e-03,1.5846e-03,1.4651e-05,5.2262e-02,3.6099e-03
+20,2.8167e+00,UP_FORCE_RAMP,6.4814e-04,1.1318e-02,5.0409e-02,2.4693e+00,-4.0277e-02,3.7539e-02,6.6403e-06,2.3522e-02,4.6549e-02,6.1593e-03,-3.2345e-03,1.6467e-03,1.3451e-05,5.2517e-02,3.6296e-03
+21,2.9500e+00,UP_FORCE_RAMP,6.7842e-04,9.5668e-03,5.4694e-02,2.4597e+00,-4.0575e-02,3.7424e-02,8.1633e-06,2.1771e-02,5.0834e-02,-3.4394e-03,-3.5333e-03,1.5321e-03,1.4974e-05,5.5406e-02,3.8513e-03
+22,3.0333e+00,UP_FORCE_RAMP,7.0701e-04,7.8385e-03,5.3002e-02,2.4488e+00,-4.0464e-02,3.7312e-02,6.8014e-06,2.0042e-02,4.9142e-02,-1.4322e-02,-3.4221e-03,1.4196e-03,1.3612e-05,5.4970e-02,3.7049e-03
+23,3.1167e+00,UP_FORCE_RAMP,7.4168e-04,7.1861e-03,5.3735e-02,2.4388e+00,-4.0518e-02,3.7274e-02,6.2950e-06,1.9390e-02,4.9875e-02,-2.4288e-02,-3.4756e-03,1.3816e-03,1.3106e-05,5.8766e-02,3.7401e-03
+24,3.2167e+00,UP_FORCE_RAMP,7.8050e-04,8.0128e-03,5.3660e-02,2.4408e+00,-4.0516e-02,3.7331e-02,5.7761e-06,2.0217e-02,4.9800e-02,-2.2312e-02,-3.4739e-03,1.4390e-03,1.2587e-05,5.8195e-02,3.7602e-03
+25,3.3167e+00,UP_FORCE_RAMP,8.0664e-04,1.9154e-02,5.1122e-02,2.4394e+00,-4.0346e-02,3.8118e-02,2.6518e-06,3.1358e-02,4.7261e-02,-2.3751e-02,-3.3037e-03,2.2264e-03,9.4624e-06,6.1490e-02,3.9839e-03
+26,3.4167e+00,UP_FORCE_RAMP,8.3808e-04,1.7285e-02,5.3482e-02,2.4281e+00,-4.0513e-02,3.7998e-02,2.7862e-06,2.9489e-02,4.9622e-02,-3.4975e-02,-3.4708e-03,2.1057e-03,9.5968e-06,6.7492e-02,4.0597e-03
+27,3.5167e+00,UP_FORCE_RAMP,8.7604e-04,1.5250e-02,5.2501e-02,2.4189e+00,-4.0450e-02,3.7864e-02,1.6990e-06,2.7454e-02,4.8641e-02,-4.4240e-02,-3.4083e-03,1.9715e-03,8.5096e-06,7.1252e-02,3.9374e-03
+28,3.5833e+00,UP_FORCE_RAMP,9.0142e-04,1.3244e-02,5.2102e-02,2.4080e+00,-4.0427e-02,3.7732e-02,9.8720e-07,2.5448e-02,4.8242e-02,-5.5114e-02,-3.3852e-03,1.8402e-03,7.7978e-06,7.7540e-02,3.8531e-03
+29,3.6833e+00,UP_FORCE_RAMP,9.3347e-04,1.2182e-02,5.3503e-02,2.4012e+00,-4.0527e-02,3.7663e-02,9.4890e-07,2.4386e-02,4.9643e-02,-6.1919e-02,-3.4851e-03,1.7707e-03,7.7595e-06,8.3025e-02,3.9091e-03
+30,3.8000e+00,UP_FORCE_RAMP,9.6529e-04,1.0566e-02,5.2294e-02,2.3936e+00,-4.0450e-02,3.7555e-02,-2.1420e-07,2.2770e-02,4.8434e-02,-6.9530e-02,-3.4078e-03,1.6634e-03,6.5964e-06,8.7743e-02,3.7921e-03
+31,3.9167e+00,UP_FORCE_RAMP,9.9995e-04,1.2555e-02,5.2998e-02,2.3876e+00,-4.0504e-02,3.7701e-02,-6.8126e-07,2.4759e-02,4.9138e-02,-7.5542e-02,-3.4615e-03,1.8090e-03,6.1293e-06,9.3457e-02,3.9057e-03
+32,4.0333e+00,UP_FORCE_RAMP,1.0306e-03,1.3634e-02,5.2176e-02,2.3785e+00,-4.0453e-02,3.7784e-02,-1.8137e-06,2.5838e-02,4.8316e-02,-8.4611e-02,-3.4110e-03,1.8923e-03,4.9969e-06,1.0080e-01,3.9008e-03
+33,4.1500e+00,UP_FORCE_RAMP,1.0645e-03,1.5222e-02,4.8524e-02,2.3727e+00,-4.0208e-02,3.7901e-02,-4.0371e-06,2.7426e-02,4.4664e-02,-9.0388e-02,-3.1660e-03,2.0091e-03,2.7734e-06,1.0448e-01,3.7497e-03
+34,4.2500e+00,UP_FORCE_RAMP,1.0961e-03,1.6832e-02,4.8823e-02,2.3664e+00,-4.0231e-02,3.8015e-02,-4.7391e-06,2.9036e-02,4.4963e-02,-9.6669e-02,-3.1886e-03,2.1235e-03,2.0715e-06,1.1050e-01,3.8310e-03
+35,4.3333e+00,UP_FORCE_RAMP,1.1232e-03,1.7301e-02,4.8912e-02,2.3713e+00,-4.0238e-02,3.8053e-02,-4.9104e-06,2.9505e-02,4.5052e-02,-9.1783e-02,-3.1959e-03,2.1605e-03,1.9002e-06,1.0642e-01,3.8576e-03
+36,4.3500e+00,UP_FORCE_RAMP,1.1577e-03,1.7357e-02,4.8926e-02,2.3722e+00,-4.0239e-02,3.8056e-02,-4.9293e-06,2.9561e-02,4.5066e-02,-9.0866e-02,-3.1970e-03,2.1640e-03,1.8813e-06,1.0565e-01,3.8605e-03
+37,4.4167e+00,UP_FORCE_RAMP,1.1965e-03,3.6309e-02,5.1580e-02,2.3818e+00,-4.0421e-02,3.9386e-02,-4.9938e-06,4.8513e-02,4.7720e-02,-8.1285e-02,-3.3791e-03,3.4943e-03,1.8168e-06,1.0601e-01,4.8609e-03
+38,4.5333e+00,UP_FORCE_RAMP,1.2253e-03,3.3442e-02,5.1883e-02,2.3757e+00,-4.0445e-02,3.9194e-02,-5.1279e-06,4.5646e-02,4.8023e-02,-8.7401e-02,-3.4032e-03,3.3018e-03,1.6826e-06,1.0968e-01,4.7417e-03
+39,4.6667e+00,UP_FORCE_RAMP,1.2608e-03,3.2858e-02,4.9843e-02,2.3697e+00,-4.0309e-02,3.9160e-02,-6.2759e-06,4.5062e-02,4.5983e-02,-9.3403e-02,-3.2669e-03,3.2677e-03,5.3461e-07,1.1344e-01,4.6207e-03
+40,4.7667e+00,UP_FORCE_RAMP,1.2903e-03,3.3463e-02,5.0988e-02,2.3620e+00,-4.0390e-02,3.9209e-02,-5.9270e-06,4.5667e-02,4.7128e-02,-1.0113e-01,-3.3476e-03,3.3169e-03,8.8353e-07,1.2056e-01,4.7126e-03
+41,4.9167e+00,UP_FORCE_RAMP,1.3259e-03,3.3255e-02,4.8521e-02,2.3594e+00,-4.0222e-02,3.9200e-02,-6.6882e-06,4.5459e-02,4.4661e-02,-1.0368e-01,-3.1803e-03,3.3076e-03,1.2232e-07,1.2170e-01,4.5885e-03
+42,5.0333e+00,UP_FORCE_RAMP,1.3611e-03,3.2755e-02,4.9015e-02,2.3549e+00,-4.0258e-02,3.9169e-02,-6.2144e-06,4.4959e-02,4.5155e-02,-1.0824e-01,-3.2157e-03,3.2774e-03,5.9619e-07,1.2560e-01,4.5915e-03
+43,5.1500e+00,UP_FORCE_RAMP,1.3891e-03,3.1453e-02,4.7688e-02,2.3499e+00,-4.0168e-02,3.9083e-02,-6.2992e-06,4.3657e-02,4.3828e-02,-1.1317e-01,-3.1259e-03,3.1906e-03,5.1138e-07,1.2897e-01,4.4667e-03
+44,5.2667e+00,UP_FORCE_RAMP,1.4193e-03,3.0017e-02,5.0088e-02,2.3417e+00,-4.0333e-02,3.8988e-02,-4.6123e-06,4.2221e-02,4.6228e-02,-1.2138e-01,-3.2913e-03,3.0961e-03,2.1983e-06,1.3658e-01,4.5186e-03
+45,5.3833e+00,UP_FORCE_RAMP,1.4514e-03,3.0960e-02,4.8378e-02,2.3380e+00,-4.0219e-02,3.9057e-02,-4.3464e-06,4.3164e-02,4.4518e-02,-1.2511e-01,-3.1767e-03,3.1648e-03,2.4641e-06,1.3964e-01,4.4841e-03
+46,5.4833e+00,UP_FORCE_RAMP,1.4866e-03,2.9746e-02,4.9650e-02,2.3333e+00,-4.0306e-02,3.8978e-02,-3.3401e-06,4.1950e-02,4.5790e-02,-1.2980e-01,-3.2644e-03,3.0860e-03,3.4704e-06,1.4389e-01,4.4922e-03
+47,5.6000e+00,UP_FORCE_RAMP,1.5188e-03,3.0021e-02,4.9424e-02,2.3416e+00,-4.0292e-02,3.8992e-02,-2.2803e-06,4.2225e-02,4.5563e-02,-1.2148e-01,-3.2497e-03,3.1002e-03,4.5303e-06,1.3644e-01,4.4913e-03
+48,5.7167e+00,UP_FORCE_RAMP,1.5476e-03,3.0680e-02,4.5856e-02,2.3376e+00,-4.0048e-02,3.9042e-02,-2.9113e-06,4.2884e-02,4.1995e-02,-1.2548e-01,-3.0064e-03,3.1505e-03,3.8992e-06,1.3910e-01,4.3548e-03
+49,5.8167e+00,UP_FORCE_RAMP,1.5800e-03,2.9663e-02,4.4708e-02,2.3326e+00,-3.9971e-02,3.8975e-02,-2.4918e-06,4.1867e-02,4.0848e-02,-1.3055e-01,-2.9291e-03,3.0835e-03,4.3187e-06,1.4305e-01,4.2529e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e049f5de77920c67fe5f9cebc9d1331149498f9e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
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+3539,1791878202211787817,7242371000000,1791878202207043409,DOWN_FORCE_DETACH,1,0.0555,0.055500153452157974,0.6760056948434924,-0.0047632543707418085,0.09091636310568621,0.9999999761541829,0.00010302152635324783,-0.0001488541036025416,7.97716675391609e-05,0.6761,-0.0048,0.09097903882521247,1.0,0.0,0.0,0.0,-0.16465579990589918,-0.1827267886987113,0.0764352276940008,-0.011529522843472681,0.010342336476728355,-4.074699231315475e-05,-0.09691203522653458,-0.1556353969023629,0.4240263894582177,-0.015543181497948163,0.006295962021707045,-0.0024791840014025176,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2096970247730308,-0.6679864781453223,0.2528761062334688,0.6344686111480481,0.059979707232647755,-0.47284739869742914,0.5340987696236708,0.0764352276940008,0.28122266339020197,0.28122266339020197,0.36964207561400875,0,0,-2.5874294230814006e-05,-9.93298735193548e-05
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+3750,1791878203969838121,7244129000000,1791878203963043216,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760129549294592,-0.004763749425042342,0.09086393432611445,0.9999999779148284,0.0001022034837327305,-0.000134512575296388,8.410720611310546e-05,0.6761,-0.0048,0.09090672226187325,1.0,0.0,0.0,0.0,-0.17297617102163,-0.1816191820506863,0.10663596849077156,-0.011562583960568383,0.011345991601026915,-5.065090609910651e-05,-0.10523240634226537,-0.15452779025433788,0.45422713025498845,-0.015576242615043864,0.007299617146005606,-0.0024890879151884693,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3261490703449446,-0.6246632896315913,0.15126532102421059,0.6435066917136915,0.1484935690513036,-0.4424976393831043,0.5340987696236708,0.10663596849077156,0.38283344859946017,0.38283344859946017,0.5102820756140447,0,0,-5.4913093415513654e-05,-9.921987817319006e-05
+3870,1791878204969803600,7245129000000,1791878204963044192,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760186282594495,-0.0047669404555728,0.09081416487264647,0.9999999794768151,9.880416241532057e-05,-0.00012443388201708992,8.510687588063634e-05,0.6761,-0.0048,0.09084308522745645,1.0,0.0,0.0,0.0,-0.17348470062339966,-0.19021419534073555,0.14656593071234986,-0.011571378432474407,0.011338159024574933,-8.282397983648462e-05,-0.10574093594403504,-0.16312280354438713,0.49415709247656675,-0.015585037086949888,0.007291784569553624,-0.0025212609889258475,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4005067768427157,-0.6235429005451331,0.00306820539103307,0.6474319254658104,0.26081690614440234,-0.4439699834386816,0.5340987696236708,0.14656593071234986,0.5310305642326377,0.5310305642326377,0.5902820756140137,0,0,-7.189627500706208e-05,9.998072788975349e-05
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+4173,1791878207494772035,7247654000000,1791878207487043048,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760251693945781,-0.0047603967499948155,0.0906235272193729,0.9999999815534095,9.715383976579463e-05,-0.00011108617923913746,8.097553417122726e-05,0.6761,-0.0048,0.090633479622951,1.0,0.0,0.0,0.0,-0.20121936362459059,-0.2039747548738644,0.2864468583873371,-0.012674311146826617,0.01335484205082748,-0.00017929936363997095,-0.13347559894522598,-0.17688336307751598,0.634038020151554,-0.016687969801302098,0.00930846759580617,-0.002617736372729334,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3977790047579577,-0.7761560193211946,-0.21060054348796742,0.6892458561516481,0.3922137257221188,-0.5465882927102017,0.5340987696236708,0.2864468583873371,0.7446993131116382,0.7446993131116382,0.7922820756139354,0,0,-9.36761014632984e-05,9.999561875607128e-05
+4269,1791878208295023852,7248454000000,1791878208287043132,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760307390703091,-0.004757360583738262,0.09056013467923064,0.9999999828063373,9.836664371063974e-05,-9.986954399356968e-05,7.861467557268619e-05,0.6761,-0.0048,0.09055710762062309,1.0,0.0,0.0,0.0,-0.2015229589516833,-0.2061290297202137,0.3365701088330034,-0.012689934567648047,0.013344286620162363,-0.00021986852756931182,-0.13377919427231869,-0.1790376379238653,0.6841612705972203,-0.016703593222123527,0.009297912165141052,-0.0026583055366586747,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.473577698553108,-0.5804461133819686,-0.17040864211143167,0.6416920014000111,0.3827910117615369,-0.4151333608286925,0.5340987696236708,0.3365701088330034,0.7045074117351025,0.7045074117351025,0.8562820756139106,0,0,-9.466858779813426e-05,-9.948219611833337e-05
+4356,1791878209019819524,7249179000000,1791878209019042949,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760366992593291,-0.004751900880074151,0.0905003366983299,0.9999999828098155,0.00010486676292490882,-8.969868267009315e-05,8.2342829288882e-05,0.6761,-0.0048,0.09048630428177729,1.0,0.0,0.0,0.0,-0.20359155053674788,-0.2141622688109612,0.3867214624041756,-0.012694810309836137,0.013334136835751659,-0.00026062553399963445,-0.13584778585738327,-0.18707087701461278,0.7343126241683925,-0.016708468964311617,0.009287762380730348,-0.0026990625430889973,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4349555304213517,-0.7193702115304824,-0.26614623180648533,0.6812193961930515,0.43115195453345223,-0.5056784959554845,0.5340987696236708,0.3867214624041756,0.8002450014301561,0.8002450014301561,0.9142820756138881,0,0,-9.826941776006214e-05,1.4515752345119166e-07
+4457,1791878209861722057,7250021000000,1791878209859043345,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760433718227128,-0.004755076115765387,0.09042193602257277,0.9999999825678323,0.00011042117530001356,-8.04773552155379e-05,8.739427267176906e-05,0.6761,-0.0048,0.09039928565041234,1.0,0.0,0.0,0.0,-0.2056588394352207,-0.1958915205089135,0.4389367793376401,-0.012730999037098858,0.014331911283293659,-0.00029414474277360573,-0.1379150747558561,-0.16880012871256508,0.786527941101857,-0.01674465769157434,0.010285536828272348,-0.0027325817518629686,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4276061506689748,-0.6408174597154301,-0.26809611484570034,0.6630715602295728,0.4304405471022973,-0.4562689825393715,0.5340987696236708,0.4389367793376401,0.8021948844693712,0.8021948844693712,0.981642075613862,0,0,-0.00010657018567203214,-8.888167565690992e-05
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+4728,1791878212119833412,7252279000000,1791878212119043031,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760518997827909,-0.004755348101032981,0.09019675105855197,0.9999999840052367,0.0001030690863666427,-6.964945272575639e-05,8.920822836293691e-05,0.6761,-0.0048,0.09015832317032683,1.0,0.0,0.0,0.0,-0.21155736105154013,-0.20592910325408076,0.6174576061514158,-0.012764970081886155,0.014297138838710536,-0.0004322560379560812,-0.14381359637217553,-0.17883771145773233,0.9650487679156327,-0.016778628736361635,0.010250764383689227,-0.002870693047045444,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4709942138227043,-0.6818580440339074,-0.4259294327146963,0.6831198202063469,0.544784697277513,-0.47946995155699407,0.5340987696236708,0.6174576061514158,0.960028202338367,0.960028202338367,1.162282075614017,0,0,-0.00010521825531270424,-9.98825425410132e-05
+4814,1791878212836810020,7252996000000,1791878212831043555,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760554334843955,-0.0047545857983587085,0.09012626972123443,0.9999999841709215,0.00010455276104809944,-6.2563957426034e-05,9.085974129295696e-05,0.6761,-0.0048,0.0900819217568269,1.0,0.0,0.0,0.0,-0.21170765833572053,-0.204408677801641,0.6589565639133641,-0.012722616341084729,0.014287337517105599,-0.0004645463556941787,-0.14396389365635592,-0.17731728600529256,1.006547725677581,-0.01673627499556021,0.01024096306208429,-0.0029029833647835415,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.447076875599846,-0.7656505031526607,-0.5611856937646877,0.7027236233421966,0.6253784952849525,-0.5389273518101215,0.5340987696236708,0.6589565639133641,1.0952844633883585,1.0952844633883585,1.2196420756140745,0,0,-0.00010942223297308461,4.7211092006565994e-05
+4911,1791878213644830225,7253804000000,1791878213643042865,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760621666018397,-0.004753083244382463,0.09004731770539366,0.9999999842249593,0.0001094426926731252,-5.0240970645911554e-05,9.214709588629997e-05,0.6761,-0.0048,0.0899914958149621,1.0,0.0,0.0,0.0,-0.21238281781985588,-0.20191425939415192,0.7272375114304355,-0.01177338653072552,0.014249804826661775,0.00029106006973933073,-0.14463905314049127,-0.1748228675978035,1.0748286731946524,-0.015787045185201,0.010203430371640466,-0.002147376939350032,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.504474767960025,-0.7474846812218181,-0.583240242762733,0.7007296702041467,0.6537805030831478,-0.5259133761923849,0.5340987696236708,0.7272375114304355,1.1173390123864038,1.1173390123864038,1.284282075614139,0,0,-0.00011359379614303412,-9.877903636568703e-05
+4999,1791878214377812016,7254537000000,1791878214371044033,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.676067165576445,-0.004756678414221307,0.08997388486874129,0.9999999843444377,0.00010832800388545303,-4.4031712524979725e-05,9.529029605693929e-05,0.6761,-0.0048,0.08990881837204051,1.0,0.0,0.0,0.0,-0.22154270553217711,-0.1960560161602126,0.7787316450679564,-0.011810684023124619,0.01522480369779906,0.0004901738592184911,-0.1537989408528125,-0.16896462436386417,1.1263228068321733,-0.0158243426776001,0.01117842924277775,-0.0019482631498708718,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4839221164641356,-0.6769052318168441,-0.6057590439111349,0.688212833460662,0.6641110358457823,-0.476519358974526,0.5340987696236708,0.7787316450679564,1.1398578135348056,1.1398578135348056,1.3429220756141977,0,0,-0.00011443455166379313,-9.836184230860851e-05
+5103,1791878215244729961,7255404000000,1791878215239043337,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760707380833777,-0.004755988831119269,0.0898829106927187,0.9999999838327653,0.00011205281442692164,-4.105018908817611e-05,9.765440222509818e-05,0.6761,-0.0048,0.08981088421738018,1.0,0.0,0.0,0.0,-0.22211168857519784,-0.1957863818103181,0.8389396389504118,-0.011822550686568917,0.015238025308458029,0.00044189200998348424,-0.15436792389583323,-0.16869499001396968,1.1865308007146287,-0.015836209341044398,0.011191650853436718,-0.0019965449991058786,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4943499743634712,-0.6886326052221584,-0.7305913813806733,0.687302682910028,0.7477079065801999,-0.4866485814639223,0.5340987696236708,0.8389396389504118,1.264690151004344,1.264690151004344,1.412282075614267,0,0,-0.00011452136324744604,-3.588057010598438e-05
+5203,1791878216077832110,7256237000000,1791878216071043007,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760756958747599,-0.0047592746139716756,0.08979555252210245,0.9999999843363883,0.00011005081981680374,-3.1156314505391204e-05,9.842859690045054e-05,0.6761,-0.0048,0.08971363875051495,1.0,0.0,0.0,0.0,-0.22226553246723438,-0.20362803200275237,0.8991160358469292,-0.011835114929632774,0.015225711395663345,0.0003933631899400063,-0.15452176778786977,-0.17653664020640394,1.2467071976111461,-0.015848773584108255,0.011179336940642035,-0.0020450738191493565,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.518551156743184,-0.7375524502137812,-0.7251128328986162,0.7058857727118921,0.7517237382227895,-0.5195167019345318,0.5340987696236708,0.8991160358469292,1.2592116025222868,1.2592116025222868,1.4789220756143338,0,0,-0.00011961524270662072,-9.999942126993062e-05
+5283,1791878216744794944,7256904000000,1791878216743043220,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760800889521944,-0.004753910850847631,0.08972428095971986,0.9999999864786848,0.00010201222476116492,-2.5046280301881658e-05,8.63231389194039e-05,0.6761,-0.0048,0.08963348890228139,1.0,0.0,0.0,0.0,-0.23143266571770776,-0.19820610763300076,0.9493073272043642,-0.011843213554149554,0.015214125072709844,0.00035173285212898413,-0.16368890103834316,-0.17111471583665233,1.296898488968581,-0.015856872208625035,0.011167750617688535,-0.0020867041569603787,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4900869738081235,-0.7441447985636751,-0.8905917935384379,0.713016844416861,0.8485403385420069,-0.5225662368430096,0.5340987696236708,0.9493073272043642,1.4246905631621085,1.4246905631621085,1.5322820756143871,0,0,-0.00012236232384690992,9.99997404590502e-05
+5370,1791878217469840106,7257629000000,1791878217467043181,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6760865845901571,-0.004757609472217233,0.08964705206308646,0.9999999876547412,9.717888620593678e-05,-1.1720723580653793e-05,8.09460973669157e-05,0.6761,-0.0048,0.08954311516543784,1.0,0.0,0.0,0.0,-0.22312221360104526,-0.1999938844082387,0.9993884920803557,-0.011853625071171416,0.015203798659487639,0.00031227028761940563,-0.15537844892168065,-0.17290249261189028,1.3469796538445726,-0.015867283725646896,0.011157424204466328,-0.002126166721469957,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.491615616965695,-0.6117060961392703,-0.8518485924404013,0.6798166446962915,0.8226524958150289,-0.434177479292098,0.5340987696236708,0.9993884920803557,1.385947362064072,1.385947362064072,1.5902820756144451,0,0,-0.000126503823065531,-9.988624791035789e-05
+5454,1791878218169762898,7258329000000,1791878218163043727,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.676093517395719,-0.004756181478287056,0.08956583031340024,0.9999999860582042,0.00011037160157547721,-2.07905199032723e-06,8.449995876267254e-05,0.6761,-0.0048,0.0894517353180837,1.0,0.0,0.0,0.0,-0.23002741679235228,-0.1923876762713394,1.0495593114638473,-0.011888872296127971,0.016156478308771663,0.0002858342696655607,-0.16228365211298768,-0.16529628447499098,1.3971504732280642,-0.01590253095060345,0.012110103853750352,-0.002152602739423802,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4759684410395388,-0.7277288643483282,-0.8526225396175553,0.7119930285905204,0.8200258117164212,-0.5088906402222565,0.5340987696236708,1.0495593114638473,1.386721309241226,1.386721309241226,1.6462820756145011,0,0,-0.0001336530941018196,-9.687500387845489e-05
+5530,1791878218802765828,7258962000000,1791878218799044250,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6760952258128747,-0.004759928116483452,0.08948169459175799,0.999999985508195,0.00011180901721452532,-2.5307693260686075e-07,8.902333323763844e-05,0.6761,-0.0048,0.08936559004001991,1.0,0.0,0.0,0.0,-0.23152717222286578,-0.2024017005694271,1.109682416892462,-0.011884588607995426,0.015550330908385642,0.0002257791566756752,-0.16378340754350118,-0.17531030877307868,1.4572735786566788,-0.015898247262470907,0.011503956453364333,-0.0022126578524136876,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4836153538621706,-0.7095241133432714,-0.9977748983519645,0.7096032641902805,0.9147246811429455,-0.49833731813865,0.5340987696236708,1.109682416892462,1.5318736679756353,1.5318736679756353,1.6969220756145518,0,0,-0.00013844021173844994,6.466147098299743e-05
+5598,1791878219369789743,7259529000000,1791878219363043040,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761001162235883,-0.004759655390597823,0.08941338445369516,0.9999999855050571,0.00011046417344232885,8.011750511071933e-06,9.036718554749684e-05,0.6761,-0.0048,0.08928762855817501,1.0,0.0,0.0,0.0,-0.2323003349766577,-0.19455411268535305,1.1476759354977835,-0.011908684218692494,0.0161846644330324,0.00020636026057182762,-0.1645565702972931,-0.16746272088900463,1.4952670972620004,-0.015922342873167974,0.01213828997801109,-0.0022320767485175352,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.5043314005927886,-0.716600637256997,-1.0065398552196867,0.7080616328458573,0.9272058632190291,-0.5076626512772809,0.5340987696236708,1.1476759354977835,1.5406386248433575,1.5406386248433575,1.7422820756145971,0,0,-0.00013625818505033494,-7.692246425795019e-05
+5682,1791878220069793675,7260229000000,1791878220067043068,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761056917618872,-0.004761173650147547,0.08932136640937914,0.9999999857381223,0.00010538034918466829,1.5658952152264278e-05,9.282455946229166e-05,0.6761,-0.0048,0.0891901312255773,1.0,0.0,0.0,0.0,-0.23242944101867896,-0.20248301637145666,1.1986944038829155,-0.011919519925934374,0.016174366121024485,0.00016513694131223972,-0.16468567633931436,-0.17539162457510823,1.5462855656471324,-0.015933178580409855,0.012127991666003174,-0.002273300067777123,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.48714043660167,-0.6470011277484665,-1.0610596072322163,0.6903643911568226,0.9560345721300584,-0.4580681914937791,0.5340987696236708,1.1986944038829155,1.595158376855887,1.595158376855887,1.7982820756146531,0,0,-0.00014186694465986716,-9.70240235639352e-05
+5758,1791878220702836028,7260862000000,1791878220695034085,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761074512709372,-0.004759751343215698,0.08923432623298715,0.9999999865889666,9.992874955136214e-05,1.980055028407626e-05,8.880942605067695e-05,0.6761,-0.0048,0.08909878238103744,1.0,0.0,0.0,0.0,-0.23252323616951345,-0.20126875598589683,1.2401732432576162,-0.011927056866265228,0.016165481671622805,0.00013230587132293404,-0.16477947149014885,-0.1741773641895484,1.5877644050218331,-0.01594071552074071,0.012119107216601496,-0.002306131137766429,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4396303408000914,-0.6468196231660702,-1.0574626878239288,0.7007214057378566,0.937863487844997,-0.45729137315191376,0.5340987696236708,1.2401732432576162,1.5915614574475996,1.5915614574475996,1.8489220756147038,0,0,-0.00014810279341389976,-9.194264380252832e-05
+5830,1791878221302745357,7261462000000,1791878221299043736,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761067513891148,-0.0047653524767495075,0.0891455026697711,0.999999986229095,0.00010274512664219542,1.797034475683036e-05,9.002877179063883e-05,0.6761,-0.0048,0.08900930821713252,1.0,0.0,0.0,0.0,-0.23283182611995146,-0.1998335301000205,1.2803617893750783,-0.011934393811752212,0.016156709235704593,0.0001042313785271135,-0.16508806144058685,-0.17274213830367208,1.6279529511392952,-0.015948052466227693,0.012110334780683282,-0.0023342056305622493,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.5290010340668712,-0.6779718719579224,-1.2215812281394525,0.7035739955841189,1.0683861236121877,-0.4807065698690597,0.5340987696236708,1.2803617893750783,1.7556799977631232,1.7556799977631232,1.8969220756147518,0,0,-0.0001484560056316545,9.799972919133921e-05
+5898,1791878221869783094,7262029000000,1791878221863044016,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761099692574974,-0.004767410668096923,0.08905796806526894,0.9999999854870413,0.0001075314245832101,1.9394280880125535e-05,9.235603061666633e-05,0.6761,-0.0048,0.08892395462059456,1.0,0.0,0.0,0.0,-0.24173525116392305,-0.2017926621410659,1.3303937740587641,-0.011944839368230636,0.016145404017986077,5.828103441368705e-05,-0.17399148648455845,-0.17470127034471747,1.677984935822981,-0.015958498022706116,0.012099029562964768,-0.002380155974675676,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.538573720428904,-0.7827492949373086,-1.3045037660615988,0.7317460024255855,1.1213925374536269,-0.5474862924786469,0.5340987696236708,1.3303937740587641,1.8386025356852695,1.8386025356852695,1.9422820756147972,0,0,-0.0001526426737965839,9.758796134929355e-05
+5977,1791878222527808859,7262687000000,1791878222523043723,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761133534563302,-0.004767500528314773,0.08896387565019132,0.9999999850321808,0.00010800430377117678,2.5952691071784584e-05,9.507907602380676e-05,0.6761,-0.0048,0.08882340101626193,1.0,0.0,0.0,0.0,-0.23283563204323104,-0.20692906633537567,1.360567592449638,-0.011950162176261651,0.016139680110060516,3.500451846034317e-05,-0.16509186736386644,-0.17983767453902724,1.708158754213855,-0.015963820830737132,0.012093305655039207,-0.0024034324906290197,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.5327351230212032,-0.6764629155249687,-1.2794256377383337,0.7037179597781525,1.1038379399743448,-0.4772703176651456,0.5340987696236708,1.360567592449638,1.8135244073620045,1.8135244073620045,1.9949220756148498,0,0,-0.00015610245049782622,9.725428381924246e-05
+6049,1791878223127777189,7263287000000,1791878223127043175,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761158498137643,-0.004772018170329475,0.0888703932426743,0.9999999854945307,0.00010288874424995322,2.6833522502811334e-05,9.564345924696272e-05,0.6761,-0.0048,0.08872850624871198,1.0,0.0,0.0,0.0,-0.24212061126970438,-0.20522487693168515,1.4006803473884835,-0.011957958500799296,0.016131425638658155,1.4692435657006307e-06,-0.17437684659033978,-0.17813348513533672,1.7482715091527004,-0.015971617155274776,0.012085051183636845,-0.002436967765523662,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.454500066214344,-0.5819709845326978,-1.3274118547749785,0.6796259494577823,1.1089129891567628,-0.4160361201060715,0.5340987696236708,1.4006803473884835,1.8615106243986492,1.8615106243986492,2.042922075614898,0,0,-0.00015905675750518965,9.892855565152842e-05
+6125,1791878223761764636,7263921000000,1791878223755043432,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761155653372019,-0.004765903197232826,0.088768722461345,0.9999999847243763,0.00011306143109959128,2.570975575348459e-05,9.246746791306796e-05,0.6761,-0.0048,0.08862528001022373,1.0,0.0,0.0,0.0,-0.24218256106698163,-0.20413323606487616,1.4371444975787695,-0.011964690741523034,0.016123456453533875,-2.7994101523400733e-05,-0.17443879638761703,-0.17704184426852773,1.7847356593429864,-0.015978349395998515,0.012077081998512564,-0.0024664311106127636,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4262088051727635,-0.6714613076029957,-1.2899133780919583,0.7133721227294851,1.0742661006009482,-0.4718287831893585,0.5340987696236708,1.4371444975787695,1.824012147715629,1.824012147715629,2.0936420756149485,0,0,-0.0001670955469365839,-9.999999025923074e-05
+6185,1791878224261840568,7264421000000,1791878224259043484,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761200055988076,-0.004768919362793381,0.08868901907483613,0.9999999814562583,0.0001350433248377864,3.304838348005768e-05,9.592419842812019e-05,0.6761,-0.0048,0.08853915277522172,1.0,0.0,0.0,0.0,-0.23508362953401815,-0.21197432801732877,1.4608857409493219,-0.011969504030150655,0.016118366530991524,-4.631585052797737e-05,-0.16733986485465355,-0.18488293622098034,1.8084769027135388,-0.015983162684626136,0.012071992075970215,-0.00248475285961734,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.5022196542642023,-0.7893483681257828,-1.3240838086605522,0.7453871139746299,1.1142333127580508,-0.5470197476536183,0.5340987696236708,1.4608857409493219,1.858182578284223,1.858182578284223,2.1336420756149885,0,0,-0.00017548808737696676,-8.574665563554901e-05
+6249,1791878224794842868,7264954000000,1791878224791043513,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761191106009541,-0.004772640266008226,0.08859642134056443,0.9999999812989447,0.00013757081770228406,2.9892881623704682e-05,9.500347530791463e-05,0.6761,-0.0048,0.0884441074262889,1.0,0.0,0.0,0.0,-0.24110911058885603,-0.21208755678355343,1.4909780205949579,-0.011975587645068026,0.016112092376577142,-7.091658296910991e-05,-0.17336534590949143,-0.184996164987205,1.8385691823591748,-0.015989246299543507,0.012065717921555832,-0.0025093535920584728,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.476723671755043,-0.7516878915790338,-1.4477378527963274,0.7349378577446011,1.1867511520434941,-0.524408249973344,0.5340987696236708,1.4909780205949579,1.9818366224199981,1.9818366224199981,2.176282075615031,0,0,-0.00018244681599247225,9.123229535579753e-05
+6312,1791878225319803651,7265479000000,1791878225319043357,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.676121603843815,-0.004773114490097497,0.08850068806439484,0.9999999807870777,0.0001380087113029471,3.471442044743274e-05,9.806739025004865e-05,0.6761,-0.0048,0.0883451654173674,1.0,0.0,0.0,0.0,-0.23315817408528244,-0.21150215255028518,1.5110414955308062,-0.011979975145143991,0.016107964788284784,-8.660776994874912e-05,-0.16541440940591784,-0.18441076075393675,1.8586326572950231,-0.01599363379961947,0.012061590333263475,-0.002525044779038112,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.473670344771841,-0.7274588783023451,-1.413744267681854,0.729845381168105,1.1594919134169368,-0.5116043162970471,0.5340987696236708,1.5110414955308062,1.9478430373055247,1.9478430373055247,2.218282075615073,0,0,-0.00019358472377470205,-9.92984264521823e-05
+6377,1791878225861807901,7266021000000,1791878225855043456,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761214726091009,-0.004779076680998172,0.08839231754058342,0.9999999819124819,0.0001278088344090316,3.436975611193853e-05,0.0001005063278216776,0.6761,-0.0048,0.08823848450390522,1.0,0.0,0.0,0.0,-0.2390744785189154,-0.21048968385889333,1.5382760890495042,-0.011984883723368759,0.016102127662238154,-0.00010932541638944632,-0.17133071383955079,-0.1833982920625449,1.885867250813721,-0.01599854237784424,0.012055753207216843,-0.002547762425478809,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.5204183214287652,-0.6929581538199149,-1.4723091702402822,0.7275145654445435,1.2035438493363881,-0.4868111221532054,0.5340987696236708,1.5382760890495042,2.006407939863953,2.006407939863953,2.2616420756151165,0,0,-0.0002001865865778972,-4.04113335659951e-05
+6433,1791878226327806172,7266487000000,1791878226327043083,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761244911391985,-0.004776749861511989,0.088303371060066,0.9999999822393505,0.00012638227908109612,3.627349271614306e-05,9.83662358828785e-05,0.6761,-0.0048,0.08814319410842486,1.0,0.0,0.0,0.0,-0.23326820349430352,-0.2096567966825959,1.5612074448104527,-0.011989159909751919,0.016097073235545777,-0.0001275881888141042,-0.16552443881493892,-0.18256540488624748,1.9087986065746696,-0.0160028185642274,0.012050698780524467,-0.002566025197903467,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4339594466288754,-0.6596121560217676,-1.488942307869628,0.7210351976893759,1.1883076931374141,-0.4639453065089371,0.5340987696236708,1.5612074448104527,2.023041077493299,2.023041077493299,2.298922075615154,0,0,-0.00020874857873806463,-8.565769901570092e-05
+6488,1791878226786831813,7266946000000,1791878226779043888,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761251381992579,-0.004777114974610858,0.08820690729303275,0.9999999831463182,0.00011987063434659973,3.735634777595511e-05,9.688014259287403e-05,0.6761,-0.0048,0.08804550460934944,1.0,0.0,0.0,0.0,-0.24242800393820377,-0.20930187297627217,1.5712461389074,-0.011991945025268663,0.01609465408725808,-0.00013939145651846408,-0.17468423925883916,-0.18221048117992375,1.9188373006716168,-0.016005603679744143,0.012048279632236768,-0.002577828465607827,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4667689599164335,-0.7251400970658813,-1.525067576035271,0.7445536636914726,1.2144548023038828,-0.506059950409969,0.5340987696236708,1.5712461389074,2.0591663456589417,2.0591663456589417,2.3356420756151905,0,0,-0.00021810210521919083,-2.966411424688005e-05
+6544,1791878227252796718,7267412000000,1791878227251042941,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761279798317676,-0.004778793046337799,0.08810862321074803,0.9999999823819904,0.00012253562114299628,4.09202068908171e-05,9.994719368444801e-05,0.6761,-0.0048,0.08794215880556111,1.0,0.0,0.0,0.0,-0.22610703820167063,-0.19931555012968163,1.5835429458763377,-0.011992115255540222,0.016091184660575585,-0.00014430632953887869,-0.15836327352230603,-0.1722241583333332,1.9311341076405546,-0.016005773910015703,0.012044810205554275,-0.0025827433386282415,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4746158136575995,-0.7390751712342204,-1.5277117195002077,0.7528364848982858,1.2131575492389266,-0.513984422392003,0.5340987696236708,1.5835429458763377,2.0618104891238787,2.0618104891238787,2.372922075615228,0,0,-0.0002282050314647829,-9.935725439469962e-05
+6596,1791878227686778950,7267846000000,1791878227683034149,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761259557926217,-0.004777253802152899,0.08800499840700421,0.9999999829889894,0.00012039115933837567,3.721235126728102e-05,9.790860536090507e-05,0.6761,-0.0048,0.08784138967106508,1.0,0.0,0.0,0.0,-0.22419870462081648,-0.20787557809689505,1.6111019428428839,-0.011998630614689983,0.016085920704432703,-0.00016635028907317382,-0.15645493994145188,-0.18078418630054663,1.9586931046071008,-0.016012289269165463,0.012039546249411393,-0.0026047872981625367,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4426322208702502,-0.7132280035503441,-1.525863254971154,0.7426716877023539,1.2016957976083937,-0.4991879116673733,0.5340987696236708,1.6111019428428839,2.0599620245948245,2.0599620245948245,2.4076420756152626,0,0,-0.00023642126846109968,-9.863326408255375e-05
+6648,1791878228119811952,7268279000000,1791878228115043951,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761279679313639,-0.00478179868642183,0.08790201899015397,0.9999999831063856,0.0001169151418100776,3.897939771303604e-05,0.00010020752940116796,0.6761,-0.0048,0.08773673327589541,1.0,0.0,0.0,0.0,-0.23337599027349928,-0.2064360295018747,1.6214174275317352,-0.012000207127981874,0.016083757783529655,-0.00017579784230762783,-0.16563222559413468,-0.17934463770552628,1.9690085892959521,-0.016013865782457355,0.012037383328508344,-0.0026142348513969907,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4513165381157769,-0.71855897825082,-1.5262281490282943,0.7516059536879651,1.1970563105228913,-0.4982142709252345,0.5340987696236708,1.6214174275317352,2.060326918651965,2.060326918651965,2.442282075615297,0,0,-0.00024677377582635183,-9.999387015480749e-05
+6696,1791878228519791351,7268679000000,1791878228515043889,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761258450383203,-0.004782061838026067,0.08779964889940979,0.9999999828737651,0.00011772280790164633,3.588738477510303e-05,0.00010270720510722178,0.6761,-0.0048,0.08763639302600873,1.0,0.0,0.0,0.0,-0.22486046680858762,-0.20990089432241915,1.63036382758734,-0.013022066564757694,0.016100412209487963,-0.00019380678474023453,-0.15711670212922302,-0.18280950252607073,1.977954989351557,-0.017035725219233175,0.012054037754466652,-0.0026322437938295974,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4225664093249368,-0.7200285529696241,-1.646001909944057,0.7587585713150963,1.2667688352547868,-0.4997799439282354,0.5340987696236708,1.63036382758734,2.180100679567728,2.180100679567728,2.474282075615329,0,0,-0.00025618354946158197,9.584628510162502e-05
+6744,1791878228919856072,7269079000000,1791878228919034633,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761245074710956,-0.004783858064665255,0.08769765573978192,0.9999999840860161,0.00011032468064865591,3.326011917259579e-05,9.996530072893276e-05,0.6761,-0.0048,0.08753220791829378,1.0,0.0,0.0,0.0,-0.22704624318645547,-0.21975625571739005,1.6311226661421752,-0.01299637240040347,0.01510564464374001,-0.000209830969213615,-0.15930247850709087,-0.19266486392104162,1.978713827906392,-0.01701003105487895,0.011059270188718702,-0.002648267978302978,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4729177277373435,-0.6656089896534835,-1.6983812837215777,0.7395407073623254,1.3108221333279861,-0.46695428047661575,0.5340987696236708,1.6311226661421752,2.2324800533452485,2.2324800533452485,2.506282075615361,0,0,-0.0002638514385213967,9.999999025923074e-05
+6796,1791878229352841878,7269512000000,1791878229347043374,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761223851780339,-0.004784111979056609,0.087582476490384,0.999999984484478,0.00010954391373544259,2.926055998779082e-05,9.807068183515416e-05,0.6761,-0.0048,0.08741499817198263,1.0,0.0,0.0,0.0,-0.2308280634787051,-0.2293807802707996,1.6411145670991671,-0.012998821947081185,0.015088121536676494,-0.00020752398048496995,-0.1630842987993405,-0.2022893884744512,1.988705728863384,-0.017012480601556666,0.011041747081655184,-0.002645960989574333,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4186348638738193,-0.6805777142637875,-1.5672632313046513,0.7441481449803706,1.2105273133343295,-0.47886697503354525,0.5340987696236708,1.6411145670991671,2.1013620009283223,2.1013620009283223,2.540922075615396,0,0,-0.0002784055813762328,-9.999999025923074e-05
+6843,1791878229744811279,7269904000000,1791878229743043416,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761262363171219,-0.004789183552312888,0.08747734850964754,0.9999999838843956,0.00011098284758862011,3.704672683076207e-05,9.992207164403638e-05,0.6761,-0.0048,0.08730256124118452,1.0,0.0,0.0,0.0,-0.22407727497294347,-0.2236970327170332,1.6411434835352465,-0.012999593017155194,0.015131668258586032,-0.00021711098463205163,-0.15633351029357886,-0.19660564092068478,1.9887346452994634,-0.017013251671630675,0.011085293803564723,-0.0026555479937214145,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3888980621365103,-0.7666797436447698,-1.6151623344650552,0.7843179143865517,1.2278229457203627,-0.5290898112074844,0.5340987696236708,1.6411434835352465,2.149261104088726,2.149261104088726,2.572282075615427,0,0,-0.00029460073917439287,-9.999999025923074e-05
+6887,1791878230111738959,7270271000000,1791878230111044279,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761275005209142,-0.004788735872653795,0.08737049267289126,0.9999999846221528,0.00010520885855953781,3.793593089565259e-05,9.844043758004345e-05,0.6761,-0.0048,0.08719196928757228,1.0,0.0,0.0,0.0,-0.22721563101714687,-0.22612150816993873,1.6411180159779342,-0.013013000204370712,0.0156493319565644,-0.00020945767322910975,-0.15947186633778226,-0.1990301163735903,1.988709177742151,-0.017026658858846192,0.01160295750154309,-0.0026478946823184726,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4187772472791609,-0.6495731162420698,-1.565567612694011,0.7565280724236232,1.2019756112983762,-0.45212574508695896,0.5340987696236708,1.6411180159779342,2.0996663823176815,2.0996663823176815,2.6016420756154566,0,0,-0.00030875481093625554,-9.999999025923074e-05
+6931,1791878230477771338,7270637000000,1791878230475043444,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761308091623798,-0.004794404760513277,0.0872600339191701,0.9999999831797198,0.00011015054554349767,4.640790605291642e-05,0.00010390663125524505,0.6761,-0.0048,0.08707586873903683,1.0,0.0,0.0,0.0,-0.23279115496772307,-0.22726947668311392,1.649034297459425,-0.013006395317146369,0.015308928462629746,-0.00022388396726521435,-0.16504739028835846,-0.2001780848867655,1.9966254592236419,-0.01702005397162185,0.011262554007608436,-0.002662320976354577,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.383033232646399,-0.7463581999375151,-1.6067708037625128,0.7768095207829825,1.2170908718333253,-0.5160288891875103,0.5340987696236708,1.649034297459425,2.1408695733861833,2.1408695733861833,2.630922075615486,0,0,-0.00032602457322314225,-9.999999025923074e-05
+6971,1791878230811771615,7270971000000,1791878230811043802,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761280230688969,-0.004788679329753972,0.08714619899814371,0.9999999833365061,0.00011247862865713398,4.21154759492393e-05,0.00010170888180750814,0.6761,-0.0048,0.08696455496920912,1.0,0.0,0.0,0.0,-0.234905816248394,-0.22534473907671793,1.6545769413887197,-0.013029853894243652,0.0160975085764054,-0.00021321092562148064,-0.16716205156902939,-0.1982533472803695,2.0021681031529366,-0.017043512548719133,0.01205113412138409,-0.0026516479347108435,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3787166524691419,-0.8263366533112767,-1.6792868980065723,0.8084862488826406,1.2627701163040443,-0.5683935991870237,0.5340987696236708,1.6545769413887197,2.2133856676302432,2.2133856676302432,2.6576420756155126,0,0,-0.0003405999903880171,-9.999999025923074e-05
+7007,1791878231111845386,7271271000000,1791878231111045037,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761310063838291,-0.00479252182317882,0.08704849502832464,0.9999999833279275,0.00010920317382644388,4.845251453052748e-05,0.00010253794273815785,0.6761,-0.0048,0.08686028027201756,1.0,0.0,0.0,0.0,-0.24213056549686243,-0.2292391694166813,1.6510722182292763,-0.013028460729734924,0.016098034238297455,-0.00021236191559382243,-0.17438680081749783,-0.20214777762033287,1.9986633799934932,-0.017042119384210404,0.012051659783276146,-0.0026507989246831853,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.395960578860381,-0.7635320180918648,-1.6591591558566092,0.7971954191446932,1.2526552257713623,-0.5249217901650445,0.5340987696236708,1.6510722182292763,2.19325792548028,2.19325792548028,2.6816420756155366,0,0,-0.0003545905495436471,-9.999999025923074e-05
+7047,1791878231444745204,7271604000000,1791878231443043355,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761292773082584,-0.004793281508856897,0.08692609368431144,0.9999999839983108,0.00010423640697571183,4.52798603751905e-05,0.00010261943332190196,0.6761,-0.0048,0.08673952962944427,1.0,0.0,0.0,0.0,-0.23303358533145188,-0.22968929346040504,1.6709883961085399,-0.013031328733627005,0.016094110070831155,-0.00023230478665285008,-0.16528982065208728,-0.2025979016640566,2.018579557872757,-0.017044987388102485,0.012047735615809846,-0.002670741795742213,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4926475947655087,-0.7879091591523137,-1.6828988859738987,0.8094752454468257,1.2990486242838828,-0.5379472060030487,0.5340987696236708,1.6709883961085399,2.2169976555975692,2.2169976555975692,2.7082820756155632,0,0,-0.00037011056324839773,-9.999999025923074e-05
+7083,1791878231744769531,7271904000000,1791878231743043546,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761327729455346,-0.004793723463044843,0.08681530353082507,0.9999999838470304,0.00010181251468598215,4.880981168700998e-05,0.00010488382863828031,0.6761,-0.0048,0.0866265536980711,1.0,0.0,0.0,0.0,-0.23298986866781185,-0.22853044908157277,1.671536640189512,-0.013035518467012504,0.016093509160653212,-0.00022756325699482436,-0.16524610398844725,-0.20143905728522435,2.019127801953729,-0.017049177121487985,0.012047134705631901,-0.002666000266084187,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4163202632018095,-0.7476050791736893,-1.7308581196405297,0.8011211651819123,1.3131369338459216,-0.5140371743698162,0.5340987696236708,1.671536640189512,2.2649568892642007,2.2649568892642007,2.7322820756155872,0,0,-0.00038373973361841154,4.9967290054136984e-05
+7115,1791878232011811082,7272171000000,1791878232007043072,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761297941404819,-0.004794501626019089,0.08670394348409068,0.9999999844255602,9.913027764464087e-05,4.191078673327284e-05,0.00010492100810976585,0.6761,-0.0048,0.08652259053889089,1.0,0.0,0.0,0.0,-0.23564537826988977,-0.22815377982340204,1.6811839554971282,-0.013034151091329004,0.016091325265055016,-0.0002358892898640429,-0.16790161359052516,-0.20106238802705362,2.028775117261345,-0.017047809745804485,0.012044950810033705,-0.0026743262989534057,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4245499431762736,-0.7599987651864829,-1.6286726474998556,0.8057863858916775,1.2515452880184004,-0.5219528136090542,0.5340987696236708,1.6811839554971282,2.162771417123526,2.162771417123526,2.7536420756156086,0,0,-0.0003958818827573803,-9.999999025923074e-05
+7151,1791878232311812012,7272471000000,1791878232307043650,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761337015548164,-0.004795411174719299,0.08659541147203173,0.999999983828623,9.761066943727908e-05,5.1799715219514584e-05,0.00010758515189371239,0.6761,-0.0048,0.08640158347450347,1.0,0.0,0.0,0.0,-0.23288114019547565,-0.22220453840260285,1.681224849997516,-0.0130327921661395,0.016090378459309964,-0.00023558494850201613,-0.16513737551611105,-0.19511314660625442,2.028816011761733,-0.01704645082061498,0.012044004004288655,-0.002674021957591379,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4728676062794488,-0.7753419677168177,-1.5785293756303174,0.8193365267844946,1.2347421636748954,-0.5293114031033455,0.5340987696236708,1.681224849997516,2.1126281452539883,2.1126281452539883,2.7776420756156326,0,0,-0.00041088187983514955,-9.999999025923074e-05
+7183,1791878232577843666,7272737000000,1791878232571043474,DOWN_FORCE_DETACH,1,0.0555,0.05550212413072586,0.6761313260007965,-0.004789814567157176,0.08648444175273597,0.9999999827666783,0.00011013401276992882,5.125600006957233e-05,0.000105606955249666,0.6761,-0.0048,0.08629052664481322,1.0,0.0,0.0,0.0,-0.22357351805563916,-0.22810026895964886,1.6934998761771978,-0.013009955461003118,0.015074987189179767,-0.0002600950119055769,-0.15582975337627455,-0.20100887716330043,2.0410910379414147,-0.0170236141154786,0.011028612734158456,-0.0026985320209949397,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3653096860987595,-0.7821691869666277,-1.6359754177226449,0.8203901253464536,1.2452895806817699,-0.5323346499006812,0.5340987696236708,1.6934998761771978,2.170074187346316,2.170074187346316,2.798922075615654,0,0,-0.0004241818772441049,-9.999999025923074e-05
+7215,1791878232844857333,7273004000000,1791878232843043092,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761257405265634,-0.004790774659646467,0.08636382597715198,0.9999999821808736,0.00011478959444633265,4.415306507597342e-05,0.00010933879783384175,0.6761,-0.0048,0.08617552931554676,1.0,0.0,0.0,0.0,-0.2235713228334961,-0.22877002642241745,1.7013374273633304,-0.013010518710995279,0.015073478493877048,-0.00026641475945713864,-0.1558275581541315,-0.20167863462606903,2.0489285891275473,-0.01702417736547076,0.01102710403885574,-0.0027048517685465015,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3902710066027548,-0.8010427173076109,-1.5724316250386987,0.8263656047782648,1.2167190126233076,-0.5464355334776999,0.5340987696236708,1.7013374273633304,2.1065303946623697,2.1065303946623697,2.8202820756156752,0,0,-0.0004373552386041909,-9.999999025923074e-05
+7243,1791878233077808449,7273237000000,1791878233075043415,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761205822233466,-0.004793299015393655,0.08625515087083487,0.9999999833463628,0.00010453265064535283,4.0571904233016014e-05,0.00011034937332020892,0.6761,-0.0048,0.08607227414521752,1.0,0.0,0.0,0.0,-0.22356080867527095,-0.22735881675852346,1.702659557259815,-0.013010643132899912,0.015073119148411713,-0.0002674879907427312,-0.15581704399590635,-0.20026742496217503,2.050250719024032,-0.017024301787375393,0.011026744693390404,-0.002705924999832094,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3961202166448485,-0.6913007327087177,-1.5579810597591506,0.8042159662512915,1.2110489507176747,-0.47249037717779835,0.5340987696236708,1.702659557259815,2.092079829382821,2.092079829382821,2.838922075615694,0,0,-0.00044900523633459164,-9.999999025923074e-05
+7277,1791878233361748290,7273521000000,1791878233359043700,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761438791479445,-0.004782823944477376,0.08614998857744847,0.999999981078898,0.00011158134687279419,6.631551835919532e-05,0.00011152095345170041,0.6761,-0.0048,0.08594274735849271,1.0,0.0,0.0,0.0,-0.23332240501048027,-0.214963576793925,1.691696873492268,-0.011987272504733564,0.015056051053202617,-0.0002482861406134041,-0.16557864033111566,-0.18787218499757657,2.039288035256485,-0.016000931159209045,0.011009676598181308,-0.002686723149702767,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4261089823456305,-0.727331643504372,-1.5918274282328055,0.8242452503531665,1.2430224398143972,-0.4951345425043869,0.5340987696236708,1.691696873492268,2.1259261978564763,2.1259261978564763,2.8616420756157166,0,0,-0.00046320523356821317,-9.999999025923074e-05
+7307,1791878233611748212,7273771000000,1791878233611043473,DOWN_FORCE_DETACH,1,0.0555,0.05550146847963333,0.6761427834264656,-0.004790353530134068,0.08603488441956386,0.9999999797323139,0.00011982615159059056,6.742825247340826e-05,0.0001143387958315476,0.6761,-0.0048,0.08582538980040627,1.0,0.0,0.0,0.0,-0.2330556319232013,-0.21500902680766887,1.6917071679531805,-0.011987598187518787,0.015055452642182967,-0.00024977281390294167,-0.1653118672438367,-0.18791763501132044,2.0392983297173974,-0.016001256841994268,0.011009078187161656,-0.0026882098229923045,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4043324298457105,-0.7665627126073521,-1.5946350690642541,0.8369449014193023,1.2413642078591134,-0.5151455404277001,0.5340987696236708,1.6917071679531805,2.128733838687925,2.128733838687925,2.8816420756157366,0,0,-0.00047570523113302086,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e286b865b5ab14e3232955ecd9eec2e8ba867ad8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23fa8bbdeebdebd74854cb0f3f989714690926a1
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791878200209629454,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.842343833e-09,-4.927794978e-11,-1.640920733e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293124e-01,1.726237126e-06,8.295726129e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1791878201307508756,3.923213878e-06,9.058496182e-07,4.232546598e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.225820560e-08,-1.218087178e-09,-3.904442880e-09,7.015417947e-01,2.456810939e-06,8.407451737e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293529e-01,1.725068316e-06,8.295726092e-01
+2,1.050000000e+00,DOWN_FORCE_DETACH,1791878202207462590,5.912004697e-06,-7.001658108e-06,5.969856715e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.688249238e-08,-1.713064225e-09,-5.458563046e-09,7.015437835e-01,-5.450696787e-06,8.407415382e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293675e-01,1.724573339e-06,8.295726076e-01
+3,1.500000000e+00,DOWN_FORCE_DETACH,1791878203071748318,6.610748074e-06,-4.870623844e-06,-2.070128675e-05,5.695145763e-06,-1.098813197e-05,-1.667240763e-05,5.778263815e-06,-1.098822581e-05,-1.658506763e-05,7.015444822e-01,-3.319662523e-06,8.407202399e-01,7.015435666e-01,-9.437170646e-06,8.407242688e-01,7.017350889e-01,-9.261939409e-06,8.295560280e-01
+4,1.983333333e+00,DOWN_FORCE_DETACH,1791878203967534005,1.147591701e-05,-1.032026066e-05,-5.415170523e-05,1.067256729e-05,-6.011402176e-06,-3.531587664e-05,1.082985018e-05,-5.979409156e-06,-3.523368925e-05,7.015493474e-01,-8.769299335e-06,8.406867895e-01,7.015485440e-01,-4.460440855e-06,8.407056253e-01,7.017401405e-01,-4.253122752e-06,8.295373794e-01
+5,2.500000000e+00,DOWN_FORCE_DETACH,1791878204967475338,1.663926127e-05,-5.288315760e-06,-1.050415915e-04,1.401346595e-05,-9.866641320e-06,-1.004275992e-04,1.408680763e-05,-9.864065202e-06,-1.000865732e-04,7.015545107e-01,-3.737354438e-06,8.406358996e-01,7.015518849e-01,-8.315679999e-06,8.406405136e-01,7.017433974e-01,-8.137778799e-06,8.294725265e-01
+6,2.900000000e+00,DOWN_FORCE_DETACH,1791878205765584254,1.839115200e-05,-6.671173639e-06,-1.589046260e-04,1.687066767e-05,-9.089173085e-06,-1.422813566e-04,1.686666462e-05,-9.079953004e-06,-1.419496027e-04,7.015562626e-01,-5.120212318e-06,8.405820366e-01,7.015547421e-01,-7.538211764e-06,8.405986598e-01,7.017461773e-01,-7.353666600e-06,8.294306635e-01
+7,3.333333333e+00,DOWN_FORCE_DETACH,1791878206629511390,2.038574520e-05,-6.229967698e-06,-2.241452569e-04,2.033702619e-05,-6.418719395e-06,-2.243298389e-04,2.011840233e-05,-6.380527877e-06,-2.237342006e-04,7.015582572e-01,-4.679006377e-06,8.405167959e-01,7.015582085e-01,-4.867758074e-06,8.405166113e-01,7.017494290e-01,-4.654241474e-06,8.293488789e-01
+8,3.766666667e+00,DOWN_FORCE_DETACH,1791878207495680077,2.238492593e-05,-1.552419977e-06,-2.966546307e-04,2.081280838e-05,3.181082512e-06,-2.856380771e-04,2.040422937e-05,3.192746404e-06,-2.849842627e-04,7.015602564e-01,-1.458655926e-09,8.404442866e-01,7.015586843e-01,4.732043833e-06,8.404553031e-01,7.017497148e-01,4.919032808e-06,8.292876288e-01
+9,4.166666667e+00,DOWN_FORCE_DETACH,1791878208293573968,3.075588680e-05,-7.540477275e-07,-3.546726298e-04,2.748856257e-05,6.942307722e-06,-3.491827342e-04,2.700689740e-05,6.965211463e-06,-3.485797669e-04,7.015686274e-01,7.969135935e-07,8.403862686e-01,7.015653600e-01,8.493269043e-06,8.403917585e-01,7.017563175e-01,8.691497866e-06,8.292240333e-01
+10,4.550000000e+00,DOWN_FORCE_DETACH,1791878209023545911,3.560692711e-05,2.549674122e-06,-4.206333265e-04,3.061162478e-05,5.185007409e-06,-4.213324574e-04,2.996708762e-05,5.203621991e-06,-4.205457477e-04,7.015734784e-01,4.100635443e-06,8.403203079e-01,7.015684831e-01,6.735968730e-06,8.403196087e-01,7.017592777e-01,6.929908395e-06,8.291520674e-01
+11,5.000000000e+00,DOWN_FORCE_DETACH,1791878209857546197,3.879241376e-05,3.171744825e-06,-5.018529454e-04,3.686228554e-05,4.730155672e-06,-4.891728503e-04,3.612297933e-05,4.784170318e-06,-4.885144316e-04,7.015766639e-01,4.722706146e-06,8.402390882e-01,7.015747338e-01,6.281116994e-06,8.402517683e-01,7.017654336e-01,6.510456721e-06,8.290840987e-01
+12,5.383333333e+00,DOWN_FORCE_DETACH,1791878210587540595,4.321205720e-05,6.488934266e-06,-5.679561646e-04,4.217589243e-05,3.106601446e-06,-5.556461181e-04,4.142135939e-05,3.176195431e-06,-5.549982614e-04,7.015810835e-01,8.039895587e-06,8.401729850e-01,7.015800474e-01,4.657562767e-06,8.401852951e-01,7.017707320e-01,4.902481835e-06,8.290176148e-01
+13,5.800000000e+00,DOWN_FORCE_DETACH,1791878211387539567,4.497124947e-05,6.048760486e-06,-6.528195897e-04,4.457779685e-05,4.596027648e-06,-6.380570273e-04,4.362057846e-05,4.674615785e-06,-6.374887839e-04,7.015828427e-01,7.599721807e-06,8.400881216e-01,7.015824493e-01,6.146988969e-06,8.401028842e-01,7.017729312e-01,6.400902189e-06,8.289351243e-01
+14,6.183333333e+00,DOWN_FORCE_DETACH,1791878212119555367,5.064329208e-05,7.267689605e-06,-7.196014744e-04,4.803330410e-05,7.340064049e-06,-7.040617246e-04,4.695238074e-05,7.399933491e-06,-7.035141407e-04,7.015885148e-01,8.818650927e-06,8.400213397e-01,7.015859048e-01,8.891025370e-06,8.400368795e-01,7.017762630e-01,9.126219895e-06,8.288690990e-01
+15,6.566666667e+00,DOWN_FORCE_DETACH,1791878212833570024,5.514510379e-05,6.598898927e-06,-7.880454729e-04,5.250070232e-05,-4.355435471e-08,-7.899218816e-04,5.119843801e-05,-2.012529340e-08,-7.892613562e-04,7.015930166e-01,8.149860248e-06,8.399528957e-01,7.015903722e-01,1.507406966e-06,8.399510193e-01,7.017805090e-01,1.706161110e-06,8.287833517e-01
+16,6.983333333e+00,DOWN_FORCE_DETACH,1791878213647771632,6.192655347e-05,4.501954032e-06,-8.698937028e-04,5.918060761e-05,3.595436973e-06,-8.550171730e-04,5.787675307e-05,3.652191496e-06,-8.544877994e-04,7.015997980e-01,6.052915353e-06,8.398710475e-01,7.015970521e-01,5.146398294e-06,8.398859240e-01,7.017871874e-01,5.378477899e-06,8.287181253e-01
+17,7.350000000e+00,DOWN_FORCE_DETACH,1791878214379770159,6.513637793e-05,5.661617617e-07,-9.451529507e-04,6.645092777e-05,3.437278414e-06,-9.405064682e-04,6.499553263e-05,3.533055947e-06,-9.398076952e-04,7.016030079e-01,2.117123083e-06,8.397957882e-01,7.016043224e-01,4.988239736e-06,8.398004347e-01,7.017943061e-01,5.259342351e-06,8.286328054e-01
+18,7.783333333e+00,DOWN_FORCE_DETACH,1791878215247598110,6.792644520e-05,-3.713701851e-07,-1.036874983e-03,6.693152342e-05,3.413626584e-06,-1.025729009e-03,6.517837027e-05,3.492132769e-06,-1.024985079e-03,7.016057979e-01,1.179591136e-06,8.397040662e-01,7.016048030e-01,4.964587905e-06,8.397152122e-01,7.017944890e-01,5.218419172e-06,8.285476280e-01
+19,8.200000000e+00,DOWN_FORCE_DETACH,1791878216077699479,7.386632370e-05,-1.859923816e-06,-1.123302579e-03,7.568123246e-05,-2.186922701e-06,-1.107870490e-03,7.393814197e-05,-2.144297910e-06,-1.107136802e-03,7.016117378e-01,-3.089624952e-07,8.396176386e-01,7.016135527e-01,-6.359613801e-07,8.396330707e-01,7.018032487e-01,-4.180115061e-07,8.284654763e-01
+20,8.550000000e+00,DOWN_FORCE_DETACH,1791878216743794317,8.051760272e-05,2.456479306e-06,-1.191753780e-03,7.778301043e-05,2.293606565e-06,-1.178593665e-03,7.576214115e-05,2.325542105e-06,-1.177890165e-03,7.016183891e-01,4.007440627e-06,8.395491874e-01,7.016156545e-01,3.844567886e-06,8.395623475e-01,7.018050727e-01,4.051828508e-06,8.283947229e-01
+21,8.933333333e+00,DOWN_FORCE_DETACH,1791878217473610977,8.516670826e-05,1.583531445e-06,-1.272432539e-03,8.591822105e-05,8.333437438e-08,-1.265748293e-03,8.374270965e-05,1.056653565e-07,-1.265042121e-03,7.016230382e-01,3.134492767e-06,8.394685086e-01,7.016237897e-01,1.634295695e-06,8.394751929e-01,7.018130533e-01,1.831951760e-06,8.283075710e-01
+22,9.300000000e+00,DOWN_FORCE_DETACH,1791878218173682414,9.034738456e-05,1.152025816e-06,-1.354405369e-03,8.857514611e-05,4.670479110e-07,-1.352093576e-03,8.623885005e-05,4.693276017e-07,-1.351358684e-03,7.016282189e-01,2.702987137e-06,8.393865358e-01,7.016264466e-01,2.018009232e-06,8.393888476e-01,7.018155495e-01,2.195614005e-06,8.282212544e-01
+23,9.633333333e+00,DOWN_FORCE_DETACH,1791878218805683951,9.390472187e-05,-5.067221881e-07,-1.437071714e-03,9.308954980e-05,-5.323960633e-06,-1.418212531e-03,9.060554836e-05,-5.264534229e-06,-1.417521307e-03,7.016317762e-01,1.044239133e-06,8.393038695e-01,7.016309610e-01,-3.772999312e-06,8.393227287e-01,7.018199161e-01,-3.538247826e-06,8.281550918e-01
+24,9.933333333e+00,DOWN_FORCE_DETACH,1791878219369624015,9.828667253e-05,-2.240700442e-06,-1.505470648e-03,9.629680510e-05,-5.349287924e-06,-1.491076793e-03,9.357828759e-05,-5.317074939e-06,-1.490380173e-03,7.016361582e-01,-6.897391213e-07,8.392354705e-01,7.016341683e-01,-3.798326603e-06,8.392498644e-01,7.018228889e-01,-3.590788535e-06,8.280822329e-01
+25,1.030000000e+01,DOWN_FORCE_DETACH,1791878220069640682,1.038622108e-04,-3.758959992e-06,-1.597488692e-03,9.928636578e-05,-3.546912796e-06,-1.580819855e-03,9.631270184e-05,-3.494655859e-06,-1.580166848e-03,7.016417337e-01,-2.207998671e-06,8.391434525e-01,7.016371578e-01,-1.995951475e-06,8.391601213e-01,7.018256233e-01,-1.768369456e-06,8.279924463e-01
+26,1.063333333e+01,DOWN_FORCE_DETACH,1791878220701635804,1.041900049e-04,-6.376508620e-06,-1.684468762e-03,1.037024699e-04,-6.344536397e-06,-1.674790852e-03,1.005302621e-04,-6.313086630e-06,-1.674032945e-03,7.016420615e-01,-4.825547299e-06,8.390564724e-01,7.016415740e-01,-4.793575076e-06,8.390661503e-01,7.018298409e-01,-4.586800227e-06,8.278985802e-01
+27,1.095000000e+01,DOWN_FORCE_DETACH,1791878221299642966,1.076557180e-04,-1.051259335e-05,-1.769731674e-03,1.036095970e-04,-7.530035298e-06,-1.763116062e-03,1.000791716e-04,-7.511785969e-06,-1.762268685e-03,7.016455272e-01,-8.961632030e-06,8.389712095e-01,7.016414811e-01,-5.979073977e-06,8.389778251e-01,7.018293898e-01,-5.785499565e-06,8.278103444e-01
+28,1.123333333e+01,DOWN_FORCE_DETACH,1791878221865941825,1.092948910e-04,-9.252321760e-06,-1.859125748e-03,1.061019489e-04,-6.759858966e-06,-1.856260777e-03,1.023243342e-04,-6.726076405e-06,-1.855274091e-03,7.016471664e-01,-7.701360439e-06,8.388818154e-01,7.016439734e-01,-5.208897645e-06,8.388846804e-01,7.018316349e-01,-4.999790002e-06,8.277173390e-01
+29,1.156666667e+01,DOWN_FORCE_DETACH,1791878222529706116,1.136570915e-04,-8.125557235e-06,-1.953222211e-03,1.108942059e-04,-7.432478939e-06,-1.943370779e-03,1.070125153e-04,-7.388335113e-06,-1.942436014e-03,7.016515286e-01,-6.574595914e-06,8.387877190e-01,7.016487657e-01,-5.881517618e-06,8.387975704e-01,7.018363231e-01,-5.662048710e-06,8.276301771e-01
+30,1.186666667e+01,DOWN_FORCE_DETACH,1791878223130637949,1.136482822e-04,-1.280361957e-05,-2.050602239e-03,1.165164609e-04,-1.230784572e-05,-2.035427020e-03,1.124130006e-04,-1.223666988e-05,-2.034469049e-03,7.016515198e-01,-1.125265824e-05,8.386903389e-01,7.016543879e-01,-1.075688440e-05,8.387055142e-01,7.018417236e-01,-1.051038348e-05,8.275381441e-01
+31,1.218333333e+01,DOWN_FORCE_DETACH,1791878223759693470,1.163787498e-04,-1.705235998e-05,-2.148608230e-03,1.147121790e-04,-1.402152043e-05,-2.142128863e-03,1.102680393e-04,-1.395721642e-05,-2.141188015e-03,7.016542502e-01,-1.550139866e-05,8.385923330e-01,7.016525837e-01,-1.247055911e-05,8.385988123e-01,7.018395786e-01,-1.223093002e-05,8.274314251e-01
+32,1.243333333e+01,DOWN_FORCE_DETACH,1791878224261694147,1.181760477e-04,-1.150467264e-05,-2.229836026e-03,1.179628647e-04,-1.151807285e-05,-2.229544599e-03,1.132580244e-04,-1.144282430e-05,-2.228498034e-03,7.016560475e-01,-9.953711317e-06,8.385111052e-01,7.016558343e-01,-9.967111532e-06,8.385113966e-01,7.018425686e-01,-9.716537899e-06,8.273441151e-01
+33,1.270000000e+01,DOWN_FORCE_DETACH,1791878224793708068,1.166181259e-04,-1.286205865e-05,-2.324780090e-03,1.166843887e-04,-1.290540040e-05,-2.324196298e-03,1.116696177e-04,-1.284316486e-05,-2.323156665e-03,7.016544896e-01,-1.131109733e-05,8.384161611e-01,7.016545559e-01,-1.135443908e-05,8.384167449e-01,7.018409802e-01,-1.111687846e-05,8.272494564e-01
+34,1.298333333e+01,DOWN_FORCE_DETACH,1791878225323788595,1.188013692e-04,-1.647142443e-05,-2.420228587e-03,1.185975661e-04,-1.646346425e-05,-2.419966930e-03,1.132912136e-04,-1.641149401e-05,-2.418891266e-03,7.016566729e-01,-1.492046311e-05,8.383207126e-01,7.016564690e-01,-1.491250292e-05,8.383209743e-01,7.018426018e-01,-1.468520761e-05,8.271537218e-01
+35,1.326666667e+01,DOWN_FORCE_DETACH,1791878225857707609,1.207686193e-04,-2.225053542e-05,-2.522603474e-03,1.213530269e-04,-1.872814660e-05,-2.509650752e-03,1.157702916e-04,-1.865726364e-05,-2.508614015e-03,7.016586401e-01,-2.069957409e-05,8.382183377e-01,7.016592245e-01,-1.717718527e-05,8.382312904e-01,7.018450809e-01,-1.693097723e-05,8.270639991e-01
+36,1.351666667e+01,DOWN_FORCE_DETACH,1791878226331538861,1.249933763e-04,-2.132388956e-05,-2.615833994e-03,1.218851419e-04,-2.309833338e-05,-2.603101782e-03,1.159998772e-04,-2.305844635e-05,-2.601971744e-03,7.016628649e-01,-1.977292824e-05,8.381251072e-01,7.016597566e-01,-2.154737206e-05,8.381378394e-01,7.018453105e-01,-2.133215994e-05,8.269706414e-01
+37,1.375000000e+01,DOWN_FORCE_DETACH,1791878226787703758,1.233086482e-04,-1.970028446e-05,-2.711947808e-03,1.230090126e-04,-1.973113852e-05,-2.711876120e-03,1.168020544e-04,-1.968344254e-05,-2.710628080e-03,7.016611801e-01,-1.814932313e-05,8.380289934e-01,7.016608805e-01,-1.818017719e-05,8.380290651e-01,7.018461127e-01,-1.795715613e-05,8.268619850e-01
+38,1.400000000e+01,DOWN_FORCE_DETACH,1791878227253744961,1.262639812e-04,-2.118745720e-05,-2.809822678e-03,1.232490541e-04,-2.003673719e-05,-2.793280812e-03,1.166678834e-04,-2.004900897e-05,-2.792185471e-03,7.016641355e-01,-1.963649588e-05,8.379311185e-01,7.016611205e-01,-1.848577587e-05,8.379476604e-01,7.018459785e-01,-1.832272257e-05,8.267804276e-01
+39,1.423333333e+01,DOWN_FORCE_DETACH,1791878227685735568,1.230187022e-04,-1.956057855e-05,-2.917204128e-03,1.228033466e-04,-1.977358759e-05,-2.917270199e-03,1.157665650e-04,-1.974750563e-05,-2.916000069e-03,7.016608902e-01,-1.800961723e-05,8.378237371e-01,7.016606748e-01,-1.822262626e-05,8.378236710e-01,7.018450772e-01,-1.802121923e-05,8.266566130e-01
+40,1.445000000e+01,DOWN_FORCE_DETACH,1791878228119726551,1.251803087e-04,-2.576387396e-05,-3.018966640e-03,1.252448512e-04,-2.668994508e-05,-3.008803640e-03,1.179030901e-04,-2.666587116e-05,-3.007547477e-03,7.016630518e-01,-2.421291264e-05,8.377219745e-01,7.016631163e-01,-2.513898376e-05,8.377321375e-01,7.018472137e-01,-2.493958476e-05,8.265650656e-01
+41,1.466666667e+01,DOWN_FORCE_DETACH,1791878228517734798,1.231553411e-04,-2.958199493e-05,-3.118317995e-03,1.230418536e-04,-2.956586008e-05,-3.118129496e-03,1.151853207e-04,-2.954019427e-05,-3.116832357e-03,7.016610268e-01,-2.803103361e-05,8.376226232e-01,7.016609133e-01,-2.801489876e-05,8.376228117e-01,7.018444959e-01,-2.781390787e-05,8.264557807e-01
+42,1.488333333e+01,DOWN_FORCE_DETACH,1791878228916658552,1.230071583e-04,-2.905523485e-05,-3.218990306e-03,1.228217376e-04,-2.899759811e-05,-3.218738958e-03,1.146503786e-04,-2.899985042e-05,-3.217378875e-03,7.016608786e-01,-2.750427353e-05,8.375219509e-01,7.016606932e-01,-2.744663679e-05,8.375222022e-01,7.018439610e-01,-2.727356402e-05,8.263552342e-01
+43,1.510000000e+01,DOWN_FORCE_DETACH,1791878229349735961,1.212304954e-04,-3.078528229e-05,-3.335613225e-03,1.210670844e-04,-3.099534926e-05,-3.335517488e-03,1.123992965e-04,-3.097942067e-05,-3.334028255e-03,7.016591020e-01,-2.923432096e-05,8.374053280e-01,7.016589386e-01,-2.944438794e-05,8.374054237e-01,7.018417099e-01,-2.925313427e-05,8.262385848e-01
+44,1.531666667e+01,DOWN_FORCE_DETACH,1791878229747755872,1.266336764e-04,-2.976998771e-05,-3.438163472e-03,1.264980636e-04,-2.997999875e-05,-3.428109686e-03,1.175954775e-04,-2.995339655e-05,-3.426770919e-03,7.016645052e-01,-2.821902639e-05,8.373027777e-01,7.016643695e-01,-2.842903743e-05,8.373128315e-01,7.018469061e-01,-2.822711014e-05,8.261458422e-01
+45,1.550000000e+01,DOWN_FORCE_DETACH,1791878230115735615,1.242318897e-04,-3.184774771e-05,-3.551269771e-03,1.242255737e-04,-3.170007538e-05,-3.551092363e-03,1.148628365e-04,-3.165606383e-05,-3.549546306e-03,7.016621034e-01,-3.029678639e-05,8.371896714e-01,7.016620971e-01,-3.014911406e-05,8.371898488e-01,7.018441734e-01,-2.992977743e-05,8.260230668e-01
+46,1.568333333e+01,DOWN_FORCE_DETACH,1791878230480555618,1.266053365e-04,-3.693375782e-05,-3.661732068e-03,1.283621364e-04,-3.443840176e-05,-3.651323280e-03,1.187605221e-04,-3.437548938e-05,-3.649777726e-03,7.016644768e-01,-3.538279650e-05,8.370792091e-01,7.016662336e-01,-3.288744044e-05,8.370896179e-01,7.018480711e-01,-3.264920297e-05,8.259228354e-01
+47,1.585000000e+01,DOWN_FORCE_DETACH,1791878230811764431,1.272821213e-04,-3.128981007e-05,-3.770352116e-03,1.236704625e-04,-3.460775058e-05,-3.753980051e-03,1.136118751e-04,-3.453605299e-05,-3.752487238e-03,7.016651536e-01,-2.973884875e-05,8.369705891e-01,7.016615419e-01,-3.305678926e-05,8.369869611e-01,7.018429225e-01,-3.280976659e-05,8.258201259e-01
+48,1.600000000e+01,DOWN_FORCE_DETACH,1791878231113773456,1.289194874e-04,-3.598766427e-05,-3.870682222e-03,1.296135775e-04,-3.536025189e-05,-3.858138636e-03,1.193474977e-04,-3.528700475e-05,-3.856595836e-03,7.016667910e-01,-3.443670295e-05,8.368702590e-01,7.016674851e-01,-3.380929056e-05,8.368828026e-01,7.018486581e-01,-3.356071834e-05,8.257160173e-01
+49,1.616666667e+01,DOWN_FORCE_DETACH,1791878231445759181,1.285962996e-04,-3.701880624e-05,-3.991100337e-03,1.281981544e-04,-3.700063251e-05,-3.991134866e-03,1.174225383e-04,-3.692662302e-05,-3.989402190e-03,7.016664678e-01,-3.546784491e-05,8.367498409e-01,7.016660696e-01,-3.544967119e-05,8.367498063e-01,7.018467331e-01,-3.520033662e-05,8.255832109e-01
+50,1.631666667e+01,DOWN_FORCE_DETACH,1791878231743829047,1.316634548e-04,-3.709538535e-05,-4.102146826e-03,1.313834492e-04,-3.736463891e-05,-4.102164476e-03,1.202593391e-04,-3.728090467e-05,-4.100334346e-03,7.016695349e-01,-3.554442403e-05,8.366387944e-01,7.016692549e-01,-3.581367759e-05,8.366387767e-01,7.018495699e-01,-3.555461826e-05,8.254722788e-01
+51,1.645000000e+01,DOWN_FORCE_DETACH,1791878232011759265,1.276633575e-04,-3.538592989e-05,-4.213855241e-03,1.276022535e-04,-3.518818075e-05,-4.213702381e-03,1.160619048e-04,-3.513808384e-05,-4.211820928e-03,7.016655348e-01,-3.383496857e-05,8.365270859e-01,7.016654737e-01,-3.363721943e-05,8.365272388e-01,7.018453725e-01,-3.341179743e-05,8.253607922e-01
+52,1.660000000e+01,DOWN_FORCE_DETACH,1791878232309778958,1.310204403e-04,-3.379977168e-05,-4.324573730e-03,1.309001110e-04,-3.268348938e-05,-4.310775787e-03,1.190795506e-04,-3.264585401e-05,-4.308972281e-03,7.016688919e-01,-3.224881036e-05,8.364163675e-01,7.016687716e-01,-3.113252806e-05,8.364301654e-01,7.018483902e-01,-3.091956761e-05,8.252636408e-01
+53,1.673333333e+01,DOWN_FORCE_DETACH,1791878232578413461,1.292104173e-04,-3.215243249e-05,-4.434772019e-03,1.313892109e-04,-3.408762113e-05,-4.418119416e-03,1.192148513e-04,-3.400717356e-05,-4.416284314e-03,7.016670819e-01,-3.060147117e-05,8.363061692e-01,7.016692607e-01,-3.253665981e-05,8.363228218e-01,7.018485255e-01,-3.228088716e-05,8.251563288e-01
+54,1.686666667e+01,DOWN_FORCE_DETACH,1791878232842157402,1.259997871e-04,-3.975122698e-05,-4.548228460e-03,1.218891629e-04,-3.442762081e-05,-4.539939243e-03,1.090025022e-04,-3.436153696e-05,-4.538063033e-03,7.016638713e-01,-3.820026566e-05,8.361927127e-01,7.016597606e-01,-3.287665949e-05,8.362010019e-01,7.018383131e-01,-3.263525056e-05,8.250345501e-01
+55,1.698333333e+01,DOWN_FORCE_DETACH,1791878233075776497,1.197539037e-04,-3.455231615e-05,-4.660620800e-03,1.187243829e-04,-3.252560737e-05,-4.645568523e-03,1.053382697e-04,-3.247604804e-05,-4.643705884e-03,7.016576254e-01,-3.300135483e-05,8.360803204e-01,7.016565959e-01,-3.097464605e-05,8.360953727e-01,7.018346489e-01,-3.074976164e-05,8.249289072e-01
+56,1.713333333e+01,DOWN_FORCE_DETACH,1791878233358072553,1.435550544e-04,-3.213576936e-05,-4.767415558e-03,1.432016084e-04,-3.203102527e-05,-4.767235944e-03,1.299588842e-04,-3.199537702e-05,-4.765368279e-03,7.016814265e-01,-3.058480804e-05,8.359735256e-01,7.016810731e-01,-3.048006395e-05,8.359737052e-01,7.018592695e-01,-3.026909062e-05,8.248072448e-01
+57,1.726666667e+01,DOWN_FORCE_DETACH,1791878233607815546,1.405383771e-04,-3.371464981e-05,-4.882282631e-03,1.402302689e-04,-3.367908103e-05,-4.882406410e-03,1.265033800e-04,-3.365148846e-05,-4.880461634e-03,7.016784099e-01,-3.216368849e-05,8.358586586e-01,7.016781018e-01,-3.212811971e-05,8.358585348e-01,7.018558140e-01,-3.192520205e-05,8.246921515e-01
+58,1.738333333e+01,DOWN_FORCE_DETACH,1791878233840639892,1.422658720e-04,-3.487899591e-05,-4.991070752e-03,1.392559299e-04,-3.094950450e-05,-4.981942755e-03,1.251711166e-04,-3.090103929e-05,-4.979947704e-03,7.016801374e-01,-3.332803459e-05,8.357498704e-01,7.016771274e-01,-2.939854318e-05,8.357589984e-01,7.018544817e-01,-2.917475289e-05,8.245926654e-01
+59,1.761666667e+01,DOWN_SETTLE,1791878234271806007,1.280913485e-04,-3.275392594e-05,-5.097181562e-03,1.321740859e-04,-3.442563024e-05,-5.083712147e-03,1.176215864e-04,-3.433056888e-05,-5.082218368e-03,7.016659628e-01,-3.120296462e-05,8.356437596e-01,7.016700456e-01,-3.287466891e-05,8.356572290e-01,7.018469322e-01,-3.260428248e-05,8.244903947e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d23698b84199e7ff84e7e43ded3a4726c112e1d
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.9304e-03,-9.3121e-04,2.4525e+00,-3.6728e-02,3.6928e-02,-2.4336e-05,8.7278e-05,-3.0196e-06,-8.5831e-06,3.3528e-08,6.2250e-06,-4.3501e-07,8.7751e-05,6.2402e-06
+1,5.6667e-01,DOWN_FORCE_DETACH,1.1336e-04,3.8445e-03,-1.0014e-03,2.4523e+00,-3.6728e-02,3.7065e-02,-3.6287e-05,2.0014e-03,-7.3230e-05,-2.0266e-04,6.1095e-07,1.4270e-04,-1.2386e-05,2.0129e-03,1.4324e-04
+2,1.0500e+00,DOWN_FORCE_DETACH,2.3372e-04,4.5372e-03,-1.0302e-03,2.4522e+00,-3.6728e-02,3.7114e-02,-4.3196e-05,2.6942e-03,-1.0202e-04,-2.8276e-04,7.0035e-07,1.9206e-04,-1.9294e-05,2.7109e-03,1.9303e-04
+3,1.5000e+00,DOWN_FORCE_DETACH,3.4673e-04,3.1771e-03,2.3570e-03,2.4575e+00,-3.6962e-02,3.7012e-02,-4.5071e-05,1.3341e-03,3.2852e-03,4.9744e-03,-2.3310e-04,8.9910e-05,-2.1170e-05,6.1087e-03,2.5074e-04
+4,1.9833e+00,DOWN_FORCE_DETACH,4.6356e-04,3.0814e-03,6.8072e-04,2.4590e+00,-3.6851e-02,3.7003e-02,-4.9948e-05,1.2383e-03,1.6089e-03,6.5105e-03,-1.2201e-04,8.1204e-05,-2.6047e-05,6.8197e-03,1.4886e-04
+5,2.5000e+00,DOWN_FORCE_DETACH,5.8088e-04,3.4118e-03,1.6871e-03,2.4704e+00,-3.6925e-02,3.7014e-02,-5.1836e-05,1.5688e-03,2.6153e-03,1.7875e-02,-1.9685e-04,9.1664e-05,-2.7935e-05,1.8133e-02,2.1893e-04
+6,2.9000e+00,DOWN_FORCE_DETACH,6.9698e-04,3.5717e-03,1.3008e-03,2.4726e+00,-3.6905e-02,3.7021e-02,-5.3550e-05,1.7286e-03,2.2290e-03,2.0103e-02,-1.7680e-04,9.9245e-05,-2.9649e-05,2.0300e-02,2.0491e-04
+7,3.3333e+00,DOWN_FORCE_DETACH,8.1026e-04,3.6666e-03,-7.3655e-05,2.4777e+00,-3.6816e-02,3.7022e-02,-5.4020e-05,1.8235e-03,8.5453e-04,2.5223e-02,-8.7101e-05,9.9987e-05,-3.0119e-05,2.5303e-02,1.3598e-04
+8,3.7667e+00,DOWN_FORCE_DETACH,9.2720e-04,3.8472e-03,-2.3748e-03,2.4862e+00,-3.6651e-02,3.7026e-02,-5.1027e-05,2.0041e-03,-1.4466e-03,3.3676e-02,7.7739e-05,1.0446e-04,-2.7126e-05,3.3766e-02,1.3301e-04
+9,4.1667e+00,DOWN_FORCE_DETACH,1.0407e-03,2.6559e-03,-3.2344e-03,2.4881e+00,-3.6576e-02,3.6940e-02,-4.3879e-05,8.1281e-04,-2.3062e-03,3.5572e-02,1.5261e-04,1.7591e-05,-1.9978e-05,3.5656e-02,1.5492e-04
+10,4.5500e+00,DOWN_FORCE_DETACH,1.1619e-03,3.2410e-03,-2.1248e-03,2.4920e+00,-3.6630e-02,3.6980e-02,-3.1975e-05,1.3980e-03,-1.1966e-03,3.9475e-02,9.8761e-05,5.7802e-05,-8.0737e-06,3.9518e-02,1.1472e-04
+11,5.0000e+00,DOWN_FORCE_DETACH,1.2789e-03,3.9226e-03,-1.2420e-03,2.4887e+00,-3.6660e-02,3.7026e-02,-1.6643e-05,2.0796e-03,-3.1381e-04,3.6155e-02,6.8393e-05,1.0403e-04,7.2579e-06,3.6216e-02,1.2471e-04
+12,5.3833e+00,DOWN_FORCE_DETACH,1.3930e-03,4.9907e-03,-3.4380e-06,2.4863e+00,-3.6726e-02,3.7104e-02,-4.0621e-06,3.1476e-03,9.2475e-04,3.3790e-02,2.3656e-06,1.8184e-04,1.9839e-05,3.3949e-02,1.8294e-04
+13,5.8000e+00,DOWN_FORCE_DETACH,1.5090e-03,7.3509e-03,2.4354e-05,2.4862e+00,-3.6733e-02,3.7271e-02,1.1482e-06,5.5078e-03,9.5254e-04,3.3670e-02,-4.5151e-06,3.4944e-04,2.5049e-05,3.4131e-02,3.5036e-04
+14,6.1833e+00,DOWN_FORCE_DETACH,1.6211e-03,8.4101e-03,-9.0196e-04,2.4829e+00,-3.6697e-02,3.7348e-02,-3.4786e-06,6.5670e-03,2.6228e-05,3.0389e-02,3.1553e-05,4.2617e-04,2.0423e-05,3.1091e-02,4.2783e-04
+15,6.5667e+00,DOWN_FORCE_DETACH,1.7379e-03,8.5484e-03,1.1167e-03,2.4878e+00,-3.6859e-02,3.7357e-02,-1.1297e-05,6.7054e-03,2.0449e-03,3.5263e-02,-1.3009e-04,4.3521e-04,1.2604e-05,3.5953e-02,4.5441e-04
+16,6.9833e+00,DOWN_FORCE_DETACH,1.8554e-03,7.9716e-03,-9.4107e-05,2.4855e+00,-3.6782e-02,3.7313e-02,-2.0623e-05,6.1286e-03,8.3408e-04,3.3004e-02,-5.3156e-05,3.9097e-04,3.2786e-06,3.3578e-02,3.9458e-04
+17,7.3500e+00,DOWN_FORCE_DETACH,1.9701e-03,7.1508e-03,-2.1970e-04,2.4922e+00,-3.6770e-02,3.7257e-02,-2.6579e-05,5.3077e-03,7.0849e-04,3.9729e-02,-4.1645e-05,3.3550e-04,-2.6782e-06,4.0088e-02,3.3809e-04
+18,7.7833e+00,DOWN_FORCE_DETACH,2.0856e-03,8.4699e-03,-6.4934e-04,2.4937e+00,-3.6747e-02,3.7340e-02,-2.7519e-05,6.6268e-03,2.7884e-04,4.1140e-02,-1.8619e-05,4.1853e-04,-3.6174e-06,4.1671e-02,4.1895e-04
+19,8.2000e+00,DOWN_FORCE_DETACH,2.2093e-03,6.6015e-03,5.1879e-04,2.4931e+00,-3.6852e-02,3.7210e-02,-1.9318e-05,4.7585e-03,1.4470e-03,4.0600e-02,-1.2393e-04,2.8772e-04,4.5830e-06,4.0903e-02,3.1330e-04
+20,8.5500e+00,DOWN_FORCE_DETACH,2.3196e-03,6.3086e-03,-1.5071e-03,2.4908e+00,-3.6744e-02,3.7188e-02,-9.2265e-06,4.4655e-03,-5.7888e-04,3.8254e-02,-1.5829e-05,2.6568e-04,1.4675e-05,3.8518e-02,2.6656e-04
+21,8.9333e+00,DOWN_FORCE_DETACH,2.4378e-03,4.0197e-03,-1.2453e-03,2.4924e+00,-3.6777e-02,3.7030e-02,2.0054e-06,2.1766e-03,-3.1714e-04,3.9879e-02,-4.8280e-05,1.0836e-04,2.5907e-05,3.9939e-02,1.2143e-04
+22,9.3000e+00,DOWN_FORCE_DETACH,2.5523e-03,4.4113e-03,-1.3508e-03,2.4944e+00,-3.6756e-02,3.7049e-02,4.6991e-06,2.5683e-03,-4.2260e-04,4.1902e-02,-2.7344e-05,1.2745e-04,2.8600e-05,4.1983e-02,1.3345e-04
+23,9.6333e+00,DOWN_FORCE_DETACH,2.6651e-03,3.4153e-03,5.8185e-04,2.4904e+00,-3.6857e-02,3.6983e-02,4.6736e-07,1.5722e-03,1.5100e-03,3.7912e-02,-1.2876e-04,6.1553e-05,2.4369e-05,3.7975e-02,1.4479e-04
+24,9.9333e+00,DOWN_FORCE_DETACH,2.7816e-03,2.4728e-03,7.9188e-04,2.4900e+00,-3.6843e-02,3.6920e-02,-8.9412e-06,6.2972e-04,1.7201e-03,3.7509e-02,-1.1496e-04,-2.0042e-06,1.4960e-05,3.7554e-02,1.1595e-04
+25,1.0300e+01,DOWN_FORCE_DETACH,2.9015e-03,2.3579e-03,1.0683e-04,2.4914e+00,-3.6789e-02,3.6912e-02,-1.9462e-05,5.1481e-04,1.0350e-03,3.8872e-02,-6.0309e-05,-1.0338e-05,4.4394e-06,3.8889e-02,6.1349e-05
+26,1.0633e+01,DOWN_FORCE_DETACH,3.0137e-03,1.6765e-03,4.3989e-04,2.4977e+00,-3.6832e-02,3.6860e-02,-2.5803e-05,-1.6656e-04,1.3681e-03,4.5170e-02,-1.0384e-04,-6.1668e-05,-1.9023e-06,4.5191e-02,1.2079e-04
+27,1.0950e+01,DOWN_FORCE_DETACH,3.1303e-03,2.4993e-03,6.3122e-04,2.5026e+00,-3.6856e-02,3.6910e-02,-2.9260e-05,6.5626e-04,1.5594e-03,5.0125e-02,-1.2747e-04,-1.2044e-05,-5.3586e-06,5.0153e-02,1.2815e-04
+28,1.1233e+01,DOWN_FORCE_DETACH,3.2443e-03,2.8937e-03,7.4098e-04,2.5102e+00,-3.6848e-02,3.6929e-02,-2.7675e-05,1.0506e-03,1.6692e-03,5.7722e-02,-1.1917e-04,6.9216e-06,-3.7737e-06,5.7755e-02,1.1943e-04
+29,1.1567e+01,DOWN_FORCE_DETACH,3.3640e-03,2.9688e-03,2.0444e-03,2.5072e+00,-3.6889e-02,3.6935e-02,-1.5269e-05,1.1258e-03,2.9726e-03,5.4729e-02,-1.6038e-04,1.3508e-05,8.6325e-06,5.4822e-02,1.6118e-04
+30,1.1867e+01,DOWN_FORCE_DETACH,3.4792e-03,3.3121e-03,4.6223e-03,2.5064e+00,-3.7016e-02,3.6963e-02,2.0809e-06,1.4690e-03,5.5505e-03,5.3926e-02,-2.8731e-04,4.1500e-05,2.5982e-05,5.4230e-02,2.9146e-04
+31,1.2183e+01,DOWN_FORCE_DETACH,3.5960e-03,6.5363e-03,5.4950e-03,2.5078e+00,-3.7070e-02,3.7183e-02,1.1908e-05,4.6932e-03,6.4232e-03,5.5331e-02,-3.4102e-04,2.6125e-04,3.5809e-05,5.5900e-02,4.3108e-04
+32,1.2433e+01,DOWN_FORCE_DETACH,3.7139e-03,7.0240e-03,6.0253e-03,2.5033e+00,-3.7131e-02,3.7219e-02,1.0424e-05,5.1809e-03,6.9534e-03,5.0776e-02,-4.0286e-04,2.9689e-04,3.4325e-05,5.1511e-02,5.0161e-04
+33,1.2700e+01,DOWN_FORCE_DETACH,3.8277e-03,7.6125e-03,4.9721e-03,2.5063e+00,-3.7085e-02,3.7255e-02,7.2770e-07,5.7694e-03,5.9003e-03,5.3774e-02,-3.5668e-04,3.3329e-04,2.4629e-05,5.4404e-02,4.8878e-04
+34,1.2983e+01,DOWN_FORCE_DETACH,3.9455e-03,8.7136e-03,5.6735e-03,2.5067e+00,-3.7137e-02,3.7327e-02,-9.6870e-06,6.8705e-03,6.6017e-03,5.4167e-02,-4.0839e-04,4.0530e-04,1.4214e-05,5.4999e-02,5.7554e-04
+35,1.3267e+01,DOWN_FORCE_DETACH,4.0587e-03,8.9835e-03,6.5681e-03,2.5152e+00,-3.7189e-02,3.7337e-02,-1.5893e-05,7.1404e-03,7.4963e-03,6.2685e-02,-4.6034e-04,4.1494e-04,8.0085e-06,6.3534e-02,6.1980e-04
+36,1.3517e+01,DOWN_FORCE_DETACH,4.1698e-03,9.3049e-03,7.4556e-03,2.5173e+00,-3.7252e-02,3.7355e-02,-1.5441e-05,7.4618e-03,8.3837e-03,6.4760e-02,-5.2378e-04,4.3269e-04,8.4607e-06,6.5725e-02,6.7944e-04
+37,1.3750e+01,DOWN_FORCE_DETACH,4.2879e-03,8.9256e-03,6.0151e-03,2.5176e+00,-3.7173e-02,3.7327e-02,-1.0711e-05,7.0825e-03,6.9433e-03,6.5086e-02,-4.4455e-04,4.0547e-04,1.3190e-05,6.5837e-02,6.0183e-04
+38,1.4000e+01,DOWN_FORCE_DETACH,4.4056e-03,8.2782e-03,5.0229e-03,2.5182e+00,-3.7114e-02,3.7281e-02,-4.4312e-06,6.4351e-03,5.9511e-03,6.5678e-02,-3.8552e-04,3.5921e-04,1.9470e-05,6.6260e-02,5.2729e-04
+39,1.4233e+01,DOWN_FORCE_DETACH,4.5267e-03,6.2754e-03,5.3102e-03,2.5162e+00,-3.7118e-02,3.7144e-02,-3.2218e-06,4.4323e-03,6.2384e-03,6.3638e-02,-3.8929e-04,2.2222e-04,2.0679e-05,6.4097e-02,4.4872e-04
+40,1.4450e+01,DOWN_FORCE_DETACH,4.6358e-03,5.2747e-03,7.5949e-03,2.5234e+00,-3.7240e-02,3.7074e-02,-7.7286e-06,3.4316e-03,8.5231e-03,7.0845e-02,-5.1180e-04,1.5213e-04,1.6173e-05,7.1438e-02,5.3417e-04
+41,1.4667e+01,DOWN_FORCE_DETACH,4.7569e-03,4.0279e-03,8.3295e-03,2.5211e+00,-3.7280e-02,3.6994e-02,-1.3040e-05,2.1848e-03,9.2577e-03,6.8573e-02,-5.5145e-04,7.1868e-05,1.0861e-05,6.9230e-02,5.5622e-04
+42,1.4883e+01,DOWN_FORCE_DETACH,4.8670e-03,4.2827e-03,7.2939e-03,2.5215e+00,-3.7222e-02,3.7007e-02,-1.6559e-05,2.4397e-03,8.2221e-03,6.8951e-02,-4.9382e-04,8.4605e-05,7.3417e-06,6.9482e-02,5.0107e-04
+43,1.5100e+01,DOWN_FORCE_DETACH,4.9928e-03,4.7749e-03,7.9052e-03,2.5272e+00,-3.7268e-02,3.7035e-02,-1.7997e-05,2.9318e-03,8.8334e-03,7.4637e-02,-5.3914e-04,1.1266e-04,5.9038e-06,7.5215e-02,5.5081e-04
+44,1.5317e+01,DOWN_FORCE_DETACH,5.1010e-03,3.6891e-03,8.8169e-03,2.5327e+00,-3.7307e-02,3.6960e-02,-1.5831e-05,1.8461e-03,9.7451e-03,8.0176e-02,-5.7850e-04,3.7808e-05,8.0706e-06,8.0787e-02,5.7979e-04
+45,1.5500e+01,DOWN_FORCE_DETACH,5.2185e-03,5.0621e-03,1.0030e-02,2.5335e+00,-3.7356e-02,3.7046e-02,-9.2679e-06,3.2190e-03,1.0958e-02,8.0967e-02,-6.2745e-04,1.2428e-04,1.4633e-05,8.1769e-02,6.3981e-04
+46,1.5683e+01,DOWN_FORCE_DETACH,5.3357e-03,4.5927e-03,1.1659e-02,2.5410e+00,-3.7425e-02,3.7011e-02,5.1217e-07,2.7496e-03,1.2587e-02,8.8455e-02,-6.9656e-04,8.9534e-05,2.4413e-05,8.9389e-02,7.0271e-04
+47,1.5850e+01,DOWN_FORCE_DETACH,5.4518e-03,6.9927e-03,1.1929e-02,2.5423e+00,-3.7429e-02,3.7166e-02,4.2689e-06,5.1496e-03,1.2858e-02,8.9828e-02,-7.0044e-04,2.4360e-04,2.8170e-05,9.0889e-02,7.4212e-04
+48,1.6000e+01,DOWN_FORCE_DETACH,5.5592e-03,6.3546e-03,1.2001e-02,2.5434e+00,-3.7439e-02,3.7120e-02,2.2367e-06,4.5115e-03,1.2929e-02,9.0928e-02,-7.1014e-04,1.9845e-04,2.6138e-05,9.1953e-02,7.3781e-04
+49,1.6167e+01,DOWN_FORCE_DETACH,5.6843e-03,8.0362e-03,1.2681e-02,2.5469e+00,-3.7493e-02,3.7226e-02,-2.6794e-06,6.1931e-03,1.3609e-02,9.4335e-02,-7.6478e-04,3.0377e-04,2.1222e-05,9.5513e-02,8.2317e-04
+50,1.6317e+01,DOWN_FORCE_DETACH,5.8028e-03,8.5397e-03,1.2071e-02,2.5508e+00,-3.7447e-02,3.7255e-02,-7.2970e-06,6.6967e-03,1.2999e-02,9.8239e-02,-7.1876e-04,3.3296e-04,1.6604e-05,9.9321e-02,7.9231e-04
+51,1.6450e+01,DOWN_FORCE_DETACH,5.9216e-03,8.5520e-03,1.1336e-02,2.5539e+00,-3.7401e-02,3.7253e-02,-7.9328e-06,6.7089e-03,1.2264e-02,1.0140e-01,-6.7253e-04,3.3138e-04,1.5968e-05,1.0236e-01,7.4990e-04
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..566b00f648eb6d05ade9e9cf15f0a115b0491249
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..640ebed163c78e4bac3308deac5e8d2aaf2e1e23
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72560e5bcb1fafbb18c0151e2b6723fe4879e7bf
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,2.883333333e+00,UP_FORCE_RAMP,1791878186871389049,-2.479438771e-05,3.016662744e-05,4.498365558e-04,-2.575630801e-05,2.919594641e-05,4.317342933e-04,-2.482214410e-05,2.924316370e-05,4.307641739e-04,7.015130771e-01,3.171758876e-05,8.411907777e-01,7.015121152e-01,3.074690773e-05,8.411726755e-01,7.017044885e-01,3.096946371e-05,8.300033772e-01
+23,2.983333333e+00,UP_FORCE_RAMP,1791878187071406646,-2.180244844e-05,3.380361902e-05,4.845640442e-04,-2.389552694e-05,3.034946274e-05,4.765325016e-04,-2.271472998e-05,3.039609800e-05,4.754120601e-04,7.015160690e-01,3.535458034e-05,8.412255052e-01,7.015139760e-01,3.190042406e-05,8.412174737e-01,7.017065960e-01,3.212239800e-05,8.300480251e-01
+24,3.066666667e+00,UP_FORCE_RAMP,1791878187235422290,-2.387920259e-05,3.408347300e-05,5.089898616e-04,-2.094093757e-05,3.260347783e-05,4.973022185e-04,-1.967133458e-05,3.265957493e-05,4.962693530e-04,7.015139923e-01,3.563443432e-05,8.412499310e-01,7.015169305e-01,3.415443915e-05,8.412382434e-01,7.017096393e-01,3.438587494e-05,8.300688824e-01
+25,3.150000000e+00,UP_FORCE_RAMP,1791878187369402709,-2.582245684e-05,3.338093465e-05,5.268506229e-04,-1.902816109e-05,3.712740888e-05,5.227185786e-04,-1.758464403e-05,3.719992523e-05,5.215868465e-04,7.015120490e-01,3.493189597e-05,8.412677918e-01,7.015188433e-01,3.867837020e-05,8.412636598e-01,7.017117260e-01,3.892622524e-05,8.300941999e-01
+26,3.266666667e+00,UP_FORCE_RAMP,1791878187603386414,-2.754551971e-05,3.267995940e-05,5.603541276e-04,-2.299888388e-05,3.158289076e-05,5.474507723e-04,-2.157221876e-05,3.166556294e-05,5.464172628e-04,7.015103260e-01,3.423092072e-05,8.413012953e-01,7.015148726e-01,3.313385208e-05,8.412883920e-01,7.017077385e-01,3.339186295e-05,8.301190303e-01
+27,3.383333333e+00,UP_FORCE_RAMP,1791878187835604754,-3.678148574e-05,3.333767852e-05,5.868043384e-04,-2.894644865e-05,3.163856189e-05,5.689528485e-04,-2.755429144e-05,3.174421984e-05,5.680299955e-04,7.015010900e-01,3.488863984e-05,8.413277455e-01,7.015089250e-01,3.318952321e-05,8.413098940e-01,7.017017564e-01,3.347051984e-05,8.301406431e-01
+28,3.516666667e+00,UP_FORCE_RAMP,1791878188069375166,-3.875388824e-05,3.764421976e-05,6.231503462e-04,-3.971579245e-05,3.519290280e-05,6.149433115e-04,-3.839319071e-05,3.529587140e-05,6.139114235e-04,7.014991176e-01,3.919518108e-05,8.413640915e-01,7.014981557e-01,3.674386413e-05,8.413558845e-01,7.016909175e-01,3.702217141e-05,8.301865245e-01
+29,3.616666667e+00,UP_FORCE_RAMP,1791878188269480967,-4.099794975e-05,3.434308114e-05,6.502307154e-04,-4.304536629e-05,3.137497114e-05,6.368759004e-04,-4.172169932e-05,3.145797692e-05,6.359403813e-04,7.014968735e-01,3.589404246e-05,8.413911719e-01,7.014948261e-01,3.292593246e-05,8.413778171e-01,7.016875890e-01,3.318427692e-05,8.302085534e-01
+30,3.733333333e+00,UP_FORCE_RAMP,1791878188503451034,-5.030449946e-05,3.097290130e-05,6.740128762e-04,-4.473700479e-05,3.404539901e-05,6.577412492e-04,-4.336231610e-05,3.414095216e-05,6.568495563e-04,7.014875670e-01,3.252386262e-05,8.414149541e-01,7.014931345e-01,3.559636033e-05,8.413986824e-01,7.016859484e-01,3.586725217e-05,8.302294626e-01
+31,3.816666667e+00,UP_FORCE_RAMP,1791878188667411196,-5.275992106e-05,3.057986184e-05,6.955179566e-04,-5.049362592e-05,3.857299471e-05,6.784090958e-04,-4.922596618e-05,3.868108458e-05,6.775322200e-04,7.014851116e-01,3.213082316e-05,8.414364591e-01,7.014873779e-01,4.012395603e-05,8.414193503e-01,7.016800847e-01,4.040738459e-05,8.302501453e-01
+32,3.950000000e+00,UP_FORCE_RAMP,1791878188933396791,-5.507311134e-05,3.504303500e-05,7.266668409e-04,-5.543021855e-05,3.112128510e-05,7.205517989e-04,-5.411828091e-05,3.122602767e-05,7.196552126e-04,7.014827984e-01,3.659399632e-05,8.414676080e-01,7.014824413e-01,3.267224642e-05,8.414614930e-01,7.016751924e-01,3.295232767e-05,8.302922683e-01
+33,4.066666667e+00,UP_FORCE_RAMP,1791878189167415303,-5.671348152e-05,3.281488767e-05,7.546458171e-04,-5.653660260e-05,3.503967062e-05,7.423151427e-04,-5.519809754e-05,3.514909705e-05,7.414170951e-04,7.014811580e-01,3.436584899e-05,8.414955870e-01,7.014813349e-01,3.659063194e-05,8.414832563e-01,7.016741126e-01,3.687539706e-05,8.303140302e-01
+34,4.183333333e+00,UP_FORCE_RAMP,1791878189399613110,-5.827553676e-05,3.648292002e-05,7.820605112e-04,-5.746582031e-05,3.728336223e-05,7.649149745e-04,-5.606149586e-05,3.737174593e-05,7.640886883e-04,7.014795959e-01,3.803388135e-05,8.415230017e-01,7.014804057e-01,3.883432355e-05,8.415058562e-01,7.016732492e-01,3.909804594e-05,8.303367018e-01
+35,4.333333333e+00,UP_FORCE_RAMP,1791878189699350792,-6.102723832e-05,3.740048474e-05,8.079266227e-04,-6.093553301e-05,3.717561273e-05,8.077201363e-04,-5.945780220e-05,3.731115094e-05,8.068016622e-04,7.014768442e-01,3.895144607e-05,8.415488678e-01,7.014769359e-01,3.872657405e-05,8.415486613e-01,7.016698529e-01,3.903745095e-05,8.303794147e-01
+36,4.433333333e+00,UP_FORCE_RAMP,1791878189899760679,-6.009676798e-05,3.875183986e-05,8.262198453e-04,-6.093553301e-05,3.717561273e-05,8.077201363e-04,-5.946901136e-05,3.731224182e-05,8.069624117e-04,7.014777747e-01,4.030280118e-05,8.415671610e-01,7.014769359e-01,3.872657405e-05,8.415486613e-01,7.016698417e-01,3.903854183e-05,8.303795755e-01
+37,4.583333333e+00,UP_FORCE_RAMP,1791878190197473019,-6.233705440e-05,3.582976368e-05,8.505968942e-04,-5.978786974e-05,3.726589342e-05,8.523375775e-04,-5.814612569e-05,3.737477402e-05,8.514745305e-04,7.014755344e-01,3.738072500e-05,8.415915381e-01,7.014780836e-01,3.881685474e-05,8.415932788e-01,7.016711646e-01,3.910107403e-05,8.304240876e-01
+38,4.683333333e+00,UP_FORCE_RAMP,1791878190397424154,-6.313182843e-05,3.608742558e-05,8.679464369e-04,-5.978786974e-05,3.726589342e-05,8.523375775e-04,-5.814927476e-05,3.737299208e-05,8.516079809e-04,7.014747397e-01,3.763838690e-05,8.416088876e-01,7.014780836e-01,3.881685474e-05,8.415932788e-01,7.016711614e-01,3.909929208e-05,8.304242210e-01
+39,4.866666667e+00,UP_FORCE_RAMP,1791878190766224845,-6.871875175e-05,4.128238788e-05,8.875903108e-04,-6.400518889e-05,4.008145302e-05,8.727143963e-04,-6.240999529e-05,4.013989229e-05,8.721515262e-04,7.014691527e-01,4.283334920e-05,8.416285315e-01,7.014738663e-01,4.163241434e-05,8.416136556e-01,7.016669007e-01,4.186619230e-05,8.304447646e-01
+40,4.966666667e+00,UP_FORCE_RAMP,1791878190963523232,-6.662002613e-05,4.098565953e-05,9.057216378e-04,-6.477630774e-05,4.173875693e-05,8.974021041e-04,-6.305989087e-05,4.183244787e-05,8.967526814e-04,7.014712515e-01,4.253662085e-05,8.416466628e-01,7.014730952e-01,4.328971825e-05,8.416383433e-01,7.016662508e-01,4.355874788e-05,8.304693657e-01
+41,5.116666667e+00,UP_FORCE_RAMP,1791878191261404262,-7.073840733e-05,4.146757669e-05,9.206440203e-04,-7.004152951e-05,4.067396881e-05,9.167002888e-04,-6.841727336e-05,4.080109410e-05,9.160761866e-04,7.014671331e-01,4.301853801e-05,8.416615852e-01,7.014678300e-01,4.222493013e-05,8.416576415e-01,7.016608934e-01,4.252739410e-05,8.304886892e-01
+42,5.266666667e+00,UP_FORCE_RAMP,1791878191563423135,-7.331939346e-05,3.880938964e-05,9.377407269e-04,-7.074873802e-05,3.574236081e-05,9.394796777e-04,-6.905595125e-05,3.583602935e-05,9.387782252e-04,7.014645521e-01,4.036035096e-05,8.416786819e-01,7.014671227e-01,3.729332213e-05,8.416804209e-01,7.016602547e-01,3.756232936e-05,8.305113913e-01
+43,5.366666667e+00,UP_FORCE_RAMP,1791878191759483104,-7.235410004e-05,3.980794530e-05,9.522886093e-04,-7.074873802e-05,3.574236081e-05,9.394796777e-04,-6.906239087e-05,3.583330753e-05,9.388729889e-04,7.014655174e-01,4.135890662e-05,8.416932298e-01,7.014671227e-01,3.729332213e-05,8.416804209e-01,7.016602483e-01,3.755960754e-05,8.305114861e-01
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+45,5.683333333e+00,UP_FORCE_RAMP,1791878192359464327,-7.378717508e-05,3.524736525e-05,9.822493433e-04,-7.359788737e-05,3.518894335e-05,9.819307364e-04,-7.184823163e-05,3.525664020e-05,9.813066102e-04,7.014640843e-01,3.679832657e-05,8.417231905e-01,7.014642736e-01,3.673990467e-05,8.417228719e-01,7.016574624e-01,3.698294021e-05,8.305539197e-01
+46,5.833333333e+00,UP_FORCE_RAMP,1791878192627377202,-7.584129720e-05,3.822989287e-05,9.872035009e-04,-7.359788737e-05,3.518894335e-05,9.819307364e-04,-7.185863209e-05,3.525135299e-05,9.814408393e-04,7.014620302e-01,3.978085419e-05,8.417281447e-01,7.014642736e-01,3.673990467e-05,8.417228719e-01,7.016574520e-01,3.697765300e-05,8.305540539e-01
+47,6.016666667e+00,UP_FORCE_RAMP,1791878192991343477,-7.776987007e-05,3.808164487e-05,1.003122673e-03,-7.659472445e-05,4.123953148e-05,1.001895961e-03,-7.487367524e-05,4.129174131e-05,1.001421709e-03,7.014601016e-01,3.963260619e-05,8.417440639e-01,7.014612768e-01,4.279049280e-05,8.417428371e-01,7.016544370e-01,4.301804132e-05,8.305740348e-01
+48,6.133333333e+00,UP_FORCE_RAMP,1791878193191506171,-8.117760505e-05,3.942373039e-05,1.006220837e-03,-7.659472445e-05,4.123953148e-05,1.001895961e-03,-7.488243021e-05,4.129273543e-05,1.001504032e-03,7.014566939e-01,4.097469171e-05,8.417471620e-01,7.014612768e-01,4.279049280e-05,8.417428371e-01,7.016544283e-01,4.301903544e-05,8.305741171e-01
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+57,7.400000000e+00,UP_FORCE_HOLD,1791878195587483149,-8.260558944e-05,4.318978319e-05,1.079772239e-03,-8.022930340e-05,4.123056695e-05,1.066351254e-03,-7.841053802e-05,4.130868019e-05,1.066201641e-03,7.014552659e-01,4.474074451e-05,8.418207134e-01,7.014576422e-01,4.278152827e-05,8.418072924e-01,7.016509001e-01,4.303498020e-05,8.306388147e-01
+58,7.616666667e+00,UP_FORCE_HOLD,1791878196019481302,-8.218647134e-05,3.875229191e-05,1.088706610e-03,-8.177926363e-05,4.177998403e-05,1.088291940e-03,-7.994842258e-05,4.187133767e-05,1.088072829e-03,7.014556850e-01,4.030325323e-05,8.418296478e-01,7.014560922e-01,4.333094535e-05,8.418292331e-01,7.016493623e-01,4.359763768e-05,8.306606859e-01
+59,7.800000000e+00,UP_SETTLE,1791878196351462169,-8.350843359e-05,4.230596371e-05,1.092346084e-03,-8.177926363e-05,4.177998403e-05,1.088291940e-03,-7.995724549e-05,4.187072634e-05,1.088148025e-03,7.014543630e-01,4.385692503e-05,8.418332873e-01,7.014560922e-01,4.333094535e-05,8.418292331e-01,7.016493534e-01,4.359702635e-05,8.306607611e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3c3042754b68110b6077b8a3e2f441715adbb
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,1.9341e-03,-9.3081e-04,2.4525e+00,-3.6728e-02,3.6928e-02,-2.4313e-05,8.7232e-05,-2.9954e-06,-8.3447e-06,2.6077e-08,6.2212e-06,-4.3526e-07,8.7682e-05,6.2365e-06
+1,2.0000e-01,UP_FORCE_RAMP,3.6324e-05,2.8148e-03,-9.6233e-04,2.4524e+00,-3.6728e-02,3.6991e-02,-2.9123e-05,9.6800e-04,-3.4512e-05,-9.4652e-05,3.4273e-07,6.9052e-05,-5.2461e-06,9.7322e-04,6.9252e-05
+2,3.6667e-01,UP_FORCE_RAMP,7.4050e-05,3.3594e-03,-9.8248e-04,2.4524e+00,-3.6728e-02,3.7030e-02,-3.2614e-05,1.5126e-03,-5.4657e-05,-1.4949e-04,4.8429e-07,1.0787e-04,-8.7367e-06,1.5209e-03,1.0823e-04
+3,5.3333e-01,UP_FORCE_RAMP,1.1224e-04,3.7765e-03,-9.9852e-04,2.4523e+00,-3.6728e-02,3.7060e-02,-3.5699e-05,1.9296e-03,-7.0704e-05,-1.9336e-04,5.7369e-07,1.3758e-04,-1.1822e-05,1.9406e-03,1.3809e-04
+4,7.5000e-01,UP_FORCE_RAMP,1.4785e-04,4.1731e-03,-1.0145e-03,2.4523e+00,-3.6728e-02,3.7088e-02,-3.9183e-05,2.3262e-03,-8.6639e-05,-2.3723e-04,6.3330e-07,1.6585e-04,-1.5306e-05,2.3399e-03,1.6655e-04
+5,9.3333e-01,UP_FORCE_RAMP,1.8709e-04,4.4165e-03,-1.0248e-03,2.4522e+00,-3.6728e-02,3.7105e-02,-4.1731e-05,2.5697e-03,-9.6937e-05,-2.6584e-04,6.5193e-07,1.8319e-04,-1.7853e-05,2.5852e-03,1.8406e-04
+6,1.0667e+00,UP_FORCE_RAMP,2.2280e-04,4.5535e-03,-1.0308e-03,2.4522e+00,-3.6728e-02,3.7115e-02,-4.3382e-05,2.7067e-03,-1.0300e-04,-2.8276e-04,6.6310e-07,1.9296e-04,-1.9505e-05,2.7233e-03,1.9394e-04
+7,1.2500e+00,UP_FORCE_RAMP,2.6216e-04,4.6998e-03,-1.0376e-03,2.4522e+00,-3.6728e-02,3.7126e-02,-4.5408e-05,2.8530e-03,-1.0977e-04,-3.0184e-04,6.6683e-07,2.0339e-04,-2.1531e-05,2.8710e-03,2.0452e-04
+8,1.4000e+00,UP_FORCE_RAMP,2.9811e-04,7.8654e-03,-7.1568e-04,2.4465e+00,-3.6751e-02,3.7357e-02,-4.6898e-05,6.0186e-03,2.1214e-04,-6.0346e-03,-2.2091e-05,4.3442e-04,-2.3020e-05,8.5256e-03,4.3559e-04
+9,1.5167e+00,UP_FORCE_RAMP,3.3440e-04,7.4482e-03,-6.9840e-04,2.4405e+00,-3.6752e-02,3.7329e-02,-4.7990e-05,5.6014e-03,2.2942e-04,-1.2002e-02,-2.3477e-05,4.0678e-04,-2.4113e-05,1.3247e-02,4.0817e-04
+10,1.6167e+00,UP_FORCE_RAMP,3.7090e-04,7.1477e-03,-2.0268e-03,2.4340e+00,-3.6661e-02,3.7317e-02,-4.9612e-05,5.3009e-03,-1.0990e-03,-1.8540e-02,6.7305e-05,3.9499e-04,-2.5735e-05,1.9314e-02,4.0150e-04
+11,1.7500e+00,UP_FORCE_RAMP,4.1022e-04,8.3914e-03,-3.4981e-03,2.4253e+00,-3.6557e-02,3.7413e-02,-5.1729e-05,6.5445e-03,-2.5703e-03,-2.7244e-02,1.7176e-04,4.9117e-04,-2.7852e-05,2.8137e-02,5.2108e-04
+12,1.8500e+00,UP_FORCE_RAMP,4.4956e-04,7.8729e-03,-3.3264e-03,2.4210e+00,-3.6565e-02,3.7380e-02,-5.2219e-05,6.0261e-03,-2.3986e-03,-3.1508e-02,1.6333e-04,4.5776e-04,-2.8341e-05,3.2168e-02,4.8685e-04
+13,1.9667e+00,UP_FORCE_RAMP,4.8675e-04,7.9983e-03,-4.5411e-03,2.4183e+00,-3.6478e-02,3.7393e-02,-5.3172e-05,6.1515e-03,-3.6132e-03,-3.4199e-02,2.5082e-04,4.7079e-04,-2.9295e-05,3.4935e-02,5.3424e-04
+14,2.0667e+00,UP_FORCE_RAMP,5.2114e-04,7.5643e-03,-4.4314e-03,2.4158e+00,-3.6479e-02,3.7367e-02,-5.3404e-05,5.7175e-03,-3.5036e-03,-3.6752e-02,2.4969e-04,4.4482e-04,-2.9527e-05,3.7358e-02,5.1096e-04
+15,2.1833e+00,UP_FORCE_RAMP,5.6401e-04,9.1618e-03,-5.6660e-03,2.4095e+00,-3.6384e-02,3.7479e-02,-5.4311e-05,7.3150e-03,-4.7382e-03,-4.3011e-02,3.4481e-04,5.5683e-04,-3.0434e-05,4.3886e-02,6.5565e-04
+16,2.2667e+00,UP_FORCE_RAMP,5.9350e-04,9.1061e-03,-6.5270e-03,2.4074e+00,-3.6320e-02,3.7484e-02,-5.4186e-05,7.2593e-03,-5.5992e-03,-4.5099e-02,4.0863e-04,5.6134e-04,-3.0309e-05,4.6021e-02,6.9498e-04
+17,2.3667e+00,UP_FORCE_RAMP,6.3250e-04,9.0070e-03,-7.6693e-03,2.4024e+00,-3.6232e-02,3.7479e-02,-5.4390e-05,7.1602e-03,-6.7414e-03,-5.0158e-02,4.9685e-04,5.5716e-04,-3.0513e-05,5.1113e-02,7.4714e-04
+18,2.4833e+00,UP_FORCE_RAMP,6.7120e-04,8.1933e-03,-7.4162e-03,2.4043e+00,-3.6239e-02,3.7425e-02,-5.3198e-05,6.3464e-03,-6.4884e-03,-4.8239e-02,4.8950e-04,5.0236e-04,-2.9320e-05,4.9086e-02,7.0202e-04
+19,2.5667e+00,UP_FORCE_RAMP,7.0981e-04,8.1577e-03,-7.9363e-03,2.3983e+00,-3.6193e-02,3.7426e-02,-5.2635e-05,6.3108e-03,-7.0084e-03,-5.4249e-02,5.3526e-04,5.0418e-04,-2.8758e-05,5.5062e-02,7.3589e-04
+20,2.6667e+00,UP_FORCE_RAMP,7.4637e-04,7.3449e-03,-7.7971e-03,2.3992e+00,-3.6199e-02,3.7369e-02,-5.0837e-05,5.4981e-03,-6.8693e-03,-5.3323e-02,5.2961e-04,4.4657e-04,-2.6960e-05,5.4044e-02,6.9328e-04
+21,2.7667e+00,UP_FORCE_RAMP,7.8172e-04,6.8589e-03,-9.7899e-03,2.3949e+00,-3.6057e-02,3.7337e-02,-4.9703e-05,5.0121e-03,-8.8621e-03,-5.7591e-02,6.7100e-04,4.1454e-04,-2.5825e-05,5.8484e-02,7.8915e-04
+22,2.8833e+00,UP_FORCE_RAMP,8.2276e-04,7.0978e-03,-8.9106e-03,2.3986e+00,-3.6111e-02,3.7349e-02,-4.7151e-05,5.2510e-03,-7.9828e-03,-5.3892e-02,6.1741e-04,4.2711e-04,-2.3274e-05,5.4733e-02,7.5111e-04
+23,2.9833e+00,UP_FORCE_RAMP,8.6135e-04,6.3027e-03,-9.0645e-03,2.3938e+00,-3.6101e-02,3.7295e-02,-4.4336e-05,4.4559e-03,-8.1367e-03,-5.8703e-02,6.2742e-04,3.7280e-04,-2.0458e-05,5.9431e-02,7.3011e-04
+24,3.0667e+00,UP_FORCE_RAMP,8.9411e-04,5.5741e-03,-9.6228e-03,2.3952e+00,-3.6061e-02,3.7245e-02,-4.2758e-05,3.7273e-03,-8.6950e-03,-5.7331e-02,6.6725e-04,3.2232e-04,-1.8880e-05,5.8106e-02,7.4126e-04
+25,3.1500e+00,UP_FORCE_RAMP,9.2878e-04,5.1333e-03,-1.0823e-02,2.3953e+00,-3.5978e-02,3.7212e-02,-4.1162e-05,3.2865e-03,-9.8947e-03,-5.7196e-02,7.5025e-04,2.8981e-04,-1.7284e-05,5.8138e-02,8.0447e-04
+26,3.2667e+00,UP_FORCE_RAMP,9.7028e-04,6.6477e-03,-8.9976e-03,2.3989e+00,-3.6106e-02,3.7315e-02,-3.6913e-05,4.8008e-03,-8.0697e-03,-5.3599e-02,6.2231e-04,3.9306e-04,-1.3035e-05,5.4415e-02,7.3616e-04
+27,3.3833e+00,UP_FORCE_RAMP,1.0055e-03,8.4633e-03,-8.8921e-03,2.4029e+00,-3.6120e-02,3.7442e-02,-3.3329e-05,6.6165e-03,-7.9643e-03,-4.9629e-02,6.0896e-04,5.1995e-04,-9.4511e-06,5.0697e-02,8.0079e-04
+28,3.5167e+00,UP_FORCE_RAMP,1.0470e-03,1.1182e-02,-9.6892e-03,2.3999e+00,-3.6072e-02,3.7633e-02,-2.9785e-05,9.3354e-03,-8.7614e-03,-5.2619e-02,6.5653e-04,7.1092e-04,-5.9074e-06,5.4154e-02,9.6772e-04
+29,3.6167e+00,UP_FORCE_RAMP,1.0852e-03,1.1852e-02,-8.4181e-03,2.4011e+00,-3.6157e-02,3.7683e-02,-2.7556e-05,1.0005e-02,-7.4903e-03,-5.1372e-02,5.7172e-04,7.6061e-04,-3.6788e-06,5.2871e-02,9.5153e-04
+30,3.7333e+00,UP_FORCE_RAMP,1.1224e-03,1.1902e-02,-9.1481e-03,2.4052e+00,-3.6108e-02,3.7687e-02,-2.5790e-05,1.0055e-02,-8.2202e-03,-4.7288e-02,6.2006e-04,7.6472e-04,-1.9121e-06,4.9039e-02,9.8452e-04
+31,3.8167e+00,UP_FORCE_RAMP,1.1573e-03,1.3257e-02,-1.0403e-02,2.4056e+00,-3.6020e-02,3.7782e-02,-2.5146e-05,1.1410e-02,-9.4750e-03,-4.6936e-02,7.0887e-04,8.5954e-04,-1.2689e-06,4.9224e-02,1.1141e-03
+32,3.9500e+00,UP_FORCE_RAMP,1.1940e-03,1.3918e-02,-8.0295e-03,2.4034e+00,-3.6176e-02,3.7829e-02,-2.2791e-05,1.2071e-02,-7.1016e-03,-4.9137e-02,5.5293e-04,9.0722e-04,1.0865e-06,5.1094e-02,1.0624e-03
+33,4.0667e+00,UP_FORCE_RAMP,1.2312e-03,1.3697e-02,-9.0569e-03,2.4064e+00,-3.6103e-02,3.7816e-02,-2.2374e-05,1.1850e-02,-8.1291e-03,-4.6160e-02,6.2500e-04,8.9401e-04,1.5033e-06,4.8345e-02,1.0908e-03
+34,4.1833e+00,UP_FORCE_RAMP,1.2679e-03,1.3448e-02,-9.6220e-03,2.4089e+00,-3.6059e-02,3.7798e-02,-2.2799e-05,1.1601e-02,-8.6942e-03,-4.3614e-02,6.6965e-04,8.7612e-04,1.0779e-06,4.5960e-02,1.1027e-03
+35,4.3333e+00,UP_FORCE_RAMP,1.3054e-03,1.3402e-02,-9.3058e-03,2.4139e+00,-3.6077e-02,3.7793e-02,-2.2754e-05,1.1555e-02,-8.3779e-03,-3.8579e-02,6.5191e-04,8.7047e-04,1.1230e-06,4.1134e-02,1.0875e-03
+36,4.4333e+00,UP_FORCE_RAMP,1.3438e-03,1.3521e-02,-9.5261e-03,2.4143e+00,-3.6059e-02,3.7801e-02,-2.2947e-05,1.1674e-02,-8.5983e-03,-3.8216e-02,6.6941e-04,8.7931e-04,9.3031e-07,4.0874e-02,1.1051e-03
+37,4.5833e+00,UP_FORCE_RAMP,1.3824e-03,1.2591e-02,-9.6346e-03,2.4101e+00,-3.6050e-02,3.7737e-02,-2.3525e-05,1.0744e-02,-8.7067e-03,-4.2385e-02,6.7878e-04,8.1461e-04,3.5237e-07,4.4584e-02,1.0603e-03
+38,4.6833e+00,UP_FORCE_RAMP,1.4178e-03,1.2563e-02,-9.7386e-03,2.4168e+00,-3.6043e-02,3.7732e-02,-2.3707e-05,1.0717e-02,-8.8108e-03,-3.5732e-02,6.8524e-04,8.0988e-04,1.7012e-07,3.8331e-02,1.0609e-03
+39,4.8667e+00,UP_FORCE_RAMP,1.4552e-03,1.3406e-02,-1.0725e-02,2.4207e+00,-3.5977e-02,3.7790e-02,-2.4446e-05,1.1560e-02,-9.7969e-03,-3.1818e-02,7.5131e-04,8.6740e-04,-5.6889e-07,3.5242e-02,1.1475e-03
+40,4.9667e+00,UP_FORCE_RAMP,1.4918e-03,1.3292e-02,-1.1291e-02,2.4180e+00,-3.5937e-02,3.7784e-02,-2.4969e-05,1.1446e-02,-1.0363e-02,-3.4527e-02,7.9124e-04,8.6140e-04,-1.0920e-06,3.7822e-02,1.1696e-03
+41,5.1167e+00,UP_FORCE_RAMP,1.5294e-03,1.4540e-02,-1.1090e-02,2.4188e+00,-3.5953e-02,3.7871e-02,-2.4500e-05,1.2693e-02,-1.0162e-02,-3.3676e-02,7.7570e-04,9.4905e-04,-6.2273e-07,3.7396e-02,1.2257e-03
+42,5.2667e+00,UP_FORCE_RAMP,1.5657e-03,1.4064e-02,-9.6786e-03,2.4180e+00,-3.6051e-02,3.7837e-02,-2.3456e-05,1.2217e-02,-8.7508e-03,-3.4552e-02,6.7750e-04,9.1443e-04,4.2187e-07,3.7678e-02,1.1381e-03
+43,5.3667e+00,UP_FORCE_RAMP,1.6040e-03,1.3831e-02,-9.8398e-03,2.4233e+00,-3.6043e-02,3.7818e-02,-2.2894e-05,1.1984e-02,-8.9120e-03,-2.9195e-02,6.8527e-04,8.9561e-04,9.8357e-07,3.2793e-02,1.1277e-03
+44,5.5333e+00,UP_FORCE_RAMP,1.6435e-03,1.3510e-02,-1.1701e-02,2.4238e+00,-3.5913e-02,3.7794e-02,-2.2759e-05,1.1664e-02,-1.0773e-02,-2.8707e-02,8.1540e-04,8.7154e-04,1.1187e-06,3.2806e-02,1.1935e-03
+45,5.6833e+00,UP_FORCE_RAMP,1.6838e-03,1.3206e-02,-1.1725e-02,2.4295e+00,-3.5910e-02,3.7766e-02,-2.0944e-05,1.1360e-02,-1.0798e-02,-2.3035e-02,8.1800e-04,8.4427e-04,2.9339e-06,2.7861e-02,1.1756e-03
+46,5.8333e+00,UP_FORCE_RAMP,1.7181e-03,1.3463e-02,-9.7803e-03,2.4281e+00,-3.6042e-02,3.7786e-02,-1.7382e-05,1.1616e-02,-8.8525e-03,-2.4402e-02,6.8684e-04,8.6382e-04,6.4952e-06,2.8439e-02,1.1036e-03
+47,6.0167e+00,UP_FORCE_RAMP,1.7525e-03,1.3864e-02,-1.1692e-02,2.4267e+00,-3.5903e-02,3.7812e-02,-1.4729e-05,1.2018e-02,-1.0764e-02,-2.5825e-02,8.2509e-04,8.9018e-04,9.1486e-06,3.0450e-02,1.2138e-03
+48,6.1333e+00,UP_FORCE_RAMP,1.7913e-03,1.3457e-02,-1.1568e-02,2.4316e+00,-3.5907e-02,3.7782e-02,-1.2676e-05,1.1610e-02,-1.0640e-02,-2.0905e-02,8.2116e-04,8.5960e-04,1.1201e-05,2.6173e-02,1.1888e-03
+49,6.2833e+00,UP_FORCE_RAMP,1.8278e-03,1.2977e-02,-1.1558e-02,2.4359e+00,-3.5903e-02,3.7743e-02,-8.8350e-06,1.1130e-02,-1.0630e-02,-1.6662e-02,8.2584e-04,8.2054e-04,1.5042e-05,2.2683e-02,1.1643e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a226b43b467563eccd01a8190a65b71bf0c789bf
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
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+10447,1791878259723764899,7299883000000,1791878259723043329,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760258373139187,-0.004743450716440388,0.090822964674941,0.9999999853432542,8.40197078000693e-05,-0.00011330613110114362,2.9304696630661823e-05,0.6761,-0.0048,0.09087077139478318,1.0,0.0,0.0,0.0,-0.17326454306740752,-0.1805280112933344,0.13650494808432978,-0.011568062234077199,0.011339402295878548,-7.465736440939426e-05,-0.1055207783880429,-0.15343661949698598,0.4840961098485467,-0.01558172088855268,0.007293027840857238,-0.002513094373498757,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8342644817480102,-0.693386197132199,0.3633196302017737,0.46266215788139003,-0.05863714795950893,-0.4998963171248848,0.5340987696236708,0.13650494808432978,0.17077913942189704,0.17077913942189704,0.24871999999999123,0,0,-7.158427616621477e-05,9.32483606438326e-05
+10566,1791878260714871141,7300874000000,1791878260707043653,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760306291381687,-0.00474633694615659,0.09075677992182987,0.9999999857862122,8.531470547288157e-05,-0.00010794334776126445,3.066063367909966e-05,0.6761,-0.0048,0.09078996840631282,1.0,0.0,0.0,0.0,-0.18264467302066242,-0.18859695523058484,0.18665000303673684,-0.011578575610655843,0.011329565867546007,-0.00011631504190890525,-0.11490090834129782,-0.16150556343423642,0.5342411648009537,-0.015592234265131323,0.007283191412524698,-0.002554752050998268,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.902584664769287,-0.6751674038193263,0.3371474543154757,0.461272532724756,-0.02708055995870671,-0.4885472722582363,0.5340987696236708,0.18665000303673684,0.19695131530819504,0.19695131530819504,0.32800000000001506,0,0,-8.732280341458421e-05,-9.999961555895993e-05
+10670,1791878261581864041,7301741000000,1791878261579043694,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760367552586249,-0.004753961580533089,0.09068759466082268,0.999999987404848,8.014078379336821e-05,-9.50701870810147e-05,3.423861420819684e-05,0.6761,-0.0048,0.09071019248492858,1.0,0.0,0.0,0.0,-0.1917380032918185,-0.19857043162125096,0.2450668169769592,-0.012638413442153325,0.012349714686406502,-0.00016111031844447685,-0.12399423861245389,-0.17147903982490253,0.5926579787411761,-0.016652072096628806,0.008303340231385192,-0.0025995473275338397,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8845838467671693,-0.558353794011056,0.2535472005646795,0.4354140046888314,0.01696128798643933,-0.40802189516068177,0.5340987696236708,0.2450668169769592,0.28055156905899126,0.28055156905899126,0.3973600000000363,0,0,-9.374702344696697e-05,3.033118122534672e-06
+10794,1791878262614828927,7302774000000,1791878262611043460,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760385089391401,-0.004752314917599492,0.09059833921261919,0.999999987302603,8.474434162252404e-05,-9.121186506159719e-05,3.655749532816894e-05,0.6761,-0.0048,0.09061380009978197,1.0,0.0,0.0,0.0,-0.19334843172624155,-0.2034745986677008,0.3065441782487307,-0.012661198296564202,0.012689689838203635,-0.00019555294821749572,-0.12560466704687695,-0.17638320687135237,0.6541353400129476,-0.016674856951039683,0.008643315383182325,-0.0026339899573068586,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9436499567654227,-0.6500264902894674,0.142590044364179,0.46980081460638784,0.10334399341358962,-0.4690988414912648,0.5340987696236708,0.3065441782487307,0.39150872525949176,0.39150872525949176,0.4800000000000616,0,0,-9.132164251604712e-05,9.999949065886966e-05
+10890,1791878263414867598,7303574000000,1791878263407043978,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760411350173685,-0.0047521160452087055,0.09053501816480908,0.9999999871480569,9.014110738915345e-05,-8.686688182169495e-05,3.8411924700774856e-05,0.6761,-0.0048,0.09054232114199597,1.0,0.0,0.0,0.0,-0.2004194373655541,-0.19533428298977407,0.3567122601547006,-0.012687217114066358,0.013338885147232901,-0.00023871626261458626,-0.1326756726861895,-0.16824289119342564,0.7043034219189175,-0.016700875768541838,0.00929251069221159,-0.002677153271703949,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9234352461033477,-0.571886223963081,0.12297111469215025,0.4555311703640277,0.1027145247706182,-0.4125725403610279,0.5340987696236708,0.3567122601547006,0.4111276549315205,0.4111276549315205,0.5440000000000507,0,0,-8.662223006525161e-05,-8.750925958723172e-05
+10993,1791878264273763322,7304433000000,1791878264271043715,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760477948432234,-0.004751729737498253,0.09047205434937611,0.9999999880013531,9.01462448591443e-05,-7.563128647727805e-05,3.9921435728557896e-05,0.6761,-0.0048,0.09046698649755273,1.0,0.0,0.0,0.0,-0.19292149195983288,-0.1907680046777553,0.4171512859502454,-0.011903439724751486,0.013309292849250923,-0.0002739355611214643,-0.12517772728046828,-0.16367661288140686,0.7647424477144623,-0.015917098379226967,0.009262918394229614,-0.002712372570210827,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9581776745330614,-0.6601171537125424,0.06624429156745434,0.4793061490367738,0.14887678855406522,-0.47093194065973737,0.5340987696236708,0.4171512859502454,0.4678544780562164,0.4678544780562164,0.612720000000024,0,0,-8.964070643688172e-05,-9.960945543253103e-05
+11089,1791878265073768239,7305233000000,1791878265071042721,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760536928263153,-0.004734408749628879,0.0904074512291746,0.9999999873948324,0.0001013682906494759,-6.679600167633773e-05,4.3771714780893875e-05,0.6761,-0.0048,0.0903934749626546,1.0,0.0,0.0,0.0,-0.18359273925855152,-0.17814825049104302,0.4676297202619064,-0.011433280884621921,0.0122789415447761,-0.00032675524791967716,-0.11584897457918691,-0.1510568586946946,0.8152208820261233,-0.015446939539097404,0.008232567089754792,-0.00276519225700904,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9462587712896315,-0.6419860789980718,0.04072374862284692,0.4727879995073805,0.1584803111528009,-0.4622656432483123,0.5340987696236708,0.4676297202619064,0.49337502100082387,0.49337502100082387,0.6767199999999992,0,0,-9.239973778748934e-05,-9.999717306830575e-05
+11189,1791878265906834483,7306066000000,1791878265903043115,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760563528187854,-0.004730222077581841,0.0903353575920765,0.9999999874015331,0.00010289819164607174,-6.327562640119913e-05,4.5254340556529785e-05,0.6761,-0.0048,0.09031583036639097,1.0,0.0,0.0,0.0,-0.1922778157246831,-0.18373996289206898,0.5270682362172558,-0.01097660466532326,0.012251464429031321,-0.0003668028603834835,-0.1245340510453185,-0.15664857109572056,0.8746593979814727,-0.014990263319798742,0.008205089974010012,-0.0028052398694728463,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.000944590782004,-0.7106324341295972,-0.05539287164760524,0.49220088547585983,0.23429643637844644,-0.508777750509827,0.5340987696236708,0.5270682362172558,0.589491641271276,0.589491641271276,0.7433599999999734,0,0,-9.467540592752866e-05,-9.996644764609925e-05
+11289,1791878266739875793,7306899000000,1791878266739043885,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760629540213925,-0.004731848774931119,0.09027326022375534,0.9999999879639222,0.0001030720542113734,-5.170228432103725e-05,4.7096126964775544e-05,0.6761,-0.0048,0.09023860141575714,1.0,0.0,0.0,0.0,-0.19346316290541116,-0.17422522048336664,0.5782971687461258,-0.010659745348382283,0.012239751097794915,-0.0004068118856100618,-0.12571939822604655,-0.14713382868701821,0.9258883305103427,-0.014673404002857765,0.008193376642773606,-0.0028452488946994247,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9436240457750062,-0.5218806296638653,-0.15424602248632485,0.44669518292607696,0.27988849451543457,-0.3797690949588039,0.5340987696236708,0.5782971687461258,0.6883447921099957,0.6883447921099957,0.8099999999999475,0,0,-8.999412996343737e-05,-6.684126449408296e-05
+11389,1791878267573827534,7307733000000,1791878267567044596,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760629553095001,-0.004737781705944251,0.09019342202434542,0.9999999880558821,0.00010027449219326532,-5.361088889969863e-05,4.901019181615405e-05,0.6761,-0.0048,0.09016155691652945,1.0,0.0,0.0,0.0,-0.17961587576123228,-0.17963850496153003,0.6363197066066694,-0.010699092733356393,0.013207765848407788,-0.00043758206767119867,-0.11187211108186768,-0.1525471131651816,0.9839108683708863,-0.014712751387831874,0.00916139139338648,-0.0028760190767605615,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0566508672259762,-0.5848839239479515,-0.29581304729223,0.46682379706178356,0.40041338746000604,-0.4228634415051682,0.5340987696236708,0.6363197066066694,0.8299118169159008,0.8299118169159008,0.8767199999999217,0,0,-9.365420132881474e-05,9.977229739466793e-05
+11500,1791878268499025599,7308658000000,1791878268495043832,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760672816620936,-0.004739077468407315,0.09012282153234352,0.9999999884521976,9.890697734585527e-05,-4.648041434932985e-05,5.094555680066497e-05,0.6761,-0.0048,0.09007795672661409,1.0,0.0,0.0,0.0,-0.19412328402030435,-0.17739949179826497,0.6957150662463647,-0.010709866986095148,0.01322647294605507,-0.000485758925002998,-0.12637951934093974,-0.15030810000191655,1.0433062280105816,-0.014723525640570629,0.009180098491033762,-0.002924195934092361,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0705518270271235,-0.5687409736389696,-0.28373615025349563,0.4608673449289165,0.3960555835215989,-0.41298000776348154,0.5340987696236708,0.6957150662463647,0.8178349198771664,0.8178349198771664,0.950719999999893,0,0,-8.990482551071566e-05,-9.949349263760893e-05
+11596,1791878269298857230,7309458000000,1791878269295034142,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760746915898685,-0.004741833129434941,0.09006065356197998,0.9999999889629149,9.719029841608062e-05,-3.4574568210664e-05,5.3625363723491236e-05,0.6761,-0.0048,0.09000749608919946,1.0,0.0,0.0,0.0,-0.20142174416973418,-0.17594522049322206,0.7487511564103682,-0.010724220369316494,0.013212563231411359,6.120399634322853e-05,-0.13367797949036958,-0.14885382869687364,1.096342318174585,-0.014737879023791976,0.00916618877639005,-0.0023772330127461343,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0805251168531456,-0.6404777254069646,-0.3849868649032117,0.4882840731590871,0.4607758953634657,-0.45879501576758325,0.5340987696236708,0.7487511564103682,0.9190856345268825,0.9190856345268825,1.0147199999998886,0,0,-8.836674967174917e-05,9.999950453665746e-05
+11688,1791878270064778193,7310224000000,1791878270063043503,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760779444874963,-0.004745109542446083,0.0899984162653236,0.9999999889610647,9.720139805252374e-05,-3.0576963804343145e-05,5.6014929377702946e-05,0.6761,-0.0048,0.08993883639366346,1.0,0.0,0.0,0.0,-0.19478962484780882,-0.17733183483495132,0.7889286295257438,-0.010727636450646272,0.013206984461963063,-0.0005122635210364546,-0.1270458601684442,-0.1502404430386029,1.1365197912899607,-0.014741295105121755,0.009160610006941754,-0.0029507005301258175,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0778321037967846,-0.6236052258674812,-0.4224720473829107,0.49040817825516236,0.4814531606994896,-0.4473280022840971,0.5340987696236708,0.7889286295257438,0.9565708170065814,0.9565708170065814,1.0759999999999499,0,0,-9.231649414194938e-05,-3.259446719944853e-05
+11800,1791878270998872862,7311158000000,1791878270991043581,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6760832798480687,-0.004745576062998112,0.08992212114997102,0.999999989268997,9.600034359664016e-05,-2.276023606467705e-05,5.6309642787850025e-05,0.6761,-0.0048,0.08985144771952944,1.0,0.0,0.0,0.0,-0.2037194558984305,-0.18036798010611224,0.8492323177917926,-0.01074772820159492,0.013413329464307698,0.0003376862618778187,-0.1359756912190659,-0.15327658830976382,1.1968234795560095,-0.014761386856070402,0.009366955009286389,-0.002100750747211544,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1033938561158474,-0.5679686296706717,-0.4755238347354594,0.48421727231304756,0.5243180506525482,-0.4093932718283088,0.5340987696236708,0.8492323177917926,1.00962260435913,1.00962260435913,1.1507200000000246,0,0,-9.527352154012204e-05,-9.945992226890183e-05
+11900,1791878271831834786,7311991000000,1791878271831043294,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760875086339682,-0.004747675050996608,0.08984943251849771,0.9999999908388284,8.497381605822215e-05,-1.5065266651977958e-05,4.814245612786176e-05,0.6761,-0.0048,0.08976996501041293,1.0,0.0,0.0,0.0,-0.19527505358684133,-0.18062997417801716,0.8996577695792098,-0.010785169619548875,0.01419124764888123,0.00039202945839436664,-0.12753128890747673,-0.15353858238166873,1.2472489313434267,-0.014798828274024355,0.01014487319385992,-0.002046407550694996,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0544674655310229,-0.6285124602224832,-0.49239020945054907,0.506560404079302,0.5153028983460585,-0.4495332121535293,0.5340987696236708,0.8996577695792098,1.0264889790742198,1.0264889790742198,1.2173600000000913,0,0,-0.0001019401883975687,-9.972566802763367e-05
+11995,1791878272623860036,7312783000000,1791878272623043667,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676090985429812,-0.004748946973166459,0.08977237613294872,0.9999999908359981,8.588144997270241e-05,-9.195211542486345e-06,4.8069664153450115e-05,0.6761,-0.0048,0.08968642644286909,1.0,0.0,0.0,0.0,-0.20416945603134476,-0.178966634778664,0.9498191995661469,-0.010794319084142735,0.014180504452635169,0.0003504286462604569,-0.13642569135198016,-0.15187524298231558,1.2974103613303638,-0.014807977738618215,0.01013412999761386,-0.002088008362828906,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1233915724087378,-0.6313655545070518,-0.7013463900861184,0.513409640890856,0.6708907451424838,-0.44957365523966736,0.5340987696236708,0.9498191995661469,1.2354451597097893,1.2354451597097893,1.2807200000001546,0,0,-0.00010541696208035833,9.999999025923074e-05
+12091,1791878273423801125,7313583000000,1791878273423043757,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6760963573866384,-0.0047506850425632005,0.08969938611708038,0.9999999900868238,9.398823962359699e-05,-1.9100489223324678e-06,4.9313073548496625e-05,0.6761,-0.0048,0.08960048994725442,1.0,0.0,0.0,0.0,-0.20795107255647344,-0.17677271644665277,1.009844030529703,-0.010805324347579828,0.014167460352380933,0.00030148463102011667,-0.14020730787710883,-0.14968132465030434,1.3574351922939198,-0.01481898300205531,0.010121085897359624,-0.002136952378069246,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1315021725701824,-0.642701620673216,-0.642027941539233,0.5211706463590285,0.6325817770031343,-0.4563007372292489,0.5340987696236708,1.009844030529703,1.1761267111629037,1.1761267111629037,1.3447200000002186,0,0,-0.00010847647316100518,-9.347994186915116e-05
+12191,1791878274256877748,7314416000000,1791878274255043561,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761041539596443,-0.004750157816115912,0.08962006426278377,0.999999989442701,9.851473816451612e-05,1.1528313308959445e-05,5.2147929844978325e-05,0.6761,-0.0048,0.0895100811978076,1.0,0.0,0.0,0.0,-0.21368848692495937,-0.1829213586939752,1.0606017877772764,-0.010816030346315661,0.014157304268754774,0.0002606013304275617,-0.14594472224559477,-0.15582996689762676,1.4081929495414933,-0.014829689000791143,0.010110929813733465,-0.002177835678661801,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1446677758676107,-0.7069116161782425,-0.666177484464224,0.5528186120086159,0.6500726583613069,-0.49385147555129993,0.5340987696236708,1.0606017877772764,1.2002762540878948,1.2002762540878948,1.4113600000002853,0,0,-0.00010995020099521658,-9.999982372577704e-05
+12299,1791878275156869280,7315316000000,1791878275155043778,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761086384583878,-0.004753600376077202,0.08953108024666691,0.9999999893529095,9.670497763749369e-05,1.6603788577653924e-05,5.5762951890102276e-05,0.6761,-0.0048,0.08941196130406774,1.0,0.0,0.0,0.0,-0.21405252624426999,-0.18250632075594925,1.1202915697548264,-0.010854753341322857,0.015157537891897346,0.0002272166585835459,-0.14630876156490538,-0.15541492895960082,1.4678827315190432,-0.01486841199579834,0.011111163436876036,-0.002211220350505817,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1714491984256437,-0.6326179530847585,-0.7765238977441373,0.5377805667498545,0.7248141997900232,-0.443137188465749,0.5340987696236708,1.1202915697548264,1.310622667367808,1.310622667367808,1.4833600000003573,0,0,-0.00010861157618699403,-8.065886433617492e-05
+12379,1791878275823867417,7315983000000,1791878275823033906,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761103745033836,-0.004753357020546385,0.0894632641834009,0.9999999887704792,0.00010000913363924523,2.013425178658474e-05,5.911590941001789e-05,0.6761,-0.0048,0.08933713403780513,1.0,0.0,0.0,0.0,-0.221389126492016,-0.18099371889981536,1.1696384026070379,-0.01086370624074785,0.01514693294717125,0.00018630652153543313,-0.1536453618126514,-0.15390232710346693,1.5172295643712548,-0.01487736489522333,0.011100558492149939,-0.0022521304875539297,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1480792333925456,-0.6369020118096399,-0.8793143128508526,0.540671221684891,0.7816301126534432,-0.4447009998326565,0.5340987696236708,1.1696384026070379,1.4134130824745235,1.4134130824745235,1.5367200000004106,0,0,-0.00011077451183141995,7.940878096602261e-05
+12462,1791878276514877270,7316674000000,1791878276511042971,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761107379738388,-0.004759941079833385,0.08938768030620015,0.9999999897391844,9.003599277360002e-05,2.2063800344378386e-05,5.806207539058141e-05,0.6761,-0.0048,0.08926079483817567,1.0,0.0,0.0,0.0,-0.22172089713759552,-0.1794211052930473,1.2142311835104826,-0.010872684851312462,0.015136095484011004,0.0001470513531136937,-0.15397713245823091,-0.15232971349669888,1.5618223452746995,-0.014886343505787943,0.011089721028989695,-0.002291385655975669,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1428574246313135,-0.608734153019269,-0.959037399195616,0.5370787729286429,0.8320915305238281,-0.42819203450230925,0.5340987696236708,1.2142311835104826,1.4931361688192868,1.4931361688192868,1.592000000000466,0,0,-0.00010927091364102003,9.999919922532569e-05
+12546,1791878277214849264,7317374000000,1791878277211043560,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761165580385801,-0.004760649802373152,0.0893201093793264,0.9999999898219308,8.770414191653984e-05,3.3446650834302485e-05,5.4665416294729556e-05,0.6761,-0.0048,0.08918398601423927,1.0,0.0,0.0,0.0,-0.2146348606997261,-0.17768588014377162,1.2607730098369998,-0.010880695669460837,0.015126856694794646,0.00011366431670593825,-0.1468910960203615,-0.1505944883474232,1.6083641716012167,-0.014894354323936319,0.011080482239773336,-0.0023247726923834246,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2244803393955455,-0.6458899239443708,-0.9394227670602667,0.5557970174682402,0.8380160392732449,-0.4519844001332073,0.5340987696236708,1.2607730098369998,1.4735215366839376,1.4735215366839376,1.648000000000522,0,0,-0.00011001089888637428,-9.53798942867678e-05
+12638,1791878277981832759,7318141000000,1791878277975043790,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761200111187441,-0.004761600453084102,0.08923834827930714,0.9999999891495851,9.245900589246343e-05,3.633547694115046e-05,5.722551330937793e-05,0.6761,-0.0048,0.08909847725883092,1.0,0.0,0.0,0.0,-0.22390278123773616,-0.18612270925270044,1.3048162805851187,-0.010911177852073864,0.015905804785369963,8.56668602064333e-05,-0.15615901655837156,-0.15903131745635202,1.6524074423493356,-0.014924836506549344,0.011859430330348654,-0.0023527701488829295,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1840889155612468,-0.6847524986270699,-1.0668822877303725,0.5686708885685978,0.9082864615498718,-0.4780827691823141,0.5340987696236708,1.3048162805851187,1.6009810573540433,1.6009810573540433,1.7093600000005833,0,0,-0.00011256657636985056,8.536536341552931e-05
+12730,1791878278748884206,7318908000000,1791878278743043535,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761220680752833,-0.004769785016141361,0.08915482960063897,0.9999999890652476,8.988521714269664e-05,3.920651684235338e-05,6.0793632447853175e-05,0.6761,-0.0048,0.0890115988816247,1.0,0.0,0.0,0.0,-0.22482200170216113,-0.1905796987571747,1.354955199609948,-0.010905566214522516,0.015302777969152328,4.608635808618991e-05,-0.15707823702279652,-0.16348830696082628,1.702546361374165,-0.014919224868997997,0.011256403514131017,-0.002392350651003173,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1967112468975927,-0.6285027848779514,-1.1288808303408169,0.558597950386857,0.9485242334391292,-0.43867651544711517,0.5340987696236708,1.354955199609948,1.6629795999644876,1.6629795999644876,1.7707200000006447,0,0,-0.00011450268679461117,9.606352799196855e-05
+12814,1791878279448851678,7319608000000,1791878279447043570,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761251958410184,-0.004766499306759315,0.08907986958379123,0.9999999888244625,9.07899033557106e-05,4.2862711694286366e-05,6.094194441583079e-05,0.6761,-0.0048,0.08893013358575332,1.0,0.0,0.0,0.0,-0.22416458966442462,-0.17271548913919652,1.4009929404851138,-0.01093412671940723,0.016109680576505518,1.4946073590793672e-05,-0.15642082498506002,-0.1456240973428481,1.7485841022493307,-0.014947785373882713,0.01206330612148421,-0.002423490935498569,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2409876411226637,-0.6769581621881477,-1.0758582915006225,0.5779966946929778,0.9254915719568911,-0.4717179806270171,0.5340987696236708,1.4009929404851138,1.6099570611242933,1.6099570611242933,1.8267200000007007,0,0,-0.0001200021129646719,-9.999999025923074e-05
+12901,1791878280173883680,7320333000000,1791878280167043294,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761267882364497,-0.004768954437155515,0.08898732430960186,0.9999999887044911,8.83909302239025e-05,4.377853993776941e-05,6.560765926070465e-05,0.6761,-0.0048,0.08884137342567333,1.0,0.0,0.0,0.0,-0.23351147845869025,-0.18090611404791448,1.447796407283847,-0.010944274251637146,0.016100157231232197,-2.51841192529436e-05,-0.16576771377932564,-0.15381472225156606,1.7953875690480638,-0.014957932906112626,0.012053782776210886,-0.0024636211283423064,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1973414534975464,-0.7108073580747337,-1.1749596243035045,0.5890484513214854,0.9727751639645281,-0.49381196681289263,0.5340987696236708,1.447796407283847,1.7090583939271753,1.7090583939271753,1.8847200000007587,0,0,-0.00012502544667200433,-6.33942856805902e-05
+12989,1791878280906773220,7321066000000,1791878280903043269,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761348773409813,-0.004772323863594759,0.0889135380384177,0.9999999879794876,8.920195668567205e-05,5.67909124894958e-05,6.558728734771905e-05,0.6761,-0.0048,0.08874738733918905,1.0,0.0,0.0,0.0,-0.23335314802045365,-0.17967925359546028,1.4813984352316323,-0.01095021795923018,0.016093122120911036,-5.113875806066811e-05,-0.16560938334108904,-0.15258786179911185,1.8289895969958492,-0.01496387661370566,0.012046747665889727,-0.002489575767150031,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.229074055937241,-0.6630838866666673,-1.2378727771119886,0.5801115046052481,1.0192322770426716,-0.4607827734485715,0.5340987696236708,1.4813984352316323,1.7719715467356594,1.7719715467356594,1.9433600000008173,0,0,-0.0001317226374600563,-3.9096971519941806e-05
+13057,1791878281473878754,7321633000000,1791878281467043318,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761331599813818,-0.00477431419894807,0.08882708730158406,0.9999999868510219,9.919555991514089e-05,5.23945846367776e-05,7.180437875489609e-05,0.6761,-0.0048,0.08867244245376714,1.0,0.0,0.0,0.0,-0.23372008983076162,-0.18791360205881713,1.5315444976507133,-0.01096093947817164,0.016082998021559984,-9.170075788074135e-05,-0.16597632515139701,-0.1608222102624687,1.8791356594149302,-0.014974598132647121,0.012036623566538673,-0.002530137766970104,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.19784961086996,-0.7265807856211882,-1.2747875030344087,0.6159115657540636,1.0297835481593152,-0.497020682084226,0.5340987696236708,1.5315444976507133,1.8088862726580794,1.8088862726580794,1.9887200000008627,0,0,-0.0001333772778292205,-6.640282354387068e-05
+13149,1791878282239891762,7322399000000,1791878282235044554,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761388473947281,-0.004778747220495002,0.08873760995081155,0.9999999839832028,0.00012069029493513178,6.0666566529602214e-05,7.231790228848181e-05,0.6761,-0.0048,0.08856873636323988,1.0,0.0,0.0,0.0,-0.23374782315707726,-0.1931840255757733,1.5616300101024243,-0.010967417358229557,0.016076953153679862,-0.00011601508494640464,-0.16600405847771266,-0.16609263377942488,1.9092211718666412,-0.01498107601270504,0.012030578698658551,-0.0025544520940357675,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2228054524634016,-0.6901815377119405,-1.2586926648651966,0.606646639234102,1.0240901233668274,-0.4743452041826323,0.5340987696236708,1.5616300101024243,1.7927914344888674,1.7927914344888674,2.050000000000924,0,0,-0.00013794699586375104,-9.999999025923074e-05
+13229,1791878282906880953,7323066000000,1791878282899043488,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761397814693954,-0.004780313981242544,0.08864849963363318,0.9999999842815293,0.00011701907616250177,6.332350268583991e-05,7.194772715446729e-05,0.6761,-0.0048,0.08847407107223042,1.0,0.0,0.0,0.0,-0.2392980243145494,-0.19324638088840454,1.5982669976116455,-0.010974579182950452,0.016068817374517336,-0.00014713902945150212,-0.1715542596351848,-0.16615498909205612,1.9458581593758624,-0.014988237837425934,0.012022442919496027,-0.002585576038540865,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2557578889201857,-0.7980185514203796,-1.3870940907299563,0.6453306769008842,1.1112759123082883,-0.544905904560398,0.5340987696236708,1.5982669976116455,1.921192860353627,1.921192860353627,2.1033600000009773,0,0,-0.00014539221544202055,-3.4494573319162475e-06
+13309,1791878283573857556,7323733000000,1791878283571043682,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676143487194512,-0.004780114724282309,0.08855401143612432,0.9999999842176319,0.00011468113524554115,6.658009642357673e-05,7.364053530273304e-05,0.6761,-0.0048,0.08837527373783409,1.0,0.0,0.0,0.0,-0.24245867663014817,-0.19735716285368946,1.6377207942188523,-0.010981805231506152,0.01606184804537558,-0.000178553192330096,-0.17471491195078356,-0.17026577105734103,1.9853119559830692,-0.014995463885981632,0.01201547359035427,-0.002616990201419459,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2186857683446162,-0.6979310137568575,-1.5111284248083703,0.6246954507577025,1.1750223179633845,-0.47843503543286264,0.5340987696236708,1.6377207942188523,2.045227194432041,2.045227194432041,2.1567200000010307,0,0,-0.00015039357340454617,9.992156688032878e-05
+13389,1791878284239847667,7324399000000,1791878284235043530,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761449514584648,-0.004786245145019175,0.08845540560769372,0.999999984567747,0.0001071571827222363,6.918383911015505e-05,7.770652913804873e-05,0.6761,-0.0048,0.08827228877955344,1.0,0.0,0.0,0.0,-0.2427789230533497,-0.20068652506741622,1.6719539843289495,-0.01099197891743317,0.016054222542202064,-0.00020627653948911574,-0.1750351583739851,-0.1735951332710678,2.0195451460931664,-0.015005637571908651,0.012007848087180755,-0.0026447135485784786,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2279408419285807,-0.6308460952486955,-1.4086033648054006,0.6112523267770018,1.1091792173022685,-0.4360279891475486,0.5340987696236708,1.6719539843289495,1.9427021344290714,1.9427021344290714,2.210000000001084,0,0,-0.00015904588794165975,-9.98494995282428e-05
+13460,1791878284831848128,7324991000000,1791878284831043581,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761465415515904,-0.004784249768830793,0.08836013147225744,0.9999999845308251,0.00010620110329308744,7.138435868062804e-05,7.750363258849555e-05,0.6761,-0.0048,0.08817499628848191,1.0,0.0,0.0,0.0,-0.23982131665370246,-0.19190857918380747,1.7055921426796081,-0.01102706601810394,0.01701109254750427,-0.00022541983624226655,-0.17207755197433786,-0.16481718738745904,2.053183304443825,-0.015040724672579423,0.012964718092482959,-0.0026638568453316294,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1710970691991713,-0.6800565881050628,-1.4583818620917604,0.6280444203665149,1.1219047632909795,-0.46809746110649675,0.5340987696236708,1.7055921426796081,1.992480631715431,1.992480631715431,2.2573600000011314,0,0,-0.00016870356831929912,-9.990234614421496e-05
+13536,1791878285464852977,7325624000000,1791878285463045379,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676147540094789,-0.004783539559902955,0.08825202925946776,0.9999999852512175,0.00010064332033170134,7.106172604439637e-05,7.590508833781383e-05,0.6761,-0.0048,0.08806538843864266,1.0,0.0,0.0,0.0,-0.2355933793195419,-0.19167264042280516,1.7319969600585339,-0.011400205767518906,0.017059354454977985,-0.00023978396332578191,-0.1678496146401773,-0.16458124862645673,2.0795881218227508,-0.015413864421994387,0.013012979999956674,-0.0026782209724151448,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.200675097074488,-0.758511206721704,-1.5375609764317395,0.6621283181572536,1.1748226688636705,-0.5200038818836739,0.5340987696236708,1.7319969600585339,2.0716597460554103,2.0716597460554103,2.308000000001182,0,0,-0.00017614018755637695,-2.8469986117168846e-05
+13608,1791878286064848465,7326224000000,1791878286063044454,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761499106404987,-0.004784207794045315,0.08814804494942645,0.9999999844316664,0.00010271429567242931,7.487419102697782e-05,8.01446211380094e-05,0.6761,-0.0048,0.08795856665657849,1.0,0.0,0.0,0.0,-0.23390117538934294,-0.20205486151429128,1.7621927896723963,-0.012021443185012175,0.016052807677840775,-0.00027768625182712173,-0.16615741070997833,-0.17496346971794285,2.1097839514366132,-0.016035101839487656,0.012006433222819466,-0.0027161232609164846,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2218431853614835,-0.682313743709652,-1.5774426791727407,0.641262087658109,1.2025714074666392,-0.47304666304423487,0.5340987696236708,1.7621927896723963,2.1115414487964115,2.1115414487964115,2.35600000000123,0,0,-0.0001812668701487149,-5.931263399728266e-05
+13672,1791878286598785476,7326758000000,1791878286595043592,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761486263487663,-0.0047868684937475816,0.08804988562195923,0.9999999850811376,9.715000928166217e-05,7.215197870341235e-05,8.146506352930217e-05,0.6761,-0.0048,0.08786108109639261,1.0,0.0,0.0,0.0,-0.23375722715493813,-0.201484551156253,1.783707782477132,-0.012030286825709398,0.016057794739962716,-0.0003057356665576174,-0.16601346247557353,-0.17439315935990457,2.131298944241349,-0.01604394548018488,0.012011420284941406,-0.0027441726756469802,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.176294219566169,-0.6808251785200391,-1.5521218075925955,0.6530509285198102,1.1699247274131879,-0.4678957630051846,0.5340987696236708,1.783707782477132,2.0862205772162663,2.0862205772162663,2.3987200000012727,0,0,-0.00018720372343547365,-9.998693126090358e-05
+13728,1791878287064884780,7327224000000,1791878287059043247,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.676151250936483,-0.004783338950174614,0.08796830674464638,0.9999999843516856,0.00010182006954756826,7.588151279395861e-05,8.13275005739245e-05,0.6761,-0.0048,0.08777330320463908,1.0,0.0,0.0,0.0,-0.22827124847582841,-0.20082979612038573,1.8020460673423317,-0.01200426947312147,0.016044040590452203,-0.0003207541282655565,-0.1605274837964638,-0.1737384043240373,2.1496372291065486,-0.01601792812759695,0.011997666135430893,-0.0027591911373549194,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2232102728686252,-0.7646022546523128,-1.6833662658593807,0.6740855499011783,1.2621128546805558,-0.5213294553321414,0.5340987696236708,1.8020460673423317,2.2174650354830514,2.2174650354830514,2.43600000000131,0,0,-0.00018905555976692223,9.840733369704253e-05
+13788,1791878287564843060,7327724000000,1791878287563044490,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761500974295339,-0.004787137010875169,0.08786909861944286,0.9999999841202228,0.00010161978005382851,7.449307768813355e-05,8.559567808998563e-05,0.6761,-0.0048,0.08767568640234707,1.0,0.0,0.0,0.0,-0.23324974740804985,-0.19925287612970768,1.831920799761882,-0.011843696233635844,0.016033989579292973,-0.00034508109643926164,-0.16550598272868525,-0.17216148433335926,2.179511961526099,-0.015857354888111325,0.011987615124271662,-0.0027835181055286245,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2617836730537066,-0.6051189150138017,-1.7405349351821957,0.6345829438257156,1.3069960775486424,-0.4192768388540965,0.5340987696236708,1.831920799761882,2.2746337048058667,2.2746337048058667,2.47600000000135,0,0,-0.00020011562005120697,9.999999025923074e-05
+13844,1791878288031888414,7328191000000,1791878288031042980,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761499371728822,-0.00478006391798863,0.08777702803655646,0.999999984283638,0.00010316894969267389,7.312617092497691e-05,8.297179654007334e-05,0.6761,-0.0048,0.08757966026464314,1.0,0.0,0.0,0.0,-0.22462039648933652,-0.19213422846880354,1.8425911347680535,-0.012046540582851543,0.01602992149373912,0.0005364115471052696,-0.1568766318099719,-0.16504283667245512,2.1901822965322704,-0.016060199237327023,0.011983547038717813,-0.0019020254619840932,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.250286639126321,-0.6654712306489351,-1.6954092347258085,0.6635055853896157,1.2703357900057823,-0.4589375404969504,0.5340987696236708,1.8425911347680535,2.229508004349479,2.229508004349479,2.5133600000013874,0,0,-0.00020894407809088212,-9.999999025923074e-05
+13903,1791878288523880763,7328683000000,1791878288523043585,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761486364321984,-0.004783407696611532,0.08767286236512715,0.9999999844730171,0.00010219307796064392,7.075058294828063e-05,8.395093726198174e-05,0.6761,-0.0048,0.08747417228504005,1.0,0.0,0.0,0.0,-0.2248920484870817,-0.19626744573392485,1.8526668206192614,-0.011102051165242252,0.015005016206336052,-0.00036587202176659216,-0.1571482838077171,-0.16917605393757643,2.2002579823834783,-0.015115709819717733,0.010958641751314743,-0.002804309030855955,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.231695758177454,-0.6791363740999169,-1.8148495742281892,0.6732325709882295,1.338945426553675,-0.4656569376810431,0.5340987696236708,1.8526668206192614,2.34894834385186,2.34894834385186,2.5527200000014267,0,0,-0.0002199485518064329,9.965572397708228e-05
+13967,1791878289056881279,7329216000000,1791878289051043294,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761519614747928,-0.004778866533337342,0.08756033252400951,0.9999999834616526,0.00010680612888311774,7.564151875396053e-05,8.596726288863783e-05,0.6761,-0.0048,0.08735320512416414,1.0,0.0,0.0,0.0,-0.21576756786897527,-0.1959686155974859,1.8627145100729854,-0.011001175357687607,0.01499872970183069,-0.00037282012261840615,-0.14802380318961067,-0.16887722380113748,2.2103056718372023,-0.01501483401216309,0.010952355246809379,-0.002811257131707769,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2156738061438515,-0.6007540765303669,-1.6963603630225634,0.6647605756732511,1.2531383687989928,-0.4133122245120707,0.5340987696236708,1.8627145100729854,2.230459132646234,2.230459132646234,2.5953600000014694,0,0,-0.000234570000752525,-9.968978006836266e-05
+14023,1791878289523782504,7329683000000,1791878289523043050,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761536439447821,-0.004771713348244548,0.08745089662135007,0.9999999833063637,0.00010965855686175857,7.685770281650784e-05,8.305438671292304e-05,0.6761,-0.0048,0.08724034943516101,1.0,0.0,0.0,0.0,-0.2162001257212877,-0.19557582915826116,1.872749606544805,-0.010999491293541223,0.014996478079767134,-0.00038093935992123415,-0.14845636104192309,-0.16848443736191274,2.220340768309022,-0.015013149948016705,0.010950103624745825,-0.002819376369010597,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2011287685389056,-0.6998863860937452,-1.789772037625394,0.6911729573629225,1.306599952871859,-0.4810667176080037,0.5340987696236708,1.872749606544805,2.323870807249065,2.323870807249065,2.6327200000015067,0,0,-0.00024798095347892095,9.107063403710836e-06
+14075,1791878289956826131,7330116000000,1791878289955043170,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761557644550228,-0.0047728387918613896,0.0873433025189568,0.9999999814131652,0.00011653317364308125,8.138997036406704e-05,9.171818725116938e-05,0.6761,-0.0048,0.08712928944647415,1.0,0.0,0.0,0.0,-0.21206442774240647,-0.19443377054182887,1.8827912401686915,-0.011001415049662289,0.014994180186903232,-0.000388548853515656,-0.14432066306304187,-0.16734237874548044,2.2303824019329084,-0.01501507370413777,0.010947805731881921,-0.002826985862605019,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2076240268503096,-0.6746954272998446,-1.7676475567991607,0.6938504451329847,1.2915497094709445,-0.46432155131156927,0.5340987696236708,1.8827912401686915,2.3017463264228315,2.3017463264228315,2.6673600000015414,0,0,-0.0002649457405648744,-9.999999025923074e-05
+14127,1791878290389878131,7330549000000,1791878290383043667,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761570462670929,-0.004772087972267146,0.08723019243090525,0.999999979693355,0.00012538744222499623,8.597933232045261e-05,9.45605511406735e-05,0.6761,-0.0048,0.08701103508149191,1.0,0.0,0.0,0.0,-0.21578559378511097,-0.18481315363917838,1.8928544229024185,-0.011002487277215624,0.014990375051381986,-0.00040031373461464495,-0.14804182910574637,-0.15772176184282996,2.2404455846666353,-0.015016145931691104,0.010944000596360677,-0.002838750743704008,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2502239536938355,-0.5883640116372402,-1.7735317063113376,0.6772970060353927,1.3081850462395845,-0.4058036991843074,0.5340987696236708,1.8928544229024185,2.3076304759350084,2.3076304759350084,2.702000000001576,0,0,-0.0002816939508973589,-9.999999025923074e-05
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+14219,1791878291156854128,7331316000000,1791878291151043374,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761562601653853,-0.004778349862093837,0.08700520995936174,0.9999999812095859,0.00011221327105408013,8.627601481428122e-05,9.480676819891869e-05,0.6761,-0.0048,0.08678397139682399,1.0,0.0,0.0,0.0,-0.21412602951001186,-0.1932818993989884,1.9229245997156348,-0.011008740592797009,0.014985463184434892,-0.0004207947749825308,-0.14638226483064726,-0.16619050760263998,2.2705157614798517,-0.01502239924727249,0.010939088729413581,-0.0028592317840718936,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2417192412328846,-0.625669977588807,-1.8253874719475465,0.7100778279174867,1.3393247080622825,-0.42964758639077183,0.5340987696236708,1.9229245997156348,2.3594862415712172,2.3594862415712172,2.7633600000016374,0,0,-0.0003106814447887115,-9.99999208702917e-05
+14259,1791878291489876413,7331649000000,1791878291487043884,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761679249696608,-0.004775813312725415,0.08691391308690664,0.9999999803032551,0.00010725659983726734,0.00010261371247920849,9.382324560171769e-05,0.6761,-0.0048,0.08667809360232095,1.0,0.0,0.0,0.0,-0.21593188942621863,-0.19370924705132106,1.922922141483512,-0.011008758314782652,0.014985505391406057,-0.0004214367186128132,-0.14818812474685403,-0.16661785525497264,2.270513303247729,-0.015022416969258134,0.010939130936384746,-0.002859873727702176,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1881433370390153,-0.5972439467348225,-1.793266931773709,0.7142094056254199,1.301406066823633,-0.40938971589049467,0.5340987696236708,1.922922141483512,2.3273657013973796,2.3273657013973796,2.790000000001664,0,0,-0.0003240982123051391,-9.997587066402076e-05
+14302,1791878291848885768,7332008000000,1791878291847033857,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.676164930175869,-0.0047809810009889556,0.08678975117836304,0.9999999806433107,0.00010672948432609167,9.544950181337848e-05,9.825707169283188e-05,0.6761,-0.0048,0.08655903039483132,1.0,0.0,0.0,0.0,-0.22310971830292417,-0.20153794511852657,1.9242358314801746,-0.011011639603336558,0.01498568086788132,-0.0004287096409356056,-0.15536595362355957,-0.17444655332217815,2.2718269932443915,-0.01502529825781204,0.010939306412860011,-0.0028671466500249684,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.231040490210143,-0.7186609219244647,-1.7898032730270874,0.7564218535086608,1.3159354646194863,-0.48504538480540665,0.5340987696236708,1.9242358314801746,2.323902042650758,2.323902042650758,2.8187200000016928,0,0,-0.0003394801675008204,-9.999999025923074e-05
+14338,1791878292148862186,7332308000000,1791878292147043508,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.676161859461537,-0.004782963301334335,0.08668751948271004,0.9999999805067393,0.0001071860088102739,9.436433380044485e-05,0.00010017942506104382,0.6761,-0.0048,0.08645509819053021,1.0,0.0,0.0,0.0,-0.21575117809879865,-0.20583430273693834,1.938030571694627,-0.012033604358836904,0.01500097594913741,-0.00044962017200717063,-0.14800741341943405,-0.17874291094058992,2.285621733458844,-0.016047263013312385,0.010954601494116102,-0.0028880571810965335,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2404658732336042,-0.6842325281291646,-1.687558025838864,0.7548362542064185,1.2537087499126864,-0.4618247111194261,0.5340987696236708,1.938030571694627,2.221656795462535,2.221656795462535,2.8427200000017168,0,0,-0.0003530323469350379,-9.999999025923074e-05
+14375,1791878292456783690,7332616000000,1791878292455042989,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761537656769209,-0.004783227672307859,0.08656823641374649,0.9999999812846434,0.00010987190685430372,8.40723768853004e-05,9.865889029617323e-05,0.6761,-0.0048,0.0863440814885523,1.0,0.0,0.0,0.0,-0.22463469750399312,-0.2055555293474211,1.948931928269219,-0.01203517176993241,0.014999392293058269,-0.0004514966838509056,-0.15689093282462852,-0.17846413755107268,2.296523090033436,-0.01604883042440789,0.01095301783803696,-0.0028899336929402684,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2758439709597416,-0.6945636375771491,-1.8428991552420697,0.7644044352408164,1.3629805145528093,-0.46520177171131616,0.5340987696236708,1.948931928269219,2.3769979248657407,2.3769979248657407,2.8673600000017414,0,0,-0.00036809445971427843,-9.98800584169956e-05
+14410,1791878292748885031,7332908000000,1791878292743043179,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761529020920488,-0.004788071398781298,0.08646376998232289,0.9999999804490666,0.00011149902764980116,8.799438286834491e-05,0.00010183165668062216,0.6761,-0.0048,0.08623468183083971,1.0,0.0,0.0,0.0,-0.2240769071611813,-0.21568865913327115,1.9447653570981853,-0.012035158980820533,0.01500168607023451,-0.00045046685669993414,-0.1563331424818167,-0.18859726733692272,2.292356518862402,-0.016048817635296014,0.0109553116152132,-0.002888903865789297,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1780459341455893,-0.672859488783119,-1.7294264467781422,0.7624820254020224,1.2637239265855886,-0.45042679631720994,0.5340987696236708,1.9447653570981853,2.263525216401813,2.263525216401813,2.8907200000017648,0,0,-0.00038172769308983243,-9.999999025923074e-05
+14446,1791878293048853022,7333208000000,1791878293043043400,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761475372976192,-0.004790400985944227,0.08634704933335265,0.9999999816689403,0.00010365533714578478,8.372064790877086e-05,0.00010174186775287528,0.6761,-0.0048,0.0861179812048319,1.0,0.0,0.0,0.0,-0.22264910531772172,-0.21545189777450333,1.9628317736203174,-0.012041962813551327,0.014995550524752783,0.0004235681397692752,-0.15490534063835712,-0.1883605059781549,2.3104229353845342,-0.016055621468026807,0.010949176069731472,-0.0020148688693200877,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2136002024783243,-0.6886993761298786,-1.7799277504757909,0.7646552882701441,1.31368957148747,-0.46475829946705055,0.5340987696236708,1.9628317736203174,2.3140265200994614,2.3140265200994614,2.9147200000017888,0,0,-0.00039648967822411416,-9.999999025923074e-05
+14478,1791878293314843719,7333474000000,1791878293307043424,DOWN_FORCE_DETACH,2,0.055,0.055002398788928986,0.6761594000866966,-0.0047936314232870335,0.08624674827331853,0.9999999803623183,9.51069177114389e-05,9.951811031180698e-05,0.00010848523998946622,0.6761,-0.0048,0.08601084999972869,1.0,0.0,0.0,0.0,-0.2244300382448846,-0.2137097855567053,1.9723634947622413,-0.012069840308347176,0.014996683172762034,-0.0004742723371006772,-0.15668627356552,-0.18661839376035688,2.319954656526458,-0.016083498962822657,0.010950308717740723,-0.00291270934619004,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.236058918546722,-0.6294938390382326,-1.757863248879408,0.7610588596026023,1.3060220479154125,-0.42182791897750305,0.5340987696236708,1.9723634947622413,2.291962018503079,2.291962018503079,2.93600000000181,0,0,-0.00040929114601270653,-9.999999025923074e-05
+14506,1791878293548791130,7333708000000,1791878293547043305,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761765767538014,-0.004790798853145442,0.0861678225250086,0.9999999774964269,0.00010159972525517444,0.00011571193244800933,0.00011286387606198743,0.6761,-0.0048,0.08591371282182954,1.0,0.0,0.0,0.0,-0.2303459167112921,-0.1925192632466436,1.9569002196746308,-0.011042461080305668,0.015991637134246797,-0.0004349237987444688,-0.1626021520319275,-0.16542787145029517,2.3044913814388477,-0.015056119734781149,0.011945262679225488,-0.0028733608078338317,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2143907953516173,-0.7895769503249834,-1.7122368150818843,0.804622252389913,1.2733178306457176,-0.5261197595646302,0.5340987696236708,1.9569002196746308,2.2463355847055553,2.2463355847055553,2.9547200000018288,0,0,-0.0004209911437333665,-9.999999025923074e-05
+14538,1791878293814884861,7333974000000,1791878293811042908,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761668280200203,-0.004794803978959837,0.08604764040786124,0.9999999664853598,0.00018415095187751063,0.00010206049063181128,0.00011892950271805832,0.6761,-0.0048,0.08579996692794237,1.0,0.0,0.0,0.0,-0.21987652474275693,-0.20446607009277165,1.9804883471812225,-0.01203964046476719,0.014993751656972764,-0.00047722474109655527,-0.15213276006339232,-0.17737467829642323,2.3280795089454394,-0.01605329911924267,0.010947377201951453,-0.002915661750185918,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2494210439913378,-0.7386459351268458,-1.7599809135945645,0.8025913734358056,1.3167740558738064,-0.48012397329942097,0.5340987696236708,1.9804883471812225,2.2940796832182353,2.2940796832182353,2.97600000000185,0,0,-0.0004342911411423219,-9.999999025923074e-05
+14570,1791878294081831259,7334241000000,1791878294075043463,DOWN_FORCE_DETACH,2,0.055,0.055001743137836456,0.6761696994511448,-0.004794230014574676,0.08593179891168888,0.9999999781716084,0.00011620685592429632,0.00011790024911612647,8.772197623274743e-05,0.6761,-0.0048,0.08568223564360587,1.0,0.0,0.0,0.0,-0.22524669227012006,-0.19182030886550783,1.9831130015550287,-0.011019748344695442,0.014972558936462963,-0.00047087514479889894,-0.15750292759075546,-0.1647289170691594,2.3307041633192456,-0.015033406999170924,0.010926184481441652,-0.0029093121538882618,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2486134333647623,-0.7172132044443178,-1.7082499063176724,0.7944796806473975,1.289862968770094,-0.4790640233902736,0.5340987696236708,1.9831130015550287,2.242348675941343,2.242348675941343,2.9973600000018714,0,0,-0.0004476411385415365,-9.999999025923074e-05
+14623,1791878294516887893,7334676000000,1791878294511043857,DOWN_SETTLE,2,0.055,0.055001743137836456,0.6761632468736414,-0.004773167639546112,0.08583912404995565,0.9999999782978188,0.0001261344347111685,0.00010545852759569083,8.840718066534298e-05,0.6761,-0.0048,0.08560590244453162,1.0,0.0,0.0,0.0,-0.19790735035798135,-0.18572199489905108,1.9291686625134525,-0.010980506877510468,0.01397059464135856,-0.0004399708990219845,-0.13016358567861674,-0.15863060310270266,2.2767598242776694,-0.01499416553198595,0.009924220186337249,-0.0028784079081113473,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1169218112646395,-0.8184478049837334,-1.6090129642255744,0.8109299946451898,1.2033365604290949,-0.5489526248653703,0.5340987696236708,1.9291686625134525,2.143111733849245,0.0,0.0,0,0,-1.205022578337027e-05,0.00012171945235727545
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bcc3281c939b1129ddc20ee5dc2b27ba76793e7
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d11086bf34fab98db0c8f3bebaac878dd62cf93
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,2.583333333e+00,DOWN_FORCE_DETACH,1791878261582459428,1.982392582e-05,-1.312068485e-05,-2.259639836e-04,1.833327871e-05,-8.713647331e-06,-2.146775776e-04,1.814411345e-05,-8.706087080e-06,-2.140174372e-04,7.015576954e-01,-1.156972353e-05,8.405149772e-01,7.015562048e-01,-7.162686010e-06,8.405262636e-01,7.017474574e-01,-6.986119454e-06,8.293586093e-01
+6,3.116666667e+00,DOWN_FORCE_DETACH,1791878262614517504,2.357196403e-05,-1.190399858e-05,-3.128165924e-04,2.225584186e-05,-9.948651432e-06,-2.973799908e-04,2.183026119e-05,-9.908713844e-06,-2.965867755e-04,7.015614434e-01,-1.035303726e-05,8.404281246e-01,7.015601273e-01,-8.397690110e-06,8.404435612e-01,7.017511436e-01,-8.188746219e-06,8.292760399e-01
+7,3.533333333e+00,DOWN_FORCE_DETACH,1791878263412773230,2.758915512e-05,-1.263669887e-05,-3.758158371e-04,2.699801166e-05,-1.033597946e-05,-3.586076484e-04,2.646017462e-05,-1.032586080e-05,-3.578044720e-04,7.015654606e-01,-1.108573755e-05,8.403651254e-01,7.015648695e-01,-8.785018142e-06,8.403823335e-01,7.017557735e-01,-8.605893170e-06,8.292148222e-01
+8,3.966666667e+00,DOWN_FORCE_DETACH,1791878264277474209,3.517193556e-05,-9.392044928e-06,-4.378607890e-04,3.401308911e-05,-9.551361746e-06,-4.253116660e-04,3.342721703e-05,-9.512106681e-06,-4.244976689e-04,7.015730434e-01,-7.841083607e-06,8.403030804e-01,7.015718846e-01,-8.000400424e-06,8.403156295e-01,7.017627405e-01,-7.792139056e-06,8.291481290e-01
+9,4.366666667e+00,DOWN_FORCE_DETACH,1791878265076621820,3.673392380e-05,3.865233474e-06,-5.055358359e-04,3.518335891e-05,6.343012874e-06,-4.898368062e-04,3.450875342e-05,6.409433749e-06,-4.890413890e-04,7.015746054e-01,5.416194795e-06,8.402354054e-01,7.015730548e-01,7.893974195e-06,8.402511044e-01,7.017638221e-01,8.129401375e-06,8.290835853e-01
+10,4.783333333e+00,DOWN_FORCE_DETACH,1791878265908636084,3.947491110e-05,1.011882593e-06,-5.781932893e-04,3.921100707e-05,4.820641028e-06,-5.760570656e-04,3.835498894e-05,4.909769079e-06,-5.751137259e-04,7.015773464e-01,2.562843914e-06,8.401627479e-01,7.015770825e-01,6.371602349e-06,8.401648841e-01,7.017676683e-01,6.629736705e-06,8.289975130e-01
+11,5.216666667e+00,DOWN_FORCE_DETACH,1791878266738658528,4.860753094e-05,7.503300598e-06,-6.373470720e-04,4.516953050e-05,2.998987155e-06,-6.396058085e-04,4.429765606e-05,3.083609831e-06,-6.387554251e-04,7.015864790e-01,9.054261919e-06,8.401035941e-01,7.015830410e-01,4.549948476e-06,8.401013354e-01,7.017736110e-01,4.803577456e-06,8.289338713e-01
+12,5.650000000e+00,DOWN_FORCE_DETACH,1791878267570437633,4.760718873e-05,2.855610155e-06,-7.172077928e-04,4.747056067e-05,4.690875429e-08,-7.068676562e-04,4.634590642e-05,1.114805061e-07,-7.060640545e-04,7.015854787e-01,4.406571476e-06,8.400237334e-01,7.015853420e-01,1.597870075e-06,8.400340735e-01,7.017756592e-01,1.831448132e-06,8.288665626e-01
+13,6.133333333e+00,DOWN_FORCE_DETACH,1791878268500416461,5.225755663e-05,1.469335956e-06,-7.894093640e-04,5.257022793e-05,1.284896488e-06,-7.697045844e-04,5.144443836e-05,1.358094467e-06,-7.690085876e-04,7.015901290e-01,3.020297277e-06,8.399515318e-01,7.015904417e-01,2.835857809e-06,8.399712366e-01,7.017807577e-01,3.078062093e-06,8.288036181e-01
+14,6.566666667e+00,DOWN_FORCE_DETACH,1791878269300500267,6.269778170e-05,-1.958304962e-06,-8.469208650e-04,5.568072932e-05,3.897603374e-06,-8.322519666e-04,5.441898829e-05,3.956484338e-06,-8.316553323e-04,7.016005693e-01,-4.073436408e-07,8.398940203e-01,7.015935522e-01,5.448564695e-06,8.399086892e-01,7.017837323e-01,5.676451963e-06,8.287409714e-01
+15,6.966666667e+00,DOWN_FORCE_DETACH,1791878270064476023,6.122780197e-05,3.138548947e-07,-9.146475247e-04,5.947338707e-05,-3.890963461e-07,-8.989702027e-04,5.805712774e-05,-3.207623883e-07,-8.982300670e-04,7.015990993e-01,1.864816216e-06,8.398262937e-01,7.015973449e-01,1.161864975e-06,8.398419710e-01,7.017873704e-01,1.399205237e-06,8.286743966e-01
+16,7.450000000e+00,DOWN_FORCE_DETACH,1791878270996925435,6.769272982e-05,-3.607554596e-06,-9.886402025e-04,6.475255468e-05,-4.652040990e-06,-9.839921700e-04,6.319349414e-05,-4.576306170e-06,-9.832042018e-04,7.016055642e-01,-2.056593275e-06,8.397523010e-01,7.016026240e-01,-3.101079669e-06,8.397569490e-01,7.017925068e-01,-2.856338544e-06,8.285894225e-01
+17,7.883333333e+00,DOWN_FORCE_DETACH,1791878271828561174,7.312091017e-05,-3.457815931e-06,-1.060515156e-03,7.044206077e-05,-6.204158701e-06,-1.048852693e-03,6.882388001e-05,-6.145910639e-06,-1.048061070e-03,7.016109924e-01,-1.906854610e-06,8.396804260e-01,7.016083135e-01,-4.653197380e-06,8.396920885e-01,7.017981372e-01,-4.425943013e-06,8.285245656e-01
+18,8.283333333e+00,DOWN_FORCE_DETACH,1791878272626587207,7.651509479e-05,-7.657869618e-06,-1.138754217e-03,7.637893771e-05,-7.535087706e-06,-1.138403534e-03,7.453438888e-05,-7.489710624e-06,-1.137452380e-03,7.016143866e-01,-6.106908297e-06,8.396021870e-01,7.016142504e-01,-5.984126385e-06,8.396025377e-01,7.018038477e-01,-5.769742998e-06,8.284351743e-01
+19,8.683333333e+00,DOWN_FORCE_DETACH,1791878273426499486,8.173933767e-05,-1.079912250e-05,-1.212001247e-03,7.891190657e-05,-1.050137405e-05,-1.206082588e-03,7.691408287e-05,-1.045479484e-05,-1.205097612e-03,7.016196108e-01,-9.248161180e-06,8.395289399e-01,7.016167834e-01,-8.950412725e-06,8.395348586e-01,7.018062274e-01,-8.734827219e-06,8.283675291e-01
+20,9.100000000e+00,DOWN_FORCE_DETACH,1791878274256642345,8.573753219e-05,-7.425629565e-06,-1.296463853e-03,8.564382965e-05,-7.498773219e-06,-1.296403865e-03,8.347863895e-05,-7.488882731e-06,-1.295402572e-03,7.016236090e-01,-5.874668244e-06,8.394444773e-01,7.016235153e-01,-5.947811898e-06,8.394445373e-01,7.018127919e-01,-5.768915106e-06,8.282772241e-01
+21,9.566666667e+00,DOWN_FORCE_DETACH,1791878275156395106,9.146725850e-05,-1.387220423e-05,-1.382856748e-03,9.111003511e-05,-1.408070473e-05,-1.382735893e-03,8.871688427e-05,-1.403940402e-05,-1.381735205e-03,7.016293387e-01,-1.232124291e-05,8.393580844e-01,7.016289815e-01,-1.252974341e-05,8.393582053e-01,7.018180302e-01,-1.231943639e-05,8.281908915e-01
+22,9.916666667e+00,DOWN_FORCE_DETACH,1791878275820447089,9.796196289e-05,-1.915429129e-05,-1.444919090e-03,9.372073084e-05,-1.698668496e-05,-1.428229557e-03,9.128595749e-05,-1.695847623e-05,-1.427433787e-03,7.016358334e-01,-1.760332997e-05,8.392960221e-01,7.016315922e-01,-1.543572364e-05,8.393127116e-01,7.018205993e-01,-1.523850860e-05,8.281451929e-01
+23,1.028333333e+01,DOWN_FORCE_DETACH,1791878276518462323,9.934786988e-05,-1.547751200e-05,-1.519204357e-03,9.919506579e-05,-1.561039352e-05,-1.519391400e-03,9.657466330e-05,-1.556841222e-05,-1.518460648e-03,7.016372194e-01,-1.392655068e-05,8.392217368e-01,7.016370665e-01,-1.405943220e-05,8.392215498e-01,7.018258880e-01,-1.384844460e-05,8.280541660e-01
+24,1.065000000e+01,DOWN_FORCE_DETACH,1791878277218768578,1.051595210e-04,-2.154509393e-05,-1.585132782e-03,1.023179891e-04,-1.724001318e-05,-1.586829013e-03,9.944819870e-05,-1.718376875e-05,-1.585929685e-03,7.016430310e-01,-1.999413260e-05,8.391558084e-01,7.016401895e-01,-1.568905186e-05,8.391541122e-01,7.018287615e-01,-1.546380112e-05,8.279866970e-01
+25,1.105000000e+01,DOWN_FORCE_DETACH,1791878277982834282,1.049604701e-04,-1.944407178e-05,-1.672985938e-03,1.049993066e-04,-1.966975028e-05,-1.672816118e-03,1.019096373e-04,-1.962590553e-05,-1.671839256e-03,7.016428320e-01,-1.789311046e-05,8.390679552e-01,7.016428708e-01,-1.811878896e-05,8.390681251e-01,7.018312229e-01,-1.790593790e-05,8.279007874e-01
+26,1.146666667e+01,DOWN_FORCE_DETACH,1791878278748473111,1.071711079e-04,-2.885431898e-05,-1.756253384e-03,1.052801026e-04,-2.404705227e-05,-1.738417659e-03,1.019971173e-04,-2.402927565e-05,-1.737545718e-03,7.016450426e-01,-2.730335766e-05,8.389846878e-01,7.016431516e-01,-2.249609095e-05,8.390025235e-01,7.018313104e-01,-2.230930803e-05,8.278350810e-01
+27,1.183333333e+01,DOWN_FORCE_DETACH,1791878279444397040,1.087525964e-04,-2.494859365e-05,-1.832597908e-03,1.094372088e-04,-2.942417472e-05,-1.823800848e-03,1.059574336e-04,-2.936625671e-05,-1.822753926e-03,7.016466241e-01,-2.339763233e-05,8.389083433e-01,7.016473087e-01,-2.787321340e-05,8.389171403e-01,7.018352707e-01,-2.764628909e-05,8.277498728e-01
+28,1.220000000e+01,DOWN_FORCE_DETACH,1791878280176379956,1.128989612e-04,-2.735956677e-05,-1.920245537e-03,1.130597324e-04,-3.083674784e-05,-1.901613184e-03,1.094031692e-04,-3.075976811e-05,-1.900574680e-03,7.016507704e-01,-2.580860545e-05,8.388206957e-01,7.016509312e-01,-2.928578652e-05,8.388393280e-01,7.018387165e-01,-2.903980048e-05,8.276720520e-01
+29,1.256666667e+01,DOWN_FORCE_DETACH,1791878280908454901,1.192067266e-04,-3.737388445e-05,-1.997450723e-03,1.193373736e-04,-2.929727143e-05,-1.988239431e-03,1.155401295e-04,-2.922401882e-05,-1.987176308e-03,7.016570782e-01,-3.582292313e-05,8.387434905e-01,7.016572089e-01,-2.774631011e-05,8.387527018e-01,7.018448534e-01,-2.750405119e-05,8.275854504e-01
+30,1.285000000e+01,DOWN_FORCE_DETACH,1791878281474626669,1.171434458e-04,-3.756784727e-05,-2.084308756e-03,1.179805211e-04,-3.428060004e-05,-2.064762940e-03,1.139405139e-04,-3.420319570e-05,-2.063708425e-03,7.016550149e-01,-3.601688595e-05,8.386566324e-01,7.016558520e-01,-3.272963872e-05,8.386761782e-01,7.018432538e-01,-3.248322807e-05,8.275089183e-01
+31,1.323333333e+01,DOWN_FORCE_DETACH,1791878282240866680,1.239104196e-04,-3.833630148e-05,-2.173545854e-03,1.228344778e-04,-3.848260929e-05,-2.156822026e-03,1.185755212e-04,-3.840845561e-05,-2.155809301e-03,7.016617819e-01,-3.678534016e-05,8.385673953e-01,7.016607060e-01,-3.693164797e-05,8.385841192e-01,7.018478888e-01,-3.668848799e-05,8.274168174e-01
+32,1.356666667e+01,DOWN_FORCE_DETACH,1791878282904492440,1.247454975e-04,-4.103883451e-05,-2.261950654e-03,1.270098567e-04,-4.131690486e-05,-2.252462727e-03,1.224843727e-04,-4.123879679e-05,-2.251361650e-03,7.016626170e-01,-3.948787319e-05,8.384789905e-01,7.016648813e-01,-3.976594354e-05,8.384884785e-01,7.018517977e-01,-3.951882917e-05,8.273212650e-01
+33,1.391666667e+01,DOWN_FORCE_DETACH,1791878283570468918,1.297980268e-04,-3.911019463e-05,-2.355188611e-03,1.270610486e-04,-3.953360216e-05,-2.345975724e-03,1.222991690e-04,-3.940920000e-05,-2.344848044e-03,7.016676695e-01,-3.755923331e-05,8.383857526e-01,7.016649325e-01,-3.798264084e-05,8.383949655e-01,7.018516125e-01,-3.768923238e-05,8.272277787e-01
+34,1.426666667e+01,DOWN_FORCE_DETACH,1791878284236464609,1.312018919e-04,-3.982162327e-05,-2.453140543e-03,1.258666698e-04,-3.935831206e-05,-2.434425106e-03,1.208048119e-04,-3.928758095e-05,-2.433264489e-03,7.016690734e-01,-3.827066195e-05,8.382878006e-01,7.016637382e-01,-3.780735074e-05,8.383065161e-01,7.018501181e-01,-3.756761332e-05,8.271393622e-01
+35,1.458333333e+01,DOWN_FORCE_DETACH,1791878284834663635,1.317198519e-04,-4.532279620e-05,-2.551509325e-03,1.315161036e-04,-4.206059577e-05,-2.546637976e-03,1.262054948e-04,-4.198894208e-05,-2.545328058e-03,7.016695913e-01,-4.377183488e-05,8.381894319e-01,7.016693876e-01,-4.050963445e-05,8.381943032e-01,7.018555188e-01,-4.026897445e-05,8.270272986e-01
+36,1.491666667e+01,DOWN_FORCE_DETACH,1791878285466796310,1.330350494e-04,-4.430339339e-05,-2.657873029e-03,1.313538192e-04,-4.213037645e-05,-2.654047079e-03,1.256250391e-04,-4.205526523e-05,-2.652616420e-03,7.016709065e-01,-4.275243207e-05,8.380830682e-01,7.016692253e-01,-4.057941513e-05,8.380868941e-01,7.018549383e-01,-4.033529760e-05,8.269200103e-01
+37,1.523333333e+01,DOWN_FORCE_DETACH,1791878286064711026,1.346362421e-04,-4.576401491e-05,-2.761259571e-03,1.338772797e-04,-4.539416708e-05,-2.752677319e-03,1.278907029e-04,-4.534758377e-05,-2.751261698e-03,7.016725077e-01,-4.421305359e-05,8.379796816e-01,7.016717488e-01,-4.384320576e-05,8.379882639e-01,7.018572040e-01,-4.362761615e-05,8.268213650e-01
+38,1.551666667e+01,DOWN_FORCE_DETACH,1791878286599068009,1.336893737e-04,-4.645757473e-05,-2.861270183e-03,1.335322772e-04,-4.668923595e-05,-2.861459140e-03,1.271389015e-04,-4.664062177e-05,-2.859925949e-03,7.016715609e-01,-4.490661341e-05,8.378796710e-01,7.016714038e-01,-4.513827463e-05,8.378794820e-01,7.018564522e-01,-4.492065415e-05,8.267127007e-01
+39,1.576666667e+01,DOWN_FORCE_DETACH,1791878287064573944,1.378795717e-04,-4.766564115e-05,-2.939356838e-03,1.362522301e-04,-3.905639483e-05,-2.931699393e-03,1.296124201e-04,-3.902878429e-05,-2.930320552e-03,7.016757511e-01,-4.611467982e-05,8.378015843e-01,7.016741237e-01,-3.750543351e-05,8.378092418e-01,7.018589257e-01,-3.730881667e-05,8.266423061e-01
+40,1.601666667e+01,DOWN_FORCE_DETACH,1791878287562506430,1.336679665e-04,-4.512427747e-05,-3.042690305e-03,1.335540942e-04,-4.516787886e-05,-3.042638059e-03,1.264524206e-04,-4.510591672e-05,-3.041079299e-03,7.016715394e-01,-4.357331615e-05,8.376982509e-01,7.016714256e-01,-4.361691754e-05,8.376983031e-01,7.018557657e-01,-4.338594910e-05,8.265315474e-01
+41,1.626666667e+01,DOWN_FORCE_DETACH,1791878288028477504,1.347672153e-04,-4.243819983e-05,-3.134363262e-03,1.344742714e-04,-4.230243653e-05,-3.134475892e-03,1.270099357e-04,-4.229034706e-05,-3.132923323e-03,7.016726387e-01,-4.088723851e-05,8.376065779e-01,7.016723458e-01,-4.075147521e-05,8.376064653e-01,7.018563232e-01,-4.057037943e-05,8.264397034e-01
+42,1.651666667e+01,DOWN_FORCE_DETACH,1791878288526558331,1.321432999e-04,-4.125736038e-05,-3.240475739e-03,1.317880281e-04,-3.876688462e-05,-3.227941083e-03,1.238852727e-04,-3.874635457e-05,-3.226358947e-03,7.016700148e-01,-3.970639906e-05,8.375004654e-01,7.016696595e-01,-3.721592330e-05,8.375130001e-01,7.018531986e-01,-3.702638694e-05,8.263462677e-01
+43,1.678333333e+01,DOWN_FORCE_DETACH,1791878289059688476,1.366958044e-04,-3.593070927e-05,-3.353395074e-03,1.359577257e-04,-3.510798541e-05,-3.345765849e-03,1.277231068e-04,-3.506874780e-05,-3.344106413e-03,7.016745673e-01,-3.437974795e-05,8.373875461e-01,7.016738292e-01,-3.355702409e-05,8.373951753e-01,7.018570364e-01,-3.334878017e-05,8.262285203e-01
+44,1.701666667e+01,DOWN_FORCE_DETACH,1791878289526839982,1.389629110e-04,-3.466604898e-05,-3.460017199e-03,1.388865554e-04,-3.453308087e-05,-3.459660355e-03,1.303334904e-04,-3.447119119e-05,-3.457812683e-03,7.016768344e-01,-3.311508766e-05,8.372809240e-01,7.016767580e-01,-3.298211955e-05,8.372812808e-01,7.018596468e-01,-3.275122356e-05,8.261148140e-01
+45,1.723333333e+01,DOWN_FORCE_DETACH,1791878289956691127,1.392562632e-04,-3.344901435e-05,-3.569071328e-03,1.368293538e-04,-3.384829288e-05,-3.562305695e-03,1.278487234e-04,-3.376199117e-05,-3.560420361e-03,7.016771277e-01,-3.189805303e-05,8.371718699e-01,7.016747008e-01,-3.229733156e-05,8.371786355e-01,7.018571620e-01,-3.204202354e-05,8.260122063e-01
+46,1.745000000e+01,DOWN_FORCE_DETACH,1791878290390568918,1.440460066e-04,-3.326116529e-05,-3.680112460e-03,1.438637253e-04,-3.296167221e-05,-3.679639698e-03,1.346523528e-04,-3.288282209e-05,-3.677677638e-03,7.016819175e-01,-3.171020397e-05,8.370608287e-01,7.016817352e-01,-3.141071088e-05,8.370613015e-01,7.018639657e-01,-3.116285446e-05,8.258949491e-01
+47,1.763333333e+01,DOWN_FORCE_DETACH,1791878290756790998,1.398178821e-04,-3.538148399e-05,-3.783876930e-03,1.397203636e-04,-3.125647728e-05,-3.776806992e-03,1.300915895e-04,-3.119268356e-05,-3.774841239e-03,7.016776894e-01,-3.383052266e-05,8.369570643e-01,7.016775918e-01,-2.970551596e-05,8.369641342e-01,7.018594049e-01,-2.947271593e-05,8.257977855e-01
+48,1.783333333e+01,DOWN_FORCE_DETACH,1791878291156544464,1.419995195e-04,-3.548663596e-05,-3.902789181e-03,1.404664819e-04,-3.233581993e-05,-3.885164275e-03,1.304625537e-04,-3.223582469e-05,-3.883198266e-03,7.016798710e-01,-3.393567464e-05,8.368381520e-01,7.016783380e-01,-3.078485861e-05,8.368557769e-01,7.018597759e-01,-3.051585706e-05,8.256894284e-01
+49,1.800000000e+01,DOWN_FORCE_DETACH,1791878291488836873,1.494183969e-04,-3.643170720e-05,-4.003112757e-03,1.492126865e-04,-3.825222128e-05,-3.989250673e-03,1.390738361e-04,-3.818801811e-05,-3.987144439e-03,7.016872899e-01,-3.488074588e-05,8.367378284e-01,7.016870842e-01,-3.670125996e-05,8.367516905e-01,7.018683871e-01,-3.646805048e-05,8.255854823e-01
+50,1.820000000e+01,DOWN_FORCE_DETACH,1791878291852879998,1.496940469e-04,-4.253681329e-05,-4.121999019e-03,1.496487644e-04,-4.248546961e-05,-4.122298788e-03,1.390913821e-04,-4.239507240e-05,-4.120024971e-03,7.016875655e-01,-4.098585197e-05,8.366189422e-01,7.016875202e-01,-4.093450828e-05,8.366186424e-01,7.018684047e-01,-4.067510477e-05,8.254526017e-01
+51,1.835000000e+01,DOWN_FORCE_DETACH,1791878292152548465,1.467176856e-04,-4.204056949e-05,-4.225584845e-03,1.453574583e-04,-4.117439177e-05,-4.206703864e-03,1.344339153e-04,-4.109514643e-05,-4.204502499e-03,7.016845892e-01,-4.048960817e-05,8.365153563e-01,7.016832289e-01,-3.962343044e-05,8.365342373e-01,7.018637472e-01,-3.937517880e-05,8.253681242e-01
+52,1.851666667e+01,DOWN_FORCE_DETACH,1791878292453112314,1.417441918e-04,-4.315842053e-05,-4.336514504e-03,1.416115241e-04,-4.306683909e-05,-4.336668644e-03,1.301243673e-04,-4.300032956e-05,-4.334265480e-03,7.016796157e-01,-4.160745921e-05,8.364044267e-01,7.016794830e-01,-4.151587777e-05,8.364042725e-01,7.018594377e-01,-4.128036193e-05,8.252383612e-01
+53,1.866666667e+01,DOWN_FORCE_DETACH,1791878292752688642,1.387901119e-04,-4.781131405e-05,-4.447970148e-03,1.377416709e-04,-4.430010373e-05,-4.437292446e-03,1.258106912e-04,-4.424064162e-05,-4.434900862e-03,7.016766616e-01,-4.626035273e-05,8.362929710e-01,7.016756132e-01,-4.274914241e-05,8.363036487e-01,7.018551240e-01,-4.252067399e-05,8.251377258e-01
+54,1.883333333e+01,DOWN_FORCE_DETACH,1791878293052448129,1.326429037e-04,-5.152345936e-05,-4.565331691e-03,1.325905026e-04,-5.144614054e-05,-4.564997055e-03,1.200726044e-04,-5.134358349e-05,-4.562497253e-03,7.016705144e-01,-4.997249804e-05,8.361756095e-01,7.016704620e-01,-4.989517922e-05,8.361759441e-01,7.018493859e-01,-4.962361586e-05,8.250101294e-01
+55,1.896666667e+01,DOWN_FORCE_DETACH,1791878293316456659,1.418865210e-04,-5.048987859e-05,-4.669619852e-03,1.416363108e-04,-5.042969013e-05,-4.669380253e-03,1.289115678e-04,-5.036080682e-05,-4.666853198e-03,7.016797580e-01,-4.893891727e-05,8.360713213e-01,7.016795078e-01,-4.887872881e-05,8.360715609e-01,7.018582249e-01,-4.864083920e-05,8.249057735e-01
+56,1.910000000e+01,DOWN_FORCE_DETACH,1791878293548459114,1.614728347e-04,-5.032505024e-05,-4.743269352e-03,1.603052342e-04,-4.756321114e-05,-4.734955207e-03,1.477394903e-04,-4.751489325e-05,-4.732580128e-03,7.016993443e-01,-4.877408892e-05,8.359976718e-01,7.016981767e-01,-4.601224982e-05,8.360059860e-01,7.018770528e-01,-4.579492562e-05,8.248400466e-01
+57,1.923333333e+01,DOWN_FORCE_DETACH,1791878293816746260,1.511726494e-04,-5.311266723e-05,-4.863420589e-03,1.538320310e-04,-5.341012873e-05,-4.845013013e-03,1.407383345e-04,-5.335188428e-05,-4.842534019e-03,7.016890441e-01,-5.156170591e-05,8.358775206e-01,7.016917035e-01,-5.185916741e-05,8.358959282e-01,7.018700516e-01,-5.163191665e-05,8.247300927e-01
+58,1.936666667e+01,DOWN_FORCE_DETACH,1791878294080549011,1.532310072e-04,-4.565037144e-05,-4.980332066e-03,1.527819754e-04,-4.417914879e-05,-4.968702953e-03,1.392608174e-04,-4.411643348e-05,-4.966076434e-03,7.016911025e-01,-4.409941012e-05,8.357606091e-01,7.016906535e-01,-4.262818747e-05,8.357722382e-01,7.018685741e-01,-4.239646586e-05,8.246065503e-01
+59,1.960000000e+01,DOWN_SETTLE,1791878294517452998,1.482774263e-04,-3.606972379e-05,-5.073364706e-03,1.492634507e-04,-3.441299494e-05,-5.066343029e-03,1.352913041e-04,-3.429819591e-05,-5.064164560e-03,7.016861489e-01,-3.451876247e-05,8.356675765e-01,7.016871349e-01,-3.286203362e-05,8.356745982e-01,7.018646046e-01,-3.257822828e-05,8.245084621e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae38a0fe939bf4210287b61a29eabbf9ef6b773b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.1553e-03,-9.7715e-04,2.4525e+00,-3.6728e-02,3.6873e-02,-2.7589e-05,9.8673e-05,-2.1548e-06,-1.3828e-05,-8.5682e-08,7.0594e-06,-4.4353e-07,9.9661e-05,7.0739e-06
+1,5.8333e-01,DOWN_FORCE_DETACH,1.1639e-04,3.5784e-03,-1.0301e-03,2.4522e+00,-3.6731e-02,3.7046e-02,-4.0579e-05,2.5217e-03,-5.5116e-05,-3.3569e-04,-2.8200e-06,1.8011e-04,-1.3434e-05,2.5446e-03,1.8063e-04
+2,1.1167e+00,DOWN_FORCE_DETACH,2.3486e-04,4.7853e-03,1.6633e-03,2.4627e+00,-3.6919e-02,3.7121e-02,-4.7066e-05,3.7286e-03,2.6383e-03,1.0236e-02,-1.9106e-04,2.5500e-04,-1.9921e-05,1.1209e-02,3.1926e-04
+3,1.6000e+00,DOWN_FORCE_DETACH,3.5152e-04,3.3052e-03,5.3481e-04,2.4706e+00,-3.6846e-02,3.7007e-02,-5.3286e-05,2.2485e-03,1.5098e-03,1.8148e-02,-1.1792e-04,1.4050e-04,-2.6141e-05,1.8349e-02,1.8528e-04
+4,2.1167e+00,DOWN_FORCE_DETACH,4.6801e-04,3.1589e-03,1.4514e-03,2.4801e+00,-3.6914e-02,3.6985e-02,-5.6878e-05,2.1023e-03,2.4264e-03,2.7659e-02,-1.8612e-04,1.1918e-04,-2.9732e-05,2.7845e-02,2.2300e-04
+5,2.5833e+00,DOWN_FORCE_DETACH,5.8774e-04,3.4314e-03,1.6531e-03,2.4885e+00,-3.6930e-02,3.6995e-02,-5.7779e-05,2.3747e-03,2.6281e-03,3.6040e-02,-2.0204e-04,1.2856e-04,-3.0634e-05,3.6213e-02,2.4143e-04
+6,3.1167e+00,DOWN_FORCE_DETACH,7.0697e-04,3.8859e-03,2.2640e-03,2.4946e+00,-3.6964e-02,3.7021e-02,-5.3139e-05,2.8292e-03,3.2390e-03,4.2127e-02,-2.3604e-04,1.5457e-04,-2.5994e-05,4.2346e-02,2.8335e-04
+7,3.5333e+00,DOWN_FORCE_DETACH,8.2673e-04,3.9252e-03,2.7664e-03,2.4964e+00,-3.6981e-02,3.7022e-02,-4.5901e-05,2.8685e-03,3.7413e-03,4.3882e-02,-2.5281e-04,1.5554e-04,-1.8755e-05,4.4134e-02,2.9742e-04
+8,3.9667e+00,DOWN_FORCE_DETACH,9.4200e-04,3.4222e-03,2.9893e-03,2.4969e+00,-3.6970e-02,3.6985e-02,-3.5445e-05,2.3655e-03,3.9643e-03,4.4394e-02,-2.4159e-04,1.1914e-04,-8.3000e-06,4.4633e-02,2.6949e-04
+9,4.3667e+00,DOWN_FORCE_DETACH,1.0621e-03,5.5198e-03,-1.7188e-03,2.4968e+00,-3.6626e-02,3.7133e-02,-2.7349e-05,4.4632e-03,-7.4379e-04,4.4298e-02,1.0248e-04,2.6683e-04,-2.0401e-07,4.4528e-02,2.8583e-04
+10,4.7833e+00,DOWN_FORCE_DETACH,1.1753e-03,7.1240e-03,-7.8216e-04,2.5021e+00,-3.6668e-02,3.7246e-02,-1.4793e-05,6.0674e-03,1.9283e-04,4.9620e-02,5.9925e-05,3.7985e-04,1.2352e-05,4.9990e-02,3.8474e-04
+11,5.2167e+00,DOWN_FORCE_DETACH,1.2957e-03,7.9566e-03,3.2311e-05,2.4972e+00,-3.6719e-02,3.7316e-02,-6.7647e-06,6.8999e-03,1.0073e-03,4.4717e-02,9.3393e-06,4.4962e-04,2.0380e-05,4.5258e-02,4.5018e-04
+12,5.6500e+00,DOWN_FORCE_DETACH,1.4121e-03,9.8163e-03,1.0266e-03,2.4945e+00,-3.6803e-02,3.7444e-02,-6.2693e-06,8.7596e-03,2.0016e-03,4.1991e-02,-7.5378e-05,5.7767e-04,2.0876e-05,4.2942e-02,5.8294e-04
+13,6.1333e+00,DOWN_FORCE_DETACH,1.5296e-03,1.0565e-02,5.8833e-04,2.4883e+00,-3.6804e-02,3.7497e-02,-1.3335e-05,9.5086e-03,1.5633e-03,3.5800e-02,-7.5772e-05,6.3113e-04,1.3810e-05,3.7074e-02,6.3582e-04
+14,6.5667e+00,DOWN_FORCE_DETACH,1.6516e-03,1.1255e-02,-1.9417e-04,2.4871e+00,-3.6764e-02,3.7544e-02,-2.1478e-05,1.0198e-02,7.8083e-04,3.4640e-02,-3.5923e-05,6.7751e-04,5.6672e-06,3.6119e-02,6.7848e-04
+15,6.9667e+00,DOWN_FORCE_DETACH,1.7634e-03,1.1578e-02,1.2864e-03,2.4909e+00,-3.6865e-02,3.7561e-02,-2.7176e-05,1.0521e-02,2.2614e-03,3.8441e-02,-1.3706e-04,6.9458e-04,-3.0799e-08,3.9919e-02,7.0798e-04
+16,7.4500e+00,DOWN_FORCE_DETACH,1.8835e-03,1.1506e-02,2.5472e-03,2.4975e+00,-3.6954e-02,3.7548e-02,-3.1890e-05,1.0449e-02,3.5222e-03,4.5049e-02,-2.2563e-04,6.8240e-04,-4.7446e-06,4.6379e-02,7.1875e-04
+17,7.8833e+00,DOWN_FORCE_DETACH,2.0004e-03,1.0568e-02,2.7095e-03,2.4973e+00,-3.6974e-02,3.7481e-02,-3.1192e-05,9.5112e-03,3.6845e-03,4.4859e-02,-2.4556e-04,6.1451e-04,-4.0464e-06,4.6004e-02,6.6176e-04
+18,8.2833e+00,DOWN_FORCE_DETACH,2.1167e-03,9.9948e-03,2.1609e-03,2.4977e+00,-3.6957e-02,3.7438e-02,-2.6015e-05,8.9381e-03,3.1359e-03,4.5258e-02,-2.2851e-04,5.7170e-04,1.1302e-06,4.6239e-02,6.1568e-04
+19,8.6833e+00,DOWN_FORCE_DETACH,2.2354e-03,9.1292e-03,3.4099e-03,2.5035e+00,-3.7069e-02,3.7372e-02,-1.5458e-05,8.0725e-03,4.3848e-03,5.1010e-02,-3.4051e-04,5.0551e-04,1.1687e-05,5.1830e-02,6.0961e-04
+20,9.1000e+00,DOWN_FORCE_DETACH,2.3549e-03,7.5183e-03,2.4356e-03,2.4983e+00,-3.7021e-02,3.7259e-02,-6.3422e-06,6.4616e-03,3.4106e-03,4.5825e-02,-2.9314e-04,3.9331e-04,2.0803e-05,4.6403e-02,4.9097e-04
+21,9.5667e+00,DOWN_FORCE_DETACH,2.4721e-03,7.3677e-03,4.4610e-03,2.4980e+00,-3.7147e-02,3.7248e-02,-7.5696e-07,6.3111e-03,5.4360e-03,4.5560e-02,-4.1904e-04,3.8235e-04,2.6388e-05,4.6315e-02,5.6788e-04
+22,9.9167e+00,DOWN_FORCE_DETACH,2.5889e-03,6.1037e-03,5.2479e-03,2.4969e+00,-3.7175e-02,3.7163e-02,-4.1129e-06,5.0471e-03,6.2229e-03,4.4376e-02,-4.4701e-04,2.9675e-04,2.3032e-05,4.5093e-02,5.3703e-04
+23,1.0283e+01,DOWN_FORCE_DETACH,2.7080e-03,4.4525e-03,5.7251e-03,2.4947e+00,-3.7176e-02,3.7052e-02,-1.3319e-05,3.3958e-03,6.7001e-03,4.2231e-02,-4.4831e-04,1.8596e-04,1.3826e-05,4.2893e-02,4.8555e-04
+24,1.0650e+01,DOWN_FORCE_DETACH,2.8245e-03,3.8081e-03,5.5845e-03,2.5023e+00,-3.7150e-02,3.7007e-02,-2.3553e-05,2.7515e-03,6.5595e-03,4.9858e-02,-4.2215e-04,1.4132e-04,3.5918e-06,5.0363e-02,4.4519e-04
+25,1.1050e+01,DOWN_FORCE_DETACH,2.9420e-03,3.1873e-03,6.4760e-03,2.4985e+00,-3.7221e-02,3.6963e-02,-3.1098e-05,2.1306e-03,7.4510e-03,4.6029e-02,-4.9322e-04,9.6567e-05,-3.9532e-06,4.6676e-02,5.0260e-04
+26,1.1467e+01,DOWN_FORCE_DETACH,3.0610e-03,3.4669e-03,7.7597e-03,2.5036e+00,-3.7321e-02,3.6975e-02,-3.3201e-05,2.4102e-03,8.7347e-03,5.1116e-02,-5.9341e-04,1.0874e-04,-6.0561e-06,5.1913e-02,6.0332e-04
+27,1.1833e+01,DOWN_FORCE_DETACH,3.1772e-03,3.1203e-03,9.8748e-03,2.5108e+00,-3.7450e-02,3.6944e-02,-2.9520e-05,2.0636e-03,1.0850e-02,5.8334e-02,-7.2235e-04,7.8313e-05,-2.3749e-06,5.9370e-02,7.2659e-04
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2a8fd8ed48141666d8fdbfc2cbcc42f8f23ad90b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:ebf5fe83bff0f6c2a7bb7350de90037625af98c77583e1a7e29f6efe79c87c7b
+size 22865920
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..054c0f5cb331ae0f84a897f47087b0705fde01f8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82590d09f87345bc19ebc77852df5d453ef9af2b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fed38ae2b052613e6ab4f8d1c44dd521a10caa65
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11d41850ec1b30777e259f73d96577fc0e8ae6a6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,6.816666667e+00,UP_FORCE_HOLD,1791878252136405082,-7.996607496e-05,-1.043077042e-05,1.049137986e-03,-7.923474908e-05,-9.761752632e-06,1.031763678e-03,-7.741834134e-05,-9.752718624e-06,1.031383110e-03,7.014579054e-01,-8.879809103e-06,8.417900792e-01,7.014586367e-01,-8.210791311e-06,8.417727049e-01,7.016518950e-01,-8.032749455e-06,8.306040099e-01
+58,7.000000000e+00,UP_FORCE_HOLD,1791878252500014154,-8.064648351e-05,-1.051242586e-05,1.054683448e-03,-8.070858671e-05,-1.148727252e-05,1.051915475e-03,-7.888644773e-05,-1.145598358e-05,1.051482090e-03,7.014572250e-01,-8.961464534e-06,8.417956246e-01,7.014571629e-01,-9.936311198e-06,8.417928567e-01,7.016504269e-01,-9.736014414e-06,8.306241088e-01
+59,7.133333333e+00,UP_SETTLE,1791878252736728795,-7.957209065e-05,-1.381338413e-05,1.062061780e-03,-8.070858671e-05,-1.148727252e-05,1.051915475e-03,-7.888924361e-05,-1.145473932e-05,1.051550083e-03,7.014582994e-01,-1.226242281e-05,8.418030030e-01,7.014571629e-01,-9.936311198e-06,8.417928567e-01,7.016504241e-01,-9.734770154e-06,8.306241768e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91ba4a7d1c4e8e1ce4ea45737019bd7379b6f926
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_02/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,1.1566e-03,-9.7710e-04,2.4525e+00,-3.6728e-02,3.6873e-02,-2.7563e-05,9.8484e-05,-2.1676e-06,-1.3828e-05,-8.5682e-08,7.0482e-06,-4.4372e-07,9.9473e-05,7.0627e-06
+1,1.1667e-01,UP_FORCE_RAMP,3.4243e-05,1.7921e-03,-9.9065e-04,2.4524e+00,-3.6729e-02,3.6919e-02,-3.0540e-05,7.3402e-04,-1.5718e-05,-1.0109e-04,-7.2271e-07,5.2512e-05,-3.4208e-06,7.4111e-04,5.2628e-05
+2,2.5000e-01,UP_FORCE_RAMP,7.4000e-05,2.4135e-03,-1.0043e-03,2.4523e+00,-3.6729e-02,3.6963e-02,-3.3691e-05,1.3554e-03,-2.9352e-05,-1.8430e-04,-1.3784e-06,9.6902e-05,-6.5719e-06,1.3682e-03,9.7135e-05
+3,3.8333e-01,UP_FORCE_RAMP,1.1152e-04,2.9389e-03,-1.0159e-03,2.4522e+00,-3.6730e-02,3.7001e-02,-3.6600e-05,1.8808e-03,-4.0939e-05,-2.5344e-04,-1.9930e-06,1.3441e-04,-9.4808e-06,1.8983e-03,1.3476e-04
+4,5.6667e-01,UP_FORCE_RAMP,1.4691e-04,3.5316e-03,-1.0290e-03,2.4522e+00,-3.6731e-02,3.7043e-02,-4.0248e-05,2.4735e-03,-5.4070e-05,-3.3116e-04,-2.7604e-06,1.7668e-04,-1.3129e-05,2.4962e-03,1.7719e-04
+5,7.1667e-01,UP_FORCE_RAMP,1.8450e-04,2.9823e-03,-1.1857e-03,2.4438e+00,-3.6722e-02,3.7012e-02,-4.3357e-05,1.9242e-03,-2.1079e-04,-8.6949e-03,6.1058e-06,1.4544e-04,-1.6238e-05,8.9077e-03,1.4647e-04
+6,8.5000e-01,UP_FORCE_RAMP,2.1773e-04,3.4884e-03,-1.1880e-03,2.4458e+00,-3.6722e-02,3.7046e-02,-4.5460e-05,2.4303e-03,-2.1304e-04,-6.7108e-03,5.5768e-06,1.8026e-04,-1.8341e-05,7.1405e-03,1.8128e-04
+7,9.6667e-01,UP_FORCE_RAMP,2.5601e-04,3.8494e-03,-1.1624e-03,2.4395e+00,-3.6725e-02,3.7078e-02,-4.7292e-05,2.7913e-03,-1.8747e-04,-1.3012e-02,2.6859e-06,2.1232e-04,-2.0172e-05,1.3310e-02,2.1329e-04
+8,1.0667e+00,UP_FORCE_RAMP,2.9431e-04,4.1227e-03,-1.1588e-03,2.4410e+00,-3.6725e-02,3.7096e-02,-4.8510e-05,3.0646e-03,-1.8384e-04,-1.1446e-02,2.5481e-06,2.3019e-04,-2.1391e-05,1.1851e-02,2.3120e-04
+9,1.1667e+00,UP_FORCE_RAMP,3.2940e-04,6.2337e-03,-2.3352e-03,2.4357e+00,-3.6645e-02,3.7252e-02,-5.1002e-05,5.1756e-03,-1.3603e-03,-1.6783e-02,8.3182e-05,3.8635e-04,-2.3882e-05,1.7616e-02,3.9593e-04
+10,1.2833e+00,UP_FORCE_RAMP,3.6501e-04,6.8052e-03,-4.4721e-04,2.4300e+00,-3.6775e-02,3.7299e-02,-5.1329e-05,5.7471e-03,5.2773e-04,-2.2520e-02,-4.6548e-05,4.3287e-04,-2.4209e-05,2.3248e-02,4.3604e-04
+11,1.4167e+00,UP_FORCE_RAMP,4.0672e-04,6.6682e-03,-1.8949e-03,2.4264e+00,-3.6674e-02,3.7293e-02,-5.3584e-05,5.6101e-03,-9.1996e-04,-2.6098e-02,5.3816e-05,4.2736e-04,-2.6465e-05,2.6710e-02,4.3155e-04
+12,1.5167e+00,UP_FORCE_RAMP,4.4265e-04,5.7161e-03,-3.4438e-04,2.4133e+00,-3.6777e-02,3.7238e-02,-5.4419e-05,4.6580e-03,6.3055e-04,-3.9198e-02,-4.9204e-05,3.7207e-04,-2.7300e-05,3.9479e-02,3.7630e-04
+13,1.6333e+00,UP_FORCE_RAMP,4.8163e-04,6.9561e-03,-1.5475e-03,2.4087e+00,-3.6696e-02,3.7328e-02,-5.5595e-05,5.8980e-03,-5.7254e-04,-4.3773e-02,3.1799e-05,4.6210e-04,-2.8475e-05,4.4172e-02,4.6407e-04
+14,1.6667e+00,UP_FORCE_RAMP,5.2354e-04,6.9678e-03,-1.4611e-03,2.4114e+00,-3.6701e-02,3.7330e-02,-5.5808e-05,5.9097e-03,-4.8615e-04,-4.1133e-02,2.6982e-05,4.6351e-04,-2.8688e-05,4.1558e-02,4.6518e-04
+15,1.7000e+00,UP_FORCE_RAMP,5.5525e-04,7.4458e-03,3.8898e-03,2.4072e+00,-3.7069e-02,3.7367e-02,-5.3050e-05,6.3876e-03,4.8647e-03,-4.5296e-02,-3.4071e-04,5.0092e-04,-2.5930e-05,4.6002e-02,6.0637e-04
+16,1.7500e+00,UP_FORCE_RAMP,5.9172e-04,1.1166e-02,2.1043e-03,2.4086e+00,-3.6940e-02,3.7627e-02,-5.5813e-05,1.0108e-02,3.0792e-03,-4.3917e-02,-2.1182e-04,7.6135e-04,-2.8693e-05,4.5171e-02,7.9079e-04
+17,1.8000e+00,UP_FORCE_RAMP,6.2925e-04,1.1040e-02,-4.7338e-03,2.4073e+00,-3.6473e-02,3.7623e-02,-5.8422e-05,9.9819e-03,-3.7588e-03,-4.5234e-02,2.5524e-04,7.5730e-04,-3.1303e-05,4.6475e-02,7.9977e-04
+18,1.8500e+00,UP_FORCE_RAMP,6.6650e-04,1.2496e-02,-1.5975e-04,2.4045e+00,-3.6780e-02,3.7723e-02,-5.7107e-05,1.1438e-02,8.1519e-04,-4.8007e-02,-5.1901e-05,8.5680e-04,-2.9988e-05,4.9357e-02,8.5890e-04
+19,1.9333e+00,UP_FORCE_RAMP,7.0283e-04,1.1357e-02,-6.0738e-04,2.4015e+00,-3.6753e-02,3.7653e-02,-5.6286e-05,1.0299e-02,3.6755e-04,-5.0996e-02,-2.4781e-05,7.8665e-04,-2.9167e-05,5.2027e-02,7.8758e-04
+20,2.0333e+00,UP_FORCE_RAMP,7.3642e-04,1.1275e-02,-3.6155e-04,2.4004e+00,-3.6767e-02,3.7647e-02,-5.6206e-05,1.0217e-02,6.1338e-04,-5.2090e-02,-3.8762e-05,7.8136e-04,-2.9087e-05,5.3086e-02,7.8286e-04
+21,2.1167e+00,UP_FORCE_RAMP,7.7293e-04,1.0355e-02,2.0216e-03,2.3959e+00,-3.6927e-02,3.7586e-02,-5.4990e-05,9.2969e-03,2.9966e-03,-5.6558e-02,-1.9933e-04,7.2020e-04,-2.7870e-05,5.7396e-02,7.4779e-04
+22,2.2000e+00,UP_FORCE_RAMP,8.0836e-04,1.1090e-02,-1.2220e-03,2.3941e+00,-3.6708e-02,3.7638e-02,-5.5601e-05,1.0032e-02,-2.4705e-04,-5.8433e-02,1.9722e-05,7.7137e-04,-2.8481e-05,5.9289e-02,7.7214e-04
+23,2.3000e+00,UP_FORCE_RAMP,8.4850e-04,1.0534e-02,-1.9280e-04,2.3947e+00,-3.6774e-02,3.7601e-02,-5.5041e-05,9.4762e-03,7.8214e-04,-5.7829e-02,-4.6220e-05,7.3528e-04,-2.7922e-05,5.8605e-02,7.3726e-04
+24,2.3667e+00,UP_FORCE_RAMP,8.8894e-04,1.0658e-02,-2.5878e-03,2.3925e+00,-3.6609e-02,3.7611e-02,-5.5526e-05,9.6003e-03,-1.6129e-03,-6.0029e-02,1.1943e-04,7.4456e-04,-2.8407e-05,6.0813e-02,7.5461e-04
+25,2.4667e+00,UP_FORCE_RAMP,9.2081e-04,1.0069e-02,-2.6241e-04,2.3942e+00,-3.6767e-02,3.7569e-02,-5.3224e-05,9.0105e-03,7.1252e-04,-5.8280e-02,-3.8635e-05,7.0257e-04,-2.6105e-05,5.8977e-02,7.0411e-04
+26,2.5667e+00,UP_FORCE_RAMP,9.6093e-04,9.8502e-03,-1.1863e-05,2.3862e+00,-3.6785e-02,3.7558e-02,-5.1340e-05,8.7921e-03,9.6307e-04,-6.6278e-02,-5.7269e-05,6.9213e-04,-2.4220e-05,6.6865e-02,6.9491e-04
+27,2.6667e+00,UP_FORCE_RAMP,9.9568e-04,1.0509e-02,5.3922e-04,2.3872e+00,-3.6825e-02,3.7602e-02,-4.9380e-05,9.4513e-03,1.5142e-03,-6.5275e-02,-9.6623e-05,7.3609e-04,-2.2261e-05,6.5973e-02,7.4274e-04
+28,2.8000e+00,UP_FORCE_RAMP,1.0356e-03,1.2167e-02,-7.9079e-05,2.3919e+00,-3.6786e-02,3.7717e-02,-4.6800e-05,1.1109e-02,8.9586e-04,-6.0641e-02,-5.7846e-05,8.5059e-04,-1.9680e-05,6.1656e-02,8.5278e-04
+29,2.8833e+00,UP_FORCE_RAMP,1.0673e-03,1.6693e-02,7.4933e-04,2.3931e+00,-3.6846e-02,3.8037e-02,-4.4130e-05,1.5634e-02,1.7243e-03,-5.9396e-02,-1.1815e-04,1.1706e-03,-1.7011e-05,6.1444e-02,1.1767e-03
+30,2.9833e+00,UP_FORCE_RAMP,1.1046e-03,1.5687e-02,2.1779e-03,2.3942e+00,-3.6951e-02,3.7967e-02,-4.1236e-05,1.4629e-02,3.1529e-03,-5.8264e-02,-2.2260e-04,1.1010e-03,-1.4117e-05,6.0156e-02,1.1233e-03
+31,3.1167e+00,UP_FORCE_RAMP,1.1443e-03,1.5465e-02,3.0493e-03,2.3891e+00,-3.7019e-02,3.7952e-02,-3.7737e-05,1.4406e-02,4.0242e-03,-6.3436e-02,-2.9120e-04,1.0862e-03,-1.0618e-05,6.5175e-02,1.1246e-03
+32,3.2000e+00,UP_FORCE_RAMP,1.1832e-03,1.3407e-02,4.6962e-03,2.3860e+00,-3.7140e-02,3.7812e-02,-3.4798e-05,1.2349e-02,5.6711e-03,-6.6450e-02,-4.1217e-04,9.4590e-04,-7.6785e-06,6.7826e-02,1.0318e-03
+33,3.3000e+00,UP_FORCE_RAMP,1.2167e-03,1.3333e-02,3.5089e-03,2.3856e+00,-3.7071e-02,3.7803e-02,-3.2563e-05,1.2275e-02,4.4838e-03,-6.6906e-02,-3.4260e-04,9.3672e-04,-5.4439e-06,6.8170e-02,9.9743e-04
+34,3.4000e+00,UP_FORCE_RAMP,1.2533e-03,1.2859e-02,3.9971e-03,2.3877e+00,-3.7111e-02,3.7770e-02,-3.0216e-05,1.1801e-02,4.9720e-03,-6.4832e-02,-3.8324e-04,9.0345e-04,-3.0964e-06,6.6085e-02,9.8138e-04
+35,3.5333e+00,UP_FORCE_RAMP,1.2945e-03,1.2414e-02,4.1318e-03,2.3909e+00,-3.7130e-02,3.7736e-02,-2.7188e-05,1.1356e-02,5.1067e-03,-6.1630e-02,-4.0221e-04,8.6959e-04,-6.8685e-08,6.2876e-02,9.5810e-04
+36,3.6167e+00,UP_FORCE_RAMP,1.3271e-03,1.3353e-02,5.6818e-03,2.3896e+00,-3.7244e-02,3.7802e-02,-2.4864e-05,1.2295e-02,6.6567e-03,-6.2891e-02,-5.1571e-04,9.3630e-04,2.2551e-06,6.4427e-02,1.0689e-03
+37,3.7500e+00,UP_FORCE_RAMP,1.3688e-03,1.5169e-02,5.2513e-03,2.3868e+00,-3.7218e-02,3.7929e-02,-2.3671e-05,1.4111e-02,6.2263e-03,-6.5692e-02,-4.9046e-04,1.0630e-03,3.4479e-06,6.7478e-02,1.1707e-03
+38,3.8667e+00,UP_FORCE_RAMP,1.3997e-03,1.4611e-02,5.4220e-03,2.3891e+00,-3.7235e-02,3.7895e-02,-2.2397e-05,1.3553e-02,6.3969e-03,-6.3343e-02,-5.0694e-04,1.0286e-03,4.7226e-06,6.5092e-02,1.1468e-03
+39,4.0000e+00,UP_FORCE_RAMP,1.4392e-03,1.4776e-02,5.2043e-03,2.3938e+00,-3.7220e-02,3.7904e-02,-2.2220e-05,1.3717e-02,6.1792e-03,-5.8652e-02,-4.9211e-04,1.0379e-03,4.8990e-06,6.0551e-02,1.1486e-03
+40,4.1500e+00,UP_FORCE_RAMP,1.4771e-03,1.6147e-02,5.3808e-03,2.3981e+00,-3.7229e-02,3.8000e-02,-2.2479e-05,1.5089e-02,6.3557e-03,-5.4361e-02,-5.0143e-04,1.1340e-03,4.6401e-06,5.6773e-02,1.2399e-03
+41,4.2667e+00,UP_FORCE_RAMP,1.5113e-03,2.1187e-02,7.7226e-03,2.4028e+00,-3.7389e-02,3.8359e-02,-2.1826e-05,2.0129e-02,8.6976e-03,-4.9682e-02,-6.6102e-04,1.4931e-03,5.2932e-06,5.4306e-02,1.6329e-03
+42,4.4000e+00,UP_FORCE_RAMP,1.5522e-03,1.9373e-02,6.0612e-03,2.4027e+00,-3.7270e-02,3.8232e-02,-2.3657e-05,1.8314e-02,7.0361e-03,-4.9779e-02,-5.4212e-04,1.3654e-03,3.4625e-06,5.3506e-02,1.4691e-03
+43,4.5000e+00,UP_FORCE_RAMP,1.5895e-03,1.8819e-02,5.2305e-03,2.4020e+00,-3.7208e-02,3.8192e-02,-2.4764e-05,1.7761e-02,6.2054e-03,-5.0458e-02,-4.8004e-04,1.3264e-03,2.3552e-06,5.3851e-02,1.4106e-03
+44,4.6333e+00,UP_FORCE_RAMP,1.6252e-03,1.8472e-02,7.1009e-03,2.4040e+00,-3.7331e-02,3.8168e-02,-2.4412e-05,1.7413e-02,8.0758e-03,-4.8453e-02,-6.0279e-04,1.3014e-03,2.7075e-06,5.2116e-02,1.4342e-03
+45,4.8000e+00,UP_FORCE_RAMP,1.6590e-03,1.8396e-02,6.2726e-03,2.4062e+00,-3.7268e-02,3.8161e-02,-2.5300e-05,1.7338e-02,7.2476e-03,-4.6325e-02,-5.3981e-04,1.2946e-03,1.8194e-06,4.9991e-02,1.4027e-03
+46,4.9167e+00,UP_FORCE_RAMP,1.6955e-03,1.7657e-02,6.5119e-03,2.4055e+00,-3.7280e-02,3.8109e-02,-2.5606e-05,1.6599e-02,7.4869e-03,-4.7013e-02,-5.5225e-04,1.2432e-03,1.5135e-06,5.0416e-02,1.3603e-03
+47,5.0500e+00,UP_FORCE_RAMP,1.7363e-03,1.7362e-02,6.3540e-03,2.4133e+00,-3.7265e-02,3.8083e-02,-2.5919e-05,1.6304e-02,7.3289e-03,-3.9178e-02,-5.3661e-04,1.2166e-03,1.2008e-06,4.3063e-02,1.3297e-03
+48,5.1667e+00,UP_FORCE_RAMP,1.7721e-03,1.8094e-02,5.8293e-03,2.4118e+00,-3.7226e-02,3.8136e-02,-2.6467e-05,1.7036e-02,6.8043e-03,-4.0676e-02,-4.9795e-04,1.2701e-03,6.5217e-07,4.4621e-02,1.3642e-03
+49,5.3667e+00,UP_FORCE_RAMP,1.8100e-03,1.7790e-02,4.4707e-03,2.4124e+00,-3.7128e-02,3.8114e-02,-2.7269e-05,1.6732e-02,5.4456e-03,-4.0090e-02,-4.0043e-04,1.2476e-03,-1.4964e-07,4.3781e-02,1.3103e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..514625b923c81a1162c272ab362294220498cec5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
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+17621,1791878319429860887,7359589000000,1791878319423043386,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760230688791407,-0.0047446624263874,0.09083743173232234,0.9999999847752842,8.807230741963001e-05,-0.00011556691619281817,2.7925838818926947e-05,0.6761,-0.0048,0.09089099227947914,1.0,0.0,0.0,0.0,-0.1638226623225495,-0.18057669809160196,0.13296615322018196,-0.011540451268022875,0.010326302573368001,-8.753515907844412e-05,-0.09607889764318489,-0.15348530629525353,0.48055731498439885,-0.015554109922498355,0.0062799281183466915,-0.002525972168167807,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8580061880833288,-0.6053672325031729,0.34873717089488965,0.42733124863717276,-0.04070139442882468,-0.4431228473034506,0.5340987696236708,0.13296615322018196,0.1853615987287811,0.1853615987287811,0.22071999999999237,0,0,-6.578723066722058e-05,9.378099272006608e-05
+17754,1791878320537853031,7360697000000,1791878320535044017,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760302995890468,-0.004749507005419029,0.09076897739182195,0.9999999859556267,8.227077662799806e-05,-0.00010900706707756816,2.9674728457297437e-05,0.6761,-0.0048,0.09080811374536202,1.0,0.0,0.0,0.0,-0.16965974238139062,-0.1790632555506353,0.17670871028037438,-0.011576780875387636,0.011330615558615217,-0.0001098960183235952,-0.10191597770202601,-0.15197186375428687,0.5242998720445913,-0.015590439529863116,0.007284241103593907,-0.002548333027412958,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8772717778575079,-0.6261496726419388,0.3200980913554773,0.44710014788864455,-0.021832332275965153,-0.45198361292128586,0.5340987696236708,0.17670871028037438,0.21400067826819347,0.21400067826819347,0.30936000000000935,0,0,-8.044045617390065e-05,4.194948271159533e-05
+17877,1791878321562850729,7361722000000,1791878321559043313,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760371093890716,-0.004746878143811817,0.09069990178824369,0.9999999871099279,8.478063302832504e-05,-9.558567415235714e-05,2.9977183952934538e-05,0.6761,-0.0048,0.09071998242118016,1.0,0.0,0.0,0.0,-0.17883986380873723,-0.18941519229362078,0.2427865634045595,-0.01263678958059913,0.012349012606996966,-0.00015818585208838935,-0.11109609912937261,-0.16232380049727235,0.5903777251687764,-0.01665044823507461,0.008302638151975657,-0.002596622861177752,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8762062531768054,-0.6358907027433335,0.2047266275270001,0.4446944025121576,0.04551550291073957,-0.4603789433972758,0.5340987696236708,0.2427865634045595,0.32937214209667065,0.32937214209667065,0.39136000000003446,0,0,-8.707684851364116e-05,9.921875407237763e-05
+17980,1791878322420839805,7362580000000,1791878322415043580,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760382626219138,-0.004751363906020064,0.09062864381309074,0.9999999867836409,8.824480433927657e-05,-9.340234870553374e-05,3.693830149239383e-05,0.6761,-0.0048,0.09064722896422445,1.0,0.0,0.0,0.0,-0.1826338436456812,-0.19754356434718073,0.29659456793419703,-0.012647961037651492,0.012338480738405891,-0.00020094273872330514,-0.11489007896631659,-0.1704521725508323,0.6441857296984139,-0.016661619692126973,0.008292106283384582,-0.002639379747812668,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9009028845451169,-0.6529148765064998,0.16774273712877114,0.465877795288952,0.07359098299165487,-0.463715786929591,0.5340987696236708,0.29659456793419703,0.3663560324948996,0.3663560324948996,0.4600000000000555,0,0,-8.511908336919648e-05,5.8582648480803814e-05
+18092,1791878323354795915,7363514000000,1791878323351043493,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760423965285703,-0.004747152545586509,0.09056051910000919,0.9999999869377838,9.336486094586848e-05,-8.571386210911578e-05,3.877413111074034e-05,0.6761,-0.0048,0.09056729813509781,1.0,0.0,0.0,0.0,-0.18333128499154816,-0.1916233578949545,0.35717189264870186,-0.011669065153002842,0.012306419067224243,-0.00023849660099589578,-0.11558752031218356,-0.16453196609860607,0.7047630544129188,-0.015682723807478323,0.008260044612202934,-0.0026769336100852586,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9627753707977155,-0.650213100719293,0.1339723984930647,0.46488401995996936,0.10847232264432478,-0.46705567499777134,0.5340987696236708,0.35717189264870186,0.40012637113060606,0.40012637113060606,0.5347200000000543,0,0,-8.639259464346261e-05,-9.999108071945812e-05
+18204,1791878324287821956,7364447000000,1791878324283043399,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760460717613789,-0.004730471954848583,0.0904897805790894,0.9999999866458764,0.00010238179708636114,-7.889904560232468e-05,3.8000259591969816e-05,0.6761,-0.0048,0.09048579343738829,1.0,0.0,0.0,0.0,-0.17461799065120115,-0.17138360661548974,0.4078334802975495,-0.010616511266535424,0.011337299799839044,-0.00028642077173274445,-0.10687422597183656,-0.1442922148191413,0.7554246420617664,-0.014630169921010905,0.007290925344817735,-0.0027248577808221073,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.907668197770805,-0.5064181091559857,0.009435833311774082,0.42306676218874995,0.16846055667965787,-0.3747291462538737,0.5340987696236708,0.4078334802975495,0.5246629363118966,0.5246629363118966,0.6093600000000253,0,0,-8.8274390454253e-05,9.999990699250389e-05
+18308,1791878325154790719,7365314000000,1791878325147043477,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760539670826692,-0.004730467672781549,0.0904219622065689,0.9999999876627345,0.00010061204514109177,-6.591866406850654e-05,4.061208387742802e-05,0.6761,-0.0048,0.09040776888201012,1.0,0.0,0.0,0.0,-0.174849942637531,-0.16571365932192014,0.4680621501511748,-0.010637070025505149,0.012261413519784405,-0.0003154653897245994,-0.1071061779581664,-0.13862226752557172,0.8156533119153917,-0.01465072867998063,0.008215039064763095,-0.0027539023988139622,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9213730071429989,-0.5627567093476467,0.02733452388915009,0.4425066524916312,0.1585977204244739,-0.4139017170265237,0.5340987696236708,0.4680621501511748,0.5067642457345206,0.5067642457345206,0.6787199999999984,0,0,-9.075407804012692e-05,-9.890889082620475e-05
+18415,1791878326045880061,7366205000000,1791878326043043986,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760557196648657,-0.004730284044520463,0.0903456680080609,0.9999999874682306,0.00010226626138493636,-6.392205840874135e-05,4.4294302464031793e-05,0.6761,-0.0048,0.09032627182531867,1.0,0.0,0.0,0.0,-0.17793297603478744,-0.16439491249946112,0.5379474235506415,-0.010650023315532681,0.012246244811662803,-0.0003723070980053331,-0.11018921135542284,-0.1373035207031127,0.8855385853148584,-0.014663681970008162,0.008199870356641492,-0.002810744107094696,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0019183905086733,-0.5570348379196427,-0.19158260264494664,0.44888297311105574,0.3215705297100112,-0.4054020579106207,0.5340987696236708,0.5379474235506415,0.7256813722686174,0.7256813722686174,0.7499999999999708,0,0,-9.123424388604728e-05,9.92740986901552e-05
+18515,1791878326879786545,7367039000000,1791878326879043284,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760605460190112,-0.004732198439664525,0.09028340353933877,0.9999999878639784,0.00010192446933260637,-5.580103891600506e-05,4.703779384647477e-05,0.6761,-0.0048,0.09025198001907304,1.0,0.0,0.0,0.0,-0.18432483450830084,-0.17774932978801566,0.5883541964870627,-0.010661479470068132,0.012236791708080116,-0.000413807685794877,-0.11658106982893623,-0.15065793799166724,0.9359453582512796,-0.014675138124543614,0.008190417253058805,-0.00285224469488424,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0189231086199058,-0.5387488160370117,-0.21147469934674878,0.4483644044216614,0.3355983930851327,-0.3915741782574127,0.5340987696236708,0.5883541964870627,0.7455734689704195,0.7455734689704195,0.8167199999999449,0,0,-8.69850162912592e-05,9.722573720972178e-05
+18619,1791878327745892404,7367905000000,1791878327739043555,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760636486379155,-0.004732260671813982,0.09021749175357781,0.9999999879197338,0.00010406524959078164,-5.071823190424775e-05,4.6919947449744456e-05,0.6761,-0.0048,0.09017887826274078,1.0,0.0,0.0,0.0,-0.18377698551560967,-0.17922635815562657,0.6485466413731946,-0.010673128238873127,0.012223940940843388,-0.0004624279750663411,-0.11603322083624507,-0.15213496635927815,0.9961378031374115,-0.014686786893348609,0.008177566485822078,-0.002900864984155704,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.948306584042421,-0.5512337519645514,-0.24350287926375566,0.45376088136306536,0.33340145748030475,-0.40188161983679943,0.5340987696236708,0.6485466413731946,0.7776016488874264,0.7776016488874264,0.8859999999999181,0,0,-8.522194351616105e-05,-1.5118559331638975e-05
+18722,1791878328604853321,7368764000000,1791878328599043160,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760678138187651,-0.0047363431861681465,0.09014811595934975,0.9999999882272472,0.00010135879994405567,-4.5831014315796536e-05,5.113004448421177e-05,0.6761,-0.0048,0.09010572923256492,1.0,0.0,0.0,0.0,-0.18464451329488124,-0.18139034504700072,0.6986921201450687,-0.010683586983400363,0.012230500891718146,-0.0004883677158994768,-0.11690074861551665,-0.1542989532506523,1.0462832819092855,-0.014697245637875844,0.008184126436696835,-0.0029268047249888397,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0403144365232055,-0.5716160920757906,-0.29741170801482303,0.46470213777748964,0.39327791049916705,-0.4125795935482529,0.5340987696236708,0.6986921201450687,0.8315104776384938,0.8315104776384938,0.9547199999998914,0,0,-8.587481664243247e-05,-6.409747318881216e-05
+18830,1791878329504895204,7369664000000,1791878329503042963,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760757997987401,-0.00473647736548403,0.090080784381293,0.9999999889545058,9.99403699966055e-05,-3.244319814454584e-05,4.993209202247759e-05,0.6761,-0.0048,0.09002749839751817,1.0,0.0,0.0,0.0,-0.1850179444918081,-0.17531766174284738,0.7587821809300985,-0.010722491777675824,0.01321235931741533,0.0002637841870001805,-0.11727417981244351,-0.14822626994649896,1.1063733426943154,-0.014736150432151306,0.009165984862394021,-0.0021746528220891823,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.055597119518893,-0.5726684014831812,-0.391044243212476,0.47583970431750466,0.4546632897254065,-0.41307723214970676,0.5340987696236708,0.7587821809300985,0.9251430128361467,0.9251430128361467,1.0267199999999006,0,0,-8.667255581709809e-05,5.105987441045841e-05
+18942,1791878330437868330,7370597000000,1791878330431043466,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6760813581265328,-0.004740867171022191,0.09000841605018356,0.9999999888856751,0.00010018428627572492,-2.422016466380866e-05,5.520875267064241e-05,0.6761,-0.0048,0.08994348967879197,1.0,0.0,0.0,0.0,-0.19422904234664506,-0.18344118600936798,0.8186429227631462,-0.0107426660800333,0.013195592597178726,0.0004417266189105048,-0.12648527766728046,-0.15634979421301956,1.166234084527363,-0.014756324734508783,0.009149218142157415,-0.001996710390178858,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0504950771943664,-0.5536375837175712,-0.43414033323837947,0.47651616112791706,0.48064969235902577,-0.3994406824118222,0.5340987696236708,0.8186429227631462,0.9682391028620503,0.9682391028620503,1.1013599999999752,0,0,-9.255565573271086e-05,-9.999940739214281e-05
+19046,1791878331304897066,7371464000000,1791878331303043242,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760837555273911,-0.00474394717209561,0.08993504047078937,0.9999999890635153,9.896129248070258e-05,-2.1417645354597302e-05,5.53514293998442e-05,0.6761,-0.0048,0.08986171305275385,1.0,0.0,0.0,0.0,-0.18527749716493275,-0.1819085868119741,0.8696400197764804,-0.010752837548676134,0.013183592058628867,0.00040178155220593715,-0.11753373248556813,-0.15481719501562569,1.2172311815406973,-0.014766496203151614,0.009137217603607556,-0.0020366554568834257,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0535935896564181,-0.6036514629342351,-0.4351066366894955,0.492993655202306,0.48115535990552405,-0.4335249663519088,0.5340987696236708,0.8696400197764804,0.9692054063131663,0.9692054063131663,1.1707200000000446,0,0,-9.573976960805387e-05,-9.402138376047304e-05
+19134,1791878332037864274,7372197000000,1791878332035043247,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760904063543531,-0.004742187022430019,0.08987571719770757,0.9999999905840703,8.80068826192532e-05,-1.0840483925969465e-05,4.9112080796583135e-05,0.6761,-0.0048,0.0897925440275846,1.0,0.0,0.0,0.0,-0.19517467532887917,-0.17730560668089998,0.9201732519965622,-0.009741420296170679,0.013154711486819258,0.0003712683764446698,-0.12743091064951456,-0.15021421488455156,1.267764413760779,-0.013755078950646161,0.009108337031797949,-0.002067168632644693,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0837437981564098,-0.6551758716621121,-0.551596499878179,0.5195124429457306,0.5592026134759234,-0.4627438693115869,0.5340987696236708,0.9201732519965622,1.0856952695018498,1.0856952695018498,1.2293600000001033,0,0,-9.409596804096777e-05,-6.370757674035161e-05
+19246,1791878332970791716,7373130000000,1791878332963043442,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.67609646462995,-0.004744465354498596,0.08979742835169353,0.9999999908233007,8.717365612593642e-05,-2.1141609533053233e-06,4.6824641193749325e-05,0.6761,-0.0048,0.08970358389114239,1.0,0.0,0.0,0.0,-0.1955606739509451,-0.1748777789106146,0.9842924970818558,-0.00978047088751208,0.014153404303459884,0.00033320087371899393,-0.1278169092715805,-0.14778638711426617,1.3318836588460727,-0.013794129541987561,0.010107029848438575,-0.002105236135370369,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.083684715045238,-0.5771590769122094,-0.5983064953926108,0.5046985042940325,0.5881107259452559,-0.4101088944437897,0.5340987696236708,0.9842924970818558,1.1324052650162817,1.1324052650162817,1.304000000000178,0,0,-9.622230507796837e-05,-9.573233458593506e-05
+19346,1791878333804827028,7373964000000,1791878333799043598,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6760967973147421,-0.004750417619355052,0.08972123735071413,0.9999999904407506,9.066487335030544e-05,-1.5101650070436116e-06,4.836282990802417e-05,0.6761,-0.0048,0.08962279264890574,1.0,0.0,0.0,0.0,-0.1957130004640542,-0.16822003215027012,1.0405231648426911,-0.009790581494509995,0.014141251905581083,0.0002896955797053397,-0.1279692357846896,-0.1411286403539217,1.388114326606908,-0.013804240148985477,0.010094877450559772,-0.002148741429384023,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1039129014607378,-0.6675308393207698,-0.7011007162707281,0.5268206797795321,0.661676711827396,-0.4736510179836609,0.5340987696236708,1.0405231648426911,1.2351994858943989,1.2351994858943989,1.3707200000002446,0,0,-9.757872742740948e-05,-1.9803252120037487e-05
+19449,1791878334662891996,7374822000000,1791878334659043233,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761060105718287,-0.004751256834061669,0.08964917705697904,0.9999999896743789,9.62582277766732e-05,1.4213801260178805e-05,5.1248689058801284e-05,0.6761,-0.0048,0.08953663119172058,1.0,0.0,0.0,0.0,-0.20627417602671172,-0.1811083055200217,1.0910726311668941,-0.009801901012090827,0.014131634751789263,0.0002476264103365962,-0.13853041134734712,-0.15401691372367327,1.438663792931111,-0.013815559666566307,0.010085260296767953,-0.0021908105987527666,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0843094687074086,-0.6098953454416723,-0.7498447541865936,0.520303716992937,0.6836664750337013,-0.43139129320153086,0.5340987696236708,1.0910726311668941,1.2839435238102643,1.2839435238102643,1.4393600000003133,0,0,-0.00010213562506441865,-9.461989111526065e-05
+19533,1791878335362859838,7375522000000,1791878335359043525,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761109880835394,-0.004757571119688641,0.08958894396156915,0.9999999893302634,9.539978216350699e-05,2.1715785546578677e-05,5.6653718294242385e-05,0.6761,-0.0048,0.0894664528816709,1.0,0.0,0.0,0.0,-0.20517868596891004,-0.17341147841375482,1.1408035073957432,-0.00981027976069556,0.014120405953990271,0.00020750823077623614,-0.13743492128954543,-0.1463200866174064,1.48839466915996,-0.01382393841517104,0.010074031498968962,-0.0022309287783131267,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1632006389833527,-0.702711082982479,-0.832219902769278,0.5492675470994478,0.759488753075515,-0.4917994461814892,0.5340987696236708,1.1408035073957432,1.3663186723929488,1.3663186723929488,1.4953600000003693,0,0,-0.00010029859480690804,-2.9641083626549163e-05
+19629,1791878336162888140,7376322000000,1791878336159042983,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761128777765562,-0.004756198918485787,0.08951190404029181,0.99999998898202,9.752065332529324e-05,2.3448521325249232e-05,5.846976307315208e-05,0.6761,-0.0048,0.08938297415309163,1.0,0.0,0.0,0.0,-0.20992973457459033,-0.17722991293675058,1.1980835515323784,-0.009849551707922222,0.015121632121335719,0.00017503091878735442,-0.14218596989522572,-0.15013852114040216,1.5456747132965953,-0.013863210362397705,0.011075257666314408,-0.0022634060903020084,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1623061695289374,-0.6723075343819039,-0.9055978407356571,0.5555338428802169,0.803179560596554,-0.46837627713177327,0.5340987696236708,1.1980835515323784,1.4396966103593278,1.4396966103593278,1.5593600000004333,0,0,-0.00010351130113187145,5.160449431518828e-05
+19723,1791878336945819533,7377105000000,1791878336943043330,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676117573519732,-0.004759050648201303,0.08943772846923638,0.9999999889713918,9.39397191992628e-05,3.2322402517531635e-05,6.025506078695538e-05,0.6761,-0.0048,0.0893007600586401,1.0,0.0,0.0,0.0,-0.20958606293931614,-0.1721987678478721,1.2551015442235105,-0.0098598332750501,0.015108175771731933,0.00012377256254880514,-0.14184229825995154,-0.14510737605152368,1.6026927059877274,-0.01387349192952558,0.011061801316710624,-0.0023146644465405577,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1574534600993902,-0.7039442186558938,-0.9369825136504691,0.5599781230400276,0.8199373155927946,-0.49395428525439133,0.5340987696236708,1.2551015442235105,1.47108128327414,1.47108128327414,1.622000000000496,0,0,-0.0001064543455151209,-9.911558659781434e-05
+19821,1791878337762796439,7377922000000,1791878337759043555,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761228788514512,-0.004753552482384541,0.08935997628641355,0.9999999890777024,9.298854693608462e-05,4.2337233589843125e-05,5.336804547672686e-05,0.6761,-0.0048,0.08921315396761949,1.0,0.0,0.0,0.0,-0.21500924585187947,-0.17346259303783249,1.301286759043437,-0.009868274294247373,0.01509918524472207,9.240152364704043e-05,-0.14726548117251487,-0.14637120124148406,1.6488779208076538,-0.013881932948722855,0.011052810789700761,-0.0023460354854423224,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.127669620502499,-0.6920048438071711,-0.9486820567991631,0.5686008300119545,0.8171932890238897,-0.48003215135966854,0.5340987696236708,1.301286759043437,1.4827808264228337,1.4827808264228337,1.6873600000005613,0,0,-0.00010778291053700618,-9.91876261943247e-05
+19928,1791878338654892332,7378814000000,1791878338647043299,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.67612704792722,-0.004755663552756417,0.08927275944386939,0.9999999887742361,9.404609144941828e-05,4.878171490905547e-05,5.1672710685498504e-05,0.6761,-0.0048,0.08911921880688022,1.0,0.0,0.0,0.0,-0.21402621267326685,-0.17695257817951335,1.3693074996816523,-0.009880609751071096,0.01508618272657778,3.685096851167337e-05,-0.14628244799390225,-0.14986118638316492,1.7168986614458692,-0.013894268405546577,0.01103980827155647,-0.0024015860405776895,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2022895967370975,-0.6868355304464322,-1.0675776502094043,0.5714513606973419,0.9149336176486946,-0.4768214139151297,0.5340987696236708,1.3693074996816523,1.601676419833075,1.601676419833075,1.7587200000006327,0,0,-0.00010541285414974866,-9.999999025923074e-05
+20028,1791878339487892678,7379647000000,1791878339487043638,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761308720745174,-0.00476388455608601,0.08918465976832707,0.9999999885821659,9.088710387898111e-05,5.1787342573378584e-05,5.7759310358788976e-05,0.6761,-0.0048,0.08902913417976616,1.0,0.0,0.0,0.0,-0.21741126074166126,-0.17467901235276198,1.4233924742192587,-0.009908704574317119,0.015665812068629964,-9.899240359539842e-06,-0.14966749606229665,-0.14758762055641356,1.7709836359834756,-0.0139223632287926,0.011619437613608655,-0.0024483362494489027,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1822484051443056,-0.6593653185411483,-1.1870222464008433,0.5692538986835327,0.986119861748733,-0.4604674479390555,0.5340987696236708,1.4233924742192587,1.721121016024514,1.721121016024514,1.8253600000006993,0,0,-0.00010945171751289428,9.999999025923074e-05
+20124,1791878340287890367,7380447000000,1791878340287043111,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676132653887001,-0.004768547065680761,0.089100861854288,0.9999999885333432,8.682242632684734e-05,5.5958086883157646e-05,6.088297482886273e-05,0.6761,-0.0048,0.08893943714853483,1.0,0.0,0.0,0.0,-0.22446463376425715,-0.17499821466537052,1.4817782405073006,-0.009929652970909628,0.016050483325068986,-3.930043796033069e-05,-0.15672086908489255,-0.1479068228690221,1.8293694022715175,-0.013943311625385108,0.012004108870047677,-0.0024777374470496935,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.258539132848775,-0.7294551332266481,-1.1651182180769981,0.5958423268408869,0.9880206474615302,-0.5036733597550799,0.5340987696236708,1.4817782405073006,1.6992169877006689,1.6992169877006689,1.8893600000007633,0,0,-0.00011276580456495567,-9.999950453665746e-05
+20204,1791878340954835380,7381114000000,1791878340951043233,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761374651432066,-0.004771467112771791,0.08902919227733914,0.9999999883668034,8.187219027959708e-05,6.190128756034442e-05,6.46098490056889e-05,0.6761,-0.0048,0.08886369194369864,1.0,0.0,0.0,0.0,-0.22385805467417552,-0.18391239773726692,1.5219021608131147,-0.009936428035558557,0.015960410624402774,-7.341387036520703e-05,-0.15611428999481092,-0.1568210059409185,1.8694933225773316,-0.013950086690034039,0.011914036169381463,-0.00251185087945457,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.216753326547787,-0.6493438524578744,-1.3484467988097997,0.5768006021859235,1.0895494913616603,-0.45186223643323026,0.5340987696236708,1.5219021608131147,1.8825455684334704,1.8825455684334704,1.9427200000008167,0,0,-0.00011407378320141414,9.999982372577704e-05
+20275,1791878341545820042,7381705000000,1791878341543043128,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761397931064264,-0.004768170115112775,0.08896667934043674,0.999999988000106,8.358263578055921e-05,6.54801456090366e-05,6.456737493777781e-05,0.6761,-0.0048,0.0887953457705677,1.0,0.0,0.0,0.0,-0.22901385930894388,-0.18045939565902389,1.5620510789139737,-0.009945471062829763,0.01605677146856896,-0.00010452164419018101,-0.16127009462957928,-0.15336800386267546,1.9096422406781906,-0.013959129717305244,0.01201039701354765,-0.002542958653279544,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1897553135786207,-0.6223650290057533,-1.3685056242883509,0.5737660310052131,1.0948665173865524,-0.4330542691765801,0.5340987696236708,1.5620510789139737,1.9026043939120216,1.9026043939120216,1.990000000000864,0,0,-0.00011566128780141215,9.999990699250389e-05
+20359,1791878342245892084,7382405000000,1791878342239043446,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761397341464824,-0.004770058954800138,0.08888063321367896,0.9999999872508422,9.059808531701563e-05,6.479379869618702e-05,6.734189195630144e-05,0.6761,-0.0048,0.08871194802140335,1.0,0.0,0.0,0.0,-0.2309489430298096,-0.18214047748360387,1.6020225582952536,-0.00995410077295179,0.01604868034246531,-0.00013690787336169278,-0.16320517835044498,-0.15504908568725545,1.9496137200594705,-0.01396775942742727,0.012002305887443998,-0.0025753448824510556,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2240621933091478,-0.616147085982966,-1.405394227512242,0.5765272653736111,1.121880112052857,-0.42828172506572937,0.5340987696236708,1.6020225582952536,1.9394929971359127,1.9394929971359127,2.04600000000092,0,0,-0.0001194889481845055,9.99995739255965e-05
+20463,1791878343112812008,7383272000000,1791878343111042924,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761466204687553,-0.004770680930700227,0.0887890485454698,0.9999999828311595,0.00012397183628924918,7.491333428321922e-05,6.927857701028157e-05,0.6761,-0.0048,0.08860759722135216,1.0,0.0,0.0,0.0,-0.23346403433589955,-0.18071006098975043,1.6536765587579476,-0.009963492678569805,0.01603748304766417,-0.0001784497261624221,-0.16572026965653494,-0.153618669193402,2.0012677205221645,-0.013977151333045288,0.01199110859264286,-0.002616886735251785,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1876328763681503,-0.727523623406986,-1.4143241261672324,0.6114604393121793,1.1170534508227092,-0.4986868426667984,0.5340987696236708,1.6536765587579476,1.948422895790903,1.948422895790903,2.1153600000009893,0,0,-0.00012341704770243845,-9.999983760356485e-05
+20535,1791878343712904736,7383872000000,1791878343711033850,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676146836643067,-0.004767986151453875,0.08871459354385744,0.9999999821644592,0.00012907220377214324,7.412713941609846e-05,7.042356955825185e-05,0.6761,-0.0048,0.0885314585036606,1.0,0.0,0.0,0.0,-0.23427726681724034,-0.18924378362351507,1.692442545252942,-0.009972185544849643,0.01602984513887065,-0.00021024595504321461,-0.16653350213787574,-0.16215239182716665,2.040033707017159,-0.013985844199325123,0.011983470683849338,-0.0026486829641325775,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1944769873855923,-0.7473290882226667,-1.3938207177245208,0.6268940005189029,1.1021744164204608,-0.5122399996060374,0.5340987696236708,1.692442545252942,1.9279194873481915,1.9279194873481915,2.1633600000010373,0,0,-0.0001313892284651993,-9.999999025923074e-05
+20631,1791878344512891109,7384672000000,1791878344507043808,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761549684354389,-0.004766708010906278,0.08862330760144008,0.9999999810565463,0.00012910920651990914,8.644798466202307e-05,7.202312110852686e-05,0.6761,-0.0048,0.08842448586385097,1.0,0.0,0.0,0.0,-0.23470389996570748,-0.18751591291024045,1.7425914236709417,-0.009981451855476359,0.01601890028014863,-0.00025081290759762205,-0.16696013528634288,-0.16042452111389202,2.0901825854351586,-0.013995110509951841,0.01197252582512732,-0.002689249916686985,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.177485473926529,-0.6683500504174893,-1.4917902775020855,0.6054087945938703,1.1553822356354186,-0.4604881418453718,0.5340987696236708,1.7425914236709417,2.025889047125756,2.025889047125756,2.2273600000011013,0,0,-0.00013429068076584028,-9.999695102370083e-05
+20711,1791878345179891014,7385339000000,1791878345175043377,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761568163736474,-0.00476797573360952,0.08853606451234292,0.9999999812623136,0.00012434483992617543,8.846620295478215e-05,7.503551419495608e-05,0.6761,-0.0048,0.08833396711721372,1.0,0.0,0.0,0.0,-0.22762004955591406,-0.17605125835072624,1.7827843388247333,-0.00998755794384584,0.016009140812490188,-0.00028240819700836757,-0.15987628487654945,-0.14895986655437782,2.13037550058895,-0.01400121659832132,0.011962766357468877,-0.0027208452060977304,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.189423730270858,-0.7055452141559456,-1.5399291459548248,0.6219079232059991,1.1869874461761345,-0.48675847770862646,0.5340987696236708,1.7827843388247333,2.0740279155784958,2.0740279155784958,2.2807200000011547,0,0,-0.00013923311325689103,-8.658399971850911e-05
+20797,1791878345895879145,7386055000000,1791878345895043640,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.676161083502167,-0.004763150305851438,0.08844019621816342,0.9999999810805636,0.00012200935111819652,9.297819206373169e-05,7.583212250364239e-05,0.6761,-0.0048,0.08823264485160494,1.0,0.0,0.0,0.0,-0.22656332821043682,-0.18413062077408854,1.819113559602701,-0.009705332306519723,0.01600106879021434,-0.0003067587340948698,-0.1588195635310722,-0.15703922897774011,2.166704721366918,-0.013718990960995204,0.011954694335193028,-0.0027451957431842327,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.236361760454678,-0.6505454048445448,-1.6472842112111858,0.6071142452701579,1.2627471954035188,-0.45435940361902993,0.5340987696236708,1.819113559602701,2.1813829808348566,2.1813829808348566,2.338000000001212,0,0,-0.0001426261334633042,8.22027959853699e-05
+20886,1791878346637851213,7386797000000,1791878346635043211,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761607480309575,-0.004768071845588341,0.08833608500240586,0.9999999820091136,0.00011382297659165193,9.442338856911298e-05,7.451973392762654e-05,0.6761,-0.0048,0.08812536389833436,1.0,0.0,0.0,0.0,-0.22589326915491523,-0.17062426596019806,1.8632076238976716,-0.009629245341441182,0.015984649976077087,-0.0003429390961349008,-0.15814950447555062,-0.14353287416384963,2.2107987856618885,-0.013642903995916663,0.011938275521055778,-0.0027813761052242637,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2004855033166377,-0.6994832527146579,-1.6081313386811982,0.6297231649574293,1.2245801417929858,-0.4834473825147025,0.5340987696236708,1.8632076238976716,2.1422301083048687,2.1422301083048687,2.3973600000012714,0,0,-0.00014565546769681881,-9.962376343176089e-05
+20962,1791878347270882737,7387430000000,1791878347263043713,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761663198040682,-0.004767193916501074,0.08824819376072982,0.9999999810684223,0.00011426572836820396,0.00010115541420969298,7.756896882290039e-05,0.6761,-0.0048,0.0880302600281532,1.0,0.0,0.0,0.0,-0.23022421649516742,-0.17573364476466066,1.9032037035739184,-0.01000863385234323,0.01598011337122149,-0.0003534091613318431,-0.1624804518158028,-0.14864225296831224,2.2507948653381353,-0.014022292506818712,0.011933738916200181,-0.002791846170421206,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.159163779665734,-0.5972132655290938,-1.5973876476071847,0.6158663963506316,1.197638736618747,-0.4115702395120018,0.5340987696236708,1.9032037035739184,2.1314864172308554,2.1314864172308554,2.448000000001322,0,0,-0.00015466035700325976,-9.999999025923074e-05
+21042,1791878347937845769,7388097000000,1791878347935043607,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761685841057187,-0.004770312134502344,0.08814687748173347,0.9999999805260309,0.00011313517139059136,0.00010549215070811935,8.039055409986587e-05,0.6761,-0.0048,0.08792623488820242,1.0,0.0,0.0,0.0,-0.22594838899629086,-0.1704708742235304,1.9432390540294946,-0.010017293584922874,0.01597400858807963,-0.00041169373710336996,-0.15820462431692625,-0.143379482427182,2.2908302157937115,-0.014030952239398356,0.01192763413305832,-0.002850130746192733,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2070424690286756,-0.653447092628044,-1.702617657791912,0.6286482727825258,1.27581374662238,-0.45334912532201477,0.5340987696236708,1.9432390540294946,2.236716427415583,2.236716427415583,2.5013600000013754,0,0,-0.0001604118615536595,-9.999999025923074e-05
+21118,1791878348570896412,7388730000000,1791878348567043390,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761686600057784,-0.00477303211203591,0.08804636415702159,0.9999999811517123,0.00010892475163331427,0.00010441202279007865,7.983086748509076e-05,0.6761,-0.0048,0.08782367007633916,1.0,0.0,0.0,0.0,-0.22603537019518924,-0.18695112549554388,1.9738137770652828,-0.010030813117657317,0.01596322893260063,0.00024425928795686856,-0.15829160551582463,-0.15985973369919546,2.3214049388294997,-0.0140444717721328,0.011916854477579323,-0.0021941777211324943,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.223446145751027,-0.6989230885671003,-1.7999060268283305,0.6514692953136765,1.3375787337390004,-0.48346458458327335,0.5340987696236708,1.9738137770652828,2.3340047964520014,2.3340047964520014,2.552000000001426,0,0,-0.0001645350233240014,-9.54601495336604e-05
+21197,1791878349229871572,7389389000000,1791878349227042921,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761714492565515,-0.004771919851985144,0.08794125528297232,0.9999999799774821,0.00011430419177743913,0.00010763997079742889,8.26806390941353e-05,0.6761,-0.0048,0.08771304085551754,1.0,0.0,0.0,0.0,-0.22606736191527435,-0.1797150547407605,1.9939643024307714,-0.0100367933564054,0.01595869215894699,0.0005350676417546253,-0.15832359723590975,-0.15262366294441207,2.3415554641949883,-0.014050452010880883,0.011912317703925682,-0.0019033693673347375,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1908950553086988,-0.661749485720457,-1.8615032067704884,0.6508871514258354,1.3644901010356718,-0.45479250241175756,0.5340987696236708,1.9939643024307714,2.3956019763941594,2.3956019763941594,2.6047200000014787,0,0,-0.0001712029538593185,3.9480151247101155e-05
+21266,1791878349804800929,7389964000000,1791878349803043186,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761683013970183,-0.004778341509760713,0.08783757830154443,0.9999999813888895,0.0001057154058871073,0.00010222079371279305,8.390618273149696e-05,0.6761,-0.0048,0.08761288641165989,1.0,0.0,0.0,0.0,-0.22609337581611494,-0.18621599119387497,2.03358974347819,-0.010036736364894227,0.015955883854108805,-0.0004808064305003392,-0.15834961113675033,-0.15912459939752654,2.3811809052424073,-0.014050395019369707,0.011909509399087496,-0.002919243439589702,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.235233239149484,-0.7042575781955153,-1.9158011057946325,0.6765126356869924,1.4053631544189122,-0.4827310073133018,0.5340987696236708,2.03358974347819,2.4498998754183035,2.4498998754183035,2.6507200000015247,0,0,-0.00017506600487740697,9.96577085007388e-05
+21341,1791878350429889397,7390589000000,1791878350427043033,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761718017847789,-0.004775178323828803,0.08773666003062723,0.9999999808709419,0.00010822129322691458,0.00010704972473679679,8.080525004017103e-05,0.6761,-0.0048,0.08750232951260437,1.0,0.0,0.0,0.0,-0.22063330781458876,-0.1875562940337826,2.0540928376783665,-0.010049845572695532,0.01594612034304546,0.0005264845963362059,-0.15288954313522415,-0.16046490223743418,2.4016839994425836,-0.014063504227171014,0.011899745888024152,-0.001911952412753157,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2192127907095198,-0.6621362879072009,-1.9576432660820948,0.6689954188898475,1.4247285350503707,-0.4556882275163427,0.5340987696236708,2.0540928376783665,2.491742035705766,2.491742035705766,2.7007200000015747,0,0,-0.00018031676471822055,8.159725259216372e-05
+21409,1791878350995865025,7391155000000,1791878350995043487,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761709811484877,-0.004777535728677892,0.08763513838774367,0.9999999810944383,0.00010634993387237912,0.00010487400972584384,8.333739343383613e-05,0.6761,-0.0048,0.087398337876497,1.0,0.0,0.0,0.0,-0.21704814717375637,-0.18619577257238207,2.074014084150064,-0.010053453339351613,0.015941609200530345,0.0004939102336821018,-0.14930438249439176,-0.15910438077603364,2.421605245914281,-0.014067111993827094,0.011895234745509034,-0.001944526775407261,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1982928769183463,-0.7496348018962339,-1.9081533792866363,0.7037237795485685,1.3848900644242277,-0.5124336677043317,0.5340987696236708,2.074014084150064,2.442252148910307,2.442252148910307,2.74600000000162,0,0,-0.00018928502941026182,-9.992842250750584e-05
+21477,1791878351562838068,7391722000000,1791878351559043216,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761765973717238,-0.004781042267342467,0.08753308112591969,0.9999999802202513,0.00010222571107285604,0.00011677449516694768,8.316238804733491e-05,0.6761,-0.0048,0.08728705538297163,1.0,0.0,0.0,0.0,-0.22629708688285904,-0.1875597058360369,2.0881106180248894,-0.010055962090809313,0.015938342674696668,0.000378210345411854,-0.15855332220349444,-0.16046831403968848,2.435701779789106,-0.014069620745284795,0.011891968219675357,-0.002060226663677509,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.171793849417683,-0.6969106034955249,-1.9735298638209513,0.6968787690098492,1.4147592679424188,-0.47818715627816294,0.5340987696236708,2.0881106180248894,2.507628633444622,2.507628633444622,2.7913600000016654,0,0,-0.00020366197669571674,-9.707598200148766e-05
+21541,1791878352095882586,7392255000000,1791878352095042894,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761710261209786,-0.004786490493966575,0.08742235515374633,0.9999999811082009,0.0001024056189057532,0.00010634159719516468,8.620334189169391e-05,0.6761,-0.0048,0.08717611775802152,1.0,0.0,0.0,0.0,-0.222438456233622,-0.1875409999325262,2.1102696619407366,-0.011052189195348974,0.015952086181989636,0.0004696974383461179,-0.15469469155425739,-0.16044960813617778,2.4578608237049533,-0.015065847849824456,0.011905711726968325,-0.001968739570743245,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2223975295454117,-0.6835809998471932,-2.018972189286775,0.7015050423975933,1.4576128802278825,-0.4674138622637887,0.5340987696236708,2.1102696619407366,2.5530709589104457,2.5530709589104457,2.834000000001708,0,0,-0.0002149635357964939,-9.878481895470714e-05
+21601,1791878352595790830,7392755000000,1791878352595043532,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761788912776149,-0.004788073109118457,0.08731670180658924,0.9999999781688484,0.0001088729846932135,0.00012156849150275413,9.204858451121864e-05,0.6761,-0.0048,0.08706497098365143,1.0,0.0,0.0,0.0,-0.22606006392392922,-0.18721419316476245,2.120244956718887,-0.011109737765512728,0.0169625584016368,0.00047658688959001383,-0.1583162992445646,-0.16012280136841403,2.467836118483104,-0.01512339641998821,0.01291618394661549,-0.001961850119499349,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2153900869050709,-0.7469567394173939,-2.025913253375186,0.7240702650269933,1.4533331643080851,-0.5074776207764379,0.5340987696236708,2.120244956718887,2.5600120229988566,2.5600120229988566,2.874000000001748,0,0,-0.00022943364847846504,-9.917982687757671e-05
+21661,1791878353095863593,7393255000000,1791878353091043670,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761788490614817,-0.004791718194698475,0.08720523432092224,0.9999999782295735,0.00010831638715486891,0.00012152739131828327,9.209978473844663e-05,0.6761,-0.0048,0.08694669861199945,1.0,0.0,0.0,0.0,-0.22601575504251142,-0.1959778704628018,2.143699323144502,-0.011087690898993644,0.01599648761784436,0.0004460197992737294,-0.15827199036314682,-0.16888647866645337,2.491290484908719,-0.015101349553469126,0.011950113162823049,-0.0019924172098156334,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2581611872537863,-0.7173023325267905,-2.068376090770005,0.7229343295749853,1.4932913313935214,-0.48817045645630075,0.5340987696236708,2.143699323144502,2.602474860393676,2.602474860393676,2.914000000001788,0,0,-0.0002445555065644356,-4.71172234550927e-05
+21719,1791878353579857571,7393739000000,1791878353579043366,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761863622221024,-0.0047979252843414295,0.08709313959285411,0.9999999773562077,0.00010033505047367951,0.00013411552711019127,9.314693481826077e-05,0.6761,-0.0048,0.08682456886761983,1.0,0.0,0.0,0.0,-0.22613523484540182,-0.19397406283056184,2.153975051027362,-0.01110753445760251,0.016957698809435696,0.00044943556437659167,-0.15839147016603722,-0.16688267103421342,2.5015662127915785,-0.015121193112077993,0.012911324354414387,-0.001989001444712771,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.225933467972663,-0.8012482020801243,-2.0252036379462455,0.760118794142519,1.4567028398019342,-0.5440668996718774,0.5340987696236708,2.153975051027362,2.5593024075699162,2.5593024075699162,2.9527200000018268,0,0,-0.00025904936034745605,-9.999999025923074e-05
+21769,1791878353995863132,7394155000000,1791878353991044631,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761840869460223,-0.004792088388007447,0.08698123634056272,0.9999999783577231,9.991646484488703e-05,0.00012816535053464706,9.120175799299233e-05,0.6761,-0.0048,0.0867133635850521,1.0,0.0,0.0,0.0,-0.2261815018029354,-0.19560964586942076,2.1641181733556287,-0.01111904207980774,0.016955021426163452,0.00044106547797211505,-0.1584377371235708,-0.16851825407307233,2.511709335119846,-0.01513270073428322,0.012908646971142142,-0.001997371531117248,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2295048187568667,-0.8147047150630664,-2.1030395689373718,0.7776792457274047,1.5047343608564614,-0.5489054933971341,0.5340987696236708,2.1641181733556287,2.6371383385610425,2.6371383385610425,2.98600000000186,0,0,-0.00027370190792552757,-5.44183962336006e-05
+21821,1791878354429899864,7394589000000,1791878354423044253,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761895978756391,-0.004796883732302842,0.08686491034085439,0.9999999775828299,9.473002221045683e-05,0.0001367047446788466,9.281831684486198e-05,0.6761,-0.0048,0.08659113444855317,1.0,0.0,0.0,0.0,-0.22622099043826718,-0.19460958724080177,2.1839848289266417,-0.011122664099755698,0.016950644687795464,0.00042508522877507827,-0.15847722575890258,-0.16751819544445334,2.5315759906908584,-0.015136322754231178,0.012904270232774155,-0.0020133517803142846,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2514931139234813,-0.7165290124816148,-2.0947789246694923,0.7571927760793256,1.5095181681240324,-0.4843873424929496,0.5340987696236708,2.1839848289266417,2.628877694293163,2.628877694293163,3.020720000001895,0,0,-0.0002895389790938659,-9.999987923692828e-05
+21864,1791878354787865727,7394947000000,1791878354783043609,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761868627133879,-0.004797814896193743,0.08675687087645348,0.9999999779250709,9.464473473358698e-05,0.0001320106876444918,9.595975571880803e-05,0.6761,-0.0048,0.08648456923856859,1.0,0.0,0.0,0.0,-0.22453206198145415,-0.19411552947338487,2.193751311247956,-0.011117475065822807,0.01695268532571015,-0.00039669643748416195,-0.15678829730208954,-0.16702413767703644,2.5413424730121728,-0.01513113372029829,0.012906310870688838,-0.002835133446573525,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2522106706604623,-0.7240608741251272,-2.1662665569213106,0.758408972149583,1.5546615032827018,-0.48728689006754006,0.5340987696236708,2.193751311247956,2.7003653265449814,2.7003653265449814,3.0493600000019234,0,0,-0.00030524319031136207,9.921875407237763e-05
+21912,1791878355187900074,7395347000000,1791878355187043791,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761832775386614,-0.004802932519505927,0.08663218521177006,0.9999999780431167,9.43450538650607e-05,0.00013028303819142054,9.737541480781322e-05,0.6761,-0.0048,0.08635979259016534,1.0,0.0,0.0,0.0,-0.23112361061938125,-0.19463680995704183,2.2133528689505217,-0.01112774674141993,0.01694457416048709,0.00035258673739469327,-0.16337984594001664,-0.1675454181606934,2.5609440307147384,-0.015141405395895412,0.012898199705465779,-0.0020858502716946696,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2572783636598062,-0.7563175762774069,-2.1265771232759128,0.7844643047541011,1.535310130206339,-0.5048273831290871,0.5340987696236708,2.2133528689505217,2.6606758928995835,2.6606758928995835,3.0813600000019554,0,0,-0.0003195497768435348,-9.999999025923074e-05
+21956,1791878355554865797,7395714000000,1791878355551043173,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.676174420833711,-0.0048026378921949536,0.08650756281695082,0.9999999786936982,9.761534298019468e-05,0.00012180566521148655,9.843826607302178e-05,0.6761,-0.0048,0.08623996514127916,1.0,0.0,0.0,0.0,-0.225960503151993,-0.2030398797388566,2.2140968291212113,-0.011470694639335706,0.016018257693479445,0.0002567773968651806,-0.1582167384726284,-0.17594848794250817,2.561687990885428,-0.015484353293811186,0.011971883238458134,-0.0021816596122241822,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2496089307257416,-0.7330299339380202,-2.1008411015081694,0.7812149485327918,1.5186313430152256,-0.4896119721331864,0.5340987696236708,2.2140968291212113,2.63493987113184,2.63493987113184,3.110720000001985,0,0,-0.0003337136803102921,-9.999999025923074e-05
+22000,1791878355920906686,7396080000000,1791878355919043395,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761747086373603,-0.004794128462395819,0.08638933848256686,0.9999999779535004,9.661276846915585e-05,0.0001269544113505156,0.00010042118088901416,0.6761,-0.0048,0.08611459166375966,1.0,0.0,0.0,0.0,-0.2168183402595654,-0.19367058102322984,2.2242870604497895,-0.011102672018027834,0.01592841896210284,0.00037794457633162724,-0.1490745755802008,-0.16657918922688142,2.571878222214006,-0.015116330672503316,0.011882044507081531,-0.0020604924327577356,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2230244959072754,-0.7630116688517888,-2.141447881449666,0.7904320320428253,1.5427229717521396,-0.5118715794692671,0.5340987696236708,2.2242870604497895,2.675546651073337,2.675546651073337,3.140000000002014,0,0,-0.0003513039028943662,-9.023477384595963e-05
+22040,1791878356254862034,7396414000000,1791878356251043047,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6762108104328808,-0.004783366554524115,0.08629586592072049,0.9999999702869214,0.00010246326774103866,0.00017021596405307512,0.00010675591281373874,0.6761,-0.0048,0.0859945072663019,1.0,0.0,0.0,0.0,-0.22536650406446015,-0.16863480589579213,2.2049592193934515,-0.009084759829237829,0.016905766831945796,0.0004280770555980338,-0.15762273938509555,-0.1415434140994437,2.552550381157668,-0.01309841848371331,0.012859392376924485,-0.002010359953491329,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.294311470803133,-0.6506632726593815,-2.054216558493874,0.7677537696240363,1.5030388898065405,-0.4354707648838657,0.5340987696236708,2.2049592193934515,2.588315328117545,2.588315328117545,3.166720000002041,0,0,-0.00036788810053453434,-9.999999025923074e-05
+22076,1791878356554877006,7396714000000,1791878356551043812,DOWN_FORCE_DETACH,3,0.0545,0.05450202152132988,0.6761985937013272,-0.004787663866011887,0.0861750895106873,0.9999999725590057,0.0001002145086036654,0.00014988718049456916,0.00011754036604861364,0.6761,-0.0048,0.08588189833658133,1.0,0.0,0.0,0.0,-0.22660178761681304,-0.18027891812873317,2.232498564969527,-0.01008271465092141,0.01590698858526855,0.00038193410882445683,-0.15885802293744844,-0.15318752633238475,2.5800897267337435,-0.014096373305396892,0.01186061413024724,-0.002056502900264906,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2414055970945252,-0.7033668602687778,-1.9430029519490009,0.7827840472908041,1.4274504861642927,-0.4694985814403594,0.5340987696236708,2.232498564969527,2.4771017215726716,2.4771017215726716,3.190720000002065,0,0,-0.00038288809761230356,-9.999999025923074e-05
+22112,1791878356854848796,7397014000000,1791878356847043466,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761962104075254,-0.004783851793250059,0.08605904478320392,0.9999999531505027,0.00021317561154904986,0.0001535934707101742,0.00012691359585035285,0.6761,-0.0048,0.08576478940773744,1.0,0.0,0.0,0.0,-0.21724876421179068,-0.19059210716835395,2.23542584779827,-0.0104114705341916,0.015908272161748383,0.00037982310891239695,-0.14950499953242607,-0.16350071537200553,2.583017009562487,-0.01442512918866708,0.011861897706727072,-0.002058613900176966,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2519151546164413,-0.7638174407453703,-2.012583118729566,0.8133340318615162,1.4696462565813824,-0.49532753738406343,0.5340987696236708,2.23542584779827,2.5466818883532367,2.5466818883532367,3.214720000002089,0,0,-0.0003978880946900728,-9.999999025923074e-05
+22148,1791878357154892741,7397314000000,1791878357147043648,DOWN_FORCE_DETACH,3,0.0545,0.05450136214494705,0.6761957268769714,-0.0047808383056046734,0.08593921376127164,0.9999999718841736,0.00012662246417667467,0.00015882406733542948,8.010108317653819e-05,0.6761,-0.0048,0.08564318047977021,1.0,0.0,0.0,0.0,-0.19941213665589438,-0.17963249282452642,2.2548913524201017,-0.010059555810299773,0.014888438870505716,0.0003511467287225633,-0.13166837197652978,-0.152541101028178,2.6024825141843184,-0.014073214464775255,0.010842064415484408,-0.0020872902803667995,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2546836546806965,-0.6156854882523966,-2.026122681912767,0.7376623000147978,1.5010135909315003,-0.42435117948013173,0.5340987696236708,2.2548913524201017,2.560221451536438,2.560221451536438,3.238720000002113,0,0,-0.000412888091767842,-9.999999025923074e-05
+22204,1791878357614875672,7397774000000,1791878357607043642,DOWN_SETTLE,3,0.0545,0.05450202152132988,0.6761909138786271,-0.004781286907419013,0.08582919805622513,0.9999999738262804,0.0001199382139723579,0.00014584440596260493,9.019166868994805e-05,0.6761,-0.0048,0.08555654194993495,1.0,0.0,0.0,0.0,-0.1986151794142737,-0.17778485689923226,2.2147886572342674,-0.010045939969530387,0.014900310884233697,-0.0002678779354477142,-0.1308714147349091,-0.15069346510288384,2.5623798189984845,-0.014059598624005869,0.010853936429212388,-0.002706314944537077,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2465453460681206,-0.6584543397920827,-1.938083491846898,0.7693255789173551,1.448090097501847,-0.4419388786266444,0.5340987696236708,2.2147886572342674,2.472182261470569,0.0,0.0,0,0,-1.2800562824876603e-05,0.00012929861439269294
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb50b324a5a079e5ba17507e752f928ae9df35a5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86acb3b998631de13586208bb600df0c97819175
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.033333333e+00,DOWN_FORCE_DETACH,1791878320540090960,1.516600160e-05,-7.725967668e-06,-1.393828031e-04,1.274394446e-05,-8.892514264e-06,-1.280462934e-04,1.269358597e-05,-8.852635501e-06,-1.275414481e-04,7.015530375e-01,-6.175006346e-06,8.406015584e-01,7.015506154e-01,-7.341552943e-06,8.406128949e-01,7.017420370e-01,-7.120126293e-06,8.294451050e-01
+5,2.566666667e+00,DOWN_FORCE_DETACH,1791878321560712830,2.169139472e-05,-9.849229326e-06,-2.102160743e-04,2.015772039e-05,-1.135513016e-05,-1.918269568e-04,2.004759863e-05,-1.130937304e-05,-1.911472206e-04,7.015595629e-01,-8.298268005e-06,8.405307251e-01,7.015580292e-01,-9.804168840e-06,8.405491142e-01,7.017493910e-01,-9.576863829e-06,8.293814992e-01
+6,3.000000000e+00,DOWN_FORCE_DETACH,1791878322424719027,2.492672815e-05,-6.972507116e-06,-2.808294688e-04,2.251857500e-05,-1.213153806e-05,-2.788899093e-04,2.219814111e-05,-1.210982994e-05,-2.778779664e-04,7.015627982e-01,-5.421545795e-06,8.404601117e-01,7.015603901e-01,-1.058057674e-05,8.404620513e-01,7.017515415e-01,-1.037732074e-05,8.292947684e-01
+7,3.466666667e+00,DOWN_FORCE_DETACH,1791878323356719541,2.797394146e-05,-7.679621234e-06,-3.492434419e-04,2.562506069e-05,-9.902560892e-06,-3.434660664e-04,2.517211958e-05,-9.871295664e-06,-3.424222341e-04,7.015658454e-01,-6.128659913e-06,8.403916977e-01,7.015634965e-01,-8.351599571e-06,8.403974751e-01,7.017545155e-01,-8.138786457e-06,8.292302242e-01
+8,3.933333333e+00,DOWN_FORCE_DETACH,1791878324284720490,3.297400384e-05,7.082883479e-06,-4.161550845e-04,3.032369639e-05,2.744046018e-06,-4.060057515e-04,2.978902035e-05,2.786848867e-06,-4.049647053e-04,7.015708455e-01,8.633844800e-06,8.403247861e-01,7.015681952e-01,4.295007339e-06,8.403349354e-01,7.017591324e-01,4.519358075e-06,8.291676817e-01
+9,4.383333333e+00,DOWN_FORCE_DETACH,1791878325150727070,3.686990684e-05,7.932389887e-06,-4.913268095e-04,3.684754532e-05,5.327918504e-06,-4.714593290e-04,3.626287872e-05,5.408193034e-06,-4.704559541e-04,7.015747414e-01,9.483351208e-06,8.402496144e-01,7.015747190e-01,6.878879825e-06,8.402694819e-01,7.017656063e-01,7.140702241e-06,8.291021905e-01
+10,4.850000000e+00,DOWN_FORCE_DETACH,1791878326049460405,4.196736350e-05,4.746056743e-06,-5.626330741e-04,4.109670342e-05,7.978159132e-06,-5.532650809e-04,4.037925189e-05,8.038719449e-06,-5.521883663e-04,7.015798388e-01,6.297018064e-06,8.401783081e-01,7.015789682e-01,9.529120453e-06,8.401876761e-01,7.017697227e-01,9.771228656e-06,8.290204580e-01
+11,5.300000000e+00,DOWN_FORCE_DETACH,1791878326880868324,4.702868347e-05,5.770747294e-06,-6.244110068e-04,4.592524827e-05,8.461452997e-06,-6.172957040e-04,4.510772369e-05,8.513796074e-06,-6.162751283e-04,7.015849002e-01,7.321708615e-06,8.401165302e-01,7.015837967e-01,1.001241432e-05,8.401236455e-01,7.017744511e-01,1.024630528e-05,8.289563713e-01
+12,5.750000000e+00,DOWN_FORCE_DETACH,1791878327746727834,5.063609414e-05,2.704840805e-06,-6.907565480e-04,5.070234838e-05,5.980516967e-06,-6.849044946e-04,4.982454264e-05,6.077747016e-06,-6.839347434e-04,7.015885076e-01,4.255802126e-06,8.400501846e-01,7.015885738e-01,7.531478288e-06,8.400560367e-01,7.017791679e-01,7.810256224e-06,8.288887117e-01
+13,6.200000000e+00,DOWN_FORCE_DETACH,1791878328608773239,5.482425003e-05,3.020664030e-06,-7.586626161e-04,5.231290609e-05,2.892438686e-06,-7.496059665e-04,5.131274993e-05,2.969506350e-06,-7.486996901e-04,7.015926957e-01,4.571625351e-06,8.399822786e-01,7.015901844e-01,4.443400007e-06,8.399913352e-01,7.017806562e-01,4.702015557e-06,8.288239467e-01
+14,6.683333333e+00,DOWN_FORCE_DETACH,1791878329508757824,6.168363314e-05,1.554848490e-07,-8.255726031e-04,5.659882566e-05,5.464306838e-07,-8.147721967e-04,5.545169076e-05,6.219426158e-07,-8.138757237e-04,7.015995551e-01,1.706446170e-06,8.399153686e-01,7.015944703e-01,2.097392005e-06,8.399261690e-01,7.017847951e-01,2.354451823e-06,8.287587707e-01
+15,7.150000000e+00,DOWN_FORCE_DETACH,1791878330440881745,6.684350206e-05,-1.289827560e-07,-9.018577570e-04,6.692482258e-05,-2.544720630e-06,-8.954756295e-04,6.578395040e-05,-2.464213864e-06,-8.944761304e-04,7.016047150e-01,1.421978565e-06,8.398390834e-01,7.016047963e-01,-9.937593090e-07,8.398454656e-01,7.017951274e-01,-7.317046565e-07,8.286781703e-01
+16,7.583333333e+00,DOWN_FORCE_DETACH,1791878331304778758,7.023819185e-05,-5.977985137e-06,-9.727740754e-04,6.644960676e-05,-6.882190442e-06,-9.585172317e-04,6.510521402e-05,-6.823032612e-06,-9.575778545e-04,7.016081097e-01,-4.427023816e-06,8.397681671e-01,7.016043211e-01,-5.331229121e-06,8.397824240e-01,7.017944486e-01,-5.090523404e-06,8.286150686e-01
+17,7.950000000e+00,DOWN_FORCE_DETACH,1791878332036786096,7.698939726e-05,-4.190397579e-06,-1.032933435e-03,7.696825007e-05,-7.363649125e-06,-1.023295861e-03,7.561561788e-05,-7.295839990e-06,-1.022275253e-03,7.016148609e-01,-2.639436258e-06,8.397080078e-01,7.016148397e-01,-5.812687803e-06,8.397176453e-01,7.018049590e-01,-5.563330783e-06,8.285503712e-01
+18,8.416666667e+00,DOWN_FORCE_DETACH,1791878332968921721,8.383440741e-05,-8.148268054e-06,-1.109581882e-03,8.364871617e-05,-8.097243453e-06,-1.109801360e-03,8.216367906e-05,-8.037547694e-06,-1.108673141e-03,7.016217059e-01,-6.597306733e-06,8.396313593e-01,7.016215202e-01,-6.546282132e-06,8.396311398e-01,7.018115071e-01,-6.305038487e-06,8.284639733e-01
+19,8.866666667e+00,DOWN_FORCE_DETACH,1791878333800785421,8.553186370e-05,-1.067937365e-05,-1.183799798e-03,8.704707932e-05,-1.212587838e-05,-1.173957196e-03,8.544859250e-05,-1.205593032e-05,-1.172867664e-03,7.016234033e-01,-9.128412325e-06,8.395571414e-01,7.016249186e-01,-1.057491706e-05,8.395669840e-01,7.018147920e-01,-1.032342111e-05,8.283997787e-01
+20,9.316666667e+00,DOWN_FORCE_DETACH,1791878334664799827,9.459444672e-05,-1.156277653e-05,-1.255791764e-03,9.026473725e-05,-1.062873760e-05,-1.257855320e-03,8.845342958e-05,-1.056960361e-05,-1.256748986e-03,7.016324659e-01,-1.001181521e-05,8.394851494e-01,7.016281362e-01,-9.077776281e-06,8.394830859e-01,7.018177968e-01,-8.837094403e-06,8.283158974e-01
+21,9.683333333e+00,DOWN_FORCE_DETACH,1791878335362788734,9.747074800e-05,-1.960193273e-05,-1.318870585e-03,9.724069668e-05,-1.966454806e-05,-1.318475232e-03,9.532349237e-05,-1.961074278e-05,-1.317346591e-03,7.016353422e-01,-1.805097141e-05,8.394220706e-01,7.016351122e-01,-1.811358674e-05,8.394224660e-01,7.018246669e-01,-1.787823357e-05,8.282552998e-01
+22,1.010000000e+01,DOWN_FORCE_DETACH,1791878336160851632,9.844711572e-05,-1.797924483e-05,-1.396693809e-03,9.907519490e-05,-2.230415172e-05,-1.381029006e-03,9.701850312e-05,-2.225497342e-05,-1.379995365e-03,7.016363186e-01,-1.642828351e-05,8.393442474e-01,7.016369467e-01,-2.075319040e-05,8.393599122e-01,7.018263619e-01,-2.052246421e-05,8.281926510e-01
+23,1.051666667e+01,DOWN_FORCE_DETACH,1791878336943169428,1.038125954e-04,-1.521785790e-05,-1.470921980e-03,1.045983846e-04,-1.636482947e-05,-1.464557646e-03,1.024011346e-04,-1.632599378e-05,-1.463444279e-03,7.016416841e-01,-1.366689658e-05,8.392700192e-01,7.016424699e-01,-1.481386815e-05,8.392763835e-01,7.018317445e-01,-1.459348457e-05,8.281092021e-01
+24,1.095000000e+01,DOWN_FORCE_DETACH,1791878337758857249,1.114251807e-04,-2.079381498e-05,-1.543312012e-03,1.069588779e-04,-1.676880383e-05,-1.530806027e-03,1.045481434e-04,-1.671604486e-05,-1.529810158e-03,7.016492967e-01,-1.924285366e-05,8.391976292e-01,7.016448304e-01,-1.521784251e-05,8.392101352e-01,7.018338915e-01,-1.498353566e-05,8.280428363e-01
+25,1.140000000e+01,DOWN_FORCE_DETACH,1791878338656847677,1.133014508e-04,-2.597227896e-05,-1.634198766e-03,1.118248188e-04,-1.990257311e-05,-1.618212990e-03,1.092260958e-04,-1.986650010e-05,-1.617177943e-03,7.016511729e-01,-2.442131764e-05,8.391067424e-01,7.016496963e-01,-1.835161179e-05,8.391227282e-01,7.018385695e-01,-1.813399089e-05,8.279554685e-01
+26,1.181666667e+01,DOWN_FORCE_DETACH,1791878339489195724,1.175350831e-04,-2.595939635e-05,-1.723198016e-03,1.179813718e-04,-2.486255660e-05,-1.704780785e-03,1.152184790e-04,-2.477004857e-05,-1.703657764e-03,7.016554066e-01,-2.440843503e-05,8.390177432e-01,7.016558529e-01,-2.331159528e-05,8.390361604e-01,7.018445619e-01,-2.303753936e-05,8.278689886e-01
+27,1.221666667e+01,DOWN_FORCE_DETACH,1791878340287430911,1.191365515e-04,-3.057787872e-05,-1.806952692e-03,1.203528858e-04,-2.864167080e-05,-1.793453319e-03,1.172535973e-04,-2.852245535e-05,-1.792184590e-03,7.016570080e-01,-2.902691740e-05,8.389339885e-01,7.016582244e-01,-2.709070948e-05,8.389474879e-01,7.018465970e-01,-2.678994614e-05,8.277804618e-01
+28,1.255000000e+01,DOWN_FORCE_DETACH,1791878340950859176,1.227976954e-04,-3.420798113e-05,-1.879242354e-03,1.224876432e-04,-3.412861300e-05,-1.879263742e-03,1.191929836e-04,-3.398886938e-05,-1.877839834e-03,7.016606692e-01,-3.265701981e-05,8.388616988e-01,7.016603591e-01,-3.257765168e-05,8.388616774e-01,7.018485364e-01,-3.225636017e-05,8.276948066e-01
+29,1.286666667e+01,DOWN_FORCE_DETACH,1791878341548859400,1.281831910e-04,-2.942913296e-05,-1.939091107e-03,1.262323791e-04,-3.120918529e-05,-1.919919300e-03,1.229096181e-04,-3.108084478e-05,-1.918648686e-03,7.016660547e-01,-2.787817164e-05,8.388018501e-01,7.016641039e-01,-2.965822397e-05,8.388210219e-01,7.018522530e-01,-2.934833557e-05,8.276539977e-01
+30,1.323333333e+01,DOWN_FORCE_DETACH,1791878342248864596,1.273684619e-04,-3.295616033e-05,-2.029561713e-03,1.297094532e-04,-3.221279153e-05,-2.015563908e-03,1.261646343e-04,-3.211020737e-05,-2.014159379e-03,7.016652399e-01,-3.140519901e-05,8.387113795e-01,7.016675809e-01,-3.066183021e-05,8.387253773e-01,7.018555080e-01,-3.037769816e-05,8.275584870e-01
+31,1.368333333e+01,DOWN_FORCE_DETACH,1791878343114893596,1.355656336e-04,-3.309010860e-05,-2.116713806e-03,1.307961717e-04,-3.147070387e-05,-2.102154665e-03,1.270277139e-04,-3.135665239e-05,-2.100913171e-03,7.016734371e-01,-3.153914728e-05,8.386242274e-01,7.016686677e-01,-2.991974255e-05,8.386387865e-01,7.018563711e-01,-2.962414318e-05,8.274717332e-01
+32,1.400000000e+01,DOWN_FORCE_DETACH,1791878343712898154,1.319388370e-04,-3.314412524e-05,-2.195513263e-03,1.318768728e-04,-3.327551110e-05,-2.195066541e-03,1.278051440e-04,-3.316094685e-05,-2.193647637e-03,7.016698103e-01,-3.159316392e-05,8.385454279e-01,7.016697484e-01,-3.172454978e-05,8.385458746e-01,7.018571485e-01,-3.142843764e-05,8.273789988e-01
+33,1.441666667e+01,DOWN_FORCE_DETACH,1791878344511196349,1.415670586e-04,-3.230050004e-05,-2.284012981e-03,1.415308577e-04,-2.943560870e-05,-2.280662838e-03,1.374175798e-04,-2.930517238e-05,-2.279329677e-03,7.016794385e-01,-3.074953872e-05,8.384569282e-01,7.016794023e-01,-2.788464738e-05,8.384602783e-01,7.018667610e-01,-2.757266317e-05,8.272933167e-01
+34,1.476666667e+01,DOWN_FORCE_DETACH,1791878345177746101,1.410680933e-04,-3.250834983e-05,-2.376119858e-03,1.427675513e-04,-2.775046810e-05,-2.368325814e-03,1.384136351e-04,-2.761378842e-05,-2.366907664e-03,7.016789396e-01,-3.095738850e-05,8.383648213e-01,7.016806390e-01,-2.619950678e-05,8.383726154e-01,7.018677570e-01,-2.588127921e-05,8.272057387e-01
+35,1.515000000e+01,DOWN_FORCE_DETACH,1791878345892762175,1.461393960e-04,-2.759393593e-05,-2.466961123e-03,1.444254780e-04,-2.368124865e-05,-2.456940339e-03,1.398661296e-04,-2.355957428e-05,-2.455543769e-03,7.016840109e-01,-2.604297461e-05,8.382739801e-01,7.016822970e-01,-2.213028733e-05,8.382840008e-01,7.018692095e-01,-2.182706507e-05,8.271171026e-01
+36,1.553333333e+01,DOWN_FORCE_DETACH,1791878346641524115,1.485724164e-04,-2.332162138e-05,-2.571492951e-03,1.483014049e-04,-2.337459790e-05,-2.571667391e-03,1.434489845e-04,-2.328106256e-05,-2.570009458e-03,7.016864439e-01,-2.177066006e-05,8.381694482e-01,7.016861729e-01,-2.182363658e-05,8.381692738e-01,7.018727924e-01,-2.154855335e-05,8.270026370e-01
+37,1.585000000e+01,DOWN_FORCE_DETACH,1791878347271290069,1.528024685e-04,-2.922472954e-05,-2.659620785e-03,1.509481803e-04,-3.104641393e-05,-2.658309287e-03,1.458713847e-04,-3.095598127e-05,-2.656601262e-03,7.016906739e-01,-2.767376822e-05,8.380813204e-01,7.016888197e-01,-2.949545261e-05,8.380826319e-01,7.018752148e-01,-2.922347206e-05,8.269160451e-01
+38,1.618333333e+01,DOWN_FORCE_DETACH,1791878347937236195,1.549553352e-04,-2.840693650e-05,-2.762775171e-03,1.549018903e-04,-2.834052993e-05,-2.762479928e-03,1.495085988e-04,-2.826517814e-05,-2.760721088e-03,7.016928268e-01,-2.685597518e-05,8.379781660e-01,7.016927734e-01,-2.678956861e-05,8.379784613e-01,7.018788520e-01,-2.653266893e-05,8.268119253e-01
+39,1.650000000e+01,DOWN_FORCE_DETACH,1791878348568920768,1.561305055e-04,-3.506048315e-05,-2.860381412e-03,1.539542628e-04,-3.513130209e-05,-2.853610186e-03,1.482232215e-04,-3.506387978e-05,-2.851858034e-03,7.016940020e-01,-3.350952183e-05,8.378805598e-01,7.016918257e-01,-3.358034077e-05,8.378873310e-01,7.018775666e-01,-3.333137057e-05,8.267207884e-01
+40,1.683333333e+01,DOWN_FORCE_DETACH,1791878349232995720,1.581974334e-04,-3.421564042e-05,-2.966762819e-03,1.563892632e-04,-3.541645755e-05,-2.950213349e-03,1.503183650e-04,-3.535636736e-05,-2.948539678e-03,7.016960689e-01,-3.266467909e-05,8.377741784e-01,7.016942607e-01,-3.386549623e-05,8.377907278e-01,7.018796618e-01,-3.362385815e-05,8.266241067e-01
+41,1.713333333e+01,DOWN_FORCE_DETACH,1791878349801461756,1.557045973e-04,-3.685353663e-05,-3.067610851e-03,1.544720860e-04,-3.909315034e-05,-3.062520084e-03,1.479815245e-04,-3.900998498e-05,-3.060693491e-03,7.016935761e-01,-3.530257531e-05,8.376733303e-01,7.016923436e-01,-3.754218901e-05,8.376784211e-01,7.018773249e-01,-3.727747578e-05,8.265119529e-01
+42,1.746666667e+01,DOWN_FORCE_DETACH,1791878350432980663,1.545483168e-04,-3.887735880e-05,-3.175061283e-03,1.543634455e-04,-3.898248955e-05,-3.175057843e-03,1.473901757e-04,-3.891720495e-05,-3.173161795e-03,7.016924198e-01,-3.732639748e-05,8.375658799e-01,7.016922349e-01,-3.743152823e-05,8.375658833e-01,7.018767336e-01,-3.718469575e-05,8.263994846e-01
+43,1.775000000e+01,DOWN_FORCE_DETACH,1791878350997508487,1.556651864e-04,-4.304383554e-05,-3.275239676e-03,1.555347049e-04,-4.288047202e-05,-3.275302701e-03,1.481859218e-04,-4.280224494e-05,-3.273362939e-03,7.016935367e-01,-4.149287421e-05,8.374657015e-01,7.016934062e-01,-4.132951070e-05,8.374656385e-01,7.018775293e-01,-4.106973573e-05,8.262992835e-01
+44,1.805000000e+01,DOWN_FORCE_DETACH,1791878351563246072,1.630800362e-04,-4.307308038e-05,-3.374733420e-03,1.616582865e-04,-4.565079499e-05,-3.372603240e-03,1.541433900e-04,-4.555589623e-05,-3.370666220e-03,7.017009515e-01,-4.152211906e-05,8.373662078e-01,7.016995298e-01,-4.409983367e-05,8.373683379e-01,7.018834868e-01,-4.382338702e-05,8.262019802e-01
+45,1.833333333e+01,DOWN_FORCE_DETACH,1791878352097558785,1.577079424e-04,-5.154707967e-05,-3.485785572e-03,1.576409851e-04,-5.158208568e-05,-3.485575100e-03,1.496250442e-04,-5.145456916e-05,-3.483451280e-03,7.016955794e-01,-4.999611835e-05,8.372551556e-01,7.016955125e-01,-5.003112436e-05,8.372553661e-01,7.018789684e-01,-4.972205995e-05,8.260891951e-01
+46,1.860000000e+01,DOWN_FORCE_DETACH,1791878352593514330,1.659835787e-04,-5.197960548e-05,-3.587438807e-03,1.685260540e-04,-4.948377066e-05,-3.570567785e-03,1.604619425e-04,-4.933702594e-05,-3.568556844e-03,7.017038551e-01,-5.042864416e-05,8.371535024e-01,7.017063975e-01,-4.793280934e-05,8.371703734e-01,7.018898053e-01,-4.760451673e-05,8.260040896e-01
+47,1.886666667e+01,DOWN_FORCE_DETACH,1791878353093491623,1.654358967e-04,-5.348848590e-05,-3.702678284e-03,1.671576933e-04,-5.011069486e-05,-3.691101959e-03,1.586585071e-04,-4.999888257e-05,-3.689000082e-03,7.017033074e-01,-5.193752457e-05,8.370382629e-01,7.017050292e-01,-4.855973354e-05,8.370498392e-01,7.018880019e-01,-4.826637336e-05,8.258836463e-01
+48,1.911666667e+01,DOWN_FORCE_DETACH,1791878353575546380,1.716335107e-04,-5.607145121e-05,-3.814663355e-03,1.708466372e-04,-5.687507914e-05,-3.810418694e-03,1.620853584e-04,-5.675483533e-05,-3.808153201e-03,7.017095050e-01,-5.452048989e-05,8.369262778e-01,7.017087181e-01,-5.532411782e-05,8.369305225e-01,7.018914288e-01,-5.502232612e-05,8.257644932e-01
+49,1.933333333e+01,DOWN_FORCE_DETACH,1791878353993699885,1.724941111e-04,-5.881170469e-05,-3.922628302e-03,1.701991650e-04,-6.024545203e-05,-3.905424186e-03,1.611197858e-04,-6.009758978e-05,-3.903168102e-03,7.017103656e-01,-5.726074337e-05,8.368183129e-01,7.017080706e-01,-5.869449071e-05,8.368355170e-01,7.018904632e-01,-5.836508057e-05,8.256694783e-01
+50,1.956666667e+01,DOWN_FORCE_DETACH,1791878354429930862,1.754340300e-04,-5.762482653e-05,-4.044395580e-03,1.729654607e-04,-6.067825621e-05,-4.038460945e-03,1.634692840e-04,-6.049950617e-05,-4.035971021e-03,7.017133055e-01,-5.607386520e-05,8.366965456e-01,7.017108369e-01,-5.912729489e-05,8.367024802e-01,7.018928127e-01,-5.876699696e-05,8.255366754e-01
+51,1.975000000e+01,DOWN_FORCE_DETACH,1791878354791693436,1.728226828e-04,-6.183290674e-05,-4.155066154e-03,1.722257596e-04,-6.368609846e-05,-4.143126558e-03,1.623538715e-04,-6.352546790e-05,-4.140511822e-03,7.017106942e-01,-6.028194542e-05,8.365858750e-01,7.017100972e-01,-6.213513714e-05,8.365978146e-01,7.018916973e-01,-6.179295869e-05,8.254321346e-01
+52,1.995000000e+01,DOWN_FORCE_DETACH,1791878355189603404,1.674282743e-04,-6.326588524e-05,-4.280750692e-03,1.673210882e-04,-6.339027230e-05,-4.280731304e-03,1.568705406e-04,-6.322886806e-05,-4.277830820e-03,7.017052998e-01,-6.171492392e-05,8.364601905e-01,7.017051926e-01,-6.183931098e-05,8.364602099e-01,7.018862139e-01,-6.149635885e-05,8.252948156e-01
+53,2.013333333e+01,DOWN_FORCE_DETACH,1791878355553462312,1.638713581e-04,-6.430835095e-05,-4.397866175e-03,1.617661984e-04,-6.470648591e-05,-4.387624814e-03,1.508382283e-04,-6.461590570e-05,-4.384653034e-03,7.017017428e-01,-6.275738963e-05,8.363430750e-01,7.016996377e-01,-6.315552459e-05,8.363533164e-01,7.018801816e-01,-6.288339649e-05,8.251879934e-01
+54,2.031666667e+01,DOWN_FORCE_DETACH,1791878355921472513,1.622301296e-04,-5.797864260e-05,-4.517821121e-03,1.621220644e-04,-5.822431886e-05,-4.517929132e-03,1.506906978e-04,-5.810397725e-05,-4.514878355e-03,7.017001016e-01,-5.642768128e-05,8.362231201e-01,7.016999935e-01,-5.667335754e-05,8.362230121e-01,7.018800341e-01,-5.637146805e-05,8.250577681e-01
+55,2.048333333e+01,DOWN_FORCE_DETACH,1791878356253535980,1.942509787e-04,-4.599161313e-05,-4.614619223e-03,1.940502473e-04,-4.616282478e-05,-4.614634273e-03,1.830034582e-04,-4.607102550e-05,-4.611583651e-03,7.017321225e-01,-4.444065180e-05,8.361263220e-01,7.017319217e-01,-4.461186345e-05,8.361263069e-01,7.019123469e-01,-4.433851629e-05,8.249610628e-01
+56,2.063333333e+01,DOWN_FORCE_DETACH,1791878356553999682,1.850763658e-04,-4.969467905e-05,-4.732725035e-03,1.849693018e-04,-4.971353926e-05,-4.732517058e-03,1.733117055e-04,-4.960460020e-05,-4.729316595e-03,7.017229478e-01,-4.814371773e-05,8.360082162e-01,7.017228408e-01,-4.816257794e-05,8.360084241e-01,7.019026551e-01,-4.787209100e-05,8.248433298e-01
+57,2.078333333e+01,DOWN_FORCE_DETACH,1791878356851701189,1.855665957e-04,-5.295048186e-05,-4.844442206e-03,1.806762057e-04,-4.802269799e-05,-4.834455089e-03,1.685524015e-04,-4.791518519e-05,-4.831257076e-03,7.017234381e-01,-5.139952054e-05,8.358964990e-01,7.017185477e-01,-4.647173667e-05,8.359064861e-01,7.018978958e-01,-4.618267598e-05,8.247413893e-01
+58,2.093333333e+01,DOWN_FORCE_DETACH,1791878357153455412,1.809722130e-04,-4.362414086e-05,-4.970714816e-03,1.808472237e-04,-4.367684867e-05,-4.970364805e-03,1.682235305e-04,-4.358857094e-05,-4.966906172e-03,7.017188437e-01,-4.207317954e-05,8.357702264e-01,7.017187187e-01,-4.212588735e-05,8.357705764e-01,7.018975669e-01,-4.185606173e-05,8.246057402e-01
+59,2.116666667e+01,DOWN_SETTLE,1791878357617719972,1.788328806e-04,-4.722824345e-05,-5.079812698e-03,1.808120649e-04,-4.421363129e-05,-5.063099139e-03,1.678208270e-04,-4.403769012e-05,-5.060213456e-03,7.017167044e-01,-4.567728213e-05,8.356611285e-01,7.017186835e-01,-4.266266996e-05,8.356778420e-01,7.018971642e-01,-4.230518091e-05,8.245124330e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..233204f7401b711b2763d077f6a86acfb33f3db9
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.6930e-04,-2.7000e-04,2.4527e+00,-3.6778e-02,3.6802e-02,-2.8222e-05,1.0907e-04,-2.3929e-06,-1.6689e-05,-8.5682e-08,7.8045e-06,-4.1131e-07,1.1036e-04,7.8158e-06
+1,4.8333e-01,DOWN_FORCE_DETACH,1.2700e-04,2.6538e-03,-3.2150e-04,2.4524e+00,-3.6781e-02,3.6979e-02,-3.8694e-05,2.5936e-03,-5.3892e-05,-3.5238e-04,-2.6561e-06,1.8552e-04,-1.0884e-05,2.6180e-03,1.8586e-04
+2,9.6667e-01,DOWN_FORCE_DETACH,2.4727e-04,3.7715e-03,3.4165e-03,2.4586e+00,-3.7041e-02,3.7053e-02,-4.4289e-05,3.7113e-03,3.6841e-03,5.8722e-03,-2.6299e-04,2.5913e-04,-1.6478e-05,7.8632e-03,3.6958e-04
+3,1.4500e+00,DOWN_FORCE_DETACH,3.7500e-04,3.0248e-03,2.6493e-03,2.4702e+00,-3.6991e-02,3.6987e-02,-5.0875e-05,2.9646e-03,2.9170e-03,1.7498e-02,-2.1293e-04,1.9334e-04,-2.3064e-05,1.7985e-02,2.8854e-04
+4,2.0333e+00,DOWN_FORCE_DETACH,5.0023e-04,3.4399e-03,2.7028e-03,2.4814e+00,-3.6998e-02,3.7005e-02,-5.6635e-05,3.3796e-03,2.9704e-03,2.8633e-02,-2.2022e-04,2.1081e-04,-2.8825e-05,2.8984e-02,3.0622e-04
+5,2.5667e+00,DOWN_FORCE_DETACH,6.2364e-04,2.9313e-03,3.6194e-03,2.4887e+00,-3.7062e-02,3.6960e-02,-5.8649e-05,2.8711e-03,3.8870e-03,3.5914e-02,-2.8402e-04,1.6631e-04,-3.0838e-05,3.6238e-02,3.3057e-04
+6,3.0000e+00,DOWN_FORCE_DETACH,7.4764e-04,4.2554e-03,4.0538e-03,2.5045e+00,-3.7085e-02,3.7044e-02,-5.6987e-05,4.1952e-03,4.3214e-03,5.1776e-02,-3.0694e-04,2.5003e-04,-2.9176e-05,5.2126e-02,3.9696e-04
+7,3.4667e+00,DOWN_FORCE_DETACH,8.7684e-04,5.0489e-03,3.4621e-03,2.5076e+00,-3.7033e-02,3.7092e-02,-5.1468e-05,4.9886e-03,3.7297e-03,5.4811e-02,-2.5460e-04,2.9847e-04,-2.3657e-05,5.5164e-02,3.9302e-04
+8,3.9333e+00,DOWN_FORCE_DETACH,9.9907e-04,5.6567e-03,-6.5839e-04,2.5070e+00,-3.6730e-02,3.7135e-02,-4.5454e-05,5.5965e-03,-3.9078e-04,5.4225e-02,4.7933e-05,3.4120e-04,-1.7643e-05,5.4515e-02,3.4500e-04
+9,4.3833e+00,DOWN_FORCE_DETACH,1.1228e-03,6.1105e-03,-1.0680e-03,2.5065e+00,-3.6681e-02,3.7168e-02,-3.5961e-05,6.0503e-03,-8.0041e-04,5.3727e-02,9.6846e-05,3.7385e-04,-8.1500e-06,5.4073e-02,3.8628e-04
+10,4.8500e+00,DOWN_FORCE_DETACH,1.2503e-03,7.9456e-03,-1.7859e-03,2.5099e+00,-3.6611e-02,3.7297e-02,-2.5072e-05,7.8853e-03,-1.5183e-03,5.7165e-02,1.6702e-04,5.0263e-04,2.7390e-06,5.7727e-02,5.2966e-04
+11,5.3000e+00,DOWN_FORCE_DETACH,1.3724e-03,9.2601e-03,-2.0471e-03,2.5067e+00,-3.6583e-02,3.7394e-02,-1.7352e-05,9.1998e-03,-1.7795e-03,5.4000e-02,1.9509e-04,6.0044e-04,1.0458e-05,5.4807e-02,6.3142e-04
+12,5.7500e+00,DOWN_FORCE_DETACH,1.5000e-03,1.0284e-02,-1.3593e-03,2.5056e+00,-3.6633e-02,3.7474e-02,-1.3385e-05,1.0224e-02,-1.0917e-03,5.2837e-02,1.4488e-04,6.7964e-04,1.4426e-05,5.3828e-02,6.9506e-04
+13,6.2000e+00,DOWN_FORCE_DETACH,1.6233e-03,1.2258e-02,-2.5208e-04,2.5027e+00,-3.6725e-02,3.7609e-02,-1.3841e-05,1.2197e-02,1.5523e-05,4.9998e-02,5.2944e-05,8.1486e-04,1.3970e-05,5.1465e-02,8.1670e-04
+14,6.6833e+00,DOWN_FORCE_DETACH,1.7460e-03,1.3055e-02,8.7421e-04,2.5002e+00,-3.6819e-02,3.7662e-02,-1.8049e-05,1.2995e-02,1.1418e-03,4.7449e-02,-4.0490e-05,8.6803e-04,9.7615e-06,4.9209e-02,8.6902e-04
+15,7.1500e+00,DOWN_FORCE_DETACH,1.8728e-03,1.2025e-02,2.3088e-03,2.5058e+00,-3.6923e-02,3.7582e-02,-2.3630e-05,1.1965e-02,2.5764e-03,5.3103e-02,-1.4493e-04,7.8828e-04,4.1809e-06,5.4495e-02,8.0150e-04
+16,7.5833e+00,DOWN_FORCE_DETACH,1.9987e-03,1.4043e-02,3.9387e-03,2.5044e+00,-3.7038e-02,3.7717e-02,-2.8701e-05,1.3982e-02,4.2064e-03,5.1674e-02,-2.5943e-04,9.2338e-04,-8.9029e-07,5.3697e-02,9.5913e-04
+17,7.9500e+00,DOWN_FORCE_DETACH,2.1232e-03,1.1732e-02,4.0175e-03,2.5090e+00,-3.7049e-02,3.7552e-02,-3.2172e-05,1.1672e-02,4.2851e-03,5.6271e-02,-2.7068e-04,7.5763e-04,-4.3614e-06,5.7628e-02,8.0455e-04
+18,8.4167e+00,DOWN_FORCE_DETACH,2.2474e-03,1.2116e-02,2.5961e-03,2.5070e+00,-3.6965e-02,3.7574e-02,-3.3526e-05,1.2056e-02,2.8637e-03,5.4226e-02,-1.8643e-04,7.8027e-04,-5.7153e-06,5.5624e-02,8.0225e-04
+19,8.8667e+00,DOWN_FORCE_DETACH,2.3740e-03,1.0746e-02,5.0180e-03,2.5118e+00,-3.7150e-02,3.7475e-02,-2.6657e-05,1.0685e-02,5.2856e-03,5.9016e-02,-3.7206e-04,6.8074e-04,1.1533e-06,6.0208e-02,7.7579e-04
+20,9.3167e+00,DOWN_FORCE_DETACH,2.4963e-03,1.0421e-02,4.1170e-03,2.5146e+00,-3.7118e-02,3.7451e-02,-1.8190e-05,1.0361e-02,4.3846e-03,6.1849e-02,-3.3960e-04,6.5660e-04,9.6203e-06,6.2864e-02,7.3929e-04
+21,9.6833e+00,DOWN_FORCE_DETACH,2.6199e-03,1.0062e-02,5.1748e-03,2.5060e+00,-3.7204e-02,3.7426e-02,-1.1627e-05,1.0001e-02,5.4424e-03,5.3211e-02,-4.2563e-04,6.3230e-04,1.6183e-05,5.4415e-02,7.6238e-04
+22,1.0100e+01,DOWN_FORCE_DETACH,2.7467e-03,9.0900e-03,7.8906e-03,2.5105e+00,-3.7383e-02,3.7354e-02,-6.5962e-06,9.0297e-03,8.1582e-03,5.7712e-02,-6.0453e-04,5.5983e-04,2.1214e-05,5.8981e-02,8.2421e-04
+23,1.0517e+01,DOWN_FORCE_DETACH,2.8720e-03,7.6894e-03,5.6005e-03,2.5144e+00,-3.7208e-02,3.7257e-02,-9.7668e-06,7.6291e-03,5.8681e-03,6.1621e-02,-4.3004e-04,4.6341e-04,1.8044e-05,6.2368e-02,6.3246e-04
+24,1.0950e+01,DOWN_FORCE_DETACH,2.9974e-03,7.2312e-03,5.8922e-03,2.5088e+00,-3.7197e-02,3.7229e-02,-1.8248e-05,7.1709e-03,6.1598e-03,5.6095e-02,-4.1830e-04,4.3487e-04,9.5623e-06,5.6886e-02,6.0347e-04
+25,1.1400e+01,DOWN_FORCE_DETACH,3.1199e-03,5.3592e-03,7.4804e-03,2.5101e+00,-3.7278e-02,3.7100e-02,-2.9314e-05,5.2989e-03,7.7480e-03,5.7393e-02,-5.0005e-04,3.0651e-04,-1.5035e-06,5.8156e-02,5.8651e-04
+26,1.1817e+01,DOWN_FORCE_DETACH,3.2477e-03,3.4421e-03,9.8225e-03,2.5156e+00,-3.7440e-02,3.6964e-02,-3.5180e-05,3.3819e-03,1.0090e-02,6.2843e-02,-6.6176e-04,1.7019e-04,-7.3700e-06,6.3737e-02,6.8334e-04
+27,1.2217e+01,DOWN_FORCE_DETACH,3.3694e-03,3.3134e-03,1.1575e-02,2.5221e+00,-3.7561e-02,3.6947e-02,-3.5165e-05,3.2531e-03,1.1843e-02,6.9350e-02,-7.8271e-04,1.5256e-04,-7.3544e-06,7.0429e-02,7.9748e-04
+28,1.2550e+01,DOWN_FORCE_DETACH,3.4962e-03,2.8411e-03,1.1466e-02,2.5225e+00,-3.7541e-02,3.6911e-02,-3.0624e-05,2.7809e-03,1.1734e-02,6.9768e-02,-7.6272e-04,1.1685e-04,-2.8139e-06,7.0802e-02,7.7162e-04
+29,1.2867e+01,DOWN_FORCE_DETACH,3.6202e-03,4.3234e-03,1.3051e-02,2.5211e+00,-3.7616e-02,3.7011e-02,-2.2513e-05,4.2632e-03,1.3319e-02,6.8342e-02,-8.3818e-04,2.1738e-04,5.2971e-06,6.9759e-02,8.6592e-04
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+56,2.0633e+01,DOWN_FORCE_DETACH,6.9932e-03,8.2335e-03,1.7593e-02,2.6180e+00,-3.7725e-02,3.7148e-02,-2.3618e-05,8.1733e-03,1.7861e-02,1.6526e-01,-9.4719e-04,3.5417e-04,4.1926e-06,1.6643e-01,1.0113e-03
+57,2.0783e+01,DOWN_FORCE_DETACH,7.1109e-03,1.0203e-02,1.6560e-02,2.6273e+00,-3.7658e-02,3.7272e-02,-2.6341e-05,1.0142e-02,1.6828e-02,1.7455e-01,-8.7953e-04,4.7758e-04,1.4692e-06,1.7565e-01,1.0008e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c9559c0ee46c3a3ca480a6e8a2b04dff6f4fc474
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bdaa8f93af78c3d769522988cbdeae62255ab011ea3c814b657d70eb70c36f5
+size 22446080
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ab037996813c4ff54a7a8924b6fce90ebed359f
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70e1f8591e16c111b6bf7d878969fb2e13fe95e5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fa16e8a7d8f1d34c613d9dbb118012f33d7e6b7
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f89e02e5ac2fdf32eed72836074c89dfc0daec03
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+54,6.400000000e+00,UP_FORCE_RAMP,1791878311478580953,-8.875009999e-05,-1.612312546e-05,9.975455633e-04,-8.553211487e-05,-1.701569651e-05,9.807403623e-04,-8.403465816e-05,-1.698706497e-05,9.801862482e-04,7.014491214e-01,-1.457216414e-05,8.417384868e-01,7.014523394e-01,-1.546473519e-05,8.417216816e-01,7.016453087e-01,-1.525456394e-05,8.305528327e-01
+55,6.483333333e+00,UP_FORCE_HOLD,1791878311644592623,-8.827065573e-05,-1.014043574e-05,1.002804023e-03,-8.563119605e-05,-1.647977711e-05,1.002509763e-03,-8.399073796e-05,-1.644926370e-05,1.001799975e-03,7.014496008e-01,-8.589474423e-06,8.417437452e-01,7.014522403e-01,-1.492881579e-05,8.417434510e-01,7.016453526e-01,-1.471676267e-05,8.305744465e-01
+56,6.633333333e+00,UP_FORCE_HOLD,1791878311944792670,-8.584334658e-05,-1.185805539e-05,1.012026244e-03,-8.563119605e-05,-1.647977711e-05,1.002509763e-03,-8.399110200e-05,-1.644910019e-05,1.001894077e-03,7.014520281e-01,-1.030709407e-05,8.417529674e-01,7.014522403e-01,-1.492881579e-05,8.417434510e-01,7.016453522e-01,-1.471659916e-05,8.305745406e-01
+57,6.750000000e+00,UP_FORCE_HOLD,1791878312144621489,-8.590366881e-05,-1.334685479e-05,1.016393574e-03,-8.563119605e-05,-1.647977711e-05,1.002509763e-03,-8.399122973e-05,-1.644864771e-05,1.001953725e-03,7.014519678e-01,-1.179589347e-05,8.417573348e-01,7.014522403e-01,-1.492881579e-05,8.417434510e-01,7.016453521e-01,-1.471614668e-05,8.305746002e-01
+58,6.883333333e+00,UP_FORCE_HOLD,1791878312412809847,-8.570404687e-05,-1.214381000e-05,1.020062491e-03,-8.563119605e-05,-1.647977711e-05,1.002509763e-03,-8.399146310e-05,-1.644793338e-05,1.002012812e-03,7.014521674e-01,-1.059284868e-05,8.417610037e-01,7.014522403e-01,-1.492881579e-05,8.417434510e-01,7.016453519e-01,-1.471543235e-05,8.305746593e-01
+59,7.016666667e+00,UP_SETTLE,1791878312646507031,-8.629945256e-05,-1.189067012e-05,1.023998230e-03,-8.687291825e-05,-1.131371218e-05,1.022303818e-03,-8.524984778e-05,-1.129374622e-05,1.021769237e-03,7.014515720e-01,-1.033970880e-05,8.417649394e-01,7.014509986e-01,-9.762750854e-06,8.417632450e-01,7.016440935e-01,-9.561245188e-06,8.305944157e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e180b9aeb9ad6c7f543830b8d28707b9f68a998
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,1.6646e-04,-2.7041e-04,2.4527e+00,-3.6778e-02,3.6802e-02,-2.8180e-05,1.0910e-04,-2.3586e-06,-1.6451e-05,-9.6858e-08,7.8194e-06,-4.1154e-07,1.1036e-04,7.8308e-06
+1,1.3333e-01,UP_FORCE_RAMP,3.4427e-05,9.7705e-04,-2.8750e-04,2.4526e+00,-3.6779e-02,3.6860e-02,-3.1338e-05,9.1970e-04,-1.9452e-05,-1.3304e-04,-8.2701e-07,6.5845e-05,-3.5701e-06,9.2948e-04,6.5946e-05
+2,2.5000e-01,UP_FORCE_RAMP,7.1753e-05,1.6024e-03,-3.0024e-04,2.4525e+00,-3.6780e-02,3.6904e-02,-3.3924e-05,1.5451e-03,-3.2185e-05,-2.1839e-04,-1.4789e-06,1.1058e-04,-6.1559e-06,1.5608e-03,1.1076e-04
+3,4.1667e-01,UP_FORCE_RAMP,1.0231e-04,2.3770e-03,-3.1600e-04,2.4524e+00,-3.6781e-02,3.6960e-02,-3.7361e-05,2.3196e-03,-4.7946e-05,-3.1924e-04,-2.3507e-06,1.6595e-04,-9.5928e-06,2.3420e-03,1.6624e-04
+4,6.1667e-01,UP_FORCE_RAMP,1.3816e-04,3.1491e-03,-3.3169e-04,2.4523e+00,-3.6781e-02,3.7015e-02,-4.1132e-05,3.0918e-03,-6.3639e-05,-4.1556e-04,-3.2857e-06,2.2110e-04,-1.3364e-05,3.1202e-03,2.2153e-04
+5,7.6667e-01,UP_FORCE_RAMP,1.7266e-04,2.9542e-03,-1.4781e-03,2.4451e+00,-3.6705e-02,3.7008e-02,-4.4733e-05,2.8968e-03,-1.2100e-03,-7.6513e-03,7.3262e-05,2.1450e-04,-1.6965e-05,8.2703e-03,2.2730e-04
+6,9.1667e-01,UP_FORCE_RAMP,2.0845e-04,4.1342e-03,-1.6460e-03,2.4375e+00,-3.6695e-02,3.7100e-02,-4.7354e-05,4.0768e-03,-1.3779e-03,-1.5257e-02,8.3275e-05,3.0626e-04,-1.9586e-05,1.5852e-02,3.1799e-04
+7,1.0667e+00,UP_FORCE_RAMP,2.4280e-04,4.8741e-03,-2.9875e-03,2.4319e+00,-3.6603e-02,3.7158e-02,-5.0681e-05,4.8167e-03,-2.7195e-03,-2.0870e-02,1.7485e-04,3.6442e-04,-2.2913e-05,2.1591e-02,4.0485e-04
+8,1.2167e+00,UP_FORCE_RAMP,2.7762e-04,5.9236e-03,-2.6601e-03,2.4258e+00,-3.6625e-02,3.7238e-02,-5.2769e-05,5.8662e-03,-2.3921e-03,-2.6953e-02,1.5281e-04,4.4382e-04,-2.5001e-05,2.7688e-02,4.7005e-04
+9,1.3500e+00,UP_FORCE_RAMP,3.1387e-04,6.5706e-03,-2.5542e-03,2.4209e+00,-3.6633e-02,3.7290e-02,-5.4491e-05,6.5132e-03,-2.2861e-03,-3.1816e-02,1.4567e-04,4.9574e-04,-2.6723e-05,3.2556e-02,5.1739e-04
+10,1.4667e+00,UP_FORCE_RAMP,3.4885e-04,6.6034e-03,-2.9931e-03,2.4157e+00,-3.6601e-02,3.7297e-02,-5.5994e-05,6.5460e-03,-2.7251e-03,-3.7008e-02,1.7731e-04,5.0334e-04,-2.8226e-05,3.7681e-02,5.3441e-04
+11,1.6000e+00,UP_FORCE_RAMP,3.8665e-04,6.9831e-03,-2.4976e-03,2.4128e+00,-3.6634e-02,3.7329e-02,-5.7263e-05,6.9257e-03,-2.2295e-03,-3.9943e-02,1.4430e-04,5.3487e-04,-2.9495e-05,4.0600e-02,5.5478e-04
+12,1.7000e+00,UP_FORCE_RAMP,4.1605e-04,9.4508e-03,-2.8542e-03,2.4097e+00,-3.6608e-02,3.7508e-02,-5.8526e-05,9.3935e-03,-2.5861e-03,-4.3050e-02,1.7036e-04,7.1427e-04,-3.0758e-05,4.4139e-02,7.3495e-04
+13,1.7833e+00,UP_FORCE_RAMP,4.5283e-04,1.0878e-02,-1.2384e-03,2.4048e+00,-3.6718e-02,3.7614e-02,-5.8407e-05,1.0821e-02,-9.7037e-04,-4.7927e-02,6.0365e-05,8.2029e-04,-3.0639e-05,4.9143e-02,8.2308e-04
+14,1.8833e+00,UP_FORCE_RAMP,4.8778e-04,1.3025e-02,-2.3317e-03,2.4017e+00,-3.6641e-02,3.7771e-02,-5.9902e-05,1.2967e-02,-2.0637e-03,-5.1038e-02,1.3732e-04,9.7679e-04,-3.2134e-05,5.2700e-02,9.8692e-04
+15,1.9667e+00,UP_FORCE_RAMP,5.1641e-04,1.2927e-02,-1.7074e-03,2.3968e+00,-3.6682e-02,3.7768e-02,-6.0153e-05,1.2870e-02,-1.4394e-03,-5.5937e-02,9.6180e-05,9.7421e-04,-3.2385e-05,5.7417e-02,9.7948e-04
+16,2.0667e+00,UP_FORCE_RAMP,5.5439e-04,1.1880e-02,-3.1573e-03,2.3926e+00,-3.6580e-02,3.7699e-02,-6.1322e-05,1.1823e-02,-2.8893e-03,-6.0126e-02,1.9852e-04,9.0523e-04,-3.3554e-05,6.1345e-02,9.2735e-04
+17,2.1667e+00,UP_FORCE_RAMP,5.9504e-04,1.1638e-02,-1.8183e-03,2.3887e+00,-3.6668e-02,3.7685e-02,-6.0778e-05,1.1581e-02,-1.5502e-03,-6.4086e-02,1.0982e-04,8.9102e-04,-3.3010e-05,6.5142e-02,8.9837e-04
+18,2.2667e+00,UP_FORCE_RAMP,6.2813e-04,1.1616e-02,-8.5922e-04,2.3792e+00,-3.6730e-02,3.7689e-02,-6.0341e-05,1.1559e-02,-5.9117e-04,-7.3520e-02,4.8332e-05,8.9513e-04,-3.2573e-05,7.4426e-02,8.9703e-04
+19,2.3333e+00,UP_FORCE_RAMP,6.5911e-04,1.1485e-02,-2.4461e-03,2.3767e+00,-3.6624e-02,3.7683e-02,-6.0183e-05,1.1428e-02,-2.1780e-03,-7.6008e-02,1.5393e-04,8.8878e-04,-3.2415e-05,7.6893e-02,9.0259e-04
+20,2.4500e+00,UP_FORCE_RAMP,7.0278e-04,1.2395e-02,6.0644e-04,2.3781e+00,-3.6827e-02,3.7745e-02,-5.8630e-05,1.2338e-02,8.7449e-04,-7.4660e-02,-4.8816e-05,9.5097e-04,-3.0862e-05,7.5677e-02,9.5272e-04
+21,2.5333e+00,UP_FORCE_RAMP,7.3450e-04,1.2920e-02,-6.5132e-04,2.3771e+00,-3.6744e-02,3.7785e-02,-5.8023e-05,1.2863e-02,-3.8327e-04,-7.5603e-02,3.4619e-05,9.9109e-04,-3.0255e-05,7.6690e-02,9.9216e-04
+22,2.6333e+00,UP_FORCE_RAMP,7.6794e-04,1.2549e-02,3.9166e-04,2.3779e+00,-3.6816e-02,3.7759e-02,-5.6460e-05,1.2492e-02,6.5971e-04,-7.4805e-02,-3.7424e-05,9.6567e-04,-2.8692e-05,7.5844e-02,9.6682e-04
+23,2.7333e+00,UP_FORCE_RAMP,7.9892e-04,1.2736e-02,1.0218e-03,2.3775e+00,-3.6861e-02,3.7772e-02,-5.4486e-05,1.2678e-02,1.2899e-03,-7.5294e-02,-8.2988e-05,9.7873e-04,-2.6718e-05,7.6365e-02,9.8260e-04
+24,2.8333e+00,UP_FORCE_RAMP,8.3769e-04,1.5429e-02,2.1512e-03,2.3781e+00,-3.6942e-02,3.7962e-02,-5.2043e-05,1.5372e-02,2.4193e-03,-7.4615e-02,-1.6431e-04,1.1678e-03,-2.4274e-05,7.6221e-02,1.1796e-03
+25,2.9167e+00,UP_FORCE_RAMP,8.6721e-04,1.5875e-02,1.1568e-03,2.3767e+00,-3.6877e-02,3.7995e-02,-5.0862e-05,1.5817e-02,1.4249e-03,-7.6052e-02,-9.9253e-05,1.2015e-03,-2.3094e-05,7.7692e-02,1.2058e-03
+26,3.0333e+00,UP_FORCE_RAMP,9.0738e-04,1.6310e-02,5.3778e-03,2.3699e+00,-3.7171e-02,3.8030e-02,-4.6393e-05,1.6252e-02,5.6458e-03,-8.2873e-02,-3.9253e-04,1.2357e-03,-1.8625e-05,8.4640e-02,1.2967e-03
+27,3.1333e+00,UP_FORCE_RAMP,9.3904e-04,1.5788e-02,4.7727e-03,2.3704e+00,-3.7142e-02,3.7994e-02,-4.3510e-05,1.5730e-02,5.0408e-03,-8.2298e-02,-3.6333e-04,1.1998e-03,-1.5742e-05,8.3940e-02,1.2537e-03
+28,3.2333e+00,UP_FORCE_RAMP,9.7352e-04,1.4302e-02,6.6749e-03,2.3647e+00,-3.7280e-02,3.7893e-02,-4.0142e-05,1.4244e-02,6.9429e-03,-8.8082e-02,-5.0167e-04,1.0988e-03,-1.2374e-05,8.9496e-02,1.2080e-03
+29,3.3333e+00,UP_FORCE_RAMP,1.0103e-03,1.3165e-02,7.4395e-03,2.3635e+00,-3.7344e-02,3.7813e-02,-3.6911e-05,1.3108e-02,7.7075e-03,-8.9282e-02,-5.6551e-04,1.0197e-03,-9.1425e-06,9.0567e-02,1.1660e-03
+30,3.4333e+00,UP_FORCE_RAMP,1.0490e-03,1.3359e-02,7.4599e-03,2.3731e+00,-3.7355e-02,3.7819e-02,-3.4301e-05,1.3301e-02,7.7280e-03,-7.9619e-02,-5.7710e-04,1.0253e-03,-6.5331e-06,8.1092e-02,1.1766e-03
+31,3.5167e+00,UP_FORCE_RAMP,1.0785e-03,1.4239e-02,6.9954e-03,2.3703e+00,-3.7332e-02,3.7883e-02,-3.2558e-05,1.4182e-02,7.2635e-03,-8.2435e-02,-5.5335e-04,1.0895e-03,-4.7898e-06,8.3960e-02,1.2220e-03
+32,3.6167e+00,UP_FORCE_RAMP,1.1148e-03,1.7105e-02,7.8229e-03,2.3712e+00,-3.7398e-02,3.8085e-02,-2.9976e-05,1.7048e-02,8.0909e-03,-8.1594e-02,-6.1932e-04,1.2913e-03,-2.2082e-06,8.3748e-02,1.4321e-03
+33,3.7500e+00,UP_FORCE_RAMP,1.1525e-03,1.7573e-02,5.4765e-03,2.3678e+00,-3.7247e-02,3.8121e-02,-2.8721e-05,1.7516e-02,5.7445e-03,-8.4994e-02,-4.6851e-04,1.3271e-03,-9.5304e-07,8.6970e-02,1.4074e-03
+34,3.8667e+00,UP_FORCE_RAMP,1.1873e-03,1.6818e-02,5.6062e-03,2.3694e+00,-3.7259e-02,3.8070e-02,-2.7565e-05,1.6761e-02,5.8742e-03,-8.3302e-02,-4.8048e-04,1.2765e-03,2.0337e-07,8.5175e-02,1.3639e-03
+35,3.9667e+00,UP_FORCE_RAMP,1.2186e-03,1.9519e-02,7.2906e-03,2.3710e+00,-3.7377e-02,3.8250e-02,-2.5974e-05,1.9461e-02,7.5586e-03,-8.1787e-02,-5.9834e-04,1.4565e-03,1.7946e-06,8.4409e-02,1.5746e-03
+36,4.0500e+00,UP_FORCE_RAMP,1.2541e-03,2.8878e-02,7.8997e-03,2.3843e+00,-3.7421e-02,3.8922e-02,-2.5084e-05,2.8821e-02,8.1677e-03,-6.8461e-02,-6.4330e-04,2.1285e-03,2.6839e-06,7.4728e-02,2.2236e-03
+37,4.1667e+00,UP_FORCE_RAMP,1.2924e-03,2.6402e-02,8.2450e-03,2.3848e+00,-3.7447e-02,3.8745e-02,-2.4359e-05,2.6344e-02,8.5131e-03,-6.7974e-02,-6.6910e-04,1.9516e-03,3.4090e-06,7.3396e-02,2.0631e-03
+38,4.2833e+00,UP_FORCE_RAMP,1.3266e-03,2.5255e-02,8.1006e-03,2.3842e+00,-3.7438e-02,3.8663e-02,-2.4327e-05,2.5198e-02,8.3687e-03,-6.8563e-02,-6.5977e-04,1.8689e-03,3.4411e-06,7.3524e-02,1.9820e-03
+39,4.4000e+00,UP_FORCE_RAMP,1.3579e-03,2.4276e-02,8.2664e-03,2.3851e+00,-3.7448e-02,3.8593e-02,-2.4411e-05,2.4219e-02,8.5344e-03,-6.7681e-02,-6.6933e-04,1.7993e-03,3.3576e-06,7.2388e-02,1.9198e-03
+40,4.5333e+00,UP_FORCE_RAMP,1.3922e-03,2.3307e-02,6.4435e-03,2.3863e+00,-3.7318e-02,3.8524e-02,-2.5291e-05,2.3250e-02,6.7115e-03,-6.6445e-02,-5.3968e-04,1.7306e-03,2.4768e-06,7.0714e-02,1.8128e-03
+41,4.6500e+00,UP_FORCE_RAMP,1.4281e-03,2.2287e-02,7.6129e-03,2.3867e+00,-3.7392e-02,3.8453e-02,-2.4962e-05,2.2230e-02,7.8810e-03,-6.6061e-02,-6.1332e-04,1.6594e-03,2.8065e-06,7.0145e-02,1.7692e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d46084843c79bdca71af92cd9505d79765d7210
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
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+24835,1791878379475856257,7419635000000,1791878379475043596,DOWN_FORCE_DETACH,4,0.054,0.054043009877204895,0.6760171724503624,-0.004737399853530556,0.09091349892228073,0.9999999820485351,0.00010017299189973446,-0.0001297500479195072,2.1819499453452055e-05,0.6761,-0.0048,0.09099998386488875,1.0,0.0,0.0,0.0,-0.21909933816556618,-0.22037477748018103,0.12500328289431556,-0.014795049008530903,0.01444422099176234,-6.371305211488529e-05,-0.15135557348620157,-0.1932833856838326,0.47259444465853245,-0.018808707663006383,0.010397846536741029,-0.002502150061204248,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.5634598062400099,-0.5973456613473727,0.5227163183074245,0.37832871948056834,-0.21129903266746913,-0.44250047570341483,0.5340987696236708,0.12500328289431556,0.011382451316246267,0.011382451316246267,0.0020800000000000003,0,0,-1.1351007334070573e-06,1.146566397380866e-05
+24982,1791878380699903748,7420859000000,1791878380695043258,DOWN_FORCE_DETACH,4,0.054,0.054000984877347946,0.6760214836308203,-0.004738057348425653,0.09090222959067962,0.999999983924814,9.526896151148788e-05,-0.0001182657051641737,2.3027898277603666e-05,0.6761,-0.0048,0.09096697224030903,1.0,0.0,0.0,0.0,-0.16375659935777961,-0.18182325879603034,0.10529633926019938,-0.011535415678434798,0.010333485460059924,-6.400806929407477e-05,-0.09601283467841501,-0.15473186699968192,0.4528875010244163,-0.01554907433291028,0.006287111005038613,-0.0025024450783834376,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.7389298864888925,-0.5988691251673958,0.49079624205813505,0.4053557734875013,-0.15458884102947773,-0.4401266818815808,0.5340987696236708,0.10529633926019938,0.04330252756553571,0.04330252756553571,0.09999999999999727,0,0,-4.172064408810983e-05,-9.542612559815214e-06
+25090,1791878381599780258,7421759000000,1791878381595043783,DOWN_FORCE_DETACH,4,0.054,0.054000984877347946,0.6760228594386448,-0.0047441815312561295,0.09086736639746452,0.9999999844685581,9.269901964085837e-05,-0.00011499478001761168,2.6245765578417562e-05,0.6761,-0.0048,0.09092692109657156,1.0,0.0,0.0,0.0,-0.15456135125623563,-0.1809889061382825,0.12440626759196383,-0.011538494771858303,0.010328522054151225,-7.831986140009999e-05,-0.08681758657687103,-0.15389751434193408,0.4719974293561807,-0.015552153426333785,0.006282147599129916,-0.002516756870489463,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.7755900476849664,-0.541421738590912,0.4421288253888705,0.400720644171061,-0.11817428337264053,-0.39910851856176605,0.5340987696236708,0.12440626759196383,0.09196994423480026,0.09196994423480026,0.17199999999999435,0,0,-4.717395727801688e-05,-8.48346906875463e-05
+25222,1791878382699810696,7422859000000,1791878382699043631,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676026483435983,-0.0047409520690904925,0.09081751734769303,0.9999999850738815,9.093123441862857e-05,-0.00011121288400634103,2.5657477372620585e-05,0.6761,-0.0048,0.09086395329206388,1.0,0.0,0.0,0.0,-0.15825892798997576,-0.17998865285355173,0.14670151732425557,-0.011542533079312477,0.01032368055896509,-9.678145390251561e-05,-0.09051516331061116,-0.1528972610572033,0.49429267908847246,-0.01555619173378796,0.00627730610394378,-0.0025352184629918784,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.7843252584389904,-0.6813914746805134,0.4007984546243373,0.4505547925569412,-0.09448083232274306,-0.49065710759235703,0.5340987696236708,0.14670151732425557,0.13330031499933348,0.13330031499933348,0.25999999999999424,0,0,-6.764811425893769e-05,-9.999999025923074e-05
+25322,1791878383533882148,7423693000000,1791878383531043930,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676031193777665,-0.004748201906807889,0.09076442254690241,0.9999999856531235,8.805262878008772e-05,-0.00010737899410700437,2.920793402996017e-05,0.6761,-0.0048,0.0908005096690364,1.0,0.0,0.0,0.0,-0.16053407891478572,-0.17835422551077798,0.1967708315146529,-0.01157995285242083,0.01132649755856282,-0.00012180830809304733,-0.0927903142354211,-0.15126283371442956,0.5443619932788698,-0.01559361150689631,0.007280123103541511,-0.00256024531718241,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8055452507887069,-0.6142633442179732,0.2902307993731657,0.4412358116787472,-0.023173519331723746,-0.44715191689005673,0.5340987696236708,0.1967708315146529,0.24386797025050505,0.24386797025050505,0.32672000000001467,0,0,-8.287497247208708e-05,9.996467128925985e-05
+25453,1791878384624885930,7424784000000,1791878384623043298,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760414606229728,-0.004746146747031065,0.09069569776539008,0.9999999874524289,8.855982039149508e-05,-8.826720069881615e-05,3.0067690197515184e-05,0.6761,-0.0048,0.09070936637186379,1.0,0.0,0.0,0.0,-0.17304716518111063,-0.19900519829087623,0.2565381341603755,-0.012614223173338972,0.011376690920227897,-0.00018276230881819188,-0.10530340050174603,-0.1719138064945278,0.6041292959245924,-0.016627881827814453,0.007330316465206588,-0.0026211993179075547,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8837899848245031,-0.5887248347782631,0.24569538042099637,0.4403068285384618,0.025766006626143603,-0.4297854686370411,0.5340987696236708,0.2565381341603755,0.2884033892026744,0.2884033892026744,0.4140000000000414,0,0,-8.861558281200577e-05,-9.997913194415559e-05
+25561,1791878385524836557,7425684000000,1791878385519043160,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760417901598984,-0.004748968786268811,0.09061982036977351,0.9999999872604807,9.097213997610216e-05,-8.58413192510947e-05,3.573850232356661e-05,0.6761,-0.0048,0.09063172521410204,1.0,0.0,0.0,0.0,-0.17342723174293287,-0.18712327384329003,0.31676931783441986,-0.012650703794751136,0.012332914184309905,-0.00021697329487568731,-0.10568346706356826,-0.1600318820469416,0.6643604795986368,-0.016664362449226616,0.008286539729288594,-0.00265541030396505,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8972904712226039,-0.677495457024299,0.16153215683968064,0.47086991635597353,0.07824206315872333,-0.48858592639566417,0.5340987696236708,0.31676931783441986,0.3725666127839901,0.3725666127839901,0.48600000000006344,0,0,-8.519634136647104e-05,-2.213163960285698e-05
+25670,1791878386433871737,7426593000000,1791878386431043377,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676046586322974,-0.004747346174663105,0.09055389466538481,0.9999999876474983,9.35658505329697e-05,-7.763970616432938e-05,3.695098372716569e-05,0.6761,-0.0048,0.09055212266899397,1.0,0.0,0.0,0.0,-0.17411666656330405,-0.18179932715244515,0.3780873028742845,-0.011641829660927461,0.012300840735445254,-0.00025421626108256554,-0.10637290188393944,-0.15470793535609673,0.7256784646385014,-0.015655488315402942,0.008254466280423945,-0.0026926532701719284,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9147078800056944,-0.6266077498205879,0.0518714707395497,0.46205901177521236,0.1478623393280491,-0.45089472701193994,0.5340987696236708,0.3780873028742845,0.4822272988841211,0.4822272988841211,0.558720000000045,0,0,-8.731006577858557e-05,8.251739155718524e-05
+25769,1791878387258792754,7427418000000,1791878387255043159,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760502266981157,-0.004731836020494334,0.09049018200099865,0.9999999870935135,0.00010373526187519396,-7.090666724632199e-05,3.830244469387211e-05,0.6761,-0.0048,0.09048052508470632,1.0,0.0,0.0,0.0,-0.15607976960152423,-0.17693165351209048,0.43662423105415393,-0.010605391659393264,0.011255598202744653,-0.0003035136536909313,-0.08833600492215962,-0.14984026171574205,0.7842153928183708,-0.014619050313868747,0.007209223747723343,-0.002741950662780294,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9091010037301843,-0.5605838820554867,0.08227934469048885,0.44063367083000266,0.12470662409209805,-0.41153086403473427,0.5340987696236708,0.43662423105415393,0.4518194249331819,0.4518194249331819,0.6247200000000194,0,0,-8.76144383391272e-05,-9.999999025923074e-05
+25880,1791878388183879892,7428343000000,1791878388179042607,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760576211853944,-0.004730394032427695,0.09041907752104116,0.9999999880689225,0.0001011876005385171,-5.86401514927772e-05,4.0341308584008436e-05,0.6761,-0.0048,0.09039883443638734,1.0,0.0,0.0,0.0,-0.16544948701200946,-0.17958088124104632,0.49341606883832756,-0.01061638069720041,0.011243764765283774,-0.00035053452032803717,-0.09770572233264484,-0.1524894894446979,0.8410072306025445,-0.01463003935167589,0.007197390310262464,-0.0027889715294174,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9515377184908832,-0.6088874621585829,-0.09935131942651114,0.45996734157215213,0.24844461948272392,-0.44211854033789755,0.5340987696236708,0.49341606883832756,0.6334500890501819,0.6334500890501819,0.6987199999999907,0,0,-9.050621584541651e-05,9.051191326848169e-05
+25980,1791878389016892338,7429176000000,1791878389011042765,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760589042993339,-0.004729828345695999,0.09034834059601497,0.9999999875518226,0.00010547063455506673,-5.728068734591456e-05,4.397825584302372e-05,0.6761,-0.0048,0.09032357007355683,1.0,0.0,0.0,0.0,-0.16559347651988576,-0.17258616300032292,0.5583536542509517,-0.010628262428186114,0.011229514361287706,-0.00040300673938682,-0.09784971184052116,-0.1454947712039745,0.9059448160151686,-0.014641921082661595,0.007183139906266396,-0.002841443748476183,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9135118177998538,-0.5408936492319538,-0.12298069631411307,0.43427641338010536,0.25365263959981965,-0.4014604098422808,0.5340987696236708,0.5583536542509517,0.6570794659377839,0.6570794659377839,0.7653599999999648,0,0,-8.781920718494293e-05,1.2068484193920615e-05
+26084,1791878389883788639,7430043000000,1791878389883043445,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760618212228962,-0.0047330734652595375,0.09028362759934164,0.999999987831781,0.00010474479364221901,-5.259359405076242e-05,4.518566422256244e-05,0.6761,-0.0048,0.09024880375136238,1.0,0.0,0.0,0.0,-0.17517224453315608,-0.170376137486995,0.6168219060545962,-0.010667420550798407,0.012223483445346715,-0.0003207155967282502,-0.10742847985379148,-0.1432847456906466,0.9644130678188131,-0.014681079205273888,0.008177108990325406,-0.002759152605817613,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.973389831834811,-0.5367913754985055,-0.20113601954330645,0.44660294063202044,0.3209225997426492,-0.39383016967596507,0.5340987696236708,0.6168219060545962,0.7352347891669773,0.7352347891669773,0.834719999999938,0,0,-8.362623106730517e-05,4.0788509100369815e-05
+26188,1791878390749854290,7430909000000,1791878390747043022,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760677125840446,-0.004737502211849626,0.09021861623408933,0.9999999882225463,0.0001032463165536804,-4.551839797621939e-05,4.760299492420598e-05,0.6761,-0.0048,0.09017633715978411,1.0,0.0,0.0,0.0,-0.17535002808471867,-0.17815080637745023,0.6786717017299817,-0.010678942274601214,0.012217110433408104,-0.0004851477568209774,-0.10760626340535405,-0.1510594145811018,1.0262628634941986,-0.014692600929076694,0.008170735978386795,-0.0029235847659103403,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9687511510515068,-0.6076246212268009,-0.3394348971490792,0.46935498315930535,0.4048083287751623,-0.4381069457169629,0.5340987696236708,0.6786717017299817,0.87353366677275,0.87353366677275,0.9039999999999111,0,0,-8.21747610554605e-05,9.768264949550626e-05
+26300,1791878391683786884,7431843000000,1791878391683044615,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760715665310698,-0.004733572505508772,0.09014997191585873,0.9999999886822797,0.00010163648169580161,-3.925835916874674e-05,4.697990609694152e-05,0.6761,-0.0048,0.0900997778854284,1.0,0.0,0.0,0.0,-0.17347907773252938,-0.17597070935595144,0.7387026673052128,-0.010690128919951174,0.012203945749158895,-0.000517075436782713,-0.10573531305316478,-0.148879317559603,1.0862938290694297,-0.014703787574426657,0.008157571294137585,-0.002955512445872076,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.022777324143977,-0.5557980188418417,-0.34543284140151714,0.46462975137033297,0.4207196955439093,-0.4040871554945659,0.5340987696236708,0.7387026673052128,0.8795316110251878,0.8795316110251878,0.9787199999998821,0,0,-8.250086844113931e-05,3.181977031700887e-05
+26423,1791878392708881618,7432868000000,1791878392703043016,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760818844090306,-0.00473647779442533,0.09008066740903622,0.999999989166725,0.00010062014957454394,-2.2623825357299477e-05,4.973089900061484e-05,0.6761,-0.0048,0.09001564199950922,1.0,0.0,0.0,0.0,-0.1846754954475679,-0.1716497718729248,0.7995749434050377,-0.009690179846889163,0.012166762924146979,0.00045420806760488675,-0.11693173076820328,-0.14455838007657637,1.1471661051692545,-0.013703838501364645,0.008120388469125668,-0.001984228941484476,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0259370387292488,-0.5978577133669041,-0.4118175029567983,0.481244767202903,0.460804032841815,-0.42974919633889824,0.5340987696236708,0.7995749434050377,0.9459162725804691,0.9459162725804691,1.0607199999999346,0,0,-8.294868738686757e-05,-6.130041893393496e-05
+26527,1791878393574852063,7433734000000,1791878393571043146,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760837570572658,-0.004740946921160388,0.09001005614568797,0.9999999893180734,9.783566247973485e-05,-2.012448648526898e-05,5.319685749355291e-05,0.6761,-0.0048,0.08994218138504202,1.0,0.0,0.0,0.0,-0.18022703199870993,-0.1619427924145127,0.8500045941773462,-0.009725865520079306,0.013168241027756204,0.0004283208473233077,-0.11248326731934533,-0.13485140061816428,1.197595755941563,-0.013739524174554789,0.009121866572734894,-0.002010116161766055,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.037994509788473,-0.636444658661392,-0.4981220949332107,0.4928845698417609,0.520217466482878,-0.45644639049895885,0.5340987696236708,0.8500045941773462,1.0322208645568813,1.0322208645568813,1.130000000000004,0,0,-8.674797557682747e-05,8.610774972049912e-05
+26641,1791878394524841306,7434684000000,1791878394519043131,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6760913626314613,-0.004743444968100052,0.08994108398799208,0.9999999899473888,9.349489102778733e-05,-9.74096111424452e-06,5.207596061926367e-05,0.6761,-0.0048,0.08985687719613802,1.0,0.0,0.0,0.0,-0.18590433333519546,-0.1672035727694781,0.914148243043188,-0.009738990666936367,0.013154983916988897,0.00037727451727529327,-0.11816056865583086,-0.14011218097312966,1.2617394048074049,-0.013752649321411849,0.009108609461967588,-0.0020611624918140696,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0746888835008894,-0.5049131269922352,-0.6194640506938166,0.46592270781788964,0.6062779406215034,-0.36753813527363854,0.5340987696236708,0.914148243043188,1.1535628203174872,1.1535628203174872,1.20600000000008,0,0,-9.161934640536528e-05,9.990691193640373e-05
+26739,1791878395341860238,7435501000000,1791878395339043230,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6760960446234846,-0.004741189970179915,0.08987413166733516,0.9999999902217657,9.278594625573303e-05,-2.414994051014157e-06,4.8828978930098374e-05,0.6761,-0.0048,0.08978266048156723,1.0,0.0,0.0,0.0,-0.18602878294541875,-0.16544397365040134,0.9702141068002152,-0.009749393810810053,0.013142743739901468,0.0003306226148171924,-0.11828501826605414,-0.13835258185405291,1.3178052685644321,-0.013763052465285535,0.00909636928488016,-0.0021078143942721704,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0240355774794296,-0.5045990012066098,-0.5629836474222073,0.4690131889427758,0.5510456604420835,-0.3653469744141486,0.5340987696236708,0.9702141068002152,1.0970824170458782,1.0970824170458782,1.2713600000001453,0,0,-9.249398703478485e-05,-9.99551650046115e-05
+26850,1791878396266783978,7436426000000,1791878396259043412,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761016250382184,-0.004744525562028244,0.08979831331091845,0.9999999910153033,8.551275556513824e-05,7.435814260746831e-06,4.521653434662973e-05,0.6761,-0.0048,0.08969432765302611,1.0,0.0,0.0,0.0,-0.18617921929999928,-0.17312548501572772,1.0305516415069824,-0.009761917818393626,0.013130438015368565,0.00028319600303501917,-0.11843545462063468,-0.1460340932193793,1.3781428032711993,-0.013775576472869108,0.009084063560347255,-0.0021552410060543437,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0338633627122542,-0.5215584527230213,-0.662214811321813,0.4885065610984292,0.6178092786574301,-0.37556438078630955,0.5340987696236708,1.0305516415069824,1.1963135809454837,1.1963135809454837,1.3453600000002193,0,0,-9.876867738542317e-05,-7.812076960179155e-05
+26958,1791878397166840102,7437326000000,1791878397163042857,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676104928350522,-0.004745226080772165,0.089714889672874,0.9999999901204482,9.428307296066323e-05,1.0006641848098278e-05,4.703761638521593e-05,0.6761,-0.0048,0.08960549171014918,1.0,0.0,0.0,0.0,-0.19765145915736274,-0.16705997310853932,1.1006468740783926,-0.009800989281843489,0.01412770414259136,0.00024091014370047296,-0.12990769447799813,-0.1399685813121909,1.4482380358426095,-0.013814647936318971,0.010081329687570051,-0.00219752686538889,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0793249960375624,-0.691439152784402,-0.8010516607244272,0.5346876185802033,0.7163607023533706,-0.48220415610870704,0.5340987696236708,1.1006468740783926,1.335150430348098,1.335150430348098,1.4173600000002913,0,0,-9.807871501480025e-05,9.999896330293296e-05
+27054,1791878397966888071,7438126000000,1791878397963043105,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761118182514424,-0.004746903680607802,0.08964896186472689,0.9999999892288669,9.961455004058082e-05,2.4485738666383248e-05,4.962378726567085e-05,0.6761,-0.0048,0.08952692553465975,1.0,0.0,0.0,0.0,-0.19593408858977157,-0.16890852397659614,1.1508026607270079,-0.009811698898015576,0.01411759255748462,0.00020058206605051958,-0.12819032391040697,-0.14181713218024772,1.4983938224912248,-0.013825357552491056,0.01007121810246331,-0.0022378549430388433,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0747526275614705,-0.6167641354842458,-0.7838972168861223,0.5164553794717538,0.7036856770637296,-0.43711357501740283,0.5340987696236708,1.1508026607270079,1.3179959865097932,1.3179959865097932,1.4813600000003553,0,0,-9.748038151266426e-05,-9.99965485678544e-05
+27154,1791878398799852840,7438959000000,1791878398795043208,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761177132326142,-0.004746610531032551,0.08958108432786538,0.999999988634942,0.00010186023497353998,3.196390137821537e-05,5.268568819474647e-05,0.6761,-0.0048,0.0894447996650434,1.0,0.0,0.0,0.0,-0.204095064891196,-0.16670365875517515,1.2110656582465087,-0.00982265685049323,0.014104586174721982,0.00015085571262621507,-0.1363513002118314,-0.13961226695882673,1.5586568200107256,-0.013836315504968711,0.010058211719700672,-0.0022875812964631478,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1157415020878338,-0.6292875980357845,-0.8952586490069256,0.5263989419283336,0.786164674789712,-0.4448531150566944,0.5340987696236708,1.2110656582465087,1.4293574186305964,1.4293574186305964,1.548000000000422,0,0,-9.877925879056703e-05,2.3618557068070482e-11
+27262,1791878399699834669,7439859000000,1791878399699043258,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761223202801888,-0.004749856707845682,0.08949970945776518,0.999999988122094,0.00010240486777153062,3.7504812982337895e-05,5.749181036853242e-05,0.6761,-0.0048,0.08935666124944781,1.0,0.0,0.0,0.0,-0.20191478604027271,-0.17044826555679074,1.271273612901963,-0.00985056283348414,0.014700410606179135,0.0001119949261498888,-0.1341710213609081,-0.14335687376044232,1.61886477466618,-0.013864221487959622,0.010654036151157826,-0.002326442082939474,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0896709451763686,-0.6126930633780812,-1.0284173926394502,0.5255473172634363,0.8643115551427177,-0.43408926274311505,0.5340987696236708,1.271273612901963,1.562516162263121,1.562516162263121,1.620000000000494,0,0,-9.723102955131046e-05,9.513070472889069e-05
+27365,1791878400558863584,7440718000000,1791878400551043188,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761273580210261,-0.004752868380077516,0.08942490750890703,0.9999999881134917,9.866640388228704e-05,4.833542776176815e-05,5.607591228095835e-05,0.6761,-0.0048,0.08927251431086422,1.0,0.0,0.0,0.0,-0.20581604929913283,-0.16237602438388402,1.3292199757985625,-0.00987231930199374,0.015091870144559545,7.096599178459334e-05,-0.13807228461976823,-0.1352846325875356,1.6768111375627794,-0.013885977956469222,0.011045495689538236,-0.0023674710173047695,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1287777337299363,-0.6005429631339173,-0.9962321351990177,0.5353072238709087,0.8521363374841728,-0.4219657740941957,0.5340987696236708,1.3292199757985625,1.5303309048226885,1.5303309048226885,1.6887200000005627,0,0,-9.93945449098962e-05,-1.161597157308856e-09
+27461,1791878401358841512,7441518000000,1791878401351043498,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761320093504746,-0.0047547655944668,0.08934963236230085,0.9999999888103344,9.012862108640971e-05,5.5788022355823425e-05,5.0859845441850936e-05,0.6761,-0.0048,0.08919099473023692,1.0,0.0,0.0,0.0,-0.20725554361315782,-0.1592551482275333,1.388104046965761,-0.009509788076013315,0.015072377609780092,2.716351812030596e-05,-0.1395117789337932,-0.1321637564311849,1.735695208729978,-0.013523446730488798,0.011026003154758783,-0.002411273490969057,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1574665764691663,-0.7023380210000026,-1.089835715312138,0.571331107985873,0.9188361390716994,-0.4863205680318454,0.5340987696236708,1.388104046965761,1.6239344849358088,1.6239344849358088,1.7527200000006267,0,0,-0.00010134956878879298,-9.740769260256025e-12
+27557,1791878402158879840,7442318000000,1791878402151043463,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761374311010055,-0.004758107044221106,0.08927584427571118,0.9999999879845218,9.163738693164837e-05,6.577462828158538e-05,5.244147417190348e-05,0.6761,-0.0048,0.08910874676102676,1.0,0.0,0.0,0.0,-0.2119339892000827,-0.16116974971170134,1.4321404565121694,-0.00887242027097419,0.015051166595278356,-1.4094306421586107e-06,-0.14419022452071809,-0.1340783579153529,1.7797316182763863,-0.01288607892544967,0.011004792140257045,-0.0024398464397315214,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1814764802480393,-0.5980133392093376,-1.088982682381077,0.5380222463832175,0.9236456235856612,-0.4202155143426269,0.5340987696236708,1.4321404565121694,1.6230814520047478,1.6230814520047478,1.8167200000006907,0,0,-0.00010451738052394267,-9.999395342153434e-05
+27657,1791878402991831292,7443151000000,1791878402991043348,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761403745316085,-0.00475823933788613,0.0891911635557663,0.9999999874095458,9.401757345648272e-05,6.782173667243509e-05,5.643297546580649e-05,0.6761,-0.0048,0.08902096812319218,1.0,0.0,0.0,0.0,-0.2140407301013085,-0.16377647037837822,1.502303130467818,-0.009011021589510414,0.015038742376846149,-5.9860904342481664e-05,-0.1462969654219439,-0.1366850785820298,1.849894292232035,-0.013024680243985896,0.01099236792182484,-0.0024982979134318445,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.189622447036289,-0.6346190669967097,-1.2119963395819087,0.5554306593766495,1.0004473017514057,-0.44437699693159716,0.5340987696236708,1.502303130467818,1.7460951092055794,1.7460951092055794,1.8833600000007573,0,0,-0.00010344483794141735,-3.758315467028979e-05
+27748,1791878403749878426,7443909000000,1791878403743043086,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676142374423624,-0.004760178477789306,0.08911912238523441,0.9999999874730182,9.019804240937486e-05,7.078624257298334e-05,5.7883061191890735e-05,0.6761,-0.0048,0.08894302266297387,1.0,0.0,0.0,0.0,-0.2161201833684058,-0.16156573866063245,1.5525140409837994,-0.008894746830866915,0.01502547164783756,-9.916621656148915e-05,-0.1483764186890412,-0.13447434686428403,1.9001052027480163,-0.012908405485342396,0.010979097192816251,-0.002537603225650852,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2177421688042245,-0.6303019723130131,-1.2742831647599435,0.5565663981786181,1.0475669675869044,-0.44217373932634746,0.5340987696236708,1.5525140409837994,1.8083819343836143,1.8083819343836143,1.944000000000818,0,0,-0.00010351780086198009,-5.026920840184705e-05
+27860,1791878404683886010,7444843000000,1791878404683043653,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761472826908308,-0.0047624202889495195,0.08902917977145822,0.9999999869551545,8.753608506041877e-05,7.714956737437815e-05,6.259339626758311e-05,0.6761,-0.0048,0.08884798797083009,1.0,0.0,0.0,0.0,-0.2164494974084956,-0.16156555302878317,1.6126695103931719,-0.008927742641813945,0.015801492561057433,-0.00013557163277932386,-0.14870573272913098,-0.13447416123243475,1.9602606721573888,-0.012941401296289427,0.011755118106036124,-0.0025740086418686867,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1767981176821827,-0.6369034530225745,-1.3793122725968237,0.5723212049910001,1.098580386742391,-0.44550268357619166,0.5340987696236708,1.6126695103931719,1.9134110422204944,1.9134110422204944,2.0187200000008927,0,0,-0.00010399255934570727,9.996682234637006e-05
+27960,1791878405516886591,7445676000000,1791878405515043007,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761519503476214,-0.004760188050020325,0.08895233507920297,0.9999999862308245,9.005217766207826e-05,8.405670762102971e-05,6.169514067021942e-05,0.6761,-0.0048,0.08876045688831735,1.0,0.0,0.0,0.0,-0.22380499760961572,-0.15706730936623284,1.6625283333073753,-0.008942574438310359,0.01601482605609561,-0.00017325907251316544,-0.15606123293025112,-0.1299759175698844,2.010119495071592,-0.01295623309278584,0.011968451601074301,-0.0026116960816025283,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1978269414452858,-0.6438419944934255,-1.3935262158687807,0.5679631261923579,1.115602033041623,-0.45210622427397823,0.5340987696236708,1.6625283333073753,1.9276249854924514,1.9276249854924514,2.0853600000009593,0,0,-0.00010574705766183546,-9.999999025923074e-05
+28056,1791878406316839325,7446476000000,1791878406315043782,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761496513556271,-0.004766002120811287,0.08885860632061914,0.9999999848396182,0.00010470570772188708,7.877304553132803e-05,6.778753497371098e-05,0.6761,-0.0048,0.0886735026911821,1.0,0.0,0.0,0.0,-0.22395375914302545,-0.1618494888170485,1.7225084630580028,-0.008954953655366117,0.016002494962586707,-0.00022184046990673207,-0.15620999446366085,-0.13475809702070007,2.0700996248222197,-0.0129686123098416,0.011956120507565398,-0.002660277478996095,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2249593852990324,-0.7158437998887394,-1.4064115593666018,0.6049026056675364,1.1250582626292902,-0.49179592679424405,0.5340987696236708,1.7225084630580028,1.9405103289902725,1.9405103289902725,2.1493600000010233,0,0,-0.00011154958806244698,-9.739758585614595e-05
+28156,1791878407149870114,7447309000000,1791878407143043341,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761572348577,-0.004766593180279183,0.08878011989834113,0.9999999799189733,0.0001351813219889348,9.23644450679193e-05,6.928013292672934e-05,0.6761,-0.0048,0.0885800047487938,1.0,0.0,0.0,0.0,-0.22609307931170375,-0.16346338116190953,1.7727233136982867,-0.008963368979191307,0.015992478845702797,-0.0002558399642102584,-0.15834931463233914,-0.1363719893655611,2.1203144754625036,-0.012977027633666788,0.011946104390681486,-0.0026942769732996212,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1717914851005231,-0.6994209749305602,-1.5139560115198596,0.6041146691676985,1.174114312714717,-0.4834503412521385,0.5340987696236708,1.7727233136982867,2.0480547811435303,2.0480547811435303,2.21600000000109,0,0,-0.00011846445264615391,-9.999999025923074e-05
+28255,1791878407974877240,7448134000000,1791878407967043639,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761650644244142,-0.004765438642542918,0.0886942402267407,0.9999999793739452,0.00013225438209975168,0.00010267897337115089,6.826990814068383e-05,0.6761,-0.0048,0.08848017279764632,1.0,0.0,0.0,0.0,-0.2171438199254951,-0.1618917705402635,1.8197030789862298,-0.008973230826985867,0.01598120732753538,-0.000299424209696828,-0.1494000552461305,-0.13480037874391507,2.1672942407504467,-0.012986889481461348,0.011934832872514073,-0.002737861218786191,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2212980503146416,-0.6408374154438834,-1.6365950595058272,0.5950464579394704,1.2649631405763344,-0.4434498760066988,0.5340987696236708,1.8197030789862298,2.170693829129498,2.170693829129498,2.282000000001156,0,0,-0.00012289285904601576,9.999997638144293e-05
+28347,1791878408741775126,7448901000000,1791878408735043342,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761691973717379,-0.004768261666341714,0.08860461241890145,0.9999999792328959,0.0001268649620034843,0.00010854946897837429,7.14098484887226e-05,0.6761,-0.0048,0.08838434128527752,1.0,0.0,0.0,0.0,-0.22632549439219646,-0.15962837012199085,1.8735118073048127,-0.008982991074705321,0.015969590725609276,-0.0003402659885508169,-0.15858172971283185,-0.13253697832564243,2.2211029690690296,-0.012996649729180803,0.011923216270587966,-0.0027787029976401798,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2279445080775926,-0.6667301002390225,-1.6715151163290163,0.606707298117877,1.2838548181303584,-0.46086957672941103,0.5340987696236708,1.8735118073048127,2.205613885952687,2.205613885952687,2.3433600000012174,0,0,-0.00012506308117302278,9.949500531647999e-05
+28435,1791878409474857621,7449634000000,1791878409471042903,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761709648609372,-0.004767177098752143,0.08851799569210625,0.999999979849901,0.00012133728606823511,0.00010929468773525918,7.123900768162916e-05,0.6761,-0.0048,0.08829147445964602,1.0,0.0,0.0,0.0,-0.22442760770563444,-0.1624669913821709,1.9239248831186126,-0.009001990187661096,0.015953501341819273,0.0006421966140002374,-0.15668384302626984,-0.1353755995858225,2.2715160448828295,-0.013015648842136577,0.011907126886797964,-0.0017962403950891254,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.227781914003229,-0.6730334819411431,-1.6925000621443391,0.6189079745051856,1.2951816265026646,-0.46629527735053433,0.5340987696236708,1.9239248831186126,2.22659883176801,2.22659883176801,2.402000000001276,0,0,-0.00012833357223715337,-9.999996250365512e-05
+28523,1791878410208874023,7450368000000,1791878410207034146,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761741025417994,-0.0047704433421630185,0.08843101624676061,0.9999999798680751,0.0001163875289023551,0.00011387282678361073,7.206688699332228e-05,0.6761,-0.0048,0.08819713170033316,1.0,0.0,0.0,0.0,-0.22648822300937163,-0.15708981073453024,1.964095339080916,-0.009001731875752376,0.01594921651499983,0.00020690300430723603,-0.15874445833000703,-0.12999841893818181,2.311686500845133,-0.013015390530227858,0.011902842059978519,-0.002231534004782127,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.237627060170017,-0.6557522934249836,-1.8172410800855745,0.6169879562720586,1.3697549450482578,-0.45528800662787583,0.5340987696236708,1.964095339080916,2.3513398497092455,2.3513398497092455,2.4607200000013347,0,0,-0.00012844567156136832,9.998901292907476e-05
+28619,1791878411008838335,7451168000000,1791878411007042742,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676178428272585,-0.004770311577421775,0.08833475124242775,0.9999999794651308,0.00011221421937176491,0.000120950982627063,7.274222469424409e-05,0.6761,-0.0048,0.08809655800313976,1.0,0.0,0.0,0.0,-0.22321309580525062,-0.1516463997111328,2.017944691576772,-0.009035448547282391,0.01686848915955748,-0.00030639840914217656,-0.155469331125886,-0.12455500791478438,2.365535853340989,-0.013049107201757873,0.012822114704536168,-0.0027448354182315394,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.225207713134418,-0.7132877699524327,-1.8244521978949462,0.634979047385576,1.369472439613842,-0.4951960752781467,0.5340987696236708,2.017944691576772,2.358550967518617,2.358550967518617,2.5247200000013987,0,0,-0.0001272588724864709,-5.733690403792493e-05
+28703,1791878411708832130,7451868000000,1791878411707043190,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761803867323911,-0.004773670898411751,0.088248104316037,0.99999997901746,0.00011108896730427522,0.00012377595848437077,7.580697524845361e-05,0.6761,-0.0048,0.08800559438273041,1.0,0.0,0.0,0.0,-0.2243323321514024,-0.15419504979938572,2.0544759204385876,-0.009052892269633218,0.016920906081068065,0.00055237760513782,-0.1565885674720378,-0.1271036580030373,2.4020670822028043,-0.0130665509241087,0.012874531626046756,-0.0018860594039515428,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2162959275022855,-0.6331851666058624,-1.9054071616933141,0.6169099765883471,1.4131125011042946,-0.44333094258645395,0.5340987696236708,2.0544759204385876,2.439505931316985,2.439505931316985,2.5807200000014547,0,0,-0.00013267229171246153,5.5567310501497505e-05
+28798,1791878412500869928,7452659000000,1791878412495043710,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.676185241629724,-0.004779134465651779,0.08814632965362892,0.9999999782397979,0.00010650687405846348,0.00013256218130156713,7.77613144321624e-05,0.6761,-0.0048,0.08789904477512955,1.0,0.0,0.0,0.0,-0.23037831730824027,-0.15253561284096587,2.094644560386972,-0.009060528912874073,0.016929276931780948,0.000519794956979747,-0.16263455262887566,-0.12544422104461744,2.442235722151189,-0.013074187567349555,0.012882902476759639,-0.0019186420521096158,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2217728062051432,-0.6890684892669303,-1.883609646259391,0.6479748978278558,1.3948619737602088,-0.47864410545433245,0.5340987696236708,2.094644560386972,2.4177084158830615,2.4177084158830615,2.644000000001518,0,0,-0.0001373173370664268,-9.984321289036586e-05
+28882,1791878413199826474,7453359000000,1791878413195043471,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761859143136025,-0.004777846425291776,0.08805534984625678,0.9999999785751232,0.00010507847194654279,0.0001324139082230985,7.561540266876587e-05,0.6761,-0.0048,0.087802570940327,1.0,0.0,0.0,0.0,-0.23565320541398083,-0.16084528614151858,2.13472533205889,-0.009069226060058388,0.016921450574415953,0.0004867789198415469,-0.16790944073461622,-0.13375389434517015,2.482316493823107,-0.01308288471453387,0.012875076119394644,-0.001951658089247816,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2146550390781512,-0.7653989310400575,-1.975724447076765,0.6767919637863452,1.4482525864221685,-0.5269433496034469,0.5340987696236708,2.13472533205889,2.5098232167004357,2.5098232167004357,2.700000000001574,0,0,-0.0001407881198942348,-9.114003582245118e-05
+28970,1791878413933817229,7454093000000,1791878413931043453,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6761895512044714,-0.004778946468969294,0.08795776307183276,0.9999999776071242,0.00010560460234983375,0.00013710651994684842,7.923437118721716e-05,0.6761,-0.0048,0.08769888165801246,1.0,0.0,0.0,0.0,-0.2275328967809567,-0.16604720604035153,2.1748480208384713,-0.009077773166954631,0.016913066553990944,0.000455344511981301,-0.1597891321015921,-0.1389558142440031,2.522439182602688,-0.013091431821430114,0.012866692098969634,-0.001983092497108062,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2186018007016632,-0.6283004588855584,-2.0650544867505176,0.6417495975441586,1.5053056649991963,-0.43817322854910074,0.5340987696236708,2.1748480208384713,2.5991532563741884,2.5991532563741884,2.7587200000016328,0,0,-0.00014360824840822938,9.505255890574488e-05
+29046,1791878414566836535,7454726000000,1791878414563043128,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676188993899437,-0.00478775387395168,0.08786293827045692,0.9999999784485736,9.838200691373785e-05,0.00013477939442581844,8.186093349580314e-05,0.6761,-0.0048,0.0876058934325622,1.0,0.0,0.0,0.0,-0.23629478640530463,-0.16417207480691054,2.204963282729116,-0.00908286205137884,0.016906310978714447,0.00043040570858559344,-0.16855102172594003,-0.13708068301056212,2.552554444493333,-0.01309652070585432,0.012859936523693136,-0.0020080313005037694,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.227536184392213,-0.7015373081863232,-2.122933996976712,0.6787858302287223,1.536892348182392,-0.48307298112635544,0.5340987696236708,2.204963282729116,2.657032766600383,2.657032766600383,2.8093600000016834,0,0,-0.00014900979796309143,9.999586855625182e-05
+29134,1791878415299872535,7455459000000,1791878415299043253,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676190889302818,-0.004783141467984867,0.0877605375685882,0.9999999778349408,0.00010121309053391071,0.00013920517186864014,7.842711771925844e-05,0.6761,-0.0048,0.08749307473979498,1.0,0.0,0.0,0.0,-0.22744832021535785,-0.1673426765664727,2.2372735921704745,-0.009089821355130551,0.01689972133687659,0.00040492188669470413,-0.15970455553599325,-0.14025128477012427,2.584864753934691,-0.013103480009606032,0.01285334688185528,-0.0020335151223946587,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2259284032586997,-0.7404914848266326,-2.1158069190621567,0.6959384913166167,1.5264108962867606,-0.5079643623125969,0.5340987696236708,2.2372735921704745,2.6499056886858274,2.6499056886858274,2.868000000001742,0,0,-0.0001582592508112254,-9.007212617285205e-05
+29217,1791878415991830151,7456151000000,1791878415991043128,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761936571014614,-0.004786696520150669,0.08765413384839565,0.9999999772830209,0.00010151524646711318,0.00014205482668872655,7.994937743839124e-05,0.6761,-0.0048,0.08738049154646885,1.0,0.0,0.0,0.0,-0.22953511471207869,-0.16611653267990079,2.2738602143201314,-0.009096765426634536,0.016891634971532624,0.00037484262922851935,-0.16179135003271408,-0.13902514088355236,2.6214513760843485,-0.013110424081110019,0.012845260516511315,-0.0020635943798608435,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2475679014014176,-0.7706917093743386,-2.1649055791348197,0.7175130341844289,1.5600742231642197,-0.527617814346862,0.5340987696236708,2.2738602143201314,2.6990043487584905,2.6990043487584905,2.9233600000017974,0,0,-0.00016640499858197456,-9.999999025923074e-05
+29297,1791878416658770984,7456818000000,1791878416651043454,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6761952128584845,-0.0047903618798606174,0.08754498585969313,0.9999999768542639,9.705697074762133e-05,0.00014672165648154916,8.238347024183196e-05,0.6761,-0.0048,0.0872663345212789,1.0,0.0,0.0,0.0,-0.23576705930720565,-0.16800394060067994,2.2970497328839707,-0.010120540786263902,0.016905651496234502,0.0003440950600229506,-0.16802329462784105,-0.14091254880433152,2.644640894648188,-0.014134199440739383,0.012859277041213193,-0.0020943419490664123,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2263674995172282,-0.6589809094161205,-2.205159937875248,0.688658053756359,1.5755005408503928,-0.45244213665553185,0.5340987696236708,2.2970497328839707,2.739258707498919,2.739258707498919,2.9767200000018508,0,0,-0.0001761588390395127,-5.007832623438731e-05
+29377,1791878417324875129,7457484000000,1791878417323043057,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.676195159127354,-0.004793788819438136,0.08743119079984349,0.9999999767622658,9.904394172966852e-05,0.00014547964751849735,8.33324794062627e-05,0.6761,-0.0048,0.08714412553140834,1.0,0.0,0.0,0.0,-0.23679500676941165,-0.1645683020978999,2.3253394501433213,-0.009136155324024575,0.01688123823460571,0.000332441168848137,-0.16905124209004704,-0.13747691030155149,2.6729306119075384,-0.013149813978500057,0.0128348637795844,-0.002105995840241226,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2897798431135823,-0.6632348343481467,-2.242552278238893,0.7055705370183527,1.6115967040824937,-0.45148655948763894,0.5340987696236708,2.3253394501433213,2.776651047862564,2.776651047862564,3.030000000001904,0,0,-0.00018992652244950581,-7.845763902303843e-05
+29449,1791878417924875707,7458084000000,1791878417923043746,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762012134967275,-0.004795542250480233,0.08732147221609947,0.9999999741276163,0.00010276083946325913,0.00015767305186002714,8.813086662379761e-05,0.6761,-0.0048,0.08702731938605954,1.0,0.0,0.0,0.0,-0.23467348694032625,-0.17001211948733683,2.3551178420919197,-0.009932514325726761,0.017897352832386405,0.000315570250710192,-0.16692972226096164,-0.1429207276909884,2.7027090038561368,-0.013946172980202242,0.013850978377365096,-0.002122866758379171,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2325673679099851,-0.6118737992335943,-2.2482394591918253,0.6895947602657543,1.60142595573983,-0.42310284288354405,0.5340987696236708,2.3551178420919197,2.782338228815496,2.782338228815496,3.078000000001952,0,0,-0.00020192236887680982,-9.999999025923074e-05
+29517,1791878418491837470,7458651000000,1791878418487043417,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6762047897530099,-0.004794779480576614,0.08721307394832305,0.9999999732748206,0.00010262225904679502,0.00016344037034612242,8.745936087022588e-05,0.6761,-0.0048,0.0869098255804038,1.0,0.0,0.0,0.0,-0.22802289575679507,-0.16434174040915508,2.3809180887291976,-0.00958377807265769,0.017059525821605116,0.00028455182879696993,-0.16027913107743047,-0.13725034861280666,2.7285092504934143,-0.01359743672713317,0.013013151366583807,-0.002153885180292393,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.292584420908798,-0.6907656653624817,-2.254583990264052,0.7282932193808669,1.6185200726336324,-0.47176198298475275,0.5340987696236708,2.3809180887291976,2.7886827598877226,2.7886827598877226,3.1233600000019974,0,0,-0.00021278075223593452,-9.999999025923074e-05
+29577,1791878418991867979,7459151000000,1791878418991042954,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6762078455671118,-0.004799264171138187,0.08711033460233408,0.999999972545063,9.848255487194608e-05,0.00016902284644595113,8.991774807155103e-05,0.6761,-0.0048,0.08680150582888299,1.0,0.0,0.0,0.0,-0.22784439793944314,-0.16182046870536462,2.3916287316166365,-0.009117766634269733,0.016866115899806234,0.00028142472559381264,-0.16010063326007853,-0.1347290769090162,2.739219893380853,-0.013131425288745216,0.012819741444784925,-0.00215701228349555,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2892673204263374,-0.7237412820344551,-2.2912622015119877,0.742954251096285,1.639196353353593,-0.4939677995351204,0.5340987696236708,2.3916287316166365,2.8253609711356584,2.8253609711356584,3.1633600000020374,0,0,-0.0002234477155485789,-9.999999025923074e-05
+29635,1791878419474770321,7459634000000,1791878419471034102,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762109375747747,-0.004796759929481702,0.08700381158115184,0.9999999720929439,9.444589141279894e-05,0.0001736825148268261,9.039542793106235e-05,0.6761,-0.0048,0.08669053350554513,1.0,0.0,0.0,0.0,-0.2277946696370075,-0.15699089737317373,2.4155919559888703,-0.009122812502311659,0.016860704414709035,0.00026083695949954706,-0.1600509049576429,-0.1298995055768253,2.763183117753087,-0.013136471156787139,0.012814329959687726,-0.0021776000495898158,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.26324971768608,-0.7344826368867241,-2.280961592497519,0.7536237175328678,1.623479104103345,-0.5006693567048291,0.5340987696236708,2.4155919559888703,2.81506036212119,2.81506036212119,3.202000000002076,0,0,-0.00023573548443431148,-9.978162326807478e-05
+29689,1791878419924871169,7460084000000,1791878419919043298,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762118740458535,-0.004792039050914485,0.08689162544206709,0.9999999721526356,9.632391450405012e-05,0.00017208974184881266,9.079877071588447e-05,0.6761,-0.0048,0.08658065594167054,1.0,0.0,0.0,0.0,-0.22784054049553418,-0.15317155346088396,2.4357469421200157,-0.009126580598161026,0.016856234875252556,0.0002445523428846602,-0.16009677581616957,-0.12608016166453553,2.783338103884233,-0.013140239252636509,0.012809860420231247,-0.0021938846662047026,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2702841183950235,-0.6516146296956548,-2.361179762268315,0.7304288765304856,1.6823525825573498,-0.4480000097419993,0.5340987696236708,2.4357469421200157,2.895278531891986,2.895278531891986,3.238000000002112,0,0,-0.0002526908258568535,-9.999999025923074e-05
+29740,1791878420349791378,7460509000000,1791878420347043450,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6762091295405274,-0.00479422946378599,0.0867815245294021,0.9999999721096833,9.665193107795773e-05,0.00017019415398881189,9.442378549081008e-05,0.6761,-0.0048,0.08647040448229332,1.0,0.0,0.0,0.0,-0.22200661521759563,-0.14948688835417126,2.4544959626974645,-0.009128250854767584,0.016851695783596996,0.00023084187925389134,-0.15426285053823102,-0.12239549655782285,2.802087124461681,-0.013141909509243065,0.012805321328575687,-0.0022075951298354715,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2657706748792525,-0.725862983007958,-2.4091702377475612,0.7575352902213175,1.710886320418315,-0.49287510728001754,0.5340987696236708,2.4544959626974645,2.943269007371232,2.943269007371232,3.272000000002146,0,0,-0.00026560841576438827,2.65012288854237e-05
+29792,1791878420783872698,7460943000000,1791878420783043396,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762043466761293,-0.004790147821138887,0.08666381899385257,0.999999971871307,0.00010137619452192636,0.0001680072121483279,9.589939275083611e-05,0.6761,-0.0048,0.08635143178132539,1.0,0.0,0.0,0.0,-0.21105261236676806,-0.1498844699994616,2.4659652043193123,-0.009103398436571954,0.0158367995312247,0.0002066562286907811,-0.14330884768740346,-0.12279307820311317,2.8135563660835294,-0.013117057091047435,0.01179042507620339,-0.0022317807803985817,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2661356035071987,-0.6312743926432365,-2.4320042836162776,0.7418015039740767,1.7302878113701072,-0.42808820221241334,0.5340987696236708,2.4659652043193123,2.9661030532399484,2.9661030532399484,3.306720000002181,0,0,-0.00028255346796038507,9.488200089358684e-05
+29844,1791878421216845468,7461376000000,1791878421215043233,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6762012644151921,-0.004781908380799385,0.0865402817353521,0.9999999718403673,0.00010851111164492896,0.00016357906775313496,9.606953924887372e-05,0.6761,-0.0048,0.08622617277408887,1.0,0.0,0.0,0.0,-0.20000298619254828,-0.14439798970397277,2.486058604150627,-0.00910657339875522,0.015830372388060072,0.0001915915619023702,-0.13225922151318367,-0.11730659790762435,2.8336497659148443,-0.0131202320532307,0.011783997933038763,-0.0022468454471869926,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2641889750455773,-0.6276507566994174,-2.3778738449842765,0.7498848227503825,1.6995347723030414,-0.4234518416077838,0.5340987696236708,2.486058604150627,2.911972614607947,2.911972614607947,3.3413600000022154,0,0,-0.0002980503470653969,-9.999999025923074e-05
+29892,1791878421616804222,7461776000000,1791878421615043455,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762267775823918,-0.004778345469703264,0.0864426377677621,0.9999999656307894,0.00010737803203124979,0.00019728457213845978,9.864096642514648e-05,0.6761,-0.0048,0.08610313590033469,1.0,0.0,0.0,0.0,-0.21539922107578519,-0.13589069477421223,2.4763369102219563,-0.008111447505094776,0.0168266965116558,0.00022480671375572827,-0.14765545639642058,-0.10879930297786382,2.8239280719861735,-0.012125106159570256,0.012780322056634489,-0.0022136302953336346,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.323963491541967,-0.6646067404906472,-2.3303365376457563,0.7706540432509551,1.683114964966669,-0.447046901660982,0.5340987696236708,2.4763369102219563,2.864435307269427,2.864435307269427,3.3733600000022474,0,0,-0.00031708826074147565,-9.999999025923074e-05
+29936,1791878421983835153,7462143000000,1791878421983043522,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762256862027076,-0.004783357457217522,0.086322911936326,0.9999999649337615,9.931165761035396e-05,0.00020113826631910198,0.00010609397923046627,0.6761,-0.0048,0.08598344280968485,1.0,0.0,0.0,0.0,-0.21902557950538695,-0.1351735854077119,2.496396382243158,-0.008115037368481265,0.016822429025217817,0.00020816033591373106,-0.15128181482602235,-0.10808219361136348,2.843987544007375,-0.012128696022956745,0.012776054570196507,-0.0022302766731756318,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3541799767044047,-0.7312260048971656,-2.35432430957682,0.78534337485945,1.7179507589276308,-0.4937155537978446,0.5340987696236708,2.496396382243158,2.8884230792004906,2.8884230792004906,3.402720000002277,0,0,-0.00033509433000208775,-9.999999025923074e-05
+29980,1791878422349863993,7462509000000,1791878422343043573,DOWN_FORCE_DETACH,4,0.054,0.054001640528440475,0.6762237517543064,-0.004786181791153064,0.08620204928696948,0.9999999655477219,9.760201945053677e-05,0.00019337379995437812,0.00011587855150659293,0.6761,-0.0048,0.08585769550710198,1.0,0.0,0.0,0.0,-0.21848115137253507,-0.1372267773388487,2.5160866346284205,-0.00913870735917428,0.016837011078725643,0.0001808111715199917,-0.15073738669317047,-0.11013538554250028,2.863677796392637,-0.01315236601364976,0.012790636623704334,-0.002257625837569371,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2873715861339172,-0.6292072034494971,-2.262027408272106,0.7644903899560769,1.6445582434193184,-0.42519159288950925,0.5340987696236708,2.5160866346284205,2.796126177895777,2.796126177895777,3.432000000002306,0,0,-0.0003522896527927407,-9.99999347480795e-05
+30020,1791878422683841333,7462843000000,1791878422683042939,DOWN_FORCE_DETACH,4,0.054,0.054002296179533005,0.6762217827904955,-0.004794942665892374,0.08607078163059124,0.9999999607908987,0.000121266686675356,0.00019357499830177692,0.00013298186429561775,0.6761,-0.0048,0.08573729813780237,1.0,0.0,0.0,0.0,-0.21879668924575446,-0.14909223327768117,2.5260866341458756,-0.009142196226937797,0.016835781088033904,0.0001726771533419962,-0.15105292456638986,-0.12200084148133275,2.8736777959100923,-0.013155854881413277,0.012789406633012593,-0.0022657598557473666,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3231862730937396,-0.6930664648521677,-2.327789709580562,0.7948468614347369,1.6981684248298181,-0.45464849924069956,0.5340987696236708,2.5260866341458756,2.8618884792042327,2.8618884792042327,3.458720000002333,0,0,-0.0003686310910231124,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40291b4b2fc7688074d104e6f5ee49e37244c871
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..159f481cefed81ccec0fd0c6960215a627c868dd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791878379477189444,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.599697457e-09,-4.302248835e-11,-2.429937362e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293538e-01,1.753606112e-06,8.295726694e-01
+1,6.166666667e-01,DOWN_FORCE_DETACH,1791878380701575358,3.690796802e-06,-1.762238104e-06,-1.317226178e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.784856659e-08,-1.108650362e-09,-6.422486321e-09,7.015415623e-01,-2.112767831e-07,8.407277689e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294290e-01,1.752540484e-06,8.295726632e-01
+2,1.066666667e+00,DOWN_FORCE_DETACH,1791878381601642447,1.147575973e-06,-1.004455364e-05,-5.172676567e-05,1.117188594e-06,-6.183504109e-06,-4.353207406e-05,1.033318794e-06,-6.148575535e-06,-4.327491851e-05,7.015390191e-01,-8.493592320e-06,8.406892144e-01,7.015389887e-01,-4.632542788e-06,8.406974091e-01,7.017303845e-01,-4.394926400e-06,8.295293947e-01
+3,1.616666667e+00,DOWN_FORCE_DETACH,1791878382697436191,8.723818326e-06,-5.719771272e-06,-9.577038865e-05,3.740056750e-06,-6.864082332e-06,-8.490993581e-05,3.609407477e-06,-6.849655248e-06,-8.452603611e-05,7.015465953e-01,-4.168809951e-06,8.406451708e-01,7.015416115e-01,-5.313121011e-06,8.406560313e-01,7.017329606e-01,-5.096006114e-06,8.294881436e-01
+4,2.050000000e+00,DOWN_FORCE_DETACH,1791878383529830473,1.456417808e-05,-1.296948961e-05,-1.497988952e-04,1.208682367e-05,-6.459302092e-06,-1.489242679e-04,1.192669324e-05,-6.432802452e-06,-1.482325927e-04,7.015524357e-01,-1.141852829e-05,8.405911423e-01,7.015499583e-01,-4.908340771e-06,8.405920169e-01,7.017412779e-01,-4.679153318e-06,8.294244371e-01
+5,2.633333333e+00,DOWN_FORCE_DETACH,1791878384627521136,2.162508814e-05,-1.281581429e-05,-2.224884858e-04,2.012324248e-05,-1.117910480e-05,-2.110910705e-04,1.993234702e-05,-1.115684564e-05,-2.102560332e-04,7.015594966e-01,-1.126485297e-05,8.405184527e-01,7.015579947e-01,-9.628143482e-06,8.405298501e-01,7.017492835e-01,-9.403196504e-06,8.293624136e-01
+6,3.100000000e+00,DOWN_FORCE_DETACH,1791878385525569923,2.494346096e-05,-1.746211399e-05,-2.934236827e-04,2.323998404e-05,-1.126964926e-05,-2.791251653e-04,2.294385692e-05,-1.123987597e-05,-2.781418795e-04,7.015628149e-01,-1.591115267e-05,8.404475175e-01,7.015611115e-01,-9.718687940e-06,8.404618160e-01,7.017522951e-01,-9.486226831e-06,8.292945278e-01
+7,3.583333333e+00,DOWN_FORCE_DETACH,1791878386430032953,2.861630822e-05,-1.160762097e-05,-3.614595380e-04,2.514416218e-05,-1.802870742e-05,-3.431701540e-04,2.472407495e-05,-1.798409804e-05,-3.421111605e-04,7.015664878e-01,-1.005665965e-05,8.403794816e-01,7.015630156e-01,-1.647774610e-05,8.403977710e-01,7.017540753e-01,-1.623044891e-05,8.292305585e-01
+8,4.016666667e+00,DOWN_FORCE_DETACH,1791878387257480221,3.324437292e-05,2.454726597e-06,-4.244193744e-04,3.064651450e-05,2.596662885e-06,-4.129821265e-04,3.018397496e-05,2.628765232e-06,-4.118057758e-04,7.015711159e-01,4.005687919e-06,8.403165218e-01,7.015685180e-01,4.147624206e-06,8.403279591e-01,7.017595352e-01,4.382414366e-06,8.291608639e-01
+9,4.500000000e+00,DOWN_FORCE_DETACH,1791878388187864766,3.922607248e-05,2.759670019e-06,-4.956219037e-04,3.771276299e-05,4.707190704e-06,-4.815350436e-04,3.717134255e-05,4.756832201e-06,-4.803130930e-04,7.015770976e-01,4.310631340e-06,8.402453193e-01,7.015755842e-01,6.258152025e-06,8.402594061e-01,7.017665225e-01,6.510481335e-06,8.290923566e-01
+10,4.916666667e+00,DOWN_FORCE_DETACH,1791878389017685112,4.077106872e-05,4.755331329e-06,-5.673043820e-04,4.038573870e-05,3.309177334e-06,-5.482592424e-04,3.970216035e-05,3.348493944e-06,-5.470221741e-04,7.015786426e-01,6.306292650e-06,8.401736368e-01,7.015782572e-01,4.860138655e-06,8.401926819e-01,7.017690534e-01,5.102143079e-06,8.290256475e-01
+11,5.350000000e+00,DOWN_FORCE_DETACH,1791878389885506516,4.391800892e-05,1.339660827e-06,-6.300240079e-04,4.328657642e-05,3.489965388e-06,-6.150421846e-04,4.247193915e-05,3.526417671e-06,-6.138302625e-04,7.015817895e-01,2.890622148e-06,8.401109172e-01,7.015811581e-01,5.040926709e-06,8.401258990e-01,7.017718231e-01,5.280066806e-06,8.289588394e-01
+12,5.783333333e+00,DOWN_FORCE_DETACH,1791878390749629276,4.684133787e-05,3.112581329e-06,-6.996029112e-04,4.793845600e-05,3.632331236e-06,-6.805053003e-04,4.706227728e-05,3.646096474e-06,-6.793357147e-04,7.015847128e-01,4.663542650e-06,8.400413383e-01,7.015858099e-01,5.183292558e-06,8.400604359e-01,7.017764135e-01,5.399745608e-06,8.288933339e-01
+13,6.266666667e+00,DOWN_FORCE_DETACH,1791878391679498688,5.452738128e-05,-8.923947501e-07,-7.630181095e-04,5.228417998e-05,-4.189413269e-06,-7.460887752e-04,5.129971200e-05,-4.162851387e-06,-7.450334469e-04,7.015923989e-01,6.585665709e-07,8.399779231e-01,7.015901557e-01,-2.638451948e-06,8.399948524e-01,7.017806509e-01,-2.409202253e-06,8.288276362e-01
+14,6.816666667e+00,DOWN_FORCE_DETACH,1791878392709604670,6.375117842e-05,-1.894117400e-06,-8.349775690e-04,6.366457114e-05,-1.535909091e-06,-8.346603302e-04,6.265195271e-05,-1.514023807e-06,-8.334474797e-04,7.016016227e-01,-3.431560789e-07,8.399059636e-01,7.016015361e-01,1.505222994e-08,8.399062809e-01,7.017920031e-01,2.396253274e-07,8.287392222e-01
+15,7.266666667e+00,DOWN_FORCE_DETACH,1791878393575561329,6.622007791e-05,-5.386642896e-06,-9.043326100e-04,6.653264745e-05,-5.106299396e-06,-8.992363819e-04,6.541570576e-05,-5.062049571e-06,-8.980746575e-04,7.016040916e-01,-3.835681575e-06,8.398366086e-01,7.016044041e-01,-3.555338075e-06,8.398417048e-01,7.017947669e-01,-3.308400436e-06,8.286745950e-01
+16,7.766666667e+00,DOWN_FORCE_DETACH,1791878394523763691,7.191125355e-05,-9.692959090e-06,-9.759737969e-04,7.032515109e-05,-7.638288753e-06,-9.595142851e-04,6.912021110e-05,-7.575580116e-06,-9.584067196e-04,7.016097827e-01,-8.141997769e-06,8.397649674e-01,7.016081966e-01,-6.087327432e-06,8.397814269e-01,7.017984714e-01,-5.821930981e-06,8.286142629e-01
+17,8.200000000e+00,DOWN_FORCE_DETACH,1791878395339559668,7.985853096e-05,-4.767817495e-06,-1.036651425e-03,7.603131520e-05,-3.344652221e-06,-1.029504584e-03,7.473703642e-05,-3.292662659e-06,-1.028343887e-03,7.016177300e-01,-3.216856173e-06,8.397042898e-01,7.016139028e-01,-1.793690900e-06,8.397114366e-01,7.018040882e-01,-1.539013525e-06,8.285443258e-01
+18,8.683333333e+00,DOWN_FORCE_DETACH,1791878396269489486,8.791875313e-05,-8.869706845e-06,-1.114640178e-03,8.780221173e-05,-8.583984462e-06,-1.114376050e-03,8.647650337e-05,-8.548967915e-06,-1.113003979e-03,7.016257902e-01,-7.318745524e-06,8.396263010e-01,7.016256737e-01,-7.033023141e-06,8.396265651e-01,7.018158277e-01,-6.795318781e-06,8.284596657e-01
+19,9.133333333e+00,DOWN_FORCE_DETACH,1791878397167585291,8.676974756e-05,-7.996555895e-06,-1.201246605e-03,8.549380841e-05,-1.235595692e-05,-1.182673693e-03,8.389712969e-05,-1.230517865e-05,-1.181374127e-03,7.016246412e-01,-6.445594574e-06,8.395396946e-01,7.016233653e-01,-1.080499559e-05,8.395582675e-01,7.018132483e-01,-1.055152952e-05,8.283912955e-01
+20,9.533333333e+00,DOWN_FORCE_DETACH,1791878397967423379,9.557180047e-05,-1.315301367e-05,-1.264724879e-03,9.005291520e-05,-1.238919337e-05,-1.247360411e-03,8.831924157e-05,-1.235441792e-05,-1.246046017e-03,7.016334433e-01,-1.160205235e-05,8.394762163e-01,7.016279244e-01,-1.083823205e-05,8.394935808e-01,7.018176704e-01,-1.060076879e-05,8.283266236e-01
+21,9.950000000e+00,DOWN_FORCE_DETACH,1791878398797476002,9.755834601e-05,-1.803710187e-05,-1.337795106e-03,9.474186154e-05,-1.674613970e-05,-1.319322750e-03,9.286060194e-05,-1.669322998e-05,-1.318077121e-03,7.016354298e-01,-1.648614055e-05,8.394031461e-01,7.016326133e-01,-1.519517838e-05,8.394216184e-01,7.018222118e-01,-1.493958085e-05,8.282545925e-01
+22,1.041666667e+01,DOWN_FORCE_DETACH,1791878399697491364,1.019654112e-04,-1.809530690e-05,-1.418566637e-03,1.028733069e-04,-2.223433725e-05,-1.402602130e-03,1.008859975e-04,-2.218735709e-05,-1.401285719e-03,7.016398369e-01,-1.654434558e-05,8.393223746e-01,7.016407448e-01,-2.068337593e-05,8.393383391e-01,7.018302372e-01,-2.043370795e-05,8.281713839e-01
+23,1.086666667e+01,DOWN_FORCE_DETACH,1791878400561439207,1.106663139e-04,-1.761490646e-05,-1.488037067e-03,1.104045775e-04,-1.775878205e-05,-1.488327380e-03,1.083002987e-04,-1.771530337e-05,-1.486924767e-03,7.016485378e-01,-1.606394514e-05,8.392529041e-01,7.016482761e-01,-1.620782073e-05,8.392526138e-01,7.018376515e-01,-1.596165424e-05,8.280857449e-01
+24,1.128333333e+01,DOWN_FORCE_DETACH,1791878401361872313,1.144014218e-04,-1.773458946e-05,-1.566553200e-03,1.130547274e-04,-1.982984740e-05,-1.554395084e-03,1.107947561e-04,-1.977694480e-05,-1.553064734e-03,7.016522729e-01,-1.618362814e-05,8.391743880e-01,7.016509262e-01,-1.827888608e-05,8.391865461e-01,7.018401459e-01,-1.802329566e-05,8.280196049e-01
+25,1.170000000e+01,DOWN_FORCE_DETACH,1791878402157602197,1.192158077e-04,-2.372741926e-05,-1.639546021e-03,1.151195181e-04,-2.470469173e-05,-1.621897127e-03,1.126284679e-04,-2.464954914e-05,-1.620604465e-03,7.016570873e-01,-2.217645794e-05,8.391013952e-01,7.016529910e-01,-2.315373041e-05,8.391190441e-01,7.018419797e-01,-2.289590000e-05,8.279520652e-01
+26,1.215000000e+01,DOWN_FORCE_DETACH,1791878402989504488,1.213653155e-04,-2.517985974e-05,-1.725246890e-03,1.206203390e-04,-2.477761407e-05,-1.709004390e-03,1.179543514e-04,-2.472226026e-05,-1.707584480e-03,7.016592368e-01,-2.362889842e-05,8.390156943e-01,7.016584918e-01,-2.322665275e-05,8.390319368e-01,7.018473055e-01,-2.296861113e-05,8.278650852e-01
+27,1.255000000e+01,DOWN_FORCE_DETACH,1791878403753524726,1.243690964e-04,-2.548434974e-05,-1.796264272e-03,1.242325905e-04,-2.853320588e-05,-1.792719883e-03,1.213582638e-04,-2.841540915e-05,-1.791218518e-03,7.016622406e-01,-2.393338842e-05,8.389446769e-01,7.016621041e-01,-2.698224456e-05,8.389482213e-01,7.018507095e-01,-2.666176001e-05,8.277814511e-01
+28,1.303333333e+01,DOWN_FORCE_DETACH,1791878404687498497,1.317333950e-04,-2.489426414e-05,-1.882401891e-03,1.285312924e-04,-2.635241527e-05,-1.879117034e-03,1.254564258e-04,-2.627759815e-05,-1.877578896e-03,7.016696049e-01,-2.334330282e-05,8.388585393e-01,7.016664028e-01,-2.480145394e-05,8.388618242e-01,7.018548076e-01,-2.452394902e-05,8.276950908e-01
+29,1.345000000e+01,DOWN_FORCE_DETACH,1791878405517813217,1.338171170e-04,-2.560437299e-05,-1.963309899e-03,1.354538510e-04,-2.668743664e-05,-1.944329394e-03,1.323607894e-04,-2.656893831e-05,-1.942917841e-03,7.016716886e-01,-2.405341167e-05,8.387776313e-01,7.016733253e-01,-2.513647532e-05,8.387966118e-01,7.018617120e-01,-2.481528917e-05,8.276297518e-01
+30,1.385000000e+01,DOWN_FORCE_DETACH,1791878406317755612,1.315181250e-04,-3.141844379e-05,-2.057038657e-03,1.335117405e-04,-2.646422908e-05,-2.038985736e-03,1.300880236e-04,-2.634473133e-05,-2.037391686e-03,7.016693896e-01,-2.986748246e-05,8.386839025e-01,7.016713832e-01,-2.491326776e-05,8.387019555e-01,7.018594392e-01,-2.459108219e-05,8.275352780e-01
+31,1.426666667e+01,DOWN_FORCE_DETACH,1791878407147737240,1.395964306e-04,-2.534403138e-05,-2.134294445e-03,1.365118307e-04,-3.087333185e-05,-2.131590463e-03,1.328271182e-04,-3.077966174e-05,-2.130038096e-03,7.016774679e-01,-2.379307006e-05,8.386066467e-01,7.016743833e-01,-2.932237053e-05,8.386093507e-01,7.018621783e-01,-2.902601260e-05,8.274426316e-01
+32,1.468333333e+01,DOWN_FORCE_DETACH,1791878407977502467,1.426991588e-04,-3.117082371e-05,-2.227584508e-03,1.432601164e-04,-3.307312495e-05,-2.217617752e-03,1.394697607e-04,-3.299569703e-05,-2.216023020e-03,7.016805706e-01,-2.961986239e-05,8.385133567e-01,7.016811316e-01,-3.152216363e-05,8.385233234e-01,7.018688210e-01,-3.124204789e-05,8.273566466e-01
+33,1.510000000e+01,DOWN_FORCE_DETACH,1791878408743679404,1.503886534e-04,-3.216287826e-05,-2.309782739e-03,1.513936699e-04,-3.755628515e-05,-2.307097861e-03,1.474878065e-04,-3.745271251e-05,-2.305465225e-03,7.016882601e-01,-3.061191694e-05,8.384311584e-01,7.016892652e-01,-3.600532382e-05,8.384338433e-01,7.018768390e-01,-3.569906337e-05,8.272672044e-01
+34,1.548333333e+01,DOWN_FORCE_DETACH,1791878409477530568,1.545519907e-04,-3.361572382e-05,-2.396646277e-03,1.502711369e-04,-3.261889475e-05,-2.396322158e-03,1.460793587e-04,-3.252904578e-05,-2.394643390e-03,7.016924235e-01,-3.206476250e-05,8.383442949e-01,7.016881426e-01,-3.106793343e-05,8.383446190e-01,7.018754306e-01,-3.077539665e-05,8.271780263e-01
+35,1.586666667e+01,DOWN_FORCE_DETACH,1791878410208016632,1.561659769e-04,-3.589182825e-05,-2.484433472e-03,1.559898242e-04,-3.597627993e-05,-2.484261999e-03,1.516840207e-04,-3.587679228e-05,-2.482499745e-03,7.016940375e-01,-3.434086693e-05,8.382565077e-01,7.016938613e-01,-3.442531861e-05,8.382566792e-01,7.018810352e-01,-3.412314314e-05,8.270901699e-01
+36,1.628333333e+01,DOWN_FORCE_DETACH,1791878411005543226,1.602877709e-04,-3.892812100e-05,-2.580821937e-03,1.597130103e-04,-3.548109007e-05,-2.565114326e-03,1.552159927e-04,-3.538946600e-05,-2.563405517e-03,7.016981593e-01,-3.737715967e-05,8.381601193e-01,7.016975845e-01,-3.393012875e-05,8.381758269e-01,7.018845672e-01,-3.363581687e-05,8.270092641e-01
+37,1.665000000e+01,DOWN_FORCE_DETACH,1791878411705575925,1.609140462e-04,-3.845307481e-05,-2.671529039e-03,1.621273941e-04,-4.180826888e-05,-2.653845335e-03,1.574291271e-04,-4.173160749e-05,-2.652043033e-03,7.016987855e-01,-3.690211349e-05,8.380694121e-01,7.016999989e-01,-4.025730756e-05,8.380870959e-01,7.018867803e-01,-3.997795835e-05,8.269206266e-01
+38,1.708333333e+01,DOWN_FORCE_DETACH,1791878412502356730,1.665547393e-04,-4.065561637e-05,-2.768786438e-03,1.660690326e-04,-3.948187527e-05,-2.765469815e-03,1.610906800e-04,-3.940953301e-05,-2.763645037e-03,7.017044262e-01,-3.910465505e-05,8.379721547e-01,7.017039405e-01,-3.793091395e-05,8.379754714e-01,7.018904419e-01,-3.765588387e-05,8.268090246e-01
+39,1.743333333e+01,DOWN_FORCE_DETACH,1791878413201549906,1.691045811e-04,-4.278426021e-05,-2.858655103e-03,1.673903072e-04,-4.360380932e-05,-2.854622244e-03,1.621219242e-04,-4.352662537e-05,-2.852786924e-03,7.017069761e-01,-4.123329889e-05,8.378822861e-01,7.017052618e-01,-4.205284800e-05,8.378863189e-01,7.018914731e-01,-4.177297624e-05,8.267198827e-01
+40,1.780000000e+01,DOWN_FORCE_DETACH,1791878413933580809,1.714179739e-04,-4.436279194e-05,-2.957881906e-03,1.694635371e-04,-5.010897689e-05,-2.941327236e-03,1.639145211e-04,-5.004215699e-05,-2.939545483e-03,7.017092895e-01,-4.281183062e-05,8.377830593e-01,7.017073350e-01,-4.855801557e-05,8.377996140e-01,7.018932657e-01,-4.828850786e-05,8.266331242e-01
+41,1.811666667e+01,DOWN_FORCE_DETACH,1791878414565604905,1.711732082e-04,-4.914387347e-05,-3.052141559e-03,1.710539809e-04,-4.878153881e-05,-3.051829353e-03,1.651210668e-04,-4.872774386e-05,-3.049765239e-03,7.017090447e-01,-4.759291215e-05,8.376887996e-01,7.017089255e-01,-4.723057748e-05,8.376891118e-01,7.018944723e-01,-4.697409473e-05,8.265229044e-01
+42,1.848333333e+01,DOWN_FORCE_DETACH,1791878415297623056,1.722294320e-04,-4.973938075e-05,-3.155155642e-03,1.727286467e-04,-5.344125855e-05,-3.142351560e-03,1.665355260e-04,-5.334663240e-05,-3.140381641e-03,7.017101009e-01,-4.818841942e-05,8.375857855e-01,7.017106001e-01,-5.189029723e-05,8.375985896e-01,7.018958867e-01,-5.159298327e-05,8.264322880e-01
+43,1.883333333e+01,DOWN_FORCE_DETACH,1791878415995591222,1.769384431e-04,-5.488817445e-05,-3.260644856e-03,1.734500584e-04,-5.644037005e-05,-3.249875796e-03,1.668026300e-04,-5.636338022e-05,-3.247817596e-03,7.017148099e-01,-5.333721313e-05,8.374802963e-01,7.017113215e-01,-5.488940873e-05,8.374910654e-01,7.018961538e-01,-5.460973108e-05,8.263248521e-01
+44,1.918333333e+01,DOWN_FORCE_DETACH,1791878416661687099,1.772437441e-04,-5.749643402e-05,-3.371643104e-03,1.766848131e-04,-5.758003999e-05,-3.365438517e-03,1.696531165e-04,-5.747231250e-05,-3.363260347e-03,7.017151152e-01,-5.594547270e-05,8.373692981e-01,7.017145563e-01,-5.602907867e-05,8.373755027e-01,7.018990043e-01,-5.571866337e-05,8.262094093e-01
+45,1.953333333e+01,DOWN_FORCE_DETACH,1791878417327589649,1.784002282e-04,-5.707260024e-05,-3.483993356e-03,1.756471749e-04,-5.734642795e-05,-3.480902229e-03,1.682296000e-04,-5.721011653e-05,-3.478605241e-03,7.017162717e-01,-5.552163891e-05,8.372569478e-01,7.017135187e-01,-5.579546663e-05,8.372600390e-01,7.018975808e-01,-5.545646740e-05,8.260940644e-01
+46,1.985000000e+01,DOWN_FORCE_DETACH,1791878417925644196,1.830802661e-04,-6.095857345e-05,-3.594172762e-03,1.824473994e-04,-5.955019762e-05,-3.588158336e-03,1.748141075e-04,-5.938006766e-05,-3.585837116e-03,7.017209517e-01,-5.940761213e-05,8.371467684e-01,7.017203189e-01,-5.799923630e-05,8.371527829e-01,7.019041653e-01,-5.762641853e-05,8.259868325e-01
+47,2.015000000e+01,DOWN_FORCE_DETACH,1791878418489607178,1.845374583e-04,-5.943908921e-05,-3.706102018e-03,1.843380412e-04,-5.956314571e-05,-3.706291187e-03,1.764052128e-04,-5.944794718e-05,-3.703843315e-03,7.017224089e-01,-5.788812789e-05,8.370348392e-01,7.017222095e-01,-5.801218439e-05,8.370346500e-01,7.019057564e-01,-5.769429804e-05,8.258688263e-01
+48,2.041666667e+01,DOWN_FORCE_DETACH,1791878418989594315,1.910880265e-04,-6.366286530e-05,-3.801130192e-03,1.907186290e-04,-6.400273719e-05,-3.795181204e-03,1.825974163e-04,-6.388666930e-05,-3.792687704e-03,7.017289595e-01,-6.211190398e-05,8.369398110e-01,7.017285901e-01,-6.245177586e-05,8.369457600e-01,7.019119486e-01,-6.213302017e-05,8.257799820e-01
+49,2.066666667e+01,DOWN_FORCE_DETACH,1791878419471623908,1.925910746e-04,-6.208117924e-05,-3.910506934e-03,1.928043163e-04,-5.962751425e-05,-3.905202536e-03,1.843609485e-04,-5.949251998e-05,-3.902623931e-03,7.017304626e-01,-6.053021792e-05,8.368304343e-01,7.017306758e-01,-5.807655293e-05,8.368357387e-01,7.019137121e-01,-5.773887085e-05,8.256700457e-01
+50,2.090000000e+01,DOWN_FORCE_DETACH,1791878419921584791,1.932388244e-04,-6.217208225e-05,-4.023819376e-03,1.928804957e-04,-6.184087077e-05,-4.023699999e-03,1.841083131e-04,-6.168154005e-05,-4.020844676e-03,7.017311103e-01,-6.062112093e-05,8.367171218e-01,7.017307520e-01,-6.028990945e-05,8.367172412e-01,7.019134595e-01,-5.992789092e-05,8.255518250e-01
+51,2.113333333e+01,DOWN_FORCE_DETACH,1791878420353584404,1.899929470e-04,-5.999051949e-05,-4.137296607e-03,1.880408708e-04,-5.863225412e-05,-4.129339676e-03,1.788110209e-04,-5.848534959e-05,-4.126431515e-03,7.017278644e-01,-5.843955817e-05,8.366036446e-01,7.017259124e-01,-5.708129280e-05,8.366116015e-01,7.019081622e-01,-5.673170046e-05,8.254462381e-01
+52,2.136666667e+01,DOWN_FORCE_DETACH,1791878420785606545,1.846943738e-04,-5.940377760e-05,-4.255240776e-03,1.840294414e-04,-5.588047824e-05,-4.236347226e-03,1.743288126e-04,-5.575582350e-05,-4.233361968e-03,7.017225659e-01,-5.785281628e-05,8.364857004e-01,7.017219009e-01,-5.432951691e-05,8.365045940e-01,7.019036800e-01,-5.400217437e-05,8.253393077e-01
+53,2.158333333e+01,DOWN_FORCE_DETACH,1791878421217666225,1.831311846e-04,-4.732470377e-05,-4.375363243e-03,1.804949834e-04,-4.824356053e-05,-4.359990043e-03,1.702520211e-04,-4.814788217e-05,-4.356822120e-03,7.017210027e-01,-4.577374245e-05,8.363655779e-01,7.017183665e-01,-4.669259921e-05,8.363809511e-01,7.018996032e-01,-4.639423304e-05,8.252158475e-01
+54,2.178333333e+01,DOWN_FORCE_DETACH,1791878421617621853,2.086443518e-04,-4.376179268e-05,-4.473007210e-03,2.084635543e-04,-4.384288440e-05,-4.473113383e-03,1.984540586e-04,-4.377909800e-05,-4.469801062e-03,7.017465158e-01,-4.221083136e-05,8.362679340e-01,7.017463350e-01,-4.229192308e-05,8.362678278e-01,7.019278053e-01,-4.202544886e-05,8.251028686e-01
+55,2.196666667e+01,DOWN_FORCE_DETACH,1791878421983612087,2.075529721e-04,-4.877378019e-05,-4.592733042e-03,2.072144695e-04,-4.874091627e-05,-4.592988187e-03,1.967887783e-04,-4.862965268e-05,-4.589476137e-03,7.017454245e-01,-4.722281887e-05,8.361482081e-01,7.017450860e-01,-4.718995495e-05,8.361479530e-01,7.019261400e-01,-4.687600354e-05,8.249831935e-01
+56,2.215000000e+01,DOWN_FORCE_DETACH,1791878422349598633,2.000684125e-04,-5.457062934e-05,-4.722996681e-03,1.999135585e-04,-5.485039614e-05,-4.723088398e-03,1.888312964e-04,-5.478364433e-05,-4.719407162e-03,7.017379399e-01,-5.301966802e-05,8.360179445e-01,7.017377850e-01,-5.329943481e-05,8.360178528e-01,7.019181825e-01,-5.302999520e-05,8.248532625e-01
+57,2.231666667e+01,DOWN_FORCE_DETACH,1791878422681605610,2.077743764e-04,-5.827485077e-05,-4.836320898e-03,2.082916257e-04,-5.643629367e-05,-4.823299591e-03,1.970532858e-04,-5.634992899e-05,-4.819589528e-03,7.017456459e-01,-5.672388945e-05,8.359046203e-01,7.017461631e-01,-5.488533235e-05,8.359176416e-01,7.019264045e-01,-5.459627986e-05,8.247530801e-01
+58,2.248333333e+01,DOWN_FORCE_DETACH,1791878423013837961,2.026888779e-04,-4.916069421e-05,-4.964298126e-03,2.026651425e-04,-4.702879020e-05,-4.951662132e-03,1.908846238e-04,-4.694127730e-05,-4.947720757e-03,7.017405604e-01,-4.760973289e-05,8.357766431e-01,7.017405366e-01,-4.547782888e-05,8.357892791e-01,7.019202358e-01,-4.518762817e-05,8.246249489e-01
+59,2.273333333e+01,DOWN_SETTLE,1791878423513785087,2.092067795e-04,-4.751404296e-05,-5.067652373e-03,2.109301279e-04,-4.623486683e-05,-5.051038700e-03,1.989817069e-04,-4.607515484e-05,-5.047551449e-03,7.017470783e-01,-4.596308164e-05,8.356732888e-01,7.017488016e-01,-4.468390551e-05,8.356899025e-01,7.019283329e-01,-4.432150570e-05,8.245251182e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e8386070111aafff769f3c646ad79cc90c57ee4
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-6.7470e-04,4.8386e-04,2.4532e+00,-3.6831e-02,3.6741e-02,-2.7677e-05,1.2019e-04,-2.5380e-06,-1.3113e-05,-3.3528e-08,8.5905e-06,-3.5304e-07,1.2093e-04,8.5978e-06
+1,6.1667e-01,DOWN_FORCE_DETACH,1.2745e-04,2.8067e-03,4.1311e-04,2.4528e+00,-3.6833e-02,3.6989e-02,-3.9204e-05,3.6015e-03,-7.3286e-05,-3.4094e-04,-1.7546e-06,2.5718e-04,-1.1880e-05,3.6184e-03,2.5746e-04
+2,1.0667e+00,DOWN_FORCE_DETACH,2.5440e-04,4.3618e-03,2.7817e-03,2.4675e+00,-3.6997e-02,3.7085e-02,-4.4279e-05,5.1567e-03,2.2953e-03,1.4278e-02,-1.6658e-04,3.5287e-04,-1.6955e-05,1.5353e-02,3.9058e-04
+3,1.6167e+00,DOWN_FORCE_DETACH,3.7938e-04,5.0853e-03,3.0301e-03,2.4751e+00,-3.7018e-02,3.7129e-02,-5.0479e-05,5.8802e-03,2.5437e-03,2.1971e-02,-1.8729e-04,3.9652e-04,-2.3154e-05,2.2886e-02,4.3914e-04
+4,2.0500e+00,DOWN_FORCE_DETACH,5.0582e-04,3.4724e-03,2.8081e-03,2.4917e+00,-3.7004e-02,3.7001e-02,-5.4271e-05,4.2673e-03,2.3217e-03,3.8566e-02,-1.7370e-04,2.6895e-04,-2.6946e-05,3.8871e-02,3.2130e-04
+5,2.6333e+00,DOWN_FORCE_DETACH,6.3340e-04,2.9583e-03,4.8121e-03,2.4967e+00,-3.7141e-02,3.6957e-02,-5.5488e-05,3.7532e-03,4.3257e-03,4.3573e-02,-3.1046e-04,2.2458e-04,-2.8164e-05,4.3948e-02,3.8421e-04
+6,3.1000e+00,DOWN_FORCE_DETACH,7.5925e-04,3.9926e-03,4.9473e-03,2.5053e+00,-3.7144e-02,3.7022e-02,-5.4413e-05,4.7875e-03,4.4609e-03,5.2096e-02,-3.1285e-04,2.8958e-04,-2.7089e-05,5.2505e-02,4.2716e-04
+7,3.5833e+00,DOWN_FORCE_DETACH,8.8393e-04,5.8084e-03,7.9375e-03,2.5084e+00,-3.7334e-02,3.7147e-02,-4.7823e-05,6.6033e-03,7.4511e-03,5.5251e-02,-5.0301e-04,4.1512e-04,-2.0499e-05,5.6141e-02,6.5250e-04
+8,4.0167e+00,DOWN_FORCE_DETACH,1.0137e-03,6.1801e-03,2.0337e-04,2.5142e+00,-3.6787e-02,3.7169e-02,-4.5551e-05,6.9749e-03,-2.8302e-04,6.1057e-02,4.3832e-05,4.3654e-04,-1.8227e-05,6.1455e-02,4.3912e-04
+9,4.5000e+00,DOWN_FORCE_DETACH,1.1376e-03,6.9427e-03,-2.8681e-04,2.5150e+00,-3.6734e-02,3.7222e-02,-3.7285e-05,7.7376e-03,-7.7321e-04,6.1833e-02,9.7260e-05,4.8966e-04,-9.9610e-06,6.2320e-02,4.9932e-04
+10,4.9167e+00,DOWN_FORCE_DETACH,1.2643e-03,8.9312e-03,1.8241e-04,2.5167e+00,-3.6750e-02,3.7360e-02,-2.9550e-05,9.7260e-03,-3.0399e-04,6.3544e-02,8.0824e-05,6.2747e-04,-2.2253e-06,6.4285e-02,6.3266e-04
+11,5.3500e+00,DOWN_FORCE_DETACH,1.3903e-03,1.0788e-02,-2.0717e-04,2.5164e+00,-3.6714e-02,3.7492e-02,-2.3798e-05,1.1583e-02,-6.9357e-04,6.3242e-02,1.1678e-04,7.5972e-04,3.5265e-06,6.4298e-02,7.6865e-04
+12,5.7833e+00,DOWN_FORCE_DETACH,1.5172e-03,1.1586e-02,-6.6488e-04,2.5154e+00,-3.6683e-02,3.7552e-02,-2.0459e-05,1.2381e-02,-1.1513e-03,6.2243e-02,1.4759e-04,8.2010e-04,6.8655e-06,6.3472e-02,8.3330e-04
+13,6.2667e+00,DOWN_FORCE_DETACH,1.6415e-03,1.2745e-02,2.2081e-03,2.5122e+00,-3.6886e-02,3.7638e-02,-1.7205e-05,1.3540e-02,1.7217e-03,5.8988e-02,-5.5697e-05,9.0545e-04,1.0120e-05,6.0547e-02,9.0721e-04
+14,6.8167e+00,DOWN_FORCE_DETACH,1.7702e-03,1.4258e-02,1.8498e-03,2.5083e+00,-3.6871e-02,3.7743e-02,-1.9297e-05,1.5053e-02,1.3634e-03,5.5121e-02,-4.0039e-05,1.0104e-03,8.0278e-06,5.7156e-02,1.0113e-03
+15,7.2667e+00,DOWN_FORCE_DETACH,1.8985e-03,1.3558e-02,3.5774e-03,2.5176e+00,-3.6993e-02,3.7684e-02,-2.1969e-05,1.4352e-02,3.0910e-03,6.4389e-02,-1.6208e-04,9.5206e-04,5.3549e-06,6.6042e-02,9.6577e-04
+16,7.7667e+00,DOWN_FORCE_DETACH,2.0245e-03,1.4918e-02,4.7652e-03,2.5122e+00,-3.7081e-02,3.7774e-02,-2.7821e-05,1.5713e-02,4.2788e-03,5.9074e-02,-2.5018e-04,1.0417e-03,-4.9716e-07,6.1278e-02,1.0713e-03
+17,8.2000e+00,DOWN_FORCE_DETACH,2.1457e-03,1.4836e-02,2.8589e-03,2.5161e+00,-3.6961e-02,3.7760e-02,-3.3826e-05,1.5631e-02,2.3725e-03,6.2964e-02,-1.2994e-04,1.0277e-03,-6.5018e-06,6.4919e-02,1.0359e-03
+18,8.6833e+00,DOWN_FORCE_DETACH,2.2756e-03,1.2796e-02,3.6948e-03,2.5147e+00,-3.7031e-02,3.7613e-02,-3.5606e-05,1.3591e-02,3.2084e-03,6.1478e-02,-2.0038e-04,8.8097e-04,-8.2816e-06,6.3044e-02,9.0351e-04
+19,9.1333e+00,DOWN_FORCE_DETACH,2.3997e-03,1.4089e-02,5.6386e-03,2.5223e+00,-3.7180e-02,3.7693e-02,-3.1429e-05,1.4884e-02,5.1522e-03,6.9170e-02,-3.4904e-04,9.6117e-04,-4.1042e-06,7.0941e-02,1.0226e-03
+20,9.5333e+00,DOWN_FORCE_DETACH,2.5277e-03,1.3110e-02,5.1974e-03,2.5213e+00,-3.7173e-02,3.7623e-02,-2.6559e-05,1.3905e-02,4.7110e-03,6.8089e-02,-3.4252e-04,8.9078e-04,7.6538e-07,6.9654e-02,9.5437e-04
+21,9.9500e+00,DOWN_FORCE_DETACH,2.6530e-03,1.2278e-02,6.5588e-03,2.5219e+00,-3.7285e-02,3.7562e-02,-1.9317e-05,1.3073e-02,6.0724e-03,6.8719e-02,-4.5409e-04,8.2960e-04,8.0078e-06,7.0214e-02,9.4578e-04
+22,1.0417e+01,DOWN_FORCE_DETACH,2.7804e-03,1.0570e-02,8.7342e-03,2.5238e+00,-3.7436e-02,3.7439e-02,-1.3338e-05,1.1365e-02,8.2478e-03,7.0617e-02,-6.0530e-04,7.0694e-04,1.3986e-05,7.2000e-02,9.3078e-04
+23,1.0867e+01,DOWN_FORCE_DETACH,2.9056e-03,9.7762e-03,8.7297e-03,2.5199e+00,-3.7424e-02,3.7387e-02,-1.3521e-05,1.0571e-02,8.2433e-03,6.6763e-02,-5.9332e-04,6.5456e-04,1.3803e-05,6.8096e-02,8.8356e-04
+24,1.1283e+01,DOWN_FORCE_DETACH,3.0339e-03,9.2002e-03,7.5932e-03,2.5267e+00,-3.7324e-02,3.7343e-02,-1.9261e-05,9.9951e-03,7.1068e-03,7.3503e-02,-4.9312e-04,6.1079e-04,8.0635e-06,7.4519e-02,7.8504e-04
+25,1.1700e+01,DOWN_FORCE_DETACH,3.1596e-03,8.4572e-03,9.7605e-03,2.5239e+00,-3.7442e-02,3.7296e-02,-2.7037e-05,9.2521e-03,9.2741e-03,7.0748e-02,-6.1142e-04,5.6429e-04,2.8688e-07,7.1951e-02,8.3202e-04
+26,1.2150e+01,DOWN_FORCE_DETACH,3.2835e-03,6.3395e-03,1.0388e-02,2.5283e+00,-3.7469e-02,3.7152e-02,-3.5545e-05,7.1344e-03,9.9018e-03,7.5119e-02,-6.3807e-04,4.2006e-04,-8.2203e-06,7.6104e-02,7.6397e-04
+27,1.2550e+01,DOWN_FORCE_DETACH,3.4141e-03,5.3346e-03,1.2668e-02,2.5350e+00,-3.7621e-02,3.7081e-02,-3.7651e-05,6.1295e-03,1.2181e-02,8.1840e-02,-7.9020e-04,3.4882e-04,-1.0327e-05,8.2968e-02,8.6383e-04
+28,1.3033e+01,DOWN_FORCE_DETACH,3.5405e-03,5.4005e-03,1.2393e-02,2.5363e+00,-3.7593e-02,3.7081e-02,-3.2822e-05,6.1954e-03,1.1907e-02,8.3077e-02,-7.6192e-04,3.4884e-04,-5.4974e-06,8.4154e-02,8.3800e-04
+29,1.3450e+01,DOWN_FORCE_DETACH,3.6640e-03,5.2671e-03,1.2761e-02,2.5310e+00,-3.7591e-02,3.7072e-02,-2.4092e-05,6.0620e-03,1.2274e-02,7.7778e-02,-7.6051e-04,3.4027e-04,3.2326e-06,7.8973e-02,8.3317e-04
+30,1.3850e+01,DOWN_FORCE_DETACH,3.7953e-03,9.1330e-03,1.2263e-02,2.5376e+00,-3.7529e-02,3.7333e-02,-1.5004e-05,9.9279e-03,1.1777e-02,8.4446e-02,-6.9777e-04,6.0117e-04,1.2320e-05,8.5839e-02,9.2111e-04
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+35,1.5867e+01,DOWN_FORCE_DETACH,4.4221e-03,1.3942e-02,1.5974e-02,2.5391e+00,-3.7800e-02,3.7653e-02,-2.5837e-05,1.4737e-02,1.5487e-02,8.5943e-02,-9.6950e-04,9.2113e-04,1.4873e-06,8.8562e-02,1.3373e-03
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+38,1.7083e+01,DOWN_FORCE_DETACH,4.8015e-03,1.4386e-02,1.6074e-02,2.5533e+00,-3.7829e-02,3.7665e-02,-3.3821e-05,1.5181e-02,1.5588e-02,1.0009e-01,-9.9776e-04,9.3258e-04,-6.4967e-06,1.0243e-01,1.3658e-03
+39,1.7433e+01,DOWN_FORCE_DETACH,4.9286e-03,1.4469e-02,1.7349e-02,2.5552e+00,-3.7927e-02,3.7663e-02,-2.8249e-05,1.5264e-02,1.6862e-02,1.0202e-01,-1.0963e-03,9.3086e-04,-9.2464e-07,1.0453e-01,1.4382e-03
+40,1.7800e+01,DOWN_FORCE_DETACH,5.0535e-03,1.4150e-02,1.9861e-02,2.5529e+00,-3.8094e-02,3.7635e-02,-2.2718e-05,1.4945e-02,1.9374e-02,9.9721e-02,-1.2631e-03,9.0304e-04,4.6064e-06,1.0268e-01,1.5527e-03
+41,1.8117e+01,DOWN_FORCE_DETACH,5.1796e-03,1.4077e-02,1.8791e-02,2.5556e+00,-3.8006e-02,3.7622e-02,-2.4768e-05,1.4872e-02,1.8304e-02,1.0244e-01,-1.1756e-03,8.9025e-04,2.5568e-06,1.0512e-01,1.4747e-03
+42,1.8483e+01,DOWN_FORCE_DETACH,5.3061e-03,1.2198e-02,2.1023e-02,2.5621e+00,-3.8125e-02,3.7488e-02,-3.1300e-05,1.2992e-02,2.0537e-02,1.0892e-01,-1.2944e-03,7.5619e-04,-3.9759e-06,1.1160e-01,1.4991e-03
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+48,2.0417e+01,DOWN_FORCE_DETACH,6.0632e-03,9.3741e-03,2.5908e-02,2.5857e+00,-3.8317e-02,3.7289e-02,-8.8091e-06,1.0169e-02,2.5422e-02,1.3250e-01,-1.4867e-03,5.5649e-04,1.8515e-05,1.3530e-01,1.5876e-03
+49,2.0667e+01,DOWN_FORCE_DETACH,6.1898e-03,1.0140e-02,2.4891e-02,2.5941e+00,-3.8238e-02,3.7329e-02,-1.0163e-05,1.0935e-02,2.4404e-02,1.4094e-01,-1.4077e-03,5.9737e-04,1.7161e-05,1.4345e-01,1.5293e-03
+50,2.0900e+01,DOWN_FORCE_DETACH,6.3173e-03,1.1091e-02,2.5867e-02,2.5986e+00,-3.8299e-02,3.7382e-02,-1.5064e-05,1.1886e-02,2.5381e-02,1.4541e-01,-1.4685e-03,6.5032e-04,1.2261e-05,1.4809e-01,1.6061e-03
+51,2.1133e+01,DOWN_FORCE_DETACH,6.4409e-03,1.6186e-02,2.5224e-02,2.6136e+00,-3.8251e-02,3.7706e-02,-2.2449e-05,1.6981e-02,2.4738e-02,1.6041e-01,-1.4199e-03,9.7399e-04,4.8754e-06,1.6319e-01,1.7219e-03
+52,2.1367e+01,DOWN_FORCE_DETACH,6.5711e-03,1.8417e-02,2.3389e-02,2.6170e+00,-3.8130e-02,3.7845e-02,-2.9194e-05,1.9211e-02,2.2903e-02,1.6381e-01,-1.2991e-03,1.1134e-03,-1.8697e-06,1.6652e-01,1.7109e-03
+53,2.1583e+01,DOWN_FORCE_DETACH,6.7023e-03,1.9743e-02,1.9585e-02,2.6264e+00,-3.7890e-02,3.7926e-02,-3.2583e-05,2.0538e-02,1.9098e-02,1.7318e-01,-1.0596e-03,1.1937e-03,-5.2584e-06,1.7544e-01,1.5962e-03
+54,2.1783e+01,DOWN_FORCE_DETACH,6.8232e-03,1.1362e-02,1.6767e-02,2.6231e+00,-3.7718e-02,3.7363e-02,-3.3009e-05,1.2157e-02,1.6280e-02,1.6997e-01,-8.8766e-04,6.3123e-04,-5.6842e-06,1.7118e-01,1.0892e-03
+55,2.1967e+01,DOWN_FORCE_DETACH,6.9453e-03,1.0483e-02,1.9999e-02,2.6309e+00,-3.7927e-02,3.7287e-02,-3.2111e-05,1.1278e-02,1.9513e-02,1.7776e-01,-1.0958e-03,5.5461e-04,-4.7863e-06,1.7918e-01,1.2282e-03
+56,2.2150e+01,DOWN_FORCE_DETACH,7.0813e-03,1.3868e-02,2.1371e-02,2.6416e+00,-3.8000e-02,3.7494e-02,-3.3407e-05,1.4663e-02,2.0885e-02,1.8840e-01,-1.1689e-03,7.6172e-04,-6.0825e-06,1.9012e-01,1.3952e-03
+57,2.2317e+01,DOWN_FORCE_DETACH,7.1996e-03,1.1391e-02,2.1843e-02,2.6541e+00,-3.8016e-02,3.7318e-02,-3.4186e-05,1.2185e-02,2.1357e-02,2.0090e-01,-1.1854e-03,5.8553e-04,-6.8617e-06,2.0240e-01,1.3221e-03
+58,2.2483e+01,DOWN_FORCE_DETACH,7.3345e-03,1.3360e-02,1.8287e-02,2.6647e+00,-3.7769e-02,3.7434e-02,-3.6578e-05,1.4155e-02,1.7800e-02,2.1151e-01,-9.3839e-04,7.0215e-04,-9.2539e-06,2.1273e-01,1.1720e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ea53c2fce02539e7d274874f428255d5e7d1df37
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de7f439872c4db152596e56ad3fc09f0c4dfbc1324f55dd79cdb95b9542d110
+size 21637120
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aebe1958dea8eb270f4a82872cf494af87561a1e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca661a66be261dab010ae15dd2ef8bf3ba274768
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d082e7ce16023b7cbdd275ba634d296d1fcd7efe
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..447be9e515908089bcf25e9ea9313bcdcf11ad22
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+54,6.066666667e+00,UP_FORCE_RAMP,1791878374083633508,-9.331096558e-05,-2.258413346e-05,9.544699028e-04,-9.119689440e-05,-2.621351370e-05,9.441544280e-04,-8.987845037e-05,-2.618318788e-05,9.432768802e-04,7.014445605e-01,-2.103317214e-05,8.416954111e-01,7.014466746e-01,-2.466255238e-05,8.416850956e-01,7.016394728e-01,-2.442953513e-05,8.305159464e-01
+55,6.216666667e+00,UP_FORCE_HOLD,1791878374381555227,-9.397219672e-05,-2.221460095e-05,9.605050720e-04,-9.119689440e-05,-2.621351370e-05,9.441544280e-04,-8.988318034e-05,-2.618458801e-05,9.433877227e-04,7.014438993e-01,-2.066363963e-05,8.417014463e-01,7.014466746e-01,-2.466255238e-05,8.416850956e-01,7.016394680e-01,-2.443093527e-05,8.305160573e-01
+56,6.366666667e+00,UP_FORCE_HOLD,1791878374681586496,-9.302274537e-05,-2.165821163e-05,9.677074055e-04,-9.155718584e-05,-2.181888029e-05,9.658617582e-04,-9.012825265e-05,-2.180135665e-05,9.650139471e-04,7.014448487e-01,-2.010725031e-05,8.417086486e-01,7.014463143e-01,-2.026791897e-05,8.417068029e-01,7.016392230e-01,-2.004770390e-05,8.305376835e-01
+57,6.533333333e+00,UP_FORCE_HOLD,1791878374981455549,-9.377127344e-05,-2.416839850e-05,9.741120906e-04,-9.155718584e-05,-2.181888029e-05,9.658617582e-04,-9.013229369e-05,-2.180101713e-05,9.651335752e-04,7.014441002e-01,-2.261743717e-05,8.417150533e-01,7.014463143e-01,-2.026791897e-05,8.417068029e-01,7.016392189e-01,-2.004736439e-05,8.305378031e-01
+58,6.650000000e+00,UP_FORCE_HOLD,1791878375213450256,-9.357317468e-05,-2.163483094e-05,9.764677377e-04,-9.155718584e-05,-2.181888029e-05,9.658617582e-04,-9.013439596e-05,-2.180107107e-05,9.652026864e-04,7.014442983e-01,-2.008386962e-05,8.417174089e-01,7.014463143e-01,-2.026791897e-05,8.417068029e-01,7.016392168e-01,-2.004741833e-05,8.305378723e-01
+59,6.816666667e+00,UP_SETTLE,1791878375513580184,-9.270246716e-05,-1.978943838e-05,9.824331357e-04,-9.155718584e-05,-2.181888029e-05,9.658617582e-04,-9.013693316e-05,-2.180100257e-05,9.652878306e-04,7.014451690e-01,-1.823847706e-05,8.417233743e-01,7.014463143e-01,-2.026791897e-05,8.417068029e-01,7.016392143e-01,-2.004734982e-05,8.305379574e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81909ac2249bb5024e6f3a6a7af1b6e2f81665f2
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-6.7380e-04,4.8398e-04,2.4532e+00,-3.6831e-02,3.6741e-02,-2.7668e-05,1.2026e-04,-2.5250e-06,-1.2875e-05,-3.3528e-08,8.5980e-06,-3.5321e-07,1.2097e-04,8.6053e-06
+1,1.8333e-01,UP_FORCE_RAMP,3.4928e-05,5.4796e-04,4.5900e-04,2.4530e+00,-3.6831e-02,3.6828e-02,-3.1394e-05,1.3420e-03,-2.7508e-05,-1.3614e-04,-5.2899e-07,9.5911e-05,-4.0793e-06,1.3492e-03,9.5999e-05
+2,3.3333e-01,UP_FORCE_RAMP,6.8163e-05,1.4221e-03,4.4138e-04,2.4530e+00,-3.6832e-02,3.6890e-02,-3.4245e-05,2.2162e-03,-4.5128e-05,-2.1744e-04,-9.7230e-07,1.5834e-04,-6.9295e-06,2.2273e-03,1.5849e-04
+3,4.6667e-01,UP_FORCE_RAMP,1.0146e-04,2.1141e-03,4.2743e-04,2.4529e+00,-3.6832e-02,3.6940e-02,-3.6642e-05,2.9082e-03,-5.9082e-05,-2.7895e-04,-1.3635e-06,2.0773e-04,-9.3273e-06,2.9221e-03,2.0794e-04
+4,5.8333e-01,UP_FORCE_RAMP,1.3296e-04,2.6606e-03,4.1616e-04,2.4528e+00,-3.6832e-02,3.6979e-02,-3.8642e-05,3.4547e-03,-7.0347e-05,-3.2616e-04,-1.6689e-06,2.4670e-04,-1.1327e-05,3.4707e-03,2.4697e-04
+5,7.1667e-01,UP_FORCE_RAMP,1.6573e-04,3.2239e-03,4.0445e-04,2.4528e+00,-3.6833e-02,3.7019e-02,-4.0822e-05,4.0179e-03,-8.2061e-05,-3.7384e-04,-2.0005e-06,2.8687e-04,-1.3507e-05,4.0361e-03,2.8720e-04
+6,8.5000e-01,UP_FORCE_RAMP,1.9958e-04,3.4197e-03,-9.1335e-05,2.4443e+00,-3.6801e-02,3.7041e-02,-4.3359e-05,4.2138e-03,-5.7784e-04,-8.8649e-03,3.0030e-05,3.0927e-04,-1.6044e-05,9.8324e-03,3.1113e-04
+7,9.5000e-01,UP_FORCE_RAMP,2.3275e-04,4.4840e-03,1.6512e-03,2.4360e+00,-3.6918e-02,3.7118e-02,-4.4426e-05,5.2781e-03,1.1647e-03,-1.7190e-02,-8.7459e-05,3.8569e-04,-1.7111e-05,1.8020e-02,3.9585e-04
+8,1.0833e+00,UP_FORCE_RAMP,2.6833e-04,4.9616e-03,1.7090e-03,2.4381e+00,-3.6926e-02,3.7157e-02,-4.5841e-05,5.7557e-03,1.2225e-03,-1.5033e-02,-9.5699e-05,4.2507e-04,-1.8526e-05,1.6144e-02,4.3610e-04
+9,1.1833e+00,UP_FORCE_RAMP,2.9991e-04,5.4157e-03,1.8621e-04,2.4305e+00,-3.6823e-02,3.7197e-02,-4.8073e-05,6.2097e-03,-3.0030e-04,-2.2621e-02,7.4506e-06,4.6461e-04,-2.0758e-05,2.3460e-02,4.6513e-04
+10,1.3000e+00,UP_FORCE_RAMP,3.3153e-04,6.5853e-03,1.1567e-03,2.4253e+00,-3.6891e-02,3.7285e-02,-4.9286e-05,7.3794e-03,6.7016e-04,-2.7863e-02,-5.9873e-05,5.5296e-04,-2.1971e-05,2.8832e-02,5.5662e-04
+11,1.3833e+00,UP_FORCE_RAMP,3.6129e-04,7.6006e-03,3.6976e-04,2.4177e+00,-3.6837e-02,3.7364e-02,-5.1207e-05,8.3946e-03,-1.1675e-04,-3.5423e-02,-6.2361e-06,6.3185e-04,-2.3892e-05,3.6405e-02,6.3233e-04
+12,1.5000e+00,UP_FORCE_RAMP,4.0182e-04,6.3244e-03,1.7382e-03,2.4126e+00,-3.6932e-02,3.7280e-02,-5.2025e-05,7.1184e-03,1.2517e-03,-4.0604e-02,-1.0138e-04,5.4739e-04,-2.4710e-05,4.1242e-02,5.5725e-04
+13,1.6000e+00,UP_FORCE_RAMP,4.3064e-04,7.9127e-03,-1.9501e-03,2.4093e+00,-3.6678e-02,3.7396e-02,-5.5598e-05,8.7067e-03,-2.4366e-03,-4.3878e-02,1.5249e-04,6.6352e-04,-2.8283e-05,4.4799e-02,6.8140e-04
+14,1.7000e+00,UP_FORCE_RAMP,4.6434e-04,1.0760e-02,-7.6403e-04,2.4043e+00,-3.6759e-02,3.7603e-02,-5.6289e-05,1.1554e-02,-1.2505e-03,-4.8825e-02,7.2215e-05,8.7094e-04,-2.8974e-05,5.0189e-02,8.7441e-04
+15,1.7833e+00,UP_FORCE_RAMP,4.9803e-04,1.3684e-02,4.4465e-04,2.4002e+00,-3.6841e-02,3.7815e-02,-5.6679e-05,1.4478e-02,-4.1864e-05,-5.3000e-02,-1.0185e-05,1.0829e-03,-2.9364e-05,5.4942e-02,1.0833e-03
+16,1.8833e+00,UP_FORCE_RAMP,5.2998e-04,1.4724e-02,-7.4425e-04,2.3966e+00,-3.6759e-02,3.7892e-02,-5.8523e-05,1.5518e-02,-1.2308e-03,-5.6602e-02,7.2177e-05,1.1603e-03,-3.1208e-05,5.8704e-02,1.1629e-03
+17,2.0000e+00,UP_FORCE_RAMP,5.6935e-04,1.5331e-02,-1.6687e-03,2.3829e+00,-3.6695e-02,3.7943e-02,-6.0090e-05,1.6125e-02,-2.1552e-03,-7.0282e-02,1.3619e-04,1.2111e-03,-3.2775e-05,7.2140e-02,1.2192e-03
+18,2.1000e+00,UP_FORCE_RAMP,6.0275e-04,1.4099e-02,-8.4135e-04,2.3812e+00,-3.6749e-02,3.7863e-02,-6.0640e-05,1.4893e-02,-1.3279e-03,-7.1971e-02,8.2117e-05,1.1313e-03,-3.3325e-05,7.3508e-02,1.1348e-03
+19,2.1833e+00,UP_FORCE_RAMP,6.3095e-04,1.3426e-02,-9.3378e-04,2.3786e+00,-3.6741e-02,3.7818e-02,-6.1014e-05,1.4220e-02,-1.4203e-03,-7.4595e-02,8.9303e-05,1.0862e-03,-3.3699e-05,7.5952e-02,1.0904e-03
+20,2.2833e+00,UP_FORCE_RAMP,6.6609e-04,1.3723e-02,-9.0793e-04,2.3671e+00,-3.6744e-02,3.7844e-02,-6.1133e-05,1.4517e-02,-1.3944e-03,-8.6038e-02,8.6963e-05,1.1123e-03,-3.3818e-05,8.7265e-02,1.1162e-03
+21,2.3667e+00,UP_FORCE_RAMP,6.9596e-04,1.4784e-02,1.7289e-03,2.3656e+00,-3.6919e-02,3.7919e-02,-6.0679e-05,1.5578e-02,1.2424e-03,-8.7561e-02,-8.7939e-05,1.1869e-03,-3.3364e-05,8.8945e-02,1.1906e-03
+22,2.4667e+00,UP_FORCE_RAMP,7.2801e-04,1.4318e-02,4.7231e-04,2.3649e+00,-3.6836e-02,3.7894e-02,-6.0273e-05,1.5112e-02,-1.4200e-05,-8.8288e-02,-5.4017e-06,1.1614e-03,-3.2958e-05,8.9572e-02,1.1619e-03
+23,2.5667e+00,UP_FORCE_RAMP,7.6925e-04,1.4197e-02,-8.3836e-04,2.3631e+00,-3.6745e-02,3.7886e-02,-6.0514e-05,1.4991e-02,-1.3249e-03,-9.0092e-02,8.5797e-05,1.1537e-03,-3.3199e-05,9.1340e-02,1.1574e-03
+24,2.6500e+00,UP_FORCE_RAMP,7.9541e-04,1.5283e-02,1.7861e-03,2.3617e+00,-3.6924e-02,3.7963e-02,-5.8623e-05,1.6077e-02,1.2996e-03,-9.1518e-02,-9.3065e-05,1.2308e-03,-3.1308e-05,9.2928e-02,1.2347e-03
+25,2.7500e+00,UP_FORCE_RAMP,8.3475e-04,1.5758e-02,1.5554e-03,2.3624e+00,-3.6910e-02,3.7998e-02,-5.7487e-05,1.6552e-02,1.0689e-03,-9.0739e-02,-7.9714e-05,1.2662e-03,-3.0172e-05,9.2243e-02,1.2691e-03
+26,2.8667e+00,UP_FORCE_RAMP,8.6556e-04,1.7233e-02,2.1023e-03,2.3565e+00,-3.6949e-02,3.8107e-02,-5.5683e-05,1.8027e-02,1.6158e-03,-9.6646e-02,-1.1867e-04,1.3745e-03,-2.8368e-05,9.8326e-02,1.3799e-03
+27,2.9667e+00,UP_FORCE_RAMP,8.9902e-04,1.8349e-02,2.3073e-03,2.3565e+00,-3.6967e-02,3.8182e-02,-5.3663e-05,1.9143e-02,1.8208e-03,-9.6622e-02,-1.3671e-04,1.4502e-03,-2.6348e-05,9.8516e-02,1.4569e-03
+28,3.0667e+00,UP_FORCE_RAMP,9.3302e-04,1.8176e-02,3.5476e-03,2.3573e+00,-3.7056e-02,3.8174e-02,-5.1192e-05,1.8971e-02,3.0611e-03,-9.5916e-02,-2.2551e-04,1.4414e-03,-2.3877e-05,9.7822e-02,1.4592e-03
+29,3.1833e+00,UP_FORCE_RAMP,9.6090e-04,1.6760e-02,3.0631e-03,2.3589e+00,-3.7029e-02,3.8074e-02,-4.8831e-05,1.7554e-02,2.5766e-03,-9.4295e-02,-1.9860e-04,1.3415e-03,-2.1516e-05,9.5950e-02,1.3563e-03
+30,3.2833e+00,UP_FORCE_RAMP,9.9623e-04,1.6046e-02,2.9300e-03,2.3510e+00,-3.7027e-02,3.8028e-02,-4.6202e-05,1.6840e-02,2.4435e-03,-1.0216e-01,-1.9593e-04,1.2957e-03,-1.8887e-05,1.0357e-01,1.3106e-03
+31,3.4000e+00,UP_FORCE_RAMP,1.0343e-03,1.6561e-02,3.9809e-03,2.3532e+00,-3.7106e-02,3.8061e-02,-4.3050e-05,1.7356e-02,3.4944e-03,-1.0001e-01,-2.7475e-04,1.3293e-03,-1.5735e-05,1.0156e-01,1.3575e-03
+32,3.5167e+00,UP_FORCE_RAMP,1.0684e-03,1.6673e-02,6.6516e-03,2.3565e+00,-3.7299e-02,3.8068e-02,-3.8746e-05,1.7467e-02,6.1651e-03,-9.6630e-02,-4.6842e-04,1.3355e-03,-1.1430e-05,9.8389e-02,1.4153e-03
+33,3.6333e+00,UP_FORCE_RAMP,1.1017e-03,1.8587e-02,7.6172e-03,2.3511e+00,-3.7376e-02,3.8197e-02,-3.5512e-05,1.9381e-02,7.1307e-03,-1.0211e-01,-5.4523e-04,1.4652e-03,-8.1967e-06,1.0418e-01,1.5634e-03
+34,3.7500e+00,UP_FORCE_RAMP,1.1342e-03,1.8046e-02,7.9018e-03,2.3534e+00,-3.7406e-02,3.8167e-02,-3.3114e-05,1.8840e-02,7.4153e-03,-9.9719e-02,-5.7519e-04,1.4350e-03,-5.7990e-06,1.0175e-01,1.5460e-03
+35,3.8833e+00,UP_FORCE_RAMP,1.1667e-03,1.8000e-02,8.1659e-03,2.3569e+00,-3.7434e-02,3.8161e-02,-3.0966e-05,1.8794e-02,7.6794e-03,-9.6318e-02,-6.0304e-04,1.4284e-03,-3.6513e-06,9.8434e-02,1.5505e-03
+36,4.0000e+00,UP_FORCE_RAMP,1.2001e-03,1.9209e-02,8.4584e-03,2.3591e+00,-3.7461e-02,3.8244e-02,-2.9414e-05,2.0004e-02,7.9719e-03,-9.4026e-02,-6.3071e-04,1.5115e-03,-2.0992e-06,9.6460e-02,1.6378e-03
+37,4.0833e+00,UP_FORCE_RAMP,1.2397e-03,1.9185e-02,8.5071e-03,2.3664e+00,-3.7468e-02,3.8238e-02,-2.8630e-05,1.9979e-02,8.0206e-03,-8.6815e-02,-6.3753e-04,1.5054e-03,-1.3147e-06,8.9445e-02,1.6348e-03
+38,4.1333e+00,UP_FORCE_RAMP,1.2704e-03,3.0472e-02,8.5419e-03,2.3693e+00,-3.7473e-02,3.9043e-02,-2.8228e-05,3.1266e-02,8.0554e-03,-8.3830e-02,-6.4241e-04,2.3109e-03,-9.1325e-07,8.9833e-02,2.3985e-03
+39,4.2333e+00,UP_FORCE_RAMP,1.2977e-03,2.9098e-02,8.5507e-03,2.3766e+00,-3.7477e-02,3.8939e-02,-2.7571e-05,2.9892e-02,8.0642e-03,-7.6540e-02,-6.4616e-04,2.2072e-03,-2.5615e-07,8.2565e-02,2.2999e-03
+40,4.3500e+00,UP_FORCE_RAMP,1.3297e-03,2.9954e-02,9.4238e-03,2.3757e+00,-3.7539e-02,3.8998e-02,-2.6389e-05,3.0748e-02,8.9373e-03,-7.7420e-02,-7.0842e-04,2.2662e-03,9.2564e-07,8.3780e-02,2.3744e-03
+41,4.4500e+00,UP_FORCE_RAMP,1.3685e-03,2.9145e-02,9.0240e-03,2.3722e+00,-3.7514e-02,3.8942e-02,-2.6068e-05,2.9939e-02,8.5375e-03,-8.0975e-02,-6.8308e-04,2.2102e-03,1.2466e-06,8.6753e-02,2.3133e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b4502598e3c2cfd9cabde067de41c2a43b1ea84
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+59,2.431667e+01,2838,6.989744e-01,2.219403e-02,8.151162e-01,2.485075e-04,-6.522806e-05,-4.935581e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2839,6.929266e-01,2.435435e-02,8.255329e-01,2.337541e-04,-5.280207e-05,-5.014128e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2840,7.006877e-01,2.425068e-02,8.364953e-01,2.441237e-04,-1.492132e-05,-4.980508e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2841,6.964543e-01,2.190889e-02,8.178950e-01,2.719472e-04,-5.601063e-05,-4.942830e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2842,6.934820e-01,2.296204e-02,8.243265e-01,2.431337e-04,-5.382871e-05,-4.994004e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2843,7.000047e-01,2.240560e-02,8.143971e-01,2.367899e-04,-7.091697e-05,-4.940674e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.431667e+01,2844,7.000117e-01,2.314745e-02,8.136931e-01,2.320882e-04,-8.207317e-05,-4.959460e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc27ae133e256892485fe345c53b305f548bc2c5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+32796,1791878445768865493,7485928000000,1791878445767043480,DOWN_FORCE_DETACH,5,0.0535,0.05350125953555107,0.6760232646355978,-0.0047390706670303925,0.09090955825039734,0.9999999822445831,0.00011428971423275566,-0.0001157339922981421,2.229803340887816e-05,0.6761,-0.0048,0.09097416091890276,1.0,0.0,0.0,0.0,-0.1691821907639428,-0.16453114257952495,0.10615433216959902,-0.012579647474777893,0.01136315971623967,-6.047776939149775e-05,-0.1014384260845782,-0.13743975078317652,0.4537454939338159,-0.016593306129253374,0.00731678526121836,-0.0024989147784808606,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.6770286383921781,-0.5237485641412787,0.48811394316644646,0.35185835136423094,-0.16099237486657364,-0.41939902943073076,0.5340987696236708,0.10615433216959902,0.04598482645722429,0.04598482645722429,0.08599999999999784,0,0,-4.162026294854548e-05,9.38275665759491e-05
+32932,1791878446902753794,7487062000000,1791878446895043448,DOWN_FORCE_DETACH,5,0.0535,0.053499288856983185,0.676021011465919,-0.004742838420639658,0.09085844890423278,0.9999999831586026,0.00010339071228473798,-0.00011800018919034005,2.262685932195745e-05,0.6761,-0.0048,0.09091941339104724,1.0,0.0,0.0,0.0,-0.15580401946840475,-0.17048818908706742,0.13662087205777845,-0.011539267472660104,0.010325038649353462,-8.83284125396378e-05,-0.08806025478904014,-0.143396797290719,0.48421203382199535,-0.015552926127135585,0.006278664194332151,-0.0025267654216290006,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.7321965065797292,-0.5229333065539102,0.45198482736454587,0.39663359206241156,-0.13542334091180439,-0.3951964566628293,0.5340987696236708,0.13662087205777845,0.08211394225912488,0.08211394225912488,0.17671999999999416,0,0,-5.2055293793566666e-05,-9.453744317789443e-05
+33043,1791878447827815340,7487987000000,1791878447827043425,DOWN_FORCE_DETACH,5,0.0535,0.053499288856983185,0.6760261295413744,-0.004740459900805646,0.0908184905378987,0.9999999845442331,9.718048601234971e-05,-0.00011100113932139618,2.4271346911916283e-05,0.6761,-0.0048,0.09086697490033076,1.0,0.0,0.0,0.0,-0.17279797916004036,-0.17055816199296006,0.16647631104450866,-0.012024816599444113,0.01032770463133131,-0.00012051941699469087,-0.10505421448067576,-0.14346677019661164,0.5140674728087256,-0.016038475253919594,0.00628133017631,-0.0025589564260840537,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.7738315933534012,-0.5667912466894395,0.4231797190686228,0.4155587368692407,-0.1109406662012923,-0.41946690794317343,0.5340987696236708,0.16647631104450866,0.11091905055504797,0.11091905055504797,0.2507199999999914,0,0,-6.449246435088896e-05,-9.999942126993062e-05
+33135,1791878448593833727,7488753000000,1791878448591043831,DOWN_FORCE_DETACH,5,0.0535,0.05350060388445854,0.676032518122151,-0.0047399264198749345,0.09077596314149704,0.9999999847125182,9.992383549857508e-05,-0.00010631962409148553,2.7003564928651285e-05,0.6761,-0.0048,0.0908152883149968,1.0,0.0,0.0,0.0,-0.17342347790420032,-0.1679844144726749,0.19949914515102363,-0.011578285363370699,0.011300367130841996,-0.00012676938247216168,-0.10567971322483573,-0.14089302267632647,0.5470903069152405,-0.015591944017846181,0.007253992675820685,-0.0025652063915615245,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8174353719511993,-0.7331249957224318,0.26889189084391923,0.4796907009200155,-0.001816930326498788,-0.5247047148684552,0.5340987696236708,0.19949914515102363,0.2652068787797515,0.2652068787797515,0.31200000000001016,0,0,-7.066154461968376e-05,9.990237389979057e-05
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+33355,1791878450427844348,7490587000000,1791878450427043279,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760423107031295,-0.004748363327701923,0.09065201630270865,0.999999987157484,9.152731442830312e-05,-8.774463247768457e-05,3.242724767436365e-05,0.6761,-0.0048,0.09066527286061117,1.0,0.0,0.0,0.0,-0.17561095364569496,-0.16426662439908007,0.3074960608835321,-0.011598160516340304,0.011301329278421653,-0.0002128974976320949,-0.10786718896633035,-0.13717523260273165,0.655087222647749,-0.015611819170815786,0.007254954823400342,-0.0026513345067214577,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8423444393874285,-0.5827414177287576,0.1614099127799513,0.43642765285166396,0.06400809184008013,-0.4281401980920362,0.5340987696236708,0.3074960608835321,0.37268885684371944,0.37268885684371944,0.4587200000000551,0,0,-8.464570052238584e-05,9.999999025923074e-05
+33474,1791878451418862637,7491578000000,1791878451415043422,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760457771718529,-0.004748894803130447,0.09057978089698032,0.9999999877035544,9.205412773706193e-05,-7.908310757642031e-05,3.616151451485113e-05,0.6761,-0.0048,0.09058411502907238,1.0,0.0,0.0,0.0,-0.17392019129184239,-0.1630192945476608,0.37739783858335796,-0.011611319650217482,0.011288258753247545,-0.0002693005555400689,-0.10617642661247777,-0.13592790275131236,0.7249890003475749,-0.015624978304692963,0.007241884298226235,-0.0027077375646294317,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8575374116676879,-0.6178413424881638,0.09559788305653577,0.45557113471640487,0.10652921149209578,-0.4489676271885228,0.5340987696236708,0.37739783858335796,0.438500886567135,0.438500886567135,0.538000000000053,0,0,-8.121769883431972e-05,1.8523474684172949e-06
+33595,1791878452427841669,7492587000000,1791878452427043967,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760510229491177,-0.004734109452156549,0.09051076450407503,0.9999999869241338,0.000105279866584822,-7.083984262898524e-05,3.8632407510007386e-05,0.6761,-0.0048,0.09050218127446447,1.0,0.0,0.0,0.0,-0.16526451094315098,-0.14598176333049906,0.4427788298353801,-0.010602026288902958,0.01125263796786477,-0.00030833801018049925,-0.09752074626378637,-0.11889037153415065,0.790369991599597,-0.01461568494337844,0.0072062635128434605,-0.002746775019269862,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.894336334382723,-0.6062452418165837,0.02748566668101597,0.4471211939651328,0.15873921797286733,-0.4453342311290805,0.5340987696236708,0.4427788298353801,0.5066131029426548,0.5066131029426548,0.6187200000000217,0,0,-8.129113930196852e-05,-8.123373781832583e-05
+33708,1791878453368762784,7493528000000,1791878453363043960,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760545584154798,-0.004732345569602062,0.09044177842950764,0.9999999875674142,0.00010378906762229946,-6.302491290186799e-05,3.954396930377671e-05,0.6761,-0.0048,0.09042476943270443,1.0,0.0,0.0,0.0,-0.1659483024726545,-0.14174936202117466,0.4986251466922562,-0.00959237089135332,0.011220903835923945,-0.00034324368162926477,-0.09820453779328989,-0.11465797022482624,0.8462163084564731,-0.013606029545828801,0.007174529380902635,-0.0027816806907186276,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8853029196323793,-0.4304588592560559,-0.018193698877471923,0.4063054799490982,0.18303771146635786,-0.3250290297453864,0.5340987696236708,0.4986251466922562,0.5522924685011427,0.5522924685011427,0.6939999999999925,0,0,-8.375058311724105e-05,-9.186284652263339e-05
+33826,1791878454352849447,7494512000000,1791878454351043164,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760585380362728,-0.004730556904889511,0.09036560033024536,0.9999999877517967,0.00010339175194254543,-5.743968665391613e-05,4.415992457019497e-05,0.6761,-0.0048,0.09034127695423726,1.0,0.0,0.0,0.0,-0.17469852792118656,-0.13918547358986458,0.5688390998713105,-0.009605723555876924,0.011206071362994497,-0.0004011003890904445,-0.10695476324182197,-0.11209408179351615,0.9164302616355274,-0.013619382210352405,0.007159696907973187,-0.0028395373981798073,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9023613932781002,-0.5685983655312218,-0.14604344748270567,0.45275763128485236,0.2661388106057144,-0.4128820043310252,0.5340987696236708,0.5688390998713105,0.6801422171063765,0.6801422171063765,0.772719999999962,0,0,-8.466516146912883e-05,9.990707846985742e-05
+33938,1791878455285842624,7495445000000,1791878455283043491,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760665322786827,-0.004733622819928596,0.09030351769371937,0.9999999885820797,0.0001012240698593637,-4.360516736030926e-05,4.61625603169877e-05,0.6761,-0.0048,0.09026272428349996,1.0,0.0,0.0,0.0,-0.1753264265090529,-0.14700020838233535,0.6290278604708126,-0.00961771217098814,0.011193419500570147,-0.00044970895143679876,-0.10758266182968829,-0.11990881658598694,0.9766190222350295,-0.013631370825463623,0.007147045045548837,-0.0028881459605261616,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9121436517610981,-0.5266980516464481,-0.1633240683173655,0.43939851214194775,0.2792978029280654,-0.38881578217431645,0.5340987696236708,0.6290278604708126,0.6974228379410363,0.6974228379410363,0.8473599999999331,0,0,-8.261644672133273e-05,-9.742174708471935e-05
+34053,1791878456243761576,7496403000000,1791878456239043528,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760710148171837,-0.004738709615366684,0.09023173711001223,0.9999999885138209,0.00010193066321034212,-3.9868159015600375e-05,4.9354758690314155e-05,0.6761,-0.0048,0.09018432033454495,1.0,0.0,0.0,0.0,-0.1756527556264431,-0.14024769338859921,0.6971048870322034,-0.009632210654502808,0.011178532367730051,-0.00030698871349098093,-0.1079089909470785,-0.1131563015922508,1.0446960487964203,-0.013645869308978289,0.007132157912708741,-0.0027454257225803438,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9966286648679792,-0.5407191498188834,-0.28865877123718053,0.4518053946497702,0.38091975450389187,-0.39877773194368815,0.5340987696236708,0.6971048870322034,0.8227575408608513,0.8227575408608513,0.9239999999999033,0,0,-8.056812529661432e-05,-4.301434491185176e-06
+34165,1791878457177813328,7497337000000,1791878457175034182,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760742069966958,-0.004741413212361934,0.09016219598847841,0.9999999890068259,9.848692218634432e-05,-3.421062926077963e-05,5.058825253304582e-05,0.6761,-0.0048,0.09010732748243074,1.0,0.0,0.0,0.0,-0.1759867105955531,-0.1425311234508133,0.759073642970127,-0.009672751229345973,0.012176324053037008,-0.00016326122647485454,-0.10824294591618851,-0.11543973165446489,1.106664804734344,-0.013686409883821455,0.008129949598015699,-0.0026016982355642174,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9290293800350609,-0.5692938119454555,-0.2505885502319977,0.46539249541259575,0.3369385549616854,-0.4142598039635497,0.5340987696236708,0.759073642970127,0.7846873198556685,0.7846873198556685,0.9987199999998744,0,0,-8.455612024035742e-05,-9.999933800320377e-05
+34261,1791878457977825436,7498137000000,1791878457975043816,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6760790375254261,-0.004744965261376744,0.0901031617175106,0.9999999894239735,9.579623933729087e-05,-2.798559630261606e-05,5.1330343300667e-05,0.6761,-0.0048,0.09004040422927022,1.0,0.0,0.0,0.0,-0.17644963887368365,-0.1399223234095749,0.8141532691862674,-0.00920820727792003,0.012152101383828173,0.0004489483045039119,-0.10870587419431903,-0.11283093161322647,1.1617444309504843,-0.013221865932395513,0.008105726928806862,-0.001989488704585451,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.03402133376345,-0.5220280888475367,-0.5966143104043725,0.4555053579315608,0.5845856533217678,-0.3820771770559921,0.5340987696236708,0.8141532691862674,1.1307130800280434,1.1307130800280434,1.0627199999999366,0,0,-8.38311164138864e-05,9.999999025923074e-05
+34389,1791878459043840733,7499203000000,1791878459043043732,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6760871250243552,-0.00473896190428303,0.09002264549733739,0.999999989605467,9.66621682497372e-05,-1.4821477202518055e-05,5.165926130750544e-05,0.6761,-0.0048,0.08994773021640814,1.0,0.0,0.0,0.0,-0.18607990454204737,-0.13560777320943074,0.8805763765888173,-0.008681214496444316,0.012145615638254111,0.00039077944248477187,-0.11833613986268275,-0.10851638141308233,1.2281675383530342,-0.012694873150919796,0.008099241183232802,-0.002047657566604591,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0237569006076668,-0.6188229282176081,-0.5083426428090727,0.49307126575732163,0.5235936733788537,-0.4416600280096408,0.5340987696236708,0.8805763765888173,1.0424414124327435,1.0424414124327435,1.148000000000022,0,0,-8.965345461951935e-05,5.2591763289864716e-05
+34492,1791878459902800027,7500062000000,1791878459899043370,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.676093094113957,-0.004739431724165725,0.08995524878180451,0.9999999893769921,9.943040018156363e-05,-7.704644208902461e-06,5.237474620888315e-05,0.6761,-0.0048,0.08987037395001986,1.0,0.0,0.0,0.0,-0.19540166828693184,-0.13311808455022828,0.9315167505581445,-0.008717640744834491,0.013129994337438413,0.00037406165812251067,-0.12765790360756724,-0.10602669275387987,1.2791079123223614,-0.012731299399309974,0.009083619882417102,-0.002064375350966852,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0441901986356146,-0.5606435319630008,-0.6236883158350884,0.4838744691967002,0.6004542100450815,-0.4030952848444804,0.5340987696236708,0.9315167505581445,1.157787085458759,1.157787085458759,1.2167200000000906,0,0,-9.13437990842939e-05,9.755740246054074e-05
+34604,1791878460835812280,7500995000000,1791878460835045836,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761003145664849,-0.004744322869929772,0.08988398432756702,0.9999999905104092,8.943363625184912e-05,5.15332589250911e-06,4.896032887365546e-05,0.6761,-0.0048,0.08978291255003809,1.0,0.0,0.0,0.0,-0.19546989056536856,-0.13135845023510787,1.0009425170434514,-0.00873043039528934,0.013114994246534933,0.00031755323022505076,-0.12772612588600396,-0.10426705843875946,1.3485336788076683,-0.012744089049764823,0.009068619791513624,-0.002120883778864312,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0348549350256586,-0.5963139930618746,-0.7205068640291077,0.4922761860213163,0.6608913424778712,-0.4282054944423688,0.5340987696236708,1.0009425170434514,1.2546056336527784,1.2546056336527784,1.2913600000001653,0,0,-9.533503700778911e-05,9.995116820172285e-05
+34684,1791878461502800018,7501662000000,1791878461499043811,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761084321093106,-0.00474492163891185,0.08983113753827164,0.9999999904917108,8.880967412398042e-05,1.6760305809224097e-05,4.786832585816867e-05,0.6761,-0.0048,0.08972100521804334,1.0,0.0,0.0,0.0,-0.1959174971392666,-0.12993368384894297,1.0411895364396626,-0.00873802191041979,0.013106294877220218,0.0002849886726314075,-0.128173732459902,-0.10284229205259456,1.3887806982038795,-0.012751680564895273,0.009059920422198909,-0.0021534483364579553,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0656962088487663,-0.6154938267439352,-0.6662929312688919,0.5073001234249837,0.6308222829752588,-0.4409293907361402,0.5340987696236708,1.0411895364396626,1.2003917008925626,1.2003917008925626,1.3447200000002186,0,0,-9.272392479805903e-05,-8.643392532115541e-05
+34784,1791878462335844146,7502495000000,1791878462335043508,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761101971272419,-0.004743592434846138,0.0897626434904124,0.9999999905636485,8.827561015213526e-05,1.9806698356799706e-05,4.6159274539913985e-05,0.6761,-0.0048,0.0896437687647699,1.0,0.0,0.0,0.0,-0.19646971876114358,-0.12715919329825348,1.107601192627989,-0.00877369800443805,0.013783720257487735,0.00024378070106737156,-0.12872595408177898,-0.10006780150190507,1.4551923543922058,-0.012787356658913533,0.009737345802466425,-0.0021946563080219913,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.06858214839595,-0.5863901578307967,-0.7518368440667179,0.5074164446182173,0.6837794046548097,-0.416601864755599,0.5340987696236708,1.107601192627989,1.2859356136903886,1.2859356136903886,1.4113600000002853,0,0,-9.12746073357312e-05,-9.156466375945626e-05
+34876,1791878463102842745,7503262000000,1791878463099043818,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761122625040665,-0.0047462767734631345,0.08969624123774868,0.9999999894399242,9.829379441238318e-05,2.3745595279412366e-05,4.834762383307293e-05,0.6761,-0.0048,0.08957127536449613,1.0,0.0,0.0,0.0,-0.20566810822419146,-0.12555029270332,1.1614110830313713,-0.008787733164641525,0.014093290083894445,0.00020239716454295608,-0.13792434354482686,-0.09845890090697158,1.5090022447955882,-0.012801391819117007,0.010046915628873136,-0.0022360398445464068,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0759564652996676,-0.6019157474610174,-0.8248456582005034,0.5138987869543824,0.7324198006753908,-0.42605701005745894,0.5340987696236708,1.1614110830313713,1.358944427824174,1.358944427824174,1.4727200000003466,0,0,-9.358615391388968e-05,1.1388705282949732e-05
+34984,1791878464002778205,7504162000000,1791878463995043443,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761188918804255,-0.004748739225029799,0.08962215202258504,0.999999988985665,9.812073449794371e-05,3.4482883249360775e-05,5.152461884535489e-05,0.6761,-0.0048,0.08948796225928383,1.0,0.0,0.0,0.0,-0.2116778669847161,-0.13339773213363212,1.2215741273489094,-0.008800154833579748,0.014081120818176356,0.00015305112026125015,-0.1439341023053515,-0.1063063403372837,1.5691652891131262,-0.012813813488055228,0.010034746363155047,-0.0022853858888281127,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0442918674460284,-0.6427452645062086,-0.8939305296627056,0.5317208185322578,0.7666559307820244,-0.4516029183737856,0.5340987696236708,1.2215741273489094,1.4280292992863763,1.4280292992863763,1.5447200000004186,0,0,-9.20411147811777e-05,-1.3246927172284439e-05
+35099,1791878464960816954,7505120000000,1791878464959043382,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761229638369135,-0.004754380254018635,0.08954489454083678,0.9999999882327504,0.00010062959201392626,4.043130730442733e-05,5.671294404053506e-05,0.6761,-0.0048,0.08939857434800891,1.0,0.0,0.0,0.0,-0.2059549611200882,-0.13124089830712532,1.2817927505814244,-0.008811415678382048,0.014067848385611644,0.0001051038009294192,-0.1382111964407236,-0.1041495065107769,1.6293839123456413,-0.01282507433285753,0.010021473930590335,-0.0023333332081599436,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1820952861014469,-0.6693523110246897,-1.056870258671816,0.5406308122535158,0.9102187765455451,-0.4685583057178241,0.5340987696236708,1.2817927505814244,1.5909690282954867,1.5909690282954867,1.6213600000004953,0,0,-9.473054649458833e-05,9.980468815141136e-05
+35211,1791878465893817636,7506053000000,1791878465887043755,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761281096225173,-0.004757779384003825,0.08946334775784894,0.9999999879943559,9.721608763690085e-05,4.96957700846667e-05,5.9443377613301515e-05,0.6761,-0.0048,0.08930989792857595,1.0,0.0,0.0,0.0,-0.21195069364367355,-0.12849085035951474,1.3566860267439629,-0.008852835123300824,0.015064843414409529,5.9586031498999516e-05,-0.14420692896430895,-0.10139945856316633,1.7042771885081798,-0.012866493777776307,0.011018468959388218,-0.0023788509775903633,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1607328787145914,-0.7395146483208722,-1.0732097575447133,0.56710071051792,0.9120359730491835,-0.5181831571465593,0.5340987696236708,1.3566860267439629,1.607308527168384,1.607308527168384,1.69600000000057,0,0,-9.244498313101956e-05,9.999999025923074e-05
+35331,1791878466893747534,7507053000000,1791878466887035419,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761359244969483,-0.0047571285367480915,0.08938385590454534,0.9999999885430998,8.859094660869158e-05,6.28617066039897e-05,5.056396603233965e-05,0.6761,-0.0048,0.08921509606738742,1.0,0.0,0.0,0.0,-0.21596325556215218,-0.12519930503408225,1.4170363911147574,-0.008460333630824077,0.015044094557379328,1.4216686712123852e-05,-0.14821949088278757,-0.09810791323773382,1.7646275528789743,-0.012473992285299558,0.010997720102358019,-0.002424220322377239,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1600245120857215,-0.5614469150284156,-1.1485308273200245,0.5296102596314322,0.9589926207165,-0.3968086532629725,0.5340987696236708,1.4170363911147574,1.6826295969436953,1.6826295969436953,1.77600000000065,0,0,-9.66165492652119e-05,9.684366783358484e-05
+35446,1791878467852800748,7508012000000,1791878467851044058,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761409030991716,-0.004756282920992261,0.08929625470674561,0.9999999877980823,9.04752752646309e-05,7.21504556407724e-05,4.9550338201458285e-05,0.6761,-0.0048,0.08912145761053329,1.0,0.0,0.0,0.0,-0.22013563964344776,-0.13082609250774507,1.4927605088930989,-0.007859352889552137,0.015017287197863709,-3.9931139333710796e-05,-0.15239187496408316,-0.10373470071139665,1.8403516706573158,-0.011873011544027619,0.010970912742842398,-0.0024783681484230736,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1356896972961774,-0.5648544411500771,-1.1074266209700225,0.528576738588057,0.9236683497063032,-0.40254389418855835,0.5340987696236708,1.4927605088930989,1.6415253905936933,1.6415253905936933,1.8527200000007267,0,0,-9.809470989249747e-05,-9.985066526241865e-05
+35554,1791878468752807106,7508912000000,1791878468747043789,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761471686572507,-0.00476379208738694,0.08922019055799611,0.9999999873266288,8.60765286029321e-05,7.969684667555606e-05,5.503499472248283e-05,0.6761,-0.0048,0.08903423946659977,1.0,0.0,0.0,0.0,-0.2258462685198759,-0.11962762410108872,1.5507192522582929,-0.007895954020131438,0.015968162920623342,-7.374148342604095e-05,-0.1581025038405113,-0.09253623230474031,1.8983104140225098,-0.01190961267460692,0.011921788465602032,-0.002512178492515404,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.191858066478154,-0.6658696288415161,-1.2090676248910874,0.5619464464181066,1.0045698987979228,-0.4664176847350399,0.5340987696236708,1.5507192522582929,1.7431663945147582,1.7431663945147582,1.9247200000007987,0,0,-9.720115718844647e-05,-9.968050970610704e-05
+35662,1791878469652846833,7509812000000,1791878469651043867,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761489606952322,-0.004764759694376507,0.08912877682904673,0.9999999870906368,8.527294168316484e-05,8.064522913260868e-05,5.904627939866339e-05,0.6761,-0.0048,0.08894320571025909,1.0,0.0,0.0,0.0,-0.22625788551107542,-0.12613558020590482,1.6218028321467022,-0.007910770527578378,0.016002149124609188,-0.00012911211905381696,-0.15851412083171082,-0.0990441884095564,1.969393993910919,-0.011924429182053858,0.011955774669587877,-0.00256754912814318,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.198864739719568,-0.6490902795703608,-1.3548839944143243,0.566847105242749,1.0946611579880277,-0.45505409274021325,0.5340987696236708,1.6218028321467022,1.888982764037995,1.888982764037995,1.9967200000008707,0,0,-0.00010072740647540523,5.34788283365117e-05
+35774,1791878470585735249,7510745000000,1791878470579043633,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761553642329905,-0.004767774399804568,0.08904237979328404,0.9999999865462492,7.933390748566879e-05,9.013953939787382e-05,6.270056000205728e-05,0.6761,-0.0048,0.08885010443949086,1.0,0.0,0.0,0.0,-0.22641349549831602,-0.13394157933638098,1.6833190614212745,-0.007925714634957726,0.015989898797338354,-0.000178835724395361,-0.15866973081895142,-0.10685018754003256,2.0309102231854914,-0.011939373289433206,0.011943524342317045,-0.002617272733484724,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.169930735778254,-0.6065096737534061,-1.415866809298044,0.5618043124640337,1.1235592435398085,-0.42630966058365527,0.5340987696236708,1.6833190614212745,1.9499655789217147,1.9499655789217147,2.0713600000009453,0,0,-9.900495393387292e-05,1.9085020914024674e-05
+35881,1791878471477736683,7511637000000,1791878471471043664,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761591403933116,-0.004769425346567661,0.0889640683822722,0.9999999857209536,8.140540850854115e-05,9.58992559643409e-05,6.463318829772418e-05,0.6761,-0.0048,0.08876031642224937,1.0,0.0,0.0,0.0,-0.23088579242005985,-0.1321648931401406,1.7397198332840487,-0.007937508102037572,0.015975499925754966,-0.0002245464553301802,-0.16314202774069525,-0.10507350134379217,2.0873109950482656,-0.011951166756513053,0.011929125470733657,-0.002662983464419543,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.207781159165592,-0.6950229332602211,-1.4672061723596255,0.5921217619693254,1.1638465870834696,-0.4827226605992175,0.5340987696236708,1.7397198332840487,2.001304941983296,2.001304941983296,2.1427200000010167,0,0,-0.00010110880970945336,-9.915925999604553e-05
+35985,1791878472343730277,7512503000000,1791878472343043653,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761675243481854,-0.004763765174261837,0.08889048858967184,0.9999999818311618,0.00010801048457093933,0.00010970434042817606,6.38688765895596e-05,0.6761,-0.0048,0.08866995984125291,1.0,0.0,0.0,0.0,-0.2267198950119292,-0.13957846707364133,1.793923478217882,-0.007954334918552259,0.015961063277907975,0.0007536243313908955,-0.1589761303325646,-0.11248707527729292,2.141514639982099,-0.011967993573027741,0.011914688822886665,-0.0016848126776984674,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1167419726179426,-0.6182552561089684,-1.4873734970013797,0.5805736813919273,1.1506942690286075,-0.4254300219515165,0.5340987696236708,1.793923478217882,2.02147226662505,2.02147226662505,2.212000000001086,0,0,-0.0001098835043747678,-9.999999025923074e-05
+36085,1791878473177838768,7513337000000,1791878473175043382,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.676163601700008,-0.004771604222431091,0.088787177112278,0.9999999795648729,0.00013221134512900206,0.00010023121699539813,6.918801660152288e-05,0.6761,-0.0048,0.08857885692768785,1.0,0.0,0.0,0.0,-0.2290528742812557,-0.13757787717891864,1.8639388030930777,-0.007976450108212303,0.015950624415098202,-8.768356706756464e-05,-0.1613091096018911,-0.11048648538257023,2.2115299648572946,-0.011990108762687786,0.011904249960076893,-0.0025261205761569275,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2106487236266112,-0.6115537103381405,-1.6640229568866236,0.5830235818023746,1.2863102927734822,-0.4223495354033603,0.5340987696236708,1.8639388030930777,2.198121726510294,2.198121726510294,2.2787200000011527,0,0,-0.00010978384249318995,9.992681268412013e-05
+36193,1791878474077834950,7514237000000,1791878474075043602,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761716116729349,-0.0047720431138390425,0.08870375022215027,0.999999978518207,0.00012829838930009736,0.00011405033913228503,7.027441496720029e-05,0.6761,-0.0048,0.0884782506291901,1.0,0.0,0.0,0.0,-0.23639704753493274,-0.12752946461702727,1.9144592316829436,-0.008003056754806198,0.016947559969828448,0.0006761845118906792,-0.16865328285556813,-0.10043807282067885,2.2620503934471605,-0.01201671540928168,0.012901185514807137,-0.0017622524971986837,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1647956809273416,-0.6882209931627756,-1.6527124425464526,0.6104673054223353,1.2595296366989948,-0.47623212067745574,0.5340987696236708,1.9144592316829436,2.1868112121701233,2.1868112121701233,2.3507200000012247,0,0,-0.00011440534526260671,-9.999999025923074e-05
+36304,1791878475002785539,7515162000000,1791878474995043153,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761770640039396,-0.00477356438038051,0.08860846121868537,0.9999999786443096,0.00012079639147974775,0.00012009115223994266,7.169791929415484e-05,0.6761,-0.0048,0.0883736460583131,1.0,0.0,0.0,0.0,-0.23059890135315977,-0.12520210375434807,1.9744962727234434,-0.008012474471874895,0.016936469000450798,0.0004902814340522576,-0.16285513667379517,-0.09811071195799966,2.3220874344876603,-0.012026133126350376,0.012890094545429488,-0.0019481555750371052,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1706092894918048,-0.6817937291236101,-1.761017411488464,0.6121104978358023,1.326271930537502,-0.4727521601421256,0.5340987696236708,1.9744962727234434,2.295116181112135,2.295116181112135,2.4247200000012987,0,0,-0.00011411967585220483,5.7309194915983144e-05
+36408,1791878475868840179,7516028000000,1791878475867043605,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6761800692780271,-0.0047728852627908006,0.08851793684112362,0.9999999783911345,0.00011731056862336992,0.0001247282646990248,7.308683464800805e-05,0.6761,-0.0048,0.08827459356201545,1.0,0.0,0.0,0.0,-0.23307289255539004,-0.1306183587259474,2.0348270773512596,-0.008026362644553035,0.016921868594519295,0.0005789444327761871,-0.16532912787602544,-0.10352696692959898,2.3824182391154762,-0.012040021299028515,0.012875494139497984,-0.0018594925763131757,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1996667008854567,-0.674585493201584,-1.8226608919266198,0.6159411352586277,1.370012875555668,-0.4676066328813352,0.5340987696236708,2.0348270773512596,2.3567596615502904,2.3567596615502904,2.494000000001368,0,0,-0.00011503705113602276,5.297757954707719e-05
+36512,1791878476735825820,7516895000000,1791878476735043636,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.676185705920466,-0.0047737923250241775,0.08842672566483331,0.9999999779436012,0.00011244814793294938,0.0001332496228319194,7.180260130046358e-05,0.6761,-0.0048,0.0881741367875124,1.0,0.0,0.0,0.0,-0.23388622177658333,-0.1275001983154644,2.0853598155970117,-0.007241634723915557,0.01689364806565481,0.0005403113611211537,-0.16614245709721873,-0.10040880651911599,2.432950977361229,-0.011255293378391039,0.0128472736106335,-0.0018981256479682091,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1811607059145386,-0.6710883599145803,-1.8472265403528256,0.6309553901572605,1.3754697292948594,-0.46250190399709307,0.5340987696236708,2.0853598155970117,2.3813253099764964,2.3813253099764964,2.5633600000014374,0,0,-0.00011729603660168143,-9.999999025923074e-05
+36612,1791878477568781618,7517728000000,1791878477567043975,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761916769967343,-0.004779437631244633,0.08833399038857692,0.9999999768202716,0.00010839793506252929,0.0001423649140385905,7.605550242364543e-05,0.6761,-0.0048,0.08807564180559582,1.0,0.0,0.0,0.0,-0.23136895847893127,-0.1258172474343081,2.135527682852649,-0.007161414587330971,0.01688351673049631,0.0005084335032853411,-0.16362519379956666,-0.09872585563795969,2.4831188446168655,-0.011175073241806452,0.012837142275475001,-0.0019300035058040217,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2251758223523883,-0.6267899383854186,-1.9435492887449726,0.6198873581320983,1.4458409453250336,-0.43560555150144764,0.5340987696236708,2.135527682852649,2.4776480583686435,2.4776480583686435,2.630000000001504,0,0,-0.0001199640390683677,-1.9368830686067534e-05
+36708,1791878478368828387,7518528000000,1791878478363043389,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761938486222789,-0.0047711800913354165,0.08824676589960392,0.9999999755734009,0.00011404787444932685,0.0001465046352955349,7.632519966582576e-05,0.6761,-0.0048,0.08798057439440271,1.0,0.0,0.0,0.0,-0.2303914876124876,-0.12728219101169805,2.1857416232809257,-0.007034959756441525,0.01687023569138768,0.0004692651103226225,-0.162647722933123,-0.10019079921534962,2.5333327850451424,-0.011048618410917007,0.01282386123636637,-0.0019691718987667403,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2162475398613704,-0.6741183009372886,-1.9665997307553695,0.6390257990404682,1.4518017079694483,-0.46728771522138596,0.5340987696236708,2.1857416232809257,2.5006985003790403,2.5006985003790403,2.694000000001568,0,0,-0.00012163708485865422,-9.999999025923074e-05
+36800,1791878479135727436,7519295000000,1791878479135043558,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6761959801904841,-0.004775215488041082,0.08815773262148623,0.9999999756213706,0.00010882179794125653,0.00014961890883673503,7.727949986278317e-05,0.6761,-0.0048,0.08788777642015447,1.0,0.0,0.0,0.0,-0.2374105572067627,-0.132156738750154,2.2270309551106324,-0.007043384339667751,0.016862003336252384,0.00043546609536020825,-0.1696667925273981,-0.10506534695380557,2.5746221168748495,-0.011057042994143233,0.012815628881231073,-0.0020029709137291546,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2535406229766006,-0.664629510837613,-2.03865344196478,0.6505236116019691,1.5025668065579978,-0.4577009402821374,0.5340987696236708,2.2270309551106324,2.5727522115884507,2.5727522115884507,2.7553600000016294,0,0,-0.0001196559652014414,-9.720188129248015e-05
+36892,1791878479902821780,7520062000000,1791878479895043678,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762020588308593,-0.004773716568550359,0.0880715812592541,0.9999999740019015,0.00011296912667180097,0.0001562491450003156,7.914064424574641e-05,0.6761,-0.0048,0.08779436989969987,1.0,0.0,0.0,0.0,-0.23392036207376182,-0.13351596448392117,2.2760056452092297,-0.007053911861144923,0.016850624370639312,0.00039629930892454927,-0.16617659739439722,-0.10642457268757274,2.6235968069734463,-0.011067570515620405,0.012804249915618003,-0.0020421377001648136,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2302670419604493,-0.5544044329122538,-2.0127623145004985,0.6253442171208049,1.4756251103239342,-0.3886536608215961,0.5340987696236708,2.2760056452092297,2.5468610841241692,2.5468610841241692,2.8167200000016908,0,0,-0.0001243780054047391,-9.999997638144293e-05
+36999,1791878480793792966,7520953000000,1791878480787043110,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762019817287297,-0.004779800209222563,0.08796424677695633,0.9999999746337473,0.0001042400195013803,0.0001577046017977368,8.024117450561263e-05,0.6761,-0.0048,0.08768290212995021,1.0,0.0,0.0,0.0,-0.23751481830355578,-0.13173272156199567,2.326174882293894,-0.00706238478111438,0.016840631372654416,0.00035494204300513896,-0.16977105362419118,-0.10464132976564725,2.6737660440581106,-0.011076043435589862,0.012794256917633107,-0.002083494966084224,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.210680017179467,-0.603470377061325,-2.1728781789424825,0.6481329657513736,1.5690530590774152,-0.41929386814698427,0.5340987696236708,2.326174882293894,2.7069769485661532,2.7069769485661532,2.888000000001762,0,0,-0.00012933104974052612,-9.856541557796134e-05
+37087,1791878481527777208,7521687000000,1791878481527043166,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762021233657952,-0.004782354001754774,0.0878693991200894,0.9999999748063301,0.00010210635100356945,0.00015766712913609378,8.090471657497644e-05,0.6761,-0.0048,0.08758541473825969,1.0,0.0,0.0,0.0,-0.23798468316700921,-0.1274702195110483,2.3663284566846094,-0.007069372911966695,0.016831913179596165,0.0003228947005292377,-0.1702409184876446,-0.10037882771469989,2.713919618448826,-0.011083031566442176,0.012785538724574856,-0.002115542308560125,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2082510587558097,-0.642048579436178,-2.2545083825801076,0.669982689821574,1.6150748012577758,-0.4420896509126464,0.5340987696236708,2.3663284566846094,2.7886071522037783,2.7886071522037783,2.9467200000018208,0,0,-0.00013622488251732878,9.708833323263661e-05
+37183,1791878482327826514,7522487000000,1791878482327043298,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762096216998177,-0.0047778367044202805,0.0877747454772079,0.9999999728528979,0.00010537209125892521,0.00016887610741677305,7.819623217850011e-05,0.6761,-0.0048,0.0874749878967289,1.0,0.0,0.0,0.0,-0.23803588646514343,-0.13524461132524807,2.406430967467738,-0.0070780894802644516,0.016823606532212165,0.0002900399064099655,-0.17029212178577882,-0.10815321952889966,2.754022129231955,-0.011091748134739933,0.012777232077190854,-0.0021483971026793973,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2340575373310398,-0.6619055947900296,-2.306800210149301,0.67850552621251,1.6505665989384792,-0.45532225279824023,0.5340987696236708,2.406430967467738,2.840898979772972,2.840898979772972,3.0107200000018848,0,0,-0.00013980010542588702,3.9831204472289244e-05
+37267,1791878483027793077,7523187000000,1791878483027043064,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762123456302834,-0.004774907228420433,0.08767921080227285,0.9999999722607225,0.00010672133294526337,0.00017166390783947155,7.78683411612445e-05,0.6761,-0.0048,0.08737524242144216,1.0,0.0,0.0,0.0,-0.23280338736425155,-0.12458224052955168,2.456575416361332,-0.0071077555951892515,0.01760096401682405,0.0002619809579890724,-0.16505962268488694,-0.09749084873320327,2.804166578125549,-0.011121414249664733,0.01355458956180274,-0.0021764560511002905,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.27213538933715,-0.6901601154144182,-2.347683900966545,0.6972974465155356,1.6811301855268928,-0.4750334867664141,0.5340987696236708,2.456575416361332,2.8817826705902156,2.8817826705902156,3.066720000001941,0,0,-0.0001421754914452108,-5.0565186786261054e-05
+37354,1791878483752825445,7523912000000,1791878483751043308,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762122168124388,-0.004777266843141453,0.087578546198309,0.9999999714740495,0.00010818704346433474,0.0001742410107994323,8.01897639806388e-05,0.6761,-0.0048,0.0872685922639772,1.0,0.0,0.0,0.0,-0.23041726801771414,-0.12654801583621308,2.4866868157475546,-0.007109725357727839,0.017417025490141628,0.00023242318168635156,-0.16267350333834954,-0.09945662403986466,2.8342779775117717,-0.01112338401220332,0.013370651035120317,-0.0022060138274030113,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.254666724115043,-0.7094455978866911,-2.337749888564195,0.710722221343697,1.6692049295973213,-0.48639334245729493,0.5340987696236708,2.4866868157475546,2.871848658187866,2.871848658187866,3.124720000001999,0,0,-0.0001500521834660581,-9.96701291208268e-05
+37438,1791878484452740064,7524612000000,1791878484451033900,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762170554819638,-0.0047798742022001775,0.08748214567343264,0.9999999702322857,0.00011022437531295572,0.00017878173215235392,8.286115759461687e-05,0.6761,-0.0048,0.08715954651871685,1.0,0.0,0.0,0.0,-0.22911276289521512,-0.1230984527962758,2.516845510098216,-0.0071000334138010416,0.016843207958738404,0.00020265143349449538,-0.16136899821585052,-0.0960070609999274,2.8644366718624332,-0.011113692068276523,0.012796833503717093,-0.0022357855755948675,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3217933932388592,-0.622577004235642,-2.3763859129008145,0.6888532377715952,1.708349381996987,-0.4303196115768272,0.5340987696236708,2.516845510098216,2.9104846825244852,2.9104846825244852,3.180720000002055,0,0,-0.00016008721624302525,-9.999917146975008e-05
+37514,1791878485085820347,7525245000000,1791878485083034078,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762235189348718,-0.004776305300433582,0.08738464535296807,0.9999999665966594,0.00011691184832522202,0.00019247537611953193,8.68008855789963e-05,0.6761,-0.0048,0.08705504967254654,1.0,0.0,0.0,0.0,-0.23264961383266833,-0.12653730850302436,2.5567953874902507,-0.0071332087052034055,0.017803627859521096,0.00018489821684415002,-0.16490584915330372,-0.09944591670667594,2.904386549254468,-0.011146867359678887,0.013757253404499787,-0.002253538792245213,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2452886091192852,-0.6622291475030272,-2.428801056574387,0.7027554871373777,1.7159956266803194,-0.45481069074879965,0.5340987696236708,2.5567953874902507,2.9628998261980577,2.9628998261980577,3.2313600000021054,0,0,-0.000170579267706776,-9.926246910397225e-05
+37594,1791878485752730005,7525912000000,1791878485747043563,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762232669123007,-0.004780866974043973,0.08727250296433532,0.9999999667172232,0.00011540286713257492,0.00019286495378246547,8.656618741619146e-05,0.6761,-0.0048,0.08693762865033888,1.0,0.0,0.0,0.0,-0.22950926424679338,-0.12910677546866656,2.5869998652915482,-0.007139381838225435,0.01779727421999452,0.00016091756022687705,-0.16176549956742878,-0.10201538367231815,2.9345910270557654,-0.011153040492700916,0.013750899764973212,-0.002277519448862486,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2297602860002426,-0.703283541642195,-2.4878876052653327,0.7255886025866443,1.7487080925068603,-0.48318844123126053,0.5340987696236708,2.5869998652915482,3.0219863748890035,3.0219863748890035,3.284720000002159,0,0,-0.00018119104130551034,-9.995476254876507e-05
+37678,1791878486452818604,7526612000000,1791878486447043996,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762327017174893,-0.004782327115279428,0.08715441543866867,0.9999999637519676,0.00011442728294172427,0.00020723473855441157,8.887681271106107e-05,0.6761,-0.0048,0.08680790466890478,1.0,0.0,0.0,0.0,-0.22957363417382246,-0.12805178749394275,2.6163542233876695,-0.0071447854729757175,0.017790875674643013,0.00013721800118445806,-0.16182986949445785,-0.10096039569759434,2.963945385151886,-0.011158444127451199,0.013744501219621704,-0.0023012190079049048,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3057864788110725,-0.6550467168624965,-2.6092783611614503,0.7293774561288641,1.8463673759647572,-0.44852819376431186,0.5340987696236708,2.6163542233876695,3.143377130785121,3.143377130785121,3.340720000002215,0,0,-0.00019312709801236482,7.500000206850927e-05
+37750,1791878487052711070,7527212000000,1791878487047043554,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762354019129491,-0.004787384540529477,0.0870404077797668,0.9999999643074973,0.00010102862400804438,0.00021155164124080525,8.869604704372618e-05,0.6761,-0.0048,0.08668828835876279,1.0,0.0,0.0,0.0,-0.22964141814782368,-0.12690380383618763,2.6472060772421893,-0.007150486689598446,0.01778412014841909,0.00011226663082340238,-0.16189765346845908,-0.0998124120398392,2.9947972390064064,-0.011164145344073928,0.013737745693397781,-0.0023261703782659605,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2602584212829377,-0.663554289062781,-2.5994807025251214,0.7376427426389562,1.823613602569462,-0.455874197186349,0.5340987696236708,2.6472060772421893,3.133579472148792,3.133579472148792,3.388720000002263,0,0,-0.00020361996112910208,-4.9743550876204775e-06
+37817,1791878487610727717,7527770000000,1791878487607043497,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762317243381757,-0.004787571830564707,0.08692270069716622,0.9999999656317264,9.712703496340438e-05,0.0002064954034445958,9.002998229867014e-05,0.6761,-0.0048,0.08657068008862036,1.0,0.0,0.0,0.0,-0.22047210475835755,-0.12584667374865577,2.677322578041694,-0.007156234919162916,0.017777361752991112,8.904977601289403e-05,-0.15272834007899294,-0.09875528195230734,3.024913739805911,-0.011169893573638397,0.013730987297969803,-0.002349387233076469,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3137723041277396,-0.744929002504513,-2.5848070004710713,0.7696052862742121,1.834901973523074,-0.5047861283375243,0.5340987696236708,2.677322578041694,3.118905770094742,3.118905770094742,3.4333600000023075,0,0,-0.00021779359920678776,-9.959795074643835e-05
+37881,1791878488143808799,7528303000000,1791878488143043528,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762261418863869,-0.004791281113645066,0.08679690601548674,0.9999999663092616,9.595728831146525e-05,0.000202087276443131,9.368709440927516e-05,0.6761,-0.0048,0.08645261203479379,1.0,0.0,0.0,0.0,-0.22178698078684816,-0.12567634085768487,2.7152337039907266,-0.007163582188275786,0.017769002512168276,5.755520563067128e-05,-0.15404321610748356,-0.09858494906133644,3.0628248657549433,-0.011177240842751268,0.013722628057146967,-0.0023808818034586916,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2747901024534722,-0.748444096350926,-2.647864019684562,0.7816976509414323,1.8640344571166916,-0.5059146070147631,0.5340987696236708,2.7152337039907266,3.181962789308233,3.181962789308233,3.47600000000235,0,0,-0.00022752912370710326,-7.77842913958634e-05
+37945,1791878488677743838,7528837000000,1791878488671043816,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762241649179602,-0.004797947636872942,0.0866778851045681,0.9999999668689019,9.52984513517065e-05,0.00019986404305523988,9.315379204119677e-05,0.6761,-0.0048,0.08632759091341906,1.0,0.0,0.0,0.0,-0.2196443939153892,-0.13546972177063552,2.736642046374616,-0.008188487172030898,0.017784122701896263,2.9707885286972113e-05,-0.1519006292360246,-0.10837832997428709,3.084233208138833,-0.01220214582650638,0.013737748246874954,-0.0024087291238023907,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3350621951546944,-0.7541339237777563,-2.6499807899069827,0.7880345171044897,1.8839873682375672,-0.5075697808350947,0.5340987696236708,2.736642046374616,3.1840795595306535,3.1840795595306535,3.518720000002393,0,0,-0.0002427571574273576,-8.82346931893096e-05
+38005,1791878489177820302,7529337000000,1791878489171043316,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762445013370157,-0.004798356694134629,0.08657785606829009,0.9999999612047054,9.906400369601145e-05,0.00022350784975527235,9.624976058105668e-05,0.6761,-0.0048,0.08620238759097096,1.0,0.0,0.0,0.0,-0.2298176627449785,-0.12400348614594321,2.727480825225867,-0.007165306430629278,0.017766581703527157,4.7398663588796904e-05,-0.1620738980656139,-0.0969120943495948,3.0750719869900838,-0.011178965085104759,0.013720207248505846,-0.002391038345500566,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3228575922510237,-0.6899041709104323,-2.740789498285979,0.7742120806711633,1.9402909882020494,-0.4661221523398741,0.5340987696236708,2.727480825225867,3.27488826790965,3.27488826790965,3.558720000002433,0,0,-0.0002592796377639831,9.793651586787461e-05
+38061,1791878489643786789,7529803000000,1791878489639043674,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.676249397554437,-0.004801835643033796,0.08645832040776398,0.9999999583799671,8.953163658480129e-05,0.0002382009324182635,9.963598882628036e-05,0.6761,-0.0048,0.08607676102308333,1.0,0.0,0.0,0.0,-0.23033024481801098,-0.13304024350536017,2.7553404189026427,-0.007171906809348742,0.017761334403735996,2.485048221678894e-05,-0.16258648013864638,-0.10594885170901175,3.1029315806668594,-0.011185565463824224,0.013714959948714687,-0.002413586526872574,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.315909147674535,-0.6696750597508404,-2.635113218712623,0.7813235503473915,1.8737592807803034,-0.4528733494260134,0.5340987696236708,2.7553404189026427,3.169211988336294,3.169211988336294,3.59600000000247,0,0,-0.0002796890917436664,-9.999999025923074e-05
+38113,1791878490077730852,7530237000000,1791878490075043089,DOWN_FORCE_DETACH,5,0.0535,0.05350257456302643,0.6762440971844815,-0.004802997783855557,0.08633103183338255,0.9999999598037604,8.134986760810982e-05,0.00023136391679615134,0.00010811234412640947,0.6761,-0.0048,0.0859520428243123,1.0,0.0,0.0,0.0,-0.22945062922409712,-0.13891764553137972,2.777230267995593,-0.008178702631120978,0.017775676666538107,-4.0699121066330515e-06,-0.16170686454473251,-0.1118262537350313,3.1248214297598103,-0.012192361285596458,0.013729302211516796,-0.002442506921195996,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3362717602040695,-0.680650101625095,-2.6984758206402484,0.7770898239093752,1.9261197773209398,-0.46086183791521623,0.5340987696236708,2.777230267995593,3.232574590263919,3.232574590263919,3.630720000002505,0,0,-0.00029608946910539134,-9.86948120714814e-05
+38165,1791878490510711507,7530670000000,1791878490503043573,DOWN_FORCE_DETACH,5,0.0535,0.0535019151866436,0.6762448261182348,-0.004808325427231867,0.08620275673172562,0.9999999578741269,8.011170424592208e-05,0.00023377475024028658,0.00012093837225331777,0.6761,-0.0048,0.08581963861234987,1.0,0.0,0.0,0.0,-0.22983781513342233,-0.1443194092580223,2.797679680682352,-0.00820052158072056,0.01777139422863028,-2.0877814476414572e-05,-0.16209405045405773,-0.11722801746167388,3.1452708424465685,-0.012214180235196043,0.01372501977360897,-0.0024593148235657774,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3515728977834798,-0.6108953393058368,-2.63997822372762,0.7663788698630987,1.8967367222429528,-0.4123677627092194,0.5340987696236708,2.797679680682352,3.174076993351291,3.174076993351291,3.6653600000025395,0,0,-0.00031558675269857526,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daa4bb0b839305cb908c27137d7e87522e968d94
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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+9886,1791878491788474564,interpolated,camera_frames_60hz/DOWN_SETTLE/camera_00009886_1791878491788474564_interpolated.jpg,384,384,1791878491789766638,38319,7531949000000,1791878491783043994,DOWN_SETTLE,5,0.0535,0.05350257456302643,0.676258824467332,-0.004789066098116748,0.08585205940293579,0.9999999505028083,0.00012895899086707292,0.00025459227921472197,9.48134761184174e-05,0.6761,-0.0048,0.08547213807983682,1.0,0.0,0.0,0.0,-0.21736456101052015,-0.1254229634871375,2.788193239467893,-0.006129499906062013,0.016731712722253586,-4.279597976866202e-06,-0.14962079633115555,-0.09833157169078907,3.13578440123211,-0.010143158560537494,0.012685338267232275,-0.002442716607066229,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3491766694209733,-0.6562553815255054,-2.5470951438982317,0.7713988543594689,1.8644156059060886,-0.4473268311466229,0.5340987696236708,2.788193239467893,3.0811939135219024,0.0,0.0,0,0,-1.0540801628101024e-05,0.00010647274371819215,1791878491788735726,7531.948,0.676258024903104,-0.004786485875270106,0.08584935630257305,0.9999999510195968,0.0001290964301469304,0.000253014966170717,9.338740204392768e-05,1.3510846393680889,-0.6527193273054361,-2.557938336064736,0.7703358978443282,1.8718466945829595,-0.4449961681981854,1.3496215545041514,0.6525901563673597,2.5587435546451123,0.7020583607344583,-0.025851325431689727,0.010406849697538648,0.18820071230902566,0.7136030642178643,-0.22012314532541674,-1.6918660940642416,0.2089878078298855,2.38293541197914,0.6531195364082721,-7.795522508213148e-05,0.001207877792111672,0.0008646367697154863,-0.0006413498014161483,0.0004775703485728895,-0.000602176280019288,-0.0006686117843551621,-0.3165351152420044,-45.99753952026367,-3.881303548812866,19.420486450195312,1.1585546731948853,2.0963847637176514,-0.06783253699541092,-0.3118287396581407,1.3139705637438186,0.04174172829443458,-0.5001096540540207,0.5911593680689174,-0.06063516418151021,-0.07550528928939061,1791878491776900721,0.026751287281513214,0.0,0.0,0.026751287281513214,0.0,0.0,0.05350257456302643,2
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..141379365c89c06ce0b5caaf1d5d836460b0db15
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1791878444701866177,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.559538359e-09,-1.083499141e-10,-8.916523075e-11,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293633e-01,1.754040362e-06,8.295726971e-01
+1,5.666666667e-01,DOWN_FORCE_DETACH,1791878445765867454,7.606641455e-06,-7.734499207e-06,2.857193727e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.459293310e-08,-2.063158512e-09,-1.627309509e-09,7.015454781e-01,-6.183537886e-06,8.407437984e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294454e-01,1.752085553e-06,8.295726956e-01
+2,1.133333333e+00,DOWN_FORCE_DETACH,1791878446898406303,6.206148423e-06,-1.250723418e-05,-4.836566559e-05,2.972699494e-06,-7.760257766e-06,-4.054150461e-05,3.015458385e-06,-7.720050784e-06,-4.030644246e-05,7.015440776e-01,-1.095627286e-05,8.406925755e-01,7.015408442e-01,-6.209296444e-06,8.407003997e-01,7.017323762e-01,-5.965902073e-06,8.295323908e-01
+3,1.600000000e+00,DOWN_FORCE_DETACH,1791878447830642206,7.212857289e-06,-1.220254811e-05,-9.086879927e-05,5.135557090e-06,-9.640318216e-06,-8.442655964e-05,5.034035164e-06,-9.615464200e-06,-8.392860925e-05,7.015450843e-01,-1.065158679e-05,8.406500724e-01,7.015430070e-01,-8.089356895e-06,8.406565146e-01,7.017343948e-01,-7.861315488e-06,8.294887686e-01
+4,1.983333333e+00,DOWN_FORCE_DETACH,1791878448596285005,1.543966296e-05,-1.040361101e-05,-1.327520676e-04,1.211921130e-05,-1.246044197e-05,-1.256646430e-04,1.206894525e-05,-1.243023247e-05,-1.249917377e-04,7.015533111e-01,-8.852649693e-06,8.406081891e-01,7.015499907e-01,-1.090948065e-05,8.406152765e-01,7.017414297e-01,-1.067608376e-05,8.294477055e-01
+5,2.416666667e+00,DOWN_FORCE_DETACH,1791878449460516360,2.181276004e-05,-1.173685926e-05,-1.822249997e-04,1.997445108e-05,-1.269893408e-05,-1.685679543e-04,2.002529731e-05,-1.267213812e-05,-1.677870701e-04,7.015596842e-01,-1.018589794e-05,8.405587162e-01,7.015578459e-01,-1.114797276e-05,8.405723732e-01,7.017493861e-01,-1.091798941e-05,8.294049101e-01
+6,2.933333333e+00,DOWN_FORCE_DETACH,1791878450426598671,2.692884877e-05,-1.838859498e-05,-2.547276854e-04,2.469839765e-05,-1.798013268e-05,-2.506698249e-04,2.457884058e-05,-1.792970663e-05,-2.495776426e-04,7.015648003e-01,-1.683763366e-05,8.404862135e-01,7.015625699e-01,-1.642917136e-05,8.404902714e-01,7.017539396e-01,-1.617555792e-05,8.293231196e-01
+7,3.450000000e+00,DOWN_FORCE_DETACH,1791878451422407626,2.986591286e-05,-1.359912640e-05,-3.283480387e-04,3.009391777e-05,-1.418265457e-05,-3.126107550e-04,2.991852515e-05,-1.413350050e-05,-3.114552694e-04,7.015677374e-01,-1.204816508e-05,8.404125931e-01,7.015679654e-01,-1.263169325e-05,8.404283304e-01,7.017592793e-01,-1.237935179e-05,8.292612419e-01
+8,3.983333333e+00,DOWN_FORCE_DETACH,1791878452424052175,3.514532067e-05,-1.145334937e-06,-3.968288159e-04,3.214620293e-05,-1.284462764e-07,-3.955004992e-04,3.180107196e-05,-6.237596573e-08,-3.941458069e-04,7.015730168e-01,4.056263838e-07,8.403441124e-01,7.015700177e-01,1.422515045e-06,8.403454407e-01,7.017611619e-01,1.691772746e-06,8.291785514e-01
+9,4.483333333e+00,DOWN_FORCE_DETACH,1791878453369850538,3.949421178e-05,7.197159220e-07,-4.641485008e-04,3.785626040e-05,7.646419448e-07,-4.566046276e-04,3.742782967e-05,8.104896177e-07,-4.553261106e-04,7.015773657e-01,2.270677243e-06,8.402767927e-01,7.015757277e-01,2.315603266e-06,8.402843366e-01,7.017667886e-01,2.564638329e-06,8.291173711e-01
+10,5.000000000e+00,DOWN_FORCE_DETACH,1791878454350440568,4.389032951e-05,3.885742908e-08,-5.412679836e-04,4.262310890e-05,-2.988179417e-07,-5.219476284e-04,4.210633805e-05,-2.664646975e-07,-5.206620496e-04,7.015817618e-01,1.589818750e-06,8.401996732e-01,7.015804946e-01,1.252143379e-06,8.402189936e-01,7.017714671e-01,1.487684014e-06,8.290520352e-01
+11,5.466666667e+00,DOWN_FORCE_DETACH,1791878455282510276,4.894986586e-05,-5.714759026e-06,-6.081290992e-04,4.785490455e-05,-5.944394418e-07,-6.072079241e-04,4.724456222e-05,-5.598397522e-07,-6.057604056e-04,7.015868213e-01,-4.163797704e-06,8.401328121e-01,7.015857264e-01,9.565218792e-07,8.401337333e-01,7.017766053e-01,1.194308960e-06,8.289669368e-01
+12,5.950000000e+00,DOWN_FORCE_DETACH,1791878456246414334,5.207393314e-05,-6.002252638e-06,-6.790414349e-04,5.407675041e-05,-4.578167749e-06,-6.735576699e-04,5.337827082e-05,-4.526544879e-06,-6.720898436e-04,7.015899454e-01,-4.451291316e-06,8.400618998e-01,7.015919482e-01,-3.027206428e-06,8.400673835e-01,7.017827391e-01,-2.772396167e-06,8.289006074e-01
+13,6.416666667e+00,DOWN_FORCE_DETACH,1791878457178600696,5.773043282e-05,-8.623999961e-06,-7.461131204e-04,5.418292872e-05,-6.432847652e-07,-7.435147579e-04,5.329859035e-05,-6.157185277e-07,-7.420368235e-04,7.015956019e-01,-7.073038639e-06,8.399948281e-01,7.015920544e-01,9.076765559e-07,8.399974264e-01,7.017826594e-01,1.138430184e-06,8.288306604e-01
+14,6.833333333e+00,DOWN_FORCE_DETACH,1791878457974355429,6.312809635e-05,-4.213510807e-06,-8.031541408e-04,6.155308219e-05,-7.640817210e-06,-7.846311579e-04,6.078361343e-05,-7.600980376e-06,-7.832780326e-04,7.016009996e-01,-2.662549486e-06,8.399377870e-01,7.015994246e-01,-6.089855889e-06,8.399563100e-01,7.017901444e-01,-5.846831664e-06,8.287894192e-01
+15,7.383333333e+00,DOWN_FORCE_DETACH,1791878459040421602,7.103024429e-05,-9.182383708e-06,-8.857452715e-04,7.028227999e-05,-7.298513546e-06,-8.677873002e-04,6.942330708e-05,-7.258219823e-06,-8.664015706e-04,7.016089017e-01,-7.631422387e-06,8.398551959e-01,7.016081538e-01,-5.747552225e-06,8.398731539e-01,7.017987841e-01,-5.504071111e-06,8.287062956e-01
+16,7.850000000e+00,DOWN_FORCE_DETACH,1791878459904511957,7.724770427e-05,-8.401283658e-06,-9.544174096e-04,7.916374189e-05,-9.115398035e-06,-9.479020268e-04,7.824805524e-05,-9.037431873e-06,-9.464016838e-04,7.016151192e-01,-6.850322337e-06,8.397865238e-01,7.016170352e-01,-7.564436714e-06,8.397930392e-01,7.018076088e-01,-7.283283162e-06,8.286262955e-01
+17,8.333333333e+00,DOWN_FORCE_DETACH,1791878460838627393,8.606688591e-05,-7.453288957e-06,-1.022898936e-03,8.357949921e-05,-1.202834499e-05,-1.022728089e-03,8.260222490e-05,-1.193173661e-05,-1.021207392e-03,7.016239384e-01,-5.902327636e-06,8.397180423e-01,7.016214510e-01,-1.047738367e-05,8.397182131e-01,7.018119630e-01,-1.017758790e-05,8.285514898e-01
+18,8.683333333e+00,DOWN_FORCE_DETACH,1791878461502414431,9.190054763e-05,-1.243068174e-05,-1.077311026e-03,8.436752782e-05,-1.281138735e-05,-1.069303419e-03,8.323619924e-05,-1.272449879e-05,-1.067861538e-03,7.016297720e-01,-1.087972042e-05,8.396636302e-01,7.016222390e-01,-1.126042603e-05,8.396716378e-01,7.018125970e-01,-1.097035008e-05,8.285048357e-01
+19,9.133333333e+00,DOWN_FORCE_DETACH,1791878462334502509,8.950442857e-05,-1.695348389e-05,-1.151119922e-03,8.703214143e-05,-1.609588171e-05,-1.132508950e-03,8.573823669e-05,-1.601079091e-05,-1.131089511e-03,7.016273759e-01,-1.540252257e-05,8.395898213e-01,7.016249036e-01,-1.454492038e-05,8.396084322e-01,7.018150990e-01,-1.425664220e-05,8.284416077e-01
+20,9.516666667e+00,DOWN_FORCE_DETACH,1791878463098418625,9.482044141e-05,-2.111974481e-05,-1.215387457e-03,9.508696674e-05,-1.620183296e-05,-1.201533014e-03,9.376194264e-05,-1.614243439e-05,-1.199989221e-03,7.016326919e-01,-1.956878349e-05,8.395255537e-01,7.016329584e-01,-1.465087164e-05,8.395394082e-01,7.018231227e-01,-1.438828568e-05,8.283727080e-01
+21,9.966666667e+00,DOWN_FORCE_DETACH,1791878463998453177,1.018888702e-04,-2.005157419e-05,-1.285985500e-03,1.018128657e-04,-2.019167576e-05,-1.285890952e-03,1.003293853e-04,-2.013941012e-05,-1.284235350e-03,7.016397604e-01,-1.850061287e-05,8.394549557e-01,7.016396843e-01,-1.864071444e-05,8.394550502e-01,7.018296902e-01,-1.838526141e-05,8.282884619e-01
+22,1.045000000e+01,DOWN_FORCE_DETACH,1791878464960512890,1.064322752e-04,-2.188929684e-05,-1.363554023e-03,1.057905049e-04,-2.065802366e-05,-1.353920348e-03,1.041703307e-04,-2.062649208e-05,-1.352345966e-03,7.016443038e-01,-2.033833552e-05,8.393773872e-01,7.016436620e-01,-1.910706234e-05,8.393870208e-01,7.018335311e-01,-1.887234337e-05,8.282203512e-01
+23,1.091666667e+01,DOWN_FORCE_DETACH,1791878465892452169,1.113308664e-04,-2.565204278e-05,-1.445173168e-03,1.076803640e-04,-2.308235238e-05,-1.426194818e-03,1.058848854e-04,-2.303366822e-05,-1.424661369e-03,7.016492023e-01,-2.410108146e-05,8.392957680e-01,7.016455518e-01,-2.153139106e-05,8.393147464e-01,7.018352457e-01,-2.127951951e-05,8.281480358e-01
+24,1.145000000e+01,DOWN_FORCE_DETACH,1791878466890476021,1.217487861e-04,-2.507318126e-05,-1.522727409e-03,1.198972337e-04,-2.604762869e-05,-1.511182998e-03,1.181248785e-04,-2.598140026e-05,-1.509636093e-03,7.016596203e-01,-2.352221994e-05,8.392182138e-01,7.016577687e-01,-2.449666736e-05,8.392297582e-01,7.018474857e-01,-2.422725155e-05,8.280630611e-01
+25,1.195000000e+01,DOWN_FORCE_DETACH,1791878467856626014,1.246697487e-04,-2.614249486e-05,-1.611529892e-03,1.226339613e-04,-2.598921842e-05,-1.596096441e-03,1.205833668e-04,-2.593526559e-05,-1.594508667e-03,7.016625412e-01,-2.459153354e-05,8.391294113e-01,7.016605054e-01,-2.443825710e-05,8.391448447e-01,7.018499442e-01,-2.418111687e-05,8.279781885e-01
+26,1.243333333e+01,DOWN_FORCE_DETACH,1791878468754419153,1.306291563e-04,-3.171472189e-05,-1.687927189e-03,1.279666496e-04,-2.941892970e-05,-1.684337063e-03,1.257113401e-04,-2.934054375e-05,-1.682689601e-03,7.016685006e-01,-3.016376057e-05,8.390530140e-01,7.016658381e-01,-2.786796838e-05,8.390566041e-01,7.018550721e-01,-2.758639504e-05,8.278900076e-01
+27,1.290000000e+01,DOWN_FORCE_DETACH,1791878469650404963,1.337786861e-04,-3.197204335e-05,-1.775683200e-03,1.338230993e-04,-3.185391183e-05,-1.771501972e-03,1.313691479e-04,-3.174127986e-05,-1.769728014e-03,7.016716502e-01,-3.042108203e-05,8.389652580e-01,7.016716946e-01,-3.030295051e-05,8.389694392e-01,7.018607299e-01,-2.998713114e-05,8.278029692e-01
+28,1.338333333e+01,DOWN_FORCE_DETACH,1791878470582521534,1.393777525e-04,-3.301022653e-05,-1.864210381e-03,1.392930260e-04,-3.330732256e-05,-1.854851648e-03,1.366566895e-04,-3.320629494e-05,-1.853092440e-03,7.016772492e-01,-3.145926521e-05,8.388767308e-01,7.016771645e-01,-3.175636124e-05,8.388860895e-01,7.018660175e-01,-3.145214623e-05,8.277196048e-01
+29,1.385000000e+01,DOWN_FORCE_DETACH,1791878471480543987,1.412006489e-04,-3.474022656e-05,-1.946907036e-03,1.426402498e-04,-3.373709795e-05,-1.942207499e-03,1.398411240e-04,-3.362069446e-05,-1.940391852e-03,7.016790721e-01,-3.318926524e-05,8.387940342e-01,7.016805117e-01,-3.218613663e-05,8.387987337e-01,7.018692019e-01,-3.186654575e-05,8.276323054e-01
+30,1.428333333e+01,DOWN_FORCE_DETACH,1791878472346557077,1.474800214e-04,-3.286955368e-05,-2.025993246e-03,1.469800537e-04,-3.697115977e-05,-2.019121798e-03,1.440597108e-04,-3.685538196e-05,-2.017325412e-03,7.016853515e-01,-3.131859236e-05,8.387149479e-01,7.016848515e-01,-3.542019845e-05,8.387218194e-01,7.018734205e-01,-3.510123325e-05,8.275553718e-01
+31,1.470000000e+01,DOWN_FORCE_DETACH,1791878473178660847,1.470701383e-04,-3.911326526e-05,-2.121271452e-03,1.473272465e-04,-3.828459158e-05,-2.118239082e-03,1.441389094e-04,-3.817272763e-05,-2.116322415e-03,7.016849416e-01,-3.756230393e-05,8.386196697e-01,7.016851987e-01,-3.673363026e-05,8.386227021e-01,7.018734997e-01,-3.641857892e-05,8.274563748e-01
+32,1.515000000e+01,DOWN_FORCE_DETACH,1791878474076480669,1.529204972e-04,-3.937154770e-05,-2.208149715e-03,1.526698614e-04,-3.938013431e-05,-2.208149308e-03,1.493084448e-04,-3.925934151e-05,-2.206221487e-03,7.016907920e-01,-3.782058638e-05,8.385327915e-01,7.016905413e-01,-3.782917299e-05,8.385327919e-01,7.018786692e-01,-3.750519280e-05,8.273664757e-01
+33,1.563333333e+01,DOWN_FORCE_DETACH,1791878475006319807,1.624053554e-04,-3.947042921e-05,-2.297688392e-03,1.589186943e-04,-4.131430464e-05,-2.293463742e-03,1.554879034e-04,-4.120429727e-05,-2.291621726e-03,7.017002768e-01,-3.791946789e-05,8.384432528e-01,7.016967902e-01,-3.976334332e-05,8.384474774e-01,7.018848487e-01,-3.945014856e-05,8.272810755e-01
+34,1.610000000e+01,DOWN_FORCE_DETACH,1791878475870413203,1.630770495e-04,-3.649916341e-05,-2.391989336e-03,1.635030992e-04,-4.047395431e-05,-2.379142717e-03,1.598743747e-04,-4.035817617e-05,-2.377329797e-03,7.017009485e-01,-3.494820209e-05,8.383489519e-01,7.017013746e-01,-3.892299299e-05,8.383617985e-01,7.018892352e-01,-3.860402746e-05,8.271953674e-01
+35,1.655000000e+01,DOWN_FORCE_DETACH,1791878476736453792,1.693503258e-04,-4.257929141e-05,-2.482576914e-03,1.677197779e-04,-3.855203290e-05,-2.469952831e-03,1.638906860e-04,-3.841630301e-05,-2.468096046e-03,7.017072218e-01,-4.102833009e-05,8.382583643e-01,7.017055913e-01,-3.700107158e-05,8.382709884e-01,7.018932515e-01,-3.666215430e-05,8.271046012e-01
+36,1.698333333e+01,DOWN_FORCE_DETACH,1791878477568378694,1.751454350e-04,-4.694667407e-05,-2.574458175e-03,1.748507882e-04,-4.701127513e-05,-2.574287278e-03,1.708657147e-04,-4.683690459e-05,-2.572304832e-03,7.017130169e-01,-4.539571275e-05,8.381664830e-01,7.017127223e-01,-4.546031381e-05,8.381666539e-01,7.019002265e-01,-4.508275587e-05,8.270003924e-01
+37,1.741666667e+01,DOWN_FORCE_DETACH,1791878478366556491,1.772976136e-04,-4.336546902e-05,-2.663359554e-03,1.754667160e-04,-4.007726570e-05,-2.663145734e-03,1.711975106e-04,-3.998310935e-05,-2.661157911e-03,7.017151691e-01,-4.181450770e-05,8.380775816e-01,7.017133382e-01,-3.852630438e-05,8.380777955e-01,7.019005583e-01,-3.822896063e-05,8.269115393e-01
+38,1.781666667e+01,DOWN_FORCE_DETACH,1791878479133603410,1.825664761e-04,-4.243413846e-05,-2.748174804e-03,1.785283454e-04,-4.624186637e-05,-2.750799049e-03,1.740641493e-04,-4.610529731e-05,-2.748766017e-03,7.017204380e-01,-4.088317714e-05,8.379927664e-01,7.017163998e-01,-4.469090505e-05,8.379901421e-01,7.019034249e-01,-4.435114859e-05,8.268239312e-01
+39,1.820000000e+01,DOWN_FORCE_DETACH,1791878479898837104,1.809602545e-04,-3.932107382e-05,-2.841303605e-03,1.808253949e-04,-3.940811643e-05,-2.841320135e-03,1.760866363e-04,-3.929580205e-05,-2.839192300e-03,7.017188317e-01,-3.777011250e-05,8.378996376e-01,7.017186969e-01,-3.785715511e-05,8.378996211e-01,7.019054474e-01,-3.754165334e-05,8.267335049e-01
+40,1.865000000e+01,DOWN_FORCE_DETACH,1791878480796467173,1.836948052e-04,-4.316595277e-05,-2.948077640e-03,1.840330961e-04,-4.554393933e-05,-2.932908803e-03,1.789905621e-04,-4.542312967e-05,-2.930856597e-03,7.017215663e-01,-4.161499145e-05,8.377928635e-01,7.017219046e-01,-4.399297801e-05,8.378080324e-01,7.019083513e-01,-4.366898096e-05,8.266418406e-01
+41,1.901666667e+01,DOWN_FORCE_DETACH,1791878481526648416,1.847141685e-04,-4.642899825e-05,-3.041322265e-03,1.864719880e-04,-4.435362543e-05,-3.022473744e-03,1.812130248e-04,-4.424696712e-05,-3.020424892e-03,7.017225856e-01,-4.487803693e-05,8.376996189e-01,7.017243435e-01,-4.280266411e-05,8.377184674e-01,7.019105738e-01,-4.249281840e-05,8.265522723e-01
+42,1.941666667e+01,DOWN_FORCE_DETACH,1791878482324483696,1.907193537e-04,-4.273595996e-05,-3.139791761e-03,1.904366012e-04,-4.266509405e-05,-3.139466074e-03,1.848179244e-04,-4.254579275e-05,-3.137152258e-03,7.017285908e-01,-4.118499864e-05,8.376011494e-01,7.017283081e-01,-4.111413273e-05,8.376014751e-01,7.019141787e-01,-4.079164404e-05,8.264355449e-01
+43,1.978333333e+01,DOWN_FORCE_DETACH,1791878483024322117,1.939644597e-04,-4.406544787e-05,-3.231200098e-03,1.933706198e-04,-4.809622812e-05,-3.226762650e-03,1.875111303e-04,-4.794656579e-05,-3.224405709e-03,7.017318359e-01,-4.251448655e-05,8.375097411e-01,7.017312421e-01,-4.654526680e-05,8.375141785e-01,7.019168719e-01,-4.619241708e-05,8.263482915e-01
+44,2.016666667e+01,DOWN_FORCE_DETACH,1791878483754727619,1.955015535e-04,-4.504253247e-05,-3.329955175e-03,1.965224214e-04,-4.218710870e-05,-3.315547671e-03,1.903967961e-04,-4.206790116e-05,-3.313228659e-03,7.017333730e-01,-4.349157115e-05,8.374109860e-01,7.017343939e-01,-4.063614738e-05,8.374253935e-01,7.019197576e-01,-4.031375245e-05,8.262594685e-01
+45,2.053333333e+01,DOWN_FORCE_DETACH,1791878484454490742,2.004179470e-04,-4.736692665e-05,-3.426398011e-03,1.981171890e-04,-4.526434408e-05,-3.422948144e-03,1.916461843e-04,-4.511341740e-05,-3.420542032e-03,7.017382894e-01,-4.581596533e-05,8.373145432e-01,7.017359887e-01,-4.371338276e-05,8.373179930e-01,7.019210070e-01,-4.335926868e-05,8.261521552e-01
+46,2.086666667e+01,DOWN_FORCE_DETACH,1791878485086997204,2.063954727e-04,-4.572691846e-05,-3.524493897e-03,2.033410295e-04,-4.653560805e-05,-3.517629231e-03,1.966606166e-04,-4.636958776e-05,-3.515218479e-03,7.017442670e-01,-4.417595714e-05,8.372164473e-01,7.017412125e-01,-4.498464673e-05,8.372233120e-01,7.019260214e-01,-4.461543905e-05,8.260574787e-01
+47,2.121666667e+01,DOWN_FORCE_DETACH,1791878485752588524,2.067353506e-04,-4.837601687e-05,-3.635945600e-03,2.044486201e-04,-5.372362272e-05,-3.620379576e-03,1.974752844e-04,-5.358234185e-05,-3.617899075e-03,7.017446068e-01,-4.682505555e-05,8.371049956e-01,7.017423201e-01,-5.217266140e-05,8.371205616e-01,7.019268361e-01,-5.182819314e-05,8.259547981e-01
+48,2.158333333e+01,DOWN_FORCE_DETACH,1791878486450460667,2.161292188e-04,-4.747543940e-05,-3.753346723e-03,2.166473070e-04,-5.305095275e-05,-3.745443224e-03,2.094674636e-04,-5.290132407e-05,-3.742807549e-03,7.017540007e-01,-4.592447808e-05,8.369875945e-01,7.017545188e-01,-5.149999143e-05,8.369954980e-01,7.019388282e-01,-5.114717536e-05,8.258298897e-01
+49,2.190000000e+01,DOWN_FORCE_DETACH,1791878487050431716,2.160257696e-04,-5.297784841e-05,-3.871423950e-03,2.134663130e-04,-5.535311812e-05,-3.859722575e-03,2.059424991e-04,-5.520451163e-05,-3.856967112e-03,7.017538973e-01,-5.142688709e-05,8.368695172e-01,7.017513378e-01,-5.380215680e-05,8.368812186e-01,7.019353033e-01,-5.345036292e-05,8.257157301e-01
+50,2.220000000e+01,DOWN_FORCE_DETACH,1791878487614469055,2.137437036e-04,-5.362694152e-05,-3.987800980e-03,2.155196931e-04,-5.683091304e-05,-3.971414467e-03,2.076689469e-04,-5.666981847e-05,-3.968531231e-03,7.017516152e-01,-5.207598020e-05,8.367531402e-01,7.017533912e-01,-5.527995172e-05,8.367695267e-01,7.019370297e-01,-5.491566976e-05,8.256041660e-01
+51,2.246666667e+01,DOWN_FORCE_DETACH,1791878488146439926,2.109369273e-04,-6.079822686e-05,-4.108896707e-03,2.110068722e-04,-5.653108370e-05,-4.092736894e-03,2.026351840e-04,-5.633391884e-05,-4.089642858e-03,7.017488084e-01,-5.924726554e-05,8.366320445e-01,7.017488784e-01,-5.498012238e-05,8.366482043e-01,7.019319960e-01,-5.457977013e-05,8.254830543e-01
+52,2.273333333e+01,DOWN_FORCE_DETACH,1791878488678835584,2.075056834e-04,-6.582870554e-05,-4.230929266e-03,2.073886038e-04,-6.592294496e-05,-4.231052186e-03,1.984573547e-04,-6.572528856e-05,-4.227589241e-03,7.017453772e-01,-6.427774422e-05,8.365100119e-01,7.017452601e-01,-6.437198364e-05,8.365098890e-01,7.019278181e-01,-6.397113985e-05,8.253451080e-01
+53,2.298333333e+01,DOWN_FORCE_DETACH,1791878489178348783,2.277117720e-04,-6.626330670e-05,-4.330751479e-03,2.274310835e-04,-6.609648805e-05,-4.331091204e-03,2.186158108e-04,-6.594557051e-05,-4.327596904e-03,7.017655833e-01,-6.471234537e-05,8.364101897e-01,7.017653026e-01,-6.454552673e-05,8.364098500e-01,7.019479766e-01,-6.419142180e-05,8.252451003e-01
+54,2.321666667e+01,DOWN_FORCE_DETACH,1791878489644592792,2.320885423e-04,-6.689785999e-05,-4.454177478e-03,2.317304916e-04,-6.659277281e-05,-4.453923284e-03,2.225676786e-04,-6.637846553e-05,-4.450254473e-03,7.017699600e-01,-6.534689867e-05,8.362867637e-01,7.017696020e-01,-6.504181149e-05,8.362870179e-01,7.019519285e-01,-6.462431681e-05,8.251224427e-01
+55,2.343333333e+01,DOWN_FORCE_DETACH,1791878490074568825,2.272073127e-04,-6.898022406e-05,-4.575470174e-03,2.279758856e-04,-6.901803212e-05,-4.565222128e-03,2.183947736e-04,-6.885525508e-05,-4.561465271e-03,7.017650788e-01,-6.742926274e-05,8.361654710e-01,7.017658474e-01,-6.746707080e-05,8.361757191e-01,7.019477556e-01,-6.710110637e-05,8.250112319e-01
+56,2.365000000e+01,DOWN_FORCE_DETACH,1791878490508337981,2.291025888e-04,-7.549459557e-05,-4.704961986e-03,2.288685323e-04,-7.553630026e-05,-4.705483815e-03,2.187793778e-04,-7.536960125e-05,-4.701398754e-03,7.017669741e-01,-7.394363425e-05,8.360359792e-01,7.017667400e-01,-7.398533894e-05,8.360354574e-01,7.019481402e-01,-7.361545254e-05,8.248712985e-01
+57,2.386666667e+01,DOWN_FORCE_DETACH,1791878490942355575,2.341556835e-04,-7.693344903e-05,-4.837671866e-03,2.339200729e-04,-7.684058937e-05,-4.837854603e-03,2.235070019e-04,-7.664843245e-05,-4.833555749e-03,7.017720272e-01,-7.538248771e-05,8.359032693e-01,7.017717916e-01,-7.528962805e-05,8.359030866e-01,7.019528678e-01,-7.489428374e-05,8.247391415e-01
+58,2.406666667e+01,DOWN_FORCE_DETACH,1791878491306585818,2.394980856e-04,-6.133252405e-05,-4.958531169e-03,2.395097620e-04,-6.114567797e-05,-4.958473557e-03,2.287295497e-04,-6.097959480e-05,-4.954047531e-03,7.017773696e-01,-5.978156273e-05,8.357824100e-01,7.017773812e-01,-5.959471665e-05,8.357824676e-01,7.019580903e-01,-5.922544609e-05,8.246186497e-01
+59,2.431666667e+01,DOWN_SETTLE,1791878491788474564,2.414933414e-04,-5.399491809e-05,-5.059092261e-03,2.412478344e-04,-5.387617786e-05,-5.059190852e-03,2.302086860e-04,-5.367715395e-05,-5.055067887e-03,7.017793648e-01,-5.244395677e-05,8.356818489e-01,7.017791193e-01,-5.232521654e-05,8.356817503e-01,7.019595695e-01,-5.192300524e-05,8.245176293e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07fd87fb52874f34796c7c729284a985b35fa817
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.6387e-03,9.2773e-04,2.4538e+00,-3.6862e-02,3.6671e-02,-2.7835e-05,1.1692e-04,-3.9620e-06,-5.4836e-06,1.0058e-07,8.3819e-06,-2.9804e-07,1.1711e-04,8.3878e-06
+1,5.6667e-01,DOWN_FORCE_DETACH,1.2931e-04,2.1517e-03,8.0406e-04,2.4537e+00,-3.6859e-02,3.6941e-02,-3.7813e-05,3.9073e-03,-1.2763e-04,-9.9421e-05,2.7530e-06,2.7787e-04,-1.0277e-05,3.9107e-03,2.7808e-04
+2,1.1333e+00,DOWN_FORCE_DETACH,2.6532e-04,3.9536e-03,4.0187e-03,2.4687e+00,-3.7082e-02,3.7054e-02,-4.3789e-05,5.7092e-03,3.0870e-03,1.4888e-02,-2.1968e-04,3.9145e-04,-1.6252e-05,1.6241e-02,4.4917e-04
+3,1.6000e+00,DOWN_FORCE_DETACH,3.9820e-04,5.0466e-03,4.7574e-03,2.4803e+00,-3.7135e-02,3.7120e-02,-4.8409e-05,6.8022e-03,3.8257e-03,2.6452e-02,-2.7256e-04,4.5704e-04,-2.0872e-05,2.7580e-02,5.3255e-04
+4,1.9833e+00,DOWN_FORCE_DETACH,5.2851e-04,3.7704e-03,5.9809e-03,2.4894e+00,-3.7220e-02,3.7021e-02,-5.1007e-05,5.5260e-03,5.0492e-03,3.5614e-02,-3.5755e-04,3.5783e-04,-2.3471e-05,3.6392e-02,5.0639e-04
+5,2.4167e+00,DOWN_FORCE_DETACH,6.6045e-04,2.5642e-03,6.0348e-03,2.4952e+00,-3.7224e-02,3.6929e-02,-5.3605e-05,4.3198e-03,5.1031e-03,4.1359e-02,-3.6211e-04,2.6633e-04,-2.6068e-05,4.1896e-02,4.5026e-04
+6,2.9333e+00,DOWN_FORCE_DETACH,7.9529e-04,3.7844e-03,8.4099e-03,2.5127e+00,-3.7383e-02,3.7002e-02,-5.3070e-05,5.5400e-03,7.4783e-03,5.8852e-02,-5.2114e-04,3.3958e-04,-2.5533e-05,5.9583e-02,6.2253e-04
+7,3.4500e+00,DOWN_FORCE_DETACH,9.2441e-04,4.3852e-03,7.0020e-03,2.5150e+00,-3.7277e-02,3.7041e-02,-5.1687e-05,6.1408e-03,6.0703e-03,6.1165e-02,-4.1494e-04,3.7836e-04,-2.4150e-05,6.1772e-02,5.6206e-04
+8,3.9833e+00,DOWN_FORCE_DETACH,1.0583e-03,7.2891e-03,1.3967e-03,2.5250e+00,-3.6877e-02,3.7239e-02,-4.8270e-05,9.0447e-03,4.6497e-04,7.1203e-02,-1.4998e-05,5.7654e-04,-2.0733e-05,7.1777e-02,5.7710e-04
+9,4.4833e+00,DOWN_FORCE_DETACH,1.1905e-03,8.5001e-03,1.8427e-03,2.5234e+00,-3.6887e-02,3.7327e-02,-4.1666e-05,1.0256e-02,9.1103e-04,6.9541e-02,-2.5250e-05,6.6409e-04,-1.4129e-05,7.0299e-02,6.6472e-04
+10,5.0000e+00,DOWN_FORCE_DETACH,1.3254e-03,1.0413e-02,2.3087e-03,2.5218e+00,-3.6906e-02,3.7462e-02,-3.5304e-05,1.2169e-02,1.3770e-03,6.7963e-02,-4.3854e-05,7.9916e-04,-7.7672e-06,6.9057e-02,8.0040e-04
+11,5.4667e+00,DOWN_FORCE_DETACH,1.4562e-03,1.1630e-02,1.9390e-03,2.5308e+00,-3.6874e-02,3.7546e-02,-3.0793e-05,1.3385e-02,1.0073e-03,7.6976e-02,-1.1686e-05,8.8311e-04,-3.2565e-06,7.8137e-02,8.8320e-04
+12,5.9500e+00,DOWN_FORCE_DETACH,1.5882e-03,1.2189e-02,3.0724e-03,2.5302e+00,-3.6947e-02,3.7590e-02,-2.7749e-05,1.3945e-02,2.1407e-03,7.6398e-02,-8.4430e-05,9.2709e-04,-2.1209e-07,7.7690e-02,9.3092e-04
+13,6.4167e+00,DOWN_FORCE_DETACH,1.7191e-03,1.4813e-02,1.1367e-03,2.5316e+00,-3.6819e-02,3.7769e-02,-2.6364e-05,1.6568e-02,2.0504e-04,7.7821e-02,4.3642e-05,1.1065e-03,1.1733e-06,7.9565e-02,1.1073e-03
+14,6.8333e+00,DOWN_FORCE_DETACH,1.8514e-03,1.4155e-02,4.1073e-03,2.5238e+00,-3.7023e-02,3.7729e-02,-2.3301e-05,1.5911e-02,3.1756e-03,6.9976e-02,-1.6059e-04,1.0659e-03,4.2358e-06,7.1832e-02,1.0779e-03
+15,7.3833e+00,DOWN_FORCE_DETACH,1.9836e-03,1.4384e-02,4.3978e-03,2.5268e+00,-3.7042e-02,3.7736e-02,-2.3350e-05,1.6139e-02,3.4661e-03,7.3026e-02,-1.7944e-04,1.0732e-03,4.1872e-06,7.4869e-02,1.0881e-03
+16,7.8500e+00,DOWN_FORCE_DETACH,2.1157e-03,1.3746e-02,5.5501e-03,2.5327e+00,-3.7120e-02,3.7693e-02,-2.6038e-05,1.5502e-02,4.6184e-03,7.8912e-02,-2.5813e-04,1.0303e-03,1.4987e-06,8.0553e-02,1.0622e-03
+17,8.3333e+00,DOWN_FORCE_DETACH,2.2493e-03,1.5082e-02,7.0291e-03,2.5343e+00,-3.7226e-02,3.7771e-02,-3.1720e-05,1.6838e-02,6.0974e-03,8.0514e-02,-3.6374e-04,1.1078e-03,-4.1828e-06,8.2482e-02,1.1660e-03
+18,8.6833e+00,DOWN_FORCE_DETACH,2.3801e-03,1.6451e-02,7.2587e-03,2.5315e+00,-3.7250e-02,3.7857e-02,-3.6053e-05,1.8207e-02,6.3270e-03,7.7669e-02,-3.8733e-04,1.1939e-03,-8.5161e-06,8.0025e-02,1.2552e-03
+19,9.1333e+00,DOWN_FORCE_DETACH,2.5144e-03,1.6817e-02,8.4490e-03,2.5297e+00,-3.7343e-02,3.7877e-02,-3.8240e-05,1.8573e-02,7.5173e-03,7.5892e-02,-4.8050e-04,1.2139e-03,-1.0704e-05,7.8493e-02,1.3056e-03
+20,9.5167e+00,DOWN_FORCE_DETACH,2.6403e-03,1.4430e-02,8.1994e-03,2.5347e+00,-3.7340e-02,3.7704e-02,-3.7302e-05,1.6186e-02,7.2677e-03,8.0884e-02,-4.7755e-04,1.0411e-03,-9.7652e-06,8.2807e-02,1.1454e-03
+21,9.9667e+00,DOWN_FORCE_DETACH,2.7756e-03,1.2666e-02,8.6656e-03,2.5303e+00,-3.7397e-02,3.7579e-02,-3.2934e-05,1.4422e-02,7.7339e-03,7.6483e-02,-5.3481e-04,9.1635e-04,-5.3969e-06,7.8215e-02,1.0610e-03
+22,1.0450e+01,DOWN_FORCE_DETACH,2.9079e-03,1.3070e-02,8.9390e-03,2.5371e+00,-3.7438e-02,3.7599e-02,-2.6153e-05,1.4826e-02,8.0073e-03,8.3323e-02,-5.7626e-04,9.3674e-04,1.3840e-06,8.5010e-02,1.0998e-03
+23,1.0917e+01,DOWN_FORCE_DETACH,3.0410e-03,1.3797e-02,9.7982e-03,2.5355e+00,-3.7501e-02,3.7646e-02,-2.1006e-05,1.5553e-02,8.8665e-03,8.1727e-02,-6.3917e-04,9.8287e-04,6.5304e-06,8.3665e-02,1.1724e-03
+24,1.1450e+01,DOWN_FORCE_DETACH,3.1724e-03,1.1137e-02,1.1043e-02,2.5363e+00,-3.7577e-02,3.7458e-02,-1.9787e-05,1.2893e-02,1.0111e-02,8.2530e-02,-7.1458e-04,7.9567e-04,7.7494e-06,8.4141e-02,1.0695e-03
+25,1.1950e+01,DOWN_FORCE_DETACH,3.3033e-03,1.1825e-02,1.1026e-02,2.5391e+00,-3.7553e-02,3.7504e-02,-2.4617e-05,1.3580e-02,1.0094e-02,8.5299e-02,-6.9046e-04,8.4105e-04,2.9201e-06,8.6961e-02,1.0882e-03
+26,1.2433e+01,DOWN_FORCE_DETACH,3.4373e-03,1.0292e-02,1.2718e-02,2.5432e+00,-3.7636e-02,3.7402e-02,-3.1394e-05,1.2048e-02,1.1786e-02,8.9401e-02,-7.7353e-04,7.3925e-04,-3.8574e-06,9.0975e-02,1.0700e-03
+27,1.2900e+01,DOWN_FORCE_DETACH,3.5671e-03,8.4127e-03,1.4249e-02,2.5478e+00,-3.7719e-02,3.7279e-02,-3.7024e-05,1.0168e-02,1.3317e-02,9.4021e-02,-8.5706e-04,6.1594e-04,-9.4871e-06,9.5502e-02,1.0555e-03
+28,1.3383e+01,DOWN_FORCE_DETACH,3.7025e-03,7.5110e-03,1.5608e-02,2.5481e+00,-3.7797e-02,3.7219e-02,-3.5955e-05,9.2666e-03,1.4676e-02,9.4241e-02,-9.3519e-04,5.5657e-04,-8.4185e-06,9.5826e-02,1.0883e-03
+29,1.3850e+01,DOWN_FORCE_DETACH,3.8337e-03,8.7296e-03,1.6233e-02,2.5495e+00,-3.7822e-02,3.7306e-02,-2.8560e-05,1.0485e-02,1.5301e-02,9.5721e-02,-9.5959e-04,6.4342e-04,-1.0230e-06,9.7501e-02,1.1553e-03
+30,1.4283e+01,DOWN_FORCE_DETACH,3.9635e-03,9.8832e-03,1.7368e-02,2.5489e+00,-3.7878e-02,3.7383e-02,-2.0051e-05,1.1639e-02,1.6436e-02,9.5133e-02,-1.0161e-03,7.2023e-04,7.4862e-06,9.7241e-02,1.2455e-03
+31,1.4700e+01,DOWN_FORCE_DETACH,4.0973e-03,1.2362e-02,1.7261e-02,2.5545e+00,-3.7857e-02,3.7554e-02,-1.5684e-05,1.4118e-02,1.6330e-02,1.0073e-01,-9.9443e-04,8.9080e-04,1.1853e-05,1.0302e-01,1.3351e-03
+32,1.5150e+01,DOWN_FORCE_DETACH,4.2341e-03,1.2023e-02,1.6523e-02,2.5455e+00,-3.7807e-02,3.7532e-02,-1.4655e-05,1.3779e-02,1.5591e-02,9.1729e-02,-9.4466e-04,8.6895e-04,1.2881e-05,9.4059e-02,1.2836e-03
+33,1.5633e+01,DOWN_FORCE_DETACH,4.3601e-03,1.3726e-02,1.8163e-02,2.5533e+00,-3.7920e-02,3.7643e-02,-1.5722e-05,1.5481e-02,1.7231e-02,9.9454e-02,-1.0579e-03,9.8063e-04,1.1815e-05,1.0212e-01,1.4426e-03
+34,1.6100e+01,DOWN_FORCE_DETACH,4.4916e-03,1.4624e-02,1.8492e-02,2.5510e+00,-3.7944e-02,3.7702e-02,-2.0914e-05,1.6380e-02,1.7560e-02,9.7180e-02,-1.0822e-03,1.0391e-03,6.6228e-06,1.0010e-01,1.5003e-03
+35,1.6550e+01,DOWN_FORCE_DETACH,4.6253e-03,1.5781e-02,1.7939e-02,2.5524e+00,-3.7921e-02,3.7772e-02,-3.2268e-05,1.7537e-02,1.7008e-02,9.8546e-02,-1.0587e-03,1.1090e-03,-4.7313e-06,1.0153e-01,1.5332e-03
+36,1.6983e+01,DOWN_FORCE_DETACH,4.7568e-03,1.6288e-02,1.8835e-02,2.5522e+00,-3.7990e-02,3.7798e-02,-4.2786e-05,1.8043e-02,1.7903e-02,9.8342e-02,-1.1277e-03,1.1353e-03,-1.5249e-05,1.0157e-01,1.6002e-03
+37,1.7417e+01,DOWN_FORCE_DETACH,4.8893e-03,1.6893e-02,1.8184e-02,2.5630e+00,-3.7946e-02,3.7831e-02,-4.9695e-05,1.8649e-02,1.7252e-02,1.0918e-01,-1.0839e-03,1.1685e-03,-2.2158e-05,1.1210e-01,1.5940e-03
+38,1.7817e+01,DOWN_FORCE_DETACH,5.0243e-03,1.6482e-02,2.0664e-02,2.5644e+00,-3.8116e-02,3.7800e-02,-5.0467e-05,1.8238e-02,1.9732e-02,1.1062e-01,-1.2541e-03,1.1376e-03,-2.2930e-05,1.1383e-01,1.6934e-03
+39,1.8200e+01,DOWN_FORCE_DETACH,5.1529e-03,1.5374e-02,1.8889e-02,2.5582e+00,-3.8020e-02,3.7722e-02,-4.7325e-05,1.7130e-02,1.7957e-02,1.0439e-01,-1.1578e-03,1.0597e-03,-1.9788e-05,1.0730e-01,1.5697e-03
+40,1.8650e+01,DOWN_FORCE_DETACH,5.2885e-03,1.5834e-02,1.9659e-02,2.5644e+00,-3.8085e-02,3.7742e-02,-4.1724e-05,1.7590e-02,1.8727e-02,1.1056e-01,-1.2228e-03,1.0792e-03,-1.4187e-05,1.1350e-01,1.6310e-03
+41,1.9017e+01,DOWN_FORCE_DETACH,5.4166e-03,1.5676e-02,1.9272e-02,2.5679e+00,-3.8054e-02,3.7722e-02,-4.1053e-05,1.7432e-02,1.8341e-02,1.1410e-01,-1.1916e-03,1.0594e-03,-1.3516e-05,1.1688e-01,1.5945e-03
+42,1.9417e+01,DOWN_FORCE_DETACH,5.5528e-03,1.4605e-02,2.0431e-02,2.5675e+00,-3.8112e-02,3.7643e-02,-4.4710e-05,1.6360e-02,1.9500e-02,1.1367e-01,-1.2495e-03,9.7995e-04,-1.7173e-05,1.1649e-01,1.5880e-03
+43,1.9783e+01,DOWN_FORCE_DETACH,5.6836e-03,1.2671e-02,2.1326e-02,2.5796e+00,-3.8144e-02,3.7499e-02,-4.8744e-05,1.4427e-02,2.0394e-02,1.2577e-01,-1.2819e-03,8.3660e-04,-2.1208e-05,1.2823e-01,1.5309e-03
+44,2.0167e+01,DOWN_FORCE_DETACH,5.8152e-03,1.1103e-02,1.9337e-02,2.5791e+00,-3.7992e-02,3.7394e-02,-4.9490e-05,1.2859e-02,1.8405e-02,1.2529e-01,-1.1295e-03,7.3171e-04,-2.1953e-05,1.2729e-01,1.3460e-03
+45,2.0533e+01,DOWN_FORCE_DETACH,5.9472e-03,1.0924e-02,2.1081e-02,2.5849e+00,-3.8089e-02,3.7388e-02,-4.1985e-05,1.2680e-02,2.0149e-02,1.3109e-01,-1.2267e-03,7.2481e-04,-1.4449e-05,1.3324e-01,1.4249e-03
+46,2.0867e+01,DOWN_FORCE_DETACH,6.0793e-03,9.9273e-03,2.1628e-02,2.5868e+00,-3.8105e-02,3.7322e-02,-3.4143e-05,1.1683e-02,2.0697e-02,1.3301e-01,-1.2427e-03,6.5938e-04,-6.6063e-06,1.3511e-01,1.4068e-03
+47,2.1217e+01,DOWN_FORCE_DETACH,6.2113e-03,1.1577e-02,2.4053e-02,2.5876e+00,-3.8252e-02,3.7437e-02,-2.8749e-05,1.3333e-02,2.3121e-02,1.3377e-01,-1.3895e-03,7.7405e-04,-1.2122e-06,1.3641e-01,1.5906e-03
+48,2.1583e+01,DOWN_FORCE_DETACH,6.3472e-03,9.0709e-03,2.3052e-02,2.5944e+00,-3.8178e-02,3.7268e-02,-2.7194e-05,1.0827e-02,2.2120e-02,1.4063e-01,-1.3153e-03,6.0505e-04,3.4305e-07,1.4277e-01,1.4478e-03
+49,2.1900e+01,DOWN_FORCE_DETACH,6.4770e-03,1.2677e-02,2.4661e-02,2.6026e+00,-3.8267e-02,3.7494e-02,-2.7417e-05,1.4433e-02,2.3729e-02,1.4876e-01,-1.4050e-03,8.3160e-04,1.2014e-07,1.5133e-01,1.6326e-03
+50,2.2200e+01,DOWN_FORCE_DETACH,6.6063e-03,1.4144e-02,2.6135e-02,2.6093e+00,-3.8351e-02,3.7583e-02,-3.1550e-05,1.5899e-02,2.5204e-02,1.5552e-01,-1.4883e-03,9.2036e-04,-4.0132e-06,1.5835e-01,1.7499e-03
+51,2.2467e+01,DOWN_FORCE_DETACH,6.7399e-03,1.7752e-02,2.5899e-02,2.6229e+00,-3.8329e-02,3.7807e-02,-3.8800e-05,1.9508e-02,2.4968e-02,1.6904e-01,-1.4666e-03,1.1444e-03,-1.1264e-05,1.7199e-01,1.8603e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dc322a02b2dd5afe78549643a783347fa76197b
--- /dev/null
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..824d5dc153f667e3e693a68099360f9d129f8619
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae1c330ac452a85d7ba62ab7accde54b8aa46cd5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..959fd70103afe1f3eb4b21c3de89cd2157d886da
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+58,6.483333333e+00,UP_FORCE_HOLD,1791878440545815900,-9.539491354e-05,-2.814058821e-05,9.512154839e-04,-9.469623501e-05,-2.879620769e-05,9.362047515e-04,-9.337854723e-05,-2.874589758e-05,9.353368441e-04,7.014424766e-01,-2.658962689e-05,8.416921567e-01,7.014431752e-01,-2.724524637e-05,8.416771459e-01,7.016359820e-01,-2.699177646e-05,8.305080342e-01
+59,6.633333333e+00,UP_SETTLE,1791878440845836103,-9.484862723e-05,-2.894445465e-05,9.564401582e-04,-9.456515063e-05,-2.886015957e-05,9.562444180e-04,-9.319919930e-05,-2.879144189e-05,9.552806966e-04,7.014430229e-01,-2.739349333e-05,8.416973813e-01,7.014433063e-01,-2.730919825e-05,8.416971856e-01,7.016361613e-01,-2.703732078e-05,8.305279781e-01
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..405ef06600129e7e7e35e7634626a552b5d8ea1d
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.6262e-03,9.2604e-04,2.4538e+00,-3.6862e-02,3.6672e-02,-2.7941e-05,1.3122e-04,-5.1546e-06,-5.7220e-06,1.5274e-07,9.3393e-06,-3.2790e-07,1.3145e-04,9.3463e-06
+1,1.1667e-01,UP_FORCE_RAMP,3.5560e-05,-7.2805e-04,8.9165e-04,2.4538e+00,-3.6861e-02,3.6736e-02,-3.0202e-05,1.0294e-03,-3.9541e-05,-3.7670e-05,1.1213e-06,7.3258e-05,-2.5882e-06,1.0308e-03,7.3312e-05
+2,2.6667e-01,UP_FORCE_RAMP,6.8718e-05,3.2979e-04,8.5559e-04,2.4538e+00,-3.6860e-02,3.6811e-02,-3.2914e-05,2.0872e-03,-7.5604e-05,-6.7711e-05,1.9632e-06,1.4848e-04,-5.3003e-06,2.0897e-03,1.4859e-04
+3,4.1667e-01,UP_FORCE_RAMP,9.7780e-05,1.2870e-03,8.2699e-04,2.4537e+00,-3.6860e-02,3.6879e-02,-3.5464e-05,3.0444e-03,-1.0421e-04,-8.8453e-05,2.4661e-06,2.1651e-04,-7.8506e-06,3.0474e-03,2.1667e-04
+4,5.3333e-01,UP_FORCE_RAMP,1.3340e-04,1.9667e-03,8.0851e-04,2.4537e+00,-3.6860e-02,3.6927e-02,-3.7354e-05,3.7241e-03,-1.2268e-04,-1.0014e-04,2.7046e-06,2.6482e-04,-9.7402e-06,3.7274e-03,2.6502e-04
+5,7.0000e-01,UP_FORCE_RAMP,1.6711e-04,2.8478e-03,7.8629e-04,2.4537e+00,-3.6859e-02,3.6990e-02,-3.9926e-05,4.6052e-03,-1.4490e-04,-1.1253e-04,2.9206e-06,3.2744e-04,-1.2312e-05,4.6089e-03,3.2769e-04
+6,8.6667e-01,UP_FORCE_RAMP,2.0022e-04,3.7461e-03,1.5364e-03,2.4450e+00,-3.6912e-02,3.7062e-02,-4.2003e-05,5.5035e-03,6.0525e-04,-8.7810e-03,-5.0180e-05,3.9965e-04,-1.4390e-05,1.0381e-02,4.0304e-04
+7,1.0333e+00,UP_FORCE_RAMP,2.3330e-04,5.8202e-03,2.4475e-03,2.4383e+00,-3.6977e-02,3.7216e-02,-4.3761e-05,7.5777e-03,1.5163e-03,-1.5522e-02,-1.1469e-04,5.5315e-04,-1.6147e-05,1.7339e-02,5.6514e-04
+8,1.1500e+00,UP_FORCE_RAMP,2.6828e-04,5.2341e-03,5.5683e-04,2.4310e+00,-3.6848e-02,3.7181e-02,-4.6499e-05,6.9915e-03,-3.7437e-04,-2.2779e-02,1.3828e-05,5.1850e-04,-1.8886e-05,2.3831e-02,5.1903e-04
+9,1.2667e+00,UP_FORCE_RAMP,2.9934e-04,6.9164e-03,3.5596e-03,2.4233e+00,-3.7055e-02,3.7308e-02,-4.6539e-05,8.6738e-03,2.6284e-03,-3.0557e-02,-1.9303e-04,6.4583e-04,-1.8926e-05,3.1873e-02,6.7433e-04
+10,1.3833e+00,UP_FORCE_RAMP,3.3787e-04,8.0882e-03,1.4193e-03,2.4161e+00,-3.6910e-02,3.7398e-02,-4.9322e-05,9.8456e-03,4.8812e-04,-3.7695e-02,-4.7356e-05,7.3517e-04,-2.1709e-05,3.8963e-02,7.3701e-04
+11,1.4833e+00,UP_FORCE_RAMP,3.6670e-04,7.9396e-03,7.5693e-04,2.4109e+00,-3.6865e-02,3.7392e-02,-5.1060e-05,9.6970e-03,-1.7426e-04,-4.2926e-02,-2.7083e-06,7.2976e-04,-2.3446e-05,4.4008e-02,7.3014e-04
+12,1.6000e+00,UP_FORCE_RAMP,3.9864e-04,8.0730e-03,1.3935e-03,2.4064e+00,-3.6909e-02,3.7407e-02,-5.2203e-05,9.8305e-03,4.6234e-04,-4.7390e-02,-4.6786e-05,7.4418e-04,-2.4590e-05,4.8401e-02,7.4605e-04
+13,1.6833e+00,UP_FORCE_RAMP,4.3603e-04,1.2230e-02,3.6975e-03,2.4004e+00,-3.7067e-02,3.7708e-02,-5.2160e-05,1.3987e-02,2.7663e-03,-5.3474e-02,-2.0505e-04,1.0457e-03,-2.4546e-05,5.5343e-02,1.0659e-03
+14,1.7833e+00,UP_FORCE_RAMP,4.6755e-04,1.4287e-02,7.4840e-04,2.3968e+00,-3.6865e-02,3.7858e-02,-5.5162e-05,1.6045e-02,-1.8279e-04,-5.6992e-02,-2.7493e-06,1.1950e-03,-2.7548e-05,5.9207e-02,1.1953e-03
+15,1.8833e+00,UP_FORCE_RAMP,4.9817e-04,1.6092e-02,1.9653e-03,2.3914e+00,-3.6948e-02,3.7991e-02,-5.5766e-05,1.7850e-02,1.0341e-03,-6.2436e-02,-8.5846e-05,1.3283e-03,-2.8152e-05,6.4945e-02,1.3313e-03
+16,1.9833e+00,UP_FORCE_RAMP,5.3541e-04,1.6164e-02,2.2840e-03,2.3853e+00,-3.6970e-02,3.8002e-02,-5.6942e-05,1.7921e-02,1.3528e-03,-6.8573e-02,-1.0738e-04,1.3390e-03,-2.9329e-05,7.0889e-02,1.3436e-03
+17,2.0667e+00,UP_FORCE_RAMP,5.7089e-04,1.5460e-02,1.9876e-03,2.3698e+00,-3.6950e-02,3.7962e-02,-5.8049e-05,1.7218e-02,1.0564e-03,-8.4003e-02,-8.7768e-05,1.2989e-03,-3.0435e-05,8.5756e-02,1.3022e-03
+18,2.1333e+00,UP_FORCE_RAMP,5.9777e-04,1.4957e-02,2.2265e-03,2.3646e+00,-3.6966e-02,3.7932e-02,-5.8743e-05,1.6715e-02,1.2953e-03,-8.9266e-02,-1.0335e-04,1.2698e-03,-3.1130e-05,9.0827e-02,1.2744e-03
+19,2.2167e+00,UP_FORCE_RAMP,6.3419e-04,1.3757e-02,6.5508e-04,2.3593e+00,-3.6859e-02,3.7855e-02,-5.9950e-05,1.5514e-02,-2.7611e-04,-9.4527e-02,3.1590e-06,1.1921e-03,-3.2337e-05,9.5792e-02,1.1926e-03
+20,2.3167e+00,UP_FORCE_RAMP,6.6859e-04,1.3730e-02,2.0935e-03,2.3542e+00,-3.6955e-02,3.7854e-02,-6.0264e-05,1.5487e-02,1.1623e-03,-9.9661e-02,-9.2763e-05,1.1917e-03,-3.2651e-05,1.0086e-01,1.1958e-03
+21,2.4000e+00,UP_FORCE_RAMP,6.9821e-04,1.6200e-02,4.6015e-03,2.3523e+00,-3.7126e-02,3.8025e-02,-5.9457e-05,1.7958e-02,3.6703e-03,-1.0151e-01,-2.6396e-04,1.3620e-03,-3.1844e-05,1.0315e-01,1.3877e-03
+22,2.5000e+00,UP_FORCE_RAMP,7.3613e-04,1.5765e-02,3.8680e-03,2.3509e+00,-3.7080e-02,3.8004e-02,-5.9416e-05,1.7522e-02,2.9368e-03,-1.0290e-01,-2.1769e-04,1.3413e-03,-3.1803e-05,1.0443e-01,1.3592e-03
+23,2.6000e+00,UP_FORCE_RAMP,7.6695e-04,1.6902e-02,3.8303e-03,2.3499e+00,-3.7078e-02,3.8083e-02,-5.9491e-05,1.8660e-02,2.8991e-03,-1.0397e-01,-2.1610e-04,1.4208e-03,-3.1878e-05,1.0567e-01,1.4375e-03
+24,2.6833e+00,UP_FORCE_RAMP,7.9879e-04,1.8790e-02,5.7500e-03,2.3458e+00,-3.7210e-02,3.8217e-02,-5.8442e-05,2.0548e-02,4.8188e-03,-1.0807e-01,-3.4803e-04,1.5543e-03,-3.0828e-05,1.1012e-01,1.5930e-03
+25,2.7667e+00,UP_FORCE_RAMP,8.3572e-04,1.8571e-02,6.0271e-03,2.3443e+00,-3.7233e-02,3.8208e-02,-5.7483e-05,2.0329e-02,5.0959e-03,-1.0953e-01,-3.7050e-04,1.5459e-03,-2.9869e-05,1.1152e-01,1.5899e-03
+26,2.8667e+00,UP_FORCE_RAMP,8.6834e-04,2.0019e-02,5.6893e-03,2.3442e+00,-3.7213e-02,3.8310e-02,-5.6679e-05,2.1777e-02,4.7581e-03,-1.0967e-01,-3.5086e-04,1.6470e-03,-2.9066e-05,1.1192e-01,1.6842e-03
+27,2.9833e+00,UP_FORCE_RAMP,8.9921e-04,1.9822e-02,7.3814e-03,2.3454e+00,-3.7333e-02,3.8298e-02,-5.4654e-05,2.1580e-02,6.4502e-03,-1.0840e-01,-4.7082e-04,1.6350e-03,-2.7041e-05,1.1071e-01,1.7017e-03
+28,3.0667e+00,UP_FORCE_RAMP,9.3636e-04,1.9801e-02,9.4317e-03,2.3425e+00,-3.7479e-02,3.8299e-02,-5.2310e-05,2.1558e-02,8.5005e-03,-1.1129e-01,-6.1665e-04,1.6360e-03,-2.4696e-05,1.1368e-01,1.7486e-03
+29,3.1667e+00,UP_FORCE_RAMP,9.6988e-04,2.0419e-02,9.6932e-03,2.3345e+00,-3.7502e-02,3.8342e-02,-5.0698e-05,2.2177e-02,8.7620e-03,-1.1933e-01,-6.3991e-04,1.6794e-03,-2.3084e-05,1.2169e-01,1.7974e-03
+30,3.2667e+00,UP_FORCE_RAMP,1.0061e-03,2.0619e-02,1.2897e-02,2.3360e+00,-3.7725e-02,3.8359e-02,-4.7747e-05,2.2376e-02,1.1966e-02,-1.1779e-01,-8.6317e-04,1.6961e-03,-2.0133e-05,1.2049e-01,1.9032e-03
+31,3.3500e+00,UP_FORCE_RAMP,1.0322e-03,1.9787e-02,1.1635e-02,2.3345e+00,-3.7653e-02,3.8305e-02,-4.5609e-05,2.1545e-02,1.0704e-02,-1.1933e-01,-7.9093e-04,1.6422e-03,-1.7996e-05,1.2173e-01,1.8228e-03
+32,3.4667e+00,UP_FORCE_RAMP,1.0697e-03,1.8599e-02,8.9873e-03,2.3346e+00,-3.7481e-02,3.8221e-02,-4.4443e-05,2.0356e-02,8.0561e-03,-1.1922e-01,-6.1866e-04,1.5585e-03,-1.6829e-05,1.2121e-01,1.6769e-03
+33,3.5667e+00,UP_FORCE_RAMP,1.1012e-03,1.8816e-02,1.1684e-02,2.3363e+00,-3.7672e-02,3.8234e-02,-4.1337e-05,2.0573e-02,1.0753e-02,-1.1753e-01,-8.0988e-04,1.5715e-03,-1.3723e-05,1.1980e-01,1.7679e-03
+34,3.6833e+00,UP_FORCE_RAMP,1.1354e-03,1.9302e-02,1.0831e-02,2.3368e+00,-3.7624e-02,3.8267e-02,-3.9228e-05,2.1060e-02,9.8996e-03,-1.1707e-01,-7.6190e-04,1.6046e-03,-1.1614e-05,1.1936e-01,1.7763e-03
+35,3.8000e+00,UP_FORCE_RAMP,1.1674e-03,1.9488e-02,8.2292e-03,2.3370e+00,-3.7454e-02,3.8280e-02,-3.8290e-05,2.1245e-02,7.2980e-03,-1.1678e-01,-5.9133e-04,1.6177e-03,-1.0677e-05,1.1892e-01,1.7224e-03
+36,3.9167e+00,UP_FORCE_RAMP,1.2000e-03,1.9758e-02,8.7869e-03,2.3386e+00,-3.7497e-02,3.8298e-02,-3.6496e-05,2.1516e-02,7.8557e-03,-1.1522e-01,-6.3450e-04,1.6354e-03,-8.8822e-06,1.1747e-01,1.7542e-03
+37,4.0667e+00,UP_FORCE_RAMP,1.2376e-03,2.0632e-02,9.0407e-03,2.3431e+00,-3.7521e-02,3.8355e-02,-3.4354e-05,2.2389e-02,8.1095e-03,-1.1074e-01,-6.5877e-04,1.6923e-03,-6.7407e-06,1.1327e-01,1.8160e-03
+38,4.2000e+00,UP_FORCE_RAMP,1.2708e-03,2.2720e-02,8.3462e-03,2.3451e+00,-3.7478e-02,3.8495e-02,-3.2948e-05,2.4478e-02,7.4151e-03,-1.0877e-01,-6.1618e-04,1.8324e-03,-5.3345e-06,1.1174e-01,1.9333e-03
+39,4.2167e+00,UP_FORCE_RAMP,1.2992e-03,2.2723e-02,8.3714e-03,2.3467e+00,-3.7480e-02,3.8497e-02,-3.2825e-05,2.4480e-02,7.4402e-03,-1.0713e-01,-6.1809e-04,1.8341e-03,-5.2112e-06,1.1014e-01,1.9354e-03
+40,4.2667e+00,UP_FORCE_RAMP,1.3320e-03,3.4980e-02,8.1860e-03,2.3578e+00,-3.7468e-02,3.9369e-02,-3.2544e-05,3.6737e-02,7.2549e-03,-9.5991e-02,-6.0605e-04,2.7060e-03,-4.9307e-06,1.0304e-01,2.7730e-03
+41,4.4000e+00,UP_FORCE_RAMP,1.3691e-03,3.3031e-02,8.2606e-03,2.3667e+00,-3.7474e-02,3.9222e-02,-3.1441e-05,3.4788e-02,7.3294e-03,-8.7126e-02,-6.1174e-04,2.5597e-03,-3.8270e-06,9.4100e-02,2.6318e-03
+42,4.5333e+00,UP_FORCE_RAMP,1.4027e-03,3.3835e-02,1.1165e-02,2.3661e+00,-3.7676e-02,3.9279e-02,-2.8843e-05,3.5593e-02,1.0234e-02,-8.7746e-02,-8.1372e-04,2.6167e-03,-1.2298e-06,9.5241e-02,2.7403e-03
+43,4.6833e+00,UP_FORCE_RAMP,1.4354e-03,3.2746e-02,8.3929e-03,2.3663e+00,-3.7486e-02,3.9202e-02,-2.9061e-05,3.4503e-02,7.4617e-03,-8.7537e-02,-6.2382e-04,2.5392e-03,-1.4470e-06,9.4387e-02,2.6147e-03
+44,4.8000e+00,UP_FORCE_RAMP,1.4710e-03,3.1007e-02,1.0651e-02,2.3641e+00,-3.7637e-02,3.9081e-02,-2.7538e-05,3.2765e-02,9.7201e-03,-8.9747e-02,-7.7504e-04,2.4180e-03,7.5845e-08,9.6034e-02,2.5392e-03
+45,4.9333e+00,UP_FORCE_RAMP,1.5040e-03,3.0455e-02,1.0601e-02,2.3735e+00,-3.7632e-02,3.9036e-02,-2.6367e-05,3.2212e-02,9.6703e-03,-8.0280e-02,-7.7024e-04,2.3729e-03,1.2467e-06,8.7040e-02,2.4948e-03
+46,5.0500e+00,UP_FORCE_RAMP,1.5359e-03,3.0297e-02,1.0401e-02,2.3715e+00,-3.7616e-02,3.9026e-02,-2.5651e-05,3.2054e-02,9.4696e-03,-8.2294e-02,-7.5364e-04,2.3629e-03,1.9622e-06,8.8823e-02,2.4802e-03
+47,5.1833e+00,UP_FORCE_RAMP,1.5727e-03,2.8676e-02,8.8905e-03,2.3692e+00,-3.7508e-02,3.8915e-02,-2.5263e-05,3.0434e-02,7.9593e-03,-8.4605e-02,-6.4586e-04,2.2520e-03,2.3507e-06,9.0264e-02,2.3428e-03
+48,5.3167e+00,UP_FORCE_RAMP,1.6028e-03,2.8413e-02,9.0472e-03,2.3784e+00,-3.7510e-02,3.8891e-02,-2.4481e-05,3.0170e-02,8.1160e-03,-7.5382e-02,-6.4816e-04,2.2288e-03,3.1329e-06,8.1600e-02,2.3211e-03
+49,5.4000e+00,UP_FORCE_RAMP,1.6395e-03,3.1030e-02,1.7021e-02,2.3744e+00,-3.8051e-02,3.9074e-02,-2.0221e-05,3.2787e-02,1.6090e-02,-7.9392e-02,-1.1893e-03,2.4114e-03,7.3925e-06,8.7390e-02,2.6888e-03
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d4243700989b92078aa75979e85dd2a1d4e6c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+41605,1791878519113757537,7559273000000,1791878519111043756,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760429691163408,-0.004748893194300167,0.09069347013550541,0.9999999867198006,9.705645231052226e-05,-8.7075602482061e-05,3.16409160846743e-05,0.6761,-0.0048,0.09070594039537988,1.0,0.0,0.0,0.0,-0.173670759416517,-0.17477391663688108,0.2971028869090203,-0.01159690347443671,0.011305361883843044,-0.00020444001417993605,-0.10592699473715238,-0.14768252484053265,0.6446940486732372,-0.015610562128912193,0.007258987428821733,-0.002642877023269299,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8824188339929558,-0.6527520345121365,0.20784088634432704,0.4589273036067759,0.04866699233222374,-0.47004933603206467,0.5340987696236708,0.2971028869090203,0.3262578832793437,0.3262578832793437,0.4313600000000467,0,0,-7.966812896405966e-05,-4.458145871214918e-05
+41721,1791878520080780936,7560240000000,1791878520079033936,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760460961687899,-0.00474954545571753,0.09062382946569907,0.9999999875823078,9.310769748761474e-05,-7.990643027690367e-05,3.498810746043794e-05,0.6761,-0.0048,0.09062936946924946,1.0,0.0,0.0,0.0,-0.17393354825907015,-0.16657994455224936,0.35126562284123763,-0.011563760160827077,0.011291619875340969,-0.0002480904912565813,-0.10618978357970553,-0.13948855275590094,0.6988567846054545,-0.015577418815302557,0.007245245420319658,-0.002686527500345944,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8991115816857457,-0.607174730225156,0.08832461972832747,0.4616499521981977,0.12571197512441978,-0.4368491101400605,0.5340987696236708,0.35126562284123763,0.44577414989534325,0.44577414989534325,0.5087200000000643,0,0,-7.673544107492247e-05,9.999999025923074e-05
+41853,1791878521180736836,7561340000000,1791878521179043196,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760514859670421,-0.004747924894098115,0.09054919367383735,0.9999999879167951,9.59788990577491e-05,-7.065155119119868e-05,3.749244243413268e-05,0.6761,-0.0048,0.09054262904972143,1.0,0.0,0.0,0.0,-0.17887077990256683,-0.15726333846019044,0.4220145928338429,-0.010626240498032367,0.012266819008889911,-0.00028491119925692443,-0.11112701522320222,-0.13017194666384202,0.7696057545980598,-0.014639899152507848,0.0082204445538686,-0.0027233482083462873,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8661448171850603,-0.5932798291248838,0.012990437399323254,0.4578184553774558,0.16031157612128924,-0.42932753565571213,0.5340987696236708,0.4220145928338429,0.5211083322243475,0.5211083322243475,0.5967200000000302,0,0,-8.14992818551089e-05,9.997624536429157e-05
+41988,1791878522305675237,7562465000000,1791878522303033852,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676053581298638,-0.004732951439963691,0.09046734825511793,0.9999999873889689,0.0001039959826988941,-6.55043941060671e-05,3.9483366427368775e-05,0.6761,-0.0048,0.09045158847718456,1.0,0.0,0.0,0.0,-0.16575565155818478,-0.14776615298402643,0.49859999648988607,-0.009593898316343195,0.01122166675468626,-0.0003426795441217184,-0.09801188687882016,-0.12067476118767802,0.846191158254103,-0.013607556970818677,0.007175292299664949,-0.0027811165532110813,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8206481577946727,-0.5476564934793569,-0.006581718221642364,0.443733895113113,0.1581791362424593,-0.4041377670230328,0.5340987696236708,0.49859999648988607,0.5406804878453131,0.5406804878453131,0.6867199999999953,0,0,-8.399650628795741e-05,-9.999906044744761e-05
+42120,1791878523405753133,7563565000000,1791878523403043580,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760618935668535,-0.004734572043015953,0.09038851409663025,0.9999999883803868,0.00010142978406075071,-5.0278775694515526e-05,4.3198774396374624e-05,0.6761,-0.0048,0.09035999190542861,1.0,0.0,0.0,0.0,-0.16608967634241018,-0.13985408318361134,0.5690101153144438,-0.009609567484491498,0.011204075421510144,-5.3813788404487306e-05,-0.09834591166304557,-0.11276269138726291,0.9166012770786607,-0.01362322613896698,0.007157700966488834,-0.00249225079749385,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.8791878806000745,-0.5863762102472879,-0.08211976979980593,0.46104815110199787,0.22219708808685587,-0.4274394297030067,0.5340987696236708,0.5690101153144438,0.6162185394234767,0.6162185394234767,0.7747199999999612,0,0,-8.423758831729711e-05,-9.995133473517654e-05
+42220,1791878524238671840,7564398000000,1791878524235043586,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6760670782742522,-0.004728320015018966,0.09033041257733147,0.9999999877735714,0.00010936992641482726,-4.384978088361361e-05,4.4845706298172795e-05,0.6761,-0.0048,0.09029023101643056,1.0,0.0,0.0,0.0,-0.17426691750909137,-0.1468365253431536,0.6290793034327515,-0.009618806592839271,0.011192760504260813,-0.00025371522949926666,-0.10652315282972677,-0.1197451335468052,0.9766704651969684,-0.013632465247314754,0.007146386049239504,-0.0026921522385886295,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.930033046015468,-0.6950447953238659,-0.19344978558882012,0.4952757705494054,0.3018665503611969,-0.4972322644082911,0.5340987696236708,0.6290793034327515,0.7275485552124908,0.7275485552124908,0.8413599999999354,0,0,-8.312954198205625e-05,-6.664395010703145e-05
+42332,1791878525171755725,7565331000000,1791878525167043499,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760719202477007,-0.00473906778417735,0.09026261529195151,0.9999999883304892,0.00010448345104586584,-3.825654735538588e-05,4.9005416082760696e-05,0.6761,-0.0048,0.09021462290916622,1.0,0.0,0.0,0.0,-0.16683563352343472,-0.14578112190811238,0.6997049927578829,-0.009640021793032562,0.011172441944993828,0.0005193457889901341,-0.0990918688440701,-0.11868973011176397,1.0472961545220998,-0.013653680447508044,0.007126067489972519,-0.0019190912200992287,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.9322544589316314,-0.5351646969537132,-0.36074402369948344,0.44511947105908306,0.41082239632475565,-0.395427721357288,0.5340987696236708,0.6997049927578829,0.8948427933231542,0.8948427933231542,0.9159999999999064,0,0,-8.164157982018671e-05,9.991881907834283e-05
+42463,1791878526263751241,7566423000000,1791878526263043689,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760756552601513,-0.004737343116130831,0.0901821065268859,0.9999999886390527,0.00010329705470624676,-3.27850685168738e-05,4.918959827275704e-05,0.6761,-0.0048,0.09012485923869351,1.0,0.0,0.0,0.0,-0.17611937705656724,-0.14655491985360458,0.769921783440924,-0.009133373067010685,0.011285359790814617,0.00047818912925173514,-0.10837561237720264,-0.11946352805725617,1.1175129452051409,-0.013147031721486168,0.007238985335793306,-0.0019602478798376277,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,0.946903224223533,-0.5967198225024433,-0.3888499311971684,0.4784921380505294,0.43060257290143683,-0.4329104894266163,0.5340987696236708,0.769921783440924,0.9229487008208391,0.9229487008208391,1.0033599999998772,0,0,-8.087971676143534e-05,9.190237046231004e-05
+42563,1791878527096749325,7567256000000,1791878527095033503,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.67608390569081,-0.0047322703539389365,0.0901221891388439,0.9999999888885274,0.00010497609150087997,-1.9722146251238308e-05,4.750649055967914e-05,0.6761,-0.0048,0.09005633955816623,1.0,0.0,0.0,0.0,-0.17654179393967037,-0.13891030068883667,0.8298438400343822,-0.008962334177223235,0.01214463455667495,0.00043870528407214315,-0.10879802926030577,-0.11181890889248824,1.177435001798599,-0.012975992831698717,0.008098260101653642,-0.0019997317250172197,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0187623660433014,-0.6028413793004944,-0.4429797677985825,0.48766631722916426,0.4828868985672822,-0.4344084038074187,0.5340987696236708,0.8298438400343822,0.9770785374222533,0.9770785374222533,1.0699999999999439,0,0,-8.296766865614901e-05,7.067557236529182e-05
+42671,1791878527996737798,7568156000000,1791878527991043873,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760922285053688,-0.0047409199144916115,0.09006053132966417,0.9999999895030015,9.828398761683835e-05,-6.192633092905986e-06,5.2333263829402574e-05,0.6761,-0.0048,0.08998017832037598,1.0,0.0,0.0,0.0,-0.1769120931504325,-0.1354451850241043,0.8905385825339986,-0.008684660801520454,0.012189508015818203,0.0003951404234817531,-0.10916832847106787,-0.10835379322775589,1.2381297442982155,-0.012698319455995935,0.008143133560796892,-0.0020432965856076097,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0230808639864644,-0.6417620566076533,-0.525289204465807,0.49762012029299485,0.5365247368844434,-0.4585799862969534,0.5340987696236708,0.8905385825339986,1.0593879740894776,1.0593879740894776,1.142000000000016,0,0,-8.658723780055754e-05,9.999999025923074e-05
+42791,1791878528996672965,7569156000000,1791878528995043576,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6760977516993472,-0.004741056484317115,0.0899817794511575,0.9999999899216206,9.502641124061515e-05,-6.091953444004023e-07,5.068760365591095e-05,0.6761,-0.0048,0.08989215030746595,1.0,0.0,0.0,0.0,-0.1864837294993537,-0.13309272121839485,0.9547506404247978,-0.008722247094101344,0.013124809199064804,0.00035595586593471264,-0.11873996481998912,-0.10600132942204644,1.3023418021890147,-0.012735905748576824,0.009078434744043493,-0.00208248114315465,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.00627544491959,-0.6002583605162592,-0.5930316697010061,0.4977717157536412,0.5750576050925442,-0.4283106729103481,0.5340987696236708,0.9547506404247978,1.1271304393246768,1.1271304393246768,1.222000000000096,0,0,-8.815811261966987e-05,9.478807602570356e-05
+42899,1791878529896769932,7570056000000,1791878529895043150,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676102813983052,-0.004740578621988189,0.08991228692973002,0.9999999895189915,9.885180976767313e-05,6.495423502631703e-06,5.090197134247879e-05,0.6761,-0.0048,0.08981199602702324,1.0,0.0,0.0,0.0,-0.1829878982838558,-0.13515932069490413,1.0210034740436529,-0.008734576641615761,0.013110173113997065,0.00030287097995262795,-0.11524413360449122,-0.10806792889855571,1.3685946358078698,-0.012748235296091244,0.009063798658975754,-0.002135566029136735,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.061521344988461,-0.5541934813965218,-0.6935649864967316,0.49353306328985047,0.6518625335606334,-0.39925564063538455,0.5340987696236708,1.0210034740436529,1.2276637561204025,1.2276637561204025,1.294000000000168,0,0,-8.887526705273074e-05,9.999999025923074e-05
+43022,1791878530921733583,7571081000000,1791878530919044177,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761097015293487,-0.004745183714855507,0.08983708678134138,0.9999999901046565,9.099271954339463e-05,1.9963089544254138e-05,5.0550485138258676e-05,0.6761,-0.0048,0.0897200915422751,1.0,0.0,0.0,0.0,-0.18679277312985998,-0.12819140466128184,1.0877536736649598,-0.008747494135727975,0.013095295633371126,0.00024615551259744546,-0.11904900845049537,-0.10110001286493342,1.4353448354291767,-0.012761152790203456,0.009048921178349816,-0.0021922814964919174,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1071945956949314,-0.6156620842306717,-0.6760055900791437,0.5036079696580013,0.6514449184434193,-0.44263636935602724,0.5340987696236708,1.0877536736649598,1.2101043597028145,1.2101043597028145,1.37600000000025,0,0,-9.062270869416989e-05,-9.981454138075491e-05
+43138,1791878531888735903,7572048000000,1791878531883043782,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761149491359167,-0.004745650601149282,0.08975993983518589,0.9999999897210936,9.446396168859186e-05,2.683617761647987e-05,4.854952795880822e-05,0.6761,-0.0048,0.08963446135890961,1.0,0.0,0.0,0.0,-0.18773359520824467,-0.13542405009924213,1.1514931278451275,-0.008396954067764792,0.013081098179029617,0.00019780418531919336,-0.11998983052888007,-0.10833265830289371,1.4990842896093444,-0.012410612722240274,0.009034723724008308,-0.0022406328237701695,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0608565990501,-0.6332549121290443,-0.7886586261090127,0.5232647162002618,0.7107709253377389,-0.44866110932310527,0.5340987696236708,1.1514931278451275,1.3227573957326835,1.3227573957326835,1.4533600000003273,0,0,-8.968615531765168e-05,-8.719925756318076e-05
+43242,1791878532755724315,7572915000000,1791878532755043934,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761203820890782,-0.004750630300880008,0.08968887390288488,0.9999999896072567,9.251543789858815e-05,3.573493725452841e-05,4.891072548271067e-05,0.6761,-0.0048,0.08955532678762838,1.0,0.0,0.0,0.0,-0.20297689880541026,-0.12707130896908433,1.2184930224475108,-0.007781117393755929,0.014061953113653342,0.0001681159663485753,-0.13523313412604565,-0.09997991717273592,1.5660841842117277,-0.01179477604823141,0.010015578658632032,-0.0022703210427407875,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0605957031159994,-0.5465037065027106,-0.906965768857782,0.5044239266937901,0.7834420015303674,-0.39040740276256797,0.5340987696236708,1.2184930224475108,1.4410645384814527,1.4410645384814527,1.5227200000003966,0,0,-8.994172526613641e-05,7.368689966392167e-05
+43358,1791878533721724298,7573881000000,1791878533715043735,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761250685524877,-0.004749377741729418,0.08961738917922217,0.9999999880690045,0.0001027696230083694,4.342471636009938e-05,5.345609326943164e-05,0.6761,-0.0048,0.08947048852877083,1.0,0.0,0.0,0.0,-0.2059050055366625,-0.1309272565126168,1.2752275088050562,-0.008584323798042044,0.014065241686068125,0.00011876708704789676,-0.1381612408572979,-0.10383586471626839,1.622818670569273,-0.012597982452517526,0.010018867231046816,-0.002319669922041466,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.0726234729613453,-0.5713863624042512,-0.944976007078807,0.5169709419490554,0.8084231015037846,-0.40684388934451193,0.5340987696236708,1.2752275088050562,1.4790747767024777,1.4790747767024777,1.600000000000474,0,0,-8.918326793313914e-05,-6.419030171145863e-05
+43490,1791878534821710838,7574981000000,1791878534819044697,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761294500703453,-0.004753972962555816,0.08952436925011567,0.9999999874032636,0.0001024676184139662,5.126219893339417e-05,5.923606408712993e-05,0.6761,-0.0048,0.08936764892321841,1.0,0.0,0.0,0.0,-0.2067580222382492,-0.13347442143923557,1.3587420330390214,-0.007813266615699574,0.014254329106243784,5.705614976726607e-05,-0.1390142575588846,-0.10638302964288715,1.7063331948032383,-0.011826925270175054,0.010207954651222475,-0.0023813808593220968,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1242903543905054,-0.6065767007186785,-1.0813207892043282,0.5293091123446483,0.9103843695416809,-0.4289929440112077,0.5340987696236708,1.3587420330390214,1.615419558827999,1.615419558827999,1.688000000000562,0,0,-9.176344565178939e-05,9.999999025923074e-05
+43597,1791878535713737789,7575873000000,1791878535707043871,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676137016098356,-0.004753853246562034,0.08945143826641858,0.9999999872172466,9.832937691527993e-05,6.350533170209229e-05,5.7504586835894234e-05,0.6761,-0.0048,0.08928448136531841,1.0,0.0,0.0,0.0,-0.20708282518425056,-0.12685210773998015,1.4225738626939965,-0.007845714287705956,0.015031814746129232,1.8456642255618074e-05,-0.13933906050488595,-0.09976071594363174,1.7701650244582134,-0.011859372942181439,0.010985440291107923,-0.0024199803668337448,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.157426683136427,-0.5866222975064043,-1.1407490416704913,0.5350035623684701,0.9563628122318286,-0.41378629708185005,0.5340987696236708,1.4225738626939965,1.674847811294162,1.674847811294162,1.7593600000006333,0,0,-9.322508081191649e-05,9.999381464365626e-05
+43709,1791878536646694379,7576806000000,1791878536643043603,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761425321738449,-0.004754771763814764,0.08937218567569258,0.9999999873133556,9.446526838033691e-05,7.340341505892579e-05,5.004402830061212e-05,0.6761,-0.0048,0.08919472417263659,1.0,0.0,0.0,0.0,-0.20729346295359347,-0.13221295194546565,1.486419699438599,-0.007858173771109846,0.015019005136937973,-3.127892575998867e-05,-0.13954969827422886,-0.10512156014911722,1.8340108612028159,-0.011871832425585328,0.010972630681916664,-0.0024697159348493515,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1091791729035279,-0.6261663365051303,-1.1690293291804226,0.5502801974691288,0.9574416766182358,-0.4413346029144378,0.5340987696236708,1.486419699438599,1.7031280988040933,1.7031280988040933,1.834000000000708,0,0,-9.676906432695554e-05,-3.215534369183644e-05
+43825,1791878537613729603,7577773000000,1791878537607043459,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761473141264362,-0.004754825003182786,0.08928975138782057,0.9999999871610096,9.147562611610231e-05,7.974881005338704e-05,4.89201616945545e-05,0.6761,-0.0048,0.08910194096046575,1.0,0.0,0.0,0.0,-0.2075681797155565,-0.13852791356185307,1.552972059309194,-0.007872165845089006,0.015004691695969661,-8.696093962950058e-05,-0.1398244150361919,-0.11143652176550464,1.900563221073411,-0.011885824499564487,0.01095831724094835,-0.0025253979487188634,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1374698577576527,-0.6129801215420411,-1.306577949749798,0.5532020840817317,1.0541927915095068,-0.43036642098497957,0.5340987696236708,1.552972059309194,1.8406767193734688,1.8406767193734688,1.9113600000007853,0,0,-9.584197891290979e-05,9.998605696027169e-05
+43952,1791878538671759223,7578831000000,1791878538671043055,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761557697517275,-0.004758247344665337,0.08919929561227123,0.9999999861222552,8.79419580221514e-05,9.230451907121107e-05,5.4262708325983604e-05,0.6761,-0.0048,0.08900267076351759,1.0,0.0,0.0,0.0,-0.20824884957190798,-0.1131734507947177,1.633548476202098,-0.0072657836090776326,0.015982190389073506,-1.933838800343519e-05,-0.14050508489254337,-0.08608205899836929,1.9811396379663149,-0.011279442263553114,0.011935815934052196,-0.002457775397092798,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1789640955842804,-0.6243831265604353,-1.3057336244320974,0.5612155257911867,1.0638484637018444,-0.4394000538885672,0.5340987696236708,1.633548476202098,1.8398323940557681,1.8398323940557681,1.99600000000087,0,0,-9.208983213079692e-05,-9.044063695030075e-05
+44084,1791878539771717041,7579931000000,1791878539771043253,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761600394520009,-0.004759627323506496,0.0891023929610116,0.9999999859042881,8.142406284140469e-05,9.841762543930378e-05,5.760539129750433e-05,0.6761,-0.0048,0.0888979739789357,1.0,0.0,0.0,0.0,-0.21285418053220026,-0.1228033653609551,1.7134700731374382,-0.007927887163156403,0.015982252621940984,-0.00020146295374979303,-0.14511041585283566,-0.09571197356460669,2.061061234901655,-0.011941545817631884,0.011935878166919675,-0.002639899962839156,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1766987958865578,-0.6752204596990249,-1.4193200199432956,0.5828394360655303,1.1311440594904159,-0.47307335154199964,0.5340987696236708,1.7134700731374382,1.9534187895669664,1.9534187895669664,2.084000000000958,0,0,-9.617618902254955e-05,-7.027977785701296e-05
+44188,1791878540638739133,7580798000000,1791878540635043823,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761660964103177,-0.004765212182086291,0.0890280359246344,0.9999999851437896,7.735930345981674e-05,0.00010611973951487611,6.252538579315571e-05,0.6761,-0.0048,0.08881718101919249,1.0,0.0,0.0,0.0,-0.2146699903248339,-0.11984115398937778,1.7740136950240462,-0.007939848466347831,0.015958941883450217,0.00024285002704973243,-0.14692622564546928,-0.09274976219302937,2.121604856788263,-0.011953507120823312,0.011912567428428908,-0.0021955869820396304,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.208896494451314,-0.6486574923324085,-1.5414992871528268,0.5766526376825315,1.2181637706183166,-0.45697632747565775,0.5340987696236708,1.7740136950240462,2.0755980567764976,2.0755980567764976,2.1533600000010273,0,0,-9.008919163858297e-05,9.984794521600832e-05
+44300,1791878541571726267,7581731000000,1791878541571043241,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761701307317294,-0.0047585723765210895,0.08895072450778391,0.9999999831912239,9.059757681919831e-05,0.00011315755411509182,6.362282298039737e-05,0.6761,-0.0048,0.08872956809627913,1.0,0.0,0.0,0.0,-0.20890574558433125,-0.11627410692709104,1.8284517798351663,-0.006937565310673023,0.015934153147985908,8.903363407805794e-05,-0.14116198090496665,-0.08918271513074263,2.176042941599383,-0.010951223965148504,0.011887778692964597,-0.002349403375011305,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.187268852074289,-0.6484331357598836,-1.4984937930854165,0.584102462355743,1.178069107707935,-0.45205557829520415,0.5340987696236708,1.8284517798351663,2.0325925627090875,2.0325925627090875,2.228000000001102,0,0,-9.696780307463649e-05,-9.999996250365512e-05
+44399,1791878542396713918,7582556000000,1791878542395043842,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761735505315373,-0.00475780807837557,0.08887829920876267,0.9999999767787701,0.0001402365807642594,0.00011817755364513178,6.521572672130597e-05,0.6761,-0.0048,0.08864675916674392,1.0,0.0,0.0,0.0,-0.21479378572048513,-0.11394403485378932,1.8717025193346852,-0.006944741105549536,0.015923818176928367,0.0007053063069186987,-0.14705002104112053,-0.0868526430574409,2.219293681098902,-0.010958399760025017,0.011877443721907056,-0.001733130702170664,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1960889454888568,-0.6624678033217446,-1.6962027521793486,0.5920702728975277,1.3046879981318238,-0.45516342846535784,0.5340987696236708,1.8717025193346852,2.2303015218030193,2.2303015218030193,2.294000000001168,0,0,-0.00010661804012293696,9.934117003863036e-05
+44479,1791878543063687684,7583223000000,1791878543059043076,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761723999651158,-0.004762352825677067,0.08880010122171139,0.9999999761852453,0.00014510360390434667,0.00011434479070597654,7.03035293728181e-05,0.6761,-0.0048,0.0885797793033597,1.0,0.0,0.0,0.0,-0.21242243735525482,-0.1136453879743692,1.945073284365184,-0.006959865554788869,0.015907754172986642,0.0006501786265115102,-0.1446786726758902,-0.08655399617802079,2.292664446129401,-0.01097352420926435,0.011861379717965333,-0.0017882583825778527,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1490037769130006,-0.6374650698409501,-1.6218905272117186,0.5933514404539779,1.2413516057545024,-0.4399306435035496,0.5340987696236708,1.945073284365184,2.155989296835389,2.155989296835389,2.3473600000012214,0,0,-9.78409585114789e-05,-9.915773343938667e-05
+44591,1791878543996687611,7584156000000,1791878543995043334,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676181093780879,-0.004757714054310981,0.08872514267428296,0.9999999749625688,0.00014062674403043818,0.00012925736583948322,7.095335457036879e-05,0.6761,-0.0048,0.08848498846606402,1.0,0.0,0.0,0.0,-0.21634956407749056,-0.1121989069102846,1.9952323868322905,-0.006969365127899062,0.015896609579512343,0.000609179848862131,-0.14860579939812596,-0.08510751511393619,2.3428235485965074,-0.010983023782374543,0.011850235124491034,-0.0018292571602272318,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1178794900372768,-0.5675575001469211,-1.7397562898784475,0.5759132292273403,1.305946860855879,-0.39887337553019436,0.5340987696236708,1.9952323868322905,2.273855059502118,2.273855059502118,2.422000000001296,0,0,-0.00010700802517279862,-9.293204680649864e-05
+44699,1791878544896754774,7585056000000,1791878544895043682,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6761852329353617,-0.004759906220572481,0.08863635616825913,0.9999999753632108,0.00013393931729773143,0.000134039222181946,6.935552116725305e-05,0.6761,-0.0048,0.08838982224431018,1.0,0.0,0.0,0.0,-0.2100507166644742,-0.10794651271110556,2.063268308623112,-0.0069821223168942325,0.015883058804117535,0.0005538842035220574,-0.1423069519851096,-0.08085512091475715,2.410859470387329,-0.010995780971369714,0.011836684349096224,-0.0018845528055673054,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1658136425613392,-0.5624439152312908,-1.8509726820967807,0.5742339871956711,1.3826764582292428,-0.39853768049644556,0.5340987696236708,2.063268308623112,2.385071451720451,2.385071451720451,2.494000000001368,0,0,-0.00010625139983536235,9.950347076704275e-05
+44802,1791878545755699309,7585915000000,1791878545755043394,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.676189785795362,-0.004757408140659469,0.08855374099407076,0.9999999749110996,0.00013137577392158457,0.00013919374585212588,7.061282877411906e-05,0.6761,-0.0048,0.08829647116610655,1.0,0.0,0.0,0.0,-0.2191991304847731,-0.10986239269977387,2.1099542880818536,-0.005972744995818306,0.015875761007057548,0.0005254681363778622,-0.1514553658054085,-0.08277100090342546,2.4575454498460703,-0.009986403650293787,0.011829386552036237,-0.0019129688727115006,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1758878025024262,-0.6135351967644327,-1.8775696606731744,0.5969224515297531,1.4009422470949702,-0.43127302919625377,0.5340987696236708,2.1099542880818536,2.411668430296845,2.411668430296845,2.5627200000014367,0,0,-0.00010960618331975892,-9.557783317427066e-05
+44918,1791878546721762448,7586881000000,1791878546719043357,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6761955328955341,-0.004763166494770742,0.08845291228680029,0.9999999749397727,0.00012131650417834648,0.0001470004556523196,7.23635973190141e-05,0.6761,-0.0048,0.08819021315139597,1.0,0.0,0.0,0.0,-0.21959567714028044,-0.1011357647088493,2.176167198711143,-0.00601027510314277,0.016851432442300363,0.0004898495967210661,-0.15185191246091584,-0.07404437291250089,2.52375836047536,-0.010023933757618252,0.012805057987279054,-0.0019485874123682967,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1915251936093552,-0.5951940150727503,-1.9351691683728183,0.6070827858510769,1.4356746906912528,-0.4165385815017749,0.5340987696236708,2.176167198711143,2.469267937996489,2.469267937996489,2.640000000001514,0,0,-0.0001110426732328903,-9.833769495782291e-05
+45026,1791878547621719952,7587781000000,1791878547619043742,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762018393652645,-0.004765606820233717,0.08836782745331437,0.9999999739477032,0.00011702392102748438,0.00015730880752436475,7.146186588026712e-05,0.6761,-0.0048,0.0880896859246567,1.0,0.0,0.0,0.0,-0.21172871558836592,-0.09905914476964496,2.2362005761263974,-0.006021475323386251,0.016838222789950504,0.00044186593536355446,-0.14398495090900132,-0.07196775297329655,2.583791737890614,-0.010035133977861732,0.012791848334929194,-0.0019965710737258084,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.201197126292188,-0.5825121560675253,-1.9997546952929994,0.6101003756450528,1.472411352088222,-0.4080728142589189,0.5340987696236708,2.2362005761263974,2.53385346491667,2.53385346491667,2.712000000001586,0,0,-0.00011298281826363355,-9.999521630022485e-05
+45130,1791878548488758070,7588648000000,1791878548487043841,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762067249051823,-0.004768872523376695,0.08827658270287908,0.9999999720638044,0.00011756008971188266,0.00016584616418585018,7.73946371836032e-05,0.6761,-0.0048,0.08799257374606222,1.0,0.0,0.0,0.0,-0.2214676979696943,-0.10701483646044821,2.290469888756233,-0.006033513442887987,0.01682732323830088,0.00039416526219916356,-0.15372393329032968,-0.0799234446640998,2.6380610505204496,-0.010047172097363468,0.012780948783279572,-0.0020442717468901993,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.1717503139966596,-0.5775020067700412,-2.116341383069635,0.6185265075393813,1.534695609083445,-0.40445975552149926,0.5340987696236708,2.290469888756233,2.6504401526933057,2.6504401526933057,2.7813600000016554,0,0,-0.00010937935566027323,1.486187148203584e-05
+45236,1791878549371751876,7589531000000,1791878549367044740,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762111579823943,-0.0047680270112963035,0.08818856120641246,0.9999999715400469,0.0001136073283876782,0.0001725878556518983,7.529659143384896e-05,0.6761,-0.0048,0.08789491032131487,1.0,0.0,0.0,0.0,-0.22198035056839266,-0.10500102699261053,2.3460732201855965,-0.006043059589316492,0.016815155417179366,0.00035255243416766656,-0.15423658588902805,-0.07790963519626212,2.6936643819498136,-0.010056718243791974,0.012768780962158057,-0.0020858845749216963,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.231990138891585,-0.7096546431674886,-2.185467995452717,0.6609016283794706,1.5906208712722336,-0.4929280568450738,0.5340987696236708,2.3460732201855965,2.719566765076388,2.719566765076388,2.852000000001726,0,0,-0.00011391902233849666,8.052964038612309e-05
+45338,1791878550221739271,7590381000000,1791878550215043810,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762110723901459,-0.0047711091596849145,0.0880900546602785,0.9999999708152993,0.00011688465099414517,0.0001729188518865107,7.905260172840978e-05,0.6761,-0.0048,0.08779725670762456,1.0,0.0,0.0,0.0,-0.22958849164006884,-0.10285557409574629,2.3968647833555483,-0.006079942377049486,0.017816937887865373,0.0003260364067340809,-0.16184472696070423,-0.07576418229939788,2.744455945119765,-0.010093601031524967,0.013770563432844062,-0.002112400602355282,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.23442178838553,-0.6842321279952729,-2.263233335676647,0.6613470042423446,1.6360556384870146,-0.47264955126205904,0.5340987696236708,2.3968647833555483,2.7973321053003177,2.7973321053003177,2.920000000001794,0,0,-0.000113263370214696,9.999999025923074e-05
+45437,1791878551046665010,7591206000000,1791878551043043379,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762141660657789,-0.004774675902603302,0.08800576217620225,0.9999999703124859,0.00011511450583716607,0.0001756100484513171,8.202227227890925e-05,0.6761,-0.0048,0.08770513992523629,1.0,0.0,0.0,0.0,-0.229691514140733,-0.09354816502044379,2.445643208088476,-0.006088904635642164,0.01780659943694444,0.00028663645661363606,-0.1619477494613684,-0.06645677322409538,2.7932343698526925,-0.010102563290117645,0.013760224981923128,-0.0021518005524757268,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.220954408931007,-0.6204603476811392,-2.26374407962869,0.6483481356209144,1.6288253294258097,-0.43255791896895535,0.5340987696236708,2.445643208088476,2.7978428492523606,2.7978428492523606,2.98600000000186,0,0,-0.00011396751258971183,-9.687500387845489e-05
+45537,1791878551880678001,7592040000000,1791878551879043733,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762141910815205,-0.004778050609399251,0.08791566010206504,0.9999999717669121,0.00010480287221302291,0.0001756047566701045,7.802798647373013e-05,0.6761,-0.0048,0.08760917487447914,1.0,0.0,0.0,0.0,-0.22980468529548273,-0.09950535974179286,2.4966631584579257,-0.0060984033563429635,0.01779570967057822,0.00024534767390956176,-0.16206092061611813,-0.07241396794544445,2.8442543202221424,-0.010112062010818445,0.01374933521555691,-0.002193089335179801,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.213601498107643,-0.6322401758240281,-2.3246948305366404,0.6616510601093738,1.6627427307603404,-0.44008937787595,0.5340987696236708,2.4966631584579257,2.858793600160311,2.858793600160311,3.052720000001927,0,0,-0.00011530462902117756,-9.999983760356485e-05
+45637,1791878552713703137,7592873000000,1791878552711044199,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762196417885769,-0.004779235821483325,0.08782475435818199,0.999999970248524,0.0001051923663556647,0.00018359700071795667,7.856540464043085e-05,0.6761,-0.0048,0.0875119073617725,1.0,0.0,0.0,0.0,-0.23460777040775882,-0.08876648022349513,2.5383464487750924,-0.006105011078019167,0.017786403183683974,0.00021106449047708252,-0.16686400572839422,-0.061675088427146724,2.885937610539309,-0.010118669732494649,0.013740028728662665,-0.0022273725186122803,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.247691585118711,-0.6292734995599732,-2.4878812576668126,0.6779174635030838,1.7652165261847246,-0.4364250302748156,0.5340987696236708,2.5383464487750924,3.0219800272904833,3.0219800272904833,3.1193600000019934,0,0,-0.00011914761640222237,9.999980984798924e-05
+45733,1791878553513659857,7593673000000,1791878553507044478,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762228745344462,-0.004780076830909119,0.08773755711945092,0.9999999695987557,0.00010269313810601019,0.00018907902921326986,7.71271171885819e-05,0.6761,-0.0048,0.08741376413422676,1.0,0.0,0.0,0.0,-0.23914838504037272,-0.10413168737485873,2.5837598513648974,-0.006116011504284059,0.01777706403392424,0.00017390831806361577,-0.17140462036100812,-0.07704029557851032,2.931351013129114,-0.01012967015875954,0.013730689578902932,-0.002264528691025747,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2866750542394352,-0.6047507553158786,-2.5326661730310183,0.6708538756844683,1.8030565033173873,-0.42075782156951813,0.5340987696236708,2.5837598513648974,3.066764942654689,3.066764942654689,3.1833600000020574,0,0,-0.00012507650761353772,9.955502674874878e-05
+45837,1791878554380742173,7594540000000,1791878554375044101,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762303301428585,-0.004784976765641392,0.08764371115162826,0.999999966920004,9.958974030188041e-05,0.00020309575744408375,8.022999443012411e-05,0.6761,-0.0048,0.08730369086292346,1.0,0.0,0.0,0.0,-0.23086351487921988,-0.10476496809549155,2.6275722170407247,-0.006124032724043227,0.01776793375755091,0.00013951679657828913,-0.16311975019985528,-0.07767357629914313,2.9751633788049414,-0.010137691378518708,0.013721559302529602,-0.0022989202125110737,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2989920317862405,-0.7204916007113792,-2.5536905173584343,0.7076946189807581,1.814414721264119,-0.5001944768482732,0.5340987696236708,2.6275722170407247,3.087789286982105,3.087789286982105,3.252720000002127,0,0,-0.00013017091436023172,-1.7915717735208473e-05
+45936,1791878555205718861,7595365000000,1791878555203044925,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762322646274243,-0.004783290912726914,0.08754126650292265,0.9999999657852252,0.00010722657013175026,0.00020487499418955597,8.000695095200869e-05,0.6761,-0.0048,0.08719348941888828,1.0,0.0,0.0,0.0,-0.23946188341476796,-0.10307657237444263,2.667991885136539,-0.006132668591876322,0.017757884900759413,0.00010540929881172742,-0.17171811873540335,-0.07598518057809422,3.0155830469007556,-0.010146327246351804,0.013711510445738102,-0.0023330277102776354,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2863468160424103,-0.7962590104526782,-2.6307653468540306,0.7371427091936225,1.8578388891528166,-0.5473486191853573,0.5340987696236708,2.667991885136539,3.1648641164777014,3.1648641164777014,3.318720000002193,0,0,-0.0001367316880037953,8.476458010354122e-05
+46020,1791878555905675075,7596065000000,1791878555899043655,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762358542888568,-0.004784084219393904,0.08744977052013013,0.9999999638874283,0.00011084152215393369,0.0002112724086312589,8.213484496747396e-05,0.6761,-0.0048,0.08709543879344905,1.0,0.0,0.0,0.0,-0.24017958401010914,-0.10159325261356825,2.709973497561073,-0.006166702914398271,0.018763361386119528,8.753149325421749e-05,-0.17243581933074453,-0.07450186081721984,3.05756465932529,-0.010180361568873753,0.014716986931098217,-0.0023509055158351454,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.2680312750367073,-0.711656353753915,-2.606602043050296,0.7289324408266207,1.8318673123019893,-0.488302280299937,0.5340987696236708,2.709973497561073,3.1407008126739666,3.1407008126739666,3.374720000002249,0,0,-0.00014457263888409256,-9.996289493242045e-05
+46112,1791878556671716575,7596831000000,1791878556671043478,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762437345121266,-0.004790376077152362,0.08734966126180198,0.9999999610659915,0.00010935515335930147,0.0002236080706011621,8.574241051649121e-05,0.6761,-0.0048,0.08698315467380438,1.0,0.0,0.0,0.0,-0.2487144119494434,-0.10724320191864994,2.7478887729392563,-0.006175760264676286,0.01875444750060816,5.5870215261271446e-05,-0.1809706472700788,-0.08015181012230153,3.0954799347034734,-0.010189418919151767,0.014708073045586849,-0.0023825667938280914,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.304887046402173,-0.6920191871045976,-2.6922351481171427,0.731661678957794,1.8942680475852691,-0.47391462888419744,0.5340987696236708,2.7478887729392563,3.2263339177408135,3.2263339177408135,3.43600000000231,0,0,-0.00015015352395761206,-9.27467505836887e-05
+46204,1791878557438739591,7597598000000,1791878557431043296,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762514375205448,-0.004795626222361555,0.08724580512678007,0.9999999581139027,0.00010408964945144659,0.0002379956992725232,8.796845594724602e-05,0.6761,-0.0048,0.08686531404380991,1.0,0.0,0.0,0.0,-0.24878674096493167,-0.10271670876071776,2.797929818887419,-0.00618327571307663,0.01874540488256498,1.54478437988108e-05,-0.18104297628556706,-0.07562531696436935,3.1455209806516358,-0.010196934367552112,0.014699030427543669,-0.002422989165290552,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3224548359194825,-0.7275398327735354,-2.7663786283934524,0.7538474483230452,1.942354556441103,-0.4947183915627932,0.5340987696236708,2.797929818887419,3.300477398017123,3.300477398017123,3.4973600000023715,0,0,-0.00015641475226071776,-1.102352856041319e-05
+46288,1791878558138634513,7598298000000,1791878558135033851,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762539548321427,-0.004794868118121284,0.08713708657672645,0.9999999582602284,0.00010037642200179254,0.0002397011825711316,8.596698818591783e-05,0.6761,-0.0048,0.08675289457756988,1.0,0.0,0.0,0.0,-0.24934359704323347,-0.11035298200742677,2.8378598475643937,-0.0061934405561330395,0.01878635335985749,-1.6440322541809178e-05,-0.18159983236386887,-0.08326159021107836,3.1854510093286104,-0.010207099210608521,0.014739978904836179,-0.002454877331631172,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.343496301946233,-0.6733951704680291,-2.808803655451901,0.7490615971662294,1.9765914201363586,-0.45942844262939914,0.5340987696236708,2.8378598475643937,3.3429024250755717,3.3429024250755717,3.5533600000024275,0,0,-0.0001646836568045248,-3.1526596637415596e-05
+46371,1791878558830674387,7598990000000,1791878558827043659,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762514988597601,-0.004801033919376404,0.08702181939406407,0.999999958776133,9.139826776438493e-05,0.0002406263827048057,8.738362126910924e-05,0.6761,-0.0048,0.08663528168741202,1.0,0.0,0.0,0.0,-0.24966307986247857,-0.10528457106069547,2.878240504662858,-0.006226778393987604,0.019740601189285577,-3.3855887231806856e-05,-0.18191931518311397,-0.07819317926434706,3.225831666427075,-0.010240437048463086,0.015694226734264266,-0.0024722928963211697,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.35257836335801,-0.697741935274674,-2.8093056977554745,0.7555588455030523,1.9805210406831915,-0.4793503354739103,0.5340987696236708,2.878240504662858,3.343404467379145,3.343404467379145,3.608720000002483,0,0,-0.00017324472780941148,-9.990234614421496e-05
+46447,1791878559463730237,7599623000000,1791878559463043103,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762477296127314,-0.004799763659024218,0.08690774403813213,0.9999999598507386,9.019971065946237e-05,0.0002357625563243473,8.956235050201381e-05,0.6761,-0.0048,0.08652131777937483,1.0,0.0,0.0,0.0,-0.24007908972054545,-0.10775922532716448,2.918068159589869,-0.007074571639509823,0.019737618999143728,-8.305544138110296e-05,-0.17233532504118085,-0.08066783353081607,3.2656593213540863,-0.011088230293985304,0.015691244544122417,-0.002521492450470466,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3843894708452538,-0.7191709902434015,-2.881576257411797,0.7689737017443761,2.03649943933504,-0.48816510086591236,0.5340987696236708,2.918068159589869,3.415675027035468,3.415675027035468,3.6593600000025335,0,0,-0.00018485710051171911,-9.998992886307007e-05
+46523,1791878560096715111,7600256000000,1791878560095043543,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762479114770836,-0.004802426533825801,0.08678870852098966,0.9999999591841383,9.206951833974626e-05,0.00023745993725133552,9.06121844406455e-05,0.6761,-0.0048,0.08640209709754613,1.0,0.0,0.0,0.0,-0.24900275674727088,-0.1136963373141217,2.949420703025319,-0.007243466220815402,0.01910030344505379,-0.00011641235087026316,-0.18125899206790627,-0.08660494551777329,3.297011864789536,-0.011257124875290883,0.015053928990032482,-0.002554849359959626,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.368202207902533,-0.709795690848939,-2.977999847348616,0.7794155580526276,2.0938738325807646,-0.4794382263319893,0.5340987696236708,2.949420703025319,3.5120986169722865,3.5120986169722865,3.710000000002584,0,0,-0.00019223749285893354,9.999999025923074e-05
+46599,1791878560730710516,7600890000000,1791878560727043369,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762690227778992,-0.004803402203840179,0.08668479887634377,0.9999999531212048,9.348413404892811e-05,0.0002614170194864587,9.01238649129976e-05,0.6761,-0.0048,0.08627487213021444,1.0,0.0,0.0,0.0,-0.25604334181344657,-0.1027518036909758,2.9585149123496777,-0.006241516373202325,0.019723362728083903,-9.236201264094723e-05,-0.18829957713408194,-0.07566041189462738,3.306106074113895,-0.010255175027677806,0.015676988273062593,-0.00253079902173031,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3889842165028652,-0.7065182494728338,-2.934479877634617,0.7904308455128654,2.0705115952368645,-0.47398791712651783,0.5340987696236708,2.9585149123496777,3.468578647258288,3.468578647258288,3.760720000002635,0,0,-0.00020997241364647946,-9.999999025923074e-05
+46667,1791878561296626908,7601456000000,1791878561295043526,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762680300223671,-0.004806399060700076,0.08656736388959653,0.9999999527915234,8.679886461697756e-05,0.00026415988751129485,9.244093469535115e-05,0.6761,-0.0048,0.08615057242310586,1.0,0.0,0.0,0.0,-0.2498769343730326,-0.0953033201027576,2.988754935337698,-0.006247153273857212,0.019716170468959814,-0.00012317417403961712,-0.182133169693668,-0.0682119283064092,3.336346097101915,-0.010260811928332694,0.015669796013938503,-0.00256161118312898,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4096384246307454,-0.6758674958761862,-2.9439842473092463,0.7830585058763504,2.084859077050055,-0.4574238691192792,0.5340987696236708,2.988754935337698,3.478083016932917,3.478083016932917,3.80600000000268,0,0,-0.00023012978909583837,-9.999554936713224e-05
+46727,1791878561796740073,7601956000000,1791878561791043574,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762685286039908,-0.00480668852473007,0.0864503318573163,0.9999999504300568,8.12236997597164e-05,0.0002721701816944958,9.95432125159831e-05,0.6761,-0.0048,0.08603187440518824,1.0,0.0,0.0,0.0,-0.24925257275310117,-0.10026726941932715,3.0274135855199793,-0.006254468986315918,0.01970817673908511,-0.00015473271825147033,-0.18150880807373657,-0.07317587762297874,3.375004747284196,-0.0102681276407914,0.0156618022840638,-0.002593169727340833,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.490348087505234,-0.7101516594233591,-2.9103521883640804,0.7984449866637465,2.0915356890101053,-0.4775535705340345,0.5340987696236708,3.0274135855199793,3.444450957987751,3.444450957987751,3.84600000000272,0,0,-0.00024622783474234487,-9.997867397715793e-05
+46787,1791878562296630787,7602456000000,1791878562291043885,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762642955510952,-0.004806889056124987,0.08632824271340594,0.9999999516090753,7.911064550835634e-05,0.00026540438216207283,0.00010736261472606238,0.6761,-0.0048,0.08590490071501443,1.0,0.0,0.0,0.0,-0.23341080883843562,-0.09872438209603747,3.0567151820885092,-0.006234051470120233,0.01877106155496488,-0.0001914760896589646,-0.16566704415907102,-0.07163299029968906,3.404306343852726,-0.010247710124595714,0.014724687099943571,-0.0026299130987483274,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.3983324550428102,-0.732849896545498,-2.91867256147133,0.806769242061121,2.078439472404882,-0.49635597274510146,0.5340987696236708,3.0567151820885092,3.4527713310950006,3.4527713310950006,3.88600000000276,0,0,-0.0002616615220288595,-9.999933800320377e-05
+46842,1791878562755686612,7602915000000,1791878562751043667,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762691127194475,-0.004804935120054167,0.08620398991451245,0.9999999465360736,8.436650231365727e-05,0.000275662212364795,0.00012354494067360624,0.6761,-0.0048,0.08578077096686225,1.0,0.0,0.0,0.0,-0.240615532856674,-0.10676161174803168,3.0690050248375416,-0.006237646692880947,0.01875044132693303,-0.00020139864909054063,-0.1728717681773094,-0.07967021995168327,3.4165961866017587,-0.010251305347356429,0.01470406687191172,-0.0026398356581799035,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.456118875953292,-0.7857611859322233,-3.0369466349245133,0.8265243237786604,2.173068439607124,-0.5284753937092737,0.5340987696236708,3.0690050248375416,3.571045404548184,3.571045404548184,3.922720000002797,0,0,-0.0002780435138608174,-3.329457073608937e-05
+46898,1791878563221749502,7603381000000,1791878563215043282,DOWN_FORCE_DETACH,6,0.053,0.053001537919044495,0.6762782251999844,-0.004788310386024631,0.0860805614670562,0.9999999453792356,0.00012398677909722697,0.0002873273387885291,5.248494230208466e-05,0.6761,-0.0048,0.08564715529591327,1.0,0.0,0.0,0.0,-0.23196380982040884,-0.08525060794653126,3.093624516325634,-0.005218071350423713,0.01866206516962822,-0.00021065679886434494,-0.16422004514104424,-0.058159216150182845,3.4412156780898506,-0.009231730004899194,0.01461569071460691,-0.0026490938079537078,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4012505747000157,-0.6247866119172292,-2.9021992235310416,0.7398757995750311,2.0901855171187806,-0.47210287855585087,0.5340987696236708,3.093624516325634,3.4362979931547124,3.4362979931547124,3.960000000002834,0,0,-0.00029617056902383885,-9.999999025923074e-05
+46950,1791878563655700522,7603815000000,1791878563655043565,DOWN_FORCE_DETACH,6,0.053,0.053002193570137024,0.6762827282274684,-0.00479648548769844,0.08595590466732438,0.9999999402097718,0.00012789954357415477,0.0002960002713296566,8.395750910641062e-05,0.6761,-0.0048,0.08551394566475828,1.0,0.0,0.0,0.0,-0.2264120803435085,-0.08396463310952729,3.1195694677333563,-0.005221535361183866,0.01865479635635214,-0.0002252918314210096,-0.15866831566414388,-0.05687324131317887,3.467160629497573,-0.009235194015659347,0.014608421901330831,-0.0026637288405103724,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4505336575013077,-0.6651611963961886,-3.034468303730739,0.7742109216846655,2.186036800342643,-0.4589295340874335,0.5340987696236708,3.1195694677333563,3.56856707335441,3.56856707335441,3.994720000002869,0,0,-0.0003175910240585652,-9.998935987376995e-05
+47014,1791878564183754075,7604343000000,1791878564183033718,DOWN_SETTLE,6,0.053,0.053001537919044495,0.6762867059365855,-0.004784261007634636,0.08584391096946496,0.9999999390256483,0.00013165826016585806,0.0002945946096844106,9.628957553968243e-05,0.6761,-0.0048,0.0854213362399127,1.0,0.0,0.0,0.0,-0.21378348580602297,-0.07196179317266019,3.101343377713337,-0.004170595938566554,0.017625566238831658,-0.0002180922824071077,-0.14603972112665836,-0.04487040137631178,3.448934539477554,-0.008184254593042036,0.013579191783810349,-0.0026565292914964705,0.0677437646793646,0.027091391796348414,0.3475911617642169,-0.004013658654475481,-0.00404637445502131,-0.002438437009089363,1,1.4106372066038817,-0.6359363500416612,-2.903008085389368,0.7796572106665179,2.1039853594048314,-0.4353632173956856,0.5340987696236708,3.101343377713337,3.4371068550130386,0.0,0.0,0,0,-1.1051113619951771e-05,0.00011162741030254313
diff --git a/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5cd6235e398a991fc090edae5168865387a5c69
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0030_20/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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